commit 0281b65175628842c14b9a9c35028e8cc990cb49 Author: josch Date: Sun Sep 16 14:33:11 2012 +0200 initial commit diff --git a/.svn/entries b/.svn/entries new file mode 100644 index 0000000..48082f7 --- /dev/null +++ b/.svn/entries @@ -0,0 +1 @@ +12 diff --git a/.svn/format b/.svn/format new file mode 100644 index 0000000..48082f7 --- /dev/null +++ b/.svn/format @@ -0,0 +1 @@ +12 diff --git a/.svn/pristine/00/000174bc99fab73fe1bc891a8dc946e122337b50.svn-base b/.svn/pristine/00/000174bc99fab73fe1bc891a8dc946e122337b50.svn-base new file mode 100644 index 0000000..d03b737 --- /dev/null +++ b/.svn/pristine/00/000174bc99fab73fe1bc891a8dc946e122337b50.svn-base @@ -0,0 +1,928 @@ +@InProceedings{VMV2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. Hertzberg", + title = "{F}ast acquiring and analysis of three dimensional laser range data", + booktitle = "Proceedings of the of the 6th International Fall Workshop Vision, Modeling, and Visualization (VMV '01)", + month = "November", + year = "2001", + pages = "59 -- 66", + address = "Stuttgart, Germany" +} + +@InProceedings{ISR2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. Hertzberg", + title = "A 3{D} laser range finder for autonomous mobile robots", + booktitle = "Proceedings of the of the 32nd International Symposium on Robotics (ISR '01)", + month = "April", + year = "2001", + pages = "153 -- 158", + address = "Seoul, Korea" +} + +@Book{Report2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. 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Hogg", + title = "{A}utomated {3D} reconstruction of interiors with multiple scan--views", + booktitle = "Proceedings of SPIE, Electronic Imaging '99, The Society for Imaging Science and Technology /SPIE's 11th Annual Symposium", + year = "1999", + address = "San Jose, CA, USA", + month = "January", +} + +@Article{Sequeira_1995, + author= "V. Sequeira and J. Goncalves and M. Ribeiro", + title = "{3D} environment modelling using laser range sensing", + year = "1995", + journal = "Robotics and Automation", + pages = "81 -- 91", + volume = "16", + publisher = "Elsevier", +} + +@inproceedings{Sappa_2000, + author = "A. Sappa and M. Devy and M. Garcia", + title = "{M}odelling {B}uilt {E}nvironments from {L}arge {R}ange {I}mages using {A}daptive {T}riangular {M}eshes", + booktitle = "Proceedings of the 8th International Symposium on Intelligent Robotic Systems, (SIRS '00)", + year = "2000", + address = "Reading, United Kingdom", + month = "July", + pages = "23 -- 29" +} + +@inproceedings{Garcia_2000, + author = "A. Sappa and M. Garcia", + title = "{I}ncremental {M}ultiview {I}ntegration of {R}ange {I}mages", + booktitle = "Proceedings of the 15th IAPR International Conference on Pattern Recognition", + year = "2000", + pages = "546 -- 549", + address = "Barcelona, Spain", + month = "September", +} + +@inproceedings{Garcia_1998, + author = "M. Garcia and S. Velazquez and A. Sappa", + title = "{A} {T}wo--{S}tage {A}lgorithm for {P}lanning the {N}ext {V}iew {F}rom {R}ange {I}mages", + Booktitle = "Proceedings of the 9th British Machine Vision Conference (BMVC '98)", + pages = "720 -- 729", + address = "Southampton, United Kingdom", + year = "1998", +} + +@inproceedings{Huber_2001_1, + author = "Daniel F. Huber and Martial Hebert", + title = "Fully Automatic Registration of Multiple 3D Data Sets", + booktitle = "IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum (CVBVS '01)", + month = "December", + year = "2001" +} + +@inproceedings{Turk_1994, + author = "G. Turk and M. Levoy", + title = "{Z}ippered polygon meshes from range images", + booktitle = "Proceedings of the ACM SIGGRAPH '94", + year = "1994", + address = "Orlando, FL, USA", + month = "July", + pages = "311 -- 318", +} + +@inproceedings{Zhao_2001, + author = "H. Zhao and R. Shibasaki", + title = "{R}econstructing {T}extured {CAD} {M}odel of {U}rban {E}nvironment {U}sing {V}ehicle-{B}orne {L}aser {R}ange {S}canners and {L}ine {C}ameras", + booktitle = "Second International Workshop on Computer Vision System (ICVS '01)", + year = "2001", + address = "Vancouver, Canada", + month = "July", + pages = "284 -- 295", +} + +@article{Zhao_2000, + author = "H. Zhao and R. Shibasaki", + title = "{R}econstruction of {T}extured Urban {3D} {M}odel by {G}round-{B}ased {L}aser {R}ange and {CCD} {I}mages", + journal = "IEICE Transactions on Information and Systems", + volume = "E38-D", + number ="7", + pages = ".1429 -- 1440", + year = "2000", +} + +@inproceedings{Indiveri_1999, + author = "G. Indiveri", + title = "{K}inematic {T}ime-invariant {C}ontrol of a {2D} {N}onholonomic {V}ehicle", + booktitle = "Proceedings of the 38th Conference on Decision and Control, (CDC '99)", + address = "Phoenix, USA", + month = "December", + year = "1999", +} + +@article{Carlsson_1999, + author ="S. Carlsson and B. Nilsson", + title = "{C}omputing {V}ision {P}oints in {P}olygons", + journal = "{A}lgorithmica", + volume = "24", + number ="1", + pages = "50 -- 75", + year = "1999", +} + +@article{Vatti_1992, + author ="B. Vatti", + title = "{A} {G}eneric {S}olution to {P}olygon {C}lipping", + journal = "{C}ommunications of the {ACM}", + volume = "35", + number ="7", + pages = "56 -- 63", + year = "1992", +} + +@article{Amenta_2001, + author ="N. Amenta and S. Choi and R. Kolluri", + title = "{T}he {P}ower {C}rust", + journal = "{C}ommunications of the {ACM}", + volume = "35", + number ="7", + pages = "56 -- 63", + year = "2001", +} + +@article{Prytherch_2002, + author ="D. Prytherch and M. McLundie", + title = "{S}o what is haptics anyway?", + journal = "{R}esearch issues in {A}rt {D}esign and {M}edia", + publisher = "{T}he {R}esearch {T}raining {I}nitiative", + volume = "Spring", + number ="2", + pages = "1 -- 16", + year = "2002", +} + +@book{Streri_2002, + author = "A. Streri", + title = "Seeing, Reaching, and touching (cited through \cite{Gonz_1998}) ", + publisher = "The MIT Press", + address = "Cambridge, MA, USA", + year = "1993", +} + +@inproceedings{Gonz_1998, + author = "L. Goncalves and R. Grupen and A. Oliveira", + title = "{A} {C}ontrol {A}rchitecture for {M}ulti-modal {S}ensory {I}ntegration", + booktitle = "Proceedings of the 9th IEEE International Conference on Computer Graphics and Image Processing (SIBGRAPH '98)", + year = "1998", + month = "October", + address = "Rio de Janeiro, RJ, Brazil", +} + +@incollection{Bern_2000, + author = "M. Bern and P. Plassmann", + title = "Mesh Generation", + booktitle = "Handbook of Computational Geometry", + publisher = "Elsevier Science", + editor = "J. Sack and J. Urrutia", + year = "2000", + url = "citeseer.nj.nec.com/bern00mesh.html" +} + +@misc{WDR, + author = "WDR", + title = "{L}eonardo {S}chwerpunkt {H}aptik \texttt{http://capehorn.gmd.de:8080/download/haptik/\linebreak haptik.mp3}" +} + +@misc{CAMERA, + author = "CAMERA: CAd Modelling of Built Environments from Range Analysis", + title = "\texttt{http://www.dai.ed.ac.uk/homes/rbf/{CAMERA}/camera.htm}", + year = "2000" +} + +@misc{RESOLV, + author = "{The ACTS RESOLV (REconstruction using Scanned Laser and Video) Project}", + title = "\texttt{http://www.comp.leeds.ac.uk/resolv/}", + year = "1999" +} + +@misc{RIEGLold, + author = "RIEGL Laser Measurement Systems GmbH", + title = "\texttt{http://www.riegl.co.at/}", + year = "2001" +} + +@misc{AVENUE, + author = "{AVENUE (Autonomous Vehicle for Exploration and Navigation in Urban Environments) Project}", + title = "\texttt{http://www.cs.columbia.edu/} \texttt{robotics/projects/avenue/}", + year = "2001" +} + +@misc{3DMAP, + author = "3D Terrain Mapping Using Range Sensors", + title = "\texttt{http://www-2.cs.cmu.edu/$\sim$dhuber/ mapping/}", + year = "1999" +} + +@misc{URLTHRUN, + author = "CMU's 3D Robot Mapping Project", + title = "\texttt{http://www-2.cs.cmu.edu/$\sim$thrun/3D/index.html}", + year = "2000" +} + +@misc{3DFAX, + author = "Project to build a 3D fax machine", + title = "\texttt{http://graphics.stanford.edu/projects/faxing/}", + year = "2001" +} + +@misc{LYAPUNOV, + author = "The Lyapunov Function, Wolfram Research{,}", + title = "\texttt{http://mathworld.wolfram.com/Lyapunov\linebreak Function.html}", + year = "2002" +} + +@misc{CLAY, + author = "Clay Mathematics Institute", + title = "\texttt{http://www.claymath.org/prizeproblems/index.htm}", + month = "May", + year = "2000" +} + +@misc{POWERCRUST, + author = "The Power Crust", + title = "\texttt{http://www.cs.utexas.edu/users/amenta/powercrust/}", + year = "2002" +} + +@misc{INTRO, + author = "MIT's Bouncing Baby Robot?", + title = "\texttt{http://www.controleng.com/archives/2000/ctl0101.00\linebreak /000101w1.htm}", + year = "2000" +} + +@misc{SIEMENS3D, + author = "Siemens 3D-Sensor", + title = "http://w4.siemens.de/FuI/de/archiv/newworld/heft2\_01/artikel03/", + year = "2001", +} + + + + + + diff --git a/.svn/pristine/00/003ff39a1d369582c600d6ca9552e3db0c6ebe4a.svn-base b/.svn/pristine/00/003ff39a1d369582c600d6ca9552e3db0c6ebe4a.svn-base new file mode 100644 index 0000000..4e61cec --- /dev/null +++ b/.svn/pristine/00/003ff39a1d369582c600d6ca9552e3db0c6ebe4a.svn-base @@ -0,0 +1,199 @@ +//---------------------------------------------------------------------- +// File: ANN.cpp +// Programmer: Sunil Arya and David Mount +// Description: Methods for ANN.h and ANNx.h +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added performance counting to annDist() +//---------------------------------------------------------------------- + +#include +#include // all ANN includes +#include // ANN performance + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Point methods +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Distance utility. +// (Note: In the nearest neighbor search, most distances are +// computed using partial distance calculations, not this +// procedure.) +//---------------------------------------------------------------------- + +ANNdist annDist( // interpoint squared distance + int dim, + ANNpoint p, + ANNpoint q) +{ + register int d; + register ANNcoord diff; + register ANNcoord dist; + + dist = 0; + for (d = 0; d < dim; d++) { + diff = p[d] - q[d]; + dist = ANN_SUM(dist, ANN_POW(diff)); + } + ANN_FLOP(3*dim) // performance counts + ANN_PTS(1) + ANN_COORD(dim) + return dist; +} + +//---------------------------------------------------------------------- +// annPrintPoint() prints a point to a given output stream. +//---------------------------------------------------------------------- + +void annPrintPt( // print a point + ANNpoint pt, // the point + int dim, // the dimension + std::ostream &out) // output stream +{ + for (int j = 0; j < dim; j++) { + out << pt[j]; + if (j < dim-1) out << " "; + } +} + +//---------------------------------------------------------------------- +// Point allocation/deallocation: +// +// Because points (somewhat like strings in C) are stored +// as pointers. Consequently, creating and destroying +// copies of points may require storage allocation. These +// procedures do this. +// +// annAllocPt() and annDeallocPt() allocate a deallocate +// storage for a single point, and return a pointer to it. +// +// annAllocPts() allocates an array of points as well a place +// to store their coordinates, and initializes the points to +// point to their respective coordinates. It allocates point +// storage in a contiguous block large enough to store all the +// points. It performs no initialization. +// +// annDeallocPts() should only be used on point arrays allocated +// by annAllocPts since it assumes that points are allocated in +// a block. +// +// annCopyPt() copies a point taking care to allocate storage +// for the new point. +// +// annAssignRect() assigns the coordinates of one rectangle to +// another. The two rectangles must have the same dimension +// (and it is not possible to test this here). +//---------------------------------------------------------------------- + +ANNpoint annAllocPt(int dim, ANNcoord c) // allocate 1 point +{ + ANNpoint p = new ANNcoord[dim]; + for (int i = 0; i < dim; i++) p[i] = c; + return p; +} + +ANNpointArray annAllocPts(int n, int dim) // allocate n pts in dim +{ + ANNpointArray pa = new ANNpoint[n]; // allocate points + ANNpoint p = new ANNcoord[n*dim]; // allocate space for coords + for (int i = 0; i < n; i++) { + pa[i] = &(p[i*dim]); + } + return pa; +} + +void annDeallocPt(ANNpoint &p) // deallocate 1 point +{ + delete [] p; + p = NULL; +} + +void annDeallocPts(ANNpointArray &pa) // deallocate points +{ + delete [] pa[0]; // dealloc coordinate storage + delete [] pa; // dealloc points + pa = NULL; +} + +ANNpoint annCopyPt(int dim, ANNpoint source) // copy point +{ + ANNpoint p = new ANNcoord[dim]; + for (int i = 0; i < dim; i++) p[i] = source[i]; + return p; +} + + // assign one rect to another +void annAssignRect(int dim, ANNorthRect &dest, const ANNorthRect &source) +{ + for (int i = 0; i < dim; i++) { + dest.lo[i] = source.lo[i]; + dest.hi[i] = source.hi[i]; + } +} + + // is point inside rectangle? +ANNbool ANNorthRect::inside(int dim, ANNpoint p) +{ + for (int i = 0; i < dim; i++) { + if (p[i] < lo[i] || p[i] > hi[i]) return ANNfalse; + } + return ANNtrue; +} + +//---------------------------------------------------------------------- +// Error handler +//---------------------------------------------------------------------- + +void annError(char *msg, ANNerr level) +{ + if (level == ANNabort) { + cerr << "ANN: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ANN: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +//---------------------------------------------------------------------- +// Limit on number of points visited +// We have an option for terminating the search early if the +// number of points visited exceeds some threshold. If the +// threshold is 0 (its default) this means there is no limit +// and the algorithm applies its normal termination condition. +// This is for applications where there are real time constraints +// on the running time of the algorithm. +//---------------------------------------------------------------------- + +int ANNmaxPtsVisited = 0; // maximum number of pts visited +int ANNptsVisited; // number of pts visited in search + +//---------------------------------------------------------------------- +// Global function declarations +//---------------------------------------------------------------------- + +void annMaxPtsVisit( // set limit on max. pts to visit in search + int maxPts) // the limit +{ + ANNmaxPtsVisited = maxPts; +} diff --git a/.svn/pristine/00/005448ebd9d9464d1a40fef89097904af691347a.svn-base b/.svn/pristine/00/005448ebd9d9464d1a40fef89097904af691347a.svn-base new file mode 100644 index 0000000..cb9556c --- /dev/null +++ b/.svn/pristine/00/005448ebd9d9464d1a40fef89097904af691347a.svn-base @@ -0,0 +1,96 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef MULTI_ARRAY_H +#define MULTI_ARRAY_H + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include "scanserver/cache/cacheDataAccess.h" + + + +/** + * @brief Point-Array imitation for xyz[i][0..2] calls + */ +template +class TripleArray : public CacheDataAccess { +public: + //! Take ownership of a cache data + TripleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {} + + //! Move constructor of this type like CacheData, transfer lock + TripleArray(TripleArray&& other) : CacheDataAccess(other) {} + + //! Represent the CacheData as an array of T[3]'s + inline return_type* operator[](unsigned int i) const + { + return reinterpret_cast(getData()) + (i*3); + } + + //! Count of T[3] objects in this CacheData + inline unsigned int size() const { return CacheDataAccess::getSize() / (3*sizeof(return_type)); } +}; + +/** + * @brief Point-Array imitation for value[i] calls + */ +template +class SingleArray : public CacheDataAccess { +public: + //! Take ownership of a cache data + SingleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {} + + //! Move constructor of this type like CacheData, transfer lock + SingleArray(SingleArray&& other) : CacheDataAccess(other) {} + + //! Represent the CacheData as an array of T's + inline return_type& operator[](unsigned int i) const + { + return *(reinterpret_cast(getData()) + i); + } + + //! Count of T objects in this CacheData + inline unsigned int size() const { return CacheDataAccess::getSize() / sizeof(return_type); } +}; + +typedef TripleArray DataXYZ; +typedef TripleArray DataRGB; +typedef SingleArray DataReflectance; +typedef SingleArray DataAmplitude; +typedef SingleArray DataType; +typedef SingleArray DataDeviation; + +/** + * To simplify T** access patterns for an array of T[3] (points), this RAII type class helps creating and managing this pointer array on the stack. + */ +template +class Array { +public: + //! Create a temporary array and fill it sequentially with pointers to each point + Array(const TripleArray& data) { + unsigned int size = data.size(); + m_array = new T*[size]; + for(unsigned int i = 0; i < size; ++i) + m_array[i] = data[i]; + } + + //! Removes the temporary array on destruction (RAII) + ~Array() { + delete[] m_array; + } + + //! Conversion operator to interface the MultiArray to a T** array + inline T* const* get() const { return m_array; } +private: + T** m_array; +}; + +#endif //MULTI_ARRAY_H diff --git a/.svn/pristine/00/00dea55fd237baa2a698914f68cf7c969550f560.svn-base b/.svn/pristine/00/00dea55fd237baa2a698914f68cf7c969550f560.svn-base new file mode 100644 index 0000000..6d5fd54 --- /dev/null +++ b/.svn/pristine/00/00dea55fd237baa2a698914f68cf7c969550f560.svn-base @@ -0,0 +1,56 @@ + + +int glui_img_leftarrow[] = { 16, 16, /* width, height */ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 192,192,192, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 0, 0, 0, +}; diff --git a/.svn/pristine/01/01262d6d84046021f5cc73ba1b2fa8239a2e18f4.svn-base b/.svn/pristine/01/01262d6d84046021f5cc73ba1b2fa8239a2e18f4.svn-base new file mode 100644 index 0000000..29b98c7 --- /dev/null +++ b/.svn/pristine/01/01262d6d84046021f5cc73ba1b2fa8239a2e18f4.svn-base @@ -0,0 +1,188 @@ +/* + * cacheManager implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/cache/cacheManager.h" + +#include +#include + +#include + +using namespace boost::interprocess; +using std::runtime_error; +using std::vector; +using std::string; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#else +#include // mlock for avoiding swaps +#endif + + +CacheManager::CacheManager(SegmentManager* sm, const char* shm_name, std::size_t cache_size) : + m_segment_manager(sm), + m_shm_name(shm_name) +{ + // remove any existing shared memory that wasn't cleaned up + shared_memory_object::remove(m_shm_name.c_str()); + + try { + m_msm = new managed_shared_memory(create_only, m_shm_name.c_str(), cache_size); +#ifndef WIN32 + cout << " Locking cache memory... " << std::flush; + int ret = mlock(m_msm->get_address(), m_msm->get_size()); + if(ret == 0) + cout << "success."; + else if(ret == -EPERM) + cout << "unsuccessful, no permissions."; + else if(ret == -ENOMEM) + cout << "unsuccessful, RLIMIT_MEMLOCK too small."; + else + cout << "unsuccessful, error=" << ret << "."; + cout << endl; +#endif + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not create shared memory: ") + e.what()); + } +} + +CacheManager::~CacheManager() +{ + // clean up objects + for(vector::iterator it = m_objects.begin(); it != m_objects.end(); ++it) + m_segment_manager->destroy_ptr(*it); + + // remove cache data shared memory + delete m_msm; + shared_memory_object::remove(m_shm_name.c_str()); +} + +CacheObject* CacheManager::createCacheObject() +{ + CacheObject* obj = m_segment_manager->construct(anonymous_instance)(); + m_objects.push_back(obj); + return obj; +} + +bool CacheManager::loadCacheObject(CacheObject* obj) +{ + if(obj->m_handler) { + return obj->m_handler->load(); + } else { + throw runtime_error("No CacheHandler set for loading"); + } +} + +unsigned char* CacheManager::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // remove old data if this isn't a cache miss call but a direct allocate call + if(obj->m_handle != 0) { + if(size == obj->m_size) { + // INFO + //cout << "CacheManager::allocateCacheObject reusing space" << endl; + // space fits? leave it be + return reinterpret_cast(m_msm->get_address_from_handle(obj->m_handle)); + } else { + // reset CO + m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_size = 0; + obj->m_handle = 0; + } + } + + // try to allocate it initially + try { + return load(obj, size); + } catch(bad_alloc& e) { + // flush behaviour below + } + + // create a list of COs to remove from memory + // TODO: create the list from the heuristic + vector loaded = m_loaded; + // try to exclusively lock COs to remove them from memory + for(vector::iterator it = loaded.begin(); it != loaded.end(); ++it) { + CacheObject* target = *it; + scoped_lock lock(target->m_mutex_in_use, try_to_lock); + if(lock) { + unload(target); + // try to allocate it + try { + return load(obj, size); + } catch(bad_alloc& e) { + // continue flushing + } + } + } + + // when flushing didn't work, there's nothing to do anymore + throw runtime_error("CacheManager could not allocate enough memory for CacheObject. All available memory is locked for used CacheObjects and you need to increase the cache memory size"); +} + +void CacheManager::invalidateCacheObject(CacheObject* obj) +{ + // remove its data + if(obj->m_handle != 0) { + // reset CO + m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_size = 0; + obj->m_handle = 0; + } + + // invalidate the handler too + obj->m_handler->invalidate(); +} + +unsigned char* CacheManager::load(CacheObject* obj, unsigned int size) +{ + // INFO + //cout << " CM::load (" << size << ")" << endl; + + // allocate + unsigned char* data = m_msm->construct(anonymous_instance)[size](); + obj->m_size = size; + obj->m_handle = m_msm->get_handle_from_address(data); + + // mark it as loaded + m_loaded.push_back(obj); + + return data; +} + +void CacheManager::unload(CacheObject* obj) +{ + if(obj->m_handle == 0) return; + + // INFO + //cout << " CM::unload" << endl; + + // save the CO by its handler + unsigned char* data = reinterpret_cast(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_handler->save(data, obj->m_size); + // TODO: exceptions? + + // reset CO + m_msm->destroy_ptr(data); + obj->m_size = 0; + obj->m_handle = 0; + + // mark it as unloaded + for(vector::iterator it = m_loaded.begin(); it != m_loaded.end(); ++it) { + if(obj == *it) { + m_loaded.erase(it); + break; + } + } +} diff --git a/.svn/pristine/01/01367402c246e1425d06318a597d810c9a373d98.svn-base b/.svn/pristine/01/01367402c246e1425d06318a597d810c9a373d98.svn-base new file mode 100644 index 0000000..74d2fff --- /dev/null +++ b/.svn/pristine/01/01367402c246e1425d06318a597d810c9a373d98.svn-base @@ -0,0 +1,483 @@ + +//#define WANT_STREAM +#define WANT_MATH + +#include "include.h" + +#include "newmatap.h" +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + +// check D is sorted +void CheckIsSorted(const DiagonalMatrix& D, bool ascending = false) +{ + DiagonalMatrix D1 = D; + if (ascending) SortAscending(D1); else SortDescending(D1); + D1 -= D; Print(D1); +} + + + +void trymate() +{ + + + Tracer et("Fourteenth test of Matrix package"); + Tracer::PrintTrace(); + + { + Tracer et1("Stage 1"); + Matrix A(8,5); + { +#ifndef ATandT + Real a[] = { 22, 10, 2, 3, 7, + 14, 7, 10, 0, 8, + -1, 13, -1,-11, 3, + -3, -2, 13, -2, 4, + 9, 8, 1, -2, 4, + 9, 1, -7, 5, -1, + 2, -6, 6, 5, 1, + 4, 5, 0, -2, 2 }; +#else + Real a[40]; + a[ 0]=22; a[ 1]=10; a[ 2]= 2; a[ 3]= 3; a[ 4]= 7; + a[ 5]=14; a[ 6]= 7; a[ 7]=10; a[ 8]= 0; a[ 9]= 8; + a[10]=-1; a[11]=13; a[12]=-1; a[13]=-11;a[14]= 3; + a[15]=-3; a[16]=-2; a[17]=13; a[18]=-2; a[19]= 4; + a[20]= 9; a[21]= 8; a[22]= 1; a[23]=-2; a[24]= 4; + a[25]= 9; a[26]= 1; a[27]=-7; a[28]= 5; a[29]=-1; + a[30]= 2; a[31]=-6; a[32]= 6; a[33]= 5; a[34]= 1; + a[35]= 4; a[36]= 5; a[37]= 0; a[38]=-2; a[39]= 2; +#endif + A << a; + } + DiagonalMatrix D; Matrix U; Matrix V; + int anc = A.Ncols(); IdentityMatrix I(anc); + SymmetricMatrix S1; S1 << A.t() * A; + SymmetricMatrix S2; S2 << A * A.t(); + Real zero = 0.0; SVD(A+zero,D,U,V); CheckIsSorted(D); + DiagonalMatrix D1; SVD(A,D1); CheckIsSorted(D1); + D1 -= D; Clean(D1,0.000000001);Print(D1); + Matrix W; + SVD(A, D1, W, W, true, false); D1 -= D; W -= U; + Clean(W,0.000000001); Print(W); Clean(D1,0.000000001); Print(D1); + Matrix WX; + SVD(A, D1, WX, W, false, true); D1 -= D; W -= V; + Clean(W,0.000000001); Print(W); Clean(D1,0.000000001); Print(D1); + Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + D1=0.0; SVD(A,D1,A); CheckIsSorted(D1); + A -= U; Clean(A,0.000000001); Print(A); + D(1) -= sqrt(1248.0); D(2) -= 20; D(3) -= sqrt(384.0); + Clean(D,0.000000001); Print(D); + + Jacobi(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + Jacobi(S1, D); CheckIsSorted(D, true); + D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + SymmetricMatrix JW(5); + Jacobi(S1, D, JW); CheckIsSorted(D, true); + D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + Jacobi(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); D(1)-=1248; D(2)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D(5)-=1248; D(4)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + EigenValues(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D(8)-=1248; D(7)-=400; D(6)-=384; + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D); CheckIsSorted(D, true); + D(5)-=1248; D(4)-=400; D(3)-=384; + Clean(D,0.000000001); Print(D); + + SymmetricMatrix EW(S2); + EigenValues(S2, D, EW); CheckIsSorted(D, true); + D(8)-=1248; D(7)-=400; D(6)-=384; + Clean(D,0.000000001); Print(D); + + } + + { + Tracer et1("Stage 2"); + Matrix A(20,21); + int i,j; + for (i=1; i<=20; i++) for (j=1; j<=21; j++) + { if (i>j) A(i,j) = 0; else if (i==j) A(i,j) = 21-i; else A(i,j) = -1; } + A = A.t(); + SymmetricMatrix S1; S1 << A.t() * A; + SymmetricMatrix S2; S2 << A * A.t(); + DiagonalMatrix D; Matrix U; Matrix V; +#ifdef ATandT + int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug +#else + DiagonalMatrix I(A.Ncols()); +#endif + I=1.0; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + for (i=1; i<=20; i++) D(i) -= sqrt((22.0-i)*(21.0-i)); + Clean(D,0.000000001); Print(D); + Jacobi(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); + for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i); + Clean(D,0.000000001); Print(D); + Jacobi(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); + for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i); + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + for (i=1; i<=20; i++) D(i) -= (i+1)*i; + Clean(D,0.000000001); Print(D); + EigenValues(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + for (i=2; i<=21; i++) D(i) -= (i-1)*i; + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D); CheckIsSorted(D, true); + for (i=1; i<=20; i++) D(i) -= (i+1)*i; + Clean(D,0.000000001); Print(D); + EigenValues(S2, D); CheckIsSorted(D, true); + for (i=2; i<=21; i++) D(i) -= (i-1)*i; + Clean(D,0.000000001); Print(D); + } + + { + Tracer et1("Stage 3"); + Matrix A(30,30); + int i,j; + for (i=1; i<=30; i++) for (j=1; j<=30; j++) + { if (i>j) A(i,j) = 0; else if (i==j) A(i,j) = 1; else A(i,j) = -1; } + Real d1 = A.LogDeterminant().Value(); + DiagonalMatrix D; Matrix U; Matrix V; +#ifdef ATandT + int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug +#else + DiagonalMatrix I(A.Ncols()); +#endif + I=1.0; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + Real d2 = D.LogDeterminant().Value(); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + Real d3 = D.LogDeterminant().Value(); + ColumnVector Test(3); + Test(1) = d1 - 1; Test(2) = d2 - 1; Test(3) = d3 - 1; + Clean(Test,0.00000001); Print(Test); // only 8 decimal figures + A.ReSize(2,2); + Real a = 1.5; Real b = 2; Real c = 2 * (a*a + b*b); + A << a << b << a << b; + I.ReSize(2); I=1; + SVD(A,D,U,V); CheckIsSorted(D); + SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + D = D*D; SortDescending(D); + DiagonalMatrix D50(2); D50 << c << 0; D = D - D50; + Clean(D,0.000000001); + Print(D); + A << a << a << b << b; + SVD(A,D,U,V); CheckIsSorted(D); + SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + D = D*D; SortDescending(D); + D = D - D50; + Clean(D,0.000000001); + Print(D); + } + + { + Tracer et1("Stage 4"); + + // test for bug found by Olof Runborg, + // Department of Numerical Analysis and Computer Science (NADA), + // KTH, Stockholm + + Matrix A(22,20); + + A = 0; + + int a=1; + + A(a+0,a+2) = 1; A(a+0,a+18) = -1; + A(a+1,a+9) = 1; A(a+1,a+12) = -1; + A(a+2,a+11) = 1; A(a+2,a+12) = -1; + A(a+3,a+10) = 1; A(a+3,a+19) = -1; + A(a+4,a+16) = 1; A(a+4,a+19) = -1; + A(a+5,a+17) = 1; A(a+5,a+18) = -1; + A(a+6,a+10) = 1; A(a+6,a+4) = -1; + A(a+7,a+3) = 1; A(a+7,a+2) = -1; + A(a+8,a+14) = 1; A(a+8,a+15) = -1; + A(a+9,a+13) = 1; A(a+9,a+16) = -1; + A(a+10,a+8) = 1; A(a+10,a+9) = -1; + A(a+11,a+1) = 1; A(a+11,a+15) = -1; + A(a+12,a+16) = 1; A(a+12,a+4) = -1; + A(a+13,a+6) = 1; A(a+13,a+9) = -1; + A(a+14,a+5) = 1; A(a+14,a+4) = -1; + A(a+15,a+0) = 1; A(a+15,a+1) = -1; + A(a+16,a+14) = 1; A(a+16,a+0) = -1; + A(a+17,a+7) = 1; A(a+17,a+6) = -1; + A(a+18,a+13) = 1; A(a+18,a+5) = -1; + A(a+19,a+7) = 1; A(a+19,a+8) = -1; + A(a+20,a+17) = 1; A(a+20,a+3) = -1; + A(a+21,a+6) = 1; A(a+21,a+11) = -1; + + + Matrix U, V; DiagonalMatrix S; + + SVD(A, S, U, V, true, true); CheckIsSorted(S); + + DiagonalMatrix D(20); D = 1; + + Matrix tmp = U.t() * U - D; + Clean(tmp,0.000000001); Print(tmp); + + tmp = V.t() * V - D; + Clean(tmp,0.000000001); Print(tmp); + + tmp = U * S * V.t() - A ; + Clean(tmp,0.000000001); Print(tmp); + + } + + { + Tracer et1("Stage 5"); + Matrix A(10,10); + + A.Row(1) << 1.00 << 0.07 << 0.05 << 0.00 << 0.06 + << 0.09 << 0.03 << 0.02 << 0.02 << -0.03; + A.Row(2) << 0.07 << 1.00 << 0.05 << 0.05 << -0.03 + << 0.07 << 0.00 << 0.07 << 0.00 << 0.02; + A.Row(3) << 0.05 << 0.05 << 1.00 << 0.05 << 0.02 + << 0.01 << -0.05 << 0.04 << 0.05 << -0.03; + A.Row(4) << 0.00 << 0.05 << 0.05 << 1.00 << -0.05 + << 0.04 << 0.01 << 0.02 << -0.05 << 0.00; + A.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00 + << -0.03 << 0.02 << -0.02 << 0.04 << 0.00; + A.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03 + << 1.00 << -0.06 << 0.08 << -0.02 << -0.10; + A.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02 + << -0.06 << 1.00 << 0.09 << 0.12 << -0.03; + A.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02 + << 0.08 << 0.09 << 1.00 << 0.00 << -0.02; + A.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04 + << -0.02 << 0.12 << 0.00 << 1.00 << 0.02; + A.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00 + << -0.10 << -0.03 << -0.02 << 0.02 << 1.00; + + SymmetricMatrix AS; AS << A; + Matrix V; DiagonalMatrix D, D1; + ColumnVector Check(6); + EigenValues(AS,D,V); CheckIsSorted(D, true); + Check(1) = MaximumAbsoluteValue(A - V * D * V.t()); + DiagonalMatrix I(10); I = 1; + Check(2) = MaximumAbsoluteValue(V * V.t() - I); + Check(3) = MaximumAbsoluteValue(V.t() * V - I); + + EigenValues(AS, D1); CheckIsSorted(D1, true); + D -= D1; + Clean(D,0.000000001); Print(D); + + Jacobi(AS,D,V); + Check(4) = MaximumAbsoluteValue(A - V * D * V.t()); + Check(5) = MaximumAbsoluteValue(V * V.t() - I); + Check(6) = MaximumAbsoluteValue(V.t() * V - I); + + SortAscending(D); + D -= D1; + Clean(D,0.000000001); Print(D); + + Clean(Check,0.000000001); Print(Check); + + // Check loading rows + + SymmetricMatrix B(10); + + B.Row(1) << 1.00; + B.Row(2) << 0.07 << 1.00; + B.Row(3) << 0.05 << 0.05 << 1.00; + B.Row(4) << 0.00 << 0.05 << 0.05 << 1.00; + B.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00; + B.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03 + << 1.00; + B.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02 + << -0.06 << 1.00; + B.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02 + << 0.08 << 0.09 << 1.00; + B.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04 + << -0.02 << 0.12 << 0.00 << 1.00; + B.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00 + << -0.10 << -0.03 << -0.02 << 0.02 << 1.00; + + B -= AS; Print(B); + + } + + { + Tracer et1("Stage 6"); + // badly scaled matrix + Matrix A(9,9); + + A.Row(1) << 1.13324e+012 << 3.68788e+011 << 3.35163e+009 + << 3.50193e+011 << 1.25335e+011 << 1.02212e+009 + << 3.16602e+009 << 1.02418e+009 << 9.42959e+006; + A.Row(2) << 3.68788e+011 << 1.67128e+011 << 1.27449e+009 + << 1.25335e+011 << 6.05413e+010 << 4.34573e+008 + << 1.02418e+009 << 4.69192e+008 << 3.61098e+006; + A.Row(3) << 3.35163e+009 << 1.27449e+009 << 1.25571e+007 + << 1.02212e+009 << 4.34573e+008 << 3.69769e+006 + << 9.42959e+006 << 3.61098e+006 << 3.59450e+004; + A.Row(4) << 3.50193e+011 << 1.25335e+011 << 1.02212e+009 + << 1.43514e+011 << 5.42310e+010 << 4.15822e+008 + << 1.23068e+009 << 4.31545e+008 << 3.58714e+006; + A.Row(5) << 1.25335e+011 << 6.05413e+010 << 4.34573e+008 + << 5.42310e+010 << 2.76601e+010 << 1.89102e+008 + << 4.31545e+008 << 2.09778e+008 << 1.51083e+006; + A.Row(6) << 1.02212e+009 << 4.34573e+008 << 3.69769e+006 + << 4.15822e+008 << 1.89102e+008 << 1.47143e+006 + << 3.58714e+006 << 1.51083e+006 << 1.30165e+004; + A.Row(7) << 3.16602e+009 << 1.02418e+009 << 9.42959e+006 + << 1.23068e+009 << 4.31545e+008 << 3.58714e+006 + << 1.12335e+007 << 3.54778e+006 << 3.34311e+004; + A.Row(8) << 1.02418e+009 << 4.69192e+008 << 3.61098e+006 + << 4.31545e+008 << 2.09778e+008 << 1.51083e+006 + << 3.54778e+006 << 1.62552e+006 << 1.25885e+004; + A.Row(9) << 9.42959e+006 << 3.61098e+006 << 3.59450e+004 + << 3.58714e+006 << 1.51083e+006 << 1.30165e+004 + << 3.34311e+004 << 1.25885e+004 << 1.28000e+002; + + + SymmetricMatrix AS; AS << A; + Matrix V; DiagonalMatrix D, D1; + ColumnVector Check(6); + EigenValues(AS,D,V); CheckIsSorted(D, true); + Check(1) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000; + DiagonalMatrix I(9); I = 1; + Check(2) = MaximumAbsoluteValue(V * V.t() - I); + Check(3) = MaximumAbsoluteValue(V.t() * V - I); + + EigenValues(AS, D1); + D -= D1; + Clean(D,0.001); Print(D); + + Jacobi(AS,D,V); + Check(4) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000; + Check(5) = MaximumAbsoluteValue(V * V.t() - I); + Check(6) = MaximumAbsoluteValue(V.t() * V - I); + + SortAscending(D); + D -= D1; + Clean(D,0.001); Print(D); + + Clean(Check,0.0000001); Print(Check); + } + + { + Tracer et1("Stage 7"); + // matrix with all singular values close to 1 + Matrix A(8,8); + A.Row(1)<<-0.4343<<-0.0445<<-0.4582<<-0.1612<<-0.3191<<-0.6784<<0.1068<<0; + A.Row(2)<<0.5791<<0.5517<<0.2575<<-0.1055<<-0.0437<<-0.5282<<0.0442<<0; + A.Row(3)<<0.5709<<-0.5179<<-0.3275<<0.2598<<-0.196<<-0.1451<<-0.4143<<0; + A.Row(4)<<0.2785<<-0.5258<<0.1251<<-0.4382<<0.0514<<-0.0446<<0.6586<<0; + A.Row(5)<<0.2654<<0.3736<<-0.7436<<-0.0122<<0.0376<<0.3465<<0.3397<<0; + A.Row(6)<<0.0173<<-0.0056<<-0.1903<<-0.7027<<0.4863<<-0.0199<<-0.4825<<0; + A.Row(7)<<0.0434<<0.0966<<0.1083<<-0.4576<<-0.7857<<0.3425<<-0.1818<<0; + A.Row(8)<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<-1.0; + Matrix U,V; DiagonalMatrix D; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + DiagonalMatrix I(8); I = 1; D -= I; Clean(D,0.0001); Print(D); + U *= U.t(); U -= I; Clean(U,0.000000001); Print(U); + V *= V.t(); V -= I; Clean(V,0.000000001); Print(V); + + } + + { + Tracer et1("Stage 8"); + // check SortSV functions + + Matrix A(15, 10); + int i, j; + for (i = 1; i <= 15; ++i) for (j = 1; j <= 10; ++j) + A(i, j) = i + j / 1000.0; + DiagonalMatrix D(10); + D << 0.2 << 0.5 << 0.1 << 0.7 << 0.8 << 0.3 << 0.4 << 0.7 << 0.9 << 0.6; + Matrix U = A; Matrix V = 10 - 2 * A; + Matrix Prod = U * D * V.t(); + + DiagonalMatrix D2 = D; SortDescending(D2); + DiagonalMatrix D1 = D; SortSV(D1, U, V); Matrix X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U); X = D1 - D2; Print(X); + D1 = D; SortSV(D1, V); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + + D2 = D; SortAscending(D2); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U, V, true); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U, true); X = D1 - D2; Print(X); + D1 = D; SortSV(D1, V, true); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + } + + { + Tracer et1("Stage 9"); + // Tom William's example + Matrix A(10,10); + Matrix U; + Matrix V; + DiagonalMatrix Sigma; + Real myVals[] = + { + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, + 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, + }; + + A << myVals; + SVD(A, Sigma, U, V); CheckIsSorted(Sigma); + A -= U * Sigma * V.t(); + Clean(A, 0.000000001); Print(A); + } + + + +} diff --git a/.svn/pristine/01/01bcde80a6566f62bb36950729e0ab538661d811.svn-base b/.svn/pristine/01/01bcde80a6566f62bb36950729e0ab538661d811.svn-base new file mode 100644 index 0000000..1d06b39 --- /dev/null +++ b/.svn/pristine/01/01bcde80a6566f62bb36950729e0ab538661d811.svn-base @@ -0,0 +1,90 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_H__ +#define __SCAN_IO_H__ + +#include "slam6d/io_types.h" +#include "slam6d/pointfilter.h" + +#include +#include +#include +#include + + + +/** + * @brief IO of a 3D scan + * + * This class needs to be instantiated by a class loading + * 3D scans from different file formats. + */ +class ScanIO { +public: + /** + * Read a directory and return all possible scans in the [start,end] interval. + * + * @param dir_path The directory from which to read the scans + * @param start Starting index + * @param end Last index + * @return List of IO-specific identifiers of scans, matching the search + */ + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0; + + /** + * Reads the pose from a dedicated pose file or from the scan file. + * + * @param dir_path The directory the scan is contained in + * @param scan_identifier IO-specific identifier for the particular scan + * @param pose Pointer to an existing double[6] array where the pose is saved in + */ + virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0; + + /** + * Given a scan identifier, load the contents of this particular scan. + * + * @param dir_path The directory the scan is contained in + * @param identifier IO-specific identifier for the particular scan + * @param filter Filter object which each point is tested on by its position + */ + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz = 0, std::vector* rgb = 0, std::vector* reflectance = 0, std::vector* amplitude = 0, std::vector* type = 0, std::vector* deviation = 0) = 0; + + /** + * Returns whether this ScanIO can load the requested data from a scan. + * + * @param type data channel request + * @return whether it's supported or not + */ + virtual bool supports(IODataType type) = 0; + + /** + * @brief Global mapping of io_types to single instances of ScanIOs. + * + * If the ScanIO doesn't exist, it will be created and saved in a map. + * Otherwise, the matching ScanIO will be returned. + * + * @param type Key identifying the ScanIO + * @return The newly created or found ScanIO + */ + static ScanIO* getScanIO(IOType iotype); + + //! Delete all ScanIO instances and (lazy) try to unload the libraries. + static void clearScanIOs(); +private: + static std::map m_scanIOs; +}; + +// Since the shared object files are loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/01/01c6e20fc458d4b3bc96dbe036d4a5d00e0637a8.svn-base b/.svn/pristine/01/01c6e20fc458d4b3bc96dbe036d4a5d00e0637a8.svn-base new file mode 100644 index 0000000..eadb052 --- /dev/null +++ b/.svn/pristine/01/01c6e20fc458d4b3bc96dbe036d4a5d00e0637a8.svn-base @@ -0,0 +1,219 @@ +/* + * icp6Dlumquat implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via + * via linearization with quaternions + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dlumquat.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using linearization with quarernions + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_LUMQUAT::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + // alignfx is filled with the current pose, t is the translation, quat is the quaternion + double t[3], quat[4]; + Matrix4ToQuat(alignfx, quat, t); + + + double error = 0; + double sum = 0.0; + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "LUMQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + /// MZ = M^T * Z + ColumnVector MZ(7); MZ = 0.0; + /// MM = M^T * M + Matrix MM(7, 7); MM = 0.0; + double x = 0.0, y = 0.0, z = 0.0, dx = 0.0, dy = 0.0, dz = 0.0, sx = 0.0, sy = 0.0, sz = 0.0, xpy = 0.0, xpz = 0.0, ypz = 0.0, xpypz = 0.0, xy = 0.0, yz = 0.0, xz = 0.0; + + for(unsigned int i = 0; i < pairs.size(); ++i) { + /// temporary values that we shall use multiple times in the subsequent computations + + x = (pairs[i].p1.x + pairs[i].p1.x) / 2.0; + y = (pairs[i].p1.y + pairs[i].p2.y) / 2.0; + z = (pairs[i].p1.z + pairs[i].p2.z) / 2.0; + dx = pairs[i].p1.x - pairs[i].p2.x; + dy = pairs[i].p1.y - pairs[i].p2.y; + dz = pairs[i].p1.z - pairs[i].p2.z; + + /// sums of each coordinate + sx += x; + sy += y; + sz += z; + + /// sums of squares of coordinates + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + xpypz += x*x + y*y + z*z; + + /// sums of products of pairs of coordinates + xy += x*y; + xz += x*z; + yz += y*z; + + /// incrementally construct matrix M^T * Z + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += x*dx + y*dy + z*dz; + MZ(5) += z*dy - y*dz; + MZ(6) += x*dz - z*dx; + MZ(7) += y*dx - x*dy; + } + + /// construct M^ * M + MM(1,1) = MM(2,2) = MM(3,3) = pairs.size(); + MM(4,4) = xpypz; + MM(5,5) = ypz; + MM(6,6) = xpz; + MM(7,7) = xpy; + MM(1,4) = MM(4,1) = sx; + MM(1,6) = MM(6,1) = -sz; + MM(1,7) = MM(7,1) = sy; + MM(2,4) = MM(4,2) = sy; + MM(2,5) = MM(5,2) = sz; + MM(2,7) = MM(7,2) = -sx; + MM(3,4) = MM(4,3) = sz; + MM(3,5) = MM(5,3) = -sy; + MM(3,6) = MM(6,3) = sx; + MM(5,6) = MM(6,5) = -xy; + MM(5,7) = MM(7,5) = -xz; + MM(6,7) = MM(7,6) = -yz; + + ColumnVector Ehat = MM.i() * MZ ; + + + /// construct the auxiliary matrices U and T needed to build up H + double p = quat[0], q = quat[1], r = quat[2], s = quat[3]; + x = t[0], y = t[1], z = t[2]; + Matrix U(4, 4); + U << p << q << r << s + << q <<-p << s <<-r + << r <<-s <<-p << q + << s << r <<-q <<-p; + + Matrix T(3, 4); + T << p*x + s*y - r*z << q*x + r*y + s*z << r*x - q*y + p*z << s*x - p*y - q*z + <<-s*x + p*y + q*z <<-r*x + q*y - p*z << q*x + r*y + s*z << p*x + s*y - r*z + << r*x - q*y + p*z <<-s*x + p*y + q*z <<-p*x - s*y + r*z << q*x + r*y - s*z; + /// now actually compose matrix H + Matrix H(7, 7); H = 0.0; + H.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3); + H.SubMatrix(1, 3, 4, 7) = T *(-2); + H.SubMatrix(4, 7, 4, 7) = U * 2; + + + /// Xhat is the pose estimate for the second scan - use the pose of the first scan + ColumnVector Xhat(7); Xhat << x << y << z << p << q << r << s; + + /// create a transformation matrix for the first scan with the given values + Matrix T1(4, 4); T1 = 0.0; + Matrix Cq(3, 3); + ColumnVector qvec(3); qvec << q << r << s; + Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0; + ColumnVector qtq(1); qtq = qvec.t() *qvec * (-1); + T1.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p; + T1(1, 4) = x; + T1(2, 4) = y; + T1(3, 4) = z; + T1(4, 4) = 1; + + + /// the translation and quaternion for the second scan are computed + ColumnVector X = Xhat - H.i() * Ehat; + + + /// create the transformation matrix for the second scan + x = X(1), y = X(2), z = X(3); + p = X(4); q = X(5); r = X(6); s = X(7); + Matrix T2(4, 4); T2 = 0.0; + qvec = 0.0; qvec << q << r << s; + Cq = 0.0; Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0; + qtq = qvec.t() *qvec * (-1); + T2.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p; + T2(1, 4) = x; + T2(2, 4) = y; + T2(3, 4) = z; + T2(4, 4) = 1; + + /// the incremental transform calculated from the absolute poses of the two scans + Matrix T_inc = T1 * T2.i(); + + /// convert our 4x4 transform to column-wise opengl form + alignfx[0] = T_inc(1, 1); + alignfx[1] = T_inc(2, 1); + alignfx[2] = T_inc(3, 1); + alignfx[3] = 0.0; + alignfx[4] = T_inc(1, 2); + alignfx[5] = T_inc(2, 2); + alignfx[6] = T_inc(3, 2); + alignfx[7] = 0.0; + alignfx[8] = T_inc(1, 3); + alignfx[9] = T_inc(2, 3); + alignfx[10]= T_inc(3, 3); + alignfx[11]= 0.0; + alignfx[12]= T_inc(1, 4); + alignfx[13]= T_inc(2, 4); + alignfx[14]= T_inc(3, 4); + alignfx[15]= 1.0; + + ///////////////////////////////////////////////////////// + ///////////////////////////////////////////////////////// + + + + return error; +} + diff --git a/.svn/pristine/02/023acba8dc7f8a304cfe4c94511903d976659f48.svn-base b/.svn/pristine/02/023acba8dc7f8a304cfe4c94511903d976659f48.svn-base new file mode 100644 index 0000000..0591988 --- /dev/null +++ b/.svn/pristine/02/023acba8dc7f8a304cfe4c94511903d976659f48.svn-base @@ -0,0 +1,75 @@ +/** + * @file panorama.h + * @brife create panorama images from 3D scans. + * This class is a panorama image container with different projections. + * It creats panoramic images with specified resolutions. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/23 2:00 + */ + +#ifndef PANORAMA_H_ +#define PANORAMA_H_ + +#include "fbr_global.h" + +using namespace std; + +namespace fbr{ + /** + * @class panorama : create panorama images with different projection methods from input scan files(Mat from scan_cv class) in opencv Mat format + * @param iReflectance panorama image from reflectance data + * @param iRange panorama image from range data + * @param iMap panorama map of 3D cartesian coordinate of input scan(same points as iRange and iReflectance) + * @param extendedIMap 3D vector as panorama map with all the points + * @param iWidth width of the panorama image (cols in opencv) + * @param iHeight height of panorama image (rows in opencv) + * @param pMethod projection method for panorama creation + * @param nImage number of images per scan specially for Rectilinear, Pannini and Stereographic projections + * @param pParam special d parameter of Pannini projection (Master Thesis for more info) or special R parameter of Stereographic projection (Master Thesis for more info) + */ + class panorama{ + cv::Mat iReflectance; + cv::Mat iMap; + cv::Mat iRange; + vector > > extendedIMap; + unsigned int iWidth; + unsigned int iHeight; + projection_method pMethod; + unsigned int nImages; + double pParam; + panorama_map_method mapMethod; + + void init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod); + void map(int x, int y, cv::MatIterator_ it, double range); + public: + /** + * constructor of class panorama + * @param width the width of the panorama image + * @param height the height of the panorama image + * @param method the projection method + * @param images number of subsets to crate panorama image + * @param param special parameter for pannini or stereographic projections + * @param mapMethod mapping method for panorama image and 3D points + */ + panorama (unsigned int width, unsigned int height, projection_method method); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod); + /** + * @brief creates the panorama reflectance image and map. + */ + void createPanorama(cv::Mat scan); + unsigned int getImageWidth(); + unsigned int getImageHeight(); + projection_method getProjectionMethod(); + unsigned int getNumberOfImages(); + double getProjectionParam(); + cv::Mat getReflectanceImage(); + cv::Mat getMap(); + cv::Mat getRangeImage(); + vector > > getExtendedMap(); + panorama_map_method getMapMethod(); + void getDescription(); + }; +} +#endif /* PANORAMA_H_ */ diff --git a/.svn/pristine/02/02a0e9d78c9155f6cc70109d351e9a47fb0304ee.svn-base b/.svn/pristine/02/02a0e9d78c9155f6cc70109d351e9a47fb0304ee.svn-base new file mode 100644 index 0000000..ca4e7e3 --- /dev/null +++ b/.svn/pristine/02/02a0e9d78c9155f6cc70109d351e9a47fb0304ee.svn-base @@ -0,0 +1,97 @@ +/************************************************************************** + + quaternion.h + + A quaternion class + + --------------------------------------------------------------------- + + Feb 1998, Paul Rademacher (rademach@cs.unc.edu) + +**************************************************************************/ + +#ifndef _QUATERNION_H_ +#define _QUATERNION_H_ + +#include "algebra3.h" +#include +#include + + +/* this line defines a new type: pointer to a function which returns a */ +/* float and takes as argument a float */ +typedef float (*V_FCT_PTR)(float); + + +/**************************************************************** +* Quaternion * +****************************************************************/ + +class quat +{ + /*protected: */ +public: + + vec3 v; /* vector component */ + float s; /* scalar component */ + + /*public: */ + + /* Constructors */ + + quat(void); + quat(const float x, const float y, const float z, const float w); + quat( vec3 v, float s ); + quat( float s, vec3 v ); + quat(const float *d ); /* copy from four-element float array */ + quat(const double *f ); /* copy from four-element double array */ + quat(const quat &q ); /* copy from other quat */ + + /* Assignment operators */ + + quat &operator = ( const quat &v ); /* assignment of a quat */ + quat &operator += ( const quat &v ); /* incrementation by a quat */ + quat &operator -= ( const quat &v ); /* decrementation by a quat */ + quat &operator *= ( const float d ); /* multiplication by a constant */ + quat &operator /= ( const float d ); /* division by a constant */ + float &operator [] ( int i); /* indexing */ + + /* special functions */ + + float length(void); /* length of a quat */ + float length2(void); /* squared length of a quat */ + quat &normalize(void); /* normalize a quat */ + quat &apply(V_FCT_PTR fct); /* apply a func. to each component */ + void set( float x, float y, float z ); /* set quat */ + void set( vec3 v, float s ); /* set quat */ + void print( FILE *file, char *name ); /* print quat to a file */ + vec3 xform( const vec3 &v ); /* q*v*q-1 */ + mat4 to_mat4( void ); + void set_angle( float f ); /* set rot angle (degrees) */ + void scale_angle( float f ); /* scale rot angle (degrees) */ + float get_angle( void ); /* set rot angle (degrees) */ + vec3 get_axis( void ); /* get axis */ + + /* friends */ + + friend quat operator - (const quat &v); /* -q1 */ + friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */ + friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */ + friend quat operator * (const quat &a, const float d); /* q1 * 3.0 */ + friend quat operator * (const float d, const quat &a); /* 3.0 * q1 */ + friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */ + friend quat operator / (const quat &a, const float d); /* q1 / 3.0 */ + friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */ + friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */ + friend void swap(quat &a, quat &b); /* swap q1 &q2 */ + /*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */ + /*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */ + friend quat prod(const quat &a, const quat &b); /* term by term mult */ + }; + +/* Utility functions */ + +quat quat_identity( void ); /* Returns quaternion identity element */ +quat quat_slerp( quat from, quat to, float t ); + +#endif diff --git a/.svn/pristine/02/02aef3d3f9dd11c0599b9903bd46fd3e26bd106c.svn-base b/.svn/pristine/02/02aef3d3f9dd11c0599b9903bd46fd3e26bd106c.svn-base new file mode 100644 index 0000000..cc3f1ba --- /dev/null +++ b/.svn/pristine/02/02aef3d3f9dd11c0599b9903bd46fd3e26bd106c.svn-base @@ -0,0 +1,158 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_xyzr.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS + reflectance file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyzr::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + /* + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + */ + + scanFileName = dir + "konv_bremenc_" + to_string(fileCounter,3) + ".txt"; + scan_in.open(scanFileName.c_str()); + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + pose_in.open(poseFileName.c_str()); + + // read 3D scan + // if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << scanFileName; + + if (pose_in.good()) { + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + } else { + cout << endl << "No pose estimate given." << endl; + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + } + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + double tmp; + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + + p.x -= 485531.0; + p.y -= 5882078.400; + p.z -= 52; + + tmp = p.z; + p.z = p.y; + p.y = tmp; + + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if ((maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) && (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyzr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/03/030ab769d8a6c0d83bf9f0b94743442776ebac7d.svn-base b/.svn/pristine/03/030ab769d8a6c0d83bf9f0b94743442776ebac7d.svn-base new file mode 100644 index 0000000..f213bd3 --- /dev/null +++ b/.svn/pristine/03/030ab769d8a6c0d83bf9f0b94743442776ebac7d.svn-base @@ -0,0 +1,925 @@ +/** + * @file + * @brief Implementation of reading a 3D CAD model and creating a 3D + * surface sampling of it. This sampling is then used as an artificial + * 3D scan in regular scan matching + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_cad.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +#include + +// TODO: make eventually compatible to windoze +#include // can be changed to cstdint if -std=c++0x compiler flag is used + + +#ifdef _MSC_VER +#include +#endif + +#define BOOST_NEW_FS_API 104600 + +ScanIO_CAD::ScanIO_CAD (void) : _op_descr ("CAD Config Options") +{ + setUpOptionDescription (); +} + +/** + * Reads specified 'scans' from CAD models in a given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * Each CAD model will be represented by a sampling of 3D points on the + * the surface of the CAD model. Currently the implementation is able to + * handle CAD models in the .stl file format (binary or ASCII is fine). + * In constrast to other ScanIOs only one 3D scan will be read (specified + * by parameter start). Other data is generated from the (arbitrary) named + * .stl files in the directory specified by argument dir. Parameter end is + * soley kept to satisfy the general interface. + * + * !!!!!! + * Config parameters are read from an (optional) config.txt in the scan directory. + * A config.txt with content "help = 1" will print out all possible parameters. + * !!!!!! + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_CAD::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + /* + * we need to read 1 normal scan (the first one) and afterwards + * create point samplings of the CAD models + */ + static int fileCounter = start; // this is a really ugly hack... + + // check before the first scan is read for a config file + if (fileCounter == start) + { + // is there a config file ? + std::string config_file_name = dir + "config.txt"; + std::ifstream config; + config.open (config_file_name.c_str ()); + if (config.good ()) + { + // parse the config to eventually overload default parameters + parseConfig (config); + } + // else use the default parameters + + // retrieve all stl files + parseDirForAllSTL (dir); + } + + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + // clear the point vector (to make sure no old garbage is contained) + ptss.clear (); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + fs::path stl_file; + + // the first scan file name should be a .3d file + if (fileCounter == start) + { + scanFileName = dir + "scan" + to_string(fileCounter, 3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter, 3) + ".pose"; + } + // otherwise it should be a .stl file + else + { + // get the next stl file if the directory contains one more + if (getNextSTLFromDir (stl_file)) + { + fs::path pose_file (stl_file); + + // retrieve the the filenames according to the installed boost version +#if BOOST_VERSION < BOOST_NEW_FS_API + // change extension + pose_file.replace_extension (".pose"); + scanFileName = stl_file.directory_string (); + poseFileName = pose_file.directory_string (); +#else + // change extension + pose_file.replace_extension (fs::path (".pose")); + scanFileName = stl_file.string (); + poseFileName = pose_file.string (); +#endif + } + else + { + // aparently no stl file available anymore + return -1; + } + } + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read pose information independent from file type + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + // read a 'normal' Slam6D Pose + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + if (fileCounter == start) + { + read3DScan (scan_in, maxDist, minDist, ptss); + } + else + { + bool success = createSamplingFromSTL (scan_in, ptss); + if (!success) + { + // terminate similar to missing file + exit (1); + } + if (store_cad) + { + std::string stem; + // get the string of the file-stem according to installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + stem = stl_file.stem (); +#else + stem = stl_file.stem ().string (); +#endif + fs::path sample_file (stl_file); + // is filename scanXXX.3d ? + if (stem.substr (0, 4).compare ("scan") == 0 && + std::atoi (stem.substr (4).c_str ()) == fileCounter) + { + // replace the extension according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + sample_file.replace_extension (".3d"); +#else + sample_file.replace_extension (fs::path (".3d")); +#endif + // the appropriate .pose file already exists + } + else + { + // generate appropriate filename + std::string filename = "scan" + to_string (fileCounter, 3) + ".3d"; + sample_file.remove_filename (); + sample_file /= filename; + + // copy .pose file + fs::path orig_pose (stl_file); + fs::path copied_pose (sample_file); +#if BOOST_VERSION < BOOST_NEW_FS_API + orig_pose.replace_extension (".pose"); + copied_pose.replace_extension (".pose"); +#else + orig_pose.replace_extension (fs::path (".pose")); + copied_pose.replace_extension (fs::path (".pose")); +#endif + fs::copy_file (orig_pose, copied_pose, fs::copy_option::overwrite_if_exists); + } + // retrieve the filename according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + storeSamplingTo3D (sample_file.directory_string (), ptss); +#else + storeSamplingTo3D (sample_file.string (), ptss); +#endif + } + } + + + + // close the filestreams + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + +/** + * Helper function to read a regular UOS scan + */ +void +ScanIO_CAD::read3DScan (std::ifstream &scan_in, int maxDist, int minDist, + vector &points) +{ + // reading regular uos scan (copy & paste from scan_io_uos.cc) + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + double maxDist2 = sqr (maxDist); + double minDist2 = sqr (minDist); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + { + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + { + points.push_back(p); + } + } + } +} + +/** + * Helper function to create a 3D point sampling for a given .stl file + */ +bool +ScanIO_CAD::createSamplingFromSTL (std::ifstream &scan_in, + vector &points) +{ + bool success; + if (hasASCIIHeader (scan_in)) + { + std::cout << "detected ASCII header, parsing file" << std::endl; + success = parseASCII (scan_in, points); + } + else + { + std::cout << "couldn't detect ASCII header, trying to parse binary" + << std::endl; + success = parseBinary (scan_in, points); + } + return success; +} + +bool +ScanIO_CAD::hasASCIIHeader (std::ifstream &scan_in) +{ + // store current get pointer position + std::streampos current_pos = scan_in. tellg (); + + bool is_ascii = true; + + /* idea: check for the keywords with have to occur at the beginning + * and the end of an ASCII .stl files + * (see http://www.ennex.com/~fabbers/StL.asp for further specs) + */ + std::string solid ("solid"); + std::string last_line; + std::string name; + std::string last_read_string; + + // go to the beginning of the ifstream + scan_in.seekg (0, std::ios::beg); + // read the first string + scan_in >> last_read_string; + if (solid.compare (last_read_string) != 0) + { + is_ascii = false; + } + if (is_ascii) + { + // read the next string (i.e. name of the stl) + scan_in >> name; + // generate expected last line + last_line = "endsolid " + name; + // set the get pointer to the correct position + scan_in.seekg (-last_line.length () - 2, std::ios::end); + scan_in >> last_read_string; + if (last_read_string.compare ("endsolid") != 0) + { + is_ascii = false; + } + if (is_ascii) + { + scan_in >> last_read_string; + if (last_read_string.compare (name) != 0) + { + is_ascii = false; + } + } + } + + // reset the position of the get pointer to its original position + scan_in.seekg (current_pos, std::ios::beg); + return is_ascii; +} + +bool +ScanIO_CAD::parseASCII (std::ifstream &scan_in, vector &points) +{ + float vertex1[3]; + float vertex2[3]; + float vertex3[3]; + float raw_data[3]; + + unsigned int line_nr = 0; + unsigned int face_counter = 0; + + float* vertices[3]; + vertices[0] = vertex1; + vertices[1] = vertex2; + vertices[2] = vertex3; + + bool success = true; + bool reached_end = false; + + // retrieve current pos of get pointer + std::ios::streampos current_pos = scan_in.tellg (); + + // set get pointer to beginning of file + scan_in.seekg (0, std::ios::beg); + + std::string read_key; + std::string tmp; + + // ignore first line, since in hasASCIIHeader () + std::getline (scan_in, read_key); + line_nr++; + + while (scan_in.good ()) + { + // read first string at current position + scan_in >> read_key; + // determine if end of file reached + if (read_key.compare ("endsolid") == 0) + { + reached_end = true; + break; + } + // otherwise check if a new face begins + if (read_key.compare ("facet") != 0 || + !scan_in.good ()) + { + // no new face -> misformated .stl + std::cout << "expected 'facet', contains '" << read_key.substr (0,5) + << "'" << std::endl; + success = false; + break; + } + // read the rest of the line (containing the normal) + getline (scan_in, read_key); + line_nr++; + + // get the next 2 strings + scan_in >> read_key; + scan_in >> tmp; + read_key += " " + tmp; + if (read_key.compare ("outer loop") != 0 || + !scan_in.good ()) + { + std::cout << "expected 'outer loop', read '" << read_key + << "' instead" << std::endl; + success = false; + break; + } + // read the rest of the line + getline (scan_in, read_key); + line_nr++; + + // read the 3 vertices + for (unsigned int i = 0; i < 3; ++i) + { + scan_in >> read_key; + line_nr++; + if (read_key.compare ("vertex") == 0) + { + // read x, y and z coordinate in this order + scan_in >> raw_data[0] >> raw_data[1] >> raw_data[2]; + // scale and order according to the specified settings + copyRawData2Vertex (raw_data, vertices[i]); + if (!scan_in.good ()) + { + success = false; + break; + } + } + else + { + success = false; + break; + } + } + // retrieve the closing tag for the vertices + scan_in >> read_key; + if (read_key.compare ("endloop") != 0 || + !scan_in.good ()) + { + success = false; + break; + } + // retrieve the rest of the current line + getline (scan_in, read_key); + line_nr++; + + // retrieve the closing tag for the face + scan_in >> read_key; + if (read_key.compare ("endfacet") != 0 || + !scan_in.good ()) + { + std::cout << "Expected 'endfacet', read '" << read_key + << "' instead" << std::endl; + success = false; + break; + } + // retrieve the rest of the line + getline (scan_in, read_key); + line_nr++; + // increment nr of read faces + face_counter++; + // create the sampling for the face + createSampingForFace (vertex1, vertex2, vertex3, points); + } + + if (!reached_end) + { + success = false; + } + + // reset position of get pointer + scan_in.seekg (current_pos, std::ios::beg); + + if (!success) + { + std::cerr << "Misformated ASCII .stl file. Parsing error in line " + << line_nr << std::endl; + } + else + { + std::cout << "Created " << points.size () << " sample points for " + << face_counter << " faces." << std::endl; + } + return success; +} + +bool +ScanIO_CAD::parseBinary (std::ifstream &scan_in, vector &points) +{ + // TODO: make eventually compatible to windoze + uint32_t nr_faces; + uint32_t face_counter = 0; + uint16_t attribute; + + float normal[3]; + float vertex1[3]; + float vertex2[3]; + float vertex3[3]; + float raw_data[3]; + + bool success; + + size_t header_size = 80; // defined in the binary .stl standard + char* header = new char[header_size]; + + // retrieve the current get pointer position + std::streampos current_pos = scan_in.tellg (); + + // jump to begin of file + scan_in.seekg (0, std::ios::beg); + + if (scan_in.is_open ()) + { + // read the header (unimportant for the sampling) + scan_in.read (header, header_size); + + // read nr of faces contained in stl file + scan_in.read ((char*) &nr_faces, 4); + + // try to read all faces + for (face_counter = 0; face_counter < nr_faces; ++face_counter) + { + if (!scan_in.good ()) + { + break; + } + + // read face normal (which we don't need) + scan_in.read ((char*) &normal, 12); + + // read the first vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex1); + + // read the second vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex2); + + // read the first vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex3); + + // read the attribute (which we don't need) + scan_in.read ((char*) &attribute, 2); + + // create the sampling for the current face + createSampingForFace (vertex1, vertex2, vertex3, points); + } + } + + // check if indeed the specified number of faces could be read + if (face_counter == nr_faces) + { + success = true; + std::cout << "Created " << points.size () << " sample points for " + << nr_faces << " faces." << std::endl; + } + else + { + std::cerr << "Error parsing binary .stl file. Expected " << nr_faces + << " faces but could read only " << face_counter << std::endl; + success = false; + } + + // reset the get pointer position; + scan_in.seekg (current_pos, std::ios::beg); + + delete [] header; + return success; +} + +void +ScanIO_CAD::createSampingForFace (float* vertex1, float* vertex2, + float* vertex3, vector &points) +{ + /* + * Random sampling approach to sample a triangle: + * First compute the area of the triangle and decide how many sample + * points are needed; afterwards randomly create a number of points + * inside the triangle + */ + + // get the area of the triangle + float vector12[3]; + float vector13[3]; + float vector23[3]; + + for (unsigned int i = 0; i < 3; ++i) + { + vector12[i] = vertex2[i] - vertex1[i]; + vector13[i] = vertex3[i] - vertex1[i]; + vector23[i] = vertex3[i] - vertex2[i]; + } + + float a, b, c; + a = b = c = 0.0f; + + a = dotProd (vector12, vector12); + b = dotProd (vector13, vector13); + c = dotProd (vector23, vector23); + + a = sqrt (a); + b = sqrt (b); + c = sqrt (c); + + float s = a + b + c; + s /= 2.0f; + + float area = sqrt (s * (s - a) * (s - b) * (s - c)); + + unsigned int nr_sample_points, nr_added_points; + + nr_sample_points = area / (sample_point_dist * sample_point_dist); + nr_added_points = 0; + + if (nr_sample_points > 3) + { + points.reserve (points.size () + nr_sample_points); + + float u, v; + float point_in_triangle[3]; + + while (nr_added_points < nr_sample_points) + { + // randomly generate scalar u and v in [0,1] + u = (float) std::rand () / (float) RAND_MAX; + v = (float) std::rand () / (float) RAND_MAX; + + // check if u and v are smaller than 1.0 (i.e. point is in triangle) + if (u + v <= 1.0f) + { + for (unsigned int i = 0; i < 3; ++i) + { + point_in_triangle[i] = vertex1[i] + u * vector12[i] + v * vector13[i]; + } + points.push_back (Point (point_in_triangle[0], + point_in_triangle[1], point_in_triangle[2])); + nr_added_points++; + } + } + } + // for a small face just add the corners to the sample points + else + { + points.reserve (points.size () + 3); + points.push_back (Point (vertex1[0], vertex1[1], vertex1[2])); + points.push_back (Point (vertex2[0], vertex2[1], vertex2[2])); + points.push_back (Point (vertex3[0], vertex3[1], vertex3[2])); + } +} + +void +ScanIO_CAD::storeSamplingTo3D (std::string filename, vector &points) +{ + std::ofstream sample_file (filename.c_str ()); + + // write header + sample_file << "# artificial scan from cad model '" << filename + << "', containing " << points.size () << " sample points" << std::endl; + // write all points + vector::const_iterator it = points.begin (); + while (it != points.end ()) + { + sample_file << *it++ << std::endl; + } + + sample_file.flush (); + sample_file.close (); +} + +float +ScanIO_CAD::dotProd (const float* vec1, const float* vec2) +{ + return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2]; +} + +void +ScanIO_CAD::parseConfig (std::ifstream &config) +{ + try + { + po::store (po::parse_config_file (config, _op_descr), _vmap); + } + catch (std::exception &e) + { + std::cout << "illegal parameter in config file:" << std::endl + << e.what () << std::endl << std::endl; + std::cout << "The following options are available:" << std::endl; + std::cout << _op_descr << std::endl; + config.close (); + exit (-1); + } + catch (...) + { + std::cerr << "this line shouldn't have been reached ever" << std::endl; + config.close (); + exit (-2); + } + + po::notify (_vmap); + + if (_vmap.count ("help")) + { + std::cout << _op_descr << std::endl; + // when help is enabled we'll just exit + exit (1); + } + std::cout << "'store_cad' "; + if (store_cad) + std::cout << "was set to true"; + else + std::cout << "was set to false"; + std::cout << endl; + + if (x_index == y_index) + { + std::cout << "Warning: x_index = y_index = " << x_index << std::endl; + } + if (x_index == z_index) + { + std::cout << "Warning: x_index = z_index = " << x_index << std::endl; + } + if (y_index == z_index) + { + std::cout << "Warning: y_index = z_index = " << y_index << std::endl; + } + + if (fabs (x_scale - STD_X_SCALE) > std::numeric_limits::epsilon () || + fabs (y_scale - STD_Y_SCALE) > std::numeric_limits::epsilon () || + fabs (z_scale - STD_Z_SCALE) > std::numeric_limits::epsilon ()) + { + this->individual_scale = true; + } + else + { + this->individual_scale = false; + } + + config.close (); +} + + +void +ScanIO_CAD::copyRawData2Vertex (float *raw_data, float *vertex) +{ + // copy the raw data to the desired positions + vertex[0] = raw_data[x_index]; + vertex[1] = raw_data[y_index]; + vertex[2] = raw_data[z_index]; + + // any axis to be inverted in the data converted to scan coords? + if (invert_x) + vertex[0] *= -1.0f; + if (invert_y) + vertex[1] *= -1.0f; + if (invert_z) + vertex[2] *= -1.0f; + + // scale with individual scale_factor + if (individual_scale) + { + vertex[0] *= x_scale; + vertex[1] *= y_scale; + vertex[2] *= z_scale; + // scale additionally with general scale factor + if (combine_scales) + { + vertex[0] *= scale_factor; + vertex[1] *= scale_factor; + vertex[2] *= scale_factor; + } + } + // scale with the general scale factor + else + { + vertex[0] *= scale_factor; + vertex[1] *= scale_factor; + vertex[2] *= scale_factor; + } +} + +void +ScanIO_CAD::setUpOptionDescription (void) +{ + // just something for a little nicer output formating + std::stringstream x_ss; + x_ss << STD_X_SCALE; + std::stringstream y_ss; + y_ss << STD_Y_SCALE; + std::stringstream z_ss; + z_ss << STD_Z_SCALE; + std::stringstream scale_ss; + scale_ss << STD_SCALE_FACTOR; + + // set up the options descriptions + _op_descr.add_options () + ("help", "produce this help message") + ("store_cad", + po::value (&store_cad)->default_value (STD_STORE_CAD), + "determine storage of sampled cad") + ("sample_dist", + po::value (&sample_point_dist)->default_value (STD_SAMPLE_DIST), + "approximate distance of sample points") + ("random_sampling", + po::value (&random_sampling)->default_value (STD_RND_SAMP), + "enables/diables random surface sampling") + ("x_index", + po::value (&x_index)->default_value (STD_X_INDEX), + "array index for the x coordinate (default should work for UOS scans)") + ("y_index", + po::value (&y_index)->default_value (STD_Y_INDEX), + "array index for the y coordinate (default should work for UOS scans)") + ("z_index", + po::value (&z_index)->default_value (STD_Z_INDEX), + "array index for the z coordinate (default should work for UOS scans)") + ("scale_factor", + po::value (&scale_factor)->default_value (STD_SCALE_FACTOR, + scale_ss.str ()), + "set general scale factor for x-, y- and z-axis") + ("x_scale", + po::value (&x_scale)->default_value (STD_X_SCALE, x_ss.str ()), + "scale factor to convert the x coordinate of the CAD models to scan scale") + ("y_scale", + po::value (&y_scale)->default_value (STD_Y_SCALE, y_ss.str ()), + "scale factor to convert the y coordinate of the CAD models to scan scale") + ("z_scale", + po::value (&z_scale)->default_value (STD_Z_SCALE, z_ss.str ()), + "scale factor to convert the z coordinate of the CAD models to scan scale") + ("combine_scales", + po::value (&combine_scales)->default_value (STD_COMBINE_SCALES), + "enables combining of general scale factor and individual scale factors") + ("invert_x", + po::value (&invert_x)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models x-axis") + ("invert_y", + po::value (&invert_y)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models y-axis") + ("invert_z", + po::value (&invert_z)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models z-axis") + ; +} + +void +ScanIO_CAD::parseDirForAllSTL (std::string &directory_name) +{ + // make sure nothing is stored in the stl file vector + _stl_files.clear (); + + // get a directory iterator to mark the end of the directory + fs::path dir (directory_name); + fs::directory_iterator end; + + // iterate over the complete directory + for (fs::directory_iterator pos (dir); pos != end; ++pos) + { + if (fs::is_regular_file (*pos)) + { + std::string extension; + // retrieve the extension string according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + extension = pos->path ().extension (); +#else + extension = pos->path ().extension ().string (); +#endif + std::for_each (extension.begin (), extension.end (), ::tolower); + + // add all stl files into the vector + if (extension.compare (".stl") == 0) + { + _stl_files.push_back ((*pos)); + } + } + } + _stl_files_pos = 0; +} + + +bool +ScanIO_CAD::getNextSTLFromDir (fs::path &stl_file) +{ + if (_stl_files_pos < _stl_files.size ()) + { + stl_file = _stl_files[_stl_files_pos++]; + return true; + } + // return an empty path + stl_file = fs::path (); + return false; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_CAD; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/03/030bad3185eda98f75fc45983c735f1cc9642160.svn-base b/.svn/pristine/03/030bad3185eda98f75fc45983c735f1cc9642160.svn-base new file mode 100644 index 0000000..2c52758 --- /dev/null +++ b/.svn/pristine/03/030bad3185eda98f75fc45983c735f1cc9642160.svn-base @@ -0,0 +1,148 @@ +/* + * calibrate implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include + +#include +#include + + +void usage(char *progName) { + printf("%s \n", progName); + printf("\twhere board-size-x and y is count of *inner* corners of the booard"); + printf("i.e.: %s 6 4 0.04 image*\n", progName); + printf("Use more then ten images.\nPress space bar to proceed.\n"); +} + +void calibrate( CvMat *intrinsic, CvMat *distortion, CvSize imgSz, CvSize boardSz + , double boardSide, CvPoint2D32f **corners, int boardsCnt) { + + int totalPoints = boardSz.width * boardSz.height; + // object points (model) + CvMat *objPts = cvCreateMat(totalPoints * boardsCnt, 3, CV_32FC1); + // found points + CvMat *imgPts = cvCreateMat(totalPoints * boardsCnt, 2, CV_32FC1); + // points count + CvMat *ptsCnt = cvCreateMat(boardsCnt, 1, CV_32SC1); + + // copy corners to matrix and fill model matrix + for(int i = 0; i < boardsCnt; i++) { + for(int j = 0; j < totalPoints; j++) { + int s = i * totalPoints; + CV_MAT_ELEM(*imgPts, float, s+j, 0) = corners[i][j].x; + CV_MAT_ELEM(*imgPts, float, s+j, 1) = corners[i][j].y; + CV_MAT_ELEM(*objPts, float, s+j, 0) = boardSide * (j / boardSz.width); + CV_MAT_ELEM(*objPts, float, s+j, 1) = boardSide * (j % boardSz.width); + CV_MAT_ELEM(*objPts, float, s+j, 2) = 0.0f; + } + CV_MAT_ELEM(*ptsCnt, int, i, 0) = totalPoints; + } + + // initial guess + CV_MAT_ELEM(*intrinsic, float, 0, 0) = 1.0f; + CV_MAT_ELEM(*intrinsic, float, 1, 1) = 1.0f; + + cvCalibrateCamera2( objPts, imgPts, ptsCnt, imgSz + , intrinsic, distortion + , NULL, NULL, 0 ); + return; +} + + +int main(int argc, char **argv) +{ + if(argc < 5) { + usage(argv[0]); + exit(1); + } + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize boardSz = cvSize(patx, paty); + int loadImageCnt = argc - 4; + int cornersTotal = boardSz.width * boardSz.height; + float boardSide = atof(argv[3]);; + char **images = &argv[4]; + + // intrinsic matrices and ditortion params + CvMat *intrinsic = cvCreateMat(3, 3, CV_32F); + CvMat *distortion = cvCreateMat(1, 4, CV_32F); + + + IplImage *img = cvLoadImage(images[0], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3); + + int subpixel; + if(cvGetSize(img).width < 300) { + subpixel = 4; + } + else { + subpixel = 11; + } + + int imagesWithBoard = 0; + + CvPoint2D32f **corners = (CvPoint2D32f**)calloc(100, sizeof(CvPoint2D32f*)); + corners[0] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + + cvNamedWindow("Cam", 0); + + for(int imagesLoaded = 0; imagesLoaded < loadImageCnt; imagesLoaded++) { + img = cvLoadImage(images[imagesLoaded], CV_LOAD_IMAGE_GRAYSCALE); + + cvCvtColor(img, imgColor, CV_GRAY2BGR); + + int cornersCount; + + int found = cvFindChessboardCorners(img, boardSz, corners[imagesWithBoard], + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(found) cvFindCornerSubPix(img, corners[imagesWithBoard], cornersCount, cvSize(subpixel, subpixel), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvDrawChessboardCorners(imgColor, boardSz, corners[imagesWithBoard], cornersCount, found); + imagesWithBoard++; + corners[imagesWithBoard] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + } + cvShowImage("Cam", imgColor); + cvWaitKey(0); + + } + + cvDestroyAllWindows(); + + printf("calibrating...\n"); + fflush(stdout); + + //TODO: can be started in parallel to watch calibration on image undistortion :) + calibrate(intrinsic, distortion, cvGetSize(img), boardSz, boardSide, corners, imagesWithBoard); + + // save to xml files + cvSave("./intrinsic.xml", intrinsic); + cvSave("./distortion.xml", distortion); + printf("matrices saved to xml files.\n"); + + // let OS clean all images and matrices + return 0; +} + + +/*void usage(char *progName) { + printf( "usage:\n \ + %s [-s]\n \ + \tcamera-id is v4l id or -1 for pmd cam \ + \tpress space or 'a' to grab image\n \ + \tpress 'n' to skip grabbed frame\n \ + \tpress 'c' to finish frame grabbing start calibration\n \ + or:\n \ + %s \n", progName, progName); + fflush(stdout); +}*/ + diff --git a/.svn/pristine/03/0374f3bee412d187159352ca3b0c8c450bc9d333.svn-base b/.svn/pristine/03/0374f3bee412d187159352ca3b0c8c450bc9d333.svn-base new file mode 100644 index 0000000..57ca0c2 --- /dev/null +++ b/.svn/pristine/03/0374f3bee412d187159352ca3b0c8c450bc9d333.svn-base @@ -0,0 +1,209 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: spinctld.h +// Purpose: A double valued spin control, compatible with wxSpinCtrl +// Author: John Labenski +// Created: 11/05/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +/* +wxSpinCtrlDbl is a double valued wxSpinCtrl using non native (wxWidgets) widgets + +It consists of a wxSpinButton and a wxTextCtrl on a wxControl and can be used +as a drop in replacement for the wxSpinCtrl. It's been tested in GTK and MSW +and should work with MAC, but you may need to fix the sizing perhaps. It +will not work in Motif as there is no wxSpinButton in Motif. + +Differences to wxSpinCtrl: + + It remembers the initial value as a default value, call SetDefaultValue, + or press to return to it + + Shift + Arrow = *2 increment value + Ctrl + Arrow = *10 increment value + Alt + Arrow = *100 increment value + combinations of Shift, Ctrl, Alt increment by the product of the factors + + PgUp & PgDn = *10 increment * the product of the Shift, Ctrl, Alt factors + + sets the control's value to the it's last valid state + + SetDigits controls the format of the text, # decimal places + exponential uses the %.Xle format otherwise %.Xlf, where places = X + for arbitray formats subclass control and override SyncSpinToText() + for proper behavior when a user types in a value +*/ + +#ifndef __wxSPINCTRLDBL_H__ +#define __wxSPINCTRLDBL_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "spinctld.h" +#endif + +#include "wx/spinbutt.h" +#include "wx/spinctrl.h" // for EVT_SPINCTRL +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxTextCtrl; +class WXDLLIMPEXP_THINGS wxSpinCtrlDblTextCtrl; + +enum +{ + wxSPINCTRLDBL_AUTODIGITS = -1 // try to autocalc the # of digits +}; + +class WXDLLIMPEXP_THINGS wxSpinCtrlDbl: public wxControl +{ +public: + wxSpinCtrlDbl() : wxControl() { Init(); } + + // Native constructor - note &parent, this is to avoid ambiguity + wxSpinCtrlDbl( wxWindow &parent, wxWindowID id, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(95,-1), + long style = 0, + double min = 0.0, double max = 100.0, + double initial = 0.0, + double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS, + const wxString& name = _T("wxSpinCtrlDbl") ) + { + Init(); + Create(&parent, id, value, pos, size, style, + min, max, initial, increment, digits, name); + } + + // wxSpinCtrl compatibility, call SetIncrement(increment,digits) after + wxSpinCtrlDbl( wxWindow *parent, wxWindowID id = wxID_ANY, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(95,-1), + long style = 0, + int min = 0, int max = 100, + int initial = 0, + const wxString& name = _T("wxSpinCtrlDbl") ) + { + Init(); + Create(parent, id, value, pos, size, style, + (double)min, (double)max, (double)initial, 1.0, -1, name); + } + + bool Create( wxWindow *parent, + wxWindowID id = wxID_ANY, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(100,-1), + long style = 0, + double min = 0.0, double max = 100.0, + double initial = 0.0, + double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS, + const wxString& name = _T("wxSpinCtrlDbl") ); + + virtual ~wxSpinCtrlDbl(); + + // ----------------------------------------------------------------------- + // Public (normal usage) functions + + enum formatType + { + lf_fmt, // %lf + le_fmt, // %le + lg_fmt // %lg + }; + + virtual void SetValue( double value ); + void SetValue( double value, double min, double max, double increment, + int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt ) + { SetRange(min, max); SetIncrement(increment); SetDigits(digits, fmt); SetValue(value); } + // Set the value as text, if force then set text as is + virtual void SetValue( const wxString& text, bool force ); + // Set the allowed range, if max_val < min_val then no range and all vals allowed. + void SetRange( double min_val, double max_val ); + // Set the increment to use when the spin button or arrow keys pressed. + void SetIncrement( double increment ); + void SetIncrement( double increment, int digits, formatType fmt = lg_fmt ) + { SetIncrement(increment); SetDigits(digits, fmt); } + // Set the number of digits to show, use wxSPINCTRLDBL_AUTODIGITS + // or specify exact number to show i.e. %.[digits]lf + // The format type is used to create an appropriate format string. + void SetDigits( int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt ); + // Set the format string to use, ie. format="%.2lf" for .01 + void SetFormat( const wxString& format ); + // Set the control the the default value. + virtual void SetDefaultValue() { SetValue( m_default_value ); } + // Set the value of the default value, default is the inital value. + void SetDefaultValue( double default_value ); + // Force the value to always be divisible by the increment, initially off. + // This uses the default_value as the basis, you'll get strange results + // for very large differences between the current value and default value + // when the increment is very small. + void SetSnapToTicks(bool forceTicks); + + double GetValue() const { return m_value; } + double GetMin() const { return m_min; } + double GetMax() const { return m_max; } + virtual bool HasRange() const { return m_max >= m_min; } + virtual bool InRange(double value) const { return !HasRange() || ((value >= m_min) && (value <= m_max)); } + double GetIncrement() const { return m_increment; } + int GetDigits() const { return m_digits; } + wxString GetFormat() const { return m_textFormat; } + double GetDefaultValue() const { return m_default_value; } + bool GetSnapToTicks() const { return m_snap_ticks; } + + bool IsDefaultValue() const { return (m_value == m_default_value); } + + virtual bool SetFont( const wxFont &font ); + wxFont GetFont() const; + + virtual bool SetBackgroundColour(const wxColour& colour); + wxColour GetBackgroundColour() const; + + virtual bool SetForegroundColour(const wxColour& colour); + wxColour GetForegroundColour() const; + + // for setting... stuff + wxTextCtrl *GetTextCtrl() { return (wxTextCtrl*)m_textCtrl; } + +protected: + void OnSpinUp( wxSpinEvent &event ); + void OnSpinDown( wxSpinEvent &event ); + void OnTextEnter( wxCommandEvent &event ); + void OnText( wxCommandEvent &event ); + // the textctrl is subclassed to get at pgup/dn and then sent here + void OnChar( wxKeyEvent &event ); + + virtual void SyncSpinToText(bool send_event = true, bool force_valid = true); + + void DoSendEvent(); // send an event based on current state + + virtual void DoSetSize(int x, int y, int width, int height, + int sizeFlags = wxSIZE_AUTO); + + virtual wxSize DoGetBestSize() const; + + void OnFocus( wxFocusEvent& event ); // pass focus to textctrl, for wxTAB_TRAVERSAL + void OnKillFocus( wxFocusEvent &event ); + + wxSpinButton *m_spinButton; + wxSpinCtrlDblTextCtrl *m_textCtrl; + + double m_min; // min allowed value + double m_max; // max allowed value + double m_value; // current value + double m_default_value; // initial value, or SetDefaultValue(value) + double m_increment; // how much to to add per spin + int m_digits; // number of digits displayed after decimal point + bool m_snap_ticks; // value is divisible by increment + wxString m_textFormat; // used as wxString.Printf(m_textFormat.c_str(), m_value); + +private: + friend class wxSpinCtrlDblTextCtrl; + + void Init(); + DECLARE_DYNAMIC_CLASS(wxSpinCtrlDbl) + DECLARE_EVENT_TABLE() +}; + +#endif // __wxSPINCTRLDBL_H__ diff --git a/.svn/pristine/03/0398306f0224346f0d8a24815b22ad62f948573d.svn-base b/.svn/pristine/03/0398306f0224346f0d8a24815b22ad62f948573d.svn-base new file mode 100644 index 0000000..f6b5398 --- /dev/null +++ b/.svn/pristine/03/0398306f0224346f0d8a24815b22ad62f948573d.svn-base @@ -0,0 +1,241 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof + */ + +#include "slam6d/scan_io_uos_map_frames.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::exception; + + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_map_frames::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start - 1; + string scanFileName; + string framesFileName; + + ifstream scan_in, frames_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + if (fileCounter == start - 1) { + + double c, s; + + // read map as first 3D scan +#define READ_MAP +#ifdef READ_MAP + scanFileName = dir + "Uni_Hannover.map"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, x2, z1, z2; + double x1_t, x2_t, z1_t, z2_t; + + scan_in >> x1_t >> z1_t >> x2_t >> z2_t; + + x1_t = (x1_t - 113.07) * 100; + x2_t = (x2_t - 113.07) * 100; + z1_t = (z1_t + 64.05) * 100; + z2_t = (z2_t + 64.05) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + x2 = x2_t * c + z2_t * s; + z2 = - x2_t * s + z2_t * c; + + double length = sqrt(sqr(x2-x1) + sqr(z2-z1)); + double n_x = (x2 - x1) / length; + double n_z = (z2 - z1) / length; + + for (double t = 0.0; t < length; t += 25.0) { + Point p; + p.x = x1 + t * n_x - 713.832183017; + p.z = z1 + t * n_z - 1238.220671; + for (double y = -15.0; y < 1000; y += 25) { + p.y = y + 13.8808; + ptss.push_back(p); + } + } + } + cout << ptss.size() << endl; + scan_in.close(); + scan_in.clear(); +#endif + +#define READ_AERIAL +#ifdef READ_AERIAL + scanFileName = dir + "bereich_uni.txt"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Aerial Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, z1; + double x1_t, y1_t, z1_t; + + scan_in >> x1_t >> z1_t >> y1_t; + + x1_t = (x1_t - 3548500 - 113.07) * 100; + z1_t = (z1_t - 5806400 + 64.05) * 100; + y1_t = (y1_t - 55.0) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + Point p; + p.x = x1 - 713.832183017; + p.z = z1 - 1238.220671; + p.y = y1_t + 13.8808; + ptss.push_back(p); + + } + cout << "Map containts " << ptss.size() << " points" << endl; + scan_in.close(); + scan_in.clear(); +#endif + cout << "DONE" << endl; + fileCounter++; + + return 1; + } + + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in.open(scanFileName.c_str()); + frames_in.open(framesFileName.c_str()); + + // read 3D scan + if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + while(frames_in) { + try { + frames_in >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + frames_in.close(); + frames_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_map_frames; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/03/03ccc14e340c414865346c135b0fb69f2b68f058.svn-base b/.svn/pristine/03/03ccc14e340c414865346c135b0fb69f2b68f058.svn-base new file mode 100644 index 0000000..aabf033 --- /dev/null +++ b/.svn/pristine/03/03ccc14e340c414865346c135b0fb69f2b68f058.svn-base @@ -0,0 +1,23 @@ +FIND_PACKAGE(OpenCV REQUIRED) + +SET(FBR_IO_SRC scan_cv.cc) +add_library(fbr_cv_io STATIC ${FBR_IO_SRC}) + +SET(FBR_PANORAMA_SRC panorama.cc) +add_library(fbr_panorama STATIC ${FBR_PANORAMA_SRC}) + +SET(FBR_FEATURE_SRC feature.cc) +add_library(fbr_feature STATIC ${FBR_FEATURE_SRC}) + +SET(FBR_FEATURE_MATCHER_SRC feature_matcher.cc) +add_library(fbr_feature_matcher STATIC ${FBR_FEATURE_MATCHER_SRC}) + +SET(FBR_REGISTRATION_SRC registration.cc) +add_library(fbr_registration STATIC ${FBR_REGISTRATION_SRC}) + +IF(WITH_FBR) +SET(FBR_LIBS scan ANN ${OpenCV_LIBS}) + +add_executable(featurebasedregistration feature_based_registration.cc fbr_global.cc) +target_link_libraries(featurebasedregistration fbr_cv_io fbr_panorama fbr_feature fbr_feature_matcher fbr_registration ${FBR_LIBS}) +ENDIF(WITH_FBR) \ No newline at end of file diff --git a/.svn/pristine/03/03d394d805ea2d08fc0bbde2105dbc77bf1b59be.svn-base b/.svn/pristine/03/03d394d805ea2d08fc0bbde2105dbc77bf1b59be.svn-base new file mode 100644 index 0000000..01a5c19 --- /dev/null +++ b/.svn/pristine/03/03d394d805ea2d08fc0bbde2105dbc77bf1b59be.svn-base @@ -0,0 +1,156 @@ +------------------------------------------------------------ +ann_test: Version 1.0 + Copyright: David M. Mount and Sunil Arya. + Latest Revision: Mar 1, 2005. +------------------------------------------------------------ + +validate = on (Warning: this may slow execution time.) +stats = query_stats +[Read Data Points: + data_size = 5000 + file_name = test2-data.pts + dim = 8 +] +[Read Query Points: + query_size = 100 + file_name = test2-query.pts + dim = 8 +] +[Build ann-structure: + split_rule = suggest + shrink_rule = none + data_size = 5000 + dim = 8 + bucket_size = 1 + process_time = 0.18 sec + (Structure Statistics: + n_nodes = 9999 (opt = 10000, best if < 100000) + n_leaves = 5000 (0 contain no points) + n_splits = 4999 + n_shrinks = 0 + empty_leaves = 0 percent (best if < 50 percent) + depth = 17 (opt = 12, best if < 196) + avg_aspect_ratio = 2.03396 (best if < 20) + ) +] +(Computing true nearest neighbors for validation. This may take time.) +[Run Queries: + query_size = 100 + dim = 8 + search_method = standard + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0.0008 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 269.6 : 154.1 ]< 68 , 1046 > + splitting_nodes = [ 448.2 : 259.2 ]< 100 , 1858 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 717.8 : 412.6 ]< 168 , 2904 > + points_visited = [ 269.6 : 154.1 ]< 68 , 1046 > + coord_hits/pt = [ 0.1975 : 0.1075 ]< 0.0446 , 0.6974 > + floating_ops_(K) = [ 8.492 : 4.716 ]< 1.939 , 32.61 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = priority + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0.0011 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 237.7 : 131.6 ]< 68 , 801 > + splitting_nodes = [ 408.1 : 227.7 ]< 100 , 1398 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 645.8 : 358.5 ]< 168 , 2149 > + points_visited = [ 237.7 : 131.6 ]< 68 , 801 > + coord_hits/pt = [ 0.1679 : 0.08993 ]< 0.0472 , 0.5492 > + floating_ops_(K) = [ 10.83 : 6.344 ]< 2.638 , 38.3 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = standard + epsilon = 0.1 + near_neigh = 3 + true_nn = 13 + query_time = 0.0006 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 200.9 : 115.8 ]< 51 , 762 > + splitting_nodes = [ 344.9 : 202.4 ]< 77 , 1407 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 545.9 : 317.4 ]< 128 , 2169 > + points_visited = [ 200.9 : 115.8 ]< 51 , 762 > + coord_hits/pt = [ 0.1548 : 0.08517 ]< 0.0348 , 0.5494 > + floating_ops_(K) = [ 6.606 : 3.703 ]< 1.513 , 25.14 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = priority + epsilon = 0.1 + near_neigh = 3 + true_nn = 13 + query_time = 0.0007 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 176.1 : 101.1 ]< 49 , 629 > + splitting_nodes = [ 314.3 : 186.9 ]< 77 , 1285 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 490.4 : 286.6 ]< 128 , 1914 > + points_visited = [ 176.1 : 101.1 ]< 49 , 629 > + coord_hits/pt = [ 0.1309 : 0.07112 ]< 0.0374 , 0.4332 > + floating_ops_(K) = [ 8.205 : 4.999 ]< 2.032 , 33.27 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = standard + epsilon = 0.5 + near_neigh = 3 + true_nn = 13 + query_time = 0.0002 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 83.07 : 46.06 ]< 23 , 264 > + splitting_nodes = [ 163.4 : 94.86 ]< 42 , 512 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 246.5 : 140.2 ]< 67 , 776 > + points_visited = [ 83.07 : 46.06 ]< 23 , 264 > + coord_hits/pt = [ 0.0765 : 0.03992 ]< 0.0182 , 0.2192 > + floating_ops_(K) = [ 3.224 : 1.734 ]< 0.891 , 9.572 > + average_error = [ 0.0009039 : 0.009619 ]< 0 , 0.1516 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = priority + epsilon = 0.5 + near_neigh = 3 + true_nn = 13 + query_time = 0.0004 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 69.72 : 38.29 ]< 21 , 246 > + splitting_nodes = [ 146.8 : 81.69 ]< 40 , 475 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 216.5 : 118.8 ]< 65 , 721 > + points_visited = [ 69.72 : 38.29 ]< 21 , 246 > + coord_hits/pt = [ 0.06206 : 0.03155 ]< 0.0182 , 0.194 > + floating_ops_(K) = [ 3.608 : 1.989 ]< 1.126 , 12.28 > + average_error = [ 0.001425 : 0.011 ]< 0 , 0.1516 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] diff --git a/.svn/pristine/03/03e93122e00a079ccfe0c961b905bceeccf41725.svn-base b/.svn/pristine/03/03e93122e00a079ccfe0c961b905bceeccf41725.svn-base new file mode 100644 index 0000000..eadb1ce --- /dev/null +++ b/.svn/pristine/03/03e93122e00a079ccfe0c961b905bceeccf41725.svn-base @@ -0,0 +1,287 @@ + +//#define WANT_STREAM + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat2() +{ +// cout << "\nSecond test of Matrix package\n\n"; + Tracer et("Second test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + Matrix M(3,5); + for (i=1; i<=3; i++) for (j=1; j<=5; j++) M(i,j) = 100*i + j; + Matrix X(8,10); + for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j; + Matrix Y = X; Matrix Z = X; + { X.SubMatrix(2,4,3,7) << M; } + for (i=1; i<=3; i++) for (j=1; j<=5; j++) Y(i+1,j+2) = 100*i + j; + Print(Matrix(X-Y)); + + + Real a[15]; Real* r = a; + for (i=1; i<=3; i++) for (j=1; j<=5; j++) *r++ = 100*i + j; + { Z.SubMatrix(2,4,3,7) << a; } + Print(Matrix(Z-Y)); + + { M=33; X.SubMatrix(2,4,3,7) << M; } + { Z.SubMatrix(2,4,3,7) = 33; } + Print(Matrix(Z-X)); + + for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j; + Y = X; + UpperTriangularMatrix U(5); + for (i=1; i<=5; i++) for (j=i; j<=5; j++) U(i,j) = 100*i + j; + { X.SubMatrix(3,7,5,9) << U; } + for (i=1; i<=5; i++) for (j=i; j<=5; j++) Y(i+2,j+4) = 100*i + j; + for (i=1; i<=5; i++) for (j=1; jReSize(10,20); + for (i = 1; i <= 10; i++) for (j = 1; j <= 20; j++) + (*MX)(i,j) = 100 * i + j; + ColumnVector* CV = new ColumnVector(10); + if (!CV) Throw(Bad_alloc("New fails ")); + *CV << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9 << 10; + RowVector* RV = new RowVector(CV->t() | (*CV + 10).t()); + if (!RV) Throw(Bad_alloc("New fails ")); + CV1 = ColumnVector(10); CV1 = 1; RV1 = RowVector(20); RV1 = 1; + *MX -= 100 * *CV * RV1 + CV1 * *RV; + Print(*MX); + delete MX; delete CV; delete RV; + } + + + // test copying of vectors and matrices with no elements + { + ColumnVector dims(16); + Matrix M1; Matrix M2 = M1; Print(M2); + dims(1) = M2.Nrows(); dims(2) = M2.Ncols(); + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows(); dims(6) = M2.Ncols(); + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10,20); M2.CleanUp(); + dims(9) = M2.Nrows(); dims(10) = M2.Ncols(); + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(20,10); M2.ReSize(0,0); + dims(13) = M2.Nrows(); dims(14) = M2.Ncols(); + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + { + ColumnVector dims(16); + ColumnVector M1; ColumnVector M2 = M1; Print(M2); + dims(1) = M2.Nrows(); dims(2) = M2.Ncols()-1; + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows(); dims(6) = M2.Ncols()-1; + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10); M2.CleanUp(); + dims(9) = M2.Nrows(); dims(10) = M2.Ncols()-1; + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(10); M2.ReSize(0); + dims(13) = M2.Nrows(); dims(14) = M2.Ncols()-1; + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + { + ColumnVector dims(16); + RowVector M1; RowVector M2 = M1; Print(M2); + dims(1) = M2.Nrows()-1; dims(2) = M2.Ncols(); + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows()-1; dims(6) = M2.Ncols(); + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10); M2.CleanUp(); + dims(9) = M2.Nrows()-1; dims(10) = M2.Ncols(); + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(10); M2.ReSize(0); + dims(13) = M2.Nrows()-1; dims(14) = M2.Ncols(); + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + // test identity matrix + { + Matrix M; + IdentityMatrix I(10); DiagonalMatrix D(10); D = 1; + M = I; M -= D; Print(M); + D -= I; Print(D); + ColumnVector X(8); + D = 1; + X(1) = Sum(D) - Sum(I); + X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I); + X(3) = SumSquare(D) - SumSquare(I); + X(4) = Trace(D) - Trace(I); + X(5) = Maximum(D) - Maximum(I); + X(6) = Minimum(D) - Minimum(I); + X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue(); + X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign(); + Clean(X,0.00000001); Print(X); + + for (i = 1; i <= 10; i++) for (j = 1; j <= 10; j++) + M(i,j) = 100 * i + j; + Matrix N; + N = M * I - M; Print(N); + N = I * M - M; Print(N); + N = M * I.i() - M; Print(N); + N = I.i() * M - M; Print(N); + N = I.i(); N -= I; Print(N); + N = I.t(); N -= I; Print(N); + N = I.t(); N += (-I); Print(N); // <---------------- + D = I; N = D; D = 1; N -= D; Print(N); + N = I; D = 1; N -= D; Print(N); + N = M + 2 * IdentityMatrix(10); N -= (M + 2 * D); Print(N); + + I *= 4; + + D = 4; + + X.ReSize(14); + X(1) = Sum(D) - Sum(I); + X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I); + X(3) = SumSquare(D) - SumSquare(I); + X(4) = Trace(D) - Trace(I); + X(5) = Maximum(D) - Maximum(I); + X(6) = Minimum(D) - Minimum(I); + X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue(); // <-- + X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign(); + int i,j; + X(9) = I.Maximum1(i) - 4; X(10) = i-1; + X(11) = I.Maximum2(i,j) - 4; X(12) = i-10; X(13) = j-10; + X(14) = I.Nrows() - 10; + Clean(X,0.00000001); Print(X); + + + N = D.i(); + N += I / (-16); + Print(N); + N = M * I - 4 * M; Print(N); + N = I * M - 4 * M; Print(N); + N = M * I.i() - 0.25 * M; Print(N); + N = I.i() * M - 0.25 * M; Print(N); + N = I.i(); N -= I * 0.0625; Print(N); + N = I.i(); N = N - 0.0625 * I; Print(N); + N = I.t(); N -= I; Print(N); + D = I * 2; N = D; D = 1; N -= 8 * D; Print(N); + N = I * 2; N -= 8 * D; Print(N); + N = 0.5 * I + M; N -= M; N -= 2.0 * D; Print(N); + + IdentityMatrix J(10); J = 8; + D = 4; + DiagonalMatrix E(10); E = 8; + N = (I + J) - (D + E); Print(N); + N = (5*I + 3*J) - (5*D + 3*E); Print(N); + N = (-I + J) - (-D + E); Print(N); + N = (I - J) - (D - E); Print(N); + N = (I | J) - (D | E); Print(N); + N = (I & J) - (D & E); Print(N); + N = SP(I,J) - SP(D,E); Print(N); + N = D.SubMatrix(2,5,3,8) - I.SubMatrix(2,5,3,8); Print(N); + + N = M; N.Inject(I); D << M; N -= (M + I); N += D; Print(N); + D = 4; + + IdentityMatrix K = I.i()*7 - J.t()/4; + N = D.i() * 7 - E / 4 - K; Print(N); + K = I * J; N = K - D * E; Print(N); + N = I * J; N -= D * E; Print(N); + K = 5*I - 3*J; + N = K - (5*D - 3*E); Print(N); + K = I.i(); N = K - 0.0625 * I; Print(N); + K = I.t(); N = K - I; Print(N); + + + K.ReSize(20); D.ReSize(20); D = 1; + D -= K; Print(D); + + I.ReSize(3); J.ReSize(3); K = I * J; N = K - I; Print(N); + K << D; N = K - D; Print(N); + + + } + + +// cout << "\nEnd of second test\n"; +} diff --git a/.svn/pristine/04/041a53376b72c5c27abc0393eeebff57eacab4f0.svn-base b/.svn/pristine/04/041a53376b72c5c27abc0393eeebff57eacab4f0.svn-base new file mode 100644 index 0000000..6c887ed --- /dev/null +++ b/.svn/pristine/04/041a53376b72c5c27abc0393eeebff57eacab4f0.svn-base @@ -0,0 +1,182 @@ +/* + * elch6DunitQuat implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file ELCH implementation using unit Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +#include "slam6d/elch6DunitQuat.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using unit Quaternion + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6DunitQuat::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[4]; + Matrix C(7, 7); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 3; j++) { + add_edge(from, to, abs(C(j + 1, j + 1)), grb[j]); + } + add_edge(from, to, abs(C(4, 4)) + abs(C(5, 5)) + abs(C(6, 6)) + abs(C(7, 7)), grb[3]); + } + + double *weights[4]; + for(int i = 0; i < 4; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + //save poses bevor ICP + double pOld1[7], pOld2[7], pOld3[7]; + pOld1[0] = allScans[last]->get_rPos()[0]; + pOld1[1] = allScans[last]->get_rPos()[1]; + pOld1[2] = allScans[last]->get_rPos()[2]; + pOld1[3] = allScans[last]->get_rPosQuat()[0]; + pOld1[4] = allScans[last]->get_rPosQuat()[1]; + pOld1[5] = allScans[last]->get_rPosQuat()[2]; + pOld1[6] = allScans[last]->get_rPosQuat()[3]; + + pOld2[0] = allScans[last - 1]->get_rPos()[0]; + pOld2[1] = allScans[last - 1]->get_rPos()[1]; + pOld2[2] = allScans[last - 1]->get_rPos()[2]; + pOld2[3] = allScans[last - 1]->get_rPosQuat()[0]; + pOld2[4] = allScans[last - 1]->get_rPosQuat()[1]; + pOld2[5] = allScans[last - 1]->get_rPosQuat()[2]; + pOld2[6] = allScans[last - 1]->get_rPosQuat()[3]; + + pOld3[0] = allScans[last - 2]->get_rPos()[0]; + pOld3[1] = allScans[last - 2]->get_rPos()[1]; + pOld3[2] = allScans[last - 2]->get_rPos()[2]; + pOld3[3] = allScans[last - 2]->get_rPosQuat()[0]; + pOld3[4] = allScans[last - 2]->get_rPosQuat()[1]; + pOld3[5] = allScans[last - 2]->get_rPosQuat()[2]; + pOld3[6] = allScans[last - 2]->get_rPosQuat()[3]; + + double delta[3]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + double q1[4]; + q1[0] = allScans[last]->get_rPosQuat()[0]; + q1[1] = -allScans[last]->get_rPosQuat()[1]; + q1[2] = -allScans[last]->get_rPosQuat()[2]; + q1[3] = -allScans[last]->get_rPosQuat()[3]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + double q2[4]; + q2[0] = allScans[last]->get_rPosQuat()[0]; + q2[1] = allScans[last]->get_rPosQuat()[1]; + q2[2] = allScans[last]->get_rPosQuat()[2]; + q2[3] = allScans[last]->get_rPosQuat()[3]; + + double deltaQ[4]; + QMult(q2, q1, deltaQ); // q3 = q2*q1^-1 + + if(!quiet) { + double axisangle[4]; + axisangle[0] = deltaQ[0]; + axisangle[1] = deltaQ[1]; + axisangle[2] = deltaQ[2]; + axisangle[3] = deltaQ[3]; + QuatToAA(axisangle); + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + // restore poses after ICP matching + allScans[last]->transformToQuat(pOld1, &pOld1[3], Scan::INVALID, -1); + allScans[last - 1]->transformToQuat(pOld2, &pOld2[3], Scan::INVALID, -1); + allScans[last - 2]->transformToQuat(pOld3, &pOld3[3], Scan::INVALID, -1); + + //compute inverse rotation of Scan 0 + double scan0Pdelta[4], scan0Q[4]; + QMult(deltaQ, allScans[0]->get_rPosQuat(), scan0Pdelta); + scan0Q[0] = (1 - weights[3][0]) * allScans[0]->get_rPosQuat()[0] + scan0Pdelta[0] * weights[3][0]; + scan0Q[1] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[1] + scan0Pdelta[1] * weights[3][0]); + scan0Q[2] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[2] + scan0Pdelta[2] * weights[3][0]); + scan0Q[3] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[3] + scan0Pdelta[3] * weights[3][0]); + Normalize4(scan0Q); + QMult(allScans[0]->get_rPosQuat(), scan0Q, scan0Pdelta); + + double rPos[3], rPosQuat[4], tmpquat[4]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + QMult(deltaQ, allScans[i]->get_rPosQuat(), rPosQuat); + tmpquat[0] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[0] + rPosQuat[0] * weights[3][i]; + tmpquat[1] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[1] + rPosQuat[1] * weights[3][i]; + tmpquat[2] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[2] + rPosQuat[2] * weights[3][i]; + tmpquat[3] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[3] + rPosQuat[3] * weights[3][i]; + Normalize4(tmpquat); + QMult(scan0Pdelta, tmpquat, rPosQuat); + + Normalize4(rPosQuat); + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 4; i++) { + delete [] weights[i]; + } + +} diff --git a/.svn/pristine/04/043043909f8c45ae2b4eb378a7d71a101aeec304.svn-base b/.svn/pristine/04/043043909f8c45ae2b4eb378a7d71a101aeec304.svn-base new file mode 100644 index 0000000..1375371 --- /dev/null +++ b/.svn/pristine/04/043043909f8c45ae2b4eb378a7d71a101aeec304.svn-base @@ -0,0 +1,48 @@ +//$$ controlw.h Control word class + +#ifndef CONTROL_WORD_LIB +#define CONTROL_WORD_LIB 0 + +// for organising an int as a series of bits which indicate whether an +// option is on or off. + +class ControlWord +{ +protected: + int cw; // the control word +public: + ControlWord() : cw(0) {} // do nothing + ControlWord(int i) : cw(i) {} // load an integer + + // select specific bits (for testing at least one set) + ControlWord operator*(ControlWord i) const + { return ControlWord(cw & i.cw); } + void operator*=(ControlWord i) { cw &= i.cw; } + + // set bits + ControlWord operator+(ControlWord i) const + { return ControlWord(cw | i.cw); } + void operator+=(ControlWord i) { cw |= i.cw; } + + // reset bits + ControlWord operator-(ControlWord i) const + { return ControlWord(cw - (cw & i.cw)); } + void operator-=(ControlWord i) { cw -= (cw & i.cw); } + + // check if all of selected bits set or reset + bool operator>=(ControlWord i) const { return (cw & i.cw) == i.cw; } + bool operator<=(ControlWord i) const { return (cw & i.cw) == cw; } + + // flip selected bits + ControlWord operator^(ControlWord i) const + { return ControlWord(cw ^ i.cw); } + ControlWord operator~() const { return ControlWord(~cw); } + + // convert to integer + int operator+() const { return cw; } + int operator!() const { return cw==0; } + FREE_CHECK(ControlWord) +}; + + +#endif diff --git a/.svn/pristine/04/046e3a57eb69f8fac9edb72a3c447b364d97ce9d.svn-base b/.svn/pristine/04/046e3a57eb69f8fac9edb72a3c447b364d97ce9d.svn-base new file mode 100644 index 0000000..a4dffce --- /dev/null +++ b/.svn/pristine/04/046e3a57eb69f8fac9edb72a3c447b364d97ce9d.svn-base @@ -0,0 +1,328 @@ +/////////////////////////////////////////////////////////////////////////////// +// Name: range.h +// Purpose: Simple min-max range class and associated selection array class +// Author: John Labenski +// Created: 12/01/2000 +// Copyright: (c) John Labenski 2004 +// Licence: wxWidgets +/////////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_RANGE_H__ +#define __WX_RANGE_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "range.h" +#endif + +#include "wx/things/thingdef.h" + +class WXDLLIMPEXP_THINGS wxRangeInt; +class WXDLLIMPEXP_THINGS wxRangeDouble; +class WXDLLIMPEXP_THINGS wxRangeIntSelection; +class WXDLLIMPEXP_THINGS wxRangeDoubleSelection; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeInt, wxArrayRangeInt, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeDouble, wxArrayRangeDouble, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeIntSelection, wxArrayRangeIntSelection, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxRangeDoubleSelection, wxArrayRangeDoubleSelection, class WXDLLIMPEXP_THINGS); + +// Empty versions of ranges (0, -1) +WXDLLIMPEXP_DATA_THINGS(extern const wxRangeInt) wxEmptyRangeInt; +WXDLLIMPEXP_DATA_THINGS(extern const wxRangeDouble) wxEmptyRangeDouble; + +//============================================================================= +// wxRangeInt +//============================================================================= + +class WXDLLIMPEXP_THINGS wxRangeInt +{ +public: + inline wxRangeInt(int min_=0, int max_=0) : m_min(min_), m_max(max_) { } + + // Get the width of the range + inline int GetRange() const { return m_max - m_min + 1; } + // Get/Set the min/max values of the range + inline int GetMin() const { return m_min; } + inline int GetMax() const { return m_max; } + inline void SetMin(int min_) { m_min = min_; } + inline void SetMax(int max_) { m_max = max_; } + inline void Set(int min_, int max_) { m_min = min_, m_max = max_; } + + // Shift the range by i + void Shift(int i) { m_min += i; m_max += i; } + + // Is the range empty, min < max + inline bool IsEmpty() const { return m_min > m_max; } + + // Swap the min and max values + inline void SwapMinMax() { register int temp=m_min; m_min=m_max; m_max=temp; } + + // returns -1 for i < min, 0 for in range, +1 for i > m_max + inline int Position(int i) const { return i < m_min ? -1 : (i > m_max ? 1 : 0); } + + // Is this point or the range within this range + inline bool Contains( int i ) const { return (i >= m_min) && (i <= m_max); } + inline bool Contains( const wxRangeInt &r ) const + { return (r.m_min >= m_min) && (r.m_max <= m_max); } + + // returns if the range intersects the given range + inline bool Intersects(const wxRangeInt& r) const + { return Intersect(r).IsEmpty(); } + // returns the intersection of the range with the other + inline wxRangeInt Intersect(const wxRangeInt& r) const + { return wxRangeInt(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); } + // returns the union of the range with the other + inline wxRangeInt Union(const wxRangeInt& r) const + { return wxRangeInt(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); } + + // Is this point inside or touches +/- 1 of the range + inline bool Touches( int i ) const + { return !IsEmpty() && wxRangeInt(m_min-1, m_max+1).Contains(i); } + // Is the range adjoining this range + inline bool Touches( const wxRangeInt &r ) const + { if (IsEmpty() || r.IsEmpty()) return false; + wxRangeInt rExp(m_min-1, m_max+1); + return rExp.Contains(r.m_min) || rExp.Contains(r.m_max); } + // combine this single point with the range by expanding the m_min/m_max to contain it + // if only_if_touching then only combine if i is just outside the range by +/-1 + // returns true if the range has been changed at all, false if not + bool Combine(int i, bool only_if_touching = false); + bool Combine(const wxRangeInt &r, bool only_if_touching = false); + + // delete range r from this, return true is anything was done + // if r spans this then this and right become wxEmptyRangeInt + // else if r is inside of this then this is the left side and right is the right + // else if r.m_min > m_min then this is the left side + // else if r.m_min < m_min this is the right side + bool Delete( const wxRangeInt &r, wxRangeInt *right=NULL ); + + // operators + // no copy ctor or assignment operator - the defaults are ok + + // comparison + inline bool operator==(const wxRangeInt& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); } + inline bool operator!=(const wxRangeInt& r) const { return !(*this == r); } + + // Adding ranges unions them to create the largest range + inline wxRangeInt operator+(const wxRangeInt& r) const { return Union(r); } + inline wxRangeInt& operator+=(const wxRangeInt& r) { if(r.m_minm_max) m_max=r.m_max; return *this; } + // Subtracting ranges intersects them to get the smallest range + inline wxRangeInt operator-(const wxRangeInt& r) const { return Intersect(r); } + inline wxRangeInt& operator-=(const wxRangeInt& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max m_max; } + + // Swap the min and max values + inline void SwapMinMax() { register wxDouble temp = m_min; m_min = m_max; m_max = temp; } + + // returns -1 for i < min, 0 for in range, +1 for i > m_max + inline int Position(wxDouble i) const { return i < m_min ? -1 : i > m_max ? 1 : 0; } + + // Is this point or the range within this range + inline bool Contains( wxDouble i ) const { return (i>=m_min)&&(i<=m_max); } + inline bool Contains( const wxRangeDouble &r ) const + { return (r.m_min>=m_min)&&(r.m_max<=m_max); } + + // returns if the range intersects the given range + inline bool Intersects(const wxRangeDouble& r) const + { return Intersect(r).IsEmpty(); } + // returns the intersection of the range with the other + inline wxRangeDouble Intersect(const wxRangeDouble& r) const + { return wxRangeDouble(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); } + // returns the union of the range with the other + inline wxRangeDouble Union(const wxRangeDouble& r) const + { return wxRangeDouble(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); } + + // no touches for double since what would be a good eps value? + + // combine this single point with the range by expanding the m_min/m_max to contain it + // if only_if_touching then only combine if there is overlap + // returns true if the range has been changed at all, false if not + bool Combine(wxDouble i); + bool Combine( const wxRangeDouble &r, bool only_if_touching = false ); + + // delete range r from this, return true is anything was done + // if r spans this then this and right become wxEmptyRangeInt + // else if r is inside of this then this is the left side and right is the right + // else if r.m_min > m_min then this is the left side + // else if r.m_min < m_min this is the right side + bool Delete( const wxRangeDouble &r, wxRangeDouble *right=NULL ); + + // operators + // no copy ctor or assignment operator - the defaults are ok + + // comparison + inline bool operator==(const wxRangeDouble& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); } + inline bool operator!=(const wxRangeDouble& r) const { return !(*this == r); } + + // Adding ranges unions them to create the largest range + inline wxRangeDouble operator+(const wxRangeDouble& r) const { return Union(r); } + inline wxRangeDouble& operator+=(const wxRangeDouble& r) { if(r.m_minm_max) m_max=r.m_max; return *this; } + // Subtracting ranges intersects them to get the smallest range + inline wxRangeDouble operator-(const wxRangeDouble& r) const { return Intersect(r); } + inline wxRangeDouble& operator-=(const wxRangeDouble& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max +#include +#include +#include +using namespace std; +typedef vector > Float2D[1200][1600]; + +void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc); +void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet); +IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]); +void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color=false); +IplImage* resizeImage(IplImage *source, int scale); +IplImage* detectCorners(IplImage *orgimage, int corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale=1); +void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1); +void writeCalibParam(int images, int corner_exp, int board_w, CvMat* image_points, CvSize size, string dir); + +void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir, +IOType type, int scale, double rot_angle, double minDist, double maxDist, +bool correction, int neighborhood, int method=0); + +bool readPoints(string filename, CvPoint3D32f *corners, int size) ; +void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors); +void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat * +points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat +* distortions, CvMat * instrinsics, int corners, int successes, string dir, bool quiet=true, string substring = "") ; +void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet=true, string substring = "") ; +void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size); +void clusterSearch(float ** points, int size, double thresh1, double thresh2, fstream &outfile); +void sortDistances(float ** points, int size); +void ExtrCalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1); + + +#endif diff --git a/.svn/pristine/04/048570a286b78a55cae391c89b582fe55aeb5506.svn-base b/.svn/pristine/04/048570a286b78a55cae391c89b582fe55aeb5506.svn-base new file mode 100644 index 0000000..c399b6d --- /dev/null +++ b/.svn/pristine/04/048570a286b78a55cae391c89b582fe55aeb5506.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_PROJECT_H +#define __SCAN_IO_RIEGL_PROJECT_H + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans in the binary rxp format + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_project : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/04/0496c05784235a6e14c4ff97b1e6e638fa0e61fc.svn-base b/.svn/pristine/04/0496c05784235a6e14c4ff97b1e6e638fa0e61fc.svn-base new file mode 100644 index 0000000..385e26f --- /dev/null +++ b/.svn/pristine/04/0496c05784235a6e14c4ff97b1e6e638fa0e61fc.svn-base @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using unit Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_UINTQUAT_H__ +#define __ELCH6D_UNITQUAT_H__ + +#include "elch6D.h" + +class elch6DunitQuat : public elch6D { + + public: + elch6DunitQuat(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/.svn/pristine/04/04c746477138e4481e4395485fdcee196c90315a.svn-base b/.svn/pristine/04/04c746477138e4481e4395485fdcee196c90315a.svn-base new file mode 100644 index 0000000..e61b742 --- /dev/null +++ b/.svn/pristine/04/04c746477138e4481e4395485fdcee196c90315a.svn-base @@ -0,0 +1,122 @@ +/* + * grabVideoAnd3D implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include + +#include "pmdsdk2.h" +#include "cvpmd.h" + +int main(int argc, char **argv) +{ + int totalFrames = 0; + int ui = 1; + printf("%i\n", argc); + if(argc > 1) { + totalFrames = atoi(argv[1]); + ui = 0; + } + if(argc > 2) ui = 1; + + //FIXME: here is lots of old code, should be removed + + + PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69"); + + CvCapture *capture = cvCaptureFromCAM(1); //FIXME: should be passed via argc + + CvSize pmdSz = pmdGetSize(pmd); + printf("pmd sz: %i x %i\n", pmdSz.width, pmdSz.height); + IplImage *imgCamColor = cvQueryFrame(capture); + IplImage *imgPMD = cvCreateImage(pmdGetSize(pmd), 8, 1); + IplImage *imgPMDA = cvCreateImage(cvGetSize(imgPMD), 8, 1); + IplImage *imgCam = cvCreateImage(cvGetSize(imgCamColor), 8, 1); + CvPoint3D32f **pmdPts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*)); + for(int i = 0; i < pmdSz.height; i++) pmdPts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f)); + + CvMat *intrinsicCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml"); + CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml"); + CvMat *intrinsicPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml"); + CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml"); + if(!intrinsicCam || !distortionCam|| !intrinsicPMD || !distortionPMD) { + fprintf(stderr, "ERROR: can't load intrinsic and/or distortion xml files!\n"); + return 1; + } + + +// FILE *vPMDA = fopen("./s001.arv", "wb"); // ala dot Amplitudes Raw Video NOTE: i'm not sure it is amplitude :P +// FILE *vPMDAf = fopen("./s001.farv", "wb"); // same but Floating + FILE *vPMDI = fopen("./s001.irv", "wb"); // same but Intensities + FILE *vPMDIf = fopen("./s001.firv", "wb"); + FILE *headers = fopen("./s001.head", "wb"); + CvVideoWriter *vCam = cvCreateVideoWriter( "./s001.avi" + , CV_FOURCC('D', 'I', 'V', 'X') + , 25, cvGetSize(imgCam), 1); + + FILE *pmdPtsFile = fopen("./s001.3dp", "w"); + + if(ui) { + cvNamedWindow("Cam", 0); + cvNamedWindow("PMD", 1); + } + + printf("DEBUG: init done, going to grab %i frames.\n", totalFrames); + + int frames = 0; + while(1) { + frames++; + if(0 == frames % 100) printf("%i frames grabbed...\n", frames); + // Image retriving + pmdUpdate(pmd->hnd); + imgCamColor = cvQueryFrame(capture); + + pmdQueryImageAsync(pmd, imgPMD); + fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDIf); + + //pmdQueryAmplitudesAsync(pmd, imgPMDA); + //fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDAf); + + + pmdRetriveDistancesAsync(pmd); + pmdProjectArrayToCartesian(pmd, intrinsicPMD, pmdPts); + + ImageHeaderInformation *header = retriveHeader(); + + + if(ui) { + cvShowImage("Cam", imgCamColor); + cvShowImage("PMD", imgPMD); + } + + //FIXME: order col/str + for(int i = 0; i < pmdSz.height; i++) + fwrite(pmdPts[i], sizeof(CvPoint3D32f), pmdSz.width, pmdPtsFile); + + fwrite(imgPMD->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDI); + //fwrite(imgPMDA->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDA); + fwrite(header, sizeof(ImageHeaderInformation), 1, headers); + + cvWriteFrame(vCam, imgCamColor); + + if(totalFrames && (frames >= totalFrames)) break; + if(ui) if(27 == cvWaitKey(5)) break; + } +// fclose(vPMDA); +// fclose(vPMDAf); + fclose(vPMDI); + fclose(vPMDIf); + fclose(pmdPtsFile); + fclose(headers); + printf("grabbed %i frames.\n", frames); + printf("See s001* files (you want to rename them).\n"); +} + diff --git a/.svn/pristine/05/056f32a80b96bc1cd572918b1f14195c26777b0e.svn-base b/.svn/pristine/05/056f32a80b96bc1cd572918b1f14195c26777b0e.svn-base new file mode 100644 index 0000000..d43c458 --- /dev/null +++ b/.svn/pristine/05/056f32a80b96bc1cd572918b1f14195c26777b0e.svn-base @@ -0,0 +1,30 @@ +/** + * @file + * @brief IO of a 3D scan in rts file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for RTS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rts : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +private: + std::string cached_dir; + std::vector cached_poses; +}; + +#endif diff --git a/.svn/pristine/05/059ca0398c8bfc23b05039bd9d751dfb020d5844.svn-base b/.svn/pristine/05/059ca0398c8bfc23b05039bd9d751dfb020d5844.svn-base new file mode 100644 index 0000000..dda27f2 --- /dev/null +++ b/.svn/pristine/05/059ca0398c8bfc23b05039bd9d751dfb020d5844.svn-base @@ -0,0 +1,38 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Peter Schneider. Institute of Computer Science, University of Koblenz and Landau, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DHELIX_H__ +#define __ICP6DHELIX_H__ + +#include "icp6Dminimizer.h" +#include "newmat/newmatio.h" +using namespace NEWMAT; + +/** + * @brief Implementation of the ICP error function minimization via helix-translation + */ +class icp6D_HELIX : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_HELIX(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_HELIX() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + static void computeRt(const ColumnVector* ccs, const int vectorOffset, double *alignxf); + + inline int getAlgorithmID() { return 5; }; + +}; + +#endif diff --git a/.svn/pristine/05/05b4bddc378733c6efb0f5c07a821239e2ed5ac4.svn-base b/.svn/pristine/05/05b4bddc378733c6efb0f5c07a821239e2ed5ac4.svn-base new file mode 100644 index 0000000..1bf54e8 --- /dev/null +++ b/.svn/pristine/05/05b4bddc378733c6efb0f5c07a821239e2ed5ac4.svn-base @@ -0,0 +1,180 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_riegl_txt.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_txt::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat"; + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".txt"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + long num_pts = 0; + + if (scan_in.good()) { + scan_in >> num_pts; + cout << " with " << num_pts << " Points"; + cout.flush(); + ptss.reserve(num_pts); + } + + // read point data and transform into slam6D coordinate system + while (scan_in.good()) { + Point p; + double range, theta, phi, reflectance; + scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + p.reflectance = reflectance; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/05/05d0daa67dd41406a02b60654ffe905aa953c9b3.svn-base b/.svn/pristine/05/05d0daa67dd41406a02b60654ffe905aa953c9b3.svn-base new file mode 100644 index 0000000..88bc0b0 --- /dev/null +++ b/.svn/pristine/05/05d0daa67dd41406a02b60654ffe905aa953c9b3.svn-base @@ -0,0 +1,42 @@ + +inline void D2Tree::calcDivide(double x_size, double y_size, double z_size, + double center[3], + double &x_sizeNew, double &y_sizeNew, double &z_sizeNew, + double newcenter[8][3]) +{ + x_sizeNew = x_size * 0.5; + y_sizeNew = y_size * 0.5; + z_sizeNew = z_size * 0.5; + + newcenter[0][0] = center[0] - x_sizeNew; + newcenter[0][1] = center[1] - y_sizeNew; + newcenter[0][2] = center[2] - z_sizeNew; + + newcenter[1][0] = center[0] + x_sizeNew; + newcenter[1][1] = center[1] - y_sizeNew; + newcenter[1][2] = center[2] - z_sizeNew; + + newcenter[2][0] = center[0] - x_sizeNew; + newcenter[2][1] = center[1] + y_sizeNew; + newcenter[2][2] = center[2] - z_sizeNew; + + newcenter[3][0] = center[0] - x_sizeNew; + newcenter[3][1] = center[1] - y_sizeNew; + newcenter[3][2] = center[2] + z_sizeNew; + + newcenter[4][0] = center[0] + x_sizeNew; + newcenter[4][1] = center[1] + y_sizeNew; + newcenter[4][2] = center[2] - z_sizeNew; + + newcenter[5][0] = center[0] + x_sizeNew; + newcenter[5][1] = center[1] - y_sizeNew; + newcenter[5][2] = center[2] + z_sizeNew; + + newcenter[6][0] = center[0] - x_sizeNew; + newcenter[6][1] = center[1] + y_sizeNew; + newcenter[6][2] = center[2] + z_sizeNew; + + newcenter[7][0] = center[0] + x_sizeNew; + newcenter[7][1] = center[1] + y_sizeNew; + newcenter[7][2] = center[2] + z_sizeNew; +} diff --git a/.svn/pristine/06/0605d0eed2233957400ab5fa7d7f640516f4365d.svn-base b/.svn/pristine/06/0605d0eed2233957400ab5fa7d7f640516f4365d.svn-base new file mode 100644 index 0000000..57be749 --- /dev/null +++ b/.svn/pristine/06/0605d0eed2233957400ab5fa7d7f640516f4365d.svn-base @@ -0,0 +1,77 @@ +/***************By yuanjun**************************/ +#pragma once + +#include "veloslam/veloscan.h" +#include "veloslam/matrix.h" + +using namespace std; + +typedef struct _X_state +{ + float x_position; + float z_positon; + float x_speed; + float z_speed; + +}ObjectState; + +typedef struct _Z_measurement +{ + float x_measurement; + float z_measurement; +}Measurement; + +class KalmanFilter +{ +public: + KalmanFilter(); + KalmanFilter(clusterFeature &glu,double rollAngle); + ~KalmanFilter(void); + + void InitialKalmanFilter(clusterFeature &glu); + + void timeUpdate(); + + void stateUpdate(clusterFeature &glu,double rollAngle,double *pos); + + ObjectState GetCurrentState(); + + ObjectState GetPredictState(); + + Measurement GetPredictMeasurement(double rollAngle,double *pos); + + CMatrix CalMeasureDeviation(); + + KalmanFilter& operator = (const KalmanFilter& anotherKF); + + void CalCoorRoll(double angle); + +public: + + CMatrix A; + + CMatrix H; + + CMatrix X1; + + CMatrix X2; + + CMatrix Z; + + CMatrix K; + + CMatrix Q; + + CMatrix R; + + CMatrix P1; + + CMatrix P2; + + CMatrix CoordinateRoll; + + double angle; +}; + + + diff --git a/.svn/pristine/06/0629ed45ebba2c64fd0628c5851690adb1a43bbe.svn-base b/.svn/pristine/06/0629ed45ebba2c64fd0628c5851690adb1a43bbe.svn-base new file mode 100644 index 0000000..5c3390f --- /dev/null +++ b/.svn/pristine/06/0629ed45ebba2c64fd0628c5851690adb1a43bbe.svn-base @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using Euler angles + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_EULER_H__ +#define __ELCH6D_EULER_H__ + +#include "elch6D.h" + +class elch6Deuler : public elch6D { + + public: + elch6Deuler(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/.svn/pristine/06/0663cbcb4359530802199b9c432bb10e0ef1f0a9.svn-base b/.svn/pristine/06/0663cbcb4359530802199b9c432bb10e0ef1f0a9.svn-base new file mode 100644 index 0000000..4718248 --- /dev/null +++ b/.svn/pristine/06/0663cbcb4359530802199b9c432bb10e0ef1f0a9.svn-base @@ -0,0 +1,149 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_wrl.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +#include + +/** + * Reads specified scans from given directory in + * the PLY file format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_wrl::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist)); + + int my_fileNr = fileCounter; + + ifstream scan_in, pose_in; + + for (int i = 0; i < 6; i++) euler[i] = 0; + + if (end > -1 && fileCounter > end) return -1; + poseFileName = dir + to_string(fileCounter,3) + "/position.dat"; + + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << dir << to_string(fileCounter, 3); + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // convert mm to cm + for (unsigned int i = 0; i < 3; i++) euler[i] = euler[i] * 0.1; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) { + euler[i] *= 0.01; + // if (euler[i] < 0.0) euler[i] += 360; + euler[i] = rad(euler[i]); + } + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".wrl"; + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more scans to read + + // overread the first 7 tokes / 4 lines - don't care here + char dummy[255]; + for (int i = 0; i < 4; i++) { + scan_in.getline(dummy, 255); + } + + do { + char cx[25], cy[25], cz[25]; + double xyz[3]; + scan_in >> cx >> cy >> cz; + if (!scan_in.good()) break; + // remove the "," from the z coordinate + cz[strlen(cz)-1] = 0; + xyz[0] = atof(cx); + xyz[1] = atof(cy); + xyz[2] = atof(cz); + Point p(xyz); + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } while (scan_in.good()); + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_wrl; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/06/0673d35923f100cb57051a25246c5cf4f8b499f3.svn-base b/.svn/pristine/06/0673d35923f100cb57051a25246c5cf4f8b499f3.svn-base new file mode 100644 index 0000000..c0a1969 --- /dev/null +++ b/.svn/pristine/06/0673d35923f100cb57051a25246c5cf4f8b499f3.svn-base @@ -0,0 +1,46 @@ +Microsoft Visual Studio Solution File, Format Version 9.00 +# Visual Studio 2005 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "dll", "dll\dll.vcproj", "{A7D00B21-CB9C-4BBB-8DEE-51025104F867}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "sample", "sample\sample.vcproj", "{C76F5A10-7A4A-4546-9414-296DB38BE825}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "test", "test\test.vcproj", "{6AC673C7-7B3F-4520-A761-647B212A4BEF}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ann2fig", "ann2fig\ann2fig.vcproj", "{622DD7D8-0C0A-4303-9176-C9A8AF467E70}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Win32 = Debug|Win32 + Release|Win32 = Release|Win32 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.ActiveCfg = Debug|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.Build.0 = Debug|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.ActiveCfg = Release|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.Build.0 = Release|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.ActiveCfg = Debug|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.Build.0 = Debug|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.ActiveCfg = Release|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.Build.0 = Release|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.ActiveCfg = Debug|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.Build.0 = Debug|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.ActiveCfg = Release|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.Build.0 = Release|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.ActiveCfg = Debug|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.Build.0 = Debug|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.ActiveCfg = Release|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/.svn/pristine/06/067654053de64fabadac650a3896447fa24ae555.svn-base b/.svn/pristine/06/067654053de64fabadac650a3896447fa24ae555.svn-base new file mode 100644 index 0000000..e2393d5 --- /dev/null +++ b/.svn/pristine/06/067654053de64fabadac650a3896447fa24ae555.svn-base @@ -0,0 +1,5 @@ +P6 +# Created by Paint Shop Pro +11 17 +255 +靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠傀靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠靠 \ No newline at end of file diff --git a/.svn/pristine/07/0709a8ffb742bdf1883918235d3d70b412253e7c.svn-base b/.svn/pristine/07/0709a8ffb742bdf1883918235d3d70b412253e7c.svn-base new file mode 100644 index 0000000..1002d9c --- /dev/null +++ b/.svn/pristine/07/0709a8ffb742bdf1883918235d3d70b412253e7c.svn-base @@ -0,0 +1,51 @@ +IF (WITH_SHAPE_DETECTION) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/include) + include_directories(${CMAKE_SOURCE_DIR}/include/shapes/) + +# # Compile gocr library +# SET(GOCR_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src/) +# add_library(Pgm2asc SHARED ${GOCR_DIR}gocr.c ${GOCR_DIR}pgm2asc.c ${GOCR_DIR}box.c ${GOCR_DIR}database.c +# ${GOCR_DIR}detect.c ${GOCR_DIR}barcode.c ${GOCR_DIR}lines.c ${GOCR_DIR}list.c +# ${GOCR_DIR}ocr0.c ${GOCR_DIR}ocr0n.c ${GOCR_DIR}ocr1.c ${GOCR_DIR}otsu.c +# ${GOCR_DIR}output.c ${GOCR_DIR}pixel.c ${GOCR_DIR}unicode.c ${GOCR_DIR}remove.c +# ${GOCR_DIR}pnm.c ${GOCR_DIR}pcx.c ${GOCR_DIR}progress.c ${GOCR_DIR}job.c) + +# add_executable(shapes shapes.cc geom_math.cc numberrec.cc scan_ransac.cc ) +# +# IF(WIN32) +# target_link_libraries(shapes scan XGetopt netpbm Pgm2asc) +# ENDIF(WIN32) +# +# IF (UNIX) +# target_link_libraries(shapes scan newmat dl netpbm Pgm2asc ) +# ENDIF(UNIX) +# + + add_executable(planes plane.cc) +# add_executable(image toImage.cc image.cc hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc ) +# add_executable(matchMarker matchMarker.cc) + + IF(UNIX) + target_link_libraries(planes scan shape newmat dl ANN) +# target_link_libraries(image scan newmat sparse dl ANN ) +# target_link_libraries(matchMarker scan newmat sparse dl ANN ) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(planes scan newmat XGetopt shape ANN) +# target_link_libraries(image scan newmat sparse ANN XGetopt) + ENDIF(WIN32) + +SET(SHAPELIB_SRCS + hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc ) + +add_library(shape STATIC ${SHAPELIB_SRCS}) + +#target_link_libraries(shapelib) +IF(EXPORT_SHARED_LIBS) +add_library(shape_s SHARED ${SHAPELIB_SRCS}) +#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat) +ENDIF(EXPORT_SHARED_LIBS) + +ENDIF(WITH_SHAPE_DETECTION) diff --git a/.svn/pristine/07/07e0d5ac5ff8b6a604e12425d069ad18216a768b.svn-base b/.svn/pristine/07/07e0d5ac5ff8b6a604e12425d069ad18216a768b.svn-base new file mode 100644 index 0000000..addfb7f --- /dev/null +++ b/.svn/pristine/07/07e0d5ac5ff8b6a604e12425d069ad18216a768b.svn-base @@ -0,0 +1,42 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6DAPX_H__ +#define __ICP6DAPX_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via approximation + */ +class icp6D_APX : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_APX(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_APX() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const vector pairs[OPENMP_NUM_THREADS], + double *alignxf); + + static void computeRt(const double *x, const double *dx, double *alignxf); + + inline int getAlgorithmID() { return 6; }; +}; + +#endif diff --git a/.svn/pristine/08/08900a543687c8acdd6f5bf4b38692d8db90fcaf.svn-base b/.svn/pristine/08/08900a543687c8acdd6f5bf4b38692d8db90fcaf.svn-base new file mode 100644 index 0000000..cd13310 Binary files /dev/null and b/.svn/pristine/08/08900a543687c8acdd6f5bf4b38692d8db90fcaf.svn-base differ diff --git a/.svn/pristine/08/08e387ec4aa98017b512653b6c2c6aea5ba8c229.svn-base b/.svn/pristine/08/08e387ec4aa98017b512653b6c2c6aea5ba8c229.svn-base new file mode 100644 index 0000000..f8f3a08 --- /dev/null +++ b/.svn/pristine/08/08e387ec4aa98017b512653b6c2c6aea5ba8c229.svn-base @@ -0,0 +1,19 @@ +/** + * @file + * @brief Server/Client wide definitions. + * + * If running multiple instances of the scanserver, one can change these shared memory names individually. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_DEFINES_H +#define SCANSERVER_DEFINES_H + +//! shared memory for SharedScans, Frames and communications +#define SHM_NAME_DATA "3dtk_scanserver_data" + +//! CacheManager/CacheObject only shared memory +#define SHM_NAME_CACHE "3dtk_scanserver_cache" + +#endif //SCANSERVER_DEFINES_H diff --git a/.svn/pristine/09/0927188bd0596b653813b011fdd69ba118df670e.svn-base b/.svn/pristine/09/0927188bd0596b653813b011fdd69ba118df670e.svn-base new file mode 100644 index 0000000..cd9a7ab --- /dev/null +++ b/.svn/pristine/09/0927188bd0596b653813b011fdd69ba118df670e.svn-base @@ -0,0 +1,47 @@ +#ifndef __SCANGRID_H_ +#define __SCANGRID_H_ + +#include "grid/grid.h" + +/** + * The class represents a 2D section of a scan. + * It inherrits from grid -> the internal representation is an array + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * @date 14.02.2008 + */ +class scanGrid : public grid +{ + /** The position of the robot (X) */ + long viewpointX; + + /** The position of the robot (Z) */ + long viewpointZ; + + public: + /** @brief CTor */ + scanGrid(long viewX, long viewZ, long offsetX, long offsetZ, + long sizeX, long sizeZ); + + /** @brief DTor */ + virtual ~scanGrid(); + + /** + * Getter for the x position of the robot when the scan was made + * @return x position + */ + inline long getViewpointX() const { + return this->viewpointX; + } + + /** + * Getter for the z position of the robot when the scan was made + * @return z position + */ + inline long getViewpointZ() const { + return this->viewpointZ; + } +}; + +#endif diff --git a/.svn/pristine/09/094cd4ed21443a338cbf26efb65ade5c76640266.svn-base b/.svn/pristine/09/094cd4ed21443a338cbf26efb65ade5c76640266.svn-base new file mode 100644 index 0000000..37eaf13 --- /dev/null +++ b/.svn/pristine/09/094cd4ed21443a338cbf26efb65ade5c76640266.svn-base @@ -0,0 +1,100 @@ +#ifndef NRRANSAC_OCTREE_H +#define NRRANSAC_OCTREE_H + +#include "shapes/geom_math.h" +#include "shapes/ransac_Boctree.h" +#include "slam6d/Boctree.h" + + + +template +class NumberRecOctTree : public RansacOctTree { + + public: +// NumberRecOctTree(vector &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree(pts, voxelSize, _pointtype) {} + NumberRecOctTree(vector &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree(pts, voxelSize, _pointtype) {} + + long PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius) { + setNumber(plane, _center, radius, maxdist); + return PointsOnNumber(*BOctTree::root, BOctTree::center, BOctTree::size); + } + + void PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius, vector &n) { + setNumber(plane, _center, radius, maxdist); + PointsOnNumber(*BOctTree::root, BOctTree::center, BOctTree::size, n); + } + + + protected: + long PointsOnNumber(bitoct &node, T *center, T size) { + if (!SphereInAABB(center[0], center[1], center[2], size)) { + return 0; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + long result = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains plane + if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if( closeToPlane(point) ) + result++; + point += BOctTree::POINTDIM; + } + } + } else { // recurse + result += PointsOnNumber( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + + return result; + } + + void PointsOnNumber(bitoct &node, T *center, T size, vector &n) { + if (!SphereInAABB(center[0], center[1], center[2], size)) { + return ; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains plane + if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if( closeToPlane(point) ) + n.push_back(point); + point+=BOctTree::POINTDIM; + } + } + } else { // recurse + PointsOnNumber( children->node, ccenter, size/2.0, n); + } + ++children; // next child + } + } + } + +}; + + +#endif diff --git a/.svn/pristine/0a/0a3438940d1706c7940e6b63aff15549d2c5846c.svn-base b/.svn/pristine/0a/0a3438940d1706c7940e6b63aff15549d2c5846c.svn-base new file mode 100644 index 0000000..32e8c36 --- /dev/null +++ b/.svn/pristine/0a/0a3438940d1706c7940e6b63aff15549d2c5846c.svn-base @@ -0,0 +1,165 @@ + GOCR (JOCR at SF.net) + +GOCR is an optical character recognition program, released under the +GNU General Public License. It reads images in many formats and outputs +a text file. Possible image formats are pnm, pbm, pgm, ppm, some pcx and +tga image files. Other formats like pnm.gz, pnm.bz2, png, jpg, tiff, gif, +bmp will be automatically converted using the netpbm-progs, gzip and bzip2 +via unix pipe. +A simple graphical frontend written in tcl/tk and some +sample files are included. +Gocr is also able to recognize and translate barcodes. +You do not have to train the program or store large font bases. +Simply call gocr from the command line and get your results. + +To see installation instructions, see the INSTALL file. + +How to start? (QUICK START) +--------------------------- +Some examples of how you can use gocr: + + gocr -h # help + gocr file.pbm # minimum options + gocr -v 1 file.pbm >out.txt 2>out.log # generate text- and log file + djpeg -pnm -gray text.jpg | gocr - # using JPEG-files + gzip -cd text.pbm.gz | gocr - # using gzipped PBM-files + giftopnm text.gif | gocr - # using GIF-files + gocr -v 1 -v 32 -m 4 file.pbm # zoning and out30.bmp output + xli -geometry 400x400 out30.bmp # see details using xli (recommanded viewer) + wish gocr.tcl # X11-tcl/tk-frontend (development version) + # see manual pages for more details + + +How to get image files? +----------------------- +Scan text pages and save it as PGM/PBM/PNM file. Use a program such as +The GIMP or Sane. You can also use netpbm-progs to convert several image +formats into PGM/PBM/PNM. The tool djpeg can be used to convert jpeg into pgm. +If you have a POSIX compatible system like linux and PNM-tools, gzip and bzip2 +are installed, you are lucky and gocr will do conversion +from [.pnm.gz, .pnm.bz2, .jpg, .jpeg, .bmp, .tiff, .png, .ps, .eps] +to [.pgm] for you. This list can easily be extended editing src/pnm.c. + +Gocr also comes with some examples, try: make examples. + +Memory limitations +------------------ +WARNING!!! + +If you use a 300dpi scan of A4 letter, the image is about 2500x3500 pixels and +gocr requires 8.75MB for storing the picture into the memory. Not only that, +but gocr may create a 2nd copy, using a total of 17MB. This is independent +of using b/w or gray-scale images. Be sure that you have enough RAM installed +in your machine! Alternatively you can cut the picture into small pieces. +You can use the pnmcut, from the netpbm package to cut the file. Example: + +pnmcut -left 0 -right 2500 -top 0 -height 1000 bigfile.pnm > smallfile.pnm + +And then use gocr in the cropped image as usual. Take care: if you chopp the +characters, gocr won't be able to understand that line. + +Future versions will take care of this issue automatically. + +Limitations +----------- +gocr is still in its early stages. Your images should fit in these requirements +if you want a good output: + +- good scans (all chars well seperated, one column, no tables etc, 12pt 300dpi) + should work well +- fonts 20-60 pixels ( 5pt * 1in/72pt * 300 dpi = 20 dots ) +- output of image file for controlling detection + +And note that speed is very slow (this will be changed when recognition works +well) + 12pt 300dpi 1700x950 16lines 700chars 22x28 P90=40s..90s v0.2.3 (gcc -O0) + +You can try to optimize the results: +- make good scans/treat image +- try to change the critical gray level (option -l ) +- control the result on out10.png, out30.png (option -v 32) + example: ./gocr -v 32 -m 4 -m 256 -m 56 ~/aac.jpg # only check layout +- enlarge option -d for high resolution images which are noisy +- try different combinations for option -m +- for thousends of documents with same font + you can use/create a database (-m 2/-m 130) +- use options -d 0 -m 8 on screen shots (font8x12) +- use filter option -C to through out wrong recognized chars (ex: gothic) + +What does >> NOT << work at the moment: +- complex layouts (try option -m 4) +- bad scans, noisy/snowy images, FAX-quality images +- serif fonts, italic fonts, slanted fonts +- handwritten texts (this is valid for the next ten years I guess) + the exisctence of autotrace can shorten this +- rotated images (but slightly rotated images should be no problem) +- small fonts (fax like) or mix of different font size +- colored images (use gray or black/white) +- Chinese, Arabian, Egyptian, Cyrillic or Klingon fonts + +How it works or how it should work? +- put the entire file into RAM (300dpi grayscale recommended) +- remove dust and snow +- detect small angle (lines which are not horizontal) +- detect text boxes (option -m 4) +- detect text-lines +- detect characters +- first step recognition (every character has its own empirical procedure) + - no neural network or similar general algorithms +- analyze not detected chars by comparison with detected ones +- try to divide overlapping chars +- testwise: compare all letters (like compression of pictures) +- for more details look to the gocr.html documentation + +Why the result of the new version are worse compared to the old version? +- the algorithms of gocr are sometimes evolutionary, a fine tuned old + algorithm will be replased by a completly new algorithm which is more + general but a bit worse for your problem. + Please send your sample and give the new algo the chance to become + better as the old one. + +Security +-------- +Because gocr only reads and writes files it is quite sure, except the +popen-function which allows you to call gocr with non-pnm-image formats +directly. The popen function can be misused to start other probably +dangerous programs. +If you care about conversion to pnm format, you can safely disable +popen-function by removing "#define HAVE_POPEN 1" from config.h before +compiling the gocr package. + + +How can you help gocr? +---------------------- +- Send comments, ideas and patches (diff -ru gocr_original/ gocr_changed/). +- If you have a lot of money, spend a bit (paypal). Ok, paypal has changed, + so please forget about it. Also the importand problem is now the missing + spare time for coding. +- I always need example files (.pbm.gz or jpeg <100kB) for testing + the behavior of the ocr engine under different conditions, + because scanning does take a lot of time which I do not have. + But do not send files which are not convertable by commercial ocr programs + or which are protected from copying and electronic processing by copyright. + That will help, to get the world's best OCR open source program. :) Thanks! +- Please dont send captchas. +- Send me your results (errors,num_chars,dpi) and if possible results + and name of professional OCR programs for statistics. +- Read OCR literature, extract the essentials and send a short report + to me ;). +- If you have a good idea, how to manage some OCR-tasks, tell me! +- Tell your friends about gocr. Tell me about your success. Be happy. + + +After all, is it gocr or jocr? +------------------------------ +The original name of this project is gocr, from GNU Optical Character +Recognition. Another project is using the same name, however; so the +name was changed to jocr. If you have a good idea for a name, please +send it. + + +Latest news +------------ + http://jocr.sourceforge.net + +Authors: (see AUTHORS) diff --git a/.svn/pristine/0a/0a8d4e89ad7a3ba14230306fcf7927bf701f13d4.svn-base b/.svn/pristine/0a/0a8d4e89ad7a3ba14230306fcf7927bf701f13d4.svn-base new file mode 100644 index 0000000..0ff82e8 --- /dev/null +++ b/.svn/pristine/0a/0a8d4e89ad7a3ba14230306fcf7927bf701f13d4.svn-base @@ -0,0 +1,76 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_column.cpp - GLUI_Column control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/**************************************** GLUI_Column::draw() ************/ + +void GLUI_Column::draw( int x, int y ) +{ + int orig; + int panel_x, panel_y, panel_w, panel_h, panel_x_off, panel_y_off; + int y_diff; + + if ( NOT can_draw() ) + return; + + if ( int_val == 1 ) { /* Draw a vertical bar */ + orig = set_to_glut_window(); + + if ( parent() != NULL ) { + get_this_column_dims(&panel_x, &panel_y, &panel_w, &panel_h, + &panel_x_off, &panel_y_off); + + y_diff = y_abs - panel_y; + + if ( 0 ) { + glLineWidth(1.0); + glBegin( GL_LINES ); + glColor3f( .5, .5, .5 ); + glVertex2i( -GLUI_XOFF+1, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); + glVertex2i( -GLUI_XOFF+1, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); + + glColor3f( 1.0, 1.0, 1.0 ); + glVertex2i( -GLUI_XOFF+2, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); + glVertex2i( -GLUI_XOFF+2, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); + glEnd(); + } + else { + glLineWidth(1.0); + glBegin( GL_LINES ); + glColor3f( .5, .5, .5 ); + glVertex2i( -2, 0 ); + glVertex2i( -2, h ); + /*glVertex2i( 0, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); */ + /*glVertex2i( 0, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); */ + + glColor3f( 1.0, 1.0, 1.0 ); + glVertex2i( -1, 0 ); + glVertex2i( -1, h ); + /*glVertex2i( 1, -y_diff + GLUI_SEPARATOR_HEIGHT/2 ); */ + /*glVertex2i( 1, -y_diff + panel_h - GLUI_SEPARATOR_HEIGHT/2); */ + glEnd(); + } + + } + + restore_window(orig); + } +} + diff --git a/.svn/pristine/0a/0ac83746029a29ab286cb840b9e10128c31a67f2.svn-base b/.svn/pristine/0a/0ac83746029a29ab286cb840b9e10128c31a67f2.svn-base new file mode 100644 index 0000000..98c755f --- /dev/null +++ b/.svn/pristine/0a/0ac83746029a29ab286cb840b9e10128c31a67f2.svn-base @@ -0,0 +1,289 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + the following code was send by Ryan Dibble + + The algorithm is very simple but works good hopefully. + + Compare the grayscale histogram with a mass density diagram: + I think the algorithm is a kind of + divide a body into two parts in a way that the mass + centers have the largest distance from each other, + the function is weighted in a way that same masses have a advantage + + - otsu algorithm is failing on diskrete multi color images + + TODO: + RGB: do the same with all colors (CMYG?) seperately + + test: hardest case = two colors + bbg: test done, using a two color gray file. Output: + # threshold: Value = 43 gmin=43 gmax=188 + + my changes: + - float -> double + - debug option added (vvv & 1..2) + - **image => *image, &image[i][1] => &image[i*cols+1] + - do only count pixels near contrast regions + this makes otsu much better for shadowed fonts or multi colored text + on white background + + (m) Joerg Schulenburg (see README for email address) + + ToDo: + - measure contrast + - detect low-contrast regions + + */ + +#include +#include + +#define Abs(x) ((x<0)?-(x):x) + +/*======================================================================* + * global thresholding routine * + * takes a 2D unsigned char array pointer, number of rows, and * + * number of cols in the array. returns the value of the threshold * + * x0,y0,x0+dx,y0+dy are the edgepoints of the interesting region * + * vvv is the verbosity for debugging purpose * + *======================================================================*/ +int +otsu (unsigned char *image, int rows, int cols, + int x0, int y0, int dx, int dy, int vvv) { + + unsigned char *np; // pointer to position in the image we are working with + unsigned char op1, op2; // predecessor of pixel *np (start value) + int maxc=0; // maximum contrast (start value) + int thresholdValue=1; // value we will threshold at + int ihist[256]; // image histogram + int chist[256]; // contrast histogram + + int i, j, k; // various counters + int is, i1, i2, ns, n1, n2, gmin, gmax; + double m1, m2, sum, csum, fmax, sb; + + // zero out histogram ... + memset(ihist, 0, sizeof(ihist)); + memset(chist, 0, sizeof(chist)); + op1=op2=0; + + gmin=255; gmax=0; k=dy/512+1; + // v0.43 first get max contrast, dont do it together with next step + // because it failes if we have pattern as background (on top) + for (i = 0; i < dy ; i+=k) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + ihist[*np]++; + if(*np > gmax) gmax=*np; + if(*np < gmin) gmin=*np; + if (Abs(*np-op1)>maxc) maxc=Abs(*np-op1); /* new maximum contrast */ + if (Abs(*np-op2)>maxc) maxc=Abs(*np-op2); /* new maximum contrast */ + /* we hope that maxc will be find its maximum very fast */ + op2=op1; /* shift old pixel to next older */ + op1=*np; /* store old pixel for contrast check */ + np++; /* next pixel */ + } + } + + // generate the histogram + // Aug06 images with large white or black homogeneous + // areas give bad results, so we only add pixels on contrast edges + for (i = 0; i < dy ; i+=k) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + if (Abs(*np-op1)>maxc/4 + || Abs(*np-op2)>maxc/4) + chist[*np]++; // count only relevant pixels + op2=op1; /* shift old pixel to next older */ + op1=*np; /* store old pixel for contrast check */ + np++; /* next pixel */ + } + } + + // set up everything + sum = csum = 0.0; + ns = 0; + is = 0; + + for (k = 0; k <= 255; k++) { + sum += (double) k * (double) chist[k]; /* x*f(x) cmass moment */ + ns += chist[k]; /* f(x) cmass */ + is += ihist[k]; /* f(x) imass */ + // Debug: output to out_hist.dat? + // fprintf(stderr,"\chistogram %3d %6d (brightness weight)", k, ihist[k]); + } + + if (!ns) { + // if n has no value we have problems... + fprintf (stderr, "NOT NORMAL, thresholdValue = 160\n"); + return (160); + } + + // ToDo: only care about extremas in a 3 pixel environment + // check if there are more than 2 mass centers (more colors) + // return object colors and color radius instead of threshold value + // also the reagion, where colored objects are found + // what if more than one background color? no otsu at all? + // whats background? box with lot of other boxes in it + // threshold each box (examples/invers.png,colors.png) + // get maximum white and minimum black pixel color (possible range) + // check range between them for low..high contrast ??? + // typical scenes (which must be covered): + // - white page with text of different colors (gray values) + // - binear page: background (gray=1) + black text (gray=0) + // - text mixed with big (dark) images + // ToDo: recursive clustering for maximum multipol moments? + // idea: normalize ihist to max=1024 before otsu? + + // do the otsu global thresholding method + + if ((vvv&1)) // Debug + fprintf(stderr,"# threshold: value ihist chist mass_dipol_moment\n"); + fmax = -1.0; + n1 = 0; + for (k = 0; k < 255; k++) { + n1 += chist[k]; // left mass (integration) + if (!n1) continue; // we need at least one foreground pixel + n2 = ns - n1; // right mass (num pixels - left mass) + if (n2 == 0) break; // we need at least one background pixel + csum += (double) k *chist[k]; // left mass moment + m1 = csum / n1; // left mass center (black chars) + m2 = (sum - csum) / n2; // right mass center (white background) + // max. dipol moment? + // orig: sb = (double) n1 *(double) n2 * (m1 - m2) * (m1 - m2); + sb = (double) n1 *(double) n2 * (m2 - m1); // seems to be better Aug06 + /* bbg: note: can be optimized. */ + if (sb > fmax) { + fmax = sb; + thresholdValue = k + 1; + // thresholdValue = (m1 + 3 * m2) / 4; + } + if ((vvv&1) && ihist[k]) // Debug + fprintf(stderr,"# threshold: %3d %6d %6d %8.2f\n", + k, ihist[k], chist[k], + sb/(dx*dy)); /* normalized dipol moment */ + } + // ToDo: error = left/right point where sb is 90% of maximum? + // now we count all pixels for background detection + i1 = 0; + for (k = 0; k < thresholdValue; k++) { + i1 += ihist[k]; // left mass (integration) + } + i2 = is - i1; // right mass (num pixels - left mass) + + // at this point we have our thresholding value + // black_char: value=cs + + // can it happen? check for sureness + if (thresholdValue > gmax) { + fprintf(stderr,"# threshold: Value >gmax\n"); + thresholdValue = gmax; + } + if (thresholdValue <= gmin) { + fprintf(stderr,"# threshold: Value<=gmin\n"); + thresholdValue = gmin+1; + } + + // debug code to display thresholding values + if ( vvv & 1 ) + fprintf(stderr,"# threshold: Value = %d gmin=%d gmax=%d cmax=%d" + " b/w= %d %d\n", + thresholdValue, gmin, gmax, maxc, i1, i2); + + // this is a primitive criteria for inversion and should be improved + // old: i1 >= 4*i2, but 0811qemu1.png has a bit above 1/4 + if (2*i1 > 7*i2) { // more black than white, obviously black is background + if ( vvv & 1 ) + fprintf(stderr,"# threshold: invert the image\n"); + // we do inversion here (no data lost) + for (i = 0; i < dy ; i++) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + *np=255-*np; + np++; /* next pixel */ + } + } + thresholdValue=255-thresholdValue+1; + } + + return(thresholdValue); + /* range: 0 < thresholdValue <= 255, example: 1 on b/w images */ + /* 0..threshold-1 is foreground */ + /* threshold..255 is background */ + /* ToDo: min=blackmasscenter/2,thresh,max=(whitemasscenter+255)/2 */ +} + +/*======================================================================*/ +/* thresholding the image (set threshold to 128+32=160=0xA0) */ +/* now we have a fixed thresholdValue good to recognize on gray image */ +/* - so lower bits can used for other things (bad design?) */ +/* ToDo: different foreground colors, gray on black/white background */ +/*======================================================================*/ +int +thresholding (unsigned char *image, int rows, int cols, + int x0, int y0, int dx, int dy, int thresholdValue) { + + unsigned char *np; // pointer to position in the image we are working with + + int i, j; // various counters + int gmin=255,gmax=0; + int nmin=255,nmax=0; + + // calculate min/max (twice?) + for (i = y0 + 1; i < y0 + dy - 1; i++) { + np = &image[i*cols+x0+1]; + for (j = x0 + 1; j < x0 + dx - 1; j++) { + if(*np > gmax) gmax=*np; + if(*np < gmin) gmin=*np; + np++; /* next pixel */ + } + } + + /* allowed_threshold=gmin+1..gmax v0.43 */ + if (thresholdValue<=gmin || thresholdValue>gmax){ + thresholdValue=(gmin+gmax+1)/2; /* range=0..1 -> threshold=1 */ + fprintf(stderr,"# thresholdValue out of range %d..%d, reset to %d\n", + gmin, gmax, thresholdValue); + } + + /* b/w: min=0,tresh=1,max=1 v0.43 */ + // actually performs the thresholding of the image... + // later: grayvalues should also be used, only rescaling threshold=160=0xA0 + // sometimes images have no contrast (thresholdValue == gmin) + for (i = y0; i < y0+dy; i++) { + np = &image[i*cols+x0]; + for (j = x0; j < x0+dx; j++) { + *np = (unsigned char) (*np >= thresholdValue || thresholdValue == gmin ? + (255-(gmax - *np)* 80/(gmax - thresholdValue + 1)) : + ( 0+(*np - gmin)*150/(thresholdValue - gmin )) ); + if(*np > nmax) nmax=*np; + if(*np < nmin) nmin=*np; + np++; + } + } + + // fprintf(stderr,"# thresholding: nmin=%d nmax=%d\n", nmin, nmax); + + return(128+32); // return the new normalized threshold value + /* 0..159 is foreground */ + /* 160..255 is background */ +} + diff --git a/.svn/pristine/0a/0accdf7f52cef02d0b444335cd50f7502d273c88.svn-base b/.svn/pristine/0a/0accdf7f52cef02d0b444335cd50f7502d273c88.svn-base new file mode 100644 index 0000000..d0563aa --- /dev/null +++ b/.svn/pristine/0a/0accdf7f52cef02d0b444335cd50f7502d273c88.svn-base @@ -0,0 +1,136 @@ +/* + * elch6Dquat implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/elch6Dquat.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using Quaternions + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Dquat::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[7]; + Matrix C(7, 7); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 7; j++) { + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } + } + + double *weights[7]; + for(int i = 0; i < 7; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + for(int i = last - 2; i <= last; i++) { + for(int j = 0; j < 7; j++) { + weights[j][i] = 0.0; + } + } + + double delta[7]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + delta[3] = allScans[last]->get_rPosQuat()[0]; + delta[4] = allScans[last]->get_rPosQuat()[1]; + delta[5] = allScans[last]->get_rPosQuat()[2]; + delta[6] = allScans[last]->get_rPosQuat()[3]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + delta[3] = allScans[last]->get_rPosQuat()[0] - delta[3]; + delta[4] = allScans[last]->get_rPosQuat()[1] - delta[4]; + delta[5] = allScans[last]->get_rPosQuat()[2] - delta[5]; + delta[6] = allScans[last]->get_rPosQuat()[3] - delta[6]; + + if(!quiet) { + double axisangle[4]; + axisangle[0] = delta[3]; + axisangle[1] = delta[4]; + axisangle[2] = delta[5]; + axisangle[3] = delta[6]; + QuatToAA(axisangle); + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + double rPos[3], rPosQuat[4]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + rPosQuat[0] = allScans[i]->get_rPosQuat()[0] + delta[3] * (weights[3][i] - weights[3][0]); + rPosQuat[1] = allScans[i]->get_rPosQuat()[1] + delta[4] * (weights[4][i] - weights[4][0]); + rPosQuat[2] = allScans[i]->get_rPosQuat()[2] + delta[5] * (weights[5][i] - weights[5][0]); + rPosQuat[3] = allScans[i]->get_rPosQuat()[3] + delta[6] * (weights[6][i] - weights[6][0]); + + Normalize4(rPosQuat); + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 7; i++) { + delete [] weights[i]; + } + +} diff --git a/.svn/pristine/0b/0b89dc190d0de0a6035e7e6fd42b8d7951b08d9c.svn-base b/.svn/pristine/0b/0b89dc190d0de0a6035e7e6fd42b8d7951b08d9c.svn-base new file mode 100644 index 0000000..6b3f5c5 --- /dev/null +++ b/.svn/pristine/0b/0b89dc190d0de0a6035e7e6fd42b8d7951b08d9c.svn-base @@ -0,0 +1,44 @@ +//---------------------------------------------------------------------- +// File: kd_fix_rad_search.h +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree fixed-radius kNN search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_fix_rad_search_H +#define ANN_kd_fix_rad_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global variables +// These are active for the life of each call to +// annRangeSearch(). They are set to save the number of +// variables that need to be passed among the various search +// procedures. +//---------------------------------------------------------------------- + +extern ANNpoint ANNkdFRQ; // query point (static copy) + +#endif diff --git a/.svn/pristine/0b/0bd8fcfb82e0a325a9450fccd86d4dece35fcb36.svn-base b/.svn/pristine/0b/0bd8fcfb82e0a325a9450fccd86d4dece35fcb36.svn-base new file mode 100644 index 0000000..276eca0 --- /dev/null +++ b/.svn/pristine/0b/0bd8fcfb82e0a325a9450fccd86d4dece35fcb36.svn-base @@ -0,0 +1,28 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef SHARED_FRAME_H +#define SHARED_FRAME_H + +#include "slam6d/frame.h" + +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +typedef ip::allocator FrameAllocator; +typedef ip::vector FrameVector; + + +#endif //SHARED_FRAME_H diff --git a/.svn/pristine/0b/0bea7e5e31f4924178802bcc12d1a149feefba4e.svn-base b/.svn/pristine/0b/0bea7e5e31f4924178802bcc12d1a149feefba4e.svn-base new file mode 100644 index 0000000..9115ae3 --- /dev/null +++ b/.svn/pristine/0b/0bea7e5e31f4924178802bcc12d1a149feefba4e.svn-base @@ -0,0 +1,340 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job, int argn, char *argv[]) +{ + int i; + char *s1; + + assert(job); + + if (argn <= 1) { + out_version(1); + exit(0); + } +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + + /* process arguments */ + for (i = 1; i < argn; i++) { + if (strcmp(argv[i], "--help") == 0) + help(); /* and quits */ + if (argv[i][0] == '-' && argv[i][1] != 0) { + s1 = ""; + if (i + 1 < argn) + s1 = argv[i + 1]; + switch (argv[i][1]) { + case 'h': /* help */ + help(); + break; + case 'i': /* input image file */ + job->src.fname = s1; + i++; + break; + case 'e': /* logging file */ + if (s1[0] == '-' && s1[1] == '\0') { +#ifdef HAVE_UNISTD_H + dup2(STDOUT_FILENO, STDERR_FILENO); /* -e /dev/stdout works */ +#else + fprintf(stderr, "stderr redirection not possible without unistd.h\n"); +#endif + } + else if (!freopen(s1, "w", stderr)) { + fprintf(stderr, "stderr redirection to %s failed\n", s1); + } + i++; + break; + case 'p': /* database path */ + job->cfg.db_path=s1; + i++; + break; + case 'o': /* output file */ + if (s1[0] == '-' && s1[1] == '\0') { /* default */ + } + else if (!freopen(s1, "w", stdout)) { + fprintf(stderr, "stdout redirection to %s failed\n", s1); + }; + i++; + break; + case 'f': /* output format */ + if (strcmp(s1, "ISO8859_1") == 0) job->cfg.out_format=ISO8859_1; else + if (strcmp(s1, "TeX") == 0) job->cfg.out_format=TeX; else + if (strcmp(s1, "HTML") == 0) job->cfg.out_format=HTML; else + if (strcmp(s1, "XML") == 0) job->cfg.out_format=XML; else + if (strcmp(s1, "SGML") == 0) job->cfg.out_format=SGML; else + if (strcmp(s1, "UTF8") == 0) job->cfg.out_format=UTF8; else + if (strcmp(s1, "ASCII") == 0) job->cfg.out_format=ASCII; else + fprintf(stderr,"Warning: unknown format (-f %s)\n",s1); + i++; + break; + case 'c': /* list of chars (_ = not recognized chars) */ + job->cfg.lc = s1; + i++; + break; + case 'C': /* char filter, default: NULL (all chars) */ + /* ToDo: UTF8 input, wchar */ + job->cfg.cfilter = s1; + i++; + break; + case 'd': /* dust size */ + job->cfg.dust_size = atoi(s1); + i++; + break; + case 'l': /* grey level 0<160<=255, 0 for autodetect */ + job->cfg.cs = atoi(s1); + i++; + break; + case 's': /* spacewidth/dots (0 = autodetect) */ + job->cfg.spc = atoi(s1); + i++; + break; + case 'v': /* verbose mode */ + job->cfg.verbose |= atoi(s1); + i++; + break; + case 'm': /* operation modes */ + job->cfg.mode |= atoi(s1); + i++; + break; + case 'n': /* numbers only */ + job->cfg.only_numbers = atoi(s1); + i++; + break; + case 'x': /* initialize progress output s1=fname */ + ini_progress(s1); + i++; + break; + case 'a': /* set certainty */ + job->cfg.certainty = atoi(s1);; + i++; + break; + case 'u': /* output marker for unrecognized chars */ + job->cfg.unrec_marker = s1; + i++; + break; + default: + fprintf(stderr, "# unknown option use -h for help\n"); + } + continue; + } + else /* argument can be filename v0.2.5 */ if (argv[i][0] != '-' + || argv[i][1] == '\0' ) { + job->src.fname = argv[i]; + } + } +} + +static void mark_start(job_t *job) { + assert(job); + + if (job->cfg.verbose) { + out_version(0); + /* insert some helpful info for support */ + fprintf(stderr, "# compiled: " __DATE__ ); +#if defined(__GNUC__) + fprintf(stderr, " GNUC-%d", __GNUC__ ); +#endif +#ifdef __GNUC_MINOR__ + fprintf(stderr, ".%d", __GNUC_MINOR__ ); +#endif +#if defined(__linux) + fprintf(stderr, " linux"); +#elif defined(__unix) + fprintf(stderr, " unix"); +#endif +#if defined(__WIN32) || defined(__WIN32__) + fprintf(stderr, " WIN32"); +#endif +#if defined(__WIN64) || defined(__WIN64__) + fprintf(stderr, " WIN64"); +#endif +#if defined(__VERSION__) + fprintf(stderr, " version " __VERSION__ ); +#endif + fprintf(stderr, "\n"); + fprintf(stderr, + "# options are: -l %d -s %d -v %d -c %s -m %d -d %d -n %d -a %d -C \"%s\"\n", + job->cfg.cs, job->cfg.spc, job->cfg.verbose, job->cfg.lc, job->cfg.mode, + job->cfg.dust_size, job->cfg.only_numbers, job->cfg.certainty, + job->cfg.cfilter); + fprintf(stderr, "# file: %s\n", job->src.fname); +#ifdef USE_UNICODE + fprintf(stderr,"# using unicode\n"); +#endif +#ifdef HAVE_GETTIMEOFDAY + gettimeofday(&job->tmp.init_time, NULL); +#endif + } +} + +static void mark_end(job_t *job) { + assert(job); + +#ifdef HAVE_GETTIMEOFDAY + /* show elapsed time */ + if (job->cfg.verbose) { + struct timeval end, result; + gettimeofday(&end, NULL); + timeval_subtract(&result, &end, &job->tmp.init_time); + fprintf(stderr,"Elapsed time: %d:%02d:%3.3f.\n", (int)result.tv_sec/60, + (int)result.tv_sec%60, (float)result.tv_usec/1000); + } +#endif +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ + diff --git a/.svn/pristine/0c/0c17f50fce189512524e7c6180629b7128e3e453.svn-base b/.svn/pristine/0c/0c17f50fce189512524e7c6180629b7128e3e453.svn-base new file mode 100644 index 0000000..0404c88 --- /dev/null +++ b/.svn/pristine/0c/0c17f50fce189512524e7c6180629b7128e3e453.svn-base @@ -0,0 +1,79 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + ////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // http://www.topcoder.com/tc?module=Static&d1=tutorials&d2=geometry1 + + double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + { + double abx = b.x-a.x; + double aby = b.y-a.y; + double bcx = c.x-b.x; + double bcy = c.y-b.y; + + return abx*bcx + aby*bcy; + } + + double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + { + double abx = b.x-a.x; + double aby = b.y-a.y; + double acx = c.x-a.x; + double acy = c.y-a.y; + + return abx*acy - aby*acx; + } + + double cvDistancePointPoint(CvPoint const &a, CvPoint const &b) + { + double abx = a.x-b.x; + double aby = a.y-b.y; + + return sqrt(abx*abx + aby*aby); + } + + double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment) + { + if (isSegment) + { + double dot1 = cvDotProductPoints(a, b, c); + if (dot1>0) return cvDistancePointPoint(b, c); + + double dot2 = cvDotProductPoints(b, a, c); + if(dot2>0) return cvDistancePointPoint(a, c); + } + + return fabs(cvCrossProductPoints(a,b,c)/cvDistancePointPoint(a,b)); + } + ////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +} diff --git a/.svn/pristine/0c/0c960252b2c98218dbf17dc535bf1f42f544ea3f.svn-base b/.svn/pristine/0c/0c960252b2c98218dbf17dc535bf1f42f544ea3f.svn-base new file mode 100644 index 0000000..88fc868 --- /dev/null +++ b/.svn/pristine/0c/0c960252b2c98218dbf17dc535bf1f42f544ea3f.svn-base @@ -0,0 +1,24 @@ + + +int glui_img_spindown_0[] = { 12, 8, /* width, height */ + 255,255,255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 255,255,255, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 0, 0, 0, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 127,127,127, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 255,255,255, 191,191,191, 191,191,191, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 127,127,127, 191,191,191, + 127,127,127, 0, 0, 0, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 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-B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/.svn/pristine/0d/0d530a2365de4964ab5864eb4ab04951ca99c66c.svn-base b/.svn/pristine/0d/0d530a2365de4964ab5864eb4ab04951ca99c66c.svn-base new file mode 100644 index 0000000..561308e --- /dev/null +++ b/.svn/pristine/0d/0d530a2365de4964ab5864eb4ab04951ca99c66c.svn-base @@ -0,0 +1,662 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_add_controls.cpp - Routines for adding controls to a GLUI window + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + + + +/*********************************** GLUI:: add_checkbox() ************/ + +GLUI_Checkbox *GLUI:: add_checkbox( char *name, int *value_ptr, + int id, GLUI_Update_CB callback ) +{ + return add_checkbox_to_panel( main_panel, + name, value_ptr, id, callback ); +} + + +/*********************************** GLUI:: add_checkbox_to_panel() **********/ + +GLUI_Checkbox *GLUI::add_checkbox_to_panel( GLUI_Panel *panel, + char *name, int *value_ptr, + int id, + GLUI_Update_CB callback ) +{ + GLUI_Checkbox *control; + + control = new GLUI_Checkbox; + + if ( control ) { + control->set_ptr_val( value_ptr ); + control->user_id = id; + control->set_name( name ); + control->callback = callback; + + add_control( panel, control ); + + control->init_live(); + + return control; + } + else { + return NULL; + } +} + + + +/************************************ GLUI_Main::add_control() **************/ + +int GLUI_Main::add_control( GLUI_Node *parent, GLUI_Control *control ) +{ + GLUI_Control *parent_control; + + /*** Collapsible nodes have to be handled differently, b/c the first and + last children are swapped in and out ***/ + parent_control = ((GLUI_Control*)parent); + if ( parent_control->collapsible == true ) { + if ( NOT parent_control->is_open ) { + /** Swap in the original first and last children **/ + parent_control->child_head = parent_control->collapsed_node.child_head; + parent_control->child_tail = parent_control->collapsed_node.child_tail; + + /*** Link this control ***/ + control->link_this_to_parent_last( parent ); + + /** Swap the children back out ***/ + parent_control->collapsed_node.child_head = parent_control->child_head; + parent_control->collapsed_node.child_tail = parent_control->child_tail; + parent_control->child_head = NULL; + parent_control->child_tail = NULL; + } + else { + control->link_this_to_parent_last( parent ); + } + } + else { + control->link_this_to_parent_last( parent ); + } + control->glui = (GLUI*) this; + control->update_size(); + control->enabled = ((GLUI_Control*) parent)->enabled; + control->glui->refresh(); + + /** Now set the 'hidden' var based on the parent **/ + if ( parent_control->hidden OR + (parent_control->collapsible AND NOT parent_control->is_open ) ) + { + control->hidden = true; + } + + return true; +} + + +/********************************************* GLUI::add_panel() *************/ + +GLUI_Panel *GLUI::add_panel( char *name, int type ) +{ + return add_panel_to_panel( main_panel, name, type ); +} + + +/**************************************** GLUI::add_panel_to_panel() *********/ + +GLUI_Panel *GLUI::add_panel_to_panel( GLUI_Panel *parent_panel, + char *name, int type ) +{ + GLUI_Panel *panel; + + panel = new GLUI_Panel; + + if ( panel ) { + panel->set_name( name ); + panel->user_id = -1; + panel->int_val = type; + + add_control( parent_panel, panel ); + + return panel; + } + else { + return NULL; + } +} + + +/***************************** GLUI::add_radiogroup() ***************/ + +GLUI_RadioGroup *GLUI::add_radiogroup( int *value_ptr, + int user_id, GLUI_Update_CB callback) +{ + return add_radiogroup_to_panel( main_panel, value_ptr, + user_id, callback ); +} + + +/***************************** GLUI::add_radiogroup_to_panel() ***************/ + +GLUI_RadioGroup *GLUI::add_radiogroup_to_panel( GLUI_Panel *panel, + int *value_ptr, + int user_id, GLUI_Update_CB callback) +{ + GLUI_RadioGroup *control; + GLUI_String buf; + + control = new GLUI_RadioGroup; + + if ( control ) { + control->set_ptr_val( value_ptr ); + if ( value_ptr ) { + control->int_val = *value_ptr; /** Can't call set_int_val(), b/c that + function will try to call the + callback, etc */ + /** Actually, maybe not **/ + control->last_live_int = *value_ptr; + } + + control->user_id = user_id; + sprintf( buf, "RadioGroup: %p", control ); + control->set_name( buf ); + control->callback = callback; + + add_control( panel, control ); + + control->init_live(); + + return control; + } + else { + return NULL; + } + +} + + +/***************************** GLUI::add_radiobutton_to_group() *************/ + +GLUI_RadioButton *GLUI::add_radiobutton_to_group( GLUI_RadioGroup *group, + char *name ) +{ + GLUI_RadioButton *control; + + if ( group->type != GLUI_CONTROL_RADIOGROUP ) { + /*fprintf( stderr, "ERROR: Trying to add radiobutton to non-radiogroup\n" ); */ + /*fflush( stderr ); */ + return NULL; + } + + control = new GLUI_RadioButton; + + if ( control ) { + control->set_int_val( 0 ); + /*int_val = 0; */ + + /** A radio button's user id is always its ordinal number (zero-indexed) + within the group */ + control->user_id = group->num_buttons; + group->num_buttons++; /* Increments radiogroup's button count */ + control->set_name( name ); + control->group = group; + + add_control( group, control ); + + /*** Now update button states ***/ + group->set_int_val( group->int_val ); /* This tells the group to + reset itself to its + current value, thereby + updating all its buttons */ + + return control; + } + else { + return NULL; + } + +} + + +/********************************** GLUI::add_statictext() ************/ + +GLUI_StaticText *GLUI::add_statictext( char *name ) +{ + return add_statictext_to_panel( main_panel, name ); +} + + +/******************************* GLUI::add_statictext_to_panel() **********/ + +GLUI_StaticText *GLUI:: +add_statictext_to_panel( GLUI_Panel *panel, char *name ) +{ + GLUI_StaticText *control; + + control = new GLUI_StaticText; + + if ( control ) { + control->set_name( name ); + add_control( panel, control ); + + return control; + } + else { + return NULL; + } + +} + + +/***************************************** GLUI:: add_button() ************/ + +GLUI_Button *GLUI:: add_button( char *name, + int id, GLUI_Update_CB callback ) +{ + return add_button_to_panel( main_panel, + name, id, callback ); +} + + +/*********************************** GLUI:: add_button_to_panel() **********/ + +GLUI_Button *GLUI::add_button_to_panel( GLUI_Panel *panel, + char *name, + int id, + GLUI_Update_CB callback ) +{ + GLUI_Button *control; + + control = new GLUI_Button; + + if ( control ) { + /* control->set_ptr_val( value_ptr ); + if ( value_ptr ) { + control->set_int_val( *value_ptr ); + }*/ + + control->user_id = id; + control->callback = callback; + control->set_name( name ); + + add_control( panel, control ); + + return control; + } + else { + return NULL; + } +} + + + +/********************************** GLUI::add_separator() ************/ + +void GLUI::add_separator( void ) +{ + add_separator_to_panel( main_panel ); +} + + +/******************************* GLUI::add_separator_to_panel() **********/ + +void GLUI::add_separator_to_panel( GLUI_Panel *panel ) +{ + GLUI_Separator *control = new GLUI_Separator; + + if ( control ) { + add_control( panel, control ); + } +} + + +/********************************** GLUI::add_edittext() ************/ + +GLUI_EditText *GLUI::add_edittext( char *name, + int data_type, void *data, + int id, GLUI_Update_CB callback) +{ + return add_edittext_to_panel( main_panel, name, data_type, data, + id, callback ); +} + + +/******************************* GLUI::add_edittext_to_panel() **********/ + +GLUI_EditText *GLUI:: +add_edittext_to_panel( GLUI_Panel *panel, char *name, + int data_type, void *data, + int id, GLUI_Update_CB callback) +{ + GLUI_EditText *control; + + control = new GLUI_EditText; + + if ( control ) { + control->set_name( name ); + + control->data_type = data_type; + control->ptr_val = data; + control->user_id = id; + control->callback = callback; + + if ( data_type == GLUI_EDITTEXT_TEXT ) { + control->live_type = GLUI_LIVE_TEXT; + } + else if ( data_type == GLUI_EDITTEXT_INT ) { + control->live_type = GLUI_LIVE_INT; + if ( data == NULL ) + control->set_int_val(control->int_val); /** Set to some default, in case of no live var **/ + } + else if ( data_type == GLUI_EDITTEXT_FLOAT ) { + control->live_type = GLUI_LIVE_FLOAT; + control->num_periods = 1; + if ( data == NULL ) + control->set_float_val(control->float_val); /** Set to some default, in case of no live var **/ + } + else { + return NULL; /* Did not pass in a valid data type */ + } + + add_control( panel, control ); + + control->init_live(); + + return control; + } + else { + return NULL; + } + +} + + +/********************************** GLUI::add_spinner() ************/ + +GLUI_Spinner *GLUI::add_spinner( char *name, + int data_type, void *data, + int id, GLUI_Update_CB callback) +{ + return add_spinner_to_panel( main_panel, name, data_type, data, + id, callback ); +} + + +/******************************* GLUI::add_spinner_to_panel() **********/ + +GLUI_Spinner *GLUI:: +add_spinner_to_panel( GLUI_Panel *panel, char *name, + int data_type, void *data, + int id, GLUI_Update_CB callback) +{ + GLUI_Spinner *control; + int text_type; + + control = new GLUI_Spinner; + + if ( NOT strcmp( name, "Spinner Test" )) + id=id; + + + if ( control ) { + if ( data_type == GLUI_SPINNER_INT ) { + text_type = GLUI_EDITTEXT_INT; + /* control->live_type = GLUI_LIVE_INT; */ + } + else if ( data_type == GLUI_SPINNER_FLOAT ) { + text_type = GLUI_EDITTEXT_FLOAT; + /* control->live_type = GLUI_LIVE_FLOAT; */ + } + else { + return NULL; /* Did not pass in a valid data type */ + } + + GLUI_EditText *edittext = + add_edittext_to_panel( (GLUI_Panel*) control, name, text_type, data, + id, callback ); + + if ( edittext ) { + control->set_name( name ); + control->edittext = edittext; /* Link the edittext to the spinner */ + /* control->ptr_val = data; */ + control->user_id = id; + control->data_type = data_type; + control->callback = callback; + + edittext->spinner = control; /* Link the spinner to the edittext */ + + add_control( panel, control ); + + return control; + } + else { + return NULL; + } + } + else { + return NULL; + } + +} + + +/********************************** GLUI::add_column() ************/ + +void GLUI::add_column( int draw_bar ) +{ + add_column_to_panel( main_panel, draw_bar ); +} + + +/******************************* GLUI::add_column_to_panel() **********/ + +void GLUI::add_column_to_panel( GLUI_Panel *panel, int draw_bar ) +{ + GLUI_Column *control = new GLUI_Column; + + if ( control ) { + control->int_val = draw_bar; /* Whether to draw vertical bar or not */ + + add_control( panel, control ); + } + else { + } +} + + +/*********************************** GLUI:: add_listbox() ************/ + +GLUI_Listbox *GLUI:: add_listbox( char *name, int *value_ptr, + int id, GLUI_Update_CB callback ) +{ + return add_listbox_to_panel( main_panel, + name, value_ptr, id, callback ); +} + + +/*********************************** GLUI:: add_listbox_to_panel() **********/ + +GLUI_Listbox *GLUI::add_listbox_to_panel( GLUI_Panel *panel, + char *name, int *value_ptr, + int id, + GLUI_Update_CB callback ) +{ + GLUI_Listbox *control; + + control = new GLUI_Listbox; + + if ( control ) { + control->set_ptr_val( value_ptr ); + control->user_id = id; + control->set_name( name ); + control->callback = callback; + + add_control( panel, control ); + + control->init_live(); + + return control; + } + else { + return NULL; + } +} + + +/*********************************** GLUI:: add_rotation() ************/ + +GLUI_Rotation *GLUI:: add_rotation( char *name, float *value_ptr, + int id, GLUI_Update_CB callback ) +{ + return add_rotation_to_panel( main_panel, + name, value_ptr, id, callback ); +} + + +/*********************************** GLUI:: add_rotation_to_panel() **********/ + +GLUI_Rotation *GLUI::add_rotation_to_panel( GLUI_Panel *panel, + char *name, float *value_ptr, + int id, + GLUI_Update_CB callback ) +{ + GLUI_Rotation *control; + + control = new GLUI_Rotation; + + if ( control ) { + control->set_ptr_val( value_ptr ); + control->user_id = id; + control->set_name( name ); + control->callback = callback; + add_control( panel, control ); + control->init_live(); + + /*** Init the live 4x4 matrix. This is different than the standard + live variable behavior, since the original value of the 4x4 matrix + is ignored and reset to Identity ***/ + if ( value_ptr != NULL ) { + int i, j, index; + for( i=0; i<4; i++ ) { + for( j=0; j<4; j++ ) { + index = i*4+j; + if ( i==j ) + value_ptr[index] = 1.0; + else + value_ptr[index] = 0.0; + } + } + } + + /*init_ball(); */ + + return control; + } + else { + return NULL; + } +} + + +/*********************************** GLUI:: add_translation() ************/ + +GLUI_Translation + *GLUI:: add_translation( char *name, int trans_type, + float *value_ptr, int id, GLUI_Update_CB callback ) +{ + return add_translation_to_panel( main_panel,name,trans_type, + value_ptr, id, callback ); +} + + +/*********************************** GLUI:: add_translation_to_panel() **********/ + +GLUI_Translation + *GLUI::add_translation_to_panel( + GLUI_Panel *panel, char *name, + int trans_type, float *value_ptr, + int id, GLUI_Update_CB callback ) +{ + GLUI_Translation *control; + + control = new GLUI_Translation; + + if ( control ) { + control->set_ptr_val( value_ptr ); + control->user_id = id; + control->set_name( name ); + control->callback = callback; + add_control( panel, control ); + control->init_live(); + + control->trans_type = trans_type; + + if ( trans_type == GLUI_TRANSLATION_XY ) { + control->float_array_size = 2; + } + else if ( trans_type == GLUI_TRANSLATION_X ) { + control->float_array_size = 1; + } + else if ( trans_type == GLUI_TRANSLATION_Y ) { + control->float_array_size = 1; + } + else if ( trans_type == GLUI_TRANSLATION_Z ) { + control->float_array_size = 1; + } + + return control; + } + else { + return NULL; + } +} + + +/********************************** GLUI::add_rollout() **************/ + +GLUI_Rollout *GLUI::add_rollout( char *name, int open ) +{ + return add_rollout_to_panel( main_panel, name, open ); +} + + +/****************************** GLUI::add_rollout_to_panel() *********/ + +GLUI_Rollout *GLUI::add_rollout_to_panel(GLUI_Panel *panel,char *name,int open) +{ + GLUI_Rollout *rollout; + + rollout = new GLUI_Rollout; + + if ( rollout ) { + rollout->set_name( name ); + rollout->user_id = -1; + rollout->int_val = GLUI_PANEL_EMBOSSED; + + if ( NOT open ) { + rollout->is_open = false; + rollout->h = GLUI_DEFAULT_CONTROL_HEIGHT + 7; + } + + add_control( panel, rollout ); + + return rollout; + } + else { + return NULL; + } +} diff --git a/.svn/pristine/0d/0d67f495efc539ececc0b75b64b3030bf2b56ebd.svn-base b/.svn/pristine/0d/0d67f495efc539ececc0b75b64b3030bf2b56ebd.svn-base new file mode 100644 index 0000000..6bae3d9 --- /dev/null +++ b/.svn/pristine/0d/0d67f495efc539ececc0b75b64b3030bf2b56ebd.svn-base @@ -0,0 +1,1002 @@ +/* + * slam6D implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for matching 3D scans (6D SLAM) + * + * Main programm to match 3D scans with ICP and the globally + * consistent matching approach. + * Use -i from the command line to match with ICP, + * and -I to match 3D Scans using the global algorithm. + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan.h" +#include "slam6d/metaScan.h" +#include "slam6d/io_utils.h" + +#include "slam6d/icp6Dapx.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" +#include "slam6d/icp6Dortho.h" +#include "slam6d/icp6Dhelix.h" +#include "slam6d/icp6Ddual.h" +#include "slam6d/icp6Dlumeuler.h" +#include "slam6d/icp6Dlumquat.h" +#include "slam6d/icp6Dquatscale.h" +#include "slam6d/icp6D.h" +#ifdef WITH_CUDA +#include "slam6d/cuda/icp6Dcuda.h" +#endif +#include "slam6d/lum6Deuler.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/graphToro.h" +#include "slam6d/graphHOG-Man.h" +#include "slam6d/elch6Deuler.h" +#include "slam6d/elch6Dquat.h" +#include "slam6d/elch6DunitQuat.h" +#include "slam6d/elch6Dslerp.h" +#include "slam6d/loopToro.h" +#include "slam6d/loopHOG-Man.h" +#include "slam6d/graphSlam6D.h" +#include "slam6d/gapx6D.h" +#include "slam6d/graph.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#define WANT_STREAM ///< define the WANT stream :) + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; + + +// Handling Segmentation faults and CTRL-C +void sigSEGVhandler (int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl + << "# **************************** #" << endl + << " Segmentation fault or Ctrl-C" << endl + << "# **************************** #" << endl + << endl; + + // save frames and close scans + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + (*it)->saveFrames(); + } + cout << "Frames saved." << endl; + Scan::closeDirectory(); + } + exit(-1); +} + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -a" << normal << " NR, " << bold << "--algo=" << normal << "NR [default: 1]" << endl + << " selects the minimizazion method for the ICP matching algorithm" << endl + << " 1 = unit quaternion based method by Horn" << endl + << " 2 = singular value decomposition by Arun et al. " << endl + << " 3 = orthonormal matrices by Horn et al." << endl + << " 4 = dual quaternion method by Walker et al." << endl + << " 5 = helix approximation by Hofer & Potmann" << endl + << " 6 = small angle approximation" << endl + << " 7 = Lu & Milios style, i.e., uncertainty based, with Euler angles" << endl + << " 8 = Lu & Milios style, i.e., uncertainty based, with Quaternion" << endl + << " 9 = unit quaternion with scale method by Horn" << endl + << endl + << bold << " -A" << normal << " NR, " << bold << "--anim=" << normal << "NR [default: first and last frame only]" << endl + << " if specified, use only every NR-th frame for animation" << endl + << endl + << bold << " -c" << normal << " NR, " << bold << "--cldist=" << normal << "NR [default: 500]" << endl + << " specifies the maximal distance for closed loops" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--clpairs=" << normal << "NR [default: 6]" << endl + << " specifies the minimal number of points for an overlap. If not specified" << endl + << " cldist is used instead" << endl + << endl + << bold << " --cache" << normal << endl + << " turns on cached k-d tree search" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR [default: 25]" << endl + << " sets the maximal point-to-point distance for matching with ICP to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " -D" << normal << " NR, " << bold << "--distSLAM=" + << normal << "NR [default: same value as -d option]" << endl + << " sets the maximal point-to-point distance for matching with SLAM to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " --DlastSLAM" << normal << " NR [default not set]" << endl + << " sets the maximal point-to-point distance for the final SLAM correction," << endl + << " if final SLAM is not required don't set it." << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " --exportAllPoints" << normal << endl + << " writes all registered reduced points to the file points.pts before" << endl + << " slam6D terminated" << endl + << endl + << bold << " --epsICP=" << normal << "NR [default: 0.00001]" << endl + << " stop ICP iteration if difference is smaller than NR" << endl + << endl + << bold << " --epsSLAM=" << normal << " NR [default: 0.5]" << endl + << " stop SLAM iteration if average difference is smaller than NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -G" << normal << " NR, " << bold << "--graphSlam6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the minimizazion method for the SLAM matching algorithm" << endl + << " 0 = no global relaxation technique" << endl + << " 1 = Lu & Milios extension using euler angles due to Borrmann et al." << endl + << " 2 = Lu & Milios extension using using unit quaternions" << endl + << " 3 = HELIX approximation by Hofer and Pottmann" << endl + << " 4 = small angle approximation" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " -i" << normal << " NR, " << bold << "--iter=" << normal << "NR [default: 50]" << endl + << " sets the maximal number of ICP iterations to " << endl + << endl + << bold << " -I" << normal << " NR, " << bold << "--iterSLAM=" << normal << "NR [default: 0]" << endl + << " sets the maximal number of iterations for SLAM to " << endl + << " (if not set, graphSLAM is not executed)" << endl + << endl + << bold << " -l" << normal << " NR, " << bold << "--loopsize=" << normal << "NR [default: 20]" << endl + << " sets the size of a loop, i.e., a loop must exceed of scans" << endl + << endl + << bold << " -L" << normal << " NR, " << bold << "--loop6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the method for closing the loop explicitly" << endl + << " 0 = no loop closing technique" << endl + << " 1 = euler angles" << endl + << " 2 = quaternions " << endl + << " 3 = unit quaternions" << endl + << " 4 = SLERP (recommended)" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " --metascan" << normal << endl + << " Match current scan against a meta scan of all previous scans (default match against the last scan only)" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -n" << normal << " FILE, " << bold << "--net=" << normal << "FILE" << endl + << " specifies the file that includes the net structure for SLAM" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << bold << " -q, --quiet" << normal << endl + << " Quiet mode. Suppress (most) messages" << endl + << endl + << bold << " -Q, --veryquiet" << normal << endl + << " Very quiet mode. Suppress all messages, except in case of error." << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--nns_method=" << normal << "NR [default: 1]" << endl + << " selects the Nearest Neighbor Search Algorithm" << endl + << " 0 = simple k-d tree " << endl + << " 1 = cached k-d tree " << endl + << " 2 = ANNTree " << endl + << " 3 = BOCTree " << endl + << endl + << bold << " -u" << normal <<", "<< bold<<"--cuda" << normal << endl + << " this option activates icp running on GPU instead of CPU"<exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &extrapolate_pose, bool &meta, int &algo, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type, + bool& scanserver) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "algo", required_argument, 0, 'a' }, + { "nns_method", required_argument, 0, 't' }, + { "loop6DAlgo", required_argument, 0, 'L' }, + { "graphSlam6DAlgo", required_argument, 0, 'G' }, + { "net", required_argument, 0, 'n' }, + { "iter", required_argument, 0, 'i' }, + { "iterSLAM", required_argument, 0, 'I' }, + { "max", required_argument, 0, 'm' }, + { "loopsize", required_argument, 0, 'l' }, + { "cldist", required_argument, 0, 'c' }, + { "clpairs", required_argument, 0, 'C' }, + { "min", required_argument, 0, 'M' }, + { "dist", required_argument, 0, 'd' }, + { "distSLAM", required_argument, 0, 'D' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "quiet", no_argument, 0, 'q' }, + { "veryquiet", no_argument, 0, 'Q' }, + { "trustpose", no_argument, 0, 'p' }, + { "anim", required_argument, 0, 'A' }, + { "metascan", no_argument, 0, '2' }, // use the long format only + { "DlastSLAM", required_argument, 0, '4' }, // use the long format only + { "epsICP", required_argument, 0, '5' }, // use the long format only + { "epsSLAM", required_argument, 0, '6' }, // use the long format only + { "exportAllPoints", no_argument, 0, '8' }, + { "distLoop", required_argument, 0, '9' }, // use the long format only + { "iterLoop", required_argument, 0, '1' }, // use the long format only + { "graphDist", required_argument, 0, '3' }, // use the long format only + { "cuda", no_argument, 0, 'u' }, // cuda will be enabled + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "O:f:A:G:L:a:t:r:R:d:D:i:l:I:c:C:n:s:e:m:M:uqQpS", longopts, NULL)) != -1) { + switch (c) { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 9)) { + cerr << "Error: ICP Algorithm not available." << endl; + exit(1); + } + break; + case 't': + nns_method = atoi(optarg); + if ((nns_method < 0) || (nns_method > 3)) { + cerr << "Error: NNS Method not available." << endl; + exit(1); + } + break; + case 'L': + loopSlam6DAlgo = atoi(optarg); + if (loopSlam6DAlgo < 0 || loopSlam6DAlgo > 6) { + cerr << "Error: global loop closing algorithm not available." << endl; + exit(1); + } + break; + case 'G': + lum6DAlgo = atoi(optarg); + if ((lum6DAlgo < 0) || (lum6DAlgo > 6)) { + cerr << "Error: global relaxation algorithm not available." << endl; + exit(1); + } + break; + case 'c': + cldist = atof(optarg); + break; + case 'C': + clpairs = atoi(optarg); + break; + case 'l': + loopsize = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 'd': + mdm = atof(optarg); + break; + case 'D': + mdml = atof(optarg); + break; + case 'i': + mni = atoi(optarg); + break; + case 'I': + mni_lum = atoi(optarg); + break; + case 'n': + net = optarg; + break; + case 's': + w_start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + case 'p': + extrapolate_pose = false; + break; + case 'A': + anim = atoi(optarg); + break; + case '2': // = --metascan + meta = true; + break; + case '4': // = --DlastSLAM + mdmll = atof(optarg); + break; + case '5': // = --epsICP + epsilonICP = atof(optarg); + break; + case '6': // = --epsSLAM + epsilonSLAM = atof(optarg); + break; + case '8': // not used + exportPts = true; + break; + case '9': // = --distLoop + distLoop = atof(optarg); + break; + case '1': // = --iterLoop + iterLoop = atoi(optarg); + break; + case '3': // = --graphDist + graphDist = atof(optarg); + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'u': + cuda_enabled = true; + break; + case 'S': + scanserver = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + return 0; +} + +/** + * This function is does all the matching stuff + * it iterates over all scans using the algorithm objects to calculate new poses + * objects could be NULL if algorithm should not be used + * + * @param cldist maximal distance for closing loops + * @param loopsize minimal loop size + * @param allScans Contains all laser scans + * @param my_icp6D the ICP implementation + * @param meta_icp math ICP against a metascan + * @param nns_method Indicates the nearest neigbor search method to be used + * @param my_loopSlam6D used loopoptimizer + * @param my_graphSlam6D used global optimization + * @param nrIt The number of iterations the global SLAM-algorithm will run + * @param epsilonSLAM epsilon for global SLAM iteration + * @param mdml maximal distance match for global SLAM + * @param mdmll maximal distance match for global SLAM after all scans ar matched + */ +void matchGraph6Dautomatic(double cldist, int loopsize, vector allScans, icp6D *my_icp6D, + bool meta_icp, int nns_method, bool cuda_enabled, + loopSlam6D *my_loopSlam6D, graphSlam6D *my_graphSlam6D, int nrIt, + double epsilonSLAM, double mdml, double mdmll, double graphDist, + bool &eP, IOType type) +{ + double cldist2 = sqr(cldist); + + // list of scan for metascan + vector < Scan* > metas; + + // graph for loop optimization + graph_t g; + + int n = allScans.size(); + + int loop_detection = 0; + double dist, min_dist = -1; + int first = 0, last = 0; + + for(int i = 1; i < n; i++) { + cout << i << "/" << n << endl; + + add_edge(i-1, i, g); + + if(eP) { + allScans[i]->mergeCoordinatesWithRoboterPosition(allScans[i-1]); + } + + //Hack to get all icp transformations into the .frames Files + if(i == n-1 && my_icp6D != NULL && my_icp6D->get_anim() == -2) { + my_icp6D->set_anim(-1); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(1); + }*/ + + if(my_icp6D != NULL){ + cout << "ICP" << endl; + // Matching strongly linked scans with ICPs + if(meta_icp) { + metas.push_back(allScans[i - 1]); + MetaScan* meta_scan = new MetaScan(metas); + my_icp6D->match(meta_scan, allScans[i]); + delete meta_scan; + } else { + switch(type) { + case UOS_MAP: + case UOS_MAP_FRAMES: + my_icp6D->match(allScans[0], allScans[i]); + break; + case RTS_MAP: + //untested (and could not work) + //if(i < 220-22 && i > 250-22) match(allScans[0], CurrentScan); + my_icp6D->match(allScans[0], allScans[i]); + break; + default: + my_icp6D->match(allScans[i - 1], allScans[i]); + break; + } + } + } else { + double id[16]; + M4identity(id); + allScans[i]->transform(id, Scan::ICP, 0); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(-2); + }*/ + + if(loop_detection == 1) { + loop_detection = 2; + } + + for(int j = 0; j < i - loopsize; j++) { + dist = Dist2(allScans[j]->get_rPos(), allScans[i]->get_rPos()); + if(dist < cldist2) { + loop_detection = 1; + if(min_dist < 0 || dist < min_dist) { + min_dist = dist; + first = j; + last = i; + } + } + } + + if(loop_detection == 2) { + loop_detection = 0; + min_dist = -1; + + if(my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(i + 1, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + } + } + + if(loop_detection == 1 && my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0.0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + + if(my_graphSlam6D != NULL && mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, sqr(graphDist), loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } +} + +/** + * Main program for 6D SLAM. + * Usage: bin/slam6D 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + signal (SIGSEGV, sigSEGVhandler); + signal (SIGINT, sigSEGVhandler); + + cout << "slam6D - A highly efficient SLAM implementation based on scan matching" << endl + << " with 6 degrees of freedom" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0, mdmll = -1.0, mdml = 25.0, mdm = 25.0; + int rand = -1, mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + bool meta = false; // match against meta scan, or against LAST scan only? + int algo = 1; + int mni_lum = -1; + double cldist = 500; + int clpairs = -1; + int loopsize = 20; + string net = "none"; + int anim = -1; + double epsilonICP = 0.00001; + double epsilonSLAM = 0.5; + int nns_method = simpleKD; + bool exportPts = false; + int loopSlam6DAlgo = 0; + int lum6DAlgo = 0; + double distLoop = 700.0; + int iterLoop = 100; + double graphDist = cldist; + int octree = 0; // employ randomized octree reduction? + bool cuda_enabled = false; + IOType type = UOS; + bool scanserver = false; + + parseArgs(argc, argv, dir, red, rand, mdm, mdml, mdmll, mni, start, end, + maxDist, minDist, quiet, veryQuiet, eP, meta, algo, loopSlam6DAlgo, lum6DAlgo, anim, + mni_lum, net, cldist, clpairs, loopsize, epsilonICP, epsilonSLAM, + nns_method, exportPts, distLoop, iterLoop, graphDist, octree, cuda_enabled, type, + scanserver); + + cout << "slam6D will proceed with the following parameters:" << endl; + //@@@ to do :-) + // TODO: writer a proper TODO ^ + + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + scan->setReductionParameter(red, octree); + scan->setSearchTreeParameter(nns_method, cuda_enabled); + } + + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + case 3 : + my_icp6Dminimizer = new icp6D_ORTHO(quiet); + break; + case 4 : + my_icp6Dminimizer = new icp6D_DUAL(quiet); + break; + case 5 : + my_icp6Dminimizer = new icp6D_HELIX(quiet); + break; + case 6 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 7 : + my_icp6Dminimizer = new icp6D_LUMEULER(quiet); + break; + case 8 : + my_icp6Dminimizer = new icp6D_LUMQUAT(quiet); + break; + case 9 : + my_icp6Dminimizer = new icp6D_QUAT_SCALE(quiet); + break; + } + + // match the scans and print the time used + long starttime = GetCurrentTimeInMilliSec(); + +#ifdef WITH_METRICS + Timer t = ClientMetric::matching_time.start(); +#endif //WITH_METRICS + + if (mni_lum == -1 && loopSlam6DAlgo == 0) { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + + // check if CAD matching was selected as type + if (type == UOS_CAD) + { + my_icp->set_cad_matching (true); + } + + if (my_icp) my_icp->doICP(Scan::allScans); + delete my_icp; + } else if (clpairs > -1) { + //!!!!!!!!!!!!!!!!!!!!!!!! + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + my_icp->doICP(Scan::allScans); + graphSlam6D *my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, + rand, eP, anim, epsilonICP, nns_method, epsilonSLAM); + my_graphSlam6D->matchGraph6Dautomatic(Scan::allScans, mni_lum, clpairs, loopsize); + //!!!!!!!!!!!!!!!!!!!!!!!! + } else { + graphSlam6D *my_graphSlam6D = 0; + switch (lum6DAlgo) { + case 1 : + my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 2 : + my_graphSlam6D = new lum6DQuat(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 3 : + my_graphSlam6D = new ghelix6DQ2(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 4 : + my_graphSlam6D = new gapx6D(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 5 : + my_graphSlam6D = new graphToro(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + case 6 : + my_graphSlam6D = new graphHOGMan(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + } + // Construct Network + if (net != "none") { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + my_icp->doICP(Scan::allScans); + + Graph* structure; + structure = new Graph(net); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + if(mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + } + + } else { + icp6D *my_icp = 0; + if(algo > 0) { + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + + loopSlam6D *my_loopSlam6D = 0; + switch(loopSlam6DAlgo) { + case 1: + my_loopSlam6D = new elch6Deuler(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 2: + my_loopSlam6D = new elch6Dquat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 3: + my_loopSlam6D = new elch6DunitQuat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 4: + my_loopSlam6D = new elch6Dslerp(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 5: + my_loopSlam6D = new loopToro(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 6: + my_loopSlam6D = new loopHOGMan(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + } + + matchGraph6Dautomatic(cldist, loopsize, Scan::allScans, my_icp, meta, + nns_method, cuda_enabled, my_loopSlam6D, my_graphSlam6D, + mni_lum, epsilonSLAM, mdml, mdmll, graphDist, eP, type); + delete my_icp; + if(loopSlam6DAlgo > 0) { + delete my_loopSlam6D; + } + } + if(my_graphSlam6D > 0) { + delete my_graphSlam6D; + } + } + } + +#ifdef WITH_METRICS + ClientMetric::matching_time.end(t); +#endif //WITH_METRICS + + long endtime = GetCurrentTimeInMilliSec() - starttime; + cout << "Matching done in " << endtime << " milliseconds!!!" << endl; + + if (exportPts) { + cout << "Export all 3D Points to file \"points.pts\"" << endl; + ofstream redptsout("points.pts"); + for(unsigned int i = 0; i < Scan::allScans.size(); i++) { + DataXYZ xyz_r(Scan::allScans[i]->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) { + redptsout << xyz_r[i][0] << ' ' << xyz_r[i][1] << ' ' << xyz_r[i][2] << '\n'; + } + redptsout << std::flush; + + } + redptsout.close(); + redptsout.clear(); + } + + const double* p; + ofstream redptsout("loopclose.pts"); + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + p = scan->get_rPos(); + Point x(p[0], p[1], p[2]); + redptsout << x << endl; + scan->saveFrames(); + } + redptsout.close(); + + Scan::closeDirectory(); + delete my_icp6Dminimizer; + + cout << endl << endl; + cout << "Normal program end." << endl + << (red < 0 && rand < 0 ? "(-> HINT: For a significant speedup, please use the '-r' or '-R' parameter <-)\n" + : "") + << endl; + + // print metric information +#ifdef WITH_METRICS + ClientMetric::print(scanserver); +#endif //WITH_METRICS +} diff --git a/.svn/pristine/0d/0d7064884e4baa083afed5768ef542ac006229ff.svn-base b/.svn/pristine/0d/0d7064884e4baa083afed5768ef542ac006229ff.svn-base new file mode 100644 index 0000000..c5efc79 --- /dev/null +++ b/.svn/pristine/0d/0d7064884e4baa083afed5768ef542ac006229ff.svn-base @@ -0,0 +1,21 @@ +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOP_HOG_MAN_H__ +#define __LOOP_HOG_MAN_H__ + +#include "loopSlam6D.h" + +class loopHOGMan : public loopSlam6D { + + public: + loopHOGMan(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); +}; + +#endif diff --git a/.svn/pristine/0d/0db5f030f4213d96d832db268261073267a83f29.svn-base b/.svn/pristine/0d/0db5f030f4213d96d832db268261073267a83f29.svn-base new file mode 100644 index 0000000..8bc8232 --- /dev/null +++ b/.svn/pristine/0d/0db5f030f4213d96d832db268261073267a83f29.svn-base @@ -0,0 +1,447 @@ +/* + * ghelix6DQ2 implementation + * + * Copyright (C) Peter Schneider, Jan Elseberg, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm by using helix correction + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/icp6Dhelix.h" +#include "sparse/csparse.h" + +#include +#include +using std::flush; +#include + +#include "slam6d/globals.icc" + +using std::ofstream; + +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +ghelix6DQ2::ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +ghelix6DQ2::~ghelix6DQ2() +{ + delete my_icp; +} + + +/** + * This function generates the matrices B and Bd that are used for solving B * c = Bd. + * This function has to be called once for every linked scan-pair. + * + * @param firstScanNum The number of the first scan of the linked scan-pair + * @param secondScanNum The number of the second scan of the linked scan-pair + * @param ptpairs Vector that holds all point-pairs for the actual scan-pair + * @param B Matrix with dimension (6*(number of scans-1)) x (6 * (number of scans-1)) + * @param Bd Vector with dimension (6*(number of scans-1)) + * @return returns the sum of square distance + */ +double ghelix6DQ2::genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + Matrix *B, ColumnVector *Bd ) +{ + double Btemp1[6][3]; + double Btemp2[6][3]; + memset(&Btemp1[0][0], 0, 18 * sizeof(double)); + memset(&Btemp2[0][0], 0, 18 * sizeof(double)); + double bd1[6]; + double bd2[6]; + memset(&bd1[0], 0, 6 * sizeof(double)); + memset(&bd2[0], 0, 6 * sizeof(double)); + + double p1x, p1y, p1z, p2x, p2y, p2z, pDistX, pDistY, pDistZ, px2Sq, py2Sq, pz2Sq; + + int n = (*ptpairs).size(); + double sum = 0; + + for (int i = 0; i < n; i++) { + p1x = (*ptpairs)[i].p1.x; + p1y = (*ptpairs)[i].p1.y; + p1z = (*ptpairs)[i].p1.z; + + p2x = (*ptpairs)[i].p2.x; + p2y = (*ptpairs)[i].p2.y; + p2z = (*ptpairs)[i].p2.z; + + //px1Sq = p1x * p1x; + //py1Sq = p1y * p1y; + //pz1Sq = p1z * p1z; + + px2Sq = p2x * p2x; + py2Sq = p2y * p2y; + pz2Sq = p2z * p2z; + + Btemp1[4][0] += -p2z; +// Btemp1[3][1] += p2z; + Btemp1[5][0] += p2y; +// Btemp1[3][2] += -p2y; + Btemp1[4][2] += p2x; +// Btemp1[5][1] += -p2x; + Btemp1[0][0] += pz2Sq + py2Sq; + Btemp1[1][0] += p2y*-p2x; + Btemp1[2][0] += -p2z*p2x; + Btemp1[1][1] += pz2Sq + px2Sq; + Btemp1[2][1] += p2z*-p2y; + Btemp1[2][2] += px2Sq + py2Sq; + + pDistX = p1x - p2x; + pDistY = p1y - p2y; + pDistZ = p1z - p2z; + + bd1[0] += -p1z*pDistY + p1y*pDistZ; + bd1[1] += p1z*pDistX - p1x*pDistZ; + bd1[2] += -p1y*pDistX + p1x*pDistY; + bd1[3] += pDistX; + bd1[4] += pDistY; + bd1[5] += pDistZ; + + bd2[0] += -p2z*-pDistY + p2y*-pDistZ; + bd2[1] += p2z*-pDistX - p2x*-pDistZ; + bd2[2] += -p2y*-pDistX + p2x*-pDistY; + bd2[3] += -pDistX; + bd2[4] += -pDistY; + bd2[5] += -pDistZ; + + sum += pDistX*pDistX + pDistY*pDistY + pDistZ*pDistZ; + } + +#ifdef _OPENMP + #pragma omp critical (enterB) +#endif + { + int matPlace1 = (firstScanNum-1) * 6; + + if(firstScanNum != 0) + { + (*B)(matPlace1+4,matPlace1+4) += n; + (*B)(matPlace1+5,matPlace1+5) += n; + (*B)(matPlace1+6,matPlace1+6) += n; + + (*B)(matPlace1+1,matPlace1+5) += Btemp1[4][0]; + (*B)(matPlace1+5,matPlace1+1) += Btemp1[4][0]; + (*B)(matPlace1+2,matPlace1+4) += -Btemp1[4][0]; + (*B)(matPlace1+4,matPlace1+2) += -Btemp1[4][0]; + (*B)(matPlace1+1,matPlace1+6) += Btemp1[5][0]; + (*B)(matPlace1+6,matPlace1+1) += Btemp1[5][0]; + (*B)(matPlace1+3,matPlace1+4) += -Btemp1[5][0]; + (*B)(matPlace1+4,matPlace1+3) += -Btemp1[5][0]; + (*B)(matPlace1+3,matPlace1+5) += Btemp1[4][2]; + (*B)(matPlace1+5,matPlace1+3) += Btemp1[4][2]; + (*B)(matPlace1+2,matPlace1+6) += -Btemp1[4][2]; + (*B)(matPlace1+6,matPlace1+2) += -Btemp1[4][2]; + (*B)(matPlace1+1,matPlace1+2) += Btemp1[1][0]; + (*B)(matPlace1+2,matPlace1+1) += Btemp1[1][0]; + (*B)(matPlace1+1,matPlace1+3) += Btemp1[2][0]; + (*B)(matPlace1+3,matPlace1+1) += Btemp1[2][0]; + (*B)(matPlace1+2,matPlace1+3) += Btemp1[2][1]; + (*B)(matPlace1+3,matPlace1+2) += Btemp1[2][1]; + (*B)(matPlace1+1,matPlace1+1) += Btemp1[0][0]; + (*B)(matPlace1+2,matPlace1+2) += Btemp1[1][1]; + (*B)(matPlace1+3,matPlace1+3) += Btemp1[2][2]; + + (*Bd)(matPlace1+1) += bd1[0]; + (*Bd)(matPlace1+2) += bd1[1]; + (*Bd)(matPlace1+3) += bd1[2]; + (*Bd)(matPlace1+4) += bd1[3]; + (*Bd)(matPlace1+5) += bd1[4]; + (*Bd)(matPlace1+6) += bd1[5]; + } +//------------------------------------------- + unsigned int matPlace2 = (secondScanNum-1) * 6; + + (*B)(matPlace2+4,matPlace2+4) += n; + (*B)(matPlace2+5,matPlace2+5) += n; + (*B)(matPlace2+6,matPlace2+6) += n; + + (*B)(matPlace2+1,matPlace2+5) += Btemp1[4][0]; + (*B)(matPlace2+5,matPlace2+1) += Btemp1[4][0]; + (*B)(matPlace2+2,matPlace2+4) += -Btemp1[4][0]; + (*B)(matPlace2+4,matPlace2+2) += -Btemp1[4][0]; + (*B)(matPlace2+1,matPlace2+6) += Btemp1[5][0]; + (*B)(matPlace2+6,matPlace2+1) += Btemp1[5][0]; + (*B)(matPlace2+3,matPlace2+4) += -Btemp1[5][0]; + (*B)(matPlace2+4,matPlace2+3) += -Btemp1[5][0]; + (*B)(matPlace2+3,matPlace2+5) += Btemp1[4][2]; + (*B)(matPlace2+5,matPlace2+3) += Btemp1[4][2]; + (*B)(matPlace2+2,matPlace2+6) += -Btemp1[4][2]; + (*B)(matPlace2+6,matPlace2+2) += -Btemp1[4][2]; + (*B)(matPlace2+1,matPlace2+2) += Btemp1[1][0]; + (*B)(matPlace2+2,matPlace2+1) += Btemp1[1][0]; + (*B)(matPlace2+1,matPlace2+3) += Btemp1[2][0]; + (*B)(matPlace2+3,matPlace2+1) += Btemp1[2][0]; + (*B)(matPlace2+2,matPlace2+3) += Btemp1[2][1]; + (*B)(matPlace2+3,matPlace2+2) += Btemp1[2][1]; + (*B)(matPlace2+1,matPlace2+1) += Btemp1[0][0]; + (*B)(matPlace2+2,matPlace2+2) += Btemp1[1][1]; + (*B)(matPlace2+3,matPlace2+3) += Btemp1[2][2]; + + + (*Bd)(matPlace2+1) += bd2[0]; + (*Bd)(matPlace2+2) += bd2[1]; + (*Bd)(matPlace2+3) += bd2[2]; + (*Bd)(matPlace2+4) += bd2[3]; + (*Bd)(matPlace2+5) += bd2[4]; + (*Bd)(matPlace2+6) += bd2[5]; + +//------------------------------------------- + if( firstScanNum != 0) + { + (*B)(matPlace1+4,matPlace2+4) -= n; + (*B)(matPlace1+5,matPlace2+5) -= n; + (*B)(matPlace1+6,matPlace2+6) -= n; + + (*B)(matPlace1+1,matPlace2+5) += -Btemp1[4][0]; + (*B)(matPlace1+5,matPlace2+1) += -Btemp1[4][0]; + (*B)(matPlace1+2,matPlace2+4) += Btemp1[4][0]; + (*B)(matPlace1+4,matPlace2+2) += Btemp1[4][0]; + (*B)(matPlace1+1,matPlace2+6) += -Btemp1[5][0]; + (*B)(matPlace1+6,matPlace2+1) += -Btemp1[5][0]; + (*B)(matPlace1+3,matPlace2+4) += Btemp1[5][0]; + (*B)(matPlace1+4,matPlace2+3) += Btemp1[5][0]; + (*B)(matPlace1+3,matPlace2+5) += -Btemp1[4][2]; + (*B)(matPlace1+5,matPlace2+3) += -Btemp1[4][2]; + (*B)(matPlace1+2,matPlace2+6) += Btemp1[4][2]; + (*B)(matPlace1+6,matPlace2+2) += Btemp1[4][2]; + (*B)(matPlace1+1,matPlace2+2) += -Btemp1[1][0]; + (*B)(matPlace1+2,matPlace2+1) += -Btemp1[1][0]; + (*B)(matPlace1+1,matPlace2+3) += -Btemp1[2][0]; + (*B)(matPlace1+3,matPlace2+1) += -Btemp1[2][0]; + (*B)(matPlace1+2,matPlace2+3) += -Btemp1[2][1]; + (*B)(matPlace1+3,matPlace2+2) += -Btemp1[2][1]; + (*B)(matPlace1+1,matPlace2+1) += -Btemp1[0][0]; + (*B)(matPlace1+2,matPlace2+2) += -Btemp1[1][1]; + (*B)(matPlace1+3,matPlace2+3) += -Btemp1[2][2]; +//---------------------------------------- + (*B)(matPlace2+4,matPlace1+4) -= n; + (*B)(matPlace2+5,matPlace1+5) -= n; + (*B)(matPlace2+6,matPlace1+6) -= n; + + (*B)(matPlace2+1,matPlace1+5) += -Btemp1[4][0]; + (*B)(matPlace2+5,matPlace1+1) += -Btemp1[4][0]; + (*B)(matPlace2+2,matPlace1+4) += Btemp1[4][0]; + (*B)(matPlace2+4,matPlace1+2) += Btemp1[4][0]; + (*B)(matPlace2+1,matPlace1+6) += -Btemp1[5][0]; + (*B)(matPlace2+6,matPlace1+1) += -Btemp1[5][0]; + (*B)(matPlace2+3,matPlace1+4) += Btemp1[5][0]; + (*B)(matPlace2+4,matPlace1+3) += Btemp1[5][0]; + (*B)(matPlace2+3,matPlace1+5) += -Btemp1[4][2]; + (*B)(matPlace2+5,matPlace1+3) += -Btemp1[4][2]; + (*B)(matPlace2+2,matPlace1+6) += Btemp1[4][2]; + (*B)(matPlace2+6,matPlace1+2) += Btemp1[4][2]; + (*B)(matPlace2+1,matPlace1+2) += -Btemp1[1][0]; + (*B)(matPlace2+2,matPlace1+1) += -Btemp1[1][0]; + (*B)(matPlace2+1,matPlace1+3) += -Btemp1[2][0]; + (*B)(matPlace2+3,matPlace1+1) += -Btemp1[2][0]; + (*B)(matPlace2+2,matPlace1+3) += -Btemp1[2][1]; + (*B)(matPlace2+3,matPlace1+2) += -Btemp1[2][1]; + (*B)(matPlace2+1,matPlace1+1) += -Btemp1[0][0]; + (*B)(matPlace2+2,matPlace1+2) += -Btemp1[1][1]; + (*B)(matPlace2+3,matPlace1+3) += -Btemp1[2][2]; + } + } // of pragma omp critical + + return sqrt( sum / (double) n ); +} + + + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double ghelix6DQ2::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + vPtPair **ptpairs = 0; // Contains sets of point pairs for all links + Matrix B ( 6 * (gr.getNrScans()-1), 6 * (gr.getNrScans()-1) ); + ColumnVector ccs( 6*(gr.getNrScans()-1) ), bd( 6*(gr.getNrScans()-1) ); + + B = 0.0; + bd = 0.0; + + double sum_position_diff = 0; + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + sum_position_diff = 0; + + if (nrIt > 1) cout << "Iteration match " << iteration << endl; + + if (ptpairs != 0) delete [] ptpairs; + ptpairs = new vPtPair*[gr.getNrLinks()]; + + for (int i = 0; i < gr.getNrLinks(); i++) { + ptpairs[i] = new vPtPair; + } + + // Get all point pairs after ICP + int end_loop = gr.getNrLinks(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + + for ( int i = 0; i < end_loop; i++) { + cout << "P" << i << flush; + Scan * FirstScan = allScans[gr.getLink(i,0)]; + Scan * SecondScan = allScans[gr.getLink(i,1)]; +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + double dummy_centroid_m[3]; + double dummy_centroid_d[3]; + double dummy_sum; + + Scan::getPtPairs(ptpairs[i], FirstScan, SecondScan, thread_num, + (int)my_icp->get_rnd(), (int)max_dist_match2_LUM, dummy_sum, + dummy_centroid_m, dummy_centroid_d); + + // faulty network + if (ptpairs[i]->size() <= 1) { + cout << "Error: Link (" << gr.getLink(i,0) + << " - " << gr.getLink(i, 1) << " ) is empty with " + << ptpairs[i]->size() << " Corr. points. iteration = " + << iteration << endl; + // exit(1); + + } else + // build the matrix B and vector bd + genBBdForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), ptpairs[i], &B, &bd ); + } + cout <<" building matrices done! "<clear(); + delete (ptpairs[i]); + } + + ColumnVector t0(3), t(3), tlast(3); + int vectorOffset; + + int loop_end = gr.getNrScans(); + double alignxfLum[16]; + for(int i = 1; i < loop_end; i++) + { + vectorOffset = (i-1) * 6; + icp6D_HELIX::computeRt( &ccs, vectorOffset, alignxfLum); + + // Update the Pose + + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + + if (i < loop_end - 1) { + allScans[i]->transform(alignxfLum, Scan::LUM, 1); + } else { + allScans[i]->transform(alignxfLum, Scan::LUM, 2); + } + + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + + sum_position_diff += sqrt( sqr(alignxfLum[12]) + sqr(alignxfLum[13]) + sqr(alignxfLum[14])); + + } + cout << "Sum of Position differences = " << sum_position_diff << endl << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + delete [] ptpairs; + ptpairs = 0; + + return ret; +} + diff --git a/.svn/pristine/0d/0deae2775c5ea523954d06210276b5d650f02dd9.svn-base b/.svn/pristine/0d/0deae2775c5ea523954d06210276b5d650f02dd9.svn-base new file mode 100644 index 0000000..036cb09 --- /dev/null +++ b/.svn/pristine/0d/0deae2775c5ea523954d06210276b5d650f02dd9.svn-base @@ -0,0 +1,45 @@ +Read 500 data points - begin fit + + + -2247.993783 25945.58733 + -537.4533239 + -554.5885614 + -537.2164816 26.36266449 + -520.7034774 + -519.7069034 6.153112127 + -516.7045383 + -516.690955 1.394658892 + -516.396412 + -516.215149 0.1555724069 + -516.1509657 + -516.1486772 0.02342168856 + -516.1420803 + -516.1404735 0.002342030975 + -516.1395282 + -516.1394913 0.0003287516503 + -516.1393961 + -516.1393755 3.25631984e-05 +Converged + + +estimates and standard errors + 1.56690 0.22311 + 0.80046 0.20274 + 0.45307 0.08428 + 0.34655 0.09081 + + +correlation matrix + 1.00 0.00 -0.02 0.01 + 0.00 1.00 0.21 -0.81 + -0.02 0.21 1.00 -0.63 + 0.01 -0.81 -0.63 1.00 + + +inverse of correlation matrix + 1.00 0.03 0.04 0.04 + 0.03 4.77 2.28 5.28 + 0.04 2.28 2.73 3.55 + 0.04 5.28 3.55 7.48 + + diff --git a/.svn/pristine/0e/0ede209298c6f40e0d690f02e2963070fb6d7b1c.svn-base b/.svn/pristine/0e/0ede209298c6f40e0d690f02e2963070fb6d7b1c.svn-base new file mode 100644 index 0000000..3f71902 --- /dev/null +++ b/.svn/pristine/0e/0ede209298c6f40e0d690f02e2963070fb6d7b1c.svn-base @@ -0,0 +1,32 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DLUMEULER_H__ +#define __ICP6DLUMEULER_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_LUMEULER : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_LUMEULER(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_LUMEULER() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 3; }; +}; + +#endif diff --git a/.svn/pristine/0f/0f0d60cfa76bdda6845480ee8509ba2e8fc602c0.svn-base b/.svn/pristine/0f/0f0d60cfa76bdda6845480ee8509ba2e8fc602c0.svn-base new file mode 100644 index 0000000..9508a98 --- /dev/null +++ b/.svn/pristine/0f/0f0d60cfa76bdda6845480ee8509ba2e8fc602c0.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_bin : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/0f/0fd632e018c162265c30cb0ba3281fb015aa75f9.svn-base b/.svn/pristine/0f/0fd632e018c162265c30cb0ba3281fb015aa75f9.svn-base new file mode 100644 index 0000000..d8ed703 --- /dev/null +++ b/.svn/pristine/0f/0fd632e018c162265c30cb0ba3281fb015aa75f9.svn-base @@ -0,0 +1,1314 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ + +#include "unicode.h" +#include + +/* FIXME jb global */ +int warn=0; /* if 1 a message is generated if composition is not defined */ + +/* Arguments: the character (main), and the modifier (accent, etc). See the + function if you want to know the modifiers. + Description: This function intends to be a small helper, to avoid having + to write switches in functions. It's therefore mainly to accents, and + specially for the most usual ones. It supports the basic greek + characters too, which is actually not very helpful. + Returns: the unicode character corresponding to the composed character. + + ToDo: + - It seems to me, that tables should be more effectiv. + So we should use tables in future? (js) + */ +wchar_t compose(wchar_t main, wchar_t modifier) { +/* supported by now: part of ISO8859-1, basic greek characters */ + if( main == UNKNOWN || main == PICTURE ) return main; +#ifdef DEBUG + if(modifier!=UNICODE_NULL && modifier!=SPACE) + printf(" compose(%c,%d)",(char)main,(int)modifier); +#endif + if(main>127 && modifier!=0 && modifier!=SPACE && warn) + fprintf(stderr,"# Warning compose %04x + %04x>127\n", + (int)modifier,(int)main); + switch (modifier) { + case UNICODE_NULL: + case SPACE: + return (wchar_t)main; + + case APOSTROPHE: /* do NOT USE this. It's here for compatibility only. + Use ACUTE_ACCENT instead. */ + fprintf( stderr, "COMPOSE: got APOSTROPHE instead of ACUTE_ACCENT"); + + case ACUTE_ACCENT: /* acute/cedilla */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_ACUTE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_ACUTE; + case LATIN_SMALL_LETTER_AE: return LATIN_SMALL_LETTER_AE_WITH_ACUTE; + case LATIN_CAPITAL_LETTER_AE: return LATIN_CAPITAL_LETTER_AE_WITH_ACUTE; + case 'c': return LATIN_SMALL_LETTER_C_WITH_ACUTE; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_ACUTE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_ACUTE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_ACUTE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_ACUTE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_ACUTE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_ACUTE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_ACUTE; + case 'l': return LATIN_SMALL_LETTER_L_WITH_ACUTE; + case 'L': return LATIN_CAPITAL_LETTER_L_WITH_ACUTE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_ACUTE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_ACUTE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_ACUTE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_ACUTE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_ACUTE; + case 'r': return LATIN_SMALL_LETTER_R_WITH_ACUTE; + case 'R': return LATIN_CAPITAL_LETTER_R_WITH_ACUTE; + case 's': return LATIN_SMALL_LETTER_S_WITH_ACUTE; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_ACUTE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_ACUTE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_ACUTE; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_ACUTE; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_ACUTE; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_ACUTE; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_ACUTE; + default: + if(warn)fprintf( stderr, " COMPOSE: ACUTE_ACCENT+%04x not defined\n",(int)main); + } + break; + + case BREVE: /* caron (latin2) "u"-above-... (small bow) */ + switch (main) { + /* FIXME write separate heuristics for breve */ + case 'a': return LATIN_SMALL_LETTER_A_WITH_BREVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_BREVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_BREVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_BREVE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_BREVE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_BREVE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_BREVE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_BREVE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_BREVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_BREVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_BREVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_BREVE; + default: + if(warn)fprintf( stderr, " COMPOSE: BREVE+%04x not defined\n",(int)main); + } + break; + + case CARON: /* caron (latin2) "v"-above-... */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_CARON; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_CARON; + case 'c': return LATIN_SMALL_LETTER_C_WITH_CARON; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CARON; + case 'e': return LATIN_SMALL_LETTER_E_WITH_CARON; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_CARON; + case 'i': return LATIN_SMALL_LETTER_I_WITH_CARON; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_CARON; + case 'o': return LATIN_SMALL_LETTER_O_WITH_CARON; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_CARON; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_CARON; + case 's': return LATIN_SMALL_LETTER_S_WITH_CARON; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_CARON; + case 'u': return LATIN_SMALL_LETTER_U_WITH_CARON; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_CARON; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_CARON; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_CARON; + default: + if(warn)fprintf( stderr, " COMPOSE: CARON+%04x not defined\n",(int)main); + } + break; + + case CEDILLA: + switch (main) { + case 'c': return LATIN_SMALL_LETTER_C_WITH_CEDILLA; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CEDILLA; + default: + if(warn)fprintf( stderr, " COMPOSE: CEDILLA+%04x not defined\n",(int)main); + } + break; + + case TILDE: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_TILDE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_TILDE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_TILDE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_TILDE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_TILDE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_TILDE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_TILDE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_TILDE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_TILDE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_TILDE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_TILDE; + default: + if(warn)fprintf( stderr, " COMPOSE: TILDE+%04x not defined\n",(int)main); + } + break; + + case GRAVE_ACCENT: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_GRAVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_GRAVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_GRAVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_GRAVE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_GRAVE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_GRAVE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_GRAVE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_GRAVE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_GRAVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_GRAVE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_GRAVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_GRAVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_GRAVE; + default: + if(warn)fprintf( stderr, " COMPOSE: GRAVE_ACCENT+%04x not defined\n",(int)main); + } + break; + + case QUOTATION_MARK: /* do NOT USE this. It's here for compatibility only. + Use DIAERESIS instead. */ + fprintf( stderr, "COMPOSE: got APOSTROPHE instead of ACUTE_ACCENT"); + + case DIAERESIS: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_DIAERESIS; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS; + case 'e': return LATIN_SMALL_LETTER_E_WITH_DIAERESIS; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS; + case 'i': return LATIN_SMALL_LETTER_I_WITH_DIAERESIS; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS; + case 'o': return LATIN_SMALL_LETTER_O_WITH_DIAERESIS; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS; + case 'u': return LATIN_SMALL_LETTER_U_WITH_DIAERESIS; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_DIAERESIS; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_DIAERESIS; + default: + if(warn)fprintf( stderr, " COMPOSE: DIAERESIS+%04x (%c) not defined\n",(int)main,(char)main); + } + break; + + case CIRCUMFLEX_ACCENT: /* ^ */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX; + case 'c': return LATIN_SMALL_LETTER_C_WITH_CIRCUMFLEX; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CIRCUMFLEX; + case 'e': return LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX; + case 'g': return LATIN_SMALL_LETTER_G_WITH_CIRCUMFLEX; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_CIRCUMFLEX; + case 'h': return LATIN_SMALL_LETTER_H_WITH_CIRCUMFLEX; + case 'H': return LATIN_CAPITAL_LETTER_H_WITH_CIRCUMFLEX; + case 'i': return LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX; + case 'j': return LATIN_SMALL_LETTER_J_WITH_CIRCUMFLEX; + case 'J': return LATIN_CAPITAL_LETTER_J_WITH_CIRCUMFLEX; + case 'o': return LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX; + case 's': return LATIN_SMALL_LETTER_S_WITH_CIRCUMFLEX; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_CIRCUMFLEX; + case 'u': return LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX; + case 'w': return LATIN_SMALL_LETTER_W_WITH_CIRCUMFLEX; + case 'W': return LATIN_CAPITAL_LETTER_W_WITH_CIRCUMFLEX; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_CIRCUMFLEX; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_CIRCUMFLEX; + default: + if(warn)fprintf( stderr, " COMPOSE: CIRCUMFLEX_ACCENT+%04x not defined\n",(int)main); + } + break; + + case MACRON: /* a minus sign above the char (latin2) */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_MACRON; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_MACRON; + case 'e': return LATIN_SMALL_LETTER_E_WITH_MACRON; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_MACRON; + case 'i': return LATIN_SMALL_LETTER_I_WITH_MACRON; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_MACRON; + case 'o': return LATIN_SMALL_LETTER_O_WITH_MACRON; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_MACRON; + case 'u': return LATIN_SMALL_LETTER_U_WITH_MACRON; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_MACRON; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_MACRON; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_MACRON; + case LATIN_SMALL_LETTER_AE: return LATIN_SMALL_LETTER_AE_WITH_MACRON; + case LATIN_CAPITAL_LETTER_AE: return LATIN_CAPITAL_LETTER_AE_WITH_MACRON; + case '=': return IDENTICAL_TO; + case '-': return '='; + case ' ': return MODIFIER_LETTER_MACRON; + default: + if(warn)fprintf( stderr, " COMPOSE: MACRON+%04x not defined\n",(int)main); + } + break; + + case DOT_ABOVE: /* latin2 */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE; + case 'c': return LATIN_SMALL_LETTER_C_WITH_DOT_ABOVE; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_DOT_ABOVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_DOT_ABOVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_DOT_ABOVE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_DOT_ABOVE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_DOT_ABOVE; + case 'l': return 'i'; /* correct wrong recognition */ + case 'i': return 'i'; + case LATIN_SMALL_LETTER_DOTLESS_I: return 'i'; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_DOT_ABOVE; + case 'j': return 'j'; + case 'o': return LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_DOT_ABOVE; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_DOT_ABOVE; + case ',': return ';'; + case '.': return ':'; + default: + if(warn)fprintf( stderr, " COMPOSE: DOT_ABOVE+%04x not defined\n",(int)main); + } + break; + + case RING_ABOVE: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_RING_ABOVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_RING_ABOVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_RING_ABOVE; + default: + if(warn)fprintf( stderr, " COMPOSE: RING_ABOVE+%04x not defined\n",(int)main); + } + break; + + case 'e': /* e ligatures: ae, oe. */ + case 'E': + switch (main) { + case 'a': return LATIN_SMALL_LETTER_AE; + case 'A': return LATIN_CAPITAL_LETTER_AE; + case 'o': return LATIN_SMALL_LIGATURE_OE; + case 'O': return LATIN_CAPITAL_LIGATURE_OE; + case '0': return LATIN_CAPITAL_LIGATURE_OE; + default: + if(warn)fprintf( stderr, " COMPOSE: %04x+e/E not defined\n",(int)main); + } + break; + + case 'g': /* greek */ + switch (main) { + /* missing 0x37A-0x390 */ + /* weird cases: Q -> theta (it resembles a little, doesn't it?) + V -> psi (what can I do?) */ + case 'A': return GREEK_CAPITAL_LETTER_ALPHA; + case 'B': return GREEK_CAPITAL_LETTER_BETA; + case 'G': return GREEK_CAPITAL_LETTER_GAMMA; + case 'D': return GREEK_CAPITAL_LETTER_DELTA; + case 'E': return GREEK_CAPITAL_LETTER_EPSILON; + case 'Z': return GREEK_CAPITAL_LETTER_ZETA; + case 'H': return GREEK_CAPITAL_LETTER_ETA; + case 'Q': return GREEK_CAPITAL_LETTER_THETA; + case 'I': return GREEK_CAPITAL_LETTER_IOTA; + case 'K': return GREEK_CAPITAL_LETTER_KAPPA; + case 'L': return GREEK_CAPITAL_LETTER_LAMDA; + case 'M': return GREEK_CAPITAL_LETTER_MU; + case 'N': return GREEK_CAPITAL_LETTER_NU; + case 'X': return GREEK_CAPITAL_LETTER_XI; + case 'O': return GREEK_CAPITAL_LETTER_OMICRON; + case 'P': return GREEK_CAPITAL_LETTER_PI; + case 'R': return GREEK_CAPITAL_LETTER_RHO; + case 'S': return GREEK_CAPITAL_LETTER_SIGMA; + case 'T': return GREEK_CAPITAL_LETTER_TAU; + case 'Y': return GREEK_CAPITAL_LETTER_UPSILON; + case 'F': return GREEK_CAPITAL_LETTER_PHI; + case 'C': return GREEK_CAPITAL_LETTER_CHI; + case 'V': return GREEK_CAPITAL_LETTER_PSI; + case 'W': return GREEK_CAPITAL_LETTER_OMEGA; +/* + case '': return GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA; + case '': return GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_ALPHA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_EPSILON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_ETA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_IOTA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS; +*/ + case 'a': return GREEK_SMALL_LETTER_ALPHA; + case 'b': return GREEK_SMALL_LETTER_BETA; + case 'g': return GREEK_SMALL_LETTER_GAMMA; + case 'd': return GREEK_SMALL_LETTER_DELTA; + case 'e': return GREEK_SMALL_LETTER_EPSILON; + case 'z': return GREEK_SMALL_LETTER_ZETA; + case 'h': return GREEK_SMALL_LETTER_ETA; + case 'q': return GREEK_SMALL_LETTER_THETA; + case 'i': return GREEK_SMALL_LETTER_IOTA; + case 'k': return GREEK_SMALL_LETTER_KAPPA; + case 'l': return GREEK_SMALL_LETTER_LAMDA; + case 'm': return GREEK_SMALL_LETTER_MU; + case 'n': return GREEK_SMALL_LETTER_NU; + case 'x': return GREEK_SMALL_LETTER_XI; + case 'o': return GREEK_SMALL_LETTER_OMICRON; + case 'p': return GREEK_SMALL_LETTER_PI; + case 'r': return GREEK_SMALL_LETTER_RHO; + case '&': return GREEK_SMALL_LETTER_FINAL_SIGMA; + case 's': return GREEK_SMALL_LETTER_SIGMA; + case 't': return GREEK_SMALL_LETTER_TAU; + case 'y': return GREEK_SMALL_LETTER_UPSILON; + case 'f': return GREEK_SMALL_LETTER_PHI; + case 'c': return GREEK_SMALL_LETTER_CHI; + case 'v': return GREEK_SMALL_LETTER_PSI; + case 'w': return GREEK_SMALL_LETTER_OMEGA; +/* + case '': return GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_OMICRON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_OMEGA_WITH_TONOS; + case '': return GREEK_BETA_SYMBOL; + case '': return GREEK_THETA_SYMBOL; + case '': return GREEK_UPSILON_WITH_HOOK_SYMBOL; + case '': return GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL; + case '': return GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL; + case '': return GREEK_PHI_SYMBOL; + case '': return GREEK_PI_SYMBOL; +*/ + default: + if(warn)fprintf( stderr, " COMPOSE: GREEK %04x not defined\n",(int)main); + } + break; + + default: + fprintf( stderr, " COMPOSE: modifier %04x not defined\n",(int)modifier); + } + return (wchar_t)main; +} + +#define UNDEFINED "~" + +/* Arguments: character in Unicode format, type of format to convert to. + Returns: a string containing the Unicode character converted to the chosen + format. This string is statically allocated and should not be freed. + ToDo: better using tables? + */ +const char *decode(wchar_t c, FORMAT type) { + /* static char d; --- js: big bug (missing \0) if &d returned */ + /*FIXME jb static*/ static char bbuf[8*32]; /* space for 8 buffers, rotating */ + /*FIXME jb static*/ static char *buf=bbuf; /* used for UTF8 sequences and undefined codes */ + buf+=32; if(buf>=bbuf+8*32) buf=bbuf; + buf[0]=buf[1]=buf[2]=0; + switch (type) { + case ISO8859_1: + if ( c <= 0xFF ) { /* UNICODE == ISO8859-1 */ + buf[0] = (char)c; + return buf; + } + switch (c) { /* not found in list, but perhaps we can describe it */ + /* todo: add greek. GREEK_SMALL_LETTER_ALPHA = alpha */ + + /* general puctuation */ + case HYPHEN: + return (const char *)"-"; + case FIGURE_DASH: + case EN_DASH: + return (const char *)"--"; + case EM_DASH: + return (const char *)"---"; + case LEFT_SINGLE_QUOTATION_MARK: + return (const char *)"`"; + case RIGHT_SINGLE_QUOTATION_MARK: + return (const char *)"'"; + case SINGLE_LOW_9_QUOTATION_MARK: + return (const char *)","; + case SINGLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case LEFT_DOUBLE_QUOTATION_MARK: + return (const char *)"``"; + case RIGHT_DOUBLE_QUOTATION_MARK: + return (const char *)"''"; + case DOUBLE_LOW_9_QUOTATION_MARK: + return (const char *)",,"; + case DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case DAGGER: + return (const char *)"+"; + case DOUBLE_DAGGER: + return (const char *)"*"; + case BULLET: + return (const char *)"*"; + case TRIANGULAR_BULLET: + return (const char *)"*"; + case HYPHENATION_POINT: + return (const char *)"-"; + case HORIZONTAL_ELLIPSIS: + return (const char *)"..."; + case PER_MILLE_SIGN: + return (const char *)"%%"; /* awk! */ + case SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"<"; + case SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)">"; + case EURO_CURRENCY_SIGN: + return (const char *)"EUR"; /* change it! */ + + /* ligatures */ + case LATIN_SMALL_LIGATURE_FF: + return (const char *)"ff"; + case LATIN_SMALL_LIGATURE_FI: + return (const char *)"fi"; + case LATIN_SMALL_LIGATURE_FL: + return (const char *)"fl"; + case LATIN_SMALL_LIGATURE_FFI: + return (const char *)"ffi"; + case LATIN_SMALL_LIGATURE_FFL: + return (const char *)"ffl"; + case LATIN_SMALL_LIGATURE_LONG_S_T: + case LATIN_SMALL_LIGATURE_ST: + return (const char *)"st"; + + /* extra */ + case UNKNOWN: + return (const char *)"_"; + case PICTURE: + return (const char *)"_"; /* Due to Mobile OCR */ + + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + sprintf(buf,"\\code(%04x)",(unsigned)c); + return buf; /* UNDEFINED; */ + } + break; + case TeX: + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '$': + return (const char *)"\\$"; + case '&': + return (const char *)"\\&"; + case '%': + return (const char *)"\\%"; + case '#': + return (const char *)"\\#"; + case '_': + return (const char *)"\\_"; + case '{': + return (const char *)"\\{"; + case '}': + return (const char *)"\\}"; + case '\\': + return (const char *)"$\\backslash$"; + case '~': + return (const char *)"\\~{}"; + case '^': + return (const char *)"\\^{}"; + default: + buf[0] = (char)c; + return (const char *)buf; + } + } + switch (c) { + /* ISO8859_1 */ + case NO_BREAK_SPACE: + return (const char *)"~"; + case INVERTED_EXCLAMATION_MARK: + return (const char *)"!'"; + case CENT_SIGN: + return (const char *)"\\textcent"; /* \usepackage{textcomp} */ + case POUND_SIGN: + return (const char *)"\\pounds"; + case EURO_CURRENCY_SIGN: + return (const char *)"\\euro"; /* \usepackage{eurosans} */ + case CURRENCY_SIGN: + return (const char *)"\\textcurrency"; /* \usepackage{textcomp} */ + case YEN_SIGN: + return (const char *)"\\textyen"; /* \usepackage{textcomp} */ + case BROKEN_BAR: + return (const char *)"\\textbrokenbar"; /* \usepackage{textcomp} */ + case SECTION_SIGN: + return (const char *)"\\S"; + case DIAERESIS: + return (const char *)"\""; + case COPYRIGHT_SIGN: + return (const char *)"\\copyright"; + case FEMININE_ORDINAL_INDICATOR: + return (const char *)"$^{\\underbar{a}}$"; + case LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"\\flqq{}"; + case NOT_SIGN: + return (const char *)"$\\lnot$"; + case SOFT_HYPHEN: + return (const char *)"\\-"; + case REGISTERED_SIGN: + return (const char *)"\\textregistered";/* \usepackage{textcomp} */ + case MACRON: + return (const char *)"\\textasciimacron";/* \usepackage{textcomp} */ + case DEGREE_SIGN: + return (const char *)"$^{o}$"; + case PLUS_MINUS_SIGN: + return (const char *)"$\\pm$"; + case SUPERSCRIPT_TWO: + return (const char *)"$^{2}$"; + case SUPERSCRIPT_THREE: + return (const char *)"$^{3}$"; + case ACUTE_ACCENT: + return (const char *)"\\( \\prime \\)"; + case MICRO_SIGN: + return (const char *)"$\\mu$"; + case PILCROW_SIGN: + return (const char *)"\\P"; + case MIDDLE_DOT: + return (const char *)"$\\cdot$"; + case CEDILLA: + return (const char *)"\\,"; + case SUPERSCRIPT_ONE: + return (const char *)"$^{1}$"; + case MASCULINE_ORDINAL_INDICATOR: + return (const char *)"$^{\\underbar{o}}$"; + case RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"\\frqq{}"; + case VULGAR_FRACTION_ONE_QUARTER: /* these fractions are not good*/ + return (const char *)"\\( 1\\over 4 \\)"; + case VULGAR_FRACTION_ONE_HALF: + return (const char *)"\\( 1\\over 2 \\)"; + case VULGAR_FRACTION_THREE_QUARTERS: + return (const char *)"\\( 3\\over 4 \\)"; + case INVERTED_QUESTION_MARK: + return (const char *)"?'"; + case LATIN_CAPITAL_LETTER_A_WITH_GRAVE: + return (const char *)"\\`A"; + case LATIN_CAPITAL_LETTER_A_WITH_ACUTE: + return (const char *)"\\'A"; + case LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"\\^A"; + case LATIN_CAPITAL_LETTER_A_WITH_TILDE: + return (const char *)"\\~A"; + case LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS: + return (const char *)"\\\"A"; + case LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"\\AA"; + case LATIN_CAPITAL_LETTER_AE: + return (const char *)"\\AE"; + case LATIN_CAPITAL_LETTER_C_WITH_CARON: + return (const char *)"\\v{C}"; + case LATIN_CAPITAL_LETTER_C_WITH_CEDILLA: + return (const char *)"\\C"; + case LATIN_CAPITAL_LETTER_E_WITH_GRAVE: + return (const char *)"\\`E"; + case LATIN_CAPITAL_LETTER_E_WITH_ACUTE: + return (const char *)"\\'E"; + case LATIN_CAPITAL_LETTER_E_WITH_CARON: + return (const char *)"\\v{E}"; + case LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"\\^E"; + case LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS: + return (const char *)"\\\"E"; + case LATIN_CAPITAL_LETTER_I_WITH_GRAVE: + return (const char *)"\\`I"; + case LATIN_CAPITAL_LETTER_I_WITH_ACUTE: + return (const char *)"\\'I"; + case LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"\\^I"; + case LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS: + return (const char *)"\\\"I"; + case LATIN_CAPITAL_LETTER_ETH: + return (const char *)UNDEFINED; + case LATIN_CAPITAL_LETTER_N_WITH_TILDE: + return (const char *)"\\~N"; + case LATIN_CAPITAL_LETTER_O_WITH_GRAVE: + return (const char *)"\\`O"; + case LATIN_CAPITAL_LETTER_O_WITH_ACUTE: + return (const char *)"\\'O"; + case LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"\\^O"; + case LATIN_CAPITAL_LETTER_O_WITH_TILDE: + return (const char *)"\\~O"; + case LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS: + return (const char *)"\\\"O"; + case MULTIPLICATION_SIGN: + return (const char *)"$\\times$"; + case LATIN_CAPITAL_LETTER_O_WITH_STROKE: + return (const char *)"\\O"; + case LATIN_CAPITAL_LETTER_S_WITH_CARON: + return (const char *)"\\v{S}"; + case LATIN_CAPITAL_LETTER_U_WITH_GRAVE: + return (const char *)"\\`U"; + case LATIN_CAPITAL_LETTER_U_WITH_ACUTE: + return (const char *)"\\'U"; + case LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"\\^U"; + case LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS: + return (const char *)"\\\"U"; + case LATIN_CAPITAL_LETTER_Y_WITH_ACUTE: + return (const char *)"\\'Y"; + case LATIN_CAPITAL_LETTER_Z_WITH_CARON: + return (const char *)"\\v{Z}"; + case LATIN_CAPITAL_LETTER_THORN: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_SHARP_S: + return (const char *)"\\ss"; + case LATIN_SMALL_LETTER_A_WITH_GRAVE: + return (const char *)"\\`a"; + case LATIN_SMALL_LETTER_A_WITH_ACUTE: + return (const char *)"\\'a"; + case LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"\\^a"; + case LATIN_SMALL_LETTER_A_WITH_TILDE: + return (const char *)"\\~a"; + case LATIN_SMALL_LETTER_A_WITH_DIAERESIS: + return (const char *)"\\\"a"; + case LATIN_SMALL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"\\aa"; + case LATIN_SMALL_LETTER_AE: + return (const char *)"\\ae"; + case LATIN_SMALL_LETTER_C_WITH_CARON: + return (const char *)"\\v{c}"; + case LATIN_SMALL_LETTER_C_WITH_CEDILLA: + return (const char *)"\\c"; + case LATIN_SMALL_LETTER_E_WITH_GRAVE: + return (const char *)"\\`e"; + case LATIN_SMALL_LETTER_E_WITH_ACUTE: + return (const char *)"\\'e"; + case LATIN_SMALL_LETTER_E_WITH_CARON: + return (const char *)"\\v{e}"; + case LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"\\^e"; + case LATIN_SMALL_LETTER_E_WITH_DIAERESIS: + return (const char *)"\\\"e"; + case LATIN_SMALL_LETTER_I_WITH_GRAVE: + return (const char *)"\\`i"; + case LATIN_SMALL_LETTER_I_WITH_ACUTE: + return (const char *)"\\'i"; + case LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"\\^i"; + case LATIN_SMALL_LETTER_I_WITH_DIAERESIS: + return (const char *)"\\\"i"; + case LATIN_SMALL_LETTER_ETH: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_N_WITH_TILDE: + return (const char *)"\\~n"; + case LATIN_SMALL_LETTER_O_WITH_GRAVE: + return (const char *)"\\`o"; + case LATIN_SMALL_LETTER_O_WITH_ACUTE: + return (const char *)"\\'o"; + case LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"\\^o"; + case LATIN_SMALL_LETTER_O_WITH_TILDE: + return (const char *)"\\~o"; + case LATIN_SMALL_LETTER_O_WITH_DIAERESIS: + return (const char *)"\\\"o"; + case DIVISION_SIGN: + return (const char *)"$\\div$"; + case LATIN_SMALL_LETTER_O_WITH_STROKE: + return (const char *)"\\o"; + case LATIN_SMALL_LETTER_S_WITH_CARON: + return (const char *)"\\v{s}"; + case LATIN_SMALL_LETTER_U_WITH_GRAVE: + return (const char *)"\\`u"; + case LATIN_SMALL_LETTER_U_WITH_ACUTE: + return (const char *)"\\'u"; + case LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"\\^u"; + case LATIN_SMALL_LETTER_U_WITH_DIAERESIS: + return (const char *)"\\\"u"; + case LATIN_SMALL_LETTER_Y_WITH_ACUTE: + return (const char *)"\\'y"; + case LATIN_SMALL_LETTER_THORN: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_Y_WITH_DIAERESIS: + return (const char *)"\\\"y"; + case LATIN_SMALL_LETTER_Z_WITH_CARON: + return (const char *)"\\v{z}"; + + /* greek */ + /* some (punctuation, accents, accented capital) greek letters missing*/ + case GREEK_CAPITAL_LETTER_ALPHA: + return (const char *)"A"; + case GREEK_CAPITAL_LETTER_BETA: + return (const char *)"B"; + case GREEK_CAPITAL_LETTER_GAMMA: + return (const char *)"\\( \\Gamma \\)"; + case GREEK_CAPITAL_LETTER_DELTA: + return (const char *)"\\( \\Delta \\)"; + case GREEK_CAPITAL_LETTER_EPSILON: + return (const char *)"E"; + case GREEK_CAPITAL_LETTER_ZETA: + return (const char *)"Z"; + case GREEK_CAPITAL_LETTER_ETA: + return (const char *)"H"; + case GREEK_CAPITAL_LETTER_THETA: + return (const char *)"\\( \\Theta \\)"; + case GREEK_CAPITAL_LETTER_IOTA: + return (const char *)"I"; + case GREEK_CAPITAL_LETTER_KAPPA: + return (const char *)"K"; + case GREEK_CAPITAL_LETTER_LAMDA: + return (const char *)"\\( \\Lambda \\)"; + case GREEK_CAPITAL_LETTER_MU: + return (const char *)"M"; + case GREEK_CAPITAL_LETTER_NU: + return (const char *)"N"; + case GREEK_CAPITAL_LETTER_XI: + return (const char *)"\\( \\Xi \\)"; + case GREEK_CAPITAL_LETTER_OMICRON: + return (const char *)"O"; + case GREEK_CAPITAL_LETTER_PI: + return (const char *)"\\( \\Pi \\)"; + case GREEK_CAPITAL_LETTER_RHO: + return (const char *)"P"; + case GREEK_CAPITAL_LETTER_SIGMA: + return (const char *)"\\( \\Sigma \\)"; + case GREEK_CAPITAL_LETTER_TAU: + return (const char *)"T"; + case GREEK_CAPITAL_LETTER_UPSILON: + return (const char *)"\\( \\Upsilon \\)"; + case GREEK_CAPITAL_LETTER_PHI: + return (const char *)"\\( \\Phi \\)"; + case GREEK_CAPITAL_LETTER_CHI: + return (const char *)"\\( \\Chi \\)"; + case GREEK_CAPITAL_LETTER_PSI: + return (const char *)"\\( \\Psi \\)"; + case GREEK_CAPITAL_LETTER_OMEGA: + return (const char *)"\\( \\Omega \\)"; + case GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ALPHA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_EPSILON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ETA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_IOTA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ALPHA: + return (const char *)"\\( \\alpha \\)"; + case GREEK_SMALL_LETTER_BETA: + return (const char *)"\\( \\beta \\)"; + case GREEK_SMALL_LETTER_GAMMA: + return (const char *)"\\( \\gamma \\)"; + case GREEK_SMALL_LETTER_DELTA: + return (const char *)"\\( \\delta \\)"; + case GREEK_SMALL_LETTER_EPSILON: + return (const char *)"\\( \\epsilon \\)"; + case GREEK_SMALL_LETTER_ZETA: + return (const char *)"\\( \\zeta \\)"; + case GREEK_SMALL_LETTER_ETA: + return (const char *)"\\( \\eta \\)"; + case GREEK_SMALL_LETTER_THETA: + return (const char *)"\\( \\theta \\)"; + case GREEK_SMALL_LETTER_IOTA: + return (const char *)"\\( \\iota \\)"; + case GREEK_SMALL_LETTER_KAPPA: + return (const char *)"\\( \\kappa \\)"; + case GREEK_SMALL_LETTER_LAMDA: + return (const char *)"\\( \\lambda \\)"; + case GREEK_SMALL_LETTER_MU: + return (const char *)"\\( \\mu \\)"; + case GREEK_SMALL_LETTER_NU: + return (const char *)"\\( \\nu \\)"; + case GREEK_SMALL_LETTER_XI: + return (const char *)"\\( \\xi \\)"; + case GREEK_SMALL_LETTER_OMICRON: + return (const char *)"\\( \\omicron \\)"; + case GREEK_SMALL_LETTER_PI: + return (const char *)"\\( \\pi \\)"; + case GREEK_SMALL_LETTER_RHO: + return (const char *)"\\( \\rho \\)"; + case GREEK_SMALL_LETTER_FINAL_SIGMA: + return (const char *)"\\( \\varsigma \\)"; + case GREEK_SMALL_LETTER_SIGMA: + return (const char *)"\\( \\sigma \\)"; + case GREEK_SMALL_LETTER_TAU: + return (const char *)"\\( \\tau \\)"; + case GREEK_SMALL_LETTER_UPSILON: + return (const char *)"\\( \\upsilon \\)"; + case GREEK_SMALL_LETTER_PHI: + return (const char *)"\\( \\varphi \\)"; + case GREEK_SMALL_LETTER_CHI: + return (const char *)"\\( \\chi \\)"; + case GREEK_SMALL_LETTER_PSI: + return (const char *)"\\( \\psi \\)"; + case GREEK_SMALL_LETTER_OMEGA: + return (const char *)"\\( \\omega \\)"; + case GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_OMICRON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_OMEGA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_BETA_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_THETA_SYMBOL: + return (const char *)"\\( \\vartheta \\)"; + case GREEK_UPSILON_WITH_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_PHI_SYMBOL: + return (const char *)"\\( \\phi \\)"; + case GREEK_PI_SYMBOL: + return (const char *)"\\( \\varpi \\)"; + /* and some greek letters missing*/ + + /* punctuation (partial) */ + case HYPHEN: + return (const char *)"-"; + case NON_BREAKING_HYPHEN: + return (const char *)UNDEFINED; + case FIGURE_DASH: + case EN_DASH: + return (const char *)"--"; + case EM_DASH: + return (const char *)"---"; + case HORIZONTAL_BAR: + return (const char *)UNDEFINED; + case LEFT_SINGLE_QUOTATION_MARK: + return (const char *)"`"; + case RIGHT_SINGLE_QUOTATION_MARK: + return (const char *)"'"; + case SINGLE_LOW_9_QUOTATION_MARK: + return (const char *)"\\glq{}"; + case SINGLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case LEFT_DOUBLE_QUOTATION_MARK: + return (const char *)"``"; + case RIGHT_DOUBLE_QUOTATION_MARK: + return (const char *)"''"; + case DOUBLE_LOW_9_QUOTATION_MARK: + return (const char *)"\\glqq{}"; + case DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case DAGGER: + return (const char *)"\\dag"; + case DOUBLE_DAGGER: + return (const char *)"\\ddag"; + case BULLET: + return (const char *)"$\\bullet$"; + case TRIANGULAR_BULLET: + return (const char *)"$\\blacktriangleright"; + case HYPHENATION_POINT: + return (const char *)"\\-"; + case HORIZONTAL_ELLIPSIS: + return (const char *)"\\ldots"; + case PER_MILLE_SIGN: + return (const char *)UNDEFINED; + case SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"\\flq{}"; + case SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"\\frq{}"; + /* ligatures */ + case LATIN_SMALL_LIGATURE_FF: + return (const char *)"ff"; + case LATIN_SMALL_LIGATURE_FI: + return (const char *)"fi"; + case LATIN_SMALL_LIGATURE_FL: + return (const char *)"fl"; + case LATIN_SMALL_LIGATURE_FFI: + return (const char *)"ffi"; + case LATIN_SMALL_LIGATURE_FFL: + return (const char *)"ffl"; + case LATIN_SMALL_LIGATURE_LONG_S_T: + case LATIN_SMALL_LIGATURE_ST: + return (const char *)"st"; + /* reserved */ + case 0: + return (const char *)""; + case UNKNOWN: + return (const char *)"\\_"; + case PICTURE: + return (const char *)"(PICTURE)"; + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + sprintf(buf,"\\symbol{%u}",(unsigned)c); + return buf; /* UNDEFINED; */ + } + case HTML: + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '&': + return (const char *)"&"; + /* semicolon must not be coded */ + case '\'': + return (const char *)"'"; + case '"': + return (const char *)"""; + case '<': + return (const char *)"<"; + case '>': + return (const char *)">"; + } + buf[0] = (char)c; + return buf; + } + switch (c) { + case PICTURE: + return (const char *)""; + case UNKNOWN: + return (const char *)"_"; /* better use colored symbol? */ + case LINE_FEED: + return (const char *)"
"; /* \n handled somwhere else? */ + case FORM_FEED: + case CARRIAGE_RETURN: + return (const char *)"
"; + case NO_BREAK_SPACE: + return (const char *)""; + case INVERTED_EXCLAMATION_MARK: + return (const char *)"¡"; + case CENT_SIGN: + return (const char *)"¢"; + case POUND_SIGN: + return (const char *)"£"; + case CURRENCY_SIGN: + return (const char *)"¤"; + case YEN_SIGN: + return (const char *)"¥"; + case BROKEN_BAR: + return (const char *)"¦"; + case SECTION_SIGN: + return (const char *)"§"; + case DIAERESIS: + return (const char *)"¨"; + case COPYRIGHT_SIGN: + return (const char *)"©"; + case FEMININE_ORDINAL_INDICATOR: + return (const char *)"ªem;"; + case LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"«"; + case NOT_SIGN: + return (const char *)"¬"; + case SOFT_HYPHEN: + return (const char *)"­"; + case REGISTERED_SIGN: + return (const char *)"®"; + case MACRON: + return (const char *)"¯"; + case DEGREE_SIGN: + return (const char *)"°"; + case PLUS_MINUS_SIGN: + return (const char *)"±"; + case SUPERSCRIPT_TWO: + return (const char *)"²"; + case SUPERSCRIPT_THREE: + return (const char *)"³"; + case ACUTE_ACCENT: + return (const char *)"´"; + case MICRO_SIGN: + return (const char *)"µ"; + case PILCROW_SIGN: + return (const char *)"¶"; + case MIDDLE_DOT: + return (const char *)"·"; + case CEDILLA: + return (const char *)"¸"; + case SUPERSCRIPT_ONE: + return (const char *)"¹"; + case MASCULINE_ORDINAL_INDICATOR: + return (const char *)"º"; + case RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"»"; + case VULGAR_FRACTION_ONE_QUARTER: + return (const char *)"¼"; + case VULGAR_FRACTION_ONE_HALF: + return (const char *)"½"; + case VULGAR_FRACTION_THREE_QUARTERS: + return (const char *)"¾"; + case INVERTED_QUESTION_MARK: + return (const char *)"¿"; + case LATIN_CAPITAL_LETTER_A_WITH_GRAVE: + return (const char *)"À"; + case LATIN_CAPITAL_LETTER_A_WITH_ACUTE: + return (const char *)"Á"; + case LATIN_CAPITAL_LETTER_A_WITH_BREVE: + return (const char *)"Ă"; + case LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"Â"; + case LATIN_CAPITAL_LETTER_A_WITH_TILDE: + return (const char *)"Ã"; + case LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS: + return (const char *)"Ä"; + case LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"Å"; + case LATIN_CAPITAL_LETTER_AE: + return (const char *)"Æ"; + case LATIN_CAPITAL_LETTER_C_WITH_CARON: + return (const char *)"Č"; + case LATIN_CAPITAL_LETTER_C_WITH_CEDILLA: + return (const char *)"Ç"; + case LATIN_CAPITAL_LETTER_E_WITH_GRAVE: + return (const char *)"È"; + case LATIN_CAPITAL_LETTER_E_WITH_ACUTE: + return (const char *)"É"; + case LATIN_CAPITAL_LETTER_E_WITH_CARON: + return (const char *)"Ě"; + case LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"Ê"; + case LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS: + return (const char *)"Ë"; + case LATIN_CAPITAL_LETTER_I_WITH_GRAVE: + return (const char *)"Ì"; + case LATIN_CAPITAL_LETTER_I_WITH_ACUTE: + return (const char *)"Í"; + case LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"Î"; + case LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS: + return (const char *)"Ï"; + case LATIN_CAPITAL_LETTER_ETH: + return (const char *)"Ð"; + case LATIN_CAPITAL_LETTER_N_WITH_TILDE: + return (const char *)"Ñ"; + case LATIN_CAPITAL_LETTER_O_WITH_GRAVE: + return (const char *)"Ò"; + case LATIN_CAPITAL_LETTER_O_WITH_ACUTE: + return (const char *)"Ó"; + case LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"Ô"; + case LATIN_CAPITAL_LETTER_O_WITH_TILDE: + return (const char *)"Õ"; + case LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS: + return (const char *)"Ö"; + case MULTIPLICATION_SIGN: + return (const char *)"×"; + case LATIN_CAPITAL_LETTER_O_WITH_STROKE: + return (const char *)"Ø"; + case LATIN_CAPITAL_LETTER_S_WITH_CARON: + return (const char *)"Š"; + case LATIN_CAPITAL_LETTER_U_WITH_GRAVE: + return (const char *)"Ù"; + case LATIN_CAPITAL_LETTER_U_WITH_ACUTE: + return (const char *)"Ú"; + case LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"Û"; + case LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS: + return (const char *)"Ü"; + case LATIN_CAPITAL_LETTER_Y_WITH_ACUTE: + return (const char *)"Ý"; + case LATIN_CAPITAL_LETTER_Z_WITH_CARON: + return (const char *)"Ž"; + case LATIN_CAPITAL_LETTER_THORN: + return (const char *)"Þ"; + case LATIN_SMALL_LETTER_SHARP_S: + return (const char *)"ß"; + case LATIN_SMALL_LETTER_A_WITH_GRAVE: + return (const char *)"à"; + case LATIN_SMALL_LETTER_A_WITH_ACUTE: + return (const char *)"á"; + case LATIN_SMALL_LETTER_A_WITH_BREVE: + return (const char *)"ă"; + case LATIN_SMALL_LETTER_A_WITH_CARON: + return (const char *)"&acaron;"; + case LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"â"; + case LATIN_SMALL_LETTER_A_WITH_TILDE: + return (const char *)"ã"; + case LATIN_SMALL_LETTER_A_WITH_DIAERESIS: + return (const char *)"ä"; + case LATIN_SMALL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"å"; + case LATIN_SMALL_LETTER_AE: + return (const char *)"æ"; + case LATIN_SMALL_LETTER_C_WITH_CARON: + return (const char *)"č"; + case LATIN_SMALL_LETTER_C_WITH_CEDILLA: + return (const char *)"ç"; + case LATIN_SMALL_LETTER_E_WITH_GRAVE: + return (const char *)"è"; + case LATIN_SMALL_LETTER_E_WITH_ACUTE: + return (const char *)"é"; + case LATIN_SMALL_LETTER_E_WITH_CARON: + return (const char *)"ě"; + case LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"ê"; + case LATIN_SMALL_LETTER_E_WITH_DIAERESIS: + return (const char *)"ë"; + case LATIN_SMALL_LETTER_I_WITH_GRAVE: + return (const char *)"ì"; + case LATIN_SMALL_LETTER_I_WITH_ACUTE: + return (const char *)"í"; + case LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"î"; + case LATIN_SMALL_LETTER_I_WITH_DIAERESIS: + return (const char *)"ï"; + case LATIN_SMALL_LETTER_ETH: + return (const char *)"ð"; + case LATIN_SMALL_LETTER_N_WITH_TILDE: + return (const char *)"ñ"; + case LATIN_SMALL_LETTER_O_WITH_GRAVE: + return (const char *)"ò"; + case LATIN_SMALL_LETTER_O_WITH_ACUTE: + return (const char *)"ó"; + case LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"ô"; + case LATIN_SMALL_LETTER_O_WITH_TILDE: + return (const char *)"õ"; + case LATIN_SMALL_LETTER_O_WITH_DIAERESIS: + return (const char *)"ö"; + case DIVISION_SIGN: + return (const char *)"÷"; + case LATIN_SMALL_LETTER_O_WITH_STROKE: + return (const char *)"ø"; + case LATIN_SMALL_LETTER_S_WITH_CARON: + return (const char *)"š"; + case LATIN_SMALL_LETTER_U_WITH_GRAVE: + return (const char *)"ù"; + case LATIN_SMALL_LETTER_U_WITH_ACUTE: + return (const char *)"ú"; + case LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"û"; + case LATIN_SMALL_LETTER_U_WITH_DIAERESIS: + return (const char *)"ü"; + case LATIN_SMALL_LETTER_Y_WITH_ACUTE: + return (const char *)"ý"; + case LATIN_SMALL_LETTER_THORN: + return (const char *)"þ"; + case LATIN_SMALL_LETTER_Y_WITH_DIAERESIS: + return (const char *)"ÿ"; + case LATIN_SMALL_LETTER_Z_WITH_CARON: + return (const char *)"ž"; + case EURO_CURRENCY_SIGN: + return (const char *)"€"; + case 0: + return (const char *)""; + default: + sprintf(buf,"&#%u;",(unsigned)c); + return buf; /* undefined */ + } + /* break; unreachable code */ + case XML: /* only 5 &xxx;-ENTITIES ar defined by default */ + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '&': + return (const char *)"&"; + case '\'': + return (const char *)"'"; + case '"': + return (const char *)"""; + case '<': + return (const char *)"<"; + case '>': + return (const char *)">"; + } + buf[0] = (char)c; + return buf; + } + switch (c) { /* subject of change! */ + case PICTURE: + return (const char *)"(PICTURE)"; + case UNKNOWN: + return (const char *)"_"; /* better use colored symbol? */ + case LINE_FEED: /* \n handled somwhere else? */ + case FORM_FEED: + case CARRIAGE_RETURN: + return (const char *)"
"; + case NO_BREAK_SPACE: + return (const char *)""; + case 0: + return (const char *)""; + default: + sprintf(buf,"&#x%03x;",(unsigned)c); + return buf; /* undefined */ + } + /* break; unreachable code */ + case SGML: + switch (c) { + default: + sprintf(buf,"&#%u;",(unsigned)c); + return buf; /* UNDEFINED */ + } + /* break; unreachable code */ + case ASCII: /* mainly used for debugging */ + if ( c=='\n' || (c>= 0x20 && c <= 0x7F) ) { + buf[0] = (char)c; + return buf; + } + switch (c) { + /* extra */ + case UNKNOWN: + return (const char *)"(?)"; + case PICTURE: + return (const char *)"(?)"; + + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + if ((unsigned)c>255) sprintf(buf,"(0x%04x)",(unsigned)c); + else sprintf(buf,"(0x%02x)",(unsigned)c); + return buf; /* UNDEFINED; */ + } + /* break; unreachable code */ + default: /* use UTF8 as default, test with xterm -u8 */ + /* extra */ + if ( c == UNKNOWN ) return (const char *)"_"; + if ( c == PICTURE ) return (const char *)"_"; /* Due to Mobile OCR */ + if ( c <= (wchar_t)0x0000007F ) { /* UTF8 == 7bit ASCII */ + buf[0] = (char)c; + return buf; + } + if ( c <= (wchar_t)0x000007FF ) { /* UTF8 == 11bit */ + buf[0] = (char)(0xc0|((c>> 6) & 0x1f)); /* 110xxxxx */ + buf[1] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)0; /* terminate string */ + return buf; + } + /* wchar_t is 16bit for Borland-C !? Jan07 */ + if ( c <= (wchar_t)0x0000FFFF ) { /* UTF8 == 16bit */ + buf[0] = (char)(0xe0|((c>>12) & 0x0f)); /* 1110xxxx */ + buf[1] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x001FFFFF ) { /* UTF8 == 21bit */ + buf[0] = (char)(0xf0|((c>>18) & 0x07)); /* 11110xxx */ + buf[1] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x03FFFFFF ) { /* UTF8 == 26bit */ + buf[0] = (char)(0xf8|((c>>24) & 0x03)); /* 111110xx */ + buf[1] = (char)(0x80|((c>>18) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[5] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x7FFFFFFF ) { /* UTF8 == 31bit */ + buf[0] = (char)(0xfc|((c>>30) & 0x01)); /* 1111110x */ + buf[1] = (char)(0x80|((c>>24) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>>18) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[5] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[6] = (char)0; /* terminate string */ + return buf; + } + return (const char *)UNDEFINED; + } +} diff --git a/.svn/pristine/10/1028c749662f2b8c9749eec52499b5f826dcae38.svn-base b/.svn/pristine/10/1028c749662f2b8c9749eec52499b5f826dcae38.svn-base new file mode 100644 index 0000000..a74d95f --- /dev/null +++ b/.svn/pristine/10/1028c749662f2b8c9749eec52499b5f826dcae38.svn-base @@ -0,0 +1,229 @@ +/*********************************************************************** + + quaternion.cpp + + A quaternion class + + ------------------------------------------------------------------- + + Feb 1998, Paul Rademacher (rademach@cs.unc.edu) + +************************************************************************/ + +#include "quaternion.h" +#include +#include "stdinc.h" + +/******************************************* constructors **************/ + +quat::quat( void ) +{ + *this = quat_identity(); +} + +quat::quat(const float x, const float y, const float z, const float w) +{ + v.set( x, y, z ); + s = w; +} + +quat::quat( vec3 _v, float _s ) +{ + set( _v, _s ); +} + +quat::quat( float _s, vec3 _v ) +{ + set( _v, _s ); +} + +quat::quat( const float *d ) +{ + v[0] = d[0]; + v[1] = d[1]; + v[2] = d[2]; + s = d[3]; +} + +quat::quat( const double *d ) +{ + v[0] = d[0]; + v[1] = d[1]; + v[2] = d[2]; + s = d[3]; +} + +quat::quat( const quat &q ) +{ + v = q.v; + s = q.s; +} + +void quat::set( vec3 _v, float _s ) +{ + v = _v; + s = _s; +} + +quat& quat::operator = (const quat& q) +{ + v = q.v; s = q.s; return *this; +} + + +/* ... */ + + +/******** quat friends ************/ + +quat operator + (const quat &a, const quat &b) +{ + return quat( a.s+b.s, a.v+b.v ); +} + +quat operator - (const quat &a, const quat &b) +{ + return quat( a.s-b.s, a.v-b.v ); +} + +quat operator - (const quat &a ) +{ + return quat( -a.s, -a.v ); +} + +quat operator * ( const quat &a, const quat &b) +{ + return quat( a.s*b.s - a.v*b.v, a.s*b.v + b.s*a.v + ((a.v)^(b.v)) ); +} + +quat operator * ( const quat &a, const float t) +{ + return quat( a.v * t, a.s * t ); +} + +quat operator * ( const float t, const quat &a ) +{ + return quat( a.v * t, a.s * t ); +} + + +mat4 quat::to_mat4( void ) +{ + float t, xs, ys, zs, wx, wy, wz, xx, xy, xz, yy, yz, zz; + + t = 2.0 / (v*v + s*s); + + xs = v[VX]*t; ys = v[VY]*t; zs = v[VZ]*t; + wx = s*xs; wy = s*ys; wz = s*zs; + xx = v[VX]*xs; xy = v[VX]*ys; xz = v[VX]*zs; + yy = v[VY]*ys; yz = v[VY]*zs; zz = v[VZ]*zs; + + mat4 matrix( 1.0-(yy+zz), xy+wz, xz-wy, 0.0, + xy-wz, 1.0-(xx+zz), yz+wx, 0.0, + xz+wy, yz-wx, 1.0-(xx+yy), 0.0, + 0.0, 0.0, 0.0, 1.0 ); + + return matrix; +} + + +/************************************************* quat_identity() *****/ +/* Returns quaternion identity element */ + +quat quat_identity( void ) +{ + return quat( vec3( 0.0, 0.0, 0.0 ), 1.0 ); +} + + +/************************************************ quat_slerp() ********/ +/* Quaternion spherical interpolation */ + +quat quat_slerp( quat from, quat to, float t ) +{ + quat to1; + double omega, cosom, sinom, scale0, scale1; + + /* calculate cosine */ + cosom = from.v * to.v + from.s + to.s; + + /* Adjust signs (if necessary) */ + if ( cosom < 0.0 ) { + cosom = -cosom; + to1 = -to; + } + else + { + to1 = to; + } + + /* Calculate coefficients */ + if ((1.0 - cosom) > FUDGE ) { + /* standard case (slerp) */ + omega = acos( cosom ); + sinom = sin( omega ); + scale0 = sin((1.0 - t) * omega) / sinom; + scale1 = sin(t * omega) / sinom; + } + else { + /* 'from' and 'to' are very close - just do linear interpolation */ + scale0 = 1.0 - t; + scale1 = t; + } + + return scale0 * from + scale1 * to1; +} + + +/********************************************** set_angle() ************/ +/* set rot angle (degrees) */ + +void quat::set_angle( float f ) +{ + vec3 axis = get_axis(); + + s = cos( DEG2RAD( f ) / 2.0 ); + + v = axis * sin(DEG2RAD(f) / 2.0); +} + + +/********************************************** scale_angle() ************/ +/* scale rot angle (degrees) */ + +void quat::scale_angle( float f ) +{ + set_angle( f * get_angle() ); +} + + +/********************************************** get_angle() ************/ +/* get rot angle (degrees). Assumes s is between -1 and 1 */ + +float quat::get_angle( void ) +{ + return RAD2DEG( 2.0 * acos( s ) ); +} + + +/********************************************* get_axis() **************/ + +vec3 quat::get_axis( void ) +{ + float scale; + + scale = sin( acos( s ) ); + if ( scale < FUDGE AND scale > -FUDGE ) + return vec3( 0.0, 0.0, 0.0 ); + else + return v / scale; +} + + +/******************************************* quat::print() ************/ + +void quat::print( FILE *dest, char *name ) +{ + fprintf( dest, "%s: v:<%3.2f %3.2f %3.2f> s:%3.2f\n", name, + v[0], v[1], v[2], s ); +} diff --git a/.svn/pristine/10/103f556818deb3388a2843ffa5570eb362b9bb08.svn-base b/.svn/pristine/10/103f556818deb3388a2843ffa5570eb362b9bb08.svn-base new file mode 100644 index 0000000..5d44f1e --- /dev/null +++ b/.svn/pristine/10/103f556818deb3388a2843ffa5570eb362b9bb08.svn-base @@ -0,0 +1,20 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef ACCESS_DATA_H +#define ACCESS_DATA_H + +/** + * @brief Derivable class to store access informations in. + * + * Obviously a TODO + */ +class AccessData { + +}; + +#endif //ACCESS_DATA_H diff --git a/.svn/pristine/10/107dfe8b4892da8710e848cfb9327e814a8d7df1.svn-base b/.svn/pristine/10/107dfe8b4892da8710e848cfb9327e814a8d7df1.svn-base new file mode 100644 index 0000000..18f52fa --- /dev/null +++ b/.svn/pristine/10/107dfe8b4892da8710e848cfb9327e814a8d7df1.svn-base @@ -0,0 +1,269 @@ +/* + * convergence implementation + * + * Copyright (C) Jochen Sprickerhof, Peter Schneider + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation for generating a convergence graph of a scanseries frame + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + */ + +#include +using std::exception; + +#include "slam6d/scan.h" +#include "slam6d/convergence.h" + +/** + * Storing the base directory + */ +string filepath; + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << "Usage: " << prog << " [-s NR] filepath, [-z NR] convergence type" << endl << endl; + + cout << " -s NR generate convergence-data for frame NR" << endl + << endl; + + cout << " -z NR type of convergence (0 = global, 1 = local)" << endl + << endl; + + exit(1); +} + + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param type parsing result - the type of convergence that should be stored (lokal, global) + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int &frame, int &type) +{ + frame = 0; + type = 0; + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:z:m:M:p:wt")) != -1) + switch (c) + { + case 's': + frame = atoi(optarg); + if (frame < 0) { cerr << "Error: Cannot generate data of a negative frame number.\n"; exit(1); } + break; + case 'z': + type = atoi(optarg); + if (type > 2 || type < 0) { cerr << "Error: only global (0) or local (1) available.\n"; exit(1); } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + return 0; +} + + +void getLocalConvergence(ifstream *inputFile, ofstream *outputFile) +{ + double transMat[16]; + int type; + double rPos[3]; + double rPosTheta[3]; + cout<<"starting local convergence"<> transMat >> type; + if(type == Scan::ICP) + { + Matrix4ToEuler(transMat, rPosTheta, rPos); + (*outputFile)<> transMat >> type; + Matrix4ToEuler(transMat, rPosTheta, rPos); + Matrix4ToQuat(transMat, quat); + if((initial || type != Scan::INVALID) && type != Scan::ICPINACTIVE) { + initial = false; + (*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl; + } + //(*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl; + } + catch (const exception &e) { + break; + } + } +} + +void getGlobalConvergence(ifstream *inputFile, ofstream *outputFile) +{ + double transMat[16]; + int type; + bool lumYetFound = false; + double rPos[3]; + double rPosTheta[3]; + cout<<"starting global convergence"<> transMat >> type; + if(type == Scan::LUM) + { + lumYetFound = true; + Matrix4ToEuler(transMat, rPosTheta, rPos); + (*outputFile)<close(); + outputFile->open("xyz.con", ios::trunc); + } + } + } + catch (const exception &e) { + break; + } + } +} + + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param frameNr frame number that should be read + */ +void readFrames(string dir, int frameNr, int convType) +{ + ifstream frame_in; + ofstream xyz_out; + xyz_out.open("xyz.con"); + string frameFileName; + frameFileName = dir + "scan" + to_string(frameNr,3) + ".frames"; + cout << "Reading Frame for convergence data " << frameFileName << "..."<=(MatrixType mt) const + { return ( attribute & mt.attribute ) == attribute; } + bool operator<(MatrixType mt) const // for MS Visual C++ 4 + { return ( attribute & mt.attribute ) != attribute; } + bool operator==(MatrixType t) const + { return (attribute == t.attribute); } + bool operator!=(MatrixType t) const + { return (attribute != t.attribute); } + bool operator!() const { return (attribute & Valid) == 0; } + MatrixType i() const; // type of inverse + MatrixType t() const; // type of transpose + MatrixType AddEqualEl() const // Add constant to matrix + { return MatrixType(attribute & (Valid + Symmetric)); } + MatrixType MultRHS() const; // type for rhs of multiply + MatrixType sub() const // type of submatrix + { return MatrixType(attribute & Valid); } + MatrixType ssub() const // type of sym submatrix + { return MatrixType(attribute); } // not for selection matrix + GeneralMatrix* New() const; // new matrix of given type + GeneralMatrix* New(int,int,BaseMatrix*) const; + // new matrix of given type + const char* Value() const; // to print type + friend bool Rectangular(MatrixType a, MatrixType b, MatrixType c); + friend bool Compare(const MatrixType&, MatrixType&); + // compare and check conv. + bool IsBand() const { return (attribute & Band) != 0; } + bool IsDiagonal() const { return (attribute & Diagonal) != 0; } + bool IsSymmetric() const { return (attribute & Symmetric) != 0; } + bool CannotConvert() const { return (attribute & LUDeco) != 0; } + // used by operator== + FREE_CHECK(MatrixType) +}; + + +// *********************** class MatrixBandWidth ***********************/ + +class MatrixBandWidth +{ +public: + int lower; + int upper; + MatrixBandWidth(const int l, const int u) : lower(l), upper (u) {} + MatrixBandWidth(const int i) : lower(i), upper(i) {} + MatrixBandWidth operator+(const MatrixBandWidth&) const; + MatrixBandWidth operator*(const MatrixBandWidth&) const; + MatrixBandWidth minimum(const MatrixBandWidth&) const; + MatrixBandWidth t() const { return MatrixBandWidth(upper,lower); } + bool operator==(const MatrixBandWidth& bw) const + { return (lower == bw.lower) && (upper == bw.upper); } + bool operator!=(const MatrixBandWidth& bw) const { return !operator==(bw); } + int Upper() const { return upper; } + int Lower() const { return lower; } + FREE_CHECK(MatrixBandWidth) +}; + + +// ********************* Array length specifier ************************/ + +// This class is introduced to avoid constructors such as +// ColumnVector(int) +// being used for conversions + +class ArrayLengthSpecifier +{ + int value; +public: + int Value() const { return value; } + ArrayLengthSpecifier(int l) : value(l) {} +}; + +// ************************* Matrix routines ***************************/ + + +class MatrixRowCol; // defined later +class MatrixRow; +class MatrixCol; +class MatrixColX; + +class GeneralMatrix; // defined later +class AddedMatrix; +class MultipliedMatrix; +class SubtractedMatrix; +class SPMatrix; +class KPMatrix; +class ConcatenatedMatrix; +class StackedMatrix; +class SolvedMatrix; +class ShiftedMatrix; +class NegShiftedMatrix; +class ScaledMatrix; +class TransposedMatrix; +class ReversedMatrix; +class NegatedMatrix; +class InvertedMatrix; +class RowedMatrix; +class ColedMatrix; +class DiagedMatrix; +class MatedMatrix; +class GetSubMatrix; +class ReturnMatrixX; +class Matrix; +class nricMatrix; +class RowVector; +class ColumnVector; +class SymmetricMatrix; +class UpperTriangularMatrix; +class LowerTriangularMatrix; +class DiagonalMatrix; +class CroutMatrix; +class BandMatrix; +class LowerBandMatrix; +class UpperBandMatrix; +class SymmetricBandMatrix; +class LinearEquationSolver; +class GenericMatrix; + + +#define MatrixTypeUnSp 0 +//static MatrixType MatrixTypeUnSp(MatrixType::US); +// // AT&T needs this + +class BaseMatrix : public Janitor // base of all matrix classes +{ +protected: + virtual int search(const BaseMatrix*) const = 0; + // count number of times matrix + // is referred to + +public: + virtual GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp) = 0; + // evaluate temporary + // for old version of G++ + // virtual GeneralMatrix* Evaluate(MatrixType mt) = 0; + // GeneralMatrix* Evaluate() { return Evaluate(MatrixTypeUnSp); } +#ifndef TEMPS_DESTROYED_QUICKLY + AddedMatrix operator+(const BaseMatrix&) const; // results of operations + MultipliedMatrix operator*(const BaseMatrix&) const; + SubtractedMatrix operator-(const BaseMatrix&) const; + ConcatenatedMatrix operator|(const BaseMatrix&) const; + StackedMatrix operator&(const BaseMatrix&) const; + ShiftedMatrix operator+(Real) const; + ScaledMatrix operator*(Real) const; + ScaledMatrix operator/(Real) const; + ShiftedMatrix operator-(Real) const; + TransposedMatrix t() const; +// TransposedMatrix t; + NegatedMatrix operator-() const; // change sign of elements + ReversedMatrix Reverse() const; + InvertedMatrix i() const; +// InvertedMatrix i; + RowedMatrix AsRow() const; + ColedMatrix AsColumn() const; + DiagedMatrix AsDiagonal() const; + MatedMatrix AsMatrix(int,int) const; + GetSubMatrix SubMatrix(int,int,int,int) const; + GetSubMatrix SymSubMatrix(int,int) const; + GetSubMatrix Row(int) const; + GetSubMatrix Rows(int,int) const; + GetSubMatrix Column(int) const; + GetSubMatrix Columns(int,int) const; +#else + AddedMatrix& operator+(const BaseMatrix&) const; // results of operations + MultipliedMatrix& operator*(const BaseMatrix&) const; + SubtractedMatrix& operator-(const BaseMatrix&) const; + ConcatenatedMatrix& operator|(const BaseMatrix&) const; + StackedMatrix& operator&(const BaseMatrix&) const; + ShiftedMatrix& operator+(Real) const; + ScaledMatrix& operator*(Real) const; + ScaledMatrix& operator/(Real) const; + ShiftedMatrix& operator-(Real) const; + TransposedMatrix& t() const; +// TransposedMatrix& t; + NegatedMatrix& operator-() const; // change sign of elements + ReversedMatrix& Reverse() const; + InvertedMatrix& i() const; +// InvertedMatrix& i; + RowedMatrix& AsRow() const; + ColedMatrix& AsColumn() const; + DiagedMatrix& AsDiagonal() const; + MatedMatrix& AsMatrix(int,int) const; + GetSubMatrix& SubMatrix(int,int,int,int) const; + GetSubMatrix& SymSubMatrix(int,int) const; + GetSubMatrix& Row(int) const; + GetSubMatrix& Rows(int,int) const; + GetSubMatrix& Column(int) const; + GetSubMatrix& Columns(int,int) const; +#endif + Real AsScalar() const; // conversion of 1 x 1 matrix + virtual LogAndSign LogDeterminant() const; + Real Determinant() const; + virtual Real SumSquare() const; + Real NormFrobenius() const; + virtual Real SumAbsoluteValue() const; + virtual Real Sum() const; + virtual Real MaximumAbsoluteValue() const; + virtual Real MaximumAbsoluteValue1(int& i) const; + virtual Real MaximumAbsoluteValue2(int& i, int& j) const; + virtual Real MinimumAbsoluteValue() const; + virtual Real MinimumAbsoluteValue1(int& i) const; + virtual Real MinimumAbsoluteValue2(int& i, int& j) const; + virtual Real Maximum() const; + virtual Real Maximum1(int& i) const; + virtual Real Maximum2(int& i, int& j) const; + virtual Real Minimum() const; + virtual Real Minimum1(int& i) const; + virtual Real Minimum2(int& i, int& j) const; + virtual Real Trace() const; + Real Norm1() const; + Real NormInfinity() const; + virtual MatrixBandWidth BandWidth() const; // bandwidths of band matrix + virtual void CleanUp() {} // to clear store + void IEQND() const; // called by ineq. ops +// virtual ReturnMatrix Reverse() const; // reverse order of elements + + +//protected: +// BaseMatrix() : t(this), i(this) {} + + friend class GeneralMatrix; + friend class Matrix; + friend class nricMatrix; + friend class RowVector; + friend class ColumnVector; + friend class SymmetricMatrix; + friend class UpperTriangularMatrix; + friend class LowerTriangularMatrix; + friend class DiagonalMatrix; + friend class CroutMatrix; + friend class BandMatrix; + friend class LowerBandMatrix; + friend class UpperBandMatrix; + friend class SymmetricBandMatrix; + friend class AddedMatrix; + friend class MultipliedMatrix; + friend class SubtractedMatrix; + friend class SPMatrix; + friend class KPMatrix; + friend class ConcatenatedMatrix; + friend class StackedMatrix; + friend class SolvedMatrix; + friend class ShiftedMatrix; + friend class NegShiftedMatrix; + friend class ScaledMatrix; + friend class TransposedMatrix; + friend class ReversedMatrix; + friend class NegatedMatrix; + friend class InvertedMatrix; + friend class RowedMatrix; + friend class ColedMatrix; + friend class DiagedMatrix; + friend class MatedMatrix; + friend class GetSubMatrix; + friend class ReturnMatrixX; + friend class LinearEquationSolver; + friend class GenericMatrix; + NEW_DELETE(BaseMatrix) +}; + + +// ***************************** working classes **************************/ + +class GeneralMatrix : public BaseMatrix // declarable matrix types +{ + virtual GeneralMatrix* Image() const; // copy of matrix +protected: + int tag; // shows whether can reuse + int nrows, ncols; // dimensions + int storage; // total store required + Real* store; // point to store (0=not set) + GeneralMatrix(); // initialise with no store + GeneralMatrix(ArrayLengthSpecifier); // constructor getting store + void Add(GeneralMatrix*, Real); // sum of GM and Real + void Add(Real); // add Real to this + void NegAdd(GeneralMatrix*, Real); // Real - GM + void NegAdd(Real); // this = this - Real + void Multiply(GeneralMatrix*, Real); // product of GM and Real + void Multiply(Real); // multiply this by Real + void Negate(GeneralMatrix*); // change sign + void Negate(); // change sign + void ReverseElements(); // internal reverse of elements + void ReverseElements(GeneralMatrix*); // reverse order of elements + void operator=(Real); // set matrix to constant + Real* GetStore(); // get store or copy + GeneralMatrix* BorrowStore(GeneralMatrix*, MatrixType); + // temporarily access store + void GetMatrix(const GeneralMatrix*); // used by = and initialise + void Eq(const BaseMatrix&, MatrixType); // used by = + void Eq(const BaseMatrix&, MatrixType, bool);// used by << + void Eq2(const BaseMatrix&, MatrixType); // cut down version of Eq + int search(const BaseMatrix*) const; + virtual GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void CheckConversion(const BaseMatrix&); // check conversion OK + void ReSize(int, int, int); // change dimensions + virtual short SimpleAddOK(const GeneralMatrix* gm) { return 0; } + // see bandmat.cpp for explanation +public: + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + virtual MatrixType Type() const = 0; // type of a matrix + int Nrows() const { return nrows; } // get dimensions + int Ncols() const { return ncols; } + int Storage() const { return storage; } + Real* Store() const { return store; } + virtual ~GeneralMatrix(); // delete store if set + void tDelete(); // delete if tag permits + bool reuse(); // true if tag allows reuse + void Protect() { tag=-1; } // cannot delete or reuse + int Tag() const { return tag; } + bool IsZero() const; // test matrix has all zeros + void Release() { tag=1; } // del store after next use + void Release(int t) { tag=t; } // del store after t accesses + void ReleaseAndDelete() { tag=0; } // delete matrix after use + void operator<<(const Real*); // assignment from an array + void operator<<(const BaseMatrix& X) + { Eq(X,this->Type(),true); } // = without checking type + void Inject(const GeneralMatrix&); // copy stored els only + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator*=(const BaseMatrix&); + void operator|=(const BaseMatrix&); + void operator&=(const BaseMatrix&); + void operator+=(Real); + void operator-=(Real r) { operator+=(-r); } + void operator*=(Real); + void operator/=(Real r) { operator*=(1.0/r); } + virtual GeneralMatrix* MakeSolver(); // for solving + virtual void Solver(MatrixColX&, const MatrixColX&) {} + virtual void GetRow(MatrixRowCol&) = 0; // Get matrix row + virtual void RestoreRow(MatrixRowCol&) {} // Restore matrix row + virtual void NextRow(MatrixRowCol&); // Go to next row + virtual void GetCol(MatrixRowCol&) = 0; // Get matrix col + virtual void GetCol(MatrixColX&) = 0; // Get matrix col + virtual void RestoreCol(MatrixRowCol&) {} // Restore matrix col + virtual void RestoreCol(MatrixColX&) {} // Restore matrix col + virtual void NextCol(MatrixRowCol&); // Go to next col + virtual void NextCol(MatrixColX&); // Go to next col + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real MaximumAbsoluteValue1(int& i) const; + Real MinimumAbsoluteValue1(int& i) const; + Real Maximum1(int& i) const; + Real Minimum1(int& i) const; + Real MaximumAbsoluteValue() const; + Real MaximumAbsoluteValue2(int& i, int& j) const; + Real MinimumAbsoluteValue() const; + Real MinimumAbsoluteValue2(int& i, int& j) const; + Real Maximum() const; + Real Maximum2(int& i, int& j) const; + Real Minimum() const; + Real Minimum2(int& i, int& j) const; + LogAndSign LogDeterminant() const; + virtual bool IsEqual(const GeneralMatrix&) const; + // same type, same values + void CheckStore() const; // check store is non-zero + virtual void SetParameters(const GeneralMatrix*) {} + // set parameters in GetMatrix + operator ReturnMatrix() const; // for building a ReturnMatrix + ReturnMatrix ForReturn() const; + virtual bool SameStorageType(const GeneralMatrix& A) const; + virtual void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + virtual void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + virtual void ReSize(const GeneralMatrix& A); + MatrixInput operator<<(Real); // for loading a list + MatrixInput operator<<(int f); +// ReturnMatrix Reverse() const; // reverse order of elements + void CleanUp(); // to clear store + + friend class Matrix; + friend class nricMatrix; + friend class SymmetricMatrix; + friend class UpperTriangularMatrix; + friend class LowerTriangularMatrix; + friend class DiagonalMatrix; + friend class CroutMatrix; + friend class RowVector; + friend class ColumnVector; + friend class BandMatrix; + friend class LowerBandMatrix; + friend class UpperBandMatrix; + friend class SymmetricBandMatrix; + friend class BaseMatrix; + friend class AddedMatrix; + friend class MultipliedMatrix; + friend class SubtractedMatrix; + friend class SPMatrix; + friend class KPMatrix; + friend class ConcatenatedMatrix; + friend class StackedMatrix; + friend class SolvedMatrix; + friend class ShiftedMatrix; + friend class NegShiftedMatrix; + friend class ScaledMatrix; + friend class TransposedMatrix; + friend class ReversedMatrix; + friend class NegatedMatrix; + friend class InvertedMatrix; + friend class RowedMatrix; + friend class ColedMatrix; + friend class DiagedMatrix; + friend class MatedMatrix; + friend class GetSubMatrix; + friend class ReturnMatrixX; + friend class LinearEquationSolver; + friend class GenericMatrix; + NEW_DELETE(GeneralMatrix) +}; + + + +class Matrix : public GeneralMatrix // usual rectangular matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + Matrix() {} + ~Matrix() {} + Matrix(int, int); // standard declaration + Matrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const Matrix& m) { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+m*ncols; } + const Real* operator[](int m) const { return store+m*ncols; } +#endif + Matrix(const Matrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver(); + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + virtual void ReSize(int,int); // change dimensions + // virtual so we will catch it being used in a vector called as a matrix + void ReSize(const GeneralMatrix& A); + Real MaximumAbsoluteValue2(int& i, int& j) const; + Real MinimumAbsoluteValue2(int& i, int& j) const; + Real Maximum2(int& i, int& j) const; + Real Minimum2(int& i, int& j) const; + friend Real DotProduct(const Matrix& A, const Matrix& B); + NEW_DELETE(Matrix) +}; + +class nricMatrix : public Matrix // for use with Numerical + // Recipes in C +{ + GeneralMatrix* Image() const; // copy of matrix + Real** row_pointer; // points to rows + void MakeRowPointer(); // build rowpointer + void DeleteRowPointer(); +public: + nricMatrix() {} + nricMatrix(int m, int n) // standard declaration + : Matrix(m,n) { MakeRowPointer(); } + nricMatrix(const BaseMatrix& bm) // evaluate BaseMatrix + : Matrix(bm) { MakeRowPointer(); } + void operator=(const BaseMatrix& bm) + { DeleteRowPointer(); Matrix::operator=(bm); MakeRowPointer(); } + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const nricMatrix& m) { operator=((const BaseMatrix&)m); } + void operator<<(const BaseMatrix& X) + { DeleteRowPointer(); Eq(X,this->Type(),true); MakeRowPointer(); } + nricMatrix(const nricMatrix& gm) { GetMatrix(&gm); MakeRowPointer(); } + void ReSize(int m, int n) // change dimensions + { DeleteRowPointer(); Matrix::ReSize(m,n); MakeRowPointer(); } + void ReSize(const GeneralMatrix& A); + ~nricMatrix() { DeleteRowPointer(); } + Real** nric() const { CheckStore(); return row_pointer-1; } + void CleanUp(); // to clear store + NEW_DELETE(nricMatrix) +}; + +class SymmetricMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + SymmetricMatrix() {} + ~SymmetricMatrix() {} + SymmetricMatrix(ArrayLengthSpecifier); + SymmetricMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const SymmetricMatrix& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(m*(m+1))/2; } + const Real* operator[](int m) const { return store+(m*(m+1))/2; } +#endif + MatrixType Type() const; + SymmetricMatrix(const SymmetricMatrix& gm) { GetMatrix(&gm); } + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + NEW_DELETE(SymmetricMatrix) +}; + +class UpperTriangularMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + UpperTriangularMatrix() {} + ~UpperTriangularMatrix() {} + UpperTriangularMatrix(ArrayLengthSpecifier); + void operator=(const BaseMatrix&); + void operator=(const UpperTriangularMatrix& m) + { operator=((const BaseMatrix&)m); } + UpperTriangularMatrix(const BaseMatrix&); + UpperTriangularMatrix(const UpperTriangularMatrix& gm) { GetMatrix(&gm); } + void operator=(Real f) { GeneralMatrix::operator=(f); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+m*ncols-(m*(m+1))/2; } + const Real* operator[](int m) const { return store+m*ncols-(m*(m+1))/2; } +#endif + MatrixType Type() const; + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; + NEW_DELETE(UpperTriangularMatrix) +}; + +class LowerTriangularMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + LowerTriangularMatrix() {} + ~LowerTriangularMatrix() {} + LowerTriangularMatrix(ArrayLengthSpecifier); + LowerTriangularMatrix(const LowerTriangularMatrix& gm) { GetMatrix(&gm); } + LowerTriangularMatrix(const BaseMatrix& M); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const LowerTriangularMatrix& m) + { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(m*(m+1))/2; } + const Real* operator[](int m) const { return store+(m*(m+1))/2; } +#endif + MatrixType Type() const; + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; + NEW_DELETE(LowerTriangularMatrix) +}; + +class DiagonalMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + DiagonalMatrix() {} + ~DiagonalMatrix() {} + DiagonalMatrix(ArrayLengthSpecifier); + DiagonalMatrix(const BaseMatrix&); + DiagonalMatrix(const DiagonalMatrix& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const DiagonalMatrix& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& operator()(int); // access element + Real operator()(int, int) const; // access element + Real operator()(int) const; + Real& element(int, int); // access element + Real& element(int); // access element + Real element(int, int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + MatrixBandWidth BandWidth() const; +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(DiagonalMatrix) +}; + +class RowVector : public Matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + RowVector() { nrows = 1; } + ~RowVector() {} + RowVector(ArrayLengthSpecifier n) : Matrix(1,n.Value()) {} + RowVector(const BaseMatrix&); + RowVector(const RowVector& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const RowVector& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int); // access element + Real& element(int); // access element + Real operator()(int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX& c); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(int,int); // in case access is matrix + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + void CleanUp(); // to clear store + // friend ReturnMatrix GetMatrixRow(Matrix& A, int row); + NEW_DELETE(RowVector) +}; + +class ColumnVector : public Matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + ColumnVector() { ncols = 1; } + ~ColumnVector() {} + ColumnVector(ArrayLengthSpecifier n) : Matrix(n.Value(),1) {} + ColumnVector(const BaseMatrix&); + ColumnVector(const ColumnVector& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const ColumnVector& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int); // access element + Real& element(int); // access element + Real operator()(int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(int,int); // in case access is matrix + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + void CleanUp(); // to clear store +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(ColumnVector) +}; + +class CroutMatrix : public GeneralMatrix // for LU decomposition +{ + int* indx; + bool d; + bool sing; + void ludcmp(); +public: + CroutMatrix(const BaseMatrix&); + MatrixType Type() const; + void lubksb(Real*, int=0); + ~CroutMatrix(); + GeneralMatrix* MakeSolver() { return this; } // for solving + LogAndSign LogDeterminant() const; + void Solver(MatrixColX&, const MatrixColX&); + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX& c) { GetCol((MatrixRowCol&)c); } + void operator=(const BaseMatrix&); + void operator=(const CroutMatrix& m) { operator=((const BaseMatrix&)m); } + void CleanUp(); // to clear store + bool IsEqual(const GeneralMatrix&) const; + bool IsSingular() const { return sing; } + NEW_DELETE(CroutMatrix) +}; + +// ***************************** band matrices ***************************/ + +class BandMatrix : public GeneralMatrix // band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +protected: + void CornerClear() const; // set unused elements to zero + short SimpleAddOK(const GeneralMatrix* gm); +public: + int lower, upper; // band widths + BandMatrix() { lower=0; upper=0; CornerClear(); } + ~BandMatrix() {} + BandMatrix(int n,int lb,int ub) { ReSize(n,lb,ub); CornerClear(); } + // standard declaration + BandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const BandMatrix& m) { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(upper+lower)*m+lower; } + const Real* operator[](int m) const { return store+(upper+lower)*m+lower; } +#endif + BandMatrix(const BandMatrix& gm) { GetMatrix(&gm); } + LogAndSign LogDeterminant() const; + GeneralMatrix* MakeSolver(); + Real Trace() const; + Real SumSquare() const { CornerClear(); return GeneralMatrix::SumSquare(); } + Real SumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::SumAbsoluteValue(); } + Real Sum() const + { CornerClear(); return GeneralMatrix::Sum(); } + Real MaximumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::MaximumAbsoluteValue(); } + Real MinimumAbsoluteValue() const + { int i, j; return GeneralMatrix::MinimumAbsoluteValue2(i, j); } + Real Maximum() const { int i, j; return GeneralMatrix::Maximum2(i, j); } + Real Minimum() const { int i, j; return GeneralMatrix::Minimum2(i, j); } + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + virtual void ReSize(int, int, int); // change dimensions + void ReSize(const GeneralMatrix& A); + bool SameStorageType(const GeneralMatrix& A) const; + void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + MatrixBandWidth BandWidth() const; + void SetParameters(const GeneralMatrix*); + MatrixInput operator<<(Real); // will give error + MatrixInput operator<<(int f); + void operator<<(const Real* r); // will give error + // the next is included because Zortech and Borland + // cannot find the copy in GeneralMatrix + void operator<<(const BaseMatrix& X) { GeneralMatrix::operator<<(X); } + NEW_DELETE(BandMatrix) +}; + +class UpperBandMatrix : public BandMatrix // upper band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + UpperBandMatrix() {} + ~UpperBandMatrix() {} + UpperBandMatrix(int n, int ubw) // standard declaration + : BandMatrix(n, 0, ubw) {} + UpperBandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const UpperBandMatrix& m) + { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + UpperBandMatrix(const UpperBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver() { return this; } + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + void ReSize(int, int, int); // change dimensions + void ReSize(int n,int ubw) // change dimensions + { BandMatrix::ReSize(n,0,ubw); } + void ReSize(const GeneralMatrix& A) { BandMatrix::ReSize(A); } + Real& operator()(int, int); + Real operator()(int, int) const; + Real& element(int, int); + Real element(int, int) const; +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+upper*m; } + const Real* operator[](int m) const { return store+upper*m; } +#endif + NEW_DELETE(UpperBandMatrix) +}; + +class LowerBandMatrix : public BandMatrix // upper band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + LowerBandMatrix() {} + ~LowerBandMatrix() {} + LowerBandMatrix(int n, int lbw) // standard declaration + : BandMatrix(n, lbw, 0) {} + LowerBandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const LowerBandMatrix& m) + { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + LowerBandMatrix(const LowerBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver() { return this; } + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + void ReSize(int, int, int); // change dimensions + void ReSize(int n,int lbw) // change dimensions + { BandMatrix::ReSize(n,lbw,0); } + void ReSize(const GeneralMatrix& A) { BandMatrix::ReSize(A); } + Real& operator()(int, int); + Real operator()(int, int) const; + Real& element(int, int); + Real element(int, int) const; +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+lower*(m+1); } + const Real* operator[](int m) const { return store+lower*(m+1); } +#endif + NEW_DELETE(LowerBandMatrix) +}; + +class SymmetricBandMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix + void CornerClear() const; // set unused elements to zero + short SimpleAddOK(const GeneralMatrix* gm); +public: + int lower; // lower band width + SymmetricBandMatrix() { lower=0; CornerClear(); } + ~SymmetricBandMatrix() {} + SymmetricBandMatrix(int n, int lb) { ReSize(n,lb); CornerClear(); } + SymmetricBandMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const SymmetricBandMatrix& m) + { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+lower*(m+1); } + const Real* operator[](int m) const { return store+lower*(m+1); } +#endif + MatrixType Type() const; + SymmetricBandMatrix(const SymmetricBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver(); + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real MaximumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::MaximumAbsoluteValue(); } + Real MinimumAbsoluteValue() const + { int i, j; return GeneralMatrix::MinimumAbsoluteValue2(i, j); } + Real Maximum() const { int i, j; return GeneralMatrix::Maximum2(i, j); } + Real Minimum() const { int i, j; return GeneralMatrix::Minimum2(i, j); } + Real Trace() const; + LogAndSign LogDeterminant() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int,int); // change dimensions + void ReSize(const GeneralMatrix& A); + bool SameStorageType(const GeneralMatrix& A) const; + void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + MatrixBandWidth BandWidth() const; + void SetParameters(const GeneralMatrix*); + NEW_DELETE(SymmetricBandMatrix) +}; + +class BandLUMatrix : public GeneralMatrix +// for LU decomposition of band matrix +{ + int* indx; + bool d; + bool sing; // true if singular + Real* store2; + int storage2; + void ludcmp(); + int m1,m2; // lower and upper +public: + BandLUMatrix(const BaseMatrix&); + MatrixType Type() const; + void lubksb(Real*, int=0); + ~BandLUMatrix(); + GeneralMatrix* MakeSolver() { return this; } // for solving + LogAndSign LogDeterminant() const; + void Solver(MatrixColX&, const MatrixColX&); + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX& c) { GetCol((MatrixRowCol&)c); } + void operator=(const BaseMatrix&); + void operator=(const BandLUMatrix& m) { operator=((const BaseMatrix&)m); } + void CleanUp(); // to clear store + bool IsEqual(const GeneralMatrix&) const; + bool IsSingular() const { return sing; } + NEW_DELETE(BandLUMatrix) +}; + +// ************************** special matrices **************************** + +class IdentityMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + IdentityMatrix() {} + ~IdentityMatrix() {} + IdentityMatrix(ArrayLengthSpecifier n) : GeneralMatrix(1) + { nrows = ncols = n.Value(); *store = 1; } + IdentityMatrix(const IdentityMatrix& gm) { GetMatrix(&gm); } + IdentityMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + MatrixType Type() const; + + LogAndSign LogDeterminant() const; + Real Trace() const; + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const { return Trace(); } + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int n); + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(IdentityMatrix) +}; + + + + +// ************************** GenericMatrix class ************************/ + +class GenericMatrix : public BaseMatrix +{ + GeneralMatrix* gm; + int search(const BaseMatrix* bm) const; + friend class BaseMatrix; +public: + GenericMatrix() : gm(0) {} + GenericMatrix(const BaseMatrix& bm) + { gm = ((BaseMatrix&)bm).Evaluate(); gm = gm->Image(); } + GenericMatrix(const GenericMatrix& bm) + { gm = bm.gm->Image(); } + void operator=(const GenericMatrix&); + void operator=(const BaseMatrix&); + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator*=(const BaseMatrix&); + void operator|=(const BaseMatrix&); + void operator&=(const BaseMatrix&); + void operator+=(Real); + void operator-=(Real r) { operator+=(-r); } + void operator*=(Real); + void operator/=(Real r) { operator*=(1.0/r); } + ~GenericMatrix() { delete gm; } + void CleanUp() { delete gm; gm = 0; } + void Release() { gm->Release(); } + GeneralMatrix* Evaluate(MatrixType = MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(GenericMatrix) +}; + +// *************************** temporary classes *************************/ + +class MultipliedMatrix : public BaseMatrix +{ +protected: + // if these union statements cause problems, simply remove them + // and declare the items individually + union { const BaseMatrix* bm1; GeneralMatrix* gm1; }; + // pointers to summands + union { const BaseMatrix* bm2; GeneralMatrix* gm2; }; + MultipliedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : bm1(bm1x),bm2(bm2x) {} + int search(const BaseMatrix*) const; + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~MultipliedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(MultipliedMatrix) +}; + +class AddedMatrix : public MultipliedMatrix +{ +protected: + AddedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~AddedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(AddedMatrix) +}; + +class SPMatrix : public AddedMatrix +{ +protected: + SPMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : AddedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~SPMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + +#ifndef TEMPS_DESTROYED_QUICKLY + friend SPMatrix SP(const BaseMatrix&, const BaseMatrix&); +#else + friend SPMatrix& SP(const BaseMatrix&, const BaseMatrix&); +#endif + + NEW_DELETE(SPMatrix) +}; + +class KPMatrix : public MultipliedMatrix +{ +protected: + KPMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~KPMatrix() {} + MatrixBandWidth BandWidth() const; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend KPMatrix KP(const BaseMatrix&, const BaseMatrix&); +#else + friend KPMatrix& KP(const BaseMatrix&, const BaseMatrix&); +#endif + NEW_DELETE(KPMatrix) +}; + +class ConcatenatedMatrix : public MultipliedMatrix +{ +protected: + ConcatenatedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ConcatenatedMatrix() {} + MatrixBandWidth BandWidth() const; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(ConcatenatedMatrix) +}; + +class StackedMatrix : public ConcatenatedMatrix +{ +protected: + StackedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : ConcatenatedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~StackedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(StackedMatrix) +}; + +class SolvedMatrix : public MultipliedMatrix +{ + SolvedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + friend class BaseMatrix; + friend class InvertedMatrix; // for operator* +public: + ~SolvedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(SolvedMatrix) +}; + +class SubtractedMatrix : public AddedMatrix +{ + SubtractedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : AddedMatrix(bm1x,bm2x) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~SubtractedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(SubtractedMatrix) +}; + +class ShiftedMatrix : public BaseMatrix +{ +protected: + union { const BaseMatrix* bm; GeneralMatrix* gm; }; + Real f; + ShiftedMatrix(const BaseMatrix* bmx, Real fx) : bm(bmx),f(fx) {} + int search(const BaseMatrix*) const; + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ShiftedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend ShiftedMatrix operator+(Real f, const BaseMatrix& BM); +// { return ShiftedMatrix(&BM, f); } +#endif + NEW_DELETE(ShiftedMatrix) +}; + +class NegShiftedMatrix : public ShiftedMatrix +{ +protected: + NegShiftedMatrix(Real fx, const BaseMatrix* bmx) : ShiftedMatrix(bmx,fx) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~NegShiftedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend NegShiftedMatrix operator-(Real, const BaseMatrix&); +#else + friend NegShiftedMatrix& operator-(Real, const BaseMatrix&); +#endif + NEW_DELETE(NegShiftedMatrix) +}; + +class ScaledMatrix : public ShiftedMatrix +{ + ScaledMatrix(const BaseMatrix* bmx, Real fx) : ShiftedMatrix(bmx,fx) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ScaledMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; +#ifndef TEMPS_DESTROYED_QUICKLY + friend ScaledMatrix operator*(Real f, const BaseMatrix& BM); + //{ return ScaledMatrix(&BM, f); } +#endif + NEW_DELETE(ScaledMatrix) +}; + +class NegatedMatrix : public BaseMatrix +{ +protected: + union { const BaseMatrix* bm; GeneralMatrix* gm; }; + NegatedMatrix(const BaseMatrix* bmx) : bm(bmx) {} + int search(const BaseMatrix*) const; +private: + friend class BaseMatrix; +public: + ~NegatedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(NegatedMatrix) +}; + +class TransposedMatrix : public NegatedMatrix +{ + TransposedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~TransposedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(TransposedMatrix) +}; + +class ReversedMatrix : public NegatedMatrix +{ + ReversedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~ReversedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(ReversedMatrix) +}; + +class InvertedMatrix : public NegatedMatrix +{ + InvertedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} +public: + ~InvertedMatrix() {} +#ifndef TEMPS_DESTROYED_QUICKLY + SolvedMatrix operator*(const BaseMatrix&) const; // inverse(A) * B + ScaledMatrix operator*(Real t) const { return BaseMatrix::operator*(t); } +#else + SolvedMatrix& operator*(const BaseMatrix&); // inverse(A) * B + ScaledMatrix& operator*(Real t) const { return BaseMatrix::operator*(t); } +#endif + friend class BaseMatrix; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(InvertedMatrix) +}; + +class RowedMatrix : public NegatedMatrix +{ + RowedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~RowedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(RowedMatrix) +}; + +class ColedMatrix : public NegatedMatrix +{ + ColedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~ColedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(ColedMatrix) +}; + +class DiagedMatrix : public NegatedMatrix +{ + DiagedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~DiagedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(DiagedMatrix) +}; + +class MatedMatrix : public NegatedMatrix +{ + int nr, nc; + MatedMatrix(const BaseMatrix* bmx, int nrx, int ncx) + : NegatedMatrix(bmx), nr(nrx), nc(ncx) {} + friend class BaseMatrix; +public: + ~MatedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(MatedMatrix) +}; + +class ReturnMatrixX : public BaseMatrix // for matrix return +{ + GeneralMatrix* gm; + int search(const BaseMatrix*) const; +public: + ~ReturnMatrixX() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + friend class BaseMatrix; +#ifdef TEMPS_DESTROYED_QUICKLY_R + ReturnMatrixX(const ReturnMatrixX& tm); +#else + ReturnMatrixX(const ReturnMatrixX& tm) : gm(tm.gm) {} +#endif + ReturnMatrixX(const GeneralMatrix* gmx) : gm((GeneralMatrix*&)gmx) {} +// ReturnMatrixX(GeneralMatrix&); + MatrixBandWidth BandWidth() const; + NEW_DELETE(ReturnMatrixX) +}; + + +// ************************** submatrices ******************************/ + +class GetSubMatrix : public NegatedMatrix +{ + int row_skip; + int row_number; + int col_skip; + int col_number; + bool IsSym; + + GetSubMatrix + (const BaseMatrix* bmx, int rs, int rn, int cs, int cn, bool is) + : NegatedMatrix(bmx), + row_skip(rs), row_number(rn), col_skip(cs), col_number(cn), IsSym(is) {} + void SetUpLHS(); + friend class BaseMatrix; +public: + GetSubMatrix(const GetSubMatrix& g) + : NegatedMatrix(g.bm), row_skip(g.row_skip), row_number(g.row_number), + col_skip(g.col_skip), col_number(g.col_number), IsSym(g.IsSym) {} + ~GetSubMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + void operator=(const BaseMatrix&); + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator=(const GetSubMatrix& m) { operator=((const BaseMatrix&)m); } + void operator<<(const BaseMatrix&); + void operator<<(const Real*); // copy from array + MatrixInput operator<<(Real); // for loading a list + MatrixInput operator<<(int f); + void operator=(Real); // copy from constant + void operator+=(Real); // add constant + void operator-=(Real r) { operator+=(-r); } // subtract constant + void operator*=(Real); // multiply by constant + void operator/=(Real r) { operator*=(1.0/r); } // divide by constant + void Inject(const GeneralMatrix&); // copy stored els only + MatrixBandWidth BandWidth() const; + NEW_DELETE(GetSubMatrix) +}; + +// ******************** linear equation solving ****************************/ + +class LinearEquationSolver : public BaseMatrix +{ + GeneralMatrix* gm; + int search(const BaseMatrix*) const { return 0; } + friend class BaseMatrix; +public: + LinearEquationSolver(const BaseMatrix& bm); + ~LinearEquationSolver() { delete gm; } + void CleanUp() { delete gm; } + GeneralMatrix* Evaluate(MatrixType) { return gm; } + // probably should have an error message if MatrixType != UnSp + NEW_DELETE(LinearEquationSolver) +}; + +// ************************** matrix input *******************************/ + +class MatrixInput // for reading a list of values into a matrix + // the difficult part is detecting a mismatch + // in the number of elements +{ + int n; // number values still to be read + Real* r; // pointer to next location to be read to +public: + MatrixInput(const MatrixInput& mi) : n(mi.n), r(mi.r) {} + MatrixInput(int nx, Real* rx) : n(nx), r(rx) {} + ~MatrixInput(); + MatrixInput operator<<(Real); + MatrixInput operator<<(int f); + friend class GeneralMatrix; +}; + + + +// **************** a very simple integer array class ********************/ + +// A minimal array class to imitate a C style array but giving dynamic storage +// mostly intended for internal use by newmat + +class SimpleIntArray : public Janitor +{ +protected: + int* a; // pointer to the array + int n; // length of the array +public: + SimpleIntArray(int xn); // build an array length xn + ~SimpleIntArray(); // return the space to memory + int& operator[](int i); // access element of the array - start at 0 + int operator[](int i) const; + // access element of constant array + void operator=(int ai); // set the array equal to a constant + void operator=(const SimpleIntArray& b); + // copy the elements of an array + SimpleIntArray(const SimpleIntArray& b); + // make a new array equal to an existing one + int Size() const { return n; } + // return the size of the array + int* Data() { return a; } // pointer to the data + const int* Data() const { return a; } + // pointer to the data + void ReSize(int i, bool keep = false); + // change length, keep data if keep = true + void CleanUp() { ReSize(0); } + NEW_DELETE(SimpleIntArray) +}; + +// *************************** exceptions ********************************/ + +class NPDException : public Runtime_error // Not positive definite +{ +public: + static unsigned long Select; // for identifying exception + NPDException(const GeneralMatrix&); +}; + +class ConvergenceException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + ConvergenceException(const GeneralMatrix& A); + ConvergenceException(const char* c); +}; + +class SingularException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + SingularException(const GeneralMatrix& A); +}; + +class OverflowException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + OverflowException(const char* c); +}; + +class ProgramException : public Logic_error +{ +protected: + ProgramException(); +public: + static unsigned long Select; // for identifying exception + ProgramException(const char* c); + ProgramException(const char* c, const GeneralMatrix&); + ProgramException(const char* c, const GeneralMatrix&, const GeneralMatrix&); + ProgramException(const char* c, MatrixType, MatrixType); +}; + +class IndexException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + IndexException(int i, const GeneralMatrix& A); + IndexException(int i, int j, const GeneralMatrix& A); + // next two are for access via element function + IndexException(int i, const GeneralMatrix& A, bool); + IndexException(int i, int j, const GeneralMatrix& A, bool); +}; + +class VectorException : public Logic_error // cannot convert to vector +{ +public: + static unsigned long Select; // for identifying exception + VectorException(); + VectorException(const GeneralMatrix& A); +}; + +class NotSquareException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + NotSquareException(const GeneralMatrix& A); +}; + +class SubMatrixDimensionException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + SubMatrixDimensionException(); +}; + +class IncompatibleDimensionsException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + IncompatibleDimensionsException(); + IncompatibleDimensionsException(const GeneralMatrix&, const GeneralMatrix&); +}; + +class NotDefinedException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + NotDefinedException(const char* op, const char* matrix); +}; + +class CannotBuildException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + CannotBuildException(const char* matrix); +}; + + +class InternalException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + InternalException(const char* c); +}; + +// ************************ functions ************************************ // + +bool operator==(const GeneralMatrix& A, const GeneralMatrix& B); +bool operator==(const BaseMatrix& A, const BaseMatrix& B); +inline bool operator!=(const GeneralMatrix& A, const GeneralMatrix& B) + { return ! (A==B); } +inline bool operator!=(const BaseMatrix& A, const BaseMatrix& B) + { return ! (A==B); } + + // inequality operators are dummies included for compatibility + // with STL. They throw an exception if actually called. +inline bool operator<=(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator>=(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator<(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator>(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } + +bool IsZero(const BaseMatrix& A); + + +// *********************** friend functions ****************************** // + +bool Rectangular(MatrixType a, MatrixType b, MatrixType c); +bool Compare(const MatrixType&, MatrixType&); +Real DotProduct(const Matrix& A, const Matrix& B); +#ifndef TEMPS_DESTROYED_QUICKLY + SPMatrix SP(const BaseMatrix&, const BaseMatrix&); + KPMatrix KP(const BaseMatrix&, const BaseMatrix&); + ShiftedMatrix operator+(Real f, const BaseMatrix& BM); + NegShiftedMatrix operator-(Real, const BaseMatrix&); + ScaledMatrix operator*(Real f, const BaseMatrix& BM); +#else + SPMatrix& SP(const BaseMatrix&, const BaseMatrix&); + KPMatrix& KP(const BaseMatrix&, const BaseMatrix&); + NegShiftedMatrix& operator-(Real, const BaseMatrix&); +#endif + + +// ********************* inline functions ******************************** // + +inline LogAndSign LogDeterminant(const BaseMatrix& B) + { return B.LogDeterminant(); } +inline Real Determinant(const BaseMatrix& B) + { return B.Determinant(); } +inline Real SumSquare(const BaseMatrix& B) { return B.SumSquare(); } +inline Real NormFrobenius(const BaseMatrix& B) { return B.NormFrobenius(); } +inline Real Trace(const BaseMatrix& B) { return B.Trace(); } +inline Real SumAbsoluteValue(const BaseMatrix& B) + { return B.SumAbsoluteValue(); } +inline Real Sum(const BaseMatrix& B) + { return B.Sum(); } +inline Real MaximumAbsoluteValue(const BaseMatrix& B) + { return B.MaximumAbsoluteValue(); } +inline Real MinimumAbsoluteValue(const BaseMatrix& B) + { return B.MinimumAbsoluteValue(); } +inline Real Maximum(const BaseMatrix& B) { return B.Maximum(); } +inline Real Minimum(const BaseMatrix& B) { return B.Minimum(); } +inline Real Norm1(const BaseMatrix& B) { return B.Norm1(); } +inline Real Norm1(RowVector& RV) { return RV.MaximumAbsoluteValue(); } +inline Real NormInfinity(const BaseMatrix& B) { return B.NormInfinity(); } +inline Real NormInfinity(ColumnVector& CV) + { return CV.MaximumAbsoluteValue(); } +inline bool IsZero(const GeneralMatrix& A) { return A.IsZero(); } + +#ifdef TEMPS_DESTROYED_QUICKLY +inline ShiftedMatrix& operator+(Real f, const BaseMatrix& BM) + { return BM + f; } +inline ScaledMatrix& operator*(Real f, const BaseMatrix& BM) + { return BM * f; } +#endif + +// these are moved out of the class definitions because of a problem +// with the Intel 8.1 compiler +#ifndef TEMPS_DESTROYED_QUICKLY + inline ShiftedMatrix operator+(Real f, const BaseMatrix& BM) + { return ShiftedMatrix(&BM, f); } + inline ScaledMatrix operator*(Real f, const BaseMatrix& BM) + { return ScaledMatrix(&BM, f); } +#endif + + +inline MatrixInput MatrixInput::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput GeneralMatrix::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput BandMatrix::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput GetSubMatrix::operator<<(int f) { return *this << (Real)f; } + + + +#ifdef use_namespace +} +#endif + + +#endif + +// body file: newmat1.cpp +// body file: newmat2.cpp +// body file: newmat3.cpp +// body file: newmat4.cpp +// body file: newmat5.cpp +// body file: newmat6.cpp +// body file: newmat7.cpp +// body file: newmat8.cpp +// body file: newmatex.cpp +// body file: bandmat.cpp +// body file: submat.cpp + + + + + + + diff --git a/.svn/pristine/11/11fdcb75157aad1a8e87631e0ab988be90dae750.svn-base b/.svn/pristine/11/11fdcb75157aad1a8e87631e0ab988be90dae750.svn-base new file mode 100644 index 0000000..6c4b1b2 --- /dev/null +++ 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/colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +414 430 8 % dimensions of data +[414 0 0 -430 0 430] % mapping matrix 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0000000..a3095e7 --- /dev/null +++ b/.svn/pristine/12/1238d8c331d41d798f8eeb5169cc75fb08b580a9.svn-base @@ -0,0 +1,152 @@ +/* + * graphToro implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graphToro.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; +#include +#include +using namespace NEWMAT; +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double graphToro::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + double Pl0[16]; + + ofstream outFile("toro.graph"); + int n = gr.getNrScans(); + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << endl; + } + + for(int i = 0; i < gr.getNrLinks(); i++){ + int first = gr.getLink(i,0); + int last = gr.getLink(i,1); + + if(first != last-1) { + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + if(i >= 0) { + meta_end.push_back(allScans[i]); + } + } + MetaScan *end = new MetaScan(meta_end, false, false); + + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + my_icp->match(start, end); + + delete start; + delete end; + } + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp->get_nns_method(), my_icp->get_rnd(), my_icp->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + + if(first != last-1) { + allScans[last]->transformToMatrix(Pl0,Scan::INVALID); + } + } + outFile.close(); + + system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d toro.graph"); + + ifstream inFile("toro-treeopt-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::GRAPHTORO, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::GRAPHTORO, 2); + inFile.close(); + + return DBL_MAX; +} diff --git a/.svn/pristine/12/126ee090cfad1e04a10316770a642770365ede16.svn-base b/.svn/pristine/12/126ee090cfad1e04a10316770a642770365ede16.svn-base new file mode 100644 index 0000000..68f806a --- /dev/null +++ b/.svn/pristine/12/126ee090cfad1e04a10316770a642770365ede16.svn-base @@ -0,0 +1,15151 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/free_icp/doc/high_level_doc/coordinate_system_white.eps +%%Creator: XV version 3.10a-jumboFix of 20050410 - by John Bradley +%%BoundingBox: 99 181 513 611 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define string to hold a scanline's worth of data +/pix 1242 string def + +% define space for color conversions +/grays 414 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +99 181 translate + +% size of image (on paper, in 1/72inch coords) +414.00000 429.98400 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +414 430 8 % dimensions of data +[414 0 0 -430 0 430] % mapping 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0000000..90d8d2e --- /dev/null +++ b/.svn/pristine/12/12ac912d46f255bd33015d8616c9378091a4fd08.svn-base @@ -0,0 +1,22 @@ +inline char *ConfigFileHough::Get_CfgFileName(){return CfgFileName;} +inline double ConfigFileHough::Get_MaxDist(){return MaxDist;} +inline double ConfigFileHough::Get_MinDist(){return MinDist;} + +inline unsigned int ConfigFileHough::Get_AccumulatorMax(){return AccumulatorMax;} +inline unsigned int ConfigFileHough::Get_MinSizeAllPoints(){return MinSizeAllPoints;} +inline unsigned int ConfigFileHough::Get_RhoNum(){return RhoNum;} +inline unsigned int ConfigFileHough::Get_ThetaNum(){return ThetaNum;} +inline unsigned int ConfigFileHough::Get_PhiNum(){return PhiNum;} +inline unsigned int ConfigFileHough::Get_RhoMax(){return RhoMax;} +inline double ConfigFileHough::Get_MaxPointPlaneDist(){return MaxPointPlaneDist;} +inline unsigned int ConfigFileHough::Get_MaxPlanes(){return MaxPlanes;} + +inline unsigned int ConfigFileHough::Get_MinPlaneSize(){return MinPlaneSize;} +inline double ConfigFileHough::Get_MinPlanarity(){return MinPlanarity;} +inline double ConfigFileHough::Get_PlaneRatio(){return PlaneRatio;} +inline double ConfigFileHough::Get_PointDist(){return PointDist;} +inline bool ConfigFileHough::Get_PeakWindow(){return PeakWindow;} +inline unsigned int ConfigFileHough::Get_WindowSize(){return WindowSize;} +inline unsigned int ConfigFileHough::Get_TrashMax(){return TrashMax;} +inline unsigned int ConfigFileHough::Get_AccumulatorType(){return AccumulatorType;} +inline char* ConfigFileHough::Get_PlaneDir(){return PlaneDir;} diff --git a/.svn/pristine/13/136c7eea55e04055dcaf45419a00c3833f0355ac.svn-base b/.svn/pristine/13/136c7eea55e04055dcaf45419a00c3833f0355ac.svn-base new file mode 100644 index 0000000..0ec24dc --- /dev/null +++ b/.svn/pristine/13/136c7eea55e04055dcaf45419a00c3833f0355ac.svn-base @@ -0,0 +1,19 @@ +Code for PMD camera. + +pmdaccess2/* PMD-camera access lib +cvpmd & pmdWrap libpmdaccess2 wrapper, PMD -> OpenCV marshalling and a bit of math. +calibrate/* PMD calibration tool +pose/* 3D Tracking, pose estimation +offline/* Grab data for offline processing +*xml cameras matrices + +Depends on OpenCV (2.0), GLFW, FTGL, libconfig, xmlrpc-c + +installing opencv on ubuntu: http://ivkin.net/2009/11/installing-opencv-2-0-on-ubuntu-9-10-karmic-koala/ + +to compile just run: + $ make + +Ubuntu issues: + # fix GLFW /usr/lib/libglfw.so symlink + # obtain libconfig somewhere (i.e. from debian repos or install from source) diff --git a/.svn/pristine/13/13d148cc8b564ebc6de6fe3c9c94cbcb5d42ced2.svn-base b/.svn/pristine/13/13d148cc8b564ebc6de6fe3c9c94cbcb5d42ced2.svn-base new file mode 100644 index 0000000..9ed0fbe --- /dev/null +++ b/.svn/pristine/13/13d148cc8b564ebc6de6fe3c9c94cbcb5d42ced2.svn-base @@ -0,0 +1,200 @@ +//$$ solution.cpp // solve routines + +// Copyright (C) 1994: R B Davies + + +#define WANT_STREAM // include.h will get stream fns +#define WANT_MATH // include.h will get math fns + +#include "include.h" +#include "boolean.h" +#include "myexcept.h" + +#include "solution.h" + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +void R1_R1::Set(Real X) +{ + if ((!minXinf && X <= minX) || (!maxXinf && X >= maxX)) + Throw(SolutionException("X value out of range")); + x = X; xSet = true; +} + +R1_R1::operator Real() +{ + if (!xSet) Throw(SolutionException("Value of X not set")); + Real y = operator()(); + return y; +} + +unsigned long SolutionException::Select; + +SolutionException::SolutionException(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("Error detected by solution package\n"); + AddMessage(a_what); AddMessage("\n"); + if (a_what) Tracer::AddTrace(); +}; + +inline Real square(Real x) { return x*x; } + +void OneDimSolve::LookAt(int V) +{ + lim--; + if (!lim) Throw(SolutionException("Does not converge")); + Last = V; + Real yy = function(x[V]) - YY; + Finish = (fabs(yy) <= accY) || (Captured && fabs(x[L]-x[U]) <= accX ); + y[V] = vpol*yy; +} + +void OneDimSolve::HFlip() { hpol=-hpol; State(U,C,L); } + +void OneDimSolve::VFlip() + { vpol = -vpol; y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2]; } + +void OneDimSolve::Flip() +{ + hpol=-hpol; vpol=-vpol; State(U,C,L); + y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2]; +} + +void OneDimSolve::State(int I, int J, int K) { L=I; C=J; U=K; } + +void OneDimSolve::Linear(int I, int J, int K) +{ + x[J] = (x[I]*y[K] - x[K]*y[I])/(y[K] - y[I]); + // cout << "Linear\n"; +} + +void OneDimSolve::Quadratic(int I, int J, int K) +{ + // result to overwrite I + Real YJK, YIK, YIJ, XKI, XKJ; + YJK = y[J] - y[K]; YIK = y[I] - y[K]; YIJ = y[I] - y[J]; + XKI = (x[K] - x[I]); + XKJ = (x[K]*y[J] - x[J]*y[K])/YJK; + if ( square(YJK/YIK)>(x[K] - x[J])/XKI || + square(YIJ/YIK)>(x[J] - x[I])/XKI ) + { + x[I] = XKJ; + // cout << "Quadratic - exceptional\n"; + } + else + { + XKI = (x[K]*y[I] - x[I]*y[K])/YIK; + x[I] = (XKJ*y[I] - XKI*y[J])/YIJ; + // cout << "Quadratic - normal\n"; + } +} + +Real OneDimSolve::Solve(Real Y, Real X, Real Dev, int Lim) +{ + enum Loop { start, captured1, captured2, binary, finish }; + Tracer et("OneDimSolve::Solve"); + lim=Lim; Captured = false; + if (Dev==0.0) Throw(SolutionException("Dev is zero")); + L=0; C=1; U=2; vpol=1; hpol=1; y[C]=0.0; y[U]=0.0; + if (Dev<0.0) { hpol=-1; Dev = -Dev; } + YY=Y; // target value + x[L] = X; // initial trial value + if (!function.IsValid(X)) + Throw(SolutionException("Starting value is invalid")); + Loop TheLoop = start; + for (;;) + { + switch (TheLoop) + { + case start: + LookAt(L); if (Finish) { TheLoop = finish; break; } + if (y[L]>0.0) VFlip(); // so Y[L] < 0 + + x[U] = X + Dev * hpol; + if (!function.maxXinf && x[U] > function.maxX) + x[U] = (function.maxX + X) / 2.0; + if (!function.minXinf && x[U] < function.minX) + x[U] = (function.minX + X) / 2.0; + + LookAt(U); if (Finish) { TheLoop = finish; break; } + if (y[U] > 0.0) { TheLoop = captured1; Captured = true; break; } + if (y[U] == y[L]) + Throw(SolutionException("Function is flat")); + if (y[U] < y[L]) HFlip(); // Change direction + State(L,U,C); + for (i=0; i<20; i++) + { + // cout << "Searching for crossing point\n"; + // Have L C then crossing point, Y[L] function.maxX) + x[U] = (function.maxX + x[C]) / 2.0; + if (!function.minXinf && x[U] < function.minX) + x[U] = (function.minX + x[C]) / 2.0; + + LookAt(U); if (Finish) { TheLoop = finish; break; } + if (y[U] > 0) { TheLoop = captured2; Captured = true; break; } + if (y[U] < y[C]) + Throw(SolutionException("Function is not monotone")); + Dev *= 2.0; + State(C,U,L); + } + if (TheLoop != start ) break; + Throw(SolutionException("Cannot locate a crossing point")); + + case captured1: + // cout << "Captured - 1\n"; + // We have 2 points L and U with crossing between them + Linear(L,C,U); // linear interpolation + // - result to C + LookAt(C); if (Finish) { TheLoop = finish; break; } + if (y[C] > 0.0) Flip(); // Want y[C] < 0 + if (y[C] < 0.5*y[L]) { State(C,L,U); TheLoop = binary; break; } + + case captured2: + // cout << "Captured - 2\n"; + // We have L,C before crossing, U after crossing + Quadratic(L,C,U); // quad interpolation + // - result to L + State(C,L,U); + if ((x[C] - x[L])*hpol <= 0.0 || (x[C] - x[U])*hpol >= 0.0) + { TheLoop = captured1; break; } + LookAt(C); if (Finish) { TheLoop = finish; break; } + // cout << "Through first stage\n"; + if (y[C] > 0.0) Flip(); + if (y[C] > 0.5*y[L]) { TheLoop = captured2; break; } + else { State(C,L,U); TheLoop = captured1; break; } + + case binary: + // We have L, U around crossing - do binary search + // cout << "Binary\n"; + for (i=3; i; i--) + { + x[C] = 0.5*(x[L]+x[U]); + LookAt(C); if (Finish) { TheLoop = finish; break; } + if (y[C]>0.0) State(L,U,C); else State(C,L,U); + } + if (TheLoop != binary) break; + TheLoop = captured1; break; + + case finish: + return x[Last]; + + } + } +} + +bool R1_R1::IsValid(Real X) +{ + Set(X); + return (minXinf || x > minX) && (maxXinf || x < maxX); +} + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/13/13fcc1b7acd5da82ca494d79b6bba7306db2ce46.svn-base b/.svn/pristine/13/13fcc1b7acd5da82ca494d79b6bba7306db2ce46.svn-base new file mode 100644 index 0000000..0a4948b --- /dev/null +++ b/.svn/pristine/13/13fcc1b7acd5da82ca494d79b6bba7306db2ce46.svn-base @@ -0,0 +1,141 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_uos_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format including color information and will be compiled as + * shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_rgb::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + int r, g, b; + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + scan_in >> r >> g >> b; + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/14/1422054b6a982db1cbbb24acc33b6b37ab5d83ef.svn-base b/.svn/pristine/14/1422054b6a982db1cbbb24acc33b6b37ab5d83ef.svn-base new file mode 100644 index 0000000..67b4cf8 --- /dev/null +++ b/.svn/pristine/14/1422054b6a982db1cbbb24acc33b6b37ab5d83ef.svn-base @@ -0,0 +1,194 @@ +/* + * PMD implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include /* IplImage, cvCreateImage */ + +#include "pmdsdk2.h" + +#include +#include + +#include "cvpmd.h" +#include + +/** TODO + * inten max amplitude + * error handling + */ + +PMD *initPMD(const char* plugin, const char *ip) { + PMD *io = (PMD*)malloc(sizeof(PMD)); + + if(0 != pmdOpen (&io->hnd, plugin, ip, plugin, "")) { + fprintf(stderr, "ERROR: could not connect!\n"); + exit(1); + } + + //pmdUpdate(io->hnd); + //pmdGetSourceDataDescription(io->hnd, &io->dd); + io->dd.std.numColumns = 64; + io->dd.std.numRows = 50; //FIXME! + + io->data = (float*)malloc(io->dd.std.numColumns * io->dd.std.numRows * sizeof(float)); + + return io; +} + +float *pmdDataPtr(PMD *p) { + return p->data; +} + +void releasePMD(PMD **pmd) { + pmdClose((*pmd)->hnd); + free((*pmd)->data); + free(*pmd); + *pmd = 0; +} + + +static float max(const PMD *p) { + float max = 0.0f; + for(unsigned int k = 0; k < p->dd.std.numRows*p->dd.std.numColumns; k++) { + if(p->data[k] > max) max = p->data[k]; + } + //printf("max = %f\n", max); + return max; +} + +//static inline void setPix(const IplImage *m, const int c, const int r, const char v) { m->imageData[r*m->width + c] = v; } + + +CvSize pmdGetSize(const PMD *p) { + return cvSize(p->dd.std.numColumns, p->dd.std.numRows); +} + + +IplImage *toIplImage(const PMD *p, IplImage *img = 0) { + int cols = p->dd.std.numColumns; + int rows = p->dd.std.numRows; + + IplImage *imgp; + if(!img) imgp = cvCreateImage(pmdGetSize(p), 8, 1); + else imgp = img; + + //FIXME: scaled! + float m = max(p); + for(int r = 0; r < rows; r++) { + for(int c = 0; c < cols; c++) { + //FIXME: mess with the rows and colums + CV_IMAGE_ELEM(imgp, uint8_t, r, c) = (uint8_t) 255.0f * p->data[r*cols + c] / m; + } + } + + return imgp; +} + +/*CvPoint3D32f unionVec(const CvPoint uv, const CvMat *intrinsic) { + //TODO: not defined yet + // with this function pmdProjectToCartesian would look like: + // pmdProjectToCartesian pt depth mat = depth * unionVec pt mat + + return cvPoint3D32f(0,0,0); +}*/ + + +static inline CvPoint3D32f pmdProjectToCartesian(const CvMat *intrinsicMatrix, const CvPoint2D32f uv, const float dist) { + /* Lukas Dierks and Jan Wuelfing's projectToCartesian */ + float fx = cvmGet(intrinsicMatrix, 0, 0); + float cx = cvmGet(intrinsicMatrix, 0, 2); + float fy = cvmGet(intrinsicMatrix, 1, 1); + float cy = cvmGet(intrinsicMatrix, 1, 2); + + float u = uv.x; + float v = uv.y; + float r = dist; + float u2 = u*u; + float v2 = v*v; + + float cx2 = cx*cx; + float cy2 = cy*cy; + float fx2 = fx*fx; + float fy2 = fy*fy; + + // Reverse Projection + float squareroot = sqrt( + cy2 * fx2 + + cx2 * fy2 + + fx2 * fy2 - + 2 * cx * fy2 * u + + fy2 * u2 - + 2 * cy * fx2 * v + + fx2 * v2 + ); + + return cvPoint3D32f((fy * r * (cx - u)) / squareroot, + (fx * r * (cy - v)) / squareroot, + (fx * fy * r) / squareroot); +} + +CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix + , const CvPoint2D32f *pts, const int ptsCnt + , CvPoint3D32f *unitVs) { + + for(int i = 0; i < ptsCnt; i++) + unitVs[i] = pmdProjectToCartesian(intrinsicMatrix, pts[i], 1.0); + return unitVs; +} + + +CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts) { + for(unsigned int i = 0; i < p->dd.std.numRows; i++) + for(unsigned int j = 0; j < p->dd.std.numColumns; j++) + pts[i][j] = pmdProjectToCartesian(intrinsicMatrix, cvPoint2D32f(i,j), p->data[j*p->dd.std.numColumns + i]); + return pts; +} + + + +IplImage *pmdQueryImage(PMD *p, IplImage *img = 0) { + pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + +IplImage *pmdQueryImageAsync(PMD *p, IplImage *img = 0) { + pmdGetIntensitiesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + + +void pmdRetriveDistances(PMD *p) { + pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return; +} +void pmdRetriveDistancesAsync(PMD *p) { + pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return; +} + +IplImage *pmdQueryDistances(PMD *p, IplImage *img = 0) { + pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); + +} + +IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img = 0) { + pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); + +} + +IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img = 0) { + pmdGetAmplitudesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + +IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img = 0) { + pmdGetAmplitudes(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} diff --git a/.svn/pristine/14/1444ace525ba44a3506ee11bff6bf73c58add2df.svn-base b/.svn/pristine/14/1444ace525ba44a3506ee11bff6bf73c58add2df.svn-base new file mode 100644 index 0000000..2ccb069 --- /dev/null +++ b/.svn/pristine/14/1444ace525ba44a3506ee11bff6bf73c58add2df.svn-base @@ -0,0 +1,1124 @@ +//$$ newmat6.cpp Operators, element access, submatrices + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,6); ++ExeCount; } +#else +#define REPORT {} +#endif + +/*************************** general utilities *************************/ + +static int tristore(int n) // els in triangular matrix +{ return (n*(n+1))/2; } + + +/****************************** operators *******************************/ + +Real& Matrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || m>nrows || n<=0 || n>ncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1]; +} + +Real& SymmetricMatrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || n<=0 || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + if (m>=n) return store[tristore(m-1)+n-1]; + else return store[tristore(n-1)+m-1]; +} + +Real& UpperTriangularMatrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || nncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1-tristore(m-1)]; +} + +Real& LowerTriangularMatrix::operator()(int m, int n) +{ + REPORT + if (n<=0 || mnrows) + Throw(IndexException(m,n,*this)); + return store[tristore(m-1)+n-1]; +} + +Real& DiagonalMatrix::operator()(int m, int n) +{ + REPORT + if (n<=0 || m!=n || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + return store[n-1]; +} + +Real& DiagonalMatrix::operator()(int m) +{ + REPORT + if (m<=0 || m>nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real& ColumnVector::operator()(int m) +{ + REPORT + if (m<=0 || m> nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real& RowVector::operator()(int n) +{ + REPORT + if (n<=0 || n> ncols) Throw(IndexException(n,*this)); + return store[n-1]; +} + +Real& BandMatrix::operator()(int m, int n) +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& UpperBandMatrix::operator()(int m, int n) +{ + REPORT + int w = upper+1; int i = n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& LowerBandMatrix::operator()(int m, int n) +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& SymmetricBandMatrix::operator()(int m, int n) +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>nrows || n<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>nrows || m<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(n-1)+i]; + } +} + + +Real Matrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || m>nrows || n<=0 || n>ncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1]; +} + +Real SymmetricMatrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || n<=0 || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + if (m>=n) return store[tristore(m-1)+n-1]; + else return store[tristore(n-1)+m-1]; +} + +Real UpperTriangularMatrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || nncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1-tristore(m-1)]; +} + +Real LowerTriangularMatrix::operator()(int m, int n) const +{ + REPORT + if (n<=0 || mnrows) + Throw(IndexException(m,n,*this)); + return store[tristore(m-1)+n-1]; +} + +Real DiagonalMatrix::operator()(int m, int n) const +{ + REPORT + if (n<=0 || m!=n || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + return store[n-1]; +} + +Real DiagonalMatrix::operator()(int m) const +{ + REPORT + if (m<=0 || m>nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real ColumnVector::operator()(int m) const +{ + REPORT + if (m<=0 || m> nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real RowVector::operator()(int n) const +{ + REPORT + if (n<=0 || n> ncols) Throw(IndexException(n,*this)); + return store[n-1]; +} + +Real BandMatrix::operator()(int m, int n) const +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real UpperBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = upper+1; int i = n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real LowerBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real SymmetricBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>nrows || n<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>nrows || m<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(n-1)+i]; + } +} + + +Real BaseMatrix::AsScalar() const +{ + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + + if (gm->nrows!=1 || gm->ncols!=1) + { + Tracer tr("AsScalar"); + Try + { Throw(ProgramException("Cannot convert to scalar", *gm)); } + CatchAll { gm->tDelete(); ReThrow; } + } + + Real x = *(gm->store); gm->tDelete(); return x; +} + +#ifdef TEMPS_DESTROYED_QUICKLY + +AddedMatrix& BaseMatrix::operator+(const BaseMatrix& bm) const +{ + REPORT + AddedMatrix* x = new AddedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +SPMatrix& SP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ + REPORT + SPMatrix* x = new SPMatrix(&bm1, &bm2); + MatrixErrorNoSpace(x); + return *x; +} + +KPMatrix& KP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ + REPORT + KPMatrix* x = new KPMatrix(&bm1, &bm2); + MatrixErrorNoSpace(x); + return *x; +} + +MultipliedMatrix& BaseMatrix::operator*(const BaseMatrix& bm) const +{ + REPORT + MultipliedMatrix* x = new MultipliedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +ConcatenatedMatrix& BaseMatrix::operator|(const BaseMatrix& bm) const +{ + REPORT + ConcatenatedMatrix* x = new ConcatenatedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +StackedMatrix& BaseMatrix::operator&(const BaseMatrix& bm) const +{ + REPORT + StackedMatrix* x = new StackedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +//SolvedMatrix& InvertedMatrix::operator*(const BaseMatrix& bmx) const +SolvedMatrix& InvertedMatrix::operator*(const BaseMatrix& bmx) +{ + REPORT + SolvedMatrix* x; + Try { x = new SolvedMatrix(bm, &bmx); MatrixErrorNoSpace(x); } + CatchAll { delete this; ReThrow; } + delete this; // since we are using bm rather than this + return *x; +} + +SubtractedMatrix& BaseMatrix::operator-(const BaseMatrix& bm) const +{ + REPORT + SubtractedMatrix* x = new SubtractedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +ShiftedMatrix& BaseMatrix::operator+(Real f) const +{ + REPORT + ShiftedMatrix* x = new ShiftedMatrix(this, f); + MatrixErrorNoSpace(x); + return *x; +} + +NegShiftedMatrix& operator-(Real f,const BaseMatrix& bm1) +{ + REPORT + NegShiftedMatrix* x = new NegShiftedMatrix(f, &bm1); + MatrixErrorNoSpace(x); + return *x; +} + +ScaledMatrix& BaseMatrix::operator*(Real f) const +{ + REPORT + ScaledMatrix* x = new ScaledMatrix(this, f); + MatrixErrorNoSpace(x); + return *x; +} + +ScaledMatrix& BaseMatrix::operator/(Real f) const +{ + REPORT + ScaledMatrix* x = new ScaledMatrix(this, 1.0/f); + MatrixErrorNoSpace(x); + return *x; +} + +ShiftedMatrix& BaseMatrix::operator-(Real f) const +{ + REPORT + ShiftedMatrix* x = new ShiftedMatrix(this, -f); + MatrixErrorNoSpace(x); + return *x; +} + +TransposedMatrix& BaseMatrix::t() const +{ + REPORT + TransposedMatrix* x = new TransposedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +NegatedMatrix& BaseMatrix::operator-() const +{ + REPORT + NegatedMatrix* x = new NegatedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +ReversedMatrix& BaseMatrix::Reverse() const +{ + REPORT + ReversedMatrix* x = new ReversedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +InvertedMatrix& BaseMatrix::i() const +{ + REPORT + InvertedMatrix* x = new InvertedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +RowedMatrix& BaseMatrix::AsRow() const +{ + REPORT + RowedMatrix* x = new RowedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +ColedMatrix& BaseMatrix::AsColumn() const +{ + REPORT + ColedMatrix* x = new ColedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +DiagedMatrix& BaseMatrix::AsDiagonal() const +{ + REPORT + DiagedMatrix* x = new DiagedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +MatedMatrix& BaseMatrix::AsMatrix(int nrx, int ncx) const +{ + REPORT + MatedMatrix* x = new MatedMatrix(this,nrx,ncx); + MatrixErrorNoSpace(x); + return *x; +} + +#else + +AddedMatrix BaseMatrix::operator+(const BaseMatrix& bm) const +{ REPORT return AddedMatrix(this, &bm); } + +SPMatrix SP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ REPORT return SPMatrix(&bm1, &bm2); } + +KPMatrix KP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ REPORT return KPMatrix(&bm1, &bm2); } + +MultipliedMatrix BaseMatrix::operator*(const BaseMatrix& bm) const +{ REPORT return MultipliedMatrix(this, &bm); } + +ConcatenatedMatrix BaseMatrix::operator|(const BaseMatrix& bm) const +{ REPORT return ConcatenatedMatrix(this, &bm); } + +StackedMatrix BaseMatrix::operator&(const BaseMatrix& bm) const +{ REPORT return StackedMatrix(this, &bm); } + +SolvedMatrix InvertedMatrix::operator*(const BaseMatrix& bmx) const +{ REPORT return SolvedMatrix(bm, &bmx); } + +SubtractedMatrix BaseMatrix::operator-(const BaseMatrix& bm) const +{ REPORT return SubtractedMatrix(this, &bm); } + +ShiftedMatrix BaseMatrix::operator+(Real f) const +{ REPORT return ShiftedMatrix(this, f); } + +NegShiftedMatrix operator-(Real f, const BaseMatrix& bm) +{ REPORT return NegShiftedMatrix(f, &bm); } + +ScaledMatrix BaseMatrix::operator*(Real f) const +{ REPORT return ScaledMatrix(this, f); } + +ScaledMatrix BaseMatrix::operator/(Real f) const +{ REPORT return ScaledMatrix(this, 1.0/f); } + +ShiftedMatrix BaseMatrix::operator-(Real f) const +{ REPORT return ShiftedMatrix(this, -f); } + +TransposedMatrix BaseMatrix::t() const +{ REPORT return TransposedMatrix(this); } + +NegatedMatrix BaseMatrix::operator-() const +{ REPORT return NegatedMatrix(this); } + +ReversedMatrix BaseMatrix::Reverse() const +{ REPORT return ReversedMatrix(this); } + +InvertedMatrix BaseMatrix::i() const +{ REPORT return InvertedMatrix(this); } + + +RowedMatrix BaseMatrix::AsRow() const +{ REPORT return RowedMatrix(this); } + +ColedMatrix BaseMatrix::AsColumn() const +{ REPORT return ColedMatrix(this); } + +DiagedMatrix BaseMatrix::AsDiagonal() const +{ REPORT return DiagedMatrix(this); } + +MatedMatrix BaseMatrix::AsMatrix(int nrx, int ncx) const +{ REPORT return MatedMatrix(this,nrx,ncx); } + +#endif + +void GeneralMatrix::operator=(Real f) +{ REPORT int i=storage; Real* s=store; while (i--) { *s++ = f; } } + +void Matrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Rt); +} + +void RowVector::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::RV); + if (nrows!=1) + { Tracer tr("RowVector(=)"); Throw(VectorException(*this)); } +} + +void ColumnVector::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::CV); + if (ncols!=1) + { Tracer tr("ColumnVector(=)"); Throw(VectorException(*this)); } +} + +void SymmetricMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Sm); +} + +void UpperTriangularMatrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::UT); +} + +void LowerTriangularMatrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::LT); +} + +void DiagonalMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Dg); +} + +void IdentityMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Id); +} + +void GeneralMatrix::operator<<(const Real* r) +{ + REPORT + int i = storage; Real* s=store; + while(i--) *s++ = *r++; +} + + +void GenericMatrix::operator=(const GenericMatrix& bmx) +{ + if (&bmx != this) { REPORT if (gm) delete gm; gm = bmx.gm->Image();} + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator=(const BaseMatrix& bmx) +{ + if (gm) + { + int counter=bmx.search(gm); + if (counter==0) { REPORT delete gm; gm=0; } + else { REPORT gm->Release(counter); } + } + else { REPORT } + GeneralMatrix* gmx = ((BaseMatrix&)bmx).Evaluate(); + if (gmx != gm) { REPORT if (gm) delete gm; gm = gmx->Image(); } + else { REPORT } + gm->Protect(); +} + + +/*************************** += etc ***************************************/ + +// will also need versions for SubMatrix + + + +// GeneralMatrix operators + +void GeneralMatrix::operator+=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator+="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + AddedMatrix* am = new AddedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + AddedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator-=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator-="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + SubtractedMatrix* am = new SubtractedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + SubtractedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator*=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator*="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + MultipliedMatrix* am = new MultipliedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + MultipliedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator|=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator|="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + ConcatenatedMatrix* am = new ConcatenatedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + ConcatenatedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator&=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator&="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + StackedMatrix* am = new StackedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + StackedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("GeneralMatrix::operator+=(Real)"); + // MatrixConversionCheck mcc; +#ifdef TEMPS_DESTROYED_QUICKLY + ShiftedMatrix* am = new ShiftedMatrix(this,r); + MatrixErrorNoSpace(am); + Release(); Eq2(*am,Type()); +#else + ShiftedMatrix am(this,r); + Release(); Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("GeneralMatrix::operator*=(Real)"); + // MatrixConversionCheck mcc; +#ifdef TEMPS_DESTROYED_QUICKLY + ScaledMatrix* am = new ScaledMatrix(this,r); + MatrixErrorNoSpace(am); + Release(); Eq2(*am,Type()); +#else + ScaledMatrix am(this,r); + Release(); Eq2(am,Type()); +#endif +} + + +// Generic matrix operators + +void GenericMatrix::operator+=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator+="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + AddedMatrix* am = new AddedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + AddedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator-=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator-="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + SubtractedMatrix* am = new SubtractedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + SubtractedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator*=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator*="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + MultipliedMatrix* am = new MultipliedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + MultipliedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator|=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator|="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + ConcatenatedMatrix* am = new ConcatenatedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ConcatenatedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator&=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator&="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + StackedMatrix* am = new StackedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + StackedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("GenericMatrix::operator+= (Real)"); + if (!gm) Throw(ProgramException("GenericMatrix is null")); +#ifdef TEMPS_DESTROYED_QUICKLY + ShiftedMatrix* am = new ShiftedMatrix(gm,r); + MatrixErrorNoSpace(am); + gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ShiftedMatrix am(gm,r); + gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("GenericMatrix::operator*= (Real)"); + if (!gm) Throw(ProgramException("GenericMatrix is null")); +#ifdef TEMPS_DESTROYED_QUICKLY + ScaledMatrix* am = new ScaledMatrix(gm,r); + MatrixErrorNoSpace(am); + gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ScaledMatrix am(gm,r); + gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + + +/************************* element access *********************************/ + +Real& Matrix::element(int m, int n) +{ + REPORT + if (m<0 || m>= nrows || n<0 || n>= ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n]; +} + +Real Matrix::element(int m, int n) const +{ + REPORT + if (m<0 || m>= nrows || n<0 || n>= ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n]; +} + +Real& SymmetricMatrix::element(int m, int n) +{ + REPORT + if (m<0 || n<0 || m >= nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + if (m>=n) return store[tristore(m)+n]; + else return store[tristore(n)+m]; +} + +Real SymmetricMatrix::element(int m, int n) const +{ + REPORT + if (m<0 || n<0 || m >= nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + if (m>=n) return store[tristore(m)+n]; + else return store[tristore(n)+m]; +} + +Real& UpperTriangularMatrix::element(int m, int n) +{ + REPORT + if (m<0 || n=ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n-tristore(m)]; +} + +Real UpperTriangularMatrix::element(int m, int n) const +{ + REPORT + if (m<0 || n=ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n-tristore(m)]; +} + +Real& LowerTriangularMatrix::element(int m, int n) +{ + REPORT + if (n<0 || m=nrows) + Throw(IndexException(m,n,*this,true)); + return store[tristore(m)+n]; +} + +Real LowerTriangularMatrix::element(int m, int n) const +{ + REPORT + if (n<0 || m=nrows) + Throw(IndexException(m,n,*this,true)); + return store[tristore(m)+n]; +} + +Real& DiagonalMatrix::element(int m, int n) +{ + REPORT + if (n<0 || m!=n || m>=nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + return store[n]; +} + +Real DiagonalMatrix::element(int m, int n) const +{ + REPORT + if (n<0 || m!=n || m>=nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + return store[n]; +} + +Real& DiagonalMatrix::element(int m) +{ + REPORT + if (m<0 || m>=nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real DiagonalMatrix::element(int m) const +{ + REPORT + if (m<0 || m>=nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real& ColumnVector::element(int m) +{ + REPORT + if (m<0 || m>= nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real ColumnVector::element(int m) const +{ + REPORT + if (m<0 || m>= nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real& RowVector::element(int n) +{ + REPORT + if (n<0 || n>= ncols) Throw(IndexException(n,*this,true)); + return store[n]; +} + +Real RowVector::element(int n) const +{ + REPORT + if (n<0 || n>= ncols) Throw(IndexException(n,*this,true)); + return store[n]; +} + +Real& BandMatrix::element(int m, int n) +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real BandMatrix::element(int m, int n) const +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& UpperBandMatrix::element(int m, int n) +{ + REPORT + int w = upper+1; int i = n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real UpperBandMatrix::element(int m, int n) const +{ + REPORT + int w = upper+1; int i = n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& LowerBandMatrix::element(int m, int n) +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real LowerBandMatrix::element(int m, int n) const +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& SymmetricBandMatrix::element(int m, int n) +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>=nrows || n<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>=nrows || m<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*n+i]; + } +} + +Real SymmetricBandMatrix::element(int m, int n) const +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>=nrows || n<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>=nrows || m<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*n+i]; + } +} + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/14/1464c12e28e0ed2c214557c8a3a22d4374eddb1d.svn-base b/.svn/pristine/14/1464c12e28e0ed2c214557c8a3a22d4374eddb1d.svn-base new file mode 100644 index 0000000..e4aafc9 --- /dev/null +++ b/.svn/pristine/14/1464c12e28e0ed2c214557c8a3a22d4374eddb1d.svn-base @@ -0,0 +1,96 @@ +#include +#include +#include "show/viewcull.h" +#include "show/scancolormanager.h" +//#include "show/colormanager.h" +/* +#include "limits.h" +#include +using std::vector; +#include +#include +using std::string; + +#include +#include +#include +#include +#include +*/ +#ifndef __DISPLAY_H__ +#define __DISPLAY_H__ + +using namespace std; + +class SDisplay { + public: + //inline void setColorManager(ColorManager *_cm) { cm = _cm; } + + + //virtual SDisplay* readFromFile(string &filename) = 0; + virtual const char *getName() { return "Unnamed display"; } + virtual void display(double detail) { displayAll(); } + virtual void displayAll(); + + virtual void displayObject() = 0; + + static void readDisplays(string &filename, vector &displays); + + + protected: + static double mirror[16]; + //ColorManager *cm; +}; + +class PointDisplay : public SDisplay { + + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + PointDisplay(vector &p, vector &l); + + vector points; + vector labels; +}; + +class LineDisplay : public SDisplay { + + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + LineDisplay(vector &l); + + vector lines; +}; + +class PlaneDisplay : public SDisplay { + public: + static SDisplay* readFromFile(string &filename, float* color); + virtual void displayObject(); + + private: + + PlaneDisplay(vector &p, float* c); + vector points; + float * color; + +}; + +class GroupPlaneDisplay : public SDisplay { + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + GroupPlaneDisplay(vector &p); + vector planes; +}; + +#endif diff --git a/.svn/pristine/15/15048158ae6ee7ed497d2b3aa3d02b031e19af52.svn-base b/.svn/pristine/15/15048158ae6ee7ed497d2b3aa3d02b031e19af52.svn-base new file mode 100644 index 0000000..2cf2d26 --- /dev/null +++ b/.svn/pristine/15/15048158ae6ee7ed497d2b3aa3d02b031e19af52.svn-base @@ -0,0 +1,76 @@ +//$$ newmat9.cpp Input and output + +// Copyright (C) 1991,2,3,4: R B Davies + + +#define WANT_FSTREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatio.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,9); ++ExeCount; } +#else +#define REPORT {} +#endif + +// for G++ 3.01 +#ifndef ios_format_flags +#define ios_format_flags long +#endif + +ostream& operator<<(ostream& s, const BaseMatrix& X) +{ + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); operator<<(s, *gm); + gm->tDelete(); return s; +} + + +ostream& operator<<(ostream& s, const GeneralMatrix& X) +{ + MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry); + int w = s.width(); int nr = X.Nrows(); ios_format_flags f = s.flags(); + s.setf(ios::fixed, ios::floatfield); + for (int i=1; i<=nr; i++) + { + int skip = mr.skip; int storage = mr.storage; + Real* store = mr.data; skip *= w+1; + while (skip--) s << " "; + while (storage--) { s.width(w); s << *store++ << " "; } +// while (storage--) s << setw(w) << *store++ << " "; + mr.Next(); s << "\n"; + } + s << flush; s.flags(f); return s; +} + +// include this stuff if you are using an old version of G++ +// with an incomplete io library + +/* + +ostream& operator<<(ostream& os, Omanip_precision i) + { os.precision(i.x); return os; } + +Omanip_precision setprecision(int i) { return Omanip_precision(i); } + +ostream& operator<<(ostream& os, Omanip_width i) + { os.width(i.x); return os; } + +Omanip_width setw(int i) { return Omanip_width(i); } + +*/ + +#ifdef use_namespace +} +#endif + + diff --git a/.svn/pristine/16/16945a3e61b6eeea3b93edaf0624c43913d37ef8.svn-base b/.svn/pristine/16/16945a3e61b6eeea3b93edaf0624c43913d37ef8.svn-base new file mode 100644 index 0000000..3de444e --- /dev/null +++ b/.svn/pristine/16/16945a3e61b6eeea3b93edaf0624c43913d37ef8.svn-base @@ -0,0 +1,98 @@ +/** + * @file + * @brief Implementation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +/** + * Will return the maximal number of randomization + * + * @return the maximal number of iterations + */ +inline int icp6D::get_rnd() +{ + return rnd; +} + +/** + * Will return weather to use the meta scan + * + * @return the maximal number of iterations + */ +inline bool icp6D::get_meta() +{ + return meta; +} + +/** + * Will return the anim flag + * + * @return the anim flag + */ +inline int icp6D::get_anim() { + return anim; +} + +/** + * Will return the used nearest neigbor search method + * + * @return the nns_method number + */ +inline int icp6D::get_nns_method() +{ + return nns_method; +} + +/** + * Set the anim flag + * + * @param anim Animate which frames? + */ +inline void icp6D::set_anim(int anim) { + this->anim = anim; +} + +/** + * Get the maximal distance for matching + * + * @return the maximal distance for matching + */ +inline double icp6D::get_max_dist_match2() { + return max_dist_match2; +} + +/** + * Set the maximal distance for matching + * + * @param max_dist_match2 the maximal distance (^2 !!!) for matching + */ +inline void icp6D::set_max_dist_match2(double max_dist_match2) { + this->max_dist_match2 = max_dist_match2; +} + +/** + * Set the Maximum number of iterations + * + * @param max_num_iterations Maximum number of iterations + */ +inline void icp6D::set_max_num_iterations(int max_num_iterations) { + this->max_num_iterations = max_num_iterations; +} + +/** + * @brief Enable / Disable CAD matching (i.e. matching only against first scan) + * + * @param cad_matching The new value to determine if CAD matching should + * be done + */ +inline void icp6D::set_cad_matching (bool cad_matching) +{ + this->cad_matching = cad_matching; +} + +inline bool icp6D::get_cad_matching (void) +{ + return this->cad_matching; +} diff --git a/.svn/pristine/16/16b8829a34da4541fb6cec505851c9ff40bbea05.svn-base b/.svn/pristine/16/16b8829a34da4541fb6cec505851c9ff40bbea05.svn-base new file mode 100644 index 0000000..99bfc1b --- /dev/null +++ b/.svn/pristine/16/16b8829a34da4541fb6cec505851c9ff40bbea05.svn-base @@ -0,0 +1,4 @@ +modified by Deyuan Qiu: +.../include/ANN.h line779 +.../src/kd_tree.h line87 line155 +.../MAKEFILE line94 diff --git a/.svn/pristine/16/16d2cfeb0f906558a35c0d66448aac65c71442c7.svn-base b/.svn/pristine/16/16d2cfeb0f906558a35c0d66448aac65c71442c7.svn-base new file mode 100644 index 0000000..b87cb41 --- /dev/null +++ b/.svn/pristine/16/16d2cfeb0f906558a35c0d66448aac65c71442c7.svn-base @@ -0,0 +1,131 @@ +//---------------------------------------------------------------------- +// File: rand.h +// Programmer: Sunil Arya and David Mount +// Description: Basic include file for random point generators +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added annClusOrthFlats distribution +// Changed procedure names to avoid namespace conflicts +// Added annClusFlats distribution +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#ifndef rand_H +#define rand_H + +//---------------------------------------------------------------------- +// Basic includes +//---------------------------------------------------------------------- +#include // standard includes (rand/random) +#include // math routines +#include // basic ANN includes + +//---------------------------------------------------------------------- +// Although random/srandom is a more reliable random number generator, +// many systems do not have it. If it is not available, set the +// preprocessor symbol ANN_NO_RANDOM, and this will substitute the use +// of rand/srand for them. +//---------------------------------------------------------------------- +#ifdef ANN_NO_RANDOM // for systems not having random() + #define ANN_RAND rand + #define ANN_SRAND srand + #define ANN_RAND_MAX RAND_MAX +#else // otherwise use rand() + #define ANN_RAND random + #define ANN_SRAND srandom + #define ANN_RAND_MAX 2147483647UL // 2**{31} - 1 + // #define ANN_RAND_MAX 1073741824UL // 2**{30} +#endif + +//---------------------------------------------------------------------- +// Globals +//---------------------------------------------------------------------- +extern int annIdum; // random number seed + +//---------------------------------------------------------------------- +// External entry points +//---------------------------------------------------------------------- + +void annUniformPts( // uniform distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim); // dimension + +void annGaussPts( // Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double std_dev); // standard deviation + +void annCoGaussPts( // correlated-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation); // correlation + +void annLaplacePts( // Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim); // dimension + +void annCoLaplacePts( // correlated-Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation); // correlation + +void annClusGaussPts( // clustered-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors (clusters) + ANNbool new_clust, // generate new cluster centers + double std_dev); // standard deviation within clusters + +void annClusOrthFlats( // clustered along orthogonal flats + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev, // standard deviation within clusters + int max_dim); // maximum dimension of the flats + +void annClusEllipsoids( // clustered around ellipsoids + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev_small, // small standard deviation + double std_dev_lo, // low standard deviation for ellipses + double std_dev_hi, // high standard deviation for ellipses + int max_dim); // maximum dimension of the flats + +void annPlanted( // planted nearest neighbors + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + ANNpointArray src, // source point array + int n_src, // source size + double std_dev); // standard deviation about source + +#endif diff --git a/.svn/pristine/16/16e179951a23ba96d75654f62e037afbbb63c308.svn-base b/.svn/pristine/16/16e179951a23ba96d75654f62e037afbbb63c308.svn-base new file mode 100644 index 0000000..b578f10 --- /dev/null +++ b/.svn/pristine/16/16e179951a23ba96d75654f62e037afbbb63c308.svn-base @@ -0,0 +1,21 @@ +-10 -2.15443 +-9 -2.08008 +-8 -2 +-7 -1.91293 +-6 -1.81712 +-5 -1.70998 +-4 -1.5874 +-3 -1.44225 +-2 -1.25992 +-1 -1.00001 +0 0 +1 1.00001 +2 1.25992 +3 1.44225 +4 1.58741 +5 1.70998 +6 1.81712 +7 1.91293 +8 2 +9 2.08008 +10 2.15443 diff --git a/.svn/pristine/16/16f9812d135639a48fb3530dfe6bba584b8c038a.svn-base b/.svn/pristine/16/16f9812d135639a48fb3530dfe6bba584b8c038a.svn-base new file mode 100644 index 0000000..2a389e3 --- /dev/null +++ b/.svn/pristine/16/16f9812d135639a48fb3530dfe6bba584b8c038a.svn-base @@ -0,0 +1,28 @@ +/** + @file + @brief Displaying of a matched 3D scene + @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +/** + sets the OpenGL point, + (z axis is inverted in OpenGL) +*/ +void setGLPoint(GLdouble pX, GLdouble pY, GLdouble pZ) +{ + // pZ *= -1.0; + glVertex3d(pX, pY, pZ); +} + + +/** + sets the OpenGL point, + (z axis is inverted in OpenGL) +*/ +void setGLPoint(GLdouble* p) +{ + GLdouble pZ = 1.0 * p[2]; + + glVertex3d(p[0], p[1], pZ); +} diff --git a/.svn/pristine/17/17178e91723a8dbcdb7b77fce6144deab8c69758.svn-base b/.svn/pristine/17/17178e91723a8dbcdb7b77fce6144deab8c69758.svn-base new file mode 100644 index 0000000..babc42f --- /dev/null +++ b/.svn/pristine/17/17178e91723a8dbcdb7b77fce6144deab8c69758.svn-base @@ -0,0 +1,358 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: filebrws.h +// Purpose: A file browser widget with tree and/or list control views +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_FILEBROWSER_H__ +#define __WX_FILEBROWSER_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "filebrws.h" +#endif + +#include "wx/listctrl.h" +#include "wx/dirctrl.h" +#include "wx/filedlg.h" +#include "wx/textdlg.h" +#include "wx/generic/filedlgg.h" +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxCheckBox; +class WXDLLEXPORT wxComboBox; +class WXDLLEXPORT wxTreeEvent; +class WXDLLEXPORT wxSplitterWindow; +class WXDLLEXPORT wxGenericDirCtrl; +class WXDLLEXPORT wxListCtrl; +class WXDLLEXPORT wxListEvent; +class WXDLLEXPORT wxToolBar; +class WXDLLEXPORT wxBitmapButton; +class WXDLLEXPORT wxConfigBase; +class WXDLLEXPORT wxFileCtrl; +class WXDLLEXPORT wxFileName; + +class WXDLLIMPEXP_THINGS wxFileBrowser; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxFileData, wxArrayFileData, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// MultilineTextDialog : wxTextEntryDialog for multiple lines +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS MultilineTextDialog : public wxTextEntryDialog +{ +public: + MultilineTextDialog(wxWindow *parent, + const wxString& message, + const wxString& caption = wxGetTextFromUserPromptStr, + const wxString& value = wxEmptyString, + long style = 0, + const wxPoint& pos = wxDefaultPosition); +}; + +//---------------------------------------------------------------------------- +// wxFileBrowserEvent : events for the wxFileBrowser +//---------------------------------------------------------------------------- +// wxEVT_FILEBROWSER_FILE_SELECTED - a file has been selected (single click) +// wxEVT_FILEBROWSER_FILE_ACTIVATED - a file has been double clicked or enter pressed +// wxEVT_FILEBROWSER_DIR_SELECTED - a dir has been selected (single click) +// wxEVT_FILEBROWSER_DIR_ACTIVATED - a dir has been double clicked or enter pressed + +BEGIN_DECLARE_EVENT_TYPES() + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_SELECTED, wxEVT_USER_FIRST + 1000) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_ACTIVATED, wxEVT_USER_FIRST + 1001) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_SELECTED, wxEVT_USER_FIRST + 1002) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_ACTIVATED, wxEVT_USER_FIRST + 1003) +END_DECLARE_EVENT_TYPES() + +class WXDLLIMPEXP_THINGS wxFileBrowserEvent : public wxCommandEvent +{ +public: + wxFileBrowserEvent( wxEventType commandType = wxEVT_NULL, + wxFileBrowser *fileBrowser = NULL, + wxWindowID id = wxID_ANY ); + + wxFileBrowserEvent( const wxFileBrowserEvent &event ) : wxCommandEvent(event) {} + + // Get the full path + filename + wxString GetFilePath() const { return GetString(); } + void SetFilePath(const wxString &filepath) { SetString(filepath); } + + virtual wxEvent *Clone() const { return new wxFileBrowserEvent(*this); } + +private: + DECLARE_ABSTRACT_CLASS(wxFileBrowserEvent) +}; + +typedef void (wxEvtHandler::*wxFileBrowserEventFunction)(wxFileBrowserEvent&); + +#define wxFileBrowserEventHandler(func) \ + (wxObjectEventFunction)(wxEventFunction)wxStaticCastEvent(wxFileBrowserEventFunction, &func) + +#define wx__DECLARE_FILEBROWSEREVT(evt, id, fn) wx__DECLARE_EVT1( evt, id, wxFileBrowserEventHandler(fn)) + +#define EVT_FILEBROWSER_FILE_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_SELECTED, id, fn ) +#define EVT_FILEBROWSER_FILE_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_ACTIVATED, id, fn ) +#define EVT_FILEBROWSER_DIR_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_SELECTED, id, fn ) +#define EVT_FILEBROWSER_DIR_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_ACTIVATED, id, fn ) + +//---------------------------------------------------------------------------- +// wxFileBrowser +//---------------------------------------------------------------------------- + +enum wxFileBrowserStyles_Type +{ + // note: these are wxListCtrl styles to allow normal wxWindow styles to work + + wxFILEBROWSER_TREE = wxLC_SORT_DESCENDING, // treectrl view + wxFILEBROWSER_LIST = wxLC_LIST, // listctrl view + wxFILEBROWSER_DETAILS = wxLC_REPORT, // listctrl details view + wxFILEBROWSER_SMALL_ICON = wxLC_SMALL_ICON, // listctrl icon view + wxFILEBROWSER_LARGE_ICON = wxLC_ICON, // NOT IMPL listctrl large icon + wxFILEBROWSER_PREVIEW = wxLC_SORT_ASCENDING, // NOT implemented + + wxFILEBROWSER_SPLIT_VERTICAL = wxLC_NO_HEADER, // tree and listctrl are + // split vertically else horizontal + + wxFILEBROWSER_SHOW_FOLDERS = wxLC_NO_SORT_HEADER, // when showing listview also show + // the folders in the treectrl + + wxFILEBROWSER_VIEW_MASK = wxFILEBROWSER_TREE|wxFILEBROWSER_LIST|wxFILEBROWSER_DETAILS|wxFILEBROWSER_SMALL_ICON|wxFILEBROWSER_LARGE_ICON|wxFILEBROWSER_PREVIEW, + wxFILEBROWSER_STYLE_MASK = wxFILEBROWSER_VIEW_MASK|wxFILEBROWSER_SPLIT_VERTICAL|wxFILEBROWSER_SHOW_FOLDERS +}; + +class WXDLLIMPEXP_THINGS wxFileBrowser : public wxControl +{ +public : + wxFileBrowser() : wxControl() { Init(); } + + wxFileBrowser( wxWindow* parent, const wxWindowID id, + const wxString& dir = wxDirDialogDefaultFolderStr, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxFILEBROWSER_DETAILS, + const wxString& filter = wxFileSelectorDefaultWildcardStr, + int defaultFilter = 0, + const wxString& name = wxT("wxFileBrowser")) : wxControl() + { + Init(); + Create(parent, id, dir, pos, size, style, filter, defaultFilter, name); + } + + virtual ~wxFileBrowser(); + + bool Create( wxWindow* parent, const wxWindowID id, + const wxString& dir = wxDirDialogDefaultFolderStr, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxFILEBROWSER_DETAILS, + const wxString& filter = wxFileSelectorDefaultWildcardStr, + int defaultFilter = 0, + const wxString& name = wxT("wxFileBrowser") ); + + // Get the current dir (not file), optionally add a trailing platform dependent '/' or '\' + wxString GetPath(bool add_wxFILE_SEP_PATH = false) const; + // Go to a directory, returns sucess + bool SetPath(const wxString &dirName); + + // go to a dir or send an EVT_FILEBROWSER_FILE_ACTIVATED if a filename + bool OpenFilePath(const wxString &filePath); + + // Go to a higher directory, returns sucess + bool CanGoUpDir() const; + bool GoUpDir(); + + // Go to your "Home" folder "~/" in unix, "My Documents" in MSW + bool GoToHomeDir(); + + // Go forwards and backwards through the recent dir history + bool CanGoPathHistoryForward(); + bool CanGoPathHistoryBackward(); + bool GoPathHistoryForward(); + bool GoPathHistoryBackward(); + // Add a new path to the history paths at the current index + void AddPathHistory(const wxString& path); + + // Set the file filter to one of the filter combobox items + bool SetFilter(int comboItem); + // Set all the file filters, deleting previous and select one + bool SetFilters(const wxString &filters, int select = 0); + // Add or set the file filter, "All Files (*)|*", it must have a "|" in it + bool AddFilter(const wxString &filter); + // Get the current file filter + wxString GetFilter() const { return m_filter; } + // Get the wild card used for the filter + wxString GetWild() const { return m_filter.AfterLast(wxT('|')); } + + // Set how the files are displayed - see enum wxFileBrowserStyles_Type + void SetBrowserStyle(long style); + long GetBrowserStyle() const { return m_browser_style; } + bool HasBrowserStyle(int style_mask) const { return (m_browser_style & style_mask) != 0; } + + // Show or hide hidden files + void ShowHidden(bool show_hidden); + bool GetShowHidden() const { return m_show_hidden; } + + // When showing the files in a listctrl also show the folders in the treectrl + // also don't let them unsplit it + void ShowFolders(bool show_folders); + bool GetShowFolders() const { return HasBrowserStyle(wxFILEBROWSER_SHOW_FOLDERS); } + + // When splitting, split vertically or horizontally + void SplitVertical(bool split_vertically); + bool GetSplitVertical() const { return HasBrowserStyle(wxFILEBROWSER_SPLIT_VERTICAL); } + + // ----------------------------------------------------------------------- + // implementation + + // utility function, returns the dir part of the filepath w/ trailing wxFILE_SEP_PATH + bool GetPathFromFilePath(const wxString &filepath, wxString &path) const; + + // Delete all selected items in the wxFileCtrl + bool DeleteSelectedListItems(bool ask_ok = true); + // Store a list of selected items that you'll copy/cut when you paste them + bool CopyCutSelectedListItems(bool copy_them); + // Paste the stored CopyCutSelectedListItems - based on CopyCutSelectedListItems list + bool PasteCopyCutSelectedListItems(); + + // Get a list of all the selected items in the list control + wxArrayInt GetSelectedListItems() const; + // Get the wxFileData items that are selected in the list control + wxArrayFileData GetSelectedListFileData() const; + // Get the currently focused list item or NULL if none selected + wxFileData *GetFocusedListItem() const; + + // Create a wxFileData from a wxFileName + wxFileData CreateFileData(const wxFileName& fileName) const; + + // Get the last or currently focused path + filename + wxString GetLastFocusedFilePath(); + + // Show a simple dialog that contains the properties of the file/dir + void ShowPropertiesDialog(const wxFileData &fileData) const; + + // returns a string with the name of a program to run the file + wxString GetOpenWithFileCmd(wxFileData* fd) const; + + // Get a pointer to the path history combo, can change its contents + wxComboBox *GetPathCombo() const { return m_pathCombo; } + // Get a pointer to the filter combo + // don't delete selections less than the # of filters passed in + // ie. check for items with GetClientData() !NULL + wxComboBox *GetFilterCombo() const { return m_filterCombo; } + + // Can this file be read/opened? + bool CanRead(const wxString& filePath) const; + // Can this file be written to, deleted, moved, cut... + bool CanWrite(const wxString& filePath) const; + + // Update the menu/toolbar items + void UpdateMenu(wxMenu *menu); + void UpdateToolBar(wxToolBar *toolBar); + // Update the state of the toolbar and menu items + void UpdateItems(); + +#if wxUSE_CONFIG + // Load the recent paths/filters, max = 20 + void LoadConfig(wxConfigBase& config, + bool paths=true, bool filters=true, + const wxString &configPath = wxT("/wxFileBrowser")); + // Save the recent paths, filters, if n_xxx < 0 then don't save it + void SaveConfig(wxConfigBase& config, + int n_paths=10, int n_filters=10, + const wxString &configPath = wxT("/wxFileBrowser")); +#endif // wxUSE_CONFIG + +protected : + void OnSize( wxSizeEvent& event ); + void DoSize(); + + virtual wxSize DoGetBestSize() const; + + // toolbar tools events + void OnViewButtons(wxCommandEvent &event); + void OnPathCombo(wxCommandEvent &event); + void OnPathComboEnter(wxCommandEvent &event); + void OnFilterCombo(wxCommandEvent &event); + void OnFilterComboEnter(wxCommandEvent &event); + + // wxDirCtrl events - a wxTreeCtrl + void OnTreeItemSelection(wxTreeEvent &event); + void OnTreeItemActivation(wxTreeEvent &event); + void OnTreeRightClick(wxTreeEvent& event); + + // wxFileCtrl events - a wxListCtrl + void OnListColClick(wxListEvent &event); + void OnListItemActivated(wxListEvent &event); + void OnListItemSelected(wxListEvent &event); + void OnListRightClick(wxListEvent &event); + + void OnTreeMenu(wxCommandEvent &event); + void OnListMenu(wxCommandEvent &event); + + void OnIdle( wxIdleEvent &event ); + + //for delayed set path from combo + void OnSetPath( wxCommandEvent &event ); + void OnSetFilter( wxCommandEvent &event ); + + // (re)inserts the item at pos, deleting it if it existed after pos + // keeps recent items at top + bool InsertComboItem(wxComboBox *combo, const wxString &item, int pos = 0) const; + + // Send an event, returns false if event.Veto() called + bool DoSendEvent(wxFileBrowserEvent &event) const; + + int FBStyleToLCStyle(int fb_style) const; // wxFileBrowserStyles_Type to wxLC_XXX + int FBStyleToMenuID(int fb_style) const; // wxFileBrowserStyles_Type menu id + int MenuIDToFBStyle(int menuID) const; // menu id to wxFileBrowserStyles_Type + + // Windows + wxToolBar *m_viewToolBar; + wxToolBar *m_pathToolBar; + + wxBitmapButton *m_viewButton; + wxComboBox *m_filterCombo; + + wxComboBox *m_pathCombo; + + wxSplitterWindow *m_splitterWin; + wxGenericDirCtrl *m_dirCtrl; + wxFileCtrl *m_fileCtrl; + + wxMenu *m_listMenu; // popup menu in listctrl + wxMenu *m_treeMenu; // popup menu in treectrl + wxMenu *m_viewMenu; // popup menu in for changing view + + // data + wxString m_filter; // current filter + wxString m_path; // current path + wxString m_lastFocusedFilePath; // path + filename of last focused item + + wxArrayString m_pathHistory; // recently used paths + int m_path_history_index; // current index in recently used paths + + wxArrayFileData m_copycutFiles; // list of names when copying or cutting + bool m_last_copy; // last CopyCutSelectedListItems was a copy, else cut + + int m_init_filters; // # of filters initially passed in + + bool m_ignore_tree_event; // temporarily ignore m_dirCtrl events + long m_browser_style; + + int m_filterComboSelection; // last selection of the filter/path combo + int m_pathComboSelection; + + bool m_show_hidden; // show hidden files + +private : + void Init(); + DECLARE_EVENT_TABLE() + DECLARE_DYNAMIC_CLASS(wxFileBrowser) +}; + +#endif // __WX_FILEBROWSER_H__ diff --git a/.svn/pristine/17/174f008d1cdc6531f854ba5fbab9341b892d72f2.svn-base b/.svn/pristine/17/174f008d1cdc6531f854ba5fbab9341b892d72f2.svn-base new file mode 100644 index 0000000..3fdeb0a --- /dev/null +++ b/.svn/pristine/17/174f008d1cdc6531f854ba5fbab9341b892d72f2.svn-base @@ -0,0 +1,341 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_radio.cpp - GLUI_RadioGroup and GLUI_RadioButton control classes + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_RadioGroup::draw() **********/ + +void GLUI_RadioGroup::draw( int x, int y ) +{ + if ( NOT can_draw() ) + return; + + draw_group(false); +} + + +/********************* GLUI_RadioGroup::draw_group(int translate) **********/ + +void GLUI_RadioGroup::draw_group( int translate ) +{ + GLUI_RadioButton *button; + int state = 0, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + if ( translate ) + state = glui->set_front_draw_buffer(); + + this->int_val = int_val; + + glMatrixMode(GL_MODELVIEW ); + + button = (GLUI_RadioButton*) first_child(); + while( button != NULL ) { + + if ( translate ) { + glPushMatrix(); + button->translate_to_origin(); + } + + if ( button->int_val ) + button->draw_checked(); + else + button->draw_unchecked(); + + if ( translate ) + glPopMatrix(); + + button = (GLUI_RadioButton*) button->next(); + } + + if ( translate ) + glui->restore_draw_buffer(state); + + restore_window(orig); +} + + +/****************************** GLUI_RadioGroup::set_name() **********/ + +void GLUI_RadioGroup::set_name( char *text ) +{ + strncpy(name,text,sizeof(GLUI_String)); + + if ( glui ) + glui->refresh(); +} + + +/********************************* GLUI_RadioGroup::set_selected() **********/ + +void GLUI_RadioGroup::set_selected( int int_val ) +{ + GLUI_RadioButton *button; + + this->int_val = int_val; + + button = (GLUI_RadioButton*) first_child(); + while( button != NULL ) { + if ( int_val == -1 ) { /*** All buttons in group are deselected ***/ + button->set_int_val(0); + } + else if ( int_val == button->user_id ) { /*** This is selected button ***/ + button->set_int_val(1); + } + else { /*** This is NOT selected button ***/ + button->set_int_val(0); + + } + + button = (GLUI_RadioButton*) button->next(); + } +} + + +/************************ GLUI_RadioButton::mouse_down_handler() **********/ + +int GLUI_RadioButton::mouse_down_handler( int local_x, int local_y ) +{ + if ( NOT group ) + return false; + + orig_value = group->int_val; + + currently_inside = true; + + group->set_selected( this->user_id ); + group->draw_group( true ); + + return false; +} + + +/*************************** GLUI_RadioButton::mouse_up_handler() **********/ + +int GLUI_RadioButton::mouse_up_handler( int local_x, int local_y, + int inside ) +{ + if ( NOT group ) + return false; + + if ( NOT inside ) { + group->set_selected( orig_value ); + group->draw_group( true ); + } + else { + /** Now we update the radio button group. We tell the group + handler to set the currently-selected item to this button, which + is reference by its user_id/ordinal number within group **/ + + group->set_selected( this->user_id ); + group->draw_group( true ); + + /*** Now update the linked variable, and call the callback, + but ONLY if the value of the radio group actually changed ***/ + if ( group->int_val != orig_value ) { + group->output_live(true); /** Output live and update gfx ***/ + + group->execute_callback(); + } + } + + return false; +} + + +/********************** GLUI_RadioButton::mouse_held_down_handler() ******/ + +int GLUI_RadioButton::mouse_held_down_handler( int local_x, int local_y, + int inside) +{ + if ( NOT inside AND currently_inside == true ) { + group->set_selected( orig_value ); + group->draw_group( true ); + } + else if ( inside AND currently_inside == false ) { + group->set_selected( this->user_id ); + group->draw_group( true ); + } + + currently_inside = inside; + + return false; +} + + +/****************************** GLUI_RadioButton::draw() **********/ + +void GLUI_RadioButton::draw( int x, int y ) +{ + int orig; + + orig = set_to_glut_window(); + + if ( NOT group OR NOT can_draw() ) + return; + + /*** See if we're the currently-selected button. If so, draw ***/ + if ( group->int_val == this->user_id ) { + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, 0, 0 ); + } + else { + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, 0, 0 ); + } + + draw_active_area(); + + draw_name( text_x_offset, 10 ); + + restore_window(orig); +} + + +/************************************ GLUI_RadioButton::draw_checked() ******/ + +void GLUI_RadioButton::draw_checked( void ) +{ + int orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, 0, 0 ); + draw_active_area(); + restore_window(orig); +} + + +/*********************************** GLUI_RadioButton::draw_unchecked() ******/ + +void GLUI_RadioButton::draw_unchecked( void ) +{ + int orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, 0, 0 ); + draw_active_area(); + + restore_window(orig); +} + + +/**************************************** GLUI_RadioButton::draw_O() ********/ + +void GLUI_RadioButton::draw_O( void ) +{ + int i, j, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + glBegin( GL_POINTS ); + for(i=3; i<=GLUI_RADIOBUTTON_SIZE-3; i++ ) + for(j=3; j<=GLUI_RADIOBUTTON_SIZE-3; j++ ) + glVertex2i(i,j); + glEnd(); + + restore_window(orig); +} + + +/******************************** GLUI_RadioButton::update_size() **********/ + +void GLUI_RadioButton::update_size( void ) +{ + int text_size; + + if ( NOT glui ) + return; + + text_size = _glutBitmapWidthString( glui->font, name ); + + /* if ( w < text_x_offset + text_size + 6 ) */ + w = text_x_offset + text_size + 6 ; +} + + +/************************* GLUI_RadioButton::draw_active_area() **************/ + +void GLUI_RadioButton::draw_active_area( void ) +{ + int text_width, left, right, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + text_width = _glutBitmapWidthString( glui->font, name ); + left = text_x_offset-3; + right = left + 7 + text_width; + + if ( active ) { + glEnable( GL_LINE_STIPPLE ); + glLineStipple( 1, 0x5555 ); + glColor3f( 0., 0., 0. ); + } else { + glColor3ub( glui->bkgd_color.r, glui->bkgd_color.g, glui->bkgd_color.b ); + } + + glBegin( GL_LINE_LOOP ); + glVertex2i(left,0); glVertex2i( right,0); + glVertex2i(right,h+1); glVertex2i( left,h+1); + glEnd(); + + glDisable( GL_LINE_STIPPLE ); + + restore_window(orig); +} + + +/********************************* GLUI_RadioGroup::set_int_val() **********/ + +void GLUI_RadioGroup::set_int_val( int new_val ) +{ + if ( new_val == int_val ) + return; + + set_selected( new_val ); + draw_group( true ); + + output_live(true); + +} diff --git a/.svn/pristine/17/178b9cada93400f4c5751d4df051b85945bb279a.svn-base b/.svn/pristine/17/178b9cada93400f4c5751d4df051b85945bb279a.svn-base new file mode 100644 index 0000000..93f167d --- /dev/null +++ b/.svn/pristine/17/178b9cada93400f4c5751d4df051b85945bb279a.svn-base @@ -0,0 +1,130 @@ +#ifndef _XGETOPT_H +#define _XGETOPT_H + +/* + getopt.h - comand line option parsing + Copyright Keristor Systems and Chris Croughton 1997 - 2005 + Internet: swdev@keristor.org + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR + IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, + INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +/**@file xgetopt.h + * + * This module is designed as a "drop-in" replacement for the GNU + * \c getopt.h module, providing the \c getopt(), \c getopt_long() and + * \c getopt_long_only() functions and the \c option structure. However, + * it is a compile-time replacement not an object one, the actual + * names of the external variables and functions are hidden so that + * namespace clashes don't occur (some linkers object if they find + * the same symbol in more than one library). + * + * It was written originally because of systems which don't have the GNU + * C library installed. + * + * It also provides a few functions to help create a string of short + * (single-character) options given an array of long option structures. + * + * This is a "clean-room" implementation, no GPL or proprietary code + * was looked at when creating it. The only things used were the + * descriptions of the interfaces in the \c man pages (and the POSIX + * specification), and some "black box" testing to determine error + * conditions and messages not specified in the interface description. + */ + +#if defined(_cplusplus) || defined(__cplusplus) +extern "C" { +#endif + +/* + * This bit of faffing about is because some systems don't like the same + * functions defined in more than one library, they get confused. So what + * we do is to redefine the variables to the names in the interface but + * fool the linker. This only makes a difference if you try to debug the + * getopt code. Note that we don't have to do it with the structure name + * or enums, since it's only linkage that's affected. + */ + +#define optarg _XLIB_optarg +#define optind _XLIB_optind +#define opterr _XLIB_opterr +#define optopt _XLIB_optopt + +#define getopt _XLIB_getopt +#define getopt_long _XLIB_getopt_long +#define getopt_long_only _XLIB_getopt_long_only + +/** holds a pointer to an option argument */ +extern char *optarg; +/** index to te first non-option argument */ +extern int optind; +/** allow error messages if non-zero (default) */ +extern int opterr; +/** holds the option character in error, if any */ +extern int optopt; + +enum +{ + /** this option has no argument */ + no_argument, + /** an argument is required with this option */ + required_argument, + /** an argument to this option is optional */ + optional_argument +}; + +/** + * Structure to describe a long option. + * The last item in the array of these descriptors must have all elements + * set to zero + */ +struct option +{ + /** long option name */ + const char *name; + /** argument type, if any */ + int has_arg; + /** pointer to a flag to be set if the option is present */ + int *flag; + /** value to be returned if the option is present */ + int val; +}; + +/** Scan the command-line parameters for options in the form {\em -x}. */ +int getopt(int argc, char * const argv[], const char *optstring); +/** Scan the command-line parameters for options, allowing both the short + * (single character) options and long (string) options. + */ +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); +/** Scan the command-line parameters for long options only */ +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); + +#if defined(_cplusplus) || defined(__cplusplus) +} +#endif + +#endif diff --git a/.svn/pristine/17/17adfa05ed73e1a39f5c383c3ef091e46667e116.svn-base b/.svn/pristine/17/17adfa05ed73e1a39f5c383c3ef091e46667e116.svn-base new file mode 100644 index 0000000..80870e9 --- /dev/null +++ b/.svn/pristine/17/17adfa05ed73e1a39f5c383c3ef091e46667e116.svn-base @@ -0,0 +1,95 @@ +/* + * grabFramesCam implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include +//TODO: flip image flag + +void usage(char *progName) { + printf("%s \n", progName); + printf("i.e.: %s 6 4 0\n", progName); + printf("press space to detect chessboard and (again) to proceed.\n"); +} + +int main(int argc, char **argv) +{ + /* TODO: + * flags: + * subpixel + * camera id + * flip x and y + * pmd mode? + */ + + if(argc < 4) { + usage(argv[0]); + exit(1); + } + CvCapture *capture = cvCaptureFromCAM(atoi(argv[3])); + + IplImage *imgColor = cvQueryFrame(capture); + IplImage *img = cvCreateImage(cvGetSize(imgColor), 8, 1); + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize patternSize = cvSize(patx, paty); + + int cornersTotal = patternSize.width * patternSize.height; + + CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + cvNamedWindow("Camera", 0); + + int imageCnt = 0; + bool grabFrame = false; + + while(1) { + imgColor = cvQueryFrame(capture); + + cvFlip(imgColor, 0, -1); // flips image around the x and y axes + + cvCvtColor(imgColor, img, CV_BGR2GRAY); + + if(grabFrame) { + /* ----- Chessboard detection ----- + -------------------------------- */ + int cornersCount; // should be the same for wcam and pmd and equal totalCorners + + int found = cvFindChessboardCorners(img, patternSize, corners, + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + cvFindCornerSubPix(img, corners, cornersCount, cvSize(11,11), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found); + cvShowImage("Camera", imgColor); + printf("grab?\n"); + int k = cvWaitKey(0); + if(k == (int)' ') { + imageCnt++; + char *filename = (char*) malloc(11 * sizeof(char)); + sprintf(filename, "image%02i.jpg", imageCnt); + printf("saved %s.\n", filename); + cvSaveImage(filename, img); + grabFrame = false; + continue; + } + } + } + + cvShowImage("Camera", imgColor); + if((int)' ' == cvWaitKey(5)) grabFrame = true; + } + + return 0; +} + diff --git a/.svn/pristine/18/182d9865197a2d9ffa628ae41f5de35c4a5aeb1f.svn-base b/.svn/pristine/18/182d9865197a2d9ffa628ae41f5de35c4a5aeb1f.svn-base new file mode 100644 index 0000000..62f1e19 --- /dev/null +++ b/.svn/pristine/18/182d9865197a2d9ffa628ae41f5de35c4a5aeb1f.svn-base @@ -0,0 +1,213 @@ +//#define WANT_STREAM + +#include "include.h" +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat9() +{ + Tracer et("Ninth test of Matrix package"); + Tracer::PrintTrace(); + + + int i; int j; + Matrix A(7,7); Matrix X(7,3); + for (i=1;i<=7;i++) for (j=1;j<=7;j++) A(i,j)=i*i+j+((i==j) ? 1 : 0); + for (i=1;i<=7;i++) for (j=1;j<=3;j++) X(i,j)=i-j; + Matrix B = A.i(); DiagonalMatrix D(7); D=1.0; + { + Tracer et1("Stage 1"); + Matrix Q = B*A-D; Clean(Q, 0.000000001); Print(Q); + Q=A; Q = Q.i() * X; Q = A*Q - X; Clean(Q, 0.000000001); Print(Q); + Q=X; Q = A.i() * Q; Q = A*Q - X; Clean(Q, 0.000000001); Print(Q); + } + for (i=1;i<=7;i++) D(i,i)=i*i+1; + DiagonalMatrix E(3); for (i=1;i<=3;i++) E(i,i)=i+23; + { + Tracer et1("Stage 2"); + Matrix DXE = D.i() * X * E; + DXE = E.i() * DXE.t() * D - X.t(); Clean(DXE, 0.00000001); Print(DXE); + E=D; for (i=1;i<=7;i++) E(i,i)=i*3+1; + } + DiagonalMatrix F=D; + { + Tracer et1("Stage 3"); + F=E.i()*F; F=F*E-D; Clean(F,0.00000001); Print(F); + F=E.i()*D; F=F*E-D; Clean(F,0.00000001); Print(F); + } + { + Tracer et1("Stage 4"); + F=E; F=F.i()*D; F=F*E-D; Clean(F,0.00000001); Print(F); + } + { + Tracer et1("Stage 5"); + // testing equal + ColumnVector A(18), B(18); + Matrix X(3,3); + X << 3 << 5 << 7 << 5 << 8 << 2 << 7 << 2 << 9; + SymmetricMatrix S; S << X; + B(1) = S == X; A(1) = true; + B(2) = S == (X+1); A(2) = false; + B(3) = (S+2) == (X+2); A(3) = true; + Matrix Y = X; + B(4) = X == Y; A(4) = true; + B(5) = (X*2) == (Y*2); A(5) = true; + Y(3,3) = 10; + B(6) = X == Y; A(6) = false; + B(7) = (X*2) == (Y*2); A(7) = false; + B(8) = S == Y; A(8) = false; + B(9) = S == S; A(9) = true; + Matrix Z = X.SubMatrix(1,2,2,3); + B(10) = X == Z; A(10) = false; + GenericMatrix GS = S; + GenericMatrix GX = X; + GenericMatrix GY = Y; + B(11) = GS == GX; A(11) = true; + B(12) = GS == GY; A(12) = false; + CroutMatrix CS = S; + CroutMatrix CX = X; + CroutMatrix CY = Y; + B(13) = CS == CX; A(13) = true; + B(14) = CS == CY; A(14) = false; + B(15) = X == CX; A(15) = false; + B(16) = X == A; A(16) = false; + B(17) = X == (X | X); A(17) = false; + B(18) = CX == X; A(18) = false; + A = A - B; Print(A); + } + { + Tracer et1("Stage 6"); + // testing equal + ColumnVector A(22), B(22); + BandMatrix X(6,2,1); + X(1,1)=23; X(1,2)=21; + X(2,1)=12; X(2,2)=17; X(2,3)=45; + X(3,1)=35; X(3,2)=19; X(3,3)=24; X(3,4)=29; + X(4,2)=17; X(4,3)=11; X(4,4)=19; X(4,5)=35; + X(5,3)=10; X(5,4)=44; X(5,5)=23; X(5,6)=31; + X(6,4)=49; X(6,5)=41; X(6,6)=17; + SymmetricBandMatrix S1(6,2); S1.Inject(X); + BandMatrix U(6,2,3); U = 0.0; U.Inject(X); + B(1) = U == X; A(1) = true; + B(2) = U == (X*3); A(2) = false; + B(3) = (U*5) == (X*5); A(3) = true; + Matrix Y = X; + B(4) = X == Y; A(4) = true; + B(5) = (X*2) == (Y*2); A(5) = true; + Y(6,6) = 10; + B(6) = X == Y; A(6) = false; + B(7) = (X*2) == (Y*2); A(7) = false; + B(8) = U == Y; A(8) = false; + B(9) = U == U; A(9) = true; + Matrix Z = X.SubMatrix(1,2,2,3); + B(10) = X == Z; A(10) = false; + GenericMatrix GU = U; + GenericMatrix GX = X; + GenericMatrix GY = Y; + B(11) = GU == GX; A(11) = true; + B(12) = GU == GY; A(12) = false; + X = X + X.t(); U = U + U.t(); + SymmetricBandMatrix S(6,2); S.Inject(X); + Matrix D = S-X; Print(D); + BandLUMatrix BS = S; + BandLUMatrix BX = X; + BandLUMatrix BU = U; + CroutMatrix CX = X; + B(13) = BS == BX; A(13) = true; + B(14) = BX == BU; A(14) = false; + B(15) = X == BX; A(15) = false; + B(16) = X != BX; A(16) = true; + B(17) = BX != BS; A(17) = false; + B(18) = (2*X) != (X*2);A(18) = false; + B(19) = (X*2) != (X+2);A(19) = true; + B(20) = BX == CX; A(20) = false; + B(21) = CX == BX; A(21) = false; + B(22) = BX == X; A(22) = false; + A = A - B; Print(A); + DiagonalMatrix I(6); I=1.0; + D = BS.i() * X - I; Clean(D,0.00000001); Print(D); + D = BX.i() * X - I; Clean(D,0.00000001); Print(D); + D = BU.i() * X - I; Clean(D,0.00000001); Print(D); + + // test row wise load + SymmetricBandMatrix X1(6,2); + X1.Row(1) << 23; + X1.Row(2) << 12 << 17; + X1.Row(3) << 35 << 19 << 24; + X1.Row(4) << 17 << 11 << 19; + X1.Row(5) << 10 << 44 << 23; + X1.Row(6) << 49 << 41 << 17; + Matrix M = X1 - S1; Print(M); + + // check out submatrix + SymmetricBandMatrix X2(20,3); X2 = 0.0; + X2.SubMatrix(2,7,2,7) = X1; X2.SymSubMatrix(11,16) = 2 * X1; + Matrix MX1 = X1; + Matrix MX2(20,20); MX2 = 0; + MX2.SymSubMatrix(2,7) = MX1; MX2.SubMatrix(11,16,11,16) = MX1 * 2; + MX2 -= X2; Print(MX2); + + BandMatrix X4(20,3,3); X4 = 0.0; + X4.SubMatrix(2,7,3,8) = X1; X4.SubMatrix(11,16,10,15) = 2 * X1; + MX1 = X1; + Matrix MX4(20,20); MX4 = 0; + MX4.SubMatrix(2,7,3,8) = MX1; MX4.SubMatrix(11,16,10,15) = MX1 * 2; + MX4 -= X4; Print(MX4); + + MX1 = X1.i() * X1 - IdentityMatrix(6); + Clean(MX1,0.00000001); Print(MX1); + + } + + { + Tracer et1("Stage 7"); + // testing equal + ColumnVector A(12), B(12); + BandMatrix X(6,2,1); + X(1,1)=23; X(1,2)=21; + X(2,1)=12; X(2,2)=17; X(2,3)=45; + X(3,1)=35; X(3,2)=19; X(3,3)=24; X(3,4)=29; + X(4,2)=17; X(4,3)=11; X(4,4)=19; X(4,5)=35; + X(5,3)=10; X(5,4)=44; X(5,5)=23; X(5,6)=31; + X(6,4)=49; X(6,5)=41; X(6,6)=17; + Matrix Y = X; + LinearEquationSolver LX = X; + LinearEquationSolver LY = Y; + CroutMatrix CX = X; + CroutMatrix CY = Y; + BandLUMatrix BX = X; + B(1) = LX == CX; A(1) = false; + B(2) = LY == CY; A(2) = true; + B(3) = X == Y; A(3) = true; + B(4) = BX == LX; A(4) = true; + B(5) = CX == CY; A(5) = true; + B(6) = LX == LY; A(6) = false; + B(7) = BX == BX; A(7) = true; + B(8) = CX == CX; A(8) = true; + B(9) = LX == LX; A(9) = true; + B(10) = LY == LY; A(10) = true; + CroutMatrix CX1 = X.SubMatrix(1,4,1,4); + B(11) = CX == CX1; A(11) = false; + BandLUMatrix BX1 = X.SymSubMatrix(1,4); // error with SubMatrix + B(12) = BX == BX1; A(12) = false; + A = A - B; Print(A); + DiagonalMatrix I(6); I=1.0; Matrix D; + D = LX.i() * X - I; Clean(D,0.00000001); Print(D); + D = LY.i() * X - I; Clean(D,0.00000001); Print(D); + I.ReSize(4); I = 1; + D = CX1.i() * X.SymSubMatrix(1,4) - I; Clean(D,0.00000001); Print(D); + D = BX1.i() * X.SubMatrix(1,4,1,4) - I; Clean(D,0.00000001); Print(D); + } + +// cout << "\nEnd of ninth test\n"; +} + diff --git a/.svn/pristine/18/18c518a20cd71ae05c79cfa288e64ee63026ede4.svn-base b/.svn/pristine/18/18c518a20cd71ae05c79cfa288e64ee63026ede4.svn-base new file mode 100644 index 0000000..aa4c9f7 --- /dev/null +++ b/.svn/pristine/18/18c518a20cd71ae05c79cfa288e64ee63026ede4.svn-base @@ -0,0 +1,155 @@ + +//#define WANT_STREAM +#define WANT_MATH + + +#include "include.h" + +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +// slow sort program + +static void SimpleSortDescending(Real* first, const int length) +{ + int i = length; + while (--i) + { + Real x = *first; Real* f = first; Real* g = f; + int j = i; + while (j--) if (x < *(++f)) { g = f; x = *g; } + *g = *first; *first++ = x; + } +} + +static void TestSort(int n) +{ + // make some data + RowVector X(n); + int i; + for (i = 1; i <= n; i++) + X(i) = sin((Real)i) + 0.3 * cos(i/5.0) - 0.6 * sin(i/7.0) + 0.2 * sin(2.0 * i); + RowVector X_Sorted = X; SimpleSortDescending(X_Sorted.Store(), n); + RowVector A = X + X.Reverse(); SimpleSortDescending(A.Store(), n); + + // test descending sort + + RowVector Y = X; SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X_Sorted; SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X_Sorted.Reverse(); SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X + X.Reverse(); SortDescending(Y); Y -= A; Print(Y); + + // test ascending sort + + Y = X; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X_Sorted; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X_Sorted.Reverse(); SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X + X.Reverse(); SortAscending(Y); Y -= A.Reverse(); Print(Y); +} + + +void trymat6() +{ + Tracer et("Sixth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + + DiagonalMatrix D(6); + UpperTriangularMatrix U(6); + for (i=1;i<=6;i++) { for (j=i;j<=6;j++) U(i,j)=i*i*i-50; D(i,i)=i*i+i-10; } + LowerTriangularMatrix L=(U*3.0).t(); + SymmetricMatrix S(6); + for (i=1;i<=6;i++) for (j=i;j<=6;j++) S(i,j)=i*i+2.0+j; + Matrix MD=D; Matrix ML=L; Matrix MU=U; Matrix MS=S; + Matrix M(6,6); + for (i=1;i<=6;i++) for (j=1;j<=6;j++) M(i,j)=i*j+i*i-10.0; + { + Tracer et1("Stage 1"); + Print(Matrix(MS+(-MS))); + Print(Matrix((S+M)-(MS+M))); + Print(Matrix((M+U)-(M+MU))); + Print(Matrix((M+L)-(M+ML))); + } + { + Tracer et1("Stage 2"); + Print(Matrix((M+D)-(M+MD))); + Print(Matrix((U+D)-(MU+MD))); + Print(Matrix((D+L)-(ML+MD))); + Print(Matrix((-U+D)+MU-MD)); + Print(Matrix((-L+D)+ML-MD)); + } + { + Tracer et1("Stage 3 - concatenate"); + RowVector A(5); + A << 1 << 2 << 3 << 4 << 5; + RowVector B(5); + B << 3 << 1 << 4 << 1 << 5; + Matrix C(3,5); + C << 2 << 3 << 5 << 7 << 11 + << 13 << 17 << 19 << 23 << 29 + << 31 << 37 << 41 << 43 << 47; + Matrix X1 = A & B & C; + Matrix X2 = (A.t() | B.t() | C.t()).t(); + Matrix X3(5,5); + X3.Row(1)=A; X3.Row(2)=B; X3.Rows(3,5)=C; + Print(Matrix(X1-X2)); + Print(Matrix(X1-X3)); + LowerTriangularMatrix LT1; LT1 << (A & B & C); + UpperTriangularMatrix UT1; UT1 << (A.t() | B.t() | C.t()); + Print(LowerTriangularMatrix(LT1-UT1.t())); + DiagonalMatrix D1; D1 << (A.t() | B.t() | C.t()); + ColumnVector At = A.t(); + ColumnVector Bt = B.t(); + Matrix Ct = C.t(); + LowerTriangularMatrix LT2; LT2 << (At | Bt | Ct); + UpperTriangularMatrix UT2; UT2 << (At.t() & Bt.t() & Ct.t()); + Matrix ABt = At | Bt; + DiagonalMatrix D2; D2 << (ABt | Ct); + Print(LowerTriangularMatrix(LT2-UT2.t())); + Print(DiagonalMatrix(D1-D2)); + Print(Matrix(LT1+UT2-D2-X1)); + Matrix M1 = LT1 | UT2; Matrix M2 = UT1 & LT2; + Print(Matrix(M1-M2.t())); + M1 = UT2 | LT1; M2 = LT2 & UT1; + Print(Matrix(M1-M2.t())); + M1 = (LT1 | UT2) & (UT2 | LT1); + M2 = (UT1 & LT2) | (LT2 & UT1); + Print(Matrix(M1-M2.t())); + SymmetricMatrix SM1; SM1 << (M1 + M1.t()); + SymmetricMatrix SM2; SM2 << ((SM1 | M1) & (M1.t() | SM1)); + Matrix M3(20,20); + M3.SubMatrix(1,10,1,10) = SM1; + M3.SubMatrix(1,10,11,20) = M1; + M3.SubMatrix(11,20,1,10) = M2; + M3.SubMatrix(11,20,11,20) = SM1; + Print(Matrix(M3-SM2)); + + SymmetricMatrix SM(15); SM = 0; SM.SymSubMatrix(1,10) = SM1; + M3.ReSize(15,15); M3 = 0; M3.SubMatrix(1,10,1,10) = SM1; + M3 -= SM; Print(M3); + SM = 0; SM.SymSubMatrix(6,15) = SM1; + M3.ReSize(15,15); M3 = 0; M3.SubMatrix(6,15,6,15) = SM1; + M3 = M3.t() - SM; Print(M3); + } + { + Tracer et1("Stage 4 - sort"); + TestSort(1); TestSort(2); TestSort(3); TestSort(4); + TestSort(15); TestSort(16); TestSort(17); TestSort(18); + TestSort(99); TestSort(100); TestSort(101); + } + + +// cout << "\nEnd of sixth test\n"; +} + diff --git a/.svn/pristine/19/190354f7a521759c16264773d5c896b468f0a276.svn-base b/.svn/pristine/19/190354f7a521759c16264773d5c896b468f0a276.svn-base new file mode 100644 index 0000000..12514f8 --- /dev/null +++ b/.svn/pristine/19/190354f7a521759c16264773d5c896b468f0a276.svn-base @@ -0,0 +1,137 @@ +/** @file + * @brief Representation of the optimized k-d tree. MetaScan variant. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_META_H__ +#define __KD_META_H__ + +#include "kdparams.h" +#include "searchTree.h" +#include "data_types.h" + +#include +#include + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + + + +class Scan; + + + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtreeMeta : public SearchTree { +protected: + class Index { + public: + unsigned int s, i; + inline void set(unsigned int _s, unsigned int _i) { s = _s; i = _i; } + }; +public: + KDtreeMeta(); + virtual ~KDtreeMeta(); + + void create(const DataXYZ* const* pts, Index* indices, unsigned int n); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; } + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtreeMeta *child1; ///< pointers to the childs + KDtreeMeta *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + //! Content is an array of indices to be put into the dynamically aquired data array + Index* p; + } leaf; + }; + + inline double* point(const DataXYZ* const* pts, const Index& i) const { + return (*pts[i.s])[i.i]; + } + + void _FindClosest(const DataXYZ* const* pts, int threadNum) const; +}; + +class KDtreeMetaManaged : public KDtreeMeta { +public: + KDtreeMetaManaged(const vector& scans); + virtual ~KDtreeMetaManaged(); + + virtual void lock(); + virtual void unlock(); + + //! Aquires cached data first to pass on to the usual KDtree to process + virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const; +private: + Scan** m_scans; + DataXYZ** m_data; + unsigned int m_size; + + //! Mutex for safely reducing points just once in a multithreaded environment + boost::mutex m_mutex_locking; + volatile unsigned int m_count_locking; + + // constructor initializer list hacks + Index* m_temp_indices; + Index* prepareTempIndices(const vector& scans); + unsigned int getPointsSize(const vector& scans); +}; + +#endif diff --git a/.svn/pristine/19/19693456beb2508a94721193f1d00e9acb220a3f.svn-base b/.svn/pristine/19/19693456beb2508a94721193f1d00e9acb220a3f.svn-base new file mode 100644 index 0000000..f509fbd --- /dev/null +++ b/.svn/pristine/19/19693456beb2508a94721193f1d00e9acb220a3f.svn-base @@ -0,0 +1,62 @@ +/** @file + * @brief The global correction based upon APX transform + * + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GAPX6D_H__ +#define __GAPX6D_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" +#include "icp6D.h" +#include "graph.h" + +#include "newmat/newmatio.h" + +//typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief + * + */ +class gapx6D : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + gapx6D() {}; + gapx6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~gapx6D(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static double LUM[4]; + +private: + double genBArotForLinkedPair(int firstScanNum, int secondScanNum, vPtPair *ptpairs, + double *centroids_m, double *centroids_d, NEWMAT::Matrix *B, NEWMAT::ColumnVector *A); + double genBAtransForLinkedPair(int firstScanNum, int secondScanNum, + double *centroids_m, double *centroids_d, + NEWMAT::SymmetricMatrix *B, NEWMAT::ColumnVector *A, NEWMAT::ColumnVector &X); + +}; + +#endif diff --git a/.svn/pristine/19/1993ef23fc7df612309583a5221f21c6f2e23665.svn-base b/.svn/pristine/19/1993ef23fc7df612309583a5221f21c6f2e23665.svn-base new file mode 100644 index 0000000..ce7527b --- /dev/null +++ b/.svn/pristine/19/1993ef23fc7df612309583a5221f21c6f2e23665.svn-base @@ -0,0 +1,175 @@ + +#define WANT_STREAM +#define WANT_MATH +#define WANT_FSTREAM + +#include "newmatap.h" +#include "newmatio.h" +#include "newmatnl.h" + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + +// This is a demonstration of a special case of the Garch model +// Observe two series X and Y of length n +// and suppose +// Y(i) = beta * X(i) + epsilon(i) +// where epsilon(i) is normally distributed with zero mean and variance = +// h(i) = alpha0 + alpha1 * square(epsilon(i-1)) + beta1 * h(i-1). +// Then this program is supposed to estimate beta, alpha0, alpha1, beta1 +// The Garch model is supposed to model something like an instability +// in the stock or options market following an unexpected result. +// alpha1 determines the size of the instability and beta1 determines how +// quickly is dies away. +// We should, at least, have an X of several columns and beta as a vector + +inline Real square(Real x) { return x*x; } + +// the class that defines the GARCH log-likelihood + +class GARCH11_LL : public LL_D_FI +{ + ColumnVector Y; // Y values + ColumnVector X; // X values + ColumnVector D; // derivatives of loglikelihood + SymmetricMatrix D2; // - approximate second derivatives + int n; // number of observations + Real beta, alpha0, alpha1, beta1; + // the parameters + +public: + + GARCH11_LL(const ColumnVector& y, const ColumnVector& x) + : Y(y), X(x), n(y.Nrows()) {} + // constructor - load Y and X values + + void Set(const ColumnVector& p) // set parameter values + { + para = p; + beta = para(1); alpha0 = para(2); + alpha1 = para(3); beta1 = para(4); + } + + bool IsValid(); // are parameters valid + Real LogLikelihood(); // return the loglikelihood + ReturnMatrix Derivatives(); // derivatives of log-likelihood + ReturnMatrix FI(); // Fisher Information matrix +}; + +bool GARCH11_LL::IsValid() +{ return alpha0>0 && alpha1>0 && beta1>0 && (alpha1+beta1)<1.0; } + +Real GARCH11_LL::LogLikelihood() +{ +// cout << endl << " "; +// cout << setw(10) << setprecision(5) << beta; +// cout << setw(10) << setprecision(5) << alpha0; +// cout << setw(10) << setprecision(5) << alpha1; +// cout << setw(10) << setprecision(5) << beta1; +// cout << endl; + ColumnVector H(n); // residual variances + ColumnVector U = Y - X * beta; // the residuals + ColumnVector LH(n); // derivative of log-likelihood wrt H + // each row corresponds to one observation + LH(1)=0; + Matrix Hderiv(n,4); // rectangular matrix of derivatives + // of H wrt parameters + // each row corresponds to one observation + // each column to one of the parameters + + // Regard Y(1) as fixed and don't include in likelihood + // then put in an expected value of H(1) in place of actual value + // which we don't know. Use + // E{H(i)} = alpha0 + alpha1 * E{square(epsilon(i-1))} + beta1 * E{H(i-1)} + // and E{square(epsilon(i-1))} = E{H(i-1)} = E{H(i)} + Real denom = (1-alpha1-beta1); + H(1) = alpha0/denom; // the expected value of H + Hderiv(1,1) = 0; + Hderiv(1,2) = 1.0 / denom; + Hderiv(1,3) = alpha0 / square(denom); + Hderiv(1,4) = Hderiv(1,3); + Real LL = 0.0; // the log likelihood + Real sum1 = 0; // for forming derivative wrt beta + Real sum2 = 0; // for forming second derivative wrt beta + for (int i=2; i<=n; i++) + { + Real u1 = U(i-1); Real h1 = H(i-1); + Real h = alpha0 + alpha1*square(u1) + beta1*h1; // variance of this obsv. + H(i) = h; Real u = U(i); + LL += log(h) + square(u) / h; // -2 * log likelihood + // Hderiv are derivatives of h with respect to the parameters + // need to allow for h1 depending on parameters + Hderiv(i,1) = -2*u1*alpha1*X(i-1) + beta1*Hderiv(i-1,1); // beta + Hderiv(i,2) = 1 + beta1*Hderiv(i-1,2); // alpha0 + Hderiv(i,3) = square(u1) + beta1*Hderiv(i-1,3); // alpha1 + Hderiv(i,4) = h1 + beta1*Hderiv(i-1,4); // beta1 + LH(i) = -0.5 * (1/h - square(u/h)); + sum1 += u * X(i)/ h; + sum2 += square(X(i)) / h; + } + D = Hderiv.t()*LH; // derivatives of likelihood wrt parameters + D(1) += sum1; // add on deriv wrt beta from square(u) term +// cout << setw(10) << setprecision(5) << D << endl; + + // do minus expected value of second derivatives + if (wg) // do only if second derivatives wanted + { + Hderiv.Row(1) = 0.0; + Hderiv = H.AsDiagonal().i() * Hderiv; + D2 << Hderiv.t() * Hderiv; D2 = D2 / 2.0; + D2(1,1) += sum2; +// cout << setw(10) << setprecision(5) << D2 << endl; +// DiagonalMatrix DX; EigenValues(D2,DX); +// cout << setw(10) << setprecision(5) << DX << endl; + + } + return -0.5 * LL; +} + +ReturnMatrix GARCH11_LL::Derivatives() +{ return D; } + +ReturnMatrix GARCH11_LL::FI() +{ + if (!wg) cout << endl << "unexpected call of FI" << endl; + return D2; +} + + + +int main() +{ + // get data + ifstream fin("garch.dat"); + if (!fin) { cout << "cannot find garch.dat\n"; exit(1); } + int n; fin >> n; // series length + // Y contains the dependant variable, X the predictor variable + ColumnVector Y(n), X(n); + int i; + for (i=1; i<=n; i++) fin >> Y(i) >> X(i); + cout << "Read " << n << " data points - begin fit\n\n"; + // now do the fit + ColumnVector H(n); + GARCH11_LL garch11(Y,X); // loglikehood "object" + MLE_D_FI mle_d_fi(garch11,100,0.0001); // mle "object" + ColumnVector Para(4); // to hold the parameters + Para << 0.0 << 0.1 << 0.1 << 0.1; // starting values + // (Should change starting values to a more intelligent formula) + mle_d_fi.Fit(Para); // do the fit + ColumnVector SE; + mle_d_fi.GetStandardErrors(SE); + cout << "\n\n"; + cout << "estimates and standard errors\n"; + cout << setw(15) << setprecision(5) << (Para | SE) << endl << endl; + SymmetricMatrix Corr; + mle_d_fi.GetCorrelations(Corr); + cout << "correlation matrix\n"; + cout << setw(10) << setprecision(2) << Corr << endl << endl; + cout << "inverse of correlation matrix\n"; + cout << setw(10) << setprecision(2) << Corr.i() << endl << endl; + return 0; +} + + + diff --git a/.svn/pristine/1a/1a1d931b98a51173a8170ed6fcac74ebfc49a613.svn-base b/.svn/pristine/1a/1a1d931b98a51173a8170ed6fcac74ebfc49a613.svn-base new file mode 100644 index 0000000..113ba0e Binary files /dev/null and b/.svn/pristine/1a/1a1d931b98a51173a8170ed6fcac74ebfc49a613.svn-base differ diff --git a/.svn/pristine/1a/1a90f8bef3fa19ebe5f26888d2e855b4658aedf0.svn-base b/.svn/pristine/1a/1a90f8bef3fa19ebe5f26888d2e855b4658aedf0.svn-base new file mode 100644 index 0000000..bdfe249 --- /dev/null +++ b/.svn/pristine/1a/1a90f8bef3fa19ebe5f26888d2e855b4658aedf0.svn-base @@ -0,0 +1,152 @@ +/* + * frames2riegl implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.4x4 in the RIEGL pose file format." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char poseFileName[255]; + char frameFileName[255]; + + ifstream pose_in; + ofstream pose_out; + + double inMatrix[16]; + double tMatrix[17]; + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.4x4",dir,fileCounter++); + + pose_in.open(frameFileName); + + if (!pose_in.good()) break; // no more files in the directory + // read 3D scan + + cout << "Reading frame " << frameFileName << "..." << endl; + + while(pose_in.good()) { + for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]); + } + + inMatrix[5] = tMatrix[0]; + inMatrix[9] = -tMatrix[1]; + inMatrix[1] = -tMatrix[2]; + inMatrix[13] = -tMatrix[3]; + inMatrix[6] = -tMatrix[4]; + inMatrix[10] = tMatrix[5]; + inMatrix[2] = tMatrix[6]; + inMatrix[14] = tMatrix[7]; + inMatrix[4] = -tMatrix[8]; + inMatrix[8] = tMatrix[9]; + inMatrix[0] = tMatrix[10]; + inMatrix[12] = tMatrix[11]; + inMatrix[7] = -tMatrix[12]; + inMatrix[11] = tMatrix[13]; + inMatrix[3] = tMatrix[14]; + inMatrix[15] = tMatrix[15]; + + inMatrix[3] /= 100; + inMatrix[7] /= 100; + inMatrix[11] /= 100; + + pose_in.close(); + pose_in.clear(); + + pose_out.open(poseFileName); + + cout << "Writing Riegl pose... " << poseFileName << endl; + + for (int i=0; i < 16; i++) { + pose_out << inMatrix[i] << " "; + if((i % 4) == 3) pose_out << endl; + } + + + pose_out.close(); + pose_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/.svn/pristine/1a/1aa8c72be42aad698487c9be847a69870f50836c.svn-base b/.svn/pristine/1a/1aa8c72be42aad698487c9be847a69870f50836c.svn-base new file mode 100644 index 0000000..843b51b --- /dev/null +++ b/.svn/pristine/1a/1aa8c72be42aad698487c9be847a69870f50836c.svn-base @@ -0,0 +1,49 @@ +SET(SHOW_LIBS ${OPENGL_LIBRARIES} glui scan ANN) +IF(WIN32) + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/freeglut.lib XGetopt) + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/freeglut.lib XGetopt) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(WIN32) +IF (UNIX) + SET(SHOW_LIBS newmat dl ${GLUT_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WITH_VELOSLAM) + add_executable(veloslam veloslam.cc veloscan.cc debugview.cc pcddump.cc tracker.cc + trackermanager.cc drawtrackers.cc kalmanfilter.cc matrix.cc lap.cc) + +IF(UNIX) + target_link_libraries(veloslam dl scan newmat sparse ANN ${Boost_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WIN32) + target_link_libraries(veloslam scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS}) +ENDIF(WIN32) +ENDIF(WITH_VELOSLAM) + +#IF(WITH_VELOSLAM) + # SET(SHOW_SRCS ../show/NurbsPath.cc ../show/PathGraph.cc ../show/vertexarray.cc + # ../show/viewcull.cc ../show/colormanager.cc ../show/compacttree.cc + # ../show/scancolormanager.cc ../show/display.cc) + + # add_executable(veloshow veloshow.cc veloscan.cc + # debugview.cc pcddump.cc cluster_classification.cc + # tracker.cc trackermanager.cc drawtrackers.cc + # svm.cc clusterboundingbox.cc multiscan_random_field.cc + # kalmanfilter.cc matrix.cc lap.cc + # intersection_detection.cc SegIter.model ${SHOW_SRCS}) + +#IF(UNIX) +# target_link_libraries(veloshow dl scan newmat sparse ANN ${SHOW_LIBS}) +#ENDIF(UNIX) + +#IF(WIN32) +# target_link_libraries(veloshow scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS}) +#ENDIF(WIN32) + +#ENDIF(WITH_VELOSLAM) + + + diff --git a/.svn/pristine/1a/1ab09a6d1a4a54274fecec57993ed5a80c843225.svn-base b/.svn/pristine/1a/1ab09a6d1a4a54274fecec57993ed5a80c843225.svn-base new file mode 100644 index 0000000..7b8264b --- /dev/null +++ b/.svn/pristine/1a/1ab09a6d1a4a54274fecec57993ed5a80c843225.svn-base @@ -0,0 +1,2 @@ +.cvsignore +config.h diff --git a/.svn/pristine/1b/1b09d404ff14efe447f86b46db85e2d68091971e.svn-base b/.svn/pristine/1b/1b09d404ff14efe447f86b46db85e2d68091971e.svn-base new file mode 100644 index 0000000..0525792 --- /dev/null +++ b/.svn/pristine/1b/1b09d404ff14efe447f86b46db85e2d68091971e.svn-base @@ -0,0 +1,46 @@ +// ===================================================================================== +// +// Filename: sickday.h +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 02:08:25 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +const int MIN_NR_PTS = 1200; + +const double IMG_RES = 2.0; // in cm +const int BOARD_SIZE_X = 59.40 / IMG_RES; // number of pixels wide +const int BOARD_SIZE_Z = 84.10 / IMG_RES; // number of pixels high + +const int WHITE_BORDER = 4; // number of pixels on the border to whiten. 10 cm ? + +const double MINREFL = -10.0; +const double MAXREFL = 10.0; +const double REFL_THRESHOLD = (0.0 - MINREFL ) / ( MAXREFL - MINREFL); // threshold for binarizing image + +const double MAX_DIST_TO_PLANE = 10.0; // RANSAC max distance to plane +const double MIN_SCORE = 0.65; // minimal score for accepting the board hypothesis (between 0 and 1) +const double SCORE_SCALE = 0.50; // score is scaled so that SCORE_SCALE is probability 0 + +/////////////// constants for OCR +const string OCRRESULT = "/tmp/ocrresult.txt"; +const string OCRERROR = "/tmp/ocrerr.txt"; +/////////////// number (except 1) are usually 17,27 pixel wide,high +// +const int MIN_NR_WIDTH = 28.0 / IMG_RES; // 14 pixel ? All Numbers except 1 must at least be this wide +const int MIN_1_WIDTH = 16.0 / IMG_RES; // 8 pixel ? Number 1 must at least be this wide +const int MIN_NR_HEIGHT = 46.0 / IMG_RES; // 23 pixel ? Numbers must at least be this high + +const int MAX_NR_WIDTH = 42.0 / IMG_RES; // 21 pixel ? All Numbers must at most be this wide +const int MAX_NR_HEIGHT = 62.0 / IMG_RES; // 31 pixel ? Numbers must at most be this high + + + diff --git a/.svn/pristine/1b/1b506d343f0ac655ba69c79f83780b07c77f8b50.svn-base b/.svn/pristine/1b/1b506d343f0ac655ba69c79f83780b07c77f8b50.svn-base new file mode 100644 index 0000000..d45cda3 --- /dev/null +++ b/.svn/pristine/1b/1b506d343f0ac655ba69c79f83780b07c77f8b50.svn-base @@ -0,0 +1,220 @@ +/* + * scan_io_riegl_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_riegl_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".rgb" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".dat" + + + +std::list ScanIO_riegl_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_riegl_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + + for (i = 0; i < 16; ++i) + pose_file >> inMatrix[i]; + pose_file.close(); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + pose[0] = 100*rPos[0]; + pose[1] = 100*rPos[1]; + pose[2] = 100*rPos[2]; + pose[3] = rPosTheta[0]; + pose[4] = rPosTheta[1]; + pose[5] = rPosTheta[2]; + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_riegl_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE)); +} + +void ScanIO_riegl_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || rgb != 0 || reflectance != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read the point count + unsigned int count; + data_file >> count; + + // reserve enough space for faster reading + if(xyz != 0) xyz->reserve(3*count); + if(rgb != 0) rgb->reserve(3*count); + + // read points + // z x y range theta phi r g b reflectance + double point[7]; + unsigned int color[3]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 6; ++i) data_file >> point[i]; + for(i = 0; i < 3; ++i) data_file >> color[i]; + data_file >> point[6]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's z/x/y, shuffle time! + // invert x axis + // convert coordinate to cm + tmp = point[2]; + point[2] = 100.0 * point[0]; + point[0] = -100.0 * point[1]; + point[1] = 100.0 * tmp; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 0; i < 3; ++i) rgb->push_back( + static_cast(color[i])); + } + if(reflectance != 0) { + reflectance->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/1b/1b8bbbe6663d6c0c18091eaa2a7c73fa94705b3c.svn-base b/.svn/pristine/1b/1b8bbbe6663d6c0c18091eaa2a7c73fa94705b3c.svn-base new file mode 100644 index 0000000..a029a74 --- /dev/null +++ b/.svn/pristine/1b/1b8bbbe6663d6c0c18091eaa2a7c73fa94705b3c.svn-base @@ -0,0 +1,132 @@ +# +# Makefile for ./src path, used by configure +# + +EXEEXT = @EXEEXT@ +PROGRAM = gocr$(EXEEXT) +# lib removed for simplification (v0.46) +# but Igor from OSRA an optical chemical structure recognition software +# wants it (v0.47 Mar09) +PGMASCLIB = Pgm2asc +#LIBPGMASCLIB = lib$(PGMASCLIB).a +# ToDo: need a better pgm2asc.h for lib users +#INCLUDEFILES = gocr.h +# avoid german compiler messages +LANG=C + +LIBOBJS=pgm2asc.o \ + box.o \ + database.o \ + detect.o \ + barcode.o \ + lines.o \ + list.o \ + ocr0.o \ + ocr0n.o \ + ocr1.o \ + otsu.o \ + output.o \ + pixel.o \ + unicode.o \ + remove.o \ + pnm.o \ + pcx.o \ + progress.o \ + job.o + +# these two lines are for cross-compiling, not tested +#srcdir = @srcdir@ +#VPATH = @srcdir@ +bindir = @bindir@ +# lib removed for simplification +#libdir = @libdir@ +#includedir = @includedir@ + +CC=@CC@ +# lib removed for simplification +# ar,ranlib detection removed from configure (simplicity) +# but needed by some developpers (linux only) for for (make libs) +# RANLIB = @RANLIB@ +# AR = @AR@ +RANLIB = ranlib +AR = ar +INSTALL=@INSTALL@ +# shell is needed for OS/2 to let if test -r $(PROGRAM) ... work +SHELL=@SHELL@ + +DEFS=@DEFS@ +CPPFLAGS=@CPPFLAGS@ +# to see the config.h +CFLAGS=@CFLAGS@ $(CPPFLAGS) -I../include $(DEFS) +LDFLAGS=@LDFLAGS@ +LIBS=@LIBS@ +DESTDIR=@prefix@ + +.SUFFIXES: .s .o .c .h +# do not look for files if help (etc) is given +.PHONY : doc clean install libs default + +.c.o: gocr.h pgm2asc.h ../include/config.h + $(CC) $(CFLAGS) -c -o $*.o $< + +default: all + +# all: $(PROGRAM) lib$(PGMASCLIB).a +all: $(PROGRAM) + +gocr.o: gocr.h Makefile ../include/version.h + +.c.h: + +#$(PROGRAM): lib$(PGMASCLIB).a gocr.o +$(PROGRAM): $(LIBOBJS) gocr.o + # make it conform to ld --as-needed + #$(CC) -o $@ $(LDFLAGS) gocr.o ./lib$(PGMASCLIB).a $(LIBS) + $(CC) -o $@ $(LDFLAGS) gocr.o $(LIBOBJS) $(LIBS) + if test -r $(PROGRAM); then cp $@ ../bin; fi + +libs: lib$(PGMASCLIB).a lib$(PGMASCLIB).@PACKAGE_VERSION@.so + +lib$(PGMASCLIB).@PACKAGE_VERSION@.so: $(LIBOBJS) + $(CC) -fPIC -shared -Wl,-h$@ -o $@ $(LIBOBJS) + -ln -s $@ lib$(PGMASCLIB).so + +lib$(PGMASCLIB).a: $(LIBOBJS) + # -rm -f $@ + $(AR) cru $@ $(LIBOBJS) + $(RANLIB) $@ + +$(LIBOBJS): Makefile + +# PHONY = don't look at file clean, -rm = start rm and ignore errors +.PHONY : clean proper install uninstall +install: all + #$(INSTALL) -d $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) $(DESTDIR)$(includedir) + $(INSTALL) -d $(DESTDIR)$(bindir) + $(INSTALL) ../bin/$(PROGRAM) $(DESTDIR)$(bindir) + $(INSTALL) ../bin/gocr.tcl $(DESTDIR)$(bindir) # better X11/bin? + if test -f lib$(PGMASCLIB).a; then\ + $(INSTALL) lib$(PGMASCLIB).a $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).@PACKAGE_VERSION@.so $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).so $(DESTDIR)$(libdir);\ + fi + # ToDo: not sure that the link will be installed correctly + #$(INSTALL) $(INCLUDEFILES) $(DESTDIR)$(includedir) + +# directories are not removed +uninstall: + -rm -f $(DESTDIR)$(bindir)/$(PROGRAM) + -rm -f $(DESTDIR)$(bindir)/gocr.tcl + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).a + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).@PACKAGE_VERSION@.so + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).so + # ToDo: set to old version.so ? + #for X in $(INCLUDEFILES); do rm -f $(DESTDIR)$(includedir)/$$X; done + +clean: + -rm -f *.o *~ + +proper: clean + -rm -f gocr libPgm2asc.* + -rm -f gocr + diff --git 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Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __POINT_H__ +#define __POINT_H__ + +#include +#include +using std::ostream; +using std::istream; + +#include +using std::runtime_error; + +/** + * @brief Representation of a point in 3D space + */ +class Point { + +public: + /** + * Default constructor + */ + inline Point() { x = y = z = 0.0; point_id = 0; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0; rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;}; + /** + * Copy constructor + */ + inline Point(const Point& p) { x = p.x; y = p.y; z = p.z; type = p.type; point_id = p.point_id; + reflectance = p.reflectance; amplitude = p.amplitude; deviation = p.deviation; rgb[0] = p.rgb[0]; rgb[1] = p.rgb[1]; rgb[2] = p.rgb[2];}; + /** + * Constructor with an array, i.e., vecctor of coordinates + */ + inline Point(const double *p) { x = p[0]; y = p[1]; z = p[2]; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0; + rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;}; + inline Point(const double *p, const char *c) { x = p[0]; y = p[1]; z = p[2]; rgb[0] = c[0]; rgb[1] = c[1]; rgb[2] = c[2];}; + + /** + * Constructor with three double values + */ + inline Point(const double _x, const double _y, const double _z) { x = _x; y = _y; z = _z; }; + inline Point(const double _x, const double _y, const double _z, const char _r, const char _g, const char _b) { x = _x; y = _y; z = _z; rgb[0] = _r; rgb[1] = _g; rgb[2] = _b;}; + + static inline Point cross(const Point &X, const Point &Y) { + Point res; + res.x = X.y * Y.z - X.z * Y.y; + res.y = X.z * Y.x - X.x * Y.z; + res.z = X.x * Y.y - X.y * Y.x; + return res; + }; + + static inline Point norm(const Point &p) { + double l = sqrt(p.x*p.x + p.y*p.y + p.z*p.z); + Point res(p.x/l, p.y/l, p.z/l); + return res; + }; + + inline Point operator+(const Point &p) const { + Point res; + res.x = x + p.x; + res.y = y + p.y; + res.z = z + p.z; + return res; + }; + + inline Point operator-(const Point &p) const { + Point res; + res.x = x - p.x; + res.y = y - p.y; + res.z = z - p.z; + return res; + }; + + inline Point& operator-=(const Point &p) { + x -= p.x; + y -= p.y; + z -= p.z; + return *this; + }; + inline Point& operator+=(const Point &p) { + x += p.x; + y += p.y; + z += p.z; + return *this; + }; + + + + inline void transform(const double alignxf[16]); + inline double distance(const Point& p); + inline friend ostream& operator<<(ostream& os, const Point& p); + inline friend istream& operator>>(istream& is, Point& p); + + // also public; set/get functions not necessary here + /// x coordinate in 3D space + double x; + /// y coordinate in 3D space + double y; + /// z coordinate in 3D space + double z; + /// additional information about the point, e.g., semantic + /// also used in veloscan for distiuguish moving or static + int type; + + /////////////////////////for veloslam///////////////////////////// + double rad; + /// tang in cylindrical coordinates for veloscan + double tan_theta; + // point id in points for veloscan , you can use it find point. + long point_id; + /////////////////////////for veloslam///////////////////////////// + + // color information of the point between 0 and 255 + // rgb + unsigned char rgb[3]; + + float reflectance; + float amplitude; + float deviation; +}; + + +inline Point operator*(const double &v, const Point &p) { + Point res; + res.x = v * p.x; + res.y = v * p.y; + res.z = v * p.z; + return res; +} + +#include "point.icc" + +#endif diff --git a/.svn/pristine/1c/1c5a56bb644b308b0deb7d2aeaad5e4b2f0f0140.svn-base b/.svn/pristine/1c/1c5a56bb644b308b0deb7d2aeaad5e4b2f0f0140.svn-base new file mode 100644 index 0000000..9dbd36c --- /dev/null +++ b/.svn/pristine/1c/1c5a56bb644b308b0deb7d2aeaad5e4b2f0f0140.svn-base @@ -0,0 +1,302 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.svn/pristine/1c/1cd1acf52aa3601767e206e9fbee1863ce165799.svn-base b/.svn/pristine/1c/1cd1acf52aa3601767e206e9fbee1863ce165799.svn-base new file mode 100644 index 0000000..6ccfadb --- /dev/null +++ b/.svn/pristine/1c/1cd1acf52aa3601767e206e9fbee1863ce165799.svn-base @@ -0,0 +1,429 @@ +cmake_minimum_required (VERSION 2.6.1) +SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH}) +project (Slam6D) + +#include_directories(OPENGL_INCLUDE_DIR) +IF(WIN32) + set(Boost_USE_STATIC_LIBS TRUE) +ELSE(WIN32) + set(Boost_USE_STATIC_LIBS FALSE) +ENDIF(WIN32) + +SET(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.49") +IF(WIN32) + # for some unknown reason no one variant works on all windows platforms + find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED) +ELSE(WIN32) + find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED) +ENDIF(WIN32) + +if(Boost_FOUND) + link_directories(${BOOST_LIBRARY_DIRS}) + include_directories(${Boost_INCLUDE_DIRS}) + add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) +endif() + +################################################# +# Declare Options and modify build accordingly ## +################################################# + +## FreeGLUT +OPTION(WITH_FREEGLUT "Whether freeglut is available. This enables iterative drawing in show. ON/OFF" ON) + +IF(WITH_FREEGLUT) + MESSAGE(STATUS "With freeglut") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_FREEGLUT") +ELSE(WITH_FREEGLUT) + MESSAGE(STATUS "Without freeglut") +ENDIF(WITH_FREEGLUT) + +## Show +OPTION(WITH_SHOW "Whether to build Show. This is the Visualization program of slam6d. ON/OFF" ON) + +IF(WITH_SHOW) + FIND_PACKAGE(OpenGL REQUIRED) + FIND_PACKAGE(GLUT REQUIRED) + MESSAGE(STATUS "With show") +ELSE(WITH_SHOW) + # SET (WITH_OCTREE_DISPLAY "ON" CACHE INTERNAL "" FORCE) + MESSAGE(STATUS "Without show") +ENDIF(WITH_SHOW) + +## WXShow +OPTION(WITH_WXSHOW "Whether to build WXShow. This is the wxwidgets variant of Show. ON/OFF" OFF) + +IF(WITH_WXSHOW) + FIND_PACKAGE(OpenGL REQUIRED) + FIND_PACKAGE(GLUT REQUIRED) + find_package(wxWidgets COMPONENTS core base gl REQUIRED) + # set wxWidgets_wxrc_EXECUTABLE to be ignored in the configuration + SET (wxWidgets_wxrc_EXECUTABLE " " CACHE INTERNAL "" FORCE) + # wxWidgets include (this will do all the magic to configure everything) + include( ${wxWidgets_USE_FILE}) + MESSAGE(STATUS "With wxshow") +ELSE(WITH_XWSHOW) + MESSAGE(STATUS "Without wxshow") +ENDIF(WITH_WXSHOW) + +## Shapes +OPTION(WITH_SHAPE_DETECTION "Whether to build shapes and planes executable for detecting planes. ON/OFF" OFF) +IF(WITH_SHAPE_DETECTION) + MESSAGE(STATUS "With shape detection") +ELSE(WITH_SHAPE_DETECTION) + MESSAGE(STATUS "Without shape detection") +ENDIF(WITH_SHAPE_DETECTION) + +## Interior reconstruction +option(WITH_MODEL "Whether to build model executable for modelling interior environments. ON/OFF" OFF) + +if(WITH_MODEL) + message(STATUS "With interior reconstruction") +else(WITH_MODEL) + message(STATUS "Without interior reconstruction") +endif(WITH_MODEL) + +## Thermo +OPTION(WITH_THERMO "Whether to build executables for mutual calibration of laser scanner and camera. ON/OFF" OFF) +IF(WITH_THERMO) + FIND_PACKAGE(OpenCV REQUIRED) + add_subdirectory(3rdparty/cvblob) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + MESSAGE(STATUS "With thermo") +ELSE(WITH_THERMO) + MESSAGE(STATUS "Without thermo") +ENDIF(WITH_THERMO) + +## Octree +OPTION(WITH_OCTREE_DISPLAY "Whether to use octree display for efficiently culling scans ON/OFF" ON) + +IF(WITH_OCTREE_DISPLAY) + MESSAGE(STATUS "Using octree display") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_GL_POINTS") +ELSE(WITH_OCTREE_DISPLAY) + MESSAGE(STATUS "Using displaylists: Warning potentially much slower") +ENDIF(WITH_OCTREE_DISPLAY) +#SET (WITH_OCTREE_DISPLAY ${WITH_OCTREE_DISPLAY} CACHE BOOL +#"Whether to use octree display for efficiently culling scans ON/OFF" FORCE) + + +## Octree +OPTION(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF) + +IF(WITH_COMPACT_OCTREE) + MESSAGE(STATUS "Using compact octrees") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_COMPACT_TREE") +ELSE(WITH_COMPACT_OCTREE) + MESSAGE(STATUS "Not using compact octreees: Warning uses more memory") +ENDIF(WITH_COMPACT_OCTREE) + +## Glee? +OPTION(WITH_GLEE "Whether to use OpenGL extensions, requires glee. ON/OFF" OFF) + +IF(WITH_GLEE) + MESSAGE(STATUS "Using opengl extensions") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_GLEE") +ELSE(WITH_GLEE) + MESSAGE(STATUS "Not using opengl extensions") +ENDIF(WITH_GLEE) + +## Gridder +OPTION(WITH_GRIDDER "Whether to build the 2DGridder binary ON/OFF" OFF) + +IF(WITH_GRIDDER) + MESSAGE(STATUS "With 2DGridder") +ELSE(WITH_GRIDDER) + MESSAGE(STATUS "Without 2DGridder") +ENDIF(WITH_GRIDDER) + +## Dynamic VELOSLAM +OPTION(WITH_VELOSLAM "Whether to build the Velodyne data processing (veloslam/veloshow) ON/OFF" OFF) + +IF(WITH_VELOSLAM) + MESSAGE(STATUS "With VELOSLAM") +ELSE(WITH_VELOSLAM) + MESSAGE(STATUS "Without VELOSLAM") +ENDIF(WITH_VELOSLAM) + +## Home-made Laserscanner +OPTION(WITH_DAVID_3D_SCANNER "Whether to build the David scanner app for homemade laser scanners binary ON/OFF" OFF) + +IF(WITH_DAVID_3D_SCANNER) + MESSAGE(STATUS "With David scanner") +ELSE(WITH_DAVID_3D_SCANNER) + MESSAGE(STATUS "Without David scanner") +ENDIF(WITH_DAVID_3D_SCANNER) + +## Tools + +OPTION(WITH_TOOLS "Whether to build additional tools like convergence frame_to_graph etc. ON/OFF" OFF) + +IF(WITH_TOOLS) + MESSAGE(STATUS "With Tools") +ELSE(WITH_TOOLS) + MESSAGE(STATUS "Without Tools") +ENDIF(WITH_TOOLS) + + + +## Scan reduction +OPTION(WITH_SCAN_REDUCTION "Whether to build the scan reduction binary scan_red ON/OFF" OFF) + +IF(WITH_SCAN_REDUCTION) + MESSAGE(STATUS "With scan_red") +ELSE(WITH_SCAN_REDUCTION) + MESSAGE(STATUS "Without scan_red") +ENDIF(WITH_SCAN_REDUCTION) + +## Scan difference +OPTION(WITH_SCAN_DIFF "Whether to build the scan_diff binary ON/OFF" OFF) + +IF(WITH_SCAN_DIFF) + MESSAGE(STATUS "With scan_diff") +ELSE(WITH_SCAN_DIFF) + MESSAGE(STATUS "Without scan_diff") +ENDIF(WITH_SCAN_DIFF) + + +## CAD matching +OPTION (WITH_CAD "Wether to build with CAD import lib ON/OFF" OFF) + +IF (WITH_CAD) + MESSAGE (STATUS "With CAD import") + find_package (Boost COMPONENTS program_options filesystem REQUIRED) +ELSE (WITH_CAD) + MESSAGE (STATUS "Without CAD import") +ENDIF (WITH_CAD) + +## RivLib +OPTION(WITH_RIVLIB "Whether the RIEGL rivlib is present ON/OFF" OFF) + +IF(WITH_RIVLIB) + MESSAGE(STATUS "Compiling a scan IO for RXP files") + include_directories(${CMAKE_SOURCE_DIR}/3rdparty) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty) + SET(RIEGL_DIR ${CMAKE_SOURCE_DIR}/3rdparty/riegl/) + IF(WIN32) + SET(RIVLIB ${RIEGL_DIR}libscanlib-mt.lib ${RIEGL_DIR}libctrllib-mt.lib ${RIEGL_DIR}libboost_system-mt-1_43_0-vns.lib) + ELSE(WIN32) + SET(RIVLIB ${RIEGL_DIR}libscanlib-mt-s.a ${RIEGL_DIR}libctrllib-mt-s.a ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread) + ENDIF(WIN32) + FIND_PACKAGE(LibXml2 ) + +ELSE(WITH_RIVLIB) + MESSAGE(STATUS "Do NOT compile a scan IO for RXP") +ENDIF(WITH_RIVLIB) + +## CUDA support, TODO depend on CUDA_FIND +OPTION(WITH_CUDA "Compile with CUDA support" OFF) +IF(WITH_CUDA) + MESSAGE(STATUS "Compiling WITH CUDA support") + FIND_PACKAGE(CUDA) + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CUDA") +ELSE(WITH_CUDA) + MESSAGE(STATUS "Compiling WITHOUT CUDA support") +ENDIF(WITH_CUDA) + +## PMD +OPTION(WITH_PMD "Whether to build the PMD tools like grabVideoAnd3D calibrate etc. ON/OFF" OFF) + +IF(WITH_PMD) + FIND_PACKAGE(OpenGL REQUIRED) + MESSAGE(STATUS "With Tools") +ELSE(WITH_PMD) + MESSAGE(STATUS "Without Tools") +ENDIF(WITH_PMD) + +## FBR +OPTION(WITH_FBR "Whether to compile feature based registration. ON/OFF" OFF) + +IF(WITH_FBR) + MESSAGE(STATUS "With FBR ") +ELSE(WITH_FBR) + MESSAGE(STATUS "Without FBR") +ENDIF(WITH_FBR) + +## Special treatment for system specifics +IF(APPLE) +add_definitions(-Dfopen64=fopen) +ENDIF(APPLE) + +## Multiple Cores +IF(APPLE) + SET(PROCESSOR_COUNT 2) +ELSE(APPLE) + INCLUDE(CountProcessors) + SET(NUMBER_OF_CPUS "${PROCESSOR_COUNT}" CACHE STRING "The number of processors to use (default: ${PROCESSOR_COUNT})" ) +ENDIF(APPLE) + +# OPEN +FIND_PACKAGE(OpenMP) +IF(OPENMP_FOUND) + OPTION(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON) +ENDIF(OPENMP_FOUND) + +IF(OPENMP_FOUND AND WITH_OPENMP) + MESSAGE(STATUS "With OpenMP ") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${PROCESSOR_COUNT} -DOPENMP_NUM_THREADS=${NUMBER_OF_CPUS} ${OpenMP_CXX_FLAGS} -DOPENMP") +ELSE(OPENMP_FOUND AND WITH_OPENMP) + MESSAGE(STATUS "Without OpenMP") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=1 -DOPENMP_NUM_THREADS=1") +ENDIF(OPENMP_FOUND AND WITH_OPENMP) + +## TORO +OPTION(WITH_TORO "Whether to use TORO. ON/OFF" OFF) + +IF(WITH_TORO) + IF(WIN32) + SET(Subversion_SVN_EXECUTABLE "svn.exe") + ENDIF(WIN32) + cmake_minimum_required (VERSION 2.8) + include(ExternalProject) + ExternalProject_Add(toro3d + SVN_REPOSITORY https://www.openslam.org/data/svn/toro/trunk + SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/toro" + CONFIGURE_COMMAND "" + BUILD_COMMAND make + BUILD_IN_SOURCE 1 + INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/toro/toro3d ${CMAKE_SOURCE_DIR}/bin/ + ) + MESSAGE(STATUS "With TORO ") +ELSE(WITH_TORO) + MESSAGE(STATUS "Without TORO") +ENDIF(WITH_TORO) + + +## HOGMAN +OPTION(WITH_HOGMAN "Whether to use HOGMAN. ON/OFF" OFF) + +IF(WITH_HOGMAN) + # dependant on libqt4-devi + find_package( Qt4 REQUIRED) + # CMake of earlier versions do not have external project capabilities + cmake_minimum_required (VERSION 2.8) + include(ExternalProject) + ExternalProject_Add(hogman + SVN_REPOSITORY https://svn.openslam.org/data/svn/hog-man/trunk + SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/hogman" + CONFIGURE_COMMAND /configure --prefix= + BUILD_COMMAND LD_LIBRARY_PATH=${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib make + BUILD_IN_SOURCE 1 + INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/bin/hogman3d ${CMAKE_SOURCE_DIR}/bin/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_csparse.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer_hogman.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_viewer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_math.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_qglviewer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_stuff.so ${CMAKE_SOURCE_DIR}/lib/ + ) + MESSAGE(STATUS "With HOGMAN: Currently hogman needs to be compiled manually, please make sure hogman3d is somewhere in your PATH") +ELSE(WITH_HOGMAN) + MESSAGE(STATUS "Without HOGMAN") +ENDIF(WITH_HOGMAN) + +OPTION(EXPORT_SHARED_LIBS "Whether to build additional shared libraries for use in other projects. ON/OFF" OFF) + +IF(EXPORT_SHARED_LIBS) + MESSAGE(STATUS "exporting additional libraries") +ELSE(EXPORT_SHARED_LIBS) + MESSAGE(STATUS "not exporting libraries") +ENDIF(EXPORT_SHARED_LIBS) + +OPTION(WITH_METRICS "Whether to use metrics in slam6d. ON/OFF" OFF) + +IF(WITH_METRICS) + MESSAGE(STATUS "With metrics in slam6d.") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_METRICS") +ELSE(WITH_METRICS) + MESSAGE(STATUS "Without metrics in slam6d.") +ENDIF(WITH_METRICS) + +IF(WIN32) + SET(ADDITIONAL_CFLAGS "-O2" CACHE STRING"Additional flags given to the compiler ()" ) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/x64) + add_library(XGetopt STATIC ${CMAKE_SOURCE_DIR}/3rdparty/windows/XGetopt.cpp) + SET(CMAKE_STATIC_LIBRARY_SUFFIX "32.lib") +ELSE(WIN32) + SET(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -finline-functions -Wno-unused-but-set-variable -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING"Additional flags given to the compiler (-O3 -Wall -finline-functions -Wno-write-strings)" ) + # Add include path for OpenGL without GL/-prefix + # to avoid the include incompatibility between MACOS + # and linux + FIND_PATH(OPENGL_INC gl.h /usr/include/GL) + include_directories(${OPENGL_INC}) +ENDIF(WIN32) + +# Add OpenGL includes for MACOS if needed +# The OSX OpenGL frameworks natively supports freeglut extensions +IF(APPLE) + include_directories(/System/Library/Frameworks/GLUT.framework/Headers) + include_directories(/System/Library/Frameworks/OpenGL.framework/Headers) +ENDIF(APPLE) + +SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}") + +# Hide CMake variables +SET (CMAKE_INSTALL_PREFIX "/usr/local" CACHE INTERNAL "" FORCE) +SET (CMAKE_BUILD_TYPE "" CACHE INTERNAL "" FORCE) + + +# Set output directories for libraries and executables +SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib ) +SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/obj ) +SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin ) + +# Set include and link dirs ... +include_directories(${CMAKE_SOURCE_DIR}/include) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/glui) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/wxthings/include/) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/include) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src) +link_directories(${CMAKE_SOURCE_DIR}/obj) +link_directories(${CMAKE_SOURCE_DIR}/lib) + +add_subdirectory(3rdparty) +add_subdirectory(src/slam6d) +add_subdirectory(src/scanio) +add_subdirectory(src/scanserver) +add_subdirectory(src/veloslam) +add_subdirectory(src/show) +add_subdirectory(src/grid) +add_subdirectory(src/pmd) +add_subdirectory(src/shapes) +add_subdirectory(src/thermo) +IF(WITH_FBR) + add_subdirectory(src/slam6d/fbr) +ENDIF(WITH_FBR) +add_subdirectory(src/scanner) +add_subdirectory(src/model) + +IF(EXPORT_SHARED_LIBS) +## Compiling a shared library containing all of the project +add_library(slam SHARED src/slam6d/icp6D.cc) +target_link_libraries(slam scanlib_s ANN_s sparse_s newmat_s) +ENDIF(EXPORT_SHARED_LIBS) + +MESSAGE (STATUS "Build environment is set up!") + + +# hack to "circumvent" Debug and Release folders that are created under visual studio +# this is why the INSTALL target has to be used in visual studio +IF(MSVC) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Release/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) + + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(MSVC) diff --git a/.svn/pristine/1c/1cefa281d57ddafbc607acc53445ac6ff5b2cd29.svn-base b/.svn/pristine/1c/1cefa281d57ddafbc607acc53445ac6ff5b2cd29.svn-base new file mode 100644 index 0000000..ce7b0bb --- /dev/null +++ b/.svn/pristine/1c/1cefa281d57ddafbc607acc53445ac6ff5b2cd29.svn-base @@ -0,0 +1,114 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "slam6d/Boctree.h" +#include "slam6d/scan_io_oct.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in oct-file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_oct::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream pose_in; + + //double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".oct"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + +// scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() ) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + BOctTree::deserialize(scanFileName, ptss); + + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_oct; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/1d/1d0fc2cfd571bf6058b9188c59af42b5356095f7.svn-base b/.svn/pristine/1d/1d0fc2cfd571bf6058b9188c59af42b5356095f7.svn-base new file mode 100644 index 0000000..b6a2b53 --- /dev/null +++ b/.svn/pristine/1d/1d0fc2cfd571bf6058b9188c59af42b5356095f7.svn-base @@ -0,0 +1,69 @@ +/** + * @file + * @brief Definition of plane pairs + * + * @author + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Dorit Borrmann. School of Engineering and Science, Jacobs University Bremen gGmbH, Germany. + */ +#ifndef __PPAIR_H__ +#define __PPAIR_H__ + +#include "convexplane.h" +/** + * @brief Representing point pairs + */ +class PPair { +public: + enum TYPE {UNDEFINED, EQUAL, PARALLEL, PERPENDICULAR}; + + inline PPair(ConvexPlane *p1, ConvexPlane *p2); + inline PPair() : p1(0), p2(0) {}; + + ConvexPlane *p1; ///< The two points forming the pair + ConvexPlane *p2; ///< The two points forming the pair + double angle; + double center_distance; // or poly distance? + double plane_distance; + // intersection linie + Point istart, iend; + + TYPE type; + +}; + +inline PPair::PPair(ConvexPlane *_p1, ConvexPlane *_p2) { + type = UNDEFINED; + p1 = _p1; + p2 = _p2; + + // TODO hier richtigen wert berechnen + center_distance = 0.0; + plane_distance = fabs(p1->rho - p2->rho); + double tmp = p1->n[0] * p2->n[0] + p1->n[1] * p2->n[1] + p1->n[2] * p2->n[2]; + if (tmp > 1.0) { + angle = 0.0; + } else if (tmp < -1.0) { + angle = M_PI; + } else { + angle = acos( tmp ); + } + if (angle > M_PI / 2.0) { + angle = M_PI - angle; + } + + double nnx = p2->n[0]/p2->n[0]; + + double y = (p2->rho - nnx * p1->rho) / (p2->n[1] - nnx * p1->n[1]); + double x = (p1->rho - p1->n[1] * y) / p1->n[0]; + double z = 0.0; + + istart = Point(x,y,z); + + double nn[3]; + Cross(p1->n, p2->n, nn); + + iend = Point(x + nn[0], y + nn[1], nn[2]); +} + +#endif diff --git a/.svn/pristine/1d/1d575d9db1fdef6c354a816d14a84b1c1e453eda.svn-base b/.svn/pristine/1d/1d575d9db1fdef6c354a816d14a84b1c1e453eda.svn-base new file mode 100644 index 0000000..bda709e --- /dev/null +++ b/.svn/pristine/1d/1d575d9db1fdef6c354a816d14a84b1c1e453eda.svn-base @@ -0,0 +1,839 @@ +/* + * viewcull implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Frustrum culling routines + * + * @author Jan Elseberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "show/viewcull.h" +#include +#include +#include + +#include +#include +#include "slam6d/globals.icc" + +/** The 6 planes of the viewing frustum */ +float frustum[6][4]; + +/** the modelview * projection matrix to map a model point to an onscreen coordinate */ +float matrix[16]; +/** some useful variables for faster calculation of the pixel coordinates */ +short VP[4]; +/** a unit vector pointing to the right of the screen */ +float right[3]; +/** how much detail is shown, 0 means everything is plotted */ +short DETAIL; + +double SX, SY, SZ, EX, EY, EZ; +float origin[3], dir[3]; /*ray */ +float dist; +int rayX,rayY; +float rayVP[4]; + +void calcRay(int x, int y, double znear, double zfar) { + + GLdouble modelMatrix[16]; + GLdouble projMatrix[16]; + int viewport[4]; + glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix); + glGetDoublev(GL_PROJECTION_MATRIX,projMatrix); + glGetIntegerv(GL_VIEWPORT,viewport); + + gluUnProject(x, viewport[3]-y, zfar, modelMatrix, projMatrix, viewport, &SX, &SY, &SZ); + gluUnProject(x, viewport[3]-y, znear, modelMatrix, projMatrix, viewport, &EX, &EY, &EZ); + + origin[0] = SX; + origin[1] = SY; + origin[2] = SZ; + dir[0] = EX-SX; + dir[1] = EY-SY; + dir[2] = EZ-SZ; + double t = sqrt( dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2] ); + dir[0] /= t; + dir[1] /= t; + dir[2] /= t; + + dist = SX * dir[0] + SY * dir[1] + SZ * dir[2]; + rayVP[0] = 0.5*viewport[2]; + rayVP[1] = 0.5*viewport[2] + viewport[0]; + + rayVP[2] = 0.5*viewport[3]; + rayVP[3] = 0.5*viewport[3] + viewport[1]; + rayX = x; + rayY = viewport[3]-y; + + remViewport(); +} + +void remViewport() { + GLdouble modelMatrix[16]; + GLdouble projMatrix[16]; + int viewport[4]; + glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix); + glGetDoublev(GL_PROJECTION_MATRIX,projMatrix); + glGetIntegerv(GL_VIEWPORT,viewport); + + MMult( projMatrix, modelMatrix, matrix ); + VP[0] = 0.5*viewport[2]; + VP[1] = 0.5*viewport[2] + viewport[0]; + + VP[2] = 0.5*viewport[3]; + VP[3] = 0.5*viewport[3] + viewport[1]; + + right[0] = modelMatrix[0]; + right[1] = modelMatrix[4]; + right[2] = modelMatrix[8]; +} + +void ExtractFrustum(short detail) +{ + DETAIL = detail + 1; + remViewport(); + + float proj[16]; + float modl[16]; + float clip[16]; + float t; + + /* Get the current PROJECTION matrix from OpenGL */ + glGetFloatv( GL_PROJECTION_MATRIX, proj ); + + /* Get the current MODELVIEW matrix from OpenGL */ + glGetFloatv( GL_MODELVIEW_MATRIX, modl ); + + /* Combine the two matrices (multiply projection by modelview) */ + clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12]; + clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13]; + clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14]; + clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15]; + + clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12]; + clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13]; + clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14]; + clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15]; + + clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12]; + clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13]; + clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14]; + clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15]; + + clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12]; + clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13]; + clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14]; + clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15]; + + /* Extract the numbers for the RIGHT plane */ + frustum[0][0] = clip[ 3] - clip[ 0]; + frustum[0][1] = clip[ 7] - clip[ 4]; + frustum[0][2] = clip[11] - clip[ 8]; + frustum[0][3] = clip[15] - clip[12]; + + /* Normalize the result */ + t = sqrt( frustum[0][0] * frustum[0][0] + frustum[0][1] * frustum[0][1] + frustum[0][2] * frustum[0][2] ); + frustum[0][0] /= t; + frustum[0][1] /= t; + frustum[0][2] /= t; + frustum[0][3] /= t; + + /* Extract the numbers for the LEFT plane */ + frustum[1][0] = clip[ 3] + clip[ 0]; + frustum[1][1] = clip[ 7] + clip[ 4]; + frustum[1][2] = clip[11] + clip[ 8]; + frustum[1][3] = clip[15] + clip[12]; + + /* Normalize the result */ + t = sqrt( frustum[1][0] * frustum[1][0] + frustum[1][1] * frustum[1][1] + frustum[1][2] * frustum[1][2] ); + frustum[1][0] /= t; + frustum[1][1] /= t; + frustum[1][2] /= t; + frustum[1][3] /= t; + + /* Extract the BOTTOM plane */ + frustum[2][0] = clip[ 3] + clip[ 1]; + frustum[2][1] = clip[ 7] + clip[ 5]; + frustum[2][2] = clip[11] + clip[ 9]; + frustum[2][3] = clip[15] + clip[13]; + + /* Normalize the result */ + t = sqrt( frustum[2][0] * frustum[2][0] + frustum[2][1] * frustum[2][1] + frustum[2][2] * frustum[2][2] ); + frustum[2][0] /= t; + frustum[2][1] /= t; + frustum[2][2] /= t; + frustum[2][3] /= t; + + /* Extract the TOP plane */ + frustum[3][0] = clip[ 3] - clip[ 1]; + frustum[3][1] = clip[ 7] - clip[ 5]; + frustum[3][2] = clip[11] - clip[ 9]; + frustum[3][3] = clip[15] - clip[13]; + + /* Normalize the result */ + t = sqrt( frustum[3][0] * frustum[3][0] + frustum[3][1] * frustum[3][1] + frustum[3][2] * frustum[3][2] ); + frustum[3][0] /= t; + frustum[3][1] /= t; + frustum[3][2] /= t; + frustum[3][3] /= t; + + /* Extract the FAR plane */ + frustum[4][0] = clip[ 3] - clip[ 2]; + frustum[4][1] = clip[ 7] - clip[ 6]; + frustum[4][2] = clip[11] - clip[10]; + frustum[4][3] = clip[15] - clip[14]; + + /* Normalize the result */ + t = sqrt( frustum[4][0] * frustum[4][0] + frustum[4][1] * frustum[4][1] + frustum[4][2] * frustum[4][2] ); + frustum[4][0] /= t; + frustum[4][1] /= t; + frustum[4][2] /= t; + frustum[4][3] /= t; + + /* Extract the NEAR plane */ + frustum[5][0] = clip[ 3] + clip[ 2]; + frustum[5][1] = clip[ 7] + clip[ 6]; + frustum[5][2] = clip[11] + clip[10]; + frustum[5][3] = clip[15] + clip[14]; + + /* Normalize the result */ + t = sqrt( frustum[5][0] * frustum[5][0] + frustum[5][1] * frustum[5][1] + frustum[5][2] * frustum[5][2] ); + frustum[5][0] /= t; + frustum[5][1] /= t; + frustum[5][2] /= t; + frustum[5][3] /= t; + +} + + +void ExtractFrustum(float *frust[6]) +{ + remViewport(); + + float proj[16]; + float modl[16]; + float clip[16]; + float t; + + /* Get the current PROJECTION matrix from OpenGL */ + glGetFloatv( GL_PROJECTION_MATRIX, proj ); + + /* Get the current MODELVIEW matrix from OpenGL */ + glGetFloatv( GL_MODELVIEW_MATRIX, modl ); + + /* Combine the two matrices (multiply projection by modelview) */ + clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12]; + clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13]; + clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14]; + clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15]; + + clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12]; + clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13]; + clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14]; + clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15]; + + clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12]; + clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13]; + clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14]; + clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15]; + + clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12]; + clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13]; + clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14]; + clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15]; + + /* Extract the numbers for the RIGHT plane */ + frust[0][0] = clip[ 3] - clip[ 0]; + frust[0][1] = clip[ 7] - clip[ 4]; + frust[0][2] = clip[11] - clip[ 8]; + frust[0][3] = clip[15] - clip[12]; + + /* Normalize the result */ + t = sqrt( frust[0][0] * frust[0][0] + frust[0][1] * frust[0][1] + frust[0][2] * frust[0][2] ); + frust[0][0] /= t; + frust[0][1] /= t; + frust[0][2] /= t; + frust[0][3] /= t; + + /* Extract the numbers for the LEFT plane */ + frust[1][0] = clip[ 3] + clip[ 0]; + frust[1][1] = clip[ 7] + clip[ 4]; + frust[1][2] = clip[11] + clip[ 8]; + frust[1][3] = clip[15] + clip[12]; + + /* Normalize the result */ + t = sqrt( frust[1][0] * frust[1][0] + frust[1][1] * frust[1][1] + frust[1][2] * frust[1][2] ); + frust[1][0] /= t; + frust[1][1] /= t; + frust[1][2] /= t; + frust[1][3] /= t; + + /* Extract the BOTTOM plane */ + frust[2][0] = clip[ 3] + clip[ 1]; + frust[2][1] = clip[ 7] + clip[ 5]; + frust[2][2] = clip[11] + clip[ 9]; + frust[2][3] = clip[15] + clip[13]; + + /* Normalize the result */ + t = sqrt( frust[2][0] * frust[2][0] + frust[2][1] * frust[2][1] + frust[2][2] * frust[2][2] ); + frust[2][0] /= t; + frust[2][1] /= t; + frust[2][2] /= t; + frust[2][3] /= t; + + /* Extract the TOP plane */ + frust[3][0] = clip[ 3] - clip[ 1]; + frust[3][1] = clip[ 7] - clip[ 5]; + frust[3][2] = clip[11] - clip[ 9]; + frust[3][3] = clip[15] - clip[13]; + + /* Normalize the result */ + t = sqrt( frust[3][0] * frust[3][0] + frust[3][1] * frust[3][1] + frust[3][2] * frust[3][2] ); + frust[3][0] /= t; + frust[3][1] /= t; + frust[3][2] /= t; + frust[3][3] /= t; + + /* Extract the FAR plane */ + frust[4][0] = clip[ 3] - clip[ 2]; + frust[4][1] = clip[ 7] - clip[ 6]; + frust[4][2] = clip[11] - clip[10]; + frust[4][3] = clip[15] - clip[14]; + + /* Normalize the result */ + t = sqrt( frust[4][0] * frust[4][0] + frust[4][1] * frust[4][1] + frust[4][2] * frust[4][2] ); + frust[4][0] /= t; + frust[4][1] /= t; + frust[4][2] /= t; + frust[4][3] /= t; + + /* Extract the NEAR plane */ + frust[5][0] = clip[ 3] + clip[ 2]; + frust[5][1] = clip[ 7] + clip[ 6]; + frust[5][2] = clip[11] + clip[10]; + frust[5][3] = clip[15] + clip[14]; + + /* Normalize the result */ + t = sqrt( frust[5][0] * frust[5][0] + frust[5][1] * frust[5][1] + frust[5][2] * frust[5][2] ); + frust[5][0] /= t; + frust[5][1] /= t; + frust[5][2] /= t; + frust[5][3] /= t; + +} + + + +void myProject(float x, float y, float z, short &Xi ) { + float pn[2]; + // x coordinate on screen, not normalized + pn[0] = x * matrix[0] + y * matrix[4] + z * matrix[8] + matrix[12]; + // normalization + pn[1] = x * matrix[3] + y * matrix[7] + z * matrix[11] + matrix[15]; + + // normalized x coordinate on screen + pn[0] /= pn[1]; + + // true x coordinate in viewport coordinate system + Xi = pn[0]*VP[0] + VP[1]; +} + +int LOD2(float x, float y, float z, float size) +{ + size = sqrt(3*size*size); + + short X1; + short X2; + + // onscreen position of the leftmost point + myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1); + // onscreen position of the rightmost point + myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2); + + if (X1 > X2) { + return (X1-X2); + } else { + return (X2-X1); + } +} + +bool LOD(float x, float y, float z, float size) +{ + size = sqrt(3*size*size); + + short X1; + short X2; + + // onscreen position of the leftmost point + myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1); + // onscreen position of the rightmost point + myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2); + + if (X1 > X2) { + return (X1-X2) > DETAIL; + } else { + return (X2-X1) > DETAIL; + } +} + + +/** + * 0 if not in frustrum + * 1 if partial overlap + * 2 if entirely within frustrum + */ +int CubeInFrustum2( float x, float y, float z, float size ) +{ + int p; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fym + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxm + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxp + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + return 0; + } + + // box is in frustrum, now check wether all corners are within. + // If one is outside return 1 otherwise 2 + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] < 0 ) + return 1; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] < 0 ) + return 1; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] < 0 ) + return 1; + + if( Fxp + Fyp + Fzm + frustum[p][3] < 0 ) + return 1; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] < 0 ) + return 1; + + if( Fxp + Fym + Fzp + frustum[p][3] < 0 ) + return 1; + if( Fxm + Fyp + Fzp + frustum[p][3] < 0 ) + return 1; + if( Fxp + Fyp + Fzp + frustum[p][3] < 0 ) + return 1; + } + return 2; + +} + +/* +char PlaneAABB( float x, float y, float z, float size, float *plane ) +{ + float dist = plane[3]; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + + float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + { + Fxm = plane[0] * xm; + Fym = plane[1] * ym; + Fzm = plane[2] * zm; + dmmm = Fxm + Fym + Fzm + dist; + if( dmmm > 0 ) + goto intersects; + + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm > 0 ) + goto intersects; + + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm > 0 ) + goto intersects; + + dppm = Fxp + Fyp + Fzm + dist; + if( dppm > 0 ) + goto intersects; + + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp > 0 ) + goto intersects; + + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp > 0 ) + goto intersects; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp > 0 ) + goto intersects; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp > 0 ) + goto intersects; + return 0; // outside + } + + intersects: + + // cube is inside, determine if plane intersects the cube + { + if( dmmm < 0 ) + return 1; + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + } + + // plane is outside + return 2; + +} +*/ +char PlaneAABB( float x, float y, float z, float size, float *plane ) +{ + float dist = plane[3]; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + + float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + Fxm = plane[0] * xm; + Fym = plane[1] * ym; + Fzm = plane[2] * zm; + dmmm = Fxm + Fym + Fzm + dist; + if( dmmm > 0 ) + { + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm > 0 ) + { + if( dmmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm > 0 ) + { + if( dmmm < 0 || dpmm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + dppm = Fxp + Fyp + Fzm + dist; + if( dppm > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + dppp = Fxp + Fyp + Fzp + dist; + if( dppp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 || dmpp < 0) + return 1; + return 2; + } + return 0; // outside +} + +int QuadInFrustrum2old( float x, float y, float z, float size ) +{ + int p; + + for( p = 0; p < 6; p++ ) + { + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + return 0; + } + + // box is in frustrum, now check wether all corners are within. If one is outside return 1 otherwise 2 + for( p = 0; p < 6; p++ ) + { + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + } + return 2; + +} + +bool CubeInFrustum( float x, float y, float z, float size ) +{ + int p; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fym + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxm + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxp + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + return false; + } + return true; +} + + + + +float minB[NUMDIM], maxB[NUMDIM]; /*box */ +float coord[NUMDIM]; /* hit point */ diff --git a/.svn/pristine/1d/1ddc5261ac14800ca1c9cf86c8dbe6211b4b8781.svn-base b/.svn/pristine/1d/1ddc5261ac14800ca1c9cf86c8dbe6211b4b8781.svn-base new file mode 100644 index 0000000..a310ccb --- /dev/null +++ b/.svn/pristine/1d/1ddc5261ac14800ca1c9cf86c8dbe6211b4b8781.svn-base @@ -0,0 +1,61 @@ +//$$ newmatio.h definition file for matrix package input/output + +// Copyright (C) 1991,2,3,4: R B Davies + +#ifndef NEWMATIO_LIB +#define NEWMATIO_LIB 0 + +#ifndef WANT_STREAM +#define WANT_STREAM +#endif + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +/**************************** input/output *****************************/ + +ostream& operator<<(ostream&, const BaseMatrix&); + +ostream& operator<<(ostream&, const GeneralMatrix&); + + +/* Use in some old versions of G++ without complete iomanipulators + +class Omanip_precision +{ + int x; +public: + Omanip_precision(int i) : x(i) {} + friend ostream& operator<<(ostream& os, Omanip_precision i); +}; + + +Omanip_precision setprecision(int i); + +class Omanip_width +{ + int x; +public: + Omanip_width(int i) : x(i) {} + friend ostream& operator<<(ostream& os, Omanip_width i); +}; + +Omanip_width setw(int i); + +*/ + +#ifdef use_namespace +} +#endif + + + +#endif + +// body file: newmat9.cpp + diff --git a/.svn/pristine/1e/1e01705de838528cb262769618e697421890c0d1.svn-base b/.svn/pristine/1e/1e01705de838528cb262769618e697421890c0d1.svn-base new file mode 100644 index 0000000..5b3f031 --- /dev/null +++ b/.svn/pristine/1e/1e01705de838528cb262769618e697421890c0d1.svn-base @@ -0,0 +1,579 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxBitmapComboBox +// Purpose: A wxComboBox type button for bitmaps and strings +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "bmpcombo.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/menu.h" + #include "wx/settings.h" + #include "wx/bitmap.h" + #include "wx/dc.h" + #include "wx/dcclient.h" + #include "wx/scrolwin.h" +#endif // WX_PRECOMP + +#include "wx/things/bmpcombo.h" + +#define BORDER 4 + +// ============================================================================ +// wxBitmapComboPopupChild +// ============================================================================ +BEGIN_EVENT_TABLE(wxBitmapComboPopupChild, wxScrolledWindow) + EVT_PAINT( wxBitmapComboPopupChild::OnPaint ) + EVT_MOUSE_EVENTS( wxBitmapComboPopupChild::OnMouse ) + EVT_KEY_DOWN( wxBitmapComboPopupChild::OnKeyDown ) +END_EVENT_TABLE() + +wxBitmapComboPopupChild::wxBitmapComboPopupChild(wxWindow *parent, wxBitmapComboBox *owner) + : wxScrolledWindow( parent, wxID_ANY, wxDefaultPosition, + wxDefaultSize, wxSUNKEN_BORDER|wxHSCROLL|wxVSCROLL) +{ + m_bmpCombo = owner; + m_last_selection = -1; + SetBackgroundColour(m_bmpCombo->GetBackgroundColour()); +} + +void wxBitmapComboPopupChild::OnPaint( wxPaintEvent &WXUNUSED(event) ) +{ + wxPaintDC dc(this); + PrepareDC(dc); + //dc.SetBackground(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + //dc.Clear(); + + dc.SetFont(m_bmpCombo->GetFont()); + + int y = 0, dy = m_bmpCombo->GetItemSize().y; + wxPoint origin = dc.GetDeviceOrigin(); + wxSize clientSize = GetClientSize(); + + for (int n=0; nGetCount(); n++) + { + if (y + dy > -origin.y) + { + dc.SetDeviceOrigin(origin.x, origin.y + y + 1); + m_bmpCombo->DrawItem(dc, n); + } + + y += dy; + if (y > -origin.y + clientSize.y) + break; + } + + dc.SetDeviceOrigin(0, 0); + PrepareDC(dc); // reset back + + if (m_bmpCombo->GetSelection() >= 0) + { + if (m_last_selection < 0) + m_last_selection = m_bmpCombo->GetSelection(); + + DrawSelection(m_last_selection, dc); + } +} + +void wxBitmapComboPopupChild::OnMouse( wxMouseEvent &event ) +{ + wxPoint mouse = event.GetPosition(); + CalcUnscrolledPosition(mouse.x, mouse.y, &mouse.x, &mouse.y); + + //wxPrintf(wxT("bmpcombo mouse %d %d\n"), mouse.x, mouse.y); fflush(stdout); + + // Get selection from mouse pos, force valid + int sel = m_bmpCombo->GetItemSize().y != 0 ? mouse.y/m_bmpCombo->GetItemSize().y : -1; + if (sel < 0) + sel = 0; + else if (sel >= m_bmpCombo->GetCount()) + sel = m_bmpCombo->GetCount()-1; + + if (event.LeftDown()) + { + // quickly show user what they selected before hiding it + if (sel != m_last_selection) + { + wxClientDC dc(this); + PrepareDC(dc); + if (m_last_selection >= 0) + DrawSelection(m_last_selection, dc); + if (sel >= 0) + DrawSelection(sel, dc); + + m_last_selection = sel; + } + + m_bmpCombo->SetSelection(sel, true); + m_bmpCombo->HidePopup(); + return; + } +} + +void wxBitmapComboPopupChild::OnKeyDown( wxKeyEvent &event ) +{ + int sel = m_last_selection; + + switch (event.GetKeyCode()) + { + case WXK_ESCAPE : + { + m_bmpCombo->HidePopup(); + return; + } + case WXK_RETURN : + { + m_bmpCombo->SetSelection(sel, true); + m_bmpCombo->HidePopup(); + return; + } + case WXK_UP : sel--; break; + case WXK_DOWN : sel++; break; + default : event.Skip(true); return; + } + + if (sel < 0) + sel = 0; + if (sel >= m_bmpCombo->GetCount()) + sel = m_bmpCombo->GetCount()-1; + + if (sel != m_last_selection) + { + wxClientDC dc(this); + PrepareDC(dc); + if (m_last_selection>=0) + DrawSelection(m_last_selection, dc); + + if (sel>=0) + DrawSelection(sel, dc); + + m_last_selection = sel; + } +} + +void wxBitmapComboPopupChild::DrawSelection( int n, wxDC& dc ) +{ + dc.SetBrush(*wxTRANSPARENT_BRUSH); + dc.SetPen(*wxBLACK_PEN); + dc.SetLogicalFunction(wxINVERT); + int height = m_bmpCombo->GetItemSize().y; + dc.DrawRectangle(0, wxMax(0,height*n-1), GetClientSize().x, height+2); + dc.SetLogicalFunction(wxCOPY); +} + +// ========================================================================== +// wxBitmapComboLabel - the main "window" to the left of the dropdown button +// ========================================================================== +IMPLEMENT_DYNAMIC_CLASS( wxBitmapComboLabel, wxWindow ) + +BEGIN_EVENT_TABLE(wxBitmapComboLabel, wxWindow) + EVT_PAINT( wxBitmapComboLabel::OnPaint ) + EVT_CHAR( wxBitmapComboLabel::OnChar ) +END_EVENT_TABLE() + +void wxBitmapComboLabel::OnChar( wxKeyEvent &event ) +{ + switch (event.GetKeyCode()) + { + case WXK_UP : m_bmpCombo->SetNextSelection(false, true); break; + case WXK_DOWN : m_bmpCombo->SetNextSelection(true, true); break; + default : break; + } +} + +void wxBitmapComboLabel::OnPaint( wxPaintEvent &WXUNUSED(event) ) +{ + wxPaintDC dc(this); + dc.SetFont(m_bmpCombo->GetFont()); + //dc.SetBackground(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + //dc.Clear(); + dc.SetBrush(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + dc.SetPen(*wxTRANSPARENT_PEN); + dc.DrawRectangle(wxRect(wxPoint(0,0), GetClientSize())); + + const int sel = m_bmpCombo->GetSelection(); + if ((sel >= 0) && (sel < m_bmpCombo->GetCount())) + m_bmpCombo->DrawItem(dc, sel); +} + +// ============================================================================ +// wxBitmapComboBox +// ============================================================================ +IMPLEMENT_DYNAMIC_CLASS( wxBitmapComboBox, DropDownBase ) + +BEGIN_EVENT_TABLE(wxBitmapComboBox,DropDownBase) + EVT_SIZE( wxBitmapComboBox::OnSize ) +END_EVENT_TABLE() + +wxBitmapComboBox::~wxBitmapComboBox() +{ + while (m_bitmaps.GetCount() > 0u) + { + wxBitmap *bmp = (wxBitmap*)m_bitmaps.Item(0); + m_bitmaps.RemoveAt(0); + delete bmp; + } +} + +void wxBitmapComboBox::Init() +{ + m_labelWin = NULL; + m_frozen = true; + m_selection = 0; + m_win_border = 0; + m_label_style = wxBMPCOMBO_LEFT; +} + +bool wxBitmapComboBox::Create( wxWindow* parent, wxWindowID id, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!DropDownBase::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name)) + return false; + + m_labelWin = new wxBitmapComboLabel(this); + m_win_border = m_labelWin->GetSize().x - m_labelWin->GetClientSize().x; + + SetBackgroundColour(*wxWHITE); + + m_frozen = false; + CalcLayout(); + + wxSize bestSize = DoGetBestSize(); + SetSize( wxSize(size.x < 0 ? bestSize.x : size.x, + size.y < 0 ? bestSize.y : size.y) ); + + return SetButtonStyle(style); +} + +#define BMPCOMBO_LABEL_MASK (wxBMPCOMBO_LEFT|wxBMPCOMBO_RIGHT) + +bool wxBitmapComboBox::SetButtonStyle(long style) +{ + style &= BMPCOMBO_LABEL_MASK; // strip off extras + + int n_styles = 0; + if (style & wxBMPCOMBO_LEFT) n_styles++; + if (style & wxBMPCOMBO_RIGHT) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxBitmapComboBox label position allowed")); + if (n_styles < 1) style |= (m_label_style & BMPCOMBO_LABEL_MASK); + + m_label_style = style; + + m_labelWin->Refresh(true); + + return true; +} + +void wxBitmapComboBox::OnSize( wxSizeEvent& event ) +{ + event.Skip(); + + if (!m_labelWin || !m_dropdownButton) return; + + wxSize size = GetClientSize(); + //wxPrintf(wxT("ComboOnSize %d %d\n"), size.x, size.y); + int width = size.x - ((wxWindow*)m_dropdownButton)->GetSize().x; + m_labelWin->SetSize(0, 0, width, size.y); +} + +void wxBitmapComboBox::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ +/* + wxSize curSize( GetSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (height == -1) + height = curSize.GetHeight(); +*/ + DropDownBase::DoSetSize(x, y, width, height, sizeFlags); +/* + width = width - ((wxWindow*)m_dropdownButton)->GetSize().x; + m_labelWin->SetSize(0, 0, width, height); +*/ +} + +wxSize wxBitmapComboBox::DoGetBestSize() const +{ + if (GetCount() == 0) return DropDownBase::DoGetBestSize(); + + wxSize size(0,0); + size.x = m_labelSize.x + m_bitmapSize.x + (m_labelSize.x != 0 ? BORDER*2 : 0); + size.y = wxMax(m_labelSize.y, m_bitmapSize.y) + m_win_border; + + size.x += m_win_border + DROPDOWN_DROP_WIDTH; + if (size.y < DROPDOWN_DROP_HEIGHT) size.y = DROPDOWN_DROP_HEIGHT; + + return size; +} + +int wxBitmapComboBox::DoGetBestDropHeight(int max_height) +{ + int count = GetCount(); + if (count < 1) return -1; + + // add one for drawing selection rect + return wxMin(m_itemSize.y*count + m_win_border+1, max_height); +} + +bool wxBitmapComboBox::DoShowPopup() +{ + if (m_popupWin) + { + wxBitmapComboPopupChild *popChild = new wxBitmapComboPopupChild(m_popupWin, this); + m_popupWin->SetChild(popChild); + + if (popChild) + { + popChild->m_last_selection = GetSelection(); + int scr_pos = m_selection > 0 ? m_selection*m_itemSize.y-1 : 0; + int count = GetCount(); + popChild->SetScrollbars(1, 1, m_itemSize.x, m_itemSize.y*count+1, 0, scr_pos); + } + } + + return DropDownBase::DoShowPopup(); +} + +void wxBitmapComboBox::HidePopup() +{ + DropDownBase::HidePopup(); + + // FIXME - MSW destroys the sunken border of labelWin when in toolbar + // a refresh doesn't help +} + +void wxBitmapComboBox::Thaw() +{ + m_frozen = false; + CalcLayout(); + if (m_labelWin) + m_labelWin->Refresh(); +} + +void wxBitmapComboBox::CalcLayout() +{ + if (m_frozen) return; + + int height = 0, width = 0; + m_itemSize = m_labelSize = m_bitmapSize = wxSize(0,0); + int count = GetCount(); + wxBitmap bmp; + + for (int n=0; n m_bitmapSize.x) m_bitmapSize.x = width; + if (height > m_bitmapSize.y) m_bitmapSize.y = height; + } + if (!m_labels[n].IsEmpty()) + { + GetTextExtent(m_labels[n], &width, &height); + + if (width > m_labelSize.x) m_labelSize.x = width; + if (height > m_labelSize.y) m_labelSize.y = height; + } + } + + m_itemSize.x = m_labelSize.x + m_bitmapSize.x + m_win_border; + m_itemSize.y = wxMax(m_labelSize.y, m_bitmapSize.y) + m_win_border; +} + +void wxBitmapComboBox::CalcLabelBitmapPos(int n, const wxSize &area, wxPoint &labelPos, wxPoint &bitmapPos) const +{ + labelPos = bitmapPos = wxPoint(0,0); + + int bw = 0, bh = 0; + int lw = 0, lh = 0; + + if (GetBitmap(n).Ok()) + { + bw = GetBitmap(n).GetWidth(); + bh = GetBitmap(n).GetHeight(); + } + if (!m_labels[n].IsEmpty()) + { + GetTextExtent(m_labels[n], &lw, &lh); + } + + if (m_bitmapSize.x == 0) // There aren't any bitmaps, left align label + { + labelPos = wxPoint(BORDER, (area.y-lh)/2); + } + else if (m_labelSize.x == 0) // There aren't any labels, center bitmap + { + bitmapPos = wxPoint((area.x-bw)/2, (area.y-bh)/2); + } + else if ((m_label_style & wxBMPCOMBO_RIGHT) != 0) + { + labelPos = wxPoint(m_bitmapSize.x+BORDER, (area.y - lh)/2); + bitmapPos = wxPoint((m_bitmapSize.x-bw)/2, (area.y - bh)/2); + } + else // if ((m_label_style & wxBMPCOMBO_LEFT) != 0) + { + labelPos = wxPoint(BORDER, (area.y - lh)/2); + bitmapPos = wxPoint(BORDER*2 + m_labelSize.x + (area.x - BORDER*2 - m_labelSize.x - bw)/2, (area.y - bh)/2); + } +} + +void wxBitmapComboBox::DrawItem(wxDC &dc, int n) const +{ + wxSize itemSize(GetItemSize()); //((wxWindow*)GetLabelWindow())->GetClientSize().x, dy); + + wxPoint labelPos, bitmapPos; + CalcLabelBitmapPos(n, itemSize, labelPos, bitmapPos); + + if (GetBitmap(n).Ok()) + dc.DrawBitmap(GetBitmap(n), bitmapPos.x, bitmapPos.y, true); + if (!GetLabel(n).IsEmpty()) + dc.DrawText(GetLabel(n), labelPos.x, labelPos.y); +} + +void wxBitmapComboBox::Append(const wxString &label, const wxBitmap &bitmap, int count) +{ + for (int n=0; n=0) && (n 0u) + { + wxBitmap *bmp = (wxBitmap*)m_bitmaps.Item(0); + m_bitmaps.RemoveAt(0); + delete bmp; + } + CalcLayout(); +} + +void wxBitmapComboBox::Delete( int n, int count ) +{ + wxCHECK_RET((n>=0) && (count>0) && (n+count<=GetCount()), wxT("invalid index")); + + for (int i=0; i=0) && (n < GetCount()), wxEmptyString, wxT("invalid index")); + return m_labels[n]; +} + +wxBitmap wxBitmapComboBox::GetBitmap( int n ) const +{ + wxCHECK_MSG((n>=0) && (n < GetCount()), wxNullBitmap, wxT("invalid index")); + return *(wxBitmap *)m_bitmaps.Item(n); +} + +void wxBitmapComboBox::SetSelection( int n, bool send_event ) +{ + wxCHECK_RET((n>=0) && (n < GetCount()), wxT("invalid index")); + m_selection = n; + m_labelWin->Refresh(true); + + if (send_event) + { + wxCommandEvent event( wxEVT_COMMAND_COMBOBOX_SELECTED, GetId() ); + event.SetInt( m_selection ); + event.SetEventObject( this ); + GetEventHandler()->ProcessEvent( event ); + } +} + +void wxBitmapComboBox::SetNextSelection(bool foward, bool send_event) +{ + const int count = GetCount(); + if (count == 0) return; + + int sel = m_selection; + + if (foward) + { + if ((sel < 0) || (sel == count - 1)) + sel = 0; + else + sel++; + } + else + { + if (sel <= 0) + sel = count - 1; + else + sel--; + } + + SetSelection(sel, send_event); +} + +void wxBitmapComboBox::SetLabel(int n, const wxString &label) +{ + wxCHECK_RET( (n>=0) && (n < GetCount()), wxT("invalid index")); + m_labels[n] = label; + CalcLayout(); + + if (n == m_selection) m_labelWin->Refresh(false); +} + +void wxBitmapComboBox::SetBitmap(int n, const wxBitmap &bitmap) +{ + wxCHECK_RET((n>=0) && (n < GetCount()), wxT("invalid index")); + *((wxBitmap*)m_bitmaps.Item(n)) = bitmap; + CalcLayout(); + + if (n == m_selection) m_labelWin->Refresh(false); +} + +bool wxBitmapComboBox::SetBackgroundColour(const wxColour &colour) +{ + // not a failure for wx 2.5.x since InheritAttributes calls this + // from wxWindow::Create + if (m_labelWin) + { + m_labelWin->SetBackgroundColour(colour); + m_labelWin->Refresh(); + } + return DropDownBase::SetBackgroundColour(colour); +} diff --git a/.svn/pristine/1e/1e227ff6313550051b9fb033d091ebd858fe683a.svn-base b/.svn/pristine/1e/1e227ff6313550051b9fb033d091ebd858fe683a.svn-base new file mode 100644 index 0000000..68024a3 --- /dev/null +++ b/.svn/pristine/1e/1e227ff6313550051b9fb033d091ebd858fe683a.svn-base @@ -0,0 +1,950 @@ +//$$ newmat4.cpp Constructors, ReSize, basic utilities + +// Copyright (C) 1991,2,3,4,8,9: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,4); ++ExeCount; } +#else +#define REPORT {} +#endif + + +#define DO_SEARCH // search for LHS of = in RHS + +// ************************* general utilities *************************/ + +static int tristore(int n) // elements in triangular matrix +{ return (n*(n+1))/2; } + + +// **************************** constructors ***************************/ + +GeneralMatrix::GeneralMatrix() +{ store=0; storage=0; nrows=0; ncols=0; tag=-1; } + +GeneralMatrix::GeneralMatrix(ArrayLengthSpecifier s) +{ + REPORT + storage=s.Value(); tag=-1; + if (storage) + { + store = new Real [storage]; MatrixErrorNoSpace(store); + MONITOR_REAL_NEW("Make (GenMatrix)",storage,store) + } + else store = 0; +} + +Matrix::Matrix(int m, int n) : GeneralMatrix(m*n) +{ REPORT nrows=m; ncols=n; } + +SymmetricMatrix::SymmetricMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +UpperTriangularMatrix::UpperTriangularMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +LowerTriangularMatrix::LowerTriangularMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +DiagonalMatrix::DiagonalMatrix(ArrayLengthSpecifier m) : GeneralMatrix(m) +{ REPORT nrows=m.Value(); ncols=m.Value(); } + +Matrix::Matrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Rt); + GetMatrix(gmx); +} + +RowVector::RowVector(const BaseMatrix& M) : Matrix(M) +{ + if (nrows!=1) + { + Tracer tr("RowVector"); + Throw(VectorException(*this)); + } +} + +ColumnVector::ColumnVector(const BaseMatrix& M) : Matrix(M) +{ + if (ncols!=1) + { + Tracer tr("ColumnVector"); + Throw(VectorException(*this)); + } +} + +SymmetricMatrix::SymmetricMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Sm); + GetMatrix(gmx); +} + +UpperTriangularMatrix::UpperTriangularMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::UT); + GetMatrix(gmx); +} + +LowerTriangularMatrix::LowerTriangularMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::LT); + GetMatrix(gmx); +} + +DiagonalMatrix::DiagonalMatrix(const BaseMatrix& M) +{ + REPORT //CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Dg); + GetMatrix(gmx); +} + +IdentityMatrix::IdentityMatrix(const BaseMatrix& M) +{ + REPORT //CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Id); + GetMatrix(gmx); +} + +GeneralMatrix::~GeneralMatrix() +{ + if (store) + { + MONITOR_REAL_DELETE("Free (GenMatrix)",storage,store) + delete [] store; + } +} + +CroutMatrix::CroutMatrix(const BaseMatrix& m) +{ + REPORT + Tracer tr("CroutMatrix"); + indx = 0; // in case of exception at next line + GeneralMatrix* gm = ((BaseMatrix&)m).Evaluate(MatrixType::Rt); + GetMatrix(gm); + if (nrows!=ncols) { CleanUp(); Throw(NotSquareException(*gm)); } + d=true; sing=false; + indx=new int [nrows]; MatrixErrorNoSpace(indx); + MONITOR_INT_NEW("Index (CroutMat)",nrows,indx) + ludcmp(); +} + +CroutMatrix::~CroutMatrix() +{ + MONITOR_INT_DELETE("Index (CroutMat)",nrows,indx) + delete [] indx; +} + +//ReturnMatrixX::ReturnMatrixX(GeneralMatrix& gmx) +//{ +// REPORT +// gm = gmx.Image(); gm->ReleaseAndDelete(); +//} + +#ifndef TEMPS_DESTROYED_QUICKLY_R + +GeneralMatrix::operator ReturnMatrixX() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + return ReturnMatrixX(gm); +} + +#else + +GeneralMatrix::operator ReturnMatrixX&() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + ReturnMatrixX* x = new ReturnMatrixX(gm); + MatrixErrorNoSpace(x); return *x; +} + +#endif + +#ifndef TEMPS_DESTROYED_QUICKLY_R + +ReturnMatrixX GeneralMatrix::ForReturn() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + return ReturnMatrixX(gm); +} + +#else + +ReturnMatrixX& GeneralMatrix::ForReturn() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + ReturnMatrixX* x = new ReturnMatrixX(gm); + MatrixErrorNoSpace(x); return *x; +} + +#endif + +// ************************** ReSize matrices ***************************/ + +void GeneralMatrix::ReSize(int nr, int nc, int s) +{ + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (ReDimensi)",storage,store) + delete [] store; + } + storage=s; nrows=nr; ncols=nc; tag=-1; + if (s) + { + store = new Real [storage]; MatrixErrorNoSpace(store); + MONITOR_REAL_NEW("Make (ReDimensi)",storage,store) + } + else store = 0; +} + +void Matrix::ReSize(int nr, int nc) +{ REPORT GeneralMatrix::ReSize(nr,nc,nr*nc); } + +void SymmetricMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void UpperTriangularMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void LowerTriangularMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void DiagonalMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,nr); } + +void RowVector::ReSize(int nc) +{ REPORT GeneralMatrix::ReSize(1,nc,nc); } + +void ColumnVector::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,1,nr); } + +void RowVector::ReSize(int nr, int nc) +{ + Tracer tr("RowVector::ReSize"); + if (nr != 1) Throw(VectorException(*this)); + REPORT GeneralMatrix::ReSize(1,nc,nc); +} + +void ColumnVector::ReSize(int nr, int nc) +{ + Tracer tr("ColumnVector::ReSize"); + if (nc != 1) Throw(VectorException(*this)); + REPORT GeneralMatrix::ReSize(nr,1,nr); +} + +void IdentityMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,1); *store = 1; } + + +void Matrix::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void nricMatrix::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void ColumnVector::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void RowVector::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void SymmetricMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("SymmetricMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void DiagonalMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("DiagonalMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void UpperTriangularMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("UpperTriangularMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void LowerTriangularMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("LowerTriangularMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void IdentityMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("IdentityMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void GeneralMatrix::ReSize(const GeneralMatrix&) +{ + REPORT + Tracer tr("GeneralMatrix::ReSize(GM)"); + Throw(NotDefinedException("ReSize", "this type of matrix")); +} + +void GeneralMatrix::ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix&) +{ REPORT ReSize(A); } + +void GeneralMatrix::ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix&) +{ REPORT ReSize(A); } + + +// ************************* SameStorageType ******************************/ + +// SameStorageType checks A and B have same storage type including bandwidth +// It does not check same dimensions since we assume this is already done + +bool GeneralMatrix::SameStorageType(const GeneralMatrix& A) const +{ + REPORT + return Type() == A.Type(); +} + + +// ******************* manipulate types, storage **************************/ + +int GeneralMatrix::search(const BaseMatrix* s) const +{ REPORT return (s==this) ? 1 : 0; } + +int GenericMatrix::search(const BaseMatrix* s) const +{ REPORT return gm->search(s); } + +int MultipliedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm1->search(s) + bm2->search(s); } + +int ShiftedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm->search(s); } + +int NegatedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm->search(s); } + +int ReturnMatrixX::search(const BaseMatrix* s) const +{ REPORT return (s==gm) ? 1 : 0; } + +MatrixType Matrix::Type() const { return MatrixType::Rt; } +MatrixType SymmetricMatrix::Type() const { return MatrixType::Sm; } +MatrixType UpperTriangularMatrix::Type() const { return MatrixType::UT; } +MatrixType LowerTriangularMatrix::Type() const { return MatrixType::LT; } +MatrixType DiagonalMatrix::Type() const { return MatrixType::Dg; } +MatrixType RowVector::Type() const { return MatrixType::RV; } +MatrixType ColumnVector::Type() const { return MatrixType::CV; } +MatrixType CroutMatrix::Type() const { return MatrixType::Ct; } +MatrixType BandMatrix::Type() const { return MatrixType::BM; } +MatrixType UpperBandMatrix::Type() const { return MatrixType::UB; } +MatrixType LowerBandMatrix::Type() const { return MatrixType::LB; } +MatrixType SymmetricBandMatrix::Type() const { return MatrixType::SB; } + +MatrixType IdentityMatrix::Type() const { return MatrixType::Id; } + + + +MatrixBandWidth BaseMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth DiagonalMatrix::BandWidth() const { REPORT return 0; } +MatrixBandWidth IdentityMatrix::BandWidth() const { REPORT return 0; } + +MatrixBandWidth UpperTriangularMatrix::BandWidth() const + { REPORT return MatrixBandWidth(0,-1); } + +MatrixBandWidth LowerTriangularMatrix::BandWidth() const + { REPORT return MatrixBandWidth(-1,0); } + +MatrixBandWidth BandMatrix::BandWidth() const + { REPORT return MatrixBandWidth(lower,upper); } + +MatrixBandWidth GenericMatrix::BandWidth()const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth AddedMatrix::BandWidth() const + { REPORT return gm1->BandWidth() + gm2->BandWidth(); } + +MatrixBandWidth SPMatrix::BandWidth() const + { REPORT return gm1->BandWidth().minimum(gm2->BandWidth()); } + +MatrixBandWidth KPMatrix::BandWidth() const +{ + int lower, upper; + MatrixBandWidth bw1 = gm1->BandWidth(), bw2 = gm2->BandWidth(); + if (bw1.Lower() < 0) + { + if (bw2.Lower() < 0) { REPORT lower = -1; } + else { REPORT lower = bw2.Lower() + (gm1->Nrows() - 1) * gm2->Nrows(); } + } + else + { + if (bw2.Lower() < 0) + { REPORT lower = (1 + bw1.Lower()) * gm2->Nrows() - 1; } + else { REPORT lower = bw2.Lower() + bw1.Lower() * gm2->Nrows(); } + } + if (bw1.Upper() < 0) + { + if (bw2.Upper() < 0) { REPORT upper = -1; } + else { REPORT upper = bw2.Upper() + (gm1->Nrows() - 1) * gm2->Nrows(); } + } + else + { + if (bw2.Upper() < 0) + { REPORT upper = (1 + bw1.Upper()) * gm2->Nrows() - 1; } + else { REPORT upper = bw2.Upper() + bw1.Upper() * gm2->Nrows(); } + } + return MatrixBandWidth(lower, upper); +} + +MatrixBandWidth MultipliedMatrix::BandWidth() const +{ REPORT return gm1->BandWidth() * gm2->BandWidth(); } + +MatrixBandWidth ConcatenatedMatrix::BandWidth() const { REPORT return -1; } + +MatrixBandWidth SolvedMatrix::BandWidth() const +{ + if (+gm1->Type() & MatrixType::Diagonal) + { REPORT return gm2->BandWidth(); } + else { REPORT return -1; } +} + +MatrixBandWidth ScaledMatrix::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth NegatedMatrix::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth TransposedMatrix::BandWidth() const + { REPORT return gm->BandWidth().t(); } + +MatrixBandWidth InvertedMatrix::BandWidth() const +{ + if (+gm->Type() & MatrixType::Diagonal) + { REPORT return MatrixBandWidth(0,0); } + else { REPORT return -1; } +} + +MatrixBandWidth RowedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth ColedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth DiagedMatrix::BandWidth() const { REPORT return 0; } +MatrixBandWidth MatedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth ReturnMatrixX::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth GetSubMatrix::BandWidth() const +{ + + if (row_skip==col_skip && row_number==col_number) + { REPORT return gm->BandWidth(); } + else { REPORT return MatrixBandWidth(-1); } +} + +// ********************** the memory managment tools **********************/ + +// Rules regarding tDelete, reuse, GetStore +// All matrices processed during expression evaluation must be subject +// to exactly one of reuse(), tDelete(), GetStore() or BorrowStore(). +// If reuse returns true the matrix must be reused. +// GetMatrix(gm) always calls gm->GetStore() +// gm->Evaluate obeys rules +// bm->Evaluate obeys rules for matrices in bm structure + +void GeneralMatrix::tDelete() +{ + if (tag<0) + { + if (tag<-1) { REPORT store=0; delete this; return; } // borrowed + else { REPORT return; } + } + if (tag==1) + { + if (store) + { + REPORT MONITOR_REAL_DELETE("Free (tDelete)",storage,store) + delete [] store; + } + store=0; CleanUp(); tag=-1; return; + } + if (tag==0) { REPORT delete this; return; } + REPORT tag--; return; +} + +static void BlockCopy(int n, Real* from, Real* to) +{ + REPORT + int i = (n >> 3); + while (i--) + { + *to++ = *from++; *to++ = *from++; *to++ = *from++; *to++ = *from++; + *to++ = *from++; *to++ = *from++; *to++ = *from++; *to++ = *from++; + } + i = n & 7; while (i--) *to++ = *from++; +} + +bool GeneralMatrix::reuse() +{ + if (tag<-1) + { + if (storage) + { + REPORT + Real* s = new Real [storage]; MatrixErrorNoSpace(s); + MONITOR_REAL_NEW("Make (reuse)",storage,s) + BlockCopy(storage, store, s); store=s; + } + else { REPORT store = 0; CleanUp(); } + tag=0; return true; + } + if (tag<0) { REPORT return false; } + if (tag<=1) { REPORT return true; } + REPORT tag--; return false; +} + +Real* GeneralMatrix::GetStore() +{ + if (tag<0 || tag>1) + { + Real* s; + if (storage) + { + s = new Real [storage]; MatrixErrorNoSpace(s); + MONITOR_REAL_NEW("Make (GetStore)",storage,s) + BlockCopy(storage, store, s); + } + else s = 0; + if (tag>1) { REPORT tag--; } + else if (tag < -1) { REPORT store=0; delete this; } // borrowed store + else { REPORT } + return s; + } + Real* s=store; store=0; + if (tag==0) { REPORT delete this; } + else { REPORT CleanUp(); tag=-1; } + return s; +} + +void GeneralMatrix::GetMatrix(const GeneralMatrix* gmx) +{ + REPORT tag=-1; nrows=gmx->Nrows(); ncols=gmx->Ncols(); + storage=gmx->storage; SetParameters(gmx); + store=((GeneralMatrix*)gmx)->GetStore(); +} + +GeneralMatrix* GeneralMatrix::BorrowStore(GeneralMatrix* gmx, MatrixType mt) +// Copy storage of *this to storage of *gmx. Then convert to type mt. +// If mt == 0 just let *gmx point to storage of *this if tag==-1. +{ + if (!mt) + { + if (tag == -1) { REPORT gmx->tag = -2; gmx->store = store; } + else { REPORT gmx->tag = 0; gmx->store = GetStore(); } + } + else if (Compare(gmx->Type(),mt)) + { REPORT gmx->tag = 0; gmx->store = GetStore(); } + else + { + REPORT gmx->tag = -2; gmx->store = store; + gmx = gmx->Evaluate(mt); gmx->tag = 0; tDelete(); + } + + return gmx; +} + +void GeneralMatrix::Eq(const BaseMatrix& X, MatrixType mt) +// Count number of references to this in X. +// If zero delete storage in this; +// otherwise tag this to show when storage can be deleted +// evaluate X and copy to this +{ +#ifdef DO_SEARCH + int counter=X.search(this); + if (counter==0) + { + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (operator=)",storage,store) + REPORT delete [] store; storage=0; store = 0; + } + } + else { REPORT Release(counter); } + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) { REPORT GetMatrix(gmx); } + else { REPORT } + Protect(); +#else + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) + { + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (operator=)",storage,store) + REPORT delete [] store; storage=0; store = 0; + } + GetMatrix(gmx); + } + else { REPORT } + Protect(); +#endif +} + +// version to work with operator<< +void GeneralMatrix::Eq(const BaseMatrix& X, MatrixType mt, bool ldok) +{ + REPORT + if (ldok) mt.SetDataLossOK(); + Eq(X, mt); +} + +void GeneralMatrix::Eq2(const BaseMatrix& X, MatrixType mt) +// a cut down version of Eq for use with += etc. +// we know BaseMatrix points to two GeneralMatrix objects, +// the first being this (may be the same). +// we know tag has been set correctly in each. +{ + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) { REPORT GetMatrix(gmx); } // simplify GetMatrix ? + else { REPORT } + Protect(); +} + +void GeneralMatrix::Inject(const GeneralMatrix& X) +// copy stored values of X; otherwise leave els of *this unchanged +{ + REPORT + Tracer tr("Inject"); + if (nrows != X.nrows || ncols != X.ncols) + Throw(IncompatibleDimensionsException()); + MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry); + MatrixRow mrx(this, LoadOnEntry+StoreOnExit+DirectPart); + int i=nrows; + while (i--) { mrx.Inject(mr); mrx.Next(); mr.Next(); } +} + +// ************* checking for data loss during conversion *******************/ + +bool Compare(const MatrixType& source, MatrixType& destination) +{ + if (!destination) { destination=source; return true; } + if (destination==source) return true; + if (!destination.DataLossOK && !(destination>=source)) + Throw(ProgramException("Illegal Conversion", source, destination)); + return false; +} + +// ************* Make a copy of a matrix on the heap *********************/ + +GeneralMatrix* Matrix::Image() const +{ + REPORT + GeneralMatrix* gm = new Matrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* SymmetricMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new SymmetricMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* UpperTriangularMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new UpperTriangularMatrix(*this); + MatrixErrorNoSpace(gm); return gm; +} + +GeneralMatrix* LowerTriangularMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new LowerTriangularMatrix(*this); + MatrixErrorNoSpace(gm); return gm; +} + +GeneralMatrix* DiagonalMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new DiagonalMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* RowVector::Image() const +{ + REPORT + GeneralMatrix* gm = new RowVector(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* ColumnVector::Image() const +{ + REPORT + GeneralMatrix* gm = new ColumnVector(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* BandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new BandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* UpperBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new UpperBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* LowerBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new LowerBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* SymmetricBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new SymmetricBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* nricMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new nricMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* IdentityMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new IdentityMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* GeneralMatrix::Image() const +{ + bool dummy = true; + if (dummy) // get rid of warning message + Throw(InternalException("Cannot apply Image to this matrix type")); + return 0; +} + + +// *********************** nricMatrix routines *****************************/ + +void nricMatrix::MakeRowPointer() +{ + if (nrows > 0) + { + row_pointer = new Real* [nrows]; MatrixErrorNoSpace(row_pointer); + Real* s = Store() - 1; int i = nrows; Real** rp = row_pointer; + if (i) for (;;) { *rp++ = s; if (!(--i)) break; s+=ncols; } + } + else row_pointer = 0; +} + +void nricMatrix::DeleteRowPointer() +{ if (nrows) delete [] row_pointer; } + +void GeneralMatrix::CheckStore() const +{ + if (!store) + Throw(ProgramException("NRIC accessing matrix with unset dimensions")); +} + + +// *************************** CleanUp routines *****************************/ + +void GeneralMatrix::CleanUp() +{ + // set matrix dimensions to zero, delete storage + REPORT + if (store && storage) + { + MONITOR_REAL_DELETE("Free (CleanUp) ",storage,store) + REPORT delete [] store; + } + store=0; storage=0; nrows=0; ncols=0; +} + +void nricMatrix::CleanUp() +{ DeleteRowPointer(); GeneralMatrix::CleanUp(); } + +void RowVector::CleanUp() +{ GeneralMatrix::CleanUp(); nrows=1; } + +void ColumnVector::CleanUp() +{ GeneralMatrix::CleanUp(); ncols=1; } + +void CroutMatrix::CleanUp() +{ + if (nrows) delete [] indx; + GeneralMatrix::CleanUp(); +} + +void BandLUMatrix::CleanUp() +{ + if (nrows) delete [] indx; + if (storage2) delete [] store2; + GeneralMatrix::CleanUp(); +} + +// ************************ simple integer array class *********************** + +// construct a new array of length xn. Check that xn is non-negative and +// that space is available + +SimpleIntArray::SimpleIntArray(int xn) : n(xn) +{ + if (n < 0) Throw(Logic_error("invalid array length")); + else if (n == 0) { REPORT a = 0; } + else { REPORT a = new int [n]; if (!a) Throw(Bad_alloc()); } +} + +// destroy an array - return its space to memory + +SimpleIntArray::~SimpleIntArray() { REPORT if (a) delete [] a; } + +// access an element of an array; return a "reference" so elements +// can be modified. +// check index is within range +// in this array class the index runs from 0 to n-1 + +int& SimpleIntArray::operator[](int i) +{ + REPORT + if (i < 0 || i >= n) Throw(Logic_error("array index out of range")); + return a[i]; +} + +// same thing again but for arrays declared constant so we can't +// modify its elements + +int SimpleIntArray::operator[](int i) const +{ + REPORT + if (i < 0 || i >= n) Throw(Logic_error("array index out of range")); + return a[i]; +} + +// set all the elements equal to a given value + +void SimpleIntArray::operator=(int ai) + { REPORT for (int i = 0; i < n; i++) a[i] = ai; } + +// set the elements equal to those of another array. +// check the arrays are of the same length + +void SimpleIntArray::operator=(const SimpleIntArray& b) +{ + REPORT + if (b.n != n) Throw(Logic_error("array lengths differ in copy")); + for (int i = 0; i < n; i++) a[i] = b.a[i]; +} + +// construct a new array equal to an existing array +// check that space is available + +SimpleIntArray::SimpleIntArray(const SimpleIntArray& b) : n(b.n) +{ + if (n == 0) { REPORT a = 0; } + else + { + REPORT + a = new int [n]; if (!a) Throw(Bad_alloc()); + for (int i = 0; i < n; i++) a[i] = b.a[i]; + } +} + +// change the size of an array; optionally copy data from old array to +// new array + +void SimpleIntArray::ReSize(int n1, bool keep) +{ + if (n1 == n) { REPORT return; } + else if (n1 == 0) { REPORT n = 0; delete [] a; a = 0; } + else if (n == 0) + { REPORT a = new int [n1]; if (!a) Throw(Bad_alloc()); n = n1; } + else + { + int* a1 = a; + if (keep) + { + REPORT + a = new int [n1]; if (!a) Throw(Bad_alloc()); + if (n > n1) n = n1; + for (int i = 0; i < n; i++) a[i] = a1[i]; + n = n1; delete [] a1; + } + else + { + REPORT n = n1; delete [] a1; + a = new int [n]; if (!a) Throw(Bad_alloc()); + } + } +} + + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/1e/1ea44db6aa5034ef5b376d762f8f69ac75dcb20f.svn-base b/.svn/pristine/1e/1ea44db6aa5034ef5b376d762f8f69ac75dcb20f.svn-base new file mode 100644 index 0000000..c0a18f4 --- /dev/null +++ b/.svn/pristine/1e/1ea44db6aa5034ef5b376d762f8f69ac75dcb20f.svn-base @@ -0,0 +1,5016 @@ + +Begin test +Now print a real number: 3.14159 + +Matrix type: Rect (1, 8) + +0 0 0 0 0 0 0 1 + ++ UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Sym Sym Rect Rect Rect Sym Sym +Diag UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Sym SmBnd Band Band Band SmBnd SmBnd +Ident UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident + +* UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Diag UT LT Rect Rect Diag Band UpBnd LwBnd Band Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Rect Band Band Band Band Band Band +Ident UT LT Rect Rect Diag Band UpBnd LwBnd Band Ident + +| UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +LT Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Diag Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Band Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +UpBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +LwBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +SmBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Ident Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect + +SP UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Diag UT UT Diag UpBnd UpBnd Diag UpBnd Diag +LT Diag LT LT LT Diag LwBnd Diag LwBnd LwBnd Diag +Rect UT LT Rect Rect Diag Band UpBnd LwBnd Band Diag +Sym UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Diag Diag Diag Diag Diag Diag Diag Diag Diag Diag Diag +Band UpBnd LwBnd Band Band Diag Band UpBnd LwBnd Band Diag +UpBnd UpBnd Diag UpBnd UpBnd Diag UpBnd UpBnd Diag UpBnd Diag +LwBnd Diag LwBnd LwBnd LwBnd Diag LwBnd Diag LwBnd LwBnd Diag +SmBnd UpBnd LwBnd Band SmBnd Diag Band UpBnd LwBnd SmBnd Diag +Ident Diag Diag Diag Diag Diag Diag Diag Diag Diag Ident + +KP UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Sym Sym Rect Rect Rect Sym Sym +Diag UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Sym SmBnd Band Band Band SmBnd SmBnd +Ident UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag + +>= UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT Yes No Yes No No No No No No No +LT No Yes Yes No No No No No No No +Rect No No Yes No No No No No No No +Sym No No Yes Yes No No No No No No +Diag Yes Yes Yes Yes Yes Yes Yes Yes Yes No +Band No No Yes No No Yes No No No No +UpBnd Yes No Yes No No Yes Yes No No No +LwBnd No Yes Yes No No Yes No Yes No No +SmBnd No No Yes Yes No Yes No No Yes No +Ident Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes + + + * First test of Matrix package + * Matrix test program + +Matrix type: LT (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: UT (9, 9) + +All elements are zero + +Matrix type: Rect (9, 9) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 8) + +All elements are zero + +Matrix type: Rect (20, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + + * Second test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (20, 1) + +All elements are zero + +Matrix type: Rect (4, 7) + +All elements are zero + +Matrix type: Rect (4, 7) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (0, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (1, 0) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (14, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (4, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + + * Third test of Matrix package + * Matrix test program + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (6, 7) + +All elements are zero + +Matrix type: Rect (6, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + + * Fourth test of Matrix package + * Matrix test program + +Matrix type: Rect (3, 10) + +All elements are zero + +Matrix type: Rect (3, 10) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (5, 8) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Diag (1, 1) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + + * Fifth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (2, 3) + +All elements are zero + +Matrix type: Rect (3, 2) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (5, 6) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Diag (31, 31) + +All elements are zero + + * Sixth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + + * Seventh test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 121) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + + * Eighth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: UT (4, 4) + +All elements are zero + +Matrix type: Diag (12, 12) + +All elements are zero + +Matrix type: Rect (10, 6) + +All elements are zero + +Matrix type: Rect (5, 9) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (6, 0) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + + * Ninth test of Matrix package + * Matrix test program + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 3) + +All elements are zero + +Matrix type: Rect (7, 3) + +All elements are zero + +Matrix type: Rect (3, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Tenth test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 6) + +All elements are zero + +Matrix type: Rect (8, 6) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: UT (4, 4) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Eleventh test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (3, 4) + +All elements are zero + +Matrix type: Rect (6, 4) + +All elements are zero + +Matrix type: Rect (7, 6) + +All elements are zero + +Matrix type: Rect (3, 4) + +All elements are zero + +Matrix type: Rect (2, 3) + +All elements are zero + + * Twelfth test of Matrix package + * Matrix test program + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (3, 5) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: UT (5, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: UT (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: Rect (5, 8) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + + * Thirteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (20, 5) + +All elements are zero + +Matrix type: Rect (20, 3) + +All elements are zero + +Matrix type: Rect (5, 3) + +All elements are zero + +Matrix type: Rect (3, 5) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (50, 50) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Fourteenth test of Matrix package + * Matrix test program + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (21, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Rect (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Rect (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (22, 20) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Sym (10, 10) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + + * Fifteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (98, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (2450, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (98, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (2450, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + + * Sixteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 8) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 5) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + + * Seventeenth test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (7, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (9, 2) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: UT (25, 25) + +All elements are zero + +Matrix type: LT (25, 25) + +All elements are zero + +Matrix type: Diag (25, 25) + +All elements are zero + +Matrix type: Sym (25, 25) + +All elements are zero + +Matrix type: Diag (25, 25) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + + * Eighteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (23, 1) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + + * Nineteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: UT (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + + * Twentieth test of Matrix package + * Matrix test program +C subscripts not enabled, not tested + + + * Twenty first test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 28) + +All elements are zero + + * Twenty second test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 9) + +All elements are zero + +Matrix type: Diag (150, 150) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: LT (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: LT (12, 12) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: UT (24, 24) + +All elements are zero + +Matrix type: LT (24, 24) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +End of tests + +(The following memory checks are probably not valid with all +compilers - see documentation) + +Checking for lost memory: 8797116 8797116 - ok + +Checking for lost memory: 8797116 8797116 - ok + +Number of matrices tested = 1215 +Number of non-zero matrices (should be 1) = 1 diff --git a/.svn/pristine/1f/1f0f3764fc269eaae44e1929506122e71791fb3f.svn-base b/.svn/pristine/1f/1f0f3764fc269eaae44e1929506122e71791fb3f.svn-base new file mode 100644 index 0000000..4b9ed98 --- /dev/null +++ b/.svn/pristine/1f/1f0f3764fc269eaae44e1929506122e71791fb3f.svn-base @@ -0,0 +1,96 @@ +/** + * @file registration.h + * @brife register two scans. + * This class register two scans with respect to the matched features. + * It determines the transformation matrix. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/30 1:00 + */ + +#ifndef REGISTRATION_H_ +#define REGISTRATION_H_ + +#include "fbr_global.h" +#include "slam6d/icp6Dquat.h" + +using namespace std; + +namespace fbr{ + /** + * @class registration : registers two scnas + * @param minDistance threshold for min distance between the each three points for registration process + * @param minError threshold for min error after transformation of a point from second coordinate to first to determin the inliers + * @param minInlier threshold fir min inlier to consider the align as positive + * @param rMethod registration Method + * @param bAlign best alignment + * @param bError error of registration with bAlign + * @param bErrorIndex error index of registration with bAlign + */ + class registration{ + unsigned int minDistance; + double minError; + unsigned int minInlier; + registration_method rMethod; + double bestAlign[16]; + double bestError; + unsigned int bestErrorIndex; + + /** + * getCoord : get 3D coordinate of query scan and train scan for each match + * @param fKeypoints vector of KeyPoints from query (first) scan + * @param sKeypoints vector of KeyPoints from train (second) scan + * @param matches vector holding found matches + * @param fPMap Mat containing the 3D coordinate of each match from query scan + * @param sPMap Mat containing the 3D coordinate of each match from train scan + * @param idx index of the match + * @param cq Point3f for returning the 3D coordinate of query scan + * @param ct Point3f for returning the 3D coordinate of train scan + * @return 1 on success 0 on failure + */ + int getCoord( vector fKeypoints, vector sKeypoints, vector matches, cv::Mat fPMap, cv::Mat sPMap, int idx, cv::Point3f& cq, cv::Point3f& ct); + /** + * pointToArray : convert 3D point3f to double array + * @param c 3D point whith Point3f type + * @param cd returning 3d point as double array + */ + void pointToArray(cv::Point3f c, double* cd); + /** + * coordTransform : transform a point with the align + * @param p input train 3D point + * @param align input transformation matrix + * @return Point3f trasformed 3D point + */ + cv::Point3f coordTransform(cv::Point3f p, double* align); + /** + * findAlign : find the best align + * @param fPMap input Mat wich contains the 3D coordinates of each pixel of first panorama image + * @param fKeypoints vector containing the features of first panorama image + * @param sPMap input Mat wich contains the 3D coordinates of each pixel of second panorama image + * @param sKeypoints vector containing the features of second panorama image + * @param matches vector containing the matched features of both images + */ + int findAlign(unsigned int i, unsigned int j, unsigned int k, cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches); + + public: + registration(); + registration(unsigned int minD, double minE, unsigned int minI, registration_method method); + /** + * findRegistration : find the transformation matrix between two scans + * @param fPMap first panorama map which is 3D points coresponding to fist panorama image + * @param fKeypoints keypoints from the first scan + * @param sPMap second panorama map which is 3D points coresponding to second panorama image + * @param sKeypoints keypoints from the second scan + * @param matches matched keypoints from first to second scan + */ + void findRegistration(cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches); + unsigned int getMinDistance(); + double getMinError(); + unsigned int getMinInlier(); + registration_method getRegistrationMethod(); + double * getBestAlign(); + double getBestError(); + unsigned int getBestErrorIndex(); + void getDescription(); + }; +} +#endif /* REGISTRATION_H_ */ diff --git a/.svn/pristine/1f/1f328d21b769fc9e378bd272060ac831c2fc3d19.svn-base b/.svn/pristine/1f/1f328d21b769fc9e378bd272060ac831c2fc3d19.svn-base new file mode 100644 index 0000000..228ef87 --- /dev/null +++ b/.svn/pristine/1f/1f328d21b769fc9e378bd272060ac831c2fc3d19.svn-base @@ -0,0 +1,73 @@ +/** + * @file + * @brief allocator object that gets chunks of memory and then hands parts of them to a user + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Thomas Escher + */ +#ifndef ALLOCATOR_H +#define ALLOCATOR_H + +#include + +class Allocator { +public: + virtual ~Allocator() {} + + template + T* allocate(unsigned int nr = 1) { return reinterpret_cast(allocate(nr*sizeof(T))); } + + virtual void printSize() const = 0; + +protected: + virtual unsigned char* allocate(unsigned int size) = 0; +}; + + + +class ChunkAllocator : public Allocator { +public: + ChunkAllocator(unsigned int _csize = (1 << 20)); + ~ChunkAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + std::vector mem; + const unsigned int chunksize; + unsigned int index; + unsigned long int memsize; + unsigned long int wastedspace; +}; + + + +class PackedChunkAllocator : public Allocator { +public: + PackedChunkAllocator(unsigned int _csize = (1<<20)); + ~PackedChunkAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + std::vector mem; + std::vector index; + const unsigned int chunksize; + unsigned long int memsize; +}; + + + +class SequentialAllocator : public Allocator { +public: + //! Handle a preallocated memory up to \a max_size. + SequentialAllocator(unsigned char* base_ptr, unsigned int max_size); + ~SequentialAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + unsigned char* m_base_ptr; + unsigned int m_size, m_index; +}; + +#endif diff --git a/.svn/pristine/1f/1f86c92d761f35552d5275b33b99a0dec4ea25c4.svn-base b/.svn/pristine/1f/1f86c92d761f35552d5275b33b99a0dec4ea25c4.svn-base new file mode 100644 index 0000000..f0761d3 --- /dev/null +++ b/.svn/pristine/1f/1f86c92d761f35552d5275b33b99a0dec4ea25c4.svn-base @@ -0,0 +1,154 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_stl.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +#include +typedef float real32_t; + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_stl::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".stl"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str(), std::ios::binary); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + + // read the STL data: + uint8_t header[80]; + uint32_t number; + + scan_in.read((char*)header, sizeof(header)); + scan_in.read((char*)&number, sizeof(number)); + + real32_t normal[3]; + real32_t v1[3], v2[3], v3[3]; + uint16_t attrib; + + for (unsigned int i=0; i < number; i++) { + Point p; + scan_in.read((char*)normal, sizeof(normal)); + scan_in.read((char*)v1, sizeof(v1)); + scan_in.read((char*)v2, sizeof(v2)); + scan_in.read((char*)v3, sizeof(v3)); + scan_in.read((char*)&attrib, sizeof(attrib)); + + // forget the other vertices + p.x = v1[0]; + p.y = v1[1]; + p.z = v1[2]; + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + cout << "Read " << ptss.size() << " points." << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_stl; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/20/2017d08ddb5aa91b575262bd1fdb50bd6af92e17.svn-base b/.svn/pristine/20/2017d08ddb5aa91b575262bd1fdb50bd6af92e17.svn-base new file mode 100644 index 0000000..36e9662 --- /dev/null +++ b/.svn/pristine/20/2017d08ddb5aa91b575262bd1fdb50bd6af92e17.svn-base @@ -0,0 +1,345 @@ +//$$ example.cpp Example of use of matrix package + +#define WANT_STREAM // include.h will get stream fns +#define WANT_MATH // include.h will get math fns + // newmatap.h will get include.h + +#include "newmatap.h" // need matrix applications + +#include "newmatio.h" // need matrix output routines + +#ifdef use_namespace +using namespace NEWMAT; // access NEWMAT namespace +#endif + + +// demonstration of matrix package on linear regression problem + + +void test1(Real* y, Real* x1, Real* x2, int nobs, int npred) +{ + cout << "\n\nTest 1 - traditional, bad\n"; + + // traditional sum of squares and products method of calculation + // but not adjusting means; maybe subject to round-off error + + // make matrix of predictor values with 1s into col 1 of matrix + int npred1 = npred+1; // number of cols including col of ones. + Matrix X(nobs,npred1); + X.Column(1) = 1.0; + + // load x1 and x2 into X + // [use << rather than = when loading arrays] + X.Column(2) << x1; X.Column(3) << x2; + + // vector of Y values + ColumnVector Y(nobs); Y << y; + + // form sum of squares and product matrix + // [use << rather than = for copying Matrix into SymmetricMatrix] + SymmetricMatrix SSQ; SSQ << X.t() * X; + + // calculate estimate + // [bracket last two terms to force this multiplication first] + // [ .i() means inverse, but inverse is not explicity calculated] + ColumnVector A = SSQ.i() * (X.t() * Y); + + // Get variances of estimates from diagonal elements of inverse of SSQ + // get inverse of SSQ - we need it for finding D + DiagonalMatrix D; D << SSQ.i(); + ColumnVector V = D.AsColumn(); + + // Calculate fitted values and residuals + ColumnVector Fitted = X * A; + ColumnVector Residual = Y - Fitted; + Real ResVar = Residual.SumSquare() / (nobs-npred1); + + // Get diagonals of Hat matrix (an expensive way of doing this) + DiagonalMatrix Hat; Hat << X * (X.t() * X).i() * X.t(); + + // print out answers + cout << "\nEstimates and their standard errors\n\n"; + + // make vector of standard errors + ColumnVector SE(npred1); + for (int i=1; i<=npred1; i++) SE(i) = sqrt(V(i)*ResVar); + // use concatenation function to form matrix and use matrix print + // to get two columns + cout << setw(11) << setprecision(5) << (A | SE) << endl; + + cout << "\nObservations, fitted value, residual value, hat value\n"; + + // use concatenation again; select only columns 2 to 3 of X + cout << setw(9) << setprecision(3) << + (X.Columns(2,3) | Y | Fitted | Residual | Hat.AsColumn()); + cout << "\n\n"; +} + +void test2(Real* y, Real* x1, Real* x2, int nobs, int npred) +{ + cout << "\n\nTest 2 - traditional, OK\n"; + + // traditional sum of squares and products method of calculation + // with subtraction of means - less subject to round-off error + // than test1 + + // make matrix of predictor values + Matrix X(nobs,npred); + + // load x1 and x2 into X + // [use << rather than = when loading arrays] + X.Column(1) << x1; X.Column(2) << x2; + + // vector of Y values + ColumnVector Y(nobs); Y << y; + + // make vector of 1s + ColumnVector Ones(nobs); Ones = 1.0; + + // calculate means (averages) of x1 and x2 [ .t() takes transpose] + RowVector M = Ones.t() * X / nobs; + + // and subtract means from x1 and x1 + Matrix XC(nobs,npred); + XC = X - Ones * M; + + // do the same to Y [use Sum to get sum of elements] + ColumnVector YC(nobs); + Real m = Sum(Y) / nobs; YC = Y - Ones * m; + + // form sum of squares and product matrix + // [use << rather than = for copying Matrix into SymmetricMatrix] + SymmetricMatrix SSQ; SSQ << XC.t() * XC; + + // calculate estimate + // [bracket last two terms to force this multiplication first] + // [ .i() means inverse, but inverse is not explicity calculated] + ColumnVector A = SSQ.i() * (XC.t() * YC); + + // calculate estimate of constant term + // [AsScalar converts 1x1 matrix to Real] + Real a = m - (M * A).AsScalar(); + + // Get variances of estimates from diagonal elements of inverse of SSQ + // [ we are taking inverse of SSQ - we need it for finding D ] + Matrix ISSQ = SSQ.i(); DiagonalMatrix D; D << ISSQ; + ColumnVector V = D.AsColumn(); + Real v = 1.0/nobs + (M * ISSQ * M.t()).AsScalar(); + // for calc variance of const + + // Calculate fitted values and residuals + int npred1 = npred+1; + ColumnVector Fitted = X * A + a; + ColumnVector Residual = Y - Fitted; + Real ResVar = Residual.SumSquare() / (nobs-npred1); + + // Get diagonals of Hat matrix (an expensive way of doing this) + Matrix X1(nobs,npred1); X1.Column(1)< + * @date 16 Feb 2012 + * + */ + +#ifndef RAOTATION3D_H_ +#define RAOTATION3D_H_ + +//============================================================================== +// Defines +//============================================================================== + +//============================================================================== +// Includes +//============================================================================== + +namespace model { + +/** + * A rotation in space. + */ +class Rotation3d { +public: + double x; + double y; + double z; + + inline Rotation3d(const double& x = 0.0, const double& y = 0.0, const double& z = 0.0) { + this->x = x; + this->y = y; + this->z = z; + } + + Rotation3d(const Rotation3d& other); + + Rotation3d& operator=(const Rotation3d& other); + + /** + * Returns a rotation that represents the inverse of the current one. + */ + Rotation3d getInverse(); +}; + +} /* namespace model */ + +#endif /* RAOTATION3D_H_ */ diff --git a/.svn/pristine/20/20b987632b3c18d13e0cd5346c6fdcbe0ae74d13.svn-base b/.svn/pristine/20/20b987632b3c18d13e0cd5346c6fdcbe0ae74d13.svn-base new file mode 100644 index 0000000..0bebbfa --- /dev/null +++ b/.svn/pristine/20/20b987632b3c18d13e0cd5346c6fdcbe0ae74d13.svn-base @@ -0,0 +1,63 @@ +This file describes the scanserver functionality, the code changes and its behaviour. + +To run with the scanserver functionality, pass -S or --scanserver to the slam6D/show call. Start the scanserver with bin/scanserver & first. If you want to directly jump to usage examples, see the "USAGE" section below. + +The scanserver is a new method to load and manage scans for 'slam6D', 'show' and some few other tools (so far). It removes all the IO code from the clients and handles it in the server process. This separation offers persistence of scan data and avoids unneccessary reloads of full scans or even reduced versions thereof. By using a caching framework it also transparently handles the available memory given and enables (nearly) endless amounts of data. The client is only required to open the interface, load a directory and start working on those scans without having to alter its workflow (e.g., pre-reduce them) to accomodate huge data volumes. + +If you have questions or problems (or both), contact Thomas Escher . + + + +USAGE: + +1. General + +Start the scanserver once (in another terminal, or in the same one as a background process): + bin/scanserver & + +Do all the normal work as you would normally do, adding the parameter -S: + bin/slam6D dat -S + bin/show dat -S + +2. Changing the available memory size + +Changing the cache memory size used by scan data (about half the system memory usually works): + + bin/scanserver -c 3500 (for 8GB RAM) + +If you intend to not reload the full scans for different reduction parameters or don't have too much memory/disk space, disable binary scan caching. Binary scan caching saves the full scans as long as the range or height parameters aren't touched, which would cause a full reload: + + bin/scanserver -b 0 + +If your dataset contains many scans and loops (e.g., 'hannover' with 468 scans), the default data memory (150M) won't be enough to hold all the animation frames and you need to increase it: + + bin/scanserver -d 250 + +3. Altering the shared memory on your linux system (bus_error) + +If you receive a bus_error, the size of your shared memory is too small and the requested allocation was too big. This is resolved via remounting your shm device. Default is half of the available RAM. This limit can be increased to nearly 90% of the RAM if required. + + sudo mount -o remount,size=7000M /dev/shm (for 8GB RAM) + +4. Locking the memory to avoid swapping (Linux only) + +If a great portion of the RAM is used for the cache data, swapping will usually occur after 50% of usage. To avoid this, the scanserver tries to lock the whole memory in place. This will fail without superuser rights, as well as on a full shared memory (see 3.) even with rights. Add these two additional lines to '/etc/security/limits.conf': + + * soft memlock unlimited + * hard memlock unlimited + +5. Using the octtree serialization feature in show with scanserver + +The octtree serialization behaves slightly different than before. Since the scanserver caches octtrees between calls of 'show', the loading of octtrees only becomes relevant if no octtrees are in the cache and have to be created from the scan itself. If this has been done once before and the octtrees have been saved via --saveOct before this can be used to speed up the octtree loading with --loadOct. + + bin/show dat --loadOct --saveOct + +If octtrees are not cached, they are deserialized if available, created otherwise and then saved for future calls. + +IMPLEMENTATION STATUS: + +Currently only 'slam6D' and 'show' are working with the scanserver. + +Since the scanserver handles the disk IO now and the filtering has been optimized, not all ScanIOs are updated yet. Just copy and paste and change the minor parts about reading the input lines. + +Working: 'ls src/scanio' in a shell diff --git a/.svn/pristine/21/21e6e3dfb5d6c03c1461997751ad016df7b8235a.svn-base b/.svn/pristine/21/21e6e3dfb5d6c03c1461997751ad016df7b8235a.svn-base new file mode 100644 index 0000000..3a31884 --- /dev/null +++ b/.svn/pristine/21/21e6e3dfb5d6c03c1461997751ad016df7b8235a.svn-base @@ -0,0 +1,105 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + +*/ + +#ifndef PGM2ASC_H +#define PGM2ASC_H 1 + +#include "pnm.h" +#include "output.h" +#include "list.h" +#include "unicode.h" + +#define pixel_at(pic, xx, yy) (pic).p[(xx)+((yy)*((pic).x))] +#define pixel_atp(pic, xx, yy) (pic)->p[(xx)+((yy)*((pic)->x))] + +#ifndef HAVE_WCHAR_H +wchar_t *wcschr (const wchar_t *wcs, wchar_t wc); +wchar_t *wcscpy (wchar_t *dest, const wchar_t *src); +size_t wcslen (const wchar_t *s); +#endif +#ifndef HAVE_WCSDUP +wchar_t * wcsdup (const wchar_t *WS); /* its a gnu extension */ +#endif + +/* declared in pgm2asc.c */ +/* set alternate chars and its weight, called from the engine + if a char is recognized to (weight) percent */ +int setas(struct box *b, char *as, int weight); /* string + xml */ +int setac(struct box *b, wchar_t ac, int weight); /* wchar */ + +/* for qsort() call */ +int intcompare (const void *vr, const void *vs); + +/* declared in box.c */ +int box_gt(struct box *box1, struct box *box2); +int reset_box_ac(struct box *box); /* reset and free char table */ +struct box *malloc_box( struct box *inibox ); /* alloc memory for a box */ +int free_box( struct box *box ); /* free memory of a box */ +int copybox( pix *p, int x0, int y0, int dx, int dy, pix *b, int len); +int reduce_vectors ( struct box *box1, int mode ); +int merge_boxes( struct box *box1, struct box *box2 ); +int cut_box( struct box *box1); + + +/* declared in database.c */ +int load_db(void); +wchar_t ocr_db(struct box *box1); + +/* declared in detect.c */ +int detect_lines1(pix * p, int x0, int y0, int dx, int dy); +int detect_lines2(pix *p,int x0,int y0,int dx,int dy,int r); +int detect_rotation_angle(job_t *job); +int detect_text_lines(pix * pp, int mo); +int adjust_text_lines(pix * pp, int mo); +int detect_pictures(job_t *job); + +/* declared in lines.c */ +void store_boxtree_lines( int mo ); + /* free memory for internal stored textlines. + * Needs to be called _after_ having retrieved the text. + * After freeing, no call to getTextLine is possible any + * more + */ +void free_textlines( void ); + + /* get result of ocr for a given line number. + * If the line is out of range, the function returns 0, + * otherwise a pointer to a complete line. + */ +const char *getTextLine( int ); + +/* declared in remove.c */ +int remove_dust( job_t *job ); +int remove_pictures( job_t *job); +int remove_melted_serifs( pix *pp ); +int remove_rest_of_dust(); +int smooth_borders( job_t *job ); + +/* declared in pixel.c */ +int marked(pix * p, int x, int y); +int pixel(pix *p, int x, int y); +void put(pix * p, int x, int y, int ia, int io); + +/* start ocr on a image in job.src.p */ +int pgm2asc(job_t *job); + +#endif diff --git a/.svn/pristine/22/22216def3f805d39599edcd8087a942f9b76e3ac.svn-base b/.svn/pristine/22/22216def3f805d39599edcd8087a942f9b76e3ac.svn-base new file mode 100644 index 0000000..d0039bd --- /dev/null +++ b/.svn/pristine/22/22216def3f805d39599edcd8087a942f9b76e3ac.svn-base @@ -0,0 +1,50 @@ +/** + * @file + * @brief Representation of the cache for cached k-d tree search. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __KD_CACHE_H__ +#define __KD_CACHE_H__ + +#include "searchCache.h" +#include "kdparams.h" + +// just a prototype +class KDtree_cache; +class Scan; + +/** + * @brief cache item + * + * The return value of the cached k-d tree + * is a bundle of the closest point and + * a pointer to the leaf. + **/ +class KDCacheItem : public SearchTreeCacheItem { +public: + KDCacheItem() { node = 0; }; + KDParams param; + KDtree_cache *node; +}; + +/** + * @brief cache + * + * The cache consists of an array of KDCacheItems + * and two Scan numbers. + **/ +class KDCache { +public: +// KDCache() { SourceScanNr = TargetScanNr = 0; item = 0; }; + KDCache() { target = 0; item = 0; }; + KDCacheItem *item; // array of items +// unsigned int SourceScanNr; +// unsigned int TargetScanNr; + Scan const * target; +}; + +#endif + + diff --git a/.svn/pristine/22/22ff86df4de124190ef21b6493afdc8b82af0e4f.svn-base b/.svn/pristine/22/22ff86df4de124190ef21b6493afdc8b82af0e4f.svn-base new file mode 100644 index 0000000..4d74204 --- /dev/null +++ b/.svn/pristine/22/22ff86df4de124190ef21b6493afdc8b82af0e4f.svn-base @@ -0,0 +1,2118 @@ +#include +#include +#include +#include + +#include "csparse.h" + +cs *cs_add ( const cs *A, const cs *B, double alpha, double beta ) +/* + Purpose: + + CS_ADD computes C = alpha*A + beta*B for sparse A and B. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, nz = 0, anz, *Cp, *Ci, *Bp, m, n, bnz, *w, values ; + double *x, *Bx, *Cx ; + cs *C ; + if (!A || !B) return (NULL) ; /* check inputs */ + m = A->m ; anz = A->p [A->n] ; + n = B->n ; Bp = B->p ; Bx = B->x ; bnz = Bp [n] ; + w = (int*)cs_calloc (m, sizeof (int)) ; + values = (A->x != NULL) && (Bx != NULL) ; + x = values ? (double*)cs_malloc (m, sizeof (double)) : NULL ; + C = cs_spalloc (m, n, anz + bnz, values, 0) ; + if (!C || !w || (values && !x)) return (cs_done (C, w, x, 0)) ; + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (j = 0 ; j < n ; j++) + { + Cp [j] = nz ; /* column j of C starts here */ + nz = cs_scatter (A, j, alpha, w, x, j+1, C, nz) ; /* alpha*A(:,j)*/ + nz = cs_scatter (B, j, beta, w, x, j+1, C, nz) ; /* beta*B(:,j) */ + if (values) for (p = Cp [j] ; p < nz ; p++) Cx [p] = x [Ci [p]] ; + } + Cp [n] = nz ; /* finalize the last column of C */ + cs_sprealloc (C, 0) ; /* remove extra space from C */ + return (cs_done (C, w, x, 1)) ; /* success; free workspace, return C */ +} +static int cs_wclear (int mark, int lemax, int *w, int n) +/* + Purpose: + + CS_WCLEAR clears W. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int k ; + if (mark < 2 || (mark + lemax < 0)) + { + for (k = 0 ; k < n ; k++) if (w [k] != 0) w [k] = 1 ; + mark = 2 ; + } + return (mark) ; /* at this point, w [0..n-1] < mark holds */ +} + +/* keep off-diagonal entries; drop diagonal entries */ +static int cs_diag (int i, int j, double aij, void *other) +{ + return (i != j); +} + +/* p = amd(A+A') if symmetric is true, or amd(A'A) otherwise */ +int *cs_amd ( const cs *A, int order ) +/* + Purpose: + + CS_AMD carries out the approximate minimum degree algorithm. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. + + Parameters: + + Input, int ORDER: + -1:natural, + 0:Cholesky, + 1:LU, + 2:QR +*/ +{ + cs *C, *A2, *AT ; + int *Cp, *Ci, *last, *ww, *len, *nv, *next, *P, *head, *elen, *degree, *w, + *hhead, *ATp, *ATi, d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1, + k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi, + ok, cnz, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, n, m ; + unsigned int h ; + /* --- Construct matrix C ----------------------------------------------- */ + if (!A || order < 0) return (NULL) ; /* check inputs; quick return */ + AT = cs_transpose (A, 0) ; /* compute A' */ + if (!AT) return (NULL) ; + m = A->m ; n = A->n ; + dense = (int)CS_MAX (16, 10 * sqrt ((double) n)) ; /* find dense threshold */ + dense = CS_MIN (n-2, dense) ; + if (order == 0 && n == m) + { + C = cs_add (A, AT, 0, 0) ; /* C = A+A' */ + } + else if (order == 1) + { + ATp = AT->p ; /* drop dense columns from AT */ + ATi = AT->i ; + for (p2 = 0, j = 0 ; j < m ; j++) + { + p = ATp [j] ; /* column j of AT starts here */ + ATp [j] = p2 ; /* new column j starts here */ + if (ATp [j+1] - p > dense) continue ; /* skip dense col j */ + for ( ; p < ATp [j+1] ; p++) ATi [p2++] = ATi [p] ; + } + ATp [m] = p2 ; /* finalize AT */ + A2 = cs_transpose (AT, 0) ; /* A2 = AT' */ + C = A2 ? cs_multiply (AT, A2) : NULL ; /* C=A'*A with no dense rows */ + cs_spfree (A2) ; + } + else + { + C = cs_multiply (AT, A) ; /* C=A'*A */ + } + cs_spfree (AT) ; + if (!C) return (NULL) ; + P = (int*)cs_malloc (n+1, sizeof (int)) ; /* allocate result */ + ww = (int*)cs_malloc (8*(n+1), sizeof (int)) ;/* get workspace */ + len = ww ; nv = ww + (n+1) ; next = ww + 2*(n+1) ; + head = ww + 3*(n+1) ; elen = ww + 4*(n+1) ; degree = ww + 5*(n+1) ; + w = ww + 6*(n+1) ; hhead = ww + 7*(n+1) ; + last = P ; /* use P as workspace for last */ + cs_fkeep (C, &cs_diag, NULL) ; /* drop diagonal entries */ + Cp = C->p ; + cnz = Cp [n] ; + if (!cs_sprealloc (C, cnz+cnz/5+2*n)) return (cs_idone (P, C, ww, 0)) ; + /* --- Initialize quotient graph ---------------------------------------- */ + for (k = 0 ; k < n ; k++) len [k] = Cp [k+1] - Cp [k] ; + len [n] = 0 ; + nzmax = C->nzmax ; + Ci = C->i ; + for (i = 0 ; i <= n ; i++) + { + head [i] = -1 ; /* degree list i is empty */ + last [i] = -1 ; + next [i] = -1 ; + hhead [i] = -1 ; /* hash list i is empty */ + nv [i] = 1 ; /* node i is just one node */ + w [i] = 1 ; /* node i is alive */ + elen [i] = 0 ; /* Ek of node i is empty */ + degree [i] = len [i] ; /* degree of node i */ + } + mark = cs_wclear (0, 0, w, n) ; /* clear w */ + elen [n] = -2 ; /* n is a dead element */ + Cp [n] = -1 ; /* n is a root of assembly tree */ + w [n] = 0 ; /* n is a dead element */ + /* --- Initialize degree lists ------------------------------------------ */ + for (i = 0 ; i < n ; i++) + { + d = degree [i] ; + if (d == 0) /* node i is empty */ + { + elen [i] = -2 ; /* element i is dead */ + nel++ ; + Cp [i] = -1 ; /* i is a root of assemby tree */ + w [i] = 0 ; + } + else if (d > dense) /* node i is dense */ + { + nv [i] = 0 ; /* absorb i into element n */ + elen [i] = -1 ; /* node i is dead */ + nel++ ; + Cp [i] = CS_FLIP (n) ; + nv [n]++ ; + } + else + { + if (head [d] != -1) last [head [d]] = i ; + next [i] = head [d] ; /* put node i in degree list d */ + head [d] = i ; + } + } + while (nel < n) /* while (selecting pivots) do */ + { + /* --- Select node of minimum approximate degree -------------------- */ + for (k = -1 ; mindeg < n && (k = head [mindeg]) == -1 ; mindeg++) ; + if (next [k] != -1) last [next [k]] = -1 ; + head [mindeg] = next [k] ; /* remove k from degree list */ + elenk = elen [k] ; /* elenk = |Ek| */ + nvk = nv [k] ; /* # of nodes k represents */ + nel += nvk ; /* nv[k] nodes of A eliminated */ + /* --- Garbage collection ------------------------------------------- */ + if (elenk > 0 && cnz + mindeg >= nzmax) + { + for (j = 0 ; j < n ; j++) + { + if ((p = Cp [j]) >= 0) /* j is a live node or element */ + { + Cp [j] = Ci [p] ; /* save first entry of object */ + Ci [p] = CS_FLIP (j) ; /* first entry is now CS_FLIP(j) */ + } + } + for (q = 0, p = 0 ; p < cnz ; ) /* scan all of memory */ + { + if ((j = CS_FLIP (Ci [p++])) >= 0) /* found object j */ + { + Ci [q] = Cp [j] ; /* restore first entry of object */ + Cp [j] = q++ ; /* new pointer to object j */ + for (k3 = 0 ; k3 < len [j]-1 ; k3++) Ci [q++] = Ci [p++] ; + } + } + cnz = q ; /* Ci [cnz...nzmax-1] now free */ + } + /* --- Construct new element ---------------------------------------- */ + dk = 0 ; + nv [k] = -nvk ; /* flag k as in Lk */ + p = Cp [k] ; + pk1 = (elenk == 0) ? p : cnz ; /* do in place if elen[k] == 0 */ + pk2 = pk1 ; + for (k1 = 1 ; k1 <= elenk + 1 ; k1++) + { + if (k1 > elenk) + { + e = k ; /* search the nodes in k */ + pj = p ; /* list of nodes starts at Ci[pj]*/ + ln = len [k] - elenk ; /* length of list of nodes in k */ + } + else + { + e = Ci [p++] ; /* search the nodes in e */ + pj = Cp [e] ; + ln = len [e] ; /* length of list of nodes in e */ + } + for (k2 = 1 ; k2 <= ln ; k2++) + { + i = Ci [pj++] ; + if ((nvi = nv [i]) <= 0) continue ; /* node i dead, or seen */ + dk += nvi ; /* degree[Lk] += size of node i */ + nv [i] = -nvi ; /* negate nv[i] to denote i in Lk*/ + Ci [pk2++] = i ; /* place i in Lk */ + if (next [i] != -1) last [next [i]] = last [i] ; + if (last [i] != -1) /* remove i from degree list */ + { + next [last [i]] = next [i] ; + } + else + { + head [degree [i]] = next [i] ; + } + } + if (e != k) + { + Cp [e] = CS_FLIP (k) ; /* absorb e into k */ + w [e] = 0 ; /* e is now a dead element */ + } + } + if (elenk != 0) cnz = pk2 ; /* Ci [cnz...nzmax] is free */ + degree [k] = dk ; /* external degree of k - |Lk\i| */ + Cp [k] = pk1 ; /* element k is in Ci[pk1..pk2-1] */ + len [k] = pk2 - pk1 ; + elen [k] = -2 ; /* k is now an element */ + /* --- Find set differences ----------------------------------------- */ + mark = cs_wclear (mark, lemax, w, n) ; /* clear w if necessary */ + for (pk = pk1 ; pk < pk2 ; pk++) /* scan 1: find |Le\Lk| */ + { + i = Ci [pk] ; + if ((eln = elen [i]) <= 0) continue ;/* skip if elen[i] empty */ + nvi = -nv [i] ; /* nv [i] was negated */ + wnvi = mark - nvi ; + for (p = Cp [i] ; p <= Cp [i] + eln - 1 ; p++) /* scan Ei */ + { + e = Ci [p] ; + if (w [e] >= mark) + { + w [e] -= nvi ; /* decrement |Le\Lk| */ + } + else if (w [e] != 0) /* ensure e is a live element */ + { + w [e] = degree [e] + wnvi ; /* 1st time e seen in scan 1 */ + } + } + } + /* --- Degree update ------------------------------------------------ */ + for (pk = pk1 ; pk < pk2 ; pk++) /* scan2: degree update */ + { + i = Ci [pk] ; /* consider node i in Lk */ + p1 = Cp [i] ; + p2 = p1 + elen [i] - 1 ; + pn = p1 ; + for (h = 0, d = 0, p = p1 ; p <= p2 ; p++) /* scan Ei */ + { + e = Ci [p] ; + if (w [e] != 0) /* e is an unabsorbed element */ + { + dext = w [e] - mark ; /* dext = |Le\Lk| */ + if (dext > 0) + { + d += dext ; /* sum up the set differences */ + Ci [pn++] = e ; /* keep e in Ei */ + h += e ; /* compute the hash of node i */ + } + else + { + Cp [e] = CS_FLIP (k) ; /* aggressive absorb. e->k */ + w [e] = 0 ; /* e is a dead element */ + } + } + } + elen [i] = pn - p1 + 1 ; /* elen[i] = |Ei| */ + p3 = pn ; + p4 = p1 + len [i] ; + for (p = p2 + 1 ; p < p4 ; p++) /* prune edges in Ai */ + { + j = Ci [p] ; + if ((nvj = nv [j]) <= 0) continue ; /* node j dead or in Lk */ + d += nvj ; /* degree(i) += |j| */ + Ci [pn++] = j ; /* place j in node list of i */ + h += j ; /* compute hash for node i */ + } + if (d == 0) /* check for mass elimination */ + { + Cp [i] = CS_FLIP (k) ; /* absorb i into k */ + nvi = -nv [i] ; + dk -= nvi ; /* |Lk| -= |i| */ + nvk += nvi ; /* |k| += nv[i] */ + nel += nvi ; + nv [i] = 0 ; + elen [i] = -1 ; /* node i is dead */ + } + else + { + degree [i] = CS_MIN (degree [i], d) ; /* update degree(i) */ + Ci [pn] = Ci [p3] ; /* move first node to end */ + Ci [p3] = Ci [p1] ; /* move 1st el. to end of Ei */ + Ci [p1] = k ; /* add k as 1st element in of Ei */ + len [i] = pn - p1 + 1 ; /* new len of adj. list of node i */ + h %= n ; /* finalize hash of i */ + next [i] = hhead [h] ; /* place i in hash bucket */ + hhead [h] = i ; + last [i] = h ; /* save hash of i in last[i] */ + } + } /* scan2 is done */ + degree [k] = dk ; /* finalize |Lk| */ + lemax = CS_MAX (lemax, dk) ; + mark = cs_wclear (mark+lemax, lemax, w, n) ; /* clear w */ + /* --- Supernode detection ------------------------------------------ */ + for (pk = pk1 ; pk < pk2 ; pk++) + { + i = Ci [pk] ; + if (nv [i] >= 0) continue ; /* skip if i is dead */ + h = last [i] ; /* scan hash bucket of node i */ + i = hhead [h] ; + hhead [h] = -1 ; /* hash bucket will be empty */ + for ( ; i != -1 && next [i] != -1 ; i = next [i], mark++) + { + ln = len [i] ; + eln = elen [i] ; + for (p = Cp[i]+1 ; p <= Cp[i]+ln-1 ; p++) w [Ci [p]] = mark ; + jlast = i ; + for (j = next [i] ; j != -1 ; ) /* compare i with all j */ + { + ok = (len [j] == ln) && (elen [j] == eln) ; + for (p = Cp [j] + 1 ; ok && p <= Cp [j] + ln - 1 ; p++) + { + if (w [Ci [p]] != mark) ok = 0 ; /* compare i and j*/ + } + if (ok) /* i and j are identical */ + { + Cp [j] = CS_FLIP (i) ; /* absorb j into i */ + nv [i] += nv [j] ; + nv [j] = 0 ; + elen [j] = -1 ; /* node j is dead */ + j = next [j] ; /* delete j from hash bucket */ + next [jlast] = j ; + } + else + { + jlast = j ; /* j and i are different */ + j = next [j] ; + } + } + } + } + /* --- Finalize new element------------------------------------------ */ + for (p = pk1, pk = pk1 ; pk < pk2 ; pk++) /* finalize Lk */ + { + i = Ci [pk] ; + if ((nvi = -nv [i]) <= 0) continue ;/* skip if i is dead */ + nv [i] = nvi ; /* restore nv[i] */ + d = degree [i] + dk - nvi ; /* compute external degree(i) */ + d = CS_MIN (d, n - nel - nvi) ; + if (head [d] != -1) last [head [d]] = i ; + next [i] = head [d] ; /* put i back in degree list */ + last [i] = -1 ; + head [d] = i ; + mindeg = CS_MIN (mindeg, d) ; /* find new minimum degree */ + degree [i] = d ; + Ci [p++] = i ; /* place i in Lk */ + } + nv [k] = nvk ; /* # nodes absorbed into k */ + if ((len [k] = p-pk1) == 0) /* length of adj list of element k*/ + { + Cp [k] = -1 ; /* k is a root of the tree */ + w [k] = 0 ; /* k is now a dead element */ + } + if (elenk != 0) cnz = p ; /* free unused space in Lk */ + } + /* --- Postordering ----------------------------------------------------- */ + for (i = 0 ; i < n ; i++) Cp [i] = CS_FLIP (Cp [i]) ;/* fix assembly tree */ + for (j = 0 ; j <= n ; j++) head [j] = -1 ; + for (j = n ; j >= 0 ; j--) /* place unordered nodes in lists */ + { + if (nv [j] > 0) continue ; /* skip if j is an element */ + next [j] = head [Cp [j]] ; /* place j in list of its parent */ + head [Cp [j]] = j ; + } + for (e = n ; e >= 0 ; e--) /* place elements in lists */ + { + if (nv [e] <= 0) continue ; /* skip unless e is an element */ + if (Cp [e] != -1) + { + next [e] = head [Cp [e]] ; /* place e in list of its parent */ + head [Cp [e]] = e ; + } + } + for (k = 0, i = 0 ; i <= n ; i++) /* postorder the assembly tree */ + { + if (Cp [i] == -1) k = cs_tdfs (i, k, head, next, P, w) ; + } + return (cs_idone (P, C, ww, 1)) ; +} + +/* compute nonzero pattern of L(k,:) */ +static +int cs_ereach (const cs *A, int k, const int *parent, int *s, int *w, + double *x, int top) +{ + int i, p, len, *Ap = A->p, *Ai = A->i ; + double *Ax = A->x ; + for (p = Ap [k] ; p < Ap [k+1] ; p++) /* get pattern of L(k,:) */ + { + i = Ai [p] ; /* A(i,k) is nonzero */ + if (i > k) continue ; /* only use upper triangular part of A */ + x [i] = Ax [p] ; /* x(i) = A(i,k) */ + for (len = 0 ; w [i] != k ; i = parent [i]) /* traverse up etree */ + { + s [len++] = i ; /* L(k,i) is nonzero */ + w [i] = k ; /* mark i as visited */ + } + while (len > 0) s [--top] = s [--len] ; /* push path onto stack */ + } + return (top) ; /* s [top..n-1] contains pattern of L(k,:)*/ +} + +/* L = chol (A, [Pinv parent cp]), Pinv is optional */ +csn *cs_chol (const cs *A, const css *S) +{ + double d, lki, *Lx, *x ; + int top, i, p, k, n, *Li, *Lp, *cp, *Pinv, *w, *s, *c, *parent ; + cs *L, *C, *E ; + csn *N ; + if (!A || !S || !S->cp || !S->parent) return (NULL) ; /* check inputs */ + n = A->n ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + w = (int*)cs_malloc (3*n, sizeof (int)) ; s = w + n, c = w + 2*n ; + x = (double*)cs_malloc (n, sizeof (double)) ; + cp = S->cp ; Pinv = S->Pinv ; parent = S->parent ; + C = Pinv ? cs_symperm (A, Pinv, 1) : ((cs *) A) ; + E = Pinv ? C : NULL ; + if (!N || !w || !x || !C) return (cs_ndone (N, E, w, x, 0)) ; + N->L = L = cs_spalloc (n, n, cp [n], 1, 0) ; + if (!L) return (cs_ndone (N, E, w, x, 0)) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; + for (k = 0 ; k < n ; k++) + { + /* --- Nonzero pattern of L(k,:) ------------------------------------ */ + Lp [k] = c [k] = cp [k] ; /* column k of L starts here */ + x [k] = 0 ; /* x (0:k) is now zero */ + w [k] = k ; /* mark node k as visited */ + top = cs_ereach (C, k, parent, s, w, x, n) ; /* find row k of L*/ + d = x [k] ; /* d = C(k,k) */ + x [k] = 0 ; /* clear workspace for k+1st iteration */ + /* --- Triangular solve --------------------------------------------- */ + for ( ; top < n ; top++) /* solve L(0:k-1,0:k-1) * x = C(:,k) */ + { + i = s [top] ; /* s [top..n-1] is pattern of L(k,:) */ + lki = x [i] / Lx [Lp [i]] ; /* L(k,i) = x (i) / L(i,i) */ + x [i] = 0 ; /* clear workspace for k+1st iteration */ + for (p = Lp [i] + 1 ; p < c [i] ; p++) + { + x [Li [p]] -= Lx [p] * lki ; + } + d -= lki * lki ; /* d = d - L(k,i)*L(k,i) */ + p = c [i]++ ; + Li [p] = k ; /* store L(k,i) in column i */ + Lx [p] = lki ; + } + /* --- Compute L(k,k) ----------------------------------------------- */ + if (d <= 0) return (cs_ndone (N, E, w, x, 0)) ; /* not pos def */ + p = c [k]++ ; + Li [p] = k ; /* store L(k,k) = sqrt (d) in column k */ + Lx [p] = sqrt (d) ; + } + Lp [n] = cp [n] ; /* finalize L */ + return (cs_ndone (N, E, w, x, 1)) ; /* success: free E,w,x; return N */ +} + + +/* x=A\b where A is symmetric positive definite; b overwritten with solution */ +int cs_cholsol (const cs *A, double *b, int order) +{ + double *x ; + css *S ; + csn *N ; + int n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + S = cs_schol (A, order) ; /* ordering and symbolic analysis */ + N = cs_chol (A, S) ; /* numeric Cholesky factorization */ + x = (double*)cs_malloc (n, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (n, S->Pinv, b, x) ; /* x = P*b */ + cs_lsolve (N->L, x) ; /* x = L\x */ + cs_ltsolve (N->L, x) ; /* x = L'\x */ + cs_pvec (n, S->Pinv, x, b) ; /* b = P'*x */ + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + return (ok) ; +} + +/* process edge (j,i) of the matrix */ +static void cs_cedge (int j, int i, const int *first, int *maxfirst, int *delta, + int *prevleaf, int *ancestor) +{ + int q, s, sparent, jprev ; + if (i <= j || first [j] <= maxfirst [i]) return ; + maxfirst [i] = first [j] ; /* update max first[j] seen so far */ + jprev = prevleaf [i] ; /* j is a leaf of the ith subtree */ + delta [j]++ ; /* A(i,j) is in the skeleton matrix */ + if (jprev != -1) + { + /* q = least common ancestor of jprev and j */ + for (q = jprev ; q != ancestor [q] ; q = ancestor [q]) ; + for (s = jprev ; s != q ; s = sparent) + { + sparent = ancestor [s] ; /* path compression */ + ancestor [s] = q ; + } + delta [q]-- ; /* decrement to account for overlap in q */ + } + prevleaf [i] = j ; /* j is now previous leaf of ith subtree */ +} + +/* colcount = column counts of LL'=A or LL'=A'A, given parent & post ordering */ +int *cs_counts (const cs *A, const int *parent, const int *post, int ata) +{ + int i, j, k, p, n, m, ii, s, *ATp, *ATi, *maxfirst, *prevleaf, *ancestor, + *head = NULL, *next = NULL, *colcount, *w, *first, *delta ; + cs *AT ; + if (!A || !parent || !post) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; + s = 4*n + (ata ? (n+m+1) : 0) ; + w = (int*)cs_malloc (s, sizeof (int)) ; first = w+3*n ; /* get workspace */ + ancestor = w ; maxfirst = w+n ; prevleaf = w+2*n ; + delta = colcount = (int*)cs_malloc (n, sizeof (int)) ; /* allocate result */ + AT = cs_transpose (A, 0) ; + if (!AT || !colcount || !w) return (cs_idone (colcount, AT, w, 1)) ; + for (k = 0 ; k < s ; k++) w [k] = -1 ; /* clear workspace w [0..s-1] */ + for (k = 0 ; k < n ; k++) /* find first [j] */ + { + j = post [k] ; + delta [j] = (first [j] == -1) ? 1 : 0 ; /* delta[j]=1 if j is a leaf */ + for ( ; j != -1 && first [j] == -1 ; j = parent [j]) first [j] = k ; + } + ATp = AT->p ; ATi = AT->i ; + if (ata) + { + head = w+4*n ; next = w+5*n+1 ; + for (k = 0 ; k < n ; k++) w [post [k]] = k ; /* invert post */ + for (i = 0 ; i < m ; i++) + { + k = n ; /* k = least postordered column in row i */ + for (p = ATp [i] ; p < ATp [i+1] ; p++) k = CS_MIN (k, w [ATi [p]]); + next [i] = head [k] ; /* place row i in link list k */ + head [k] = i ; + } + } + for (i = 0 ; i < n ; i++) ancestor [i] = i ; /* each node in its own set */ + for (k = 0 ; k < n ; k++) + { + j = post [k] ; /* j is the kth node in postordered etree */ + if (parent [j] != -1) delta [parent [j]]-- ; /* j is not a root */ + if (ata) + { + for (ii = head [k] ; ii != -1 ; ii = next [ii]) + { + for (p = ATp [ii] ; p < ATp [ii+1] ; p++) + cs_cedge (j, ATi [p], first, maxfirst, delta, prevleaf, + ancestor) ; + } + } + else + { + for (p = ATp [j] ; p < ATp [j+1] ; p++) + cs_cedge (j, ATi [p], first, maxfirst, delta, prevleaf, + ancestor) ; + } + if (parent [j] != -1) ancestor [j] = parent [j] ; + } + for (j = 0 ; j < n ; j++) /* sum up delta's of each child */ + { + if (parent [j] != -1) colcount [parent [j]] += colcount [j] ; + } + return (cs_idone (colcount, AT, w, 1)) ; /* success: free workspace */ +} + +/* p [0..n] = cumulative sum of c [0..n-1], and then copy p [0..n-1] into c */ +int cs_cumsum (int *p, int *c, int n) +{ + int i, nz = 0 ; + if (!p || !c) return (-1) ; /* check inputs */ + for (i = 0 ; i < n ; i++) + { + p [i] = nz ; + nz += c [i] ; + c [i] = p [i] ; + } + p [n] = nz ; + return (nz) ; /* return sum (c [0..n-1]) */ +} + +/* depth-first-search of the graph of a matrix, starting at node j */ +int cs_dfs (int j, cs *L, int top, int *xi, int *pstack, const int *Pinv) +{ + int i, p, p2, done, jnew, head = 0, *Lp, *Li ; + if (!L || !xi || !pstack) return (-1) ; + Lp = L->p ; Li = L->i ; + xi [0] = j ; /* initialize the recursion stack */ + while (head >= 0) + { + j = xi [head] ; /* get j from the top of the recursion stack */ + jnew = Pinv ? (Pinv [j]) : j ; + if (!CS_MARKED(Lp,j)) + { + CS_MARK (Lp,j) ; /* mark node j as visited */ + pstack [head] = (jnew < 0) ? 0 : CS_UNFLIP (Lp [jnew]) ; + } + done = 1 ; /* node j done if no unvisited neighbors */ + p2 = (jnew < 0) ? 0 : CS_UNFLIP (Lp [jnew+1]) ; + for (p = pstack [head] ; p < p2 ; p++) /* examine all neighbors of j */ + { + i = Li [p] ; /* consider neighbor node i */ + if (CS_MARKED (Lp,i)) continue ; /* skip visited node i */ + pstack [head] = p ; /* pause depth-first search of node j */ + xi [++head] = i ; /* start dfs at node i */ + done = 0 ; /* node j is not done */ + break ; /* break, to start dfs (i) */ + } + if (done) /* depth-first search at node j is done */ + { + head-- ; /* remove j from the recursion stack */ + xi [--top] = j ; /* and place in the output stack */ + } + } + return (top) ; +} + +/* breadth-first search for coarse decomposition (C0,C1,R1 or R0,R3,C3) */ +static int cs_bfs (const cs *A, int n, int *wi, int *wj, int *queue, + const int *imatch, const int *jmatch, int mark) +{ + int *Ap, *Ai, head = 0, tail = 0, j, i, p, j2 ; + cs *C ; + for (j = 0 ; j < n ; j++) /* place all unmatched nodes in queue */ + { + if (imatch [j] >= 0) continue ; /* skip j if matched */ + wj [j] = 0 ; /* j in set C0 (R0 if transpose) */ + queue [tail++] = j ; /* place unmatched col j in queue */ + } + if (tail == 0) return (1) ; /* quick return if no unmatched nodes */ + C = (mark == 1) ? ((cs *) A) : cs_transpose (A, 0) ; + if (!C) return (0) ; /* bfs of C=A' to find R0,R3,C3 */ + Ap = C->p ; Ai = C->i ; + while (head < tail) /* while queue is not empty */ + { + j = queue [head++] ; /* get the head of the queue */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (wi [i] >= 0) continue ; /* skip if i is marked */ + wi [i] = mark ; /* i in set R1 (C3 if transpose) */ + j2 = jmatch [i] ; /* traverse alternating path to j2 */ + if (wj [j2] >= 0) continue ;/* skip j2 if it is marked */ + wj [j2] = mark ; /* j2 in set C1 (R3 if transpose) */ + queue [tail++] = j2 ; /* add j2 to queue */ + } + } + if (mark != 1) cs_spfree (C) ; /* free A' if it was created */ + return (1) ; +} + +/* collect matched rows and columns into P and Q */ +static void cs_matched (int m, const int *wi, const int *jmatch, int *P, int *Q, + int *cc, int *rr, int set, int mark) +{ + int kc = cc [set], i ; + int kr = rr [set-1] ; + for (i = 0 ; i < m ; i++) + { + if (wi [i] != mark) continue ; /* skip if i is not in R set */ + P [kr++] = i ; + Q [kc++] = jmatch [i] ; + } + cc [set+1] = kc ; + rr [set] = kr ; +} + + +static void cs_unmatched (int m, const int *wi, int *P, int *rr, int set) +/* + Purpose: + + CS_UNMATCHED collects unmatched rows into the permutation vector P. +*/ +{ + int i, kr = rr [set] ; + for (i = 0 ; i < m ; i++) if (wi [i] == 0) P [kr++] = i ; + rr [set+1] = kr ; +} + +/* return 1 if row i is in R2 */ +static int cs_rprune (int i, int j, double aij, void *other) +{ + int *rr = (int *) other ; + return (i >= rr [1] && i < rr [2]) ; +} + +/* Given A, find coarse dmperm */ +csd *cs_dmperm (const cs *A) +{ + int m, n, i, j, k, p, cnz, nc, *jmatch, *imatch, *wi, *wj, *Pinv, *Cp, *Ci, + *Ps, *Rs, nb1, nb2, *P, *Q, *cc, *rr, *R, *S, ok ; + cs *C ; + csd *D, *scc ; + /* --- Maximum matching ------------------------------------------------- */ + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; + D = cs_dalloc (m, n) ; /* allocate result */ + if (!D) return (NULL) ; + P = D->P ; Q = D->Q ; R = D->R ; S = D->S ; cc = D->cc ; rr = D->rr ; + jmatch = cs_maxtrans (A) ; /* max transversal */ + imatch = jmatch + m ; /* imatch = inverse of jmatch */ + if (!jmatch) return (cs_ddone (D, NULL, jmatch, 0)) ; + /* --- Coarse decomposition --------------------------------------------- */ + wi = R ; wj = S ; /* use R and S as workspace */ + for (j = 0 ; j < n ; j++) wj [j] = -1 ; /* unmark all cols for bfs */ + for (i = 0 ; i < m ; i++) wi [i] = -1 ; /* unmark all rows for bfs */ + cs_bfs (A, n, wi, wj, Q, imatch, jmatch, 1) ; /* find C0, C1, R1 */ + ok = cs_bfs (A, m, wj, wi, P, jmatch, imatch, 3) ; /* find R0, R3, C3 */ + if (!ok) return (cs_ddone (D, NULL, jmatch, 0)) ; + cs_unmatched (n, wj, Q, cc, 0) ; /* unmatched set C0 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 1, 1) ; /* set R1 and C1 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 2, -1) ; /* set R2 and C2 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 3, 3) ; /* set R3 and C3 */ + cs_unmatched (m, wi, P, rr, 3) ; /* unmatched set R0 */ + cs_free (jmatch) ; + /* --- Fine decomposition ----------------------------------------------- */ + Pinv = cs_pinv (P, m) ; /* Pinv=P' */ + if (!Pinv) return (cs_ddone (D, NULL, NULL, 0)) ; + C = cs_permute (A, Pinv, Q, 0) ;/* C=A(P,Q) (it will hold A(R2,C2)) */ + cs_free (Pinv) ; + if (!C) return (cs_ddone (D, NULL, NULL, 0)) ; + Cp = C->p ; Ci = C->i ; + nc = cc [3] - cc [2] ; /* delete cols C0, C1, and C3 from C */ + if (cc [2] > 0) for (j = cc [2] ; j <= cc [3] ; j++) Cp [j-cc[2]] = Cp [j] ; + C->n = nc ; + if (rr [2] - rr [1] < m) /* delete rows R0, R1, and R3 from C */ + { + cs_fkeep (C, cs_rprune, rr) ; + cnz = Cp [nc] ; + if (rr [1] > 0) for (p = 0 ; p < cnz ; p++) Ci [p] -= rr [1] ; + } + C->m = nc ; + scc = cs_scc (C) ; /* find strongly-connected components of C*/ + if (!scc) return (cs_ddone (D, C, NULL, 0)) ; + /* --- Combine coarse and fine decompositions --------------------------- */ + Ps = scc->P ; /* C(Ps,Ps) is the permuted matrix */ + Rs = scc->R ; /* kth block is Rs[k]..Rs[k+1]-1 */ + nb1 = scc->nb ; /* # of blocks of A(*/ + for (k = 0 ; k < nc ; k++) wj [k] = Q [Ps [k] + cc [2]] ; /* combine */ + for (k = 0 ; k < nc ; k++) Q [k + cc [2]] = wj [k] ; + for (k = 0 ; k < nc ; k++) wi [k] = P [Ps [k] + rr [1]] ; + for (k = 0 ; k < nc ; k++) P [k + rr [1]] = wi [k] ; + nb2 = 0 ; /* create the fine block partitions */ + R [0] = 0 ; + S [0] = 0 ; + if (cc [2] > 0) nb2++ ; /* leading coarse block A (R1, [C0 C1]) */ + for (k = 0 ; k < nb1 ; k++) /* coarse block A (R2,C2) */ + { + R [nb2] = Rs [k] + rr [1] ; /* A (R2,C2) splits into nb1 fine blocks */ + S [nb2] = Rs [k] + cc [2] ; + nb2++ ; + } + if (rr [2] < m) + { + R [nb2] = rr [2] ; /* trailing coarse block A ([R3 R0], C3) */ + S [nb2] = cc [3] ; + nb2++ ; + } + R [nb2] = m ; + S [nb2] = n ; + D->nb = nb2 ; + cs_dfree (scc) ; + return (cs_ddone (D, C, NULL, 1)) ; +} + +static int cs_tol (int i, int j, double aij, void *tol) +{ + return (fabs (aij) > *((double *) tol)) ; +} +int cs_droptol (cs *A, double tol) +{ + return (cs_fkeep (A, &cs_tol, &tol)) ; /* keep all large entries */ +} + +static int cs_nonzero (int i, int j, double aij, void *other) +{ + return (aij != 0) ; +} +int cs_dropzeros (cs *A) +{ + return (cs_fkeep (A, &cs_nonzero, NULL)) ; /* keep all nonzero entries */ +} +int cs_dupl (cs *A) +/* + Purpose: + + CS_DUPL removes duplicate entries from A. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int i, j, p, q, nz = 0, n, m, *Ap, *Ai, *w ; + double *Ax ; + if (!A) return (0) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + w = (int*)cs_malloc (m, sizeof (int)) ; /* get workspace */ + if (!w) return (0) ; /* out of memory */ + for (i = 0 ; i < m ; i++) w [i] = -1 ; /* row i not yet seen */ + for (j = 0 ; j < n ; j++) + { + q = nz ; /* column j will start at q */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* A(i,j) is nonzero */ + if (w [i] >= q) + { + Ax [w [i]] += Ax [p] ; /* A(i,j) is a duplicate */ + } + else + { + w [i] = nz ; /* record where row i occurs */ + Ai [nz] = i ; /* keep A(i,j) */ + Ax [nz++] = Ax [p] ; + } + } + Ap [j] = q ; /* record start of column j */ + } + Ap [n] = nz ; /* finalize A */ + cs_free (w) ; /* free workspace */ + return (cs_sprealloc (A, 0)) ; /* remove extra space from A */ +} + +/* add an entry to a triplet matrix; return 1 if ok, 0 otherwise */ +int cs_entry (cs *T, int i, int j, double x) +{ + if (!T || (T->nz >= T->nzmax && !cs_sprealloc (T, 2*(T->nzmax)))) return(0); + if (T->x) T->x [T->nz] = x ; + T->i [T->nz] = i ; + T->p [T->nz++] = j ; + T->m = CS_MAX (T->m, i+1) ; + T->n = CS_MAX (T->n, j+1) ; + return (1) ; +} + +/* compute the etree of A (using triu(A), or A'A without forming A'A */ +int *cs_etree (const cs *A, int ata) +{ + int i, k, p, m, n, inext, *Ap, *Ai, *w, *parent, *ancestor, *prev ; + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; + parent = (int*)cs_malloc (n, sizeof (int)) ; + w = (int*)cs_malloc (n + (ata ? m : 0), sizeof (int)) ; + ancestor = w ; prev = w + n ; + if (!w || !parent) return (cs_idone (parent, NULL, w, 0)) ; + if (ata) for (i = 0 ; i < m ; i++) prev [i] = -1 ; + for (k = 0 ; k < n ; k++) + { + parent [k] = -1 ; /* node k has no parent yet */ + ancestor [k] = -1 ; /* nor does k have an ancestor */ + for (p = Ap [k] ; p < Ap [k+1] ; p++) + { + i = ata ? (prev [Ai [p]]) : (Ai [p]) ; + for ( ; i != -1 && i < k ; i = inext) /* traverse from i to k */ + { + inext = ancestor [i] ; /* inext = ancestor of i */ + ancestor [i] = k ; /* path compression */ + if (inext == -1) parent [i] = k ; /* no anc., parent is k */ + } + if (ata) prev [Ai [p]] = k ; + } + } + return (cs_idone (parent, NULL, w, 1)) ; +} + +/* drop entries for which fkeep(A(i,j)) is false; return nz if OK, else -1 */ +int cs_fkeep (cs *A, int (*fkeep) (int, int, double, void *), void *other) +{ + int j, p, nz = 0, n, *Ap, *Ai ; + double *Ax ; + if (!A || !fkeep) return (-1) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + p = Ap [j] ; /* get current location of col j */ + Ap [j] = nz ; /* record new location of col j */ + for ( ; p < Ap [j+1] ; p++) + { + if (fkeep (Ai [p], j, Ax ? Ax [p] : 1, other)) + { + if (Ax) Ax [nz] = Ax [p] ; /* keep A(i,j) */ + Ai [nz++] = Ai [p] ; + } + } + } + return (Ap [n] = nz) ; /* finalize A and return nnz(A) */ +} + +/* y = A*x+y */ +int cs_gaxpy (const cs *A, const double *x, double *y) +{ + int p, j, n, *Ap, *Ai ; + double *Ax ; + if (!A || !x || !y) return (0) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + y [Ai [p]] += Ax [p] * x [j] ; + } + } + return (1) ; +} + +/* apply the ith Householder vector to x */ +int cs_happly (const cs *V, int i, double beta, double *x) +{ + int p, *Vp, *Vi ; + double *Vx, tau = 0 ; + if (!V || !x) return (0) ; /* check inputs */ + Vp = V->p ; Vi = V->i ; Vx = V->x ; + for (p = Vp [i] ; p < Vp [i+1] ; p++) /* tau = v'*x */ + { + tau += Vx [p] * x [Vi [p]] ; + } + tau *= beta ; /* tau = beta*(v'*x) */ + for (p = Vp [i] ; p < Vp [i+1] ; p++) /* x = x - v*tau */ + { + x [Vi [p]] -= Vx [p] * tau ; + } + return (1) ; +} + +/* create a Householder reflection [v,beta,s]=house(x), overwrite x with v, + * where (I-beta*v*v')*x = s*x. See Algo 5.1.1, Golub & Van Loan, 3rd ed. */ +double cs_house (double *x, double *beta, int n) +{ + double s, sigma = 0 ; + int i ; + if (!x || !beta) return (-1) ; /* check inputs */ + for (i = 1 ; i < n ; i++) sigma += x [i] * x [i] ; + if (sigma == 0) + { + s = fabs (x [0]) ; /* s = |x(0)| */ + (*beta) = (x [0] <= 0) ? 2 : 0 ; + x [0] = 1 ; + } + else + { + s = sqrt (x [0] * x [0] + sigma) ; /* s = norm (x) */ + x [0] = (x [0] <= 0) ? (x [0] - s) : (-sigma / (x [0] + s)) ; + (*beta) = -1. / (s * x [0]) ; + } + return (s) ; +} + +/* x(P) = b, for dense vectors x and b; P=NULL denotes identity */ +int cs_ipvec (int n, const int *P, const double *b, double *x) +{ + int k ; + if (!x || !b) return (0) ; /* check inputs */ + for (k = 0 ; k < n ; k++) x [P ? P [k] : k] = b [k] ; + return (1) ; +} +cs *cs_load ( FILE *f ) +/* + Purpose: + + CS_LOAD loads a triplet matrix from a file. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int i, j ; + double x ; + cs *T ; + if (!f) return (NULL) ; + T = cs_spalloc (0, 0, 1, 1, 1) ; + while (fscanf (f, "%d %d %lg\n", &i, &j, &x) == 3) + { + if (!cs_entry (T, i, j, x)) return (cs_spfree (T)) ; + } + return (T) ; +} +int cs_lsolve ( const cs *L, double *x ) +/* + Purpose: + + CS_LSOLVE solves L*x=b. + + Discussion: + + On input, X contains the right hand side, and on output, the solution. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, n, *Lp, *Li ; + double *Lx ; + if (!L || !x) return (0) ; /* check inputs */ + n = L->n ; Lp = L->p ; Li = L->i ; Lx = L->x ; + for (j = 0 ; j < n ; j++) + { + x [j] /= Lx [Lp [j]] ; + for (p = Lp [j]+1 ; p < Lp [j+1] ; p++) + { + x [Li [p]] -= Lx [p] * x [j] ; + } + } + return (1) ; +} +int cs_ltsolve ( const cs *L, double *x ) +/* + Purpose: + + CS_LTSOLVE solves L'*x=b. + + Discussion: + + On input, X contains the right hand side, and on output, the solution. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, n, *Lp, *Li ; + double *Lx ; + if (!L || !x) return (0) ; /* check inputs */ + n = L->n ; Lp = L->p ; Li = L->i ; Lx = L->x ; + for (j = n-1 ; j >= 0 ; j--) + { + for (p = Lp [j]+1 ; p < Lp [j+1] ; p++) + { + x [j] -= Lx [p] * x [Li [p]] ; + } + x [j] /= Lx [Lp [j]] ; + } + return (1) ; +} + +/* [L,U,Pinv]=lu(A, [Q lnz unz]). lnz and unz can be guess */ +csn *cs_lu (const cs *A, const css *S, double tol) +{ + cs *L, *U ; + csn *N ; + double pivot, *Lx, *Ux, *x, a, t ; + int *Lp, *Li, *Up, *Ui, *Pinv, *xi, *Q, n, ipiv, k, top, p, i, col, lnz,unz; + if (!A || !S) return (NULL) ; /* check inputs */ + n = A->n ; + Q = S->Q ; lnz = S->lnz ; unz = S->unz ; + x = (double*)cs_malloc (n, sizeof (double)) ; + xi = (int*)cs_malloc (2*n, sizeof (int)) ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + if (!x || !xi || !N) return (cs_ndone (N, NULL, xi, x, 0)) ; + N->L = L = cs_spalloc (n, n, lnz, 1, 0) ; /* initial L and U */ + N->U = U = cs_spalloc (n, n, unz, 1, 0) ; + N->Pinv = Pinv = (int*)cs_malloc (n, sizeof (int)) ; + if (!L || !U || !Pinv) return (cs_ndone (N, NULL, xi, x, 0)) ; + Lp = L->p ; Up = U->p ; + for (i = 0 ; i < n ; i++) x [i] = 0 ; /* clear workspace */ + for (i = 0 ; i < n ; i++) Pinv [i] = -1 ; /* no rows pivotal yet */ + for (k = 0 ; k <= n ; k++) Lp [k] = 0 ; /* no cols of L yet */ + lnz = unz = 0 ; + for (k = 0 ; k < n ; k++) /* compute L(:,k) and U(:,k) */ + { + /* --- Triangular solve --------------------------------------------- */ + Lp [k] = lnz ; /* L(:,k) starts here */ + Up [k] = unz ; /* U(:,k) starts here */ + if ((lnz + n > L->nzmax && !cs_sprealloc (L, 2*L->nzmax + n)) || + (unz + n > U->nzmax && !cs_sprealloc (U, 2*U->nzmax + n))) + { + return (cs_ndone (N, NULL, xi, x, 0)) ; + } + Li = L->i ; Lx = L->x ; Ui = U->i ; Ux = U->x ; + col = Q ? (Q [k]) : k ; + top = cs_splsolve (L, A, col, xi, x, Pinv) ; /* x = L\A(:,col) */ + /* --- Find pivot --------------------------------------------------- */ + ipiv = -1 ; + a = -1 ; + for (p = top ; p < n ; p++) + { + i = xi [p] ; /* x(i) is nonzero */ + if (Pinv [i] < 0) /* row i is not pivotal */ + { + if ((t = fabs (x [i])) > a) + { + a = t ; /* largest pivot candidate so far */ + ipiv = i ; + } + } + else /* x(i) is the entry U(Pinv[i],k) */ + { + Ui [unz] = Pinv [i] ; + Ux [unz++] = x [i] ; + } + } + if (ipiv == -1 || a <= 0) return (cs_ndone (N, NULL, xi, x, 0)) ; + if (Pinv [col] < 0 && fabs (x [col]) >= a*tol) ipiv = col ; + /* --- Divide by pivot ---------------------------------------------- */ + pivot = x [ipiv] ; /* the chosen pivot */ + Ui [unz] = k ; /* last entry in U(:,k) is U(k,k) */ + Ux [unz++] = pivot ; + Pinv [ipiv] = k ; /* ipiv is the kth pivot row */ + Li [lnz] = ipiv ; /* first entry in L(:,k) is L(k,k) = 1 */ + Lx [lnz++] = 1 ; + for (p = top ; p < n ; p++) /* L(k+1:n,k) = x / pivot */ + { + i = xi [p] ; + if (Pinv [i] < 0) /* x(i) is an entry in L(:,k) */ + { + Li [lnz] = i ; /* save unpermuted row in L */ + Lx [lnz++] = x [i] / pivot ; /* scale pivot column */ + } + x [i] = 0 ; /* x [0..n-1] = 0 for next k */ + } + } + /* --- Finalize L and U ------------------------------------------------- */ + Lp [n] = lnz ; + Up [n] = unz ; + Li = L->i ; /* fix row indices of L for final Pinv */ + for (p = 0 ; p < lnz ; p++) Li [p] = Pinv [Li [p]] ; + cs_sprealloc (L, 0) ; /* remove extra space from L and U */ + cs_sprealloc (U, 0) ; + return (cs_ndone (N, NULL, xi, x, 1)) ; /* success */ +} + +/* x=A\b where A is unsymmetric; b overwritten with solution */ +int cs_lusol (const cs *A, double *b, int order, double tol) +{ + double *x ; + css *S ; + csn *N ; + int n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + S = cs_sqr (A, order, 0) ; /* ordering and symbolic analysis */ + N = cs_lu (A, S, tol) ; /* numeric LU factorization */ + x = (double*)cs_malloc (n, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (n, N->Pinv, b, x) ; /* x = P*b */ + cs_lsolve (N->L, x) ; /* x = L\x */ + cs_usolve (N->U, x) ; /* x = U\x */ + cs_ipvec (n, S->Q, x, b) ; /* b = Q*x */ + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + return (ok) ; +} + +#ifdef MATLAB_MEX_FILE +#define malloc mxMalloc +#define free mxFree +#define realloc mxRealloc +#define calloc mxCalloc +#endif + +/* wrapper for malloc */ +void *cs_malloc (int n, size_t size) +{ + return (CS_OVERFLOW (n,size) ? NULL : malloc (CS_MAX (n,1) * size)) ; +} + +/* wrapper for calloc */ +void *cs_calloc (int n, size_t size) +{ + return (CS_OVERFLOW (n,size) ? NULL : calloc (CS_MAX (n,1), size)) ; +} + +/* wrapper for free */ +void *cs_free (void *p) +{ + if (p) free (p) ; /* free p if it is not already NULL */ + return (NULL) ; /* return NULL to simplify the use of cs_free */ +} + +/* wrapper for realloc */ +void *cs_realloc (void *p, int n, size_t size, int *ok) +{ + void *p2 ; + *ok = !CS_OVERFLOW (n,size) ; /* guard against int overflow */ + if (!(*ok)) return (p) ; /* p unchanged if n too large */ + p2 = realloc (p, CS_MAX (n,1) * size) ; /* realloc the block */ + *ok = (p2 != NULL) ; + return ((*ok) ? p2 : p) ; /* return original p if failure */ +} + +/* find an augmenting path starting at column k and extend the match if found */ +static void cs_augment (int k, const cs *A, int *jmatch, int *cheap, int *w, + int *js, int *is, int *ps) +{ + int found = 0, p, i = -1, *Ap = A->p, *Ai = A->i, head = 0, j ; + js [0] = k ; /* start with just node k in jstack */ + while (head >= 0) + { + /* --- Start (or continue) depth-first-search at node j ------------- */ + j = js [head] ; /* get j from top of jstack */ + if (w [j] != k) /* 1st time j visited for kth path */ + { + w [j] = k ; /* mark j as visited for kth path */ + for (p = cheap [j] ; p < Ap [j+1] && !found ; p++) + { + i = Ai [p] ; /* try a cheap assignment (i,j) */ + found = (jmatch [i] == -1) ; + } + cheap [j] = p ; /* start here next time j is traversed*/ + if (found) + { + is [head] = i ; /* column j matched with row i */ + break ; /* end of augmenting path */ + } + ps [head] = Ap [j] ; /* no cheap match: start dfs for j */ + } + /* --- Depth-first-search of neighbors of j ------------------------- */ + for (p = ps [head] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* consider row i */ + if (w [jmatch [i]] == k) continue ; /* skip jmatch [i] if marked */ + ps [head] = p + 1 ; /* pause dfs of node j */ + is [head] = i ; /* i will be matched with j if found */ + js [++head] = jmatch [i] ; /* start dfs at column jmatch [i] */ + break ; + } + if (p == Ap [j+1]) head-- ; /* node j is done; pop from stack */ + } /* augment the match if path found: */ + if (found) for (p = head ; p >= 0 ; p--) jmatch [is [p]] = js [p] ; +} + +/* find a maximum transveral */ +int *cs_maxtrans (const cs *A) /* returns jmatch [0..m-1]; imatch [0..n-1] */ +{ + int i, j, k, n, m, p, n2 = 0, m2 = 0, *Ap, *jimatch, *w, *cheap, *js, *is, + *ps, *Ai, *Cp, *jmatch, *imatch ; + cs *C ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; m = A->m ; Ap = A->p ; Ai = A->i ; + w = jimatch = (int*)cs_calloc (m+n, sizeof (int)) ; /* allocate result */ + if (!jimatch) return (NULL) ; + for (j = 0 ; j < n ; j++) /* count non-empty rows and columns */ + { + n2 += (Ap [j] < Ap [j+1]) ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) w [Ai [p]] = 1 ; + } + for (i = 0 ; i < m ; i++) m2 += w [i] ; + C = (m2 < n2) ? cs_transpose (A,0) : ((cs *) A) ; /* transpose if needed */ + if (!C) return (cs_idone (jimatch, (m2 < n2) ? C : NULL, NULL, 0)) ; + n = C->n ; m = C->m ; Cp = C->p ; + jmatch = (m2 < n2) ? jimatch + n : jimatch ; + imatch = (m2 < n2) ? jimatch : jimatch + m ; + w = (int*)cs_malloc (5*n, sizeof (int)) ; /* allocate workspace */ + if (!w) return (cs_idone (jimatch, (m2 < n2) ? C : NULL, w, 0)) ; + cheap = w + n ; js = w + 2*n ; is = w + 3*n ; ps = w + 4*n ; + for (j = 0 ; j < n ; j++) cheap [j] = Cp [j] ; /* for cheap assignment */ + for (j = 0 ; j < n ; j++) w [j] = -1 ; /* all columns unflagged */ + for (i = 0 ; i < m ; i++) jmatch [i] = -1 ; /* nothing matched yet */ + for (k = 0 ; k < n ; k++) cs_augment (k, C, jmatch, cheap, w, js, is, ps) ; + for (j = 0 ; j < n ; j++) imatch [j] = -1 ; /* find row match */ + for (i = 0 ; i < m ; i++) if (jmatch [i] >= 0) imatch [jmatch [i]] = i ; + return (cs_idone (jimatch, (m2 < n2) ? C : NULL, w, 1)) ; +} + +/* C = A*B */ +cs *cs_multiply (const cs *A, const cs *B) +{ + int p, j, nz = 0, anz, *Cp, *Ci, *Bp, m, n, bnz, *w, values, *Bi ; + double *x, *Bx, *Cx ; + cs *C ; + if (!A || !B) return (NULL) ; /* check inputs */ + m = A->m ; anz = A->p [A->n] ; + n = B->n ; Bp = B->p ; Bi = B->i ; Bx = B->x ; bnz = Bp [n] ; + w = (int*)cs_calloc (m, sizeof (int)) ; + values = (A->x != NULL) && (Bx != NULL) ; + x = values ? (double*)cs_malloc (m, sizeof (double)) : NULL ; + C = cs_spalloc (m, n, anz + bnz, values, 0) ; + if (!C || !w || (values && !x)) return (cs_done (C, w, x, 0)) ; + Cp = C->p ; + for (j = 0 ; j < n ; j++) + { + if (nz + m > C->nzmax && !cs_sprealloc (C, 2*(C->nzmax)+m)) + { + return (cs_done (C, w, x, 0)) ; /* out of memory */ + } + Ci = C->i ; Cx = C->x ; /* C may have been reallocated */ + Cp [j] = nz ; /* column j of C starts here */ + for (p = Bp [j] ; p < Bp [j+1] ; p++) + { + nz = cs_scatter (A, Bi [p], Bx ? Bx [p] : 1, w, x, j+1, C, nz) ; + } + if (values) for (p = Cp [j] ; p < nz ; p++) Cx [p] = x [Ci [p]] ; + } + Cp [n] = nz ; /* finalize the last column of C */ + cs_sprealloc (C, 0) ; /* remove extra space from C */ + return (cs_done (C, w, x, 1)) ; /* success; free workspace, return C */ +} + +/* 1-norm of a sparse matrix = max (sum (abs (A))), largest column sum */ +double cs_norm (const cs *A) +{ + int p, j, n, *Ap ; + double *Ax, norm = 0, s ; + if (!A || !A->x) return (-1) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + for (s = 0, p = Ap [j] ; p < Ap [j+1] ; p++) s += fabs (Ax [p]) ; + norm = CS_MAX (norm, s) ; + } + return (norm) ; +} + +/* C = A(P,Q) where P and Q are permutations of 0..m-1 and 0..n-1. */ +cs *cs_permute (const cs *A, const int *Pinv, const int *Q, int values) +{ + int p, j, k, nz = 0, m, n, *Ap, *Ai, *Cp, *Ci ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (m, n, Ap [n], values && Ax != NULL, 0) ; + if (!C) return (cs_done (C, NULL, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (k = 0 ; k < n ; k++) + { + Cp [k] = nz ; /* column k of C is column Q[k] of A */ + j = Q ? (Q [k]) : k ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + if (Cx) Cx [nz] = Ax [p] ; /* row i of A is row Pinv[i] of C */ + Ci [nz++] = Pinv ? (Pinv [Ai [p]]) : Ai [p] ; + } + } + Cp [n] = nz ; /* finalize the last column of C */ + return (cs_done (C, NULL, NULL, 1)) ; +} + +/* Pinv = P', or P = Pinv' */ +int *cs_pinv (int const *P, int n) +{ + int k, *Pinv ; + if (!P) return (NULL) ; /* P = NULL denotes identity */ + Pinv = (int*)cs_malloc (n, sizeof (int)) ; /* allocate resuult */ + if (!Pinv) return (NULL) ; /* out of memory */ + for (k = 0 ; k < n ; k++) Pinv [P [k]] = k ;/* invert the permutation */ + return (Pinv) ; /* return result */ +} + +/* post order a forest */ +int *cs_post (int n, const int *parent) +{ + int j, k = 0, *post, *w, *head, *next, *stack ; + if (!parent) return (NULL) ; /* check inputs */ + post = (int*)cs_malloc (n, sizeof (int)) ; /* allocate result */ + w = (int*)cs_malloc (3*n, sizeof (int)) ; /* 3*n workspace */ + head = w ; next = w + n ; stack = w + 2*n ; + if (!w || !post) return (cs_idone (post, NULL, w, 0)) ; + for (j = 0 ; j < n ; j++) head [j] = -1 ; /* empty link lists */ + for (j = n-1 ; j >= 0 ; j--) /* traverse nodes in reverse order*/ + { + if (parent [j] == -1) continue ; /* j is a root */ + next [j] = head [parent [j]] ; /* add j to list of its parent */ + head [parent [j]] = j ; + } + for (j = 0 ; j < n ; j++) + { + if (parent [j] != -1) continue ; /* skip j if it is not a root */ + k = cs_tdfs (j, k, head, next, post, stack) ; + } + return (cs_idone (post, NULL, w, 1)) ; /* success; free w, return post */ +} + +/* print a sparse matrix */ +int cs_print (const cs *A, int brief) +{ + int p, j, m, n, nzmax, nz, *Ap, *Ai ; + double *Ax ; + if (!A) { printf ("(null)\n") ; return (0) ; } + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + nzmax = A->nzmax ; nz = A->nz ; + printf ("CSparse Version %d.%d.%d, %s. %s\n", CS_VER, CS_SUBVER, + CS_SUBSUB, CS_DATE, CS_COPYRIGHT) ; + if (nz < 0) + { + printf ("%d-by-%d, nzmax: %d nnz: %d, 1-norm: %g\n", m, n, nzmax, + Ap [n], cs_norm (A)) ; + for (j = 0 ; j < n ; j++) + { + printf (" col %d : locations %d to %d\n", j, Ap [j], Ap [j+1]-1); + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + printf (" %d : %g\n", Ai [p], Ax ? Ax [p] : 1) ; + if (brief && p > 20) { printf (" ...\n") ; return (1) ; } + } + } + } + else + { + printf ("triplet: %d-by-%d, nzmax: %d nnz: %d\n", m, n, nzmax, nz) ; + for (p = 0 ; p < nz ; p++) + { + printf (" %d %d : %g\n", Ai [p], Ap [p], Ax ? Ax [p] : 1) ; + if (brief && p > 20) { printf (" ...\n") ; return (1) ; } + } + } + return (1) ; +} + +/* x = b(P), for dense vectors x and b; P=NULL denotes identity */ +int cs_pvec (int n, const int *P, const double *b, double *x) +{ + int k ; + if (!x || !b) return (0) ; /* check inputs */ + for (k = 0 ; k < n ; k++) x [k] = b [P ? P [k] : k] ; + return (1) ; +} + +/* sparse QR factorization [V,beta,p,R] = qr (A) */ +csn *cs_qr (const cs *A, const css *S) +{ + double *Rx, *Vx, *Ax, *Beta, *x ; + int i, k, p, m, n, vnz, p1, top, m2, len, col, rnz, *s, *leftmost, *Ap, + *Ai, *parent, *Rp, *Ri, *Vp, *Vi, *w, *Pinv, *Q ; + cs *R, *V ; + csn *N ; + if (!A || !S || !S->parent || !S->Pinv) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + Q = S->Q ; parent = S->parent ; Pinv = S->Pinv ; m2 = S->m2 ; + vnz = S->lnz ; rnz = S->unz ; + leftmost = Pinv + m + n ; + w = (int*)cs_malloc (m2+n, sizeof (int)) ; + x = (double*)cs_malloc (m2, sizeof (double)) ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + if (!w || !x || !N) return (cs_ndone (N, NULL, w, x, 0)) ; + s = w + m2 ; /* size n */ + for (k = 0 ; k < m2 ; k++) x [k] = 0 ; /* clear workspace x */ + N->L = V = cs_spalloc (m2, n, vnz, 1, 0) ; /* allocate V */ + N->U = R = cs_spalloc (m2, n, rnz, 1, 0) ; /* allocate R, m2-by-n */ + N->B = Beta = (double*)cs_malloc (n, sizeof (double)) ; + if (!R || !V || !Beta) return (cs_ndone (N, NULL, w, x, 0)) ; + Rp = R->p ; Ri = R->i ; Rx = R->x ; + Vp = V->p ; Vi = V->i ; Vx = V->x ; + for (i = 0 ; i < m2 ; i++) w [i] = -1 ; /* clear w, to mark nodes */ + rnz = 0 ; vnz = 0 ; + for (k = 0 ; k < n ; k++) /* compute V and R */ + { + Rp [k] = rnz ; /* R(:,k) starts here */ + Vp [k] = p1 = vnz ; /* V(:,k) starts here */ + w [k] = k ; /* add V(k,k) to pattern of V */ + Vi [vnz++] = k ; + top = n ; + col = Q ? Q [k] : k ; + for (p = Ap [col] ; p < Ap [col+1] ; p++) /* find R(:,k) pattern */ + { + i = leftmost [Ai [p]] ; /* i = min(find(A(i,Q))) */ + for (len = 0 ; w [i] != k ; i = parent [i]) /* traverse up to k */ + { + s [len++] = i ; + w [i] = k ; + } + while (len > 0) s [--top] = s [--len] ; /* push path on stack */ + i = Pinv [Ai [p]] ; /* i = permuted row of A(:,col) */ + x [i] = Ax [p] ; /* x (i) = A(.,col) */ + if (i > k && w [i] < k) /* pattern of V(:,k) = x (k+1:m) */ + { + Vi [vnz++] = i ; /* add i to pattern of V(:,k) */ + w [i] = k ; + } + } + for (p = top ; p < n ; p++) /* for each i in pattern of R(:,k) */ + { + i = s [p] ; /* R(i,k) is nonzero */ + cs_happly (V, i, Beta [i], x) ; /* apply (V(i),Beta(i)) to x */ + Ri [rnz] = i ; /* R(i,k) = x(i) */ + Rx [rnz++] = x [i] ; + x [i] = 0 ; + if (parent [i] == k) vnz = cs_scatter (V, i, 0, w, NULL, k, V, vnz); + } + for (p = p1 ; p < vnz ; p++) /* gather V(:,k) = x */ + { + Vx [p] = x [Vi [p]] ; + x [Vi [p]] = 0 ; + } + Ri [rnz] = k ; /* R(k,k) = norm (x) */ + Rx [rnz++] = cs_house (Vx+p1, Beta+k, vnz-p1) ; /* [v,beta]=house(x) */ + } + Rp [n] = rnz ; /* finalize R */ + Vp [n] = vnz ; /* finalize V */ + return (cs_ndone (N, NULL, w, x, 1)) ; /* success */ +} + +/* x=A\b where A can be rectangular; b overwritten with solution */ +int cs_qrsol (const cs *A, double *b, int order) +{ + double *x ; + css *S ; + csn *N ; + cs *AT = NULL ; + int k, m, n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + m = A->m ; + if (m >= n) + { + S = cs_sqr (A, order, 1) ; /* ordering and symbolic analysis */ + N = cs_qr (A, S) ; /* numeric QR factorization */ + x = (double*)cs_calloc (S ? S->m2 : 1, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (m, S->Pinv, b, x) ; /* x(0:m-1) = P*b(0:m-1) */ + for (k = 0 ; k < n ; k++) /* apply Householder refl. to x */ + { + cs_happly (N->L, k, N->B [k], x) ; + } + cs_usolve (N->U, x) ; /* x = R\x */ + cs_ipvec (n, S->Q, x, b) ; /* b(0:n-1) = Q*x (permutation) */ + } + } + else + { + AT = cs_transpose (A, 1) ; /* Ax=b is underdetermined */ + S = cs_sqr (AT, order, 1) ; /* ordering and symbolic analysis */ + N = cs_qr (AT, S) ; /* numeric QR factorization of A' */ + x = (double*)cs_calloc (S ? S->m2 : 1, sizeof (double)) ; + ok = (AT && S && N && x) ; + if (ok) + { + cs_pvec (m, S->Q, b, x) ; /* x(0:m-1) = Q'*b (permutation) */ + cs_utsolve (N->U, x) ; /* x = R'\x */ + for (k = m-1 ; k >= 0 ; k--) /* apply Householder refl. to x */ + { + cs_happly (N->L, k, N->B [k], x) ; + } + cs_pvec (n, S->Pinv, x, b) ; /* b (0:n-1) = P'*x */ + } + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + cs_spfree (AT) ; + return (ok) ; +} + +/* xi [top...n-1] = nodes reachable from graph of L*P' via nodes in B(:,k). + * xi [n...2n-1] used as workspace */ +int cs_reach (cs *L, const cs *B, int k, int *xi, const int *Pinv) +{ + int p, n, top, *Bp, *Bi, *Lp ; + if (!L || !B || !xi) return (-1) ; + n = L->n ; Bp = B->p ; Bi = B->i ; Lp = L->p ; + top = n ; + for (p = Bp [k] ; p < Bp [k+1] ; p++) + { + if (!CS_MARKED (Lp, Bi [p])) /* start a dfs at unmarked node i */ + { + top = cs_dfs (Bi [p], L, top, xi, xi+n, Pinv) ; + } + } + for (p = top ; p < n ; p++) CS_MARK (Lp, xi [p]) ; /* restore L */ + return (top) ; +} + +/* x = x + beta * A(:,j), where x is a dense vector and A(:,j) is sparse */ +int cs_scatter (const cs *A, int j, double beta, int *w, double *x, int mark, + cs *C, int nz) +{ + int i, p, *Ap, *Ai, *Ci ; + double *Ax ; + if (!A || !w || !C) return (-1) ; /* ensure inputs are valid */ + Ap = A->p ; Ai = A->i ; Ax = A->x ; Ci = C->i ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* A(i,j) is nonzero */ + if (w [i] < mark) + { + w [i] = mark ; /* i is new entry in column j */ + Ci [nz++] = i ; /* add i to pattern of C(:,j) */ + if (x) x [i] = beta * Ax [p] ; /* x(i) = beta*A(i,j) */ + } + else if (x) x [i] += beta * Ax [p] ; /* i exists in C(:,j) already */ + } + return (nz) ; +} + +/* find the strongly connected components of a square matrix */ +csd *cs_scc (cs *A) /* matrix A temporarily modified, then restored */ +{ + int n, i, k, b = 0, top, *xi, *pstack, *P, *R, *Ap, *ATp ; + cs *AT ; + csd *D ; + if (!A) return (NULL) ; + n = A->n ; Ap = A->p ; + D = cs_dalloc (n, 0) ; + AT = cs_transpose (A, 0) ; /* AT = A' */ + xi = (int*)cs_malloc (2*n, sizeof (int)) ; /* allocate workspace */ + pstack = xi + n ; + if (!D || !AT || !xi) return (cs_ddone (D, AT, xi, 0)) ; + P = D->P ; R = D->R ; ATp = AT->p ; + top = n ; + for (i = 0 ; i < n ; i++) /* first dfs(A) to find finish times (xi) */ + { + if (!CS_MARKED (Ap,i)) top = cs_dfs (i, A, top, xi, pstack, NULL) ; + } + for (i = 0 ; i < n ; i++) CS_MARK (Ap, i) ; /* restore A; unmark all nodes*/ + top = n ; + b = n ; + for (k = 0 ; k < n ; k++) /* dfs(A') to find strongly connnected comp. */ + { + i = xi [k] ; /* get i in reverse order of finish times */ + if (CS_MARKED (ATp,i)) continue ; /* skip node i if already ordered */ + R [b--] = top ; /* node i is the start of a component in P */ + top = cs_dfs (i, AT, top, P, pstack, NULL) ; + } + R [b] = 0 ; /* first block starts at zero; shift R up */ + for (k = b ; k <= n ; k++) R [k-b] = R [k] ; + D->nb = R [n+1] = b = n-b ; /* b = # of strongly connected components */ + return (cs_ddone (D, AT, xi, 1)) ; +} + +/* ordering and symbolic analysis for a Cholesky factorization */ +css *cs_schol (const cs *A, int order) +{ + int n, *c, *post, *P ; + cs *C ; + css *S ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; + S = (css*)cs_calloc (1, sizeof (css)) ; /* allocate symbolic analysis */ + if (!S) return (NULL) ; /* out of memory */ + P = cs_amd (A, order) ; /* P = amd(A+A'), or natural */ + S->Pinv = cs_pinv (P, n) ; /* find inverse permutation */ + cs_free (P) ; + if (order >= 0 && !S->Pinv) return (cs_sfree (S)) ; + C = cs_symperm (A, S->Pinv, 0) ; /* C = spones(triu(A(P,P))) */ + S->parent = cs_etree (C, 0) ; /* find etree of C */ + post = cs_post (n, S->parent) ; /* postorder the etree */ + c = cs_counts (C, S->parent, post, 0) ; /* find column counts of chol(C) */ + cs_free (post) ; + cs_spfree (C) ; + S->cp = (int*)cs_malloc (n+1, sizeof (int)) ; /* find column pointers for L */ + S->unz = S->lnz = cs_cumsum (S->cp, c, n) ; + cs_free (c) ; + return ((S->lnz >= 0) ? S : cs_sfree (S)) ; +} + +/* solve Lx=b(:,k), leaving pattern in xi[top..n-1], values scattered in x. */ +int cs_splsolve (cs *L, const cs *B, int k, int *xi, double *x, const int *Pinv) +{ + int j, jnew, p, px, top, n, *Lp, *Li, *Bp, *Bi ; + double *Lx, *Bx ; + if (!L || !B || !xi || !x) return (-1) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; n = L->n ; + Bp = B->p ; Bi = B->i ; Bx = B->x ; + top = cs_reach (L, B, k, xi, Pinv) ; /* xi[top..n-1]=Reach(B(:,k)) */ + for (p = top ; p < n ; p++) x [xi [p]] = 0 ;/* clear x */ + for (p = Bp [k] ; p < Bp [k+1] ; p++) x [Bi [p]] = Bx [p] ; /* scatter B */ + for (px = top ; px < n ; px++) + { + j = xi [px] ; /* x(j) is nonzero */ + jnew = Pinv ? (Pinv [j]) : j ; /* j is column jnew of L */ + if (jnew < 0) continue ; /* column jnew is empty */ + for (p = Lp [jnew]+1 ; p < Lp [jnew+1] ; p++) + { + x [Li [p]] -= Lx [p] * x [j] ; /* x(i) -= L(i,j) * x(j) */ + } + } + return (top) ; /* return top of stack */ +} + +/* compute vnz, Pinv, leftmost, m2 from A and parent */ +static int *cs_vcount (const cs *A, const int *parent, int *m2, int *vnz) +{ + int i, k, p, pa, n = A->n, m = A->m, *Ap = A->p, *Ai = A->i ; + int *Pinv = (int*)cs_malloc (2*m+n, sizeof (int)), *leftmost = Pinv + m + n ; + int *w = (int*)cs_malloc (m+3*n, sizeof (int)) ; + int *next = w, *head = w + m, *tail = w + m + n, *nque = w + m + 2*n ; + if (!Pinv || !w) return (cs_idone (Pinv, NULL, w, 0)) ; + for (k = 0 ; k < n ; k++) head [k] = -1 ; /* queue k is empty */ + for (k = 0 ; k < n ; k++) tail [k] = -1 ; + for (k = 0 ; k < n ; k++) nque [k] = 0 ; + for (i = 0 ; i < m ; i++) leftmost [i] = -1 ; + for (k = n-1 ; k >= 0 ; k--) + { + for (p = Ap [k] ; p < Ap [k+1] ; p++) + { + leftmost [Ai [p]] = k ; /* leftmost[i] = min(find(A(i,:)))*/ + } + } + for (i = m-1 ; i >= 0 ; i--) /* scan rows in reverse order */ + { + Pinv [i] = -1 ; /* row i is not yet ordered */ + k = leftmost [i] ; + if (k == -1) continue ; /* row i is empty */ + if (nque [k]++ == 0) tail [k] = i ; /* first row in queue k */ + next [i] = head [k] ; /* put i at head of queue k */ + head [k] = i ; + } + (*vnz) = 0 ; + (*m2) = m ; + for (k = 0 ; k < n ; k++) /* find row permutation and nnz(V)*/ + { + i = head [k] ; /* remove row i from queue k */ + (*vnz)++ ; /* count V(k,k) as nonzero */ + if (i < 0) i = (*m2)++ ; /* add a fictitious row */ + Pinv [i] = k ; /* associate row i with V(:,k) */ + if (--nque [k] <= 0) continue ; /* skip if V(k+1:m,k) is empty */ + (*vnz) += nque [k] ; /* nque [k] = nnz (V(k+1:m,k)) */ + if ((pa = parent [k]) != -1) /* move all rows to parent of k */ + { + if (nque [pa] == 0) tail [pa] = tail [k] ; + next [tail [k]] = head [pa] ; + head [pa] = next [i] ; + nque [pa] += nque [k] ; + } + } + for (i = 0 ; i < m ; i++) if (Pinv [i] < 0) Pinv [i] = k++ ; + return (cs_idone (Pinv, NULL, w, 1)) ; +} + +/* symbolic analysis for QR or LU */ +css *cs_sqr (const cs *A, int order, int qr) +{ + int n, k, ok = 1, *post ; + css *S ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; + S = (css*)cs_calloc (1, sizeof (css)) ; /* allocate symbolic analysis */ + if (!S) return (NULL) ; /* out of memory */ + S->Q = cs_amd (A, order) ; /* fill-reducing ordering */ + if (order >= 0 && !S->Q) return (cs_sfree (S)) ; + if (qr) /* QR symbolic analysis */ + { + cs *C = (order >= 0) ? cs_permute (A, NULL, S->Q, 0) : ((cs *) A) ; + S->parent = cs_etree (C, 1) ; /* etree of C'*C, where C=A(:,Q) */ + post = cs_post (n, S->parent) ; + S->cp = cs_counts (C, S->parent, post, 1) ; /* col counts chol(C'*C) */ + cs_free (post) ; + ok = C && S->parent && S->cp ; + if (ok) S->Pinv = cs_vcount (C, S->parent, &(S->m2), &(S->lnz)) ; + ok = ok && S->Pinv ; + if (ok) for (S->unz = 0, k = 0 ; k < n ; k++) S->unz += S->cp [k] ; + if (order >= 0) cs_spfree (C) ; + } + else + { + S->unz = 4*(A->p [n]) + n ; /* for LU factorization only, */ + S->lnz = S->unz ; /* guess nnz(L) and nnz(U) */ + } + return (ok ? S : cs_sfree (S)) ; +} + +/* C = A(p,p) where A and C are symmetric the upper part stored, Pinv not P */ +cs *cs_symperm (const cs *A, const int *Pinv, int values) +{ + int i, j, p, q, i2, j2, n, *Ap, *Ai, *Cp, *Ci, *w ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (n, n, Ap [n], values && (Ax != NULL), 0) ; + w = (int*)cs_calloc (n, sizeof (int)) ; + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (j = 0 ; j < n ; j++) /* count entries in each column of C */ + { + j2 = Pinv ? Pinv [j] : j ; /* column j of A is column j2 of C */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (i > j) continue ; /* skip lower triangular part of A */ + i2 = Pinv ? Pinv [i] : i ; /* row i of A is row i2 of C */ + w [CS_MAX (i2, j2)]++ ; /* column count of C */ + } + } + cs_cumsum (Cp, w, n) ; /* compute column pointers of C */ + for (j = 0 ; j < n ; j++) + { + j2 = Pinv ? Pinv [j] : j ; /* column j of A is column j2 of C */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (i > j) continue ; /* skip lower triangular part of A*/ + i2 = Pinv ? Pinv [i] : i ; /* row i of A is row i2 of C */ + Ci [q = w [CS_MAX (i2, j2)]++] = CS_MIN (i2, j2) ; + if (Cx) Cx [q] = Ax [p] ; + } + } + return (cs_done (C, w, NULL, 1)) ; /* success; free workspace, return C */ +} + +/* depth-first search and postorder of a tree rooted at node j */ +int cs_tdfs (int j, int k, int *head, const int *next, int *post, int *stack) +{ + int i, p, top = 0 ; + if (!head || !next || !post || !stack) return (-1) ; /* check inputs */ + stack [0] = j ; /* place j on the stack */ + while (top >= 0) /* while (stack is not empty) */ + { + p = stack [top] ; /* p = top of stack */ + i = head [p] ; /* i = youngest child of p */ + if (i == -1) + { + top-- ; /* p has no unordered children left */ + post [k++] = p ; /* node p is the kth postordered node */ + } + else + { + head [p] = next [i] ; /* remove i from children of p */ + stack [++top] = i ; /* start dfs on child node i */ + } + } + return (k) ; +} + +/* C = A' */ +cs *cs_transpose (const cs *A, int values) +{ + int p, q, j, *Cp, *Ci, n, m, *Ap, *Ai, *w ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (n, m, Ap [n], values && Ax, 0) ; /* allocate result */ + w = (int*)cs_calloc (m, sizeof (int)) ; + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (p = 0 ; p < Ap [n] ; p++) w [Ai [p]]++ ; /* row counts */ + cs_cumsum (Cp, w, m) ; /* row pointers */ + for (j = 0 ; j < n ; j++) + { + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + Ci [q = w [Ai [p]]++] = j ; /* place A(i,j) as entry C(j,i) */ + if (Cx) Cx [q] = Ax [p] ; + } + } + return (cs_done (C, w, NULL, 1)) ; /* success; free w and return C */ +} + +/* C = compressed-column form of a triplet matrix T */ +cs *cs_triplet (const cs *T) +{ + int m, n, nz, p, k, *Cp, *Ci, *w, *Ti, *Tj ; + double *Cx, *Tx ; + cs *C ; + if (!T) return (NULL) ; /* check inputs */ + m = T->m ; n = T->n ; Ti = T->i ; Tj = T->p ; Tx = T->x ; nz = T->nz ; + C = cs_spalloc (m, n, nz, Tx != NULL, 0) ; /* allocate result */ + w = (int*)cs_calloc (n, sizeof (int)) ; /* get workspace */ + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (k = 0 ; k < nz ; k++) w [Tj [k]]++ ; /* column counts */ + cs_cumsum (Cp, w, n) ; /* column pointers */ + for (k = 0 ; k < nz ; k++) + { + Ci [p = w [Tj [k]]++] = Ti [k] ; /* A(i,j) is the pth entry in C */ + if (Cx) Cx [p] = Tx [k] ; + } + return (cs_done (C, w, NULL, 1)) ; /* success; free w and return C */ +} + +/* sparse Cholesky update/downdate, L*L' + sigma*w*w' (sigma = +1 or -1) */ +int cs_updown (cs *L, int sigma, const cs *C, const int *parent) +{ + int p, f, j, *Lp, *Li, *Cp, *Ci ; + double *Lx, *Cx, alpha, beta = 1, delta, gamma, w1, w2, *w, n, beta2 = 1 ; + if (!L || !C || !parent) return (0) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; n = L->n ; + Cp = C->p ; Ci = C->i ; Cx = C->x ; + if ((p = Cp [0]) >= Cp [1]) return (1) ; /* return if C empty */ + w = (double*)cs_malloc ((int)n, sizeof (double)) ; + if (!w) return (0) ; + f = Ci [p] ; + for ( ; p < Cp [1] ; p++) f = CS_MIN (f, Ci [p]) ; /* f = min (find (C)) */ + for (j = f ; j != -1 ; j = parent [j]) w [j] = 0 ; /* clear workspace w */ + for (p = Cp [0] ; p < Cp [1] ; p++) w [Ci [p]] = Cx [p] ; /* w = C */ + for (j = f ; j != -1 ; j = parent [j]) /* walk path f up to root */ + { + p = Lp [j] ; + alpha = w [j] / Lx [p] ; /* alpha = w(j) / L(j,j) */ + beta2 = beta*beta + sigma*alpha*alpha ; + if (beta2 <= 0) break ; /* not positive definite */ + beta2 = sqrt (beta2) ; + delta = (sigma > 0) ? (beta / beta2) : (beta2 / beta) ; + gamma = sigma * alpha / (beta2 * beta) ; + Lx [p] = delta * Lx [p] + ((sigma > 0) ? (gamma * w [j]) : 0) ; + beta = beta2 ; + for (p++ ; p < Lp [j+1] ; p++) + { + w1 = w [Li [p]] ; + w [Li [p]] = w2 = w1 - alpha * Lx [p] ; + Lx [p] = delta * Lx [p] + gamma * ((sigma > 0) ? w1 : w2) ; + } + } + cs_free (w) ; + return (beta2 > 0) ; +} + +/* solve Ux=b where x and b are dense. x=b on input, solution on output. */ +int cs_usolve (const cs *U, double *x) +{ + int p, j, n, *Up, *Ui ; + double *Ux ; + if (!U || !x) return (0) ; /* check inputs */ + n = U->n ; Up = U->p ; Ui = U->i ; Ux = U->x ; + for (j = n-1 ; j >= 0 ; j--) + { + x [j] /= Ux [Up [j+1]-1] ; + for (p = Up [j] ; p < Up [j+1]-1 ; p++) + { + x [Ui [p]] -= Ux [p] * x [j] ; + } + } + return (1) ; +} + +/* allocate a sparse matrix (triplet form or compressed-column form) */ +cs *cs_spalloc (int m, int n, int nzmax, int values, int triplet) +{ + cs *A = (cs*)cs_calloc (1, sizeof (cs)) ; /* allocate the cs struct */ + if (!A) return (NULL) ; /* out of memory */ + A->m = m ; /* define dimensions and nzmax */ + A->n = n ; + A->nzmax = nzmax = CS_MAX (nzmax, 1) ; + A->nz = triplet ? 0 : -1 ; /* allocate triplet or comp.col */ + A->p = (int*)cs_malloc (triplet ? nzmax : n+1, sizeof (int)) ; + A->i = (int*)cs_malloc (nzmax, sizeof (int)) ; + A->x = values ? (double*)cs_malloc (nzmax, sizeof (double)) : NULL ; + return ((!A->p || !A->i || (values && !A->x)) ? cs_spfree (A) : A) ; +} + +/* change the max # of entries sparse matrix */ +int cs_sprealloc (cs *A, int nzmax) +{ + int ok, oki, okj = 1, okx = 1 ; + if (!A) return (0) ; + nzmax = (nzmax <= 0) ? (A->p [A->n]) : nzmax ; + A->i = (int*)cs_realloc (A->i, nzmax, sizeof (int), &oki) ; + if (A->nz >= 0) A->p = (int*)cs_realloc (A->p, nzmax, sizeof (int), &okj) ; + if (A->x) A->x = (double*)cs_realloc (A->x, nzmax, sizeof (double), &okx) ; + ok = (oki && okj && okx) ; + if (ok) A->nzmax = nzmax ; + return (ok) ; +} + +/* free a sparse matrix */ +cs *cs_spfree (cs *A) +{ + if (!A) return (NULL) ; /* do nothing if A already NULL */ + cs_free (A->p) ; + cs_free (A->i) ; + cs_free (A->x) ; + return (cs*)(cs_free (A)) ; /* free the cs struct and return NULL */ +} + +/* free a numeric factorization */ +csn *cs_nfree (csn *N) +{ + if (!N) return (NULL) ; /* do nothing if N already NULL */ + cs_spfree (N->L) ; + cs_spfree (N->U) ; + cs_free (N->Pinv) ; + cs_free (N->B) ; + return (csn*)(cs_free (N)) ; /* free the csn struct and return NULL */ +} + +/* free a symbolic factorization */ +css *cs_sfree (css *S) +{ + if (!S) return (NULL) ; /* do nothing if S already NULL */ + cs_free (S->Pinv) ; + cs_free (S->Q) ; + cs_free (S->parent) ; + cs_free (S->cp) ; + return (css*)(cs_free (S)) ; /* free the css struct and return NULL */ +} + +/* allocate a cs_dmperm or cs_scc result */ +csd *cs_dalloc (int m, int n) +{ + csd *D ; + D = (csd*)cs_calloc (1, sizeof (csd)) ; + if (!D) return (NULL) ; + D->P = (int*)cs_malloc (m, sizeof (int)) ; + D->R = (int*)cs_malloc (m+6, sizeof (int)) ; + D->Q = (int*)cs_malloc (n, sizeof (int)) ; + D->S = (int*)cs_malloc (n+6, sizeof (int)) ; + return ((!D->P || !D->R || !D->Q || !D->S) ? cs_dfree (D) : D) ; +} + +/* free a cs_dmperm or cs_scc result */ +csd *cs_dfree (csd *D) +{ + if (!D) return (NULL) ; /* do nothing if D already NULL */ + cs_free (D->P) ; + cs_free (D->Q) ; + cs_free (D->R) ; + cs_free (D->S) ; + return (csd*)(cs_free (D)) ; +} + +/* free workspace and return a sparse matrix result */ +cs *cs_done (cs *C, void *w, void *x, int ok) +{ + cs_free (w) ; /* free workspace */ + cs_free (x) ; + return (ok ? C : cs_spfree (C)) ; /* return result if OK, else free it */ +} + +/* free workspace and return int array result */ +int *cs_idone (int *p, cs *C, void *w, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + return (ok ? p : (int*)cs_free (p)) ; /* return result if OK, else free it */ +} + +/* free workspace and return a numeric factorization (Cholesky, LU, or QR) */ +csn *cs_ndone (csn *N, cs *C, void *w, void *x, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + cs_free (x) ; + return (ok ? N : cs_nfree (N)) ; /* return result if OK, else free it */ +} + +/* free workspace and return a csd result */ +csd *cs_ddone (csd *D, cs *C, void *w, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + return (ok ? D : cs_dfree (D)) ; /* return result if OK, else free it */ +} + +/* solve U'x=b where x and b are dense. x=b on input, solution on output. */ +int cs_utsolve (const cs *U, double *x) +{ + int p, j, n, *Up, *Ui ; + double *Ux ; + if (!U || !x) return (0) ; /* check inputs */ + n = U->n ; Up = U->p ; Ui = U->i ; Ux = U->x ; + for (j = 0 ; j < n ; j++) + { + for (p = Up [j] ; p < Up [j+1]-1 ; p++) + { + x [j] -= Ux [p] * x [Ui [p]] ; + } + x [j] /= Ux [p] ; + } + return (1) ; +} diff --git a/.svn/pristine/23/2354cc31a9028bfa520a3f521bfe59cd3f71ca50.svn-base b/.svn/pristine/23/2354cc31a9028bfa520a3f521bfe59cd3f71ca50.svn-base new file mode 100644 index 0000000..9842ee7 --- /dev/null +++ b/.svn/pristine/23/2354cc31a9028bfa520a3f521bfe59cd3f71ca50.svn-base @@ -0,0 +1,474 @@ +/************************************************************************** + + algebra3.cpp, algebra3.h - C++ Vector and Matrix Algebra routines + + There are three vector classes and two matrix classes: vec2, vec3, + vec4, mat3, and mat4. + + All the standard arithmetic operations are defined, with '*' + for dot product of two vectors and multiplication of two matrices, + and '^' for cross product of two vectors. + + Additional functions include length(), normalize(), homogenize for + vectors, and print(), set(), apply() for all classes. + + There is a function transpose() for matrices, but note that it + does not actually change the matrix, + + When multiplied with a matrix, a vector is treated as a row vector + if it precedes the matrix (v*M), and as a column vector if it + follows the matrix (M*v). + + Matrices are stored in row-major form. + + A vector of one dimension (2d, 3d, or 4d) can be cast to a vector + of a higher or lower dimension. If casting to a higher dimension, + the new component is set by default to 1.0, unless a value is + specified: + vec3 a(1.0, 2.0, 3.0 ); + vec4 b( a, 4.0 ); // now b == {1.0, 2.0, 3.0, 4.0}; + When casting to a lower dimension, the vector is homogenized in + the lower dimension. E.g., if a 4d {X,Y,Z,W} is cast to 3d, the + resulting vector is {X/W, Y/W, Z/W}. It is up to the user to + insure the fourth component is not zero before casting. + + There are also the following function for building matrices: + identity2D(), translation2D(), rotation2D(), + scaling2D(), identity3D(), translation3D(), + rotation3D(), rotation3Drad(), scaling3D(), + perspective3D() + + NOTE: When compiling for Windows, include this file first, to avoid + certain name conflicts + + --------------------------------------------------------------------- + + Author: Jean-Francois DOUEg + Revised: Paul Rademacher + Version 3.2 - Feb 1998 + +**************************************************************************/ + +#ifndef _ALGEBRA3_H_ +#define _ALGEBRA3_H_ + +#include +#include +#include + +// this line defines a new type: pointer to a function which returns a +// float and takes as argument a float +typedef float (*V_FCT_PTR)(float); + +// min-max macros +#ifndef MIN +#define MIN(A,B) ((A) < (B) ? (A) : (B)) +#define MAX(A,B) ((A) > (B) ? (A) : (B)) +#endif + +//#include +// error handling macro +//#define VEC_ERROR(E) { cerr << E; exit(1); } +/*#define << +#define >>*/ + +#ifdef VEC_ERROR_FATAL +#ifndef VEC_ERROR +#define VEC_ERROR(E) { printf( "VERROR %s\n", E ); exit(1); } +#endif +#else +#ifndef VEC_ERROR +#define VEC_ERROR(E) { printf( "VERROR %s\n", E ); } +#endif +#endif + +class vec2; +class vec3; +class vec4; +class mat3; +class mat4; + +/*#ifndef X +enum {X,Y,Z,W}; +#endif +*/ + +/*#ifndef R +enum {R,G,B,ALPHA}; +#endif +*/ + +#ifndef M_PI +#define M_PI 3.141592654 +#endif + + +enum {VX, VY, VZ, VW}; // axes +enum {PA, PB, PC, PD}; // planes +enum {RED, GREEN, BLUE, ALPHA}; // colors +enum {KA, KD, KS, ES}; // phong coefficients + +/**************************************************************** +* * +* 2D Vector * +* * +****************************************************************/ + +class vec2 +{ +protected: + + float n[2]; + +public: + + // Constructors + + vec2(void); + vec2(const float x, const float y); + vec2(const float d); + vec2(const vec2& v); // copy constructor + vec2(const vec3& v); // cast v3 to v2 + vec2(const vec3& v, int dropAxis); // cast v3 to v2 + + // Assignment operators + + vec2& operator = ( const vec2& v ); // assignment of a vec2 + vec2& operator += ( const vec2& v ); // incrementation by a vec2 + vec2& operator -= ( const vec2& v ); // decrementation by a vec2 + vec2& operator *= ( const float d ); // multiplication by a constant + vec2& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec2 + float length2(void); // squared length of a vec2 + vec2& normalize(void); // normalize a vec2 + vec2& apply(V_FCT_PTR fct); // apply a func. to each component + void set( float x, float y ); // set vector + + // friends + + friend vec2 operator - (const vec2& v); // -v1 + friend vec2 operator + (const vec2& a, const vec2& b); // v1 + v2 + friend vec2 operator - (const vec2& a, const vec2& b); // v1 - v2 + friend vec2 operator * (const vec2& a, const float d); // v1 * 3.0 + friend vec2 operator * (const float d, const vec2& a); // 3.0 * v1 + friend vec2 operator * (const mat3& a, const vec2& v); // M . v + friend vec2 operator * (const vec2& v, mat3& a); // v . M + friend float operator * (const vec2& a, const vec2& b); // dot product + friend vec2 operator / (const vec2& a, const float d); // v1 / 3.0 + friend vec3 operator ^ (const vec2& a, const vec2& b); // cross product + friend int operator == (const vec2& a, const vec2& b); // v1 == v2 ? + friend int operator != (const vec2& a, const vec2& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec2& v); // output to stream + //friend istream& operator >> (istream& s, vec2& v); // input from strm. + friend void swap(vec2& a, vec2& b); // swap v1 & v2 + friend vec2 min_vec(const vec2& a, const vec2& b); // min(v1, v2) + friend vec2 max_vec(const vec2& a, const vec2& b); // max(v1, v2) + friend vec2 prod(const vec2& a, const vec2& b); // term by term * + + // necessary friend declarations + + friend class vec3; +}; + +/**************************************************************** +* * +* 3D Vector * +* * +****************************************************************/ + +class vec3 +{ +protected: + + float n[3]; + +public: + + // Constructors + + vec3(void); + vec3(const float x, const float y, const float z); + vec3(const float d); + vec3(const vec3& v); // copy constructor + vec3(const vec2& v); // cast v2 to v3 + vec3(const vec2& v, float d); // cast v2 to v3 + vec3(const vec4& v); // cast v4 to v3 + vec3(const vec4& v, int dropAxis); // cast v4 to v3 + + // Assignment operators + + vec3& operator = ( const vec3& v ); // assignment of a vec3 + vec3& operator += ( const vec3& v ); // incrementation by a vec3 + vec3& operator -= ( const vec3& v ); // decrementation by a vec3 + vec3& operator *= ( const float d ); // multiplication by a constant + vec3& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec3 + float length2(void); // squared length of a vec3 + vec3& normalize(void); // normalize a vec3 + vec3& homogenize(void); // homogenize (div by Z) + vec3& apply(V_FCT_PTR fct); // apply a func. to each component + void set( float x, float y, float z ); // set vector + void print( FILE *file, char *name ); // print vector to a file + + // friends + + friend vec3 operator - (const vec3& v); // -v1 + friend vec3 operator + (const vec3& a, const vec3& b); // v1 + v2 + friend vec3 operator - (const vec3& a, const vec3& b); // v1 - v2 + friend vec3 operator * (const vec3& a, const float d); // v1 * 3.0 + friend vec3 operator * (const float d, const vec3& a); // 3.0 * v1 + friend vec3 operator * (const mat4& a, const vec3& v); // M . v + friend vec3 operator * (const vec3& v, mat4& a); // v . M + friend float operator * (const vec3& a, const vec3& b); // dot product + friend vec3 operator / (const vec3& a, const float d); // v1 / 3.0 + friend vec3 operator ^ (const vec3& a, const vec3& b); // cross product + friend int operator == (const vec3& a, const vec3& b); // v1 == v2 ? + friend int operator != (const vec3& a, const vec3& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec3& v); // output to stream + //friend istream& operator >> (istream& s, vec3& v); // input from strm. + friend void swap(vec3& a, vec3& b); // swap v1 & v2 + friend vec3 min_vec(const vec3& a, const vec3& b); // min(v1, v2) + friend vec3 max_vec(const vec3& a, const vec3& b); // max(v1, v2) + friend vec3 prod(const vec3& a, const vec3& b); // term by term * + + // necessary friend declarations + + friend class vec2; + friend class vec4; + friend class mat3; + friend vec2 operator * (const mat3& a, const vec2& v); // linear transform + friend vec3 operator * (const mat3& a, const vec3& v); // linear transform + friend mat3 operator * (mat3& a, mat3& b); // matrix 3 product + + }; + +/**************************************************************** +* * +* 4D Vector * +* * +****************************************************************/ + +class vec4 +{ +protected: + + float n[4]; + +public: + + // Constructors + + vec4(void); + vec4(const float x, const float y, const float z, const float w); + vec4(const float d); + vec4(const vec4& v); // copy constructor + vec4(const vec3& v); // cast vec3 to vec4 + vec4(const vec3& v, const float d); // cast vec3 to vec4 + + // Assignment operators + + vec4& operator = ( const vec4& v ); // assignment of a vec4 + vec4& operator += ( const vec4& v ); // incrementation by a vec4 + vec4& operator -= ( const vec4& v ); // decrementation by a vec4 + vec4& operator *= ( const float d ); // multiplication by a constant + vec4& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec4 + float length2(void); // squared length of a vec4 + vec4& normalize(void); // normalize a vec4 + vec4& apply(V_FCT_PTR fct); // apply a func. to each component + vec4& homogenize(void); + void print( FILE *file, char *name ); // print vector to a file + void set( float x, float y, float z, float a ); + + // friends + + friend vec4 operator - (const vec4& v); // -v1 + friend vec4 operator + (const vec4& a, const vec4& b); // v1 + v2 + friend vec4 operator - (const vec4& a, const vec4& b); // v1 - v2 + friend vec4 operator * (const vec4& a, const float d); // v1 * 3.0 + friend vec4 operator * (const float d, const vec4& a); // 3.0 * v1 + friend vec4 operator * (const mat4& a, const vec4& v); // M . v + friend vec4 operator * (const vec4& v, mat4& a); // v . M + friend float operator * (const vec4& a, const vec4& b); // dot product + friend vec4 operator / (const vec4& a, const float d); // v1 / 3.0 + friend int operator == (const vec4& a, const vec4& b); // v1 == v2 ? + friend int operator != (const vec4& a, const vec4& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec4& v); // output to stream + //friend istream& operator >> (istream& s, vec4& v); // input from strm. + friend void swap(vec4& a, vec4& b); // swap v1 & v2 + friend vec4 min_vec(const vec4& a, const vec4& b); // min(v1, v2) + friend vec4 max_vec(const vec4& a, const vec4& b); // max(v1, v2) + friend vec4 prod(const vec4& a, const vec4& b); // term by term * + + // necessary friend declarations + + friend class vec3; + friend class mat4; + friend vec3 operator * (const mat4& a, const vec3& v); // linear transform + friend mat4 operator * (mat4& a, mat4& b); // matrix 4 product + }; + +/**************************************************************** +* * +* 3x3 Matrix * +* * +****************************************************************/ + +class mat3 +{ +protected: + + vec3 v[3]; + +public: + + // Constructors + + mat3(void); + mat3(const vec3& v0, const vec3& v1, const vec3& v2); + mat3(const float d); + mat3(const mat3& m); + + // Assignment operators + + mat3& operator = ( const mat3& m ); // assignment of a mat3 + mat3& operator += ( const mat3& m ); // incrementation by a mat3 + mat3& operator -= ( const mat3& m ); // decrementation by a mat3 + mat3& operator *= ( const float d ); // multiplication by a constant + mat3& operator /= ( const float d ); // division by a constant + vec3& operator [] ( int i); // indexing + + // special functions + + mat3 transpose(void); // transpose + mat3 inverse(void); // inverse + mat3& apply(V_FCT_PTR fct); // apply a func. to each element + void print( FILE *file, char *name ); // print matrix to a file + void set(const vec3& v0, const vec3& v1, const vec3& v2); + + + // friends + + friend mat3 operator - (const mat3& a); // -m1 + friend mat3 operator + (const mat3& a, const mat3& b); // m1 + m2 + friend mat3 operator - (const mat3& a, const mat3& b); // m1 - m2 + friend mat3 operator * (mat3& a, mat3& b); // m1 * m2 + friend mat3 operator * (const mat3& a, const float d); // m1 * 3.0 + friend mat3 operator * (const float d, const mat3& a); // 3.0 * m1 + friend mat3 operator / (const mat3& a, const float d); // m1 / 3.0 + friend int operator == (const mat3& a, const mat3& b); // m1 == m2 ? + friend int operator != (const mat3& a, const mat3& b); // m1 != m2 ? + //friend ostream& operator << (ostream& s, mat3& m); // output to stream + //friend istream& operator >> (istream& s, mat3& m); // input from strm. + friend void swap(mat3& a, mat3& b); // swap m1 & m2 + + // necessary friend declarations + + friend vec3 operator * (const mat3& a, const vec3& v); // linear transform + friend vec2 operator * (const mat3& a, const vec2& v); // linear transform + }; + +/**************************************************************** +* * +* 4x4 Matrix * +* * +****************************************************************/ + +class mat4 +{ +protected: +public: + + vec4 v[4]; + + + // Constructors + + mat4(void); + mat4(const vec4& v0, const vec4& v1, const vec4& v2, const vec4& v3); + mat4(const float d); + mat4(const mat4& m); + mat4(const float a00, const float a01, const float a02, const float a03, + const float a10, const float a11, const float a12, const float a13, + const float a20, const float a21, const float a22, const float a23, + const float a30, const float a31, const float a32, const float a33 ); + + + // Assignment operators + + mat4& operator = ( const mat4& m ); // assignment of a mat4 + mat4& operator += ( const mat4& m ); // incrementation by a mat4 + mat4& operator -= ( const mat4& m ); // decrementation by a mat4 + mat4& operator *= ( const float d ); // multiplication by a constant + mat4& operator /= ( const float d ); // division by a constant + vec4& operator [] ( int i); // indexing + + // special functions + + mat4 transpose(void); // transpose + mat4 inverse(void); // inverse + mat4& apply(V_FCT_PTR fct); // apply a func. to each element + void print( FILE *file, char *name ); // print matrix to a file + void swap_rows( int i, int j ); // swap rows i and j + void swap_cols( int i, int j ); // swap cols i and j + + // friends + + friend mat4 operator - (const mat4& a); // -m1 + friend mat4 operator + (const mat4& a, const mat4& b); // m1 + m2 + friend mat4 operator - (const mat4& a, const mat4& b); // m1 - m2 + friend mat4 operator * (mat4& a, mat4& b); // m1 * m2 + friend mat4 operator * (const mat4& a, const float d); // m1 * 4.0 + friend mat4 operator * (const float d, const mat4& a); // 4.0 * m1 + friend mat4 operator / (const mat4& a, const float d); // m1 / 3.0 + friend int operator == (const mat4& a, const mat4& b); // m1 == m2 ? + friend int operator != (const mat4& a, const mat4& b); // m1 != m2 ? + //friend ostream& operator << (ostream& s, mat4& m); // output to stream + //friend istream& operator >> (istream& s, mat4& m); // input from strm. + friend void swap(mat4& a, mat4& b); // swap m1 & m2 + + // necessary friend declarations + + friend vec4 operator * (const mat4& a, const vec4& v); // linear transform + //friend vec4 operator * (const vec4& v, const mat4& a); // linear transform + friend vec3 operator * (const mat4& a, const vec3& v); // linear transform + friend vec3 operator * (const vec3& v, const mat4& a); // linear transform + }; + +/**************************************************************** +* * +* 2D functions and 3D functions * +* * +****************************************************************/ + +mat3 identity2D(void); // identity 2D +mat3 translation2D(vec2& v); // translation 2D +mat3 rotation2D(vec2& Center, const float angleDeg); // rotation 2D +mat3 scaling2D(vec2& scaleVector); // scaling 2D +mat4 identity3D(void); // identity 3D +mat4 translation3D(vec3& v); // translation 3D +mat4 rotation3D(vec3& Axis, const float angleDeg); // rotation 3D +mat4 rotation3Drad(vec3& Axis, const float angleRad); // rotation 3D +mat4 scaling3D(vec3& scaleVector); // scaling 3D +mat4 perspective3D(const float d); // perspective 3D + + +vec3 operator * (const vec3& v, mat3& a); +vec2 operator * (const vec2& v, mat3& a); +vec3 operator * (const vec3& v, mat4& a); +vec4 operator * (const vec4& v, mat4& a); + + +#endif diff --git a/.svn/pristine/23/238a47231d70654503acd4dcbb6d85178c6520d0.svn-base b/.svn/pristine/23/238a47231d70654503acd4dcbb6d85178c6520d0.svn-base new file mode 100644 index 0000000..ef80461 --- /dev/null +++ b/.svn/pristine/23/238a47231d70654503acd4dcbb6d85178c6520d0.svn-base @@ -0,0 +1,85 @@ +//---------------------------------------------------------------------- +// File: kd_split.h +// Programmer: Sunil Arya and David Mount +// Description: Methods for splitting kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_KD_SPLIT_H +#define ANN_KD_SPLIT_H + +#include "kd_tree.h" // kd-tree definitions + +//---------------------------------------------------------------------- +// External entry points +// These are all splitting procedures for kd-trees. +//---------------------------------------------------------------------- + +void kd_split( // standard (optimized) kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void midpt_split( // midpoint kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void sl_midpt_split( // sliding midpoint kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void fair_split( // fair-split kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void sl_fair_split( // sliding fair-split kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +#endif diff --git a/.svn/pristine/23/23bf6435244ba8545d2aab32e04be19a7e4bc460.svn-base b/.svn/pristine/23/23bf6435244ba8545d2aab32e04be19a7e4bc460.svn-base new file mode 100644 index 0000000..147e3d2 --- /dev/null +++ b/.svn/pristine/23/23bf6435244ba8545d2aab32e04be19a7e4bc460.svn-base @@ -0,0 +1,3 @@ +-3.10605 -7.50803 156.917 +1.35694 -0.852409 -0.56224 + diff --git a/.svn/pristine/23/23e22fc3557b5a9a27b069649c98f29e8c4aeab9.svn-base b/.svn/pristine/23/23e22fc3557b5a9a27b069649c98f29e8c4aeab9.svn-base new file mode 100644 index 0000000..79a621d --- /dev/null +++ b/.svn/pristine/23/23e22fc3557b5a9a27b069649c98f29e8c4aeab9.svn-base @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.svn/pristine/24/247a47058db146ee1b4f85c65a7a6e35ba33d0a0.svn-base b/.svn/pristine/24/247a47058db146ee1b4f85c65a7a6e35ba33d0a0.svn-base new file mode 100644 index 0000000..ba142d1 --- /dev/null +++ b/.svn/pristine/24/247a47058db146ee1b4f85c65a7a6e35ba33d0a0.svn-base @@ -0,0 +1,93 @@ +// This is an example of a non-linear least squares fit. The example +// is from "Nonlinear estimation" by Gavin Ross (Springer,1990), p 63. +// There are better ways of doing the fit in this case so this +// example is just an example. + +// The model is E(y) = a + b exp(-kx) and there are 6 data points. + +#define WANT_STREAM +#define WANT_MATH +#include "newmatnl.h" +#include "newmatio.h" + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + + +// first define the class describing the predictor function + +class Model_3pe : public R1_Col_I_D +{ + ColumnVector x_values; // the values of "x" + RowVector deriv; // values of derivatives +public: + Model_3pe(const ColumnVector& X_Values) + : x_values(X_Values) { deriv.ReSize(3); } + // load X data + Real operator()(int); + bool IsValid() { return para(3)>0; } + // require "k" > 0 + ReturnMatrix Derivatives() { return deriv; } +}; + +Real Model_3pe::operator()(int i) +{ + Real a = para(1); Real b = para(2); Real k = para(3); + Real xvi = x_values(i); + Real e = exp(-k * xvi); + deriv(1) = 1.0; // calculate derivatives + deriv(2) = e; + deriv(3) = - b * e * xvi; + return a + b * e; // function value +} + +int main() +{ + { + // Get the data + ColumnVector X(6); + ColumnVector Y(6); + X << 1 << 2 << 3 << 4 << 6 << 8; + Y << 3.2 << 7.9 << 11.1 << 14.5 << 16.7 << 18.3; + + + // Do the fit + Model_3pe model(X); // the model object + NonLinearLeastSquares NLLS(model); // the non-linear least squares + // object + ColumnVector Para(3); // for the parameters + Para << 9 << -6 << .5; // trial values of parameters + cout << "Fitting parameters\n"; + NLLS.Fit(Y,Para); // do the fit + + // Inspect the results + ColumnVector SE; // for the standard errors + NLLS.GetStandardErrors(SE); + cout << "\n\nEstimates and standard errors\n" << + setw(10) << setprecision(2) << (Para | SE) << endl; + Real ResidualSD = sqrt(NLLS.ResidualVariance()); + cout << "\nResidual s.d. = " << setw(10) << setprecision(2) << + ResidualSD << endl; + SymmetricMatrix Correlations; + NLLS.GetCorrelations(Correlations); + cout << "\nCorrelationMatrix\n" << + setw(10) << setprecision(2) << Correlations << endl; + ColumnVector Residuals; + NLLS.GetResiduals(Residuals); + DiagonalMatrix Hat; + NLLS.GetHatDiagonal(Hat); + cout << "\nX, Y, Residual, Hat\n" << setw(10) << setprecision(2) << + (X | Y | Residuals | Hat.AsColumn()) << endl; + // recover var/cov matrix + SymmetricMatrix D; + D << SE.AsDiagonal() * Correlations * SE.AsDiagonal(); + cout << "\nVar/cov\n" << setw(14) << setprecision(4) << D << endl; + } + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + + return 0; +} diff --git a/.svn/pristine/24/24820da9aa196ec7a72b02a84db8b3210e3c6a37.svn-base b/.svn/pristine/24/24820da9aa196ec7a72b02a84db8b3210e3c6a37.svn-base new file mode 100644 index 0000000..199ddce --- /dev/null +++ b/.svn/pristine/24/24820da9aa196ec7a72b02a84db8b3210e3c6a37.svn-base @@ -0,0 +1,9 @@ + + + + 3 + 3 +
f
+ + 83.88370514 0. 31.98480415 0. 84.15943909 29.34420967 0. 0. 1. + diff --git a/.svn/pristine/24/249c40c4ebf28a1cfa3d024febb7635c32c0bd49.svn-base b/.svn/pristine/24/249c40c4ebf28a1cfa3d024febb7635c32c0bd49.svn-base new file mode 100644 index 0000000..7af6afe --- /dev/null +++ b/.svn/pristine/24/249c40c4ebf28a1cfa3d024febb7635c32c0bd49.svn-base @@ -0,0 +1,485 @@ +@Book{WasIstWas_1999, + author = {P. Clausen}, + title = {Was ist was, Band 37, Computer und Roboter}, + publisher = {Tessloff Verlag}, + year = {1999}, + address = {N{\"u}nberg}, +} + +@Book{Voelker_1971, + editor = {K. V{\"o}lker}, + title = {K{\"u}nstliche Menschen}, + publisher = {Carl Hanser Verlag}, + address = {M{\"u}nchen}, + year = {1971}, +} + +@MastersThesis{DIPLOM_STIENE, + author = {S. Stiene}, + title = {{K}onturbasierte {O}bjekterkennung aus {T}iefenbildern eines {3D}-{L}aserscanners}, + school = {University of Osnabr點k}, + year = {2006}, + month = {January}, +} + +@PhdThesis{DISS_SIMONE, + author = {S. Frintrop}, + title = {{VOCUS}: {A} {V}isual {A}ttention {S}ystem for {O}bject {D}etection and {G}oal-directed search}, + school = {University of Bonn}, + year = {2005}, +} + +@Misc{P3AT, + author = {P3-AT, \texttt{http://www.activrobots.com/ROBOTS/p2at.html}}, + year = {2006}, +} + +@Misc{P3DX, + author = {P3-DX, \texttt{http://www.activrobots.com/ROBOTS/p2dx.html}}, + year = {2006}, +} + +@Misc{ATRV, + author = {ATRV - JR Specifications, \texttt{http://rescue.isr.ist.utl.pt/atrvjr.php}}, + year = {2006}, +} + +@Misc{Galileo, + author = {Galileo (Satellitennavigation), \texttt{http://de.wikipedia.org/wiki/Galileo\_(Satellitennavigation)}}, + year = {2006}, +} + +@Misc{GPS, + author = {Global Positioning System, \texttt{http://de.wikipedia.org/wiki/Global\_Positioning\_System}}, + year = {2006}, +} + +@Misc{PMD, + author = {PMDTechnologies GmbH, \texttt{http://www.pmdtec.com/inhalt/produkte/kamera.htm}}, + year = {2005}, +} + +@Misc{CSEM, + title = {Swissranger 3D camera distance measurement object recognition range finding camera depth measurement \texttt{http://www.swissranger.ch/}}, + year = {2005}, +} + +@Misc{Leutze, + title = {Siemens/{L}eutze {L}aserscanner, \texttt{http://www2.automation.siemens.com/cd/safety/html\_ 00/produkte/optisch\_laser.htm}}, + year = {2005}, +} + +@Misc{Schmersal, + title = {Schmersal {L}aserscanner, \texttt{http://www.produkte.schmersal.de/585/521/23124/range. html?lang=de}}, + year = {2005}, +} + +@Misc{Sick, + title = {SICK {L}aserscanner, \texttt{http://ecatalog.sick.com/Products/ProductFinder/product.aspx? finder=Produktfinder\&pid=9168\&lang=de}}, + year = {2005}, +} + +@Misc{Cyberware, + title = {Cyberware Body Scanner, \texttt{http://www.cyberware.com/products/wbInfo.html}}, + year = {2005}, +} + +@Misc{Cyrax, + title = {Cyrax {L}aserscanner, \texttt{http://hds.leica-geosystems.com/products/products.html}}, + year = {2005}, +} + +@Misc{Riegl, + title = {Riegl {L}aserscanner, \texttt{http://www.riegl.co.at/terrestrial\_scanners/terrestrial\_ scanner\_overview\_/terr\_scanner\_menu\_all.htm}}, + year = {2005}, +} + +@Misc{Zoller, + title = {Zoller und {F}r{\"o}hlich {L}aserscanner, \texttt{http://www.zf-laser.com/d\_bildgebende.html}}, + year = {2005}, +} + +@InProceedings{Fasano_2003, + author = "A. Fasano and M. Callieri and P. Cignoni and R. Scopigno", + title = "Exploiting Mirrors for Laser Stripe 3D Scanning", + booktitle = "Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03)", + month = "October", + year = "2003", + address = "Banff, Canada", + pages = "243 -- 251", +} + +@article{Elfes_1989, + author = {A. Elfes}, + title = {Using Occupancy Grids for Mobile Robot Perception and Navigation}, + journal = {Computer}, + volume = {22}, + number = {6}, + year = {1989}, + issn = {0018-9162}, + pages = {46 -- 57}, + publisher = {IEEE Computer Society Press}, + } + +@Article{Elfes_1987, + author = {A. Elfes}, + title = {Sonar-based real-world mapping and navigation}, + journal = {IEEE Journal of Robotics and Automation}, + year = {1987}, + OPTkey = {}, + volume = {3}, + OPTnumber = {}, + pages = {249 -- 265}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@inproceedings{Choset_1996, + author = "H. Choset and J. W. Burdick", + title = "Sensor based motion planning: The hierarchical generalized voronoi graph", + booktitle = "Proceedings of the Workshop on Algorithmic Foundations of Robotics", + address = "Toulouse, France", + year = "1996", +} + + +@InProceedings{Kortenkamp_1994, + author = {D. Kortenkamp and T. Weymouth}, + title = { Topological mapping for mobile robots using a combination of sonar and vision sensing}, + OPTcrossref = {}, + OPTkey = {}, + booktitle = {Proceedings of the twelfth national Conference on Artificial Intelligence (AAAI '94)}, + OPTpages = {}, + year = {1994}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + OPTaddress = {}, + month = {July}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + +@Misc{KURT2, + OPTkey = {}, + author = {KURT2 home site at AIS}, + title = {A Mobile Platform for Research in Robotics, \texttt{http://www.ais.fraunhofer.de/KURT2/}}, + OPThowpublished = {}, + OPTmonth = {}, + year = {2005}, + OPTnote = {}, + OPTannote = {} +} + +@incollection{Smith_1990, + author = {R. Smith and M. Self and P. Cheeseman}, + title = {Estimating uncertain spatial relationships in robotics}, + booktitle = {Autonomous robot vehicles}, + year = {1990}, + pages = {167 -- 193}, + publisher = {Springer-Verlag New York, Inc.}, + } + + + +@Article{Zimmer_1996, + author = {U. R. Zimmer}, + title = {Robust World-Modelling and Navigation in a Real World}, + journal = {NeuroComputing}, + year = {1996}, + OPTkey = {}, + volume = {13}, + number = {2 - 4}, + pages = {247 -- 260}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@inproceedings{Pierce_1995, + author = {D. Pierce and B. Kuipers}, + title = {Learning to explore and build maps}, + booktitle = {Proceedings of the twelfth national Conference on Artificial Intelligence (AAAI '94)}, + year = {1994}, + pages = {1264 -- 1271}, + month = {July}, + address = {Seattle, W.A., U.S.A.}, + publisher = {American Association for Artificial Intelligence}, + } + + + +@Misc{WWWNIST, + OPTkey = {}, + author = {NIST National Institute of Standards and Technology}, + title = {Intelligent Systems Division, \texttt{http://robotarenas.nist.gov/competitions.htm}}, + OPThowpublished = {}, + OPTmonth = {}, + year = {2005}, + OPTnote = {}, + OPTannote = {} +} + +@Book{ControllTheory, + author = "K. Ogata", + title = "Modern Control Engineering (4th Edition)", + publisher = "Prentice Hall", + month = "November", + year = "2001" +} + +@Book{Mathe, + OPTkey = {}, + author = {J. Frehse}, + title = {Vorlesung {I}nfinitisimalrechnung {I} -- {IV} (Vorlesungsmitschrift)}, + year = {1996 -- 1997}, + address = {University of Bonn}, +} + +@Book{SensorsForMobileRobots, + author = {H. R. Everett}, + ALTeditor = {}, + title = {Sensors for Mobile Robots: Theory and Application}, + publisher = {AK Peters, Ltd}, + year = {1995}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + OPTaddress = {}, + OPTedition = {}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@MastersThesis{KaiLDiplom, + author = {K. Lingemann}, + title = {Schnelles {P}ose-{T}racking auf {L}aserscan-{D}aten f黵 autonome mobile {R}oboter}, + school = {University of Bonn}, + year = {2004}, +} + +@Book{Photogrammetrie, + author = {W. F{\"o}rstner}, + ALTeditor = {}, + title = {Vorlesung {P}hotogrammetrie {I} und {II}}, + year = {2002}, + address = {University of Bonn}, + OPTedition = {}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + + +@Book{VisionBuch, + author = {D. A. Forsyth and J. Ponce}, + ALTeditor = {}, + title = {Computer Vision}, + publisher = {Morgan Kaufmann}, + year = {2003}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + OPTaddress = {}, + OPTedition = {}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Bentley_1975, + author = {J. L. Bentley}, + title = {Multidimensional binary search trees used for associative searchin}, + journal = {Communications of the ACM}, + year = {1975}, + OPTkey = {}, + volume = {18}, + number = {9}, + pages = {509 -- 517}, + month = {September}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Friedman_1977, + author = {J. H. Friedman and J. L. Bentley and R. A. Finkel}, + title = {An Algorithm for Finding Best Matches in Logarithmic Expected Time}, + journal = {ACM Transaction on Mathematical Software}, + year = {1977}, + OPTkey = {}, + volume = {3}, + number = {3}, + pages = {209 -- 226}, + month = {September}, + OPTnote = {}, + OPTannote = {} +} + + + +@Article{Shoemake_1985, + author = {K. Shoemake}, + title = {Animating rotation with quaternion curves}, + journal = {Computer Graphics}, + year = {1985}, + OPTkey = {}, + volume = {19}, + number = {3}, + pages = {245 -- 254}, + month = {July}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Walker_1991, + author = {M. W. Walker and L. Shao and R. A. Volz}, + title = {Estimating 3-D location parameters using dual number quaternions}, + journal = {CVGIP: Image Understanding}, + year = {1991}, + OPTkey = {}, + volume = {54}, + OPTnumber = {}, + pages = {358 -- 367}, + month = {November}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Hyafil_1977, + author = {L. Hyafil and R. L. Rivest}, + title = {Constructing optimal binary decision trees is NP-complete}, + journal = {Information Processing Letters 5}, + year = {1976}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + pages = {15 -- 17}, + month = {May}, + OPTnote = {}, + OPTannote = {} +} + + +@Article{Arya_1998, + author = {S. Arya and D. M. Mount and N. S. Netanyahu and R. Silverman and A. Y. Wu}, + title = {{A}n {O}ptimal {A}lgorithms for {A}pproximate {N}earest {N}eighbor {S}earcching in {F}ixed {D}imensions}, + journal = {Journal of the ACM}, + year = {1998}, + OPTkey = {}, + OPTvolume = {}, + volume = {45}, + pages = {891 -- 923}, + month = {}, + OPTnote = {}, + OPTannote = {} +} + + +@InProceedings{Arya_1993, + author = {S. Arya and D. M. Mount}, + title = {{A}pproximate nearest neigbor queries in fixed dimensions}, + year = {1993}, + OPTkey = {}, + booktitle = {Proceedings of the 4th ACM-SIAM Symposium on Discrete Algorithms}, + pages = {271 -- 280}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + OPTaddress = {}, + OPTmonth = {}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + +@InProceedings{Surmann_2000, + author = {H. Surmann and A. Morales}, + title = {A five layer sensor architecture for autonomous robots in indoor environments}, + year = {2000}, + OPTkey = {}, + booktitle = {Proceedings of the International symposium on robotics and automation (ISRA '00)}, + pages = {533 -- 538}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + address = {Monterrey, N.L., Mexico}, + month = {November}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Fukunaga_1973, + author = {K. Fukuanaga and L. D. Hostetler}, + title = {Optimization of $k$-nearest neighbor density estimation}, + journal = {IEEE Transaction on Information Theory IT-19}, + year = {1973}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + pages = {320 -- 326}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + + +@Article{Stetson_1968, + author = {K. A. Stetson}, + title = {Holographic surface contouring by limited depth of focus}, + journal = {Applied Optics}, + year = {1968}, + OPTkey = {}, + volume = {7}, + number = {5}, + pages = {987 -- 989}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + + +@PhdThesis{PhDGiel, + author = {D. Giel}, + title = {Hologram tomography for surface topometry}, + school = {Mathematisch-Naturwissenschaftliche Fakult{\"a}t der Heinrich-Heine- Universit{\"a}t D\"{u}sseldorf}, + year = {2003}, + OPTkey = {}, + OPTtype = {}, + OPTaddress = {}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@InProceedings{MRNV2004, + author = {D. Giel and S. Frey and A. Thelen and J. Bongartz and P. Hering and A. N\"{u}chter and H. Surmann and K. Lingemann and J. Hertzberg}, + title = {Ultra-fast Holographic Recording and Automatic 3D Scan Matching of Living Human Faces}, + OPTcrossref = {}, + OPTkey = {}, + booktitle = {Proceedings of the Scientific Workshop Medical Robotics, Navigation and Visualization (MRNV '04)}, + OPTpages = {to appaer}, + year = {2004}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + address = {Remagen, Germany}, + OPTmonth = {}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + diff --git a/.svn/pristine/24/24ec7528b691cca37ad3a73888c787eaac36d75c.svn-base b/.svn/pristine/24/24ec7528b691cca37ad3a73888c787eaac36d75c.svn-base new file mode 100644 index 0000000..07bb7ee --- /dev/null +++ b/.svn/pristine/24/24ec7528b691cca37ad3a73888c787eaac36d75c.svn-base @@ -0,0 +1,105 @@ +# For more information, please see: http://software.sci.utah.edu +# +# The MIT License +# +# Copyright (c) 2007 +# Scientific Computing and Imaging Institute, University of Utah +# +# License for the specific language governing rights and limitations under +# Permission is hereby granted, free of charge, to any person obtaining a +# copy of this software and associated documentation files (the "Software"), +# to deal in the Software without restriction, including without limitation +# the rights to use, copy, modify, merge, publish, distribute, sublicense, +# and/or sell copies of the Software, and to permit persons to whom the +# Software is furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +# DEALINGS IN THE SOFTWARE. + +# .cubin Parsing CMake Script +# Abe Stephens +# (c) 2007 Scientific Computing and Imaging Institute, University of Utah + +FILE(READ ${input_file} file_text) + +IF (${file_text} MATCHES ".+") + + # Remember, four backslashes is escaped to one backslash in the string. + STRING(REGEX REPLACE ";" "\\\\;" file_text ${file_text}) + STRING(REGEX REPLACE "\ncode" ";code" file_text ${file_text}) + + LIST(LENGTH file_text len) + + FOREACH(line ${file_text}) + + # Only look at "code { }" blocks. + IF(line MATCHES "^code") + + # Break into individual lines. + STRING(REGEX REPLACE "\n" ";" line ${line}) + + FOREACH(entry ${line}) + + # Extract kernel names. + IF (${entry} MATCHES "[^g]name = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + + # Check to see if the kernel name starts with "_" + SET(skip FALSE) + # IF (${entry} MATCHES "^_") + # Skip the rest of this block. + # MESSAGE("Skipping ${entry}") + # SET(skip TRUE) + # ELSE (${entry} MATCHES "^_") + MESSAGE("Kernel: ${entry}") + # ENDIF (${entry} MATCHES "^_") + + ENDIF(${entry} MATCHES "[^g]name = ([^ ]+)") + + # Skip the rest of the block if necessary + IF(NOT skip) + + # Registers + IF (${entry} MATCHES "reg = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Registers: ${entry}") + ENDIF(${entry} MATCHES "reg = ([^ ]+)") + + # Local memory + IF (${entry} MATCHES "lmem = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Local: ${entry}") + ENDIF(${entry} MATCHES "lmem = ([^ ]+)") + + # Shared memory + IF (${entry} MATCHES "smem = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Shared: ${entry}") + ENDIF(${entry} MATCHES "smem = ([^ ]+)") + + IF (${entry} MATCHES "^}") + MESSAGE("") + ENDIF(${entry} MATCHES "^}") + + ENDIF(NOT skip) + + + ENDFOREACH(entry) + + ENDIF(line MATCHES "^code") + + ENDFOREACH(line) + +ELSE() + # MESSAGE("FOUND NO DEPENDS") +ENDIF() + + diff --git a/.svn/pristine/25/256993007b4323112e53cd09286da85369b8daac.svn-base b/.svn/pristine/25/256993007b4323112e53cd09286da85369b8daac.svn-base new file mode 100644 index 0000000..aa10cf2 --- /dev/null +++ b/.svn/pristine/25/256993007b4323112e53cd09286da85369b8daac.svn-base @@ -0,0 +1,11 @@ +#ifndef _BARCODE_H +#define _BARCODE_H +#include "pnm.h" + +/* + detect barcode and add a string to the box (obj-pointer) +*/ + +int detect_barcode(job_t *job); + +#endif diff --git a/.svn/pristine/25/2583d93d0226f7295a1fa38d2cc456b702c903d2.svn-base b/.svn/pristine/25/2583d93d0226f7295a1fa38d2cc456b702c903d2.svn-base new file mode 100644 index 0000000..f859d07 --- /dev/null +++ b/.svn/pristine/25/2583d93d0226f7295a1fa38d2cc456b702c903d2.svn-base @@ -0,0 +1,44 @@ + + +int glui_img_radiobutton_1[] = { 14, 14, /* width, height */ + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 0, 0, 0, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 255,255,255, 255,255,255, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 255,255,255, 255,255,255, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 0, 0, 0, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 0, 0, 0, + 0, 0, 0, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 128,128,128, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 128,128,128, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, +}; diff --git a/.svn/pristine/25/25a2e0536737b73946d07744f40edce65461baff.svn-base b/.svn/pristine/25/25a2e0536737b73946d07744f40edce65461baff.svn-base new file mode 100644 index 0000000..1fc51f9 --- /dev/null +++ b/.svn/pristine/25/25a2e0536737b73946d07744f40edce65461baff.svn-base @@ -0,0 +1,32 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DLUMQUAT_H__ +#define __ICP6DLUMQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_LUMQUAT : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_LUMQUAT(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_LUMQUAT() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 8; }; +}; + +#endif diff --git a/.svn/pristine/25/25bca7e9ce1ce1979de541eb79023f377f84b1fc.svn-base b/.svn/pristine/25/25bca7e9ce1ce1979de541eb79023f377f84b1fc.svn-base new file mode 100644 index 0000000..cebd81f --- /dev/null +++ b/.svn/pristine/25/25bca7e9ce1ce1979de541eb79023f377f84b1fc.svn-base @@ -0,0 +1,90 @@ +README for 0.10.3 cvBlob. + + +1. DOWNLOAD LATEST SOURCE + +You need Subversion ( http://subversion.tigris.org ). + +Read only checkout: + + svn checkout http://cvblob.googlecode.com/svn/trunk/ cvblob-read-only + + +2. DEPENDENCIES + +In order to compile cvBlob you need the following: + + * CMAKE ( http://www.cmake.org ) + * OpenCV ( http://opencvlibrary.sourceforge.net ) + +2.1 Instalation of dependencies in Debian type SO (Ubuntu,...) using apt: + +If you are in a Debian style distribution (Ubuntu, for example) you can do something +like this: + + sudo aptitude install cmake libcv4 libcv-dev libcvaux4 + +2.2 Instalation of dependencies in SuSE using Yast + +Type this: + + su -c "yast -i libopencv1 opencv opencv-debuginfo opencv-debugsource opencv-devel opencv-python cmake cmake-gui" + + +3. COMPILING AND INSTALLING + +In Linux, if you have unpacked the source in $CVBLOB, enter in a console: + + cd $CVBLOB + cmake . + make + sudo make install + +In Windows it must be as easy as in Linux (changing "make" for the equivalent in your compiler). +If problems, please read: + http://www.cmake.org/HTML/RunningCMake.html + +3.1 OpenCV path + +You can tell CMake where OpenCV is installed, in case it can't find it, using the "OpenCV_DIR" variable: + + cmake . -DOpenCV_DIR= + +3.2 Installation path + +To change the destination path for the installation, set "CMAKE_INSTALL_PREFIX" variable: + + cmake . -DCMAKE_INSTALL_PREFIX= + +3.3 Problems + +Latest information about compiling: + http://code.google.com/p/cvblob/wiki/HowToCompile + + +4. INFORMATION + +The official home page of cvBlob is: + http://cvblob.googlecode.com + +Downloads: + http://code.google.com/p/cvblob/downloads/list + +Documentation: + http://code.google.com/p/cvblob/wiki/WikiIndex?tm=6 + +Bug reports: + http://code.google.com/p/cvblob/issues/list + + +5. MAIN AUTHOR + +Comments, suggestions and, why not, donations (PayPal) to: + + Crist贸bal Carnero Li帽谩n E-mail: grendel.ccl@gmail.com + + +6. CONTRIBUTORS + + Stefan Gachter Web page: http://gachter.name + Kouichi Nishino diff --git a/.svn/pristine/26/262c460ce050e03677d57546553a7d867606026a.svn-base b/.svn/pristine/26/262c460ce050e03677d57546553a7d867606026a.svn-base new file mode 100644 index 0000000..13c9f84 --- /dev/null +++ b/.svn/pristine/26/262c460ce050e03677d57546553a7d867606026a.svn-base @@ -0,0 +1,126 @@ +#ifndef __GRIDWRITER_H_ +#define __GRIDWRITER_H_ + +#include +#include + +#include "grid/grid.h" +#include +using std::string; + +/** + * The class represents the baseclass for all writers. + * Writers are used by the grid-class for writing the + * internal gridPoint-array to a file. + * Writers for a specific format must inherit this class. + * + * Furthermore it provides static methods for creating writers + * for each format. + * + * @author Andre Schemschat, Sebastian Stock, Uwe Hebbelmann + * @date 20.02.08 + */ +class gridWriter +{ + protected: + /** The referenz to the used stream */ + std::ofstream stream; + + /** The filename of the file to be opened*/ + std::string filename; + public: + /** @brief CTor */ + gridWriter(std::string file); + + /** @brief Copy-CTor */ + gridWriter(std::ofstream &stream); + + /** @brief DTor */ + virtual ~gridWriter(); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid) = 0; +}; + +/** + * Class for writing the grid as a PPM to a file. + * The PPM is in a greyscaled format with 100 tones. + * + * @author Andre Schemschat, Uwe Hebbelmann, Sebastian Stock + * @date 20.2.08 + */ +class ppmWriter : public gridWriter +{ + public: + /** @brief CTor */ + ppmWriter(std::string file); + + /** @brief CTor */ + ppmWriter(std::ofstream &stream); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing the grid in the parcel-file-format + * (this writer is used to store each parcel during the convert) + * + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class parcelWriter : public gridWriter +{ + public: + /** @brief CTor */ + parcelWriter(std::string file); + + /** @brief CTor */ + parcelWriter(std::ofstream &stream); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing the grid in the gnuplot-file-format + * + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class gnuplotWriter : public gridWriter +{ + public: + /** @brief CTor */ + gnuplotWriter(std::string file); + + /** @brief CTor */ + gnuplotWriter(std::ofstream &stream); + + /** @brief Writemethod for gnuplot */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing all parcels to one world map (own format) + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class worldWriter : public gridWriter +{ + public: + /** @brief CTor */ + worldWriter(std::string file, long minX, long maxX, + long minZ, long maxZ, int resolution, + long vpX, long vpZ); + + /** @brief CTor */ + worldWriter(std::ofstream &stream, long minX, long maxX, + long minZ, long maxZ, int resolution, + long vpX, long vpZ); + + /** @brief Writemethod for the world map */ + virtual void write(const grid& grid); +}; + +#endif diff --git a/.svn/pristine/26/2642517f45aad824c1dfdf7c4f1100261fb8d4e8.svn-base b/.svn/pristine/26/2642517f45aad824c1dfdf7c4f1100261fb8d4e8.svn-base new file mode 100644 index 0000000..fcb84cb --- /dev/null +++ b/.svn/pristine/26/2642517f45aad824c1dfdf7c4f1100261fb8d4e8.svn-base @@ -0,0 +1,391 @@ +/** + * @file plane3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/labeledPlane3d.h" +#include "model/util.h" + +#include + +#include +#include +#include +#include +#include +using namespace std; + +//============================================================================== +// Static member initializations +//============================================================================== +const std::string model::LabeledPlane3d::RED = "180 0 0"; +const std::string model::LabeledPlane3d::GREEN = "0 180 0"; +const std::string model::LabeledPlane3d::BLUE = "0 0 180"; +const std::string model::LabeledPlane3d::WHITE = "255 255 255"; + +const double model::LabeledPlane3d::LINE_EPSILON = 0.2; + +const double model::LabeledPlane3d::SOBEL_SCALE = 1.0; +const double model::LabeledPlane3d::SOBEL_DELTA = 0.0; +const int model::LabeledPlane3d::SOBEL_KERNEL = 3; + +const double model::LabeledPlane3d::CANNY_THRESH1 = 40.0; +const double model::LabeledPlane3d::CANNY_THRESH2 = 120.0; + +const double model::LabeledPlane3d::HOUGH_RHO = 1.0; +const double model::LabeledPlane3d::HOUGH_THETA = CV_PI / 180.0; +const int model::LabeledPlane3d::HOUGH_THRESH = 80; +const double model::LabeledPlane3d::HOUGH_MIN_LINE_LEN = 15.0; + +const double model::LabeledPlane3d::MIN_EMPTY_AREA = 0.67; +const double model::LabeledPlane3d::MIN_TOTAL_AREA = 0.0075; +const double model::LabeledPlane3d::MAX_TOTAL_AREA = 0.400; + +//============================================================================== +// Class implementation +//============================================================================== +model::LabeledPlane3d::LabeledPlane3d() : Plane3d() {} + +model::LabeledPlane3d::LabeledPlane3d(const Point3d& pt, const Vector3d& normal) : + Plane3d(pt, normal) +{ + +} + +model::LabeledPlane3d::LabeledPlane3d(const Point3d& pt, const Vector3d& normal, const std::vector& hull) : + Plane3d(pt, normal, hull) +{} + +model::LabeledPlane3d::LabeledPlane3d(const LabeledPlane3d& other) : Plane3d(other) { + this->patches= other.patches; + this->depthMap = other.depthMap; + this->depthImg = other.depthImg; + this->correctedDepthImg = other.correctedDepthImg; + this->depthMapDistances = other.depthMapDistances; +} + +model::LabeledPlane3d::~LabeledPlane3d() {} + +model::LabeledPlane3d& model::LabeledPlane3d::operator=(const LabeledPlane3d& other) { + if (this != &other) { + Plane3d::operator =(other); + this->patches= other.patches; + this->depthMap = other.depthMap; + this->depthImg = other.depthImg; + this->correctedDepthImg = other.correctedDepthImg; + this->depthMapDistances = other.depthMapDistances; + } + + return *this; +} + +void model::LabeledPlane3d::detectEdges(cv::Mat& canny, cv::Mat& hSobel, cv::Mat& vSobel, cv::Mat& combined) const { + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // apply Canny edge detection so we can see the lines contained in the image + cv::Canny(this->depthImg, canny, CANNY_THRESH1, CANNY_THRESH2); + + // apply Sobel on same image so we get better defined horizontal and vertical lines + cv::Sobel(canny, hSobel, CV_8UC1, 0, 1, SOBEL_KERNEL, SOBEL_SCALE, SOBEL_DELTA, cv::BORDER_DEFAULT); + cv::Sobel(canny, vSobel, CV_8UC1, 1, 0, SOBEL_KERNEL, SOBEL_SCALE, SOBEL_DELTA, cv::BORDER_DEFAULT); + + // combine all of them for even better edges + cv::addWeighted(canny, 0.5, hSobel, 0.5, 0, combined); + cv::threshold(combined, combined, 1, MAX_IMG_VAL, CV_8UC1); + cv::addWeighted(combined, 0.5, vSobel, 0.5, 0, combined); + cv::threshold(combined, combined, 1, MAX_IMG_VAL, CV_8UC1); + + cv::imwrite("./img/edgeCanny.png", canny); + cv::imwrite("./img/edgeSobelHoriz.png", hSobel); + cv::imwrite("./img/edgeSobelVert.png", vSobel); + cv::imwrite("./img/edgeCombined.png", combined); +} + +void model::LabeledPlane3d::computeLines(std::vector& verticalResult, std::vector& horizontalResult) const { + + if (this->depthMap.size() != this->patches.size() || + this->depthMap.front().size() != this->patches.front().size()) + { + throw runtime_error("depth map and patch matrix must match in sizes"); + } + + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // clear the output + verticalResult.clear(); + horizontalResult.clear(); + + // compute the Canny edges normally, and using sobel on x and y + cv::Mat canny, hSobel, vSobel, combined; + this->detectEdges(canny, hSobel, vSobel, combined); + + // detect all the proper lines from the image + vector lines; + cv::HoughLinesP(combined, lines, HOUGH_RHO, HOUGH_THETA, HOUGH_THRESH, HOUGH_MIN_LINE_LEN); + + // convert to color image so we can draw some colored lines on it + cv::cvtColor(combined, combined, CV_GRAY2BGR, 3); + cv::Mat imgLines = combined.clone(); + cv::Mat imgFinalLines = combined.clone(); + + // filter out the vertical and the horizontal lines + // XXX use sets so that the numbers are ordered automatically + set horizontalSet, verticalSet; + int curr; + + for (vector::iterator it = lines.begin(); it != lines.end(); ++it) { + int dX = it->val[2] - it->val[0]; + int dY = it->val[3] - it->val[1]; + + double angle = atan2(static_cast(dY), static_cast(dX)); + + if (((angle < +M_PI_2 + LINE_EPSILON) && (angle > +M_PI_2 - LINE_EPSILON)) || + ((angle < -M_PI_2 + LINE_EPSILON) && (angle > -M_PI_2 - LINE_EPSILON))) + { + // detect and add the vertical lines + curr = static_cast(round((it->val[2] + it->val[0]) / 2.0)); + verticalSet.insert(curr); + cv::line(imgLines, cv::Point(curr, 0), cv::Point(curr, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + + } else if (((angle < +0.0 + LINE_EPSILON) && (angle > +0.0 - LINE_EPSILON)) || + ((angle < +M_PI + LINE_EPSILON) && (angle > +M_PI - LINE_EPSILON)) || + ((angle < -M_PI + LINE_EPSILON) && (angle > -M_PI - LINE_EPSILON))) + { + // detect and add the horizontal lines + curr = static_cast(round((it->val[3] + it->val[1]) / 2.0)); + horizontalSet.insert(curr); + cv::line(imgLines, cv::Point(0, curr), cv::Point(imgLines.cols-1, curr), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + } + } + + // insert the edges as lines + horizontalSet.insert(0); + horizontalSet.insert(imgHeight - 1); + cv::line(imgLines, cv::Point(0, 0), cv::Point(imgLines.cols-1, 0), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + cv::line(imgLines, cv::Point(0, imgHeight - 1), cv::Point(imgLines.cols-1, imgHeight - 1), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + + verticalSet.insert(0); + verticalSet.insert(imgWidth - 1); + cv::line(imgLines, cv::Point(0, 0), cv::Point(0, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + cv::line(imgLines, cv::Point(imgWidth - 1, 0), cv::Point(imgWidth - 1, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + + cv::imwrite("./img/edgeLines.png", imgLines); + if (!quiet) cout << "** Total lines: " << verticalSet.size() << " vertical, " << horizontalSet.size() << " horizontal" << endl; + + horizontalResult.assign(horizontalSet.begin(), horizontalSet.end()); + verticalResult.assign(verticalSet.begin(), verticalSet.end()); +} + +void model::LabeledPlane3d::computeOpeningCandidates(std::vector& result) const { + if (!quiet) cout << endl << "== Computing opening candidates for surface centered at " << this->pt << endl; + + // make sure the result is empty + result.clear(); + + if (this->depthMap.size() != this->patches.size() || + this->depthMap.front().size() != this->patches.front().size()) + { + throw runtime_error("depth map and patch matrix must match in sizes"); + } + + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // convert the sets to vectors + vector horizontal, vertical; + this->computeLines(vertical, horizontal); + + // we require the total wall area to discard a few small candidates + double wCentimetersWall = this->patches[0][0].first.distance(this->patches[0][imgWidth - 1].first); + double hCentimetersWall = this->patches[0][0].first.distance(this->patches[imgHeight - 1][0].first); + double wallArea = wCentimetersWall * hCentimetersWall; + + // put temporary candidates in here + std::vector candidates; + + // count the number of discarded small planes + unsigned int discarded = 0; + + // there is no other way of determining all the rectangles in the image + // u - upper, l - lower, h - horizontal, v - vertical + for (vector::iterator y1 = horizontal.begin(); y1 != horizontal.end() - 1; ++y1) { + for (vector::iterator y2 = y1 + 1; y2 != horizontal.end(); ++y2) { + for (vector::iterator x1 = vertical.begin(); x1 != vertical.end() - 1; ++x1) { + for (vector::iterator x2 = x1 + 1; x2 != vertical.end(); ++x2) { + + // do not add really small candidates that are smaller than a certain percentage of the whole wall + double wCentiMeters = this->patches[0][*x2].first.distance(this->patches[0][*x1].first); + double hCentiMeters = this->patches[*y2][0].first.distance(this->patches[*y1][0].first); + double area = wCentiMeters * hCentiMeters; + + if (area < MIN_TOTAL_AREA * wallArea || area > MAX_TOTAL_AREA * wallArea) { + discarded++; + continue; + } + + // create edges for candidate opening + int tempEdges[4] = {*y1, *y2, *x1, *x2}; + vector edges(tempEdges, tempEdges + 4); + + // compute the hull + vector hull; + hull.push_back(this->patches[*y1][*x1].first); + hull.push_back(this->patches[*y1][*x2].first); + hull.push_back(this->patches[*y2][*x2].first); + hull.push_back(this->patches[*y2][*x1].first); + + // compute the normal application point + Point3d pt(0.0, 0.0, 0.0); + for (vector::iterator it = hull.begin(); it != hull.end(); ++it) { + pt += *it; + } + pt /= hull.size(); + + CandidateOpening candidate(pt, this->normal, hull, vector(), edges); + candidate.normal = candidate.computeAverageNormal(); + candidates.push_back(candidate); + } + } + } + } + + if (!quiet) cout << "** Total opening candidates: " << candidates.size() << endl; + if (!quiet) cout << "** Discarded openings relative size to wall: " << discarded << endl; + discarded = 0; + + // determine the features of each candidate opening + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + if (y1 > y2 || x1 > x2) { + throw runtime_error("upper coordinates need to be smaller than the lower ones (candidate opening)"); + } + + int w = abs(x2 - x1); + int h = abs(y2 - y1); + + // first feature, the area of the opening + double wCentiMeters = this->patches[0][x2].first.distance(this->patches[0][x1].first); + double hCentiMeters = this->patches[y2][0].first.distance(this->patches[y1][0].first); + double area = wCentiMeters * hCentiMeters; + it->features.push_back(static_cast(area)); + + // second feature, w/h + it->features.push_back(static_cast(w) / h); + + // third feature, w/W + it->features.push_back(static_cast(w) / imgWidth); + + // fourth feature, h/H + it->features.push_back(static_cast(h) / imgHeight); + + // distance from every edge + // upper horizontal line + it->features.push_back(this->patches[y1][0].first.distance(this->patches.front()[0].first)); + // lower horizontal line + it->features.push_back(this->patches[y2][0].first.distance(this->patches.back()[0].first)); + // upper vertical line + it->features.push_back(this->patches[0][x1].first.distance(this->patches[0].front().first)); + // lower vertical line + it->features.push_back(this->patches[0][x2].first.distance(this->patches[0].back().first)); + + // compute the RMS of the plane fit residual for this particular rectangle + // in the same time compute the area of each label + int empty = 0, occupied = 0, occluded = 0; + + // TODO figure out how to compute the residual + double sqSum = 0.0; + for (int i = y1; i < y2; ++i) { + for (int j = x1; j < x2; ++j) { + // TODO should be computed accordingly + double temp = 0.0; + + switch (this->patches[i][j].second) { + case EMPTY: + empty++; + break; + case OCCUPIED: + occupied++; + break; + case OCCLUDED: + occluded++; + break; + default: + throw runtime_error("default branch taken while computing features for opening candidate"); + break; + } + sqSum += pow(temp, 2.0); + } + } + + // add the RMS plane fit + int totalCount = w * h; + it->features.push_back(sqrt(sqSum / totalCount)); + + // discard a few more candidates + if ((static_cast(empty) / totalCount) < MIN_EMPTY_AREA) { + discarded++; + continue; + } + + // add the area of each label, empty, occupied, occluded + it->features.push_back(static_cast(empty) / totalCount); + it->features.push_back(static_cast(occupied) / totalCount); + it->features.push_back(static_cast(occluded) / totalCount); + + // determine how many interior rectangles this candidate contains + // compute the number of interior inverted U-shapes as well + // start counting from 2 as we include the edges as well + int vCount = 2, hCount = 2; + for (vector::iterator jt = horizontal.begin(); jt != horizontal.end(); ++jt) { + if (*jt > y1 && *jt < y2) { + hCount++; + } + } + + for (vector::iterator jt = vertical.begin(); jt != vertical.end(); ++jt) { + if (*jt > x1 && *jt < x2) { + vCount++; + } + } + + // add the number of rectangles contained inside + it->features.push_back((hCount * (hCount - 1) / 2.0) * (vCount * (vCount - 1) / 2.0)); + + // add the number of interior inverted U-shapes + if (y2 == imgHeight - 1) { + it->features.push_back((hCount - 1) * (vCount * (vCount - 1) / 2.0)); + } else { + it->features.push_back(0.0); + } + + // add this current candidate to the final result + result.push_back(*it); + } + + if (!quiet) cout << "** Discarded openings due to small empty area: " << discarded << endl; + if (!quiet) cout << "** Done computing features for all opening candidates" << endl; +} diff --git a/.svn/pristine/26/266314f603cf18978cb6caed1562f09a116a9d8c.svn-base b/.svn/pristine/26/266314f603cf18978cb6caed1562f09a116a9d8c.svn-base new file mode 100644 index 0000000..d339451 --- /dev/null +++ b/.svn/pristine/26/266314f603cf18978cb6caed1562f09a116a9d8c.svn-base @@ -0,0 +1,451 @@ +/* + * show_menu implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Functions for the menu panels of the viewer software + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ +#include "show/colormanager.h" + +// GUI variables + +GLUI *glui1, ///< pointer to the glui window(s) + *glui2; ///< pointer to the glui window(s) + +/** GLUI spinner for the fog */ +GLUI_Spinner *fog_spinner; + +/** GLUI spinner for the point size */ +GLUI_Spinner *ps_spinner; + +/** GLUI spinner for the current angle */ +GLUI_Spinner *cangle_spinner; +/** GLUI spinner for the current angle */ +GLUI_Spinner *pzoom_spinner; +/** GLUI spinner for the factor for the image size */ +GLUI_Spinner *image_spinner; +/** GLUI_Spinner for the depth to select groups of points */ +GLUI_Spinner *depth_spinner; +GLUI_Spinner *brushsize_spinner; +GLUI_Spinner *frame_spinner; +GLUI_Spinner *fps_spinner; +GLUI_Spinner *farplane_spinner; +GLUI_Spinner *nearplane_spinner; +GLUI_Spinner *lod_spinner; + +int window_id_menu1, ///< menue window ids + window_id_menu2; ///< menue window ids + +/** User IDs for callbacks */ +#define BOX_ID 201 +/** User IDs for callbacks */ +#define ENABLE_ID 300 +/** User IDs for callbacks */ +#define DISABLE_ID 301 +/** User IDs for callbacks */ +#define SHOW_ID 302 +/** User IDs for callbacks */ +#define HIDE_ID 303 + +/** Pointer to the panels */ +GLUI_Panel *ground_panel; +/** Pointer to the panels */ +GLUI_Panel *points_panel; +/** Pointer to the panels */ +GLUI_Panel *wireframe_panel; +/** Pointer to the panels */ +GLUI_Panel *path_panel; +/** Pointer to the panels */ +GLUI_Panel *pose_panel; +/** Pointer to the panels */ +GLUI_Panel *selection_panel; +/** Pointer to the panels */ +GLUI_Panel *color_panel; +/** Pointer to the panels */ +GLUI_Panel *camera_panel; +/** Pointer to the panels */ +GLUI_Panel *nav_panel; +/** Pointer to the panels */ +GLUI_Panel *mode_panel; +/** Pointer to the panels */ +GLUI_Panel *settings_panel; +/** Pointer to the panels */ +GLUI_Panel *advanced_panel; +/** Pointer to the button */ +GLUI_Button *button1; +/** Pointer to the edit text box*/ +GLUI_EditText *path_filename_edit; +/** Pointer to the edit text box*/ +GLUI_EditText *pose_filename_edit; +/** Pointer to the edit text box*/ +GLUI_EditText *selection_filename_edit; + +/** Pointer to the rotation button */ +GLUI_Rotation *rotButton; + +/** used for GLUI menue */ +float obj_pos_button[3]; +/** used for GLUI menue */ +GLfloat view_rotate_button[16]; +/** used for GLUI menue */ +GLfloat obj_pos_button_old[3]; + +/** used for GLUI menue */ +GLfloat X_button; +/** used for GLUI menue */ +GLfloat Y_button; +/** used for GLUI menue */ +GLfloat Z_button; +/** GLUI spinner for choosing the camera */ +GLUI_Spinner *cam_spinner; +/** GLUI spinner for choosing the animation delay */ +GLUI_Spinner *anim_spinner; +/** Panel for the camera controls **/ +GLUI_Panel *cam_panel; +/** ListBox for choosing which value to map to a color */ +GLUI_Listbox *value_listbox; +/** ListBox for choosing which color map to use */ +GLUI_Listbox *colormap_listbox; +GLUI_Spinner *mincol_spinner; +GLUI_Spinner *maxcol_spinner; + +/** Checkboxes for changing point display mode **/ +GLUI_Checkbox *always_box; +GLUI_Checkbox *never_box; +/** Checkbox for changing interpolation mode **/ +GLUI_Checkbox *interpol_box; + +/** + * Generate the menu for the application. + * It consists of control and selection menus. + */ +void newMenu() +{ + /*** Create the bottom subwindow ***/ + glui2 = GLUI_Master.create_glui("3D_Viewer - Controls"); + window_id_menu2 = glui2->get_glut_window_id(); + glutSetWindow(window_id_menu2); + + glutPositionWindow(START_X, START_Y + START_HEIGHT + 65); + glutSetWindow(window_id); + glui2->set_main_gfx_window( window_id ); + + settings_panel = glui2->add_panel("Settings: "); + + cangle_spinner = glui2->add_spinner_to_panel(settings_panel, "Apex Angle : ", GLUI_SPINNER_FLOAT, &cangle); + cangle_spinner->set_float_limits( 1.0, 180.0 ); + cangle_spinner->set_speed( 20.0 ); + cangle_spinner->set_float_val(60.0); + cangle_spinner->set_alignment( GLUI_ALIGN_RIGHT ); + + pzoom_spinner = glui2->add_spinner_to_panel(settings_panel, "Parallel Zoom :", GLUI_SPINNER_FLOAT, &pzoom); + pzoom_spinner->set_float_limits( 10.0, 50000.0 ); + pzoom_spinner->set_speed( 5.0 ); + pzoom_spinner->set_float_val(2000.0); + pzoom_spinner->set_alignment( GLUI_ALIGN_RIGHT ); + pzoom_spinner->disable(); + + glui2->add_column( true ); + + mode_panel = glui2->add_panel("Mode: "); + + /****** Top view *****/ + glui2->add_button_to_panel(mode_panel, "Top view", 0, callTopView )->set_alignment( GLUI_ALIGN_CENTER ); + + + /****** Reset button *****/ + glui2->add_button_to_panel(mode_panel, "Reset position", 0, resetView )->set_alignment( GLUI_ALIGN_CENTER ); + glui2->add_column( true ); + + /****** Add Camera View *****/ + + + camera_panel = glui2->add_panel("Camera: "); + cam_spinner = glui2->add_spinner_to_panel(camera_panel, "Choose Camera", GLUI_SPINNER_INT, &cam_choice); + cam_spinner->set_int_limits( 0, 0 ); + cam_spinner->set_speed( 1 ); + cam_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + glui2->add_button_to_panel(camera_panel, "Add Camera", 1, callAddCamera )->set_alignment( GLUI_ALIGN_CENTER ); + glui2->add_button_to_panel(camera_panel, "Delete Camera", 0, callDeleteCamera )->set_alignment( GLUI_ALIGN_CENTER ); + + /******* Other navigation controls**********/ + glui2->add_column(true); + + nav_panel = glui2->add_panel("Navigation: "); + rotButton = glui2->add_rotation_to_panel(nav_panel, "Rotation", view_rotate_button, -1, update_view_rotate); + + glui2->add_column_to_panel(nav_panel, true ); + glui2->add_translation_to_panel(nav_panel, "Move XY", GLUI_TRANSLATION_XY, + obj_pos_button, -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move X", GLUI_TRANSLATION_X, + &obj_pos_button[0], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move Y", GLUI_TRANSLATION_Y, + &obj_pos_button[1], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move Z", GLUI_TRANSLATION_Z, + &obj_pos_button[2], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false); + glui2->add_checkbox_to_panel(nav_panel, "MouseNav", &cameraNavMouseMode ); + + static int dummy4; + always_box = glui2->add_checkbox_to_panel(nav_panel, "Always all Points", &dummy4, 0, &changePointMode); + glui2->set_glutMouseFunc(CallBackMouseFuncMoving); + static int dummy5 = 1; + never_box = glui2->add_checkbox_to_panel(nav_panel, "Always reduce Points", &dummy5, 1, &changePointMode ); + + /*** Create the right subwindow ***/ + glui1 = GLUI_Master.create_glui("3D_Viewer - Selection"); + window_id_menu1 = glui1->get_glut_window_id(); + glutSetWindow(window_id_menu1); + glutPositionWindow(START_X + START_WIDTH + 50, START_Y + 30); + glutSetWindow(window_id); + glui1->set_main_gfx_window( window_id ); + + glui1->add_checkbox( "Draw Points", &show_points ); + glui1->add_checkbox( "Draw Camera", &show_cameras); + glui1->add_checkbox( "Draw Path", &show_path); + ps_spinner = glui1->add_spinner( "Point Size:", GLUI_SPINNER_FLOAT, &pointsize); + ps_spinner->set_float_limits( 0.0000001, 10.0 ); + ps_spinner->set_speed( 25.0 ); + ps_spinner->set_float_val(pointsize); + ps_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + + /**** Fog Panel *****/ + + GLUI_Panel *fogt_panel = glui1->add_rollout("Fog :", false ); + fogt_panel ->set_alignment( GLUI_ALIGN_LEFT ); + GLUI_RadioGroup *fogt = glui1-> add_radiogroup_to_panel( fogt_panel, &show_fog ); + glui1->add_radiobutton_to_group( fogt, "No Fog" ); + glui1->add_radiobutton_to_group( fogt, "Fog Exp" ); + glui1->add_radiobutton_to_group( fogt, "Fog Exp2" ); + glui1->add_radiobutton_to_group( fogt, "Fog Linear" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Exp" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Exp2" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Linear" ); + + + + + fog_spinner = glui1->add_spinner( "Fog Density:", GLUI_SPINNER_FLOAT, &fogDensity); + fog_spinner->set_float_limits( 0.0, 1.0 ); + fog_spinner->set_speed( 0.5 ); + fog_spinner->set_float_val(0.001); + fog_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + + /****** Color Controls *****/ + color_panel = glui1->add_rollout("Color :", false ); + color_panel ->set_alignment( GLUI_ALIGN_LEFT ); + + GLUI_Panel *color_ro = glui1->add_rollout_to_panel(color_panel, "Color values:", false); + color_ro->set_alignment(GLUI_ALIGN_LEFT); + + GLUI_RadioGroup *color_rog = glui1->add_radiogroup_to_panel( color_ro, &listboxColorVal, 0, &mapColorToValue ); + glui1->add_radiobutton_to_group( color_rog, "height"); + GLUI_RadioButton *rbrefl = glui1->add_radiobutton_to_group( color_rog, "reflectance"); + GLUI_RadioButton *rbampl = glui1->add_radiobutton_to_group( color_rog, "amplitude"); + GLUI_RadioButton *rbdevi = glui1->add_radiobutton_to_group( color_rog, "deviation"); + GLUI_RadioButton *rbtype = glui1->add_radiobutton_to_group( color_rog, "type"); + //if (!(types & PointType::USE_REFLECTANCE)) rbrefl->disable(); + //if (!(types & PointType::USE_AMPLITUDE)) rbampl->disable(); + //if (!(types & PointType::USE_DEVIATION)) rbdevi->disable(); + //if (!(types & PointType::USE_TYPE)) rbtype->disable(); + if (!(pointtype.hasReflectance())) rbrefl->disable(); + if (!(pointtype.hasAmplitude())) rbampl->disable(); + if (!(pointtype.hasDeviation())) rbdevi->disable(); + if (!(pointtype.hasType())) rbtype->disable(); + + GLUI_Panel *colorm_ro = glui1->add_rollout_to_panel(color_panel, "Colormap:", false); + colorm_ro->set_alignment(GLUI_ALIGN_LEFT); + + GLUI_RadioGroup *colorm_rog = glui1->add_radiogroup_to_panel(colorm_ro, &listboxColorMapVal, 0, &changeColorMap); + glui1->add_radiobutton_to_group(colorm_rog, "Solid"); + glui1->add_radiobutton_to_group(colorm_rog, "Grey"); + glui1->add_radiobutton_to_group(colorm_rog, "HSV"); + glui1->add_radiobutton_to_group(colorm_rog, "Jet"); + glui1->add_radiobutton_to_group(colorm_rog, "Hot"); + glui1->add_radiobutton_to_group(colorm_rog, "Rand"); + glui1->add_radiobutton_to_group(colorm_rog, "SHSV"); + + GLUI_Panel *scans_color = glui1->add_rollout_to_panel(color_panel, "Color type:", false); + scans_color->set_alignment(GLUI_ALIGN_LEFT); + GLUI_RadioGroup *scans_colored = glui1->add_radiogroup_to_panel(scans_color, &colorScanVal, 0, &setScansColored); + glui1->add_radiobutton_to_group(scans_colored, "None"); + glui1->add_radiobutton_to_group(scans_colored, "Id Scans by Color"); + GLUI_RadioButton *colorb = glui1->add_radiobutton_to_group( scans_colored, "Color by Points"); + if (!(pointtype.hasColor())) colorb->disable(); + + mincol_spinner = glui1->add_spinner_to_panel(color_panel, "Min Val:", GLUI_SPINNER_FLOAT, &mincolor_value, 0, &minmaxChanged); + mincol_spinner->set_alignment(GLUI_ALIGN_RIGHT); + maxcol_spinner = glui1->add_spinner_to_panel(color_panel, "Max Val:", GLUI_SPINNER_FLOAT, &maxcolor_value, 0, &minmaxChanged); + maxcol_spinner->set_alignment(GLUI_ALIGN_RIGHT); + glui1->add_button_to_panel(color_panel, "Reset Min/Max", 0, &resetMinMax )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->add_separator(); + + /****** Invert button *****/ + glui1->add_button( "Invert", 0, invertView )->set_alignment( GLUI_ALIGN_CENTER ); + /****** Animate button *****/ + anim_spinner = glui1->add_spinner( "Anim delay:", GLUI_SPINNER_INT, &anim_delay); + anim_spinner->set_int_limits( 0, 100 ); + anim_spinner->set_speed( 1 ); + glui1->add_button( "Animate", 0, startAnimation )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->add_separator(); + + +/**** Path panel *******/ + + path_panel = glui1->add_rollout("Camera Path :", false ); + path_panel ->set_alignment( GLUI_ALIGN_LEFT ); + path_filename_edit = glui1->add_edittext_to_panel(path_panel,"File: ",GLUI_EDITTEXT_TEXT, path_file_name); + path_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(path_panel, "Save Path ", 0, savePath)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(path_panel, "Load Path ", 0, loadPath)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(path_panel, "Load Robot P.", 0, drawRobotPath )->set_alignment( GLUI_ALIGN_CENTER ); + glui1->add_separator_to_panel(path_panel); + glui1->add_checkbox_to_panel(path_panel, "Save Animation", &save_animation); + interpol_box = glui1->add_checkbox_to_panel(path_panel, "Interpolate by Distance", &inter_by_dist, -1, &callCameraUpdate); + //always_box = glui2->add_checkbox_to_panel(nav_panel, "Always all Points", &dummy4, 0, &changePointMode); + //glui1->add_checkbox_to_panel(path_panel, "Interpolate by Distance", &inter_by_dist); + glui1->add_button_to_panel(path_panel, "Animate Path", 0, pathAnimate)->set_alignment( GLUI_ALIGN_CENTER); + + /**** Position panel *******/ + + pose_panel = glui1->add_rollout("Position :", false ); + pose_panel ->set_alignment( GLUI_ALIGN_LEFT ); + pose_filename_edit = glui1->add_edittext_to_panel(pose_panel,"File: ",GLUI_EDITTEXT_TEXT, pose_file_name); + pose_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(pose_panel, "Save Pose ", 0, savePose)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(pose_panel, "Load Pose ", 0, loadPose)->set_alignment( GLUI_ALIGN_CENTER); + image_spinner = glui1->add_spinner_to_panel(pose_panel, "Factor : ", +GLUI_SPINNER_INT, &factor); + image_spinner->set_int_limits( 1, 10 ); + image_spinner->set_speed( 1 ); + image_spinner->set_alignment(GLUI_ALIGN_RIGHT); + glui1->add_button_to_panel(pose_panel, "Save Image ", 0, saveImage)->set_alignment( GLUI_ALIGN_CENTER); + + + glui1->add_separator(); + + /**** Selection panel ******/ + selection_panel = glui1->add_rollout("Selection :", false ); + selection_panel ->set_alignment( GLUI_ALIGN_LEFT ); + + selection_filename_edit = glui1->add_edittext_to_panel(selection_panel,"File: ",GLUI_EDITTEXT_TEXT, selection_file_name); + selection_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(selection_panel, "Save selected points ", 0, saveSelection)->set_alignment( GLUI_ALIGN_CENTER); + + glui1->add_button_to_panel(selection_panel, "Clear selected points ", 0, clearSelection)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_checkbox_to_panel(selection_panel, "Select/Unselect", &selectOrunselect); + glui1->add_checkbox_to_panel(selection_panel, "Select Voxels", &select_voxels); + depth_spinner = glui1->add_spinner_to_panel(selection_panel, "Depth : ", + GLUI_SPINNER_INT, &selection_depth); + depth_spinner->set_int_limits( 1, 100 ); + depth_spinner->set_speed( 1 ); + depth_spinner->set_alignment(GLUI_ALIGN_RIGHT); + brushsize_spinner = glui1->add_spinner_to_panel(selection_panel, "Brushsize : ", + GLUI_SPINNER_INT, &brush_size); + brushsize_spinner->set_int_limits( 0, 100 ); + brushsize_spinner->set_speed( 1 ); + brushsize_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + + glui1->add_separator(); + /**** Advanced panel ******/ + if (advanced_controls) { + advanced_panel = glui1->add_rollout("Advanced :", false ); + advanced_panel->set_alignment( GLUI_ALIGN_LEFT ); + + // glui1->add_edittext_to_panel(advanced_panel,"Frame #: ",GLUI_EDITTEXT_TEXT, current_frame)->set_alignment( GLUI_ALIGN_LEFT ); + frame_spinner = glui1->add_spinner_to_panel(advanced_panel, "Frame #: ", + GLUI_SPINNER_INT, ¤t_frame); + frame_spinner->set_int_limits( 0, MetaMatrix[0].size()-1 ); + frame_spinner->set_speed( 10 ); + frame_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + fps_spinner = glui1->add_spinner_to_panel(advanced_panel, "FPS : ", + GLUI_SPINNER_FLOAT, &idealfps); + fps_spinner->set_int_limits( 0, 100 ); + fps_spinner->set_speed( 1 ); + fps_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + farplane_spinner = glui1->add_spinner_to_panel(advanced_panel, "farplane : ", + GLUI_SPINNER_FLOAT, &maxfardistance); + farplane_spinner->set_float_limits( 1, 100000 ); + farplane_spinner->set_speed( 1 ); + farplane_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + nearplane_spinner = glui1->add_spinner_to_panel(advanced_panel, "nearplane : ", + GLUI_SPINNER_FLOAT, &neardistance); + nearplane_spinner->set_int_limits( 1, 100000 ); + nearplane_spinner->set_speed( 1 ); + nearplane_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + glui1->add_button_to_panel(advanced_panel, "Cycle LOD", 0,(GLUI_Update_CB)cycleLOD )->set_alignment( GLUI_ALIGN_CENTER ); + + lod_spinner = glui1->add_spinner_to_panel(advanced_panel, "lod speed : ", + GLUI_SPINNER_FLOAT, &adaption_rate); + lod_spinner->set_float_limits( 0, 3.0 ); + lod_spinner->set_speed( 0.1 ); + lod_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + glui1->add_separator(); + } + + /****** A 'quit' button *****/ + glui1->add_button( "Quit", 0,(GLUI_Update_CB)exit )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->set_glutMouseFunc(CallBackMouseFuncMoving); + /**** Link windows to GLUI, and register idle callback ******/ + glutSetWindow(window_id); + glui1->set_main_gfx_window( window_id ); // right + glui2->set_main_gfx_window( window_id ); // bottom + glui1->sync_live(); + glui2->sync_live(); + + // cout << "Called : myNewMenu()...."<= 0; iterator--) + selected_points[iterator].clear(); +} + diff --git a/.svn/pristine/26/267343202f1893ba2f24c64cce779fc5ef7d3d61.svn-base b/.svn/pristine/26/267343202f1893ba2f24c64cce779fc5ef7d3d61.svn-base new file mode 100644 index 0000000..6a293e0 --- /dev/null +++ b/.svn/pristine/26/267343202f1893ba2f24c64cce779fc5ef7d3d61.svn-base @@ -0,0 +1,125 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +// **************************** test program ****************************** + + + +ReturnMatrix Returner0(const GenericMatrix& GM) +{ Matrix M = GM; M.Release(); return M; } + +ReturnMatrix Returner1(const GenericMatrix& GM) +{ Matrix M = GM+1; M.Release(); return M; } + +ReturnMatrix Returner2(const GenericMatrix& GM) +{ UpperBandMatrix M = GM*2; M.Release(); return M; } + +ReturnMatrix Returner3(const GenericMatrix& GM) +{ LowerBandMatrix M = GM*3; M.Release(); return M; } + +ReturnMatrix Returner4(const GenericMatrix& GM) +{ SymmetricMatrix M = GM+4; M.Release(); return M; } + +ReturnMatrix Returner5(const GenericMatrix& GM) +{ SymmetricBandMatrix M = GM*5; M.Release(); return M; } + +ReturnMatrix Returner6(const GenericMatrix& GM) +{ BandMatrix M = GM*6; M.Release(); return M; } + +ReturnMatrix Returner7(const GenericMatrix& GM) +{ DiagonalMatrix M = GM*7; M.Release(); return M; } + +void trymat5() +{ +// cout << "\nFifth test of Matrix package\n"; + Tracer et("Fifth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + Matrix A(5,6); + for (i=1;i<=5;i++) for (j=1;j<=6;j++) A(i,j)=1+i*j+i*i+j*j; + ColumnVector CV(6); + for (i=1;i<=6;i++) CV(i)=i*i+3; + ColumnVector CV2(5); for (i=1;i<=5;i++) CV2(i)=1.0; + ColumnVector CV1=CV; + + { + CV=A*CV; + RowVector RV=CV.t(); // RowVector RV; RV=CV.t(); + RV=RV-1.0; + CV=(RV*A).t()+A.t()*CV2; CV1=(A.t()*A)*CV1 - CV; + Print(CV1); + } + + CV1.ReSize(6); + CV2.ReSize(6); + CV.ReSize(6); + for (i=1;i<=6;i++) { CV1(i)=i*3+1; CV2(i)=10-i; CV(i)=11+i*2; } + ColumnVector CX=CV2-CV; { CX=CX+CV1; Print(CX); } + Print(ColumnVector(CV1+CV2-CV)); + RowVector RV=CV.t(); RowVector RV1=CV1.t(); + RowVector R=RV-RV1; Print(RowVector(R-CV2.t())); + +// test loading of list + + RV.ReSize(10); + for (i=1;i<=10;i++) RV(i) = i*i; + RV1.ReSize(10); + RV1 << 1 << 4 << 9 << 16 << 25 << 36 << 49 << 64 << 81 << 100; // << 121; + Print(RowVector(RV-RV1)); + + et.ReName("Fifth test of Matrix package - almost at end"); + + Matrix X(2,3); + X << 11 << 12 << 13 + << 21 << 22 << 23; + + Matrix Y = X.t(); // check simple transpose + + X(1,1) -= 11; X(1,2) -= 12; X(1,3) -= 13; + X(2,1) -= 21; X(2,2) -= 22; X(2,3) -= 23; + Print(X); + + Y(1,1) -= 11; Y(2,1) -= 12; Y(3,1) -= 13; + Y(1,2) -= 21; Y(2,2) -= 22; Y(3,2) -= 23; + Print(Y); + + et.ReName("Fifth test of Matrix package - at end"); + + RV = Returner1(RV)-1; Print(RowVector(RV-RV1)); + CV1 = Returner1(RV.t())-1; Print(ColumnVector(RV.t()-CV1)); +#ifndef DONT_DO_NRIC + nricMatrix AA = A; + X = Returner1(AA)-A-1; Print(X); +#endif + UpperTriangularMatrix UT(31); + for (i=1; i<=31; i++) for (j=i; j<=31; j++) UT(i,j) = i+j+(i-j)*(i-2*j); + UpperBandMatrix UB(31,5); UB.Inject(UT); + LowerTriangularMatrix LT = UT.t(); + LowerBandMatrix LB(31,5); LB.Inject(LT); + A = Returner0(UB)-LB.t(); Print(A); + A = Returner2(UB).t()-LB*2; Print(A); + A = Returner3(LB).t()-UB*3; Print(A); + SymmetricMatrix SM; SM << (UT+LT); + A = Returner4(SM)-UT-LT-4; Print(A); + SymmetricBandMatrix SB(31,5); SB.Inject(SM); + A = Returner5(SB)/5-UB-LB; Print(A); + BandMatrix B = UB+LB*LB; A = LB; + A = Returner6(B)/6 - UB - A*A; Print(A); + DiagonalMatrix D; D << UT; + D << (Returner7(D)/7 - UT); Print(D); + +// cout << "\nEnd of fifth test\n"; +} diff --git a/.svn/pristine/26/2684beb4d928336ccddac1f4e0fbe4de765d5071.svn-base b/.svn/pristine/26/2684beb4d928336ccddac1f4e0fbe4de765d5071.svn-base new file mode 100644 index 0000000..04b64d1 --- /dev/null +++ b/.svn/pristine/26/2684beb4d928336ccddac1f4e0fbe4de765d5071.svn-base @@ -0,0 +1,1044 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_edittext.cpp - GLUI_EditText control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_EditText::mouse_down_handler() **********/ + +int GLUI_EditText::mouse_down_handler( int local_x, int local_y ) +{ + int tmp_insertion_pt; + + if ( debug ) dump( stdout, "-> MOUSE DOWN" ); + + tmp_insertion_pt = find_insertion_pt( local_x, local_y ); + if ( tmp_insertion_pt == -1 ) { + if ( glui ) + glui->disactivate_current_control( ); + return false; + } + + insertion_pt = tmp_insertion_pt; + + sel_start = sel_end = insertion_pt; + + if ( can_draw()) + update_and_draw_text(); + + if ( debug ) dump( stdout, "<- MOUSE UP" ); + + return true; +} + + +/******************************** GLUI_EditText::mouse_up_handler() **********/ + +int GLUI_EditText::mouse_up_handler( int local_x, int local_y, int inside ) +{ + return false; +} + + +/***************************** GLUI_EditText::mouse_held_down_handler() ******/ + +int GLUI_EditText::mouse_held_down_handler( int local_x, int local_y, + int new_inside) +{ + int tmp_pt; + + if ( NOT new_inside ) + return false; + + if ( debug ) dump( stdout, "-> HELD DOWN" ); + + tmp_pt = find_insertion_pt( local_x, local_y ); + + if ( tmp_pt == -1 AND sel_end != 0 ) { /* moved mouse past left edge */ + special_handler( GLUT_KEY_LEFT, GLUT_ACTIVE_SHIFT ); + } + else if ( tmp_pt == substring_end+1 AND sel_end != (int) strlen(text)) { + /* moved mouse past right edge */ + special_handler( GLUT_KEY_RIGHT, GLUT_ACTIVE_SHIFT ); + } + else if ( tmp_pt != -1 AND tmp_pt != sel_end ) { + sel_end = insertion_pt = tmp_pt; + + update_and_draw_text(); + } + + if ( debug ) + dump( stdout, "<- HELD DOWN" ); + + return false; +} + + +/****************************** GLUI_EditText::key_handler() **********/ + +int GLUI_EditText::key_handler( unsigned char key,int modifiers ) +{ + int i, regular_key; + /* int has_selection; */ + + if ( NOT glui ) + return false; + + if ( debug ) + dump( stdout, "-> KEY HANDLER" ); + + regular_key = false; + /* has_selection = (sel_start != sel_end); */ + + if ( key == 21 AND (modifiers & GLUT_ACTIVE_CTRL )!=0) { /* DEL all text */ + /** This one (key==21) may not port!! */ + + insertion_pt = -1; + text[0] = '\0'; + sel_start = sel_end = -1; + } + else if ( key == 13 ) { /* RETURN */ + /* glui->disactivate_current_control(); */ + disactivate(); /** Force callbacks, etc **/ + activate(GLUI_ACTIVATE_TAB); /** Reselect all text **/ + translate_and_draw_front(); + return true; + } + else if ( key == 27 ) { /* ESCAPE */ + glui->disactivate_current_control(); + return true; + } + else if ( key == 8 ) { /* BACKSPACE */ + if ( sel_start == sel_end ) { /* no selection */ + if ( insertion_pt > 0 ) { + /*** See if we're deleting a period in a float data-type box ***/ + if ( data_type == GLUI_EDITTEXT_FLOAT AND text[insertion_pt-1]=='.' ) + num_periods--; + + /*** Shift over string first ***/ + insertion_pt--; + for( i=insertion_pt; i< (int)strlen( text ); i++ ) + text[i] = text[i+1]; + } + } + else { /* There is a selection */ + clear_substring( MIN(sel_start,sel_end), MAX(sel_start,sel_end )); + insertion_pt = MIN(sel_start,sel_end); + sel_start = sel_end = insertion_pt; + } + } + else { /* Regular key */ + regular_key = true; + + /** Check if we only accept numbers **/ + if (data_type == GLUI_EDITTEXT_FLOAT ) { + if ( (key < '0' OR key > '9') AND key != '.' AND key != '-' ) + return true; + + if ( key == '-' ) { /* User typed a '-' */ + + /* If user has first character selected, then '-' is allowed */ + if ( NOT ( MIN(sel_start,sel_end) == 0 AND + MAX(sel_start,sel_end) > 0 ) ) { + + /* User does not have 1st char selected */ + if (insertion_pt != 0 OR text[0] == '-' ) { + return true; /* Can only place negative at beginning of text, + and only one of them */ + } + } + } + + if ( key == '.' ) { + /*printf( "PERIOD: %d\n", num_periods ); */ + + if ( num_periods > 0 ) { + /** We're trying to type a period, but the text already contains + a period. Check whether the period is contained within + is current selection (thus it will be safely replaced) **/ + + int period_found = false; + if ( sel_start != sel_end ) { + for( i=MIN(sel_end,sel_start); i '9') AND key != '-' ) + return true; + + if ( key == '-' ) { /* User typed a '-' */ + + /* If user has first character selected, then '-' is allowed */ + if ( NOT ( MIN(sel_start,sel_end) == 0 AND + MAX(sel_start,sel_end) > 0 ) ) { + + /* User does not have 1st char selected */ + if (insertion_pt != 0 OR text[0] == '-' ) { + return true; /* Can only place negative at beginning of text, + and only one of them */ + } + } + } + } + + /** This is just to get rid of warnings - the flag regular_key is + set if the key was not a backspace, return, whatever. But I + believe if we're here, we know it was a regular key anyway */ + if ( regular_key ) { + } + + /**** If there's a current selection, erase it ******/ + if ( sel_start != sel_end ) { + clear_substring( MIN(sel_start,sel_end), MAX(sel_start,sel_end )); + insertion_pt = MIN(sel_start,sel_end); + sel_start = sel_end = insertion_pt; + } + + /******** check whether we have space ******/ + if ( (unsigned int)strlen( text ) + 2 >= sizeof( GLUI_String )) + return false; + + /******** We insert the character into the string ***/ + + /*** Shift over string first ***/ + for( i=(int)strlen( text ); i >= insertion_pt; i-- ) + text[i+1] = text[i]; + + /******** Now insert the character ********/ + text[insertion_pt] = key; + + /******** Move the insertion point and substring_end one over ******/ + insertion_pt++; + substring_end++; + + sel_start = sel_end = insertion_pt; + } + + /******** Now redraw text ***********/ + /* Hack to prevent text box from being cleared first **/ + /** int substring_change = update_substring_bounds(); + draw_text_only = + (NOT substring_change AND NOT has_selection AND regular_key ); + */ + + draw_text_only = false; /** Well, hack is not yet working **/ + update_and_draw_text(); + draw_text_only = false; + + + if ( debug ) + dump( stdout, "<- KEY HANDLER" ); + + /*** Now look to see if this string has a period ***/ + num_periods = 0; + for( i=0; i<(int)strlen(text); i++ ) + if ( text[i] == '.' ) + num_periods++; + + return true; +} + + +/****************************** GLUI_EditText::activate() **********/ + +void GLUI_EditText::activate( int how ) +{ + if ( debug ) + dump( stdout, "-> ACTIVATE" ); + + active = true; + + if ( how == GLUI_ACTIVATE_MOUSE ) + return; /* Don't select everything if activated with mouse */ + + strcpy( orig_text, text ); + + sel_start = 0; + sel_end = (int)strlen(text); + insertion_pt = 0; + + if ( debug ) + dump( stdout, "<- ACTIVATE" ); +} + + +/****************************** GLUI_EditText::disactivate() **********/ + +void GLUI_EditText::disactivate( void ) +{ + int new_int_val; + float new_float_val; + + active = false; + + if ( NOT glui ) + return; + + if ( debug ) + dump( stdout, "-> DISACTIVATE" ); + + sel_start = sel_end = insertion_pt = -1; + + /***** Retrieve the current value from the text *****/ + /***** The live variable will be updated by set_text() ****/ + if ( data_type == GLUI_EDITTEXT_FLOAT ) { + if ( text[0] == '\0' ) /* zero-length string - make it "0.0" */ + strcpy( text, "0.0" ); + + new_float_val = atof( text ); + + set_float_val( new_float_val ); + } + else if ( data_type == GLUI_EDITTEXT_INT ) { + if ( text[0] == '\0' ) /* zero-length string - make it "0" */ + strcpy( text, "0" ); + + new_int_val = atoi( text ); + + set_int_val( new_int_val ); + } + else + if ( data_type == GLUI_EDITTEXT_TEXT ) { + set_text(text); /* This will force callbacks and gfx refresh */ + } + + update_substring_bounds(); + + /******** redraw text without insertion point ***********/ + translate_and_draw_front(); + + /***** Now do callbacks if value changed ******/ + if ( strcmp( orig_text, text ) != 0 ) { + this->execute_callback(); + + if ( 0 ) { + /* THE CODE BELOW IS FROM WHEN SPINNER ALSO MAINTAINED CALLBACKS */ + if ( spinner == NULL ) { /** Are we independent of a spinner? **/ + if ( callback ) { + callback( this->user_id ); + } + } + else { /* We're attached to a spinner */ + spinner->do_callbacks(); /* Let the spinner do the callback stuff */ + } + } + } + + if ( debug ) + dump( stdout, "<- DISACTIVATE" ); +} + +/****************************** GLUI_EditText::draw() **********/ + +void GLUI_EditText::draw( int x, int y ) +{ + int orig; + int name_x; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + name_x = MAX(text_x_offset - string_width(this->name) - 3,0); + draw_name( name_x , 13); + + glBegin( GL_LINES ); + glColor3f( .5, .5, .5 ); + glVertex2i( text_x_offset, 0 ); glVertex2i( w, 0 ); + glVertex2i( text_x_offset, 0 ); glVertex2i( text_x_offset, h ); + + glColor3f( 1., 1., 1. ); + glVertex2i( text_x_offset, h ); glVertex2i( w, h ); + glVertex2i( w, h ); glVertex2i( w, 0 ); + + if ( enabled ) + glColor3f( 0., 0., 0. ); + else + glColor3f( .25, .25, .25 ); + glVertex2i( text_x_offset+1, 1 ); glVertex2i( w-1, 1 ); + glVertex2i( text_x_offset+1, 1 ); glVertex2i( text_x_offset+1, h-1 ); + + glColor3f( .75, .75, .75 ); + glVertex2i( text_x_offset+1, h-1 ); glVertex2i( w-1, h-1 ); + glVertex2i( w-1, h-1 ); glVertex2i( w-1, 1 ); + glEnd(); + + /** Find where to draw the text **/ + update_substring_bounds(); + draw_text(0,0); + + draw_insertion_pt(); + + restore_window(orig); +} + + + +/************************** GLUI_EditText::update_substring_bounds() *********/ + +int GLUI_EditText::update_substring_bounds( void ) +{ + int box_width; + int text_len = (int)strlen(text); + int old_start, old_end; + + old_start = substring_start; + old_end = substring_end; + + /*** Calculate the width of the usable area of the edit box ***/ + box_width = MAX( this->w - this->text_x_offset + - 4 /* 2 * the two-line box border */ + - 2 * GLUI_EDITTEXT_BOXINNERMARGINX, 0 ); + + CLAMP( substring_end, 0, MAX(text_len-1,0) ); + CLAMP( substring_start, 0, MAX(text_len-1,0) ); + + if ( debug ) dump( stdout, "-> UPDATE SS" ); + + if ( insertion_pt >= 0 AND + insertion_pt < substring_start ) { /* cursor moved left */ + substring_start = insertion_pt; + + while ( substring_width( substring_start, substring_end ) > box_width ) + substring_end--; + } + else if ( insertion_pt > substring_end ) { /* cursor moved right */ + substring_end = insertion_pt-1; + + while ( substring_width( substring_start, substring_end ) > box_width ) + substring_start++; + } + else { /* cursor is within old substring bounds */ + if ( last_insertion_pt > insertion_pt ) { /* cursor moved left */ + } + else { + while ( substring_width( substring_start, substring_end ) > box_width ) + substring_end--; + + while(substring_width( substring_start, substring_end+1 ) <= box_width + AND substring_end < text_len-1 ) + substring_end++; + } + } + + while ( substring_width( substring_start, substring_end ) > box_width ) + substring_end--; + + last_insertion_pt = insertion_pt; + + /*** No selection if not enabled ***/ + if ( NOT enabled ) { + sel_start = sel_end = 0; + } + + if ( debug ) dump( stdout, "<- UPDATE SS" ); + + if ( substring_start == old_start AND substring_end == old_end ) + return false; /*** bounds did not change ***/ + else + return true; /*** bounds did change ***/ +} + + +/********************************* GLUI_EditText::update_x_offsets() *********/ + +void GLUI_EditText::update_x_offsets( void ) +{ +} + + +/********************************* GLUI_EditText::draw_text() ****************/ + +void GLUI_EditText::draw_text( int x, int y ) +{ + int text_x, i, sel_lo, sel_hi; + int orig; + + if ( NOT can_draw() ) + return; + + if ( debug ) dump( stdout, "-> DRAW_TEXT" ); + + orig = set_to_glut_window(); + + if ( NOT draw_text_only ) { + if ( enabled ) + glColor3f( 1., 1., 1. ); + else + set_to_bkgd_color(); + glDisable( GL_CULL_FACE ); + glBegin( GL_QUADS ); + glVertex2i( text_x_offset+2, 2 ); glVertex2i( w-2, 2 ); + glVertex2i( w-2, h-2 ); glVertex2i( text_x_offset+2, h-2 ); + glEnd(); + } + + /** Find where to draw the text **/ + + text_x = text_x_offset + 2 + GLUI_EDITTEXT_BOXINNERMARGINX; + + /*printf( "text_x: %d substr_width: %d start/end: %d/%d\n", + text_x, substring_width( substring_start, substring_end ), + substring_start, substring_end ); + */ + /** Find lower and upper selection bounds **/ + sel_lo = MIN(sel_start, sel_end ); + sel_hi = MAX(sel_start, sel_end ); + + int sel_x_start, sel_x_end, delta; + + /** Draw selection area dark **/ + if ( sel_start != sel_end ) { + sel_x_start = text_x; + sel_x_end = text_x; + for( i=substring_start; i<=substring_end; i++ ) { + delta = char_width( text[i] ); + + if ( i < sel_lo ) { + sel_x_start += delta; + sel_x_end += delta; + } + else if ( i < sel_hi ) { + sel_x_end += delta; + } + } + + glColor3f( 0.0f, 0.0f, .6f ); + glBegin( GL_QUADS ); + glVertex2i( sel_x_start, 2 ); glVertex2i( sel_x_end, 2 ); + glVertex2i( sel_x_end, h-2 ); glVertex2i( sel_x_start, h-2 ); + glEnd(); + } + + + if ( sel_start == sel_end ) { /* No current selection */ + if ( enabled ) + glColor3b( 0, 0, 0 ); + else + glColor3b( 32, 32, 32 ); + + glRasterPos2i( text_x, 13); + for( i=substring_start; i<=substring_end; i++ ) { + glutBitmapCharacter( get_font(), this->text[i] ); + } + } + else { /* There is a selection */ + int x = text_x; + for( i=substring_start; i<=substring_end; i++ ) { + if ( IN_BOUNDS( i, sel_lo, sel_hi-1)) { /* This character is selected */ + glColor3f( 1., 1., 1. ); + glRasterPos2i( x, 13); + glutBitmapCharacter( get_font(), this->text[i] ); + } + else { + glColor3f( 0., 0., 0. ); + glRasterPos2i( x, 13); + glutBitmapCharacter( get_font(), this->text[i] ); + } + + x += char_width( text[i] ); + } + } + + restore_window( orig ); + + if ( debug ) dump( stdout, "<- DRAW_TEXT" ); +} + + +/******************************** GLUI_EditText::find_insertion_pt() *********/ +/* This function returns the character numer *before which* the insertion */ +/* point goes */ + +int GLUI_EditText::find_insertion_pt( int x, int y ) +{ + int curr_x, i; + + /*** See if we clicked outside box ***/ + if ( x < this->x_abs + text_x_offset ) + return -1; + + /* We move from right to left, looking to see if the mouse was clicked + to the right of the ith character */ + + curr_x = this->x_abs + text_x_offset + + substring_width( substring_start, substring_end ) + + 2 /* The edittext box has a 2-pixel margin */ + + GLUI_EDITTEXT_BOXINNERMARGINX; /** plus this many pixels blank space + between the text and the box **/ + + /*** See if we clicked in an empty box ***/ + if ( (int)strlen( text ) == 0 ) + return 0; + + /** find mouse click in text **/ + for( i=substring_end; i>=substring_start; i-- ) { + curr_x -= char_width( text[i] ); + + if ( x > curr_x ) { + /* printf( "-> %d\n", i ); */ + + return i+1; + } + } + + return 0; + + /* Well, the mouse wasn't after any of the characters...see if it's + before the beginning of the substring */ + if ( 0 ) { + if ( x > (x_abs + text_x_offset + 2 ) ) + return substring_start; + + return -1; /* Nothing found */ + } +} + + +/******************************** GLUI_EditText::draw_insertion_pt() *********/ + +void GLUI_EditText::draw_insertion_pt( void ) +{ + int curr_x, i; + + if ( NOT can_draw() ) + return; + + /*** Don't draw insertion pt if control is disabled ***/ + if ( NOT enabled ) + return; + + if ( debug ) dump( stdout, "-> DRAW_INS_PT" ); + + if ( sel_start != sel_end OR insertion_pt < 0 ) { + return; /* Don't draw insertion point if there is a current selection */ + } + + /* printf( "insertion pt: %d\n", insertion_pt ); */ + + curr_x = this->x_abs + text_x_offset + + substring_width( substring_start, substring_end ) + + 2 /* The edittext box has a 2-pixel margin */ + + GLUI_EDITTEXT_BOXINNERMARGINX; /** plus this many pixels blank space + between the text and the box **/ + + for( i=substring_end; i>=insertion_pt; i-- ) { + curr_x -= char_width( text[i] ); + } + + glColor3f( 0.0, 0.0, 0.0 ); + glBegin( GL_LINE_LOOP ); + /*** + glVertex2i( curr_x, y_abs + 4 ); + glVertex2i( curr_x, y_abs + 4 ); + glVertex2i( curr_x, y_abs + h - 3 ); + glVertex2i( curr_x, y_abs + h - 3 ); + ***/ + curr_x -= x_abs; + glVertex2i( curr_x, 0 + 4 ); + glVertex2i( curr_x, 0 + 4 ); + glVertex2i( curr_x, 0 + h - 3 ); + glVertex2i( curr_x, 0 + h - 3 ); + glEnd(); + + if ( debug ) dump( stdout, "-> DRAW_INS_PT" ); +} + + + +/******************************** GLUI_EditText::substring_width() *********/ + +int GLUI_EditText::substring_width( int start, int end ) +{ + int i, width; + + width = 0; + + for( i=start; i<=end; i++ ) + width += char_width( text[i] ); + + return width; +} + + +/***************************** GLUI_EditText::update_and_draw_text() ********/ + +void GLUI_EditText::update_and_draw_text( void ) +{ + if ( NOT can_draw() ) + return; + + update_substring_bounds(); + /* printf( "ss: %d/%d\n", substring_start, substring_end ); */ + + translate_and_draw_front(); +} + + +/********************************* GLUI_EditText::special_handler() **********/ + +int GLUI_EditText::special_handler( int key,int modifiers ) +{ + if ( NOT glui ) + return false; + + if ( 0 ) + printf( "SPECIAL:%d - mod:%d subs:%d/%d ins:%d sel:%d/%d\n", + key, modifiers, substring_start, substring_end,insertion_pt, + sel_start, sel_end ); + + if ( key == GLUT_KEY_LEFT ) { + if ( (modifiers & GLUT_ACTIVE_CTRL) != 0 ) { + insertion_pt = find_word_break( insertion_pt, -1 ); + } + else { + insertion_pt--; + } + } + else if ( key == GLUT_KEY_RIGHT ) { + if ( (modifiers & GLUT_ACTIVE_CTRL) != 0 ) { + insertion_pt = find_word_break( insertion_pt, +1 ); + } + else { + insertion_pt++; + } + } + else if ( key == GLUT_KEY_HOME ) { + insertion_pt = 0; + } + else if ( key == GLUT_KEY_END ) { + insertion_pt = (int)strlen( text ); + } + + /*** Update selection if shift key is down ***/ + if ( (modifiers & GLUT_ACTIVE_SHIFT ) != 0 ) + sel_end = insertion_pt; + else + sel_start = sel_end = insertion_pt; + + CLAMP( insertion_pt, 0, (int)strlen( text )); /* Make sure insertion_pt + is in bounds */ + CLAMP( sel_start, 0, (int)strlen( text )); /* Make sure insertion_pt + is in bounds */ + CLAMP( sel_end, 0, (int)strlen( text )); /* Make sure insertion_pt + is in bounds */ + + /******** Now redraw text ***********/ + if ( can_draw()) + update_and_draw_text(); + + return true; +} + + +/****************************** GLUI_EditText::find_word_break() **********/ +/* It looks either left or right (depending on value of 'direction' */ +/* for the beginning of the next 'word', where word are characters */ +/* separated by one of the following tokens: " :-.," */ +/* If there is no next word in the specified direction, this returns */ +/* the beginning of 'text', or the very end. */ + +int GLUI_EditText::find_word_break( int start, int direction ) +{ + int i, j; + char *breaks = " :-.,"; + int num_break_chars = (int)strlen(breaks), text_len = (int)strlen(text); + int new_pt; + + /** If we're moving left, we have to start two back, in case we're either + already at the beginning of a word, or on a separating token. + Otherwise, this function would just return the word we're already at **/ + if ( direction == -1 ) { + start -= 2; + } + + /***** Iterate over text in the specified direction *****/ + for ( i=start; i >= 0 AND i < text_len; i += direction ) { + + /** For each character in text, iterate over list of separating tokens **/ + for( j=0; j 0 ) /* Return the end of string */ + return text_len; + else /* Return the beginning of the text */ + return 0; +} + + +/********************************** GLUI_EditText::clear_substring() ********/ + +void GLUI_EditText::clear_substring( int start, int end ) +{ + int i, leftover; + + /* + printf( "clearing: %d-%d '", start,end); + for(i=start;ifloat_val = this->float_val; + spinner->int_val = this->int_val; + } + + /*** Now update the live variable ***/ + output_live(true); +} + + +/******************************* GLUI_EditText::set_float_val() ************/ + +void GLUI_EditText::set_float_val( float new_val ) +{ + if ( has_limits == GLUI_LIMIT_CLAMP ) { + /*** Clamp the new value to the existing limits ***/ + + CLAMP( new_val, float_low, float_high ); + } + else if ( has_limits == GLUI_LIMIT_WRAP ) { + /*** Clamp the value cyclically to the limits - that is, if the + value exceeds the max, set it the the minimum, and conversely ***/ + + if ( new_val < float_low ) + new_val = float_high; + if ( new_val > float_high ) + new_val = float_low; + } + + float_val = new_val; + int_val = (int) new_val; /* Mirror the value as an int, too */ + + set_numeric_text(); +} + + +/********************************** GLUI_EditText::set_int_val() ************/ + +void GLUI_EditText::set_int_val( int new_val ) +{ + if ( has_limits == GLUI_LIMIT_CLAMP ) { + /*** Clamp the new value to the existing limits ***/ + + CLAMP( new_val, int_low, int_high ); + } + else if ( has_limits == GLUI_LIMIT_WRAP ) { + /*** Clamp the value cyclically to the limits - that is, if the + value exceeds the max, set it the the minimum, and conversely ***/ + + if ( new_val < int_low ) + new_val = int_high; + if ( new_val > int_high ) + new_val = int_low; + } + + int_val = new_val; + float_val = (float) new_val; /* We mirror the value as a float, too */ + + set_numeric_text(); +} + + +/********************************* GLUI_EditText::set_float_limits() *********/ + +void GLUI_EditText::set_float_limits( float low, float high, int limit_type ) +{ + has_limits = limit_type; + float_low = low; + float_high = high; + + if ( NOT IN_BOUNDS( float_val, float_low, float_high )) + set_float_val( float_low ); + + int_low = (int) float_low; + int_high = (int) float_high; +} + + +/*********************************** GLUI_EditText::set_int_limits() *********/ + +void GLUI_EditText::set_int_limits( int low, int high, int limit_type ) +{ + has_limits = limit_type; + int_low = low; + int_high = high; + + if ( NOT IN_BOUNDS( int_val, int_low, int_high )) + set_int_val( int_low ); + + float_low = (float) int_low; + float_high = (float) int_high; +} + + +/************************************ GLUI_EditText::set_numeric_text() ******/ + +void GLUI_EditText::set_numeric_text( void ) +{ + char buf_float[200], buf_int[200]; + int i, text_len; + + if ( data_type == GLUI_EDITTEXT_FLOAT ) { + sprintf( buf_float, "%#g", float_val ); + + num_periods = 0; + text_len = (int)strlen( buf_float ); + for ( i=0; i 0 ) { + text_len = (int)strlen( buf_float ); + for ( i=text_len-1; i>0; i-- ) { + if ( buf_float[i] == '0' AND buf_float[i-1] != '.' ) + buf_float[i] = '\0'; + else + break; + } + } + + set_text( buf_float ); + } + else { + sprintf( buf_int, "%d", int_val ); + + set_text( buf_int ); + } + +} + + +/*************************************** GLUI_EditText::dump() **************/ + +void GLUI_EditText::dump( FILE *out, char *name ) +{ + fprintf( out, + "%s (edittext@%p): ins_pt:%d subs:%d/%d sel:%d/%d len:%d\n", + name, this, + insertion_pt, substring_start, substring_end, sel_start, sel_end, + (int)strlen( text )); +} + + +/**************************************** GLUI_EditText::mouse_over() ********/ + +int GLUI_EditText::mouse_over( int state, int x, int y ) +{ + if ( state ) { + /* curr_cursor = GLUT_CURSOR_TEXT; */ + glutSetCursor( GLUT_CURSOR_TEXT ); + } + else { + /* printf( "OUT\n" ); */ + glutSetCursor( GLUT_CURSOR_LEFT_ARROW ); + } + + return true; +} diff --git a/.svn/pristine/26/26bfd4d3b74c669dc82a5034105f4dc6ddda89fa.svn-base b/.svn/pristine/26/26bfd4d3b74c669dc82a5034105f4dc6ddda89fa.svn-base new file mode 100644 index 0000000..c287100 --- /dev/null +++ b/.svn/pristine/26/26bfd4d3b74c669dc82a5034105f4dc6ddda89fa.svn-base @@ -0,0 +1,33 @@ +// This is an example of the use of solution to find the cube root of +// the integers -10 to 10 + +// you will need to compile and link solution.cpp and except.cpp + +#define WANT_STREAM +#define WANT_MATH + +#include "include.h" +#include "solution.h" + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + + +// the cube class + +class Cube : public R1_R1 +{ Real operator()() { return x*x*x; } }; + +int main() +{ + // construct the Cube object + Cube cube; + // and then the solve object + OneDimSolve cube_root(cube); + // Now do the solves + for (int i=-10; i<=10; i++) + cout << i << " " << cube_root.Solve(i,0,1.5) << endl; + return 0; +} + diff --git a/.svn/pristine/28/28020226e2c7a82b7c03d1e072adfaf8a3c0a7bd.svn-base b/.svn/pristine/28/28020226e2c7a82b7c03d1e072adfaf8a3c0a7bd.svn-base new file mode 100644 index 0000000..b9491fe --- /dev/null +++ b/.svn/pristine/28/28020226e2c7a82b7c03d1e072adfaf8a3c0a7bd.svn-base @@ -0,0 +1,2 @@ +clean: + rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out refman.pdf diff --git a/.svn/pristine/28/280bf5c223654b2fa4ef74205ea84011251d066f.svn-base b/.svn/pristine/28/280bf5c223654b2fa4ef74205ea84011251d066f.svn-base new file mode 100644 index 0000000..7b22b11 --- /dev/null +++ b/.svn/pristine/28/280bf5c223654b2fa4ef74205ea84011251d066f.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ks file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/28/280ffa6011cd125d75df2c546db11a1d98174951.svn-base b/.svn/pristine/28/280ffa6011cd125d75df2c546db11a1d98174951.svn-base new file mode 100644 index 0000000..9125bfd --- /dev/null +++ b/.svn/pristine/28/280ffa6011cd125d75df2c546db11a1d98174951.svn-base @@ -0,0 +1,113 @@ +/** + * @file plane3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef PLANE3D_H_ +#define PLANE3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/vector3d.h" + +#include + +namespace model { + +/** + * A class defining a plane. + */ +class Plane3d { +private: + /** + * used to determine if vertical + */ + static constexpr double _EPSILON_VERTICAL = 0.02; + + /** + * used to determine if horizontal + */ + static constexpr double _EPSILON_HORIZONTAL = 0.02; + + /** + * if two planes are this close in cm + * then they may be considered to be the same + */ + static constexpr double _EPSILON_DISTANCE = 20; + + /** + * if the length of the crossproduct of two normals is less than this + * then the planes may be considered to be the same + */ + static constexpr double _EPSILON_NORMAL_CROSS_PRODUCT = 2e-1; + +public: + /** + * the normal defining the plane + */ + Vector3d normal; + + /** + * the point of application of the normal + */ + Point3d pt; + + /** + * the convex hull of this plane + */ + std::vector hull; + + Plane3d(); + Plane3d(const Point3d& pt, const Vector3d& normal); + Plane3d(const Point3d& pt, const Vector3d& normal, + const std::vector& hull); + + Plane3d(const Plane3d& other); + + virtual ~Plane3d(); + + /** + * compute the intersection of three planes + */ + Point3d intersect(const Plane3d& first, const Plane3d& second); + + /** + * copies one plane to another + */ + Plane3d& operator=(const Plane3d& other); + + /** + * returns true if a plane is vertical within some predefined epsilon values + */ + bool isVertical(); + + /** + * returns true if a plane is horizontal within some predefined epsilon values + */ + bool isHorizontal(); + + /** + * returns true if this plane replresents the same plane as other + * within some predefined epsilon values + */ + bool isSamePlane(Plane3d other); + + /** + * Computes the normal of the plane from the hull. + */ + Vector3d computeAverageNormal(); + + /** + * Returns the 3D coordinates of points on the plane, which have a fixed + * distance to their next neighbor. + */ + std::vector > getDiscretePoints(const double& dist) const; +}; + +} /* namespace model */ + +#endif /* PLANE3D_H_ */ diff --git a/.svn/pristine/28/285085933c29eb9ada8d86d00a14a0ce0932294b.svn-base b/.svn/pristine/28/285085933c29eb9ada8d86d00a14a0ce0932294b.svn-base new file mode 100644 index 0000000..5ec9108 --- /dev/null +++ b/.svn/pristine/28/285085933c29eb9ada8d86d00a14a0ce0932294b.svn-base @@ -0,0 +1,322 @@ +/* + * plane implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/hough.h" +#include "shapes/shape.h" +#include "shapes/ransac.h" + +enum plane_alg { + RHT, SHT, PHT, PPHT, APHT, RANSAC +}; + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl + << " using algorithm P for plane detection" << endl + << " (chose P from {rht, sht, pht, ppht, apht, ran})" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -O" << normal << " NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +/** + * Parses command line arguments needed for plane detection. For details about + * the argument see usage(). + */ + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int + &maxDist, int&minDist, int &octree, IOType &type, plane_alg &alg, bool + &quiet, bool& scanserver) +{ + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "plane", required_argument, 0, 'p' }, + { "quiet", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:p:O:q", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'p': + if(strcasecmp(optarg, "rht") == 0) alg = RHT; + else if(strcasecmp(optarg, "sht") == 0) alg = SHT; + else if(strcasecmp(optarg, "pht") == 0) alg = PHT; + else if(strcasecmp(optarg, "ppht") == 0) alg = PPHT; + else if(strcasecmp(optarg, "apht") == 0) alg = APHT; + else if(strcasecmp(optarg, "ran") == 0) alg = RANSAC; + else abort(); + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case 'S': + scanserver = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +/** + * Main function. The Hough Transform or RANSAC are called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + IOType type = UOS; + plane_alg alg = RHT; + bool scanserver = false; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, maxDist, minDist, octree, type, alg, quiet, scanserver); + int fileNr = start; + string planedir = dir + "planes"; + +#ifdef _MSC_VER + int success = mkdir(planedir.c_str()); +#else + int success = mkdir(planedir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing planes to " << planedir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << planedir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << planedir << " failed" << endl; + exit(1); + } + + Scan::openDirectory(scanserver, dir, type, fileNr, fileNr); + Scan* scan = Scan::allScans.front(); + scan->setRangeFilter(maxDist, minDist); + scan->setReductionParameter(red, octree); + // scan->setSearchTreeParameter(nns_method, use_cuda); + scan->toGlobal(); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + scan->transform(id, Scan::ICP, 0); // write end pose + } + + if (!quiet) cout << "start plane detection" << endl; + long starttime = GetCurrentTimeInMilliSec(); + if(alg >= RANSAC) { + vector points; + CollisionPlane * plane; + plane = new CollisionPlane(1.0); // 1.0 cm maxdist + Ransac(*plane, Scan::allScans[0], &points); + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "nr points " << points.size() << endl; + double nx,ny,nz,d; + plane->getPlane(nx,ny,nz,d); + if(!quiet) cout << "DONE " << endl; + + if(!quiet) cout << nx << " " << ny << " " << nz << " " << d << endl; + + /** + for (unsigned int i = 0; i < points.size(); i++) { + cerr << points[i][0] << " " << points[i][1] << " " << points[i][2] << endl; + } + */ + for(int i = points.size() - 1; i > -1; i--) { + delete[] points[i]; + } + + delete plane; + } else { + Hough hough(Scan::allScans[0], quiet); + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << "Time for Constructor call: " << starttime << endl; + + starttime = GetCurrentTimeInMilliSec(); + if (!quiet) cout << "algorithm: " << alg << endl; + // choose Hough method here + switch(alg) { + case RHT: hough.RHT(); + break; + case SHT: hough.SHT(); + break; + case PHT: hough.PHT(); + break; + case PPHT: hough.PPHT(); + break; + case APHT: hough.APHT(); + break; + default: usage(argv[0]); + exit(1); + break; + } + + hough.writePlanes(0); + cout << "Write Planes done" << endl; + starttime = (GetCurrentTimeInMilliSec() - starttime); + } + + cout << "Time for Plane Detection " << starttime << endl; + delete Scan::allScans[0]; + Scan::allScans.clear(); +} + diff --git a/.svn/pristine/28/28eb7096b5965f10c7bc9c09e036def77f419dd8.svn-base b/.svn/pristine/28/28eb7096b5965f10c7bc9c09e036def77f419dd8.svn-base new file mode 100644 index 0000000..661680d --- /dev/null +++ b/.svn/pristine/28/28eb7096b5965f10c7bc9c09e036def77f419dd8.svn-base @@ -0,0 +1,502 @@ +500 + 3.44443 -0.49800 + 1.43549 -0.49600 + 3.70477 -0.49400 + -3.82558 -0.49200 + 1.20130 -0.49000 + -2.62383 -0.48800 + -1.34321 -0.48600 + -0.35801 -0.48400 + -2.18813 -0.48200 + -1.98628 -0.48000 + -1.53262 -0.47800 + -1.45007 -0.47600 + -1.18593 -0.47400 + -0.55274 -0.47200 + -1.55943 -0.47000 + -3.10084 -0.46800 + 0.44254 -0.46600 + -0.63936 -0.46400 + 2.44989 -0.46200 + -2.14392 -0.46000 + 0.47310 -0.45800 + -1.64464 -0.45600 + 0.56628 -0.45400 + -0.80925 -0.45200 + -0.78961 -0.45000 + -1.12984 -0.44800 + -0.50715 -0.44600 + -1.75134 -0.44400 + -1.04231 -0.44200 + 0.94435 -0.44000 + 1.16306 -0.43800 + -2.87888 -0.43600 + 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0.18800 + 1.20889 0.19000 + 0.78386 0.19200 + 1.54668 0.19400 + -0.25996 0.19600 + 0.93201 0.19800 + 1.30374 0.20000 + 2.23175 0.20200 + -0.42525 0.20400 + 1.12784 0.20600 + -0.42014 0.20800 + -0.00577 0.21000 + -1.14837 0.21200 + 2.48454 0.21400 + -0.51466 0.21600 + -0.06257 0.21800 + -1.25993 0.22000 + 1.26623 0.22200 + 3.05099 0.22400 + -1.84077 0.22600 + -0.36058 0.22800 + 2.65788 0.23000 + -0.17717 0.23200 + 1.68915 0.23400 + -1.53406 0.23600 + 1.78097 0.23800 + -1.24217 0.24000 + -4.17466 0.24200 + 0.80433 0.24400 + 0.70856 0.24600 + -0.96881 0.24800 + 0.87322 0.25000 + -2.45936 0.25200 + 2.95677 0.25400 + 1.81628 0.25600 + -0.85793 0.25800 + 1.02089 0.26000 + -1.05425 0.26200 + -0.29861 0.26400 + 1.69682 0.26600 + 1.07389 0.26800 + 0.22183 0.27000 + 1.72766 0.27200 + -0.99746 0.27400 + -2.14178 0.27600 + -1.67924 0.27800 + 1.56520 0.28000 + -0.86864 0.28200 + 2.65155 0.28400 + -2.27166 0.28600 + 0.68310 0.28800 + 0.84102 0.29000 + 0.64604 0.29200 + 0.68712 0.29400 + 1.56297 0.29600 + -0.68136 0.29800 + 1.25519 0.30000 + -1.38612 0.30200 + 2.36320 0.30400 + 5.40128 0.30600 + -1.14776 0.30800 + -1.36081 0.31000 + 0.07679 0.31200 + -0.17231 0.31400 + 1.19094 0.31600 + 0.09285 0.31800 + -0.85191 0.32000 + -0.43739 0.32200 + -0.22950 0.32400 + 2.21298 0.32600 + 0.75045 0.32800 + 0.97489 0.33000 + -0.62158 0.33200 + 1.10503 0.33400 + 0.36977 0.33600 + -0.32894 0.33800 + 2.13729 0.34000 + 4.42019 0.34200 + -2.80916 0.34400 + 2.28181 0.34600 + 2.59053 0.34800 + -1.52891 0.35000 + -1.35202 0.35200 + 1.27639 0.35400 + 0.28782 0.35600 + 0.83540 0.35800 + -0.32867 0.36000 + 1.16891 0.36200 + 0.02511 0.36400 + -0.71878 0.36600 + 0.69811 0.36800 + 1.29399 0.37000 + 0.86300 0.37200 + -0.12139 0.37400 + -0.28069 0.37600 + 3.07623 0.37800 + -2.91737 0.38000 + 0.16709 0.38200 + -1.60815 0.38400 + 0.02795 0.38600 + 1.19657 0.38800 + 0.04390 0.39000 + 0.95983 0.39200 + -1.83683 0.39400 + -1.69167 0.39600 + 3.15836 0.39800 + 2.24002 0.40000 + 0.45225 0.40200 + 1.35014 0.40400 + -1.67177 0.40600 + -0.97317 0.40800 + 4.20922 0.41000 + -0.03983 0.41200 + -0.35933 0.41400 + -1.49772 0.41600 + 2.72900 0.41800 + -2.61061 0.42000 + -0.26581 0.42200 + -4.30162 0.42400 + -3.55225 0.42600 + -5.60739 0.42800 + 2.26730 0.43000 + -0.05568 0.43200 + -0.14348 0.43400 + -1.73015 0.43600 + -1.01649 0.43800 + -2.39568 0.44000 + 3.41626 0.44200 + 2.23817 0.44400 + -1.02668 0.44600 + 3.18086 0.44800 + 0.71908 0.45000 + -0.37826 0.45200 + -0.39837 0.45400 + 0.50378 0.45600 + 0.38287 0.45800 + 2.95404 0.46000 + -1.16143 0.46200 + 0.89913 0.46400 + -0.82190 0.46600 + 1.30638 0.46800 + 0.89138 0.47000 + 0.85038 0.47200 + -1.38925 0.47400 + 3.74026 0.47600 + 4.60999 0.47800 + 1.31364 0.48000 + 5.17183 0.48200 + 1.82162 0.48400 + 1.09830 0.48600 + 1.36666 0.48800 + -0.09676 0.49000 + 0.74155 0.49200 + 1.21910 0.49400 + 1.20746 0.49600 + 0.82236 0.49800 + 1.54856 0.50000 + diff --git a/.svn/pristine/29/2916f27dd125f9ab3b39bda2151adcb112ae7d0d.svn-base b/.svn/pristine/29/2916f27dd125f9ab3b39bda2151adcb112ae7d0d.svn-base new file mode 100644 index 0000000..abc4a79 --- /dev/null +++ b/.svn/pristine/29/2916f27dd125f9ab3b39bda2151adcb112ae7d0d.svn-base @@ -0,0 +1,42 @@ + + +int glui_img_listbox_up[] = { 11, 17, /* width, height */ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, + 255,255,255, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 191,191,191, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 191,191,191, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 0, 0, 0, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, + 255,255,255, 191,191,191, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 191,191,191, 127,127,127, 0, 0, 0, + 191,191,191, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 191,191,191, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 191,191,191, + 255,255,255, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 191,191,191, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,252, 255,255,255, 127,127,127, + 0, 0, 0, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 0, 0, 0, +}; diff --git a/.svn/pristine/29/298c79a7583e5f6fe0e26fd4a112735e64c30189.svn-base b/.svn/pristine/29/298c79a7583e5f6fe0e26fd4a112735e64c30189.svn-base new file mode 100644 index 0000000..996f21b --- /dev/null +++ b/.svn/pristine/29/298c79a7583e5f6fe0e26fd4a112735e64c30189.svn-base @@ -0,0 +1,703 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address +*/ + +#include +#include +#include "pgm2asc.h" +#include "gocr.h" +#include "progress.h" + +/* measure mean thickness as an criteria for big chars */ +int mean_thickness( struct box *box2 ){ + int mt=0, i, y, dx=box2->x1-box2->x0+1, dy; + for (y=box2->y0+1; yy1; y++) { + i=loop(box2->p,box2->x0+0,y,dx,JOB->cfg.cs,0,RI); + i=loop(box2->p,box2->x0+i,y,dx,JOB->cfg.cs,1,RI); + mt+=i; + } + dy = box2->y1 - box2->y0 - 1; + if (dy) mt=(mt+dy/2)/dy; + return mt; +} + +/* ---- remove dust --------------------------------- + What is dust? I think, this is a very small pixel cluster without + neighbours. Of course not all dust clusters can be detected correct. + This feature should be possible to switch off via option. + -> may be, all clusters should be stored here? + speed is very slow, I know, but I am happy that it is working well +*/ +int remove_dust( job_t *job ){ + /* new dust removing */ + /* FIXME jb:remove pp */ + pix *pp = &job->src.p; + int i1,i,j,x,y,x0,x1,y0,y1,nC,sX,sY,sP, cs,vvv=job->cfg.verbose; + struct box *box2; +#define HISTSIZE 220 /* histogramm size */ + int histo[HISTSIZE]; + cs=job->cfg.cs; sP=sX=sY=nC=0; + /* + * count number of black pixels within a box and store it in .dots + * later .dots is re-used for number of objects belonging to the character + * should be done in the flood-fill algorithm + * volume of white pixels is estimated to big here (left/right rot) + * ToDo: mean thickness of char lines? + * or interval nesting (minP..maxP) to remove outriders + */ + j=0; + for (i1=0;i1res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (!box2->num_frames) continue; + if (box2->frame_vol[0]<0) continue; /* don't count inner holes */ + j = abs(box2->frame_vol[0]); + if ((box2->y1-box2->y0+1)>3) { + nC++; /* only count potential chars v0.42 */ + sX+=box2->x1 - box2->x0 + 1; + sY+=box2->y1 - box2->y0 + 1; + sP+=j; + } + if (jres.boxlist)); + + if (job->cfg.dust_size < 0 && nC > 0) { /* auto detection */ + /* this formula is empirically, high resolution scans have bigger dust */ + /* maximum allowed dustsize (min=4*7 ca. 32) + * does not work for background pattern! + */ + job->cfg.dust_size = ( ( sX/nC ) * ( sY/nC ) + 16) / 32; + if (vvv) fprintf(stderr, "# remove.c remove_dust(): "); + if (vvv) fprintf(stderr, "\n# dust size detection, vol num" + " #obj=%d maxDust=%d mpixel= %3d mxy= %2d %2d", + nC, job->cfg.dust_size, sP/nC, sX/nC, sY/nC); + /* we assume that for random dust applies histo[i+1]=nC) continue; /* v0.42 lot of pixels -> bg pattern < 3 */ + if (i>=job->cfg.dust_size) break; /* maximum = mean size / 32 */ + if (histo[i/*+1*/]==0) break; /* bad statistic */ + if ((histo[i+2]+histo[i+3]) + >=(histo[i] +histo[i+1])) break; /* no noise, but to late? */ + if ( histo[i-1] > 1024*histo[i] && + 2*histo[i+1] >=histo[i]) break; /* bg pattern */ + } + if (vvv) fprintf(stderr," break"); + if (vvv) for (i1=0,j=i+1;j20) break; /* dont do excessive output */ + } + } + job->cfg.dust_size=i-1; + /* what is the statistic of random dust? + * if we have p pixels on a x*y image we should have + * (p/(x*y))^1 * (x*y) = p singlets + * (p/(x*y))^2 * (x*y) = p^2/(x*y) doublets and + * (p/(x*y))^3 * (x*y) = p^3/(x*y)^2 triplets + */ + if (vvv) fprintf(stderr,"\n# auto dust size = %d nC= %3d .. %3d" + " avD= %2d %2d .. %2d %2d\n", + job->cfg.dust_size, nC, job->res.numC, + (job->res.sumX+job->res.numC/2)/job->res.numC, + (job->res.sumY+job->res.numC/2)/job->res.numC, sX/nC, sY/nC); + } + if (job->cfg.dust_size) + { i=0; + if(vvv){ + fprintf(stderr,"# remove dust of size %2d",job->cfg.dust_size); + /* Warning: better use (1/(x*y))^2 as 1/((x*y)^2), + * because (x*y)^2 may overflow */ + fprintf(stderr," histo=%d,%d(?=%d),%d(?=%d),...\n# ...", + histo[1],histo[2],histo[1]*histo[1]/(pp->x*pp->y), + histo[3], histo[1]*histo[1]/(pp->x*pp->y) + *histo[1]/(pp->x*pp->y)); + } + i = 0; + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + x0=box2->x0;x1=box2->x1;y0=box2->y0;y1=box2->y1; /* box */ + j=abs(box2->frame_vol[0]); + if(j<=job->cfg.dust_size) /* remove this tiny object */ + { /* here we should distinguish dust and i-dots, + * may be we should sort out dots to a seperate dot list and + * after line detection decide, which is dust and which not + * dust should be removed to make recognition easier (ToDo) + */ +#if 0 + if(get_bw((3*x0+x1)/4,(x0+3*x1)/4,y1+y1-y0+1,y1+8*(y1-y0+1),pp,cs,1)) + continue; /* this idea was to simple, see kscan003.jpg sample */ +#endif + /* remove from average */ + job->res.numC--; + job->res.sumX-=x1-x0+1; + job->res.sumY-=y1-y0+1; + /* remove pixels (should only be done with dust) */ + for(x=x0;x<=x1;x++) + for(y=y0;y<=y1;y++){ put(pp,x,y,0,255&~7); } + /* remove from list */ + list_del(&(job->res.boxlist),box2); + /* free memory */ + free_box(box2); + i++; /* count as dust particle */ + continue; + } + } end_for_each(&(job->res.boxlist)); + if(vvv)fprintf(stderr," %3d cluster removed, nC= %3d\n",i,job->res.numC); + } + /* reset dots to 0 and remove white pixels (new) */ + i=0; + for_each_data(&(job->res.boxlist)) { + box2 = ((struct box *)list_get_current(&(job->res.boxlist))); + if (box2->frame_vol[0]<0) continue; /* for black areas only */ + x0=box2->x0;x1=box2->x1;y0=box2->y0;y1=box2->y1; /* box */ + if (x1-x0>16 && y1-y0>30) /* only on large enough chars */ + for(x=x0+1;x<=x1-1;x++) + for(y=y0+1;y<=y1-1;y++){ + if( pixel_atp(pp,x ,y )>=cs + && pixel_atp(pp,x-1,y ) res.boxlist)); + if (vvv) fprintf(stderr,"# ... %3d white pixels removed, cs=%d nC= %3d\n", + i,cs,job->res.numC); + return 0; +} + +/* ---- smooth big chars --------------------------------- + * Big chars often do not have smooth borders, which let fail + * the engine. Here we smooth the borders of big chars (>7x16). + * Smoothing is important for b/w scans, where we often have + * comb like pattern on a vertikal border. I also received + * samples with lot of white pixels (sample: 04/02/25). + * ToDo: obsolete if vector code is complete + */ +int smooth_borders( job_t *job ){ + pix *pp = &job->src.p; + int ii=0,x,y,x0,x1,y0,y1,dx,dy,cs,i0,i1,i2,i3,i4,n1,n2, + cn[8],cm,vvv=job->cfg.verbose; /* dust found */ + struct box *box2; + cs=job->cfg.cs; n1=n2=0; + if(vvv){ fprintf(stderr,"# smooth big chars 7x16 cs=%d",cs); } + /* filter for each big box */ + for_each_data(&(job->res.boxlist)) { n2++; /* count boxes */ + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + /* do not touch small characters! but how we define small characters? */ + if (box2->x1-box2->x0+1<7 || box2->y1-box2->y0+1<16 ) continue; + if (box2->c==PICTURE) continue; + if (mean_thickness(box2)<3) continue; + n1++; /* count boxes matching big-char criteria */ + x0=box2->x0; y0=box2->y0; + x1=box2->x1; y1=box2->y1; + dx=x1-x0+1; dy=y1-y0-1; + /* out_x(box2); + * dont change to much! only change if absolutely sure! + * ....... 1 2 3 + * ex: .?##### 0 * 4 + * ....... 7 6 5 + * we should also avoid removing lines by sytematic remove + * from left end to the right, so we concern also about distance>1 + */ + for(x=box2->x0;x<=box2->x1;x++) + for(y=box2->y0;y<=box2->y1;y++){ /* filter out high frequencies */ + /* this is a very primitive solution, only for learning */ + cn[0]=getpixel(pp,x-1,y); + cn[4]=getpixel(pp,x+1,y); /* horizontal */ + cn[2]=getpixel(pp,x,y-1); + cn[6]=getpixel(pp,x,y+1); /* vertical */ + cn[1]=getpixel(pp,x-1,y-1); + cn[3]=getpixel(pp,x+1,y-1); /* diagonal */ + cn[7]=getpixel(pp,x-1,y+1); + cn[5]=getpixel(pp,x+1,y+1); + cm=getpixel(pp,x,y); + /* check for 5 other and 3 same surrounding pixels */ + for (i0=0;i0<8;i0++) + if ((cn[i0 ]=5 && i3>=3 && i4>=3) { /* change only on borders */ + ii++; /* white : black */ + put(pp,x,y,7,((cmx0,y-box2->y0,i0,i1,i2,i3,i3,cm,getpixel(pp,x,y),cs); +#endif + } + } +#if 0 /* debugging */ + out_x(box2); +#endif + } end_for_each(&(job->res.boxlist)); + if(vvv)fprintf(stderr," ... %3d changes in %d of %d\n",ii,n1,n2); + return 0; +} + +/* test if a corner of box1 is within box2 */ +int box_nested( struct box *box1, struct box *box2){ + /* box1 in box2, +1..-1 frame for pixel-patterns */ + if ( ( ( box1->x0>=box2->x0-1 && box1->x0<=box2->x1+1 ) + || ( box1->x1>=box2->x0-1 && box1->x1<=box2->x1+1 ) ) + && ( ( box1->y0>=box2->y0-1 && box1->y0<=box2->y1+1 ) + || ( box1->y1>=box2->y0-1 && box1->y1<=box2->y1+1 ) ) ) + return 1; + return 0; +} + +/* test if box1 is within box2 */ +int box_covered( struct box *box1, struct box *box2){ + /* box1 in box2, +1..-1 frame for pixel-patterns */ + if ( ( box1->x0>=box2->x0-1 && box1->x1<=box2->x1+1 ) + && ( box1->y0>=box2->y0-1 && box1->y1<=box2->y1+1 ) ) + return 1; + return 0; +} + +/* ---- remove pictures ------------------------------------------ + * may be, not deleting or moving to another list is much better! + * should be renamed to remove_pictures and border boxes + */ +int remove_pictures( job_t *job){ + struct box *box4,*box2; + int j=0, j2=0, num_del=0; + + if (job->cfg.verbose) + fprintf(stderr, "# "__FILE__" L%d: remove pictures\n# ...", + __LINE__); + + /* ToDo: output a list for picture handle scripts */ + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box4->c==PICTURE) j++; else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n# ...", + j, j2, job->res.numC); + + /* remove table frames */ + if (job->res.numC > 8) + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c==PICTURE + && box2->num_ac==0 /* dont remove barcodes */ + && box2->x1-box2->x0+1>box2->p->x/2 /* big table? */ + && box2->y1-box2->y0+1>box2->p->y/2 ){ j=0; + /* count boxes nested with the picture */ + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4 != box2 ) /* not count itself */ + if (box_nested(box4,box2)) j++; /* box4 in box2 */ + } end_for_each(&(job->res.boxlist)); + if( j>8 ){ /* remove box if more than 8 chars are within box */ + list_del(&(job->res.boxlist), box2); /* does not work proper ?! */ + free_box(box2); num_del++; + } + } + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d pictures (table frames)\n# ...", + num_del); + num_del=0; + + /* remove dark-border-boxes (typical for hard copy of book site, + * or spam random border) */ + if (job->res.numC > 1) /* dont remove the only char */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c!=PICTURE) continue; // ToDo: PICTUREs set already? + if ( box2->x1-box2->x0+1 > box2->p->x/2 + && box2->y1-box2->y0+1 > box2->p->y/2 ) continue; + j=0; + if (box2->x0==0) j++; + if (box2->y0==0) j++; /* on border? */ + if (box2->x1==box2->p->x-1) j++; + if (box2->y1==box2->p->y-1) j++; + if (j>2){ /* ToDo: check corner pixel */ + int cs=job->cfg.cs; + j=0; + if (getpixel(box2->p,box2->x0,box2->y0)p,box2->x1,box2->y0)p,box2->x0,box2->y1)p,box2->x1,box2->y1)2) { + list_del(&(job->res.boxlist), box2); + free_box(box2); num_del++; + } + } + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d pictures (on border)\n# ...", + num_del); + num_del=0; + + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4->c==PICTURE ) j++; else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n# ...", + j, j2, job->res.numC); + + for(j=1;j;){ j=0; /* this is only because list_del does not work */ + /* can be slow on gray images */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box2->c==PICTURE && box2->num_ac==0) + for(j=1;j;){ /* let it grow to max before leave */ + j=0; box4=NULL; + /* find boxes nested with the picture and remove */ + /* its for pictures build by compounds */ + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4!=box2 /* not destroy self */ + && (box4->num_ac==0) /* dont remove barcodes etc. */ + && (/* box4->c==UNKNOWN || */ + box4->c==PICTURE) ) /* dont remove valid chars */ + if( + /* box4 in box2, +1..-1 frame for pixel-patterns */ + box_nested(box4,box2) + /* or box2 in box4 */ + || box_nested(box2,box4) /* same? */ + ) + if ( box4->x1-box4->x0+1>2*job->res.avX + || box4->x1-box4->x0+1res.avX/2 + || box4->y1-box4->y0+1>2*job->res.avY + || box4->y1-box4->y0+1res.avY/2 + || box_covered(box4,box2) ) /* box4 completely within box2 */ + /* dont remove chars! see rotate45.fig */ + { + /* do not remove boxes in inner loop (bug?) ToDo: check why! */ + /* instead we leave inner loop and mark box4 as valid */ + if( box4->x0x0 ) box2->x0=box4->x0; + if( box4->x1>box2->x1 ) box2->x1=box4->x1; + if( box4->y0y0 ) box2->y0=box4->y0; + if( box4->y1>box2->y1 ) box2->y1=box4->y1; + j=1; /* mark box4 as valid */ + break; /* and leave inner loop */ + } + } end_for_each(&(job->res.boxlist)); + if (j!=0 && box4!=NULL) { /* check for valid box4 */ + /* ToDo: melt */ + list_del(&(job->res.boxlist), box4); /* does not work proper ?! */ + free_box(box4); /* break; ToDo: necessary to leave after del??? */ + num_del++; + } + + } + } end_for_each(&(job->res.boxlist)); + } + + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d nested pictures\n# ...", num_del); + + /* output a list for picture handle scripts */ + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4->c==PICTURE ) { + fprintf(stderr," found picture at %4d %4d size %4d %4d\n# ...", + box4->x0, box4->y0, box4->x1-box4->x0+1, box4->y1-box4->y0+1 ); + j++; + } else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n", + j, j2, job->res.numC); + return 0; +} + + + + /* ---- remove melted serifs --------------------------------- v0.2.5 + >>v<< + ##########.######## <-y0 + ################### like X VW etc. + ...###.......###... <-y + ...###......###.... + j1 j2 j3 + - can generate new boxes if two characters were glued + */ +int remove_melted_serifs( pix *pp ){ + int x,y,j1,j2,j3,j4,i2,i3,i,ii,ni,cs,x0,x1,xa,xb,y0,y1,vvv=JOB->cfg.verbose; + struct box *box2, *box3; + progress_counter_t *pc = NULL; + + cs=JOB->cfg.cs; i=0; ii=0; ni=0; + for_each_data(&(JOB->res.boxlist)) { + ni++; + } end_for_each(&(JOB->res.boxlist)); + pc = open_progress(ni,"remove_melted_serifs"); + ni = 0; + + if(vvv){ fprintf(stderr,"# searching melted serifs ..."); } + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c != UNKNOWN) continue; /* dont try on pictures */ + x0=box2->x0; x1=box2->x1; + y0=box2->y0; y1=box2->y1; /* box */ + /* upper serifs */ + for(j1=x0;j1+4x1+1) break; + y =loop(pp,j1,y0+1,x1-x0,cs,1,RI); if(y>x) x=y; if(j1+x>x1+1) break; + /* measure mean thickness of serif pos: (j1,y0)-(j1+x,y0) */ + for(j2=j3=j4=0,i2=j1;i2y1-y0) break; + i3+=loop(pp,i2,y0+i3,y1-y0,cs,1,DO); if(8*i3>y1-y0) continue; + if(8*i3j3)j3=i3; + j3 = j3 + loop(pp,j3,y ,x1-j3,cs,1,RI); + i3 = loop(pp,j3,y ,x1-j3,cs,0,RI); + if(i3<2 || j3>=j1+x){j1+=x;continue;} + j3 += i3/2; + + if(x>5) + { + i++; /* snip! */ + for(y=0;y<(y1-y0+1+4)/8;y++)put(pp,j2,y0+y,255,128+64); /* clear highest bit */ + if(vvv&4){ + fprintf(stderr,"\n"); + out_x(box2); + fprintf(stderr,"# melted serifs corrected on %d %d j1=%d j3=%d", + j2-x0, y, j1-x0, j3-x0); + // ToDo: vector cut with line from xa,ya to xb,yb + // two frames of double melted MN become one frame if cut one + // of the melted serifs (new function cut_frames_at_line()) + } + for(xb=0,xa=0;xa<(x1-x0+4)/8;xa++){ /* detect vertical gap */ + i3=y1; + if(box2->m3>y0 && 2*y1>box2->m3+box2->m4) i3=box2->m3; /* some IJ */ + if( loop(pp,j2-xa,i3,i3-y0,cs,0,UP) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,LE) >=xa ){ xb=-xa; break; } + if( loop(pp,j2+xa,i3,i3-y0,cs,0,UP) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,RI) >=xa ){ xb= xa; break; } + } + if( get_bw(j2 ,j2 ,y0,(y0+y1)/2,pp,cs,1) == 0 + && get_bw(j2+xb,j2+xb,(y0+y1)/2,i3,pp,cs,1) == 0 ) + { /* divide */ + box3=malloc_box(box2); + box3->x1=j2-1; + box2->x0=j2+1; x1=box2->x1; + cut_box(box2); /* cut vectors outside the box, see box.c */ + cut_box(box3); + box3->num=JOB->res.numC; + list_ins(&(JOB->res.boxlist),box2,box3); JOB->res.numC++; ii++; /* insert box3 before box2 */ + if(vvv&4) fprintf(stderr," => splitted"); + j1=x0=box2->x0; x=0; /* hopefully ok, UVW */ + } + } + j1+=x; + } + /* same on lower serifs -- change this later to better function + // #### ### + // #### v ### # <-y + // #################### <-y1 + // j1 j2 j3 + */ + for(j1=x0;j1x1+1) break; + y =loop(pp,j1,y1-1,x1-x0,cs,1,RI); if(y>x) x=y; if(j1+x>x1+1) break; + /* measure mean thickness of serif */ + for(j2=j3=j4=0,i2=j1;i2y1-y0) break; + i3+=loop(pp,i2,y1-i3,y1-y0,cs,1,UP); if(8*i3>y1-y0) continue; + if(8*i3j3)j3=i3; + j3 = j3 + loop(pp,j3,y ,x1-j3,cs,1,RI); + i3 = loop(pp,j3,y,x1-j3,cs,0,RI); + if(i3<2 || j3>=j1+x){j1+=x;continue;} + j3 += i3/2; + + /* y =y1-(y1-y0+1+4)/8; */ + if(x>5) + { + i++; /* snip! */ + for(i3=0;i3<(y1-y0+1+4)/8;i3++) + put(pp,j2,y1-i3,255,128+64); /* clear highest bit */ + if(vvv&4){ + fprintf(stderr,"\n"); + out_x(box2); + fprintf(stderr,"# melted serifs corrected on %d %d j1=%d j3=%d",j2-x0,y-y0,j1-x0,j3-x0); + } + for(xb=0,xa=0;xa<(x1-x0+4)/8;xa++){ /* detect vertical gap */ + if( loop(pp,j2-xa,y0,y1-y0,cs,0,DO) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,LE) >=xa ){ xb=-xa; break; } + if( loop(pp,j2+xa,y0,y1-y0,cs,0,DO) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,RI) >=xa ){ xb= xa; break; } + } + if( get_bw(j2 ,j2 ,(y0+y1)/2,y1,pp,cs,1) == 0 + && get_bw(j2+xb,j2+xb,y0,(y0+y1)/2,pp,cs,1) == 0 ) + { /* divide */ + box3=malloc_box(box2); + box3->x1=j2-1; + box2->x0=j2; x1=box2->x1; + cut_box(box2); /* cut vectors outside the box */ + cut_box(box3); + box3->num=JOB->res.numC; + list_ins(&(JOB->res.boxlist),box2,box3); JOB->res.numC++; ii++; + /* box3,box2 in correct order??? */ + if(vvv&4) fprintf(stderr," => splitted"); + j1=x0=box2->x0; x=0; /* hopefully ok, NMK */ + } + } + j1+=x; + } + progress(ni++,pc); + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if(vvv)fprintf(stderr," %3d cluster corrected, %d new boxes\n",i,ii); + return 0; +} + +/* remove black borders often seen on bad scanned copies of books + - dust around the border + */ +int remove_rest_of_dust() { + int i1, i2, vvv = JOB->cfg.verbose, x0, x1, y0, y1, cnt=0; + struct box *box2, *box4; + progress_counter_t *pc = NULL; + + i1 = i2 = 0; /* counter for removed boxes */ + if (vvv) + fprintf(stderr, "# detect dust (avX,nC), ... "); + /* remove fragments from border */ + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c == UNKNOWN) { + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; /* box */ + /* box in char ??? */ + if ( 2 * JOB->res.numC * (y1 - y0 + 1) < 3 * JOB->res.sumY + && ( y1 < box2->p->y/4 || y0 > 3*box2->p->y/4 ) /* not single line */ + && JOB->res.numC > 1 /* do not remove everything */ + && ( box2->m4 == 0 ) ) /* remove this */ + { + JOB->res.numC--; /* ToDo: dont count tiny pixels */ + /* ToDo: res.sumX,Y must also be corrected */ + i1++; + list_del(&(JOB->res.boxlist), box2); + free_box(box2); + } + } + } end_for_each(&(JOB->res.boxlist)); + + pc = open_progress(JOB->res.boxlist.n,"remove_dust2"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + progress(cnt++,pc); + if (box2->c == PICTURE) continue; + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; /* box */ + /* remove tiny box2 if to far away from bigger boxes */ + /* ToDo: remove clouds of tiny pixels (count near small, compare with num bigger) */ + /* 0.42: remove far away pixel? ToDo: do it at earlier? */ + if (x1-x0+1<3 && y1-y0+1<3){ + int xn, yn, xs, ys; + int found=0; /* nearest bigger box */ + /* search near bigger box */ + for_each_data(&(JOB->res.boxlist)) { + box4 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (found || box4 == box2) continue; + if (box4->x1-box4->x0+1<3 && box4->y1-box4->y0+1<3) continue; + xs = box4->x1-box4->x0+1; + ys = box4->y1-box4->y0+1; + xn = abs((box4->x0+box4->x1)/2 - box2->x0); + yn = abs((box4->y0+box4->y1)/2 - box2->y0); + if (2*xn < 3*xs && 2*yn < 3*ys) { found=1; } + } end_for_each(&(JOB->res.boxlist)); + if (!found) { /* found nothing, box2 to far from big boxes */ + i2++; + list_del(&(JOB->res.boxlist), box2); + free_box(box2); + } + } + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if (vvv) + fprintf(stderr, " %3d + %3d boxes deleted, nC= %d ?\n", + i1, i2, JOB->res.numC); + + return 0; +} diff --git a/.svn/pristine/29/29c6895e972d84b5309d12ab77c2a0c561b90df1.svn-base b/.svn/pristine/29/29c6895e972d84b5309d12ab77c2a0c561b90df1.svn-base new file mode 100644 index 0000000..e0680e2 --- /dev/null +++ b/.svn/pristine/29/29c6895e972d84b5309d12ab77c2a0c561b90df1.svn-base @@ -0,0 +1,194 @@ +/* + * NurbsPath implementation + * + * Copyright (C) Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz, + Andreas Nuechter, Kai Lingemann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "show/NurbsPath.h" +#include +#include +/** + * Smoothes a given path, using the Cox-De-Boor algorithm to compute + * new nodes on the B-Spline. + * @param origP vector of PointXYs representing the path + * @param nump number of points, which should be computed for the smoothed path + * @return vector of PointXYs representing the smoothed path + */ +vector NurbsPath::camRatio = vector(); + +vector +NurbsPath::getNurbsPath(vector& origP, + unsigned int nump, int inter_by_dist){ + list pgnl; + list freepgnl; + for(unsigned int i=0; ipoint.x = origP[i].x; + p->point.y = origP[i].y; + pgnl.push_back(p); + freepgnl.push_back(p); + } + + vector vec = getNurbsPath(pgnl,nump,inter_by_dist); + + for(list::iterator it = freepgnl.begin();it!=freepgnl.end();it++) { + PGNode *p = *it; + delete p; + } + pgnl.clear(); + freepgnl.clear(); + + return vec; +} + +/** + * Smoothes a given path, using the Cox-De-Boor algorithm to compute + * new nodes on the B-Spline. + * @param origP list of PGNode*s representing the path + * @param nump number of points, which should be computed for the smoothed path + * @return vector of PointXYs representing the smoothed path + */ +vector +NurbsPath::getNurbsPath(list& origP, + unsigned int nump, int inter_by_dist){ + ivN = origP.size(); + if(ivN<=1){ + vector pv; + return pv; + } + + //hack for short paths + if(ivN==2){ + list::iterator it = origP.begin(); + PGNode* tmpStart = *it; + it++; + origP.push_back(*it); + origP.push_front(tmpStart); + ivN=4; + } + if(ivN==3){ + list::iterator it = origP.begin(); + it++; + origP.insert(it, (*it)); + ivN=4; + } + //end short path hack + + float *origPX = new float[ivN]; + float *origPY = new float[ivN]; + list::iterator it; + unsigned int i=0; + for(it=origP.begin();it!=origP.end();it++,i++){ + origPX[i] = (*it)->point.x; + origPY[i] = (*it)->point.y; + } + + ivDegree = 3; + ivOrder = ivDegree+1; + ivNumKnots = ivN + ivDegree; + if(inter_by_dist) { + ivNumP = nump; + } else { + ivNumP = camRatio.size(); + } + float *ivpKnots = new float[ivNumKnots+1]; + + for(i=0;i<=ivDegree;i++) + ivpKnots[i] = 0.0f; + + int numIntKnots = ((ivNumKnots-ivDegree)-(ivOrder)); + + for(i=ivOrder; i < ivNumKnots - ivDegree ; i++) + ivpKnots[i] = ((float)(i-ivDegree))/(numIntKnots+1); + + for(i=ivNumKnots-ivDegree;i<=ivNumKnots;i++) + ivpKnots[i] = 1.f; + + vector nurbsPath; + nurbsPath.reserve(ivNumP); + PointXY outPoint; + float out[2]={0,0}; + + for(i=0;i<=ivNumP; i++){ + out[0] = 0; + out[1] = 0; + if(i!=ivNumP) + if(inter_by_dist) { + getOutpoint((float)i/ivNumP,out,origPX,origPY,ivpKnots); + } else { + getOutpoint(camRatio[i],out,origPX,origPY,ivpKnots); + } + else + getOutpoint(.999999,out,origPX,origPY,ivpKnots); + + outPoint.x = out[0]; + outPoint.y = out[1]; + nurbsPath.push_back(outPoint); + } + + delete [] origPX; + delete [] origPY; + delete [] ivpKnots; + + return nurbsPath; +} + + +/** + * Implementation of the Cox-De-Boor algorithm. + * The implementation of this algorithm is inspired by the Nurbs Curve Example on + * http://www.robthebloke.org/opengl_programming.html + * @param u measure for the length already gone on the smoothed path for the point to be calculated (it should hold that 0 <= u < 1) + * @param i effect of which original path node on the output path should be computed + * @param k order (degree of the B-Splines plus 1) + * @param Knots array of knots needed to compute the B-Spline + */ +float +NurbsPath::coxDeBoor(float u,int i,int k,const float* Knots) { + if(k==1) + { + if( Knots[i] <= u && u < Knots[i+1] ) { + return 1.0f; + } + return 0.0f; + } + float Den1 = Knots[i+k-1] - Knots[i]; + float Den2 = Knots[i+k] - Knots[i+1]; + float Eq1=0,Eq2=0; + if(Den1>0) { + Eq1 = ((u-Knots[i]) / Den1) * coxDeBoor(u,i,k-1,Knots); + } + if(Den2>0) { + Eq2 = (Knots[i+k]-u) / Den2 * coxDeBoor(u,i+1,k-1,Knots); + } + return Eq1+Eq2; +} + +/** + * Computes one value on the B-Spline + * @param[in] t which point on the spline you want to compute (betwenn 0 for the start point and 1-epsilon for the end point of the smoothed path) + * @param[out] OutPoint[] array of two floats, will be overwritten with the x and y coordinate of the point + */ +void +NurbsPath::getOutpoint(float t,float OutPoint[],float*opx,float*opy,const float*knots) { + + // sum the effect of all CV's on the curve at this point to + // get the evaluated curve point + // + for(unsigned int i=0;i!=ivN;++i) { + + // calculate the effect of this point on the curve + float Val = coxDeBoor(t,i,ivOrder,knots); + + if(Val>0.0001f) { + + // sum effect of CV on this part of the curve + OutPoint[0] += Val * opx[i]; + OutPoint[1] += Val * opy[i]; + } + } +} diff --git a/.svn/pristine/29/29eaf387dd8a5787bc080318183fa67cb12a9705.svn-base b/.svn/pristine/29/29eaf387dd8a5787bc080318183fa67cb12a9705.svn-base new file mode 100644 index 0000000..cbe3ff3 --- /dev/null +++ b/.svn/pristine/29/29eaf387dd8a5787bc080318183fa67cb12a9705.svn-base @@ -0,0 +1,33 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Christian Mueller (Knut). Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6DORTHO_H__ +#define __ICP6DORTHO_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_ORTHO : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_ORTHO(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_ORTHO() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 3; }; +}; + +#endif diff --git a/.svn/pristine/2a/2a20232bb18eb5fff18f6930e34390e4c1bbfc83.svn-base b/.svn/pristine/2a/2a20232bb18eb5fff18f6930e34390e4c1bbfc83.svn-base new file mode 100644 index 0000000..854aed0 --- /dev/null +++ b/.svn/pristine/2a/2a20232bb18eb5fff18f6930e34390e4c1bbfc83.svn-base @@ -0,0 +1,81361 @@ +360 x 225 +10.2 0 2.84217e-14 +10.9996 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24.4233 +-403.914 55.8106 23.0035 +-405.317 52.6655 21.7071 +-405.898 49.4053 20.3634 +-405.356 46.0159 18.9664 +-403.887 42.5449 17.5358 +-404.87 39.3427 16.2159 +-405.823 36.1278 14.8908 +-405.85 32.828 13.5307 +-405.446 29.5016 12.1597 +-405.31 26.2036 10.8003 +-404.444 22.8704 9.4265 +-406.143 19.679 8.11108 +-404.515 16.3289 6.73027 +-3274.5 105.72 43.5746 +-146.65 3.5504 1.46337 +-145.878 2.35418 0.970323 +-145.894 1.17713 0.485179 diff --git a/.svn/pristine/2a/2acaf4114e46a2a1840714bd5dddde610027fbd6.svn-base b/.svn/pristine/2a/2acaf4114e46a2a1840714bd5dddde610027fbd6.svn-base new file mode 100644 index 0000000..f85c07a --- /dev/null +++ b/.svn/pristine/2a/2acaf4114e46a2a1840714bd5dddde610027fbd6.svn-base @@ -0,0 +1,62 @@ +/** + * @file + * @brief generating convergence data + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + */ + +#ifndef __CONVERGENCE_H__ +#define __CONVERGENCE_H__ + +#ifdef _MSC_VER + #define _USE_MATH_DEFINES + #include + #include "XGetopt.h" +#else + #include +#endif + +#include +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif +#include + +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ofstream; +using std::ios; +using std::ifstream; + +#include +using std::string; + +/** float value "nearly" zero? */ +#define DIV_EPSILON 0.001 +/** comparing two floats/doubles */ +#define COMPARE_EPSILON 0.000001 + +#define CONV_LOCAL 1 +#define CONV_GLOBAL 0 +#define CONV_ALL 2 + +#define BUFSIZE 1048576 ///< defining the buffer size + +#include "slam6d/globals.icc" + + +int parseArgs(int argc, char **argv, string &dir, int& frame); +void usage(char * prog); + +void getGlobalConvergence(ifstream *inputFile, ofstream *outputFile); +void getLocalConvergence(ifstream *inputFile, ofstream *outputFile); +void getAllConvergence(ifstream *inputFile, ofstream *outputFile, int FrameNr); + + + +#endif + diff --git a/.svn/pristine/2a/2ad68387fa9992153d604806ba275895ade0ace8.svn-base b/.svn/pristine/2a/2ad68387fa9992153d604806ba275895ade0ace8.svn-base new file mode 100644 index 0000000..2c8008e --- /dev/null +++ b/.svn/pristine/2a/2ad68387fa9992153d604806ba275895ade0ace8.svn-base @@ -0,0 +1,176 @@ +/* + * pmdaccess implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include "pmddatadescription.h" +#include "pmdsdk2.h" +#include "pmdheader.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + + +int sockfd; + +ImageHeaderInformation header; + +// retrive latest header +ImageHeaderInformation *retriveHeader() { + return &header; +} + + +int pmdOpen(PMDHandle *hnd, const char *rplugin, const char *rparam, const char *pplugin, const char *pparam) { + + printf("Starting XMLRPC...\n"); //DEBUG + + char url[128]; + strcpy(url, rparam); + strcat(url, ":8080"); + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList ipAndHeart; + ipAndHeart.add(xmlrpc_c::value_string("192.168.0.1")); + ipAndHeart.add(xmlrpc_c::value_int(1)); + myClient.call( url + , "MDAXMLConnectCP" + , ipAndHeart + , &result); + + // start data server + xmlrpc_c::paramList dataServ; + xmlrpc_c::value result2; + dataServ.add(xmlrpc_c::value_int(1)); + myClient.call( url + , "MDAXMLSetWorkingMode" + , dataServ + , &result2); + + printf("Done XMPRC init, creating socket...\n"); //DEBUG + + + struct sockaddr_in serv_addr; + struct hostent *server; + + sockfd = socket(AF_INET, SOCK_STREAM, 0); + server = gethostbyname(rparam); + serv_addr.sin_family = AF_INET; + + bcopy((char *)server->h_addr, + (char *)&serv_addr.sin_addr.s_addr, + server->h_length); + serv_addr.sin_port = htons(50002); + if (connect( sockfd + , (struct sockaddr *)&serv_addr + , sizeof(serv_addr)) + == -1) { + perror("Error connecting!\n"); + return 1; + } + printf("Connceted!\n"); //DEBUG + + return 0; +} + + +int pmdClose (PMDHandle hnd) { + + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList ip; + ip.add(xmlrpc_c::value_string("192.168.0.1")); + myClient.call( "192.168.0.69:8080" //FIXME: hardcoded ip + , "MDAXMLDisconnectCP" + , ip, &result); + + return 0; +} + +int pmdGetLastperror (PMDHandle hnd, char *perror, size_t maxLen) { + return 0; +} + +int pmdUpdate(PMDHandle hnd) { + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList noArgs; + //FIXME: There is no HearBeat XML function!!! + //myClient.call( "192.168.0.69:8080", "MDAXMLHeartBeat" //FIXME: hardcoded ip + // , noArgs, &result); + + return 0; +} + +// Currently will work for one image only (i.e. "d" or "i" but not for "id") +int pmdGetData(const char *code, PMDHandle hnd, float *data, size_t maxLen) { + int n = write(sockfd, code, strlen(code)); + if (n < 0) + perror("Error writing to socket\n"); + + // reading image header + uint32_t headerBuf[412/4]; // 412 bytes `div` sizeof(uint32_t) + int bytesRead = 0; + while(bytesRead < 412) { + n = read(sockfd, &((char*)headerBuf)[bytesRead], 412 - bytesRead); + if (n < 0) + perror("Error reading from socket\n"); + bytesRead += n; + + } + for(int i = 0; i < 412/4; i++) + ((uint32_t*)&header)[i] = ntohl(headerBuf[i]); + + // reading image + uint32_t imgBuf[maxLen/4]; // maxLen is also in bytes + bytesRead = 0; + while(bytesRead < maxLen) { + n = read(sockfd, &((char*)imgBuf)[bytesRead], maxLen - bytesRead); + if (n < 0) + perror("Error reading from socket\n"); + bytesRead += n; + } + + for(int i = 0; i < maxLen/4; i++) + ((uint32_t*)data)[i] = ntohl(imgBuf[i]); + + return 0; +} + +int pmdGetDistances(PMDHandle hnd, float *data, size_t maxLen) { + return pmdGetData("D", hnd, data, maxLen); +} + + +int pmdGetAmplitudes (PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("I", hnd, data, maxLen); +} + +int pmdGetIntensities (PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("S", hnd, data, maxLen); +} + +int pmdGetDistancesAsync(PMDHandle hnd, float *data, size_t maxLen) { + return pmdGetData("d", hnd, data, maxLen); +} + +int pmdGetAmplitudesAsync(PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("i", hnd, data, maxLen); +} + +int pmdGetIntensitiesAsync(PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("s", hnd, data, maxLen); +} + diff --git a/.svn/pristine/2b/2b4f5e7625682151022afebadb315939cccf33b4.svn-base b/.svn/pristine/2b/2b4f5e7625682151022afebadb315939cccf33b4.svn-base new file mode 100644 index 0000000..08276c9 --- /dev/null +++ b/.svn/pristine/2b/2b4f5e7625682151022afebadb315939cccf33b4.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in WRL format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_WRL_H__ +#define __SCAN_IO_WRL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for PLY scans + * + * The compiled class is available as shared object file + */ +class ScanIO_wrl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/2b/2bc5997e5236da41f77586ceb5eb3cd8662f848f.svn-base b/.svn/pristine/2b/2bc5997e5236da41f77586ceb5eb3cd8662f848f.svn-base new file mode 100644 index 0000000..bf25b9c --- /dev/null +++ b/.svn/pristine/2b/2bc5997e5236da41f77586ceb5eb3cd8662f848f.svn-base @@ -0,0 +1,231 @@ +/* + * kdManaged implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief An optimized k-d tree implementation + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/kdManaged.h" +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + +// KDtree class static variables +KDParams KDtreeManagedBase::params[MAX_OPENMP_NUM_THREADS]; + +/** + * Constructor + * + * Create a KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +KDtreeManagedBase::KDtreeManagedBase(const DataXYZ& pts, unsigned int* indices, unsigned int n) +{ + // Find bbox + double xmin = pts[indices[0]][0], xmax = pts[indices[0]][0]; + double ymin = pts[indices[0]][1], ymax = pts[indices[0]][1]; + double zmin = pts[indices[0]][2], zmax = pts[indices[0]][2]; + for(unsigned int i = 1; i < n; i++) { + xmin = min(xmin, pts[indices[i]][0]); + xmax = max(xmax, pts[indices[i]][0]); + ymin = min(ymin, pts[indices[i]][1]); + ymax = max(ymax, pts[indices[i]][1]); + zmin = min(zmin, pts[indices[i]][2]); + zmax = max(zmax, pts[indices[i]][2]); + } + + // Leaf nodes + if ((n > 0) && (n <= 10)) { + npts = n; + leaf.p = new unsigned int[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + // Else, interior nodes + npts = 0; + + node.center[0] = 0.5 * (xmin+xmax); + node.center[1] = 0.5 * (ymin+ymax); + node.center[2] = 0.5 * (zmin+zmax); + node.dx = 0.5 * (xmax-xmin); + node.dy = 0.5 * (ymax-ymin); + node.dz = 0.5 * (zmax-zmin); + node.r2 = sqr(node.dx) + sqr(node.dy) + sqr(node.dz); + + // Find longest axis + if (node.dx > node.dy) { + if (node.dx > node.dz) { + node.splitaxis = 0; + } else { + node.splitaxis = 2; + } + } else { + if (node.dy > node.dz) { + node.splitaxis = 1; + } else { + node.splitaxis = 2; + } + } + + // Partition + double splitval = node.center[node.splitaxis]; + + if ( fabs(max(max(node.dx,node.dy),node.dz)) < 0.01 ) { + npts = n; + leaf.p = new unsigned int[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + unsigned int* left = indices, * right = indices + n - 1; + while(true) { + while(pts[*left][node.splitaxis] < splitval) + left++; + while(pts[*right][node.splitaxis] >= splitval) + right--; + if(right < left) + break; + swap(*left, *right); + } + + // Build subtrees + int i; +#ifdef WITH_OPENMP_KD // does anybody know the reason why this is slower ?? --Andreas + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (i = 0; i < 2; i++) { + if (i == 0) node.child1 = new KDtreeManagedBase(pts, indices, left - indices); + if (i == 1) node.child2 = new KDtreeManagedBase(pts, left, n - (left - indices)); + } +} + +KDtreeManagedBase::~KDtreeManagedBase() +{ + if (!npts) { +#ifdef WITH_OPENMP_KD + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (int i = 0; i < 2; i++) { + if (i == 0 && node.child1) delete node.child1; + if (i == 1 && node.child2) delete node.child2; + } + } else { + if (leaf.p) delete [] leaf.p; + } +} + +/** + * Wrapped function + */ +void KDtreeManagedBase::_FindClosest(const DataXYZ& pts, int threadNum) const +{ + // Leaf nodes + if (npts) { + for (int i = 0; i < npts; i++) { + double myd2 = Dist2(params[threadNum].p, pts[leaf.p[i]]); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = pts[leaf.p[i]]; + } + } + return; + } + + // Quick check of whether to abort + double approx_dist_bbox = max(max(fabs(params[threadNum].p[0]-node.center[0])-node.dx, + fabs(params[threadNum].p[1]-node.center[1])-node.dy), + fabs(params[threadNum].p[2]-node.center[2])-node.dz); + if (approx_dist_bbox >= 0 && sqr(approx_dist_bbox) >= params[threadNum].closest_d2) + return; + + // Recursive case + double myd = node.center[node.splitaxis] - params[threadNum].p[node.splitaxis]; + if (myd >= 0.0) { + node.child1->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child2->_FindClosest(pts, threadNum); + } + } else { + node.child2->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child1->_FindClosest(pts, threadNum); + } + } +} + +KDtreeManaged::KDtreeManaged(Scan* scan) : + KDtreeManagedBase(scan->get("xyz reduced original"), prepareTempIndices(scan->size("xyz reduced original")), scan->size("xyz reduced original")), + m_scan(scan), m_data(0), m_count_locking(0) +{ + // allocate in prepareTempIndices, deleted here + delete[] m_temp_indices; +} + +unsigned int* KDtreeManaged::prepareTempIndices(unsigned int n) +{ + m_temp_indices = new unsigned int[n]; + for(unsigned int i = 0; i < n; ++i) + m_temp_indices[i] = i; + return m_temp_indices; +} + +double* KDtreeManaged::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = _p; + _FindClosest(*m_data, threadNum); + return params[threadNum].closest; +} + +void KDtreeManaged::lock() +{ + boost::lock_guard lock(m_mutex_locking); + ++m_count_locking; + if(m_data == 0) { + // aquire an array lock from the scan and hold it while the tree is in use + m_data = new DataXYZ(m_scan->get("xyz reduced original")); + } +} + +void KDtreeManaged::unlock() +{ + boost::lock_guard lock(m_mutex_locking); + --m_count_locking; + if(m_count_locking == 0 && m_data != 0) { + delete m_data; + m_data = 0; + } +} diff --git a/.svn/pristine/2b/2bd58ce018c9676f5779d04dfe57689a368b109c.svn-base b/.svn/pristine/2b/2bd58ce018c9676f5779d04dfe57689a368b109c.svn-base new file mode 100644 index 0000000..cd03444 --- /dev/null +++ b/.svn/pristine/2b/2bd58ce018c9676f5779d04dfe57689a368b109c.svn-base @@ -0,0 +1,507 @@ +/* + * 2DGridder implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/scanGrid.h" +#include "grid/scanToGrid.h" +#include "slam6d/scan.h" +#include "grid/scanmanager.h" +#include "grid/parcelmanager.h" +#include "grid/gridWriter.h" +#include "grid/viewpointinfo.h" +#include "grid/gridlines.h" +#include "slam6d/globals.icc" + +#include "grid/Debug.h" + +#include +#include +#include +#include +#include +#include + +using std::cerr; +using std::flush; + +#ifdef _MSC_VER + #define _USE_MATH_DEFINES + #include + #include "GL/glut.h" /* Header File For The glu toolkit */ + #include "XGetopt.h" +#else + #include + #include +#endif + +/** + * 2DGridder + * + * Main class to convert a 3D scan to a 2D grid + * + * @author Andre Schemschadt, Uwe Hebbelmann, Sebastian Stock + * @date 20.02.2008 + */ + +/** + * Explains the usage of this program's command line parameters + * + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << "Usage: " << prog << endl + << " [-s NR] [-e NR] [-m NR] [-M NR] [-f F] [-o DIR] [-t] " << endl + << " [-h NR] [-H NR] [-r NR] [-w] [-p NR] [-P Nr] [-y] [-n] " < cannot be smaller than .\n"; + exit(1); + } + break; + case 'c': + count = atoi(optarg); + if( count < 1){ + cerr << "Error: must be greater than 1.\n"; + exit(1); + } + break; + case 'R': + resume = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 't': + readInitial = true; + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'H': + maxHeight = atoi(optarg); + break; + case 'h': + minHeight = atoi(optarg); + break; + case 'g': + writeGrids = true; + break; + case 'r': + resolution = atol(optarg); + if (resolution < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'w': + waypoints = false; + break; + case 'n': + neighbours = false; + break; + case 'p': + parcelWidth = atol(optarg); + if (parcelWidth < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'P': + parcelHeight = atol(optarg); + if (parcelHeight < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'y': + correctY = true; + break; + case 'a': + spotradius = atoi(optarg); + if (spotradius < 0) { + cerr << "Error: cannot be smaller than 0.\n"; + exit(1); + } + break; + case 'd': + writeWorld = false; + break; + case 'l': + writeLines = true; + break; + case 'i': + writeWorldppm = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort(); + }} + + if (optind != argc-1) { + cerr << "\n*** Input directory missing ***" << endl; + usage(argv[0]); + } + inputdir = argv[optind]; + + //If no output directory is set, set it to the input directory + if (outputdir == "") outputdir = inputdir; + +#ifndef _MSC_VER + if (inputdir[inputdir.length()-1] != '/') inputdir = inputdir + "/"; + if (outputdir[outputdir.length()-1] != '/') outputdir = outputdir + "/"; +#else + if (inputdir[inputdir.length()-1] != '\\') inputdir = inputdir + "\\"; + if (outputdir[outputdir.length()-1] != '\\') outputdir = outputdir + "\\"; +#endif + + return 0; +} + +/** + * Main function. + * Reads the scan (scan000.3d, ...) and frames files (scan000.frames, ...) from the data directory. + * The frames are used for animation of the matching process. Converts the 3D scan data to a 2D grid map + * and stores it + * + * @param argc count of the command-line arguments + * @param argv command-line arguments + */ +int main(int argc, char **argv){ + // Start message + cout << "(c) University of Osnabrueck, 2006 - 2008" << endl << endl + << "Restricted Usage" << endl + << "Don't use without permission" << endl; + + + // Usage + if(argc <= 1){ + usage(argv[0]); + } + + /////////////////////////////////////// + // Defaultvalues + string scandir = ""; + string outputdir = "./parcels/"; + + int start = 0; + int end = -1; + int maxDistance = 2500; + int minDistance = -1; + bool readInitial = false; + IOType scantype = UOS; + bool correctY = false; + + double maxRelevantHeight = 50; + double minRelevantHeight = 2; + long resolution = 10; + bool createWaypoints = true; + bool createNeighbours = true; + + int parcelWidth = 1000; + int parcelHeight = 1000; + + int spotradius = 15; + + bool writeWorld = true; + bool writeLines = false; + bool writeGrids = false; + bool writeWorldppm = false; + + double isSolidPoint = 0.2; + int count = 50; + bool resume = false; + /////////////////////////////////////// + + + // parses the command-line arguments and sets the respective flags + parseArgs(argc, argv, + scandir, outputdir, start, end, maxDistance, minDistance, + readInitial, scantype, correctY, + minRelevantHeight, maxRelevantHeight, resolution, + createWaypoints, createNeighbours, + parcelWidth, parcelHeight, + writeWorld, writeLines, writeGrids, spotradius, writeWorldppm, + count, resume); + + // calculate parcel width and height + parcelWidth /= resolution; + parcelHeight /= resolution; + + // create parcelmanager + cout << "Create parcelmanager ..." << endl; + parcelmanager parcelman(parcelWidth, parcelHeight, + outputdir, resolution, resume); + + cout << "Create viewpointlist ... " << endl; + viewpointinfo viewpoint(outputdir); + + for (int i = start; i <= end; i+=count) + { + int endloop = i + count - 1 < end ? i + count - 1 : end; + + // get Scans + cout << "Reading scans " << i << " to " << endloop << " ... "; + scanmanager scanman; + scanman.startscan(scandir, outputdir, scantype, i, endloop, + readInitial, maxDistance, minDistance, + correctY); + + cout << "Done."<< endl; + + // create grid from scans + cout << "Creating grids " << i << " to " << endloop << " ... "; + scanToGrid stg(resolution, + minRelevantHeight, + maxRelevantHeight, + maxDistance, + spotradius, + createWaypoints, + createNeighbours); + + cout << "Done."<< endl; + + // convert scans + cout << "Converting " << scanman.getScanCount() <<" scans ... "; + + vector grids; + for(size_t j = 0; j < scanman.getScanCount(); j++) + { + cout << "." << flush; + double* p = scanman.getMatrix(j).back(); + scanman.getScan(j).transformAll(p); + grids.push_back(stg.convert(scanman.getScan(j), p)); + } + cout << "Done." << endl; + + // start writing + cout << "Processing from " << i << " to " << endloop << endl; + for(size_t j = 0; j < grids.size(); ++j) + { + cout << "Adding scan " << i << " ... " << flush; + parcelman.addGrid(grids[j], + grids[j]->getViewpointX(), + grids[j]->getViewpointZ()); + + viewpoint.addGrid(grids[j]); + cout << "Done."<< endl; + } + + // print grids for each scan if wished + if(writeGrids) + { + cout << "Writing grids " << i + << " to " << endloop << " ... " << endl; + + string str; + stringstream stream; + for(size_t j = 0; j < grids.size(); ++j) + { + cout << "Writing grid " << i << " ... " << flush; + stream.clear(); + stream << outputdir << "grid" << j+i << ".ppm "; + stream >> str; + + ppmWriter writer(str); + writer.write(*grids[j]); + cout << "Done."< + +namespace fbr{ + string scanFormatToString(IOType format){ + return io_type_to_libname(format); + } + + IOType stringToScanFormat(string format){ + return formatname_to_io_type(format.c_str()); + } + + string projectionMethodToString(projection_method method){ + string sMethod; + switch(method){ + case EQUIRECTANGULAR: + sMethod = "EQUIRECTANGULAR"; + break; + case CYLINDRICAL: + sMethod = "CYLINDRICAL"; + break; + case MERCATOR: + sMethod = "MERCATOR"; + break; + case RECTILINEAR: + sMethod = "RECTILINEAR"; + break; + case PANNINI: + sMethod = "PANNINI"; + break; + case STEREOGRAPHIC: + sMethod = "STEREOGRAPHIC"; + break; + case ZAXIS: + sMethod = "ZAXIS"; + break; + default: + throw std::runtime_error(std::string("projection method ") + to_string(method) + std::string(" could not be matched to a projection method")); + } + return sMethod; + } + + projection_method stringToProjectionMethod(string method){ + if(strcasecmp(method.c_str(), "EQUIRECTANGULAR") == 0) return EQUIRECTANGULAR; + else if(strcasecmp(method.c_str(), "CYLINDRICAL") == 0) return CYLINDRICAL; + else if(strcasecmp(method.c_str(), "MERCATOR") == 0) return MERCATOR; + else if(strcasecmp(method.c_str(), "RECTILINEAR") == 0) return RECTILINEAR; + else if(strcasecmp(method.c_str(), "PANNINI") == 0) return PANNINI; + else if(strcasecmp(method.c_str(), "STEREOGRAPHIC") == 0) return STEREOGRAPHIC; + else if(strcasecmp(method.c_str(), "ZAXIS") == 0) return ZAXIS; + else throw std::runtime_error(std::string("projection method ") + method + std::string(" is unknown")); + } + + string panoramaMapMethodToString(panorama_map_method method){ + string sMethod; + switch(method){ + case FARTHEST: + sMethod = "FARTHEST"; + break; + case EXTENDED: + sMethod = "EXTENDED"; + break; + default: + throw std::runtime_error(std::string("panorama map method ") + to_string(method) + std::string(" could not be matched to a panorama map method")); + } + return sMethod; + } + + panorama_map_method stringToPanoramaMapMethod(string method){ + if(strcasecmp(method.c_str(), "FARTHEST") == 0) return FARTHEST; + else if(strcasecmp(method.c_str(), "EXTENDED") == 0) return EXTENDED; + else throw std::runtime_error(std::string("panorama map method ") + method + std::string(" is unknown")); + } + + string featureDetectorMethodToString(feature_detector_method method){ + string sMethod; + switch(method){ + case SIFT_DET: + sMethod = "SIFT_DET"; + break; + case SURF_DET: + sMethod = "SURF_DET"; + break; + case ORB_DET: + sMethod = "ORB_DET"; + break; + case FAST_DET: + sMethod = "FAST_DET"; + break; + case STAR_DET: + sMethod = "STAR_DET"; + break; + default: + throw std::runtime_error(std::string("feature detector method ") + to_string(method) + std::string(" could not be matched to a feature detector method")); + } + return sMethod; + } + + feature_detector_method stringToFeatureDetectorMethod(string method){ + if(strcasecmp(method.c_str(), "SIFT") == 0) return SIFT_DET; + else if(strcasecmp(method.c_str(), "SURF") == 0) return SURF_DET; + else if(strcasecmp(method.c_str(), "ORB") == 0) return ORB_DET; + else if(strcasecmp(method.c_str(), "FAST") == 0) return FAST_DET; + else if(strcasecmp(method.c_str(), "STAR") == 0) return STAR_DET; + else throw std::runtime_error(std::string("feature detector method ") + method + std::string(" is unknown")); + } + + string featureDescriptorMethodToString(feature_descriptor_method method){ + string sMethod; + switch(method){ + case SIFT_DES: + sMethod = "SIFT_DES"; + break; + case SURF_DES: + sMethod = "SURF_DES"; + break; + case ORB_DES: + sMethod = "ORB_DES"; + break; + default: + throw std::runtime_error(std::string("feature descriptor method ") + to_string(method) + std::string(" could not be matched to a feature descriptor method")); + } + return sMethod; + } + + feature_descriptor_method stringToFeatureDescriptorMethod(string method){ + if(strcasecmp(method.c_str(), "SIFT") == 0) return SIFT_DES; + else if(strcasecmp(method.c_str(), "SURF") == 0) return SURF_DES; + else if(strcasecmp(method.c_str(), "ORB") == 0) return ORB_DES; + else throw std::runtime_error(std::string("feature descriptor method ") + method + std::string(" is unknown")); + } + + string matcherMethodToString(matcher_method method){ + string sMethod; + switch(method){ + case BRUTEFORCE: + sMethod = "BRUTEFORCE"; + break; + case FLANN: + sMethod = "FLANN"; + break; + case KNN: + sMethod = "KNN"; + break; + case RADIUS: + sMethod = "RADIUS"; + break; + case RATIO: + sMethod = "RATIO"; + break; + default: + throw std::runtime_error(std::string("matcher method ") + to_string(method) + std::string(" could not be matched to a matcher method")); + } + return sMethod; + } + + matcher_method stringToMatcherMethod(string method){ + if(strcasecmp(method.c_str(), "BRUTEFORCE") == 0) return BRUTEFORCE; + else if(strcasecmp(method.c_str(), "FLANN") == 0) return FLANN; + else if(strcasecmp(method.c_str(), "KNN") == 0) return KNN; + else if(strcasecmp(method.c_str(), "RADIUS") == 0) return RADIUS; + else if(strcasecmp(method.c_str(), "RATIO") == 0) return RATIO; + else throw std::runtime_error(std::string("matcher method ") + method + std::string(" is unknown")); + } + + string registrationMethodToString(registration_method method){ + string sMethod; + switch(method){ + case ALL: + sMethod = "ALL"; + break; + case RANSAC: + sMethod = "RANSAC"; + break; + case DISABLE: + sMethod = "DISABLE"; + break; + default: + throw std::runtime_error(std::string("registration method ") + to_string(method) + std::string(" could not be matched to a registration method")); + } + return sMethod; + } + + registration_method stringToRegistrationMethod(string method){ + if(strcasecmp(method.c_str(), "ALL") == 0) return ALL; + else if(strcasecmp(method.c_str(), "RANSAC") == 0) return RANSAC; + else if(strcasecmp(method.c_str(), "DISABLE") == 0) return DISABLE; + else throw std::runtime_error(std::string("registration method ") + method + std::string(" is unknown")); + } +} diff --git a/.svn/pristine/2c/2c7952dce24d04b1ea11948861661d7f20ede668.svn-base b/.svn/pristine/2c/2c7952dce24d04b1ea11948861661d7f20ede668.svn-base new file mode 100644 index 0000000..3d8dd30 --- /dev/null +++ b/.svn/pristine/2c/2c7952dce24d04b1ea11948861661d7f20ede668.svn-base @@ -0,0 +1,268 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + +// **************************** test program ****************************** + + +void Transposer(const GenericMatrix& GM1, GenericMatrix&GM2) + { GM2 = GM1.t(); } + +// this is a routine in "Numerical Recipes in C" format +// if R is a row vector, C a column vector and D diagonal +// make matrix DCR + +static void DCR(Real d[], Real c[], int m, Real r[], int n, Real **dcr) +{ + int i, j; + for (i = 1; i <= m; i++) for (j = 1; j <= n; j++) + dcr[i][j] = d[i] * c[i] * r[j]; +} + +ReturnMatrix TestReturn(const GeneralMatrix& gm) { return gm; } + +void trymat8() +{ +// cout << "\nEighth test of Matrix package\n"; + Tracer et("Eighth test of Matrix package"); + Tracer::PrintTrace(); + + int i; + + + DiagonalMatrix D(6); + for (i=1;i<=6;i++) D(i,i)=i*i+i-10; + DiagonalMatrix D2=D; + Matrix MD=D; + + DiagonalMatrix D1(6); for (i=1;i<=6;i++) D1(i,i)=-100+i*i*i; + Matrix MD1=D1; + Print(Matrix(D*D1-MD*MD1)); + Print(Matrix((-D)*D1+MD*MD1)); + Print(Matrix(D*(-D1)+MD*MD1)); + DiagonalMatrix DX=D; + { + Tracer et1("Stage 1"); + DX=(DX+D1)*DX; Print(Matrix(DX-(MD+MD1)*MD)); + DX=D; + DX=-DX*DX+(DX-(-D1))*((-D1)+DX); + // Matrix MX = Matrix(MD1); + // MD1=DX+(MX.t())*(MX.t()); Print(MD1); + MD1=DX+(Matrix(MD1).t())*(Matrix(MD1).t()); Print(MD1); + DX=D; DX=DX; DX=D2-DX; Print(DiagonalMatrix(DX)); + DX=D; + } + { + Tracer et1("Stage 2"); + D.Release(2); + D1=D; D2=D; + Print(DiagonalMatrix(D1-DX)); + Print(DiagonalMatrix(D2-DX)); + MD1=1.0; + Print(Matrix(MD1-1.0)); + } + { + Tracer et1("Stage 3"); + //GenericMatrix + LowerTriangularMatrix LT(4); + LT << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9 << 10; + UpperTriangularMatrix UT = LT.t() * 2.0; + GenericMatrix GM1 = LT; + LowerTriangularMatrix LT1 = GM1-LT; Print(LT1); + GenericMatrix GM2 = GM1; LT1 = GM2; LT1 = LT1-LT; Print(LT1); + GM2 = GM1; LT1 = GM2; LT1 = LT1-LT; Print(LT1); + GM2 = GM1*2; LT1 = GM2; LT1 = LT1-LT*2; Print(LT1); + GM1.Release(); + GM1=GM1; LT1=GM1-LT; Print(LT1); LT1=GM1-LT; Print(LT1); + GM1.Release(); + GM1=GM1*4; LT1=GM1-LT*4; Print(LT1); + LT1=GM1-LT*4; Print(LT1); GM1.CleanUp(); + GM1=LT; GM2=UT; GM1=GM1*GM2; Matrix M=GM1; M=M-LT*UT; Print(M); + Transposer(LT,GM2); LT1 = LT - GM2.t(); Print(LT1); + GM1=LT; Transposer(GM1,GM2); LT1 = LT - GM2.t(); Print(LT1); + GM1 = LT; GM1 = GM1 + GM1; LT1 = LT*2-GM1; Print(LT1); + DiagonalMatrix D; D << LT; GM1 = D; LT1 = GM1; LT1 -= D; Print(LT1); + UpperTriangularMatrix UT1 = GM1; UT1 -= D; Print(UT1); + } + { + Tracer et1("Stage 4"); + // Another test of SVD + Matrix M(12,12); M = 0; + M(1,1) = M(2,2) = M(4,4) = M(6,6) = + M(7,7) = M(8,8) = M(10,10) = M(12,12) = -1; + M(1,6) = M(1,12) = -5.601594; + M(3,6) = M(3,12) = -0.000165; + M(7,6) = M(7,12) = -0.008294; + DiagonalMatrix D; + SVD(M,D); + SortDescending(D); + // answer given by matlab + DiagonalMatrix DX(12); + DX(1) = 8.0461; + DX(2) = DX(3) = DX(4) = DX(5) = DX(6) = DX(7) = 1; + DX(8) = 0.1243; + DX(9) = DX(10) = DX(11) = DX(12) = 0; + D -= DX; Clean(D,0.0001); Print(D); + } +#ifndef DONT_DO_NRIC + { + Tracer et1("Stage 5"); + // test numerical recipes in C interface + DiagonalMatrix D(10); + D << 1 << 4 << 6 << 2 << 1 << 6 << 4 << 7 << 3 << 1; + ColumnVector C(10); + C << 3 << 7 << 5 << 1 << 4 << 2 << 3 << 9 << 1 << 3; + RowVector R(6); + R << 2 << 3 << 5 << 7 << 11 << 13; + nricMatrix M(10, 6); + DCR( D.nric(), C.nric(), 10, R.nric(), 6, M.nric() ); + M -= D * C * R; Print(M); + + D.ReSize(5); + D << 1.25 << 4.75 << 9.5 << 1.25 << 3.75; + C.ReSize(5); + C << 1.5 << 7.5 << 4.25 << 0.0 << 7.25; + R.ReSize(9); + R << 2.5 << 3.25 << 5.5 << 7 << 11.25 << 13.5 << 0.0 << 1.5 << 3.5; + Matrix MX = D * C * R; + M.ReSize(MX); + DCR( D.nric(), C.nric(), 5, R.nric(), 9, M.nric() ); + M -= MX; Print(M); + } +#endif + { + Tracer et1("Stage 6"); + // test dotproduct + DiagonalMatrix test(5); test = 1; + ColumnVector C(10); + C << 3 << 7 << 5 << 1 << 4 << 2 << 3 << 9 << 1 << 3; + RowVector R(10); + R << 2 << 3 << 5 << 7 << 11 << 13 << -3 << -4 << 2 << 4; + test(1) = (R * C).AsScalar() - DotProduct(C, R); + test(2) = C.SumSquare() - DotProduct(C, C); + test(3) = 6.0 * (C.t() * R.t()).AsScalar() - DotProduct(2.0 * C, 3.0 * R); + Matrix MC = C.AsMatrix(2,5), MR = R.AsMatrix(5,2); + test(4) = DotProduct(MC, MR) - (R * C).AsScalar(); + UpperTriangularMatrix UT(5); + UT << 3 << 5 << 2 << 1 << 7 + << 1 << 1 << 8 << 2 + << 7 << 0 << 1 + << 3 << 5 + << 6; + LowerTriangularMatrix LT(5); + LT << 5 + << 2 << 3 + << 1 << 0 << 7 + << 9 << 8 << 1 << 2 + << 0 << 2 << 1 << 9 << 2; + test(5) = DotProduct(UT, LT) - Sum(SP(UT, LT)); + Print(test); + // check row-wise load; + LowerTriangularMatrix LT1(5); + LT1.Row(1) << 5; + LT1.Row(2) << 2 << 3; + LT1.Row(3) << 1 << 0 << 7; + LT1.Row(4) << 9 << 8 << 1 << 2; + LT1.Row(5) << 0 << 2 << 1 << 9 << 2; + Matrix M = LT1 - LT; Print(M); + // check solution with identity matrix + IdentityMatrix IM(5); IM *= 2; + LinearEquationSolver LES1(IM); + LowerTriangularMatrix LTX = LES1.i() * LT; + M = LTX * 2 - LT; Print(M); + DiagonalMatrix D = IM; + LinearEquationSolver LES2(IM); + LTX = LES2.i() * LT; + M = LTX * 2 - LT; Print(M); + UpperTriangularMatrix UTX = LES1.i() * UT; + M = UTX * 2 - UT; Print(M); + UTX = LES2.i() * UT; + M = UTX * 2 - UT; Print(M); + } + + { + Tracer et1("Stage 7"); + // Some more GenericMatrix stuff with *= |= &= + // but don't any additional checks + BandMatrix BM1(6,2,3); + BM1.Row(1) << 3 << 8 << 4 << 1; + BM1.Row(2) << 5 << 1 << 9 << 7 << 2; + BM1.Row(3) << 1 << 0 << 6 << 3 << 1 << 3; + BM1.Row(4) << 4 << 2 << 5 << 2 << 4; + BM1.Row(5) << 3 << 3 << 9 << 1; + BM1.Row(6) << 4 << 2 << 9; + BandMatrix BM2(6,1,1); + BM2.Row(1) << 2.5 << 7.5; + BM2.Row(2) << 1.5 << 3.0 << 8.5; + BM2.Row(3) << 6.0 << 6.5 << 7.0; + BM2.Row(4) << 2.5 << 2.0 << 8.0; + BM2.Row(5) << 0.5 << 4.5 << 3.5; + BM2.Row(6) << 9.5 << 7.5; + Matrix RM1 = BM1, RM2 = BM2; + Matrix X; + GenericMatrix GRM1 = RM1, GBM1 = BM1, GRM2 = RM2, GBM2 = BM2; + Matrix Z(6,0); Z = 5; Print(Z); + GRM1 |= Z; GBM1 |= Z; GRM2 &= Z.t(); GBM2 &= Z.t(); + X = GRM1 - BM1; Print(X); X = GBM1 - BM1; Print(X); + X = GRM2 - BM2; Print(X); X = GBM2 - BM2; Print(X); + + GRM1 = RM1; GBM1 = BM1; GRM2 = RM2; GBM2 = BM2; + GRM1 *= GRM2; GBM1 *= GBM2; + X = GRM1 - BM1 * BM2; Print(X); + X = RM1 * RM2 - GBM1; Print(X); + + GRM1 = RM1; GBM1 = BM1; GRM2 = RM2; GBM2 = BM2; + GRM1 *= GBM2; GBM1 *= GRM2; // Bs and Rs swapped on LHS + X = GRM1 - BM1 * BM2; Print(X); + X = RM1 * RM2 - GBM1; Print(X); + + X = BM1.t(); BandMatrix BM1X = BM1.t(); + GRM1 = RM1; X -= GRM1.t(); Print(X); X = BM1X - BM1.t(); Print(X); + + // check that linear equation solver works with Identity Matrix + IdentityMatrix IM(6); IM *= 2; + GBM1 = BM1; GBM1 *= 4; GRM1 = RM1; GRM1 *= 4; + DiagonalMatrix D = IM; + LinearEquationSolver LES1(D); + BandMatrix BX; + BX = LES1.i() * GBM1; BX -= BM1 * 2; X = BX; Print(X); + LinearEquationSolver LES2(IM); + BX = LES2.i() * GBM1; BX -= BM1 * 2; X = BX; Print(X); + BX = D.i() * GBM1; BX -= BM1 * 2; X = BX; Print(X); + BX = IM.i() * GBM1; BX -= BM1 * 2; X = BX; Print(X); + BX = IM.i(); BX *= GBM1; BX -= BM1 * 2; X = BX; Print(X); + + // try symmetric band matrices + SymmetricBandMatrix SBM; SBM << SP(BM1, BM1.t()); + SBM << IM.i() * SBM; + X = 2 * SBM - SP(RM1, RM1.t()); Print(X); + + // Do this again with more general D + D << 2.5 << 7.5 << 2 << 5 << 4.5 << 7.5; + BX = D.i() * BM1; X = BX - D.i() * RM1; + Clean(X,0.00000001); Print(X); + BX = D.i(); BX *= BM1; X = BX - D.i() * RM1; + Clean(X,0.00000001); Print(X); + SBM << SP(BM1, BM1.t()); + BX = D.i() * SBM; X = BX - D.i() * SP(RM1, RM1.t()); + Clean(X,0.00000001); Print(X); + + // test return + BX = TestReturn(BM1); X = BX - BM1; + if (BX.BandWidth() != BM1.BandWidth()) X = 5; + Print(X); + } + +// cout << "\nEnd of eighth test\n"; +} diff --git a/.svn/pristine/2c/2c9b363dcfc7f2f5c47e206f9dadc9bad75f5384.svn-base b/.svn/pristine/2c/2c9b363dcfc7f2f5c47e206f9dadc9bad75f5384.svn-base new file mode 100644 index 0000000..5cb05af --- /dev/null +++ b/.svn/pristine/2c/2c9b363dcfc7f2f5c47e206f9dadc9bad75f5384.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PCL_H__ +#define __SCAN_IO_PCL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_pcl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/2c/2cdb0ac301704eda60e2586537bc861b2fc374c6.svn-base b/.svn/pristine/2c/2cdb0ac301704eda60e2586537bc861b2fc374c6.svn-base new file mode 100644 index 0000000..493e65b --- /dev/null +++ b/.svn/pristine/2c/2cdb0ac301704eda60e2586537bc861b2fc374c6.svn-base @@ -0,0 +1,101 @@ +# CMAKE 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b/.svn/pristine/2c/2ce0727ff133f9885eb9ca366c2a315a26cdd466.svn-base new file mode 100644 index 0000000..c4e37f8 --- /dev/null +++ b/.svn/pristine/2c/2ce0727ff133f9885eb9ca366c2a315a26cdd466.svn-base @@ -0,0 +1,490 @@ +/* + * graphSlam6D implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/graphSlam6D.h" +#include "sparse/csparse.h" + +#include +#include +using std::ofstream; +using std::flush; +#include "slam6d/globals.icc" + +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +graphSlam6D::graphSlam6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) +{ + this->nns_method = nns_method; + this->quiet = quiet; + this->epsilonLUM = epsilonLUM; + this->max_dist_match2_LUM = sqr(max_dist_match); + + ctime = 0; + + this->my_icp = new icp6D(my_icp6Dminimizer, mdm, max_num_iterations, + quiet, meta, rnd, eP, anim, epsilonICP, nns_method); +} + +graphSlam6D::~graphSlam6D() + { + cout << "Time spent in the SLAM backend:" << ctime << endl; + } +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @param clpairs minimal number of points aximal distance for closing loops + * @param loopsize minimal loop size + */ +void graphSlam6D::matchGraph6Dautomatic(vector allScans, int nrIt, int clpairs, int loopsize) +{ + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + Graph *gr = 0; + int i = 0; + + do { + cout << "Generate graph ... " << flush; + i++; + if (gr) delete gr; + gr = new Graph(0, false); + int j, maxj = (int)allScans.size(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (j = 0; j < maxj; j++) { +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + for (int k = 0; k < (int)allScans.size(); k++) { + if (j == k) continue; + Scan * FirstScan = allScans[j]; + Scan * SecondScan = allScans[k]; + double centroid_d[3] = {0.0, 0.0, 0.0}; + double centroid_m[3] = {0.0, 0.0, 0.0}; + vPtPair temp; + double sum_dummy; + Scan::getPtPairs(&temp, FirstScan, SecondScan, thread_num, + my_icp->get_rnd(), (int)max_dist_match2_LUM, sum_dummy, + centroid_m, centroid_d); + if ((int)temp.size() > clpairs) { +#ifdef _OPENMP +#pragma omp critical +#endif + gr->addLink(j, k); + } + } + } + cout << "done" << endl; + } while ((doGraphSlam6D(*gr, allScans, 1) > 0.001) && (i < nrIt)); + + return; +} + + +Graph *graphSlam6D::computeGraph6Dautomatic(vector allScans, int clpairs) +{ + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + int i = 0; + + cout << "Generate graph ... " << flush; + i++; + Graph *gr = new Graph(0, false); + int j, maxj = (int)allScans.size(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (j = 0; j < maxj; j++) { +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + for (int k = 0; k < (int)allScans.size(); k++) { + if (j == k) continue; + Scan * FirstScan = allScans[j]; + Scan * SecondScan = allScans[k]; + double centroid_d[3] = {0.0, 0.0, 0.0}; + double centroid_m[3] = {0.0, 0.0, 0.0}; + vPtPair temp; + double sum_dummy; + Scan::getPtPairs(&temp, FirstScan, SecondScan, thread_num, + my_icp->get_rnd(), (int)max_dist_match2_LUM, sum_dummy, + centroid_m, centroid_d); + if ((int)temp.size() > clpairs) { +#ifdef _OPENMP +#pragma omp critical +#endif + gr->addLink(j, k); + } + } + } + cout << "done" << endl; + + return gr; +} + +/** + * This function is used to solve the system of linear eq. + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +void graphSlam6D::writeMatrixPGM(const Matrix &G) +{ + int n = G.Ncols(); + static int matrixnum = 0; + string mf = "matrix" + to_string(matrixnum,4) + ".pgm"; + ofstream matrixout(mf.c_str()); + matrixout << "P2" << endl + << "# CREATOR slam6D (c) Andreas Nuechter, 05/2007" << endl + << n << " " << n << endl + << 255 << endl; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (G.element(i, j) > 0.001) { + matrixout << 0 << " "; + } else { + matrixout << 255 << " "; + } + } + matrixout << endl; + } + // matrixout << G << endl; + matrixout.close(); + matrixout.clear(); + matrixnum++; + +} + + + +/** + * This function is used to solve the system of linear eq. + * + * @param G Matrix, invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solve(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + // ---------------------------------- + // solve eqn via inverting the matrix + // ---------------------------------- + return (ColumnVector)(G.i() * B); +} + + +/** + * This function is used to solve the system of linear eq. + * The implementation from the numerical recepies are used + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solveCholesky(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + // We copy the newmat matrices and use our own + // Cholesky decomposition code here. The Cholesky + // decomosition is based on the Numerical Recipes in C. + // This speed ups computation time + + // copy values + int n = G.Ncols(); + double **A = new double*[n]; + double *C = new double[n]; + double *diag = new double[n]; + double *x = new double[n]; + ColumnVector X(n); + for (int i = 0; i < n; i++) { + A[i] = new double[n]; + for (int j = 0; j < n; j++) { + A[i][j] = G.element(i, j); + } + C[i] = B.element(i); + } + // -------------------------------------------------- + // make cholesky dekomposition with numerical recipes + // -------------------------------------------------- + if (!choldc(n, A, diag)) { + cout << "cannot perfom cholesky decomposition" << endl; + } + // solve A x = C + cholsl(n, A, diag, C, x); + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + // clean up + for (int i = 0; i < n; i++) { + delete [] A[i]; + } + delete [] x; + delete [] diag; + delete [] C; + delete [] A; + + return X; +} + + +/** + * This function is used to solve the system of linear eq. + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solveSparseCholesky(const Matrix &G, const ColumnVector &B) +{ + + long starttime = GetCurrentTimeInMilliSec(); + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + int n = G.Ncols(); + + // ------------------------------ + // Sparse Cholsekey decomposition + // ------------------------------ + ColumnVector X(n); + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (fabs(G.element(i, j)) > 0.00001) { + cs_entry (T, i, j, G.element(i, j)); + } + } + x[i] = B.element(i); + } + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries + cs_cholsol (A, x, 1) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + ctime += GetCurrentTimeInMilliSec() - starttime; + + return X; +} + +ColumnVector graphSlam6D::solveSparseCholesky(GraphMatrix *G, const ColumnVector &B) +{ + + long starttime = GetCurrentTimeInMilliSec(); + + int n = B.Nrows(); + ColumnVector X(n); + + // ------------------------------ + // Sparse Cholsekey decomposition + // ------------------------------ + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + x[i] = B.element(i); + } + G->convertToCS(T); + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries +// cs_print(T, 0); + cs_cholsol (A, x, 1) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + ctime += GetCurrentTimeInMilliSec() - starttime; + + return X; +} + + +/** + * This function is used to solve the system of linear eq. + * + * @param G invertable Matrix + * @param B column vector + */ +ColumnVector graphSlam6D::solveSparseQR(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + int n = B.Ncols(); + + ColumnVector X(n); + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (fabs(G.element(i, j)) > 0.00001) { + cs_entry (T, i, j, G.element(i, j)); + } + } + x[i] = B.element(i); + } + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries + int order = 3; // for qr-ordering + cs_qrsol ( A, x, order) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + return X; +} + +void graphSlam6D::set_mdmll(double mdmll) { + max_dist_match2_LUM = sqr(mdmll); +} + + +void GraphMatrix::add(const unsigned int i, const unsigned int j, Matrix &Cij) { + uipair ui(i,j); + it = matrix.find( ui ); + if (it != matrix.end()) { + (*(it->second)) += Cij; + } else { + Matrix *C = new Matrix(6,6); + *C = Cij; + matrix.insert( uimpair( ui, C)); + } +} + +void GraphMatrix::subtract(const unsigned int i, const unsigned int j,Matrix &Cij) { + uipair ui(i,j); + it = matrix.find( ui ); + if (it != matrix.end()) { + (*it->second) -= Cij; + } else { + Matrix *C = new Matrix(6,6); + *C = Cij; + *C *= -1.0; + matrix.insert( uimpair( ui, C)); + } +} + +void GraphMatrix::print() { + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + uimpair uim = *it; + uipair ui = uim.first; + cout << ui.first << " " << ui.second << " :" << endl << *uim.second << endl; + } +} + +GraphMatrix::~GraphMatrix() { + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + uimpair uim = *it; + delete uim.second; + } + +} + +void GraphMatrix::convertToCS(cs *T) { + unsigned int a,b; + int imin,imax,jmin,jmax; + + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + Matrix *C = it->second; + a = it->first.first; + b = it->first.second; +// cout << a << " " << b << " " << C << endl; + imin = a*6; + jmin = b*6; + + imax = a*6 + 6; + jmax = b*6 + 6; + a = b = 0; + + for (int i = imin; i < imax; i++, a++) { + b = 0; + for (int j = jmin; j < jmax; j++, b++) { + if (fabs(C->element(a, b)) > 0.00001) { + cs_entry (T, i, j, C->element(a, b)); + } + } + } + } +// print(); +// cs_print(T, 0); +} diff --git a/.svn/pristine/2c/2ce7b870e535af9d29b8722847264faf29930fbb.svn-base b/.svn/pristine/2c/2ce7b870e535af9d29b8722847264faf29930fbb.svn-base new file mode 100644 index 0000000..13aff68 --- /dev/null +++ b/.svn/pristine/2c/2ce7b870e535af9d29b8722847264faf29930fbb.svn-base @@ -0,0 +1,145 @@ +/* + * icp6Ddual implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization + * via dual quaternions + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Ddual.h" +#include "slam6d/globals.icc" + +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" + +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using dual quaternions + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_DUAL::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "DUALQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + Matrix C1(4, 4); C1 = 0.0; + Matrix C2(4, 4); C2 = 0.0; + + /// build up matrices C1 and C2 + for(unsigned int i = 0; i < pairs.size(); ++i) { + ColumnVector m(3), d(3); + m << pairs[i].p1.x << pairs[i].p1.y << pairs[i].p1.z; + d << pairs[i].p2.x << pairs[i].p2.y << pairs[i].p2.z; + Matrix Cm(3, 3); Cm << 0 << -m(3) << m(2) << m(3) << 0 << -m(1) << -m(2) << m(1) << 0; + Matrix Cd(3, 3); Cd << 0 << -d(3) << d(2) << d(3) << 0 << -d(1) << -d(2) << d(1) << 0; + + C1.SubMatrix(1, 1, 1, 1) += m.t()*d; + C1.SubMatrix(1, 1, 2, 4) += -m.t()*Cd; + C1.SubMatrix(2, 4, 1, 1) += -Cm*d; + C1.SubMatrix(2, 4, 2, 4) += m*d.t() + Cm*Cd; + + C2.SubMatrix(1, 1, 2, 4) += -d.t() + m.t(); + C2.SubMatrix(2, 4, 1, 1) += d - m; + C2.SubMatrix(2, 4, 2, 4) += -Cd - Cm; + } + + /// the sums need to be multiplied by a scalar + C1 = C1 * (-2); + C2 = C2 * 2; + + /// matrix A from C1 and C2 + Matrix A = (C2.t()*C2 * 1.0/(2*pairs.size()) - C1 - C1.t()) * 0.5; + + /// the quaternion qdot is the eigenvector of matrix A corresponding to the largest eigenvalue, + /// which is always found in the first column of matrix U + Matrix U(4, 4); DiagonalMatrix D(4); + SVD(A, D, U); + ColumnVector qdot = U.Column(1); + ColumnVector q(3); q << qdot(2) << qdot(3) << qdot(4); + Matrix Cq(3, 3); Cq << 0 << -q(3) << q(2) << q(3) << 0 << -q(1) << -q(2) << q(1) << 0; + + ColumnVector s = C2*qdot * (-1.0)/(2*pairs.size()); + + Matrix Q(4, 4); + Q(1, 1) = qdot(1); + Q.SubMatrix(1, 1, 2, 4) = q.t(); + Q.SubMatrix(2, 4, 1, 1) = -q; + Q.SubMatrix(2, 4, 2, 4) = IdentityMatrix(3)*qdot(1) + Cq; + + /// get the translation from the double quaternion + ColumnVector p = Q*s; + ColumnVector translation(3); translation << p(2) << p(3) << p(4); + + /// compute the rotation matrix from the quaternion + ColumnVector qtqx = q.t()*q; + Matrix R = IdentityMatrix(3) * (qdot(1)*qdot(1) - qtqx(1)) + q*q.t()*2 + Cq*qdot(1)*2; + + /// create the final transformation matrix (OpenGL column-wise ordering) + alignfx[0] = R(1, 1); + alignfx[1] = R(2, 1); + alignfx[2] = R(3, 1); + alignfx[3] = 0.0; + alignfx[4] = R(1, 2); + alignfx[5] = R(2, 2); + alignfx[6] = R(3, 2); + alignfx[7] = 0.0; + alignfx[8] = R(1, 3); + alignfx[9] = R(2, 3); + alignfx[10]= R(3, 3); + alignfx[11]= 0.0; + alignfx[12]= translation(1); + alignfx[13]= translation(2); + alignfx[14]= translation(3); + alignfx[15]= 1.0; + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + return error; +} + diff --git a/.svn/pristine/2c/2cfd4b38a1a13070ff999030622aa89bc0119e40.svn-base b/.svn/pristine/2c/2cfd4b38a1a13070ff999030622aa89bc0119e40.svn-base new file mode 100644 index 0000000..917a390 --- /dev/null +++ b/.svn/pristine/2c/2cfd4b38a1a13070ff999030622aa89bc0119e40.svn-base @@ -0,0 +1,122 @@ +//$$newmatrm.h rectangular matrix operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#ifndef NEWMATRM_LIB +#define NEWMATRM_LIB 0 + +#ifdef use_namespace +namespace NEWMAT { +#endif + +// operations on rectangular matrices + +class RectMatrixCol; + +class RectMatrixRowCol +// a class for accessing rows and columns of rectangular matrices +{ +protected: +#ifdef use_namespace // to make namespace work +public: +#endif + Real* store; // pointer to storage + int n; // number of elements + int spacing; // space between elements + int shift; // space between cols or rows + RectMatrixRowCol(Real* st, int nx, int sp, int sh) + : store(st), n(nx), spacing(sp), shift(sh) {} + void Reset(Real* st, int nx, int sp, int sh) + { store=st; n=nx; spacing=sp; shift=sh; } +public: + Real operator*(const RectMatrixRowCol&) const; // dot product + void AddScaled(const RectMatrixRowCol&, Real); // add scaled + void Divide(const RectMatrixRowCol&, Real); // scaling + void Divide(Real); // scaling + void Negate(); // change sign + void Zero(); // zero row col + Real& operator[](int i) { return *(store+i*spacing); } // element + Real SumSquare() const; // sum of squares + Real& First() { return *store; } // get first element + void DownDiag() { store += (shift+spacing); n--; } + void UpDiag() { store -= (shift+spacing); n++; } + friend void ComplexScale(RectMatrixCol&, RectMatrixCol&, Real, Real); + friend void Rotate(RectMatrixCol&, RectMatrixCol&, Real, Real); + FREE_CHECK(RectMatrixRowCol) +}; + +class RectMatrixRow : public RectMatrixRowCol +{ +public: + RectMatrixRow(const Matrix&, int, int, int); + RectMatrixRow(const Matrix&, int); + void Reset(const Matrix&, int, int, int); + void Reset(const Matrix&, int); + Real& operator[](int i) { return *(store+i); } + void Down() { store += shift; } + void Right() { store++; n--; } + void Up() { store -= shift; } + void Left() { store--; n++; } + FREE_CHECK(RectMatrixRow) +}; + +class RectMatrixCol : public RectMatrixRowCol +{ +public: + RectMatrixCol(const Matrix&, int, int, int); + RectMatrixCol(const Matrix&, int); + void Reset(const Matrix&, int, int, int); + void Reset(const Matrix&, int); + void Down() { store += spacing; n--; } + void Right() { store++; } + void Up() { store -= spacing; n++; } + void Left() { store--; } + friend void ComplexScale(RectMatrixCol&, RectMatrixCol&, Real, Real); + friend void Rotate(RectMatrixCol&, RectMatrixCol&, Real, Real); + FREE_CHECK(RectMatrixCol) +}; + +class RectMatrixDiag : public RectMatrixRowCol +{ +public: + RectMatrixDiag(const DiagonalMatrix& D) + : RectMatrixRowCol(D.Store(), D.Nrows(), 1, 1) {} + Real& operator[](int i) { return *(store+i); } + void DownDiag() { store++; n--; } + void UpDiag() { store--; n++; } + FREE_CHECK(RectMatrixDiag) +}; + + +inline RectMatrixRow::RectMatrixRow + (const Matrix& M, int row, int skip, int length) + : RectMatrixRowCol( M.Store()+row*M.Ncols()+skip, length, 1, M.Ncols() ) {} + +inline RectMatrixRow::RectMatrixRow (const Matrix& M, int row) + : RectMatrixRowCol( M.Store()+row*M.Ncols(), M.Ncols(), 1, M.Ncols() ) {} + +inline RectMatrixCol::RectMatrixCol + (const Matrix& M, int skip, int col, int length) + : RectMatrixRowCol( M.Store()+col+skip*M.Ncols(), length, M.Ncols(), 1 ) {} + +inline RectMatrixCol::RectMatrixCol (const Matrix& M, int col) + : RectMatrixRowCol( M.Store()+col, M.Nrows(), M.Ncols(), 1 ) {} + +inline Real square(Real x) { return x*x; } +inline Real sign(Real x, Real y) + { return (y>=0) ? x : -x; } // assume x >=0 + + + + + + +#ifdef use_namespace +} +#endif + +#endif + +// body file: newmatrm.cpp + + diff --git a/.svn/pristine/2d/2d0c01d8e301a8193b37b034c7828e0e60e65992.svn-base b/.svn/pristine/2d/2d0c01d8e301a8193b37b034c7828e0e60e65992.svn-base new file mode 100644 index 0000000..312bf8c --- /dev/null +++ b/.svn/pristine/2d/2d0c01d8e301a8193b37b034c7828e0e60e65992.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in XYZ file format (i.e., pure 3D data points only) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZ_H__ +#define __SCAN_IO_XYZ_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for XYZ scans (i.e., pure 3D data points only) + * + * The compiled class is available as shared object file + */ +class ScanIO_xyz : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/2d/2da2651b3d0b9622bd9f7d2e787aba6af9557dd1.svn-base b/.svn/pristine/2d/2da2651b3d0b9622bd9f7d2e787aba6af9557dd1.svn-base new file mode 100644 index 0000000..41455a0 --- /dev/null +++ b/.svn/pristine/2d/2da2651b3d0b9622bd9f7d2e787aba6af9557dd1.svn-base @@ -0,0 +1,3 @@ +-7.99848 -15.3529 337.973 +1.11333 -0.470508 -0.479231 + diff --git a/.svn/pristine/2d/2dc8b84221904fd897bbb671eeaf1e3465b3e770.svn-base b/.svn/pristine/2d/2dc8b84221904fd897bbb671eeaf1e3465b3e770.svn-base new file mode 100644 index 0000000..6fa4b7b --- /dev/null +++ b/.svn/pristine/2d/2dc8b84221904fd897bbb671eeaf1e3465b3e770.svn-base @@ -0,0 +1,633 @@ +//$$ newmat2.cpp Matrix row and column operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,2); ++ExeCount; } +#else +#define REPORT {} +#endif + +//#define MONITOR(what,storage,store) { cout << what << " " << storage << " at " << (long)store << "\n"; } + +#define MONITOR(what,store,storage) {} + +/************************** Matrix Row/Col functions ************************/ + +void MatrixRowCol::Add(const MatrixRowCol& mrc) +{ + // THIS += mrc + REPORT + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ += *el++; +} + +void MatrixRowCol::AddScaled(const MatrixRowCol& mrc, Real x) +{ + REPORT + // THIS += (mrc * x) + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ += *el++ * x; +} + +void MatrixRowCol::Sub(const MatrixRowCol& mrc) +{ + REPORT + // THIS -= mrc + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ -= *el++; +} + +void MatrixRowCol::Inject(const MatrixRowCol& mrc) +// copy stored elements only +{ + REPORT + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* ely=mrc.data+(f-mrc.skip); + while (l--) *elx++ = *ely++; +} + +Real DotProd(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + REPORT // not accessed + int f = mrc1.skip; int f2 = mrc2.skip; + int l = f + mrc1.storage; int l2 = f2 + mrc2.storage; + if (f < f2) f = f2; if (l > l2) l = l2; l -= f; + if (l<=0) return 0.0; + + Real* el1=mrc1.data+(f-mrc1.skip); Real* el2=mrc2.data+(f-mrc2.skip); + Real sum = 0.0; + while (l--) sum += *el1++ * *el2++; + return sum; +} + +void MatrixRowCol::Add(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + // THIS = mrc1 + mrc2 + int f = skip; int l = skip + storage; + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); + Real* el1 = mrc1.data+(f1-mrc1.skip); Real* el2 = mrc2.data+(f2-mrc2.skip); + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); + Real* el1 = mrc1.data+(f1-mrc1.skip); Real* el2 = mrc2.data+(f2-mrc2.skip); + if (f1 lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = x; + l1 = l-f; while (l1--) *elx++ = *ely++ + x; + lx -= l; while (lx--) *elx++ = x; +} + +void MatrixRowCol::NegAdd(const MatrixRowCol& mrc1, Real x) +{ + // THIS = x - mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = x; + l1 = l-f; while (l1--) *elx++ = x - *ely++; + lx -= l; while (lx--) *elx++ = x; +} + +void MatrixRowCol::RevSub(const MatrixRowCol& mrc1) +{ + // THIS = mrc - THIS + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) { *elx = - *elx; elx++; } + l1 = l-f; while (l1--) { *elx = *ely++ - *elx; elx++; } + lx -= l; while (lx--) { *elx = - *elx; elx++; } +} + +void MatrixRowCol::ConCat(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + // THIS = mrc1 | mrc2 + REPORT + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; int lx = skip + storage; + if (f1 < skip) { f1 = skip; if (l1 < f1) l1 = f1; } + if (l1 > lx) { l1 = lx; if (f1 > lx) f1 = lx; } + + Real* elx = data; + + int i = f1-skip; while (i--) *elx++ =0.0; + i = l1-f1; + if (i) // in case f1 would take ely out of range + { Real* ely = mrc1.data+(f1-mrc1.skip); while (i--) *elx++ = *ely++; } + + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; i = mrc1.length; + int skipx = l1 - i; lx -= i; // addresses rel to second seg, maybe -ve + if (f2 < skipx) { f2 = skipx; if (l2 < f2) l2 = f2; } + if (l2 > lx) { l2 = lx; if (f2 > lx) f2 = lx; } + + i = f2-skipx; while (i--) *elx++ = 0.0; + i = l2-f2; + if (i) // in case f2 would take ely out of range + { Real* ely = mrc2.data+(f2-mrc2.skip); while (i--) *elx++ = *ely++; } + lx -= l2; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1) +// element by element multiply into +{ + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0; + l1 = l-f; while (l1--) *elx++ *= *ely++; + lx -= l; while (lx--) *elx++ = 0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +// element by element multiply +{ + int f = skip; int l = skip + storage; + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); int i; + if (f1l2) l1 = l2; + if (l1<=f1) { REPORT i = l-f; while (i--) *el++ = 0.0; } // disjoint + else + { + REPORT + Real* el1 = mrc1.data+(f1-mrc1.skip); + Real* el2 = mrc2.data+(f1-mrc2.skip); + i = f1-f ; while (i--) *el++ = 0.0; + i = l1-f1; while (i--) *el++ = *el1++ * *el2++; + i = l-l1; while (i--) *el++ = 0.0; + } +} + +void MatrixRowCol::KP(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +// row for Kronecker product +{ + int f = skip; int s = storage; Real* el = data; int i; + + i = mrc1.skip * mrc2.length; + if (i > f) + { + i -= f; f = 0; if (i > s) { i = s; s = 0; } else s -= i; + while (i--) *el++ = 0.0; + if (s == 0) return; + } + else f -= i; + + i = mrc1.storage; Real* el1 = mrc1.data; + int mrc2_skip = mrc2.skip; int mrc2_storage = mrc2.storage; + int mrc2_length = mrc2.length; + int mrc2_remain = mrc2_length - mrc2_skip - mrc2_storage; + while (i--) + { + int j; Real* el2 = mrc2.data; Real vel1 = *el1; + if (f == 0 && mrc2_length <= s) + { + j = mrc2_skip; s -= j; while (j--) *el++ = 0.0; + j = mrc2_storage; s -= j; while (j--) *el++ = vel1 * *el2++; + j = mrc2_remain; s -= j; while (j--) *el++ = 0.0; + } + else if (f >= mrc2_length) f -= mrc2_length; + else + { + j = mrc2_skip; + if (j > f) + { + j -= f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = 0.0; + } + else f -= j; + + j = mrc2_storage; + if (j > f) + { + j -= f; el2 += f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = vel1 * *el2++; + } + else f -= j; + + j = mrc2_remain; + if (j > f) + { + j -= f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = 0.0; + } + else f -= j; + } + if (s == 0) return; + ++el1; + } + + i = (mrc1.length - mrc1.skip - mrc1.storage) * mrc2.length; + if (i > f) + { + i -= f; if (i > s) i = s; + while (i--) *el++ = 0.0; + } +} + + +void MatrixRowCol::Copy(const MatrixRowCol& mrc1) +{ + // THIS = mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = 0; + + if (l-f) ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::CopyCheck(const MatrixRowCol& mrc1) +// Throw an exception if this would lead to a loss of data +{ + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip || l > lx) Throw(ProgramException("Illegal Conversion")); + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Check(const MatrixRowCol& mrc1) +// Throw an exception if +=, -=, copy etc would lead to a loss of data +{ + REPORT + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip || l > lx) Throw(ProgramException("Illegal Conversion")); +} + +void MatrixRowCol::Check() +// Throw an exception if +=, -= of constant would lead to a loss of data +// that is: check full row is present +// may not be appropriate for symmetric matrices +{ + REPORT + if (skip!=0 || storage!=length) + Throw(ProgramException("Illegal Conversion")); +} + +void MatrixRowCol::Negate(const MatrixRowCol& mrc1) +{ + // THIS = -mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = - *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1, Real s) +{ + // THIS = mrc1 * s + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++ * s; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void DiagonalMatrix::Solver(MatrixColX& mrc, const MatrixColX& mrc1) +{ + // mrc = mrc / mrc1 (elementwise) + REPORT + int f = mrc1.skip; int f0 = mrc.skip; + int l = f + mrc1.storage; int lx = f0 + mrc.storage; + if (f < f0) { f = f0; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = mrc.data; Real* eld = store+f; + + int l1 = f-f0; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ /= *eld++; + lx -= l; while (lx--) *elx++ = 0.0; + // Solver makes sure input and output point to same memory +} + +void IdentityMatrix::Solver(MatrixColX& mrc, const MatrixColX& mrc1) +{ + // mrc = mrc / mrc1 (elementwise) + REPORT + int f = mrc1.skip; int f0 = mrc.skip; + int l = f + mrc1.storage; int lx = f0 + mrc.storage; + if (f < f0) { f = f0; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = mrc.data; Real eldv = *store; + + int l1 = f-f0; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ /= eldv; + lx -= l; while (lx--) *elx++ = 0.0; + // Solver makes sure input and output point to same memory +} + +void MatrixRowCol::Copy(const Real*& r) +{ + // THIS = *r + REPORT + Real* elx = data; const Real* ely = r+skip; r += length; + int l = storage; while (l--) *elx++ = *ely++; +} + +void MatrixRowCol::Copy(Real r) +{ + // THIS = r + REPORT Real* elx = data; int l = storage; while (l--) *elx++ = r; +} + +void MatrixRowCol::Zero() +{ + // THIS = 0 + REPORT Real* elx = data; int l = storage; while (l--) *elx++ = 0; +} + +void MatrixRowCol::Multiply(Real r) +{ + // THIS *= r + REPORT Real* elx = data; int l = storage; while (l--) *elx++ *= r; +} + +void MatrixRowCol::Add(Real r) +{ + // THIS += r + REPORT + Real* elx = data; int l = storage; while (l--) *elx++ += r; +} + +Real MatrixRowCol::SumAbsoluteValue() +{ + REPORT + Real sum = 0.0; Real* elx = data; int l = storage; + while (l--) sum += fabs(*elx++); + return sum; +} + +// max absolute value of r and elements of row/col +// we use <= or >= in all of these so we are sure of getting +// r reset at least once. +Real MatrixRowCol::MaximumAbsoluteValue1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = fabs(*elx++); if (r <= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// min absolute value of r and elements of row/col +Real MatrixRowCol::MinimumAbsoluteValue1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = fabs(*elx++); if (r >= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// max value of r and elements of row/col +Real MatrixRowCol::Maximum1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = *elx++; if (r <= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// min value of r and elements of row/col +Real MatrixRowCol::Minimum1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = *elx++; if (r >= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +Real MatrixRowCol::Sum() +{ + REPORT + Real sum = 0.0; Real* elx = data; int l = storage; + while (l--) sum += *elx++; + return sum; +} + +void MatrixRowCol::SubRowCol(MatrixRowCol& mrc, int skip1, int l1) const +{ + mrc.length = l1; int d = skip - skip1; + if (d<0) { mrc.skip = 0; mrc.data = data - d; } + else { mrc.skip = d; mrc.data = data; } + d = skip + storage - skip1; + d = ((l1 < d) ? l1 : d) - mrc.skip; mrc.storage = (d < 0) ? 0 : d; + mrc.cw = 0; +} + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/2e/2e1762223ed226d142512a9173b2f0f09d4ac842.svn-base b/.svn/pristine/2e/2e1762223ed226d142512a9173b2f0f09d4ac842.svn-base new file mode 100644 index 0000000..0a9eb9d --- /dev/null +++ b/.svn/pristine/2e/2e1762223ed226d142512a9173b2f0f09d4ac842.svn-base @@ -0,0 +1,212 @@ +/* + * scan_io_riegl_txt implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_riegl_txt.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".dat" + + + +std::list ScanIO_riegl_txt::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_riegl_txt::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + + for (i = 0; i < 16; ++i) + pose_file >> inMatrix[i]; + pose_file.close(); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + pose[0] = 100*rPos[0]; + pose[1] = 100*rPos[1]; + pose[2] = 100*rPos[2]; + pose[3] = rPosTheta[0]; + pose[4] = rPosTheta[1]; + pose[5] = rPosTheta[2]; + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_riegl_txt::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_REFLECTANCE)); +} + +void ScanIO_riegl_txt::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || reflectance != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read the point count + unsigned int count; + data_file >> count; + + // reserve enough space for faster reading + xyz->reserve(3*count); + + // read points + // z x y range theta phi reflectance + double point[7]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 7; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's z/x/y, shuffle time! + // invert x axis + // convert coordinate to cm + tmp = point[2]; + point[2] = 100.0 * point[0]; + point[0] = -100.0 * point[1]; + point[1] = 100.0 * tmp; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(reflectance != 0) { + reflectance->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/2e/2e298ea56a22a7f5d50b6890cbfa967acd0ec7a2.svn-base b/.svn/pristine/2e/2e298ea56a22a7f5d50b6890cbfa967acd0ec7a2.svn-base new file mode 100644 index 0000000..ce0a47e --- /dev/null +++ b/.svn/pristine/2e/2e298ea56a22a7f5d50b6890cbfa967acd0ec7a2.svn-base @@ -0,0 +1,429 @@ +//$$ submat.cpp submatrices + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,11); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/****************************** submatrices *********************************/ + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::SubMatrix(int first_row, int last_row, int first_col, + int last_col) const +#else +GetSubMatrix BaseMatrix::SubMatrix(int first_row, int last_row, int first_col, + int last_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix"); + int a = first_row - 1; int b = last_row - first_row + 1; + int c = first_col - 1; int d = last_col - first_col + 1; + if (a<0 || b<0 || c<0 || d<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, c, d, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, b, c, d, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::SymSubMatrix(int first_row, int last_row) const +#else +GetSubMatrix BaseMatrix::SymSubMatrix(int first_row, int last_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(symmetric)"); + int a = first_row - 1; int b = last_row - first_row + 1; + if (a<0 || b<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, a, b, true); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix( this, a, b, a, b, true); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Row(int first_row) const +#else +GetSubMatrix BaseMatrix::Row(int first_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(row)"); + int a = first_row - 1; + if (a<0) Throw(SubMatrixDimensionException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, 1, 0, -1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, 1, 0, -1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Rows(int first_row, int last_row) const +#else +GetSubMatrix BaseMatrix::Rows(int first_row, int last_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(rows)"); + int a = first_row - 1; int b = last_row - first_row + 1; + if (a<0 || b<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, 0, -1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, b, 0, -1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Column(int first_col) const +#else +GetSubMatrix BaseMatrix::Column(int first_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix(column)"); + int c = first_col - 1; + if (c<0) Throw(SubMatrixDimensionException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, 0, -1, c, 1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, 0, -1, c, 1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Columns(int first_col, int last_col) const +#else +GetSubMatrix BaseMatrix::Columns(int first_col, int last_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix(columns)"); + int c = first_col - 1; int d = last_col - first_col + 1; + if (c<0 || d<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, 0, -1, c, d, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, 0, -1, c, d, false); +#endif +} + +void GetSubMatrix::SetUpLHS() +{ + REPORT + Tracer tr("SubMatrix(LHS)"); + const BaseMatrix* bm1 = bm; + GeneralMatrix* gm1 = ((BaseMatrix*&)bm)->Evaluate(); + if ((BaseMatrix*)gm1!=bm1) + Throw(ProgramException("Invalid LHS")); + if (row_number < 0) row_number = gm1->Nrows(); + if (col_number < 0) col_number = gm1->Ncols(); + if (row_skip+row_number > gm1->Nrows() + || col_skip+col_number > gm1->Ncols()) + Throw(SubMatrixDimensionException()); +} + +void GetSubMatrix::operator<<(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(<<)"); GeneralMatrix* gmx = 0; + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + LoadAndStoreFlag lasf = + ( row_skip == col_skip + && gm->Type().IsSymmetric() + && gmx->Type().IsSymmetric() ) + ? LoadOnEntry+DirectPart + : LoadOnEntry; + MatrixRow mrx(gmx, lasf); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.CopyCheck(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator<<(const Real* r) +{ + REPORT + Tracer tr("SubMatrix(< gm->Nrows() || col_skip+col_number > gm->Ncols()) + Throw(SubMatrixDimensionException()); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::operator=(Real r) +{ + REPORT + Tracer tr("SubMatrix(=Real)"); + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::Inject(const GeneralMatrix& gmx) +{ + REPORT + Tracer tr("SubMatrix(inject)"); + SetUpLHS(); + if (row_number != gmx.Nrows() || col_number != gmx.Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx((GeneralMatrix*)(&gmx), LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Inject(mrx); mr.Next(); mrx.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::operator+=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(+=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(mrx); // check for loss of info + sub.Add(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator-=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(-=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(mrx); // check for loss of info + sub.Sub(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("SubMatrix(+= or -= Real)"); + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(); // check for loss of info + sub.Add(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("SubMatrix(*= or /= Real)"); + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Multiply(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/2e/2eb7977a88095446a24256d56fb33b7cc15cd9dd.svn-base b/.svn/pristine/2e/2eb7977a88095446a24256d56fb33b7cc15cd9dd.svn-base new file mode 100644 index 0000000..0b28435 --- /dev/null +++ b/.svn/pristine/2e/2eb7977a88095446a24256d56fb33b7cc15cd9dd.svn-base @@ -0,0 +1,82 @@ +/** + * @file + * @brief calculate rectangle bounding box and minimal unregular bounding box for cluster + the rectangle bounding box can be inclined therefore it can better represent cluster + and vehicle direction,the result is stored as a clusterfeature in clusterFeatureArray + * + * @author Quanwen Zhu, Wuhan University, China + */ +#include +#include "veloslam/gridcluster.h" + + +using namespace std; + + struct PointID +{ + int cellIndex; + int pointIndexInCell; +}; + + struct BesiegePoint +{ + double x; + double y; + double angle; + PointID pointID; +}; + + struct OrientedBoundingBox +{ + + double angle; + double length; + double width; + double circumference; + double area; + double newMaxXPointX; + double newMaxXPointY; + + double newMaxYPointX; + double newMaxYPointY; + + double newMinXPointX; + double newMinXPointY; + + double newMinYPointX; + double newMinYPointY; + PointID boundingPointID[4]; +}; + + +class BoundingBox +{ +public: + BoundingBox(void); + ~BoundingBox(void); + void Initial(void); + double CalDirectionTwoPoints(double XPos1,double YPos1,double XPos2,double YPos2); + + void CalCoordsAftRotation(double x,double y,double *newX,double *newY,double theta); + + void CalAllBoundingBox( cluster &gluClusterData); + + void CalBestRectangleBox(cluster &gluClusterData,clusterFeature &glu); + + void CalMinBoundingBox(cluster &gluClusterData,clusterFeature &glu); + +private : + bool calCandidateBox; + + + /** + * all rectangle bounding box candidates + */ + vector allCandBox; + + /** + * unregular minBounding box points + */ + vector minBoundingBox; + +}; diff --git a/.svn/pristine/2e/2ed449ccbf7fa33992f53488365eebb1fb24647d.svn-base b/.svn/pristine/2e/2ed449ccbf7fa33992f53488365eebb1fb24647d.svn-base new file mode 100644 index 0000000..2a6144b --- /dev/null +++ b/.svn/pristine/2e/2ed449ccbf7fa33992f53488365eebb1fb24647d.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/2f/2f11445c97e03f9b9f59443c5d19c10a70520e19.svn-base b/.svn/pristine/2f/2f11445c97e03f9b9f59443c5d19c10a70520e19.svn-base new file mode 100644 index 0000000..c2f01c3 --- /dev/null +++ b/.svn/pristine/2f/2f11445c97e03f9b9f59443c5d19c10a70520e19.svn-base @@ -0,0 +1,118 @@ +//---------------------------------------------------------------------- +// File: pr_queue_k.h +// Programmer: Sunil Arya and David Mount +// Description: Include file for priority queue with k items. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef PR_QUEUE_K_H +#define PR_QUEUE_K_H + +#include // all ANN includes +#include // performance evaluation + +//---------------------------------------------------------------------- +// Basic types +//---------------------------------------------------------------------- +typedef ANNdist PQKkey; // key field is distance +typedef int PQKinfo; // info field is int + +//---------------------------------------------------------------------- +// Constants +// The NULL key value is used to initialize the priority queue, and +// so it should be larger than any valid distance, so that it will +// be replaced as legal distance values are inserted. The NULL +// info value must be a nonvalid array index, we use ANN_NULL_IDX, +// which is guaranteed to be negative. +//---------------------------------------------------------------------- + +const PQKkey PQ_NULL_KEY = ANN_DIST_INF; // nonexistent key value +const PQKinfo PQ_NULL_INFO = ANN_NULL_IDX; // nonexistent info value + +//---------------------------------------------------------------------- +// ANNmin_k +// An ANNmin_k structure is one which maintains the smallest +// k values (of type PQKkey) and associated information (of type +// PQKinfo). The special info and key values PQ_NULL_INFO and +// PQ_NULL_KEY means that thise entry is empty. +// +// It is currently implemented using an array with k items. +// Items are stored in increasing sorted order, and insertions +// are made through standard insertion sort. (This is quite +// inefficient, but current applications call for small values +// of k and relatively few insertions.) +// +// Note that the list contains k+1 entries, but the last entry +// is used as a simple placeholder and is otherwise ignored. +//---------------------------------------------------------------------- + +class ANNmin_k { + struct mk_node { // node in min_k structure + PQKkey key; // key value + PQKinfo info; // info field (user defined) + }; + + int k; // max number of keys to store + int n; // number of keys currently active + mk_node *mk; // the list itself + +public: + ANNmin_k(int max) // constructor (given max size) + { + n = 0; // initially no items + k = max; // maximum number of items + mk = new mk_node[max+1]; // sorted array of keys + } + + ~ANNmin_k() // destructor + { delete [] mk; } + + PQKkey ANNmin_key() // return minimum key + { return (n > 0 ? mk[0].key : PQ_NULL_KEY); } + + PQKkey max_key() // return maximum key + { return (n == k ? mk[k-1].key : PQ_NULL_KEY); } + + PQKkey ith_smallest_key(int i) // ith smallest key (i in [0..n-1]) + { return (i < n ? mk[i].key : PQ_NULL_KEY); } + + PQKinfo ith_smallest_info(int i) // info for ith smallest (i in [0..n-1]) + { return (i < n ? mk[i].info : PQ_NULL_INFO); } + + inline void insert( // insert item (inlined for speed) + PQKkey kv, // key value + PQKinfo inf) // item info + { + register int i; + // slide larger values up + for (i = n; i > 0; i--) { + if (mk[i-1].key > kv) + mk[i] = mk[i-1]; + else + break; + } + mk[i].key = kv; // store element here + mk[i].info = inf; + if (n < k) n++; // increment number of items + ANN_FLOP(k-i+1) // increment floating ops + } +}; + +#endif diff --git a/.svn/pristine/2f/2f5d81bc7c1cfb683fa1da40d7b005be63cd8b78.svn-base b/.svn/pristine/2f/2f5d81bc7c1cfb683fa1da40d7b005be63cd8b78.svn-base new file mode 100644 index 0000000..67a2146 --- /dev/null +++ b/.svn/pristine/2f/2f5d81bc7c1cfb683fa1da40d7b005be63cd8b78.svn-base @@ -0,0 +1,42 @@ + + +int glui_img_listbox_up_dis[] = { 11, 17, /* width, height */ + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 127,127,127, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 191,191,191, + 255,255,255, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 127,127,127, + 191,191,191, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 127,127,127, 191,191,191, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 127,127,127, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 254,254,254, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 127,127,127, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 254,254,254, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 191,191,191, + 255,255,255, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 254,254,254, 191,191,191, 127,127,127, 127,127,127, + 191,191,191, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 127,127,127, 191,191,191, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 127,127,127, 191,191,191, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 127,127,127, 191,191,191, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 191,191,191, + 255,255,255, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 127,127,127, + 191,191,191, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,252, 255,255,255, 127,127,127, + 127,127,127, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, +}; diff --git a/.svn/pristine/2f/2f77d6e0485a1decf3938796c70543a7dc43d101.svn-base b/.svn/pristine/2f/2f77d6e0485a1decf3938796c70543a7dc43d101.svn-base new file mode 100644 index 0000000..c3ec621 --- /dev/null +++ b/.svn/pristine/2f/2f77d6e0485a1decf3938796c70543a7dc43d101.svn-base @@ -0,0 +1,116 @@ +#ifndef QUADTREE_H +#define QUADTREE_H + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ios; +using std::ofstream; +#include +using std::vector; +#include +using std::set; + +#include "slam6d/globals.icc" // globals constant definitions +//#include "defs.h" +//#include "plane.h" + +const int MIN_PTS_IN_BUCKET = -1; + + +/* +++++++++-------------++++++++++++ + * CLASS NAME + * QuadTree + * DESCRIPTION + * A quadtree is used to convert an + * unbounded 3D plane to a 3D surface, + * such that it can be drawn to the + * screen. + * The code is similar to the octree + * class. + * PARAMETERS + * -- + * +++++++++-------------++++++++++++ */ + +class QuadTree { + public: + + //QuadTree(double **pts, int n, double, Plane *); + QuadTree(double **pts, int n, double, double min_angle); + ~QuadTree(); + + vector >& getClusters(); + +// int outputQuad(char *); +// void getQuadTreePoints(vector &quad_x, vector &quad_y, vector &quad_z); +// void getQuadTreeColor(double &colorR, double &colorG, double &colorB); + + private: + + QuadTree(vector &splitPoints, double center[2], + double x_size, double y_size,set &n, + set &e, set &s, set &w); + + int countPoints(double **pts, int n, double center[2], + double x_size, double y_size); + + int countPointsAndQueue(const vector &i_points, + vector &points, + double center[2], + double x_size, double y_size, + set &n, + set &e, + set &s, + set &w); + + int countPointsAndQueue(double **pts, int , + vector &points, + double center[2], + double x_size, double y_size, + set &no, + set &e, + set &s, + set &w); + + // int _OutputQuad(ofstream& quadout); + vector > clusters; + set north; + set south; + set east; + set west; + + QuadTree *child[4]; + + vector points; + double center[2]; + double x_size, y_size; + double size2; + + int leaf; + + static int anz; + static double qSize; + static double dist; + + static bool close(double *p, set &cluster); + static bool close(double *p1, double *p2); + static int where(double *p1, vector >& clusters); + static vector >& clusterCells(vector > &clusters1, + set border1, + vector > &clusters2, + set border2, vector >&cl); +// static Plane *basePlane; +}; + +#endif + + + + + + + + + diff --git a/.svn/pristine/2f/2fefa5fbd180b972cfb8cdb93148ce50763f582b.svn-base b/.svn/pristine/2f/2fefa5fbd180b972cfb8cdb93148ce50763f582b.svn-base new file mode 100644 index 0000000..5e76972 --- /dev/null +++ b/.svn/pristine/2f/2fefa5fbd180b972cfb8cdb93148ce50763f582b.svn-base @@ -0,0 +1,33 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author ???, Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DDUALQUAT_H__ +#define __ICP6DDUALQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_DUAL : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_DUAL(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_DUAL() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 4; }; +}; + +#endif diff --git a/.svn/pristine/30/306410b8f38b27f016a128d70b0f94461c6ad30a.svn-base b/.svn/pristine/30/306410b8f38b27f016a128d70b0f94461c6ad30a.svn-base new file mode 100644 index 0000000..9e05b03 --- /dev/null +++ b/.svn/pristine/30/306410b8f38b27f016a128d70b0f94461c6ad30a.svn-base @@ -0,0 +1,192 @@ +/** + * @file + * @brief Clientside command structure for client-server interaction. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_CLIENTINTERFACE_H +#define SCANSERVER_CLIENTINTERFACE_H + +// segment manager, allocators, containers, pointers, mutexes ... +#include +#include +#include +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +// allocator and type for a shared string +typedef ip::allocator CharAllocator; +typedef ip::basic_string, CharAllocator> SharedString; + +#include "scanserver/sharedScan.h" +#include "scanserver/cache/cacheObject.h" + + + +//! TEST: Pod message type +enum message_t { + MESSAGE_NONE = 0, + MESSAGE_STOP, + MESSAGE_READ_DIRECTORY, + MESSAGE_LOAD_CACHE_OBJECT, + MESSAGE_ALLOCATE_CACHE_OBJECT, + MESSAGE_INVALIDATE_CACHE_OBJECT, + MESSAGE_GET_POSE, + MESSAGE_ADD_FRAME, + MESSAGE_LOAD_FRAMES_FILE, + MESSAGE_SAVE_FRAMES_FILE, + MESSAGE_CLEAR_FRAMES, + MESSAGE_GET_CACHE_SIZE, + MESSAGE_PRINT_METRICS +}; + + + +/** + * @brief Clientside communication for the scanserver management. + * + * This is the main class visible in clients, relaying all calls to the server via shared memory. Access can be obtained via create and subsequent calls to getInstance. + * All calls to the server are put into a message type and its arguments written to interprocess containers for transfer to the server. + * The ServerInterface derives this class to share the mutexes and arguments and hides the server functionality from the client. This also splits up compilation between the client and server parts. + */ +class ClientInterface { +protected: + //! The segment manager used for creating new objects with construct<> + ip::offset_ptr segment_manager; + + //! Void allocator to use for ip-STL-containers + ip::allocator allocator; + + //! Mutex for concurrent access to the client interface, protecting the server communication and argument manipulation + ip::interprocess_mutex m_mutex_client; + + //! Mutex for client-server communication, handling the process switch and work on the server + ip::interprocess_mutex m_mutex_server; + + //! Condition the server waits on and the client notifies to + ip::interprocess_condition m_condition_server; + + //! Condition the clients will wait on while the server processes + ip::interprocess_condition m_condition_client; + + //! TEST: Pod message type + message_t m_message; + + //! String arguments for message passing + SharedString m_arg_string_1, m_arg_string_2; + + //! Integer arguments for message passing + unsigned int m_arg_uint_1, m_arg_uint_2; + + //! size_t argument for >4GB sizes + std::size_t m_arg_size_t; + + //! Float arguments for message passing + float m_arg_float_1, m_arg_float_2; + + //! IO type argument for message passing + IOType m_arg_io_type; + + //! An error message containing detais + SharedString m_error_message; + + //! Pointer for a scanvector + ip::offset_ptr m_scanvector_ptr; + + //! Pointer for a scan + ip::offset_ptr m_sharedscan_ptr; + + //! Pointer for a cache object + ip::offset_ptr m_cacheobject_ptr; + +// TODO: remove this later on, this is for close for the testclient +public: +// private: + //! internal message sending + void sendMessage(message_t message); + +public: + //! Add and read a directory into the scan vector, ownership: client + SharedScanVector* readDirectory(const char* dir_path, IOType type = UOS, unsigned int start = 0, unsigned int end = -1); + + //! "Close" a directory by releasing all contained scans, deleting the vector and resetting the pointer + void closeDirectory(SharedScanVector*& scans); + + //! Called from SharedScan on a cache miss, this requests the serverside cache handler to load, returns false if no cached file was found + bool loadCacheObject(CacheObject* obj); + + //! Called from SharedScan, request enough memory to hold reduced points + void allocateCacheObject(CacheObject* obj, unsigned int size); + + //! Called from SharedScan, let the CacheManager invalide a CacheObject + void invalidateCacheObject(CacheObject* obj); + + //! Called from SharedScan, requests the pose + void getPose(SharedScan* scan); + + //! Called from SharedScan, requests a frame and writes into it + void addFrame(SharedScan* scan, double* transformation, unsigned int type); + + //! Called from SharedScan, requests loading frames saved in the file + void loadFramesFile(SharedScan* scan); + + //! Called from SharedScan, requests saving frames into a file + void saveFramesFile(SharedScan* scan); + + //! Called from SharedScan, this removes all previous contained frames + void clearFrames(SharedScan* scan); + + //! Returns the CacheObject shared memory size for allocation and planning purposes + std::size_t getCacheSize(); + + //! Let the server print out its metric + void printMetrics(); + +protected: + //! Trivial constructor: initialize all shared memory containers, only allowed to be called by the ServerInterface + ClientInterface(SegmentManager* sm) : + segment_manager(sm), + allocator(sm), + m_message(MESSAGE_NONE), + m_arg_string_1(allocator), + m_arg_string_2(allocator), + m_error_message(allocator) + { + } + + // only the instance in the server will deconstruct + virtual ~ClientInterface() + { + } + +protected: + //! The one shared memory opened in the application, a single one in each of the clients and in the server + static ip::managed_shared_memory* m_msm; + +private: + //! Client singleton for easy global access in the whole application + static ClientInterface* m_singleton; + +public: + //! Opens the shared memory and sets the singleton in a client process + static ClientInterface* create(); + + //! Closes the shared memory + static void destroy(); + + //! Returns the singleton instance + static ClientInterface* getInstance(); +}; + +#endif //SCANSERVER_CLIENTINTERFACE_H diff --git a/.svn/pristine/30/30b8aef4df214b525f18571ecabd4bb5164c30d5.svn-base b/.svn/pristine/30/30b8aef4df214b525f18571ecabd4bb5164c30d5.svn-base new file mode 100644 index 0000000..6452083 --- /dev/null +++ b/.svn/pristine/30/30b8aef4df214b525f18571ecabd4bb5164c30d5.svn-base @@ -0,0 +1,36 @@ +/* include/config.h.in. Generated automatically from configure.in by autoheader. */ + +/* Define to empty if the keyword does not work. */ +#undef const + +/* Define if the setvbuf function takes the buffering type as its second + argument and the buffer pointer as the third, as on System V + before release 3. */ +#undef SETVBUF_REVERSED + +/* Define if you have the ANSI C header files. */ +#undef STDC_HEADERS + +/* Define if you have the gettimeofday function. */ +#undef HAVE_GETTIMEOFDAY + +/* Define if you have the popen function. */ +#undef HAVE_POPEN + +/* Define if you have the wcschr function. */ +#undef HAVE_WCSCHR + +/* Define if you have the wcsdup function. */ +#undef HAVE_WCSDUP + +/* Define if you have the header file. */ +#undef HAVE_PAM_H + +/* Define if you have the header file. */ +#undef HAVE_PNM_H + +/* Define if you have the header file. */ +#undef HAVE_UNISTD_H + +/* Define if you have the header file. */ +#undef HAVE_WCHAR_H diff --git a/.svn/pristine/31/314227037c96d4129f0ae3b99b3054194de85e17.svn-base b/.svn/pristine/31/314227037c96d4129f0ae3b99b3054194de85e17.svn-base new file mode 100644 index 0000000..7060ccf --- /dev/null +++ b/.svn/pristine/31/314227037c96d4129f0ae3b99b3054194de85e17.svn-base @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using SLERP + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_SLERP_H__ +#define __ELCH6D_SLERP_H__ + +#include "elch6D.h" + +class elch6Dslerp : public elch6D { + + public: + elch6Dslerp(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/.svn/pristine/32/32250353bae1cc0945b11ff22f9065c0f50af294.svn-base b/.svn/pristine/32/32250353bae1cc0945b11ff22f9065c0f50af294.svn-base new file mode 100644 index 0000000..0f84079 --- /dev/null +++ b/.svn/pristine/32/32250353bae1cc0945b11ff22f9065c0f50af294.svn-base @@ -0,0 +1,287 @@ +/* + * scan_io_rxp implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_rxp.h" +#include "riegl/scanlib.hpp" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".rxp" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + +/* +TODO: this file is still work in progress for change to the new scanserver workflow +this ScanIO has to distinguish a multi scan file and a directory of single scan files and is currently very messy handling these with the importer class +*/ + + + +std::list ScanIO_rxp::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + + path pose(dir_path); + if(is_regular_file(pose)) { + // TODO: create identifiers for this case + // a) from start to end, requires sanity checks and goodwill of user + // b) iterate through the file and get last index + // c) check last index by other means through the riegl api? + // TEMP: implementing a) without sanity checks :) + for(unsigned int i = start; i < end; ++i) { + identifiers.push_back(to_string(i,3)); + } + } else { + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + } + return identifiers; +} + +void ScanIO_rxp::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + + // if the directory actually marks a (multi scan) file, return zero pose + // TODO: test if pose_path gets constructed correctly, see removal of trailing / in the old code + if(is_regular_file(pose_path.string())) { + for(i = 0; i < 6; ++i) pose[i] = 0.0; + return; + } + + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + boost::filesystem::ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_rxp::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_REFLECTANCE | DATA_AMPLITUDE | DATA_DEVIATION | DATA_TYPE)); +} + +void ScanIO_rxp::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + + path data_path(dir_path); + + // distinguish file and directory + if(is_regular_file(data_path)) { + stringstream str(identifier); + int scan_index; + str >> scan_index; + // first clean up if they "directory" has changed + // second case of resetting: rewinding index in case of non-sequential index access + if(old_path != dir_path || (imp != 0 && imp->getCurrentScan() > scan_index)) { + // TODO: I'm assuming here that I can simply do this + if(rc != 0) { rc->close(); } + if(dec != 0) { delete dec; dec = 0; } + if(imp != 0) { delete imp; imp = 0; } + // TODO ^ + } + // create directory-persistent decoder + if (!dec) { + // remember path + old_path = dir_path; + + // create new connection + rc = basic_rconnection::create(data_path.string()); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + // TODO: this won't really work because filter is gone and xyz too and everything breaks + // probably set new filter and xyz in the importer + imp = new importer(filter, scan_index, xyz, reflectance, amplitude, type, deviation); + } + + // set new filter and vectors + imp->set(filter, xyz, reflectance, amplitude, type, deviation); + + buffer buf; + + // skip the first scans + if(imp->getCurrentScan() < scan_index) { + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + if(imp->getCurrentScan() >= scan_index) break; + } + } + if(dec->eoi()) return; + int cscan = imp->getCurrentScan(); + // iterate over chunks, until the next scan is reached + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + if(imp->getCurrentScan() != cscan) break; + } + + return; + } + + // error handling + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + string data_path_str; + data_path_str = "file://" + data_path.string(); + rc = basic_rconnection::create(data_path_str); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(filter, 0, xyz, reflectance, amplitude, type, deviation); + + // iterate over chunks + buffer buf; + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + // TODO: clean up all these pointers, aren't they dangling? + } +} + +void importer::on_echo_transformed(echo_type echo) +{ + // for multi scan files, ignore those before start + if (currentscan < start) return; + + // targets is a member std::vector that contains all + // echoes seen so far, i.e. the current echo is always + // indexed by target_count-1. + target& t(targets[target_count - 1]); + + double point[3]; + point[0] = t.vertex[1]*-100.0; + point[1] = t.vertex[2]*100.0; + point[2] = t.vertex[0]*100.0; + + if(filter->check(point)) { + if(xyz) { + for(unsigned int i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(reflectance) reflectance->push_back(t.reflectance); + if(amplitude) amplitude->push_back(t.amplitude); + if(deviation) deviation->push_back(t.deviation); + if(type) { + if(pointcloud::first == echo) type->push_back(0); + else if(pointcloud::interior == echo) type->push_back(1); + else if(pointcloud::last == echo) type->push_back(10); + else if(pointcloud::single == echo) type->push_back(9); + } + } + + /* + // target.reflectance + // target.amplitude + // target.deviation + // target.time + // target.vertex point coordinates + */ +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rxp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/32/325e477fa262d358d99bade889afebec00301298.svn-base b/.svn/pristine/32/325e477fa262d358d99bade889afebec00301298.svn-base new file mode 100644 index 0000000..99e5bb9 --- /dev/null +++ b/.svn/pristine/32/325e477fa262d358d99bade889afebec00301298.svn-base @@ -0,0 +1,260 @@ +/* + * scanHandler implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/scanHandler.h" + +#include +#include +#include +using namespace std; + +#include +using boost::scoped_ptr; + +#include "scanserver/cache/cacheManager.h" +#include "scanio/scan_io.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + + +bool ScanHandler::binary_caching = false; +std::map* > ScanHandler::m_prefetch_xyz; +std::map* > ScanHandler::m_prefetch_rgb; +std::map* > ScanHandler::m_prefetch_reflectance; +std::map* > ScanHandler::m_prefetch_amplitude; +std::map* > ScanHandler::m_prefetch_type; +std::map* > ScanHandler::m_prefetch_deviation; + + + +//! Abstract class for merging calls to the main vector +class PrefetchVectorBase { +public: + virtual bool prefetch() = 0; + virtual void create() = 0; + virtual unsigned int size() const = 0; + virtual void write(void* data_ptr) = 0; +}; + +/** Class for handling a vector and its special case for prefetching. + * + * Outline: prefetch() main vector, otherwise create() on main+prefetched + * vectors and use of ScanIO, cache allocation with size(), write() for main, + * save() for prefetched vectors. + */ +template +class PrefetchVector : public PrefetchVectorBase { +public: + PrefetchVector(SharedScan* scan, map*>& prefetches) : + m_scan(scan), m_prefetches(&prefetches), m_vector(0) + { + } + + ~PrefetchVector() + { + // remove vectors that are still here (RAII/exceptions) + if(m_vector) + delete m_vector; + } + + inline vector* get() const { return m_vector; } + + //! If a prefetch is found, take ownership and signal true for a successful prefetch + virtual bool prefetch() + { + // check if a prefetch is available + typename map*>::iterator it = m_prefetches->find(m_scan); + if(it != m_prefetches->end()) { + // take ownership of the vector and remove it from the map + m_vector = it->second; + m_prefetches->erase(it); + return true; + } + return false; + } + + //! Create an empty vector + virtual void create() { + if(m_vector == 0) { + m_vector = new vector; + } + } + + //! Size of vector contents in bytes + virtual unsigned int size() const { + return m_vector->size()*sizeof(T); + } + + //! Write vector contents into the cache object via \a data_ptr and clean up the vector + virtual void write(void* data_ptr) { + // write vector contents + for(unsigned int i = 0; i < m_vector->size(); ++i) { + reinterpret_cast(data_ptr)[i] = (*m_vector)[i]; + } + // remove so it won't get saved for prefetches + delete m_vector; + m_vector = 0; + } + + //! Save vector for prefetching + void save() { + if(m_vector != 0 && m_vector->size() != 0) { + // create map entry and assign the vector + (*m_prefetches)[m_scan] = m_vector; + // ownership transferred + m_vector = 0; + } + } +private: + SharedScan* m_scan; + map*>* m_prefetches; + + vector* m_vector; +}; + + + +ScanHandler::ScanHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, IODataType data) : + TemporaryHandler(obj, cm, scan, true), + m_data(data) +{ +} + +bool ScanHandler::load() +{ + ScanIO* sio = ScanIO::getScanIO(m_scan->getIOType()); + + // avoid loading of a non-supported type + if(!sio->supports(m_data)) return false; + +#ifdef WITH_METRICS + Timer t = ServerMetric::scan_loading.start(); +#endif //WITH_METRICS + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load" << endl; + + // if binary scan caching is enabled try to read it via TemporaryHandler first, if written-flag wasn't set or file didn't exist, parse scan + if(binary_caching) { + if(TemporaryHandler::load()) { + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load successful via TemporaryHandler" << endl << endl; +#ifdef WITH_METRICS + ServerMetric::scan_loading.end(t); +#endif //WITH_METRICS + return true; + } + } + + PrefetchVector xyz(m_scan, m_prefetch_xyz); + PrefetchVector rgb(m_scan, m_prefetch_rgb); + PrefetchVector reflectance(m_scan, m_prefetch_reflectance); + PrefetchVector amplitude(m_scan, m_prefetch_amplitude); + PrefetchVector type(m_scan, m_prefetch_type); + PrefetchVector deviation(m_scan, m_prefetch_deviation); + + // assign vector for this particular ScanHandler + PrefetchVectorBase* vec = 0; + if(m_data == DATA_XYZ) vec = &xyz; + else if(m_data == DATA_RGB) vec = &rgb; + else if(m_data == DATA_REFLECTANCE) vec = &reflectance; + else if(m_data == DATA_AMPLITUDE) vec = &litude; + else if(m_data == DATA_TYPE) vec = &type; + else if(m_data == DATA_DEVIATION) vec = &deviation; + + unsigned int prefetch = m_scan->getPrefetch(); + // try to prefetch only the requested type from its handler + if(vec->prefetch()) + { + // nothing to do if prefetch was successful, vector is initialized + // reset prefetch flags, nothing needs to be saved + prefetch = 0; + } else { + // create vector and exclude it from prefetch handling + vec->create(); + prefetch &= ~m_data; + + // create vectors which are to be prefetched + if(prefetch & DATA_XYZ) xyz.create(); + if(prefetch & DATA_RGB) rgb.create(); + if(prefetch & DATA_REFLECTANCE) reflectance.create(); + if(prefetch & DATA_AMPLITUDE) amplitude.create(); + if(prefetch & DATA_TYPE) type.create(); + if(prefetch & DATA_DEVIATION) deviation.create(); + + // request data from the ScanIO + try { + PointFilter filter(m_scan->getPointFilter()); + sio->readScan(m_scan->getDirPath(), m_scan->getIdentifier(), + filter, + xyz.get(), rgb.get(), reflectance.get(), amplitude.get(), type.get(), deviation.get()); + } catch(std::runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanIO runtime_error: " << e.what() << endl; + // rethrow + throw e; + } catch(std::bad_alloc& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanIO bad_alloc: " << e.what() << endl; + // rethrow + throw e; + } + } + + // after successful loading, allocate enough cache space + unsigned int size = vec->size(); + void* data_ptr; + try { + data_ptr = m_manager->allocateCacheObject(m_object, size); + } catch(runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] CacheManager error: " << e.what() << endl; + // rethrow + throw e; + } + + // write data into the cache object and clean up the vector + vec->write(data_ptr); + + // save all vectors that still hold their data for prefetching + xyz.save(); + rgb.save(); + reflectance.save(); + amplitude.save(); + type.save(); + deviation.save(); + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load successful" << endl << endl; + +#ifdef WITH_METRICS + ServerMetric::scan_loading.end(t); +#endif //WITH_METRICS + return true; +} + +void ScanHandler::save(unsigned char* data, unsigned int size) +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::save" << endl; + + // if global binary scan caching is enabled, save to file for later faster reloading + if(binary_caching) { + // duplicate writes of static data are handled in TemporaryHandler already + TemporaryHandler::save(data, size); + } +} + +void ScanHandler::setBinaryCaching() +{ + binary_caching = true; +} diff --git a/.svn/pristine/32/32a238798735f4d06751794591ac341c7022c67b.svn-base b/.svn/pristine/32/32a238798735f4d06751794591ac341c7022c67b.svn-base new file mode 100644 index 0000000..360579e --- /dev/null +++ b/.svn/pristine/32/32a238798735f4d06751794591ac341c7022c67b.svn-base @@ -0,0 +1,90 @@ +#----------------------------------------------------------------------------- +# Makefile for the sample program +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- +# Note: For full performance measurements, it is assumed that the library +# and this program have both been compiled with the -DPERF flag. See the +# Makefile in the ANN base directory for this flag. +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIBS libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANNSAMP name of sample program +#----------------------------------------------------------------------------- + +ANNSAMP = ann_sample + +SAMPSOURCES = ann_sample.cpp +SAMPOBJECTS = $(SAMPSOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANNSAMP) + +$(BINDIR)/$(ANNSAMP): $(SAMPOBJECTS) $(LIBDIR)/$(ANNLIB) + $(C++) $(SAMPOBJECTS) -o $(ANNSAMP) $(LDFLAGS) $(ANNLIBS) + mv $(ANNSAMP) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann_sample.o: ann_sample.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) ann_sample.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o *.out core + +realclean: clean diff --git a/.svn/pristine/33/33079e2c14fb00785e564f3b9050bcf9f77946e2.svn-base b/.svn/pristine/33/33079e2c14fb00785e564f3b9050bcf9f77946e2.svn-base new file mode 100644 index 0000000..d8173a2 --- /dev/null +++ b/.svn/pristine/33/33079e2c14fb00785e564f3b9050bcf9f77946e2.svn-base @@ -0,0 +1,51 @@ +Data Points: +(-0.297462, 0.176102) +(0.565538, -0.361496) +(0.909313, -0.182785) +(0.920712, 0.478408) +(0.167682, 0.0499836) +(0.305223, -0.0805835) +(0.114973, 0.882453) +(0.742916, 0.16376) +(0.0724605, -0.826775) +(0.69096, -0.559284) +(0.188485, -0.643934) +(0.749427, -0.942415) +(-0.970662, -0.223466) +(0.91611, 0.879597) +(0.927417, -0.382593) +(-0.711327, 0.278713) +(-0.519172, 0.986146) +(0.135338, 0.924588) +(-0.0837537, 0.61687) +(0.0520465, 0.896306) +Query point: (0.0902484, -0.207129) + NN: Index Distance + 0 5 0.249455 +Query point: (-0.419567, 0.485743) + NN: Index Distance + 0 0 0.332847 +Query point: (0.826225, -0.30962) + NN: Index Distance + 0 14 0.124759 +Query point: (0.694758, 0.987088) + NN: Index Distance + 0 13 0.246071 +Query point: (-0.410807, -0.465182) + NN: Index Distance + 0 8 0.60357 +Query point: (-0.836501, 0.490184) + NN: Index Distance + 0 15 0.245741 +Query point: (0.588289, 0.656408) + NN: Index Distance + 0 3 0.37708 +Query point: (0.325807, 0.38721) + NN: Index Distance + 0 4 0.372458 +Query point: (-0.532226, -0.727036) + NN: Index Distance + 0 8 0.612857 +Query point: (-0.52506, -0.853508) + NN: Index Distance + 0 8 0.598118 diff --git a/.svn/pristine/33/3345e9c13212bbb7afbf96c9b8a32c6f84618e9d.svn-base b/.svn/pristine/33/3345e9c13212bbb7afbf96c9b8a32c6f84618e9d.svn-base new file mode 100644 index 0000000..3ac970f --- /dev/null +++ b/.svn/pristine/33/3345e9c13212bbb7afbf96c9b8a32c6f84618e9d.svn-base @@ -0,0 +1,653 @@ +/* + * intersection_detection implementation + * + * Copyright (C) Chen Long, Li Wei, Li Ming, Andreas Nuechter, + * + * Released under the GPL version 3. + * + */ + +#include "veloslam/intersection_detection.h" +#include "veloslam/veloscan.h" +#include +#include +#define DefaultColumnSize 360 + +svm_model *m = svm_load_model("SegIter.model"); +svm_node *nod=new svm_node[361]; + +IntersectionDetection::IntersectionDetection() +{ + slashWide=200; + slashMaxLength=3500; + slashAngleDefinition=1; + + columnNum= 360; + cellSize= 50; + MaxRad=6000; + if(MaxRad%cellSize!=0) + MaxRad=(MaxRad/cellSize+1)*cellSize; + cellNum=MaxRad/cellSize; + MinRad=0; + +// CalcRadAndTheta(); +} + +IntersectionDetection::~IntersectionDetection() +{ + + +} + +int IntersectionDetection::GetPointData() +{ + for(unsigned int i = 0; i < Scan::allScans.size(); i++) + for (int j = 0; j < Scan::allScans[i]->get_points_red_size(); j++) + { + Point p; + p.x=Scan::allScans[i]->get_points_red()[j][0]; + p.y=Scan::allScans[i]->get_points_red()[j][1]; + p.z=Scan::allScans[i]->get_points_red()[j][2]; + allPoints_AfterRegstn.push_back(p); + } + + return 0; +} + +int IntersectionDetection::CalcRadAndTheta() +{ + + GetPointData(); + int i,j; + int size= allPoints_AfterRegstn.size(); + + for(i=0; i< size; ++i) + { + allPoints_AfterRegstn[i].rad = sqrt( allPoints_AfterRegstn[i].x*allPoints_AfterRegstn[i].x + + allPoints_AfterRegstn[i].z*allPoints_AfterRegstn[i].z ); + allPoints_AfterRegstn[i].tan_theta = allPoints_AfterRegstn[i].z/allPoints_AfterRegstn[i].x; + } + return 0; + +} + + +int IntersectionDetection::CalPointCellPos(double x,double y,double z ,int * column,int * row) +{ + int i,j,count=0; + float flag; + int offset; + int sectionSize=columnNum/8; + float inc=(M_PI*2)/columnNum; + + vector tanv; + vector::iterator result; + + for(i=0; i0 && z>0 ) + { + if(x >z) + { + flag=tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(x<0 && z>0) + { + if(-x>z) + { + flag=-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(x<0&&z<0) + { + if(-x>-z) + { + flag=tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(x>0&&z<0) + { + if(x>-z) + { + flag=-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + int k= (int)((rad-MinRad)/(cellSize*1.0)); + * column=offset; + * row=k; + return 0; +} + + +int IntersectionDetection::CalCellMinDis() +{ + for(int i=0;icellSize) + minCellDis=cellSize; + minCellDisList.push_back(minCellDis); + } + minCellDisList[0]=minCellDisList[1]; + + return 0; +} + + +int IntersectionDetection::TransferToCellArray() +{ + + int i,j,count=0; + float flag; + int offset; + int sectionSize=columnNum/8; + + + cellArray_AfterRegstn.resize(columnNum); + for(i=0; i tanv; + vector::iterator result; + + for(i=0; i=MaxRad) + continue; + + if(pt.x >0 && pt.z>0 ) + { + if(pt.x > pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(pt.x<0 && pt.z>0) + { + if(-pt.x>pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(pt.x<0&&pt.z<0) + { + if(-pt.x>-pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(pt.x>0&&pt.z<0) + { + if(pt.x>-pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + else + { + continue; + } + + int k= (int)((pt.rad-MinRad)/(cellSize*1.0)); + cellArray_AfterRegstn[offset][k].push_back(&pt); + } + return 0; +} + + +int IntersectionDetection:: CalcCellFeature(cell& cellobj, cellFeature& f) +{ + int outlier; + float lastMaxY; + f.size=cellobj.size(); + f.cellType=0; + + if(f.size==0) + { + f.cellType|=CELL_TYPE_INVALID; + return 0; + } + + f.ave_x= f.ave_y = f.ave_z=0.0; + f.delta_y=0; + + int i=0; + for(i=0; ix; + f.ave_z+=cellobj[i]->z; + f.ave_y+=cellobj[i]->y; + + if(i==0) + { + outlier=0; + f.min_x=f.max_x=cellobj[i]->x; + f.min_z=f.max_z=cellobj[i]->z; + lastMaxY=f.min_y=f.max_y=cellobj[i]->y; + } + else + { + if(f.max_xx) f.max_x=cellobj[i]->x; + + if(f.min_x>cellobj[i]->x) f.min_x=cellobj[i]->x; + + if(f.max_zz) f.max_z=cellobj[i]->z; + + if(f.min_z>cellobj[i]->z) f.min_z=cellobj[i]->z; + + if(f.max_yy) + { + lastMaxY=f.max_y; + f.max_y=cellobj[i]->y; + outlier=i; + } + + if(f.min_y>cellobj[i]->y) + f.min_y=cellobj[i]->y; + } + } + + if(f.size>1) + { + int y=f.ave_y-cellobj[outlier]->y; + y/=(f.size-1)*1.0; + + if(cellobj[outlier]->y-y<50) + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + else + { + f.max_y=lastMaxY; + f.ave_y=y; + } + } + else + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + + f.ave_x/=f.size*1.0; + f.ave_z/=f.size*1.0; + + for(i=0; iy - f.ave_y); + } + + float threshold; + threshold=f.delta_y; + + float GridThresholdGroundDetect =120; + if(threshold > GridThresholdGroundDetect) + f.cellType|=CELL_TYPE_ABOVE_DELTA_Y; + else + f.cellType|=CELL_TYPE_BELOW_DELTA_Y; + return 0; +} + + +int IntersectionDetection::CalcAllCellFeature() +{ + int i,j; + + if( cellArray_AfterRegstn.size()==0) + return -1; + + if( cellFeatureArray_AfterRegstn.size()==0) + { + cellFeatureArray_AfterRegstn.resize(columnNum); + for(i=0; i 120) + // cellFeatureArray_AfterRegstn[j][i].cellType |= CELL_TYPE_ABOVE_DELTA_Y; + } + } + return 0; + +} + +int IntersectionDetection::CalWideSlashEdge_For_RoadShape(float Angle,int startColumID,int startCellID,float maxLength,float wide) +{ + float LengthX; + float LengthZ; + double sinAngle=sin(Angle*M_PI/180); + double cosAngle=cos(Angle*M_PI/180); + float columnAngle=360.0/columnNum; + + float XPos=cellSize*(startCellID+0.5)*cos( columnAngle*(startColumID+0.5)*M_PI/180); + float ZPos=cellSize*(startCellID+0.5)*sin( columnAngle*(startColumID+0.5)*M_PI/180); + + float halfWide=wide/2; + float vexPointXPos1,vexPointZPos1,vexPointXPos2,vexPointZPos2,closePointX,closePointZ; + float moveInterval=0; + float midPointX,midPointZ; + int pointColumn,pointRow; + + IntersectionFeature temp; + temp.slashLength=maxLength; + temp.angle=Angle; + + for(float k=0;k + vexPointXPos2*vexPointXPos2+vexPointZPos2*vexPointZPos2) + { + closePointX=vexPointXPos2; + closePointZ=vexPointZPos2; + } + else + { + closePointX=vexPointXPos1; + closePointZ=vexPointZPos1; + } + CalPointCellPos(closePointX,0,closePointZ,&pointColumn,&pointRow); + moveInterval=minCellDisList[pointRow]; + + for(float i=0;i<=wide;i+=moveInterval) + { + midPointX=vexPointXPos1-i*cosAngle*moveInterval; + midPointZ=vexPointZPos1+i*sinAngle*moveInterval; + CalPointCellPos(midPointX,0,midPointZ,&pointColumn,&pointRow); + + if(pointRow>cellNum-1) + { + temp.slashEndColumn=pointColumn; + temp.slashEndRow=cellNum-1; + goto labelCalSlashEdge_For_RoadShape; + } + cellFeature& cellobj=cellFeatureArray_AfterRegstn[pointColumn][pointRow]; + if(cellobj.cellType & CELL_TYPE_ABOVE_DELTA_Y ) + { + temp.slashEndColumn=pointColumn; + temp.slashEndRow=pointRow; + temp.slashLength=k; + goto labelCalSlashEdge_For_RoadShape; + + } + } + + } + +labelCalSlashEdge_For_RoadShape: + temp.slashLength=temp.slashLength/100;//单位化为m + intersectionFeature.push_back(temp); + + return 0; +} + + +int IntersectionDetection::DetectIntersection() +{ + int startColumn=0; + int startRow=30; + + for(float i=0;i<360;i+=slashAngleDefinition) + { + CalWideSlashEdge_For_RoadShape(i,startColumn,startRow,slashMaxLength,slashWide); + } + + double labelSVM; + for(int i=0;i<360;i++) + { + nod[i].index=i+1; + nod[i].value=intersectionFeature[i].slashLength/slashMaxLength; + } + nod[360].index=-1; + labelSVM= svm_predict(m,nod); + + ofstream output; + output.open("intersection.txt"); + output<<"labelSVM:"<0.5) + cout<<"intersection"< +#endif + +#include "show/show.h" +#include "show/show_Boctree.h" +#include "show/compacttree.h" +#include "show/NurbsPath.h" +#include "show/vertexarray.h" +#include "slam6d/scan.h" +#include "veloslam/veloscan.h" +#include "glui/glui.h" /* Header File For The glui functions */ +#include +using std::ifstream; +#include +using std::exception; + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include "slam6d/point_type.h" +#include "show/display.h" + +/** + * This vector contains the pointer to a vertex array for + * all colors (inner vector) and all scans (outer vector) + */ +vector< vector > vvertexArrayList; + +vector< ::SDisplay*> displays; +/** + * the octrees that store the points for each scan + */ +//Show_BOctTree **octpts; +vector octpts; +/** + * Storing the base directory + */ +string scandirectory; + +/** + * Storing the ID of the main windows + */ +int window_id; + +/** + * Size of points + */ +GLfloat pointsize = 1.0; +int anim_delay = 5; + +/** + * Select Color Buffer + */ +GLenum buffermode = GL_BACK; + +/** + * Indicator whether and how the drawing window + * has to be updated. + * + * haveToUpdate == 1 redisplay + * haveToUpdate == 2 reshape + * haveToUpdate == 3 animation scan matching + * haveToUpdate == 4 stop animation scan matching + * haveToUpdate == 6 path animation + * haveToUpdate == 7 force redisplay with all points + */ +int haveToUpdate = 0; + +/** + * Flag for invert the scene + */ +bool invert = false; + +/** + * Flag for indicating brid eyes view + */ +bool showTopView = false; + +/** + * Flag for idicating camera add mode + */ +bool addCameraView = false; //Is the view in add box mode? + +/** + * Storing the apex angle of the camera + */ +GLfloat cangle = 60.0; // Current camera opening mode +GLfloat cangle_old = cangle; + +/** + * Current rotation axis of the scene as quaternion + */ +GLdouble quat[4] ={0.0, 0.0, 0.0, 1.0}; +GLdouble Rquat[4] ={0.0, 0.0, 0.0, 1.0}; + +/** + * Current translation of the scene + */ +GLdouble X = 0.0, Y = 0.0, Z = 0.0; +GLdouble RVX = 0.0, RVY = 0.0, RVZ = 0.0; + +/** + * parallel zoom (similar to apex angle) for parallel projection + */ +GLfloat pzoom = 2000.0; +GLfloat pzoom_old = pzoom; + + +/** + * Mode of the fog (exp, exp2, linear) + */ +GLint fogMode = GL_EXP; + +/** + * Indicates if fog should be shown + */ +int show_fog = 1; + +/** + * Indicates if the points should be shown + */ +int show_points = 1; // Show data points in the viewer? + +/** + * Indicates if camera boxes should be shown + */ +int show_cameras = 1; // Show the camera boxes in the viewer? + +/** + * Indicates if camera path or robot path should be shown + */ +int show_path = 1; // Show the camera movement path ? + +/** + * Camera navigation by mouse or by panel + */ +int cameraNavMouseMode = 1; + +int mouseNavX, mouseNavY; +int mouseNavButton = -1; + +double mouseRotX = 0.0; +double mouseRotY = 0.0; +double mouseRotZ = 0.0; + +bool keymap[256]; + +//@@@ +//int animate_both = 0; // Animate both scan matchin and path? + +int frameNr = 0; + +/** + * Storing of all transformation (frames for animation) of all scans + */ +vector < vector > MetaMatrix; + +/** + * Storing of AlgoType for all frames + */ +vector < vector > MetaAlgoType; + +/** + * Window position + */ +int START_X = 0; +int START_Y = 0; +int START_WIDTH = 720; +int START_HEIGHT = 576; +GLdouble aspect = (double)START_WIDTH/(double)START_HEIGHT; // Current aspect ratio +bool advanced_controls = false; + +bool fullscreen = false; +int current_width = START_WIDTH; +int current_height = START_HEIGHT; + + +// the following values are scale dependant, i.e. all values are in m +float neardistance = 0.10; +double oldneardistance = 0.10; +float maxfardistance = 400.0;; +double fardistance = 400.0; +double oldfardistance = 40000.0; +double movementSpeed = 0.1; +double defaultZoom = 20.0; +GLfloat fogDensity = 0.1; +double voxelSize = 0.20; + + +float adaption_rate = 1.0; +float LevelOfDetail = 0.0001; + + +// Defines for Point Semantic +#define TYPE_UNKNOWN 0x0000 +#define TYPE_OBJECT 0x0001 +#define TYPE_GROUND 0x0002 +#define TYPE_CEILING 0x0003 + +unsigned int cam_choice = 0; + +static unsigned int path_iterator = 0; +static int oldcamNavMode = 0; + +/** + * Animation sould be saved to file + */ +int save_animation = 0; +/** + * If true, interpolation for camera path is based on distance, else always + * the same number of images between two cameras. + */ +int inter_by_dist = 1; + +/**some variables for the camera path**/ +vector path_vectorX, path_vectorZ, lookat_vectorX, lookat_vectorZ, ups_vectorX, ups_vectorZ; +vector cams; +vector lookats; +vector ups; + +NurbsPath cam_nurbs_path; +char *path_file_name; +char *pose_file_name; + +/** Factor for saved image size */ +int factor = 1; + +/** + * program tries to have this framerate + */ +float idealfps = 20.0; +/** + * value of the listBox fo Color Value and Colormap + */ +int listboxColorVal = 0; +int listboxColorMapVal = 0; +int colorScanVal = 0; +ScanColorManager *cm; +float mincolor_value = 0.0; +float maxcolor_value = 0.0; +//unsigned int types = Point::USE_HEIGHT; +PointType pointtype; + +/** + * Contains the selected points for each scan + */ +set *selected_points; +/** + * Select single points? + */ +int select_voxels = 0; +/** + * Select or unselect points ? + */ +int selectOrunselect = 1; +/** octree depth for selecting groups of points */ +int selection_depth = 1; +int brush_size = 0; +char *selection_file_name; + +int current_frame = 0; + +#include "../show/show_menu.cc" +#include "../show/show_animate.cc" +#include "../show/show_gl.cc" + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -F" << normal << " NR, " << bold << "--fps=" << normal << "NR [default: 20]" << endl + << " will attempt to display points with a framerate of NR" << endl + << endl + << bold << " -l" << normal << " FILE, " << bold << "--loadObj=" << normal << + "FILE" << endl + << " load objects specified in " << endl + << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -o" << normal << " NR, " << bold << "--origin=" << normal << "NR (optional)" << endl + << " sets the starting and reset position to: " << endl + << " 0 = the origin of the coordinate system (default)" << endl + << " 1 = the position of the first scan (default if --origin is in argument list)" << endl + << " 2 = the center of the first scan" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -S" << normal << " NR, " << bold << "--scale=" << normal << "NR" << endl + << " scale factor to use (default: 0.01), modifies movement speed etc. " << endl + << " use 1 when point coordinates are in m, 0.01 when in cm and so forth. " << endl + << " " << endl + << endl + + << bold << " -R, --reflectance, --reflectivity" << normal << endl + << " use reflectivity values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -a, --amplitude" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -d, --deviation" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -h, --height" << endl << normal + << " use y-values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -T, --type" << endl << normal + << " use type values for coloring point clouds" << endl + << " only works when using octree display" << endl + << bold << " -c, --color" << endl << normal + << " use color RGB values for coloring point clouds" << endl + << bold << " --saveOct" << endl << normal + << " stores all used scans as octrees in the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are stored as well." << endl + << " only works when using octree display" << endl + << bold << " --loadOct" << endl << normal + << " only reads octrees from the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are read from file." << endl + << " --reflectance/--amplitude and similar parameters are therefore ignored." << endl + << " only works when using octree display" << endl + << endl << endl; + + exit(1); +} + + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param end parsing result - stopping at scan number 'end' + * @param maxDist parsing result - maximal distance + * @param minDist parsing result - minimal distance + * @param readInitial parsing result - read a file containing a initial transformation matrix + * @param type parsing result - file format to be read + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int& start, int& end, int& maxDist, int& minDist, + double &red, bool &readInitial, int &octree, PointType &ptype, float &fps, string &loadObj, bool &loadOct, bool &saveOct, int &origin, double &scale, reader_type &type) +{ + unsigned int types = PointType::USE_NONE; + start = 0; + end = -1; // -1 indicates no limitation + maxDist = -1; // -1 indicates no limitation + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + static struct option longopts[] = { + { "origin", optional_argument, 0, 'o' }, + { "format", required_argument, 0, 'f' }, + { "fps", required_argument, 0, 'F' }, + { "scale", required_argument, 0, 'S' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "octree", optional_argument, 0, 'O' }, + { "reflectance", no_argument, 0, 'R' }, + { "reflectivity", no_argument, 0, 'R' }, + { "amplitude", no_argument, 0, 'a' }, + { "deviation", no_argument, 0, 'd' }, + { "height", no_argument, 0, 'h' }, + { "type", no_argument, 0, 'T' }, + { "color", no_argument, 0, 'c' }, + { "loadObj", required_argument, 0, 'l' }, + { "saveOct", no_argument, 0, '0' }, + { "loadOct", no_argument, 0, '1' }, + { "advanced", no_argument, 0, '2' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + //while ((c = getopt_long(argc, argv,"F:f:s:e:r:m:M:O:o:l:wtRadhTcC", longopts, NULL)) != -1) + while ((c = getopt_long(argc, argv, "O:f:A:G:L:a:b:t:r:R:d:D:i:l:I:c:C:n:s:e:m:M:uqQp", longopts, NULL)) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 't': + readInitial = true; + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'f': + if (!Scan::toType(optarg, type)) + abort (); + break; + case '?': + usage(argv[0]); + return 1; + case 'R': + types |= PointType::USE_REFLECTANCE; + break; + case 'a': + types |= PointType::USE_AMPLITUDE; + break; + case 'd': + types |= PointType::USE_DEVIATION; + break; + case 'h': + types |= PointType::USE_HEIGHT; + break; + case 'T': + types |= PointType::USE_TYPE; + break; + case 'c': + types |= PointType::USE_COLOR; + break; + case 'F': + fps = atof(optarg); + break; + case 'S': + scale = atof(optarg); + break; + case 'o': + if (optarg) { + origin = atoi(optarg); + } else { + origin = 1; + } + break; + case '0': + saveOct = true; + break; + case '1': + loadOct = true; + break; + case 'l': + loadObj = optarg; + break; + case '2': + advanced_controls = true; + break; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + ptype = PointType(types); + return 0; +} + +void setResetView(int origin) { + if (origin == 1) { + double *transmat = MetaMatrix[0].back(); + cout << transmat << endl; + + RVX = -transmat[12]; + RVY = -transmat[13]; + RVZ = -transmat[14]; + Matrix4ToQuat(transmat, Rquat); + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + } else if (origin == 2) { + double center[3]; +#ifdef USE_COMPACT_TREE + ((compactTree*)octpts[0])->getCenter(center); +#else + ((Show_BOctTree*)octpts[0])->getCenter(center); +#endif + RVX = -center[0]; + RVY = -center[1]; + RVZ = -center[2]; + X = RVX; + Y = RVY; + Z = RVZ; + } +} + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param read a file containing a initial transformation matrix and apply it + */ +int readFrames(string dir, int start, int end, bool readInitial, reader_type &type) +{ + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + } + + ifstream frame_in; + int fileCounter = start; + string frameFileName; + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + frameFileName = dir + "scan" + to_string(fileCounter++,3) + ".frames"; + + frame_in.open(frameFileName.c_str()); + + // read 3D scan + if (!frame_in.good()) break; // no more files in the directory + + cout << "Reading Frames for 3D Scan " << frameFileName << "..."; + vector Matrices; + vector algoTypes; + int frameCounter = 0; + + while (frame_in.good()) { + frameCounter++; + double *transMatOpenGL = new double[16]; + int algoTypeInt; + Scan::AlgoType algoType; + try { + double transMat[16]; + frame_in >> transMat >> algoTypeInt; + algoType = (Scan::AlgoType)algoTypeInt; + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + if (readInitial) { + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + //@@@ + // memcpy(transMatOpenGL, transMat, 16*sizeof(double)); + MMult(mirror, transMat, transMatOpenGL); + } + catch (const exception &e) { + break; + } + Matrices.push_back(transMatOpenGL); + algoTypes.push_back(algoType); + } + + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + + if((type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) && fileCounter == start+1) { + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } + + frame_in.close(); + frame_in.clear(); + cout << MetaMatrix.back().size() << " done." << endl; + current_frame = MetaMatrix.back().size() - 1; + } + if (MetaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return -1; + } + return 0; +} + +void generateFrames(int start, int end, bool identity) { + if (identity) { + cout << "using Identity for frames " << endl; + } else { + cout << "using pose information for frames " << endl; + } + int fileCounter = start; + int index = 0; + for (;;) { + if (fileCounter > end) break; // 'nuf read + fileCounter++; + + vector Matrices; + vector algoTypes; + + for (int i = 0; i < 3; i++) { + double *transMat = new double[16]; + + if (identity) { + M4identity(transMat); + transMat[10] = -1.0; + } else { + EulerToMatrix4(Scan::allScans[index]->get_rPos(), Scan::allScans[index]->get_rPosTheta(), transMat ); + } + + Matrices.push_back(transMat); + algoTypes.push_back(Scan::ICP); + + } + index++; + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } +} + + + +/* + * create display lists + * @to do general framework for color & type definitions + */ +void createDisplayLists(bool reduced) +{ + for(unsigned int i = 0; i < Scan::allScans.size() ; i++) { + + // count points + int color1 = 0, color2 = 0; + if (!reduced) { + for (unsigned int jterator = 0; jterator < Scan::allScans[i]->get_points()->size(); jterator++) { + if (Scan::allScans[i]->get_points()->at(jterator).type & TYPE_GROUND) { + color1++; + } else { + color2++; + } + } + } else { + color2 = 3* Scan::allScans[i]->get_points_red_size(); + } + + // allocate memory + vertexArray* myvertexArray1 = new vertexArray(color1); + vertexArray* myvertexArray2 = new vertexArray(color2); + + // fill points + color1 = 0, color2 = 0; + if (reduced) { + for (int jterator = 0; jterator < Scan::allScans[i]->get_points_red_size(); jterator++) { + myvertexArray2->array[color2] = Scan::allScans[i]->get_points_red()[jterator][0]; + myvertexArray2->array[color2+1] = Scan::allScans[i]->get_points_red()[jterator][1]; + myvertexArray2->array[color2+2] = Scan::allScans[i]->get_points_red()[jterator][2]; + color2 += 3; + } + } else { + for (unsigned int jterator = 0; jterator < Scan::allScans[i]->get_points()->size(); jterator++) { + if (Scan::allScans[i]->get_points()->at(jterator).type & TYPE_GROUND) { + myvertexArray1->array[color1] = Scan::allScans[i]->get_points()->at(jterator).x; + myvertexArray1->array[color1+1] = Scan::allScans[i]->get_points()->at(jterator).y; + myvertexArray1->array[color1+2] = Scan::allScans[i]->get_points()->at(jterator).z; + color1 += 3; + } else { + myvertexArray2->array[color2] = Scan::allScans[i]->get_points()->at(jterator).x; + myvertexArray2->array[color2+1] = Scan::allScans[i]->get_points()->at(jterator).y; + myvertexArray2->array[color2+2] = Scan::allScans[i]->get_points()->at(jterator).z; + color2 += 3; + } + } + } + + glNewList(myvertexArray1->name, GL_COMPILE); + //@ + //glColor4d(0.44, 0.44, 0.44, 1.0); + //glColor4d(0.66, 0.66, 0.66, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray1->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray1->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + glNewList(myvertexArray2->name, GL_COMPILE); + //glColor4d(1.0, 1.0, 1.0, 1.0); + //glColor4d(0.0, 0.0, 0.0, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray2->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray2->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + // append to vector + vector vvertexArray; + vvertexArray.push_back(myvertexArray1); + vvertexArray.push_back(myvertexArray2); + vvertexArrayList.push_back(vvertexArray); + } + +} + +void cycleLOD() { + LevelOfDetail = 0.00001; + for (unsigned int i = 0; i < octpts.size(); i++) + octpts[i]->cycleLOD(); +} + + +void initShow(int argc, char **argv){ + + /***************/ + /* init OpenGL */ + /***************/ + glutInit(&argc,argv); + + cout << "(wx)show - A highly efficient 3D point cloud viewer" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if(argc <= 1){ + usage(argv[0]); + } + + + + double red = -1.0; + int start = 0, end = -1, maxDist = -1, minDist = -1; + string dir; + bool readInitial = false; + reader_type type = UOS; + int octree = 0; + bool loadOct = false; + bool saveOct = false; + string loadObj; + int origin = 0; + double scale = 0.01; // in m + + pose_file_name = new char[1024]; + path_file_name = new char[1024]; + selection_file_name = new char[1024]; + + strncpy(pose_file_name, "pose.dat", 1024); + strncpy(path_file_name, "path.dat", 1024); + strncpy(selection_file_name, "selected.3d", 1024); + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, red, readInitial, + octree, pointtype, idealfps, loadObj, loadOct, saveOct, origin, scale, type); + + // modify all scale dependant variables + scale = 1.0 / scale; + movementSpeed *= scale; + neardistance *= scale; + oldneardistance *= scale; + maxfardistance *= scale; + fardistance *= scale; + fogDensity /= scale; + defaultZoom *= scale; + voxelSize *= scale; +// oldfardistance *= scale; + + //////////////////////// + SDisplay::readDisplays(loadObj, displays); + //////////////////// + + if (type == OCT) { + loadOct = true; + } + + // if we want to load display file get pointtypes from the files first + if (loadOct) { + string scanFileName = dir + "scan" + to_string(start,3) + ".oct"; + cout << "Getting point information from " << scanFileName << endl; + cout << "Attention! All subsequent oct-files must be of the same type!" << endl; + + pointtype = BOctTree::readType(scanFileName); + } + scandirectory = dir; + + // init and create display + M4identity(view_rotate_button); + obj_pos_button[0] = obj_pos_button[1] = obj_pos_button[2] = 0.0; + + // read frames first, to get notifyied of missing frames before all scans are read in + int r = readFrames(dir, start, end, readInitial, type); + + + // Get Scans + if (!loadOct) { +#ifndef DYNAMIC_OBJECT_REMOVAL + Scan::readScans(type, start, end, dir, maxDist, minDist, 0); +#else + VeloScan::readScans(type, start, end, dir, maxDist, minDist, 0); +#endif + } else { + cout << "Skipping files.." << endl; + } + + if (!loadOct) { + if (r) generateFrames(start, start + Scan::allScans.size() - 1, false); + } else { + if (r) generateFrames(start, start + octpts.size() - 1, true); + } + + int end_reduction = (int)Scan::allScans.size(); + #ifdef _OPENMP + #pragma omp parallel for schedule(dynamic) + #endif + for (int iterator = 0; iterator < end_reduction; iterator++) { + // reduction filter for current scan! + if (red > 0) { + cout << "Reducing Scan No. " << iterator << endl; + // TODO do another reduction so reflectance values etc are carried over + Scan::allScans[iterator]->calcReducedPoints(red, octree); + } // no copying necessary for show! + } + + cm = new ScanColorManager(4096, pointtype); + + if (loadOct) { + for (int i = start; i <= end; i++) { + string scanFileName = dir + "scan" + to_string(i,3) + ".oct"; + cout << "Reading octree " << scanFileName << endl; +#ifdef USE_COMPACT_TREE + octpts.push_back(new compactTree(scanFileName, cm)); +#else + octpts.push_back(new Show_BOctTree(scanFileName, cm)); +#endif + } + } else { +#ifndef USE_GL_POINTS + createDisplayLists(red > 0); +#elif USE_COMPACT_TREE + cout << "Creating compact display octrees.." << endl; + for(int i = 0; i < (int)Scan::allScans.size() ; i++) { + compactTree *tree; + if (red > 0) { + tree = new compactTree(Scan::allScans[i]->get_points_red(), Scan::allScans[i]->get_points_red_size(), voxelSize, pointtype, cm); // TODO remove magic number + } else { + unsigned int nrpts = Scan::allScans[i]->get_points()->size(); + sfloat **pts = new sfloat*[nrpts]; + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + pts[jterator] = pointtype.createPoint(Scan::allScans[i]->get_points()->at(jterator)); + } + Scan::allScans[i]->clearPoints(); + tree = new compactTree(pts, nrpts , voxelSize, pointtype, cm); //TODO remove magic number + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + delete[] pts[jterator]; + } + delete[] pts; + } + if (saveOct) { + string scanFileName = dir + "scan" + to_string(i+start,3) + ".oct"; + cout << "Saving octree " << scanFileName << endl; + tree->serialize(scanFileName); + } + octpts.push_back(tree); + cout << "Scan " << i << " octree finished. Deleting original points.." << endl; + } +#else + cout << "Creating display octrees.." << endl; + for(int i = 0; i < (int)Scan::allScans.size() ; i++) { + Show_BOctTree *tree; + if (red > 0) { + tree = new Show_BOctTree(Scan::allScans[i]->get_points_red(), Scan::allScans[i]->get_points_red_size(), voxelSize, pointtype, cm); // TODO remove magic number + } else { + unsigned int nrpts = Scan::allScans[i]->get_points()->size(); + sfloat **pts = new sfloat*[nrpts]; + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + pts[jterator] = pointtype.createPoint(Scan::allScans[i]->get_points()->at(jterator)); + } + Scan::allScans[i]->clearPoints(); + tree = new Show_BOctTree(pts, nrpts , voxelSize, pointtype, cm); //TODO remove magic number + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + delete[] pts[jterator]; + } + delete[] pts; + } + octpts.push_back(tree); + if (saveOct) { + string scanFileName = dir + "scan" + to_string(i+start,3) + ".oct"; + cout << "Saving octree " << scanFileName << endl; + tree->serialize(scanFileName); + } + cout << "Scan " << i << " octree finished. Deleting original points.." << endl; + } +#endif + } + + cm->setCurrentType(PointType::USE_HEIGHT); + //ColorMap cmap; + //cm->setColorMap(cmap); + resetMinMax(0); + + selected_points = new set[octpts.size()]; + + // sets (and computes if necessary) the pose that is used for the reset button + setResetView(origin); + + for (unsigned int i = 0; i < 256; i++) { + keymap[i] = false; + } +} + +/** + * Main function. + * Reads the scan (scan000.3d, ...) and frames files (scan000.frames, ...) from the data directory. + * The frames are used for animation of the matching process. + */ + +int main(int argc, char **argv){ + + initShow(argc, argv); + initScreenWindow(); + + newMenu(); + glutMainLoop(); +} + + +void updateCamControls() { + cam_spinner->set_int_limits( 1, cams.size()); + cam_spinner->set_int_val(cam_choice); +} + +void resetRotationButton() { + rotButton->reset(); +} + +void updateTopViewControls() { + if(showTopView) { + pzoom_spinner->enable(); + cangle_spinner->disable(); + } else { + pzoom_spinner->disable(); + cangle_spinner->enable(); + } +} + + +void updateControls() { + glui1->sync_live(); + glui1->show(); + glui2->sync_live(); + glui2->show(); +} + +static bool interrupted = false; +void interruptDrawing() { + interrupted = true; +} +void checkForInterrupt() { + interrupted = false; +} +bool isInterrupted() { +#ifdef WITH_FREEGLUT +#ifndef __APPLE__ + glutMainLoopEvent(); +#endif +#endif + glutSetWindow(window_id); + return interrupted; +} + +void updatePointModeControls() { + switch(pointmode) { + case -1: + always_box->set_int_val(0); + never_box->set_int_val(1); + break; + case 0: + always_box->set_int_val(0); + never_box->set_int_val(0); + break; + case 1: + always_box->set_int_val(1); + never_box->set_int_val(0); + break; + } +} + diff --git a/.svn/pristine/33/33b708874eea61a5fe5d9db60fe431052248bdef.svn-base b/.svn/pristine/33/33b708874eea61a5fe5d9db60fe431052248bdef.svn-base new file mode 100644 index 0000000..f12d7df --- /dev/null +++ b/.svn/pristine/33/33b708874eea61a5fe5d9db60fe431052248bdef.svn-base @@ -0,0 +1,159 @@ +/* + * grid implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include + +#include "grid/grid.h" +#include + +/** + * CTor. + * Allocates an array of gridPoints + * and sets the offsets and sizes + * + * @param offsetX the x-offest of the array + * @param offsetZ the z-offset of the array + * @param sizeX the x-size of the array + * @param sizeZ the y-size of the array + */ +grid::grid(long offsetX, long offsetZ, long sizeX, long sizeZ) +{ + if(sizeX < 1 || sizeZ < 1) + { + std::cerr << "ERROR: Invalid array size in grid::grid! "<< std::endl; + exit(1); + } + + points = NULL; + + // Allocate array + this->points = new gridPoint**[sizeX]; + + for(int i=0; i < sizeX; ++i) + { + this->points[i] = new gridPoint*[sizeZ]; + for(int j=0; j < sizeZ; ++j) + { + this->points[i][j] = new gridPoint(offsetX + i, offsetZ + j); + } + } + + this->offsetX = offsetX; + this->offsetZ = offsetZ; + this->sizeX = sizeX; + this->sizeZ = sizeZ; +} + +/** + * DTor. Deletes the array + */ +grid::~grid() +{ + clear(); +} + +/** + * Frees the memory if array is set + */ +void grid::clear() +{ + if(this->points == NULL) + return; + + // delete all points + for(int i=0; i < getSizeX(); ++i) + { + for(int j=0; j < getSizeZ(); ++j) + { + delete this->points[i][j]; + } + + delete[] this->points[i]; + } + + delete[] this->points; + + this->points = NULL; +} + +/** + * Adds point to given point in the grid (updates the point) + * + * @param x the absolute x coordinate + * @param z the absolute z coordinate + * @param occupied is the point occupied or free? + * @param weight weighting of the information + */ +void grid::addPoint(long x, long z, unsigned int count, unsigned int occupied) +{ + if(this->points == NULL) + { + std::cerr << "ERROR: In grid::addPoint, allocate never called!" << std::endl; + exit(1); + } + + // get the absolute gridPoint + gridPoint *p = getAbsolutePoint(x, z); + + // increase counters + p->addCount(count, occupied); +} + +/** + * Adds new point into the grid or updates the point with new + * point information + * @param point a reference to the point (new information) + */ +void grid::addPoint(const gridPoint& point) +{ + gridPoint *p = getAbsolutePoint(point.getX(), point.getZ()); + p->addCount(point.getCount(), point.getOccupied()); +} + +/** + * Sets values for the point + * + * @param x absolute x coordinate + * @param z absolute z coordinate + * @param count new counter value (number of counts) + * @param occupied new occupied value (number of occupieds) + */ +void grid::setPoint(long x, long z, unsigned int count, unsigned int occupied) +{ + gridPoint* p = getAbsolutePoint(x, z); + p->setFixed(count, occupied); +} + +/** + * Returns point of the absolute coordinates + * The absolute coordinates get transformed to relative coordinates + + * @param x the absolute x coordinate + * @param z the absolute z coordinate + * + * @return gridPoint* pointer to the found gridPoint + */ +gridPoint* grid::getAbsolutePoint(long x, long z) const +{ + // Transform to relative coordinates + x -= getOffsetX(); + z -= getOffsetZ(); + + if( x < 0 || x >= getSizeX() || z < 0 || z >= getSizeZ()) + { + std::cerr << "ERROR: In grid::getAbsolutePoint (" + << x << "|" << z <<") not in the grid!" << std::endl; + exit(1); + } + + return this->points[x][z]; +} + + + diff --git a/.svn/pristine/33/33ff861c3ed7108c918452d4817e68dbcd9830d8.svn-base b/.svn/pristine/33/33ff861c3ed7108c918452d4817e68dbcd9830d8.svn-base new file mode 100644 index 0000000..edbd62a --- /dev/null +++ b/.svn/pristine/33/33ff861c3ed7108c918452d4817e68dbcd9830d8.svn-base @@ -0,0 +1,188 @@ + +This tests the exception system, so you will get +a long list of error messages + + +Print a real number (may help lost memory test): 3.14159 +----------------------------------------- + +Incompatible dimensions + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible dimensions + +MatrixType = Rect # Rows = 2; # Cols = 3 +MatrixType = Rect # Rows = 4; # Cols = 5 +Trace: AddedMatrix::Evaluate; Block A; Test. + +----------------------------------------- + +Bad index + + +An exception has been thrown +Logic error:- detected by Newmat: index error: requested indices = 3, 3 + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: Block B; Test. + +----------------------------------------- + +Illegal conversion + + +An exception has been thrown +Logic error:- detected by Newmat: Illegal Conversion +MatrixTypes = Rect ; UT + +Trace: Block C; Test. + +----------------------------------------- + +Invert non-square matrix - 1 + + +An exception has been thrown +Logic error:- detected by Newmat: matrix is not square + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: CroutMatrix; Block D; Test. + +----------------------------------------- + +Invert non-square matrix - 2 + + +An exception has been thrown +Logic error:- detected by Newmat: matrix is not square + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: GeneralSolvI; InvertedMatrix::Evaluate; Block E; Test. + +----------------------------------------- + +Non 1x1 matrix to scalar + + +An exception has been thrown +Logic error:- detected by Newmat: Cannot convert to scalar + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: AsScalar; Block F; Test. + +----------------------------------------- + +Matrix to vector + + +An exception has been thrown +Logic error:- detected by Newmat: cannot convert matrix to vector + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: ColumnVector; Block G; Test. + +----------------------------------------- + +Invert singular matrix + + +An exception has been thrown +Runtime error:- detected by Newmat: matrix is singular + +MatrixType = Crout # Rows = 2; # Cols = 2 +Trace: Crout(lubksb); GeneralSolvI; InvertedMatrix::Evaluate; Block H; Test. + +----------------------------------------- + +SubMatrix error + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible submatrix dimension + +Trace: SubMatrix(evaluate); Block I; Test. + +----------------------------------------- + +SubMatrix error + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible submatrix dimension + +Trace: SubMatrix(row); Block J; Test. + +----------------------------------------- + +Cholesky error + + +An exception has been thrown +Runtime error:- detected by Newmat: matrix not positive definite + +MatrixType = Sym # Rows = 50; # Cols = 50 +Trace: Cholesky; Block K; Test. + +----------------------------------------- + +Inequality error + + +An exception has been thrown +Logic error:- detected by Newmat: inequalities not defined for matrices + +Trace: Block L; Test. + +----------------------------------------- + +Maximum of empty matrix + + +An exception has been thrown +Logic error:- detected by Newmat: Maximum or minimum of null matrix + +Trace: Block M; Test. + +----------------------------------------- + +Incorrectly ReSizing band matrix + + +An exception has been thrown +Logic error:- detected by Newmat: UpperBandMatrix with non-zero lower band + +Trace: UpperBandMatrix::ReSize; Block N; Test. + +----------------------------------------- + +Incorrectly ReSizing symmetric band matrix + + +An exception has been thrown +Logic error:- detected by Newmat: Upper and lower band-widths not equal + +Trace: SymmetricBandMatrix::ReSize(GM); Block M; Test. + +----------------------------------------- + +ReSize CroutMatrix + + +An exception has been thrown +Logic error:- detected by Newmat: ReSize not defined for this type of matrix + +Trace: GeneralMatrix::ReSize(GM); Block O; Test. + +----------------------------------------- + + +End test + +(The following memory checks are probably not valid with all +compilers - see documentation) + +Checking for lost memory: 8142064 8142064 - ok + +Checking for lost memory: 8142064 8142064 - ok + diff --git a/.svn/pristine/34/3430202af2377cda06e1fc60e368d6ac6bf6e5c1.svn-base b/.svn/pristine/34/3430202af2377cda06e1fc60e368d6ac6bf6e5c1.svn-base new file mode 100644 index 0000000..563a30d --- /dev/null +++ b/.svn/pristine/34/3430202af2377cda06e1fc60e368d6ac6bf6e5c1.svn-base @@ -0,0 +1,1257 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + + The character codes in this file are Copyright (c) 1991-1999 Unicode, Inc. + All Rights reserved. + + This file is provided as-is by Unicode, Inc. (The Unicode Consortium). + No claims are made as to fitness for any particular purpose. No + warranties of any kind are expressed or implied. The recipient + agrees to determine applicability of information provided. If this + file has been provided on optical media by Unicode, Inc., the sole + remedy for any claim will be exchange of defective media within 90 + days of receipt. + + Unicode, Inc. hereby grants the right to freely use the information + supplied in this file in the creation of products supporting the + Unicode Standard, and to make copies of this file in any form for + internal or external distribution as long as this notice remains + attached. + +For the rest of the file, the following applies: + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ + +/* + Only the codes judged necessary by the developers are present in this + file. It conforms with MES-1. You'll find also Greek characters, + mathematical symbols and some extra symbols. + + Use the following regular expression to help add new codes from the + Unicode data files: ([\w\s]*);([\w\s]*);[^\n]* +*/ + +#ifndef G_UNICODE_H +#define G_UNICODE_H + +#include + +enum format { + ISO8859_1, TeX, HTML, XML, SGML, UTF8, ASCII +}; +typedef enum format FORMAT; + +/* + * Prototypes + */ +wchar_t compose(wchar_t main, wchar_t modifier); +const char *decode(wchar_t c, FORMAT type); + +/* + * Unicode codes + */ + +/* E000-F8FF are for private use. We'll reserve E000-E0FF by now. */ +/* the next line isnt proper, but was the easiest way to fix a problem */ +#ifndef UNKNOWN +#define UNKNOWN 0xE000 +#endif +#define PICTURE 0xE001 +#define HEADER_FILE 0xE010 + +/* most codes 0x00-0x1F are not needed, but we provide them anyway. U0000 had + the name changed from NULL to UNICODE_NULL to avoid conflicts. */ +#define UNICODE_NULL 0x0000 +#define START_OF_HEADING 0x0001 +#define START_OF_TEXT 0x0002 +#define END_OF_TEXT 0x0003 +#define END_OF_TRANSMISSION 0x0004 +#define ENQUIRY 0x0005 +#define ACKNOWLEDGE 0x0006 +#define BELL 0x0007 +#define BACKSPACE 0x0008 +#define HORIZONTAL_TABULATION 0x0009 +#define LINE_FEED 0x000A +#define VERTICAL_TABULATION 0x000B +#define FORM_FEED 0x000C +#define CARRIAGE_RETURN 0x000D +#define SHIFT_OUT 0x000E +#define SHIFT_IN 0x000F +#define DATA_LINK_ESCAPE 0x0010 +#define DEVICE_CONTROL_ONE 0x0011 +#define DEVICE_CONTROL_TWO 0x0012 +#define DEVICE_CONTROL_THREE 0x0013 +#define DEVICE_CONTROL_FOUR 0x0014 +#define NEGATIVE_ACKNOWLEDGE 0x0015 +#define SYNCHRONOUS_IDLE 0x0016 +#define END_OF_TRANSMISSION_BLOCK 0x0017 +#define CANCEL 0x0018 +#define END_OF_MEDIUM 0x0019 +#define SUBSTITUTE 0x001A +#define ESCAPE 0x001B +#define FILE_SEPARATOR 0x001C +#define GROUP_SEPARATOR 0x001D +#define RECORD_SEPARATOR 0x001E +#define UNIT_SEPARATOR 0x001F + +/* ASCII */ +#define SPACE 0x0020 +#define EXCLAMATION_MARK 0x0021 +#define QUOTATION_MARK 0x0022 +#define NUMBER_SIGN 0x0023 +#define DOLLAR_SIGN 0x0024 +#define PERCENT_SIGN 0x0025 +#define AMPERSAND 0x0026 +#define APOSTROPHE 0x0027 +#define LEFT_PARENTHESIS 0x0028 +#define RIGHT_PARENTHESIS 0x0029 +#define ASTERISK 0x002A +#define PLUS_SIGN 0x002B +#define COMMA 0x002C +#define HYPHEN_MINUS 0x002D +#define FULL_STOP 0x002E +#define SOLIDUS 0x002F +#define DIGIT_ZERO 0x0030 +#define DIGIT_ONE 0x0031 +#define DIGIT_TWO 0x0032 +#define DIGIT_THREE 0x0033 +#define DIGIT_FOUR 0x0034 +#define DIGIT_FIVE 0x0035 +#define DIGIT_SIX 0x0036 +#define DIGIT_SEVEN 0x0037 +#define DIGIT_EIGHT 0x0038 +#define DIGIT_NINE 0x0039 +#define COLON 0x003A +#define SEMICOLON 0x003B +#define LESS_THAN_SIGN 0x003C +#define EQUALS_SIGN 0x003D +#define GREATER_THAN_SIGN 0x003E +#define QUESTION_MARK 0x003F +#define COMMERCIAL_AT 0x0040 +#define LATIN_CAPITAL_LETTER_A 0x0041 +#define LATIN_CAPITAL_LETTER_B 0x0042 +#define LATIN_CAPITAL_LETTER_C 0x0043 +#define LATIN_CAPITAL_LETTER_D 0x0044 +#define LATIN_CAPITAL_LETTER_E 0x0045 +#define LATIN_CAPITAL_LETTER_F 0x0046 +#define LATIN_CAPITAL_LETTER_G 0x0047 +#define LATIN_CAPITAL_LETTER_H 0x0048 +#define LATIN_CAPITAL_LETTER_I 0x0049 +#define LATIN_CAPITAL_LETTER_J 0x004A +#define LATIN_CAPITAL_LETTER_K 0x004B +#define LATIN_CAPITAL_LETTER_L 0x004C +#define LATIN_CAPITAL_LETTER_M 0x004D +#define LATIN_CAPITAL_LETTER_N 0x004E +#define LATIN_CAPITAL_LETTER_O 0x004F +#define LATIN_CAPITAL_LETTER_P 0x0050 +#define LATIN_CAPITAL_LETTER_Q 0x0051 +#define LATIN_CAPITAL_LETTER_R 0x0052 +#define LATIN_CAPITAL_LETTER_S 0x0053 +#define LATIN_CAPITAL_LETTER_T 0x0054 +#define LATIN_CAPITAL_LETTER_U 0x0055 +#define LATIN_CAPITAL_LETTER_V 0x0056 +#define LATIN_CAPITAL_LETTER_W 0x0057 +#define LATIN_CAPITAL_LETTER_X 0x0058 +#define LATIN_CAPITAL_LETTER_Y 0x0059 +#define LATIN_CAPITAL_LETTER_Z 0x005A +#define LEFT_SQUARE_BRACKET 0x005B +#define REVERSE_SOLIDUS 0x005C +#define RIGHT_SQUARE_BRACKET 0x005D +#define CIRCUMFLEX_ACCENT 0x005E +#define LOW_LINE 0x005F +#define GRAVE_ACCENT 0x0060 +#define LATIN_SMALL_LETTER_A 0x0061 +#define LATIN_SMALL_LETTER_B 0x0062 +#define LATIN_SMALL_LETTER_C 0x0063 +#define LATIN_SMALL_LETTER_D 0x0064 +#define LATIN_SMALL_LETTER_E 0x0065 +#define LATIN_SMALL_LETTER_F 0x0066 +#define LATIN_SMALL_LETTER_G 0x0067 +#define LATIN_SMALL_LETTER_H 0x0068 +#define LATIN_SMALL_LETTER_I 0x0069 +#define LATIN_SMALL_LETTER_J 0x006A +#define LATIN_SMALL_LETTER_K 0x006B +#define LATIN_SMALL_LETTER_L 0x006C +#define LATIN_SMALL_LETTER_M 0x006D +#define LATIN_SMALL_LETTER_N 0x006E +#define LATIN_SMALL_LETTER_O 0x006F +#define LATIN_SMALL_LETTER_P 0x0070 +#define LATIN_SMALL_LETTER_Q 0x0071 +#define LATIN_SMALL_LETTER_R 0x0072 +#define LATIN_SMALL_LETTER_S 0x0073 +#define LATIN_SMALL_LETTER_T 0x0074 +#define LATIN_SMALL_LETTER_U 0x0075 +#define LATIN_SMALL_LETTER_V 0x0076 +#define LATIN_SMALL_LETTER_W 0x0077 +#define LATIN_SMALL_LETTER_X 0x0078 +#define LATIN_SMALL_LETTER_Y 0x0079 +#define LATIN_SMALL_LETTER_Z 0x007A +#define LEFT_CURLY_BRACKET 0x007B +#define VERTICAL_LINE 0x007C +#define RIGHT_CURLY_BRACKET 0x007D +#define TILDE 0x007E + +/* codes 0x7F-0xBF are not needed */ +#define NO_BREAK_SPACE 0x00A0 +#define INVERTED_EXCLAMATION_MARK 0x00A1 +#define CENT_SIGN 0x00A2 +#define POUND_SIGN 0x00A3 +#define CURRENCY_SIGN 0x00A4 +#define YEN_SIGN 0x00A5 +#define BROKEN_BAR 0x00A6 +#define SECTION_SIGN 0x00A7 +#define DIAERESIS 0x00A8 +#define COPYRIGHT_SIGN 0x00A9 +#define FEMININE_ORDINAL_INDICATOR 0x00AA +#define LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK 0x00AB +#define NOT_SIGN 0x00AC +#define SOFT_HYPHEN 0x00AD +#define REGISTERED_SIGN 0x00AE +#define MACRON 0x00AF +#define DEGREE_SIGN 0x00B0 +#define PLUS_MINUS_SIGN 0x00B1 +#define SUPERSCRIPT_TWO 0x00B2 +#define SUPERSCRIPT_THREE 0x00B3 +#define ACUTE_ACCENT 0x00B4 +#define MICRO_SIGN 0x00B5 +#define PILCROW_SIGN 0x00B6 +#define MIDDLE_DOT 0x00B7 +#define CEDILLA 0x00B8 +#define SUPERSCRIPT_ONE 0x00B9 +#define MASCULINE_ORDINAL_INDICATOR 0x00BA +#define RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK 0x00BB +#define VULGAR_FRACTION_ONE_QUARTER 0x00BC +#define VULGAR_FRACTION_ONE_HALF 0x00BD +#define VULGAR_FRACTION_THREE_QUARTERS 0x00BE +#define INVERTED_QUESTION_MARK 0x00BF +#define LATIN_CAPITAL_LETTER_A_WITH_GRAVE 0x00C0 +#define LATIN_CAPITAL_LETTER_A_WITH_ACUTE 0x00C1 +#define LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX 0x00C2 +#define LATIN_CAPITAL_LETTER_A_WITH_TILDE 0x00C3 +#define LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS 0x00C4 +#define LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE 0x00C5 +#define LATIN_CAPITAL_LETTER_AE 0x00C6 +#define LATIN_CAPITAL_LETTER_C_WITH_CEDILLA 0x00C7 +#define LATIN_CAPITAL_LETTER_E_WITH_GRAVE 0x00C8 +#define LATIN_CAPITAL_LETTER_E_WITH_ACUTE 0x00C9 +#define LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX 0x00CA +#define LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS 0x00CB +#define LATIN_CAPITAL_LETTER_I_WITH_GRAVE 0x00CC +#define LATIN_CAPITAL_LETTER_I_WITH_ACUTE 0x00CD +#define LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX 0x00CE +#define LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS 0x00CF +#define LATIN_CAPITAL_LETTER_ETH 0x00D0 +#define LATIN_CAPITAL_LETTER_N_WITH_TILDE 0x00D1 +#define LATIN_CAPITAL_LETTER_O_WITH_GRAVE 0x00D2 +#define LATIN_CAPITAL_LETTER_O_WITH_ACUTE 0x00D3 +#define LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX 0x00D4 +#define LATIN_CAPITAL_LETTER_O_WITH_TILDE 0x00D5 +#define LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS 0x00D6 +#define MULTIPLICATION_SIGN 0x00D7 +#define LATIN_CAPITAL_LETTER_O_WITH_STROKE 0x00D8 +#define LATIN_CAPITAL_LETTER_U_WITH_GRAVE 0x00D9 +#define LATIN_CAPITAL_LETTER_U_WITH_ACUTE 0x00DA +#define LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX 0x00DB +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS 0x00DC +#define LATIN_CAPITAL_LETTER_Y_WITH_ACUTE 0x00DD +#define LATIN_CAPITAL_LETTER_THORN 0x00DE +#define LATIN_SMALL_LETTER_SHARP_S 0x00DF +#define LATIN_SMALL_LETTER_A_WITH_GRAVE 0x00E0 +#define LATIN_SMALL_LETTER_A_WITH_ACUTE 0x00E1 +#define LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX 0x00E2 +#define LATIN_SMALL_LETTER_A_WITH_TILDE 0x00E3 +#define LATIN_SMALL_LETTER_A_WITH_DIAERESIS 0x00E4 +#define LATIN_SMALL_LETTER_A_WITH_RING_ABOVE 0x00E5 +#define LATIN_SMALL_LETTER_AE 0x00E6 +#define LATIN_SMALL_LETTER_C_WITH_CEDILLA 0x00E7 +#define LATIN_SMALL_LETTER_E_WITH_GRAVE 0x00E8 +#define LATIN_SMALL_LETTER_E_WITH_ACUTE 0x00E9 +#define LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX 0x00EA +#define LATIN_SMALL_LETTER_E_WITH_DIAERESIS 0x00EB +#define LATIN_SMALL_LETTER_I_WITH_GRAVE 0x00EC +#define LATIN_SMALL_LETTER_I_WITH_ACUTE 0x00ED +#define LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX 0x00EE +#define LATIN_SMALL_LETTER_I_WITH_DIAERESIS 0x00EF +#define LATIN_SMALL_LETTER_ETH 0x00F0 +#define LATIN_SMALL_LETTER_N_WITH_TILDE 0x00F1 +#define LATIN_SMALL_LETTER_O_WITH_GRAVE 0x00F2 +#define LATIN_SMALL_LETTER_O_WITH_ACUTE 0x00F3 +#define LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX 0x00F4 +#define LATIN_SMALL_LETTER_O_WITH_TILDE 0x00F5 +#define LATIN_SMALL_LETTER_O_WITH_DIAERESIS 0x00F6 +#define DIVISION_SIGN 0x00F7 +#define LATIN_SMALL_LETTER_O_WITH_STROKE 0x00F8 +#define LATIN_SMALL_LETTER_U_WITH_GRAVE 0x00F9 +#define LATIN_SMALL_LETTER_U_WITH_ACUTE 0x00FA +#define LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX 0x00FB +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS 0x00FC +#define LATIN_SMALL_LETTER_Y_WITH_ACUTE 0x00FD +#define LATIN_SMALL_LETTER_THORN 0x00FE +#define LATIN_SMALL_LETTER_Y_WITH_DIAERESIS 0x00FF + +/* latin extended-A */ +#define LATIN_CAPITAL_LETTER_A_WITH_MACRON 0x0100 +#define LATIN_SMALL_LETTER_A_WITH_MACRON 0x0101 +#define LATIN_CAPITAL_LETTER_A_WITH_BREVE 0x0102 +#define LATIN_SMALL_LETTER_A_WITH_BREVE 0x0103 +#define LATIN_CAPITAL_LETTER_A_WITH_OGONEK 0x0104 +#define LATIN_SMALL_LETTER_A_WITH_OGONEK 0x0105 +#define LATIN_CAPITAL_LETTER_C_WITH_ACUTE 0x0106 +#define LATIN_SMALL_LETTER_C_WITH_ACUTE 0x0107 +#define LATIN_CAPITAL_LETTER_C_WITH_CIRCUMFLEX 0x0108 +#define LATIN_SMALL_LETTER_C_WITH_CIRCUMFLEX 0x0109 +#define LATIN_CAPITAL_LETTER_C_WITH_DOT_ABOVE 0x010A +#define LATIN_SMALL_LETTER_C_WITH_DOT_ABOVE 0x010B +#define LATIN_CAPITAL_LETTER_C_WITH_CARON 0x010C +#define LATIN_SMALL_LETTER_C_WITH_CARON 0x010D +#define LATIN_CAPITAL_LETTER_D_WITH_CARON 0x010E +#define LATIN_SMALL_LETTER_D_WITH_CARON 0x010F +#define LATIN_CAPITAL_LETTER_D_WITH_STROKE 0x0110 +#define LATIN_SMALL_LETTER_D_WITH_STROKE 0x0111 +#define LATIN_CAPITAL_LETTER_E_WITH_MACRON 0x0112 +#define LATIN_SMALL_LETTER_E_WITH_MACRON 0x0113 +#define LATIN_CAPITAL_LETTER_E_WITH_BREVE 0x0114 +#define LATIN_SMALL_LETTER_E_WITH_BREVE 0x0115 +#define LATIN_CAPITAL_LETTER_E_WITH_DOT_ABOVE 0x0116 +#define LATIN_SMALL_LETTER_E_WITH_DOT_ABOVE 0x0117 +#define LATIN_CAPITAL_LETTER_E_WITH_OGONEK 0x0118 +#define LATIN_SMALL_LETTER_E_WITH_OGONEK 0x0119 +#define LATIN_CAPITAL_LETTER_E_WITH_CARON 0x011A +#define LATIN_SMALL_LETTER_E_WITH_CARON 0x011B +#define LATIN_CAPITAL_LETTER_G_WITH_CIRCUMFLEX 0x011C +#define LATIN_SMALL_LETTER_G_WITH_CIRCUMFLEX 0x011D +#define LATIN_CAPITAL_LETTER_G_WITH_BREVE 0x011E +#define LATIN_SMALL_LETTER_G_WITH_BREVE 0x011F +#define LATIN_CAPITAL_LETTER_G_WITH_DOT_ABOVE 0x0120 +#define LATIN_SMALL_LETTER_G_WITH_DOT_ABOVE 0x0121 +#define LATIN_CAPITAL_LETTER_G_WITH_CEDILLA 0x0122 +#define LATIN_SMALL_LETTER_G_WITH_CEDILLA 0x0123 +#define LATIN_CAPITAL_LETTER_H_WITH_CIRCUMFLEX 0x0124 +#define LATIN_SMALL_LETTER_H_WITH_CIRCUMFLEX 0x0125 +#define LATIN_CAPITAL_LETTER_H_WITH_STROKE 0x0126 +#define LATIN_SMALL_LETTER_H_WITH_STROKE 0x0127 +#define LATIN_CAPITAL_LETTER_I_WITH_TILDE 0x0128 +#define LATIN_SMALL_LETTER_I_WITH_TILDE 0x0129 +#define LATIN_CAPITAL_LETTER_I_WITH_MACRON 0x012A +#define LATIN_SMALL_LETTER_I_WITH_MACRON 0x012B +#define LATIN_CAPITAL_LETTER_I_WITH_BREVE 0x012C +#define LATIN_SMALL_LETTER_I_WITH_BREVE 0x012D +#define LATIN_CAPITAL_LETTER_I_WITH_OGONEK 0x012E +#define LATIN_SMALL_LETTER_I_WITH_OGONEK 0x012F +#define LATIN_CAPITAL_LETTER_I_WITH_DOT_ABOVE 0x0130 +#define LATIN_SMALL_LETTER_DOTLESS_I 0x0131 +#define LATIN_CAPITAL_LIGATURE_IJ 0x0132 +#define LATIN_SMALL_LIGATURE_IJ 0x0133 +#define LATIN_CAPITAL_LETTER_J_WITH_CIRCUMFLEX 0x0134 +#define LATIN_SMALL_LETTER_J_WITH_CIRCUMFLEX 0x0135 +#define LATIN_CAPITAL_LETTER_K_WITH_CEDILLA 0x0136 +#define LATIN_SMALL_LETTER_K_WITH_CEDILLA 0x0137 +#define LATIN_SMALL_LETTER_KRA 0x0138 +#define LATIN_CAPITAL_LETTER_L_WITH_ACUTE 0x0139 +#define LATIN_SMALL_LETTER_L_WITH_ACUTE 0x013A +#define LATIN_CAPITAL_LETTER_L_WITH_CEDILLA 0x013B +#define LATIN_SMALL_LETTER_L_WITH_CEDILLA 0x013C +#define LATIN_CAPITAL_LETTER_L_WITH_CARON 0x013D +#define LATIN_SMALL_LETTER_L_WITH_CARON 0x013E +#define LATIN_CAPITAL_LETTER_L_WITH_MIDDLE_DOT 0x013F +#define LATIN_SMALL_LETTER_L_WITH_MIDDLE_DOT 0x0140 +#define LATIN_CAPITAL_LETTER_L_WITH_STROKE 0x0141 +#define LATIN_SMALL_LETTER_L_WITH_STROKE 0x0142 +#define LATIN_CAPITAL_LETTER_N_WITH_ACUTE 0x0143 +#define LATIN_SMALL_LETTER_N_WITH_ACUTE 0x0144 +#define LATIN_CAPITAL_LETTER_N_WITH_CEDILLA 0x0145 +#define LATIN_SMALL_LETTER_N_WITH_CEDILLA 0x0146 +#define LATIN_CAPITAL_LETTER_N_WITH_CARON 0x0147 +#define LATIN_SMALL_LETTER_N_WITH_CARON 0x0148 +#define LATIN_SMALL_LETTER_N_PRECEDED_BY_APOSTROPHE 0x0149 +#define LATIN_CAPITAL_LETTER_ENG 0x014A +#define LATIN_SMALL_LETTER_ENG 0x014B +#define LATIN_CAPITAL_LETTER_O_WITH_MACRON 0x014C +#define LATIN_SMALL_LETTER_O_WITH_MACRON 0x014D +#define LATIN_CAPITAL_LETTER_O_WITH_BREVE 0x014E +#define LATIN_SMALL_LETTER_O_WITH_BREVE 0x014F +#define LATIN_CAPITAL_LETTER_O_WITH_DOUBLE_ACUTE 0x0150 +#define LATIN_SMALL_LETTER_O_WITH_DOUBLE_ACUTE 0x0151 +#define LATIN_CAPITAL_LIGATURE_OE 0x0152 +#define LATIN_SMALL_LIGATURE_OE 0x0153 +#define LATIN_CAPITAL_LETTER_R_WITH_ACUTE 0x0154 +#define LATIN_SMALL_LETTER_R_WITH_ACUTE 0x0155 +#define LATIN_CAPITAL_LETTER_R_WITH_CEDILLA 0x0156 +#define LATIN_SMALL_LETTER_R_WITH_CEDILLA 0x0157 +#define LATIN_CAPITAL_LETTER_R_WITH_CARON 0x0158 +#define LATIN_SMALL_LETTER_R_WITH_CARON 0x0159 +#define LATIN_CAPITAL_LETTER_S_WITH_ACUTE 0x015A +#define LATIN_SMALL_LETTER_S_WITH_ACUTE 0x015B +#define LATIN_CAPITAL_LETTER_S_WITH_CIRCUMFLEX 0x015C +#define LATIN_SMALL_LETTER_S_WITH_CIRCUMFLEX 0x015D +#define LATIN_CAPITAL_LETTER_S_WITH_CEDILLA 0x015E +#define LATIN_SMALL_LETTER_S_WITH_CEDILLA 0x015F +#define LATIN_CAPITAL_LETTER_S_WITH_CARON 0x0160 +#define LATIN_SMALL_LETTER_S_WITH_CARON 0x0161 +#define LATIN_CAPITAL_LETTER_T_WITH_CEDILLA 0x0162 +#define LATIN_SMALL_LETTER_T_WITH_CEDILLA 0x0163 +#define LATIN_CAPITAL_LETTER_T_WITH_CARON 0x0164 +#define LATIN_SMALL_LETTER_T_WITH_CARON 0x0165 +#define LATIN_CAPITAL_LETTER_T_WITH_STROKE 0x0166 +#define LATIN_SMALL_LETTER_T_WITH_STROKE 0x0167 +#define LATIN_CAPITAL_LETTER_U_WITH_TILDE 0x0168 +#define LATIN_SMALL_LETTER_U_WITH_TILDE 0x0169 +#define LATIN_CAPITAL_LETTER_U_WITH_MACRON 0x016A +#define LATIN_SMALL_LETTER_U_WITH_MACRON 0x016B +#define LATIN_CAPITAL_LETTER_U_WITH_BREVE 0x016C +#define LATIN_SMALL_LETTER_U_WITH_BREVE 0x016D +#define LATIN_CAPITAL_LETTER_U_WITH_RING_ABOVE 0x016E +#define LATIN_SMALL_LETTER_U_WITH_RING_ABOVE 0x016F +#define LATIN_CAPITAL_LETTER_U_WITH_DOUBLE_ACUTE 0x0170 +#define LATIN_SMALL_LETTER_U_WITH_DOUBLE_ACUTE 0x0171 +#define LATIN_CAPITAL_LETTER_U_WITH_OGONEK 0x0172 +#define LATIN_SMALL_LETTER_U_WITH_OGONEK 0x0173 +#define LATIN_CAPITAL_LETTER_W_WITH_CIRCUMFLEX 0x0174 +#define LATIN_SMALL_LETTER_W_WITH_CIRCUMFLEX 0x0175 +#define LATIN_CAPITAL_LETTER_Y_WITH_CIRCUMFLEX 0x0176 +#define LATIN_SMALL_LETTER_Y_WITH_CIRCUMFLEX 0x0177 +#define LATIN_CAPITAL_LETTER_Y_WITH_DIAERESIS 0x0178 +#define LATIN_CAPITAL_LETTER_Z_WITH_ACUTE 0x0179 +#define LATIN_SMALL_LETTER_Z_WITH_ACUTE 0x017A +#define LATIN_CAPITAL_LETTER_Z_WITH_DOT_ABOVE 0x017B +#define LATIN_SMALL_LETTER_Z_WITH_DOT_ABOVE 0x017C +#define LATIN_CAPITAL_LETTER_Z_WITH_CARON 0x017D +#define LATIN_SMALL_LETTER_Z_WITH_CARON 0x017E +#define LATIN_SMALL_LETTER_LONG_S 0x017F + +/* latin extended B */ +#define LATIN_SMALL_LETTER_B_WITH_STROKE 0x0180 +#define LATIN_CAPITAL_LETTER_B_WITH_HOOK 0x0181 +#define LATIN_CAPITAL_LETTER_B_WITH_TOPBAR 0x0182 +#define LATIN_SMALL_LETTER_B_WITH_TOPBAR 0x0183 +#define LATIN_CAPITAL_LETTER_TONE_SIX 0x0184 +#define LATIN_SMALL_LETTER_TONE_SIX 0x0185 +#define LATIN_CAPITAL_LETTER_OPEN_O 0x0186 +#define LATIN_CAPITAL_LETTER_C_WITH_HOOK 0x0187 +#define LATIN_SMALL_LETTER_C_WITH_HOOK 0x0188 +#define LATIN_CAPITAL_LETTER_AFRICAN_D 0x0189 +#define LATIN_CAPITAL_LETTER_D_WITH_HOOK 0x018A +#define LATIN_CAPITAL_LETTER_D_WITH_TOPBAR 0x018B +#define LATIN_SMALL_LETTER_D_WITH_TOPBAR 0x018C +#define LATIN_SMALL_LETTER_TURNED_DELTA 0x018D +#define LATIN_CAPITAL_LETTER_REVERSED_E 0x018E +#define LATIN_CAPITAL_LETTER_SCHWA 0x018F +#define LATIN_CAPITAL_LETTER_OPEN_E 0x0190 +#define LATIN_CAPITAL_LETTER_F_WITH_HOOK 0x0191 +#define LATIN_SMALL_LETTER_F_WITH_HOOK 0x0192 +#define LATIN_CAPITAL_LETTER_G_WITH_HOOK 0x0193 +#define LATIN_CAPITAL_LETTER_GAMMA 0x0194 +#define LATIN_SMALL_LETTER_HV 0x0195 +#define LATIN_CAPITAL_LETTER_IOTA 0x0196 +#define LATIN_CAPITAL_LETTER_I_WITH_STROKE 0x0197 +#define LATIN_CAPITAL_LETTER_K_WITH_HOOK 0x0198 +#define LATIN_SMALL_LETTER_K_WITH_HOOK 0x0199 +#define LATIN_SMALL_LETTER_L_WITH_BAR 0x019A +#define LATIN_SMALL_LETTER_LAMBDA_WITH_STROKE 0x019B +#define LATIN_CAPITAL_LETTER_TURNED_M 0x019C +#define LATIN_CAPITAL_LETTER_N_WITH_LEFT_HOOK 0x019D +#define LATIN_SMALL_LETTER_N_WITH_LONG_RIGHT_LEG 0x019E +#define LATIN_CAPITAL_LETTER_O_WITH_MIDDLE_TILDE 0x019F +#define LATIN_CAPITAL_LETTER_O_WITH_HORN 0x01A0 +#define LATIN_SMALL_LETTER_O_WITH_HORN 0x01A1 +#define LATIN_CAPITAL_LETTER_OI 0x01A2 +#define LATIN_SMALL_LETTER_OI 0x01A3 +#define LATIN_CAPITAL_LETTER_P_WITH_HOOK 0x01A4 +#define LATIN_SMALL_LETTER_P_WITH_HOOK 0x01A5 +#define LATIN_LETTER_YR 0x01A6 +#define LATIN_CAPITAL_LETTER_TONE_TWO 0x01A7 +#define LATIN_SMALL_LETTER_TONE_TWO 0x01A8 +#define LATIN_CAPITAL_LETTER_ESH 0x01A9 +#define LATIN_LETTER_REVERSED_ESH_LOOP 0x01AA +#define LATIN_SMALL_LETTER_T_WITH_PALATAL_HOOK 0x01AB +#define LATIN_CAPITAL_LETTER_T_WITH_HOOK 0x01AC +#define LATIN_SMALL_LETTER_T_WITH_HOOK 0x01AD +#define LATIN_CAPITAL_LETTER_T_WITH_RETROFLEX_HOOK 0x01AE +#define LATIN_CAPITAL_LETTER_U_WITH_HORN 0x01AF +#define LATIN_SMALL_LETTER_U_WITH_HORN 0x01B0 +#define LATIN_CAPITAL_LETTER_UPSILON 0x01B1 +#define LATIN_CAPITAL_LETTER_V_WITH_HOOK 0x01B2 +#define LATIN_CAPITAL_LETTER_Y_WITH_HOOK 0x01B3 +#define LATIN_SMALL_LETTER_Y_WITH_HOOK 0x01B4 +#define LATIN_CAPITAL_LETTER_Z_WITH_STROKE 0x01B5 +#define LATIN_SMALL_LETTER_Z_WITH_STROKE 0x01B6 +#define LATIN_CAPITAL_LETTER_EZH 0x01B7 +#define LATIN_CAPITAL_LETTER_EZH_REVERSED 0x01B8 +#define LATIN_SMALL_LETTER_EZH_REVERSED 0x01B9 +#define LATIN_SMALL_LETTER_EZH_WITH_TAIL 0x01BA +#define LATIN_LETTER_TWO_WITH_STROKE 0x01BB +#define LATIN_CAPITAL_LETTER_TONE_FIVE 0x01BC +#define LATIN_SMALL_LETTER_TONE_FIVE 0x01BD +#define LATIN_LETTER_INVERTED_GLOTTAL_STOP_WITH_STROKE 0x01BE +#define LATIN_LETTER_WYNN 0x01BF +#define LATIN_LETTER_DENTAL_CLICK 0x01C0 +#define LATIN_LETTER_LATERAL_CLICK 0x01C1 +#define LATIN_LETTER_ALVEOLAR_CLICK 0x01C2 +#define LATIN_LETTER_RETROFLEX_CLICK 0x01C3 +#define LATIN_CAPITAL_LETTER_DZ_WITH_CARON 0x01C4 +#define LATIN_CAPITAL_LETTER_D_WITH_SMALL_LETTER_Z_WITH_CARON 0x01C5 +#define LATIN_SMALL_LETTER_DZ_WITH_CARON 0x01C6 +#define LATIN_CAPITAL_LETTER_LJ 0x01C7 +#define LATIN_CAPITAL_LETTER_L_WITH_SMALL_LETTER_J 0x01C8 +#define LATIN_SMALL_LETTER_LJ 0x01C9 +#define LATIN_CAPITAL_LETTER_NJ 0x01CA +#define LATIN_CAPITAL_LETTER_N_WITH_SMALL_LETTER_J 0x01CB +#define LATIN_SMALL_LETTER_NJ 0x01CC +#define LATIN_CAPITAL_LETTER_A_WITH_CARON 0x01CD +#define LATIN_SMALL_LETTER_A_WITH_CARON 0x01CE +#define LATIN_CAPITAL_LETTER_I_WITH_CARON 0x01CF +#define LATIN_SMALL_LETTER_I_WITH_CARON 0x01D0 +#define LATIN_CAPITAL_LETTER_O_WITH_CARON 0x01D1 +#define LATIN_SMALL_LETTER_O_WITH_CARON 0x01D2 +#define LATIN_CAPITAL_LETTER_U_WITH_CARON 0x01D3 +#define LATIN_SMALL_LETTER_U_WITH_CARON 0x01D4 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_MACRON 0x01D5 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_MACRON 0x01D6 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_ACUTE 0x01D7 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_ACUTE 0x01D8 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_CARON 0x01D9 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_CARON 0x01DA +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_GRAVE 0x01DB +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_GRAVE 0x01DC +#define LATIN_SMALL_LETTER_TURNED_E 0x01DD +#define LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS_AND_MACRON 0x01DE +#define LATIN_SMALL_LETTER_A_WITH_DIAERESIS_AND_MACRON 0x01DF +#define LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE_AND_MACRON 0x01E0 +#define LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE_AND_MACRON 0x01E1 +#define LATIN_CAPITAL_LETTER_AE_WITH_MACRON 0x01E2 +#define LATIN_SMALL_LETTER_AE_WITH_MACRON 0x01E3 +#define LATIN_CAPITAL_LETTER_G_WITH_STROKE 0x01E4 +#define LATIN_SMALL_LETTER_G_WITH_STROKE 0x01E5 +#define LATIN_CAPITAL_LETTER_G_WITH_CARON 0x01E6 +#define LATIN_SMALL_LETTER_G_WITH_CARON 0x01E7 +#define LATIN_CAPITAL_LETTER_K_WITH_CARON 0x01E8 +#define LATIN_SMALL_LETTER_K_WITH_CARON 0x01E9 +#define LATIN_CAPITAL_LETTER_O_WITH_OGONEK 0x01EA +#define LATIN_SMALL_LETTER_O_WITH_OGONEK 0x01EB +#define LATIN_CAPITAL_LETTER_O_WITH_OGONEK_AND_MACRON 0x01EC +#define LATIN_SMALL_LETTER_O_WITH_OGONEK_AND_MACRON 0x01ED +#define LATIN_CAPITAL_LETTER_EZH_WITH_CARON 0x01EE +#define LATIN_SMALL_LETTER_EZH_WITH_CARON 0x01EF +#define LATIN_SMALL_LETTER_J_WITH_CARON 0x01F0 +#define LATIN_CAPITAL_LETTER_DZ 0x01F1 +#define LATIN_CAPITAL_LETTER_D_WITH_SMALL_LETTER_Z 0x01F2 +#define LATIN_SMALL_LETTER_DZ 0x01F3 +#define LATIN_CAPITAL_LETTER_G_WITH_ACUTE 0x01F4 +#define LATIN_SMALL_LETTER_G_WITH_ACUTE 0x01F5 +#define LATIN_CAPITAL_LETTER_HWAIR 0x01F6 +#define LATIN_CAPITAL_LETTER_WYNN 0x01F7 +#define LATIN_CAPITAL_LETTER_N_WITH_GRAVE 0x01F8 +#define LATIN_SMALL_LETTER_N_WITH_GRAVE 0x01F9 +#define LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE_AND_ACUTE 0x01FA +#define LATIN_SMALL_LETTER_A_WITH_RING_ABOVE_AND_ACUTE 0x01FB +#define LATIN_CAPITAL_LETTER_AE_WITH_ACUTE 0x01FC +#define LATIN_SMALL_LETTER_AE_WITH_ACUTE 0x01FD +#define LATIN_CAPITAL_LETTER_O_WITH_STROKE_AND_ACUTE 0x01FE +#define LATIN_SMALL_LETTER_O_WITH_STROKE_AND_ACUTE 0x01FF +#define LATIN_CAPITAL_LETTER_A_WITH_DOUBLE_GRAVE 0x0200 +#define LATIN_SMALL_LETTER_A_WITH_DOUBLE_GRAVE 0x0201 +#define LATIN_CAPITAL_LETTER_A_WITH_INVERTED_BREVE 0x0202 +#define LATIN_SMALL_LETTER_A_WITH_INVERTED_BREVE 0x0203 +#define LATIN_CAPITAL_LETTER_E_WITH_DOUBLE_GRAVE 0x0204 +#define LATIN_SMALL_LETTER_E_WITH_DOUBLE_GRAVE 0x0205 +#define LATIN_CAPITAL_LETTER_E_WITH_INVERTED_BREVE 0x0206 +#define LATIN_SMALL_LETTER_E_WITH_INVERTED_BREVE 0x0207 +#define LATIN_CAPITAL_LETTER_I_WITH_DOUBLE_GRAVE 0x0208 +#define LATIN_SMALL_LETTER_I_WITH_DOUBLE_GRAVE 0x0209 +#define LATIN_CAPITAL_LETTER_I_WITH_INVERTED_BREVE 0x020A +#define LATIN_SMALL_LETTER_I_WITH_INVERTED_BREVE 0x020B +#define LATIN_CAPITAL_LETTER_O_WITH_DOUBLE_GRAVE 0x020C +#define LATIN_SMALL_LETTER_O_WITH_DOUBLE_GRAVE 0x020D +#define LATIN_CAPITAL_LETTER_O_WITH_INVERTED_BREVE 0x020E +#define LATIN_SMALL_LETTER_O_WITH_INVERTED_BREVE 0x020F +#define LATIN_CAPITAL_LETTER_R_WITH_DOUBLE_GRAVE 0x0210 +#define LATIN_SMALL_LETTER_R_WITH_DOUBLE_GRAVE 0x0211 +#define LATIN_CAPITAL_LETTER_R_WITH_INVERTED_BREVE 0x0212 +#define LATIN_SMALL_LETTER_R_WITH_INVERTED_BREVE 0x0213 +#define LATIN_CAPITAL_LETTER_U_WITH_DOUBLE_GRAVE 0x0214 +#define LATIN_SMALL_LETTER_U_WITH_DOUBLE_GRAVE 0x0215 +#define LATIN_CAPITAL_LETTER_U_WITH_INVERTED_BREVE 0x0216 +#define LATIN_SMALL_LETTER_U_WITH_INVERTED_BREVE 0x0217 +#define LATIN_CAPITAL_LETTER_S_WITH_COMMA_BELOW 0x0218 +#define LATIN_SMALL_LETTER_S_WITH_COMMA_BELOW 0x0219 +#define LATIN_CAPITAL_LETTER_T_WITH_COMMA_BELOW 0x021A +#define LATIN_SMALL_LETTER_T_WITH_COMMA_BELOW 0x021B +#define LATIN_CAPITAL_LETTER_YOGH 0x021C +#define LATIN_SMALL_LETTER_YOGH 0x021D +#define LATIN_CAPITAL_LETTER_H_WITH_CARON 0x021E +#define LATIN_SMALL_LETTER_H_WITH_CARON 0x021F +#define LATIN_CAPITAL_LETTER_OU 0x0222 +#define LATIN_SMALL_LETTER_OU 0x0223 +#define LATIN_CAPITAL_LETTER_Z_WITH_HOOK 0x0224 +#define LATIN_SMALL_LETTER_Z_WITH_HOOK 0x0225 +#define LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE 0x0226 +#define LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE 0x0227 +#define LATIN_CAPITAL_LETTER_E_WITH_CEDILLA 0x0228 +#define LATIN_SMALL_LETTER_E_WITH_CEDILLA 0x0229 +#define LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS_AND_MACRON 0x022A +#define LATIN_SMALL_LETTER_O_WITH_DIAERESIS_AND_MACRON 0x022B +#define LATIN_CAPITAL_LETTER_O_WITH_TILDE_AND_MACRON 0x022C +#define LATIN_SMALL_LETTER_O_WITH_TILDE_AND_MACRON 0x022D +#define LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE 0x022E +#define LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE 0x022F +#define LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE_AND_MACRON 0x0230 +#define LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE_AND_MACRON 0x0231 +#define LATIN_CAPITAL_LETTER_Y_WITH_MACRON 0x0232 +#define LATIN_SMALL_LETTER_Y_WITH_MACRON 0x0233 + +/* IPA extensions */ +#define LATIN_SMALL_LETTER_TURNED_A 0x0250 +#define LATIN_SMALL_LETTER_ALPHA 0x0251 +#define LATIN_SMALL_LETTER_TURNED_ALPHA 0x0252 +#define LATIN_SMALL_LETTER_B_WITH_HOOK 0x0253 +#define LATIN_SMALL_LETTER_OPEN_O 0x0254 +#define LATIN_SMALL_LETTER_C_WITH_CURL 0x0255 +#define LATIN_SMALL_LETTER_D_WITH_TAIL 0x0256 +#define LATIN_SMALL_LETTER_D_WITH_HOOK 0x0257 +#define LATIN_SMALL_LETTER_REVERSED_E 0x0258 +#define LATIN_SMALL_LETTER_SCHWA 0x0259 +#define LATIN_SMALL_LETTER_SCHWA_WITH_HOOK 0x025A +#define LATIN_SMALL_LETTER_OPEN_E 0x025B +#define LATIN_SMALL_LETTER_REVERSED_OPEN_E 0x025C +#define LATIN_SMALL_LETTER_REVERSED_OPEN_E_WITH_HOOK 0x025D +#define LATIN_SMALL_LETTER_CLOSED_REVERSED_OPEN_E 0x025E +#define LATIN_SMALL_LETTER_DOTLESS_J_WITH_STROKE 0x025F +#define LATIN_SMALL_LETTER_G_WITH_HOOK 0x0260 +#define LATIN_SMALL_LETTER_SCRIPT_G 0x0261 +#define LATIN_LETTER_SMALL_CAPITAL_G 0x0262 +#define LATIN_SMALL_LETTER_GAMMA 0x0263 +#define LATIN_SMALL_LETTER_RAMS_HORN 0x0264 +#define LATIN_SMALL_LETTER_TURNED_H 0x0265 +#define LATIN_SMALL_LETTER_H_WITH_HOOK 0x0266 +#define LATIN_SMALL_LETTER_HENG_WITH_HOOK 0x0267 +#define LATIN_SMALL_LETTER_I_WITH_STROKE 0x0268 +#define LATIN_SMALL_LETTER_IOTA 0x0269 +#define LATIN_LETTER_SMALL_CAPITAL_I 0x026A +#define LATIN_SMALL_LETTER_L_WITH_MIDDLE_TILDE 0x026B +#define LATIN_SMALL_LETTER_L_WITH_BELT 0x026C +#define LATIN_SMALL_LETTER_L_WITH_RETROFLEX_HOOK 0x026D +#define LATIN_SMALL_LETTER_LEZH 0x026E +#define LATIN_SMALL_LETTER_TURNED_M 0x026F +#define LATIN_SMALL_LETTER_TURNED_M_WITH_LONG_LEG 0x0270 +#define LATIN_SMALL_LETTER_M_WITH_HOOK 0x0271 +#define LATIN_SMALL_LETTER_N_WITH_LEFT_HOOK 0x0272 +#define LATIN_SMALL_LETTER_N_WITH_RETROFLEX_HOOK 0x0273 +#define LATIN_LETTER_SMALL_CAPITAL_N 0x0274 +#define LATIN_SMALL_LETTER_BARRED_O 0x0275 +#define LATIN_LETTER_SMALL_CAPITAL_OE 0x0276 +#define LATIN_SMALL_LETTER_CLOSED_OMEGA 0x0277 +#define LATIN_SMALL_LETTER_PHI 0x0278 +#define LATIN_SMALL_LETTER_TURNED_R 0x0279 +#define LATIN_SMALL_LETTER_TURNED_R_WITH_LONG_LEG 0x027A +#define LATIN_SMALL_LETTER_TURNED_R_WITH_HOOK 0x027B +#define LATIN_SMALL_LETTER_R_WITH_LONG_LEG 0x027C +#define LATIN_SMALL_LETTER_R_WITH_TAIL 0x027D +#define LATIN_SMALL_LETTER_R_WITH_FISHHOOK 0x027E +#define LATIN_SMALL_LETTER_REVERSED_R_WITH_FISHHOOK 0x027F +#define LATIN_LETTER_SMALL_CAPITAL_R 0x0280 +#define LATIN_LETTER_SMALL_CAPITAL_INVERTED_R 0x0281 +#define LATIN_SMALL_LETTER_S_WITH_HOOK 0x0282 +#define LATIN_SMALL_LETTER_ESH 0x0283 +#define LATIN_SMALL_LETTER_DOTLESS_J_WITH_STROKE_AND_HOOK 0x0284 +#define LATIN_SMALL_LETTER_SQUAT_REVERSED_ESH 0x0285 +#define LATIN_SMALL_LETTER_ESH_WITH_CURL 0x0286 +#define LATIN_SMALL_LETTER_TURNED_T 0x0287 +#define LATIN_SMALL_LETTER_T_WITH_RETROFLEX_HOOK 0x0288 +#define LATIN_SMALL_LETTER_U_BAR 0x0289 +#define LATIN_SMALL_LETTER_UPSILON 0x028A +#define LATIN_SMALL_LETTER_V_WITH_HOOK 0x028B +#define LATIN_SMALL_LETTER_TURNED_V 0x028C +#define LATIN_SMALL_LETTER_TURNED_W 0x028D +#define LATIN_SMALL_LETTER_TURNED_Y 0x028E +#define LATIN_LETTER_SMALL_CAPITAL_Y 0x028F +#define LATIN_SMALL_LETTER_Z_WITH_RETROFLEX_HOOK 0x0290 +#define LATIN_SMALL_LETTER_Z_WITH_CURL 0x0291 +#define LATIN_SMALL_LETTER_EZH 0x0292 +#define LATIN_SMALL_LETTER_EZH_WITH_CURL 0x0293 +#define LATIN_LETTER_GLOTTAL_STOP 0x0294 +#define LATIN_LETTER_PHARYNGEAL_VOICED_FRICATIVE 0x0295 +#define LATIN_LETTER_INVERTED_GLOTTAL_STOP 0x0296 +#define LATIN_LETTER_STRETCHED_C 0x0297 +#define LATIN_LETTER_BILABIAL_CLICK 0x0298 +#define LATIN_LETTER_SMALL_CAPITAL_B 0x0299 +#define LATIN_SMALL_LETTER_CLOSED_OPEN_E 0x029A +#define LATIN_LETTER_SMALL_CAPITAL_G_WITH_HOOK 0x029B +#define LATIN_LETTER_SMALL_CAPITAL_H 0x029C +#define LATIN_SMALL_LETTER_J_WITH_CROSSED_TAIL 0x029D +#define LATIN_SMALL_LETTER_TURNED_K 0x029E +#define LATIN_LETTER_SMALL_CAPITAL_L 0x029F +#define LATIN_SMALL_LETTER_Q_WITH_HOOK 0x02A0 +#define LATIN_LETTER_GLOTTAL_STOP_WITH_STROKE 0x02A1 +#define LATIN_LETTER_REVERSED_GLOTTAL_STOP_WITH_STROKE 0x02A2 +#define LATIN_SMALL_LETTER_DZ_DIGRAPH 0x02A3 +#define LATIN_SMALL_LETTER_DEZH_DIGRAPH 0x02A4 +#define LATIN_SMALL_LETTER_DZ_DIGRAPH_WITH_CURL 0x02A5 +#define LATIN_SMALL_LETTER_TS_DIGRAPH 0x02A6 +#define LATIN_SMALL_LETTER_TESH_DIGRAPH 0x02A7 +#define LATIN_SMALL_LETTER_TC_DIGRAPH_WITH_CURL 0x02A8 +#define LATIN_SMALL_LETTER_FENG_DIGRAPH 0x02A9 +#define LATIN_SMALL_LETTER_LS_DIGRAPH 0x02AA +#define LATIN_SMALL_LETTER_LZ_DIGRAPH 0x02AB +#define LATIN_LETTER_BILABIAL_PERCUSSIVE 0x02AC +#define LATIN_LETTER_BIDENTAL_PERCUSSIVE 0x02AD + +/* spacing modifier letters */ +#define MODIFIER_LETTER_SMALL_H 0x02B0 +#define MODIFIER_LETTER_SMALL_H_WITH_HOOK 0x02B1 +#define MODIFIER_LETTER_SMALL_J 0x02B2 +#define MODIFIER_LETTER_SMALL_R 0x02B3 +#define MODIFIER_LETTER_SMALL_TURNED_R 0x02B4 +#define MODIFIER_LETTER_SMALL_TURNED_R_WITH_HOOK 0x02B5 +#define MODIFIER_LETTER_SMALL_CAPITAL_INVERTED_R 0x02B6 +#define MODIFIER_LETTER_SMALL_W 0x02B7 +#define MODIFIER_LETTER_SMALL_Y 0x02B8 +#define MODIFIER_LETTER_PRIME 0x02B9 +#define MODIFIER_LETTER_DOUBLE_PRIME 0x02BA +#define MODIFIER_LETTER_TURNED_COMMA 0x02BB +#define MODIFIER_LETTER_APOSTROPHE 0x02BC +#define MODIFIER_LETTER_REVERSED_COMMA 0x02BD +#define MODIFIER_LETTER_RIGHT_HALF_RING 0x02BE +#define MODIFIER_LETTER_LEFT_HALF_RING 0x02BF +#define MODIFIER_LETTER_GLOTTAL_STOP 0x02C0 +#define MODIFIER_LETTER_REVERSED_GLOTTAL_STOP 0x02C1 +#define MODIFIER_LETTER_LEFT_ARROWHEAD 0x02C2 +#define MODIFIER_LETTER_RIGHT_ARROWHEAD 0x02C3 +#define MODIFIER_LETTER_UP_ARROWHEAD 0x02C4 +#define MODIFIER_LETTER_DOWN_ARROWHEAD 0x02C5 +#define MODIFIER_LETTER_CIRCUMFLEX_ACCENT 0x02C6 +#define CARON 0x02C7 +#define MODIFIER_LETTER_VERTICAL_LINE 0x02C8 +#define MODIFIER_LETTER_MACRON 0x02C9 +#define MODIFIER_LETTER_ACUTE_ACCENT 0x02CA +#define MODIFIER_LETTER_GRAVE_ACCENT 0x02CB +#define MODIFIER_LETTER_LOW_VERTICAL_LINE 0x02CC +#define MODIFIER_LETTER_LOW_MACRON 0x02CD +#define MODIFIER_LETTER_LOW_GRAVE_ACCENT 0x02CE +#define MODIFIER_LETTER_LOW_ACUTE_ACCENT 0x02CF +#define MODIFIER_LETTER_TRIANGULAR_COLON 0x02D0 +#define MODIFIER_LETTER_HALF_TRIANGULAR_COLON 0x02D1 +#define MODIFIER_LETTER_CENTRED_RIGHT_HALF_RING 0x02D2 +#define MODIFIER_LETTER_CENTRED_LEFT_HALF_RING 0x02D3 +#define MODIFIER_LETTER_UP_TACK 0x02D4 +#define MODIFIER_LETTER_DOWN_TACK 0x02D5 +#define MODIFIER_LETTER_PLUS_SIGN 0x02D6 +#define MODIFIER_LETTER_MINUS_SIGN 0x02D7 +#define BREVE 0x02D8 +#define DOT_ABOVE 0x02D9 +#define RING_ABOVE 0x02DA +#define OGONEK 0x02DB +#define SMALL_TILDE 0x02DC +#define DOUBLE_ACUTE_ACCENT 0x02DD +#define MODIFIER_LETTER_RHOTIC_HOOK 0x02DE +#define MODIFIER_LETTER_CROSS_ACCENT 0x02DF +#define MODIFIER_LETTER_SMALL_GAMMA 0x02E0 +#define MODIFIER_LETTER_SMALL_L 0x02E1 +#define MODIFIER_LETTER_SMALL_S 0x02E2 +#define MODIFIER_LETTER_SMALL_X 0x02E3 +#define MODIFIER_LETTER_SMALL_REVERSED_GLOTTAL_STOP 0x02E4 +#define MODIFIER_LETTER_EXTRA_HIGH_TONE_BAR 0x02E5 +#define MODIFIER_LETTER_HIGH_TONE_BAR 0x02E6 +#define MODIFIER_LETTER_MID_TONE_BAR 0x02E7 +#define MODIFIER_LETTER_LOW_TONE_BAR 0x02E8 +#define MODIFIER_LETTER_EXTRA_LOW_TONE_BAR 0x02E9 +#define MODIFIER_LETTER_YIN_DEPARTING_TONE_MARK 0x02EA +#define MODIFIER_LETTER_YANG_DEPARTING_TONE_MARK 0x02EB +#define MODIFIER_LETTER_VOICING 0x02EC +#define MODIFIER_LETTER_UNASPIRATED 0x02ED +#define MODIFIER_LETTER_DOUBLE_APOSTROPHE 0x02EE + +/* combining diacritical marks */ +#define COMBINING_GRAVE_ACCENT 0x0300 +#define COMBINING_ACUTE_ACCENT 0x0301 +#define COMBINING_CIRCUMFLEX_ACCENT 0x0302 +#define COMBINING_TILDE 0x0303 +#define COMBINING_MACRON 0x0304 +#define COMBINING_OVERLINE 0x0305 +#define COMBINING_BREVE 0x0306 +#define COMBINING_DOT_ABOVE 0x0307 +#define COMBINING_DIAERESIS 0x0308 +#define COMBINING_HOOK_ABOVE 0x0309 +#define COMBINING_RING_ABOVE 0x030A +#define COMBINING_DOUBLE_ACUTE_ACCENT 0x030B +#define COMBINING_CARON 0x030C +#define COMBINING_VERTICAL_LINE_ABOVE 0x030D +#define COMBINING_DOUBLE_VERTICAL_LINE_ABOVE 0x030E +#define COMBINING_DOUBLE_GRAVE_ACCENT 0x030F +#define COMBINING_CANDRABINDU 0x0310 +#define COMBINING_INVERTED_BREVE 0x0311 +#define COMBINING_TURNED_COMMA_ABOVE 0x0312 +#define COMBINING_COMMA_ABOVE 0x0313 +#define COMBINING_REVERSED_COMMA_ABOVE 0x0314 +#define COMBINING_COMMA_ABOVE_RIGHT 0x0315 +#define COMBINING_GRAVE_ACCENT_BELOW 0x0316 +#define COMBINING_ACUTE_ACCENT_BELOW 0x0317 +#define COMBINING_LEFT_TACK_BELOW 0x0318 +#define COMBINING_RIGHT_TACK_BELOW 0x0319 +#define COMBINING_LEFT_ANGLE_ABOVE 0x031A +#define COMBINING_HORN 0x031B +#define COMBINING_LEFT_HALF_RING_BELOW 0x031C +#define COMBINING_UP_TACK_BELOW 0x031D +#define COMBINING_DOWN_TACK_BELOW 0x031E +#define COMBINING_PLUS_SIGN_BELOW 0x031F +#define COMBINING_MINUS_SIGN_BELOW 0x0320 +#define COMBINING_PALATALIZED_HOOK_BELOW 0x0321 +#define COMBINING_RETROFLEX_HOOK_BELOW 0x0322 +#define COMBINING_DOT_BELOW 0x0323 +#define COMBINING_DIAERESIS_BELOW 0x0324 +#define COMBINING_RING_BELOW 0x0325 +#define COMBINING_COMMA_BELOW 0x0326 +#define COMBINING_CEDILLA 0x0327 +#define COMBINING_OGONEK 0x0328 +#define COMBINING_VERTICAL_LINE_BELOW 0x0329 +#define COMBINING_BRIDGE_BELOW 0x032A +#define COMBINING_INVERTED_DOUBLE_ARCH_BELOW 0x032B +#define COMBINING_CARON_BELOW 0x032C +#define COMBINING_CIRCUMFLEX_ACCENT_BELOW 0x032D +#define COMBINING_BREVE_BELOW 0x032E +#define COMBINING_INVERTED_BREVE_BELOW 0x032F +#define COMBINING_TILDE_BELOW 0x0330 +#define COMBINING_MACRON_BELOW 0x0331 +#define COMBINING_LOW_LINE 0x0332 +#define COMBINING_DOUBLE_LOW_LINE 0x0333 +#define COMBINING_TILDE_OVERLAY 0x0334 +#define COMBINING_SHORT_STROKE_OVERLAY 0x0335 +#define COMBINING_LONG_STROKE_OVERLAY 0x0336 +#define COMBINING_SHORT_SOLIDUS_OVERLAY 0x0337 +#define COMBINING_LONG_SOLIDUS_OVERLAY 0x0338 +#define COMBINING_RIGHT_HALF_RING_BELOW 0x0339 +#define COMBINING_INVERTED_BRIDGE_BELOW 0x033A +#define COMBINING_SQUARE_BELOW 0x033B +#define COMBINING_SEAGULL_BELOW 0x033C +#define COMBINING_X_ABOVE 0x033D +#define COMBINING_VERTICAL_TILDE 0x033E +#define COMBINING_DOUBLE_OVERLINE 0x033F +#define COMBINING_GRAVE_TONE_MARK 0x0340 +#define COMBINING_ACUTE_TONE_MARK 0x0341 +#define COMBINING_GREEK_PERISPOMENI 0x0342 +#define COMBINING_GREEK_KORONIS 0x0343 +#define COMBINING_GREEK_DIALYTIKA_TONOS 0x0344 +#define COMBINING_GREEK_YPOGEGRAMMENI 0x0345 +#define COMBINING_BRIDGE_ABOVE 0x0346 +#define COMBINING_EQUALS_SIGN_BELOW 0x0347 +#define COMBINING_DOUBLE_VERTICAL_LINE_BELOW 0x0348 +#define COMBINING_LEFT_ANGLE_BELOW 0x0349 +#define COMBINING_NOT_TILDE_ABOVE 0x034A +#define COMBINING_HOMOTHETIC_ABOVE 0x034B +#define COMBINING_ALMOST_EQUAL_TO_ABOVE 0x034C +#define COMBINING_LEFT_RIGHT_ARROW_BELOW 0x034D +#define COMBINING_UPWARDS_ARROW_BELOW 0x034E +#define COMBINING_DOUBLE_TILDE 0x0360 +#define COMBINING_DOUBLE_INVERTED_BREVE 0x0361 +#define COMBINING_DOUBLE_RIGHTWARDS_ARROW_BELOW 0x0362 + +/* greek letters */ +#define GREEK_NUMERAL_SIGN 0x0374 +#define GREEK_LOWER_NUMERAL_SIGN 0x0375 +#define GREEK_YPOGEGRAMMENI 0x037A +#define GREEK_QUESTION_MARK 0x037E +#define GREEK_TONOS 0x0384 +#define GREEK_DIALYTIKA_TONOS 0x0385 +#define GREEK_CAPITAL_LETTER_ALPHA_WITH_TONOS 0x0386 +#define GREEK_ANO_TELEIA 0x0387 +#define GREEK_CAPITAL_LETTER_EPSILON_WITH_TONOS 0x0388 +#define GREEK_CAPITAL_LETTER_ETA_WITH_TONOS 0x0389 +#define GREEK_CAPITAL_LETTER_IOTA_WITH_TONOS 0x038A +#define GREEK_CAPITAL_LETTER_OMICRON_WITH_TONOS 0x038C +#define GREEK_CAPITAL_LETTER_UPSILON_WITH_TONOS 0x038E +#define GREEK_CAPITAL_LETTER_OMEGA_WITH_TONOS 0x038F +#define GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA_AND_TONOS 0x0390 +#define GREEK_CAPITAL_LETTER_ALPHA 0x0391 +#define GREEK_CAPITAL_LETTER_BETA 0x0392 +#define GREEK_CAPITAL_LETTER_GAMMA 0x0393 +#define GREEK_CAPITAL_LETTER_DELTA 0x0394 +#define GREEK_CAPITAL_LETTER_EPSILON 0x0395 +#define GREEK_CAPITAL_LETTER_ZETA 0x0396 +#define GREEK_CAPITAL_LETTER_ETA 0x0397 +#define GREEK_CAPITAL_LETTER_THETA 0x0398 +#define GREEK_CAPITAL_LETTER_IOTA 0x0399 +#define GREEK_CAPITAL_LETTER_KAPPA 0x039A +#define GREEK_CAPITAL_LETTER_LAMDA 0x039B +#define GREEK_CAPITAL_LETTER_MU 0x039C +#define GREEK_CAPITAL_LETTER_NU 0x039D +#define GREEK_CAPITAL_LETTER_XI 0x039E +#define GREEK_CAPITAL_LETTER_OMICRON 0x039F +#define GREEK_CAPITAL_LETTER_PI 0x03A0 +#define GREEK_CAPITAL_LETTER_RHO 0x03A1 +#define GREEK_CAPITAL_LETTER_SIGMA 0x03A3 +#define GREEK_CAPITAL_LETTER_TAU 0x03A4 +#define GREEK_CAPITAL_LETTER_UPSILON 0x03A5 +#define GREEK_CAPITAL_LETTER_PHI 0x03A6 +#define GREEK_CAPITAL_LETTER_CHI 0x03A7 +#define GREEK_CAPITAL_LETTER_PSI 0x03A8 +#define GREEK_CAPITAL_LETTER_OMEGA 0x03A9 +#define GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA 0x03AA +#define GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA 0x03AB +#define GREEK_SMALL_LETTER_ALPHA_WITH_TONOS 0x03AC +#define GREEK_SMALL_LETTER_EPSILON_WITH_TONOS 0x03AD +#define GREEK_SMALL_LETTER_ETA_WITH_TONOS 0x03AE +#define GREEK_SMALL_LETTER_IOTA_WITH_TONOS 0x03AF +#define GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS 0x03B0 +#define GREEK_SMALL_LETTER_ALPHA 0x03B1 +#define GREEK_SMALL_LETTER_BETA 0x03B2 +#define GREEK_SMALL_LETTER_GAMMA 0x03B3 +#define GREEK_SMALL_LETTER_DELTA 0x03B4 +#define GREEK_SMALL_LETTER_EPSILON 0x03B5 +#define GREEK_SMALL_LETTER_ZETA 0x03B6 +#define GREEK_SMALL_LETTER_ETA 0x03B7 +#define GREEK_SMALL_LETTER_THETA 0x03B8 +#define GREEK_SMALL_LETTER_IOTA 0x03B9 +#define GREEK_SMALL_LETTER_KAPPA 0x03BA +#define GREEK_SMALL_LETTER_LAMDA 0x03BB +#define GREEK_SMALL_LETTER_MU 0x03BC +#define GREEK_SMALL_LETTER_NU 0x03BD +#define GREEK_SMALL_LETTER_XI 0x03BE +#define GREEK_SMALL_LETTER_OMICRON 0x03BF +#define GREEK_SMALL_LETTER_PI 0x03C0 +#define GREEK_SMALL_LETTER_RHO 0x03C1 +#define GREEK_SMALL_LETTER_FINAL_SIGMA 0x03C2 +#define GREEK_SMALL_LETTER_SIGMA 0x03C3 +#define GREEK_SMALL_LETTER_TAU 0x03C4 +#define GREEK_SMALL_LETTER_UPSILON 0x03C5 +#define GREEK_SMALL_LETTER_PHI 0x03C6 +#define GREEK_SMALL_LETTER_CHI 0x03C7 +#define GREEK_SMALL_LETTER_PSI 0x03C8 +#define GREEK_SMALL_LETTER_OMEGA 0x03C9 +#define GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA 0x03CA +#define GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA 0x03CB +#define GREEK_SMALL_LETTER_OMICRON_WITH_TONOS 0x03CC +#define GREEK_SMALL_LETTER_UPSILON_WITH_TONOS 0x03CD +#define GREEK_SMALL_LETTER_OMEGA_WITH_TONOS 0x03CE +#define GREEK_BETA_SYMBOL 0x03D0 +#define GREEK_THETA_SYMBOL 0x03D1 +#define GREEK_UPSILON_WITH_HOOK_SYMBOL 0x03D2 +#define GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL 0x03D3 +#define GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL 0x03D4 +#define GREEK_PHI_SYMBOL 0x03D5 +#define GREEK_PI_SYMBOL 0x03D6 +#define GREEK_KAI_SYMBOL 0x03D7 +#define GREEK_LETTER_STIGMA 0x03DA +#define GREEK_SMALL_LETTER_STIGMA 0x03DB +#define GREEK_LETTER_DIGAMMA 0x03DC +#define GREEK_SMALL_LETTER_DIGAMMA 0x03DD +#define GREEK_LETTER_KOPPA 0x03DE +#define GREEK_SMALL_LETTER_KOPPA 0x03DF +#define GREEK_LETTER_SAMPI 0x03E0 +#define GREEK_SMALL_LETTER_SAMPI 0x03E1 + +/* general punctuation (partial) */ +#define HYPHEN 0x2010 +#define NON_BREAKING_HYPHEN 0x2011 +#define FIGURE_DASH 0x2012 +#define EN_DASH 0x2013 +#define EM_DASH 0x2014 +#define HORIZONTAL_BAR 0x2015 +#define LEFT_SINGLE_QUOTATION_MARK 0x2018 +#define RIGHT_SINGLE_QUOTATION_MARK 0x2019 +#define SINGLE_LOW_9_QUOTATION_MARK 0x201A +#define SINGLE_HIGH_REVERSED_9_QUOTATION_MARK 0x201B +#define LEFT_DOUBLE_QUOTATION_MARK 0x201C +#define RIGHT_DOUBLE_QUOTATION_MARK 0x201D +#define DOUBLE_LOW_9_QUOTATION_MARK 0x201E +#define DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK 0x201F +#define DAGGER 0x2020 +#define DOUBLE_DAGGER 0x2021 +#define BULLET 0x2022 +#define TRIANGULAR_BULLET 0x2023 +#define HYPHENATION_POINT 0x2027 +#define HORIZONTAL_ELLIPSIS 0x2026 +#define PER_MILLE_SIGN 0x2030 +#define SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK 0x2039 +#define SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK 0x203A +#define EURO_CURRENCY_SIGN 0x20AC + +/* mathematical operators */ +#define FOR_ALL 0x2200 +#define COMPLEMENT 0x2201 +#define PARTIAL_DIFFERENTIAL 0x2202 +#define THERE_EXISTS 0x2203 +#define THERE_DOES_NOT_EXIST 0x2204 +#define EMPTY_SET 0x2205 +#define INCREMENT 0x2206 +#define NABLA 0x2207 +#define ELEMENT_OF 0x2208 +#define NOT_AN_ELEMENT_OF 0x2209 +#define SMALL_ELEMENT_OF 0x220A +#define CONTAINS_AS_MEMBER 0x220B +#define DOES_NOT_CONTAIN_AS_MEMBER 0x220C +#define SMALL_CONTAINS_AS_MEMBER 0x220D +#define END_OF_PROOF 0x220E +#define N_ARY_PRODUCT 0x220F +#define N_ARY_COPRODUCT 0x2210 +#define N_ARY_SUMMATION 0x2211 +#define MINUS_SIGN 0x2212 +#define MINUS_OR_PLUS_SIGN 0x2213 +#define DOT_PLUS 0x2214 +#define DIVISION_SLASH 0x2215 +#define SET_MINUS 0x2216 +#define ASTERISK_OPERATOR 0x2217 +#define RING_OPERATOR 0x2218 +#define BULLET_OPERATOR 0x2219 +#define SQUARE_ROOT 0x221A +#define CUBE_ROOT 0x221B +#define FOURTH_ROOT 0x221C +#define PROPORTIONAL_TO 0x221D +/* INFINITY conflicts with math.h */ +#define INFINITY 0x221E +#define RIGHT_ANGLE 0x221F +#define ANGLE 0x2220 +#define MEASURED_ANGLE 0x2221 +#define SPHERICAL_ANGLE 0x2222 +#define DIVIDES 0x2223 +#define DOES_NOT_DIVIDE 0x2224 +#define PARALLEL_TO 0x2225 +#define NOT_PARALLEL_TO 0x2226 +#define LOGICAL_AND 0x2227 +#define LOGICAL_OR 0x2228 +#define INTERSECTION 0x2229 +#define UNION 0x222A +#define INTEGRAL 0x222B +#define DOUBLE_INTEGRAL 0x222C +#define TRIPLE_INTEGRAL 0x222D +#define CONTOUR_INTEGRAL 0x222E +#define SURFACE_INTEGRAL 0x222F +#define VOLUME_INTEGRAL 0x2230 +#define CLOCKWISE_INTEGRAL 0x2231 +#define CLOCKWISE_CONTOUR_INTEGRAL 0x2232 +#define ANTICLOCKWISE_CONTOUR_INTEGRAL 0x2233 +#define THEREFORE 0x2234 +#define BECAUSE 0x2235 +#define RATIO 0x2236 +#define PROPORTION 0x2237 +#define DOT_MINUS 0x2238 +#define EXCESS 0x2239 +#define GEOMETRIC_PROPORTION 0x223A +#define HOMOTHETIC 0x223B +#define TILDE_OPERATOR 0x223C +#define REVERSED_TILDE 0x223D +#define INVERTED_LAZY_S 0x223E +#define SINE_WAVE 0x223F +#define WREATH_PRODUCT 0x2240 +#define NOT_TILDE 0x2241 +#define MINUS_TILDE 0x2242 +#define ASYMPTOTICALLY_EQUAL_TO 0x2243 +#define NOT_ASYMPTOTICALLY_EQUAL_TO 0x2244 +#define APPROXIMATELY_EQUAL_TO 0x2245 +#define APPROXIMATELY_BUT_NOT_ACTUALLY_EQUAL_TO 0x2246 +#define NEITHER_APPROXIMATELY_NOR_ACTUALLY_EQUAL_TO 0x2247 +#define ALMOST_EQUAL_TO 0x2248 +#define NOT_ALMOST_EQUAL_TO 0x2249 +#define ALMOST_EQUAL_OR_EQUAL_TO 0x224A +#define TRIPLE_TILDE 0x224B +#define ALL_EQUAL_TO 0x224C +#define EQUIVALENT_TO 0x224D +#define GEOMETRICALLY_EQUIVALENT_TO 0x224E +#define DIFFERENCE_BETWEEN 0x224F +#define APPROACHES_THE_LIMIT 0x2250 +#define GEOMETRICALLY_EQUAL_TO 0x2251 +#define APPROXIMATELY_EQUAL_TO_OR_THE_IMAGE_OF 0x2252 +#define IMAGE_OF_OR_APPROXIMATELY_EQUAL_TO 0x2253 +#define COLON_EQUALS 0x2254 +#define EQUALS_COLON 0x2255 +#define RING_IN_EQUAL_TO 0x2256 +#define RING_EQUAL_TO 0x2257 +#define CORRESPONDS_TO 0x2258 +#define ESTIMATES 0x2259 +#define EQUIANGULAR_TO 0x225A +#define STAR_EQUALS 0x225B +#define DELTA_EQUAL_TO 0x225C +#define EQUAL_TO_BY_DEFINITION 0x225D +#define MEASURED_BY 0x225E +#define QUESTIONED_EQUAL_TO 0x225F +#define NOT_EQUAL_TO 0x2260 +#define IDENTICAL_TO 0x2261 +#define NOT_IDENTICAL_TO 0x2262 +#define STRICTLY_EQUIVALENT_TO 0x2263 +#define LESS_THAN_OR_EQUAL_TO 0x2264 +#define GREATER_THAN_OR_EQUAL_TO 0x2265 +#define LESS_THAN_OVER_EQUAL_TO 0x2266 +#define GREATER_THAN_OVER_EQUAL_TO 0x2267 +#define LESS_THAN_BUT_NOT_EQUAL_TO 0x2268 +#define GREATER_THAN_BUT_NOT_EQUAL_TO 0x2269 +#define MUCH_LESS_THAN 0x226A +#define MUCH_GREATER_THAN 0x226B +#define BETWEEN 0x226C +#define NOT_EQUIVALENT_TO 0x226D +#define NOT_LESS_THAN 0x226E +#define NOT_GREATER_THAN 0x226F +#define NEITHER_LESS_THAN_NOR_EQUAL_TO 0x2270 +#define NEITHER_GREATER_THAN_NOR_EQUAL_TO 0x2271 +#define LESS_THAN_OR_EQUIVALENT_TO 0x2272 +#define GREATER_THAN_OR_EQUIVALENT_TO 0x2273 +#define NEITHER_LESS_THAN_NOR_EQUIVALENT_TO 0x2274 +#define NEITHER_GREATER_THAN_NOR_EQUIVALENT_TO 0x2275 +#define LESS_THAN_OR_GREATER_THAN 0x2276 +#define GREATER_THAN_OR_LESS_THAN 0x2277 +#define NEITHER_LESS_THAN_NOR_GREATER_THAN 0x2278 +#define NEITHER_GREATER_THAN_NOR_LESS_THAN 0x2279 +#define PRECEDES 0x227A +#define SUCCEEDS 0x227B +#define PRECEDES_OR_EQUAL_TO 0x227C +#define SUCCEEDS_OR_EQUAL_TO 0x227D +#define PRECEDES_OR_EQUIVALENT_TO 0x227E +#define SUCCEEDS_OR_EQUIVALENT_TO 0x227F +#define DOES_NOT_PRECEDE 0x2280 +#define DOES_NOT_SUCCEED 0x2281 +#define SUBSET_OF 0x2282 +#define SUPERSET_OF 0x2283 +#define NOT_A_SUBSET_OF 0x2284 +#define NOT_A_SUPERSET_OF 0x2285 +#define SUBSET_OF_OR_EQUAL_TO 0x2286 +#define SUPERSET_OF_OR_EQUAL_TO 0x2287 +#define NEITHER_A_SUBSET_OF_NOR_EQUAL_TO 0x2288 +#define NEITHER_A_SUPERSET_OF_NOR_EQUAL_TO 0x2289 +#define SUBSET_OF_WITH_NOT_EQUAL_TO 0x228A +#define SUPERSET_OF_WITH_NOT_EQUAL_TO 0x228B +#define MULTISET 0x228C +#define MULTISET_MULTIPLICATION 0x228D +#define MULTISET_UNION 0x228E +#define SQUARE_IMAGE_OF 0x228F +#define SQUARE_ORIGINAL_OF 0x2290 +#define SQUARE_IMAGE_OF_OR_EQUAL_TO 0x2291 +#define SQUARE_ORIGINAL_OF_OR_EQUAL_TO 0x2292 +#define SQUARE_CAP 0x2293 +#define SQUARE_CUP 0x2294 +#define CIRCLED_PLUS 0x2295 +#define CIRCLED_MINUS 0x2296 +#define CIRCLED_TIMES 0x2297 +#define CIRCLED_DIVISION_SLASH 0x2298 +#define CIRCLED_DOT_OPERATOR 0x2299 +#define CIRCLED_RING_OPERATOR 0x229A +#define CIRCLED_ASTERISK_OPERATOR 0x229B +#define CIRCLED_EQUALS 0x229C +#define CIRCLED_DASH 0x229D +#define SQUARED_PLUS 0x229E +#define SQUARED_MINUS 0x229F +#define SQUARED_TIMES 0x22A0 +#define SQUARED_DOT_OPERATOR 0x22A1 +#define RIGHT_TACK 0x22A2 +#define LEFT_TACK 0x22A3 +#define DOWN_TACK 0x22A4 +#define UP_TACK 0x22A5 +#define ASSERTION 0x22A6 +#define MODELS 0x22A7 +#define TRUE 0x22A8 +#define FORCES 0x22A9 +#define TRIPLE_VERTICAL_BAR_RIGHT_TURNSTILE 0x22AA +#define DOUBLE_VERTICAL_BAR_DOUBLE_RIGHT_TURNSTILE 0x22AB +#define DOES_NOT_PROVE 0x22AC +#define NOT_TRUE 0x22AD +#define DOES_NOT_FORCE 0x22AE +#define NEGATED_DOUBLE_VERTICAL_BAR_DOUBLE_RIGHT_TURNSTILE 0x22AF +#define PRECEDES_UNDER_RELATION 0x22B0 +#define SUCCEEDS_UNDER_RELATION 0x22B1 +#define NORMAL_SUBGROUP_OF 0x22B2 +#define CONTAINS_AS_NORMAL_SUBGROUP 0x22B3 +#define NORMAL_SUBGROUP_OF_OR_EQUAL_TO 0x22B4 +#define CONTAINS_AS_NORMAL_SUBGROUP_OR_EQUAL_TO 0x22B5 +#define ORIGINAL_OF 0x22B6 +#define IMAGE_OF 0x22B7 +#define MULTIMAP 0x22B8 +#define HERMITIAN_CONJUGATE_MATRIX 0x22B9 +#define INTERCALATE 0x22BA +#define XOR 0x22BB +#define NAND 0x22BC +#define NOR 0x22BD +#define RIGHT_ANGLE_WITH_ARC 0x22BE +#define RIGHT_TRIANGLE 0x22BF +#define N_ARY_LOGICAL_AND 0x22C0 +#define N_ARY_LOGICAL_OR 0x22C1 +#define N_ARY_INTERSECTION 0x22C2 +#define N_ARY_UNION 0x22C3 +#define DIAMOND_OPERATOR 0x22C4 +#define DOT_OPERATOR 0x22C5 +#define STAR_OPERATOR 0x22C6 +#define DIVISION_TIMES 0x22C7 +#define BOWTIE 0x22C8 +#define LEFT_NORMAL_FACTOR_SEMIDIRECT_PRODUCT 0x22C9 +#define RIGHT_NORMAL_FACTOR_SEMIDIRECT_PRODUCT 0x22CA +#define LEFT_SEMIDIRECT_PRODUCT 0x22CB +#define RIGHT_SEMIDIRECT_PRODUCT 0x22CC +#define REVERSED_TILDE_EQUALS 0x22CD +#define CURLY_LOGICAL_OR 0x22CE +#define CURLY_LOGICAL_AND 0x22CF +#define DOUBLE_SUBSET 0x22D0 +#define DOUBLE_SUPERSET 0x22D1 +#define DOUBLE_INTERSECTION 0x22D2 +#define DOUBLE_UNION 0x22D3 +#define PITCHFORK 0x22D4 +#define EQUAL_AND_PARALLEL_TO 0x22D5 +#define LESS_THAN_WITH_DOT 0x22D6 +#define GREATER_THAN_WITH_DOT 0x22D7 +#define VERY_MUCH_LESS_THAN 0x22D8 +#define VERY_MUCH_GREATER_THAN 0x22D9 +#define LESS_THAN_EQUAL_TO_OR_GREATER_THAN 0x22DA +#define GREATER_THAN_EQUAL_TO_OR_LESS_THAN 0x22DB +#define EQUAL_TO_OR_LESS_THAN 0x22DC +#define EQUAL_TO_OR_GREATER_THAN 0x22DD +#define EQUAL_TO_OR_PRECEDES 0x22DE +#define EQUAL_TO_OR_SUCCEEDS 0x22DF +#define DOES_NOT_PRECEDE_OR_EQUAL 0x22E0 +#define DOES_NOT_SUCCEED_OR_EQUAL 0x22E1 +#define NOT_SQUARE_IMAGE_OF_OR_EQUAL_TO 0x22E2 +#define NOT_SQUARE_ORIGINAL_OF_OR_EQUAL_TO 0x22E3 +#define SQUARE_IMAGE_OF_OR_NOT_EQUAL_TO 0x22E4 +#define SQUARE_ORIGINAL_OF_OR_NOT_EQUAL_TO 0x22E5 +#define LESS_THAN_BUT_NOT_EQUIVALENT_TO 0x22E6 +#define GREATER_THAN_BUT_NOT_EQUIVALENT_TO 0x22E7 +#define PRECEDES_BUT_NOT_EQUIVALENT_TO 0x22E8 +#define SUCCEEDS_BUT_NOT_EQUIVALENT_TO 0x22E9 +#define NOT_NORMAL_SUBGROUP_OF 0x22EA +#define DOES_NOT_CONTAIN_AS_NORMAL_SUBGROUP 0x22EB +#define NOT_NORMAL_SUBGROUP_OF_OR_EQUAL_TO 0x22EC +#define DOES_NOT_CONTAIN_AS_NORMAL_SUBGROUP_OR_EQUAL 0x22ED +#define VERTICAL_ELLIPSIS 0x22EE +#define MIDLINE_HORIZONTAL_ELLIPSIS 0x22EF +#define UP_RIGHT_DIAGONAL_ELLIPSIS 0x22F0 +#define DOWN_RIGHT_DIAGONAL_ELLIPSIS 0x22F1 + +/* Optical Character Recognition in Unicode (see wikipedia/OCR) + * range: 0x2440-0x245F + */ +#define OCR_Hook 0x2440 +#define OCR_Chair 0x2441 +#define OCR_Fork 0x2442 +#define OCR_Inverted_Fork 0x2443 +#define OCR_Belt_Buckle 0x2444 +#define OCR_Bow_Tie 0x2445 + +/* the following 4 MICR chars (magnetic ink character recognition) + * They look like: |: ,|' ||' ||| (known also as MICR-A,B,C,D) + */ +#define OCR_Branch_Bank_Identification 0x2446 +#define OCR_Amount_Of_Check 0x2447 +#define OCR_Customer_Account_Number 0x2448 +#define OCR_Dash 0x2449 + +#define OCR_Double_Backslash 0x244A + +/* latin ligatures */ +#define LATIN_SMALL_LIGATURE_FF 0xFB00 +#define LATIN_SMALL_LIGATURE_FI 0xFB01 +#define LATIN_SMALL_LIGATURE_FL 0xFB02 +#define LATIN_SMALL_LIGATURE_FFI 0xFB03 +#define LATIN_SMALL_LIGATURE_FFL 0xFB04 +#define LATIN_SMALL_LIGATURE_LONG_S_T 0xFB05 +#define LATIN_SMALL_LIGATURE_ST 0xFB06 + +#endif diff --git a/.svn/pristine/34/3431568853430b6992578f2b69801be965108c0c.svn-base b/.svn/pristine/34/3431568853430b6992578f2b69801be965108c0c.svn-base new file mode 100644 index 0000000..8d5b3d8 --- /dev/null +++ b/.svn/pristine/34/3431568853430b6992578f2b69801be965108c0c.svn-base @@ -0,0 +1,428 @@ +//---------------------------------------------------------------------- +// File: kd_split.cpp +// Programmer: Sunil Arya and David Mount +// Description: Methods for splitting kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +//---------------------------------------------------------------------- + +#include "kd_tree.h" // kd-tree definitions +#include "kd_util.h" // kd-tree utilities +#include "kd_split.h" // splitting functions + +//---------------------------------------------------------------------- +// Constants +//---------------------------------------------------------------------- + +const double ERR = 0.001; // a small value +const double FS_ASPECT_RATIO = 3.0; // maximum allowed aspect ratio + // in fair split. Must be >= 2. + +//---------------------------------------------------------------------- +// kd_split - Bentley's standard splitting routine for kd-trees +// Find the dimension of the greatest spread, and split +// just before the median point along this dimension. +//---------------------------------------------------------------------- + +void kd_split( + ANNpointArray pa, // point array (permuted on return) + ANNidxArray pidx, // point indices + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + // find dimension of maximum spread + cut_dim = annMaxSpread(pa, pidx, n, dim); + n_lo = n/2; // median rank + // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); +} + +//---------------------------------------------------------------------- +// midpt_split - midpoint splitting rule for box-decomposition trees +// +// This is the simplest splitting rule that guarantees boxes +// of bounded aspect ratio. It simply cuts the box with the +// longest side through its midpoint. If there are ties, it +// selects the dimension with the maximum point spread. +// +// WARNING: This routine (while simple) doesn't seem to work +// well in practice in high dimensions, because it tends to +// generate a large number of trivial and/or unbalanced splits. +// Either kd_split(), sl_midpt_split(), or fair_split() are +// recommended, instead. +//---------------------------------------------------------------------- + +void midpt_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + } + } + ANNcoord max_spread = -1; // find long side with most spread + for (d = 0; d < dim; d++) { + // is it among longest? + if (double(bnds.hi[d] - bnds.lo[d]) >= (1-ERR)*max_length) { + // compute its spread + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // is it max so far? + max_spread = spr; + cut_dim = d; + } + } + } + // split along cut_dim at midpoint + cut_val = (bnds.lo[cut_dim] + bnds.hi[cut_dim]) / 2; + // permute points accordingly + int br1, br2; + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + //------------------------------------------------------------------ + // On return: pa[0..br1-1] < cut_val + // pa[br1..br2-1] == cut_val + // pa[br2..n-1] > cut_val + // + // We can set n_lo to any value in the range [br1..br2]. + // We choose split so that points are most evenly divided. + //------------------------------------------------------------------ + if (br1 > n/2) n_lo = br1; + else if (br2 < n/2) n_lo = br2; + else n_lo = n/2; +} + +//---------------------------------------------------------------------- +// sl_midpt_split - sliding midpoint splitting rule +// +// This is a modification of midpt_split, which has the nonsensical +// name "sliding midpoint". The idea is that we try to use the +// midpoint rule, by bisecting the longest side. If there are +// ties, the dimension with the maximum spread is selected. If, +// however, the midpoint split produces a trivial split (no points +// on one side of the splitting plane) then we slide the splitting +// (maintaining its orientation) until it produces a nontrivial +// split. For example, if the splitting plane is along the x-axis, +// and all the data points have x-coordinate less than the x-bisector, +// then the split is taken along the maximum x-coordinate of the +// data points. +// +// Intuitively, this rule cannot generate trivial splits, and +// hence avoids midpt_split's tendency to produce trees with +// a very large number of nodes. +// +//---------------------------------------------------------------------- + +void sl_midpt_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + } + } + ANNcoord max_spread = -1; // find long side with most spread + for (d = 0; d < dim; d++) { + // is it among longest? + if ((bnds.hi[d] - bnds.lo[d]) >= (1-ERR)*max_length) { + // compute its spread + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // is it max so far? + max_spread = spr; + cut_dim = d; + } + } + } + // ideal split at midpoint + ANNcoord ideal_cut_val = (bnds.lo[cut_dim] + bnds.hi[cut_dim])/2; + + ANNcoord min, max; + annMinMax(pa, pidx, n, cut_dim, min, max); // find min/max coordinates + + if (ideal_cut_val < min) // slide to min or max as needed + cut_val = min; + else if (ideal_cut_val > max) + cut_val = max; + else + cut_val = ideal_cut_val; + + // permute points accordingly + int br1, br2; + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + //------------------------------------------------------------------ + // On return: pa[0..br1-1] < cut_val + // pa[br1..br2-1] == cut_val + // pa[br2..n-1] > cut_val + // + // We can set n_lo to any value in the range [br1..br2] to satisfy + // the exit conditions of the procedure. + // + // if ideal_cut_val < min (implying br2 >= 1), + // then we select n_lo = 1 (so there is one point on left) and + // if ideal_cut_val > max (implying br1 <= n-1), + // then we select n_lo = n-1 (so there is one point on right). + // Otherwise, we select n_lo as close to n/2 as possible within + // [br1..br2]. + //------------------------------------------------------------------ + if (ideal_cut_val < min) n_lo = 1; + else if (ideal_cut_val > max) n_lo = n-1; + else if (br1 > n/2) n_lo = br1; + else if (br2 < n/2) n_lo = br2; + else n_lo = n/2; +} + +//---------------------------------------------------------------------- +// fair_split - fair-split splitting rule +// +// This is a compromise between the kd-tree splitting rule (which +// always splits data points at their median) and the midpoint +// splitting rule (which always splits a box through its center. +// The goal of this procedure is to achieve both nicely balanced +// splits, and boxes of bounded aspect ratio. +// +// A constant FS_ASPECT_RATIO is defined. Given a box, those sides +// which can be split so that the ratio of the longest to shortest +// side does not exceed ASPECT_RATIO are identified. Among these +// sides, we select the one in which the points have the largest +// spread. We then split the points in a manner which most evenly +// distributes the points on either side of the splitting plane, +// subject to maintaining the bound on the ratio of long to short +// sides. To determine that the aspect ratio will be preserved, +// we determine the longest side (other than this side), and +// determine how narrowly we can cut this side, without causing the +// aspect ratio bound to be exceeded (small_piece). +// +// This procedure is more robust than either kd_split or midpt_split, +// but is more complicated as well. When point distribution is +// extremely skewed, this degenerates to midpt_split (actually +// 1/3 point split), and when the points are most evenly distributed, +// this degenerates to kd-split. +//---------------------------------------------------------------------- + +void fair_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + cut_dim = 0; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + cut_dim = d; + } + } + + ANNcoord max_spread = 0; // find legal cut with max spread + cut_dim = 0; + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + // is this side midpoint splitable + // without violating aspect ratio? + if (((double) max_length)*2.0/((double) length) <= FS_ASPECT_RATIO) { + // compute spread along this dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // best spread so far + max_spread = spr; + cut_dim = d; // this is dimension to cut + } + } + } + + max_length = 0; // find longest side other than cut_dim + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (d != cut_dim && length > max_length) + max_length = length; + } + // consider most extreme splits + ANNcoord small_piece = max_length / FS_ASPECT_RATIO; + ANNcoord lo_cut = bnds.lo[cut_dim] + small_piece;// lowest legal cut + ANNcoord hi_cut = bnds.hi[cut_dim] - small_piece;// highest legal cut + + int br1, br2; + // is median below lo_cut ? + if (annSplitBalance(pa, pidx, n, cut_dim, lo_cut) >= 0) { + cut_val = lo_cut; // cut at lo_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br1; + } + // is median above hi_cut? + else if (annSplitBalance(pa, pidx, n, cut_dim, hi_cut) <= 0) { + cut_val = hi_cut; // cut at hi_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br2; + } + else { // median cut preserves asp ratio + n_lo = n/2; // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); + } +} + +//---------------------------------------------------------------------- +// sl_fair_split - sliding fair split splitting rule +// +// Sliding fair split is a splitting rule that combines the +// strengths of both fair split with sliding midpoint split. +// Fair split tends to produce balanced splits when the points +// are roughly uniformly distributed, but it can produce many +// trivial splits when points are highly clustered. Sliding +// midpoint never produces trivial splits, and shrinks boxes +// nicely if points are highly clustered, but it may produce +// rather unbalanced splits when points are unclustered but not +// quite uniform. +// +// Sliding fair split is based on the theory that there are two +// types of splits that are "good": balanced splits that produce +// fat boxes, and unbalanced splits provided the cell with fewer +// points is fat. +// +// This splitting rule operates by first computing the longest +// side of the current bounding box. Then it asks which sides +// could be split (at the midpoint) and still satisfy the aspect +// ratio bound with respect to this side. Among these, it selects +// the side with the largest spread (as fair split would). It +// then considers the most extreme cuts that would be allowed by +// the aspect ratio bound. This is done by dividing the longest +// side of the box by the aspect ratio bound. If the median cut +// lies between these extreme cuts, then we use the median cut. +// If not, then consider the extreme cut that is closer to the +// median. If all the points lie to one side of this cut, then +// we slide the cut until it hits the first point. This may +// violate the aspect ratio bound, but will never generate empty +// cells. However the sibling of every such skinny cell is fat, +// and hence packing arguments still apply. +// +//---------------------------------------------------------------------- + +void sl_fair_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + ANNcoord min, max; // min/max coordinates + int br1, br2; // split break points + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + cut_dim = 0; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + cut_dim = d; + } + } + + ANNcoord max_spread = 0; // find legal cut with max spread + cut_dim = 0; + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + // is this side midpoint splitable + // without violating aspect ratio? + if (((double) max_length)*2.0/((double) length) <= FS_ASPECT_RATIO) { + // compute spread along this dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // best spread so far + max_spread = spr; + cut_dim = d; // this is dimension to cut + } + } + } + + max_length = 0; // find longest side other than cut_dim + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (d != cut_dim && length > max_length) + max_length = length; + } + // consider most extreme splits + ANNcoord small_piece = max_length / FS_ASPECT_RATIO; + ANNcoord lo_cut = bnds.lo[cut_dim] + small_piece;// lowest legal cut + ANNcoord hi_cut = bnds.hi[cut_dim] - small_piece;// highest legal cut + // find min and max along cut_dim + annMinMax(pa, pidx, n, cut_dim, min, max); + // is median below lo_cut? + if (annSplitBalance(pa, pidx, n, cut_dim, lo_cut) >= 0) { + if (max > lo_cut) { // are any points above lo_cut? + cut_val = lo_cut; // cut at lo_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br1; // balance if there are ties + } + else { // all points below lo_cut + cut_val = max; // cut at max value + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = n-1; + } + } + // is median above hi_cut? + else if (annSplitBalance(pa, pidx, n, cut_dim, hi_cut) <= 0) { + if (min < hi_cut) { // are any points below hi_cut? + cut_val = hi_cut; // cut at hi_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br2; // balance if there are ties + } + else { // all points above hi_cut + cut_val = min; // cut at min value + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = 1; + } + } + else { // median cut is good enough + n_lo = n/2; // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); + } +} diff --git a/.svn/pristine/34/34e282be71f19e3361239fecc911f3de470b43f1.svn-base b/.svn/pristine/34/34e282be71f19e3361239fecc911f3de470b43f1.svn-base new file mode 100644 index 0000000..367b05b --- /dev/null +++ b/.svn/pristine/34/34e282be71f19e3361239fecc911f3de470b43f1.svn-base @@ -0,0 +1,186 @@ +#define WANT_STREAM + +#include "newmatap.h" +#include "newmatio.h" // to help namespace with VC++ 5 + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + +//#include // if you want to use set_terminate + +/**************************** test exceptions ******************************/ + + +int main() +{ + // activate the next expression if you want to use compiler supported + // exceptions and you want Terminate to catch uncaught exceptions + // set_terminate(Terminate); + Real* s1; Real* s2; Real* s3; Real* s4; + // Forces cout to allocate memory at beginning + cout << "\nThis tests the exception system, so you will get\n" << + "a long list of error messages\n\n"; + cout << "\nPrint a real number (may help lost memory test): " << 3.14159265 << "\n"; + // Throw exception to set up exception buffer + Try { Throw(BaseException("Just a dummy\n")); } + CatchAll {}; + { Matrix A1(40,200); s1 = A1.Store(); } + { Matrix A1(1,1); s3 = A1.Store(); } + { + Tracer et("Test"); + + Try + { + Tracer et("Try block"); + + + + cout << "-----------------------------------------\n\n"; + Matrix A(2,3), B(4,5); A = 1; B = 2; + cout << "Incompatible dimensions\n"; + et.ReName("Block A"); + Try { Matrix C = A + B; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Bad index\n"; + et.ReName("Block B"); + Try { Real f = A(3,3); cout << f << endl; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Illegal conversion\n"; + et.ReName("Block C"); + Try { UpperTriangularMatrix U = A; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert non-square matrix - 1\n"; + et.ReName("Block D"); + Try { CroutMatrix X = A; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert non-square matrix - 2\n"; + et.ReName("Block E"); + Try { Matrix X = A.i(); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Non 1x1 matrix to scalar\n"; + et.ReName("Block F"); + Try { Real f = A.AsScalar(); cout << f << endl; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Matrix to vector\n"; + et.ReName("Block G"); + Try { ColumnVector CV = A;} + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert singular matrix\n"; + et.ReName("Block H"); + Try { Matrix X(2,2); X<<1<<2<<2<<4; X = X.i(); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "SubMatrix error\n"; + et.ReName("Block I"); + Try { Matrix X = A.Row(3); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "SubMatrix error\n"; + et.ReName("Block J"); + Try { Matrix X = A.Row(0); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Cholesky error\n"; + et.ReName("Block K"); + Try + { + SymmetricMatrix SM(50); SM = 10; + LowerTriangularMatrix L = Cholesky(SM); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Inequality error\n"; + et.ReName("Block L"); + Try + { + Matrix A(10,10), B(10,10); A = 10; B = 20; + if ( A < B) A = B; + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Maximum of empty matrix\n"; + et.ReName("Block M"); + Try + { + Matrix A(10,20); A = 5; Matrix B=A.Rows(6,5); + MaximumAbsoluteValue(B); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Incorrectly ReSizing band matrix\n"; + et.ReName("Block N"); + Try + { + BandMatrix A(20,5,3); A = 5; UpperBandMatrix B; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Incorrectly ReSizing symmetric band matrix\n"; + et.ReName("Block M"); + Try + { + BandMatrix A(20,5,3); A = 5; SymmetricBandMatrix B; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "ReSize CroutMatrix\n"; + et.ReName("Block O"); + Try + { + Matrix A(3,3); A = 0; A(1,1) = A(2,2) = A(3,3) = 1; + CroutMatrix B = A;; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + } + CatchAll { cout << "\nException generated in test program\n\n"; } + } + + cout << "\nEnd test\n"; + { Matrix A1(40,200); s2 = A1.Store(); } + cout << "\n(The following memory checks are probably not valid with all\n"; + cout << "compilers - see documentation)\n"; + cout << "\nChecking for lost memory: " + << (unsigned long)s1 << " " << (unsigned long)s2 << " "; + if (s1 != s2) cout << " - error\n"; else cout << " - ok\n"; + { Matrix A1(1,1); s4 = A1.Store(); } + cout << "\nChecking for lost memory: " + << (unsigned long)s3 << " " << (unsigned long)s4 << " "; + if (s3 != s4) cout << " - error\n\n"; else cout << " - ok\n\n"; + + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + +// Throw(Runtime_error("Exception outside try block")); + + return 0; +} diff --git a/.svn/pristine/35/35308cc3cdb801e83a4d492f5c93141c5f7f2fa5.svn-base b/.svn/pristine/35/35308cc3cdb801e83a4d492f5c93141c5f7f2fa5.svn-base new file mode 100644 index 0000000..fab836e --- /dev/null +++ b/.svn/pristine/35/35308cc3cdb801e83a4d492f5c93141c5f7f2fa5.svn-base @@ -0,0 +1,929 @@ +/* + * trackermanager implementation + * + * Copyright (C) ZhangLiang, YuanJun, Li Wei, Li Ming, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ +#include +#include +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include "veloslam/color_util.h" +#include "veloslam/veloscan.h" +#include "veloslam/trackermanager.h" +#include "veloslam/debugview.h" +#include "veloslam/kalmanfilter.h" +#include "veloslam/lap.h" + + + +#define KG 35 +#define BIGNUM 100000 + +int sliding_window_size = 6; +int current_sliding_window_pos =0; +Trajectory VelodyneTrajectory; +VeloScan * g_pfirstScan; +float constant_static_or_moving = 20.0; + +int GetScanID_in_SlidingWindow(int absNO, int current_pos, int window_size) +{ + int firstNO=-1; + // relative scanID absolute scanID + // absNO (6,7,8,9) current_pos(6,7,8,9) window_size =6 +#ifdef NO_SLIDING_WINDOW + firstNO = absNO; +#else + if( (absNO >=(current_pos - window_size) ) + && (absNO <= current_pos) ) + { + firstNO =absNO - (current_pos - window_size ); + } + else + { + //in first scans + firstNO = -1; + } + if(current_pos < window_size) + { + //in first scans + firstNO = absNO; + } +#endif +// cout << " absNO " << absNO << " firstNO "<0) + { + radiusDiff=fabs(tracker.statusList.back().radius-glu.radius); + thetaDiff=fabs(tracker.statusList.back().theta-glu.theta); + sizeDiff =abs(tracker.statusList.back().size-glu.size); + shapeDiff =fabs( fabs(tracker.statusList.back().size_x-glu.size_x) + + fabs(tracker.statusList.back().size_y-glu.size_y) + + fabs(tracker.statusList.back().size_z-glu.size_z) ); + positionDiff = sqrt( (tracker.statusList.back().avg_x -glu.avg_x)*(tracker.statusList.back().avg_x -glu.avg_x) + + (tracker.statusList.back().avg_z -glu.avg_z)*(tracker.statusList.back().avg_z -glu.avg_z) + ) ; + } + value= radiusDiff*1.0 + thetaDiff*1.0 + sizeDiff*0.8 + shapeDiff*0.8 + positionDiff * 0.3 ; + if(value < minValue) + { + minValue=value; + minID=i; + temp=glu; + flag=true; + } + + } + + } + + // find matched tracker. + if (flag) + { + tracker.kalmanFilter.stateUpdate(temp,rollAngle,delta_Pos); + tracker.kalmanFilter.timeUpdate(); + // movestate=tracker.kalmanFilter.GetCurrentState(); + + // cout<<"The tracker with trackerID:"<::iterator it; + int trackNO =0; + for(it=tracks.begin() ; it!=tracks.end();it++ ) + { + Tracker &tracker=*it; + trackNO ++; + + if (!(tracker.missMatch)) + { + matchID=MatchTrackers(scanRef,tracker,KG); + } + else + { + matchID=MatchTrackers(scanRef,tracker,1.5*KG); + } + + if(matchID==-1) + { + // log miss times of tracker + tracker.missMatch=true; + tracker.missedTime++; + // cout << "missing tracker" << tracker.trackerID + // <<" times " <=0 ) + { + scanRef.scanClusterFeatureArray[matchID].trackNO = trackNO; + + clusterFeature &glu=scanRef.scanClusterFeatureArray[matchID]; + cluster &gluData=scanRef.scanClusterArray[matchID]; + glu.frameNO= scanRef.scanid; + glu.selfID = matchID; + + // save feature + tracker.statusList.push_back(glu); + tracker.dataList.push_back(gluData); + tracker.matchClusterID=matchID; + tracker.missMatch=false; + + clusterStatus[matchID].Matched=true; + // cout << "Match tracker" << tracker.trackerID + // <<" size of " <::iterator it; + cout<<" tracker list : "<::iterator it; + int trackNO =0; + for(it=tracks.begin() ; it!=tracks.end();) + { + + Tracker &tracker=*it; + +#ifndef NO_SLIDING_WINDOW + if (!tracker.statusList.empty()) + { + deque::iterator Iter1; + deque::iterator Iter2; + vector::iterator Iter3; + Iter1=tracker.statusList.begin(); + Iter2=tracker.dataList.begin(); + Iter3=tracker.moveStateList.begin(); + + do + { + clusterFeature &tempClu=*Iter1; + if(tempClu.frameNO current_sliding_window_pos) + { + //cout<<"trackerID: "<::iterator Iter; + for (Iter=tracks.begin();Iter!=tracks.end();Iter++) + { + Tracker temp=*Iter; + temp.TrackerReset(); + } + tracks.clear(); + return; +} + + +int TrackerManager::CalculateTrackersFeature(vector allScans, int currentNO ,int windowsize) +{ + int i,j,k,colorIdx; + float movement; + list::iterator it; + + int n; + + for(it=tracks.begin(); it!=tracks.end(); it++) + { + Tracker &tracker=*it; + tracker.moving_distance = 0.0; + + int size=tracker.statusList.size(); + if ( size <2 ) + { + continue; + } + movement =0; + n=0; + + for ( i=0;i=current_sliding_window_pos - sliding_window_size&&glu2.frameNO <=current_sliding_window_pos) + { + movement += sqrt( (p1.x -p2.x)*(p1.x -p2.x)+(p1.z -p2.z)*(p1.z -p2.z) ); + n++; + } +#else + movement += sqrt( (p1.x -p2.x)*(p1.x -p2.x)+(p1.z -p2.z)*(p1.z -p2.z) ); +#endif + // cout << " tracker no" << tracker.matchClusterID <<" " + // << p1.x <<" " << p2.x <<" " + //<< p1.y <<" " << p2.y <<" " + //<< p1.z <<" " << p2.z <<" " << movement <<" " << endl; + + } + +#ifdef NO_SLIDING_WINDOW + if (n!=0) + { + tracker.moving_distance=movement/n; + } + else + { + tracker.moving_distance=0; + } + +#else + tracker.moving_distance = movement/(size-1); +#endif + + } + return 0; +} + +int TrackerManager::MarkClassifiyTrackersResult(vector allScans, int currentNO ,int windowsize) +{ + int i,j,k,colorIdx; + float movement; + list::iterator it; + + // mark all objets type such as moving or static + for(it=tracks.begin(); it!=tracks.end(); it++) + { + int currentScanNo =0; + Tracker &tracker=*it; + int size=tracker.statusList.size(); + // no tracking all for slam + // for tracking classifiation //not transfrom to scan + if (size < 3) + { + for(i=0;iscanClusterFeatureArray[glu1.selfID]; + cluster &realgclu = CurrentScan->scanClusterArray[glu1.selfID]; + + realglu1.clusterType = CLUSTER_TYPE_STATIC_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_STATIC; + } + } + continue; + } + + for(i=0;iscanClusterFeatureArray[glu1.selfID]; + cluster &realgclu = CurrentScan->scanClusterArray[glu1.selfID]; + + if(tracker.moving_distance < constant_static_or_moving) + { + realglu1.clusterType = CLUSTER_TYPE_STATIC_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_STATIC; + } + } + else + { + realglu1.clusterType = CLUSTER_TYPE_MOVING_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_MOVING; + } + + } + + } + } + return 0; +} + + +int TrackerManager::ClassifiyTrackersObjects(vector allScans, int currentNO ,int windowsize) +{ + CalculateTrackersFeature(allScans, currentNO, windowsize); + MarkClassifiyTrackersResult(allScans, currentNO , windowsize); + return 0; +} + +int TrackerManager::UpdateClustersPoistioninTrackers() +{ + int i,j; + + list::iterator it; + for(it=tracks.begin() ; it!=tracks.end();it++ ) + { + Tracker &tracker=*it; +/* + firstNO = GetScanID_in_SlidingWindow(glu1.frameNO, + current_sliding_window_pos, + sliding_window_size); + secondNO = GetScanID_in_SlidingWindow(glu2.frameNO, + current_sliding_window_pos, + sliding_window_size); + if(firstNO <0 || secondNO< 0 ) + continue; + + Scan *firstScan = (Scan *)g_pfirstScan; + Scan *CurrentScan = allScans[firstNO]; + Scan *CurrentScanNext = allScans[secondNO]; + + double deltaMat[16]; + double deltaMatNext[16]; + + GetCurrecntdelteMat(*CurrentScan , *firstScan, deltaMat); + GetCurrecntdelteMat(*CurrentScanNext , *firstScan, deltaMatNext); + + p1.x = glu1.avg_x; p1.y= glu1.avg_y;p1.z=glu1.avg_z; + p1text.x= glu1.avg_x+150; p1text.y= glu1.avg_y+80; p1text.z=glu1.avg_z+50; + p2.x = glu2.avg_x; p2.y= glu2.avg_y; p2.z=glu2.avg_z; + p2text.x= glu2.avg_x+150; p2text.y= glu2.avg_y+80; p2text.z=glu2.avg_z+50; +*/ + } + return 0; +} + +void TrackerManager::GetTwoScanRoll(Scan *CurrentScan,Scan *preScan)//??? +{ + double tempMat[16],deltaMat[16]; + M4inv(preScan->get_transMat(), tempMat); + MMult(CurrentScan->get_transMat(), tempMat,deltaMat); + Matrix4ToEuler(deltaMat,delta_Theta,delta_Pos); + //cout<<"delta_Theta: "<trackSize?clusterSize:trackSize; + } + else + { + maxSize=clusterSize; + } + + CMatrix costMatrix(maxSize,maxSize); + + int i=0,j,k; + double costValue; + float radiusDiff; + float thetaDiff; + float sizeDiff; + float positionDiff; + CMatrix standardDeviation(2,2),measurementErro(2,1); + Measurement predictMeasurement; + bool IsSmaller1,IsSmaller2; + float kg; + + list::iterator it; + for(it=tracks.begin(); it!=tracks.end(); it++) + { + Tracker &tracker=*it; + + predictMeasurement=tracker.kalmanFilter.GetPredictMeasurement(rollAngle,delta_Pos); + standardDeviation=tracker.kalmanFilter.CalMeasureDeviation(); + + if (tracker.missMatch) + { + kg=1.5*KG; + } + else + { + kg=KG; + } + + k=0; + for(j=0;j::iterator it; + for(it=tracks.begin() ; it!=tracks.end();it++) + { + Tracker &tracker=*it; + trackNO ++; + trackerIndex++; + if (missFlag[trackerIndex]) + { + tracker.missMatch=true; + tracker.missedTime++; + + } + else + { + int clusterID=rowsol[trackerIndex]; + int matchID=clusterIndex[clusterID]; + //cout<<"TrackerID: "< +using std::ifstream; +#include +using std::cerr; +using std::endl; + + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the XYZ file format (i.e., pure 3D data points only in a right handed * coordinate system) + * It will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyz::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in, pose_in; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".xyz"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + char firstline[255]; + scan_in.getline(firstline, 255); + + euler[0] = 0.0; + euler[1] = 0.0; + euler[2] = 0.0; + euler[3] = 0.0; + euler[4] = 0.0; + euler[5] = 0.0; + + while (scan_in.good()) { + Point p; + scan_in >> p.x >> p.z >> p.y; + p.x *= 100; + p.y *= 100; + p.z *= 100; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return 1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyz; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/36/360ab5406af1460215ea20d581e78e4f328c78fd.svn-base b/.svn/pristine/36/360ab5406af1460215ea20d581e78e4f328c78fd.svn-base new file mode 100644 index 0000000..3c3458e --- /dev/null +++ b/.svn/pristine/36/360ab5406af1460215ea20d581e78e4f328c78fd.svn-base @@ -0,0 +1,140 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_uos.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { + cerr << "ERROR: Missing file " << poseFileName << endl; //exit(1); + cerr << "using default pose 0,0,0 !!!" << endl; + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + } else { + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + } + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/36/3668813563e67cd151ed11942afe7b3c8a39f042.svn-base b/.svn/pristine/36/3668813563e67cd151ed11942afe7b3c8a39f042.svn-base new file mode 100644 index 0000000..5027fed --- /dev/null +++ b/.svn/pristine/36/3668813563e67cd151ed11942afe7b3c8a39f042.svn-base @@ -0,0 +1,67 @@ +Note: this info is related to example files, used to test gOCR. As of this +writing, these files are not available to non-developers. So, if you aren't +a developer, forget about this file. + + EXAMPLE FILES + +1. Scanning +The examples can be scanned from anything; when looking for something, try to +have in mind the kind of tests you are expecting to do: if you're testing +accents recognition, look for texts in portuguese, french, etc. (pretty obvious, +but keeping this in mind will help to have a large gamma of files covering +different kinds of tests). + +If you're not interested in testing DPIs, scan at 150 or 300dpi. + +If you're not interested in testing the dust removal, cleaning, etc, functions, +do the best scan you can. Usually increasing brightness and contrast will +provide a sharper, cleaner image. + +Save the image in a supported format: for example, pgm or jpg. If a compression +will result in a significant reduction of size, compress the image. BZIP2 +usually is the best compressor around, but gzip is more popular in the unix +world. In the wintel world, people use ZIP, and usually will have to search for +an application capable of opening .gz or .bz2 (though WinZIP opens at least the +former). + +2. Sorting +To help others to find the files they are looking for, the examples/ directory +is divided in several other directories, which may be subdivided. When +uploading a new example, look for the most suitable location. Depending of the +directory, you probably will name your file with interesting info: for example, +when uploading a image with all the characters of the foo font, the best thing +to do is to place it at examples/fonts/foo.jpg. + +3. "Translation" +Along with the image file, upload a text file with the expected output. Be +careful with this file: it must resemble the original text as much as possible. +Don't add extra new lines (\n), keep hyphenized words, etc. Name this file with +the same name of the image file. + +In the beginning of the text file, you should provide comments, to help +searches. Use the following sample: + +# Comments +# DPI: +# Colors: +# Image size (colsXrows): +# Fonts: +# Font sizes: +# Layout form: +# Number of pictures: +# Language: +# Quality of scan: +# Non-ASCII characters: +# Extra: + +Check existing examples to see what people have been doing. + +Any lines that begin with # will be considered comments, so you may use several +lines for comments or add new fields. Though gOCR itself doesn't depend on, and +won't use, this file, it will be used by scripts. + +4. Other sources (WEB) + + - http://www.clerkweb.house.gov/elections/elections.htm (Nov2002) + PDF-files with lot of tables + diff --git a/.svn/pristine/36/3684cf9b68711b137863b5d56a7ade70d7226d16.svn-base b/.svn/pristine/36/3684cf9b68711b137863b5d56a7ade70d7226d16.svn-base new file mode 100644 index 0000000..a90112d --- /dev/null +++ b/.svn/pristine/36/3684cf9b68711b137863b5d56a7ade70d7226d16.svn-base @@ -0,0 +1,92 @@ +#ifndef __GRIDPOINT_H_ +#define __GRIDPOINT_H_ + +/** + * The class represents a point in the grid. It contains its + * absolute coordinates (x, z), a counter how often the point + * has been found within a scan and a counter how often it has + * been found occupied. + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 11.02.2008 + */ +class gridPoint +{ + private: + /** The absolute x coordinate */ + long x; + + /** The absolute z coordinate */ + long z; + + /** Counter how often point was visited */ + unsigned int count; + + /** Counter how often point was occupied */ + unsigned int occupied; + + public: + /** @brief CTor */ + gridPoint(long x, long z); + + /** @brief Adds amount to the internal counter */ + void addCount(unsigned int count, unsigned int occupied); + + /** @brief Adds fixed values to both counters */ + void addFixed(unsigned int count, unsigned int occupied); + + /** @brief Overwrites the internal counters directly */ + void setFixed(unsigned int count, unsigned int occupied); + + /** @brief Returns the occupied value as Percent */ + float getPercent() const; + + /** + * Getter for the visited counter + * @return Count + */ + inline unsigned int getCount() const{ + return this->count; + } + + /** + * Getter for the occupied counter + * @return Count of Occupieds + */ + inline unsigned int getOccupied() const{ + return this->occupied; + } + + /** + * Getter for the absolute x coordinate + * @return the absolute x coordinate + */ + inline long getX() const { + return this->x; + } + + /** + * Getter for the absolute z coordinate + * @return the absolute z coordinate + */ + inline long getZ() const { + return this->z; + } + + /** + * Checks if the point is smaller than the given point + * @param p the point to campare to + * @return true if smaller else false + */ + inline bool isSmallerThan(const gridPoint& p) const + { + if (getX() < p.getX()) return true; + if (getX() > p.getX()) return false; + if (getZ() < p.getZ()) return true; + if (getZ() > p.getZ()) return false; + + return true; + } +}; + +#endif diff --git a/.svn/pristine/37/3724fccc6a57bb76f59869a77fec12bdccdd8927.svn-base b/.svn/pristine/37/3724fccc6a57bb76f59869a77fec12bdccdd8927.svn-base new file mode 100644 index 0000000..950e6af --- /dev/null +++ b/.svn/pristine/37/3724fccc6a57bb76f59869a77fec12bdccdd8927.svn-base @@ -0,0 +1,26 @@ +if(NOT DEFINED PROCESSOR_COUNT) + # Unknown: + set(PROCESSOR_COUNT 0) + + # Linux: + set(cpuinfo_file "/proc/cpuinfo") + if(EXISTS "${cpuinfo_file}") + file(STRINGS "${cpuinfo_file}" procs REGEX "^processor.: [0-9]+$") + list(LENGTH procs PROCESSOR_COUNT) + endif() + + # Mac: + if(APPLE) + find_program(cmd_sys_pro "system_profiler") + if(cmd_sys_pro) + execute_process(COMMAND ${cmd_sys_pro} OUTPUT_VARIABLE info) + string(REGEX REPLACE "^.*Total Number Of Cores: ([0-9]+).*$" "\\1" + PROCESSOR_COUNT "${info}") + endif() + endif() + + # Windows: + if(WIN32) + set(PROCESSOR_COUNT "$ENV{NUMBER_OF_PROCESSORS}") + endif() +endif() diff --git a/.svn/pristine/37/376b11a8434a3f878d06412b1444e93af88b7841.svn-base b/.svn/pristine/37/376b11a8434a3f878d06412b1444e93af88b7841.svn-base new file mode 100644 index 0000000..f057018 --- /dev/null +++ b/.svn/pristine/37/376b11a8434a3f878d06412b1444e93af88b7841.svn-base @@ -0,0 +1,61 @@ +//---------------------------------------------------------------------- +// File: bd_search.cpp +// Programmer: David Mount +// Description: Standard bd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_search.h" // kd-tree search declarations + +//---------------------------------------------------------------------- +// Approximate searching for bd-trees. +// See the file kd_search.cpp for general information on the +// approximate nearest neighbor search algorithm. Here we +// include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_search(ANNdist box_dist) +{ + // check dist calc term cond. + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNkdQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNkdQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + child[ANN_IN]->ann_search(inner_dist); // search inner child first + child[ANN_OUT]->ann_search(box_dist); // ...then outer child + } + else { // if outer box is closer + child[ANN_OUT]->ann_search(box_dist); // search outer child first + child[ANN_IN]->ann_search(inner_dist); // ...then outer child + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/.svn/pristine/37/37bc7b6725bc7ff69fdf5f5d05212bda9b2d9001.svn-base b/.svn/pristine/37/37bc7b6725bc7ff69fdf5f5d05212bda9b2d9001.svn-base new file mode 100644 index 0000000..02ea640 --- /dev/null +++ b/.svn/pristine/37/37bc7b6725bc7ff69fdf5f5d05212bda9b2d9001.svn-base @@ -0,0 +1,602 @@ +///////////////////////////////////////////////////////////////////////////// +// Name : optvalue.cpp +// Author : John Labenski +// Created : 07/01/02 +// Copyright: John Labenski, 2002 +// License : wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "optvalue.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h" +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/object.h" + #include "wx/string.h" + #include "wx/gdicmn.h" +#endif // WX_PRECOMP + +#include "wx/tokenzr.h" +#include "wx/things/optvalue.h" + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayOptionValue); + +//---------------------------------------------------------------------------- +// Global wxString utilities +//---------------------------------------------------------------------------- +/* +wxArrayString wxStringToWords( const wxString &string ) +{ + +// wxArrayString arr; +// wxString word, s = string.Strip(wxString::both); +// wxMemoryInputStream memstream( s.c_str(), string.Length() ); +// wxTextInputStream textstream(memstream); +// while (!memstream.Eof()) +// { +// word = textstream.ReadWord(); +// if (!word.IsEmpty()) arr.Add(word.Strip(wxString::both)); +// } +// return arr; + + wxArrayString arr; + wxString s = string.Strip(wxString::both); + while (!s.IsEmpty()) + { + arr.Add(s.BeforeFirst(wxT(' '))); + s = s.AfterFirst(wxT(' ')).Strip(wxString::both); + } + return arr; +} +*/ + +//---------------------------------------------------------------------------- +// wxOptionValueRefData +//---------------------------------------------------------------------------- + +class wxOptionValueRefData: public wxObjectRefData +{ +public: + wxOptionValueRefData() : wxObjectRefData() {} + + wxOptionValueRefData(const wxOptionValueRefData& data) : wxObjectRefData() + { + m_type = data.m_type; + m_optionNames = data.m_optionNames; + m_optionValues = data.m_optionValues; + m_children = data.m_children;; + } + + ~wxOptionValueRefData() {} + + wxString m_type; + wxArrayString m_optionNames; + wxArrayString m_optionValues; + wxArrayOptionValue m_children; +}; + +#define M_OPTVALUDATA ((wxOptionValueRefData *)m_refData) + +//---------------------------------------------------------------------------- +// wxOptionValue - a ref counted wxString key, wxString value container +//---------------------------------------------------------------------------- + +IMPLEMENT_DYNAMIC_CLASS(wxOptionValue, wxObject); + +wxObjectRefData *wxOptionValue::CreateRefData() const +{ + return new wxOptionValueRefData; +} +wxObjectRefData *wxOptionValue::CloneRefData(const wxObjectRefData *data) const +{ + return new wxOptionValueRefData(*(const wxOptionValueRefData *)data); +} + +bool wxOptionValue::Create() +{ + UnRef(); + m_refData = new wxOptionValueRefData(); + return Ok(); +} + +bool wxOptionValue::Create( const wxOptionValue &optValue ) +{ + wxCHECK_MSG( optValue.Ok(), false, wxT("Invalid wxOptionValue") ); + + UnRef(); + Ref( optValue ); + return Ok(); +} + +bool wxOptionValue::Create( const wxString &string ) +{ + UnRef(); + m_refData = new wxOptionValueRefData(); + + int i, start = 0, length = string.Length(); + + wxString buff; + + const wxChar *s = string.GetData(); + +// const wxChar comma = 44; // comma + const wxChar tab = 9; // tab +// const wxChar space = 32; // space + const wxChar cr = 13; // carrage return + const wxChar lf = 10; // line feed + const wxChar openbracket = wxT('['); + const wxChar closebracket = wxT(']'); + const wxChar equals = wxT('='); + const wxChar ccr = wxT('\n'); + + bool has_type = false; + + for (i=0; im_type = buff; + s++; + start = i+1; + break; + } + else if ((*s != tab) && (*s != cr) && (*s != lf) && (*s != ccr)) + { + buff.Append(*s); + } + else + return false; + } + } + + buff.Clear(); + for (i=start; i=0; j--) + { + const wxChar c = t[j]; + if ((c == cr) || (c == lf) || (c == ccr) || (c == tab)) + { + j++; + break; + } + } + if (j<0) j = 0; + M_OPTVALUDATA->m_optionNames.Add(buff.Mid(j)); + buff.Remove(j).Trim(true); + } + if (!buff.IsEmpty()) + M_OPTVALUDATA->m_optionValues.Add(buff); + + buff.Clear(); + } + s++; + } + + buff.Trim(false).Trim(true); + if (!buff.IsEmpty()) + M_OPTVALUDATA->m_optionValues.Add(buff); + + if ((M_OPTVALUDATA->m_optionValues.GetCount() != M_OPTVALUDATA->m_optionNames.GetCount())) + { + int i; + wxPrintf(wxT("wxOptionValue::wxOptionValue( const wxString &string BUSTED\n")); + + wxPrintf(wxT("[%s]\n"), M_OPTVALUDATA->m_type.c_str()); + for (i=0; i<(int)M_OPTVALUDATA->m_optionNames.GetCount(); i++) + wxPrintf(wxT("{%s}\n"), M_OPTVALUDATA->m_optionNames[i].c_str()); + for (i=0; i<(int)M_OPTVALUDATA->m_optionValues.GetCount(); i++) + wxPrintf(wxT("{%s}\n"), M_OPTVALUDATA->m_optionValues[i].c_str()); + fflush(stdout); + } + + return ((M_OPTVALUDATA->m_optionValues.GetCount() > 0) && + (M_OPTVALUDATA->m_optionValues.GetCount() != + M_OPTVALUDATA->m_optionNames.GetCount())); +} + +bool wxOptionValue::Copy( const wxOptionValue &optValue ) +{ + wxCHECK_MSG( optValue.Ok(), false, wxT("Invalid wxOptionValue") ); + + if (!Ok()) Create(); + + M_OPTVALUDATA->m_type = optValue.GetType(); + M_OPTVALUDATA->m_optionNames = optValue.GetOptionNames(); + M_OPTVALUDATA->m_optionValues = optValue.GetOptionValues(); + if (optValue.GetChildrenCount()) + M_OPTVALUDATA->m_children = *optValue.GetChildren(); + else + M_OPTVALUDATA->m_children.Clear(); + + return true; +} + +bool wxOptionValue::Ok() const +{ + return M_OPTVALUDATA != NULL; +} + +void wxOptionValue::Destroy() +{ + UnRef(); +} + +//----------------------------------------------------------------------------- + +wxString wxOptionValue::GetType() const +{ + wxCHECK_MSG( Ok(), wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_type; +} + +void wxOptionValue::SetType( const wxString &type ) +{ + wxCHECK_RET( Ok(), wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_type = type; +} + +//----------------------------------------------------------------------------- + +size_t wxOptionValue::GetChildrenCount() const +{ + wxCHECK_MSG( Ok(), 0, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_children.GetCount(); +} +wxArrayOptionValue *wxOptionValue::GetChildren() const +{ + wxCHECK_MSG( Ok(), NULL, wxT("Invalid wxOptionValue") ); + return &M_OPTVALUDATA->m_children; +} +bool wxOptionValue::AddChild( const wxOptionValue& child ) +{ + wxCHECK_MSG( Ok() && child.Ok(), 0, wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_children.Add(child); + return true; +} +void wxOptionValue::DeleteChildren() +{ + wxCHECK_RET( Ok(), wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_children.Clear(); +} + +//----------------------------------------------------------------------------- + +size_t wxOptionValue::GetOptionCount() const +{ + wxCHECK_MSG( Ok(), 0, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames.GetCount(); +} + +wxArrayString wxOptionValue::GetOptionNames() const +{ + wxCHECK_MSG( Ok(), wxArrayString(), wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames; +} +wxArrayString wxOptionValue::GetOptionValues() const +{ + wxCHECK_MSG( Ok(), wxArrayString(), wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionValues; +} + +wxString wxOptionValue::GetOptionName( size_t n ) const +{ + wxCHECK_MSG( Ok() && (nm_optionNames.GetCount()), + wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames[n]; +} + +wxString wxOptionValue::GetOptionValue( size_t n ) const +{ + wxCHECK_MSG( Ok() && (nm_optionValues.GetCount()), + wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionValues[n]; +} + +int wxOptionValue::HasOption(const wxString& name) const +{ + wxCHECK_MSG( Ok(), wxNOT_FOUND, wxT("Invalid wxOptionValue") ); + int index = M_OPTVALUDATA->m_optionNames.Index(name, false); + return index; +} + +int wxOptionValue::FindOption(const wxString &part_of_option_name) const +{ + wxCHECK_MSG( Ok(), wxNOT_FOUND, wxT("Invalid wxOptionValue") ); + int i, count = M_OPTVALUDATA->m_optionNames.GetCount(); + + for (i=0; im_optionNames[i].Contains(part_of_option_name)) + return i; + } + return wxNOT_FOUND; +} + +bool wxOptionValue::DeleteOption(const wxString &name) +{ + wxCHECK_MSG( Ok(), false, wxT("Invalid wxOptionValue")); + int index = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (index == wxNOT_FOUND) return false; + M_OPTVALUDATA->m_optionNames.RemoveAt(index); + M_OPTVALUDATA->m_optionValues.RemoveAt(index); + return true; +} + +bool wxOptionValue::DeleteOption( size_t n ) +{ + wxCHECK_MSG( Ok(), false, wxT("Invalid wxOptionValue") ); + wxCHECK_MSG( n < M_OPTVALUDATA->m_optionValues.GetCount(), false, wxT("invalid index")); + M_OPTVALUDATA->m_optionNames.RemoveAt(n); + M_OPTVALUDATA->m_optionValues.RemoveAt(n); + return true; +} + +//----------------------------------------------------------------------------- +// Set Options + +// Option functions (arbitrary name/value mapping) +void wxOptionValue::SetOption(const wxString& name, const wxString& value, bool force) +{ + wxCHECK_RET( Ok() && (name.Length() > 0), wxT("Invalid wxOptionValue or option") ); + + int idx = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (idx == wxNOT_FOUND) + { + M_OPTVALUDATA->m_optionNames.Add(name); + M_OPTVALUDATA->m_optionValues.Add(value); + } + else if (force) + { + M_OPTVALUDATA->m_optionNames[idx] = name; + M_OPTVALUDATA->m_optionValues[idx] = value; + } +} + +void wxOptionValue::SetOption(const wxString &name, bool update, const wxChar *format, ...) +{ + va_list argptr; + va_start(argptr, format); + wxString s; + s.PrintfV(format, argptr); + va_end(argptr); + SetOption(name, s, update); +} + +//----------------------------------------------------------------------------- +// Get Options + +wxString wxOptionValue::GetOption(const wxString& name) const +{ + wxCHECK_MSG( Ok(), wxEmptyString, wxT("Invalid wxOptionValue") ); + + int idx = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (idx != wxNOT_FOUND) + return M_OPTVALUDATA->m_optionValues[idx]; + + return wxEmptyString; +} + +int wxOptionValue::GetOptionInt(const wxString& name) const +{ + return wxAtoi(GetOption(name)); +} + +bool wxOptionValue::GetOption(const wxString& name, wxString &value ) const +{ + wxString s = GetOption(name); + if (!s.IsEmpty()) { value = s; return true; } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, int *value ) const +{ + long n; + if (GetOption(name).ToLong(&n)) + { + *value = (int)n; + return true; + } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, float *value ) const +{ + double n; + if (GetOption(name, &n)) + { + *value = (float)n; + return true; + } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, double *value ) const +{ + double n; + if (GetOption(name).ToDouble(&n)) + { + *value = n; + return true; + } + return false; +} + +int wxOptionValue::GetOption(const wxString& name, const wxChar *format, ...) const +{ + wxString n = GetOption(name); + if (n.IsEmpty()) return 0; + va_list argptr; + va_start(argptr, format); +// int i = wxVsscanf(n.c_str(), format, argptr); // VisualStudio doesn't have this + int i = wxSscanf(n.c_str(), format, argptr); + va_end(argptr); + return i; +} + +int wxOptionValue::GetOption(const wxString& name, wxArrayInt &values, + int count, const wxString& delims) const +{ + wxString value = GetOption(name); + wxStringTokenizer tokens(value, delims, wxTOKEN_STRTOK); + int read_count = 0; + + while (((count < 0) || (read_count <= count)) && tokens.HasMoreTokens()) + { + long num; + if (!tokens.GetNextToken().ToLong(&num)) return read_count; + values.Add(num); + read_count++; + } + return read_count; +} + +bool wxOptionValue::GetOption(const wxString& name, unsigned char *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = (unsigned char)intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, int *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, long *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, float *value, int count, + const wxString& delims) const +{ + double *nums = (double*)malloc(sizeof(double)*count); + if (GetOption(name, nums, count, delims)) + { + for (int i=0; i < count; i++) value[i] = (float)nums[i]; + free(nums); + return true; + } + free(nums); + return false; +} +bool wxOptionValue::GetOption(const wxString& name, double *value, int count, + const wxString& delims) const +{ + wxString optValue = GetOption(name); + wxStringTokenizer tokens(optValue, delims, wxTOKEN_STRTOK); + int read_count = 0; + double *nums = (double*)malloc(sizeof(double)*count); + double num; + + while ((read_count <= count) && tokens.HasMoreTokens()) + { + if (!tokens.GetNextToken().ToDouble(&num)) + { + free(nums); + return false; + } + if (read_count >= count) break; + read_count++; + } + + if (read_count == count) + { + for (int i = 0; i < count; i++) value[i] = nums[i]; + free(nums); + return true; + } + + free(nums); + return false; +} + + +bool wxOptionValue::GetOption(const wxString& name, int *v1, int *v2, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 2, delims) != 2) + return false; + + if (v1) *v1 = intArr[0]; + if (v2) *v2 = intArr[1]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, int *v1, int *v2, int *v3, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 3, delims) != 3) + return false; + + if (v1) *v1 = intArr[0]; + if (v2) *v2 = intArr[1]; + if (v3) *v3 = intArr[2]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, float *v1, float *v2, float *v3, + const wxString& delims) const +{ + double nums[3]; + if (GetOption(name, nums, 3, delims)) + return false; + + if (v1) *v1 = (float)nums[0]; + if (v2) *v2 = (float)nums[1]; + if (v3) *v3 = (float)nums[2]; + return true; +} + +bool wxOptionValue::GetOption(const wxString& name, wxRect &value, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 4, delims) != 4) + return false; + + value = wxRect(intArr[0], intArr[1], intArr[2], intArr[3]); + return true; +} diff --git a/.svn/pristine/37/37cc9106c27a8cfda8e1ad902242e9f14314cb6b.svn-base b/.svn/pristine/37/37cc9106c27a8cfda8e1ad902242e9f14314cb6b.svn-base new file mode 100644 index 0000000..87eb757 --- /dev/null +++ b/.svn/pristine/37/37cc9106c27a8cfda8e1ad902242e9f14314cb6b.svn-base @@ -0,0 +1,183 @@ +//---------------------------------------------------------------------- +// File: kd_fix_rad_search.cpp +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree fixed-radius kNN search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#include "kd_fix_rad_search.h" // kd fixed-radius search decls + +//---------------------------------------------------------------------- +// Approximate fixed-radius k nearest neighbor search +// The squared radius is provided, and this procedure finds the +// k nearest neighbors within the radius, and returns the total +// number of points lying within the radius. +// +// The method used for searching the kd-tree is a variation of the +// nearest neighbor search used in kd_search.cpp, except that the +// radius of the search ball is known. We refer the reader to that +// file for the explanation of the recursive search procedure. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// To keep argument lists short, a number of global variables +// are maintained which are common to all the recursive calls. +// These are given below. +//---------------------------------------------------------------------- + +int ANNkdFRDim; // dimension of space +ANNpoint ANNkdFRQ; // query point +ANNdist ANNkdFRSqRad; // squared radius search bound +double ANNkdFRMaxErr; // max tolerable squared error +ANNpointArray ANNkdFRPts; // the points +ANNmin_k* ANNkdFRPointMK; // set of k closest points +int ANNkdFRPtsVisited; // total points visited +int ANNkdFRPtsInRange; // number of points in the range + +//---------------------------------------------------------------------- +// annkFRSearch - fixed radius search for k nearest neighbors +//---------------------------------------------------------------------- + +int ANNkd_tree::annkFRSearch( + ANNpoint q, // the query point + ANNdist sqRad, // squared radius search bound + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // the approximate nearest neighbor + double eps) // the error bound +{ + ANNkdFRDim = dim; // copy arguments to static equivs + ANNkdFRQ = q; + ANNkdFRSqRad = sqRad; + ANNkdFRPts = pts; + ANNkdFRPtsVisited = 0; // initialize count of points visited + ANNkdFRPtsInRange = 0; // ...and points in the range + + ANNkdFRMaxErr = ANN_POW(1.0 + eps); + ANN_FLOP(2) // increment floating op count + + ANNkdFRPointMK = new ANNmin_k(k); // create set for closest k points + // search starting at the root + root->ann_FR_search(annBoxDistance(q, bnd_box_lo, bnd_box_hi, dim)); + + for (int i = 0; i < k; i++) { // extract the k-th closest points + if (dd != NULL) + dd[i] = ANNkdFRPointMK->ith_smallest_key(i); + if (nn_idx != NULL) + nn_idx[i] = ANNkdFRPointMK->ith_smallest_info(i); + } + + delete ANNkdFRPointMK; // deallocate closest point set + return ANNkdFRPtsInRange; // return final point count +} + +//---------------------------------------------------------------------- +// kd_split::ann_FR_search - search a splitting node +// Note: This routine is similar in structure to the standard kNN +// search. It visits the subtree that is closer to the query point +// first. For fixed-radius search, there is no benefit in visiting +// one subtree before the other, but we maintain the same basic +// code structure for the sake of uniformity. +//---------------------------------------------------------------------- + +void ANNkd_split::ann_FR_search(ANNdist box_dist) +{ + // check dist calc term condition + if (ANNmaxPtsVisited != 0 && ANNkdFRPtsVisited > ANNmaxPtsVisited) return; + + // distance to cutting plane + ANNcoord cut_diff = ANNkdFRQ[cut_dim] - cut_val; + + if (cut_diff < 0) { // left of cutting plane + child[ANN_LO]->ann_FR_search(box_dist);// visit closer child first + + ANNcoord box_diff = cd_bnds[ANN_LO] - ANNkdFRQ[cut_dim]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if in range + if (box_dist * ANNkdFRMaxErr <= ANNkdFRSqRad) + child[ANN_HI]->ann_FR_search(box_dist); + + } + else { // right of cutting plane + child[ANN_HI]->ann_FR_search(box_dist);// visit closer child first + + ANNcoord box_diff = ANNkdFRQ[cut_dim] - cd_bnds[ANN_HI]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdFRMaxErr <= ANNkdFRSqRad) + child[ANN_LO]->ann_FR_search(box_dist); + + } + ANN_FLOP(13) // increment floating ops + ANN_SPL(1) // one more splitting node visited +} + +//---------------------------------------------------------------------- +// kd_leaf::ann_FR_search - search points in a leaf node +// Note: The unreadability of this code is the result of +// some fine tuning to replace indexing by pointer operations. +//---------------------------------------------------------------------- + +void ANNkd_leaf::ann_FR_search(ANNdist box_dist) +{ + register ANNdist dist; // distance to data point + register ANNcoord* pp; // data coordinate pointer + register ANNcoord* qq; // query coordinate pointer + register ANNcoord t; + register int d; + + for (int i = 0; i < n_pts; i++) { // check points in bucket + + pp = ANNkdFRPts[bkt[i]]; // first coord of next data point + qq = ANNkdFRQ; // first coord of query point + dist = 0; + + for(d = 0; d < ANNkdFRDim; d++) { + ANN_COORD(1) // one more coordinate hit + ANN_FLOP(5) // increment floating ops + + t = *(qq++) - *(pp++); // compute length and adv coordinate + // exceeds dist to k-th smallest? + if( (dist = ANN_SUM(dist, ANN_POW(t))) > ANNkdFRSqRad) { + break; + } + } + + if (d >= ANNkdFRDim && // among the k best? + (ANN_ALLOW_SELF_MATCH || dist!=0)) { // and no self-match problem + // add it to the list + ANNkdFRPointMK->insert(dist, bkt[i]); + ANNkdFRPtsInRange++; // increment point count + } + } + ANN_LEAF(1) // one more leaf node visited + ANN_PTS(n_pts) // increment points visited + ANNkdFRPtsVisited += n_pts; // increment number of points visited +} diff --git a/.svn/pristine/38/380137d010dad88dd3be4a79b2d099a6c5ca166e.svn-base b/.svn/pristine/38/380137d010dad88dd3be4a79b2d099a6c5ca166e.svn-base new file mode 100644 index 0000000..36d59e9 --- /dev/null +++ b/.svn/pristine/38/380137d010dad88dd3be4a79b2d099a6c5ca166e.svn-base @@ -0,0 +1,80 @@ + +This is the short german version for README. +Dies ist die deutsche Kurzinformation fuer README. + + --- GOCR v0.38 --- + +Worum gehts? +- OCR = optical character recognition = Schrifterkennung +- liest pnm, pbm, pgm, ppm, einige pcx und tga Bilddateien + (auf un*x-systemen mit libpnm fast alle Formate) +- gibt text aus +- Dieses Programm ist herausgegeben unter GPL (General Public License). + Das bedeutet unter anderem: FREI FUER ALLE BENUTZER. + +Wie kompilieren? + + gzip -cd gocr-0.38.tgz | tar xfv - # auspacken + cd gocr-0.38 # Ordner wechseln + ./configure # Makefile anpassen + make # gcc/g++ sollte installiert sein + + +Wie starten? + gocr -h # Kurz(!)-Hilfe + gocr file.pbm # minimale Argumente + gocr -v 1 -v 32 -m 4 file.pbm # zusaetzlich debug-Modus und Layout-Analyse + Optionen (bitte auch das aktuelle Manual zu gocr (man gocr) ansehen!): + [-i] name - Bilddatei (pnm,pgm,pbm,ppm,pcx), - fuer stdin + -o name - Ausgabefile (Umlenkung der Standardausgabe) + -e name - Ausgabefile (Umlenkung der Fehlerausgabe) + -x name - Fortschrittsanzeige (file, fifo oder fd=1..255) + -p name - Verzeichnis der optionalen Datenbasis (z.B.: ./db/) + -l num - Schwellenwert 0<160<=255 + -d num - Schmutzgroesse (Entfernen von Schmutz, -1=autodetect) + -s num - Wortabstand in Punkten (0 = autodetect) + -v num - Mehr Infos [summiert] + 1 mehr Informationen + 2 Groesse der Boxen anzeigen (siehe -c) + 4 Boxen anzeigen (siehe -c) + 8 Ausgabe der Muster nach Erkennung + 16 Zeilenerkennung ausgeben + 32 debug-Ausgaben outXX.pgm + -c string - Liste der auszugebenen Zeichen (_ = nicht erkanntes Zeichen) + -C string - Zeichenfilter (z.B.: hexdigits: 0-9A-Fx, nur ASCII) + -m num - Arbeitsarten, ~ = abschalten + 2 Datenbank nutzen (in Entwicklung) + 4 Layout-Analyse (zum Testen) + 8 ~ vergleiche nichterkannte Zeichen + 16 ~ Teile verklebte Zeichen + 32 ~ Kontextkorrektur + 64 Zeichen komprimieren + 130 Datenbank erweitern (unbekannte Zeichen, Interaktiv) + 256 OCR Engine abschalten, macht nur Sinn mit -m 2 + Beispiel: gocr -v 6 -v 32 -c _YV text1.pbm + - Programm ist noch sehr langsam, bitte Geduld! + +Was geht nicht? +- vieles ... siehe README + +Wie koennen Sie helfen? +- Schicken Sie Bemerkungen und KLEINE Beispieldaten als .pbm.gz. +- Geld oder einen neuen Notebook koennte ich auch brauchen (paypal). + Ok, paypal ist nicht mehr was es war, also vergesst es und mangelnde + Zeit zum programmieren ist jetzt das groessere Problem. +- Wie finden Sie das Programm, wie viele Fehler erzeugt es im Vergleich + zu anderen OCR-Programmen? + (bitte Anzahl Fehler, Zeichen und Programmversion angeben) +- Gute Ideen nehme ich gern entgegen + (d.h. kleine Aenderungen mit grosser Wirkung). +- Lob und Tadel nehm ich ebenfalls gerne entgegen. + +Bugs: +- Das Programm hat sicher viele Fehler, nur welche? (siehe README) + +Letzte Neuerungen: + http://jOCR.sourceforge.net + +Authoren: (siehe README und AUTHORS) + + --- HAVE FUN --- diff --git a/.svn/pristine/38/3841d0db1b60637b81a63a7d789aef92caad9865.svn-base b/.svn/pristine/38/3841d0db1b60637b81a63a7d789aef92caad9865.svn-base new file mode 100644 index 0000000..b532b60 --- /dev/null +++ b/.svn/pristine/38/3841d0db1b60637b81a63a7d789aef92caad9865.svn-base @@ -0,0 +1,538 @@ +This is a list of reviews, so that developers don't get confused with the new +changes. Please document what you do here. + +() done +[] done, but should be reviewed +|| to be done, do if you can +?? question: if you know, solve it +Writer: put your initials inside. + +5/8 +(bbg) changed box1 to head_data. +(bbg) changed boxd to head_db. +|bbg| box2 static variables do not exist anymore. They were confusing, + since these names were used as arguments to functions too. From what I've + seen, this will not affect the program. + (js) agree +(bbg) added new file: box.c, with all the functions that deal with boxes. +(bbg) added new file: database.c, with all the functions that deal with db. +[bbg] ocr_db() +|bbg| split pgm2asc(): the function would still exist, but call other + subfunctions which are part of it now. I suggest: + - find_letters() + - remove_dust() + - remove_pictures() + - remove_melted_serifs() + - find_longest_line() + - detect_lines() + etc: they are practically already defined between {}. +?bbg? pgm2asc: it has 2 frame letter codes, 2 find pictures, 2 remove + dust + |js| It is result of last (not finished) big rewriting of code + will be changed later +|bbg| vvv (or equivalent) should be global. + +6/8 +(bbg) general linked lists done (list.*). +|bbg| Functions in box.c should be changed by the new general ones. + linearr should too. +(bbg) strc() and in_str() changed by strchr. +?bbg? shouldn't test_umlaut() belong to another file, like ocr0.cc? + js: good idea + (bbg) moved to ocr0.cc +?bbg? there are several functions with 2 or 3 versions (detect_lines, + detect_lines2, for example). Do they do the same thing (and one + is older) or different things? + js: different, they are different childs from same mother + they are going more different in future +?bbg? What do ini_list(), excude() and getresult() do? They don't seem + to be used. If they are useless, please delete them. + js: read the new comments in the file (should be in seperate file?) +|bbg| document pixel(). + :done. +|bbg| Many, many commented lines all over the file; should be cleaned. + :done. +|bbg| Change new->malloc, delete->free. + :done + +7/8 +(js) some comments added in pgm2asc.cc +|bbg| instead of p.p[x+y*p.x], use the new macro pixel_at(p, x, y). + Not all substitutions done yet. + :done. +(bbg) excude() renamed to exclude(). +?bbg? what are the pixel bits meaning? A table would be useful. + (js) not stable: lowest (3-4?) bits are for temporary use + highest (4?) bits are for intensity +|bbg| must change all "type &p" arguments. + :done +|bbg| should make argument order standard: at the present, sometimes the + order is x0,x1,y0,y1, sometimes x0,y0,x1,y1, pix is not always the + first, etc. +(bbg) turmite(): changed for+if -> while. Is is correct? I think so, but + a test wouldn't hurt. Also optimized the function. + (js) I test it after complete review. + +8/8 +(js) pgm2asc.cc: generally pix *p used, pgm2asc() partly rewritten +|js| ocr0.cc: pix *p must be used everywhere + :done +(bbg) pixel(): first part (c33 filling) optimized. +(bbg) minor optimizations, cut superflous counters. +?bbg? copybox: shouldn't b->p be free()d, or realloc()ed? There's also a new + faster version (using memcpy), but there's no unmarking of pixels; I'm + also not sure if they are equivalent, since I'm not calling pixel. It's + between #ifs. + +9/8 +(bbg) Started to change linearr to linked lists; linearr is obsolete now, + and textlines too. +(bbg) free_textlines() and getTextLine() use linked lists (instead of linearr) + now. The first may be deleted in the future. +[bbg] store_boxtree_textlines use linked lists (instead of linearr) now, but + should be tested and reviewed; specially if (box2->c == ' ') since it + doesn't check for an \n anymore (why should it?). Also the extra list_app + should be checked. Check too if "if (!(mo & 8))" shouldn't come before + "if (box2->c != '_')". + :done +(bbg) Moved copybox() to box.c +?bbg? put(): What are ia and io? + js: ia int_and, io int_or new_pixel=(old_pixel & ia) | io + for more praktical use +|bbg| What about putting remove_dust, remove_picture, remove_etc in another + file, such as clean.c or remove.c? + js: should be made + bbg: done +|bbg| several #ifdef's pending approval or review. Get rid of them. + :done +[bbg] Added code to open pgm files using libpgm. Not tested, but should be OK. +[bbg] started to write writepbm, writeppm. + +10/8 +[js] pgm2asc() new functions created +(bbg) moved remove_* functions to remove.c +(bbg) added doc/ directory; moved ocr.tex to doc/; created examples.txt. +(bbg) added UNICODE support: unicode.h contains all symbols we will ever need, + unicode.c contains two conversion functions. +(bbg) most of Unicode->TeX convert() (0x7F-0xFF) codes are done. +[bbg] several compose() codes done. + +11/8 +(bbg) new pnm IO functions, much better now. +[bbg] fixed part of ocr0.cc: since arguments changed from pix &p to pix *p, it + wasn't compiling. Must fix the pix b; should it be changed to pix *b? + :done +|bbg| Use new Unicode code; change all old code using unsigned char to wchar_t. + Work started. Take care: old libc functions won't work anymore. Use those + defined in . Perhaps we should wait until the review is done and + gocr is working again. + :do it in 0.3.1 only. +?bbg? should we move wert code to a new file? + (js) we should +?bbg? should we move all code a /src sudirectory? + (js) we should, same step should rename .cc to .c +|bbg| fix Makefile (or better, configure.in) to reflect new files. + :done +[bbg] started to change all the for(box=head_data) to for_each_data. CAREFUL: + you cannot use for_each_data recursively. On the next layer, you must use + something like for(box=list_get_header; box; box=list_next(box)); + :done + +13/8 +(bbg) finished changing for(box=head_data). Old box_* functions still used, + must fix. +(bbg) cleaned 99% of the warning/errors when compiling pgm2asc.cc +[bbg] fix: warning: control reaches end of non-void function + `compare_unknown_with_known_chars(pix *, int)' + :done +[bbg] check if pgm2asc.cc:474:i = ((pixel(p, x, y) < cs) ? 0 : 1); is useless + or not. + (js) useless, relict from older review-changes +(bbg) vvv is now part of struct environment. +(bbg) removed Uchar, may conflict with other libs. Use unsigned char. + +15/8 +(bbg) Tim Waugh sent man page; added him in the thanks of README.txt +[bbg] should break README.txt in: INSTALL, CREDITS, TODO, HISTORY. + :done +(bbg) more changes from box_* to list_* + +16/8 +(bbg) added greek letters to the unicode.c functions. Not complete. +(bbg) added punctuation symbols to the unicode.c functions. Not complete. +(bbg) added ISO8859-1 support to the unicode.c functions. 0x20-0xFF supported, + ligatures supported. + +18/8 +[bbg] fix try_to_divide_boxes to the new general linked list. +[bbg] most for_each_data have a line like box2 = list_get_current, which is + unnecessary. Change box2 by list_get_current. To avoid clumsiness, it + maybe a good idea to create a new #define lgc(a) list_get_current(a). + +25/8 +(js) ./src created, .cc,.h,.c moved to src, .cc renamed to .c +[js] try to get make working (make jconv) see config.h: USE_LIBPNM => HAVE_PNM_H +|js| list.c L66 data_before ??? what does that mean? + (bbg) mistyped, fixed. + list_del should be tested + :done +?js? unicode.c there are undefined DEFS L89++ (i have put it in /* */) + L150++,L185++,L633++ + (bbg) fixed +[js] make works again (now you can make compilation tests on changes) + ... but SEGFAULT + +26/8 +(bbg) fixed casting warnings in unicode.c; fixed undefined DEFS. +|bbg| fix the missing LaTeX codes in unicode.c. + +28/8 +?js? configure does not find /usr/X11R6/include/pnm.h, why? +[js] fixed some bugs to get gocr working, but there are still big bugs + +30/8 +(bbg) fixed all gcc warnings. Some bugs killed in the process. +(bbg) fixed pnm.c compilation problem +|bbg| have to fix database.c:102 +|bbg| MANDATORY: change all old linked list code to the new one. This means: + get rid of box_* functions, the header->data stuff, etc. The new linked + list code is probably working 100%. +(bbg) changed $(CXX) to $(CC). C conversion completed! +(bbg) added jconv and gocr sections to src/Makefile. +(bbg) new ISO8859-1 codes in unicode.c:convert. +(bbg) fixed several bugs in list.c, and patched list_del() to return 2 if + deleted data was list->current. + +1/9 +(bbg) added new list_init(). Use it. +(bbg) wrote a fix to the list_del()+for_each_data bug. It's not very good, but + works. Fixes the nested loops too. Now you can use for_each_data + recursively. + +8/9 +(bbg) more fixes from the old LL system to the new one. +(js) added list_higher_level(), fix list_lower_level() + bug fixed free_textlines(),store_boxtree_lines(),store_boxtree_lines() +(js) review of pgm2asc() finished + +9/9 +(bbg) more fixes from the old LL system to the new one. +(bbg) fixed the realloc fixes of 8/9 in fix list_lower_level(), + free_textlines(),store_boxtree_lines(), and fixed list_higher_level(), + to avoid a blow if realloc fails. Now things continue working. +(js) compilation bug removed +(bbg) reviewed context_correction(). +(bbg) moved output_list() and write_img() to output.c. Added output.h. +?bbg? Since output.c functions are only for debugging, what do you think about + adding some #ifdef DEBUGs to make a smaller, faster code? It doesn't have + to be done now, but it's an idea. + (js) its general good idea, but I would use a DEBUG level + DEBUG > 2 (or similar) + during development (until version 1.0) DEBUG should be activated + by default, + people could experiment with it and experts could deactivate DEBUG +(bbg) cleaned old textline functions. + +11/9 +(js) have fixed two major bugs, gocr now works again (but only -m 56 works) + +18/9 +(js) pedantic compiler warnings removed + bbg: compiling using pam (netpbm, see 22/9) functions generate some warnings, + which are caused by pam.h and do not affect gocr. +(js) list_del() does not work proper in context_correction(), fixed + bbg: list_del return value should be checked always. I'm not sure what + behaviour you want, so I didn't add the checks. +(js) malloc_box() bug fixed (memcpy src-dest mismatch) + +21/9 +(js) pgm2asc.c L1954, 2nd scan removed, now much faster, but + handling of umlaut etc. is missing (similar to gluing function) + bbg: umlaut is detected. Are you sure it's missing? +(js) I am away until Sept 30th 2000 + +22/9 +|bbg| pnm_readpnmrow() SIGSEGV's. Don't know why. + ?js? (when does it happens? example file?) + bbg: any file, here. Does it work for you? Are you sure isn't the pam + functions? +(bbg) added new code to read pnm's using netpbm package (pam* functions). It + works, but the drawback is that only recent (August 2000) libraries have + these functions. Added test for pam.h in configure. +[bbg] moved example files to ~/tests/. Updated Makefile.in to reflect changes + and moved the pertinent stuff to tests/Makefile. I don't have experience + with autoconf, but I think I did it right. :) +(bbg) fixed tests for unistd.h, which were missing. +|bbg| How to change gocr.tcl splitted windows proportion? It'd be nice to be + able to have a larger output area. +|bbg| gotta fix make.bat. There's a make for DOS, however; should we delete + make.bat? +(bbg) wrote INSTALL. Moved (no changes) history from README.txt to HISTORY. +|bbg| review README.txt. Create a TODO file, BUGS, etc. + :done + +23/9 +?bbg? database.c::ocr_db(), is any use for box3? +(bbg) added "Elapsed time". +(bbg) minor fixes. + +24/9 +|bbg| remove_dust() broken? It's not being used currently, since it's the last + piece of code using old list functions, and if it's updated, ocr1.c returns + a bunch of "#hmm, something was going wrong". So, the problem may be in + ocr1.c. I wrote the patch for remove_dust(), it's in #ifdefs. + :done +(bbg) patched rest of remove.c to with new list functions. +[bbg] remove_pictures() loop is weird. I followed what was there, but it should + be checked. + +1/10 +(bbg) for_each_data now checks the return value of list_higher_level(). +(bbg) moved some functions to pixel.c +(bbg) some cleanup + +3/10 +(js) minor changes in Makefiles, add_line_infos() improved + +6/10 +(bbg) fixed bug when inserting a node before header, in list_ins(). +(bbg) fixed bug that made for_each_data use list->header twice: l->fix wasn't + properly initialized. +(bbg) added list_sort(). Runned some tests, seems to be OK. + +7/10 +(bbg) updated list_sort() to a faster version. Runned tests. +(bbg) some minor cosmetic fixes +|bbg| amiga.h: is it really needed, can someone test it? +|bbg| As soon as remove_dust is fixed, the old list code can be deleted, which + would be nice. So, Joerg, can you please fix it? Thanks. + [js] Have I fixed it? + :done + +9/10 +(mg) moved gocr.tcl and create_db to new bin folder +(mg) cleaned up Makefile.in (some subdirs not included yet) +(mg) created new sub-folder lib +(mg) created new sub-folder include +[mg] installation for src is done very rudimentary + +13/10 +(bbg) split README.txt in BUGS, TODO and CREDITS. Joerg: Please write an AUTHORS + file. +(bbg) renamed README.txt to README. +(bbg) added list_empty(). Fixed list_higher_level to avoid empty lists. BTW: I + think that passing an empty list (l->header==NULL) may blow some of the + list functions. + +16/10 +(bbg) added AUTHORS. + +22/10 +(js) minor changes, glue_broken_chars() improved, ocr0 updated +?js? list_del() seems not to work in nested for_each_element()-loops +[js] remove_dust fixed? + :done + +23/10 +(bbg) rewrote list_del, using a new kind of fix. It will work as long as the + data is not freed by the user. A solution to fix this is to pass a pointer + to a function that will free the data. + +25/10 +(js) glue_broken_chars() recognition of "=" fixed, some other bugs fixed +(js) some improvements for recognition (ocr0n.c,ocr0.c) + +27/10 +(js) further improvements for better recognition results, polish.tex added + +28/10 +(bbg) changed free_boxtree() to new code +|bbg| have to fix the reast of the old box code + :done + +4/11 +[bbg] one of the frees of the new free_boxtree code sigsevs. I dunno why. + (js) boxlist->element->p is a pointer to existing whole pixmap, do not free this! +[bbg] I commented the following lines of pgmasc.c: 1430,43,55,67,81,95, since + they seem to be unnecessary. + (js) hmm: they are not needed for list_ins, but could be usefull for + a engine which looks for surrounding boxes. Do you know what I mean? + It was the last step of the conversion to the + new list routines. *uf*. +(bbg) ALL OLD CODE ROUTINES ARE DEPRECATED NOW. Mission successful, waiting for + permission to delete. :) + (js) permission granted +(bbg) Just to reassure, I tested gocr today and it's 100% +[bbg] change sort_boxes to a call to list_sort. sort_box_func should be + reviewed + (js) looks ok to me. + or tini_list(){ + (js) ??? +?bbg? ini_list(), exclude() & getresult(): should they be deleted? + (js) not found :( + I'm working + on a probability based engine, using neural networks. + +6/11 +(js) get Segmentation fault, => fixed + +14/11 +(bbg) deleted old list code. +(bbg) moved all detect* functions to detect.c +(bbg) movde lines functions to lines.c + +22/11 +(bbg) reviewed frame_nn(), mark_nn(), num_hole(), num_obj(). Some other minor + revisions. +(bbg) added outbounds() macro in gocr.h. It should be used from now on. + +24/11 +(js) some patches by J.R.V. Zandt added +?js? have still problems detecting pnm-libs via autoconf/configure + +25/11 +(bbg) added HTML support for all ISO8859-1 characters in unicode. + +27/11 +(bbg) some fixes in unicode.* +|bbg| whatletter needs a serious revision. + +30/11 +[js] split ocr0.c (compiles faster now), gcc 2.95.1 "bug" removed? + +10/12 +[bbg] Unicode is now supported. Some tests should be made, specially testing + UNKNOWN/PICTURE and >0xFF characters. + +17/12 +[js] pamlib,netlib,pnmlib detection (configure.in) changed + +21/12 +[jrv] pgm2asc changes: + context_correction() BUGFIX: test whether +previous(previous(current)) exists, before trying to dereferencing the pointer. + follow_path() introduced: follow a path, recording transitions +between dark and light. + xrealloc() introduced: safe memory allocation + loop() optimization: move direction test outside loop, simplify loop test + measure_pitch() introduced: detect monospaced font and measure the pitch + pgm2asc(): if font is monospaced, set spc per measured character spacing. + A few wording fixes. + +05/01 +(js) some fixes in glue_broken_chars results in good ";" and "!" detection + engine updated (examples/font1.pbm should work perfect) + +19/02 +(js) "make dist" now automaticly makes packaging (gocr-x.y.z.tgz) + does the Makefile in api working (especially make clean/proper)? + "make install" should work too + bbg: API makefiles work, but there's no make proper (use distclean instead) + I'd appreciate if someone could test the configure and libpnm. install is + not tested yet. + +19/04 +[js] USE_UNICODE defined as default in gocr.h (test it), some fixes to get + -f TeX, -f HTML running, fixed bug in lines.c (unterminated string) + measure_pitch extended to 12level+2)..) correct? (S.Niemz bug) + +30/07 +?js? readpnm if USE_libpnm does not the job of old readpgm (for pbm-files) + +22/08 +(js) gcc -Wall -pedantic warnings fixed, ocr0.c wchar_t used by default + we should switch to wchar_t, its more flexible and ANSI (?) + and the huge number of "#ifdef USE_UNICODE" statements are looking bad +?js? can someone compile test on a machine without wchar.h? (FREEBSD?) + +25/08 +?js? I got following warning by gcc 2.95.3 20010315 (-Wall -pedantic): + lines.c: In function 'store_boxtree_lines': + lines.c:136: warning: implicit declaration of function 'wcsdup' + but I included . Does anybody understand this??? + hmmm ... Is it because of not ANSI (but GNU) extension? + What should we do with non-standart C-functions? + May be therefore I got the complains from FREEBSD users? + +30/08 +(js) pgm2asc.c, output.c simplified, improvement of char-devision + +08/02/2002 +?js? all possible SIGSEGVs in list.c fixed + +15/02/2002 +[js] ocr0.c will use setac() in future manipulating struct box - tac,wac + and c, if chars are very similar this will make context correction more + easyly, filtering will be more easily too (not fully implemented) + +25/02/2002 +[js] box->obj added for storing more than one char + +02/06/2002 +(jb) added special encodings for '&', '<', '>' to HTML decoder + +05/06/2002 +[jb] job_t introduced (same patch as sent to the mailing list) + Only local variables (configuration and pixmap) of main() are + moved inside job_t yet. +[jb] boxlist and linelist converted to job_t +[jb] Temorary introduction of global variable JOB (of type job_t) + This variable will be removed, while all functions are converted to + receive either an job_t pointer or the needed values. +[jb] n_run, env, db_path and ppo converted to job_t +[jb] converted dblist +[jb] renamed init_job and free_job to job_free and job_init +[jb] converted nearly all global variables (except warn and debug) to + job_t. Used JOB as new temporaryr global variable. + Overview of the renaming (some old variables are combined to a new one): + + OLD VAR NAMES NEW VAR NAME + * main():inam JOB->src.fname + * main():p JOB->src.p + env.p + * main():init JOB->tmp.init_time + * ppo JOB->tmp.ppo + * n_run JOB->tmp.n_run + * dblist JOB->tmp.dblist + * boxlist JOB->res.boxlist + * linelist JOB->res.linelist + * lines JOB->res.lines + * env.avX JOB->res.avX + * env.avY JOB->res.avY + * env.sumX JOB->res.sumX + * env.sumY JOB->res.sumY + * env.numC JOB->res.numC + * main():cs JOB->cfg.cs + env.cs + * main():spc JOB->cfg.spc + * main():mo JOB->cfg.mode + env.mode + * main():dust_size JOB->cfg.dust_size + * main():numo JOB->cfg.only_numbers + only_numbers + * main():verbose JOB->cfg.verbose + env.vvv + * main():out_format JOB->cfg.out_format + * main():lc JOB->cfg.lc + * env.db_path JOB->cfg.db_path + +[jb] introduced list_and_data_free + +|jb| get rid of JOB. +|jb| decide on last global variables "warn" and "debug" + js: its thought for debugging, we should use MACROS WARN or DEBUG +|jb| eliminate static buffers inside fucntions. + +30/06/2002 +(js) gocr.h: struct box: modifier now wchar_t + mark things, which need changes with "ToDo:" directly in the sources, + so that we can grep for it and see that there are planed changes + +05/01/2003 +(js) ocr0.c: engine splitted in groups of characters (mostly pairs) + num_hole called once for every char, result is stored in a table +?js? cvs ci jocr does not work since 2003? (it tries to update jocr/CVS) + have cvs-1.11.1p1 diff --git a/.svn/pristine/38/384883d8e6893b45ba720a1bb39d47e8f59b6c94.svn-base b/.svn/pristine/38/384883d8e6893b45ba720a1bb39d47e8f59b6c94.svn-base new file mode 100644 index 0000000..9ce328d --- /dev/null +++ b/.svn/pristine/38/384883d8e6893b45ba720a1bb39d47e8f59b6c94.svn-base @@ -0,0 +1,28 @@ +SET(SHOW_LIBS ${OPENGL_LIBRARIES} glui scan ANN) +IF(WIN32) + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/freeglut.lib XGetopt) + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/freeglut.lib XGetopt) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(WIN32) +IF (UNIX) + SET(SHOW_LIBS newmat dl ${GLUT_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WITH_GLEE) + SET(SHOW_LIBS ${SHOW_LIBS} glee) +ENDIF(WITH_GLEE) + +SET(SHOW_SRCS NurbsPath.cc PathGraph.cc vertexarray.cc viewcull.cc colormanager.cc compacttree.cc scancolormanager.cc display.cc) + +IF (WITH_SHOW) + add_executable(show show.cc ${SHOW_SRCS}) + target_link_libraries(show ${SHOW_LIBS}) +ENDIF(WITH_SHOW) + +IF(WITH_WXSHOW) + add_executable(wxshow wxshow.cc selectionframe.cc ${SHOW_SRCS}) + target_link_libraries(wxshow ${wxWidgets_LIBRARIES} wxthings ${SHOW_LIBS}) +ENDIF(WITH_WXSHOW) + diff --git a/.svn/pristine/38/38699d3ab09323504d678c5ebca1f48d599ddec2.svn-base b/.svn/pristine/38/38699d3ab09323504d678c5ebca1f48d599ddec2.svn-base new file mode 100644 index 0000000..dbc5e08 --- /dev/null +++ b/.svn/pristine/38/38699d3ab09323504d678c5ebca1f48d599ddec2.svn-base @@ -0,0 +1,101 @@ +#ifndef _LIBSVM_H +#define _LIBSVM_H + +#define LIBSVM_VERSION 311 + +#ifdef __cplusplus +extern "C" { +#endif + +extern int libsvm_version; + +struct svm_node +{ + int index; + double value; +}; + +struct svm_problem +{ + int l; + double *y; + struct svm_node **x; +}; + +enum { C_SVC, NU_SVC, ONE_CLASS, EPSILON_SVR, NU_SVR }; /* svm_type */ +enum { LINEAR, POLY, RBF, SIGMOID, PRECOMPUTED }; /* kernel_type */ + +struct svm_parameter +{ + int svm_type; + int kernel_type; + int degree; /* for poly */ + double gamma; /* for poly/rbf/sigmoid */ + double coef0; /* for poly/sigmoid */ + + /* these are for training only */ + double cache_size; /* in MB */ + double eps; /* stopping criteria */ + double C; /* for C_SVC, EPSILON_SVR and NU_SVR */ + int nr_weight; /* for C_SVC */ + int *weight_label; /* for C_SVC */ + double* weight; /* for C_SVC */ + double nu; /* for NU_SVC, ONE_CLASS, and NU_SVR */ + double p; /* for EPSILON_SVR */ + int shrinking; /* use the shrinking heuristics */ + int probability; /* do probability estimates */ +}; + +// +// svm_model +// +struct svm_model +{ + struct svm_parameter param; /* parameter */ + int nr_class; /* number of classes, = 2 in regression/one class svm */ + int l; /* total #SV */ + struct svm_node **SV; /* SVs (SV[l]) */ + double **sv_coef; /* coefficients for SVs in decision functions (sv_coef[k-1][l]) */ + double *rho; /* constants in decision functions (rho[k*(k-1)/2]) */ + double *probA; /* pariwise probability information */ + double *probB; + + /* for classification only */ + + int *label; /* label of each class (label[k]) */ + int *nSV; /* number of SVs for each class (nSV[k]) */ + /* nSV[0] + nSV[1] + ... + nSV[k-1] = l */ + /* XXX */ + int free_sv; /* 1 if svm_model is created by svm_load_model*/ + /* 0 if svm_model is created by svm_train */ +}; + +struct svm_model *svm_train(const struct svm_problem *prob, const struct svm_parameter *param); +void svm_cross_validation(const struct svm_problem *prob, const struct svm_parameter *param, int nr_fold, double *target); + +int svm_save_model(const char *model_file_name, const struct svm_model *model); +struct svm_model *svm_load_model(const char *model_file_name); + +int svm_get_svm_type(const struct svm_model *model); +int svm_get_nr_class(const struct svm_model *model); +void svm_get_labels(const struct svm_model *model, int *label); +double svm_get_svr_probability(const struct svm_model *model); + +double svm_predict_values(const struct svm_model *model, const struct svm_node *x, double* dec_values); +double svm_predict(const struct svm_model *model, const struct svm_node *x); +double svm_predict_probability(const struct svm_model *model, const struct svm_node *x, double* prob_estimates); + +void svm_free_model_content(struct svm_model *model_ptr); +void svm_free_and_destroy_model(struct svm_model **model_ptr_ptr); +void svm_destroy_param(struct svm_parameter *param); + +const char *svm_check_parameter(const struct svm_problem *prob, const struct svm_parameter *param); +int svm_check_probability_model(const struct svm_model *model); + +void svm_set_print_string_function(void (*print_func)(const char *)); + +#ifdef __cplusplus +} +#endif + +#endif /* _LIBSVM_H */ diff --git a/.svn/pristine/38/386c9db8503f66905ebc09a4469768e871cbf5a6.svn-base b/.svn/pristine/38/386c9db8503f66905ebc09a4469768e871cbf5a6.svn-base new file mode 100644 index 0000000..6e8f600 --- /dev/null +++ b/.svn/pristine/38/386c9db8503f66905ebc09a4469768e871cbf5a6.svn-base @@ -0,0 +1,12 @@ +#! /bin/bash +if [ $1 = "" ]; then + echo "no new name given!" + exit +fi +mv s001.avi $1.avi +#mv s001.arv $1.arv +#mv s001.farv $1.farv +mv s001.irv $1.irv +mv s001.firv $1.firv +mv s001.3dp $1.3dp +mv s001.head $1.head diff --git a/.svn/pristine/38/38707e2b45f4a97c3cc87f8ca4b11c16236c1fb4.svn-base b/.svn/pristine/38/38707e2b45f4a97c3cc87f8ca4b11c16236c1fb4.svn-base new file mode 100644 index 0000000..b26b2e3 --- /dev/null +++ b/.svn/pristine/38/38707e2b45f4a97c3cc87f8ca4b11c16236c1fb4.svn-base @@ -0,0 +1,16 @@ +#ifndef __SCAN_VELODEFS_H__ +#define __SCAN_VELODEFS_H__ + +#define POINT_TYPE_INVALID 0x00000001 +#define POINT_TYPE_ABOVE_DELTA_R 0x00000002 +#define POINT_TYPE_BELOW_DELTA_R 0x00000004 +#define POINT_TYPE_ABOVE_DELTA_Y 0x00000008 +#define POINT_TYPE_BELOW_DELTA_Y 0x00000010 +#define POINT_TYPE_ABOVE_R 0x00000020 +#define POINT_TYPE_BELOW_R 0x00000040 +#define POINT_TYPE_STATIC_OBJECT 0x00000080 +#define POINT_TYPE_MOVING_OBJECT 0x00000100 +#define POINT_TYPE_GROUND 0x00000200 + + +#endif diff --git a/.svn/pristine/39/39764f7fa762025397d71fb367bd71af8328fb11.svn-base b/.svn/pristine/39/39764f7fa762025397d71fb367bd71af8328fb11.svn-base new file mode 100644 index 0000000..524a171 --- /dev/null +++ b/.svn/pristine/39/39764f7fa762025397d71fb367bd71af8328fb11.svn-base @@ -0,0 +1,135 @@ +/** @file + * @brief Representation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6D_H__ +#define __ICP6D_H__ + +#include +using std::vector; + +#include "newmat/newmat.h" +//using namespace NEWMAT; + +#include "slam6d/scan.h" +#include "slam6d/icp6Dminimizer.h" + +/** + * @brief Representation of 3D scan matching with ICP. + * + * Manages the matching of 3D scans. + * Important values, such as maximal matching distance, + * maximal number of iterations, etc. + * are specified in the constructor. + */ +class icp6D { + +public: + icp6D(icp6Dminimizer *my_icp6Dminimizer, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + bool cuda_enabled = false, + bool cad_matching = false); + + /** + * Destructor (empty, but needed, because virtual) + */ + virtual ~icp6D() {}; + + void doICP(vector allScans); + virtual int match(Scan* PreviousScan, Scan* CurrentScan); + void covarianceEuler(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C); + void covarianceQuat(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C); + double Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *nrp=0); + + inline int get_rnd(); + inline bool get_meta(); + inline int get_anim(); + inline int get_nns_method(); + inline void set_anim(int anim); + inline double get_max_dist_match2(); + inline void set_max_dist_match2(double max_dist_match2); + inline void set_max_num_iterations(int max_num_iterations); + inline void set_cad_matching (bool cad_matching); + inline bool get_cad_matching (void); + +protected: + + /** + * suppress output to cout + */ + bool quiet; + + /** + * take every rnd point for matching + */ + int rnd; + + /** + * extrapolate odometry + */ + bool eP; + + /** + * match against all scans (= meta scan), or against the last scan only + */ + bool meta; + + /** + * specifies which NNS method should be used + */ + int nns_method; + + /** + * specifies if the ANN trees have to be built + */ + bool cuda_enabled; + + /** + * the maximal distance (^2 !!!) for matching + */ + double max_dist_match2; + + /** + * the maximal number of iterations + */ + int max_num_iterations; + + /** + * write anim'th animation frame + */ + int anim; + + /** + * epsilon for stopping ICP algorithm ( convergence criterium ) + */ + double epsilonICP; + + /** + * ptr to ICP error function minimizer functor + */ + icp6Dminimizer *my_icp6Dminimizer; + + /** + * Maximum number of points in all scans + */ + unsigned int max_scn_size; //FIXME -> update with metascan + + /** + * determines if CAD models are matched against one scan + */ + bool cad_matching; +}; + +#include "icp6D.icc" + +#endif diff --git a/.svn/pristine/3a/3a4111eecc9f99493ea3cadb922880e59d7bf765.svn-base b/.svn/pristine/3a/3a4111eecc9f99493ea3cadb922880e59d7bf765.svn-base new file mode 100644 index 0000000..9530e25 --- /dev/null +++ b/.svn/pristine/3a/3a4111eecc9f99493ea3cadb922880e59d7bf765.svn-base @@ -0,0 +1,1499 @@ +/** + * @file scene.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/scene.h" + +#include "model/graphicsAlg.h" +#include "model/util.h" + +#include +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +using namespace std; + +//============================================================================== +// Static fields initialization +//============================================================================== +const double model::Scene::PRECISION = 0.0; +const double model::Scene::RAY_DIST = 2.5; +const double model::Scene::PATCH_DIST = 1.0; +const double model::Scene::WALL_DIST = 10.0; // must be bigger than RAY_DIST +const double model::Scene::MIN_EDGE_COV = 0.60; + +//============================================================================== +// Implementation +//============================================================================== +model::Scene::Scene(const IOType& type, + const int& start, const int& end, + std::string dir, const bool& scanserver, + const int& maxDist, const int& minDist, + const PlaneAlgorithm& alg, const int& octree, const double& red, + const vector& poses) +{ + if (!quiet) cout << endl << "== Creating scene..." << endl; + if (!quiet) cout << endl << "== Reading scans..." << endl; + + // create an output directory for planes and for images + if (makeDir(dir + "img/")== false) { + throw runtime_error("failed to create directory " + dir + "img/"); + } + + // copy class fields here + this->poses = poses; + + // identity matrix + double id[16]; + M4identity(id); + + // begin the plane detection + // Scan::dir = dir; + // Scan::readScans(type, start, end, dir, maxDist, minDist, false); + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + int nrPlanes = 0 , currScan = start; + // for(vector ::iterator scan = Scan::allScans.begin(); scan != Scan::allScans.end(); ++scan) { + for(ScanVector::iterator scan = Scan::allScans.begin(); scan != Scan::allScans.end(); ++scan) { + + // prepare for plane detection + (*scan)->setRangeFilter(maxDist, minDist); + (*scan)->setReductionParameter(red, octree); + // scan->setSearchTreeParameter(nns_method, cuda_enabled); + + (*scan)->toGlobal(); + (*scan)->transform(id, Scan::ICP, 0); + + // read the pose of the current scan + pair pose; + const double* pt = (*scan)->get_rPos(); + const double* rot = (*scan)->get_rPosTheta(); + + pose.first.x = pt[0]; + pose.first.y = pt[1]; + pose.first.z = pt[2]; + + pose.second.x = rot[0]; + pose.second.y = rot[1]; + pose.second.z = rot[2]; + + if (!quiet) cout << "\n== Starting plane detection for scan " << currScan << " @ pose (" + << pose.first.x << " " << pose.first.y << " " << pose.first.z << " " + << pose.second.x << " " << pose.second.y << " " << pose.second.z << ")..." << endl; + + // apply hough transform + Hough hough((*scan), true); + nrPlanes += hough.RHT(); // TODO call proper algorithm + + if (!quiet) cout << "** Detected " << nrPlanes << " planes so far" << endl; + + // loop over all planes and fill in the data + for (vector::iterator convexPlane = hough.planes.begin(); + convexPlane != hough.planes.end(); convexPlane++) + { + // get the nomrla and the point of application of the normal + double tempNormal[3], tempOrigin[3]; + (*convexPlane)->getNormal(tempNormal, tempOrigin); + + // the normal and application points using our datastructures + Vector3d normal(tempNormal[0], tempNormal[1], tempNormal[2]); + Point3d origin(tempOrigin[0], tempOrigin[1], tempOrigin[2]); + + // fill in the convex hulls + vector doubleHull = (*convexPlane)->getConvexHull(); + vector pointHull; + + for (vector::iterator point = doubleHull.begin(); point != doubleHull.end(); point += 3) { + pointHull.push_back(Point3d(*(point+0), *(point+1), *(point+2))); + } + + Plane3d planeToAdd(origin, normal, pointHull); + + // add the planes to the vector + if (planeToAdd.isHorizontal() || planeToAdd.isVertical()) { + this->planes.push_back(planeToAdd); + } + else if (!quiet) { + cout << "** Discarding oblique plane centered at " + << planeToAdd.pt.x << " " << planeToAdd.pt.y << " " << planeToAdd.pt.z + << endl; + } + } + + // keep the pointer to the points + DataXYZ points = (*scan)->get("xyz reduced"); + unsigned int points_size = points.size(); + // const vector* points = (*scan)->get_points(); + + for (unsigned int i = 0; i < points_size; ++i) { + // XXX get_points returns a pointer + Point3d toPush(points[i][0], points[i][1], points[i][2]); + toPush.translate(pose.first); + toPush.rotate(Point3d(0.0, 0.0, 0.0), pose.second); + this->points.push_back(toPush); + } + + // contains the current scan number + currScan++; + } + + // to be used when constructing the octree + this->octTreePoints = new double*[this->points.size()]; + + // go over all points from all the scans + for (unsigned int i = 0; i < this->points.size(); ++i) { + double x = this->points[i].x; + double y = this->points[i].y; + double z = this->points[i].z; + + // add the points to the array to be added to the octree + this->octTreePoints[i] = new double[3]; + this->octTreePoints[i][0] = x; + this->octTreePoints[i][1] = y; + this->octTreePoints[i][2] = z; + } + + // Create the octree and fill it in. + if (!quiet) cout << endl << "== Building OctTree with " << this->points.size() << " points ..." << endl; + this->octTree = new BOctTree(this->octTreePoints, this->points.size(), octree); + //this->_octTree->init(); + this->nrPoints = this->points.size(); + + Scan::allScans.clear(); +} + +model::Scene::Scene(const Scene& other) { + this->points = other.points; + this->planes = other.planes; + this->walls = other.walls; + this->ceiling = other.ceiling; + this->floor = other.floor; +} + +model::Scene::~Scene() { + // delete the octree + if (this->octTree != NULL) { + delete this->octTree; + } + + if (this->octTreePoints != NULL) { + for (unsigned int i = 0; i < this->nrPoints; ++i) { + if (this->octTreePoints[i] != NULL) { + delete[] this->octTreePoints[i]; + } + } + delete[] this->octTreePoints; + } +} + +vector model::Scene::getConvexHull(vector planes) { + if (planes.size() <= 3) { + return planes; + } + + vector hull; + vector::iterator leftmostIt = planes.begin(); + + // compute the lefmost point + for (vector::iterator it = planes.begin() + 1; + it != planes.end(); ++it) + { + // add only vertical planes + if (it->isVertical() && it->pt.x < leftmostIt->pt.x) { + leftmostIt = it; + } + } + + Plane3d planeOnHull = *leftmostIt; + Plane3d endPlane; + + do { + // add the candidate plane to the hull + hull.push_back(planeOnHull); + endPlane = planes[0]; + + for (unsigned int j = 1; j < planes.size(); ++j) { + // consider only vertical planes + if (planes[j].isVertical() == false) { + continue; + } + + // define dummy planes in the XOZ plane + Point3d fakeCurPt(planes[j].pt.x, 0.0, planes[j].pt.z); + Point3d fakePointOnHull(planeOnHull.pt.x, 0.0, planeOnHull.pt.z); + Point3d fakeEndPoint(endPlane.pt.x, 0.0, endPlane.pt.z); + + // define a point to the left of the line + Point3d farLeft = fakeEndPoint; + farLeft.rotate(planeOnHull.pt, Rotation3d(0.0, -M_PI/6, 0.0)); + + // if ... or planes[j] on the left side of line (planeOnHull, endPlane) + if (planeOnHull.pt != planes[j].pt && + (endPlane.pt == planeOnHull.pt || sameSide(fakeCurPt, farLeft, fakePointOnHull, fakeEndPoint))) + { + endPlane = planes[j]; + } + } + + planeOnHull = endPlane; + + } while (endPlane.pt != hull[0].pt); + + return hull; +} + +vector model::Scene::getSignificantPlanes(vector planes) { + vector result; + + while (!planes.empty()) { + // add the first plane as viable + result.push_back(planes.front()); + planes.erase(planes.begin());; + + for (vector::iterator it = planes.begin(); it < planes.end(); ++it) { + if (result.back().isSamePlane(*it)) { + result.back().normal += it->normal; + planes.erase(it); + } + } + + // normalize this normal after we have normalized + result.back().normal.normalize(); + } + + return result; +} + +bool model::Scene::getCeiling(vector planes, Plane3d& result) { + vector horizontalPlanes; + + for (vector::iterator it = planes.begin(); it != planes.end(); ++it) { + if (it->isHorizontal()) { + horizontalPlanes.push_back(*it); + } + } + + if (horizontalPlanes.size() <= 0) { + return false; + } + + // start with the first horizontal plane + result = planes.front(); + + for (vector::iterator it = planes.begin()+1; + it != planes.end(); ++it) + { + if (it->pt.y > result.pt.y) { + result = *it; + } + } + + return true; +} + +bool model::Scene::getFloor(vector planes, Plane3d& result) { + vector horizontalPlanes; + + for (vector::iterator it = planes.begin(); + it != planes.end(); ++it) + { + if (it->isHorizontal()) { + horizontalPlanes.push_back(*it); + } + } + + if (horizontalPlanes.size() <= 0) { + return false; + } + + // start with the first horizontal plane + result = planes.front(); + + for (vector::iterator it = planes.begin()+1; + it != planes.end(); ++it) + { + if (it->pt.y < result.pt.y) { + result = *it; + } + } + + return true; +} + +void model::Scene::detectWalls() { + if (!quiet) cout << endl << "== Building model..." << endl; + + // temporary wall storage + vector tempWalls = this->planes; + + // extract the convex hull of the room + tempWalls = GraphicsAlg::getConcaveHull(tempWalls); + + // throw away redundant tempWalls + tempWalls = this->getSignificantPlanes(tempWalls); + + // get other bounds, ceiling and floor + Plane3d tempCeiling, tempFloor; + + if (!this->getCeiling(this->planes, tempCeiling) || !this->getFloor(this->planes, tempFloor)) { + throw runtime_error("error while determining ceiling or floor"); + } + + if (tempWalls.size() < 4) { + throw runtime_error("room has less than 4 walls"); + } + + if (!quiet) cout << "** " << tempWalls.size() << " walls have been detected" << endl; + + // XXX planes in the _walls vector should be in order + vector< pair > corners; + Point3d upperCorner, lowerCorner; + + if(!quiet) cout << endl << "== Computing corners..." << endl; + for (vector::iterator it = tempWalls.begin(); it != tempWalls.end(); ++it) { + // be careful at the last element + if (it < tempWalls.end()-1) { + upperCorner = it->intersect(*(it+1), tempCeiling); + lowerCorner = it->intersect(*(it+1), tempFloor); + } + else if (it == tempWalls.end()-1) { + upperCorner = it->intersect(tempWalls.front(), tempCeiling); + lowerCorner = it->intersect(tempWalls.front(), tempFloor); + } + + if (!quiet) cout << showpos << "** Computed upper corner " << upperCorner << endl; + if (!quiet) cout << showpos << "** Computed lower corner " << lowerCorner << endl; + + corners.push_back(make_pair(upperCorner, lowerCorner)); + } + + if (!quiet) cout << endl << "== Building walls, ceiling and floor..." << endl; + + // used to create the walls + Point3d upperLeft, upperRight; + Point3d lowerLeft, lowerRight; + + // used to create the floor and the ceiling + vector ceilingHull; + vector floorHull; + + Point3d ceilingCenter(0.0, 0.0, 0.0); + Point3d floorCenter(0.0, 0.0, 0.0); + + Vector3d ceilingNormal; + Vector3d floorNormal; + + for (vector< pair >::iterator it = corners.begin(); + it != corners.end(); ++it) + { + upperLeft = it->first; + lowerLeft = it->second; + + if (it < corners.end()-1) { + upperRight = (it+1)->first; + lowerRight = (it+1)->second; + } + else if (it == corners.end()-1) { + upperRight = corners.front().first; + lowerRight = corners.front().second; + } + + Point3d center((upperLeft.x + lowerLeft.x + upperRight.x + lowerRight.x) / 4.0, + (upperLeft.y + lowerLeft.y + upperRight.y + lowerRight.y) / 4.0, + (upperLeft.z + lowerLeft.z + upperRight.z + lowerRight.z) / 4.0); + + vector hull; + hull.push_back(upperLeft); + hull.push_back(lowerLeft); + hull.push_back(lowerRight); + hull.push_back(upperRight); + + if (!quiet) cout << "** Adding wall centered at " << center << endl; + this->walls.push_back(LabeledPlane3d(center, Vector3d(), hull)); + this->walls.back().normal = this->walls.back().computeAverageNormal(); + + // compute the floor and the ceiling + ceilingHull.push_back(it->first); + floorHull.push_back(it->second); + + ceilingCenter.x += it->first.x; + ceilingCenter.y += it->first.y; + ceilingCenter.z += it->first.z; + + floorCenter.x += it->second.x; + floorCenter.y += it->second.y; + floorCenter.z += it->second.z; + } + ceilingCenter /= ceilingHull.size(); + floorCenter /= floorHull.size(); + + // dummy normal + Vector3d dummy; + + if (!quiet) cout << "** Adding ceiling centered at " << ceilingCenter << endl; + this->ceiling = LabeledPlane3d(ceilingCenter, dummy, ceilingHull); + this->ceiling.normal = this->ceiling.computeAverageNormal(); + + if (!quiet) cout << "** Adding floor centered at " << floorCenter << endl; + this->floor = LabeledPlane3d(floorCenter, dummy, floorHull); + this->floor.normal = this->floor.computeAverageNormal(); +} + +bool model::Scene::castRay(const Point3d& src, const Point3d& dest, const double& extraDist, + Point3d& ptHit) +{ + // put the Bresenham line in here, we need some extra distance in case the points are close + // but after the detected wall, therefore we need to go a bit further than the wall to check + vector line; + GraphicsAlg::getDiscreteLine(src, dest, PRECISION, extraDist, line); + + // loop through all the points in the Bresenham line and decide if it hits something + for (vector::iterator it = line.begin(); it != line.end(); ++it) { + if (this->isOccupied(*it, RAY_DIST)) { + ptHit = *it; + return true; + } + } + + // no occlusion took place + return false; +} + +void model::Scene::applyLabels(LabeledPlane3d& surf) { + if (this->poses.empty()) { + throw runtime_error("no poses have been provided to the scene"); + } + + // the maximum distance from which we subtract to create a depth image + double maxDist = 2.0 * WALL_DIST + RAY_DIST; + + // determine the points on the plane for which to apply labels + vector > discretePoints = surf.getDiscretePoints(PATCH_DIST); + + surf.patches.resize(discretePoints.size()); + surf.depthMap.resize(discretePoints.size()); + + // we need these values for later + surf.depthMapDistances.first = WALL_DIST; + surf.depthMapDistances.second = maxDist; + + for (unsigned int i = 0; i < discretePoints.size(); ++i) { + for (unsigned int j = 0; j < discretePoints.front().size(); ++j) { + // consider everything is occluded initially + surf.patches[i].push_back(make_pair(discretePoints[i][j], OCCLUDED)); + surf.depthMap[i].push_back(WALL_DIST); + } + } + + if (!quiet) cout << endl << "== Performing ray casting for surface centered at " << surf.pt << endl; + + for (vector::iterator srcPose = this->poses.begin(); srcPose != this->poses.end(); ++srcPose) { + for (unsigned int i = 0; i < surf.patches.size(); ++i) { + for (unsigned int j = 0; j < surf.patches[i].size(); ++j) { + // prepare two points for ray casting through wall + Point3d ptOnWall = surf.patches[i][j].first; + Point3d src(surf.normal.x + ptOnWall.x, + surf.normal.y + ptOnWall.y, + surf.normal.z + ptOnWall.z); + + double len = ptOnWall.distance(src); + double temp = (len + WALL_DIST) / len; + src.x = ptOnWall.x + (src.x - ptOnWall.x) * temp; + src.y = ptOnWall.y + (src.y - ptOnWall.y) * temp; + src.z = ptOnWall.z + (src.z - ptOnWall.z) * temp; + + // remember the point we hit when ray casting + Point3d ptHit; + + if (insideHull(surf.patches[i][j].first, surf.hull) && castRay(src, ptOnWall, WALL_DIST, ptHit)) { + surf.patches[i][j].second = OCCUPIED; + surf.depthMap[i][j] = maxDist - src.distance(ptHit); + } else if (!castRay(srcPose->first, surf.patches[i][j].first, 0, ptHit)) { + surf.patches[i][j].second = EMPTY; + surf.depthMap[i][j] = 0.0; + } + } + } + } + + // create the OpenCV depth image + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + // crate an OpenCV image and allocate memory for it + cv::Mat img(imgHeight, imgWidth, CV_8UC1); + + // compute the maximum from the image + double max = numeric_limits::min(); + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (max < surf.depthMap[i][j]) { + max = surf.depthMap[i][j]; + } + } + } + + // write the current image to a file + cv::Mat labels(imgHeight, imgWidth, CV_8UC3); + + // adjust the image + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + img.data[(i * img.cols) + j] = static_cast(MAX_IMG_VAL * surf.depthMap[i][j] / max); + + // put the color into the image according to the label + int curr = (i * 3 * img.cols) + 3 * j; + switch (surf.patches[i][j].second) { + case EMPTY: + labels.data[curr + 0] = 0; + labels.data[curr + 1] = 200; + labels.data[curr + 2] = 0; + break; + case OCCLUDED: + labels.data[curr + 0] = 200; + labels.data[curr + 1] = 0; + labels.data[curr + 2] = 0; + break; + case OCCUPIED: + labels.data[curr + 0] = 0; + labels.data[curr + 1] = 0; + labels.data[curr + 2] = 200; + break; + default: + throw runtime_error("invalid default branch taken"); + break; + } + } + } + cv::imwrite("./img/labels.png", labels); + + // copy the image + surf.depthImg = img.clone(); +} + +void model::Scene::applyAllLabels() { + if (!quiet) cout << endl << "== Performing ray casting for all surfaces..." << endl; + + applyLabels(this->ceiling); + applyLabels(this->floor); + + for (vector::iterator it = this->walls.begin(); it != this->walls.end(); ++it) { + applyLabels(*it); + } +} + +void model::Scene::detectPotentialOpenings(const LabeledPlane3d& surf, + std::vector& openings) +{ + if (!quiet) cout << endl << "== Determining openings for surface centered at " << surf.pt << endl; + + // get the candidate openings for current plane + vector candidates; + surf.computeOpeningCandidates(candidates); + + // TODO train the SVM using some outside variables, not hard coded in here, play around a lot with these numbers + // prepare to train the SVM + + const unsigned int nrSamples = 68; + const unsigned int nrMainClass = 14; + const unsigned int nrFeatures = model::CandidateOpening::NR_FEATURES; + + // make a set of excluded features + int excludedFeaturesInit[] = {6, 7, 8, 12, 13}; + set excludedFeatures(excludedFeaturesInit, excludedFeaturesInit + 5); + + // set up the training data using some real life examples, needs to be flaot + float trainingData[nrSamples][14] = { + // TODO fix the RMS fit residual + // 1 area | 2 w/h | 3 w/W | 4 h/H | 5-8 dist to edges | 9 RMS | 10-12 E Occup Occl | 13 int rect | 14 int U-shapes + { 3120, 0.42, 0.05, 0.36, 23, 138, 550, 126, 0, 0.93, 0.01, 0.06, 15, 0}, + { 3090, 0.42, 0.05, 0.36, 23, 138, 126, 550, 0, 0.93, 0.01, 0.06, 15, 0}, + { 6810, 0.94, 0.11, 0.34, 23, 140, 453, 176, 0, 0.91, 0.02, 0.07, 15, 0}, + { 6815, 0.94, 0.11, 0.34, 23, 140, 176, 453, 0, 0.91, 0.02, 0.07, 15, 0}, + {11780, 1.52, 0.19, 0.35, 23, 139, 450, 128, 0, 0.89, 0.01, 0.10, 15, 0}, + {11190, 1.52, 0.18, 0.35, 23, 139, 128, 450, 0, 0.88, 0.02, 0.10, 15, 0}, + {10374, 1.70, 0.18, 0.31, 31, 141, 453, 124, 0, 0.87, 0.02, 0.11, 15, 0}, + {10374, 1.70, 0.18, 0.31, 31, 141, 124, 453, 0, 0.87, 0.02, 0.11, 15, 0}, + {27600, 0.82, 0.22, 0.62, 18, 97, 403, 148, 0, 0.95, 0.03, 0.02, 12, 0}, + {27600, 0.82, 0.22, 0.62, 18, 97, 148, 403, 0, 0.94, 0.03, 0.03, 12, 0}, + {25516, 0.87, 0.22, 0.59, 28, 100, 49, 396, 0, 0.84, 0.11, 0.05, 20, 0}, + {26316, 0.87, 0.22, 0.59, 28, 100, 396, 49, 0, 0.84, 0.13, 0.03, 22, 0}, + {25516, 0.87, 0.22, 0.59, 28, 100, 70, 396, 0, 0.84, 0.11, 0.05, 20, 0}, + {26316, 0.87, 0.22, 0.59, 28, 100, 396, 70, 0, 0.84, 0.13, 0.03, 22, 0}, + //======================================================================== + {+143289, +2.10345, +0.786533, +0.887755, +31, +1, +1, +147, +0, +0.371222, +0.524681, 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+45, +0}, + {+66360, +4.60833, +0.792264, +0.408163, +33, +140, +1, +143, +0, +0.537251, +0.458996, +0.00375226, +55, +0}, + {+135218, +3.59278, +0.998567, +0.659864, +33, +66, +0, +0, +0, +0.375216, +0.557995, +0.0667884, +11550, +0}, + {+135135, +3.55385, +0.992837, +0.663265, +33, +65, +0, +4, +0, +0.375484, +0.557457, +0.0670589, +6468, +0}, + {+135330, +3.55897, +0.994269, +0.663265, +33, +65, +0, +3, +0, +0.374943, +0.558095, +0.0669622, +8316, +0}, + {+135720, +3.56923, +0.997135, +0.663265, +33, +65, +0, +1, +0, +0.373865, +0.559365, +0.0667698, +10395, +0}, + {+135915, +3.57436, +0.998567, +0.663265, +33, +65, +0, +0, +0, +0.373329, +0.558893, +0.0677777, +12705, +0}, + {+142065, +3.38049, +0.992837, +0.697279, +33, +55, +0, +4, +0, +0.357998, +0.572006, +0.0699961, +7728, +0}, + {+117117, +4.10059, +0.992837, +0.57483, +30, +94, +0, +4, +0, +0.428213, +0.555837, +0.0159499, +280, +0}, + {+117286, +4.10651, +0.994269, +0.57483, +30, +94, +0, +3, +0, +0.427596, +0.556477, +0.0159269, +360, +0}, + {+117624, +4.11834, +0.997135, +0.57483, +30, +94, +0, +1, +0, +0.426367, +0.557752, +0.0158811, +450, +0}, + {+117793, +4.12426, +0.998567, +0.57483, +30, +94, +0, +0, +0, +0.425755, +0.557359, +0.0168856, +550, +0}, + {+43176, +1.52976, +0.368195, +0.571429, +30, +95, +396, +44, +0, +0.571822, +0.428178, +0, +36, +0}, + {+43344, +1.53571, +0.369628, +0.571429, +30, +95, +396, +43, +0, +0.569606, +0.430394, +0, +60, +0}, + {+42672, +1.5119, +0.363897, +0.571429, +30, +95, +399, +44, +0, +0.578576, +0.421424, +0, +18, +0}, + {+42840, +1.51786, +0.36533, +0.571429, +30, +95, +399, +43, +0, +0.576307, +0.423693, +0, +36, +0}, + {+42504, +1.50595, +0.362464, +0.571429, +30, +95, +400, +44, +0, +0.580863, +0.419137, +0, +6, +0}, + {+42672, +1.5119, +0.363897, +0.571429, +30, +95, +400, +43, +0, +0.578576, +0.421424, +0, +18, +0}, + {+33338, +0.748815, +0.226361, +0.717687, +29, +53, +396, +143, +0, +0.760244, +0.195453, +0.0443038, +1134, +0}, + }; + + // match the labels to the training data + float mainLabel = 1.0; + float labels[nrSamples]; + // create the labels + for (unsigned int i = 0; i < nrSamples; ++i) { + if (i < nrMainClass) { + labels[i] = mainLabel; + } else { + labels[i] = -mainLabel; + } + } + + // normalize the values above + float maxFeatures[nrFeatures]; + + for (unsigned int i = 0; i < nrFeatures; ++i) { + maxFeatures[i] = numeric_limits::min(); + } + + for (unsigned int i = 0; i < nrSamples; ++i) { + for (unsigned int j = 0; j < nrFeatures; ++j) { + if (maxFeatures[j] < trainingData[i][j]) { + maxFeatures[j] = trainingData[i][j]; + } + } + } + + for (unsigned int i = 0; i < nrSamples; ++i) { + for (unsigned int j = 0; j < nrFeatures; ++j) { + if (excludedFeatures.find(j) != excludedFeatures.end()) { + trainingData[i][j] = 0.0; + } else { + trainingData[i][j] /= maxFeatures[j]; + } + } + } + + // compute the max of the values of the candidates, but normalize later + for (unsigned int i = 0; i < nrFeatures; ++i) { + maxFeatures[i] = numeric_limits::min(); + } + + for (vector::iterator it = candidates.begin(); it != candidates.end(); ++it) { + for (unsigned int feat = 0; feat < nrFeatures; ++feat) { + if (maxFeatures[feat] < it->features[feat]) { + maxFeatures[feat] = it->features[feat]; + } + } + } + + // create two OpenCV matrices + cv::Mat trainingMat(nrSamples, nrFeatures, CV_32FC1, trainingData); + cv::Mat labelsMat(nrSamples, 1, CV_32FC1, labels); + + // set up the SVM parameters + cv::SVMParams params; + params.svm_type = cv::SVM::NU_SVC; + params.kernel_type = cv::SVM::RBF; + params.term_crit = cv::TermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 1000, 1e-6); + + params.nu = 0.8; + params.C = 8.0; + params.gamma = 20; + + // create SVM and train it + cv::SVM svm; + svm.train_auto(trainingMat, labelsMat, cv::Mat(), cv::Mat(), params); // XXX with or without auto + + // store these openings, and filter some more later on + std::vector tempOpenings; + + for (vector::iterator it = candidates.begin(); it != candidates.end(); ++it) { + if (it->features.size() != nrFeatures) { + throw runtime_error("number of features in candidate in does not equal the expected one"); + } + + float candidateData[nrFeatures]; + for (size_t jt = 0; jt < it->features.size(); ++jt) { + if (excludedFeatures.find(jt) != excludedFeatures.end()) { + candidateData[jt] = 0.0; + } else { + // also normalize the data here, and not in the candidateOpening object + candidateData[jt] = static_cast(it->features[jt]) / maxFeatures[jt]; + } + } + cv::Mat candidateMat(1, nrFeatures, CV_32FC1, candidateData); + + // decide of which type the current opening is + float response = svm.predict(candidateMat); + if (response == mainLabel) { + tempOpenings.push_back(*it); + } + } + + // filter openings with respect to how much they overlap with the Canny edge + cv::Mat canny, hSobel, vSobel, combined; + surf.detectEdges(canny, hSobel, vSobel, combined); + + double maxEdgeCoverage = numeric_limits::min(); + double averageArea = 0.0; + for (vector::iterator it = tempOpenings.begin(); it != tempOpenings.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + // how many pixels overlap? + int total = 2 * (y2 - y1 + x2 - x1) + 1; + int count = total; + + if (y2 < y1 || x2 < x1) { + throw runtime_error("candidate edges must be in proper order"); + } + + for (int i = y1; i <= y2; ++i) { + if (combined.data[i * combined.cols + x1] == 0) { + count--; + } + if (combined.data[i * combined.cols + x2] == 0) { + count--; + } + } + + for (int i = x1; i <= x2; ++i) { + if (combined.data[y1 * combined.cols + i] == 0) { + count--; + } + if (combined.data[y2 * combined.cols + i] == 0) { + count--; + } + } + + // remember the edge coverage inside the object + it->edgeCoverage = static_cast(count) / total; + if (maxEdgeCoverage < it->edgeCoverage) { + maxEdgeCoverage = it->edgeCoverage; + } + + // increment the average area + averageArea += it->features[0]; + } + averageArea /= tempOpenings.size(); + + unsigned int discarded = 0; + for (vector::iterator it = tempOpenings.begin(); it != tempOpenings.end(); ++it) { + // TODO put coef in class + if ((it->features[0] > 0.3 * averageArea) && + (it->edgeCoverage > MIN_EDGE_COV * maxEdgeCoverage)) + { + openings.push_back(*it); + } else { + discarded++; + } + } + + if (!quiet) cout << "** Discarded openings due to relative size to average candidate: " << discarded << endl; + + // draw the chosen rectangles, and also the occupancy map + cv::Mat imgWithOpenings = surf.depthImg; + cv::cvtColor(imgWithOpenings, imgWithOpenings, CV_GRAY2BGR, 3); + + for (size_t i = 0; i < openings.size(); ++i) { + int y1 = openings[i].edges[0]; + int y2 = openings[i].edges[1]; + int x1 = openings[i].edges[2]; + int x2 = openings[i].edges[3]; + + cv::rectangle(imgWithOpenings, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + } + + cv::imwrite("./img/depthCandidates.png", imgWithOpenings); + + if (!quiet) cout << "** Detected " << openings.size() << " potential openings" << endl; +} + +void model::Scene::clusterOpenings(const LabeledPlane3d& surf, const vector& openings, + std::vector& result) const +{ + // clear the result just in case + result.clear(); + + if (openings.size() == 1) { + if (!quiet) cerr << "WARNING: only one candidate received for clustering!" << endl; + result.push_back(openings.front()); + return; + } else if (openings.size() < 1) { + if (!quiet) cerr << "WARNING: no candidates received for clustering!" << endl; + return; + } + + if (!quiet) cout << endl << "== Clustering openings for surface centered at " << surf.pt << endl; + + size_t nrSamples = openings.size(); + unsigned int dim = 7; + + // a few matrix initializations + CvMat* points = cvCreateMat(nrSamples, dim, CV_32FC1); + CvMat* clusters = cvCreateMat(nrSamples, 1, CV_32SC1); + + // fill in the matrices with data + for (size_t i = 0; i < nrSamples; ++i) { + if (openings[i].features.size() != model::CandidateOpening::NR_FEATURES) { + throw runtime_error("invalid feature vector size"); + } + + // compute the center of each opening + float x = static_cast(openings[i].edges[2] + openings[i].edges[3]) / 2.0; + float y = static_cast(openings[i].edges[0] + openings[i].edges[1]) / 2.0; + + points->data.fl[i * dim + 0] = x; // window center + points->data.fl[i * dim + 1] = y; // window center + points->data.fl[i * dim + 2] = openings[i].edges[0]; // upper edge + points->data.fl[i * dim + 3] = openings[i].edges[1]; // lower edge + points->data.fl[i * dim + 4] = openings[i].edges[2]; // left edge + points->data.fl[i * dim + 5] = openings[i].edges[3]; // right edge + points->data.fl[i * dim + 6] = openings[i].features[1];// edge ratio + } + + // termination criteria for the kMeans algorithm + CvTermCriteria term; + term.type = CV_TERMCRIT_ITER | CV_TERMCRIT_EPS; + term.max_iter = 10; + term.epsilon = 1.0; + int maxNrClusters = 256; + + int nrClusters = 2; // from how many clusters to start + double prev, compactness; // previous compactness, and current compactness + CvMat *centers = cvCreateMat(nrClusters - 1, dim, CV_32FC1); // place where we compute the centers of each cluster + cvKMeans2(points, nrClusters - 1, clusters, term, 1, 0, 0, centers, &prev); + + while (1) { + cvReleaseMat(¢ers); + centers = cvCreateMat(nrClusters, dim, CV_32FC1); + cvKMeans2(points, nrClusters, clusters, term, 1, 0, 0, centers, &compactness); + + // TODO put somewhere everything in class + double deltaCompactness = compactness - prev; + if (!quiet) cout << "** Delta compactness: " << deltaCompactness << endl; + if (fabs(deltaCompactness) < 1.0 || nrClusters >= maxNrClusters) { + break; + } + + prev = compactness; + nrClusters++; + } + + if (!quiet) cout << "** Detected " << static_cast(nrClusters) << " clusters of potential openings" << endl; + + // generate colors for each cluster + int r, g, b; + cv::Scalar colors[nrClusters]; + for (int i = 0; i < nrClusters; ++i) { + randomColor(MAX_IMG_VAL, r, g, b); + colors[i] = (cv::Scalar(b, g, r)); + } + + // create an image with the clusters in separate colors + cv::Mat clusterImg = surf.depthImg; + cv::Mat finalImg = surf.depthImg; + cv::cvtColor(clusterImg, clusterImg, CV_GRAY2BGR, 3); + cv::cvtColor(finalImg, finalImg, CV_GRAY2BGR, 3); + + // count how many elements we have in each cluster + vector clusterCount; + clusterCount.resize(nrClusters); + fill(clusterCount.begin(), clusterCount.end(), 0); + + // compute the candidate for each cluster with the best coverage of empty area + vector bestCandidates; + bestCandidates.resize(nrClusters); + + vector bestEmptyAreas; + bestEmptyAreas.resize(nrClusters); + fill(bestEmptyAreas.begin(), bestEmptyAreas.end(), numeric_limits::min()); + + // fill in the result separating each cluster + for (size_t i = 0; i < nrSamples; ++i) { + // the cluster of the current opening + int currCluster = clusters->data.i[i]; + + // draw each cluster + int y1 = openings[i].edges[0]; + int y2 = openings[i].edges[1]; + int x1 = openings[i].edges[2]; + int x2 = openings[i].edges[3]; + cv::rectangle(clusterImg, cv::Point(x1, y1), cv::Point(x2, y2), colors[currCluster], 1); + + // TODO avoid hard coding + // find which is the best choice from the cluster + double currEmptyArea = openings[i].features[0] * + (openings[i].features[9] - openings[i].features[10] - openings[i].features[11]); + if (bestEmptyAreas[currCluster] < currEmptyArea) { + bestEmptyAreas[currCluster] = currEmptyArea; + bestCandidates[currCluster] = openings[i]; + } + + clusterCount[currCluster]++; + } + + // divide by the cluster count to get the average of the cluster + for (size_t i = 0; i < bestEmptyAreas.size(); ++i) { + if (clusterCount[i] <= 0) { + continue; + } + + int y1 = bestCandidates[i].edges[0]; + int y2 = bestCandidates[i].edges[1]; + int x1 = bestCandidates[i].edges[2]; + int x2 = bestCandidates[i].edges[3]; + + cv::rectangle(finalImg, cv::Point(x1, y1), cv::Point(x2, y2), colors[i], 2); + result.push_back(bestCandidates[i]); + } + + if (!quiet) { + cout << "** The count for each cluster is ["; + for (unsigned int i = 0; i < clusterCount.size() - 1; ++i) { + cout << clusterCount[i] << ", "; + } + cout << clusterCount.back() << "]" << endl; + } + + // display the center of the cluster only for the clusters that have candidates + for (int i = 0; i < nrClusters; ++i) { + if (clusterCount[i] > 0) { + int x = static_cast(centers->data.fl[i * dim + 0]); + int y = static_cast(centers->data.fl[i * dim + 1]); + cv::circle(clusterImg, cv::Point(x, y), 2, colors[i], CV_FILLED); + cv::circle(finalImg, cv::Point(x, y), 2, colors[i], CV_FILLED); + } + } + + cv::imwrite("./img/depthClusters.png", clusterImg); + cv::imwrite("./img/depthOpenings.png", finalImg); + + cvReleaseMat(&points); + cvReleaseMat(¢ers); + cvReleaseMat(&clusters); +} + +void model::Scene::addFinalOpenings(const LabeledPlane3d& surf, + std::vector& result) +{ + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + vector openings, candidates; + this->detectPotentialOpenings(surf, openings); + this->clusterOpenings(surf, openings, candidates); + + // sweep across the wall and see which candidates overlap + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // put currently overlapping candidates here + vector::iterator, double> > temp; + + // the maximum opening area in the current overlapping windows + double bestEmptyArea = numeric_limits::min(); + + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + if (i >= y1 && i < y2 && j >= x1 && j <= x2) { + // TODO avoid hard coding + double freeArea = it->features[0] * + (it->features[9] - it->features[10] - it->features[11]); + temp.push_back(make_pair(it, freeArea)); + + if (bestEmptyArea < freeArea) { + bestEmptyArea = freeArea; + } + } + } + + for (vector::iterator, double> >::iterator it = temp.begin(); it < temp.end(); ++it) { + // if the area is smaller than the maximum discard this plane + if (it->second < bestEmptyArea) { + candidates.erase(it->first); + } + } + } + } + + // display an image with the final openings + int r, g, b; + cv::Mat finalOpeningsImg = surf.depthImg.clone(); + cv::cvtColor(finalOpeningsImg, finalOpeningsImg, CV_GRAY2BGR, 3); + + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + randomColor(MAX_IMG_VAL, r, g, b); + cv::rectangle(finalOpeningsImg, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(b, g, r), 3); + + // add the new openings as windows + Point3d pt(0.0, 0.0, 0.0); + pt += surf.patches[y1].front().first; + pt += surf.patches[y2].front().first; + pt += surf.patches.front()[x1].first; + pt += surf.patches.front()[x2].first; + pt /= 4.0; + + vector hull; + hull.push_back(surf.patches[y1][x1].first); + hull.push_back(surf.patches[y1][x2].first); + hull.push_back(surf.patches[y2][x2].first); + hull.push_back(surf.patches[y2][x1].first); + + Plane3d toPush(pt, surf.normal, hull); + this->finalOpenings.push_back(toPush); + } + + cv::imwrite("./img/depthOpeningsFinal.png", finalOpeningsImg); + if (!quiet) cout << "** Final openings found on current surface: " << candidates.size() << endl; + if (!quiet) cout << "** Final openings found so far: " << this->finalOpenings.size() << endl; + + // copy the result + result = candidates; +} + +void model::Scene::correct(LabeledPlane3d& surf, const vector& openings) { + if (!quiet) cout << endl << "== Correcting surface centered at " << surf.pt << endl; + + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + // some images we are interested in + cv::Mat depthImg = surf.depthImg.clone(); + cv::Mat depthImgMask(imgHeight, imgWidth, CV_8UC1); + cv::Mat labelsImg(imgHeight, imgWidth, CV_8UC3); + + // compute the maximum from the image + double max = numeric_limits::min(); + double mean = 0.0, stdDev = 0.0; + int count = 0; + + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // set all empty and occluded to unknown + if (surf.patches[i][j].second == EMPTY || surf.patches[i][j].second == OCCLUDED) { + surf.patches[i][j].second = UNKOWN; + // compute the mean of the occupied patches + } else if (surf.patches[i][j].second == OCCUPIED) { + mean += surf.depthImg.data[i * surf.depthImg.cols + j]; + count++; + } + + // compute the maximum from the image + if (max < surf.depthMap[i][j]) { + max = surf.depthMap[i][j]; + } + } + } + + // adjust the mean + mean /= count; + count = 0; + + // compute the standard deviation + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (surf.patches[i][j].second == OCCUPIED) { + stdDev += pow(surf.depthImg.data[i * surf.depthImg.cols + j] - mean, 2.0); + count++; + } + + } + } + + // adjust the standard deviation + stdDev = sqrt(stdDev / count); + + // mark all patches contained in openings + for (vector::const_iterator it = openings.begin(); it != openings.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (i >= y1 && i <= y2 && j >= x1 && j <= x2) { + surf.patches[i][j].second = OPENING; + } + } + } + } + + // adjust the image + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // initially mark as not part of the mask + depthImgMask.data[i * depthImgMask.cols + j] = 0; + + // put the color into the image according to the label + int curr = (i * 3 * labelsImg.cols) + 3 * j; + switch (surf.patches[i][j].second) { + case OPENING: + labelsImg.data[curr + 0] = 200; + labelsImg.data[curr + 1] = 200; + labelsImg.data[curr + 2] = 200; + break; + case UNKOWN: + labelsImg.data[curr + 0] = 50; + labelsImg.data[curr + 1] = 50; + labelsImg.data[curr + 2] = 50; + + // add pixel to mask for inpainting + depthImgMask.data[i * depthImgMask.cols + j] = 200; + break; + case OCCUPIED: + labelsImg.data[curr + 0] = 0; + labelsImg.data[curr + 1] = 0; + labelsImg.data[curr + 2] = 200; + break; + default: + throw runtime_error("invalid default branch taken, possibly EMPTY or OCCLUDED patches"); + break; + } + } + } + + cv::imwrite("./img/labelsWithOpenings.png", labelsImg); + cv::imwrite("./img/depthMask.png", depthImgMask); + cv::imwrite("./img/depthSimple.png", depthImg); + + // TODO add values as part of class + if (!quiet) cout << "** Filling in missing data using inpaint algorithm" << endl; + cv::inpaint(depthImg, depthImgMask, depthImg, 0.05 * (imgWidth + imgHeight), cv::INPAINT_NS); + cv::imwrite("./img/depthInpaint.png", depthImg); + + // add some gaussian noise to make the image look more real + if (!quiet) cout << "** Adding gaussian noise: mean = " << mean << ", stdDev = " << stdDev << endl; + cv::Mat noise(imgHeight, imgWidth, CV_8UC1); + cv::randn(noise, mean, stdDev); + cv::addWeighted(depthImg, 0.9, noise, 0.1, 0.0, depthImg); + cv::GaussianBlur(depthImg, depthImg, cv::Size(3, 3), 0.5, 0.5); + cv::imwrite("./img/depthInpaintNoise.png", depthImg); + surf.correctedDepthImg = depthImg.clone(); + + // TODO apply the inverse transform from 2D to 3D and create a new point cloud using UOS RGB +} + +void model::Scene::writeModel(string dir) { + if (!fileIsDir(dir)) { + throw runtime_error(dir + " is not a directory"); + } + + string outputDir; + + if (dir[dir.length()-1] == '/') { + outputDir = dir + "model"; + } + else { + outputDir = dir + "/model"; + } + + int ret = mkdir(outputDir.c_str(), S_IRWXU | S_IRWXG | S_IRWXO); + + if (ret != 0 && errno != EEXIST) { + throw runtime_error("unable to create directory " + outputDir); + } + + if (!quiet) cout << endl << "== Writing planes to " << outputDir << " directory..." << endl; + + string planesListFile = outputDir + "/planes.list"; + ofstream list(planesListFile.c_str(), ios::out); + + for (unsigned int counter = 0; counter < this->walls.size() + this->finalOpenings.size() + 2; ++counter) { + Plane3d currPlane; // the plane to be printed + string type; // the objet's type, floor, ceiling, wall or opening + + if (counter < this->walls.size()) { + currPlane = this->walls[counter]; + type = "Wall"; + } + else if (counter == this->walls.size()) { + currPlane = this->ceiling; + type = "Ceiling"; + } + else if (counter == this->walls.size() + 1) { + currPlane = this->floor; + type = "Floor"; + } else { + // TODO find a better solution + currPlane = this->finalOpenings[counter - (this->walls.size() + 2)]; + currPlane.normal.normalize(); + for (vector::iterator it = currPlane.hull.begin(); it != currPlane.hull.end(); ++it) { + it->x += currPlane.normal.x; + it->y += currPlane.normal.y; + it->z += currPlane.normal.z; + } + type = "Opening"; + } + + stringstream ss; + ss << outputDir << "/scan" << setfill('0') << setw(3) << counter << ".3d"; + ofstream file(ss.str().c_str(), ios::out); + + + // add the plane to the list of planes + list << type << " " << ss.str() << endl; + boost::algorithm::to_lower(type); + if (!quiet) cout << "** Writing " << type << ss.str() << endl; + + // add the points to the scan file + for (vector::iterator it = currPlane.hull.begin(); + it != currPlane.hull.end(); ++it) + { + file << *it << endl; + } + + file.close(); + } + + list.close(); +} + +void model::Scene::writeCorrectedWalls(std::string dir) { + if (!fileIsDir(dir)) { + throw runtime_error(dir + " is not a directory"); + } + + string outputDir; + + if (dir[dir.length()-1] == '/') { + outputDir = dir + "cloud"; + } + else { + outputDir = dir + "/cloud"; + } + + int ret = mkdir(outputDir.c_str(), S_IRWXU | S_IRWXG | S_IRWXO); + + if (ret != 0 && errno != EEXIST) { + throw runtime_error("unable to create directory " + outputDir); + } + + if (!quiet) cout << endl << "== Writing corrected points to " << outputDir << " directory..." << endl; + + // write the pose file + string poseFileName = outputDir + "/scan000.pose"; + ofstream out(poseFileName.c_str(), ios::out); + out << "0 0 0" << endl; + out << "0 0 0" << endl; + out.close(); + + string pointsFileName = outputDir + "/scan000.3d"; + out.open(pointsFileName.c_str(), ios::out); + + // fetch each points and its color + vector > points; + + getCorrectedWall(this->ceiling, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + + getCorrectedWall(this->floor, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + + for (vector::iterator wall = this->walls.begin(); wall != this->walls.end(); ++wall) { + getCorrectedWall(*wall, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + } + + out.close(); +} + +void model::Scene::getCorrectedWall(const LabeledPlane3d& surf, vector >& points) { + if (!quiet) cout << "** Computing point cloud for surface centered at " << surf.pt << endl; + + // clear the output + points.clear(); + + if (surf.correctedDepthImg.empty()) { + if (!quiet) cout << "WARNING: the surface centered at " << surf.pt << " has not been corrected yet" << endl; + return; + } + + if ((size_t) surf.correctedDepthImg.rows != surf.patches.size() || + (size_t) surf.correctedDepthImg.cols != surf.patches.front().size()) + { + throw runtime_error("corrected image must be the same size as depth map"); + } + + // compute the maximum of the depth image + int depthImgMax = 0; + for (size_t i = 0; i < surf.depthMap.size(); ++i) { + for (size_t j = 0; j < surf.depthMap.front().size(); ++j) { + if (depthImgMax < surf.depthMap[i][j]) { + depthImgMax = surf.depthMap[i][j]; + } + } + } + + // make the original points darker than the corrected ones + int r = 255, g = 50, b = 50; + int wr = 255, wg = 150, wb = 150; + + for (int i = 0; i < surf.correctedDepthImg.rows; ++i) { + for (int j = 0; j < surf.correctedDepthImg.cols; ++j) { + cv::Vec3i color; + + // only consider occupied and unknown pixels + if (surf.patches[i][j].second == OCCUPIED) { + color = cv::Vec3i(r, g, b); + } else if (surf.patches[i][j].second == UNKOWN) { + color = cv::Vec3i(wr, wg, wb); + } else { + continue; + } + + // the value from the depth map + double depth = static_cast(depthImgMax * surf.correctedDepthImg.data[i * surf.correctedDepthImg.cols + j]) / MAX_IMG_VAL; + + // the distance from where the raytracing took place to the point it hit + double dist = depth + surf.depthMapDistances.first - surf.depthMapDistances.second; + + Vector3d normal = surf.normal; + normal.normalize(); + + Point3d pt = surf.patches[i][j].first; + pt.x = pt.x + normal.x * dist; + pt.y = pt.y + normal.y * dist; + pt.z = pt.z + normal.z * dist; + + points.push_back(make_pair(pt, color)); + } + } +} + +void model::Scene::flood(LabeledPlane3d& surf, + const int& i, const int& j, + const Label& target, const Label& replacement) +{ + // no point of carrying on + if (target == replacement) { + return; + } + + pair north = make_pair(i-1, j); + pair south = make_pair(i+1, j); + pair east = make_pair(i, j+1); + pair west = make_pair(i, j-1); + + vector > neigh; + neigh.push_back(north); + neigh.push_back(south); + neigh.push_back(east); + neigh.push_back(west); + + if (surf.patches[i][j].second == target) { + surf.patches[i][j].second = replacement; + } + + for (vector >::iterator it = neigh.begin(); it != neigh.end(); ++it) { + if ((it->first > 0 && it->second > 0) && + surf.patches[it->first][it->second].second == target) + { + flood(surf, it->first, it->second, target, replacement); + } + } +} + +bool model::Scene::isOccupied(const Point3d& center, const double& width) { + // look for a close point + double pt[] = {center.x, center.y, center.z}; + double* closest = this->octTree->FindClosest(pt, pow(sqrt(3) * (width / 2.0), 2.0), 0); + + // bounding box limits + double xUppLim = center.x + width / 2.0; + double xLowLim = center.x - width / 2.0; + double yUppLim = center.y + width / 2.0; + double yLowLim = center.y - width / 2.0; + double zUppLim = center.z + width / 2.0; + double zLowLim = center.z - width / 2.0; + + if (closest != NULL && + (closest[0] > xLowLim && closest[0] < xUppLim) && + (closest[1] > yLowLim && closest[1] < yUppLim) && + (closest[2] > zLowLim && closest[2] < zUppLim)) + { + return true; + } + + return false; +} diff --git a/.svn/pristine/3a/3a891fd2157bab4fcb5af20daf944d46cf3594dd.svn-base b/.svn/pristine/3a/3a891fd2157bab4fcb5af20daf944d46cf3594dd.svn-base new file mode 100644 index 0000000..2d0b442 --- /dev/null +++ b/.svn/pristine/3a/3a891fd2157bab4fcb5af20daf944d46cf3594dd.svn-base @@ -0,0 +1,5 @@ +#!/bin/sh +for e in *.pose; do + sed 's/,/\./g' "$e" > "$e.tmp" + mv "$e.tmp" "$e" +done; diff --git a/.svn/pristine/3a/3a910960b0ea2087ae83fa1f2c5ac3ac6509f8dc.svn-base b/.svn/pristine/3a/3a910960b0ea2087ae83fa1f2c5ac3ac6509f8dc.svn-base new file mode 100644 index 0000000..6450cb8 --- /dev/null +++ b/.svn/pristine/3a/3a910960b0ea2087ae83fa1f2c5ac3ac6509f8dc.svn-base @@ -0,0 +1,405 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: DropDownBase +// Purpose: base class for a control like a combobox +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "dropdown.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/bitmap.h" +#endif // WX_PRECOMP + +#include "wx/timer.h" +#include "wx/things/dropdown.h" +#include "wx/things/toggle.h" +#include "wx/renderer.h" + +/* XPM */ +static const char *down_arrow_xpm_data[] = { +/* columns rows colors chars-per-pixel */ +"7 4 2 1", +" c None", +"a c Black", +/* pixels */ +"aaaaaaa", +" aaaaa ", +" aaa ", +" a "}; + +#define IDD_DROPDOWN_BUTTON 100 + +static wxBitmap s_dropdownBitmap; // all buttons share the same bitmap + +// ========================================================================== +// DropDownPopup +// ========================================================================== +#define USE_POPUP_TIMER 0 // FIXME after 2.5.4 we don't need either +#define USE_POPUP_IDLE 0 + +IMPLEMENT_DYNAMIC_CLASS( DropDownPopup, wxPopupTransientWindow ) + +BEGIN_EVENT_TABLE(DropDownPopup, wxPopupTransientWindow) + EVT_KEY_DOWN(DropDownPopup::OnKeyDown) + EVT_MOUSE_EVENTS(DropDownPopup::OnMouse) +#if USE_POPUP_TIMER + EVT_TIMER( wxID_ANY, DropDownPopup::OnTimer ) +#endif // USE_POPUP_TIMER +#if USE_POPUP_IDLE + EVT_IDLE( DropDownPopup::OnIdle ) // use Connect/Disconnect instead +#endif // USE_POPUP_IDLE +END_EVENT_TABLE() + +bool DropDownPopup::Create(DropDownBase *parent, int style) +{ + m_owner = parent; + return wxPopupTransientWindow::Create(parent, style); +} + +void DropDownPopup::Init() +{ + m_owner = NULL; + m_childWin = NULL; + m_timer = NULL; + m_popped_handler = false; +} + +DropDownPopup::~DropDownPopup() +{ + StopTimer(); +} + +void DropDownPopup::StartTimer() +{ +#if USE_POPUP_TIMER + if (!m_timer) + m_timer = new wxTimer(this, wxID_ANY); + + m_timer->Start(200, false); +#endif // USE_POPUP_TIMER +} + +void DropDownPopup::StopTimer() +{ + if (m_timer) + { + if (m_timer->IsRunning()) + m_timer->Stop(); + delete m_timer; + m_timer = NULL; + } +} + +void DropDownPopup::PushPopupHandler(wxWindow* child) +{ + if (child && m_handlerPopup && m_popped_handler) + { + m_popped_handler = false; + + if (child->GetEventHandler() != (wxEvtHandler*)m_handlerPopup) + child->PushEventHandler((wxEvtHandler*)m_handlerPopup); + if (!child->HasCapture()) + child->CaptureMouse(); + + child->SetFocus(); + } +} +void DropDownPopup::PopPopupHandler(wxWindow* child) +{ + if (child && m_handlerPopup && !m_popped_handler) + { + m_popped_handler = true; + + if (child->GetEventHandler() == (wxEvtHandler*)m_handlerPopup) + child->PopEventHandler(false); + if (child->HasCapture()) + child->ReleaseMouse(); + + child->SetFocus(); + } +} + +void DropDownPopup::OnTimer( wxTimerEvent &WXUNUSED(event) ) +{ + if (!IsShown()) return; + + m_mouse = ScreenToClient(wxGetMousePosition()); + + wxWindow *child = GetChild(); + if (!child) return; // nothing to do + + wxRect clientRect(GetClientRect()); + //wxPrintf(wxT("**DropDownPopup::OnTimer mouse %d %d -- %d %d %d\n"), m_mouse.x, m_mouse.y, m_popped_handler, m_child, m_handlerPopup); fflush(stdout); + // pop the event handler if inside the child window or + // restore the event handler if not in the child window + if (clientRect.Inside(m_mouse)) + PopPopupHandler(child); + else + PushPopupHandler(child); +} + +void DropDownPopup::OnIdle( wxIdleEvent& event ) +{ + if (IsShown()) + { + m_mouse = ScreenToClient(wxGetMousePosition()); + wxPrintf(wxT("OnIdle mouse %d %d\n"), m_mouse.x, m_mouse.y); + + wxWindow *child = GetChild(); + if (!child) return; // nothing to do + + wxRect clientRect(GetClientRect()); + //wxPrintf(wxT("**DropDownPopup::OnIdle mouse %d %d -- %d %d %d\n"), m_mouse.x, m_mouse.y, m_popped_handler, m_child, m_handlerPopup); fflush(stdout); + // pop the event handler if inside the child window or + // restore the event handler if not in the child window + if (clientRect.Inside(m_mouse)) + PopPopupHandler(child); + else + PushPopupHandler(child); + } + event.Skip(); +} + +void DropDownPopup::OnMouse( wxMouseEvent& event ) +{ + m_mouse = event.GetPosition(); + event.Skip(); +} + +void DropDownPopup::OnKeyDown( wxKeyEvent &event ) +{ + if (GetChild() && GetChild()->ProcessEvent(event)) + event.Skip(false); + else + event.Skip(true); +} + +void DropDownPopup::SetChild(wxWindow *win) +{ + m_childWin = win; +} + +void DropDownPopup::Popup(wxWindow *focus) +{ + wxPopupTransientWindow::Popup(focus); + +#if USE_POPUP_IDLE + Connect(wxID_ANY, wxEVT_IDLE, + (wxObjectEventFunction)(wxEventFunction)(wxIdleEventFunction) + &DropDownPopup::OnIdle, 0, this); +#endif //USE_POPUP_IDLE + +#if USE_POPUP_TIMER + // start the timer to track the mouse position + StartTimer(); +#endif //USE_POPUP_TIMER +} + +void DropDownPopup::Dismiss() +{ +#if USE_POPUP_IDLE + Disconnect(wxID_ANY, wxEVT_IDLE, + (wxObjectEventFunction)(wxEventFunction)(wxIdleEventFunction) + &DropDownPopup::OnIdle, 0, this); +#endif //USE_POPUP_IDLE + +#if USE_POPUP_TIMER + StopTimer(); +#endif //USE_POPUP_TIMER + + // restore the event handler if necessary for the base class Dismiss + wxWindow *child = GetChild(); + if (child) PushPopupHandler(child); + + m_popped_handler = false; + + wxPopupTransientWindow::Dismiss(); +} + +bool DropDownPopup::ProcessLeftDown( wxMouseEvent &event ) +{ + m_mouse = event.GetPosition(); + //wxPrintf(wxT("DropDownPopup::ProcessLeftDown %d %d\n"), m_mouse.x, m_mouse.y); fflush(stdout); + + if (m_popped_handler) return true; // shouldn't ever get here, but just in case + + StopTimer(); + + // don't let the click on the dropdown button actually press it + wxCustomButton *dropBut = m_owner->GetDropDownButton(); + if (dropBut) + { + wxPoint dropMousePt = dropBut->ScreenToClient(ClientToScreen(m_mouse)); + if (dropBut->HitTest(dropMousePt) == wxHT_WINDOW_INSIDE) + { + m_ignore_popup = true; + Dismiss(); + return true; + } + } + + if (GetClientRect().Inside(m_mouse)) + return false; + + Dismiss(); + return true; +} + +// ============================================================================ +// DropDownBase +// ============================================================================ + +IMPLEMENT_DYNAMIC_CLASS( DropDownBase, wxControl ) + +BEGIN_EVENT_TABLE(DropDownBase, wxControl) + EVT_BUTTON(IDD_DROPDOWN_BUTTON, DropDownBase::OnDropButton) + EVT_SIZE( DropDownBase::OnSize ) +END_EVENT_TABLE() + +DropDownBase::~DropDownBase() +{ +} + +void DropDownBase::Init() +{ + m_popupWin = NULL; + m_dropdownButton = NULL; +} + +bool DropDownBase::Create( wxWindow* parent, wxWindowID id, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN|style,val,name)) + return false; + + if (!s_dropdownBitmap.Ok()) + s_dropdownBitmap = wxBitmap(down_arrow_xpm_data); + + m_dropdownButton = new wxCustomButton(this, IDD_DROPDOWN_BUTTON, + s_dropdownBitmap, + wxDefaultPosition, + wxSize(DROPDOWN_DROP_WIDTH, wxDefaultCoord), + wxCUSTBUT_BUTTON); + + return true; +} + +void DropDownBase::OnSize( wxSizeEvent& event ) +{ + event.Skip(); +/* + if (!m_dropdownButton) return; + + wxSize size = GetClientSize(); + wxPrintf(wxT("DropDownBase %d %d\n"), size.x, size.y); + + wxSize dropSize = m_dropdownButton->GetSize(); + m_dropdownButton->SetSize(size.x-dropSize.x, 0, dropSize.x, size.y); +*/ +} + +void DropDownBase::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + wxSize curSize( GetSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (height == -1) + height = curSize.GetHeight(); + + wxControl::DoSetSize(x, y, width, height, sizeFlags); + + wxSize dropSize = m_dropdownButton->GetSize(); + m_dropdownButton->SetSize(width-dropSize.x, 0, dropSize.x, height); +} + +wxSize DropDownBase::DoGetBestSize() const +{ + return wxSize(95, DROPDOWN_DROP_HEIGHT); +} + +bool DropDownBase::ShowPopup() +{ + int x = 0, y = GetSize().y; + ClientToScreen( &x, &y ); + + // control too low, can't show scrollbar, don't bother displaying + wxRect displayRect = wxGetClientDisplayRect(); + if (displayRect.GetBottom() - y < DROPDOWN_DROP_HEIGHT) return false; + + int width = GetSize().x; + int height = DoGetBestDropHeight(displayRect.GetBottom() - y); + if (height < 1) return false; + + m_popupWin = new DropDownPopup(this); + + m_popupWin->SetSize(x, y, width, height); + if (m_popupWin->GetChild()) + m_popupWin->GetChild()->SetSize(width, height); + + //wxPrintf(wxT("ShowPopup %d %d, %d %d -- %d\n"), width, height, m_popupWin->GetSize().x, m_popupWin->GetSize().y, m_popupWin->GetMinHeight()); + + return DoShowPopup(); +} + +bool DropDownBase::DoShowPopup() +{ + if (m_popupWin) + { + if (m_popupWin->GetChild()) + m_popupWin->GetChild()->SetSize(m_popupWin->GetClientSize()); + + m_popupWin->Popup(this); + return true; + } + + return false; +} + +void DropDownBase::HidePopup() +{ + if (m_popupWin) + { + m_popupWin->Dismiss(); + m_popupWin->Destroy(); + m_popupWin = NULL; + } + + m_dropdownButton->Refresh(true); // MSW help in toolbar +} + +bool DropDownBase::IsPopupShown() +{ + return m_popupWin && m_popupWin->IsShown(); +} + +void DropDownBase::OnDropButton( wxCommandEvent &WXUNUSED(event)) +{ + if (m_popupWin && m_popupWin->m_ignore_popup) + { + m_popupWin->m_ignore_popup = false; + return; + } + + if (IsPopupShown()) + HidePopup(); + else + ShowPopup(); +} diff --git a/.svn/pristine/3a/3aa9116b232cba5c2b00266a32dbfa86f3dc7a99.svn-base b/.svn/pristine/3a/3aa9116b232cba5c2b00266a32dbfa86f3dc7a99.svn-base new file mode 100644 index 0000000..b20f023 Binary files /dev/null and b/.svn/pristine/3a/3aa9116b232cba5c2b00266a32dbfa86f3dc7a99.svn-base differ diff --git a/.svn/pristine/3a/3aebe3063370637c79be880b9229b7a0506eec33.svn-base b/.svn/pristine/3a/3aebe3063370637c79be880b9229b7a0506eec33.svn-base new file mode 100644 index 0000000..d5a48c3 --- /dev/null +++ b/.svn/pristine/3a/3aebe3063370637c79be880b9229b7a0506eec33.svn-base @@ -0,0 +1,1101 @@ +/* + * show_common implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#ifdef WITH_GLEE +#include +#endif + +#include "show/show.h" +#include "show/show_Boctree.h" +#include "show/compacttree.h" +#include "show/NurbsPath.h" +#include "show/vertexarray.h" +#ifndef DYNAMIC_OBJECT_REMOVAL +#include "slam6d/scan.h" +#include "slam6d/managedScan.h" +#else +#include "veloslam/veloscan.h" +#endif +#include "glui/glui.h" /* Header File For The glui functions */ +#include +using std::ifstream; +#include +using std::exception; +#include + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include "slam6d/point_type.h" +#include "slam6d/io_utils.h" +#include "show/display.h" + +/** + * This vector contains the pointer to a vertex array for + * all colors (inner vector) and all scans (outer vector) + */ +vector< vector > vvertexArrayList; + +vector< ::SDisplay*> displays; +/** + * the octrees that store the points for each scan + */ +//Show_BOctTree **octpts; +vector octpts; +/** + * Storing the base directory + */ +string scan_dir; + +/** + * Storing the ID of the main windows + */ +int window_id; + +/** + * Size of points + */ +GLfloat pointsize = 1.0; +int anim_delay = 5; + +/** + * Select Color Buffer + */ +GLenum buffermode = GL_BACK; + +/** + * Indicator whether and how the drawing window + * has to be updated. + * + * haveToUpdate == 1 redisplay + * haveToUpdate == 2 reshape + * haveToUpdate == 3 animation scan matching + * haveToUpdate == 4 stop animation scan matching + * haveToUpdate == 6 path animation + * haveToUpdate == 7 force redisplay with all points + */ +int haveToUpdate = 0; + +/** + * Flag for invert the scene + */ +bool invert = true; + +/** + * Flag for indicating brid eyes view + */ +bool showTopView = false; + +/** + * Flag for idicating camera add mode + */ +bool addCameraView = false; //Is the view in add box mode? + +/** + * Storing the apex angle of the camera + */ +GLfloat cangle = 60.0; // Current camera opening mode +GLfloat cangle_old = cangle; + +/** + * Current rotation axis of the scene as quaternion + */ +GLdouble quat[4] ={0.0, 0.0, 0.0, 1.0}; +GLdouble Rquat[4] ={0.0, 0.0, 0.0, 1.0}; + +/** + * Current translation of the scene + */ +GLdouble X = 0.0, Y = 0.0, Z = 0.0; +GLdouble RVX = 0.0, RVY = 0.0, RVZ = 0.0; + +/** + * parallel zoom (similar to apex angle) for parallel projection + */ +GLfloat pzoom = 2000.0; +GLfloat pzoom_old = pzoom; + + +/** + * Mode of the fog (exp, exp2, linear) + */ +GLint fogMode = GL_EXP; + +/** + * Indicates if fog should be shown + */ +int show_fog = 1; + +/** + * Indicates if the points should be shown + */ +int show_points = 1; // Show data points in the viewer? + +/** + * Indicates if camera boxes should be shown + */ +int show_cameras = 1; // Show the camera boxes in the viewer? + +/** + * Indicates if camera path or robot path should be shown + */ +int show_path = 1; // Show the camera movement path ? + +/** + * Camera navigation by mouse or by panel + */ +int cameraNavMouseMode = 1; + +int mouseNavX, mouseNavY; +int mouseNavButton = -1; + +double mouseRotX = 0.0; +double mouseRotY = 0.0; +double mouseRotZ = 0.0; + +bool keymap[256]; + +//@@@ +//int animate_both = 0; // Animate both scan matchin and path? + +int frameNr = 0; + +/** + * Storing of all transformation (frames for animation) of all scans + */ +vector < vector > MetaMatrix; + +/** + * Storing of AlgoType for all frames + */ +vector < vector > MetaAlgoType; + +/** + * Window position + */ +int START_X = 0; +int START_Y = 0; +int START_WIDTH = 720; +int START_HEIGHT = 576; +GLdouble aspect = (double)START_WIDTH/(double)START_HEIGHT; // Current aspect ratio +bool advanced_controls = false; + +bool fullscreen = false; +int current_width = START_WIDTH; +int current_height = START_HEIGHT; + + +// the following values are scale dependant, i.e. all values are in m +float neardistance = 0.10; +double oldneardistance = 0.10; +float maxfardistance = 400.0; +double fardistance = 400.0; +double oldfardistance = 40000.0; +double movementSpeed = 0.1; +double defaultZoom = 20.0; +GLfloat fogDensity = 0.1; +double voxelSize = 0.20; + + +float adaption_rate = 1.0; +float LevelOfDetail = 0.0001; + + +// Defines for Point Semantic +#define TYPE_UNKNOWN 0x0000 +#define TYPE_OBJECT 0x0001 +#define TYPE_GROUND 0x0002 +#define TYPE_CEILING 0x0003 + +unsigned int cam_choice = 0; + +static unsigned int path_iterator = 0; +static int oldcamNavMode = 0; + +/** + * Animation sould be saved to file + */ +int save_animation = 0; +/** + * If true, interpolation for camera path is based on distance, else always + * the same number of images between two cameras. + */ +int inter_by_dist = 1; + +/**some variables for the camera path**/ +vector path_vectorX, path_vectorZ, lookat_vectorX, lookat_vectorZ, ups_vectorX, ups_vectorZ; +vector cams; +vector lookats; +vector ups; + +NurbsPath cam_nurbs_path; +char *path_file_name; +char *pose_file_name; + +/** Factor for saved image size */ +int factor = 1; + +/** + * program tries to have this framerate + */ +float idealfps = 20.0; +/** + * value of the listBox fo Color Value and Colormap + */ +int listboxColorVal = 0; +int listboxColorMapVal = 0; +int colorScanVal = 0; +ScanColorManager *cm; +float mincolor_value = 0.0; +float maxcolor_value = 0.0; +//unsigned int types = Point::USE_HEIGHT; +PointType pointtype; + +/** + * Contains the selected points for each scan + */ +set *selected_points; +/** + * Select single points? + */ +int select_voxels = 0; +/** + * Select or unselect points ? + */ +int selectOrunselect = 1; +/** octree depth for selecting groups of points */ +int selection_depth = 1; +int brush_size = 0; +char *selection_file_name; + +int current_frame = 0; +#include "show_menu.cc" +#include "show_animate.cc" +#include "show_gl.cc" + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -F" << normal << " NR, " << bold << "--fps=" << normal << "NR [default: 20]" << endl + << " will attempt to display points with a framerate of NR" << endl + << endl + << bold << " -l" << normal << " FILE, " << bold << "--loadObj=" << normal << + "FILE" << endl + << " load objects specified in " << endl + << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -o" << normal << " NR, " << bold << "--origin=" << normal << "NR (optional)" << endl + << " sets the starting and reset position to: " << endl + << " 0 = the origin of the coordinate system (default)" << endl + << " 1 = the position of the first scan (default if --origin is in argument list)" << endl + << " 2 = the center of the first scan" << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--scale=" << normal << "NR" << endl + << " scale factor to use (default: 0.01), modifies movement speed etc. " << endl + << " use 1 when point coordinates are in m, 0.01 when in cm and so forth. " << endl + << " " << endl + << endl + + << bold << " -R, --reflectance, --reflectivity" << normal << endl + << " use reflectivity values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -a, --amplitude" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -d, --deviation" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -h, --height" << endl << normal + << " use y-values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -T, --type" << endl << normal + << " use type values for coloring point clouds" << endl + << " only works when using octree display" << endl + << bold << " -c, --color" << endl << normal + << " use color RGB values for coloring point clouds" << endl + << bold << " --saveOct" << endl << normal + << " stores all used scans as octrees in the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are stored as well." << endl + << " only works when using octree display" << endl + << bold << " --loadOct" << endl << normal + << " only reads octrees from the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are read from file." << endl + << " --reflectance/--amplitude and similar parameters are therefore ignored." << endl + << " only works when using octree display" << endl + << endl << endl; + + exit(1); +} + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param end parsing result - stopping at scan number 'end' + * @param maxDist parsing result - maximal distance + * @param minDist parsing result - minimal distance + * @param readInitial parsing result - read a file containing a initial transformation matrix + * @param type parsing result - file format to be read + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int& start, int& end, int& maxDist, int& minDist, + double &red, bool &readInitial, int &octree, PointType &ptype, float &fps, string &loadObj, + bool &loadOct, bool &saveOct, int &origin, double &scale, IOType &type, bool& scanserver) +{ + unsigned int types = PointType::USE_NONE; + start = 0; + end = -1; // -1 indicates no limitation + maxDist = -1; // -1 indicates no limitation + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + cout << endl; + static struct option longopts[] = { + { "origin", optional_argument, 0, 'o' }, + { "format", required_argument, 0, 'f' }, + { "fps", required_argument, 0, 'F' }, + { "scale", required_argument, 0, 'S' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "octree", optional_argument, 0, 'O' }, + { "reflectance", no_argument, 0, 'R' }, + { "reflectivity", no_argument, 0, 'R' }, + { "amplitude", no_argument, 0, 'a' }, + { "deviation", no_argument, 0, 'd' }, + { "height", no_argument, 0, 'h' }, + { "type", no_argument, 0, 'T' }, + { "color", no_argument, 0, 'c' }, + { "loadObj", required_argument, 0, 'l' }, + { "saveOct", no_argument, 0, '0' }, + { "loadOct", no_argument, 0, '1' }, + { "advanced", no_argument, 0, '2' }, + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + while ((c = getopt_long(argc, argv,"F:f:s:e:r:m:M:O:o:l:C:SwtRadhTc", longopts, NULL)) != -1) { + switch (c) { + case 's': + w_start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 't': + readInitial = true; + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + case 'R': + types |= PointType::USE_REFLECTANCE; + break; + case 'a': + types |= PointType::USE_AMPLITUDE; + break; + case 'd': + types |= PointType::USE_DEVIATION; + break; + case 'h': + types |= PointType::USE_HEIGHT; + break; + case 'T': + types |= PointType::USE_TYPE; + break; + case 'c': + types |= PointType::USE_COLOR; + break; + case 'F': + fps = atof(optarg); + break; + case 'C': + scale = atof(optarg); + break; + case 'S': + scanserver = true; + break; + case 'o': + if (optarg) { + origin = atoi(optarg); + } else { + origin = 1; + } + break; + case '0': + saveOct = true; + break; + case '1': + loadOct = true; + break; + case 'l': + loadObj = optarg; + break; + case '2': + advanced_controls = true; + break; + default: + abort (); + } + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + ptype = PointType(types); + return 0; +} + +void setResetView(int origin) { + if (origin == 1) { + double *transmat = MetaMatrix[0].back(); + cout << transmat << endl; + + RVX = -transmat[12]; + RVY = -transmat[13]; + RVZ = -transmat[14]; + Matrix4ToQuat(transmat, Rquat); + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + } else if (origin == 2) { + double center[3]; +#ifdef USE_COMPACT_TREE + ((compactTree*)octpts[0])->getCenter(center); +#else + ((Show_BOctTree*)octpts[0])->getCenter(center); +#endif + RVX = -center[0]; + RVY = -center[1]; + RVZ = -center[2]; + X = RVX; + Y = RVY; + Z = RVZ; + } +} + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param read a file containing a initial transformation matrix and apply it + */ +int readFrames(string dir, int start, int end, bool readInitial, IOType &type) +{ + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + + // update the mirror to apply the initial frame for all frames + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + const double* transformation; + Scan::AlgoType algoType; + vector Matrices; + vector algoTypes; + + // iterate over frames (stop if none were created) and pull/convert the frames into local containers + unsigned int frame_count; + try { + frame_count = (*it)->readFrames(); + } catch(std::ios_base::failure& e) { + break; + } + for(unsigned int i = 0; i < frame_count; ++i) { + (*it)->getFrame(i, transformation, algoType); + double* transMatOpenGL = new double[16]; + + // apply mirror to convert (and initial frame if requested) the frame and save in opengl + MMult(mirror, transformation, transMatOpenGL); + + Matrices.push_back(transMatOpenGL); + algoTypes.push_back(algoType); + } + + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + + if((type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) && it == Scan::allScans.begin()) { + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } + current_frame = MetaMatrix.back().size() - 1; + } + + if (MetaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return -1; + } + return 0; +} + +void generateFrames(int start, int end, bool identity) { + if (identity) { + cout << "using Identity for frames " << endl; + } else { + cout << "using pose information for frames " << endl; + } + int fileCounter = start; + int index = 0; + for (;;) { + if (fileCounter > end) break; // 'nuf read + fileCounter++; + + vector Matrices; + vector algoTypes; + + for (int i = 0; i < 3; i++) { + double *transMat = new double[16]; + + if (identity) { + M4identity(transMat); + transMat[10] = -1.0; + } else { + EulerToMatrix4(Scan::allScans[index]->get_rPos(), Scan::allScans[index]->get_rPosTheta(), transMat ); + } + + Matrices.push_back(transMat); + algoTypes.push_back(Scan::ICP); + + } + index++; + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + current_frame = MetaMatrix.back().size() - 1; + } +} + + + +/* + * create display lists + * @to do general framework for color & type definitions + */ +void createDisplayLists(bool reduced) +{ + for(unsigned int s = 0; s < Scan::allScans.size() ; s++) { + Scan* scan = Scan::allScans[s]; + + vertexArray* myvertexArray1; + vertexArray* myvertexArray2; + + // count points + unsigned int color1 = 0, color2 = 0; + if(!reduced) { + scan->get(DATA_XYZ | DATA_TYPE); + DataType type(scan->get("type")); + + if(type.valid()) { + for(unsigned int i = 0; i < type.size(); ++i) { + if(type[i] & TYPE_GROUND) { + color1 += 3; + } else { + color2 += 3; + } + } + } else { + color2 = 3 * scan->size("xyz"); + } + + myvertexArray1 = new vertexArray(color1); + myvertexArray2 = new vertexArray(color2); + + color1 = 0; color2 = 0; + + DataXYZ xyz(scan->get("xyz")); + for(unsigned int i = 0; i < xyz.size(); ++i) { + if(type[i] & TYPE_GROUND) { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray1->array[color1++] = xyz[i][j]; + } + } else { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray2->array[color2++] = xyz[i][j]; + } + } + } + } else { + color2 = 3 * scan->size("xyz reduced"); + + myvertexArray1 = new vertexArray(0); + myvertexArray2 = new vertexArray(color2); + + color2 = 0; + + DataXYZ xyz_r(scan->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray2->array[color2++] = xyz_r[i][j]; + } + } + } + + + + glNewList(myvertexArray1->name, GL_COMPILE); + //@ + //glColor4d(0.44, 0.44, 0.44, 1.0); + //glColor4d(0.66, 0.66, 0.66, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray1->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray1->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + glNewList(myvertexArray2->name, GL_COMPILE); + //glColor4d(1.0, 1.0, 1.0, 1.0); + //glColor4d(0.0, 0.0, 0.0, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray2->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray2->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + // append to vector + vector vvertexArray; + vvertexArray.push_back(myvertexArray1); + vvertexArray.push_back(myvertexArray2); + vvertexArrayList.push_back(vvertexArray); + } +} + +void cycleLOD() { + LevelOfDetail = 0.00001; + for (unsigned int i = 0; i < octpts.size(); i++) + octpts[i]->cycleLOD(); +} + + +void initShow(int argc, char **argv){ + + /***************/ + /* init OpenGL */ + /***************/ + glutInit(&argc,argv); + + cout << "(wx)show - A highly efficient 3D point cloud viewer" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if(argc <= 1){ + usage(argv[0]); + } + + double red = -1.0; + int start = 0, end = -1, maxDist = -1, minDist = -1; + string dir; + bool readInitial = false; + IOType type = UOS; + int octree = 0; + bool loadOct = false; + bool saveOct = false; + string loadObj; + int origin = 0; + double scale = 0.01; // in m + bool scanserver = false; + + pose_file_name = new char[1024]; + path_file_name = new char[1024]; + selection_file_name = new char[1024]; + + strncpy(pose_file_name, "pose.dat", 1024); + strncpy(path_file_name, "path.dat", 1024); + strncpy(selection_file_name, "selected.3d", 1024); + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, red, readInitial, + octree, pointtype, idealfps, loadObj, loadOct, saveOct, origin, scale, type, scanserver); + + // modify all scale dependant variables + scale = 1.0 / scale; + movementSpeed *= scale; + neardistance *= scale; + oldneardistance *= scale; + maxfardistance *= scale; + fardistance *= scale; + fogDensity /= scale; + defaultZoom *= scale; + voxelSize *= scale; +// oldfardistance *= scale; + + //////////////////////// + SDisplay::readDisplays(loadObj, displays); + //////////////////// + + if (type == OCT) { + loadOct = true; + } + + // if we want to load display file get pointtypes from the files first + if(loadOct) { + string scanFileName = dir + "scan" + to_string(start,3) + ".oct"; + cout << "Getting point information from " << scanFileName << endl; + cout << "Attention! All subsequent oct-files must be of the same type!" << endl; + + pointtype = BOctTree::readType(scanFileName); + } + scan_dir = dir; + + // init and create display + M4identity(view_rotate_button); + obj_pos_button[0] = obj_pos_button[1] = obj_pos_button[2] = 0.0; + + // Loading scans, reducing, loading frames and generation if neccessary + + // load all available scans + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + if(red > 0) { + // scanserver differentiates between reduced for slam and reduced for show, can handle both at the same time + if(scanserver) { + dynamic_cast(scan)->setShowReductionParameter(red, octree); + } else { + scan->setReductionParameter(red, octree); + } + } + } + cm = new ScanColorManager(4096, pointtype); + +#ifdef USE_GL_POINTS // use octtrees +#ifdef USE_COMPACT_TREE + cout << "Creating compact display octrees.." << endl; +#else + cout << "Creating display octrees.." << endl; +#endif + + if(loadOct) cout << "Loading octtrees from file where possible instead of creating them from scans." << endl; + + // for managed scans the input phase needs to know how much it can handle + std::size_t free_mem = 0; + if(scanserver) + free_mem = ManagedScan::getMemorySize(); + + for(unsigned int i = 0; i < Scan::allScans.size(); ++i) { + Scan* scan = Scan::allScans[i]; + + // create data structures +#ifdef USE_COMPACT_TREE // FIXME: change compact tree, then this case can be removed + compactTree* tree; + try { + if (red > 0) { // with reduction, only xyz points + DataXYZ xyz_r(scan->get("xyz reduced show")); + tree = new compactTree(PointerArray(xyz_r).get(), xyz_r.size(), voxelSize, pointtype, cm); + } else { // without reduction, xyz + attribute points + sfloat** pts = pointtype.createPointArray(scan); + unsigned int nrpts = scan->size("xyz"); + tree = new compactTree(pts, nrpts, voxelSize, pointtype, cm); + for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts; + } + } catch(...) { + cout << "Scan " << i << " could not be loaded into memory, stopping here." << endl; + break; + } +#else // FIXME: remove the case above + scan->setOcttreeParameter(red, voxelSize, pointtype, loadOct, saveOct); + + DataOcttree* data_oct; + try { + data_oct = new DataOcttree(scan->get("octtree")); + } catch(runtime_error& e) { + cout << "Scan " << i << " could not be loaded into memory, stopping here." << endl; + break; + } + BOctTree* btree = &(data_oct->get()); + unsigned int tree_size = btree->getMemorySize(); + + if(scanserver) { + // check if the octtree would actually fit with all the others + if(tree_size > free_mem) { + delete data_oct; + cout << "Stopping at scan " << i << ", no more octtrees could fit in memory." << endl; + break; + } else { + // subtract available memory + free_mem -= tree_size; + } + } +#endif //FIXME: COMPACT_TREE + +#if !defined USE_COMPACT_TREE + // show structures + // associate show octtree with the scan and hand over octtree pointer ownership + Show_BOctTree* tree = new Show_BOctTree(scan, data_oct, cm); + + // unlock cached octtree to enable creation of more octtres without blocking the space for full scan points + tree->unlockCachedTree(); +#endif + + // octtrees have been created successfully + octpts.push_back(tree); + + // print something +#ifdef USE_COMPACT_TREE // TODO: change compact tree for memory footprint output, remove this case + cout << "Scan " << i << " octree finished." << endl; +#else + cout << "Scan " << i << " octree finished ("; + bool space = false; + if(tree_size/1024/1024 > 0) { + cout << tree_size/1024/1024 << "M"; + space = true; + } + if((tree_size/1024)%1024 > 0) { + if(space) cout << " "; + cout << (tree_size/1024)%1024 << "K"; + space = true; + } + if(tree_size%1024 > 0) { + if(space) cout << " "; + cout << tree_size%1024 << "B"; + } + cout << ")." << endl; +#endif + } + +/* +TODO: to maximize space for octtrees, implement a heuristic to remove all +CacheObjects sequentially from the start and pack octtrees one after another +until it reaches the maximum size allowed, resetting the index, but causing the +first to be locked again and stopping by catching the exception +set heuristic, do locking, catch exception, reset heuristic to default or old +*/ +#if !defined USE_COMPACT_TREE + if(scanserver) { + // activate all octtrees until they don't fit anymore + cout << "Locking managed octtrees in memory " << flush; + bool stop = false; + unsigned int loaded = 0; + unsigned int dots = (octpts.size() / 20); + if(dots == 0) dots = 1; + vector::iterator it_remove_first = octpts.end(); + for(vector::iterator it = octpts.begin(); it != octpts.end(); ++it) { + if(!stop) { + // try to lock the octtree in cache + try { + Show_BOctTree* stree = dynamic_cast*>(*it); + stree->lockCachedTree(); + loaded++; + if(loaded % dots == 0) cout << '.' << flush; + } catch(runtime_error& e) { + stop = true; + it_remove_first = it; + } + } + if(stop) { + // delete the octtree, resize after iteration + delete *it; + } + } + // now remove iterators for deleted octtrees + if(stop) octpts.erase(it_remove_first, octpts.end()); + cout << ' ' << loaded << " octtrees loaded." << endl; + } + +#endif // !COMPACT_TREE + +#else // not using octtrees + createDisplayLists(red > 0); +#endif // USE_GL_POINTS + + // load frames now that we know how many scans we actually loaded + unsigned int real_end = min((unsigned int)(end), + (unsigned int)(start + octpts.size() - 1)); + if(readFrames(dir, start, real_end, readInitial, type)) + generateFrames(start, real_end, true); + + cm->setCurrentType(PointType::USE_HEIGHT); + //ColorMap cmap; + //cm->setColorMap(cmap); + resetMinMax(0); + + selected_points = new set[octpts.size()]; + + // sets (and computes if necessary) the pose that is used for the reset button + setResetView(origin); + + for (unsigned int i = 0; i < 256; i++) { + keymap[i] = false; + } +} + +void deinitShow() +{ + static volatile bool done = false; + if(done) return; + done = true; + + cout << "Cleaning up octtrees and scans." << endl; + if(octpts.size()) { + // delete octtrees to release the cache locks within + for(vector::iterator it = octpts.begin(); it!= octpts.end(); ++it) { + delete *it; + } + } + + Scan::closeDirectory(); +} + +/** + * Global program scope destructor workaround to clean up data regardless of + * the way of program exit. + */ +struct Deinit { ~Deinit() { deinitShow(); } } deinit; diff --git a/.svn/pristine/3b/3b852e8951c4a2896edcec1896c7b3ec64cfe9ed.svn-base b/.svn/pristine/3b/3b852e8951c4a2896edcec1896c7b3ec64cfe9ed.svn-base new file mode 100644 index 0000000..2e11c18 --- /dev/null +++ b/.svn/pristine/3b/3b852e8951c4a2896edcec1896c7b3ec64cfe9ed.svn-base @@ -0,0 +1,324 @@ +/* + * elch6D implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** @file graph balancer implementation and utility functions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + * + * This file implements the paper (ecmr2009.pdf): + * Jochen Sprickerhof, Andreas Nuechter, Kai Lingemann, Joachim Hertzberg. An Explicit + * Loop Closing Technique for 6D SLAM, In Proceedings of the 4th European Conference on + * Mobile Robots (ECMR '09), Mlini/Dubrovnic, Croatia, September 2009. + */ + +#include +using std::ofstream; + +#include +using std::string; + +#include +using std::list; + +#include +using std::swap; + +#include //for old boost and new gcc +using std::numeric_limits; +#include +#include +#include +using boost::graph_traits; + +#include "slam6d/globals.icc" +#include "slam6d/elch6D.h" + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + + +/*void printout(graph_t &g, vector &p, vector &d, double *weights) +{ + cout << "distances and parents:" << endl; + graph_traits ::vertex_iterator vi, vend; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + cout << "distance(" << *vi << ") = " << d[*vi] << + ", parent(" << *vi << ") = " << p[*vi] << + *vi << " " << weights[*vi] << endl; + } +}*/ + +/** + * sets a filename for graph_weight_out and calls it + * @param g the graph to save + * @param first the first node + * @param last the last node + * @param weights the computed weights + */ +void elch6D::graph_weight_out(graph_t &g, int first, int last, double *weights) +{ + string name("graph_weight_" + to_string(num_vertices(g), 3) + ".dot"); + graph_weight_out(g, first, last, weights, name); +} + +/** + * writes a graphviz file with the graph labled with the computed weights + * @param g the graph to save + * @param first the first node + * @param last the last node + * @param weights the computed weights + * @param out_file the file to write to + */ +void elch6D::graph_weight_out(graph_t &g, int first, int last, double *weights, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + dot_file << "graph D {" << endl; + graph_traits ::vertex_iterator vi, vend; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + dot_file << *vi << "[label=\"" << *vi << " (" << + weights[*vi] << ")\"];" << endl; + } + boost::property_map::type weightmap = get(boost::edge_weight, g); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << + "[label=\"" << get(weightmap, *ei) << "\"];" << endl; + } + dot_file << first << " -- " << last << "[color=\"green\"] }"; + dot_file.close(); +} + +/** + * sets a filename and calls graph_pos_out + * @param g the graph to save + * @param allScans all laser scans + */ +void elch6D::graph_pos_out(graph_t &g, const vector &allScans) +{ + string name("graph_pos_" + to_string(num_vertices(g), 3) + ".dot"); + graph_pos_out(g, allScans, name); +} + +/** + * writes the graph using the computed scan poses + * @param g the graph to save + * @param allScans all laser scans + * @param out_file the file to write to + */ +void elch6D::graph_pos_out(graph_t &g, const vector &allScans, string &out_file) +{ + ofstream graph_file(out_file.c_str()); + ofstream graph2_file(("2" + out_file).c_str()); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + if(source(*ei, g) + 1 != target(*ei, g)) { + graph2_file << allScans[source(*ei, g)]->get_rPos()[0] << " " << allScans[source(*ei, g)]->get_rPos()[1] << " " << allScans[source(*ei, g)]->get_rPos()[2] << endl; + graph2_file << allScans[target(*ei, g)]->get_rPos()[0] << " " << allScans[target(*ei, g)]->get_rPos()[1] << " " << allScans[target(*ei, g)]->get_rPos()[2] << endl << endl; + } else { + graph_file << allScans[source(*ei, g)]->get_rPos()[0] << " " << allScans[source(*ei, g)]->get_rPos()[1] << " " << allScans[source(*ei, g)]->get_rPos()[2] << endl; + graph_file << allScans[target(*ei, g)]->get_rPos()[0] << " " << allScans[target(*ei, g)]->get_rPos()[1] << " " << allScans[target(*ei, g)]->get_rPos()[2] << endl << endl; + } + } + graph_file.close(); + graph2_file.close(); +} + +/** + * write graphviz file with real poses + * @param g the graph + * @param allScans all laser scans + * @param out_file the file to write to + */ +void elch6D::dot_pos_out(graph_t &g, const vector &allScans, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + + dot_file << "graph D {" << endl << "size=\"20,20\"" << endl; + + int n = num_vertices(g); + for(int i = 0; i < n; i++) { + dot_file << i << "[pos=\"" << + allScans[i]->get_rPos()[0] << "," << + allScans[i]->get_rPos()[2] << "\", label=\"\", height=0.1, width=0.1, fixedsize=true];" << endl; + } + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + if(source(*ei, g) + 1 != target(*ei, g)) { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << "[color=\"green\"];" << endl; + } else { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << ";" << endl; + } + } + dot_file << "}"; + dot_file.close(); +} + +/** + * sets filename and calls graph_out + * @param g the graph + */ +void elch6D::graph_out(graph_t &g) +{ + string name("graph_" + to_string(num_vertices(g), 3) + ".dot"); + graph_out(g, name); +} + +/** + * uses boost write_graphviz to write the graph + * @param g the graph + * @param out_file the file to write to + */ +void elch6D::graph_out(graph_t &g, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + write_graphviz(dot_file, g); + dot_file.close(); +} + +/** + * sets filename and calls slim_graph_out + */ +void elch6D::slim_graph_out(graph_t g) +{ + string name("slim_graph_" + to_string(num_vertices(g), 3) + ".dot"); + slim_graph_out(g, name); +} + +/** + * writes slim graph (supressing unimportant nodes) + * @param g the graph + * @param out_file the file to write to + */ +void elch6D::slim_graph_out(graph_t g, string &out_file) +{ + bool todo; + graph_traits < graph_t >::vertex_iterator vi, vend; + graph_traits < graph_t >::adjacency_iterator ai; + do { + todo = false; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + int me = *vi; + if(degree(me, g) == 2) { + ai = adjacent_vertices(me, g).first; + int one = *ai; + ai++; + int two = *ai; + if(degree(one, g) == 2 && degree(two, g) == 2 && one != me && two != me && one != two) { + clear_vertex(me, g); + add_edge(one, two, g); + remove_vertex(me, g); + todo = true; + break; + } + } + } + } while(todo); + + ofstream dot_file(out_file.c_str()); + write_graphviz(dot_file, g); + dot_file.close(); +} + +/** + * graph balancer algorithm computes the weights + * @param g the graph + * @param f index of the first node + * @param l index of the last node + * @param weights array for the weights + */ +void elch6D::graph_balancer(graph_t &g, int f, int l, double *weights) +{ + list crossings, branches; + crossings.push_back(f); + crossings.push_back(l); + weights[f] = 0; + weights[l] = 1; + + int *p = new int[num_vertices(g)]; + int *p_min = new int[num_vertices(g)]; + double *d = new double[num_vertices(g)]; + double *d_min = new double[num_vertices(g)]; + double dist; + bool do_swap = false; + list::iterator si, ei, s_min, e_min; + + // process all junctions + while(!crossings.empty()) { + dist = -1; + // find shortest crossing for all vertices on the loop + for(si = crossings.begin(); si != crossings.end(); ) { + dijkstra_shortest_paths(g, *si, boost::predecessor_map(p).distance_map(d)); + ei = si; + ei++; + // find shortest crossing for one vertex + for(; ei != crossings.end(); ei++) { + if(*ei != p[*ei] && (dist < 0 || d[*ei] < dist)) { + dist = d[*ei]; + s_min = si; + e_min = ei; + do_swap = true; + } + } + if(do_swap) { + swap(p, p_min); + swap(d, d_min); + do_swap = false; + } + // vertex starts a branch + if(dist < 0) { + branches.push_back(*si); + si = crossings.erase(si); + } else { + si++; + } + } + + if(dist > -1) { + remove_edge(*e_min, p_min[*e_min], g); + for(int i = p_min[*e_min]; i != *s_min; i = p_min[i]) { + //even right with weights[*s_min] > weights[*e_min]! (math works) + weights[i] = weights[*s_min] + (weights[*e_min] - weights[*s_min]) * d_min[i] / d_min[*e_min]; + remove_edge(i, p_min[i], g); + if(degree(i, g) > 0) { + crossings.push_back(i); + } + } + + if(degree(*s_min, g) == 0) { + crossings.erase(s_min); + } + + if(degree(*e_min, g) == 0) { + crossings.erase(e_min); + } + } + } + + delete[] p; + delete[] p_min; + delete[] d; + delete[] d_min; + + graph_traits ::adjacency_iterator ai, ai_end; + int s; + + // error propagation + while(!branches.empty()) { + s = branches.front(); + branches.pop_front(); + + for(tie(ai, ai_end) = adjacent_vertices(s, g); ai != ai_end; ++ai) { + weights[*ai] = weights[s]; + if(degree(*ai, g) > 1) { + branches.push_back(*ai); + } + } + clear_vertex(s, g); + } +} diff --git a/.svn/pristine/3b/3b8e14843760b80552edc29a01c692374b7d1f59.svn-base b/.svn/pristine/3b/3b8e14843760b80552edc29a01c692374b7d1f59.svn-base new file mode 100644 index 0000000..c158cde --- /dev/null +++ b/.svn/pristine/3b/3b8e14843760b80552edc29a01c692374b7d1f59.svn-base @@ -0,0 +1,14 @@ +#pragma once +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" + +class Random_field +{ +public: + Random_field(void); + ~Random_field(void); + +public: + +}; + diff --git a/.svn/pristine/3b/3bb81c39d95cf3db137ed4f5ae563f9bf4b9a2ad.svn-base b/.svn/pristine/3b/3bb81c39d95cf3db137ed4f5ae563f9bf4b9a2ad.svn-base new file mode 100644 index 0000000..0362b0c --- /dev/null +++ b/.svn/pristine/3b/3bb81c39d95cf3db137ed4f5ae563f9bf4b9a2ad.svn-base @@ -0,0 +1,87 @@ +/* + * extrinsic implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include + + +int main(int argc, char **argv) { + + if(argc < 3) { + printf("extrinic: x y img1 img2\n"); + exit(1); + } + // extrinic params: rotation and translation + CvMat *rotCam = cvCreateMat(1, 3, CV_32FC1); + CvMat *transCam = cvCreateMat(1, 3, CV_32FC1); + CvMat *rotPMD = cvCreateMat(1, 3, CV_32FC1); + CvMat *transPMD = cvCreateMat(1, 3, CV_32FC1); + + CvSize boardSz = cvSize(atoi(argv[1]), atoi(argv[2])); + int totalPoints = boardSz.width*boardSz.height; + double boardSide = 0.04; + CvMat *objPts = cvCreateMat(totalPoints, 3, CV_32FC1); + CvPoint2D32f *cornersCam = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f)); + CvMat imgPtsCam = cvMat(totalPoints, 1, CV_32FC2, cornersCam); + CvPoint2D32f *cornersPMD = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f)); + CvMat imgPtsPMD = cvMat(totalPoints, 1, CV_32FC2, cornersPMD); + + for(int i = 0; i < totalPoints; i++) { + CV_MAT_ELEM(*objPts, float, i, 0) = boardSide * (i / boardSz.width); + CV_MAT_ELEM(*objPts, float, i, 1) = boardSide * (i % boardSz.width); + CV_MAT_ELEM(*objPts, float, i, 2) = 0.0f; + } + + IplImage *imgPMD = cvLoadImage(argv[3], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgPMDU = cvCreateImage(cvGetSize(imgPMD), 8, 1); + IplImage *imgCam = cvLoadImage(argv[4], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgCamU = cvCreateImage(cvGetSize(imgCam), 8, 1); + + CvMat *intrinsicsCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml"); + CvMat *intrinsicsPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml"); + CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml"); + CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml"); + + cvUndistort2(imgPMD, imgPMDU, intrinsicsPMD, distortionPMD); + cvUndistort2(imgCam, imgCamU, intrinsicsCam, distortionCam); + + int cornersCountCam, cornersCountPMD; + int foundPMD = cvFindChessboardCorners(imgPMDU, boardSz, cornersPMD, + &cornersCountPMD, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(foundPMD) { + cvFindCornerSubPix(imgPMDU, cornersPMD, cornersCountPMD, cvSize(2, 2), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + printf("foundPMD\n"); + } + int foundCam = cvFindChessboardCorners(imgCamU, boardSz, cornersCam, + &cornersCountCam, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(foundPMD) { + cvFindCornerSubPix(imgCamU, cornersCam, cornersCountCam, cvSize(11, 11), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + printf("foundCam\n"); + } + + cvNamedWindow("c", 0); + cvNamedWindow("p", 0); + + cvShowImage("c", imgCamU); + cvShowImage("p", imgPMDU); + cvWaitKey(0); + + + if(foundCam) cvFindExtrinsicCameraParams2(objPts, &imgPtsCam, intrinsicsCam, distortionCam, rotCam, transCam); + if(foundPMD) cvFindExtrinsicCameraParams2(objPts, &imgPtsPMD, intrinsicsPMD, distortionPMD, rotPMD, transPMD); + + cvSave("./rotcam.xml", rotCam); + cvSave("./rotpmd.xml", rotPMD); + cvSave("./transcam.xml", transCam); + cvSave("./transpmd.xml", transPMD); +} diff --git a/.svn/pristine/3c/3c184d764af1c79da97275aa4346a561fc6f65b3.svn-base b/.svn/pristine/3c/3c184d764af1c79da97275aa4346a561fc6f65b3.svn-base new file mode 100644 index 0000000..19a6e23 --- /dev/null +++ b/.svn/pristine/3c/3c184d764af1c79da97275aa4346a561fc6f65b3.svn-base @@ -0,0 +1,106 @@ +#bash completion for show and slam6d + +#have show && +_show() +{ + local cur prev opts filetype + + COMPREPLY=() + cur=`_get_cword` + prev=${COMP_WORDS[COMP_CWORD-1]} + + ## split the long options + _split_longopt + + # options list + opts="-e -s -f --format -F --fps -m --max -M --min -O --octree -r --reduce -R --reflectance --reflectivity -a --amplitude -d --deviation -h --height -T --type --saveOct --loadOct --advanced" + filetype="uos uos_map uos_rgb uos_frames uos_map_frames old rts rts_map ifp riegl_txt riegl_rgb riegl_bin zahn ply wrl xyz zuf iais front x3d rxp ais" + + case $prev in + -f|--format) + COMPREPLY=( $( compgen -W "${filetype}" -- ${cur} ) ) + return 0 + ;; + esac + + + # reflectivity/reflectance are synonymous + if [[ ${cur} == --ref* ]] ; then + COMPREPLY=( "--reflectance" ) + return 0 + fi + + + # relevant options to complete + if [[ ${cur} == -* ]] ; then + COMPREPLY=( $( compgen -W "${opts}" -- "$cur" ) ) + fi + + + # stolen from _cd function in bash_completion + _cd +} && +complete -o dirnames -F _show show + + +_slam6D() +{ + local cur prev opts filetype + + COMPREPLY=() + cur=`_get_cword` + prev=${COMP_WORDS[COMP_CWORD-1]} + + ## split the long options + _split_longopt + +# -n FILE, --net=FILE +# specifies the file that includes the net structure for SLAM +# + + opts="-e -s -f --format -m --max -M --min -O --octree -r --reduce -R --random -q --quiet -Q --veryquiet -u --cuda -p --trustpose -n --net --metascan -L --loop6DAlgo -l --loopsize -I --iterSLAM -i --iter -G --epsICP --epsICP --exportAllPoints --DlastSLAM -D --distSLAM -d --dist --cache -C --clpairs -c --cldist -A --anim -a --algo " + filetype="uos uos_map uos_rgb uos_frames uos_map_frames old rts rts_map ifp riegl_txt riegl_rgb riegl_bin zahn ply wrl xyz zuf iais front x3d rxp ais" + + case $prev in + -f|--format) + COMPREPLY=( $( compgen -W "${filetype}" -- ${cur} ) ) + return 0 + ;; + -L|--loop6DAlgo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6" -- ${cur} ) ) + return 0 + ;; + -G|--graphSlam6DAlgo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6" -- ${cur} ) ) + return 0 + ;; + -a|--algo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6 7 8 9" -- ${cur} ) ) + return 0 + ;; + -n|--net) + _filedir + return 0 + ;; + esac + + + + # relevant options to complete + if [[ ${cur} == -* ]] ; then + COMPREPLY=( $( compgen -W "${opts}" -- "$cur" ) ) + fi + + + # stolen from _cd function in bash_completion + _cd +} && +complete -o dirnames -F _slam6D slam6D + +# Local variables: +# mode: shell-script +# sh-basic-offset: 4 +# sh-indent-comment: t +# indent-tabs-mode: nil +# End: +# ex: ts=4 sw=4 et filetype=sh diff --git a/.svn/pristine/3c/3ca14d44d07b9637bd4738ef64c185c01c0a7085.svn-base b/.svn/pristine/3c/3ca14d44d07b9637bd4738ef64c185c01c0a7085.svn-base new file mode 100644 index 0000000..baca49d --- /dev/null +++ b/.svn/pristine/3c/3ca14d44d07b9637bd4738ef64c185c01c0a7085.svn-base @@ -0,0 +1,776 @@ +/* + * image implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/image.h" +#include "slam6d/globals.icc" +#include +#include +#include +#include +using std::string; +using std::ofstream; +#include +using std::set; +#include +using std::insert_iterator; + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float +_resolution, const vector *points) { + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + int size = points->size(); + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp = new double[3]; + double reflectance; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + Point p = (*points)[i]; + tmpp[0] = p.x; + tmpp[1] = p.z; + tmpp[2] = p.y; + reflectance = p.reflectance; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] < p.reflectance)) { + data[w_i][h_i] = (float)reflectance; + //cout << data[w_i][h_i] << " " << endl; + } + /* + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)reflectance; + //cout << data[w_i][h_i] << " " << endl; + } + */ + } + delete[] tmpp; + delete[] polar; + } + +} + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, double * const* points, int size) { + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp = new double[3]; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + tmpp[0] = points[i][0]; + tmpp[1] = points[i][2]; + tmpp[2] = points[i][1]; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)polar[2]; + //cout << data[w_i][h_i] << " " << endl; + } + } + delete[] tmpp; + delete[] polar; + } + +} + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, const vector *points) { + //TODO correct this!!! + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp; + double * polar = new double[3]; + for(int i = 0; i < points->size(); i++) { + tmpp = new double[3]; + //tmpp = (*points)[i]; + tmpp[0] = (*points)[i][0]; + tmpp[1] = (*points)[i][2]; + tmpp[2] = (*points)[i][1]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (((int)(deg(polar[1]) + 180)%360 - minw)/(maxw - minw)) * width; + w_i = (((int)(deg(polar[1]) ) - minw)/(maxw - minw)) * width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (((int)(deg(polar[0]) + 90)%180 - minh)/(maxh - minh)) * height; + h_i = (((int)(deg(polar[0]) ) - minh)/(maxh - minh)) * height; + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i] - 0.0) < 0.000100) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)polar[2]; + } + } + } + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + cout << data[i][j] << " " ; + } + cout << endl; + } + +} + +Image::~Image() { + for(int i = 0; i < width; i++) { + delete[] data[i]; + } + delete[] data; +} + +int Image::getWidth() { + return width; +} + +int Image::getHeight() { + return height; +} + +float Image::getValueAt(int width, int height) { + return data[width][height]; +} + +float Image::getMin() { + float min = std::numeric_limits::max(); + + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + min = std::min(min, data[i][j]); + } + } + return min; +} + +float Image::getMax() { + float max = std::numeric_limits::min(); + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + max = std::max(max, data[i][j]); + } + } + return max; +} + +void Image::mergeregion(int x, int y, int delreg, int targetreg, int** img, int it) { + cout << x << " " << y << " " << delreg << " " << targetreg << " " << it << endl; + // traversed more than necessary + if(it > 0) return; +// cout << (j % width) << ", " << j / width << " " << width << " " << old<< " ->> " << targetreg << endl; + img[x][y] = targetreg; + cout << "A" << endl; + // left + if ( x > 0 && (img[x - 1][y] == delreg)){ + cout << "1" << endl; + mergeregion(x-1, y ,delreg, targetreg, img); + cout << "2" << endl; + } + cout << "B" << endl; + // right + if ( x < width - 1 && (img[x + 1][y] == delreg)){ + mergeregion(x+1, y, delreg, targetreg, img); + } + cout << "C" << endl; + // up + if ( y > 0 && (img[x][y-1] == delreg )) { + mergeregion(x, y - 1, delreg, targetreg, img); + } + cout << "D" << endl; + // down + if ( y + 1 < height && (img[x][y+1] == delreg )) { + mergeregion(x, y + 1, delreg, targetreg, img); + } + cout << "E" << endl; +} + +int Image::calcMarker(float _threshold, int ** regdat) { + // segment picture + threshold = _threshold; + cout << threshold << " "; + int counter = 0; + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + if(data[x][y] > threshold) { + counter++; + regdat[x][y] = 100; + //data[x][y] = 100; + } else { + regdat[x][y] = 0; + //data[x][y] = 0; + } + } + } + + //printScans(regdat, height, width) + //printImage("marker.ppm", false, regdat, height, width, 0, 1); + printImage("marker.ppm", false, regdat, height, width, 0, 100); + cout << counter << endl; + return counter; +} + +int Image::cluster(float dist, int ** dat, int ** regdat) { + vector > linked; + int up, left; + int region = 0; + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + float value = dat[x][y]; + + if(value != 0) { + // left border + if(x==0) { + left = value + dist*2.0; + } else { + left = dat[x-1][y]; + } + // upper border + if(y==0) { + up = value + dist*2.0; + } else { + up = dat[x][y-1]; + } + + if (fabs(left - value) > dist) { + if (fabs(up - value) > dist) { + regdat[x][y] = ++region; // new region + set *joined = new set; + joined->insert(region); + linked.push_back(*joined); + } else { + regdat[x][y] = regdat[x][y - 1]; // use upper region + } + } else if (fabs(up - value) > dist) { + regdat[x][y] = regdat[x-1][y]; // use left region + } else { + // merge left and upper region, default to lower regioning number + if (regdat[x][y - 1] == regdat[ x - 1][y]) { + regdat[x][y] = regdat[x-1][y]; + continue; // already same region, nothing to do + } + + /* + int minreg, maxreg; + falschrum?? + minreg = regdat[x][y - 1]; + maxreg = regdat[x - 1][y]; + */ + int up = regdat[x][y - 1]; + int left = regdat[x - 1][y]; + regdat[x][y] = up; + set current; + set *joined = new set; + joined->insert(up); + joined->insert(left); + + for(vector >::iterator itr = linked.begin(); itr != linked.end(); ) { + current = (*itr); + if(current.find(up) != current.end() || current.find(left) != current.end()) { + set *newjoined = new set(); + insert_iterator > res_ins(*newjoined, newjoined->begin()); + + set_union(joined->begin(), joined->end(), current.begin(), current.end(), res_ins); + joined->clear(); + delete joined; + joined = newjoined; + itr=linked.erase(itr); + } else { + itr++; + } + } + + linked.push_back(*joined); + } + } + } + } + + cout << region << " " << linked.size(); + int linkedindex[region+1]; + linkedindex[0] = 0; + set current; + int link = 0; + for(vector >::iterator itr = linked.begin(); itr != linked.end(); itr++) { + current = (*itr); + for(set::iterator sitr = current.begin(); + sitr != current.end(); + sitr++) { + linkedindex[*sitr] = link; + } + link++; + } + + + cout << "Regions " << linked.size() << endl; + /* + for(int i = 0; i <= region; i++) { + cout << i << " " << linkedindex[i] << endl; + } + */ + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + regdat[x][y] = linkedindex[regdat[x][y]]; + } + } + + printImage("cluster.ppm", false, regdat, height, width, 0, linked.size()); + + return linked.size(); + +} + +void Image::writeCenters(int regions, int** cluster, const vector *points) { + int size = points->size(); + + vector clusters[regions]; + /* + vector > clusters; + + + for(int i = 0; i < regions; i++) { + vector tmp = new vector(); + clusters.push_back(tmp); + } + + + cout << "Regions: " << regions << " " << clusters.size() << endl;; + for(int i = 0; i < regions; i++) { + cout << i << " " << clusters[i]->size() << endl; + Point p = *clusters[i][0]; + cout << p.x << " " << p.y << " " << p.z << endl; + } + cout << "done" << endl; + */ + /* + for(int i = 0; i < regions; i++) { + vector *tmp = new vector(); + clusters[i].push_back(tmp); + } + */ + + if(points != 0) { + double *tmpp = new double[3]; + double reflectance; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + Point p = (*points)[i]; + tmpp[0] = p.x; + tmpp[1] = p.z; + tmpp[2] = p.y; + reflectance = p.reflectance; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + if(reflectance > threshold) { + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + int tmp = cluster[w_i][h_i] - 1; + if(cluster[w_i][h_i] != 0) { + clusters[tmp].push_back(p); + } + } + } + delete[] tmpp; + delete[] polar; + } + + cout << "Regions: " << regions << " " << clusters->size() << endl; + int markercounter = 0; + for(int i = 0; i < regions; i++) { + //cout << i << " " << clusters[i].size() << endl; + double point[3]; + point[0] = point[1] = point[2] = 0; + for(int j = 0; j < clusters[i].size(); j++) { + point[0] += clusters[i][j].x; + point[1] += clusters[i][j].y; + point[2] += clusters[i][j].z; + } + for(int j = 0; j < 3; j++) { + point[j] /= clusters[i].size(); + } + //cout << p.x << " " << p.y << " " << p.z << endl; + cout << point[0] << " " << point[1] << " " << point[2] << " TP" << to_string(markercounter, 4) << endl; + markercounter++; + } + +} + +int Image::blobColor(float dist, int ** regdat) { + // segment picture + int region = 0; // start at 12 to incresae visibility + float up, left; + + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + + float value = data[x][y]; + // left border + if (x == 0 ) { + left = value + dist*2.0; + } else { + left = data[x - 1][y]; + } + // or upper border + if ( y == 0) { + up = value + dist*2; + } else { + up = data[x][y - 1]; + } + + if (fabs(left - value) > dist) { + if (fabs(up - value) > dist) { + regdat[x][y] = ++region; // new region + } else { + regdat[x][y] = regdat[x][y - 1]; // use upper region + } + } else if (fabs(up - value) > dist) { + regdat[x][y] = regdat[x-1][y]; // use left region + } else { + // merge left and upper region, default to lower regioning number + if (regdat[x][y - 1] == regdat[ x - 1][y]) { + regdat[x][y] = regdat[x-1][y]; + continue; // already same region, nothing to do + } + + int minreg, maxreg; + /* + falschrum?? + minreg = regdat[x][y - 1]; + maxreg = regdat[x - 1][y]; + */ + maxreg = regdat[x][y - 1]; + minreg = regdat[x - 1][y]; + regdat[x][y] = maxreg; + cout << "mergeRegion" << endl; + mergeregion(x, y, maxreg, minreg, regdat); + cout << "mergeRegion done" << endl; + } + } + } + + cout << "color done" << endl; + //printScans(regdat, height, width) + printImage("bla.ppm", false, regdat, height, width, 1.0, region); + return region; +} + +void kMeans(float dist, int ** regdat) { + +} + +void EM(float dist, int ** regdat) { + +} + +void normalizedCuts(float dist, int ** regdat) { + +} + +void lineMerge() { + +} + +void Image::printScans(int ** regdat, double * const* points, int size) { + int max_i = 0; + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + max_i = max_i > regdat[i][j] ? max_i : regdat[i][j]; + } + } + cout << "size " << size << endl; + cout << "max_i is " << max_i << endl; + vector clusters[max_i + 1]; + + if(points != 0) { + cout << "points" << endl; + double *tmpp = new double[3]; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + tmpp[0] = points[i][0]; + tmpp[1] = points[i][2]; + tmpp[2] = points[i][1]; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + //cout << i << " " << regdat[w_i][h_i] << endl; + clusters[regdat[w_i][h_i]].push_back(points[i]); + } + delete[] tmpp; + delete[] polar; + + cout << "clustering done " << endl; + + string clusteroutname = ""; + int index = 0; + for(int i = 0; i < max_i; i++) { + if(clusters[i].size() > 0) { + clusteroutname = "clusters/scan" + to_string(index, 3) + ".3d"; + index++; + ofstream clusterout(clusteroutname.c_str()); + clusterout << i << endl; + for(int j = 0; j < clusters[i].size(); j++) { + clusterout << clusters[i][j][0] << " " + << clusters[i][j][1] << " " << clusters[i][j][2] << endl; + } + clusterout.close(); + clusterout.clear(); + } + } + } +} + + +void Image::printImage(const char* filename, bool color, int** img, int height, int width, int min, int max) { + double Fact = 255.0 /(max - min); + std::ofstream outfile(filename); + if(outfile.good()) { + if(!color) { + outfile << "P2\n" << width << " " << height << std::endl << "255" << endl; + } else { + outfile << "P3\n" << width << " " << height << std::endl << "255" << endl; + } + + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + short gray = std::min(std::max((int)(Fact * (img[i][j] - min)), 0), 255); + if(!color) { + outfile << gray << " "; + } else { + double h = 255.0-gray; + double v = 1.0; + double s = 1.0; + double r = 0, g = 0, b = 0; + double h1 = h/60.0; + int i = (int)h1; + double f = h1 - i; + double pv = v * (1-s); + double qv = v * (1-s*f); + double tv = v * (1-s*(1-f)); + switch(i) { + case 0: + r = v; + g = tv; + b = pv; + break; + case 1: + r = qv; + g = v; + b = pv; + break; + case 2: + r = pv; + g = v; + b = tv; + break; + case 3: + r = pv; + g = qv; + b = v; + break; + case 4: + r = tv; + g = pv; + b = v; + break; + case 5: + r = v; + g = pv; + b = qv; + break; + case 6: + r = v; + g = tv; + b = pv; + break; + default: + break; + } + outfile << (int)(r*255.0) << " " << (int)(g*255.0) << " " << (int)(b*255.0) << " "; + } + } + outfile << std::endl; + } + } + outfile.close(); + +} + +void Image::printImage(const char *filename, bool color) { + float min = getMin(); + float max = getMax(); + + double Fact = 255.0 /(max - min); + std::ofstream outfile(filename); + if(outfile.good()) { + if(!color) { + outfile << "P2\n" << width << " " << height << std::endl << "255" << endl; + } else { + outfile << "P3\n" << width << " " << height << std::endl << "255" << endl; + } + + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + short gray = std::min(std::max((int)(Fact * (data[i][j] - min)), 0), 255); + if(!color) { + outfile << gray << " "; + } else { + double h = 255.0-gray; + double v = 1.0; + double s = 1.0; + double r = 0, g = 0, b = 0; + double h1 = h/60.0; + int i = (int)h1; + double f = h1 - i; + double pv = v * (1-s); + double qv = v * (1-s*f); + double tv = v * (1-s*(1-f)); + switch(i) { + case 0: + r = v; + g = tv; + b = pv; + break; + case 1: + r = qv; + g = v; + b = pv; + break; + case 2: + r = pv; + g = v; + b = tv; + break; + case 3: + r = pv; + g = qv; + b = v; + break; + case 4: + r = tv; + g = pv; + b = v; + break; + case 5: + r = v; + g = pv; + b = qv; + break; + case 6: + r = v; + g = tv; + b = pv; + break; + default: + break; + } + outfile << (int)(r*255.0) << " " << (int)(g*255.0) << " " << (int)(b*255.0) << " "; + } + } + outfile << std::endl; + } + } + outfile.close(); +} diff --git a/.svn/pristine/3d/3d845b3ab4b95d5b624145d85ded571d5f3796b8.svn-base b/.svn/pristine/3d/3d845b3ab4b95d5b624145d85ded571d5f3796b8.svn-base new file mode 100644 index 0000000..9da05b2 --- /dev/null +++ b/.svn/pristine/3d/3d845b3ab4b95d5b624145d85ded571d5f3796b8.svn-base @@ -0,0 +1,229 @@ +/* + * gridWriter implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/gridWriter.h" +#include +#include +#include +using std::cerr; +using std::endl; +#include +using std::ofstream; + +/** + * CTor of gridWriter. Tries to the file + * specified by file and saves the stream if + * successfull + * + * @param file The filename of the file + */ +gridWriter::gridWriter(string file) +{ + this->stream.open(file.c_str()); + if(!this->stream.good()) + { + cerr << "ERROR: In gridWriter::gridWriter, unable to open the stream for gridWriter! " << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } +} + +/** + * CTor for passing in an already opened stream. + * The stream is validated, so it must already be open + * + * @param stream A reference to the stream to be used + */ +gridWriter::gridWriter(ofstream &stream) +{ +} + +/** + * DTor. Closes the stream if open + */ +gridWriter::~gridWriter() +{ + if(this->stream.is_open()) + this->stream.close(); +} + +/** + * CTor. Just calls gridWriter ctor. + * See gridWriter::gridWriter(string) for more infos. + * @param file The filename to be opend. + */ +ppmWriter::ppmWriter(string file) + : gridWriter(file) +{} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +ppmWriter::ppmWriter(ofstream &stream) + : gridWriter(stream) +{} + +/** + * Method writes the grid to the ppm file format + * @param grid the grid to write + */ +void ppmWriter::write(const grid& grid) +{ + stream << "P2" << endl; + stream << "#Breite Hoehe" << endl; + stream << grid.getSizeX() << " " << grid.getSizeZ() << endl; + stream << "100" << endl; + + for(long i=grid.getSizeZ()-1; i >=0 ; --i) + { + for(long j=0; j < grid.getSizeX(); ++j) + { + if(grid.points[j][i]->getPercent() < 0) + stream << "50 "; + else + stream << 100 - (int)(grid.points[j][i]->getPercent() * 100) << " "; + } + stream << endl; + } +} + +/** + * CTor. Just calls gridWriter ctor. + * See gridWriter::gridWriter(string) for more infos. + * @param file The filename to be opend. + */ +parcelWriter::parcelWriter(string file) + : gridWriter(file) +{ +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +parcelWriter::parcelWriter(ofstream &stream) + : gridWriter(stream) +{ +} + +/** + * Method writes the grid to the parcel file format + * @param grid the grid to write + */ +void parcelWriter::write(const grid& grid) +{ + stream << grid.getSizeX() << " " << grid.getSizeZ() << endl; + stream << grid.getOffsetX() << " " << grid.getOffsetZ() << endl; + + for(long i = 0; i < grid.getSizeX(); ++i) + for(long j = 0; j < grid.getSizeZ(); j++) + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getCount() << " " + << grid.points[i][j]->getOccupied() << endl; +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +gnuplotWriter::gnuplotWriter(ofstream &stream) + : gridWriter(stream) +{ +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(string) for more infos + * @param file The filename + */ +gnuplotWriter::gnuplotWriter(string file) + : gridWriter(file) +{ +} + +/** + * Method writes the grid to the gnuplot file format + * @param grid the grid to write + */ +void gnuplotWriter::write(const grid& grid) +{ + for(long i=0; i < grid.getSizeX(); ++i) + for(long j=0; j < grid.getSizeZ(); ++j) + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getPercent() << endl; +} + +/** + * CTor of worldwriter. Tries to open the stream and + * writes some initial data about the world. (write is called + * several times, so do it here) + * + * @param file The filename + * @param minX The minimal found X value of all parcels + * @param maxX The maximal found x value of all parcels + * @param minZ The minimal found z value of all parcels + * @param maxZ The maximal found z value of all parcels + * @param resolution the resolution of the world + * @param vpX the x coordinate of the viewpoint + * @param vpZ the z coordinate of the viewpoint + */ +worldWriter::worldWriter(string file, long minX, long maxX, long minZ, long maxZ, int resolution, long vpX, long vpZ) + : gridWriter(file) +{ + stream << "1" << endl; + stream << resolution << endl; + stream << minX << " " << maxX << " " << minZ << " " << maxZ << endl; + stream << vpX << " " << vpZ << endl; +} + + /** + * CTor of worldwriter. Checks if the stream is valid and + * writes some initial data about the world. (write is called + * several times, so do it here) + * + * @param stream The stream to write to + * @param minX The minimal found X value of all parcels + * @param maxX The maximal found x value of all parcels + * @param minZ The minimal found z value of all parcels + * @param maxZ The maximal found z value of all parcels + * @param resolution the resolution of the world + * @param vpX the x coordinate of the viewpoint + * @param vpZ the z coordinate of the viewpoint + */ +worldWriter::worldWriter(ofstream& stream, long minX, long maxX, long minZ, long maxZ, int resolution, long vpX, long vpZ) + : gridWriter(stream) +{ + stream << "1" << endl; + stream << resolution << endl; + stream << minX << " " << maxX << " " << minZ << " " << maxZ << endl; + stream << vpX << " " << vpZ << endl; +} + +/** + * Method writes the grid to the world file format + * @param grid the grid to write + */ +void worldWriter::write(const grid& grid) +{ + for(int i=0; i < grid.getSizeX(); ++i) + { + for(int j=0; j < grid.getSizeZ(); ++j) + { + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getPercent() << endl; + } + } +} diff --git a/.svn/pristine/3d/3dfc7b842918aca3ba1e3404c6079202bf195fcb.svn-base b/.svn/pristine/3d/3dfc7b842918aca3ba1e3404c6079202bf195fcb.svn-base new file mode 100644 index 0000000..6fbf30f --- /dev/null +++ b/.svn/pristine/3d/3dfc7b842918aca3ba1e3404c6079202bf195fcb.svn-base @@ -0,0 +1,183 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_riegl_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses including color information . It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi RGB Reflectance + * Name the files scanXXX.rgb where XXX determines the number of the scan + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_rgb::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat"; + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".rgb"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + long num_pts = 0; + + if (scan_in.good()) { + scan_in >> num_pts; + cout << " with " << num_pts << " Points"; + cout.flush(); + ptss.reserve(num_pts); + } + + // read point data and transform into slam6D coordinate system + while (scan_in.good()) { + Point p; + double range, theta, phi, reflectance; + int r, g, b; + scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> r >> g >> b >> reflectance; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + p.reflectance = reflectance; + + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/3f/3febf05b1fb33b70feb950db724d9edc7b2c0924.svn-base b/.svn/pristine/3f/3febf05b1fb33b70feb950db724d9edc7b2c0924.svn-base new file mode 100644 index 0000000..2e6c53c --- /dev/null +++ b/.svn/pristine/3f/3febf05b1fb33b70feb950db724d9edc7b2c0924.svn-base @@ -0,0 +1,2040 @@ +/* + * show_gl implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include "show/viewcull.h" +#include "show/scancolormanager.h" + +bool fullydisplayed = true; // true if all points have been drawn to the screen +bool mousemoving = false; // true iff a mouse button has been pressed inside a window, + // but hs not been released +bool keypressed = false; // true iff a key button has been pressed inside a window, + // but hs not been released +double ptstodisplay = 100000; +double lastfps = idealfps; // last frame rate +int pointmode = -1; + +bool smallfont = true; +bool label = true; + +/** + * Displays all data (i.e., points) that are to be displayed + * @param mode spezification for drawing to screen or in selection mode + */ +void DrawPoints(GLenum mode, bool interruptable) +{ + long time = GetCurrentTimeInMilliSec(); + double min = 0.000000001; + double max = 1.0; + LevelOfDetail *= 1.0 + adaption_rate*(lastfps - idealfps)/idealfps; + if (LevelOfDetail > max) LevelOfDetail = max; + else if (LevelOfDetail < min) LevelOfDetail = min; + + // In case of animation + if(frameNr != 0) { + cm->setMode(ScanColorManager::MODE_ANIMATION); + +#ifdef USE_GL_POINTS + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { +#else + for(int iterator = (int)Scan::allScans.size()-1; iterator >= 0; iterator--) { +#endif + // ignore scans that don't have any frames associated with them + if((unsigned int)iterator >= MetaMatrix.size()) continue; + // set usable frame + double* frame; + Scan::AlgoType type; + if((unsigned int)frameNr >= MetaMatrix[iterator].size()) { + // use last possible frame + frame = MetaMatrix[iterator].back(); + type = MetaAlgoType[iterator].back(); + } else { + frame = MetaMatrix[iterator][frameNr]; + type = MetaAlgoType[iterator][frameNr]; + } + if(type == Scan::INVALID) continue; + cm->selectColors(type); + glPushMatrix(); + glMultMatrixd(frame); + + + glPointSize(pointsize); +#ifdef USE_GL_POINTS + ExtractFrustum(pointsize); + cm->selectColors(type); + if (pointmode == 1 ) { + octpts[iterator]->display(); + } else { + octpts[iterator]->displayLOD(LevelOfDetail); + } +#else + for (unsigned int jterator = 0; jterator < vvertexArrayList[iterator].size(); jterator++) { + + if ((jterator == 0) && vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + cm->selectColors(type); + } + + if (vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + glCallList(vvertexArrayList[iterator][jterator]->name); + } + } +#endif + glPopMatrix(); + } + + setScansColored(0); + } else { + + if(mode == GL_SELECT){ + // select points mode + // ------------------ + GLuint name = 0; + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + glPushMatrix(); + glMultMatrixd(MetaMatrix[iterator].back()); + + glColor4f(1.0, 0.0, 0.0,1.0); + glPointSize(pointsize + 2.0); + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + glLoadName(name++); + glBegin(GL_POINTS); + glVertex3d((*it)[0], (*it)[1], (*it)[2]); + glEnd(); + } + glPointSize(pointsize); + + glFlush(); + glPopMatrix(); + } + + } else { + + // draw point is normal mode + // ------------------------- + + if (interruptable) { + glDrawBuffer (GL_FRONT); + } + glPointSize(pointsize); + + vector sequence; + calcPointSequence(sequence, current_frame); +#ifdef USE_GL_POINTS + //for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + for(unsigned int i = 0; i < sequence.size(); i++) { + int iterator = sequence[i]; +#else + for(int iterator = (int)Scan::allScans.size()-1; iterator >= 0; iterator--) { +#endif + // ignore scans that don't have any frames associated with them + if((unsigned int)iterator >= MetaMatrix.size()) continue; + // set usable frame + double* frame; + Scan::AlgoType type; + if((unsigned int)current_frame >= MetaMatrix[iterator].size()) { + // use last possible frame + frame = MetaMatrix[iterator].back(); + type = MetaAlgoType[iterator].back(); + } else { + frame = MetaMatrix[iterator][current_frame]; + type = MetaAlgoType[iterator][current_frame]; + } + if (type == Scan::INVALID) continue; + glPushMatrix(); + if (invert) // default: white points on black background + glColor4d(1.0, 1.0, 1.0, 0.0); + else // black points on white background + glColor4d(0.0, 0.0, 0.0, 0.0); + + // glMultMatrixd(MetaMatrix[iterator].back()); + if (current_frame != (int)MetaMatrix.back().size() - 1) { + cm->setMode(ScanColorManager::MODE_ANIMATION); + cm->selectColors(type); + } + glMultMatrixd(frame); + +#ifdef USE_GL_POINTS + //cout << endl << endl; calcRay(570, 266, 1.0, 40000.0); + /* // for height mapped color in the vertex shader + GLfloat v[16]; + for (unsigned int l = 0; l < 16; l++) + v[l] = MetaMatrix[iterator].back()[l]; + glUniformMatrix4fvARB(glGetUniformLocationARB(p, "MYMAT"), 1, 0, v); + */ + ExtractFrustum(pointsize); + if (pointmode == 1 ) { + octpts[iterator]->display(); + } else if (interruptable) { + checkForInterrupt(); + glFlush(); + glFinish(); + if (isInterrupted()) { + glPopMatrix(); + return; + } + octpts[iterator]->display(); + } else { + octpts[iterator]->displayLOD(LevelOfDetail); + } + if (!selected_points[iterator].empty()) { + glColor4f(1.0, 0.0, 0.0, 1.0); + glPointSize(pointsize + 2.0); + glBegin(GL_POINTS); + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + glVertex3d((*it)[0], (*it)[1], (*it)[2]); + } + glEnd(); + glPointSize(pointsize); + } + +#else + for (unsigned int jterator = 0; jterator < vvertexArrayList[iterator].size(); jterator++) { + if (vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + glCallList(vvertexArrayList[iterator][jterator]->name); + } + } +#endif + glPopMatrix(); + } + } + } + + + if (pointmode == 1 ) { + fullydisplayed = true; + } else { + unsigned long td = (GetCurrentTimeInMilliSec() - time); + if (td > 0) + lastfps = 1000.0/td; + else + lastfps = 1000.0; + fullydisplayed = false; + } + if (interruptable) + fullydisplayed = true; +} + + +void DrawObjects(GLenum mode) { + for (unsigned int i = 0; i < displays.size(); i++) + displays[i]->displayAll(); + +} + +/** + * Draw a smooth path passing from all the camera points. + * + */ +void DrawPath() +{ + + glLineWidth(10.0); + // draw path + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < path_vectorX.size(); j++){ + // set the color + glColor4f(0.0, 1.0, 0.0, 1.0); + // set the points + glVertex3f(path_vectorX.at(j).x,path_vectorX.at(j).y,path_vectorZ.at(j).y); + } + glEnd(); + + // draw lookat path + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < lookat_vectorX.size(); j++){ + //set the color + glColor4d(1.0, 1.0, 0.0, 1.0); + //set the points + glVertex3f(lookat_vectorX.at(j).x,lookat_vectorX.at(j).y,lookat_vectorZ.at(j).y); + } + glEnd(); + + // draw up path + /* + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < ups_vectorX.size(); j++){ + //set the color + glColor4d(0.0, 1.0, 0.0, 0.7); + //set the points + glVertex3f(ups_vectorX.at(j).x,ups_vectorX.at(j).y,ups_vectorZ.at(j).y); + } + glEnd(); + */ +} + +/** + * Draw the camera boxes in the viewer + * + */ +void DrawCameras(void) +{ + for (unsigned int i = 0; i < cams.size(); i++) { + glPushMatrix(); + + // TODO improve upon this primitive camera + Point p = cams[i]; + Point l = Point::norm( lookats[i] - p ); // forward vector + Point u = Point::norm( ups[i] - p ); // up vector + Point r = Point::cross(l,u); // right vector + l = 5 * l; + r = 5 * r; + u = 5 * u; + + Point cube[8]; + cube[0] = p + l - r - u; + cube[1] = p + l + r - u; + cube[2] = p - l + r - u; + cube[3] = p - l - r - u; + cube[4] = p + l - r + u; + cube[5] = p + l + r + u; + cube[6] = p - l + r + u; + cube[7] = p - l - r + u; + + int sides[6][4] = {{0,1,2,3}, {4,5,6,7}, {0,1,5,4}, + {3,2,6,7}, {1,2,6,5}, {0,3,7,4}}; + + if (i+1 == cam_choice) { + glColor4f(1, 0, 1, 1); + } else { + glColor4f(0, 1, 0, 1); + } + // camera cube + glPolygonMode (GL_FRONT_AND_BACK, GL_FILL); + glBegin(GL_QUADS); + for (int j = 0; j < 6; j++) { + if (j == 2) continue; + for (int k = 0; k < 4; k++) { + int index = sides[j][k]; + glVertex3d(cube[index].x, cube[index].y, cube[index].z); + } + } + glEnd(); + + r = 5 * r; + u = 5 * u; + + glColor4f(1, 1, 0, 1); + if (i+1 == cam_choice) { + glPointSize(10); + } else { + glPointSize(5); + } + glBegin(GL_POINTS); + glVertex3d( lookats[i].x, lookats[i].y, lookats[i].z); + glEnd(); + + Point fcube[8]; + fcube[0] = cube[4]; + fcube[1] = cube[5]; + fcube[2] = cube[1]; + fcube[3] = cube[0]; + fcube[4] = lookats[i] - r + u; + fcube[5] = lookats[i] + r + u; + fcube[6] = lookats[i] + r - u; + fcube[7] = lookats[i] - r - u; + + glLineWidth(2.0); + glLineStipple(1, 0x0C0F); + glEnable(GL_LINE_STIPPLE); + glPolygonMode (GL_FRONT_AND_BACK, GL_LINE); + // camera FOV + glBegin(GL_QUADS); + for (int j = 0; j < 6; j++) { + for (int k = 0; k < 4; k++) { + int index = sides[j][k]; + glVertex3d(fcube[index].x, fcube[index].y, fcube[index].z); + } + } + glEnd(); + glDisable(GL_LINE_STIPPLE); + + + /* + if (i+1 == cam_choice) { + glColor3f(1, 1, 0); + glPointSize(20); + } else { + glColor3f(0, 0, 1); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d(p.x, p.y, p.z); + glEnd(); + + if (i+1 == cam_choice) { + glColor3f(0, 1, 1); + glPointSize(20); + } else { + glColor3f(1, 0, 0); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d( l.x, l.y, l.z); + glEnd(); + + if (i+1 == cam_choice) { + glColor3f(1, 0, 1); + glPointSize(20); + } else { + glColor3f(0, 1, 0); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d( u.x, u.y, u.z); + glEnd(); +*/ + + glPopMatrix(); + } +} + +//----------------------------------------------------------------------------------- + + +/** + * Display function + */ +void DisplayItFunc(GLenum mode, bool interruptable) +{ + /** + * Color of the fog + */ + + GLfloat fogColor[4]; + + if(!invert) { + glEnable(GL_COLOR_LOGIC_OP); + glLogicOp(GL_COPY_INVERTED); + } + + // set the clear color buffer in case of + // both invert and non invert mode + if (invert) + glClearColor(0.0, 0.0, 0.0, 0.0); + else + glClearColor(1.0, 1.0, 1.0, 1.0); + + // clear the color and depth buffer bit + if (!interruptable) { // single buffer mode, we need the depth buffer + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + } + + glPushMatrix(); + + // set the matrix mode + glMatrixMode(GL_MODELVIEW); + + // init modelview matrix + glLoadIdentity(); + + // set the polygon mode + glPolygonMode(GL_FRONT/*_AND_BACK*/, GL_LINE); + + // do the model-transformation + if (haveToUpdate == 6 && path_iterator < path_vectorX.size() ) { + gluLookAt(path_vectorX.at(path_iterator).x, + path_vectorX.at(path_iterator).y, + path_vectorZ.at(path_iterator).y, + lookat_vectorX.at(path_iterator).x, + lookat_vectorX.at(path_iterator).y, + lookat_vectorZ.at(path_iterator).y, + ups_vectorX.at(path_iterator).x - path_vectorX.at(path_iterator).x, + ups_vectorX.at(path_iterator).y - path_vectorX.at(path_iterator).y, + ups_vectorZ.at(path_iterator).y - path_vectorZ.at(path_iterator).y); + } else { + if (cameraNavMouseMode == 1) { + glRotated( mouseRotX, 1, 0, 0); + glRotated( mouseRotY, 0, 1, 0); + glRotated( mouseRotZ, 0, 0, 1); + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + update_view_rotate(0); + } else { + double t[3] = {0,0,0}; + double mat[16]; + QuatToMatrix4(quat, t, mat); + glMultMatrixd(mat); + + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + //glRotated(angle, axis[0], axis[1], axis[2]); // rotate the camera + double rPT[3]; + Matrix4ToEuler(mat, rPT); + mouseRotX = deg(rPT[0]); + mouseRotY = deg(rPT[1]); + mouseRotZ = deg(rPT[2]); + + } + updateControls(); + + glTranslated(X, Y, Z); // move camera + } + +// cout << "Position :" << X << " " << Y << " " << Z << endl; +// cout << "Quaternion:" << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl; +// cout << "Axis/Angle:" << axis[0] << " " << axis[1] << " " << axis[2] << " " << angle << endl; +// cout << "Apex angle:" << cangle << endl; +// cout << endl; + + // process fog + if (show_fog > 0) { + if (show_fog > 3) + fogColor[0] = fogColor[1] = fogColor[2] = fogColor[3] = 1.0; + else + fogColor[0] = fogColor[1] = fogColor[2] = fogColor[3] = 0.0; + glEnable(GL_FOG); + { + // ln(1/2^8) = -5.54517744 -> threshold at which the last color bit is gone due to fog + if (show_fog==1) {fogMode = GL_EXP; fardistance = min(5.54517744 / fogDensity, (double)maxfardistance);} + else if (show_fog==2) {fogMode = GL_EXP2; fardistance = min(sqrt(5.54517744) / fogDensity, (double)maxfardistance);} + else if (show_fog==3) {fogMode = GL_LINEAR; fardistance = 32000.0;} + else if (show_fog==4) {fogMode = GL_EXP; fardistance = (double)maxfardistance; } + else if (show_fog==5) {fogMode = GL_EXP2; fardistance = (double)maxfardistance; } + else if (show_fog==6) {fogMode = GL_LINEAR; fardistance = (double)maxfardistance;} + glFogi(GL_FOG_MODE, fogMode); + glFogfv(GL_FOG_COLOR, fogColor); + glFogf(GL_FOG_DENSITY, fogDensity); + glHint(GL_FOG_HINT, GL_FASTEST); + glFogf(GL_FOG_START, neardistance); + glFogf(GL_FOG_END, maxfardistance); + } + } else { + glDisable(GL_FOG); + fardistance = maxfardistance; + } + if (fardistance > maxfardistance) fardistance = maxfardistance; + if ( fabs(oldfardistance - fardistance) > 0.00001 || fabs(oldneardistance - neardistance) > 0.00001 ) { + oldfardistance = fardistance; + oldneardistance = neardistance; + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); + } + + // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + // + // show the objects __after__ the model-transformation + // for all status variables we show the appropiated thing + // using the drawing functions + // + // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + + if (show_path == 1) { + double *pose; + glColor4d(1.0, 0.0, 0.0, 1.0); + glLineWidth(5); + glBegin(GL_LINE_STRIP); + for(unsigned int i = 0; i < MetaMatrix.size(); i++){ + // set usable type + Scan::AlgoType type; + if((unsigned int)frameNr >= MetaMatrix[i].size()) { + type = MetaAlgoType[i].back(); + } else { + type = MetaAlgoType[i][frameNr]; + } + if(frameNr >= 1 && frameNr < (int)MetaMatrix[i].size()) { + if(type == Scan::INVALID) continue; + // avoid incomplete frames in a scan + if((unsigned int)frameNr >= MetaMatrix[i].size()) + pose = MetaMatrix[i].back(); + else + pose = MetaMatrix[i][frameNr]; + } else { + //pose = MetaMatrix[i].back(); + // avoid incomplete frames in a scan + if((unsigned int)current_frame >= MetaMatrix[i].size()) + pose = MetaMatrix[i].back(); + else + pose = MetaMatrix[i][current_frame]; + } + if(showTopView) { + glVertex3f(pose[12], 2000, pose[14]); + } else { + glVertex3f(pose[12], pose[13], pose[14]); + } + } + glEnd(); + } + + // if show camera is true then draw cameras. + if (show_cameras == 1) { + DrawCameras(); + } + + // if show path is true the draw path. + if (show_path == 1) { + DrawPath(); + } + DrawObjects(mode); + + if (label) DrawUrl(); + + // if show points is true the draw points + if (show_points == 1) DrawPoints(mode, interruptable); + + + glPopMatrix(); + + if (!invert) { + glDisable(GL_COLOR_LOGIC_OP); + } + + // force draw the scene + glFlush(); + glFinish(); +} + +void DrawUrl() { + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadIdentity(); + glMatrixMode(GL_PROJECTION); + + // Save the current projection matrix + glPushMatrix(); + // Make the current matrix the identity matrix + glLoadIdentity(); + + // Set the projection (to 2D orthographic) + glOrtho(0.0,100.0,0.0,100.0,-1.5,1.5); + + glPolygonMode (GL_FRONT_AND_BACK, GL_FILL); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO + + glColor4d(0.0,0.0,0.0,0.7); + + glBegin(GL_QUADS); + glVertex3f(0,0,1.49); + glVertex3f(0,6,1.49); + if(smallfont) { + glVertex3f(22,6,1.49); + glVertex3f(22,0,1.49); + } else { + glVertex3f(25,6,1.49); + glVertex3f(25,0,1.49); + } + glEnd(); + + glBlendFunc(GL_ONE, GL_ZERO); + glColor3f(1,1,1); + if(smallfont) { + glRasterPos3f(1,3.5,1.5); + _glutBitmapString(GLUT_BITMAP_8_BY_13, "created by 3DTK"); + glRasterPos3f(1,1,1.5); + _glutBitmapString(GLUT_BITMAP_8_BY_13, "http://threedtk.de"); + } else { + glRasterPos3f(1,3.5,1.5); + _glutBitmapString(GLUT_BITMAP_9_BY_15, "created by 3DTK"); + glRasterPos3f(1,1,1.5); + _glutBitmapString(GLUT_BITMAP_9_BY_15, "http://threedtk.de"); + } + + // Restore the original projection matrix + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); + glPopMatrix(); + +} +/** + * Function topview. Set the screen for top view. + */ +void topView() +{ + static GLdouble save_qx, save_qy, save_qz, save_qangle, save_X, save_Y, save_Z; + static GLdouble saveMouseRotX, saveMouseRotY, saveMouseRotZ; + + if (!showTopView) // set to top view + { + showTopView = true; + // save current pose + save_X = X; + save_Y = Y; + save_Z = Z; + save_qx = quat[0]; + save_qy = quat[1]; + save_qz = quat[2]; + save_qangle = quat[3]; + saveMouseRotX = mouseRotX; + saveMouseRotY = mouseRotY; + saveMouseRotZ = mouseRotZ; + + Y = Y - 350.0; + Z = Z + 500.0; + quat[0] = quat[1] = sqrt(0.5); + quat[2] = quat[3] = 0.0; + mouseRotX = 90; + mouseRotY = 0; + mouseRotZ = 0; + + haveToUpdate = 2; + } else { + showTopView = false; + + // restore old settings + X = save_X; + Y = save_Y; + Z = save_Z; + quat[0] = save_qx; + quat[1] = save_qy; + quat[2] = save_qz; + quat[3] = save_qangle; + mouseRotX = saveMouseRotX; + mouseRotY = saveMouseRotY; + mouseRotZ = saveMouseRotZ; + + haveToUpdate = 2; + } +} + +//--------------------------------------------------------------------------- +/** + * This function is called when the user wants to + * delete a camera. + */ + +void callDeleteCamera(int dummy){ + + //iterator for the position of camera + //in the camera list + vector::iterator position; + vector::iterator positionL; + vector::iterator positionU; + + //calculate the position of the camera. we are referring + //to the selected camera + position = cams.begin()+ (cam_choice-1); + positionL = lookats.begin()+ (cam_choice-1); + positionU = ups.begin()+ (cam_choice-1); + + //if no camera present then return + if(cam_choice == 0) + return; + + //if the list is not empty then + if(!cams.empty()){ + //delete the camera from the position + cams.erase(position); + lookats.erase(positionL); + ups.erase(positionU); + //reset the cam_choice spinner values + } + + updateCamera(); +} + + +//--------------------------------------------------------------------------- +/** + * Function to reset the viewer window. + */ + +void resetView(int dummy) +{ + cangle = 60.0; + pzoom = defaultZoom; + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + haveToUpdate = 2; + mouseRotX = 0; + mouseRotY = 0; + mouseRotZ = 0; + + resetRotationButton(); +} + +/** + * Function to set the viewer window back to a previously saved state. + */ + +void setView(double pos[3], double new_quat[4], + double newMouseRotX, double newMouseRotY, double newMouseRotZ, + double newCangle, + bool sTV, bool cNMM, double pzoom_new, + bool s_points, bool s_path, bool s_cameras, double ps, int + sf, double fD, bool inv) +{ + X = pos[0]; + Y = pos[1]; + Z = pos[2]; + for(int i = 0; i < 4; i++) { + quat[i] = new_quat[i]; + } + cangle = newCangle; + mouseRotX = newMouseRotX; + mouseRotY = newMouseRotY; + mouseRotZ = newMouseRotZ; + showTopView = sTV, + cameraNavMouseMode = cNMM; + pzoom = pzoom_new; + updateTopViewControls(); + + show_points = s_points; + show_path = s_path; + show_cameras = s_cameras; + pointsize = ps; + show_fog = sf; + fogDensity = fD; + invert = inv; + + haveToUpdate = 2; +} + + +/** + * This function is called when the viewer is created. This + * acts as the display function. + */ +void CallBackDisplayFunc() +{ + if ((cangle_spinner != 0 && (fabs(cangle_old - cangle) > 0.5)) || + (pzoom_spinner != 0 && (fabs(pzoom_old - pzoom) > 0.5))) { + + cangle_old = cangle; + pzoom_old = pzoom; + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); +#ifdef _MSC_VER + Sleep(25); +#else + usleep(250000); +#endif + } + + glDrawBuffer(buffermode); + // delete framebuffer and z-buffer + + //Call the display function + DisplayItFunc(GL_RENDER ); + + // show the rednered scene + glutSwapBuffers(); + +} + +/** + * This function is called when there is nothing to be done + * in the screen. + */ +void CallBackIdleFunc(void) +{ + +#ifdef _MSC_VER + Sleep(1); +#else + usleep(1000); +#endif + + if(glutGetWindow() != window_id) + glutSetWindow(window_id); + + // return as nothing has to be updated + if (haveToUpdate == 0) { + if (!fullydisplayed && !mousemoving && !keypressed && pointmode == 0 + ) { + glDrawBuffer(buffermode); + //Call the display function + DisplayItFunc(GL_RENDER, true); + } + return; + } + + // case: display is invalid - update it + if (haveToUpdate == 1) { + glutPostRedisplay(); + haveToUpdate = 0; + return; + } + // case: display is invalid - update it with all points +/* if (haveToUpdate == 7) { + showall = true; + glutPostRedisplay(); + haveToUpdate = 0; + return; + }*/ + + // case: camera angle is changed - instead of repeating code call Reshape, + // since these OpenGL commands are the same + if (haveToUpdate == 2) { + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); + glutPostRedisplay(); + haveToUpdate = 0; + return; + } + + // case: animation + if(haveToUpdate == 3 ){ + frameNr += 1; + if(!(MetaMatrix.size() > 1 && frameNr < (int) MetaMatrix[1].size())){ + frameNr = 0; + haveToUpdate = 4; + return; + } + glutPostRedisplay(); + + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(frameNr,5) + ".ppm"; + cout << "write " << filename << endl; + int tmpUpdate = haveToUpdate; + glWriteImagePPM(filename.c_str(), factor, 0); + haveToUpdate = tmpUpdate; + + string jpgname = scan_dir + "animframe" + to_string(frameNr,5) + ".jpg"; + string systemcall = "convert -quality 100 -type TrueColor " + filename + " " + jpgname; + // cout << systemcall << endl; + system(systemcall.c_str()); + systemcall = "rm " + filename; + system(systemcall.c_str()); + // cout << systemcall << endl; + // for f in *ppm ; do convert -quality 100 -type TrueColor $f `basename $f ppm`jpg; done + } + + } +#ifdef _MSC_VER + Sleep(300); + Sleep(anim_delay); +#else + usleep(anim_delay * 10000); +#endif + + if (haveToUpdate == 4) { // stop animation + frameNr = 0; // delete these lines if you want a 'continue' functionality. + haveToUpdate = 1; + } + + // case: path animation + if(haveToUpdate == 6){ + + if (path_iterator == 0) { + oldcamNavMode = cameraNavMouseMode; // remember state of old mousenav + cameraNavMouseMode = 0; + } + + // check if the user wants to animate both + // scan matching and the path at the same + //time + + // cout << "path_iterator: " << path_iterator << endl; + if(path_iterator < path_vectorX.size()){ // standard animation case + + // call the path animation function + // hide both the cameras and the path + show_cameras = 0; + show_path = 0; + // increase the iteration count + + path_iterator += 1; + // repaint the screen + glutPostRedisplay(); + + // save the animation + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(path_iterator,5) + ".ppm"; + string jpgname = scan_dir + "animframe" + to_string(path_iterator,5) + ".jpg"; + cout << "written " << filename << " of " << path_vectorX.size() << " files" << endl; + glWriteImagePPM(filename.c_str(), factor, 0); + string systemcall = "convert -quality 100 " + filename + " " + jpgname; + system(systemcall.c_str()); + systemcall = "rm " + filename; + system(systemcall.c_str()); + haveToUpdate = 6; + + } + }else{ // animation has just ended + cameraNavMouseMode = oldcamNavMode; + show_cameras = 1; + show_path = 1; + haveToUpdate = 0; + } + } + +} + + +/** + * This function handles the rotation of the view + */ + +void update_view_rotate(int t) +{ + double view_rotate_button_quat[4]; + + // convert the rotate button matrix to quaternion + //Matrix4ToQuaternion(view_rotate_button, view_rotate_button_quat); + double mat[16]; + for (int i = 0; i < 16; i++) + mat[i] = view_rotate_button[i]; + Matrix4ToQuat(mat, view_rotate_button_quat); + + // normalize the quartenion + QuatNormalize(view_rotate_button_quat); + + // copy it to the global quartenion quat + memcpy(quat, view_rotate_button_quat, sizeof(quat)); +} + +/** + * This function handles the translation of view. + */ +void update_view_translation(int t) +{ + double obj_pos_button1[3]; + + for (int i = 0; i < 3; i++) { + if (fabs(obj_pos_button_old[i] - obj_pos_button[i]) > COMPARE_EPSILON) { + obj_pos_button1[i] = obj_pos_button[i] - obj_pos_button_old[i]; + obj_pos_button_old[i] = obj_pos_button[i]; + } else obj_pos_button1[i] = 0.0; + } + + X = X + obj_pos_button1[0] * view_rotate_button[0] + obj_pos_button1[1] * view_rotate_button[1] + obj_pos_button1[2] * view_rotate_button[2]; + Y = Y + obj_pos_button1[0] * view_rotate_button[4] + obj_pos_button1[1] * view_rotate_button[5] + obj_pos_button1[2] * view_rotate_button[6]; + Z = Z + obj_pos_button1[0] * view_rotate_button[8] + obj_pos_button1[1] * view_rotate_button[9] + obj_pos_button1[2] * view_rotate_button[10]; + +} + + +/** + * handles the animation button + * @param dummy not needed necessary for glui + */ +void startAnimation(int dummy) +{ + if (MetaMatrix.size() > 0) { + if (haveToUpdate != 3) { + haveToUpdate = 3; + } + else // stop animation + haveToUpdate = 4; + } +} + +/** + * calls the resetView function + * @param dummy not needed necessary for glui + */ +void callResetView(int dummy) +{ + if (showTopView) callTopView(dummy); + resetView(0); +} + +/** + * calls the resetView function + * @param dummy not needed necessary for glui + */ +void invertView(int dummy) +{ + invert = !invert; +} + +/** + * calls the topView function + * @param dummy not needed necessary for glui + */ +void callTopView(int dummy) +{ + topView(); + if (showTopView) { + rotButton->disable(); + cangle_spinner->disable(); + pzoom_spinner->enable(); + } else { + rotButton->enable(); + cangle_spinner->enable(); + pzoom_spinner->disable(); + } +} + +/** + * calls the cameraView function + * @param dummy not needed necessary for glui + */ +void callAddCamera(int dummy) +{ + Point campos(-X, -Y, -Z); + + // calculate lookat point + Point lookat; + Point up(0, 0, 0); + double tmat[16]; + for (int i =0;i<16;i++) tmat[i] = view_rotate_button[i]; + + lookat.x = -50*tmat[2] -X; + lookat.y = -50*tmat[6] -Y; + lookat.z = -50*tmat[10] -Z; + + up.x = 50*tmat[1] -X; + up.y = 50*tmat[5] -Y; + up.z = 50*tmat[9] -Z; + + cams.push_back(campos); + lookats.push_back(lookat); + ups.push_back(up); + + updateCamera(); + + // signal to repaint screen + haveToUpdate = 1; +} + +void selectPoints(int x, int y) { + + GLuint selectBuf[BUFSIZE]; + GLint hits; + GLint viewport[4]; + if (selectOrunselect) { + // set the matrix mode + glMatrixMode(GL_MODELVIEW); + // init modelview matrix + glLoadIdentity(); + + // do the model-transformation + if (cameraNavMouseMode == 1) { + glRotated( mouseRotX, 1, 0, 0); + glRotated( mouseRotY, 0, 1, 0); + glRotated( mouseRotZ, 0, 0, 1); + } else { + double t[3] = {0,0,0}; + double mat[16]; + QuatToMatrix4(quat, t, mat); + glMultMatrixd(mat); + + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + double rPT[3]; + Matrix4ToEuler(mat, rPT); + mouseRotX = deg(rPT[0]); + mouseRotY = deg(rPT[1]); + mouseRotZ = deg(rPT[2]); + } + updateControls(); + glTranslated(X, Y, Z); // move camera + + static sfloat *sp2 = 0; +/* for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + if (!selected_points[iterator].empty()) sp2 = *selected_points[iterator].begin(); + + // selected_points[iterator].clear(); + }*/ + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + glPushMatrix(); + glMultMatrixd(MetaMatrix[iterator].back()); + calcRay(x, y, 1.0, 40000.0); + if (select_voxels) { + octpts[iterator]->selectRay(selected_points[iterator], selection_depth); + } else if (brush_size == 0) { + sfloat *sp = 0; + octpts[iterator]->selectRay(sp); + if (sp != 0) { + cout << "Selected point: " << sp[0] << " " << sp[1] << " " << sp[2] << endl; + + if (sp2 != 0) { + cout << "Distance to last point: " + << sqrt( sqr(sp2[0] - sp[0]) + sqr(sp2[1] - sp[1]) + sqr(sp2[2] - sp[2]) ) << endl; + } + sp2 = sp; + + selected_points[iterator].insert(sp); + } + } else { // select multiple points with a given brushsize + octpts[iterator]->selectRayBrushSize(selected_points[iterator], brush_size); + } + + glPopMatrix(); + } + + } else { + // unselect points + glGetIntegerv(GL_VIEWPORT, viewport); + + glSelectBuffer(BUFSIZE, selectBuf); + (void) glRenderMode(GL_SELECT); + + glInitNames(); + glPushName(0); + + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glLoadIdentity(); + +// gluPickMatrix((GLdouble)x, (GLdouble)(viewport[3]-y), 10.0, 10.0, viewport); + gluPickMatrix((GLdouble)x, (GLdouble)(viewport[3]-y), brush_size*2, brush_size*2, viewport); + gluPerspective(cangle, aspect, neardistance, fardistance); + glMatrixMode(GL_MODELVIEW); + DisplayItFunc(GL_SELECT); + + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); + + hits = glRenderMode(GL_RENDER); // get hits + ProcessHitsFunc(hits, selectBuf); + } + glPopMatrix(); + glutPostRedisplay(); +} + +void CallBackMouseFuncMoving(int button, int state, int x, int y) +{ + + if( state == GLUT_DOWN) { + mousemoving = true; + } else { + mousemoving = false; + } +} + + +/** + * This function is called after a mousebutton has been pressed. + */ +void CallBackMouseFunc(int button, int state, int x, int y) +{ + // Are we selecting points or moving the camera? + if(cameraNavMouseMode != 1) { // selecting points + if (state == GLUT_DOWN && (button == GLUT_LEFT_BUTTON || button == GLUT_RIGHT_BUTTON)) { + selectPoints(x,y); + } + } else { + if( state == GLUT_DOWN) { + + mouseNavX = x; + mouseNavY = y; + mouseNavButton = button; + + mousemoving = true; + } else { + mouseNavButton = -1; + mousemoving = false; + } + } +} + + +void moveCamera(double x, double y, double z, double rotx, double roty, double rotz) { + interruptDrawing(); + double mat[9]; + + double xr = M_PI * mouseRotX / 180; + double yr = M_PI * mouseRotY / 180; + double zr = M_PI * mouseRotZ / 180; + double c1,c2,c3,s1,s2,s3; + s1 = sin(xr); c1 = cos(xr); + s2 = sin(yr); c2 = cos(yr); + s3 = sin(zr); c3 = cos(zr); + mat[0] = c2*c3; + mat[1] = -c2*s3; + mat[2] = s2; + mat[3] = c1*s3+c3*s1*s2; + mat[4] = c1*c3-s1*s2*s3; + mat[5] = -c2*s1; + mat[6] = s1*s3-c1*c3*s2; + mat[7] = c1*s2*s3+c3*s1; + mat[8] = c1*c2; + + double transX, transY, transZ; + transX = transY = transZ = 0.0; + + mouseRotX += rotx; + mouseRotY -= roty; + mouseRotZ -= rotz; + + if (mouseRotX < -90) mouseRotX=-90; + else if (mouseRotX > 90) mouseRotX=90; + if (mouseRotY > 360) mouseRotY-=360; + else if (mouseRotY < 0) mouseRotY+=360; + if (mouseRotZ > 360) mouseRotZ-=360; + else if (mouseRotZ < 0) mouseRotZ+=360; + + transX += x * mat[0] + y * mat[3] + z * mat[6]; + transY += x * mat[1] + y * mat[4] + z * mat[7]; + transZ += x * mat[2] + y * mat[5] + z * mat[8]; + + + X += transX; + Y += transY; + Z += transZ; + haveToUpdate = 1; + +} + +void KeyboardFunc(int key, bool control, bool alt, bool shift) { + double stepsize = movementSpeed; + if (shift) stepsize *= 10.0; + if (control) stepsize *= 0.1; + + double rotsize = 0.2 * stepsize; + + switch (key) { + case 'w': + case 'W': + moveCamera(0,0,stepsize,0,0,0); + break; + case 'a': + case 'A': + moveCamera(stepsize,0,0,0,0,0); + break; + case 's': + case 'S': + moveCamera(0,0,-stepsize,0,0,0); + break; + case 'd': + case 'D': + moveCamera(-stepsize,0,0,0,0,0); + break; + case 'c': + case 'C': + moveCamera(0,stepsize,0,0,0,0); + break; + case 32: // WXK_SPACE + moveCamera(0,-stepsize,0,0,0,0); + break; + case 314: // WXK_LEFT + moveCamera(0,0,0,0,rotsize,0); + break; + case 315: // WXK_UP + moveCamera(0,0,0,rotsize,0,0); + break; + case 316: // WXK_RIGHT + moveCamera(0,0,0,0,-rotsize,0); + break; + case 317: // WXK_DOWN + moveCamera(0,0,0,-rotsize,0,0); + break; + case 'q': + case 'Q': + case 366: // WXK_PAGEUP + moveCamera(0,0,0,0,0,rotsize); + break; + case 'e': + case 'E': + case 367: // WXK_PAGEDOWN + moveCamera(0,0,0,0,0,-rotsize); + break; + case 'f': + if (!fullscreen) { + fullscreen = true; + glutFullScreen(); + } else { + fullscreen = false; + glutReshapeWindow(current_width, current_height); + } + break; + default: + break; + } +} + +void CallBackMouseMotionFunc(int x, int y) { + double deltaMouseX = x - mouseNavX; + double deltaMouseY = mouseNavY - y; + mouseNavX = x; + mouseNavY = y; + + if(cameraNavMouseMode == 1) { + if( mouseNavButton == GLUT_RIGHT_BUTTON){ + if ( showTopView ) { + deltaMouseX *= 5; + deltaMouseY *= 5; + } + deltaMouseX *= movementSpeed/10.0; // moving 10 pixels is equivalent to one key stroke + deltaMouseY *= movementSpeed/10.0; + moveCamera(deltaMouseX, deltaMouseY, 0, 0,0,0); + } else if( mouseNavButton == GLUT_MIDDLE_BUTTON ){ + if ( !showTopView ) { + deltaMouseY *= -5; + } + deltaMouseX *= movementSpeed/10.0; // moving 10 pixels is equivalent to one key stroke + deltaMouseY *= movementSpeed/10.0; + moveCamera(deltaMouseX, 0, deltaMouseY, 0,0,0); + } else if ( mouseNavButton == GLUT_LEFT_BUTTON ){ + moveCamera(0, 0, 0, deltaMouseY,deltaMouseX,0); + } else { + return; + } + } else { + selectPoints(x,y); + } +} + + + +void initScreenWindow() +{ + // init display + glutInitDisplayMode(GLUT_DEPTH | GLUT_RGBA | GLUT_DOUBLE); + + // define the window position and size + glutInitWindowPosition(START_X, START_Y); + glutInitWindowSize( START_WIDTH, START_HEIGHT ); + + // create window and append callback functions + window_id = glutCreateWindow("3D_Viewer"); + + glutDisplayFunc( CallBackDisplayFunc ); + glutReshapeFunc( CallBackReshapeFunc ); + + glutMouseFunc ( CallBackMouseFunc ); + glutKeyboardFunc ( CallBackKeyboardFunc); + glutKeyboardUpFunc ( CallBackKeyboardUpFunc); + glutMotionFunc ( CallBackMouseMotionFunc); + glutSpecialFunc ( CallBackSpecialFunc); + // glutEntryFunc ( CallBackEntryFunc); + GLUI_Master.set_glutReshapeFunc( CallBackReshapeFunc ); + GLUI_Master.set_glutIdleFunc( CallBackIdleFunc ); + + update_view_rotate(0); + glClearColor(0.0, 0.0, 0.0, 0.0); + // glClearColor(1.0, 1.0, 1.0, 1.0); +} + + +/* +++++++++-------------++++++++++++ + * NAME + * glDumpWindowPPM + * DESCRIPTION + * writes an ppm file of the window + * content + * PARAMETERS + * filename + * RESULT + * writes the framebuffer content + * to a ppm file ++++++++++-------------++++++++++++ */ +void glDumpWindowPPM(const char *filename, GLenum mode) +{ + int win_height, win_width; + int i,j,k,l; // Counter variables + GLubyte *buffer; // The GL Frame Buffer + unsigned char *ibuffer; // The PPM Output Buffer + ofstream fp; // The PPM File + + GLint viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + win_height = viewport[3]; + win_width = viewport[2]; + + // Allocate memory for the the frame buffer and output buffer + buffer = new GLubyte[win_width * win_height * RGBA]; + ibuffer = new unsigned char[win_width * win_height * RGB]; + + // Read window contents from GL frame buffer with glReadPixels + glFinish(); + glReadBuffer(buffermode); + glReadPixels(0, 0, win_width, win_height, + GL_RGBA, GL_UNSIGNED_BYTE, buffer); + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Andreas Nuechter, University of Osnabrueck" + << endl << win_width << " " << win_height << " " << UCHAR_MAX << endl; + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + l = 0; + for (i = 0; i < win_height; i++) { // For each row + for (j = 0; j < win_width; j++) { // For each column + for (k = 0; k < RGB; k++) { // For each RGB component + //cout << (RGBA*((win_height-1-i)*win_width+j)+k) << endl; + ibuffer[l++] = (unsigned char) + *(buffer + (RGBA*((win_height-1-i)*win_width+j)+k)); + } // end RGB + } // end column + } // end row + + // to make a video do: + // for f in *ppm ; do convert -quality 100 $f `basename $f ppm`jpg; done + // mencoder "mf://*.jpg" -mf fps=10 -o test.avi -ovc lavc -lavcopts vcodec=msmpeg4v2:vbitrate=800 + // Write output buffer to the file */ + fp.write((const char*)ibuffer, sizeof(unsigned char) * (RGB * win_width * win_height)); + fp.close(); + fp.clear(); + delete [] buffer; + delete [] ibuffer; +} + +/* +++++++++-------------++++++++++++ + * NAME + * glDumpWindowPPM + * DESCRIPTION + * writes an ppm file of the window + * content + * size is scale times the window size + * PARAMETERS + * filename + * RESULT + * writes the framebuffer content + * to a ppm file ++++++++++-------------++++++++++++ */ +void glWriteImagePPM(const char *filename, int scale, GLenum mode) +{ + //if(!showTopView) { + int m,o,k; // Counter variables + // Get viewport parameters + double left, right, top, bottom; + double tmp = 1.0/tan(rad(cangle)/2.0); + + // Save camera parameters + GLdouble savedMatrix[16]; + glGetDoublev(GL_PROJECTION_MATRIX,savedMatrix); + GLdouble savedModel[16]; + glGetDoublev(GL_MODELVIEW_MATRIX,savedModel); + //glMatrixMode(GL_PROJECTION); + //glPushMatrix(); + //glMatrixMode(GL_MODELVIEW); + //glPushMatrix(); + top = 1.0/tmp; + bottom = -top; + right = (aspect)/tmp; + left = -right; + + double part_height, part_width; + if(!showTopView) { + part_width = (right - left)/(double)scale; + part_height = (top - bottom)/(double)scale; + } else { + part_height = (2*pzoom)/scale; + part_width = (2*pzoom*aspect)/scale; + cout << part_width << " " << part_height << endl; + } + // Calculate part parameters + GLint viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + int win_width = viewport[2]; + int win_height = viewport[3]; + int image_width = scale * win_width; + int image_height = scale * win_height; + + // Allocate memory for the the frame buffer and output buffer + GLubyte *buffer; // The GL Frame Buffer + unsigned char *ibuffer; // The PPM Output Buffer + buffer = new GLubyte[win_width * win_height * RGBA]; + ibuffer = new unsigned char[image_width * image_height * RGB]; + + smallfont = (scale==1); + double height; + if(!showTopView) { + height = bottom; + } else { + height = -pzoom; + } + for(int i = 0; i < scale; i++) { + double width; + if(!showTopView) { + width = left; + } else { + width = -pzoom*aspect; + } + for(int j = 0; j < scale; j++) { + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + label = false; + if(!showTopView) { + glFrustum(neardistance*width, neardistance*(width + part_width), + neardistance*(height), + neardistance*(height + part_height), + neardistance, fardistance); + glMatrixMode(GL_MODELVIEW); + if(i==0 && j==0) { + label = true; + } + DisplayItFunc(mode); + } else { + glOrtho( width, width + part_width, + height, height + part_height, + 1.0, 32000.0 ); + glMatrixMode(GL_MODELVIEW); + if(i==0 && j==0) { + label = true; + } + DisplayItFunc(mode); + } + + // Read window contents from GL frame buffer with glReadPixels + glFinish(); + glReadBuffer(buffermode); + glReadPixels(0, 0, win_width, win_height, GL_RGBA, GL_UNSIGNED_BYTE, buffer); + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + // end row + for (m = 0; m < win_height; m++) { // For each row + for (o = 0; o < win_width; o++) { // For each column + for (k = 0; k < RGB; k++) { // For each RGB component + int l = (k+RGB*(image_width*((scale - 1 - i)*win_height + m) + j*win_width + o)); + ibuffer[l] = (unsigned char) *(buffer + (RGBA*((win_height-1-m)*win_width+o)+k)); + } // end RGB + } // end column + } + width += part_width; + } + height += part_height; + } + + // show the starting scene + + // Restore the original projection matrix + glMatrixMode(GL_PROJECTION); + glLoadMatrixd(savedMatrix); + glMatrixMode(GL_MODELVIEW); + glLoadMatrixd(savedModel); + // show the rednered scene + label = true; + smallfont = true; + haveToUpdate=2; + DisplayItFunc(mode); + + ofstream fp; // The PPM File + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Dorit Borrmann, Jacobs University Bremen gGmbH" + << endl << image_width << " " << image_height << " " << UCHAR_MAX << endl; + + // Write output buffer to the file + fp.write((const char*)ibuffer, sizeof(unsigned char) * (RGB * image_width * image_height)); + fp.close(); + fp.clear(); + delete [] buffer; + delete [] ibuffer; +} + +/** Reshape Function + * TODO: have to describe it. + * + */ +void CallBackReshapeFunc(int width, int height) +{ + if (!fullscreen) { + current_height = height; + current_width = width; + } + aspect = (double)width/(double)height; + if (!showTopView) { + // usage of the vsize of a structiewport + glViewport(0, 0, (GLint)width, (GLint)height); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + // angle, aspect, near clip, far clip + // get matrix + gluPerspective(cangle, aspect, neardistance, fardistance); + + // now use modelview-matrix as current matrix + glMatrixMode(GL_MODELVIEW); + + haveToUpdate = 1; + + } else { + + // usage of the viewport + glViewport ( 0, 0, width, height); + + glMatrixMode ( GL_PROJECTION ); + glLoadIdentity (); + + // get matrix + glOrtho ( -aspect * pzoom, aspect * pzoom, + -1 * pzoom, pzoom, + 1.0, 32000.0 ); + + // now use modelview-matrix as current matrix + glMatrixMode(GL_MODELVIEW); + + haveToUpdate = 1; + + } + // glDepthMask(false); + glEnable(GL_BLEND); // TODO + glBlendFunc(GL_ONE, GL_ZERO); // TODO + // glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO + // glBlendFunc(GL_ONE, GL_ONE); // TODO + // glBlendFunc(GL_SRC_COLOR, GL_DST_COLOR); + glHint(GL_POINT_SMOOTH_HINT, GL_NICEST); + // TODO glDepthFunc(GL_LEQUAL); + glDepthFunc(GL_LESS); //TODO + glEnable(GL_DEPTH_TEST); + glEnable (GL_POINT_SMOOTH); +} + +/** + * Prints out which points were clicked on + */ +void ProcessHitsFunc(GLint hits, GLuint buffer[]) +{ + //cout << "SIZE " << selected_points[0].size() << endl; + //cout << "processing " << endl; + set names; + set unsel_points; + + GLuint *ptr, nr_names; + + ptr = (GLuint *)buffer; + + for(int i = 0 ; i < hits ; i++) { + nr_names = *ptr; + ptr+=3; // skip 2 z values + for(unsigned int j = 0;j < nr_names ; j++){ // iterate over all names + names.insert(*ptr); + + ptr++; + } + } + //cout << "number of names " << names.size() << endl; + if (names.empty()) return; + + int index = 0; + set::iterator nit = names.begin(); + // find the respective name + + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + // iterate over the selected points as in DrawPoints + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + if (index == *nit) { // if the current index is the current name + unsel_points.insert(*it); + nit++; + } + if (nit == names.end()) goto Done; // break out of the loop + index++; + } + } + + Done: + + cout << "Erasing " << endl; + for (set::iterator it = unsel_points.begin(); + it != unsel_points.end(); it++) { // iterate to the index as indicated by the name *ptr + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { // erase for all scans + selected_points[iterator].erase(*it); + } + } + + + cout << "processing done" << endl; + +} + + +//------------------------------------------------------------------ +/** + * This function deals with all our keyboard activities + */ + +void InterfaceFunc(unsigned char key){ + + strncpy(path_file_name, path_filename_edit->get_text(), 1024); + strncpy(pose_file_name, pose_filename_edit->get_text(), 1024); + return; +} + + +void CallBackSpecialFunc(int key , int x, int y) { + //KeyboardFunc(key + 214, false, false, false); + // return; +} + +/** + * Function drawRobotPath + * \brief This functions draws the path where the + * robot has travelled along while taking the scans + */ +void drawRobotPath(int dummy){ + // clear the camera list as we are going to add the cameras + // in the path where the robot travelled. + + // lets loop through the entire frame files to extract the + // total number of places where the robot has taken the scans from + for(unsigned int i = 0; i < MetaMatrix.size(); i++){ + //temp variable + double *temp; + // Now, lets go to the last of each frame file to + // extract the transformation matrix obtained + // after scan matching has been done. + glMultMatrixd(MetaMatrix[i].back()); + + // temp is final transformation matrix + temp = MetaMatrix[i].back(); + + Point campos(temp[12], temp[13] + 100, temp[14]); + + // calculate lookat point + Point lookat(0, 0, 50); + Point up(0, 50, 0); + double tmat[16]; + for (int i =0;i<16;i++) tmat[i] = temp[i]; + lookat.transform(tmat); + lookat.x = lookat.x ; + lookat.y = lookat.y + 100; + lookat.z = lookat.z ; + + up.transform(tmat); + up.x = up.x ; + up.y = up.y + 100; + up.z = up.z ; + + cams.push_back(campos); + lookats.push_back(lookat); + ups.push_back(up); + } + updateCamera(); + + // signal for the update of scene + haveToUpdate = 1; +} + +/** + * Calculates the positions of the interpolated camera path positions on the + * Nurbs path. There will be an equal number of intermediate positions between + * neighboring cameras. + */ +void calcInterpolatedCameras(vector vec1, vector vec2) { + NurbsPath::camRatio.clear(); + double distance = 0.0; + double dx, dy, dz; + for(unsigned int i=0;i vec1, vector vec2) +{ + double distance = 0.0; + double dx, dy, dz; + for(unsigned int i=0;i= 'A' && key <= 'Z') { + keymap[key+ ('a'-'A')] = false; + } + if (key >= 'a' && key <= 'z') { + keymap[key+ ('A'-'a')] = false; + } + + for (unsigned int i = 0; i < 256; i++) { + if (keymap[i]) { + keypressed = true; + return; + } + } + keypressed = false; +} + +void CallBackKeyboardFunc(unsigned char key, int x, int y) { + keymap[key] = true; + keypressed = true; + bool cmd,alt,shift; + cmd = glutGetModifiers() & GLUT_ACTIVE_CTRL; + alt = glutGetModifiers() & GLUT_ACTIVE_ALT; + shift = glutGetModifiers() & GLUT_ACTIVE_SHIFT; + if (cmd) { + key += 96; + } + KeyboardFunc(key, cmd, alt, shift); +} + +void mapColorToValue(int dummy) { + switch (listboxColorVal) { + case 0: + cm->setCurrentType(PointType::USE_HEIGHT); + break; + case 1: + cm->setCurrentType(PointType::USE_REFLECTANCE); + break; + case 2: + cm->setCurrentType(PointType::USE_AMPLITUDE); + break; + case 3: + cm->setCurrentType(PointType::USE_DEVIATION); + break; + case 4: + cm->setCurrentType(PointType::USE_TYPE); + break; + case 5: + cm->setCurrentType(PointType::USE_COLOR); + break; + default: + break; + }; + resetMinMax(0); +} + +void changeColorMap(int dummy) { + ColorMap c; + GreyMap gm; + HSVMap hsv; + SHSVMap shsv; + JetMap jm; + HotMap hot; + DiffMap diff; + + switch (listboxColorMapVal) { + case 0: + // TODO implement no color map + cm->setColorMap(c); + break; + case 1: + cm->setColorMap(gm); + break; + case 2: + cm->setColorMap(hsv); + break; + case 3: + cm->setColorMap(jm); + break; + case 4: + cm->setColorMap(hot); + break; + case 5: + cm->setColorMap(diff); + break; + case 6: + cm->setColorMap(shsv); + break; + default: + break; + } +} + +void minmaxChanged(int dummy) { + cm->setMinMax(mincolor_value, maxcolor_value); +} + +void resetMinMax(int dummy) { + mincolor_value = cm->getMin(); + maxcolor_value = cm->getMax(); + minmaxChanged(0); +} + +void setScansColored(int dummy) { + switch(colorScanVal) { + case 0: + cm->setMode(ScanColorManager::MODE_STATIC); + break; + case 1: + cm->setMode(ScanColorManager::MODE_COLOR_SCAN); + break; + case 2: + cm->setMode(ScanColorManager::MODE_POINT_COLOR); + break; + default: + break; + } +} + + +void changePointMode(int dummy) { + if (dummy == 0) { // always display + if (pointmode != 1) { // standard mode + pointmode = 1; + //never_box->set_int_val(0); + } else { + pointmode = 0; + } + } else if (dummy == 1) { // never display + if (pointmode != -1) { // standard mode + pointmode = -1; + //always_box->set_int_val(0); + } else { + pointmode = 0; + } + } + updatePointModeControls(); +} + + +void callCameraUpdate(int dummy) { + updateCamera(); +} + +void calcPointSequence(vector &sequence, int frameNr) { + sequence.clear(); + vector > dists; + double x,y,z; + + for (unsigned int i = 0; i < octpts.size(); i++) { + // stop at scans that don't have any frames associated with them + if(i >= MetaMatrix.size()) break; + // set usable frame + double* frame; + if((unsigned int)frameNr >= MetaMatrix[i].size()) { + // use last possible frame + frame = MetaMatrix[i].back(); + } else { + frame = MetaMatrix[i][frameNr]; + } + x = frame[12]; + y = frame[13]; + z = frame[14]; + dists.push_back( pair(sqr(X + x) + sqr(Y + y) + sqr(Z + z), i) ); + } + + sort( dists.begin(), dists.end()); + + for (unsigned int i = 0; i < dists.size(); i++) { + sequence.push_back( dists[i].second); + } +} diff --git a/.svn/pristine/3f/3ffdb910f1ebe94298e028b1190110ed5a29ac93.svn-base b/.svn/pristine/3f/3ffdb910f1ebe94298e028b1190110ed5a29ac93.svn-base new file mode 100644 index 0000000..1ad0f7a Binary files /dev/null and b/.svn/pristine/3f/3ffdb910f1ebe94298e028b1190110ed5a29ac93.svn-base differ diff --git a/.svn/pristine/40/40687bdabcd3547aa8dfa23a69594872d4d2c4aa.svn-base b/.svn/pristine/40/40687bdabcd3547aa8dfa23a69594872d4d2c4aa.svn-base new file mode 100644 index 0000000..775430c --- /dev/null +++ b/.svn/pristine/40/40687bdabcd3547aa8dfa23a69594872d4d2c4aa.svn-base @@ -0,0 +1,131 @@ +#ifndef _STDINC_H_ +#define _STDINC_H_ + +#include +#include + +#ifndef AND +#define AND && +#define OR || +#define NOT ! +#endif + +#ifndef true +#define true 1 +#define false 0 +#endif + +#ifndef Bool +typedef char Bool; +#endif + +#ifndef MAX +#define MAX(a,b) ((a)>(b) ? (a) : (b)) +#define MIN(a,b) ((a)<(b) ? (a) : (b)) +#endif + +#ifndef ABS +#define ABS(a) ((a)>=0 ? (a) : (-(a))) +#endif + +/********* TOGGLE_BOOL(boolean) : toggles values of 'boolean' ******/ +#ifndef TOGGLE_BOOL +#define TOGGLE_BOOL(a) ((a)=1-(a)) +#endif + + +/******************** bit comparisons and operations ***************/ +#ifndef TEST_BIT +#define TEST_BIT( x, b ) (((x) & (1<<(b))) != 0 ) +#define SET_BIT( x, b ) ((x) |= (1 << (b))) +#define CLEAR_BIT( x, b ) ((x) &= ~(1 << (b))) +#define TOGGLE_BIT( x, b ) ((TEST_BIT(x,b)) ?(CLEAR_BIT(x,b)):(SET_BIT(x,b))) +#endif + +#ifndef TEST_AND +#define TEST_AND( a, b ) ((a&b)==b) +#endif + + +#ifndef M_PI +#define M_PI 3.141592654 +#endif + +typedef char String[81]; + + +/*********** flush the stdout and stderr output streams *************/ +#ifndef flushout +#define flushout fflush(stdout) +#define flusherr fflush(stderr) +#endif + + +/********** Debugging functions *************************************/ +#ifndef error_return +#define error_return( c ); {fprintf(stderr,c);return;} +#endif + + +/************************* floating-point random ********************/ +#ifndef randf +#define randf() ((float) rand() / (float)RAND_MAX ) +#endif + +#ifndef SIGN +#define SIGN(x) ((x)>=0 ? 1 : -1) +#endif + + +/****************** conversion between degrees and radians **********/ +#ifndef DEG2RAD +#define DEG2RAD(x) ((x)/180.0*M_PI) +#define RAD2DEG(x) ((x)/M_PI*180.0) +#endif + + +/***************** clamp a value to some fixed interval *************/ +#ifndef CLAMP +#define CLAMP(x,lo,hi) {if ((x) < (lo)) {(x)=(lo);} else if((x) > (hi)) {(x)=(hi);}} +#endif + + + +/************ check if a value lies within a closed interval *********/ +#ifndef IN_BOUNDS +#define IN_BOUNDS( x, lo, hi ) ( (x) >= (lo) AND (x) <= (hi) ) +#endif + + +/************ check if a 2D point lies within a 2D box ***************/ +#ifndef PT_IN_BOX +#define PT_IN_BOX( x, y, lo_x, hi_x, lo_y, hi_y ) \ +( IN_BOUNDS(x,lo_x,hi_x) AND IN_BOUNDS(y,lo_y,hi_y) ) +#endif + + /****** check if value lies on proper side of another value *****/ + /*** if side is positive => proper side is positive, else negative **/ +#ifndef CHECK_PROPER_SIDE +#define CHECK_PROPER_SIDE(x,val,side) ((side) > 0 ? (x) > (val) : (x) < (val)) +#endif + + + /***** Small value when we want to do a comparison to 'close to zero' *****/ +#ifndef FUDGE +#define FUDGE .00001 +#endif + + + /******************* swap two values, using a temp variable *********/ +#ifndef SWAP2 +#define SWAP2(a,b,t) {t=a;a=b;b=t;} +#endif + +#define VEC3_TO_ARRAY(v,a) a[0]=v[0], a[1]=v[1], a[2]=v[2] + +#endif /* _STDINC_H_ */ + + + + + diff --git a/.svn/pristine/40/40986fa5eb03ba3679675bb0c5c956a8bd67fd57.svn-base b/.svn/pristine/40/40986fa5eb03ba3679675bb0c5c956a8bd67fd57.svn-base new file mode 100644 index 0000000..f24dc7c --- /dev/null +++ b/.svn/pristine/40/40986fa5eb03ba3679675bb0c5c956a8bd67fd57.svn-base @@ -0,0 +1,113 @@ +/** + * @file + * @brief IO filtering class for ScanIO to discard unwanted points. + * + * @author Thomas Escher + */ + +#ifndef POINT_FILTER_H +#define POINT_FILTER_H + +#include +#include + +class Checker; + + +/** + * Flexible filtering class for parsing a set of points. + * + * This class is configurable with parameters for range and height and can be transferred via the use of a parameter string. + * Use on a point set via repeated use of the check function, which creates the internal Checker structures once for each change to the parameters. The amount of tests is held as minimal as possible. + */ +class PointFilter +{ +public: + // Default empty constructor + PointFilter(); + //! Deserialization constructor, forms parameters back from a string given by getParams + PointFilter(const std::string& params); + ~PointFilter(); + + PointFilter& setRange(float maxDist, float minDist); + PointFilter& setHeight(double top, double bottom); + + //! Serialization function to convert it into a string, usable in the constructor + std::string getParams(); + + //! Check a point, returning success if all contained Checker functions accept that point (implemented in .icc) + inline bool check(double* point); +private: + //! Storage for parameter keys and values + std::map m_params; + + //! If either not created yet or parameters get changed, this flag will cause check to create a new Checker chain + bool m_changed; + + //! created in the first check call with the changed flag set + Checker* m_checker; + + //! Allocation of the checkers + void createCheckers(); + + // factory magic + template friend struct CheckerFactory; + static std::map factory; +}; + +class Checker { +public: + Checker(); + ~Checker(); + + //! Testing function + virtual bool test(double* point) = 0; + + //! Next test in chain + Checker* m_next; +}; + +//! Factory integrating the create-function and adding it to the lookup map in an easy template +template +struct CheckerFactory { + //! Instanciate in the source code with the to be created class as template argument and associated key string as constructor argument + CheckerFactory(const std::string& key) { PointFilter::factory[key] = CheckerFactory::create; } + //! Automated create function, safely returning a nullpointer if the constructor throws for unwanted values + static Checker* create(const std::string& value) { try { return new T(value); } catch(...) { return 0; } } +}; + +class CheckerRangeMax : public Checker { +public: + CheckerRangeMax(const std::string& value); + virtual bool test(double* point); +private: + double m_max; +}; + +class CheckerRangeMin : public Checker { +public: + CheckerRangeMin(const std::string& value); + virtual bool test(double* point); +private: + double m_min; +}; + +class CheckerHeightTop : public Checker { +public: + CheckerHeightTop(const std::string& value); + virtual bool test(double* point); +private: + double m_top; +}; + +class CheckerHeightBottom : public Checker { +public: + CheckerHeightBottom(const std::string& value); + virtual bool test(double* point); +private: + double m_bottom; +}; + +#include "scanserver/pointfilter.icc" + +#endif //POINT_FILTER_H diff --git a/.svn/pristine/40/40aee02ab167e7280662d92e35075af3bb8d6552.svn-base b/.svn/pristine/40/40aee02ab167e7280662d92e35075af3bb8d6552.svn-base new file mode 100644 index 0000000..0b1bd58 --- /dev/null +++ b/.svn/pristine/40/40aee02ab167e7280662d92e35075af3bb8d6552.svn-base @@ -0,0 +1,134 @@ +#ifndef _CS_H +#define _CS_H + +#ifdef MATLAB_MEX_FILE +#include "mex.h" +#endif +#define CS_VER 1 /* CSparse Version 1.2.0 */ +#define CS_SUBVER 2 +#define CS_SUBSUB 0 +#define CS_DATE "Mar 6, 2006" /* CSparse release date */ +#define CS_COPYRIGHT "Copyright (c) Timothy A. Davis, 2006" + +/* --- primary CSparse routines and data structures ------------------------- */ +typedef struct cs_sparse /* matrix in compressed-column or triplet form */ +{ + int nzmax ; /* maximum number of entries */ + int m ; /* number of rows */ + int n ; /* number of columns */ + int *p ; /* column pointers (size n+1) or col indices (size nzmax) */ + int *i ; /* row indices, size nzmax */ + double *x ; /* numerical values, size nzmax */ + int nz ; /* # of entries in triplet matrix, -1 for compressed-col */ +} cs ; + +cs *cs_add (const cs *A, const cs *B, double alpha, double beta) ; +int cs_cholsol (const cs *A, double *b, int order) ; +int cs_dupl (cs *A) ; +int cs_entry (cs *T, int i, int j, double x) ; +int cs_lusol (const cs *A, double *b, int order, double tol) ; +int cs_gaxpy (const cs *A, const double *x, double *y) ; +cs *cs_multiply (const cs *A, const cs *B) ; +int cs_qrsol (const cs *A, double *b, int order) ; +cs *cs_transpose (const cs *A, int values) ; +cs *cs_triplet (const cs *T) ; +double cs_norm (const cs *A) ; +int cs_print (const cs *A, int brief) ; +cs *cs_load (FILE *f) ; +/* utilities */ +void *cs_calloc (int n, size_t size) ; +void *cs_free (void *p) ; +void *cs_realloc (void *p, int n, size_t size, int *ok) ; +cs *cs_spalloc (int m, int n, int nzmax, int values, int triplet) ; +cs *cs_spfree (cs *A) ; +int cs_sprealloc (cs *A, int nzmax) ; +void *cs_malloc (int n, size_t size) ; + +/* --- secondary CSparse routines and data structures ----------------------- */ +typedef struct cs_symbolic /* symbolic Cholesky, LU, or QR analysis */ +{ + int *Pinv ; /* inverse row perm. for QR, fill red. perm for Chol */ + int *Q ; /* fill-reducing column permutation for LU and QR */ + int *parent ; /* elimination tree for Cholesky and QR */ + int *cp ; /* column pointers for Cholesky, row counts for QR */ + int m2 ; /* # of rows for QR, after adding fictitious rows */ + int lnz ; /* # entries in L for LU or Cholesky; in V for QR */ + int unz ; /* # entries in U for LU; in R for QR */ +} css ; + +typedef struct cs_numeric /* numeric Cholesky, LU, or QR factorization */ +{ + cs *L ; /* L for LU and Cholesky, V for QR */ + cs *U ; /* U for LU, R for QR, not used for Cholesky */ + int *Pinv ; /* partial pivoting for LU */ + double *B ; /* beta [0..n-1] for QR */ +} csn ; + +typedef struct cs_dmperm_results /* cs_dmperm or cs_scc output */ +{ + int *P ; /* size m, row permutation */ + int *Q ; /* size n, column permutation */ + int *R ; /* size nb+1, block k is rows R[k] to R[k+1]-1 in A(P,Q) */ + int *S ; /* size nb+1, block k is cols S[k] to S[k+1]-1 in A(P,Q) */ + int nb ; /* # of blocks in fine dmperm decomposition */ + int rr [5] ; /* coarse row decomposition */ + int cc [5] ; /* coarse column decomposition */ +} csd ; + +int *cs_amd (const cs *A, int order) ; +csn *cs_chol (const cs *A, const css *S) ; +csd *cs_dmperm (const cs *A) ; +int cs_droptol (cs *A, double tol) ; +int cs_dropzeros (cs *A) ; +int cs_happly (const cs *V, int i, double beta, double *x) ; +int cs_ipvec (int n, const int *P, const double *b, double *x) ; +int cs_lsolve (const cs *L, double *x) ; +int cs_ltsolve (const cs *L, double *x) ; +csn *cs_lu (const cs *A, const css *S, double tol) ; +cs *cs_permute (const cs *A, const int *P, const int *Q, int values) ; +int *cs_pinv (const int *P, int n) ; +int cs_pvec (int n, const int *P, const double *b, double *x) ; +csn *cs_qr (const cs *A, const css *S) ; +css *cs_schol (const cs *A, int order) ; +css *cs_sqr (const cs *A, int order, int qr) ; +cs *cs_symperm (const cs *A, const int *Pinv, int values) ; +int cs_usolve (const cs *U, double *x) ; +int cs_utsolve (const cs *U, double *x) ; +int cs_updown (cs *L, int sigma, const cs *C, const int *parent) ; +/* utilities */ +css *cs_sfree (css *S) ; +csn *cs_nfree (csn *N) ; +csd *cs_dfree (csd *D) ; + +/* --- tertiary CSparse routines -------------------------------------------- */ +int *cs_counts (const cs *A, const int *parent, const int *post, int ata) ; +int cs_cumsum (int *p, int *c, int n) ; +int cs_dfs (int j, cs *L, int top, int *xi, int *pstack, const int *Pinv) ; +int *cs_etree (const cs *A, int ata) ; +int cs_fkeep (cs *A, int (*fkeep) (int, int, double, void *), void *other) ; +double cs_house (double *x, double *beta, int n) ; +int *cs_maxtrans (const cs *A) ; +int *cs_post (int n, const int *parent) ; +int cs_reach (cs *L, const cs *B, int k, int *xi, const int *Pinv) ; +csd *cs_scc (cs *A) ; +int cs_scatter (const cs *A, int j, double beta, int *w, double *x, int mark, + cs *C, int nz) ; +int cs_splsolve (cs *L, const cs *B, int k, int *xi, double *x, + const int *Pinv) ; +int cs_tdfs (int j, int k, int *head, const int *next, int *post, + int *stack) ; +/* utilities */ +csd *cs_dalloc (int m, int n) ; +cs *cs_done (cs *C, void *w, void *x, int ok) ; +int *cs_idone (int *p, cs *C, void *w, int ok) ; +csn *cs_ndone (csn *N, cs *C, void *w, void *x, int ok) ; +csd *cs_ddone (csd *D, cs *C, void *w, int ok) ; + +#define CS_MAX(a,b) (((a) > (b)) ? (a) : (b)) +#define CS_MIN(a,b) (((a) < (b)) ? (a) : (b)) +#define CS_FLIP(i) (-(i)-2) +#define CS_UNFLIP(i) (((i) < 0) ? CS_FLIP(i) : (i)) +#define CS_MARKED(Ap,j) (Ap [j] < 0) +#define CS_MARK(Ap,j) { Ap [j] = CS_FLIP (Ap [j]) ; } +#define CS_OVERFLOW(n,size) (n > INT_MAX / (int) size) +#endif diff --git a/.svn/pristine/41/41122d51ede4342839e8b4413ca5955411e82a2c.svn-base b/.svn/pristine/41/41122d51ede4342839e8b4413ca5955411e82a2c.svn-base new file mode 100644 index 0000000..5ffabf1 --- /dev/null +++ b/.svn/pristine/41/41122d51ede4342839e8b4413ca5955411e82a2c.svn-base @@ -0,0 +1,230 @@ +/* + * metrics implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/metrics.h" + +#ifdef _MSC_VER +LARGE_INTEGER TimeMetric::frequency; +bool TimeMetric::init = false; +#endif + +TimeMetric::TimeMetric(unsigned int reserve) : + Metric(reserve) +{ +#ifdef _MSC_VER + if(!TimeMetric::init) { + QueryPerformanceFrequency(&TimeMetric::frequency); + TimeMetric::init = true; + } +#endif +} + +Timer TimeMetric::start() +{ + Timer start; +#ifdef _MSC_VER + QueryPerformanceCounter(&start); +#else + gettimeofday(&start, 0); +#endif + return start; +} + +void TimeMetric::end(Timer& start) +{ + double delta; +#ifdef _MSC_VER + LARGE_INTEGER end; + QueryPerformanceCounter(&end); + delta = (double)(end.QuadPart - start.QuadPart) / frequency.QuadPart; +#else + timeval end; + gettimeofday(&end, 0); + delta = (double)(end.tv_sec - start.tv_sec) + + (double)(end.tv_usec - start.tv_usec) / 1000000.0; +#endif + commit(delta); +} + +CounterMetric::CounterMetric(unsigned int reserve) : + Metric(reserve) +{ +} + +void CounterMetric::add(unsigned long long value) +{ + commit(value); +} + + + +#include +using std::cout; +using std::endl; + +TimeMetric ServerMetric::scan_loading, ServerMetric::cacheio_write_time, ServerMetric::cacheio_read_time; +CounterMetric ServerMetric::cacheio_write_size, ServerMetric::cacheio_read_size; + +TimeMetric + ClientMetric::read_scan_time, + ClientMetric::scan_load_time, + ClientMetric::calc_reduced_points_time, + ClientMetric::transform_time(100000), // avoid resizing in multithreaded transform calls by graph-slam + ClientMetric::copy_original_time, + ClientMetric::create_tree_time, + ClientMetric::on_demand_reduction_time, + ClientMetric::create_metatree_time, + ClientMetric::add_frames_time, + ClientMetric::matching_time, + ClientMetric::clientinterface_time, + ClientMetric::cache_miss_time, + ClientMetric::allocate_time, + ClientMetric::frames_time; + +void printTime(const TimeMetric& m, unsigned int indentation = 1) +{ + for(unsigned int i = 1; i <= indentation; ++i) { + cout << " "; + } + cout << m.sum() << "s"; + if(m.size() != 1) { + cout << " (" << m.average() << "s average of " << m.size() << " calls)"; + } + cout << endl; +} + +void ServerMetric::print() +{ + cout << "= Metric server information =" << endl + << "Time spent for loading scans (in ScanHandler::load):" << endl + << " Amount: " << scan_loading.size() << endl + << " Time: " << scan_loading.sum() << "s (" << scan_loading.average() << "s avg.)" << endl + << endl + << "CacheIO reads:" << endl + << " Amount: " << cacheio_read_size.size() << endl + << " Size: " << cacheio_read_size.sum()/1024/1024 << "MB (" << cacheio_read_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_read_time.sum() << "s (" << cacheio_read_time.average() << "s avg.)" << endl + << endl + << "CacheIO writes:" << endl + << " Amount: " << cacheio_write_size.size() << endl + << " Size: " << cacheio_write_size.sum()/1024/1024 << "MB (" << cacheio_write_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_write_time.sum() << "s (" << cacheio_write_time.average() << "s avg.)" << endl + << "= Resetting metric information =" << endl + << endl; + scan_loading.reset(); + cacheio_write_time.reset(); + cacheio_read_time.reset(); + cacheio_write_size.reset(); + cacheio_read_size.reset(); +} + +void ClientMetric::print() +{ + cout << "= Metric client information =" << endl; + + // ClientInterface specific ones +#ifdef WITH_SCANSERVER + cout << "Time for all ClientInterface messages:" << endl; + printTime(clientinterface_time); + + cout << " [" << endl; + + cout << " Time for cache misses:" << endl; + printTime(cache_miss_time, 3); + + cout << " Time for cache allocations:" << endl; + printTime(allocate_time, 3); + + // TODO: invalidations too? + + cout << " Time for frame calls:" << endl; + printTime(frames_time, 3); + + cout << " ]" << endl; + + cout << endl; +#endif //WITH_SCANSERVER + + // Scan: Loading, reducing and SearchTree related ones +#ifdef WITH_SCANSERVER + // barebone preparation and parameter setting + if(read_scan_time.size()) { + cout << "Time for loading directory:" << endl; + printTime(read_scan_time); + } + + // getXYZ in calcReducedPoints + if(scan_load_time.size()) { + cout << "Time for loading scans:" << endl; + printTime(scan_load_time); + } + +#else //WITH_SCANSERVER + // load all scans + if(read_scan_time.size()) { + cout << "Time for loading directory and scans:" << endl; + printTime(read_scan_time); + } +#endif //WITH_SCANSERVER + + if(calc_reduced_points_time.size()) { + cout << "Time for reducing scans:" << endl; + printTime(calc_reduced_points_time); + } + + // old: red_lum for SearchTree, duplicating all contained reduced points and copying them into red_lum again for MetaScans + // new: caching reduced points for saving time + if(copy_original_time.size()) { + cout << "Time for copying reduced points:" << endl; + printTime(copy_original_time); + } + + if(create_tree_time.size()) { + cout << "Time for creating SearchTree:" << endl; + printTime(create_tree_time); + } + +#ifdef WITH_SCANSERVER + // only for new, replaces copying reduced points from old + if(create_metatree_time.size()) { + cout << "Time for creating meta-SearchTree:" << endl; + printTime(create_metatree_time); + } + + if(on_demand_reduction_time.size()) { + cout << "Time in on-demand reduction [reduction+transform+copy / copy]:" << endl; + printTime(on_demand_reduction_time); + } +#endif //WITH_SCANSERVER + + if(transform_time.size()) { + cout << "Time for transform:" << endl; + printTime(transform_time); + } + + // SLAM + if(matching_time.size()) { + cout << endl; + cout << "Matching time:" << endl; + printTime(matching_time); +#ifdef WITH_SCANSERVER + cout << "Corrected matching time without on-demand loading, reduction and tree creation:" << endl; + // match - scan loading in calcReducedPoints - calcReducedPoints - transform (irrelevant) - copy to original - createTree + cout << " " << + matching_time.sum() + - scan_load_time.sum() + - calc_reduced_points_time.sum() + - copy_original_time.sum() + - create_tree_time.sum() + << "s" << endl; +#endif //WITH_SCANSERVER + } + + cout << endl; +} diff --git a/.svn/pristine/41/4169f33554b2bb5680b159248104bcb92c6dcb8b.svn-base b/.svn/pristine/41/4169f33554b2bb5680b159248104bcb92c6dcb8b.svn-base new file mode 100644 index 0000000..68ce618 --- /dev/null +++ b/.svn/pristine/41/4169f33554b2bb5680b159248104bcb92c6dcb8b.svn-base @@ -0,0 +1,189 @@ +//$$newmatrm.cpp rectangular matrix operations + +// Copyright (C) 1991,2,3,4: R B Davies + + + +#include "newmat.h" +#include "newmatrm.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,12); ++ExeCount; } +#else +#define REPORT {} +#endif + + +// operations on rectangular matrices + + +void RectMatrixRow::Reset (const Matrix& M, int row, int skip, int length) +{ + REPORT + RectMatrixRowCol::Reset + ( M.Store()+row*M.Ncols()+skip, length, 1, M.Ncols() ); +} + +void RectMatrixRow::Reset (const Matrix& M, int row) +{ + REPORT + RectMatrixRowCol::Reset( M.Store()+row*M.Ncols(), M.Ncols(), 1, M.Ncols() ); +} + +void RectMatrixCol::Reset (const Matrix& M, int skip, int col, int length) +{ + REPORT + RectMatrixRowCol::Reset + ( M.Store()+col+skip*M.Ncols(), length, M.Ncols(), 1 ); +} + +void RectMatrixCol::Reset (const Matrix& M, int col) +{ + REPORT + RectMatrixRowCol::Reset( M.Store()+col, M.Nrows(), M.Ncols(), 1 ); +} + + +Real RectMatrixRowCol::SumSquare() const +{ + REPORT + long_Real sum = 0.0; int i = n; Real* s = store; int d = spacing; + // while (i--) { sum += (long_Real)*s * *s; s += d; } + if (i) for(;;) + { sum += (long_Real)*s * *s; if (!(--i)) break; s += d; } + return (Real)sum; +} + +Real RectMatrixRowCol::operator*(const RectMatrixRowCol& rmrc) const +{ + REPORT + long_Real sum = 0.0; int i = n; + Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in *")); + } + // while (i--) { sum += (long_Real)*s * *s1; s += d; s1 += d1; } + if (i) for(;;) + { sum += (long_Real)*s * *s1; if (!(--i)) break; s += d; s1 += d1; } + return (Real)sum; +} + +void RectMatrixRowCol::AddScaled(const RectMatrixRowCol& rmrc, Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in AddScaled")); + } + // while (i--) { *s += *s1 * r; s += d; s1 += d1; } + if (i) for (;;) + { *s += *s1 * r; if (!(--i)) break; s += d; s1 += d1; } +} + +void RectMatrixRowCol::Divide(const RectMatrixRowCol& rmrc, Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in Divide")); + } + // while (i--) { *s = *s1 / r; s += d; s1 += d1; } + if (i) for (;;) { *s = *s1 / r; if (!(--i)) break; s += d; s1 += d1; } +} + +void RectMatrixRowCol::Divide(Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s /= r; s += d; } + if (i) for (;;) { *s /= r; if (!(--i)) break; s += d; } +} + +void RectMatrixRowCol::Negate() +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s = - *s; s += d; } + if (i) for (;;) { *s = - *s; if (!(--i)) break; s += d; } +} + +void RectMatrixRowCol::Zero() +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s = 0.0; s += d; } + if (i) for (;;) { *s = 0.0; if (!(--i)) break; s += d; } +} + +void ComplexScale(RectMatrixCol& U, RectMatrixCol& V, Real x, Real y) +{ + REPORT + int n = U.n; + if (n != V.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in ComplexScale")); + } + Real* u = U.store; Real* v = V.store; + int su = U.spacing; int sv = V.spacing; + //while (n--) + //{ + // Real z = *u * x - *v * y; *v = *u * y + *v * x; *u = z; + // u += su; v += sv; + //} + if (n) for (;;) + { + Real z = *u * x - *v * y; *v = *u * y + *v * x; *u = z; + if (!(--n)) break; + u += su; v += sv; + } +} + +void Rotate(RectMatrixCol& U, RectMatrixCol& V, Real tau, Real s) +{ + REPORT + // (U, V) = (U, V) * (c, s) where tau = s/(1+c), c^2 + s^2 = 1 + int n = U.n; + if (n != V.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in Rotate")); + } + Real* u = U.store; Real* v = V.store; + int su = U.spacing; int sv = V.spacing; + //while (n--) + //{ + // Real zu = *u; Real zv = *v; + // *u -= s * (zv + zu * tau); *v += s * (zu - zv * tau); + // u += su; v += sv; + //} + if (n) for(;;) + { + Real zu = *u; Real zv = *v; + *u -= s * (zv + zu * tau); *v += s * (zu - zv * tau); + if (!(--n)) break; + u += su; v += sv; + } +} + + + + +#ifdef use_namespace +} +#endif + + diff --git a/.svn/pristine/41/417f60bd08cbdf9dd3e55ddbfb2d155f195e384b.svn-base b/.svn/pristine/41/417f60bd08cbdf9dd3e55ddbfb2d155f195e384b.svn-base new file mode 100644 index 0000000..9be0ba0 --- /dev/null +++ b/.svn/pristine/41/417f60bd08cbdf9dd3e55ddbfb2d155f195e384b.svn-base @@ -0,0 +1,799 @@ +/* + * toImage implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/image.h" +#include "shapes/hough.h" +#include "shapes/ppair.h" +#include "shapes/quadtree.h" +#include +#include "newmat/newmatap.h" +using namespace NEWMAT; +//#include "shapes/convexplane.h" + +#define MAX_PARALLEL_ANGLE 10.0 +#define MAX_EQUAL_DIST 10.0 +#define MIN_PARALLEL_DIST 50.0 +#define MIN_RIGHT_ANGLE 80.0 + +#define NUM_ITERS 1 + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl + << " using algorithm P for plane detection" << endl + << " (chose P from {rht, sht, pht, ppht, apht})" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int + &maxDist, int&minDist, int &octree, IOType &type, bool &quiet) { + + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "quit", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:p:Oq", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +void getPPairs(vector &allPlanes, PPair **ppairs) { + for (unsigned int i = 0; i < allPlanes.size(); i++) { + for (unsigned int j = i+1; j < allPlanes.size(); j++) { + PPair pair(allPlanes[i], allPlanes[j]); + // parallel or equal planes + if (deg(pair.angle) < MAX_PARALLEL_ANGLE) { + // planes are equal + if (pair.plane_distance < MAX_EQUAL_DIST) { + pair.type = PPair::EQUAL; + // planes are parallel + } else {//if (pair.plane_distance > MIN_PARALLEL_DIST) { + pair.type = PPair::PARALLEL; + // planes are nothing + } + // plane is perpendicular + } else if (deg(pair.angle) > MIN_RIGHT_ANGLE) { + pair.type = PPair::PERPENDICULAR; + // planes are nothing in particular + } + ppairs[i][j] = pair; + ppairs[j][i] = pair; + + } + } + +} +void getZHK(unsigned int length, bool **graph, vector > &zhks ) { + set unused; + + for (unsigned int i = 0; i < length; i++) unused.insert(i); + + // as long as we have nodes cluster + while(!unused.empty()) { + // start new cluster + int index = *unused.begin(); + unused.erase(index); + set zhk; + zhk.insert(index); + + // now look for all connected nodes + vector unvisited; + unvisited.push_back(index); + + while (!unvisited.empty()) { + int index = *unvisited.begin(); + unvisited.erase(unvisited.begin()); + + for (unsigned int i = 0; i < length; i++) { + if (i != index && graph[index][i] && zhk.count(i) == 0 ) { + zhk.insert(i); + unvisited.push_back(i); + unused.erase(i); + } + } + } + zhks.push_back(zhk); + } +} + +void flip( const double *normal , double *n ) { + // project to the other side + double k[3]; + n[0] = normal[0]; + n[1] = normal[1]; + n[2] = 1; + toKartesian(n, k); + k[0] *= -1; + k[1] *= -1; + k[2] *= -1; + toPolar(k, n); +} +bool parallel(set &p1, set &p2, double min_angle) { + for (set::iterator it = p1.begin(); + it != p1.end(); it++) { + for (set::iterator jt = p2.begin(); + jt != p2.end(); jt++) { + double *a = *it; + double *b = *jt; + //if ( polardist(a,b) > ( rad(180) - min_angle ) ) + double flipped[3]; + flip(a, flipped); + if (polardist(a,b) < min_angle || polardist(flipped, b) < min_angle) + { + return true; + } + } + } + return false; +} +// TODO no idea what this does +/* +ColumnVector calcRotRhos(vector &planes) { + unsigned int n = planes.size(); + double xbar[3]; + double *normal; + double nx; + + ColumnVector A(n+3); + Matrix B(n+3,n+3); + B = 0; + A = 0; + // fill B and A + + // for all planes + for (unsigned int i = 0; i < n; i++) { + vector points = planes[i]->points; + normal = planes[i]->n; + // for all x_j in plane i + for (unsigned int j = 0; j < points.size(); j++) { + Point p = points[j]; + xbar[0] = normal[1] * p.z - normal[2]*p.y; + xbar[1] = normal[2] * p.x - normal[0]*p.z; + xbar[2] = normal[0] * p.y - normal[1]*p.x; + nx = normal[0]*p.x + normal[1]*p.y + normal[2]*p.z; + + A(1) += nx * xbar[0]; + A(2) += nx * xbar[1]; + A(3) += nx * xbar[2]; + A(i+1 + 3) -= nx; + + // upper left 3x3 matrix of B + B(1, 1) += xbar[0]*xbar[0]; + B(2, 2) += xbar[1]*xbar[1]; + B(3, 3) += xbar[2]*xbar[2]; + + B(1,2) += xbar[0]*xbar[1]; + B(2,1) += xbar[0]*xbar[1]; + + B(1,3) += xbar[0]*xbar[2]; + B(3,1) += xbar[0]*xbar[2]; + + B(2,3) += xbar[1]*xbar[2]; + B(3,2) += xbar[1]*xbar[2]; + + B(1, i+1 +3) -= xbar[0]; + B(i+1 +3, 1) -= xbar[0]; + + B(2, i+1 +3) -= xbar[1]; + B(i+1 +3, 2) -= xbar[1]; + + B(3, i+1 +3) -= xbar[2]; + B(i+1 +3, 3) -= xbar[2]; + } + + B(i+1 +3, i+1 +3) = points.size(); + } + + // calc result + +// cout << "A: " << endl << A << endl; +// cout << "B: " << endl << B << endl; + + ColumnVector X = B.i() * A; + +// cout << "X: " << endl << X << endl; + + + return X; +}*/ +void join(vector > &cps, double min_angle, vector > &n_cps) { + bool **par = new bool*[cps.size()]; + for (unsigned int i = 0; i< cps.size(); i++) { + par[i] = new bool[cps.size()]; + } + + for (unsigned int i = 0; i < cps.size(); i++) { + par[i][i] = false; + for (unsigned int j = i+1; j < cps.size(); j++) { + if (parallel(cps[i], cps[j], min_angle) ) { + par[i][j] = true; + par[j][i] = true; + } + else { + par[i][j] = false; + par[j][i] = false; + } + } + } + vector > zhks; + getZHK(cps.size(), par, zhks); + + for (unsigned int i = 0; i < zhks.size(); i++) { + set zhk; + n_cps.push_back(zhk); + for (set::iterator it = zhks[i].begin(); it != zhks[i].end(); it++) { + n_cps[i].insert( cps[*it].begin(), cps[*it].end() ); + } + } + + for (unsigned int i = 0; i< cps.size(); i++) { + delete[] par[i]; + } + delete[] par; +} + +void getModel(vector &model, vector &allPlanes) { + int planes = allPlanes.size();//588; + double min_angle = rad(MAX_PARALLEL_ANGLE); + double perp_angle = rad(MIN_RIGHT_ANGLE); + int min_size = 0; + + // polar coordinates of plane + vector norms; + for (unsigned int i = 0; i < allPlanes.size(); i ++) {; + double *norm = new double[5]; + toPolar(allPlanes[i]->n, norm); // 0: phi, 1:theta + norm[2] = allPlanes[i]->pointsize; // number of points + norm[3] = i; // index + norm[4] = allPlanes[i]->rho; // rho + norms.push_back(norm); + } + + // copy of polar coordinate representation + double **normals = new double*[planes];//[planes][4]; + for (int j = 0; j < planes; j++) { + normals[j] = norms[j]; + } + + // all normals in Quadtree and cluster + QuadTree tree(normals, planes , 0.40, min_angle); + vector > cpsold; + cpsold = tree.getClusters(); + + //join similar normals + vector > cps; + join(cpsold, min_angle, cps); + + // Filtering + for (unsigned int i = 0; i < cps.size(); i++) { +cout << "Cluster " << i << ": " << cps[i].size(); + set::iterator it = cps[i].begin(); + double *rep = *it; + // for each normal in this cluster + while ( it != cps[i].end()) { + double *normal = (*it); + double flipped[3]; + flip(normal, flipped); + // check wether the flipped one is closer + if (polardist(rep, flipped) < polardist(rep, normal) ) { + normal[0] = flipped[0]; + normal[1] = flipped[1]; + } +cout << " " << normal[3] << " normal: " << normal[0] << " " << normal[1] << endl; + it++; + } + } + + double **cnorms = new double*[cps.size()]; + bool **cnrels = new bool*[cps.size()]; + int *normpts = new int[cps.size()]; + +cout << "Center normals.." << endl; + // Calculate the centerd normals + for (unsigned int i = 0; i < cps.size(); i++) { +cout << "Cluster " << i << ":" << endl; + cnorms[i] = new double[3]; + cnrels[i] = new bool[cps.size()]; + cnorms[i][0] = 0; + cnorms[i][1] = 0; + cnorms[i][2] = 0; + + int sumpoints = 0; + for (set::iterator it = cps[i].begin(); + it != cps[i].end(); it++) { + double *normal = (*it); + double k[3], n[3]; + n[0] = normal[0]; + n[1] = normal[1]; + n[2] = 1; + toKartesian(n, k); + cnorms[i][0] += k[0] * normal[2]; + cnorms[i][1] += k[1] * normal[2]; + cnorms[i][2] += k[2] * normal[2]; + sumpoints += normal[2]; + } + normpts[i] = sumpoints; + cnorms[i][0] /= sumpoints; + cnorms[i][1] /= sumpoints; + cnorms[i][2] /= sumpoints; + Normalize3(cnorms[i]); + double p[3]; + toPolar(cnorms[i], p); + cnorms[i][0] = p[0]; + cnorms[i][1] = p[1]; + + cout << " cnormal: " << cnorms[i][0] << " " << cnorms[i][1] << endl; + } + + // Calculate relations between clusters + for (unsigned int i = 0; i < cps.size(); i++) { + cnrels[i][i] = false; + for (unsigned int j = i+1; j < cps.size(); j++) { + double angle = polardist(cnorms[i], cnorms[j]); + cnrels[i][j] = angle > perp_angle && angle < (rad(180.0) - perp_angle); + cnrels[j][i] = cnrels[i][j]; + } + } + + // calculate clusters that are big enough + vector big_clusters; + for (unsigned int i = 0; i < cps.size(); i++) { + if (normpts[i] > min_size) { + big_clusters.push_back(i); + } + } + cout << "look for biggest cliques..." << endl; + // Calculate biggest 3-cliques + int ci, cj, ck, cpoints; + ci = cj = ck = -1; + cpoints = 0; + for (vector::iterator it = big_clusters.begin(); + it != big_clusters.end(); it++) { + unsigned int i = *it; + for (vector::iterator jt = it+1; + jt != big_clusters.end(); jt++) { + unsigned int j = *jt; + if (!cnrels[i][j]) continue; + for (vector::iterator kt = jt+1; + kt != big_clusters.end(); kt++) { + unsigned int k = *kt; + if (cnrels[i][k] && cnrels[j][k]) { + // candidate clique + int sum = normpts[i] + normpts[j] + normpts[k]; + if (sum > cpoints) { + cpoints = sum; + ci = i; + cj = j; + ck = k; + cout << i << " " << j << " " << k << " " << sum << endl; + } + } + } + } + } + if (ci == -1 || cj == -1 || ck == -1) { + cout << "No clique could be found!" << endl; + return; + } + + // Estimate new normals + double n[3]; + ConvexPlane p1(cnorms[ci]); + p1.project(cnorms[cj], n); + ConvexPlane p2(n); + Cross(p1.n, p2.n, n); + ConvexPlane p3(n); + + // map from allPlane index to ci, cj or ck + map idxTotype; + int idx = 0; +cout << "hmm " << endl; + vector numerical_planes; + for (set::iterator it = cps[ci].begin(); it != cps[ci].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p1.n[0]; + plane->n[1] = p1.n[1]; + plane->n[2] = p1.n[2]; + */ + model.push_back(plane); + + cout << "for ci = " << ci << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = ci; + } + for (set::iterator it = cps[cj].begin(); it != cps[cj].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p2.n[0]; + plane->n[1] = p2.n[1]; + plane->n[2] = p2.n[2]; + */ + model.push_back(plane); + + cout << "for cj = " << cj << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = cj; + } + for (set::iterator it = cps[ck].begin(); it != cps[ck].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p3.n[0]; + plane->n[1] = p3.n[1]; + plane->n[2] = p3.n[2]; + */ + model.push_back(plane); + + cout << "for ck = " << ck << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = ck; + } + + /* + int MAX_IT = 100; +// int MAX_IT = 10000; + int it_nr = 0; + ColumnVector X; + double MIN_ERR = 0.0005; +// double MIN_ERR = 0.0000000000000000000001; + double error = 0.0; + do { + //cout << it_nr << endl; + it_nr++; + // calc rotation and rho's + X = calcRotRhos(numerical_planes); + // apply rotation to normals + double rPos[3] = {0.0, 0.0, 0.0}; + double rPosTheta[3]; + rPosTheta[0] = -X(1); + rPosTheta[1] = -X(2); + rPosTheta[2] = -X(3); + error = fabs (X(1)) + fabs(X(2)) + fabs(X(3)) ; +// cout << rPosTheta[0] << " " << rPosTheta[1] << " " <n[0]; + normal.y = numerical_planes[j]->n[1]; + normal.z = numerical_planes[j]->n[2]; +// cout << "NP " << j << " " << normal.x << " " << normal.y << " " << normal.z << endl; + normal.transform(alignxf); +// cout <<"to" << endl; +// cout << normal.x << " " << normal.y << " " << normal.z << endl; + numerical_planes[j]->n[0] = normal.x; + numerical_planes[j]->n[1] = normal.y; + numerical_planes[j]->n[2] = normal.z; +// cout << "NP " << j << " " << normal.x << " " << normal.y << " " << normal.z << endl; + } + // repeat + } while (error > MIN_ERR || it_nr > MAX_IT); +// cout << "ERRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR" << endl; + // apply rho's to planes + for(unsigned int j = 0; j < numerical_planes.size(); j++) { +// cout << j << " s rho is " << numerical_planes[j]->rho << endl; + numerical_planes[j]->rho = -X(j+1 +3); +// cout << j << " s rho is " << numerical_planes[j]->rho << endl; + } + + bool **graph = new bool*[numerical_planes.size()]; + for (unsigned int i = 0; i < numerical_planes.size(); i++) { + graph[i] = new bool[numerical_planes.size()]; + } + + + for (unsigned int i = 0; i < numerical_planes.size(); i++) { + graph[i][i] = false; + for (unsigned int j = i+1; j < numerical_planes.size(); j++) { + if( fabs(numerical_planes[i]->rho - numerical_planes[j]->rho) < MAX_EQUAL_DIST + && idxTotype[i] == idxTotype[j] ) { // check wether planes belong to the same type + graph[i][j] = true; + graph[j][i] = true; + } else { + graph[i][j] = false; + graph[j][i] = false; + } + } + } + + vector > zhks; + getZHK(numerical_planes.size(), graph, zhks); + + for (unsigned int i = 0; i < zhks.size(); i++) { + vector pplane; + for (set::iterator it = zhks[i].begin(); it != zhks[i].end(); it++) { + pplane.push_back(numerical_planes[*it]); + cout << "zhk " << i << " p " << (*it) << endl; + } + ConvexPlane *plane = new ConvexPlane(pplane); + model.push_back(plane); + } + */ + //exit(0); +} + + + +/** + * Main function. The Hough Transform is called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2011" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + IOType type = UOS; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, maxDist, minDist, octree, type, quiet); + Scan::dir = dir; + int fileNr = start; + string planedir = dir + "planes"; + +#ifdef _MSC_VER + int success = mkdir(planedir.c_str()); +#else + int success = mkdir(planedir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing planes to " << planedir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << planedir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << planedir << " failed" << endl; + exit(1); + } + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + // reduction filter for current scan! + //Scan::allScans[0]->calcReducedPoints(red, octree); + Scan::allScans[0]->toGlobal(red, octree); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + Scan::allScans[0]->transform(id, Scan::ICP, 0); // write end pose + } + //Hough hough(Scan::allScans[0], quiet); + //hough.RHT(); + cout << "Hough done" << endl; + + // calculate relations between planes + //vector * allPlanes = &hough.planes; + /* + PPair **p_graph; + + p_graph = new PPair*[allPlanes->size()]; + for (unsigned int i = 0; i < allPlanes->size(); i++) { + p_graph[i] = new PPair[allPlanes->size()]; + } + getPPairs(*allPlanes, p_graph); + */ + // optimize relations + //vector model; + //getModel(model, *allPlanes); + //cout << "GetModel done" << endl; + + //Hough houghdelete(Scan::allScans[0], quiet); + cout << "start range image calculation" << endl; + long starttime = GetCurrentTimeInMilliSec(); + int size; + //double * const* points_red = houghdelete.deletePoints(*allPlanes, size); + //double * const* points_red = hough.getPoints(size); + cout << "Size " << size << endl; + + + double * const* points_red = Scan::allScans[0]->get_points_reduced(); + // Image myImage(0.0, 360.0, 0.0, 180.0, 0.04, points_red, Scan::allScans[0]->get_points_red_size()); + + Image myImage(0.0, 360.0, 0.0, 180.0, 0.08, Scan::allScans[0]->get_points()); + + //Image myImage(90.0, 270.0, 40.0, 90.0, 1.0, points_red, size); + + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << "Time for Constructor call: " << starttime << endl; + + starttime = GetCurrentTimeInMilliSec(); + + int** regdat; + int width = myImage.getWidth(); + regdat = new int*[width]; + for(int i = 0; i < width; i++) { + regdat[i] = new int[myImage.getHeight()]; + } + + int** regdat2; + regdat2 = new int*[width]; + for(int i = 0; i < width; i++) { + regdat2[i] = new int[myImage.getHeight()]; + } + + //myImage.blobColor(05.0, regdat); + //cout << "blobColor done" << endl; + //myImage.printImage("blub.ppm", true); + myImage.printImage("blub.ppm", false); + float min = myImage.getMin(); + float max = myImage.getMax(); + float tenPercent = (max - min)*0.45; + cout << "MinMax " << min << " " << max << " " << tenPercent << " " << (max - min) << " "<< (max - tenPercent) << endl; + myImage.calcMarker(min + tenPercent, regdat); + cout << "Marker done" << endl; + int regions = myImage.cluster(5, regdat, regdat2); + cout << "Nu kommen die Punkte" << endl; + myImage.writeCenters(regions, regdat2, Scan::allScans[0]->get_points()); + cout << "dat woarn se" << endl; + + //myImage.blobColor(5, regdat2); + //cout << "blobColor done" << endl; + //myImage.printScans(regdat, points_red, Scan::allScans[0]->get_points_red_size()); + cout << "print Scans done" << endl; + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "Time for whatever " << starttime << endl; + delete Scan::allScans[0]; + Scan::allScans.clear(); +} + diff --git a/.svn/pristine/41/4192a373c0e07a65ddbb415353e19dbe0a4d5f6c.svn-base b/.svn/pristine/41/4192a373c0e07a65ddbb415353e19dbe0a4d5f6c.svn-base new file mode 100644 index 0000000..2400c37 --- /dev/null +++ b/.svn/pristine/41/4192a373c0e07a65ddbb415353e19dbe0a4d5f6c.svn-base @@ -0,0 +1,97 @@ +#ifndef __SCANCOLORMANAGER_H__ +#define __SCANCOLORMANAGER_H__ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "slam6d/point.h" +#include "slam6d/scan.h" +#include "show/colordisplay.h" +//#include "show/show_Boctree.h" +#include "show/colormanager.h" +#include +#include +#include "slam6d/point_type.h" +using std::vector; + +//template class Show_BOctTree; + +/** + * This class is a special ColorManager that handles a set of Colormanagers. + * This manager is capable of mapping managers to scans in dependence of the state of the + * show program. + */ +class ScanColorManager { + public: + + static const unsigned int MODE_STATIC; + static const unsigned int MODE_COLOR_SCAN; + static const unsigned int MODE_ANIMATION; + static const unsigned int MODE_POINT_COLOR; + + ScanColorManager(unsigned int _buckets, PointType type); + + void registerTree(colordisplay *b); + + void setColorMap(ColorMap &cm); + void setColorMap(ColorMap::CM &cm); + void setCurrentType(unsigned int type); + void setMinMax(float min, float max); + void setMode(const unsigned int &mode); + void setInvert(bool invert); + + float getMin(); + float getMax(); + float getMin(unsigned int dim); + float getMax(unsigned int dim); + unsigned int getPointDim(); + void makeValid(); + + void selectColors(Scan::AlgoType type); + + template + void updateRanges(P *point); + + protected: + + unsigned int currentdim; + + vector allScans; + vector allManager; + + vector staticManager; + vector scanManager; + vector colorsManager; + + unsigned int currenttype; + + unsigned int buckets; + + /** stores minima and maxima for each point dimension */ + float *mins; + float *maxs; + /** maps valuetypes to point dimension for easier access */ + PointType pointtype; + + bool valid; + bool colorScans; + bool inverted; +}; + + template + void ScanColorManager::updateRanges(P *point) { + for (unsigned int i = 0; i < pointtype.getPointDim(); i++) { + if (point[i] < mins[i]) mins[i] = point[i]; + if (point[i] > maxs[i]) maxs[i] = point[i]; + } + } + + +#endif diff --git a/.svn/pristine/41/41dcaedfa9cba4723be9e32133908c62961d3f5e.svn-base b/.svn/pristine/41/41dcaedfa9cba4723be9e32133908c62961d3f5e.svn-base new file mode 100644 index 0000000..8f3255f --- /dev/null +++ b/.svn/pristine/41/41dcaedfa9cba4723be9e32133908c62961d3f5e.svn-base @@ -0,0 +1,15 @@ + validate on + stats query_stats + dim 2 + data_size 20 + query_size 10 +read_data_pts test1-data.pts +read_query_pts test1-query.pts + bucket_size 1 + near_neigh 3 + split_rule suggest + shrink_rule none +build_ann + epsilon 0.0 +run_queries standard +run_queries priority diff --git a/.svn/pristine/41/41f9b1a9c4580ccd5e9bad6141e35e0cf47c60d0.svn-base b/.svn/pristine/41/41f9b1a9c4580ccd5e9bad6141e35e0cf47c60d0.svn-base new file mode 100644 index 0000000..90ff99c --- /dev/null +++ b/.svn/pristine/41/41f9b1a9c4580ccd5e9bad6141e35e0cf47c60d0.svn-base @@ -0,0 +1,193 @@ +BORLANDPATH = "C:\program files\Borland\cbuilder5" + +TASM = TASM32 +TLIB = tlib +TLINK = ilink32 +LIBPATH = $(BORLANDPATH)\LIB +INCLUDEPATH = $(BORLANDPATH)\INCLUDE + +DIFF = sdiff +PRE = + +CC = bcc32 -W- -v- -H- -3 -N -Og -Oi -Ov -f -I$(INCLUDEPATH) + +.cpp.obj: + $(CC) -c {$< } + +everything: tmt.exe example.exe test_exc.exe nl_ex.exe sl_ex.exe garch.exe + +newmat_lobj = newmat1.obj newmat2.obj newmat3.obj newmat4.obj newmat5.obj newmat6.obj newmat7.obj newmat8.obj newmatex.obj bandmat.obj submat.obj myexcept.obj cholesky.obj evalue.obj fft.obj hholder.obj jacobi.obj newfft.obj sort.obj svd.obj newmatrm.obj newmat9.obj + +newmat.lib: $(newmat_lobj) + $(TLIB) $@ /P32 /u $(newmat_lobj) + +tmt_obj = tmt.obj tmt1.obj tmt2.obj tmt3.obj tmt4.obj tmt5.obj tmt6.obj tmt7.obj tmt8.obj tmt9.obj tmta.obj tmtb.obj tmtc.obj tmtd.obj tmte.obj tmtf.obj tmtg.obj tmth.obj tmti.obj tmtj.obj tmtk.obj tmtl.obj tmtm.obj + +tmt.exe: $(tmt_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(tmt_obj),$@,, newmat.lib import32.lib cw32.lib +| + +example_obj = example.obj + +example.exe: $(example_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(example_obj),$@,, newmat.lib import32.lib cw32.lib +| + +test_exc_obj = test_exc.obj + +test_exc.exe: $(test_exc_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(test_exc_obj),$@,, newmat.lib import32.lib cw32.lib +| + +nl_ex_obj = nl_ex.obj newmatnl.obj + +nl_ex.exe: $(nl_ex_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(nl_ex_obj),$@,, newmat.lib import32.lib cw32.lib +| + +sl_ex_obj = sl_ex.obj solution.obj myexcept.obj + +sl_ex.exe: $(sl_ex_obj) + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(sl_ex_obj),$@,,import32.lib cw32.lib +| + +garch_obj = garch.obj newmatnl.obj + +garch.exe: $(garch_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(garch_obj),$@,, newmat.lib import32.lib cw32.lib +| + +newmat1.obj: newmat1.cpp newmat.h include.h boolean.h myexcept.h + +newmat2.obj: newmat2.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat3.obj: newmat3.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat4.obj: newmat4.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat5.obj: newmat5.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat6.obj: newmat6.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat7.obj: newmat7.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat8.obj: newmat8.cpp include.h newmat.h newmatrc.h precisio.h boolean.h myexcept.h controlw.h + +newmatex.obj: newmatex.cpp include.h newmat.h boolean.h myexcept.h + +bandmat.obj: bandmat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +submat.obj: submat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +myexcept.obj: myexcept.cpp include.h myexcept.h + +cholesky.obj: cholesky.cpp include.h newmat.h boolean.h myexcept.h + +evalue.obj: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +fft.obj: fft.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +hholder.obj: hholder.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +jacobi.obj: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h boolean.h myexcept.h + +newfft.obj: newfft.cpp newmatap.h newmat.h include.h boolean.h myexcept.h + +sort.obj: sort.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +svd.obj: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +newmatrm.obj: newmatrm.cpp newmat.h newmatrm.h include.h boolean.h myexcept.h + +newmat9.obj: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h boolean.h myexcept.h controlw.h + +tmt.obj: tmt.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt1.obj: tmt1.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt2.obj: tmt2.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt3.obj: tmt3.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt4.obj: tmt4.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt5.obj: tmt5.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt6.obj: tmt6.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt7.obj: tmt7.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt8.obj: tmt8.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt9.obj: tmt9.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmta.obj: tmta.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtb.obj: tmtb.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtc.obj: tmtc.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtd.obj: tmtd.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmte.obj: tmte.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtf.obj: tmtf.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtg.obj: tmtg.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmth.obj: tmth.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmti.obj: tmti.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtj.obj: tmtj.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtk.obj: tmtk.cpp include.h newmatap.h newmatio.h tmt.h newmat.h boolean.h myexcept.h + +tmtl.obj: tmtl.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +tmtm.obj: tmtm.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +example.obj: example.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +test_exc.obj: test_exc.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +nl_ex.obj: nl_ex.cpp newmatnl.h newmatio.h newmat.h include.h boolean.h myexcept.h + +newmatnl.obj: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +sl_ex.obj: sl_ex.cpp include.h solution.h boolean.h myexcept.h + +solution.obj: solution.cpp include.h boolean.h myexcept.h solution.h + +garch.obj: garch.cpp newmatap.h newmatio.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +tmt.txx: tmt.exe + $(PRE)tmt > tmt.txx + $(DIFF) tmt.txt tmt.txx + +example.txx: example.exe + $(PRE)example > example.txx + $(DIFF) example.txt example.txx + +test_exc.txx: test_exc.exe + $(PRE)test_exc > test_exc.txx + $(DIFF) test_exc.txt test_exc.txx + +nl_ex.txx: nl_ex.exe + $(PRE)nl_ex > nl_ex.txx + $(DIFF) nl_ex.txt nl_ex.txx + +sl_ex.txx: sl_ex.exe + $(PRE)sl_ex > sl_ex.txx + $(DIFF) sl_ex.txt sl_ex.txx + +garch.txx: garch.exe + $(PRE)garch > garch.txx + $(DIFF) garch.txt garch.txx + diff --git a/.svn/pristine/42/42237cb0458e6e1506a7c835fc7072e99cf3b892.svn-base b/.svn/pristine/42/42237cb0458e6e1506a7c835fc7072e99cf3b892.svn-base new file mode 100644 index 0000000..36cb355 --- /dev/null +++ b/.svn/pristine/42/42237cb0458e6e1506a7c835fc7072e99cf3b892.svn-base @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_QUAT_H__ +#define __ELCH6D_QUAT_H__ + +#include "elch6D.h" + +class elch6Dquat : public elch6D { + + public: + elch6Dquat(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/.svn/pristine/42/42b31a2ebf7d29923cda83ed3b3ed98a628ebb9c.svn-base b/.svn/pristine/42/42b31a2ebf7d29923cda83ed3b3ed98a628ebb9c.svn-base new file mode 100644 index 0000000..4c67d77 --- /dev/null +++ b/.svn/pristine/42/42b31a2ebf7d29923cda83ed3b3ed98a628ebb9c.svn-base @@ -0,0 +1,63 @@ +#ifndef _OCR0_H +#define _OCR0_H +#include "pgm2asc.h" + +/* ---------------------------------------------------------------- + - functions with thousand of lines make the compilation very slow + therefore the ocr0-function is splitted in subfunctions + - shared data used often in ocr0-subroutines are stored + in ocr0_shared structure. + * ------------------------------------------------------------ */ + +typedef struct ocr0_shared { /* shared variables and properties */ + + struct box *box1; /* box in whole image */ + pix *bp; /* extracted temporarly box, cleaned */ + int cs; /* global threshold value (gray level) */ + + /* ToDo: or MACROS: X0 = box1->x0 */ + int x0, x1, y0, y1; /* box coordinates related to box1 */ + int dx, dy; /* size of box */ + int hchar, gchar; /* relation to m1..m4 */ + int aa[4][4]; /* corner points, see xX (x,y,dist^2,vector_idx) v0.41 */ + holes_t holes; /* list of holes (max MAX_HOLES) */ + +} ocr0_shared_t; + +/* tests for umlaut */ +int testumlaut(struct box *box1, int cs, int m, wchar_t *modifier); +/* detect chars */ +wchar_t ocr0(struct box *box1, pix *b, int cs); +/* detect numbers */ +wchar_t ocr0n(ocr0_shared_t *sdata); + +static inline int sq(int x) { return x*x; } /* square */ + +/* + * go from vector j1 to vector j2 and measure maximum deviation of + * the steps from the line connecting j1 and j2 + * return the squared maximum distance + * in units of the box size times 1024 + */ +int line_deviation( struct box *box1, int j1, int j2 ); + +/* + * search vectors between j1 and j2 for nearest point a to point r + * example: + * + * r-> $$...$$ $ - mark vectors + * @@$..@@ @ - black pixels + * @@$..@@ . - white pixels + * @@@@.$@ + * a-> @@$@$@@ + * @$.@@@@ + * @@..$@@ + * @@..$@@ + * j1 --> $$...$$ <-- j2 + * + * ToDo: vector aa[5] = {rx,ry,x,y,d^2,idx} statt rx,ry? + * j1 and j2 must be in the same frame + * return aa? + */ +int nearest_frame_vector( struct box *box1, int j1, int j2, int rx, int ry); +#endif diff --git a/.svn/pristine/42/42bac048a870ae1be3532211aa99ccf24bb0c7a7.svn-base b/.svn/pristine/42/42bac048a870ae1be3532211aa99ccf24bb0c7a7.svn-base new file mode 100644 index 0000000..209a75c --- /dev/null +++ b/.svn/pristine/42/42bac048a870ae1be3532211aa99ccf24bb0c7a7.svn-base @@ -0,0 +1,65 @@ +TODO LIST + +Please send any ideas. + +Next release (0.4x) +- quality test script for groups of samples (to ensure improvement in recognition) + single chars or single chars in words, clean and difficult sets, + formatted texts + false negative + false positive + start with numbers? option numbers only? + output: find fname.{jpg,png} + fname.txt + compare output gocr against txt + options: [testpath] [testchars] + bin/gocr_chk.sh testbase/free/{clean,glued,dusty}/{numbers,text}/ + bin/gocr_chk.sh jocr/examples tmp09 +- fix problem with cutting melted chars (using vector frames) +- better detection of agglutinated serifs (Gutenberg scans 086.png+171.png) +- vectorize recognition (big step!, relation to other OSS?) + (find min distance to ideal vector patterns, start with <>()) +- frame_nn is marking only the borders like frame_vector and removed later +- handle broken and glueed chars by the database algorithm (-m 256 -m 130) +- improve get_line2(), implement distance_to_point and distance_to_line +- dot-matrix printouts (examples/matrix.jpg) (german: Nadeldrucker) +- examples/inverse.pcx + examples/rotate45.pcx by nearest-box-to-line alg. + or mean nearest box (or its 4 edges) directions, + rotate only boxes (by creating new greater boxes and tread as new image) +- proof replacement of getTextLine by getXMLline via pipe(?) or stdout + is pipe available on all platforms? +- docu about ispell using via XML (what needed, test in gocr.tcl) +- replace rest of UNDEFINED in unicode.c by its correct strings +- add probability for box->m1..m4 (to reduce errors caused by bad line-scan) + call line detection function second time to improve unsure line data + +Next release (0.5x) +- reduce pixel data by vectorization (big change, faster) +- writing images through pipes (like reading) +- using dictionary (optional) for replacing not recognized chars +- Karsten.Hilbert@gmx.net: use ORChie WordBox-format + see http://http.cs.berkeley.edu/~fateman/kathey/ocrchie.html + aspell instead of ispell + +Near future: (planned version) +- rewrite install-routine +- perspective distortion (for cameras) +- genetic algorithms engine (already in development, 0.8?). It includes + feature extraction and classification +- support for other languages (may affect context_correction(), etc) (0.6?) +- support for diagramation. Can be done using the Unicode+new stuff. I (bbg) + have some ideas. + +Far future: +- gimp plugin +- color support +- Braille detection (usefull for blinds?) + see: American Journal of Physics Vol. 70, No. 7, p 684-688 (2002) + or use special foils +- read image in smaller parts, to reduce memory usage. +- frames should be recognized +- better distance function (comparision of characters) +- detection of orientation (i.a. 90,180,270deg rotation) +- picture extraction +- math formula detection, font type detection +- handwritten texts (blockletters) + --- uff, really a lot of work --- +- Feel free and add your suggestions and wishes, + or tell me, what is the most important point for you. diff --git a/.svn/pristine/43/4343d839dea3e4f855a812b45576ee46399e9981.svn-base b/.svn/pristine/43/4343d839dea3e4f855a812b45576ee46399e9981.svn-base new file mode 100644 index 0000000..3f74e05 --- /dev/null +++ b/.svn/pristine/43/4343d839dea3e4f855a812b45576ee46399e9981.svn-base @@ -0,0 +1,712 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: genergdi.cpp +// Purpose: Generic gdi pen and colour +// Author: John Labenski +// Modified by: +// Created: 12/01/2000 +// Copyright: (c) John Labenski +// Licence: wxWidgets license +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "genergdi.h" +#endif + +// For compilers that support precompilation, includes "wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#include "wx/things/genergdi.h" +#include "wx/tokenzr.h" + +const wxGenericColour wxNullGenericColour; +const wxGenericPen wxNullGenericPen; +const wxGenericBrush wxNullGenericBrush; +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayGenericColour) +WX_DEFINE_OBJARRAY(wxArrayGenericPen) +WX_DEFINE_OBJARRAY(wxArrayGenericBrush) + +//---------------------------------------------------------------------------- +// wxGenericColour +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericColour, wxObject) + +class wxGenericColourRefData : public wxObjectRefData +{ +public: + wxGenericColourRefData(unsigned char r = 0, unsigned char g = 0, + unsigned char b = 0, unsigned char a = 255) + : wxObjectRefData(), m_r(r), m_g(g), m_b(b), m_a(a) {} + + wxGenericColourRefData( const wxGenericColourRefData& data ) + : wxObjectRefData(), m_r(data.m_r), m_g(data.m_g), m_b(data.m_b), m_a(data.m_a) {} + + unsigned char m_r, m_g, m_b, m_a; +}; + +#define M_GCOLOURDATA ((wxGenericColourRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericColour::CreateRefData() const +{ + return new wxGenericColourRefData; +} +wxObjectRefData *wxGenericColour::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericColourRefData(*(const wxGenericColourRefData *)data); +} + +void wxGenericColour::Create( const wxGenericColour& c ) +{ + Ref(c); +} +void wxGenericColour::Create( const wxColour& c) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + Set(c); +} +void wxGenericColour::Create( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha ) +{ + UnRef(); + m_refData = new wxGenericColourRefData(red, green, blue, alpha); +} +void wxGenericColour::CreateABGR( unsigned long colABGR ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + SetABGR(colABGR); +} +void wxGenericColour::CreateARGB( unsigned long colARGB ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + SetARGB(colARGB); +} +void wxGenericColour::Create( const wxString& colourName ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + Set(colourName); +} + +void wxGenericColour::Set( const wxGenericColour &c ) +{ + wxCHECK_RET(Ok() && c.Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = c.GetRed(); + M_GCOLOURDATA->m_g = c.GetGreen(); + M_GCOLOURDATA->m_b = c.GetBlue(); + M_GCOLOURDATA->m_a = c.GetAlpha(); +} +void wxGenericColour::Set( const wxColour& c ) +{ + wxCHECK_RET(Ok() && c.Ok(), wxT("Invalid colour")); + M_GCOLOURDATA->m_r = c.Red(); + M_GCOLOURDATA->m_g = c.Green(); + M_GCOLOURDATA->m_b = c.Blue(); +} +void wxGenericColour::Set( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = red; + M_GCOLOURDATA->m_g = green; + M_GCOLOURDATA->m_b = blue; + M_GCOLOURDATA->m_a = alpha; +} +void wxGenericColour::SetABGR( unsigned long colABGR ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = (unsigned char)(0xFF& colABGR); + M_GCOLOURDATA->m_g = (unsigned char)(0xFF&(colABGR >> 8)); + M_GCOLOURDATA->m_b = (unsigned char)(0xFF&(colABGR >> 16)); + M_GCOLOURDATA->m_a = (unsigned char)(0xFF&(colABGR >> 24)); +} +void wxGenericColour::SetARGB( unsigned long colARGB ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_b = (unsigned char)(0xFF& colARGB); + M_GCOLOURDATA->m_g = (unsigned char)(0xFF&(colARGB >> 8)); + M_GCOLOURDATA->m_r = (unsigned char)(0xFF&(colARGB >> 16)); + M_GCOLOURDATA->m_a = (unsigned char)(0xFF&(colARGB >> 24)); +} +void wxGenericColour::Set( const wxString& colourName ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + Set(wxColour(colourName)); +} +void wxGenericColour::SetRed( unsigned char r ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = r; +} +void wxGenericColour::SetGreen( unsigned char g ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_g = g; +} +void wxGenericColour::SetBlue( unsigned char b ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_b = b; +} +void wxGenericColour::SetAlpha( unsigned char a ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_a = a; +} + +unsigned char wxGenericColour::GetRed() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_r; +} +unsigned char wxGenericColour::GetGreen() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_g; +} +unsigned char wxGenericColour::GetBlue() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_b; +} +unsigned char wxGenericColour::GetAlpha() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_a; +} + +bool wxGenericColour::IsSameAs( const wxGenericColour& c ) const +{ + wxCHECK_MSG(Ok() && c.Ok(), false, wxT("Invalid generic colour")); + wxGenericColourRefData *cData = (wxGenericColourRefData*)c.GetRefData(); + return (M_GCOLOURDATA->m_r == cData->m_r) && (M_GCOLOURDATA->m_g == cData->m_g) && + (M_GCOLOURDATA->m_b == cData->m_b) && (M_GCOLOURDATA->m_a == cData->m_a); +} + +bool wxGenericColour::IsSameAs( const wxColour& c ) const +{ + wxCHECK_MSG(Ok() && c.Ok(), false, wxT("Invalid colour")); + return (M_GCOLOURDATA->m_r == c.Red()) && + (M_GCOLOURDATA->m_g == c.Green()) && + (M_GCOLOURDATA->m_b == c.Blue()); +} + +// This code is assumed to be public domain, originally from Paul Bourke, July 1996 +// http://astronomy.swin.edu.au/~pbourke/colour/colourramp/source1.c + +wxGenericColour wxGenericColour::GetHotColdColour(double v) const +{ + wxGenericColour c(255, 255, 255); + const double vmin = 0.0, vmax = 255.0, dv = vmax - vmin; + + if (v < vmin) v = vmin; + if (v > vmax) v = vmax; + + if (v < (vmin + 0.25 * dv)) + { + c.SetRed(0); + c.SetGreen(int(vmax*(4.0 * (v - vmin) / dv) + 0.5)); + } + else if (v < (vmin + 0.5 * dv)) + { + c.SetRed(0); + c.SetBlue(int(vmax*(1.0 + 4.0 * (vmin + 0.25 * dv - v) / dv) + 0.5)); + } + else if (v < (vmin + 0.75 * dv)) + { + c.SetRed(int(vmax*(4.0 * (v - vmin - 0.5 * dv) / dv) + 0.5)); + c.SetBlue(0); + } + else + { + c.SetGreen(int(vmax*(1.0 + 4.0 * (vmin + 0.75 * dv - v) / dv) + 0.5)); + c.SetBlue(0); + } + + return c; +} +/* +wxString wxGenericColour::WriteString(const wxString& format) const +{ + return wxString::Format(format.c_str(), m_r, m_g, m_b, m_a); +} +bool wxGenericColour::ReadString(const wxString& str, const wxString& format) +{ + int r,g,b,a; + if (4 == wxSscanf(str, format.c_str(), &r, &g, &b, &a)) + { + m_r = r; + m_g = g; + m_b = b; + m_a = a; + return true; + } + + return false; +} +*/ + +//---------------------------------------------------------------------------- +// wxGenericPen +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericPen, wxObject) + +class wxGenericPenRefData : public wxObjectRefData +{ +public: + wxGenericPenRefData(int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND) + : wxObjectRefData(), m_width(width), m_style(style), + m_cap(cap), m_join(join), + m_dash_count(0), m_dash(NULL) {} + + wxGenericPenRefData(const wxGenericPenRefData& data) : wxObjectRefData(), + m_colour(data.m_colour), m_width(data.m_width), m_style(data.m_style), + m_cap(data.m_cap), m_join(data.m_join), + m_dash_count(data.m_dash_count), m_dash(NULL) + { + if (data.m_dash) + { + m_dash = (wxDash*)malloc(m_dash_count*sizeof(wxDash)); + memcpy(m_dash, data.m_dash, m_dash_count*sizeof(wxDash)); + } + } + + ~wxGenericPenRefData() { if (m_dash) free(m_dash); } + + wxGenericColour m_colour; + int m_width; + int m_style; + int m_cap; + int m_join; + + int m_dash_count; // don't arbitrarily adjust these! + wxDash *m_dash; +}; + +#define M_GPENDATA ((wxGenericPenRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericPen::CreateRefData() const +{ + return new wxGenericPenRefData; +} +wxObjectRefData *wxGenericPen::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericPenRefData(*(const wxGenericPenRefData *)data); +} + +void wxGenericPen::Create( const wxGenericPen &pen ) +{ + Ref(pen); +} +void wxGenericPen::Create( const wxPen &pen ) +{ + UnRef(); + m_refData = new wxGenericPenRefData; + Set(pen); +} +void wxGenericPen::Create(const wxGenericColour &colour, int width, int style, + int cap, int join ) +{ + UnRef(); + m_refData = new wxGenericPenRefData(width, style, cap, join); + M_GPENDATA->m_colour = colour; +} +void wxGenericPen::Create(const wxColour &colour, int width, int style, + int cap, int join ) +{ + Create(wxGenericColour(colour), width, style, cap, join); +} + +void wxGenericPen::Set( const wxGenericPen& pen ) +{ + wxCHECK_RET(Ok() && pen.Ok(), wxT("Invalid generic pen")); + SetColour(pen.GetColour()); + M_GPENDATA->m_width = pen.GetWidth(); + M_GPENDATA->m_style = pen.GetStyle(); + M_GPENDATA->m_cap = pen.GetCap(); + M_GPENDATA->m_join = pen.GetJoin(); + + wxDash* dash; + int n_dashes = pen.GetDashes(&dash); + SetDashes(n_dashes, dash); +} +void wxGenericPen::Set( const wxPen &pen ) +{ + wxCHECK_RET(Ok() && pen.Ok(), wxT("Invalid generic pen")); + SetColour(pen.GetColour()); + M_GPENDATA->m_width = pen.GetWidth(); + M_GPENDATA->m_style = pen.GetStyle(); + M_GPENDATA->m_cap = pen.GetCap(); + M_GPENDATA->m_join = pen.GetJoin(); + + wxDash* dash; + int n_dashes = pen.GetDashes(&dash); + SetDashes(n_dashes, dash); + + // or SetDashes(pen.GetDashCount(), pen.GetDash()); not in msw 2.4 +} +void wxGenericPen::SetColour( const wxGenericColour &colour ) +{ + wxCHECK_RET(Ok() && colour.Ok(), wxT("Invalid generic pen or colour")); + M_GPENDATA->m_colour = colour; +} +void wxGenericPen::SetColour( const wxColour &colour ) +{ + SetColour(wxGenericColour(colour)); +} +void wxGenericPen::SetColour( int red, int green, int blue, int alpha ) +{ + SetColour(wxGenericColour(red, green, blue, alpha)); +} +void wxGenericPen::SetCap( int capStyle ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_cap = capStyle; +} +void wxGenericPen::SetJoin( int joinStyle ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_join = joinStyle; +} +void wxGenericPen::SetStyle( int style ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_style = style; +} +void wxGenericPen::SetWidth( int width ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_width = width; +} +void wxGenericPen::SetDashes( int number_of_dashes, const wxDash *dash ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + wxCHECK_RET(((number_of_dashes == 0) && !dash) || + ((number_of_dashes > 0) && dash), wxT("Invalid dashes for pen")); + + // internal double check to see if somebody's messed with this + //wxCHECK_RET(((M_GPENDATA->m_dash_count == 0) && !M_GPENDATA->m_dash) || + // ((M_GPENDATA->m_dash_count != 0) && M_GPENDATA->m_dash), wxT("Invalid internal dashes for pen")); + + if (M_GPENDATA->m_dash) + { + free(M_GPENDATA->m_dash); + M_GPENDATA->m_dash = NULL; + M_GPENDATA->m_dash_count = 0; + } + + if (!dash) + return; + + M_GPENDATA->m_dash_count = number_of_dashes; + M_GPENDATA->m_dash = (wxDash*)malloc(number_of_dashes*sizeof(wxDash)); + memcpy(M_GPENDATA->m_dash, dash, number_of_dashes*sizeof(wxDash)); +} + +wxPen wxGenericPen::GetPen() const +{ + wxCHECK_MSG(Ok(), wxNullPen, wxT("Invalid generic pen")); + wxPen pen(M_GPENDATA->m_colour.GetColour(), M_GPENDATA->m_width, M_GPENDATA->m_style); + pen.SetCap(M_GPENDATA->m_cap); + pen.SetJoin(M_GPENDATA->m_join); + if (M_GPENDATA->m_dash_count > 0) + pen.SetDashes(M_GPENDATA->m_dash_count, M_GPENDATA->m_dash); + + return pen; +} + +wxGenericColour wxGenericPen::GetGenericColour() const +{ + wxCHECK_MSG(Ok(), wxNullGenericColour, wxT("Invalid generic pen")); + return M_GPENDATA->m_colour; +} +wxColour wxGenericPen::GetColour() const +{ + wxCHECK_MSG(Ok(), wxNullColour, wxT("Invalid generic pen")); + return M_GPENDATA->m_colour.GetColour(); +} +int wxGenericPen::GetWidth() const +{ + wxCHECK_MSG(Ok(), 1, wxT("Invalid generic pen")); + return M_GPENDATA->m_width; +} +int wxGenericPen::GetStyle() const +{ + wxCHECK_MSG(Ok(), wxSOLID, wxT("Invalid generic pen")); + return M_GPENDATA->m_style; +} +int wxGenericPen::GetCap() const +{ + wxCHECK_MSG(Ok(), wxCAP_ROUND, wxT("Invalid generic pen")); + return M_GPENDATA->m_cap; +} +int wxGenericPen::GetJoin() const +{ + wxCHECK_MSG(Ok(), wxJOIN_ROUND, wxT("Invalid generic pen")); + return M_GPENDATA->m_join; +} +int wxGenericPen::GetDashes(wxDash **ptr) const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic pen")); + *ptr = (wxDash*)M_GPENDATA->m_dash; + return M_GPENDATA->m_dash_count; +} +int wxGenericPen::GetDashCount() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic pen")); + return M_GPENDATA->m_dash_count; +} +wxDash* wxGenericPen::GetDash() const +{ + wxCHECK_MSG(Ok(), NULL, wxT("Invalid generic pen")); + return M_GPENDATA->m_dash; +} + +bool wxGenericPen::IsSameAs(const wxGenericPen &pen) const +{ + wxCHECK_MSG(Ok() && pen.Ok(), false, wxT("Invalid generic pen")); + wxGenericPenRefData *pData = (wxGenericPenRefData*)pen.GetRefData(); + + if ((M_GPENDATA->m_colour != pData->m_colour) || (M_GPENDATA->m_width != pData->m_width) || + (M_GPENDATA->m_style != pData->m_style) || (M_GPENDATA->m_cap != pData->m_cap) || + (M_GPENDATA->m_join != pData->m_join) || (M_GPENDATA->m_dash_count != pen.GetDashCount())) + return false; + + if (M_GPENDATA->m_dash_count > 0) + return memcmp(M_GPENDATA->m_dash, pen.GetDash(), M_GPENDATA->m_dash_count*sizeof(wxDash)) == 0; + + return true; +} +bool wxGenericPen::IsSameAs(const wxPen &pen) const +{ + wxCHECK_MSG(Ok() && pen.Ok(), false, wxT("Invalid generic pen")); + wxGenericPen gp(pen); + gp.GetGenericColour().SetAlpha(M_GPENDATA->m_colour.GetAlpha()); + return IsSameAs(gp); +} + + + + +/* +wxString wxGenericPen::WriteString() const +{ + wxString str; + str.Printf(wxT("%s,%d,%d,%d,%d,%d"), m_colour.WriteString().c_str(), + m_width, m_style, m_cap, m_join, + m_dash_count); + + for (int i = 0; i < m_dash_count; i++) + str += wxString::Format(wxT(",%d"), m_dash[i]); + + return str; +} + +bool wxGenericPen::ReadString(const wxString& str) +{ + wxArrayString tokens = wxStringTokenize(str, wxT(", "), wxTOKEN_DEFAULT); + size_t n, count = tokens.GetCount(); + + if (count < 9u) + return false; + + long val; + + for (n = 0; n < count; n++) + { + if (!tokens[n].ToLong(&val)) + return false; + + values.Add(int(val)); + } + + m_colour.Set(values[0], values[1], values[2], values[3]); + + size_t num_dashes = values[8]; + + if (num_dashes != count - 9) + return false; + + if (num_dashes > 0) + { + wxDash *dash = new wxDash[num_dashes]; + for (n = 0; n < num_dashes; n++) + dash[n] = (wxDash)values[n]; + + SetDashes(num_dashes, dash); + delete dash; + } + + + m_width = values[4]; + m_style = values[5]; + m_cap = values[6]; + m_join = values[7]; + //m_dash_count = values[8]; + + return true; +} +*/ + + +//---------------------------------------------------------------------------- +// wxGenericBrush +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericBrush, wxObject) + +class wxGenericBrushRefData : public wxObjectRefData +{ +public: + wxGenericBrushRefData(const wxGenericColour& c = wxNullGenericColour, + int style = wxSOLID) : wxObjectRefData(), + m_colour(c), m_style(style) {} + + wxGenericBrushRefData(const wxGenericBrushRefData& data) : wxObjectRefData(), + m_colour(data.m_colour), m_style(data.m_style), m_stipple(data.m_stipple) {} + + ~wxGenericBrushRefData() { } + + wxGenericColour m_colour; + int m_style; + wxBitmap m_stipple; +}; + +#define M_GBRUSHDATA ((wxGenericBrushRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericBrush::CreateRefData() const +{ + return new wxGenericBrushRefData; +} +wxObjectRefData *wxGenericBrush::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericBrushRefData(*(const wxGenericBrushRefData *)data); +} + +void wxGenericBrush::Create( const wxGenericBrush &brush ) +{ + Ref(brush); +} +void wxGenericBrush::Create( const wxBrush &brush ) +{ + UnRef(); + m_refData = new wxGenericBrushRefData; + Set(brush); +} +void wxGenericBrush::Create(const wxGenericColour &colour, int style) +{ + UnRef(); + m_refData = new wxGenericBrushRefData(colour, style); +} +void wxGenericBrush::Create(const wxColour &colour, int style) +{ + Create(wxGenericColour(colour), style); +} +void wxGenericBrush::Create( const wxBitmap &stipple ) +{ + UnRef(); + wxCHECK_RET(stipple.Ok(), wxT("Invalid bitmap in wxGenericBrush::Create")); + + int style = stipple.GetMask() ? wxSTIPPLE_MASK_OPAQUE : wxSTIPPLE; + m_refData = new wxGenericBrushRefData(wxNullGenericColour, style); + M_GBRUSHDATA->m_stipple = stipple; +} + +void wxGenericBrush::Set( const wxGenericBrush& brush ) +{ + wxCHECK_RET(Ok() && brush.Ok(), wxT("Invalid generic brush")); + SetColour(brush.GetColour()); + M_GBRUSHDATA->m_style = brush.GetStyle(); + wxBitmap* stipple = brush.GetStipple(); + if (stipple && stipple->Ok()) + M_GBRUSHDATA->m_stipple = *stipple; +} +void wxGenericBrush::Set( const wxBrush &brush ) +{ + wxCHECK_RET(Ok() && brush.Ok(), wxT("Invalid generic brush")); + SetColour(brush.GetColour()); + M_GBRUSHDATA->m_style = brush.GetStyle(); + wxBitmap* stipple = brush.GetStipple(); + if (stipple && stipple->Ok()) + M_GBRUSHDATA->m_stipple = *stipple; +} +void wxGenericBrush::SetColour( const wxGenericColour &colour ) +{ + wxCHECK_RET(Ok() && colour.Ok(), wxT("Invalid generic brush or colour")); + M_GBRUSHDATA->m_colour = colour; +} +void wxGenericBrush::SetColour( const wxColour &colour ) +{ + SetColour(wxGenericColour(colour)); +} +void wxGenericBrush::SetColour( int red, int green, int blue, int alpha ) +{ + SetColour(wxGenericColour(red, green, blue, alpha)); +} +void wxGenericBrush::SetStyle( int style ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic brush")); + M_GBRUSHDATA->m_style = style; +} +void wxGenericBrush::SetStipple(const wxBitmap& stipple) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic brush")); + M_GBRUSHDATA->m_stipple = stipple; + M_GBRUSHDATA->m_style = stipple.GetMask() ? wxSTIPPLE_MASK_OPAQUE : wxSTIPPLE; + +} + +wxBrush wxGenericBrush::GetBrush() const +{ + wxCHECK_MSG(Ok(), wxNullBrush, wxT("Invalid generic brush")); + if (M_GBRUSHDATA->m_stipple.Ok()) + return wxBrush(M_GBRUSHDATA->m_stipple); + + return wxBrush(M_GBRUSHDATA->m_colour.GetColour(), M_GBRUSHDATA->m_style); +} + +wxGenericColour wxGenericBrush::GetGenericColour() const +{ + wxCHECK_MSG(Ok(), wxNullGenericColour, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_colour; +} +wxColour wxGenericBrush::GetColour() const +{ + wxCHECK_MSG(Ok(), wxNullColour, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_colour.GetColour(); +} +int wxGenericBrush::GetStyle() const +{ + wxCHECK_MSG(Ok(), wxSOLID, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_style; +} +wxBitmap* wxGenericBrush::GetStipple() const +{ + wxCHECK_MSG(Ok(), NULL, wxT("Invalid generic brush")); + return &M_GBRUSHDATA->m_stipple; +} + +bool wxGenericBrush::IsSameAs(const wxGenericBrush& brush) const +{ + wxCHECK_MSG(Ok() && brush.Ok(), 1, wxT("Invalid generic brush")); + wxGenericBrushRefData *bData = (wxGenericBrushRefData*)brush.GetRefData(); + return (M_GBRUSHDATA->m_colour == bData->m_colour) && + (M_GBRUSHDATA->m_style == bData->m_style) && + (M_GBRUSHDATA->m_stipple == bData->m_stipple); +} +bool wxGenericBrush::IsSameAs(const wxBrush& brush) const +{ + wxCHECK_MSG(Ok() && brush.Ok(), 1, wxT("Invalid generic brush")); + wxGenericBrush gB(brush); + gB.GetGenericColour().SetAlpha(M_GBRUSHDATA->m_colour.GetAlpha()); + return IsSameAs(gB); +} diff --git a/.svn/pristine/43/43b895cd17cba00a534d3c6775127c7af3dfd11c.svn-base b/.svn/pristine/43/43b895cd17cba00a534d3c6775127c7af3dfd11c.svn-base new file mode 100644 index 0000000..3d982e3 --- /dev/null +++ b/.svn/pristine/43/43b895cd17cba00a534d3c6775127c7af3dfd11c.svn-base @@ -0,0 +1,153 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_zuf.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format ZuF from Zoller+Froehlich AG + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. Actually, the Riegl poses + * are high precise and this function puts noise + * on it. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_zuf::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "2811CSODRE" + to_string(fileCounter,2) + "_sub2.rgp.txtMATRIX.txt"; + scanFileName = dir + "2811CSODRE" + to_string(fileCounter,2) + "_sub2.rgp.txt"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + char firstline[255]; + scan_in.getline(firstline, 255); + + double rPos[3] = { 0.0, 0.0, 0.0 }; + double rPosTheta[16] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double inMatrix[16]; + char dummy[255]; + pose_in.getline(dummy, 255); + pose_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + + Matrix4ToEuler(inMatrix, rPosTheta, rPos); + + euler[0] = 100 * inMatrix[3]; + euler[1] = 100 * inMatrix[11]; + euler[2] = 100 * inMatrix[7]; + + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[2]; + euler[5] = rPosTheta[1]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + while (scan_in.good()) { + Point p; + int dummy; + scan_in >> dummy >> dummy >> p.x >> p.z >> p.y >> dummy >> dummy >> dummy; + + p.x *= 100; + p.y *= 100; + p.z *= 100; + + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_zuf; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/43/43cd0b5ddb37ebdd4d8fdc0894e83e2ea184ff79.svn-base b/.svn/pristine/43/43cd0b5ddb37ebdd4d8fdc0894e83e2ea184ff79.svn-base new file mode 100644 index 0000000..96fe916 --- /dev/null +++ b/.svn/pristine/43/43cd0b5ddb37ebdd4d8fdc0894e83e2ea184ff79.svn-base @@ -0,0 +1,143 @@ +/** + * @file + * @brief Metrics for measuring various aspects of an application + * @author Thomas Escher + */ + +#ifndef METRICS_H +#define METRICS_H + +#include + +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +template +class Metric { +public: + //! Reserve a minimum of 1k values to reduced allocation overhead in between + Metric(unsigned int reserve = 1000) { + m_values.reserve(reserve); + m_use_lock = 0; + } + + //! Print the sum of this metric + T sum() const { + T value = 0; + for(typename std::vector::const_iterator it = m_values.begin(); it != m_values.end(); ++it) + value += *it; + return value; + } + + //! Print the average of this metric + T average() const { + if(m_values.size() != 0) + return sum() / (T)(m_values.size()); + else + return (T)0; + } + + std::size_t size() const { + return m_values.size(); + } + + void reset() { + m_values.clear(); + } + + //! If functions will be called in a multithread context, these will enable safety + void set_threadsafety(bool multithreaded) { + boost::lock_guard lock(m_mutex_commit); + if(multithreaded) { + ++m_use_lock; + } else { + --m_use_lock; + } + } + +protected: + inline void commit(const T& value) { + if(m_use_lock > 0) { + boost::lock_guard lock(m_mutex_commit); + m_values.push_back(value); + } else { + m_values.push_back(value); + } + } + +private: + std::vector m_values; + volatile unsigned int m_use_lock; + boost::mutex m_mutex_commit; +}; + +#ifdef _MSC_VER + typedef LARGE_INTEGER Timer; +#else + typedef timeval Timer; +#endif + +/** + * @brief Measures time differences in seconds. + */ +class TimeMetric : public Metric { +public: + TimeMetric(unsigned int reserve = 1000); + + //! Start the timer + Timer start(); + + //! End the timer and commit value + void end(Timer&); + +private: +#ifdef _MSC_VER + static LARGE_INTEGER frequency; + static bool init; +#endif +}; + +/** + * @brief Measures access count or size. + */ +class CounterMetric : public Metric { +public: + CounterMetric(unsigned int reserve = 1000); + void add(unsigned long long value = 1); + +private: +}; + + + +struct ServerMetric { + static TimeMetric scan_loading, cacheio_write_time, cacheio_read_time; + static CounterMetric cacheio_write_size, cacheio_read_size; + static void print(); +}; + +struct ClientMetric { + static TimeMetric + // Scan + // directory loading + read_scan_time, scan_load_time, + // reduce, transform, copy, create tree as part of the reduction and tree preparation + calc_reduced_points_time, transform_time, copy_original_time, create_tree_time, + // new scanserver only times + on_demand_reduction_time, create_metatree_time, + // part of transform dealing with frames + add_frames_time, + // slam6D + matching_time, + // ClientInterface + clientinterface_time, cache_miss_time, allocate_time, frames_time; + static void print(bool scanserver = false); +}; + +#endif //METRICS_H diff --git a/.svn/pristine/44/44a30a4bb3adee051057b79d556c73c668b3d847.svn-base b/.svn/pristine/44/44a30a4bb3adee051057b79d556c73c668b3d847.svn-base new file mode 100644 index 0000000..f984875 --- /dev/null +++ b/.svn/pristine/44/44a30a4bb3adee051057b79d556c73c668b3d847.svn-base @@ -0,0 +1,2626 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: filebrws.cpp +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "filebrws.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/wx.h" +#endif // WX_PRECOMP + +#include "wx/mimetype.h" +#include "wx/tglbtn.h" // for EVT_TOGGLE_BUTTON +#include "wx/splitter.h" +#include "wx/imaglist.h" +#include "wx/confbase.h" +#include "wx/filename.h" +#include "wx/dir.h" +#include "wx/artprov.h" +#include "wx/image.h" // wxInitAllImageHandlers +#include "wx/renderer.h" +#include "wx/file.h" +#include "wx/txtstrm.h" +#include "wx/wfstream.h" + +#include "wx/filefn.h" // wxStat + +#include "wx/things/filebrws.h" + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayFileData); + +// #include "wx/stedit/stedit.h" + +// defined in src/generic/dirctrlg.cpp +extern size_t wxGetAvailableDrives(wxArrayString &paths, wxArrayString &names, wxArrayInt &icon_ids); + +#define BORDER 5 +#define MIN_SPLIT 8 + +//------------------------------------------------------------------------------ +// constants +//------------------------------------------------------------------------------ + +enum +{ + ID_wxFILEBROWSER_PATH_COMBO = 100, + ID_wxFILEBROWSER_PATH_BUTTON, + ID_wxFILEBROWSER_DIRCTRL, + ID_wxFILEBROWSER_LISTCTRL, + ID_wxFLEBROWSER_VIEW_TOOLBAR, + ID_wxFLEBROWSER_PATH_TOOLBAR, + + ID_wxFILEBROWSER_FILTER_COMBO, + + ID_wxFILEBROWSER_VIEW_BUTTON, + + ID_wxFILEBROWSER_VIEW_TREE, + ID_wxFILEBROWSER_VIEW_LIST, + ID_wxFILEBROWSER_VIEW_DETAILS, + ID_wxFILEBROWSER_VIEW_SMALL_ICON, + ID_wxFILEBROWSER_VIEW_LARGE_ICON, + ID_wxFILEBROWSER_VIEW_PREVIEW, + + ID_wxFILEBROWSER_GO_BACK, + ID_wxFILEBROWSER_GO_FORWARD, + ID_wxFILEBROWSER_GO_UP, + ID_wxFILEBROWSER_GO_HOME, + ID_wxFILEBROWSER_REFRESH, + + ID_wxFILEBROWSER_TREE_MENU_PROPERITES, + + ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, + ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, + ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, + ID_wxFILEBROWSER_LIST_MENU_DELETE, + ID_wxFILEBROWSER_LIST_MENU_RENAME, + ID_wxFILEBROWSER_LIST_MENU_PROPERITES, + + ID_wxFILEBROWSER_LIST_MENU_OPTIONS, + ID_wxFILEBROWSER_SHOW_HIDDEN, + ID_wxFILEBROWSER_SHOW_FOLDERS, + ID_wxFILEBROWSER_SPLIT_VERTICAL, + + ID_wxFILEBROWSER_COMBOSETPATH, // for delayed setting path to get out of combo event for Gtk + ID_wxFILEBROWSER_COMBOSETFILTER +}; + +int wxFileBrowser::FBStyleToLCStyle(int s) const // wxFileBrowserStyles_Type to wxLC_XXX +{ + return + (s)&wxFILEBROWSER_TREE ? wxLC_REPORT : + (s)&wxFILEBROWSER_LIST ? wxLC_LIST : + (s)&wxFILEBROWSER_DETAILS ? wxLC_REPORT : + (s)&wxFILEBROWSER_SMALL_ICON ? wxLC_SMALL_ICON : + (s)&wxFILEBROWSER_LARGE_ICON ? wxLC_ICON : + (s)&wxFILEBROWSER_PREVIEW ? wxLC_ICON : wxLC_REPORT; +} +int wxFileBrowser::FBStyleToMenuID(int s) const // wxFileBrowserStyles_Type menu id +{ + return + (s)&wxFILEBROWSER_TREE ? ID_wxFILEBROWSER_VIEW_TREE : + (s)&wxFILEBROWSER_LIST ? ID_wxFILEBROWSER_VIEW_LIST : + (s)&wxFILEBROWSER_DETAILS ? ID_wxFILEBROWSER_VIEW_DETAILS : + (s)&wxFILEBROWSER_SMALL_ICON ? ID_wxFILEBROWSER_VIEW_SMALL_ICON : + (s)&wxFILEBROWSER_LARGE_ICON ? ID_wxFILEBROWSER_VIEW_LARGE_ICON : + (s)&wxFILEBROWSER_PREVIEW ? ID_wxFILEBROWSER_VIEW_PREVIEW : ID_wxFILEBROWSER_VIEW_DETAILS; +} +int wxFileBrowser::MenuIDToFBStyle(int id) const // menu id to wxFileBrowserStyles_Type +{ + return + (id)==ID_wxFILEBROWSER_VIEW_TREE ? wxFILEBROWSER_TREE : + (id)==ID_wxFILEBROWSER_VIEW_LIST ? wxFILEBROWSER_LIST : + (id)==ID_wxFILEBROWSER_VIEW_DETAILS ? wxFILEBROWSER_DETAILS : + (id)==ID_wxFILEBROWSER_VIEW_SMALL_ICON ? wxFILEBROWSER_SMALL_ICON : + (id)==ID_wxFILEBROWSER_VIEW_LARGE_ICON ? wxFILEBROWSER_LARGE_ICON : + (id)==ID_wxFILEBROWSER_VIEW_PREVIEW ? wxFILEBROWSER_PREVIEW : wxFILEBROWSER_DETAILS; +} + +//============================================================================ +// Button Icons +//============================================================================ +/* XPM */ +/* +static const char *view_xpm_data[] = { +// columns rows colors chars-per-pixel +"16 16 4 1", +"a c Black", +"b c #0000FF", +"c c #FFFFFF", +"d c #808080", +// pixels +"aaaaaaaaaaaaaaaa", +"abbbbbbbbbbbbbba", +"abbbbbbbbbbbbbba", +"aaaaaaaaaaaaaaaa", +"adddddddddddddda", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"aaaaaaaaaaaaaaaa"}; + +static const char *details_xpm_data[]={ +"16 15 4 1", +"# c None", +"a c #000000", +"b c #000080", +". c #c0c0c0", +"################", +"###aaaa#aaa#aaa#", +"################", +"bbbbbbbbbbbbbbbb", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################"}; + +static const char *list_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................"}; + +static const char *large_icons_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +"..###...........", +"..#a##..........", +"..#aa#..........", +"..#aa#..........", +"..####..........", +"................", +".bbbbbb...###...", +"..........#a##..", +"..........#aa#..", +"..........#aa#..", +"..........####..", +"................", +".........bbbbbb.", +"................"}; + +static const char *small_icons_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +".##.............", +".#a#.bbb........", +".###............", +"................", +"................", +"........##......", +"........#a#.bbb.", +"........###.....", +"................", +"................", +"...##...........", +"...#a#.bbb......", +"...###..........", +"................"}; + +static const char *tree_xpm_data[]={ +"16 15 4 1", +". c None", +"# c #000000", +"a c #ffff00", +"b c #ffffff", +".#aa#...........", +".#a##...........", +"..#.............", +"..####aa#.......", +".....#a##.......", +"......#.........", +"......####b#b#..", +"......#..#b#b#..", +"......#.........", +"......####b#b#..", +"......#..#b#b#..", +"......#.........", +".......###b#b#..", +".........#b#b#..", +"................"}; + +static const char *preview_xpm_data[]={ +"16 15 14 1", +". c None", +"k c #000080", +"l c #0058c0", +"g c #0080ff", +"e c #585858", +"c c #808080", +"b c #89562f", +"f c #a0a0a0", +"h c #a86a3a", +"j c #bd7741", +"i c #d48549", +"# c #ff0000", +"a c #ffff00", +"d c #ffffff", +".......###......", +".a..a..bc.#.....", +"..aa...bdc......", +"..aa..cbddc.....", +".a..acdbdddc....", +"....cddbddddc...", +"....eddbddddf...", +"....eddbdddddf..", +".....edbddddff..", +"..g.hiijiiih.g..", +".gggghiiiihgggg.", +".kllllhhhhggllk.", +".llllllllllllll.", +".kklkllklklklkk.", +"................"}; + +static const char *hidden_xpm_data[] = { +"16 15 7 1", +" c None", +"a c Black", +"b c #EFBE1B", +"d c #F6F0B4", +"e c #FFEF7D", +"f c #FBD915", +"g c #8E8220", +" ", +" aaa ", +" addfa ", +" adffffa ", +" adfdadba ", +" affaaabga ", +" aedadbga ", +" adfbbbgga ", +" adfbaggga ", +" adfba aaa ", +" adfba ", +" adfbgga ", +" abbaga ", +" aa a ", +" "}; +*/ + +wxBitmap GetBitmapFromIconId(int imageId) +{ + return wxTheFileIconsTable->GetSmallImageList()->GetBitmap(imageId); +} + +// ---------------------------------------------------------------------------- +// CopyDir - copy a full directory recursively, returns # files copied +// code taken and modified from wxWidgets forum, by "Tyler" - public domain +// ---------------------------------------------------------------------------- + +int CopyDir(const wxString& fromDir, const wxString& toDir) +{ + wxString from(fromDir), to(toDir); + + if (!from.length() || !to.length()) return false; + + // append a slash if there is not one (for easier parsing) + // because who knows what people will pass to the function. + if (to[to.length()-1] != wxFILE_SEP_PATH) + to += wxFILE_SEP_PATH; + if (from[from.length()-1] != wxFILE_SEP_PATH) + from += wxFILE_SEP_PATH; + + // first make sure that the source dir exists + if(!wxDir::Exists(from)) + { + wxLogError(from + wxT(" does not exist. Can not copy directory.")); + return 0; + } + + if (!wxDir::Exists(to)) + wxMkdir(to); + + wxDir dir(from); + wxString filename; + int count = 0; + + if (dir.GetFirst(&filename)) + { + do { + if (wxDirExists(from + filename)) + { + wxMkdir(to + filename); + count += CopyDir(from + filename, to + filename); + } + else + { + wxCopyFile(from + filename, to + filename); + count++; + } + } + while (dir.GetNext(&filename)); + } + return count; +} + +//------------------------------------------------------------------------------ +// MultilineTextDialog - makes the wxTextEntryDialog multiline +//------------------------------------------------------------------------------ + +MultilineTextDialog::MultilineTextDialog(wxWindow *parent, + const wxString& message, + const wxString& caption, + const wxString& value, + long style, + const wxPoint& pos) + :wxTextEntryDialog(parent, message, caption, value, + style|wxTextEntryDialogStyle|wxTE_MULTILINE, pos) +{ + int height = m_textctrl->GetSize().y; + m_textctrl->SetSize(300, 100); + height = (100-height > 0) ? 100 - height : 0; + wxSize size(GetSize()); + SetSize(size.x, size.y+height); + Layout(); + //m_textctrl->SetEditable(false); +} + +//------------------------------------------------------------------------------ +// MultilineTextDialog +//------------------------------------------------------------------------------ +#define ID_OPENWITH_BROWSE 5 +#define ID_OPENWITH_TEXTCTRL 6 + +class OpenWithDialog : public wxDialog +{ +public: + OpenWithDialog(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Open With"), + const wxString& openCommand = wxEmptyString, + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition) : wxDialog(), m_fileData(fileData) + { + m_textCtrl = NULL; + Create(parent, winId, fileData, caption, openCommand, style, pos); + } + bool Create(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Open With"), + const wxString& openCommand = wxEmptyString, + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition); + + wxString GetOpenCommand() const { return m_command; } + +protected: + void OnButton(wxCommandEvent& event); + + wxString m_command; + wxFileData m_fileData; + wxTextCtrl *m_textCtrl; + DECLARE_EVENT_TABLE(); +}; + +BEGIN_EVENT_TABLE(OpenWithDialog, wxDialog) + EVT_BUTTON(-1, OpenWithDialog::OnButton) +END_EVENT_TABLE() + +bool OpenWithDialog::Create(wxWindow *parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption, + const wxString& openCommand, + long style, const wxPoint& pos) +{ + if (!wxDialog::Create(parent, winId, caption, pos, wxDefaultSize, style)) + return false; + + m_fileData = fileData; + wxFileName fileName(fileData.GetFilePath()); + wxString openCmd = openCommand; + wxString description(wxT("Unknown file type")); + if (openCmd.IsEmpty()) + { + wxFileType *fileType = wxTheMimeTypesManager->GetFileTypeFromExtension(fileName.GetExt()); + if (fileType) + { + fileType->GetDescription(&description); + openCmd = fileType->GetOpenCommand(fileName.GetFullPath()); + } + } + + wxBoxSizer *rootSizer = new wxBoxSizer( wxVERTICAL ); + + wxStaticText *labelText = new wxStaticText( this, wxID_ANY, wxT("Choose the program to open the file"), wxDefaultPosition, wxDefaultSize, 0 ); + rootSizer->Add( labelText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *iconSizer = new wxFlexGridSizer( 2, 0, 0 ); + iconSizer->AddGrowableCol( 1 ); + + wxBitmap iconBitmap = GetBitmapFromIconId(m_fileData.GetImageId()); + wxStaticBitmap *staticBitmap = new wxStaticBitmap( this, wxID_ANY, iconBitmap, wxDefaultPosition, wxDefaultSize ); + iconSizer->Add( staticBitmap, 0, wxALIGN_CENTER|wxALL, 5 ); + + wxStaticText *nameText = new wxStaticText( this, wxID_ANY, fileName.GetFullPath(), wxDefaultPosition, wxDefaultSize, 0 ); + iconSizer->Add( nameText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + iconSizer->AddSpacer(5); + + wxStaticText *descripText = new wxStaticText( this, wxID_ANY, description, wxDefaultPosition, wxDefaultSize, 0 ); + iconSizer->Add( descripText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + rootSizer->Add( iconSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticBox *staticBox = new wxStaticBox( this, wxID_ANY, wxT("Program") ); + wxStaticBoxSizer *staticBoxSizer = new wxStaticBoxSizer( staticBox, wxVERTICAL ); + + m_textCtrl = new wxTextCtrl( this, ID_OPENWITH_TEXTCTRL, openCmd, wxDefaultPosition, wxSize(400,-1), 0 ); + staticBoxSizer->Add( m_textCtrl, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *browseSizer = new wxFlexGridSizer( 2, 0, 0 ); + browseSizer->AddGrowableCol( 1 ); + + wxButton *browseButton = new wxButton( this, ID_OPENWITH_BROWSE, wxT("Browse..."), wxDefaultPosition, wxDefaultSize, 0 ); + browseSizer->Add( browseButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + //wxCheckBox *item10 = new wxCheckBox( this, wxID_ANY, wxT("Always use selected program to open this kind of file"), wxDefaultPosition, wxDefaultSize, 0 ); + //browseSizer->Add( item10, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + browseSizer->AddSpacer(5); + staticBoxSizer->Add( browseSizer, 0, wxGROW|wxALIGN_CENTER|wxALL, 0 ); + + rootSizer->Add( staticBoxSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxBoxSizer *buttonSizer = new wxBoxSizer( wxHORIZONTAL ); + + wxButton *okButton = new wxButton( this, wxID_OK, wxT("OK"), wxDefaultPosition, wxDefaultSize, 0 ); + okButton->SetDefault(); + buttonSizer->Add( okButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + wxButton *cancelButton = new wxButton( this, wxID_CANCEL, wxT("Cancel"), wxDefaultPosition, wxDefaultSize, 0 ); + buttonSizer->Add( cancelButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + rootSizer->Add( buttonSizer, 0, wxALIGN_CENTER|wxALL, 5 ); + + SetMinSize(wxSize(400, 300)); + SetSizer( rootSizer ); + rootSizer->SetSizeHints( this ); + return true; +} + +void OpenWithDialog::OnButton(wxCommandEvent& event) +{ + switch (event.GetId()) + { + case wxID_CANCEL : m_command.Clear(); break; + case wxID_OK : m_command = m_textCtrl->GetValue(); break; + case ID_OPENWITH_BROWSE : + { + wxString filters(wxT("All files (*)|*")); +#ifdef __WXMSW__ + filters = wxT("Executable files (*.exe)|*.exe|Batch files (*.bat)|*.bat|All files (*)|*"); +#endif //__WXMSW__ + wxString startPath = m_fileData.GetFilePath(); + wxString fileName = wxFileSelector( wxT("Open With"), + wxPathOnly(startPath), + wxFileNameFromPath(startPath), + wxEmptyString, + filters, + wxOPEN|wxFILE_MUST_EXIST ); + if (!fileName.IsEmpty()) + { + fileName += wxT(" \"") + m_fileData.GetFilePath() + wxT("\""); + m_textCtrl->SetValue(fileName); + } + + break; + } + }; + + event.Skip(); // let wxDialog exit if OK or CANCEL +} + +//------------------------------------------------------------------------------ +// wxFilePropertiesDialog - a properties dialog for a file +//------------------------------------------------------------------------------ + +class wxFilePropertiesDialog : public wxDialog +{ +public: + wxFilePropertiesDialog(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Properties"), + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition) : wxDialog(), m_fileData(fileData) + { + Create(parent, winId, fileData, caption, style, pos); + } + bool Create(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Properties"), + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition); + +protected: + wxFileData m_fileData; + DECLARE_EVENT_TABLE(); +}; + +BEGIN_EVENT_TABLE(wxFilePropertiesDialog, wxDialog) +END_EVENT_TABLE() + +bool wxFilePropertiesDialog::Create(wxWindow *parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption, + long style, const wxPoint& pos) +{ + m_fileData = fileData; + + if (!wxDialog::Create(parent, winId, caption, pos, wxDefaultSize, style)) + return false; + + wxString typeStr; + wxString locationStr = fileData.GetFilePath().BeforeLast(wxFILE_SEP_PATH); + wxString sizeStr; + wxString modifiedStr = fileData.GetModificationTime(); + wxString attrStr = fileData.GetEntry(wxFileData::FileList_Perm); + + if (fileData.IsDir()) + { + typeStr = sizeStr = _("Directory"); + } + else if (fileData.IsLink()) + { + typeStr = sizeStr = _("Link"); + } + else if (fileData.IsDrive()) + { + typeStr = sizeStr = _("Drive"); + } + else if (fileData.IsFile()) + { + wxString ext = wxFileName(fileData.GetFileName()).GetExt(); + wxString description; + wxFileType *ft = wxTheMimeTypesManager->GetFileTypeFromExtension(ext); + if (ft && ft->GetDescription(&description)) + typeStr = description; + + if (description.IsEmpty()) // gtk does this... + { + if (!ext.IsEmpty()) + typeStr = ext + wxT(" file"); + else + typeStr = wxT("Unknown file type"); + } + + sizeStr = fileData.GetEntry(wxFileData::FileList_Size) + wxT(" bytes"); + attrStr = fileData.GetEntry(wxFileData::FileList_Perm); + } + + wxPanel *panel = new wxPanel(this, wxID_ANY); + wxBoxSizer *rootSizer = new wxBoxSizer( wxVERTICAL ); + wxFlexGridSizer *fileNameSizer = new wxFlexGridSizer( 2, 0, 0 ); + + wxBitmap iconBitmap = GetBitmapFromIconId(fileData.GetImageId()); + wxStaticBitmap *iconStaticBitmap = new wxStaticBitmap( panel, wxID_ANY, iconBitmap, + wxDefaultPosition, wxDefaultSize ); + fileNameSizer->Add( iconStaticBitmap, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *fileNameText = new wxStaticText( panel, wxID_ANY, fileData.GetFileName(), wxDefaultPosition, wxDefaultSize, 0 ); + fileNameSizer->Add( fileNameText, 0, wxALIGN_CENTRE|wxALL, 5 ); + rootSizer->Add( fileNameSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticBox *generalBox = new wxStaticBox( panel, wxID_ANY, wxT("General") ); + wxStaticBoxSizer *generalBoxSizer = new wxStaticBoxSizer( generalBox, wxVERTICAL ); + wxFlexGridSizer *generalSizer = new wxFlexGridSizer( 2, 0, 0 ); + + wxStaticText *typeNameText = new wxStaticText( panel, wxID_ANY, wxT("Type:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( typeNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *typeText = new wxStaticText( panel, wxID_ANY, typeStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( typeText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *locationNameText = new wxStaticText( panel, wxID_ANY, wxT("Location:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( locationNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *locationText = new wxStaticText( panel, wxID_ANY, locationStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( locationText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *sizeNameText = new wxStaticText( panel, wxID_ANY, wxT("Size:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( sizeNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *sizeText = new wxStaticText( panel, wxID_ANY, sizeStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( sizeText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *modifiedNameText = new wxStaticText( panel, wxID_ANY, wxT("Modified:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( modifiedNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *modifiedText = new wxStaticText( panel, wxID_ANY, modifiedStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( modifiedText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *attributesNameText = new wxStaticText( panel, wxID_ANY, wxT("Attributes:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( attributesNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *attributesText = new wxStaticText( panel, wxID_ANY, attrStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( attributesText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + generalBoxSizer->Add( generalSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL, 5 ); + rootSizer->Add( generalBoxSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *buttonSizer = new wxFlexGridSizer( 2, 0, 0 ); + wxButton *okButton = new wxButton( panel, wxID_OK, wxT("OK"), wxDefaultPosition, wxDefaultSize, 0 ); + okButton->SetDefault(); + buttonSizer->Add( okButton, 0, wxALIGN_CENTRE|wxALL, 5 ); + rootSizer->Add( buttonSizer, 0, wxALIGN_CENTRE|wxALL, 5 ); + + panel->SetAutoLayout( true ); + panel->SetSizer( rootSizer ); + rootSizer->Fit( panel ); + rootSizer->SetSizeHints( this ); + + // have a min size so it really only varies for really long paths + wxSize size = GetSize(); + if (size.x < 400) + SetSize(wxSize(400, size.y)); + + return true; +} + +//------------------------------------------------------------------------------ +// wxFileBrowserEvent, events for the wxFileBrowser +//------------------------------------------------------------------------------ +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_FILE_SELECTED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_FILE_ACTIVATED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_DIR_SELECTED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_DIR_ACTIVATED) + +IMPLEMENT_ABSTRACT_CLASS(wxFileBrowserEvent, wxCommandEvent) + +wxFileBrowserEvent::wxFileBrowserEvent(wxEventType commandType, + wxFileBrowser *fileBrowser, wxWindowID win_id) + :wxCommandEvent(commandType, win_id) +{ + SetEventObject( fileBrowser ); +} + +//---------------------------------------------------------------------------- +// wxFileBrowser +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxFileBrowser, wxControl); + +BEGIN_EVENT_TABLE(wxFileBrowser, wxControl) + // View toolbar items + EVT_MENU(ID_wxFILEBROWSER_VIEW_TREE, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_LIST, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_DETAILS, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_SMALL_ICON, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_LARGE_ICON, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_PREVIEW, wxFileBrowser::OnViewButtons) + + EVT_BUTTON(ID_wxFILEBROWSER_VIEW_BUTTON, wxFileBrowser::OnViewButtons) + //EVT_MENU(ID_wxFILEBROWSER_VIEW_BUTTON, wxFileBrowser::OnViewButtons) + + // menu items for the right click treectrl menu + EVT_MENU(ID_wxFILEBROWSER_TREE_MENU_PROPERITES, wxFileBrowser::OnTreeMenu) + + // menu items for the right click listctrl menu + EVT_MENU(ID_wxFILEBROWSER_GO_BACK, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_FORWARD, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_UP, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_HOME, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_REFRESH, wxFileBrowser::OnListMenu) + + EVT_MENU(wxID_OPEN, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_CUT, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_COPY, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_PASTE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_DELETE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_RENAME, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_PROPERITES, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SHOW_HIDDEN, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SHOW_FOLDERS, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SPLIT_VERTICAL, wxFileBrowser::OnListMenu) + + // combobox events + EVT_COMBOBOX (ID_wxFILEBROWSER_FILTER_COMBO, wxFileBrowser::OnFilterCombo) + EVT_TEXT_ENTER(ID_wxFILEBROWSER_FILTER_COMBO, wxFileBrowser::OnFilterComboEnter) + EVT_COMBOBOX (ID_wxFILEBROWSER_PATH_COMBO, wxFileBrowser::OnPathCombo) + EVT_TEXT_ENTER(ID_wxFILEBROWSER_PATH_COMBO, wxFileBrowser::OnPathComboEnter) + EVT_BUTTON (ID_wxFILEBROWSER_PATH_BUTTON, wxFileBrowser::OnPathComboEnter) + // fake internal events to get around GTK combo event loops + EVT_MENU (ID_wxFILEBROWSER_COMBOSETPATH, wxFileBrowser::OnSetPath) + EVT_MENU (ID_wxFILEBROWSER_COMBOSETFILTER, wxFileBrowser::OnSetFilter) + + // TreeCtrl + EVT_TREE_SEL_CHANGED (wxID_ANY, wxFileBrowser::OnTreeItemSelection) + EVT_TREE_ITEM_ACTIVATED (wxID_ANY, wxFileBrowser::OnTreeItemActivation) + EVT_TREE_ITEM_RIGHT_CLICK(wxID_ANY, wxFileBrowser::OnTreeRightClick) + + // ListCtrl + EVT_LIST_ITEM_ACTIVATED (wxID_ANY, wxFileBrowser::OnListItemActivated) + EVT_LIST_ITEM_SELECTED (wxID_ANY, wxFileBrowser::OnListItemSelected) + EVT_LIST_ITEM_RIGHT_CLICK (wxID_ANY, wxFileBrowser::OnListRightClick) + + EVT_SIZE (wxFileBrowser::OnSize) + //EVT_IDLE (wxFileBrowser::OnIdle) +END_EVENT_TABLE() + +void wxFileBrowser::Init() +{ + m_ignore_tree_event = true; // turned off after Create + m_init_filters = 0; + m_browser_style = wxFILEBROWSER_LIST; + + m_path_history_index = 0; + + m_viewToolBar = NULL; + m_pathToolBar = NULL; + + m_viewButton = NULL; + m_filterCombo = NULL; + m_pathCombo = NULL; + m_splitterWin = NULL; + m_dirCtrl = NULL; + m_fileCtrl = NULL; + m_listMenu = NULL; + m_treeMenu = NULL; + m_viewMenu = NULL; + + m_filterComboSelection = 0; + m_pathComboSelection = 0; + + m_show_hidden = false; +} + +bool wxFileBrowser::Create( wxWindow *parent, const wxWindowID id, + const wxString& dir, + const wxPoint& pos, const wxSize& size, long style, + const wxString& filter, int defaultFilter, + const wxString& name) +{ + m_ignore_tree_event = true; + + if (!wxControl::Create(parent, id, pos, size, style, wxDefaultValidator, name)) + return false; + + // disable the log in case image handlers have already been initialized + { + wxLogNull logNull; + wxInitAllImageHandlers(); // need this for the icons + } + + // Find what directory to start with + if (!GetPathFromFilePath(dir, m_path)) + m_path = wxGetCwd(); + + // ------------------------------------------------------------------------ + // Create the popup menu for the wxFileCtrl + m_listMenu = new wxMenu; + m_listMenu->Append(wxID_OPEN, wxT("&Open")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, wxT("&View file...")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, wxT("Open &with...")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, wxT("&New folder")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(wxID_CUT, wxT("Cu&t")); + m_listMenu->Append(wxID_COPY, wxT("&Copy")); + m_listMenu->Append(wxID_PASTE, wxT("&Paste")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_DELETE, wxT("&Delete...")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_RENAME, wxT("Rena&me")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_PROPERITES, wxT("P&roperties")); + m_listMenu->AppendSeparator(); + + m_treeMenu = new wxMenu; + m_treeMenu->Append(ID_wxFILEBROWSER_TREE_MENU_PROPERITES, wxT("P&roperties")); + + wxMenu *optionsMenu = new wxMenu(wxEmptyString); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SHOW_HIDDEN, wxT("Show Hidden Files")); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SHOW_FOLDERS, wxT("Show Folders")); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SPLIT_VERTICAL, wxT("Split Vertically")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_OPTIONS, wxT("Optio&ns"), optionsMenu); + + // ------------------------------------------------------------------------ + // Create the menu for the view button menu + m_viewMenu = new wxMenu; + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_TREE, wxT("Tree view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_LIST, wxT("List view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_DETAILS, wxT("Details view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_SMALL_ICON, wxT("Small icon view")); + //m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_LARGE_ICON, wxT("Large icon view")); + //m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_PREVIEW, wxT("Image preview view")); + + // ------------------------------------------------------------------------ + // Create the first Toolbar + m_viewToolBar = new wxToolBar(this, ID_wxFLEBROWSER_VIEW_TOOLBAR); + + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_BACK, wxT("Back"), + wxArtProvider::GetBitmap(wxART_GO_BACK), wxArtProvider::GetBitmap(wxART_GO_BACK, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go back one directory"), wxT("Go back one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_FORWARD, wxT("Forward"), + wxArtProvider::GetBitmap(wxART_GO_FORWARD), wxArtProvider::GetBitmap(wxART_GO_FORWARD, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go forward one directory"), wxT("Go forward one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_UP, wxT("Up"), + wxArtProvider::GetBitmap(wxART_GO_DIR_UP), wxArtProvider::GetBitmap(wxART_GO_DIR_UP, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go up one directory"), wxT("Go up one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_HOME, wxT("Home"), + wxArtProvider::GetBitmap(wxART_GO_HOME), wxArtProvider::GetBitmap(wxART_GO_HOME, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go to your home directory"), wxT("Go to your home directory")); + m_viewToolBar->AddSeparator(); + + m_viewToolBar->AddCheckTool(ID_wxFILEBROWSER_SHOW_FOLDERS, wxT("Folders"), + wxArtProvider::GetBitmap(wxART_HELP_SIDE_PANEL), wxArtProvider::GetBitmap(wxART_HELP_SIDE_PANEL, wxART_TOOLBAR), + wxT("Show folder view"), wxT("Show folder view")); + m_viewToolBar->AddSeparator(); + + // MenuButton METHOD ---------------- +// m_viewButton = new wxMenuButton(m_viewToolBar, wxID_ANY, +// //wxBitmap(view_xpm_data), +// wxArtProvider::GetBitmap(wxART_LIST_VIEW), +// wxDefaultPosition, wxSize(32,22)); +// m_viewButton->AssignMenu(viewMenu, false); +// m_viewButton->SetToolTip(wxT("Change view mode")); +// m_viewToolBar->AddControl(m_viewButton); + + // CREATE BITMAP METHOD ---------------- + wxBitmap viewBmp(wxArtProvider::GetBitmap(wxART_LIST_VIEW)); //, wxART_TOOLBAR)); + wxSize toolBmpSize = m_viewToolBar->GetToolSize(); + wxSize toolSize = m_viewToolBar->GetToolSize(); + { + wxImage viewImg(viewBmp.ConvertToImage()); + int w = viewImg.GetWidth(), h = viewImg.GetHeight(); + int s = 10; + unsigned char r = 103, g = 200, b = 101; + viewImg.GetOrFindMaskColour(&r, &g, &b); + viewImg.Resize(wxSize(w + s, h), wxPoint(0,0), r, g, b); + viewImg.SetMask(false); + viewBmp = wxBitmap(viewImg); + wxMemoryDC memDC; + memDC.SelectObject(viewBmp); + wxRendererNative& renderer = wxRendererNative::Get(); + renderer.DrawComboBoxDropButton(this, memDC, wxRect(w, 0, s, toolBmpSize.y), wxCONTROL_PRESSED); + //renderer.DrawDropArrow(this, memDC, wxRect(w, 0, s, toolBmpSize.y)); + + memDC.SelectObject(wxNullBitmap); + viewImg = viewBmp.ConvertToImage(); + viewImg.SetMaskColour(r, g, b); + viewBmp = wxBitmap(viewImg); + } + + m_viewButton = new wxBitmapButton(m_viewToolBar, ID_wxFILEBROWSER_VIEW_BUTTON, + //wxBitmap(view_xpm_data), + viewBmp, + wxDefaultPosition, + wxSize(toolSize.GetWidth()+10, toolSize.GetHeight())); + m_viewButton->SetToolTip(wxT("Change view mode")); + m_viewToolBar->AddControl(m_viewButton); + + //m_viewToolBar->AddTool(ID_wxFILEBROWSER_VIEW_BUTTON, wxT("Views"), + // viewBmp, viewBmp, + // wxITEM_NORMAL, wxT("Change view mode"), wxT("Change view mode")); + + m_filterCombo = new wxComboBox(m_viewToolBar, ID_wxFILEBROWSER_FILTER_COMBO, + wxT("Any file (*.*)"), // sets init size + wxDefaultPosition, wxSize(40, wxDefaultCoord), + 0, NULL, + wxCB_DROPDOWN|wxTE_PROCESS_ENTER); + m_filterCombo->SetToolTip(wxT("Filter files using wildcards (file1?2.a*)")); + SetFilters(filter, defaultFilter); + m_viewToolBar->AddSeparator(); + m_viewToolBar->AddControl(m_filterCombo); + + m_viewToolBar->Realize(); + + // ------------------------------------------------------------------------ + // Create second Toolbar + m_pathToolBar = new wxToolBar(this, ID_wxFLEBROWSER_PATH_TOOLBAR); + + m_pathCombo = new wxComboBox(m_pathToolBar, ID_wxFILEBROWSER_PATH_COMBO, + wxT("C: I'm a pretty long dir name so I'm sized big"), + wxDefaultPosition, wxSize(40, wxDefaultCoord), + 0, NULL, + wxCB_DROPDOWN|wxTE_PROCESS_ENTER); + m_pathCombo->SetToolTip(wxT("Enter path")); + m_pathCombo->Append(GetPath(true), (void*)NULL); + m_pathCombo->SetSelection(0); + m_pathComboSelection = 0; + m_pathToolBar->AddControl(m_pathCombo); + + m_pathToolBar->AddTool(ID_wxFILEBROWSER_PATH_BUTTON, wxT("Open"), + wxArtProvider::GetBitmap(wxART_FILE_OPEN), wxArtProvider::GetBitmap(wxART_FILE_OPEN, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go to path or open file"), wxT("Go to path or open file")); + + m_pathToolBar->Realize(); + + // ------------------------------------------------------------------------ + // Create the splitter window and children + int dirCtrlStyle = style & wxFILEBROWSER_TREE ? wxDIRCTRL_DIR_ONLY : 0; + m_splitterWin = new wxSplitterWindow(this, wxID_ANY, + wxDefaultPosition, wxDefaultSize, + wxSP_BORDER|wxSP_3D|wxCLIP_CHILDREN); + m_splitterWin->SetMinimumPaneSize(MIN_SPLIT); // don't let it unsplit + m_splitterWin->SetSashGravity(0.3); // bottom grows more than top + + m_dirCtrl = new wxGenericDirCtrl(m_splitterWin, ID_wxFILEBROWSER_DIRCTRL, + m_path, wxDefaultPosition, wxSize(50,50), + dirCtrlStyle|wxNO_BORDER, wxEmptyString, 0); + + m_dirCtrl->Show(true); + + m_fileCtrl = new wxFileCtrl(m_splitterWin, wxID_ANY, GetWild(), false, + wxDefaultPosition, wxSize(50,50), + wxNO_BORDER|wxLC_SINGLE_SEL|FBStyleToLCStyle(style)); + m_fileCtrl->Show(true); + m_fileCtrl->GoToDir(m_path); + + // ------------------------------------------------------------------------ + + SetBrowserStyle( style ); + m_splitterWin->Show(true); + + AddPathHistory(GetPath(true)); + + UpdateItems(); + m_ignore_tree_event = false; + return true; +} + +wxFileBrowser::~wxFileBrowser() +{ + // delete all the attached data + int n, count = m_filterCombo->GetCount(); + for ( n = 0; n < count; n++ ) + { + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + delete data; + } + + delete m_listMenu; + delete m_treeMenu; + delete m_viewMenu; +} + +void wxFileBrowser::OnSize( wxSizeEvent &event ) +{ + //wxPrintf(wxT("OnSize GetSize(%d %d) Event(%d %d)\n"), GetSize().x, GetSize().y, event.GetSize().x, event.GetSize().y); fflush(stdout); + event.Skip(); + DoSize(); +} + +// The code in src/gtk/window.cpp wxWindow::DoSetSize fails since +// m_parent->m_wxwindow == NULL so nothing is done +#ifdef __WXGTK__ + #include + void GtkToolbarResizeWindow(wxWindow* win, const wxSize& size) + { + // don't take the x,y values, they're wrong because toolbar sets them + GtkWidget *widget = GTK_WIDGET(win->m_widget); + //gtk_widget_set_usize(widget, size.x, size.y); this is deprecated use below + gtk_widget_set_size_request(widget, size.x, size.y); + if (GTK_WIDGET_VISIBLE(widget)) + gtk_widget_queue_resize(widget); + } +#endif //__WXGTK__ + +void wxFileBrowser::DoSize() +{ + if (!m_splitterWin) + return; + + wxSize clientSize(GetClientSize()); + int h = 0; + + if (m_viewToolBar && m_filterCombo) + { + wxSize tbSize(m_viewToolBar->GetSize()); + m_viewToolBar->SetSize(0, h, clientSize.x, tbSize.y); + wxSize toolSize(m_viewToolBar->GetToolSize()); + wxSize marginSize(m_viewToolBar->GetMargins()); + wxRect comboRect(m_filterCombo->GetRect()); + wxSize comboSize(clientSize.x - comboRect.x - marginSize.x, comboRect.height); + +#ifdef __WXGTK__ + int sep = m_viewToolBar->GetToolSeparation(); + comboSize.x = clientSize.x - 6*toolSize.x - 6*sep; + GtkToolbarResizeWindow(m_filterCombo, comboSize); +#else + m_filterCombo->SetSize(comboSize); + m_viewToolBar->Realize(); +#endif + + //wxPrintf(wxT("FilterCombo %d %d - %d\n"), comboSize.x, comboSize.y, m_filterCombo->GetSize().y); + h += tbSize.y; + } + + if (m_pathToolBar && m_pathCombo) + { + wxSize tbSize(m_pathToolBar->GetSize()); + m_pathToolBar->SetSize(0, h, clientSize.x, tbSize.y); + wxSize toolSize(m_pathToolBar->GetToolSize()); + wxSize marginSize(m_pathToolBar->GetMargins()); + wxRect comboRect(m_pathCombo->GetRect()); + wxSize comboSize(clientSize.x - comboRect.x - toolSize.x - marginSize.x, comboRect.height); + +#ifdef __WXGTK__ + //int sep = m_viewToolBar->GetToolSeparation(); + comboSize.x = clientSize.x - toolSize.x - 2; + GtkToolbarResizeWindow(m_pathCombo, comboSize); +#else + //wxPrintf(wxT("Do Size %d %d - %d %d %d\n"), clientSize.x, clientSize.y, clientSize.x, comboRect.width, clientSize.x - comboRect.x - toolSize.x - marginSize.x); + m_pathCombo->SetSize(comboSize); + m_pathToolBar->Realize(); +#endif + + //wxPrintf(wxT("PathCombo %d %d - %d\n"), clientSize.x - comboRect.x - toolSize.x - marginSize.x, comboRect.height, m_pathCombo->GetSize().y); + h += tbSize.y; + } + + m_splitterWin->SetSize(wxRect(0, h, clientSize.x, clientSize.y - h)); + + // Make sure the splitter window doesn't unsplit when the window size changes, + // even though we already told it not to. + // FIXME : This should be fixed in the splitter window + if (m_splitterWin && m_splitterWin->IsSplit()) + { + int splitter_pos = m_splitterWin->GetSashPosition(); + int splitter_size = (m_splitterWin->GetSplitMode() == wxSPLIT_VERTICAL) ? + m_splitterWin->GetSize().GetWidth() : m_splitterWin->GetSize().GetHeight(); + int min_size = m_splitterWin->GetMinimumPaneSize(); + + if (splitter_pos < min_size) + m_splitterWin->SetSashPosition(wxMin(splitter_size, min_size)); + else if (splitter_pos > splitter_size - min_size) + m_splitterWin->SetSashPosition(wxMax(0, splitter_size - min_size)); + } +} + +wxSize wxFileBrowser::DoGetBestSize() const +{ + return wxSize(200,400); + //return wxControl::DoGetBestSize(); +} + +void wxFileBrowser::OnIdle(wxIdleEvent &event) +{ + event.Skip(); + + // Ancient code to display a preview of images + +/* + if ((m_browser_style & wxFILEBROWSER_PREVIEW) && + (int(m_previewFiles.GetCount()) > 0)) + { + int i, count = m_previewFiles.GetCount(); + int flags = 0; + int prev_index = 0; + int min_index = m_fileCtrl->HitTest(wxPoint(20,150), flags); + if (min_index < 0) min_index = 0; + int max_index = min_index + (m_fileCtrl->GetClientSize().x*m_fileCtrl->GetClientSize().y)/3000; + + for (i=0; im_list_index >= min_index) || + (m_previewFiles[i]->m_list_index <= max_index)) + { + prev_index = i; + break; + } + } + + wxFileBrowserFile *browserFile = m_previewFiles[prev_index]; + + int icon_index = browserFile->m_icon_index; + + wxString path = GetPath(true); + + wxImage img(path + browserFile->m_name); + if (img.Ok()) + { + int w = img.GetWidth(), h = img.GetHeight(); + browserFile->m_image_size.Printf(wxT("(%dx%d)"), w, h); + + int icon_w, icon_h; + m_normalImageList->GetSize(0, icon_w, icon_h); + + if (w > icon_w || h > icon_h) + { + if (w > h) + { + h = (h*icon_w)/w; + if (h == 0) h = 1; + w = icon_w; + } + else + { + w = (w*icon_h)/h; + if (w == 0) w = 1; + h = icon_h; + } + + img.Rescale(w, h); + } + + wxImage img2(icon_w, icon_h); + unsigned char r=5, g=5, b=5; + if (img.HasMask()) + { + r = img.GetMaskRed(); + g = img.GetMaskGreen(); + b = img.GetMaskBlue(); + } + else + { + img.FindFirstUnusedColour(&r, &g, &b); + img.SetMask(true); + img.SetMaskColour(r, g, b); + } + unsigned char *data = img2.GetData(); + long icon_size = icon_w*icon_h; + for (i=0; iReplace(icon_index, icon); + + if (browserFile->m_list_index >= 0) // maybe still filling the listCtrl + { + m_fileCtrl->SetItemImage(browserFile->m_list_index, + icon_index, icon_index); + } + } + m_previewFiles.RemoveAt(prev_index); + + if (count > 1) event.RequestMore(); + } + */ +} + +#define FILEBRWS_LIST_VIEW_MASK (wxFILEBROWSER_DETAILS|wxFILEBROWSER_LIST|wxFILEBROWSER_SMALL_ICON|wxFILEBROWSER_LARGE_ICON|wxFILEBROWSER_PREVIEW) +#define FILEBRWS_VIEW_MASK (FILEBRWS_LIST_VIEW_MASK|wxFILEBROWSER_TREE) + +void wxFileBrowser::SetBrowserStyle( long style ) +{ + style &= wxFILEBROWSER_STYLE_MASK; + + int n_styles = 0; + if (style & wxFILEBROWSER_LIST ) n_styles++; + if (style & wxFILEBROWSER_DETAILS ) n_styles++; + if (style & wxFILEBROWSER_LARGE_ICON) n_styles++; + if (style & wxFILEBROWSER_SMALL_ICON) n_styles++; + if (style & wxFILEBROWSER_PREVIEW ) n_styles++; + if (style & wxFILEBROWSER_TREE ) n_styles++; + wxCHECK_RET(n_styles == 1, wxT("Only one wxFileBrowser list style allowed")); + + long last_style = m_browser_style; + m_browser_style = style; // swap to new style immediately + + // Only the tree view will be shown + if (!HasBrowserStyle(FILEBRWS_LIST_VIEW_MASK)) + { + m_fileCtrl->Show(false); + + if (m_splitterWin->IsSplit()) + m_splitterWin->Unsplit(m_fileCtrl); + else // if (m_splitterWin->GetWindow1() != m_dirCtrl) + m_splitterWin->Initialize(m_dirCtrl); + + // show and reload the files for the dirctrl using the filter + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) != 0) + { + m_ignore_tree_event = true; + wxString currentPath = GetPath(false); + m_dirCtrl->SetWindowStyleFlag(m_dirCtrl->GetWindowStyleFlag() & (~wxDIRCTRL_DIR_ONLY)); + m_dirCtrl->SetFilter(GetFilter()); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_splitterWin->SizeWindows(); + UpdateItems(); + return; + } + + // Else - show a combination of tree and list views + + // Try to avoid flicker by changing mode only if necessary + switch (m_browser_style & FILEBRWS_VIEW_MASK) + { + case wxFILEBROWSER_DETAILS : + { + if ((last_style & wxFILEBROWSER_DETAILS) == 0) + m_fileCtrl->ChangeToReportMode(); + break; + } + case wxFILEBROWSER_LIST : + { + if ((last_style & wxFILEBROWSER_LIST) == 0) + m_fileCtrl->ChangeToListMode(); + break; + } + case wxFILEBROWSER_SMALL_ICON : + { + if ((last_style & wxFILEBROWSER_SMALL_ICON) == 0) + m_fileCtrl->ChangeToSmallIconMode(); + break; + } + default : break; + } + + // are both tree and list view shown + if (GetShowFolders()) + { + if (GetSplitVertical()) + { + if (m_splitterWin->GetSplitMode() != wxSPLIT_VERTICAL) + { + if (m_splitterWin->IsSplit()) // FIXME need to unsplit to resplit + m_splitterWin->Unsplit(m_splitterWin->GetWindow2()); + } + + int sash_pos = m_splitterWin->GetSashPosition(); + m_splitterWin->SplitVertically(m_dirCtrl, m_fileCtrl, sash_pos); + } + else + { + if (m_splitterWin->GetSplitMode() != wxSPLIT_HORIZONTAL) + { + if (m_splitterWin->IsSplit()) // FIXME need to unsplit to resplit + m_splitterWin->Unsplit(m_splitterWin->GetWindow2()); + } + + int sash_pos = m_splitterWin->GetSashPosition(); + m_splitterWin->SplitHorizontally(m_dirCtrl, m_fileCtrl, sash_pos); + } + + m_dirCtrl->Show(true); + } + else // just list view + { + if (m_splitterWin->IsSplit()) + m_splitterWin->Unsplit(m_dirCtrl); + else // if (m_splitterWin->GetWindow1() != m_fileCtrl) + m_splitterWin->Initialize(m_fileCtrl); + + m_dirCtrl->Show(false); + } + + m_fileCtrl->Show(true); + + // In dir mode always show all dirs + m_dirCtrl->SetFilter(wxEmptyString); + + // if it used to have wxFILEBROWSER_TREE style, make tree show only dirs + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) == 0) + { + m_ignore_tree_event = true; + m_dirCtrl->SetFilter(wxT("*|*")); + m_dirCtrl->SetWindowStyleFlag(m_dirCtrl->GetWindowStyleFlag() | wxDIRCTRL_DIR_ONLY); + wxString currentPath = GetPath(false); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_splitterWin->SizeWindows(); + UpdateItems(); +} + +bool wxFileBrowser::CanRead(const wxString& filePath) const +{ + return wxFile::Access(filePath, wxFile::read); +} + +bool wxFileBrowser::CanWrite(const wxString& filePath) const +{ + return wxFile::Access(filePath, wxFile::write); +} + +void wxFileBrowser::UpdateItems() +{ + UpdateMenu(m_listMenu); + UpdateMenu(m_viewMenu); + + UpdateToolBar(m_viewToolBar); + UpdateToolBar(m_pathToolBar); +} + +void EnableMenuItem(wxMenu *menu, wxWindowID menu_id, bool value) +{ + if (menu) + { + wxMenuItem *menuItem = menu->FindItem(menu_id); + if (menuItem) + menuItem->Enable(value); + } +} +void CheckMenuItem(wxMenu *menu, wxWindowID menu_id, bool value) +{ + if (menu) + { + wxMenuItem *menuItem = menu->FindItem(menu_id); + if (menuItem) + menuItem->Check(value); + } +} + +void wxFileBrowser::UpdateMenu( wxMenu* menu ) +{ + if (!menu) return; + + CheckMenuItem(menu, FBStyleToMenuID(m_browser_style), true); + + // Update options menu --------------------------- + + CheckMenuItem(menu, ID_wxFILEBROWSER_SHOW_HIDDEN, GetShowHidden()); + EnableMenuItem(menu, ID_wxFILEBROWSER_SHOW_FOLDERS, !HasBrowserStyle(wxFILEBROWSER_TREE)); + CheckMenuItem(menu, ID_wxFILEBROWSER_SHOW_FOLDERS, GetShowFolders()); + CheckMenuItem(menu, ID_wxFILEBROWSER_SPLIT_VERTICAL, GetSplitVertical()); + + // Update go items --------------------------- + + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_BACK, CanGoPathHistoryBackward()); + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_FORWARD, CanGoPathHistoryForward()); + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_UP, CanGoUpDir()); + + // Update cut, copy, paste --------------------------- + + // wxLIST_STATE_FOCUSED ? nah probably selected + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + + wxFileData *fd = NULL; + if (item >= 0) + fd = (wxFileData*)m_fileCtrl->GetItemData(item); + + bool is_file = fd && !fd->IsDir() && !fd->IsDrive() && !fd->IsLink(); + bool is_dir = fd && fd->IsDir(); + + // There's nothing you can do with this + if (fd && (fd->GetFileName() == wxT(".."))) + { + is_file = is_dir = false; + } + + bool can_read = (is_file || is_dir) && fd && CanRead(fd->GetFilePath()); + bool can_write = (is_file || is_dir) && fd && CanWrite(fd->GetFilePath()); + bool can_write_dir = CanWrite(GetPath()); + + // can't do anything with drive listing in MSW + bool is_top = false; +#ifndef __UNIX__ + if (GetPath(false).IsEmpty()) is_top = true; +#endif //__UNIX__ + + EnableMenuItem(menu, wxID_OPEN, (is_file || is_dir) && can_read); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, is_file && can_read); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, is_file && can_read); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, !is_top && can_write_dir); + + EnableMenuItem(menu, wxID_CUT, is_file && can_write); + EnableMenuItem(menu, wxID_COPY, is_file && can_read); + EnableMenuItem(menu, wxID_PASTE, !is_top && (m_copycutFiles.GetCount() > 0u) && can_write_dir); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_DELETE, (is_file || is_dir) && can_write); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_RENAME, (is_file || is_dir) && can_write); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_PROPERITES, is_file || is_dir); +} +void wxFileBrowser::UpdateToolBar( wxToolBar* toolBar ) +{ + if (!toolBar) return; + + toolBar->EnableTool(ID_wxFILEBROWSER_GO_BACK, CanGoPathHistoryBackward()); + toolBar->EnableTool(ID_wxFILEBROWSER_GO_FORWARD, CanGoPathHistoryForward()); + toolBar->EnableTool(ID_wxFILEBROWSER_GO_UP, CanGoUpDir()); + toolBar->EnableTool(ID_wxFILEBROWSER_SHOW_FOLDERS, !HasBrowserStyle(wxFILEBROWSER_TREE)); + toolBar->ToggleTool(ID_wxFILEBROWSER_SHOW_FOLDERS, GetShowFolders()); +} + +void wxFileBrowser::ShowHidden(bool show_hidden) +{ + m_show_hidden = show_hidden; + + m_ignore_tree_event = true; + m_dirCtrl->ShowHidden(m_show_hidden); + m_fileCtrl->ShowHidden(m_show_hidden); + m_ignore_tree_event = false; + + UpdateItems(); +} + +void wxFileBrowser::ShowFolders(bool show_folders) +{ + m_browser_style &= (~wxFILEBROWSER_SHOW_FOLDERS); + if (show_folders) + m_browser_style |= wxFILEBROWSER_SHOW_FOLDERS; + + SetBrowserStyle(m_browser_style); +} + +void wxFileBrowser::SplitVertical(bool split_vertically) +{ + m_browser_style &= (~wxFILEBROWSER_SPLIT_VERTICAL); + if (split_vertically) + m_browser_style |= wxFILEBROWSER_SPLIT_VERTICAL; + + SetBrowserStyle(m_browser_style); +} + +bool wxFileBrowser::GetPathFromFilePath(const wxString &filepath, wxString &path) const +{ + path = filepath; + + wxFileName filename(filepath); + if (filename.FileExists()) + path = filename.GetPath(); + + if (!wxDirExists(path)) return false; + + if (path.Last() != wxFILE_SEP_PATH) + path += wxFILE_SEP_PATH; + + return true; +} + +wxString AddDelete_wxFILE_SEP_PATH(const wxString &path_, bool add_sep) +{ + wxString path(path_); + +#if __UNIX__ + if (path.IsEmpty()) return wxFILE_SEP_PATH; +#endif + + if (add_sep) + { + if (path.IsEmpty() || (path.Last() != wxFILE_SEP_PATH)) + path += wxFILE_SEP_PATH; + } + else if (!path.IsEmpty() && (path.Last() == wxFILE_SEP_PATH)) + path = path.RemoveLast(); + + return path; +} + +wxString wxFileBrowser::GetPath(bool add_wxFILE_SEP_PATH) const +{ + return AddDelete_wxFILE_SEP_PATH(m_path, add_wxFILE_SEP_PATH); +} + +bool wxFileBrowser::SetPath(const wxString &dirname) +{ + wxString path = dirname; + + if (dirname.IsEmpty()) + { +#ifdef __UNIX__ + path = wxFILE_SEP_PATH; +#endif + } + else + { + if (!GetPathFromFilePath(dirname, path)) + return false; + } + + m_path = AddDelete_wxFILE_SEP_PATH(path, true); + + m_ignore_tree_event = true; + m_dirCtrl->SetPath(GetPath(false)); // doesn't like trailing wxFILE_SEP_PATH - segfault + m_ignore_tree_event = false; + + if (!HasBrowserStyle(wxFILEBROWSER_TREE)) // don't care otherwise + m_fileCtrl->GoToDir(m_path); + + InsertComboItem(m_pathCombo, GetPath(true), 0); + + AddPathHistory(GetPath(true)); + UpdateItems(); + return true; +} + +bool wxFileBrowser::CanGoUpDir() const +{ + wxString path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + return !path.IsEmpty() && wxDirExists(path); +} +bool wxFileBrowser::GoUpDir() +{ + wxString path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + if (!path.IsEmpty() && wxDirExists(path)) + return SetPath(path); + + return false; +} + +bool wxFileBrowser::GoToHomeDir() +{ + + return SetPath(wxFileName::GetHomeDir()); +} + +bool wxFileBrowser::CanGoPathHistoryForward() +{ + if (m_path_history_index < int(m_pathHistory.GetCount()) - 1) + { + // maybe they deleted it? + if (!wxDirExists(m_pathHistory[m_path_history_index+1])) + { + m_path_history_index++; + m_pathHistory.RemoveAt(m_path_history_index); + return CanGoPathHistoryForward(); + } + + return true; + } + if (m_pathHistory.GetCount() == 0u) + m_pathHistory.Add(GetPath(true)); + + return false; +} +bool wxFileBrowser::CanGoPathHistoryBackward() +{ + if (m_path_history_index != 0) + { + // maybe they deleted it? + if (!wxDirExists(m_pathHistory[m_path_history_index-1])) + { + m_path_history_index--; + m_pathHistory.RemoveAt(m_path_history_index); + return CanGoPathHistoryBackward(); + } + + return true; + } + if (m_pathHistory.GetCount() == 0u) + m_pathHistory.Add(GetPath(true)); + + return false; +} + +bool wxFileBrowser::GoPathHistoryForward() +{ + if (!CanGoPathHistoryForward()) + return false; + + m_path_history_index++; + return SetPath(m_pathHistory[m_path_history_index]); +} +bool wxFileBrowser::GoPathHistoryBackward() +{ + if (!CanGoPathHistoryBackward()) + return false; + + m_path_history_index--; + return SetPath(m_pathHistory[m_path_history_index]); +} + +void wxFileBrowser::AddPathHistory(const wxString& path) +{ + if (!wxDirExists(path) || (path == m_pathHistory[m_path_history_index])) + return; + + int count = m_pathHistory.GetCount(); + if (count == 0) + { + m_path_history_index = 0; + m_pathHistory.Add(path); + } + else if (m_path_history_index == count-1) + { + m_path_history_index++; + m_pathHistory.Add(path); + } + else + { + m_path_history_index++; + m_pathHistory[m_path_history_index] = path; + } +} + +void wxFileBrowser::OnTreeItemSelection(wxTreeEvent &event) +{ + if (m_ignore_tree_event) + { + event.Skip(); + return; + } + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_SELECTED, this, GetId()); + + if (m_dirCtrl->GetFilePath().IsEmpty()) + fbEvent.SetEventType(wxEVT_FILEBROWSER_DIR_SELECTED); + + fbEvent.SetFilePath(m_dirCtrl->GetPath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnTreeItemActivation(wxTreeEvent &event) +{ + if (m_ignore_tree_event) + { + event.Skip(); + return; + } + + wxString path; + if (!GetPathFromFilePath(m_dirCtrl->GetPath(), path)) + return; + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_ACTIVATED, this, GetId()); + + m_path = path; + if (m_dirCtrl->GetFilePath().IsEmpty()) + { + fbEvent.SetEventType(wxEVT_FILEBROWSER_DIR_ACTIVATED); + + if (!HasBrowserStyle(wxFILEBROWSER_TREE)) + m_fileCtrl->GoToDir(m_path); + } + + fbEvent.SetFilePath(m_dirCtrl->GetPath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnTreeRightClick(wxTreeEvent &event) +{ + UpdateMenu(m_treeMenu); + m_dirCtrl->PopupMenu(m_treeMenu, event.GetPoint()); +} + +void wxFileBrowser::OnListItemActivated(wxListEvent &event) +{ + wxString filename = event.GetLabel(); + if (filename.IsEmpty()) return; + + wxFileData *fd = (wxFileData*)event.GetData(); + wxCHECK_RET(fd, wxT("Invalid filedata")); + wxString filePath = fd->GetFilePath(); + + wxEventType evtType = fd->IsDir() ? wxEVT_FILEBROWSER_DIR_ACTIVATED : + wxEVT_FILEBROWSER_FILE_ACTIVATED; + wxFileBrowserEvent fbEvent(evtType, this, GetId()); + + if (fd->IsDir()) + { + if (filename == wxT("..")) + filePath = filePath.RemoveLast().BeforeLast(wxFILE_SEP_PATH); + + SetPath(filePath); + } + + fbEvent.SetFilePath(filePath); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnListItemSelected(wxListEvent &event) +{ + wxFileData *fd = (wxFileData*)event.GetData(); + wxCHECK_RET(fd, wxT("Invalid filedata")); + + wxEventType evtType = fd->IsDir() ? wxEVT_FILEBROWSER_DIR_SELECTED : + wxEVT_FILEBROWSER_FILE_SELECTED; + wxFileBrowserEvent fbEvent(evtType, this, GetId()); + fbEvent.SetFilePath(fd->GetFilePath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnListRightClick(wxListEvent &event) +{ + UpdateMenu(m_listMenu); + m_fileCtrl->PopupMenu(m_listMenu, event.GetPoint()); +} + +wxFileData* wxFileBrowser::GetFocusedListItem() const +{ + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_FOCUSED); + + if (item >= 0) + return (wxFileData*)m_fileCtrl->GetItemData(item); + + return NULL; +} + +wxArrayInt wxFileBrowser::GetSelectedListItems() const +{ + wxArrayInt selItems; + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + + while (item >= 0) + { + selItems.Add((int)item); + item = m_fileCtrl->GetNextItem(item, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + } + + return selItems; +} + +wxArrayFileData wxFileBrowser::GetSelectedListFileData() const +{ + wxArrayFileData fileDatas; + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return fileDatas; + + for (size_t n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, fileDatas, wxT("Invalid filedata item")); + + wxFileData newFd(*fd); + fileDatas.Add(newFd); + } + + return fileDatas; +} + + +wxFileData wxFileBrowser::CreateFileData(const wxFileName& fileName) const +{ + if (fileName.DirExists()) + { + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_dir, wxFileIconsTable::folder); + } + else if (fileName.FileExists()) + { + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_file, wxFileIconsTable::file); + } +#if defined(__WINDOWS__) || defined(__DOS__) || defined(__WXMAC__) || defined(__OS2__) + else + { + // FIXME this is ugly, but should work + wxArrayString names, paths; + wxArrayInt icons; + size_t n, count = wxGetAvailableDrives(paths, names, icons); + for (n = 0; n < count; n++) + { + if (fileName.GetFullPath() == paths[n]) + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_drive, icons[n]); + } + } +#endif + return wxFileData(); +} + +bool wxFileBrowser::DeleteSelectedListItems(bool WXUNUSED(ask_ok)) +{ + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return false; + + size_t n = 0; + wxArrayString filePaths; + wxArrayInt isDirs; + wxString fileNameString; + int line_length = 0; + for (n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, false, wxT("Invalid filedata item")); + + if (fd->IsDrive()) + { + wxString msg = wxT("Unable to delete drive: \"")+fd->GetFilePath()+wxT("\"\n"); + msg += wxT("Please deselect drive and try again."); + wxMessageBox(msg, + wxT("Error deleting"), wxOK|wxCENTRE|wxICON_INFORMATION, this); + return false; + } + if (fd->GetFileName() == wxT("..")) + { + wxString msg = wxT("Unable to delete parent directory: \"")+fd->GetFilePath()+wxT("\"\n"); + msg += wxT("Please deselect dir and try again."); + wxMessageBox(msg, + wxT("Error deleting"), wxOK|wxCENTRE|wxICON_INFORMATION, this); + return false; + } + + isDirs.Add(fd->IsDir() ? 1 : 0); + filePaths.Add(fd->GetFilePath()); + if (line_length > 100) + { + fileNameString += wxT("\n"); + line_length = 0; + } + fileNameString += fd->GetFileName(); + if (n < selItems.GetCount() - 1) + fileNameString += wxT(", "); + + line_length += fd->GetFileName().Length() + 2; + } + + MultilineTextDialog tDialog( this, + wxT("Delete files(s)/dir(s)?"), + wxT("Confirm deleting?"), + fileNameString, + wxTE_READONLY); + + if (tDialog.ShowModal() != wxID_OK) + return false; + + for (n=0; nDeleteItem(selItems[n]); + else + { + wxString msg = wxT("Sorry, unable to delete dir: \"")+filePaths[n]+wxT("\"\n"); + msg += wxT("Perhaps it is not empty?"); + int ret = wxMessageBox(msg, wxT("Error deleting dir"), + wxOK|wxCANCEL|wxCENTRE|wxICON_INFORMATION, this); + + if (ret == wxCANCEL) break; + } + } + else + { + if (CanWrite(filePaths[n]) && wxRemoveFile(filePaths[n])) + m_fileCtrl->DeleteItem(selItems[n]); + else + { + int ret = wxMessageBox(wxT("Sorry, unable to delete file : \"")+filePaths[n]+wxT("\""), + wxT("Error deleting file"), + wxOK|wxCANCEL|wxCENTRE|wxICON_INFORMATION, this); + if (ret == wxCANCEL) break; + } + } + } + + SetPath(GetPath()); // refresh views + return true; +} + +bool wxFileBrowser::CopyCutSelectedListItems(bool copy_them) +{ + m_last_copy = copy_them; + m_copycutFiles.Clear(); + + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return false; + + for (size_t n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, false, wxT("Invalid filedata item")); + + if (fd->GetFileName() != wxT("..")) + { + if (!m_last_copy) + m_fileCtrl->SetItemState(selItems[n], wxLIST_MASK_STATE, wxLIST_STATE_CUT); + + m_copycutFiles.Add(wxFileData(*fd)); + } + } + + return m_copycutFiles.GetCount() > 0U; +} + +bool wxFileBrowser::PasteCopyCutSelectedListItems() +{ + wxString path = GetPath(true); + + for (size_t n=0; nFindItem(-1, srcFileName); + + if (!dst_file_exists || (item_id < 0)) + { + wxListItem item; + item.m_itemId = m_fileCtrl->GetItemCount(); + item.m_col = 0; + wxFileData *fd = new wxFileData(dstFilePath, srcFileName, wxFileData::is_file, wxFileIconsTable::file); + m_fileCtrl->Add(fd, item); + } + else + { + wxListItem item; + item.m_itemId = item_id; + m_fileCtrl->UpdateItem(item); + } + } + + SetPath(GetPath()); // refresh views + return true; +} + +void wxFileBrowser::OnTreeMenu(wxCommandEvent &event) +{ + switch(event.GetId()) + { + case ID_wxFILEBROWSER_TREE_MENU_PROPERITES : + { + wxFileName fileName(m_dirCtrl->GetPath()); + wxFileData fd(CreateFileData(fileName)); + //if (!fd) return; + + ShowPropertiesDialog(fd); + break; + } + default : break; + } +} + +void wxFileBrowser::OnListMenu(wxCommandEvent &event) +{ + switch(event.GetId()) + { + case ID_wxFILEBROWSER_GO_BACK : + { + if (CanGoPathHistoryBackward()) + GoPathHistoryBackward(); + + break; + } + case ID_wxFILEBROWSER_GO_FORWARD : + { + if (CanGoPathHistoryForward()) + GoPathHistoryForward(); + + break; + } + case ID_wxFILEBROWSER_GO_UP : + { + if (CanGoUpDir()) + GoUpDir(); + + break; + } + case ID_wxFILEBROWSER_GO_HOME : + { + GoToHomeDir(); + break; + } + case ID_wxFILEBROWSER_REFRESH : + { + SetPath(GetPath(true)); + break; + } + case wxID_OPEN : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + OpenFilePath(fd->GetFilePath()); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER : + { + m_fileCtrl->MakeDir(); + SetPath(GetPath(true)); + break; + } + case wxID_CUT : + case wxID_COPY : + { + m_last_copy = event.GetId() == wxID_COPY; + CopyCutSelectedListItems(m_last_copy); + break; + } + case wxID_PASTE : + { + PasteCopyCutSelectedListItems(); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_DELETE : + { + DeleteSelectedListItems(true); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_RENAME : + { + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_FOCUSED); + if (item >= 0) + m_fileCtrl->EditLabel( item ); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + wxString cmd = GetOpenWithFileCmd(fd); + + if (!cmd.IsEmpty()) + { + long ret = wxExecute(cmd, wxEXEC_ASYNC, NULL); + if (ret == 0) + { + wxMessageBox(wxT("Error running program"), wxT("Error running program"), + wxOK, this); + } + } + break; + } + case ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + wxLogNull logNull; + wxImage image(fd->GetFilePath()); + if (image.Ok()) + { + wxDialog dialog(this, -1, wxT("Preview : ") + fd->GetFilePath(), + wxDefaultPosition, wxDefaultSize, + wxDEFAULT_DIALOG_STYLE|wxRESIZE_BORDER ); + + wxScrolledWindow *scrWin = new wxScrolledWindow(&dialog, -1); + wxStaticBitmap *statBitmap = new wxStaticBitmap(scrWin, -1, wxBitmap(image)); + + // not necessary in MSW + int ext = 0; //dialog.GetSize().GetWidth() - dialog.GetClientSize().GetWidth(); + + wxRect clientRect = wxGetClientDisplayRect(); + wxRect imageRect(0, 0, image.GetWidth()+ext, image.GetHeight()+ext); + clientRect.Intersect(imageRect); + dialog.SetClientSize(clientRect.width, clientRect.height); + + scrWin->SetScrollbars(1, 1, image.GetWidth(), image.GetHeight()); + + dialog.ShowModal(); + break; + } + else // view as text + { + + wxFrame* frame = new wxFrame(this, wxID_ANY, wxT("Text Viewer")); + wxTextCtrl* textCtrl = new wxTextCtrl(frame, wxID_ANY, wxT(""), + wxDefaultPosition, wxDefaultSize, wxTE_MULTILINE|wxTE_RICH|wxTE_READONLY); + + wxString s; + wxFileInputStream inputStream(fd->GetFilePath()); + wxTextInputStream textStream(inputStream); + while (!inputStream.Eof()) + { + s += textStream.ReadLine() + wxT("\n"); + if (s.Length() > 1000000) + { + wxMessageBox(wxT("This file is too large for the text viewer."), + wxT("File truncated"), wxOK, this); + break; + } + } + + textCtrl->AppendText(s); + frame->Show(true); + +/* + wxSTEditorOptions steOptions(STE_DEFAULT_OPTIONS); + steOptions.GetMenuManager()->CreateForNotebook(); +#if wxUSE_CONFIG + wxConfigBase *config = wxConfigBase::Get(false); // don't create + if (config) + steOptions.LoadConfig(*config); +#endif //wxUSE_CONFIG + + wxSTEditorFrame *editor = new wxSTEditorFrame(this, wxID_ANY, wxT("Editor")); + editor->CreateOptions(steOptions); + editor->GetEditor()->LoadFile(fd->GetFilePath()); + editor->Centre(); + editor->Show(true); +*/ + } + break; + } + case ID_wxFILEBROWSER_LIST_MENU_PROPERITES : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + ShowPropertiesDialog(*fd); + break; + } + case ID_wxFILEBROWSER_SHOW_HIDDEN : ShowHidden(event.IsChecked()); break; + case ID_wxFILEBROWSER_SHOW_FOLDERS : ShowFolders(event.IsChecked()); break; + case ID_wxFILEBROWSER_SPLIT_VERTICAL : SplitVertical(event.IsChecked()); break; + + default : break; + } +} + +void wxFileBrowser::OnViewButtons(wxCommandEvent &event) +{ + switch (event.GetId()) + { + case ID_wxFILEBROWSER_VIEW_BUTTON : + { + wxWindow *win = (wxWindow*)event.GetEventObject(); + if (win) + win->PopupMenu(m_viewMenu, wxPoint(0, win->GetSize().y)); +/* + wxToolBar *win = (wxToolBar*)event.GetEventObject(); + { + wxSize toolSize(win->GetToolSize()); + wxSize marginSize(win->GetMargins()); + int pack = win->GetToolPacking(); + int sep = win->GetToolSeparation(); + wxPrintf(wxT(" %d %d, %d %d, %d %d\n"), toolSize.x, toolSize.y, marginSize.x, marginSize.y, pack, sep); + win->PopupMenu(m_viewMenu, + wxPoint(toolSize.x*5 + 2*marginSize.x, + win->GetSize().y-marginSize.y)); + } +*/ + break; + } + case ID_wxFILEBROWSER_VIEW_TREE : + case ID_wxFILEBROWSER_VIEW_LIST : + case ID_wxFILEBROWSER_VIEW_DETAILS : + case ID_wxFILEBROWSER_VIEW_SMALL_ICON : + case ID_wxFILEBROWSER_VIEW_LARGE_ICON : + case ID_wxFILEBROWSER_VIEW_PREVIEW : + { + long style = MenuIDToFBStyle(event.GetId()); + style |= (m_browser_style & (~wxFILEBROWSER_VIEW_MASK)); + SetBrowserStyle(style); + break; + } + default : event.Skip(); break; + } +} + +void wxFileBrowser::OnPathCombo(wxCommandEvent &event) +{ + // gtk sends events for just dropping the box + if (m_pathComboSelection == event.GetSelection()) + return; + + m_pathComboSelection = event.GetSelection(); + + // be overly cautious, GTK combo sends events and in some cases leads to a loop + // it also doesn't like to have selection changed inside this handler + wxCommandEvent setevent( wxEVT_COMMAND_MENU_SELECTED, ID_wxFILEBROWSER_COMBOSETPATH ); + setevent.SetString(event.GetString()); + GetEventHandler()->AddPendingEvent(setevent); +} +void wxFileBrowser::OnPathComboEnter(wxCommandEvent &WXUNUSED(event)) +{ + OpenFilePath(m_pathCombo->GetValue()); +} +void wxFileBrowser::OnSetPath( wxCommandEvent &event ) +{ + SetPath(event.GetString()); + m_pathComboSelection = m_pathCombo->GetSelection(); +} + +bool wxFileBrowser::OpenFilePath(const wxString &filePath) +{ + wxString path = filePath; + + if (path.IsEmpty() || (path.Find(wxT('|')) != wxNOT_FOUND)) + return false; + + bool want_dir = (path.Last() == wxFILE_SEP_PATH); + if (want_dir) + path = path.RemoveLast(); + + // Get home dir of user for ~ +#ifdef __UNIX__ + if (path == wxT("~")) + { + path = wxGetUserHome(); + } + else if (path.BeforeFirst(wxT('/')) == wxT("~")) + { + path = wxGetUserHome() + path.Remove(0, 1); + } +#endif // __UNIX__ + + // deal with ../ and what not + if (path.Contains(wxT(".."))) + { + // path is just ".." or "../" + if (path == wxT("..")) + path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + // path is "../some/dir" - note: no need to check for at least 3 chars + else if ((path.Mid(0, 3) == wxString(wxT("..")) + wxFILE_SEP_PATH)) + path = GetPath(false).BeforeLast(wxFILE_SEP_PATH) + wxFILE_SEP_PATH + path.AfterFirst(wxFILE_SEP_PATH); + // path is "/some/where/.." + else if (path.Mid(path.Len()-3) == wxFILE_SEP_PATH + wxString(wxT(".."))) + path = path.BeforeLast(wxFILE_SEP_PATH).BeforeLast(wxFILE_SEP_PATH); + else + return false; + } + + wxFileName filename(path); + + if (filename.DirExists()) + { + SetPath(path); + return true; + } + + // They really wanted a dir, but it doesn't exist + if (want_dir) + return false; + + // if it's a file then just "load" it + if (filename.FileExists()) + { + //SetPath(filename.GetPath()); + + long item = m_fileCtrl->FindItem(-1, filename.GetName(), false); + if (item >= 0) + { + m_fileCtrl->SetItemState(item, wxLIST_STATE_SELECTED, wxLIST_STATE_SELECTED); + m_fileCtrl->EnsureVisible( item ); + } + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_ACTIVATED, this, GetId()); + fbEvent.SetFilePath(path); + DoSendEvent(fbEvent); + } + + return true; +} + +bool wxFileBrowser::InsertComboItem(wxComboBox *combo, const wxString &item, int pos) const +{ + int combo_index = combo->FindString(item); + + if (combo_index == wxNOT_FOUND) + combo->Insert(item, pos, (void*)NULL); + else if ((combo_index == pos) || (combo_index < pos)) + return true; + else if (combo_index > pos) + { + wxString *data = (wxString*) combo->GetClientData(combo_index); + combo->Delete(combo_index); + combo->Insert(item, pos, (void*)data); + } + + if (combo->GetSelection() != pos) + combo->SetSelection(pos); + + return true; +} + +bool wxFileBrowser::SetFilter( int n ) +{ + wxCHECK_MSG((n>=0) && (nGetCount())), false, wxT("Invalid filter item")); + + wxString filter = m_filterCombo->GetString(n); + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + if (data && !data->IsEmpty()) + filter += wxT("|") + (*data); + else + filter += wxT("|") + filter; + + AddFilter(filter); + return true; +} + +bool wxFileBrowser::AddFilter(const wxString &filter_) +{ + wxString filter(filter_); + if (filter.IsEmpty()) + filter = wxFileSelectorDefaultWildcardStr; + if (filter.Find(wxT('|')) == wxNOT_FOUND) + filter += wxT("|") + filter; + + m_filter = filter; + InsertComboItem(m_filterCombo, filter.BeforeFirst(wxT('|')), m_init_filters); + m_filterComboSelection = m_filterCombo->GetSelection(); + + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) == 0) + { + m_ignore_tree_event = true; + wxString currentPath = GetPath(false); + m_dirCtrl->SetFilter(GetFilter()); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_fileCtrl->SetWild(GetWild()); + + return true; +} + +bool wxFileBrowser::SetFilters(const wxString &filter, int select) +{ + wxArrayString filterNames; + wxArrayString filterArray; + if (filter.IsEmpty() || + (::wxParseCommonDialogsFilter(filter, filterNames, filterArray) == 0)) + { + filterNames.Add(wxT("All files (")+wxString(wxFileSelectorDefaultWildcardStr)+wxT(")")); + filterArray.Add(wxFileSelectorDefaultWildcardStr); + } + + wxCHECK_MSG(select < int(filterNames.GetCount()), false, wxT("Invalid filter selection")); + + m_filter = filterNames[select] + wxT("|") + filterArray[select]; + m_init_filters = filterArray.GetCount(); + + // delete old filters if any + int n, count = m_filterCombo->GetCount(); + for ( n = 0; n < count; n++ ) + { + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + delete data; + } + + for ( n = 0; n < m_init_filters; n++ ) + m_filterCombo->Append(filterNames[n], (void*)new wxString(filterArray[n])); + + m_filterCombo->SetSelection(select); + m_filterComboSelection = select; + + if (!m_dirCtrl) return true; // This is during creation + + return SetFilter(select); +} + +void wxFileBrowser::OnFilterComboEnter(wxCommandEvent &event) +{ + if (event.GetString().Find(wxT('|')) == wxNOT_FOUND) + AddFilter(event.GetString() + wxT("|") + event.GetString()); +} +void wxFileBrowser::OnFilterCombo(wxCommandEvent &event) +{ + int sel = event.GetSelection(); + // gtk combo sends events when the combo is opened... ignore them + if ((sel < 0) || (sel == m_filterComboSelection)) + return; + + m_filterComboSelection = sel; + + wxString filter = event.GetString(); + wxString *data = (wxString*)m_filterCombo->GetClientData(sel); + if (data && !data->IsEmpty()) + filter += wxT("|") + (*data); + else + filter += wxT("|") + filter; + + // see OnPathCombo for why it's done this way + wxCommandEvent setevent( wxEVT_COMMAND_MENU_SELECTED, ID_wxFILEBROWSER_COMBOSETFILTER ); + setevent.SetString(filter); + setevent.SetInt(data && !data->IsEmpty() ? sel : -1); + GetEventHandler()->AddPendingEvent(setevent); +} +void wxFileBrowser::OnSetFilter( wxCommandEvent &event ) +{ + if ( event.GetInt() != -1) + SetFilter(event.GetInt()); + else + AddFilter(event.GetString()); +} + +bool wxFileBrowser::DoSendEvent(wxFileBrowserEvent &event) const +{ + return !GetEventHandler()->ProcessEvent(event); // || event.IsAllowed(); +} + +#if wxUSE_CONFIG +void wxFileBrowser::LoadConfig(wxConfigBase& config, bool paths, bool filters, + const wxString &configPath ) +{ + wxString value, key; + key = configPath + wxT("/style"); + if (config.Read(key, &value) && (!value.IsEmpty())) + { + long lvalue = 0; + if (value.ToLong(&lvalue)) + { + SetBrowserStyle(lvalue); + } + } + + if (paths) + { + int n = 0; + key = configPath + wxString::Format(wxT("/dir%d"), 1+n); + while ((n < 21) && config.Read(key, &value) && (!value.IsEmpty())) + { + value.Trim(false).Trim(true); + if (!value.IsEmpty()) + { + if (value.Last() != wxFILE_SEP_PATH) + value += wxFILE_SEP_PATH; + //if (wxDirExists(value)) + { + if (m_pathCombo->FindString(value) == wxNOT_FOUND) + m_pathCombo->Append(value, (void*)NULL); + } + } + n++; + key = configPath + wxString::Format(wxT("/dir%d"), 1+n); + value = wxEmptyString; + } + } + if (filters) + { + int n = 0; + key = configPath + wxString::Format(wxT("/filter%d"), 1+n); + while ((n < 21) && config.Read(key, &value) && (!value.IsEmpty())) + { + value.Trim(false).Trim(true); + if (!value.IsEmpty()) + { + if (m_filterCombo->FindString(value) == wxNOT_FOUND) + m_filterCombo->Append(value, (void*)NULL); + } + n++; + key = configPath + wxString::Format(wxT("/filter%d"), 1+n); + value = wxEmptyString; + } + } +} +void wxFileBrowser::SaveConfig(wxConfigBase& config, int n_paths, int n_filters, + const wxString &configPath) +{ + wxString value, key; + key = configPath + wxT("/style"); + config.Write(key, GetBrowserStyle()); + + if (n_paths > 0) + { + int n, item = 1, count = m_pathCombo->GetCount(); + for (n = 0; (n < count) && (item < n_paths); n++) + { + value = m_pathCombo->GetString(n); + if (!value.IsEmpty()) + { + config.Write(configPath + wxString::Format(wxT("/dir%d"), item), value); + item++; + } + } + } + if (n_filters > 0) + { + int n, item = 1, count = m_filterCombo->GetCount(); + for (n = 0; (n < count) && (item < n_filters); n++) + { + // don't save the initial filters since they are programmed in + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + if (data) continue; + + value = m_filterCombo->GetString(n); + if (!value.IsEmpty()) + { + config.Write(configPath + wxString::Format(wxT("/filter%d"), item), value); + item++; + } + } + } +} +#endif // wxUSE_CONFIG + +void wxFileBrowser::ShowPropertiesDialog(const wxFileData &fileData) const +{ + wxFilePropertiesDialog propDialog((wxWindow*)this, wxID_ANY, + fileData, + fileData.GetFileName() + wxT(" Properties"), + wxDEFAULT_DIALOG_STYLE, wxDefaultPosition); + + propDialog.Centre(); + propDialog.ShowModal(); +} + +wxString wxFileBrowser::GetOpenWithFileCmd(wxFileData* fd) const +{ + wxCHECK_MSG(fd, wxEmptyString, wxT("Invalid wxFileData for GetOpenWithFileCmd")); + OpenWithDialog dialog((wxWindow*)this, wxID_ANY, *fd); + dialog.ShowModal(); + return dialog.GetOpenCommand(); +} diff --git a/.svn/pristine/44/44cbd8a7338e349091b3445157427ff8da2f8e6f.svn-base b/.svn/pristine/44/44cbd8a7338e349091b3445157427ff8da2f8e6f.svn-base new file mode 100644 index 0000000..5730f19 --- /dev/null +++ b/.svn/pristine/44/44cbd8a7338e349091b3445157427ff8da2f8e6f.svn-base @@ -0,0 +1,81361 @@ +360 x 225 +10.1 0 0 +10.0996 -0.0662149 0.0581712 +10.0985 -0.132425 0.116338 +10.6963 -0.210424 0.184862 +10.9933 -0.288406 0.253371 +11.8887 -0.389959 0.342588 +11.8837 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65.4059 26.9584 +-379.84 61.9225 25.5226 +-381.397 59.0081 24.3214 +-380.951 55.7841 22.9926 +-380.672 52.5991 21.6798 +-381.154 49.5258 20.4131 +-380.814 46.3522 19.105 +-380.542 43.1991 17.8054 +-380.637 40.0959 16.5263 +-379.708 36.8977 15.2081 +-381.734 33.9834 14.0069 +-381.742 30.8781 12.727 +-381.022 27.7245 11.4272 +-381.369 24.6557 10.1623 +-379.291 21.448 8.84022 +-380.578 18.4403 7.60053 +-379.339 15.3126 6.3114 +-379.469 12.2514 5.04968 +-379.57 9.18942 3.78761 +-144.978 2.33966 0.964337 +-147.794 1.19246 0.491497 diff --git a/.svn/pristine/44/44fb84f5772658c088caa1c292086fcaa5e92a40.svn-base b/.svn/pristine/44/44fb84f5772658c088caa1c292086fcaa5e92a40.svn-base new file mode 100644 index 0000000..50b7664 --- /dev/null +++ b/.svn/pristine/44/44fb84f5772658c088caa1c292086fcaa5e92a40.svn-base @@ -0,0 +1,68 @@ +ANN: Approximate Nearest Neighbors +Version: 1.1.1 +Release date: Aug 4, 2006 +---------------------------------------------------------------------------- +Copyright (c) 1997-2005 University of Maryland and Sunil Arya and David +Mount. All Rights Reserved. See Copyright.txt and License.txt for +complete information on terms and conditions of use and distribution of +this software. +---------------------------------------------------------------------------- + +Authors +------- +David Mount +Dept of Computer Science +University of Maryland, +College Park, MD 20742 USA +mount@cs.umd.edu +http://www.cs.umd.edu/~mount/ + +Sunil Arya +Dept of Computer Science +Hong University of Science and Technology +Clearwater Bay, HONG KONG +arya@cs.ust.hk +http://www.cs.ust.hk/faculty/arya/ + +Introduction +------------ +ANN is a library written in the C++ programming language to support both +exact and approximate nearest neighbor searching in spaces of various +dimensions. It was implemented by David M. Mount of the University of +Maryland, and Sunil Arya of the Hong Kong University of Science and +Technology. ANN (pronounced like the name ``Ann'') stands for +Approximate Nearest Neighbors. ANN is also a testbed containing +programs and procedures for generating data sets, collecting and +analyzing statistics on the performance of nearest neighbor algorithms +and data structures, and visualizing the geometric structure of these +data structures. + +The ANN source code and documentation is available from the following +web page: + + http://www.cs.umd.edu/~mount/ANN + +For more information on ANN and its use, see the ``ANN Programming +Manual,'' which is provided with the software distribution. + +---------------------------------------------------------------------------- +History + Version 0.1 03/04/98 + Preliminary release + Version 0.2 06/24/98 + Changes for SGI compiler. + Version 1.0 04/01/05 + Fixed a number of small bugs + Added dump/load operations + Added annClose to eliminate minor memory leak + Improved compatibility with current C++ compilers + Added compilation for Microsoft Visual Studio.NET + Added compilation for Linux 2.x + Version 1.1 05/03/05 + Added make target for Mac OS X + Added fixed-radius range searching and counting + Added instructions on compiling/using ANN on Windows platforms + Fixed minor output bug in ann2fig + Version 1.1.1 08/04/06 + Added "planted" distribution + Updated old source comments for GNU LPL. diff --git a/.svn/pristine/45/45b9ffd1f05e288166137eb79657d4f34d0b4c73.svn-base b/.svn/pristine/45/45b9ffd1f05e288166137eb79657d4f34d0b4c73.svn-base new file mode 100644 index 0000000..b60cd7b --- /dev/null +++ b/.svn/pristine/45/45b9ffd1f05e288166137eb79657d4f34d0b4c73.svn-base @@ -0,0 +1,28 @@ +/* + * rotation3d.cc + * + * Created on: Feb 16, 2012 + * Author: Remus Claudiu Dumitru + */ + +#include "model/rotation3d.h" + +model::Rotation3d::Rotation3d(const Rotation3d& other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; +} + +model::Rotation3d& model::Rotation3d::operator=(const Rotation3d& other) { + if (this != &other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; + } + + return *this; +} + +model::Rotation3d model::Rotation3d::getInverse() { + return Rotation3d(-this->x, -this->y, -this->z); +} diff --git a/.svn/pristine/45/45c3bc50109c7758b75ffd9cc439d1cf963a9a55.svn-base b/.svn/pristine/45/45c3bc50109c7758b75ffd9cc439d1cf963a9a55.svn-base new file mode 100644 index 0000000..6deb69c --- /dev/null +++ b/.svn/pristine/45/45c3bc50109c7758b75ffd9cc439d1cf963a9a55.svn-base @@ -0,0 +1,134 @@ +/* + * parascan implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include "shapes/parascan.h" + + +/* -------------------------------------------------------------------------- */ + +int paramtr_scan_int(FILE *stream, const char *search,int defaultval) +{ + char target[256]; + + if(paramtr_scan_str(stream, search, target)) + return(atoi(target)); + else + return(defaultval); +} + +/* -------------------------------------------------------------------------- */ + +double paramtr_scan_double(FILE *stream, const char *search,double defaultval) +{ + char target[256]; + + if(paramtr_scan_str(stream, search, target)) + return(atof(target)); + else + return(defaultval); +} + +/* -------------------------------------------------------------------------- */ + +bool paramtr_scan_str(FILE *stream, const char *search, char *target) +{ + const char *ptr = search; + int c, mem; + + /* erster durchlauf */ + mem = 0; + + while(mem < 2) { + if((c = getc(stream)) == EOF) { + rewind(stream); + mem++; + } + else { + /* kommentarzeile uebergehen */ + if(c == COMMENT) { + while((c = getc(stream)) != LF ); + } /* if */ + + if(*ptr) { + if(c == (int)*ptr) { + ptr++; + } + else { + ptr = search; + } /* if */ + } + else { + int numberOfItemsRead = fscanf(stream, "%s", target); + if(!numberOfItemsRead) + { + return false; + } + return true; + } /* if */ + } /* if */ + } /* while */ + + return false; +} + +/* -------------------------------------------------------------------------- */ + +int paramtr_scan_echo(const char *filename, const char *search) +{ + const char *ptr = search; + char str[256]; + char* target; + int c, no; + FILE *stream; + + /* dateiverbindung oeffnen */ + if((stream = fopen(filename, "rt")) == NULL) { + printf("paramtr_scan_echo() error\n"); + return 0; + } /* if */ + + no = 0; + + while((c = getc(stream)) != EOF) { + /* kommentarzeile uebergehen */ + if(c == COMMENT) { + while((c = getc(stream)) != LF ); + } /* if */ + + if(*ptr) { + if(c == (int)*ptr) { + ptr++; + } + else { + ptr = search; + } /* if */ + } + else { + target = &(str[0]); + while(c != LF) { + *target = (char) c; + target++; + c = getc(stream); + } /* while */ + *target = 0; + printf("%s\n", str); + ptr = search; + no++; + } /* if */ + } /* while */ + + /* datei schliessen */ + fclose(stream); + + return no; +} + +/* -------------------------------------------------------------------------- */ diff --git a/.svn/pristine/46/46963684b86e9b2e5db388350bf335d923a2b7c8.svn-base b/.svn/pristine/46/46963684b86e9b2e5db388350bf335d923a2b7c8.svn-base new file mode 100644 index 0000000..89c6731 --- /dev/null +++ b/.svn/pristine/46/46963684b86e9b2e5db388350bf335d923a2b7c8.svn-base @@ -0,0 +1,415 @@ +/** @file + * @brief GPU-ICP Algorithm + * @author Deyuan Qiu, University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany. + * Fraunhofer IAIS, Sankt Augustin, Germany. + */ + +#ifndef CICPGPUCUDA_H +#define CICPGPUCUDA_H + +#include // C standard library +#include // C I/O (for sscanf) +#include // string manipulation +#include // file I/O +#include // min() +#include + +#include "ANN/ANN.h" // ANN declarations +#include "ANN/ANNperf.h" // kd-tree printing +#include "kd_tree.h" // ANN node declaration + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +#include "slam6d/cuda/CSystem.h" + +/* + * The maximum block size. For nVidia G80 architecture, 192 is suggested. + */ +//#define BLOCKSIZE 512 +//#define BLOCKSIZE 256 +#define BLOCKSIZE 64 +//#define BLOCKSIZE 1 + + +/* + * The big enough size of the AoS that is going to allocate for the kd-tree. + */ +//#define TREESIZE 262143 +#define TREESIZE 524288 + +#ifdef use_namespace +using namespace std; +#endif + +/* +* @class CIcpGpuCuda +* @brief Iterative Closest Point algorithm is implemented on a programmable graphic +* device. Kernels are implemented by CUDA (Compute Unified Device Architecture) GPGPU +* programming language (http://www.nvidia.com/object/cuda_home.html). To compile the code, +* nvcc compiler and related CUDA libraries must be installed. Kernel files are wrapped in +* CIcpGpuCuda_kernel.cuh and CIcpGpuCuda.cu. Attention: only NVidia GeForce G80 architecture +* and onwards graphic devices are garanteed to be supported. +* @author Deyuan Qiu +* @date 2008.Nov. +*/ +class CIcpGpuCuda{ + +public: + + /* + * standard constructor + * @param argc passed from application main function. + * @param argv passed from application main function. + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + CIcpGpuCuda(unsigned unWidth, unsigned unHeight, unsigned max_iter){ + init(unWidth, unHeight,max_iter); + } + + /* + * standard destructor + */ + ~CIcpGpuCuda(); + + /* + * Set maximum iteration for ICP. + * @param unTimes number of times ICP iterates maximally. + */ + void setMaxIteration(unsigned unTimes); + + /* + * Set maximum processing time for ICP, in milliseconds. + * @param dMilliseconds ICP quits when elapsed time exceeds. + */ + void setMaxProcTime(double dMilliseconds); + + /* + * Set maximum deviation for ICP. + * @param dDeviation ICP quits when specified deviation is achieved. + */ + void setMaxDeviation(double dDeviation); + + /* + * Set search radiuses for ICP. An iterative decreasing radius + * is applied. Search radius decreases linearly from fRadiusMax to + * fRadiusMin within unIterations iterations. + * @param fRadiusMax Initial radius. + * @param fRadiusMin Final radius. + * @param unIterations Number of iterations, in which radius decreases. + */ + void setSearchRadius(float fRadiusMax, float fRadiusMin, unsigned unIterations); + + /* + * Get the number of points in point cloud. Model point cloud + * and scene point cloud must have the same number of points. + * @return Number of points in point cloud. + */ + unsigned getSize(void); + + /* + * Get the the 2 dimensional pointer to the scene point cloud. Page-lock memory is + * allocated and freed by the class. The data type must be casted to single pricision + * float, and the array should be loaded as [3][N]. + * @return 2 dimensional pointer to scene point cloud. + */ + float** getScenePointer(void); + + /* + * Get the the 2 dimensional pointer to the model point cloud. Memory allocation + * and freeing is handled by the class. The data type must be casted to double pricision + * float, and the array should be loaded as [N][3]. Notice the difference to + * getScenePointer(). + * @return 2 dimensional pointer to scene point cloud. + */ + double** getModelPointer(void); + + /* + * The method is called after point clouds are loaded, and before iteration() is called. + */ + void setPointClouds(void); + + /* + * ICP iterations. + */ + void iteration(void); + + /* + * Get the transformation matrix. + * @return The transformation matrix. + */ + Matrix* getMatrix(void); + + /** + * These two functions are to set and get the tree pointer + * It is supposed to be created in scan file and passed to this class + **/ + + void setTreePointer(ANNkd_tree *); + void getTreePointer(ANNkd_tree *&); + + double getTime(void); + + void setMinimums(float x, float y, float z); + Matrix** getMatrices(); + + void setTrans_Trans_inv(const double[], const double[]); + + void findNearestNeighbors(float, unsigned); + + Matrix fillHomoMatrix(Matrix* , double*); + + void computeCentroid(float*, float*, float*, float *&); + + Matrix computeHMatrix(); + + void printMatrix(Matrix *); + + void setSize(unsigned int width, unsigned int height); + +private: + + //////////////// + //cpu variables + //////////////// + + + /* + * Initialization. Memories are allocated and default environmental state + * is set. Called by standard constructor. + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + void init(unsigned unWidth, unsigned unHeight, unsigned max_iter); + + /* + * Initialization. Memories are allocated and default environmental state + * is set. Called by init(). + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + void setResolution(unsigned unWidth, unsigned unHeight); + + /* + * The internal search structure is set. + */ + void setTree(void); + + /* + * Set the model point cloud. + */ + void setModel(void); + + /* + * Set the scene point cloud. + */ + void setScene(void); + + /* + * Calculate the size of the search structure from its depth. The depth + * is the number of levels of the tree. The search structure then is arraged + * into a struture of arrays (SoA). A left-balanced binary tree is suggested. + * @param nDepth Depth of the kd-tree. + */ + inline int depth2size(int nDepth); + + /* + * Rearrange the search structure into a structure of arrays (SoA). The rule + * is: the N node's left child has the index of 2N, while the right child 2N+1. + * Arrangement is fulfilled in recursion. + * @param root pointer to the root node + * @param unStart the currenet node + */ + void rearrange(ANNkd_ptr root, unsigned unStart); + + /* + * Get CUBLAS errors before this line. + */ + void getCublasErr(void); + + /* + * Get CUDA errors before this line. + */ + void getCudaErr(void); + + /* + * tree: structure of arrays (SoA) + */ + unsigned _unSizeTree; //Size of the allocated memory. + float* fSplit; + unsigned* unIdx; + unsigned* unAxis; + bool* bIsLeaf; + float* fLoBound; + float* fHiBound; + unsigned unSizeTree; //Size of memory that the tree actually takes. + + /* + * transformation matrix + */ + float m[16]; + Matrix* trans; + Matrix* trans_inv; + + /* + * kernel constants + */ + unsigned unSizeData; + unsigned unNoThreads; + unsigned unNoBlocks; + unsigned _unWidth; + unsigned _unHeight; + + /* + * search structure + */ + ANNkd_tree* kdTree; + ANNkdStats* st; + + /* + * data pointers + */ + float* fHstScn[3]; + float* fHstScnX; + float* fHstScnY; + float* fHstScnZ; + double** h_idata; + + /* + * icp + */ + unsigned unMaxIteration; + unsigned _unIterations; + float fMaxProcTime; + float fMaxDeviation; + float _fSearchRadiusMax; + float _fSearchRadiusMin; + float _fRadiusStep; + unsigned _unNoQSizeStep; + float* temp_ones; + float* ones; + + enum EnumIcpState { ICP_LIMIT = 0, + ICP_PROCESSING = 1, + ICP_NOTMATCHABLE = 2, + ICP_MAXITERATIONS = 3, + ICP_TIMEELAPSED = 4, + ICP_SUCCESS = 5 }; + + unsigned unPairs; + unsigned* pNoPairs; + Matrix* final_matrix; + double _dElapsedTime; + Matrix** matrices; + + /* + Minimums of all values + */ + float min_x; + float min_y; + float min_z; + + clock_t init_time; // To save the starting point of the timer Added by Shams + + //////////////// + //gpu variables + //////////////// + + float* fDevSplit; + unsigned* unDevIdx; + unsigned* unDevAxis; + bool* bDevIsLeaf; + float* fDevLoBound; + float* fDevHiBound; + float* fDevScnX; + float* fDevScnY; + float* fDevScnZ; + float* fDist; + float* fDistCpt; //compacted distance list + unsigned* unMask; + float* fDevMdlPairX; + float* fDevMdlPairY; + float* fDevMdlPairZ; + float* fDevScnPairX; + float* fDevScnPairY; + float* fDevScnPairZ; + + ///////////// + float* cngfDevScnX; + float* cngfDevScnY; + float* cngfDevScnZ; + float* cngfDevMdlPairX; + float* cngfDevMdlPairY; + float* cngfDevMdlPairZ; + float* cngfDevScnPairX; + float* cngfDevScnPairY; + float* cngfDevScnPairZ; + ///////////// + float* fCenModX; + float* fCenModY; + float* fCenModZ; + float* fCenScnX; + float* fCenScnY; + float* fCenScnZ; + unsigned* unNoPairs; + + //kd-tree based nearest neighbor search, using a priority queue. + void class_nns_priority( + float* fDevScnX, //scene point cloud + float* fDevScnY, + float* fDevScnZ, + float* fDist, //squared distance between pairs, for deviation calculation + float* fDevSplit, //kd-tree: position of splitting plain (inner node) + unsigned* unDevIdx, //kd-tree: index of point (leaf node) + unsigned* unDevAxis, //kd-tree: axis where splitting plain locates (inner node) + bool* bDevIsLeaf, //kd-tree: node type (both nodes) + float* fDevLoBound, //kd-tree: lower bounding box (inner node) + float* fDevHiBound, //kd-tree: higher bounding box (inner node) + unsigned* unMask, //a 0-1 mask of pair and non-pairs. + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fSearchRadius, + unsigned unSize, + unsigned unWidth, + unsigned unQStep); //for dubugging thread + + + //centralize a pointcloud + void class_centralize(unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fcm0, + float fcm1, + float fcm2, + float fcs0, + float fcs1, + float fcs2, + float* fCenteredModX, //centered point cloud + float* fCenteredModY, + float* fCenteredModZ, + float* fCenteredScnX, + float* fCenteredScnY, + float* fCenteredScnZ); + + //transform point cloud + void class_transformation(float* fDevScnX, //piont cloud to be transformed + float* fDevScnY, + float* fDevScnZ, + float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23); +}; + + + +#endif diff --git a/.svn/pristine/46/469b70b6dd92038423f3c188f07703a7879937da.svn-base b/.svn/pristine/46/469b70b6dd92038423f3c188f07703a7879937da.svn-base new file mode 100644 index 0000000..eb4a81d --- /dev/null +++ b/.svn/pristine/46/469b70b6dd92038423f3c188f07703a7879937da.svn-base @@ -0,0 +1,142 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof + */ + +#include "slam6d/scan_io_uos_frames.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::exception; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_frames::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string framesFileName; + + ifstream scan_in, frames_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in.open(scanFileName.c_str()); + frames_in.open(framesFileName.c_str()); + + // read 3D scan + if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + while(frames_in) { + try { + frames_in >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + frames_in.close(); + frames_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_frames; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/47/4770b3796536bdeced4b85697bd9189c92c98ea2.svn-base b/.svn/pristine/47/4770b3796536bdeced4b85697bd9189c92c98ea2.svn-base new file mode 100644 index 0000000..0d82bf0 --- /dev/null +++ b/.svn/pristine/47/4770b3796536bdeced4b85697bd9189c92c98ea2.svn-base @@ -0,0 +1,163 @@ +/***************************************************************************** + * PMDSDK 2 + * + * Copyright (c) 2006-2007 PMD Technologies GmbH + * All Rights Reserved. + * + * File: pmdsdk2common.h + * Author: Martin Profittlich + * Created: 20060530 + * + *****************************************************************************/ + +#ifndef MSDK2COMMON_H_82635748816555424683995524346951 +#define MSDK2COMMON_H_82635748816555424683995524346951 + +/// \addtogroup core +/// @{ + +// Includes + +#include + +// Macros + +#ifdef __cplusplus +/// Mark beginning of extern "C" block +# define BEGIN_EXTERN_C extern "C" { +/// Mark ending of extern "C" block +# define END_EXTERN_C } +#else +/// Mark beginning of extern "C" block +# define BEGIN_EXTERN_C +/// Mark ending of extern "C" block +# define END_EXTERN_C +#endif + +#ifdef __cplusplus +/// Mark beginning of pmd namespace +# define BEGIN_PMD_NAMESPACE namespace pmd { +/// Mark ending of pmd namespace +# define END_PMD_NAMESPACE } +#endif + +#ifndef _WIN32 +/// No export needed for non-windows platforms +# define PMD_EXPORT +#else +/// Win32 export definition (only if not already defined as dllexport) +# ifndef PMD_EXPORT +# define PMD_EXPORT __declspec(dllimport) +# endif +#endif + +// Types + +/// Single precision float +typedef float PMDFloat32; +/// Double precision float +typedef double PMDFloat64; + +/// Standard float +#ifndef PMDFloat +typedef PMDFloat32 PMDFloat; +#endif + +/// Unsigned 32-bit integer +typedef unsigned PMDUInt32; +/// Signed 32-bit integer +typedef signed int PMDSInt32; + +/// Unsigned 16-bit integer +typedef unsigned short PMDUInt16; +/// Signed 16-bit integer +typedef signed short PMDSInt16; + +/// Unsigned 8-bit integer +typedef unsigned char PMDUInt8; +/// Signed 8-bit integer +typedef signed char PMDSInt8; + +/// Enumeration for retrieving valid integration times and modulation +/// frequencies +typedef enum { AtLeast, AtMost, CloseTo } Proximity; + +// Resultcodes + +/// \addtogroup StatusCodes +/// @{ + +/// Success +#define PMD_OK 0 + +/// Runtime error +#define PMD_RUNTIME_ERROR 1024 +/// Generic error +#define PMD_GENERIC_ERROR 1025 +/// Connection lost +#define PMD_DISCONNECTED 1026 +/// An invalid value was given +#define PMD_INVALID_VALUE 1027 + +/// Program error +#define PMD_LOGIC_ERROR 2048 +/// Handle not known (internal error) +#define PMD_UNKNOWN_HANDLE 2049 +/// Requested functionality not implemented +#define PMD_NOT_IMPLEMENTED 2050 +/// Index or value out of range +#define PMD_OUT_OF_BOUNDS 2051 + +/// Could not get resource +#define PMD_RESOURCE_ERROR 4096 +/// Could not open file +#define PMD_FILE_NOT_FOUND 4097 +/// Could not connect to or open the data source +#define PMD_COULD_NOT_OPEN 4098 +/// Could not retrieve the requested data +#define PMD_DATA_NOT_FOUND 4099 +/// There is no more data left +#define PMD_END_OF_DATA 4100 + +// DEPRECATED +#ifndef PMD_NO_DEPRECATED +#define PMD_COULD_NOT_CONNECT 4098 +#endif + +/// @} + +// Limits + +// Versions + +/// Version 1.0.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_0_0 0x00010000 +/// Version 1.1.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_1_0 0x00010100 +/// Version 1.1.1 of the plugin interface +#define PMD_INTERFACE_VERSION_1_1_1 0x00010101 +/// Version 1.2.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_2_0 0x00010200 +/// Version 1.2.1 of the plugin interface +#define PMD_INTERFACE_VERSION_1_2_1 0x00010201 +/// Version 1.3.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_3_0 0x00010300 +/// The current version of the plugin interface +#define PMD_CURRENT_INTERFACE_VERSION PMD_INTERFACE_VERSION_1_3_0 + +// Helper functions + +BEGIN_EXTERN_C + +/// Generate a new unique ID +unsigned pmdNewGUID (); + +struct PMDDataDescription; +/// Convert byte order of a PMDDataDescription structure. +void pmdHelperConvertDDByteOrder (struct PMDDataDescription * dd); + +END_EXTERN_C + +/// @} + +#endif diff --git a/.svn/pristine/48/486df209b786a847260c42dcf6d42137da392e03.svn-base b/.svn/pristine/48/486df209b786a847260c42dcf6d42137da392e03.svn-base new file mode 100644 index 0000000..234102c --- /dev/null +++ b/.svn/pristine/48/486df209b786a847260c42dcf6d42137da392e03.svn-base @@ -0,0 +1,563 @@ +//$$ newmat5.cpp Transpose, evaluate etc + +// Copyright (C) 1991,2,3,4: R B Davies + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,5); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/************************ carry out operations ******************************/ + + +GeneralMatrix* GeneralMatrix::Transpose(TransposedMatrix* tm, MatrixType mt) +{ + GeneralMatrix* gm1; + + if (Compare(Type().t(),mt)) + { + REPORT + gm1 = mt.New(ncols,nrows,tm); + for (int i=0; iReleaseAndDelete(); return gm1; +} + +GeneralMatrix* SymmetricMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + + +GeneralMatrix* DiagonalMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + +GeneralMatrix* ColumnVector::Transpose(TransposedMatrix*, MatrixType mt) +{ + REPORT + GeneralMatrix* gmx = new RowVector; MatrixErrorNoSpace(gmx); + gmx->nrows = 1; gmx->ncols = gmx->storage = storage; + return BorrowStore(gmx,mt); +} + +GeneralMatrix* RowVector::Transpose(TransposedMatrix*, MatrixType mt) +{ + REPORT + GeneralMatrix* gmx = new ColumnVector; MatrixErrorNoSpace(gmx); + gmx->ncols = 1; gmx->nrows = gmx->storage = storage; + return BorrowStore(gmx,mt); +} + +GeneralMatrix* IdentityMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + +GeneralMatrix* GeneralMatrix::Evaluate(MatrixType mt) +{ + if (Compare(this->Type(),mt)) { REPORT return this; } + REPORT + GeneralMatrix* gmx = mt.New(nrows,ncols,this); + MatrixRow mr(this, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + int i=nrows; + while (i--) { mrx.Copy(mr); mrx.Next(); mr.Next(); } + tDelete(); gmx->ReleaseAndDelete(); return gmx; +} + +GeneralMatrix* GenericMatrix::Evaluate(MatrixType mt) + { REPORT return gm->Evaluate(mt); } + +GeneralMatrix* ShiftedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + Compare(gm->Type().AddEqualEl(),mt); + if (!(mt==gm->Type())) + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Add(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + else if (gm->reuse()) + { + REPORT gm->Add(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmy = gm->Type().New(nr,nc,this); + gmy->ReleaseAndDelete(); gmy->Add(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmy; + } +} + +GeneralMatrix* NegShiftedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + Compare(gm->Type().AddEqualEl(),mt); + if (!(mt==gm->Type())) + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.NegAdd(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + else if (gm->reuse()) + { + REPORT gm->NegAdd(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmy = gm->Type().New(nr,nc,this); + gmy->ReleaseAndDelete(); gmy->NegAdd(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmy; + } +} + +GeneralMatrix* ScaledMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + if (Compare(gm->Type(),mt)) + { + if (gm->reuse()) + { + REPORT gm->Multiply(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmx = gm->Type().New(nr,nc,this); + gmx->ReleaseAndDelete(); gmx->Multiply(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + } + else + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Multiply(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } +} + +GeneralMatrix* NegatedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + if (Compare(gm->Type(),mt)) + { + if (gm->reuse()) + { + REPORT gm->Negate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT + GeneralMatrix* gmx = gm->Type().New(nr,nc,this); + gmx->ReleaseAndDelete(); gmx->Negate(gm); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + } + else + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Negate(mr); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } +} + +GeneralMatrix* ReversedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); GeneralMatrix* gmx; + + if ((gm->Type()).IsBand() && ! (gm->Type()).IsDiagonal()) + { + gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(NotDefinedException("Reverse", "band matrices")); + } + + if (gm->reuse()) { REPORT gm->ReverseElements(); gmx = gm; } + else + { + REPORT + gmx = gm->Type().New(gm->Nrows(), gm->Ncols(), this); + gmx->ReverseElements(gm); gmx->ReleaseAndDelete(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx->Evaluate(mt); // target matrix is different type? + +} + +GeneralMatrix* TransposedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm=((BaseMatrix*&)bm)->Evaluate(); + Compare(gm->Type().t(),mt); + GeneralMatrix* gmx=gm->Transpose(this, mt); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* RowedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new RowVector; MatrixErrorNoSpace(gmx); + gmx->nrows = 1; gmx->ncols = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* ColedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new ColumnVector; MatrixErrorNoSpace(gmx); + gmx->ncols = 1; gmx->nrows = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* DiagedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new DiagonalMatrix; MatrixErrorNoSpace(gmx); + gmx->nrows = gmx->ncols = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* MatedMatrix::Evaluate(MatrixType mt) +{ + Tracer tr("MatedMatrix::Evaluate"); + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new Matrix; MatrixErrorNoSpace(gmx); + gmx->nrows = nr; gmx->ncols = nc; gmx->storage = gm->storage; + if (nr*nc != gmx->storage) + Throw(IncompatibleDimensionsException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* GetSubMatrix::Evaluate(MatrixType mt) +{ + REPORT + Tracer tr("SubMatrix(evaluate)"); + gm = ((BaseMatrix*&)bm)->Evaluate(); + if (row_number < 0) row_number = gm->Nrows(); + if (col_number < 0) col_number = gm->Ncols(); + if (row_skip+row_number > gm->Nrows() || col_skip+col_number > gm->Ncols()) + { + gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(SubMatrixDimensionException()); + } + if (IsSym) Compare(gm->Type().ssub(), mt); + else Compare(gm->Type().sub(), mt); + GeneralMatrix* gmx = mt.New(row_number, col_number, this); + int i = row_number; + MatrixRow mr(gm, LoadOnEntry, row_skip); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + MatrixRowCol sub; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + mrx.Copy(sub); mrx.Next(); mr.Next(); + } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + + +GeneralMatrix* ReturnMatrixX::Evaluate(MatrixType mt) +{ +#ifdef TEMPS_DESTROYED_QUICKLY_R + GeneralMatrix* gmx = gm; delete this; return gmx->Evaluate(mt); +#else + return gm->Evaluate(mt); +#endif +} + + +void GeneralMatrix::Add(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = *s1++ + f; *s++ = *s1++ + f; *s++ = *s1++ + f; *s++ = *s1++ + f; } + i = storage & 3; while (i--) *s++ = *s1++ + f; +} + +void GeneralMatrix::Add(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) { *s++ += f; *s++ += f; *s++ += f; *s++ += f; } + i = storage & 3; while (i--) *s++ += f; +} + +void GeneralMatrix::NegAdd(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = f - *s1++; *s++ = f - *s1++; *s++ = f - *s1++; *s++ = f - *s1++; } + i = storage & 3; while (i--) *s++ = f - *s1++; +} + +void GeneralMatrix::NegAdd(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) + { + *s = f - *s; s++; *s = f - *s; s++; + *s = f - *s; s++; *s = f - *s; s++; + } + i = storage & 3; while (i--) { *s = f - *s; s++; } +} + +void GeneralMatrix::Negate(GeneralMatrix* gm1) +{ + // change sign of elements + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = -(*s1++); *s++ = -(*s1++); *s++ = -(*s1++); *s++ = -(*s1++); } + i = storage & 3; while(i--) *s++ = -(*s1++); +} + +void GeneralMatrix::Negate() +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) + { *s = -(*s); s++; *s = -(*s); s++; *s = -(*s); s++; *s = -(*s); s++; } + i = storage & 3; while(i--) { *s = -(*s); s++; } +} + +void GeneralMatrix::Multiply(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = *s1++ * f; *s++ = *s1++ * f; *s++ = *s1++ * f; *s++ = *s1++ * f; } + i = storage & 3; while (i--) *s++ = *s1++ * f; +} + +void GeneralMatrix::Multiply(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) { *s++ *= f; *s++ *= f; *s++ *= f; *s++ *= f; } + i = storage & 3; while (i--) *s++ *= f; +} + + +/************************ MatrixInput routines ****************************/ + +// int MatrixInput::n; // number values still to be read +// Real* MatrixInput::r; // pointer to next location to be read to + +MatrixInput MatrixInput::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput"); + if (n<=0) Throw(ProgramException("List of values too long")); + *r = f; int n1 = n-1; n=0; // n=0 so we won't trigger exception + return MatrixInput(n1, r+1); +} + + +MatrixInput GeneralMatrix::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput"); + int n = Storage(); + if (n<=0) Throw(ProgramException("Loading data to zero length matrix")); + Real* r; r = Store(); *r = f; n--; + return MatrixInput(n, r+1); +} + +MatrixInput GetSubMatrix::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput (GetSubMatrix)"); + SetUpLHS(); + if (row_number != 1 || col_skip != 0 || col_number != gm->Ncols()) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("MatrixInput requires complete rows")); + } + MatrixRow mr(gm, DirectPart, row_skip); // to pick up location and length + int n = mr.Storage(); + if (n<=0) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Loading data to zero length row")); + } + Real* r; r = mr.Data(); *r = f; n--; + if (+(mr.cw*HaveStore)) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Fails with this matrix type")); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return MatrixInput(n, r+1); +} + +MatrixInput::~MatrixInput() +{ + REPORT + Tracer et("MatrixInput"); + if (n!=0) Throw(ProgramException("A list of values was too short")); +} + +MatrixInput BandMatrix::operator<<(Real) +{ + Tracer et("MatrixInput"); + bool dummy = true; + if (dummy) // get rid of warning message + Throw(ProgramException("Cannot use list read with a BandMatrix")); + return MatrixInput(0, 0); +} + +void BandMatrix::operator<<(const Real*) +{ Throw(ProgramException("Cannot use array read with a BandMatrix")); } + +// ************************* Reverse order of elements *********************** + +void GeneralMatrix::ReverseElements(GeneralMatrix* gm) +{ + // reversing into a new matrix + REPORT + int n = Storage(); Real* rx = Store() + n; Real* x = gm->Store(); + while (n--) *(--rx) = *(x++); +} + +void GeneralMatrix::ReverseElements() +{ + // reversing in place + REPORT + int n = Storage(); Real* x = Store(); Real* rx = x + n; + n /= 2; + while (n--) { Real t = *(--rx); *rx = *x; *(x++) = t; } +} + + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/48/4893832187f1e6930847415bdd43b57b41c65a2e.svn-base b/.svn/pristine/48/4893832187f1e6930847415bdd43b57b41c65a2e.svn-base new file mode 100644 index 0000000..8d7078b --- /dev/null +++ b/.svn/pristine/48/4893832187f1e6930847415bdd43b57b41c65a2e.svn-base @@ -0,0 +1,372 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL address + + */ + +#include +#include +#include +#include +/* do we need #include ? conflicts with INFINITY in unicode.h */ +#include "gocr.h" +#include "pgm2asc.h" + +/* for sorting letters by position on the image +/ ToDo: - use function same line like this or include lines.m1 etc. */ +int box_gt(struct box *box1, struct box *box2) { + // box1 after box2 ? + if (box1->line > box2->line) + return 1; + if (box1->line < box2->line) + return 0; + if (box1->x0 > box2->x1) // before + return 1; + if (box1->x1 < box2->x0) // before + return 0; + if (box1->x0 > box2->x0) // before, overlapping! + return 1; + + return 0; +} + +/* --- copy part of pix p into new pix b ---- len=10000 + * Returns: 0 on success, 1 on error. + * naming it as copybox isnt very clever, because it dont have to do with the + * char boxes (struct box) + */ +int copybox (pix * p, int x0, int y0, int dx, int dy, pix * b, int len) { + int x, y; + + /* test boundaries */ + if (b->p == NULL || dx < 0 || dy < 0 || dx * dy > len) { + fprintf(stderr, " error-copybox x=%5d %5d d=%5d %5d\n", x0, y0, dx, dy); + return 1; + } + + b->x = dx; + b->y = dy; + b->bpp = 1; +#ifdef FASTER_INCOMPLETE + for (y = 0; y < dy; y++) + memcpy(&pixel_atp(b, 0, y), &pixel_atp(p, x0, y + y0 ), dx); + // and unmark pixels +#else + for (y = 0; y < dy; y++) + for (x = 0; x < dx; x++) + pixel_atp(b, x, y) = getpixel(p, x + x0, y + y0); +#endif + + return 0; +} + +/* reset table of alternative chars (and free memory) */ +int reset_box_ac(struct box *box){ + int i; + for (i=0; inum_ac; i++) + if (box->tas[i]) { + /* fprintf(stderr,"DBG free_s[%d] %p %s\n",i,box->tas[i],box->tas[i]); */ + free(box->tas[i]); + box->tas[i]=0; /* prevent double freeing */ + } + box->num_ac=0; /* mark as freed */ + return 0; +} + +/* ini or copy a box: get memory for box and initialize the memory */ +struct box *malloc_box (struct box *inibox) { + struct box *buf; + int i; + + buf = (struct box *) malloc(sizeof(struct box)); + if (!buf) + return NULL; + if (inibox) { + memcpy(buf, inibox, sizeof(struct box)); + /* only pointer are copied, we want to copy the contents too */ + for (i=0;inum_ac;i++) { + if (inibox->tas[i]) { + buf->tas[i]=(char *)malloc(strlen(inibox->tas[i])+1); + memcpy(buf->tas[i], inibox->tas[i], strlen(inibox->tas[i])+1); + } + } + } + else { /* ToDo: init it */ + buf->num_ac=0; + buf->num_frames=0; + } + /* fprintf(stderr,"\nDBG ini_box %p",buf); */ + return buf; +} + +/* free memory of box */ +int free_box (struct box *box) { + if (!box) return 0; + /* fprintf(stderr,"DBG free_box %p\n",box); out_x(box); */ + reset_box_ac(box); /* free alternative char table */ + free(box); /* free the box memory */ + return 0; +} + +/* simplify the vectorgraph, + * but what is the best way? + * a) melting two neighbouring vectors with nearly same direction? + * (nearest angle to pi) + * b) melting three neigbours with smallest area? + * ToDo: + * mode = 0 - only lossless + * mode = 1 - reduce one vector, smallest possible loss + * mode = 2 - remove jitter (todo, or somewhere else) + * ToDo: include also loop around (last - first element) + * ToDo: reduce by 10..50% + */ +int reduce_vectors ( struct box *box1, int mode ) { + int i1, i2, nx, ny, mx, my, len, + minlen=1024, /* minlength of to neighbouring vectors */ + besti1=0, /* frame for best reduction */ + besti2=2; /* vector replacing its predecessor */ + double sprod, maxsprod=-1; + if (mode!=1) fprintf(stderr,"ERR not supported yet, ToDo\n"); + for (i2=1,i1=0; i1num_frames; i1++) { /* every frame */ + for (;i2num_frame_vectors[i1]-1; i2++) { /* every vector */ + /* predecessor n */ + nx = box1->frame_vector[i2-0][0] - box1->frame_vector[i2-1][0]; + ny = box1->frame_vector[i2-0][1] - box1->frame_vector[i2-1][1]; + /* successor m */ + mx = box1->frame_vector[i2+1][0] - box1->frame_vector[i2-0][0]; + my = box1->frame_vector[i2+1][1] - box1->frame_vector[i2-0][1]; + /* angle is w = a*b/(|a|*|b|) = 1 means parallel */ + /* normalized: minimize w^2 = (a*b/(|a|*|b|)-1)^2 */ + /* -1=90grd, 0=0grd, -2=180grd */ + sprod = /* fabs */(abs(nx*mx+ny*my)*(nx*mx+ny*my) + /(1.*(nx*nx+ny*ny)*(mx*mx+my*my))-1); + /* we dont include math.h because INFINITY conflicts to unicode,h */ + if (sprod<0) sprod=-sprod; + len = (mx*mx+my*my)*(nx*nx+ny*ny); /* sum lengths^2 */ +// ..c ###c ... .. ... +// .b. len=2+2 #b.. len=2+5 #bc len=1+2 bc len=1+1 b#a len=4+5 +// a.. spr=0 a... spr=1/10 a.. spr=1/4 a. spr=1 ##c spr=9/5 +// + if ( len* sprod* sprod* sprod* sprod + num_frames>0) + for (i2=besti2; i2num_frame_vectors[ box1->num_frames-1 ]-1; i2++) { + box1->frame_vector[i2][0]=box1->frame_vector[i2+1][0]; + box1->frame_vector[i2][1]=box1->frame_vector[i2+1][1]; + } + for (i1=besti1; i1num_frames; i1++) + box1->num_frame_vectors[i1]--; +// fprintf(stderr,"\nDBG_reduce_vectors i= %d nv= %d sprod=%f len2=%d\n# ...", +// besti2,box1->num_frame_vectors[ box1->num_frames-1 ],maxsprod,minlen); +// out_x(box1); + return 0; +} + +/* add the contents of box2 to box1 + * especially add vectors of box2 to box1 + */ +int merge_boxes( struct box *box1, struct box *box2 ) { + int i1, i2, i3, i4; + struct box tmpbox, *bsmaller, *bbigger; /* for mixing and sorting */ + /* DEBUG, use valgrind to check uninitialized memory */ +#if 0 + fprintf(stderr,"\nDBG merge_boxes_input:"); out_x(box1); out_x(box2); +#endif + /* pair distance is to expendable, taking borders is easier */ + if ((box2->x1 - box2->x0)*(box2->y1 - box2->y0) + >(box1->x1 - box1->x0)*(box1->y1 - box1->y0)) { + bbigger=box2; bsmaller=box1; } + else { + bbigger=box1; bsmaller=box2; } + /* ToDo: does not work if a third box is added */ + if (box2->y0>box1->y1 || box2->y1y0 + || box2->x0>box1->x1 || box2->x1x0) { + box1->num_boxes += box2->num_boxes; /* num seperate objects 2=ij */ + } else { + if (box2->num_boxes>box1->num_boxes) box1->num_boxes=box2->num_boxes; + box1->num_subboxes += box2->num_subboxes+1; /* num holes 1=abdepq 2=B */ + } + box1->dots += box2->dots; /* num i-dots */ + if ( box2->x0 < box1->x0 ) box1->x0 = box2->x0; + if ( box2->x1 > box1->x1 ) box1->x1 = box2->x1; + if ( box2->y0 < box1->y0 ) box1->y0 = box2->y0; + if ( box2->y1 > box1->y1 ) box1->y1 = box2->y1; + i1 = i2 = 0; + if (bbigger->num_frames) + i1 = bbigger->num_frame_vectors[ bbigger->num_frames - 1 ]; + if (bsmaller->num_frames) + i2 = bsmaller->num_frame_vectors[ bsmaller->num_frames - 1 ]; + while (i1+i2 > MaxFrameVectors) { + if (i1>i2) { reduce_vectors( bbigger, 1 ); i1--; } + else { reduce_vectors( bsmaller, 1 ); i2--; } + } + /* if i1+i2>MaxFrameVectors simplify the vectorgraph */ + /* if sum num_frames>MaxNumFrames through shortest graph away and warn */ + /* first copy the bigger box */ + memcpy(&tmpbox, bbigger, sizeof(struct box)); + /* attach the smaller box */ + for (i4=i3=0; i3num_frames; i3++) { + if (tmpbox.num_frames>=MaxNumFrames) break; + + for (; i4num_frame_vectors[i3]; i4++) { + memcpy(tmpbox.frame_vector[i1], + bsmaller->frame_vector[i4],2*sizeof(int)); + i1++; + } + tmpbox.num_frame_vectors[ tmpbox.num_frames ] = i1; + tmpbox.frame_vol[ tmpbox.num_frames ] = bsmaller->frame_vol[ i3 ]; + tmpbox.frame_per[ tmpbox.num_frames ] = bsmaller->frame_per[ i3 ]; + tmpbox.num_frames++; + if (tmpbox.num_frames>=MaxNumFrames) { + if (JOB->cfg.verbose) + fprintf(stderr,"\nDBG merge_boxes MaxNumFrames reached"); + break; + } + } + /* copy tmpbox to destination */ + box1->num_frames = tmpbox.num_frames; + memcpy(box1->num_frame_vectors, + tmpbox.num_frame_vectors,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_vol, + tmpbox.frame_vol,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_per, + tmpbox.frame_per,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_vector, + tmpbox.frame_vector,sizeof(int)*2*MaxFrameVectors); +#if 0 + if (JOB->cfg.verbose) + fprintf(stderr,"\nDBG merge_boxes_result:"); out_x(box1); +#endif + return 0; +} + +/* used for division of glued chars + * after a box is splitted into 2, where vectors are copied to both, + * vectors outside the new box are cutted and thrown away, + * later replaced by + * - 1st remove outside vectors with outside neighbours (complete frames?) + * add vector on outside vector with inside neighbours + * care about connections through box between outside vectors + * - 2nd reduce outside crossings (inclusive splitting frames if necessary) + * depending on direction (rotation) of outside connections + * - 3th shift outside vectors to crossing points + * - split add this points, connect only in-out...out-in, + * - cutting can result in more objects + * ToDo: + * dont connect --1---2--------3----4-- new-y1 (inside above not drawn) + * \ \->>>>-/ / outside + * \----<<<<-----/ old-y1 + * |======| subtractable? + * + * only connect --1---2--------3----4-- new-y1 + * \>>/ \>>>/ old-y1 outside + * ToDo: what about cutting 2 frames (example: 2fold melted MN) + * better restart framing algo? + * + * ToDo: new vol, per + */ +int cut_box( struct box *box1) { + int i1, i2, i3, i4, x, y, lx, ly, dbg=0; + if (JOB->cfg.verbose) dbg=1; // debug level, enlarge to get more output + if (dbg) fprintf(stderr,"\n cut box x= %3d %3d", box1->x0, box1->y0); + /* check if complete frames are outside the box */ + for (i1=0; i1num_frames; i1++){ + if (dbg>2) fprintf(stderr,"\n checking frame %d outside", i1); + i2 = ((i1)?box1->num_frame_vectors[ i1-1 ]:0); // this frame + i3 = box1->num_frame_vectors[ i1 ]; // next frame + for (i4=i2; i4 < i3; i4++) { + x = box1->frame_vector[i4][0]; + y = box1->frame_vector[i4][1]; + /* break, if one vector is lying inside */ + if (x>=box1->x0 && x<=box1->x1 && y>=box1->y0 && y<=box1->y1) break; + } + if (i4==i3) { /* all vectors outside */ + if (dbg>1) fprintf(stderr,"\n remove frame %d",i1); + /* replace all frames i1,i1+1,... by i1+1,i1+2,... */ + /* replace (x,y) pairs first */ + for (i4=i2; i4num_frame_vectors[ box1->num_frames-1 ]-(i3-i2); + i4++) { + box1->frame_vector[i4][0] = box1->frame_vector[i4+i3-i2][0]; + box1->frame_vector[i4][1] = box1->frame_vector[i4+i3-i2][1]; + } + /* replace the num_frame_vectors */ + for (i4=i1; i4num_frames-1; i4++) + box1->num_frame_vectors[ i4 ] = + box1->num_frame_vectors[ i4+1 ]-(i3-i2); + box1->num_frames--; i1--; + } + } + /* remove vectors outside the box */ + i3=0; + for (i1=0; i1num_frames; i1++){ + if (dbg>2) fprintf(stderr,"\n check cutting vectors on frame %d", i1); + x = box1->frame_vector[0][0]; /* last x */ + y = box1->frame_vector[0][1]; /* last y */ + /* ToDo: start inside to get a closed object */ + if (xx0 || x>box1->x1 || yy0 || y>box1->y1) i3=1; + for (i2=0; i2num_frame_vectors[ i1 ]; i2++) { + lx = x; /* last x */ + ly = y; /* last y */ + x = box1->frame_vector[i2][0]; + y = box1->frame_vector[i2][1]; + // fprintf(stderr,"DBG LEV3 i2= %3d xy= %3d %3d",i2,x,y); + /* check if outside */ + if (xx0 || x>box1->x1 || yy0 || y>box1->y1) { + /* replace by nearest point at border, ToDo: better crossingpoint */ + if (i3==0) { /* wrong if it starts outside */ + if (x < box1->x0) x = box1->frame_vector[i2][0] = box1->x0; + if (x > box1->x1) x = box1->frame_vector[i2][0] = box1->x1; + if (y < box1->y0) y = box1->frame_vector[i2][1] = box1->y0; + if (y > box1->y1) y = box1->frame_vector[i2][1] = box1->y1; + } else { + /* remove vector */ + if (dbg>1) fprintf(stderr,"\n remove vector[%d][%d] x= %2d %2d",i1,i2,x-box1->x0,y-box1->y0); + for (i4=i2;i4num_frame_vectors[ box1->num_frames-1 ]-1;i4++) { + box1->frame_vector[i4][0] = box1->frame_vector[i4+1][0]; + box1->frame_vector[i4][1] = box1->frame_vector[i4+1][1]; + } + for (i4=i1; i4num_frames; i4++) + box1->num_frame_vectors[ i4 ]--; + i2--; /* next element is shiftet now, setting back the counter */ + } + i3++; + // fprintf(stderr," outside i3= %d\n",i3); + continue; + } + // fprintf(stderr," inside i3= %d",i3); + if (i3) { /* ToDo: better crossing point last vector and border */ + if (lx < box1->x0) lx = box1->x0; + if (lx > box1->x1) lx = box1->x1; + if (ly < box1->y0) ly = box1->y0; + if (ly > box1->y1) ly = box1->y1; + x = box1->frame_vector[i2][0] = lx; + y = box1->frame_vector[i2][1] = ly; + i3 = 0; + } + // fprintf(stderr," xy= %3d %3d\n",x,y); + } + } + if (dbg>2) { fprintf(stderr,"\nDBG cut_box_result:"); out_x(box1); } + return 0; +} + diff --git a/.svn/pristine/48/48d0e0830dee3eb3e1c541e1aad5b4280d18467d.svn-base b/.svn/pristine/48/48d0e0830dee3eb3e1c541e1aad5b4280d18467d.svn-base new file mode 100644 index 0000000..efa84f4 --- /dev/null +++ b/.svn/pristine/48/48d0e0830dee3eb3e1c541e1aad5b4280d18467d.svn-base @@ -0,0 +1,81361 @@ +360 x 225 +10.1 3.55271e-15 1.13687e-13 +10.0996 -0.0662149 0.0581712 +10.9983 -0.144225 0.126704 +10.9962 -0.216324 0.190045 +10.9933 -0.288406 0.253371 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34.9253 +-381.271 81.3816 33.5431 +-380.755 78.0422 32.1667 +-380.695 74.8135 30.8359 +-381.681 71.7945 29.5916 +-381.657 68.5888 28.2703 +-380.815 65.2543 26.8959 +-380.431 62.0188 25.5623 +-380.509 58.8708 24.2648 +-381.05 55.7986 22.9985 +-381.76 52.7494 21.7417 +-380.362 49.4229 20.3707 +-380.814 46.3522 19.105 +-380.84 43.233 17.8193 +-379.942 40.0226 16.4961 +-381.3 37.0523 15.2719 +-380.44 33.8682 13.9594 +-380.746 30.7975 12.6938 +-380.623 27.6954 11.4152 +-380.87 24.6234 10.149 +-380.489 21.5158 8.86816 +-380.678 18.4452 7.60255 +-380.338 15.3529 6.32802 +-380.068 12.2709 5.05768 +-380.27 9.20636 3.79459 +-147.178 2.37515 0.978966 +-146.594 1.18278 0.487507 diff --git a/.svn/pristine/48/48e5eb3461ae86bdfc001d642ec8f50eb83983d6.svn-base b/.svn/pristine/48/48e5eb3461ae86bdfc001d642ec8f50eb83983d6.svn-base new file mode 100644 index 0000000..964f99b --- /dev/null +++ b/.svn/pristine/48/48e5eb3461ae86bdfc001d642ec8f50eb83983d6.svn-base @@ -0,0 +1,165 @@ +#include +#include +#include + + +#ifdef _MSC_VER +#include +#include +#include +#else +#include +#include +#include +#endif + +#ifndef __VIEWCULL_H__ +#define __VIEWCULL_H__ + +///////////////////////// Variable declarations... +/** The 6 planes of the viewing frustum */ +extern float frustum[6][4]; + +/** the modelview * projection matrix to map a model point to an onscreen coordinate */ +extern float matrix[16]; +/** some useful variables for faster calculation of the pixel coordinates */ +extern short VP[4]; +/** a unit vector pointing to the right of the screen */ +extern float right[3]; +/** how much detail is shown, 0 means everything is plotted */ +extern short DETAIL; + +extern double SX, SY, SZ, EX, EY, EZ; +extern float origin[3], dir[3]; /*ray */ +extern float dist; +extern int rayX,rayY; +extern float rayVP[4]; + +#define NUMDIM 3 +#define RIGHT 0 +#define LEFT 1 +#define MIDDLE 2 + +extern float minB[NUMDIM], maxB[NUMDIM]; /*box */ +extern float coord[NUMDIM]; /* hit point */ + + +template bool HitBoundingBox(const T center[3], T size ) +{ + minB[0] = center[0] - size; + minB[1] = center[1] - size; + minB[2] = center[2] - size; + + maxB[0] = center[0] + size; + maxB[1] = center[1] + size; + maxB[2] = center[2] + size; + + bool inside = true; + char quadrant[NUMDIM]; + register int i; + int whichPlane; + float maxT[NUMDIM]; + float candidatePlane[NUMDIM]; + + // Find candidate planes; this loop can be avoided if + // rays cast all from the eye(assume perpsective view) + for (i=0; i maxB[i]) { + quadrant[i] = RIGHT; + candidatePlane[i] = maxB[i]; + inside = false; + }else { + candidatePlane[i] = 0.0; + quadrant[i] = MIDDLE; + } + + // Ray origin inside bounding box + if(inside) { + return (true); + } + + + // Calculate T distances to candidate planes + for (i = 0; i < NUMDIM; i++) + if (quadrant[i] != MIDDLE && dir[i] !=0.) + maxT[i] = (candidatePlane[i]-origin[i]) / dir[i]; + else + maxT[i] = -1.; + + // Get largest of the maxT's for final choice of intersection + whichPlane = 0; + for (i = 1; i < NUMDIM; i++) + if (maxT[whichPlane] < maxT[i]) + whichPlane = i; + + // Check final candidate actually inside box + if (maxT[whichPlane] < 0.) return (false); + for (i = 0; i < NUMDIM; i++) + if (whichPlane != i) { + coord[i] = origin[i] + maxT[whichPlane] *dir[i]; + if (coord[i] < minB[i] || coord[i] > maxB[i]) + return (false); + } else { + coord[i] = candidatePlane[i]; + } + return (true); // ray hits box +} + +void calcRay(int x, int y, double znear, double zfar); + +#include +template +float RayDist(T *point) +{ + return point[0] * dir[0] + point[1] * dir[1] + point[2] * dir[2] - dist; +} + +template +short ScreenDist(T *point) { + float pn[3]; + // x coordinate on screen, not normalized + pn[0] = point[0] * matrix[0] + point[1] * matrix[4] + point[2] * matrix[8] + matrix[12]; + pn[1] = point[0] * matrix[1] + point[1] * matrix[5] + point[2] * matrix[9] + matrix[13]; + // normalization + pn[2] = point[0] * matrix[3] + point[1] * matrix[7] + point[2] * matrix[11] + matrix[15]; + + // normalized x coordinate on screen + pn[0] /= pn[2]; + pn[1] /= pn[2]; + + // true x coordinate in viewport coordinate system + //Xi = pn[0]*VP[0] + VP[1]; + //fTempo[4]*0.5+0.5)*viewport[2]+viewport[0]; + + float XX = ( (pn[0])*rayVP[0] + rayVP[1]); + float YY = ( (pn[1])*rayVP[2] + rayVP[3]); + + short dx, dy; + if (XX > rayX) dx = XX-rayX; + else dx = rayX-XX; + + if (YY > rayY) dy = YY-rayY; + else dy = rayY-YY; + + // for the benefit of visual studio's compiler cast to float + return sqrt((float)(dx*dx + dy*dy)); +} + +void ExtractFrustum(short detail); +void ExtractFrustum(float *frust[6]); + + +bool CubeInFrustum( float x, float y, float z, float size ); +int CubeInFrustum2( float x, float y, float z, float size ); +char PlaneAABB( float x, float y, float z, float size, float *plane ); + +void remViewport(); +bool LOD(float x, float y, float z, float size); +int LOD2(float x, float y, float z, float size); + + +#endif diff --git a/.svn/pristine/48/48e8fc6d8bd2db18c48c05874dee0465b51c11fe.svn-base b/.svn/pristine/48/48e8fc6d8bd2db18c48c05874dee0465b51c11fe.svn-base new file mode 100644 index 0000000..65ff4c4 --- /dev/null +++ b/.svn/pristine/48/48e8fc6d8bd2db18c48c05874dee0465b51c11fe.svn-base @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan in velodyne raw file format + * @author Liwei. Computer School of Wuhan University, China. + */ + +#ifndef __SCAN_IO_VELODYNE_H__ +#define __SCAN_IO_VELODYNE_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for VELODYNE scans + * + * The compiled class is available as shared object file + */ +class ScanIO_velodyne : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/48/48ea53d98fb338b11dddd30e55b728978dc11945.svn-base b/.svn/pristine/48/48ea53d98fb338b11dddd30e55b728978dc11945.svn-base new file mode 100644 index 0000000..e140757 --- /dev/null +++ b/.svn/pristine/48/48ea53d98fb338b11dddd30e55b728978dc11945.svn-base @@ -0,0 +1,139 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_leica_txt.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scan in the leica + * format. This resembles the UOS + reflectance file format (see + * scan_io_xyzr) but features a flipped y-axis (height) and will be + * compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_leica_txt::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + double x, y, z; + + while (scan_in.good()) { + Point p; + try { + scan_in >> x >> z >> y; + x *= 100.0; + y *= 100.0; + z *= 100.0; + p = Point (x, y, z); + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_leica_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/49/49d0a1097336a1bee49c2bfa7137055d32349113.svn-base b/.svn/pristine/49/49d0a1097336a1bee49c2bfa7137055d32349113.svn-base new file mode 100644 index 0000000..14fbc73 --- /dev/null +++ b/.svn/pristine/49/49d0a1097336a1bee49c2bfa7137055d32349113.svn-base @@ -0,0 +1,104 @@ +/** + * @file + * @brief Serverside command structure for client-server interaction. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_SERVERINTERFACE_H +#define SCANSERVER_SERVERINTERFACE_H + +#include "scanserver/clientInterface.h" +#include "scanserver/cache/cacheManager.h" + +// hide the boost namespace +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + + + +/** + * @brief Central instance of the server management. + * + * This class handles all the serverside communication and relays cache management calls to the CacheManager. + * It derives ClientInterface and shares its mutexes and arguments, neccessary for the communication. It also holds the SharedScan and CacheManager instances. + * create will open the shared memory and place a ServerInterface instance in it, after which the main server loop run handles all communication. + */ +class ServerInterface : public ClientInterface +{ +private: + //! Container for all shared scans the server can hold + SharedScanVector m_scans; + + //! Cache manager for handling all cache objects inside the shared scans + CacheManager m_manager; + + //! Saved size of the CacheObject shared memory + std::size_t m_cache_size; + +private: + //! Read a directory of scans by letting the corresponding ScanIO reading it and creating a scan for each entry + SharedScanVector* readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end); + + //! Cache miss from a CacheObject, relayed to CacheManager + bool loadCacheObject(CacheObject* obj); + + //! Allocate call from SharedScan, relayed to CacheManager + void allocateCacheObject(CacheObject* obj, unsigned int size); + + //! Invalidate call from SharedScan, relayed to CacheManager + void invalidateCacheObject(CacheObject* obj); + + //! Call from SharedScan, relayed to ScanIO + void getPose(SharedScan* scan); + + //! Allocate a new Frame in its vector + void addFrame(SharedScan* scan); + + //! Relayed to FrameIO + void loadFramesFile(SharedScan* scan); + + //! Relayed to FrameIO + void saveFramesFile(SharedScan* scan); + + //! Empties this SharedScan's FrameVector + void clearFrames(SharedScan* scan); + + //! Call from client + std::size_t getCacheSize(); + + //! Prints out caching related metrics + void printMetrics(); + + //! Find a scan by matching its identifier, path and io type to avoid placing the same scan multiple times into the scan vector + SharedScan* findScan(const SharedStringSharedPtr& dir_path, const char* identifier, IOType type) const; + +public: + /** + * Constructor + * @param sm SegmentManager for allocator objects to construct interprocess containers with + * @param shm_name Name of the cache shared memory that will be passed to CacheManager + * @param cache_size Size of cache shared memory + */ + ServerInterface(SegmentManager* sm, const char* shm_name, std::size_t cache_size); + ~ServerInterface(); + + //! Create the shared memory in the system and put all neccessary structures in it + static ServerInterface* create(std::size_t data_size, std::size_t cache_size); + + //! remove the shared memory from the system + static void destroy(); + + //! Main server loop for message handling and function dispatching + void run(); + +private: + //! Cleaning up internal data without destroying the instance + void cleanup(); +}; + +#endif //SCANSERVER_SERVERINTERFACE_H diff --git a/.svn/pristine/4a/4a0f0c635333464c8a3a3d08079464cf6e9708e2.svn-base b/.svn/pristine/4a/4a0f0c635333464c8a3a3d08079464cf6e9708e2.svn-base new file mode 100644 index 0000000..db5cb02 --- /dev/null +++ b/.svn/pristine/4a/4a0f0c635333464c8a3a3d08079464cf6e9708e2.svn-base @@ -0,0 +1,266 @@ +/// \ingroup newmat +///@{ + +/// \file precisio.h +/// Floating point precision constants. + +#ifndef PRECISION_LIB +#define PRECISION_LIB 0 + +#define WANT_MATH +#include "include.h" // in case being used as stand alone + +#ifdef _STANDARD_ // standard library available +#include +#endif + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef _STANDARD_ // standard library available + +#ifdef OPT_COMPATIBLE +#include // for FLT_MAX +#endif + +using namespace std; + +/// Floating point precision. +class FloatingPointPrecision +{ +public: + static int Dig() // number of decimal digits or precision + { return numeric_limits::digits10 ; } + + static Real Epsilon() // smallest number such that 1+Eps!=Eps + { return numeric_limits::epsilon(); } + + static int Mantissa() // bits in mantisa + { return numeric_limits::digits; } + + static Real Maximum() // maximum value + { return numeric_limits::max(); } + + static int MaximumDecimalExponent() // maximum decimal exponent + { return numeric_limits::max_exponent10; } + + static int MaximumExponent() // maximum binary exponent + { return numeric_limits::max_exponent; } + + static Real LnMaximum() // natural log of maximum + { return (Real)log(Maximum()); } + + static Real Minimum() // minimum positive value + { return numeric_limits::min(); } + + static int MinimumDecimalExponent() // minimum decimal exponent + { return numeric_limits::min_exponent10; } + + static int MinimumExponent() // minimum binary exponent + { return numeric_limits::min_exponent; } + + static Real LnMinimum() // natural log of minimum + { return (Real)log(Minimum()); } + + static int Radix() // exponent radix + { return numeric_limits::radix; } + + static int Rounds() // addition rounding (1 = does round) + { + return numeric_limits::round_style == + round_to_nearest ? 1 : 0; + } + +}; + + +#else // _STANDARD_ not defined + +#ifndef SystemV // if there is float.h + +#ifdef USING_FLOAT + +/// Floating point precision (type float). +class FloatingPointPrecision +{ +public: + static int Dig() + { return FLT_DIG; } // number of decimal digits or precision + + static Real Epsilon() + { return FLT_EPSILON; } // smallest number such that 1+Eps!=Eps + + static int Mantissa() + { return FLT_MANT_DIG; } // bits in mantisa + + static Real Maximum() + { return FLT_MAX; } // maximum value + + static int MaximumDecimalExponent() + { return FLT_MAX_10_EXP; } // maximum decimal exponent + + static int MaximumExponent() + { return FLT_MAX_EXP; } // maximum binary exponent + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { return FLT_MIN; } // minimum positive value + + static int MinimumDecimalExponent() + { return FLT_MIN_10_EXP; } // minimum decimal exponent + + static int MinimumExponent() + { return FLT_MIN_EXP; } // minimum binary exponent + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + + static int Radix() + { return FLT_RADIX; } // exponent radix + + static int Rounds() + { return FLT_ROUNDS; } // addition rounding (1 = does round) + +}; + +#endif // USING_FLOAT + + +#ifdef USING_DOUBLE + +/// Floating point precision (type double). +class FloatingPointPrecision +{ +public: + + static int Dig() + { return DBL_DIG; } // number of decimal digits or precision + + static Real Epsilon() + { return DBL_EPSILON; } // smallest number such that 1+Eps!=Eps + + static int Mantissa() + { return DBL_MANT_DIG; } // bits in mantisa + + static Real Maximum() + { return DBL_MAX; } // maximum value + + static int MaximumDecimalExponent() + { return DBL_MAX_10_EXP; } // maximum decimal exponent + + static int MaximumExponent() + { return DBL_MAX_EXP; } // maximum binary exponent + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { +//#ifdef __BCPLUSPLUS__ +// return 2.225074e-308; // minimum positive value +//#else + return DBL_MIN; +//#endif + } + + static int MinimumDecimalExponent() + { return DBL_MIN_10_EXP; } // minimum decimal exponent + + static int MinimumExponent() + { return DBL_MIN_EXP; } // minimum binary exponent + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + + + static int Radix() + { return FLT_RADIX; } // exponent radix + + static int Rounds() + { return FLT_ROUNDS; } // addition rounding (1 = does round) + +}; + +#endif // USING_DOUBLE + +#else // if there is no float.h + +#ifdef OPT_COMPATIBLE +#define FLT_MAX MAXFLOAT +#endif + + +#ifdef USING_FLOAT + +/// Floating point precision (type float). +class FloatingPointPrecision +{ +public: + + static Real Epsilon() + { return pow(2.0,(int)(1-FSIGNIF)); } + // smallest number such that 1+Eps!=Eps + + static Real Maximum() + { return MAXFLOAT; } // maximum value + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { return MINFLOAT; } // minimum positive value + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + +}; + +#endif // USING_FLOAT + + +#ifdef USING_DOUBLE + +/// Floating point precision (type double). +class FloatingPointPrecision +{ +public: + + static Real Epsilon() + { return pow(2.0,(int)(1-DSIGNIF)); } + // smallest number such that 1+Eps!=Eps + + static Real Maximum() + { return MAXDOUBLE; } // maximum value + + static Real LnMaximum() + { return LN_MAXDOUBLE; } // natural log of maximum + + static Real Minimum() + { return MINDOUBLE; } + + static Real LnMinimum() + { return LN_MINDOUBLE; } // natural log of minimum +}; + +#endif // USING_DOUBLE + +#endif // SystemV + +#endif // _STANDARD_ + + + + +#ifdef use_namespace +} +#endif // use_namespace + + + +#endif // PRECISION_LIB + + +///@} diff --git a/.svn/pristine/4a/4a7fea52bb9b39195ac6511a281cfc8ec6616670.svn-base b/.svn/pristine/4a/4a7fea52bb9b39195ac6511a281cfc8ec6616670.svn-base new file mode 100644 index 0000000..61e00b8 --- /dev/null +++ b/.svn/pristine/4a/4a7fea52bb9b39195ac6511a281cfc8ec6616670.svn-base @@ -0,0 +1,129 @@ +/** + * @file + * @brief Displaying of a matched 3D scene + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SHOW_H__ +#define __SHOW_H__ + + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#elif WITH_FREEGLUT +#include +#else +#include +#endif + +#include +using std::string; +#include +using std::vector; + +#include "show/PathGraph.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" + +/** for Glut display mode */ +#define RGBA 4 ///< colors for GLUT display +#define RGB 3 ///< colors for GLUT display + +/** float value "nearly" zero? */ +#define DIV_EPSILON 0.001 +/** comparing two floats/doubles */ +#define COMPARE_EPSILON 0.000001 + +#define BUFSIZE 1048576 ///< defining the buffer size + +// This defines the floating point precision of the show program +typedef float sfloat; + +#include "show/show1.icc" +#include "show/show.icc" + +void CallBackReshapeFunc(int width, int height); +void CallBackIdleFunc(void); +void DisplayItFunc(GLenum mode, bool interruptable = false); +void DrawPoints(GLenum mode, bool interruptable = false); +void DrawUrl(); +void glDumpWindowPPM(const char *filename, GLenum mode); +void glWriteImagePPM(const char *filename, int scale, GLenum mode); +void ProcessHitsFunc(GLint hits, GLuint buffer[]); +int parseArgs(int argc, char **argv, string &dir, int& start, int& end, int& maxDist, bool& wanim, bool &readInitial); +void usage(char * prog); +void myNewMenu(); +void topView(); +void resetView(int dummy); +void setView(double pos[3], double new_quat[4], + double newMouseRotX, double newMouseRotY, double newMouseRotZ, + double newCangle, + bool sTV, bool cNMM, double pzoom_new, + bool s_points, bool s_path, bool s_cameras, double ps, int + sf, double fD, bool invert); +void update_view_rotate(int); +void update_view_translation(int); +void startAnimation(int dummy); +void invertView(int dummy); +void callTopView(int dummy); +void drawCameras(void); +void callAddCamera(int dummy); +void callCameraUpdate(int dummy); +void callDeleteCamera(int dummy); + +void pathAnimate(int dummy); +void savePath(int dummy); +void loadPath(int dummy); +void savePose(int dummy); +void loadPose(int dummy); +void saveImage(int dummy); +void CallBackInterfaceFunc(unsigned char key, int x, int y); +void CallBackKeyboardFunc(unsigned char key, int x, int y); +void CallBackKeyboardUpFunc(unsigned char key, int x, int y); +void CallBackMouseFunc(int button, int state, int x, int y); +void CallBackMouseFuncMoving(int button, int state, int x, int y); +void CallBackMouseMotionFunc(int x, int y); +void CallBackSpecialFunc(int key, int x, int y); +void InterfaceFunc(unsigned char key); +void updateCamera(); +void drawRobotPath(int dummy); +int calcFrameNo(); +int calcNoOfPoints(vector, vector); +void calcInterpolatedCameras(vector, vector); +void calcPointSequence(vector &sequence, int frameNr); + +void createDisplayLists(bool reduced=false); + +void updatePointModeControls(); +void changePointMode(int dummy); +void mapColorToValue(int dummy); +void changeColorMap(int dummy); +void minmaxChanged(int dummy); +void resetMinMax(int dummy); +void setScansColored(int dummy); + +void saveSelection(int dummy); +void clearSelection(int dummy); + +void updateControls(); +void updateTopViewControls(); +void resetRotationButton(); +void updateCamControls(); +bool isInterrupted(); +void checkForInterrupt(); +void interruptDrawing(); +void cycleLOD(); + +enum { ROTATION_X, ROTATION_RX, ROTATION_Y, ROTATION_RY, ROTATION_Z, ROTATION_RZ }; + /** enumeration for translation */ +enum { TRANS_X, TRANS_RX, TRANS_Y, TRANS_RY, TRANS_Z, TRANS_RZ }; + /** enumeration for the menue */ +enum { MENU_SCREEN, MENU_LIST, MENU_QUIT }; + +#endif + diff --git a/.svn/pristine/4a/4ac9fb7173c12a23e39b53ce03f14981d140fdeb.svn-base b/.svn/pristine/4a/4ac9fb7173c12a23e39b53ce03f14981d140fdeb.svn-base new file mode 100644 index 0000000..41f93bc Binary files /dev/null and b/.svn/pristine/4a/4ac9fb7173c12a23e39b53ce03f14981d140fdeb.svn-base differ diff --git a/.svn/pristine/4b/4b27fd327b1d20021abb2011400cffc1f9cfa752.svn-base b/.svn/pristine/4b/4b27fd327b1d20021abb2011400cffc1f9cfa752.svn-base new file mode 100644 index 0000000..d7cdcca --- /dev/null +++ b/.svn/pristine/4b/4b27fd327b1d20021abb2011400cffc1f9cfa752.svn-base @@ -0,0 +1,117 @@ +/* + * feature implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/feature.h" + +using namespace std; + +namespace fbr{ + + feature::feature(){ + fDetectorMethod = SIFT_DET; + fDescriptorMethod = SIFT_DES; + } + + void feature::featureDetection(cv::Mat pImage, feature_detector_method method){ + //Detect the keypoints using SURF Detector + if(fDetectorMethod == SURF_DET){ + double minHessian = 400; + cv::SurfFeatureDetector detector(minHessian); + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using SIFT Detector + if(fDetectorMethod == SIFT_DET){ + cv::SiftFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using ORB Detector + if(fDetectorMethod == ORB_DET){ + cv::OrbFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using FAST Detector + if(fDetectorMethod == FAST_DET){ + cv::FastFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using STAR Detector + if(fDetectorMethod == STAR_DET){ + cv::StarFeatureDetector detector; + detector.detect(pImage, keypoints); + } + } + + void feature::featureDetection(cv::Mat pImage){ + featureDetection(pImage, fDetectorMethod); + } + + void feature::featureDescription(cv::Mat pImage, feature_descriptor_method method){ + + if(keypoints.size() == 0) + featureDetection(pImage); + + //Create descriptor using SURF + if(fDescriptorMethod == SURF_DES){ + cv::SurfDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + + //Create descriptor using SIFT + if(fDescriptorMethod == SIFT_DES){ + cv::SiftDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + + //Create descriptor using ORB + if(fDescriptorMethod == ORB_DES){ + cv::OrbDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + } + + void feature::featureDescription(cv::Mat pImage){ + featureDescription(pImage, fDescriptorMethod); + } + + feature_detector_method feature::getDetectorMethod(){ + return fDetectorMethod; + } + + feature_descriptor_method feature::getDescriptorMethod(){ + return fDescriptorMethod; + } + + //check for the keypoints vector not to be empty + vector feature::getFeatures(){ + return keypoints; + } + + //check for the descriptor Mat not to be empty + cv::Mat feature::getDescriptors(){ + return descriptors; + } + + void feature::getDescription(description_method method){ + if(method == FEATURE_DESCRIPTION) + cout<<"fDetectorMethod: "< allPoints_AfterRegstn; + cellArray cellArray_AfterRegstn; + cellFeatureArray cellFeatureArray_AfterRegstn; + float slashWide; + float slashMaxLength; + float slashAngleDefinition; + vector minCellDisList; + vector intersectionFeature; + + + /* clusterArray clusterArrayAfterRegstn; + clusterFeatureArray clusterFeatureArray_AfterRegstn; +*/ + + +}; \ No newline at end of file diff --git a/.svn/pristine/4b/4b85e02fbd1079b1ee3db0d7ec7645dbe7a4e395.svn-base b/.svn/pristine/4b/4b85e02fbd1079b1ee3db0d7ec7645dbe7a4e395.svn-base new file mode 100644 index 0000000..e7e5367 --- /dev/null +++ b/.svn/pristine/4b/4b85e02fbd1079b1ee3db0d7ec7645dbe7a4e395.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/4b/4b93ee0fff450c6eda6f3e16d2660222b6cae9e6.svn-base b/.svn/pristine/4b/4b93ee0fff450c6eda6f3e16d2660222b6cae9e6.svn-base new file mode 100644 index 0000000..b33b514 --- /dev/null +++ b/.svn/pristine/4b/4b93ee0fff450c6eda6f3e16d2660222b6cae9e6.svn-base @@ -0,0 +1,446 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: medsort.h +// Purpose: Macros of generic public domain median sorting algorithms +// Author: John Labenski & mostly others +// Created: 07/01/02 +// Copyright: see macro headers, rewritten by John Labenski, 2002 +// License: Public Domain +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_MEDSORT_H__ +#define __WX_MEDSORT_H__ + +/* + Notes : + + code taken from http://ndevilla.free.fr/median/ + see the headers for each function taken from the files + see bottom for benchmark data + + Each of these functions are implemented as macros that can be used to either + DECLARE and DEFINE functions for the different element types required + or they can be used inline + + for example: + + in a header file declare the function with + DECLARE_WIRTHS_MEDIAN( wirths_median_int, int ) + and you'll get this code + int wirths_median_int( int *arr, int n, int &median ); + + in the c(pp) file define the function + DEFINE_WIRTHS_MEDIAN( wirths_median_int, int ) + and get + int withs_median_int( int *arr, int n, int &median ) + { the function itself } + + otherwise use the macro inline in some other function + IMPLEMENT_WIRTHS_MEDIAN(int, arr, n, &median) +*/ + + +/*--------------------------------------------------------------------------- + * This Quickselect routine is based on the algorithm described in + * "Numerical recipes in C", Second Edition, + * Cambridge University Press, 1992, Section 8.5, ISBN 0-521-43108-5 + * This code by Nicolas Devillard - 1998. Public domain. + ---------------------------------------------------------------------------- + + This does NOT fully sort the input array, but it does modify it + + QUICK_SELECT(elem_type, arr, n, median) + elem_type is a valid data type, int, long, unsigned char, float... + arr is an array delcared as elem_type *array and passed as array + n is the size of the array, ie. total element count + median contains the median value on exit + +---------------------------------------------------------------------------*/ + +#define DECLARE_QUICK_SELECT( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_QUICK_SELECT( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + IMPLEMENT_QUICK_SELECT( elem_type, arr, n, median ) + +#define IMPLEMENT_QUICK_SELECT(elem_type, arr, n, median) \ +{ \ + int low=0, high=n-1, half=(low+high)/2, middle, ll, hh; \ + \ + for (;;) { \ + if (high <= low) /* One element only */ \ + break; /*return arr[half] ; */ \ + \ + if (high == low + 1) { /* Two elements only */ \ + if (arr[low] > arr[high]) \ + { register elem_type t=arr[low];arr[low]=arr[high];arr[high]=t; } \ + break; /* return arr[half] ; */ \ + } \ + \ + /* Find median of low, middle and high items; swap into low */ \ + middle = (low + high) / 2; \ + if (arr[middle] > arr[high]) { register elem_type t=arr[middle];arr[middle]=arr[high];arr[high]=t; } \ + if (arr[low] > arr[high]) { register elem_type t=arr[low]; arr[low] =arr[high];arr[high]=t; } \ + if (arr[middle] > arr[low] ) { register elem_type t=arr[middle];arr[middle]=arr[low]; arr[low] =t; } \ + \ + /* Swap low item (now in position middle) into position (low+1) */ \ + { register elem_type t=arr[middle];arr[middle]=arr[low+1];arr[low+1]=t; } \ + \ + /* Nibble from ends towards middle, swapping items when stuck */ \ + ll = low + 1; \ + hh = high; \ + for (;;) { \ + do ll++; while (arr[low] > arr[ll] ); \ + do hh--; while (arr[hh] > arr[low]); \ + \ + if (hh < ll) break; \ + \ + { register elem_type t=arr[ll];arr[ll]=arr[hh];arr[hh]=t;} \ + } \ + \ + /* Swap middle item (in position low) back into correct position */ \ + { register elem_type t=arr[low];arr[low]=arr[hh];arr[hh]=t; } \ + \ + /* Re-set active partition */ \ + if (hh <= half) low = ll; \ + if (hh >= half) high = hh - 1; \ + } \ + median = arr[half]; \ +} + + +/*--------------------------------------------------------------------------- + Function : kth_smallest() + In : array of elements, # of elements in the array, rank k + Out : one element + Job : find the kth smallest element in the array + Notice : use the median() macro defined below to get the median. + + Reference: + + Author: Wirth, Niklaus + Title: Algorithms + data structures = programs + Publisher: Englewood Cliffs: Prentice-Hall, 1976 + Physical description: 366 p. + Series: Prentice-Hall Series in Automatic Computation + --------------------------------------------------------------------------- + + This does NOT fully sort the input array, but it does modify it + + WIRTHS_KTH_SMALLEST(elem_type, arr, n, k, ksmallest) + elem_type is a valid data type, int, long, unsigned char, float... + arr is an array delcared as elem_type *array and passed as array + n is the size of the array, ie. total element count + k is the kth smallest value of the array that you want to find + ksmallest contains the kth smallest value of arr on exit + + WIRTHS_MEDIAN(elem_type, arr, n, median) finds median value + Calls WIRTHS_KTH_SMALLEST with (k = n/2) fills median + +---------------------------------------------------------------------------*/ + +#define DECLARE_WIRTHS_MEDIAN( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_WIRTHS_MEDIAN( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + WIRTHS_MEDIAN( elem_type, arr, n, median ) + +#define IMPLEMENT_WIRTHS_MEDIAN(elem_type, arr, n, median) \ + IMPLEMENT_WIRTHS_KTH_SMALLEST(elem_type, arr, n, (((n)&1)?((n)/2):(((n)/2)-1)), median) + + +#define DECLARE_WIRTHS_KTH_SMALLEST( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_WIRTHS_KTH_SMALLEST( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + IMPLEMENT_WIRTHS_MEDIAN( elem_type, arr, n, median ) + +#define IMPLEMENT_WIRTHS_KTH_SMALLEST(elem_type, arr, n, k, ksmallest) \ +{ \ + register int i, j, l=0, m=n-1; \ + register elem_type x; \ + \ + while (lmax) max=arr[i]; \ + } \ + \ + while (1) { \ + guess = (min+max)/2; \ + less = 0; greater = 0; equal = 0; \ + maxltguess = min; \ + mingtguess = max; \ + for (i=0; imaxltguess) maxltguess = arr[i]; \ + } else if (arr[i]>guess) { \ + greater++; \ + if (arr[i]greater) max = maxltguess; \ + else min = mingtguess; \ + } \ + if (less >= (n+1)/2) median = maxltguess; \ + else if (less+equal >= (n+1)/2) median = guess; \ + else median = mingtguess; \ +} + +/*---------------------------------------------------------------------------- + Function : pixel_qsort() + In : pixel array, size of the array + Out : void + Job : sort out the array of pixels + Notice : optimized implementation, unreadable. +--------------------------------------------------------------------------- + + This fully sorts the input array by modifying it + + DECLARE_PIXEL_QSORT(name, elem_type) + +----------------------------------------------------------------------------*/ + +#define PIXEL_QSORT_STACK_SIZE 50 +#define PIXEL_QSORT_THRESHOLD 7 + +#define DECLARE_PIXEL_QSORT( name, elem_type ) \ + void name( elem_type *arr, int n ); + +#define DEFINE_PIXEL_QSORT( name, elem_type ) \ + void name( elem_type *arr, int n ) \ + IMPLEMENT_PIXEL_QSORT( name, elem_type ) + +#define IMPLEMENT_PIXEL_QSORT( elem_type, arr, n ) \ +{ \ + int i, ir=n, j, k, l=1, j_stack=0; \ + int *i_stack ; \ + elem_type a ; \ + \ + i_stack = (int*)malloc(PIXEL_QSORT_STACK_SIZE * sizeof(elem_type)); \ + for (;;) { \ + if (ir-l < PIXEL_QSORT_THRESHOLD) { \ + for (j=l+1 ; j<=ir ; j++) { \ + a = arr[j-1]; \ + for (i=j-1 ; i>=1 ; i--) { \ + if (arr[i-1] <= a) break; \ + arr[i] = arr[i-1]; \ + } \ + arr[i] = a; \ + } \ + if (j_stack == 0) break; \ + ir = i_stack[j_stack-- -1]; \ + l = i_stack[j_stack-- -1]; \ + } else { \ + k = (l+ir) >> 1; \ + { elem_type t=arr[k-1];arr[k-1]=arr[l];arr[l]=t; } \ + if (arr[l] > arr[ir-1]) { \ + { elem_type t=arr[l];arr[l]=arr[ir-1];arr[ir-1]=t; } \ + } \ + if (arr[l-1] > arr[ir-1]) { \ + { elem_type t=arr[l-1];arr[l-1]=arr[ir-1];arr[ir-1]=t; } \ + } \ + if (arr[l] > arr[l-1]) { \ + { elem_type t=arr[l];arr[l]=arr[l-1];arr[l-1]=t; } \ + } \ + i = l+1; j = ir; a = arr[l-1]; \ + for (;;) { \ + do i++; while (arr[i-1] < a); \ + do j--; while (arr[j-1] > a); \ + if (j < i) break; \ + { elem_type t=arr[i-1];arr[i-1]=arr[j-1];arr[j-1]=t; } \ + } \ + arr[l-1] = arr[j-1]; \ + arr[j-1] = a; \ + j_stack += 2; \ + wxASSERT(!(j_stack>PIXEL_QSORT_STACK_SIZE)); \ + /* if (j_stack > PIXEL_QSORT_STACK_SIZE) { */ \ + /* printf("stack too small in pixel_qsort: aborting"); */ \ + /* exit(-2001); } */ \ + if (ir-i+1 >= j-l) { \ + i_stack[j_stack-1] = ir; \ + i_stack[j_stack-2] = i; \ + ir = j-1; \ + } else { \ + i_stack[j_stack-1] = j-1; \ + i_stack[j_stack-2] = l; \ + l = i; \ + } \ + } \ + } \ + free(i_stack); \ +} + + +/*------------------------------------------------------------------------- + Function : pixel_qsort2() + In : two pixel arrays, size of the arrays + Out : void + Job : sort out both arrays based on the first array + Notice : optimized implementation, unreadable. +--------------------------------------------------------------------------- + + This fully sorts the input arrays by modifying them + Uses the first array as the comparison array + + DECLARE_PIXEL_QSORT2(name, elem_type) + +----------------------------------------------------------------------------*/ + +#define PIXEL_QSORT2_STACK_SIZE 50 +#define PIXEL_QSORT2_THRESHOLD 7 + +#define DECLARE_PIXEL_QSORT2( name, elem_type ) \ + void name( elem_type *arr, elem_type *arr2, int n ); + +#define DEFINE_PIXEL_QSORT2( name, elem_type ) \ + void name( elem_type *arr, elem_type *arr2, int n ) \ + IMPLEMENT_PIXEL_QSORT2( name, elem_type ) + +#define IMPLEMENT_PIXEL_QSORT2( elem_type, arr, arr2, n ) \ +{ \ + int i, ir=n, j, k, l=1, j_stack=0; \ + int *i_stack ; \ + elem_type a, a2 ; \ + \ + i_stack = (int*)malloc(PIXEL_QSORT2_STACK_SIZE * sizeof(elem_type)); \ + for (;;) { \ + if (ir-l < PIXEL_QSORT2_THRESHOLD) { \ + for (j=l+1 ; j<=ir ; j++) { \ + a = arr[j-1]; a2 = arr2[j-1]; \ + for (i=j-1 ; i>=1 ; i--) { \ + if (arr[i-1] <= a) break; \ + arr[i] = arr[i-1]; \ + arr2[i] = arr2[i-1]; \ + } \ + arr[i] = a; arr2[i] = a2; \ + } \ + if (j_stack == 0) break; \ + ir = i_stack[j_stack-- -1]; \ + l = i_stack[j_stack-- -1]; \ + } else { \ + k = (l+ir) >> 1; \ + { elem_type t=arr[k-1];arr[k-1]=arr[l];arr[l]=t; t=arr2[k-1];arr2[k-1]=arr2[l];arr2[l]=t; } \ + if (arr[l] > arr[ir-1]) { \ + { elem_type t=arr[l];arr[l]=arr[ir-1];arr[ir-1]=t; t=arr2[l];arr2[l]=arr2[ir-1];arr2[ir-1]=t;} \ + } \ + if (arr[l-1] > arr[ir-1]) { \ + { elem_type t=arr[l-1];arr[l-1]=arr[ir-1];arr[ir-1]=t; t=arr2[l-1];arr2[l-1]=arr2[ir-1];arr2[ir-1]=t;} \ + } \ + if (arr[l] > arr[l-1]) { \ + { elem_type t=arr[l];arr[l]=arr[l-1];arr[l-1]=t; t=arr2[l];arr2[l]=arr2[l-1];arr2[l-1]=t; } \ + } \ + i = l+1; j = ir; a = arr[l-1]; a2 = arr2[l-1]; \ + for (;;) { \ + do i++; while (arr[i-1] < a); \ + do j--; while (arr[j-1] > a); \ + if (j < i) break; \ + { elem_type t=arr[i-1];arr[i-1]=arr[j-1];arr[j-1]=t; t=arr2[i-1];arr2[i-1]=arr2[j-1];arr2[j-1]=t;} \ + } \ + arr[l-1] = arr[j-1]; arr2[l-1] = arr2[j-1]; \ + arr[j-1] = a; arr2[j-1] = a2; \ + j_stack += 2; \ + wxASSERT(!(j_stack>PIXEL_QSORT_STACK_SIZE)); \ + /* if (j_stack > PIXEL_QSORT_STACK_SIZE) { */ \ + /* printf("stack too small in pixel_qsort: aborting"); */ \ + /* exit(-2001); } */ \ + if (ir-i+1 >= j-l) { \ + i_stack[j_stack-1] = ir; \ + i_stack[j_stack-2] = i; \ + ir = j-1; \ + } else { \ + i_stack[j_stack-1] = j-1; \ + i_stack[j_stack-2] = l; \ + l = i; \ + } \ + } \ + } \ + free(i_stack); \ +} + + + +/* +Abbreviated benchmark data from +http://ndevilla.free.fr/median/median/node13.html + +(QuickSelect, Wirth, Aho/Hopcroft/Ullman, Torben, pixel quicksort) +Pentium II 400 MHz running Linux 2.0 with glibc-2.0.7. + +The basic method using the libc qsort() function has not been represented here, +because it is so slow compared to the others that it would make the plot unreadable. +Furthermore, it depends on the local implementation of your C library. + +Ratios have been obtained for sets with increasing number of values, +from 1e4 to 1e6. The speed ratios have been computed to the fastest method +on average (QuickSelect), then averaged over all measure points. + +QuickSelect : 1.00 +WIRTH median : 1.33 +AHU median : 3.71 +Torben : 8.95 +fast pixel sort : 6.50 + + Elm Qselect Wirth AHU Torben pqsort +10000 0.000 0.000 0.010 0.010 0.010 +100000 0.010 0.020 0.050 0.140 0.100 +200000 0.040 0.040 0.180 0.310 0.220 +300000 0.070 0.060 0.190 0.470 0.340 +400000 0.080 0.140 0.150 0.630 0.450 +500000 0.110 0.080 0.510 0.800 0.580 +600000 0.090 0.140 0.320 0.940 0.730 +700000 0.120 0.100 0.450 1.100 0.810 +800000 0.120 0.160 0.590 1.270 0.940 +900000 0.180 0.250 0.760 1.430 1.070 +1000000 0.210 0.290 0.600 1.580 1.240 +*/ + +#endif //__WX_MEDSORT_H__ diff --git a/.svn/pristine/4b/4b9a00aedf7471ae6c0ec8454871fc99726e9b1d.svn-base b/.svn/pristine/4b/4b9a00aedf7471ae6c0ec8454871fc99726e9b1d.svn-base new file mode 100644 index 0000000..42e5eb0 --- /dev/null +++ b/.svn/pristine/4b/4b9a00aedf7471ae6c0ec8454871fc99726e9b1d.svn-base @@ -0,0 +1,21 @@ + + + + + + + + + + ... + + + + + ... + + + + ... + + diff --git a/.svn/pristine/4b/4bea8ee635a0be489b1f16e6e21ff50261f5a9ff.svn-base b/.svn/pristine/4b/4bea8ee635a0be489b1f16e6e21ff50261f5a9ff.svn-base new file mode 100644 index 0000000..14645d4 --- /dev/null +++ b/.svn/pristine/4b/4bea8ee635a0be489b1f16e6e21ff50261f5a9ff.svn-base @@ -0,0 +1,29 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Flavia Grosan, Alex Tandrau. Jacobs University Bremen gGmbH, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __ICP6DQUATSCALE_H__ +#define __ICP6DQUATSCALE_H__ + +#include "icp6Dquat.h" + +/** + * @brief Implementation of the ICP error function minimization via quaternions + */ +class icp6D_QUAT_SCALE : public icp6D_QUAT +{ +public: + /** constructor */ + icp6D_QUAT_SCALE(bool quiet = false) : icp6D_QUAT(quiet) {}; + /** destructor */ + virtual ~icp6D_QUAT_SCALE() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + inline int getAlgorithmID() { return 9; }; + +}; + +#endif diff --git a/.svn/pristine/4b/4bf1b18c6d10bddab8417bca4a084c618d997cdd.svn-base b/.svn/pristine/4b/4bf1b18c6d10bddab8417bca4a084c618d997cdd.svn-base new file mode 100644 index 0000000..79cf380 --- /dev/null +++ b/.svn/pristine/4b/4bf1b18c6d10bddab8417bca4a084c618d997cdd.svn-base @@ -0,0 +1,51 @@ +/** + * @file feature.h + * @brief detects features on images and create the descriptor for them + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/5/24/ 2:00 + */ + +#ifndef FEATURE_H_ +#define FEATURE_H_ + +#include "fbr_global.h" + +using namespace std; + +namespace fbr{ + /** + * @class feature + * @brief class to detect and describe features + * @param fDetectorMethod feature_detector_method + * @param fDescriptorMethod feature_descriptor_method + * @param keypoints vector containing the detected features + * @param descriptors cv::Mat containig the descriptor of features + */ + class feature{ + feature_detector_method fDetectorMethod; + feature_descriptor_method fDescriptorMethod; + vector keypoints; + cv::Mat descriptors; + enum description_method{ + FEATURE_DESCRIPTION, + DESCRIPTOR_DESCRIPTION, + ALL, + }; + public: + /** + * constructor of feature class + */ + feature(); + void featureDetection(cv::Mat pImage, feature_detector_method method); + void featureDetection(cv::Mat pImage); + void featureDescription(cv::Mat pImage, feature_descriptor_method method); + void featureDescription(cv::Mat pImage); + feature_detector_method getDetectorMethod(); + feature_descriptor_method getDescriptorMethod(); + vector getFeatures(); + cv::Mat getDescriptors(); + void getDescription(description_method method=ALL); + unsigned int getNumberOfFeatures(); + }; +} +#endif /* FEATURE_H_ */ diff --git a/.svn/pristine/4c/4c0f6d151acd8ffe4591327d94b588f8ad75b234.svn-base b/.svn/pristine/4c/4c0f6d151acd8ffe4591327d94b588f8ad75b234.svn-base new file mode 100644 index 0000000..c8a7230 --- /dev/null +++ b/.svn/pristine/4c/4c0f6d151acd8ffe4591327d94b588f8ad75b234.svn-base @@ -0,0 +1,138 @@ +#include "slam6d/scan_io_iais.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param s 3D Scan to be read. The vector of points must be filled + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param maxDist Reads only Points up to this Distance + * @param dir The directory from which to read + */ +int ScanIO_iais::readScans(int start, int end, string &dir, + int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + static string poseFileName; + string scanFileName; + + double maxDist2 = sqr(maxDist); + + double matrix[16]; + + static ifstream pose_in; + ifstream scan_in; + + if (fileCounter > end) return -1; + + if (fileCounter == start) { + poseFileName = dir + "poses_abs_with_start.txt"; + pose_in.open(poseFileName.c_str()); + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + for (int i = 0; i < start; i++) { + pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12] + >> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13] + >> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14]; + // >> matrix[12] >> matrix[13] >> matrix[14]; + matrix[15] = 1.0; + matrix[3] = matrix[7] = matrix[11] = 0.0; + } + } + + pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12] + >> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13] + >> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14]; + // >> matrix[12] >> matrix[13] >> matrix[14]; + matrix[15] = 1.0; + matrix[3] = matrix[7] = matrix[11] = 0.0; + + Matrix4ToEuler(matrix, euler+3, euler); + euler[3] *= -1.0; + euler[5] *= -1.0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + + scan_in.open(scanFileName.c_str()); + + // read 3D scan + // no more files in the directory + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return fileCounter-1; +} + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_iais; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/4d/4d0579c4c295350708abb857216e3f56213450a6.svn-base b/.svn/pristine/4d/4d0579c4c295350708abb857216e3f56213450a6.svn-base new file mode 100644 index 0000000..027e046 --- /dev/null +++ b/.svn/pristine/4d/4d0579c4c295350708abb857216e3f56213450a6.svn-base @@ -0,0 +1,7 @@ +CMAKE_PROGRESS_1 = +CMAKE_PROGRESS_2 = 18 +CMAKE_PROGRESS_3 = +CMAKE_PROGRESS_4 = 19 +CMAKE_PROGRESS_5 = 20 +CMAKE_PROGRESS_6 = + diff --git a/.svn/pristine/4d/4d169008a4dcff811c6ec2f36ff18531ea655b94.svn-base b/.svn/pristine/4d/4d169008a4dcff811c6ec2f36ff18531ea655b94.svn-base new file mode 100644 index 0000000..f4567de --- /dev/null +++ b/.svn/pristine/4d/4d169008a4dcff811c6ec2f36ff18531ea655b94.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/4d/4d2794f1acf89149d75ae986c8a70206f0b92196.svn-base b/.svn/pristine/4d/4d2794f1acf89149d75ae986c8a70206f0b92196.svn-base new file mode 100644 index 0000000..6b6b86d --- /dev/null +++ b/.svn/pristine/4d/4d2794f1acf89149d75ae986c8a70206f0b92196.svn-base @@ -0,0 +1,50 @@ +IF (WITH_THERMO) + find_package(OpenCV REQUIRED) + + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/include) + include_directories(${CMAKE_SOURCE_DIR}/include/shapes/) + include_directories(${CMAKE_SOURCE_DIR}/include/thermo/) + include_directories(/usr/include/) + include_directories(/usr/include/opencv) + +# # Compile gocr library +# SET(GOCR_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src/) +# add_library(Pgm2asc SHARED ${GOCR_DIR}gocr.c ${GOCR_DIR}pgm2asc.c ${GOCR_DIR}box.c ${GOCR_DIR}database.c +# ${GOCR_DIR}detect.c ${GOCR_DIR}barcode.c ${GOCR_DIR}lines.c ${GOCR_DIR}list.c +# ${GOCR_DIR}ocr0.c ${GOCR_DIR}ocr0n.c ${GOCR_DIR}ocr1.c ${GOCR_DIR}otsu.c +# ${GOCR_DIR}output.c ${GOCR_DIR}pixel.c ${GOCR_DIR}unicode.c ${GOCR_DIR}remove.c +# ${GOCR_DIR}pnm.c ${GOCR_DIR}pcx.c ${GOCR_DIR}progress.c ${GOCR_DIR}job.c) + +# add_executable(shapes shapes.cc geom_math.cc numberrec.cc scan_ransac.cc ) +# +# IF(WIN32) +# target_link_libraries(shapes scan XGetopt netpbm Pgm2asc) +# ENDIF(WIN32) +# +# IF (UNIX) +# target_link_libraries(shapes scan newmat dl netpbm Pgm2asc ) +# ENDIF(UNIX) +# + + add_executable(caliboard caliboard.cc) +# add_executable(thermo thermo.cc) +# add_executable(thermo thermo.cc src/cvaux.cpp src/cvblob.cpp src/cvcolor.cpp src/cvcontour.cpp src/cvlabel.cpp src/cvtrack.cpp) + add_executable(thermo thermo.cc) + + IF(UNIX) + target_link_libraries(caliboard scan shape newmat dl ANN) + target_link_libraries(thermo scan shape newmat dl ANN) +# target_link_libraries(thermo scan shape newmat dl ANN) + target_link_libraries(thermo cv cvaux cxcore GL GLU highgui cvblob scan ANN) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(caliboard scan shape newmat XGetopt ANN) +# target_link_libraries(thermo scan shape newmat XGetopt ANN) + target_link_libraries(thermo cv cvaux cxcore GL GLU highgui cvblob scan ANN) + ENDIF(WIN32) + + +ENDIF(WITH_THERMO) diff --git a/.svn/pristine/4e/4e4a30538fe876f9042244a782a9b8fe08cafcc0.svn-base b/.svn/pristine/4e/4e4a30538fe876f9042244a782a9b8fe08cafcc0.svn-base new file mode 100644 index 0000000..332d2bd --- /dev/null +++ b/.svn/pristine/4e/4e4a30538fe876f9042244a782a9b8fe08cafcc0.svn-base @@ -0,0 +1,334 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ***********************************IMPORTANT********************************* + Notes to the developers: read the following notes before using these + functions. + * Be careful when using for_each_data() recursively and calling list_del. + It may mangle with the current[] pointers, and possibly segfault or do an + unpredictable or just undesirable behavior. We have been working on a + solution for this problem, and solved some of the biggest problems. + In a few words, the problem is this: when you delete a node, it may be + the current node of a lower level loop. The current code takes care of + access to previous/next elements of the now defunct node. So, if you do + something like: + + for_each_data(l) { + for_each_data(l) { + list_del(l, header_data); + free(header_data); + } end_for_each(l); ++ tempnode = list_cur_next(l); + } end_for_each(l); + + It will work, even though the current node in the outer loop was deleted. + However, if you replace the line marked with + with the following code: + + tempnode = list_next(l, list_get_current(l)); + + it will break, since list_get_current is likely to return NULL or garbage, + since you deleted header_data(). + Conclusion: use list_del carefully. The best way to avoid this problem is + to not use list_del inside a big stack of loops. + * If you have two elements with the same data, the functions will assume + that the first one is the wanted one. Not a bug, a feature. ;-) + * avoid calling list_prev and list_next. They are intensive and slow + functions. Keep the result in a variable or, if you need something more, + use list_get_element_from_data. + + */ + +#include +#include +#include "list.h" +#include "progress.h" + +void list_init( List *l ) { + if ( !l ) + return; + + l->start.next = &l->stop; + l->stop.previous = &l->start; + l->start.previous = l->stop.next = NULL; + l->start.data = l->stop.data = NULL; + l->current = NULL; + l->level = -1; + l->n = 0; +} + +/* inserts data before data_after. If data_after == NULL, appends. + Returns 1 on error, 0 if OK. */ +int list_ins( List *l, void *data_after, void *data) { + Element *e, *after_element; + + /* test arguments */ + if ( !l || !data ) + return 1; + + if ( !data_after || !l->n ) + return list_app(l, data); + + /* get data_after element */ + if ( !(after_element = list_element_from_data(l, data_after)) ) + return 1; + + /* alloc a new element */ + if( !(e = (Element *)malloc(sizeof(Element))) ) + return 1; + e->data = data; + e->next = after_element; + e->previous = after_element->previous; + after_element->previous->next = e; + after_element->previous = e; + l->n++; + + return 0; +} + +/* appends data to the list. Returns 1 on error, 0 if OK. */ +/* same as list_ins(l,NULL,data) ??? */ +int list_app( List *l, void *data ) { + Element *e; + + if ( !l || !data ) + return 1; + if ( !(e = (Element *)malloc(sizeof(Element))) ) + return 1; + + e->data = data; + e->previous = l->stop.previous; + e->next = l->stop.previous->next; + l->stop.previous->next = e; + l->stop.previous = e; + l->n++; + return 0; +} + +/* returns element associated with data. */ +Element *list_element_from_data( List *l, void *data ) { + Element *temp; + + if ( !l || !data || !l->n) + return NULL; + + temp = l->start.next; + + while ( temp->data != data ) { + if ( !temp || temp==&l->stop ) + return NULL; + temp = temp->next; + } + return temp; +} + +/* deletes (first) element with data from list. User must free data. + Returns 0 if OK, 1 on error. + This is the internal version, that shouldn't be called usually. Use the + list_del() macro instead. + */ +int list_del( List *l, void *data ) { + Element *temp; + int i; + + if (!data) return 1; /* do not delete start or stop element */ + + /* find element associated with data */ + if ( !(temp = list_element_from_data(l, data)) ) + return 1; + + /* test if the deleted node is current in some nested loop, and fix it. */ + for ( i = l->level; i >= 0; i-- ) { + if ( l->current[i] == temp ) { + l->current[i] = temp->previous; + } + } + + temp->previous->next = temp->next; + temp->next->previous = temp->previous; + temp->previous = temp->next = NULL; /* mark as freed */ +/* + fprintf(stderr,"\n# list_del=%p start=%p stop=%p",temp,&l->start,&l->stop); +*/ + + /* and free stuff */ + free(temp); /* element pointing to data, fixed mem-leak 0.41 */ + l->n--; + return 0; +} + +/* frees list. See also list_and_data_free() */ +void list_free( List *l ) { + Element *temp, *temp2; + + if ( !l || !l->n ) + return; + + if ( l->current ) { + free(l->current); + } + l->current = NULL; + + temp = l->start.next; + while ( temp && temp!=&l->stop) { + temp2 = temp->next; + free(temp); + temp = temp2; + } + l->start.next = &l->stop; + l->stop.previous = &l->start; +} + +/* setup a new level of for_each */ +int list_higher_level( List *l ) { + Element **newcur; + + if ( !l ) return(1); + + /* + Security-check: NULL pointer passed to realloc. + ANSI allows this, but it may cause portability problems. + */ + newcur = (Element **)realloc(l->current, (l->level+2)*sizeof(Element *)); + if (newcur) { + l->current = newcur; + l->level++; + l->current[l->level] = l->start.next; + } + g_debug(fprintf(stderr, " level++=%d current[]=%p\n", + l->level, l->current);) + if ( !newcur ) { + fprintf(stderr, " realloc failed! abort\n"); return(1); + } + return 0; +} + +void list_lower_level( List *l ) { + if ( !l ) + return; + + if (!l->level) { + free(l->current); /* calm -lefence */ + l->current = NULL; /* could be important */ + } else { + l->current = (Element **)realloc(l->current, l->level*sizeof(Element *)); + } + l->level--; + g_debug(fprintf(stderr, " level--=%d current[]=%p\n", l->level, + l->current);) +} + +/* returns the next item data */ +void *list_next( List *l, void *data ) { + Element *temp; + + if ( !l || !(temp = list_element_from_data(l, data)) ) + return NULL; + if( !temp->next ) return NULL; + return (temp->next->data); +} + +/* returns the previous item data */ +void *list_prev( List *l, void *data ) { + Element *temp; + + if ( !l || !(temp = list_element_from_data(l, data)) ) + return NULL; + if( !temp->previous ) return NULL; + return (temp->previous->data); +} + +/* Similar to qsort. Sorts list, using the (*compare) function, which is + provided by the user. The comparison function must return an integer less + than, equal to, or greater than zero if the first argument is considered to + be respectively less than, equal to, or greater than the second. + Uses the bubble sort algorithm. + */ +void list_sort( List *l, int (*compare)(const void *, const void *) ) { + Element *temp, *prev; + int i, sorted; + progress_counter_t *pc = NULL; + + if ( !l ) + return; + + /* start progress meter, sorting is slow for huge number of elements */ + /* l->n is the worst case, real time is less or equal estimated time */ + pc = open_progress(l->n,"list_sort"); + + for (i = 0; i < l->n; i++ ) { + sorted = 1; /* Flag for early break */ + for ( temp = l->start.next->next; + temp != NULL && temp != &l->stop; temp = temp->next ) { + if ( temp->previous == &l->start ) continue; + if ( compare((const void *)temp->previous->data, + (const void *)temp->data) > 0 ) { + + sorted = 0; /* rest flag */ + /* swap with the previous node */ + prev = temp->previous; + prev->previous->next = temp; + temp->next->previous = prev; + temp->previous = prev->previous; + prev->next = temp->next; + prev->previous = temp; + temp->next = prev; + /* and make sure the node in the for loop is correct */ + temp = prev; + +#ifdef SLOWER_BUT_KEEP_BY_NOW +/* this is a slower version, but guaranteed to work */ + void *data; + + data = temp->data; + prev = temp->previous; + list_del(l, data); + list_ins(l, prev->data, data); + temp = prev; +#endif + } + } + if (sorted) break; + progress(i,pc); /* progress meter */ + } + + close_progress(pc); + g_debug(fprintf(stderr, "list_sort()\n");) +} + +/* calls free_data() for each data in list l, + * before free list with list_free() */ +int list_and_data_free( List *l, void (*free_data)(void *data)) { + void *data; + + if ( !l ) return 0; + if ( !free_data ) return 1; + + for_each_data(l) { + if ((data = list_get_current(l))) + free_data(data); + } end_for_each(l); + + list_free(l); + + g_debug(fprintf(stderr, "list_and_data_free()\n");) + + return 0; +} + diff --git a/.svn/pristine/4e/4e804d0103295031b87d4267c45d1fd00445ad1b.svn-base b/.svn/pristine/4e/4e804d0103295031b87d4267c45d1fd00445ad1b.svn-base new file mode 100644 index 0000000..b14902a --- /dev/null +++ b/.svn/pristine/4e/4e804d0103295031b87d4267c45d1fd00445ad1b.svn-base @@ -0,0 +1,187 @@ +/* + * pointfilter implementation + * + * Copyright (C) Thomas Escher, Dorit Borrmann, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/pointfilter.h" + +using std::string; +using std::map; +#include +using std::stringstream; +#include +using std::runtime_error; + +#include +using std::cout; +using std::endl; + + + +map PointFilter::factory; + + + +PointFilter::PointFilter() : + m_changed(true), m_checker(0) +{ +} + +PointFilter::PointFilter(const std::string& params) : + m_changed(true), m_checker(0) +{ + size_t start = 0, end = string::npos; + while((end = params.find(' ', start)) != string::npos) { + // extract the word (start-end+1) without the space (-1) + string key(params.substr(start, start-end)); + end++; + // get the second word position + start = params.find(' ', end); + // insert + m_params[key] = params.substr(end, (start-end)); + // advance to the character after space + if(start != string::npos) + start++; + else + break; + } +} + +PointFilter::~PointFilter() +{ + if(m_checker) + delete m_checker; +} + +PointFilter& PointFilter::setRange(float maxDist, float minDist) +{ + m_changed = true; + stringstream s_max; s_max << maxDist; + stringstream s_min; s_min << minDist; + m_params["rangemax"] = s_max.str(); + m_params["rangemin"] = s_min.str(); + return *this; +} + +PointFilter& PointFilter::setHeight(double top, double bottom) +{ + m_changed = true; + stringstream s_top; s_top << top; + stringstream s_bottom; s_bottom << bottom; + m_params["heighttop"] = s_top.str(); + m_params["heightbottom"] = s_bottom.str(); + return *this; +} + +std::string PointFilter::getParams() +{ + stringstream s; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + s << (*it).first << " " << (*it).second << " "; + } + return s.str(); +} + +void PointFilter::createCheckers() +{ + // delete the outdated ones + if(m_checker) { + delete m_checker; + m_checker = 0; + } + + // create new ones + Checker** current = &m_checker; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + *current = factory[it->first](it->second); + // if a Checker has been successfully created advance to its pointer in the chain + if(*current) { + current = &((*current)->m_next); + } + } +} + + + +Checker::Checker() : + m_next(0) +{ +} + +Checker::~Checker() +{ + if(m_next) + delete m_next; +} + + + +// create factory instaces for key string to factory function mapping +namespace { + CheckerFactory max("rangemax"); + CheckerFactory min("rangemin"); + CheckerFactory top("heighttop"); + CheckerFactory bottom("heightbottom"); +} + + + +CheckerRangeMax::CheckerRangeMax(const std::string& value) { + stringstream s(value); + s >> m_max; + // default value: no check + if(m_max <= 0.0) throw runtime_error("No range filter needed."); + m_max *= m_max; +} + +bool CheckerRangeMax::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] < m_max) + return true; + return false; +} + + + +CheckerRangeMin::CheckerRangeMin(const std::string& value) { + stringstream s(value); + s >> m_min; + // default value: no check + if(m_min <= 0.0) throw runtime_error("No range filter needed."); + m_min *= m_min; +} + +bool CheckerRangeMin::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] > m_min) + return true; + return false; +} + + + +CheckerHeightTop::CheckerHeightTop(const std::string& value) { + stringstream s(value); + s >> m_top; +} + +bool CheckerHeightTop::test(double* point) { + if(point[1] < m_top) + return true; + return false; +} + + + +CheckerHeightBottom::CheckerHeightBottom(const std::string& value) { + stringstream s(value); + s >> m_bottom; +} + +bool CheckerHeightBottom::test(double* point) { + if(point[1] > m_bottom) + return true; + return false; +} diff --git a/.svn/pristine/4e/4e8bef9897ef975bac25d283e4da5b1caefb5eeb.svn-base b/.svn/pristine/4e/4e8bef9897ef975bac25d283e4da5b1caefb5eeb.svn-base new file mode 100644 index 0000000..e33adb0 --- /dev/null +++ b/.svn/pristine/4e/4e8bef9897ef975bac25d283e4da5b1caefb5eeb.svn-base @@ -0,0 +1,84 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address */ + +#include "pgm2asc.h" +#include "gocr.h" + +/* initialize job structure */ +void job_init(job_t *job) { + /* init source */ + job->src.fname = "-"; + /* FIXME jb: init pix */ + job->src.p.p = NULL; + + /* init results */ + list_init( &job->res.boxlist ); + list_init( &job->res.linelist ); + job->res.avX = 5; + job->res.avY = 8; + job->res.sumX = 0; + job->res.sumY = 0; + job->res.numC = 0; + job->res.lines.dy=0; + job->res.lines.num=0; + + /* init temporaries */ + list_init( &job->tmp.dblist ); + job->tmp.n_run = 0; + /* FIXME jb: init ppo */ + job->tmp.ppo.p = NULL; + job->tmp.ppo.x = 0; + job->tmp.ppo.y = 0; + + /* init cfg */ + job->cfg.cs = 0; + job->cfg.spc = 0; + job->cfg.mode = 0; + job->cfg.dust_size = -1; /* auto detect */ + job->cfg.only_numbers = 0; + job->cfg.verbose = 0; + job->cfg.out_format = UTF8; /* old: ISO8859_1; */ + job->cfg.lc = "_"; + job->cfg.db_path = (char*)NULL; + job->cfg.cfilter = (char*)NULL; + job->cfg.certainty = 95; + job->cfg.unrec_marker = "_"; +} + +/* free job structure */ +void job_free(job_t *job) { + + /* if tmp is just a copy of the pointer to the original image */ + if (job->tmp.ppo.p==job->src.p.p) job->tmp.ppo.p=NULL; + + /* FIMXE jb: free lists + * list_free( &job->res.linelist ); + * list_free( &job->tmp.dblist ); + */ + + list_and_data_free(&(job->res.boxlist), (void (*)(void *))free_box); + + /* FIXME jb: free pix */ + if (job->src.p.p) { free(job->src.p.p); job->src.p.p=NULL; } + + /* FIXME jb: free pix */ + if (job->tmp.ppo.p) { free(job->tmp.ppo.p); job->tmp.ppo.p=NULL; } + +} diff --git a/.svn/pristine/4e/4ec9266a1ec453d7f49412ff0fd31a7ab02aae77.svn-base b/.svn/pristine/4e/4ec9266a1ec453d7f49412ff0fd31a7ab02aae77.svn-base new file mode 100644 index 0000000..8d30bea --- /dev/null +++ b/.svn/pristine/4e/4ec9266a1ec453d7f49412ff0fd31a7ab02aae77.svn-base @@ -0,0 +1,846 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ToDo: + - transform special xml bar code symbols (<>&) to xml symbols (<>&) + +*/ + +#include +#include +#include +/* #include -- we do not want unnecessary dependencies */ +#include "pgm2asc.h" +#include "gocr.h" +#include "pnm.h" + +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +#undef g_debug +#if DO_DEBUG +# define g_debug(a) if (JOB->cfg.verbose&1) { a } +#else +# define g_debug(a) +#endif + +/* + detect barcode and add a XML-string to the box (obj-pointer, ToDo) + ToDo: barcode-output stderr->stdout +*/ + +double sqr(double x) { return(x*x); } + +/* ----------------------------- code128 ---------------------------- * + * "BSBSBS", B=Bar, S=Space, better using 2*6=12bit-integer? */ +#define Num128 107 +const char *code128[Num128+1]={ /* can be generated by an algorithm? */ +/* 00 */"212222","222122","222221","121223","121322","131222","122213","122312", +/* 08 */"132212","221213","221312","231212","112232","122132","122231","113222", +/* 16 */"123122","123221","223211","221132","221231","213212","223112","312131", +/* 24 */"311222","321122","321221","312212","322112","322211","212123","212321", +/* 32 */"232121","111323","131123","131321","112313","132113","132311","211313", +/* 40 */"231113","231311","112133","112331","132131","113123","113321","133121", +/* 48 */"313121","211331","231131","213113","213311","213131","311123","311321", +/* 56 */"331121","312113","312311","332111","314111","221411","431111","111224", +/* 64 */"111422","121124","121421","141122","141221","112214","112412","122114", +/* 72 */"122411","142112","142211","241211","221114","413111","241112","134111", +/* 80 */"111242","121142","121241","114212","124112","124211","411212","421112", +/* 88 */"421211","212141","214121","412121","111143","111341","131141","114113", +/* 96 */"114311","411113","411311","113141","114131","311141","411131","211412", +/*104 */"211214","211232","2331112","???"}; + +/* + code128: see code128.tex by Petr Olsak (108 codes) + quiet_zone: size=10 (before and after code128) + num_bars=3*(start+chars[N]+crc+stop)+1 + B=bar S=space char=BSBSBS (size=11), stop=BSBSBSB (size=11+2) + Width: Bar,Space=1,[2,3,4] char=11 code=11*(N+3)+2 sumB=even,sumS=odd + startA="211412"=103 startB="211214"=104 startC="211232"=105(2dec_digits) + mode/code 0..95 96 97 98 99 100 101 102 103 104 105 106 + 1=A x20-x5f,0-x20 F3 F2 uB mC mB F4 F1 ^A ^B ^C $ + 2=B x20-x7f F3 F2 uA mC F4 mA F1 ^A ^B ^C $ + 3=C "00"-"95" "96" "97" "98" "99" mB mA F1 ^A ^B ^C $ + uA,uB: switch mode for next char, mA,mB: switch mode permanently + crc=(start+1*char1+2*char2+3*char3+...+N*charN) mod 103 + $=stop="2331112"=106 (4bars, with=13) => start/end==211 + return num of chars or string + + size B+W even-variants odd-variants num_codes + 11 = 8+3 = (1+3+4,2+2+4,2+3+3)+(1+1+1) => (6+3+3)*(1) = 12 + = 6+5 = (1+1+4,1+2+3,2+2+2)+(1+1+3,1+2+2) => (3+6+1)*(3+3) = 60 + = 4+7 = (1+1+2)+(1+2+4,1+3+3,2+2+3) => (3)*(6+3+3) = 36 + sum = 108 + */ + /* example: barcode -E -e 128c -b 1434600120000884 >a.eps */ + /* example: barcode -E -e 128b -b 14Test41 >a.eps */ + /* example: barcode -E -e 128raw -b 105 17 14 30 >a.eps */ + +char *decode_code128(int *wb, int num_bars){ + int i, w, i1, i2, i3=0, i4, i5=0, crc, mode=1; + double dww, dw, err, min_err; char cc, *buf; + char *result=NULL; /* malloc and store the result */ + + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; /* summ all bars and spaces */ + + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3!=0 || num_bars<10 || w<11*(num_bars-1)/3+2) + return 0; + g_debug(fprintf(stderr," code128 b%d s%d b%d\n",wb[0],wb[1],wb[2]);) + if (3*wb[0]<4* wb[1] + || 3*wb[0]<4* wb[2] + || 4*wb[0]<3*(wb[1]+wb[2]) + || 3*wb[0]>4*(wb[1]+wb[2])) return 0; /* 211 */ + dw=3.0*w/((num_bars-1)*11+6); + /* get enough memory for all digits in longest mode C */ + buf =(char *) malloc( (num_bars-7)/3*2+1); if (!buf) return result; + result=(char *) malloc(256+(num_bars-7)/3*2+1); + + dww=crc=0; + for(i4=i1=0;i1<(num_bars-1)/3;i1++) { + for(min_err=1e8,i3=Num128,i5=0;i5102 && i3<106) mode=i3-103+1; crc=i3; } /* start */ + if(i1>0 && i1<(num_bars-1)/3-2){ + crc+=i3*(i1); cc=0; /* first * 1 + second * 2 + third * 3 ... */ + i5=((mode>3)?mode>>2:mode&3); mode&=3; /* mode can be modified now */ + switch (i5) { /* mode=1..3=modeA..modeC */ + case 1: if (i3>=64 && i3<96) cc=i3-64; /* modeA: x20-x5f,0-x20 */ + else cc=i3+32; + if (i3==101) mode=1; /* switch to mode A */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=2<<2; /* shift to mode B */ + break; + case 2: cc=i3+32; /* modeB: x20-x7f */ + if (i3==100) mode=2; /* switch to mode B */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=1<<2; /* shift to mode A */ + break; + case 3: + if (i3==101) mode=1; /* switch to mode A */ + if (i3==100) mode=2; /* switch to mode B */ + } + if (i5==3) { buf[i4]='0'+i3/10; i4++; + buf[i4]='0'+i3%10; i4++; } /* modeC: two digits */ + else { + if (cc>=0x20 && i3<=0x7f) { buf[i4]=cc; i4++; } /* modeA+B: one digit */ + if (cc>=0 && cc< 0x20) { buf[i4]='^'; i4++; + buf[i4]=cc+'@'; i4++; } + } + } + if(i1==(num_bars-1)/3-2){ crc=(crc+103-i3)%103; } + if(i1==(num_bars-1)/3-1){ if(i3!=106) i3=-1; } /* stop code */ + mode &= 3; /* remove shift */ + } + else fprintf(stderr," %s=%02d? ",buf,i5); + } + buf[i4]=0; /* end of string */ + if (result) + sprintf(result,"", + i4,buf,crc,dww/((num_bars-1))); + free(buf); + return result; +} + +/* -------------------------------------------------------------------- UPC + EAN 13 (UPC,(1+6+1+6+1)*2bars,size=3+6*7+5+6*7+3=95) + EAN 8 (UPC,(1+4+1+4+1)*2bars,size=3+4*7+5+4*7+3=67) + UPC: (10 codes) + BSB SBSB^n SBSBS BSBS^n BSB + bsb ...... sbsbs ...... bsb + 111 ...... 11111 ...... 111 + num_bars=2*(2*6+3) middle=SBSBS=11111 right/left=BSB=111="101" + char: left=SBSB right=BSBS (size=7) only_dec_digits + SS+BB = (S+S) + (B+B) => BB:SS = 5:2 or 3:4 + size ev+odd even + odd => variants + 7 = 2 + 5 = (1+1) + (1+4,2+3) => (1)*(2+2) = 4 codes + = 4 + 3 = (1+3,2+2) + (1+3) => (2+1)*(2) = 6 codes += 10 codes + ToDo: make it more robust + - return error as mean deviation + * -------------------------------------------------------------------- */ + /* example: barcode -E -e upc -b 12345678901 >a.eps # ok */ + /* example: barcode -E -e ean -b 123456789012 >a.eps # ok */ +#define NumUPC 20 +const char *codeUPC[NumUPC+1]={ /* 0..9, first n = SBSB, last n = BSBS */ + "3211","2221","2122","1411","1132", /* 0,1,2,3,4 normal (+0bit) */ + "1231","1114","1312","1213","3112", /* 5,6,7,8,9 */ + "1123","1222","2212","1141","2311", /* 0,1,2,3,4 mirrored (+1bit) */ + "1321","4111","2131","3121","2113", /* 5,6,7,8,9 */ + "????"}; /* not found */ + +char *decode_UPC(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, crc, mirrored, ean; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=2.0*w/((num_bars-6)*7+2*11); /* or min(wb[]) */ + crc=0; + if ((num_bars)%2!=0 || num_bars<10 || w<7*(num_bars-6)/2+11 + || ((num_bars-6)/2)%2!=0) return 0; /* should be balanced */ + /* check front BSB, middle SBSBS and end BSB */ + dww=0; + for (i=0;i<3;i++) { dww=sqr(wb[i ]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<5;i++) { dww=sqr(wb[i+ num_bars-3]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<3;i++) { dww=sqr(wb[i+2*num_bars-4]/dw-1); if (dww>0.4) return 0; } + buf =(char *)malloc( (num_bars-6)/2+1); if (!buf) return result; + result=(char *)malloc(256+(num_bars-6)/2+1); + + for(ean=i5=0,i1=3;i1<2*num_bars-4;i1+=4) { /* each digit (2bars+2spaces) */ + if (i1==num_bars-3) { i1++; continue; } /* skip middle sync SBSBS */ + for (i4=NumUPC,mirrored=0,digit='?',min_err=16e8,i2=0;i2 0yyyyy */ + switch (ean) { + case 11: ean=1; break; + case 13: ean=2; break; + case 14: ean=3; break; + case 19: ean=4; break; + case 25: ean=5; break; + case 28: ean=6; break; + case 21: ean=7; break; + case 22: ean=8; break; + case 26: ean=9; break; + default: ean=0; /* no or invalid EAN digit or UPC-extension */ + } crc+=ean*1; + /* ToDo: fix possible buffer OVL, complement crc */ + buf[i5]=0; + if (result) + sprintf(result,"", + i5+1,ean,buf,(10-crc%10)%10,dww/((num_bars-6)*2)); + free(buf); + return result; +} + + /* EAN/UPC add-on is either 2 or 5 digits. It always starts with a + * guard bar BSB, followed by ([digit + SB] * (N-1)) + digit. Digit is + * SBSB. Two digit add-on's have 7 bars, and 5 digit add ons have 16. + */ +char *decode_UPC_addon(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, digits=num_bars/3; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + if (num_bars!=7 && num_bars!=16) + return 0; + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=1.0*w/(digits*7+4 + (digits-1)*2); + /* check front BSB, and delineators SB */ + dww=0; + for (i=0;i<2;i++) { dww=sqr(wb[i]/dw-1); if (dww>0.4) return 0; } + dww=sqr(wb[i]*0.5/dw-1); if (dww>0.4) return 0; + for (i=1;i 0.4) return 0; + } + } + buf =(char *)malloc( digits+1); if (!buf) return result; + result=(char *)malloc(256+digits+1); + + for(i5=0,i1=3;i1<2*num_bars-1;i1+=6) { /* each digit (2bars+2spaces) */ + for (i4=NumUPC,digit='?',min_err=16e8,i2=0;i2", + i5, buf, dww/((num_bars-6)*2)); + free(buf); + return result; +} + + +/* --------------------------------------------------------- * + * code 3 of 9, 3 thick of 9 bars + * BSBSBSBSB size=7+3*aw aw=2(3), sumS/sumB=2/1? + * two widths: size=1 or size=2or3, digit_width=13(16) + * 5 bars and 4(+1) spaces per digit, last space is not used + * with 2 (or 0) wide bars, 1 (or 3) wide spaces per digit + * => 3 of 9 => max=9*8*7=504 + * evenBB=(0of5)+(2of5) oddSS=(1of4)+(3of4) max=44 + * ToDo: better code -...-.-.. as 046 or 083 (even,even,odd) + */ +#define Num39 (40+4) /* (3of9)=(2of5)(1of4)+(0of5)(3of4), (2of5)(.-..)=0..9 */ +const char *code39= /* rearranged to BBBBBSSSS (bars,spaces) */ + "0..--..-.." +"1-...-.-..""2.-..-.-..""3--....-..""4..-.-.-..""5-.-...-.." +"6.--...-..""7...--.-..""8-..-..-..""9.-.-..-.." +"A-...-..-.""B.-..-..-.""C--.....-.""D..-.-..-.""E-.-....-." +"F.--....-.""G...--..-.""H-..-...-.""I.-.-...-.""J..--...-." +"K-...-...-""L.-..-...-""M--......-""N..-.-...-""O-.-.....-" +"P.--.....-""Q...--...-""R-..-....-""S.-.-....-""T..--....-" +"U-...--...""V.-..--...""W--...-...""X..-.--...""Y-.-..-..." +"Z.--..-...""-...---..."".-..-.-..."" .-.-.-...""*..--.-..." +/* (0of5)(3of4)=(.....)(3of4) store only 3of4? */ +"$.....---.""/.....--.-""+.....-.--""%......---" +"?xxxxxxxxx"; + +/* example: barcode -E -e 39 -b 123abc | gs -sDEVICE=pnggray -r100 */ + +/* return index[] according to sorted values[], big first */ +void sort(int *value, int *idx, int len){ + int i,j; + for (j=0;jdw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code39 base=%.3f chars=%2d\n ",dw,(num_bars)/5);) + buf =(char *)malloc( 1+(num_bars)/5); if (!buf) return result; + result=(char *)malloc(256+(num_bars)/5); + + for(i5=i1=0;i1<2*num_bars-3;i1+=10) { + /* ToDo: looking for three widest bars/gaps, 0 or 2 bars, 1 or 3 spaces */ + sort(wb+i1,idx,9); + for(err=0,i3=3;i3<9;i3++) // estimate error ?? + err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5", + i5,buf,code39[(crc%44)*10],dww/((num_bars/5)*6)); + free(buf); + return result; +} + +/* code interleaved 2 of 5 numbers-only (10 bars+spaces = 2 decimal digits) + B B B B B <= digit1 bars=1,3,5,... + S S S S S <= digit2 spaces=2,4,6,... + 1122447700 <= weight digit=sum(bit*weight)%11 (except 7+4=11 means 0) + N = narrow bar, W = wide bar, n = narrow space, w = wide space + "NnNn"+interleaved+"WnN" (odd num W, even num w) + 18 digits/inch + see http://www.barcode-1.net/i25code.html (Jun 2009) + minN=0.19mm=0.0075inch + sizeN>0.02inch: sizeW=2..3*sizeN (but constant) + sizeN<0.02inch: sizeW=2.2..3*sizeN + quite zones 10*sizeN or 0.25inch + heigh=max(0.15*symbol_length,0.25inch) + Len = (numChars*(2*(sizeW/sizeN)+3) + 6 + (sizeW/sizeN)) * sizeN + */ +#define Num25 10 +const char *code25= /* is the code sorted randomly? */ +"1-...-2.-..-3--...4..-.-5-.-..6.--..7...--8-..-.9.-.-.0..--."; + +/* example: barcode -E -e i25 -b 123456 >a.eps */ + +/* + add i25, patch by: Chris Lee, 13 Jul 2009 + ToDo: check correctness + */ +char *decode_i25(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i3, i5, crc, idx[7], pos; + double dw, dww, err; char *buf; + char *result=NULL; /* malloc and store the result */ + + int *wb_temp; + int *wb_check; + int code_chars; + + if ((num_bars)%5!=4) return 0; /* chars*5bars + 4 start/stop bars */ + code_chars = ((num_bars - 4) / 5) * 2; +// dw=w*1.0/(9*(num_bars/3)); /* threshold = 1.5..2 */ + + wb_temp = (int *)malloc((code_chars * 5)*sizeof(int)); if (!wb_temp) { return NULL; } + wb_check = (int *)malloc( 7 *sizeof(int)); if (!wb_check) { return NULL; } + + for (i=0; i<(code_chars * 5)+7; i++) { + if (i<4) { wb_check[i] = wb[i]; } /* start sequence NnNn... */ + else if (i > ((code_chars*5)+3)) { /* end sequence ...WnN */ + wb_check[(int)(i-(code_chars*5))] = wb[i]; } + else { + pos = i - 4; + /* reinterleave 0,5,1,6,2,7,3,8,4,9,... to 0,1,2,3,4,5,6,7,8,9,... */ + // pos = (int)(10*(int)(pos/10) + 1.0*(pos%10)/2.0 + 4.5*(pos%2)); + pos = 10*(pos/10) + (pos%10)/2 + 5*(pos&1); + wb_temp[pos] = wb[i]; + } + } + wb = wb_temp; + + /* check start / finish codes */ + sort(wb_check,idx,7); + if (idx[0] != 4 /* widest bar W must be the 4th = 1st of end */ + || wb_check[idx[0]]==wb_check[idx[1]]) { /* exact 1 widest */ + free(wb_temp); + free(wb_check); + g_debug(fprintf(stderr," need exact 1 widest at start of end, abort\n");) + return 0; + } + + for(w=i=0; i<5*code_chars;i++ ) w+=wb[i]; /* summ width */ + dw=w*1.0/(16*(num_bars/5)); /* threshold = 1.5..2 */ + /* whats best and most rigorosely for dw=threshold_width? + * - (1.5..2)*mean_width of every 5th space + * - (1.5..2)*summ(5bars+5spaces)/(13..16) + * - 3/4*summ(three thickest)/3 + */ + dww=crc=0; /* error and checksum (not supported yet) */ +#if 0 /* should we exclude any non-standard code39? */ + /* check for correct start and end symbol * or NwNnWnWnN Narrow+Wide */ + i=2*num_bars-2; + if (wb[ 0]>dw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code25 base=%.3f chars=%2d\n ",dw,code_chars);) + buf =malloc( code_chars); if (!buf) return result; + result=malloc(256+code_chars); + + for(i5=i1=0;i1<5*code_chars;i1+=5) { + /* ToDo: looking for three widest bars/gaps */ + sort(wb+i1,idx,5); + for(err=0,i3=2;i3<5;i3++) + err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5 3th widest */ + if (wb[i1+idx[1]]==wb[i1+idx[2]]) { + free(buf); free(result); + g_debug(fprintf(stderr," need exact 2 widest, abort\n");) + return 0; + } + } + } + buf[i5]=0; + if (result) // ToDo: fix CRC (not defined?) + sprintf(result,"", i5,buf,code25[(crc%10)*10],dww/((num_bars/5)*6)); + + free(wb_temp); + free(wb_check); + free(buf); + return result; +} + +/* code codabar, numbers only, 4 bars per char (1*wide bar, 1*wide space) + robust code (dot-matrix printer) + characters have same length (distance between 1st bar to 4th space) + ??? codeproject: 6*n+2*w=12 or 5*n+3*w=14 + ??? suchymips.de: + variant 1: 18 different bar widths (Monarch code) + variant 2: 2 different bar widths (Codabar Matrix or ABC-Codabar) + 9..11 digits/inch, N=narrow bar, W=wide bar, n=narrow space, w=wide space + see http://www.barcodeman.com/info/codabar.php (Jul 2009) + minN=0.17mm=0.0065inch, 11 digits/inch = 0.0909 = 14*minN + 2of7 + extensions + extensions: 1 wide bar + 2 wide spaces (no narrow space between 2 wide) + 4 start/stop sets = a/t, b/m, c/ *, d/e + - mean wide = thickest of 4 bars + - mean narrow = thinnest of 4 bars, thinnest of 3 (4) spaces or every 4th + wiki-sample: a31117013206375b (wide spaces between chars) schraeg! + barcode: t1234567t n=N=1 w=W=3 c=12,14 (not const.) + */ +const char *code27= /* 4bars+3spaces, 12+12 chars */ +// 0..11: 3 nbar + 1 wbar + 2 nspace + 1 wspace +"0.....--1....--.2...-..-3--.....4..-..-." +"5-....-.6.-....-7.-..-..8.--....9-..-...-...--..$..--..." +// 12..15: 1 nbar + 3 wbar + 3 nspace + 0 wspace +":-...-.-/-.-...-.-.-.-..+..-.-.-" +// 16..23: 3 nbar + 1 wbar + 1 nspace + 2 wspace +"a..--.-.b.-.-..-c...-.--d...---.t..--.-.n.-.-..-*...-.--e...---." +// EOS +"????????"; + +/* example: barcode -E -e cbr -b 123456 >a.eps */ + +char *decode_27(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, i1, i2, i3, i4, i5, b_idx[4], s_idx[3], b_w[4], s_w[3], + max_wdiff, err=0; + // double dw, err; + char *buf, char27[8]="......"; + char *result=NULL; /* malloc and store the result */ + + int code_chars; +#if 0 // ToDo: verifications nb_max < wb_min etc. + int nb_min=99999, nb_max=0, nb_sum=0, nb_num=0; // narrow bar + int ns_min=99999, ns_max=0, ns_sum=0, ns_num=0; // narrow space + int wb_min=99999, wb_max=0, wb_sum=0, wb_num=0; // wide bar + int ws_min=99999, ws_max=0, ws_sum=0, ws_num=0; // wide space +#endif + + if ((num_bars)%4!=0) return 0; /* chars*4bars */ + code_chars = num_bars / 4; +// dw=w*1.0/(9*(num_bars/3)); /* threshold = 1.5..2 */ + + g_debug(fprintf(stderr," codabar chars= %d\n ", code_chars);) + buf =malloc( code_chars); if (!buf) return result; + result=malloc(256+code_chars); + i5=0; // index output string + for (i=0; i< code_chars; i++) { + b_w[0]=wb[i*8+0]; // 1st bar + b_w[1]=wb[i*8+2]; // 2nd bar + b_w[2]=wb[i*8+4]; // 3th bar + b_w[3]=wb[i*8+6]; // 4th bar + s_w[0]=wb[i*8+1]; // 1st space + s_w[1]=wb[i*8+3]; // 2nd space + s_w[2]=wb[i*8+5]; // 3th space + sort(b_w,b_idx,4); /* idx[0] points to widest bar */ + sort(s_w,s_idx,3); /* idx[0] points to widest space */ + g_debug(for(i3=0;i3<7;i3++)fprintf(stderr,"%02d ",wb[8*i+i3]);) + if (b_w[b_idx[0]]==b_w[b_idx[3]]) { err=__LINE__; break; } // min. 1 wide + narrow + // search max. diff between sorted widths + i2=b_w[b_idx[0]]-b_w[b_idx[1]]; i1=1; max_wdiff=i2; // diff widest - 2nd wides + i2=b_w[b_idx[1]]-b_w[b_idx[2]]; if (i2>max_wdiff) { i1=2; max_wdiff=i2; } + i2=b_w[b_idx[2]]-b_w[b_idx[3]]; if (i2>max_wdiff) { i1=3; max_wdiff=i2; } + if (i1==2) { err=__LINE__; break; } // 2 wide + 2 narrow bars not allowed + for (i3=0;i3<7;i3++) char27[i3]='.'; // reset char + if (i1==1) { // 1 wide bar (1 or 2 wspaces) + if (s_w[s_idx[0]]-s_w[s_idx[1]] + >s_w[s_idx[1]]-s_w[s_idx[2]]) { // 1 wspace + char27[2*b_idx[0]+0]='-'; + char27[2*s_idx[0]+1]='-'; + } else { // assume 2 wspaces + if (s_w[s_idx[2]]==s_w[s_idx[1]]) { err=__LINE__; break; } + char27[2*b_idx[0]+0]='-'; + char27[2*s_idx[0]+1]='-'; + char27[2*s_idx[1]+1]='-'; + } + } else { // assume 3 wbars + 0 wspaces + char27[2*s_idx[0]+0]='-'; + char27[2*s_idx[1]+0]='-'; + char27[2*s_idx[2]+0]='-'; + } + for(i4=24,i3=0;i3<24;i3++) { + if (code27[8*i3+1]==char27[0] + && code27[8*i3+2]==char27[1] + && code27[8*i3+3]==char27[2] + && code27[8*i3+4]==char27[3] + && code27[8*i3+5]==char27[4] + && code27[8*i3+6]==char27[5] + && code27[8*i3+7]==char27[6]) { + i4=i3; buf[i5++]=code27[8*i3]; break; } + } + g_debug(fprintf(stderr," %s c27= %c\n ", char27, ((i5)?buf[i5-1]:'?'));) + if (i4==24) { err=__LINE__; break; } + } // each char + if (i>=code_chars) { // else: inconsistent char + g_debug(fprintf(stderr," code27 base=%.3f chars=%2d\n ",0.0,code_chars);) + } else { + g_debug(fprintf(stderr," error %d at char %d, abort\n", err, i);) + free(result); result=0; + } + buf[i5]=0; + if (result) // ToDo: fix CRC (not defined?) + sprintf(result,"", i5,buf,'?',0.0); + + free(buf); + return result; // free at parent! +} + + +/* + decode barcode + - check main characteristics (num bars, min+max width, etc.) + - detect code type + - the current algorithm measures the width of bars and spaces + called by detect_barcode() + ToDo: - like storing sequence of widths for 1D code + store array of bits for 2D matrix code and decode later + */ +char *decode_barcode(struct box *bb){ /* ToDo: char *dest, int len */ + int i, num_bars, yy, w, ww, dx, xx, cs=JOB->cfg.cs, *wb; + char *result=NULL; /* store the result */ + yy=(bb->y0+bb->y1)/2; + w=ww=bb->x1-bb->x0+1; + num_bars = num_cross(bb->x0,bb->x1,yy,yy,bb->p,JOB->cfg.cs); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... detect bars=%3d w=%4d",num_bars,ww); + + /* store width of bars and spaces to buffer wb */ + wb=(int *)malloc(2*num_bars*sizeof(int)); if(!wb) return NULL; + xx=bb->x0; + xx-=loop(bb->p,xx,yy, 8,cs,1,LE); + xx+=loop(bb->p,xx,yy,ww,cs,0,RI); /* start with a bar! */ + for (i=0;i<2*num_bars;i++) { + dx=loop(bb->p,xx,yy,w,cs,1^(i&1),RI); + xx+=dx; + w-=dx; + wb[i]=dx; + } wb[2*num_bars-1]=0; + + /* ToDo: what about probability? if not unique + * - add argument char *result which can be modified or not, + * - or add box2? (would reuse of this code more difficult) + */ + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3==0 && num_bars>=10 && ww>=11*(num_bars-1)/3+2){ + if (!result) result=decode_code128(wb,num_bars); + } + /* test UPC/EAN characteristics */ + if ((num_bars)%2==0 && num_bars>=8 && ww>=7*(num_bars-6)/2+11 + && ((num_bars-6)/2)%2==0){ /* should be balanced */ + if (!result) result=decode_UPC(wb,num_bars); + } + /* test UPC_addon by Michael van Rooyen, often on books */ + if (num_bars==7 || num_bars==16) + if (!result) result=decode_UPC_addon(wb,num_bars); + + /* test code39 characteristics */ + if ((num_bars)%5==0 && num_bars>14){ + if (!result) result=decode_39(wb,num_bars); + } + /* test i2of5 chartacteristics */ + if ((num_bars)%5==4 && num_bars>3) { + if (!result) result=decode_i25(wb,num_bars); + } + + /* test codabar chartacteristics */ + if ((num_bars)%4==0 && num_bars>3) { + if (!result) result=decode_27(wb,num_bars); + } + + free(wb); + return result; +} + +/* + * taking the list of boxes and search for groups of bars (1D-barcodes) + */ +int detect_barcode(job_t *job) +{ + int j=0, j2=0, bx0, by0, bx1, by1, bdx, bdy, bbx, rm, + x0, y0, dx, dy, cs, y, yl0, yl1, yr0, yr1; + struct box *box2, *box3; + + if(JOB->cfg.verbose) + fprintf(stderr,"# barcode.c detect_barcode "); + x0=y0=0; rm=0; dx=job->src.p.x; dy=job->src.p.y; cs=JOB->cfg.cs; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* detect width (bdx) and height (bdy) of possible bar */ + /* ToDo: better check for a line */ + bdx=box2->x1-box2->x0+1 /* substract correction for skewed bars */ + -loop(box2->p,box2->x1,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,LE) + -loop(box2->p,box2->x0,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,RI); + bdy=box2->y1-box2->y0+1; + if (box2->c == PICTURE || box2->c == UNKNOWN) + if (box2->y0 >= y0 && box2->y1 <= y0 + dy /* within frame? */ + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->y1 - box2->y0 > 19 /* min. length */ + && box2->y1 - box2->y0 > 8 * bdx + ) { /* a bar? */ + j=1; /* number of bars */ + bx0=box2->x0; bx1=box2->x1; /* initial values for barcode frame */ + by0=box2->y0; by1=box2->y1; + bbx=bx1-bx0+2; /* width of bar */ + /* this is for scans which are not exactly horizontal */ + yl0=yr0=by0; /* left and right upper bound */ + yl1=yr1=by1; /* left and right lower bound */ + /* --- iteratively take into account next nearest bar --- + * this is important, because bar-boxes are not in right order */ + for (j2=1;j2;) { + j2=0; + /* expand a frame around the potential barcode (bx0,by0,bx1,by1) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if (box3->y0 >= y0 && box3->y1 <= y0 + dy /* within image */ + && box3->x0 >= x0 && box3->x1 <= x0 + dx + && box3->y1 - box3->y0 > 19 /* min. length */ + && box3->y1 - box3->y0 > 4 * (bdx) /* height > 4*width2 */ + && box3->x1 - box3->x0 < 4 * (bdy) /* width < height/4 = bar */ + && (( abs(box3->y0-by0)y1-by1)y0-yl0)y1-yl1)x0 <= bx0 ) + ||( abs(box3->y0-yr0)y1-yr1)x0 >= bx1 ) ) + && box3->x0 > bx0 - 12*bbx /* startspace=5...10 */ + && box3->x1 < bx1 + 12*bbx + && box3->x0 > bx0 - bdy/2 /* dont glue two barcodes together */ + && box3->x1 < bx1 + bdy/2 /* ex: ean13a.jpg */ + /* dont check bars which already within the frame twice ? */ + && ( box3->x1 > bx1 || box3->x0 < bx0 ) + ) { /* a bar? -> extend barcode frame only in x direction */ + /* take minimum of y to have valid barcode for all y */ + if (box3->x0x0; yl0=box3->y0; yl1=box3->y1; } + if (box3->x1>bx1) { bx1=box3->x1; yr0=box3->y0; yr1=box3->y1; } + if (4*(box3->y1-box3->y0)>3*(by1-by0)) { /* carefull reduce */ + if (box3->y0>by0) by0=box3->y0; /* ToDo: fix for non-horizontal */ + if (box3->y1y1; + } + j++; /* found a near bar and count to num bars */ + j2=1; /* continue searching (endless loop?) */ + } + } end_for_each(&(JOB->res.boxlist)); + } + /* j is the num of bars found above, some inner bars are not counted */ + /* ToDo: better iterative add next nearest bars from sorted list near bars? */ + if (j>5) { + char *code=0; + box2->c=PICTURE; /* BARCODE */ + box2->x0=bx0; box2->y0=by0; + box2->x1=bx1; box2->y1=by1; + /* ToDo: add pointer to decoded text */ + + y=(box2->y0+box2->y1)/2; + if (JOB->cfg.verbose){ + int nbars; + nbars=num_cross(box2->x0,box2->x1,y,y,box2->p,JOB->cfg.cs); + fprintf(stderr,"\n# barcode at %3d %3d size %3d %3d nbars %d (%d)", + bx0,by0,bx1-bx0+1,by1-by0+1,nbars,j); + if (j!=nbars) + fprintf(stderr,"\n# ... trouble: num_found_bars != num_cross"); + /* this is because some far bars are detected before near bars */ + } + /* transport the info to the gocr-output (development) */ + /* ToDo: decode and print/store barcode bars=j */ + code=decode_barcode(box2); /* ToDo: char *dest, int len */ + if (!code) { /* failed */ + code=(char *)malloc(128); + /* ToDo: analyze and output num_bars, width of bars etc. */ + if(code) strncpy(code,"",128); + } + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... decoded as: %s", code); + setas(box2,code,99); /* ToDo: set a better weight */ + free(code); + + /* remove inner boxes, only if sure!? (ToDo: use cfg.certainty) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if ( abs(box3->y0-by0)y1-by1)x1 <= bx1 + && box3->x0 >= bx0 + ) { + rm++; /* count removed boxes */ + list_del(&(JOB->res.boxlist),box3); + free_box(box3); + } + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... removed boxes: %d", rm); + rm=0; + } + } + } end_for_each(&(JOB->res.boxlist)); + + /* recalculate averages without bars */ + JOB->res.numC=JOB->res.sumX=JOB->res.sumY=j2=0; + for_each_data(&(JOB->res.boxlist)) { + j2++; + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box3->c==PICTURE) continue; + JOB->res.numC++; /* count remaining boxes */ + JOB->res.sumX+=box3->x1-box3->x0+1; + JOB->res.sumY+=box3->y1-box3->y0+1; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... boxes %d nC %d\n", + j2, JOB->res.numC); + + /* ToDo: detect DataMatrix = iec16022 + * search square of 2 lines and 2 dottet lines (first no rotation) + * output characteristics pixel size, bytes, code type, etc. + */ + + return 0; +} + diff --git a/.svn/pristine/4f/4f0ae2b31f5b6e92b1f5adab458b612e1004d483.svn-base b/.svn/pristine/4f/4f0ae2b31f5b6e92b1f5adab458b612e1004d483.svn-base new file mode 100644 index 0000000..260188d --- /dev/null +++ b/.svn/pristine/4f/4f0ae2b31f5b6e92b1f5adab458b612e1004d483.svn-base @@ -0,0 +1,67 @@ +/* + * viewpointinfo implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include +using std::ofstream; + +#include "grid/viewpointinfo.h" +#include +#include +using std::cerr; +using std::endl; +using std::make_pair; + +/** + * CTor. + */ +viewpointinfo::viewpointinfo(string path) +{ + this->path = path; +} + +/** + * The method adds the viewpointinfos of the given grid + * to the internal list + * + * @param grid The grid with the new viewpointinfos + */ +void viewpointinfo::addGrid(const scanGrid *grid) +{ + this->viewpoints.push_back(make_pair(grid->getViewpointX(), + grid->getViewpointZ())); +} + +/** + * This methods writes the internal viewpointslist + * to the file specified by filename + * + * @param filename The path and name of the file + */ +void viewpointinfo::write(string filename) +{ + string tmp(this->path + "/" + filename); + + ofstream stream(tmp.c_str()); + if(!stream.good()) + { + cerr << " Unable to open file ! ("<< filename<<")"<< endl; + exit(1); + } + + + vector::iterator it = this->viewpoints.begin(); + vector::iterator end = this->viewpoints.end(); + + while(it != end) + { + stream << it->first << " " << it->second << endl; + ++it; + } +} + diff --git a/.svn/pristine/4f/4f14e08e25146a2af092af6ccd5a69a4be04c338.svn-base b/.svn/pristine/4f/4f14e08e25146a2af092af6ccd5a69a4be04c338.svn-base new file mode 100644 index 0000000..992bf88 --- /dev/null +++ b/.svn/pristine/4f/4f14e08e25146a2af092af6ccd5a69a4be04c338.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in XYZ file format (i.e., pure 3D data points only) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZ_RGB_H__ +#define __SCAN_IO_XYZ_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for XYZ scans (i.e., pure 3D data points only) + * + * The compiled class is available as shared object file + */ +class ScanIO_xyz_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/4f/4f45a0ae5155c1afa6270bbef96bb49203842960.svn-base b/.svn/pristine/4f/4f45a0ae5155c1afa6270bbef96bb49203842960.svn-base new file mode 100644 index 0000000..2432596 --- /dev/null +++ b/.svn/pristine/4f/4f45a0ae5155c1afa6270bbef96bb49203842960.svn-base @@ -0,0 +1,1250 @@ +/* + * veloslam implementation + * + * Copyright (C) Andreas Nuechter, Li Wei, Li Ming + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "slam6d/icp6Dapx.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" +#include "slam6d/icp6Dortho.h" +#include "slam6d/icp6Dhelix.h" +#include "slam6d/icp6Ddual.h" +#include "slam6d/icp6Dlumeuler.h" +#include "slam6d/icp6Dlumquat.h" +#include "slam6d/icp6Dquatscale.h" +#include "slam6d/icp6D.h" +#ifdef WITH_CUDA +#include "slam6d/cuda/icp6Dcuda.h" +#endif +#include "slam6d/lum6Deuler.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/graphToro.h" +#include "slam6d/graphHOG-Man.h" +#include "slam6d/elch6Deuler.h" +#include "slam6d/elch6Dquat.h" +#include "slam6d/elch6DunitQuat.h" +#include "slam6d/elch6Dslerp.h" +#include "slam6d/loopToro.h" +#include "slam6d/loopHOG-Man.h" +#include "slam6d/graphSlam6D.h" +#include "slam6d/gapx6D.h" +#include "slam6d/graph.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +#include "veloslam/veloscan.h" +#include "veloslam/debugview.h" +#include "veloslam/tracker.h" +#include "veloslam/trackermanager.h" +#include "veloslam/intersection_detection.h" + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + +#include /* OpenGL header file */ +#include /* OpenGL utilities header file */ + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifndef _MSC_VER +#include +void Sleep(unsigned int mseconds) +{ + clock_t goal = mseconds + clock(); + while (goal > clock()); +} + +#endif + +#define WANT_STREAM ///< define the WANT stream :) + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; + +#include +#include +#include + +using namespace boost; +extern boost::mutex keymutex; +extern boost::condition keycond; + + +extern void StartShow(); +extern TrackerManager trackMgr; +extern int sliding_window_size; +extern int current_sliding_window_pos; + +extern Trajectory VelodyneTrajectory; +extern VeloScan* g_pfirstScan; +extern bool g_pause; +extern float constant_static_or_moving; +extern bool DebugDrawFinished ; +extern bool ICPFinished; +extern bool save_animation; + +extern int anim_frame_rate; +extern int scanCount; + +// Handling Segmentation faults and CTRL-C +void sigSEGVhandler (int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl + << "# **************************** #" << endl + << " Segmentation fault or Ctrl-C" << endl + << "# **************************** #" << endl + << endl; + + // save frames and close scans + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + (*it)->saveFrames(); + } + cout << "Frames saved." << endl; + Scan::closeDirectory(); + } + exit(-1); +} + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -a" << normal << " NR, " << bold << "--algo=" << normal << "NR [default: 1]" << endl + << " selects the minimizazion method for the ICP matching algorithm" << endl + << " 1 = unit quaternion based method by Horn" << endl + << " 2 = singular value decomposition by Arun et al. " << endl + << " 3 = orthonormal matrices by Horn et al." << endl + << " 4 = dual quaternion method by Walker et al." << endl + << " 5 = helix approximation by Hofer & Potmann" << endl + << " 6 = small angle approximation" << endl + << " 7 = Lu & Milios style, i.e., uncertainty based, with Euler angles" << endl + << " 8 = Lu & Milios style, i.e., uncertainty based, with Quaternion" << endl + << " 9 = unit quaternion with scale method by Horn" << endl + << endl + << bold << " -A" << normal << " NR, " << bold << "--anim=" << normal << "NR [default: first and last frame only]" << endl + << " if specified, use only every NR-th frame for animation" << endl + << endl + << bold << " -c" << normal << " NR, " << bold << "--cldist=" << normal << "NR [default: 500]" << endl + << " specifies the maximal distance for closed loops" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--clpairs=" << normal << "NR [default: 6]" << endl + << " specifies the minimal number of points for an overlap. If not specified" << endl + << " cldist is used instead" << endl + << endl + << bold << " --cache" << normal << endl + << " turns on cached k-d tree search" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR [default: 25]" << endl + << " sets the maximal point-to-point distance for matching with ICP to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " -D" << normal << " NR, " << bold << "--distSLAM=" + << normal << "NR [default: same value as -d option]" << endl + << " sets the maximal point-to-point distance for matching with SLAM to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " --DlastSLAM" << normal << " NR [default not set]" << endl + << " sets the maximal point-to-point distance for the final SLAM correction," << endl + << " if final SLAM is not required don't set it." << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " --exportAllPoints" << normal << endl + << " writes all registered reduced points to the file points.pts before" << endl + << " slam6D terminated" << endl + << endl + << bold << " --epsICP=" << normal << "NR [default: 0.00001]" << endl + << " stop ICP iteration if difference is smaller than NR" << endl + << endl + << bold << " --epsSLAM=" << normal << " NR [default: 0.5]" << endl + << " stop SLAM iteration if average difference is smaller than NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -G" << normal << " NR, " << bold << "--graphSlam6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the minimizazion method for the SLAM matching algorithm" << endl + << " 0 = no global relaxation technique" << endl + << " 1 = Lu & Milios extension using euler angles due to Borrmann et al." << endl + << " 2 = Lu & Milios extension using using unit quaternions" << endl + << " 3 = HELIX approximation by Hofer and Pottmann" << endl + << " 4 = small angle approximation" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " -i" << normal << " NR, " << bold << "--iter=" << normal << "NR [default: 50]" << endl + << " sets the maximal number of ICP iterations to " << endl + << endl + << bold << " -I" << normal << " NR, " << bold << "--iterSLAM=" << normal << "NR [default: 0]" << endl + << " sets the maximal number of iterations for SLAM to " << endl + << " (if not set, graphSLAM is not executed)" << endl + << endl + << bold << " -l" << normal << " NR, " << bold << "--loopsize=" << normal << "NR [default: 20]" << endl + << " sets the size of a loop, i.e., a loop must exceed of scans" << endl + << endl + << bold << " -L" << normal << " NR, " << bold << "--loop6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the method for closing the loop explicitly" << endl + << " 0 = no loop closing technique" << endl + << " 1 = euler angles" << endl + << " 2 = quaternions " << endl + << " 3 = unit quaternions" << endl + << " 4 = SLERP (recommended)" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " --metascan" << normal << endl + << " Match current scan against a meta scan of all previous scans (default match against the last scan only)" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -n" << normal << " FILE, " << bold << "--net=" << normal << "FILE" << endl + << " specifies the file that includes the net structure for SLAM" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << bold << " -q, --quiet" << normal << endl + << " Quiet mode. Suppress (most) messages" << endl + << endl + << bold << " -Q, --veryquiet" << normal << endl + << " Very quiet mode. Suppress all messages, except in case of error." << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--nns_method=" << normal << "NR [default: 1]" << endl + << " selects the Nearest Neighbor Search Algorithm" << endl + << " 0 = simple k-d tree " << endl + << " 1 = cached k-d tree " << endl + << " 2 = ANNTree " << endl + << " 3 = BOCTree " << endl + << endl + << bold << " -u" << normal <<", "<< bold<<"--cuda" << normal << endl + << " this option activates icp running on GPU instead of CPU"< +class WriteOnce { +public: + WriteOnce(T& value) : value(value), written(false) {} + WriteOnce& operator=(const T& other) { if(!written) { value = other; written = true; } return *this; } + operator T() const { return value; } +private: + T& value; + bool written; +}; + +/** + * Parsing of a formats file in the scan directory for default type and scan + * index ranges without overwriting user set parameters. Does nothing if + * file doesn't exist. + * + * @param dir directory the scans and format file are contained in + * @param type which ScanIO to use for the scans in that directory + * @param start index for the first valid scan + * @param end index for the last valid scan + */ +void parseFormatFile(string& dir, WriteOnce& type, WriteOnce& start, WriteOnce& end) +{ + ifstream file((dir+"format").c_str()); + if(!file.good()) return; + + string line, key, value, format; + while(getline(file, line)) { + size_t pos = line.find('='); + key = trim(line.substr(0, pos - 0)); + value = trim(line.substr(pos+1)); + if(key == "format") { + try { + format = value; + type = formatname_to_io_type(format.c_str()); + } catch (...) { // runtime_error + cerr << "Error while parsing format file: Format '" << format << "' unknown." << endl; + break; + } + } else if(key == "start") { + stringstream str(value.c_str()); + int s; + str >> s; + start = s; + } else if(key == "end") { + stringstream str(value.c_str()); + int e; + str >> e; + end = e; + } else { + cerr << "Error while parsing format file: Unknown key '" << key << "'" << endl; + break; + } + } +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param mdm maximal distance match + * @param mdml maximal distance match for SLAM + * @param mni maximal number of iterations + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @param extrapolate_pose - i.e., extrapolating the odometry by the last transformation + * (vs. taking the pose file as exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @param tracking select sematic algorithm of none/classification/tracking on/off the point classification mode + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &extrapolate_pose, bool &meta, int &algo,int &tracking, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize,int &trackingAlgo, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type, + bool& scanserver) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "algo", required_argument, 0, 'a' }, + { "tracking", required_argument, 0, 'b' }, + { "track_value", required_argument, 0, 'T' }, + { "nns_method", required_argument, 0, 't' }, + { "loop6DAlgo", required_argument, 0, 'L' }, + { "graphSlam6DAlgo", required_argument, 0, 'G' }, + { "net", required_argument, 0, 'n' }, + { "iter", required_argument, 0, 'i' }, + { "iterSLAM", required_argument, 0, 'I' }, + { "max", required_argument, 0, 'm' }, + { "loopsize", required_argument, 0, 'l' }, + { "cldist", required_argument, 0, 'c' }, + { "clpairs", required_argument, 0, 'C' }, + { "min", required_argument, 0, 'M' }, + { "dist", required_argument, 0, 'd' }, + { "distSLAM", required_argument, 0, 'D' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "quiet", no_argument, 0, 'q' }, + { "veryquiet", no_argument, 0, 'Q' }, + { "trustpose", no_argument, 0, 'p' }, + { "anim", required_argument, 0, 'A' }, + { "metascan", no_argument, 0, '2' }, // use the long format only + { "DlastSLAM", required_argument, 0, '4' }, // use the long format only + { "epsICP", required_argument, 0, '5' }, // use the long format only + { "epsSLAM", required_argument, 0, '6' }, // use the long format only + { "exportAllPoints", no_argument, 0, '8' }, + { "distLoop", required_argument, 0, '9' }, // use the long format only + { "iterLoop", required_argument, 0, '1' }, // use the long format only + { "graphDist", required_argument, 0, '3' }, // use the long format only + { "cuda", no_argument, 0, 'u' }, // cuda will be enabled + { "trackingAlgo", required_argument, 0, 'y'},//tracking algorithm + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "T:O:v:f:A:G:L:a:b:t:r:R:d:D:i:l:I:c:C:n:S:s:e:m:M:y:u:q:Q:p", longopts, NULL)) != -1) + switch (c) + { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 9)) { + cerr << "Error: ICP Algorithm not available." << endl; + exit(1); + } + break; + case 'b': + tracking = atoi(optarg); + break; + case 'v': + save_animation = true; + anim_frame_rate = atoi(optarg); + break; + case 'T': + constant_static_or_moving = atof(optarg); + if ((constant_static_or_moving < 0) || (constant_static_or_moving > 300)) { + cerr << "Error: constant_static_or_moving not available." << endl; + exit(1); + } + break; + case 't': + nns_method = atoi(optarg); + if ((nns_method < 0) || (nns_method > 3)) { + cerr << "Error: NNS Method not available." << endl; + exit(1); + } + break; + case 'L': + loopSlam6DAlgo = atoi(optarg); + if (loopSlam6DAlgo < 0 || loopSlam6DAlgo > 6) { + cerr << "Error: global loop closing algorithm not available." << endl; + exit(1); + } + break; + case 'G': + lum6DAlgo = atoi(optarg); + if ((lum6DAlgo < 0) || (lum6DAlgo > 6)) { + cerr << "Error: global relaxation algorithm not available." << endl; + exit(1); + } + break; + case 'c': + cldist = atof(optarg); + break; + case 'C': + clpairs = atoi(optarg); + break; + case 'l': + loopsize = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 'd': + mdm = atof(optarg); + break; + case 'D': + mdml = atof(optarg); + break; + case 'i': + mni = atoi(optarg); + break; + case 'I': + mni_lum = atoi(optarg); + break; + case 'n': + net = optarg; + break; + case 's': + w_start = atoi(optarg); + if (w_start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (w_end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (w_end < w_start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + case 'p': + extrapolate_pose = false; + break; + case 'y': + trackingAlgo=atoi(optarg);//choose tracking algorithm + break; + case 'A': + anim = atoi(optarg); + break; + case '2': // = --metascan + meta = true; + break; + case '4': // = --DlastSLAM + mdmll = atof(optarg); + break; + case '5': // = --epsICP + epsilonICP = atof(optarg); + break; + case '6': // = --epsSLAM + epsilonSLAM = atof(optarg); + break; + case '8': // not used + exportPts = true; + break; + case '9': // = --distLoop + distLoop = atof(optarg); + break; + case '1': // = --iterLoop + iterLoop = atoi(optarg); + break; + case '3': // = --graphDist + graphDist = atof(optarg); + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'u': + cuda_enabled = true; + break; + case 'S': + scanserver = true; // maybe some errors. + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + scanserver = true; + if (optind != argc-1) + { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + return 0; +} + +/** + * This function is does all the matching stuff + * it iterates over all scans using the algorithm objects to calculate new poses + * objects could be NULL if algorithm should not be used + * + * @param cldist maximal distance for closing loops + * @param loopsize minimal loop size + * @param allScans Contains all laser scans + * @param my_icp6D the ICP implementation + * @param meta_icp math ICP against a metascan + * @param nns_method Indicates the nearest neigbor search method to be used + * @param my_loopSlam6D used loopoptimizer + * @param my_graphSlam6D used global optimization + * @param nrIt The number of iterations the global SLAM-algorithm will run + * @param epsilonSLAM epsilon for global SLAM iteration + * @param mdml maximal distance match for global SLAM + * @param mdmll maximal distance match for global SLAM after all scans ar matched + */ +void matchGraph6Dautomatic(double cldist, int loopsize, vector allScans, icp6D *my_icp6D, + bool meta_icp, int nns_method, bool cuda_enabled, + loopSlam6D *my_loopSlam6D, graphSlam6D *my_graphSlam6D, int nrIt, + double epsilonSLAM, double mdml, double mdmll, double graphDist, + bool &eP, IOType type) +{ + double cldist2 = sqr(cldist); + + // list of scan for metascan + vector < Scan* > metas; + + // graph for loop optimization + graph_t g; + + int n = allScans.size(); + + int loop_detection = 0; + double dist, min_dist = -1; + int first = 0, last = 0; + + for(int i = 1; i < n; i++) { + cout << i << "/" << n << endl; + + add_edge(i-1, i, g); + + if(eP) { + allScans[i]->mergeCoordinatesWithRoboterPosition(allScans[i-1]); + } + + //Hack to get all icp transformations into the .frames Files + if(i == n-1 && my_icp6D != NULL && my_icp6D->get_anim() == -2) { + my_icp6D->set_anim(-1); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(1); + }*/ + + if(my_icp6D != NULL){ + cout << "ICP" << endl; + // Matching strongly linked scans with ICPs + if(meta_icp) + { +// metas.push_back(allScans[i - 1]); +// MetaScan* meta_scan = new MetaScan(metas); +// my_icp6D->match(meta_scan, allScans[i]); + //delete meta_scan; + } else { + switch(type) { + case UOS_MAP: + case UOS_MAP_FRAMES: + my_icp6D->match(allScans[0], allScans[i]); + break; + case RTS_MAP: + //untested (and could not work) + //if(i < 220-22 && i > 250-22) match(allScans[0], CurrentScan); + my_icp6D->match(allScans[0], allScans[i]); + break; + default: + my_icp6D->match(allScans[i - 1], allScans[i]); + break; + } + } + } else { + double id[16]; + M4identity(id); + allScans[i]->transform(id, Scan::ICP, 0); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(-2); + }*/ + + if(loop_detection == 1) { + loop_detection = 2; + } + + for(int j = 0; j < i - loopsize; j++) { + dist = Dist2(allScans[j]->get_rPos(), allScans[i]->get_rPos()); + if(dist < cldist2) { + loop_detection = 1; + if(min_dist < 0 || dist < min_dist) { + min_dist = dist; + first = j; + last = i; + } + } + } + + if(loop_detection == 2) { + loop_detection = 0; + min_dist = -1; + + if(my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(i + 1, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + } + } + + if(loop_detection == 1 && my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0.0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + + if(my_graphSlam6D != NULL && mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, sqr(graphDist), loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } +} + +icp6Dminimizer * CreateICPalgo( int algo , bool quiet ) +{ + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + case 3 : + my_icp6Dminimizer = new icp6D_ORTHO(quiet); + break; + case 4 : + my_icp6Dminimizer = new icp6D_DUAL(quiet); + break; + case 5 : + my_icp6Dminimizer = new icp6D_HELIX(quiet); + break; + case 6 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 7 : + my_icp6Dminimizer = new icp6D_LUMEULER(quiet); + break; + case 8 : + my_icp6Dminimizer = new icp6D_LUMQUAT(quiet); + break; + case 9 : + my_icp6Dminimizer = new icp6D_QUAT_SCALE(quiet); + break; + } + return my_icp6Dminimizer; + } + +int FinalSLAM( double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &eP, bool &meta, int &algo, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type + ) +{ + + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer= CreateICPalgo( algo, quiet); + + if (mni_lum == -1 && loopSlam6DAlgo == 0) + { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + + if (my_icp) my_icp->doICP(Scan::allScans); + delete my_icp; + } else if (clpairs > -1) { + //!!!!!!!!!!!!!!!!!!!!!!!! + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + my_icp->doICP(Scan::allScans); + graphSlam6D *my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, + rand, eP, anim, epsilonICP, nns_method, epsilonSLAM); + my_graphSlam6D->matchGraph6Dautomatic(Scan::allScans, mni_lum, clpairs, loopsize); + //!!!!!!!!!!!!!!!!!!!!!!!! + } else { + graphSlam6D *my_graphSlam6D = 0; + switch (lum6DAlgo) { + case 1 : + my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 2 : + my_graphSlam6D = new lum6DQuat(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 3 : + my_graphSlam6D = new ghelix6DQ2(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 4 : + my_graphSlam6D = new gapx6D(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 5 : + my_graphSlam6D = new graphToro(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + case 6 : + my_graphSlam6D = new graphHOGMan(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + } + // Construct Network + if (net != "none") { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + my_icp->doICP(Scan::allScans); + + Graph* structure; + structure = new Graph(net); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + if(mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + } + + } else { + icp6D *my_icp = 0; + if(algo > 0) { + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + + loopSlam6D *my_loopSlam6D = 0; + switch(loopSlam6DAlgo) { + case 1: + my_loopSlam6D = new elch6Deuler(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 2: + my_loopSlam6D = new elch6Dquat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 3: + my_loopSlam6D = new elch6DunitQuat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 4: + my_loopSlam6D = new elch6Dslerp(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 5: + my_loopSlam6D = new loopToro(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 6: + my_loopSlam6D = new loopHOGMan(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + } + + matchGraph6Dautomatic(cldist, loopsize, Scan::allScans, my_icp, meta, + nns_method, cuda_enabled, my_loopSlam6D, my_graphSlam6D, + mni_lum, epsilonSLAM, mdml, mdmll, graphDist, eP, type); + delete my_icp; + if(loopSlam6DAlgo > 0) { + delete my_loopSlam6D; + } + } + if(my_graphSlam6D > 0) { + delete my_graphSlam6D; + } + } + } + delete my_icp6Dminimizer; + return 0; + } + +void MatchTwoScan(icp6D *my_icp, VeloScan* currentScan, int scanCount, bool eP ) +{ + Scan *PreviousScan = 0; + //////////////////////ICP////////////////////// + if (scanCount > 0) + { + PreviousScan =Scan::allScans[scanCount-1]; + // extrapolate odometry // 以前一帧的坐标为基准 + if (eP) + currentScan->mergeCoordinatesWithRoboterPosition(PreviousScan); + + my_icp->match(PreviousScan, currentScan); + } +} +/** + * Main program for 6D SLAM. + * Usage: bin/slam6D 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + +#ifndef _MSC_VER + glutInit(&argc, argv); +#else + glutInit(&argc, argv); +#endif + + signal (SIGSEGV, sigSEGVhandler); + signal (SIGINT, sigSEGVhandler); + + cout << "slam6D - A highly efficient SLAM implementation based on scan matching" << endl + << " with 6 degrees of freedom" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0, mdmll = -1.0, mdml = 25.0, mdm = 25.0; + int rand = -1, mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + bool meta = false; // match against meta scan, or against LAST scan only? + int algo = 1; + int mni_lum = -1; + double cldist = 500; + int clpairs = -1; + int loopsize = 20; + string net = "none"; + int anim = -1; + double epsilonICP = 0.00001; + double epsilonSLAM = 0.5; + int nns_method = simpleKD; + bool exportPts = false; + int loopSlam6DAlgo = 0; + int lum6DAlgo = 0; + int tracking = 1; + double distLoop = 700.0; + int iterLoop = 100; + double graphDist = cldist; + int octree = 0; // employ randomized octree reduction? + bool cuda_enabled = false; + IOType type = UOS; + int trackingAlgo=0; + bool scanserver = false; + + parseArgs(argc, argv, dir, red, rand, mdm, mdml, mdmll, mni, start, end, + maxDist, minDist, quiet, veryQuiet, eP, meta, algo, tracking, + loopSlam6DAlgo, lum6DAlgo, anim, + mni_lum, net, cldist, clpairs, loopsize, trackingAlgo,epsilonICP, epsilonSLAM, + nns_method, exportPts, distLoop, iterLoop, graphDist, octree, cuda_enabled, type, + scanserver); + + + cout << "VeloSLAM will proceed with the following parameters:" << endl; + + //@@@ to do :-) + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer= CreateICPalgo( algo, quiet); + icp6D *my_icp = 0; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + + if (my_icp==0) + { + cerr<< "can not create ICP " << endl; + exit(0); + } + + VeloScan::openDirectory(scanserver, dir, type, start, end); + + if(VeloScan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + double eu[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + vector ptss; + veryQuiet =true; + + if(!veryQuiet) + StartShow(); + ICPFinished =true; + + //Main Loop for ICP with Moving Object Detection and Tracking + for(ScanVector::iterator it = Scan::allScans.begin(); + it != Scan::allScans.end(); + ++it) + { + while(DebugDrawFinished ==false && !veryQuiet) + { + Sleep(1); + } + VeloScan* currentScan =(VeloScan* ) *it; + currentScan->setRangeFilter(maxDist, minDist); + currentScan->setReductionParameter(red, octree); + currentScan->setSearchTreeParameter(nns_method, cuda_enabled); + currentScan->isTrackerHandled=false; + currentScan->scanid = scanCount; /// + + ICPFinished =false; + if(tracking ==1 ) + { + currentScan->FindingAllofObject(maxDist, minDist); + currentScan->ClassifiAllofObject(); + } + if(tracking ==2 ) + { + int windowsize =3; + currentScan->FindingAllofObject(maxDist, minDist); + currentScan->TrackingAllofObject(trackingAlgo); + currentScan->ClassifibyTrackingAllObject(scanCount, windowsize); + // trackMgr.ListTrackers(); + } + if( tracking ==0 || tracking ==1 ||tracking ==2 ) + { + currentScan->ExchangePointCloud(); + currentScan->calcReducedPoints_byClassifi(red, octree, PointType()); + } + + currentScan->createSearchTree(); +#ifdef NO_SLIDING_WINDOW + MatchTwoScan(my_icp, currentScan, scanCount, eP); +#else + if(current_sliding_window_pos > sliding_window_size ) + MatchTwoScan(my_icp, currentScan, sliding_window_size, eP); + else + MatchTwoScan(my_icp, currentScan, scanCount, eP); +#endif + + // update the cluster position in trakers. + /////////////////////////////////////////////////////////////////// + const double* p; + p = currentScan->get_rPos(); + Point x(p[0], p[1], p[2]); + VelodyneTrajectory.path.push_back(x); + ////////////////////////////////////////// + + scanCount++; + current_sliding_window_pos++; + +#ifdef NO_SLIDING_WINDOW + +#else + if(current_sliding_window_pos > sliding_window_size ) + { + vector ::iterator Iter = Scan::allScans.begin(); + VeloScan *deleteScan = (VeloScan*)(*Iter); + // cout << "delete scan " << deleteScan->scanid << endl; + delete deleteScan; + } +#endif + + ICPFinished =true; + if(!veryQuiet) + { + glutPostRedisplay(); + } + + while(DebugDrawFinished ==false && !veryQuiet) + { + Sleep(1); + } + //////////////////////////////////////// + } + + // long starttime = GetCurrentTimeInMilliSec(); + + // //Finall graph Matching + // FinalSLAM( red, rand, + // mdm, mdml, mdmll, + // mni, start, end, maxDist, minDist, quiet, veryQuiet, + // eP, meta, algo, loopSlam6DAlgo, lum6DAlgo, anim, + // mni_lum, net, cldist, clpairs, loopsize, + // epsilonICP, epsilonSLAM, nns_method, exportPts, distLoop, + // iterLoop, graphDist, octree, cuda_enabled, type + //); + + if (exportPts) + { + cout << "Export all 3D Points to file \"points.pts\"" << endl; + ofstream redptsout("points.pts"); + for(unsigned int i = 0; i < Scan::allScans.size(); i++) + { + DataXYZ xyz_r(Scan::allScans[i]->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) + redptsout << xyz_r[i][0] << ' ' << xyz_r[i][1] << ' ' << xyz_r[i][2] << '\n'; + redptsout << std::flush; + } + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + scan->saveFrames(); + } + + Scan::closeDirectory(); + + delete my_icp6Dminimizer; + delete my_icp; + + cout << endl << endl; + cout << "Normal program end." << endl; + +} diff --git a/.svn/pristine/4f/4f62740a6597ec57c04b055b3478477d9e1e0614.svn-base b/.svn/pristine/4f/4f62740a6597ec57c04b055b3478477d9e1e0614.svn-base new file mode 100644 index 0000000..2482687 --- /dev/null +++ b/.svn/pristine/4f/4f62740a6597ec57c04b055b3478477d9e1e0614.svn-base @@ -0,0 +1,62 @@ +#ifndef __LINE_H_ +#define __LINE_H_ + +#include "grid/gridPoint.h" + +/** + * Class represents a line object starting at the gridPoint "start" + * and ending at the gridPoint "end" + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 25.02.2008 + */ +class line +{ + private: + /** The starting point of the line */ + gridPoint* start; + + /** The ending point of the line */ + gridPoint* end; + + public: + /** @brief CTor */ + line(gridPoint* start, gridPoint* end); + + /** @brief Returns the length of the line */ + double getLength(); + + /** + * Getter for the start x-coordinate + * @return the start x-coordinate + */ + inline long getStartX() const{ + return start->getX(); + } + + /** + * Getter for the start z-coordinate + * @return the start z-coordinate + */ + inline long getStartZ() const{ + return start->getZ(); + } + + /** + * Getter for the end x-coordinate + * @return the end x-coordinate + */ + inline long getEndX() const{ + return end->getX(); + } + + /** + * Getter for the end z-coordinate + * @return the end z-coordinate + */ + inline long getEndZ() const{ + return end->getZ(); + } +}; + +#endif diff --git a/.svn/pristine/4f/4fa4a27daffbf05130200a4d5d6d8cee11d2fcb1.svn-base b/.svn/pristine/4f/4fa4a27daffbf05130200a4d5d6d8cee11d2fcb1.svn-base new file mode 100644 index 0000000..f968aed --- /dev/null +++ b/.svn/pristine/4f/4fa4a27daffbf05130200a4d5d6d8cee11d2fcb1.svn-base @@ -0,0 +1,119 @@ +//---------------------------------------------------------------------- +// File: ANNx.h +// Programmer: Sunil Arya and David Mount +// Last modified: 03/04/98 (Release 0.1) +// Description: Internal include file for ANN +// +// These declarations are of use in manipulating some of +// the internal data objects appearing in ANN, but are not +// needed for applications just using the nearest neighbor +// search. +// +// Typical users of ANN should not need to access this file. +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed LO, HI, IN, OUT to ANN_LO, ANN_HI, etc. +//---------------------------------------------------------------------- + +#ifndef ANNx_H +#define ANNx_H + +#include // I/O manipulators +#include // ANN includes + +//---------------------------------------------------------------------- +// Global constants and types +//---------------------------------------------------------------------- +enum {ANN_LO=0, ANN_HI=1}; // splitting indices +enum {ANN_IN=0, ANN_OUT=1}; // shrinking indices + // what to do in case of error +enum ANNerr {ANNwarn = 0, ANNabort = 1}; + +//---------------------------------------------------------------------- +// Maximum number of points to visit +// We have an option for terminating the search early if the +// number of points visited exceeds some threshold. If the +// threshold is 0 (its default) this means there is no limit +// and the algorithm applies its normal termination condition. +//---------------------------------------------------------------------- + +extern int ANNmaxPtsVisited; // maximum number of pts visited +extern int ANNptsVisited; // number of pts visited in search + +//---------------------------------------------------------------------- +// Global function declarations +//---------------------------------------------------------------------- + +void annError( // ANN error routine + char *msg, // error message + ANNerr level); // level of error + +void annPrintPt( // print a point + ANNpoint pt, // the point + int dim, // the dimension + std::ostream &out); // output stream + + + +//---------------------------------------------------------------------- +// Orthogonal (axis aligned) halfspace +// An orthogonal halfspace is represented by an integer cutting +// dimension cd, coordinate cutting value, cv, and side, sd, which is +// either +1 or -1. Our convention is that point q lies in the (closed) +// halfspace if (q[cd] - cv)*sd >= 0. +//---------------------------------------------------------------------- + +class ANNorthHalfSpace { +public: + int cd; // cutting dimension + ANNcoord cv; // cutting value + int sd; // which side +// + ANNorthHalfSpace() // default constructor + { cd = 0; cv = 0; sd = 0; } + + ANNorthHalfSpace( // basic constructor + int cdd, // dimension of space + ANNcoord cvv, // cutting value + int sdd) // side + { cd = cdd; cv = cvv; sd = sdd; } + + ANNbool in(ANNpoint q) const // is q inside halfspace? + { return (ANNbool) ((q[cd] - cv)*sd >= 0); } + + ANNbool out(ANNpoint q) const // is q outside halfspace? + { return (ANNbool) ((q[cd] - cv)*sd < 0); } + + ANNdist dist(ANNpoint q) const // (squared) distance from q + { return (ANNdist) ANN_POW(q[cd] - cv); } + + void setLowerBound(int d, ANNpoint p)// set to lower bound at p[i] + { cd = d; cv = p[d]; sd = +1; } + + void setUpperBound(int d, ANNpoint p)// set to upper bound at p[i] + { cd = d; cv = p[d]; sd = -1; } + + void project(ANNpoint &q) // project q (modified) onto halfspace + { if (out(q)) q[cd] = cv; } +}; + + // array of halfspaces +typedef ANNorthHalfSpace *ANNorthHSArray; + +#endif diff --git a/.svn/pristine/4f/4fe5a07694b3723077617fe1adbfc83ecff7d814.svn-base b/.svn/pristine/4f/4fe5a07694b3723077617fe1adbfc83ecff7d814.svn-base new file mode 100644 index 0000000..3f4b75c --- /dev/null +++ b/.svn/pristine/4f/4fe5a07694b3723077617fe1adbfc83ecff7d814.svn-base @@ -0,0 +1,125 @@ +//---------------------------------------------------------------------- +// File: pr_queue.h +// Programmer: Sunil Arya and David Mount +// Description: Include file for priority queue and related +// structures. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef PR_QUEUE_H +#define PR_QUEUE_H + +#include // all ANN includes +#include // performance evaluation + +//---------------------------------------------------------------------- +// Basic types. +//---------------------------------------------------------------------- +typedef void *PQinfo; // info field is generic pointer +typedef ANNdist PQkey; // key field is distance + +//---------------------------------------------------------------------- +// Priority queue +// A priority queue is a list of items, along with associated +// priorities. The basic operations are insert and extract_minimum. +// +// The priority queue is maintained using a standard binary heap. +// (Implementation note: Indexing is performed from [1..max] rather +// than the C standard of [0..max-1]. This simplifies parent/child +// computations.) User information consists of a void pointer, +// and the user is responsible for casting this quantity into whatever +// useful form is desired. +// +// Because the priority queue is so central to the efficiency of +// query processing, all the code is inline. +//---------------------------------------------------------------------- + +class ANNpr_queue { + + struct pq_node { // node in priority queue + PQkey key; // key value + PQinfo info; // info field + }; + int n; // number of items in queue + int max_size; // maximum queue size + pq_node *pq; // the priority queue (array of nodes) + +public: + ANNpr_queue(int max) // constructor (given max size) + { + n = 0; // initially empty + max_size = max; // maximum number of items + pq = new pq_node[max+1]; // queue is array [1..max] of nodes + } + + ~ANNpr_queue() // destructor + { delete [] pq; } + + ANNbool empty() // is queue empty? + { if (n==0) return ANNtrue; else return ANNfalse; } + + ANNbool non_empty() // is queue nonempty? + { if (n==0) return ANNfalse; else return ANNtrue; } + + void reset() // make existing queue empty + { n = 0; } + + inline void insert( // insert item (inlined for speed) + PQkey kv, // key value + PQinfo inf) // item info + { + if (++n > max_size) annError("Priority queue overflow.", ANNabort); + register int r = n; + while (r > 1) { // sift up new item + register int p = r/2; + ANN_FLOP(1) // increment floating ops + if (pq[p].key <= kv) // in proper order + break; + pq[r] = pq[p]; // else swap with parent + r = p; + } + pq[r].key = kv; // insert new item at final location + pq[r].info = inf; + } + + inline void extr_min( // extract minimum (inlined for speed) + PQkey &kv, // key (returned) + PQinfo &inf) // item info (returned) + { + kv = pq[1].key; // key of min item + inf = pq[1].info; // information of min item + register PQkey kn = pq[n--].key;// last item in queue + register int p = 1; // p points to item out of position + register int r = p<<1; // left child of p + while (r <= n) { // while r is still within the heap + ANN_FLOP(2) // increment floating ops + // set r to smaller child of p + if (r < n && pq[r].key > pq[r+1].key) r++; + if (kn <= pq[r].key) // in proper order + break; + pq[p] = pq[r]; // else swap with child + p = r; // advance pointers + r = p<<1; + } + pq[p] = pq[n+1]; // insert last item in proper place + } +}; + +#endif diff --git a/.svn/pristine/50/500522e4668a4d4931822d9256de78a7bda5f23b.svn-base b/.svn/pristine/50/500522e4668a4d4931822d9256de78a7bda5f23b.svn-base new file mode 100644 index 0000000..e2d61c9 --- /dev/null +++ b/.svn/pristine/50/500522e4668a4d4931822d9256de78a7bda5f23b.svn-base @@ -0,0 +1,354 @@ +/***************************************************************************** + * PMDSDK 2 + * + * Copyright (c) 2006-2007 PMD Technologies GmbH + * All Rights Reserved. + * + * File: pmddatadescription.h + * Author: Martin Profittlich + * Created: 20060808 + * + *****************************************************************************/ + +#ifndef DATADESCRIPTION_H_672861066752896024487934289650 +#define DATADESCRIPTION_H_672861066752896024487934289650 + +/// \addtogroup core +/// @{ + +#include "pmdsdk2common.h" + +BEGIN_EXTERN_C + + +/// \addtogroup DataCodes +/// @{ + +// TODO: move defines to separate file + +// raw data ID system: +// 0x00 0x00 0bORWWWWWW 0bRRRRDABD +// R = Reserved, must be 0 +// O = Byte order (1 = Big Endian) +// W = Bit width +// D = Difference +// A = Channel A +// B = Channel B + +/// A/B PMD data (e.g. PMD[vision] 3k-S) +#define PMD_RAW_L16_AB 0x00001006u +/// A/B PMD data (BigEndian) (e.g. CamCube) +#define PMD_RAW_B16_AB 0x00009006u +/// Difference and A/B PMD data +#define PMD_RAW_L16_DAB 0x0000100Eu +/// Difference and A/B PMD data (Big Endian) (e.g. USB-L) +#define PMD_RAW_B16_DAB 0x0000900Eu +/// A/B and difference PMD data +#define PMD_RAW_L16_ABD 0x00001007u +/// A/B and difference PMD data (Big Endian) (e.g. PMD[vision] A2 w/o addition information) +#define PMD_RAW_B16_ABD 0x00009007u +/// Packed PMD difference data (e.g. PMD[vision] 19k) +#define PMD_RAW_P12_D 0x00000C01u +/// PMD difference data (e.g. PMD[vision] 64) +#define PMD_RAW_L16_D 0x00001001u + +/// PMD difference data with saturation information +//#define PMD_RAW_L16D_SAT 1005u +/// A/B, difference and information PMD data (e.g. PMD[vision] A2 w/ additional information) +//#define PMD_RAW_L16ABD_AUX 1006u + +/// Unknown data +#define PMD_UNKNOWN_DATA 0x00000000u + +/// 32-bit floating point distances in meters +#define PMD_DISTANCE_LF32 0x00010001u +/// 32-bit floating point amplitudes +#define PMD_AMPLITUDE_LF32 0x00010002u +/// 32-bit floating point intensities +#define PMD_INTENSITY_LF32 0x00010004u +/// 32-bit floating point reflectivities +#define PMD_REFLECTIVITY_LF32 0x00010008u +/// 16-bit boolean information +#define PMD_FLAGS_16 0x00010010u + +/// Cartesian X coordinates +#define PMD_X_COORD_LF32 0x00010020u +/// Cartesian Y coordinates +#define PMD_Y_COORD_LF32 0x00010040u +/// Cartesian Z coordinates +#define PMD_Z_COORD_LF32 0x00010080u + +/// 16 bit distances in millimeters and amplitudes +#define PMD_DISTANCE_I16_AMPLITUDE_I16 0x00020003u +/// 16 bit distances in 100 micrometers and amplitudes +#define PMD_DISTANCE_100UM_I16_AMPLITUDE_I16 0x00020103u + +/// A3 camera data v2.31 +#define PMD_A3_DATA_2_31 0x00040003u +/// A3 camera data v4 +#define PMD_A3_DATA_4 0x00040005u +/// A3 camera raw data +#define PMD_A3_RAWDATA_2_31 0x00040007u +/// A3 sub type +#define PMD_A3_DISTANCE 0x00000001u +/// A3 sub type +#define PMD_A3_AMPLITUDE 0x00000002u +/// A3 sub type +#define PMD_A3_CONFIDENCE 0x00000004u +/// A3 sub type +#define PMD_A3_COORDINATES 0x00000008u +/// A3 sub type +#define PMD_A3_OBJECT_LIST 0x00000010u + +/// A3 camera data +#define PMD_O3D_DATA_1_7 0x00050003u +/// O3D sub type +#define PMD_O3D_DISTANCE 0x00000002u +/// O3D sub type +#define PMD_O3D_INTENSITY 0x00000004u +/// O3D sub type +#define PMD_O3D_STDDEV 0x00000010u +/// O3D sub type +#define PMD_O3D_VIEW_X 0x00000020u +/// O3D sub type +#define PMD_O3D_VIEW_Y 0x00000040u +/// O3D sub type +#define PMD_O3D_VIEW_Z 0x00000080u +/// O3D sub type +#define PMD_O3D_X 0x00000100u +/// O3D sub type +#define PMD_O3D_Y 0x00000200u +/// O3D sub type +#define PMD_O3D_Z 0x00000400u + +/// user defined data type +#define PMD_USER_DEFINED_0 0xFFFF0000u +/// user defined data type +#define PMD_USER_DEFINED_1 0xFFFF0001u +/// user defined data type +#define PMD_USER_DEFINED_2 0xFFFF0002u +/// user defined data type +#define PMD_USER_DEFINED_3 0xFFFF0003u +/// user defined data type +#define PMD_USER_DEFINED_4 0xFFFF0004u +/// user defined data type +#define PMD_USER_DEFINED_5 0xFFFF0005u +/// user defined data type +#define PMD_USER_DEFINED_6 0xFFFF0006u +/// user defined data type +#define PMD_USER_DEFINED_7 0xFFFF0007u +/// user defined data type +#define PMD_USER_DEFINED_8 0xFFFF0008u +/// user defined data type +#define PMD_USER_DEFINED_9 0xFFFF0009u +/// user defined data type +#define PMD_USER_DEFINED_10 0xFFFF000au +/// user defined data type +#define PMD_USER_DEFINED_11 0xFFFF000bu +/// user defined data type +#define PMD_USER_DEFINED_12 0xFFFF000cu +/// user defined data type +#define PMD_USER_DEFINED_13 0xFFFF000du +/// user defined data type +#define PMD_USER_DEFINED_14 0xFFFF000eu +/// user defined data type +#define PMD_USER_DEFINED_15 0xFFFF000fu + +// pixel origin values +/// The top-right pixel is the first pixel +#define PMD_ORIGIN_TOP_RIGHT 0x00000000u +/// The top-left pixel is the first pixel +#define PMD_ORIGIN_TOP_LEFT 0x00000001u +/// The bottom-right pixel is the first pixel +#define PMD_ORIGIN_BOTTOM_RIGHT 0x00000002u +/// The bottom-left pixel is the first pixel +#define PMD_ORIGIN_BOTTOM_LEFT 0x00000003u + +/// The pixel origin is on the right edge of the image +#define PMD_ORIGIN_RIGHT 0x00000000u +/// The pixel origin is on the left edge of the image +#define PMD_ORIGIN_LEFT 0x00000001u +/// The pixel origin is on the top edge of the image +#define PMD_ORIGIN_TOP 0x00000000u +/// The pixel origin is on the bottom edge of the image +#define PMD_ORIGIN_BOTTOM 0x00000002u + +// pixel direction values +/// The second pixel is on the right or the left of the first pixel +#define PMD_DIRECTION_HORIZONTAL 0x00000000u +/// The second pixel is aboce or below the first pixel +#define PMD_DIRECTION_VERTICAL 0x00010000u + +// sub header types +/// The PMDGenericData structure is used in the PMDDataDescription +#define PMD_GENERIC_DATA 0x00000001u +/// The PMDImageData structure is used in the PMDDataDescription +#define PMD_IMAGE_DATA 0x00000002u + +/// @} + +/// Generic data description +struct PMDGenericData +{ + /// Specific type of the data + unsigned subType; + /// Number of elements in the data + unsigned numElem; + /// Size of one element in bytes + unsigned sizeOfElem; +}; + +/// Standard PMD image data. +struct PMDImageData +{ + /// Specific type of the data + unsigned subType; + /// Number of columns in the image + unsigned numColumns; + /// Number of rows in the image + unsigned numRows; + /// Number of sub images + unsigned numSubImages; + + /// Integration times at which the data was captured + int integrationTime[4]; + /// Modulation frequencies at which the data was captured + int modulationFrequency[4]; + /// Offsets for up to four separate measurements in mm. + int offset[4]; + + /// Pixel aspect ratio. The ratio is pixelAspectRatio / 1000.0 + int pixelAspectRatio; + /// Position/direction of the first pixel. + int pixelOrigin; + + /// Time at which the data was captured. Most significant word. + int timeStampHi; + /// Time at which the data was captured. Least significant word. + unsigned timeStampLo; + + /// Reserved for future use. + char reserved[24]; + + /// Contains user-defined information. This will not be evaluated by the PMDSDK. + unsigned userData0; +}; + +/// Layout description of a data block. +struct PMDDataDescription +{ + /// Unique ID of the plugin that generated the data + unsigned PID; + /// Unique ID of the data + unsigned DID; + /// Interpretation of the data + unsigned type; + /// Size of the data block in bytes + unsigned size; + + /// Type of the sub header + unsigned subHeaderType; + /// Specific interpretation-dependent information + union + { + /// Generic data + struct PMDGenericData gen; + /// Standard PMD image data + struct PMDImageData std; + /// Ensure fixed size + char fillUpToSizeOfStructure[108]; + } +#ifdef PMD_ANSI_C + u +#endif + ; +}; + +#ifndef PMD_NO_DEPRECATED + +typedef struct PMDDataDescription DataDescription; +typedef struct PMDImageData StandardPMDData; +typedef struct PMDGenericData GenericData; +#define GENERIC_DATA PMD_GENERIC_DATA +#define STANDARD_PMD_DATA PMD_IMAGE_DATA + +#define RAW_L16_AB PMD_RAW_L16_AB +#define RAW_L16_DAB PMD_RAW_L16_DAB +#define RAW_B16_DAB PMD_RAW_B16_DAB +#define RAW_L16_ABD PMD_RAW_L16_ABD +#define RAW_B16_ABD PMD_RAW_B16_ABD +#define RAW_P12_D PMD_RAW_P12_D +#define RAW_L16_D PMD_RAW_L16_D + +#define UNKNOWN_DATA PMD_UNKNOWN_DATA + +#define DISTANCE_LF32 PMD_DISTANCE_LF32 +#define AMPLITUDE_LF32 PMD_AMPLITUDE_LF32 +#define INTENSITY_LF32 PMD_INTENSITY_LF32 +#define REFLECTIVITY_LF32 PMD_REFLECTIVITY_LF32 +#define FLAGS_16 PMD_FLAGS_16 + +#define X_COORD_LF32 PMD_X_COORD_LF32 +#define Y_COORD_LF32 PMD_Y_COORD_LF32 +#define Z_COORD_LF32 PMD_Z_COORD_LF32 + +#define DISTANCE_I16_AMPLITUDE_I16 PMD_DISTANCE_I16_AMPLITUDE_I16 +#define DISTANCE_100UM_I16_AMPLITUDE_I16 PMD_DISTANCE_100UM_I16_AMPLITUDE_I16 + +#define A3_DATA_2_31 PMD_A3_DATA_2_31 +#define A3_DATA_4 PMD_A3_DATA_4 +#define A3_RAWDATA_2_31 PMD_A3_RAWDATA_2_31 +#define A3_DISTANCE PMD_A3_DISTANCE +#define A3_AMPLITUDE PMD_A3_AMPLITUDE +#define A3_CONFIDENCE PMD_A3_CONFIDENCE +#define A3_COORDINATES PMD_A3_COORDINATES +#define A3_OBJECT_LIST PMD_A3_OBJECT_LIST + +#define O3D_DATA_1_7 PMD_O3D_DATA_1_7 +#define O3D_DISTANCE PMD_O3D_DISTANCE +#define O3D_INTENSITY PMD_O3D_INTENSITY +#define O3D_STDDEV PMD_O3D_STDDEV +#define O3D_VIEW_X PMD_O3D_VIEW_X +#define O3D_VIEW_Y PMD_O3D_VIEW_Y +#define O3D_VIEW_Z PMD_O3D_VIEW_Z +#define O3D_X PMD_O3D_X +#define O3D_Y PMD_O3D_Y +#define O3D_Z PMD_O3D_Z + +#define USER_DEFINED_0 PMD_USER_DEFINED_0 +#define USER_DEFINED_1 PMD_USER_DEFINED_1 +#define USER_DEFINED_2 PMD_USER_DEFINED_2 +#define USER_DEFINED_3 PMD_USER_DEFINED_3 +#define USER_DEFINED_4 PMD_USER_DEFINED_4 +#define USER_DEFINED_5 PMD_USER_DEFINED_5 +#define USER_DEFINED_6 PMD_USER_DEFINED_6 +#define USER_DEFINED_7 PMD_USER_DEFINED_7 +#define USER_DEFINED_8 PMD_USER_DEFINED_8 +#define USER_DEFINED_9 PMD_USER_DEFINED_9 +#define USER_DEFINED_10 PMD_USER_DEFINED_10 +#define USER_DEFINED_11 PMD_USER_DEFINED_11 +#define USER_DEFINED_12 PMD_USER_DEFINED_12 +#define USER_DEFINED_13 PMD_USER_DEFINED_13 +#define USER_DEFINED_14 PMD_USER_DEFINED_14 +#define USER_DEFINED_15 PMD_USER_DEFINED_15 + +#define ORIGIN_TOP_RIGHT PMD_ORIGIN_TOP_RIGHT +#define ORIGIN_TOP_LEFT PMD_ORIGIN_TOP_LEFT +#define ORIGIN_BOTTOM_RIGHT PMD_ORIGIN_BOTTOM_RIGHT +#define ORIGIN_BOTTOM_LEFT PMD_ORIGIN_BOTTOM_LEFT + +#define ORIGIN_RIGHT PMD_ORIGIN_RIGHT +#define ORIGIN_LEFT PMD_ORIGIN_LEFT +#define ORIGIN_TOP PMD_ORIGIN_TOP +#define ORIGIN_BOTTOM PMD_ORIGIN_BOTTOM + +#define DIRECTION_HORIZONTAL PMD_DIRECTION_HORIZONTAL +#define DIRECTION_VERTICAL PMD_DIRECTION_VERTICAL + +#endif + +END_EXTERN_C + +/// @} + +#endif diff --git a/.svn/pristine/50/50521c4a9fb6c139b190348779d45cc182dd55ee.svn-base b/.svn/pristine/50/50521c4a9fb6c139b190348779d45cc182dd55ee.svn-base new file mode 100644 index 0000000..9b30dfd --- /dev/null +++ b/.svn/pristine/50/50521c4a9fb6c139b190348779d45cc182dd55ee.svn-base @@ -0,0 +1,159 @@ +/* + * icp6Dortho implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via + * orthonormal matrices + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dortho.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using orthonormal matrices + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_ORTHO::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + /// Get centered PtPairs + double** m = new double*[pairs.size()]; + double** d = new double*[pairs.size()]; + + for(unsigned int i = 0; i < pairs.size(); i++){ + m[i] = new double[3]; + d[i] = new double[3]; + m[i][0] = pairs[i].p1.x - centroid_m[0]; + m[i][1] = pairs[i].p1.y - centroid_m[1]; + m[i][2] = pairs[i].p1.z - centroid_m[2]; + d[i][0] = pairs[i].p2.x - centroid_d[0]; + d[i][1] = pairs[i].p2.y - centroid_d[1]; + d[i][2] = pairs[i].p2.z - centroid_d[2]; + + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "ORTHO RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + /// generate matrix H + Matrix H (3, 3); H = 0.0; + for(unsigned int n = 0; n < pairs.size(); ++n) + for(int i = 0; i < 3; ++i) + for(int j = 0; j < 3; ++j) + H(i+1, j+1) += m[n][i] * d[n][j]; + Matrix HH = H.t() * H; + + /// create a new matrix HHs equal to HH, but is of type SymmetricMatrix - needed for calculating the eigenvalues + SymmetricMatrix HHs(3); + HHs(1, 2) = HH(2, 1); + HHs(1, 3) = HH(3, 1); + HHs(2, 3) = HH(3, 2); + HHs(1, 1) = HH(1, 1); + HHs(2, 2) = HH(2, 2); + HHs(3, 3) = HH(3, 3); + + /// get the eigenvalues of HH + DiagonalMatrix eigenvalues(3); + Matrix eigenvectorsMatrix(3, 3); + EigenValues(HHs, eigenvalues, eigenvectorsMatrix); + + /// extract the eigenvectors from the matrix to separate column vectors + ColumnVector ev1 = eigenvectorsMatrix.Column(1); + ColumnVector ev2 = eigenvectorsMatrix.Column(2); + ColumnVector ev3 = eigenvectorsMatrix.Column(3); + + + /// compute the rotation matrix as H * ( SUM ( 1/lambda_i * ev_i * ev_i^T )) + Matrix R(3, 3); + Matrix ev11 = ev1 * ev1.t() * 1/sqrt( eigenvalues(1)); + Matrix ev22 = ev2 * ev2.t() * 1/sqrt( eigenvalues(2)); + Matrix ev33 = ev3 * ev3.t() * 1/sqrt( eigenvalues(3)); + R = H * (ev11 + ev22 + ev33); + + /// calculate the translation based on the rotation matrix and the centroids + ColumnVector cm(3); cm << centroid_m; + ColumnVector cd(3); cd << centroid_d; + ColumnVector translation = cm - R * cd; + + + /// create the final transformation matrix (OpenGL column-wise ordering) + alignfx[0] = R(1, 1); + alignfx[1] = R(2, 1); + alignfx[2] = R(3, 1); + alignfx[3] = 0.0; + alignfx[4] = R(1, 2); + alignfx[5] = R(2, 2); + alignfx[6] = R(3, 2); + alignfx[7] = 0.0; + alignfx[8] = R(1, 3); + alignfx[9] = R(2, 3); + alignfx[10]= R(3, 3); + alignfx[11]= 0.0; + alignfx[12]= translation(1); + alignfx[13]= translation(2); + alignfx[14]= translation(3); + alignfx[15]= 1.0; + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + + /// clean up memory used by centered point pairs + for(unsigned int i = 0; i < pairs.size(); i++){ + delete [] m[i]; + delete [] d[i]; + } + delete [] m; + delete [] d; + + return error; +} + + diff --git a/.svn/pristine/50/50bdd0e0d628bf1814ef227ad37878dbfd1d3388.svn-base b/.svn/pristine/50/50bdd0e0d628bf1814ef227ad37878dbfd1d3388.svn-base new file mode 100644 index 0000000..8ae60e7 --- /dev/null +++ b/.svn/pristine/50/50bdd0e0d628bf1814ef227ad37878dbfd1d3388.svn-base @@ -0,0 +1,276 @@ +%%This is a very basic article template. +%%There is just one section and two subsections. +\documentclass{article} + +\title{Documentation 2DGridder} +\author{Uwe Hebbelmann, Sebastian Stock, Andre Schemschat} +\date{28.02.2008} + +\begin{document} +\maketitle{} + +\section{} +\subsection{About} +The program was written to convert three dimensional scans to two dimensional +maps. The scanparser processes the scan in five steps. First, the scans are read +using the scanparser based on the $scan_ io$ libraries. \newline +Afterwards the scans are transformated using the transformationmatrix out of +the frame-files. Within this step the y-correction and the min/max-Distance +filter are applied.\newline +The next step convertes each scan to a scanGrid. The scanGrid ist divided into +cells, which are resolution cm in size. Each cell contains the probability of +it beeing free. During the process more filters (like taking the spotradius of +the laser into consideration) are applied.\newline +If the grids are converted, +each grid can be written to disk using a gridWriter (by default its the ppmWriter. +If you want to change that, just change the 2DGridder.cc) and then added to +the parcelmanager.\newline +The parcelmanager takes care of dividing the grid +into the corresponding parcels, creating new parcels if neccessary and saving/loading +them. If all scans are converted and added, the parcelmanager can write the +entire world (based on all created parcels) into a single 2dm file (see +formats), which can be viewed with the MapViewer. Furthermore it can export the +map as a huge grid (which takes a lot of memory!). This is especially needed +for the hough-method, but it also comes in handy for writing the map as a pgm +file. +The last step is to create polygon-maps out of the 2D-Map. The algorithm is +based on houghes. + +\subsection{Resume-function} +The programm creates parcels during runtime. These parcels store the +information at a given position of possibly several scans. These parcels +are managed using parcelinfos and parcel-files. Each time the program quits, +it saves the created parcelinfos to a file called parcelinfo.conf. + +This file contains the name of the parcel and the offset. If the resume-flag +is set, the program tries to load the old parcelinfo file and reads the +information of already created parcels. New scans now access the same parcels +as old scans, which means, that they are added to the same worldmap. + +This may be used, to iterativly call the 2DGridder with scans and add each +scan to the same worldmap, which is usefull for speeding up the process +( because the memory used by the scan is completly freed) or add new created +scans to an already processed batch of scans. + +If the flag is set to true however and the parameters do not match (e.g. +parcelsize, resolution etc), the behavior will most certainly result in +an error. + + +This feature isn't yet fully tested and my contain bugs. + + +\section{Parameters} + +\subsection{Usage} +The following text will give a short explanation the parameters used in the +2DGridder. Nearly all parameters are optional, the only parameter that is +required is scandir. \newline +Below there are a few samples how to invoke the programm using different +settings. +\newline +{\bf ./2DGridder ~/scans/terrainScan} \newline +This would process all Scans in the given folder with the standard arguments +(so the scantype must be uos, otherwise it will fail). However this might not +bring the best results. +\newline +\newline +{\bf ./2DGridder -fold -s1 -e3 -r1 -w dat/duj} \newline +This would process the scans one to three in the old scan format in the folder +./dat/duj with a resolution of one cell per cm without waypoints. + +\subsection{scandir} +{\bf Default: \ None} \newline +{\bf Flag: \ None} \newline +The flag specifies the folder in which the programm searchs for the scans. The +structur of the folder needs to be according to the scantype (see flag +scantype), in order to successfully read the scandata and the frames +information. + +\subsection{outputdir} +{\bf Default: \ './parcels'} \newline +{\bf Flag: \ -o Path} \newline +The outputdirectory specifies the folder where the worldmap, the viewpoints +and the polygon-file are saved to. The folder needs to exist, otherwise an +error is printed. + +\subsection{start} +{\bf Default: \ 0} \newline +{\bf Flag: \ -s Nr} \newline +Start specifies the first scan to be read. By setting start and end, the range +of processed scan can be limited. +If startscan is smaller than the first scan available (e.g. -s0 but the first +scan starts with 1) an error will be printed + +\subsection{end} +{\bf Default: \ -1} \newline +{\bf Flag: \ -e Nr} \newline +End specifies the last scan to be read. Similiar to start, it can reduce the +range of scans to process. +If the default value is used, all scans after start are processed, until no +more scans are found + +\subsection{maxDistance} +{\bf Default: \ 2500} \newline +{\bf Flag: \ -m Nr} \newline +The range of the laser is often limited, so all scans above a specified +distance are insecure. To avoid this, all found points further than +maxDistance are not processed. +MaxDistance is given in cm, which means the default is 25 meters. + +\subsection{minDistance} +{\bf Default: \ -1} \newline +{\bf Flag: \ -M nr} \newline +Similar to maxDistance, but ignoring Scans closer than the specified +distance. Per default the minimal distance is ignored. + + +\subsection{readInitial} +{\bf Default: false} \newline +{\bf Flag: \ -t} \newline +Read a file containing a initial transformation matrix. + + +\subsection{scantype} +{\bf Default: \ uos} \newline +{\bf Flag: \ -f {uos, uos_map, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl, zahn, ply}} \newline +The scantype specifies the format of the scan to read. If the format does not +match the format of the scans to read, the process will fail (undetermined +abort) + +\subsection{correctYAxis} +{\bf Default: \ false} \newline +{\bf Flag: \ -y} \newline +If set to true, the origin of all scans will be transformed to start at a +z-offset of 0. If you encounter problems with partial scans not getting into +the worldmap, try settings this flag and adjust the min- and maxRelevantHeight +a bit. (So no scans are left out, because they are ignored because of incorrect +scanvalues) + +\subsection{maxRelevantHeigth} +{\bf Default: \ 50} \newline +{\bf Flag: \ -M Nr} \newline +Specifies the maximum height which is relevant for the robotor. All found +points with y-coordinates above this value are not processed. +The unit is cm, so the default is 0.5 meters. + + +\subsection{minRelevantHeight} +{\bf Default: \ 2} \newline +{\bf Flag: \ -m Nr} \newline +Specifies the minimum height which is relevant for the map. All points with an y-coordinate below this value are not processed. +This parameter is useful for eliminating interferences from the floor in front of the roboter; + +\subsection{resolution} +{\bf Default: \ 10} \newline +{\bf Flag: -r} \newline +The resolution specifies the scale of the grid. The minimum resolution is 1, which means, that each cm is represented by one cell. The default is 10, which means that 10 cm of scandata is aggregated to one cell. +The lower the resolution the higher the size of each grid and the longer it takes to convert the scan and the more memory is needed + +\subsection{createWaypoints} +{\bf Default: \ true} \newline +{\bf Flag: \ -w} \newline +If this flag is set, then waypoints will NOT be created. If the flag ist not set, +then the process will create for each found and relevant +(see minRelevant / maxRelevantHeight or maxDistance) point +free points on the direct line from the viewpoint of the roboter and the point. + + +\subsection{createNeighbours} +{\bf Default: \ true} \newline +{\bf Flag: \ -n} \newline +If this flag is set, then neighbours will NOT be created. If the flag is not set, +than the process will check how far away the found point is and create neighbours +based on the spotradius of the laser. + + +\subsection{parcelWidth} +{\bf Default: \ 100} \newline +{\bf Flag: \ -p Nr} \newline +The parcelwidth specifies the width of the parcels of the map. The finer the +scale is, the more often the parcels are written and read from the disk, but +the worldmap will be smaller (since there are not as much useless information +in the world-file). + +\subsection{parcelHeight} +{\bf Default: \ 100} \newline +{\bf Flag: -P Nr} \newline +See parcelWidth. + +\subsection{writeWorld} +{\bf Default: \ true} \newline +{\bf Flag: \ -d} \newline +If this flag is set, the world-file will NOT be created. By default the value is true, so all parcels are merged to one world-file. The world-file is written in the worldformat, which can be read by the MapViewer. + +\subsection{writeGrids} +{\bf Default: \ false} \newline +{\bf Flag: \ -g} \newline +By default the value is false, so the single grid files are not written. If set +to true, each converted scan is written as a ppm-file to the disk. + +\subsection{writeLines} +{\bf Default: \ false} \newline +{\bf Flag: \ -l} \newline +By default the value is false, so lines are not created. If the parameter is +set to true, the programm tries to extrapolate polygonlines out of the +worldmap using the hough-matrix. +This may take, dependend on the size of the map, very long. + +\subsection{spotradius} +{\bf Default: \ 15} \newline +{\bf Flag: \ -a Nr} \newline +The spotradius is the deflection-factor of the laser on longer ranges. The +value given relates to the deflection at 30 meter (3000 cm), so the default +results in a factor of 1/200. The method to calculate the probability of +neighbours for each point is based on the deflection. + +\subsection{count} +{\bf Default: \ 50} \newline +{\bf Flag: \ -c Nr} \newline +This flag specifies how many scans are loaded, process and added to the worldmap +until they are freed. Since the loaded scans and grids are not needed after +they are processed, they can be freed. This is achieved by processing count +scans in a row, and then freeing the not needed data. + +\subsection{resume} +{\bf Default: false} \newline +{\bf Flag: \ -R} \newline +If this flag is set, the programm will load the parcels it has created +during the last run. See Resume-function for more information. + +\section{formats} +This section is about the formats which can be written using the +2DGridder. For most formats it is only a short description, because most of +them are plain simple. + +\subsection{PPM} +The ppm is a greyscale-picture format which is quite simple. It only needs the +size of the image and a value for each pixel. For more information, try google. + +\subsection{gnuplot} +The gnuplot files are used to visualize the data in gnuplot (and maybe other +tools). The information is written as $x z value$ with value beeing -1 for no +information or $\in[0,1]$, each point a line. + +\subsection{world (2dm)} +The worldformat is used to transport data between the 2Dgridder and the +MapViewer. The first line is the Version of the file. Mostly this is 1. The +second line specifies the resolution used in the grid. The third line specifies +the minimal and maximal found x and z values, in the order of $minX maxX minZ +maxZ$. The next line contains the position of the roboter during the first +scan (x and z coordinate). The rest of the file is similar to the gnuplot +format, which means $x z value$. + +\subsection{Viewpoints} +The viewpoint-file contains a list of coordinates at which the roboter has +taken the scans. Each line contains a x and z value standing for the position. + +\subsection{parcel} +The parcelformat is used to store the information of the parcels during +runtime. The parcels are stored as binary, so they can be stored and loaded +faster + +\subsection{bor} +The bor-format is used to store the polygion-files created out of the map. + +\end{document} diff --git a/.svn/pristine/50/50d7e0f8f910e2c877782cc6424b906100b34002.svn-base b/.svn/pristine/50/50d7e0f8f910e2c877782cc6424b906100b34002.svn-base new file mode 100644 index 0000000..29752fd --- /dev/null +++ b/.svn/pristine/50/50d7e0f8f910e2c877782cc6424b906100b34002.svn-base @@ -0,0 +1,85 @@ +/* + * ann_kd implementation + * + * Copyright (C) Andreas Nuechter, Ulugbek Makhmudov + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Encapsules the implementation of ANN k-d trees. + * @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany. + * @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/ann_kd.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + + + +/** + * Constructor + * + * Create ANN KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +ANNtree::ANNtree(double **_pts, int n) +{ + pts = _pts; + annkd = new ANNkd_tree(pts, n, 3, 1, ANN_KD_SUGGEST); // links to the constructor of ANNkd_tree + cout << "ANNkd_tree was generated with " << n << " points" << endl; + nn = new ANNdist[1]; + nn_idx = new ANNidx[1]; +} + +/** + * Destructor + * + * Cleans up the instance of ANN KD tree + * + * + */ +ANNtree::~ANNtree() +{ + delete annkd; //links to the destructor of ANNkd_tree + delete [] nn; + delete [] nn_idx; +} + + +/** + * Finds the closest point within the tree, + * wrt. the point given as first parameter. + * @param _p point + * @param maxdist2 maximal search distance. + * @param threadNum Thread number, for parallelization + * @return Pointer to the closest point + */ +double *ANNtree::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + +#pragma omp critical + annkd->annkSearch(_p, 1, nn_idx, nn, 0.0); + int idx = nn_idx[0]; + + if (Dist2(_p, pts[idx]) > maxdist2) return 0; + + return pts[idx]; +} + diff --git a/.svn/pristine/51/514e28729de171bb5a6ca3cf53176a83b232a5ff.svn-base b/.svn/pristine/51/514e28729de171bb5a6ca3cf53176a83b232a5ff.svn-base new file mode 100644 index 0000000..84b0ba9 --- /dev/null +++ b/.svn/pristine/51/514e28729de171bb5a6ca3cf53176a83b232a5ff.svn-base @@ -0,0 +1,842 @@ +//$$ newmat3.cpp Matrix get and restore rows and columns + +// Copyright (C) 1991,2,3,4: R B Davies + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,3); ++ExeCount; } +#else +#define REPORT {} +#endif + +//#define MONITOR(what,storage,store) +// { cout << what << " " << storage << " at " << (long)store << "\n"; } + +#define MONITOR(what,store,storage) {} + + +// Control bits codes for GetRow, GetCol, RestoreRow, RestoreCol +// +// LoadOnEntry: +// Load data into MatrixRow or Col dummy array under GetRow or GetCol +// StoreOnExit: +// Restore data to original matrix under RestoreRow or RestoreCol +// DirectPart: +// Load or restore only part directly stored; must be set with StoreOnExit +// Still have decide how to handle this with symmetric +// StoreHere: +// used in columns only - store data at supplied storage address; +// used for GetCol, NextCol & RestoreCol. No need to fill out zeros +// HaveStore: +// dummy array has been assigned (internal use only). + +// For symmetric matrices, treat columns as rows unless StoreHere is set; +// then stick to columns as this will give better performance for doing +// inverses + +// How components are used: + +// Use rows wherever possible in preference to columns + +// Columns without StoreHere are used in in-exact transpose, sum column, +// multiply a column vector, and maybe in future access to column, +// additional multiply functions, add transpose + +// Columns with StoreHere are used in exact transpose (not symmetric matrices +// or vectors, load only) + +// Columns with MatrixColX (Store to full column) are used in inverse and solve + +// Functions required for each matrix class + +// GetRow(MatrixRowCol& mrc) +// GetCol(MatrixRowCol& mrc) +// GetCol(MatrixColX& mrc) +// RestoreRow(MatrixRowCol& mrc) +// RestoreCol(MatrixRowCol& mrc) +// RestoreCol(MatrixColX& mrc) +// NextRow(MatrixRowCol& mrc) +// NextCol(MatrixRowCol& mrc) +// NextCol(MatrixColX& mrc) + +// The Restore routines assume StoreOnExit has already been checked +// Defaults for the Next routines are given below +// Assume cannot have both !DirectPart && StoreHere for MatrixRowCol routines + + +// Default NextRow and NextCol: +// will work as a default but need to override NextRow for efficiency + +void GeneralMatrix::NextRow(MatrixRowCol& mrc) +{ + REPORT + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreRow(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetRow(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void GeneralMatrix::NextCol(MatrixRowCol& mrc) +{ + REPORT // 423 + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetCol(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void GeneralMatrix::NextCol(MatrixColX& mrc) +{ + REPORT // 423 + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetCol(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + + +// routines for matrix + +void Matrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=mrc.length=ncols; mrc.data=store+mrc.rowcol*ncols; +} + + +void Matrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=mrc.length=nrows; + if ( ncols==1 && !(mrc.cw*StoreHere) ) // ColumnVector + { REPORT mrc.data=store; } + else + { + Real* ColCopy; + if ( !(mrc.cw*(HaveStore+StoreHere)) ) + { + REPORT + ColCopy = new Real [nrows]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (MatGetCol)",nrows,ColCopy) + mrc.data = ColCopy; mrc.cw += HaveStore; + } + else { REPORT ColCopy = mrc.data; } + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+mrc.rowcol; int i=nrows; + //while (i--) { *ColCopy++ = *Mstore; Mstore+=ncols; } + if (i) for (;;) + { *ColCopy++ = *Mstore; if (!(--i)) break; Mstore+=ncols; } + } + } +} + +void Matrix::GetCol(MatrixColX& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=nrows; mrc.length=nrows; + if (+(mrc.cw*LoadOnEntry)) + { + REPORT Real* ColCopy = mrc.data; + Real* Mstore = store+mrc.rowcol; int i=nrows; + //while (i--) { *ColCopy++ = *Mstore; Mstore+=ncols; } + if (i) for (;;) + { *ColCopy++ = *Mstore; if (!(--i)) break; Mstore+=ncols; } + } +} + +void Matrix::RestoreCol(MatrixRowCol& mrc) +{ + // always check StoreOnExit before calling RestoreCol + REPORT // 429 + if (+(mrc.cw*HaveStore)) + { + REPORT // 426 + Real* Mstore = store+mrc.rowcol; int i=nrows; + Real* Cstore = mrc.data; + // while (i--) { *Mstore = *Cstore++; Mstore+=ncols; } + if (i) for (;;) + { *Mstore = *Cstore++; if (!(--i)) break; Mstore+=ncols; } + } +} + +void Matrix::RestoreCol(MatrixColX& mrc) +{ + REPORT + Real* Mstore = store+mrc.rowcol; int i=nrows; Real* Cstore = mrc.data; + // while (i--) { *Mstore = *Cstore++; Mstore+=ncols; } + if (i) for (;;) + { *Mstore = *Cstore++; if (!(--i)) break; Mstore+=ncols; } +} + +void Matrix::NextRow(MatrixRowCol& mrc) { REPORT mrc.IncrMat(); } // 1808 + +void Matrix::NextCol(MatrixRowCol& mrc) +{ + REPORT // 632 + if (+(mrc.cw*StoreOnExit)) { REPORT RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcol= LoadOnEntry) + { REPORT *(mrc.data) = *(store+mrc.rowcol); } + +} + +void RowVector::NextCol(MatrixRowCol& mrc) +{ REPORT mrc.rowcol++; mrc.data++; } + +void RowVector::NextCol(MatrixColX& mrc) +{ + if (+(mrc.cw*StoreOnExit)) { REPORT *(store+mrc.rowcol)=*(mrc.data); } + + mrc.rowcol++; + if (mrc.rowcol < ncols) + { + if (+(mrc.cw*LoadOnEntry)) { REPORT *(mrc.data)=*(store+mrc.rowcol); } + } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void RowVector::RestoreCol(MatrixColX& mrc) + { REPORT *(store+mrc.rowcol)=*(mrc.data); } // not accessed + + +// routines for band matrices + +void BandMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + int r = mrc.rowcol; int w = lower+1+upper; mrc.length=ncols; + int s = r-lower; + if (s<0) { mrc.data = store+(r*w-s); w += s; s = 0; } + else mrc.data = store+r*w; + mrc.skip = s; s += w-ncols; if (s>0) w -= s; mrc.storage = w; +} + +// should make special versions of this for upper and lower band matrices + +void BandMatrix::NextRow(MatrixRowCol& mrc) +{ + REPORT + int r = ++mrc.rowcol; + if (r<=lower) { mrc.storage++; mrc.data += lower+upper; } + else { mrc.skip++; mrc.data += lower+upper+1; } + if (r>=ncols-upper) mrc.storage--; +} + +void BandMatrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int w = n+1; + mrc.length=nrows; Real* ColCopy; + int b; int s = c-upper; + if (s<=0) { w += s; s = 0; b = c+lower; } else b = s*w+n; + mrc.skip = s; s += w-nrows; if (s>0) w -= s; mrc.storage = w; + if ( +(mrc.cw*(StoreHere+HaveStore)) ) + { REPORT ColCopy = mrc.data; } + else + { + REPORT + ColCopy = new Real [n+1]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (BMGetCol)",n+1,ColCopy) + mrc.cw += HaveStore; mrc.data = ColCopy; + } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+b; + // while (w--) { *ColCopy++ = *Mstore; Mstore+=n; } + if (w) for (;;) + { *ColCopy++ = *Mstore; if (!(--w)) break; Mstore+=n; } + } +} + +void BandMatrix::GetCol(MatrixColX& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int w = n+1; + mrc.length=nrows; int b; int s = c-upper; + if (s<=0) { w += s; s = 0; b = c+lower; } else b = s*w+n; + mrc.skip = s; s += w-nrows; if (s>0) w -= s; mrc.storage = w; + mrc.data = mrc.store+mrc.skip; + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* ColCopy = mrc.data; Real* Mstore = store+b; + // while (w--) { *ColCopy++ = *Mstore; Mstore+=n; } + if (w) for (;;) + { *ColCopy++ = *Mstore; if (!(--w)) break; Mstore+=n; } + } +} + +void BandMatrix::RestoreCol(MatrixRowCol& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int s = c-upper; + Real* Mstore = store + ((s<=0) ? c+lower : s*n+s+n); + Real* Cstore = mrc.data; + int w = mrc.storage; + // while (w--) { *Mstore = *Cstore++; Mstore += n; } + if (w) for (;;) + { *Mstore = *Cstore++; if (!(--w)) break; Mstore += n; } +} + +// routines for symmetric band matrix + +void SymmetricBandMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + int r=mrc.rowcol; int s = r-lower; int w1 = lower+1; int o = r*w1; + mrc.length = ncols; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + if (+(mrc.cw*DirectPart)) + { REPORT mrc.data = store+o; mrc.storage = w1; } + else + { + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetRow(MatrixRowCol&)")); + int w = w1+lower; s += w-ncols; Real* RowCopy; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + if (!(mrc.cw*HaveStore)) + { + REPORT + RowCopy = new Real [2*lower+1]; MatrixErrorNoSpace(RowCopy); + MONITOR_REAL_NEW("Make (SmBGetRow)",2*lower+1,RowCopy) + mrc.cw += HaveStore; mrc.data = RowCopy; + } + else { REPORT RowCopy = mrc.data; } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *RowCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *RowCopy++ = *Mstore; } + } + } +} + +void SymmetricBandMatrix::GetCol(MatrixRowCol& mrc) +{ + // do not allow StoreHere + if (+(mrc.cw*StoreHere)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixRowCol&)")); + + int c=mrc.rowcol; int w1 = lower+1; mrc.length=nrows; + REPORT + int s = c-lower; int o = c*w1; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + if (+(mrc.cw*DirectPart)) + { REPORT mrc.data = store+o; mrc.storage = w1; } + else + { + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixRowCol&)")); + int w = w1+lower; s += w-ncols; Real* ColCopy; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + + if ( +(mrc.cw*HaveStore) ) { REPORT ColCopy = mrc.data; } + else + { + REPORT ColCopy = new Real [2*lower+1]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (SmBGetCol)",2*lower+1,ColCopy) + mrc.cw += HaveStore; mrc.data = ColCopy; + } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *ColCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *ColCopy++ = *Mstore; } + } + } +} + +void SymmetricBandMatrix::GetCol(MatrixColX& mrc) +{ + int c=mrc.rowcol; int w1 = lower+1; mrc.length=nrows; + if (+(mrc.cw*DirectPart)) + { + REPORT + int b = c*w1+lower; + mrc.skip = c; c += w1-nrows; w1 -= c; mrc.storage = w1; + Real* ColCopy = mrc.data = mrc.store+mrc.skip; + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+b; + // while (w1--) { *ColCopy++ = *Mstore; Mstore += lower; } + if (w1) for (;;) + { *ColCopy++ = *Mstore; if (!(--w1)) break; Mstore += lower; } + } + } + else + { + REPORT + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixColX&)")); + int s = c-lower; int o = c*w1; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + int w = w1+lower; s += w-ncols; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + + Real* ColCopy = mrc.data = mrc.store+mrc.skip; + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *ColCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *ColCopy++ = *Mstore; } + } + + } +} + +void SymmetricBandMatrix::RestoreCol(MatrixColX& mrc) +{ + REPORT + int c = mrc.rowcol; + Real* Mstore = store + c*lower+c+lower; + Real* Cstore = mrc.data; int w = mrc.storage; + // while (w--) { *Mstore = *Cstore++; Mstore += lower; } + if (w) for (;;) + { *Mstore = *Cstore++; if (!(--w)) break; Mstore += lower; } +} + +// routines for identity matrix + +void IdentityMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.data=store; mrc.length=ncols; +} + +void IdentityMatrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.length=nrows; + if (+(mrc.cw*StoreHere)) // should not happen + Throw(InternalException("IdentityMatrix::GetCol(MatrixRowCol&)")); + else { REPORT mrc.data=store; } +} + +void IdentityMatrix::GetCol(MatrixColX& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.length=nrows; + mrc.data = mrc.store+mrc.skip; *(mrc.data)=*store; +} + +void IdentityMatrix::NextRow(MatrixRowCol& mrc) { REPORT mrc.IncrId(); } + +void IdentityMatrix::NextCol(MatrixRowCol& mrc) { REPORT mrc.IncrId(); } + +void IdentityMatrix::NextCol(MatrixColX& mrc) +{ + REPORT + if (+(mrc.cw*StoreOnExit)) { REPORT *store=*(mrc.data); } + mrc.IncrDiag(); // must increase mrc.data so need IncrDiag + int t1 = +(mrc.cw*LoadOnEntry); + if (t1 && mrc.rowcol < ncols) { REPORT *(mrc.data)=*store; } +} + + + + +// *************************** destructors ******************************* + +MatrixRowCol::~MatrixRowCol() +{ + if (+(cw*HaveStore)) + { + MONITOR_REAL_DELETE("Free (RowCol)",-1,data) // do not know length + delete [] data; + } +} + +MatrixRow::~MatrixRow() { if (+(cw*StoreOnExit)) gm->RestoreRow(*this); } + +MatrixCol::~MatrixCol() { if (+(cw*StoreOnExit)) gm->RestoreCol(*this); } + +MatrixColX::~MatrixColX() { if (+(cw*StoreOnExit)) gm->RestoreCol(*this); } + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/51/51d04777c0a118faaf70a3381586bd2353892d3f.svn-base b/.svn/pristine/51/51d04777c0a118faaf70a3381586bd2353892d3f.svn-base new file mode 100644 index 0000000..d16d632 --- /dev/null +++ b/.svn/pristine/51/51d04777c0a118faaf70a3381586bd2353892d3f.svn-base @@ -0,0 +1,62 @@ +//---------------------------------------------------------------------- +// File: bd_pr_search.cpp +// Programmer: David Mount +// Description: Priority search for bd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +//History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_pr_search.h" // kd priority search declarations + +//---------------------------------------------------------------------- +// Approximate priority searching for bd-trees. +// See the file kd_pr_search.cc for general information on the +// approximate nearest neighbor priority search algorithm. Here +// we include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_pri_search(ANNdist box_dist) +{ + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNprQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNprQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + if (child[ANN_OUT] != KD_TRIVIAL) // enqueue outer if not trivial + ANNprBoxPQ->insert(box_dist,child[ANN_OUT]); + // continue with inner child + child[ANN_IN]->ann_pri_search(inner_dist); + } + else { // if outer box is closer + if (child[ANN_IN] != KD_TRIVIAL) // enqueue inner if not trivial + ANNprBoxPQ->insert(inner_dist,child[ANN_IN]); + // continue with outer child + child[ANN_OUT]->ann_pri_search(box_dist); + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/.svn/pristine/51/51f8034e47c326f2f7d893942aeacdf616bbb23a.svn-base b/.svn/pristine/51/51f8034e47c326f2f7d893942aeacdf616bbb23a.svn-base new file mode 100644 index 0000000..1a5fb6a --- /dev/null +++ b/.svn/pristine/51/51f8034e47c326f2f7d893942aeacdf616bbb23a.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/52/5259e414762fd1acb04d6c0db243561639a951b8.svn-base b/.svn/pristine/52/5259e414762fd1acb04d6c0db243561639a951b8.svn-base new file mode 100644 index 0000000..c3e0233 --- /dev/null +++ b/.svn/pristine/52/5259e414762fd1acb04d6c0db243561639a951b8.svn-base @@ -0,0 +1,96 @@ +#----------------------------------------------------------------------------- +# Makefile for the test and evaluation program +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- +# Note: For full performance measurements, it is assumed that the library +# and this program have both been compiled with the -DANN_PERF flag. See +# the Makefile in the ANN base directory for this flag. +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIBS ANN library +# OTHERLIBS other libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN +OTHERLIBS = -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANNTEST name of test program +#----------------------------------------------------------------------------- + +ANNTEST = ann_test + +HEADERS = rand.h +TESTSOURCES = ann_test.cpp rand.cpp +TESTOBJECTS = $(TESTSOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANNTEST) + +$(BINDIR)/$(ANNTEST): $(TESTOBJECTS) $(LIBDIR)/$(ANNLIB) + $(C++) $(TESTOBJECTS) -o $(ANNTEST) $(LDFLAGS) $(ANNLIBS) $(OTHERLIBS) + mv $(ANNTEST) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann_test.o: ann_test.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) ann_test.cpp + +rand.o: rand.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) rand.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o *.out core + +realclean: clean diff --git a/.svn/pristine/53/5355544dc020e61cbfa35516994a7abbfa2cf24a.svn-base b/.svn/pristine/53/5355544dc020e61cbfa35516994a7abbfa2cf24a.svn-base new file mode 100644 index 0000000..b71b79f --- /dev/null +++ b/.svn/pristine/53/5355544dc020e61cbfa35516994a7abbfa2cf24a.svn-base @@ -0,0 +1,690 @@ +/* + * quadtree implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/quadtree.h" + +int QuadTree::anz; +double QuadTree::qSize; +double QuadTree::dist = 10.0; +//Plane *QuadTree::basePlane; +/* +QuadTree::QuadTree(double **pts, int n, double _qSize, Plane *_basePlane){ + basePlane = _basePlane; + + anz = 0; + qSize = _qSize; + double xmin = pts[0][0], xmax = pts[0][0]; + double ymin = pts[0][1], ymax = pts[0][1]; + for (int i=1; i < n; i++) { + xmin = min(xmin, pts[i][0]); + xmax = max(xmax, pts[i][0]); + ymin = min(ymin, pts[i][1]); + ymax = max(ymax, pts[i][1]); + } + center[0] = 0.5f * (xmin+xmax); + center[1] = 0.5f * (ymin+ymax); + + double m = max(0.5f * (xmax-xmin), 0.5f * (ymax-ymin)); + int count; + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + x_size = m; + y_size = m; + + // calculate new buckets + double newcenter[4][2]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ----------------------------------------------------------------------- + for (int i = 0; i < 4; i++) { + vector splitPoints; + count = countPointsAndQueue(pts, n, splitPoints, + newcenter[i], x_sizeNew, y_sizeNew); + if (count > MIN_PTS_IN_BUCKET) + child[i] = new QuadTree(splitPoints, + newcenter[i], x_sizeNew, y_sizeNew); + splitPoints.clear(); + } +}*/ + +bool QuadTree::close(double* p, double *p2) { + double stheta = sin(p[0]) * sin(p2[0]); + double myd2 = acos( + stheta * cos(p[1]) * cos(p2[1]) + + stheta * sin(p[1]) * sin(p2[1]) + + cos(p[0]) * cos(p2[0])); + if (myd2 < dist) { + return true; + } + return false; +/* + double dx = p2[0] - p[0]; + double dy = p2[1] - p[1]; + if ( sqrt(dx*dx + dy*dy) < dist ) { + return true; + } + return false;*/ +} + +bool QuadTree::close(double* p, set &cluster) { + for(set::iterator it = cluster.begin(); it != cluster.end(); it++) { + if ( close(p, (*it)) ) { + return true; + } + } + return false; +} +/* +bool QuadTree::close(double* p, set &cluster) { + double dx,dy; + for(set::iterator it = cluster.begin(); it != cluster.end(); it++) { + dx = (*it)[0] - p[0]; + dy = (*it)[1] - p[1]; + if ( sqrt(dx*dx + dy*dy) < dist ) { + return true; + } + } + return false; +}*/ +int QuadTree::where(double *p1, vector >& clusters) { + for (unsigned int i = 0; i < clusters.size(); i++) { + if (clusters[i].count(p1) > 0) return i; + } + // this shouldnt happen + //cout << "VERY BAD THINGS HAPPENED!" < >& QuadTree::clusterCells(vector > &clusters1, set border1, + vector > &clusters2, set border2, vector< set > &clusters) { + if (border1.size() <= 0 || border2.size() <= 0) { + clusters.insert( clusters.end(), clusters1.begin(), clusters1.end()); + clusters.insert( clusters.end(), clusters2.begin(), clusters2.end()); + return clusters; + } + // some clusters might not have a border connection, remember those? + set non_used_clusters; + for (unsigned int i = 0; i < clusters1.size(); i++) { + non_used_clusters.insert( -1 -i); + } + for (unsigned int i = 0; i < clusters2.size(); i++) { + non_used_clusters.insert( i); + } + + // contains the edges of the correspondence graph + // indices of cluster 1 are stored negated + vector cgraph; +//cout << "bordersizes: " << border1.size() << " " << border2.size() << endl; + for (set::iterator bit1 = border1.begin(); bit1 != border1.end(); bit1++) { + for (set::iterator bit2 = border2.begin(); bit2 != border2.end(); bit2++) { + if (close( *bit1, *bit2) ) { + int *edge = new int[3]; + int w1,w2; + w1 = where(*bit1, clusters1); + if (w1 == -1) { + continue; + } + w2 = where(*bit2, clusters2); + if (w2 == -1) { + continue; + } + + edge[0] = -1 - w1; + edge[1] = w2; + // label the edge + edge[2] = -1; + cgraph.push_back(edge); +// cout << "point to point " << edge[0] << " " << edge[1] << endl; + } + } + } + //cout << "borders connected" << endl; + vector< set > index_clusters; + int nr_cluster = 0; + for (unsigned int i = 0; i < cgraph.size(); i++) { + if (cgraph[i][2] != -1) {continue;} + // unlabeled edge + cgraph[i][2] = nr_cluster; + set index_cluster; + index_cluster.insert(cgraph[i][0]); + index_cluster.insert(cgraph[i][1]); + non_used_clusters.erase(cgraph[i][0]); + non_used_clusters.erase(cgraph[i][1]); + for (unsigned int j = i + 1; j < cgraph.size(); j++) { +// cout << j << " j " << cgraph.size() << endl; + if (cgraph[j][2] != -1) {continue;} + // if either of the nodes is already in my cluster, label edge and add + // nodes + if (index_cluster.count(cgraph[j][0]) > 0 + || index_cluster.count(cgraph[j][1]) > 0 ) { + index_cluster.insert(cgraph[j][0]); + index_cluster.insert(cgraph[j][1]); + + non_used_clusters.erase(cgraph[j][0]); + non_used_clusters.erase(cgraph[j][1]); + cgraph[j][2] = nr_cluster; + } + } + //non_used_clusters.erase(index_cluster.begin(), index_cluster.end()); + index_clusters.push_back(index_cluster); + nr_cluster++; + } +//cout << "cluster connections resolved" << endl; + for (unsigned int i = 0; i < index_clusters.size(); i++) { + set cluster; + for (set::iterator it = index_clusters[i].begin(); + it != index_clusters[i].end(); it++) { + if (*it < 0 ) { + int index = -1 - (*it); + cluster.insert( clusters1[index].begin(), clusters1[index].end() ); + } else { + cluster.insert( clusters2[*it].begin(), clusters2[*it].end() ); + } + } + clusters.push_back(cluster); + } +//cout << "clusters joined. add remaining " << non_used_clusters.size() << endl; + for (set::iterator it = non_used_clusters.begin(); it != non_used_clusters.end(); it++) { + set cluster; + if (*it < 0 ) { + int index = -1 - (*it); + cluster.insert( clusters1[index].begin(), clusters1[index].end() ); + } else { + cluster.insert( clusters2[*it].begin(), clusters2[*it].end() ); + } + clusters.push_back(cluster); + } +//cout << "done." << endl; + // cleanup + for (unsigned int i = 0; i < cgraph.size(); i++) { + delete[] cgraph[i]; + } + cgraph.clear(); +//cout << " cleanup done returning" << endl; + return clusters; +// return clusters1; +} + +vector >& QuadTree::getClusters() { + // if leaf node + if (leaf == 1) { + if (points.size() <= 0) return clusters; +// cout << "leaf clustering "; +// cout << center[0] << " " << center[1] << " " << points.size() << " " < ()); + clusters[0].insert(points[0]); + + for (unsigned int j = 1; j < points.size(); j++) { + bool found_cluster = false; + int oldindex = -1; + for (unsigned int i = 0; i < clusters.size(); i++) { + if ( close(points[j], clusters[i]) ) { + if (!found_cluster) { + clusters[i].insert(points[j]); + found_cluster = true; + oldindex = i; + //break; + } else { +// cout << " join cluster " << oldindex << " and " << i << endl; + clusters[oldindex].insert(clusters[i].begin(), clusters[i].end()); + clusters.erase(clusters.begin() + i); + i--; + //clusters[i] + } + } + } + if (!found_cluster) { // havent found a cose enough cluster -> new cluster + set cluster; + cluster.insert(points[j]); + clusters.push_back(cluster); + } + } +// cout << " this many cluster found in leaf " << clusters.size() << endl; + return clusters; + } + + //cout << "my leafs: "<< child[0] << " " << child[1] << " " << child[2] << " " << child[3] << endl; + vector< set > southclusters; + clusterCells(child[0]->getClusters(), child[0]->east, + child[1]->getClusters(), child[1]->west, southclusters); +// cout << "northern cluste: " << endl; + vector< set > northclusters; + clusterCells(child[2]->getClusters(), child[2]->east, + child[3]->getClusters(), child[3]->west, northclusters); +// cout << "south: " << southclusters.size() << endl; +// cout << "north: " << northclusters.size() << endl; + + // join borders + set nborders01; + nborders01.insert(child[0]->north.begin(), child[0]->north.end()); + nborders01.insert(child[1]->north.begin(), child[1]->north.end()); + + set sborders23; + sborders23.insert(child[2]->south.begin(), child[2]->south.end()); + sborders23.insert(child[3]->south.begin(), child[3]->south.end()); + + clusters = clusterCells(northclusters, sborders23, southclusters, nborders01, clusters); + if (clusters.size() > 0) { + //cout << "node clustered " << clusters.size() << endl; + //cout << center[0] << " " << center[1] << " " << points.size() << endl; + } + + return clusters; +} + +QuadTree::QuadTree(double **pts, int n, double _qSize, double min_d){ + dist = min_d; + anz = 0; + qSize = _qSize; + double xmin = pts[0][0], xmax = pts[0][0]; + double ymin = pts[0][1], ymax = pts[0][1]; + for (int i=1; i < n; i++) { + xmin = min(xmin, pts[i][0]); + xmax = max(xmax, pts[i][0]); + ymin = min(ymin, pts[i][1]); + ymax = max(ymax, pts[i][1]); + } + double eps = 0.00001; + xmin -= eps; + ymin -= eps; + xmax += eps; + ymax += eps; + center[0] = 0.5 * (xmin+xmax); + center[1] = 0.5 * (ymin+ymax); + + double m = max(0.5 * (xmax-xmin), 0.5 * (ymax-ymin)); + int count; + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + x_size = m; + y_size = m; + + // calculate new buckets + double newcenter[4][2]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ----------------------------------------------------------------------- + for (int i = 0; i < 4; i++) { + vector splitPoints; + set no,e,s,w; + count = countPointsAndQueue(pts, n, splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, + no, e, s, w); + if (count > MIN_PTS_IN_BUCKET) + child[i] = new QuadTree(splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, no,e,s,w); + splitPoints.clear(); + } +} + +QuadTree::QuadTree(vector &splitPoints, double _center[2], + double _x_size, double _y_size, set &n, + set &e, set &s, set &w) { + int count; + /* + this->north = n; + this->east = e; + this->south = s; + this->west = w; + */ + this->north.insert(n.begin(), n.end()); + this->south.insert(s.begin(), s.end()); + this->east.insert(e.begin(), e.end()); + this->west.insert(w.begin(), w.end()); + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + center[0] = _center[0]; + center[1] = _center[1]; + x_size = _x_size; + y_size = _y_size; + + // if bucket is too small stop building tree + // ----------------------------------------- + if ((y_size <= qSize)) { + // copy points + for (unsigned int i = 0; i < splitPoints.size(); i++) { + points.push_back(splitPoints[i]); + } + leaf = 1; + anz++; + return; + } + + // calculate new buckets + double newcenter[4][3]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ------------------------------------------------------------------------ + for (int i = 0; i < 4; i++) { + vector new_splitPoints; + set n,e,s,w; + count = countPointsAndQueue(splitPoints, new_splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, + n, e, s, w); + if (count > MIN_PTS_IN_BUCKET) { + child[i] = new QuadTree(new_splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, n,e,s,w); + } + new_splitPoints.clear(); + } +} + +int QuadTree::countPointsAndQueue(const vector &i_points, + vector &points, + double center[2], + double x_size, double y_size, + set &n, + set &e, + set &s, + set &w) +{ + int count = 0; + for (unsigned int i = 0; i < i_points.size(); i++) { + if (fabs(i_points[i][0] - center[0]) <= x_size) { + if (fabs(i_points[i][1] - center[1]) <= y_size) { + count++; + points.push_back(i_points[i]); + double top = asin(sin(i_points[i][0]) * sin( fabs( (center[1] + y_size) - i_points[i][1]) ) ); + double bottom = asin(sin(i_points[i][0]) * sin( fabs( i_points[i][1] - (center[1] - y_size) ) ) ); + + if ( fabs( (center[0] + x_size) - i_points[i][0]) < dist ) { + e.insert(i_points[i]); + } + if ( fabs( i_points[i][0] - (center[0] - x_size) ) < dist ) { + w.insert(i_points[i]); + } + if ( top < dist ) { + n.insert(i_points[i]); + } + if ( bottom < dist ) { + s.insert(i_points[i]); + } + } + } + } + return count; +} + +int QuadTree::countPointsAndQueue(double **pts, int n, + vector &points, + double center[2], + double x_size,double y_size, + set &no, + set &e, + set &s, + set &w) +{ + + int count = 0; + for (int i=0; i < n; i++) { + if (fabs(pts[i][0] - center[0]) <= x_size) { + if (fabs(pts[i][1] - center[1]) <= y_size) { + count++; + double *p = pts[i]; + points.push_back(p); + + double top = asin(sin(p[0]) * sin( fabs( (center[1] + y_size) - p[1]) ) ); + double bottom = asin(sin(p[0]) * sin( fabs( p[1] - (center[1] - y_size) ) ) ); + + if ( fabs( (center[0] + x_size) - p[0]) < dist ) { + e.insert(p); + } + if ( fabs( p[0] - (center[0] - x_size) ) < dist ) { + w.insert(p); + } + if ( top < dist ) { + no.insert(p); + } + if ( bottom < dist ) { + s.insert(p); + } + } + } + } + return count; +} + +int QuadTree::countPoints(double **pts, int n, double center[2], + double x_size, double y_size) +{ + int count = 0; + for (int i=0; i < n; i++) { + if (fabs(pts[i][0] - center[0]) <= x_size) { + if (fabs(pts[i][1] - center[1]) <= y_size) { + count++; + } + } + } + return count; +} +/* +void QuadTree::getQuadTreePoints(vector &quad_x, vector &quad_y, vector &quad_z) +{ + double x,y,z; + + if (leaf == 1) { + basePlane->projTo3D(center[0] - x_size, + center[1] - y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] + x_size, + center[1] - y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] + x_size, + center[1] + y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] - x_size, + center[1] + y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + } else { + for( int i = 0; i < 4; i++){ + if (child[i] != 0) { + child[i]->getQuadTreePoints(quad_x, quad_y, quad_z); + } + } + } +} +*/ +/* +void QuadTree::getQuadTreeColor(double &colorR, double &colorG, double &colorB) +{ + switch (basePlane->getColor()) { + case 1: colorR = 0.6; colorG = 0.0; colorB = 0.0; break; + case 2: colorR = 0.0; colorG = 0.6; colorB = 0.0; break; + case 3: colorR = 0.0; colorG = 0.0; colorB = 0.6; break; + case 4: colorR = 0.6; colorG = 0.6; colorB = 0.0; break; + case 5: colorR = 0.6; colorG = 0.0; colorB = 0.6; break; + case 6: colorR = 0.0; colorG = 0.6; colorB = 0.6; break; + case 7: colorR = 0.6; colorG = 0.3; colorB = 0.3; break; + case 8: colorR = 0.3; colorG = 0.3; colorB = 0.3; break; + case 9: colorR = 0.3; colorG = 0.3; colorB = 0.6; break; + case 10: colorR = 0.6; colorG = 0.6; colorB = 0.6; break; + case 11: colorR = 0.1; colorG = 0.1; colorB = 0.6; break; + case 12: colorR = 0.1; colorG = 0.1; colorB = 0.1; break; + case 13: colorR = 0.1; colorG = 0.3; colorB = 0.1; break; + case 14: colorR = 0.1; colorG = 0.1; colorB = 0.3; break; + case 15: colorR = 0.3; colorG = 0.6; colorB = 0.3; break; + case 16: colorR = 0.3; colorG = 0.3; colorB = 0.1; break; + default: colorR = 0.3; colorG = 0.1; colorB = 0.1; + } +} +*/ +/* +int QuadTree::outputQuad(char *dir) +{ + cout << "writing "; + ofstream quadout; + char fname[64]; + strcpy(fname,dir);strcat(fname, "/quad.dat"); + + quadout.open(fname,ios::binary|ios::out|ios::app); + if (!quadout) { + cerr << "*** error: can't create file " << fname << " ***\n"; + exit(2); + } + int ret = _OutputQuad(quadout); + quadout.close(); + cout << ret << " quads from quadtree." << endl; + return ret; +} + +int QuadTree::_OutputQuad(ofstream &bBoxout) +{ + int ret = 0; + if (leaf == 1) { + + double x,y,z; + // cout << endl; + basePlane->projTo3D(center[0] - x_size, + center[1] - y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] - x_size, + center[1] + y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] + x_size, + center[1] + y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] + x_size, + center[1] - y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + + +// float col = 0.0; +// for (int i = 0; i < points.size(); i++) { +// col = max(col, points[i][2]); +// } +// +// col = col / 3.0; +// + + float col = 0; //!!! + + double gcolorR, gcolorG, gcolorB; + getQuadTreeColor(gcolorR, gcolorG, gcolorB); + + float col_r = col + gcolorR; + float col_g = col + gcolorG; + float col_b = col + gcolorB; + bBoxout.write((char*)&col_r, sizeof(float)); + bBoxout.write((char*)&col_g, sizeof(float)); + bBoxout.write((char*)&col_b, sizeof(float)); + + return 1; + } + + for( int i = 0; i < 4; i++){ + if (child[i] != 0) { + ret += child[i]->_OutputQuad(bBoxout); + } + } + return ret; +} +*/ + +QuadTree::~QuadTree(){ + for(int i = 0; i < 4; i++) { + if (child[i] !=0) { + delete child[i]; + child[i] = 0; + } + } +} + + + + + + + + + diff --git a/.svn/pristine/53/5377a8e3c14b1c4d7a004e3809b8073580eaa683.svn-base b/.svn/pristine/53/5377a8e3c14b1c4d7a004e3809b8073580eaa683.svn-base new file mode 100644 index 0000000..4e7ab9e --- /dev/null +++ b/.svn/pristine/53/5377a8e3c14b1c4d7a004e3809b8073580eaa683.svn-base @@ -0,0 +1,280 @@ +/* + * kdMeta implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief An optimized k-d tree implementation. MetaScan variant. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/kdMeta.h" +#include "slam6d/globals.icc" +#include "slam6d/scan.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + +// KDtree class static variables +KDParams KDtreeMeta::params[MAX_OPENMP_NUM_THREADS]; + +KDtreeMeta::KDtreeMeta() +{ +} + +/** + * Create a KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +void KDtreeMeta::create(const DataXYZ* const* pts, Index* indices, unsigned int n) +{ + // Find bbox + double xmin = point(pts, indices[0])[0], xmax = point(pts, indices[0])[0]; + double ymin = point(pts, indices[0])[1], ymax = point(pts, indices[0])[1]; + double zmin = point(pts, indices[0])[2], zmax = point(pts, indices[0])[2]; + for(unsigned int i = 1; i < n; i++) { + xmin = min(xmin, point(pts, indices[i])[0]); + xmax = max(xmax, point(pts, indices[i])[0]); + ymin = min(ymin, point(pts, indices[i])[1]); + ymax = max(ymax, point(pts, indices[i])[1]); + zmin = min(zmin, point(pts, indices[i])[2]); + zmax = max(zmax, point(pts, indices[i])[2]); + } + + // Leaf nodes + if ((n > 0) && (n <= 10)) { + npts = n; + leaf.p = new Index[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + // Else, interior nodes + npts = 0; + + node.center[0] = 0.5 * (xmin+xmax); + node.center[1] = 0.5 * (ymin+ymax); + node.center[2] = 0.5 * (zmin+zmax); + node.dx = 0.5 * (xmax-xmin); + node.dy = 0.5 * (ymax-ymin); + node.dz = 0.5 * (zmax-zmin); + node.r2 = sqr(node.dx) + sqr(node.dy) + sqr(node.dz); + + // Find longest axis + if (node.dx > node.dy) { + if (node.dx > node.dz) { + node.splitaxis = 0; + } else { + node.splitaxis = 2; + } + } else { + if (node.dy > node.dz) { + node.splitaxis = 1; + } else { + node.splitaxis = 2; + } + } + + // Partition + double splitval = node.center[node.splitaxis]; + + if ( fabs(max(max(node.dx,node.dy),node.dz)) < 0.01 ) { + npts = n; + leaf.p = new Index[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + Index* left = indices, * right = indices + n - 1; + while(true) { + while(point(pts, *left)[node.splitaxis] < splitval) + left++; + while(point(pts, *right)[node.splitaxis] >= splitval) + right--; + if(right < left) + break; + swap(*left, *right); + } + + // Build subtrees + int i; +#ifdef WITH_OPENMP_KD // does anybody know the reason why this is slower ?? --Andreas + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (i = 0; i < 2; i++) { + if (i == 0) { + node.child1 = new KDtreeMeta(); + node.child1->create(pts, indices, left - indices); + } + if (i == 1) { + node.child2 = new KDtreeMeta(); + node.child2->create(pts, left, n - (left - indices)); + } + } +} + +KDtreeMeta::~KDtreeMeta() +{ + if (!npts) { +#ifdef WITH_OPENMP_KD + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (int i = 0; i < 2; i++) { + if (i == 0 && node.child1) delete node.child1; + if (i == 1 && node.child2) delete node.child2; + } + } else { + if (leaf.p) delete [] leaf.p; + } +} + +/** + * Wrapped function + */ +void KDtreeMeta::_FindClosest(const DataXYZ* const* pts, int threadNum) const +{ + // Leaf nodes + if (npts) { + for (int i = 0; i < npts; i++) { + double myd2 = Dist2(params[threadNum].p, point(pts, leaf.p[i])); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = point(pts, leaf.p[i]); + } + } + return; + } + + // Quick check of whether to abort + double approx_dist_bbox = max(max(fabs(params[threadNum].p[0]-node.center[0])-node.dx, + fabs(params[threadNum].p[1]-node.center[1])-node.dy), + fabs(params[threadNum].p[2]-node.center[2])-node.dz); + if (approx_dist_bbox >= 0 && sqr(approx_dist_bbox) >= params[threadNum].closest_d2) + return; + + // Recursive case + double myd = node.center[node.splitaxis] - params[threadNum].p[node.splitaxis]; + if (myd >= 0.0) { + node.child1->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child2->_FindClosest(pts, threadNum); + } + } else { + node.child2->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child1->_FindClosest(pts, threadNum); + } + } +} + +KDtreeMetaManaged::KDtreeMetaManaged(const vector& scans) : + m_count_locking(0) +{ + // create scan pointer and data pointer arrays + m_size = scans.size(); + m_scans = new Scan*[m_size]; + for(unsigned int i = 0; i < m_size; ++i) + m_scans[i] = scans[i]; + m_data = new DataXYZ*[m_size]; + + lock(); + create(m_data, prepareTempIndices(scans), getPointsSize(scans)); + unlock(); + + // allocate in prepareTempIndices, deleted here + delete[] m_temp_indices; +} + +KDtreeMetaManaged::~KDtreeMetaManaged() +{ + delete[] m_scans; + delete[] m_data; +} + +KDtreeMeta::Index* KDtreeMetaManaged::prepareTempIndices(const vector& scans) +{ + unsigned int n = getPointsSize(scans); + + m_temp_indices = new Index[n]; + unsigned int s = 0, j = 0; + unsigned int scansize = scans[s]->size("xyz reduced"); + for(unsigned int i = 0; i < n; ++i) { + m_temp_indices[i].set(s, j++); + // switch to next scan + if(j >= scansize) { + ++s; + j = 0; + if(s < scans.size()) + scansize = scans[s]->size("xyz reduced"); + } + } + return m_temp_indices; +} + +unsigned int KDtreeMetaManaged::getPointsSize(const vector& scans) +{ + unsigned int n = 0; + for(vector::const_iterator it = scans.begin(); it != scans.end(); ++it) { + n += (*it)->size("xyz reduced"); + } + return n; +} + +double* KDtreeMetaManaged::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = _p; + _FindClosest(m_data, threadNum); + return params[threadNum].closest; +} + +void KDtreeMetaManaged::lock() +{ + boost::lock_guard lock(m_mutex_locking); + if(m_count_locking == 0) { + // lock all the contained scans, metascan uses the transformed points + for(unsigned int i = 0; i < m_size; ++i) { + m_data[i] = new DataXYZ(m_scans[i]->get("xyz reduced")); + } + } + ++m_count_locking; +} + +void KDtreeMetaManaged::unlock() +{ + boost::lock_guard lock(m_mutex_locking); + --m_count_locking; + if(m_count_locking == 0) { + // delete each locking object + for(unsigned int i = 0; i < m_size; ++i) { + delete m_data[i]; + } + } +} diff --git a/.svn/pristine/53/538903073c78f5e65ac5c42fda042ded396c6d98.svn-base b/.svn/pristine/53/538903073c78f5e65ac5c42fda042ded396c6d98.svn-base new file mode 100644 index 0000000..37bd7c3 --- /dev/null +++ b/.svn/pristine/53/538903073c78f5e65ac5c42fda042ded396c6d98.svn-base @@ -0,0 +1,198 @@ + +#define WANT_STREAM + +#define WANT_MATH + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + +// test maxima and minima + +Real TestMax(const GenericMatrix& GM) +{ + Matrix M = GM; + ColumnVector CV = GM.AsColumn(); + + int c, i, j, k; int n = CV.Nrows(), nr = M.Nrows(), nc = M.Ncols(); + Real x1, x2, x3; + + MatrixBandWidth mbw = GM.BandWidth(); + int u = mbw.Upper(); int l = mbw.Lower(); + bool IsBandMatrix = u > 0 && l > 0 && !(u == 0 && l == 0); + + x1 = GM.MaximumAbsoluteValue(); + x2 = GM.MaximumAbsoluteValue1(i); + if (fabs(CV(i)) != x2) return 1.1; + x3 = GM.MaximumAbsoluteValue2(i,j); + if (fabs(M(i,j)) != x3) return 1.2; + if (x3 != x1) return 1.3; + if (x2 != x1) return 1.4; + c = 0; + for (k = 1; k <= n; k++) + { + Real cvk = fabs(CV(k)); + if (x1 <= cvk) { if (x1 < cvk) return 1.5; else c++; } + } + if (c == 0) return 1.6; + + + x1 = GM.MinimumAbsoluteValue(); + x2 = GM.MinimumAbsoluteValue1(i); + if (fabs(CV(i)) != x2) return 2.1; + x3 = GM.MinimumAbsoluteValue2(i,j); + if (fabs(M(i,j)) != x3) return 2.2; + if (x3 != x1) return 2.3; + if (x2 != CV.MinimumAbsoluteValue()) return 2.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = fabs(M(i,j)); + if (x1 >= mij) { if (x1 > mij) return 2.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = fabs(CV(k)); + if (x1 >= cvk) { if (x1 > cvk) return 2.52; else c++; } + } + } + if (c == 0) return 2.6; + + x1 = GM.Maximum(); + x2 = GM.Maximum1(i); + if (CV(i) != x2) return 3.1; + x3 = GM.Maximum2(i,j); + if (M(i,j) != x3) return 3.2; + if (x3 != x1) return 3.3; + if (x2 != CV.Maximum()) return 3.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = M(i,j); + if (x1 <= mij) { if (x1 < mij) return 3.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = CV(k); + if (x1 <= cvk) { if (x1 < cvk) return 3.52; else c++; } + } + } + if (c == 0) return 3.6; + + x1 = GM.Minimum(); + x2 = GM.Minimum1(i); + if (CV(i) != x2) return 4.1; + x3 = GM.Minimum2(i,j); + if (M(i,j) != x3) return 4.2; + if (x3 != x1) return 4.3; + if (x2 != CV.Minimum()) return 4.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = M(i,j); + if (x1 >= mij) { if (x1 > mij) return 4.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = CV(k); + if (x1 >= cvk) { if (x1 > cvk) return 4.52; else c++; } + } + } + if (c == 0) return 4.6; + + return 0; + +} + + +void trymatl() +{ + Tracer et("Twenty first test of Matrix package"); + Tracer::PrintTrace(); + + Matrix M(4, 4); + M << 1.5 << 1.0 << -4.0 << 4.5 + << 3.5 << 7.0 << 2.0 << -1.0 + << -1.5 << 7.5 << -6.0 << 5.0 + << 0.5 << -8.0 << 5.5 << 4.0; + UpperTriangularMatrix UM; UM << M; + LowerTriangularMatrix LM; LM << -M; + SymmetricMatrix SM; SM << (UM + UM.t()); + BandMatrix BM(4, 1, 2); BM.Inject(M); + DiagonalMatrix DM; DM << M; + SymmetricBandMatrix SBM(4,1); SBM.Inject(M); + RowVector Test(28); int k = 0; + + // tests for different shapes + Test(++k) = TestMax(GenericMatrix(M)); + Test(++k) = TestMax(GenericMatrix(UM)); + Test(++k) = TestMax(GenericMatrix(LM)); + Test(++k) = TestMax(GenericMatrix(SM)); + Test(++k) = TestMax(GenericMatrix(DM)); + Test(++k) = TestMax(GenericMatrix(BM)); + Test(++k) = TestMax(GenericMatrix(SBM)); + + // tests for constant matrices - don't put non-zeros in corners of BM + Matrix MX(4,4); + MX = 1; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + MX = 0; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + MX = -1; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + + // test for non-square + MX = M | (2 * M).t(); Test(++k) = TestMax(GenericMatrix(MX)); + + // test on row and column vector + RowVector RV(6); + RV << 1 << 3 << -5 << 2 << -4 << 3; + Test(++k) = TestMax(GenericMatrix(RV)); + Test(++k) = TestMax(GenericMatrix(RV.t())); + + // test for function form + Test(++k) = (MaximumAbsoluteValue(RV) - 5); + Test(++k) = (MinimumAbsoluteValue(RV) - 1); + Test(++k) = (Maximum(RV) - 3); + Test(++k) = (Minimum(RV) + 5); + Test(++k) = (MaximumAbsoluteValue(-RV) - 5); + Test(++k) = (MinimumAbsoluteValue(-RV) - 1); + Test(++k) = (Maximum(-RV) - 5); + Test(++k) = (Minimum(-RV) + 3); + + // test formulae + RowVector RV2(6); + RV2 << 2 << 8 << 1 << 9 << 3 << -1; + Test(++k) = (MaximumAbsoluteValue(RV+RV2) - 11); + Test(++k) = (MinimumAbsoluteValue(RV+RV2) - 1); + Test(++k) = (Maximum(RV+RV2) - 11); + Test(++k) = (Minimum(RV+RV2) + 4); + + + Print(Test); +} + diff --git a/.svn/pristine/54/541f10eb816a3225f551e2c7ed4c04ce8e416110.svn-base b/.svn/pristine/54/541f10eb816a3225f551e2c7ed4c04ce8e416110.svn-base new file mode 100644 index 0000000..61d7151 --- /dev/null +++ b/.svn/pristine/54/541f10eb816a3225f551e2c7ed4c04ce8e416110.svn-base @@ -0,0 +1,172 @@ +/* + * loopToro implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/loopToro.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; +/** + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void loopToro::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + ofstream outFile("toro.graph"); + + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << "\n"; + } + + graph_traits ::edge_iterator ei = edges(g).first; + int num_arcs = num_edges(g); + int li = 0; +#ifdef _OPENMP +#pragma omp parallel for firstprivate(li, ei) private(invers, rela, rPos, rPosTheta, rPosQuat, C) +#endif + for(int i = 0; i < num_arcs; i++) { + for(;i > li; li++, ei++) ; + for(;i < li; li--, ei--) ; + int from = source(*ei, g); + int to = target(*ei, g); + + M4inv(allScans[from]->get_transMat(), invers); + MMult(invers, allScans[to]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + +#ifdef _OPENMP +#pragma omp critical +#endif + { + outFile << "EDGE3" << " " << from << " " << to << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + } + } + + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + meta_end.push_back(allScans[i]); + } + MetaScan *end = new MetaScan(meta_end, false, false); + + my_icp6D->match(start, end); + + delete start; + delete end; + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << C(1, 6) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << + C(1, 1) << " " << C(1, 2) << " " << + C(1, 1) << " " << "\n"; + outFile.close(); + + system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d -i 300 toro.graph"); + + ifstream inFile("toro-treeopt-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::LOOPTORO, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::LOOPTORO, 2); + inFile.close(); +} diff --git a/.svn/pristine/54/54262a937565c728addc7bfc4322555f5b3b439b.svn-base b/.svn/pristine/54/54262a937565c728addc7bfc4322555f5b3b439b.svn-base new file mode 100644 index 0000000..f39082e --- /dev/null +++ b/.svn/pristine/54/54262a937565c728addc7bfc4322555f5b3b439b.svn-base @@ -0,0 +1,914 @@ +//---------------------------------------------------------------------- +// File: ANN.h +// Programmer: Sunil Arya and David Mount +// Last modified: 05/03/05 (Release 1.1) +// Description: Basic include file for approximate nearest +// neighbor searching. +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added copyright and revision information +// Added ANNcoordPrec for coordinate precision. +// Added methods theDim, nPoints, maxPoints, thePoints to ANNpointSet. +// Cleaned up C++ structure for modern compilers +// Revision 1.1 05/03/05 +// Added fixed-radius k-NN searching +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// ANN - approximate nearest neighbor searching +// ANN is a library for approximate nearest neighbor searching, +// based on the use of standard and priority search in kd-trees +// and balanced box-decomposition (bbd) trees. Here are some +// references to the main algorithmic techniques used here: +// +// kd-trees: +// Friedman, Bentley, and Finkel, ``An algorithm for finding +// best matches in logarithmic expected time,'' ACM +// Transactions on Mathematical Software, 3(3):209-226, 1977. +// +// Priority search in kd-trees: +// Arya and Mount, ``Algorithms for fast vector quantization,'' +// Proc. of DCC '93: Data Compression Conference, eds. J. A. +// Storer and M. Cohn, IEEE Press, 1993, 381-390. +// +// Approximate nearest neighbor search and bbd-trees: +// Arya, Mount, Netanyahu, Silverman, and Wu, ``An optimal +// algorithm for approximate nearest neighbor searching,'' +// 5th Ann. ACM-SIAM Symposium on Discrete Algorithms, +// 1994, 573-582. +//---------------------------------------------------------------------- + +#ifndef ANN_H +#define ANN_H + +#ifdef WIN32 + //---------------------------------------------------------------------- + // For Microsoft Visual C++, externally accessible symbols must be + // explicitly indicated with DLL_API, which is somewhat like "extern." + // + // The following ifdef block is the standard way of creating macros + // which make exporting from a DLL simpler. All files within this DLL + // are compiled with the DLL_EXPORTS preprocessor symbol defined on the + // command line. In contrast, projects that use (or import) the DLL + // objects do not define the DLL_EXPORTS symbol. This way any other + // project whose source files include this file see DLL_API functions as + // being imported from a DLL, wheras this DLL sees symbols defined with + // this macro as being exported. + //---------------------------------------------------------------------- + #ifdef DLL_EXPORTS + #define DLL_API __declspec(dllexport) + #else + #define DLL_API __declspec(dllimport) + #endif + //---------------------------------------------------------------------- + // DLL_API is ignored for all other systems + //---------------------------------------------------------------------- +#else + #define DLL_API +#endif + +//---------------------------------------------------------------------- +// basic includes +//---------------------------------------------------------------------- + +#include // math includes +#include // I/O streams +#include // I/O manipulators + +//---------------------------------------------------------------------- +// Limits +// There are a number of places where we use the maximum double value as +// default initializers (and others may be used, depending on the +// data/distance representation). These can usually be found in limits.h +// (as LONG_MAX, INT_MAX) or in float.h (as DBL_MAX, FLT_MAX). +// +// Not all systems have these files. If you are using such a system, +// you should set the preprocessor symbol ANN_NO_LIMITS_H when +// compiling, and modify the statements below to generate the +// appropriate value. For practical purposes, this does not need to be +// the maximum double value. It is sufficient that it be at least as +// large than the maximum squared distance between between any two +// points. +//---------------------------------------------------------------------- +#ifdef ANN_NO_LIMITS_H // limits.h unavailable + #include // replacement for limits.h + const double ANN_DBL_MAX = MAXDOUBLE; // insert maximum double +#else + #include + #include + const double ANN_DBL_MAX = DBL_MAX; +#endif + +#define ANNversion "1.1.1" // ANN version and information +#define ANNversionCmt "" +#define ANNcopyright "David M. Mount and Sunil Arya" +#define ANNlatestRev "Aug 4, 2006" + +//---------------------------------------------------------------------- +// ANNbool +// This is a simple boolean type. Although ANSI C++ is supposed +// to support the type bool, some compilers do not have it. +//---------------------------------------------------------------------- + +enum ANNbool {ANNfalse = 0, ANNtrue = 1}; // ANN boolean type (non ANSI C++) + +//---------------------------------------------------------------------- +// ANNcoord, ANNdist +// ANNcoord and ANNdist are the types used for representing +// point coordinates and distances. They can be modified by the +// user, with some care. It is assumed that they are both numeric +// types, and that ANNdist is generally of an equal or higher type +// from ANNcoord. A variable of type ANNdist should be large +// enough to store the sum of squared components of a variable +// of type ANNcoord for the number of dimensions needed in the +// application. For example, the following combinations are +// legal: +// +// ANNcoord ANNdist +// --------- ------------------------------- +// short short, int, long, float, double +// int int, long, float, double +// long long, float, double +// float float, double +// double double +// +// It is the user's responsibility to make sure that overflow does +// not occur in distance calculation. +//---------------------------------------------------------------------- + +typedef double ANNcoord; // coordinate data type +typedef double ANNdist; // distance data type + +//---------------------------------------------------------------------- +// ANNidx +// ANNidx is a point index. When the data structure is built, the +// points are given as an array. Nearest neighbor results are +// returned as an integer index into this array. To make it +// clearer when this is happening, we define the integer type +// ANNidx. Indexing starts from 0. +// +// For fixed-radius near neighbor searching, it is possible that +// there are not k nearest neighbors within the search radius. To +// indicate this, the algorithm returns ANN_NULL_IDX as its result. +// It should be distinguishable from any valid array index. +//---------------------------------------------------------------------- + +typedef int ANNidx; // point index +const ANNidx ANN_NULL_IDX = -1; // a NULL point index + +//---------------------------------------------------------------------- +// Infinite distance: +// The code assumes that there is an "infinite distance" which it +// uses to initialize distances before performing nearest neighbor +// searches. It should be as larger or larger than any legitimate +// nearest neighbor distance. +// +// On most systems, these should be found in the standard include +// file or possibly . If you do not have these +// file, some suggested values are listed below, assuming 64-bit +// long, 32-bit int and 16-bit short. +// +// ANNdist ANN_DIST_INF Values (see or ) +// ------- ------------ ------------------------------------ +// double DBL_MAX 1.79769313486231570e+308 +// float FLT_MAX 3.40282346638528860e+38 +// long LONG_MAX 0x7fffffffffffffff +// int INT_MAX 0x7fffffff +// short SHRT_MAX 0x7fff +//---------------------------------------------------------------------- + +const ANNdist ANN_DIST_INF = ANN_DBL_MAX; + +//---------------------------------------------------------------------- +// Significant digits for tree dumps: +// When floating point coordinates are used, the routine that dumps +// a tree needs to know roughly how many significant digits there +// are in a ANNcoord, so it can output points to full precision. +// This is defined to be ANNcoordPrec. On most systems these +// values can be found in the standard include files or +// . For integer types, the value is essentially ignored. +// +// ANNcoord ANNcoordPrec Values (see or ) +// -------- ------------ ------------------------------------ +// double DBL_DIG 15 +// float FLT_DIG 6 +// long doesn't matter 19 +// int doesn't matter 10 +// short doesn't matter 5 +//---------------------------------------------------------------------- + +#ifdef DBL_DIG // number of sig. bits in ANNcoord + const int ANNcoordPrec = DBL_DIG; +#else + const int ANNcoordPrec = 15; // default precision +#endif + +//---------------------------------------------------------------------- +// Self match? +// In some applications, the nearest neighbor of a point is not +// allowed to be the point itself. This occurs, for example, when +// computing all nearest neighbors in a set. By setting the +// parameter ANN_ALLOW_SELF_MATCH to ANNfalse, the nearest neighbor +// is the closest point whose distance from the query point is +// strictly positive. +//---------------------------------------------------------------------- + +const ANNbool ANN_ALLOW_SELF_MATCH = ANNtrue; + +//---------------------------------------------------------------------- +// Norms and metrics: +// ANN supports any Minkowski norm for defining distance. In +// particular, for any p >= 1, the L_p Minkowski norm defines the +// length of a d-vector (v0, v1, ..., v(d-1)) to be +// +// (|v0|^p + |v1|^p + ... + |v(d-1)|^p)^(1/p), +// +// (where ^ denotes exponentiation, and |.| denotes absolute +// value). The distance between two points is defined to be the +// norm of the vector joining them. Some common distance metrics +// include +// +// Euclidean metric p = 2 +// Manhattan metric p = 1 +// Max metric p = infinity +// +// In the case of the max metric, the norm is computed by taking +// the maxima of the absolute values of the components. ANN is +// highly "coordinate-based" and does not support general distances +// functions (e.g. those obeying just the triangle inequality). It +// also does not support distance functions based on +// inner-products. +// +// For the purpose of computing nearest neighbors, it is not +// necessary to compute the final power (1/p). Thus the only +// component that is used by the program is |v(i)|^p. +// +// ANN parameterizes the distance computation through the following +// macros. (Macros are used rather than procedures for +// efficiency.) Recall that the distance between two points is +// given by the length of the vector joining them, and the length +// or norm of a vector v is given by formula: +// +// |v| = ROOT(POW(v0) # POW(v1) # ... # POW(v(d-1))) +// +// where ROOT, POW are unary functions and # is an associative and +// commutative binary operator mapping the following types: +// +// ** POW: ANNcoord --> ANNdist +// ** #: ANNdist x ANNdist --> ANNdist +// ** ROOT: ANNdist (>0) --> double +// +// For early termination in distance calculation (partial distance +// calculation) we assume that POW and # together are monotonically +// increasing on sequences of arguments, meaning that for all +// v0..vk and y: +// +// POW(v0) #...# POW(vk) <= (POW(v0) #...# POW(vk)) # POW(y). +// +// Incremental Distance Calculation: +// The program uses an optimized method of computing distances for +// kd-trees and bd-trees, called incremental distance calculation. +// It is used when distances are to be updated when only a single +// coordinate of a point has been changed. In order to use this, +// we assume that there is an incremental update function DIFF(x,y) +// for #, such that if: +// +// s = x0 # ... # xi # ... # xk +// +// then if s' is equal to s but with xi replaced by y, that is, +// +// s' = x0 # ... # y # ... # xk +// +// then the length of s' can be computed by: +// +// |s'| = |s| # DIFF(xi,y). +// +// Thus, if # is + then DIFF(xi,y) is (yi-x). For the L_infinity +// norm we make use of the fact that in the program this function +// is only invoked when y > xi, and hence DIFF(xi,y)=y. +// +// Finally, for approximate nearest neighbor queries we assume +// that POW and ROOT are related such that +// +// v*ROOT(x) = ROOT(POW(v)*x) +// +// Here are the values for the various Minkowski norms: +// +// L_p: p even: p odd: +// ------------------------- ------------------------ +// POW(v) = v^p POW(v) = |v|^p +// ROOT(x) = x^(1/p) ROOT(x) = x^(1/p) +// # = + # = + +// DIFF(x,y) = y - x DIFF(x,y) = y - x +// +// L_inf: +// POW(v) = |v| +// ROOT(x) = x +// # = max +// DIFF(x,y) = y +// +// By default the Euclidean norm is assumed. To change the norm, +// uncomment the appropriate set of macros below. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Use the following for the Euclidean norm +//---------------------------------------------------------------------- +#define ANN_POW(v) ((v)*(v)) +#define ANN_ROOT(x) sqrt(x) +#define ANN_SUM(x,y) ((x) + (y)) +#define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for the L_1 (Manhattan) norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) fabs(v) +// #define ANN_ROOT(x) (x) +// #define ANN_SUM(x,y) ((x) + (y)) +// #define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for a general L_p norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) pow(fabs(v),p) +// #define ANN_ROOT(x) pow(fabs(x),1/p) +// #define ANN_SUM(x,y) ((x) + (y)) +// #define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for the L_infinity (Max) norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) fabs(v) +// #define ANN_ROOT(x) (x) +// #define ANN_SUM(x,y) ((x) > (y) ? (x) : (y)) +// #define ANN_DIFF(x,y) (y) + +//---------------------------------------------------------------------- +// Array types +// The following array types are of basic interest. A point is +// just a dimensionless array of coordinates, a point array is a +// dimensionless array of points. A distance array is a +// dimensionless array of distances and an index array is a +// dimensionless array of point indices. The latter two are used +// when returning the results of k-nearest neighbor queries. +//---------------------------------------------------------------------- + +typedef ANNcoord* ANNpoint; // a point +typedef ANNpoint* ANNpointArray; // an array of points +typedef ANNdist* ANNdistArray; // an array of distances +typedef ANNidx* ANNidxArray; // an array of point indices + +//---------------------------------------------------------------------- +// Basic point and array utilities: +// The following procedures are useful supplements to ANN's nearest +// neighbor capabilities. +// +// annDist(): +// Computes the (squared) distance between a pair of points. +// Note that this routine is not used internally by ANN for +// computing distance calculations. For reasons of efficiency +// this is done using incremental distance calculation. Thus, +// this routine cannot be modified as a method of changing the +// metric. +// +// Because points (somewhat like strings in C) are stored as +// pointers. Consequently, creating and destroying copies of +// points may require storage allocation. These procedures do +// this. +// +// annAllocPt() and annDeallocPt(): +// Allocate a deallocate storage for a single point, and +// return a pointer to it. The argument to AllocPt() is +// used to initialize all components. +// +// annAllocPts() and annDeallocPts(): +// Allocate and deallocate an array of points as well a +// place to store their coordinates, and initializes the +// points to point to their respective coordinates. It +// allocates point storage in a contiguous block large +// enough to store all the points. It performs no +// initialization. +// +// annCopyPt(): +// Creates a copy of a given point, allocating space for +// the new point. It returns a pointer to the newly +// allocated copy. +//---------------------------------------------------------------------- + +DLL_API ANNdist annDist( + int dim, // dimension of space + ANNpoint p, // points + ANNpoint q); + +DLL_API ANNpoint annAllocPt( + int dim, // dimension + ANNcoord c = 0); // coordinate value (all equal) + +DLL_API ANNpointArray annAllocPts( + int n, // number of points + int dim); // dimension + +DLL_API void annDeallocPt( + ANNpoint &p); // deallocate 1 point + +DLL_API void annDeallocPts( + ANNpointArray &pa); // point array + +DLL_API ANNpoint annCopyPt( + int dim, // dimension + ANNpoint source); // point to copy + +//---------------------------------------------------------------------- +//Overall structure: ANN supports a number of different data structures +//for approximate and exact nearest neighbor searching. These are: +// +// ANNbruteForce A simple brute-force search structure. +// ANNkd_tree A kd-tree tree search structure. ANNbd_tree +// A bd-tree tree search structure (a kd-tree with shrink +// capabilities). +// +// At a minimum, each of these data structures support k-nearest +// neighbor queries. The nearest neighbor query, annkSearch, +// returns an integer identifier and the distance to the nearest +// neighbor(s) and annRangeSearch returns the nearest points that +// lie within a given query ball. +// +// Each structure is built by invoking the appropriate constructor +// and passing it (at a minimum) the array of points, the total +// number of points and the dimension of the space. Each structure +// is also assumed to support a destructor and member functions +// that return basic information about the point set. +// +// Note that the array of points is not copied by the data +// structure (for reasons of space efficiency), and it is assumed +// to be constant throughout the lifetime of the search structure. +// +// The search algorithm, annkSearch, is given the query point (q), +// and the desired number of nearest neighbors to report (k), and +// the error bound (eps) (whose default value is 0, implying exact +// nearest neighbors). It returns two arrays which are assumed to +// contain at least k elements: one (nn_idx) contains the indices +// (within the point array) of the nearest neighbors and the other +// (dd) contains the squared distances to these nearest neighbors. +// +// The search algorithm, annkFRSearch, is a fixed-radius kNN +// search. In addition to a query point, it is given a (squared) +// radius bound. (This is done for consistency, because the search +// returns distances as squared quantities.) It does two things. +// First, it computes the k nearest neighbors within the radius +// bound, and second, it returns the total number of points lying +// within the radius bound. It is permitted to set k = 0, in which +// case it effectively answers a range counting query. If the +// error bound epsilon is positive, then the search is approximate +// in the sense that it is free to ignore any point that lies +// outside a ball of radius r/(1+epsilon), where r is the given +// (unsquared) radius bound. +// +// The generic object from which all the search structures are +// dervied is given below. It is a virtual object, and is useless +// by itself. +//---------------------------------------------------------------------- + +class DLL_API ANNpointSet { +public: + virtual ~ANNpointSet() {} // virtual distructor + + virtual void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0 // error bound + ) = 0; // pure virtual (defined elsewhere) + + virtual int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // query point + ANNdist sqRad, // squared radius + int k = 0, // number of near neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0 // error bound + ) = 0; // pure virtual (defined elsewhere) + + virtual int theDim() = 0; // return dimension of space + virtual int nPoints() = 0; // return number of points + // return pointer to points + virtual ANNpointArray thePoints() = 0; +}; + +//---------------------------------------------------------------------- +// Brute-force nearest neighbor search: +// The brute-force search structure is very simple but inefficient. +// It has been provided primarily for the sake of comparison with +// and validation of the more complex search structures. +// +// Query processing is the same as described above, but the value +// of epsilon is ignored, since all distance calculations are +// performed exactly. +// +// WARNING: This data structure is very slow, and should not be +// used unless the number of points is very small. +// +// Internal information: +// --------------------- +// This data structure bascially consists of the array of points +// (each a pointer to an array of coordinates). The search is +// performed by a simple linear scan of all the points. +//---------------------------------------------------------------------- + +class DLL_API ANNbruteForce: public ANNpointSet { + int dim; // dimension + int n_pts; // number of points + ANNpointArray pts; // point array +public: + ANNbruteForce( // constructor from point array + ANNpointArray pa, // point array + int n, // number of points + int dd); // dimension + + ~ANNbruteForce(); // destructor + + void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // query point + ANNdist sqRad, // squared radius + int k = 0, // number of near neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int theDim() // return dimension of space + { return dim; } + + int nPoints() // return number of points + { return n_pts; } + + ANNpointArray thePoints() // return pointer to points + { return pts; } +}; + +//---------------------------------------------------------------------- +// kd- and bd-tree splitting and shrinking rules +// kd-trees supports a collection of different splitting rules. +// In addition to the standard kd-tree splitting rule proposed +// by Friedman, Bentley, and Finkel, we have introduced a +// number of other splitting rules, which seem to perform +// as well or better (for the distributions we have tested). +// +// The splitting methods given below allow the user to tailor +// the data structure to the particular data set. They are +// are described in greater details in the kd_split.cc source +// file. The method ANN_KD_SUGGEST is the method chosen (rather +// subjectively) by the implementors as the one giving the +// fastest performance, and is the default splitting method. +// +// As with splitting rules, there are a number of different +// shrinking rules. The shrinking rule ANN_BD_NONE does no +// shrinking (and hence produces a kd-tree tree). The rule +// ANN_BD_SUGGEST uses the implementors favorite rule. +//---------------------------------------------------------------------- + +enum ANNsplitRule { + ANN_KD_STD = 0, // the optimized kd-splitting rule + ANN_KD_MIDPT = 1, // midpoint split + ANN_KD_FAIR = 2, // fair split + ANN_KD_SL_MIDPT = 3, // sliding midpoint splitting method + ANN_KD_SL_FAIR = 4, // sliding fair split method + ANN_KD_SUGGEST = 5}; // the authors' suggestion for best +const int ANN_N_SPLIT_RULES = 6; // number of split rules + +enum ANNshrinkRule { + ANN_BD_NONE = 0, // no shrinking at all (just kd-tree) + ANN_BD_SIMPLE = 1, // simple splitting + ANN_BD_CENTROID = 2, // centroid splitting + ANN_BD_SUGGEST = 3}; // the authors' suggested choice +const int ANN_N_SHRINK_RULES = 4; // number of shrink rules + +//---------------------------------------------------------------------- +// kd-tree: +// The main search data structure supported by ANN is a kd-tree. +// The main constructor is given a set of points and a choice of +// splitting method to use in building the tree. +// +// Construction: +// ------------- +// The constructor is given the point array, number of points, +// dimension, bucket size (default = 1), and the splitting rule +// (default = ANN_KD_SUGGEST). The point array is not copied, and +// is assumed to be kept constant throughout the lifetime of the +// search structure. There is also a "load" constructor that +// builds a tree from a file description that was created by the +// Dump operation. +// +// Search: +// ------- +// There are two search methods: +// +// Standard search (annkSearch()): +// Searches nodes in tree-traversal order, always visiting +// the closer child first. +// Priority search (annkPriSearch()): +// Searches nodes in order of increasing distance of the +// associated cell from the query point. For many +// distributions the standard search seems to work just +// fine, but priority search is safer for worst-case +// performance. +// +// Printing: +// --------- +// There are two methods provided for printing the tree. Print() +// is used to produce a "human-readable" display of the tree, with +// indenation, which is handy for debugging. Dump() produces a +// format that is suitable reading by another program. There is a +// "load" constructor, which constructs a tree which is assumed to +// have been saved by the Dump() procedure. +// +// Performance and Structure Statistics: +// ------------------------------------- +// The procedure getStats() collects statistics information on the +// tree (its size, height, etc.) See ANNperf.h for information on +// the stats structure it returns. +// +// Internal information: +// --------------------- +// The data structure consists of three major chunks of storage. +// The first (implicit) storage are the points themselves (pts), +// which have been provided by the users as an argument to the +// constructor, or are allocated dynamically if the tree is built +// using the load constructor). These should not be changed during +// the lifetime of the search structure. It is the user's +// responsibility to delete these after the tree is destroyed. +// +// The second is the tree itself (which is dynamically allocated in +// the constructor) and is given as a pointer to its root node +// (root). These nodes are automatically deallocated when the tree +// is deleted. See the file src/kd_tree.h for further information +// on the structure of the tree nodes. +// +// Each leaf of the tree does not contain a pointer directly to a +// point, but rather contains a pointer to a "bucket", which is an +// array consisting of point indices. The third major chunk of +// storage is an array (pidx), which is a large array in which all +// these bucket subarrays reside. (The reason for storing them +// separately is the buckets are typically small, but of varying +// sizes. This was done to avoid fragmentation.) This array is +// also deallocated when the tree is deleted. +// +// In addition to this, the tree consists of a number of other +// pieces of information which are used in searching and for +// subsequent tree operations. These consist of the following: +// +// dim Dimension of space +// n_pts Number of points currently in the tree +// n_max Maximum number of points that are allowed +// in the tree +// bkt_size Maximum bucket size (no. of points per leaf) +// bnd_box_lo Bounding box low point +// bnd_box_hi Bounding box high point +// splitRule Splitting method used +// +//---------------------------------------------------------------------- + + +//---------------------------------------------------------------------- +// Orthogonal (axis aligned) rectangle +// Orthogonal rectangles are represented by two points, one +// for the lower left corner (min coordinates) and the other +// for the upper right corner (max coordinates). +// +// The constructor initializes from either a pair of coordinates, +// pair of points, or another rectangle. Note that all constructors +// allocate new point storage. The destructor deallocates this +// storage. +// +// BEWARE: Orthogonal rectangles should be passed ONLY BY REFERENCE. +// (C++'s default copy constructor will not allocate new point +// storage, then on return the destructor free's storage, and then +// you get into big trouble in the calling procedure.) +//---------------------------------------------------------------------- + +class ANNorthRect { +public: + ANNpoint lo; // rectangle lower bounds + ANNpoint hi; // rectangle upper bounds +// + ANNorthRect( // basic constructor + int dd, // dimension of space + ANNcoord l=0, // default is empty + ANNcoord h=0) + { lo = annAllocPt(dd, l); hi = annAllocPt(dd, h); } + + ANNorthRect( // (almost a) copy constructor + int dd, // dimension + const ANNorthRect &r) // rectangle to copy + { lo = annCopyPt(dd, r.lo); hi = annCopyPt(dd, r.hi); } + + ANNorthRect( // construct from points + int dd, // dimension + ANNpoint l, // low point + ANNpoint h) // hight point + { lo = annCopyPt(dd, l); hi = annCopyPt(dd, h); } + + ~ANNorthRect() // destructor + { annDeallocPt(lo); annDeallocPt(hi); } + + ANNbool inside(int dim, ANNpoint p);// is point p inside rectangle? +}; + +void annAssignRect( // assign one rect to another + int dim, // dimension (both must be same) + ANNorthRect &dest, // destination (modified) + const ANNorthRect &source); // source + +//---------------------------------------------------------------------- +// Some types and objects used by kd-tree functions +// See src/kd_tree.h and src/kd_tree.cpp for definitions +//---------------------------------------------------------------------- +class ANNkdStats; // stats on kd-tree +//class ANNkd_node; // generic node in a kd-tree + +//---------------------------------------------------------------------- +// Generic kd-tree node +// +// Nodes in kd-trees are of two types, splitting nodes which contain +// splitting information (a splitting hyperplane orthogonal to one +// of the coordinate axes) and leaf nodes which contain point +// information (an array of points stored in a bucket). This is +// handled by making a generic class kd_node, which is essentially an +// empty shell, and then deriving the leaf and splitting nodes from +// this. +//---------------------------------------------------------------------- + +class ANNkd_node{ // generic kd-tree node (empty shell) +public: + virtual ~ANNkd_node() {} // virtual distroyer + + virtual void ann_search(ANNdist) = 0; // tree search + virtual void ann_pri_search(ANNdist) = 0; // priority search + virtual void ann_FR_search(ANNdist) = 0; // fixed-radius search + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box) = 0; // bounding box + // print node + virtual void print(int level, std::ostream &out) = 0; + virtual void dump(std::ostream &out) = 0; // dump node + virtual bool isLeaf() {return false;} //Deyuan Qiu + + friend class ANNkd_tree; // allow kd-tree to access us +}; + +typedef ANNkd_node* ANNkd_ptr; // pointer to a kd-tree node + +class DLL_API ANNkd_tree: public ANNpointSet { +protected: + int dim; // dimension of space + int n_pts; // number of points in tree + int bkt_size; // bucket size + ANNpointArray pts; // the points + ANNidxArray pidx; // point indices (to pts array) + ANNkd_ptr root; // root of kd-tree + ANNpoint bnd_box_lo; // bounding box low point + ANNpoint bnd_box_hi; // bounding box high point + + void SkeletonTree( // construct skeleton tree + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNpointArray pa = NULL, // point array (optional) + ANNidxArray pi = NULL); // point indices (optional) + +public: + ANNkd_tree( // build skeleton tree + int n = 0, // number of points + int dd = 0, // dimension + int bs = 1); // bucket size + + ANNkd_tree( // build from point array + ANNpointArray pa, // point array + int n, // number of points + int dd, // dimension + int bs = 1, // bucket size + ANNsplitRule split = ANN_KD_SUGGEST); // splitting method + + ANNkd_tree( // build from dump file + std::istream& in); // input stream for dump file + + ~ANNkd_tree(); // tree destructor + + void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + void annkPriSearch( // priority k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // the query point + ANNdist sqRad, // squared radius of query ball + int k, // number of neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int theDim() // return dimension of space + { return dim; } + + int nPoints() // return number of points + { return n_pts; } + + ANNpointArray thePoints() // return pointer to points + { return pts; } + + virtual void Print( // print the tree (for debugging) + ANNbool with_pts, // print points as well? + std::ostream& out); // output stream + + virtual void Dump( // dump entire tree + ANNbool with_pts, // print points as well? + std::ostream& out); // output stream + + virtual void getStats( // compute tree statistics + ANNkdStats& st); // the statistics (modified) + + ANNkd_ptr getRoot() //Deyuan Qiu + { return root; } +}; + +//---------------------------------------------------------------------- +// Box decomposition tree (bd-tree) +// The bd-tree is inherited from a kd-tree. The main difference +// in the bd-tree and the kd-tree is a new type of internal node +// called a shrinking node (in the kd-tree there is only one type +// of internal node, a splitting node). The shrinking node +// makes it possible to generate balanced trees in which the +// cells have bounded aspect ratio, by allowing the decomposition +// to zoom in on regions of dense point concentration. Although +// this is a nice idea in theory, few point distributions are so +// densely clustered that this is really needed. +//---------------------------------------------------------------------- + +class DLL_API ANNbd_tree: public ANNkd_tree { +public: + ANNbd_tree( // build skeleton tree + int n, // number of points + int dd, // dimension + int bs = 1) // bucket size + : ANNkd_tree(n, dd, bs) {} // build base kd-tree + + ANNbd_tree( // build from point array + ANNpointArray pa, // point array + int n, // number of points + int dd, // dimension + int bs = 1, // bucket size + ANNsplitRule split = ANN_KD_SUGGEST, // splitting rule + ANNshrinkRule shrink = ANN_BD_SUGGEST); // shrinking rule + + ANNbd_tree( // build from dump file + std::istream& in); // input stream for dump file +}; + +//---------------------------------------------------------------------- +// Other functions +// annMaxPtsVisit Sets a limit on the maximum number of points +// to visit in the search. +// annClose Can be called when all use of ANN is finished. +// It clears up a minor memory leak. +//---------------------------------------------------------------------- + +DLL_API void annMaxPtsVisit( // max. pts to visit in search + int maxPts); // the limit + +DLL_API void annClose(); // called to end use of ANN + +#endif diff --git a/.svn/pristine/54/54291e817600411fbadfc4cd7263f11e07f46822.svn-base b/.svn/pristine/54/54291e817600411fbadfc4cd7263f11e07f46822.svn-base new file mode 100644 index 0000000..5fb13d9 --- /dev/null +++ b/.svn/pristine/54/54291e817600411fbadfc4cd7263f11e07f46822.svn-base @@ -0,0 +1,9 @@ +IF (WITH_DAVID_3D_SCANNER) + + FIND_PACKAGE(OpenCV REQUIRED ) + + add_executable(david_scanner david_scanner.cc ) + target_link_libraries(david_scanner ${OpenCV_LIBS} ) + + +ENDIF(WITH_DAVID_3D_SCANNER) diff --git a/.svn/pristine/54/544f0b181429254ad2d01b2e40e45f527cc26918.svn-base b/.svn/pristine/54/544f0b181429254ad2d01b2e40e45f527cc26918.svn-base new file mode 100644 index 0000000..157056b --- /dev/null +++ b/.svn/pristine/54/544f0b181429254ad2d01b2e40e45f527cc26918.svn-base @@ -0,0 +1,88 @@ +//$$ cholesky.cpp cholesky decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,14); ++ExeCount; } +#else +#define REPORT {} +#endif + +/********* Cholesky decomposition of a positive definite matrix *************/ + +// Suppose S is symmetrix and positive definite. Then there exists a unique +// lower triangular matrix L such that L L.t() = S; + +inline Real square(Real x) { return x*x; } + +ReturnMatrix Cholesky(const SymmetricMatrix& S) +{ + REPORT + Tracer trace("Cholesky"); + int nr = S.Nrows(); + LowerTriangularMatrix T(nr); + Real* s = S.Store(); Real* t = T.Store(); Real* ti = t; + for (int i=0; i + +static inline CvMat *mat3D() { return cvCreateMat(3,1,CV_32FC1); } + +static CvMat *matFromP3D(CvPoint3D32f p) { + CvMat *m = mat3D(); + CV_MAT_ELEM(*m, float, 0, 0) = p.x; + CV_MAT_ELEM(*m, float, 1, 0) = p.y; + CV_MAT_ELEM(*m, float, 2, 0) = p.z; + return m; +} + + +// union vectors from point correspondaces (as in Horn method) +static void constructXYZ( CvMat *p1, CvMat *p2, CvMat *p3 + , CvMat *x, CvMat *y, CvMat *z) { + CvMat *p2Mp1 = mat3D(); + cvSub(p2, p1, p2Mp1, NULL); + cvConvertScale(p2Mp1, x, 1.0/cvNorm(p2Mp1, NULL, CV_L2, NULL), 0); + + CvMat *p3Mp1 = mat3D(); + cvSub(p3, p1, p3Mp1, NULL); + CvMat *ySndItem = mat3D(); + cvConvertScale(x, ySndItem, cvDotProduct(p3Mp1, x), NULL); + CvMat *ySub = mat3D(); + cvSub(p3Mp1, ySndItem, ySub); + cvConvertScale(ySub, y, 1.0/cvNorm(ySub, NULL, CV_L2, NULL), 0); + + cvCrossProduct(x, y, z); + + cvReleaseMat(&p2Mp1); + cvReleaseMat(&p3Mp1); + cvReleaseMat(&ySndItem); + cvReleaseMat(&ySub); +} + +static void fillM(CvMat *m, CvMat *x, CvMat *y, CvMat *z) { + CV_MAT_ELEM(*m, float, 0, 0) = CV_MAT_ELEM(*x, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 0) = CV_MAT_ELEM(*x, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 0) = CV_MAT_ELEM(*x, float, 2, 0); + CV_MAT_ELEM(*m, float, 0, 1) = CV_MAT_ELEM(*y, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 1) = CV_MAT_ELEM(*y, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 1) = CV_MAT_ELEM(*y, float, 2, 0); + CV_MAT_ELEM(*m, float, 0, 2) = CV_MAT_ELEM(*z, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 2) = CV_MAT_ELEM(*z, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 2) = CV_MAT_ELEM(*z, float, 2, 0); +} + + +// Horn's fast method +void estimatePose3D(CvPoint3D32f *prev, CvPoint3D32f *curr, CvMat *rot, CvMat *trn) { + CvMat *x1 = mat3D(); + CvMat *y1 = mat3D(); + CvMat *z1 = mat3D(); + CvMat *x2 = mat3D(); + CvMat *y2 = mat3D(); + CvMat *z2 = mat3D(); + CvMat *p1 = matFromP3D(prev[0]); + CvMat *p2 = matFromP3D(prev[1]); + CvMat *p3 = matFromP3D(prev[2]); + CvMat *c1 = matFromP3D(curr[0]); + CvMat *c2 = matFromP3D(curr[1]); + CvMat *c3 = matFromP3D(curr[2]); + + constructXYZ(p1, p2, p3, x1, y1, z1); + constructXYZ(c1, c2, c3, x2, y2, z2); + CvMat *m1 = cvCreateMat(3, 3, CV_32FC1); + CvMat *m2 = cvCreateMat(3, 3, CV_32FC1); + fillM(m2, x2, y2, z2); + fillM(m1, x1, y1, z1); + CvMat *rotM = cvCreateMat(3, 3, CV_32FC1); + cvGEMM(m1, m2, 1.0, NULL, 1.0, rotM, CV_GEMM_B_T); + + CvMat *rp1 = mat3D(); + cvGEMM(rotM, p1, 1.0, NULL, 1.0, rp1, 0); + CvMat *rp2 = mat3D(); + cvGEMM(rotM, p2, 1.0, NULL, 1.0, rp2, 0); + CvMat *rp3 = mat3D(); + cvGEMM(rotM, p3, 1.0, NULL, 1.0, rp3, 0); + CvMat *rp12 = mat3D(); + cvAdd(rp1, rp2, rp12, NULL); + CvMat *rp123 = mat3D(); + cvAdd(rp12, rp3, rp123, NULL); + CvMat *c12 = mat3D(); + cvAdd(c1, c2, c12, NULL); + CvMat *c123 = mat3D(); + cvAdd(c12, c3, c123, NULL); + CvMat *cg1 = mat3D(); + CvMat *cg2 = mat3D(); + cvConvertScale(c123, cg2, 1.0/3.0, 0.0); + cvConvertScale(rp123, cg1, 1.0/3.0, 0.0); + cvSub(cg2, cg1, trn, NULL); + cvRodrigues2(rotM, rot, NULL); + + cvReleaseMat(&x1); + cvReleaseMat(&y1); + cvReleaseMat(&z1); + cvReleaseMat(&x2); + cvReleaseMat(&y2); + cvReleaseMat(&z2); + cvReleaseMat(&p1); + cvReleaseMat(&p2); + cvReleaseMat(&p3); + cvReleaseMat(&c1); + cvReleaseMat(&c2); + cvReleaseMat(&c3); + cvReleaseMat(&m1); + cvReleaseMat(&m2); + cvReleaseMat(&rotM); + cvReleaseMat(&rp1); + cvReleaseMat(&rp2); + cvReleaseMat(&rp3); + cvReleaseMat(&rp12); + cvReleaseMat(&rp123); + cvReleaseMat(&c12); + cvReleaseMat(&c12); + cvReleaseMat(&cg1); + cvReleaseMat(&cg2); + //FIXME: mb missed smthg :P +} diff --git a/.svn/pristine/54/54f696f7cee5fc1d40ee5bbb83a55b6ad11eb807.svn-base b/.svn/pristine/54/54f696f7cee5fc1d40ee5bbb83a55b6ad11eb807.svn-base new file mode 100644 index 0000000..e283f30 --- /dev/null +++ b/.svn/pristine/54/54f696f7cee5fc1d40ee5bbb83a55b6ad11eb807.svn-base @@ -0,0 +1,240 @@ +#IncludeRegexLine: ^[ ]*#[ ]*(include|import)[ ]*[<"]([^">]+)([">]) + +#IncludeRegexScan: ^.*$ + +#IncludeRegexComplain: ^$ + +#IncludeRegexTransform: + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvaux.cpp +cmath +- +cv.h +- +opencv/cv.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.cpp +cmath +- +iostream +- +cv.h +- +highgui.h +- +opencv/cv.h +- +opencv/highgui.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h +iostream +- +map +- +list +- +vector +- +limits +- +cv.h +- +opencv/cv.h +- + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvcolor.cpp +cmath +- +iostream +- +cv.h +- +opencv/cv.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvcontour.cpp +climits +- +cmath +- +deque +- +iostream +- +fstream +- +sstream +- +cv.h +- +opencv/cv.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvlabel.cpp +stdexcept +- +iostream +- +cv.h +- +opencv/cv.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvtrack.cpp +cmath +- +iostream +- +sstream +- +cv.h +- +opencv/cv.h +- +cvblob.h +/home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob/cvblob.h + +/usr/include/opencv/cv.h +chdl.h +- +cxcore.h +/usr/include/opencv/cxcore.h +cvtypes.h +/usr/include/opencv/cvtypes.h +cv.hpp +/usr/include/opencv/cv.hpp +cvcompat.h +/usr/include/opencv/cvcompat.h + +/usr/include/opencv/cv.hpp + +/usr/include/opencv/cvcompat.h +string.h +- + +/usr/include/opencv/cvtypes.h +assert.h +- +stdlib.h +- + +/usr/include/opencv/cvver.h + +/usr/include/opencv/cxcore.h +ipl.h +/usr/include/opencv/ipl.h +ipl/ipl.h +/usr/include/opencv/ipl/ipl.h +cxtypes.h +/usr/include/opencv/cxtypes.h +cxerror.h +/usr/include/opencv/cxerror.h +cvver.h +/usr/include/opencv/cvver.h +cxcore.hpp +/usr/include/opencv/cxcore.hpp + +/usr/include/opencv/cxcore.hpp +cxmisc.h +/usr/include/opencv/cxmisc.h +algorithm +- +cmath +- +complex +- +map +- +new +- +string +- +vector +- +cxoperations.hpp +/usr/include/opencv/cxoperations.hpp +cxmat.hpp +/usr/include/opencv/cxmat.hpp +cxflann.h +/usr/include/opencv/cxflann.h + +/usr/include/opencv/cxerror.h + +/usr/include/opencv/cxflann.h + +/usr/include/opencv/cxmat.hpp +limits.h +- + +/usr/include/opencv/cxmisc.h +limits.h +- +malloc.h +- +alloca.h +- +stdlib.h +- + +/usr/include/opencv/cxoperations.hpp +string.h +- +limits.h +- +ext/atomicity.h +- +bits/atomicity.h +- +windows.h +/usr/include/opencv/windows.h + +/usr/include/opencv/cxtypes.h +assert.h +- +stdlib.h +- +string.h +- +float.h +- +stdint.h +- +intrin.h +- +emmintrin.h +- +fastmath.h +- +math.h +- +ipl.h +- +ipl/ipl.h +- + +/usr/include/opencv/highgui.h +cxcore.h +/usr/include/opencv/cxcore.h +windows.h +- +chdl.h +- +highgui.hpp +/usr/include/opencv/highgui.hpp + +/usr/include/opencv/highgui.hpp + diff --git a/.svn/pristine/54/54fd85560098ca1f02266e7850b590632f060be5.svn-base b/.svn/pristine/54/54fd85560098ca1f02266e7850b590632f060be5.svn-base new file mode 100644 index 0000000..01ded9d --- /dev/null +++ b/.svn/pristine/54/54fd85560098ca1f02266e7850b590632f060be5.svn-base @@ -0,0 +1,209 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +void WillNotConverge() +{ + Matrix A(10,10); + Throw(ConvergenceException(A)); +} + +void ReSizeMatrix(Matrix& A) +// for seeing if we can redimension a vector as a matrix +{ A.ReSize(4,5); } + +void trymati() +{ +#ifndef DisableExceptions + Tracer et("Eighteenth test of Matrix package"); + Matrix RUStillThere(10,20); RUStillThere = 1553; + Tracer::PrintTrace(); + + ColumnVector checks(23); checks = 1.0; checks(1) = 0.0; + + Try { WillNotConverge(); } + Catch(ConvergenceException) { checks(2) = 0; } + CatchAll { checks(1) = 1; } + + + Try { Matrix M(10,10); SymmetricMatrix S = M; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(3) = 0; } + CatchAll { checks(1) = 1; } + + + Try { Matrix M(10,10); M(10,11) = 2.0; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IndexException) { checks(4) = 0; } + CatchAll { checks(1) = 1; } + + Try { Matrix M(10,10); M = 0.0; M = M.i(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(SingularException) { checks(5) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { ColumnVector A(30), B(50); A = 5; B = 3; FFT(A,B,A,B); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(6) = 0; } + CatchAll { checks(1) = 1; } + + Try + { + ColumnVector A(30); A = 5; Matrix At = A.t(); + DiagonalMatrix D; + SVD(At,D); + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(Logic_error) { checks(6) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { BandMatrix X(10,3,4); X(1,10) = 4.0; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IndexException) { checks(7) = 0; } + CatchAll { checks(1) = 1; } + + Try + { + SymmetricMatrix S(10); S = 5; + LowerTriangularMatrix L = Cholesky(S); + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(NPDException) { checks(8) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { BandMatrix M(10,3,5); M = 0.0; Matrix XM = M.i(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(SingularException) { checks(9) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { ColumnVector X(10); ColumnVector Y; X = 5; X = X - Y; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IncompatibleDimensionsException) { checks(10) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try + { + UpperTriangularMatrix U(3); RowVector RV(3); RV = 10; + U.Row(2) = RV; + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(11) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { DiagonalMatrix D(3); D << 12 << 13 << 14 << 15; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(12) = 0; } + CatchAndThrow; + + Try { ColumnVector D(3); D << 12 << 13; D << 1 << 2 << 3; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(13) = 0; } + CatchAndThrow; + + + Try { { ColumnVector D(3); D << 12 << 13; } } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(14) = 0; } + CatchAndThrow; + + Try { ColumnVector CV; ReSizeMatrix(CV); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(VectorException) { checks(15) = 0; } + CatchAndThrow; + + Try { RowVector RV(20); ReSizeMatrix(RV); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(VectorException) { checks(16) = 0; } + CatchAndThrow; + + Try + { + UpperTriangularMatrix U(10); U = 5; + DiagonalMatrix D(10); D = 2; + D += U; // illegal conversion + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(17) = 0; } + CatchAndThrow; + + Try { Matrix A(2,3), B(2,3); if (A < B) A = B; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(NotDefinedException) { checks(18) = 0; } + CatchAndThrow; + + Try { SymmetricBandMatrix A(3,1); A = 1; A = A.Reverse(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(NotDefinedException) { checks(19) = 0; } + CatchAndThrow; + + Try + { + Matrix A(5,5); A = 1.0; + UpperTriangularMatrix B(10); + B.SubMatrix(3,7,3,7) = A; + } + Catch(ProgramException) { checks(20) = 0; } + CatchAndThrow; + + Try { { RowVector D(1); D << 12 << 13; } } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(21) = 0; } + CatchAndThrow; + + Try { { RowVector D(0); D << 12; } } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(22) = 0; } + CatchAndThrow; + + Try { Matrix M(10,10); Matrix XM(3,3); M = 0.0; XM = M.i(); } + Catch(SingularException) { checks(23) = 0; } + CatchAll { checks(1) = 1; } + + Print(checks); + Matrix RUStillThere1(10,20); RUStillThere1 = 1553; + RUStillThere = RUStillThere - RUStillThere1; + Print(RUStillThere); +#endif + +} + + + diff --git a/.svn/pristine/55/55c32b784ae23c7e76eb9fb6d0d3d9f6caceeddb.svn-base b/.svn/pristine/55/55c32b784ae23c7e76eb9fb6d0d3d9f6caceeddb.svn-base new file mode 100644 index 0000000..79dba27 --- /dev/null +++ b/.svn/pristine/55/55c32b784ae23c7e76eb9fb6d0d3d9f6caceeddb.svn-base @@ -0,0 +1,368 @@ +/** + * @file graphicsAlg.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 18 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/graphicsAlg.h" + +#include "model/scene.h" + +#include +#include + +using namespace std; + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +template +void model::GraphicsAlg::alpha_edges(InputIterator begin, InputIterator end, + const Type& Alpha, + bool mode, + OutputIterator out) +{ + Alpha_shape_2 shape(begin, end); + + if (mode) { + shape.set_mode(Alpha_shape_2::GENERAL); + } + else { + shape.set_mode(Alpha_shape_2::REGULARIZED); + } + + shape.set_alpha(Alpha); + + for(Alpha_shape_edges_iterator it = shape.alpha_shape_edges_begin(); + it != shape.alpha_shape_edges_end(); ++it) + { + *out++ = shape.segment(*it); + } +} + +// to be used to sort the pairs in the clockwiseSort method +bool compare(pair left, pair right) { + // we want to order clockwise, so we should compare the other way around + return left.first > right.first; +} + +void model::GraphicsAlg::clockwiseSort(vector& planes) { + if (planes.size() <= 2) { + return; + } + + // to be returned at the end + vector result; + + // first compute the center of gravity of the given planes + Point3d cog; + for (unsigned int i = 0; i < planes.size(); ++i) { + cog += planes[i].pt; + } + cog /= planes.size(); + + // keep the angle of each plane wrt to the center of gravity + // also keep and index with the position of the plane in the original vector + vector > angles; + + // compute each angle and add it to the angles vector alongside the index + for (unsigned int i = 0; i < planes.size(); ++i) { + double angle = atan2(planes[i].pt.z - cog.z, planes[i].pt.x - cog.x); + angles.push_back(make_pair(angle, i)); + } + + // use stl sort + sort(angles.begin(), angles.end(), compare); + + // construct the result + for (unsigned int i = 0; i < angles.size(); ++i) { + result.push_back(planes[angles[i].second]); + } + + // copy result into planes + planes = result; +} + +vector model::GraphicsAlg::getConcaveHull(std::vector planes) { + if (planes.size() <= 3) { + return planes; + } + + const double eps = 0.1; + vector result; + vector verticalPlanes; + + // CGAL datatypes + list points; + vector segments; + + // keep vertical planes + for (vector::iterator it = planes.begin(); + it < planes.end(); ++it) + { + if (it->isVertical()) { + verticalPlanes.push_back(*it); + } + } + + // free a bit of memory + planes.clear(); + + // collect all the remaining planes as CGAL points + for (vector::iterator it = verticalPlanes.begin(); + it < verticalPlanes.end(); ++it) + { + Point toAdd(it->pt.x, it->pt.z); + points.push_back(toAdd); + } + + // XXX compute the concave hull, aka. the alpha edges + alpha_edges(points.begin(), points.end(), + Type(250000), Alpha_shape_2::GENERAL, + std::back_inserter(segments)); + + if (!quiet) cout << "** " << segments.size() << " concave hull segments found" << endl; + + // counts how many planes are rematched to make sure we find them again + unsigned int counter = 0; + + // XXX naive retrieval of planes + Point3d center; + vector possiblePoints; + for (vector::iterator it = segments.begin(); + it < segments.end(); ++it) + { + Point source = it->source(); + Point target = it->target(); + + center.x += source.x(); + center.z += source.y(); + center.x += target.x(); + center.z += target.y(); + + possiblePoints.push_back(source); + possiblePoints.push_back(target); + } + center /= possiblePoints.size(); + + // match the points found using alpha shapes, back to their planes + for (vector::iterator it = possiblePoints.begin(); it < possiblePoints.end(); ++it) { + for (vector::iterator jt = verticalPlanes.begin(); jt < verticalPlanes.end(); ++jt) { + // second coordinate is on the z axis in the left handed coord system + if ((it->x() >= jt->pt.x - eps) && (it->x() <= jt->pt.x + eps) && + (it->y() >= jt->pt.z - eps) && (it->y() <= jt->pt.z + eps)) + { + result.push_back(*jt); + verticalPlanes.erase(jt); + counter++; + break; + } + } + } + + // eliminate duplicate planes + result = Scene::getSignificantPlanes(result); + + // sort them clockwise, it is in place + clockwiseSort(result); + + // another threshold for deciding whether to keep a plane or not + double eps2 = 0.2; + + // discard internal walls that are not part of the external walls of the room + for (vector::iterator it = result.begin() + 1; + it < result.end(); ++it) + { + vector::iterator prev = it - 1; + vector::iterator curr = it; + + // normalize normals just to be sure + prev->normal.normalize(); + curr->normal.normalize(); + + if ((1.0 - fabs(prev->normal.dotProduct(curr->normal))) < eps2) { + if (fabs(center.distance(*prev)) < fabs(center.distance(*curr))) { + if (!quiet) cout << "** Discarding previous internal plane centered at " + << prev->pt.x << " " << prev->pt.y << " " << prev->pt.z + << endl; + result.erase(prev); + } else { + if (!quiet) cout << "** Discarding current internal plane centered at " + << curr->pt.x << " " << curr->pt.y << " " << curr->pt.z + << endl; + result.erase(curr); + } + } + } + + if (!quiet) cout << "** Added " << result.size() << " elements to concave hull result" << endl; + + return result; +} + +void model::GraphicsAlg::getDiscreteLine(Point3d src, Point3d dest, double precision, const double& extraDist, + vector& line) +{ + // clear the result just in case it contains something + line.clear(); + + // add the extra distance + double len = src.distance(dest); + double temp = (len + extraDist) / len; + dest.x = src.x + (dest.x - src.x) * temp; + dest.y = src.y + (dest.y - src.y) * temp; + dest.z = src.z + (dest.z - src.z) * temp; + + // round up the values + precision = round(precision); + + src.x = round(src.x); + src.y = round(src.y); + src.z = round(src.z); + + dest.x = round(dest.x); + dest.y = round(dest.y); + dest.z = round(dest.z); + + // adjust according to precision + const double coef = pow(10.0, precision); + src *= coef; + dest *= coef; + +// Point3d diff = dest - src; +// diff.x = fabs(diff.x); +// diff.y = fabs(diff.y); +// diff.z = fabs(diff.z); +// diff += Point3d(1.0, 1.0, 1.0); +// double temp[] = {diff.x, diff.y, diff.z}; +// +// double d = *max_element(temp, temp + 3); + + double x1 = src.x; + double y1 = src.y; + double z1 = src.z; + + double x2 = dest.x; + double y2 = dest.y; + double z2 = dest.z; + + double dx = x2 - x1; + double dy = y2 - y1; + double dz = z2 - z1; + + double ax = 2 * fabs(dx); + double ay = 2 * fabs(dy); + double az = 2 * fabs(dz); + + double sx = dx > 0 ? +1.0 : -1.0; + double sy = dy > 0 ? +1.0 : -1.0; + double sz = dz > 0 ? +1.0 : -1.0; + + double x = x1; + double y = y1; + double z = z1; + + if (ax >= max(ay, az)) { + // x dominant + double yd = ay - ax / 2.0; + double zd = az - ax / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (x == x2) { + break; + } + + // move along y + if (yd >= 0) { + y += sy; + yd -= ax; + } + + // move along z + if (zd >= 0) { + z += sz; + zd -= ax; + } + + // move along x + x += sx; + yd += ay; + zd += az; + } + } else if (ay >= max(ax, az)) { + // y dominant + double xd = ax - ay / 2.0; + double zd = az - ay / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (y == y2) { + break; + } + + // move along x + if (xd >= 0) { + x += sx; + xd -= ay; + } + + // move along z + if (zd >= 0) { + z += sz; + zd -= ay; + } + + // move along y + y += sy; + xd += ax; + zd += az; + } + } else if (az >= max(ax, ay)) { + // z dominant + double xd = ax - az / 2.0; + double yd = ay - az / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (z == z2) { + break; + } + + // move along x + if (xd >= 0) { + x += sx; + xd -= az; + } + + // move along y + if (yd >= 0) { + y += sy; + yd -= az; + } + + // move along x + z += sz; + xd += ax; + yd += ay; + } + } else { + throw logic_error("invalid branch taken while computing discrete line"); + } + + for (vector::iterator it = line.begin(); it != line.end(); ++it) { + it->x /= coef; + it->y /= coef; + it->z /= coef; + } +} diff --git a/.svn/pristine/55/55cdb4c8f35086ef92bdd6432b628e418257ae5c.svn-base b/.svn/pristine/55/55cdb4c8f35086ef92bdd6432b628e418257ae5c.svn-base new file mode 100644 index 0000000..7758d29 --- /dev/null +++ b/.svn/pristine/55/55cdb4c8f35086ef92bdd6432b628e418257ae5c.svn-base @@ -0,0 +1,210 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: geometry.cpp +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "geometry.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#include "wx/things/geometry.h" + +/* +2.4 : How do I generate a circle through three points? +Let the three given points be a, b, c. Use _0 and _1 to represent x and y coordinates. The coordinates of the center p=(p_0,p_1) of the circle determined by a, b, and c are: +A = b_0 - a_0; B = b_1 - a_1; C = c_0 - a_0; D = c_1 - a_1; +E = A*(a_0 + b_0) + B*(a_1 + b_1); F = C*(a_0 + c_0) + D*(a_1 + c_1); +G = 2.0*(A*(c_1 - b_1)-B*(c_0 - b_0)); +p_0 = (D*E - B*F) / G; p_1 = (A*F - C*E) / G; +If G is zero then the three points are collinear and no finite-radius circle through them exists. Otherwise, the radius of the circle is: +r^2 = (a_0 - p_0)^2 + (a_1 - p_1)^2 +[O' Rourke (C)] p. 201. Simplified by Jim Ward. +*/ + +wxCircleDouble::wxCircleDouble(const wxPoint2DDouble &p1, + const wxPoint2DDouble &p2, + const wxPoint2DDouble &p3) +{ + wxDouble A = p2.m_x - p1.m_x, + B = p2.m_y - p1.m_y, + C = p3.m_x - p1.m_x, + D = p3.m_y - p1.m_y; + + wxDouble E = A*(p1.m_x + p2.m_x) + B*(p1.m_y + p2.m_y), + F = C*(p1.m_x + p3.m_x) + D*(p1.m_y + p3.m_y), + G = 2.0*(A*(p3.m_y - p2.m_y)-B*(p3.m_x - p2.m_x)); + + if (G == 0) + { + m_x = m_y = m_r = 0; + return; + } + + m_x = (D*E - B*F) / G, + m_y = (A*F - C*E) / G; + m_r = sqrt( (p1.m_x - m_x)*(p1.m_x - m_x) + (p1.m_y - m_y)*(p1.m_y - m_y) ); +} + +int wxCircleDouble::IntersectLine( const wxRay2DDouble &line, + wxPoint2DDouble *pt1, + wxPoint2DDouble *pt2 ) const +{ + //if (line.GetDistanceToPoint(m_origin) > m_r) return 0; + + wxDouble l1_x = m_x-m_r, l1_y = line.GetYFromX(l1_x); + wxDouble l2_x = m_x+m_r, l2_y = line.GetYFromX(l2_x); + + // quick check to see it it intersects at all + //wxDouble top = m_origin.m_y-m_r, bot = m_origin.m_y+m_r; + //if (((l1_y < top)&&(l2_y < top))||((l1_y > bot)&&(l2_y > bot))) return 0; + + wxDouble l2_l1_x = l2_x - l1_x, l2_l1_y = l2_y - l1_y; + + wxDouble a = l2_l1_x*l2_l1_x + l2_l1_y*l2_l1_y; + wxDouble b = 2.0 * (l2_l1_x * (l1_x - m_x) + l2_l1_y * (l1_y - m_y) ); + + wxDouble c = m_x*m_x + m_y*m_y + l1_x*l1_x + l1_y*l1_y - 2.0*(m_x*l1_x + m_y*l1_y) - m_r*m_r; + wxDouble det = b*b - 4.0*a*c; + + if ( det < 0 ) + { + return 0; + } + else if ( det == 0 ) + { + if (pt1) + { + wxDouble u = -b/(2.0*a); + pt1->m_x = l2_x + u*l2_l1_x; + pt1->m_y = l2_y + u*l2_l1_y; + } + return 1; + } + // else det > 0 so 2 points intersect + wxDouble e = sqrt(det); + + if (pt1) + { + wxDouble u1 = (-b - e)/( 2.0*a ); + pt1->m_x = l1_x + u1*l2_l1_x; + pt1->m_y = l1_y + u1*l2_l1_y; + } + if (pt2) + { + wxDouble u2 = (-b + e)/( 2.0*a ); + pt2->m_x = l1_x + u2*l2_l1_x; + pt2->m_y = l1_y + u2*l2_l1_y; + } + + return 2; +} + + + + + + + + +/* +int wxEllipseInt::IntersectLine( const wxLine2DInt &line, + wxPoint2DInt &pt1, + wxPoint2DInt &pt2 ) const +{ + + //Intersection.intersectEllipseLine = function(c, rx, ry, a1, a2) { + //var result; + //line.m_pt // var origin = new Vector2D(a1.x, a1.y); + wxPoint2DInt dir = pt2 - p21; // var dir = Vector2D.fromPoints(a1, a2); + //m_origin //var center = new Vector2D(c.x, c.y); + wxPoint2DInt diff = line.m_pt - m_origin; //var diff = origin.subtract(center); + + //var mDir = new Vector2D( dir.x/(rx*rx), dir.y/(ry*ry) ); + wxPoint2DDouble mDir = wxPoint2DDouble(wxDouble(dir.m_x)/(m_radius.m_x*m_radius.m_x), + wxDouble(dir.m_y)/(m_radius.m_y*m_radius.m_y)); + //var mDiff = new Vector2D( diff.x/(rx*rx), diff.y/(ry*ry) ); + wxPoint2DDouble mDiff = wxPoint2DDouble(wxDouble(diff.m_x)/(m_radius.m_x*m_radius.m_x), + wxDouble(diff.m_y)/(m_radius.m_y*m_radius.m_y)); + + wxDouble a = dir.GetDotProduct(mDir); //var a = dir.dot(mDir); + wxDouble b = dir.GetDotProduct(mDiff); //var b = dir.dot(mDiff); + wxDouble c = diff.GetDotProduct(m_diff); //var c = diff.dot(mDiff) - 1.0; + wxDouble d = b*b - a*c; //var d = b*b - a*c; + + if ( d < 0 ) + { + return 0; //result = new Intersection("Outside"); + } + else if ( d > 0 ) + { + wxDouble root = sqrt(d); //var root = Math.sqrt(d); + wxDouble t_a = (-b - root)/a; //var t_a = (-b - root) / a; + wxDouble t_b = (-b + root)/a; //var t_b = (-b + root) / a; + + if ( (t_a < 0 || 1 < t_a) && (t_b < 0 || 1 < t_b) ) + { + if ( (t_a < 0 && t_b < 0) || (t_a > 1 && t_b > 1) ) + result = new Intersection("Outside"); + else + result = new Intersection("Inside"); + } + else + { + result = new Intersection("Intersection"); + if ( 0 <= t_a && t_a <= 1 ) + result.appendPoint( a1.lerp(a2, t_a) ); + if ( 0 <= t_b && t_b <= 1 ) + result.appendPoint( a1.lerp(a2, t_b) ); + } + } + else + { + var t = -b/a; + if ( 0 <= t && t <= 1 ) + { + result = new Intersection("Intersection"); + result.appendPoint( a1.lerp(a2, t) ); + } else + { + result = new Intersection("Outside"); + } + } + + return result; +} +*/ +/* +> I am looking for the algorithm to calculate the intersection of a line +with +> an ellipse, that is not necessarily parrallel to x,y axis. +> +> I cannot find anything that is easy to understand. + +The ellipse can be represented by a quadratic polynomial, +a00+a10*x+a01*y+a20*x^2+a11*x*y+a02*y^2 = 0. +The line is b0+b1*x+b2*y = 0 where one of b1 or b2 is +not zero. For the sake of argument, suppose b2 is not +zero. Solve for y = -(b0+b1*x)/b2. Replace this in the +quadratic equation and multiply through by b2^2 to get +Q(x) = c0 + c1*x + c2*x^2 = 0 where + c0 = a02*b0^2-a01*b0*b2+a00*b2^2 + c1 = 2*a02*b0*b1-a11*b0*b2-a01*b1*b2+a10*b2^2 + c2 = a02*b1^2-a11*b1*b2+a02*b2^2 +If Q(x) has no real roots, the line and ellipse do not intersect. +If Q(x) has a single, repeated real root x0, the line and ellipse +are tangent. The y-value is y0 = -(b0+b1*x0)/b2. If Q(x) +has two distinct real roots x0 and x1, the line and ellipse +intersect in two points (x0,y0) and (x1,y1) where +y0 = -(b0+b1*x0)/b2 and y1 = -(b0+b1*x1)/b2. + +*/ diff --git a/.svn/pristine/55/55cfbdea3ef90bd77b1974683d36be08f3a2a12d.svn-base b/.svn/pristine/55/55cfbdea3ef90bd77b1974683d36be08f3a2a12d.svn-base new file mode 100644 index 0000000..9104034 --- /dev/null +++ b/.svn/pristine/55/55cfbdea3ef90bd77b1974683d36be08f3a2a12d.svn-base @@ -0,0 +1,85 @@ +// test routines - faster to compile +#include +#include +#include "pgm2asc.h" +#include "unicode.h" +#include "amiga.h" +#include "gocr.h" + +// for learn_mode/analyze_mode high, with, yoffset, num of pattern_i, +// - holes (center,radius in relative coordinates) etc. => cluster analyze +// num_hole => min-volume, tolerance border +// pattern: @@ @. @@ +// .@ @. .. +// regular filter for large resolutions to make edges more smooth (on boxes) +// extra-filter (only if not recognized?) +// map + same color to (#==change) +// - anti color +// . not used +// strongest neighbour pixels (3x3) => directions +// second/third run with more and more tolerance!? + +/* FIXME jb: following is unused */ +#if 0 +struct lobj { // line-object (for fitting to near lines) + int x0,y0; // starting point (left up) + int x1,y1; // end point (right down) + int mt; // minimum thickness + int q; // quality, overlapp +}; + +/* FIXME jb global */ +struct lobj obj1; +#endif + +// that is the first draft of feature extraction +// detect main lines and bows +// seems bad implemented, looking for better algorithms (ToDo: use autotrace) +#define MAXL 10 +void ocr2(pix *b,int cs){ + int x1,y1,x2,y2,l,i,j,xa[MAXL],ya[MAXL],xb[MAXL],yb[MAXL],ll[MAXL]; + for(i=0;ix;x1++) // very slowly, but simple to program + for(y1=0;y1y;y1++) // brute force + for(x2=0;x2x;x2++) + for(y2=y1+1;y2y;y2++) + { + if( get_line2(x1,y1,x2,y2,b,cs,100)>99 ) + { // line ??? + l=(x2-x1)*(x2-x1)+(y2-y1)*(y2-y1); // len + for(i=0;ix/2 + && abs(y1+y2-ya[i]-yb[i])<1+b->y/2 + && abs(y1-ya[i])<1+b->y/4 + && abs(x1-xa[i])<1+b->x/4 + ) + { + if( l>ll[i] ) + { + for(j=i;jll[i] ){ // insert if larger + for(j=MAXL-1;j>i;j--){ // shift table + xa[j]=xa[j-1];ya[j]=ya[j-1]; + xb[j]=xb[j-1];yb[j]=yb[j-1];ll[j]=ll[j-1]; + } + xa[i]=x1;ya[i]=y1;xb[i]=x2;yb[i]=y2;ll[i]=l; + break; + } + } + } + } + for(i=0;ih-local_y)-y_abs) ); */ + + return false; +} + + +/**************************** GLUI_Mouse_Interaction::mouse_up_handler() */ + +int GLUI_Mouse_Interaction::mouse_up_handler( int local_x, int local_y, int inside ) +{ + iaction_mouse_up_handler( local_x-x_abs, local_y-y_abs, inside ); + return false; +} + + +/****************************** GLUI_Mouse_Interaction::mouse_held_down_handler() ******/ + +int GLUI_Mouse_Interaction::mouse_held_down_handler( int local_x, int local_y, + int inside) +{ + iaction_mouse_held_down_handler( local_x-x_abs, local_y-y_abs , inside ); + + draw_active_area(); + + /** Tell the main graphics window to update iteself **/ + if( glui ) + glui->post_update_main_gfx(); + + execute_callback(); + + return false; +} + + + +/****************************** GLUI_Mouse_Interaction::draw() **********/ + +void GLUI_Mouse_Interaction::draw( int x, int y ) +{ + int orig; + int text_width = string_width( this->name ); + int x_left = this->w/2 - text_width/2; + + if ( NOT glui ) + return; + + if ( NOT draw_active_area_only ) { + orig = set_to_glut_window(); + draw_name( x_left, h-4 ); + restore_window(orig); + + draw_active_box( x_left-4, x_left+string_width( name.string )+4, + h, h-14 ); + } + + draw_active_area(); +} + + +/************************************ GLUI_Mouse_Interaction::update_size() **********/ + +void GLUI_Mouse_Interaction::update_size( void ) +{ + if ( NOT glui ) + return; + + int text_width = string_width( this->name ); + + if ( w < text_width+6 ) + w = text_width+6; + + if ( h - 18 > w ) + w = h - 18; + + iaction_init(); +} + + +/****************************** GLUI_Mouse_Interaction::special_handler() **********/ + +int GLUI_Mouse_Interaction::special_handler( int key,int modifiers ) +{ + int center_x, center_y; + int drag_x, drag_y; + + center_x = w/2; + center_y = (h-18)/2; + drag_x = 0; + drag_y = 0; + + + if ( key == GLUT_KEY_LEFT ) + drag_x = -6; + else if ( key == GLUT_KEY_RIGHT ) + drag_x = 6; + else if ( key == GLUT_KEY_UP ) + drag_y = -6; + else if ( key == GLUT_KEY_DOWN ) + drag_y = 6; + + if ( drag_x != 0 OR drag_y != 0 ) { + mouse_down_handler( center_x, center_y ); + mouse_held_down_handler( center_x + drag_x, center_y + drag_y,true ); + mouse_up_handler( center_x + drag_x, center_y + drag_y, true ); + } + + return false; +} + + +/****************************** GLUI_Mouse_Interaction::draw_active_area() **********/ + +void GLUI_Mouse_Interaction::draw_active_area( void ) +{ + int orig; + int win_h = glutGet( GLUT_WINDOW_HEIGHT ), win_w = glutGet(GLUT_WINDOW_WIDTH); + + if ( NOT glui ) + return; + + /*putchar( 'X' ); flushout; */ + + orig = set_to_glut_window(); + + int text_height = 18; /* what a kludge */ + + int viewport_size = h-text_height; /*MIN(w,h); */ + + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + glLoadIdentity(); + glTranslatef( (float) win_w/2.0, (float) win_h/2.0, 0.0 ); + glRotatef( 180.0, 0.0, 1.0, 0.0 ); + glRotatef( 180.0, 0.0, 0.0, 1.0 ); + glTranslatef( (float) -win_w/2.0, (float) -win_h/2.0, 0.0 ); + + glTranslatef( (float) this->x_abs + .5, (float) this->y_abs + .5, 0.0 ); + + glTranslatef( (float)this->w/2.0, (float)viewport_size/2.0 + 2.0 , 0.0 ); + + /*** Draw the interaction control's orthographic elements ***/ + iaction_draw_active_area_ortho(); + + /*** Setup and draw the interaction control's perspective elements ***/ + + /*** Set the viewport to just the square of the drawing area ***/ + /* glViewport( this->x_abs , glui->main_panel->h - this->y_abs - this->h,*/ + /*glViewport( this->x_abs+1+(this->w/2-viewport_size/2), + this->h-this->y_abs-viewport_size-1, + viewport_size, viewport_size );*/ + + viewport_size -= 4; + int offset = 0; + if ( ((this->w-viewport_size) % 2) == 1 ) + offset = 1; + + glViewport( this->x_abs + (this->w-viewport_size)/2 + offset, + win_h - this->y_abs - this->h + text_height, + viewport_size, viewport_size ); + + glMatrixMode( GL_PROJECTION ); + glLoadIdentity(); + glFrustum( -1.0*.08, 1.0*.08, -.08, .08, .1, 8.0 ); + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + glLoadIdentity(); + glTranslatef( 0.0, 0.0, -3.2f ); + + /* glutSolidTeapot( 1.0 ); */ + iaction_draw_active_area_persp(); + + glMatrixMode( GL_MODELVIEW ); + glPopMatrix(); + + glui->set_viewport(); + glui->set_ortho_projection(); + + glMatrixMode( GL_MODELVIEW ); + glPopMatrix(); + + restore_window(orig); +} + diff --git a/.svn/pristine/56/5616d822bf4258da2301e267a8cd78e96ff37897.svn-base b/.svn/pristine/56/5616d822bf4258da2301e267a8cd78e96ff37897.svn-base new file mode 100644 index 0000000..9c096f2 --- /dev/null +++ b/.svn/pristine/56/5616d822bf4258da2301e267a8cd78e96ff37897.svn-base @@ -0,0 +1,126 @@ + +//#define WANT_STREAM + + +#include "include.h" + +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +static void process(const GeneralMatrix& A, + const ColumnVector& X1, const ColumnVector& X2) +{ + Matrix B = A; + LinearEquationSolver L(A); + Matrix Y(4,2); + Y.Column(1) << L.i() * X1; Y.Column(2) << L.i() * X2; + Matrix Z(4,2); Z.Column(1) << X1; Z.Column(2) << X2; + Z = B * Y - Z; Clean(Z,0.00000001); Print(Z); +} + + + +void trymata() +{ +// cout << "\nTenth test of Matrix package\n"; + Tracer et("Tenth test of Matrix package"); + Tracer::PrintTrace(); + int i; int j; + UpperTriangularMatrix U(8); + for (i=1;i<=8;i++) for (j=i;j<=8;j++) U(i,j)=i+j*j+5; + Matrix X(8,6); + for (i=1;i<=8;i++) for (j=1;j<=6;j++) X(i,j)=i*j+1.0; + Matrix Y = U.i()*X; Matrix MU=U; + Y=Y-MU.i()*X; Clean(Y,0.00000001); Print(Y); + Y = U.t().i()*X; Y=Y-MU.t().i()*X; Clean(Y,0.00000001); Print(Y); + UpperTriangularMatrix UX(8); + for (i=1;i<=8;i++) for (j=i;j<=8;j++) UX(i,j)=i+j+1; + UX(4,4)=0; UX(4,5)=0; + UpperTriangularMatrix UY = U.i() * UX; + { X=UX; MU=U; Y=UY-MU.i()*X; Clean(Y,0.000000001); Print(Y); } + LowerTriangularMatrix LY = U.t().i() * UX.t(); + { Y=LY-MU.i().t()*X.t(); Clean(Y,0.000000001); Print(Y); } + DiagonalMatrix D(8); for (i=1;i<=8;i++) D(i,i)=i+1; + { X=D.i()*MU; } + { UY=U; UY=D.i()*UY; Y=UY-X; Clean(Y,0.00000001); Print(Y); } + { UY=D.i()*U; Y=UY-X; Clean(Y,0.00000001); Print(Y); } +// X=MU.t(); +// LY=D.i()*U.t(); Y=D*LY-X; Clean(Y,0.00000001); Print(Y); +// LowerTriangularMatrix L=U.t(); +// LY=D.i()*L; Y=D*LY-X; Clean(Y,0.00000001); Print(Y); + U.ReSize(8); + for (i=1;i<=8;i++) for (j=i;j<=8;j++) U(i,j)=i+j*j+5; + MU = U; + MU = U.i() - MU.i(); Clean(MU,0.00000001); Print(MU); + MU = U.t().i() - U.i().t(); Clean(MU,0.00000001); Print(MU); + + // test LINEQ + { + ColumnVector X1(4), X2(4); + X1(1)=1; X1(2)=2; X1(3)=3; X1(4)=4; + X2(1)=1; X2(2)=10; X2(3)=100; X2(4)=1000; + + + Matrix A(4,4); + A(1,1)=1; A(1,2)=3; A(1,3)=0; A(1,4)=0; + A(2,1)=3; A(2,2)=2; A(2,3)=5; A(2,4)=0; + A(3,1)=0; A(3,2)=5; A(3,3)=4; A(3,4)=1; + A(4,1)=0; A(4,2)=0; A(4,3)=1; A(4,4)=3; + process(A,X1,X2); + + BandMatrix B(4,1,1); B.Inject(A); + process(B,X1,X2); + + UpperTriangularMatrix U(4); + U(1,1)=1; U(1,2)=2; U(1,3)=3; U(1,4)=4; + U(2,2)=8; U(2,3)=7; U(2,4)=6; + U(3,3)=2; U(3,4)=7; + U(4,4)=1; + process(U,X1,X2); + + // check rowwise load + UpperTriangularMatrix U1(4); + U1.Row(1) << 1 << 2 << 3 << 4; + U1.Row(2) << 8 << 7 << 6; + U1.Row(3) << 2 << 7; + U1.Row(4) << 1; + + U1 -= U; + + Print(U1); + + LowerTriangularMatrix L = U.t(); + process(L,X1,X2); + } + + // test inversion of poorly conditioned matrix + // a user complained this didn't work under OS9 + { + Matrix M(4,4); + + M << 8.613057e+00 << 8.693985e+00 << -2.322050e-01 << 0.000000e+00 + << 8.693985e+00 << 8.793868e+00 << -2.346310e-01 << 0.000000e+00 + << -2.322050e-01 << -2.346310e-01 << 6.264000e-03 << 0.000000e+00 + << 0.000000e+00 << 0.000000e+00 << 0.000000e+00 << 3.282806e+03 ; + Matrix MI = M.i(); + DiagonalMatrix I(4); I = 1; + Matrix Diff = MI * M - I; + Clean(Diff,0.00000001); Print(Diff); + // Alternatively do Cholesky + SymmetricMatrix SM; SM << M; + LowerTriangularMatrix LT = Cholesky(SM).i(); + MI = LT.t() * LT; Diff = MI * M - I; + Clean(Diff,0.00000001); Print(Diff); + } + +// cout << "\nEnd of tenth test\n"; +} diff --git a/.svn/pristine/56/56817797754a9bce3cd6ab627783fcf8bb466192.svn-base b/.svn/pristine/56/56817797754a9bce3cd6ab627783fcf8bb466192.svn-base new file mode 100644 index 0000000..977f639 --- /dev/null +++ b/.svn/pristine/56/56817797754a9bce3cd6ab627783fcf8bb466192.svn-base @@ -0,0 +1,202 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.svn/pristine/56/5688bf6262c14960adc03234006515d0f7084b9f.svn-base b/.svn/pristine/56/5688bf6262c14960adc03234006515d0f7084b9f.svn-base new file mode 100644 index 0000000..16e017d --- /dev/null +++ b/.svn/pristine/56/5688bf6262c14960adc03234006515d0f7084b9f.svn-base @@ -0,0 +1,374 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job, int argn, char *argv[]) +{ + int i; + char *s1; + + assert(job); + + if (argn <= 1) { + out_version(1); + exit(0); + } +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + + /* process arguments */ + for (i = 1; i < argn; i++) { + if (strcmp(argv[i], "--help") == 0) + help(); /* and quits */ + if (argv[i][0] == '-' && argv[i][1] != 0) { + s1 = ""; + if (i + 1 < argn) + s1 = argv[i + 1]; + switch (argv[i][1]) { + case 'h': /* help */ + help(); + break; + case 'i': /* input image file */ + job->src.fname = s1; + i++; + break; + case 'e': /* logging file */ + if (s1[0] == '-' && s1[1] == '\0') { +#ifdef HAVE_UNISTD_H + dup2(STDOUT_FILENO, STDERR_FILENO); /* -e /dev/stdout works */ +#else + fprintf(stderr, "stderr redirection not possible without unistd.h\n"); +#endif + } + else if (!freopen(s1, "w", stderr)) { + fprintf(stderr, "stderr redirection to %s failed\n", s1); + } + i++; + break; + case 'p': /* database path */ + job->cfg.db_path=s1; + i++; + break; + case 'o': /* output file */ + if (s1[0] == '-' && s1[1] == '\0') { /* default */ + } + else if (!freopen(s1, "w", stdout)) { + fprintf(stderr, "stdout redirection to %s failed\n", s1); + }; + i++; + break; + case 'f': /* output format */ + if (strcmp(s1, "ISO8859_1") == 0) job->cfg.out_format=ISO8859_1; else + if (strcmp(s1, "TeX") == 0) job->cfg.out_format=TeX; else + if (strcmp(s1, "HTML") == 0) job->cfg.out_format=HTML; else + if (strcmp(s1, "XML") == 0) job->cfg.out_format=XML; else + if (strcmp(s1, "SGML") == 0) job->cfg.out_format=SGML; else + if (strcmp(s1, "UTF8") == 0) job->cfg.out_format=UTF8; else + if (strcmp(s1, "ASCII") == 0) job->cfg.out_format=ASCII; else + fprintf(stderr,"Warning: unknown format (-f %s)\n",s1); + i++; + break; + case 'c': /* list of chars (_ = not recognized chars) */ + job->cfg.lc = s1; + i++; + break; + case 'C': /* char filter, default: NULL (all chars) */ + /* ToDo: UTF8 input, wchar */ + job->cfg.cfilter = s1; + i++; + break; + case 'd': /* dust size */ + job->cfg.dust_size = atoi(s1); + i++; + break; + case 'l': /* grey level 0<160<=255, 0 for autodetect */ + job->cfg.cs = atoi(s1); + i++; + break; + case 's': /* spacewidth/dots (0 = autodetect) */ + job->cfg.spc = atoi(s1); + i++; + break; + case 'v': /* verbose mode */ + job->cfg.verbose |= atoi(s1); + i++; + break; + case 'm': /* operation modes */ + job->cfg.mode |= atoi(s1); + i++; + break; + case 'n': /* numbers only */ + job->cfg.only_numbers = atoi(s1); + i++; + break; + case 'x': /* initialize progress output s1=fname */ + ini_progress(s1); + i++; + break; + case 'a': /* set certainty */ + job->cfg.certainty = atoi(s1);; + i++; + break; + case 'u': /* output marker for unrecognized chars */ + job->cfg.unrec_marker = s1; + i++; + break; + default: + fprintf(stderr, "# unknown option use -h for help\n"); + } + continue; + } + else /* argument can be filename v0.2.5 */ if (argv[i][0] != '-' + || argv[i][1] == '\0' ) { + job->src.fname = argv[i]; + } + } +} + +static void mark_start(job_t *job) { + assert(job); + + if (job->cfg.verbose) { + out_version(0); + /* insert some helpful info for support */ + fprintf(stderr, "# compiled: " __DATE__ ); +#if defined(__GNUC__) + fprintf(stderr, " GNUC-%d", __GNUC__ ); +#endif +#ifdef __GNUC_MINOR__ + fprintf(stderr, ".%d", __GNUC_MINOR__ ); +#endif +#if defined(__linux) + fprintf(stderr, " linux"); +#elif defined(__unix) + fprintf(stderr, " unix"); +#endif +#if defined(__WIN32) || defined(__WIN32__) + fprintf(stderr, " WIN32"); +#endif +#if defined(__WIN64) || defined(__WIN64__) + fprintf(stderr, " WIN64"); +#endif +#if defined(__VERSION__) + fprintf(stderr, " version " __VERSION__ ); +#endif + fprintf(stderr, "\n"); + fprintf(stderr, + "# options are: -l %d -s %d -v %d -c %s -m %d -d %d -n %d -a %d -C \"%s\"\n", + job->cfg.cs, job->cfg.spc, job->cfg.verbose, job->cfg.lc, job->cfg.mode, + job->cfg.dust_size, job->cfg.only_numbers, job->cfg.certainty, + job->cfg.cfilter); + fprintf(stderr, "# file: %s\n", job->src.fname); +#ifdef USE_UNICODE + fprintf(stderr,"# using unicode\n"); +#endif +#ifdef HAVE_GETTIMEOFDAY + gettimeofday(&job->tmp.init_time, NULL); +#endif + } +} + +static void mark_end(job_t *job) { + assert(job); + +#ifdef HAVE_GETTIMEOFDAY + /* show elapsed time */ + if (job->cfg.verbose) { + struct timeval end, result; + gettimeofday(&end, NULL); + timeval_subtract(&result, &end, &job->tmp.init_time); + fprintf(stderr,"Elapsed time: %d:%02d:%3.3f.\n", (int)result.tv_sec/60, + (int)result.tv_sec%60, (float)result.tv_usec/1000); + } +#endif +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ +int main(int argn, char *argv[]) { + int multipnm=1; + job_t job; + + JOB = &job; + setvbuf(stdout, (char *) NULL, _IONBF, 0); /* not buffered */ + + while (multipnm==1) { + + job_init(&job); + + process_arguments(&job, argn, argv); + + mark_start(&job); + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + mark_end(&job); + + print_output(&job); + + job_free(&job); + + } + + return 0; +} + diff --git a/.svn/pristine/56/56f71c5873323b663713e59c4cbb63ec2a74564c.svn-base b/.svn/pristine/56/56f71c5873323b663713e59c4cbb63ec2a74564c.svn-base new file mode 100644 index 0000000..8972487 --- /dev/null +++ b/.svn/pristine/56/56f71c5873323b663713e59c4cbb63ec2a74564c.svn-base @@ -0,0 +1,50 @@ +#ifndef __GRIDLINES_H_ +#define __GRIDLINES_H_ + +#include +using std::vector; + +#include +using std::string; +#include "grid/grid.h" +#include "grid/line.h" + + +/** + * Class calculates all lines of a grid using hough transformation. + * Consideres all points with a percentage higher than "isSolidPoint" variable. + * Contains a method to write the lines to file (GnuPlot or own lin) + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * @date 25.02.2008 + */ +class gridlines +{ + private: + /** Minimal percentage for a solid point relevant for a line */ + double isSolidPoint; + + /** contains all lines of the grid */ + vector lines; + + public: + /** @brief CTOR */ + gridlines(grid* g, int max_distance, double isSolidPoint); + + /** + * @brief Creates the lines for the grid g and stores them in the vector "lines" + */ + void createLines(grid* g, int max_distance); + + /** @brief Returns the vector with the lines */ + vector* getLines(); + + /** @brief Writes the lines to a gnuplot file */ + void writeGnuPlot(string file); + + /** @brief Writes the lines to a lin file */ + void writeLin(string file); +}; + +#endif diff --git a/.svn/pristine/57/574f5472dde9dff620cd7a4b2b432c86dd1368fd.svn-base b/.svn/pristine/57/574f5472dde9dff620cd7a4b2b432c86dd1368fd.svn-base new file mode 100644 index 0000000..27fa470 --- /dev/null +++ b/.svn/pristine/57/574f5472dde9dff620cd7a4b2b432c86dd1368fd.svn-base @@ -0,0 +1,30 @@ +/** + * @file + * @brief Scan types and mapping functions. + * + * @author Thomas Escher + */ + +#ifndef IO_TYPES_H +#define IO_TYPES_H + +//! IO types for file formats, distinguishing the use of ScanIOs +enum IOType { + UOS, UOS_MAP, UOS_FRAMES, UOS_MAP_FRAMES, UOS_RGB, OLD, RTS, RTS_MAP, RIEGL_TXT, RIEGL_PROJECT, RIEGL_RGB, RIEGL_BIN, IFP, ZAHN, PLY, WRL, XYZ, ZUF, ASC, IAIS, FRONT, X3D, RXP, KIT, AIS, OCT, TXYZR, XYZR, XYZ_RGB, KS, KS_RGB, STL, LEICA, PCL, PCI, UOS_CAD, VELODYNE, VELODYNE_FRAMES +}; + +//! Data channels in the scans +enum IODataType { + DATA_XYZ = 1<<0, + DATA_RGB = 1<<1, + DATA_REFLECTANCE = 1<<2, + DATA_AMPLITUDE = 1<<3, + DATA_TYPE = 1<<4, + DATA_DEVIATION = 1<<5 +}; + +IOType formatname_to_io_type(const char * string); + +const char * io_type_to_libname(IOType type); + +#endif //IO_TYPES_H diff --git a/.svn/pristine/57/57b859b97631f549bc7173dcc8757c6c1c8709c4.svn-base b/.svn/pristine/57/57b859b97631f549bc7173dcc8757c6c1c8709c4.svn-base new file mode 100644 index 0000000..48f53bd --- /dev/null +++ b/.svn/pristine/57/57b859b97631f549bc7173dcc8757c6c1c8709c4.svn-base @@ -0,0 +1,38 @@ + + +int glui_img_checkbox_1[] = { 13, 13, /* width, height */ + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 192,192,192, 255,255,255, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, + 255,255,255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 255,255,255, + 128,128,128, 0, 0, 0, 255,255,255, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, + 255,255,255, 0, 0, 0, 0, 0, 0, 255,255,255, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 255,255,255, 255,255,255, 192,192,192, + 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 255,255,255, 192,192,192, 255,255,255, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 0, 0, 0, 0, 0, 0, 255,255,255, + 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 0, 0, 0, 255,255,255, 192,192,192, 255,255,255, + 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192,192,192, + 255,255,255, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 255,255,255, +}; diff --git a/.svn/pristine/57/57df41a64927263c6c0e517f1ba7602fc0ebd8e1.svn-base b/.svn/pristine/57/57df41a64927263c6c0e517f1ba7602fc0ebd8e1.svn-base new file mode 100644 index 0000000..e4f924e --- /dev/null +++ b/.svn/pristine/57/57df41a64927263c6c0e517f1ba7602fc0ebd8e1.svn-base @@ -0,0 +1,9035 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: frame3_final.eps +%%Creator: fig2dev Version 3.2 Patchlevel 3d +%%CreationDate: Mon Dec 15 08:28:19 2003 +%%For: root@rhum (root) +%%BoundingBox: 0 0 412 412 +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def +/col4 {1.000 0.000 0.000 srgb} bind def +/col5 {1.000 0.000 1.000 srgb} bind def +/col6 {1.000 1.000 0.000 srgb} bind def +/col7 {1.000 1.000 1.000 srgb} bind def +/col8 {0.000 0.000 0.560 srgb} bind def +/col9 {0.000 0.000 0.690 srgb} bind def +/col10 {0.000 0.000 0.820 srgb} bind def +/col11 {0.530 0.810 1.000 srgb} bind def +/col12 {0.000 0.560 0.000 srgb} bind def +/col13 {0.000 0.690 0.000 srgb} bind def +/col14 {0.000 0.820 0.000 srgb} bind def +/col15 {0.000 0.560 0.560 srgb} bind def +/col16 {0.000 0.690 0.690 srgb} bind def +/col17 {0.000 0.820 0.820 srgb} bind def +/col18 {0.560 0.000 0.000 srgb} bind def +/col19 {0.690 0.000 0.000 srgb} bind def +/col20 {0.820 0.000 0.000 srgb} bind def +/col21 {0.560 0.000 0.560 srgb} bind def +/col22 {0.690 0.000 0.690 srgb} bind def +/col23 {0.820 0.000 0.820 srgb} bind def +/col24 {0.500 0.190 0.000 srgb} bind def +/col25 {0.630 0.250 0.000 srgb} bind def +/col26 {0.750 0.380 0.000 srgb} bind def +/col27 {1.000 0.500 0.500 srgb} bind def +/col28 {1.000 0.630 0.630 srgb} bind def +/col29 {1.000 0.750 0.750 srgb} bind def +/col30 {1.000 0.880 0.880 srgb} bind def +/col31 {1.000 0.840 0.000 srgb} bind def + +end +save +newpath 0 412 moveto 0 0 lineto 412 0 lineto 412 412 lineto closepath clip newpath +-73.7 527.2 translate +1 -1 scale + +/cp {closepath} bind def +/ef {eofill} bind def +/gr {grestore} bind def +/gs {gsave} bind def +/sa {save} bind def +/rs {restore} bind def +/l {lineto} bind def +/m {moveto} bind def +/rm {rmoveto} bind def +/n {newpath} bind def +/s {stroke} bind def +/sh {show} bind def +/slc {setlinecap} bind def +/slj {setlinejoin} bind def +/slw {setlinewidth} bind def +/srgb {setrgbcolor} bind def +/rot {rotate} bind def +/sc {scale} bind def +/sd {setdash} bind def +/ff {findfont} bind def +/sf {setfont} bind def +/scf {scalefont} bind def +/sw {stringwidth} bind def +/tr {translate} bind def +/tnt {dup dup currentrgbcolor + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb} + bind def +/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul + 4 -2 roll mul srgb} bind def +/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def +/$F2psEnd {$F2psEnteredState restore end} def + +$F2psBegin +10 setmiterlimit + 0.06299 0.06299 sc +% +% Fig objects follow +% +% Polyline +% +% pen to black in case this eps object doesn't set color first +0 0 0 setrgbcolor +% Begin Imported EPS File: frame3.eps +%%BeginDocument: frame3.eps +% +n gs +1170 1845 tr +12.500000 -12.500000 sc +0 -522 tr +-37 -160 tr +sa +n 37 160 m 559 160 l 559 682 l 37 682 l cp clip n +countdictstack +mark +/showpage {} def +% EPS file follows: +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/scanner/docu/iav2004/frame3.eps +%%Creator: XV Version 3.10a Rev: 12/29/94 (PNG patch 1.2) - by John Bradley +%%BoundingBox: 37 160 559 682 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define space for color conversions +/grays 600 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +37 160 translate + +% size of image (on paper, in 1/72inch coords) +522.00000 522.00000 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +% define the colormap +/cmap 9 string def + + +% load up the colormap +currentfile cmap readhexstring +000000 ffffff 0000ff +pop pop % lose return values from readhexstring + + +% rlecmapimage expects to have 'w h bits matrix' on stack +/rlecmapimage { + /buffer 1 string def + /rgbval 3 string def + /block 384 string def + + % proc to read a block from file, and return RGB data + { currentfile buffer readhexstring pop + /bcount exch 0 get store + bcount 128 ge + { % it's a non-run block + 0 1 bcount 128 sub + { currentfile buffer readhexstring pop pop + + % look up value in color map + /rgbval cmap buffer 0 get 3 mul 3 getinterval store + + % and put it in position i*3 in block + block exch 3 mul rgbval putinterval + } for + block 0 bcount 127 sub 3 mul getinterval + } + + { % else it's a run block + currentfile buffer readhexstring pop pop + + % look up value in colormap + /rgbval cmap buffer 0 get 3 mul 3 getinterval store + 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+ * @brief IO for .frames files. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_FRAME_IO_H +#define SCANSERVER_FRAME_IO_H + +#include "scanserver/frame.h" + + + +/** + * @brief This class handles the serialization of .frames files and saves/extracts the contained Frame instances. + */ +class FrameIO +{ +public: + //! Loads a frames file and fills the given shared vector + static void loadFile(const char* dir, const char* identifier, FrameVector& frames); + + //! Saves a frames file from a shared frames vector + static void saveFile(const char* dir, const char* identifier, const FrameVector& frames); +}; + +#endif //SCANSERVER_FRAME_IO_H diff --git a/.svn/pristine/57/57eefc462da226f100533b1216aca6be78873c03.svn-base b/.svn/pristine/57/57eefc462da226f100533b1216aca6be78873c03.svn-base new file mode 100644 index 0000000..05eb7ae --- /dev/null +++ b/.svn/pristine/57/57eefc462da226f100533b1216aca6be78873c03.svn-base @@ -0,0 +1,159 @@ +/* + * numberrec implementation + * + * Copyright (C) Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +extern "C" { +#include "gocr.h" +#include "pnm.h" +#include "pgm2asc.h" + +#include "pcx.h" +#include "ocr0.h" +#include "progress.h" +#include "version.h" +#include "config.h" + +} + + +char filter[] = "0-9"; +/*void my_test() { + int multipnm=1; + job_t job; + + while (multipnm==1) { + job_init(&job); + + job.cfg.out_format=XML; + job.cfg.cfilter = filter; + job.src.fname = "patch00000.pgm"; // TODO + + multipnm=readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); + + int linecounter = 0; + const char *line; + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +}*/ +#include "math.h" +#include +using std::string; + +#include "shapes/sickday.h" + +bool gocr_recognizeNumber(string &filename, int &number, double &probability) { + int multipnm=1; + job_t job; + JOB = &job; + + double probabilities[1024]; // should be plenty + + probability = 0.0; + number = -1; + + // this while should be unnecessary + while (multipnm == 1) { + job_init(&job); + + job.cfg.out_format = XML; + job.cfg.cfilter = filter; + + //job.src.fname = filename.c_str(); + char fname[1024]; + strcpy(fname, filename.c_str() ); + job.src.fname = fname; + + multipnm = readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); // recognize numbers + + int linecounter = 0; + const char *line; + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + int width = 0; + int height = 0; + char num; + int nr_alt_c = 0; + + int iprob = 0; + + sscanf(line, "%d %d %c %d", &width, &height, &num, &nr_alt_c); + + if (nr_alt_c > 0) { + sscanf(line, "%d %d %c %d %d", &width, &height, &num, &nr_alt_c, &iprob); + } + + + // check if this if a number, and if it is wether it is large enough +// if ( (fabs(width) < MIN_NR_WIDTH || fabs(height) < MIN_NR_HEIGHT || num < '0' || num > '9') + if ( num < '0' || num > '9') { + line = getTextLine(linecounter++); + continue; + } + if ( num == '1' && (fabs(width) < MIN_1_WIDTH || fabs(height) < MIN_NR_HEIGHT || + fabs(width) > MAX_NR_WIDTH || fabs(height) > MAX_NR_HEIGHT) ) { // 1 is a special case + line = getTextLine(linecounter++); + continue; + } + if (num != '1' && (fabs(width) < MIN_NR_WIDTH || fabs(height) < MIN_NR_HEIGHT || // other numbers should be bigger + fabs(width) > MAX_NR_WIDTH || fabs(height) > MAX_NR_HEIGHT) ) { + line = getTextLine(linecounter++); + continue; + } + + // num contains a number (we will disregard alternative interpretation)) + if (probability < (double)iprob / 100.0) { + //printf("WD: %d %d MIN %d %d \n", width, height, MIN_NR_WIDTH, MIN_NR_HEIGHT); + probability = (double)iprob / 100.0; + number = (int)(num - '0'); + } + ////////////////////// + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + + + if (probability > 0.0) { + return true; + } + return false; +} diff --git a/.svn/pristine/58/581e4aca2e91dec50a9e7f51f5ffa220ec121a33.svn-base b/.svn/pristine/58/581e4aca2e91dec50a9e7f51f5ffa220ec121a33.svn-base new file mode 100644 index 0000000..a3cdf51 --- /dev/null +++ b/.svn/pristine/58/581e4aca2e91dec50a9e7f51f5ffa220ec121a33.svn-base @@ -0,0 +1,60 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_separator.cpp - GLUI_Separator control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_Separator::draw() **********/ + +void GLUI_Separator::draw( int x, int y ) +{ + int width, indent, orig; + int cont_x, cont_y, cont_w, cont_h, cont_x_off, cont_y_off; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + if ( parent() != NULL ) { + get_this_column_dims(&cont_x, &cont_y, &cont_w, &cont_h, + &cont_x_off, &cont_y_off); + + width = cont_w - cont_x_off*2; + } + else { + width = this->w; + } + + indent = (int) floor(width * .05); + + glLineWidth( 1.0 ); + glBegin( GL_LINES ); + glColor3f( .5, .5, .5 ); + glVertex2i( indent, GLUI_SEPARATOR_HEIGHT/2-1 ); + glVertex2i( width-indent, GLUI_SEPARATOR_HEIGHT/2-1 ); + + glColor3f( 1., 1., 1. ); + glVertex2i( indent, GLUI_SEPARATOR_HEIGHT/2 ); + glVertex2i( width-indent, GLUI_SEPARATOR_HEIGHT/2 ); + glEnd(); + + restore_window(orig); +} + + diff --git a/.svn/pristine/58/589440fbbbc264b4a7a931a476ba29162a8d3309.svn-base b/.svn/pristine/58/589440fbbbc264b4a7a931a476ba29162a8d3309.svn-base new file mode 100644 index 0000000..d3d7b2f --- /dev/null +++ b/.svn/pristine/58/589440fbbbc264b4a7a931a476ba29162a8d3309.svn-base @@ -0,0 +1,177 @@ +CXX = g++ +CXXFLAGS = -O2 -Wall + +DIFF = ./sdiff +PRE = ./ +MAJOR = 1 +MINOR = 0 + +%.o: %.cpp + $(CXX) $(CXXFLAGS) -c $*.cpp + +everything: tmt example test_exc nl_ex sl_ex garch + +newmat_lobj = newmat1.o newmat2.o newmat3.o newmat4.o newmat5.o newmat6.o newmat7.o newmat8.o newmatex.o bandmat.o submat.o myexcept.o cholesky.o evalue.o fft.o hholder.o jacobi.o newfft.o sort.o svd.o newmatrm.o newmat9.o + +libnewmat.a: $(newmat_lobj) + $(AR) -cr $@ $(newmat_lobj) + ranlib $@ + +tmt_obj = tmt.o tmt1.o tmt2.o tmt3.o tmt4.o tmt5.o tmt6.o tmt7.o tmt8.o tmt9.o tmta.o tmtb.o tmtc.o tmtd.o tmte.o tmtf.o tmtg.o tmth.o tmti.o tmtj.o tmtk.o tmtl.o tmtm.o + +tmt: $(tmt_obj) libnewmat.a + $(CXX) -o $@ $(tmt_obj) -L. -lnewmat -lm + +example_obj = example.o + +example: $(example_obj) libnewmat.a + $(CXX) -o $@ $(example_obj) -L. -lnewmat -lm + +test_exc_obj = test_exc.o + +test_exc: $(test_exc_obj) libnewmat.a + $(CXX) -o $@ $(test_exc_obj) -L. -lnewmat -lm + +nl_ex_obj = nl_ex.o newmatnl.o + +nl_ex: $(nl_ex_obj) libnewmat.a + $(CXX) -o $@ $(nl_ex_obj) -L. -lnewmat -lm + +sl_ex_obj = sl_ex.o solution.o myexcept.o + +sl_ex: $(sl_ex_obj) + $(CXX) -o $@ $(sl_ex_obj) -L. -lm + +garch_obj = garch.o newmatnl.o + +garch: $(garch_obj) libnewmat.a + $(CXX) -o $@ $(garch_obj) -L. -lnewmat -lm + +newmat1.o: newmat1.cpp newmat.h include.h boolean.h myexcept.h + +newmat2.o: newmat2.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat3.o: newmat3.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat4.o: newmat4.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat5.o: newmat5.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat6.o: newmat6.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat7.o: newmat7.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat8.o: newmat8.cpp include.h newmat.h newmatrc.h precisio.h boolean.h myexcept.h controlw.h + +newmatex.o: newmatex.cpp include.h newmat.h boolean.h myexcept.h + +bandmat.o: bandmat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +submat.o: submat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +myexcept.o: myexcept.cpp include.h myexcept.h + +cholesky.o: cholesky.cpp include.h newmat.h boolean.h myexcept.h + +evalue.o: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +fft.o: fft.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +hholder.o: hholder.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +jacobi.o: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h boolean.h myexcept.h + +newfft.o: newfft.cpp newmatap.h newmat.h include.h boolean.h myexcept.h + +sort.o: sort.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +svd.o: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +newmatrm.o: newmatrm.cpp newmat.h newmatrm.h include.h boolean.h myexcept.h + +newmat9.o: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h boolean.h myexcept.h controlw.h + +tmt.o: tmt.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt1.o: tmt1.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt2.o: tmt2.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt3.o: tmt3.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt4.o: tmt4.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt5.o: tmt5.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt6.o: tmt6.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt7.o: tmt7.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt8.o: tmt8.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt9.o: tmt9.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmta.o: tmta.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtb.o: tmtb.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtc.o: tmtc.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtd.o: tmtd.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmte.o: tmte.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtf.o: tmtf.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtg.o: tmtg.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmth.o: tmth.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmti.o: tmti.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtj.o: tmtj.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtk.o: tmtk.cpp include.h newmatap.h newmatio.h tmt.h newmat.h boolean.h myexcept.h + +tmtl.o: tmtl.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +tmtm.o: tmtm.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +example.o: example.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +test_exc.o: test_exc.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +nl_ex.o: nl_ex.cpp newmatnl.h newmatio.h newmat.h include.h boolean.h myexcept.h + +newmatnl.o: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +sl_ex.o: sl_ex.cpp include.h solution.h boolean.h myexcept.h + +solution.o: solution.cpp include.h boolean.h myexcept.h solution.h + +garch.o: garch.cpp newmatap.h newmatio.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +tmt.txx: tmt + $(PRE)tmt > tmt.txx + $(DIFF) tmt.txt tmt.txx + +example.txx: example + $(PRE)example > example.txx + $(DIFF) example.txt example.txx + +test_exc.txx: test_exc + $(PRE)test_exc > test_exc.txx + $(DIFF) test_exc.txt test_exc.txx + +nl_ex.txx: nl_ex + $(PRE)nl_ex > nl_ex.txx + $(DIFF) 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Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ +/***************By yuanjun**************************/ +#include "veloslam/kalmanfilter.h" +#include "math.h" +#define delta_t 0.1 + + +KalmanFilter::KalmanFilter() +{ + +} + +KalmanFilter::KalmanFilter(clusterFeature &glu,double rollAngle) +{ + X1.SetMatrixRowAndCol(4,1); + X2.SetMatrixRowAndCol(4,1); + A.SetMatrixRowAndCol(4,4); + H.SetMatrixRowAndCol(2,4); + Z.SetMatrixRowAndCol(2,1); + K.SetMatrixRowAndCol(4,2); + Q.SetMatrixRowAndCol(4,4); + R.SetMatrixRowAndCol(2,2); + P1.SetMatrixRowAndCol(4,4); + P2.SetMatrixRowAndCol(4,4); + CoordinateRoll.SetMatrixRowAndCol(4,4); + + X1.m_pTMatrix[0][0]=glu.avg_x; + X1.m_pTMatrix[1][0]=glu.avg_z; + X1.m_pTMatrix[2][0]=X1.m_pTMatrix[3][0]=25; + + + A.Eye(); + A.m_pTMatrix[0][2]=delta_t; + A.m_pTMatrix[1][3]=delta_t; + + H.m_pTMatrix[0][0]=1; + H.m_pTMatrix[1][1]=1; + + Q.Eye(); + + R.Eye(); + + P1.Eye(); + + angle=rollAngle; + + CalCoorRoll(angle); +} + +KalmanFilter::~KalmanFilter(void) +{ + +} + +void KalmanFilter::InitialKalmanFilter(clusterFeature &glu) +{ + X1.SetMatrixRowAndCol(4,1); + X2.SetMatrixRowAndCol(4,1); + A.SetMatrixRowAndCol(4,4); + H.SetMatrixRowAndCol(2,4); + Z.SetMatrixRowAndCol(2,1); + K.SetMatrixRowAndCol(4,2); + Q.SetMatrixRowAndCol(4,4); + R.SetMatrixRowAndCol(2,2); + P1.SetMatrixRowAndCol(4,4); + P2.SetMatrixRowAndCol(4,4); + + X1.m_pTMatrix[0][0]=glu.avg_x; + X1.m_pTMatrix[1][0]=glu.avg_z; + X1.m_pTMatrix[2][0]=X1.m_pTMatrix[3][0]=1; + + A.Eye(); + A.m_pTMatrix[0][2]=delta_t; + A.m_pTMatrix[1][3]=delta_t; + + H.m_pTMatrix[0][0]=1; + H.m_pTMatrix[1][1]=1; + + Q.Eye(); + + R.Eye(); + + P1.Eye(); + +} + +void KalmanFilter::timeUpdate() +{ + CMatrix T1,T2; + X2=A*X1; + T1= A.Transpose(); + P2= A * P1 * T1 + Q; +// X2=A*X1; +// P2=A*P1*A.Transpose()+Q; +} + +void KalmanFilter::stateUpdate(clusterFeature &glu,double rollangle,double *pos) +{ + CMatrix T1,T2; + //Z.m_pTMatrix[0][0]=glu.avg_x; + //Z.m_pTMatrix[1][0]=glu.avg_z; + + //CMatrix temp(2,2); + // T1= H.Transpose(); + //temp=H*P2*T1+R; + // T2= temp.Inverse(); + //K=P2*T1*T2; + + //CalCoorRoll(rollangle); + + //X2=CoordinateRoll*X2; + + // CMatrix T3,T4,T5; + + // T4=H*X2; + // T3=Z-T4; + // T5=K*T3; + //X1=X2+T5; + + //CMatrix I(4,4); + //I.Eye(); + + // CMatrix T6,T7,T8; + // T6=K*H; + // T7=I-T6; + //P1=T7*P2; + + Z.m_pTMatrix[0][0]=glu.avg_x; + Z.m_pTMatrix[1][0]=glu.avg_z; + +// CMatrix temp(2,2); +// temp=H*P2*H.Transpose()+R; + + CMatrix temp(2,2); + T1= H.Transpose(); + temp=H*P2*T1+R; + + T2= temp.Inverse(); + K=P2*T1*T2; + +// K=P2*H.Transpose()*temp.Inverse(); + + CalCoorRoll(rollangle); + + X2=CoordinateRoll*X2; + + X2.m_pTMatrix[0][0]+=pos[0]; + X2.m_pTMatrix[1][0]+=pos[2]; + + +// X1=X2+K*(Z-H*X2); + + CMatrix T3,T4,T5; + + T4=H*X2; + T3=Z-T4; + T5=K*T3; + X1=X2+T5; + + CMatrix I(4,4); + I.Eye(); + +// P1=(I-K*H)*P2; + + CMatrix T6,T7,T8; + T6=K*H; + T7=I-T6; + P1=T7*P2; + +} + +ObjectState KalmanFilter::GetCurrentState() +{ + ObjectState movestate; + movestate.x_position=X1.m_pTMatrix[0][0]; + movestate.z_positon=X1.m_pTMatrix[1][0]; + movestate.x_speed=X1.m_pTMatrix[2][0]; + movestate.z_speed=X1.m_pTMatrix[3][0]; + + return movestate; +} + +ObjectState KalmanFilter::GetPredictState() +{ + ObjectState movestate; + + movestate.x_position=X2.m_pTMatrix[0][0]; + movestate.z_positon=X2.m_pTMatrix[1][0]; + movestate.x_speed=X2.m_pTMatrix[2][0]; + movestate.z_speed=X2.m_pTMatrix[3][0]; + + return movestate; +} + +Measurement KalmanFilter::GetPredictMeasurement(double rollAngle,double *pos) +{ + Measurement predictMeasurement; + CMatrix temp(2,1); + CalCoorRoll(rollAngle); + X2=CoordinateRoll*X2; + X2.m_pTMatrix[0][0]+=pos[0]; + X2.m_pTMatrix[1][0]+=pos[2]; + temp=H*X2; + predictMeasurement.x_measurement=temp.m_pTMatrix[0][0]; + predictMeasurement.z_measurement=temp.m_pTMatrix[1][0]; + + return predictMeasurement; +} + +CMatrix KalmanFilter::CalMeasureDeviation() +{ + CMatrix Deviation(2,2),standardDeviation(2,2); + + CMatrix T6,T7,T8; + T6=H.Transpose(); + T7=P2*T6; + Deviation=H*T7+R; + +// Deviation=H*P2*H.Transpose()+R; + + for (int i=0;i<2;i++) + { + for(int j=0;j<2;j++) + { + standardDeviation.m_pTMatrix[i][j]=sqrt(Deviation.m_pTMatrix[i][j]); + } + } + + return standardDeviation; +} + +KalmanFilter& KalmanFilter::operator = (const KalmanFilter& anotherKF) +{ + A=anotherKF.A; + H=anotherKF.H; + X1=anotherKF.X1; + X2=anotherKF.X2; + K=anotherKF.K; + Z=anotherKF.Z; + P1=anotherKF.P1; + P2=anotherKF.P2; + Q=anotherKF.Q; + R=anotherKF.R; + CoordinateRoll=anotherKF.CoordinateRoll; + angle=anotherKF.angle; + return *this; +} + +void KalmanFilter::CalCoorRoll(double angle) +{ + CoordinateRoll.m_pTMatrix[0][0]=cos(angle);//angle is radian?? + CoordinateRoll.m_pTMatrix[0][1]=sin(angle); + CoordinateRoll.m_pTMatrix[1][0]=-sin(angle); + CoordinateRoll.m_pTMatrix[1][1]=cos(angle); + CoordinateRoll.m_pTMatrix[2][2]=cos(angle); + CoordinateRoll.m_pTMatrix[2][3]=sin(angle); + CoordinateRoll.m_pTMatrix[3][2]=-sin(angle); + CoordinateRoll.m_pTMatrix[3][3]=cos(angle); +} + + diff --git a/.svn/pristine/59/59ccfd928c45d0eb1d433de399c60a5e7fdc79e7.svn-base b/.svn/pristine/59/59ccfd928c45d0eb1d433de399c60a5e7fdc79e7.svn-base new file mode 100644 index 0000000..4b9f74b --- /dev/null +++ b/.svn/pristine/59/59ccfd928c45d0eb1d433de399c60a5e7fdc79e7.svn-base @@ -0,0 +1,317 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: genergdi.h +// Purpose: Generic gdi pen and colour +// Author: John Labenski +// Modified by: +// Created: 12/1/2000 +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#ifndef _WX_GENERGDI_H_ +#define _WX_GENERGDI_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "genergdi.h" +#endif + +#include "wx/colour.h" +#include "wx/pen.h" +#include "wx/brush.h" +#include "wx/things/thingdef.h" + +class WXDLLIMPEXP_THINGS wxGenericColour; +class WXDLLIMPEXP_THINGS wxGenericPen; +class WXDLLIMPEXP_THINGS wxGenericBrush; + +// Uncreated and invalid versions of the generic colour, pen, and brush +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericColour) wxNullGenericColour; +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericPen) wxNullGenericPen; +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericBrush) wxNullGenericBrush; + +// Arrays of the generic colours, pens, and brushes +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericColour, wxArrayGenericColour, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericPen, wxArrayGenericPen, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericBrush, wxArrayGenericBrush, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// wxGenericColour - a RGBA colour that's converts from and to a wxColour. +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericColour : public wxObject +{ +public: + wxGenericColour() : wxObject() {} + wxGenericColour( const wxGenericColour& c ) { Create(c); } + wxGenericColour( const wxColour& c ) { Create(c); } + wxGenericColour( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha=255 ) + : wxObject() { Create(red, green, blue, alpha); } + wxGenericColour( unsigned long colABGR ) : wxObject() { CreateABGR(colABGR); } + + // Implicit conversion from the colour name + wxGenericColour( const wxString &colourName ) : wxObject() { Create(colourName); } + wxGenericColour( const char *colourName ) : wxObject() { Create(wxString::FromAscii(colourName)); } +#if wxUSE_UNICODE + wxGenericColour( const wxChar *colourName ) : wxObject() { Create(wxString(colourName)); } +#endif + + virtual ~wxGenericColour() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this colour, unrefing this colour first. + // Use these to detach this colour from it's refed copies. + void Create( const wxGenericColour& c ); + void Create( const wxColour& c); + void Create( unsigned char red = 0, unsigned char green = 0, + unsigned char blue = 0, unsigned char alpha=255 ); + void CreateABGR( unsigned long colABGR ); + void CreateARGB( unsigned long colARGB ); + void Create( const wxString& colourName ); + + // ----------------------------------------------------------------------- + // Set the colour values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericColour &c ); + void Set( const wxColour& c ); + void Set( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha=255 ); + void SetABGR( unsigned long colABGR ); + void SetARGB( unsigned long colARGB ); + void Set( const wxString& colourName ); + + void SetRed ( unsigned char r ); + void SetGreen( unsigned char g ); + void SetBlue ( unsigned char b ); + void SetAlpha( unsigned char a ); + + // ----------------------------------------------------------------------- + // Get the colour values + inline wxColour GetColour() const { return wxColour(GetRed(), GetGreen(), GetBlue()); } + + unsigned char GetRed() const; + unsigned char GetGreen() const; + unsigned char GetBlue() const; + unsigned char GetAlpha() const; + + // wxWidgets wxColour compatibility functions + unsigned char Red() const { return GetRed(); } + unsigned char Green() const { return GetGreen(); } + unsigned char Blue() const { return GetBlue(); } + unsigned char Alpha() const { return GetAlpha(); } + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs( const wxGenericColour& c ) const; + bool IsSameAs( const wxColour& c ) const; + + // Get a "hot to cold" colour where i ranges from 0 to 255 + wxGenericColour GetHotColdColour(double i) const; + + // Read colour to and from string + //wxString WriteString(const wxString& format = wxT("%d,%d,%d,%d")) const; + //bool ReadString(const wxString& str, const wxString& format = wxT("%d,%d,%d,%d")); + + // operators + bool operator == (const wxGenericColour& c) const + { return m_refData == c.m_refData; } + bool operator != (const wxGenericColour& c) const + { return m_refData != c.m_refData; } + + wxGenericColour& operator = (const wxGenericColour& c) + { + if ( (*this) != c ) + Ref(c); + return *this; + } + wxGenericColour& operator = ( const wxColour& c ) { Create(c); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericColour) +}; + +//---------------------------------------------------------------------------- +// wxGenericPen - a pen structure that converts to and from wxPen +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericPen : public wxObject +{ +public: + wxGenericPen() : wxObject() {} + wxGenericPen( const wxGenericPen &pen ) : wxObject() { Create(pen); } + wxGenericPen( const wxPen &pen ) : wxObject() { Create(pen); } + wxGenericPen( const wxGenericColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ) : wxObject() + { Create(colour, width, style, cap, join); } + wxGenericPen( const wxColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ) : wxObject() + { Create(colour, width, style, cap, join); } + + virtual ~wxGenericPen() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this pen, unrefing this pen first. + // Use these to detach this pen from it's refed copies. + void Create( const wxGenericPen &pen ); + void Create( const wxPen &pen ); + void Create( const wxGenericColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ); + void Create( const wxColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ); + + // ----------------------------------------------------------------------- + // Set the values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericPen& pen ); + void Set( const wxPen& pen ); + void SetColour( const wxGenericColour &colour ); + void SetColour( const wxColour &colour ); + void SetColour( int red, int green, int blue, int alpha=255 ); + void SetCap( int capStyle ); + void SetJoin( int joinStyle ); + void SetStyle( int style ); + void SetWidth( int width ); + void SetDashes( int number_of_dashes, const wxDash *dash ); + + // ----------------------------------------------------------------------- + // Get the pen values + wxPen GetPen() const; + + wxGenericColour GetGenericColour() const; + wxColour GetColour() const; + int GetWidth() const; + int GetStyle() const; + int GetCap() const; + int GetJoin() const; + int GetDashes(wxDash **ptr) const; + int GetDashCount() const; + wxDash* GetDash() const; + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs(const wxGenericPen& pen) const; + bool IsSameAs(const wxPen& pen) const; + + // Read pen to and from string + //wxString WriteString() const; + //bool ReadString(const wxString& str); + + // operators + bool operator == (const wxGenericPen& pen) const + { return m_refData == pen.m_refData; } + bool operator != (const wxGenericPen& pen) const + { return m_refData != pen.m_refData; } + + wxGenericPen& operator = (const wxGenericPen& pen) + { + if ( (*this) != pen ) + Ref(pen); + return *this; + } + wxGenericPen& operator = ( const wxPen& pen ) { Create(pen); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericPen) +}; + +//---------------------------------------------------------------------------- +// wxGenericBrush - a brush structure that converts to and from wxBrush +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericBrush : public wxObject +{ +public: + wxGenericBrush() : wxObject() {} + wxGenericBrush( const wxGenericBrush &brush ) : wxObject() { Create(brush); } + wxGenericBrush( const wxBrush &brush ) : wxObject() { Create(brush); } + wxGenericBrush( const wxGenericColour &colour, int style = wxSOLID) + : wxObject() { Create(colour, style); } + wxGenericBrush( const wxColour &colour, int style = wxSOLID) + : wxObject() { Create(colour, style); } + wxGenericBrush( const wxBitmap& stipple ) : wxObject() { Create(stipple); } + + virtual ~wxGenericBrush() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this brush, unrefing this pen first. + // Use these to detach this pen from it's refed copies. + void Create( const wxGenericBrush &brush ); + void Create( const wxBrush &brush ); + void Create( const wxGenericColour &colour, int style = wxSOLID ); + void Create( const wxColour &colour, int style = wxSOLID ); + void Create( const wxBitmap &stipple ); + + // ----------------------------------------------------------------------- + // Set the values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericBrush& brush ); + void Set( const wxBrush& brush ); + void SetColour( const wxGenericColour &colour ); + void SetColour( const wxColour &colour ); + void SetColour( int red, int green, int blue, int alpha=255 ); + void SetStyle( int style ); + void SetStipple( const wxBitmap& stipple ); + + // ----------------------------------------------------------------------- + // Get the brush values + wxBrush GetBrush() const; + + wxGenericColour GetGenericColour() const; + wxColour GetColour() const; + int GetStyle() const; + wxBitmap* GetStipple() const; + + bool IsHatch() const + { return (GetStyle()>=wxFIRST_HATCH) && (GetStyle()<=wxLAST_HATCH); } + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs(const wxGenericBrush& brush) const; + bool IsSameAs(const wxBrush& brush) const; + + // operators + bool operator == (const wxGenericBrush& brush) const + { return m_refData == brush.m_refData; } + bool operator != (const wxGenericBrush& brush) const + { return m_refData != brush.m_refData; } + + wxGenericBrush& operator = (const wxGenericBrush& brush) + { + if ( (*this) != brush ) + Ref(brush); + return *this; + } + wxGenericBrush& operator = ( const wxBrush& brush ) { Create(brush); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericBrush) +}; + +#endif // _WX_GENERGDI_H_ diff --git a/.svn/pristine/59/59e7b58ae231a710825fa8db7e87125c4dec1291.svn-base b/.svn/pristine/59/59e7b58ae231a710825fa8db7e87125c4dec1291.svn-base new file mode 100644 index 0000000..c9fd84e --- /dev/null +++ b/.svn/pristine/59/59e7b58ae231a710825fa8db7e87125c4dec1291.svn-base @@ -0,0 +1,168 @@ +/* + * elch6Dslerp implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using SLERP + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/elch6Dslerp.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include + +#include +using boost::graph_traits; +using namespace NEWMAT; +/** + * ELCH loop closing function using SLERP + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Dslerp::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[4]; + graph_traits ::edge_iterator ei = edges(g).first; + int num_arcs = num_edges(g); + int li = 0; +#ifdef _OPENMP +#pragma omp parallel for firstprivate(li, ei) +#endif + for(int i = 0; i < num_arcs; i++) { + for(;i > li; li++, ei++) ; + for(;i < li; li--, ei--) ; + Matrix C(7, 7); + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 3; j++) { +#ifdef _OPENMP +#pragma omp critical +#endif + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } +#ifdef _OPENMP +#pragma omp critical +#endif + add_edge(from, to, fabs(C(4, 4)) + fabs(C(5, 5)) + fabs(C(6, 6)) + fabs(C(7, 7)), grb[3]); + li++; + ei++; + } + + double *weights[4]; + for(int i = 0; i < 4; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + meta_end.push_back(allScans[i]); + } + MetaScan *end = new MetaScan(meta_end, false, false); + + double Pl0[16]; + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + + my_icp6D->match(start, end); + + delete start; + delete end; + + // store ICP + double Pp0[16]; + memcpy(Pp0, allScans[last]->get_transMat(), 16 * sizeof(double)); + + //compute Delta + double Pf0[16], Pf0_inv[16], tmp1[16], tmp2[16], deltaf[16]; + memcpy(Pf0, allScans[first]->get_transMat(), 16 * sizeof(double)); + M4inv(Pf0, Pf0_inv); + + MMult(Pf0_inv, Pl0, tmp1); + M4inv(tmp1, tmp2); + MMult(Pp0, tmp2, tmp1); + MMult(Pf0_inv, tmp1, deltaf); + + double deltaT[3], deltaQ[4]; + Matrix4ToQuat(deltaf, deltaQ, deltaT); + + if(!quiet) { + double axisangle[4]; + axisangle[0] = deltaQ[0]; + axisangle[1] = deltaQ[1]; + axisangle[2] = deltaQ[2]; + axisangle[3] = deltaQ[3]; + QuatToAA(axisangle); + cout << "Delta: " << deltaT[0] << " " << deltaT[1] << " " << deltaT[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + //transform scans + double idQ[4] = {1, 0, 0, 0}, rPos[3], rPosQuat[4], delta0[16]; + + rPos[0] = deltaT[0] * weights[0][0]; + rPos[1] = deltaT[1] * weights[1][0]; + rPos[2] = deltaT[2] * weights[2][0]; + slerp(idQ, deltaQ, weights[3][0], rPosQuat); + QuatToMatrix4(rPosQuat, rPos, tmp1); + M4inv(tmp1, tmp2); + MMult(Pf0, tmp2, delta0); + +#ifdef _OPENMP +#pragma omp parallel for private(rPos, rPosQuat, tmp1, tmp2) +#endif + for(int i = 1; i < n; i++) { + if(i >= last - offset_last_start && i <= last + offset_last_end) { + MMult(delta0, Pf0_inv, tmp1); + } else { + rPos[0] = deltaT[0] * weights[0][i]; + rPos[1] = deltaT[1] * weights[1][i]; + rPos[2] = deltaT[2] * weights[2][i]; + slerp(idQ, deltaQ, weights[3][i], rPosQuat); + QuatToMatrix4(rPosQuat, rPos, tmp1); + MMult(delta0, tmp1, tmp2); + MMult(tmp2, Pf0_inv, tmp1); + } + allScans[i]->transform(tmp1, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 4; i++) { + delete [] weights[i]; + } + +} diff --git a/.svn/pristine/5a/5a110ce034186e86c06d92f08aad92cd1242aaa5.svn-base b/.svn/pristine/5a/5a110ce034186e86c06d92f08aad92cd1242aaa5.svn-base new file mode 100644 index 0000000..749a908 --- /dev/null +++ b/.svn/pristine/5a/5a110ce034186e86c06d92f08aad92cd1242aaa5.svn-base @@ -0,0 +1,368 @@ +/* + * lap implementation + * + * Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter, + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#include "veloslam/lap.h" + +cost lap(int dim, + cost **assigncost, + col *rowsol, + row *colsol, + cost *u, + cost *v) + + // input: + // dim - problem size + // assigncost - cost matrix + + // output: + // rowsol - column assigned to row in solution + // colsol - row assigned to column in solution + // u - dual variables, row reduction numbers + // v - dual variables, column reduction numbers + +{ + Boolean unassignedfound; + row i, imin, numfree = 0, prvnumfree, f, i0, k, freerow, *pred, *free; + col j, j1, j2, endofpath, last, low, up, *collist, *matches; + cost min, h, umin, usubmin, v2, *d; + + free = new row[dim]; // list of unassigned rows. + collist = new col[dim]; // list of columns to be scanned in various ways. + matches = new col[dim]; // counts how many times a row could be assigned. + d = new cost[dim]; // 'cost-distance' in augmenting path calculation. + pred = new row[dim]; // row-predecessor of column in augmenting/alternating path. + + // init how many times a row will be assigned in the column reduction. + for (i = 0; i < dim; i++) + matches[i] = 0; + + // COLUMN REDUCTION + for (j = dim-1; j >= 0; j--) // reverse order gives better results. + { + // find minimum cost over rows. + min = assigncost[0][j]; + imin = 0; + for (i = 1; i < dim; i++) + if (assigncost[i][j] < min) + { + min = assigncost[i][j]; + imin = i; + } + v[j] = min; + + if (++matches[imin] == 1) + { + // init assignment if minimum row assigned for first time. + rowsol[imin] = j; + colsol[j] = imin; + } + else + colsol[j] = -1; // row already assigned, column not assigned. + } + + // REDUCTION TRANSFER + for (i = 0; i < dim; i++) + if (matches[i] == 0) // fill list of unassigned 'free' rows. + free[numfree++] = i; + else + if (matches[i] == 1) // transfer reduction from rows that are assigned once. + { + j1 = rowsol[i]; + min = BIG; + for (j = 0; j < dim; j++) + if (j != j1) + if (assigncost[i][j] - v[j] < min) + min = assigncost[i][j] - v[j]; + v[j1] = v[j1] - min; + } + + // AUGMENTING ROW REDUCTION + int loopcnt = 0; // do-loop to be done twice. + do + { + loopcnt++; + + // scan all free rows. + // in some cases, a free row may be replaced with another one to be scanned next. + k = 0; + prvnumfree = numfree; + numfree = 0; // start list of rows still free after augmenting row reduction. + while (k < prvnumfree) + { + i = free[k]; + k++; + + // find minimum and second minimum reduced cost over columns. + umin = assigncost[i][0] - v[0]; + j1 = 0; + usubmin = BIG; + for (j = 1; j < dim; j++) + { + h = assigncost[i][j] - v[j]; + if (h < usubmin) + if (h >= umin) + { + usubmin = h; + j2 = j; + } + else + { + usubmin = umin; + umin = h; + j2 = j1; + j1 = j; + } + } + + i0 = colsol[j1]; + if (umin < usubmin) + // change the reduction of the minimum column to increase the minimum + // reduced cost in the row to the subminimum. + v[j1] = v[j1] - (usubmin - umin); + else // minimum and subminimum equal. + if (i0 >= 0) // minimum column j1 is assigned. + { + // swap columns j1 and j2, as j2 may be unassigned. + j1 = j2; + i0 = colsol[j2]; + } + + // (re-)assign i to j1, possibly de-assigning an i0. + rowsol[i] = j1; + colsol[j1] = i; + + if (i0 >= 0) // minimum column j1 assigned earlier. + if (umin < usubmin) + // put in current k, and go back to that k. + // continue augmenting path i - j1 with i0. + free[--k] = i0; + else + // no further augmenting reduction possible. + // store i0 in list of free rows for next phase. + free[numfree++] = i0; + } + } + while (loopcnt < 2); // repeat once. + + // AUGMENT SOLUTION for each free row. + for (f = 0; f < numfree; f++) + { + freerow = free[f]; // start row of augmenting path. + + // Dijkstra shortest path algorithm. + // runs until unassigned column added to shortest path tree. + for (j = 0; j < dim; j++) + { + d[j] = assigncost[freerow][j] - v[j]; + pred[j] = freerow; + collist[j] = j; // init column list. + } + + low = 0; // columns in 0..low-1 are ready, now none. + up = 0; // columns in low..up-1 are to be scanned for current minimum, now none. + // columns in up..dim-1 are to be considered later to find new minimum, + // at this stage the list simply contains all columns + unassignedfound = FALSE; + do + { + if (up == low) // no more columns to be scanned for current minimum. + { + last = low - 1; + + // scan columns for up..dim-1 to find all indices for which new minimum occurs. + // store these indices between low..up-1 (increasing up). + min = d[collist[up++]]; + for (k = up; k < dim; k++) + { + j = collist[k]; + h = d[j]; + if (h <= min) + { + if (h < min) // new minimum. + { + up = low; // restart list at index low. + min = h; + } + // new index with same minimum, put on undex up, and extend list. + collist[k] = collist[up]; + collist[up++] = j; + } + } + + // check if any of the minimum columns happens to be unassigned. + // if so, we have an augmenting path right away. + for (k = low; k < up; k++) + if (colsol[collist[k]] < 0) + { + endofpath = collist[k]; + unassignedfound = TRUE; + break; + } + } + + if (!unassignedfound) + { + // update 'distances' between freerow and all unscanned columns, via next scanned column. + j1 = collist[low]; + low++; + i = colsol[j1]; + h = assigncost[i][j1] - v[j1] - min; + + for (k = up; k < dim; k++) + { + j = collist[k]; + v2 = assigncost[i][j] - v[j] - h; + if (v2 < d[j]) + { + pred[j] = i; + if (v2 == min) // new column found at same minimum value + if (colsol[j] < 0) + { + // if unassigned, shortest augmenting path is complete. + endofpath = j; + unassignedfound = TRUE; + break; + } + // else add to list to be scanned right away. + else + { + collist[k] = collist[up]; + collist[up++] = j; + } + d[j] = v2; + } + } + } + } + while (!unassignedfound); + + // update column prices. + for (k = 0; k <= last; k++) + { + j1 = collist[k]; + v[j1] = v[j1] + d[j1] - min; + } + + // reset row and column assignments along the alternating path. + do + { + i = pred[endofpath]; + colsol[endofpath] = i; + j1 = endofpath; + endofpath = rowsol[i]; + rowsol[i] = j1; + } + while (i != freerow); + } + + // calculate optimal cost. + cost lapcost = 0; + for (i = 0; i < dim; i++) + { + j = rowsol[i]; + u[i] = assigncost[i][j] - v[j]; + lapcost = lapcost + assigncost[i][j]; + } + + // free reserved memory. + delete[] pred; + delete[] free; + delete[] collist; + delete[] matches; + delete[] d; + + return lapcost; +} + +void checklap(int dim, + cost **assigncost, + col *rowsol, + row *colsol, + cost *u, + cost *v) +{ + row i; + col j; + cost lapcost = 0, redcost = 0; + Boolean *matched; + char wait; + + matched = new Boolean[dim]; + + for (i = 0; i < dim; i++) + for (j = 0; j < dim; j++) + if ((redcost = assigncost[i][j] - u[i] - v[j]) < 0) + { + printf("\n"); + printf("negative reduced cost i %d j %d redcost %d\n", i, j, redcost); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (i = 0; i < dim; i++) + if ((redcost = assigncost[i][rowsol[i]] - u[i] - v[rowsol[i]]) != 0) + { + printf("\n"); + printf("non-null reduced cost i %d soli %d redcost %d\n", i, rowsol[i], redcost); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (j = 0; j < dim; j++) + matched[j] = FALSE; + + for (i = 0; i < dim; i++) + if (matched[rowsol[i]]) + { + printf("\n"); + printf("column matched more than once - i %d soli %d\n", i, rowsol[i]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + else + matched[rowsol[i]] = TRUE; + + + for (i = 0; i < dim; i++) + if (colsol[rowsol[i]] != i) + { + printf("\n"); + printf("error in row solution i %d soli %d solsoli %d\n", i, rowsol[i], colsol[rowsol[i]]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (j = 0; j < dim; j++) + if (rowsol[colsol[j]] != j) + { + printf("\n"); + printf("error in col solution j %d solj %d solsolj %d\n", j, colsol[j], rowsol[colsol[j]]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + delete[] matched; + return; +} diff --git a/.svn/pristine/5a/5a681fb2d109cfa004a8a17f407531b2e7deb3d8.svn-base b/.svn/pristine/5a/5a681fb2d109cfa004a8a17f407531b2e7deb3d8.svn-base new file mode 100644 index 0000000..133f7c2 --- /dev/null +++ b/.svn/pristine/5a/5a681fb2d109cfa004a8a17f407531b2e7deb3d8.svn-base @@ -0,0 +1,94 @@ +/** @file + * @brief Representation of the optimized k-d tree. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_H__ +#define __KD_H__ + +#include "slam6d/kdparams.h" +#include "slam6d/searchTree.h" + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtree : public SearchTree { +public: + KDtree(double **pts, int n); + + virtual ~KDtree(); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const; + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtree *child1; ///< pointers to the childs + KDtree *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + /** + * store the value itself + * Here we store just a pointer to the data + */ + double **p; + } leaf; + }; + + void _FindClosest(int threadNum) const; +}; + +#endif diff --git a/.svn/pristine/5a/5a6dc29493e9507e979fada75647bbe0d3fa10b4.svn-base b/.svn/pristine/5a/5a6dc29493e9507e979fada75647bbe0d3fa10b4.svn-base new file mode 100644 index 0000000..06d6282 Binary files /dev/null and b/.svn/pristine/5a/5a6dc29493e9507e979fada75647bbe0d3fa10b4.svn-base differ diff --git a/.svn/pristine/5a/5aa77389e036f11e2cf192f2084f6636ae805b64.svn-base b/.svn/pristine/5a/5aa77389e036f11e2cf192f2084f6636ae805b64.svn-base new file mode 100644 index 0000000..d2861e9 --- /dev/null +++ b/.svn/pristine/5a/5aa77389e036f11e2cf192f2084f6636ae805b64.svn-base @@ -0,0 +1,55 @@ +BUGS + +Reporting +--------- +Please do not hesitate to report bugs, and if possible their fixes! If you +send an example file, please make sure it's small. To report bugs, do one +of the following: + +* go to http://sourceforge.net/bugs/?func=addbug&group_id=7147. + This is the preferred way to report bugs. + +* send it to one of the authors. Note that sometimes we may be busy, and +we won't reply it for days. If you post using the previous method, surely +one of the authors will read it. + +* use + diff -ru gocr_origin/ gocr_changed/ >patch + to create patches + +* if you have compiling problems, do not forget to send your configure-output + and the config.log file + + +Known bugs (see jocr.SF.net page too) +---------- + +v0.48 cutting of double melted chars will fail (example: serif MN) +v0.43 on dithered images gocr runs extremely long (seems to hang) +v0.41 linker error using g++ and netpbm under SuSE-9.3 +v0.3.5 + - segfault on some systems which do not support ifalpha(256+x) + - hexcode not read from database +v0.2.5 german umlauts and i-dots are not handled correctly + problems high resolution fonts +v0.2.4 I guess, there are still bugs. + Some systems do not handle stack in good manner (AmigaOS?). + gocr does extensively consume stack for recursive functions. + Therefore you can get memory protection failures or strange results. + The worst case is a huge black area. If that is a problem for you + request for changing it. + --- --- --- --- only for linux freaks --- --- --- + By mistake I programmed an endless rekursiv function and ... + SuSE6.4+linux2.2.12/13 got several "out of mem" and system CRASHED!!! + ulimit: stack=unlimited + - if text is framed, frame should be ignored, but it is not +v0.2.3 still problems with segmentation + - gcc 2.95.2 (SuSE6.4) error in load_db(), => fixed (thx to jasper) +v0.2.1 + - some people have problems running gocr on DOS/Win95 + I guess: stack overflow. Is someone able to analyze or fix this? + - large black areas on pbm-files cause a segfault on + Ultra/Sparc (64bit) machines running Linux (2.1.126). + There is a recursive function in the program which causes a + stack overflow, which is not detected by the linux-kernel (BUG?). + I look for a better solution. diff --git a/.svn/pristine/5a/5abf6fd2cd607c8a7607994133ee2d83222b24e4.svn-base b/.svn/pristine/5a/5abf6fd2cd607c8a7607994133ee2d83222b24e4.svn-base new file mode 100644 index 0000000..be1e651 --- /dev/null +++ b/.svn/pristine/5a/5abf6fd2cd607c8a7607994133ee2d83222b24e4.svn-base @@ -0,0 +1,100 @@ +/* + * ConfigFileHough implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/ConfigFileHough.h" +#include +#include +#include "shapes/parascan.h" +#include + +using namespace std; + +ConfigFileHough::ConfigFileHough() { + + strcpy(CfgFileName, DEF_CfgFileName); + MaxDist = DEF_MaxDist; + MinDist = DEF_MinDist; + AccumulatorMax = DEF_AccumulatorMax; + MinSizeAllPoints = DEF_MinSizeAllPoints; + RhoNum = DEF_RhoNum; + ThetaNum = DEF_ThetaNum; + PhiNum = DEF_PhiNum; + RhoMax = DEF_RhoMax; + MaxPointPlaneDist = DEF_MaxPointPlaneDist; + MaxPlanes = DEF_MaxPlanes; + MinPlaneSize = DEF_MinPlaneSize; + MinPlanarity = DEF_MinPlanarity; + PlaneRatio = DEF_PlaneRatio; + PointDist = DEF_PointDist; + PeakWindow = DEF_PeakWindow; + WindowSize = DEF_WindowSize; + TrashMax = DEF_TrashMax; + AccumulatorType = DEF_AccumulatorType; + strcpy(PlaneDir, DEF_PlaneDir); + +} + +void ConfigFileHough::ShowConfiguration() { + cout << "MaxDist " << Get_MaxDist() << endl; + cout << "MinDist " << Get_MinDist() << endl; + cout << "AccumulatorMax " << Get_AccumulatorMax() << endl; + cout << "MinSizeAllPoints " << Get_MinSizeAllPoints() << endl; + cout << "RhoNum " << Get_RhoNum() << endl; + cout << "ThetaNum " << Get_ThetaNum() << endl; + cout << "PhiNum " << Get_PhiNum() << endl; + cout << "RhoMax " << Get_RhoMax() << endl; + cout << "MaxPointPlaneDist " << Get_MaxPointPlaneDist() << endl; + cout << "MaxPlanes " << Get_MaxPlanes() << endl; + cout << "MinPlaneSize " << Get_MinPlaneSize() << endl; + cout << "MinPlanarity " << Get_MinPlanarity() << endl; + cout << "PlaneRatio " << Get_PlaneRatio() << endl; + cout << "PointDist " << Get_PointDist() << endl; + cout << "PeakWindow " << Get_PeakWindow() << endl; + cout << "WindowSize " << Get_WindowSize() << endl; + cout << "TrashMax " << Get_TrashMax() << endl; + cout << "AccumulatorType " << Get_AccumulatorType() << endl; + cout << "PlaneDir " << Get_PlaneDir() << endl; +} + +unsigned int ConfigFileHough::LoadCfg(const char* CfgFile) { + + FILE *Cfg; + + /* Opens the configuration file */ + if ((Cfg = fopen(CfgFile, "r")) == NULL) { + printf("Could not open configuration file '%s'\n", CfgFile); + return 0; + } + + + MaxDist = paramtr_scan_double(Cfg, "MaxDist", DEF_MaxDist); + MinDist = paramtr_scan_double(Cfg, "MinDist", DEF_MinDist); + AccumulatorMax = paramtr_scan_int(Cfg, "AccumulatorMax", DEF_AccumulatorMax); + MinSizeAllPoints = paramtr_scan_int(Cfg, "MinSizeAllPoints", DEF_MinSizeAllPoints); + RhoNum = paramtr_scan_int(Cfg, "RhoNum", DEF_RhoNum); + ThetaNum = paramtr_scan_int(Cfg, "ThetaNum", DEF_ThetaNum); + PhiNum = paramtr_scan_int(Cfg, "PhiNum", DEF_PhiNum); + RhoMax = paramtr_scan_int(Cfg, "RhoMax", DEF_RhoMax); + MaxPlanes = paramtr_scan_int(Cfg, "MaxPlanes", DEF_MaxPlanes); + MinPlaneSize = paramtr_scan_int(Cfg, "MinPlaneSize", DEF_MinPlaneSize); + MinPlanarity = paramtr_scan_double(Cfg, "MinPlanarity", DEF_MinPlanarity); + PlaneRatio = paramtr_scan_double(Cfg, "PlaneRatio", DEF_PlaneRatio); + MaxPointPlaneDist = paramtr_scan_double(Cfg, "MaxPointPlaneDist", DEF_MaxPointPlaneDist); + PeakWindow = paramtr_scan_int(Cfg, "PeakWindow", DEF_PeakWindow); + WindowSize = paramtr_scan_int(Cfg, "WindowSize", DEF_WindowSize); + TrashMax = paramtr_scan_int(Cfg, "TrashMax", DEF_TrashMax); + PointDist = paramtr_scan_double(Cfg, "PointDist", DEF_PointDist); + + AccumulatorType = paramtr_scan_int(Cfg, "AccumulatorType", DEF_AccumulatorType); + paramtr_scan_str(Cfg, "PlaneDir", PlaneDir); + + fclose(Cfg); + return 1; + +} diff --git a/.svn/pristine/5b/5b85f12e4c65636a6bd2b4c7244511372d1e15d7.svn-base b/.svn/pristine/5b/5b85f12e4c65636a6bd2b4c7244511372d1e15d7.svn-base new file mode 100644 index 0000000..0644d17 --- /dev/null +++ b/.svn/pristine/5b/5b85f12e4c65636a6bd2b4c7244511372d1e15d7.svn-base @@ -0,0 +1,87 @@ +#----------------------------------------------------------------------------- +# Makefile for ann2fig +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIB ANN library +# OTHERLIB other libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN +OTHERLIBS = -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANN2FIG name of executable +#----------------------------------------------------------------------------- + +ANN2FIG = ann2fig +SOURCES = ann2fig.cpp +OBJECTS = $(SOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANN2FIG) + +$(BINDIR)/$(ANN2FIG): $(OBJECTS) + $(C++) $(OBJECTS) -o $(ANN2FIG) $(LDFLAGS) $(ANNLIBS) $(OTHERLIBS) + mv $(ANN2FIG) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann2fig.o: ann2fig.cpp + $(C++) -c -I$(INCDIR) ann2fig.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o core + +realclean: clean diff --git a/.svn/pristine/5c/5c0a6b3cc1d208e8fc4b49cf1ab9fa37c438f828.svn-base b/.svn/pristine/5c/5c0a6b3cc1d208e8fc4b49cf1ab9fa37c438f828.svn-base new file mode 100644 index 0000000..4fc43e8 --- /dev/null +++ b/.svn/pristine/5c/5c0a6b3cc1d208e8fc4b49cf1ab9fa37c438f828.svn-base @@ -0,0 +1,123 @@ +//$$jacobi.cpp jacobi eigenvalue analysis + +// Copyright (C) 1991,2,3,4: R B Davies + + +//#define WANT_STREAM + + +#define WANT_MATH + +#include "include.h" +#include "newmatap.h" +#include "precisio.h" +#include "newmatrm.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,18); ++ExeCount; } +#else +#define REPORT {} +#endif + + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, SymmetricMatrix& A, + Matrix& V, bool eivec) +{ + Real epsilon = FloatingPointPrecision::Epsilon(); + Tracer et("Jacobi"); + REPORT + int n = X.Nrows(); DiagonalMatrix B(n), Z(n); D.ReSize(n); A = X; + if (eivec) { REPORT V.ReSize(n,n); D = 1.0; V = D; } + B << A; D = B; Z = 0.0; A.Inject(Z); + bool converged = false; + for (int i=1; i<=50; i++) + { + Real sm=0.0; Real* a = A.Store(); int p = A.Storage(); + while (p--) sm += fabs(*a++); // have previously zeroed diags + if (sm==0.0) { REPORT converged = true; break; } + Real tresh = (i<4) ? 0.2 * sm / square(n) : 0.0; a = A.Store(); + for (p = 0; p < n; p++) + { + Real* ap1 = a + (p*(p+1))/2; + Real& zp = Z.element(p); Real& dp = D.element(p); + for (int q = p+1; q < n; q++) + { + Real* ap = ap1; Real* aq = a + (q*(q+1))/2; + Real& zq = Z.element(q); Real& dq = D.element(q); + Real& apq = A.element(q,p); + Real g = 100 * fabs(apq); Real adp = fabs(dp); Real adq = fabs(dq); + + if (i>4 && g < epsilon*adp && g < epsilon*adq) { REPORT apq = 0.0; } + else if (fabs(apq) > tresh) + { + REPORT + Real t; Real h = dq - dp; Real ah = fabs(h); + if (g < epsilon*ah) { REPORT t = apq / h; } + else + { + REPORT + Real theta = 0.5 * h / apq; + t = 1.0 / ( fabs(theta) + sqrt(1.0 + square(theta)) ); + if (theta<0.0) { REPORT t = -t; } + } + Real c = 1.0 / sqrt(1.0 + square(t)); Real s = t * c; + Real tau = s / (1.0 + c); h = t * apq; + zp -= h; zq += h; dp -= h; dq += h; apq = 0.0; + int j = p; + while (j--) + { + g = *ap; h = *aq; + *ap++ = g-s*(h+g*tau); *aq++ = h+s*(g-h*tau); + } + int ip = p+1; j = q-ip; ap += ip++; aq++; + while (j--) + { + g = *ap; h = *aq; + *ap = g-s*(h+g*tau); *aq++ = h+s*(g-h*tau); + ap += ip++; + } + if (q < n-1) // last loop is non-empty + { + int iq = q+1; j = n-iq; ap += ip++; aq += iq++; + for (;;) + { + g = *ap; h = *aq; + *ap = g-s*(h+g*tau); *aq = h+s*(g-h*tau); + if (!(--j)) break; + ap += ip++; aq += iq++; + } + } + if (eivec) + { + REPORT + RectMatrixCol VP(V,p); RectMatrixCol VQ(V,q); + Rotate(VP, VQ, tau, s); + } + } + } + } + B = B + Z; D = B; Z = 0.0; + } + if (!converged) Throw(ConvergenceException(X)); + if (eivec) SortSV(D, V, true); + else SortAscending(D); +} + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D) +{ REPORT SymmetricMatrix A; Matrix V; Jacobi(X,D,A,V,false); } + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, SymmetricMatrix& A) +{ REPORT Matrix V; Jacobi(X,D,A,V,false); } + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, Matrix& V) +{ REPORT SymmetricMatrix A; Jacobi(X,D,A,V,true); } + + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/5c/5c0c86ed5a252257c3c631c58d08babfa83e9e66.svn-base b/.svn/pristine/5c/5c0c86ed5a252257c3c631c58d08babfa83e9e66.svn-base new file mode 100644 index 0000000..f0d96ac --- /dev/null +++ b/.svn/pristine/5c/5c0c86ed5a252257c3c631c58d08babfa83e9e66.svn-base @@ -0,0 +1,1219 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_control.cpp - top-level GLUI_Control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +int _glui_draw_border_only = 0; + + +/**************************************** GLUI_Control::align() **************/ + +void GLUI_Control::align( void ) +{ + int col_x, col_y, col_w, col_h, col_x_off, col_y_off; + int orig_x_abs; + + orig_x_abs = x_abs; + + /* Fix alignment bug relating to columns */ + /*return; */ + + if ( NOT parent() ) + return; /* Clearly this shouldn't happen, though */ + + get_this_column_dims(&col_x, &col_y, &col_w, &col_h, + &col_x_off, &col_y_off); + + if ( type == GLUI_CONTROL_COLUMN ) { + /* if ( this->prev() != NULL ) { + ((GLUI_Control*)prev())->get_this_column_dims(&col_x, &col_y, &col_w, &col_h, + &col_x_off, &col_y_off); + + x_abs = col_x + col_w; + } + else { + x_abs = ((GLUI_Control*)parent())->x_abs; + } + */ + return; + } + + if ( alignment == GLUI_ALIGN_LEFT ) { + x_abs = col_x + col_x_off; + } + else if ( alignment == GLUI_ALIGN_RIGHT ) { + x_abs = col_x + col_w - col_x_off - this->w; + } + else if ( alignment == GLUI_ALIGN_CENTER ) { + x_abs = col_x + (col_w - this->w) / 2; + } + + if ( this->is_container ) { + /*** Shift all child columns ***/ + int delta = x_abs - orig_x_abs; + + GLUI_Control *node; + + node = (GLUI_Control*) this->first_child(); + while( node != NULL ) { + if ( node->type == GLUI_CONTROL_COLUMN ) { + node->x_abs += delta; + } + + node = (GLUI_Control*) node->next(); + } + } + +} + + +/**************************************** GLUI_Control::pack() ************/ +/* Recalculate positions and offsets */ + +void GLUI_Control::pack_old( int x, int y ) +{ + GLUI_Control *node; + int max_w, curr_y, curr_x, max_y; + int x_in = x, y_in =y; + int x_margin, y_margin_top, y_margin_bot; + int y_top_column; + int column_x; + GLUI_Column *curr_column = NULL; + this->update_size(); + x_margin = this->x_off; + y_margin_top = this->y_off_top; + y_margin_bot = this->y_off_bot; + this->x_abs = x_in; + this->y_abs = y_in; + max_w = -1; + max_y = -1; + curr_x = this->x_abs + x_margin; + curr_y = this->y_abs + y_margin_top; + /*** Record start of this set of columns ***/ + y_top_column = curr_y; + column_x = 0; + if ( this == glui->main_panel ) { + x=x; + } + /*** Iterate over children, packing them first ***/ + node = (GLUI_Control*) this->first_child(); + while( node != NULL ) { + if ( node->type == GLUI_CONTROL_PANEL ) { /* Pad some space above panels */ + curr_y += GLUI_ITEMSPACING; + } + else if ( node->type == GLUI_CONTROL_COLUMN ) { + curr_column = (GLUI_Column*) node; + if ( 1 ) { + column_x += max_w + 2 * x_margin; + curr_x += max_w + 2 * x_margin; + } + else { + column_x += max_w + 0 * x_margin; + curr_x += max_w + 0 * x_margin; + } + /*node->pack( curr_x, curr_y ); */ + node->x_abs = curr_x; + node->y_abs = y_top_column; + node->w = 2; + node->h = curr_y - y_top_column; + curr_x += x_margin * 3 + 40; + curr_y = y_top_column; + max_w = 0; + node = (GLUI_Control*) node->next(); + continue; + } + node->pack( curr_x, curr_y ); + if ( node->type == GLUI_CONTROL_PANEL ) /* Pad some space below panels */ + curr_y += GLUI_ITEMSPACING; + curr_y += node->h; + if ( node->w > max_w ) { + max_w = node->w; + if ( curr_column != NULL ) + curr_column->w = max_w; + } + node = (GLUI_Control*) node->next(); + if ( node ) { + curr_y += GLUI_ITEMSPACING; + } + if ( curr_y > max_y ) + max_y = curr_y; + } + if ( this->is_container ) { + max_y += y_margin_bot; /*** Add bottom border inside box */ + if ( this->first_child() ) { + if ( this->type == GLUI_CONTROL_ROLLOUT ) { + /** We don't want the rollout to shrink in width when it's + closed **/ + this->w = MAX(this->w, column_x + max_w + 2 * x_margin ); + } + else { + this->w = column_x + max_w + 2 * x_margin; + } + this->h = (max_y - y_in); + } + else { /* An empty container, so just assign default w & h */ + this->w = GLUI_DEFAULT_CONTROL_WIDTH; + this->h = GLUI_DEFAULT_CONTROL_HEIGHT; + } + /** Expand panel if necessary (e.g., to include all the text in + a panel label) **/ + this->update_size(); + } +} + + +/********************************* GLUT_Control::draw_recursive() **********/ + +void GLUI_Control::draw_recursive( int x, int y ) +{ + GLUI_Control *node; + + /* printf( "%s %d\n", this->name.string, this->hidden );*/ + if ( NOT can_draw() ) + return; + + /*if ( 1 ) { -- Debugging to check control width + glColor3f( 1.0, 0.0, 0.0 ); + glBegin( GL_LINES ); + glVertex2i( x_abs, y_abs );00 + glVertex2i( x_abs+w, y_abs ); + + glEnd(); + }*/ + + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + + glTranslatef( (float) this->x_abs + .5, + (float) this->y_abs + .5, + 0.0 ); + + if ( NOT _glui_draw_border_only ) { + if ( NOT strcmp( name.string, "Rollout" ) ) { + } + + this->draw( this->x_off, this->y_off_top ); + } + else + { + if ( this->type == GLUI_CONTROL_COLUMN ) { + /* printf( "%s w/h: %d/%d\n", (char*) name, w, h ); */ + /*w = 2; */ + } + + /* The following draws the area of each control */ + glColor3f( 1.0, 0.0, 0.0 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( 0, 0 ); glVertex2i( w, 0 ); + glVertex2i( w, h ); glVertex2i( 0, h ); + glEnd(); + } + glPopMatrix(); + + node = (GLUI_Control*) first_child(); + while( node ) { + node->draw_recursive( node->x_abs, node->y_abs ); + node = (GLUI_Control*) node->next(); + } +} + + +/******************************** GLUI_Control::set_to_glut_window() *********/ +/* Sets the current window to the glut window associated with this control */ + +int GLUI_Control::set_to_glut_window( void ) +{ + int orig_window; + + if ( NOT glui) + return 1; + + orig_window = glutGetWindow(); + + glutSetWindow( glui->get_glut_window_id()); + glDrawBuffer( GL_FRONT ); + + return orig_window; +} + + +/************************************ GLUI_Control::restore_window() *********/ + +void GLUI_Control::restore_window( int orig ) +{ + if ( orig > 0 ) + glutSetWindow( orig ); +} + + +/************************************* GLUI_Control::enable() ****************/ + +void GLUI_Control::enable( void ) +{ + GLUI_Control *node; + + enabled = true; + + if ( NOT glui ) + return; + + translate_and_draw_front(); + + /*** Now recursively enable all buttons below it ***/ + node = (GLUI_Control*) first_child(); + while(node) { + node->enable(); + node = (GLUI_Control*) node->next(); + } +} + + +/************************************ GLUI_Control::disable() ****************/ + +void GLUI_Control::disable( void ) +{ + GLUI_Control *node; + + enabled = false; + + if ( NOT glui ) + return; + + if ( glui->active_control == this ) + glui->disactivate_current_control(); + + translate_and_draw_front(); + + /*** Now recursively disable all buttons below it ***/ + node = (GLUI_Control*) first_child(); + while(node) { + node->disable(); + node = (GLUI_Control*) node->next(); + } +} + + +/***************************************** GLUI_Control::set_font() **********/ + +void GLUI_Control::set_font( void *new_font ) +{ + int orig, state; + + font = new_font; + + /** Now redraw **/ + if ( NOT glui ) + return; + + orig = set_to_glut_window(); + state = glui->set_front_draw_buffer(); + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + translate_to_origin(); + glDisable( GL_CULL_FACE ); + set_to_bkgd_color(); + glBegin( GL_QUADS ); + glVertex2i( 0,0 ); glVertex2i( w,0 ); + glVertex2i( w,h ); glVertex2i( 0,h ); + glEnd(); + glPopMatrix(); + glui->restore_draw_buffer(state); + restore_window(orig); + + translate_and_draw_front(); +} + + +/************************************ GLUI_Control::draw_string() ************/ + +void GLUI_Control::draw_string( char *text ) +{ + _glutBitmapString( get_font(), text ); +} + + +/****************************************** GLUI_Control::draw_char() ********/ + +void GLUI_Control::draw_char( char c ) +{ + glutBitmapCharacter( get_font(), c ); +} + + +/************************************* GLUI_Control::string_width() **********/ + +int GLUI_Control::string_width( char *text ) +{ + return _glutBitmapWidthString( get_font(), text ); +} + + +/*************************************** GLUI_Control::char_width() **********/ + +int GLUI_Control::char_width( char c ) +{ + return glutBitmapWidth( get_font(), c ); +} + + +/***************************************** GLUI_Control::get_font() **********/ + +void *GLUI_Control::get_font( void ) +{ + /*** Does this control have its own font? ***/ + if ( this->font != NULL ) + return this->font; + + /*** Does the parent glui have a font? ***/ + if ( glui ) + return glui->font; + + /*** Return the default font ***/ + return GLUT_BITMAP_HELVETICA_12; +} + + +/*************************************** GLUI_Control::draw_name() ***********/ +/* This draws the name of the control as either black (if enabled), or */ +/* embossed if disabled. */ + +void GLUI_Control::draw_name( int x, int y ) +{ + if ( NOT can_draw() ) + return; + + if ( enabled ) { + set_to_bkgd_color(); + glRasterPos2i(x+1, y+1); + draw_string(name); + glColor3b( 0, 0, 0 ); + glRasterPos2i(x, y); + draw_string(name); + } + else { /* Control is disabled - emboss the string */ + glColor3f( 1.0f, 1.0f, 1.0f ); + glRasterPos2i(x+1, y+1); + draw_string(name); + glColor3f( .4f, .4f, .4f ); + glRasterPos2i(x, y); + draw_string(name); + } +} + + +/*************************** GLUI_Control::translate_and_draw_front() ********/ + +void GLUI_Control::translate_and_draw_front( void ) +{ + int orig,state; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + state = glui->set_front_draw_buffer(); + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + translate_to_origin(); + draw(0,0); + glPopMatrix(); + glui->restore_draw_buffer(state); + restore_window(orig); +} + + +/**************************************** GLUI_Control::set_w() **************/ + +void GLUI_Control::set_w( int new_w ) +{ + w = new_w; + update_size(); /* Make sure control is big enough to fit text */ + + if ( NOT glui ) + return; + + glui->pack_controls(); + + if ( glui->get_glut_window_id() != -1 ) { + int orig = set_to_glut_window(); + glutReshapeWindow( glui->main_panel->w, glui->main_panel->h ); + glutPostRedisplay(); + /* printf( "Requesting a reshape to window %d: %d %d\n", + glutGetWindow(), + glui->main_panel->w, glui->main_panel->h );*/ + restore_window(orig); + } +} + + +/**************************************** GLUI_Control::set_h() **************/ + +void GLUI_Control::set_h( int new_h ) +{ + h = new_h; + update_size(); /* Make sure control is big enough to fit text */ + + if ( NOT glui ) + return; + + glui->pack_controls(); + + if ( glui->get_glut_window_id() != -1 ) { + int orig = set_to_glut_window(); + glutReshapeWindow( glui->main_panel->w, glui->main_panel->h ); + glutPostRedisplay(); + restore_window(orig); + } +} + + +/**************************************** GLUI_Control::set_alignment() ******/ + +void GLUI_Control::set_alignment( int new_align ) +{ + alignment = new_align; + + if ( glui ) { + glui->align_controls( this ); + + if ( glui->get_glut_window_id() != -1 ) { + int orig = set_to_glut_window(); + glutPostRedisplay(); + restore_window(orig); + } + } +} + + +/************************************* GLUI_Control::sync_live() ************/ +/* Reads live variable and sets control to its current value */ +/* This function is recursive, and operates on control's children */ + +void GLUI_Control::sync_live( int recurse, int draw_it ) +{ + GLUI_Node *node; + int sync_it=true; + int i; + float *fp; + int changed = false; + + /*** If this is currently active control, and mouse button is down, + don't sync ***/ + if ( glui ) { + if ( this == glui->active_control AND glui->mouse_button_down ) + sync_it = false; + + /*** Actually, just disable syncing if button is down ***/ + /*** Nope, go ahead and sync if mouse is down - this allows syncing in + callbacks ***/ + if ( 0 ) { /* THIS CODE BELOW SHOULD NOT BE EXECUTED */ + if ( glui->mouse_button_down ) { + /* printf( "Can't sync\n" ); */ + return; + } + } + } + + /*** If this control has a live variable, we check its current value + against the stored value in the control ***/ + + if ( ptr_val != NULL ) { + if ( live_type == GLUI_LIVE_NONE OR NOT sync_it ) { + } + else if ( live_type == GLUI_LIVE_INT ) { + if ( *((int*)ptr_val) != last_live_int ) { + set_int_val( *((int*)ptr_val) ); + last_live_int = *((int*)ptr_val); + changed = true; + } + } + else if ( live_type == GLUI_LIVE_FLOAT ) { + if ( *((float*)ptr_val) != last_live_float ) { + set_float_val( *((float*)ptr_val) ); + last_live_float = *((float*)ptr_val); + changed = true; + } + } + else if ( live_type == GLUI_LIVE_TEXT ) { + if ( strncmp((char*)ptr_val,last_live_text,sizeof(GLUI_String)) != 0 ) { + set_text( (char*) ptr_val ); + strncpy( last_live_text, (char*) ptr_val, sizeof(GLUI_String)); + changed = true; + } + } + else if ( live_type == GLUI_LIVE_FLOAT_ARRAY ) { + /*** Step through the arrays, and see if they're the same ***/ + + fp = (float*) ptr_val; + for ( i=0; ifirst_child(); + while( node ) { + ((GLUI_Control*) node)->sync_live(true, true); + node = node->next(); + } + + if ( collapsible == true AND is_open == false ) { + /** Here we have a collapsed control (e.g., a rollout that is closed **/ + /** We need to go in and sync all the collapsed controls inside **/ + + node = this->collapsed_node.first_child(); + while( node ) { + ((GLUI_Control*) node)->sync_live(true, false); + node = node->next(); + } + } + } +} + + +/************************************ GLUI_Control::output_live() ************/ +/* Writes current value of control to live variable. */ + +void GLUI_Control::output_live( int update_main_gfx ) +{ + int i; + float *fp; + + if ( ptr_val == NULL ) + return; + + if ( NOT live_inited ) + return; + + if ( live_type == GLUI_LIVE_NONE ) { + } + else if ( live_type == GLUI_LIVE_INT ) { + *((int*)ptr_val) = int_val; + last_live_int = int_val; + } + else if ( live_type == GLUI_LIVE_FLOAT ) { + *((float*)ptr_val) = float_val; + last_live_float = float_val; + } + else if ( live_type == GLUI_LIVE_TEXT ) { + strncpy( (char*) ptr_val, text, sizeof(GLUI_String)); + strncpy( last_live_text, text, sizeof(GLUI_String)); + } + else if ( live_type == GLUI_LIVE_FLOAT_ARRAY ) { + fp = (float*) ptr_val; + + for( i=0; iglui != NULL ) { + this->glui->post_update_main_gfx(); + } +} + + +/******************************** GLUI_Control::execute_callback() **********/ + +void GLUI_Control::execute_callback( void ) +{ + int old_window; + + old_window = glutGetWindow(); + + if ( glui AND glui->main_gfx_window_id != -1 ) { + glutSetWindow( glui->main_gfx_window_id ); + + } + + if ( this->callback ) + this->callback( this->user_id ); + + glutSetWindow( old_window ); +} + + +/***************************** GLUI_Control::get_this_column_dims() **********/ +/* Gets the x,y,w,h,and x/y offsets of the column to which a control belongs */ + +void GLUI_Control::get_this_column_dims( int *col_x, int *col_y, + int *col_w, int *col_h, + int *col_x_off, int *col_y_off ) +{ + GLUI_Control *node, *parent_ptr; + int parent_h, parent_y_abs; + + parent_ptr = (GLUI_Control*) parent(); + + if ( parent_ptr==NULL ) + return; + + parent_h = parent_ptr->h; + parent_y_abs = parent_ptr->y_abs; + + if ( parent_ptr->type == GLUI_CONTROL_PANEL AND + parent_ptr->int_val == GLUI_PANEL_EMBOSSED AND + parent_ptr->name[0] != '\0' ) { + parent_h -= GLUI_PANEL_EMBOSS_TOP; + parent_y_abs += GLUI_PANEL_EMBOSS_TOP; + } + + if ( 0 ) { + GLUI_Node *first, *last, *curr; + + /** Look for first control in this column **/ + first = this; + while (first->prev() != NULL AND + ((GLUI_Control*)first->prev())->type != GLUI_CONTROL_COLUMN ) + first = first->prev(); + + /** Look for last control in this column **/ + last = this; + while ( last->next() != NULL AND + ((GLUI_Control*)first->next())->type != GLUI_CONTROL_COLUMN ) + last = last->next(); + + curr = first; + int max_w = -1; + do { + if ( ((GLUI_Control*)curr)->w > max_w ) + max_w = ((GLUI_Control*)curr)->w; + + if ( curr == last ) + break; + + curr = curr->next(); + } while( curr != NULL ); + + *col_x = ((GLUI_Control*)first)->x_abs; + *col_y = ((GLUI_Control*)first)->y_abs; + *col_w = max_w; + if ( parent() ) { + *col_h = ((GLUI_Control*)parent())->h; + *col_x_off = ((GLUI_Control*)parent())->x_off; + } + else { + *col_h = 10; + *col_x_off = 0; + } + *col_y_off = 0; + + return; + } + + if ( 1 ) { /* IS THIS WRONG? */ + /*** Look for preceding column ***/ + node = (GLUI_Control*) this->prev(); + while( node ) { + if ( node->type == GLUI_CONTROL_COLUMN ) { + *col_x = node->x_abs; + *col_y = parent_y_abs; + *col_w = node->w; + *col_h = parent_h; + *col_x_off = node->x_off; + *col_y_off = 0; + + return; + } + + node = (GLUI_Control*) node->prev(); + } + + /*** Nope, Look for next column ***/ + node = (GLUI_Control*) this->next(); + while( node ) { + if ( node->type == GLUI_CONTROL_COLUMN ) { + *col_x = parent_ptr->x_abs; + *col_y = parent_y_abs; + *col_w = node->x_abs - parent_ptr->x_abs; + *col_h = parent_h; + *col_x_off = node->x_off; + *col_y_off = 0; + + return; + } + + node = (GLUI_Control*) node->next(); + } + + /*** This is single-column panel, so return panel dims ***/ + *col_x = parent_ptr->x_abs; + *col_y = parent_y_abs; + *col_w = parent_ptr->w; + *col_h = parent_h; + *col_x_off = parent_ptr->x_off; + *col_y_off = 0; + } +} + + +/**************************************** GLUI_Control::init_live() **********/ +/* Reads in value of a live variable. Called once, when ctrl is created */ + +void GLUI_Control::init_live( void ) +{ + int i; + float *fp; + + if ( ptr_val == NULL ) + return; + + if ( live_type == GLUI_LIVE_NONE ) { + } + else if ( live_type == GLUI_LIVE_INT ) { + set_int_val( *((int*)ptr_val) ); + last_live_int = *((int*)ptr_val); + } + else if ( live_type == GLUI_LIVE_FLOAT ) { + set_float_val( *((float*)ptr_val) ); + last_live_float = *((float*)ptr_val); + } + else if ( live_type == GLUI_LIVE_TEXT ) { + set_text( (char*) ptr_val ); + strncpy( last_live_text, (char*) ptr_val, sizeof(GLUI_String)); + } + else if ( live_type == GLUI_LIVE_FLOAT_ARRAY ) { + set_float_array_val( (float*) ptr_val ); + + fp = (float*) ptr_val; + + for( i=0; iname ); */ + + node = (GLUI_Control*) this->first_child(); + while( node != NULL ) { + /* printf( "recursively destroying: '%s'\n", node->name ); */ + + node_tmp = node; + node = (GLUI_Control*) node->next(); + delete node_tmp; + } +} + + +/************************** GLUI_Control::draw_box_inwards_outline() ********/ + +void GLUI_Control::draw_box_inwards_outline( int x_min, int x_max, + int y_min, int y_max ) +{ + glBegin( GL_LINES ); + glColor3f( .5, .5, .5 ); + glVertex2i( x_min, y_min ); glVertex2i( x_max, y_min ); + glVertex2i( x_min, y_min ); glVertex2i( x_min, y_max ); + + glColor3f( 1., 1., 1. ); + glVertex2i( x_min, y_max ); glVertex2i( x_max, y_max ); + glVertex2i( x_max, y_max ); glVertex2i( x_max, y_min ); + + if ( enabled ) + glColor3f( 0., 0., 0. ); + else + glColor3f( .25, .25, .25 ); + glVertex2i( x_min+1, y_min+1 ); glVertex2i( x_max-1, y_min+1 ); + glVertex2i( x_min+1, y_min+1 ); glVertex2i( x_min+1, y_max-1 ); + + glColor3f( .75, .75, .75 ); + glVertex2i( x_min+1, y_max-1 ); glVertex2i( x_max-1, y_max-1 ); + glVertex2i( x_max-1, y_max-1 ); glVertex2i( x_max-1, y_min+1 ); + glEnd(); +} + + +/************************************* GLUI_Control::draw_box() **********/ + +void GLUI_Control::draw_box( int x_min, int x_max, int y_min, int y_max, + float r, float g, float b) +{ + if ( r == 1.0 AND g == 1.0 AND b == 1.0 AND NOT enabled AND glui ) { + draw_bkgd_box( x_min, x_max, y_min, y_max ); + return; + } + + glColor3f( r, g, b ); + glBegin( GL_QUADS ); + glVertex2i( x_min, y_min ); glVertex2i( x_max, y_min ); + glVertex2i( x_max, y_max ); glVertex2i( x_min, y_max ); + glEnd(); +} + + +/************************************* GLUI_Control::draw_bkgd_box() **********/ + +void GLUI_Control::draw_bkgd_box( int x_min, int x_max, int y_min, int y_max ) +{ + set_to_bkgd_color(); + + glBegin( GL_QUADS ); + glVertex2i( x_min, y_min ); glVertex2i( x_max, y_min ); + glVertex2i( x_max, y_max ); glVertex2i( x_min, y_max ); + glEnd(); +} + + +/***************************** GLUI_Control::draw_active_area() ********/ + +void GLUI_Control::draw_active_box( int x_min, int x_max, + int y_min, int y_max ) +{ + int orig; + + if ( NOT glui ) + return; + + orig = set_to_glut_window(); + + if ( active ) { + glEnable( GL_LINE_STIPPLE ); + glLineStipple( 1, 0x5555 ); + glColor3f( 0., 0., 0. ); + } else { + set_to_bkgd_color(); + } + + glBegin( GL_LINE_LOOP ); + glVertex2i(x_min, y_min); glVertex2i( x_max, y_min ); + glVertex2i(x_max, y_max); glVertex2i( x_min, y_max ); + glEnd(); + + glDisable( GL_LINE_STIPPLE ); + + restore_window(orig); +} + + +/************************************** GLUI_Control::set_to_bkgd_color() ********/ + +void GLUI_Control::set_to_bkgd_color( void ) +{ + if ( NOT glui ) + return; + + glColor3ub( glui->bkgd_color.r, glui->bkgd_color.g, glui->bkgd_color.b ); +} + + +/******************************* GLUI_Control::set_float_array_val() ********/ + +void GLUI_Control::set_float_array_val( float *array_ptr ) +{ + int i; + + if ( array_ptr == NULL ) + return; + + for( i=0; irefresh(); +}; + + + + + +void GLUI_Control::pack( int x, int y ) +{ + GLUI_Control *node; + int max_w, curr_y, curr_x, max_y; + int x_in = x, y_in =y; + int x_margin, y_margin_top, y_margin_bot; + int y_top_column; + int column_x; + GLUI_Column *curr_column = NULL; + + this->update_size(); + + x_margin = this->x_off; + y_margin_top = this->y_off_top; + y_margin_bot = this->y_off_bot; + + this->x_abs = x_in; + this->y_abs = y_in; + + max_w = 0; + max_y = 0; + curr_x = this->x_abs + x_margin; + curr_y = this->y_abs + y_margin_top; + + /*** Record start of this set of columns ***/ + + y_top_column = curr_y; + column_x = curr_x; + + /*** Iterate over children, packing them first ***/ + + node = (GLUI_Control*) this->first_child(); + while( node != NULL ) { + if ( node->type == GLUI_CONTROL_PANEL ) { /* Pad some space above panels */ + curr_y += GLUI_ITEMSPACING; + } + else if ( node->type == GLUI_CONTROL_COLUMN ) { + curr_column = (GLUI_Column*) node; + curr_x += max_w + 1 * x_margin; + column_x = curr_x; + + node->x_abs = curr_x; + node->y_abs = y_top_column; + node->w = 2; + node->h = curr_y - y_top_column; + + curr_x += x_margin * 1; + curr_y = y_top_column; + max_w = 0; + + node = (GLUI_Control*) node->next(); + continue; + } + + node->pack( curr_x, curr_y ); + + if ( node->type == GLUI_CONTROL_PANEL ) /* Pad some space below panels */ + curr_y += GLUI_ITEMSPACING; + + curr_y += node->h; + + if ( node->w > max_w ) { + max_w = node->w; + if ( curr_column != NULL ) + curr_column->w = max_w + x_margin; + } + + if ( curr_y > max_y ) { + max_y = curr_y; + if ( curr_column != NULL ) + curr_column->h = max_y - y_top_column; + } + + node = (GLUI_Control*) node->next(); + + if ( node ) { + curr_y += GLUI_ITEMSPACING; + } + + } + + if ( this->is_container ) { + max_y += y_margin_bot; /*** Add bottom border inside box */ + + if ( this->first_child() ) { + this->w = column_x + max_w + 2 * x_margin - x_in; + this->h = (max_y - y_in); + } + else { /* An empty container, so just assign default w & h */ + if ( this->type != GLUI_CONTROL_ROLLOUT ) { + this->w = GLUI_DEFAULT_CONTROL_WIDTH; + this->h = GLUI_DEFAULT_CONTROL_HEIGHT; + } + } + + /** Expand panel if necessary (e.g., to include all the text in + a panel label) **/ + this->update_size(); + + + /*** Now we step through the GLUI_Columns, setting the 'h' ***/ + node = (GLUI_Control*) this->first_child(); + while( node != NULL ) { + if ( node->type == GLUI_CONTROL_COLUMN ) { + node->h = this->h - y_margin_bot - y_margin_top; + } + + node = (GLUI_Control*) node->next(); + } + } +} + + +/****************************** GLUI_Control::draw_emboss_box() ********/ + +void GLUI_Control::draw_emboss_box(int x_min,int x_max,int y_min,int y_max) +{ + glLineWidth( 1.0 ); + glColor3f( 1.0, 1.0, 1.0 ); + + glBegin( GL_LINE_LOOP ); + glVertex2i( x_min, y_min ); glVertex2i( x_max, y_min ); + glVertex2i( x_max, y_max ); glVertex2i( x_min, y_max ); + glEnd(); + + glBegin( GL_LINE_LOOP ); + glVertex2i( x_min+1, y_min+1 ); glVertex2i( x_max-1, y_min+1 ); + glVertex2i( x_max-1, y_max-1 ); glVertex2i( x_min+1, y_max-1 ); + glEnd(); + + glColor3f( .5, .5, .5 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( x_min, y_min ); + glVertex2i( x_max-1, y_min ); + glVertex2i( x_max-1, y_max-1 ); + glVertex2i( x_min, y_max-1 ); + glEnd(); +} + + +/*********************************** GLUI_Control::hide_internal() ********/ +/** Sets hidden==true for this control and all its siblings. */ +/** If recurse is true, we go to children as well */ + +void GLUI_Control::hide_internal( int recurse ) +{ + GLUI_Node *node; + + node = (GLUI_Node *) this; + while( node != NULL ) { + ((GLUI_Control*)node)->hidden = true; + + if ( recurse AND node->first_child() != NULL ) + ((GLUI_Control*) node->first_child())->hide_internal(true); + + node = node->next(); + } + + node = this->collapsed_node.first_child(); + while( node != NULL ) { + ((GLUI_Control*)node)->hidden = true; + + if ( recurse AND node->first_child() != NULL ) + ((GLUI_Control*) node->first_child())->hide_internal(true); + + node = node->next(); + } +} + + +/*********************************** GLUI_Control::unhide_internal() ********/ +/** Sets hidden==false for this control and all its siblings. */ +/** If recurse is true, we go to children as well */ + +void GLUI_Control::unhide_internal( int recurse ) +{ + GLUI_Node *node; + + node = (GLUI_Node *) this; + while( node != NULL ) { + /* printf( "unhide: %s [%d]\n", ((GLUI_Control*)node)->name.string, + ((GLUI_Control*)node)->hidden );*/ + ((GLUI_Control*)node)->hidden = false; + + if ( recurse AND node->first_child() != NULL ) + ((GLUI_Control*) node->first_child())->unhide_internal(true); + + node = node->next(); + } + + node = this->collapsed_node.first_child(); + while( node != NULL ) { + ((GLUI_Control*)node)->hidden = false; + + if ( recurse AND node->first_child() != NULL ) + ((GLUI_Control*) node->first_child())->unhide_internal(true); + + node = node->next(); + } +} diff --git a/.svn/pristine/5c/5c7cbce63088b2c6ff31435fdf8c15e14c5ec0d7.svn-base b/.svn/pristine/5c/5c7cbce63088b2c6ff31435fdf8c15e14c5ec0d7.svn-base new file mode 100644 index 0000000..3d2c62f --- /dev/null +++ b/.svn/pristine/5c/5c7cbce63088b2c6ff31435fdf8c15e14c5ec0d7.svn-base @@ -0,0 +1,585 @@ +//---------------------------------------------------------------------- +// File: ann2fig.cpp +// Programmer: David Mount +// Last modified: 05/03/05 +// Description: convert ann dump file to fig file +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed dump file suffix from .ann to .dmp. +// Revision 1.1 05/03/05 +// Fixed usage output string. +//---------------------------------------------------------------------- +// This program inputs an ann dump file of a search structure +// perhaps along with point coordinates, and outputs a fig (Ver 3.1) +// file (see fig2dev (1)) displaying the tree. The fig file may +// then be displayed using xfig, or converted to any of a number of +// other formats using fig2dev. +// +// If the dimension is 2 then the entire tree is display. If the +// dimension is larger than 2 then the user has the option of +// selecting which two dimensions will be displayed, and the slice +// value for each of the remaining dimensions. All leaf cells +// intersecting the slice are shown along with the points in these +// cells. See the procedure getArgs() below for the command-line +// arguments. +//---------------------------------------------------------------------- + +#include // C standard I/O +#include // file I/O +#include // string manipulation +#include // all ANN includes + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Globals and their defaults +//---------------------------------------------------------------------- + +const int STRING_LEN = 500; // string lengths +const int MAX_DIM = 1000; // maximum dimension +const double DEF_SLICE_VAL = 0; // default slice value +const char FIG_HEAD[] = {"#FIG 3.1"}; // fig file header +const char DUMP_SUFFIX[] = {".dmp"}; // suffix for dump file +const char FIG_SUFFIX[] = {".fig"}; // suffix for fig file + +char file_name[STRING_LEN]; // (root) file name (say xxx) +char infile_name[STRING_LEN];// input file name (xxx.dmp) +char outfile_name[STRING_LEN];// output file name (xxx.fig) +char caption[STRING_LEN]; // caption line (= command line) +ofstream ofile; // output file stream +ifstream ifile; // input file stream +int dim_x = 0; // horizontal dimension +int dim_y = 1; // vertical dimension +double slice_val[MAX_DIM]; // array of slice values +double u_per_in = 1200; // fig units per inch (version 3.1) +double in_size = 5; // size of figure (in inches) +double in_low_x = 1; // fig upper left corner (in inches) +double in_low_y = 1; // fig upper left corner (in inches) +double u_size = 6000; // size of figure (in units) +double u_low_x = 1200; // fig upper left corner (in units) +double u_low_y = 1200; // fig upper left corner (in units) +int pt_size = 10; // point size (in fig units) + +int dim; // dimension +int n_pts; // number of points +ANNpointArray pts = NULL; // point array + +double scale; // scale factor for transformation +double offset_x; // offsets for transformation +double offset_y; + + // transformations +#define TRANS_X(p) (offset_x + scale*(p[dim_x])) +#define TRANS_Y(p) (offset_y - scale*(p[dim_y])) + +//---------------------------------------------------------------------- +// Error handler +//---------------------------------------------------------------------- + +void Error(char *msg, ANNerr level) +{ + if (level == ANNabort) { + cerr << "ann2fig: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ann2fig: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +//---------------------------------------------------------------------- +// set_slice_val - set all slice values to given value +//---------------------------------------------------------------------- + +void set_slice_val(double val) +{ + for (int i = 0; i < MAX_DIM; i++) { + slice_val[i] = val; + } +} + +//---------------------------------------------------------------------- +// getArgs - get input arguments +// +// Syntax: +// ann2fig [-upi scale] [-x low_x] [-y low_y] +// [-sz size] [-dx dim_x] [-dy dim_y] [-sl dim value]* +// [-ps pointsize] +// file +// +// where: +// -upi scale fig units per inch (default = 1200) +// -x low_x x and y offset of upper left corner (inches) +// -y low_y ...(default = 1) +// -sz size maximum side length of figure (in inches) +// ...(default = 5) +// -dx dim_x horizontal dimension (default = 0) +// -dy dim_y vertical dimension (default = 1) +// -sv value default slice value (default = 0) +// -sl dim value each such pair defines the value along the +// ...given dimension at which to slice. This +// ...may be supplied for all dimensions except +// ...dim_x and dim_y. +// -ps pointsize size of points in fig units (def = 10) +// file file (input=file.dmp, output=file.fig) +// +//---------------------------------------------------------------------- + +void getArgs(int argc, char **argv) +{ + int i; + int sl_dim; // temp slice dimension + double sl_val; // temp slice value + + set_slice_val(DEF_SLICE_VAL); // set initial slice-values + + if (argc <= 1) { + cerr << "Syntax:\n\ + ann2fig [-upi scale] [-x low_x] [-y low_y]\n\ + [-sz size] [-dx dim_x] [-dy dim_y] [-sl dim value]*\n\ + file\n\ + \n\ + where:\n\ + -upi scale fig units per inch (default = 1200)\n\ + -x low_x x and y offset of upper left corner (inches)\n\ + -y low_y ...(default = 1)\n\ + -sz size maximum side length of figure (in inches)\n\ + ...(default = 5)\n\ + -dx dim_x horizontal dimension (default = 0)\n\ + -dy dim_y vertical dimension (default = 1)\n\ + -sv value default slice value (default = 0)\n\ + -sl dim value each such pair defines the value along the\n\ + ...given dimension at which to slice. This\n\ + ...may be supplied for each dimension except\n\ + ...dim_x and dim_y.\n\ + -ps pointsize size of points in fig units (def = 10)\n\ + file file (input=file.dmp, output=file.fig)\n"; + exit(0); + } + + ANNbool fileSeen = ANNfalse; // file argument seen? + + for (i = 1; i < argc; i++) { + if (!strcmp(argv[i], "-upi")) { // process -upi option + sscanf(argv[++i], "%lf", &u_per_in); + } + else if (!strcmp(argv[i], "-x")) { // process -x option + sscanf(argv[++i], "%lf", &in_low_x); + } + else if (!strcmp(argv[i], "-y")) { // process -y option + sscanf(argv[++i], "%lf", &in_low_y); + } + else if (!strcmp(argv[i], "-sz")) { // process -sz option + sscanf(argv[++i], "%lf", &in_size); + } + else if (!strcmp(argv[i], "-dx")) { // process -dx option + sscanf(argv[++i], "%d", &dim_x); + } + else if (!strcmp(argv[i], "-dy")) { // process -dy option + sscanf(argv[++i], "%d", &dim_y); + } + else if (!strcmp(argv[i], "-sv")) { // process -sv option + sscanf(argv[++i], "%lf", &sl_val); + set_slice_val(sl_val); // set slice values + } + else if (!strcmp(argv[i], "-sl")) { // process -sl option + sscanf(argv[++i], "%d", &sl_dim); + if (sl_dim < 0 || sl_dim >= MAX_DIM) { + Error("Slice dimension out of bounds", ANNabort); + } + sscanf(argv[++i], "%lf", &slice_val[sl_dim]); + } + if (!strcmp(argv[i], "-ps")) { // process -ps option + sscanf(argv[++i], "%i", &pt_size); + } + else { // must be file name + fileSeen = ANNtrue; + sscanf(argv[i], "%s", file_name); + strcpy(infile_name, file_name); // copy to input file name + strcat(infile_name, DUMP_SUFFIX); + strcpy(outfile_name, file_name); // copy to output file name + strcat(outfile_name, FIG_SUFFIX); + } + } + + if (!fileSeen) { // no file seen + Error("File argument is required", ANNabort); + } + + ifile.open(infile_name, ios::in); // open for reading + if (!ifile) { + Error("Cannot open input file", ANNabort); + } + ofile.open(outfile_name, ios::out); // open for writing + if (!ofile) { + Error("Cannot open output file", ANNabort); + } + + u_low_x = u_per_in * in_low_x; // convert inches to fig units + u_low_y = u_per_in * in_low_y; + u_size = u_per_in * in_size; + + strcpy(caption, argv[0]); // copy command line to caption + for (i = 1; i < argc; i++) { + strcat(caption, " "); + strcat(caption, argv[i]); + } +} + +//---------------------------------------------------------------------- +// Graphics utilities for fig output +// +// writeHeader write header for fig file +// writePoint write a point +// writeBox write a box +// writeLine write a line +//---------------------------------------------------------------------- + +void writeHeader() +{ + ofile << FIG_HEAD << "\n" // fig file header + << "Portrait\n" + << "Center\n" + << "Inches\n" + << (int) u_per_in << " 2\n"; +} + +void writePoint(ANNpoint p) // write a single point +{ + // filled black point object + ofile << "1 3 0 1 -1 7 0 0 0 0.000 1 0.0000 "; + int cent_x = (int) TRANS_X(p); // transform center coords + int cent_y = (int) TRANS_Y(p); + ofile << cent_x << " " << cent_y << " " // write center, radius, bounds + << pt_size << " " << pt_size << " " + << cent_x << " " << cent_y << " " + << cent_x + pt_size << " " << cent_y + pt_size << "\n"; +} + +void writeBox(const ANNorthRect &r) // write box +{ + // unfilled box object + ofile << "2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5\n"; + + int p0_x = (int) TRANS_X(r.lo); // transform endpoints + int p0_y = (int) TRANS_Y(r.lo); + int p1_x = (int) TRANS_X(r.hi); + int p1_y = (int) TRANS_Y(r.hi); + ofile << "\t" + << p0_x << " " << p0_y << " " // write vertices + << p1_x << " " << p0_y << " " + << p1_x << " " << p1_y << " " + << p0_x << " " << p1_y << " " + << p0_x << " " << p0_y << "\n"; +} + +void writeLine(ANNpoint p0, ANNpoint p1) // write line +{ + // unfilled line object + ofile << "2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2\n"; + + int p0_x = (int) TRANS_X(p0); // transform endpoints + int p0_y = (int) TRANS_Y(p0); + int p1_x = (int) TRANS_X(p1); + int p1_y = (int) TRANS_Y(p1); + ofile << "\t" + << p0_x << " " << p0_y << " " // write vertices + << p1_x << " " << p1_y << "\n"; +} + +void writeCaption( // write caption text + const ANNorthRect &bnd_box, // bounding box + char *caption) // caption +{ + if (!strcmp(caption, "\0")) return; // null string? + int px = (int) TRANS_X(bnd_box.lo); // put .5 in. lower left + int py = (int) (TRANS_Y(bnd_box.lo) + 0.50 * u_per_in); + ofile << "4 0 -1 0 0 0 20 0.0000 4 255 2000 "; + ofile << px << " " << py << " " << caption << "\\001\n"; +} + +//---------------------------------------------------------------------- +// overlap - test whether a box overlap slicing region +// +// The slicing region is a 2-dimensional plane in space +// which contains points (x1, x2, ..., xn) satisfying the +// n-2 linear equalities: +// +// xi == slice_val[i] for i != dim_x, dim_y +// +// This procedure returns true of the box defined by +// corner points box.lo and box.hi overlap this plane. +//---------------------------------------------------------------------- + +ANNbool overlap(const ANNorthRect &box) +{ + for (int i = 0; i < dim; i++) { + if (i != dim_x && i != dim_y && + (box.lo[i] > slice_val[i] || box.hi[i] < slice_val[i])) + return ANNfalse; + } + return ANNtrue; +} + +//---------------------------------------------------------------------- +// readTree, recReadTree - inputs tree and outputs figure +// +// readTree procedure initializes things and then calls recReadTree +// which does all the work. +// +// recReadTree reads in a node of the tree, makes any recursive +// calls as needed to input the children of this node (if internal) +// and maintains the bounding box. Note that the bounding box +// is modified within this procedure, but it is the responsibility +// of the procedure that it be restored to its original value +// on return. +// +// Recall that these are the formats. The tree is given in +// preorder. +// +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +// +// On reading a leaf we determine whether we should output the +// cell's points (if dimension = 2 or this cell overlaps the +// slicing region). For splitting nodes we check whether the +// current cell overlaps the slicing plane and whether the +// cutting dimension coincides with either the x or y drawing +// dimensions. If so, we output the corresponding splitting +// segment. +//---------------------------------------------------------------------- + +void recReadTree(ANNorthRect &box) +{ + char tag[STRING_LEN]; // tag (leaf, split, shrink) + int n_pts; // number of points in leaf + int idx; // point index + int cd; // cut dimension + ANNcoord cv; // cut value + ANNcoord lb; // low bound + ANNcoord hb; // high bound + int n_bnds; // number of bounding sides + int sd; // which side + + ifile >> tag; // input node tag + if (strcmp(tag, "leaf") == 0) { // leaf node + + ifile >> n_pts; // input number of points + // check for overlap + if (dim == 2 || overlap(box)) { + for (int i = 0; i < n_pts; i++) { // yes, write the points + ifile >> idx; + writePoint(pts[idx]); + } + } + else { // input but ignore points + for (int i = 0; i < n_pts; i++) { + ifile >> idx; + } + } + } + else if (strcmp(tag, "split") == 0) { // splitting node + + ifile >> cd >> cv >> lb >> hb; + if (lb != box.lo[cd] || hb != box.hi[cd]) { + Error("Bounding box coordinates are fishy", ANNwarn); + } + + ANNcoord lv = box.lo[cd]; // save bounds for cutting dim + ANNcoord hv = box.hi[cd]; + + //-------------------------------------------------------------- + // The following code is rather fragile so modify at your + // own risk. We first decrease the high-end of the bounding + // box down to the cutting plane and then read the left subtree. + // Then we increase the low-end of the bounding box up to the + // cutting plane (thus collapsing the bounding box to a d-1 + // dimensional hyperrectangle). Then we draw the projection of + // its diagonal if it crosses the slicing plane. This will have + // the effect of drawing its intersection on the slicing plane. + // Then we restore the high-end of the bounding box and read + // the right subtree. Finally we restore the low-end of the + // bounding box, before returning. + //-------------------------------------------------------------- + box.hi[cd] = cv; // decrease high bounds + recReadTree(box); // read left subtree + // check for overlap + box.lo[cd] = cv; // increase low bounds + if (dim == 2 || overlap(box)) { // check for overlap + if (cd == dim_x || cd == dim_y) { // cut through slice plane + writeLine(box.lo, box.hi); // draw cutting line + } + } + box.hi[cd] = hv; // restore high bounds + + recReadTree(box); // read right subtree + box.lo[cd] = lv; // restore low bounds + } + else if (strcmp(tag, "shrink") == 0) { // splitting node + + ANNorthRect inner(dim, box); // copy bounding box + ifile >> n_bnds; // number of bounding sides + for (int i = 0; i < n_bnds; i++) { + ifile >> cd >> cv >> sd; // input bounding halfspace + ANNorthHalfSpace hs(cd, cv, sd); // create orthogonal halfspace + hs.project(inner.lo); // intersect by projecting + hs.project(inner.hi); + } + if (dim == 2 || overlap(inner)) { + writeBox(inner); // draw inner rectangle + } + recReadTree(inner); // read inner subtree + recReadTree(box); // read outer subtree + } + else { + Error("Illegal node type in dump file", ANNabort); + } +} + +void readTree(ANNorthRect &bnd_box) +{ + writeHeader(); // output header + writeBox(bnd_box); // draw bounding box + writeCaption(bnd_box, caption); // write caption + recReadTree(bnd_box); // do it +} + +//---------------------------------------------------------------------- +// readANN - read the ANN dump file +// +// This procedure reads in the dump file. See the format below. +// It first reads the header line with version number. If the +// points section is present it reads them (otherwise just leaves +// points = NULL), and then it reads the tree section. It inputs +// the bounding box and determines the parameters for transforming +// the image to figure units. It then invokes the procedure +// readTree to do all the real work. +// +// Dump File Format: = coordinate value (ANNcoord) +// +// #ANN [END_OF_LINE] +// points (point coordinates: this is optional) +// 0 ... (point indices and coordinates) +// 1 ... +// ... +// tree +// ... (lower end of bounding box) +// ... (upper end of bounding box) +// If the tree is null, then a single line "null" is +// output. Otherwise the nodes of the tree are printed +// one per line in preorder. Leaves and splitting nodes +// have the following formats: +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +// +// Note: Infinite lo_ and hi_bounds are printed as the special +// values "-INF" and "+INF", respectively. We do not +// check for this, because the current version of ANN +// starts with a finite bounding box if the tree is +// nonempty. +//---------------------------------------------------------------------- + +void readANN() +{ + int j; + char str[STRING_LEN]; // storage for string + char version[STRING_LEN]; // storage for version + int bkt_size; // bucket size + + ifile >> str; // input header + if (strcmp(str, "#ANN") != 0) { // incorrect header + Error("Incorrect header for dump file", ANNabort); + } + ifile.getline(version, STRING_LEN); // get version (ignore) + ifile >> str; // get major heading + if (strcmp(str, "points") == 0) { // points section + ifile >> dim; // read dimension + ifile >> n_pts; // number of points + pts = annAllocPts(n_pts, dim); // allocate points + for (int i = 0; i < n_pts; i++) { // input point coordinates + int idx; // point index + ifile >> idx; // input point index + if (idx < 0 || idx >= n_pts) { + Error("Point index is out of range", ANNabort); + } + for (j = 0; j < dim; j++) { + ifile >> pts[idx][j]; // read point coordinates + } + } + ifile >> str; // get next major heading + } + if (strcmp(str, "tree") == 0) { // tree section + ifile >> dim; // read dimension + if (dim_x > dim || dim_y > dim) { + Error("Dimensions out of bounds", ANNabort); + } + ifile >> n_pts; // number of points + ifile >> bkt_size; // bucket size (ignored) + // read bounding box + ANNorthRect bnd_box(dim); // create bounding box + for (j = 0; j < dim; j++) { + ifile >> bnd_box.lo[j]; // read box low coordinates + } + for (j = 0; j < dim; j++) { + ifile >> bnd_box.hi[j]; // read box high coordinates + } + // compute scaling factors + double box_len_x = bnd_box.hi[dim_x] - bnd_box.lo[dim_x]; + double box_len_y = bnd_box.hi[dim_y] - bnd_box.lo[dim_y]; + // longer side determines scale + if (box_len_x > box_len_y) scale = u_size/box_len_x; + else scale = u_size/box_len_y; + // compute offsets + offset_x = u_low_x - scale*bnd_box.lo[dim_x]; + offset_y = u_low_y + scale*bnd_box.hi[dim_y]; + readTree(bnd_box); // read the tree and process + } + else if (strcmp(str, "null") == 0) return; // empty tree + else { + cerr << "Input string: " << str << "\n"; + Error("Illegal ann format. Expecting section heading", ANNabort); + } +} + +//---------------------------------------------------------------------- +// Main program +// +// Gets the command-line arguments and invokes the main scanning +// procedure. +//---------------------------------------------------------------------- + +main(int argc, char **argv) +{ + getArgs(argc, argv); // get input arguments + readANN(); // read the dump file +} diff --git a/.svn/pristine/5c/5cf3012e8582e4ae022c0642566732f071a25fae.svn-base b/.svn/pristine/5c/5cf3012e8582e4ae022c0642566732f071a25fae.svn-base new file mode 100644 index 0000000..035c2cb --- /dev/null +++ b/.svn/pristine/5c/5cf3012e8582e4ae022c0642566732f071a25fae.svn-base @@ -0,0 +1,293 @@ +#ifndef __COLORMANAGER_H__ +#define __COLORMANAGER_H__ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif +#include +#include + +class ColorMap { + public: + enum CM { + SOLID = 0, + GREY = 1, + HSV = 2, + JET = 3, + HOT = 4, + SHSV = 5 + }; + + virtual ~ColorMap() {}; + + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + d[0] = d[1] = d[2] = 1.0; + } + + static ColorMap getColorMap(CM map); + + /** + * hue is in [0,360], all others in [0,1] + */ + static void convert_hsv_to_rgb(float hue, float s, float v, + float &r, float &g, float &b); +}; + +class GreyMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + d[0] = (float)i/(float)buckets; + d[1] = (float)i/(float)buckets; + d[2] = (float)i/(float)buckets; + } +}; + +class HSVMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + convert_hsv_to_rgb(360.0*t, 1.0, 1.0, d[0], d[1], d[2]); + } +}; + +class SHSVMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + convert_hsv_to_rgb(240.0*(1.0-t), 1.0, 1.0, d[0], d[1], d[2]); + } +}; + +class JetMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + if (t <= 0.125) { + d[0] = d[1] = 0.0; d[2] = 0.5 + 0.5*(t/0.125); + } else if (t < 0.375) { + d[0] = 0.0; d[2] = 1.0; d[1] = (t-0.125)/0.25; + } else if (t < 0.625) { + d[1] = 1.0; d[0] = (t-0.375)/0.25;; d[2] = 1.0 - d[0]; + } else if (t < 0.875) { + d[0] = 1.0; d[2] = 0.0; d[1] = 1.0 - (t-0.625)/0.25; + } else { + d[1] = d[2] = 0.0; d[0] = 1.0 - 0.5*((t - 0.875)/0.125); + } + } +}; + +class HotMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + if (t <= 1.0/3.0) { + d[1] = d[2] = 0.0; d[0] = t/(1.0/3.0); + } else if (t <= 2.0/3.0) { + d[0] = 1.0; d[2] = 0.0; d[1] = (t-(1.0/3.0))/(1.0/3.0); + } else { + d[0] = 1.0; d[1] = 1.0; d[2] = (t-(2.0/3.0))/(1.0/3.0); + } + } +}; + +class DiffMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets); + private: + static const float cmap[7][3]; +}; + +class ColorManager { + + public: + + ColorManager(unsigned int _buckets, unsigned int pointdim, float *_mins, float *_maxs, const float *_color = 0) : buckets(_buckets) { + if (_color) { + color[0] = _color[0]; + color[1] = _color[1]; + color[2] = _color[2]; + } else { + color[0] = 1; + color[1] = 1; + color[2] = 1; + } + + colormap = new float*[buckets + 1]; // allow a color more for values equal to max + for (unsigned int i = 0; i < buckets; i++) { + colormap[i] = new float[3]; + } + colormap[buckets] = new float[3]; + + mins = new float[pointdim]; + maxs = new float[pointdim]; + for (unsigned int i = 0; i < pointdim; i++) { + mins[i] = _mins[i]; + maxs[i] = _maxs[i]; + } + + setCurrentDim(0); + } + + virtual ~ColorManager() { + for (unsigned int i = 0; i < buckets; i++) { + delete[] colormap[i]; + } + delete[] colormap[buckets]; + delete[] colormap; + + delete[] mins; + delete[] maxs; + } + + virtual void load() { + glColor3f(color[0], color[1], color[2] ); + glEnable (GL_TEXTURE_1D); + glBindTexture (GL_TEXTURE_1D, 0); + } + + virtual void unload() { + glDisable (GL_TEXTURE_1D); + } + + virtual void setColor(float *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(double *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(short int *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(signed char *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + + virtual void setColorMap(ColorMap &cm) { + for (unsigned int i = 0; i < buckets; i++) { + cm.calcColor(colormap[i], i, buckets); + } + cm.calcColor(colormap[buckets], buckets-1, buckets); + convertToTexture1D(); + } + + + void setCurrentDim(unsigned int cdim) { + currentdim = cdim; + makeValid(); + } + + + void setMinMax(float _min, float _max) { + if (_min < _max) { + min = _min; + max = _max; + } + extent = max - min; + } + + protected: + + + void convertToTexture1D() { + unsigned char *imageData = new unsigned char[(buckets+1) * 3]; + for (unsigned int i = 0; i < buckets; i++) { + imageData[3*i+0] = colormap[i][0]*255; + imageData[3*i+1] = colormap[i][1]*255; + imageData[3*i+2] = colormap[i][2]*255; + } + + imageData[3*buckets+0] = colormap[buckets][0]*255; + imageData[3*buckets+1] = colormap[buckets][1]*255; + imageData[3*buckets+2] = colormap[buckets][2]*255; + + glBindTexture (GL_TEXTURE_1D, 0); + glPixelStorei (GL_UNPACK_ALIGNMENT, 1); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_WRAP_S, GL_CLAMP); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + glTexImage1D (GL_TEXTURE_1D, 0, GL_RGB, buckets+1, 0, GL_RGB, GL_UNSIGNED_BYTE, imageData); + delete[] imageData; + } + + void makeValid() { + min = mins[currentdim]; + max = maxs[currentdim]; + + extent = max - min; + } + + unsigned int buckets; + + unsigned int currentdim; + + /** stores minima and maxima for each point dimension */ + float *mins; + float *maxs; + /** maps color to value */ + float **colormap; + + float min; + float max; + + float extent; + + float color[3]; + +}; + +class CColorManager : public ColorManager { + public: + CColorManager(unsigned int buckets, unsigned int pointdim, float *mins, float *maxs, unsigned int _colordim) : ColorManager(buckets, pointdim, mins, maxs) { + colordim = _colordim; + } + + virtual void load() { + glGetBooleanv(GL_COLOR_LOGIC_OP, &color_state); + glDisable(GL_COLOR_LOGIC_OP); // this disables inversion of color, but also messes with fog behaviour + glColor3f(color[0], color[1], color[2] ); + glEnable (GL_TEXTURE_1D); + glBindTexture (GL_TEXTURE_1D, 0); + } + + virtual void unload() { + glDisable (GL_TEXTURE_1D); + if (color_state) { + glEnable(GL_COLOR_LOGIC_OP); + } + } + + void setColor(double *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + void setColor(float *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + void setColor(short *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + virtual void setColor(signed char *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + + private: + unsigned int colordim; + GLboolean color_state; +}; + + +#endif diff --git a/.svn/pristine/5c/5cfa3542518708216523f7b4a4fcf6baf7bb4c2e.svn-base b/.svn/pristine/5c/5cfa3542518708216523f7b4a4fcf6baf7bb4c2e.svn-base new file mode 100644 index 0000000..804180a --- /dev/null +++ b/.svn/pristine/5c/5cfa3542518708216523f7b4a4fcf6baf7bb4c2e.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos + reflectance file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZR_H__ +#define __SCAN_IO_XYZR_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS + reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_xyzr : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/5d/5d07efb6a6480c3bbf860f46934c5c2f71ea858f.svn-base b/.svn/pristine/5d/5d07efb6a6480c3bbf860f46934c5c2f71ea858f.svn-base new file mode 100644 index 0000000..35641a4 --- /dev/null +++ b/.svn/pristine/5d/5d07efb6a6480c3bbf860f46934c5c2f71ea858f.svn-base @@ -0,0 +1,35 @@ +/* parascan.h */ + +#ifndef parascan +#define parascan + +/* dependencies */ +/* -------------------------------------------------------------------------- */ + +/* constant definitions */ +/* -------------------------------------------------------------------------- */ + +#define LF 0x0A /* line feed: zeilenvorschub */ +#define CR 0x20 /* carriage return: wagenruecklauf */ +#define COMMENT 0x3B /* ';' als kommentartrennzeichen */ +#define NAMELEN 80 /* maximale Laenge der Dateinamen */ + +/* typedefinitions */ +/* -------------------------------------------------------------------------- */ + +/* macros */ +/* -------------------------------------------------------------------------- */ + +/* prototyps */ +/* -------------------------------------------------------------------------- */ + +extern int paramtr_scan_int(FILE *stream, const char *search,int defaultval); +extern double paramtr_scan_double(FILE *stream, const char *search,double defaultval); +extern bool paramtr_scan_str(FILE *stream, const char *search, char *target); +extern int paramtr_scan_echo(const char *filename, const char *search); +/* descriptions */ +/* -------------------------------------------------------------------------- */ + + +#endif /* end of parascan.h */ + diff --git a/.svn/pristine/5d/5d349c54702145a5568fd48844c3df5cd57f4a63.svn-base b/.svn/pristine/5d/5d349c54702145a5568fd48844c3df5cd57f4a63.svn-base new file mode 100644 index 0000000..b13ec1f --- /dev/null +++ b/.svn/pristine/5d/5d349c54702145a5568fd48844c3df5cd57f4a63.svn-base @@ -0,0 +1,225 @@ +/** + * @file + * @brief Basic DataPointer class and its derivates SingleArray and TripleArray + * + * This file contains several classes for array-like access. The SingleArray + * and TripleArray classes and their typedefs to DataXYZ/... overload + * the operator[] and have a size function to act as their native arrays. + * Similar to the array classes, SingleObject represents a whole object with + * all its members in that allocated space. + * + * If an array of pointers to the elements of a TripleArray is required it can + * create a temporary class PointerArray which holds creates and deletes a + * native pointer array and follows the RAII-pattern. + */ + +#ifndef DATA_TYPES_H +#define DATA_TYPES_H + + +/** + * Representation of a pointer to a data field with no access methods. + * + * Type-specialized access is gained by deriving from this class and + * implementing access functions like operator[] and size(). + * + * The PrivateImplementation feature enables RAII-type locking mechanisms + * used in the scanserver for holding CacheObject-locks. It is protected so + * that scanserver-unaware code can only construct this class with a pointer + * and size. Initialization of a derived class with these locking mechanisms + * creates this class with the private implementation value, which will be + * deleted in this dtor when it completely falls out of scope. + */ +class DataPointer { +protected: + //! Subclass for storing further members and attaching an overloadable dtor + class PrivateImplementation { + public: + virtual ~PrivateImplementation() {} + }; +public: + // DataPointer& operator=(const DataPointer&) = delete; + // DataPointer(const DataPointer&) = delete; + + /** + * Ctor for the initial creation + * + * @param pointer base pointer to the data + * @param size of the pointed data in bytes + */ + DataPointer(unsigned char* pointer, unsigned int size, + PrivateImplementation* private_impl = 0) : + m_pointer(pointer), m_size(size), m_private_impl(private_impl) { + } + + /** + * Copy-Ctor for passing along via return by value + * + * The type-specialized classes (B) will be called with their + * B(DataPointer&&) temporary ctor and call this constructor, so the private + * imlementation has to be taken away. The temporary inside that constructor + * isn't seen as temporary anymore, so we need a simple reference-ctor. + */ + DataPointer(DataPointer& other) { + m_pointer = other.m_pointer; + m_size = other.m_size; + // take ownership of this value, other is a temporary and will deconstruct + m_private_impl = other.m_private_impl; + other.m_private_impl = 0; + }; + + /** + * Same as DataPointer(DataPointer&), except this is for functions returning + * DataPointer instead of derived classes, so the temporary-ctor is used. + */ + DataPointer(DataPointer&& other) { + m_pointer = other.m_pointer; + m_size = other.m_size; + // take ownership of this value, other is a temporary and will deconstruct + m_private_impl = other.m_private_impl; + other.m_private_impl = 0; + } + + //! Delete the private implementation with its derived dtor + ~DataPointer() { + if(m_private_impl != 0) + delete m_private_impl; + } + + //! Indicator for nullpointer / no data contained if false + inline bool valid() { + return m_size != 0; + } + + inline unsigned char* get_raw_pointer() const { return m_pointer; } + +protected: + unsigned char* m_pointer; + unsigned int m_size; + +private: + PrivateImplementation* m_private_impl; +}; + + + +template +class SingleArray : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of array + SingleArray(DataPointer&& temp) : + DataPointer(temp) + { + } + + SingleArray(SingleArray&& temp) : + DataPointer(temp) + { + } + + //! Represent the pointer as an array of T + inline T& operator[](unsigned int i) const + { + return *(reinterpret_cast(m_pointer) + i); + } + + //! The number of T instances in this array + unsigned int size() { + return m_size / sizeof(T); + } +}; + + + +template +class TripleArray : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of array + TripleArray(DataPointer&& temp) : + DataPointer(temp) + { + } + + TripleArray(TripleArray&& temp) : + DataPointer(temp) + { + } + + //! Represent the pointer as an array of T[3] + inline T* operator[](unsigned int i) const + { + return reinterpret_cast(m_pointer) + (i*3); + } + + //! The number of T[3] instances in this array + unsigned int size() const { + return m_size / (3 * sizeof(T)); + } +}; + + + +template +class SingleObject : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of object + SingleObject(DataPointer&& temp) : + DataPointer(temp) + { + } + + SingleObject(SingleObject&& temp) : + DataPointer(temp) + { + } + + //! Type-cast + inline T& get() const + { + return *reinterpret_cast(m_pointer); + } + + //! There is only one object in here + unsigned int size() const { + return 1; + } +}; + + + +/** + * To simplify T** access patterns for an array of T[3] (points), this RAII- + * type class helps creating and managing this pointer array on the stack. + */ +template +class PointerArray { +public: + //! Create a temporary array and fill it sequentially with pointers to points + PointerArray(const TripleArray& data) { + unsigned int size = data.size(); + m_array = new T*[size]; + for(unsigned int i = 0; i < size; ++i) + m_array[i] = data[i]; + } + + //! Removes the temporary array on destruction (RAII) + ~PointerArray() { + delete[] m_array; + } + + //! Conversion operator to interface the TripleArray to a T** array + inline T** get() const { return m_array; } +private: + T** m_array; +}; + +// TODO: naming, see scan.h +typedef TripleArray DataXYZ; +typedef TripleArray DataXYZFloat; +typedef TripleArray DataRGB; +typedef SingleArray DataReflectance; +typedef SingleArray DataAmplitude; +typedef SingleArray DataType; +typedef SingleArray DataDeviation; + +#endif //DATA_TYPES_H diff --git a/.svn/pristine/5d/5d465b30b9cf9b8d85e18c6a9cc1eaceac691e50.svn-base b/.svn/pristine/5d/5d465b30b9cf9b8d85e18c6a9cc1eaceac691e50.svn-base new file mode 100644 index 0000000..97ff07e --- /dev/null +++ b/.svn/pristine/5d/5d465b30b9cf9b8d85e18c6a9cc1eaceac691e50.svn-base @@ -0,0 +1,24 @@ + + +int glui_img_spinup_0[] = { 12, 8, /* width, height */ + 255,255,255, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 0, 0, 0, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 255,255,255, + 191,191,191, 191,191,191, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 127,127,127, 191,191,191, 127,127,127, + 0, 0, 0, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 127,127,127, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 0, 0, 0, 127,127,127, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 255,255,255, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, +}; diff --git a/.svn/pristine/5d/5d4b410731ba367d05755ef9ea8032c9bbb80279.svn-base b/.svn/pristine/5d/5d4b410731ba367d05755ef9ea8032c9bbb80279.svn-base new file mode 100644 index 0000000..e216d0a --- /dev/null +++ b/.svn/pristine/5d/5d4b410731ba367d05755ef9ea8032c9bbb80279.svn-base @@ -0,0 +1,122 @@ +/* + * parcelinfo implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/parcelinfo.h" + +long parcelinfo::parcelwidth; +long parcelinfo::parcelheight; + +/** + * Ctor + * @param offsetX the x-offset + * @param offsetZ the z-offset + * @param filename the filename of the parcel + */ +parcelinfo::parcelinfo(long offsetX, long offsetZ, std::string filename) +{ + this->offsetX = offsetX; + this->offsetZ = offsetZ; + this->filename = filename; + this->used = true; +} + +/** + * Sets the parcelsize + * @param with the width of the parcel + * @param height the height of the parcel + */ +void parcelinfo::setParcelsize(long width, long height) +{ + parcelinfo::parcelwidth = width; + parcelinfo::parcelheight = height; +} + +/** + * Sets the used-flag true (Which means + * that the parcel was used during the last scan) + */ +void parcelinfo::setUsed() +{ + this->used = true; +} + +/** + * Resets the used-flag + */ +void parcelinfo::resetUsed() +{ + this->used = false; +} + +/** + * Returns whether the parcel was needed + * @return True if it was needed + */ +int parcelinfo::wasUsed() const +{ + return this->used; +} + +/** + * Operator <. Compares by offsets. + * + * @param parcel the parcel to be compared to this + * @return true if this < parcel + */ +bool parcelinfo::operator< (const parcelinfo& parcel) const +{ + if(getOffsetX() < parcel.getOffsetZ()) + { + return true; + } + else if(getOffsetX() == parcel.getOffsetX()) + { + if(getOffsetZ() < parcel.getOffsetZ()) + return true; + else + return false; + } + else + { + return false; + } +} + +/** + * Compares two parcels if they are equal (Offset-X and -Z equal) + * + * @param parcel the other parcel + * @return true if euqal + */ +bool parcelinfo::operator== (const parcelinfo &parcel) const +{ + return (getOffsetX() == parcel.getOffsetX() && + getOffsetZ() == parcel.getOffsetZ()); +} + +/** + * The methods checks if the coordinates given lie in + * the parcel represented by the parcelinfo + * + * @param x The absolute x coordinate + * @param z the absolute z coordinate + * @return true if the point lies within the parcel + */ +bool parcelinfo::contains(long x, long z) const +{ + bool xIn = (x >= getOffsetX() && + x <= getOffsetX() + parcelinfo::parcelwidth); + + bool zIn = (z >= getOffsetZ() && + z <= getOffsetZ() + parcelinfo::parcelheight); + + return xIn && zIn; +} + + diff --git a/.svn/pristine/5e/5e78feb428cbf36969530c51bbfa6c170dbb4ec9.svn-base b/.svn/pristine/5e/5e78feb428cbf36969530c51bbfa6c170dbb4ec9.svn-base new file mode 100644 index 0000000..6cca6ea --- /dev/null +++ b/.svn/pristine/5e/5e78feb428cbf36969530c51bbfa6c170dbb4ec9.svn-base @@ -0,0 +1,24 @@ +// ===================================================================================== +// +// Filename: numberrec.h +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 01:26:59 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== +#ifndef __NUMBERREC_H__ +#define __NUMBERREC_H__ + + +//void my_test(); +bool gocr_recognizeNumber(string &filename, int &number, double &probability); + +#endif + diff --git a/.svn/pristine/5e/5eb726b20157ebeafa1cede25ee0cf5c4649f6cf.svn-base b/.svn/pristine/5e/5eb726b20157ebeafa1cede25ee0cf5c4649f6cf.svn-base new file mode 100644 index 0000000..3b23ef6 --- /dev/null +++ b/.svn/pristine/5e/5eb726b20157ebeafa1cede25ee0cf5c4649f6cf.svn-base @@ -0,0 +1,85 @@ +#ifndef __PARCELINFO_H_ +#define __PARCELINFO_H_ + +#include + +/** + * The class contains the information about an already created parcel, + * such as offset and filename, but not the actual data. + * It also contains the parcel height and width as static members. + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre SChemschat + * @date 15.02.08 + */ +class parcelinfo +{ + private: + /** The x-offset of parcel (absolute coordiante) */ + long offsetX; + + /** The z-offset of parcel (absolute coordiante) */ + long offsetZ; + + /** The filename of the parcel */ + std::string filename; + + /** sets whether the parcel was needed for the last scan or not */ + bool used; + + /** The width of the parcel */ + static long parcelwidth; + + /** The height of the parcel */ + static long parcelheight; + + public: + /** @brief Sets the parcelsize */ + static void setParcelsize(long width, long height); + + /** @brief CTor */ + parcelinfo(long offsetX, long offsetZ, std::string filename); + + /** @brief < operator */ + bool operator< (const parcelinfo &parcel) const; + + /** @brief == operator */ + bool operator== (const parcelinfo &parcel) const; + + /** @brief Checks if the parcel contains a given point*/ + bool contains(long x, long z) const; + + /** @brief Sets the used flag (true) */ + void setUsed(); + + /** @brief Resets the used flag (false) */ + void resetUsed(); + + /** @brief Returns whether the parcel was needed */ + int wasUsed() const; + + /** + * Returns the x-offset + * @return the x-offset of the parcel + */ + inline int getOffsetX() const { + return this->offsetX; + } + + /** + * Returns the z-offset + * @return the z-offset of the parcel + */ + inline int getOffsetZ() const { + return this->offsetZ; + } + + /** + * Getter for the filename + * @return the filename of the parcel + */ + inline const std::string& getFilename() const { + return this->filename; + } +}; + +#endif diff --git a/.svn/pristine/5e/5ed8495e8d30d5132dc3c320ee00fb7b4724c43c.svn-base b/.svn/pristine/5e/5ed8495e8d30d5132dc3c320ee00fb7b4724c43c.svn-base new file mode 100644 index 0000000..d3142da --- /dev/null +++ b/.svn/pristine/5e/5ed8495e8d30d5132dc3c320ee00fb7b4724c43c.svn-base @@ -0,0 +1,367 @@ +/* + * managedScan implementation + * + * Copyright (C) Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/managedScan.h" + +#include "scanserver/clientInterface.h" +#include "slam6d/Boctree.h" +#include "slam6d/kdManaged.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + +#include +using std::stringstream; + +#include +using namespace boost::filesystem; + + + +SharedScanVector* ManagedScan::shared_scans = 0; + + + +void ManagedScan::openDirectory(const std::string& path, IOType type, int start, int end) +{ + // start the client first + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } + +#ifdef WITH_METRICS + Timer t = ClientMetric::read_scan_time.start(); +#endif //WITH_METRICS + + ClientInterface* client = ClientInterface::getInstance(); + shared_scans = client->readDirectory(path.c_str(), type, start, end); + + for(SharedScanVector::iterator it = shared_scans->begin(); it != shared_scans->end(); ++it) { + // add a scan with reference on the shared scan + SharedScan* shared = it->get(); + ManagedScan* scan = new ManagedScan(shared); + Scan::allScans.push_back(scan); + } + +#ifdef WITH_METRICS + ClientMetric::read_scan_time.end(t); +#endif //WITH_METRICS +} + +void ManagedScan::closeDirectory() +{ + // clean up the scan vector + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + delete *it; + allScans.clear(); + // remove the shared scan vector + ClientInterface* client = ClientInterface::getInstance(); +#ifdef WITH_METRICS + ClientInterface::getInstance()->printMetrics(); +#endif //WITH_METRICS + client->closeDirectory(shared_scans); +} + +std::size_t ManagedScan::getMemorySize() +{ + ClientInterface* client = ClientInterface::getInstance(); + return client->getCacheSize(); +} + + + +ManagedScan::ManagedScan(SharedScan* shared_scan) : + m_shared_scan(shared_scan), + m_reduced_ready(false), + m_reset_frames_on_write(true) +{ + // request pose from the shared scan + double* euler = m_shared_scan->getPose(); + rPos[0] = euler[0]; + rPos[1] = euler[1]; + rPos[2] = euler[2]; + rPosTheta[0] = euler[3]; + rPosTheta[1] = euler[4]; + rPosTheta[2] = euler[5]; + + // write original pose matrix + EulerToMatrix4(euler, &euler[3], transMatOrg); + + // initialize transform matrices from the original one, could just copy transMatOrg to transMat instead + transformMatrix(transMatOrg); + + // reset the delta align matrix to represent only the transformations after local-to-global (transMatOrg) one + M4identity(dalignxf); +} + +ManagedScan::~ManagedScan() +{ + // TODO: something to do? +} + +void ManagedScan::setRangeFilter(double max, double min) +{ + m_shared_scan->setRangeParameters(max, min); +} + +void ManagedScan::setHeightFilter(double top, double bottom) +{ + m_shared_scan->setHeightParameters(top, bottom); +} + +void ManagedScan::setReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + Scan::setReductionParameter(voxelSize, nrpts, pointtype); + + // set parameters to invalidate old cache data + stringstream s; + s << voxelSize << " " << nrpts << " " << transMatOrg; + m_shared_scan->setReductionParameters(s.str().c_str()); +} + +void ManagedScan::setShowReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + show_reduction_voxelSize = voxelSize; + show_reduction_nrpts = nrpts; + show_reduction_pointtype = pointtype; + + // set parameters to invalidate old cache data + stringstream s; + s << voxelSize << " " << nrpts; + m_shared_scan->setShowReductionParameters(s.str().c_str()); +} + +void ManagedScan::setOcttreeParameter(double reduction_voxelSize, double octtree_voxelSize, PointType pointtype, bool loadOct, bool saveOct) +{ + Scan::setOcttreeParameter(reduction_voxelSize, octtree_voxelSize, pointtype, loadOct, saveOct); + + // set octtree parameters to invalidate cached ones with other parameters (changing range/height is already handled) + stringstream s; + s << reduction_voxelSize << " " << octtree_voxelSize << " " << pointtype.toFlags(); + m_shared_scan->setOcttreeParameters(s.str().c_str()); +} + +DataPointer ManagedScan::get(const std::string& identifier) +{ + if(identifier == "xyz") { + return m_shared_scan->getXYZ(); + } else + if(identifier == "rgb") { + return m_shared_scan->getRGB(); + } else + if(identifier == "reflectance") { + return m_shared_scan->getReflectance(); + } else + if(identifier == "amplitude") { + return m_shared_scan->getAmplitude(); + } else + if(identifier == "type") { + return m_shared_scan->getType(); + } else + if(identifier == "deviation") { + return m_shared_scan->getDeviation(); + } else + if(identifier == "xyz reduced") { + // if this is a fresh run, initialize reduced properly via original or creating it anew + if(!m_reduced_ready) { + calcReducedOnDemand(); + } + return m_shared_scan->getXYZReduced(); + } else + if(identifier == "xyz reduced original") { + // if reduction has completed, original will exist (either from last run or created in this run) + if(!m_reduced_ready) { + calcReducedOnDemand(); + } + return m_shared_scan->getXYZReducedOriginal(); + } else + if(identifier == "xyz reduced show") { + if(m_shared_scan->getXYZReducedShow().valid()) + return m_shared_scan->getXYZReducedShow(); + calcReducedShow(); + return m_shared_scan->getXYZReducedShow(); + } else + if(identifier == "octtree") { + if(m_shared_scan->getOcttree().valid()) + return m_shared_scan->getOcttree(); + createOcttree(); + return m_shared_scan->getOcttree(); + } + { + throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::get. Upgrade SharedScan for this data field."); + } +} + +void ManagedScan::get(unsigned int types) +{ + m_shared_scan->prefetch(types); +} + +DataPointer ManagedScan::create(const std::string& identifier, unsigned int size) +{ + // map identifiers to functions in SharedScan and scale back size from bytes to number of points + if(identifier == "xyz reduced") { + return m_shared_scan->createXYZReduced(size / (3*sizeof(double))); + } else + if(identifier == "xyz reduced original") { + return m_shared_scan->createXYZReducedOriginal(size / (3*sizeof(double))); + } else + { + throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::create. Upgrade SharedScan for this data field."); + } +} + +void ManagedScan::clear(const std::string& identifier) +{ + // nothing to do here + // TODO: mark CacheObjects with a low priority for faster removal by the manager +} + +void ManagedScan::createSearchTreePrivate() +{ + switch(searchtree_nnstype) + { + case simpleKD: + kd = new KDtreeManaged(this); + break; + case BOCTree: + kd = new BOctTree(PointerArray(get("xyz reduced original")).get(), size("xyz reduced original"), 10.0, PointType(), true); + break; + case -1: + throw runtime_error("Cannot create a SearchTree without setting a type."); + default: + throw runtime_error("SearchTree type not implemented for ManagedScan"); + } + + // TODO: look into CUDA compability +} + +void ManagedScan::calcReducedOnDemandPrivate() +{ + // either copy from original or create them like BasicScan + DataXYZ xyz_orig(m_shared_scan->getXYZReducedOriginal()); + if(xyz_orig.valid()) { + // set true to inform further get("xyz reduced original") calls to get the data instead of looping calcReducedOnDemand + m_reduced_ready = true; + copyOriginalToReduced(); + } else { + // create reduced points and transform to initial position, save a copy of this for SearchTree + calcReducedPoints(); + // set true to inform further get("xyz reduced") calls to get the data instead of looping calcReducedOnDemand + m_reduced_ready = true; + transformReduced(transMatOrg); + copyReducedToOriginal(); + } +} + +void ManagedScan::calcReducedShow() +{ + // create an octtree reduction from full points + DataXYZ xyz(get("xyz")); + BOctTree* oct = new BOctTree(PointerArray(xyz).get(), xyz.size(), show_reduction_voxelSize); + + vector center; + center.clear(); + + if(show_reduction_nrpts > 0) { + if(show_reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, show_reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + unsigned int size = center.size(); + TripleArray xyz_r(m_shared_scan->createXYZReducedShow(size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; +} + +void ManagedScan::createOcttree() +{ + string scanFileName = string(m_shared_scan->getDirPath()) + "scan" + getIdentifier() + ".oct"; + BOctTree* btree = 0; + + // if loadOct is given, load the octtree under blind assumption that parameters match + if(octtree_loadOct && exists(scanFileName)) { + btree = new BOctTree(scanFileName); + } else { + if(octtree_reduction_voxelSize > 0) { // with reduction, only xyz points + TripleArray xyz_r(get("xyz reduced show")); + btree = new BOctTree(PointerArray(xyz_r).get(), xyz_r.size(), octtree_voxelSize, octtree_pointtype, true); + } else { // without reduction, xyz + attribute points + float** pts = octtree_pointtype.createPointArray(this); + unsigned int nrpts = size("xyz"); + btree = new BOctTree(pts, nrpts, octtree_voxelSize, octtree_pointtype, true); + for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts; + } + // save created octtree + if(octtree_saveOct) { + cout << "Saving octree " << scanFileName << endl; + btree->serialize(scanFileName); + } + } + + // copy tree into cache + try { + unsigned int size = btree->getMemorySize(); + unsigned char* mem_ptr = m_shared_scan->createOcttree(size).get_raw_pointer(); + new(mem_ptr) BOctTree(*btree, mem_ptr, size); + delete btree; btree = 0; + } catch(runtime_error& e) { + // delete tree if copy to cache failed + delete btree; + throw e; + } +} + + +unsigned int ManagedScan::readFrames() +{ + // automatically read on getFrames + return m_shared_scan->getFrames().size(); +} + +void ManagedScan::saveFrames() +{ + m_shared_scan->saveFrames(); +} + +unsigned int ManagedScan::getFrameCount() +{ + return m_shared_scan->getFrames().size(); +} + +void ManagedScan::getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) +{ + const Frame& frame(m_shared_scan->getFrames().at(i)); + pose_matrix = frame.transformation; + type = static_cast(frame.type); +} + +void ManagedScan::addFrame(AlgoType type) +{ + if(m_reset_frames_on_write) { + m_shared_scan->clearFrames(); + m_reset_frames_on_write = false; + } + m_shared_scan->addFrame(transMat, static_cast(type)); +} diff --git a/.svn/pristine/5f/5f6d54b33eb10bc4108ab348a5a619f306feb326.svn-base b/.svn/pristine/5f/5f6d54b33eb10bc4108ab348a5a619f306feb326.svn-base new file mode 100644 index 0000000..409487c --- /dev/null +++ b/.svn/pristine/5f/5f6d54b33eb10bc4108ab348a5a619f306feb326.svn-base @@ -0,0 +1,619 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_velodyne_frames.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + + +#ifdef _MSC_VER +#include +#endif + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 260 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + + + +struct velodyne_sample +{ + float xyz[3]; // calibrated, projected into velodyne coordinate system + float distance; + float corredistance; + + unsigned short rot; + float rotational; + BYTE intensity; + + float theta,phi; + int offset; + + + float normal; + float normal_theta; + float smooth; + + float scanline_drtZ; + float scanline_drtD; + float scanline_countZ; + float scanline_countD; + + /////////////////////////Type of Points cloud///////////////////////////////// + int classType; // 0 nused , 1 road , 2 build , 3 Tree , 4 person ,5 car , 6 ground +}; + + +long CountOfLidar = 0; + + +double velodyne_calibrated[VELODYNE_NUM_LASERS][5] = +{ + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + { -7.158120, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 0 + { -6.817820, -2.814700, 0.000000 , 0.000000 , 4.000000 }, // laser 1 + { 0.317822, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 2 + { 0.658119, 4.954230, 0.000000 , 0.000000 , 4.000000 }, // laser 3 + { -6.477650, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 4 + { -6.137590, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 5 + { -8.520810, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 6 + { -8.179890, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 7 + { -5.797640, 3.592120, 0.000000 , 0.000000 , -4.000000 }, // laser 8 + { -5.457770, 5.733800, 0.000000 , 0.000000 , 4.000000 }, // laser 9 + { -7.839140, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 10 + { -7.498560, 4.954200, 0.000000 , 0.000000 , 4.000000 }, // laser 11 + { -3.080210, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 12 + { -2.740630, -2.814700, 0.000000 , 0.000000 , 4.000000 }, // laser 13 + { -5.117980, -5.733800, 0.000000 , 0.000000 , -4.000000 }, // laser 14 + { -4.778260, -3.592120, 0.000000 , 0.000000 , 4.000000 }, // laser 15 + { -2.401040, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 16 + { -2.061410, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 17 + { -4.438590, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 18 + { -4.098960, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 19 + { -1.721740, 3.592120, 0.000000 , 0.000000 , -4.000000 }, // laser 20 + { -1.382020, 5.733800, 0.000000 , 0.000000 , 4.000000 }, // laser 21 + { -3.759370, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 22 + { -3.419790, 4.954240, 0.000000 , 0.000000 , 4.000000 }, // laser 23 + { 0.998555, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 24 + { 1.339140, -2.814740, 0.000000 , 0.000000 , 4.000000 }, // laser 25 + { -1.042230, -5.733800, 0.000000 , 0.000000 , -4.000000 }, // laser 26 + { -0.702363, -3.592120, 0.000000 , 0.000000 , 4.000000 }, // laser 27 + { 1.679890, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 28 + { 2.020810, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 29 + { -0.362407, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 30 + { -0.022350, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 31 + { -22.737886, -7.443011, 0.000000 , 0.000000 , -4.000000 }, // laser 32 + { -22.226072, -4.224233, 0.000000 , 0.000000 , 4.000000 }, // laser 33 + { -11.513928, 4.224233, 0.000000 , 0.000000 , -4.000000 }, // laser 34 + { -11.002114, 7.443011, 0.000000 , 0.000000 , 4.000000 }, // laser 35 + { -21.714685, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 36 + { -21.203688, 2.183498, 0.000000 , 0.000000 , 4.000000 }, // laser 37 + { -24.790272, -2.183498, 0.000000 , 0.000000 , -4.000000 }, // laser 38 + { -24.276321, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 39 + { -20.693031, 5.3926148, 0.000000 , 0.000000 , -4.000000 }, // laser 40 + { -20.182682, 8.6188126, 0.000000 , 0.000000 , 4.000000 }, // laser 41 + { -23.762968, 4.2242332, 0.000000 , 0.000000 , -4.000000 }, // laser 42 + { -23.250172, 7.4430108, 0.000000 , 0.000000 , 4.000000 }, // laser 43 + { -16.615318, -7.4430108, 0.000000 , 0.000000 , -4.000000 }, // laser 44 + { -16.105938, -4.2242332, 0.000000 , 0.000000 , 4.000000 }, // laser 45 + { -19.672594, -8.6188126, 0.000000 , 0.000000 , -4.000000 }, // laser 46 + { -19.162729, -5.3926148, 0.000000 , 0.000000 , 4.000000 }, // laser 47 + { -15.596496, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 48 + { -15.086954, 2.1834979, 0.000000 , 0.000000 , 4.000000 }, // laser 49 + { -18.653046, -2.1834979, 0.000000 , 0.000000 , -4.000000 }, // laser 50 + { -18.143503, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 51 + { -14.577271, 5.3926148, 0.000000 , 0.000000 , -4.000000 }, // laser 52 + { -14.067405, 8.6188126, 0.000000 , 0.000000 , 4.000000 }, // laser 53 + { -17.634062, 4.2242332, 0.000000 , 0.000000 , -4.000000 }, // laser 54 + { -17.124681, 7.4430108, 0.000000 , 0.000000 , 4.000000 }, // laser 55 + { -10.489829, -7.4430108, 0.000000 , 0.000000 , -4.000000 }, // laser 56 + { -9.9770317, -4.2242332, 0.000000 , 0.000000 , 4.000000 }, // laser 57 + { -13.557318, -8.6188126, 0.000000 , 0.000000 , -4.000000 }, // laser 58 + { -13.046968, -5.3926148, 0.000000 , 0.000000 , 4.000000 }, // laser 59 + { -9.4636793, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 60 + { -8.949728, 2.1834979, 0.000000 , 0.000000 , 4.000000 }, // laser 61 + { -12.536313, -2.1834979, 0.000000 , 0.000000 , -4.000000 }, // laser 62 + { -12.025314, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 63 +}; + + + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + + + + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + + vertCorrection[i] = ( velodyne_calibrated[i][0] ) * RADIANS_PER_LSB; + + rotCorrection[i] = ( velodyne_calibrated[i][1] ) * RADIANS_PER_LSB; + + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + } + + return 0; +} + + + + + +int read_one_packet ( FILE *fp, vector &ptss, int maxDist, int minDist ) +{ + int maxDist2 = sqr(maxDist); + int minDist2 = sqr(minDist); + + int c, i, j; + unsigned char Head = 0; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pshort; + short *pt; + + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + //unsigned short logicalNO; + + double rotational; + double distance; + double corredistance; + int intensity; + // int physical; + int size; + + + + //unsigned short rot; + + + double x, y, z; +/* + int circle_col = 0; + int circle_row = 0; + int circle_col_other = 0; + int circle_row_other = 0; + */ + + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { + + fseek(fp , BLOCK_OFFSET, SEEK_CUR); + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size minDist2*1.0)) + { + ptss.push_back(point); + //printf("%f %f %f %f %f %f\n",point.x,point.y,point.z,point.reflectance,minDist2*1.0,minDist2*1.0); + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + + + return 0; +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_velodyne_frame::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + string framesFileName; + + + FILE *scan_in = 0; + FILE *pose_in = 0; + ifstream frames_in; + // int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + scanFileName = dir + "scan" + ".bin"; + poseFileName = dir + "scan" + ".pose"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in = fopen(scanFileName.c_str(),"rb"); + if(scan_in==NULL) + { + cerr << "ERROR: Missing file " << scanFileName <<" "<> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + velodyne_calib_precompute(); + cout << "Processing Scan " << scanFileName; + cout.flush(); + + + + + +#if 0 + raw_packet_t raw_tmp; + fseeko(scan_in, 0, SEEK_SET); + fread(&raw_tmp,sizeof(raw_packet_t),1,scan_in); + int revolution=raw_tmp.revolution+fileCounter+1; + int i=0; + + while(raw_tmp.revolution!=revolution) + { + printf("%d %d\n",i++,raw_tmp.revolution); + fread(&raw_tmp,sizeof(raw_packet_t),1,scan_in); + } +#else + + + + cout.flush(); + ptss.reserve(12*32*CIRCLELENGTH); + + #if 0 + fseeko(scan_in, 0, SEEK_SET); + fseeko(scan_in, BLOCK_SIZE*CIRCLELENGTH*fileCounter, SEEK_CUR); + #else + fseek(scan_in, 24, SEEK_SET); + fseek(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); + #endif + +#endif + read_one_packet(scan_in, ptss, maxDist, minDist); + cout << " with " << ptss.size() << " Points"; + + + cout << " done " << fileCounter< +using std::stringstream; +#include +using std::runtime_error; + +#include +using std::cout; +using std::endl; + + + +map* PointFilter::factory = new map; + + + +PointFilter::PointFilter() : + m_changed(true), m_checker(0) +{ +} + +PointFilter::PointFilter(const std::string& params) : + m_changed(true), m_checker(0) +{ + size_t start = 0, end = string::npos; + while((end = params.find(' ', start)) != string::npos) { + // extract the word (start-end+1) without the space (-1) + string key(params.substr(start, start-end)); + end++; + // get the second word position + start = params.find(' ', end); + // insert + m_params[key] = params.substr(end, (start-end)); + // advance to the character after space + if(start != string::npos) + start++; + else + break; + } +} + +PointFilter::~PointFilter() +{ + if(m_checker) + delete m_checker; +} + +PointFilter& PointFilter::setRange(double maxDist, double minDist) +{ + m_changed = true; + stringstream s_max; s_max << maxDist; + stringstream s_min; s_min << minDist; + m_params["rangemax"] = s_max.str(); + m_params["rangemin"] = s_min.str(); + return *this; +} + +PointFilter& PointFilter::setHeight(double top, double bottom) +{ + m_changed = true; + stringstream s_top; s_top << top; + stringstream s_bottom; s_bottom << bottom; + m_params["heighttop"] = s_top.str(); + m_params["heightbottom"] = s_bottom.str(); + return *this; +} + +std::string PointFilter::getParams() +{ + stringstream s; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + s << (*it).first << " " << (*it).second << " "; + } + return s.str(); +} + +void PointFilter::createCheckers() +{ + // delete the outdated ones + if(m_checker) { + delete m_checker; + m_checker = 0; + } + + // create new ones + Checker** current = &m_checker; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + *current = (*factory)[it->first](it->second); + // if a Checker has been successfully created advance to its pointer in the chain + if(*current) { + current = &((*current)->m_next); + } + } +} + + + +Checker::Checker() : + m_next(0) +{ +} + +Checker::~Checker() +{ + if(m_next) + delete m_next; +} + + + +// create factory instaces for key string to factory function mapping +namespace { + CheckerFactory max("rangemax"); + CheckerFactory min("rangemin"); + CheckerFactory top("heighttop"); + CheckerFactory bottom("heightbottom"); +} + + + +CheckerRangeMax::CheckerRangeMax(const std::string& value) { + stringstream s(value); + s >> m_max; + // default value: no check + if(m_max <= 0.0) throw runtime_error("No range filter needed."); + m_max *= m_max; +} + +bool CheckerRangeMax::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] < m_max) + return true; + return false; +} + + + +CheckerRangeMin::CheckerRangeMin(const std::string& value) { + stringstream s(value); + s >> m_min; + // default value: no check + if(m_min <= 0.0) throw runtime_error("No range filter needed."); + m_min *= m_min; +} + +bool CheckerRangeMin::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] > m_min) + return true; + return false; +} + + + +CheckerHeightTop::CheckerHeightTop(const std::string& value) { + stringstream s(value); + s >> m_top; +} + +bool CheckerHeightTop::test(double* point) { + if(point[1] < m_top) + return true; + return false; +} + + + +CheckerHeightBottom::CheckerHeightBottom(const std::string& value) { + stringstream s(value); + s >> m_bottom; +} + +bool CheckerHeightBottom::test(double* point) { + if(point[1] > m_bottom) + return true; + return false; +} diff --git a/.svn/pristine/60/606a71950c5ed95759602af00fda8e994c486c05.svn-base b/.svn/pristine/60/606a71950c5ed95759602af00fda8e994c486c05.svn-base new file mode 100644 index 0000000..ed0159b --- /dev/null +++ b/.svn/pristine/60/606a71950c5ed95759602af00fda8e994c486c05.svn-base @@ -0,0 +1,124 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_zahn.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the tooth format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_zahn::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + double maxDist2 = sqr(maxDist); + + ifstream scan_in, pose_in; + + int my_fileNr = fileCounter; + + euler[0] = 0; + euler[1] = 0; + euler[2] = 0; + euler[3] = 0; + euler[4] = 0; + euler[5] = 0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "Element_" + to_string(fileCounter) + ".asc"; + + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1; + + while (scan_in.good()) { + Point p; + scan_in >> p.x >> p.y >> p.z; + p.x *= 10; + p.y *= 10; + p.z *= -10; + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_zahn; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/60/609f39aa96725d6a75c76ce1c87016ab532a11f4.svn-base b/.svn/pristine/60/609f39aa96725d6a75c76ce1c87016ab532a11f4.svn-base new file mode 100644 index 0000000..bf3c24a --- /dev/null +++ b/.svn/pristine/60/609f39aa96725d6a75c76ce1c87016ab532a11f4.svn-base @@ -0,0 +1,511 @@ +/* + * gapx6D implementation + * + * Copyright (C) Jan Elseberg, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm by using APX correction + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/gapx6D.h" +#include "slam6d/icp6Dapx.h" +#include "sparse/csparse.h" + +#include +#include +using std::flush; +#include + +#include "slam6d/globals.icc" + +using std::ofstream; +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +gapx6D::gapx6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +gapx6D::~gapx6D() +{ + delete my_icp; +} + + + +double gapx6D::genBAtransForLinkedPair( int firstScanNum, int secondScanNum, + double *centroids_m, double *centroids_d, + SymmetricMatrix *B, ColumnVector *A, ColumnVector &X) +{ + + Point cm(centroids_m); + Point cd(centroids_d); + + double x[3], dx[3] = {0.0, 0.0, 0.0}; + unsigned int vectorOffset; + double alignxf[16]; + + vectorOffset = (firstScanNum-1) * 3; + + if (firstScanNum != 0) { + x[0] = X(vectorOffset + 1); + x[1] = X(vectorOffset + 2); + x[2] = X(vectorOffset + 3); + } else { + x[0] = x[1] = x[2] = 0.0; + } + + icp6D_APX::computeRt(x, dx, alignxf); + + cm.transform(alignxf); + + vectorOffset = (secondScanNum-1) * 3; + + x[0] = X(vectorOffset + 1); + x[1] = X(vectorOffset + 2); + x[2] = X(vectorOffset + 3); + + icp6D_APX::computeRt(x, dx, alignxf); + + cd.transform(alignxf); + + ColumnVector Ak1(3); + + Ak1(1) = cm.x - cd.x; + Ak1(2) = cm.y - cd.y; + Ak1(3) = cm.z - cd.z; + +#ifdef _OPENMP +#pragma omp critical (enterB) +#endif + { + if(firstScanNum != 0) { + A->Rows((firstScanNum-1)*3+1, (firstScanNum-1)*3+3) -= Ak1; + B->element(firstScanNum -1, firstScanNum - 1) += 1; + B->element(firstScanNum -1, secondScanNum - 1) -= 1; + } + A->Rows((secondScanNum-1)*3+1, (secondScanNum-1)*3+3) += Ak1; + B->element(secondScanNum - 1, secondScanNum - 1) += 1; + } // of pragma omp critical + + return 1.0; + +} + + +/** + * This function generates the matrices B and Bd that are used for solving B * c = Bd. + * This function has to be called once for every linked scan-pair. + * + * @param firstScanNum The number of the first scan of the linked scan-pair + * @param secondScanNum The number of the second scan of the linked scan-pair + * @param ptpairs Vector that holds all point-pairs for the actual scan-pair + * @param B Matrix with dimension (6*(number of scans-1)) x (6 * (number of scans-1)) + * @param Bd Vector with dimension (6*(number of scans-1)) + * @return returns the sum of square distance + */ +double gapx6D::genBArotForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + double *centroids_m, double *centroids_d, + Matrix *B, ColumnVector *A) +{ + Matrix Mk(3,3), Dk(3,3); + Matrix MkMkt(3,3), DkDkt(3,3), DkMkt(3,3), MkDkt(3,3); + ColumnVector Ak1(3), Ak2(3); + + double p1x, p1y, p1z, p2x, p2y, p2z; + double p1x2, p1y2, p1z2, p2x2, p2y2, p2z2; + + double p1xp1y, p1xp1z, p1yp1z, p1y2p1z2, p1x2p1z2, p1x2p1y2; + double p2xp2y, p2xp2z, p2yp2z, p2y2p2z2, p2x2p2z2, p2x2p2y2; + + double p2zp1x, p2zp1y, p2yp1x, p1yp2x, p1zp2x, p1zp2y; + + double p1xp2xp1yp2y, p1xp2xp1zp2z, p1yp2yp1zp2z; + + int n = (*ptpairs).size(); + + MkMkt = 0; + DkDkt = 0; + DkMkt = 0; + MkDkt = 0; + Ak1 = 0; + Ak2 = 0; + + for (int i = 0; i < n; i++) { + p1x = (*ptpairs)[i].p1.x - centroids_m[0]; // << korrekt + p1y = (*ptpairs)[i].p1.y - centroids_m[1]; // << korrekt + p1z = (*ptpairs)[i].p1.z - centroids_m[2]; // << korrekt + + p2x = (*ptpairs)[i].p2.x - centroids_m[0]; // << korrekt + p2y = (*ptpairs)[i].p2.y - centroids_m[1]; // << korrekt + p2z = (*ptpairs)[i].p2.z - centroids_m[2]; // << korrekt + + p1x2 = sqr(p1x); + p1y2 = sqr(p1y); + p1z2 = sqr(p1z); + p2x2 = sqr(p2x); + p2y2 = sqr(p2y); + p2z2 = sqr(p2z); + + p1x2p1z2 = p1x2 + p1z2; + p1x2p1y2 = p1x2 + p1y2; + p1y2p1z2 = p1y2 + p1z2; + + p2x2p2z2 = p2x2 + p2z2; + p2x2p2y2 = p2x2 + p2y2; + p2y2p2z2 = p2y2 + p2z2; + + p1xp2xp1yp2y = p1x * p2x + p1y + p2y; + p1xp2xp1zp2z = p1x * p2x + p1z + p2z; + p1yp2yp1zp2z = p1y * p2y + p1z + p2z; + + p1xp1y = p1x * p1y; + p1xp1z = p1x * p1z; + p1yp1z = p1y * p1z; + + //p2xp1y = p2x * p1y; + //p2xp1z = p2x * p1z; + p2yp1x = p2y * p1x; + //p2yp1z = p2y * p1z; + p2zp1x = p2z * p1x; + p2zp1y = p2z * p1y; + + /* + p1xp2y = p1x * p2y; + p1xp2z = p1x * p2z; + p1yp2z = p1y * p2z; + */ + p1yp2x = p1y * p2x; + p1zp2x = p1z * p2x; + p1zp2y = p1z * p2y; + + p2xp2y = p2x * p2y; + p2xp2z = p2x * p2z; + p2yp2z = p2y * p2z; + + MkMkt(1,1) += p1y2p1z2; + MkMkt(1,2) -= p1xp1y; + MkMkt(1,3) -= p1xp1z; + MkMkt(2,1) -= p1xp1y; + MkMkt(2,2) += p1x2p1z2; + MkMkt(2,3) -= p1yp1z; + MkMkt(3,1) -= p1xp1z; + MkMkt(3,2) -= p1yp1z; + MkMkt(3,3) += p1x2p1y2; + + DkDkt(1,1) += p2y2p2z2; + DkDkt(1,2) -= p2xp2y; + DkDkt(1,3) -= p2xp2z; + DkDkt(2,1) -= p2xp2y; + DkDkt(2,2) += p2x2p2z2; + DkDkt(2,3) -= p2yp2z; + DkDkt(3,1) -= p2xp2z; + DkDkt(3,2) -= p2yp2z; + DkDkt(3,3) += p2x2p2y2; + + MkDkt(1,1) += p1yp2yp1zp2z; + MkDkt(1,2) -= p1yp2x; + MkDkt(1,3) -= p1zp2x; + MkDkt(2,1) -= p1yp2x; + MkDkt(2,2) += p1xp2xp1zp2z; + MkDkt(2,3) -= p1zp2y; + MkDkt(3,1) -= p1zp2x; + MkDkt(3,2) -= p1zp2y; + MkDkt(3,3) += p1xp2xp1yp2y; + + DkMkt(1,1) += p1yp2yp1zp2z; + DkMkt(1,2) -= p2yp1x; + DkMkt(1,3) -= p2zp1x; + DkMkt(2,1) -= p2yp1x; + DkMkt(2,2) += p1xp2xp1zp2z; + DkMkt(2,3) -= p2zp1y; + DkMkt(3,1) -= p2zp1x; + DkMkt(3,2) -= p2zp1y; + DkMkt(3,3) += p1xp2xp1yp2y; + + Ak1(1) -= (p1z - p2z) * p2y - (p1y - p2y) * p2z; + Ak1(2) -= (p1x - p2x) * p2z - (p1z - p2z) * p2x; + Ak1(3) -= (p1y - p2y) * p2x - (p1x - p2x) * p2y; + + Ak2(1) += (p1z - p2z) * p1y - (p1y - p2y) * p1z; + Ak2(2) += (p1x - p2x) * p1z - (p1z - p2z) * p1x; + Ak2(3) += (p1y - p2y) * p1x - (p1x - p2x) * p1y; + } + +#ifdef _OPENMP +#pragma omp critical (enterB) +#endif + { + if(firstScanNum != 0) { + A->Rows((firstScanNum-1)*3+1, (firstScanNum-1)*3+3) += Ak1; + B->SubMatrix((firstScanNum-1)*3+1,(firstScanNum-1)*3+3, (firstScanNum-1)*3+1,(firstScanNum-1)*3+3) += MkMkt; + + B->SubMatrix((firstScanNum-1)*3+1,(firstScanNum-1)*3+3, (secondScanNum-1)*3+1,(secondScanNum-1)*3+3) += DkMkt; + + B->SubMatrix((secondScanNum-1)*3+1,(secondScanNum-1)*3+3, (firstScanNum-1)*3+1,(firstScanNum-1)*3+3) += MkDkt; + + } + A->Rows((secondScanNum-1)*3+1, (secondScanNum-1)*3+3) += Ak2; + B->SubMatrix((secondScanNum-1)*3+1,(secondScanNum-1)*3+3, (secondScanNum-1)*3+1,(secondScanNum-1)*3+3) += DkDkt; + + } // of pragma omp critical + + return 1.0; +} + + + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double gapx6D::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + vPtPair **ptpairs = 0; // Contains sets of point pairs for all links + double **centroids_m = 0, **centroids_d = 0; // Contains centroids for all links + Matrix B ( 3 * (gr.getNrScans()-1), 3 * (gr.getNrScans()-1) ); + SymmetricMatrix Bt ( gr.getNrScans()-1 ); Bt = 0; + ColumnVector X( 3*(gr.getNrScans()-1) ); X = 0; + ColumnVector T( 3*(gr.getNrScans()-1) ); T = 0; + ColumnVector A( 3*(gr.getNrScans()-1) ); A = 0; + + B = 0.0; + A = 0.0; + + double sum_position_diff = 0; + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + sum_position_diff = 0; + + if (nrIt > 1) cout << "Iteration match " << iteration << endl; + + // Transform first scan to zero, otherwise updating poses would yield incorrect values + // if (iteration == 0) { + // double* tin = allScans[0]->transMat; + // double tout[16]; + // M4inv(tin, tout); + + // for(unsigned int i = 0; i < allScans.size(); i++){ + // allScans[i]->transform(tout, Scan::INVALID); + // } + // } + + if (ptpairs != 0) { + delete [] ptpairs; + } + if (centroids_m != 0) { + delete [] centroids_m; + delete [] centroids_d; + } + + centroids_m = new double *[gr.getNrLinks()]; + centroids_d = new double *[gr.getNrLinks()]; + for (int i = 0; i < gr.getNrLinks(); i++){ + centroids_m[i] = new double[3]; + centroids_m[i][0] = centroids_m[i][1] = centroids_m[i][2] = 0.0; + centroids_d[i] = new double[3]; + centroids_d[i][0] = centroids_d[i][1] = centroids_d[i][2] = 0.0; + } + ptpairs = new vPtPair*[gr.getNrLinks()]; + for (int i = 0; i < gr.getNrLinks(); i++) { + ptpairs[i] = new vPtPair; + } + + // Get all point pairs after ICP + int end_loop = gr.getNrLinks(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + + for (int i = 0; i < end_loop; i++) { + cout << "P" << i << flush; + Scan * FirstScan = allScans[gr.getLink(i,0)]; + Scan * SecondScan = allScans[gr.getLink(i,1)]; +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + + double dummy_sum; + Scan::getPtPairs(ptpairs[i], FirstScan, SecondScan, thread_num, + (int)my_icp->get_rnd(), (int)max_dist_match2_LUM, dummy_sum, + centroids_m[i], centroids_d[i]); + + // faulty network + if (ptpairs[i]->size() <= 1) { + cout << "Error: Link (" << gr.getLink(i,0) + << " - " << gr.getLink(i, 1) << " ) is empty with " + << ptpairs[i]->size() << " Corr. points. iteration = " + << iteration << endl; + // exit(1); + + } else + + sum_position_diff += genBArotForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), ptpairs[i], + centroids_m[i], centroids_d[i], &B, &A); + + } + cout << " building rotation matrices done! " << endl; + + X = solveSparseCholesky(B, A); + + // TODO transformation bestimmen + Bt = 0.0; + A = 0.0; + for ( int i = 0; i < end_loop; i++) { + genBAtransForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), + centroids_m[i], centroids_d[i], &Bt, &A, X); + } + cout << " building translation matrices done! "<clear(); + delete (ptpairs[i]); + } + // delete centroids + for (int i = 0; i < gr.getNrLinks(); i++){ + delete [] centroids_m[i]; + delete [] centroids_d[i]; + } + + ColumnVector t0(3), t(3), tlast(3); + int vectorOffset; + int loop_end = gr.getNrScans(); + double alignxf[16]; + + for(int i = 1; i < loop_end; i++) + { + vectorOffset = (i-1) * 3; + + // Interpret results + double x[3] = { X(vectorOffset + 1), X(vectorOffset + 2), X(vectorOffset + 3) }; + double dx[3] = { T(vectorOffset + 1), T(vectorOffset + 2), T(vectorOffset + 3) }; + + icp6D_APX::computeRt(x, dx, alignxf); + + // Update the Pose + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + + if (i < loop_end - 1) { + allScans[i]->transform(alignxf, Scan::LUM, 1); + } else { + allScans[i]->transform(alignxf, Scan::LUM, 2); + } + + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + + sum_position_diff += Len(dx); + + } + cout << "Sum of Position differences = " << sum_position_diff << endl << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + + delete [] centroids_m; + delete [] centroids_d; + + delete [] ptpairs; + ptpairs = 0; + + return ret; +} + + diff --git a/.svn/pristine/61/61c5117709600ba97f484f0d2a8c9d468a3fcb0f.svn-base b/.svn/pristine/61/61c5117709600ba97f484f0d2a8c9d468a3fcb0f.svn-base new file mode 100644 index 0000000..0574682 --- /dev/null +++ b/.svn/pristine/61/61c5117709600ba97f484f0d2a8c9d468a3fcb0f.svn-base @@ -0,0 +1,586 @@ +/* + * scan_diff2d implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main program calculating difference of 3D scans. + * + * Program for calculating the 2d-difference between scans after matching with slam6d + * Usage: bin/scan_diff2d -s -e -d 'dir', + * Use -s for the first scan, -e for the second scan + * 'dir' the directory of a set of scans + * The result is an image showing the color coded difference of the two scans + * ATTENTION: All scans between START and END will be loaded! + * @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +using std::ifstream; +#include + +#include "slam6d/scan.h" + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif +#include "show/colormanager.h" + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "slam6d/kd.h" +#include "slam6d/kdc.h" +#include +#include +using namespace std; + + + +int WIDTH=0; +int HEIGHT=0; +double MINTHETA; +double MAXTHETA; +double MINPHI; +double MAXPHI; + +double minphi,maxphi; +double mintheta,maxtheta; +bool **stencilImage1; +bool **stencilImage; +double **rangeImage; +double **rangeImage2; +Point **pointImage; + +void writeRI(const char *filename, double max, double shift) +{ + SHSVMap cmap; + float color[3]; + unsigned int buckets = 4096; + + ofstream fp; // The PPM File + unsigned char *ibuffer; // The PPM Output Buffer + // Allocate memory for the the frame buffer and output buffer + ibuffer = new unsigned char[WIDTH * HEIGHT * 3]; + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Andreas Nuechter, University of Osnabrueck" + << endl << WIDTH << " " << HEIGHT << " " << UCHAR_MAX << endl; + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + int l = 0; + for (int i = 0; i < HEIGHT; i++) { // For each row + for (int jj = 0; jj < WIDTH; jj++) { // For each column + int j = (jj + (int)(WIDTH*shift))%WIDTH; + if(!stencilImage[j][i]) { + ibuffer[l++] = UCHAR_MAX; + ibuffer[l++] = UCHAR_MAX; + ibuffer[l++] = UCHAR_MAX; + } else { + cmap.calcColor(color, (max + rangeImage[j][i])/(max*2.0) * buckets, buckets); + ibuffer[l++] = (unsigned char)min( (int)((color[0])*UCHAR_MAX), UCHAR_MAX); + ibuffer[l++] = (unsigned char)min( (int)((color[1])*UCHAR_MAX), UCHAR_MAX); + ibuffer[l++] = (unsigned char)min( (int)((color[2])*UCHAR_MAX), UCHAR_MAX); + } + } // end column + } // end row + + // Write output buffer to the file */ + fp.write((const char*)ibuffer, sizeof(unsigned char) * (3 * WIDTH * HEIGHT)); + fp.close(); + fp.clear(); + delete [] ibuffer; +} + + +void toRI(double _x, double _y, double _z, int &X, int &Y, double &range) { + double x = _z/100.0; + double y = _x/(-100.0); + double z = _y/100.0; + + double phi = 0.0; + double theta = 0.0; + range = std::sqrt(x*x + y*y + z*z); + + if (range > 0.00000001) { + phi = atan2(y,x); + phi = ((phi<0.0)?(phi+2.0*M_PI):phi); + theta = std::acos(z/range); + + if (phi > maxphi) maxphi = phi; + if (phi < minphi) minphi = phi; + if (theta > maxtheta) maxtheta = theta; + if (theta < mintheta) mintheta = theta; + } + + + X = WIDTH * (phi/( MAXPHI - MINPHI )); + Y = HEIGHT * ((theta - MINTHETA)/( MAXTHETA - MINTHETA )); +} + +void toPoint(int X, int Y, double range, double &x, double &y, double &z) { + x = y = z = 0.0; + + if (range > 0.000000001) { + double _z = cos(((double)Y/(double)HEIGHT * (double)(MAXTHETA - MINTHETA)) + MINTHETA) * range; + double _y = sin((double)X/(double)WIDTH * (double)(MAXPHI - MINPHI)) * range; + double _x = cos((double)X/(double)WIDTH * (double)(MAXPHI - MINPHI)) * range; + x = _y*-100.0; + y = _z*100.0; + z = _x*100.0; + } +} + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << "-s -e [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, rxp,zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR" << endl + << " write all points that have no corresponding point closer than NR 'units'" << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -d 5 dat" << endl + << " " << prog << " --max=5000 -d 10.2 dat" << endl + << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param start first scan number 'start' + * @param end last scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param dist the maximal distance for a point pair + * @param type the scan format + * @param desc true if start is greater than end + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, + int &start, int &end, int &maxDist, int &minDist, double &dist, + IOType &type, bool &desc, double &res, double &shift, int &mode) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "dist", required_argument, 0, 'd' }, + { "resolution", required_argument, 0, 'r' }, + { "shift", required_argument, 0, 'h' }, + { "mode", required_argument, 0, '0' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "h:r:f:d:s:e:m:M:", longopts, NULL)) != -1) + switch (c) + { + case '0': + mode = atoi(optarg); + break; + case 'h': + shift = atof(optarg); + break; + case 'r': + res = atof(optarg); + break; + case 'd': + dist = atof(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(start < 0 || end < 0 ) { + cerr << "\n*** You need two different scans for difference calculations ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + if(start > end) { + double tmp = start; + start = end; + end = tmp; + desc = true; + } + + return 0; +} + + +/** + * Main program for calculating the difference of two scans. + * Usage: bin/scan_diff -d -s -e 'dir', + * Use -s and -e for the two scans, + * -d + * and 'dir' the directory of a set of scans + * Difference scans will be written to 'dir/diff/scan[00]s.3d' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double dist = 0; + int start = -1, end = -1; + int maxDist = -1; + int minDist = -1; + IOType type = RIEGL_TXT; + bool desc = false; + double resolution = 0.25; + double shift = 0.5; + int mode = 0; + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, dist, type, desc, resolution, shift, mode); + + resolution = rad(resolution); + + // Get Scans (all scans between start and end) + Scan::dir = dir; + + string scanFileName; + string framesFileName; + ifstream frames_in; + double inMatrix0[17]; + double inMatrix1[17]; + + cout << "Reading Scan No. " << start; + framesFileName = dir + "scan" + to_string(start,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix0[i++]); + } + frames_in.close(); + frames_in.clear(); + cout << "Reading Scan No. " << end; + framesFileName = dir + "scan" + to_string(end,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix1[i++]); + } + frames_in.close(); + frames_in.clear(); + + Scan::readScans(type, start, end, dir, maxDist, minDist, 0); + int endIndex = Scan::allScans.size() - 1; + + Scan *rangescan = Scan::allScans[0]; + Scan *targetscan = Scan::allScans[endIndex]; + Scan::allScans[endIndex]->calcReducedPoints(-1, 0); + + double tinv[16]; M4inv(inMatrix0, tinv); + double tmat[16]; + MMult(tinv, inMatrix1, tmat); + + Scan::allScans[endIndex]->transform(tmat, Scan::INVALID); + + string name; + int thread_num = 0; + vector diff; + double transMat[16]; + + + cout << "set up range image" << endl; + double x,y,z,r; + int X,Y; + // first subsample to RI + const vector *points = rangescan->get_points(); + maxphi = maxtheta = -DBL_MAX; + mintheta = minphi = DBL_MAX; + cout << "establish max and mins..." << endl; + double MINDIST = 40.0; + + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + } + MAXTHETA = maxtheta; + MINTHETA = mintheta; + MAXPHI = maxphi; + MINPHI = minphi; + HEIGHT = (MAXTHETA - MINTHETA)/resolution; + WIDTH = (MAXPHI - MINPHI)/resolution; + + switch (mode) { + case 0: + { + cout << "creating data structures " << WIDTH << " " << HEIGHT << endl; + stencilImage = new bool*[WIDTH+1]; + rangeImage = new double*[WIDTH+1]; + pointImage = new Point*[WIDTH+1]; + for (int i = 0; i <= WIDTH; i++) { + stencilImage[i] = new bool[HEIGHT+1]; + rangeImage[i] = new double[HEIGHT+1]; + pointImage[i] = new Point[HEIGHT+1]; + for (int j = 0; j <= HEIGHT; j++) { + rangeImage[i][j] = DBL_MAX; + stencilImage[i][j] = false; + } + } + cout << "thin out points " << points->size() << endl; + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage[X][Y] > r) { + stencilImage[X][Y] = true; + rangeImage[X][Y] = r; + pointImage[X][Y] = p; + } + } + } + + + cout << "done setting up range image" << endl; + + targetscan->createTree(false, false); + const SearchTree *kd = targetscan->get_tree(); + + cout << " looking for closest points... " << endl; + double mdm2 = dist*dist; + for (int X = 0; X < WIDTH; X++) { + for (int Y = 0; Y < HEIGHT; Y++) { + if (!stencilImage[X][Y]) continue; + double p[3]; + p[0] = pointImage[X][Y].x; + p[1] = pointImage[X][Y].y; + p[2] = pointImage[X][Y].z; + + double *closest = kd->FindClosest(p, mdm2, 0); + + if (closest) { + rangeImage[X][Y] = sqrt(Dist2(closest, p)); + double v[3]; + for (int i = 0; i < 3; i++) + v[i] = closest[i] - p[i]; + + double d = v[0]*p[0] + v[1]*p[1] + v[2]*p[2]; + if (d <= 0) { + rangeImage[X][Y] *= -1.0; + } + + } else { + rangeImage[X][Y] = dist; + } + } + } + } + break; + case 1: + { + cout << "creating data structures " << WIDTH << " " << HEIGHT << endl; + stencilImage = new bool*[WIDTH+1]; + stencilImage1 = new bool*[WIDTH+1]; + rangeImage = new double*[WIDTH+1]; + rangeImage2 = new double*[WIDTH+1]; + for (int i = 0; i <= WIDTH; i++) { + stencilImage[i] = new bool[HEIGHT+1]; + stencilImage1[i] = new bool[HEIGHT+1]; + rangeImage[i] = new double[HEIGHT+1]; + rangeImage2[i] = new double[HEIGHT+1]; + for (int j = 0; j <= HEIGHT; j++) { + rangeImage[i][j] = DBL_MAX; + rangeImage2[i][j] = DBL_MAX; + stencilImage[i][j] = false; + stencilImage1[i][j] = false; + } + } + cout << "thin out points " << points->size() << endl; + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage[X][Y] > r) { + stencilImage1[X][Y] = true; + rangeImage[X][Y] = fabs(r); + } + } + } + + for (unsigned int i = 0; i < Scan::allScans[endIndex]->get_points_red_size(); i++) { + Point p; + p.x = Scan::allScans[endIndex]->get_points_red()[i][0]; + p.y = Scan::allScans[endIndex]->get_points_red()[i][1]; + p.z = Scan::allScans[endIndex]->get_points_red()[i][2]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage2[X][Y] > r && stencilImage1[X][Y]) { + stencilImage[X][Y] = true; + rangeImage2[X][Y] = fabs(r); + } + } + } + + cout << "done setting up range image" << endl; + for (int X = 0; X < WIDTH; X++) { + for (int Y = 0; Y < HEIGHT; Y++) { + if (!stencilImage[X][Y]) continue; + if (rangeImage[X][Y] == DBL_MAX) continue; + rangeImage[X][Y] = 100.0 * (rangeImage[X][Y] - rangeImage2[X][Y]) ; // to meters + } + } + + } + break; + default: + break; + } + + + name = dir + "diff_" + to_string(start, 3) + "_" + to_string(end,3) + ".ppm"; + writeRI(name.c_str(), dist, shift); + + delete Scan::allScans[0]; + Scan::allScans.clear(); + + cout << endl << endl; + cout << "Normal program end." << endl << endl; +} diff --git a/.svn/pristine/61/61dba2dfb5388a94f80f4d66b22b747da8f6f9fa.svn-base b/.svn/pristine/61/61dba2dfb5388a94f80f4d66b22b747da8f6f9fa.svn-base new file mode 100644 index 0000000..c12ec30 --- /dev/null +++ b/.svn/pristine/61/61dba2dfb5388a94f80f4d66b22b747da8f6f9fa.svn-base @@ -0,0 +1,132 @@ +------------------------------------------------------------------- + +To compile the project simply call "make". This will configure slam6d +using the default settings. If you wish to configure the project using +custom settings do: "make config". This command requires ccmake be +installed on your system. Alternatively you may change into the build +directory ".build" and configure the project with your preferred cmake +configurator, i.e.: + +cd .build && cmake -i ../ + +For Microsoft Windows, use the cmake-gui application provided by cmake +to configure and generate project files for the appropriate version of +Microsoft Visual Studio C++ of your system. Use the INSTALL target to +built the entire project. Executables (and .dll's) will then reside +in the "windows" folder. For running the binaries you need to install +the proper redistributable package. + +Some Boost libraries (graph, regex, serialization, filesystem, +interprocess) are needed to compile the slam6D program. + +If you are using Debian just do: + + aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev freeglut3-dev libxmu-dev libxi-dev + +or, if you are still using Debian stable (lenny): + + aptitude install libboost-graph1.35-dev libboost-regex1.35-dev libboost-serialization1.35-dev freeglut3-dev libxmu-dev libxi-dev + +for Ubuntu this would be: + + sudo aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev libboost1.46-dev libboost-filesystem1.46-dev freeglut3-dev libxmu-dev libxi-dev + +SuSE users please use yast2 for installing the missing packages + + +Additionally for CAD matching support the following dependencies must +be satisfied (exemplarily for Ubuntu): + + sudo aptitude install libboost-program-options-dev + +------------------------------------------------------------------- + +For a detailed explanation of the programm, its usage, etc., please +refer to the high level documentation doc/documentation_HL.pdf +(esp. sections 4-6, for starters). + +IMPORTANT: +Take care to register scans first (bin/slam6D) before trying to +display them (bin/show), and think about using the point reduction +(see section 6) for a much faster scan matching result. Extremely +large scans might need to be reduced (using bin/scan_red) before +registration. This will write reduced scans in the uos format into a +directory "reduced" in the data directory. + +Three example scans are included in the dat directory, several +larger data sets can be downloaded from the data repository, +http://kos.informatik.uni-osnabrueck.de/3Dscans/ +(Alternatively, click on the "Data Repository" link on this project's +web site on Sourceforge, http://slam6d.sourceforge.net/) + +EXAMPLES: +(using the data set in the slam6d repository) +bin/slam6D -m 500 -R 5 -d 25.0 --metascan dat +bin/show dat + +(using the data set in the slam6d repository) +bin/slam6D --max=500 -r 10.2 -i 20 --metascan dat +bin/show dat + +(using hannover1.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 65 -r 10 -i 100 -d 75 -D 250 --epsICP=0.00001 + -I 50 --cldist=750 -L 0 -G 1 /home/nuechter/dat/dat_hannover1 +bin/show -s 1 -e 65 /home/nuechter/dat/dat_hannover1 + +(using hannover2.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -q -r 10 -f rts -s 23 -d 75 -L 4 --cldist=1500 -G 1 -D -1 + --DlastSLAM 250 --graphDist 200 -I 50 hannover2 +bin/show -f rts -s 23 hannover2 + +(using kvarntorp_mine.tgz (dat_mine1) form http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 76 -r 10 -m 3000 -d 50 -i 1000 --epsICP=0.000001 + -I 50 -D 75 --clpairs=5000 -f old /home/nuechter/dat/dat_mine1/ +bin/show -s 1 -e 76 -m 3000 -f old /home/nuechter/dat/dat_mine1/ + +(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/scan_red -s 0 -e 12 -r 10 /home/nuechter/dat/bremen_city +bin/slam6D -a 2 -q /home/nuechter/dat/bremen_city/reduced -f uos -d 150 + -s 0 -e 12 --anim=1 -n /home/nuechter/dat/bremen_city/bremen.net + -G 1 -D 100 -i 0 -I 50 -p --epsSLAM=0.0 +bin/show -s 0 -e 12 /home/nuechter/dat/bremen_city/reduced + +(using UniKoblenz_CampusTour3_OsnabrueckFormat.tar.gz from +http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 320 -r 20 -i 300 --epsICP=0.000001 -d 45 -D 45 + -f uos --algo=2 -l 10 -L 4 -I 100 -G 1 + /home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/ +bin/show -s 1 -e 320 -f uos /home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/ +------------------------------------------------------------------- + +For detecting planes compile with the WITH_PLANE option. +Adapt the settings in bin/hough.cfg for your data set. + +EXAMPLE: (using the data set in the slam6d repository, no modification +of bin/hough.cfg necessary) + +bin/planes -s 0 dat +bin/show -s 0 -e 0 dat -l dat/planes/planes.list + +(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +adapt these settings in bin/hough.cfg: +RhoNum 500 +RhoMax 5000 +MaxPointPlaneDist 50.0 +MinPlaneSize 50 +PointDist 100.0 +/bin/planes -f riegl_txt -s 0 /home/nuechter/dat/bremen_city/ -r 50 -O 1 -m 5000 +/bin/show -s 0 -e 0 /home/nuechter/dat/bremen_city/ -f riegl_txt -l dat/planes/planes.list -r 10 -O 1 -m 5000 + +------------------------------------------------------------------- +The IO relevant parameters -f(ormat), -s(tart), -e(nd) can be omitted +in slam6D and show if a 'format' file exists in the directory, which +contains key=value lines (spaces are trimmed automatically) for +format, start, end with the same values as in the commandline. These +format-file parameters will be overwritten by commandline parameters +so that the format-file will provide the right IO type and full index +range and the user can overwrite the index range as he sees fit. + +------------------------------------------------------------------- +A reference manual can be found in doc/refman.pdf resp. +doc/html/index.html (type in 'make docu' to compile the doxygen +documentation for the HTML files). diff --git a/.svn/pristine/62/62275c8f5e1a5a21dcde2af49b4afc850c268d5e.svn-base b/.svn/pristine/62/62275c8f5e1a5a21dcde2af49b4afc850c268d5e.svn-base new file mode 100644 index 0000000..fe32f42 --- /dev/null +++ b/.svn/pristine/62/62275c8f5e1a5a21dcde2af49b4afc850c268d5e.svn-base @@ -0,0 +1,84 @@ +/* + * temporaryHandler implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/temporaryHandler.h" + +#include +#include +using namespace std; + +#include "scanserver/cache/cacheManager.h" + + + +TemporaryHandler::TemporaryHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, bool static_data) : + CacheHandler(obj, cm), + m_scan(scan), + m_written(false), m_static_data(static_data) +{ + m_id = CacheIO::getId(); +} + +bool TemporaryHandler::load() +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::load"; + + // if the file was not written (equals invalidated) or file doesn't exist we can't load anything + unsigned int size = 0; + if(!m_written || (size = CacheIO::check(m_id)) == 0) { + // INFO + //cout << ", no file found" << endl; + + return false; + } + + // INFO + //cout << endl; + + // get space + unsigned char* data_ptr; + try { + data_ptr = m_manager->allocateCacheObject(m_object, size); + } catch(runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_id << "] CacheManager error: " << e.what() << endl; + // rethrow + throw e; + } + + // write data into the CO + CacheIO::read(m_id, reinterpret_cast(data_ptr)); + // TODO: check errors + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::load successful" << endl; + + return true; +} + +void TemporaryHandler::save(unsigned char* data, unsigned int size) +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::save"; + + // save if the cached file doesn't exist yet or data is dynamic and file content has to be updated + if(!m_written || !m_static_data) { + // write to file and flag for cached reads from here on + CacheIO::write(m_id, reinterpret_cast(data), size); + m_written = true; + } else { + // INFO + //cout << ", file already cached"; + } + + // INFO + //cout << endl; + return; +} diff --git a/.svn/pristine/63/6302e2d0682fc2478f43e582ffba067d55efb8af.svn-base b/.svn/pristine/63/6302e2d0682fc2478f43e582ffba067d55efb8af.svn-base new file mode 100644 index 0000000..34e996a --- /dev/null +++ b/.svn/pristine/63/6302e2d0682fc2478f43e582ffba067d55efb8af.svn-base @@ -0,0 +1,175 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_node.cpp - linked-list tree structure + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + + +#include "glui.h" +#include "stdinc.h" + +/********************************************* GLUI_Node::first() *******/ +/* Returns first sibling in 'this' node's sibling list */ + +GLUI_Node *GLUI_Node::first_sibling( void ) +{ + if ( parent_node == NULL ) + return this; /* root node has no siblings */ + else + return parent_node->child_head; +} + + +/******************************************** GLUI_Node::next() ********/ +/* Returns next sibling in 'this' node's sibling list */ + +GLUI_Node *GLUI_Node::next( void ) +{ + return next_sibling; +} + + +/******************************************** GLUI_Node::prev() ********/ +/* Returns prev sibling in 'this' node's sibling list */ + +GLUI_Node *GLUI_Node::prev( void ) +{ + return prev_sibling; +} + + +/********************************************* GLUI_Node::last() *******/ +/* Returns last sibling in 'this' node's sibling list */ + +GLUI_Node *GLUI_Node::last_sibling( void ) +{ + if ( parent_node == NULL ) + return this; /* root node has no siblings */ + else + return parent_node->child_tail; +} + + +/*************************** GLUI_Node::link_this_to_parent_last() *******/ +/* Links as last child of parent */ + +void GLUI_Node::link_this_to_parent_last( GLUI_Node *new_parent ) +{ + if ( new_parent->child_tail == NULL ) { /* parent has no children */ + new_parent->child_head = this; + new_parent->child_tail = this; + this->parent_node = new_parent; + this->parent_node = new_parent; + } + else { /* parent has children */ + new_parent->child_tail->next_sibling = this; + this->prev_sibling = new_parent->child_tail; + new_parent->child_tail = this; + this->parent_node = new_parent; + } +} + + +/*************************** GLUI_Node::link_this_to_parent_first() *******/ +/* Links as first child of parent */ + +void GLUI_Node::link_this_to_parent_first( GLUI_Node *new_parent ) +{ + if ( new_parent->child_head == NULL ) { /* parent has no children */ + new_parent->child_head = this; + new_parent->child_tail = this; + this->parent_node = new_parent; + } + else { /* parent has children */ + new_parent->child_head->prev_sibling = this; + this->next_sibling = new_parent->child_head; + new_parent->child_head = this; + this->parent_node = new_parent; + } +} + +/**************************** GLUI_Node::link_this_to_sibling_next() *****/ + +void GLUI_Node::link_this_to_sibling_next( GLUI_Node *sibling ) +{ + if ( sibling->next_sibling == NULL ) { /* node has no next sibling */ + sibling->next_sibling = this; + this->prev_sibling = sibling; + + /* This was the parent's last child, so update that as well */ + if ( sibling->parent_node != NULL ) { + sibling->parent_node->child_tail = this; + } + } + else { /* node already has a next sibling */ + sibling->next_sibling->prev_sibling = this; + this->next_sibling = sibling->next_sibling; + sibling->next_sibling = this; + this->prev_sibling = sibling; + } + + this->parent_node = sibling->parent_node; +} + + +/**************************** GLUI_Node::link_this_to_sibling_prev() *****/ + +void GLUI_Node::link_this_to_sibling_prev( GLUI_Node *sibling ) +{ + if ( sibling->prev_sibling == NULL ) { /* node has no prev sibling */ + sibling->prev_sibling = this; + this->next_sibling = sibling; + + /* This was the parent's first child, so update that as well */ + if ( sibling->parent_node != NULL ) { + sibling->parent_node->child_head = this; + } + } + else { /* node already has a prev sibling */ + sibling->prev_sibling->next_sibling = this; + this->prev_sibling = sibling->prev_sibling; + sibling->prev_sibling = this; + this->next_sibling = sibling; + } + + this->parent_node = sibling->parent_node; +} + +/**************************************** GLUI_Node::unlink() **************/ + +void GLUI_Node::unlink( void ) +{ + /* Unlink from prev sibling */ + if ( this->prev_sibling != NULL ) { + this->prev_sibling->next_sibling = this->next_sibling; + } + else { /* No prev sibling: this was parent's first child */ + this->parent_node->child_head = this->next_sibling; + } + + /* Unlink from next sibling */ + if ( this->next_sibling != NULL ) { + this->next_sibling->prev_sibling = this->prev_sibling; + } + else { /* No next sibling: this was parent's last child */ + this->parent_node->child_tail = this->prev_sibling; + } + + this->parent_node = NULL; + this->next_sibling = NULL; + this->prev_sibling = NULL; + this->child_head = NULL; + this->child_tail = NULL; +} diff --git a/.svn/pristine/63/63b16062b91251ae53ebfb2b561c38019f30c88d.svn-base b/.svn/pristine/63/63b16062b91251ae53ebfb2b561c38019f30c88d.svn-base new file mode 100644 index 0000000..9bf6204 --- /dev/null +++ b/.svn/pristine/63/63b16062b91251ae53ebfb2b561c38019f30c88d.svn-base @@ -0,0 +1,594 @@ +//---------------------------------------------------------------------- +// File: rand.cpp +// Programmer: Sunil Arya and David Mount +// Description: Routines for random point generation +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 0.2 03/26/98 +// Changed random/srandom declarations for SGI's. +// Revision 1.0 04/01/05 +// annClusGauss centers distributed over [-1,1] rather than [0,1] +// Added annClusOrthFlats distribution +// Changed procedure names to avoid namespace conflicts +// Added annClusFlats distribution +// Added rand/srand option and fixed annRan0() initialization. +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#include "rand.h" // random generator declarations + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Globals +//---------------------------------------------------------------------- +int annIdum = 0; // used for random number generation + +//------------------------------------------------------------------------ +// annRan0 - (safer) uniform random number generator +// +// The code given here is taken from "Numerical Recipes in C" by +// William Press, Brian Flannery, Saul Teukolsky, and William +// Vetterling. The task of the code is to do an additional randomizing +// shuffle on the system-supplied random number generator to make it +// safer to use. +// +// Returns a uniform deviate between 0.0 and 1.0 using the +// system-supplied routine random() or rand(). Set the global +// annIdum to any negative value to initialise or reinitialise +// the sequence. +//------------------------------------------------------------------------ + +double annRan0() +{ + const int TAB_SIZE = 97; // table size: any large number + int j; + + static double y, v[TAB_SIZE]; + static int iff = 0; + const double RAN_DIVISOR = double(ANN_RAND_MAX + 1UL); + if (RAN_DIVISOR < 0) { + cout << "RAN_DIVISOR " << RAN_DIVISOR << endl; + exit(0); + } + + //-------------------------------------------------------------------- + // As a precaution against misuse, we will always initialize on the + // first call, even if "annIdum" is not set negative. Determine + // "maxran", the next integer after the largest representable value + // of type int. We assume this is a factor of 2 smaller than the + // corresponding value of type unsigned int. + //-------------------------------------------------------------------- + + if (annIdum < 0 || iff == 0) { // initialize + iff = 1; + ANN_SRAND(annIdum); // (re)seed the generator + annIdum = 1; + + for (j = 0; j < TAB_SIZE; j++) // exercise the system routine + ANN_RAND(); // (values intentionally ignored) + + for (j = 0; j < TAB_SIZE; j++) // then save TAB_SIZE-1 values + v[j] = ANN_RAND(); + y = ANN_RAND(); // generate starting value + } + + //-------------------------------------------------------------------- + // This is where we start if not initializing. Use the previously + // saved random number y to get an index j between 1 and TAB_SIZE-1. + // Then use the corresponding v[j] for both the next j and as the + // output number. + //-------------------------------------------------------------------- + + j = int(TAB_SIZE * (y / RAN_DIVISOR)); + y = v[j]; + v[j] = ANN_RAND(); // refill the table entry + return y / RAN_DIVISOR; +} + +//------------------------------------------------------------------------ +// annRanInt - generate a random integer from {0,1,...,n-1} +// +// If n == 0, then -1 is returned. +//------------------------------------------------------------------------ + +static int annRanInt( + int n) +{ + int r = (int) (annRan0()*n); + if (r == n) r--; // (in case annRan0() == 1 or n == 0) + return r; +} + +//------------------------------------------------------------------------ +// annRanUnif - generate a random uniform in [lo,hi] +//------------------------------------------------------------------------ + +static double annRanUnif( + double lo, + double hi) +{ + return annRan0()*(hi-lo) + lo; +} + +//------------------------------------------------------------------------ +// annRanGauss - Gaussian random number generator +// Returns a normally distributed deviate with zero mean and unit +// variance, using annRan0() as the source of uniform deviates. +//------------------------------------------------------------------------ + +static double annRanGauss() +{ + static int iset=0; + static double gset; + + if (iset == 0) { // we don't have a deviate handy + double v1, v2; + double r = 2.0; + while (r >= 1.0) { + //------------------------------------------------------------ + // Pick two uniform numbers in the square extending from -1 to + // +1 in each direction, see if they are in the circle of radius + // 1. If not, try again + //------------------------------------------------------------ + v1 = annRanUnif(-1, 1); + v2 = annRanUnif(-1, 1); + r = v1 * v1 + v2 * v2; + } + double fac = sqrt(-2.0 * log(r) / r); + //----------------------------------------------------------------- + // Now make the Box-Muller transformation to get two normal + // deviates. Return one and save the other for next time. + //----------------------------------------------------------------- + gset = v1 * fac; + iset = 1; // set flag + return v2 * fac; + } + else { // we have an extra deviate handy + iset = 0; // so unset the flag + return gset; // and return it + } +} + +//------------------------------------------------------------------------ +// annRanLaplace - Laplacian random number generator +// Returns a Laplacian distributed deviate with zero mean and +// unit variance, using annRan0() as the source of uniform deviates. +// +// prob(x) = b/2 * exp(-b * |x|). +// +// b is chosen to be sqrt(2.0) so that the variance of the Laplacian +// distribution [2/(b^2)] becomes 1. +//------------------------------------------------------------------------ + +static double annRanLaplace() +{ + const double b = 1.4142136; + + double laprand = -log(annRan0()) / b; + double sign = annRan0(); + if (sign < 0.5) laprand = -laprand; + return(laprand); +} + +//---------------------------------------------------------------------- +// annUniformPts - Generate uniformly distributed points +// A uniform distribution over [-1,1]. +//---------------------------------------------------------------------- + +void annUniformPts( // uniform distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim) // dimension +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (annRanUnif(-1,1)); + } + } +} + +//---------------------------------------------------------------------- +// annGaussPts - Generate Gaussian distributed points +// A Gaussian distribution with zero mean and the given standard +// deviation. +//---------------------------------------------------------------------- + +void annGaussPts( // Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double std_dev) // standard deviation +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (annRanGauss() * std_dev); + } + } +} + +//---------------------------------------------------------------------- +// annLaplacePts - Generate Laplacian distributed points +// Generates a Laplacian distribution (zero mean and unit variance). +//---------------------------------------------------------------------- + +void annLaplacePts( // Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim) // dimension +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) annRanLaplace(); + } + } +} + +//---------------------------------------------------------------------- +// annCoGaussPts - Generate correlated Gaussian distributed points +// Generates a Gauss-Markov distribution of zero mean and unit +// variance. +//---------------------------------------------------------------------- + +void annCoGaussPts( // correlated-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation) // correlation +{ + double std_dev_w = sqrt(1.0 - correlation * correlation); + for (int i = 0; i < n; i++) { + double previous = annRanGauss(); + pa[i][0] = (ANNcoord) previous; + for (int d = 1; d < dim; d++) { + previous = correlation*previous + std_dev_w*annRanGauss(); + pa[i][d] = (ANNcoord) previous; + } + } +} + +//---------------------------------------------------------------------- +// annCoLaplacePts - Generate correlated Laplacian distributed points +// Generates a Laplacian-Markov distribution of zero mean and unit +// variance. +//---------------------------------------------------------------------- + +void annCoLaplacePts( // correlated-Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation) // correlation +{ + double wn; + double corr_sq = correlation * correlation; + + for (int i = 0; i < n; i++) { + double previous = annRanLaplace(); + pa[i][0] = (ANNcoord) previous; + for (int d = 1; d < dim; d++) { + double temp = annRan0(); + if (temp < corr_sq) + wn = 0.0; + else + wn = annRanLaplace(); + previous = correlation * previous + wn; + pa[i][d] = (ANNcoord) previous; + } + } +} + +//---------------------------------------------------------------------- +// annClusGaussPts - Generate clusters of Gaussian distributed points +// Cluster centers are uniformly distributed over [-1,1], and the +// standard deviation within each cluster is fixed. +// +// Note: Once cluster centers have been set, they are not changed, +// unless new_clust = true. This is so that subsequent calls generate +// points from the same distribution. It follows, of course, that any +// attempt to change the dimension or number of clusters without +// generating new clusters is asking for trouble. +// +// Note: Cluster centers are not generated by a call to uniformPts(). +// Although this could be done, it has been omitted for +// compatibility with annClusGaussPts() in the colored version, +// rand_c.cc. +//---------------------------------------------------------------------- + +void annClusGaussPts( // clustered-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev) // standard deviation within clusters +{ + static ANNpointArray clusters = NULL;// cluster storage + + if (clusters == NULL || new_clust) {// need new cluster centers + if (clusters != NULL) // clusters already exist + annDeallocPts(clusters); // get rid of them + clusters = annAllocPts(n_clus, dim); + // generate cluster center coords + for (int i = 0; i < n_clus; i++) { + for (int d = 0; d < dim; d++) { + clusters[i][d] = (ANNcoord) annRanUnif(-1,1); + } + } + } + + for (int i = 0; i < n; i++) { + int c = annRanInt(n_clus); // generate cluster index + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + clusters[c][d]); + } + } +} + +//---------------------------------------------------------------------- +// annClusOrthFlats - points clustered along orthogonal flats +// +// This distribution consists of a collection points clustered +// among a collection of axis-aligned low dimensional flats in +// the hypercube [-1,1]^d. A set of n_clus orthogonal flats are +// generated, each whose dimension is a random number between 1 +// and max_dim. The points are evenly distributed among the clusters. +// For each cluster, we generate points uniformly distributed along +// the flat within the hypercube. +// +// This is done as follows. Each cluster is defined by a d-element +// control vector whose components are either: +// +// CO_FLAG indicating that this component is to be generated +// uniformly in [-1,1], +// x a value other than CO_FLAG in the range [-1,1], +// which indicates that this coordinate is to be +// generated as x plus a Gaussian random deviation +// with the given standard deviation. +// +// The number of zero components is the dimension of the flat, which +// is a random integer in the range from 1 to max_dim. The points +// are disributed between clusters in nearly equal sized groups. +// +// Note: Once cluster centers have been set, they are not changed, +// unless new_clust = true. This is so that subsequent calls generate +// points from the same distribution. It follows, of course, that any +// attempt to change the dimension or number of clusters without +// generating new clusters is asking for trouble. +// +// To make this a bad scenario at query time, query points should be +// selected from a different distribution, e.g. uniform or Gaussian. +// +// We use a little programming trick to generate groups of roughly +// equal size. If n is the total number of points, and n_clus is +// the number of clusters, then the c-th cluster (0 <= c < n_clus) +// is given floor((n+c)/n_clus) points. It can be shown that this +// will exactly consume all n points. +// +// This procedure makes use of the utility procedure, genOrthFlat +// which generates points in one orthogonal flat, according to +// the given control vector. +// +//---------------------------------------------------------------------- +const double CO_FLAG = 999; // special flag value + +static void genOrthFlat( // generate points on an orthog flat + ANNpointArray pa, // point array + int n, // number of points + int dim, // dimension + double *control, // control vector + double std_dev) // standard deviation +{ + for (int i = 0; i < n; i++) { // generate each point + for (int d = 0; d < dim; d++) { // generate each coord + if (control[d] == CO_FLAG) // dimension on flat + pa[i][d] = (ANNcoord) annRanUnif(-1,1); + else // dimension off flat + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + control[d]); + } + } +} + +void annClusOrthFlats( // clustered along orthogonal flats + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev, // standard deviation within clusters + int max_dim) // maximum dimension of the flats +{ + static ANNpointArray control = NULL; // control vectors + + if (control == NULL || new_clust) { // need new cluster centers + if (control != NULL) { // clusters already exist + annDeallocPts(control); // get rid of them + } + control = annAllocPts(n_clus, dim); + + for (int c = 0; c < n_clus; c++) { // generate clusters + int n_dim = 1 + annRanInt(max_dim); // number of dimensions in flat + for (int d = 0; d < dim; d++) { // generate side locations + // prob. of picking next dim + double Prob = ((double) n_dim)/((double) (dim-d)); + if (annRan0() < Prob) { // add this one to flat + control[c][d] = CO_FLAG; // flag this entry + n_dim--; // one fewer dim to fill + } + else { // don't take this one + control[c][d] = annRanUnif(-1,1);// random value in [-1,1] + } + } + } + } + int offset = 0; // offset in pa array + for (int c = 0; c < n_clus; c++) { // generate clusters + int pick = (n+c)/n_clus; // number of points to pick + // generate the points + genOrthFlat(pa+offset, pick, dim, control[c], std_dev); + offset += pick; // increment offset + } +} + +//---------------------------------------------------------------------- +// annClusEllipsoids - points clustered around axis-aligned ellipsoids +// +// This distribution consists of a collection points clustered +// among a collection of low dimensional ellipsoids whose axes +// are alligned with the coordinate axes in the hypercube [-1,1]^d. +// The objective is to model distributions in which the points are +// distributed in lower dimensional subspaces, and within this +// lower dimensional space the points are distributed with a +// Gaussian distribution (with no correlation between the +// dimensions). +// +// The distribution is given the number of clusters or "colors" +// (n_clus), maximum number of dimensions (max_dim) of the lower +// dimensional subspace, a "small" standard deviation +// (std_dev_small), and a "large" standard deviation range +// (std_dev_lo, std_dev_hi). +// +// The algorithm generates n_clus cluster centers uniformly from +// the hypercube [-1,1]^d. For each cluster, it selects the +// dimension of the subspace as a random number r between 1 and +// max_dim. These are the dimensions of the ellipsoid. Then it +// generates a d-element std dev vector whose entries are the +// standard deviation for the coordinates of each cluster in the +// distribution. Among the d-element control vector, r randomly +// chosen values are chosen uniformly from the range [std_dev_lo, +// std_dev_hi]. The remaining values are set to std_dev_small. +// +// Note that annClusGaussPts is a special case of this in which +// max_dim = 0, and std_dev = std_dev_small. +// +// If the flag new_clust is set, then new cluster centers are +// generated. +// +// This procedure makes use of the utility procedure genGauss +// which generates points distributed according to a Gaussian +// distribution. +// +//---------------------------------------------------------------------- + +static void genGauss( // generate points on a general Gaussian + ANNpointArray pa, // point array + int n, // number of points + int dim, // dimension + double *center, // center vector + double *std_dev) // standard deviation vector +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev[d]*annRanGauss() + center[d]); + } + } +} + +void annClusEllipsoids( // clustered around ellipsoids + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev_small, // small standard deviation + double std_dev_lo, // low standard deviation for ellipses + double std_dev_hi, // high standard deviation for ellipses + int max_dim) // maximum dimension of the flats +{ + static ANNpointArray centers = NULL; // cluster centers + static ANNpointArray std_dev = NULL; // standard deviations + + if (centers == NULL || new_clust) { // need new cluster centers + if (centers != NULL) // clusters already exist + annDeallocPts(centers); // get rid of them + if (std_dev != NULL) // std deviations already exist + annDeallocPts(std_dev); // get rid of them + + centers = annAllocPts(n_clus, dim); // alloc new clusters and devs + std_dev = annAllocPts(n_clus, dim); + + for (int i = 0; i < n_clus; i++) { // gen cluster center coords + for (int d = 0; d < dim; d++) { + centers[i][d] = (ANNcoord) annRanUnif(-1,1); + } + } + for (int c = 0; c < n_clus; c++) { // generate cluster std dev + int n_dim = 1 + annRanInt(max_dim); // number of dimensions in flat + for (int d = 0; d < dim; d++) { // generate std dev's + // prob. of picking next dim + double Prob = ((double) n_dim)/((double) (dim-d)); + if (annRan0() < Prob) { // add this one to ellipse + // generate random std dev + std_dev[c][d] = annRanUnif(std_dev_lo, std_dev_hi); + n_dim--; // one fewer dim to fill + } + else { // don't take this one + std_dev[c][d] = std_dev_small;// use small std dev + } + } + } + } + + int offset = 0; // next slot to fill + for (int c = 0; c < n_clus; c++) { // generate clusters + int pick = (n+c)/n_clus; // number of points to pick + // generate the points + genGauss(pa+offset, pick, dim, centers[c], std_dev[c]); + offset += pick; // increment offset in array + } +} + +//---------------------------------------------------------------------- +// annPlanted - Generates points from a "planted" distribution +// In high dimensional spaces, interpoint distances tend to be +// highly clustered around the mean value. Approximate nearest +// neighbor searching makes little sense in this context, unless it +// is the case that each query point is significantly closer to its +// nearest neighbor than to other points. Thus, the query points +// should be planted close to the data points. Given a source data +// set, this procedure generates a set of query points having this +// property. +// +// We are given a source data array and a standard deviation. We +// generate points as follows. We select a random point from the +// source data set, and we generate a Gaussian point centered about +// this random point and perturbed by a normal distributed random +// variable with mean zero and the given standard deviation along +// each coordinate. +// +// Note that this essentially the same a clustered Gaussian +// distribution, but where the cluster centers are given by the +// source data set. +//---------------------------------------------------------------------- + +void annPlanted( // planted nearest neighbors + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + ANNpointArray src, // source point array + int n_src, // source size + double std_dev) // standard deviation about source +{ + for (int i = 0; i < n; i++) { + int c = annRanInt(n_src); // generate source index + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + src[c][d]); + } + } +} diff --git a/.svn/pristine/64/6414bf615735d61af92e56661d9010afcd65faec.svn-base b/.svn/pristine/64/6414bf615735d61af92e56661d9010afcd65faec.svn-base new file mode 100644 index 0000000..ce61238 --- /dev/null +++ b/.svn/pristine/64/6414bf615735d61af92e56661d9010afcd65faec.svn-base @@ -0,0 +1,21 @@ +#ifndef __GLUT_H__ +#define __GLUT_H__ + +/* + * glut.h + * + * The freeglut library include file + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "freeglut_std.h" + +/*** END OF FILE ***/ + +#endif /* __GLUT_H__ */ diff --git a/.svn/pristine/64/649752ac5eca5dd2f407b7d130de6fee6d5eeda3.svn-base b/.svn/pristine/64/649752ac5eca5dd2f407b7d130de6fee6d5eeda3.svn-base new file mode 100644 index 0000000..34bb3ad --- /dev/null +++ b/.svn/pristine/64/649752ac5eca5dd2f407b7d130de6fee6d5eeda3.svn-base @@ -0,0 +1,18 @@ + +testfile size num_c quality time num_errors +-------- x y ------- p1 p1 p2 p3 +g300a1.pbm 703 580 469 + 2s 4 - 0 +g300a2.pbm 724 1252 1021 + 5s 2 0 0 +g300b1.pbm 1564 277 55 + 4s 0 1 1 +g300b2.pbm 599 1319 860 snowy 9s 76 - 40 +g300b3.pbm 592 1324 934 snowy 7s 36 2 15 +g300c1.pbm 750 2771 2182 + 15s 35 1 14 +liebfrau1 2289 3200 1927 + 19s 13 0 8 +meraji1 1912 1355 1246 thinn 15s 65 4 40 +paraguay1 2617 1375 3280 frame 78s 1000 1 55 + +p1=gocr0.2.4a3 on P400 +p2=recognita+4.0 +p3=gocr0.2.5 + +most errors: connected chars, like fi,ff, italic font diff --git a/.svn/pristine/65/650cd930b75f57aa7e5aea9106a21209b293ff78.svn-base b/.svn/pristine/65/650cd930b75f57aa7e5aea9106a21209b293ff78.svn-base new file mode 100644 index 0000000..83614d9 --- /dev/null +++ b/.svn/pristine/65/650cd930b75f57aa7e5aea9106a21209b293ff78.svn-base @@ -0,0 +1,15 @@ +FILE(REMOVE_RECURSE + "CMakeFiles/cvblob.dir/cvblob.cpp.o" + "CMakeFiles/cvblob.dir/cvlabel.cpp.o" + "CMakeFiles/cvblob.dir/cvaux.cpp.o" + "CMakeFiles/cvblob.dir/cvcontour.cpp.o" + "CMakeFiles/cvblob.dir/cvtrack.cpp.o" + "CMakeFiles/cvblob.dir/cvcolor.cpp.o" + "libcvblob.pdb" + "libcvblob.a" +) + +# Per-language clean rules from dependency scanning. +FOREACH(lang CXX) + INCLUDE(CMakeFiles/cvblob.dir/cmake_clean_${lang}.cmake OPTIONAL) +ENDFOREACH(lang) diff --git a/.svn/pristine/65/65919e6cb16b14a766728dafc454ac1b3f9ed128.svn-base b/.svn/pristine/65/65919e6cb16b14a766728dafc454ac1b3f9ed128.svn-base new file mode 100644 index 0000000..5004ef7 --- /dev/null +++ b/.svn/pristine/65/65919e6cb16b14a766728dafc454ac1b3f9ed128.svn-base @@ -0,0 +1,210 @@ +//---------------------------------------------------------------------- +// File: kd_search.cpp +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed names LO, HI to ANN_LO, ANN_HI +//---------------------------------------------------------------------- + +#include "kd_search.h" // kd-search declarations + +//---------------------------------------------------------------------- +// Approximate nearest neighbor searching by kd-tree search +// The kd-tree is searched for an approximate nearest neighbor. +// The point is returned through one of the arguments, and the +// distance returned is the squared distance to this point. +// +// The method used for searching the kd-tree is an approximate +// adaptation of the search algorithm described by Friedman, +// Bentley, and Finkel, ``An algorithm for finding best matches +// in logarithmic expected time,'' ACM Transactions on Mathematical +// Software, 3(3):209-226, 1977). +// +// The algorithm operates recursively. When first encountering a +// node of the kd-tree we first visit the child which is closest to +// the query point. On return, we decide whether we want to visit +// the other child. If the box containing the other child exceeds +// 1/(1+eps) times the current best distance, then we skip it (since +// any point found in this child cannot be closer to the query point +// by more than this factor.) Otherwise, we visit it recursively. +// The distance between a box and the query point is computed exactly +// (not approximated as is often done in kd-tree), using incremental +// distance updates, as described by Arya and Mount in ``Algorithms +// for fast vector quantization,'' Proc. of DCC '93: Data Compression +// Conference, eds. J. A. Storer and M. Cohn, IEEE Press, 1993, +// 381-390. +// +// The main entry points is annkSearch() which sets things up and +// then call the recursive routine ann_search(). This is a recursive +// routine which performs the processing for one node in the kd-tree. +// There are two versions of this virtual procedure, one for splitting +// nodes and one for leaves. When a splitting node is visited, we +// determine which child to visit first (the closer one), and visit +// the other child on return. When a leaf is visited, we compute +// the distances to the points in the buckets, and update information +// on the closest points. +// +// Some trickery is used to incrementally update the distance from +// a kd-tree rectangle to the query point. This comes about from +// the fact that which each successive split, only one component +// (along the dimension that is split) of the squared distance to +// the child rectangle is different from the squared distance to +// the parent rectangle. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// To keep argument lists short, a number of global variables +// are maintained which are common to all the recursive calls. +// These are given below. +//---------------------------------------------------------------------- + +int ANNkdDim; // dimension of space +ANNpoint ANNkdQ; // query point +double ANNkdMaxErr; // max tolerable squared error +ANNpointArray ANNkdPts; // the points +ANNmin_k *ANNkdPointMK; // set of k closest points + +//---------------------------------------------------------------------- +// annkSearch - search for the k nearest neighbors +//---------------------------------------------------------------------- + +void ANNkd_tree::annkSearch( + ANNpoint q, // the query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // the approximate nearest neighbor + double eps) // the error bound +{ + + ANNkdDim = dim; // copy arguments to static equivs + ANNkdQ = q; + ANNkdPts = pts; + ANNptsVisited = 0; // initialize count of points visited + + if (k > n_pts) { // too many near neighbors? + annError("Requesting more near neighbors than data points", ANNabort); + } + + ANNkdMaxErr = ANN_POW(1.0 + eps); + ANN_FLOP(2) // increment floating op count + + ANNkdPointMK = new ANNmin_k(k); // create set for closest k points + // search starting at the root + root->ann_search(annBoxDistance(q, bnd_box_lo, bnd_box_hi, dim)); + + for (int i = 0; i < k; i++) { // extract the k-th closest points + dd[i] = ANNkdPointMK->ith_smallest_key(i); + nn_idx[i] = ANNkdPointMK->ith_smallest_info(i); + } + delete ANNkdPointMK; // deallocate closest point set +} + +//---------------------------------------------------------------------- +// kd_split::ann_search - search a splitting node +//---------------------------------------------------------------------- + +void ANNkd_split::ann_search(ANNdist box_dist) +{ + // check dist calc term condition + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + // distance to cutting plane + ANNcoord cut_diff = ANNkdQ[cut_dim] - cut_val; + + if (cut_diff < 0) { // left of cutting plane + child[ANN_LO]->ann_search(box_dist);// visit closer child first + + ANNcoord box_diff = cd_bnds[ANN_LO] - ANNkdQ[cut_dim]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdMaxErr < ANNkdPointMK->max_key()) + child[ANN_HI]->ann_search(box_dist); + + } + else { // right of cutting plane + child[ANN_HI]->ann_search(box_dist);// visit closer child first + + ANNcoord box_diff = ANNkdQ[cut_dim] - cd_bnds[ANN_HI]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdMaxErr < ANNkdPointMK->max_key()) + child[ANN_LO]->ann_search(box_dist); + + } + ANN_FLOP(10) // increment floating ops + ANN_SPL(1) // one more splitting node visited +} + +//---------------------------------------------------------------------- +// kd_leaf::ann_search - search points in a leaf node +// Note: The unreadability of this code is the result of +// some fine tuning to replace indexing by pointer operations. +//---------------------------------------------------------------------- + +void ANNkd_leaf::ann_search(ANNdist box_dist) +{ + register ANNdist dist; // distance to data point + register ANNcoord* pp; // data coordinate pointer + register ANNcoord* qq; // query coordinate pointer + register ANNdist min_dist; // distance to k-th closest point + register ANNcoord t; + register int d; + + min_dist = ANNkdPointMK->max_key(); // k-th smallest distance so far + + for (int i = 0; i < n_pts; i++) { // check points in bucket + + pp = ANNkdPts[bkt[i]]; // first coord of next data point + qq = ANNkdQ; // first coord of query point + dist = 0; + + for(d = 0; d < ANNkdDim; d++) { + ANN_COORD(1) // one more coordinate hit + ANN_FLOP(4) // increment floating ops + + t = *(qq++) - *(pp++); // compute length and adv coordinate + // exceeds dist to k-th smallest? + if( (dist = ANN_SUM(dist, ANN_POW(t))) > min_dist) { + break; + } + } + + if (d >= ANNkdDim && // among the k best? + (ANN_ALLOW_SELF_MATCH || dist!=0)) { // and no self-match problem + // add it to the list + ANNkdPointMK->insert(dist, bkt[i]); + min_dist = ANNkdPointMK->max_key(); + } + } + ANN_LEAF(1) // one more leaf node visited + ANN_PTS(n_pts) // increment points visited + ANNptsVisited += n_pts; // increment number of points visited +} diff --git a/.svn/pristine/65/659ab1f367762ef26220738c7bdee95d3e31096e.svn-base b/.svn/pristine/65/659ab1f367762ef26220738c7bdee95d3e31096e.svn-base new file mode 100644 index 0000000..5d7dd30 --- /dev/null +++ b/.svn/pristine/65/659ab1f367762ef26220738c7bdee95d3e31096e.svn-base @@ -0,0 +1,53 @@ +# CLIENT LIBRARY + +# build by source +set(CLIENT_SRCS + clientInterface.cc sharedScan.cc cache/cacheObject.cc + cache/cacheDataAccess.cc +) + +if(WITH_METRICS) + set(CLIENT_SRCS ${CLIENT_SRCS} ../slam6d/metrics.cc) +endif(WITH_METRICS) + +add_library(scanclient STATIC ${CLIENT_SRCS}) + +# add libraries +# boost::interprocess +set(CLIENT_LIBS ${Boost_LIBRARIES} pointfilter) + +if(UNIX) + # boost::interprocess uses pthread, requiring librt + set(CLIENT_LIBS ${CLIENT_LIBS} rt) +endif(UNIX) + +target_link_libraries(scanclient ${CLIENT_LIBS}) + +# SERVER EXECUTABLE + +# build by source +set(SERVER_SRCS + scanserver.cc serverInterface.cc frame_io.cc serverScan.cc + cache/cacheManager.cc cache/cacheHandler.cc scanHandler.cc + temporaryHandler.cc cacheIO.cc +) + +add_executable(scanserver ${SERVER_SRCS}) + +# add libraries +# boost::interprocess/filesystem +# scanclient basic functionality +# scanio for ScanHandler input +set(SERVER_LIBS ${Boost_LIBRARIES} scanclient scanio) + +if(UNIX) + # boost::interprocess uses pthread, requiring librt + set(SERVER_LIBS ${SERVER_LIBS} rt) +endif(UNIX) + +if(WIN32) + # 3rd party getopt library + set(SERVER_LIBS ${SERVER_LIBS} XGetopt) +endif(WIN32) + +target_link_libraries(scanserver ${SERVER_LIBS}) diff --git a/.svn/pristine/65/65c797104b91af81ebca53301ab8e825def31f83.svn-base b/.svn/pristine/65/65c797104b91af81ebca53301ab8e825def31f83.svn-base new file mode 100644 index 0000000..84559c1 --- /dev/null +++ b/.svn/pristine/65/65c797104b91af81ebca53301ab8e825def31f83.svn-base @@ -0,0 +1,102 @@ +/** + * @file graphicsAlg.h + * + * @auhtor Remus Claudiu Dumitru + * @date 18 Feb 2012 + * + */ + +#ifndef GRAPHICSALG_H_ +#define GRAPHICSALG_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace model { + +class GraphicsAlg { +private: + typedef double Type; + typedef CGAL::Simple_cartesian SC; + typedef CGAL::Filtered_kernel K; + + typedef CGAL::Alpha_shape_euclidean_traits_2 Gt; + typedef CGAL::Alpha_shape_vertex_base_2 Avb; + + typedef CGAL::Triangulation_hierarchy_vertex_base_2 Av; + typedef CGAL::Triangulation_face_base_2 Tf; + typedef CGAL::Alpha_shape_face_base_2 Af; + + typedef CGAL::Triangulation_default_data_structure_2 Tds; + typedef CGAL::Delaunay_triangulation_2 Dt; + typedef CGAL::Triangulation_hierarchy_2
Ht; + + /** + * Computes the alpha edges. + */ + template + static void alpha_edges(InputIterator begin, InputIterator end, + const Type& Alpha, + bool mode, + OutputIterator out); + +public: + typedef CGAL::Alpha_shape_2 Alpha_shape_2; + + typedef K::Point_2 Point; + typedef K::Segment_2 Segment; + typedef Alpha_shape_2::Face Face; + typedef Alpha_shape_2::Vertex Vertex; + typedef Alpha_shape_2::Edge Edge; + typedef Alpha_shape_2::Face_handle Face_handle; + typedef Alpha_shape_2::Vertex_handle Vertex_handle; + + typedef Alpha_shape_2::Face_circulator Face_circulator; + typedef Alpha_shape_2::Vertex_circulator Vertex_circulator; + typedef Alpha_shape_2::Locate_type Locate_type; + + typedef Alpha_shape_2::Face_iterator Face_iterator; + typedef Alpha_shape_2::Vertex_iterator Vertex_iterator; + typedef Alpha_shape_2::Edge_iterator Edge_iterator; + typedef Alpha_shape_2::Edge_circulator Edge_circulator; + + typedef Alpha_shape_2::Alpha_iterator Alpha_iterator; + typedef Alpha_shape_2::Alpha_shape_edges_iterator Alpha_shape_edges_iterator; + + /** + * Sort planes HORIZONTALLY in a clockwise order, around the center of mass. + * @warning in place sort + */ + static void clockwiseSort(std::vector& planes); + + /** + * Computes the HORIZONTAL convex hull of the given planes. + */ + static std::vector getConcaveHull(std::vector planes); + + /** + * Computes the discrete line between two points using Bresenham's algorithm. + * @param src the source point + * @param dest the destination point + * @param precision the precision at which the discrete line shall be drawn + */ + static void getDiscreteLine(model::Point3d src, model::Point3d dest, double precision, const double& extraDist, + std::vector& line); +}; + +} /* namespace model */ + +#endif /* GRAPHICSALG_H_ */ diff --git a/.svn/pristine/65/65edc04f099a0758effe0b2b539f4a9fa825dfa6.svn-base b/.svn/pristine/65/65edc04f099a0758effe0b2b539f4a9fa825dfa6.svn-base new file mode 100644 index 0000000..efa2997 --- /dev/null +++ b/.svn/pristine/65/65edc04f099a0758effe0b2b539f4a9fa825dfa6.svn-base @@ -0,0 +1,1475 @@ +/* ocr-engine numbers only */ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + OCR engine (c) Joerg Schulenburg + first engine: rule based --- numbers 0..9 + +*/ + +#include +#include +/* #include "pgm2asc.h" */ +#include "ocr0.h" +#include "ocr1.h" +#include "amiga.h" +#include "pnm.h" +#include "gocr.h" + +/* only for debugging and development */ +#define IFV if(JOB->cfg.verbose&4) +#define MM {IFV fprintf(stderr,"\nDBG %c L%04d (%d,%d): ",(char)c_ask,__LINE__,box1->x0,box1->y0);} + +/* the old debug mode (0.40) was only for a special char, for another char + * code must be recompiled with C_ASK='char' + * new debug mode (0.41) explains why char is declined or accepted as ABC... + * the output can be filtered by external scripts + * ToDo: we could reduce output to filter string + */ +#ifndef DO_DEBUG /* can be defined outside */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +/* this macro is for debugging output: "if char is declined, why?" */ +#if DO_DEBUG /* 0=Work mode, 1=debugging mode */ +// Setac: output, that char is choosen with a probability +// Break: output, why the char is not choosen +// MSG: debugging functions for char C_ASK, mostly messages +// DBG: definitions usefull only for debugging +#define Setac(box1,ac,ad) { MM;IFV fprintf(stderr,"setac %d",ad);setac(box1,ac,ad); } +#define Break { MM;IFV fprintf(stderr,"break"); break; } +#define MSG(x) { MM;IFV x } +#define DBG(x) x +#else +#define Setac(box1,ac,ad) setac(box1,ac,ad) +#define Break break +#define MSG(x) +#define DBG(x) +#endif + +/* extern "C"{ */ + +// OCR engine ;) +wchar_t ocr0n(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1,cs=sdata->cs; // size + int xa,xb,ya,yb, /* tmp-vars */ + i1,i2,i3,i4,i,j; + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + wchar_t bc=UNKNOWN; // best char + int ad=0; // propability 0..100 + int hchar=sdata->hchar; // char is higher than 'e' + int gchar=sdata->gchar; // char has ink lower than m3 + int dots=box1->dots; + // --- test 5 near S --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( char c_ask='5'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( num_cross( dx/2, dx/2,0,dy-1,bp,cs)!=3 + && num_cross(5*dx/8,3*dx/8,0,dy-1,bp,cs)!=3 ) Break; + + i1=loop(bp,dx-1,dy-1,dx,cs,0,LE); + i2=loop(bp,dx-1,dy-2,dx,cs,0,LE); + if (i2-i1 >= dx/4) Break; // ~{ 5x7font + + // get the upper and lower hole koords, y around dy/4 ??? + x=5*dx/8; + y =loop(bp,x,0,dy,cs,0,DO); if(y>dy/8) Break; + y +=loop(bp,x,y,dy,cs,1,DO); if(y>dy/4) Break; + i1 =loop(bp,x,y,dy,cs,0,DO)+y; if(i1>5*dy/8) Break; + i3=y=(y+i1)/2; // upper end can be shifted to the right for italic + x =loop(bp,0,y,dx,cs,0,RI); if(x>4*dx/8) Break; + x +=loop(bp,x,y,dx,cs,1,RI); if(x>5*dx/8) Break; + i1 =loop(bp,x,y,dx,cs,0,RI); i1=(i1+2*x)/2; // upper center (i1,i3) + y=11*dy/16; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); if(x>dx/4) Break; + x +=loop(bp,dx-1-x,y,dx,cs,1,LE); if(x>dx/2) Break; + i2 =loop(bp,dx-1-x,y,dx,cs,0,LE); i2=dx-1-(i2+2*x)/2; // lower center x + + MSG( fprintf(stderr,"i1,i3=%d,%d i2=%d (upper+lower center)",i1,i3,i2);) + + y =loop(bp,i1,0,dy,cs,0,DO); + y +=loop(bp,i1,y,dy,cs,1,DO); + y =(3*y+i3)/4; + if( num_cross( i1, dx-1, y, y,bp,cs)>0 ){ /* S or serif5 ? */ + y =loop(bp,i1 ,i3,dy,cs,0,DO); + i =loop(bp,i1-1,i3,dy,cs,0,DO); + if (y>i ) ad=99*ad/100; /* looks like S */ + y =loop(bp,i1 ,i3,dy,cs,0,UP); + i =loop(bp,i1+1,i3,dy,cs,0,UP); + if (ii ) ad=99*ad/100; /* looks like S */ + if( num_cross( 0, dx/2, dy-1, dy-1,bp,cs)>1 + && num_cross( dx/2,dx-1, 0, 0,bp,cs)>1 ) ad=98*ad/100; /* serifs */ + if (loop(bp,0,dy-1,dx,cs,0,RI)==0) ad=98*ad/100; /* S or 7segment */ + ad=99*ad/100; + } + + for(y=dy/5;y<3*dy/4;y++) // right gap? + if( num_cross(i1,dx-1,y,y,bp,cs)==0 ) break; + if( y==3*dy/4 ) Break; + + for(y=dy/4;y<=11*dy/16;y++) // left gap? + if( num_cross(0,i2,y,y,bp,cs)==0 ) break; + if( y>11*dy/16 ) Break; + + // if( num_hole( x0, x1, y0, y1, box1->p,cs,NULL) > 0 ) break; + if (sdata->holes.num>0) Break; + + // sS5 \sl z left upper v-bow ? + for(x=dx,i=y=dy/4;yi2 ) i2=i; + i3=loop(bp,0, y ,dx,cs,0,RI); + i =loop(bp,0, y-1,dx,cs,0,RI); if( i=20 && dx<16 ) /* tall S */ + if( loop(bp,0, dy/5 ,dx,cs,0,RI) + ==loop(bp,0, dy/4 ,dx,cs,0,RI) + && + loop(bp,0, dy/10 ,dx,cs,0,RI) + >loop(bp,0, dy/4 ,dx,cs,0,RI) + && + loop(bp,0, 1 ,dx,cs,0,RI) + >loop(bp,0, dy/4 ,dx,cs,0,RI)+1 + && + loop(bp,dx-1, 0 ,dx,cs,0,LE) + >loop(bp,dx-1, 1 ,dx,cs,0,LE) ) Break; + + if( dy>=30 && dx>15 ) /* large S */ + if( loop(bp,dx/4,3*dy/10,dy,cs,1,DO)>0 ) // check start + if( loop(bp,dx-2,3*dy/4 ,dy,cs,1,UP)>0 ) // check end + if( num_cross(dx/4,dx-2,3*dy/10,3*dy/4,bp,cs)==1 ) Break; // connected? + MSG(fprintf(stderr,"~S ad=%d",ad);) + + // small fat s is very similar to rounded serif 5 + // but has a fat diagonal arrea (Oct08 JS) + if ( num_cross(dx/8,dx-1-dx/8,3*dy/10,3*dy/4,bp,cs)==1 ) ad=98*ad/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + + if( dy>17 && dx>9 ) /* S */ + if( loop(bp, 0,dy/2 ,dx,cs,0,RI)0 ) // check start + if( loop(bp,dx-2,2*dy/3 ,dy,cs,1,UP)>0 ) // check end + if( loop(bp, 0, dy/16,dx,cs,0,RI) + >= loop(bp,dx-1, dy-1-dy/16,dx,cs,0,LE) ) ad=ad*98/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + if( loop(bp,3*dx/4 , 0,dy,cs,1,DO) // ToDo: improve! + < loop(bp, dx/4 ,dy-1,dy,cs,1,UP) + && loop(bp,3*dx/4-1, 0,dy,cs,0,DO) + < loop(bp, dx/4+1,dy-1,dy,cs,0,UP) ) ad=ad*98/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,(wchar_t)'5',ad); + if (ad==100) return '5'; + break; + + } + // --- test 1 --------------------------------------------------- + for(ad=d=100;dy>4 && dy>dx && 2*dy>box1->m3-box1->m2;){ // min 3x4 + DBG( char c_ask='1'; ) + if( dots==1 ) Break; + if (sdata->holes.num > 1) Break; /* be tolerant */ + + if( num_cross(0, dx-1, 0 , 0 ,bp,cs) != 1 + && num_cross(0, dx-1, 1 , 1 ,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1,dy/2,dy/2,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0, dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + /* 5x7 micr ocr-a + + ooo @@@.. + .$. ooo ..@.. + $@. oo ..@.. + .$. oo ..@.. + .@. ooooo ..@.@ + .$. ooooo ..@.@ + $@$ ooooo @@@@@ + + */ + i4=0; // human font + if( num_cross(0, dx-1,3*dy/4,3*dy/4,bp,cs) != 2 ) { // except ocr-a + for( y=1; y=dy/2) ad=98*ad/100; + for( i=dy/8,y=7*dy/16;y8 && !i ) Break; + } else { // ocr-a-1 + i= loop(bp,dx/2,0,dy,cs,0,DO); + if (loop(bp,dx/2,i,dy,cs,1,DO) 1 + && num_cross(0, dx-1, 1 , 1 ,bp,cs) > 1 ) Break; // ~/it_7 + + // calculate upper and lower mass center (without lower serif) + + x =loop(bp,0,7*dy/8-1,dx,cs,0,RI); i2=x; + x+=loop(bp,x,7*dy/8-1,dx,cs,1,RI)-1; i2=(i2+x)/2; + + i1=loop(bp,dx-1 ,1+0* dy/4,dx,cs,0,LE); i1=dx-1-i1-(x-i2)/2; + + x =(i1-i2+4)/8; i1+=x; i2-=x; + + if( get_line2(i1,0,i2,dy-1,bp,cs,100)<95 ) { // dont work for ocr-a-1 + i1=loop(bp,dx-1 ,1+0* dy/4,dx,cs,0,LE); i1=dx-1-i1; + if( get_line2(i1,0,i2,dy-1,bp,cs,100)<95 ) Break; + } + // upper and lower width + x =loop(bp,(i1+i2)/2,dy/2,dx,cs,1,RI); i=x; i3=0; + for(y=0;y<7*dy/8;y++) + if( loop(bp,i1+y*(i2-i1)/dy, y,dx,cs,1,RI)-i > 1+dx/8 ) break; + if(y<7*dy/8) ad=98*ad/100; // serif or ocr-a-1 ? + if(y<6*dy/8) ad=99*ad/100; /* MICR E-13B font Jan07 */ + if(y<4*dy/8) Break; + MSG(fprintf(stderr,"i12 %d %d ad= %d", i1,i2,ad);) +// out_x(box1); printf(" i12=%d %d\n",i1,i2); + x =loop(bp,i2,dy-1,dx,cs,1,LE); j=x; + x =loop(bp,i2,dy-2,dx,cs,1,LE); if(x>j)j=x; i=j; + x =loop(bp,i2,dy-1,dx,cs,1,RI); j=x; + x =loop(bp,i2,dy-2,dx,cs,1,RI); if(x>j)j=x; + if(abs(i-j)>1+dx/8) i3|=1; + if(i3) Break; +// out_x(box1);printf(" 11 i=%d j=%d i2=%d dx=%d\n",i,j,i1,dx); + // get most left upper point (i,j) + for(i=dx,j=y=0;y<7*dy/16;y++){ + x =loop(bp,0,y,dx,cs,0,RI); if(x 7*dx/16 MICR E-13B font + if ( i1-i<4*dx/16 ) Break; + MSG(fprintf(stderr,"i12 %d %d ad= %d", i1,i2,ad);) + x =loop(bp,0,dy/2,dx,cs,0,RI); // right distance + j =loop(bp,x,dy/2,dx,cs,1,RI); // thickness + if( j>x+(dy+16)/32 ) ad=98*ad/100; // ~l but MICR E-13B font + x =loop(bp,0,0,dx,cs,0,RI); // straight line ??? + j =loop(bp,0,1,dx,cs,0,RI); if( j>x ) Break; // ~l + if( x==j ) j =loop(bp,0,dy/8,dx,cs,0,RI); if( j>x && !i4) Break; + if( x==j ) if(loop(bp,0,dy/4,dx,cs,0,RI)>x) { // ~l + // check micr-1 first before taken as 'l' + if (loop(bp,dx-1,dy/8,dx,cs,0,LE)<=dx/4 + && loop(bp, 0,3*dy/4,dx,cs,1,RI)< dx-1) ad=97*ad/100; + } + MSG(fprintf(stderr,"1l check ad= %d", ad);) + x=j; +// j =loop(bp,0,2,dx,cs,0,RI); if( j>=x ) Break; x=j; // ~l +// j =loop(bp,0, 0,dx,cs,0,DO); if( !j ) Break; // ~7 + if( !hchar ) // ~ right part of n + /* look for upper right side, not going from nw to se */ + if( loop(bp,dx-1, 1,dx,cs,0,LE)-dy/6 + > loop(bp,dx-1,dy/4,dx,cs,0,LE) + // failes on small fonts with 1 point spaces between chars + // also do not know what the purpose of this line was (JS Oct08) + // || get_bw(x1+1,x1+2,y0,y0+dy/8,box1->p,cs,1)==1 + ) Break; // Mai00 + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE) > dx/2 + && get_bw(x1-dx/4,x1,y1-1,y1,box1->p,cs,1)==1 ) Break; // ~z Jun00 + + i=loop(bp, dx/8,0,dy,cs,0,DO); + for (y=dy,x=dx/2;x<3*dx/4;x++){ /* get upper end y */ + j=loop(bp,x,0,dy,cs,0,DO); if (j=i) ad=98*ad/100; // ~\tt l ??? ocr-a_1 + MSG(fprintf(stderr,"1l check i= %d y= %d ad= %d", i, y, ad);) + + if( loop(bp, 0, dy/8,dx,cs,0,RI) + -(dx-loop(bp,dx-1,7*dy/8,dx,cs,0,LE)) > dx/4 ) Break; // ~/ + + i= loop(bp, 0, 0,dy,cs,0,DO); // horizontal line? + if(dy>=12 && i>dy/8 && iloop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,3*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) Break; // ~t,~f + i= loop(bp, 0,dy-1-dy/32,dx,cs,0,RI); + x= loop(bp, 0,dy-2-dy/32,dx,cs,0,RI); if (idx/8 + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1,dy-1-dy/32,dx,cs,0,LE) ) Break; // ~t + if( loop(bp, 0,i-1,dx,cs,0,RI)>1 && dx<6) { + ad=99*ad/100; + if ( loop(bp,dx-1,i-1,dx,cs,0,LE)>1 ) Break; // ~t + } + } + + if (dx>8){ + if (loop(bp,0,3*dy/4,dx,cs,0,RI)- + loop(bp,0,dy/2-1,dx,cs,0,RI)>dx/4) ad=95*ad/100; // ~3 + if (loop(bp,dx-1,dy/2-1,dx,cs,0,LE)- + loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/8) ad=99*ad/100; // ~3 ocr-a? + if (loop(bp,dx-1, dy/16,dx,cs,0,LE)- + loop(bp,dx-1, dy/4,dx,cs,0,LE)>dx/8) ad=95*ad/100; // ~23 + MSG(fprintf(stderr,"23 check ad= %d", ad);) + } + /* font 5x9 "2" recognized as "1" */ + i=loop(bp,dx-1-dx/8,dy-1,dy,cs,0,UP); + if (i<=dy/4) { + i+=loop(bp,dx-1-dx/8,dy-1-i,dy,cs,1,UP); + if (i<=dy/4) { + i=loop(bp,dx-1-dx/8,dy-1-i,dy,cs,0,LE); + if (2*i>=dx && loop(bp,dx/4,0,dy,cs,0,DO)i+dx/8) { break; } + } if (y>=dy/2) ad=95*ad/100; // Feb07 care plates, right black border + MSG(fprintf(stderr,"ad= %d", ad);) + + if (sdata->holes.num > 0) Break; // mini holes should be filtered + if (!box1->m3 && ad>98) ad=98; else { + if (!hchar) ad=99*ad/100; + if (box1->y0>box1->m2) ad=98*ad/100; + if (box1->y1<(1*box1->m2+3*box1->m3)/4) ad=98*ad/100; + if (box1->y1-box1->y0<(box1->m3-box1->m1)/2) ad=98*ad/100; + if ( gchar) ad=99*ad/100; + } + + Setac(box1,(wchar_t)'1',ad); + break; + } + // --- test 2 old pixelbased - remove! ----------------------------- +#ifdef Old_pixel_based + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( char c_ask='2'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( get_bw(x0+dx/2, x0+dx/2 , y1-dy/5, y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2 , y0 , y0+dy/5,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/8, x1-dx/3 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + + if( get_bw(x1-dx/3, x1 , y0+dy/3 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0+dx/ 8, y1-dy/16, y1 ,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0, x1-dx/8, y0+dy/2, y0+dy/2,box1->p,cs) != 1 ) Break; + if( get_bw(x0, x0+dx/9 , y0 , y0 ,box1->p,cs,1) == 1 + && get_bw(x0, x0+dx/2 ,y0+3*dy/16,y0+3*dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0, x0+dx/9 , y0 , y0 ,box1->p,cs,1) + != get_bw(x1-dx/9, x1 , y0 , y0 ,box1->p,cs,1) ) + { if (dx<6 && dy<9) ad=99*ad/100; else Break; } + // out_x(box1); + + for( x=x0+dx/4;xp,cs) == 2 ) break; + if( x>=x1-dx/6 ) Break; + + for( x=x0+dx/4;xp,cs) == 2 ) break; + if( x>=x1-dx/6 ) Break; + + for(i=1,y=y0;yp,cs) == 2 ) i=0; + if( i ) ad=99*ad/100; // ToDo: ocr-a-2 should have 100% + + for(i=1,y=y0+dy/5;yp,cs,1) == 0 ) i=0; + if( i ) Break; + + x=x1-dx/3,y=y1; /* center bottom */ + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,ST,UP); if( yp,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,ST); + if( xp,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,ST); + if( xp,x1,y0+y,dx,cs,0,LE); // use p (not b) for broken chars + if( ix ) x=i; + } + if (y>dy/3 ) Break; // z + + // hole is only allowed in beauty fonts + // if( num_hole( x0, x1, y0, y1,box1->p,cs,NULL) > 0 ) // there is no hole + // if( num_hole( x0, x0+dx/2, y0, y0+dy/2,box1->p,cs,NULL) == 0 ) // except in some beauty fonts + if (sdata->holes.num>0) + if (sdata->holes.hole[0].x1 >= dx/2 || sdata->holes.hole[0].y1 >= dy/2) + Break; + + if (loop(bp,dx-1, 0,dx,cs,0,LE) + =i1 ) Break; // ~z + i1=loop(bp,dx-1,dy-3*dy/16,dx,cs,0,LE); + i2=loop(bp, 0,dy-3*dy/16,dx,cs,0,RI); if( i2>i1 ) ad=98*ad/100; // ~i + if (dots) ad=98*ad/100; // i + if (loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)>dx/4) ad=96*ad/100; // \it i + + if ((!hchar) && box1->m4!=0) ad=80*ad/100; + Setac(box1,(wchar_t)'2',ad); + if (ad==100) return '2'; + break; + } +#endif + // --- test 2 new edge based v0.44 -------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + // rewritten for vectors 0.42 + int ld, i1, i2, i3, i4, i5, i6, i7; // line derivation + corners + DBG( wchar_t c_ask='2'; ) + if (sdata->holes.num > 0) Break; /* no hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the lower ends, must be near to the corner */ + if (aa[1][2]>d/4) Break; /* [2] = distance, ~7... */ + if (aa[2][2]>d/2) Break; /* [2] = distance, ~r... */ + if (aa[0][2]>d/1) Break; /* [2] = distance, ~d... */ + if (aa[3][2]>d/1) Break; /* [2] = distance, ~bhk... */ + /* searching for 4 notches between neighbouring ends */ + +/* + type A B + + 1OOO OO + 2 1 2 <- 6 + 7-> OOOO O + O O <- 5 + 3OO4 3OO4 +*/ + + // ToDo: replace by vector code (get point on line at dy/4) + if (loop(bp,dx-1, 0,dx,cs,0,LE) + num_frame_vectors[0] - 1; + /* rightmost point on upper left side */ + i2=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1+dx, y0+dy/4); + /* upper leftmost vector */ + i1=nearest_frame_vector(box1, aa[0][3], i2, x0-dx, (y0+y1)/2); + i3=aa[1][3]; + /* low leftmost vector */ + i5=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0, y1); + /* low mostright vector */ + i4=nearest_frame_vector(box1, aa[1][3], i5, x1+dx, y1); + /* next local max_x-point after i5 */ + i6=i5; + for (i=i5;i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] + >box1->frame_vector[i6][0]) i6=i; // get next maximum + if (box1->frame_vector[ i][0]frame_vector[ i][1]frame_vector[i6][0]>x0+dx/2) break; // 5 + } + /* which type? ToDo: have a more sure algorithm */ + i7=nearest_frame_vector(box1, i2, i3, x0-dx/8, (y0+y1)/2); + if (box1->frame_vector[i7][0]<=x0+ dx/4 + && box1->frame_vector[i7][1]<=y0+2*dy/3) { + MSG(fprintf(stderr,"7-segment-type");) + } else { /* regular-book-type */ + MSG( fprintf(stderr,"upper bow not z-like? ad %d", ad); ) + if (aa[3][0]>=x1-dx/8 // x of upper right point + && aa[3][1]< y0+dy/8) ad=99*ad/100; // y of upper right point + if (aa[0][0]<=x0+dx/8 // x of upper left point + && aa[0][1]< y0+dy/8) ad=99*ad/100; // y of upper left point + if (aa[3][2]<=aa[1][2]) ad=97*ad/100; // dist to (maxx,0) <= (0,maxy) + } + // ToDo: output no=(x,y) + MSG( fprintf(stderr,"i1-7 %d %d %d %d %d %d %d ad %d", + i1,i2,i3,i4,i5,i6,i7,ad); ) + if (i5==i6) Break; // ~+ + + if (box1->frame_vector[i5][1] + -box1->frame_vector[i6][1]frame_vector[i1][1]>y0+dy/2) Break; // not to low + if (box1->frame_vector[i1][0]>x0+dx/8+dx/16) Break; // slanted ? + if (box1->frame_vector[i2][1]>(y0+ y1)/2) Break; + if (box1->frame_vector[i2][1]>(5*y0+3*y1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i2][0]<(x0+x1+1)/2) Break; // fat tiny fonts? + if (box1->frame_vector[i2][0]<(x0+2*x1)/3) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i3][0]>(3*x0+x1)/4) Break; + if (box1->frame_vector[i3][0]>(7*x0+x1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + /* check lowest left point */ + if (box1->frame_vector[i3][1]<(y0+3*y1)/4) Break; + if (box1->frame_vector[i3][1]<(y0+7*y1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + /* check lower leftmost point from right side */ + if (box1->frame_vector[i5][0]>(x0+2*x1)/3) Break; + if (box1->frame_vector[i5][0]>(x0+ x1)/2) ad=98*ad/100; + if (box1->frame_vector[i5][0]>(2*x0+2+x1)/3) ad=99*ad/100; /* 9x10 2 */ + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i5][1]<(3*y0+5*y1)/8) Break; + if (box1->frame_vector[i5][1]<(y0+3*y1)/4) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i6][1]>(y0+2*y1)/3) Break; + if (box1->frame_vector[i6][1]>(y0+ y1)/2) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i6][0]<(x0+3*x1)/4) Break; + if (box1->frame_vector[i6][0]<(x0+7*x1)/8) ad=99*ad/100; + + /* check for zZ */ + + /* check if lower left and right points are joined directly */ + ld=line_deviation(box1, i3, i4); + MSG(fprintf(stderr,"i1-i2 %d %d dist= %d/%d",i1,i2,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (ld > sq(1024/4)) ad=99*ad/100; + + if (box1->m3) { + if(!hchar){ ad=99*ad/100; } + if( gchar){ ad=99*ad/100; } + } else { if (ad==100) ad=99; } /* not 100% sure */ + Setac(box1,'2',ad); + if (ad==100) return '2'; + break; + } + // --- test 3 ------- + for(ad=d=100;dx>3 && dy>4;){ // dy<=dx nicht perfekt! besser mittleres + // min-suchen fuer m + int i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( char c_ask='3'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if (sdata->holes.num > 0) ad=98*ad/100; /* be tolerant */ + if (4*dxd/1) Break; /* [2] = distance, ~7... */ + if (aa[2][2]>d/1) Break; /* [2] = distance, ~r... */ + if (aa[0][2]>d/1) Break; /* [2] = distance, ~d... */ + if (aa[3][2]>d/1) Break; /* [2] = distance, ~bhk... */ +/* + type A B C + + 1OO8 1OO 1OO8 + O 8 2 <- 7,8 + 2 2 7 + 1-5-> 3OO7 37 3OO + 4 4 4 + O 6 6 <- 6 + 5OO6 5OO 5OO +*/ + /* rightmost point on upper left side */ + i2=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1, y0+3*dy/16); + /* rightmost point on lower left side */ + i4=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1, y1-dy/4); + /* leftmost point on middle left side */ + i3=nearest_frame_vector(box1, i2, i4, x0, y0+dy/2); + /* upper leftmost vector */ + i1=nearest_frame_vector(box1, aa[0][3], i2, x0-dx, (y0+y1)/2); + i5=aa[1][3]; // points to vector point in point list + i6=aa[2][3]; + i8=aa[3][3]; + /* leftmost point on middle right side */ + i7=nearest_frame_vector(box1, i6, i8, x0 , y0+dy/2); + /* which type? ToDo: have a more sure algorithm */ + if (box1->frame_vector[i7][0]>=x1- dx/4 + && box1->frame_vector[i6][0]>=x1- dx/8 // ToDo: ... + && box1->frame_vector[i6][1]>=y1- dy/8) { + MSG(fprintf(stderr,"7-segment-type");) + } else { /* regular-book-type */ + } + // ToDo: output no=(x,y) + MSG(fprintf(stderr,"i1-8 %d %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7,i8);) + // if (i5==i6) Break; // ~+ + + // i2 = upper left gap ) , i3 = middle left < + if (box1->frame_vector[i2][0] + -box1->frame_vector[i3][0]frame_vector[i4][0] + -box1->frame_vector[i3][0]frame_vector[i4][0] + -box1->frame_vector[i5][0]frame_vector[i2][0] + -box1->frame_vector[i1][0]frame_vector[i1][1]>y0+dy/2) Break; // not to low + if (box1->frame_vector[i1][0]>x0+dx/4+dx/16) Break; // slanted? + if (box1->frame_vector[i5][1]frame_vector[i5][0]>x0+dx/4) Break; + // ToDo .... + + // --- pixel based old code --- + // if( get_bw(x0+dx/2,x0+dx/2,y0,y0+dy/4,box1->p,cs,1) == 0 ) Break; // ~4 + // if( get_bw(x0+dx/2,x0+dx/2,y1-dy/8,y1,box1->p,cs,1) == 0 ) Break; // ~4 + // if( num_cross(x0+dx/2,x0+dx/2,y0 ,y1,box1->p,cs) < 2 ) Break; + // if( num_cross(x0+dx/4,x0+dx/4,y1-dy/2,y1,box1->p,cs) == 0 ) Break; + if( get_bw(dx/2,dx/2, 0,dy/6,bp,cs,1) == 0 ) Break; // ~4 + if( get_bw(dx/2,dx-1, dy/6,dy/6,bp,cs,1) == 0 ) Break; // ~j + if( get_bw(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs,1) == 0 ) Break; // ~4 + if( num_cross(dx/2,dx/2,0 ,dy-1,bp,cs) < 2 // normal + && num_cross(dx/3,dx/3,0 ,dy-1,bp,cs) < 2 ) Break; // fat LCD + if( num_cross(dx/4,dx/4,dy-1-dy/2,dy-1,bp,cs) == 0 ) Break; + if( loop(bp,dx/2, 0 ,dy,cs,0,DO)>dy/4 ) Break; + if( loop(bp,dx/2, dy-1,dy,cs,0,UP)>dy/4 ) Break; + if( loop(bp,dx-1, dy/3,dy,cs,0,LE)>dy/4 /* 3 with upper bow */ + && loop(bp,dx-1, dy/8,dy,cs,0,LE)>dy/4 /* 3 with horizontal line */ + && loop(bp,dx/4, dy/8,dy,cs,1,RI)dy/4 ) Break; + if( loop(bp,dx-1,3*dy/4,dy,cs,0,LE)>dy/2 ) Break; // ~2 Feb06 + if( loop(bp,dx-1,7*dy/8,dy,cs,0,LE)>dy/2 ) Break; // ~2 Feb06 + // search upper right half circle (may fail on 4x5 font) + for( i3=x=0,i1=y=dy/5;yx) { i3=x=i; i1=y; } + } i3--; + if( loop(bp,i3,i1,1,cs,0,UP)==1 ) { // find hidden gap in tiny fonts + i1--; i3+=loop(bp,i3,i1,dx,cs,0,RI)-1; + } + if (i31+dx/8) ad=ad*99/100; // ~1 with a pixel + // search lower right half circle + for( i4=x=0,i2=y=dy-1-dy/8;y>=dy/2;y-- ){ + i=loop(bp,0,y,dx,cs,0,RI); + if( i>x ) { i4=x=i;i2=y; } + } i4--; if(i41+dx/8) ad=ad*99/100; // ~1 with a pixel + + for( x=xa=0,ya=y=dy/4;y<3*dy/4;y++ ){ // right gap, not on LCD-font + i=loop(bp,dx-1,y,dx,cs,0,LE); + if (i>=xa) { xa=i;ya=y;x=xa+loop(bp,dx-1-xa,y,dx,cs,1,LE); } + } if (dy>3*dx) if (xa<2 && x-xa1+dx/8 // noLCD + && xa<=loop(bp,dx-1,i2,dx,cs,0,LE)) ad=ad*99/100; // ~1 with a pixel + if (xa>1+dx/8 // noLCD + && xa<=loop(bp,dx-1,i1,dx,cs,0,LE)) ad=ad*99/100; // ~1 with a pixel + + // upper left gap = (i3,i1) + // lower left gap = (i4,i2) + MSG(fprintf(stderr,"left white gaps (%d,%d) (%d,%d)",i3,i1,i4,i2);) + if( get_bw(i3,i3,i1,i2 ,bp,cs,1) != 1 ) Break; // no hor. middle line? + if( get_bw(i4,i4,i1,i2 ,bp,cs,1) != 1 ) Break; + if( get_bw(i3,i3,0 ,i1 ,bp,cs,1) != 1 ) Break; // no upper bow? + if( get_bw(i4,i4,i2,dy-1,bp,cs,1) != 1 ) Break; // no lower bow? + // hole is only allowed in beauty fonts + // if( num_hole( x0, x1, y0, y1,box1->p,cs,NULL) > 0 ) // there is no hole + // if( num_hole( x0, x0+dx/2, y0, y0+dy/2,box1->p,cs,NULL) == 0 ) // except in some beauty fonts + if (sdata->holes.num>0) + if (sdata->holes.hole[0].x1 >= dx/2 || sdata->holes.hole[0].y1 >= dy/2) + Break; + Setac(box1,(wchar_t)'3',ad); + if (ad==100) return '3'; + break; + } + // --- test 4 --------------------------------------------------- 25Nov06 + for(ad=d=100;dy>3 && dx>2;){ // min 3x4 ~holes.num > 1) Break; /* no or one hole */ + /* half distance to the center */ + d=2*sq(128/4); /* 2048 */ + /* now we check for the lower left end, must be far away */ + /* lowest is 144 for 9x10 screen font (Apr2009) */ + if (aa[1][2]num_frame_vectors[0] - 1; + /* leftmost upper point */ + i1=nearest_frame_vector(box1, 0, i, x0, y0-dy); + /* lowest from leftmost vector can be very low (20/23) */ + i2=nearest_frame_vector(box1, 0, i, x0-2*dx, (y0+7*y1)/8); + /* lowest vector */ + i4=nearest_frame_vector(box1, 0, i, (x0+2*x1)/3, y1+dy); + /* right center crossing point */ + i3=nearest_frame_vector(box1, i2, i4, x1, (3*y0+y1)/4); + /* get a point on the outer right side below top serif */ + /* next local max_y-point after i4 */ + i5=i4; + for (i=i4;i!=i2;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i5][1]) i5=i; // get next maximum + if (box1->frame_vector[ i][1] + >box1->frame_vector[i5][1]+1) break; // break after maximum + if (box1->frame_vector[ i][0]num_frames>1) { // type C D + i = box1->num_frame_vectors[0] - 1; // end outer loop + j = box1->num_frame_vectors[1] - 1; // end inner loop + if (box1->num_frames>2) { // see font2.png, 2nd one pixel hole + j = box1->num_frame_vectors[2] - 1; // end inner loop + ad=99*ad/100; // little bit unsure + } + i6=nearest_frame_vector(box1, i+1, j, x1, y1); + i7=nearest_frame_vector(box1, i+1, j, x0, y1); + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]frame_vector[i ][0]-x0frame_vector[i ][1]-y07) ad=97*ad/100; // q + + } else { // type A B + i6=nearest_frame_vector(box1, i5, i1, (x0+3*x1)/4, y1-dy/8); + i7=nearest_frame_vector(box1, i5, i1, x0 , y1-dy/8); + MSG(fprintf(stderr,"open type");) + if (box1->frame_vector[i6][1]-y0>3*dy/4 + || box1->frame_vector[i7][1]-y0>3*dy/4) ad=96*ad/100; // ~uU + } + // ToDo: output no=(x,y) + MSG(fprintf(stderr,"i1-7 %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7);) + if (i5==i6) Break; // ~+ + + if (box1->frame_vector[i1][1]>y0+dy/8) Break; // not to low + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]frame_vector[i3][0] + -box1->frame_vector[i2][0]frame_vector[i3][1] + -box1->frame_vector[i2][1])>dy/4) Break; + if (box1->frame_vector[i2][0]>x0+dx/8) Break; + if (box1->frame_vector[i2][1]>y1-dy/8) Break; + if (box1->frame_vector[i4][1] + -box1->frame_vector[i2][1]frame_vector[i4][1] + -box1->frame_vector[i2][1]frame_vector[i4][1] + -box1->frame_vector[i3][1]<1+dy/16) Break; + if ((box1->frame_vector[i4][1] + -box1->frame_vector[i3][1])*2<= + (box1->frame_vector[i3][1] + -box1->frame_vector[i6][1])) Break; // 090728 gas_meter (flat-ulike) + if ((box1->frame_vector[i4][1] + -box1->frame_vector[i3][1])< + (box1->frame_vector[i3][1] + -box1->frame_vector[i6][1])) ad=99*ad/100; + if (box1->frame_vector[i4][1] + -box1->frame_vector[i3][1]frame_vector[i4][1] + -box1->frame_vector[i3][1]frame_vector[i4][1]frame_vector[i3][0]frame_vector[i3][0]frame_vector[i3][1]>y1-1) Break; + if (box1->frame_vector[i3][1]>y1-dy/16) Break; + if (box1->frame_vector[i3][1]>=y1) Break; // ~5x5# + if (box1->frame_vector[i5][0]frame_vector[i5][1]>y0+2*dy/3) Break; + if (box1->frame_vector[i6][1] + -box1->frame_vector[i5][1]<1+dy/16) Break; + if (box1->frame_vector[i6][0]frame_vector[i7][0]>x0+dx/2) Break; + if (box1->frame_vector[i7][0]>x0+dx/3) ad=ad*99/100; + if (box1->frame_vector[i6][1]frame_vector[i6][0]frame_vector[i6][0]=y1-1-dy/8) ad=96*ad/100; // ~ 42 + if (box1->frame_vector[i7][1]frame_vector[i3][1] + -box1->frame_vector[i2][1])>dy/4) Break; + + /* check if upper left and lower left points are joined directly */ + ld=line_deviation(box1, i1, i2); + MSG(fprintf(stderr," i1-i2 %d %d dist= %d/%d",i1,i2,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i2, i3); + MSG(fprintf(stderr," i2-i3 %d %d dist= %d/%d",i2,i3,ld,2*sq(1024/4));) + if (ld > sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i3, i4); + MSG(fprintf(stderr," i3-i4 %d %d dist= %d/%d",i3,i4,ld,2*sq(1024/4));) + if (ld > sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i6, i7); + MSG(fprintf(stderr," i6-i7 %d %d dist= %d/%d",i6,i7,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + // 4 exists as gchar and ~gchar + if(!hchar){ ad=99*ad/100; } + Setac(box1,'4',ad); + break; + } +#ifdef Old_pixel_based + // --- old test 4 pixelbased ------- remove! + for(ad=d=100;dx>3 && dy>5;){ // dy>dx, min 4x6 font + DBG( char c_ask='4'; ) + if (sdata->holes.num > 2) Break; /* be tolerant */ + if (sdata->holes.num > 1) ad=97*ad/100; + // upper raising or vertical line + if( loop(bp,0 ,3*dy/16,dx,cs,0,RI) + < loop(bp,0 ,2*dy/4 ,dx,cs,0,RI)-dx/8 ) Break; + // search for a vertical line on lower end + for (y=0;y= dx/2 ) break; + if (y>=dy/4) Break; + if( loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) < dx/4 ) Break; + // --- follow line from (1,0) to (0,.7) + y=0; x=loop(bp,0,0,dx,cs,0,RI); + if (x<=dx/4) { // ocr-a-4 + i=loop(bp,0,dy/4,dx,cs,0,RI); if (i>dx/4) Break; + i=loop(bp,i,dy/4,dx,cs,1,RI); if (i>dx/2) Break; + j=loop(bp,i,dy/4,dy,cs,0,DO)+dy/4; if (j>7*dy/8) Break; + } + turmite(bp,&x,&y,0,dx-1,0,dy-1,cs,DO,LE); if( x>=0 ) Break; + + y=loop(bp,0,0,dy,cs,0,DO); + if( (y+loop(bp,0,y,dy,cs,1,DO)) < dy/2 ) Break; + if( get_bw(x0 , x0+3*dx/8, y1-dy/7, y1-dy/7,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0+dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y0+dy/3, y1-dy/5,box1->p,cs,1) != 1 ) Break; + i=loop(bp,bp->x-1, bp->y/4,dx,cs,0,LE); + if( i > loop(bp,bp->x-1,2*bp->y/4,dx,cs,0,LE)+1 + && i > loop(bp,bp->x-1,3*bp->y/8,dx,cs,0,LE)+1 ) Break; + if (loop(bp,0,0,dx,cs,0,RI)>dx/4) { + for(i=dx/8+1,x=0;x15 && i ) Break; + for(i=dy/10+1,y=dy-1-dy/4;yp,cs,NULL); + // ToDo: + // - get start and endpoint of left edge of left vert. line + // and check if that is an streight line + // - check the right edge of the inner hole (if there) too + i4 = sdata->holes.num; + if (sdata->holes.num >0) { // ~q + i = loop(bp,0,dy/16,dx,cs,0,RI); + if (i < dx/3) Break; + if (i < dx/2) ad=98*ad/100; // hole? + if ( loop(bp, 0,dy-1,dy,cs,0,UP) + -loop(bp,dx/8+1,dy-1,dy,cs,0,UP)>dy/16) ad=97*ad/100; + } + // thickness of left vertical line + for (j=y=0;yj) j=i; + } + if (j>=dx/2) ad=98*ad/100; // ~q handwritten a (or very thinn 4) + // ToDo: check y of masscenter of the hole q4 + + if( i4 ) if( dx > 15 ) + if( loop(bp, dx/2, 0,dy,cs,0,DO)3*dx/4 + && i-loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)>dx/4 ) Break; + + i =loop(bp,dx-1-dx/4,dy-1,dx,cs,0,UP); + if (i> dy/2) ad=97*ad/100; + if (i>3*dy/4) ad=97*ad/100; /* handwritten n */ + + if( num_cross(0 ,dx-1,dy/16 ,dy/16 , bp,cs) == 2 // ~9 + && loop(bp,dx-1,dy/16 ,dx,cs,0,LE)> + loop(bp,dx-1,dy/16+1+dy/32,dx,cs,0,LE) ) Break; + if ( !hchar) ad=99*ad/100; + if (gchar && !hchar) ad=98*ad/100; // ~q + Setac(box1,(wchar_t)'4',ad); + if (ad>99) bc='4'; + break; + } +#endif + // --- test 6 ------- ocr-a-6 looks like a b :( + for(ad=d=100;dx>3 && dy>4;){ // dy>dx + DBG( char c_ask='6'; ) + if (sdata->holes.num > 2) Break; /* be tolerant */ + if( loop(bp, 0, dy/4,dx,cs,0,RI)>dx/2 // ocr-a=6 + && loop(bp,dx-1, 0,dy,cs,0,DO)>dy/4 ) Break; // italic-6 + if( loop(bp, 0, dy/2,dx,cs,0,RI)>dx/4 ) Break; + if( loop(bp, 0,3*dy/4,dx,cs,0,RI)>dx/4 ) Break; + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/2 ) Break; + if( num_cross(x0+ dx/2,x0+ dx/2,y0 ,y1 ,box1->p,cs) != 3 + && num_cross(x0+5*dx/8,x0+5*dx/8,y0 ,y1 ,box1->p,cs) != 3 ) { + if( num_cross(x0+ dx/2,x0+ dx/2,y0+dy/4,y1 ,box1->p,cs) != 2 + && num_cross(x0+5*dx/8,x0+5*dx/8,y0+dy/4,y1 ,box1->p,cs) != 2 ) Break; + // here we have the problem to decide between ocr-a-6 and b + if ( loop(box1->p,(x0+x1)/2,y0,dy,cs,0,DO)p,x0+dx/2,y0,dx,cs,0,DO)>dy/8 + && loop(box1->p,x1-dx/4,y0,dx,cs,0,DO)>dy/8 ) Break; + } + if( num_cross(x0 ,x1 ,y1-dy/4,y1-dy/4,box1->p,cs) != 2 ) Break; + for( y=y0+dy/6;yp,x1 ,y ,dx,cs,0,LE); if( x>dx/2 ) break; + x+=loop(box1->p,x1-x+1,y-1,dx,cs,0,LE); if( x>dx/2 ) break; + } if( y>=y0+dy/2 ) Break; + if (loop(box1->p,x0,y1-dy/3,dx,cs,0,RI)>dx/4 ) Break; + if (loop(box1->p,x1,y1-dy/3,dx,cs,0,LE)>dx/4 ) Break; + + if (sdata->holes.num != 1) Break; + if (sdata->holes.hole[0].y1 < dy/2) ad=95*ad/100; // whats good for? + if (sdata->holes.hole[0].y0 < dy/4) Break; + MSG( fprintf(stderr,"hole[0].x0,x1 %d %d", sdata->holes.hole[0].x0, + sdata->holes.hole[0].x1); ) + if (sdata->holes.hole[0].x0<1 + && dx-1-sdata->holes.hole[0].x1>2) ad=ad*99/100; // melted serif sS ? + if (loop(box1->p,x0,y0+dy/2,dx,cs,0,RI)>0 + && loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)==0 + && loop(box1->p,x0,y1-dy/4,dx,cs,0,RI)==0) ad=97*ad/100; // molten serif sS +// if( num_hole ( x0, x1, y0, y0+dy/2,box1->p,cs,NULL) > 0 ) ad=95*ad/100; +// if( num_hole ( x0, x1, y0+dy/4, y1,box1->p,cs,NULL) != 1 ) Break; +// if( num_hole ( x0, x1, y0 , y1,box1->p,cs,NULL) != 1 ) Break; +// out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + /* check left vertical bow */ + i1=loop(bp,0,dy/8 ,dx,cs,0,RI); + i3=loop(bp,0,dy-1-dy/8,dx,cs,0,RI); + i2=loop(bp,0,dy/2 ,dx,cs,0,RI); + if(i1+i3-2*i2<-2-dx/16 && i1+i2+i3>0) Break; // convex from left + if(i1+i3-2*i2<1 && i1+i2+i3>0) ad=99*ad/100; // 7-segment-font + for( x=dx,y=0;ydx/2 && i2>dx/4) break; /* its a 6 (example: 7-segment) */ + if (i1x) break; /* may be serifen b */ + } if (y 1 ) i++; if( i>dy/8 ) break; + } if( ydots ) ad=98*ad/100; + Setac(box1,(wchar_t)'6',ad); + bc='6'; + break; + } + // --- test 7 --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( char c_ask='7'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( loop(bp,dx/2,0,dy,cs,0,DO)>dy/8 ) Break; + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs) != 1 ) Break; // preselect + for( yb=xb=y=0;y0 && j>dx/4) break; // gap after h-line + j=loop(bp,j,y,dx,cs,1,RI);if(j>xb){ xb=j;yb=y; } // h-line + } if( xbx ) x=j-1; + } if( yj) Break; + j=loop(bp, 0,j,dx,cs,0,RI); + if(j>dx/4 && j<=i+dx/16) Break; // tall T + } + + MSG( fprintf(stderr,"7: ad= %d",ad); ) + if( loop(bp, 0,3*dy/8,dx,cs,0,RI) + <=loop(bp,dx-1,3*dy/8,dx,cs,0,LE)+dx/8 ) ad=ad*98/100; // l + MSG( fprintf(stderr,"7: ad= %d",ad); ) + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs) == 1 + && loop(bp,0,dy/4,dx,cs,0,RI) < dx/2 ) ad=ad*96/100; // J + MSG( fprintf(stderr,"7: ad= %d",ad); ) + + if (box1->m3 && dym3-box1->m2) ad=99*ad/100; // too small + if (box1->m3 && 2*dym3-box1->m2) ad=96*ad/100; // too small + if (dy>3*dx) ad=99*ad/100; // ) + if ( gchar) ad=99*ad/100; // J + if (!hchar) ad=99*ad/100; + Setac(box1,(wchar_t)'7',ad); + break; + } + // --- test 8 --------------------------------------------------- + // last change: May15th,2000 JS + for(ad=d=100;dx>2 && dy>4;){ // or we need large height + DBG( char c_ask='8'; ) + if (sdata->holes.num != 2) Break; + if( num_cross(x0,x1,y0 +dy/4,y0 +dy/4,box1->p,cs) != 2 ) Break; // ~gr (glued) + if( num_cross(x0,x1,y1 -dy/4,y1 -dy/4,box1->p,cs) != 2 + && num_cross(x0,x1,y1-3*dy/8,y1-3*dy/8,box1->p,cs) != 2 ) Break; + if( get_bw(x0,x0+dx/4,y1-dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; // ~9 + if( get_bw(x0,x0+dx/2,y0+dy/4,y0+dy/4,box1->p,cs,1) == 0 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; // ~0 +// MSG( printf(" x0 y0 %d %d\n",x0,y0); ) + for( i2=i1=x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // check left middle nick + j=loop(box1->p,x0,y,dx,cs,0,RI); + if (j>x || (abs(j-x)<=dx/8 /* care about MICR E-13B font */ + && (i1=loop(box1->p,x0+j,y,dx,cs,1,RI))>dx/2)) { + if (j>x) x=j; i=y; if (i1>i2) i2=i1; } + } if(i>=y1-dy/3 || (xdx/2) Break; // no gB + if (x< dx/4) ad=99*ad/100; // no B + if (x<=dx/8) ad=98*ad/100; // no B + j = loop(box1->p,x1,y1- dy/4,dx,cs,0,LE); + if( j>loop(box1->p,x1,y1- dy/5,dx,cs,0,LE) + && j>loop(box1->p,x1,y1-2*dy/5,dx,cs,0,LE) ) Break; // & + // check for upper hole + for (j=0;jholes.num;j++) { + if (sdata->holes.hole[j].y1 < i-y0+1 ) break; + if (sdata->holes.hole[j].y1 < i-y0+dy/8) break; + } if (j==sdata->holes.num) Break; // not found + // if( num_hole(x0,x1,y0,i+1 ,box1->p,cs,NULL)!=1 ) + // if( num_hole(x0,x1,y0,i+dy/8,box1->p,cs,NULL)!=1 ) Break; // upper hole + // check for lower hole + for (j=0;jholes.num;j++) { + if (sdata->holes.hole[j].y0 > i-y0-1 ) break; + } if (j==sdata->holes.num) Break; // not found + // if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=1 ) Break; + i1=i; // left middle nick + /* find the middle right nick */ + for( x=0,i2=i=y=y0+dy/3;y<=y1-dy/3;y++){ + j=loop(box1->p,x1,y,dx,cs,0,LE); if( j>=x ) i2=y; + /* we care also for 7-segment and unusual fonts */ + if (j>x || (abs(j-x)<=(dx+4)/8 + && loop(box1->p,x1-j,y,dx,cs,1,LE)>dx/2)){ + if (j>x) x=j; i=y; } + // MSG(fprintf(stderr," yjix %d %d %d %d %d %d",y-y0,j,i-y0,x,loop(box1->p,x1-j,y,dx,cs,1,LE),dx/2);) + } + if( i>y0+dy/2+dy/10 ) Break; + // if( xdx/2 ) Break; + MSG(fprintf(stderr,"center bar at y= %d %d x=%d+%d i1=%d",i-y0,i2-y0,x,j,i1);) + if( num_cross(x0,x1, i , i ,box1->p,cs) != 1 + && num_cross(x0,x1, i+1 , i+1 ,box1->p,cs) != 1 + && num_cross(x0,x1,(i+i2)/2,(i+i2)/2,box1->p,cs) != 1 ) Break; // no g + if(abs(i1-i)>(dy+5)/10) ad=99*ad/100; // y-distance right-left-nick + if(abs(i1-i)>(dy+4)/8) ad=99*ad/100; // y-distance right-left-nick + if(abs(i1-i)>(dy+2)/4) Break; + // ~B ff + for(i=dx,y=0;yi+dx/16 ) break; + } if( yi+dx/16 ) break; + } if( y16 && num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + && loop(bp,0,dy-1,dx,cs,0,RI) 2 ) i++; if( i>dy/8 ) break; + } if( y 1) ad=98*ad/100; // & + if (num_cross(dx-1,dx-1,dy/2,dy-1,bp,cs) > 1) ad=98*ad/100; // & + if (num_cross( 0,dx-1, 0, 0,bp,cs) > 1) ad=98*ad/100; + if (dy>15) + if (num_cross( 0,dx-1, 1, 1,bp,cs) > 1) ad=98*ad/100; + /* if m1..4 is unsure ignore hchar and gchar ~ga */ + if (!hchar) { + if ((box1->m2-box1->y0)*8>=dy) ad=98*ad/100; + else ad=99*ad/100; + } + if ( gchar + && (box1->y1-box1->m3)*8>=dy) ad=99*ad/100; + Setac(box1,(wchar_t)'8',ad); + break; + } + // --- test 9 \it g --------------------------------------------------- + /* + * + * lcd micr round + * ooo ooo ooo + * o o o o o o + * ooo ooo ooo + * o o o + * ooo o o + */ + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( char c_ask='9'; ) + if (sdata->holes.num > 1) Break; + if( num_cross(x0+ dx/2,x0+ dx/2,y0,y1-dy/4,box1->p,cs) != 2 // pre select + && num_cross(x0+ dx/2,x0+ dx/2,y0, y1,box1->p,cs) != 3 // pre select + && num_cross(x0+3*dx/8,x0+3*dx/8,y0,y1,box1->p,cs) != 3 + && num_cross(x0+ dx/4,x1 -dx/4,y0,y1,box1->p,cs) != 3 ) Break; + if( num_cross(x0+ dx/2,x0 +dx/2,y0,y0+dy/4,box1->p,cs) < 1 ) Break; + if( num_cross(x0+ dx/2,x1, y0+dy/2 ,y0+dy/2,box1->p,cs) < 1 ) Break; + if( num_cross(x0,x1, y0+ dy/4 ,y0+ dy/4,box1->p,cs) != 2 + && num_cross(x0,x1, y0+3*dy/8 ,y0+3*dy/8,box1->p,cs) != 2 ) Break; + if( num_cross(x1-dx/8,x1,y0+dy/4,y0+dy/4,box1->p,cs) == 0) ad=ad*97/100; // ~4 + for( x=0,i=y=y0+dy/2;y<=y1-dy/4;y++){ // find notch (suche kerbe) + j=loop(box1->p,x0,y,dx,cs,0,RI); + if( j>x ) { x=j; i=y; } + } if (x<1 || xp,x0+x-1,y,dy/8+1,cs,0,DO)/2; y=i=y+j; + j=loop(box1->p,x0+x-1,y,dx/2 ,cs,0,RI); x+=j; + if (x5) + if( num_cross(x0+dx/2,x1,i,y1 ,box1->p,cs) != 1 /* fails on 5x8 */ + && num_cross(x0+dx/2,x1,i,y1-dy/8,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/2,x0+dx/2,i,y1,box1->p,cs) > 1 ) Break; + if( num_cross(x0+dx/2,x1 ,i, i,box1->p,cs) != 1 ) Break; + + if (sdata->holes.num < 1) { /* happens for 5x7 font */ + if (dx<8) ad=98*ad/100; else Break; } + else { + if (sdata->holes.hole[0].y1 >= i+1) Break; + if (sdata->holes.hole[0].y0 > i-1) Break; + if (sdata->holes.num > 1) + if (sdata->holes.hole[1].y0 > i-1) Break; + // if( num_hole(x0,x1,y0,i+1,box1->p,cs,NULL)!=1 ) Break; + // if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=0 ) Break; + } + if( loop(box1->p,x0,y1 ,dy,cs,0,RI)>dx/3 && + loop(box1->p,x0,y1-1,dy,cs,0,RI)>dx/3 + && (box1->m3==0 || (box1->m3!=0 && (!hchar || gchar)))) ad=98*ad/100; // no q OR ocr-a-9 + for( x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // suche kerbe + j=loop(box1->p,x1,y,dx,cs,0,LE); + if( j>x ) { x=j; i=y; } + } if( x>dx/2 ) Break; // no g + i1=loop(bp,dx-1,dy/8 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + i2=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); if(i1+i3-2*i2<-1-dx/16) Break; // konvex + i1=loop(bp,dx-1,dy/4 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + for(y=dy/4;yi1+(i3-i1)*(2*y-dy/2)/dy+dx/16) break; + // MSG(fprintf(stderr," y i2 %d %d %d",y,i2,i1+(i3-i1)*(2*y-dy/2)/dy);) + } if(y0){ + x--; // robust + y=loop(bp,dx-x-1, dy-1,dy,cs,0,UP); + if(y=16 && dx>9 + && loop(bp, 0,dy/ 4,dx,cs,0,RI) + -loop(bp, 0,dy/16,dx,cs,0,RI)>dx/6 + && loop(bp,dx-1,dy/ 4,dx,cs,0,LE) + -loop(bp,dx-1,dy/16,dx,cs,0,LE)>dx/6) Break; // ~ serif yY + + if (box1->m3) { + if ( gchar) ad=99*ad/100; /* unsure (italic g)? */ + if (box1->m2 && (!gchar) && y1 > box1->m3){ + ad=99*ad/100; + if (box1->m4-box1->m3<3) ad=99*ad/100; + // if (!hchar) ad = 99*ad/100; + } + if (!hchar) ad=99*ad/100; /* unsure */ + } else { if (ad==100) ad=99; } /* not 100% sure */ + Setac(box1,(wchar_t)'9',ad); + break; + } + // 0 is same as O !? + // --- test 0 (with one big hole in it ) ----------------------------- + for(d=ad=100;dx>2 && dy>3;){ // min 3x4 + DBG( char c_ask='0'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( get_bw(x0 , x0+dx/3,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + /* could be an O, unless we find a dot in the center */ + if( get_bw(x0 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 3 ) ad=99; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/3 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + /* accept 0 with dot in center, accept \/0 too ... */ + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + + i= loop(bp,0 ,0 ,x1-x0,cs,0,RI)- + loop(bp,0 ,2 ,x1-x0,cs,0,RI); + if (i<0) Break; + if (i==0) { + if (loop(bp,dx-1,0 ,x1-x0,cs,0,LE)> + loop(bp,dx-1,2 ,x1-x0,cs,0,LE) ) ad=98*ad/100; + ad=99*ad/100; /* LCD-type? */ + } + + x=loop(bp,dx-1,dy-1-dy/3,x1-x0,cs,0,LE); // should be minimum + for (y=dy-1-dy/3;yx) x=i; + } + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) { + if (dx<32) ad=ad*99/100; else Break; // ~D + } + + // search lowest inner white point + for(y=dy,j=x=0;x 1 ) ad=99*ad/100; // ~a \it a + + if (loop(bp, 0, 0,x1-x0,cs,0,RI)>=dx/8) { // round, notLCD + if (loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)dy/8 + || num_cross(0,dx-1, 0, 0,bp,cs) > 1 + || num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + ) ad=98*ad/100; // ~bq + + if (box1->m3) { + if (!hchar) ad=98*ad/100; else // ~o + if ( gchar) ad=99*ad/100; // wrong line detection? + } else { if (ad==100) ad=99; } /* not 100% sure */ + if (ad>99) ad=99; /* we can never be sure having a O, + let context correction decide, see below! */ + Setac(box1,(wchar_t)'0',ad); + break; + } + // --- test 0 with a straight line in it ------------------- + for(ad=100;dx>4 && dy>5;){ /* v0.3.1+ */ + DBG( char c_ask='0'; ) + if (sdata->holes.num > 3) Break; /* be tolerant */ + if (sdata->holes.num < 1) Break; + if (sdata->holes.num != 2) ad=95*ad/100; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 1 ) Break; + // out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 3 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + if (sdata->holes.num != 2) ad=85*ad/100; + + if( loop(bp,0 , 0,x1-x0,cs,0,RI)<= + loop(bp,0 , 2+dy/32,x1-x0,cs,0,RI) ) Break; + x= loop(bp,0 ,dy/2 ,x1-x0,cs,0,RI); + i= loop(bp,0 ,dy/2-1,x1-x0,cs,0,RI); if (i>x) x=i; + i= loop(bp,0 ,dy/2-2,x1-x0,cs,0,RI); if (i>x && dy>8) x=i; + if( loop(bp,0 , dy/4,x1-x0,cs,0,RI)x) x=i; + i= loop(bp,dx-1,dy/2-1,x1-x0,cs,0,LE); if(i>x && dy>8) x=i; + if( loop(bp,dx-1,3*dy/4,x1-x0,cs,0,LE)x) x=i; + } + if( ydy/4) Break; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,1,UP); if(y>dy/3) Break; if (y>dy/4) ad=ad*99/100; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,0,UP); if(3*y>2*dy) Break; + x =loop(bp,dx/2,dy-y,dx/2,cs,0,RI); if(x==0) Break; + // MM; fprintf(stderr," y=%d x=%d\n",y-1,x); + if( loop(bp,dx/2+x-1-dx/16,dy-y,y1-y0,cs,0,UP)==0 ) Break; + // $ + for(i=0,y=dy/4;y dx/4 + || loop(bp,dx-1,y,dx-1,cs,0,LE) > dx/4 ) break; + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + /* 5x9 font "9" is like "0" */ + if (dx<16) + if ( num_cross(x0,x0,y0,y1,box1->p,cs) != 1 ) ad=98*ad/100; + + // italic a + for(i=0,y=6*dy/8;y 2 ) i++; else i--; + if(i>0) ad=ad*98/100; // ~'a' \it a + if( !hchar ) ad=90*ad/100; + Setac(box1,(wchar_t)'0',ad); + break; + } + // --- test 0 with a straight dot in it ------------------- + for(ad=100;dx>4 && dy>5;){ /* v0.46+ */ + DBG( char c_ask='0'; ) + if (sdata->holes.num != 1) Break; /* do not be tolerant */ + if (sdata->box1->num_frames != 2) ad=85*ad/100; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 1 ) Break; + // out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 3 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + + if( loop(bp,0 , 0,x1-x0,cs,0,RI)<= + loop(bp,0 , 2+dy/32,x1-x0,cs,0,RI) ) Break; + x= loop(bp,0 ,dy/2 ,x1-x0,cs,0,RI); + i= loop(bp,0 ,dy/2-1,x1-x0,cs,0,RI); if (i>x) x=i; + i= loop(bp,0 ,dy/2-2,x1-x0,cs,0,RI); if (i>x && dy>8) x=i; + if( loop(bp,0 , dy/4,x1-x0,cs,0,RI)x) x=i; + i= loop(bp,dx-1,dy/2-1,x1-x0,cs,0,LE); if(i>x && dy>8) x=i; + if( loop(bp,dx-1,3*dy/4,x1-x0,cs,0,LE)x) x=i; + } + if( ydy/4) Break; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,1,UP); if(y>dy/3) Break; if (y>dy/4) ad=ad*99/100; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,0,UP); if(3*y>2*dy) Break; + x =loop(bp,dx/2,dy-y,dx/2,cs,0,RI); if(x==0) Break; + // MM; fprintf(stderr," y=%d x=%d\n",y-1,x); + if( loop(bp,dx/2+x-1-dx/16,dy-y,y1-y0,cs,0,UP)==0 ) Break; + // $ + for(i=0,y=dy/4;y dx/4 + || loop(bp,dx-1,y,dx-1,cs,0,LE) > dx/4 ) break; + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + /* 5x9 font "9" is like "0" */ + if (dx<16) + if ( num_cross(x0,x0,y0,y1,box1->p,cs) != 1 ) ad=98*ad/100; + + // italic a + for(i=0,y=6*dy/8;y 2 ) i++; else i--; + if(i>0) ad=ad*98/100; // ~'a' \it a + if( !hchar ) ad=90*ad/100; + Setac(box1,(wchar_t)'0',ad); + break; + } + return box1->c; +} diff --git a/.svn/pristine/66/6682313ede5ae04fd825d1c808f6ac248d23d676.svn-base b/.svn/pristine/66/6682313ede5ae04fd825d1c808f6ac248d23d676.svn-base new file mode 100644 index 0000000..90de1f1 --- /dev/null +++ b/.svn/pristine/66/6682313ede5ae04fd825d1c808f6ac248d23d676.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "slam6d/scan_io.h" + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/67/677066d1e155e2dc9195aa9668e5d17ea7650426.svn-base b/.svn/pristine/67/677066d1e155e2dc9195aa9668e5d17ea7650426.svn-base new file mode 100644 index 0000000..2ed8875 --- /dev/null +++ b/.svn/pristine/67/677066d1e155e2dc9195aa9668e5d17ea7650426.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in IFP format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_IFP_H__ +#define __SCAN_IO_IFP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for IFP (Stuttgart) scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ifp : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/67/67b16845a4533699b4869e44b61c389c316a8d3d.svn-base b/.svn/pristine/67/67b16845a4533699b4869e44b61c389c316a8d3d.svn-base new file mode 100644 index 0000000..894d7e8 --- /dev/null +++ b/.svn/pristine/67/67b16845a4533699b4869e44b61c389c316a8d3d.svn-base @@ -0,0 +1,29 @@ +function output = recordingtime_gps(input, ref) + +[input_m, input_n] = size(input); +[ref_m, ref_n] = size(ref); + +output = zeros(ref_m, input_n); + +for i = 1 : ref_m + upper_index = find(input(:,1) > ref(i,1)); + + upper = input(upper_index(1),:); + + if(upper_index(1) > 1) + lower = input((upper_index(1)-1),:); + else + lower = upper; + end + + diff = upper - lower; + + if(diff(1) == 0) + rel_time = 0; + else + rel_time = (ref(i,1) - lower(1,1)) / diff(1); + end + + output(i,:) = lower + rel_time .* diff; + +end diff --git a/.svn/pristine/67/67dde7bb46c00cac257bcc8da589e6422509c22a.svn-base b/.svn/pristine/67/67dde7bb46c00cac257bcc8da589e6422509c22a.svn-base new file mode 100644 index 0000000..461dbe4 --- /dev/null +++ b/.svn/pristine/67/67dde7bb46c00cac257bcc8da589e6422509c22a.svn-base @@ -0,0 +1,121 @@ +/** + * @file + * @brief Inline helper functions for show program + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/globals.icc" + +/** + * converts a quaterion to a 4x4 matrix + * in OpenGL style + */ +template +inline void QuaternionToMatrix4(const double *quat, T *mat) +{ + double xy = quat[0] * quat[1] * -1.0; + double xz = quat[0] * quat[2]; + double yz = quat[1] * quat[2] * -1.0; + double wx = quat[3] * quat[0]; + double wy = quat[3] * quat[1] * -1.0; + double wz = quat[3] * quat[2]; + double x2 = sqr(quat[0]); + double y2 = sqr(quat[1]); + double z2 = sqr(quat[2]); + + mat[0] = 1.0 - 2.0 * (y2 + z2); + mat[4] = 2.0 * (xy - wz); + mat[8] = 2.0 * (xz + wy); + + mat[1] = 2.0 * (xy + wz); + mat[5] = 1.0 - 2.0 * (x2 + z2); + mat[9] = 2.0 * (yz - wx); + + mat[2] = 2.0 * (xz - wy); + mat[6] = 2.0 * (yz + wx); + mat[10] = 1.0 - 2.0 * (x2 + y2); + + mat[11] = mat[7] = mat[3] = mat[12] = mat[13] = mat[14] = 0.0; + mat[15] = 1.0; +} + +/** + * converts a 4x4 matrix to a quaternion + */ +template +inline void Matrix4ToQuaternion(const T *mat, double *quat) +{ + double S; + double Trace = 1 + mat[0] + mat[5] + mat[10]; + if ( Trace > COMPARE_EPSILON ) { + S = sqrt(Trace) * 2; + quat[0] = -1.0 * ( mat[9] - mat[6] ) / S; // q_x + quat[1] = -1.0 * ( mat[2] - mat[8] ) / S; // q_y + quat[2] = -1.0 * ( mat[4] - mat[1] ) / S; // q_z + quat[3] = 0.25 * S; // q_0 + } else if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0: + S = sqrt( 1.0 + mat[0] - mat[5] - mat[10] ) * 2; + quat[0] = -1.0 * 0.25 * S; + quat[1] = -1.0 * (mat[4] + mat[1] ) / S; + quat[2] = -1.0 * (mat[2] + mat[8] ) / S; + quat[3] = (mat[9] - mat[6] ) / S; + } else if ( mat[5] > mat[10] ) { // Column 1: + S = sqrt( 1.0 + mat[5] - mat[0] - mat[10] ) * 2; + quat[0] = -1.0 * (mat[4] + mat[1] ) / S; + quat[1] = -1.0 * 0.25 * S; + quat[2] = -1.0 * (mat[9] + mat[6] ) / S; + quat[3] = (mat[2] - mat[8] ) / S; + } else { // Column 2: + S = sqrt( 1.0 + mat[10] - mat[0] - mat[5] ) * 2; + quat[0] = -1.0 * (mat[2] + mat[8] ) / S; + quat[1] = -1.0 * (mat[9] + mat[6] ) / S; + quat[2] = -1.0 * 0.25 * S; + quat[3] = (mat[4] - mat[1] ) / S; + } +} + +/** + * normalizes a quaternion to gain a unit quaternion + */ +template +inline void QuatNormalize(T *q) +{ + T norm = sqrt(sqr(q[0]) + sqr(q[1]) + sqr(q[2]) + sqr(q[3])); + q[3] = q[3] / norm; + q[2] = q[2] / norm; + q[1] = q[1] / norm; + q[0] = q[0] / norm; +} + +/** + * multiplication of quaternions + */ +template +inline void QuatMult(const T *q, const T *q_new, T *qtemp) +{ + qtemp[3] = q_new[3] * q[3] - q_new[0] * q[0] - q_new[1] * q[1] - q_new[2] * q[2]; + qtemp[0] = q_new[3] * q[0] + q_new[0] * q[3] + q_new[1] * q[2] - q_new[2] * q[1]; + qtemp[1] = q_new[3] * q[1] + q_new[1] * q[3] + q_new[2] * q[0] - q_new[0] * q[2]; + qtemp[2] = q_new[3] * q[2] + q_new[2] * q[3] + q_new[0] * q[1] - q_new[1] * q[0]; +} + +/** + * converts a quaternion to an axis angle + */ +inline void QuaternionToAxisAngle(const double *quat, double *axis, double &angle) +{ + double quaternion_norm = sqrt( sqr(quat[0]) + sqr(quat[1]) + sqr(quat[2]) + sqr(quat[3]) ); + double normalized_quat[4]; + normalized_quat[0] = quat[0] / quaternion_norm; + normalized_quat[1] = quat[1] / quaternion_norm; + normalized_quat[2] = quat[2] / quaternion_norm; + normalized_quat[3] = quat[3] / quaternion_norm; + double cos_a = normalized_quat[3]; + angle = deg(acos( cos_a )) * 2.0; + double sin_a = sqrt( 1.0 - cos_a * cos_a ); + if ( fabs( sin_a ) < DIV_EPSILON ) sin_a = 1; + axis[0] = normalized_quat[0] / sin_a; + axis[1] = normalized_quat[1] / sin_a; + axis[2] = -1.0 * normalized_quat[2] / sin_a; +} diff --git a/.svn/pristine/68/6807985eb3a5333b9b1d7cbd2a3fb8db0935bb15.svn-base b/.svn/pristine/68/6807985eb3a5333b9b1d7cbd2a3fb8db0935bb15.svn-base new file mode 100644 index 0000000..0563554 --- /dev/null +++ b/.svn/pristine/68/6807985eb3a5333b9b1d7cbd2a3fb8db0935bb15.svn-base @@ -0,0 +1,1805 @@ +/* + * accumulator implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/accumulator.h" +#include +#include "slam6d/globals.icc" +#include + + +#ifdef _MSC_VER +#define isnan(_X) ((_X) != (_X)) +#endif + +double* polar2normal(double theta, double phi) { + double * n = new double[4]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + return n; +} + +AccumulatorSimple::AccumulatorSimple(ConfigFileHough myCfg) { + + count = 0; + myConfigFileHough = myCfg; + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[myConfigFileHough.Get_ThetaNum()]; + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +AccumulatorSimple::~AccumulatorSimple() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + +} + +void AccumulatorSimple::printAccumulator() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double theta1 = j * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + double theta2 = (j+1) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + cout << phi1 << " " << theta1 << " " << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << " " << rhosum << " 40" << endl; + cout << endl; + } + + cout << endl; + } + + /* + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + if( accumulator[i][j][k] > 20 ) cout << i << " " << j << " " << k << endl; + } + } + } + */ + +} + +void AccumulatorSimple::resetAccumulator() { + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorSimple::accumulate(double theta, double phi, double rho) { + count++; + //cout << phi << " " << theta << " " << rho << " "; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + //cout << (rhoindex + 0.5) * myConfigFileHough.Get_RhoMax()/myConfigFileHough.Get_RhoNum() << endl; + + int phiindex = (int)(phi*((myConfigFileHough.Get_PhiNum()*0.99999999)/(M_PI))); + int thetaindex = (int)(theta*((myConfigFileHough.Get_ThetaNum()*0.9999999)/(2*M_PI))); + + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorSimple::accumulate(Point p) { +// cout << p.x << " " << p.y << " " << p.z << endl; + + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + //TODO 0.99 vielleicht nicht gut + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +// cout << "fertig" << endl; + +} + +double* AccumulatorSimple::accumulateRet(Point p) { + count++; + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(((unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax() && (unsigned int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) + || (unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax()) { + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + + angles[0] = -1; + return angles; + +} + +int* AccumulatorSimple::accumulateAPHT(Point p) { + + int tmpInt = 0; + // rho theta phi + int* angles = new int[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpInt) { + angles[0] = k; + angles[1] = j; + angles[2] = i; + tmpInt = accumulator[k][i][j]; + } + } + + } + } + } + + return angles; + +} + + +double* AccumulatorSimple::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*((double)(myConfigFileHough.Get_PhiNum())/(M_PI))); + int thetaindex = (int)(theta*(((double)myConfigFileHough.Get_ThetaNum())/(2*M_PI))); + thetaindex = thetaindex % myConfigFileHough.Get_ThetaNum(); + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / (double)myConfigFileHough.Get_ThetaNum()); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + return polar2normal(theta, phi); +} + +double* AccumulatorSimple::getMax(int* cell) { + double phi = (0.5 + cell[3]) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / + (double)myConfigFileHough.Get_ThetaNum()); + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = polar2normal(theta, phi); + polar[3] = rho; + return polar; +} + +multiset* AccumulatorSimple::getMax() { +//void AccumulatorSimple::getMax() { + multiset* maxlist = new multiset(); + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + int* tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + } + } + } + return maxlist; +} + +void AccumulatorSimple::peakWindow(int size) { + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum() - size; i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum() - size; j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; ii < i + size; ii++) { + for(unsigned int ji = j; ji < j + size; ji++) { + for(unsigned int ki = k; ki < k + size; ki++) { + if(accumulator[ii][ji][ki] > max) { + max = accumulator[ii][ji][ki]; + } + } + } + } + for(unsigned int ii = i; ii < i + size; ii++) { + for(unsigned int ji = j; ji < j + size; ji++) { + for(unsigned int ki = k; ki < k + size; ki++) { + if(accumulator[ii][ji][ki] < max) { + accumulator[ii][ji][ki] = 0; + } + } + } + } + } + } + } +} + +AccumulatorBall::AccumulatorBall(ConfigFileHough myCfg) { + count = 0; + int countCells = 0; + myConfigFileHough = myCfg; + + double c = 0.0; + int counter = 0; + ballNr = new int[myConfigFileHough.Get_PhiNum()]; + double step = 180.0/myConfigFileHough.Get_PhiNum(); + + //double MAX_A = M_PI * (2 * fabs(0 - cos(rad(90- step))) + sin(rad(90 - step)) * sin(rad(90 - step)) + 1 * 1); + + double MAX_A = 2 * M_PI * 1.0; + + double r = sin(rad(0.0)); + double z = cos(rad(0.0)); + double r_next = 0.0; + double z_next = 0.0; + + for(double phi = 0; phi < 180.0; phi+=step) { + r_next = sin(rad(phi+step)); + z_next = cos(rad(phi+step)); + // Flaecheninhalt der aktuellen Kreisscheibe + //double a = (M_PI * (2.0 * 1.0 * fabs(z - z_next) + r*r + r_next*r_next)); + // Umfang des aktuellen Kreises + double a = 2 * M_PI * (r + r_next)/2.0; + //a = (r*r - r_next*r_next) * PI; //Flaechenvergleich + + // Berechnung der Schrittgroesse in Grad + c = ((360.0 * (MAX_A / a)) / (myConfigFileHough.Get_ThetaNum() - 1)); + // Berechnung der Felder im Akkumulatorarray + int size = (int)(1.0 + 360.0/c); + //if(true) { + ballNr[counter] = size; + //} else { + // ballNr[counter] = myConfigFileHough.Get_ThetaNum(); + //} + + //cout << counter << endl; + r = r_next; + z = z_next; + counter++; + } + + + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[ballNr[j]]; + for(int k = 0; k < ballNr[j]; k++) { + accumulator[i][j][k] = 0; + countCells++; + } + } + } + cout << "CountCells " << countCells << endl; +} + +AccumulatorBall::~AccumulatorBall() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + delete[] ballNr; + +} + +void AccumulatorBall::printAccumulator() { + int sum = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + sum += ballNr[i]; + } + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(int j = 0; j < ballNr[i]; j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double theta1 = j * 2*M_PI / ballNr[i]; + double theta2 = (j+1) * 2*M_PI / ballNr[i]; + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + /* + for(int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + */ + rhosum = accumulator[33][i][j]; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << endl; + } + + //cout << endl; + } +} + +void AccumulatorBall::resetAccumulator() { + + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorBall::accumulate(double theta, double phi, double rho) { + count++; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum()*0.9999999)/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr*0.9999999999)/(2*M_PI))); + if(thetaindex >= bNr) { + cout << "duet"; + } + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorBall::accumulate(Point p) { + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +} +double* AccumulatorBall::accumulateRet(Point p) { + count++; + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if( + ((unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax() && + (unsigned int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) || + (unsigned int)accumulator[k][i][j] > 10*myConfigFileHough.Get_AccumulatorMax()) { + angles[0] = rho; + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + angles[0] = -1; + return angles; +} + +int* AccumulatorBall::accumulateAPHT(Point p) { + + // rho theta phi + int tmpMax = 0; + int* angles = new int[4]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpMax) { + angles[1] = k; + angles[2] = j; + angles[3] = i; + angles[0] = tmpMax = accumulator[k][i][j]; + } + } + + } + } + } + return angles; +} + +double* AccumulatorBall::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + double tmprho = rho; + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*0.99999999*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*0.99999999*(((double)myConfigFileHough.Get_PhiNum())/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr + 1)/(2*M_PI))); + thetaindex = thetaindex % bNr; + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / bNr); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + if(fabs(rho - rho) > 0.01) cout << rho << " " << tmprho << " " << rhoindex << endl; + return polar2normal(theta, phi); +} +double* AccumulatorBall::getMax(int* cell) { + double phi = (0.5 + cell[3]) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + int bNr = ballNr[cell[3]]; + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / bNr); + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = polar2normal(theta, phi); + if(isnan(polar[0])) { + cout << cell[1] << " " << cell[2] << " " << cell[3] << endl; + cout << theta <<" bla " << phi << endl; + } + polar[3] = rho; + return polar; +} + +multiset* AccumulatorBall::getMax() { +//void AccumulatorBall::getMax() { + multiset* maxlist = new multiset(); + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + int * tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + } + } + } + cout << maxlist->size() << endl; + return maxlist; +} + +void AccumulatorBall::peakWindow(int size) { + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum() - size; i++) { + //cout << "Peak " << i << endl; + for(int j = 0; j < ballNr[i] - size; j++) { + + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; (ii < (i + size)) && (ii < myConfigFileHough.Get_PhiNum()); ii++) { + for(int ji = j; (ji < (j + size)) && (ji < ballNr[ii]); ji++) { + for(unsigned int ki = k; (ki < (k + size)) && (ki < myConfigFileHough.Get_RhoNum()); ki++) { + if(accumulator[ki][ii][ji] > max) { + max = accumulator[ki][ii][ji]; + } + } + } + } + for(unsigned int ii = i; ii < i + size && ii < myConfigFileHough.Get_PhiNum(); ii++) { + for(int ji = j; ji < j + size && ji < ballNr[ii]; ji++) { + for(unsigned int ki = k; ki < k + size && ki < myConfigFileHough.Get_RhoNum(); ki++) { + if(accumulator[ki][ii][ji] < max) { + accumulator[ki][ii][ji] = 0; + } + } + } + } + } + } + } +} + +//BLUB + + + +AccumulatorCube::AccumulatorCube(ConfigFileHough myCfg) { + int countCells = 0; + count = 0; + myConfigFileHough = myCfg; + nrCells = myConfigFileHough.Get_ThetaNum()/4; + accumulator = new int***[6]; + for(int i = 0; i < 6; i++) { + accumulator[i] = new int**[nrCells]; + for(int j = 0; j < nrCells; j++) { + accumulator[i][j] = new int*[nrCells]; + for(int k = 0; k < nrCells; k++) { + accumulator[i][j][k] = new int[myConfigFileHough.Get_RhoNum()]; + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + accumulator[i][j][k][l] = 0; + countCells++; + } + } + } + } + cout << "countCells " << countCells << endl; +} + +AccumulatorCube::~AccumulatorCube() { + nrCells = myConfigFileHough.Get_ThetaNum()/4; + + for(unsigned int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + delete[] accumulator[i][j][k]; + } + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + +} + +void AccumulatorCube::printAccumulator2() { + + double **result; + result = new double*[4]; + result[0] = new double[3]; + result[1] = new double[3]; + result[2] = new double[3]; + result[3] = new double[3]; + + int j; + int k; + + for(int i = 0; i < 6; i+=1) { + + for(j = 1, k = 1; j <= nrCells; j++) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + //double phi2 = polar2[0]; + //double theta2 = polar2[1]; + //double phi3 = polar3[0]; + //double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + cout << phi1 << " " << theta1 << " " << " 40" << endl; + cout << phi4 << " " << theta4 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(j--; k <= nrCells; k++) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + //double phi1 = polar1[0]; + //double theta1 = polar1[1]; + //double phi2 = polar2[0]; + //double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + cout << phi4 << " " << theta4 << " " << " 40" << endl; + cout << phi3 << " " << theta3 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(k--; j > 0; j--) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + //double phi1 = polar1[0]; + //double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + //double phi4 = polar4[0]; + //double theta4 = polar4[1]; + + cout << phi3 << " " << theta3 << " " << " 40" << endl; + cout << phi2 << " " << theta2 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(j++; k > 0; k--) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + //double phi3 = polar3[0]; + //double theta3 = polar3[1]; + //double phi4 = polar4[0]; + //double theta4 = polar4[1]; + + cout << phi2 << " " << theta2 << " " << " 40" << endl; + cout << phi1 << " " << theta1 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + + cout << 0.0 << " " << 0.0 << " " << " 0" << endl; + } + cout << 0.0 << " " << 0.0 << " " << " 0" << endl; +} + +void AccumulatorCube::printAccumulator() { + + //double norm[3]; + //double polar[3]; +// double *result; + + double **result; + result = new double*[4]; + result[0] = new double[3]; + result[1] = new double[3]; + result[2] = new double[3]; + result[3] = new double[3]; + + //buffer_point bp; + + /* + for(double o = -0.9; o < 1.0; o+=0.1) { + for(double p = -0.9; p < 1.0; p+=0.1) { + norm[2] = o; + norm[1] = p; + norm[0] = 1.0; + toPolar(norm, polar); + + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + + cout << polar[0] << " " << polar[1] << " " << 40 << endl; + //if(fabs(polar[1]) < 0.0001) + // cout << "STOP" << "-1.0 " << p << " " << o << endl; + delete[] result; + } + } + */ + + /* + norm[0] = 1.0; + norm[1] = 0.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl << endl << endl; + delete[] result; + + norm[0] = -1.0; + norm[1] = 0.0; + norm[2] = 0.0; + + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 1.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = -1.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = 1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = -1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; +*//* + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = -1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + + int i = bp.face - 1; + int j = bp.i; + int k = bp.j; + */ + for(int i = 0; i < 6; i+=1) { + cout << 0.0 << " " << 0.0 << " " << 0 << " 0" << endl; + //for(int j = 1; j j <= nrCells j+= (nrCells-1)) { + for(int j = 1; j <= nrCells; j++) { + //cout << endl; + //for(int k = 1; j k <= nrCells k+= (nrCells-1)) { + for(int k = 1; k <= nrCells; k++) { + //cout << endl; + int rhosum = 0; + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + rhosum += accumulator[i][j-1][k-1][l]; + } + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + /* + cout << result[0][0] << " " << result[0][1] << " " << result[0][2] << endl; + cout << result[1][0] << " " << result[1][1] << " " << result[1][2] << endl; + cout << result[2][0] << " " << result[2][1] << " " << result[2][2] << endl; + cout << result[3][0] << " " << result[3][1] << " " << result[3][2] << endl; + cout << result[0][0] << " " << result[0][1] << " " << result[0][2] << endl; + */ + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + /* + cout << phi - 0.02 << " " << theta - 0.02 << " " << rhosum << endl; + cout << phi + 0.02 << " " << theta - 0.02 << " " << rhosum << endl; + cout << phi + 0.02 << " " << theta + 0.02 << " " << rhosum << endl; + cout << phi - 0.02 << " " << theta + 0.02 << " " << rhosum << endl; + */ + + /* + cout << (j+1+i*nrCells) << " " << k+1 << " " << rhosum << endl; + cout << (j+1+i*nrCells) << " " << k << " " << rhosum << endl; + cout << (j+i*nrCells) << " " << k << " " << rhosum << endl; + cout << (j+i*nrCells) << " " << k+1 << " " << rhosum << endl; + */ + /* + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + */ + + if(phi1 < M_PI/nrCells && fabs(phi1-phi2) < 0.001 && fabs(phi1-phi3) < 0.001 && fabs(phi1 - phi4) < 0.001) { + //if(phi1 < M_PI/nrCells && phi2 < M_PI/nrCells && phi3 < M_PI/nrCells && phi4 < M_PI/nrCells) { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + cout << endl; + //cout << endl; + + } //else if(M_PI - phi1 < M_PI/nrCells && M_PI - phi2 < M_PI/nrCells && M_PI - phi3 < M_PI/nrCells && M_PI - phi4 < M_PI/nrCells){ + else if(M_PI - phi1 < M_PI/nrCells && fabs(phi1-phi2) < 0.001 && fabs(phi1-phi3) < 0.001 && fabs(phi1 - phi4) < 0.001) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << M_PI << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << M_PI << " " << 0.0 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << endl; + //<< endl; + + + } else if(fabs(phi1 - phi2) < 2.0 && fabs(theta2 - theta3) < 3.0 && fabs(theta4 - theta3) < 3.0) { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + //cout << endl; + cout << endl; + } else if(fabs(phi1 - phi2) < 2.0) { + if(fabs(theta2 - theta3) < 3.0) { + if(theta3 < 1.0) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 0.0 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + //cout << endl; + cout << endl; + } else { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + } + } else if(theta3 < 1.0) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + } else { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 0.0 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + } + } else if(phi1 < 1.0) { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << M_PI << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << M_PI << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + + } else { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta2 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << 0.0 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << 0.0 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + } + + // cout << endl; + // cout << endl; + //delete[] tmp; + + } + } + cout << endl; + } + + for(int i = 0; i < 3; i++) { + delete[] result[i]; + } + delete[] result; + +} + +void AccumulatorCube::resetAccumulator() { + count = 0; + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + accumulator[i][j][k][l] = 0; + } + } + } + } +} + +bool AccumulatorCube::accumulate(double theta, double phi, double rho) { + count++; + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + + buffer_point bp = coords_s2_to_cell(n, nrCells); + + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + accumulator[bp.face - 1][bp.i - 1][bp.j - 1][rhoindex]++; + lastbp = bp; + + return accumulator[bp.face - 1][bp.i - 1][bp.j - 1][rhoindex] > (int)myConfigFileHough.Get_AccumulatorMax(); +} + +double* AccumulatorCube::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + double* result; + result = coords_cube_to_s2(lastbp, nrCells); + //cout << "N: " << result[0] << " " << result[1] << " " << result[2] << endl; + return result; +} + +void AccumulatorCube::accumulate(Point p) { + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + } + + } + delete[] n; + } + } + } +} + +double* AccumulatorCube::accumulateRet(Point p) { + // rho theta phi + count++; + double * angles = new double[3]; + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + if(((unsigned int)accumulator[i][j-1][k-1][l] > myConfigFileHough.Get_AccumulatorMax() + && (unsigned int)accumulator[i][j-1][k-1][l] > + count*myConfigFileHough.Get_PlaneRatio()) || + (unsigned int)accumulator[i][j-1][k-1][l] > 10*myConfigFileHough.Get_AccumulatorMax() + ) { + double polar[3]; + toPolar(n, polar); + angles[0] = rho; + angles[1] = polar[1]; + angles[2] = polar[0]; + return angles; + } + } + + } + delete[] n; + } + } + } + angles[0] = -1.0; + return angles; +} + +int* AccumulatorCube::accumulateAPHT(Point p) { + // rho theta phi + int tmpMax = 0; + int * angles = new int[4]; + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + if(accumulator[i][j-1][k-1][l] > tmpMax) { + angles[0] = l; + angles[1] = i; + angles[2] = j; + angles[3] = k; + tmpMax = accumulator[i][j-1][k-1][l]; + } + } + + } + delete[] n; + } + } + } + return angles; +} + +double* AccumulatorCube::getMax(int* cell) { + buffer_point bp; + bp.face = cell[2] + 1; + bp.i = cell[3] + 1; + bp.j = cell[4] + 1; + + + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = coords_cube_to_s2(bp, nrCells); + double* polar2 = new double[4]; + for(int i = 0; i < 3; i++) { + polar2[i] = polar[i]; + } + delete[] polar; + polar2[3] = rho; + return polar2; +} + +//void AccumulatorCube::getMax() { +multiset* AccumulatorCube::getMax() { + multiset* maxlist = new multiset(); + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + int* tmp = new int[5]; + tmp[0] = accumulator[i][j][k][l]; + tmp[1] = l; + tmp[2] = i; + tmp[3] = j; + tmp[4] = k; + maxlist->insert(tmp); + } + } + } + } + return maxlist; +} + +void AccumulatorCube::peakWindow(int size) { + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells - size; j++) { + for(int k = 0; k < nrCells - size; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum() - size; l++) { + int max = 0; + for(int ji = j; ji < j + size; ji++) { + for(int ki = k; ki < k + size; ki++) { + for(unsigned int li = l; li < l + size; li++) { + if(accumulator[i][ji][ki][li] > max) { + max = accumulator[i][ji][ki][li]; + } + } + } + } + for(int ji = j; ji < j + size; ji++) { + for(int ki = k; ki < k + size; ki++) { + for(unsigned int li = l; li < l + size; li++) { + if(accumulator[i][ji][ki][li] < max) { + accumulator[i][ji][ki][li] = 0; + } + } + } + } + } + } + } + } +} + + +/*** HERE BEGINS THE ACCUMULATORBALL IMPROVED ***/ + +AccumulatorBallI::AccumulatorBallI(ConfigFileHough myCfg) { + count = 0; + int countCells = 0; + myConfigFileHough = myCfg; + + int counter = 0; + ballNr = new int[myConfigFileHough.Get_PhiNum()]; + step = 180.0/myConfigFileHough.Get_PhiNum(); + + //double MAX_A = M_PI * (2 * fabs(0 - cos(rad(90- step))) + sin(rad(90 - step)) * sin(rad(90 - step)) + 1 * 1); + + double h_0 = cos(rad(90 - step)); + double MAX_A = (2.0 * M_PI * h_0) / myConfigFileHough.Get_ThetaNum(); + double h_top = MAX_A /(2.0 * M_PI); + phi_top_rad = acos(1 - h_top); + phi_top_deg = deg(phi_top_rad); + step = (180.0 - 2.0 * phi_top_deg) / (double)(myConfigFileHough.Get_PhiNum() - 2.0); + + double phi; + ballNr[counter] = 1; + ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] = 1; + counter++; + + for(phi = phi_top_deg; phi < 90; phi+=step) { + double h_i = cos(rad(phi)) - cos(rad(phi + step)); + double a_i = 2 * M_PI * h_i; + ballNr[counter] = a_i / MAX_A; + ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] = a_i / MAX_A; + //cout << counter << " " << ballNr[counter] << " " << a_i << " " << MAX_A << endl; + //cout << myConfigFileHough.Get_PhiNum() - 1 - counter << " " << ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] << " " << a_i << " " << MAX_A << endl; + counter++; + } + /* + for(int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + cout << i << ": " << ballNr[i] << endl; + } + cout << "BallNR erzeugt" << endl; + */ + + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[ballNr[j]]; + for(int k = 0; k < ballNr[j]; k++) { + accumulator[i][j][k] = 0; + countCells++; + } + } + } + cout << "CountCells " << countCells << endl; +} + +AccumulatorBallI::~AccumulatorBallI() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + delete[] ballNr; + +} + +void AccumulatorBallI::printAccumulator() { +//TODO + int sum = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + sum += ballNr[i]; + } + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(int j = 0; j < ballNr[i]; j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + double theta1 = j * 2*M_PI / ballNr[i]; + double theta2 = (j+1) * 2*M_PI / ballNr[i]; + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + /* + for(int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + */ + rhosum = accumulator[33][i][j]; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << endl; + } + + //cout << endl; + } +} + +void AccumulatorBallI::resetAccumulator() { + +//TODO + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorBallI::accumulate(double theta, double phi, double rho) { +//TODO + count++; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum()*0.9999999999)/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr*0.9999999999)/(2*M_PI))); + if(thetaindex >= bNr) { + cout << "duet"; + } + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorBallI::accumulate(Point p) { + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = phi_top_rad + (i-0.5) * rad(step); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + if(i == 0) { + n[0] = 0.0; + n[1] = 0.0; + n[2] = 1.0; + } else if (i == myConfigFileHough.Get_RhoNum() - 1) { + n[0] = 0.0; + n[1] = 0.0; + n[2] = -1.0; + } else { + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + } + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * (double)myConfigFileHough.Get_RhoMax() / (double)myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +} +double* AccumulatorBallI::accumulateRet(Point p) { + count++; +//TODO + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(((unsigned int)accumulator[k][i][j] > + myConfigFileHough.Get_AccumulatorMax() && (unsigned + int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) + || (unsigned int)accumulator[k][i][j] > 10*myConfigFileHough.Get_AccumulatorMax() ) { + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + angles[0] = -1; + return angles; +} + +int* AccumulatorBallI::accumulateAPHT(Point p) { + +//TODO + // rho theta phi + int tmpMax = 0; + int* angles = new int[4]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpMax) { + angles[1] = k; + angles[2] = j; + angles[3] = i; + angles[0] = tmpMax = accumulator[k][i][j]; + } + } + + } + } + } + return angles; +} + +double* AccumulatorBallI::getMax(double &rho, double &theta, double &phi) { +//TODO was?? + + unsigned int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = + (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + unsigned int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum())/(M_PI))); + if(phiindex == myConfigFileHough.Get_PhiNum()) phiindex--; + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr + 1)/(2*M_PI))); + thetaindex = thetaindex % bNr; + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / bNr); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + return polar2normal(theta, phi); +} +double* AccumulatorBallI::getMax(int* cell) { + double * polar; + if(cell[3] == 0) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = 1.0; + } else if((unsigned int)cell[3] == myConfigFileHough.Get_PhiNum() - 1) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = -1.0; + } else { + double phi = phi_top_rad + (-0.5 + cell[3]) * rad(step); + double bNr = ballNr[cell[3]]; + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / bNr); + polar = polar2normal(theta, phi); + } + + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + if(isnan(polar[0])) { + cout << cell[1] << " " << cell[2] << " " << cell[3] << endl; + //cout << theta <<" bla " << phi << endl; + } + polar[3] = rho; + return polar; +} + +multiset* AccumulatorBallI::getMax() { +//void AccumulatorBallI::getMax() { + multiset* maxlist = new multiset(); + //for(unsigned int i = 0; i < 1; i++) { + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + int * tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + double * polar; + double phi; + double theta = 0.0; + if(tmp[3] == 0) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = 1.0; + phi = 0; + } else if((unsigned int)tmp[3] == myConfigFileHough.Get_PhiNum() - 1) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = -1.0; + phi = M_PI; + } else { + phi = phi_top_rad + (-0.5 + tmp[3]) * rad(step); + int bNr = ballNr[tmp[3]]; + theta = (0.5 + tmp[2]) * (double)(2.0 * M_PI / (double)bNr); + polar = polar2normal(theta, phi); + } + //cout << polar[0] << " " << polar[1] << " " << polar[2] << " " << phi << " " << theta << endl; + } + } + } + cout << "Maxlist Size:" << maxlist->size() << endl; + return maxlist; +} +void AccumulatorBallI::peakWindow(int size) { + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum() - size; i++) { + //cout << "Peak " << i << endl; + for(int j = 0; j < ballNr[i] - size; j++) { + + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; (ii < (i + size)) && (ii < myConfigFileHough.Get_PhiNum()); ii++) { + for(int ji = j; (ji < (j + size)) && (ji < ballNr[ii]); ji++) { + for(unsigned int ki = k; (ki < (k + size)) && (ki < myConfigFileHough.Get_RhoNum()); ki++) { + if(accumulator[ki][ii][ji] > max) { + max = accumulator[ki][ii][ji]; + } + } + } + } + for(unsigned int ii = i; ii < i + size && ii < myConfigFileHough.Get_PhiNum(); ii++) { + for(int ji = j; ji < j + size && ji < ballNr[ii]; ji++) { + for(unsigned int ki = k; ki < k + size && ki < myConfigFileHough.Get_RhoNum(); ki++) { + if(accumulator[ki][ii][ji] < max) { + accumulator[ki][ii][ji] = 0; + } + } + } + } + } + } + } +} + diff --git a/.svn/pristine/68/688379589b8bbf3761896bafa6be9eb2f1202d97.svn-base b/.svn/pristine/68/688379589b8bbf3761896bafa6be9eb2f1202d97.svn-base new file mode 100644 index 0000000..0987f3e --- /dev/null +++ b/.svn/pristine/68/688379589b8bbf3761896bafa6be9eb2f1202d97.svn-base @@ -0,0 +1,313 @@ +/* + * serverInterface implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/serverInterface.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +#include +#include + +#include +using namespace boost::filesystem; +using namespace boost::interprocess; + +#include "scanserver/defines.h" +#include "scanserver/frame_io.h" +#include "scanserver/serverScan.h" +#include "scanio/scan_io.h" + +#ifndef _MSC_VER +#include // mlock for avoiding swaps +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + + +SharedScanVector* ServerInterface::readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end) +{ + // INFO + cout << "[Scanserver] Reading directory '" << dir_path << "' ... "; + + // create an instance of ScanIO + ScanIO* sio = ScanIO::getScanIO(type); + + // query available scans in the directory from the ScanIO + std::list identifiers(sio->readDirectory(dir_path, start, end)); + + // create a vector for returning + SharedScanVector* scans = segment_manager->construct(anonymous_instance)(allocator); + scans->reserve(identifiers.size()); + + // INFO + cout << identifiers.size() << " scans found." << endl; + + // share the directory path string between all scans because it's the same + // BUG: before boost-1.47, gcc -O2 and higher caused several boost::ipc:string instances having errors with garbage characters in between and/or more at the end, this is to avoid that problem + SharedStringSharedPtr dir_path_ptr = make_managed_shared_ptr( + segment_manager->construct(anonymous_instance)(dir_path, allocator), *segment_manager); + + // for each identifier, create a scan + for(std::list::iterator it = identifiers.begin(); it != identifiers.end(); ++it) { + // first try to get the scan by matching in the global scan vector + SharedScan* scan = findScan(dir_path_ptr, it->c_str(), type); + // otherwise create a new one and insert it into the global vector + if(!scan) { + // TODO: catch exceptions/errors + scan = static_cast( + segment_manager->construct(anonymous_instance) + (allocator, dir_path_ptr, it->c_str(), type, &m_manager) + ); + m_scans.push_back(offset_ptr(scan)); + } + // insert scan into return scan vector + scans->push_back(offset_ptr(scan)); + } + + return scans; +} + +bool ServerInterface::loadCacheObject(CacheObject* obj) +{ + // INFO + //cout << "ServerInterface::loadCacheObject..." << endl; + + // cache manager handles all the io and allocation issues by calling the cache handler + return m_manager.loadCacheObject(obj); +} + +void ServerInterface::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // INFO + //cout << "ServerInterface::allocateCacheObject (" << size << ")" << endl; + // allocate enough space for a cache object + m_manager.allocateCacheObject(obj, size); + + // INFO + //cout << endl; +} + +void ServerInterface::invalidateCacheObject(CacheObject* obj) +{ + m_manager.invalidateCacheObject(obj); +} + +void ServerInterface::getPose(SharedScan* scan) +{ + // INFO + //cout << "[" << scan->getIdentifier() << "] getPose()"; + + // TODO: catch exceptions + double* pose = segment_manager->construct(anonymous_instance)[6](); + ScanIO* sio = ScanIO::getScanIO(scan->getIOType()); + // TODO: catch more exceptions + sio->readPose(scan->getDirPath(), scan->getIdentifier(), pose); + static_cast(scan)->setPose(pose); + + // INFO + //cout << endl; +} + +void ServerInterface::addFrame(SharedScan* scan) +{ + static_cast(scan)->getFrames().push_back(Frame()); +} + +void ServerInterface::loadFramesFile(SharedScan* scan) +{ + FrameIO::loadFile(scan->getDirPath(), scan->getIdentifier(), static_cast(scan)->getFrames()); +} + +void ServerInterface::saveFramesFile(SharedScan* scan) +{ + FrameIO::saveFile(scan->getDirPath(), scan->getIdentifier(), static_cast(scan)->getFrames()); +} + +void ServerInterface::clearFrames(SharedScan* scan) +{ + static_cast(scan)->getFrames().clear(); +} + +std::size_t ServerInterface::getCacheSize() +{ + return m_cache_size; +} + +void ServerInterface::printMetrics() +{ +#ifdef WITH_METRICS + ServerMetric::print(); +#endif //WITH_METRICS +} + +SharedScan* ServerInterface::findScan(const SharedStringSharedPtr& dir_path, const char* identifier, IOType type) const +{ + // create a stack local scan to compare with all other scans + SharedScan scan(allocator, dir_path, identifier, type); + for(SharedScanVector::const_iterator it = m_scans.begin(); it != m_scans.end(); ++it) { + if(scan == *(*it)) + return it->get(); + } + return 0; +} + +ServerInterface* ServerInterface::create(std::size_t data_size, std::size_t cache_size) +{ + // remove any existing shared memory that wasn't cleaned up + shared_memory_object::remove(SHM_NAME_DATA); + // create the shared memory + if(m_msm != 0) + throw std::runtime_error("Could not create ServerInterface because shared memory already exists"); + try { + m_msm = new managed_shared_memory(create_only, SHM_NAME_DATA, data_size); +#ifndef WIN32 + cout << " Locking data memory... " << std::flush; + int ret = mlock(m_msm->get_address(), m_msm->get_size()); + if(ret == 0) + cout << "success."; + else if(ret == -EPERM) + cout << "unsuccessful, no permissions."; + else if(ret == -ENOMEM) + cout << "unsuccessful, RLIMIT_MEMLOCK too small."; + else + cout << "unsuccessful, error=" << ret << "."; + cout << endl; +#endif + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not create shared memory: ") + e.what()); + } + // create server interface and set the client pointer to it + ServerInterface* server = m_msm->construct(unique_instance)(m_msm->get_segment_manager(), SHM_NAME_CACHE, cache_size); + offset_ptr *ptr = m_msm->construct >(unique_instance)(); + (*ptr) = reinterpret_cast(server); + return server; +} + +void ServerInterface::destroy() +{ + // delete the server instance first + try { + // send message to quit + ServerInterface* server = m_msm->find(unique_instance).first; + server->cleanup(); +/* resetting conditions and mutexes won't work, so just clean up manually + server->m_condition_server.notify_one(); + server->m_condition_client.notify_one(); + server->m_mutex_client.unlock(); + server->m_mutex_server.unlock(); + m_msm->destroy(unique_instance); +*/ + } catch(...) { + // whatever + } + // clean up the memory + if(m_msm != 0) { + delete m_msm; + m_msm = 0; + shared_memory_object::remove(SHM_NAME_DATA); + shared_memory_object::remove(SHM_NAME_CACHE); + } +} + +ServerInterface::ServerInterface(managed_shared_memory::segment_manager * sm, const char* shm_name, std::size_t cache_size) : + ClientInterface(sm), + m_scans(allocator), + m_manager(sm, shm_name, cache_size), + m_cache_size(cache_size) +{ +} + +ServerInterface::~ServerInterface() +{ +} + +void ServerInterface::cleanup() +{ + ScanIO::clearScanIOs(); +} + +void ServerInterface::run() +{ + // take ownership of the server mutex as long as the server is busy + scoped_lock lock(m_mutex_server); + + // run the shop + bool running = true; + while(running) { + // wait for input notification + m_condition_server.wait(lock); + + // clear the error message because the client isn't responsible for it + m_error_message.clear(); + + // process the input + // TEST: simple int pod for message type + try { + if(m_message == MESSAGE_STOP) { + running = false; + cout << "Stopping execution by MESSAGE_STOP request." << endl; + } else + if(m_message == MESSAGE_READ_DIRECTORY) { + m_scanvector_ptr = readDirectory(m_arg_string_1.c_str(), m_arg_io_type, m_arg_uint_1, m_arg_uint_2); + } else + if(m_message == MESSAGE_LOAD_CACHE_OBJECT) { + m_arg_uint_1 = (loadCacheObject(m_cacheobject_ptr.get()) == true? 1: 0); + } else + if(m_message == MESSAGE_ALLOCATE_CACHE_OBJECT) { + allocateCacheObject(m_cacheobject_ptr.get(), m_arg_uint_1); + } else + if(m_message == MESSAGE_INVALIDATE_CACHE_OBJECT) { + invalidateCacheObject(m_cacheobject_ptr.get()); + } else + if(m_message == MESSAGE_GET_POSE) { + getPose(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_ADD_FRAME) { + addFrame(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_LOAD_FRAMES_FILE) { + loadFramesFile(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_SAVE_FRAMES_FILE) { + saveFramesFile(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_CLEAR_FRAMES) { + clearFrames(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_GET_CACHE_SIZE) { + m_arg_size_t = getCacheSize(); + } else + if(m_message == MESSAGE_PRINT_METRICS) { + printMetrics(); + } else + { + cout << "WAH! I do not know thee: " << (unsigned int)m_message << endl; + } + } catch(bad_alloc& e) { + cerr << "Allocation error (you may need to increase the data_size): " << e.what() << endl; + m_error_message = e.what(); + } catch(std::runtime_error& e) { + // don't repeat this for the client + // cerr << "RUNTIME ERROR: " << e.what() << endl; + m_error_message = e.what(); + } + // clear message + m_message = MESSAGE_NONE; + + // notify client about completion + if(running) + m_condition_client.notify_one(); + } +} diff --git a/.svn/pristine/68/688d44b78f3e8319d07aa174a4cd5a7682d8712a.svn-base b/.svn/pristine/68/688d44b78f3e8319d07aa174a4cd5a7682d8712a.svn-base new file mode 100644 index 0000000..7d8ec9a --- /dev/null +++ b/.svn/pristine/68/688d44b78f3e8319d07aa174a4cd5a7682d8712a.svn-base @@ -0,0 +1,55 @@ +#ifndef __RANSAC_H__ +#define __RANSAC_H__ + +#include "shape.h" +#include "slam6d/scan.h" +#include "shapes/ransac_Boctree.h" + +// TODO implement some parameters to modify ransac (maybe in CollisionShape?) +template +void Ransac(CollisionShape &shape, Scan *scan, vector *best_points = 0) { + int best_score = 0; + CollisionShape *best = shape.copy(); + + // stores 3 sample points + vector ps; + // create octree from the points + DataXYZ xyz(scan->get("xyz reduced")); + RansacOctTree *oct = new RansacOctTree(PointerArray(xyz).get(), xyz.size(), 50.0 ); + + cout << "start 5000 iterations" << endl; + for(int i = 0; i < 5000; i++) { + ps.clear(); + // randomly select points from the octree + oct->DrawPoints(ps, shape.getNrPoints()); + // compute shape parameters from points + if ( shape.hypothesize(ps) ) { + // count number of points on the shape + int r = oct->PointsOnShape(shape); + if (r > best_score) { + if (best) delete best; + // remember this best fitted shape + best_score = r; + best = shape.copy(); + } + } + } + cout << "5000 iterations done" << endl; + if (best_points) { + best_points->clear(); + oct->PointsOnShape(*best, *best_points); + cout << "Nr points before refinement " << best_points->size() << endl; + best->refine(best_points); + best_points->clear(); + oct->PointsOnShape(*best, *best_points); + cout << "Nr points after refinement " << best_points->size() << endl; + } + shape = *best; + delete best; + + delete oct; + + +} + +#endif diff --git a/.svn/pristine/68/68b3f120e05611be41043de428e7dea84eddff6e.svn-base b/.svn/pristine/68/68b3f120e05611be41043de428e7dea84eddff6e.svn-base new file mode 100644 index 0000000..3357521 --- /dev/null +++ b/.svn/pristine/68/68b3f120e05611be41043de428e7dea84eddff6e.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in PLY format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PLY_H__ +#define __SCAN_IO_PLY_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for PLY scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ply : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/69/694ad0d54687a93ced5b14df8140ea5c2ee84763.svn-base b/.svn/pristine/69/694ad0d54687a93ced5b14df8140ea5c2ee84763.svn-base new file mode 100644 index 0000000..71b514d --- /dev/null +++ b/.svn/pristine/69/694ad0d54687a93ced5b14df8140ea5c2ee84763.svn-base @@ -0,0 +1,436 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include + +#define _USE_MATH_DEFINES +#include + +#include +#include +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +#ifdef M_PI +const double pi = M_PI; +#else +const double pi = std::atan(1.)*4.; +#endif // M_PI + +namespace cvb +{ + + void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color) + { + CV_FUNCNAME("cvRenderContourChainCode"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + int stepDst = img->widthStep/(img->depth/8); + int img_width = img->width; + int img_height = img->height; + int img_offset = 0; + + if(img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = (img->nChannels * img->roi->xOffset) + (img->roi->yOffset * stepDst); + } + + unsigned char *imgData = (unsigned char *)img->imageData + img_offset; + + unsigned int x = contour->startingPoint.x; + unsigned int y = contour->startingPoint.y; + + for (CvChainCodes::const_iterator it=contour->chainCode.begin(); it!=contour->chainCode.end(); ++it) + { + imgData[img->nChannels*x+img->widthStep*y+0] = (unsigned char)(color.val[0]); // Blue + imgData[img->nChannels*x+img->widthStep*y+1] = (unsigned char)(color.val[1]); // Green + imgData[img->nChannels*x+img->widthStep*y+2] = (unsigned char)(color.val[2]); // Red + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + } + } + __CV_END__; + } + + CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc) + { + CV_FUNCNAME("cvConvertChainCodesToPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(cc!=NULL); + + CvContourPolygon *contour = new CvContourPolygon; + + unsigned int x = cc->startingPoint.x; + unsigned int y = cc->startingPoint.y; + contour->push_back(cvPoint(x, y)); + + if (cc->chainCode.size()) + { + CvChainCodes::const_iterator it=cc->chainCode.begin(); + CvChainCode lastCode = *it; + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + + ++it; + + for (; it!=cc->chainCode.end(); ++it) + { + if (lastCode!=*it) + { + contour->push_back(cvPoint(x, y)); + lastCode=*it; + } + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + } + } + + return contour; + } + __CV_END__; + } + + void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color) + { + CV_FUNCNAME("cvRenderContourPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + CvContourPolygon::const_iterator it=contour->begin(); + + if (it!=contour->end()) + { + unsigned int fx, x, fy, y; + fx = x = it->x; + fy = y = it->y; + + for (; it!=contour->end(); ++it) + { + cvLine(img, cvPoint(x, y), cvPoint(it->x, it->y), color, 1); + x = it->x; + y = it->y; + } + + cvLine(img, cvPoint(x, y), cvPoint(fx, fy), color, 1); + } + } + __CV_END__; + } + + double cvContourPolygonArea(CvContourPolygon const *p) + { + CV_FUNCNAME("cvContourPolygonArea"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + if (p->size()<=2) + return 1.; + + CvContourPolygon::const_iterator it=p->begin(); + CvPoint lastPoint = p->back(); + + double a = 0.; + + for (; it!=p->end(); ++it) + { + a += lastPoint.x*it->y - lastPoint.y*it->x; + lastPoint = *it; + } + + return a*0.5; + } + __CV_END__; + } + + double cvContourChainCodePerimeter(CvContourChainCode const *c) + { + CV_FUNCNAME("cvContourChainCodePerimeter"); + __CV_BEGIN__; + { + CV_ASSERT(c!=NULL); + + double perimeter = 0.; + + for(CvChainCodes::const_iterator it=c->chainCode.begin(); it!=c->chainCode.end(); ++it) + { + if ((*it)%2) + perimeter+=sqrt(1.+1.); + else + perimeter+=1.; + } + + return perimeter; + } + __CV_END__; + } + + double cvContourPolygonPerimeter(CvContourPolygon const *p) + { + CV_FUNCNAME("cvContourPolygonPerimeter"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double perimeter = cvDistancePointPoint((*p)[p->size()-1], (*p)[0]); + + for (unsigned int i=0; isize()-1; i++) + perimeter+=cvDistancePointPoint((*p)[i], (*p)[i+1]); + + return perimeter; + } + __CV_END__; + } + + double cvContourPolygonCircularity(const CvContourPolygon *p) + { + CV_FUNCNAME("cvContourPolygonCircularity"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double l = cvContourPolygonPerimeter(p); + double c = (l*l/cvContourPolygonArea(p)) - 4.*pi; + + if (c>=0.) + return c; + else // This could happen if the blob it's only a pixel: the perimeter will be 0. Another solution would be to force "cvContourPolygonPerimeter" to be 1 or greater. + return 0.; + } + __CV_END__; + } + + void simplifyPolygonRecursive(CvContourPolygon const *p, int const i1, int const i2, bool *pnUseFlag, double const delta) + { + CV_FUNCNAME("cvSimplifyPolygonRecursive"); + __CV_BEGIN__; + { + int endIndex = (i2<0)?p->size():i2; + + if (abs(i1-endIndex)<=1) + return; + + CvPoint firstPoint = (*p)[i1]; + CvPoint lastPoint = (i2<0)?p->front():(*p)[i2]; + + double furtherDistance=0.; + int furtherIndex=0; + + for (int i=i1+1; i=delta)&&(d>furtherDistance)) + { + furtherDistance=d; + furtherIndex=i; + } + } + + if (furtherIndex) + { + pnUseFlag[furtherIndex]=true; + + simplifyPolygonRecursive(p, i1, furtherIndex, pnUseFlag, delta); + simplifyPolygonRecursive(p, furtherIndex, i2, pnUseFlag, delta); + } + } + __CV_END__; + } + + CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta) + { + CV_FUNCNAME("cvSimplifyPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double furtherDistance=0.; + unsigned int furtherIndex=0; + + CvContourPolygon::const_iterator it=p->begin(); + ++it; + for (unsigned int i=1; it!=p->end(); ++it, i++) + { + double d = cvDistancePointPoint(*it, p->front()); + + if (d>furtherDistance) + { + furtherDistance = d; + furtherIndex = i; + } + } + + if (furtherDistancepush_back(p->front()); + return result; + } + + bool *pnUseFlag = new bool[p->size()]; + for (unsigned int i=1; isize(); i++) pnUseFlag[i] = false; + + pnUseFlag[0] = pnUseFlag[furtherIndex] = true; + + simplifyPolygonRecursive(p, 0, furtherIndex, pnUseFlag, delta); + simplifyPolygonRecursive(p, furtherIndex, -1, pnUseFlag, delta); + + CvContourPolygon *result = new CvContourPolygon; + + for (unsigned int i=0; isize(); i++) + if (pnUseFlag[i]) + result->push_back((*p)[i]); + + delete[] pnUseFlag; + + return result; + } + __CV_END__; + } + + CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p) + { + CV_FUNCNAME("cvPolygonContourConvexHull"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + if (p->size()<=3) + { + return new CvContourPolygon(p->begin(), p->end()); + } + + deque dq; + + if (cvCrossProductPoints((*p)[0], (*p)[1], (*p)[2])>0) + { + dq.push_back((*p)[0]); + dq.push_back((*p)[1]); + } + else + { + dq.push_back((*p)[1]); + dq.push_back((*p)[0]); + } + + dq.push_back((*p)[2]); + dq.push_front((*p)[2]); + + for (unsigned int i=3; isize(); i++) + { + int s = dq.size(); + + if ((cvCrossProductPoints((*p)[i], dq.at(0), dq.at(1))>=0) && (cvCrossProductPoints(dq.at(s-2), dq.at(s-1), (*p)[i])>=0)) + continue; // TODO Optimize. + + while (cvCrossProductPoints(dq.at(s-2), dq.at(s-1), (*p)[i])<0) + { + dq.pop_back(); + s = dq.size(); + } + + dq.push_back((*p)[i]); + + while (cvCrossProductPoints((*p)[i], dq.at(0), dq.at(1))<0) + dq.pop_front(); + + dq.push_front((*p)[i]); + } + + return new CvContourPolygon(dq.begin(), dq.end()); + } + __CV_END__; + } + + void cvWriteContourPolygonCSV(const CvContourPolygon& p, const string& filename) + { + ofstream f; + f.open(filename.c_str()); + + f << p << endl; + + f.close(); + } + + void cvWriteContourPolygonSVG(const CvContourPolygon& p, const string& filename, const CvScalar& stroke, const CvScalar& fill) + { + int minx=INT_MAX; + int miny=INT_MAX; + int maxx=INT_MIN; + int maxy=INT_MIN; + + stringstream buffer(""); + + for (CvContourPolygon::const_iterator it=p.begin(); it!=p.end(); ++it) + { + if (it->x>maxx) + maxx = it->x; + if (it->xx; + + if (it->y>maxy) + maxy = it->y; + if (it->yy; + + buffer << it->x << "," << it->y << " "; + } + + ofstream f; + f.open(filename.c_str()); + + f << "" << endl; + f << "" << endl; + f << "" << endl; + + f << "" << endl; + + f << "" << endl; + + f.close(); + } + +} + +ostream& operator<< (ostream& output, const cvb::CvContourPolygon& p) +{ + for (cvb::CvContourPolygon::const_iterator it=p.begin(); it!=p.end(); ++it) + output << it->x << ", " << it->y << endl; + + return output; +} diff --git a/.svn/pristine/69/69bc2adea40adf8c138ff740556ed4a30cb8af4e.svn-base b/.svn/pristine/69/69bc2adea40adf8c138ff740556ed4a30cb8af4e.svn-base new file mode 100644 index 0000000..7c7481e --- /dev/null +++ b/.svn/pristine/69/69bc2adea40adf8c138ff740556ed4a30cb8af4e.svn-base @@ -0,0 +1,33 @@ + GLUI User Interface Toolkit + --------------------------- + + (The ZLIB License) + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + + History of GLUI's License: + -------------------------- + Originally, GLUI was licensed under LGPL because Paul Rademacher + just wanted something that was very permissive, and LGPL was the + thing he had heard of. I discussed the license with Paul at + SIGGRAPH 2006, where he told me the above, and also told me he was + supportive of changing the license to one of the less restrictive + open source licenses. So after contacting all the authors to get + their OK, GLUI is now under the ZLIB license. + + Bill Baxter -- November 2007 diff --git a/.svn/pristine/69/69fa1da294976f7a032d69154c14548896fb1e5f.svn-base b/.svn/pristine/69/69fa1da294976f7a032d69154c14548896fb1e5f.svn-base new file mode 100644 index 0000000..e2a4877 --- /dev/null +++ b/.svn/pristine/69/69fa1da294976f7a032d69154c14548896fb1e5f.svn-base @@ -0,0 +1,89 @@ +/* + * pcddump implementation + * + * Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter, + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::stringstream; + +#include "veloslam/veloscan.h" +#include "veloslam/pcddump.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +void DumpPointtoFile(cluster &gluData1, string filename) +{ + cell* pCell; + ofstream redptsout(filename.c_str()); + + for(int j=0; jpCell; + for(int k=0; ksize();++k) + { + redptsout <<(*pCell)[k]->x << " " + <<(*pCell)[k]->y<< " " + <<(*pCell)[k]->z<< endl; + } + } + redptsout.close(); + redptsout.clear(); +} + +void DumpFeaturetoFile(clusterFeature &glu, string filename) +{ + ofstream redptsout(filename.c_str(), ios::app); + redptsout < cluster; +typedef std::vector clusterArray; +typedef std::vector clusterFeatureArray; + +#endif //__GRID_CLUSTER_H__ diff --git a/.svn/pristine/6a/6a44751ea9f335689b77ab2f6ef584d6165af5d3.svn-base b/.svn/pristine/6a/6a44751ea9f335689b77ab2f6ef584d6165af5d3.svn-base new file mode 100644 index 0000000..f5d7c3c --- /dev/null +++ b/.svn/pristine/6a/6a44751ea9f335689b77ab2f6ef584d6165af5d3.svn-base @@ -0,0 +1,585 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +/// \file cvblob.h +/// \brief OpenCV Blob header file. + +#ifdef SWIG +%module cvblob +%{ +#include "cvblob.h" +%} +#endif + +#ifndef CVBLOB_H +#define CVBLOB_H + +#include +#include +#include +#include +#include + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#ifndef __CV_BEGIN__ +#define __CV_BEGIN__ __BEGIN__ +#endif +#ifndef __CV_END__ +#define __CV_END__ __END__ +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + namespace cvb + { + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Contours + + // Chain code: + // 7 0 1 + // 6 2 + // 5 4 3 +#define CV_CHAINCODE_UP 0 ///< Up. +#define CV_CHAINCODE_UP_RIGHT 1 ///< Up and right. +#define CV_CHAINCODE_RIGHT 2 ///< Right. +#define CV_CHAINCODE_DOWN_RIGHT 3 ///< Down and right. +#define CV_CHAINCODE_DOWN 4 ///< Down. +#define CV_CHAINCODE_DOWN_LEFT 5 ///< Down and left. +#define CV_CHAINCODE_LEFT 6 ///< Left. +#define CV_CHAINCODE_UP_LEFT 7 ///< Up and left. + + /// \brief Move vectors of chain codes. + /// \see CV_CHAINCODE_UP + /// \see CV_CHAINCODE_UP_LEFT + /// \see CV_CHAINCODE_LEFT + /// \see CV_CHAINCODE_DOWN_LEFT + /// \see CV_CHAINCODE_DOWN + /// \see CV_CHAINCODE_DOWN_RIGHT + /// \see CV_CHAINCODE_RIGHT + /// \see CV_CHAINCODE_UP_RIGHT + const char cvChainCodeMoves[8][2] = { { 0, -1}, + { 1, -1}, + { 1, 0}, + { 1, 1}, + { 0, 1}, + {-1, 1}, + {-1, 0}, + {-1, -1} + }; + + /// \brief Direction. + /// \see CV_CHAINCODE_UP + /// \see CV_CHAINCODE_UP_LEFT + /// \see CV_CHAINCODE_LEFT + /// \see CV_CHAINCODE_DOWN_LEFT + /// \see CV_CHAINCODE_DOWN + /// \see CV_CHAINCODE_DOWN_RIGHT + /// \see CV_CHAINCODE_RIGHT + /// \see CV_CHAINCODE_UP_RIGHT + typedef unsigned char CvChainCode; + + /// \brief Chain code. + /// \see CvChainCode + typedef std::list CvChainCodes; + + /// \brief Chain code contour. + /// \see CvChainCodes + struct CvContourChainCode + { + CvPoint startingPoint; ///< Point where contour begin. + CvChainCodes chainCode; ///< Polygon description based on chain codes. + }; + + typedef std::list CvContoursChainCode; ///< List of contours (chain codes type). + + /// \brief Polygon based contour. + typedef std::vector CvContourPolygon; + + /// \fn void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color=CV_RGB(255, 255, 255)) + /// \brief Draw a contour. + /// \param contour Chain code contour. + /// \param img Image to draw on. + /// \param color Color to draw (default, white). + /// \see CvContourChainCode + void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color=CV_RGB(255, 255, 255)); + + /// \fn CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc) + /// \brief Convert a chain code contour to a polygon. + /// \param cc Chain code contour. + /// \return A polygon. + /// \see CvContourChainCode + /// \see CvContourPolygon + CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc); + + /// \fn void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color=CV_RGB(255, 255, 255)) + /// \brief Draw a polygon. + /// \param contour Polygon contour. + /// \param img Image to draw on. + /// \param color Color to draw (default, white). + /// \see CvContourPolygon + void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color=CV_RGB(255, 255, 255)); + + /// \fn double cvContourPolygonArea(CvContourPolygon const *p) + /// \brief Calculates area of a polygonal contour. + /// \param p Contour (polygon type). + /// \return Area of the contour. + double cvContourPolygonArea(CvContourPolygon const *p); + + /// \fn double cvContourChainCodePerimeter(CvContourChainCode const *c) + /// \brief Calculates perimeter of a chain code contour. + /// \param c Contour (chain code type). + /// \return Perimeter of the contour. + double cvContourChainCodePerimeter(CvContourChainCode const *c); + + /// \fn double cvContourPolygonPerimeter(CvContourPolygon const *p) + /// \brief Calculates perimeter of a polygonal contour. + /// \param p Contour (polygon type). + /// \return Perimeter of the contour. + double cvContourPolygonPerimeter(CvContourPolygon const *p); + + /// \fn double cvContourPolygonCircularity(const CvContourPolygon *p) + /// \brief Calculates the circularity of a polygon (compactness measure). + /// \param p Contour (polygon type). + /// \return Circularity: a non-negative value, where 0 correspond with a circumference. + double cvContourPolygonCircularity(const CvContourPolygon *p); + + /// \fn CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta=1.) + /// \brief Simplify a polygon reducing the number of vertex according the distance "delta". + /// Uses a version of the Ramer-Douglas-Peucker algorithm (http://en.wikipedia.org/wiki/Ramer-Douglas-Peucker_algorithm). + /// \param p Contour (polygon type). + /// \param delta Minimun distance. + /// \return A simplify version of the original polygon. + CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta=1.); + + /// \fn CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p) + /// \brief Calculates convex hull of a contour. + /// Uses the Melkman Algorithm. Code based on the version in http://w3.impa.br/~rdcastan/Cgeometry/. + /// \param p Contour (polygon type). + /// \return Convex hull. + CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p); + + /// \fn void cvWriteContourPolygonCSV(const CvContourPolygon& p, const std::string& filename) + /// \brief Write a contour to a CSV (Comma-separated values) file. + /// \param p Polygon contour. + /// \param filename File name. + void cvWriteContourPolygonCSV(const CvContourPolygon& p, const std::string& filename); + + /// \fn void cvWriteContourPolygonSVG(const CvContourPolygon& p, const std::string& filename, const CvScalar& stroke=cvScalar(0,0,0), const CvScalar& fill=cvScalar(255,255,255)) + /// \brief Write a contour to a SVG file (http://en.wikipedia.org/wiki/Scalable_Vector_Graphics). + /// \param p Polygon contour. + /// \param filename File name. + /// \param stroke Stroke color (black by default). + /// \param fill Fill color (white by default). + void cvWriteContourPolygonSVG(const CvContourPolygon& p, const std::string& filename, const CvScalar& stroke=cvScalar(0,0,0), const CvScalar& fill=cvScalar(255,255,255)); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Blobs + + /// \brief Type of label. + /// \see IPL_DEPTH_LABEL + typedef unsigned int CvLabel; + //typedef unsigned char CvLabel; + + /// \def IPL_DEPTH_LABEL + /// \brief Size of a label in bits. + /// \see CvLabel +#define IPL_DEPTH_LABEL (sizeof(cvb::CvLabel)*8) + + /// \def CV_BLOB_MAX_LABEL + /// \brief Max label number. + /// \see CvLabel. +#define CV_BLOB_MAX_LABEL std::numeric_limits::max() + + /// \brief Type of identification numbers. + typedef unsigned int CvID; + + /// \brief Struct that contain information about one blob. + struct CvBlob + { + CvLabel label; ///< Label assigned to the blob. + + union + { + unsigned int area; ///< Area (moment 00). + unsigned int m00; ///< Moment 00 (area). + }; + + unsigned int minx; ///< X min. + unsigned int maxx; ///< X max. + unsigned int miny; ///< Y min. + unsigned int maxy; ///< y max. + + CvPoint2D64f centroid; ///< Centroid. + + double m10; ///< Moment 10. + double m01; ///< Moment 01. + double m11; ///< Moment 11. + double m20; ///< Moment 20. + double m02; ///< Moment 02. + + double u11; ///< Central moment 11. + double u20; ///< Central moment 20. + double u02; ///< Central moment 02. + + double n11; ///< Normalized central moment 11. + double n20; ///< Normalized central moment 20. + double n02; ///< Normalized central moment 02. + + double p1; ///< Hu moment 1. + double p2; ///< Hu moment 2. + + CvContourChainCode contour; ///< Contour. + CvContoursChainCode internalContours; ///< Internal contours. + }; + + /// \var typedef std::map CvBlobs + /// \brief List of blobs. + /// A map is used to access each blob from its label number. + /// \see CvLabel + /// \see CvBlob + typedef std::map CvBlobs; + + /// \var typedef std::pair CvLabelBlob + /// \brief Pair (label, blob). + /// \see CvLabel + /// \see CvBlob + typedef std::pair CvLabelBlob; + + /// \fn unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs); + /// \brief Label the connected parts of a binary image. + /// Algorithm based on paper "A linear-time component-labeling algorithm using contour tracing technique" of Fu Chang, Chun-Jen Chen and Chi-Jen Lu. + /// \param img Input binary image (depth=IPL_DEPTH_8U and num. channels=1). + /// \param imgOut Output image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blobs List of blobs. + /// \return Number of pixels that has been labeled. + unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs); + + //IplImage *cvFilterLabel(IplImage *imgIn, CvLabel label); + + /// \fn void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs) + /// \brief Draw a binary image with the blobs that have been given. + /// \param imgIn Input image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param imgOut Output binary image (depth=IPL_DEPTH_8U and num. channels=1). + /// \param blobs List of blobs to be drawn. + /// \see cvLabel + void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs); + + /// \fn CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y) + /// \brief Get the label value from a labeled image. + /// \param img Label image. + /// \param x X coordenate. + /// \param y Y coordenate. + /// \return Label value. + /// \see CvLabel + CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y); + + /// \fn inline void cvReleaseBlob(CvBlob *blob) + /// \brief Clear a blob structure. + /// \param blob Blob. + /// \see CvBlob + inline void cvReleaseBlob(CvBlob *blob) + { + if (blob) + { + for (CvContoursChainCode::iterator jt=blob->internalContours.begin(); jt!=blob->internalContours.end(); ++jt) + { + CvContourChainCode *contour = *jt; + if (contour) + delete contour; + } + blob->internalContours.clear(); + + delete blob; + } + } + + /// \fn inline void cvReleaseBlobs(CvBlobs &blobs) + /// \brief Clear blobs structure. + /// \param blobs List of blobs. + /// \see CvBlobs + inline void cvReleaseBlobs(CvBlobs &blobs) + { + for (CvBlobs::iterator it=blobs.begin(); it!=blobs.end(); ++it) + { + cvReleaseBlob((*it).second); + } + blobs.clear(); + } + + /// \fn CvLabel cvGreaterBlob(const CvBlobs &blobs) + /// \brief Find greater blob. + /// \param blobs List of blobs. + /// \return Label of the greater blob or 0 if there are no blobs. + /// \see cvLabel + CvLabel cvGreaterBlob(const CvBlobs &blobs); + + /// \fn void cvFilterByArea(CvBlobs &blobs, unsigned int minArea, unsigned int maxArea) + /// \brief Filter blobs by area. + /// Those blobs whose areas are not in range will be erased from the input list of blobs. + /// \param blobs List of blobs. + /// \param minArea Minimun area. + /// \param maxArea Maximun area. + void cvFilterByArea(CvBlobs &blobs, unsigned int minArea, unsigned int maxArea); + + /// \fn void cvFilterByLabel(CvBlobs &blobs, CvLabel label) + /// \brief Filter blobs by label. + /// Delete all blobs except those with label l. + /// \param blobs List of blobs. + /// \param label Label to leave. + void cvFilterByLabel(CvBlobs &blobs, CvLabel label); + + /// \fn inline CvPoint2D64f cvCentroid(CvBlob *blob) + /// \brief Calculates centroid. + /// Centroid will be returned and stored in the blob structure. + /// \param blob Blob whose centroid will be calculated. + /// \return Centroid. + /// \see CvBlob + inline CvPoint2D64f cvCentroid(CvBlob *blob) + { + return blob->centroid=cvPoint2D64f(blob->m10/blob->area, blob->m01/blob->area); + } + + /// \fn double cvAngle(CvBlob *blob) + /// \brief Calculates angle orientation of a blob. + /// This function uses central moments so cvCentralMoments should have been called before for this blob. + /// \param blob Blob. + /// \return Angle orientation in radians. + /// \see cvCentralMoments + /// \see CvBlob + double cvAngle(CvBlob *blob); + + /// \fn cvSaveImageBlob(const char *filename, IplImage *img, CvBlob const *blob) + /// \brief Save the image of a blob to a file. + /// The function uses an image (that can be the original pre-processed image or a processed one, or even the result of cvRenderBlobs, for example) and a blob structure. + /// Then the function saves a copy of the part of the image where the blob is. + /// \param filename Name of the file. + /// \param img Image. + /// \param blob Blob. + /// \see CvBlob + /// \see cvRenderBlob + void cvSaveImageBlob(const char *filename, IplImage *img, CvBlob const *blob); + +#define CV_BLOB_RENDER_COLOR 0x0001 ///< Render each blog with a different color. \see cvRenderBlobs +#define CV_BLOB_RENDER_CENTROID 0x0002 ///< Render centroid. \see cvRenderBlobs +#define CV_BLOB_RENDER_BOUNDING_BOX 0x0004 ///< Render bounding box. \see cvRenderBlobs +#define CV_BLOB_RENDER_ANGLE 0x0008 ///< Render angle. \see cvRenderBlobs +#define CV_BLOB_RENDER_TO_LOG 0x0010 ///< Print blob data to log out. \see cvRenderBlobs +#define CV_BLOB_RENDER_TO_STD 0x0020 ///< Print blob data to std out. \see cvRenderBlobs + + /// \fn void cvRenderBlob(const IplImage *imgLabel, CvBlob *blob, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvScalar const &color=CV_RGB(255, 255, 255), double alpha=1.) + /// \brief Draws or prints information about a blob. + /// \param imgLabel Label image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blob Blob. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_BLOB_RENDER_COLOR|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_ANGLE. + /// \param color Color to render (if CV_BLOB_RENDER_COLOR is used). + /// \param alpha If mode CV_BLOB_RENDER_COLOR is used. 1.0 indicates opaque and 0.0 translucent (1.0 by default). + /// \see CV_BLOB_RENDER_COLOR + /// \see CV_BLOB_RENDER_CENTROID + /// \see CV_BLOB_RENDER_BOUNDING_BOX + /// \see CV_BLOB_RENDER_ANGLE + /// \see CV_BLOB_RENDER_TO_LOG + /// \see CV_BLOB_RENDER_TO_STD + void cvRenderBlob(const IplImage *imgLabel, CvBlob *blob, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvScalar const &color=CV_RGB(255, 255, 255), double alpha=1.); + + /// \fn void cvRenderBlobs(const IplImage *imgLabel, CvBlobs &blobs, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, double alpha=1.) + /// \brief Draws or prints information about blobs. + /// \param imgLabel Label image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blobs List of blobs. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_BLOB_RENDER_COLOR|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_ANGLE. + /// \param alpha If mode CV_BLOB_RENDER_COLOR is used. 1.0 indicates opaque and 0.0 translucent (1.0 by default). + /// \see CV_BLOB_RENDER_COLOR + /// \see CV_BLOB_RENDER_CENTROID + /// \see CV_BLOB_RENDER_BOUNDING_BOX + /// \see CV_BLOB_RENDER_ANGLE + /// \see CV_BLOB_RENDER_TO_LOG + /// \see CV_BLOB_RENDER_TO_STD + void cvRenderBlobs(const IplImage *imgLabel, CvBlobs &blobs, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, double alpha=1.); + + /// \fn void cvSetImageROItoBlob(IplImage *img, CvBlob const *blob) + /// \brief Set the ROI of an image to the bounding box of a blob. + /// \param img Image. + /// \param blob Blob. + /// \see CvBlob + inline void cvSetImageROItoBlob(IplImage *img, CvBlob const *blob) + { + cvSetImageROI(img, cvRect(blob->minx, blob->miny, blob->maxx-blob->minx, blob->maxy-blob->miny)); + }; + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Color + + /// \fn CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img) + /// \brief Calculates mean color of a blob in an image. + /// \param blob Blob. + /// \param imgLabel Image of labels. + /// \param img Original image. + /// \return Average color. + CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Aux + + /// \fn double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + /// \brief Dot product of the vectors ab and bc. + /// \param a First point. + /// \param b Middle point. + /// \param c Last point. + /// \return Dot product of ab and bc. + double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c); + + /// \fn double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + /// \brief Cross product of the vectors ab and bc. + /// \param a Point. + /// \param b Point. + /// \param c Point. + /// \return Cross product of ab and bc. + double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c); + + /// \fn double cvDistancePointPoint(CvPoint const &a, CvPoint const &b) + /// \brief Distance between two points. + /// \param a Point. + /// \param b Point. + /// \return Distance. + double cvDistancePointPoint(CvPoint const &a, CvPoint const &b); + + /// \fn double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment=true) + /// \brief Distance between line ab and point c. + /// \param a First point of the segment. + /// \param b Second point of the segment. + /// \param c Point. + /// \param isSegment If false then the distance will be calculated from the line defined by the points a and b, to the point c. + /// \return Distance between ab and c. + double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment=true); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Tracking + + /// \brief Struct that contain information about one track. + /// \see CvID + /// \see CvLabel + struct CvTrack + { + CvID id; ///< Track identification number. + + CvLabel label; ///< Label assigned to the blob related to this track. + + unsigned int minx; ///< X min. + unsigned int maxx; ///< X max. + unsigned int miny; ///< Y min. + unsigned int maxy; ///< y max. + + CvPoint2D64f centroid; ///< Centroid. + + unsigned int lifetime; ///< Indicates how much frames the object has been in scene. + unsigned int active; ///< Indicates number of frames that has been active from last inactive period. + unsigned int inactive; ///< Indicates number of frames that has been missing. + }; + + /// \var typedef std::map CvTracks + /// \brief List of tracks. + /// \see CvID + /// \see CvTrack + typedef std::map CvTracks; + + /// \var typedef std::pair CvIDTrack + /// \brief Pair (identification number, track). + /// \see CvID + /// \see CvTrack + typedef std::pair CvIDTrack; + + /// \fn inline void cvReleaseTracks(CvTracks &tracks) + /// \brief Clear tracks structure. + /// \param tracks List of tracks. + /// \see CvTracks + inline void cvReleaseTracks(CvTracks &tracks) + { + for (CvTracks::iterator it=tracks.begin(); it!=tracks.end(); it++) + { + CvTrack *track = (*it).second; + if (track) delete track; + } + + tracks.clear(); + } + + /// \fn cvUpdateTracks(CvBlobs const &b, CvTracks &t, const double thDistance, const unsigned int thInactive, const unsigned int thActive=0) + /// \brief Updates list of tracks based on current blobs. + /// Tracking based on: + /// A.聽Senior,聽A.聽Hampapur,聽Y-L聽Tian,聽L.聽Brown,聽S.聽Pankanti,聽R.聽Bolle.聽Appearance聽Models聽for + /// Occlusion聽Handling.聽Second聽International聽workshop聽on聽Performance聽Evaluation聽of聽Tracking聽and + /// Surveillance聽Systems聽&聽CVPR'01.聽December,聽2001. + /// (http://www.research.ibm.com/peoplevision/PETS2001.pdf) + /// \param b List of blobs. + /// \param t List of tracks. + /// \param thDistance Max distance to determine when a track and a blob match. + /// \param thInactive Max number of frames a track can be inactive. + /// \param thActive If a track becomes inactive but it has been active less than thActive frames, the track will be deleted. + /// \see CvBlobs + /// \see Tracks + void cvUpdateTracks(CvBlobs const &b, CvTracks &t, const double thDistance, const unsigned int thInactive, const unsigned int thActive=0); + +#define CV_TRACK_RENDER_ID 0x0001 ///< Print the ID of each track in the image. \see cvRenderTracks +#define CV_TRACK_RENDER_BOUNDING_BOX 0x0002 ///< Draw bounding box of each track in the image. \see cvRenderTracks +#define CV_TRACK_RENDER_TO_LOG 0x0010 ///< Print track info to log out. \see cvRenderTracks +#define CV_TRACK_RENDER_TO_STD 0x0020 ///< Print track info to log out. \see cvRenderTracks + + /// \fn void cvRenderTracks(CvTracks const tracks, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x00ff, CvFont *font=NULL) + /// \brief Prints tracks information. + /// \param tracks List of tracks. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_TRACK_RENDER_ID|CV_TRACK_RENDER_BOUNDING_BOX. + /// \param font OpenCV font for print on the image. + /// \see CV_TRACK_RENDER_ID + /// \see CV_TRACK_RENDER_BOUNDING_BOX + /// \see CV_TRACK_RENDER_TO_LOG + /// \see CV_TRACK_RENDER_TO_STD + void cvRenderTracks(CvTracks const tracks, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvFont *font=NULL); + } +#ifdef __cplusplus +} +#endif + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvBlob& b) +/// \brief Overload operator "<<" for printing blob structure. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvBlob& b); + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvContourPolygon& p) +/// \brief Overload operator "<<" for printing polygons in CSV format. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvContourPolygon& p); + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvTrack& t) +/// \brief Overload operator "<<" for printing track structure. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvTrack& t); +#endif diff --git a/.svn/pristine/6a/6a723ffc9b749b451dcd95c95db713042a156e25.svn-base b/.svn/pristine/6a/6a723ffc9b749b451dcd95c95db713042a156e25.svn-base new file mode 100644 index 0000000..44067b8 --- /dev/null +++ b/.svn/pristine/6a/6a723ffc9b749b451dcd95c95db713042a156e25.svn-base @@ -0,0 +1,848 @@ +/* + * compacttree implementation + * + * Copyright (C) Jan Elseberg, Kai Lingemann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Efficient representation of an octree + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#include "slam6d/globals.icc" +#include "slam6d/point_type.h" + +#include "slam6d/Boctree.h" +#include "show/compacttree.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" +#include "show/viewcull.h" + +compactTree::~compactTree(){ + delete alloc; + + delete[] mins; + delete[] maxs; +} + + +void compactTree::AllPoints( cbitoct &node, vector &vp, double center[3], double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double *p = new double[3]; + //cout << point[0] << " " << point[1] << " " << point[2] << endl; + for (unsigned int k = 0; k < 3; k++){ + p[k] = point[k] * precision + ccenter[k]; + } + + vp.push_back(p); + point+=POINTDIM; + } + } else { // recurse + AllPoints( children->node, vp, ccenter, size/2.0); + } + ++children; // next child + } + } +} + + + +void compactTree::GetOctTreeCenter(vector&c, cbitoct &node, double *center, double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + double * cp = new double[POINTDIM]; + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + cp[iterator] = ccenter[iterator]; + } + c.push_back(cp); + } else { // recurse + GetOctTreeCenter(c, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} +long compactTree::countNodes(cbitoct &node) { + long result = 0; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // ++result; + } else { // recurse + result += countNodes(children->node) + 1; + } + ++children; // next child + } + } + return result; +} + +long compactTree::countLeaves(cbitoct &node) { + long result = 0; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + lint nrpts = children->getLength(); + result += POINTDIM*nrpts + 1; + } else { // recurse + result += countLeaves(children->node); + } + ++children; // next child + } + } + return result; +} + + +void compactTree::deletetNodes(cbitoct &node) { + cbitunion *children; + cbitoct::getChildren(node, children); + bool haschildren = false; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + tshort *points = children->getPoints(); + delete [] points; + // delete [] children->points; + } else { // recurse + deletetNodes(children->node); + } + ++children; // next child + haschildren = true; + } + } + // delete children + if (haschildren) { + cbitoct::getChildren(node, children); + delete[] children; + } +} + + +unsigned long compactTree::maxTargetPoints( cbitoct &node ) { + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned long max = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + lint length = children->getLength(); + if (length > max) max = length; + } else { // recurse + unsigned long tp = maxTargetPoints( children->node); + if (tp > max) max = tp; + } + ++children; // next child + } + } + + return max*POPCOUNT(node.valid); +} + +void compactTree::displayOctTreeAll( cbitoct &node, double *center, double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //cout << "C " << point[1] << " " << cm << endl; + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + glEnd(); + } else { // recurse + displayOctTreeAll( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeAllCulled( cbitoct &node, double *center, double size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + glEnd(); + } + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCulledLOD(long targetpts, cbitoct &node, double *center, double size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD(targetpts, node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + double each = (double)POINTDIM * (double)((double)length/(double)newtargetpts); + tshort *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + //glVertex3f( p[0], p[1], p[2]); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + //point += each; + } + } + glEnd(); + } + + } else { // recurse + displayOctTreeCulledLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeLOD(long targetpts, cbitoct &node, double *center, double size ) { + if (targetpts <= 0) return; // no need to display anything + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + /* if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } else*/ if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + double each = (double)POINTDIM * (double)((double)length/(double)newtargetpts); + tshort *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + //glVertex3f( p[0], p[1], p[2]); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + //point += each; + } + } + glEnd(); + } else { // recurse + displayOctTreeLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCulledLOD2(float ratio, cbitoct &node, double *center, double size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD2(ratio, node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l != 0) { + if ((int)length > l ) { + double each = (double)POINTDIM * (double)((double)length/(double)l); + tshort *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } + } + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeLOD2(float ratio, cbitoct &node, double *center, double size ) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 1) { + if ((int)length > l ) { + double each = (double)POINTDIM * (double)((double)length/(double)l); + tshort *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } + } else { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } +} + + +void compactTree::displayOctTreeCAllCulled( cbitoct &node, double *center, double size, double minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCAll(node, center, size, minsize); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + showCube(ccenter, size/2.0); + } + } else { // recurse + displayOctTreeCAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCAll( cbitoct &node, double *center, double size, double minsize ) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + showCube(ccenter, size/2.0); + } else { // recurse + displayOctTreeCAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } +} + +void compactTree::showCube(double *center, double size) { + glLineWidth(1.0); + glBegin(GL_QUADS); // draw a cube with 6 quads + glColor3f(0.0f,1.0f,0.0f); // Set The Color To Green + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange + + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + + glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + + glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + + glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + + glEnd(); + +} + + + + +template +void compactTree::selectRay(vector &points) { + //selectRay(points, *root, center, size); +} + + +void compactTree::childcenter(double *pcenter, double *ccenter, double size, unsigned char i) { + switch (i) { + case 0: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 1: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 2: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 3: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 4: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 5: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 6: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 7: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + default: + break; + } +} + + +void compactTree::GetOctTreeCenter(vector&c) { GetOctTreeCenter(c, *root, center, size); } +void compactTree::AllPoints(vector &vp) { AllPoints(*compactTree::root, vp, center, size); } + +long compactTree::countNodes() { return 1 + countNodes(*root); } +long compactTree::countLeaves() { return 1 + countLeaves(*root); } + +void compactTree::setColorManager(ColorManager *_cm) { cm = _cm; } + +void compactTree::drawLOD(float ratio) { + switch (current_lod_mode) { + case 1: + glBegin(GL_POINTS); + displayOctTreeCulledLOD2(ratio , *root, center, size); + glEnd(); + break; + case 2: + /* +#ifdef WITH_GLEE + if (GLEE_ARB_point_parameters) { + glPointParameterfARB(GL_POINT_SIZE_MIN_ARB, 1.0); + glPointParameterfARB(GL_POINT_SIZE_MAX_ARB, 100000.0); + GLfloat p[3] = {0.0, 0.0000, 0.0000005}; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + displayOctTreeCPAllCulled(*BOctTree::root, BOctTree::center, BOctTree::size, BOctTree::size/ pow(2, min( (int)(ratio * BOctTree::max_depth ), BOctTree::max_depth - 3) ) ); + p[0] = 1.0; + p[2] = 0.0; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + } +#endif +*/ + //break; + case 0: + glBegin(GL_POINTS); + displayOctTreeCulledLOD(maxtargetpoints * ratio, *root, center, size); + glEnd(); + break; + default: + break; + } +} + +void compactTree::draw() { + displayOctTreeAllCulled(*root, center, size); +} + +void compactTree::displayOctTree(double minsize ) { + displayOctTreeCAllCulled(*root, center, size, minsize); +} + +shortpointrep* compactTree::createPoints(lint length) { + //shortpointrep *points = new shortpointrep[POINTDIM*length]; + shortpointrep *points = alloc->allocate (POINTDIM*length); + return points; +} +void compactTree::deserialize(std::string filename ) { + char buffer[sizeof(float) * 20]; + float *p = reinterpret_cast(buffer); + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(float)); + voxelSize = p[0]; + center[0] = p[1]; + center[1] = p[2]; + center[2] = p[3]; + size = p[4]; + + file.read(buffer, sizeof(int)); + int *ip = reinterpret_cast(buffer); + POINTDIM = *ip; + + float *fmins = new float[POINTDIM]; + float *fmaxs = new float[POINTDIM]; + mins = new double[POINTDIM]; + maxs = new double[POINTDIM]; + + file.read(reinterpret_cast(fmins), POINTDIM * sizeof(float)); + file.read(reinterpret_cast(fmaxs), POINTDIM * sizeof(float)); + + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = fmins[i]; + maxs[i] = fmaxs[i]; + } + + double vs = size; + while (vs > voxelSize) { + vs = vs * 0.5; + } +// precision = vs / 32768; // 2^15 + precision = vs / TSHORT_MAXP1; // 2^15 + + + // read root node + //root = new cbitoct(); + root = alloc->allocate(); + deserialize(file, *root ); + file.close(); +} + + + + +void compactTree::deserialize(std::ifstream &f, cbitoct &node) { + char buffer[2]; + f.read(buffer, 2); + node.valid = buffer[0]; + node.leaf = buffer[1]; + + unsigned short n_children = POPCOUNT(node.valid); + + // create children + //cbitunion *children = new cbitunion[n_children]; + cbitunion *children = alloc->allocate >(n_children); + cbitoct::link(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + lint length; + f.read(reinterpret_cast(&length), sizeof(lint)); + shortpointrep *points = createPoints(length); + + f.read(reinterpret_cast(points), sizeof(shortpointrep) * length * POINTDIM); // read the points + children->linkPoints(points, length); + } else { // write child + deserialize(f, children->node); + } + ++children; // next child + } + } +} + + + +void compactTree::serialize(std::string filename) { + char buffer[sizeof(float) * 20]; + float *p = reinterpret_cast(buffer); + + std::ofstream file; + file.open (filename.c_str(), std::ios::out | std::ios::binary); + + // write magic bits + buffer[0] = 'X'; + buffer[1] = 'T'; + file.write(buffer, 2); + + // write header + pointtype.serialize(file); + + p[0] = voxelSize; + p[1] = center[0]; + p[2] = center[1]; + p[3] = center[2]; + p[4] = size; + + int *ip = reinterpret_cast(&(buffer[5 * sizeof(float)])); + *ip = POINTDIM; + + file.write(buffer, 5 * sizeof(float) + sizeof(int)); + + + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i] = mins[i]; + } + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i+POINTDIM] = maxs[i]; + } + + file.write(buffer, 2*POINTDIM * sizeof(float)); + + // write root node + serialize(file, *root); + + file.close(); +} + + +void compactTree::serialize(std::ofstream &of, cbitoct &node) { + char buffer[2]; + buffer[0] = node.valid; + buffer[1] = node.leaf; + of.write(buffer, 2); + + // write children + cbitunion *children; + cbitoct::getChildren(node, children); + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf write points + tshort *points = children->getPoints(); + lint length = children->getLength(); + + of.write(reinterpret_cast(&length), sizeof(lint) ); + + of.write(reinterpret_cast(points), POINTDIM*length*sizeof(tshort) ); + + } else { // write child + serialize(of, children->node); + } + ++children; // next child + } + } +} diff --git a/.svn/pristine/6a/6abed787d26b788f55ee1661d60813cb62896f1a.svn-base b/.svn/pristine/6a/6abed787d26b788f55ee1661d60813cb62896f1a.svn-base new file 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OnFarplaneSpinner + + + + + + + + + 5 + wxEXPAND | wxALL + 1 + + + + 1 + + + 0 + wxID_ANY + + + nearplane_panel + protected + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + wxTAB_TRAVERSAL + + + + + + + + + + + + + + + + + + + + + + + + + + nearplane_sizer + wxHORIZONTAL + none + + 5 + wxALL + 0 + + + + 1 + + + 0 + wxID_ANY + nearplane: + + + nearplane_text + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + -1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxEXPAND + 1 + + 0 + protected + 0 + + + + 5 + wxRIGHT|wxLEFT + 0 + + + + 1 + + + 0 + wxID_ANY + 10 + 100000 + + 1 + + nearplane_spinner + protected + + + wxSP_ARROW_KEYS + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + + + + + + + + + + + + + + + + + + + + + + + OnNearplaneSpinner + + + + + + + + + 5 + wxEXPAND | wxALL + 1 + + + + 1 + + + 0 + wxID_ANY + + + lod_panel + protected + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + wxTAB_TRAVERSAL + + + + + + + + + + + + + + + + + + + + + + + + + + lod_sizer + wxHORIZONTAL + none + + 5 + wxALL + 0 + + + + 1 + + + 0 + wxID_ANY + lod speed: + + + lod_text + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + -1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxEXPAND + 1 + + 0 + protected + 0 + + + + 5 + wxRIGHT|wxLEFT + 0 + + + + 1 + + + 0 + wxID_ANY + 10 + 100000 + + 1 + + lod_spinner + protected + + + wxSP_ARROW_KEYS + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + + + + + + + + + + + + + + + + + + + + + + + OnLODAdaption + + + + + + + + + 5 + wxALL|wxALIGN_CENTER_HORIZONTAL + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Cycle LOD + + + cycleLOD + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + OnCycleLOD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Quit + + + m_button31 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + 0 + wxID_ANY + + + Controls + + -1,-1 + wxDEFAULT_FRAME_STYLE + + Controls + + + wxFILTER_NONE + wxDefaultValidator + + + + wxTAB_TRAVERSAL + 1 + + + + OnClose + + + + + + + + + + + + + + + + + + + + + + + + + + + + bSizer17 + wxHORIZONTAL + none + + 5 + + 0 + + wxID_ANY + Settings: + + sbSizer5 + wxVERTICAL + none + + + 5 + wxEXPAND + 1 + + + bSizer26 + wxHORIZONTAL + none + + 5 + wxALL + 0 + + + + 1 + + + 0 + wxID_ANY + Apex Angle + + + m_staticText21 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + -1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxEXPAND + 1 + + 0 + protected + 0 + + + + 5 + wxALIGN_RIGHT|wxLEFT|wxRIGHT + 0 + + + + 1 + + + 0 + wxID_ANY + 0 + 10 + + 0 + + m_spinCtrl11 + protected + + + wxSP_ARROW_KEYS + + + + wxFILTER_NONE + wxDefaultValidator + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + OnApexAngle + + + + + + + + 5 + wxEXPAND + 1 + + + bSizer261 + wxHORIZONTAL + none + + 5 + wxALL + 0 + + + + 1 + + + 0 + wxID_ANY + Parallel Zoom + + + m_staticText211 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + -1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxRIGHT|wxLEFT + 0 + + + + 1 + + + 0 + wxID_ANY + 0 + 10 + + 0 + + m_spinCtrl111 + protected + + + wxSP_ARROW_KEYS + + + + wxFILTER_NONE + wxDefaultValidator + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + OnParallelZoom + + + + + + + + + + 5 + + 0 + + wxID_ANY + Mode: + + sbSizer51 + wxVERTICAL + none + + + 5 + wxRIGHT|wxLEFT|wxEXPAND + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Top View + + + m_button15 + protected + + + wxBU_EXACTFIT + + + + wxFILTER_NONE + wxDefaultValidator + + + + + OnTopView + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxRIGHT|wxLEFT|wxEXPAND + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Reset Position + + + m_button16 + protected + + + wxBU_EXACTFIT + + + + wxFILTER_NONE + wxDefaultValidator + + + + + OnResetPosition + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + + 0 + + wxID_ANY + Camera: + + sbSizer52 + wxVERTICAL + none + + + 5 + wxEXPAND + 1 + + + bSizer262 + wxHORIZONTAL + none + + 5 + wxALL + 0 + + + + 1 + + + 0 + wxID_ANY + Choose Camera + + + m_staticText212 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + -1 + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxEXPAND + 1 + + 0 + protected + 0 + + + + 5 + wxALIGN_RIGHT|wxLEFT|wxRIGHT + 0 + + + + 1 + + + 0 + wxID_ANY + 0 + 10 + + 0 + + m_spinCtrl112 + protected + + + wxSP_ARROW_KEYS + + + + wxFILTER_NONE + wxDefaultValidator + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + OnChooseCamera + + + + + + + + 5 + wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Add Camera + + + m_button19 + protected + + + wxBU_EXACTFIT + + + + wxFILTER_NONE + wxDefaultValidator + + + + + OnAddCamera + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL + 0 + + + + 0 + 1 + + + 0 + wxID_ANY + Delete Camera + + + m_button20 + protected + + + wxBU_EXACTFIT + + + + wxFILTER_NONE + wxDefaultValidator + + + + + OnDeleteCamera + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + + 0 + + wxID_ANY + Settings: + + sbSizer521 + wxVERTICAL + none + + + 5 + wxRIGHT|wxLEFT + 0 + + + 1 + + 1 + + + 0 + wxID_ANY + MouseNav + + + m_checkBox7 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + OnMouseNav + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxRIGHT|wxLEFT + 0 + + + 0 + + 1 + + + 0 + wxID_ANY + Always all Points + + + m_checkBox8 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + OnAlwaysAllPoints + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + wxRIGHT|wxLEFT + 0 + + + 1 + + 1 + + + 0 + wxID_ANY + Always reduce Points + + + m_checkBox9 + protected + + + + + + + wxFILTER_NONE + wxDefaultValidator + + + + + + OnAlwaysReducePoints + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.svn/pristine/6b/6b660605e2ca88cf70ec528124301384bc241492.svn-base b/.svn/pristine/6b/6b660605e2ca88cf70ec528124301384bc241492.svn-base new file mode 100644 index 0000000..da78c59 --- /dev/null +++ b/.svn/pristine/6b/6b660605e2ca88cf70ec528124301384bc241492.svn-base @@ -0,0 +1,24 @@ + + +int glui_img_spinup_1[] = { 12, 8, /* width, height */ + 0, 0, 0, 127,127,127, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 0, 0, 0, 127,127,127, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 255,255,255, 0, 0, 0, + 127,127,127, 191,191,191, 127,127,127, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 191,191,191, 191,191,191, + 255,255,255, 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 191,191,191, + 191,191,191, 191,191,191, 255,255,255, 0, 0, 0, 127,127,127, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 255,255,255, + 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 255,255,255, 0, 0, 0, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 191,191,191, 255,255,255, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 255,255,255, +}; diff --git a/.svn/pristine/6b/6bcf65e8501feed37ee85a1f8605c1c59994b104.svn-base b/.svn/pristine/6b/6bcf65e8501feed37ee85a1f8605c1c59994b104.svn-base new file mode 100644 index 0000000..f541f00 --- /dev/null +++ b/.svn/pristine/6b/6bcf65e8501feed37ee85a1f8605c1c59994b104.svn-base @@ -0,0 +1,43 @@ +/************************************************************************ +* +* lap.cpp + version 1.0 - 4 September 1996 + author: Roy Jonker @ MagicLogic Optimization Inc. + e-mail: roy_jonker@magiclogic.com + + Code for Linear Assignment Problem, according to + + "A Shortest Augmenting Path Algorithm for Dense and Sparse Linear + Assignment Problems," Computing 38, 325-340, 1987 + + by + + R. Jonker and A. Volgenant, University of Amsterdam. +* +*************************************************************************/ + +#include +#include +#include +#include + +using namespace std; + +#define BIG 100000 + +#if !defined TRUE +#define TRUE 1 +#endif +#if !defined FALSE +#define FALSE 0 +#endif + +typedef int Boolean; +typedef int row; +typedef int col; +typedef double cost; + +cost lap(int dim, cost **assigncost,col *rowsol, row *colsol,cost *u,cost *v); + +void checklap(int dim,cost **assigncost,col *rowsol,row *colsol,cost *u,cost *v); + diff --git a/.svn/pristine/6c/6c4b261df103f00d074ab9280019a913f8c093ff.svn-base b/.svn/pristine/6c/6c4b261df103f00d074ab9280019a913f8c093ff.svn-base new file mode 100644 index 0000000..7db2319 --- /dev/null +++ b/.svn/pristine/6c/6c4b261df103f00d074ab9280019a913f8c093ff.svn-base @@ -0,0 +1,105 @@ +/* + * history implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include "history.h" +#include + +Frame *allocFrame3DData(CvSize pmdSz) { + Frame *f = (Frame*)cvAlloc(sizeof(Frame)); + + f->sz = pmdSz; + f->img = 0; + + f->trn = cvCreateMat(3, 1, CV_32FC1); + f->rot = cvCreateMat(3, 1, CV_32FC1); + + f->status = (CvPoint**) cvAlloc(pmdSz.height * sizeof(CvPoint*)); + f->pts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*)); + for(int i = 0; i < pmdSz.height; i++) { + f->status[i] = (CvPoint*) cvAlloc(pmdSz.width * sizeof(CvPoint)); + f->pts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f)); + } + + return f; +} + +void fillFrame(Frame *f, IplImage *img, CvSize pmdSz, CvPoint3D32f **pts, CvPoint **status + , CvMat *rot, CvMat *trn, double alignError) { + + assert(pmdSz.width == f->sz.width || pmdSz.height == f->sz.height); + + if(f->img) cvCopy(img, f->img, NULL); + else f->img = cvCloneImage(img); + f->alignError = alignError; + + for(int j = 0; j < pmdSz.width; j++) + for(int i = 0; i < pmdSz.height; i++) { + f->status[i][j] = status[i][j]; + f->pts[i][j] = pts[i][j]; + } + + cvCopy(rot, f->rot, NULL); + cvCopy(trn, f->trn, NULL); +} + +void releaseFrame(Frame **f) { + Frame *t = *f; + cvReleaseImage(&t->img); + cvReleaseMat(&t->rot); + cvReleaseMat(&t->trn); + for(int i = 0; i < t->sz.height; i++) { + cvFree(&t->pts[i]); + cvFree(&t->status[i]); + } + cvFree(&t->pts); + cvFree(&t->status); + *f = NULL; +} + + +History *createHistory() { + History *h = (History*)cvAlloc(sizeof(History)); + h->frame = 0; + h->prev = 0; // essential!!! + return h; +} + +History *addFrame(History *h, Frame *f) { + if(!h->frame) { // first frame, FIXME: should be out here + h->prev = 0; // ensure + h->frame = f; + return h; + } + // else + History *n = (History*)cvAlloc(sizeof(History)); + n->prev = h; + n->frame = f; + return n; +} + +void releaseTail(History *h) { + History *tmp = h->prev; + History *prev = 0; + h->prev = 0; + while(tmp) { + prev = tmp->prev; + releaseFrame(&tmp->frame); + cvFree(&tmp); + tmp = prev; + } +} + +void checkHistoryLen(History *h, int maxLen) { + History *histI = h; + for(int i = 0; histI->prev; i++) + if(i > maxLen-2) // -2 because I release *prev* elemnents + releaseTail(histI); + else histI = histI->prev; +} + diff --git a/.svn/pristine/6c/6ce9de5226968ae0ad95868e8e6183771277ece1.svn-base b/.svn/pristine/6c/6ce9de5226968ae0ad95868e8e6183771277ece1.svn-base new file mode 100644 index 0000000..7562a03 --- /dev/null +++ b/.svn/pristine/6c/6ce9de5226968ae0ad95868e8e6183771277ece1.svn-base @@ -0,0 +1,42 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: thingdef.h +// Purpose: Definitions for wxThings +// Author: John Labenski +// Modified by: +// Created: 1/08/1999 +// RCS-ID: $Id: thingdef.h,v 1.2 2006/03/21 05:33:19 jrl1 Exp $ +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_THINGDEF_H__ +#define __WX_THINGDEF_H__ + +#include "wx/defs.h" + +// ---------------------------------------------------------------------------- +// DLLIMPEXP macros +// ---------------------------------------------------------------------------- + +// These are our DLL macros (see the contrib libs like wxPlot) +#ifdef WXMAKINGDLL_THINGS + #define WXDLLIMPEXP_THINGS WXEXPORT + #define WXDLLIMPEXP_DATA_THINGS(type) WXEXPORT type +#elif defined(WXUSINGDLL) + #define WXDLLIMPEXP_THINGS WXIMPORT + #define WXDLLIMPEXP_DATA_THINGS(type) WXIMPORT type +#else // not making nor using DLL + #define WXDLLIMPEXP_THINGS + #define WXDLLIMPEXP_DATA_THINGS(type) type +#endif + +// ---------------------------------------------------------------------------- +// wxWidgets backwards compatibility macros +// ---------------------------------------------------------------------------- + +#include "wx/dynarray.h" +#ifndef WX_DECLARE_OBJARRAY_WITH_DECL // for wx2.4 backwards compatibility + #define WX_DECLARE_OBJARRAY_WITH_DECL(T, name, expmode) WX_DECLARE_USER_EXPORTED_OBJARRAY(T, name, WXDLLIMPEXP_THINGS) +#endif + +#endif // __WX_THINGDEF_H__ diff --git a/.svn/pristine/6c/6cecb853bf01e91724b83c758ccc07a391c2f2e0.svn-base b/.svn/pristine/6c/6cecb853bf01e91724b83c758ccc07a391c2f2e0.svn-base new file mode 100644 index 0000000..e16f894 --- /dev/null +++ b/.svn/pristine/6c/6cecb853bf01e91724b83c758ccc07a391c2f2e0.svn-base @@ -0,0 +1,38 @@ + + +int glui_img_checkbox_0[] = { 13, 13, /* width, height */ + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 192,192,192, 255,255,255, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 255,255,255, + 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 192,192,192, + 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 192,192,192, 255,255,255, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 255,255,255, + 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 128,128,128, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192,192,192, + 255,255,255, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 255,255,255, +}; diff --git a/.svn/pristine/6d/6d1e252e410290ff63a7ab6a12dd8df6a2334f6a.svn-base b/.svn/pristine/6d/6d1e252e410290ff63a7ab6a12dd8df6a2334f6a.svn-base new file mode 100644 index 0000000..fcabf17 --- /dev/null +++ b/.svn/pristine/6d/6d1e252e410290ff63a7ab6a12dd8df6a2334f6a.svn-base @@ -0,0 +1,147 @@ +/* + * io_types implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/io_types.h" + +#ifdef _MSC_VER +//#include // TODO: TEST +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +#include + +#include "slam6d/globals.icc" + +IOType formatname_to_io_type(const char * string) +{ + if (strcasecmp(string, "uos") == 0) return UOS; + else if (strcasecmp(string, "uos_map") == 0) return UOS_MAP; + else if (strcasecmp(string, "uos_frames") == 0) return UOS_FRAMES; + else if (strcasecmp(string, "uos_map_frames") == 0) return UOS_MAP_FRAMES; + else if (strcasecmp(string, "uos_rgb") == 0) return UOS_RGB; + else if (strcasecmp(string, "old") == 0) return OLD; + else if (strcasecmp(string, "rts") == 0) return RTS; + else if (strcasecmp(string, "rts_map") == 0) return RTS_MAP; + else if (strcasecmp(string, "ifp") == 0) return IFP; + else if (strcasecmp(string, "riegl_txt") == 0) return RIEGL_TXT; + else if (strcasecmp(string, "riegl_project") == 0) return RIEGL_PROJECT; + else if (strcasecmp(string, "riegl_rgb") == 0) return RIEGL_RGB; + else if (strcasecmp(string, "riegl_bin") == 0) return RIEGL_BIN; + else if (strcasecmp(string, "zahn") == 0) return ZAHN; + else if (strcasecmp(string, "ply") == 0) return PLY; + else if (strcasecmp(string, "wrl") == 0) return WRL; + else if (strcasecmp(string, "xyz") == 0) return XYZ; + else if (strcasecmp(string, "zuf") == 0) return ZUF; + else if (strcasecmp(string, "asc") == 0) return ASC; + else if (strcasecmp(string, "iais") == 0) return IAIS; + else if (strcasecmp(string, "front") == 0) return FRONT; + else if (strcasecmp(string, "x3d") == 0) return X3D; + else if (strcasecmp(string, "rxp") == 0) return RXP; + else if (strcasecmp(string, "ais") == 0) return AIS; + else if (strcasecmp(string, "oct") == 0) return OCT; + else if (strcasecmp(string, "txyzr") == 0) return TXYZR; + else if (strcasecmp(string, "xyzr") == 0) return XYZR; + else if (strcasecmp(string, "xyz_rgb") == 0) return XYZ_RGB; + else if (strcasecmp(string, "ks") == 0) return KS; + else if (strcasecmp(string, "ks_rgb") == 0) return KS_RGB; + else if (strcasecmp(string, "stl") == 0) return STL; + else if (strcasecmp(string, "leica") == 0) return LEICA; + else if (strcasecmp(string, "pcl") == 0) return PCL; + else if (strcasecmp(string, "pci") == 0) return PCI; + else if (strcasecmp(string, "cad") == 0) return UOS_CAD; + else if (strcasecmp(string, "velodyne") == 0) return VELODYNE; + else if (strcasecmp(string, "velodyne_frames") == 0) return VELODYNE_FRAMES; + else throw std::runtime_error(std::string("Io type ") + string + std::string(" is unknown")); +} + +const char * io_type_to_libname(IOType type) +{ + switch (type) { + case UOS: + return "scan_io_uos"; + case UOS_MAP: + return "scan_io_uos_map"; + case UOS_FRAMES: + return "scan_io_uos_frames"; + case UOS_MAP_FRAMES: + return "scan_io_uos_map_frames"; + case UOS_RGB: + return "scan_io_uos_rgb"; + case OLD: + return "scan_io_old"; + case RTS: + return "scan_io_rts"; + case RTS_MAP: + return "scan_io_rts_map"; + case IFP: + return "scan_io_ifp"; + case RIEGL_TXT: + return "scan_io_riegl_txt"; + case RIEGL_PROJECT: + return "scan_io_riegl_project"; + case RIEGL_RGB: + return "scan_io_riegl_rgb"; + case RIEGL_BIN: + return "scan_io_riegl_bin"; + case ZAHN: + return "scan_io_zahn"; + case PLY: + return "scan_io_ply"; + case WRL: + return "scan_io_wrl"; + case XYZ: + return "scan_io_xyz"; + case ZUF: + return "scan_io_zuf"; + case ASC: + return "scan_io_asc"; + case IAIS: + return "scan_io_iais"; + case FRONT: + return "scan_io_front"; + case X3D: + return "scan_io_x3d"; + case RXP: + return "scan_io_rxp"; + case AIS: + return "scan_io_ais"; + case OCT: + return "scan_io_oct"; + case TXYZR: + return "scan_io_txyzr"; + case XYZR: + return "scan_io_xyzr"; + case XYZ_RGB: + return "scan_io_xyz_rgb"; + case KS: + return "scan_io_ks"; + case KS_RGB: + return "scan_io_ks_rgb"; + case STL: + return "stl"; + case LEICA: + return "leica_txt"; + case PCL: + return "pcl"; + case PCI: + return "pci"; + case UOS_CAD: + return "cad"; + case VELODYNE: + return "scan_io_velodyne"; + case VELODYNE_FRAMES: + return "velodyne_frames"; + default: + throw std::runtime_error(std::string("Io type ") + to_string(type) + std::string(" could not be matched to a library name")); + } +} diff --git a/.svn/pristine/6e/6e15dd5265bcec8ee09b08fccd5e6ae134c82f83.svn-base b/.svn/pristine/6e/6e15dd5265bcec8ee09b08fccd5e6ae134c82f83.svn-base new file mode 100644 index 0000000..c24fdf3 --- /dev/null +++ b/.svn/pristine/6e/6e15dd5265bcec8ee09b08fccd5e6ae134c82f83.svn-base @@ -0,0 +1,9097 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: frame1_final.eps +%%Creator: fig2dev Version 3.2 Patchlevel 3d +%%CreationDate: Thu Dec 4 14:21:18 2003 +%%For: root@rhum (root) +%%BoundingBox: 0 0 412 412 +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def +/col4 {1.000 0.000 0.000 srgb} bind def +/col5 {1.000 0.000 1.000 srgb} bind def +/col6 {1.000 1.000 0.000 srgb} bind def +/col7 {1.000 1.000 1.000 srgb} bind def +/col8 {0.000 0.000 0.560 srgb} bind def +/col9 {0.000 0.000 0.690 srgb} bind def +/col10 {0.000 0.000 0.820 srgb} bind def +/col11 {0.530 0.810 1.000 srgb} bind def +/col12 {0.000 0.560 0.000 srgb} bind def +/col13 {0.000 0.690 0.000 srgb} bind def +/col14 {0.000 0.820 0.000 srgb} bind def +/col15 {0.000 0.560 0.560 srgb} bind def +/col16 {0.000 0.690 0.690 srgb} bind def +/col17 {0.000 0.820 0.820 srgb} bind def +/col18 {0.560 0.000 0.000 srgb} bind def +/col19 {0.690 0.000 0.000 srgb} bind def +/col20 {0.820 0.000 0.000 srgb} bind def +/col21 {0.560 0.000 0.560 srgb} bind def +/col22 {0.690 0.000 0.690 srgb} bind def +/col23 {0.820 0.000 0.820 srgb} bind def +/col24 {0.500 0.190 0.000 srgb} bind def +/col25 {0.630 0.250 0.000 srgb} bind def +/col26 {0.750 0.380 0.000 srgb} bind def +/col27 {1.000 0.500 0.500 srgb} bind def +/col28 {1.000 0.630 0.630 srgb} bind def +/col29 {1.000 0.750 0.750 srgb} bind def +/col30 {1.000 0.880 0.880 srgb} bind def +/col31 {1.000 0.840 0.000 srgb} bind def + +end +save +newpath 0 412 moveto 0 0 lineto 412 0 lineto 412 412 lineto closepath clip newpath +-73.7 527.2 translate +1 -1 scale + +/cp {closepath} bind def +/ef {eofill} bind def +/gr {grestore} bind def +/gs {gsave} bind def +/sa {save} bind def +/rs {restore} bind def +/l {lineto} bind def +/m {moveto} bind def +/rm {rmoveto} bind def +/n {newpath} bind def +/s {stroke} bind def +/sh {show} bind def +/slc {setlinecap} bind def +/slj {setlinejoin} bind def +/slw {setlinewidth} bind def +/srgb {setrgbcolor} bind def +/rot {rotate} bind def +/sc {scale} bind def +/sd {setdash} bind def +/ff {findfont} bind def +/sf {setfont} bind def +/scf {scalefont} bind def +/sw {stringwidth} bind def +/tr {translate} bind def +/tnt {dup dup currentrgbcolor + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb} + bind def +/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul + 4 -2 roll mul srgb} bind def +/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def +/$F2psEnd {$F2psEnteredState restore end} def + +$F2psBegin +10 setmiterlimit + 0.06299 0.06299 sc +% +% Fig objects follow +% +% Polyline +% +% pen to black in case this eps object doesn't set color first +0 0 0 setrgbcolor +% Begin Imported EPS File: frame1.eps +%%BeginDocument: frame1.eps +% +n gs +1170 1845 tr +12.500000 -12.500000 sc +0 -522 tr +-37 -160 tr +sa +n 37 160 m 559 160 l 559 682 l 37 682 l cp clip n +countdictstack +mark +/showpage {} def +% EPS file follows: +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/scanner/docu/iav2004/frame1.eps +%%Creator: XV Version 3.10a Rev: 12/29/94 (PNG patch 1.2) - by John Bradley +%%BoundingBox: 37 160 559 682 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define space for color conversions +/grays 600 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +37 160 translate + +% size of image (on paper, in 1/72inch coords) +522.00000 522.00000 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +% define the colormap +/cmap 9 string def + + +% load up the colormap +currentfile cmap readhexstring +000000 ffffff 0000ff +pop pop % lose return values from readhexstring + + +% rlecmapimage expects to have 'w h bits matrix' on stack +/rlecmapimage { + /buffer 1 string def + /rgbval 3 string def + /block 384 string def + + % proc to read a 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+countdictstack exch sub { end } repeat +restore grestore +% +% End Imported PIC File: frame1.eps +%%EndDocument +% +% Polyline +60.000 slw +n 2430 7110 m 4230 7110 l 4230 8280 l 2430 8280 l + cp gs col6 s gr +$F2psEnd +rs diff --git a/.svn/pristine/6e/6e55d122a458f4cf737e20373245a84f965849f9.svn-base b/.svn/pristine/6e/6e55d122a458f4cf737e20373245a84f965849f9.svn-base new file mode 100644 index 0000000..7bda5c8 --- /dev/null +++ b/.svn/pristine/6e/6e55d122a458f4cf737e20373245a84f965849f9.svn-base @@ -0,0 +1,2 @@ +.cvsignore +Makefile diff --git a/.svn/pristine/6e/6e8d8a55ad58bc84625098471202e36d9714305e.svn-base b/.svn/pristine/6e/6e8d8a55ad58bc84625098471202e36d9714305e.svn-base new file mode 100644 index 0000000..e4aef30 --- /dev/null +++ b/.svn/pristine/6e/6e8d8a55ad58bc84625098471202e36d9714305e.svn-base @@ -0,0 +1,45 @@ +#ifndef __CONVEX_PLANE_H__ +#define __CONVEX_PLANE_H__ + +#include "slam6d/point.h" + +#include +#include +using std::vector; +using std::list; + +#include +using std::set; + + + +class ConvexPlane { +protected: + ConvexPlane() {}; + +public: + static bool furtherleft(double * point, double * start, double * end); + static void JarvisMarchConvexHull(list &points, vector &convex_hull); + ConvexPlane(double _n[3], double _rho, char _direction, vector _convex_hull); + ConvexPlane(double plane[4], vector &points ); + ConvexPlane(double plane[4]); + ConvexPlane(vector &partialplanes); + ~ConvexPlane(); + void writePlane(std::string, int counter); + void writeNormal(std::string, int counter); + vector getConvexHull(); + void getNormal(double* normal, double* origin); + void project(const double *p, double *p1); + + double n[3]; + double rho; + char direction; + int pointsize; + vector convex_hull; + bool isWall(); + bool isHorizontal(); + void horizontalize(); + void verticalize(); +}; + +#endif diff --git a/.svn/pristine/6e/6ec053398fcfeaf8bac67254ecbd88e35f98c0df.svn-base b/.svn/pristine/6e/6ec053398fcfeaf8bac67254ecbd88e35f98c0df.svn-base new file mode 100644 index 0000000..943d2a1 --- /dev/null +++ b/.svn/pristine/6e/6ec053398fcfeaf8bac67254ecbd88e35f98c0df.svn-base @@ -0,0 +1,216 @@ +/* + * metrics implementation + * + * Copyright (C) Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/metrics.h" + +#ifdef _MSC_VER +LARGE_INTEGER TimeMetric::frequency; +bool TimeMetric::init = false; +#endif + +TimeMetric::TimeMetric(unsigned int reserve) : + Metric(reserve) +{ +#ifdef _MSC_VER + if(!TimeMetric::init) { + QueryPerformanceFrequency(&TimeMetric::frequency); + TimeMetric::init = true; + } +#endif +} + +Timer TimeMetric::start() +{ + Timer start; +#ifdef _MSC_VER + QueryPerformanceCounter(&start); +#else + gettimeofday(&start, 0); +#endif + return start; +} + +void TimeMetric::end(Timer& start) +{ + double delta; +#ifdef _MSC_VER + LARGE_INTEGER end; + QueryPerformanceCounter(&end); + delta = (double)(end.QuadPart - start.QuadPart) / frequency.QuadPart; +#else + timeval end; + gettimeofday(&end, 0); + delta = (double)(end.tv_sec - start.tv_sec) + + (double)(end.tv_usec - start.tv_usec) / 1000000.0; +#endif + commit(delta); +} + +CounterMetric::CounterMetric(unsigned int reserve) : + Metric(reserve) +{ +} + +void CounterMetric::add(unsigned long long value) +{ + commit(value); +} + + + +#include +using std::cout; +using std::endl; + +TimeMetric ServerMetric::scan_loading, ServerMetric::cacheio_write_time, ServerMetric::cacheio_read_time; +CounterMetric ServerMetric::cacheio_write_size, ServerMetric::cacheio_read_size; + +TimeMetric + ClientMetric::read_scan_time, + ClientMetric::scan_load_time, + ClientMetric::calc_reduced_points_time, + ClientMetric::transform_time(100000), // avoid resizing in multithreaded transform calls by graph-slam + ClientMetric::copy_original_time, + ClientMetric::create_tree_time, + ClientMetric::on_demand_reduction_time, + ClientMetric::create_metatree_time, + ClientMetric::add_frames_time, + ClientMetric::matching_time, + ClientMetric::clientinterface_time, + ClientMetric::cache_miss_time, + ClientMetric::allocate_time, + ClientMetric::frames_time; + +void printTime(const TimeMetric& m, unsigned int indentation = 1) +{ + for(unsigned int i = 1; i <= indentation; ++i) { + cout << " "; + } + cout << m.sum() << "s"; + if(m.size() != 1) { + cout << " (" << m.average() << "s average of " << m.size() << " calls)"; + } + cout << endl; +} + +void ServerMetric::print() +{ + cout << "= Metric server information =" << endl + << "Time spent for loading scans (in ScanHandler::load):" << endl + << " Amount: " << scan_loading.size() << endl + << " Time: " << scan_loading.sum() << "s (" << scan_loading.average() << "s avg.)" << endl + << endl + << "CacheIO reads:" << endl + << " Amount: " << cacheio_read_size.size() << endl + << " Size: " << cacheio_read_size.sum()/1024/1024 << "MB (" << cacheio_read_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_read_time.sum() << "s (" << cacheio_read_time.average() << "s avg.)" << endl + << endl + << "CacheIO writes:" << endl + << " Amount: " << cacheio_write_size.size() << endl + << " Size: " << cacheio_write_size.sum()/1024/1024 << "MB (" << cacheio_write_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_write_time.sum() << "s (" << cacheio_write_time.average() << "s avg.)" << endl + << "= Resetting metric information =" << endl + << endl; + scan_loading.reset(); + cacheio_write_time.reset(); + cacheio_read_time.reset(); + cacheio_write_size.reset(); + cacheio_read_size.reset(); +} + +void ClientMetric::print(bool scanserver) +{ + cout << "= Metric client information =" << endl; + + // ClientInterface specific ones + if(scanserver) { + cout << "Time for all ClientInterface messages:" << endl; + printTime(clientinterface_time); + + cout << " [" << endl; + + cout << " Time for cache misses:" << endl; + printTime(cache_miss_time, 3); + + cout << " Time for cache allocations:" << endl; + printTime(allocate_time, 3); + + // TODO: invalidations too? + + cout << " Time for frame calls:" << endl; + printTime(frames_time, 3); + + cout << " ]" << endl; + + cout << endl; + } + + // Scan: Loading, reducing and SearchTree related ones + // barebone preparation and parameter setting + if(read_scan_time.size()) { + cout << "Time for loading directory:" << endl; + printTime(read_scan_time); + } + + // getXYZ in calcReducedPoints + if(scan_load_time.size()) { + cout << "Time for loading scans:" << endl; + printTime(scan_load_time); + } + + if(calc_reduced_points_time.size()) { + cout << "Time for reducing scans:" << endl; + printTime(calc_reduced_points_time); + } + + // copying of reduced to original or other way around + if(copy_original_time.size()) { + cout << "Time for copying reduced points:" << endl; + printTime(copy_original_time); + } + + if(create_tree_time.size()) { + cout << "Time for creating SearchTree:" << endl; + printTime(create_tree_time); + } + + // part of create_tree_time which is spent for meta trees in specific + if(create_metatree_time.size()) { + cout << "Time for creating meta-SearchTree:" << endl; + printTime(create_metatree_time); + } + + if(on_demand_reduction_time.size()) { + cout << "Time in on-demand reduction [reduction+transform+copy / copy]:" << endl; + printTime(on_demand_reduction_time); + } + + if(transform_time.size()) { + cout << "Time for transform:" << endl; + printTime(transform_time); + } + + // SLAM + if(matching_time.size()) { + cout << endl; + cout << "Matching time:" << endl; + printTime(matching_time); + cout << "Corrected matching time without on-demand loading, reduction and tree creation:" << endl; + // match - scan loading in calcReducedPoints - calcReducedPoints - transform (irrelevant) - copy to original - createTree + cout << " " << + matching_time.sum() + - scan_load_time.sum() + - calc_reduced_points_time.sum() + - copy_original_time.sum() + - create_tree_time.sum() + << "s" << endl; + } + + cout << endl; +} diff --git a/.svn/pristine/6e/6ee20c85203052cd52a1acdab63101353e9c70a5.svn-base b/.svn/pristine/6e/6ee20c85203052cd52a1acdab63101353e9c70a5.svn-base new file mode 100644 index 0000000..2e04506 --- /dev/null +++ b/.svn/pristine/6e/6ee20c85203052cd52a1acdab63101353e9c70a5.svn-base @@ -0,0 +1,297 @@ +//$$evalue.cpp eigen-value decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" +#include "newmatap.h" +#include "newmatrm.h" +#include "precisio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,17); ++ExeCount; } +#else +#define REPORT {} +#endif + + + +static void tred2(const SymmetricMatrix& A, DiagonalMatrix& D, + DiagonalMatrix& E, Matrix& Z) +{ + Tracer et("Evalue(tred2)"); + REPORT + Real tol = + FloatingPointPrecision::Minimum()/FloatingPointPrecision::Epsilon(); + int n = A.Nrows(); Z.ReSize(n,n); Z.Inject(A); + D.ReSize(n); E.ReSize(n); + Real* z = Z.Store(); int i; + + for (i=n-1; i > 0; i--) // i=0 is excluded + { + Real f = Z.element(i,i-1); Real g = 0.0; + int k = i-1; Real* zik = z + i*n; + while (k--) g += square(*zik++); + Real h = g + square(f); + if (g <= tol) { REPORT E.element(i) = f; h = 0.0; } + else + { + REPORT + g = sign(-sqrt(h), f); E.element(i) = g; h -= f*g; + Z.element(i,i-1) = f-g; f = 0.0; + Real* zji = z + i; Real* zij = z + i*n; Real* ej = E.Store(); + int j; + for (j=0; j=l; i--) + { + Real ei = E.element(i); Real di = D.element(i); + Real& ei1 = E.element(i+1); + g = c * ei; h = c * p; + if ( fabs(p) >= fabs(ei)) + { + REPORT + c = ei / p; r = sqrt(c*c + 1.0); + ei1 = s*p*r; s = c/r; c = 1.0/r; + } + else + { + REPORT + c = p / ei; r = sqrt(c*c + 1.0); + ei1 = s * ei * r; s = 1.0/r; c /= r; + } + p = c * di - s*g; D.element(i+1) = h + s * (c*g + s*di); + + Real* zki = z + i; Real* zki1 = zki + 1; int k = n; + if (k) for (;;) + { + REPORT + h = *zki1; *zki1 = s*(*zki) + c*h; *zki = c*(*zki) - s*h; + if (!(--k)) break; + zki += n; zki1 += n; + } + } + el = s*p; dl = c*p; + if (fabs(el) <= b) { REPORT; test = true; break; } + } + if (!test) Throw ( ConvergenceException(D) ); + dl += f; + } +/* + for (int i=0; i= 0; i--) + { + Real h = 0.0; Real f = - FloatingPointPrecision::Maximum(); + Real* d = D.Store(); Real* a = A.Store() + (i*(i+1))/2; int k = i; + while (k--) { f = *a++; *d++ = f; h += square(f); } + if (h <= tol) { REPORT *(--ei) = 0.0; h = 0.0; } + else + { + REPORT + Real g = sign(-sqrt(h), f); *(--ei) = g; h -= f*g; + f -= g; *(d-1) = f; *(a-1) = f; f = 0.0; + Real* dj = D.Store(); Real* ej = E.Store(); int j; + for (j = 0; j < i; j++) + { + Real* dk = D.Store(); Real* ak = A.Store()+(j*(j+1))/2; + Real g = 0.0; k = j; + while (k--) g += *ak++ * *dk++; + k = i-j; int l = j; + if (k) for (;;) { g += *ak * *dk++; if (!(--k)) break; ak += ++l; } + g /= h; *ej++ = g; f += g * *dj++; + } + Real hh = f / (2 * h); Real* ak = A.Store(); + dj = D.Store(); ej = E.Store(); + for (j = 0; j < i; j++) + { + f = *dj++; g = *ej - hh * f; *ej++ = g; + Real* dk = D.Store(); Real* ek = E.Store(); k = j+1; + while (k--) { *ak++ -= (f * *ek++ + g * *dk++); } + } + } + *d = *a; *a = h; + } +} + +static void tql1(DiagonalMatrix& D, DiagonalMatrix& E) +{ + Tracer et("Evalue(tql1)"); + REPORT + Real eps = FloatingPointPrecision::Epsilon(); + int n = D.Nrows(); int l; + for (l=1; l=l; i--) + { + Real ei = E.element(i); Real di = D.element(i); + Real& ei1 = E.element(i+1); + g = c * ei; h = c * p; + if ( fabs(p) >= fabs(ei)) + { + REPORT + c = ei / p; r = sqrt(c*c + 1.0); + ei1 = s*p*r; s = c/r; c = 1.0/r; + } + else + { + REPORT + c = p / ei; r = sqrt(c*c + 1.0); + ei1 = s * ei * r; s = 1.0/r; c /= r; + } + p = c * di - s*g; D.element(i+1) = h + s * (c*g + s*di); + } + el = s*p; dl = c*p; + if (fabs(el) <= b) { REPORT test = true; break; } + } + if (!test) Throw ( ConvergenceException(D) ); + Real p = dl + f; + test = false; + for (i=l; i>0; i--) + { + if (p < D.element(i-1)) { REPORT D.element(i) = D.element(i-1); } + else { REPORT test = true; break; } + } + if (!test) i=0; + D.element(i) = p; + } +} + +void EigenValues(const SymmetricMatrix& A, DiagonalMatrix& D, Matrix& Z) +{ REPORT DiagonalMatrix E; tred2(A, D, E, Z); tql2(D, E, Z); SortSV(D,Z,true); } + +void EigenValues(const SymmetricMatrix& X, DiagonalMatrix& D) +{ REPORT DiagonalMatrix E; SymmetricMatrix A; tred3(X,D,E,A); tql1(D,E); } + +void EigenValues(const SymmetricMatrix& X, DiagonalMatrix& D, + SymmetricMatrix& A) +{ REPORT DiagonalMatrix E; tred3(X,D,E,A); tql1(D,E); } + + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/6e/6ee5786a532eaed54fa875aea13e251e81b9f02a.svn-base b/.svn/pristine/6e/6ee5786a532eaed54fa875aea13e251e81b9f02a.svn-base new file mode 100644 index 0000000..b913624 --- /dev/null +++ b/.svn/pristine/6e/6ee5786a532eaed54fa875aea13e251e81b9f02a.svn-base @@ -0,0 +1,4 @@ +newmat.h +newmatap.h +newmatio.h +myexcept.cpp diff --git a/.svn/pristine/6f/6f4edefa29dbba22a7dd5c544e01723fbe8d4b04.svn-base b/.svn/pristine/6f/6f4edefa29dbba22a7dd5c544e01723fbe8d4b04.svn-base new file mode 100644 index 0000000..86b1475 --- /dev/null +++ b/.svn/pristine/6f/6f4edefa29dbba22a7dd5c544e01723fbe8d4b04.svn-base @@ -0,0 +1,160 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + +void trymat3() +{ + Tracer et("Third test of Matrix package"); + Tracer::PrintTrace(); + + { + Tracer et1("Stage 1"); + int i,j; + SymmetricMatrix S(7); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) S(i,j)=i*i+j; + S=-S+2.0; + + DiagonalMatrix D(7); + for (i=1;i<=7;i++) D(i,i)=S(i,i); + + Matrix M4(7,7); { M4=D+(D+4.0); M4=M4-D*2.0; M4=M4-4.0; Print(M4); } + SymmetricMatrix S2=D; Matrix M2=S2; { M2=-D+M2; Print(M2); } + UpperTriangularMatrix U2=D; { M2=U2; M2=D-M2; Print(M2); } + LowerTriangularMatrix L2=D; { M2=L2; M2=D-M2; Print(M2); } + M2=D; M2=M2-D; Print(M2); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) L2(i,j)=2.0-i*i-j; + U2=L2.t(); D=D.t(); S=S.t(); + M4=(L2-1.0)+(U2+1.0)-D-S; Print(M4); + M4=(-L2+1.0)+(-U2-1.0)+D+S; Print(M4); + } + + { + Tracer et1("Stage 2"); + int i,j; + DiagonalMatrix D(6); + for (i=1;i<=6;i++) D(i,i)=i*3.0+i*i+2.0; + UpperTriangularMatrix U2(7); LowerTriangularMatrix L2(7); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) L2(i,j)=2.0-i*i+j; + { U2=L2.t(); } + DiagonalMatrix D1(7); for (i=1;i<=7;i++) D1(i,i)=(i-2)*(i-4); + Matrix M2(6,7); + for (i=1;i<=6;i++) for (j=1;j<=7;j++) M2(i,j)=2.0+i*j+i*i+2.0*j*j; + Matrix MD=D; SymmetricMatrix MD1(1); MD1=D1; + Matrix MX=MD*M2*MD1 - D*(M2*D1); Print(MX); + MX=MD*M2*MD1 - (D*M2)*D1; Print(MX); + { + D.ReSize(7); for (i=1;i<=7;i++) D(i,i)=i*3.0+i*i+2.0; + LowerTriangularMatrix LD(1); LD=D; + UpperTriangularMatrix UD(1); UD=D; + M2=U2; M2=LD*M2*MD1 - D*(U2*D1); Print(M2); + M2=U2; M2=UD*M2*MD1 - (D*U2)*D1; Print(M2); + M2=L2; M2=LD*M2*MD1 - D*(L2*D1); Print(M2); + M2=L2; M2=UD*M2*MD1 - (D*L2)*D1; Print(M2); + } + } + + { + Tracer et1("Stage 3"); + // test inverse * scalar + DiagonalMatrix D(6); + for (int i=1;i<=6;i++) D(i)=i*i; + DiagonalMatrix E = D.i() * 4.0; + DiagonalMatrix I(6); I = 1.0; + E=D*E-I*4.0; Print(E); + E = D.i() / 0.25; E=D*E-I*4.0; Print(E); + } + { + Tracer et1("Stage 4"); + Matrix sigma(3,3); Matrix sigmaI(3,3); + sigma = 0; sigma(1,1) = 1.0; sigma(2,2) = 1.0; sigma(3,3) = 1.0; + sigmaI = sigma.i(); + sigmaI -= sigma; Clean(sigmaI, 0.000000001); Print(sigmaI); + } + { + Tracer et1("Stage 5"); + Matrix X(5,5); DiagonalMatrix DM(5); + for (int i=1; i<=5; i++) for (int j=1; j<=5; j++) + X(i,j) = (23*i+59*j) % 43; + DM << 1 << 8 << -7 << 2 << 3; + Matrix Y = X.i() * DM; Y = X * Y - DM; + Clean(Y, 0.000000001); Print(Y); + } + { + Tracer et1("Stage 6"); // test reverse function + ColumnVector CV(10), RCV(10); + CV << 2 << 7 << 1 << 6 << -3 << 1 << 8 << -4 << 0 << 17; + RCV << 17 << 0 << -4 << 8 << 1 << -3 << 6 << 1 << 7 << 2; + ColumnVector X = CV - RCV.Reverse(); Print(X); + RowVector Y = CV.t() - RCV.t().Reverse(); Print(Y); + DiagonalMatrix D = CV.AsDiagonal() - RCV.AsDiagonal().Reverse(); + Print(D); + X = CV & CV.Rows(1,9).Reverse(); + ColumnVector Z(19); + Z.Rows(1,10) = RCV.Reverse(); Z.Rows(11,19) = RCV.Rows(2,10); + X -= Z; Print(X); Z -= Z.Reverse(); Print(Z); + Matrix A(3,3); A << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9; + Matrix B(3,3); B << 9 << 8 << 7 << 6 << 5 << 4 << 3 << 2 << 1; + Matrix Diff = A - B.Reverse(); Print(Diff); + Diff = (-A).Reverse() + B; Print(Diff); + UpperTriangularMatrix U; + U << A.Reverse(); Diff = U; U << B; Diff -= U; Print(Diff); + U << (-A).Reverse(); Diff = U; U << B; Diff += U; Print(Diff); + } + { + Tracer et1("Stage 7"); // test IsSingular function + ColumnVector XX(4); + Matrix A(3,3); + A = 0; + CroutMatrix B1 = A; + XX(1) = B1.IsSingular() ? 0 : 1; + A << 1 << 3 << 6 + << 7 << 11 << 13 + << 2 << 4 << 1; + CroutMatrix B2(A); + XX(2) = B2.IsSingular() ? 1 : 0; + BandMatrix C(3,1,1); C.Inject(A); + BandLUMatrix B3(C); + XX(3) = B3.IsSingular() ? 1 : 0; + C = 0; + BandLUMatrix B4(C); + XX(4) = B4.IsSingular() ? 0 : 1; + Print(XX); + } + { + Tracer et1("Stage 8"); // inverse with vector of 0s + Matrix A(3,3); Matrix Z(3,3); ColumnVector X(6); + A << 1 << 3 << 6 + << 7 << 11 << 13 + << 2 << 4 << 1; + Z = 0; + Matrix B = (A | Z) & (Z | A); // 6 * 6 matrix + X = 0.0; + X = B.i() * X; + Print(X); + // also check inverse with non-zero Y + Matrix Y(3,3); + Y << 0.0 << 1.0 << 1.0 + << 5.0 << 0.0 << 5.0 + << 3.0 << 3.0 << 0.0; + Matrix YY = Y & Y; // stack Y matrices + YY = B.i() * YY; + Matrix Y1 = A.i() * Y; + YY -= Y1 & Y1; Clean(YY, 0.000000001); Print(YY); + Y1 = A * Y1 - Y; Clean(Y1, 0.000000001); Print(Y1); + } + + +} + diff --git a/.svn/pristine/6f/6fb35263fc0da4474645bc27c6087476ca6a932f.svn-base b/.svn/pristine/6f/6fb35263fc0da4474645bc27c6087476ca6a932f.svn-base new file mode 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User Interface Toolkit + --------------------------- + + glui_translation - GLUI_Translation control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" +#include "algebra3.h" + +/********************** GLUI_Translation::iaction_mouse_down_handler() ***/ +/* These are really in local coords (5/10/99) */ + +int GLUI_Translation::iaction_mouse_down_handler( int local_x, + int local_y ) +{ + int center_x, center_y; + + down_x = local_x; + down_y = local_y; + + if ( trans_type == GLUI_TRANSLATION_XY ) { + orig_x = float_array_val[0]; + orig_y = float_array_val[1]; + + /** Check if the Alt key is down, which means lock to an axis **/ + + center_x = w/2; + center_y = (h-18)/2; + + if ( glui->curr_modifiers & GLUT_ACTIVE_ALT ) { + if ( ABS(local_y-center_y) > ABS(local_x-center_x) ) { + locked = GLUI_TRANSLATION_LOCK_Y; + glutSetCursor( GLUT_CURSOR_UP_DOWN ); + } + else { + locked = GLUI_TRANSLATION_LOCK_X; + glutSetCursor( GLUT_CURSOR_LEFT_RIGHT ); + } + } + else { + locked = GLUI_TRANSLATION_LOCK_NONE; + glutSetCursor( GLUT_CURSOR_SPRAY ); + } + } + else if ( trans_type == GLUI_TRANSLATION_X ) { + glutSetCursor( GLUT_CURSOR_LEFT_RIGHT ); + orig_x = float_array_val[0]; + } + else if ( trans_type == GLUI_TRANSLATION_Y ) { + glutSetCursor( GLUT_CURSOR_UP_DOWN ); + orig_y = float_array_val[0]; + } + else if ( trans_type == GLUI_TRANSLATION_Z ) { + glutSetCursor( GLUT_CURSOR_UP_DOWN ); + orig_z = float_array_val[0]; + } + + trans_mouse_code = 1; + translate_and_draw_front(); + + return false; +} + + +/*********************** GLUI_Translation::iaction_mouse_up_handler() **********/ + +int GLUI_Translation::iaction_mouse_up_handler( int local_x, int local_y, + int inside ) +{ + trans_mouse_code = GLUI_TRANSLATION_MOUSE_NONE; + locked = GLUI_TRANSLATION_LOCK_NONE; + + translate_and_draw_front(); + + return false; +} + + +/******************* GLUI_Translation::iaction_mouse_held_down_handler() ******/ + +int GLUI_Translation::iaction_mouse_held_down_handler( int local_x, int local_y, + int inside) +{ + float x_off, y_off; + float off_array[2]; + + x_off = scale_factor * (float)(local_x - down_x); + y_off = -scale_factor * (float)(local_y - down_y); + + if ( glui->curr_modifiers & GLUT_ACTIVE_SHIFT ) { + x_off *= 100.0f; + y_off *= 100.0f; + } + else if ( glui->curr_modifiers & GLUT_ACTIVE_CTRL ) { + x_off *= .01f; + y_off *= .01f; + } + + + if ( trans_type == GLUI_TRANSLATION_XY ) { + + if ( locked == GLUI_TRANSLATION_LOCK_X ) + y_off = 0.0; + else if ( locked == GLUI_TRANSLATION_LOCK_Y ) + x_off = 0.0; + + off_array[0] = x_off + orig_x; + off_array[1] = y_off + orig_y; + } + else if ( trans_type == GLUI_TRANSLATION_X ) { + off_array[0] = x_off + orig_x; + } + else if ( trans_type == GLUI_TRANSLATION_Y ) { + off_array[0] = y_off + orig_y; + } + else if ( trans_type == GLUI_TRANSLATION_Z ) { + off_array[0] = y_off + orig_z; + } + + set_float_array_val( (float*) &off_array[0] ); + + return false; +} + + +/******************** GLUI_Translation::iaction_draw_active_area_persp() **************/ + +void GLUI_Translation::iaction_draw_active_area_persp( void ) +{ + if ( NOT can_draw() ) + return; +} + + +/******************** GLUI_Translation::iaction_draw_active_area_ortho() **********/ + +void GLUI_Translation::iaction_draw_active_area_ortho( void ) +{ + if ( NOT can_draw() ) + return; + + /********* Draw emboss circles around arcball control *********/ + float radius; + radius = (float)(h-22)/2.0; /* MIN((float)w/2.0, (float)h/2.0); */ + glLineWidth( 1.0 ); + + draw_emboss_box( (int) -radius-2, (int)radius+2, + (int)-radius-2, (int)radius+2 ); + + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + glTranslatef( .5, .5, .5 ); + /* glScalef( radius-1.0, radius-1.0, radius-1.0 ); */ + if ( trans_type == GLUI_TRANSLATION_Z ) + draw_2d_z_arrows((int)radius-1); + else if ( trans_type == GLUI_TRANSLATION_XY ) + draw_2d_xy_arrows((int)radius-1); + else if ( trans_type == GLUI_TRANSLATION_X ) + draw_2d_x_arrows((int)radius-1); + else if ( trans_type == GLUI_TRANSLATION_Y ) + draw_2d_y_arrows((int)radius-1); + + glPopMatrix(); +} + + +/******************************** GLUI_Translation::iaction_dump() **********/ + +void GLUI_Translation::iaction_dump( FILE *output ) +{ +} + + +/******************** GLUI_Translation::iaction_special_handler() **********/ + +int GLUI_Translation::iaction_special_handler( int key,int modifiers ) +{ + + return false; +} + + + +/*************************** GLUI_Translation::draw_2d_z_arrows() **************/ + +void GLUI_Translation::draw_2d_z_arrows( int radius ) +{ + if ( trans_mouse_code != GLUI_TRANSLATION_MOUSE_NONE ) { + draw_2d_arrow(radius, true, 2); + draw_2d_arrow(radius, true, 0); + } + else { + draw_2d_arrow(radius, false, 2); + draw_2d_arrow(radius, false, 0); + } +} + + +/*************************** GLUI_Translation::draw_2d_x_arrows() **************/ + +void GLUI_Translation::draw_2d_x_arrows( int radius ) +{ + if ( trans_mouse_code != GLUI_TRANSLATION_MOUSE_NONE ) { + draw_2d_arrow(radius, true, 1); + draw_2d_arrow(radius, true, 3); + } + else { + draw_2d_arrow(radius, false, 1); + draw_2d_arrow(radius, false, 3); + } +} + + +/*************************** GLUI_Translation::draw_2d_y_arrows() **************/ + +void GLUI_Translation::draw_2d_y_arrows( int radius ) +{ + if ( trans_mouse_code != GLUI_TRANSLATION_MOUSE_NONE ) { + draw_2d_arrow(radius, true, 0); + draw_2d_arrow(radius, true, 2); + } + else { + draw_2d_arrow(radius, false, 0); + draw_2d_arrow(radius, false, 2); + } +} + + +/************************** GLUI_Translation::draw_2d_xy_arrows() **************/ + +void GLUI_Translation::draw_2d_xy_arrows( int radius) +{ + if ( trans_mouse_code != GLUI_TRANSLATION_MOUSE_NONE ) { + if ( locked == GLUI_TRANSLATION_LOCK_X ) { + draw_2d_arrow(radius, false, 0); + draw_2d_arrow(radius, false, 2); + draw_2d_arrow(radius, true, 1); + draw_2d_arrow(radius, true, 3); + } + else if ( locked == GLUI_TRANSLATION_LOCK_Y ) { + draw_2d_arrow(radius, false, 1); + draw_2d_arrow(radius, false, 3); + draw_2d_arrow(radius, true, 0); + draw_2d_arrow(radius, true, 2); + } + else { + draw_2d_arrow(radius, true, 0); + draw_2d_arrow(radius, true, 1); + draw_2d_arrow(radius, true, 2); + draw_2d_arrow(radius, true, 3); + } + } + else { + draw_2d_arrow(radius, false, 0); + draw_2d_arrow(radius, false, 1); + draw_2d_arrow(radius, false, 2); + draw_2d_arrow(radius, false, 3); + } + + return; +} + + +/*************************** GLUI_Translation::draw_2d_arrow() **************/ +/* ori: 0=up, 1=left, 2=down, 3=right */ +/* */ +/* */ +/* 0, y2 */ +/* / \ */ +/* / \ */ +/* / \ */ +/* / \ */ +/* / \ */ +/* / \ */ +/* / \ */ +/* / \ */ +/* -x2,y1 -x1b,y1 x1b,y1 x2,y1 */ +/* | | */ +/* | | */ +/* | | */ +/* | | */ +/* | | */ +/* -x1a,y0 x1a,y0 */ +/* */ + + +void GLUI_Translation::draw_2d_arrow( int radius, int filled, int orientation ) +{ + float x1 = .2, x2 = .4, y1 = .54, y2 = .94, y0; + float x1a, x1b; +/* + vec3 col1( 0.0, 0.0, 0.0 ), col2( .45, .45, .45 ), + col3( .7, .7, .7 ), col4( 1.0, 1.0, 1.0 ); + vec3 c1, c2, c3, c4, c5, c6; +*/ + vec3 white(1.0,1.0,1.0), black(0.0,0.0,0.0), gray(.45,.45,.45), + bkgd(.7,.7,.7); + int c_off=0; /* color index offset */ + + if ( glui ) + bkgd.set(glui->bkgd_color_f[0], + glui->bkgd_color_f[1], + glui->bkgd_color_f[2]); + + /* bkgd[0] = 255.0; bkgd[1] = 0; */ + + /** The following 8 colors define the shading of an octagon, in + clockwise order, starting from the upstroke on the left **/ + /** This is for an outside and inside octagons **/ + vec3 colors_out[]={white, white, white, gray, black, black, black, gray}; + vec3 colors_in[] ={bkgd,white,bkgd,gray,gray,gray,gray,gray}; + +#define SET_COL_OUT(i) glColor3fv((float*) &colors_out[(i)%8][0]); +#define SET_COL_IN(i) glColor3fv((float*) &colors_in[(i)%8][0]); + + x1 = (float)radius * .2; + x2 = x1 * 2; + y1 = (float)radius * .54; + y2 = y1 + x2; + x1a = x1; + x1b = x1; + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + +#define DRAW_SEG( xa,ya,xb,yb ) glVertex2f(xa,ya); glVertex2f(xb,yb); + + glScalef( -1.0, 1.0, 1.0 ); + + if ( orientation == 2 ) { + c_off = 4; + } + else if ( orientation == 0 ) { + c_off = 0; + glRotatef( 180.0, 0.0, 0.0, 1.0 ); + } + else if ( orientation == 1 ) { + c_off = 2; + glRotatef( 90.0, 0.0, 0.0, 1.0 ); + } + else if ( orientation == 3 ) { + c_off = 6; + glRotatef( -90.0, 0.0, 0.0, 1.0 ); + } + + if ( trans_type == GLUI_TRANSLATION_Z ) + y0 = 0.0; + else if ( trans_type == GLUI_TRANSLATION_XY ) + y0 = x1; + else + y0 = 0.0; + + + if ( trans_type == GLUI_TRANSLATION_Z ) { + if ( orientation == 0 ) { + y1 += 2.0; + y2 += 0.0; + + x1b -= 2.0; + x2 -= 2.0; + x1a += 2.0; + } + else if ( orientation == 2 ) { + y1 -= 6.0; + x1a += 2.0; + x1b += 4.0; + x2 += 6.0; + } + } + + /*** Fill in inside of arrow ***/ + if ( NOT filled ) { /*** Means button is up - control is not clicked ***/ + /*glColor3f( .8, .8, .8 ); */ + set_to_bkgd_color(); + glColor3f( bkgd[0]+.07, bkgd[1]+.07, bkgd[2]+.07 ); + } + else { /*** Button is down on control ***/ + glColor3f( .6, .6, .6 ); + c_off += 4; /* Indents the shadows - goes from a raised look to embossed */ + } + + /*** Check if control is enabled or not ***/ + if ( NOT enabled ) { + set_to_bkgd_color(); + /*c_off += 4; -- Indents the shadows - goes from a raised look to embossed */ + colors_out[0] = colors_out[1] = colors_out[2] = colors_out[7] = gray; + colors_out[3] = colors_out[4] = colors_out[5] = colors_out[6] = white; + colors_in[0] = colors_in[1] = colors_in[2] = colors_in[7] = white; + colors_in[3] = colors_in[4] = colors_in[5] = colors_in[6] = gray; + + } + + glBegin( GL_POLYGON ); + glVertex2f( 0.0, 0.0 ); glVertex2f( -x1a, 0.0 ); + glVertex2f( -x1a, 0.0 ); glVertex2f( -x1b, y1 ); + glVertex2f( x1b, y1); glVertex2f( x1a, 0.0 ); + glVertex2f( x1a, 0.0 ); glVertex2f( 0.0, 0.0 ); + glEnd(); + glBegin( GL_TRIANGLES ); + glVertex2f( -x2, y1 ); glVertex2f( 0.0, y2 ); glVertex2f( x2, y1 ); + glEnd(); + + glLineWidth( 1.0 ); + /*** Draw arrow outline ***/ + glBegin( GL_LINES ); + + SET_COL_IN(1+c_off); DRAW_SEG( 0.0, y2-1.0, -x2, y1-1.0 ); + SET_COL_IN(6+c_off); DRAW_SEG( -x2+2.0, y1+1.0, -x1b+1.0, y1+1.0 ); + SET_COL_IN(0+c_off); DRAW_SEG( -x1b+1.0, y1+1.0, -x1a+1.0, y0 ); + SET_COL_IN(3+c_off); DRAW_SEG( 0.0, y2-1.0, x2, y1-1.0 ); + SET_COL_IN(6+c_off); DRAW_SEG( x2-1.0, y1+1.0, x1b-1.0, y1+1.0 ); + SET_COL_IN(4+c_off); DRAW_SEG( x1b-1.0, y1+1.0, x1a-1.0, y0 ); + + SET_COL_OUT(0+c_off); DRAW_SEG( -x1a, y0, -x1b, y1 ); + SET_COL_OUT(6+c_off); DRAW_SEG( -x1b, y1, -x2, y1 ); + SET_COL_OUT(1+c_off); DRAW_SEG( -x2, y1, 0.0, y2 ); + SET_COL_OUT(3+c_off); DRAW_SEG( 0.0, y2, x2, y1 ); + SET_COL_OUT(6+c_off); DRAW_SEG( x2, y1, x1b, y1 ); + SET_COL_OUT(4+c_off); DRAW_SEG( x1b, y1, x1a, y0 ); + + glEnd(); + +#undef DRAW_SEG + + glPopMatrix(); +} + + +/*************************** GLUI_Translation::get_mouse_code() *************/ + +int GLUI_Translation::get_mouse_code( int x, int y ) +{ + if ( x == 0 AND y < 0 ) + return GLUI_TRANSLATION_MOUSE_DOWN; + else if ( x == 0 AND y > 0 ) + return GLUI_TRANSLATION_MOUSE_UP; + else if ( x > 0 AND y == 0 ) + return GLUI_TRANSLATION_MOUSE_LEFT; + else if ( x < 0 AND y == 0 ) + return GLUI_TRANSLATION_MOUSE_RIGHT; + else if ( x < 0 AND y < 0 ) + return GLUI_TRANSLATION_MOUSE_DOWN_LEFT; + else if ( x < 0 AND y > 0 ) + return GLUI_TRANSLATION_MOUSE_DOWN_RIGHT; + else if ( x > 0 AND y < 0 ) + return GLUI_TRANSLATION_MOUSE_UP_LEFT; + else if ( x > 0 AND y > 0 ) + return GLUI_TRANSLATION_MOUSE_UP_RIGHT; + + + return GLUI_TRANSLATION_MOUSE_NONE; +} + + +/*********************************** GLUI_Translation::set_x() ******/ + +void GLUI_Translation::set_x( float val ) +{ + set_one_val( val, 0 ); +} + + +/*********************************** GLUI_Translation::set_y() ******/ + +void GLUI_Translation::set_y( float val ) +{ + if ( trans_type == GLUI_TRANSLATION_XY ) + set_one_val( val, 1 ); + else + set_one_val( val, 0 ); +} + + +/*********************************** GLUI_Translation::set_z() ******/ + +void GLUI_Translation::set_z( float val ) +{ + set_one_val( val, 0 ); +} + + +/******************************* GLUI_Translation::set_one_val() ****/ + +void GLUI_Translation::set_one_val( float val, int index ) +{ + float *fp; + + float_array_val[index] = val; /* set value in array */ + + /*** The code below is like output_live, except it only operates on + a single member of the float array (given by 'index') instead of + outputting the entire array ****/ + + if ( ptr_val == NULL OR NOT live_inited ) + return; + + fp = (float*) ptr_val; + fp[index] = float_array_val[index]; + last_live_float_array[index] = float_array_val[index]; + + /** Update the main gfx window? **/ + if ( this->glui != NULL ) { + this->glui->post_update_main_gfx(); + } +} diff --git a/.svn/pristine/6f/6ff1388b98f3bc0e207efaf471418c481ba2fd2a.svn-base b/.svn/pristine/6f/6ff1388b98f3bc0e207efaf471418c481ba2fd2a.svn-base new file mode 100644 index 0000000..5839d88 --- /dev/null +++ b/.svn/pristine/6f/6ff1388b98f3bc0e207efaf471418c481ba2fd2a.svn-base @@ -0,0 +1,22 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 2.8 + +# Relative path conversion top directories. +SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/dborrman/Jacobs/software/slam6d/trunk") +SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/dborrman/Jacobs/software/slam6d/trunk") + +# Force unix paths in dependencies. +SET(CMAKE_FORCE_UNIX_PATHS 1) + +# The C and CXX include file search paths: +SET(CMAKE_C_INCLUDE_PATH + "/usr/include/opencv" + ) +SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH}) +SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH}) + +# The C and CXX include file regular expressions for this directory. +SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/.svn/pristine/70/700c1d451bb3afcf18070c2a847db45943f91ecf.svn-base b/.svn/pristine/70/700c1d451bb3afcf18070c2a847db45943f91ecf.svn-base new file mode 100644 index 0000000..38b47d9 --- /dev/null +++ b/.svn/pristine/70/700c1d451bb3afcf18070c2a847db45943f91ecf.svn-base @@ -0,0 +1,786 @@ +/* + * scan implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Dorit Borrmann, Jan Elseberg, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/scan.h" + +#include "slam6d/basicScan.h" +#include "slam6d/managedScan.h" +#include "slam6d/metaScan.h" +#include "slam6d/searchTree.h" +#include "slam6d/kd.h" +#include "slam6d/Boctree.h" +#include "slam6d/globals.icc" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +#ifdef _MSC_VER +#define _NO_PARALLEL_READ +#endif + +#ifdef __APPLE__ +#define _NO_PARALLEL_READ +#endif + +using std::vector; + + +vector Scan::allScans; +bool Scan::scanserver = false; + + +void Scan::openDirectory(bool scanserver, const std::string& path, IOType type, + int start, int end) +{ + Scan::scanserver = scanserver; + if(scanserver) + ManagedScan::openDirectory(path, type, start, end); + else + BasicScan::openDirectory(path, type, start, end); +} + +void Scan::closeDirectory() +{ + if(scanserver) + ManagedScan::closeDirectory(); + else + BasicScan::closeDirectory(); +} + +Scan::Scan() +{ + unsigned int i; + + // pose and transformations + for(i = 0; i < 3; ++i) rPos[i] = 0; + for(i = 0; i < 3; ++i) rPosTheta[i] = 0; + for(i = 0; i < 4; ++i) rQuat[i] = 0; + M4identity(transMat); + M4identity(transMatOrg); + M4identity(dalignxf); + + // trees and reduction methods + cuda_enabled = false; + nns_method = -1; + kd = 0; + ann_kd_tree = 0; + + // reduction on-demand + reduction_voxelSize = 0.0; + reduction_nrpts = 0; + reduction_pointtype = PointType(); + + // flags + m_has_reduced = false; + + // octtree + octtree_reduction_voxelSize = 0.0; + octtree_voxelSize = 0.0; + octtree_pointtype = PointType(); + octtree_loadOct = false; + octtree_saveOct = false; +} + +Scan::~Scan() +{ + if(kd) delete kd; +} + +void Scan::setReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + reduction_voxelSize = voxelSize; + reduction_nrpts = nrpts; + reduction_pointtype = pointtype; +} + +void Scan::setSearchTreeParameter(int nns_method, bool cuda_enabled) +{ + searchtree_nnstype = nns_method; + searchtree_cuda_enabled = cuda_enabled; +} + +void Scan::setOcttreeParameter(double reduction_voxelSize, double voxelSize, PointType pointtype, bool loadOct, bool saveOct) +{ + octtree_reduction_voxelSize = reduction_voxelSize; + octtree_voxelSize = voxelSize; + octtree_pointtype = pointtype; + octtree_loadOct = loadOct; + octtree_saveOct = saveOct; +} + +void Scan::clear(unsigned int types) +{ + if(types & DATA_XYZ) clear("xyz"); + if(types & DATA_RGB) clear("rgb"); + if(types & DATA_REFLECTANCE) clear("reflectance"); + if(types & DATA_AMPLITUDE) clear("amplitude"); + if(types & DATA_TYPE) clear("type"); + if(types & DATA_DEVIATION) clear("deviation"); +} + +SearchTree* Scan::getSearchTree() +{ + // if the search tree hasn't been created yet, calculate everything + if(kd == 0) { + createSearchTree(); + } + return kd; +} + +void Scan::toGlobal() { + calcReducedPoints(); + transform(transMatOrg, INVALID); +} + +/** + * Computes a search tree depending on the type. + */ +void Scan::createSearchTree() +{ + // multiple threads will call this function at the same time because they all work on one pair of Scans, just let the first one (who sees a nullpointer) do the creation +// boost::lock_guard lock(m_mutex_create_tree); + if(kd != 0) return; + + // make sure the original points are created before starting the measurement + DataXYZ xyz_orig(get("xyz reduced original")); + +#ifdef WITH_METRICS + Timer tc = ClientMetric::create_tree_time.start(); +#endif //WITH_METRICS + + createSearchTreePrivate(); + +#ifdef WITH_METRICS + ClientMetric::create_tree_time.end(tc); +#endif //WITH_METRICS +} + +void Scan::calcReducedOnDemand() +{ + // multiple threads will call this function at the same time because they all work on one pair of Scans, just let the first one (who sees count as zero) do the reduction +// boost::lock_guard lock(m_mutex_reduction); + if(m_has_reduced) return; + +#ifdef WITH_METRICS + Timer t = ClientMetric::on_demand_reduction_time.start(); +#endif //WITH_METRICS + + calcReducedOnDemandPrivate(); + + m_has_reduced = true; + +#ifdef WITH_METRICS + ClientMetric::on_demand_reduction_time.end(t); +#endif //WITH_METRICS +} + +void Scan::copyReducedToOriginal() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::copy_original_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r(get("xyz reduced")); + unsigned int size = xyz_r.size(); + DataXYZ xyz_r_orig(create("xyz reduced original", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r_orig[i][j] = xyz_r[i][j]; + } + } + +#ifdef WITH_METRICS + ClientMetric::copy_original_time.end(t); +#endif //WITH_METRICS +} + +void Scan::copyOriginalToReduced() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::copy_original_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r_orig(get("xyz reduced original")); + unsigned int size = xyz_r_orig.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = xyz_r_orig[i][j]; + } + } + +#ifdef WITH_METRICS + ClientMetric::copy_original_time.end(t); +#endif //WITH_METRICS +} + + + +/** + * Computes an octtree of the current scan, then getting the + * reduced points as the centers of the octree voxels. + */ +void Scan::calcReducedPoints() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::scan_load_time.start(); +#endif //WITH_METRICS + + // get xyz to start the scan load, separated here for time measurement + DataXYZ xyz(get("xyz")); + + // if the scan hasn't been loaded we can't calculate anything + if(xyz.size() == 0) + throw runtime_error("Could not calculate reduced points, XYZ data is empty"); + +#ifdef WITH_METRICS + ClientMetric::scan_load_time.end(t); + Timer tl = ClientMetric::calc_reduced_points_time.start(); +#endif //WITH_METRICS + + // no reduction needed + // copy vector of points to array of points to avoid + // further copying + if(reduction_voxelSize <= 0.0) { + // copy the points + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*xyz.size())); + for(unsigned int i = 0; i < xyz.size(); ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = xyz[i][j]; + } + } + } else { + // start reduction + + // build octree-tree from CurrentScan + // put full data into the octtree + BOctTree *oct = new BOctTree(PointerArray(xyz).get(), + xyz.size(), reduction_voxelSize, reduction_pointtype); + + vector center; + center.clear(); + + if (reduction_nrpts > 0) { + if (reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + // storing it as reduced scan + unsigned int size = center.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; + } + +#ifdef WITH_METRICS + ClientMetric::calc_reduced_points_time.end(tl); +#endif //WITH_METRICS +} + +/** + * Merges the scan's intrinsic coordinates with the robot position. + * @param prevScan The scan that's transformation is extrapolated, + * i.e., odometry extrapolation + * + * For additional information see the following paper (jfr2007.pdf): + * + * Andreas N眉chter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann, + * 6D SLAM - 3D Mapping Outdoor Environments Journal of Field Robotics (JFR), + * Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent + * Systems, Wiley & Son, ISSN 1556-4959, Volume 24, Issue 8-9, pages 699 - 722, + * August/September, 2007 + * + */ +void Scan::mergeCoordinatesWithRoboterPosition(Scan* prevScan) +{ + double tempMat[16], deltaMat[16]; + M4inv(prevScan->get_transMatOrg(), tempMat); + MMult(prevScan->get_transMat(), tempMat, deltaMat); + transform(deltaMat, INVALID); //apply delta transformation of the previous scan +} + +/** + * The method transforms all points with the given transformation matrix. + */ +void Scan::transformAll(const double alignxf[16]) +{ + DataXYZ xyz(get("xyz")); + unsigned int i=0 ; +// #pragma omp parallel for + for(; i < xyz.size(); ++i) { + transform3(alignxf, xyz[i]); + } + // TODO: test for ManagedScan compability, may need a touch("xyz") to mark saving the new values +} + +//! Internal function of transform which alters the reduced points +void Scan::transformReduced(const double alignxf[16]) +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::transform_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r(get("xyz reduced")); + unsigned int i=0; + // #pragma omp parallel for + for( ; i < xyz_r.size(); ++i) { + transform3(alignxf, xyz_r[i]); + } + +#ifdef WITH_METRICS + ClientMetric::transform_time.end(t); +#endif //WITH_METRICS +} + +//! Internal function of transform which handles the matrices +void Scan::transformMatrix(const double alignxf[16]) +{ + double tempxf[16]; + + // apply alignxf to transMat and update pose vectors + MMult(alignxf, transMat, tempxf); + memcpy(transMat, tempxf, sizeof(transMat)); + Matrix4ToEuler(transMat, rPosTheta, rPos); + Matrix4ToQuat(transMat, rQuat); + +#ifdef DEBUG + cerr << "(" << rPos[0] << ", " << rPos[1] << ", " << rPos[2] << ", " + << rPosTheta[0] << ", " << rPosTheta[1] << ", " << rPosTheta[2] << ")" << endl; + + cerr << transMat << endl; +#endif + + // apply alignxf to dalignxf + MMult(alignxf, dalignxf, tempxf); + memcpy(dalignxf, tempxf, sizeof(transMat)); +} + +/** + * Transforms the scan by a given transformation and writes a new frame. The idea + * is to write for every transformation in all files, such that the show program + * is able to determine, whcih scans have to be drawn in which color. Hidden scans + * (or later processed scans) are written with INVALID. + * + * @param alignxf Transformation matrix + * @param colour Specifies which colour should the written to the frames file + * @param islum Is the transformtion part of LUM, i.e., all scans are transformed? + * In this case only LUM transformation is stored, otherwise all scans are processed + * -1 no transformation is stored + * 0 ICP transformation + * 1 LUM transformation, all scans except last scan + * 2 LUM transformation, last scan only + */ +void Scan::transform(const double alignxf[16], const AlgoType type, int islum) +{ + MetaScan* meta = dynamic_cast(this); + + if(meta) { + for(unsigned int i = 0; i < meta->size(); ++i) { + meta->getScan(i)->transform(alignxf, type, -1); + } + } + +#ifdef TRANSFORM_ALL_POINTS + transformAll(alignxf); +#endif //TRANSFORM_ALL_POINTS + +#ifdef DEBUG + cerr << alignxf << endl; + cerr << "(" << rPos[0] << ", " << rPos[1] << ", " << rPos[2] << ", " + << rPosTheta[0] << ", " << rPosTheta[1] << ", " << rPosTheta[2] << ") ---> "; +#endif + + // transform points + transformReduced(alignxf); + + // update matrices + transformMatrix(alignxf); + + // store transformation in frames + if(type != INVALID) { +#ifdef WITH_METRICS + Timer t = ClientMetric::add_frames_time.start(); +#endif //WITH_METRICS + bool in_meta; + MetaScan* meta = dynamic_cast(this); + int found = 0; + unsigned int scans_size = allScans.size(); + + switch (islum) { + case -1: + // write no tranformation + break; + case 0: + for(unsigned int i = 0; i < scans_size; ++i) { + Scan* scan = allScans[i]; + in_meta = false; + if(meta) { + for(unsigned int j = 0; j < meta->size(); ++j) { + if(meta->getScan(j) == scan) { + found = i; + in_meta = true; + } + } + } + + if(scan == this || in_meta) { + found = i; + scan->addFrame(type); + } else { + if(found == 0) { + scan->addFrame(ICPINACTIVE); + } else { + scan->addFrame(INVALID); + } + } + } + break; + case 1: + addFrame(type); + break; + case 2: + for(unsigned int i = 0; i < scans_size; ++i) { + Scan* scan = allScans[i]; + if(scan == this) { + found = i; + addFrame(type); + allScans[0]->addFrame(type); + continue; + } + if (found != 0) { + scan->addFrame(INVALID); + } + } + break; + default: + cerr << "invalid point transformation mode" << endl; + } + +#ifdef WITH_METRICS + ClientMetric::add_frames_time.end(t); +#endif //WITH_METRICS + } +} + +/** + * Transforms the scan by a given transformation and writes a new frame. The idea + * is to write for every transformation in all files, such that the show program + * is able to determine, whcih scans have to be drawn in which color. Hidden scans + * (or later processed scans) are written with INVALID. + * + * @param alignQuat Quaternion for the rotation + * @param alignt Translation vector + * @param colour Specifies which colour should the written to the frames file + * @param islum Is the transformtion part of LUM, i.e., all scans are transformed? + * In this case only LUM transformation is stored, otherwise all scans are processed + * -1 no transformation is stored + * 0 ICP transformation + * 1 LUM transformation, all scans except last scan + * 2 LUM transformation, last scan only + */ +void Scan::transform(const double alignQuat[4], const double alignt[3], + const AlgoType type, int islum) +{ + double alignxf[16]; + QuatToMatrix4(alignQuat, alignt, alignxf); + transform(alignxf, type, islum); +} + +/** + * Transforms the scan, so that the given Matrix + * prepresent the next pose. + * + * @param alignxf Transformation matrix to which this scan will be set to + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToMatrix(double alignxf[16], const AlgoType type, int islum) +{ + double tinv[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + transform(alignxf, type, islum); +} + +/** + * Transforms the scan, so that the given Euler angles + * prepresent the next pose. + * + * @param rP Translation to which this scan will be set to + * @param rPT Orientation as Euler angle to which this scan will be set + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToEuler(double rP[3], double rPT[3], const AlgoType type, int islum) +{ +#ifdef WITH_METRICS + // called in openmp context in lum6Deuler.cc:422 + ClientMetric::transform_time.set_threadsafety(true); + ClientMetric::add_frames_time.set_threadsafety(true); +#endif //WITH_METRICS + + double tinv[16]; + double alignxf[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + EulerToMatrix4(rP, rPT, alignxf); + transform(alignxf, type, islum); + +#ifdef WITH_METRICS + ClientMetric::transform_time.set_threadsafety(false); + ClientMetric::add_frames_time.set_threadsafety(false); +#endif //WITH_METRICS +} + +/** + * Transforms the scan, so that the given Euler angles + * prepresent the next pose. + * + * @param rP Translation to which this scan will be set to + * @param rPQ Orientation as Quaternion to which this scan will be set + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToQuat(double rP[3], double rPQ[4], const AlgoType type, int islum) +{ + double tinv[16]; + double alignxf[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + QuatToMatrix4(rPQ, rP, alignxf); + transform(alignxf, type, islum); +} + +/** + * Calculates Source\Target + * Calculates a set of corresponding point pairs and returns them. It + * computes the k-d trees and deletes them after the pairs have been + * found. This slow function should be used only for testing + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + */ + +void Scan::getNoPairsSimple(vector &diff, + Scan* Source, Scan* Target, + int thread_num, + double max_dist_match2) +{ + DataXYZ xyz_r(Source->get("xyz reduced")); + KDtree* kd = new KDtree(PointerArray(Target->get("xyz reduced")).get(), Target->size("xyz reduced")); + + cout << "Max: " << max_dist_match2 << endl; + for (unsigned int i = 0; i < xyz_r.size(); i++) { + + double p[3]; + p[0] = xyz_r[i][0]; + p[1] = xyz_r[i][1]; + p[2] = xyz_r[i][2]; + + + double *closest = kd->FindClosest(p, max_dist_match2, thread_num); + if (!closest) { + diff.push_back(xyz_r[i]); + //diff.push_back(closest); + } + } + + delete kd; +} + +/** + * Calculates a set of corresponding point pairs and returns them. It + * computes the k-d trees and deletes them after the pairs have been + * found. This slow function should be used only for testing + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + */ +void Scan::getPtPairsSimple(vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, + double *centroid_m, double *centroid_d) +{ + KDtree* kd = new KDtree(PointerArray(Source->get("xyz reduced")).get(), Source->size("xyz reduced")); + DataXYZ xyz_r(Target->get("xyz reduced")); + + for (unsigned int i = 0; i < xyz_r.size(); i++) { + if (rnd > 1 && rand(rnd) != 0) continue; // take about 1/rnd-th of the numbers only + + double p[3]; + p[0] = xyz_r[i][0]; + p[1] = xyz_r[i][1]; + p[2] = xyz_r[i][2]; + + double *closest = kd->FindClosest(p, max_dist_match2, thread_num); + if (closest) { + centroid_m[0] += closest[0]; + centroid_m[1] += closest[1]; + centroid_m[2] += closest[2]; + centroid_d[0] += p[0]; + centroid_d[1] += p[1]; + centroid_d[2] += p[2]; + PtPair myPair(closest, p); + pairs->push_back(myPair); + } + } + centroid_m[0] /= pairs[thread_num].size(); + centroid_m[1] /= pairs[thread_num].size(); + centroid_m[2] /= pairs[thread_num].size(); + centroid_d[0] /= pairs[thread_num].size(); + centroid_d[1] /= pairs[thread_num].size(); + centroid_d[2] /= pairs[thread_num].size(); + + delete kd; +} + + +/** + * Calculates a set of corresponding point pairs and returns them. + * The function uses the k-d trees stored the the scan class, thus + * the function createTrees and deletTrees have to be called before + * resp. afterwards. + * Here we implement the so called "fast corresponding points"; k-d + * trees are not recomputed, instead the apply the inverse transformation + * to to the given point set. + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + * @return a set of corresponding point pairs + */ +void Scan::getPtPairs(vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d) +{ + // initialize centroids + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[i] = 0; + centroid_d[i] = 0; + } + + // get point pairs + DataXYZ xyz_r(Target->get("xyz reduced")); + Source->getSearchTree()->getPtPairs(pairs, Source->dalignxf, + xyz_r, 0, xyz_r.size(), + thread_num, + rnd, max_dist_match2, sum, centroid_m, centroid_d); + + // normalize centroids + unsigned int size = pairs->size(); + if(size != 0) { + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[i] /= size; + centroid_d[i] /= size; + } + } +} + + +/** + * Calculates a set of corresponding point pairs and returns them. + * The function uses the k-d trees stored the the scan class, thus + * the function createTrees and delteTrees have to be called before + * resp. afterwards. + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num The number of the thread that is computing ptPairs in parallel + * @param step The number of steps for parallelization + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + * @param sum The sum of distances of the points + * + * These intermediate values are for the parallel ICP algorithm + * introduced in the paper + * "The Parallel Iterative Closest Point Algorithm" + * by Langis / Greenspan / Godin, IEEE 3DIM 2001 + * + */ +void Scan::getPtPairsParallel(vector *pairs, Scan* Source, Scan* Target, + int thread_num, int step, + int rnd, double max_dist_match2, + double *sum, + double centroid_m[OPENMP_NUM_THREADS][3], double centroid_d[OPENMP_NUM_THREADS][3]) +{ + // initialize centroids + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[thread_num][i] = 0; + centroid_d[thread_num][i] = 0; + } + + // get point pairs + SearchTree* search = Source->getSearchTree(); + // differentiate between a meta scan (which has no reduced points) and a normal scan + // if Source is also a meta scan it already has a special meta-kd-tree + MetaScan* meta = dynamic_cast(Target); + if(meta) { + for(unsigned int i = 0; i < meta->size(); ++i) { + // determine step for each scan individually + DataXYZ xyz_r(meta->getScan(i)->get("xyz reduced")); + unsigned int max = xyz_r.size(); + unsigned int step = max / OPENMP_NUM_THREADS; + // call ptpairs for each scan and accumulate ptpairs, centroids and sum + search->getPtPairs(&pairs[thread_num], Source->dalignxf, + xyz_r, step * thread_num, step * thread_num + step, + thread_num, + rnd, max_dist_match2, sum[thread_num], + centroid_m[thread_num], centroid_d[thread_num]); + } + } else { + DataXYZ xyz_r(Target->get("xyz reduced")); + search->getPtPairs(&pairs[thread_num], Source->dalignxf, + xyz_r, thread_num * step, thread_num * step + step, + thread_num, + rnd, max_dist_match2, sum[thread_num], + centroid_m[thread_num], centroid_d[thread_num]); + } + + // normalize centroids + unsigned int size = pairs[thread_num].size(); + if(size != 0) { + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[thread_num][i] /= size; + centroid_d[thread_num][i] /= size; + } + } +} + +unsigned int Scan::getMaxCountReduced(ScanVector& scans) +{ + unsigned int max = 0; + for(std::vector::iterator it = scans.begin(); it != scans.end(); ++it) { + unsigned int count = (*it)->size("xyz reduced"); + if(count > max) + max = count; + } + return max; +} diff --git a/.svn/pristine/70/7060b0b3b46a2302818c0e412b187d34e62c90e2.svn-base b/.svn/pristine/70/7060b0b3b46a2302818c0e412b187d34e62c90e2.svn-base new file mode 100644 index 0000000..bb714fc --- /dev/null +++ b/.svn/pristine/70/7060b0b3b46a2302818c0e412b187d34e62c90e2.svn-base @@ -0,0 +1,525 @@ +/* + getopt.c - implementation of getopt(3) and getopt_long(3) + Copyright Keristor Systems and Chris Croughton 1997 + Internet: swdev@keristor.org + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR + IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, + INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#include +#include +#include + +#define XGETOPT_NAMES +#include "XGetopt.h" + +/* + * This is the published interface for the GNU getopt module + */ + +char *optarg = NULL; +int optind = 0; +int opterr = 1; +int optopt = 0; + +int getopt(int argc, char * const argv[], const char *optstring); +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); + +/************************************************************************ + * + * Everything from here down is a rewrite without looking at the GNU + * implementation; it is therefore free of GPL and LGPL contraints, see + * above for licencing information. + * + ************************************************************************/ + +#define true 1 +#define false 0 +#define bool char + +enum action +{ + E_PERMUTE, + E_POSIX, + E_INPLACE, + E_NUM_OF_ACTIONS +}; + +static bool initialised = false; +static bool endargs = false; +static char *nextchar = NULL; + +/* Note that the lookup routines use and modify the global variables - not + * nice, but better than passing everything as reference parameters. + */ + +static int +lookup_shortopt(int argc, char **argv, const char *opts) +{ + int c = *optarg++; + /* remember the Alamo - a dodgy character if ever there was one */ + nextchar = optarg; + /* look at the options - like any you see? */ + while (*opts) + { + if (c == *opts++) + { + /* OK, it's a fair (c)op, guv */ + if (*opts == ':') + { + /* we can do arguments, but there will be nothing left of this arg */ + nextchar = NULL; + if (*++opts == ':') + { + /* but it's optional, so either a 5 minute argument or nothing */ + if (!*optarg) + optarg = NULL; + return c; + } + else + { + /* this argument's not optional, you get the full half hour */ + if (*optarg) + { + /* We've got an argument on our hands! */ + return c; + } + else + { + /* try the next door down */ + if (++optind < argc) + { + /* OK, we've got it ("Oh no you haven't!") */ + optarg = argv[optind]; + return c; + } + else + { + /* Th-Th-Th-That's All, Folks! */ + optopt = c; + if (opterr) + fprintf(stderr, "required parameter for -%c missing\n", c); + /* we've got an option, but it's dud */ + return '?'; + } + } + } + } + else + { + /* no arguments please, we're British */ + nextchar = optarg; + optarg = NULL; + return c; + } + } + } + /* return to sender, address unknown */ + optopt = c; + optarg = NULL; + return -1; +} + +static int +lookup_longopt(int argc, char **argv, + const struct option *longopts, + int *longindex) +{ + char *eqp; + bool ambig = false; + int match = -1; + int exact = -1; + int min; + int len; + int i; + + /* if we have no long options, any we get are wrong */ + if (!longopts) + { + if (opterr) + fprintf(stderr, "long options not supported\n"); + return '?'; + } + /* look for equality or fraternity */ + eqp = strchr(optarg, '='); + min = (eqp ? eqp - optarg : strlen(optarg)); + for (i = 0; longopts[i].name; i++) + { + len = strlen(longopts[i].name); + /* is it exact? */ + if (len == min && strncmp(longopts[i].name, optarg, len) == 0) + { + /* an exact match - go no further, we can't get better than this */ + exact = i; + break; + } + /* a match as far as the argument goes? */ + if (strncmp(longopts[i].name, optarg, min) == 0) + { + /* if we've already found one of those, it's ambiguous */ + if (match < 0) + match = i; + else + ambig = true; + } + } + /* we've looked at everything, now what? */ + if (exact < 0) + { + /* no exact match, if it's ambiguous then fail othersise use what + * (if anything) we have */ + if (ambig) + { + if (opterr) + fprintf(stderr, "option --%s is ambiguous\n", optarg); + return '?'; + } + else + exact = match; + } + /* if we don't have anything, return -1 (/not/ fail, this could be a test */ + if (exact < 0) + return -1; + switch (longopts[exact].has_arg) + { + case no_argument: + /* we have nothing to fight about... */ + if (eqp) + { + /* ... except equality */ + if (opterr) + fprintf(stderr, "option --%s does not take an argument\n", optarg); + return '?'; + } + optarg = NULL; + break; + case required_argument: + /* you have to fight, so there! */ + if (eqp) + optarg = eqp + 1; + else if (++optind < argc) + optarg = argv[optind]; + else + { + if (opterr) + fprintf(stderr, "missing argument for option --%s\n", optarg); + return '?'; + } + break; + case optional_argument: + /* you don't have to fight if you don't want to */ + optarg = (eqp ? eqp + 1 : NULL); + break; + } + /* tell the caller what he's got */ + if (longindex) + *longindex = exact; + if (longopts[exact].flag) + { + /* set a flag rather than returning the value */ + *longopts[exact].flag = longopts[exact].val; + return 0; + } + return longopts[exact].val; +} + +/* + * Note that this internal function drops the const on the arg list. That's + * because optarg etc. are defined without const. + */ +static int +getnextopt(int argc, char **argv, const char *optstring, + const struct option *longopts, int *longindex, + bool longonly, enum action act) +{ + static int thisind = 0; + static int oldind = 0; + int c = 0; + + /* if we haven't started, make sure we're not in Denmark */ + if (!initialised) + { + initialised = true; + nextchar = NULL; + endargs = false; + thisind = 0; + oldind = 0; + optind = 0; + } + + /* check for previous sequence of short options */ + if (nextchar && *nextchar) + { + optarg = nextchar; + c = lookup_shortopt(argc, argv, optstring); + /* now shuffle the arguments if necessary */ + if (act == E_PERMUTE && oldind != thisind && (!nextchar || !*nextchar)) + { + int optlen = optind - thisind; /* the length of the option */ + int optnum = thisind - oldind; /* number of args in between */ + memmove(argv+oldind+optlen+1, argv+oldind, sizeof(*argv) * optnum); + optind = oldind + optlen; + } + return c; + } + + /* check for end of argument list */ + if (++optind >= argc || !argv[optind]) + { + optarg = NULL; + return EOF; /* no arguments left */ + } + + /* get next argument from list */ + optarg = argv[optind]; + + /* if we've had "--" then treat as normal argument */ + if (endargs) + return (act == E_INPLACE ? '\1' : EOF); + + /* if we're permuting the arguments, look for the next option */ + if (act == E_PERMUTE) + { + int i; + /* save where we are, we'll need this later */ + oldind = optind; + for (i = optind; i < argc; i++) + { + char *p = argv[i]; + /* remember that "--" ends options? Ignore anything past it... */ + if (strcmp(p, "--") == 0) + { + int optnum = i - oldind; /* number of args in between */ + if (optnum > 0) + { + /* shuffle the arguments up over it */ + memmove(argv+oldind+1, argv+oldind, sizeof(*argv) * optnum); + optind = ++oldind; + optarg = argv[optind]; + } + break; + } + if (*p == '-' && strcmp(p, "-")) + { + /* we found a honest-to-goodness option! Set up shop here... */ + optind = i; + optarg = p; + break; + } + } + } + + /* test for "--" meaning "end of options" - everything after that is an + * argument not an option */ + if (strcmp(optarg, "--") == 0) + { + endargs = true; + if (++optind < argc) + { + optarg = argv[optind]; + return (act == E_INPLACE ? '\1' : EOF); + } + else + { + optarg = NULL; + return EOF; + } + } + + /* an argument of "-" or not starting with '-'is not an option */ + if (strcmp(optarg, "-") == 0 || *optarg != '-') + { + /* if we're being POSIXLY_CORRECT (ugh!) then the first non-option ends + * the options. I don't like it but that's what the spec. says... */ + if (act == E_POSIX) + endargs = true; + return (act == E_INPLACE ? '\1' : EOF); + } + + thisind = optind; /* remember this position, lookup changes it */ + + /* OK, it's some sort of option, junk the first '-' */ + optarg++; + + /* prime for "option not found" */ + c = -1; + /* test the next character - another '-' means it's a long option */ + if (longopts && *optarg == '-') + { + /* it's a long option, skip the next '-' */ + optarg++; + c = lookup_longopt(argc, argv, longopts, longindex); + if (c < 0) + { + fprintf(stderr, "unknown option --%s\n", optarg); + c = '?'; + } + } + else if (longopts && longonly) + { + int tmperr = opterr; + opterr = 0; + /* try a long option first, if that doesn't work try a short one */ + c = lookup_longopt(argc, argv, longopts, longindex); + opterr = tmperr; + if (c < 0) + c = lookup_shortopt(argc, argv, optstring); + } + else + { + /* just try short options */ + c = lookup_shortopt(argc, argv, optstring); + } + + /* if not found give (optional) error and return '?' */ + if (c < 0) + { + if (opterr) + fprintf(stderr, "unknown option -%c\n", optopt); + optarg = 0; + c = '?'; + } + + /* now shuffle the arguments if necessary - I told you we'd need to save + * that old index! (I wonder if there's a more elegant way to do this?) */ + if (act == E_PERMUTE && oldind != thisind && (!nextchar || !*nextchar)) + { + int optlen = optind - thisind; /* the length of the option */ + int optnum = thisind - oldind; /* number of args in between */ + memmove(argv+oldind+optlen+1, argv+oldind, sizeof(*argv) * optnum); + optind = oldind + optlen; + oldind = 0; + thisind = 0; + } + return c; +} + + +/*********************************************************************** + * At last, the real routines we wanted to call! + **********************************************************************/ + +/** + * Scan the command-line parameters for options in the form \b -x. + */ +int getopt(int argc, char * const argv[], const char *optstring) +{ + return getnextopt(argc, (char**)argv, optstring, NULL, NULL, + false, E_PERMUTE); +} + +/** + * Scan the command-line parameters for options, allowing both the short + * (single character) options and long (string) options. + */ +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex) +{ + return getnextopt(argc, (char**)argv, optstring, longopts, longindex, + false, E_PERMUTE); +} + +/** + * Scan the command-line parameters for long options only + */ +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex) +{ + return getnextopt(argc, (char**)argv, optstring, longopts, longindex, + true, E_PERMUTE); +} + + +/*********************************************************************** + * Just in case you wanted to test this stuff (or as an example of how + * not to use and abuse it), some code to do call it with arguments... + **********************************************************************/ + +#ifdef TEST_GETOPT + +const char *shortopts = "abcr:o::"; + +char *Args[] = +{ + "arg0", + "arg1", + "-abc", + "-rargr1", + "-r", "argr2", + "-oargo", + "-o", + "arg2", + "--", + "arg3", + "-arg4", + "arg5", + NULL +}; + +int heckle = 'x'; + +struct option longopts[] = +{ + { "help", no_argument, NULL, 'h' }, + { "heckle", no_argument, &heckle, 'k' }, + { "speck", no_argument, &heckle, 's' }, + { "arg", required_argument, NULL, 'g' }, + { "opt", optional_argument, NULL, 'z' }, + { 0, 0, 0, 0 } +}; + +int +main(int argc, char **argv) +{ + int i; + int c; + if (argc <= 1) + { + argv = Args; + argc = (sizeof(Args) / sizeof(Args[0])) - 1; + } + else + shortopts="hksg:z::"; + for (i = 0; i < argc; i++) + printf("%2d <%s>\n", i, argv[i]); + while ((c = getopt_long(argc, argv, shortopts, longopts, NULL)) != EOF) + { + printf("option %d '%c' (%s)\n", optind, c, optarg); +#if DEBUG + for (i = 0; i < argc; i++) + printf("%2d <%s>\n", i, argv[i]); +#endif + } + for (i = optind; i < argc; i++) + printf("param %2d <%s>\n", i, argv[i]); + printf("flag = '%c'\n", heckle); + return 0; +} + +#endif + diff --git a/.svn/pristine/70/706c417cb83dd655174ab106e6cf522421f3379d.svn-base b/.svn/pristine/70/706c417cb83dd655174ab106e6cf522421f3379d.svn-base new file mode 100644 index 0000000..27d1a6a --- /dev/null +++ b/.svn/pristine/70/706c417cb83dd655174ab106e6cf522421f3379d.svn-base @@ -0,0 +1,131 @@ +#include + +using namespace std; + +#include "slam6d/cuda/icp6Dcuda.h" +#include "slam6d/cuda/CIcpGpuCuda.cuh" +#include "newmat/newmat.h" + + +void icp6Dcuda::initGPUicp(float max_rad, float min_rad, int iter, int max_iter, + int max_proctime, float max_dev, const double trans[], const double trans_inv[]) +{ +#ifndef WITH_SCANSERVER + unsigned int max_size = Scan::max_points_red_size; +#else //WITH_SCANSERVER + unsigned int max_size = Scan::getMaxCountReduced(); +#endif //WITH_SCANSERVER + if (max_scnSize < max_size) { + if (icp != 0) { + delete icp; + icp = 0; + } + } + if (icp == 0) { + max_scnSize = max_size; + icp = new CIcpGpuCuda((unsigned)10, ceil((float)max_size/10.f) , + (unsigned)max_num_iterations); + icp->setMaxProcTime((double) max_proctime); + icp->setMaxDeviation((double) max_dev); + icp->setSearchRadius((float) max_rad, (float) min_rad, (unsigned)max_num_iterations); + } +} + +icp6Dcuda::icp6Dcuda(icp6Dminimizer *my_icp6Dminimizer, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, bool eP, + int anim, double epsilonICP, int nns_method, bool cuda_enabled) +: icp6D(my_icp6Dminimizer, max_dist_match, + max_num_iterations, quiet, meta, rnd, eP, + anim, epsilonICP, nns_method, cuda_enabled) +{ + icp = 0; + max_scnSize = 0; +} + +/** + * Matches a 3D Scan against a 3D Scan + * @param PreviousScan The scan or metascan forming the model + * @param CurrentScan The current scan thas is to be matched + * @return The number of iterations done in this matching run + */ +int icp6Dcuda::match(Scan* PreviousScan, Scan* CurrentScan) +{ +#ifndef WITH_SCANSERVER + int mdlSize = PreviousScan->get_points_red_size(), scnSize = CurrentScan->get_points_red_size(); +#else //WITH_SCANSERVER + int mdlSize = PreviousScan->getCountReduced(), scnSize = CurrentScan->getCountReduced(); +#endif //WITH_SCANSERVER + double** mdl; + float** scn; + const double *trans; + double trans_inv[16]; + trans = PreviousScan->get_transMat(); + M4inv(trans, trans_inv); + + initGPUicp(sqrt(max_dist_match2), sqrt(max_dist_match2), max_num_iterations, + max_num_iterations, INT_MAX, epsilonICP, trans, trans_inv); + + h_idata = icp->getModelPointer(); + fHstScn = icp->getScenePointer(); + icp->setTrans_Trans_inv(trans, trans_inv); + icp->setSize(10, ceil((float)max(mdlSize, scnSize)/10.0f)); + +#ifndef WITH_SCANSERVER + double **mod_dat = PreviousScan->get_org_points_red(); + double *const*scn_dat = CurrentScan->get_points_red(); +#else //WITH_SCANSERVER + DataXYZ scn_dat(CurrentScan->getXYZReduced()); + DataXYZ mod_dat(PreviousScan->getXYZReducedOriginal()); +#endif //WITH_SCANSERVER + mdl = h_idata; + scn = fHstScn; + cout << "model point cloud size is " << mdlSize << "\n"; + for (unsigned int i = 0; i < mdlSize; ++i) { + mdl[i][0] = (float)mod_dat[i][0]; + mdl[i][1] = (float)mod_dat[i][1]; + mdl[i][2] = (float)mod_dat[i][2]; + } + cout << "scene point cloud size is " << scnSize << "\n"; + for (unsigned int i = 0; i < scnSize; ++i) { + scn[0][i] = (float)scn_dat[i][0]; + scn[1][i] = (float)scn_dat[i][1]; + scn[2][i] = (float)scn_dat[i][2]; + } + + icp->setTreePointer(const_cast(PreviousScan->getANNTree())); + float result[4][4]; + + // doICP + icp->setPointClouds(); + icp->iteration(); + Matrix* M = icp->getMatrix(); + + for (int i = 0 ; i < 4 ; ++i){ + for(int j = 0 ; j < 4 ; ++j) { + result[i][j] = (*M)(i+1,j+1); + } + } + + if(anim > 0){ + Matrix** mats = icp->getMatrices(); + for(int ci = 0 ; ci < max_num_iterations ; ci += anim){ + Matrix* cur_mat = mats[ci]; + double xf[16]; + for(int i = 1; i < 5 ; ++i) + for(int j = 1; j < 5; ++j) + xf[(i-1)+(j-1)*4] = (*cur_mat)(i,j); + CurrentScan->transform(xf, Scan::ICP, 0); + } + } + else { + double alignxf[16]; + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j){ + alignxf[i + j * 4] = result[i][j]; + } + CurrentScan->transform(alignxf, Scan::ICP, 0); // write end pose + } + + return EXIT_SUCCESS; +} + diff --git a/.svn/pristine/70/709c2a4e3cfa91c951dd223df9345344ace032c8.svn-base b/.svn/pristine/70/709c2a4e3cfa91c951dd223df9345344ace032c8.svn-base new file mode 100644 index 0000000..85280dd --- /dev/null +++ b/.svn/pristine/70/709c2a4e3cfa91c951dd223df9345344ace032c8.svn-base @@ -0,0 +1,153 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 1999 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ +/* plan: use popen("ppm2pcx -packed ...","w"); for writing pcx */ + +#include +#include +/* #include */ + +#include "pcx.h" + +typedef unsigned char byte; + +#define ERR(x) { fprintf(stderr,"ERROR "__FILE__" L%d: " x "\n",__LINE__);exit(1);} + +int err; +/* --- needed for reading PCX-files */ +unsigned char read_b(FILE *f1){ + unsigned char c=0; c=fgetc(f1); if(feof(f1) || ferror(f1))err=1; return c; +} + +/* something here is wrong! */ +void readpcx(char *name,pix *p,int vvv){ /* see pcx.format.txt */ + int page,pages,nx,ny,i,j,b,x,y,bpl,bits,pal[256][3]; + FILE *f1; + unsigned char *pic,h[128],bb,b1,b2,b3; + err=0; + for(i=0;i<256;i++)for(j=0;j<3;j++)pal[i][j]=i; + f1=fopen(name,"rb"); if(!f1) ERR("open"); + if(fread(h,1,128,f1)!=128)ERR("read PCX header"); /* 128 Byte lesen -> h[] */ + if(h[0]!=10)ERR("no ZSoft sign"); /* ZSoft sign */ + if(h[2]> 1)ERR("unknown coding"); /* run length encoding */ + bits = h[3]; /* 1 or 8 */ + if(bits!=1 && bits!=8)ERR("only 1 or 8 bits supported"); + nx = h[ 9]*256+h[ 8] - h[ 5]*256-h[ 4] +1; /* Xmax-Xmin */ + ny = h[11]*256+h[10] - h[ 7]*256-h[ 6] +1; /* Ymax-Ymin */ + pages=h[65]; bpl=h[66]+256*h[67]; /* bytes per line */ + if(vvv) + fprintf(stderr,"# PCX version=%d bits=%d x=%d y=%d HRes=%d VRes=%d\n" + "# NPlanes=%d BytesPerLine=%d Palette=%s", + h[1],bits,nx,ny,h[12]+256*h[13],h[14]+256*h[15], + pages,bpl,((h[68]==1)?"1=color/bw":"2=gray")); + /* line1(NP=4): RRRRR...,GGGG....,BBBBB...,IIII...., line2: RRRR...,GGGG.... */ + /* C4 EF = (C4&3F)*EF = EF EF EF EF */ + fflush(stdout); + /* palette: for(i=0;i<16;i++) for(j=0;j<3;j++) h[16+3*i+j] */ + if(pages>1)for(b=0;b<16;b++) for(i=0;i<16;i++) + for(j=0;j< 3;j++) pal[b*16+i][j]=h[16+3*i+j]>>2; + if(bits>7){ + fseek(f1,-3*256,2); if(fread(pal,3,256,f1)!=256)ERR("read palette"); + for(i=0;i<256;i++) for(j=0;j<3;j++) pal[i][j]>>=2; + } + fseek(f1,128,0); + pic=(unsigned char *)malloc( nx*ny ); + if(pic==NULL)ERR("no memory"); /* no memory */ + x=y=0; + do { + for(page=0;page b1=counter */ + do { + b1=1; bb=read_b(f1); b2=bb; if(b1==192)fprintf(stderr,"?"); + if((b2>=192) && (h[2]==1)){b1=b2&63;bb=read_b(f1);b2=bb;} + if(err){fprintf(stderr,"\nread error x=%d y=%d\n",x,y);x=nx;y=ny;break;} + for(b3=0;b3>(8-bits-b)) & ~((~0)<p=pic; p->x=nx; p->y=ny; p->bpp=1; + if(vvv)fprintf(stderr,"\n"); +} + +/* ----------------------------------------------------------------------- +// write bmp 8bit palette no RLE +// bit 2+3 used for color coding (markers) +// replaced by writeppm (ppm.gz) and is obsolate now, removed later + */ +void writebmp(char *name,pix p,int vvv){ /* see pcx.format.txt */ + int nx,ny,i,y,rest[4]={0,0,0,0}; + FILE *f1; + /*FIXME jb static*/static unsigned char *pic, h[54+4*256]; + long fs,fo,hs,is; /* filesize, offset, headersize, imagesize */ + + nx=p.x; ny=p.y; pic=p.p; + if (nx&3) nx+=4-(nx&3); /* must be mod4 ? */ + hs=40; /* bmi headersize fix */ + is=nx*ny; /* imagesize */ + fo=14+hs+4*256; + fs=fo+is; + for(i=0;i<54;i++){ h[i]=0; } + /* BITMAPFILEHEADER */ + h[ 0]='B'; h[ 1]='M'; /* type of file BMP */ + h[ 2]= fs &255; h[ 3]=(fs>> 8)&255; + h[ 4]=(fs>>16)&255; h[ 5]=(fs>>24)&255; /* size of file */ + h[10]= fo &255; h[11]=(fo>> 8)&255; + h[12]=(fo>>16)&255; h[13]=(fo>>24)&255; /* offset to image data */ + /* BITMAPINFO (BITMAPCOREHEADER not used here) */ + /* 14 - HEADER */ + h[14]= hs &255; h[15]=(hs>> 8)&255; + h[16]=(hs>>16)&255; h[17]=(hs>>24)&255; /* bmi-header size */ + h[18]= nx &255; h[19]=(nx>> 8)&255; + h[20]=(0l>>16)&255; h[21]=(0l>>24)&255; /* WIDTH/pixel */ + h[22]= ny &255; h[23]=(ny>> 8)&255; + h[24]=(0l>>16)&255; h[25]=(0l>>24)&255; /* HIGH/pixel */ + h[26]=1; /* planes */ + h[28]=8; /* bits/pixel 1,4,8,24 */ + h[30]=0; /* compression */ + h[34]= is &255; h[35]=(is>> 8)&255; + h[36]=(is>>16)&255; h[37]=(is>>24)&255; /* sizeImage (can be 0 if ~RLE) */ + h[38]=0;h[39]=1; /* ca 100dpi, x/meter */ + h[42]=0;h[43]=1; /* y/meter */ + h[46]=0;h[47]=1; /* colorused (0=maximum) */ + h[50]=0;h[51]=1; /* colorimportand (0=all) */ + /* 54 - endofheader */ + for(i=0;i<256;i++){ + h[54+4*i+0]=((~((i & 2)*64)) & (i & (128+64)))|63; + h[54+4*i+1]=((~((i & 2)*64)) & (~((i & 4)*32)) & (i & (128+64)))|63; + h[54+4*i+2]=( ((i & 2)* 8) | ((~((i & 4)*32)) & (i & (128+64)))|63); + } /* blue-green-red */ + f1=fopen(name,"wb"); if(!f1) fprintf(stderr," error opening file\n"); + if(!f1)ERR("open"); /* open-error */ + if(fwrite(h,1,54+4*256,f1)!=54+4*256)ERR("write head"); + if(vvv) fprintf(stderr,"# write BMP x=%d y=%d\n",nx,ny); + for(y=ny-1;y>=0;y--){ + if(((int)fwrite(pic+p.x*y,1,p.x,f1))!=p.x)ERR("write"); + if(nx>p.x) + if(((int)fwrite(rest,1,nx-p.x,f1))!=nx-p.x)ERR("write"); + } + fclose(f1); +} + +/* ---------------------------------------------------------------------- */ diff --git a/.svn/pristine/70/70fc0090876d8f47232de9bc22051c477cc7e569.svn-base b/.svn/pristine/70/70fc0090876d8f47232de9bc22051c477cc7e569.svn-base new file mode 100644 index 0000000..d15e69d --- /dev/null +++ b/.svn/pristine/70/70fc0090876d8f47232de9bc22051c477cc7e569.svn-base @@ -0,0 +1,210 @@ +/* + * match_with_ground_truth implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for matching registered 3D scans against a + * ground_truth_path + * + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; +using std::ofstream; +#include +using std::vector; +#include +using std::exception; + +#include "globals.icc" +#include "ptpair.h" +#include "icp6Dapx.h" +#include "icp6Dsvd.h" +#include "icp6Dquat.h" + +#ifndef _MSC_VER +#include +#else +#include "..\Visual_Studio_Projects\6D_SLAM\XGetopt.h" +#endif + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ + const string bold("\033[1m"); + const string normal("\033[m"); + + cout << "to do" << endl; + + exit(1); +} + +int parseArgs(int argc, char **argv, string &dir, int &mni, + int &start, int &end, int &algo, bool &quiet, bool &veryQuiet) +{ + + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "algo", required_argument, 0, 'a' }, + { "iter", required_argument, 0, 'i' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "a:i:s:e:qQ", longopts, NULL)) != -1) { + switch (c) + { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 2)) { cerr << "Error: Algorithm not available.\n"; exit(1); } + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'i': + mni = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + default: + abort(); + } + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +} + +int main(int argc, char **argv) +{ + if (argc <= 1) { + usage(argv[0]); + } + + string dir; + int mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int algo = 0; + + parseArgs(argc, argv, dir, mni, start, end, algo, quiet, veryQuiet); + + string groundTruthFileName = dir + "position_sync_interpol.dat"; + ifstream gtruth_in(groundTruthFileName.c_str()); + if (!gtruth_in.good()) { + cerr << "Cannot open " << groundTruthFileName << endl; + exit(-1); + } + + vector pairs; + + for (int i = 0; i < end; i++) { + // read position from ground truth file + double gtruthPos[3]; + double dummy; + gtruth_in >> dummy >> gtruthPos[2] >> gtruthPos[0] >> gtruthPos[1] + >> dummy >> dummy >> dummy; + + if (i < start) continue; + + for (unsigned int j = 0; j < 3; j++) gtruthPos[j] *= 0.1; + + string frameFileName = dir + "scan" + to_string(i,3) + ".frames"; + + cout << "Processing File " << frameFileName << endl; + + ifstream frame_in(frameFileName.c_str()); + if (!frame_in.good()) { + cerr << "Cannot open " << frameFileName << endl; + exit(-1); + } + double transMat[16]; + int type; + while (frame_in.good()) { + try { + frame_in >> transMat >> type; + } catch (const exception &e) { + break; + } + } + // now transMat contains the last matrix + double rPos[3], rPosTheta[3]; + Matrix4ToEuler(transMat, rPosTheta, rPos); + + PtPair myPair(gtruthPos, rPos); + pairs.push_back(myPair); + } + + cout << "Nr poses used for registration: " << pairs.size() << endl + << algo << endl; + + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 0 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + } + + double totalalignxf[16]; + M4identity(totalalignxf); + for (int iteration = 0; iteration < mni; iteration++) { + double alignxf[16]; + my_icp6Dminimizer->Point_Point_Align(pairs, alignxf); + for (int i = 0; i < pairs.size(); i++) { + pairs[i].p2.transform(alignxf); + } + double tempxf[16]; + MMult(alignxf, totalalignxf, tempxf); + memcpy(totalalignxf, tempxf, sizeof(totalalignxf)); + } + + string initialTransformFileName = dir + "initital.frame"; + ofstream initial_out(initialTransformFileName.c_str()); + initial_out << totalalignxf << endl; + initial_out.close(); + +} diff --git a/.svn/pristine/71/710407e183bf64deebc7a48bfab28501c0f54cdd.svn-base b/.svn/pristine/71/710407e183bf64deebc7a48bfab28501c0f54cdd.svn-base new file mode 100644 index 0000000..b4d36eb --- /dev/null +++ b/.svn/pristine/71/710407e183bf64deebc7a48bfab28501c0f54cdd.svn-base @@ -0,0 +1,231 @@ +// ===================================================================================== +// +// Filename: numbers.h +// +// Description: +// +// Version: 1.0 +// Created: 09/24/2010 02:03:48 PM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#ifndef __NUMBERS_H_ +#define __NUMBERS_H_ + +class numberState { +public: + numberState() : number(0), char_p(0), board_p(0) { + for (int i = 0; i < 3; i++) { + position[i] = 0.0; + } + }; + numberState(int _number) : number(_number), char_p(0), board_p(0) { + for (int i = 0; i < 3; i++) { + position[i] = 0.0; + } + }; + numberState(int _number, double _char_p, double _board_p, double _position[3]) + : number(_number), char_p(_char_p), board_p(_board_p) + { + for (int i = 0; i < 3; i++) { + position[i] = _position[i]; + } + for (int i = 0; i < 4; i++) { + plane[i] = 0; + } + } + numberState(int _number, double _char_p, double _board_p, double _position[3], double _plane[4]) + : number(_number), char_p(_char_p), board_p(_board_p) + { + for (int i = 0; i < 3; i++) { + position[i] = _position[i]; + } + for (int i = 0; i < 4; i++) { + plane[i] = _plane[i]; + } + } + + double dist(numberState &ns) { + double x = ns.position[0] - position[0]; + double y = ns.position[1] - position[1]; + double z = ns.position[2] - position[2]; + + return sqrt( x*x + y*y +z*z ); + } + + int number; + double char_p; + double board_p; + double position[3]; + double plane[4]; + +}; + +inline ostream& operator<<(ostream& os, const numberState ns) +{ + os << "P(" << ns.number << ") = " << ns.char_p; + os << " P(" << ns.position[0] << ", " << ns.position[1] << ", " << ns.position[2] << ") = " << ns.board_p; + return os; +} + +class numberConsensus { +public: + + numberConsensus() { + sum_board_probability = 0.0; + sum_char_probability = 0.0; + consensus = numberState(); + } + + numberConsensus(int number) { + sum_board_probability = 0.0; + sum_char_probability = 0.0; + consensus = numberState(number); + } + + void addObservation(int number, double cp, double bp, double pos[3], double plane[4]) { + addObservation( numberState(number, cp, bp, pos, plane) ); + } + + bool isClose(double pos[3]) { + return isClose( numberState(0, 0, 0, pos) ); + } + + bool isClose(numberState ns) { + for (unsigned int i = 0; i < clusters.size(); i++) { + if (ccenters[i].dist(ns) < 100.0 ) { // should be good enough + return true; + } + } + return false; + } + + void addObservation(numberState ns) { + if (ns.number != consensus.number) return; + +// observations.push_back(ns); + sum_board_probability += ns.board_p; + sum_char_probability += ns.char_p; + + if (clusters.empty()) { + vector vec; + vec.push_back(ns); + ccenters.push_back(ns); + clusters.push_back(vec); + + updateConsensus(0); + return; + } + + for (unsigned int i = 0; i < clusters.size(); i++) { + if (ccenters[i].dist(ns) < 100.0 ) { // should be good enough + cout << "new point is close to previous cluster..." << endl; + clusters[i].push_back(ns); + updateConsensus(i); + return; + } + } + + // new cluster + vector vec; + vec.push_back(ns); + ccenters.push_back(ns); + clusters.push_back(vec); + + updateConsensus(clusters.size() -1); + return; + } + + void updateConsensus(int changed) { + // First compute new representative for the changed cluster + double pos[3]; pos[0] = pos[1] = pos[2] = 0.0; + + vector changed_cluster = clusters[changed]; + for (unsigned int i = 0; i < changed_cluster.size(); i++) { + for (int j = 0; j < 3; j++) + pos[j] += changed_cluster[i].position[j]; + } + for (int j = 0; j < 3; j++) + pos[j] = pos[j] / changed_cluster.size(); + + // set representative + ccenters[changed] = numberState(consensus.number, 0, 0, pos ) ; + + if (clusters.size() == 1) { // special case + if (clusters[0].size() == 1) { // + cout << "first number found..." << endl; + ccenters[0].char_p = clusters[0][0].char_p; + ccenters[0].board_p = clusters[0][0].board_p; + consensus = ccenters[0]; + return; + } + } + + + for (unsigned int i = 0; i < clusters.size(); i++) { + double sum_bp = 0.0; + double sum_cp = 0.0; + for (unsigned int j = 0; j < clusters[i].size(); j++) { + sum_bp += clusters[i][j].board_p; + sum_cp += clusters[i][j].char_p; + } + ccenters[i].char_p = sum_cp / sum_char_probability; + ccenters[i].board_p = sum_bp / sum_board_probability; + } + + + consensus = ccenters[0]; + for (unsigned int i = 1; i < ccenters.size(); i++) { + if (consensus.char_p * consensus.board_p < ccenters[i].char_p * ccenters[i].board_p) { + consensus = ccenters[i]; + } + } + + } +/* + void updateConsensus() { + double pos[3]; pos[0] = pos[1] = pos[2] = 0.0; + double plane[4]; + double bp = 0.0; + double cp = 0.0; + + for (unsigned int i = 0; i < observations.size(); i++) { + for (int j = 0; j < 3; j++) + pos[j] += observations[i].board_p * observations[i].position[j]; + + cp += observations[i].char_p; + bp += observations[i].board_p; + } + + for (int j = 0; j < 3; j++) + pos[j] = pos[j] / observations.size(); + cp = cp / observations.size(); + bp = bp / observations.size(); + + consensus = numberState(consensus.number, cp, bp, pos, plane); + } + */ + + numberState getConsensus() { + return consensus; + } + +private: + numberState consensus; +// vector observations; + + vector< vector > clusters; + vector ccenters; + + double sum_char_probability; + double sum_board_probability; + + +}; + +#endif diff --git a/.svn/pristine/71/7154b3b90e514fbc99944bb8cdc746cabfe1aa53.svn-base b/.svn/pristine/71/7154b3b90e514fbc99944bb8cdc746cabfe1aa53.svn-base new file mode 100644 index 0000000..f2bfc55 --- /dev/null +++ b/.svn/pristine/71/7154b3b90e514fbc99944bb8cdc746cabfe1aa53.svn-base @@ -0,0 +1,1567 @@ +/** + * @file + * @brief Efficient representation of an octree + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef BOCTREE_H +#define BOCTREE_H + +#include "searchTree.h" +#include "point_type.h" +#include "data_types.h" +#include "allocator.h" +#include "limits.h" +#include "nnparams.h" +#include "globals.icc" + + +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#if __GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) + #define POPCOUNT(mask) __builtin_popcount(mask) +#else + #define POPCOUNT(mask) _my_popcount_3(mask) +#endif + +#include // to avoid ifdeffing for offset_ptr.get(), use &(*ptr) +namespace { namespace ip = boost::interprocess; } + + +// forward declaration +template union bitunion; + +/** + * This is our preferred representation for the leaf nodes (as it is the most compact). + * BOctTree makes an array of this, the first containing the number of points (not the + * number of coordinates) stored. + */ +template union dunion { + T v; + unsigned int length; + dunion() : length(0) {}; + +}; +// typedefs in combination with templates are weird +//typedef dunion pointrep; +#define pointrep union dunion + + + + +/** + * This struct represents the nodes of the octree + * + * child_pointer is a relative pointer to the first child of this node, as it is only + * 48 bit this will cause issues on systems with more than 268 TB of memory. All children + * of this node must be stored sequentially. If one of the children is a leaf, that + * child will be a pointer to however a set of points is represented (pointrep *). + * + * valid is a bitmask describing whether the corresponding buckets are filled. + * + * leaf is a bitmask describing whether the correpsonding bucket is a leaf node. + * + * The representation of the bitmask is somewhat inefficient. We use 16 bits for only + * 3^8 possible states, so in essence we could save 3 bits by compression. + * + */ +class bitoct{ + public: + +#ifdef _MSC_VER + __int64 child_pointer : 48; + unsigned valid : 8; + unsigned leaf : 8; +#else + signed long child_pointer : 48; + unsigned valid : 8; + unsigned leaf : 8; +#endif + /** + * sets the child pointer of parent so it points to child + */ + template + static inline void link(bitoct &parent, bitunion *child) { + parent.child_pointer = (long)((char*)child - (char*)&parent); + } + + /** + * Returns the children of this node (given as parent). + */ + template + static inline void getChildren(const bitoct &parent, bitunion* &children) { + children = (bitunion*)((char*)&parent + parent.child_pointer); + } + + template + inline bitunion* getChild(unsigned char index) { + bitunion *children = (bitunion*)((char*)this + this->child_pointer); + for (unsigned char i = 0; i < index; i++) { + if ( ( 1 << i ) & valid ) { // if ith node exists + children++; + } + } + return children; + } +}; + + +/** + * This union combines an octree node with a pointer to a set of points. This allows + * us to use both nodes and leaves interchangeably. + * + * points is a pointer to the point representation in use + * + * node is simply the octree node + * + */ +template union bitunion { + pointrep *points; + //union dunion *points; + bitoct node; + + bitunion(pointrep *p) : points(p) {}; + bitunion(bitoct b) : node(b) {}; + bitunion() : points(0) { + node.child_pointer = 0; + node.valid = 0; + node.leaf = 0; + }; // needed for new [] + + //! Leaf node: links a pointrep array [length+values] to this union, saved as an offset pointer + static inline void link(bitunion* leaf, pointrep* points) { + // use node child_pointer as offset_ptr, not pointrep + leaf->node.child_pointer = (long)((char*)points - (char*)leaf); + } + + //! Leaf node: points in the array + inline T* getPoints() const { + // absolute pointer + //return &(this->points[1].v); + // offset pointer + return reinterpret_cast( + reinterpret_cast((char*)this + node.child_pointer) + 1 + ); + } + + //! Leaf node: length in the array + inline unsigned int getLength() const { + // absolute pointer + //return this->points[0].length; + // offset pointer + return (reinterpret_cast((char*)this + node.child_pointer))[0].length; + } + + //! Leaf node: all points + inline pointrep* getPointreps() const { + return reinterpret_cast((char*)this + node.child_pointer); + } + + inline bitunion* getChild(unsigned char index) const { + bitunion *children = (bitunion*)((char*)this + this->node.child_pointer); + for (unsigned char i = 0; i < index; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + children++; + } + } + return children; + } + + inline bool isValid(unsigned char index) { + return ( ( 1 << index ) & node.valid ); + } + /* + inline pointrep* getChild(unsigned char index) { + bitunion *children = (bitunion*)((char*)this + this->node.child_pointer); + return children[index].points; + }*/ + + inline bool childIsLeaf(unsigned char index) { + return ( ( 1 << index ) & node.leaf ); // if ith node is leaf get center + } +}; + + +// initialized in Boctree.cc, sequence intialized on startup +extern char amap[8][8]; +extern char imap[8][8]; +extern char sequence2ci[8][256][8]; // maps preference to index in children array for every valid_mask and every case + + + +/** + * @brief Octree + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + */ +template +class BOctTree : public SearchTree { +public: + BOctTree() { + } + + template + BOctTree(P * const* pts, int n, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false ) : pointtype(_pointtype), earlystop(_earlystop) + { + alloc = new PackedChunkAllocator; + + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (int j = 1; j < n; j++) { + mins[i] = min(mins[i], (T)pts[j][i]); + maxs[i] = max(maxs[i], (T)pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + size += 1.0; // for numerical reasons we increase size + + // calculate new buckets + T newcenter[8][3]; + T sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + uroot = alloc->allocate >(); + root = &uroot->node; + + countPointsAndQueueFast(pts, n, newcenter, sizeNew, *root, center); + init(); + } + + BOctTree(std::string filename) { + alloc = new PackedChunkAllocator; + deserialize(filename); + init(); + } + + template + BOctTree(vector

&pts, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false) : earlystop(_earlystop) + { + alloc = new PackedChunkAllocator; + + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (unsigned int j = 1; j < pts.size(); j++) { + mins[i] = min(mins[i], pts[j][i]); + maxs[i] = max(maxs[i], pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + + size += 1.0; // for numerical reasons we increase size + + // calculate new buckets + T newcenter[8][3]; + T sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + uroot = alloc->allocate >(); + root = &uroot->node; + + countPointsAndQueue(pts, newcenter, sizeNew, *root, center); + } + + virtual ~BOctTree() + { + if(alloc) { + delete alloc; + } + } + + void init() { + // compute maximal depth as well as the size of the smalles leaf + real_voxelSize = size; + max_depth = 1; + while (real_voxelSize > voxelSize) { + real_voxelSize = real_voxelSize/2.0; + max_depth++; + } + + child_bit_depth = alloc->allocate(max_depth); + child_bit_depth_inv = alloc->allocate(max_depth); + + for(int d=0; d < max_depth; d++) { + child_bit_depth[d] = 1 << (max_depth - d - 1); + child_bit_depth_inv[d] = ~child_bit_depth[d]; + } + + mult = 1.0/real_voxelSize; + add[0] = -center[0] + size; + add[1] = -center[1] + size; + add[2] = -center[2] + size; + + largest_index = child_bit_depth[0] * 2 -1; + } + +protected: + + /** + * Serialization critical variables + */ + //! the root of the octree + ip::offset_ptr root; + ip::offset_ptr > uroot; + + //! storing the center + T center[3]; + + //! storing the dimension + T size; + + //! storing the voxel size + T voxelSize; + + //! The real voxelsize of the leaves + T real_voxelSize; + + //! Offset and real voxelsize inverse factor for manipulation points + T add[3]; + T mult; + + //! Dimension of each point: 3 (xyz) + N (attributes) + unsigned int POINTDIM; + + //! storing minimal and maximal values for all dimensions + ip::offset_ptr mins; + ip::offset_ptr maxs; + + //! Details of point attributes + PointType pointtype; + + //! ? + unsigned char max_depth; + ip::offset_ptr child_bit_depth; + ip::offset_ptr child_bit_depth_inv; + int largest_index; + + /** + * Serialization uncritical, runtime relevant variables + */ + + //! Threadlocal storage of parameters used in SearchTree operations + static NNParams params[100]; + + /** + * Serialization uncritical, runtime irrelevant variables (constructor-stuff) + */ + + //! Whether to stop subdividing at N<10 nodes or not + bool earlystop; + + //! Allocator used for creating nodes in the constructor + Allocator* alloc; + +public: + + inline const T* getMins() const { return &(*mins); } + inline const T* getMaxs() const { return &(*maxs); } + inline const T* getCenter() const { return center; } + inline T getSize() const { return size; } + inline unsigned int getPointdim() const { return POINTDIM; } + inline const bitoct& getRoot() const { return *root; } + inline unsigned int getMaxDepth() const { return max_depth; } + + inline void getCenter(double _center[3]) const { + _center[0] = center[0]; + _center[1] = center[1]; + _center[2] = center[2]; + } + + void GetOctTreeCenter(vector&c) { GetOctTreeCenter(c, *root, center, size); } + void GetOctTreeRandom(vector&c) { GetOctTreeRandom(c, *root); } + void GetOctTreeRandom(vector&c, unsigned int ptspervoxel) { GetOctTreeRandom(c, ptspervoxel, *root); } + void AllPoints(vector &vp) { AllPoints(*BOctTree::root, vp); } + + long countNodes() { return 1 + countNodes(*root); } // computes number of inner nodes + long countLeaves() { return countLeaves(*root); } // computes number of leaves + points + long countOctLeaves() { return countOctLeaves(*root); } // computes number of leaves + + void deserialize(std::string filename ) { + char buffer[sizeof(T) * 20]; + T *p = reinterpret_cast(buffer); + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(T)); + voxelSize = p[0]; + center[0] = p[1]; + center[1] = p[2]; + center[2] = p[3]; + size = p[4]; + + file.read(buffer, sizeof(int)); + int *ip = reinterpret_cast(buffer); + POINTDIM = *ip; + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + file.read(reinterpret_cast(&(*mins)), POINTDIM * sizeof(T)); + file.read(reinterpret_cast(&(*maxs)), POINTDIM * sizeof(T)); + + // read root node + uroot = alloc->allocate >(); + root = &uroot->node; + + deserialize(file, *root); + file.close(); + } + + static void deserialize(std::string filename, vector &points ) { + char buffer[sizeof(T) * 20]; + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + PointType pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(T)); // read over voxelsize, center and size + file.read(buffer, sizeof(int)); + + int *ip = reinterpret_cast(buffer); + unsigned int POINTDIM = *ip; + + file.read(buffer, POINTDIM * sizeof(T)); + file.read(buffer, POINTDIM * sizeof(T)); + + // read root node + deserialize(file, points, pointtype); + file.close(); + } + + void serialize(std::string filename) { + char buffer[sizeof(T) * 20]; + T *p = reinterpret_cast(buffer); + + std::ofstream file; + file.open (filename.c_str(), std::ios::out | std::ios::binary); + + // write magic bits + buffer[0] = 'X'; + buffer[1] = 'T'; + file.write(buffer, 2); + + // write header + pointtype.serialize(file); + + p[0] = voxelSize; + p[1] = center[0]; + p[2] = center[1]; + p[3] = center[2]; + p[4] = size; + + int *ip = reinterpret_cast(&(buffer[5 * sizeof(T)])); + *ip = POINTDIM; + + file.write(buffer, 5 * sizeof(T) + sizeof(int)); + + + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i] = mins[i]; + } + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i+POINTDIM] = maxs[i]; + } + + file.write(buffer, 2*POINTDIM * sizeof(T)); + + // write root node + serialize(file, *root); + + file.close(); + } + + static PointType readType(std::string filename ) { + char buffer[sizeof(T) * 20]; + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return PointType(); + } + + // read header + PointType pointtype = PointType::deserialize(file); + + file.close(); + + return pointtype; + } + + + /** + * Picks the first point in depth first order starting from the given node + * + */ + T* pickPoint(bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //return &(children->points[1].v); + // offset pointer + return children->getPoints(); + } else { // recurse + return pickPoint(children->node); + } + ++children; // next child + } + } + return 0; + } + + static void childcenter(const T *pcenter, T *ccenter, T size, unsigned char i) { + switch (i) { + case 0: // 000 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 1: // 001 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 2: // 010 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 3: // 011 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 4: // 100 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 5: // 101 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 6: // 110 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 7: // 111 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + default: + break; + } + } + + static void childcenter(int x, int y, int z, int &cx, int &cy, int &cz, char i, int size) { + switch (i) { + case 0: // 000 + cx = x - size ; + cy = y - size ; + cz = z - size ; + break; + case 1: // 001 + cx = x + size ; + cy = y - size ; + cz = z - size ; + break; + case 2: // 010 + cx = x - size ; + cy = y + size ; + cz = z - size ; + break; + case 3: // 011 + cx = x + size ; + cy = y + size ; + cz = z - size ; + break; + case 4: // 100 + cx = x - size ; + cy = y - size ; + cz = z + size ; + break; + case 5: // 101 + cx = x + size ; + cy = y - size ; + cz = z + size ; + break; + case 6: // 110 + cx = x - size ; + cy = y + size ; + cz = z + size ; + break; + case 7: // 111 + cx = x + size ; + cy = y + size ; + cz = z + size ; + break; + default: + break; + } + } + +protected: + + void AllPoints( bitoct &node, vector &vp) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + //T *p = new T[BOctTree::POINTDIM]; +// T *p = new T[3]; +// p[0] = point[0]; p[1] = point[1]; p[2] = point[2]; + T *p = new T[BOctTree::POINTDIM]; + for (unsigned int k = 0; k < BOctTree::POINTDIM; k++) + p[k] = point[k]; + + vp.push_back(p); + + //glVertex3f( point[0], point[1], point[2]); + point+=BOctTree::POINTDIM; + } + } else { // recurse + AllPoints( children->node, vp); + } + ++children; // next child + } + } + } + + static void deserialize(std::ifstream &f, vector &vpoints, PointType &pointtype) { + char buffer[2]; + pointrep *point = new pointrep[pointtype.getPointDim()]; + f.read(buffer, 2); + bitoct node; + node.valid = buffer[0]; + node.leaf = buffer[1]; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + pointrep first; + f.read(reinterpret_cast(&first), sizeof(pointrep)); + unsigned int length = first.length; // read first element, which is the length + for (unsigned int k = 0; k < length; k++) { + f.read(reinterpret_cast(point), sizeof(pointrep) * pointtype.getPointDim()); // read the points + vpoints.push_back( pointtype.createPoint( &(point->v ) ) ); + } + } else { // write child + deserialize(f, vpoints, pointtype); + } + } + } + delete [] point; + } + + void deserialize(std::ifstream &f, bitoct &node) { + char buffer[2]; + f.read(buffer, 2); + node.valid = buffer[0]; + node.leaf = buffer[1]; + + unsigned short n_children = POPCOUNT(node.valid); + + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + pointrep first; + f.read(reinterpret_cast(&first), sizeof(pointrep)); + unsigned int length = first.length; // read first element, which is the length + pointrep *points = alloc->allocate (POINTDIM*length + 1); + // absolute pointer + //children->points = points; + // offset pointer + bitunion::link(children, points); + points[0] = first; + points++; + f.read(reinterpret_cast(points), sizeof(pointrep) * length * POINTDIM); // read the points + } else { // write child + deserialize(f, children->node); + } + ++children; // next child + } + } + } + + void serialize(std::ofstream &of, bitoct &node) { + char buffer[2]; + buffer[0] = node.valid; + buffer[1] = node.leaf; + of.write(buffer, 2); + + + // write children + bitunion *children; + bitoct::getChildren(node, children); + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf write points + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + of.write(reinterpret_cast(points), sizeof(pointrep) * (length * POINTDIM +1)); + } else { // write child + serialize(of, children->node); + } + ++children; // next child + } + } + } + + void GetOctTreeCenter(vector&c, bitoct &node, T *center, T size) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + T * cp = new T[3]; + for (unsigned int iterator = 0; iterator < 3; iterator++) { + cp[iterator] = ccenter[iterator]; + } + c.push_back(cp); + } else { // recurse + GetOctTreeCenter(c, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void GetOctTreeRandom(vector&c, bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + // new version to ignore leaves with less than 3 points + /* + if(points[0].length > 2) { + for(int tmp = 0; tmp < points[0].length; tmp++) { + T *point = &(points[POINTDIM*tmp+1].v); + c.push_back(point); + } + } + */ + //old version + + int tmp = rand(points[0].length); + T *point = &(points[POINTDIM*tmp+1].v); + c.push_back(point); + + + } else { // recurse + GetOctTreeRandom(c, children->node); + } + ++children; // next child + } + } + } + + void GetOctTreeRandom(vector&c, unsigned int ptspervoxel, bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + if (ptspervoxel >= length) { + for (unsigned int j = 0; j < length; j++) + c.push_back(&(points[POINTDIM*j+1].v)); + + ++children; // next child + continue; + } + set indices; + while(indices.size() < ptspervoxel) { + int tmp = rand(length-1); + indices.insert(tmp); + } + for(set::iterator it = indices.begin(); it != indices.end(); it++) + c.push_back(&(points[POINTDIM*(*it)+1].v)); + + } else { // recurse + GetOctTreeRandom(c, ptspervoxel, children->node); + } + ++children; // next child + } + } + } + + long countNodes(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + //++result; + } else { // recurse + result += countNodes(children->node) + 1; + } + ++children; // next child + } + } + return result; + } + + long countLeaves(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + long nrpts = children->getLength(); + result += POINTDIM*nrpts; + } else { // recurse + result += countLeaves(children->node); + } + ++children; // next child + } + } + return result; + } + + long countOctLeaves(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + result ++; + } else { // recurse + result += countTrueLeaves(children->node); + } + ++children; // next child + } + } + return result; + } + + // TODO: is this still needed? nodes and pointreps are all in the Allocator + void deletetNodes(bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + bool haschildren = false; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //delete [] children->points; + // offset pointer + delete [] children->getPointreps(); + } else { // recurse + deletetNodes(children->node); + } + ++children; // next child + haschildren = true; + } + } + // delete children + if (haschildren) { + bitoct::getChildren(node, children); + } + } + + template + void* branch( bitoct &node, P * const * splitPoints, int n, T _center[3], T _size) { + // if bucket is too small stop building tree + // ----------------------------------------- + if ((_size <= voxelSize) || (earlystop && n <= 10) ) { + + // copy points + pointrep *points = alloc->allocate (POINTDIM*n + 1); + + points[0].length = n; + int i = 1; + for (int j = 0; j < n; j++) { + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + points[i++].v = splitPoints[j][iterator]; + } + } + return points; + } + + // calculate new buckets + T newcenter[8][3]; + T sizeNew; + + sizeNew = _size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(_center, newcenter[i], _size, i); + } + + countPointsAndQueueFast(splitPoints, n, newcenter, sizeNew, node, _center); + return 0; + } + + template + void* branch( bitoct &node, vector &splitPoints, T _center[3], T _size) { + // if bucket is too small stop building tree + // ----------------------------------------- + if ((_size <= voxelSize) || (earlystop && splitPoints.size() <= 10) ) { + // copy points + pointrep *points = alloc->allocate (POINTDIM*splitPoints.size() + 1); + points[0].length = splitPoints.size(); + int i = 1; + for (typename vector

::iterator itr = splitPoints.begin(); + itr != splitPoints.end(); itr++) { + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + points[i++].v = (*itr)[iterator]; + } + } + return points; + } + + // calculate new buckets + T newcenter[8][3]; + T sizeNew; + + sizeNew = _size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(_center, newcenter[i], _size, i); + } + + countPointsAndQueue(splitPoints, newcenter, sizeNew, node, _center); + return 0; + } + + template + void countPointsAndQueue(vector &i_points, T center[8][3], T size, bitoct &parent, T *pcenter) { + vector points[8]; + int n_children = 0; + for (typename vector

::iterator itr = i_points.begin(); itr != i_points.end(); itr++) { + points[childIndex

(pcenter, *itr)].push_back( *itr ); + } + + i_points.clear(); + vector().swap(i_points); + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(parent, children); + + int count = 0; + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + pointrep *c = (pointrep*)branch(children[count].node, points[j], center[j], size); // leaf node + if (c) { + // absolute pointer + //children[count].points = c; // set this child to deque of points + // offset pointer + bitunion::link(&children[count], c); + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + points[j].clear(); + vector().swap(points[j]); + ++count; + } + } + } + + template + void countPointsAndQueueFast(P * const* points, int n, T center[8][3], T size, bitoct &parent, T pcenter[3]) { + P * const *blocks[9]; + blocks[0] = points; + blocks[8] = points + n; + fullsort(points, n, pcenter, blocks+1); + + int n_children = 0; + + for (int j = 0; j < 8; j++) { + // if non-empty set valid flag for this child + if (blocks[j+1] - blocks[j] > 0) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(parent, children); + int count = 0; + for (int j = 0; j < 8; j++) { + if (blocks[j+1] - blocks[j] > 0) { + pointrep *c = (pointrep*)branch(children[count].node, blocks[j], blocks[j+1] - blocks[j], center[j], size); // leaf node + if (c) { + // absolute pointer + //children[count].points = c; // set this child to vector of points + // offset pointer + bitunion::link(&children[count], c); // set this child to vector of points + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + ++count; + } + } + } + + + void getByIndex(T *point, T *&points, unsigned int &length) { + unsigned int x,y,z; + x = (point[0] + add[0]) * mult; + y = (point[1] + add[1]) * mult; + z = (point[2] + add[2]) * mult; + + bitunion *node = uroot; + unsigned char child_index; + unsigned int child_bit; + unsigned int depth = 0; + + while (true) { + child_bit = child_bit_depth[depth]; + child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2); + if (node->childIsLeaf(child_index) ) { + node = node->getChild(child_index); + points = node->getPoints(); + length = node->getLength(); + return; + } else { + node = node->getChild(child_index); + } + depth++; + } + } + + template + inline unsigned char childIndex(const T *center, const P *point) { + return (point[0] > center[0] ) | ((point[1] > center[1] ) << 1) | ((point[2] > center[2] ) << 2) ; + } + + /** + * Given a leaf node, this function looks for the closest point to params[threadNum].closest + * in the list of points. + */ + inline void findClosestInLeaf(bitunion *node, int threadNum) const { + if (params[threadNum].count >= params[threadNum].max_count) return; + params[threadNum].count++; + T* points = node->getPoints(); + unsigned int length = node->getLength(); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double myd2 = Dist2(params[threadNum].p, points); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = points; + if (myd2 <= 0.0001) { + params[threadNum].closest_v = 0; // the search radius in units of voxelSize + } else { + params[threadNum].closest_v = sqrt(myd2) * mult + 1; // the search radius in units of voxelSize + } + } + points+=BOctTree::POINTDIM; + } + } + + + +/** + * This function finds the closest point in the octree given a specified + * radius. This implementation is quit complex, although it is already + * simplified. The simplification incurs a significant loss in speed, as + * several calculations have to be performed repeatedly and a high number of + * unnecessary jumps are executed. + */ + double *FindClosest(double *point, double maxdist2, int threadNum) const + { + params[threadNum].closest = 0; // no point found currently + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = point; + params[threadNum].x = (point[0] + add[0]) * mult; + params[threadNum].y = (point[1] + add[1]) * mult; + params[threadNum].z = (point[2] + add[2]) * mult; + params[threadNum].closest_v = sqrt(maxdist2) * mult + 1; // the search radius in units of voxelSize + params[threadNum].count = 0; + params[threadNum].max_count = 10000; // stop looking after this many buckets + + + // box within bounds in voxel coordinates + int xmin, ymin, zmin, xmax, ymax, zmax; + xmin = max(params[threadNum].x-params[threadNum].closest_v, 0); + ymin = max(params[threadNum].y-params[threadNum].closest_v, 0); + zmin = max(params[threadNum].z-params[threadNum].closest_v, 0); + +// int largest_index = child_bit_depth[0] * 2 -1; + + xmax = min(params[threadNum].x+params[threadNum].closest_v, largest_index); + ymax = min(params[threadNum].y+params[threadNum].closest_v, largest_index); + zmax = min(params[threadNum].z+params[threadNum].closest_v, largest_index); + + unsigned char depth = 0; + unsigned int child_bit; + unsigned int child_index_min; + unsigned int child_index_max; + + bitunion *node = &(*uroot); + + int cx, cy, cz; + + child_bit = child_bit_depth[depth]; + cx = child_bit_depth[depth]; + cy = child_bit_depth[depth]; + cz = child_bit_depth[depth]; + + while (true) { // find the first node where branching is required + child_index_min = ((xmin & child_bit )!=0) | (((ymin & child_bit )!=0 )<< 1) | (((zmin & child_bit )!=0) << 2); + child_index_max = ((xmax & child_bit )!=0) | (((ymax & child_bit )!=0 )<< 1) | (((zmax & child_bit )!=0) << 2); + + // if these are the same, go there + // TODO: optimization: also traverse if only single child... + if (child_index_min == child_index_max) { + if (node->childIsLeaf(child_index_min) ) { // luckily, no branching is required + findClosestInLeaf(node->getChild(child_index_min), threadNum); + return static_cast(params[threadNum].closest); + } else { + if (node->isValid(child_index_min) ) { // only descend when there is a child + childcenter(cx,cy,cz, cx,cy,cz, child_index_min, child_bit/2 ); + node = node->getChild(child_index_min); + child_bit /= 2; + } else { // there is no child containing the bounding box => no point is close enough + return 0; + } + } + } else { + // if min and max are not in the same child we must branch + break; + } + } + + // node contains all box-within-bounds cells, now begin best bin first search + _FindClosest(threadNum, node->node, child_bit/2, cx, cy, cz); + return static_cast(params[threadNum].closest); + } + + /** + * This is the heavy duty search function doing most of the (theoretically unneccesary) work. The tree is recursively searched. + * Depending on which of the 8 child-voxels is closer to the query point, the children are examined in a special order. + * This order is defined in map, imap is its inverse and sequence2ci is a speedup structure for faster access to the child indices. + */ + void _FindClosest(int threadNum, bitoct &node, int size, int x, int y, int z) const + { + // Recursive case + + // compute which child is closest to the query point + unsigned char child_index = ((params[threadNum].x - x) >= 0) | + (((params[threadNum].y - y) >= 0) << 1) | + (((params[threadNum].z - z) >= 0) << 2); + + char *seq2ci = sequence2ci[child_index][node.valid]; // maps preference to index in children array + char *mmap = amap[child_index]; // maps preference to area index + + bitunion *children; + bitoct::getChildren(node, children); + int cx, cy, cz; + cx = cy = cz = 0; // just to shut up the compiler warnings + for (unsigned char i = 0; i < 8; i++) { // in order of preference + child_index = mmap[i]; // the area index of the node + if ( ( 1 << child_index ) & node.valid ) { // if ith node exists + childcenter(x,y,z, cx,cy,cz, child_index, size); + if ( params[threadNum].closest_v == 0 || max(max(abs( cx - params[threadNum].x ), + abs( cy - params[threadNum].y )), + abs( cz - params[threadNum].z )) - size + > params[threadNum].closest_v ) { + continue; + } + // find the closest point in leaf seq2ci[i] + if ( ( 1 << child_index ) & node.leaf ) { // if ith node is leaf + findClosestInLeaf( &children[seq2ci[i]], threadNum); + } else { // recurse + _FindClosest(threadNum, children[seq2ci[i]].node, size/2, cx, cy, cz); + } + } + } + } + + + /** + * This function shows the possible speedup that can be gained by using the + * octree for nearest neighbour search, if a more sophisticated + * implementation were given. Here, only the bucket in which the query point + * falls is looked up. If doing the same thing in the kd-tree search, this + * function is about 3-5 times as fast + */ + double *FindClosestInBucket(double *point, double maxdist2, int threadNum) { + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = point; + unsigned int x,y,z; + x = (point[0] + add[0]) * mult; + y = (point[1] + add[1]) * mult; + z = (point[2] + add[2]) * mult; + T * points; + unsigned int length; + + bitunion *node = uroot; + unsigned char child_index; + + unsigned int child_bit = child_bit_depth[0]; + + while (true) { + child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2); + if (node->childIsLeaf(child_index) ) { + node = node->getChild(child_index); + points = node->getPoints(); + length = node->getLength(); + + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double myd2 = Dist2(params[threadNum].p, points); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = points; + } + points+=BOctTree::POINTDIM; + } + return static_cast(params[threadNum].closest); + } else { + if (node->isValid(child_index) ) { + node = node->getChild(child_index); + } else { + return 0; + } + } + child_bit >>= 1; + } + return static_cast(params[threadNum].closest); + } + + +template + void fullsort(P * const * points, int n, T splitval[3], P * const * blocks[9]) { + P* const * L0; + P* const * L1; + P* const * L2; + unsigned int n0L, n0R, n1L, n1R ; + + // sort along Z + L0 = sort(points, n, splitval[2], 2); + + n0L = L0 - points; + // sort along Y (left of Z) points -- L0 + L1 = sort(points, n0L, splitval[1], 1); + + n1L = L1 - points; + // sort along X (left of Y) points -- L1 + L2 = sort(points, n1L, splitval[0], 0); + + blocks[0] = L2; + + n1R = n0L - n1L; + // sort along X (right of Y) // L1 -- L0 + L2 = sort(L1, n1R, splitval[0], 0); + + blocks[1] = L1; + blocks[2] = L2; + + n0R = n - n0L; + // sort along Y (right of Z) L0 -- end + L1 = sort(L0, n0R, splitval[1], 1); + + n1L = L1 - L0; + // sort along X (left of Y) points -- L1 + L2 = sort(L0, n1L, splitval[0], 0); + + blocks[3] = L0; + blocks[4] = L2; + + n1R = n0R - n1L; + // sort along X (right of Y) // L1 -- L0 + L2 = sort(L1, n1R, splitval[0], 0); + + blocks[5] = L1; + blocks[6] = L2; + } + + + template + P* const * sort(P* const * points, unsigned int n, T splitval, unsigned char index) { + if (n==0) return points; + + if (n==1) { + if (points[0][index] < splitval) + return points+1; + else + return points; + } + + P **left = const_cast(points); + P **right = const_cast(points + n - 1); + + + while (1) { + while ((*left)[index] < splitval) + { + left++; + if (right < left) + break; + } + while ((*right)[index] >= splitval) + { + right--; + if (right < left) + break; + } + if (right < left) + break; + + std::swap(*left, *right); + } + return left; + } + +public: + /** + * Copies another (via new constructed) octtree into cache allocated memory and makes it position independant + */ + BOctTree(const BOctTree& other, unsigned char* mem_ptr, unsigned int mem_max) + { + alloc = new SequentialAllocator(mem_ptr, mem_max); + + // "allocate" space for *this + alloc->allocate >(); + + // take members + unsigned int i; + for(i = 0; i < 3; ++i) + center[i] = other.center[i]; + size = other.size; + voxelSize = other.voxelSize; + real_voxelSize = other.real_voxelSize; + for(i = 0; i < 3; ++i) + add[i] = other.add[i]; + mult = other.mult; + POINTDIM = other.POINTDIM; + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + for(i = 0; i < POINTDIM; ++i) { + mins[i] = other.mins[i]; + maxs[i] = other.maxs[i]; + } + pointtype = other.pointtype; + max_depth = other.max_depth; + child_bit_depth = alloc->allocate(max_depth); + child_bit_depth_inv = alloc->allocate(max_depth); + for(i = 0; i < max_depth; ++i) { + child_bit_depth[i] = other.child_bit_depth[i]; + child_bit_depth_inv[i] = other.child_bit_depth_inv[i]; + } + largest_index = other.largest_index; + + // take node structure + uroot = alloc->allocate >(); + root = &uroot->node; + copy_children(*other.root, *root); + + // test if allocator has used up his space + //alloc->printSize(); + + // discard allocator, space is managed by the cache manager + delete alloc; alloc = 0; + } + +private: + void copy_children(const bitoct& other, bitoct& my) { + // copy node attributes + my.valid = other.valid; + my.leaf = other.leaf; + + // other children + bitunion* other_children; + bitoct::getChildren(other, other_children); + + // create own children + unsigned int n_children = POPCOUNT(other.valid); + bitunion* my_children = alloc->allocate >(n_children); + bitoct::link(my, my_children); + + // iterate over all (valid) children and copy them + for(unsigned int i = 0; i < 8; ++i) { + if((1<getLength(); + pointrep* other_pointreps = other_children->getPointreps(); + pointrep* my_pointreps = alloc->allocate(POINTDIM * length + 1); + for(unsigned int j = 0; j < POINTDIM * length + 1; ++j) + my_pointreps[j] = other_pointreps[j]; + // assign + bitunion::link(my_children, my_pointreps); + } else { + // child is already created, copy and create children for it + copy_children(other_children->node, my_children->node); + } + ++other_children; + ++my_children; + } + } + } + +public: + //! Size of the whole tree structure, including the main class, its serialize critical allocated variables and nodes, not the allocator + unsigned int getMemorySize() + { + return sizeof(*this) // all member variables + + 2*POINTDIM*sizeof(T) // mins, maxs + + 2*max_depth*sizeof(unsigned int) // child_bit_depth(_inv) + + sizeof(bitunion) // uroot + + sizeChildren(*root); // all nodes + } + +private: + //! Recursive size of a node's children + unsigned int sizeChildren(const bitoct& node) { + unsigned int s = 0; + bitunion* children; + bitoct::getChildren(node, children); + + // size of children allocation + unsigned int n_children = POPCOUNT(node.valid); + s += sizeof(bitunion)*n_children; + + // iterate over all (valid) children and sum them up + for(unsigned int i = 0; i < 8; ++i) { + if((1<getLength()*POINTDIM+1); + } else { + // childe node is already accounted for, add its children + s += sizeChildren(children->node); + } + ++children; // next (valid) child + } + } + return s; + } +}; + +typedef SingleObject > DataOcttree; + +template +NNParams BOctTree::params[100]; + +#endif diff --git a/.svn/pristine/72/72dcb9f74cfa4206527fca731e68763910781f37.svn-base b/.svn/pristine/72/72dcb9f74cfa4206527fca731e68763910781f37.svn-base new file mode 100644 index 0000000..5dc1b50 --- /dev/null +++ b/.svn/pristine/72/72dcb9f74cfa4206527fca731e68763910781f37.svn-base @@ -0,0 +1,145 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ifp.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param s 3D Scan to be read. The vector of points must be filled + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param maxDist Reads only Points up to this Distance + * @param dir The directory from which to read + */ +int ScanIO_ifp::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + ifstream scan_in, pose_in; + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + "ScanWorld " + to_string(fileCounter) + ".pts"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { + scanFileName = dir + "SW" + to_string(fileCounter) + ".pts"; + scan_in.open(scanFileName.c_str()); + } + if (!scan_in.good()) { + return -1; + } + cout << "Processing Scan " << scanFileName; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // some noise for the pose estimations + /* + double t1 = (double)(rand() % 100); + double t2 = (double)(rand() % 100); + double t3 = (double)(rand() % 100); + double t4 = (double)(rand() % 5) * 0.025; + euler[4] = t4; + + cout << "dx " << t1 << " dy " << t2 << " dz " << t3 << " dtheta_y " << t4 << endl; + */ + + int dummy; + scan_in >> dummy; + while (scan_in.good()) { + Point p; + int intensity, red, green, blue; + scan_in >> p.z >> p.x >> p.y >> intensity >> red >> green >> blue; + + p.z -= 3515165; + p.x -= 5407003; + p.y -= 254; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + /* + p.z += t1; + p.x += t2; + p.y += t3; + */ + //cout << p << endl; + ptss.push_back(p); + } + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ifp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/73/7349f67fe2e1a7dcfb9fd16f17c555385ad1ede7.svn-base b/.svn/pristine/73/7349f67fe2e1a7dcfb9fd16f17c555385ad1ede7.svn-base new file mode 100644 index 0000000..06ea5f1 --- /dev/null +++ b/.svn/pristine/73/7349f67fe2e1a7dcfb9fd16f17c555385ad1ede7.svn-base @@ -0,0 +1,33 @@ +VerticalCorrection, RotationalCorrection, DistanceCorrection, VerticalOffset, HorizontalOffset +-30.67, 0, 0, 0, 0, 1 +-9.3299999, 0, 0, 0, 0, 1 +-29.33, 0, 0, 0, 0, 1 +-8, 0, 0, 0, 0, 1 +-28, 0, 0, 0, 0, 1 +-6.6700001, 0, 0, 0, 0, 1 +-26.67, 0, 0, 0, 0, 1 +-5.3299999, 0, 0, 0, 0, 1 +-25.33, 0, 0, 0, 0, 1 +-4, 0, 0, 0, 0, 1 +-24, 0, 0, 0, 0, 1 +-2.6700001, 0, 0, 0, 0, 1 +-22.67, 0, 0, 0, 0, 1 +-1.33, 0, 0, 0, 0, 1 +-21.33, 0, 0, 0, 0, 1 +0, 0, 0, 0, 0, 1 +-20, 0, 0, 0, 0, 1 +1.33, 0, 0, 0, 0, 1 +-18.67, 0, 0, 0, 0, 1 +2.6700001, 0, 0, 0, 0, 1 +-17.33, 0, 0, 0, 0, 1 +4, 0, 0, 0, 0, 1 +-16, 0, 0, 0, 0, 1 +5.3299999, 0, 0, 0, 0, 1 +-14.67, 0, 0, 0, 0, 1 +6.6700001, 0, 0, 0, 0, 1 +-13.33, 0, 0, 0, 0, 1 +8, 0, 0, 0, 0, 1 +-12, 0, 0, 0, 0, 1 +9.3299999, 0, 0, 0, 0, 1 +-10.67, 0, 0, 0, 0, 1 +10.67, 0, 0, 0, 0, 1 diff --git a/.svn/pristine/73/73c9d1cd44976b694fb3baaa0db669cbfaf041c8.svn-base b/.svn/pristine/73/73c9d1cd44976b694fb3baaa0db669cbfaf041c8.svn-base new file mode 100644 index 0000000..fa9cc20 --- /dev/null +++ b/.svn/pristine/73/73c9d1cd44976b694fb3baaa0db669cbfaf041c8.svn-base @@ -0,0 +1,67 @@ +/** @file + * @brief Implementation of the virtual functor for a loop closing algorithm + * @author Jochen Sprickerhof + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOPSLAM6D_H__ +#define __LOOPSLAM6D_H__ + +#include +using std::vector; + +#include "icp6D.h" +#include "icp6Dminimizer.h" +#include "scan.h" +#include "graph.h" + +class loopSlam6D { + +public: + /** + * Constructor + * @param _quiet suppress informative output + * @param my_icp6Dminimizer the used ICP algorithm + * @param mdm maximal distance match for ICP + * @param max_num_iterations Maximal number of iterations for ICP + * @param rnd randomized point selection for ICP + * @param eP Extrapolate odometry + * @param anim animate scan matching + * @param epsilonICP the ICP epsilon + * @param nns_method the k-d tree search + */ + loopSlam6D(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, int rnd, bool eP, int anim, double epsilonICP, int nns_method) + { + this->quiet = _quiet; + this->my_icp6D = new icp6D(my_icp6Dminimizer, mdm, max_num_iterations, + quiet, false, rnd, eP, anim, epsilonICP, nns_method); + }; + + /** + * Destructor + */ + virtual ~loopSlam6D() { + delete my_icp6D; + }; + + /** + * virtual loop closing function + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g) = 0; + +protected: + bool quiet; + + /** + * pointer to the ICP framework + */ + icp6D *my_icp6D; + +}; + +#endif diff --git a/.svn/pristine/73/73f4b34ee616fbdb36fe3cc2d7dcec5f665d89c3.svn-base b/.svn/pristine/73/73f4b34ee616fbdb36fe3cc2d7dcec5f665d89c3.svn-base new file mode 100644 index 0000000..47847d4 --- /dev/null +++ b/.svn/pristine/73/73f4b34ee616fbdb36fe3cc2d7dcec5f665d89c3.svn-base @@ -0,0 +1,56 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef SCAN_HANDLER_H +#define SCAN_HANDLER_H + +#include "scanserver/temporaryHandler.h" +#include +#include + + +/** + * @brief CacheHandler for scan files. + * + * This class handles scan files. On a cache miss it reads from the original scan file by calling ScanIO to load the proper library for input. + * If binary scan caching is enabled the TemporaryHandler functionality is invoked in saves and, if binary scan caching is enabled, also on loads. In the latter case the binary cache file has priority over parsing the scan anew. Invalidation is taken into consideration, reloading the scan with new range parameters. + */ +class ScanHandler : public TemporaryHandler +{ +public: + ScanHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, IODataType data); + + /** + * Reads specific scan data from a file, located by SharedScan's identifiers via ScanIO. + * If binary caching is enabled it will try to read from this resource first to speed up the process. + * @return true, will throw otherwise because we are desperate for scans + * @throw if both the binary cache and the scan resource were unavailable + */ + virtual bool load(); + + /** + * Does nothing unless binary caching is enabled, which will save the contents via CacheIO. + */ + virtual void save(unsigned char* data, unsigned int size); + + //! Enable binary caching of scan data + static void setBinaryCaching(); +private: + IODataType m_data; + + static bool binary_caching; + + //! Cached vectors for prefetching + static std::map* > m_prefetch_xyz; + static std::map* > m_prefetch_rgb; + static std::map* > m_prefetch_reflectance; + static std::map* > m_prefetch_amplitude; + static std::map* > m_prefetch_type; + static std::map* > m_prefetch_deviation; +}; + +#endif //SCAN_HANDLER_H diff --git a/.svn/pristine/73/73ffd7806c5802cd32dd12fd9af5f289c364ac3b.svn-base b/.svn/pristine/73/73ffd7806c5802cd32dd12fd9af5f289c364ac3b.svn-base new file mode 100644 index 0000000..2ddbd32 --- /dev/null +++ b/.svn/pristine/73/73ffd7806c5802cd32dd12fd9af5f289c364ac3b.svn-base @@ -0,0 +1,152 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +void trymatj() +{ + Tracer et("Nineteenth test of Matrix package"); + Tracer::PrintTrace(); + // testing elementwise (SP) products + + { + Tracer et1("Stage 1"); + Matrix A(13,7), B(13,7), C(13,7); + int i,j; + for (i=1;i<=13;i++) for (j=1; j<=7; j++) + { + Real a = (i+j*j)/2, b = (i*j-i/4); + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + // Where complete matrix routine can be used + Matrix X = SP(A,B)-C; Print(X); + X = SP(A,B+1.0)-A-C; Print(X); + X = SP(A-1,B)+B-C; Print(X); + X = SP(A-1,B+1)+B-A-C+1; Print(X); + // Where row-wise routine will be used + A = A.Rows(7,13); B = B.Rows(7,13); C = C.Rows(7,13); + LowerTriangularMatrix LTA; LTA << A; + UpperTriangularMatrix UTB; UTB << B; + DiagonalMatrix DC; DC << C; + X = SP(LTA,UTB) - DC; Print(X); + X = SP(LTA*2,UTB) - DC*2; Print(X); + X = SP(LTA, UTB /2) - DC/2; Print(X); + X = SP(LTA/2, UTB*2) - DC; Print(X); + DiagonalMatrix DX; + DX << SP(A,B); DX << (DX-C); Print(DX); + DX << SP(A*4,B); DX << (DX-C*4); Print(DX); + DX << SP(A,B*2); DX << (DX-C*2); Print(DX); + DX << SP(A/4,B/4); DX << (DX-C/16); Print(DX); + LowerTriangularMatrix LX; + LX = SP(LTA,B); LX << (LX-C); Print(LX); + LX = SP(LTA*3,B); LX << (LX-C*3); Print(LX); + LX = SP(LTA,B*5); LX << (LX-C*5); Print(LX); + LX = SP(-LTA,-B); LX << (LX-C); Print(LX); + } + { + // Symmetric Matrices + Tracer et1("Stage 2"); + SymmetricMatrix A(25), B(25), C(25); + int i,j; + for (i=1;i<=25;i++) for (j=i;j<=25;j++) + { + Real a = i*j +i - j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + UpperTriangularMatrix UT; + UT << SP(A,B); UT << (UT - C); Print(UT); + Matrix MA = A, X; + X = SP(MA,B)-C; Print(X); + X = SP(A,B)-C; Print(X); + SymmetricBandMatrix BA(25,5), BB(25,5), BC(25,5); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA*7,BB)-BC*7; Print(X); + X = SP(BA,BB/8)-BC/8; Print(X); + X = SP(BA*16,BB/16)-BC; Print(X); + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA*2, BB/2)-BC; Print(X); + X = SP(BA, BB/2)-BC/2; Print(X); + X = SP(BA*2, BB)-BC*2; Print(X); + } + { + // Band matrices + Tracer et1("Stage 3"); + Matrix A(19,19), B(19,19), C(19,19); + int i,j; + for (i=1;i<=19;i++) for (j=1;j<=19;j++) + { + Real a = i*j +i - 1.5*j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + BandMatrix BA(19,10,7), BB(19,8,15), BC(19,8,7); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + Matrix X; BandMatrix BX; ColumnVector BW(2); + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA/8,BB); X=X-BC/8; Print(X); + X = SP(BA,BB*17); X=X-BC*17; Print(X); + X = SP(BA/4,BB*7); X=X-BC*7/4; Print(X); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA/8,BB)-BC/8; Print(X); + X = SP(BA,BB*17)-BC*17; Print(X); + X = SP(BA/4,BB*7)-BC*7/4; Print(X); + BX = SP(BA,BB); + BW(1)=BX.upper-7; BW(2)=BX.lower-8; Print(BW); + + BA.ReSize(19,7,10); BB.ReSize(19,15,8); + BC.ReSize(19,7,8); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA/8,BB); X=X-BC/8; Print(X); + X = SP(BA,BB*17); X=X-BC*17; Print(X); + X = SP(BA/4,BB*7); X=X-BC*7/4; Print(X); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA/8,BB)-BC/8; Print(X); + X = SP(BA,BB*17)-BC*17; Print(X); + X = SP(BA/4,BB*7)-BC*7/4; Print(X); + BX = SP(BA,BB); + BW(1)=BX.upper-8; BW(2)=BX.lower-7; Print(BW); + } + { + // SymmetricBandMatrices + Tracer et1("Stage 4"); + Matrix A(7,7), B(7,7); + int i,j; + for (i=1;i<=7;i++) for (j=1;j<=7;j++) + { + Real a = i*j +i - 1.5*j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; + } + BandMatrix BA(7,2,4), BB(7,3,1), BC(7,2,1); + BA.Inject(A); + SymmetricBandMatrix SB(7,3); + SymmetricMatrix S; S << (B+B.t()); + SB.Inject(S); A = BA; S = SB; + Matrix X; + X = SP(BA,SB); X=X-SP(A,S); Print(X); + X = SP(BA*2,SB); X=X-SP(A,S*2); Print(X); + X = SP(BA,SB/4); X=X-SP(A/4,S); Print(X); + X = SP(BA*4,SB/4); X=X-SP(A,S); Print(X); + X = SP(BA,SB)-SP(A,S); Print(X); + X = SP(BA*2,SB)-SP(A,S*2); Print(X); + X = SP(BA,SB/4)-SP(A/4,S); Print(X); + X = SP(BA*4,SB/4)-SP(A,S); Print(X); + } + +} + + diff --git a/.svn/pristine/74/7460f865021f8128c89e4b73a4b5e3624add3d91.svn-base b/.svn/pristine/74/7460f865021f8128c89e4b73a4b5e3624add3d91.svn-base new file mode 100644 index 0000000..80d25fd --- /dev/null +++ b/.svn/pristine/74/7460f865021f8128c89e4b73a4b5e3624add3d91.svn-base @@ -0,0 +1,35 @@ +/** + * @file + * @brief Implemetnations of point pairs + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +/** + * Constructor, by two 'point' pointers + */ +inline PtPair::PtPair(double *_p1, double *_p2) +{ + p1 = Point(_p1); + p2 = Point(_p2); +} + +inline PtPair::PtPair(Point &_p1, Point &_p2) +{ + p1 = Point(_p1); + p2 = Point(_p2); +} + +inline PtPair::PtPair() +{ + p1 = Point(); + p2 = Point(); +} + +/** + * Overridden "<<" operator for sending a pair to a stream + */ +inline ostream& operator<<(ostream& os, const PtPair& pair) { + os << pair.p1 << " - " << pair.p2 << endl; + return os; +} diff --git a/.svn/pristine/74/7466e7c301c65a7d0495a243b57e001f854db3c1.svn-base b/.svn/pristine/74/7466e7c301c65a7d0495a243b57e001f854db3c1.svn-base new file mode 100644 index 0000000..191790d --- /dev/null +++ b/.svn/pristine/74/7466e7c301c65a7d0495a243b57e001f854db3c1.svn-base @@ -0,0 +1,20 @@ +-0.297462 0.176102 +0.565538 -0.361496 +0.909313 -0.182785 +0.920712 0.478408 +0.167682 0.0499836 +0.305223 -0.0805835 +0.114973 0.882453 +0.742916 0.16376 +0.0724605 -0.826775 +0.690960 -0.559284 +0.188485 -0.643934 +0.749427 -0.942415 +-0.970662 -0.223466 +0.916110 0.879597 +0.927417 -0.382593 +-0.711327 0.278713 +-0.519172 0.986146 +0.135338 0.924588 +-0.0837537 0.61687 +0.0520465 0.896306 diff --git a/.svn/pristine/74/747c2482e1c6377ec2fc6ed5b0120ca852b99149.svn-base b/.svn/pristine/74/747c2482e1c6377ec2fc6ed5b0120ca852b99149.svn-base new file mode 100644 index 0000000..11c0b4a --- /dev/null +++ b/.svn/pristine/74/747c2482e1c6377ec2fc6ed5b0120ca852b99149.svn-base @@ -0,0 +1,9 @@ + + + + 3 + 1 +

f
+ + 7.70650012e-03 -0.04776910 0.007350650 + diff --git a/.svn/pristine/74/7483d87ea44f6915500ff9a9769a1515e60abd03.svn-base b/.svn/pristine/74/7483d87ea44f6915500ff9a9769a1515e60abd03.svn-base new file mode 100644 index 0000000..64fbefa --- /dev/null +++ b/.svn/pristine/74/7483d87ea44f6915500ff9a9769a1515e60abd03.svn-base @@ -0,0 +1,78 @@ +#ifndef MANAGED_SCAN_H +#define MANAGED_SCAN_H + +#include "scan.h" +#include "scanserver/sharedScan.h" + + + +class ManagedScan : public Scan { +public: + static void openDirectory(const std::string& path, IOType type, + int start, int end = -1); + static void closeDirectory(); + + static std::size_t getMemorySize(); + + virtual ~ManagedScan(); + + virtual void setRangeFilter(double max, double min); + virtual void setHeightFilter(double top, double bottom); + virtual void setReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + void setShowReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + virtual void setOcttreeParameter(double reduction_voxelSize, + double octtree_voxelSize, PointType pointtype, + bool loadOct, bool saveOct); + + virtual const char* getIdentifier() const { return m_shared_scan->getIdentifier(); } + + virtual DataPointer get(const std::string& identifier); + virtual void get(unsigned int types); + virtual DataPointer create(const std::string& identifier, unsigned int size); + virtual void clear(const std::string& identifier); + + virtual unsigned int readFrames(); + virtual void saveFrames(); + virtual unsigned int getFrameCount(); + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type); + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate(); + virtual void addFrame(AlgoType type); + +private: + //! Reference to the shared scan + SharedScan* m_shared_scan; + + //! SharedScan vector to be deleted on closeDirectory + static SharedScanVector* shared_scans; + + //! Flag to keep track of whether we have to update/create reduced points at the start + bool m_reduced_ready; + + //! Flag to reset the persistent frames on write actions in slam to avoid a clear call + bool m_reset_frames_on_write; + + //! Voxelsize of the octtree used for reduction + double show_reduction_voxelSize; + + //! Which point to take out of the reduction octtree, 0 for center + int show_reduction_nrpts; + + //! Pointtype used for the reduction octtree + PointType show_reduction_pointtype; + + + ManagedScan(SharedScan* shared_scan); + + //! Create reduced points for show + void calcReducedShow(); + + //! Create Octtree for show + void createOcttree(); +}; + +#endif //MANAGED_SCAN_H diff --git a/.svn/pristine/75/752a52a6728a609fb1482d05a4920972fd926d57.svn-base b/.svn/pristine/75/752a52a6728a609fb1482d05a4920972fd926d57.svn-base new file mode 100644 index 0000000..55d4e65 Binary files /dev/null and b/.svn/pristine/75/752a52a6728a609fb1482d05a4920972fd926d57.svn-base differ diff --git a/.svn/pristine/75/7533d10d6e7223b00fbf488657e2c787179e6461.svn-base b/.svn/pristine/75/7533d10d6e7223b00fbf488657e2c787179e6461.svn-base new file mode 100644 index 0000000..8c01a1f --- /dev/null +++ b/.svn/pristine/75/7533d10d6e7223b00fbf488657e2c787179e6461.svn-base @@ -0,0 +1,48 @@ +#include + +#include "slam6d/scan.h" +#include "slam6d/managedScan.h" + +/** + * The class manages all scans and the frames of the scans + * It reads all scans and frame information and holds an object for the + * scans and the transformationmatrices + * + * @author Uwe Hebbelmann, Andre Schemschatt, Sebastian Stock + * date 14.2.08 + */ +class scanmanager { + + private: + /** Vector for the transformation of all scans */ + std::vector < std::vector > metaMatrix; + + /** @brief Reads the frame files that were created by Slam6D */ + void readFrames(string inputdir, + int start, + int end, + bool readInitial, + bool correctYAxis); + + public: + /** @brief Ctor */ + scanmanager(); + + /** @bried DTor */ + ~scanmanager(); + + /** @brief Reads scans, frames and the transformationmatrix */ + void startscan(string inputdir, string outputdir, IOType scantype, + int start, int end, bool readInitial, + int max_distance, int min_distance, + bool correctYAxis); + + /** @brief Getter for the number of scans */ + size_t getScanCount() const; + + /** @brief Returns scan with number i */ + Scan& getScan(int i); + + /** @brief Returns transformationmatrix with number i */ + const std::vector & getMatrix(int i); +}; diff --git a/.svn/pristine/76/767a3d0282b9d55b10d5308dd7a58741be9e380b.svn-base b/.svn/pristine/76/767a3d0282b9d55b10d5308dd7a58741be9e380b.svn-base new file mode 100644 index 0000000..35f0cb1 --- /dev/null +++ b/.svn/pristine/76/767a3d0282b9d55b10d5308dd7a58741be9e380b.svn-base @@ -0,0 +1,44 @@ + + +int glui_img_radiobutton_1_dis[] = { 14, 14, /* width, height */ + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 64, 64, 64, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 64, 64, 64, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 64, 64, 64, + 64, 64, 64, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 128,128,128, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 128,128,128, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, +}; diff --git a/.svn/pristine/76/76a171283a6f3fc42c70e593c546a02815e1c0db.svn-base b/.svn/pristine/76/76a171283a6f3fc42c70e593c546a02815e1c0db.svn-base new file mode 100644 index 0000000..6bb7e87 --- /dev/null +++ b/.svn/pristine/76/76a171283a6f3fc42c70e593c546a02815e1c0db.svn-base @@ -0,0 +1,121 @@ +/** + * @file + * + * @author Thomas Escher + */ + +#ifndef CACHE_OBJECT_H +#define CACHE_OBJECT_H + +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; +} + +#include "scanserver/cache/cacheHandler.h" +#include "scanserver/cache/cacheDataAccess.h" + + + +/** + * @brief An object representing a cache entry, holding the data and managing cache access. + * + * This cache object holds a pointer to the cached data if it is loaded and is accessible through the aquisition of a CacheDataAccess. The CacheDataAccess will lock this CacheObject so the CacheManager can't remove it from memory while it is read (i.e. CacheDataAccess holds a lock). If the data isn't hold in memory the access will cause a cache miss to occur and consequently communications to the CacheManager are started to get this CacheObject loaded into memory. + * Cached data is held in a shared memory exclusively for these objects. On client startup openSharedMemory has to be called once. Every access then obtains the process-local data pointer by its handle in this shared memory. + * When the CacheObject is created it has to be assigned a CacheHandler which handles the application specific IO part. Save calls should serialize the CacheObject's contents to a safe place (e.g. harddrive), Load calls should recall these contents. + */ +class CacheObject { + friend class CacheManager; +public: + CacheObject(); + ~CacheObject(); + + /** + * Aquires the lock, accesses the contained data directly on hit or requests loading from the CacheManager if missed. + * The aquisition takes place through the function represented by template F. F relays the call to the process who created the CacheHandler which is then able to do its work. This is neccessary because CacheHandler owns virtual functions and these can only be called in the creating process. + * + * Can throw an exception if the server is unable to load the data. + */ + template + inline CacheDataAccess getCacheData() + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // aquire data by safely requesting it once through the means of functionality given by F + if(m_handle == 0) { + ip::scoped_lock request(m_cache_miss); + if(m_handle == 0) { + F(this); + } + // TODO: exceptions checking + } + // TODO: Access Data + return CacheDataAccess(m_mutex_in_use, m_size, reinterpret_cast(m_msm->get_address_from_handle(m_handle))); + } + + /** + * Allocate space to write into. + * Repeated calls will always create new space without saving the old one, no CacheHandler calls will be made for this CacheObject. + */ + template + inline CacheDataAccess createCacheData(unsigned int size) + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // allocate data through template function + F(this, size); + // TODO: Access Data + return CacheDataAccess(m_mutex_in_use, m_size, reinterpret_cast(m_msm->get_address_from_handle(m_handle))); + } + + /** + * Let the CacheManager invalidate this CacheObject and its handler + */ + template + inline void invalidate() + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // allocate data through template function + F(this); + // TODO: Access Data + } + + /** + * Set a cache handler for loading and saving data on cache misses or flushes. + * This may only be assigned once and load/save calls have to be process local. + */ + void setCacheHandler(CacheHandler* handler); + + /** + * Open the shared memory on client side so CacheObjects can access their data from there. + * Call once on client initialization. + */ + static void openSharedMemory(const char* shm_name); +private: + //! Size in bytes of contained data + unsigned int m_size; + + //! Handle to contained data in CacheObject exclusive shared memory, used to obtain process-local pointers + ip::managed_shared_memory::handle_t m_handle; + + //! Will be share-locked by every reading entity, exclusive-locked by manipulating entity, the CacheManager + ip::interprocess_upgradable_mutex m_mutex_in_use; + + //! Execute-once protection for a read request on a cache miss + ip::interprocess_mutex m_cache_miss; + + //! IO handling object for load and saves, to be called within the creating process + CacheHandler* m_handler; + + //! Singleton shared memory for data access + static ip::managed_shared_memory* m_msm; +}; + +#endif //CACHE_OBJECT_H diff --git a/.svn/pristine/76/76b63075116ee3bbb339ff53ee11bd02c6e4a483.svn-base b/.svn/pristine/76/76b63075116ee3bbb339ff53ee11bd02c6e4a483.svn-base new file mode 100644 index 0000000..3724847 --- /dev/null +++ b/.svn/pristine/76/76b63075116ee3bbb339ff53ee11bd02c6e4a483.svn-base @@ -0,0 +1,9 @@ +#pragma once + +#include +#include +#include "veloslam/veloscan.h" +#include "veloslam/tracker.h" + +void DumpPointtoFile(cluster &gluData1, string filename); +void DumpFeaturetoFile(clusterFeature &glu, string filename); diff --git a/.svn/pristine/76/76d7b4c0a0f5a9874361b2df7fd5bcd21f460b17.svn-base b/.svn/pristine/76/76d7b4c0a0f5a9874361b2df7fd5bcd21f460b17.svn-base new file mode 100644 index 0000000..72e15da --- /dev/null +++ b/.svn/pristine/76/76d7b4c0a0f5a9874361b2df7fd5bcd21f460b17.svn-base @@ -0,0 +1,198 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_commandline.cpp - GLUI_CommandLine control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher, 2005 William Baxter + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + This program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "glui_internal.h" + +/****************************** GLUI_CommandLine::GLUI_CommandLine() **********/ +GLUI_CommandLine::GLUI_CommandLine( GLUI_Node *parent, const char *name, + void *data, int id, GLUI_CB cb ) +{ + common_init(); + set_name( name ); + + data_type = GLUI_EDITTEXT_TEXT; + ptr_val = data; + user_id = id; + callback = cb; + + live_type = GLUI_LIVE_TEXT; + + parent->add_control( this ); + + init_live(); +} + +/****************************** GLUI_CommandLine::key_handler() **********/ + +int GLUI_CommandLine::key_handler( unsigned char key,int modifiers ) +{ + int ret; + + if ( NOT glui ) + return false; + + if ( debug ) + dump( stdout, "-> CMD_TEXT KEY HANDLER" ); + + if ( key == 13 ) { /* RETURN */ + commit_flag = true; + } + + ret = Super::key_handler( key, modifiers ); + + if ( debug ) + dump( stdout, "<- CMD_TEXT KEY HANDLER" ); + + return ret; +} + + +/****************************** GLUI_CommandLine::deactivate() **********/ + +void GLUI_CommandLine::deactivate( void ) +{ + // if the commit_flag is set, add the current command to + // history and call deactivate as normal + + // Trick deactivate into calling callback if and only if commit_flag set. + // A bit subtle, but deactivate checks that orig_text and text + // are the same to decide whether or not to call the callback. + // Force them to be different for commit, and the same for no commit. + if (commit_flag) { + add_to_history(text.c_str()); + orig_text = ""; + Super::deactivate( ); + set_text( "" ); + commit_flag = false; + } + else { + orig_text = text; + } +} + +/**************************** GLUI_CommandLine::special_handler() **********/ + +int GLUI_CommandLine::special_handler( int key,int modifiers ) +{ + if ( NOT glui ) + return false; + + if ( debug ) + printf( "CMD_TEXT SPECIAL:%d - mod:%d subs:%d/%d ins:%d sel:%d/%d\n", + key, modifiers, substring_start, substring_end,insertion_pt, + sel_start, sel_end ); + + if ( key == GLUT_KEY_UP ) // PREVIOUS HISTORY + { + scroll_history(-1); + } + else if ( key == GLUT_KEY_DOWN ) // NEXT HISTORY + { + scroll_history(+1); + } + else { + return Super::special_handler( key, modifiers ); + } + return false; +} + + + +/**************************** GLUI_CommandLine::scroll_history() ********/ + +void GLUI_CommandLine::scroll_history( int direction ) +{ + recall_history(curr_hist + direction); +} + +/**************************** GLUI_CommandLine::recall_history() ********/ + +void GLUI_CommandLine::recall_history( int hist_num ) +{ + if (hist_num < oldest_hist OR + hist_num > newest_hist OR + hist_num == curr_hist) + return; + + // Commit the current text first before we blow it away! + if (curr_hist == newest_hist) { + get_history_str(newest_hist) = text; + } + + curr_hist = hist_num; + set_text(get_history_str(curr_hist)); + sel_end = sel_start = insertion_pt = (int)text.length(); + update_and_draw_text(); +} + +/**************************** GLUI_CommandLine::add_to_history() ********/ + +void GLUI_CommandLine::add_to_history( const char *cmd ) +{ + if (cmd[0]=='\0') return; // don't add if it's empty + + curr_hist = newest_hist; + get_history_str(newest_hist) = text; + + newest_hist = ++curr_hist; + if ( newest_hist >= HIST_SIZE ) + { + // bump oldest off the list + hist_list.erase(hist_list.begin()); + hist_list.push_back(""); + + oldest_hist++; + } +} + +/**************************** GLUI_CommandLine::reset_history() ********/ + +void GLUI_CommandLine::reset_history( void ) +{ + oldest_hist = newest_hist = curr_hist = 0; +} + + + +/*************************************** GLUI_CommandLine::dump() **************/ + +void GLUI_CommandLine::dump( FILE *out, const char *name ) +{ + fprintf( out, + "%s (commandline@%p): ins_pt:%d subs:%d/%d sel:%d/%d len:%d\n", + name, this, + insertion_pt, substring_start, substring_end, sel_start, sel_end, + (int)text.length()); +} + + diff --git a/.svn/pristine/77/775b8c2682976625280e6fec484402ec14fef513.svn-base b/.svn/pristine/77/775b8c2682976625280e6fec484402ec14fef513.svn-base new file mode 100644 index 0000000..37f8d23 --- /dev/null +++ b/.svn/pristine/77/775b8c2682976625280e6fec484402ec14fef513.svn-base @@ -0,0 +1,943 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + check README for my email address +*/ + +#include +#include +#include +#include // toupper, tolower +#include "pgm2asc.h" +#include "gocr.h" + +// ----- detect lines --------------- +/* suggestion: Fourier transform and set line frequency where the + amplitude has a maximum (JS: slow and not smarty enough). + + option: range for line numbers 1..1000 or similar + todo: look for thickest line, and divide if thickness=2*mean_thickness + Set these elements of the box structs: + + m1 <-- top of upper case letters and (bdfhkl) (can differ) + m2 <-- top of letters (acegmnopqrsuvwxyz) + m3 <-- baseline + m4 <-- bottom of hanging letters (gqpy) + + performance can be improved by working with a temporary + list of boxes of the special text line + + - Jun23,00 more robustness of m3 (test liebfrau1) + - Feb01,02 more robustness of m4 (test s46_084.pgm) + - Dec03,12 fix problems with footnotes + ToDo: + - generate lists of boxes per line (faster access) + - use statistics + - for each box look at it neighbours and set box-m1..m4 + - m[1..4].max .min if m4.min-m3.max<1 probability lower + */ +int detect_lines1(pix * p, int x0, int y0, int dx, int dy) +{ + int i, jj, j2, y, yy, my, mi, mc, i1, i2, i3, i4, + m1, m2, m3, m4, ma1, ma2, ma3, ma4, m3pre, m4pre; + struct box *box2, *box3; /* box3 is for verbose / debugging */ + struct tlines *lines = &JOB->res.lines; + + /* ToDo: optional read line-data from external source??? */ + if (lines->num == 0) { // initialize one dummy-line for pictures etc. + lines->m4[0] = 0; + lines->m3[0] = 0; + lines->m2[0] = 0; + lines->m1[0] = 0; + lines->x0[0] = p->x; /* expand to left end during detection */ + lines->x1[0] = 0; /* expand to right end */ + lines->pitch[0] = JOB->cfg.spc; /* default word pitch */ + lines->mono[0] = 0; /* default spacing, 0 = prop */ + lines->num++; + } + i = lines->num; + if (dy < 4) + return 0; /* image is to low for latin chars */ + my = jj = 0; + // get the mean height of all hollow chars + // (better than mean value of everything including bg-pattern or dust?) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if ( box2->c != PICTURE + && box2->num_frames>1 && box2->num_frames<3 /* 1 or 2 holes */ + && box2->y0 >= y0 && box2->y1 <= y0 + dy + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->frame_vol[0]>0 + && box2->frame_vol[1]<0 + ) { + jj++; + my += box2->y1 - box2->y0 + 1; + } + } end_for_each(&(JOB->res.boxlist)); + if (jj==0) { + // get the mean height of all chars + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if ( box2->c != PICTURE + && box2->y1 - box2->y0 + 1 >= 4 /* 4x6 font */ + && box2->y0 >= y0 && box2->y1 <= y0 + dy + && box2->x0 >= x0 && box2->x1 <= x0 + dx ) { + jj++; + my += box2->y1 - box2->y0 + 1; + } + } end_for_each(&(JOB->res.boxlist)); + } + if (jj == 0) + return 0; /* no chars detected */ + + + /* ToDo: a better way could be to mark good boxes (of typical high a-zA-Z0-9) + * first and handle only marked boxes for line scan, exclude ?!,.:;etc + * but without setect the chars itself (using good statistics) + * see adjust_text_lines() + */ + my /= jj; /* we only care about chars with high arround my */ + if (JOB->cfg.verbose & 16) + fprintf(stderr,"\n# detect_lines1(%d %d %d %d) vvv&16 chars=%d my=%d\n# ", + x0, y0, dx, dy, jj, my); + // "my" is the average over the whole image (bad, if different fontsizes) + + if (my < 4) + return 0; /* mean high is to small => error */ + + m4pre=m3pre=y0; /* lower bond of upper line */ + // better function for scanning line around a letter ??? + // or define lines around known chars "eaTmM" + for (j2 = y = y0; y < y0 + dy; y++) { + // look for max. of upper and lower bound of next line + m1 = y0 + dy; + jj = 0; +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr,"searching new line %d\n# ",i /* lines->num */); +#endif + + box3 = NULL; /* mark the most upper box starting next line */ + // find highest point of next line => store to m1-min (m1>=y) + // only objects greater 2/3*my and smaller 3*my are allowed + // a higher "!" at end of line can result in a to low m1 + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) + yy = lines->dy * box2->x0 / (lines->dx); /* correct crooked lines */ + else yy=0; + if ( box2->y0 >= y + yy && box2->y1 < y0 + dy // lower than y + && box2->x0 >= x0 && box2->x1 < x0 + dx // within box ? + && box2->c != PICTURE // no picture + && box2->num_boxes <= 1 // ignore 2 for "!?i" 3 for "ä" + && 3 * (box2->y1 - box2->y0) > 2 * my // not to small + && (box2->y1 - box2->y0) < 3 * my // not to big + && (box2->y1 - box2->y0) > 4) // minimum absolute size + { + if (box2->y0 < m1 + yy) { + m1 = box2->y0 - yy; /* highest upper boundary */ + box3 = box2; + } + // fprintf(stderr,"\n %3d %3d %+3d %d m1= %3d", + // box2->x0, box2->y0, box2->y1 - box2->y0 + 1, box2->num_boxes, m1); + } + } end_for_each(&(JOB->res.boxlist)); + if (!box3 || m1 >= y0+dy) break; /* no further line found */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," most upper box at new line xy= %4d %4d %+4d %+4d\n# ", + box3->x0, box3->y0, box3->x1-box3->x0, box3->y1-box3->y0); + + // at the moment values depend from single chars, which can + // result in bad values (ex: 4x6 /\=) + // ToDo: 2) mean size of next line (store list of y0,y1) + // ToDo: 3) count num0[(y0-m1)*16/my], num1[(y1-m1)*16/my] + // ToDo: or down-top search horizontal nerarest neighbours + lines->x0[i] = x0 + dx - 1; /* expand during operation to left end */ + lines->x1[i] = x0; /* expand to the right end of line */ + m4=m2=m1; mi=m1+my; m3=m1+2*my; jj=0; + // find limits for upper bound, base line and ground line + // m2-max m3-min m4-max + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if ( box2->y0 < y0 || box2->y1 >= y0 + dy + || box2->x0 < x0 || box2->x1 >= x0 + dx ) continue; // out of image + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); + else yy=0; + /* check for ij-dots, used if chars of same high */ + if ( box2->y0 >= y + yy + && box2->y0 >= y + && (box2->y1 - box2->y0) < my + && box2->y1 < m1 + yy + my/4 + && box2->y0 < mi + yy ) { + mi = box2->y0 - yy; /* highest upper boundary i-dot */ + } + // fprintf(stderr,"\n check %3d %3d-%3d y=%d yy=%d m1=%d", box2->x0, box2->y0, box2->y1, y, yy, m1); + /* get m2-max m3-min m4-max */ + if ( box2->y0 >= y + yy // lower than y + && 3 * (box2->y1 - box2->y0 + 1) > 2 * my // right size ? + && (box2->y1 - box2->y0 + 1) < 3 * my // font mix, size = 2.6*my + && (box2->y1 - box2->y0 + 1) > 3 // 4x6 lowercase=4 + && box2->y0 >= m1 // in m1 range? + && box2->y0 <= m1 + yy + 9 * my / 8 // my can be to small if mixed + // ToDo: we need a better (local?) algorithm for big headlines > 2*my + && box2->y1 <= m1 + yy + 3 * my + && box2->y1 >= m1 + yy + my / 2 + // lines can differ in high, my may be to small (smaller headlines) + && box2->y0+box2->y1 <= 2*box3->y1 + ) + { + jj++; // count chars for debugging purpose + if (box2->y0 > m2 + yy) { + m2 = box2->y0 - yy; /* highest upper boundary */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," set m2= %d yy= %d\n# ",m2, yy); + } + if (box2->y1 > m4 + yy && (my>6 || box2->y1 < m3+my)) { + m4 = box2->y1 - yy; /* lowest lower boundary, small font lines can touch */ + } + if ( box2->y1 < m3 + yy + && ( ( 2*box2->y1 > m2+ m4+yy && m2>m1) + || ( 4*box2->y1 > m1+3*m4+yy) ) ) // care for TeX: \(^1\)Footnote 2003 + /* "'!?" could cause trouble here, therefore this lines */ + /* ToDo: get_bw costs time, check pre and next */ + if( get_bw(box2->x0,box2->x1,box2->y1+1 ,box2->y1+my/2,box2->p,JOB->cfg.cs,1) == 0 + || get_bw(box2->x0,box2->x1,box2->y1+my/2,box2->y1+my/2,box2->p,JOB->cfg.cs,1) == 1 + || num_cross(box2->x0,box2->x1,(box2->y0+box2->y1)/2,(box2->y0+box2->y1)/2,box2->p,JOB->cfg.cs)>2 ) + { + m3 = box2->y1 - yy; /* highest lower boundary */ + // printf("\n# set1 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + // out_x(box2); + } + if (box2->y0 + box2->y1 > 2*(m3 + yy) + && box2->y1 < m4 + yy - my/4 -1 + && box2->y1 >= (m2 + m4)/2 // care for TeX: \(^1\)Footnote 2003 + && m2 > m1 ) // be sure to not use ', m2 must be ok + { + m3 = box2->y1 - yy; /* highest lower boundary */ + // printf("\n# set2 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + // out_x(box2); + } + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + // printf(" m=%3d %+2d %+2d %+2d yy=%3d\n",m1,m2-m1,m3-m1,m4-m1,yy); + } + } end_for_each(&(JOB->res.boxlist)); + +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," step 1 y=%4d m= %4d %+3d %+3d %+3d" + " my=%2d chars=%3d\n# ", + y, m1, m2-m1, m3-m1, m4-m1, my, jj); +#endif + + if (m3 == m1) + break; +#if 1 /* make averages about the line */ + // same again better estimation + mc = (3 * m3 + m1) / 4; /* lower center ? */ + ma1 = ma2 = ma3 = ma4 = i1 = i2 = i3 = i4 = jj = 0; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); else yy=0; + if (box2->y0 >= y + yy && box2->y1 < y0 + dy // lower than y + && box2->x0 >= x0 && box2->x1 < x0 + dx // in box ? + && box2->c != PICTURE // no picture + && 2 * (box2->y1 - box2->y0) > my // right size ? + && (box2->y1 - box2->y0) < 4 * my) { + if ( box2->y0 - yy >= m1-my/4 + && box2->y0 - yy <= m2+my/4 + && box2->y1 - yy >= m3-my/4 + && box2->y1 - yy <= m4+my/4 ) { /* its within allowed range! */ + // jj++; // not used + if (abs(box2->y0 - yy - m1) <= abs(box2->y0 - yy - m2)) + { i1++; ma1 += box2->y0 - yy; } + else { i2++; ma2 += box2->y0 - yy; } + if (abs(box2->y1 - yy - m3) < abs(box2->y1 - yy - m4)) + { i3++; ma3 += box2->y1 - yy; } + else { i4++; ma4 += box2->y1 - yy; } + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + } + } + } end_for_each(&(JOB->res.boxlist)); + + if (i1) m1 = (ma1+i1/2) / i1; /* best rounded */ + if (i2) m2 = (ma2+i2/2) / i2; + if (i3) m3 = (ma3+i3-1) / i3; /* round up */ + if (i4) m4 = (ma4+i4-1) / i4; + // printf("\n# .. set3 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + +#endif + + /* expand right and left end of line */ + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); else yy=0; + if ( box2->y0 >= y0 && box2->y1 < y0 + dy + && box2->x0 >= x0 && box2->x1 < x0 + dx // in box ? + && box2->c != PICTURE // no picture + && box2->y0 >= m1-1 + && box2->y0 <= m4 + && box2->y1 >= m1 + && box2->y1 <= m4+1 ) { /* its within line */ + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + } + } end_for_each(&(JOB->res.boxlist)); + +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," step 2 y=%4d m= %4d %+3d %+3d %+3d\n# ", + y,m1,m2-m1,m3-m1,m4-m1); +#endif + + if (m4 == m1) { + if(m3+m4>2*y) y = (m4+m3)/2; /* lower end may overlap the next line */ + continue; + } + jj=0; + lines->wt[i] = 100; + if (5 * (m2 - m1 +1) < m3 - m2 || (m2 - m1) < 2) jj|=1; /* same high */ + if (5 * (m4 - m3 +1) < m3 - m2 || (m4 - m3) < 1) jj|=2; /* same base */ + if (jj&1) lines->wt[i] = 75*lines->wt[i]/100; + if (jj&2) lines->wt[i] = 75*lines->wt[i]/100; + if (jj>0 && JOB->cfg.verbose) { + fprintf(stderr," trouble on line %d, wt*100= %d\n",i,lines->wt[i]); + fprintf(stderr,"# m= %4d %+3d %+3d %+3d\n",m1,m2-m1,m3-m1,m4-m1); + fprintf(stderr,"# i= %3d %3d %3d %3d (counts)\n",i1,i2,i3,i4); + if (jj==3) fprintf(stderr,"# all boxes of same high!\n# "); + if (jj==1) fprintf(stderr,"# all boxes of same upper bound!\n# "); + if (jj==2) fprintf(stderr,"# all boxes of same lower bound!\n# "); + } + /* ToDo: check for dots ij,. to get the missing information */ +#if 1 + /* jj=3: ABCDEF123456 or mnmno or gqpy or lkhfdtb => we are in trouble */ + if (jj==3 && (m4-m1)>my) { jj=0; m2=m1+my/8+1; m4=m3+my/8+1; } /* ABC123 */ + /* using idots, may fail on "ABCDEFGÄÜÖ" */ + if (jj==3 && mi>0 && mim4pre) { jj=2; m1=mi; } /* use ij dots */ + if (jj==1 && m2-(m3-m2)/4>m3pre ) { /* expect: acegmnopqrsuvwxyz */ + if (m1-m4pre0 && JOB->cfg.verbose & 16) { + fprintf(stderr," m= %4d %+2d %+2d %+2d my= %4d\n# ", + m1, m2-m1, m3-m1, m4-m1, my); + } +#endif + + + { // empty space between lines + lines->m4[i] = m4; + lines->m3[i] = m3; + lines->m2[i] = m2; + lines->m1[i] = m1; + lines->pitch[i] = JOB->cfg.spc; /* default word pitch */ + lines->mono[i] = 0; /* default spacing, 0=prop, 1=mono */ + if (JOB->cfg.verbose & 16) + fprintf(stderr, " m= %4d %+3d %+3d %+3d w= %d (line=%d)\n# ", + m1, m2 - m1, m3 - m1, m4 - m1, lines->wt[i], i); + if (i < MAXlines && m4 - m1 > 4) + i++; + if (i >= MAXlines) { + fprintf(stderr, "Warning: lines>MAXlines\n"); + break; + } + } + if (m3+m4>2*y) y = (m3+m4)/2; /* lower end may overlap the next line */ + if (m3>m3pre) m3pre = m3; else m3=y0; /* set for next-line scan */ + if (m4>m4pre) m4pre = m4; else m4=y0; /* set for next-line scan */ + } + lines->num = i; + if (JOB->cfg.verbose) + fprintf(stderr, " num_lines= %d", lines->num-1); + return 0; +} + +// ----- layout analyzis of dx*dy region at x0,y0 ----- +// ----- detect lines via recursive division (new version) --------------- +// what about text in frames??? +// ToDo: change to bottom-top analyse or/and take rotation into account +int detect_lines2(pix *p,int x0,int y0,int dx,int dy,int r){ + int i,x2,y2,x3,y3,x4,y4,x5,y5,y6,mx,my,x30,x31,y30,y31; + struct box *box2,*box3; + // shrink box + if(dx<=0 || dy<=0) return 0; + if(y0+dy< p->y/128 && y0==0) return 0; /* looks like dust */ + if(y0>p->y-p->y/128 && y0+dy==p->y) return 0; /* looks like dust */ + + if(r>1000){ return -1;} // something is wrong + if(JOB->cfg.verbose)fprintf(stderr,"\n# r=%2d ",r); + + mx=my=i=0; // mean thickness + // remove border, shrink size + x2=x0+dx-1; // min x + y2=y0+dy-1; // min y + x3=x0; // max x + y3=y0; // max y + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if(box3->y0>=y0 && box3->y1x0>=x0 && box3->x1x1 > x3 ) x3=box3->x1; // max x + if( box3->x0 < x2 ) x2=box3->x0; // min x + if( box3->y1 > y3 ) y3=box3->y1; // max y + if( box3->y0 < y2 ) y2=box3->y0; // min y + if(box3->c!=PICTURE) + if( box3->y1 - box3->y0 > 4 ) + { + i++; + mx+=box3->x1-box3->x0+1; // mean x + my+=box3->y1-box3->y0+1; // mean y + } + } + } end_for_each(&(JOB->res.boxlist)); + x0=x2; dx=x3-x2+1; + y0=y2; dy=y3-y2+1; + + if(i==0 || dx<=0 || dy<=0) return 0; + mx/=i;my/=i; + // better look for widest h/v-gap, ToDo: vertical lines? + if(r<8){ // max. depth + + // detect widest horizontal gap + y2=y3=y4=y5=y6=0; + x2=x3=x4=x5=y5=0;// min. 3 lines + // position and thickness of gap, y6=num_gaps, nbox^2 ops + for_each_data(&(JOB->res.boxlist)) { // not very efficient, sorry + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box2->c!=PICTURE ) /* ToDo: not sure, that this is a good idea */ + if( box2->y0>=y0 && box2->y1x0>=x0 && box2->x1y1-box2->y0>my/2 ){ // no pictures & dust??? + + y4=y0+dy-1; // nearest vert. box + x4=x0+dx-1; + // ToDo: rotate back box2->x1,y1 to x21,y21 + // look for nearest lowest (y4) and right (x4) neighbour + // of every box (box2) + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if(box3!=box2) + if(box3->y0>=y0 && box3->y1x0>=x0 && box3->x1c!=PICTURE) /* ToDo: not sure, that this is a good idea */ + if(box3->y1-box3->y0>my/2 ){ + // ToDo: here we need the rotation around box2 + x30=box3->x0; + x31=box3->x1; + y30=box3->y0; + y31=box3->y1; + // get min. distances to lower and to right direction + if( y31 > box2->y1 && y30 < y4 ) y4=y30-1; + if( x31 > box2->x1 && x30 < x4 ) x4=x30-1; + } + } end_for_each(&(JOB->res.boxlist)); + // set the witdht and position of largest hor./vert. gap + // largest gap: width position + if( y4-box2->y1 > y3 ) { y3=y4-box2->y1; y2=(y4+box2->y1)/2; } + if( x4-box2->x1 > x3 ) { x3=x4-box2->x1; x2=(x4+box2->x1)/2; } + } + } end_for_each(&(JOB->res.boxlist)); + // fprintf(stderr,"\n widest y-gap= %4d %4d",y2,y3); + // fprintf(stderr,"\n widest x-gap= %4d %4d",x2,x3); + + i=0; // i=1 at x, i=2 at y + // this is the critical point + // is this a good decision or not??? + if(x3>0 || y3>0){ + if(x3>mx && x3>2*y3 && (dy>5*x3 || (x3>10*y3 && y3>0))) i=1; else + if(dx>5*y3 && y3>my) i=2; + } + + // compare with largest box??? + for_each_data(&(JOB->res.boxlist)) { // not very efficient, sorry + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box2->c == PICTURE ) + if( box2->y0>=y0 && box2->y1x0>=x0 && box2->x1x1-box2->x0+4 > dx && box2->y1+4y1+1; i=2; break; } + if( box2->x1-box2->x0+4 > dx && box2->y0-4>y0 ) { y3=1; y2=box2->y0-1; i=2; break; } + if( box2->y1-box2->y0+4 > dy && box2->x1+4x1+1; i=1; break; } + if( box2->y1-box2->y0+4 > dy && box2->x0-4>x0 ) { x3=1; x2=box2->x0-1; i=1; break; } + } + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose)fprintf(stderr," i=%d",i); + + if(JOB->cfg.verbose && i) fprintf(stderr," divide at %s x=%4d y=%4d dx=%4d dy=%4d", + ((i)?( (i==1)?"x":"y" ):"?"),x2,y2,x3,y3); + // divide horizontally if v-gap is thicker than h-gap + // and length is larger 5*width + if(i==1){ detect_lines2(p,x0,y0,x2-x0+1,dy,r+1); + return detect_lines2(p,x2,y0,x0+dx-x2+1,dy,r+1); } + // divide vertically + if(i==2){ detect_lines2(p,x0,y0,dx,y2-y0+1,r+1); + return detect_lines2(p,x0,y2,dx,y0+dy-y2+1,r+1); + } + } + + + if(JOB->cfg.verbose) if(dx<5 || dy<7)fprintf(stderr," empty box"); + if(dx<5 || dy<7) return 0; // do not care about dust + if(JOB->cfg.verbose)fprintf(stderr, " box detected at %4d %4d %4d %4d",x0,y0,dx,dy); + if(JOB->tmp.ppo.p){ + for(i=0;itmp.ppo,x0+i ,y0 ,255,16); + for(i=0;itmp.ppo,x0+i ,y0+dy-1,255,16); + for(i=0;itmp.ppo,x0 ,y0+i ,255,16); + for(i=0;itmp.ppo,x0+dx-1,y0+i ,255,16); + // writebmp("out10.bmp",p2,JOB->cfg.verbose); // colored should be better + } + return detect_lines1(p,x0-0*1,y0-0*2,dx+0*2,dy+0*3); + +/* + struct tlines *lines = &JOB->res.lines; + i=lines->num; lines->num++; + lines->m1[i]=y0; lines->m2[i]=y0+5*dy/16; + lines->m3[i]=y0+12*dy/16; lines->m4[i]=y0+dy-1; + lines->x0[i]=x0; lines->x1[i]=x0+dx-1; + if(JOB->cfg.verbose)fprintf(stderr," - line= %d",lines->num); + return 0; + */ +} + +/* ToDo: herons algorithm for square root x=(x+y/x)/2 is more efficient + * than interval subdivision (?) (germ.: Intervallschachtelung) + * without using matlib + * see http://www.math.vt.edu/people/brown/doc/sqrts.pdf + */ +int my_sqrt(int x){ + int y0=0,y1=x,ym; + for (;y0res.lines.{dx,dy} + * pass 1: get mean vector to nearest char + * pass 2: get mean vector to nearest char without outriders to pass 1 + * extimate direction as (dx,dy,num)[pass] + * ToDo: estimate an error, boxes only work fine for zero-rotation + * for 45 degree use vectors, not boxes to get base line + */ +#define INorm 1024 /* integer unit 1.0 */ +int detect_rotation_angle(job_t *job){ + struct box *box2, *box3, + *box_nn; /* nearest neighbour box */ + int x2, y2, x3, y3, dist, mindist, pass, + rx=0, ry=0, re=0, // final result + /* to avoid 2nd run, wie store pairs in 2 different categories */ + nn[4]={0,0,0,0}, /* num_pairs used for estimation [(pass-1)%2,pass%2] */ + dx[4]={0,0,0,0}, /* x-component of rotation vector per pass */ + dy[4]={0,0,0,0}, /* y-component of rotation vector per pass */ + er[4]={INorm/4,0,0,0}; /* mean angle deviation to pass-1 (radius^2) */ + // de; /* ToDo: absolute maximum error (dx^2+dy^2) */ + // ToDo: next pass: go to bigger distances and reduce max error + // error is diff between passes? or diff of bottoms and top borders (?) + + rx=1024; ry=0; // default + for (pass=0;pass<4;pass++) { + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c==PICTURE) continue; + /* subfunction probability of char */ + // i? + // if (box2->x1 - box2->x0 < 3) continue; /* smallest font is 4x6 */ + if (box2->y1 - box2->y0 < 4) continue; + /* set maximum possible distance */ + box_nn=box2; // initial box to compare with + + // ToDo: clustering or majority + // the algorithm is far from being perfect, pitfalls are likely + // but its better than the old algorithm, ToDo: database-rotated-images + mindist = job->src.p.x * job->src.p.x + job->src.p.y * job->src.p.y; + /* get middle point of the box */ + x2 = (box2->x0 + box2->x1)/2; + y2 = (box2->y0 + box2->y1)/2; + re=0; + /* search for nearest neighbour box_nn[pass+1] of box_nn[pass] */ + for_each_data(&(job->res.boxlist)) { + box3 = (struct box *)list_get_current(&(job->res.boxlist)); + /* try to select only potential neighbouring chars */ + /* select out all senseless combinations */ + if (box3->c==PICTURE || box3==box2) continue; + x3 = (box3->x0 + box3->x1)/2; + y3 = (box3->y0 + box3->y1)/2; /* get middle point of the box */ + if (x3 pass-1? + // scalprod max in direction, cross prod min in direction + // a,b (vectors): ^2/(|a|*|b|)^2 = 0(90deg)..0.5(45deg).. 1(0deg) + // * 1024 ?? + if (pass>0) { // new variant = scalar product + // danger of int overflow, ToDo: use int fraction + re =(int) ((1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1]) + *(1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1])*INorm + /(1.*((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2)) + *(1.*dx[pass-1]*dx[pass-1]+dy[pass-1]*dy[pass-1]))); + if (INorm-re>er[pass-1]) continue; // hits mean deviation + } + /* neighbours should have same order of size (?) */ + if (3*(box3->y1-box3->y0+4) < 2*(box2->y1-box2->y0+1)) continue; + if (2*(box3->y1-box3->y0+1) > 3*(box2->y1-box2->y0+4)) continue; + if (2*(box3->x1-box3->x0+1) > 5*(box2->x1-box2->x0+4)) continue; + if (5*(box3->x1-box3->x0+4) < 2*(box2->x1-box2->x0+1)) continue; + /* should be in right range, Idea: center3 outside box2? noholes */ + if ((x3x1-1) && (x3>box2->x0+1) + && (y3y1-1) && (y3>box2->y0+1)) continue; + // if chars are of different size, connect careful + if ( abs(x3-x2) > 2*(box2->x1 - box2->x0 + box3->x1 - box3 ->x0 + 2)) continue; + if ( abs(y3-y2) > (box2->x1 - box2->x0 + box3->x1 - box3 ->x0 + 2)) continue; + dist = (y3-y2)*(y3-y2) + (x3-x2)*(x3-x2); + // make distances in pass-1 directions shorter or continue if not in pass-1 range? + if (dist<9) continue; /* minimum distance^2 is 3^2 */ + if (distres.boxlist)); + + if (box_nn==box2) continue; /* has no neighbour, next box */ + + box3=box_nn; dist=mindist; + x3 = (box3->x0 + box3->x1)/2; + y3 = (box3->y0 + box3->y1)/2; /* get middle point of the box */ + // dist = my_sqrt(1024*((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2))); + // compare with first box + x2 = (box2->x0 + box2->x1)/2; + y2 = (box2->y0 + box2->y1)/2; + // if the high of neighbouring boxes differ, use min diff (y0,y1) + if (pass>0 && 16*abs(dy[pass-1]) < dx[pass-1]) // dont work for strong rot. + if (abs(box2->y1-box2->y0-box3->y1+box3->y0)>(box2->y1-box2->y0)/8) { + // ad eh ck ... + if (abs(box2->y1-box3->y1)y1; y3=box3->y1; } + // ag ep qu ... + if (abs(box2->y0-box3->y0)y0; y3=box3->y0; } + } + if (abs(x3-x2)<4) continue; + dx[pass]+=(x3-x2)*1024; /* normalized before averaging */ + dy[pass]+=(y3-y2)*1024; /* 1024 is for the precision */ + nn[pass]++; + if (pass>0) { // set error = mean deviation from pass -1 + re = INorm-(int)((1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1]) + *(1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1])*INorm + /((1.*(x3-x2)*(x3-x2)+(y3-y2)*(y3-y2)) + *(1.*dx[pass-1]*dx[pass-1]+dy[pass-1]*dy[pass-1])) + ); + er[pass]+=re; + } +#if 0 + if(JOB->cfg.verbose) + fprintf(stderr,"# next nb (x,y,dx,dy,re) %6d %6d %5d %5d %5d pass %d\n", + x2, y2, x3-x2, y3-y2, re, pass+1); +#endif + } end_for_each(&(job->res.boxlist)); + if (!nn[pass]) break; + if (nn[pass]) { + /* meanvalues */ + rx=dx[pass]/=nn[pass]; + ry=dy[pass]/=nn[pass]; + if (pass>0) er[pass]/=nn[pass]; + } + if(JOB->cfg.verbose) + fprintf(stderr,"# rotation angle (x,y,maxr,num)" + " %6d %6d %6d %4d pass %d\n", + rx, ry, er[pass], nn[pass], pass+1); + } + if (abs(ry*100)>abs(rx*50)) + fprintf(stderr,"\n"); + /* ToDo: normalize to 2^10 bit (square fits to 32 it) */ + JOB->res.lines.dx=rx; + JOB->res.lines.dy=ry; + return 0; +} + +/* ----- detect lines --------------- */ +int detect_text_lines(pix * pp, int mo) { + + if (JOB->cfg.verbose) + fprintf(stderr, "# detect.c detect_text_lines (vvv=16 for more info) "); + if (mo & 4){ + if (JOB->cfg.verbose) fprintf(stderr, "# zoning\n# ... "); + detect_lines2(pp, 0, 0, pp->x, pp->y, 0); // later replaced by better algo + } else + detect_lines1(pp, 0, 0, pp->x, pp->y); // old algo + + if(JOB->cfg.verbose) fprintf(stderr,"\n"); + return 0; +} + + +/* ----- adjust lines --------------- */ +// rotation angle? JOB->res.lines.dy, .x0 removed later +// this is for cases, where m1..m4 is not very sure detected before +// chars are recognized +int adjust_text_lines(pix * pp, int mo) { + struct box *box2; + int *m, /* summ m1..m4, num_chars for m1..m4, min m1..m4, max. m1..m4 */ + l, i, dy, dx, diff=0, y0, y1; + + if ((l=JOB->res.lines.num)<2) return 0; // ??? + if (JOB->cfg.verbose) + fprintf(stderr, "# adjust text lines "); + m=(int *)malloc(l*16*sizeof(int)); + if (!m) { fprintf(stderr," malloc failed\n"); return 0;} + for (i=0;i<16*l;i++) m[i]=0; /* initialize */ + dy=JOB->res.lines.dy; /* tan(alpha) of skewing */ + dx=JOB->res.lines.dx; /* old: width of image */ + // js: later skewing is replaced by one transformation of vectorized image + + if (dx) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line<=0) continue; + if (box2->num_ac<1) continue; + if (box2->wac[0]<95) continue; + if (box2->m2==0 || box2->y1m2) continue; // char outside line + if (box2->m3==4 || box2->y0>box2->m3) continue; // char outside line + y0=box2->y0-((box2->x1)*dy/dx); /* corrected by page skewing */ + y1=box2->y1-((box2->x1)*dy/dx); + if (strchr("aemnr",(char)box2->tac[0])) { // cC vV sS oO ... is unsure! + m[box2->line*16+1]+=y0; m[box2->line*16+5]++; // num m2 + m[box2->line*16+2]+=y1; m[box2->line*16+6]++; // num m3 + if (m[box2->line*16+ 9]>y0) m[box2->line*16+ 9]=y0; /* min m2 */ + if (m[box2->line*16+13]line*16+13]=y0; /* max m2 */ + if (m[box2->line*16+10]>y1) m[box2->line*16+10]=y1; /* min m3 */ + if (m[box2->line*16+14]line*16+14]=y1; /* max m3 */ + } + if (strchr("bdhklABDEFGHIKLMNRT123456789",(char)box2->tac[0])) { + m[box2->line*16+0]+=y0; m[box2->line*16+4]++; // num m1 + m[box2->line*16+2]+=y1; m[box2->line*16+6]++; // num m3 + if (m[box2->line*16+ 8]>y0) m[box2->line*16+ 8]=y0; /* min m1 */ + if (m[box2->line*16+12]line*16+12]=y0; /* max m1 */ + if (m[box2->line*16+10]>y1) m[box2->line*16+10]=y1; /* min m3 */ + if (m[box2->line*16+14]line*16+14]=y1; /* max m3 */ + } + if (strchr("gq",(char)box2->tac[0])) { + m[box2->line*16+1]+=y0; m[box2->line*16+5]++; // num m2 + m[box2->line*16+3]+=y1; m[box2->line*16+7]++; // num m4 + if (m[box2->line*16+ 9]>y0) m[box2->line*16+ 9]=y0; /* min m2 */ + if (m[box2->line*16+13]line*16+13]=y0; /* max m2 */ + if (m[box2->line*16+11]>y1) m[box2->line*16+11]=y1; /* min m4 */ + if (m[box2->line*16+15]line*16+15]=y1; /* max m4 */ + } + } end_for_each(&(JOB->res.boxlist)); + + for (i=1;ires.lines.m1[i]-m[i*16+0]/m[i*16+4]); + if (m[i*16+5]) diff+=abs(JOB->res.lines.m2[i]-m[i*16+1]/m[i*16+5]); + if (m[i*16+6]) diff+=abs(JOB->res.lines.m3[i]-m[i*16+2]/m[i*16+6]); + if (m[i*16+7]) diff+=abs(JOB->res.lines.m4[i]-m[i*16+3]/m[i*16+7]); + /* recalculate sureness, empirically */ + if (m[i*16+4]*m[i*16+5]*m[i*16+6]*m[i*16+7] > 0) + JOB->res.lines.wt[i]=(JOB->res.lines.wt[i]+100)/2; + else + JOB->res.lines.wt[i]=(JOB->res.lines.wt[i]*90)/100; + // set mean values of sure detected bounds (rounded precisely) + if ( m[i*16+4]) JOB->res.lines.m1[i]=(m[i*16+0]+m[i*16+4]/2)/m[i*16+4]; + if ( m[i*16+5]) JOB->res.lines.m2[i]=(m[i*16+1]+m[i*16+5]/2)/m[i*16+5]; + if ( m[i*16+6]) JOB->res.lines.m3[i]=(m[i*16+2]+m[i*16+6]/2)/m[i*16+6]; + if ( m[i*16+7]) JOB->res.lines.m4[i]=(m[i*16+3]+m[i*16+7]/2)/m[i*16+7]; + // care about very small fonts + if (JOB->res.lines.m2[i]-JOB->res.lines.m1[i]<=1 && m[i*16+5]==0 && m[i*16+4]) + JOB->res.lines.m2[i]=JOB->res.lines.m1[i]+2; + if (JOB->res.lines.m2[i]-JOB->res.lines.m1[i]<=1 && m[i*16+4]==0 && m[i*16+5]) + JOB->res.lines.m1[i]=JOB->res.lines.m2[i]-2; + if (JOB->res.lines.m4[i]-JOB->res.lines.m3[i]<=1 && m[i*16+7]==0 && m[i*16+6]) + JOB->res.lines.m4[i]=JOB->res.lines.m3[i]+2; + if (JOB->res.lines.m4[i]-JOB->res.lines.m3[i]<=1 && m[i*16+6]==0 && m[i*16+7]) + JOB->res.lines.m3[i]=JOB->res.lines.m4[i]-2; + if ( m[i*16+7]<1 && + JOB->res.lines.m4[i] + <=JOB->res.lines.m3[i]+(JOB->res.lines.m3[i]-JOB->res.lines.m2[i])/4 ) + JOB->res.lines.m4[i]= + JOB->res.lines.m3[i]+(JOB->res.lines.m3[i]-JOB->res.lines.m2[i])/4; + if ( m[i*16+7]<1 && m[i*16+12+2]>0 && // m4 < max.m3+.. + JOB->res.lines.m4[i] < 2*m[i*16+12+2]-JOB->res.lines.m3[i]+2 ) + JOB->res.lines.m4[i] = 2*m[i*16+12+2]-JOB->res.lines.m3[i]+2; + if (JOB->res.lines.m4[i]<=JOB->res.lines.m3[i]) + JOB->res.lines.m4[i]= JOB->res.lines.m3[i]+1; /* 4x6 */ + + if (JOB->cfg.verbose & 17) + fprintf(stderr, "\n# line= %3d m= %4d %+3d %+3d %+3d " + " n= %2d %2d %2d %2d w= %3d diff= %d", + i, JOB->res.lines.m1[i], + JOB->res.lines.m2[i] - JOB->res.lines.m1[i], + JOB->res.lines.m3[i] - JOB->res.lines.m1[i], + JOB->res.lines.m4[i] - JOB->res.lines.m1[i], + m[i*16+4],m[i*16+5],m[i*16+6],m[i*16+7], + JOB->res.lines.wt[i], diff); + } + diff=0; // count adjusted chars +#if 1 + if (dx) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line<=0) continue; + /* check if box was on the wrong line, ToDo: search a better line */ + if (2*box2->y0<2*JOB->res.lines.m1[box2->line] + -JOB->res.lines.m4[box2->line] + +JOB->res.lines.m1[box2->line]) box2->line=0; + if (2*box2->y1>2*JOB->res.lines.m4[box2->line] + +JOB->res.lines.m4[box2->line] + -JOB->res.lines.m1[box2->line]) box2->line=0; + /* do adjustments */ + if (box2->num_ac>0 + && box2->num_ac > 31 && box2->tac[0] < 127 /* islower(>256) may SIGSEGV */ + && strchr("cCoOpPsSuUvVwWxXyYzZ",(char)box2->tac[0])) { // no_wchar + if (box2->y0-((box2->x1)*dy/dx) + < (JOB->res.lines.m1[box2->line]+JOB->res.lines.m2[box2->line])/2 + && islower(box2->tac[0]) + ) { setac(box2,toupper((char)box2->tac[0]),(box2->wac[0]+101)/2); diff++; } + if (box2->y0-((box2->x1)*dy/dx) + > (JOB->res.lines.m1[box2->line]+JOB->res.lines.m2[box2->line]+1)/2 + && isupper(box2->tac[0]) + ){ setac(box2,tolower((char)box2->tac[0]),(box2->wac[0]+101)/2); diff++; } + } + box2->m1=JOB->res.lines.m1[box2->line]+((box2->x1)*dy/dx); + box2->m2=JOB->res.lines.m2[box2->line]+((box2->x1)*dy/dx); + box2->m3=JOB->res.lines.m3[box2->line]+((box2->x1)*dy/dx); + box2->m4=JOB->res.lines.m4[box2->line]+((box2->x1)*dy/dx); + } end_for_each(&(JOB->res.boxlist)); +#endif + + free(m); + if(JOB->cfg.verbose) fprintf(stderr,"\n# changed_chars= %d\n",diff); + return(diff); +} + +/* ---- measure mean character + * recalculate mean width and high after changes in boxlist + * ToDo: only within a Range? + */ +int calc_average() { + int i = 0, x0, y0, x1, y1; + struct box *box4; + + JOB->res.numC = 0; + JOB->res.sumY = 0; + JOB->res.sumX = 0; + for_each_data(&(JOB->res.boxlist)) { + box4 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box4->c != PICTURE ){ + x0 = box4->x0; x1 = box4->x1; + y0 = box4->y0; y1 = box4->y1; + i++; + if (JOB->res.avX * JOB->res.avY > 0) { + if (x1 - x0 + 1 > 4 * JOB->res.avX + && y1 - y0 + 1 > 4 * JOB->res.avY) continue; /* small picture */ + if (4 * (y1 - y0 + 1) < JOB->res.avY || y1 - y0 < 2) + continue; // dots .,-_ etc. + } + if (x1 - x0 + 1 < 4 + && y1 - y0 + 1 < 6 ) continue; /* dots etc */ + JOB->res.sumX += x1 - x0 + 1; + JOB->res.sumY += y1 - y0 + 1; + JOB->res.numC++; + } + } end_for_each(&(JOB->res.boxlist)); + if ( JOB->res.numC ) { /* avoid div 0 */ + JOB->res.avY = (JOB->res.sumY+JOB->res.numC/2) / JOB->res.numC; + JOB->res.avX = (JOB->res.sumX+JOB->res.numC/2) / JOB->res.numC; + } + if (JOB->cfg.verbose){ + fprintf(stderr, "# averages: mXmY= %d %d nC= %d n= %d\n", + JOB->res.avX, JOB->res.avY, JOB->res.numC, i); + } + return 0; +} + + +/* ---- analyse boxes, find pictures and mark (do this first!!!) + */ +int detect_pictures(job_t *job) { + int i = 0, x0, y0, x1, y1, num_h; + struct box *box2, *box4; + + if ( job->res.numC == 0 ) { + if (job->cfg.verbose) fprintf(stderr, + "# detect.c L%d Warning: numC=0\n", __LINE__); + return -1; + } + /* ToDo: set Y to uppercase mean value? */ + job->res.avY = (job->res.sumY+job->res.numC/2) / job->res.numC; + job->res.avX = (job->res.sumX+job->res.numC/2) / job->res.numC; + /* ToDo: two highest volumes? crosses, on extreme volume + on border */ + if (job->cfg.verbose) + fprintf(stderr, "# detect.c L%d pictures, frames, mXmY= %d %d ... ", + __LINE__, job->res.avX, job->res.avY); + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c == PICTURE) continue; + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + + /* pictures could be of unusual size */ + if (x1 - x0 + 1 > 4 * job->res.avX || y1 - y0 + 1 > 4 * job->res.avY) { + /* count objects on same baseline which could be chars */ + /* else: big headlines could be misinterpreted as pictures */ + num_h=0; + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box4->c == PICTURE) continue; + if (box4->y1-box4->y0 > 2*(y1-y0)) continue; + if (2*(box4->y1-box4->y0) < y1-y0) continue; + if (box4->y0 > y0 + (y1-y0+1)/2 + || box4->y0 < y0 - (y1-y0+1)/2 + || box4->y1 > y1 + (y1-y0+1)/2 + || box4->y1 < y1 - (y1-y0+1)/2) continue; + // ToDo: continue if numcross() only 1, example: |||IIIll||| + num_h++; + } end_for_each(&(job->res.boxlist)); + if (num_h>4) continue; + box2->c = PICTURE; + i++; + } + /* ToDo: pictures could have low contrast=Sum((pixel(p,x,y)-160)^2) */ + } end_for_each(&(job->res.boxlist)); + // start second iteration + if (job->cfg.verbose) { + fprintf(stderr, " %d - boxes %d\n", i, job->res.numC-i); + } + calc_average(); + return 0; +} diff --git a/.svn/pristine/77/776206c13993ea83a927309d004fdc1c93e6aec9.svn-base b/.svn/pristine/77/776206c13993ea83a927309d004fdc1c93e6aec9.svn-base new file mode 100644 index 0000000..d6996db --- /dev/null +++ b/.svn/pristine/77/776206c13993ea83a927309d004fdc1c93e6aec9.svn-base @@ -0,0 +1,60 @@ +/** @file + * @brief The global correction based upon 6D Lu Milios style SLAM in 6D but with a helix correction step + * + * @author Peter Schneider. Institute of Computer Science, University of Koblenz , Germany. + */ + +#ifndef __GHELIX_Q2_H__ +#define __GHELIX_Q2_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" +#include "icp6D.h" +#include "graph.h" + +#include "newmat/newmatio.h" + +//typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching based upon Lu/Milios in 6D but using helix correction step. + * + * H. Pottman, et al., Simultaneous registration of multiple + * views of a 3D object, + */ +class ghelix6DQ2 : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + ghelix6DQ2() {}; + ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~ghelix6DQ2(); + + virtual double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static double LUM[4]; + +private: + + double genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + NEWMAT::Matrix *B, NEWMAT::ColumnVector *Bd); +}; + +#endif diff --git a/.svn/pristine/77/77c99af9fb534913706a9b89390a1f827a02ed70.svn-base b/.svn/pristine/77/77c99af9fb534913706a9b89390a1f827a02ed70.svn-base new file mode 100644 index 0000000..a0675a8 --- /dev/null +++ b/.svn/pristine/77/77c99af9fb534913706a9b89390a1f827a02ed70.svn-base @@ -0,0 +1,12 @@ +IF(WITH_GRIDDER) + add_executable(2DGridder 2DGridder.cc line.cc gridlines.cc hough.cc viewpointinfo.cc gridWriter.cc parcelmanager.cc parcel.cc parcelinfo.cc scanGrid.cc grid.cc scanToGrid.cc gridPoint.cc scanmanager.cc) + + IF (UNIX) + target_link_libraries(2DGridder scan dl ANN) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(2DGridder scan ANN XGetopt) + ENDIF(WIN32) + +ENDIF(WITH_GRIDDER) diff --git a/.svn/pristine/7a/7a45dc5f8a956f495813504dfe6cc4863160608d.svn-base b/.svn/pristine/7a/7a45dc5f8a956f495813504dfe6cc4863160608d.svn-base new file mode 100644 index 0000000..b7fa816 --- /dev/null +++ b/.svn/pristine/7a/7a45dc5f8a956f495813504dfe6cc4863160608d.svn-base @@ -0,0 +1,243 @@ +History: (Changes,ChangeLog) + 0.48 Jul09 + fix buffer overflow introduced in 0.46 for filenames + add codabar barcode + fix bug, removing melted serifs + add patch by Chris Lee, i25 barcode recognition + modifications + fix some false positive numbers "34" (video, gas meter) + fix problems with 2zZ4 for 10x10 screen font + better debug output for :;,. + remove examples, doc and libs part from configure (see below) + remove doc and examples from the (make install) part to reduce + dependencies (gs and transfig is not needed for rpm/ebuild) + gocr only may depend from netpbm, but can live without too + this will help to install gocr on "exotic" (nonlinux) platforms + fix gentoo app-text/gocr Bug 243250 src/Makefile: $(CC) $(LDFLAGS) ... + + 0.47 fix database recognition for certainty 100 (-a 100) + insert spaces with certainty 100 (old: 99) to let -a 100 work + new option -u string for unrecognized chars + fix: No contrast in image causes division by zero + reduced false positive recognition of scanned "a496" (Gutenberg Project) + "d as a" patch ID: 1556112 + add "Windows Pipe Fix", but I hate extra code for bad environments + improve 7x10, sample 0811qemu1.png (ToDo: not finished) + change black:white from >4:1 to >3.5:1 as criteria of inversion + reintroduce static library libPgm2asc.a (make libs) for OSRA project + add dynamic library (make libs), unused but may help other projects + + 0.46 improved context correction (especially helvetica "Il") + improved recognition of tiny chars "$1", fat "s", "rw" "," + fix blank spaces problem in filenames + (http://bugs.debian.org/cgi-bin/bugreport.cgi?bug=316511) + !!! please check on other platforms and report to me !!! + there are still problems with special chars (double quodes, backslash) + better use this way: djpeg -gray -pnm strangefilename.jpg | gocr - + fix possible problem with database and UTF8 input + fix hidden bug in pitch/spacing initialization + reactivate code for output of glued chars and strings + fix wrong close() call + remove creation of pgm2asc.a for simplicity (see SF-patch 1827477) + + 0.45 minor corrections for c and k + minus sign is filtered by option -C "--" now, ("\-" was parsed badly) + clean up old unused code for simplicity (api, frontend) + fix problem with low height barcodes and barcode removing + fix problem with readpgm (for multiple images) and database + PACKAGE_VERSION defined by configure.in AC_INIT + gocr.spec + + 0.44 add volume to boxes (negative means white areas inside black areas) + Fix overflow in despeckling routine (verbose mode, dust removing) + reactivate composed chars, fix merge_boxes + fix problems with uncertain line detection and not recognized "7" + option -a has an effect now for the output + adaptions to MICR E13-B font (see GnuMICR), ToDo: 4 extra-chars + fix num_boxes in merge_boxes (affects line detection) + reduce 2 prompts to one per char in database mode, ^A for skip all + fix problem with smaller headlines + fix problems with tall font (4) + fix includes for non-linux-platforms + + 0.43 fix problem with dark frame around image + support multiple images, ex: giftopnm -image=all a.gif | gocr - + invert if obviously white on black (black_mass>=4*white_mass) + improve thresholding for discrete histograms + (note: this can particularly lead to bad results, will be fixed later) + speedup for big boxes (especially dark background) + fix memory leak (setas(same string) + detect_barcode) + fix uninitialized variables after insert spaces (num_frames) + fix frame_vector for single pixels (twice + ERROR idx out of range) + + 0.42 further parts of recognition engine relaced by vector version + changed colored debug output for out??.png + division of glued chars replaced (slower but more accurate) + fix framing of small font + fix problem with uninitialized pnm_readpaminit call (CPS 21Nov06) + better progress output (see progress.[ch]), new image debug output + switch to the new improved rotation detection + + 0.41 (buggy if --with-netpbm=no, apply the pgm-patch!) + otsu.c concentrates now only on high contrast regions + fix pnm reads for 2 byte pixels (--with-libpbm=no) + update man-page (mail me your suggestions) + fix g++ warnings, float-OPs replaced by int-OPs + spacing reviewed; make distance() more sensitive + xml-objects (barcode, melted chars) now also handled with weights + fix division by zero bug for vertical positioned characters + default output is UTF8 now, UTF-encoding bug fixed + added certainty option + added uninstall to Makefile + debug image format changed to png (using pipe) or ppm (fall-back) + much better word spacing (line-by-line based) + better DOT_ABOVE recognition + fix output of char groups or strings stored in database, utf8 input + fix buffer overflow in barcode decode39 + fix lost comma on end of line + internal vector format added for future use (faster, scalable, rotable) + line detection extended + internal list management rewritten to fix memory leaks and segfaults + + 0.40 update PNM file reader to maxval > 255 + (make rpm) updated + barcode-patch UPC_addon by Michael van Rooyen + CAPITAL_LETTER_A_WITH_OGONEK added + no "(PICTURE)" output for UTF8+ASCII (better for Mobile OCR project) + smooth_borders() bug fixed and reworked + 5x7 and prop10 font adaptions + objects now detected by flood-fill algorithm (better?) + XML-output changed + changed auto dust detection (not final) + + 0.39 XML output added (subject of change, suggestions are welcome) + netpbm-link-error fixed in gocr.c and configure.in: + gocr.c: changed to "config.h" + configure-option --with-netpbm=PATH and --without-netpbm added + update configure.in according to autoconf 2.57 + wchar_h miss-configuration fixed in pgm2asc.c + fix compiler warnings + char filter accepts abbreviations now, like "0-9A-F" (but slow) + update READMEde.txt + output barcode tags (also improved recognition) + fix pnm.c for files like example.eps.pbm + fix detect.c for barcodes + fix ocr0n.c 0<->8g + + 0.38 move UTF/HTML/TeX decoding to getTextLine, return (char *) now + out_format HTML step towards detailed XML output + correct line detection for footnotes (detect.c) + "y" now seen as vowel (pgm2asc.c), I susbtituted by l + é-detection, á-output fixed + default dust_size is -1 now (auto detection = mean_size/10) + char filter added + ex: -C 0123456789ABCDEF - recognize only hexcodes + man page updated (hopefully correct syntax) + database bug fixed (small fonts, example by Chris) + several bugs fixed by W. Webber (thanks) + speed improved by 3rd-pass matrix filter in pixel() (pixel.c) (code from W. Webber) + bug in remove_dust (remove.c) fixed + for fonts bigger than 20x40 smooth_borders() changed (b/w-scans) + bug in O0-detection fixed + + 0.37 best-fit generates probability, not perfect but better results + bug in line detection removed (happens for lot of small boxes) + progress output (option -x ) + counting versions number as floating point now + MACRON and DOT_ABOVE (not complete) defined (latin2) + adaptions for 5x7 and 6x12 screen font + doc/ocr.tex changed to doc/gocr.html (now independent of LaTeX) + symbols {} added + OCR-B font tested succesfull + better headline/picture distinction + bug removed (struct box.modifier is wchar_t now) + + known bugs: to much newlines + + 0.3.6 + CARON and Omega defined, + output of not defined chars (HTML="&#xxx;", TeX="\symbol{xxx}") + system dependend bug: isupper(>255) SIGSEGV fixed + better line detection for lines with lowercase chars only + lot of possible SIGSEGV in list_del() fixed + barcode recognition (UPC,code128) + .ps .eps via pstopnm supported + -m 256 switches off the main ocr engine (usefull together with -m 2 for identical chars) + strings added to database ("ff","ft","special-symbol") + gocr.tcl adapted to gocr v0.3 + internal detection probability introduced + + 0.3.5 + minor and major fixes (string\0 bugs) + memory leak fixes by Duncan Edwards + layout analysis or zoning (-m 4) improved, + now it detects pictures and columns much better + the behavior of setting threshold (-l) is slightly changed + wcsdup defined for non-gnu-systems (BSD), further Problems? + better context correction for 10 (IO,lO) + Fixes for S.Koledin examples "GlS" + Euro-currency-sign detection added + better pitch estimation for proportional font (needs to be improved) + make install DESTDIR= instead configure --prefix= (better?) + use wchar_t by default, more simple code and -f works with nonLinuxOS + line detection more robust against vertical glued chars (js) + -f UTF8 added (usefull for xterm -u8), should be default? + handle vertical glued boxes (ex: g over T) + 0.3.4 + some BSD adaptions (no WCHAR?), tell me if there are still problems + use unicode in database (4-8 hex digits) + new option: -p database_path/ + TILDE fixed, #, Æ, Å, etc. added (swedish,norwegian) + layout analysis improved + 0.3.3 + database (-m 2) bug fixed and interactive mode (-m 130) added + its not finished, but you can test it + result should be ok for machine generated images (no scans) + engine improved a bit + 0.3.2 + ocr-engine improved for screen fonts (thanks for examples) + option -f [HTML,TeX,...] added + 0.3.1 + make install updated + 0.3.0 some parts of the code reviewed (most work done by Bruno Barberi Gnecco) + tkispell patch from David Pinson (exec bug fixed) + gnome frontend added (Dany De Bontrider) + acute, grave, circumflex ... detection + C++ parts rewritten into C, and much more (see REVIEW) + 0.2.7 lib-patch from Klaas Freitag inserted, engine improved + option -n 1 detect only numbers, get threshold value by otsu.cc + xxx.pnm.bz2 can be used on linux systems bzip2 installed + 0.2.6 pipes used on POSIX2-systems for easier use of jpg,gif,tiff,pnm.gz-files + example: gocr text.jpg; gocr text.pnm.gz + verbose output on stderr, text output on stdout, + redirection of output possible (-e, -o, example: -e /dev/stdout) + engine upgraded a bit (thx for the new sample files) + gocr.tcl upgraded (save options, save text) + DOS/WIN95-EXE created, download GOCREXE.ZIP (v0.2.5) + 0.2.5 program convert renamed to jconv + you can choose stdin as input now, for using conversion tools + example: djpeg -pnm -gray text.jpg | gocr -i - + option "--help" added, some bugs removed + amiga.h added for SAS/C under AmigaOS (suggested by Uffe Holst) + line detection changed (faster?) + importing gocr in your C++ application is easier now (see fkt pgm2asc) + argument can be given instead of option -i (this is more natural) + some reorganization of code (not finished) + 2000 downloads counted !!! Jun2000 + SourceForge.net used for gocr (project: jocr, other gocr exist there) + bugs in dust removing, line detection and zoning fixed (rewritten) + first version of tcl/tk-GUI, test it! + rekursive function frame_nn() replaced by labyrint-algorithm (no extensiv stack used) + gluing of broken chars added, removing glued serifs (on small fonts) + new bugs added :; + 0.2.4a2 some details are added (better dust removing and char division) + 0.2.4 three char division (connected chars), dust removing + 0.2.3 add layout analysis (very slowly, try -m 4), engine modified + better distance function, engine updated, database added for testing + 1000 downloads counted !!! May2000 + 0.2.2 gocr_0_2.tgz expands into gocr_0_2 directory (thanks to zz99zz) + engine upgraded a bit, some bugs fixed (umlaut, thin lines) + short documentation added (ocr.tex) + colored output (out30.bmp) for test/development-mode + bug: read ASC-PBM and PCX (1 bit) fixed + 0.2.1 first official release on freshmeat.net March 2000 + 0.2 line scanning added + 0.1 project started (not documented), autumn 1998 - summer 1999 diff --git a/.svn/pristine/7a/7a45e11ec1b989b997aff8206dfc0eecc5ed896d.svn-base b/.svn/pristine/7a/7a45e11ec1b989b997aff8206dfc0eecc5ed896d.svn-base new file mode 100644 index 0000000..6fbe67e --- /dev/null +++ b/.svn/pristine/7a/7a45e11ec1b989b997aff8206dfc0eecc5ed896d.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/7a/7aa22dff7123e5541cee49407dd7a65cd4df77fe.svn-base b/.svn/pristine/7a/7aa22dff7123e5541cee49407dd7a65cd4df77fe.svn-base new file mode 100644 index 0000000..980b689 --- /dev/null +++ b/.svn/pristine/7a/7aa22dff7123e5541cee49407dd7a65cd4df77fe.svn-base @@ -0,0 +1,21 @@ + validate on + stats query_stats + dim 8 + data_size 5000 +read_data_pts test2-data.pts + query_size 100 +read_query_pts test2-query.pts + bucket_size 1 + near_neigh 3 + split_rule suggest + shrink_rule none +build_ann + epsilon 0.0 +run_queries standard +run_queries priority + epsilon 0.10 +run_queries standard +run_queries priority + epsilon 0.50 +run_queries standard +run_queries priority diff --git a/.svn/pristine/7b/7b87297f223375202f344d7118281931d0316635.svn-base b/.svn/pristine/7b/7b87297f223375202f344d7118281931d0316635.svn-base new file mode 100644 index 0000000..dea3f6b --- /dev/null +++ b/.svn/pristine/7b/7b87297f223375202f344d7118281931d0316635.svn-base @@ -0,0 +1,61 @@ +//---------------------------------------------------------------------- +// File: bd_fix_rad_search.cpp +// Programmer: David Mount +// Description: Standard bd-tree search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_fix_rad_search.h" // kd-tree FR search declarations + +//---------------------------------------------------------------------- +// Approximate searching for bd-trees. +// See the file kd_FR_search.cpp for general information on the +// approximate nearest neighbor search algorithm. Here we +// include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_FR_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_FR_search(ANNdist box_dist) +{ + // check dist calc term cond. + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNkdFRQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNkdFRQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + child[ANN_IN]->ann_FR_search(inner_dist);// search inner child first + child[ANN_OUT]->ann_FR_search(box_dist);// ...then outer child + } + else { // if outer box is closer + child[ANN_OUT]->ann_FR_search(box_dist);// search outer child first + child[ANN_IN]->ann_FR_search(inner_dist);// ...then outer child + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/.svn/pristine/7c/7c044742191d5decd0df544f96a4ed0d47c005c7.svn-base b/.svn/pristine/7c/7c044742191d5decd0df544f96a4ed0d47c005c7.svn-base new file mode 100644 index 0000000..3dcfc1e --- /dev/null +++ b/.svn/pristine/7c/7c044742191d5decd0df544f96a4ed0d47c005c7.svn-base @@ -0,0 +1,254 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxCustomButton.h based on wxCustomToggleCtrl.cpp +// Purpose: a toggle button +// Author: Bruce Phillips modified by John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) Bruce Phillips, John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +/* + +wxCustomButton is a bitmap and/or text button that can toggle or not. + +It can be used as a drop-in replacement for a wxButton, wxToggleButton, + wxBitmapButton, and the non-existant "wxBitmapToggleButton." + +The event's wxCommandEvent::GetExtraLong contains one of the following + wxEVT_LEFT_UP, wxEVT_RIGHT_UP, wxEVT_LEFT_DCLICK, wxEVT_RIGHT_DCLICK + these can be used to distinguish between the types of events sent + +There are four styles the button can take. + +wxCUSTBUT_BUTTON == wxButton + Left and Right clicks and double clicks all send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +wxCUSTBUT_TOGGLE == wxToggleButton + Left clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + Left double clicks and Right clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +wxCUSTBUT_BUT_DCLICK_TOG + Left and Right clicks and Right double clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + Left double clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + +wxCUSTBUT_TOG_DCLICK_BUT + Left clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + Left and Right double clicks and Right clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +The event's wxCommandEvent::GetInt (IsChecked) is true (1) if the button is + depressed, this is only useful for the wxToggleButton styles + +For both types of button when double-clicked it sends this event + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id, fn) + and the button state does not change. Only a single EVT_BUTTON event should + be sent on double-click and event.GetExtraLong == wxEVT_XXX_DCLICK, + if not then there's a bug. + +If no bitmaps are set the text is centered, if only a bitmap it set then + it's centered, if a bitmap and text are set then the text is one of the + positions wxCUSTBUT_LEFT/RIGHT/TOP/BOTTOM + +The disabled bitmap it automatically created by dithering with the background, + the others just copy the bitmap in the constructor. The control assumes they + are all the same size. + +You have to #include "wx/tglbtn.h" for EVT_TOGGLEBUTTON + +*/ + +#ifndef _WX_CUSTOMBUTTON_H_ +#define _WX_CUSTOMBUTTON_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "toggle.h" +#endif + +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxTimer; +class WXDLLEXPORT wxTimerEvent; + +//----------------------------------------------------------------------------- +// wxCustomButton styles +//----------------------------------------------------------------------------- + +enum wxCustomButton_Style +{ + // Position of the label, use only one + wxCUSTBUT_LEFT = 0x0001, + wxCUSTBUT_RIGHT = 0x0002, + wxCUSTBUT_TOP = 0x0004, + wxCUSTBUT_BOTTOM = 0x0008, + // Button style, use only one + wxCUSTBUT_NOTOGGLE = 0x0100, + wxCUSTBUT_BUTTON = 0x0200, + wxCUSTBUT_TOGGLE = 0x0400, + wxCUSTBUT_BUT_DCLICK_TOG = 0x0800, + wxCUSTBUT_TOG_DCLICK_BUT = 0x1000, + // drawing styles + wxCUSTBUT_FLAT = 0x2000 // flat, mouseover raises if not depressed +}; + +//----------------------------------------------------------------------------- +// wxCustomButton +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCustomButton : public wxControl +{ +public: + + wxCustomButton() : wxControl() { Init(); } + + // wxToggleButton or wxButton compatible constructor (also wxTextCtrl) + wxCustomButton(wxWindow* parent, wxWindowID id, + const wxString& label, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,label,wxNullBitmap,pos,size,style,val,name); + } + + // wxBitmapButton compatible constructor + wxCustomButton(wxWindow *parent, wxWindowID id, + const wxBitmap& bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,wxEmptyString,bitmap,pos,size,style,val,name); + } + + // Native constructor + wxCustomButton(wxWindow *parent, wxWindowID id, + const wxString& label, const wxBitmap& bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE|wxCUSTBUT_BOTTOM, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,label,bitmap,pos,size,style,val,name); + } + + virtual ~wxCustomButton(); + + bool Create(wxWindow* parent, + wxWindowID id, + const wxString& label, + const wxBitmap &bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")); + + bool GetValue() const { return m_down%2 != 0; } + void SetValue( bool depressed ); + + // Use combinations of wxCustomButton_Style(s) + long GetButtonStyle() const { return m_button_style; } + bool SetButtonStyle( long style ); + + // Set the text label, wxEmptyString for none + void SetLabel( const wxString &label ); + + // set the bitmaps, ONLY this Label bitmap is used for calculating control size + // all bitmaps will be centered accordingly in any case + // call SetSet(GetBestSize()) if you change their size and want the control to resize appropriately + void SetBitmapLabel(const wxBitmap& bitmap); + void SetBitmapSelected(const wxBitmap& sel) { m_bmpSelected = sel; CalcLayout(true); }; + void SetBitmapFocus(const wxBitmap& focus) { m_bmpFocus = focus; CalcLayout(true); }; + void SetBitmapDisabled(const wxBitmap& disabled) { m_bmpDisabled = disabled; CalcLayout(true); }; + // wxBitmapButton compatibility + void SetLabel(const wxBitmap& bitmap) { SetBitmapLabel(bitmap); } + + // retrieve the bitmaps + const wxBitmap& GetBitmapLabel() const { return m_bmpLabel; } + const wxBitmap& GetBitmapSelected() const { return m_bmpSelected; } + const wxBitmap& GetBitmapFocus() const { return m_bmpFocus; } + const wxBitmap& GetBitmapDisabled() const { return m_bmpDisabled; } + + // Creates a "disabled" bitmap by dithering it with the background colour + wxBitmap CreateBitmapDisabled(const wxBitmap &bitmap) const; + + // set/get the margins (in pixels) around the label and bitmap + // if fit = true then resize the button to fit + void SetMargins(const wxSize &margin, bool fit = false); + + // set/get the margins around the text label + // the inter bitmap/label margin is the max of either margin, not the sum + void SetLabelMargin(const wxSize &margin, bool fit = false); + wxSize GetLabelMargin() const { return m_labelMargin; } + // set/get the margins around the bitmap + // the inter bitmap/label margin is the max of either margin, not the sum + void SetBitmapMargin(const wxSize &margin, bool fit = false); + wxSize GetBitmapMargin() const { return m_bitmapMargin; } + + // can be used to activate the focused behavior (see MenuButton) + void SetFocused(bool focused) { m_focused = focused; Refresh(false); } + bool GetFocused() const { return m_focused; } + +protected: + void OnPaint(wxPaintEvent &event); + void Redraw(); + virtual void Paint( wxDC &dc ); + + virtual wxSize DoGetBestSize() const; + + virtual void SendEvent(); + + void OnMouseEvents(wxMouseEvent &event); + + void OnTimer(wxTimerEvent &event); + void OnSize( wxSizeEvent &event ); + + virtual void CalcLayout(bool refresh); + + int m_down; // toggle state if m_down%2 then depressed + bool m_focused; // mouse in window + long m_button_style; + + // the bitmaps for various states + wxBitmap m_bmpLabel, + m_bmpSelected, + m_bmpFocus, + m_bmpDisabled; + + // the margins around the label/bitmap + wxSize m_labelMargin, + m_bitmapMargin; + + wxPoint m_bitmapPos, + m_labelPos; + + wxTimer *m_timer; + + wxEventType m_eventType; // store the mouse event type + +private: + void Init(); + DECLARE_DYNAMIC_CLASS(wxCustomButton) + DECLARE_EVENT_TABLE() +}; + +#endif // _WX_CUSTOMBUTTON_H_ diff --git a/.svn/pristine/7c/7c25543d6126be4ebe5f6f4e690e82b4515f6aff.svn-base b/.svn/pristine/7c/7c25543d6126be4ebe5f6f4e690e82b4515f6aff.svn-base new file mode 100644 index 0000000..4baceb3 --- /dev/null +++ b/.svn/pristine/7c/7c25543d6126be4ebe5f6f4e690e82b4515f6aff.svn-base @@ -0,0 +1,367 @@ +/* + * icp6D implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/icp6D.h" + +#include "slam6d/metaScan.h" +#include "slam6d/globals.icc" + +#include +using std::cerr; + +#include + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to the ICP-minimizer + * @param max_dist_match Maximum distance to which point pairs are collected + * @param max_num_iterations Maximum number of iterations + * @param quiet Whether to print to the standard output + * @param meta Match against a meta scan? + * @param rnd Randomized point selection + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion + * @param nns_method Selects NNS method to be used + */ +icp6D::icp6D(icp6Dminimizer *my_icp6Dminimizer, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, bool eP, + int anim, double epsilonICP, int nns_method, bool cuda_enabled, + bool cad_matching) +{ + this->my_icp6Dminimizer = my_icp6Dminimizer; + this->anim = anim; + this->cuda_enabled = cuda_enabled; + this->nns_method = nns_method; + + if (!quiet) { + cout << "Maximal distance match : " << max_dist_match << endl + << "Maximal number of iterations: " << max_num_iterations << endl << endl; + } + + // checks + if (max_dist_match < 0.0) { + cerr << "ERROR [ICP6D]: first parameter (max_dist_match) has to be >= 0," << endl; + exit(1); + } + if (max_num_iterations < 0) { + cerr << "ERROR [ICP6D]: second parameter (max_num_iterations) has to be >= 0." << endl; + exit(1); + } + + this->max_dist_match2 = sqr(max_dist_match); + this->max_num_iterations = max_num_iterations; + this->quiet = quiet; + this->meta = meta; + this->rnd = rnd; + this->eP = eP; + this->epsilonICP = epsilonICP; + + // Set initial seed (for "real" random numbers) + // srand( (unsigned)time( NULL ) ); + this->cad_matching = cad_matching; +} + +/** + * Matches a 3D Scan against a 3D Scan + * @param PreviousScan The scan or metascan forming the model + * @param CurrentScan The current scan thas is to be matched + * @return The number of iterations done in this matching run + */ +int icp6D::match(Scan* PreviousScan, Scan* CurrentScan) +{ + // If ICP shall not be applied, then just write + // the identity matrix + if (max_num_iterations == 0) { + double id[16]; + M4identity(id); + CurrentScan->transform(id, Scan::ICP, 0); // write end pose + return 0; + } + + // icp main loop + double ret = 0.0, prev_ret = 0.0, prev_prev_ret = 0.0; + int iter = 0; + double alignxf[16]; + for (iter = 0; iter < max_num_iterations; iter++) { + + prev_prev_ret = prev_ret; + prev_ret = ret; + +#ifdef _OPENMP + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // + // The same information are given in (ecrm2007.pdf) + // Andreas N眉chter. Parallelization of Scan Matching + // for Robotic 3D Mapping. In Proceedings of the 3rd + // European Conference on Mobile Robots (ECMR '07), + // Freiburg, Germany, September 2007 + omp_set_num_threads(OPENMP_NUM_THREADS); + + int max = (int)CurrentScan->size("xyz reduced"); + int step = max / OPENMP_NUM_THREADS; + + vector pairs[OPENMP_NUM_THREADS]; + double sum[OPENMP_NUM_THREADS]; + double centroid_m[OPENMP_NUM_THREADS][3]; + double centroid_d[OPENMP_NUM_THREADS][3]; + double Si[OPENMP_NUM_THREADS][9]; + unsigned int n[OPENMP_NUM_THREADS]; + + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + sum[i] = centroid_m[i][0] = centroid_m[i][1] = centroid_m[i][2] = 0.0; + centroid_d[i][0] = centroid_d[i][1] = centroid_d[i][2] = 0.0; + Si[i][0] = Si[i][1] = Si[i][2] = Si[i][3] = Si[i][4] = Si[i][5] = Si[i][6] = Si[i][7] = Si[i][8] = 0.0; + n[i] = 0; + } + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + Scan::getPtPairsParallel(pairs, PreviousScan, CurrentScan, + thread_num, step, + rnd, max_dist_match2, + sum, centroid_m, centroid_d); + + n[thread_num] = (unsigned int)pairs[thread_num].size(); + + if ((my_icp6Dminimizer->getAlgorithmID() == 1) || + (my_icp6Dminimizer->getAlgorithmID() == 2)) { + for (unsigned int i = 0; i < n[thread_num]; i++) { + + double pp[3] = {pairs[thread_num][i].p1.x - centroid_m[thread_num][0], + pairs[thread_num][i].p1.y - centroid_m[thread_num][1], + pairs[thread_num][i].p1.z - centroid_m[thread_num][2]}; + double qq[3] = {pairs[thread_num][i].p2.x - centroid_d[thread_num][0], + pairs[thread_num][i].p2.y - centroid_d[thread_num][1], + pairs[thread_num][i].p2.z - centroid_d[thread_num][2]}; +/* + double pp[3] = {pairs[thread_num][i].p1.x - centroid_d[thread_num][0], + pairs[thread_num][i].p1.y - centroid_d[thread_num][1], + pairs[thread_num][i].p1.z - centroid_d[thread_num][2]}; + double qq[3] = {pairs[thread_num][i].p2.x - centroid_m[thread_num][0], + pairs[thread_num][i].p2.y - centroid_m[thread_num][1], + pairs[thread_num][i].p2.z - centroid_m[thread_num][2]}; +*/ + // formula (6) + Si[thread_num][0] += pp[0] * qq[0]; + Si[thread_num][1] += pp[0] * qq[1]; + Si[thread_num][2] += pp[0] * qq[2]; + Si[thread_num][3] += pp[1] * qq[0]; + Si[thread_num][4] += pp[1] * qq[1]; + Si[thread_num][5] += pp[1] * qq[2]; + Si[thread_num][6] += pp[2] * qq[0]; + Si[thread_num][7] += pp[2] * qq[1]; + Si[thread_num][8] += pp[2] * qq[2]; + } + } + } // end parallel + + + // do we have enough point pairs? + unsigned int pairssize = 0; + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + pairssize += n[i]; + } + if (pairssize > 3) { + if ((my_icp6Dminimizer->getAlgorithmID() == 1) || + (my_icp6Dminimizer->getAlgorithmID() == 2) ) { + ret = my_icp6Dminimizer->Point_Point_Align_Parallel(OPENMP_NUM_THREADS, + n, sum, centroid_m, centroid_d, Si, + alignxf); + } else if (my_icp6Dminimizer->getAlgorithmID() == 6) { + ret = my_icp6Dminimizer->Point_Point_Align_Parallel(OPENMP_NUM_THREADS, + n, sum, centroid_m, centroid_d, + pairs, + alignxf); + } else { + cout << "This parallel minimization algorithm is not implemented !!!" << endl; + exit(-1); + } + } else { + //break; + } +#else + + double centroid_m[3] = {0.0, 0.0, 0.0}; + double centroid_d[3] = {0.0, 0.0, 0.0}; + vector pairs; + + Scan::getPtPairs(&pairs, PreviousScan, CurrentScan, 0, rnd, + max_dist_match2, ret, centroid_m, centroid_d); + + // do we have enough point pairs? + if (pairs.size() > 3) { + if (my_icp6Dminimizer->getAlgorithmID() == 3 || my_icp6Dminimizer->getAlgorithmID() == 8 ) { + memcpy(alignxf, CurrentScan->get_transMat(), sizeof(alignxf)); + } + ret = my_icp6Dminimizer->Point_Point_Align(pairs, alignxf, centroid_m, centroid_d); + } else { + break; + } + +#endif + + if ((iter == 0 && anim != -2) || ((anim > 0) && (iter % anim == 0))) { + CurrentScan->transform(alignxf, Scan::ICP, 0); // transform the current scan + } else { + CurrentScan->transform(alignxf, Scan::ICP, -1); // transform the current scan + } + + if ((fabs(ret - prev_ret) < epsilonICP) && (fabs(ret - prev_prev_ret) < epsilonICP)) { + double id[16]; + M4identity(id); + if(anim == -2) { + CurrentScan->transform(id, Scan::ICP, -1); // write end pose + } else { + CurrentScan->transform(id, Scan::ICP, 0); // write end pose + } + break; + } + } + + return iter; +} + + +/** + * Computes the point to point error between two scans + * + * + */ +double icp6D::Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *np) { + double error = 0; + unsigned int nr_ppairs = 0; + +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); + + int max = (int)CurrentScan->size("xyz reduced"); + int step = max / OPENMP_NUM_THREADS; + + vector pairs[OPENMP_NUM_THREADS]; + double sum[OPENMP_NUM_THREADS]; + double centroid_m[OPENMP_NUM_THREADS][3]; + double centroid_d[OPENMP_NUM_THREADS][3]; + + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + sum[i] = centroid_m[i][0] = centroid_m[i][1] = centroid_m[i][2] = 0.0; + centroid_d[i][0] = centroid_d[i][1] = centroid_d[i][2] = 0.0; + } + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + Scan::getPtPairsParallel(pairs, PreviousScan, CurrentScan, + thread_num, step, + rnd, sqr(max_dist_match), + sum, centroid_m, centroid_d); + + } + + for (unsigned int thread_num = 0; thread_num < OPENMP_NUM_THREADS; thread_num++) { + for (unsigned int i = 0; i < (unsigned int)pairs[thread_num].size(); i++) { + error += sqr(pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + + sqr(pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) + + sqr(pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z); + } + nr_ppairs += (unsigned int)pairs[thread_num].size(); + } +#else + + double centroid_m[3] = {0.0, 0.0, 0.0}; + double centroid_d[3] = {0.0, 0.0, 0.0}; + vector pairs; + + Scan::getPtPairs(&pairs, PreviousScan, CurrentScan, 0, rnd, sqr(max_dist_match),error, centroid_m, centroid_d); + + // getPtPairs computes error as sum of squared distances + error = 0; + + for (unsigned int i = 0; i < pairs.size(); i++) { + error += sqrt( + sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ); + } + nr_ppairs = pairs.size(); +#endif + + if (np) *np = nr_ppairs; +// return sqrt(error/nr_ppairs); + return error/nr_ppairs; +} +/** + * This function matches the scans only with ICP + * + * @param allScans Contains all necessary scans. + */ +void icp6D::doICP(vector allScans) +{ + double id[16]; + M4identity(id); + + vector < Scan* > meta_scans; + Scan* my_MetaScan = 0; + + for(unsigned int i = 0; i < allScans.size(); i++) { + cout << i << "*" << endl; + + Scan *CurrentScan = allScans[i]; + Scan *PreviousScan = 0; + + if (i > 0) { + PreviousScan = allScans[i-1]; + if (eP) { // extrapolate odometry + CurrentScan->mergeCoordinatesWithRoboterPosition(PreviousScan); + } + } + + if (i > 0) { + if (meta) { + match(my_MetaScan, CurrentScan); + } else + if (cad_matching) { + match(allScans[0], CurrentScan); + } else { + match(PreviousScan, CurrentScan); + } + } + + // push processed scan + if ( meta && i != allScans.size()-1 ) { + meta_scans.push_back(CurrentScan); + if (my_MetaScan) { + delete my_MetaScan; + } + my_MetaScan = new MetaScan(meta_scans, nns_method, cuda_enabled); + } + } +} + diff --git a/.svn/pristine/7c/7c4b7194f1099021af214945e647acdbca99a411.svn-base b/.svn/pristine/7c/7c4b7194f1099021af214945e647acdbca99a411.svn-base new file mode 100644 index 0000000..39cb93e --- /dev/null +++ b/.svn/pristine/7c/7c4b7194f1099021af214945e647acdbca99a411.svn-base @@ -0,0 +1,175 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_pci.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_pci::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + // read 3D scan + poseFileName = dir + "scan" + to_string(fileCounter,4) + ".pose"; + scanFileName = dir + "scan" + to_string(fileCounter,4) + ".pci"; + scan_in.open(scanFileName.c_str()); + if (!scan_in.good()) { + cerr << "ERROR: Missing file" << scanFileName << endl; + scan_in.close(); + return -1; + } + + pose_in.open(poseFileName.c_str()); + double inMatrix[16], tMatrix[16]; + double rPosTheta[3], rPos[3]; + if (!pose_in.good()) { + cerr << "using default pose 0,0,0 !!!" << endl; + M4identity(inMatrix); + } else { + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + } + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + cout << "Processing Scan " << scanFileName; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point q; + Point p; + try { + scan_in >> q; + scan_in >> p.reflectance; + } catch (...) { + break; + } + p.x = q.y*-100.0; + p.y = q.z*100.0; + p.z = q.x*100.0; + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_pci; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/7c/7cbd5438a1c6589593405027a360e9990b2dcf0f.svn-base b/.svn/pristine/7c/7cbd5438a1c6589593405027a360e9990b2dcf0f.svn-base new file mode 100644 index 0000000..d733b6a --- /dev/null +++ b/.svn/pristine/7c/7cbd5438a1c6589593405027a360e9990b2dcf0f.svn-base @@ -0,0 +1,756 @@ +/////////////////////////////////////////////////////////////////////////// +// C++ code generated with wxFormBuilder (version Dec 21 2009) +// http://www.wxformbuilder.org/ +// +// PLEASE DO "NOT" EDIT THIS FILE! +/////////////////////////////////////////////////////////////////////////// + +#include "show/selectionframe.h" +#include "float.h" + +/////////////////////////////////////////////////////////////////////////// + +Selection::Selection( wxWindow* parent, wxWindowID id, const wxString& title, + const wxPoint& pos, const wxSize& size, long style, bool advanced_controls ) : wxFrame( parent, id, + title, pos, size, style ) { + //this->SetSizeHints( wxDefaultSize, wxDefaultSize ); + + bSizer1 = new wxBoxSizer( wxVERTICAL ); + + m_checkBox1 = new wxCheckBox( this, wxID_ANY, wxT("Draw Points"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox1->SetValue(true); + bSizer1->Add( m_checkBox1, 0, wxRIGHT|wxLEFT, 5 ); + + m_checkBox2 = new wxCheckBox( this, wxID_ANY, wxT("Draw Cameras"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox2->SetValue(true); + bSizer1->Add( m_checkBox2, 0, wxRIGHT|wxLEFT, 5 ); + + m_checkBox3 = new wxCheckBox( this, wxID_ANY, wxT("Draw Paths"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox3->SetValue(true); + bSizer1->Add( m_checkBox3, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel2 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer3; + bSizer3 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText2 = new wxStaticText( m_panel2, wxID_ANY, wxT("Point Size:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText2->Wrap( -1 ); + bSizer3->Add( m_staticText2, 0, wxALL, 5 ); + + + bSizer3->Add( 0, 0, 1, wxEXPAND, 5 ); + + pointsize_spinner = new wxSpinCtrl( m_panel2, wxID_ANY, wxT("1"), wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer3->Add( pointsize_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel2->SetSizer( bSizer3 ); + m_panel2->Layout(); + bSizer3->Fit( m_panel2 ); + bSizer1->Add( m_panel2, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel21 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer31; + bSizer31 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText21 = new wxStaticText( m_panel21, wxID_ANY, wxT("Fog:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText21->Wrap( -1 ); + bSizer31->Add( m_staticText21, 0, wxALL, 5 ); + + + bSizer31->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice1Choices[] = { wxT("None"), wxT("Exp"), wxT("Exp2"), wxT("Linear"), wxT("inverted, Exp"), wxT("inverted, Exp2"), wxT("inverted, Linear") }; + int m_choice1NChoices = sizeof( m_choice1Choices ) / sizeof( wxString ); + m_choice1 = new wxChoice( m_panel21, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice1NChoices, m_choice1Choices, 0 ); + m_choice1->SetSelection( 1 ); + bSizer31->Add( m_choice1, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel21->SetSizer( bSizer31 ); + m_panel21->Layout(); + bSizer31->Fit( m_panel21 ); + bSizer1->Add( m_panel21, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel3 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer6; + bSizer6 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4 = new wxStaticText( m_panel3, wxID_ANY, wxT("Fog Density:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4->Wrap( -1 ); + bSizer6->Add( m_staticText4, 0, wxALL, 5 ); + + + bSizer6->Add( 0, 0, 1, wxEXPAND, 5 ); + + fogdens_spinner = new wxSpinCtrlDbl( *m_panel3, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, + 0, 1.0, 0.001, 0.001 ); + bSizer6->Add( fogdens_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel3->SetSizer( bSizer6 ); + m_panel3->Layout(); + bSizer6->Fit( m_panel3 ); + bSizer1->Add( m_panel3, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + /* + wxStaticBoxSizer* sbSizer3; + sbSizer3 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Color:") ), wxVERTICAL ); + */ + wxCollapsiblePane *colorpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Colors:")); + wxWindow *colorwin = colorpane->GetPane(); + wxBoxSizer* sbSizer3 = new wxBoxSizer( wxVERTICAL ); + colorwin->SetSizer(sbSizer3); + + + m_panel211 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer311; + bSizer311 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText211 = new wxStaticText( m_panel211, wxID_ANY, wxT("value:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText211->Wrap( -1 ); + bSizer311->Add( m_staticText211, 0, wxALL, 5 ); + + + bSizer311->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice11Choices[] = { wxT("height") }; + + int m_choice11NChoices = sizeof( m_choice11Choices ) / sizeof( wxString ); + m_choice11 = new wxChoice( m_panel211, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice11NChoices, m_choice11Choices, 0 ); + m_choice11->SetSelection( 4 ); + bSizer311->Add( m_choice11, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel211->SetSizer( bSizer311 ); + m_panel211->Layout(); + bSizer311->Fit( m_panel211 ); + sbSizer3->Add( m_panel211, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel212 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer312; + bSizer312 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText212 = new wxStaticText( m_panel212, wxID_ANY, wxT("map:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText212->Wrap( -1 ); + bSizer312->Add( m_staticText212, 0, wxALL, 5 ); + + + bSizer312->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice12Choices[] = { wxT("Solid"), wxT("Grey"), wxT("HSV"), wxT("Jet"), wxT("Hot"), wxT("Rand"), wxT("SHSV") }; + int m_choice12NChoices = sizeof( m_choice12Choices ) / sizeof( wxString ); + m_choice12 = new wxChoice( m_panel212, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice12NChoices, m_choice12Choices, 0 ); + m_choice12->SetSelection( 0 ); + bSizer312->Add( m_choice12, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel212->SetSizer( bSizer312 ); + m_panel212->Layout(); + bSizer312->Fit( m_panel212 ); + sbSizer3->Add( m_panel212, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel213 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer313; + bSizer313 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText213 = new wxStaticText( m_panel213, wxID_ANY, wxT("type:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText213->Wrap( -1 ); + bSizer313->Add( m_staticText213, 0, wxALL, 5 ); + + + bSizer313->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice13Choices[] = { wxT("None"), wxT("Id Scans by Color"), wxT("Color by Points") }; + int m_choice13NChoices = sizeof( m_choice13Choices ) / sizeof( wxString ); + m_choice13 = new wxChoice( m_panel213, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice13NChoices, m_choice13Choices, 0 ); + m_choice13->SetSelection( 0 ); + bSizer313->Add( m_choice13, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel213->SetSizer( bSizer313 ); + m_panel213->Layout(); + bSizer313->Fit( m_panel213 ); + sbSizer3->Add( m_panel213, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel411 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer51; + bSizer51 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText411 = new wxStaticText( m_panel411, wxID_ANY, wxT("Min Val:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText411->Wrap( -1 ); + bSizer51->Add( m_staticText411, 0, wxALL, 5 ); + + + bSizer51->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl61 = new wxSpinCtrlDbl( *m_panel411, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, -DBL_MAX, DBL_MAX, 0 ); + bSizer51->Add( m_spinCtrl61, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel411->SetSizer( bSizer51 ); + m_panel411->Layout(); + bSizer51->Fit( m_panel411 ); + sbSizer3->Add( m_panel411, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel41 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5; + bSizer5 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41 = new wxStaticText( m_panel41, wxID_ANY, wxT("Max Val:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41->Wrap( -1 ); + bSizer5->Add( m_staticText41, 0, wxALL, 5 ); + + + bSizer5->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl6 = new wxSpinCtrlDbl( *m_panel41, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, -DBL_MAX, DBL_MAX, 6 ); + bSizer5->Add( m_spinCtrl6, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41->SetSizer( bSizer5 ); + m_panel41->Layout(); + bSizer5->Fit( m_panel41 ); + sbSizer3->Add( m_panel41, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_button4 = new wxButton( colorwin, wxID_ANY, wxT("Reset Min/Max"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer3->Add( m_button4, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( colorpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_staticline1 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline1, 0, wxEXPAND | wxALL, 5 ); + + m_button3 = new wxButton( this, wxID_ANY, wxT("Invert"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button3, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_panel4 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer7; + bSizer7 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText6 = new wxStaticText( m_panel4, wxID_ANY, wxT("Anim delay:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText6->Wrap( -1 ); + bSizer7->Add( m_staticText6, 0, wxALL, 5 ); + + m_spinCtrl3 = new wxSpinCtrl( m_panel4, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer7->Add( m_spinCtrl3, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4->SetSizer( bSizer7 ); + m_panel4->Layout(); + bSizer7->Fit( m_panel4 ); + bSizer1->Add( m_panel4, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button5 = new wxButton( this, wxID_ANY, wxT("Animate"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button5, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_staticline2 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline2, 0, wxEXPAND | wxALL, 5 ); + + /*wxStaticBoxSizer* sbSizer2; + sbSizer2 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Camera Path:") ), wxVERTICAL ); + */ + wxCollapsiblePane *camerapane = new wxCollapsiblePane(this, wxID_ANY, wxT("Camera Path:")); + wxWindow *camerawin = camerapane->GetPane(); + wxBoxSizer* sbSizer2 = new wxBoxSizer( wxVERTICAL ); + camerawin->SetSizer(sbSizer2); + + m_panel412 = new wxPanel( camerawin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer52; + bSizer52 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText412 = new wxStaticText( m_panel412, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText412->Wrap( -1 ); + bSizer52->Add( m_staticText412, 0, wxALL, 5 ); + + m_textCtrl1 = new wxTextCtrl( m_panel412, wxID_ANY, wxT("path.dat"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer52->Add( m_textCtrl1, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel412->SetSizer( bSizer52 ); + m_panel412->Layout(); + bSizer52->Fit( m_panel412 ); + sbSizer2->Add( m_panel412, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button51 = new wxButton( camerawin, wxID_ANY, wxT("Save Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button51, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button6 = new wxButton( camerawin, wxID_ANY, wxT("Load Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button6, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button14 = new wxButton( camerawin, wxID_ANY, wxT("Load Robot Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button14, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_staticline4 = new wxStaticLine( camerawin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + sbSizer2->Add( m_staticline4, 0, wxEXPAND|wxALL, 5 ); + + m_checkBox4 = new wxCheckBox( camerawin, wxID_ANY, wxT("Save Animation"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_checkBox4, 0, wxRIGHT|wxLEFT, 5 ); + + m_button7 = new wxButton( camerawin, wxID_ANY, wxT("Animate path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button7, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( camerapane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + /*wxStaticBoxSizer* sbSizer21; + sbSizer21 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Position:") ), wxVERTICAL ); + */ + wxCollapsiblePane *positionpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Position:")); + wxWindow *positionwin = positionpane->GetPane(); + wxBoxSizer* sbSizer21 = new wxBoxSizer( wxVERTICAL ); + positionwin->SetSizer(sbSizer21); + + m_panel4121 = new wxPanel( positionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer521; + bSizer521 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4121 = new wxStaticText( m_panel4121, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4121->Wrap( -1 ); + bSizer521->Add( m_staticText4121, 0, wxALL, 5 ); + + m_textCtrl11 = new wxTextCtrl( m_panel4121, wxID_ANY, wxT("pose.dat"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer521->Add( m_textCtrl11, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4121->SetSizer( bSizer521 ); + m_panel4121->Layout(); + bSizer521->Fit( m_panel4121 ); + sbSizer21->Add( m_panel4121, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button511 = new wxButton( positionwin, wxID_ANY, wxT("Save Pose"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button511, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button61 = new wxButton( positionwin, wxID_ANY, wxT("Load Pose"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button61, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_panel4131 = new wxPanel( positionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer531; + bSizer531 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4131 = new wxStaticText( m_panel4131, wxID_ANY, wxT("Factor"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4131->Wrap( -1 ); + bSizer531->Add( m_staticText4131, 0, wxALL, 5 ); + + + bSizer531->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl621 = new wxSpinCtrl( m_panel4131, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer531->Add( m_spinCtrl621, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4131->SetSizer( bSizer531 ); + m_panel4131->Layout(); + bSizer531->Fit( m_panel4131 ); + sbSizer21->Add( m_panel4131, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + m_button71 = new wxButton( positionwin, wxID_ANY, wxT("Save image"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button71, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( positionpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_staticline3 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline3, 0, wxALL|wxEXPAND, 5 ); + /* + wxStaticBoxSizer* sbSizer211; + sbSizer211 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Selection:") ), wxVERTICAL ); + */ + wxCollapsiblePane *selectionpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Selection:")); + wxWindow *selectionwin = selectionpane->GetPane(); + wxBoxSizer* sbSizer211 = new wxBoxSizer( wxVERTICAL ); + selectionwin->SetSizer(sbSizer211); + + m_panel41211 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5211; + bSizer5211 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41211 = new wxStaticText( m_panel41211, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41211->Wrap( -1 ); + bSizer5211->Add( m_staticText41211, 0, wxALL, 5 ); + + m_textCtrl111 = new wxTextCtrl( m_panel41211, wxID_ANY, wxT("selected.3d"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer5211->Add( m_textCtrl111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41211->SetSizer( bSizer5211 ); + m_panel41211->Layout(); + bSizer5211->Fit( m_panel41211 ); + sbSizer211->Add( m_panel41211, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button5111 = new wxButton( selectionwin, wxID_ANY, wxT("Save selected points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_button5111, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button611 = new wxButton( selectionwin, wxID_ANY, wxT("Clear selected points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_button611, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_checkBox5 = new wxCheckBox( selectionwin, wxID_ANY, wxT("Select/Unselect"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox5->SetValue(true); + sbSizer211->Add( m_checkBox5, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_checkBox6 = new wxCheckBox( selectionwin, wxID_ANY, wxT("Select Voxels"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_checkBox6, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel41311 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5311; + bSizer5311 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41311 = new wxStaticText( m_panel41311, wxID_ANY, wxT("Depth:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41311->Wrap( -1 ); + bSizer5311->Add( m_staticText41311, 0, wxALL, 5 ); + + + bSizer5311->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl6211 = new wxSpinCtrl( m_panel41311, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer5311->Add( m_spinCtrl6211, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41311->SetSizer( bSizer5311 ); + m_panel41311->Layout(); + bSizer5311->Fit( m_panel41311 ); + sbSizer211->Add( m_panel41311, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + m_panel413111 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer53111; + bSizer53111 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText413111 = new wxStaticText( m_panel413111, wxID_ANY, wxT("Brushsize:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText413111->Wrap( -1 ); + bSizer53111->Add( m_staticText413111, 0, wxALL, 5 ); + + + bSizer53111->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl62111 = new wxSpinCtrl( m_panel413111, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer53111->Add( m_spinCtrl62111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel413111->SetSizer( bSizer53111 ); + m_panel413111->Layout(); + bSizer53111->Fit( m_panel413111 ); + sbSizer211->Add( m_panel413111, 1, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( selectionpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + if (advanced_controls) { + wxCollapsiblePane *advancedpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Advanced:")); + wxWindow *advancedwin = advancedpane->GetPane(); + wxBoxSizer* sbSizer2111 = new wxBoxSizer( wxVERTICAL ); + advancedwin->SetSizer(sbSizer2111); + + // ------------------------ + m_panel413112 = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer53112; + bSizer53112 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText413112 = new wxStaticText( m_panel413112, wxID_ANY, wxT("Frame #:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText413112->Wrap( -1 ); + bSizer53112->Add( m_staticText413112, 0, wxALL, 5 ); + + + bSizer53112->Add( 0, 0, 1, wxEXPAND, 5 ); + + frame_spin = new wxSpinCtrl( m_panel413112, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer53112->Add( frame_spin, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel413112->SetSizer( bSizer53112 ); + m_panel413112->Layout(); + bSizer53112->Fit( m_panel413112 ); + sbSizer2111->Add( m_panel413112, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + // ----------------------- + m_panel4131111 = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer531111; + bSizer531111 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4131111 = new wxStaticText( m_panel4131111, wxID_ANY, wxT("FPS:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4131111->Wrap( -1 ); + bSizer531111->Add( m_staticText4131111, 0, wxALL, 5 ); + + + bSizer531111->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl621111 = new wxSpinCtrl( m_panel4131111, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100, 20 ); + bSizer531111->Add( m_spinCtrl621111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4131111->SetSizer( bSizer531111 ); + m_panel4131111->Layout(); + bSizer531111->Fit( m_panel4131111 ); + sbSizer2111->Add( m_panel4131111, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + ////////////////// + farplane_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* farplane_sizer; + farplane_sizer = new wxBoxSizer( wxHORIZONTAL ); + + farplane_text = new wxStaticText( farplane_panel, wxID_ANY, wxT("farplane:"), wxDefaultPosition, wxDefaultSize, 0 ); + farplane_text->Wrap( -1 ); + farplane_sizer->Add( farplane_text, 0, wxALL, 5 ); + + + farplane_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + farplane_spinner = new wxSpinCtrl( farplane_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100000, 40000 ); + farplane_sizer->Add( farplane_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + farplane_panel->SetSizer( farplane_sizer ); + farplane_panel->Layout(); + farplane_sizer->Fit( farplane_panel ); + sbSizer2111->Add( farplane_panel, 0, wxEXPAND |wxRIGHT|wxLEFT, 5 ); + //////////////////////////////// + nearplane_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* nearplane_sizer; + nearplane_sizer = new wxBoxSizer( wxHORIZONTAL ); + + nearplane_text = new wxStaticText( nearplane_panel, wxID_ANY, wxT("nearplane:"), wxDefaultPosition, wxDefaultSize, 0 ); + nearplane_text->Wrap( -1 ); + nearplane_sizer->Add( nearplane_text, 0, wxALL, 5 ); + + + nearplane_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + nearplane_spinner = new wxSpinCtrl( nearplane_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100000, 10 ); + nearplane_sizer->Add( nearplane_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + nearplane_panel->SetSizer( nearplane_sizer ); + nearplane_panel->Layout(); + nearplane_sizer->Fit( nearplane_panel ); + + sbSizer2111->Add( nearplane_panel, 0, wxEXPAND | wxRIGHT|wxLEFT, 5 ); + // bSizer1->Add( sbSizer2111, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + /////////////////// + cycleLOD = new wxButton( advancedwin, wxID_ANY, wxT("Cycle LOD"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2111->Add( cycleLOD, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + ////////// + lod_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* lod_sizer; + lod_sizer = new wxBoxSizer( wxHORIZONTAL ); + + lod_text = new wxStaticText( lod_panel, wxID_ANY, wxT("lod speed:"), wxDefaultPosition, wxDefaultSize, 0 ); + lod_text->Wrap( -1 ); + lod_sizer->Add( lod_text, 0, wxALL, 5 ); + + + lod_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + //lod_spinner = new wxSpinCtrl( lod_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 2, 1 ); + lod_spinner = new wxSpinCtrlDbl( *lod_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0.0, 2.0, 1.0, 0.01 ); + lod_sizer->Add( lod_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + lod_panel->SetSizer( lod_sizer ); + lod_panel->Layout(); + lod_sizer->Fit( lod_panel ); + sbSizer2111->Add( lod_panel, 0, wxEXPAND | wxRIGHT| wxLEFT, 5 ); + + + + + bSizer1->Add( advancedpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + } else { + frame_spin = new wxSpinCtrl( 0, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + } + + m_button31 = new wxButton( this, wxID_ANY, wxT("Quit"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button31, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + this->SetSizer( bSizer1 ); + this->Layout(); + + // Connect Events + this->Connect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Selection::OnClose ) ); + m_checkBox1->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPoints ), NULL, this ); + m_checkBox2->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawCameras ), NULL, this ); + m_checkBox3->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPaths ), NULL, this ); + pointsize_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnPointSize ), NULL, this ); + m_choice1->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnFogChoice ), NULL, this ); + fogdens_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFogDensity ), NULL, this ); + m_choice11->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorValue ), NULL, this ); + m_choice12->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorMap ), NULL, this ); + m_choice13->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorType ), NULL, this ); + m_spinCtrl61->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMinVal ), NULL, this ); + m_spinCtrl6->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMaxVal ), NULL, this ); + m_button4->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnColorResetMinMax ), NULL, this ); + m_button3->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnInvert ), NULL, this ); + m_spinCtrl3->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnAnimDelay ), NULL, this ); + m_button5->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimate ), NULL, this ); + m_textCtrl1->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnCameraFile ), NULL, this ); + m_button51->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraSavePath ), NULL, this ); + m_button6->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadPath ), NULL, this ); + m_button14->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadRobotPath ), NULL, this ); + m_checkBox4->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSaveAnimation ), NULL, this ); + m_button7->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimatePath ), NULL, this ); + m_textCtrl11->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnPositionFile ), NULL, this ); + m_button511->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionSave ), NULL, this ); + m_button61->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionLoad ), NULL, this ); + m_spinCtrl621->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFactor ), NULL, this ); + m_button71->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSaveImage ), NULL, this ); + m_textCtrl111->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnSelectionFile ), NULL, this ); + m_button5111->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionSave ), NULL, this ); + m_button611->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionClear ), NULL, this ); + m_checkBox5->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSU ), NULL, this ); + m_checkBox6->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSV ), NULL, this ); + m_spinCtrl6211->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionDepth ), NULL, this ); + m_spinCtrl62111->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionBrushsize ), NULL, this ); + if (advanced_controls) { + frame_spin->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFrameSpinner ), NULL, this ); + m_spinCtrl621111->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFramerateSpinner ), NULL, this ); + farplane_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFarplaneSpinner ), NULL, this ); + nearplane_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnNearplaneSpinner ), NULL, this ); + lod_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnLODAdaption ), NULL, this ); + cycleLOD->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCycleLOD ), NULL, this ); + } +} + +Selection::~Selection() +{ + // Disconnect Events + this->Disconnect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Selection::OnClose ) ); + m_checkBox1->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPoints ), NULL, this ); + m_checkBox2->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawCameras ), NULL, this ); + m_checkBox3->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPaths ), NULL, this ); + pointsize_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnPointSize ), NULL, this ); + m_choice1->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnFogChoice ), NULL, this ); + fogdens_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFogDensity ), NULL, this ); + m_choice11->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorValue ), NULL, this ); + m_choice12->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorMap ), NULL, this ); + m_choice13->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorType ), NULL, this ); + m_spinCtrl61->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMinVal ), NULL, this ); + m_spinCtrl6->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMaxVal ), NULL, this ); + m_button4->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnColorResetMinMax ), NULL, this ); + m_button3->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnInvert ), NULL, this ); + m_spinCtrl3->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnAnimDelay ), NULL, this ); + m_button5->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimate ), NULL, this ); + m_textCtrl1->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnCameraFile ), NULL, this ); + m_button51->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraSavePath ), NULL, this ); + m_button6->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadPath ), NULL, this ); + m_button14->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadRobotPath ), NULL, this ); + m_checkBox4->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSaveAnimation ), NULL, this ); + m_button7->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimatePath ), NULL, this ); + m_textCtrl11->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnPositionFile ), NULL, this ); + m_button511->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionSave ), NULL, this ); + m_button61->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionLoad ), NULL, this ); + m_spinCtrl621->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFactor ), NULL, this ); + m_button71->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSaveImage ), NULL, this ); + m_textCtrl111->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnSelectionFile ), NULL, this ); + m_button5111->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionSave ), NULL, this ); + m_button611->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionClear ), NULL, this ); + m_checkBox5->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSU ), NULL, this ); + m_checkBox6->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSV ), NULL, this ); + m_spinCtrl6211->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionDepth ), NULL, this ); + m_spinCtrl62111->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionBrushsize ), NULL, this ); + frame_spin->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFrameSpinner ), NULL, this ); + m_spinCtrl621111->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFramerateSpinner ), NULL, this ); + farplane_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFarplaneSpinner ), NULL, this ); + nearplane_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnNearplaneSpinner ), NULL, this ); + lod_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnLODAdaption ), NULL, this ); + cycleLOD->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCycleLOD ), NULL, this ); +} + +Controls::Controls( wxWindow* parent, wxWindowID id, const wxString& title, const wxPoint& pos, const wxSize& size, long style ) : wxFrame( parent, id, title, pos, size, style ) +{ + this->SetSizeHints( wxDefaultSize, wxDefaultSize ); + + wxBoxSizer* bSizer17; + bSizer17 = new wxBoxSizer( wxHORIZONTAL ); + + wxStaticBoxSizer* sbSizer5; + sbSizer5 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Settings:") ), wxVERTICAL ); + + wxBoxSizer* bSizer26; + bSizer26 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText21 = new wxStaticText( this, wxID_ANY, wxT("Apex Angle"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText21->Wrap( -1 ); + bSizer26->Add( m_staticText21, 0, wxALL, 5 ); + + + bSizer26->Add( 0, 0, 1, wxEXPAND, 5 ); + + apex_spinner = new wxSpinCtrlDbl( this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 180, 60 ); + bSizer26->Add( apex_spinner, 0, wxALIGN_RIGHT|wxLEFT|wxRIGHT, 5 ); + + sbSizer5->Add( bSizer26, 1, wxEXPAND, 5 ); + + wxBoxSizer* bSizer261; + bSizer261 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText211 = new wxStaticText( this, wxID_ANY, wxT("Parallel Zoom"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText211->Wrap( -1 ); + bSizer261->Add( m_staticText211, 0, wxALL, 5 ); + + parallel_spinner = new wxSpinCtrlDbl( *this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 10, 100000, 2000 ); + bSizer261->Add( parallel_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + sbSizer5->Add( bSizer261, 1, wxEXPAND, 5 ); + + bSizer17->Add( sbSizer5, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer51; + sbSizer51 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Mode:") ), wxVERTICAL ); + + m_button15 = new wxButton( this, wxID_ANY, wxT("Top View"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer51->Add( m_button15, 0, wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_button16 = new wxButton( this, wxID_ANY, wxT("Reset Position"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer51->Add( m_button16, 0, wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + bSizer17->Add( sbSizer51, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer52; + sbSizer52 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Camera:") ), wxVERTICAL ); + + wxBoxSizer* bSizer262; + bSizer262 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText212 = new wxStaticText( this, wxID_ANY, wxT("Choose Camera"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText212->Wrap( -1 ); + bSizer262->Add( m_staticText212, 0, wxALL, 5 ); + + + bSizer262->Add( 0, 0, 1, wxEXPAND, 5 ); + + camera_spinner = new wxSpinCtrl( this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer262->Add( camera_spinner, 0, wxALIGN_RIGHT|wxLEFT|wxRIGHT, 5 ); + + sbSizer52->Add( bSizer262, 1, wxEXPAND, 5 ); + + m_button19 = new wxButton( this, wxID_ANY, wxT("Add Camera"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer52->Add( m_button19, 0, wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_button20 = new wxButton( this, wxID_ANY, wxT("Delete Camera"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer52->Add( m_button20, 0, wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL, 5 ); + + bSizer17->Add( sbSizer52, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer521; + sbSizer521 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Settings:") ), wxVERTICAL ); + + m_checkBox7 = new wxCheckBox( this, wxID_ANY, wxT("MouseNav"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox7->SetValue(true); + sbSizer521->Add( m_checkBox7, 0, wxRIGHT|wxLEFT, 5 ); + + always_box = new wxCheckBox( this, wxID_ANY, wxT("Always all Points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer521->Add( always_box, 0, wxRIGHT|wxLEFT, 5 ); + + alwaysred_box = new wxCheckBox( this, wxID_ANY, wxT("Always reduce Points"), wxDefaultPosition, wxDefaultSize, 0 ); + alwaysred_box->SetValue(true); + sbSizer521->Add( alwaysred_box, 0, wxRIGHT|wxLEFT, 5 ); + + bSizer17->Add( sbSizer521, 0, 0, 5 ); + + this->SetSizer( bSizer17 ); + this->Layout(); + bSizer17->Fit( this ); + + // Connect Events + this->Connect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Controls::OnClose ) ); + apex_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnApexAngle ), NULL, this ); + parallel_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnParallelZoom ), NULL, this ); + m_button15->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnTopView ), NULL, this ); + m_button16->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnResetPosition ), NULL, this ); + camera_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnChooseCamera ), NULL, this ); + m_button19->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnAddCamera ), NULL, this ); + m_button20->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnDeleteCamera ), NULL, this ); + m_checkBox7->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnMouseNav ), NULL, this ); + always_box->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysAllPoints ), NULL, this ); + alwaysred_box->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysReducePoints ), NULL, this ); +} + +Controls::~Controls() +{ + // Disconnect Events + this->Disconnect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Controls::OnClose ) ); + apex_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnApexAngle ), NULL, this ); + parallel_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnParallelZoom ), NULL, this ); + m_button15->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnTopView ), NULL, this ); + m_button16->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnResetPosition ), NULL, this ); + camera_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnChooseCamera ), NULL, this ); + m_button19->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnAddCamera ), NULL, this ); + m_button20->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnDeleteCamera ), NULL, this ); + m_checkBox7->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnMouseNav ), NULL, this ); + always_box->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysAllPoints ), NULL, this ); + alwaysred_box->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysReducePoints ), NULL, this ); +} diff --git a/.svn/pristine/7d/7d2ed5df9c31f181c3776138393c9c3e5ba6d1bb.svn-base b/.svn/pristine/7d/7d2ed5df9c31f181c3776138393c9c3e5ba6d1bb.svn-base new file mode 100644 index 0000000..b83b5cb --- /dev/null +++ b/.svn/pristine/7d/7d2ed5df9c31f181c3776138393c9c3e5ba6d1bb.svn-base @@ -0,0 +1,356 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxMenuButton +// Purpose: A button with a dropdown wxMenu +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "menubtn.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/menu.h" + #include "wx/settings.h" + #include "wx/bitmap.h" + #include "wx/pen.h" + #include "wx/dc.h" +#endif // WX_PRECOMP + +#include "wx/things/toggle.h" +#include "wx/things/menubtn.h" + +/* XPM */ +static const char *down_arrow_xpm_data[] = { +/* columns rows colors chars-per-pixel */ +"5 3 2 1", +" c None", +"a c Black", +/* pixels */ +"aaaaa", +" aaa ", +" a "}; + +static wxBitmap s_dropdownBitmap; // all buttons share the same bitmap + +enum +{ + IDD_DROPDOWN_BUTTON = 100 +}; + +//----------------------------------------------------------------------------- +// wxMenuButtonEvents +//----------------------------------------------------------------------------- + +DEFINE_LOCAL_EVENT_TYPE(wxEVT_MENUBUTTON_OPEN) + +// ========================================================================== +// MenuDropButton +// ========================================================================== + +class MenuDropButton : public wxCustomButton +{ +public: + MenuDropButton( wxWindow *parent, wxWindowID id, long style) : wxCustomButton() + { + if (!s_dropdownBitmap.Ok()) + s_dropdownBitmap = wxBitmap(down_arrow_xpm_data); + + Create( parent, id, wxEmptyString, s_dropdownBitmap, wxDefaultPosition, + wxSize(wxMENUBUTTON_DROP_WIDTH, wxMENUBUTTON_DROP_HEIGHT), style); + } + + virtual void Paint( wxDC &dc ) + { + wxCustomButton *labelBut = ((wxMenuButton*)GetParent())->GetLabelButton(); + + // pretend that both buttons have focus (for flat style) + if (labelBut) + { + wxPoint p = GetParent()->ScreenToClient(wxGetMousePosition()); + + if (GetRect().Inside(p) || labelBut->GetRect().Inside(p)) + { + m_focused = true; + + if (!labelBut->GetFocused()) + labelBut->SetFocused(true); + } + else + { + m_focused = false; + + if (labelBut->GetFocused()) + labelBut->SetFocused(false); + } + } + + wxCustomButton::Paint(dc); + } +}; + +// ========================================================================== +// MenuLabelButton +// ========================================================================== + +class MenuLabelButton : public wxCustomButton +{ +public: + MenuLabelButton( wxWindow* parent, wxWindowID id, + const wxString &label, + const wxBitmap &bitmap, + long style ) : wxCustomButton() + { + Create(parent, id, label, bitmap, wxDefaultPosition, wxDefaultSize, style); + } + + virtual void Paint( wxDC &dc ) + { + wxCustomButton *dropBut = ((wxMenuButton*)GetParent())->GetDropDownButton(); + + // pretend that both buttons have focus (for flat style) + if (dropBut) + { + wxPoint p = GetParent()->ScreenToClient(wxGetMousePosition()); + + if (GetRect().Inside(p) || dropBut->GetRect().Inside(p)) + { + m_focused = true; + + if (!dropBut->GetFocused()) + dropBut->SetFocused(true); + } + else + { + m_focused = false; + + if (dropBut->GetFocused()) + dropBut->SetFocused(false); + } + } + + wxCustomButton::Paint(dc); + } +}; + +// ========================================================================== +// wxMenuButton +// ========================================================================== + +IMPLEMENT_DYNAMIC_CLASS( wxMenuButton, wxControl ) + +BEGIN_EVENT_TABLE(wxMenuButton,wxControl) + EVT_BUTTON(wxID_ANY, wxMenuButton::OnButton) + +#ifdef __WXMSW__ + EVT_MENU(wxID_ANY, wxMenuButton::OnMenu) +#endif +END_EVENT_TABLE() + +wxMenuButton::~wxMenuButton() +{ + AssignMenu(NULL, true); +} + +void wxMenuButton::Init() +{ + m_labelButton = NULL; + m_dropdownButton = NULL; + m_menu = NULL; + m_menu_static = false; + m_style = 0; +} + +bool wxMenuButton::Create( wxWindow* parent, wxWindowID id, + const wxString &label, + const wxBitmap &bitmap, + const wxPoint& pos, + const wxSize& size, + long style, + const wxValidator& val, + const wxString& name) +{ + m_style = style; + + long flat = style & wxMENUBUT_FLAT; + + wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name); + wxControl::SetLabel(label); + SetBackgroundColour(parent->GetBackgroundColour()); + SetForegroundColour(parent->GetForegroundColour()); + SetFont(parent->GetFont()); + + m_labelButton = new MenuLabelButton(this, id, label, bitmap, wxCUSTBUT_BUTTON|flat); + m_dropdownButton = new MenuDropButton(this, IDD_DROPDOWN_BUTTON, wxCUSTBUT_BUTTON|flat); + + wxSize bestSize = DoGetBestSize(); + SetSize( wxSize(size.x < 0 ? bestSize.x : size.x, + size.y < 0 ? bestSize.y : size.y) ); + + //SetBestSize(GetSize()); + + return true; +} + +#ifdef __WXMSW__ +// FIXME - I think there was a patch to fix this +void wxMenuButton::OnMenu( wxCommandEvent &event ) +{ + event.Skip(); + wxMenuItem *mi = m_menu->FindItem(event.GetId()); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + m_menu->Check(event.GetId(), true); +} +#endif // __WXMSW__ + +void wxMenuButton::OnButton( wxCommandEvent &event) +{ + int win_id = event.GetId(); + + if (win_id == IDD_DROPDOWN_BUTTON) + { + if (m_menu) + { + wxNotifyEvent mevent(wxEVT_MENUBUTTON_OPEN, GetId()); + mevent.SetEventObject(this); + if (GetEventHandler()->ProcessEvent(mevent) && !mevent.IsAllowed()) + return; + + if (!m_menu) + return; + + PopupMenu(m_menu, wxPoint(0, GetSize().y)); + + m_labelButton->Refresh(false); + m_dropdownButton->Refresh(false); + } + } + else if (win_id == m_labelButton->GetId()) + { + if (!m_menu) return; + + const wxMenuItemList &items = m_menu->GetMenuItems(); + int first_radio_id = -1; + int checked_id = -1; + bool check_next = false; + + // find the next available radio item to check + for (wxMenuItemList::Node *node = items.GetFirst(); node; node = node->GetNext()) + { + wxMenuItem *mi = (wxMenuItem*)node->GetData(); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + { + if (first_radio_id == -1) + first_radio_id = mi->GetId(); + + if (check_next) + { + check_next = false; + checked_id = mi->GetId(); + break; + } + else if (mi->IsChecked()) + check_next = true; + } + } + // the last item was checked, go back to the first + if (check_next && (first_radio_id != -1)) + checked_id = first_radio_id; + + if (checked_id != -1) + { + m_menu->Check(checked_id, true); + + wxCommandEvent mevent( wxEVT_COMMAND_MENU_SELECTED, checked_id); + mevent.SetEventObject( m_menu ); + mevent.SetInt(1); + GetEventHandler()->ProcessEvent(mevent); + } + } +} + +int wxMenuButton::GetSelection() const +{ + wxCHECK_MSG(m_menu != NULL, wxNOT_FOUND, wxT("No attached menu in wxMenuButton::GetSelection")); + + const wxMenuItemList &items = m_menu->GetMenuItems(); + + for (wxMenuItemList::Node *node = items.GetFirst(); node; node = node->GetNext()) + { + wxMenuItem *mi = (wxMenuItem*)node->GetData(); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + { + if (mi->IsChecked()) + return mi->GetId(); + } + } + + return wxNOT_FOUND; +} + +void wxMenuButton::AssignMenu(wxMenu *menu, bool static_menu) +{ + if (!m_menu_static && m_menu) + delete m_menu; + + m_menu = menu; + m_menu_static = static_menu; +} + +void wxMenuButton::SetToolTip(const wxString &tip) +{ + wxWindow::SetToolTip(tip); + ((wxWindow*)m_labelButton)->SetToolTip(tip); + ((wxWindow*)m_dropdownButton)->SetToolTip(tip); +} +void wxMenuButton::SetToolTip(wxToolTip *tip) +{ + wxWindow::SetToolTip(tip); + ((wxWindow*)m_labelButton)->SetToolTip(tip); + ((wxWindow*)m_dropdownButton)->SetToolTip(tip); +} + +void wxMenuButton::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + wxSize curSize( GetSize() ); + wxSize bestSize( DoGetBestSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (width < 10) + width = bestSize.GetWidth(); + + if (height == -1) + height = curSize.GetHeight(); + if (height < 5) + height = bestSize.GetHeight(); + + wxWindow::DoSetSize(x, y, width, height, sizeFlags); + + if (m_labelButton) + m_labelButton->SetSize(0, 0, width - wxMENUBUTTON_DROP_WIDTH, height); + if (m_dropdownButton) + m_dropdownButton->SetSize(width-wxMENUBUTTON_DROP_WIDTH, 0, wxMENUBUTTON_DROP_WIDTH, height); +} + +wxSize wxMenuButton::DoGetBestSize() +{ + if (!m_labelButton || !m_dropdownButton) + return wxSize(wxMENUBUTTON_DROP_WIDTH+wxMENUBUTTON_DROP_HEIGHT, wxMENUBUTTON_DROP_HEIGHT); + + wxSize size = m_labelButton->GetBestSize(); + size.x += wxMENUBUTTON_DROP_WIDTH; + return size; +} diff --git a/.svn/pristine/7d/7db74d23d932d1ab53fcd53c19b32c1dce4258b5.svn-base b/.svn/pristine/7d/7db74d23d932d1ab53fcd53c19b32c1dce4258b5.svn-base new file mode 100644 index 0000000..1adcdd4 --- /dev/null +++ b/.svn/pristine/7d/7db74d23d932d1ab53fcd53c19b32c1dce4258b5.svn-base @@ -0,0 +1,48 @@ +//---------------------------------------------------------------------- +// File: kd_search.h +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_search_H +#define ANN_kd_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// More global variables +// These are active for the life of each call to annkSearch(). They +// are set to save the number of variables that need to be passed +// among the various search procedures. +//---------------------------------------------------------------------- + +extern int ANNkdDim; // dimension of space (static copy) +extern ANNpoint ANNkdQ; // query point (static copy) +extern double ANNkdMaxErr; // max tolerable squared error +extern ANNpointArray ANNkdPts; // the points (static copy) +extern ANNmin_k *ANNkdPointMK; // set of k closest points +extern int ANNptsVisited; // number of points visited + +#endif diff --git a/.svn/pristine/7d/7dee2b0f053dc73b42a1a05277f53ebf2642576d.svn-base b/.svn/pristine/7d/7dee2b0f053dc73b42a1a05277f53ebf2642576d.svn-base new file mode 100644 index 0000000..8ba0bea --- /dev/null +++ b/.svn/pristine/7d/7dee2b0f053dc73b42a1a05277f53ebf2642576d.svn-base @@ -0,0 +1,141 @@ +/* + * frames_to_graph implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/* @file extracts the final poses from the frame files + * @author Jochen Sprickerhof + */ + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::string; + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::exception; + +#include "slam6d/globals.icc" + +void read_Frame(string frameFile, ofstream &out_stream) +{ + double transMat[16]; + int type; + double rPos[3]; + double rPosTheta[3]; + ifstream frame(frameFile.c_str()); + + while(frame) { + try { + frame >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, rPosTheta, rPos); + //out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << rPosTheta[0] << " " << rPosTheta[1] << " " << rPosTheta[2] << endl; + double quat[4]; + Matrix4ToQuat(transMat, quat); + QuatToAA(quat); + out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl; + frame.close(); +} + +void readFrames(string dir, int start, int end, ofstream &out_stream) +{ + for(;start <= end; start++) { + read_Frame(dir + "scan" + to_string(start, 3) + ".frames", out_stream); + } +} + +void usage(string progname) { + cout << "Usage: " << progname << " OPTIONS FILE" << endl << + "\t -s \t\t first node in loop" << endl << + "\t -e \t\t last node in loop" << endl << + "\t -o \t\t output filename (must be given)" << endl; +} + +int main(int argc, char *argv[]) +{ + + if(argc < 2) { + usage(argv[0]); + exit(1); + } + + int start = 0, end = 0; + string out_file; + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "end", required_argument, 0, 'e' }, + { "out", required_argument, 0, 'o' }, + { "start", required_argument, 0, 's' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + int c; + while((c = getopt_long(argc, argv, "e:o:s:", longopts, NULL)) != -1) { + switch (c) { + case 'e': + end = atoi(optarg); + if(end < 0) { + cerr << "Error: Cannot end at a negative number." << endl; + exit(1); + } + break; + case 'o': + out_file = optarg; + break; + case 's': + start = atoi(optarg); + if(start < 0) { + cerr << "Error: Cannot start at a negative number." << endl; + exit(1); + } + break; + case '?': + default: + exit(1); + } + } + + if(out_file.empty() || end == 0) { + usage(argv[0]); + exit(1); + } + + string dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + ofstream out_stream(out_file.c_str()); + + readFrames(dir, start, end, out_stream); + out_stream.close(); + + exit(0); +} + diff --git a/.svn/pristine/7e/7e1d7fcb819b726036d5dc6402297f79535b2f13.svn-base b/.svn/pristine/7e/7e1d7fcb819b726036d5dc6402297f79535b2f13.svn-base new file mode 100644 index 0000000..32b6141 --- /dev/null +++ b/.svn/pristine/7e/7e1d7fcb819b726036d5dc6402297f79535b2f13.svn-base @@ -0,0 +1,59 @@ +/* + * converToSLAM6D implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include + +int main() { + PMDCam *pmdc = initPMDCam("./pmdc.conf"); + + int frames = 0; + unsigned int latestTime = 0; + + while(1) { + + if(grabData(pmdc)) break; + + if(latestTime >= pmdc->timestamp) continue; + latestTime = pmdc->timestamp; + //printf("%i %i\n", latestTime, pmdc->timestamp); + + CvSize pmdSz = cvGetSize(pmdc->iPMDI); + pmdSz.width = 50; + + char filename[] = "./dat/scan000.pose"; + sprintf(filename, "./dat/scan%03d.3d", frames); + FILE *scan = fopen(filename, "wb"); + if(!scan) fprintf(stderr, "ERROR: cant create file %s.\n", filename); + sprintf(filename, "./dat/scan%03d.pose", frames); + FILE *pose = fopen(filename, "wb"); + if(!pose) fprintf(stderr, "ERROR: cant create file %s.\n", filename); + + + + fprintf(scan, "%i x %i\n", pmdSz.width, pmdSz.height); + + for(int j = 0; j < pmdSz.width; j++) + for(int i = 0; i < pmdSz.height; i++) + fprintf(scan, "%f %f %f\n", pmdc->pts[i][j].x*100.0, pmdc->pts[i][j].y*100.0, pmdc->pts[i][j].z*100.0); + + fprintf(pose, "%f %f %f\n%f %f %f\n", 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + if(0 == frames%100) printf("+100\n"); + + fflush(scan); + fflush(pose); + fclose(scan); + fclose(pose); + + frames++; + } + return 0; +} + + diff --git a/.svn/pristine/7e/7e38fcad981dbe5497326fc210013caee144cd78.svn-base b/.svn/pristine/7e/7e38fcad981dbe5497326fc210013caee144cd78.svn-base new file mode 100644 index 0000000..a76008f --- /dev/null +++ b/.svn/pristine/7e/7e38fcad981dbe5497326fc210013caee144cd78.svn-base @@ -0,0 +1,67 @@ +#ifndef BASIC_SCAN_H +#define BASIC_SCAN_H + +#include "scan.h" +#include "frame.h" + +#include +#include + + +class BasicScan : public Scan { +public: + static void openDirectory(const std::string& path, IOType type, int start, int end); + static void closeDirectory(); +/* + Scan(const double *euler, int maxDist = -1); + Scan(const double rPos[3], const double rPosTheta[3], int maxDist = -1); + Scan(const double _rPos[3], const double _rPosTheta[3], vector &pts); +*/ + virtual ~BasicScan(); + + virtual void setRangeFilter(double max, double min); + virtual void setHeightFilter(double top, double bottom); + + virtual const char* getIdentifier() const { return m_identifier.c_str(); } + + virtual DataPointer get(const std::string& identifier); + virtual void get(unsigned int types); + virtual DataPointer create(const std::string& identifier, unsigned int size); + virtual void clear(const std::string& identifier); + + virtual unsigned int readFrames(); + virtual void saveFrames(); + virtual unsigned int getFrameCount(); + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type); + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate(); + virtual void addFrame(AlgoType type); + +private: + //! Path and identifier of where the scan is located + std::string m_path, m_identifier; + + IOType m_type; + + double m_filter_max, m_filter_min, m_filter_top, m_filter_bottom; + bool m_filter_range_set, m_filter_height_set; + + std::map> m_data; + + std::vector m_frames; + + + //! Constructor for openDirectory + BasicScan(const std::string& path, const std::string& identifier, IOType type); + + //! Initialization function + void init(); + + void createANNTree(); + + void createOcttree(); +}; + +#endif //BASIC_SCAN_H diff --git a/.svn/pristine/7e/7e714af54486ca6d754786068d9983c53413124d.svn-base b/.svn/pristine/7e/7e714af54486ca6d754786068d9983c53413124d.svn-base new file mode 100644 index 0000000..31fc7cf --- /dev/null +++ b/.svn/pristine/7e/7e714af54486ca6d754786068d9983c53413124d.svn-base @@ -0,0 +1,41 @@ +/** + * @file + * @brief Representation of the parameter of a k-d tree + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __KDPARAMS_H__ +#define __KDPARAMS_H__ + +/** + * @brief Contains the intermediate (static) values of a k-d tree or a cached k-d tree + * + * A parameter class for the latter k-d tree. + * Includes the padding for parallelizetion + * to avoid cache conflicts. + **/ +class KDParams +{ +public: + /** + * pointer to the closest point. size = 4 bytes of 32 bit machines + */ + double *closest; + + /** + * distance to the closest point. size = 8 bytes + */ + double closest_d2; + + /** + * pointer to the point, size = 4 bytes of 32 bit machines + */ + double *p; + + /** + * expand to 128 bytes to avoid false-sharing, 16 bytes from above + 28*4 bytes = 128 bytes + */ + int padding[28]; +}; + +#endif diff --git a/.svn/pristine/7e/7eaf19798aeb4f7c32eedf0e478adebe473d7434.svn-base b/.svn/pristine/7e/7eaf19798aeb4f7c32eedf0e478adebe473d7434.svn-base new file mode 100644 index 0000000..cac8548 --- /dev/null +++ b/.svn/pristine/7e/7eaf19798aeb4f7c32eedf0e478adebe473d7434.svn-base @@ -0,0 +1,4 @@ +.cvsignore +Makefile +gocr +*.o diff --git a/.svn/pristine/80/8018e381e9363120dbbeb539d6f114b93c0315dc.svn-base b/.svn/pristine/80/8018e381e9363120dbbeb539d6f114b93c0315dc.svn-base new file mode 100644 index 0000000..4fa5838 Binary files /dev/null and b/.svn/pristine/80/8018e381e9363120dbbeb539d6f114b93c0315dc.svn-base differ diff --git a/.svn/pristine/80/802b79f1c665e2b7f10372b7cb57af5746e54f78.svn-base b/.svn/pristine/80/802b79f1c665e2b7f10372b7cb57af5746e54f78.svn-base new file mode 100644 index 0000000..2d522d0 --- /dev/null +++ b/.svn/pristine/80/802b79f1c665e2b7f10372b7cb57af5746e54f78.svn-base @@ -0,0 +1,66 @@ +// definition file for test programs + +//#define DONT_DO_NRIC // activate if running a bounds checker + +#ifdef use_namespace +//using namespace NEWMAT; +namespace NEWMAT { +#endif + +// print time between construction and destruction +class time_lapse +{ + double start_time; +public: + time_lapse(); + ~time_lapse(); +}; + +void Print(const Matrix& X); +void Print(const UpperTriangularMatrix& X); +void Print(const DiagonalMatrix& X); +void Print(const SymmetricMatrix& X); +void Print(const LowerTriangularMatrix& X); + +void Clean(Matrix&, Real); +void Clean(DiagonalMatrix&, Real); + +#ifdef use_namespace +} +using namespace NEWMAT; +#endif + +void trymat1(); void trymat2(); void trymat3(); +void trymat4(); void trymat5(); void trymat6(); +void trymat7(); void trymat8(); void trymat9(); +void trymata(); void trymatb(); void trymatc(); +void trymatd(); void trymate(); void trymatf(); +void trymatg(); void trymath(); void trymati(); +void trymatj(); void trymatk(); void trymatl(); +void trymatm(); + + +// body file: tmt.cpp +// body file: tmt1.cpp +// body file: tmt2.cpp +// body file: tmt3.cpp +// body file: tmt4.cpp +// body file: tmt5.cpp +// body file: tmt6.cpp +// body file: tmt7.cpp +// body file: tmt8.cpp +// body file: tmt9.cpp +// body file: tmta.cpp +// body file: tmtb.cpp +// body file: tmtc.cpp +// body file: tmtd.cpp +// body file: tmte.cpp +// body file: tmtf.cpp +// body file: tmtg.cpp +// body file: tmth.cpp +// body file: tmti.cpp +// body file: tmtj.cpp +// body file: tmtk.cpp +// body file: tmtl.cpp +// body file: tmtm.cpp + diff --git a/.svn/pristine/80/802f208a79a44b5d953d74e1e4566a4abf456fdf.svn-base b/.svn/pristine/80/802f208a79a44b5d953d74e1e4566a4abf456fdf.svn-base new file mode 100644 index 0000000..95c0844 --- /dev/null +++ b/.svn/pristine/80/802f208a79a44b5d953d74e1e4566a4abf456fdf.svn-base @@ -0,0 +1,128 @@ +/** + * @file + * @brief Implementation of reading 3D scans in colored XYZ format (i.e., pure + * 3D data points and RGB color information) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_xyz_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in the colored XYZ file format + * (i.e., pure 3D data points and RGB color * information only) + * It will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyz_rgb::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in, pose_in; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".xyz"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + char firstline[255]; + scan_in.getline(firstline, 255); + + euler[0] = 0.0; + euler[1] = 0.0; + euler[2] = 0.0; + euler[3] = 0.0; + euler[4] = 0.0; + euler[5] = 0.0; + + while (scan_in.good()) { + Point p; + int r, g, b; + scan_in >> p.x >> p.z >> p.y >> r >> g >> b; + p.x *= 100; + p.y *= 100; + p.z *= 100; + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return 1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyz_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/80/804ad40bf20ded023f5c501d5ed1b552110b1df0.svn-base b/.svn/pristine/80/804ad40bf20ded023f5c501d5ed1b552110b1df0.svn-base new file mode 100644 index 0000000..443ccdf --- /dev/null +++ b/.svn/pristine/80/804ad40bf20ded023f5c501d5ed1b552110b1df0.svn-base @@ -0,0 +1,303 @@ +/* + * clientinterface implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/clientInterface.h" + +#include +using std::cout; +using std::cerr; +using std::cin; +using std::endl; +#include + +#include +using namespace boost::filesystem; +using namespace boost::interprocess; + +#include "scanserver/defines.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + + + +managed_shared_memory* ClientInterface::m_msm = 0; +ClientInterface* ClientInterface::m_singleton = 0; + + + +SharedScanVector * ClientInterface::readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end) +{ + path to_add(dir_path); + if(!exists(to_add) || !is_directory(to_add)) { + // TODO: throw an exception + cerr << "Directory " << to_add << " does not exist" << endl; + return 0; + } + + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + // pass a system complete (absolute) path for compability with possibly + // different working directories in different processes + m_arg_string_1 = system_complete(to_add).string().c_str(); + m_arg_io_type = type; + m_arg_uint_1 = start; + m_arg_uint_2 = end; + sendMessage(MESSAGE_READ_DIRECTORY); + // don't catch the exception, there is nothing this function can fix + SharedScanVector* scans = m_scanvector_ptr.get(); + m_scanvector_ptr = 0; + return scans; +} + +void ClientInterface::closeDirectory(SharedScanVector*& scans) +{ + if(scans == 0) return; + + // release all scans + // TODO: either lower recursive mutexes in all scans or notice the server + + // delete scan vector + segment_manager->destroy_ptr(scans); + + // set scans to 0 since it's a reference + scans = 0; +} + +bool ClientInterface::loadCacheObject(CacheObject* obj) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::cache_miss_time.start(); +#endif //WITH_METRICS + + m_cacheobject_ptr = obj; + sendMessage(MESSAGE_LOAD_CACHE_OBJECT); + bool success = m_arg_uint_1 == 1; + m_arg_uint_1 = 0; + +#ifdef WITH_METRICS + ClientMetric::cache_miss_time.end(t); +#endif //WITH_METRICS + + return success; +} + +void ClientInterface::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::allocate_time.start(); +#endif //WITH_METRICS + + m_cacheobject_ptr = obj; + m_arg_uint_1 = size; + sendMessage(MESSAGE_ALLOCATE_CACHE_OBJECT); + +#ifdef WITH_METRICS + ClientMetric::allocate_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::invalidateCacheObject(CacheObject* obj) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + m_cacheobject_ptr = obj; + sendMessage(MESSAGE_INVALIDATE_CACHE_OBJECT); +} + +void ClientInterface::getPose(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_GET_POSE); +} + +void ClientInterface::addFrame(SharedScan* scan, double* transformation, unsigned int type) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_ADD_FRAME); + + // write into the new frame + const FrameVector& frames = scan->getFrames(); + Frame& frame = const_cast(frames.back()); + frame.set(transformation, type); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::loadFramesFile(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_LOAD_FRAMES_FILE); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::saveFramesFile(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_SAVE_FRAMES_FILE); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::clearFrames(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_CLEAR_FRAMES); + // TODO: remove the .frames-file if appropriate, clear all records + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +std::size_t ClientInterface::getCacheSize() +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + sendMessage(MESSAGE_GET_CACHE_SIZE); + + return m_arg_size_t; +} + +void ClientInterface::printMetrics() +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + sendMessage(MESSAGE_PRINT_METRICS); +} + +void ClientInterface::sendMessage(message_t message) +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::clientinterface_time.start(); +#endif //WITH_METRICS + + // try to lock the server mutex to send when it's not occupied + scoped_lock lock(m_mutex_server); + + // set message + m_message = message; + + // notify and wake up the server and wait until the message is processed + m_condition_server.notify_one(); + m_condition_client.wait(lock); + +#ifdef WITH_METRICS + ClientMetric::clientinterface_time.end(t); +#endif //WITH_METRICS + + // process errors + // TODO: better + if(!m_error_message.empty()) { + std::string msg(m_error_message.c_str()); + m_error_message.clear(); + throw std::runtime_error(msg); + } +} + +ClientInterface* ClientInterface::create() +{ + // open the shared memory in this application + if(m_msm == 0) { + try { + m_msm = new managed_shared_memory(open_only, SHM_NAME_DATA); + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not open shared memory: ") + e.what()); + } + } + + // now try to open the cache shared memory + CacheObject::openSharedMemory(SHM_NAME_CACHE); + + // prepare singleton pointer + offset_ptr* ptr = m_msm->find >(unique_instance).first; + if(ptr == 0) + throw std::runtime_error("Could not find the ClientInterface pointer in shared memory"); + m_singleton = ptr->get(); + + // test for old crashed clients + { + scoped_lock lock(m_singleton->m_mutex_client, try_to_lock); + if(!lock) { + cout << "Scanserver communication is currently blocked, waiting for server... " << std::flush; + // wait for server to finish, lock and immediately unlock the server mutex + {scoped_lock lock_server(m_singleton->m_mutex_server);} + // clean up the client mutex which was left locked by previous program calls + m_singleton->m_mutex_client.unlock(); + cout << "done." /* Stop crashing/interrupting programs */ << endl; + } + } + + return m_singleton; +} + +void ClientInterface::destroy() +{ + m_singleton = 0; + if(m_msm != 0) { + delete m_msm; + m_msm = 0; + } +} + +ClientInterface* ClientInterface::getInstance() +{ + if(m_singleton == 0) + throw std::runtime_error("ClientInterface Singleton not set"); + return m_singleton; +} diff --git a/.svn/pristine/80/80da6ad67d68a5511985164aeed5596da85b20c2.svn-base b/.svn/pristine/80/80da6ad67d68a5511985164aeed5596da85b20c2.svn-base new file mode 100644 index 0000000..f92a2f5 --- /dev/null +++ b/.svn/pristine/80/80da6ad67d68a5511985164aeed5596da85b20c2.svn-base @@ -0,0 +1,76 @@ +------------------------------------------------------------ +ann_test: Version 1.0 + Copyright: David M. Mount and Sunil Arya. + Latest Revision: Mar 1, 2005. +------------------------------------------------------------ + +validate = on (Warning: this may slow execution time.) +stats = query_stats +[Read Data Points: + data_size = 20 + file_name = test1-data.pts + dim = 2 +] +[Read Query Points: + query_size = 10 + file_name = test1-query.pts + dim = 2 +] +[Build ann-structure: + split_rule = suggest + shrink_rule = none + data_size = 20 + dim = 2 + bucket_size = 1 + process_time = 0 sec + (Structure Statistics: + n_nodes = 39 (opt = 40, best if < 400) + n_leaves = 20 (0 contain no points) + n_splits = 19 + n_shrinks = 0 + empty_leaves = 0 percent (best if < 50 percent) + depth = 6 (opt = 4, best if < 17) + avg_aspect_ratio = 1.48847 (best if < 20) + ) +] +(Computing true nearest neighbors for validation. This may take time.) +[Run Queries: + query_size = 10 + dim = 2 + search_method = standard + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 6.3 : 2.751 ]< 4 , 11 > + splitting_nodes = [ 8.8 : 3.676 ]< 5 , 15 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 15.1 : 6.35 ]< 9 , 26 > + points_visited = [ 6.3 : 2.751 ]< 4 , 11 > + coord_hits/pt = [ 0.57 : 0.2201 ]< 0.35 , 0.95 > + floating_ops_(K) = [ 0.156 : 0.0563 ]< 0.101 , 0.254 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 10 + dim = 2 + search_method = priority + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 5.9 : 2.025 ]< 4 , 9 > + splitting_nodes = [ 8.7 : 3.498 ]< 5 , 15 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 14.6 : 5.42 ]< 9 , 24 > + points_visited = [ 5.9 : 2.025 ]< 4 , 9 > + coord_hits/pt = [ 0.535 : 0.1667 ]< 0.35 , 0.8 > + floating_ops_(K) = [ 0.1719 : 0.05861 ]< 0.114 , 0.267 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] diff --git a/.svn/pristine/81/8141faddceae91e35b92824087e7b0ea36a06110.svn-base b/.svn/pristine/81/8141faddceae91e35b92824087e7b0ea36a06110.svn-base new file mode 100644 index 0000000..dd30099 --- /dev/null +++ b/.svn/pristine/81/8141faddceae91e35b92824087e7b0ea36a06110.svn-base @@ -0,0 +1,90 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + */ + +#ifndef GOCR_LIST_H +#define GOCR_LIST_H + +#ifdef DEBUG +#define g_debug(a) a +#else +#define g_debug(a) +#endif + +/* + * Structures + */ + +struct element { + struct element *next, *previous; + void *data; +}; +typedef struct element Element; + +struct list { + Element start; /* simplifies for(each_element) { ... */ + Element stop; /* ... list_del() ... } v0.41 */ + Element **current; /* for(each_element) */ + int n; /* number of elements */ + int level; /* level of nested fors */ +}; +typedef struct list List; + +/* + * Functions + */ + +void list_init ( List *l ); +int list_app ( List *l, void *data ); +int list_ins ( List *l, void *data_after, void *data); +Element*list_element_from_data ( List *l, void *data ); +int list_del ( List *l, void *data ); +void list_free ( List *l ); +int list_and_data_free ( List *l, void (*free_data)(void *data)); +int list_higher_level ( List *l ); +void list_lower_level ( List *l ); +void * list_next ( List *l, void *data ); +void * list_prev ( List *l, void *data ); +void list_sort ( List *l, int (*compare)(const void *, const void *) ); + +#define list_empty(l) ((l)->start.next == &(l)->stop ? 1 : 0) +#define list_get_header(l) ((l)->start.next->data) +#define list_get_tail(l) ((l)->stop.previous->data) +#define list_get_current(l) ((l)->current[(l)->level]->data) +#define list_get_cur_prev(l) ((l)->current[(l)->level]->previous == NULL ? \ + NULL : (l)->current[(l)->level]->previous->data ) +#define list_get_cur_next(l) ((l)->current[(l)->level]->next == NULL ? \ + NULL : (l)->current[(l)->level]->next->data ) +#define list_total(l) ((l)->n) + +#define for_each_data(l) \ + if (list_higher_level(l) == 0) { \ + for ( ; (l)->current[(l)->level] \ + && (l)->current[(l)->level]!=&(l)->stop; (l)->current[(l)->level] = \ + (l)->current[(l)->level]->next ) { + + +#define end_for_each(l) \ + } \ + list_lower_level(l); \ + } + +#endif diff --git a/.svn/pristine/82/8204e61d0af1afc98720bee7d45dfb6b6cdfe3d1.svn-base b/.svn/pristine/82/8204e61d0af1afc98720bee7d45dfb6b6cdfe3d1.svn-base new file mode 100644 index 0000000..af91879 --- /dev/null +++ b/.svn/pristine/82/8204e61d0af1afc98720bee7d45dfb6b6cdfe3d1.svn-base @@ -0,0 +1,236 @@ +#ifndef __FREEGLUT_EXT_H__ +#define __FREEGLUT_EXT_H__ + +/* + * freeglut_ext.h + * + * The non-GLUT-compatible extensions to the freeglut library include file + * + * Copyright (c) 1999-2000 Pawel W. Olszta. All Rights Reserved. + * Written by Pawel W. Olszta, + * Creation date: Thu Dec 2 1999 + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifdef __cplusplus + extern "C" { +#endif + +/* + * Additional GLUT Key definitions for the Special key function + */ +#define GLUT_KEY_NUM_LOCK 0x006D +#define GLUT_KEY_BEGIN 0x006E +#define GLUT_KEY_DELETE 0x006F +#define GLUT_KEY_SHIFT_L 0x0070 +#define GLUT_KEY_SHIFT_R 0x0071 +#define GLUT_KEY_CTRL_L 0x0072 +#define GLUT_KEY_CTRL_R 0x0073 +#define GLUT_KEY_ALT_L 0x0074 +#define GLUT_KEY_ALT_R 0x0075 + +/* + * GLUT API Extension macro definitions -- behaviour when the user clicks on an "x" to close a window + */ +#define GLUT_ACTION_EXIT 0 +#define GLUT_ACTION_GLUTMAINLOOP_RETURNS 1 +#define GLUT_ACTION_CONTINUE_EXECUTION 2 + +/* + * Create a new rendering context when the user opens a new window? + */ +#define GLUT_CREATE_NEW_CONTEXT 0 +#define GLUT_USE_CURRENT_CONTEXT 1 + +/* + * Direct/Indirect rendering context options (has meaning only in Unix/X11) + */ +#define GLUT_FORCE_INDIRECT_CONTEXT 0 +#define GLUT_ALLOW_DIRECT_CONTEXT 1 +#define GLUT_TRY_DIRECT_CONTEXT 2 +#define GLUT_FORCE_DIRECT_CONTEXT 3 + +/* + * GLUT API Extension macro definitions -- the glutGet parameters + */ +#define GLUT_INIT_STATE 0x007C + +#define GLUT_ACTION_ON_WINDOW_CLOSE 0x01F9 + +#define GLUT_WINDOW_BORDER_WIDTH 0x01FA +#define GLUT_WINDOW_HEADER_HEIGHT 0x01FB + +#define GLUT_VERSION 0x01FC + +#define GLUT_RENDERING_CONTEXT 0x01FD +#define GLUT_DIRECT_RENDERING 0x01FE + +#define GLUT_FULL_SCREEN 0x01FF + +/* + * New tokens for glutInitDisplayMode. + * Only one GLUT_AUXn bit may be used at a time. + * Value 0x0400 is defined in OpenGLUT. + */ +#define GLUT_AUX 0x1000 + +#define GLUT_AUX1 0x1000 +#define GLUT_AUX2 0x2000 +#define GLUT_AUX3 0x4000 +#define GLUT_AUX4 0x8000 + +/* + * Context-related flags, see freeglut_state.c + */ +#define GLUT_INIT_MAJOR_VERSION 0x0200 +#define GLUT_INIT_MINOR_VERSION 0x0201 +#define GLUT_INIT_FLAGS 0x0202 +#define GLUT_INIT_PROFILE 0x0203 + +/* + * Flags for glutInitContextFlags, see freeglut_init.c + */ +#define GLUT_DEBUG 0x0001 +#define GLUT_FORWARD_COMPATIBLE 0x0002 + + +/* + * Flags for glutInitContextProfile, see freeglut_init.c + */ +#define GLUT_CORE_PROFILE 0x0001 +#define GLUT_COMPATIBILITY_PROFILE 0x0002 + +/* + * Process loop function, see freeglut_main.c + */ +FGAPI void FGAPIENTRY glutMainLoopEvent( void ); +FGAPI void FGAPIENTRY glutLeaveMainLoop( void ); +FGAPI void FGAPIENTRY glutExit ( void ); + +/* + * Window management functions, see freeglut_window.c + */ +FGAPI void FGAPIENTRY glutFullScreenToggle( void ); +FGAPI void FGAPIENTRY glutLeaveFullScreen( void ); + +/* + * Window-specific callback functions, see freeglut_callbacks.c + */ +FGAPI void FGAPIENTRY glutMouseWheelFunc( void (* callback)( int, int, int, int ) ); +FGAPI void FGAPIENTRY glutCloseFunc( void (* callback)( void ) ); +FGAPI void FGAPIENTRY glutWMCloseFunc( void (* callback)( void ) ); +/* A. Donev: Also a destruction callback for menus */ +FGAPI void FGAPIENTRY glutMenuDestroyFunc( void (* callback)( void ) ); + +/* + * State setting and retrieval functions, see freeglut_state.c + */ +FGAPI void FGAPIENTRY glutSetOption ( GLenum option_flag, int value ); +FGAPI int * FGAPIENTRY glutGetModeValues(GLenum mode, int * size); +/* A.Donev: User-data manipulation */ +FGAPI void* FGAPIENTRY glutGetWindowData( void ); +FGAPI void FGAPIENTRY glutSetWindowData(void* data); +FGAPI void* FGAPIENTRY glutGetMenuData( void ); +FGAPI void FGAPIENTRY glutSetMenuData(void* data); + +/* + * Font stuff, see freeglut_font.c + */ +FGAPI int FGAPIENTRY glutBitmapHeight( void* font ); +FGAPI GLfloat FGAPIENTRY glutStrokeHeight( void* font ); +FGAPI void FGAPIENTRY glutBitmapString( void* font, const unsigned char *string ); +FGAPI void FGAPIENTRY glutStrokeString( void* font, const unsigned char *string ); + +/* + * Geometry functions, see freeglut_geometry.c + */ +FGAPI void FGAPIENTRY glutWireRhombicDodecahedron( void ); +FGAPI void FGAPIENTRY glutSolidRhombicDodecahedron( void ); +FGAPI void FGAPIENTRY glutWireSierpinskiSponge ( int num_levels, GLdouble offset[3], GLdouble scale ); +FGAPI void FGAPIENTRY glutSolidSierpinskiSponge ( int num_levels, GLdouble offset[3], GLdouble scale ); +FGAPI void FGAPIENTRY glutWireCylinder( GLdouble radius, GLdouble height, GLint slices, GLint stacks); +FGAPI void FGAPIENTRY glutSolidCylinder( GLdouble radius, GLdouble height, GLint slices, GLint stacks); + +/* + * Extension functions, see freeglut_ext.c + */ +typedef void (*GLUTproc)(); +FGAPI GLUTproc FGAPIENTRY glutGetProcAddress( const char *procName ); + +/* + * Multi-touch/multi-pointer extensions + */ + +#define GLUT_HAS_MULTI 1 + +FGAPI void FGAPIENTRY glutMultiEntryFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutMultiButtonFunc( void (* callback)( int, int, int, int, int ) ); +FGAPI void FGAPIENTRY glutMultiMotionFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutMultiPassiveFunc( void (* callback)( int, int, int ) ); + +/* + * Joystick functions, see freeglut_joystick.c + */ +/* USE OF THESE FUNCTIONS IS DEPRECATED !!!!! */ +/* If you have a serious need for these functions in your application, please either + * contact the "freeglut" developer community at freeglut-developer@lists.sourceforge.net, + * switch to the OpenGLUT library, or else port your joystick functionality over to PLIB's + * "js" library. + */ +int glutJoystickGetNumAxes( int ident ); +int glutJoystickGetNumButtons( int ident ); +int glutJoystickNotWorking( int ident ); +float glutJoystickGetDeadBand( int ident, int axis ); +void glutJoystickSetDeadBand( int ident, int axis, float db ); +float glutJoystickGetSaturation( int ident, int axis ); +void glutJoystickSetSaturation( int ident, int axis, float st ); +void glutJoystickSetMinRange( int ident, float *axes ); +void glutJoystickSetMaxRange( int ident, float *axes ); +void glutJoystickSetCenter( int ident, float *axes ); +void glutJoystickGetMinRange( int ident, float *axes ); +void glutJoystickGetMaxRange( int ident, float *axes ); +void glutJoystickGetCenter( int ident, float *axes ); + +/* + * Initialization functions, see freeglut_init.c + */ +FGAPI void FGAPIENTRY glutInitContextVersion( int majorVersion, int minorVersion ); +FGAPI void FGAPIENTRY glutInitContextFlags( int flags ); +FGAPI void FGAPIENTRY glutInitContextProfile( int profile ); + +/* to get the typedef for va_list */ +#include + +FGAPI void FGAPIENTRY glutInitErrorFunc( void (* vError)( const char *fmt, va_list ap ) ); +FGAPI void FGAPIENTRY glutInitWarningFunc( void (* vWarning)( const char *fmt, va_list ap ) ); + +/* + * GLUT API macro definitions -- the display mode definitions + */ +#define GLUT_CAPTIONLESS 0x0400 +#define GLUT_BORDERLESS 0x0800 +#define GLUT_SRGB 0x1000 + +#ifdef __cplusplus + } +#endif + +/*** END OF FILE ***/ + +#endif /* __FREEGLUT_EXT_H__ */ diff --git a/.svn/pristine/82/8214f7bd11152549b3a1727230ef93281a4dc531.svn-base b/.svn/pristine/82/8214f7bd11152549b3a1727230ef93281a4dc531.svn-base new file mode 100644 index 0000000..3066614 --- /dev/null +++ b/.svn/pristine/82/8214f7bd11152549b3a1727230ef93281a4dc531.svn-base @@ -0,0 +1,37 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address */ + +#ifndef OUTPUT_H +#define OUTPUT_H + +#include +#include +#include "pnm.h" +#include "gocr.h" +#include "list.h" + +void out_b(struct box *px, pix *b, int x0, int y0, int dx, int dy, int cs ); +void out_x(struct box *px); +void out_x2(struct box *box1,struct box *box2); +int output_list(job_t *job); +int debug_img(char *fname, struct job_s *job, int opt); + + +#endif diff --git a/.svn/pristine/82/825ea81b03343eb58b944b5e1d951e8694341c77.svn-base b/.svn/pristine/82/825ea81b03343eb58b944b5e1d951e8694341c77.svn-base new file mode 100644 index 0000000..3eb789e --- /dev/null +++ b/.svn/pristine/82/825ea81b03343eb58b944b5e1d951e8694341c77.svn-base @@ -0,0 +1,9 @@ + + + + 1 + 4 +
f
+ + -0.46651933 0.30511221 2.36130873e-04 -2.86668586e-03 + diff --git a/.svn/pristine/82/827d5cdb00e39ea6ccb51b1c7fc2c247200766de.svn-base b/.svn/pristine/82/827d5cdb00e39ea6ccb51b1c7fc2c247200766de.svn-base new file mode 100644 index 0000000..f5a66b7 --- /dev/null +++ b/.svn/pristine/82/827d5cdb00e39ea6ccb51b1c7fc2c247200766de.svn-base @@ -0,0 +1,636 @@ +/* + * icp6Dquat implementation + * + * Copyright (C) Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via quaternions + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/icp6Dquat.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; +#include +#include +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#define cbrt(x) pow(x,1/3) +#endif + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the Quaternion method of Horn + * PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_QUAT::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = pairs.size(); + + double sum = 0.0; + + // the quaternion + double q[7]; + + double S[3][3]; + double Q[4][4]; + int i,j; + + // calculate the cross covariance matrix + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + S[i][j] = 0; + for (i=0; i 0.0)&&(y > 0.0)&&(c > 0.0)) + || ((a > 0.0)&&(y < 0.0)&&(c < 0.0)) + || ((a < 0.0)&&(y > 0.0)&&(c < 0.0)) + || ((a < 0.0)&&(y < 0.0)&&(c > 0.0)) + || (a == 0.0)||(y == 0.0)||(c == 0.0) + ) { + /* use ef - */ + if ((b < 0.0)&&(y < 0.0)&&(esq > 0.0)) { + e = sqrt(esq); + f = ef/e; + } else if ((d < 0.0) && (fsq > 0.0)) { + f = sqrt(fsq); + e = ef/f; + } else { + e = sqrt(esq); + f = sqrt(fsq); + if (ef < 0.0) f = -f; + } + } else { + e = sqrt(esq); + f = sqrt(fsq); + if (ef < 0.0) f = -f; + } + /* note that e >= 0.0 */ + ainv2 = a*.5; + g = ainv2 - e; + gg = ainv2 + e; + if ( ((b > 0.0)&&(y > 0.0)) + || ((b < 0.0)&&(y < 0.0)) ) { + if (( a > 0.0) && (e != 0.0)) g = (b + y)/gg; + else if (e != 0.0) gg = (b + y)/g; + } + if ((y == 0.0)&&(f == 0.0)) { + h = 0.0; + hh = 0.0; + } else if ( ((f > 0.0)&&(y < 0.0)) + || ((f < 0.0)&&(y > 0.0)) ) { + hh = -.5*y + f; + h = d/hh; + } else { + h = -.5*y - f; + hh = d/h; + } + n1 = qudrtc(gg,hh,v1); + n2 = qudrtc(g,h,v2); + nquar = n1+n2; + rts[0] = v1[0]; + rts[1] = v1[1]; + rts[n1+0] = v2[0]; + rts[n1+1] = v2[1]; + return nquar; + } + } +} /* ferrari */ + +int icp6D_QUAT::qudrtc(double b, double c, double rts[4]) +/* + solve the quadratic equation - + + x**2+b*x+c = 0 + +*/ +{ + int nquad; + double rtdis; + double dis = b*b-4.0*c; + + if (dis >= 0.0) { + nquad = 2; + rtdis = sqrt(dis); + if (b > 0.0) rts[0] = ( -b - rtdis)*.5; + else rts[0] = ( -b + rtdis)*.5; + if (rts[0] == 0.0) rts[1] = -b; + else rts[1] = c/rts[0]; + } else { + nquad = 0; + rts[0] = 0.0; + rts[1] = 0.0; + } + return nquad; +} /* qudrtc */ +/**************************************************/ + +double icp6D_QUAT::cubic(double p, double q, double r) +/* + find the lowest real root of the cubic - + x**3 + p*x**2 + q*x + r = 0 + + input parameters - + p,q,r - coeffs of cubic equation. + + output- + cubic - a real root. + + method - + see D.E. Littlewood, "A University Algebra" pp.173 - 6 + + Charles Prineas April 1981 + +*/ +{ + //int nrts; + double po3,po3sq,qo3; + double uo3,u2o3,uo3sq4,uo3cu4; + double v,vsq,wsq; + double m,mcube=0.0,n; + double muo3,s,scube,t,cosk,sinsqk; + double root; + + double doubmax = sqrt(DBL_MAX); + + m = 0.0; + //nrts =0; + if ((p > doubmax) || (p < -doubmax)) { + root = -p; + } else if ((q > doubmax) || (q < -doubmax)) { + if (q > 0.0) root = -r/q; + else root = -sqrt(-q); + } else if ((r > doubmax)|| (r < -doubmax)) { + root = -cbrt(r); + } else { + po3 = p/3.0; + po3sq = po3*po3; + if (po3sq > doubmax) root = -p; + else { + v = r + po3*(po3sq + po3sq - q); + if ((v > doubmax) || (v < -doubmax)) + root = -p; + else { + vsq = v*v; + qo3 = q/3.0; + uo3 = qo3 - po3sq; + u2o3 = uo3 + uo3; + if ((u2o3 > doubmax) || (u2o3 < -doubmax)) { + if (p == 0.0) { + if (q > 0.0) root = -r/q; + else root = -sqrt(-q); + } else root = -q/p; + } + uo3sq4 = u2o3*u2o3; + if (uo3sq4 > doubmax) { + if (p == 0.0) { + if (q > 0.0) root = -r/q; + else root = -sqrt(fabs(q)); + } else root = -q/p; + } + uo3cu4 = uo3sq4*uo3; + wsq = uo3cu4 + vsq; + if (wsq >= 0.0) { + // + // cubic has one real root + // + //nrts = 1; + if (v <= 0.0) mcube = ( -v + sqrt(wsq))*.5; + if (v > 0.0) mcube = ( -v - sqrt(wsq))*.5; + m = cbrt(mcube); + if (m != 0.0) n = -uo3/m; + else n = 0.0; + root = m + n - po3; + } else { + //nrts = 3; + // + // cubic has three real roots + // + if (uo3 < 0.0) { + muo3 = -uo3; + s = sqrt(muo3); + scube = s*muo3; + t = -v/(scube+scube); + cosk = cos(acos(t)/3.0); + if (po3 < 0.0) + root = (s+s)*cosk - po3; + else { + sinsqk = 1.0 - cosk*cosk; + if (sinsqk < 0.0) sinsqk = 0.0; + root = s*( -cosk - sqrt(3*sinsqk)) - po3; + } + } else + // + // cubic has multiple root - + // + root = cbrt(v) - po3; + } + } + } + } + return root; +} /* cubic */ +/***************************************/ + + +// calculate the maximum eigenvector of a symmetric +// 4x4 matrix +// from B. Horn 1987 Closed-form solution of absolute +// orientation using unit quaternions (J.Opt.Soc.Am.A) +void icp6D_QUAT::maxEigenVector(double Q[4][4], double ev[4]) +{ + double N[4][4]; + double rts[4]; + double c[4]; + // find the coeffs for the characteristic eqn. + characteristicPol(Q, c); + // find roots + ferrari(c[0], c[1], c[2], c[3], rts); + // find maximum root = maximum eigenvalue + double l = rts[0]; + if (rts[1] > l) l = rts[1]; + if (rts[2] > l) l = rts[2]; + if (rts[3] > l) l = rts[3]; + + // create the Q - l*I matrix + N[0][0]=Q[0][0]-l;N[0][1]=Q[0][1] ;N[0][2]=Q[0][2]; N[0][3]=Q[0][3]; + N[1][0]=Q[1][0]; N[1][1]=Q[1][1]-l;N[1][2]=Q[1][2]; N[1][3]=Q[1][3]; + N[2][0]=Q[2][0]; N[2][1]=Q[2][1] ;N[2][2]=Q[2][2]-l;N[2][3]=Q[2][3]; + N[3][0]=Q[3][0]; N[3][1]=Q[3][1] ;N[3][2]=Q[3][2];N[3][3]=Q[3][3]-l; + // the columns of the inverted matrix should be multiples of + // the eigenvector, pick the largest + int ipiv[4]; + double best[4], curr[4]; + if (LU_factor(N, ipiv)) { + cerr << "maxEigenVector():" << endl; + cerr << "LU_factor failed!" << endl; + cerr << "return identity quaternion" << endl; + ev[0] = 1.0; + ev[1] = ev[2] = ev[3] = 0.0; + return; + } + best[1] = best[2] = best[3] = 0; best[0] = 1; + LU_solve(N, ipiv, best); + double len = + best[0]*best[0] + best[1]*best[1] + + best[2]*best[2] + best[3]*best[3]; + for (int i=1; i<4; i++) { + curr[0] = curr[1] = curr[2] = curr[3] = 0; curr[i] = 1; + LU_solve(N, ipiv, curr); + double tlen = + curr[0]*curr[0] + curr[1]*curr[1] + + curr[2]*curr[2] + curr[3]*curr[3]; + if (tlen > len) { + len = tlen; + best[0] = curr[0]; + best[1] = curr[1]; + best[2] = curr[2]; + best[3] = curr[3]; + } + } + // normalize the result + len = 1.0/sqrt(len); + ev[0] = best[0]*len; + ev[1] = best[1]*len; + ev[2] = best[2]*len; + ev[3] = best[3]*len; +} + +// find the coefficients of the characteristic eqn. +// l^4 + a l^3 + b l^2 + c l + d = 0 +// for a symmetric 4x4 matrix +void icp6D_QUAT::characteristicPol(double Q[4][4], double c[4]) +{ + // squares + double q01_2 = Q[0][1] * Q[0][1]; + double q02_2 = Q[0][2] * Q[0][2]; + double q03_2 = Q[0][3] * Q[0][3]; + double q12_2 = Q[1][2] * Q[1][2]; + double q13_2 = Q[1][3] * Q[1][3]; + double q23_2 = Q[2][3] * Q[2][3]; + + // other factors + double q0011 = Q[0][0] * Q[1][1]; + double q0022 = Q[0][0] * Q[2][2]; + double q0033 = Q[0][0] * Q[3][3]; + double q0102 = Q[0][1] * Q[0][2]; + double q0103 = Q[0][1] * Q[0][3]; + double q0223 = Q[0][2] * Q[2][3]; + double q1122 = Q[1][1] * Q[2][2]; + double q1133 = Q[1][1] * Q[3][3]; + double q1223 = Q[1][2] * Q[2][3]; + double q2233 = Q[2][2] * Q[3][3]; + + // a + c[0] = -Q[0][0] - Q[1][1] - Q[2][2] - Q[3][3]; + + // b + c[1] = - q01_2 - q02_2 - q03_2 + q0011 - q12_2 - + q13_2 + q0022 + q1122 - q23_2 + q0033 + q1133 + + q2233; + + // c + c[2] = (q02_2 + q03_2 + q23_2)*Q[1][1] - 2*q0102*Q[1][2] + + (q12_2 + q13_2 + q23_2)*Q[0][0] + + (q01_2 + q03_2 - q0011 + q13_2 - q1133)*Q[2][2] - + 2*Q[0][3]*q0223 - 2*(q0103 + q1223)*Q[1][3] + + (q01_2 + q02_2 - q0011 + q12_2 - q0022)*Q[3][3]; + + // d + c[3] = 2*(-Q[0][2]*Q[0][3]*Q[1][2] + q0103*Q[2][2] - + Q[0][1]*q0223 + Q[0][0]*q1223)*Q[1][3] + + q02_2*q13_2 - q03_2*q1122 - q13_2*q0022 + + 2*Q[0][3]*Q[1][1]*q0223 - 2*q0103*q1223 + q01_2*q23_2 - + q0011*q23_2 - q02_2*q1133 + q03_2*q12_2 + + 2*q0102*Q[1][2]*Q[3][3] - q12_2*q0033 - q01_2*q2233 + + q0011*q2233; +} + +double icp6D_QUAT::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], + double *alignfx) +{ + double s = 0.0; + double ret; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // formula (4) + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + } + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + ret = sqrt(s / (double)pairs_size); + if (!quiet) { + cout.setf(ios::basefield); + cout << "PQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << ret + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + double S[3][3]; + double Q[4][4]; + int i,j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + S[i][j] = 0; + + // calculate the cross covariance matrix + // formula (5) + for (int i = 0; i < openmp_num_threads; i++) { + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + S[j][k] += Si[i][k*3+j] + n[i] * ((centroid_d[i][j] - cd[j]) * (centroid_m[i][k] - cm[k])) ; + } + } + } + + S[0][0] -= cd[0] * cm[0]; + S[0][1] -= cd[0] * cm[1]; + S[0][2] -= cd[0] * cm[2]; + S[1][0] -= cd[1] * cm[0]; + S[1][1] -= cd[1] * cm[1]; + S[1][2] -= cd[1] * cm[2]; + S[2][0] -= cd[2] * cm[0]; + S[2][1] -= cd[2] * cm[1]; + S[2][2] -= cd[2] * cm[2]; + + // calculate the 4x4 symmetric matrix Q + double trace = S[0][0] + S[1][1] + S[2][2]; + double A23 = S[1][2] - S[2][1]; + double A31 = S[2][0] - S[0][2]; + double A12 = S[0][1] - S[1][0]; + + Q[0][0] = trace; + Q[0][1] = Q[1][0] = A23; + Q[0][2] = Q[2][0] = A31; + Q[0][3] = Q[3][0] = A12; + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + Q[i+1][j+1] = S[i][j]+S[j][i]-(i==j ? trace : 0); + + // the quaternion + double q[7]; + + maxEigenVector(Q, q); + + // calculate the rotation matrix + double m[3][3]; // rot matrix + quaternion2matrix(q, m); + + M4identity(alignfx); + + alignfx[0] = m[0][0]; + alignfx[1] = m[1][0]; + alignfx[2] = m[2][0]; + alignfx[3] = 0.0; + alignfx[4] = m[0][1]; + alignfx[5] = m[1][1]; + alignfx[6] = m[2][1]; + alignfx[7] = 0.0; + alignfx[8] = m[0][2]; + alignfx[9] = m[1][2]; + alignfx[10] = m[2][2]; + alignfx[11] = 0.0; + + // calculate the translation vector, + alignfx[12] = cm[0] - m[0][0]*cd[0] - m[0][1]*cd[1] - m[0][2]*cd[2]; + alignfx[13] = cm[1] - m[1][0]*cd[0] - m[1][1]*cd[1] - m[1][2]*cd[2]; + alignfx[14] = cm[2] - m[2][0]*cd[0] - m[2][1]*cd[1] - m[2][2]*cd[2]; + + return ret; +} diff --git a/.svn/pristine/83/83a0ccfb3105d0ec892fab73cff93ad6373e71eb.svn-base b/.svn/pristine/83/83a0ccfb3105d0ec892fab73cff93ad6373e71eb.svn-base new file mode 100644 index 0000000..7cc24ed --- /dev/null +++ b/.svn/pristine/83/83a0ccfb3105d0ec892fab73cff93ad6373e71eb.svn-base @@ -0,0 +1,37 @@ +/* include/config.h. Generated by configure. */ +/* include/config.h.in. Generated automatically from configure.in by autoheader. */ + +/* Define to empty if the keyword does not work. */ +/* #undef const */ + +/* Define if the setvbuf function takes the buffering type as its second + argument and the buffer pointer as the third, as on System V + before release 3. */ +/* #undef SETVBUF_REVERSED */ + +/* Define if you have the ANSI C header files. */ +#define STDC_HEADERS 1 + +/* Define if you have the gettimeofday function. */ +#define HAVE_GETTIMEOFDAY 1 + +/* Define if you have the popen function. */ +#define HAVE_POPEN 1 + +/* Define if you have the wcschr function. */ +#define HAVE_WCSCHR 1 + +/* Define if you have the wcsdup function. */ +#define HAVE_WCSDUP 1 + +/* Define if you have the header file. */ +//#define HAVE_PAM_H 1 + +/* Define if you have the header file. */ +#define HAVE_PNM_H 1 + +/* Define if you have the header file. */ +#define HAVE_UNISTD_H 1 + +/* Define if you have the header file. */ +#define HAVE_WCHAR_H 1 diff --git a/.svn/pristine/83/83c644cf4bd8d8ac99735df4cce692bff33f67d7.svn-base b/.svn/pristine/83/83c644cf4bd8d8ac99735df4cce692bff33f67d7.svn-base new file mode 100644 index 0000000..e17c732 --- /dev/null +++ b/.svn/pristine/83/83c644cf4bd8d8ac99735df4cce692bff33f67d7.svn-base @@ -0,0 +1,187 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ply.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the PLY file format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_ply::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist)); + + int my_fileNr = fileCounter; + + ifstream scan_in, pose_in; + + for (int i=0; i < 6; i++) euler[i] = 0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".ply"; + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more scans to read + + bool binary = false; + char dummy[256]; + char str[20]; // whatever size + double matrix[16]; + int matrixPos = 0; + int nr; + float d1,d2,d3,d4; + sscanf(dummy,"%s %*s %d",str,&nr); + + // header + int counter = -2; + do { + if(counter > -2) counter++; + scan_in.getline(dummy, 255); + if (strncmp(dummy, "format", 6) == 0) { + if (dummy[7] == 'a') binary = false; + else if (dummy[7] == 'b') binary = true; + else { cerr << "Don't recognize the format!" << endl; exit(1); } + } + else if (strncmp(dummy, "element vertex", 14) == 0) { + sscanf(dummy,"%s %*s %d",str,&nr); + counter++; + } + else if (strncmp(dummy, "matrix", 6) == 0) { + sscanf(dummy,"%s %f %f %f %f", str, &d1, &d2, &d3, &d4); + matrix[matrixPos++] = d1; + matrix[matrixPos++] = d2; + matrix[matrixPos++] = d3; + matrix[matrixPos++] = d4; + } + } while (!(strncmp(dummy, "end_header",10) == 0 || !scan_in.good())); + + if (matrixPos > 0) { + double rPosTheta[3]; + double rPos[3]; + Matrix4ToEuler(matrix, rPosTheta, rPos); + } + + for (int i=0; i < nr; i++) { + Point p; + float data, confidence, intensity; + float dummy; + int r, g, b; + if (!binary) { + //scan_in >> p.z >> p.x >> p.y >> r >> g >> b; + switch(counter) { + case 6: + case 12: + scan_in >> p.z >> p.y >> p.x >> r >> g >> b; + break; + case 9: + //scan_in >> p.z >> p.x >> p.y >> dummy >> dummy >> dummy >> r >> g >> b; + scan_in >> p.z >> p.y >> p.x >> dummy >> dummy >> dummy >> r >> g >> b; + break; + default: + scan_in >> p.z >> p.x >> p.y >> confidence >> intensity; + break; + } + if(counter == 6 || counter == 9 || counter == 12) { + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + } else { + p.reflectance = intensity; + } + } else { + scan_in.read((char*)&data, sizeof(float)); + p.z = (double)data; + scan_in.read((char*)&data, sizeof(float)); + p.x = (double)data; + scan_in.read((char*)&data, sizeof(float)); + p.y = (double)data; + scan_in.read((char*)&confidence, sizeof(float)); + scan_in.read((char*)&intensity, sizeof(float)); + } + + if (maxDist2 == -1 || (int)(sqr(p.x) + sqr(p.y) + sqr(p.z)) < maxDist2) + ptss.push_back(p); + } + + cout << "Processing Scan " << scanFileName; + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ply; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/83/83d08297e30c8b5792cc9e3a194b0a907bb44772.svn-base b/.svn/pristine/83/83d08297e30c8b5792cc9e3a194b0a907bb44772.svn-base new file mode 100644 index 0000000..2216373 --- /dev/null +++ b/.svn/pristine/83/83d08297e30c8b5792cc9e3a194b0a907bb44772.svn-base @@ -0,0 +1,170 @@ +//$$ newmatrc.h definition file for row/column classes + +// Copyright (C) 1991,2,3,4,7: R B Davies + +#ifndef NEWMATRC_LIB +#define NEWMATRC_LIB 0 + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#include "controlw.h" + + +/************** classes MatrixRowCol, MatrixRow, MatrixCol *****************/ + +// Used for accessing the rows and columns of matrices +// All matrix classes must provide routines for calculating matrix rows and +// columns. Assume rows can be found very efficiently. + +enum LSF { LoadOnEntry=1,StoreOnExit=2,DirectPart=4,StoreHere=8,HaveStore=16 }; + + +class LoadAndStoreFlag : public ControlWord +{ +public: + LoadAndStoreFlag() {} + LoadAndStoreFlag(int i) : ControlWord(i) {} + LoadAndStoreFlag(LSF lsf) : ControlWord(lsf) {} + LoadAndStoreFlag(const ControlWord& cwx) : ControlWord(cwx) {} +}; + +class MatrixRowCol +// the row or column of a matrix +{ +public: // these are public to avoid + // numerous friend statements + int length; // row or column length + int skip; // initial number of zeros + int storage; // number of stored elements + int rowcol; // row or column number + GeneralMatrix* gm; // pointer to parent matrix + Real* data; // pointer to local storage + LoadAndStoreFlag cw; // Load? Store? Is a Copy? + void IncrMat() { rowcol++; data += storage; } // used by NextRow + void IncrDiag() { rowcol++; skip++; data++; } + void IncrId() { rowcol++; skip++; } + void IncrUT() { rowcol++; data += storage; storage--; skip++; } + void IncrLT() { rowcol++; data += storage; storage++; } + +public: + void Zero(); // set elements to zero + void Add(const MatrixRowCol&); // add a row/col + void AddScaled(const MatrixRowCol&, Real); // add a multiple of a row/col + void Add(const MatrixRowCol&, const MatrixRowCol&); + // add two rows/cols + void Add(const MatrixRowCol&, Real); // add a row/col + void NegAdd(const MatrixRowCol&, Real); // Real - a row/col + void Sub(const MatrixRowCol&); // subtract a row/col + void Sub(const MatrixRowCol&, const MatrixRowCol&); + // sub a row/col from another + void RevSub(const MatrixRowCol&); // subtract from a row/col + void ConCat(const MatrixRowCol&, const MatrixRowCol&); + // concatenate two row/cols + void Multiply(const MatrixRowCol&); // multiply a row/col + void Multiply(const MatrixRowCol&, const MatrixRowCol&); + // multiply two row/cols + void KP(const MatrixRowCol&, const MatrixRowCol&); + // Kronecker Product two row/cols + void Copy(const MatrixRowCol&); // copy a row/col + void CopyCheck(const MatrixRowCol&); // ... check for data loss + void Check(const MatrixRowCol&); // just check for data loss + void Check(); // check full row/col present + void Copy(const Real*&); // copy from an array + void Copy(Real); // copy from constant + void Add(Real); // add a constant + void Multiply(Real); // multiply by constant + Real SumAbsoluteValue(); // sum of absolute values + Real MaximumAbsoluteValue1(Real r, int& i); // maximum of absolute values + Real MinimumAbsoluteValue1(Real r, int& i); // minimum of absolute values + Real Maximum1(Real r, int& i); // maximum + Real Minimum1(Real r, int& i); // minimum + Real Sum(); // sum of values + void Inject(const MatrixRowCol&); // copy stored els of a row/col + void Negate(const MatrixRowCol&); // change sign of a row/col + void Multiply(const MatrixRowCol&, Real); // scale a row/col + friend Real DotProd(const MatrixRowCol&, const MatrixRowCol&); + // sum of pairwise product + Real* Data() { return data; } + int Skip() { return skip; } // number of elements skipped + int Storage() { return storage; } // number of elements stored + int Length() { return length; } // length of row or column + void Skip(int i) { skip=i; } + void Storage(int i) { storage=i; } + void Length(int i) { length=i; } + void SubRowCol(MatrixRowCol&, int, int) const; + // get part of a row or column + MatrixRowCol() {} // to stop warning messages + ~MatrixRowCol(); + FREE_CHECK(MatrixRowCol) +}; + +class MatrixRow : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixRow(GeneralMatrix*, LoadAndStoreFlag, int=0); + // extract a row + ~MatrixRow(); + void Next(); // get next row + FREE_CHECK(MatrixRow) +}; + +class MatrixCol : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixCol(GeneralMatrix*, LoadAndStoreFlag, int=0); + // extract a col + MatrixCol(GeneralMatrix*, Real*, LoadAndStoreFlag, int=0); + // store/retrieve a col + ~MatrixCol(); + void Next(); // get next row + FREE_CHECK(MatrixCol) +}; + +// MatrixColX is an alternative to MatrixCol where the complete +// column is stored externally + +class MatrixColX : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixColX(GeneralMatrix*, Real*, LoadAndStoreFlag, int=0); + // store/retrieve a col + ~MatrixColX(); + void Next(); // get next row + Real* store; // pointer to local storage + // less skip + FREE_CHECK(MatrixColX) +}; + +/**************************** inline bodies ****************************/ + +inline MatrixRow::MatrixRow(GeneralMatrix* gmx, LoadAndStoreFlag cwx, int row) +{ gm=gmx; cw=cwx; rowcol=row; gm->GetRow(*this); } + +inline void MatrixRow::Next() { gm->NextRow(*this); } + +inline MatrixCol::MatrixCol(GeneralMatrix* gmx, LoadAndStoreFlag cwx, int col) +{ gm=gmx; cw=cwx; rowcol=col; gm->GetCol(*this); } + +inline MatrixCol::MatrixCol(GeneralMatrix* gmx, Real* r, + LoadAndStoreFlag cwx, int col) +{ gm=gmx; data=r; cw=cwx+StoreHere; rowcol=col; gm->GetCol(*this); } + +inline MatrixColX::MatrixColX(GeneralMatrix* gmx, Real* r, + LoadAndStoreFlag cwx, int col) +{ gm=gmx; store=data=r; cw=cwx+StoreHere; rowcol=col; gm->GetCol(*this); } + + +inline void MatrixCol::Next() { gm->NextCol(*this); } + +inline void MatrixColX::Next() { gm->NextCol(*this); } + +#ifdef use_namespace +} +#endif + +#endif diff --git a/.svn/pristine/83/83e02dd194de2159c56fa35afd43cd6c2258ef99.svn-base b/.svn/pristine/83/83e02dd194de2159c56fa35afd43cd6c2258ef99.svn-base new file mode 100644 index 0000000..049aefb --- /dev/null +++ b/.svn/pristine/83/83e02dd194de2159c56fa35afd43cd6c2258ef99.svn-base @@ -0,0 +1,178 @@ +/* + * scan_io_uos implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_uos.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_uos::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_uos::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_uos::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_uos::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + + // aquire header informations + /* OPTIONAL: the header isn't always there, would require a sanity check + unsigned int n, m; + char[3] dummy; + data_file >> n; + for(unsigned int i = 0; i < 3; ++i) data_file >> dummy[i]; + data_file >> m; + values.reserve(n*m*3); + */ + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // apply filter and insert point + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/84/840c1559b09cae945e654171b38a06339bf0692b.svn-base b/.svn/pristine/84/840c1559b09cae945e654171b38a06339bf0692b.svn-base new file mode 100644 index 0000000..6359988 --- /dev/null +++ b/.svn/pristine/84/840c1559b09cae945e654171b38a06339bf0692b.svn-base @@ -0,0 +1,79 @@ +readme.txt for wxThings + +block.h/cpp - wxBlockInt is a wxGridSelection type class based on +wxRect2DInt to store selected 2-D rectangular areas. It knows how to +combine with other blocks. wxBlockIntSelection consists of an array +of wxBlockInts. It minimizes them if possible so they never overlap +and can sort them from each corner. + +range.h/cpp - wxRangeInt min/max class for storing a 1-D range of +values and knows how to combine with other wxRangeInts. +wxRangeIntSelection contains an array of wxRangeInts and minimizes them +if possible, they never overlap, and always stay in order from low to +high. wxRangeDbl and wxRangeDblSelection is the same, but for double +valued ranges. + +filebrws.h/cpp & filebrws_icons_wdr.h - wxFileBrowser is an Explorer +type wiget with a tree view of dirs and a list/icon view of files with +optional image preview. Not fully completed, but works. You need wxWidgets +CVS HEAD, >= 2.5. + +geometry.h/cpp - wxCircleInt, wxCircleDouble, wxRay2DDouble, wxRay2DInt +wxEllipseInt, wxEllipseDouble, etc... not fully finished. + +genergdi.h/cpp - wxGenericColour, wxGenericPen. A color and pen that store +the values themselves and have identical functions as wxColour and wxPen. +They do not require a GUI and are suited to instances where you may want to +store a considerable number of different ones. + +optvalue.h/cpp - wxOptionValue class contains a string type and two +arrays of options and values. It works on the same format as the +wxFileConfig class and can load and save to a string/stream. +[opt valuetype] +option1 = value1 +option2 = value2 + +spinctld.h/cpp - wxSpinCtrlDbl is a drop in replacement for a +wxSpinCtrl that uses doubles with extra features such as, ESC sets +'default' value, SPACE sets the control to the last valid value, using +SHIFT,CTRL,ALT work as multipliers for the increment when using the +arrow keys or PgUp/PgDn. It can display in decimal or exponential +format and can 'guess' the number of appropriate digits from the +increment or you can set it yourself. + +toggle.h/cpp - wxCustomButton a toggle type button that can act like a +wxButton, wxBitmapButton, wxToggleButton (w/ image or not). It is a +drop in replacement for each of these controls. It can display the icon +along with the text (on any side) and can create a "greyed" +out image to use when the button is disabled. It can also do weird +things like act like a button on a single click and a toggle on double +click. Note: to differentiate between single and double clicks a timer +is used, if you want it to be just a regular toggle button I suggest +you remove the timer code. + +dropdown.h/cpp - DropDownBase a base class for a combobox type widget. It +manages a wxPopupTransientWindow as a child. See wxBitmapComboBox. + +bmpcombo.h/cpp - wxBitmapComboBox is a wxComboBox widget for bitmaps. You +Append some bitmaps either individually or with an array. Since bitmaps are +refed this should be a fast process and you don't have to keep them around. +It acts just like a wxComboBox otherwise, sends a EVT_COMBOBOX when selections +are made with either the mouse on the pulldown list or by pressing the up/down +arrows. There is a problem in wxGTK when this is used in a modal dialog, the +mouse events do not go to the popup transient window's child and so you cannot +select items, the keys still work though. + +menubtn.h/cpp - wxMenuButton is a button with a label and/or bitmap +and a combobox type dropbown to the right of it. You can attach a menu +to it and the dropdown button shows the menu. If you click on the label +button the next wxITEM_RADIO in the attached menu is selected in a +round robin fashion. If there are no radio items then the label button +does nothing. + +medsort.h - Various Public Domain median finding or sorting +macros, a quick select routine, wirth's kth smallest, torben median, +pixel qsort, and a pixel qsort that sorts two arrays together (only one +is used for the comparison, the other just follows). They can be +DECLARED in headers, DEFINED in you cpp files, or just used inline. +Since they're macros you can set if they're for arrays of doubles, +ints, chars... diff --git a/.svn/pristine/84/8415948404b4aacade4a20864b55a0a0840035a8.svn-base b/.svn/pristine/84/8415948404b4aacade4a20864b55a0a0840035a8.svn-base new file mode 100644 index 0000000..f9ba8b5 --- /dev/null +++ b/.svn/pristine/84/8415948404b4aacade4a20864b55a0a0840035a8.svn-base @@ -0,0 +1,496 @@ +/// \ingroup rbd_common +///@{ + +/// \file myexcept.cpp +/// Exception handler. +/// The low level classes for +/// - my exception class hierarchy +/// - the functions needed for my simulated exceptions +/// - the Tracer mechanism +/// - routines for checking whether new and delete calls are balanced +/// + +// Copyright (C) 1993,4,6: R B Davies + + +#define WANT_STREAM // include.h will get stream fns +#define WANT_STRING + +#include "include.h" // include standard files + + +#include "myexcept.h" // for exception handling + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +//#define REG_DEREG // for print out uses of new/delete +//#define CLEAN_LIST // to print entries being added to + // or deleted from cleanup list + +#ifdef SimulateExceptions + +void Throw() +{ + for (Janitor* jan = JumpBase::jl->janitor; jan; jan = jan->NextJanitor) + jan->CleanUp(); + JumpItem* jx = JumpBase::jl->ji; // previous jumpbase; + if ( !jx ) { Terminate(); } // jl was initial JumpItem + JumpBase::jl = jx; // drop down a level; cannot be in front + // of previous line + Tracer::last = JumpBase::jl->trace; + longjmp(JumpBase::jl->env, 1); +} + +#endif // end of simulate exceptions + + +unsigned long BaseException::Select; +char* BaseException::what_error; +int BaseException::SoFar; +int BaseException::LastOne; + +BaseException::BaseException(const char* a_what) +{ + Select++; SoFar = 0; + if (!what_error) // make space for exception message + { + LastOne = 511; + what_error = new char[512]; + if (!what_error) // fail to make space + { + LastOne = 0; + what_error = (char *)"No heap space for exception message\n"; + } + } + AddMessage("\n\nAn exception has been thrown\n"); + AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +void BaseException::AddMessage(const char* a_what) +{ + if (a_what) + { + int l = strlen(a_what); int r = LastOne - SoFar; + if (l < r) { strcpy(what_error+SoFar, a_what); SoFar += l; } + else if (r > 0) + { + strncpy(what_error+SoFar, a_what, r); + what_error[LastOne] = 0; + SoFar = LastOne; + } + } +} + +void BaseException::AddInt(int value) +{ + bool negative; + if (value == 0) { AddMessage("0"); return; } + else if (value < 0) { value = -value; negative = true; } + else negative = false; + int n = 0; int v = value; // how many digits will we need? + while (v > 0) { v /= 10; n++; } + if (negative) n++; + if (LastOne-SoFar < n) { AddMessage("***"); return; } + + SoFar += n; n = SoFar; what_error[n] = 0; + while (value > 0) + { + int nv = value / 10; int rm = value - nv * 10; value = nv; + what_error[--n] = (char)(rm + '0'); + } + if (negative) what_error[--n] = '-'; + return; +} + +void Tracer::PrintTrace() +{ + cout << "\n"; + for (Tracer* et = last; et; et=et->previous) + cout << " * " << et->entry << "\n"; +} + +void Tracer::AddTrace() +{ + if (last) + { + BaseException::AddMessage("Trace: "); + BaseException::AddMessage(last->entry); + for (Tracer* et = last->previous; et; et=et->previous) + { + BaseException::AddMessage("; "); + BaseException::AddMessage(et->entry); + } + BaseException::AddMessage(".\n"); + } +} + +#ifdef SimulateExceptions + + +Janitor::Janitor() +{ + if (do_not_link) + { + do_not_link = false; NextJanitor = 0; OnStack = false; +#ifdef CLEAN_LIST + cout << "Not added to clean-list " << (unsigned long)this << "\n"; +#endif + } + else + { + OnStack = true; +#ifdef CLEAN_LIST + cout << "Add to clean-list " << (unsigned long)this << "\n"; +#endif + NextJanitor = JumpBase::jl->janitor; JumpBase::jl->janitor=this; + } +} + +Janitor::~Janitor() +{ + // expect the item to be deleted to be first on list + // but must be prepared to search list + if (OnStack) + { +#ifdef CLEAN_LIST + cout << "Delete from clean-list " << (unsigned long)this << "\n"; +#endif + Janitor* lastjan = JumpBase::jl->janitor; + if (this == lastjan) JumpBase::jl->janitor = NextJanitor; + else + { + for (Janitor* jan = lastjan->NextJanitor; jan; + jan = lastjan->NextJanitor) + { + if (jan==this) + { lastjan->NextJanitor = jan->NextJanitor; return; } + lastjan=jan; + } + + Throw(BaseException( +"Cannot resolve memory linked list\nSee notes in myexcept.cpp for details\n" + )); + + +// This message occurs when a call to ~Janitor() occurs, apparently +// without a corresponding call to Janitor(). This could happen if my +// way of deciding whether a constructor is being called by new +// fails. + +// It may happen if you are using my simulated exceptions and also have +// your compiler s exceptions turned on. + +// It can also happen if you have a class derived from Janitor +// which does not include a copy constructor [ eg X(const &X) ]. +// Possibly also if delete is applied an object on the stack (ie not +// called by new). Otherwise, it is a bug in myexcept or your compiler. +// If you do not #define TEMPS_DESTROYED_QUICKLY you will get this +// error with Microsoft C 7.0. There are probably situations where +// you will get this when you do define TEMPS_DESTROYED_QUICKLY. This +// is a bug in MSC. Beware of "operator" statements for defining +// conversions; particularly for converting from a Base class to a +// Derived class. + +// You may get away with simply deleting this error message and Throw +// statement if you can not find a better way of overcoming the +// problem. In any case please tell me if you get this error message, +// particularly for compilers apart from Microsoft C 7.0. + + + } + } +} + +JumpItem* JumpBase::jl; // will be set to zero +jmp_buf JumpBase::env; +bool Janitor::do_not_link; // will be set to false + + +int JanitorInitializer::ref_count; + +JanitorInitializer::JanitorInitializer() +{ + if (ref_count++ == 0) new JumpItem; + // need JumpItem at head of list +} + +#endif // end of SimulateExceptions + +Tracer* Tracer::last; // will be set to zero + + +void Terminate() +{ + cout << "\n\nThere has been an exception with no handler - exiting"; + const char* what = BaseException::what(); + if (what) cout << what << "\n"; + exit(1); +} + + + +#ifdef DO_FREE_CHECK +// Routines for tracing whether new and delete calls are balanced + +FreeCheckLink::FreeCheckLink() : next(FreeCheck::next) + { FreeCheck::next = this; } + +FCLClass::FCLClass(void* t, char* name) : ClassName(name) { ClassStore=t; } + +FCLRealArray::FCLRealArray(void* t, char* o, int s) + : Operation(o), size(s) { ClassStore=t; } + +FCLIntArray::FCLIntArray(void* t, char* o, int s) + : Operation(o), size(s) { ClassStore=t; } + +FreeCheckLink* FreeCheck::next; +int FreeCheck::BadDelete; + +void FCLClass::Report() +{ cout << " " << ClassName << " " << (unsigned long)ClassStore << "\n"; } + +void FCLRealArray::Report() +{ + cout << " " << Operation << " " << (unsigned long)ClassStore << + " " << size << "\n"; +} + +void FCLIntArray::Report() +{ + cout << " " << Operation << " " << (unsigned long)ClassStore << + " " << size << "\n"; +} + +void FreeCheck::Register(void* t, char* name) +{ + FCLClass* f = new FCLClass(t,name); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << "Registering " << name << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::RegisterR(void* t, char* o, int s) +{ + FCLRealArray* f = new FCLRealArray(t,o,s); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::RegisterI(void* t, char* o, int s) +{ + FCLIntArray* f = new FCLIntArray(t,o,s); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::DeRegister(void* t, char* name) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << "Deregistering " << name << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent object of class and location:\n"; + cout << " " << name << " " << (unsigned long)t << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::DeRegisterR(void* t, char* o, int s) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + if (s >= 0 && ((FCLRealArray*)fcl)->size != s) + { + cout << "\nArray sizes do not agree:\n"; + cout << " " << o << " " << (unsigned long)t + << " " << ((FCLRealArray*)fcl)->size << " " << s << "\n"; + Tracer::PrintTrace(); + cout << "\n"; + } + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent real array:\n"; + cout << " " << o << " " << (unsigned long)t << " " << s << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::DeRegisterI(void* t, char* o, int s) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + if (s >= 0 && ((FCLIntArray*)fcl)->size != s) + { + cout << "\nArray sizes do not agree:\n"; + cout << " " << o << " " << (unsigned long)t + << " " << ((FCLIntArray*)fcl)->size << " " << s << "\n"; + Tracer::PrintTrace(); + cout << "\n"; + } + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent int array:\n"; + cout << " " << o << " " << (unsigned long)t << " " << s << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::Status() +{ + if (next) + { + cout << "\nObjects of the following classes remain undeleted:\n"; + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) fcl->Report(); + cout << "\n"; + } + else cout << "\nNo objects remain undeleted\n\n"; + if (BadDelete) + { + cout << "\nThere were " << BadDelete << + " requests to delete non-existent items\n\n"; + } +} + +#endif // end of DO_FREE_CHECK + +// derived exception bodies + +Logic_error::Logic_error(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("Logic error:- "); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Runtime_error::Runtime_error(const char* a_what) + : BaseException() +{ + Select = BaseException::Select; + AddMessage("Runtime error:- "); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Domain_error::Domain_error(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("domain error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Invalid_argument::Invalid_argument(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("invalid argument\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Length_error::Length_error(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("length error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Out_of_range::Out_of_range(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("out of range\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +//Bad_cast::Bad_cast(const char* a_what) : Logic_error() +//{ +// Select = BaseException::Select; +// AddMessage("bad cast\n"); AddMessage(a_what); +// if (a_what) Tracer::AddTrace(); +//} + +//Bad_typeid::Bad_typeid(const char* a_what) : Logic_error() +//{ +// Select = BaseException::Select; +// AddMessage("bad type id.\n"); AddMessage(a_what); +// if (a_what) Tracer::AddTrace(); +//} + +Range_error::Range_error(const char* a_what) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("range error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Overflow_error::Overflow_error(const char* a_what) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("overflow error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Bad_alloc::Bad_alloc(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("bad allocation\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + + + + +unsigned long Logic_error::Select; +unsigned long Runtime_error::Select; +unsigned long Domain_error::Select; +unsigned long Invalid_argument::Select; +unsigned long Length_error::Select; +unsigned long Out_of_range::Select; +//unsigned long Bad_cast::Select; +//unsigned long Bad_typeid::Select; +unsigned long Range_error::Select; +unsigned long Overflow_error::Select; +unsigned long Bad_alloc::Select; + +#ifdef use_namespace +} +#endif + + +///@} + diff --git a/.svn/pristine/84/84347ebb5cb83ba9ad312475fca5e0329eb5541f.svn-base b/.svn/pristine/84/84347ebb5cb83ba9ad312475fca5e0329eb5541f.svn-base new file mode 100644 index 0000000..5145973 --- /dev/null +++ b/.svn/pristine/84/84347ebb5cb83ba9ad312475fca5e0329eb5541f.svn-base @@ -0,0 +1,61 @@ +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPH_HOGMAN_H__ +#define __GRAPH_HOGMAN_H__ + +#include "graphSlam6D.h" + +class graphHOGMan : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + graphHOGMan() {}; + /** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Which nearest neigbor search method shall we use + * @param epsilonLUM Termination criterion for LUM + */ + graphHOGMan(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) + { } + + virtual ~graphHOGMan() + { + delete my_icp; + } + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + +}; + +#endif diff --git a/.svn/pristine/84/84c16b235ce8297a897b522a39bd5da13c1925fe.svn-base b/.svn/pristine/84/84c16b235ce8297a897b522a39bd5da13c1925fe.svn-base new file mode 100644 index 0000000..987c96b --- /dev/null +++ b/.svn/pristine/84/84c16b235ce8297a897b522a39bd5da13c1925fe.svn-base @@ -0,0 +1,100 @@ +0.0902484 -0.207129 -0.419567 0.485743 0.826225 -0.30962 0.694758 0.987088 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Dumitru + * @date 13 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/util.h" + +#include // stat() +#include +#include + +#include +using namespace std; + +//============================================================================== +// Implementation +//============================================================================== +bool model::sameSide(const Point3d& p1, + const Point3d& p2, const Point3d& a, const Point3d& b) +{ + // compute the required vectors + Vector3d ba; + ba.x = b.x - a.x; + ba.y = b.y - a.y; + ba.z = b.z - a.z; + + Vector3d p1a; + p1a.x = p1.x - a.x; + p1a.y = p1.y - a.y; + p1a.z = p1.z - a.z; + + Vector3d p2a; + p2a.x = p2.x - a.x; + p2a.y = p2.y - a.y; + p2a.z = p2.z - a.z; + + // do the cross products + Vector3d cp1 = ba.crossProduct(p1a); + Vector3d cp2 = ba.crossProduct(p2a); + + // compute the dotproduct + double dotProduct = cp1.x * cp2.x + cp1.y * cp2.y + cp1.z * cp2.z; + + if (dotProduct >= 0) { + return true; + } + else { + return false; + } +} + +bool model::insideHull(const Point3d& pt, const vector& hull) { + if (hull.size() <= 0) { + throw runtime_error("hull cannot be empty"); + } + + Point3d center(0.0, 0.0, 0.0); + + for (unsigned int i = 0; i < hull.size(); ++i) { + center.x += hull[i].x; + center.y += hull[i].y; + center.z += hull[i].z; + } + center = center / hull.size(); + + for (unsigned int i = 0; i < hull.size() - 1; ++i) { + if (sameSide(pt, center, hull[i], hull[i+1]) && + sameSide(pt, hull[i], center, hull[i+1]) && + sameSide(pt, hull[i+1], center, hull[i])) + { + return true; + } + } + + if (sameSide(pt, center, hull[hull.size()-1], hull[0]) && + sameSide(pt, hull[hull.size()-1], center, hull[0]) && + sameSide(pt, hull[0], center, hull[hull.size()-1])) + { + return true; + } + + return false; +} + +vector model::getHorizontalConvexHull(vector points) { + if (points.size() <= 3) { + return points; + } + + vector hull; + vector::iterator leftmostIt = points.begin(); + + // compute the lefmost point + for (vector::iterator it = points.begin() + 1; + it != points.end(); ++it) + { + if (it->x < leftmostIt->x) { + leftmostIt = it; + } + } + + Point3d pointOnHull = *leftmostIt; + Point3d endPoint; + + do { + // add the candidate point to the hull + hull.push_back(pointOnHull); + endPoint = points[0]; + + for (unsigned int j = 1; j < points.size(); ++j) { + // define dummy points in the XOZ plane + Point3d fakeCurPt(points[j].x, 0.0, points[j].z); + Point3d fakePointOnHull(pointOnHull.x, 0.0, pointOnHull.z); + Point3d fakeEndPoint(endPoint.x, 0.0, endPoint.z); + + // define a point to the left of the line + Point3d farLeft = fakeEndPoint; + farLeft.rotate(pointOnHull, Rotation3d(0.0, -M_PI/6, 0.0)); + + // if ... or points[j] on the left side of line (pointOnHull, endPoint) + if (pointOnHull != points[j] && + (endPoint == pointOnHull || sameSide(fakeCurPt, farLeft, fakePointOnHull, fakeEndPoint))) + { + endPoint = points[j]; + } + } + + pointOnHull = endPoint; + + } while (endPoint != hull[0]); + + return hull; +} + +bool model::fileExists(const string& fileName) { + struct stat buffer ; + if (stat(fileName.c_str(), &buffer)) return false; // ret 0 for found + return true; +} + +bool model::fileIsDir(const string& fileName) { + struct stat buffer; + int status = stat(fileName.c_str(), &buffer); + + if (status != 0 || S_ISREG(buffer.st_mode)) { + return false; + } + + if (S_ISDIR(buffer.st_mode)) { + return true; + } + + return false; +} + +bool model::makeDir(const string& path) { + if (fileExists(path) && fileIsDir(path)) { + return true; + } + + return (mkdir(path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO) == 0 ? true : false); +} diff --git a/.svn/pristine/85/8558b059f349f14fc583f6af2ef10c56bd455dee.svn-base b/.svn/pristine/85/8558b059f349f14fc583f6af2ef10c56bd455dee.svn-base new file mode 100644 index 0000000..cd0b3fa --- /dev/null +++ b/.svn/pristine/85/8558b059f349f14fc583f6af2ef10c56bd455dee.svn-base @@ -0,0 +1,234 @@ +/* + * feature_mathcer implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/feature_matcher.h" + +using namespace std; + +namespace fbr{ + + void feature_matcher::init(matcher_method method, int k, double r){ + mMethod = method; + knn = k; + radius = r; + nOfMatches = 0; + nOfFilteredMatches = 0; + } + + feature_matcher::feature_matcher(){ + init(RATIO, 0, 0); + } + + feature_matcher::feature_matcher(matcher_method method){ + if(method == KNN) + init(method, 3, 0); + else if(method == RADIUS) + init(method, 0, 1); + else + init(method, 0, 0); + } + + feature_matcher::feature_matcher(matcher_method method, double p){ + if(method == KNN) + init(method, p, 0); + else if(method == RADIUS) + init(method, 0, p); + else + init(method, 0, 0); + } + + void feature_matcher::match(feature qFeature, feature tFeature){ + vector< cv::DMatch > qtInitialMatches, tqInitialMatches, gMatches; + vector > qtInitialMatchesVector, tqInitialMatchesVector; + //Matching descriptors using one of the mMethods for SURF and SIFT feature descriptors + if(qFeature.getDescriptorMethod() != tFeature.getDescriptorMethod()){ + cout<<"inputs features don't have the same descriptors!"< readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/86/8624bcdae55baeef00cd11d5dfcfa60f68710a02.svn-base b/.svn/pristine/86/8624bcdae55baeef00cd11d5dfcfa60f68710a02.svn-base new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/.svn/pristine/86/8624bcdae55baeef00cd11d5dfcfa60f68710a02.svn-base @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/.svn/pristine/86/86416cb4a44f147bc3eae8019b1c027d1ba7397b.svn-base b/.svn/pristine/86/86416cb4a44f147bc3eae8019b1c027d1ba7397b.svn-base new file mode 100644 index 0000000..2b898b5 --- /dev/null +++ b/.svn/pristine/86/86416cb4a44f147bc3eae8019b1c027d1ba7397b.svn-base @@ -0,0 +1,200 @@ +/* + * scanmanager implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/scanmanager.h" +#include +#include "slam6d/globals.icc" +#include +using std::exception; +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +/** + * Ctor. + * Does nothing + */ +scanmanager::scanmanager() +{ +} + +/** + * DTor. + * Clear the memory + */ +scanmanager::~scanmanager() +{ + // Deleting the stored metamatrixes + for (size_t i = 0; i < metaMatrix.size(); i++) { + for (size_t j = 0; j < metaMatrix.at(i).size(); j++) { + delete[] metaMatrix.at(i).at(j); + } + } + + // Deleting the stored scans and reset the vector + for(size_t i=0; i < Scan::allScans.size(); ++i) + { + delete Scan::allScans[i]; + } + + Scan::allScans.clear(); +} + +/* + * A function that read the .frame files created by slam6D + * (taken from the originial test-class) + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param readInitial read a file containing a initial transformation matrix and apply it + * @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0 + */ +void scanmanager::readFrames(string dir, int start, int end, + bool readInitial, bool correctYAxis) +{ + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + + // update the mirror to apply the initial frame for all frames + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + const double* transformation; + Scan::AlgoType algoType; + std::vector Matrices; + + // iterate over frames (stop if none were created) and pull/convert the frames into local containers + unsigned int frame_count = (*it)->readFrames(); + if(frame_count == 0) break; + for(unsigned int i = 0; i < frame_count; ++i) { + (*it)->getFrame(i, transformation, algoType); + double* transMatOpenGL = new double[16]; + + // apply mirror to convert (and initial frame if requested) the frame and save in opengl + MMult(mirror, transformation, transMatOpenGL); + + Matrices.push_back(transMatOpenGL); + } + + metaMatrix.push_back(Matrices); + + // current_frame = MetaMatrix.back().size() - 1; + } + + if (metaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return; + } + + // if set, value 14 of the transformationmatrix will be set to 0 + if(correctYAxis) + { + for(size_t i=0; i < metaMatrix.size(); ++i) + { + for(size_t j=0; j < metaMatrix.at(i).size(); ++j) + { + metaMatrix.at(i).at(j)[13] = 0; + } + } + } +} + +/** + * Reads all scans, frames and the transformationmatrix + * + * @param inputDir the input directory + * @param outputdir the output directory + * @param scantype the scantype + * @param start start with scannumber 'start' + * @param end end with scannumber 'end' + * @param readInitial read files, that contain a 'initial transformation matrix' + * @param max_distance the maximal distance + * @param min_distance the minimal distance + * @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0 + */ +void scanmanager::startscan(string inputdir, string outputdir, + IOType scantype, int start, int end, + bool readInitial, int max_distance, + int min_distance, bool correctYAxis) +{ + // Read scans + + // load all available scans + bool scanserver = false; + Scan::openDirectory(scanserver, inputdir, scantype, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + + } + + // Read frames + readFrames(inputdir, start, end, readInitial, correctYAxis); +} + +/** + * Returns the number of scans + * + * @return the number of scans + */ +size_t scanmanager::getScanCount() const +{ + return Scan::allScans.size(); +} + +/** + * Returns scan with the number i + * + * @param i number of the scan + * @return scan with number i + */ +Scan& scanmanager::getScan(int i) +{ + return *Scan::allScans.at(i); +} + +/** + * Returns the transformationmatrix with number i. + * + * The original readFrames method always read one matrix more + * than needed, but it complicated freeing memory and wasnt used in + * this programm, so it was commented out. + * + * @param i the number of the transformationmatrix + * @return transformationmatrix with number i + */ +const std::vector & scanmanager::getMatrix(int i) +{ + return this->metaMatrix.at(i); +} diff --git a/.svn/pristine/86/8697e37da110f277db5ce8ce83f48c15d28fbc67.svn-base b/.svn/pristine/86/8697e37da110f277db5ce8ce83f48c15d28fbc67.svn-base new file mode 100644 index 0000000..dbc51b6 --- /dev/null +++ b/.svn/pristine/86/8697e37da110f277db5ce8ce83f48c15d28fbc67.svn-base @@ -0,0 +1,120 @@ +/** @file + * @brief Representation of the optimized k-d tree. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_MANAGED_H__ +#define __KD_MANAGED_H__ + +#include "slam6d/kdparams.h" +#include "slam6d/searchTree.h" +#include "slam6d/data_types.h" + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include +#include + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtreeManagedBase : public SearchTree { +public: + KDtreeManagedBase(const DataXYZ& pts, unsigned int* indices, unsigned int n); + + virtual ~KDtreeManagedBase(); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; } + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtreeManagedBase *child1; ///< pointers to the childs + KDtreeManagedBase *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + //! Content is an array of indices to be put into the dynamically aquired data array + unsigned int* p; + } leaf; + }; + + void _FindClosest(const DataXYZ& pts, int threadNum) const; +}; + +class Scan; + +class KDtreeManaged : public KDtreeManagedBase { +public: + KDtreeManaged(Scan* scan); + virtual ~KDtreeManaged() {} + + virtual void lock(); + virtual void unlock(); + + //! Aquires cached data first to pass on to the usual KDtree to process + virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const; +private: + Scan* m_scan; + DataXYZ* m_data; + + //! Mutex for safely reducing points just once in a multithreaded environment + boost::mutex m_mutex_locking; + volatile unsigned int m_count_locking; + + // constructor initializer list hacks + unsigned int* m_temp_indices; + unsigned int* prepareTempIndices(unsigned int n); +}; + +#endif diff --git a/.svn/pristine/86/86de319285434dc2815d2a06484ac4f0148fc498.svn-base b/.svn/pristine/86/86de319285434dc2815d2a06484ac4f0148fc498.svn-base new file mode 100644 index 0000000..47a1fda --- /dev/null +++ b/.svn/pristine/86/86de319285434dc2815d2a06484ac4f0148fc498.svn-base @@ -0,0 +1,262 @@ +/* + * icp6Dsvd implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via SVD + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/icp6Dsvd.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the SVD PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_SVD::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + // Get centered PtPairs + double** m = new double*[pairs.size()]; + double** d = new double*[pairs.size()]; + + for(unsigned int i = 0; i < pairs.size(); i++){ + m[i] = new double[3]; + d[i] = new double[3]; + m[i][0] = pairs[i].p1.x - centroid_m[0]; + m[i][1] = pairs[i].p1.y - centroid_m[1]; + m[i][2] = pairs[i].p1.z - centroid_m[2]; + d[i][0] = pairs[i].p2.x - centroid_d[0]; + d[i][1] = pairs[i].p2.y - centroid_d[1]; + d[i][2] = pairs[i].p2.z - centroid_d[2]; + + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "SVD RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + // Fill H matrix + Matrix H(3,3), R(3,3); + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) = 0.0; + } + } + + for(unsigned int i = 0; i < pairs.size(); i++){ + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) += d[i][j]*m[i][k]; + } + } + } + + Matrix U(3,3); + DiagonalMatrix Lamda(3); + Matrix V(3,3); + // Make SVD + SVD(H, Lamda, U, V); + + // Get rotation + R = V*(U.t()); + + // Calculate translation + double translation[3]; + ColumnVector col_vec(3); + for(int j = 0; j < 3; j++) + col_vec(j+1) = centroid_d[j]; + ColumnVector r_time_colVec = ColumnVector(R*col_vec); + translation[0] = centroid_m[0] - r_time_colVec(1); + translation[1] = centroid_m[1] - r_time_colVec(2); + translation[2] = centroid_m[2] - r_time_colVec(3); + + + // Fill result + alignfx[0] = R(1,1); + alignfx[1] = R(2,1); + alignfx[2] = 0; + alignfx[2] = R(3,1); + alignfx[3] = 0; + alignfx[4] = R(1,2); + alignfx[5] = R(2,2); + alignfx[6] = R(3,2); + alignfx[7] = 0; + alignfx[8] = R(1,3); + alignfx[9] = R(2,3); + alignfx[10] = R(3,3); + alignfx[11] = 0; + alignfx[12] = translation[0]; + alignfx[13] = translation[1]; + alignfx[14] = translation[2]; + + alignfx[15] = 1; + + + for(unsigned int i = 0; i < pairs.size(); i++){ + delete [] m[i]; + delete [] d[i]; + } + delete [] m; + delete [] d; + + return error; +} + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the SVD PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_SVD::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], double *alignxf) +{ + double s = 0.0; + double ret; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // formula (4) + // + // The same information are given in (ecrm2007.pdf) + // Andreas N眉chter. Parallelization of Scan Matching + // for Robotic 3D Mapping. In Proceedings of the 3rd + // European Conference on Mobile Robots (ECMR '07), + // Freiburg, Germany, September 2007 + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + } + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + ret = sqrt(s / (double)pairs_size); + if (!quiet) { + cout.setf(ios::basefield); + cout << "PSVD RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << ret + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + Matrix H(3,3), R(3,3); + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) = 0.0; + } + } + // formula (5) + for (int i = 0; i < openmp_num_threads; i++) { + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + // H(j+1, k+1) += Si[i][j*3+k] + n[i] * ((centroid_m[i][j] - cm[j]) * (centroid_d[i][k] - cd[k])) ; + H(j+1, k+1) += Si[i][k*3+j] + n[i] * ((centroid_d[i][j] - cd[j]) * (centroid_m[i][k] - cm[k])) ; + } + } + } + + Matrix U(3,3); + DiagonalMatrix Lamda(3); + Matrix V(3,3); + // Make SVD + SVD(H, Lamda, U, V); + + // Get rotation + R = V*(U.t()); + + // Calculate translation + double translation[3]; + ColumnVector col_vec(3); + for(int j = 0; j < 3; j++) { + col_vec(j+1) = cd[j]; + } + ColumnVector r_time_colVec = ColumnVector(R * col_vec); + translation[0] = cm[0] - r_time_colVec(1); + translation[1] = cm[1] - r_time_colVec(2); + translation[2] = cm[2] - r_time_colVec(3); + + // Fill result + alignxf[0] = R(1,1); + alignxf[1] = R(2,1); + alignxf[2] = 0; + alignxf[2] = R(3,1); + alignxf[3] = 0; + alignxf[4] = R(1,2); + alignxf[5] = R(2,2); + alignxf[6] = R(3,2); + alignxf[7] = 0; + alignxf[8] = R(1,3); + alignxf[9] = R(2,3); + alignxf[10] = R(3,3); + alignxf[11] = 0; + alignxf[12] = translation[0]; + alignxf[13] = translation[1]; + alignxf[14] = translation[2]; + + alignxf[15] = 1; + + return ret; + +} diff --git a/.svn/pristine/87/87a0ae7dde1ba1b9e27d07623c75e1adde332386.svn-base b/.svn/pristine/87/87a0ae7dde1ba1b9e27d07623c75e1adde332386.svn-base new file mode 100644 index 0000000..be22108 --- /dev/null +++ b/.svn/pristine/87/87a0ae7dde1ba1b9e27d07623c75e1adde332386.svn-base @@ -0,0 +1,1749 @@ +/* + * thermo implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include "thermo/thermo.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +#include "cvblob.h" +using namespace cvb; + +#include + +#ifndef _MSC_VER +#include +#include +#else +#include "XGetopt.h" +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#endif + +#ifdef _EiC +#define WIN32 +#endif + +Float2D data1; +Float2D data2; + +unsigned int BLOB_SIZE = 55; +double AVG_THRES = 0.8; + +/** + * Calculates the PCA of a two-dimensional point cloud + * @param x x coordinate of the axis + * @param y y coordinate of the axis + * @param pc true if the principal axis is wanted, false for the least dominant + * @param cx center x of the point cloud + * @param cy center y of the point cloud + */ + +void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc) { + cx = cy = 0; + for (int a = 0; a < board_n; a++) { + cx += point_array[a][0]; + cy += point_array[a][1]; + } + + cx /= board_n; + cy /= board_n; + + SymmetricMatrix A(2); + A = 0; + + for(int a = 0; a < board_n; a++) { + A(1,1) += (point_array[a][0] - cx)*(point_array[a][0] - cx); + A(2,2) += (point_array[a][1] - cy)*(point_array[a][1] - cy); + A(1,2) += (point_array[a][0] - cx)*(point_array[a][1] - cy); + } + DiagonalMatrix D; + Matrix V; + try { + Jacobi(A,D,V); + } catch (ConvergenceException) { + cout << "couldn't find board..." << endl; + } + + int min, max; + + D.MaximumAbsoluteValue1(max); + D.MinimumAbsoluteValue1(min); + + // return eigenvector with highest eigenvalue + if(pc) { + x = V(1,max); + y = V(2,max); + // return eigenvector with lowest eigenvalue + } else { + x = V(1,min); + y = V(2,min); + } + +} + +/** + * Sorts the detected light bulbs on the board. + * @param point_array list of detected points + * @param board_n number of lightbulbs + * @param board_h number of rows + * @param board_w number of columns + * @param quiet if true, debug information is printed + */ +void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet) { + double x, y, cx, cy; + // align board using PCA + calcBoard(point_array, board_n, x, y, cx, cy, board_h <= board_w); + double point_array2[board_n][2]; + double angle = -atan2(y,x); + for(int i = 0; i < board_n; i++) { + double tmpx = point_array[i][0] - cx; + double tmpy = point_array[i][1] - cy; + point_array2[i][0] = tmpx * cos(angle) - tmpy * sin(angle); + point_array2[i][1] = tmpx * sin(angle) + tmpy * cos(angle); + } + // sorting the points on the basis of y coordinate////// + int swapped1 = 0; + do { + swapped1 = 0; + + for (int a = 1; a <= board_n - 1; a++) { + if (point_array2[a][1] < point_array2[a - 1][1]) { + //rotated points + double tempx = point_array2[a][0]; + double tempy = point_array2[a][1]; + point_array2[a][0] = point_array2[a - 1][0]; + point_array2[a][1] = point_array2[a - 1][1]; + point_array2[a - 1][0] = tempx; + point_array2[a - 1][1] = tempy; + + //original points + double tmpx = point_array[a][0]; + double tmpy = point_array[a][1]; + point_array[a][0] = point_array[a - 1][0]; + point_array[a][1] = point_array[a - 1][1]; + point_array[a - 1][0] = tmpx; + point_array[a - 1][1] = tmpy; + swapped1 = 1; + } + } + } while (swapped1 == 1); + + if(!quiet) { + cout << "sorted array:" << endl; + for (int f = 0; f < board_n; f++) { + cout << point_array2[f][0] << " " << point_array2[f][1] << endl; + } + } + // sorting the array rows now + for (int x = 0; x < board_h; x++) { + double row_points[board_w][2]; + double row_points2[board_w][2]; + for (int y = 0; y < board_w; y++) { + row_points[y][0] = point_array[x * board_w + y][0]; + row_points[y][1] = point_array[x * board_w + y][1]; + row_points2[y][0] = point_array2[x * board_w + y][0]; + row_points2[y][1] = point_array2[x * board_w + y][1]; + if(!quiet) cout << row_points[y][0] << " " << row_points[y][1] << " "; + } + if(!quiet) cout << endl; + int swapped = 0; + do { + swapped = 0; + for (int a = 1; a <= board_w - 1; a++) { + if (row_points2[a][0] < row_points2[a - 1][0]) { + // original points + double tempx = row_points[a][0]; + double tempy = row_points[a][1]; + row_points[a][0] = row_points[a - 1][0]; + row_points[a][1] = row_points[a - 1][1]; + row_points[a - 1][0] = tempx; + row_points[a - 1][1] = tempy; + // rotated points + double tmpx = row_points2[a][0]; + double tmpy = row_points2[a][1]; + row_points2[a][0] = row_points2[a - 1][0]; + row_points2[a][1] = row_points2[a - 1][1]; + row_points2[a - 1][0] = tmpx; + row_points2[a - 1][1] = tmpy; + swapped = 1; + } + } + } while (swapped == 1); + if(!quiet) cout << "sorted:" << endl; + for (int z = 0; z < board_w; z++) { + point_array2[x * board_w + z][0] = row_points2[z][0]; + point_array2[x * board_w + z][1] = row_points2[z][1]; + if(!quiet) cout << point_array[x * board_w + z][0] << " " << point_array[x * board_w + z][1] << " "; + point_array[x * board_w + z][0] = row_points[z][0]; + point_array[x * board_w + z][1] = row_points[z][1]; + } + if(!quiet) cout << endl; + + } + +} + +/** + * Detects the blobs. + */ +IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]) { + + IplImage *gray_image = cvCloneImage(org_image); + cvThreshold(gray_image, gray_image, 140, 255, CV_THRESH_BINARY); + IplImage *labelImg = cvCreateImage(cvGetSize(gray_image), IPL_DEPTH_LABEL, 1); + + // detect blobs + CvBlobs blobs; + cvLabel(gray_image, labelImg, blobs); + double average_size = 0; + int count = 0; + for (CvBlobs::const_iterator it = blobs.begin(); it != blobs.end(); ++it) { + if (it->second->area < BLOB_SIZE) { + count++; + average_size += it->second->area; + } + } + if(!quiet) cout << "centroid:" << average_size << endl; + + // refine blobs + average_size = average_size / count; + double average_size_min = average_size * (1.0 - AVG_THRES); + double average_size_max = average_size * (1.0 + AVG_THRES); + int blob_count = 0; + + for (CvBlobs::const_iterator it2 = blobs.begin(); it2 != blobs.end(); ++it2) { + if (it2->second->area >= average_size_min && + it2->second->area <= average_size_max && + blob_count < corner_exp) { + + point_array2[blob_count][0] = it2->second->centroid.x; + point_array2[blob_count][1] = it2->second->centroid.y; + double sumx = 0.0; + double sumy = 0.0; + double sum = 0.0; + + /* + int step = 5; + int minx = ((int)it2->second->minx - step) > -1 ? (it2->second->minx - step) : 0; + int maxx = ((it2->second->maxx + step) < gray_image->width) ? (it2->second->maxx + step) : (gray_image->width - 1); + int miny = ((int)it2->second->miny - step) > -1 ? (it2->second->miny - step) : 0; + int maxy = ((it2->second->maxy + step) < gray_image->height) ? (it2->second->maxy + step) : (gray_image->height - 1); + */ + + int minx = it2->second->minx; + int miny = it2->second->miny; + int maxx = it2->second->maxx; + int maxy = it2->second->maxy; + + for(int x = minx; x <= maxx; x++) { + for(int y = miny; y <= maxy; y++) { + if(cvGet2D(gray_image, y, x).val[0] > 0) { + CvScalar c; + c = cvGet2D(org_image, y, x); + sum += c.val[0]; + sumx += c.val[0]*x; + sumy += c.val[0]*y; + } + } + } + + sumx /= sum; + sumy /= sum; + point_array2[blob_count][0] = sumx; + point_array2[blob_count][1] = sumy; + + blob_count++; + } + } + + if(!quiet) cout << "Refined number of blobs=" << blob_count << endl; + // sorting the points + sortBlobs(point_array2, corner_exp, board_h, board_w, true); + cvReleaseImage(&labelImg); + corner_exp = blob_count; + return gray_image; +} + +/** + * Connects the detected calibration features in the image with lines. + */ +void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color) { + for (int i = 0; i <= corner_exp - 2; i++) { + CvPoint pt1; + CvPoint pt2; + CvScalar s; + if(color) { + s = CV_RGB(255,0,0); + } else { + s.val[0] = 100; + } + double temp1 = point_array2[i][0] - floor(point_array2[i][0]); + if (temp1 < .5) { + pt1.x = floor(point_array2[i][0]); + } else { + pt1.x = floor(point_array2[i][0]) + 1; + } + double temp2 = point_array2[i][1] - floor(point_array2[i][1]); + if (temp2 < .5) { + pt1.y = floor(point_array2[i][1]); + } else { + pt1.y = floor(point_array2[i][1]) + 1; + } + double temp3 = point_array2[i + 1][0] - floor( + point_array2[i + 1][0]); + if (temp3 < .5) { + pt2.x = floor(point_array2[i + 1][0]); + } else { + pt2.x = floor(point_array2[i + 1][0]) + 1; + } + double temp4 = point_array2[i + 1][1] - floor( + point_array2[i + 1][1]); + if (temp4 < .5) { + pt2.y = floor(point_array2[i + 1][1]); + } else { + pt2.y = floor(point_array2[i + 1][1]) + 1; + } + cvLine(image, pt1, pt2, s, 1, 8); + } + cvShowImage("Final Result", image); + +} + +/** + * Resizes the image + */ +IplImage* resizeImage(IplImage *source, int scale) { + int width, height; + IplImage *image; + switch(scale) { + case 2: + width = 1200; + height = 900; + break; + case 3: + width = 800; + height = 600; + break; + case 4: + width = 400; + height = 300; + break; + case 5: + width = 160; + height = 120; + break; + case 1: + default: + return cvCloneImage(source); + } + + image = cvCreateImage(cvSize(width,height),source->depth,source->nChannels); + cvResize(source,image); + return image; +} + +/** + * Detects the corners of the chessboard pattern. + */ +IplImage* detectCorners(IplImage *orgimage, int corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale) { + + IplImage *image = resizeImage(orgimage, scale); + CvSize size = cvGetSize(image); + CvPoint2D32f* corners = new CvPoint2D32f[corner_exp]; + CvSize board_sz = cvSize(board_w, board_h); + IplImage *gray_image = cvCreateImage(size,8,1); + + if (image->nChannels == 3) { + cvCvtColor(image, gray_image, CV_BGR2GRAY); + } else { + gray_image = image; + } + + int found = cvFindChessboardCorners(image, board_sz, corners, &corner_exp, + CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + + cout << "found corners:" << corner_exp << endl; + if (found != 0) {//if all corners found successfully + //Get Subpixel accuracy on those corners + if(size.width > 400) { + cvFindCornerSubPix(gray_image, corners, corner_exp, cvSize(11, 11), cvSize(-1, -1), + cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); + } + else { + cvFindCornerSubPix(gray_image, corners, corner_exp, cvSize(2, 2), cvSize(-1, -1), + cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); + } + } + + for (int i = 0; i < corner_exp; i++) { + point_array2[i][0] = corners[i].x; + point_array2[i][1] = corners[i].y; + } + return gray_image; + +} + +/** + * Writes the intrinsic calibration parameters to files. + */ +void writeCalibParam(int images, int corner_exp, int board_w, CvMat* +image_points, CvSize size, string dir, string substring) { + CvMat* intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); + CvMat* distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); + //ALLOCATE MATRICES ACCORDING TO HOW MANY CHESSBOARDS FOUND + CvMat* object_points2 = cvCreateMat(images * corner_exp, 3, CV_32FC1); + CvMat* image_points2 = cvCreateMat(images * corner_exp, 2, CV_32FC1); + CvMat* point_counts2 = cvCreateMat(images, 1, CV_32SC1); + CvMat* Rotation = cvCreateMat(images, 3, CV_32FC1); + CvMat* Translation = cvCreateMat(images, 3, CV_32FC1); + //TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICES + int j; + for (int i = 0; i < images * corner_exp; ++i) { + j = i % corner_exp; + CV_MAT_ELEM( *image_points2, float, i, 0) = CV_MAT_ELEM( *image_points, float, i, 0); + CV_MAT_ELEM( *image_points2, float,i,1) = CV_MAT_ELEM( *image_points, float, i, 1); + CV_MAT_ELEM(*object_points2, float, i, 0) = (j / board_w) * 8; + CV_MAT_ELEM( *object_points2, float, i, 1) = (j % board_w) * 8; + CV_MAT_ELEM( *object_points2, float, i, 2) = 0.0f; + } + for (int i = 0; i < images; ++i) { //These are all the same number + CV_MAT_ELEM( *point_counts2, int, i, 0) = corner_exp; + } + + // Initialize the intrinsic matrix with focal length = 1.0 + CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 1.0f; + CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 1.0f; + //CALIBRATE THE CAMERA! + cvCalibrateCamera2(object_points2, image_points2, point_counts2, size, + intrinsic_matrix, distortion_coeffs, Rotation, Translation, 0 //CV_CALIB_FIX_ASPECT_RATIO + ); + // SAVE AND PRINT THE INTRINSICS AND DISTORTIONS + + string file = dir + "Intrinsics" + substring + ".xml"; + cvSave(file.c_str(), intrinsic_matrix); + file = dir + "Distortion" + substring + ".xml"; + cvSave(file.c_str(), distortion_coeffs); + cout << "Camera Intrinsic Matrix is:" << endl; + for (int row = 0; row < 3; row++) { + for (int col = 0; col < 3; col++) { + cout << CV_MAT_ELEM( *intrinsic_matrix, float, row, col ) << "\t"; + } + cout << endl; + } + cout << "Distortion Coefficients are:" << endl; + for (int row = 0; row < 5; row++) { + for (int col = 0; col < 1; col++) { + cout << CV_MAT_ELEM( *distortion_coeffs, float, row, col ) << "\t"; + } + } + cout << endl; + CvMat *intrinsic = intrinsic_matrix; + CvMat *distortion = distortion_coeffs; + + // CLEANUP + cvReleaseMat(&object_points2); + cvReleaseMat(&image_points2); + cvReleaseMat(&point_counts2); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); +} + +/** + * Main function for intrinsic calibration + */ +void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool +chess, bool quiet, string dir, int scale) { + cvNamedWindow("Original Image", 0); + cvResizeWindow( "Final Result", 320, 240 ); + cvNamedWindow("Final Result", 0); + cvResizeWindow( "Final Result", 320, 240 ); + + int nr_img = end - start + 1; + if (nr_img == 0) { + cout << "ImageCount is zero!" << endl; + return; + } + + int corner_exp = board_w * board_h; + CvSize board_sz = cvSize(board_w, board_h); + CvSize size; + //ALLOCATE STORAGE(depending upon the number of images in(in case if command line arguments are given ) + //not on the basis of number of images in which all corner extracted/while in the other case the number is the same ) + CvMat* image_points = cvCreateMat(nr_img * corner_exp, 2, CV_32FC1); + //TODO CvPoint2D32f* corners = new CvPoint2D32f[ board_n ]; + + int successes = 0; + int step = 0; + + for (int count = start; count <= end; count++) { + string t; + string t1; + + if(optical) { + t = dir + "/photo" + to_string(count, 3) + ".ppm"; + t1 = dir + "/cimage" + to_string(count, 3) + ".ppm"; + //t = dir + to_string(count, 3) + "/photo" + to_string(count, 3) + ".ppm"; + //t1 = dir + to_string(count, 3) + "/cimage" + to_string(count, 3) + ".ppm"; + } else { + //t = dir + to_string(count, 3) + "/image" + to_string(count, 3) + ".ppm"; + //t1 = dir + to_string(count, 3) + "/timage" + to_string(count, 3) + ".ppm"; + t = dir + "/image" + to_string(count, 3) + ".ppm"; + t1 = dir + "/timage" + to_string(count, 3) + ".ppm"; + } + cout << t << endl; + //loading images and finding corners + IplImage* image1 = cvLoadImage(t.c_str(), -1); + if (!image1) { + cout << "image cannot be loaded" << endl; + return; + } + cvShowImage("Original Image", image1); + + ///////////////////////////////////////////////////////////// + + double point_array2[corner_exp][2]; + IplImage *image; + + if(chess) { + cout << "detect corners" << endl; + image = detectCorners(image1, corner_exp, board_h, board_w, quiet, point_array2, scale); + } else { + cout << "detect blob" << endl; + int tmp_corners = corner_exp; + image = detectBlobs(image1, tmp_corners, board_h, board_w, quiet, point_array2); + } + + for(int i = 0; i < corner_exp; i++) { + cout << (float) point_array2[i][0] << " " << (float) point_array2[i][1] << + endl; + } + //drawing the lines on the image now + drawLines(point_array2, corner_exp, image); + + cout << "\nDo you want to use the data from this image ('y' or 'n'). 'x' aborts the calibration? : "; + int c = cvWaitKey(100); + if (c == 27) { + break; + } + char in; + cin >> in; + if (in == 'y') { + cvSaveImage(t1.c_str(), image); + size = cvGetSize(image); + step = successes * corner_exp; + //appending corner data to a generic data structure for all images + for (int i = step, j = 0; j < corner_exp; ++i, ++j) { + CV_MAT_ELEM(*image_points, float,i,0) = (float) point_array2[j][0]; + CV_MAT_ELEM(*image_points, float,i,1) = (float) point_array2[j][1]; + } + successes++; + } else if(in == 'x') { + break; + } + cvReleaseImage(&image); + cvReleaseImage(&image1); + + } + cout << "Images for which all corners were found successfully=" + << successes << endl; + if (successes == 0) { + cout << "No successful corners found from any image" << endl; + return; + } + + string substring = optical? "Optical" : ""; + writeCalibParam(successes, corner_exp, board_w, image_points, size, dir, substring); + + cvReleaseMat(&image_points); + +} + +/** + * Reads the 3D information of the features from a file. + */ +bool readPoints(string filename, CvPoint3D32f *corners, int size) { + ifstream infile(filename.c_str(), ios::in); + if (!infile) { + cout << "3Ddata file cannot be loaded" << endl; + return false; + } + + string verify; + infile >> verify; + if(strcmp(verify.c_str(), "failed") == 0) return false; + for(int l = 0; l < size; l++) { + infile >> corners[l].y; + infile >> corners[l].z; + infile >> corners[l].x; + corners[l].y = -corners[l].y; + } + return true; +} + +/** + * Calculates the median of a set of translation vectors, i.e., the translation + * that has the smallest distance to all other translation. + */ +int realMedian(CvMat * vectors, int nr_vectors) { + double distances[nr_vectors]; + + for(int i = 0; i < nr_vectors; i++) { + double sum = 0; + double x1 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y1 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z1 = (CV_MAT_ELEM(*vectors,float,i,2)); + for(int j = 0; j < nr_vectors; j++) { + double x2 = (CV_MAT_ELEM(*vectors,float,j,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,j,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,j,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + sum += sqrt(tmp); + } + distances[i] = sum; + } + int min_pos = -1; + double min_dist = DBL_MAX; + for(int i = 0; i < nr_vectors; i++) { + if(distances[i] < min_dist) { + min_pos = i; + min_dist = distances[i]; + } + } + + return min_pos; +} + +/* + * Calculates the median of a set of vectors by iteratively calculating the + * median and cropping outliers. + */ +void filterMedian(CvMat * vectors, int nr_vectors, int threshold, CvMat * mean) { + + // calculate Median + int min_pos = realMedian(vectors, nr_vectors); + + // crop outliers + double x1 = (CV_MAT_ELEM(*vectors,float,min_pos,0)); + double y1 = (CV_MAT_ELEM(*vectors,float,min_pos,1)); + double z1 = (CV_MAT_ELEM(*vectors,float,min_pos,2)); + + int count = 0; + for(int i = 0; i < nr_vectors; i++) { + double x2 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,i,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + if(sqrt(tmp) < 1.0/threshold) count++; + } + + CvMat* some_vectors = cvCreateMat(count, 6, CV_32FC1); + count = 0; + for(int i = 0; i < nr_vectors; i++) { + double x2 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,i,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + if(sqrt(tmp) < 1.0/threshold) { + for(int j = 0; j < 6; j++) { + (CV_MAT_ELEM(*some_vectors,float,count,j)) = (CV_MAT_ELEM(*vectors,float,i,j)); + cout << (CV_MAT_ELEM(*some_vectors,float,count,j)) << " "; + } + cout << endl; + count++; + } + } + // recurse + if(threshold < 3) { + filterMedian(some_vectors, count, ++threshold, mean); + cvReleaseMat(&some_vectors); + // determine result + } else { + x1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,0)); + y1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,1)); + z1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,2)); + double x2 = 0; + double y2 = 0; + double z2 = 0; + double r1 = 0; + double r2 = 0; + double r3 = 0; + for(int i = 0; i < count; i++) { + x2 += (CV_MAT_ELEM(*some_vectors,float,i,0)); + y2 += (CV_MAT_ELEM(*some_vectors,float,i,1)); + z2 += (CV_MAT_ELEM(*some_vectors,float,i,2)); + r1 += (CV_MAT_ELEM(*some_vectors,float,i,3)); + r2 += (CV_MAT_ELEM(*some_vectors,float,i,4)); + r3 += (CV_MAT_ELEM(*some_vectors,float,i,5)); + } + (CV_MAT_ELEM(*mean,float,0,0)) = x2/count; + (CV_MAT_ELEM(*mean,float,0,1)) = y2/count; + (CV_MAT_ELEM(*mean,float,0,2)) = z2/count; + (CV_MAT_ELEM(*mean,float,0,3)) = r1/count; + (CV_MAT_ELEM(*mean,float,0,4)) = r2/count; + (CV_MAT_ELEM(*mean,float,0,5)) = r3/count; + } +} + +/** + * Sorts vectors element by element, enables one to calculate the median of + * each element separately. + */ +void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors) { + bool swapped; + for (int i = 0; i < nr_elems; i++) { + do { + swapped = false; + for (int j = 1; j <= nr_vectors - 1; j++) { + if (CV_MAT_ELEM(*vectors,float,j,i) < CV_MAT_ELEM(*vectors,float,j-1,i)) { + float temp = CV_MAT_ELEM(*vectors,float,j,i); + CV_MAT_ELEM(*vectors,float,j,i) = CV_MAT_ELEM(*vectors,float,j-1,i); + CV_MAT_ELEM(*vectors,float,j-1,i) = temp; + swapped = true; + } + } + } while (swapped); + } +} + +/** + * Calculates the extrinsic parameters of a set of matches. Find the best match + * by calculating the reprojection error of each set of calibration parameters. + */ +void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat * + points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat + * distortion, CvMat * intrinsics, int corners, int successes, string dir, bool quiet, string substring) { + double reprojectionError[successes]; + for(int i = 0; i < successes; i++) { + reprojectionError[i] = 0.0; + } + + for(int i = 0; i < successes; i++) { + reprojectionError[i] = 0.0; + CvMat * rotation = cvCreateMat(1, 3, CV_32FC1); + CvMat * translation = cvCreateMat(1, 3, CV_32FC1); + + for(int k = 0; k < 3; k++) { + CV_MAT_ELEM(*rotation, float, 0, k) = CV_MAT_ELEM(*rotation_vectors_temp, float, i, k); + CV_MAT_ELEM(*translation, float, 0, k) = CV_MAT_ELEM(*translation_vectors_temp, float, i, k); + } + for(int j = 0; j < successes; j++) { + double tmp = 0; + //calculate reprojection error + CvMat * point_3Dcloud = cvCreateMat(corners, 3, CV_32FC1); + CvMat * point_2Dcloud = cvCreateMat(corners, 2, CV_32FC1); + for(int l = 0; l < corners; l++) { + CV_MAT_ELEM(*point_2Dcloud,float,l,0) = 0.0; + CV_MAT_ELEM(*point_2Dcloud,float,l,1) = 1.0; + CV_MAT_ELEM(*point_3Dcloud,float,l,0) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).x; + CV_MAT_ELEM(*point_3Dcloud,float,l,1) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).y; + CV_MAT_ELEM(*point_3Dcloud,float,l,2) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).z; + } + cvProjectPoints2(point_3Dcloud, rotation, translation, intrinsics, + distortion, point_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + for(int l = 0; l < corners; l++) { + double x = CV_MAT_ELEM(*point_2Dcloud,float,l,0) - CV_MAT_ELEM(*points2D,CvPoint2D32f,j,l).x; + double y = CV_MAT_ELEM(*point_2Dcloud,float,l,1) - CV_MAT_ELEM(*points2D,CvPoint2D32f,j,l).y; + tmp += sqrt(x*x + y*y); + } + cvReleaseMat(&point_2Dcloud); + reprojectionError[i] += tmp; + cvReleaseMat(&point_3Dcloud); + } + cvReleaseMat(&rotation); + cvReleaseMat(&translation); + } + + int maxindex = -1; + double max = DBL_MAX; + for(int i = 0; i < successes; i++) { + if(reprojectionError[i] < max) { + maxindex = i; + max = reprojectionError[i]; + } + } + + CvMat * rotation = cvCreateMat(1, 3, CV_32FC1); + CvMat * translation = cvCreateMat(1, 3, CV_32FC1); + + for(int i = 0; i < 3; i++) { + CV_MAT_ELEM(*rotation, float, 0, i) = CV_MAT_ELEM(*rotation_vectors_temp, float, maxindex, i); + CV_MAT_ELEM(*translation, float, 0, i) = CV_MAT_ELEM(*translation_vectors_temp, float, maxindex, i); + } + string file = dir + "Rotation" + substring + ".xml"; + cvSave(file.c_str(), rotation); + file = dir + "Translation" + substring + ".xml"; + cvSave(file.c_str(), translation); + +} + +/** + * Calculates the extrinsic parameters given a set of feature matches using the + * mean and median method. + */ +void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet, string substring) { + + CvMat* rotation_vectors = cvCreateMat(successes, 3, CV_32FC1); + CvMat* translation_vectors = cvCreateMat(successes, 3, CV_32FC1); + CvMat* vectors = cvCreateMat(successes, 6, CV_32FC1); + CvMat* rotation_vector_mean = cvCreateMat(1, 3, CV_32FC1); + CvMat* translation_vector_mean = cvCreateMat(1, 3, CV_32FC1); + CvMat* rotation_vector_median = cvCreateMat(1, 3, CV_32FC1); + CvMat* translation_vector_median = cvCreateMat(1, 3, CV_32FC1); + CvMat* median = cvCreateMat(1, 6, CV_32FC1); + for (int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) = 0; + CV_MAT_ELEM(*translation_vector_mean,float,0,t) = 0; + CV_MAT_ELEM(*rotation_vector_median,float,0,t) = 0; + CV_MAT_ELEM(*translation_vector_median,float,0,t) = 0; + CV_MAT_ELEM(*median,float,0,t) = 0; + CV_MAT_ELEM(*median,float,0,t + 3) = 0; + } + + for (int h = 0; h < successes; h++) { + for(int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vectors,float,h,t) =CV_MAT_ELEM(*rotation_vectors_temp,float,h,t); + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) +=CV_MAT_ELEM(*rotation_vectors,float,h,t); + + CV_MAT_ELEM(*translation_vectors,float,h,t) =CV_MAT_ELEM(*translation_vectors_temp,float,h,t); + CV_MAT_ELEM(*translation_vector_mean,float,0,t) +=CV_MAT_ELEM(*translation_vectors,float,h,t); + + CV_MAT_ELEM(*vectors,float,h,t) =CV_MAT_ELEM(*translation_vectors_temp,float,h,t); + CV_MAT_ELEM(*vectors,float,h,t + 3) =CV_MAT_ELEM(*rotation_vectors_temp,float,h,t); + } + } + + for(int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) /= successes; + CV_MAT_ELEM(*translation_vector_mean,float,0,t) /= successes; + } + + // finding the median of rotation and translation + // sorting the rotation vectors element by element + /* + sortElementByElement(rotation_vectors, 3, successes); + sortElementByElement(translation_vectors, 3, successes); + + if(!quiet) { + cout << "number of successes : " << successes << endl; + cout << "rotation vectors are" << endl; + for (int i = 0; i < successes; i++) { + cout << CV_MAT_ELEM(*rotation_vectors,float,i,0) << " " + <> in; + if(tmp_corners == corner_exp) { + if (in == 'y') { + size = cvGetSize(image); + //appending corner data to a generic data structure for all images + for (int j = 0; j < corner_exp; ++j) { + CV_MAT_ELEM(*image_points, float,j,0) = (float) point_array2[j][0]; + CV_MAT_ELEM(*image_points, float,j,1) = (float) point_array2[j][1]; + CV_MAT_ELEM(*object_points,float,j,0) = corners[j].x; + CV_MAT_ELEM(*object_points,float,j,1) = corners[j].y; + CV_MAT_ELEM(*object_points,float,j,2) = corners[j].z; + + CV_MAT_ELEM(*points2D, CvPoint2D32f, successes, j).x = (float)point_array2[j][0]; + CV_MAT_ELEM(*points2D, CvPoint2D32f, successes, j).y = (float)point_array2[j][1]; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).x = corners[j].x; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).y = corners[j].y; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).z = corners[j].z; + } + cvFindExtrinsicCameraParams2(object_points, image_points, intrinsic, distortion, Rotation, Translation); + // append data to vectors + if(!quiet) cout << "Rotation is:" << endl; + for (int row = 0; row < 1; row++) { + for (int col = 0; col < 3; col++) { + if(!quiet) cout << CV_MAT_ELEM( *Rotation, float, row, col ) << " "; + CV_MAT_ELEM( *rotation_vectors_temp, float, successes, col ) = CV_MAT_ELEM( *Rotation, float, row, col ); + } + if(!quiet) cout << endl; + } + if(!quiet) cout << "Translation is:" << endl; + for (int row = 0; row < 1; row++) { + for (int col = 0; col < 3; col++) { + if(!quiet) cout << CV_MAT_ELEM( *Translation, float, row, col ) << " "; + CV_MAT_ELEM( *translation_vectors_temp, float, successes, col ) = CV_MAT_ELEM( *Translation, float, row, col ); + } + if(!quiet) cout << endl; + } + successes++; + + } else if(in == 'x') { + break; + } + } + cvReleaseImage(&image); + cvReleaseImage(&image1); + cvReleaseMat(&image_points); + cvReleaseMat(&object_points); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + }//for loop for imagecount + cvDestroyWindow("Original Image"); + cvDestroyWindow("Final Result"); + + cout << "Number of successes: " << successes << endl; + // Now calculating mean and median rotation and trans + //calculateExtrinsics(rotation_vectors_temp, translation_vectors_temp, successes, dir, quiet, substring); + calculateExtrinsicsWithReprojectionCheck(points2D, points3D, rotation_vectors_temp, translation_vectors_temp, distortion, intrinsic, corner_exp, successes, dir, quiet, substring); + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); + cvReleaseMat(&translation_vectors_temp); + cvReleaseMat(&rotation_vectors_temp); + cvReleaseMat(&points2D); + cvReleaseMat(&points3D); +} + +/** + * Main function for projecting the 3D points onto the corresponding image and + * associating temperature values to the data points. + */ +void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir, +IOType type, int scale, double rot_angle, double minDist, double maxDist, +bool correction, int neighborhood, int method) { + + int nr_img = end - start + 1; + if (nr_img < 1) { + cout << "ImageCount is zero!" << endl; + return; + } + string substring = optical? "Optical" : ""; + string file = dir + "Intrinsics" + substring + ".xml"; + CvMat *intrinsic = (CvMat*) cvLoad(file.c_str()); + file = dir + "Distortion" + substring + ".xml"; + CvMat *distortion = (CvMat*) cvLoad(file.c_str()); + switch(method) { + case 0: + file = dir + "Rotation" + substring + ".xml"; + break; + case 1: + file = dir + "RotationMedian" + substring + ".xml"; + break; + case 2: + file = dir + "RotationMean" + substring + ".xml"; + break; + } + CvMat *Rotation = (CvMat*) cvLoad(file.c_str()); + switch(method) { + case 0: + file = dir + "Translation" + substring + ".xml"; + break; + case 1: + file = dir + "TranslationMedian" + substring + ".xml"; + break; + case 2: + file = dir + "TranslationMean" + substring + ".xml"; + break; + } + CvMat *Translation = (CvMat*) cvLoad(file.c_str()); + CvMat* undistort = cvCreateMat(5,1,CV_32FC1); + for (int hh = 0; hh < 5; hh++) { + CV_MAT_ELEM(*undistort, float,hh,0) = 0; + } + + double starttime = GetCurrentTimeInMilliSec(); + + // filling the rotation matrix + double rPosTheta[3] = {0.0, rad(rot_angle), 0.0}; + double rPos[3] = {0.0, 0.0, 0.0}; + double alignxf[16]; + EulerToMatrix4(rPos, rPosTheta, alignxf); + + string outdir = dir + "/labscan-map"; +#ifdef _MSC_VER + int success = mkdir(outdir.c_str()); +#else + int success = mkdir(outdir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + cout << "Writing scans to " << outdir << endl; + } else if(errno == EEXIST) { + cout << "Directory " << outdir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << outdir << " failed" << endl; + exit(1); + } + for (int count = start; count <= end; count++) { + CvMat* point_3Dcloud; + CvMat* point_2Dcloud; + CvMat* undistort_2Dcloud; + + CvMat* point_3Dcloud_2; + CvMat* point_2Dcloud_2; + CvMat* undistort_2Dcloud_2; + + // loading images + int count0; + if(rot_angle < 180 && rot_angle > 0) { + count0 = count % 9 == 8 ? count - 8 : count + 1; + } else { + count0 = count % 9 == 0 ? count + 8 : count - 1; + } + string t, t0; + if(optical) { + t = dir + "/photo" + to_string(count, 3) + ".ppm"; + t0 = dir + "/photo" + to_string(count0, 3) + ".ppm"; + } else { + t = dir + "/image" + to_string(count, 3) + ".ppm"; + t0 = dir + "/image" + to_string(count0, 3) + ".ppm"; + } + + IplImage* image = cvLoadImage(t.c_str(), -1); + if (!image) { + cout << "first image " << t << " cannot be loaded" << endl; + return; + } + CvSize size = cvGetSize(image); + + IplImage* image0; + if(fabs(rot_angle) > 1) { + image0 = cvLoadImage(t0.c_str(), -1); + + if (!image0) { + cout << "second image " << t0 << " cannot be loaded" << endl; + return; + } + image0 = resizeImage(image0, scale); + } + image = resizeImage(image, scale); + if(image) + + // reading the 3D points and projecting them back to 2d + Scan::readScans(type, count, count, dir, maxDist, minDist, 0); + Scan::allScans[0]->calcReducedPoints(-1, 0); + point_3Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 3, CV_32FC1); + point_2Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + undistort_2Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + CV_MAT_ELEM(*point_3Dcloud, float,j,0) = Scan::allScans[0]->get_points_red()[j][2]; + CV_MAT_ELEM(*point_3Dcloud, float,j,1) = -Scan::allScans[0]->get_points_red()[j][0]; + CV_MAT_ELEM(*point_3Dcloud, float,j,2) = Scan::allScans[0]->get_points_red()[j][1]; + } + + cout << "Number of points read: " << Scan::allScans[0]->get_points_red_size() << endl; + cvProjectPoints2(point_3Dcloud, Rotation, Translation, intrinsic, + distortion, point_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + + cvProjectPoints2(point_3Dcloud, Rotation, Translation, intrinsic, + undistort, undistort_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + + // second image in case of overlap + if(fabs(rot_angle) > 1) { + point_3Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 3, CV_32FC1); + point_2Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + undistort_2Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + Point p(Scan::allScans[0]->get_points_red()[j]); + p.transform(alignxf); + + CV_MAT_ELEM(*point_3Dcloud_2, float,j,0) = p.z; + CV_MAT_ELEM(*point_3Dcloud_2, float,j,1) = -p.x; + CV_MAT_ELEM(*point_3Dcloud_2, float,j,2) = p.y; + } + + cvProjectPoints2(point_3Dcloud_2, Rotation, Translation, intrinsic, + distortion, point_2Dcloud_2, NULL, NULL, NULL, NULL, NULL, 0); + + cvProjectPoints2(point_3Dcloud_2, Rotation, Translation, intrinsic, + undistort, undistort_2Dcloud_2, NULL, NULL, NULL, NULL, NULL, 0); + } + // write colored data + string outname = outdir + "/scan" + to_string(count, 3) + ".3d"; + fstream outfile; + outfile.open(outname.c_str(), ios::out); + + //for counting how many points get mapped to first and second image file + int point_map1 = 0; // #points mapped to first image + int point_map2 = 0; // " " " second image + + // checking whether projection lies within the image boundaries + for (int k = 0; k < Scan::allScans[0]->get_points_red_size(); k++) { + float px = CV_MAT_ELEM(*undistort_2Dcloud,float,k,0); + float py = CV_MAT_ELEM(*undistort_2Dcloud,float,k,1); + if (px < image->width - .5 && px >= 0 && py >= 0 && py < image->height - .5) { + px = CV_MAT_ELEM(*point_2Dcloud,float,k,0); + py = CV_MAT_ELEM(*point_2Dcloud,float,k,1); + if (px < image->width - .5 && px >= 0 && py >= 0 && py < image->height - .5) { + point_map1++; + int ppx = 0; + int ppy = 0; + if (px - int(px) < .5) { + ppx = int(px); + } else { + ppx = int(px) + 1; + } + if (py - int(py) < .5) { + ppy = int(py); + } else { + ppy = int(py) + 1; + } + + CvScalar c; + c = cvGet2D(image, ppy, ppx); + // check for overlap + if(correction) { + vector temp_vec; + float p_id = 1; // 1 for pixel, 0 for neighboring pixel + temp_vec.push_back(-(CV_MAT_ELEM(*point_3Dcloud,float,k,1))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,2))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,0))); + temp_vec.push_back(c.val[2]); + temp_vec.push_back(c.val[1]); + temp_vec.push_back(c.val[0]); + temp_vec.push_back(p_id); + if(neighborhood > 1) { + int limit = neighborhood / 2; + + int lower_y = ppy - limit > 0 ? ppy - limit : 0; + int upper_y = ppy + limit < size.height ? ppy + limit : size.height - 1; + int lower_x = ppx - limit > 0 ? ppx - limit : 0; + int upper_x = ppx + limit < size.width ? ppx + limit : size.width - 1; + + for (int y = lower_y; y < upper_y; y++) { + for (int x = lower_x; x < upper_x; x++) { + if(x == ppx && y == ppy) { + temp_vec[6] = 1; + } else { + temp_vec[6] = 0; + } + data1[y][x].push_back(temp_vec); + } + } + + } else { + data1[ppy][ppx].push_back(temp_vec); + } + temp_vec.clear(); + } else { + // write all the data + outfile << -(CV_MAT_ELEM(*point_3Dcloud,float,k,1))<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,2)<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,0)<<" "; + outfile << (c.val[0] - 1000.0)/10.0 << endl; + //outfile << c.val[2] <<" "<< c.val[1]<<" "< 1) { + // check for overlap + px = CV_MAT_ELEM(*undistort_2Dcloud_2,float,k,0); + py = CV_MAT_ELEM(*undistort_2Dcloud_2,float,k,1); + if (px < image0->width - .5 && px >= 0 && py >= 0 && py < image0->height - .5) { + px = CV_MAT_ELEM(*point_2Dcloud_2,float,k,0); + py = CV_MAT_ELEM(*point_2Dcloud_2,float,k,1); + if (px < image0->width - .5 && px >= 0 && py >= 0 && py < image0->height - .5) { + point_map2++; + int ppx = 0; + int ppy = 0; + + if (px - int(px) < .5) { + ppx = int(px); + } else { + ppx = int(px) + 1; + } + if (py - int(py) < .5) { + ppy = int(py); + } else { + ppy = int(py) + 1; + } + CvScalar c; + + c = cvGet2D(image0, ppy, ppx); + if(correction) { + vector temp_vec; + float p2_id = 1; + temp_vec.push_back(-(CV_MAT_ELEM(*point_3Dcloud,float,k,1))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,2))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,0))); + temp_vec.push_back(c.val[2]); + temp_vec.push_back(c.val[1]); + temp_vec.push_back(c.val[0]); + temp_vec.push_back(p2_id); + if(neighborhood > 1) { + int neighbors = 3; + int limit = neighbors / 2; + + int lower_y = ppy - limit > 0 ? ppy - limit : 0; + int upper_y = ppy + limit < size.height ? ppy + limit : size.height - 1; + int lower_x = ppx - limit > 0 ? ppx - limit : 0; + int upper_x = ppx + limit < size.width ? ppx + limit : size.width - 1; + + for (int y = lower_y; y < upper_y; y++) { + for (int x = lower_x; x < upper_x; x++) { + if(x == ppx && y == ppy) { + temp_vec[6] = 1; + } else { + temp_vec[6] = 0; + } + data2[y][x].push_back(temp_vec); + } + } + + } else { + data2[ppy][ppx].push_back(temp_vec); + } + temp_vec.clear(); + } else { + // write all the data + outfile << -(CV_MAT_ELEM(*point_3Dcloud,float,k,1))<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,2)<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,0)<<" "; + outfile << (c.val[0] - 1000.0)/10.0 << endl; + //outfile << c.val[2] <<" "<< c.val[1]<<" "< 1) { + if(size.width > 0 && size.height > 0) { + CorrectErrorAndWrite(data2, outfile, size); + } + } + } + + // clean up + outfile.flush(); + outfile.close(); + + delete Scan::allScans[0]; + Scan::allScans.clear(); + + double endtime = GetCurrentTimeInMilliSec(); + double time = endtime - starttime; + time = time/1000.0; + cout<<"runtime for scan " << count << " in seconds is: " << time << endl; + + cvReleaseImage(&image); + cvReleaseMat(&point_2Dcloud); + cvReleaseMat(&point_3Dcloud); + cvReleaseMat(&undistort_2Dcloud); + if(fabs(rot_angle) > 1) { + cvReleaseImage(&image0); + cvReleaseMat(&point_2Dcloud_2); + cvReleaseMat(&point_3Dcloud_2); + cvReleaseMat(&undistort_2Dcloud_2); + } + for (int i = 0; i < size.height; i++) { + for (int j = 0; j < size.width; j++) { + data1[i][j].clear(); + data2[i][j].clear(); + } + } + + } + + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + cvReleaseMat(&undistort); + +} + +/** + * Sorts a number of float array according to their distance to the origin. + */ +void sortDistances(float ** points, int size) { + int swapped1 = 0; + do { + swapped1 = 0; + for(int a = 1; a <= size - 1; a++) { + if(Len(points[a]) < Len(points[a - 1])) { + float * tmp = points[a-1]; + points[a-1] = points[a]; + points[a] = tmp; + swapped1 = 1; + } + } + } while (swapped1 == 1); +} + +/** + * Performs clustering on all points that are projected onto one pixel. + * Writes only the points from the largest closest cluster. + */ +void clusterSearch(float ** points, int size, double thresh1, double thres2, fstream &outfile) { + int position = 0; + int cluster_count = 0; + + double max_cluster = 0; + int max_position = 0; + vector clusters; + while (position < size) { + double sum = 0.0; + int j = position + 1; + while(j < size && (Len(points[j]) < (Len(points[j-1]) + thresh1))) { + j++; + cluster_count++; + sum+=Len(points[j-1]); + } + double * tmp = new double[4]; + tmp[0] = position; + tmp[1] = j - 1; + tmp[2] = sum / (j - position); + // weird heuristic ;-) (clustersize/(rank of the cluster)) + tmp[3] = (double)(j - position) / (clusters.size() + 1.0); + if(tmp[3] > max_cluster) { + max_position = clusters.size(); + max_cluster = tmp[3]; + } + clusters.push_back(tmp); + position = j; + } + + for(int p = clusters[max_position][0]; p <= clusters[max_position][1]; p++) { + if(points[p][6] == 1) { + outfile << points[p][0] << " " << points[p][1] << " " << points[p][2] << " "; + //outfile << points[p][3] << " " << points[p][4] << " " << points[p][5] << endl; + outfile << (points[p][5] - 1000.0)/10.0 << endl; + } + } + + for(unsigned int i = 0; i < clusters.size(); i++) { + delete[] clusters[i]; + } +} + +void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size) { + double thresh1 = 4; + double thresh2 = 5; + + // getting points mapping to one pixel + for (int i = 0; i < size.height; i++) { + for (int j = 0; j < size.width; j++) { + int tmp_size = data[i][j].size(); + if (tmp_size > 0) { + float ** points = new float*[tmp_size]; + for (int k = 0; k < tmp_size; k++) { + points[k] = new float[7]; + for(int l = 0; l < 7; l++) { + points[k][l] = data[i][j][k][l]; + } + } + + //sorting the points now in ascending order wrt distance + sortDistances(points, tmp_size); + //look for clusters + clusterSearch(points, tmp_size, thresh1, thresh2, outfile); + + for (int k = 0; k < tmp_size; k++) { + delete[] points[k]; + } + delete[] points; + } + + } + } + +} + +/** + * Prints out usage message + */ +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end at scan NR" << endl + << endl + << bold << " -x" << normal << " NR, " << bold << "--width=" << normal << "NR" << endl + << " NR of lamps/corners in x direction" << endl + << endl + << bold << " -y" << normal << " NR, " << bold << "--height=" << normal << "NR" << endl + << " NR of lamps/corners in y direction" << endl + << endl + << bold << " -o --=optical" << normal << endl + << " use optical camera instead of thermal camera" << endl + << endl + << bold << " -c --=chess" << normal << endl + << " use chessboard pattern for calibration instead of lightbulb pattern" << endl + << endl + << bold << " -I --=intrinsic" << normal << endl + << " perform intrinsic calibration" << endl + << endl + << bold << " -E --=extrinsic" << normal << endl + << " perform extrinsic calibration" << endl + << endl + << bold << " -P --=mapping" << normal << endl + << " perform mapping of image data to point cloud" << endl + << endl + << bold << " -q --=quiet" << normal << endl + << " " << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -s 2 -e 10 dat" << endl << endl; + exit(1); + +} + +/** + * Parses command line arguments needed for plane detection. For details about + * the argument see usage(). + */ + +int parseArgs(int argc, char **argv, string &dir, int &start, int &end, double +&maxDist, double &minDist, IOType &type, bool &optical, bool &chess, int +&width, int &height, bool &intrinsic, bool &extrinsic, bool &mapping, bool +&correction, int &scale, int &neighborhood, double &angle, bool &quiet ) { + // from unistd.h: + int c; + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "correction", no_argument, 0, 'C' }, + { "scale", required_argument, 0, 'S' }, + { "neighborhood", required_argument, 0, 'n' }, + { "angle", required_argument, 0, 'a' }, + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "width", required_argument, 0, 'x' }, + { "height", required_argument, 0, 'y' }, + { "quiet", no_argument, 0, 'q' }, + { "optical", no_argument, 0, 'o' }, + { "intrinsic", no_argument, 0, 'I' }, + { "extrinsic", no_argument, 0, 'E' }, + { "mapping", no_argument, 0, 'P' }, + { "chess", no_argument, 0, 'c' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:s:e:x:y:m:M:qoIEPcCS:n:a:", longopts, NULL)) != -1) { + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'o': + optical = true; + break; + case 'I': + intrinsic = true; + break; + case 'E': + extrinsic = true; + break; + case 'P': + mapping = true; + break; + case 'c': + chess = true; + break; + case 'x': + width = atoi(optarg); + break; + case 'y': + height = atoi(optarg); + break; + case 'S': + scale = atoi(optarg); + break; + case 'a': + angle = atof(optarg); + break; + case 'n': + neighborhood = atoi(optarg); + break; + case 'C': + correction = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + cout << "Abort" << endl; + abort (); + } + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + if(!(intrinsic || extrinsic || mapping)) { + cerr << "\n*** Please choose at least one method (intrinsic calibration, " + << "extrinsic calibration, mapping of image data to point data! ***\n" << + endl; + usage(argv[0]); + } + return 0; + +} + +/** + * Main function. Calls either function for color mapping or function for + * intrinsic and/or extrinsic calibration. + */ +int main(int argc, char** argv) { + string dir; + int start = 0; + int end = -1; + int width = 5; + int height = 6; + double maxDist = -1; + double minDist = -1; + IOType type = UOS; + bool optical = false; + bool chess = false; + bool intrinsic = false; + bool extrinsic = false; + bool mapping = false; + bool quiet = false; + int scale = 1; + //double rot_angle = -40; + double rot_angle = 0; + bool correction = false; + int neighborhood = 1; + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, type, optical, chess, + width, height, intrinsic, extrinsic, mapping, correction, scale, neighborhood, + rot_angle, quiet); + + // either mapping + if(mapping) { + if(!quiet) cout << "Starting projecting and mapping image data to point cloud..." << endl; + ProjectAndMap(start, end, optical, quiet, dir, type, scale, rot_angle, minDist, maxDist, correction, neighborhood); + if(!quiet) cout << "\nDONE" << endl; + return 0; + } + + // or calibration + if(intrinsic) { + if(!quiet) { + cout << "Starting intrinsic calibration using "; + if(chess) cout << "chessboard pattern..." << endl; + else cout << "lightbulb pattern..." << endl; + } + CalibFunc(width, height, start, end, optical, chess, quiet, dir, scale); + if(!quiet) cout << "\nDONE" << endl; + } + + if(extrinsic) { + if(!quiet) { + cout << "Starting extrinsic calibration using "; + if(chess) cout << "chessboard pattern..." << endl; + else cout << "lightbulb pattern..." << endl; + } + ExtrCalibFunc(width, height, start, end, optical, chess, quiet, dir, scale); + if(!quiet) cout << "\nDONE" << endl; + } + + return 0; +} + diff --git a/.svn/pristine/87/87d0c030fbe472be689b9044e75e9ddacbab1e5c.svn-base b/.svn/pristine/87/87d0c030fbe472be689b9044e75e9ddacbab1e5c.svn-base new file mode 100644 index 0000000..b007928 --- /dev/null +++ b/.svn/pristine/87/87d0c030fbe472be689b9044e75e9ddacbab1e5c.svn-base @@ -0,0 +1,92 @@ +/** + * @file vector3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef VECTOR3D_H_ +#define VECTOR3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" + +#include + +namespace model { + +/** + * A vector in space. + */ +class Vector3d { +public: + double x; + double y; + double z; + + Vector3d(); + + Vector3d(const double& x, const double& y, const double& z); + + /** + * constructor for vector b - a, where a and b are points + */ + Vector3d(const Point3d& a, const Point3d& b); + + Vector3d(const Vector3d& other); + + Vector3d& operator=(const Vector3d& other); + + /** + * normalizes the vector + * @warning in place + */ + void normalize(); + + /** + * inverts the vector + * @warning in place + */ + void invert(); + + /** + * @return the length of the vector + */ + double length() const; + + /** + * rotates the vector around the origin by the given rotation + * @param rot the rotation object that describes how much to rotate the vector + * @warning in place + */ + void rotate(const Rotation3d& rot); + + /** + * @return the cross product (still a vector) between this vector and another given one + */ + Vector3d crossProduct(const Vector3d& other) const; + + /** + * @return the dot product between this vector and another given one + */ + double dotProduct(const Vector3d& other) const; + + /** + * @return the angle between two vectors + */ + double angle(const Vector3d& other); + + void operator+=(const Vector3d& other); + Vector3d operator+(const Vector3d& other); + Vector3d operator*(const double& val); + void operator/=(const double& div); + + friend std::ostream& operator<<(std::ostream& os, const Vector3d& vect); +}; + +} /* namespace model */ + +#endif /* VECTOR3D_H_ */ diff --git a/.svn/pristine/88/88ae03bdd6f0c77664508d63d5854ce749d4822c.svn-base b/.svn/pristine/88/88ae03bdd6f0c77664508d63d5854ce749d4822c.svn-base new file mode 100644 index 0000000..eb8847b --- /dev/null +++ b/.svn/pristine/88/88ae03bdd6f0c77664508d63d5854ce749d4822c.svn-base @@ -0,0 +1,46 @@ +#ifndef CSYSTEM_H_ +#define CSYSTEM_H_ + +#ifdef WIN32 +#pragma warning(disable:4786) +#endif + +/** + * @class CSystem + * @brief This class encapsulates system specific calls + * @author Stefan May + */ +template +class CSystem +{ + public: + /** + * Allocation of 2D arrays + * @param unRows number of rows + * @param unCols number of columns + * @param aatArray data array + */ + static void allocate (unsigned int unRows, unsigned int unCols, T** &aatArray); + /** + * Deallocation of 2D arrays. Pointers are set to null. + * @param aatArray data array + */ + static void deallocate (T** &aatArray); + /** + * Allocation of 3D arrays + * @param unRows number of rows + * @param unCols number of columns + * @param unSlices number of slices + * @param aaatArray data array + */ + static void allocate (unsigned int unRows, unsigned int unCols, unsigned int unSlices, T*** &aaatArray); + /** + * Deallocation of 3D arrays. Pointers are set to null. + * @param aaatArray data array + */ + static void deallocate (T*** &aaatArray); +}; + +#include "slam6d/cuda/CSystem.icc" + +#endif /*CSYSTEM_H_*/ diff --git a/.svn/pristine/88/88c651fb430d20a21ea462e35c81221ed7b479f6.svn-base b/.svn/pristine/88/88c651fb430d20a21ea462e35c81221ed7b479f6.svn-base new file mode 100644 index 0000000..fbb5424 --- /dev/null +++ b/.svn/pristine/88/88c651fb430d20a21ea462e35c81221ed7b479f6.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/89/891424d0e3add5ddfda3fc372ec0b2eda89d2ac4.svn-base b/.svn/pristine/89/891424d0e3add5ddfda3fc372ec0b2eda89d2ac4.svn-base new file mode 100644 index 0000000..e772025 --- /dev/null +++ b/.svn/pristine/89/891424d0e3add5ddfda3fc372ec0b2eda89d2ac4.svn-base @@ -0,0 +1,183 @@ +# This file runs the nvcc commands to produce the desired output file along with +# the dependency file needed by CMake to compute dependencies. In addition the +# file checks the output of each command and if the command fails it deletes the +# output files. + +# Input variables +# +# verbose:BOOL=<> OFF: Be as quiet as possible (default) +# ON : Describe each step +# + +# Set these up as variables to make reading the generated file easier +set(CMAKE_COMMAND "@CMAKE_COMMAND@") +set(source_file "@source_file@") +set(generated_file "@generated_file@") +set(NVCC_generated_dependency_file "@NVCC_generated_dependency_file@") +set(cmake_dependency_file "@cmake_dependency_file@") +set(CUDA_make2cmake "@CUDA_make2cmake@") +set(generated_cubin_file "@generated_cubin_file@") +set(CUDA_parse_cubin "@CUDA_parse_cubin@") +set(build_cubin @build_cubin@) + +set(CUDA_NVCC "@CUDA_NVCC@") +set(CUDA_NVCC_FLAGS "@CUDA_NVCC_FLAGS@") +set(nvcc_flags "@nvcc_flags@") +set(CUDA_NVCC_INCLUDE_ARGS "@CUDA_NVCC_INCLUDE_ARGS@") +set(format_flag "@format_flag@") + +if(DEFINED CCBIN) + set(CCBIN -ccbin "${CCBIN}") +endif() + +if(debug) + set(CMAKE_COMMAND "C:/code/CMake-cuda-staging/build-32/src/debug/args.exe") + set(CUDA_NVCC "C:/code/CMake-cuda-staging/build-32/src/debug/args.exe") +endif() + +# cuda_execute_process - Executes a command with optional command echo and status message. +# +# status - Status message to print if verbose is true +# command - COMMAND argument from the usual execute_process argument structure +# ARGN - Remaining arguments are the command with arguments +# +# CUDA_result - return value from running the command +# +# Make this a macro instead of a function, so that things like RESULT_VARIABLE +# and other return variables are present after executing the process. +macro(cuda_execute_process status command) + set(_command ${command}) + if(NOT _command STREQUAL "COMMAND") + message(FATAL_ERROR "Malformed call to cuda_execute_process. Missing COMMAND as second argument. (command = ${command})") + endif() + if(verbose) + execute_process(COMMAND "${CMAKE_COMMAND}" -E echo -- ${status}) + # Now we need to build up our command string. We are accounting for quotes + # and spaces, anything else is left up to the user to fix if they want to + # copy and paste a runnable command line. + set(cuda_execute_process_string) + foreach(arg ${ARGN}) + # If there are quotes, excape them, so they come through. + string(REPLACE "\"" "\\\"" arg ${arg}) + # Args with spaces need quotes around them to get them to be parsed as a single argument. + if(arg MATCHES " ") + list(APPEND cuda_execute_process_string "\"${arg}\"") + else() + list(APPEND cuda_execute_process_string ${arg}) + endif() + endforeach() + # Echo the command + execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${cuda_execute_process_string}) + endif(verbose) + # Run the command + execute_process(COMMAND ${ARGN} RESULT_VARIABLE CUDA_result ) +endmacro() + +# Delete the target file +cuda_execute_process( + "Removing ${generated_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" + ) + +# Generate the dependency file +cuda_execute_process( + "Generating dependency file: ${NVCC_generated_dependency_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + -M + -o "${NVCC_generated_dependency_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Generate the cmake readable dependency file to a temp file. Don't put the +# quotes just around the filenames for the input_file and output_file variables. +# CMake will pass the quotes through and not be able to find the file. +cuda_execute_process( + "Generating temporary cmake readable file: ${cmake_dependency_file}.tmp" + COMMAND "${CMAKE_COMMAND}" + -D "input_file:FILEPATH=${NVCC_generated_dependency_file}" + -D "output_file:FILEPATH=${cmake_dependency_file}.tmp" + -P "${CUDA_make2cmake}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Copy the file if it is different +cuda_execute_process( + "Copy if different ${cmake_dependency_file}.tmp to ${cmake_dependency_file}" + COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${cmake_dependency_file}.tmp" "${cmake_dependency_file}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Delete the temporary file +cuda_execute_process( + "Removing ${cmake_dependency_file}.tmp and ${NVCC_generated_dependency_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${cmake_dependency_file}.tmp" "${NVCC_generated_dependency_file}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Generate the code +cuda_execute_process( + "Generating ${generated_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + ${format_flag} -o "${generated_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + +if(CUDA_result) + # Since nvcc can sometimes leave half done files make sure that we delete the output file. + cuda_execute_process( + "Removing ${generated_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" + ) + message(FATAL_ERROR "Error generating file ${generated_file}") +else() + message("Generated ${generated_file} successfully.") +endif() + +# Cubin resource report commands. +if( build_cubin ) + # Run with -cubin to produce resource usage report. + cuda_execute_process( + "Generating ${generated_cubin_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + -cubin + -o "${generated_cubin_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + + # Execute the parser script. + cuda_execute_process( + "Executing the parser script" + COMMAND "${CMAKE_COMMAND}" + -D "input_file:STRING=${generated_cubin_file}" + -P "${CUDA_parse_cubin}" + ) + +endif( build_cubin ) diff --git a/.svn/pristine/89/8935720abf3858def077483f5d2f63a7f44374e3.svn-base b/.svn/pristine/89/8935720abf3858def077483f5d2f63a7f44374e3.svn-base new file mode 100644 index 0000000..818c422 --- /dev/null +++ b/.svn/pristine/89/8935720abf3858def077483f5d2f63a7f44374e3.svn-base @@ -0,0 +1,87 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 1999 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address +*/ + +#include +#include +#include + +#include "tga.h" + +typedef unsigned char byte; + +// --- needed for reading TGA-files +#if 0 +char read_b(FILE *f1){ // filter #-comments + char c; + c=fgetc(f1); assert(!feof(f1)); assert(!ferror(f1)); + return c; +} +#endif + +//byte tga[18]={ 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24,32}; +/* header_hex= 00 00 02 00 00 00 00 00 00 00 00 00 xl xh yl yh + * 18 20 -- -- -- -- -- -- -- -- -- -- -- -- -- -- */ + +void readtga(char *name,pix *p,int mode){ // see pcx.format.txt + // mode: 0=gray,1=RGB + int nx,ny,i,x,y; + FILE *f1; + unsigned char *pic,h[18]; + + f1=fopen(name,"rb"); if(!f1) fprintf(stderr," error opening file\n"); + assert(f1); // open-error + assert(fread(h,1,18,f1)==18); /* 18 Byte lesen -> h[] */ + assert(h[ 0]== 0); // TGA0 + assert(h[ 1]== 0); // TGA1 + assert(h[ 2]== 2); // TGA2 no run length encoding + for(i=3;i<12;i++) + assert(h[ i]== 0); // ??? + assert(h[16]==0x18); // TGA16 + assert(h[17]==0x20); // TGA17 + nx = h[12] + (h[13]<<8); /* x-dimension low high */ + ny = h[14] + (h[15]<<8); /* y-dimension low high */ + fprintf(stderr,"# TGA version=%d x=%d y=%d", h[2],nx,ny ); + fflush(stdout); + pic=(unsigned char *)malloc( 3*nx*ny ); + assert(pic!=NULL); // no memory + assert(ny==(int)fread(pic,3*nx,ny,f1)); // read all lines BGR + if(mode==0) + { + for(y=0;y gray */ + for(x=0;x RGB */ + for(x=0;xp=pic; p->x=nx; p->y=ny; p->bpp=1+2*mode; + fprintf(stderr," mode=%d\n",mode); +} + +// ------------------------------------------------------------------------ + diff --git a/.svn/pristine/89/8994128dd7f5bb33188bffd9d214312a494462c3.svn-base b/.svn/pristine/89/8994128dd7f5bb33188bffd9d214312a494462c3.svn-base new file mode 100644 index 0000000..027aaf9 --- /dev/null +++ b/.svn/pristine/89/8994128dd7f5bb33188bffd9d214312a494462c3.svn-base @@ -0,0 +1,225 @@ +/* + * registration implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/registration.h" + +using namespace std; + +namespace fbr{ + + registration::registration(unsigned int minD, double minE, unsigned int minI, registration_method method){ + minDistance = minD; + minError = minE; + minInlier = minI; + rMethod = method; + bestError = minError; + bestErrorIndex = 0; + for(int i = 0; i < 16; i++) + bestAlign[i] = 0; + } + + registration::registration(){ + minDistance = 50; + minError = 50; + minInlier = 5; + rMethod = RANSAC; + bestError = minError; + bestErrorIndex = 0; + for(int i = 0; i < 16; i++) + bestAlign[i] = 0; + } + + int registration::getCoord(vector fKeypoints, vector sKeypoints, vector matches, cv::Mat fPMap, cv::Mat sPMap, int idx, cv::Point3f& cq, cv::Point3f& ct){ + int x, y; + y = fKeypoints[matches[idx].queryIdx].pt.x; + x = fKeypoints[matches[idx].queryIdx].pt.y; + + if(fKeypoints[matches[idx].queryIdx].pt.x - x > 0.5) + x++; + if(fKeypoints[matches[idx].queryIdx].pt.y - y > 0.5) + y++; + cv::Mat_ _fPMap = fPMap; + float sqr = sqrt (_fPMap(x,y)[0] * _fPMap(x,y)[0] + _fPMap(x,y)[1] * _fPMap(x,y)[1] + _fPMap(x,y)[2] * _fPMap(x,y)[2]); + if(sqr != 0){ + cq.x = _fPMap(x,y)[0]; + cq.y = _fPMap(x,y)[1]; + cq.z = _fPMap(x,y)[2]; + } + else + return 0; + + y = sKeypoints[matches[idx].trainIdx].pt.x; + x = sKeypoints[matches[idx].trainIdx].pt.y; + if(sKeypoints[matches[idx].trainIdx].pt.x - x > 0.5) + x++; + if(sKeypoints[matches[idx].trainIdx].pt.y - y > 0.5) + y++; + cv::Mat_ _sPMap = sPMap; + sqr = sqrt (_sPMap(x,y)[0] * _sPMap(x,y)[0] + _sPMap(x,y)[1] * _sPMap(x,y)[1] + _sPMap(x,y)[2] * _sPMap(x,y)[2]); + if(sqr != 0){ + ct.x = _sPMap(x,y)[0]; + ct.y = _sPMap(x,y)[1]; + ct.z = _sPMap(x,y)[2]; + } + else + return 0; + + return 1; + } + + void registration::pointToArray(cv::Point3f c, double* cd){ + cd[0] = c.x; + cd[1] = c.y; + cd[2] = c.z; + } + + cv::Point3f registration::coordTransform(cv::Point3f p, double* align){ + cv::Point3f tp; + tp.x = align[0]*p.x + align[4]*p.y + align[8]*p.z + align[12]; + tp.y = align[1]*p.x + align[5]*p.y + align[9]*p.z + align[13]; + tp.z = align[2]*p.x + align[6]*p.y + align[10]*p.z + align[14]; + return tp; + } + + + int registration::findAlign(unsigned int i, unsigned int j, unsigned int k, cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches){ + cv::Point3f c1q, c2q, c3q, c1t, c2t, c3t; + if(i == j || i == k || j == k) + return 0; + //get the coordinates + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, i, c1q, c1t) == 0) + return 0; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, j, c2q, c2t) == 0) + return 0; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, k, c3q, c3t) == 0) + return 0; + //check for min distance + if(norm(c1q - c2q) < minDistance || norm(c1q - c3q) < minDistance || norm(c2q - c3q) < minDistance || norm(c1t - c2t) < minDistance || norm(c1t - c3t) < minDistance || norm(c2t - c3t) < minDistance) + return 0; + //calculate the centroids + cv::Point3f centroidq, centroidt; + centroidq = (c1q + c2q + c3q); + centroidt = (c1t + c2t + c3t); + centroidq.x = centroidq.x / 3; + centroidq.y = centroidq.y / 3; + centroidq.z = centroidq.z / 3; + centroidt.x = centroidt.x / 3; + centroidt.y = centroidt.y / 3; + centroidt.z = centroidt.z / 3; + //put each point into double array + double c1qd[3], c2qd[3], c3qd[3], c1td[3], c2td[3], c3td[3]; + cv::Point3f temp; + pointToArray(c1q, c1qd); + pointToArray(c2q, c2qd); + pointToArray(c3q, c3qd); + pointToArray(c1t, c1td); + pointToArray(c2t, c2td); + pointToArray(c3t, c3td); + //create PtPair and calc the align with icp6D_QUAT + vector pairs; + pairs.push_back(PtPair(c1qd, c1td)); + pairs.push_back(PtPair(c2qd, c2td)); + pairs.push_back(PtPair(c3qd, c3td)); + double align[16]; + double centroidqd[3], centroidtd[3]; + pointToArray(centroidq, centroidqd); + pointToArray(centroidt, centroidtd); + icp6D_QUAT q(true); + q.Point_Point_Align(pairs, align, centroidqd, centroidtd); + //transform the matches with align if the error is less than minerror + double iError = 0; + unsigned int eIdx = 0; + for(unsigned int p = 0; p < matches.size(); p++){ + if(p == i || p == j || p == k) + continue; + cv::Point3f cq, ct, ct_trans; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, p, cq, ct) == 0) + continue; + ct_trans = coordTransform(ct, align); + if(norm(ct_trans - cq) < minError){ + iError += norm(ct_trans - cq); + eIdx++; + } + } + //check for mininlier and find the best align + if(eIdx > minInlier){ + double aError = iError / eIdx; + if(aError - iInfluence*eIdx < bestError - iInfluence*bestErrorIndex){ + bestError = aError; + bestErrorIndex = eIdx; + for(int a = 0; a < 16; a++) + bestAlign[a] = align[a]; + } + } + return 1; + } + + void registration::findRegistration(cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches){ + //go through all matches + if(rMethod == ALL){ + for(unsigned int i = 0; i < matches.size(); i++) + for(unsigned int j = 0; j < matches.size(); j++) + for(unsigned int k = 0; k < matches.size(); k++){ + findAlign(i, j, k, fPMap, fKeypoints, sPMap, sKeypoints, matches); + } + } + //RANSAC + if(rMethod == RANSAC) + for(int r = 0; r < RANSACITR; r++){ + if((r % (RANSACITR/10)) == 0){ + cout<<"RANSAC iteration: "<<(r / (RANSACITR/10) + 1) * 10 <<"%"< 0){ + cout< +using std::vector; + +#include "graphSlam6D.h" + +#include "newmat/newmatio.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching with Lu/Milios in 6D. + * + * Reference: D. Borrmann, et al., Globally consistent 3D mapping + * with scan matching, Journal of Robotics and Autonomous + * Systems (2007), + */ +class lum6DEuler : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + lum6DEuler() {}; + lum6DEuler(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~lum6DEuler(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static void covarianceEuler(Scan *first, Scan *second, int nns_method, + int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0); + +private: + void FillGB3D(Graph *gr, GraphMatrix *G, NEWMAT::ColumnVector* B, vector allScans); +// void CalculateLinks3D(int numLinks, vPtPair **ptpairs, vector * CD , vector * C); + +}; + +#endif diff --git a/.svn/pristine/8a/8aa0fd587375c1ce4a10896c482f7f46e412009b.svn-base b/.svn/pristine/8a/8aa0fd587375c1ce4a10896c482f7f46e412009b.svn-base new file mode 100644 index 0000000..156461f --- /dev/null +++ b/.svn/pristine/8a/8aa0fd587375c1ce4a10896c482f7f46e412009b.svn-base @@ -0,0 +1,83 @@ +/** + * @file + * @brief IO of a 3D scan in rxp file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RXP_H__ +#define __SCAN_IO_RXP_H__ + +#include "scan_io.h" +#include "slam6d/point.h" + +#include "riegl/scanlib.hpp" +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +class importer; + + + +/** + * @brief 3D scan loader for RXP scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rxp : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); + + ScanIO_rxp() : dec(0), imp(0) {} +private: + std::tr1::shared_ptr rc; + decoder_rxpmarker *dec; + importer *imp; + std::string old_path; +}; + +/** + * The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class. + * + * Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com . + */ +class importer : public scanlib::pointcloud +{ +public: + importer(PointFilter& filter, int start, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) : + pointcloud(false), // set this to true if you need gps aligned timing + filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation), + start(start), currentscan(0) + {} + inline int getCurrentScan() { return currentscan; } + inline void set(PointFilter& filter, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) + { + this->filter = &filter; + this->xyz = xyz; + this->reflectance = reflectance; + this->amplitude = amplitude; + this->type = type; + this->deviation = deviation; + } +protected: + PointFilter* filter; + std::vector *xyz; + std::vector *reflectance; + std::vector *amplitude; + std::vector *type; + std::vector *deviation; + int start; + int currentscan; + // overridden from pointcloud class + void on_echo_transformed(echo_type echo); + + void on_frame_stop(const scanlib::frame_stop& arg) { + scanlib::basic_packets::on_frame_stop(arg); + currentscan++; + } +}; + +#endif diff --git a/.svn/pristine/8a/8ab9ab7f9ecc497a056ee5b0ed19184aa8c89ba3.svn-base b/.svn/pristine/8a/8ab9ab7f9ecc497a056ee5b0ed19184aa8c89ba3.svn-base new file mode 100644 index 0000000..b3b7334 --- /dev/null +++ b/.svn/pristine/8a/8ab9ab7f9ecc497a056ee5b0ed19184aa8c89ba3.svn-base @@ -0,0 +1,123 @@ + +Demonstration of Matrix package + +Print a real number (may help lost memory test): 3.14159 + + +Test 1 - traditional, bad + +Estimates and their standard errors + + 1.39166 0.53188 + 1.98310 0.20932 + 0.95221 0.27731 + + +Observations, fitted value, residual value, hat value + 2.400 1.700 8.300 7.770 0.530 0.280 + 1.800 0.900 5.500 5.818 -0.318 0.190 + 2.400 1.600 8.000 7.675 0.325 0.229 + 3.000 1.900 8.500 9.150 -0.650 0.446 + 2.000 0.500 5.700 5.834 -0.134 0.271 + 1.200 0.600 4.400 4.343 0.057 0.480 + 2.000 1.100 6.300 6.405 -0.105 0.143 + 2.700 1.000 7.900 7.698 0.202 0.153 + 3.600 0.500 9.100 9.007 0.093 0.808 + + + + +Test 2 - traditional, OK + +Estimates and their standard errors + + 1.39166 0.53188 + 1.98310 0.20932 + 0.95221 0.27731 + + +Observations, fitted value, residual value, hat value + 2.400 1.700 8.300 7.770 0.530 0.280 + 1.800 0.900 5.500 5.818 -0.318 0.190 + 2.400 1.600 8.000 7.675 0.325 0.229 + 3.000 1.900 8.500 9.150 -0.650 0.446 + 2.000 0.500 5.700 5.834 -0.134 0.271 + 1.200 0.600 4.400 4.343 0.057 0.480 + 2.000 1.100 6.300 6.405 -0.105 0.143 + 2.700 1.000 7.900 7.698 0.202 0.153 + 3.600 0.500 9.100 9.007 0.093 0.808 + + + + +Test 3 - Cholesky + +Estimates and their standard errors + + 1.39166 0.53188 + 1.98310 0.20932 + 0.95221 0.27731 + + +Observations, fitted value, residual value, hat value + 2.400 1.700 8.300 7.770 0.530 0.280 + 1.800 0.900 5.500 5.818 -0.318 0.190 + 2.400 1.600 8.000 7.675 0.325 0.229 + 3.000 1.900 8.500 9.150 -0.650 0.446 + 2.000 0.500 5.700 5.834 -0.134 0.271 + 1.200 0.600 4.400 4.343 0.057 0.480 + 2.000 1.100 6.300 6.405 -0.105 0.143 + 2.700 1.000 7.900 7.698 0.202 0.153 + 3.600 0.500 9.100 9.007 0.093 0.808 + + + + +Test 4 - QR triangularisation + +Estimates and their standard errors + + 1.39166 0.53188 + 1.98310 0.20932 + 0.95221 0.27731 + + +Observations, fitted value, residual value, hat value + 2.400 1.700 8.300 7.770 0.530 0.280 + 1.800 0.900 5.500 5.818 -0.318 0.190 + 2.400 1.600 8.000 7.675 0.325 0.229 + 3.000 1.900 8.500 9.150 -0.650 0.446 + 2.000 0.500 5.700 5.834 -0.134 0.271 + 1.200 0.600 4.400 4.343 0.057 0.480 + 2.000 1.100 6.300 6.405 -0.105 0.143 + 2.700 1.000 7.900 7.698 0.202 0.153 + 3.600 0.500 9.100 9.007 0.093 0.808 + + + + +Test 5 - singular value + +Estimates and their standard errors + + 1.39166 0.53188 + 1.98310 0.20932 + 0.95221 0.27731 + + +Observations, fitted value, residual value, hat value + 2.400 1.700 8.300 7.770 0.530 0.280 + 1.800 0.900 5.500 5.818 -0.318 0.190 + 2.400 1.600 8.000 7.675 0.325 0.229 + 3.000 1.900 8.500 9.150 -0.650 0.446 + 2.000 0.500 5.700 5.834 -0.134 0.271 + 1.200 0.600 4.400 4.343 0.057 0.480 + 2.000 1.100 6.300 6.405 -0.105 0.143 + 2.700 1.000 7.900 7.698 0.202 0.153 + 3.600 0.500 9.100 9.007 0.093 0.808 + + + + +The following test does not work with all compilers - see documentation +Checking for lost memory: 8206652 8206652 - ok diff --git a/.svn/pristine/8b/8b8ea477172f40b506dd3d67848474d6e4645a22.svn-base b/.svn/pristine/8b/8b8ea477172f40b506dd3d67848474d6e4645a22.svn-base new file mode 100644 index 0000000..37437e9 --- /dev/null +++ b/.svn/pristine/8b/8b8ea477172f40b506dd3d67848474d6e4645a22.svn-base @@ -0,0 +1,45 @@ +/** + * @file candidateOpening.h + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +#ifndef CANDIDATEOPENING_H_ +#define CANDIDATEOPENING_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" + +#include + +namespace model { + +class CandidateOpening : public Plane3d { +public: + static const unsigned int NR_FEATURES; //!< The number of features required for the SVM. + +public: + std::vector features; //!< The 14 features required for the SVM. + std::vector edges; //!< Coordinates of each edge (uh, lh, uv, lv). + double edgeCoverage; //!< Percentage on how much the edges correspond to edges detected in Canny. + +public: + // constructors and destructors + CandidateOpening(); + CandidateOpening(const Point3d& pt, const Vector3d& normal, + const std::vector& hull, + const std::vector& features, const std::vector& edges); + CandidateOpening(const CandidateOpening& other); + virtual ~CandidateOpening(); + + // operators + CandidateOpening& operator=(const CandidateOpening& other); +}; + +} /* namespace model */ + +#endif /* CANDIDATEOPENING_H_ */ diff --git a/.svn/pristine/8b/8bad704a4a16e3e145e2a745adbc921eb4ada0e8.svn-base b/.svn/pristine/8b/8bad704a4a16e3e145e2a745adbc921eb4ada0e8.svn-base new file mode 100644 index 0000000..23f931c --- /dev/null +++ b/.svn/pristine/8b/8bad704a4a16e3e145e2a745adbc921eb4ada0e8.svn-base @@ -0,0 +1,100 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_MANAGER_H +#define CACHE_MANAGER_H + +#include +#include + +// segment manager, allocators, pointers, ... +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +#include "scanserver/cache/cacheObject.h" +#include "scanserver/cache/cacheHandler.h" + + +/** + * @brief Central cache management for CacheObjects, handling cache misses and calling CacheHandlers and allocating memory for contents. + * + * The CacheManager creates and handles CacheObjects in the shared memory given by the segment manager in the constructor. It also opens a shared memory exclusively for CacheObjects' contents. + * Cache misses in CacheObject should invoke loadCacheObject to have it loaded into memory. This CacheObject's CacheHandler is called, which in turn requests memory via allocateCacheObject. This function tries to allocate enough memory and flushes out other CacheObjects which are not read-locked in order to do the former. + * The flushing behaviour determines which CacheObjects are to be removed first and can be altered. (TODO) + */ +class CacheManager { +public: + /** + * The SegmentManager comes from another shared memory where COs have to be created in. + * A CacheManager owned shared memory will be opened to create the CO contents in. + */ + CacheManager(SegmentManager* sm, const char* shm_name, std::size_t cache_size); + + /** + * Deletes all CacheObjects and closes the shared memory. + */ + ~CacheManager(); + + /** + * Allocates a CacheObject in shared memory. + */ + CacheObject* createCacheObject(); + + /** + * Request a CacheObject to be loaded into memory, causing its CacheHandler to be called. + * If no resource was to be found, the function returns false. If an error occured (e.g. IO/stream/conversion errors) it will throw. + * @return if the CacheObject was loaded successfully + * @throws when no memory could be allocated (see allocateCacheObject) or an error occured in the CacheHandler implementation + */ + bool loadCacheObject(CacheObject* obj); + + /** + * Allocates enough space for a cache object. This will flush other CacheObjects if the exclusive shared memory is full. + * @return Pointer to the allocated space in the object + * @throws when no memory could be allocated because removing all remaining (non read-locked) CacheObjects removed didn't free enough memory. + */ + unsigned char* allocateCacheObject(CacheObject* obj, unsigned int size); + + /** + * Invalidate a CacheObject and its handler. + */ + void invalidateCacheObject(CacheObject* obj); + + /** + * Change the flushing behaviour by setting a specific heuristic. + */ + // TODO + +private: + SegmentManager* m_segment_manager; + ip::managed_shared_memory* m_msm; + std::string m_shm_name; + + std::vector m_objects, m_loaded; + + /** + * Allocates memory for a CO. Will throw a bad_alloc if it fails so. + * Only to be called within allocateCacheObject. + */ + unsigned char* load(CacheObject* obj, unsigned int size); + + /** + * Removes cached data from a CO and marks it as unloaded. + * Only to be called when an exclusive lock has been obtained inside allocateCacheObject. + */ + void unload(CacheObject* obj); +}; + +#endif //CACHE_MANAGER_H diff --git a/.svn/pristine/8c/8c8949ace10703e18fc95bb8e370ebc76e41b112.svn-base b/.svn/pristine/8c/8c8949ace10703e18fc95bb8e370ebc76e41b112.svn-base new file mode 100644 index 0000000..590be13 --- /dev/null +++ b/.svn/pristine/8c/8c8949ace10703e18fc95bb8e370ebc76e41b112.svn-base @@ -0,0 +1,66 @@ +/* + * tracker implementation + * + * Copyright (C) ZhangLiang, YuanJun, Li Wei, Li Ming, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#include "veloslam/tracker.h" + +Tracker::Tracker(void) +{ + missMatch=false; + matchClusterID=-1; + colorIdx=-1; + + missedTime=0; + trackerID=0; +} + +Tracker::~Tracker(void) +{ + TrackerReset(); +} + +Tracker::Tracker(clusterFeature &glu,double rollAngle):kalmanFilter(glu,rollAngle) //added by yuanjun +{ + missMatch=false; + matchClusterID=-1; + colorIdx=-1; + missedTime=0; + trackerID=0; +} + +Tracker::Tracker(const Tracker ©Tracker) //added by yuanjun +{ + missMatch=copyTracker.missMatch; + matchClusterID=copyTracker.matchClusterID; + colorIdx=copyTracker.colorIdx; + statusList=copyTracker.statusList; + dataList=copyTracker.dataList; + kalmanFilter=copyTracker.kalmanFilter; + missedTime=copyTracker.missedTime; + moveStateList=copyTracker.moveStateList; + trackerID=copyTracker.trackerID; +} + +void Tracker::TrackerReset() +{ + statusList.clear(); + dataList.clear(); + moveStateList.clear(); + return; +} diff --git a/.svn/pristine/8c/8c897db38fbc4187fcaf2a421101f63e7979cdc1.svn-base b/.svn/pristine/8c/8c897db38fbc4187fcaf2a421101f63e7979cdc1.svn-base new file mode 100644 index 0000000..0f8e99a --- /dev/null +++ b/.svn/pristine/8c/8c897db38fbc4187fcaf2a421101f63e7979cdc1.svn-base @@ -0,0 +1,593 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2008 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ToDo: + - transform special xml bar code symbols (<>&) to xml symbols (<>&) + +*/ + +#include +#include +#include +#include "pgm2asc.h" +#include "gocr.h" +#include "pnm.h" + +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +#undef g_debug +#if DO_DEBUG +# define g_debug(a) a +#else +# define g_debug(a) +#endif + +/* + detect barcode and add a XML-string to the box (obj-pointer, ToDo) + ToDo: barcode-output stderr->stdout +*/ + +double sqr(double x) { return(x*x); } + +/* ----------------------------- code128 ---------------------------- * + * "BSBSBS", B=Bar, S=Space, better using 2*6=12bit-integer? */ +#define Num128 107 +const char *code128[Num128+1]={ /* can be generated by an algorithm? */ +/* 00 */"212222","222122","222221","121223","121322","131222","122213","122312", +/* 08 */"132212","221213","221312","231212","112232","122132","122231","113222", +/* 16 */"123122","123221","223211","221132","221231","213212","223112","312131", +/* 24 */"311222","321122","321221","312212","322112","322211","212123","212321", +/* 32 */"232121","111323","131123","131321","112313","132113","132311","211313", +/* 40 */"231113","231311","112133","112331","132131","113123","113321","133121", +/* 48 */"313121","211331","231131","213113","213311","213131","311123","311321", +/* 56 */"331121","312113","312311","332111","314111","221411","431111","111224", +/* 64 */"111422","121124","121421","141122","141221","112214","112412","122114", +/* 72 */"122411","142112","142211","241211","221114","413111","241112","134111", +/* 80 */"111242","121142","121241","114212","124112","124211","411212","421112", +/* 88 */"421211","212141","214121","412121","111143","111341","131141","114113", +/* 96 */"114311","411113","411311","113141","114131","311141","411131","211412", +/*104 */"211214","211232","2331112","???"}; + +/* + code128: see code128.tex by Petr Olsak (108 codes) + quiet_zone: size=10 (before and after code128) + num_bars=3*(start+chars[N]+crc+stop)+1 + B=bar S=space char=BSBSBS (size=11), stop=BSBSBSB (size=11+2) + Width: Bar,Space=1,[2,3,4] char=11 code=11*(N+3)+2 sumB=even,sumS=odd + startA="211412"=103 startB="211214"=104 startC="211232"=105(2dec_digits) + mode/code 0..95 96 97 98 99 100 101 102 103 104 105 106 + 1=A x20-x5f,0-x20 F3 F2 uB mC mB F4 F1 ^A ^B ^C $ + 2=B x20-x7f F3 F2 uA mC F4 mA F1 ^A ^B ^C $ + 3=C "00"-"95" "96" "97" "98" "99" mB mA F1 ^A ^B ^C $ + uA,uB: switch mode for next char, mA,mB: switch mode permanently + crc=(start+1*char1+2*char2+3*char3+...+N*charN) mod 103 + $=stop="2331112"=106 (4bars, with=13) => start/end==211 + return num of chars or string + + size B+W even-variants odd-variants num_codes + 11 = 8+3 = (1+3+4,2+2+4,2+3+3)+(1+1+1) => (6+3+3)*(1) = 12 + = 6+5 = (1+1+4,1+2+3,2+2+2)+(1+1+3,1+2+2) => (3+6+1)*(3+3) = 60 + = 4+7 = (1+1+2)+(1+2+4,1+3+3,2+2+3) => (3)*(6+3+3) = 36 + sum = 108 + */ + /* example: barcode -E -e 128c -b 1434600120000884 >a.eps */ + /* example: barcode -E -e 128b -b 14Test41 >a.eps */ + /* example: barcode -E -e 128raw -b 105 17 14 30 >a.eps */ + +char *decode_code128(int *wb, int num_bars){ + int i, w, i1, i2, i3=0, i4, i5=0, crc, mode=1; + double dww, dw, err, min_err; char cc, *buf; + char *result=NULL; /* malloc and store the result */ + + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; /* summ all bars and spaces */ + + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3!=0 || num_bars<10 || w<11*(num_bars-1)/3+2) + return 0; + g_debug(fprintf(stderr,"\n code128 b%d s%d b%d",wb[0],wb[1],wb[2]);) + if (3*wb[0]<4* wb[1] + || 3*wb[0]<4* wb[2] + || 4*wb[0]<3*(wb[1]+wb[2]) + || 3*wb[0]>4*(wb[1]+wb[2])) return 0; /* 211 */ + dw=3.0*w/((num_bars-1)*11+6); + /* get enough memory for all digits in longest mode C */ + buf =(char *) malloc( (num_bars-7)/3*2+1); if (!buf) return result; + result=(char *) malloc(256+(num_bars-7)/3*2+1); + + dww=crc=0; + for(i4=i1=0;i1<(num_bars-1)/3;i1++) { + for(min_err=1e8,i3=Num128,i5=0;i5102 && i3<106) mode=i3-103+1; crc=i3; } /* start */ + if(i1>0 && i1<(num_bars-1)/3-2){ + crc+=i3*(i1); cc=0; /* first * 1 + second * 2 + third * 3 ... */ + i5=((mode>3)?mode>>2:mode&3); mode&=3; /* mode can be modified now */ + switch (i5) { /* mode=1..3=modeA..modeC */ + case 1: if (i3>=64 && i3<96) cc=i3-64; /* modeA: x20-x5f,0-x20 */ + else cc=i3+32; + if (i3==101) mode=1; /* switch to mode A */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=2<<2; /* shift to mode B */ + break; + case 2: cc=i3+32; /* modeB: x20-x7f */ + if (i3==100) mode=2; /* switch to mode B */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=1<<2; /* shift to mode A */ + break; + case 3: + if (i3==101) mode=1; /* switch to mode A */ + if (i3==100) mode=2; /* switch to mode B */ + } + if (i5==3) { buf[i4]='0'+i3/10; i4++; + buf[i4]='0'+i3%10; i4++; } /* modeC: two digits */ + else { + if (cc>=0x20 && i3<=0x7f) { buf[i4]=cc; i4++; } /* modeA+B: one digit */ + if (cc>=0 && cc< 0x20) { buf[i4]='^'; i4++; + buf[i4]=cc+'@'; i4++; } + } + } + if(i1==(num_bars-1)/3-2){ crc=(crc+103-i3)%103; } + if(i1==(num_bars-1)/3-1){ if(i3!=106) i3=-1; } /* stop code */ + mode &= 3; /* remove shift */ + } + else fprintf(stderr," %s=%02d? ",buf,i5); + } + buf[i4]=0; /* end of string */ + if (result) + sprintf(result,"", + i4,buf,crc,dww/((num_bars-1))); + free(buf); + return result; +} + +/* -------------------------------------------------------------------- UPC + EAN 13 (UPC,(1+6+1+6+1)*2bars,size=3+6*7+5+6*7+3=95) + EAN 8 (UPC,(1+4+1+4+1)*2bars,size=3+4*7+5+4*7+3=67) + UPC: (10 codes) + BSB SBSB^n SBSBS BSBS^n BSB + bsb ...... sbsbs ...... bsb + 111 ...... 11111 ...... 111 + num_bars=2*(2*6+3) middle=SBSBS=11111 right/left=BSB=111="101" + char: left=SBSB right=BSBS (size=7) only_dec_digits + SS+BB = (S+S) + (B+B) => BB:SS = 5:2 or 3:4 + size ev+odd even + odd => variants + 7 = 2 + 5 = (1+1) + (1+4,2+3) => (1)*(2+2) = 4 codes + = 4 + 3 = (1+3,2+2) + (1+3) => (2+1)*(2) = 6 codes += 10 codes + ToDo: make it more robust + - return error as mean deviation + * -------------------------------------------------------------------- */ + /* example: barcode -E -e upc -b 12345678901 >a.eps # ok */ + /* example: barcode -E -e ean -b 123456789012 >a.eps # ok */ +#define NumUPC 20 +const char *codeUPC[NumUPC+1]={ /* 0..9, first n = SBSB, last n = BSBS */ + "3211","2221","2122","1411","1132", /* 0,1,2,3,4 normal (+0bit) */ + "1231","1114","1312","1213","3112", /* 5,6,7,8,9 */ + "1123","1222","2212","1141","2311", /* 0,1,2,3,4 mirrored (+1bit) */ + "1321","4111","2131","3121","2113", /* 5,6,7,8,9 */ + "????"}; /* not found */ + +char *decode_UPC(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, crc, mirrored, ean; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=2.0*w/((num_bars-6)*7+2*11); /* or min(wb[]) */ + crc=0; + if ((num_bars)%2!=0 || num_bars<10 || w<7*(num_bars-6)/2+11 + || ((num_bars-6)/2)%2!=0) return 0; /* should be balanced */ + /* check front BSB, middle SBSBS and end BSB */ + dww=0; + for (i=0;i<3;i++) { dww=sqr(wb[i ]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<5;i++) { dww=sqr(wb[i+ num_bars-3]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<3;i++) { dww=sqr(wb[i+2*num_bars-4]/dw-1); if (dww>0.4) return 0; } + buf =(char *)malloc( (num_bars-6)/2+1); if (!buf) return result; + result=(char *)malloc(256+(num_bars-6)/2+1); + + for(ean=i5=0,i1=3;i1<2*num_bars-4;i1+=4) { /* each digit (2bars+2spaces) */ + if (i1==num_bars-3) { i1++; continue; } /* skip middle sync SBSBS */ + for (i4=NumUPC,mirrored=0,digit='?',min_err=16e8,i2=0;i2 0yyyyy */ + switch (ean) { + case 11: ean=1; break; + case 13: ean=2; break; + case 14: ean=3; break; + case 19: ean=4; break; + case 25: ean=5; break; + case 28: ean=6; break; + case 21: ean=7; break; + case 22: ean=8; break; + case 26: ean=9; break; + default: ean=0; /* no or invalid EAN digit or UPC-extension */ + } crc+=ean*1; + /* ToDo: fix possible buffer OVL, complement crc */ + buf[i5]=0; + if (result) + sprintf(result,"", + i5+1,ean,buf,(10-crc%10)%10,dww/((num_bars-6)*2)); + free(buf); + return result; +} + + /* EAN/UPC add-on is either 2 or 5 digits. It always starts with a + * guard bar BSB, followed by ([digit + SB] * (N-1)) + digit. Digit is + * SBSB. Two digit add-on's have 7 bars, and 5 digit add ons have 16. + */ +char *decode_UPC_addon(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, digits=num_bars/3; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + if (num_bars!=7 && num_bars!=16) + return 0; + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=1.0*w/(digits*7+4 + (digits-1)*2); + /* check front BSB, and delineators SB */ + dww=0; + for (i=0;i<2;i++) { dww=sqr(wb[i]/dw-1); if (dww>0.4) return 0; } + dww=sqr(wb[i]*0.5/dw-1); if (dww>0.4) return 0; + for (i=1;i 0.4) return 0; + } + } + buf =(char *)malloc( digits+1); if (!buf) return result; + result=(char *)malloc(256+digits+1); + + for(i5=0,i1=3;i1<2*num_bars-1;i1+=6) { /* each digit (2bars+2spaces) */ + for (i4=NumUPC,digit='?',min_err=16e8,i2=0;i2", + i5, buf, dww/((num_bars-6)*2)); + free(buf); + return result; +} + + +/* --------------------------------------------------------- * + * code 3 of 9, 3 thick of 9 bars + * BSBSBSBSB size=7+3*aw aw=2(3), sumS/sumB=2/1? + * two widths: size=1 or size=2or3, digit_width=13(16) + * 5 bars and 4(+1) spaces per digit, last space is not used + * with 2 (or 0) thick bars, 1 (or 3) thick spaces per digit + * => 3 of 9 => max=9*8*7=504 + * evenBB=(0of5)+(2of5) oddSS=(1of4)+(3of4) max=44 + * ToDo: better code -...-.-.. as 046 or 083 (even,even,odd) + */ +#define Num39 (40+4) /* (3of9)=(2of5)(1of4)+(0of5)(3of4), (2of5)(.-..)=0..9 */ +const char *code39= /* rearranged to BBBBBSSSS (bars,spaces) */ + "0..--..-.." +"1-...-.-..""2.-..-.-..""3--....-..""4..-.-.-..""5-.-...-.." +"6.--...-..""7...--.-..""8-..-..-..""9.-.-..-.." +"A-...-..-.""B.-..-..-.""C--.....-.""D..-.-..-.""E-.-....-." +"F.--....-.""G...--..-.""H-..-...-.""I.-.-...-.""J..--...-." +"K-...-...-""L.-..-...-""M--......-""N..-.-...-""O-.-.....-" +"P.--.....-""Q...--...-""R-..-....-""S.-.-....-""T..--....-" +"U-...--...""V.-..--...""W--...-...""X..-.--...""Y-.-..-..." +"Z.--..-...""-...---..."".-..-.-..."" .-.-.-...""*..--.-..." +/* (0of5)(3of4)=(.....)(3of4) store only 3of4? */ +"$.....---.""/.....--.-""+.....-.--""%......---" +"?xxxxxxxxx"; + +/* example: barcode -E -e 39 -b 123abc | gs -sDEVICE=pnggray -r100 */ + +/* return index[] according to sorted values[], big first */ +void sort(int *value, int *idx, int len){ + int i,j; + for (j=0;jdw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code39 base=%.3f chars=%2d\n ",dw,(num_bars)/5);) + buf =(char *)malloc( 1+(num_bars)/5); if (!buf) return result; + result=(char *)malloc(256+(num_bars)/5); + + for(i5=i1=0;i1<2*num_bars-3;i1+=10) { + /* ToDo: looking for three widest bars/gaps */ + sort(wb+i1,idx,9); + for(err=0,i3=3;i3<9;i3++) err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5", + i5,buf,code39[(crc%44)*10],dww/((num_bars/5)*6)); + free(buf); + return result; +} + +/* code interleaved 2 of 5 + B B B B B <= digit 1,3,5,... + S S S S S <= digit 2,4,6,... + 1 2 4 7 0 <= weight digit=sum(bit*weight)%11 + */ +const char *code25= /* is the code sorted randomly? */ +"1-...-2.-..-3--...4..-.-5-.-..6.--..7...--8-..-.9.-.-.0..--."; + +/* example: barcode -E -e i25 -b 123456 >a.eps */ + +/* ToDo: decode_i25 (low priority) */ + +/* + decode barcode + - check main characteristics (num bars, min+max width, etc.) + - detect code type + - the current algorithm measures the width of bars and spaces + called by detect_barcode() + */ +char *decode_barcode(struct box *bb){ /* ToDo: char *dest, int len */ + int i, num_bars, yy, w, ww, dx, xx, cs=JOB->cfg.cs, *wb; + char *result=NULL; /* store the result */ + yy=(bb->y0+bb->y1)/2; + w=ww=bb->x1-bb->x0+1; + num_bars = num_cross(bb->x0,bb->x1,yy,yy,bb->p,JOB->cfg.cs); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... detect bars=%3d w=%4d",num_bars,ww); + + /* store width of bars and spaces to buffer wb */ + wb=(int *)malloc(2*num_bars*sizeof(int)); if(!wb) return NULL; + xx=bb->x0; + xx-=loop(bb->p,xx,yy, 8,cs,1,LE); + xx+=loop(bb->p,xx,yy,ww,cs,0,RI); /* start with a bar! */ + for (i=0;i<2*num_bars;i++) { + dx=loop(bb->p,xx,yy,w,cs,1^(i&1),RI); + xx+=dx; + w-=dx; + wb[i]=dx; + } wb[2*num_bars-1]=0; + + /* ToDo: what about probability? if not unique + * - add argument char *result which can be modified or not, + * - or add box2? (would reuse of this code more difficult) + */ + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3==0 && num_bars>=10 && ww>=11*(num_bars-1)/3+2){ + if (!result) result=decode_code128(wb,num_bars); + } + /* test UPC/EAN characteristics */ + if ((num_bars)%2==0 && num_bars>=8 && ww>=7*(num_bars-6)/2+11 + && ((num_bars-6)/2)%2==0){ /* should be balanced */ + if (!result) result=decode_UPC(wb,num_bars); + } + /* test UPC_addon by Michael van Rooyen, often on books */ + if (num_bars==7 || num_bars==16) + if (!result) result=decode_UPC_addon(wb,num_bars); + + /* test code39 characteristics */ + if ((num_bars)%5==0 && num_bars>14){ + if (!result) result=decode_39(wb,num_bars); + } + free(wb); + return result; +} + +/* + * taking the list of boxes and search for groups of bars (1D-barcodes) + */ +int detect_barcode(job_t *job) +{ + int j=0, j2=0, bx0, by0, bx1, by1, bdx, bdy, bbx, rm, + x0, y0, dx, dy, cs, y, yl0, yl1, yr0, yr1; + struct box *box2, *box3; + + if(JOB->cfg.verbose) + fprintf(stderr,"# barcode.c detect_barcode "); + x0=y0=0; rm=0; dx=job->src.p.x; dy=job->src.p.y; cs=JOB->cfg.cs; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* detect width (bdx) and height (bdy) of possible bar */ + /* ToDo: better check for a line */ + bdx=box2->x1-box2->x0+1 /* substract correction for skewed bars */ + -loop(box2->p,box2->x1,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,LE) + -loop(box2->p,box2->x0,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,RI); + bdy=box2->y1-box2->y0+1; + if (box2->c == PICTURE || box2->c == UNKNOWN) + if (box2->y0 >= y0 && box2->y1 <= y0 + dy /* within frame? */ + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->y1 - box2->y0 > 19 /* min. length */ + && box2->y1 - box2->y0 > 8 * bdx + ) { /* a bar? */ + j=1; /* number of bars */ + bx0=box2->x0; bx1=box2->x1; /* initial values for barcode frame */ + by0=box2->y0; by1=box2->y1; + bbx=bx1-bx0+2; /* width of bar */ + /* this is for scans which are not exactly horizontal */ + yl0=yr0=by0; /* left and right upper bound */ + yl1=yr1=by1; /* left and right lower bound */ + /* --- iteratively take into account next nearest bar --- + * this is important, because bar-boxes are not in right order */ + for (j2=1;j2;) { + j2=0; + /* expand a frame around the potential barcode (bx0,by0,bx1,by1) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if (box3->y0 >= y0 && box3->y1 <= y0 + dy /* within image */ + && box3->x0 >= x0 && box3->x1 <= x0 + dx + && box3->y1 - box3->y0 > 19 /* min. length */ + && box3->y1 - box3->y0 > 4 * (bdx) /* height > 4*width2 */ + && box3->x1 - box3->x0 < 4 * (bdy) /* width < height/4 = bar */ + && (( abs(box3->y0-by0)y1-by1)y0-yl0)y1-yl1)x0 <= bx0 ) + ||( abs(box3->y0-yr0)y1-yr1)x0 >= bx1 ) ) + && box3->x0 > bx0 - 12*bbx /* startspace=5...10 */ + && box3->x1 < bx1 + 12*bbx + && box3->x0 > bx0 - bdy/2 /* dont glue two barcodes together */ + && box3->x1 < bx1 + bdy/2 /* ex: ean13a.jpg */ + /* dont check bars which already within the frame twice ? */ + && ( box3->x1 > bx1 || box3->x0 < bx0 ) + ) { /* a bar? -> extend barcode frame only in x direction */ + /* take minimum of y to have valid barcode for all y */ + if (box3->x0x0; yl0=box3->y0; yl1=box3->y1; } + if (box3->x1>bx1) { bx1=box3->x1; yr0=box3->y0; yr1=box3->y1; } + if (4*(box3->y1-box3->y0)>3*(by1-by0)) { /* carefull reduce */ + if (box3->y0>by0) by0=box3->y0; /* ToDo: fix for non-horizontal */ + if (box3->y1y1; + } + j++; /* found a near bar and count to num bars */ + j2=1; /* continue searching (endless loop?) */ + } + } end_for_each(&(JOB->res.boxlist)); + } + /* j is the num of bars found above, some inner bars are not counted */ + /* ToDo: better iterative add next nearest bars from sorted list near bars? */ + if (j>5) { + char *code=0; + box2->c=PICTURE; /* BARCODE */ + box2->x0=bx0; box2->y0=by0; + box2->x1=bx1; box2->y1=by1; + /* ToDo: add pointer to decoded text */ + + y=(box2->y0+box2->y1)/2; + if (JOB->cfg.verbose){ + int nbars; + nbars=num_cross(box2->x0,box2->x1,y,y,box2->p,JOB->cfg.cs); + fprintf(stderr,"\n# barcode at %3d %3d size %3d %3d nbars %d (%d)", + bx0,by0,bx1-bx0+1,by1-by0+1,nbars,j); + if (j!=nbars) + fprintf(stderr,"\n# ... trouble: num_found_bars != num_cross"); + /* this is because some far bars are detected before near bars */ + } + /* transport the info to the gocr-output (development) */ + /* ToDo: decode and print/store barcode bars=j */ + code=decode_barcode(box2); /* ToDo: char *dest, int len */ + if (!code) { /* failed */ + code=(char *)malloc(128); + /* ToDo: analyze and output num_bars, width of bars etc. */ + if(code) strncpy(code,"",128); + } + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... decoded as: %s", code); + setas(box2,code,99); /* ToDo: set a better weight */ + free(code); + + /* remove inner boxes, only if sure!? (ToDo: use cfg.certainty) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if ( abs(box3->y0-by0)y1-by1)x1 <= bx1 + && box3->x0 >= bx0 + ) { + rm++; /* count removed boxes */ + list_del(&(JOB->res.boxlist),box3); + free_box(box3); + } + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... removed boxes: %d", rm); + rm=0; + } + } + } end_for_each(&(JOB->res.boxlist)); + + /* recalculate averages without bars */ + JOB->res.numC=JOB->res.sumX=JOB->res.sumY=j2=0; + for_each_data(&(JOB->res.boxlist)) { + j2++; + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box3->c==PICTURE) continue; + JOB->res.numC++; /* count remaining boxes */ + JOB->res.sumX+=box3->x1-box3->x0+1; + JOB->res.sumY+=box3->y1-box3->y0+1; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... boxes %d nC %d\n", + j2, JOB->res.numC); + + return 0; +} + diff --git a/.svn/pristine/8c/8ca32e60ada622671248febac96e9c8db0874e7c.svn-base b/.svn/pristine/8c/8ca32e60ada622671248febac96e9c8db0874e7c.svn-base new file mode 100644 index 0000000..c167f20 --- /dev/null +++ b/.svn/pristine/8c/8ca32e60ada622671248febac96e9c8db0874e7c.svn-base @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan in oct-file format + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __SCAN_IO_OCT_H__ +#define __SCAN_IO_OCT_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for from binary octree files + * + * The compiled class is available as shared object file + */ +class ScanIO_oct : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/8c/8ca383259bf302a2a1a7b8500a98c36558fc6a11.svn-base b/.svn/pristine/8c/8ca383259bf302a2a1a7b8500a98c36558fc6a11.svn-base new file mode 100644 index 0000000..ca4acd6 --- /dev/null +++ b/.svn/pristine/8c/8ca383259bf302a2a1a7b8500a98c36558fc6a11.svn-base @@ -0,0 +1,322 @@ +/* + * exportPoints implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; +#include +using std::exception; + +#include +#include + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << " NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires -r or --reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -s 2 -e 3 dat" << endl << endl; + exit(1); +} + + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param mdm maximal distance match + * @param mdml maximal distance match for SLAM + * @param mni maximal number of iterations + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @param extrapolate_pose - i.e., extrapolating the odometry by the last transformation + * (vs. taking the pose file as exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + int &start, int &end, int &maxDist, int &minDist, bool &extrapolate_pose, + int &octree, IOType &type) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "trustpose", no_argument, 0, 'p' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:s:e:r:O:R:p", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'p': + extrapolate_pose = false; + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +void readFrames(string dir, int start, int end, IOType &type) +{ + ifstream frame_in; + int fileCounter = start; + string frameFileName; + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + frameFileName = dir + "scan" + to_string(fileCounter++,3) + ".frames"; + + frame_in.open(frameFileName.c_str()); + + // read 3D scan + if (!frame_in.good()) break; // no more files in the directory + + cout << "Reading Frames for 3D Scan " << frameFileName << "..." << endl; + + // vector Matrices; +// vector algoTypes; + double transMat[16]; + int algoTypeInt; + + while (frame_in.good()) { + try { + frame_in >> transMat >> algoTypeInt; + } + catch (const exception &e) { + break; + } + } + + if(type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) { + Scan::allScans[fileCounter - start]->transformAll(transMat); + if(fileCounter == start+1) { + Scan::allScans[0]->transformAll(transMat); + } + } else { + Scan::allScans[fileCounter - start - 1]->transformAll(transMat); + } + + frame_in.close(); + frame_in.clear(); + } +} + +/** + * program for point export + * Usage: bin/exportPoints 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int rand = -1; + int start = 0, end = -1; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + int octree = 0; // employ randomized octree reduction? + IOType type = UOS; + +// parseArgs(argc, argv, dir, red, rand, start, end, +// maxDist, minDist, eP, octree, type); +// +// // Get Scans +// Scan::readScans(type, start, end, dir, maxDist, minDist, true); +// +// int end_reduction = (int)Scan::allScans.size(); +//#ifdef _OPENMP +//#pragma omp parallel for schedule(dynamic) +//#endif +// for (int iterator = 0; iterator < end_reduction; iterator++) { +// if (red > 0) { +// cout << "Reducing Scan No. " << iterator << endl; +// } else { +// cout << "Copying Scan No. " << iterator << endl; +// } +// // reduction filter for current scan! +// Scan::allScans[iterator]->calcReducedPoints(red, octree); +// } +// +// if(eP) { +// readFrames(dir, start, end, type); +// } +// +// cout << "Export all 3D Points to file \"points.pts\"" << endl; +// ofstream redptsout("points.pts"); +// for(unsigned int i = 0; i < Scan::allScans.size(); i++) { +// const vector *points = Scan::allScans[i]->get_points(); +// for(unsigned int j = 0; j < points->size(); j++) { +// redptsout << points->at(j) << endl; +// } +// } +// redptsout.close(); +// redptsout.clear(); +} diff --git a/.svn/pristine/8d/8d2c611c2c585a5c832f0c3fb3c3b39eaa5bb586.svn-base b/.svn/pristine/8d/8d2c611c2c585a5c832f0c3fb3c3b39eaa5bb586.svn-base new file mode 100644 index 0000000..fa598a4 --- /dev/null +++ b/.svn/pristine/8d/8d2c611c2c585a5c832f0c3fb3c3b39eaa5bb586.svn-base @@ -0,0 +1,401 @@ +/* + * scan_ransac implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +#include +#include + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" +#include + +#include "shapes/geom_math.h" +#include "shapes/integralimg.h" +#include "shapes/scan_ransac.h" +#include "shapes/NumberRecOctree.h" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + + +void *dummy(void *nd) { + NumberDetector *ND = (NumberDetector *)nd; + ND->RANSAC(*(ND->scan_points)); + return 0; +} + + +///////////////// constants for RANSAC and number recognition +void NumberDetector::printNumbers() { + for (int i = 0; i < 10; i++) + cout << detectedNumbers[i].getConsensus() << endl; + cout << endl; +} + +// comment the following line if you want greyscale image +#define BINARY_IMG +#include "shapes/config_sickday.h" +#include "shapes/numberrec.h" + +int image_counter = 0; + + +bool NumberDetector::FindNumber(vector &points, double plane[4]) { + bool res = false; + double maxx = -DBL_MAX; + double minx = DBL_MAX; + double maxz = -DBL_MAX; + double minz = DBL_MAX; + + // rotate onto the floor plane + double t[3]; t[0] = t[1] = t[2] = 0.0; + double alignxf[16]; + double aa[4]; + aa[0] = -1.0 * acos(plane[1]); + aa[1] = plane[2] / sqrt( plane[2]*plane[2] + plane[0]*plane[0] ); + aa[2] = 0; + aa[3] = -plane[0] / sqrt( plane[2]*plane[2] + plane[0]*plane[0] ); + + AAToMatrix(aa, t, alignxf); + + /////// acount for rotation around y axis + double up[3]; + double rPT[3]; + double rmat[16]; + double tmp[16]; + Cross(plane, aa+1, up); + Normalize3(up); + + // check wether up goes up or down, and flip if it goes down + if (up[1] < 0) { + up[0] = -up[0]; + up[1] = -up[1]; + up[2] = -up[2]; + } + + double upx = up[0] * alignxf[0] + up[1] * alignxf[4] + up[2] * alignxf[8]; +// double upy = up[0] * alignxf[1] + up[1] * alignxf[5] + up[2] * alignxf[9]; // should be redundant + double upz = up[0] * alignxf[2] + up[1] * alignxf[6] + up[2] * alignxf[10]; + + rPT[0] = rPT[2] = 0.0; + rPT[1] = atan2(upz, upx) + M_PI/2.0; + EulerToMatrix4(t, rPT, rmat); + + // combine rotation onto plane with rotaion around y + MMult(rmat, alignxf, tmp); + for (int i = 0; i < 16; i++) { + alignxf[i] = tmp[i]; + } + // done + + // compute 2d projection of the points, and scale reflectivity + double **npoints = new double*[points.size()]; + for (unsigned int i = 0; i < points.size(); i++) { + double *p = points[i]; + npoints[i] = new double[4]; + + npoints[i][0] = -(p[0] * alignxf[0] + p[1] * alignxf[4] + p[2] * alignxf[8]); + npoints[i][1] = p[0] * alignxf[1] + p[1] * alignxf[5] + p[2] * alignxf[9]; // this should be redundant + npoints[i][2] = p[0] * alignxf[2] + p[1] * alignxf[6] + p[2] * alignxf[10]; + + npoints[i][3] = (p[3] - MINREFL ) / (MAXREFL - MINREFL) ; // scale between 0 and 1 + if (npoints[i][3] > 1.0) npoints[i][3] = 1.0; // 0 and 1 _are_ min and max + if (npoints[i][3] < 0.0) npoints[i][3] = 0.0; + + if (npoints[i][0] > maxx) maxx = npoints[i][0]; + if (npoints[i][0] < minx) minx = npoints[i][0]; + if (npoints[i][2] > maxz) maxz = npoints[i][2]; + if (npoints[i][2] < minz) minz = npoints[i][2]; + } + + + // create a binary image which is used to find a rectangular shape using integral images + double lx = maxx - minx; + double lz = maxz - minz; + int maxppm = 0; + if (lx > 50.0 && lz > 70.0) { // only if point cloud has the necessary extent TODO change magic numbers + int px = lx / IMG_RES +1; + int pz = lz / IMG_RES +1; + + int **image = new int*[px]; // allocate mem + for (int i = 0; i < px; i++) { + image[i] = new int[pz]; + } + + for (int i = 0; i < px; i++) { + for (int j = 0; j < pz; j++) { + image[i][j] = 0; + } + } + for (unsigned int i = 0; i < points.size(); i++) { + double *p = npoints[i]; + int x = (double)(px-1) * ( p[0]-minx ) / lx; + int z = (double)(pz-1) * ( p[2]-minz ) / lz; + image[x][z] = 1; + } + + // compute integral image and compute best haar feature to detect a board + int XX, ZZ; + double SCORE; + integral_img iimg(image, px, pz); + SCORE = iimg.getBest( XX, ZZ); + + // with some certainty there is a rectangular part in the image that is number-sized + if (SCORE > MIN_SCORE) { + #ifndef BINARY_IMG + maxppm = 4096; // greyscale + #else + maxppm = 1; // binary + #endif + // create number part of the image with reflectance values... + int maxx = XX + BOARD_SIZE_X < px ? XX + BOARD_SIZE_X : px; + int maxz = ZZ + BOARD_SIZE_Z < pz ? ZZ + BOARD_SIZE_Z : pz; + for (int i = XX; i < maxx ; i++) { + for (int j = ZZ; j < maxz; j++) { + image[i][j] = -1; // remember pixel where no points were + } + } + + int NRPTS = 0; + double center[3]; center[0] = center[1] = center[2] = 0.0; + + for (unsigned int i = 0; i < points.size(); i++) { + double *p = npoints[i]; + double x = (double)(px-1) * ( p[0]-minx ) / lx; + double z = (double)(pz-1) * ( p[2]-minz ) / lz; + double xi, zi; + x = modf(x, &xi); + z = modf(z, &zi); + + if (x < 0.5){ + xi--; + x += 1.0; + } + if (z < 0.5) { + zi--; + z += 1.0; + } + + // points not on the board need not to be used + if (xi < XX || zi < ZZ || xi > maxx || zi > maxz) continue; + + // count number of points for normalizing + NRPTS++; + center[0] += points[i][0]; + center[1] += points[i][1]; + center[2] += points[i][2]; + + // Use smooth binning with 4096 gray values + if ( (int)xi < px && (int)zi < pz ) { + image[(int)xi][(int)zi] += ( (1.5 - x) * (1.5 - z) * p[3]) * 4096; + if (image[(int)xi][(int)zi] > maxppm) maxppm = image[(int)xi][(int)zi]; + } + + if ( (int)xi + 1 < px && (int)zi < pz ) { + image[(int)xi + 1][(int)zi] += ((x - 0.5) * (1.5 - z) * p[3]) * 4096; + if (image[(int)xi + 1][(int)zi] > maxppm) maxppm = image[(int)xi+1][(int)zi]; + } + + if ( (int)xi < px && (int)zi + 1 < pz ) { + image[(int)xi][(int)zi + 1] += ((1.5 - x) * (z - 0.5) * p[3]) * 4096; + if (image[(int)xi][(int)zi + 1] > maxppm) maxppm = image[(int)xi][(int)zi+1]; + } + + if ( (int)xi + 1 < px && (int)zi + 1 < pz ) { + image[(int)xi + 1][(int)zi + 1] += ((x - 0.5) * (z - 0.5) * p[3]) * 4096; + if (image[(int)xi + 1][(int)zi + 1] > maxppm) maxppm = image[(int)xi+1][(int)zi+1]; + } + } + /////////////////////////////////// +#ifndef BINARY_IMG + int MAX = 0; + int MIN = 1000000000; + int AVG = 0; +#endif + // color pixels on the border of the image white ( to remove the black border on the board and the inevitable part where no points are) + for (int i = XX; i < maxx ; i++) { + for (int j = ZZ; j < maxz; j++) { +// if ( (j < ZZ + WHITE_BORDER - 1 || j > maxz - WHITE_BORDER - 2 ) || ( i < XX + WHITE_BORDER + 1 || i > maxx - WHITE_BORDER ) ) { + if ( (j < ZZ + WHITE_BORDER || j > maxz - WHITE_BORDER ) || ( i < XX + WHITE_BORDER || i > maxx - WHITE_BORDER ) ) { + image[i][j] = maxppm; + } +#ifndef BINARY_IMG + if (image[i][j] > 0 && image[i][j] < MIN) MIN = image[i][j]; + if (image[i][j] > MAX) MAX = image[i][j]; + if (image[i][j] > 0) AVG += image[i][j]; +#endif + } + } + + string filename = "patch" + to_string(image_counter++, 5) + ".pgm"; + ofstream of(filename.c_str(), std::ios::out); + +#ifndef BINARY_IMG + of << "P2" << endl << (maxx - XX) << " " << (maxz - ZZ) << endl << 4096 << endl; // greyscale +#else + unsigned char ibuffer[(maxx - XX)*(maxz - ZZ)]; // binary + of << "P5" << endl << (maxx - XX) << " " << (maxz - ZZ) << endl << 1 << endl; // binary +#endif + + unsigned int l = 0; + double val; // temporary value that contains the calibrated reflectivity of a pixel + double factor = 4096.0/maxppm; + for (int j = ZZ; j < maxz; j++) { + for (int i = XX; i < maxx; i++) { +#ifndef BINARY_IMG + // of << image[i][j] << " "; + if (image[i][j] == -1) { + of << 0 << " "; + } else { + of << (int)(factor*image[i][j]) << " "; + } +#else + if (image[i][j] == -1) { + ibuffer[l++] = (unsigned char)0; + } else { + //val = ((double)image[i][j]-MIN)/((double)(MAX-MIN)); + val = ((double)image[i][j])/((double)(NRPTS)); + if (val > REFL_THRESHOLD) { + //if (image[i][j] > 0.25*maxppm) + //if (image[i][j] > 4000) + ibuffer[l++] = (unsigned char)1; + } else { + ibuffer[l++] = (unsigned char)0; + } + } +#endif + } + } + +#ifdef BINARY_IMG + of.write((const char*)ibuffer, sizeof(unsigned char) * (maxx - XX) * (maxz - ZZ)); +#endif + + // done writing board + of.close(); + + double probability; + int number; + // attempt to use OCR + if ( gocr_recognizeNumber(filename, number, probability) ) { + cout << filename << ": Best number is " << number << " with p = " << probability << endl; + + center[0] = center[0] / NRPTS; + center[1] = center[1] / NRPTS; + center[2] = center[2] / NRPTS; + + // remember hypothesis, scale SCORE to a more useful value + SCORE = (SCORE - SCORE_SCALE) / (1.0 - SCORE_SCALE); + + // decide where to put the number + if (number == 1 && detectedNumbers[7].isClose( center) ) { // a 7 can be seen as a 1 + detectedNumbers[7].addObservation(7, probability, SCORE, center, plane); + } else if (number == 0 && detectedNumbers[8].isClose( center) ) { // an 8 can be mistaken for a 0 + detectedNumbers[8].addObservation(8, probability, SCORE, center, plane); + } else if (number == 9 && detectedNumbers[8].isClose( center) ) { // an 8 can be mistaken for a 9 + detectedNumbers[8].addObservation(8, probability, SCORE, center, plane); + } else { // usual case + detectedNumbers[number].addObservation(number, probability, SCORE, center, plane); + } + + res = true; + } + } + + + // remove image + for (int i = 0; i < px; i++) { + delete[] image[i]; + } + delete[] image; + } + + // remove projected points + for (unsigned int i = 0; i < points.size(); i++) { + delete[] npoints[i]; + } + delete[] npoints; + return res; +} + + +void NumberDetector::RANSAC(vector &scan_points) { + // stores 3 sample points + vector ps; + double a[3], b[3], c[3], plane[4]; + // create octree from the points + NumberRecOctTree *oct = new NumberRecOctTree(scan_points, 50.0, PointType::USE_REFLECTANCE ); + + scan_points.clear(); + while(true) { + ps.clear(); + oct->DrawPoints(ps, 3); + + if ( !ps.empty()) { // if we have random points + for (int j = 0; j < 3;j++) { // compute plane + a[j] = ps[0][j] - ps[1][j]; + b[j] = ps[0][j] - ps[2][j]; + c[j] = ps[0][j] + ps[1][j] + ps[2][j]; + c[j] /= 3.0; + } + Cross(a,b, plane); + if (fabs(Len2(plane)) < 0.0001 ) continue; // points are collinear + Normalize3(plane); + if (fabs(plane[1]) > 0.8) continue; // plane is floor or ceiling + + plane[3] = -1.0 * planeDist(c, plane[0], plane[1], plane[2], 0); // compute distance from origin + if (plane[3] < 0.0) { // flip normal if necessary + for (int j = 0; j < 4;j++) { + plane[j] = -plane[j]; + } + } + // count number of points on the plane + int r = oct->PointsOnNumber(plane, MAX_DIST_TO_PLANE, c, 105.0); + + if (r > MIN_NR_PTS) { + vector points; + oct->PointsOnNumber(plane, MAX_DIST_TO_PLANE, c, 105.0, points); + if ( FindNumber(points, plane) ) { + printNumbers(); + } + } + + } + } + + delete oct; +} diff --git a/.svn/pristine/8d/8d5307f5e82905e6b299f91928076f36649661ce.svn-base b/.svn/pristine/8d/8d5307f5e82905e6b299f91928076f36649661ce.svn-base new file mode 100644 index 0000000..c9158d5 --- /dev/null +++ b/.svn/pristine/8d/8d5307f5e82905e6b299f91928076f36649661ce.svn-base @@ -0,0 +1,126 @@ +/* + * elch6Deuler implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using Euler angles + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +#include "slam6d/elch6Deuler.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using Euler angles + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Deuler::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[6]; + Matrix C(6, 6); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 6; j++) { + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } + } + + double *weights[6]; + for(int i = 0; i < 6; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + for(int i = last - 2; i <= last; i++) { + for(int j = 0; j < 6; j++) { + weights[j][i] = 0.0; + } + } + + double delta[6]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + delta[3] = allScans[last]->get_rPosTheta()[0]; + delta[4] = allScans[last]->get_rPosTheta()[1]; + delta[5] = allScans[last]->get_rPosTheta()[2]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + delta[3] = allScans[last]->get_rPosTheta()[0] - delta[3]; + delta[4] = allScans[last]->get_rPosTheta()[1] - delta[4]; + delta[5] = allScans[last]->get_rPosTheta()[2] - delta[5]; + + if(!quiet) { + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << delta[3] << " " << delta[4] << " " << delta[5] << endl; + } + + double rPos[3], rPosTheta[3]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + rPosTheta[0] = allScans[i]->get_rPosTheta()[0] + delta[3] * (weights[3][i] - weights[3][0]); + rPosTheta[1] = allScans[i]->get_rPosTheta()[1] + delta[4] * (weights[4][i] - weights[4][0]); + rPosTheta[2] = allScans[i]->get_rPosTheta()[2] + delta[5] * (weights[5][i] - weights[5][0]); + + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 6; i++) { + delete [] weights[i]; + } + +} diff --git a/.svn/pristine/8d/8d79e2dba7c1966c34eaab494c315cf83da680e3.svn-base b/.svn/pristine/8d/8d79e2dba7c1966c34eaab494c315cf83da680e3.svn-base new file mode 100644 index 0000000..065c473 --- /dev/null +++ b/.svn/pristine/8d/8d79e2dba7c1966c34eaab494c315cf83da680e3.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_MAP_FRAMES_H__ +#define __SCAN_IO_UOS_MAP_FRAMES_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_map_frames : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/8d/8dd451c354c59d46301a1b7d901353cd3ecbe93d.svn-base b/.svn/pristine/8d/8dd451c354c59d46301a1b7d901353cd3ecbe93d.svn-base new file mode 100644 index 0000000..f3b1ed4 --- /dev/null +++ b/.svn/pristine/8d/8dd451c354c59d46301a1b7d901353cd3ecbe93d.svn-base @@ -0,0 +1,38 @@ +#ifndef __NNPARAMS_H__ +#define __NNPARAMS_H__ + +struct NNParams { +/** + * pointer to the closest point. size = 4 bytes of 32 bit machines + */ + void *closest; + + /** + * distance to the closest point. size = 8 bytes + */ + double closest_d2; + + // distance to the closest point in voxels + int closest_v; + + // location of the query point in voxel coordinates + int x; + int y; + int z; + + /** + * pointer to the point, size = 4 bytes of 32 bit machines + */ + double *p; + + /** + * expand to 128 bytes to avoid false-sharing, 16 bytes from above + 28*4 bytes = 128 bytes + */ +// int padding[24]; + + int count; + int max_count; + +}; + +#endif diff --git a/.svn/pristine/8e/8e0803a0527b9094900747c56ab8d167c6250e5c.svn-base b/.svn/pristine/8e/8e0803a0527b9094900747c56ab8d167c6250e5c.svn-base new file mode 100644 index 0000000..12617bb --- /dev/null +++ b/.svn/pristine/8e/8e0803a0527b9094900747c56ab8d167c6250e5c.svn-base @@ -0,0 +1,431 @@ +#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +//using namespace NEWMAT; +namespace NEWMAT { +#endif + + +/**************************** test program ******************************/ + + +class PrintCounter +{ + int count; + const char* s; +public: + ~PrintCounter(); + PrintCounter(const char * sx) : count(0), s(sx) {} + void operator++() { count++; } +}; + +PrintCounter PCZ("Number of non-zero matrices (should be 1) = "); +PrintCounter PCN("Number of matrices tested = "); + +PrintCounter::~PrintCounter() +{ cout << s << count << "\n"; } + + +void Print(const Matrix& X) +{ + ++PCN; + cout << "\nMatrix type: " << X.Type().Value() << " ("; + cout << X.Nrows() << ", "; + cout << X.Ncols() << ")\n\n"; + if (X.IsZero()) { cout << "All elements are zero\n" << flush; return; } + int nr=X.Nrows(); int nc=X.Ncols(); + for (int i=1; i<=nr; i++) + { + for (int j=1; j<=nc; j++) cout << X(i,j) << "\t"; + cout << "\n"; + } + cout << flush; ++PCZ; +} + +void Print(const UpperTriangularMatrix& X) +{ + ++PCN; + cout << "\nMatrix type: " << X.Type().Value() << " ("; + cout << X.Nrows() << ", "; + cout << X.Ncols() << ")\n\n"; + if (X.IsZero()) { cout << "All elements are zero\n" << flush; return; } + int nr=X.Nrows(); int nc=X.Ncols(); + for (int i=1; i<=nr; i++) + { + int j; + for (j=1; j -c)) A(i,j) = 0.0; } + } +} + +void Clean(DiagonalMatrix& A, Real c) +{ + int nr = A.Nrows(); + for (int i=1; i<=nr; i++) + { Real a = A(i,i); if ((a < c) && (a > -c)) A(i,i) = 0.0; } +} + +void PentiumCheck(Real N, Real D) +{ + Real R = N / D; + R = R * D - N; + if ( R > 1 || R < -1) + cout << "Pentium error detected: % error = " << 100 * R / N << "\n"; +} + + +#ifdef use_namespace +} +using namespace NEWMAT; +#endif + +//*************************** main program ********************************** + +void TestTypeAdd(); // test + +void TestTypeMult(); // test * +void TestTypeConcat(); // test | +void TestTypeSP(); // test SP +void TestTypeKP(); // test KP +void TestTypeOrder(); // test >= + + +int main() +{ + Real* s1; Real* s2; Real* s3; Real* s4; + cout << "\nBegin test\n"; // Forces cout to allocate memory at beginning + cout << "Now print a real number: " << 3.14159265 << endl; + // Throw exception to set up exception buffer +#ifndef DisableExceptions + Try { Throw(BaseException("Just a dummy\n")); } + CatchAll {} +#else + cout << "Not doing exceptions\n"; +#endif + { Matrix A1(40,200); s1 = A1.Store(); } + { Matrix A1(1,1); s3 = A1.Store(); } + { + Tracer et("Matrix test program"); + + Matrix A(25,150); + { + int i; + RowVector A(8); + for (i=1;i<=7;i++) A(i)=0.0; A(8)=1.0; + Print(A); + } + cout << "\n"; + + TestTypeAdd(); TestTypeMult(); TestTypeConcat(); + TestTypeSP(); TestTypeKP(); TestTypeOrder(); + + + Try { + trymat1(); + trymat2(); + trymat3(); + trymat4(); + trymat5(); + trymat6(); + trymat7(); + trymat8(); + trymat9(); + trymata(); + trymatb(); + trymatc(); + trymatd(); + trymate(); + trymatf(); + trymatg(); + trymath(); + trymati(); + trymatj(); + trymatk(); + trymatl(); + trymatm(); + + cout << "\nEnd of tests\n"; + } + CatchAll + { + cout << "\nTest program fails - exception generated\n\n"; + cout << BaseException::what(); + } + + + } + + { Matrix A1(40,200); s2 = A1.Store(); } + cout << "\n(The following memory checks are probably not valid with all\n"; + cout << "compilers - see documentation)\n"; + cout << "\nChecking for lost memory: " + << (unsigned long)s1 << " " << (unsigned long)s2 << " "; + if (s1 != s2) cout << " - error\n"; else cout << " - ok\n"; + { Matrix A1(1,1); s4 = A1.Store(); } + cout << "\nChecking for lost memory: " + << (unsigned long)s3 << " " << (unsigned long)s4 << " "; + if (s3 != s4) cout << " - error\n\n"; else cout << " - ok\n\n"; + + // check for Pentium bug + PentiumCheck(4195835L,3145727L); + PentiumCheck(5244795L,3932159L); + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + return 0; +} + + + + +//************************ test type manipulation **************************/ + + +// These functions may cause problems for Glockenspiel 2.0c; they are used +// only for testing so you can delete them + + +void TestTypeAdd() +{ + MatrixType list[10]; + list[0] = MatrixType::UT; + list[1] = MatrixType::LT; + list[2] = MatrixType::Rt; + list[3] = MatrixType::Sm; + list[4] = MatrixType::Dg; + list[5] = MatrixType::BM; + list[6] = MatrixType::UB; + list[7] = MatrixType::LB; + list[8] = MatrixType::SB; + list[9] = MatrixType::Id; + + cout << "+ "; + int i; + for (i=0; i= "; + int i; + for (i = 0; i=list[i]) ? "Yes " : "No "); + cout << "\n"; + } + cout << "\n"; +} + + diff --git a/.svn/pristine/8e/8e107bd0249c090e14913d4bcb96f1baab19f991.svn-base b/.svn/pristine/8e/8e107bd0249c090e14913d4bcb96f1baab19f991.svn-base new file mode 100644 index 0000000..b3935f1 --- /dev/null +++ b/.svn/pristine/8e/8e107bd0249c090e14913d4bcb96f1baab19f991.svn-base @@ -0,0 +1,42 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __ICP6DQUAT_H__ +#define __ICP6DQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via quaternions + */ +class icp6D_QUAT : public icp6Dminimizer +{ +public: + /** constructor */ + icp6D_QUAT(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** destructor */ + virtual ~icp6D_QUAT() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], double *alignxf); + inline int getAlgorithmID() { return 1; }; + +protected: + void quaternion2matrix(double *q, double m[3][3]); + int ferrari(double a, double b, double c, double d, double rts[4]); + int qudrtc(double b, double c, double rts[4]); + double cubic(double p, double q, double r); + void maxEigenVector(double Q[4][4], double ev[4]); + void characteristicPol(double Q[4][4], double c[4]); +}; + +#endif diff --git a/.svn/pristine/8e/8e7e4f480668bbb3d751a471f33b347f0399f018.svn-base b/.svn/pristine/8e/8e7e4f480668bbb3d751a471f33b347f0399f018.svn-base new file mode 100644 index 0000000..6c79fe6 --- /dev/null +++ b/.svn/pristine/8e/8e7e4f480668bbb3d751a471f33b347f0399f018.svn-base @@ -0,0 +1,109 @@ +/* + * graph_balancer implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file stand alone graph balancer implementation + * reads graph in graphviz format and optimizes it + * @author Jochen Sprickerhof + */ + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::string; + +#include + +#include "slam6d/elch6D.h" + +void usage(string progname) { + cout << "Usage: " << progname << " OPTIONS FILE" << endl << + "\t -s \t\t first node in loop" << endl << + "\t -e \t\t last node in loop" << endl << + "\t -o \t\t output filename (must be given)" << endl; +} + +int main(int argc, char *argv[]) +{ + + if(argc < 2) { + usage(argv[0]); + exit(1); + } + + int start = 0, end = 4; + string out_file; + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "end", required_argument, 0, 'e' }, + { "out", required_argument, 0, 'o' }, + { "start", required_argument, 0, 's' }, + //{ "reduce", required_argument, 0, 'r' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + int c; + while((c = getopt_long(argc, argv, "e:o:s:", longopts, NULL)) != -1) { + switch (c) { + case 'e': + end = atoi(optarg); + if(end < 0) { + cerr << "Error: Cannot end at a negative number." << endl; + exit(1); + } + break; + case 'o': + out_file = optarg; + break; + case 's': + start = atoi(optarg); + if(start < 0) { + cerr << "Error: Cannot start at a negative number." << endl; + exit(1); + } + break; + case '?': + default: + exit(1); + } + } + + if(out_file.empty()) { + usage(argv[0]); + exit(1); + } + + graph_t g(0); + boost::dynamic_properties dp(boost::ignore_other_properties); + boost::property_map::type weight = get(boost::edge_weight, g); + dp.property("weight", weight); + + std::ifstream gf(argv[optind]); + read_graphviz(gf, g, dp); + + graph_t g_org(g); + double *w = new double[num_vertices(g)]; + + elch6D::graph_balancer(g, start, end, w); + elch6D::graph_weight_out(g_org, start, end, w, out_file); + + delete[] w; + exit(0); +} + diff --git a/.svn/pristine/8e/8e8044a660eb823e80d445550a523dfb4f4ad5be.svn-base b/.svn/pristine/8e/8e8044a660eb823e80d445550a523dfb4f4ad5be.svn-base new file mode 100644 index 0000000..44ecf6b --- /dev/null +++ b/.svn/pristine/8e/8e8044a660eb823e80d445550a523dfb4f4ad5be.svn-base @@ -0,0 +1,544 @@ +/* + * panorama implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/panorama.h" + +using namespace std; + +namespace fbr{ + + void panorama::init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mMethod){ + iWidth = width; + iHeight = height; + pMethod = method; + nImages = numberOfImages; + pParam = param; + if(mMethod == FARTHEST){ + iMap.create(iHeight, iWidth, CV_32FC(3)); + iMap = cv::Scalar::all(0); + } + else if(mMethod == EXTENDED){ + extendedIMap.resize(iHeight); + for (unsigned int i = 0; i < iHeight; i++) + extendedIMap[i].resize(iWidth); + } + iReflectance.create(iHeight, iWidth, CV_8U); + iReflectance = cv::Scalar::all(0); + iRange.create(iHeight, iWidth, CV_32FC(1)); + iRange = cv::Scalar::all(0); + mapMethod = mMethod; + } + + panorama::panorama(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mMethod){ + init(width, height, method, numberOfImages, param, mMethod); + } + + panorama::panorama(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param){ + init(width, height, method, numberOfImages, param, FARTHEST); + } + + panorama::panorama(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages){ + double param = 0; + if(method == PANNINI) + param = 1; + else if (method == STEREOGRAPHIC) + param = 2; + + init(width, height, method, numberOfImages, param, FARTHEST); + } + + panorama::panorama(unsigned int width, unsigned int height, projection_method method){ + double param = 0; + unsigned int numberOfImages = 1; + if(method == RECTILINEAR) + numberOfImages = 3; + else if(method == PANNINI){ + numberOfImages = 3; + param = 1; + } else if (method == STEREOGRAPHIC){ + numberOfImages = 3; + param = 2; + } + + init(width, height, method, numberOfImages, param, FARTHEST); + } + + void panorama::map(int x, int y, cv::MatIterator_ it, double range){ + iReflectance.at(y,x) = (*it)[3]*255;//reflectance + iRange.at(y,x) = range;//range + if(mapMethod == FARTHEST){ + //adding the point with max distance + if( iRange.at(y,x) < range ){ + iMap.at(y,x)[0] = (*it)[0];//x + iMap.at(y,x)[1] = (*it)[1];//y + iMap.at(y,x)[2] = (*it)[2];//z + } + }else if(mapMethod == EXTENDED){ + //adding all the points + cv::Vec3f point; + point[0] = (*it)[0];//x + point[1] = (*it)[1];//y + point[2] = (*it)[2];//z + extendedIMap[y][x].push_back(point); + } + } + + void panorama::createPanorama(cv::Mat scan){ + + //EQUIRECTANGULAR projection + if(pMethod == EQUIRECTANGULAR){ + //adding the longitude to x axis and latitude to y axis + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / ((MAX_ANGLE - MIN_ANGLE) / 360 * 2 * M_PI); + //shift all the valuse to positive points on image + double heightLow =(0 - MIN_ANGLE) / 360 * 2 * M_PI; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ( yFactor * (theta + heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //CYLINDRICAL projection + if(pMethod == CYLINDRICAL){ + //adding the longitude to x and tan(latitude) to y + //find the x and y range + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / (tan(MAX_ANGLE / 360 * 2 * M_PI) - tan(MIN_ANGLE / 360 * 2 * M_PI)); + double heightLow = (MIN_ANGLE) / 360 * 2 * M_PI; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ((double) yFactor * (tan(theta) - tan(heightLow))); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //Mercator Projection + if( pMethod == MERCATOR){ + //find the x and y range + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / ( log( tan( MAX_ANGLE / 360 * 2 * M_PI ) + ( 1 / cos( MAX_ANGLE / 360 * 2 * M_PI ) ) ) - log ( tan( MIN_ANGLE / 360 * 2 * M_PI) + (1/cos(MIN_ANGLE / 360 * 2 * M_PI) ) ) ); + double heightLow = log(tan(MIN_ANGLE / 360 * 2 * M_PI) + (1/cos(MIN_ANGLE / 360 * 2 * M_PI))); + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ( yFactor * (log(tan(theta) + (1/cos(theta))) - heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //RECTILINEAR projection + if(pMethod == RECTILINEAR){ + //default value for nImages + if(nImages == 0) nImages = 3; + cout<<"Number of images per scan is: "< it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for(unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in interval + if(phi < iMaxx && phi > iMinx){ + double max, min, coscRectilinear; + //the longitude of projection center + l0 = iMinx + interval / 2; + //finding the min and max of the x direction + coscRectilinear = sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0); + max = (cos(iMaxy) * sin(iMaxx - l0) / coscRectilinear); + coscRectilinear = sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0); + min = (cos(iMiny) * sin(iMinx - l0) / coscRectilinear); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + coscRectilinear = sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0); + max = ( (cos(p1) * sin(iMaxy) - sin(p1) * cos(iMaxy) * cos(iMaxx - l0) )/ coscRectilinear); + coscRectilinear = sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0); + min = ( (cos(p1) * sin(iMiny) - sin(p1) * cos(iMiny) * cos(iMinx - l0) )/ coscRectilinear); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + coscRectilinear = sin(p1) * sin(theta) + cos(p1) * cos(theta) * cos(phi - l0); + int x = (int)(xFactor) * ((cos(theta) * sin(phi - l0) / coscRectilinear) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * (( (cos(p1) * sin(theta) - sin(p1) * cos(theta) * cos(phi - l0)) / coscRectilinear) - heightLow); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //PANNINI projection + if(pMethod == PANNINI){ + //default values for nImages and dPannini==pParam + if(pParam == 0) pParam = 1; + if(nImages == 0) nImages = 3; + cout << "Parameter d is:" << pParam <<", Number of images per scan is:" << nImages << endl; + double l0, p1, iMinx, iMaxx, iMiny, iMaxy, interval; + interval = 2 * M_PI / nImages; + iMiny = -M_PI/9; + iMaxy = 2*M_PI/9; + //latitude of projection center + p1 = 0; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for(unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in interval + if(phi < (iMaxx) && phi > (iMinx)){ + double max, min, sPannini; + //the longitude of projection center + l0 = iMinx + interval / 2; + //use the S variable of pannini projection mentioned in the thesis + //finding the min and max of the x direction + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMaxy) + cos(p1) * cos(iMaxx - l0)); + max = sPannini * (sin(iMaxx - l0)); + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMiny) + cos(p1) * cos(iMinx - l0)); + min = sPannini * (sin(iMinx - l0)); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMaxy) + cos(p1) * cos(iMaxx - l0)); + max = sPannini * (tan(iMaxy) * (cos(p1) - sin(p1) * 1/tan(iMaxy) * cos(iMaxx - l0))); + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMiny) + cos(p1) * cos(iMinx - l0)); + min = sPannini * (tan(iMiny) * (cos(p1) - sin(p1) * 1/tan(iMiny) * cos(iMinx - l0))); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(theta) + cos(p1) * cos(phi - l0)); + int x = (int)(xFactor) * (sPannini * sin(phi - l0) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * ( (sPannini * tan(theta) * (cos(p1) - sin(p1) * (1/tan(theta)) * cos(phi - l0) ) ) - heightLow ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //STEREOGRAPHIC projection + if(pMethod == STEREOGRAPHIC){ + //default values for nImages and rStereographic==pParam + if(pParam == 0) pParam = 2; + if(nImages == 0) nImages = 3; + cout << "Paremeter R is:" << pParam << ", Number of images per scan is:" << nImages << endl; + // l0 and p1 are the center of projection iminx, imaxx, iminy, imaxy are the bounderis of intervals + double l0, p1, iMinx, iMaxx, iMiny, iMaxy, interval; + interval = 2 * M_PI / nImages; + iMiny = -M_PI/9; + iMaxy = 2*M_PI/9; + //latitude of projection center + p1 = 0; + + //go through all points + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for (unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in intervals + if(phi < (iMaxx) && phi > (iMinx)){ + double max, min, k; + //longitude of projection center + l0 = iMinx + interval / 2; + //use the R variable of stereographic projection mentioned in the thesis + //finding the min and max of x direction + k = (2 * pParam) / (1 + sin(p1) * sin(p1) + cos(p1) * cos(p1) * cos(iMaxx - l0)); + max = k * cos(p1) * sin (iMaxx - l0); + k = (2 * pParam) / (1 + sin (p1) * sin(p1) + cos(p1) * cos(p1) * cos(iMinx -l0)); + min = k * cos(p1) * sin (iMinx -l0); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + k = (2 * pParam) / (1 + sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0)); + max = k * (cos(p1) * sin(iMaxy) - sin(p1) * cos(iMaxy) * cos(iMaxx - l0)); + k = (2 * pParam) / (1 + sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0)); + min = k * (cos(p1) * sin(iMiny) - sin(p1) * cos(iMiny) * cos(iMinx - l0)); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + k = (2 * pParam) / (1 + sin(p1) * sin(theta) + cos(p1) * cos(theta) * cos(phi - l0)); + int x = (int) (xFactor) * (k * cos(theta) * sin(phi - l0) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * (k * ( cos(p1) * sin(theta) - sin(p1) * cos(theta) * cos(phi - l0) ) - heightLow); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //ZAXIS projection + if(pMethod == ZAXIS){ + double zmin = -200; + double zmax = 4000; + //adding the longitude to x axis and latitude to y axis + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + cout << "ZMAX= " << zmax << " ZMIN= "<< zmin << endl; + double yFactor = (double) iHeight / (zmax - zmin); + //shift all the valuse to positive points on image + double heightLow = zmin; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + ///////////////////check this + int y = (int) ( yFactor * ((*it)[1] - heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + + unsigned int panorama::getImageWidth(){ + return iWidth; + } + + unsigned int panorama::getImageHeight(){ + return iHeight; + } + + projection_method panorama::getProjectionMethod(){ + return pMethod; + } + + unsigned int panorama::getNumberOfImages(){ + return nImages; + } + + double panorama::getProjectionParam(){ + return pParam; + } + + cv::Mat panorama::getReflectanceImage(){ + return iReflectance; + } + + cv::Mat panorama::getMap(){ + return iMap; + } + + cv::Mat panorama::getRangeImage(){ + return iRange; + } + + vector > > panorama::getExtendedMap(){ + return extendedIMap; + } + + panorama_map_method panorama::getMapMethod(){ + return mapMethod; + } + + void panorama::getDescription(){ + cout<<"panorama created with width: "< + +#ifdef _MSC_VER +#include +#else +#include +#endif + +template +class Metric { +public: + //! Reserve a minimum of 1k values to reduced allocation overhead in between + Metric(unsigned int reserve = 1000) { + m_values.reserve(reserve); + } + + //! Print the sum of this metric + T sum() const { + T value = 0; + for(typename std::vector::const_iterator it = m_values.begin(); it != m_values.end(); ++it) + value += *it; + return value; + } + + //! Print the average of this metric + T average() const { + if(m_values.size() != 0) + return sum() / (T)(m_values.size()); + else + return (T)0; + } + + std::size_t size() const { + return m_values.size(); + } + + void reset() { + m_values.clear(); + } + +protected: + inline void commit(const T& value) { + m_values.push_back(value); + } + +private: + std::vector m_values; +}; + +#ifdef _MSC_VER + typedef LARGE_INTEGER Timer; +#else + typedef timeval Timer; +#endif + +/** + * @brief Measures time differences in seconds. + */ +class TimeMetric : public Metric { +public: + TimeMetric(unsigned int reserve = 1000); + + //! Start the timer + Timer start(); + + //! End the timer and commit value + void end(Timer&); + +private: +#ifdef _MSC_VER + static LARGE_INTEGER frequency; + static bool init; +#endif +}; + +/** + * @brief Measures access count or size. + */ +class CounterMetric : public Metric { +public: + CounterMetric(unsigned int reserve = 1000); + void add(unsigned long long value = 1); + +private: +}; + + + +struct ServerMetric { + static TimeMetric scan_loading, cacheio_write_time, cacheio_read_time; + static CounterMetric cacheio_write_size, cacheio_read_size; + static void print(); +}; + +struct ClientMetric { + static TimeMetric + // Scan + // directory loading + read_scan_time, scan_load_time, + // reduce, transform, copy, create tree as part of the reduction and tree preparation + calc_reduced_points_time, transform_time, copy_original_time, create_tree_time, + // new scanserver only times + on_demand_reduction_time, create_metatree_time, + // part of transform dealing with frames + add_frames_time, + // slam6D + matching_time, + // ClientInterface + clientinterface_time, cache_miss_time, allocate_time, frames_time; + static void print(); +}; + +#endif //METRICS_H diff --git a/.svn/pristine/8e/8ed58b8bf0279fb1564089523e4536cf953e6c8b.svn-base b/.svn/pristine/8e/8ed58b8bf0279fb1564089523e4536cf953e6c8b.svn-base new file mode 100644 index 0000000..e013c39 --- /dev/null +++ b/.svn/pristine/8e/8ed58b8bf0279fb1564089523e4536cf953e6c8b.svn-base @@ -0,0 +1,21 @@ +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOP_TORO_H__ +#define __LOOP_TORO_H__ + +#include "loopSlam6D.h" + +class loopToro : public loopSlam6D { + + public: + loopToro(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); +}; + +#endif diff --git a/.svn/pristine/8f/8f39e5a4cc0cb684899b7c087223dfef4f60b801.svn-base b/.svn/pristine/8f/8f39e5a4cc0cb684899b7c087223dfef4f60b801.svn-base new file mode 100644 index 0000000..3ef95fb --- /dev/null +++ b/.svn/pristine/8f/8f39e5a4cc0cb684899b7c087223dfef4f60b801.svn-base @@ -0,0 +1,56 @@ + + +int glui_img_downarrow[] = { 16, 16, /* width, height */ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 192,192,192, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 0, 0, 0, +}; diff --git a/.svn/pristine/90/90c3ff3cf78bb7cf6ac8f7a511e40a0200723cdb.svn-base b/.svn/pristine/90/90c3ff3cf78bb7cf6ac8f7a511e40a0200723cdb.svn-base new file mode 100644 index 0000000..a074f2c --- /dev/null +++ b/.svn/pristine/90/90c3ff3cf78bb7cf6ac8f7a511e40a0200723cdb.svn-base @@ -0,0 +1,106 @@ +/* + * grabFramesPMD implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include + +#include "pmdsdk2.h" +#include "cvpmd.h" + + +/* TODO: +* flags: +* subpixel +* camera id +* flip x and y +* pmd mode? +*/ + +void usage(char *progName) { + printf("%s \n", progName); + printf("i.e.: %s 6 4 0\n", progName); + printf("press space to detect chessboard and (again) to proceed.\n"); +} + +int main(int argc, char **argv) { + + if(argc < 4) { + usage(argv[0]); + exit(1); + } + + + PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69"); + IplImage *img = cvCreateImage(pmdGetSize(pmd), 8, 1); + pmdUpdate(pmd->hnd); + pmdQueryImage(pmd, img); + + IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3); + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize patternSize = cvSize(patx, paty); + + int cornersTotal = patternSize.width * patternSize.height; + + CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + cvNamedWindow("Camera", 0); + + int imageCnt = 0; + bool grabFrame = false; + char *filename = (char*) malloc(11 * sizeof(char)); + + + while(1) { + pmdUpdate(pmd->hnd); + pmdQueryImage(pmd, img); + + cvFlip(img, 0, 1); // flips image around the x-axes + + + + + if(grabFrame) { + /* ----- Chessboard detection ----- + -------------------------------- */ + int cornersCount; // should be the same for wcam and pmd and equal totalCorners + + int found = cvFindChessboardCorners(img, patternSize, corners, + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + cvFindCornerSubPix(img, corners, cornersCount, cvSize(4,4), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvCvtColor(img, imgColor, CV_GRAY2BGR); + cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found); + cvShowImage("Camera", imgColor); + printf("grab?\n"); + int k = cvWaitKey(0); + if(k == (int)' ') { + imageCnt++; + sprintf(filename, "image%02i.jpg", imageCnt); //TODO:try png + printf("saved %s.\n", filename); + cvSaveImage(filename, img); + grabFrame = false; + continue; + } + } + } + + cvShowImage("Camera", img); + if((int)' ' == cvWaitKey(5)) grabFrame = true; + } + + return 0; +} + diff --git a/.svn/pristine/91/911ec2bee8df15cf25fbedcf901dfdcac08cf7b1.svn-base b/.svn/pristine/91/911ec2bee8df15cf25fbedcf901dfdcac08cf7b1.svn-base new file mode 100644 index 0000000..7bee44d --- /dev/null +++ b/.svn/pristine/91/911ec2bee8df15cf25fbedcf901dfdcac08cf7b1.svn-base @@ -0,0 +1,1640 @@ +//---------------------------------------------------------------------- +// File: ann_test.cpp +// Programmer: Sunil Arya and David Mount +// Description: test program for ANN (approximate nearest neighbors) +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 0.2 06/26/98 +// Added CLOCKS_PER_SEC definition if needed +// Revision 1.0 04/01/05 +// Added comments (from "#" to eol) +// Added clus_orth_flats and clus_ellipsoids distributions +// Fixed order of fair and midpt in split_table +// Added dump/load operations +// Cleaned up C++ for modern compilers +// Revision 1.1 05/03/05 +// Added fixed radius kNN search +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#include // clock +#include // math routines +#include // C string ops +#include // file I/O + +#include // ANN declarations +#include // more ANN declarations +#include // performance evaluation + +#include "rand.h" // random point generation + +#ifndef CLOCKS_PER_SEC // define clocks-per-second if needed + #define CLOCKS_PER_SEC 1000000 +#endif + +using namespace std; // make std:: available + +//---------------------------------------------------------------------- +// ann_test +// +// This program is a driver for testing and evaluating the ANN library +// for computing approximate nearest neighbors. It allows the user to +// generate data and query sets of various sizes, dimensions, and +// distributions, to build kd- and bbd-trees of various types, and then +// run queries and outputting various performance statistics. +// +// Overview: +// --------- +// The test program is run as follows: +// +// ann_test < test_input > test_output +// +// where the test_input file contains a list of directives as described +// below. Directives consist of a directive name, followed by list of +// arguments (depending on the directive). Arguments and directives are +// separated by white space (blank, tab, and newline). String arguments +// are not quoted, and consist of a string of nonwhite chacters. A +// character "#" denotes a comment. The following characters up to +// the end of line are ignored. Comments may only be inserted between +// directives (not within the argument list of a directive). +// +// Basic operations: +// ----------------- +// The test program can perform the following operations. How these +// operations are performed depends on the options which are described +// later. +// +// Data Generation: +// ---------------- +// read_data_pts Create a set of data points whose +// coordinates are input from file . +// gen_data_pts Create a set of data points whose +// coordinates are generated from the +// current point distribution. +// +// Building the tree: +// ------------------ +// build_ann Generate an approximate nearest neighbor +// structure for the current data set, using +// the selected splitting rules. Any existing +// tree will be destroyed. +// +// Query Generation/Searching: +// --------------------------- +// read_query_pts Create a set of query points whose +// coordinates are input from file . +// gen_query_pts Create a set of query points whose +// coordinates are generated from the +// current point distribution. +// run_queries Apply nearest neighbor searching to the +// query points using the approximate nearest +// neighbor structure and the given search +// strategy. Possible strategies are: +// standard = standard kd-tree search +// priority = priority search +// +// Miscellaneous: +// -------------- +// output_label Output a label to the output file. +// dump Dump the current structure to given file. +// (The dump format is explained further in +// the source file kd_tree.cc.) +// load Load a tree from a data file which was +// created by the dump operation. Any +// existing tree will be destroyed. +// +// Options: +// -------- +// How these operations are performed depends on a set of options. +// If an option is not specified, a default value is used. An option +// retains its value until it is set again. String inputs are not +// enclosed in quotes, and must contain no embedded white space (sorry, +// this is C++'s convention). +// +// Options affecting search tree structure: +// ---------------------------------------- +// split_rule Type of splitting rule to use in building +// the search tree. Choices are: +// kd = optimized kd-tree +// midpt = midpoint split +// fair = fair split +// sl_midpt = sliding midpt split +// sl_fair = sliding fair split +// suggest = authors' choice for best +// The default is "suggest". See the file +// kd_split.cc for more detailed information. +// +// shrink_rule Type of shrinking rule to use in building +// a bd-tree data structure. If "none" is +// given, then no shrinking is performed and +// the result is a kd-tree. Choices are: +// none = perform no shrinking +// simple = simple shrinking +// centroid = centroid shrinking +// suggest = authors' choice for best +// The default is "none". See the file +// bd_tree.cc for more information. +// bucket_size Bucket size, that is, the maximum number of +// points stored in each leaf node. +// +// Options affecting data and query point generation: +// -------------------------------------------------- +// dim Dimension of space. +// seed Seed for random number generation. +// data_size Number of data points. When reading data +// points from a file, this indicates the +// maximum number of points for storage +// allocation. Default = 100. +// query_size Same as data_size for query points. +// std_dev Standard deviation (used in gauss, +// planted, and clustered distributions). +// This is the "small" distribution for +// clus_ellipsoids. Default = 1. +// std_dev_lo Low and high standard deviations (used in +// std_dev_hi clus_ellipsoids). Default = 1. +// corr_coef Correlation coefficient (used in co-gauss +// and co_lapace distributions). Default = 0.05. +// colors Number of color classes (clusters) (used +// in the clustered distributions). Default = 5. +// new_clust Once generated, cluster centers are not +// normally regenerated. This is so that both +// query points and data points can be generated +// using the same set of clusters. This option +// forces new cluster centers to be generated +// with the next generation of either data or +// query points. +// max_clus_dim Maximum dimension of clusters (used in +// clus_orth_flats and clus_ellipsoids). +// Default = 1. +// distribution Type of input distribution +// uniform = uniform over cube [-1,1]^d. +// gauss = Gaussian with mean 0 +// laplace = Laplacian, mean 0 and var 1 +// co_gauss = correlated Gaussian +// co_laplace = correlated Laplacian +// clus_gauss = clustered Gaussian +// clus_orth_flats = clusters of orth flats +// clus_ellipsoids = clusters of ellipsoids +// planted = planted distribution +// See the file rand.cpp for further information. +// +// Options affecting nearest neighbor search: +// ------------------------------------------ +// epsilon Error bound for approx. near neigh. search. +// near_neigh Number of nearest neighbors to compute. +// max_pts_visit Maximum number of points to visit before +// terminating. (Used in applications where +// real-time performance is important.) +// (Default = 0, which means no limit.) +// radius_bound Sets an upper bound on the nearest +// neighbor search radius. If the bound is +// positive, then fixed-radius nearest +// neighbor searching is performed, and the +// count of the number of points in the +// range is returned. If the bound is +// zero, then standard search is used. +// This can only be used with standard, not +// priority, search. (Default = 0, which +// means standard search.) +// +// Options affection general program behavior: +// ------------------------------------------- +// stats Level of statistics output +// silent = no output, +// exec_time += execution time only +// prep_stats += preprocessing statistics +// query_stats += query performance stats +// query_res += results of queries +// show_pts += show the data points +// show_struct += print search structure +// validate Validate experiment and compute average +// error. Since validation causes exact +// nearest neighbors to be computed by the +// brute force method, this can take a long +// time. Valid arguments are: +// on = turn validation on +// off = turn validation off +// true_near_neigh Number of true nearest neighbors to compute. +// When validating, we compute the difference +// in rank between each reported nearest neighbor +// and the true nearest neighbor of the same +// rank. Thus it is necessary to compute a +// few more true nearest neighbors. By default +// we compute 10 more than near_neigh. With +// this option the exact number can be set. +// (Used only when validating.) +// +// Example: +// -------- +// output_label test_run_0 # output label for this run +// validate off # do not perform validation +// dim 16 # points in dimension 16 +// stats query_stats # output performance statistics for queries +// seed 121212 # random number seed +// data_size 1000 +// distribution uniform +// gen_data_pts # 1000 uniform data points in dim 16 +// query_size 100 +// std_dev 0.05 +// distribution clus_gauss +// gen_query_pts # 100 points in 10 clusters with std_dev 0.05 +// bucket_size 2 +// split_rule kd +// shrink_rule none +// build_ann # kd-tree, bucket size 2 +// epsilon 0.1 +// near_neigh 5 +// max_pts_visit 100 # stop search if more than 100 points seen +// run_queries standard # run queries; 5 nearest neighbors, 10% error +// data_size 500 +// read_data_pts data.in # read up to 500 points from file data.in +// split_rule sl_midpt +// shrink_rule simple +// build_ann # bd-tree; simple shrink, sliding midpoint split +// epsilon 0 +// run_queries priority # run same queries; 0 allowable error +// +//------------------------------------------------------------------------ + +//------------------------------------------------------------------------ +// Constants +//------------------------------------------------------------------------ + +const int STRING_LEN = 500; // max string length +const double ERR = 0.00001; // epsilon (for float compares) + +//------------------------------------------------------------------------ +// Enumerated values and conversions +//------------------------------------------------------------------------ + +typedef enum {DATA, QUERY} PtType; // point types + +//------------------------------------------------------------------------ +// Statistics output levels +//------------------------------------------------------------------------ + +typedef enum { // stat levels + SILENT, // no output + EXEC_TIME, // just execution time + PREP_STATS, // preprocessing info + QUERY_STATS, // query performance + QUERY_RES, // query results + SHOW_PTS, // show data points + SHOW_STRUCT, // show tree structure + N_STAT_LEVELS} // number of levels + StatLev; + +const char stat_table[N_STAT_LEVELS][STRING_LEN] = { + "silent", // SILENT + "exec_time", // EXEC_TIME + "prep_stats", // PREP_STATS + "query_stats", // QUERY_STATS + "query_res", // QUERY_RES + "show_pts", // SHOW_PTS + "show_struct"}; // SHOW_STRUCT + +//------------------------------------------------------------------------ +// Distributions +//------------------------------------------------------------------------ + +typedef enum { // distributions + UNIFORM, // uniform over cube [-1,1]^d. + GAUSS, // Gaussian with mean 0 + LAPLACE, // Laplacian, mean 0 and var 1 + CO_GAUSS, // correlated Gaussian + CO_LAPLACE, // correlated Laplacian + CLUS_GAUSS, // clustered Gaussian + CLUS_ORTH_FLATS, // clustered on orthog flats + CLUS_ELLIPSOIDS, // clustered on ellipsoids + PLANTED, // planted distribution + N_DISTRIBS} + Distrib; + +const char distr_table[N_DISTRIBS][STRING_LEN] = { + "uniform", // UNIFORM + "gauss", // GAUSS + "laplace", // LAPLACE + "co_gauss", // CO_GAUSS + "co_laplace", // CO_LAPLACE + "clus_gauss", // CLUS_GAUSS + "clus_orth_flats", // CLUS_ORTH_FLATS + "clus_ellipsoids", // CLUS_ELLIPSOIS + "planted"}; // PLANTED + +//------------------------------------------------------------------------ +// Splitting rules for kd-trees (see ANN.h for types) +//------------------------------------------------------------------------ + +const int N_SPLIT_RULES = 6; +const char split_table[N_SPLIT_RULES][STRING_LEN] = { + "standard", // standard optimized kd-tree + "midpt", // midpoint split + "fair", // fair split + "sl_midpt", // sliding midpt split + "sl_fair", // sliding fair split + "suggest"}; // authors' choice for best + +//------------------------------------------------------------------------ +// Shrinking rules for bd-trees (see ANN.h for types) +//------------------------------------------------------------------------ + +const int N_SHRINK_RULES = 4; +const char shrink_table[N_SHRINK_RULES][STRING_LEN] = { + "none", // perform no shrinking (kd-tree) + "simple", // simple shrinking + "centroid", // centroid shrinking + "suggest"}; // authors' choice for best + +//---------------------------------------------------------------------- +// Short utility functions +// Error - general error routine +// printPoint - print a point to standard output +// lookUp - look up a name in table and return index +//---------------------------------------------------------------------- + +void Error( // error routine + char *msg, // error message + ANNerr level) // abort afterwards +{ + if (level == ANNabort) { + cerr << "ann_test: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ann_test: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +void printPoint( // print point + ANNpoint p, // the point + int dim) // the dimension +{ + cout << "["; + for (int i = 0; i < dim; i++) { + cout << p[i]; + if (i < dim-1) cout << ","; + } + cout << "]"; +} + +int lookUp( // look up name in table + const char *arg, // name to look up + const char (*table)[STRING_LEN], // name table + int size) // table size +{ + int i; + for (i = 0; i < size; i++) { + if (!strcmp(arg, table[i])) return i; + } + return i; +} + +//------------------------------------------------------------------------ +// Function declarations +//------------------------------------------------------------------------ + +void generatePts( // generate data/query points + ANNpointArray &pa, // point array (returned) + int n, // number of points + PtType type, // point type + ANNbool new_clust, // new cluster centers desired? + ANNpointArray src = NULL, // source array (for PLANTED) + int n_src = 0); // source size (for PLANTED) + +void readPts( // read data/query points from file + ANNpointArray &pa, // point array (returned) + int &n, // number of points + char *file_nm, // file name + PtType type); // point type (DATA, QUERY) + +void doValidation(); // perform validation +void getTrueNN(); // compute true nearest neighbors + +void treeStats( // print statistics on kd- or bd-tree + ostream &out, // output stream + ANNbool verbose); // print stats + +//------------------------------------------------------------------------ +// Default execution parameters +//------------------------------------------------------------------------ +const int extra_nn = 10; // how many extra true nn's? + +const int def_dim = 2; // def dimension +const int def_data_size = 100; // def data size +const int def_query_size = 100; // def number of queries +const int def_n_color = 5; // def number of colors +const ANNbool def_new_clust = ANNfalse; // def new clusters flag +const int def_max_dim = 1; // def max flat dimension +const Distrib def_distr = UNIFORM; // def distribution +const double def_std_dev = 1.00; // def standard deviation +const double def_corr_coef = 0.05; // def correlation coef +const int def_bucket_size = 1; // def bucket size +const double def_epsilon = 0.0; // def error bound +const int def_near_neigh = 1; // def number of near neighbors +const int def_max_visit = 0; // def number of points visited +const int def_rad_bound = 0; // def radius bound + // def number of true nn's +const int def_true_nn = def_near_neigh + extra_nn; +const int def_seed = 0; // def seed for random numbers +const ANNbool def_validate = ANNfalse; // def validation flag + // def statistics output level +const StatLev def_stats = QUERY_STATS; +const ANNsplitRule // def splitting rule + def_split = ANN_KD_SUGGEST; +const ANNshrinkRule // def shrinking rule + def_shrink = ANN_BD_NONE; + +//------------------------------------------------------------------------ +// Global variables - Execution options +//------------------------------------------------------------------------ + +int dim; // dimension +int data_size; // data size +int query_size; // number of queries +int n_color; // number of colors +ANNbool new_clust; // generate new clusters? +int max_dim; // maximum flat dimension +Distrib distr; // distribution +double corr_coef; // correlation coef +double std_dev; // standard deviation +double std_dev_lo; // low standard deviation +double std_dev_hi; // high standard deviation +int bucket_size; // bucket size +double epsilon; // error bound +int near_neigh; // number of near neighbors +int max_pts_visit; // max number of points to visit +double radius_bound; // maximum radius search bound +int true_nn; // number of true nn's +ANNbool validate; // validation flag +StatLev stats; // statistics output level +ANNsplitRule split; // splitting rule +ANNshrinkRule shrink; // shrinking rule + +//------------------------------------------------------------------------ +// More globals - pointers to dynamically allocated arrays and structures +// +// It is assumed that all these values are set to NULL when nothing +// is allocated. +// +// data_pts, query_pts The data and query points +// the_tree Points to the kd- or bd-tree for +// nearest neighbor searching. +// apx_nn_idx, apx_dists Record approximate near neighbor +// indices and distances +// apx_pts_in_range Counts of the number of points in +// the in approx range, for fixed- +// radius NN searching. +// true_nn_idx, true_dists Record true near neighbor +// indices and distances +// min_pts_in_range, max_... Min and max counts of the number +// of points in the in approximate +// range. +// valid_dirty To avoid repeated validation, +// we only validate query results +// once. This validation becomes +// invalid, if a new tree, new data +// points or new query points have +// been generated. +// tree_data_size The number of points in the +// current tree. (This will be the +// same a data_size unless points have +// been added since the tree was +// built.) +// +// The approximate and true nearest neighbor results are stored +// in: apx_nn_idx, apx_dists, and true_nn_idx, true_dists. +// They are really flattened 2-dimensional arrays. Each of these +// arrays consists of query_size blocks, each of which contains +// near_neigh (or true_nn) entries, one for each of the nearest +// neighbors for a given query point. +//------------------------------------------------------------------------ + +ANNpointArray data_pts; // data points +ANNpointArray query_pts; // query points +ANNbd_tree* the_tree; // kd- or bd-tree search structure +ANNidxArray apx_nn_idx; // storage for near neighbor indices +ANNdistArray apx_dists; // storage for near neighbor distances +int* apx_pts_in_range; // storage for no. of points in range +ANNidxArray true_nn_idx; // true near neighbor indices +ANNdistArray true_dists; // true near neighbor distances +int* min_pts_in_range; // min points in approx range +int* max_pts_in_range; // max points in approx range + +ANNbool valid_dirty; // validation is no longer valid + +//------------------------------------------------------------------------ +// Initialize global parameters +//------------------------------------------------------------------------ + +void initGlobals() +{ + dim = def_dim; // init execution parameters + data_size = def_data_size; + query_size = def_query_size; + distr = def_distr; + corr_coef = def_corr_coef; + std_dev = def_std_dev; + std_dev_lo = def_std_dev; + std_dev_hi = def_std_dev; + new_clust = def_new_clust; + max_dim = def_max_dim; + n_color = def_n_color; + bucket_size = def_bucket_size; + epsilon = def_epsilon; + near_neigh = def_near_neigh; + max_pts_visit = def_max_visit; + radius_bound = def_rad_bound; + true_nn = def_true_nn; + validate = def_validate; + stats = def_stats; + split = def_split; + shrink = def_shrink; + annIdum = -def_seed; // init. global seed for ran0() + + data_pts = NULL; // initialize storage pointers + query_pts = NULL; + the_tree = NULL; + apx_nn_idx = NULL; + apx_dists = NULL; + apx_pts_in_range = NULL; + true_nn_idx = NULL; + true_dists = NULL; + min_pts_in_range = NULL; + max_pts_in_range = NULL; + + valid_dirty = ANNtrue; // (validation must be done) +} + +//------------------------------------------------------------------------ +// getDirective - skip comments and read next directive +// Returns ANNtrue if directive read, and ANNfalse if eof seen. +//------------------------------------------------------------------------ + +ANNbool skipComment( // skip any comments + istream &in) // input stream +{ + char ch = 0; + // skip whitespace + do { in.get(ch); } while (isspace(ch) && !in.eof()); + while (ch == '#' && !in.eof()) { // comment? + // skip to end of line + do { in.get(ch); } while(ch != '\n' && !in.eof()); + // skip whitespace + do { in.get(ch); } while(isspace(ch) && !in.eof()); + } + if (in.eof()) return ANNfalse; // end of file + in.putback(ch); // put character back + return ANNtrue; +} + +ANNbool getDirective( + istream &in, // input stream + char *directive) // directive storage +{ + if (!skipComment(in)) // skip comments + return ANNfalse; // found eof along the way? + in >> directive; // read directive + return ANNtrue; +} + + +//------------------------------------------------------------------------ +// main program - driver +// The main program reads input options, invokes the necessary +// routines to process them. +//------------------------------------------------------------------------ + +int main(int argc, char** argv) +{ + long clock0; // clock time + char directive[STRING_LEN]; // input directive + char arg[STRING_LEN]; // all-purpose argument + + cout << "------------------------------------------------------------\n" + << "ann_test: Version " << ANNversion << " " << ANNversionCmt << "\n" + << " Copyright: " << ANNcopyright << ".\n" + << " Latest Revision: " << ANNlatestRev << ".\n" + << "------------------------------------------------------------\n\n"; + + initGlobals(); // initialize global values + + //-------------------------------------------------------------------- + // Main input loop + //-------------------------------------------------------------------- + // read input directive + while (getDirective(cin, directive)) { + //---------------------------------------------------------------- + // Read options + //---------------------------------------------------------------- + if (!strcmp(directive,"dim")) { + cin >> dim; + } + else if (!strcmp(directive,"colors")) { + cin >> n_color; + } + else if (!strcmp(directive,"new_clust")) { + new_clust = ANNtrue; + } + else if (!strcmp(directive,"max_clus_dim")) { + cin >> max_dim; + } + else if (!strcmp(directive,"std_dev")) { + cin >> std_dev; + } + else if (!strcmp(directive,"std_dev_lo")) { + cin >> std_dev_lo; + } + else if (!strcmp(directive,"std_dev_hi")) { + cin >> std_dev_hi; + } + else if (!strcmp(directive,"corr_coef")) { + cin >> corr_coef; + } + else if (!strcmp(directive, "data_size")) { + cin >> data_size; + } + else if (!strcmp(directive,"query_size")) { + cin >> query_size; + } + else if (!strcmp(directive,"bucket_size")) { + cin >> bucket_size; + } + else if (!strcmp(directive,"epsilon")) { + cin >> epsilon; + } + else if (!strcmp(directive,"max_pts_visit")) { + cin >> max_pts_visit; + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"radius_bound")) { + cin >> radius_bound; + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"near_neigh")) { + cin >> near_neigh; + true_nn = near_neigh + extra_nn; // also reset true near neighs + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"true_near_neigh")) { + cin >> true_nn; + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // seed option + // The seed is reset by setting the global annIdum to the + // negation of the seed value. See rand.cpp. + //---------------------------------------------------------------- + else if (!strcmp(directive,"seed")) { + cin >> annIdum; + annIdum = -annIdum; + } + //---------------------------------------------------------------- + // validate option + //---------------------------------------------------------------- + else if (!strcmp(directive,"validate")) { + cin >> arg; // input argument + if (!strcmp(arg, "on")) { + validate = ANNtrue; + cout << "validate = on " + << "(Warning: this may slow execution time.)\n"; + } + else if (!strcmp(arg, "off")) { + validate = ANNfalse; + } + else { + cerr << "Argument: " << arg << "\n"; + Error("validate argument must be \"on\" or \"off\"", ANNabort); + } + } + //---------------------------------------------------------------- + // distribution option + //---------------------------------------------------------------- + else if (!strcmp(directive,"distribution")) { + cin >> arg; // input name and translate + distr = (Distrib) lookUp(arg, distr_table, N_DISTRIBS); + if (distr >= N_DISTRIBS) { // not something we recognize + cerr << "Distribution: " << arg << "\n"; + Error("Unknown distribution", ANNabort); + } + } + //---------------------------------------------------------------- + // stats option + //---------------------------------------------------------------- + else if (!strcmp(directive,"stats")) { + cin >> arg; // input name and translate + stats = (StatLev) lookUp(arg, stat_table, N_STAT_LEVELS); + if (stats >= N_STAT_LEVELS) { // not something we recognize + cerr << "Stats level: " << arg << "\n"; + Error("Unknown statistics level", ANNabort); + } + if (stats > SILENT) + cout << "stats = " << arg << "\n"; + } + //---------------------------------------------------------------- + // split_rule option + //---------------------------------------------------------------- + else if (!strcmp(directive,"split_rule")) { + cin >> arg; // input split_rule name + split = (ANNsplitRule) lookUp(arg, split_table, N_SPLIT_RULES); + if (split >= N_SPLIT_RULES) { // not something we recognize + cerr << "Splitting rule: " << arg << "\n"; + Error("Unknown splitting rule", ANNabort); + } + } + //---------------------------------------------------------------- + // shrink_rule option + //---------------------------------------------------------------- + else if (!strcmp(directive,"shrink_rule")) { + cin >> arg; // input split_rule name + shrink = (ANNshrinkRule) lookUp(arg, shrink_table, N_SHRINK_RULES); + if (shrink >= N_SHRINK_RULES) { // not something we recognize + cerr << "Shrinking rule: " << arg << "\n"; + Error("Unknown shrinking rule", ANNabort); + } + } + //---------------------------------------------------------------- + // label operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"output_label")) { + cin >> arg; + if (stats > SILENT) + cout << "<" << arg << ">\n"; + } + //---------------------------------------------------------------- + // gen_data_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"gen_data_pts")) { + if (distr == PLANTED) { // planted distribution + Error("Cannot use planted distribution for data points", ANNabort); + } + generatePts( // generate data points + data_pts, // data points + data_size, // data size + DATA, // data points + new_clust); // new clusters flag + valid_dirty = ANNtrue; // validation must be redone + new_clust = ANNfalse; // reset flag + } + //---------------------------------------------------------------- + // gen_query_pts operation + // If the distribution is PLANTED, then the query points + // are planted near the data points (which must already be + // generated). + //---------------------------------------------------------------- + else if (!strcmp(directive,"gen_query_pts")) { + if (distr == PLANTED) { // planted distribution + if (data_pts == NULL) { + Error("Must generate data points before query points for planted distribution", ANNabort); + } + generatePts( // generate query points + query_pts, // point array + query_size, // number of query points + QUERY, // query points + new_clust, // new clusters flag + data_pts, // plant around data pts + data_size); + } + else { // all other distributions + generatePts( // generate query points + query_pts, // point array + query_size, // number of query points + QUERY, // query points + new_clust); // new clusters flag + } + valid_dirty = ANNtrue; // validation must be redone + new_clust = ANNfalse; // reset flag + } + //---------------------------------------------------------------- + // read_data_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"read_data_pts")) { + cin >> arg; // input file name + readPts( + data_pts, // point array + data_size, // number of points + arg, // file name + DATA); // data points + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // read_query_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"read_query_pts")) { + cin >> arg; // input file name + readPts( + query_pts, // point array + query_size, // number of points + arg, // file name + QUERY); // query points + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // build_ann operation + // We always invoke the constructor for bd-trees. Note + // that when the shrinking rule is NONE (which is true by + // default), then this constructs a kd-tree. + //---------------------------------------------------------------- + else if (!strcmp(directive,"build_ann")) { + //------------------------------------------------------------ + // Build the tree + //------------------------------------------------------------ + if (the_tree != NULL) { // tree exists already + delete the_tree; // get rid of it + } + clock0 = clock(); // start time + + the_tree = new ANNbd_tree( // build it + data_pts, // the data points + data_size, // number of points + dim, // dimension of space + bucket_size, // maximum bucket size + split, // splitting rule + shrink); // shrinking rule + + //------------------------------------------------------------ + // Print summary + //------------------------------------------------------------ + long prep_time = clock() - clock0; // end of prep time + + if (stats > SILENT) { + cout << "[Build ann-structure:\n"; + cout << " split_rule = " << split_table[split] << "\n"; + cout << " shrink_rule = " << shrink_table[shrink] << "\n"; + cout << " data_size = " << data_size << "\n"; + cout << " dim = " << dim << "\n"; + cout << " bucket_size = " << bucket_size << "\n"; + + if (stats >= EXEC_TIME) { // output processing time + cout << " process_time = " + << double(prep_time)/CLOCKS_PER_SEC << " sec\n"; + } + + if (stats >= PREP_STATS) // output or check tree stats + treeStats(cout, ANNtrue); // print tree stats + else + treeStats(cout, ANNfalse); // check stats + + if (stats >= SHOW_STRUCT) { // print the whole tree + cout << " (Structure Contents:\n"; + the_tree->Print(ANNfalse, cout); + cout << " )\n"; + } + cout << "]\n"; + } + } + //---------------------------------------------------------------- + // dump operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"dump")) { + cin >> arg; // input file name + if (the_tree == NULL) { // no tree + Error("Cannot dump. No tree has been built yet", ANNwarn); + } + else { // there is a tree + // try to open file + ofstream out_dump_file(arg); + if (!out_dump_file) { + cerr << "File name: " << arg << "\n"; + Error("Cannot open dump file", ANNabort); + } + // dump the tree and points + the_tree->Dump(ANNtrue, out_dump_file); + if (stats > SILENT) { + cout << "(Tree has been dumped to file " << arg << ")\n"; + } + } + } + //---------------------------------------------------------------- + // load operation + // Since this not only loads a tree, but loads a new set + // of data points. + //---------------------------------------------------------------- + else if (!strcmp(directive,"load")) { + cin >> arg; // input file name + if (the_tree != NULL) { // tree exists already + delete the_tree; // get rid of it + } + if (data_pts != NULL) { // data points exist already + delete data_pts; // get rid of them + } + + ifstream in_dump_file(arg); // try to open file + if (!in_dump_file) { + cerr << "File name: " << arg << "\n"; + Error("Cannot open file for loading", ANNabort); + } + // build tree by loading + the_tree = new ANNbd_tree(in_dump_file); + + dim = the_tree->theDim(); // new dimension + data_size = the_tree->nPoints(); // number of points + data_pts = the_tree->thePoints(); // new points + + valid_dirty = ANNtrue; // validation must be redone + + if (stats > SILENT) { + cout << "(Tree has been loaded from file " << arg << ")\n"; + } + if (stats >= SHOW_STRUCT) { // print the tree + cout << " (Structure Contents:\n"; + the_tree->Print(ANNfalse, cout); + cout << " )\n"; + } + } + //---------------------------------------------------------------- + // run_queries operation + // This section does all the query processing. It consists + // of the following subsections: + // + // ** input the argument (standard or priority) and output + // the header describing the essential information. + // ** allocate space for the results to be stored. + // ** run the queries by invoking the appropriate search + // procedure on the query points. Print nearest neighbor + // if requested. + // ** print final summaries + // + // The approach for processing multiple nearest neighbors is + // pretty crude. We allocate an array whose size is the + // product of the total number of queries times the number of + // nearest neighbors (k), and then use each k consecutive + // entries to store the results of each query. + //---------------------------------------------------------------- + else if (!strcmp(directive,"run_queries")) { + + //------------------------------------------------------------ + // Input arguments and print summary + //------------------------------------------------------------ + enum {STANDARD, PRIORITY} method; + + cin >> arg; // input argument + if (!strcmp(arg, "standard")) { + method = STANDARD; + } + else if (!strcmp(arg, "priority")) { + method = PRIORITY; + } + else { + cerr << "Search type: " << arg << "\n"; + Error("Search type must be \"standard\" or \"priority\"", + ANNabort); + } + if (data_pts == NULL || query_pts == NULL) { + Error("Either data set and query set not constructed", ANNabort); + } + if (the_tree == NULL) { + Error("No search tree built.", ANNabort); + } + + //------------------------------------------------------------ + // Set up everything + //------------------------------------------------------------ + + #ifdef ANN_PERF // performance only + annResetStats(data_size); // reset statistics + #endif + + clock0 = clock(); // start time + // deallocate existing storage + if (apx_nn_idx != NULL) delete [] apx_nn_idx; + if (apx_dists != NULL) delete [] apx_dists; + if (apx_pts_in_range != NULL) delete [] apx_pts_in_range; + // allocate apx answer storage + apx_nn_idx = new ANNidx[near_neigh*query_size]; + apx_dists = new ANNdist[near_neigh*query_size]; + apx_pts_in_range = new int[query_size]; + + annMaxPtsVisit(max_pts_visit); // set max points to visit + + //------------------------------------------------------------ + // Run the queries + //------------------------------------------------------------ + // pointers for current query + ANNidxArray curr_nn_idx = apx_nn_idx; + ANNdistArray curr_dists = apx_dists; + + for (int i = 0; i < query_size; i++) { + #ifdef ANN_PERF + annResetCounts(); // reset counters + #endif + apx_pts_in_range[i] = 0; + + if (radius_bound == 0) { // no radius bound + if (method == STANDARD) { + the_tree->annkSearch( + query_pts[i], // query point + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + else if (method == PRIORITY) { + the_tree->annkPriSearch( + query_pts[i], // query point + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + else { + Error("Internal error - invalid method", ANNabort); + } + } + else { // use radius bound + if (method != STANDARD) { + Error("A nonzero radius bound assumes standard search", + ANNwarn); + } + apx_pts_in_range[i] = the_tree->annkFRSearch( + query_pts[i], // query point + ANN_POW(radius_bound), // squared radius search bound + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + curr_nn_idx += near_neigh; // increment current pointers + curr_dists += near_neigh; + + #ifdef ANN_PERF + annUpdateStats(); // update stats + #endif + } + + long query_time = clock() - clock0; // end of query time + + if (validate) { // validation requested + if (valid_dirty) getTrueNN(); // get true near neighbors + doValidation(); // validate + } + + //------------------------------------------------------------ + // Print summaries + //------------------------------------------------------------ + + if (stats > SILENT) { + cout << "[Run Queries:\n"; + cout << " query_size = " << query_size << "\n"; + cout << " dim = " << dim << "\n"; + cout << " search_method = " << arg << "\n"; + cout << " epsilon = " << epsilon << "\n"; + cout << " near_neigh = " << near_neigh << "\n"; + if (max_pts_visit != 0) + cout << " max_pts_visit = " << max_pts_visit << "\n"; + if (radius_bound != 0) + cout << " radius_bound = " << radius_bound << "\n"; + if (validate) + cout << " true_nn = " << true_nn << "\n"; + + if (stats >= EXEC_TIME) { // print exec time summary + cout << " query_time = " << + double(query_time)/(query_size*CLOCKS_PER_SEC) + << " sec/query"; + #ifdef ANN_PERF + cout << " (biased by perf measurements)"; + #endif + cout << "\n"; + } + + if (stats >= QUERY_STATS) { // output performance stats + #ifdef ANN_PERF + cout.flush(); + annPrintStats(validate); + #else + cout << " (Performance statistics unavailable.)\n"; + #endif + } + + if (stats >= QUERY_RES) { // output results + cout << " (Query Results:\n"; + cout << " Pt\tANN\tDist\n"; + curr_nn_idx = apx_nn_idx; // subarray pointers + curr_dists = apx_dists; + // output nearest neighbors + for (int i = 0; i < query_size; i++) { + cout << " " << setw(4) << i; + for (int j = 0; j < near_neigh; j++) { + // exit if no more neighbors + if (curr_nn_idx[j] == ANN_NULL_IDX) { + cout << "\t[no other pts in radius bound]\n"; + break; + } + else { // output point info + cout << "\t" << curr_nn_idx[j] + << "\t" << ANN_ROOT(curr_dists[j]) + << "\n"; + } + } + // output range count + if (radius_bound != 0) { + cout << " pts_in_radius_bound = " + << apx_pts_in_range[i] << "\n"; + } + // increment subarray pointers + curr_nn_idx += near_neigh; + curr_dists += near_neigh; + } + cout << " )\n"; + } + cout << "]\n"; + } + } + //---------------------------------------------------------------- + // Unknown directive + //---------------------------------------------------------------- + else { + cerr << "Directive: " << directive << "\n"; + Error("Unknown directive", ANNabort); + } + } + //-------------------------------------------------------------------- + // End of input loop (deallocate stuff that was allocated) + //-------------------------------------------------------------------- + if (the_tree != NULL) delete the_tree; + if (data_pts != NULL) annDeallocPts(data_pts); + if (query_pts != NULL) annDeallocPts(query_pts); + if (apx_nn_idx != NULL) delete [] apx_nn_idx; + if (apx_dists != NULL) delete [] apx_dists; + if (apx_pts_in_range != NULL) delete [] apx_pts_in_range; + + annClose(); // close ANN + + return EXIT_SUCCESS; +} + +//------------------------------------------------------------------------ +// generatePts - call appropriate routine to generate points of a +// given distribution. +//------------------------------------------------------------------------ + +void generatePts( + ANNpointArray &pa, // point array (returned) + int n, // number of points to generate + PtType type, // point type + ANNbool new_clust, // new cluster centers desired? + ANNpointArray src, // source array (if distr=PLANTED) + int n_src) // source size (if distr=PLANTED) +{ + if (pa != NULL) annDeallocPts(pa); // get rid of any old points + pa = annAllocPts(n, dim); // allocate point storage + + switch (distr) { + case UNIFORM: // uniform over cube [-1,1]^d. + annUniformPts(pa, n, dim); + break; + case GAUSS: // Gaussian with mean 0 + annGaussPts(pa, n, dim, std_dev); + break; + case LAPLACE: // Laplacian, mean 0 and var 1 + annLaplacePts(pa, n, dim); + break; + case CO_GAUSS: // correlated Gaussian + annCoGaussPts(pa, n, dim, corr_coef); + break; + case CO_LAPLACE: // correlated Laplacian + annCoLaplacePts(pa, n, dim, corr_coef); + break; + case CLUS_GAUSS: // clustered Gaussian + annClusGaussPts(pa, n, dim, n_color, new_clust, std_dev); + break; + case CLUS_ORTH_FLATS: // clustered on orthog flats + annClusOrthFlats(pa, n, dim, n_color, new_clust, std_dev, max_dim); + break; + case CLUS_ELLIPSOIDS: // clustered ellipsoids + annClusEllipsoids(pa, n, dim, n_color, new_clust, std_dev, + std_dev_lo, std_dev_hi, max_dim); + break; + case PLANTED: // planted distribution + annPlanted(pa, n, dim, src, n_src, std_dev); + break; + default: + Error("INTERNAL ERROR: Unknown distribution", ANNabort); + break; + } + + if (stats > SILENT) { + if(type == DATA) cout << "[Generating Data Points:\n"; + else cout << "[Generating Query Points:\n"; + cout << " number = " << n << "\n"; + cout << " dim = " << dim << "\n"; + cout << " distribution = " << distr_table[distr] << "\n"; + if (annIdum < 0) + cout << " seed = " << annIdum << "\n"; + if (distr == GAUSS || distr == CLUS_GAUSS + || distr == CLUS_ORTH_FLATS) + cout << " std_dev = " << std_dev << "\n"; + if (distr == CLUS_ELLIPSOIDS) { + cout << " std_dev = " << std_dev << " (small) \n"; + cout << " std_dev_lo = " << std_dev_lo << "\n"; + cout << " std_dev_hi = " << std_dev_hi << "\n"; + } + if (distr == CO_GAUSS || distr == CO_LAPLACE) + cout << " corr_coef = " << corr_coef << "\n"; + if (distr == CLUS_GAUSS || distr == CLUS_ORTH_FLATS + || distr == CLUS_ELLIPSOIDS) { + cout << " colors = " << n_color << "\n"; + if (new_clust) + cout << " (cluster centers regenerated)\n"; + } + if (distr == CLUS_ORTH_FLATS || distr == CLUS_ELLIPSOIDS) { + cout << " max_dim = " << max_dim << "\n"; + } + } + // want to see points? + if ((type == DATA && stats >= SHOW_PTS) || + (type == QUERY && stats >= QUERY_RES)) { + if(type == DATA) cout << "(Data Points:\n"; + else cout << "(Query Points:\n"; + for (int i = 0; i < n; i++) { + cout << " " << setw(4) << i << "\t"; + printPoint(pa[i], dim); + cout << "\n"; + } + cout << " )\n"; + } + cout << "]\n"; +} + +//------------------------------------------------------------------------ +// readPts - read a collection of data or query points. +//------------------------------------------------------------------------ + +void readPts( + ANNpointArray &pa, // point array (returned) + int &n, // number of points + char *file_nm, // file name + PtType type) // point type (DATA, QUERY) +{ + int i; + //-------------------------------------------------------------------- + // Open input file and read points + //-------------------------------------------------------------------- + ifstream in_file(file_nm); // try to open data file + if (!in_file) { + cerr << "File name: " << file_nm << "\n"; + Error("Cannot open input data/query file", ANNabort); + } + // allocate storage for points + if (pa != NULL) annDeallocPts(pa); // get rid of old points + pa = annAllocPts(n, dim); + + for (i = 0; i < n; i++) { // read the data + if (!(in_file >> pa[i][0])) break; + for (int d = 1; d < dim; d++) { + in_file >> pa[i][d]; + } + } + + char ignore_me; // character for EOF test + in_file >> ignore_me; // try to get one more character + if (!in_file.eof()) { // exhausted space before eof + if (type == DATA) + Error("`data_size' too small. Input file truncated.", ANNwarn); + else + Error("`query_size' too small. Input file truncated.", ANNwarn); + } + n = i; // number of points read + + //-------------------------------------------------------------------- + // Print summary + //-------------------------------------------------------------------- + if (stats > SILENT) { + if (type == DATA) { + cout << "[Read Data Points:\n"; + cout << " data_size = " << n << "\n"; + } + else { + cout << "[Read Query Points:\n"; + cout << " query_size = " << n << "\n"; + } + cout << " file_name = " << file_nm << "\n"; + cout << " dim = " << dim << "\n"; + // print if results requested + if ((type == DATA && stats >= SHOW_PTS) || + (type == QUERY && stats >= QUERY_RES)) { + cout << " (Points:\n"; + for (i = 0; i < n; i++) { + cout << " " << i << "\t"; + printPoint(pa[i], dim); + cout << "\n"; + } + cout << " )\n"; + } + cout << "]\n"; + } +} + +//------------------------------------------------------------------------ +// getTrueNN +// Computes the true nearest neighbors. For purposes of validation, +// this intentionally done in a rather dumb (but safe way), by +// invoking the brute-force search. +// +// The number of true nearest neighbors is somewhat larger than +// the number of nearest neighbors. This is so that the validation +// can determine the expected difference in element ranks. +// +// This procedure is invoked just prior to running queries. Since +// the operation takes a long time, it is performed only if needed. +// In particular, once generated, it will be regenerated only if +// new query or data points are generated, or if the requested number +// of true near neighbors or approximate near neighbors has changed. +// +// To validate fixed-radius searching, we compute two counts, one +// with the original query radius (trueSqRadius) and the other with +// a radius shrunken by the error factor (minSqradius). We then +// check that the count of points inside the approximate range is +// between these two bounds. Because fixed-radius search is +// allowed to ignore points within the shrunken radius, we only +// compute exact neighbors within this smaller distance (for we +// cannot guarantee that we will even visit the other points). +//------------------------------------------------------------------------ + +void getTrueNN() // compute true nearest neighbors +{ + if (stats > SILENT) { + cout << "(Computing true nearest neighbors for validation. This may take time.)\n"; + } + // deallocate existing storage + if (true_nn_idx != NULL) delete [] true_nn_idx; + if (true_dists != NULL) delete [] true_dists; + if (min_pts_in_range != NULL) delete [] min_pts_in_range; + if (max_pts_in_range != NULL) delete [] max_pts_in_range; + + if (true_nn > data_size) { // can't get more nn than points + true_nn = data_size; + } + + // allocate true answer storage + true_nn_idx = new ANNidx[true_nn*query_size]; + true_dists = new ANNdist[true_nn*query_size]; + min_pts_in_range = new int[query_size]; + max_pts_in_range = new int[query_size]; + + ANNidxArray curr_nn_idx = true_nn_idx; // current locations in arrays + ANNdistArray curr_dists = true_dists; + + // allocate search structure + ANNbruteForce *the_brute = new ANNbruteForce(data_pts, data_size, dim); + // compute nearest neighbors + for (int i = 0; i < query_size; i++) { + if (radius_bound == 0) { // standard kNN search + the_brute->annkSearch( // compute true near neighbors + query_pts[i], // query point + true_nn, // number of nearest neighbors + curr_nn_idx, // where to put indices + curr_dists); // where to put distances + } + else { // fixed radius kNN search + // search radii limits + ANNdist trueSqRadius = ANN_POW(radius_bound); + ANNdist minSqRadius = ANN_POW(radius_bound / (1+epsilon)); + min_pts_in_range[i] = the_brute->annkFRSearch( + query_pts[i], // query point + minSqRadius, // shrunken search radius + true_nn, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists); // distance (returned) + max_pts_in_range[i] = the_brute->annkFRSearch( + query_pts[i], // query point + trueSqRadius, // true search radius + 0, NULL, NULL); // (ignore kNN info) + } + curr_nn_idx += true_nn; // increment nn index pointer + curr_dists += true_nn; // increment nn dist pointer + } + delete the_brute; // delete brute-force struct + valid_dirty = ANNfalse; // validation good for now +} + +//------------------------------------------------------------------------ +// doValidation +// Compares the approximate answers to the k-nearest neighbors +// against the true nearest neighbors (computed earlier). It is +// assumed that the true nearest neighbors and indices have been +// computed earlier. +// +// First, we check that all the results are within their allowed +// limits, and generate an internal error, if not. For the sake of +// performance evaluation, we also compute the following two +// quantities for nearest neighbors: +// +// Average Error +// ------------- +// The relative error between the distance to a reported nearest +// neighbor and the true nearest neighbor (of the same rank), +// +// Rank Error +// ---------- +// The difference in rank between the reported nearest neighbor and +// its position (if any) among the true nearest neighbors. If we +// cannot find this point among the true nearest neighbors, then +// it assumed that the rank of the true nearest neighbor is true_nn+1. +// +// Because of the possibility of duplicate distances, this is computed +// as follows. For the j-th reported nearest neighbor, we count the +// number of true nearest neighbors that are at least this close. Let +// this be rnk. Then the rank error is max(0, j-rnk). (In the code +// below, j is an array index and so the first item is 0, not 1. Thus +// we take max(0, j+1-rnk) instead.) +// +// For the results of fixed-radious range count, we verify that the +// reported number of points in the range lies between the actual +// number of points in the shrunken and the true search radius. +//------------------------------------------------------------------------ + +void doValidation() // perform validation +{ + int* curr_apx_idx = apx_nn_idx; // approx index pointer + ANNdistArray curr_apx_dst = apx_dists; // approx distance pointer + int* curr_tru_idx = true_nn_idx; // true index pointer + ANNdistArray curr_tru_dst = true_dists; // true distance pointer + int i, j; + + if (true_nn < near_neigh) { + Error("Cannot validate with fewer true near neighbors than actual", ANNabort); + } + + for (i = 0; i < query_size; i++) { // validate each query + //---------------------------------------------------------------- + // Compute result errors + // In fixed radius search it is possible that not all k + // nearest neighbors were computed. Because the true + // results are computed over the shrunken radius, we should + // have at least as many true nearest neighbors as + // approximate nearest neighbors. (If not, an infinite + // error will be generated, and so an internal error will + // will be generated. + // + // Because nearest neighbors are sorted in increasing order + // of distance, as soon as we see a null index, we can + // terminate the distance checking. The error in the + // result should not exceed epsilon. However, if + // max_pts_visit is nonzero (meaning that the search is + // terminated early) this might happen. + //---------------------------------------------------------------- + for (j = 0; j < near_neigh; j++) { + if (curr_tru_idx[j] == ANN_NULL_IDX)// no more true neighbors? + break; + // true i-th smallest distance + double true_dist = ANN_ROOT(curr_tru_dst[j]); + // reported i-th smallest + double rept_dist = ANN_ROOT(curr_apx_dst[j]); + // better than optimum? + if (rept_dist < true_dist*(1-ERR)) { + Error("INTERNAL ERROR: True nearest neighbor incorrect", + ANNabort); + } + + double resultErr; // result error + if (true_dist == 0.0) { // let's not divide by zero + if (rept_dist != 0.0) resultErr = ANN_DBL_MAX; + else resultErr = 0.0; + } + else { + resultErr = (rept_dist - true_dist) / ((double) true_dist); + } + + if (resultErr > epsilon && max_pts_visit == 0) { + Error("INTERNAL ERROR: Actual error exceeds epsilon", + ANNabort); + } + #ifdef ANN_PERF + ann_average_err += resultErr; // update statistics error + #endif + } + //-------------------------------------------------------------------- + // Compute rank errors (only needed for perf measurements) + //-------------------------------------------------------------------- + #ifdef ANN_PERF + for (j = 0; j < near_neigh; j++) { + if (curr_tru_idx[i] == ANN_NULL_IDX) // no more true neighbors? + break; + + double rnkErr = 0.0; // rank error + // reported j-th distance + ANNdist rept_dist = curr_apx_dst[j]; + int rnk = 0; // compute rank of this item + while (rnk < true_nn && curr_tru_dst[rnk] <= rept_dist) + rnk++; + if (j+1-rnk > 0) rnkErr = (double) (j+1-rnk); + ann_rank_err += rnkErr; // update average rank error + } + #endif + //---------------------------------------------------------------- + // Check range counts from fixed-radius query + //---------------------------------------------------------------- + if (radius_bound != 0) { // fixed-radius search + if (apx_pts_in_range[i] < min_pts_in_range[i] || + apx_pts_in_range[i] > max_pts_in_range[i]) + Error("INTERNAL ERROR: Invalid fixed-radius range count", + ANNabort); + } + + curr_apx_idx += near_neigh; + curr_apx_dst += near_neigh; + curr_tru_idx += true_nn; // increment current pointers + curr_tru_dst += true_nn; + } +} + +//---------------------------------------------------------------------- +// treeStats +// Computes a number of statistics related to kd_trees and +// bd_trees. These statistics are printed if in verbose mode, +// and otherwise they are only printed if they are deemed to +// be outside of reasonable operating bounds. +//---------------------------------------------------------------------- + +#define log2(x) (log(x)/log(2.0)) // log base 2 + +void treeStats( + ostream &out, // output stream + ANNbool verbose) // print stats +{ + const int MIN_PTS = 20; // min no. pts for checking + const float MAX_FRAC_TL = 0.50; // max frac of triv leaves + const float MAX_AVG_AR = 20; // max average aspect ratio + + ANNkdStats st; // statistics structure + + the_tree->getStats(st); // get statistics + // total number of nodes + int n_nodes = st.n_lf + st.n_spl + st.n_shr; + // should be O(n/bs) + int opt_n_nodes = (int) (2*(float(st.n_pts)/st.bkt_size)); + int too_many_nodes = 10*opt_n_nodes; + if (st.n_pts >= MIN_PTS && n_nodes > too_many_nodes) { + out << "-----------------------------------------------------------\n"; + out << "Warning: The tree has more than 10x as many nodes as points.\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // fraction of trivial leaves + float frac_tl = (st.n_lf == 0 ? 0 : ((float) st.n_tl)/ st.n_lf); + if (st.n_pts >= MIN_PTS && frac_tl > MAX_FRAC_TL) { + out << "-----------------------------------------------------------\n"; + out << "Warning: A significant fraction of leaves contain no points.\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // depth should be O(dim*log n) + int too_many_levels = (int) (2.0 * st.dim * log2((double) st.n_pts)); + int opt_levels = (int) log2(double(st.n_pts)/st.bkt_size); + if (st.n_pts >= MIN_PTS && st.depth > too_many_levels) { + out << "-----------------------------------------------------------\n"; + out << "Warning: The tree is more than 2x as deep as (dim*log n).\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // average leaf aspect ratio + if (st.n_pts >= MIN_PTS && st.avg_ar > MAX_AVG_AR) { + out << "-----------------------------------------------------------\n"; + out << "Warning: Average aspect ratio of cells is quite large.\n"; + out << "This may slow queries depending on the point distribution.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + + //------------------------------------------------------------------ + // Print summaries if requested + //------------------------------------------------------------------ + if (verbose) { // output statistics + out << " (Structure Statistics:\n"; + out << " n_nodes = " << n_nodes + << " (opt = " << opt_n_nodes + << ", best if < " << too_many_nodes << ")\n" + << " n_leaves = " << st.n_lf + << " (" << st.n_tl << " contain no points)\n" + << " n_splits = " << st.n_spl << "\n" + << " n_shrinks = " << st.n_shr << "\n"; + out << " empty_leaves = " << frac_tl*100 + << " percent (best if < " << MAX_FRAC_TL*100 << " percent)\n"; + out << " depth = " << st.depth + << " (opt = " << opt_levels + << ", best if < " << too_many_levels << ")\n"; + out << " avg_aspect_ratio = " << st.avg_ar + << " (best if < " << MAX_AVG_AR << ")\n"; + out << " )\n"; + } +} diff --git a/.svn/pristine/91/912621d20d427729c794c455bbf593ed630fb63f.svn-base b/.svn/pristine/91/912621d20d427729c794c455bbf593ed630fb63f.svn-base new file mode 100644 index 0000000..e70e8af Binary files /dev/null and b/.svn/pristine/91/912621d20d427729c794c455bbf593ed630fb63f.svn-base differ diff --git a/.svn/pristine/91/91738bf1e674748fd5a8a177c2c17d60fa7c4ae3.svn-base b/.svn/pristine/91/91738bf1e674748fd5a8a177c2c17d60fa7c4ae3.svn-base new file mode 100644 index 0000000..5057926 --- /dev/null +++ b/.svn/pristine/91/91738bf1e674748fd5a8a177c2c17d60fa7c4ae3.svn-base @@ -0,0 +1,929 @@ +/** + * @file + * @brief Representation of an octree for show + * @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef SHOWBOCTREE_H +#define SHOWBOCTREE_H + +#include "slam6d/Boctree.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" +#include "show/viewcull.h" +#include "show/colordisplay.h" +#include "slam6d/scan.h" + + + +/** + * @brief Octree for show + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + * + * It contains software culling functionalities + */ +template +class Show_BOctTree : public colordisplay +{ +protected: + BOctTree* m_tree; + + unsigned long maxtargetpoints; + + unsigned int current_lod_mode; + + //! A copy of pointdim of the tree initialized from + unsigned int POINTDIM; + + DataOcttree* m_cache_access; + Scan* m_scan; + + void init(ScanColorManager* scm) { + setColorManager(0); + if (scm) { + scm->registerTree(this); + scm->updateRanges(m_tree->getMins()); + scm->updateRanges(m_tree->getMaxs()); + } + POINTDIM = m_tree->getPointdim(); + maxtargetpoints = maxTargetPoints(m_tree->getRoot()); + current_lod_mode = 0; + m_cache_access = 0; + m_scan = 0; + } + +public: + //! Create with tree held in cache, lock indefinitely + Show_BOctTree(Scan* scan, DataOcttree* cache_access, ScanColorManager* scm = 0) + { + m_tree = &cache_access->get(); + init(scm); + // save cache access and hold it until an unlock + m_cache_access = cache_access; + m_scan = scan; + } + + //! Retrieve a cache access object and update the tree pointer + void lockCachedTree() { + if(m_scan != 0 && m_cache_access == 0) { + m_cache_access = new DataOcttree(m_scan->get("octtree")); + m_tree = &(m_cache_access->get()); + } + } + + //! Remove the data access + void unlockCachedTree() { + if(m_scan != 0 && m_cache_access != 0) { + delete m_cache_access; m_cache_access = 0; + //m_tree = 0; + } + } + + //! Create with already constructed tree and take ownership + Show_BOctTree(BOctTree* tree, ScanColorManager* scm = 0) : + m_tree(tree) + { + init(scm); + } + + //! Create tree by points + template + Show_BOctTree(P * const* pts, int n, T voxelSize, PointType pointtype = PointType(), ScanColorManager *scm = 0) + { + m_tree = new BOctTree(pts, n, voxelSize, pointtype, true); + init(scm); + } + + //! Create tree by deserializing from file + Show_BOctTree(std::string filename, ScanColorManager *scm = 0) + { + m_tree = new BOctTree(filename); + init(scm); + } + + virtual ~Show_BOctTree() { + // only delete cache access if created via this method + if(m_cache_access) { + delete m_cache_access; + } + // if not constructed by a cache-located tree, delete the owned tree + if(!m_scan) + delete m_tree; + } + + BOctTree* getTree() const { return m_tree; } + + void serialize(const std::string& filename) const { m_tree->serialize(filename); } + + unsigned int getMemorySize() const { return m_tree->getMemorySize(); } + + // virtual functions from colordisplay + + void selectRayBrushSize(set &points, int brushsize) { + selectRayBS(points, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), brushsize); + } + + void selectRay(set &points, int depth = INT_MAX) { + selectRay(points, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), depth); + } + + void selectRay(T * &point) { + selectRay(point, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), FLT_MAX); + } + + void cycleLOD() { + current_lod_mode = (current_lod_mode+1)%3; + } + + void drawLOD(float ratio) { + switch (current_lod_mode) { + case 0: + glBegin(GL_POINTS); + displayOctTreeCulledLOD(maxtargetpoints * ratio, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + break; + case 1: + glBegin(GL_POINTS); + displayOctTreeCulledLOD2(ratio, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + break; + case 2: +#ifdef WITH_GLEE + if (GLEE_ARB_point_parameters) { + glPointParameterfARB(GL_POINT_SIZE_MIN_ARB, 1.0); + glPointParameterfARB(GL_POINT_SIZE_MAX_ARB, 100000.0); + GLfloat p[3] = {0.0, 0.0000, 0.0000005}; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + displayOctTreeCPAllCulled(m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), + m_tree->getSize() / pow(2, min( (int)(ratio * m_tree->getMaxDepth()), (int)(m_tree->getMaxDepth() - 3)))); + p[0] = 1.0; + p[2] = 0.0; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + } +#endif + break; + default: + break; + } + } + + void draw() { + glBegin(GL_POINTS); + displayOctTreeAllCulled(m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + } + + // reroute center call (for recast from colordisplay to show_bocttree) + void getCenter(double _center[3]) const { + m_tree->getCenter(_center); + } + +protected: + + //! ? + unsigned long maxTargetPoints(const bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + unsigned long max = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned long length = points[0].length; + if (length > max) max = length; + } else { // recurse + unsigned long tp = maxTargetPoints(children->node); + if (tp > max) max = tp; + } + ++children; // next child + } + } + + return max*POPCOUNT(node.valid); + } + + void displayOctTreeAll(const bitoct &node) { +// T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // recurse + displayOctTreeAll( children->node); + } + ++children; // next child + } + } + } + + void displayOctTreeAllCulled(const bitoct &node, const T* center, T size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + // if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + //} + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeLOD2(float ratio, const bitoct &node, const T* center, T size ) { + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 1) { + if ((int)length > l ) { + T each = (T)POINTDIM * (T)((T)length/(T)l); + T *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } /* else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + }*/ + } else { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD2(float ratio, const bitoct &node, const T* center, T size ) { + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD2(ratio, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l != 0) { + if ((int)length > l ) { + T each = (T)POINTDIM * (T)((T)length/(T)l); + T *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } + } + } + } else { // recurse + //int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + //l = max((int)(l*l*ratio), 0); + //if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + //} + } + ++children; // next child + } + } + } + + void displayOctTreeLOD3(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + + if ( l <= targetpts) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } + } else { // recurse + displayOctTreeLOD3(targetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD3(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD3(targetpts, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + //l = std::min( max((int)(l*l*ratio), 1), targetpts); + + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + if (targetpts <= 0 ) cout << l << " " << targetpts << endl; + if ( l <= targetpts) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } + } + + } else { // recurse + displayOctTreeCulledLOD3(targetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD(targetpts, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + T each = (T)POINTDIM * (T)((T)length/(T)newtargetpts); + T *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + //point += each; + } + } + } + + } else { // recurse + displayOctTreeCulledLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeLOD(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + T each = (T)POINTDIM * (T)((T)length/(T)newtargetpts); + T *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + //point += each; + } + } + } else { // recurse + displayOctTreeLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + void selectRay(set &selpoints, const bitoct &node, const T* center, T size, int max_depth, int depth = 0) { + if (depth < max_depth && !HitBoundingBox(center, size ))return; + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( !(depth+1 < max_depth) || HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + selpoints.insert(point); + point+=POINTDIM; + } + } + } else { // recurse + selectRay( selpoints, children->node, ccenter, size/2.0, max_depth, depth+1); + } + ++children; // next child + } + } + } + + void selectRayBS(set &selpoints, const bitoct &node, const T* center, T size, int brushsize) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if (ScreenDist(point) < brushsize && RayDist(point) > 100.0) + selpoints.insert(point); + point+=POINTDIM; + } + } + } else { // recurse + selectRayBS( selpoints, children->node, ccenter, size/2.0, brushsize); + } + ++children; // next child + } + } + } + + void selectRay(T * &selpoint, const bitoct &node, const T* center, T size, float min) { + if (!HitBoundingBox(center, size ))return; + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + T dist = RayDist(point); + if (min > dist && ScreenDist(point) < 5 && dist > 100.0) { + selpoint = point; + min = dist; + } + point+=POINTDIM; + } + } + } else { // recurse + selectRay( selpoint, children->node, ccenter, size/2.0, min); + } + ++children; // next child + } + } + } + + void displayOctTreeCAllCulled(const bitoct &node, const T* center, T size, T minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCAll(node, center, size, minsize); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + showCube(ccenter, size/2.0); + } + } else { // recurse + displayOctTreeCAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void displayOctTreeCAll(const bitoct &node, const T* center, T size, T minsize ) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + showCube(ccenter, size/2.0); + } else { // recurse + displayOctTreeCAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + + void displayOctTreeCPAllCulled(const bitoct &node, const T* center, T size, T minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCPAll(node, center, size, minsize); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( minsize > size ) { + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + if(cm) { + if (( 1 << i ) & node.leaf ) + cm->setColor( &(children->getPoints()[1]) ); + else + cm->setColor( m_tree->pickPoint(children->node) ); + } + + glPointSize(size/2.0); + glBegin(GL_POINTS); + glVertex3f( ccenter[0], ccenter[1], ccenter[2] ); + glEnd(); + } + }else if ( ( 1 << i ) & node.leaf ) { + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + glPointSize(1.0); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + glEnd(); + } + } else { // recurse + displayOctTreeCPAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void displayOctTreeCPAll(const bitoct &node, const T* center, T size, T minsize ) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + if(cm) { + if (( 1 << i ) & node.leaf ) + cm->setColor( &(children->getPoints()[1]) ); + else + cm->setColor( m_tree->pickPoint(children->node) ); + } + + glPointSize(size/2.0); + glBegin(GL_POINTS); + glVertex3f( ccenter[0], ccenter[1], ccenter[2] ); + glEnd(); + } + }else if ( ( 1 << i ) & node.leaf ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + glPointSize(1.0); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + glEnd(); + } else { // recurse + displayOctTreeCPAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void showCube(const T* center, T size) { + glLineWidth(1.0); + glBegin(GL_QUADS); // draw a cube with 6 quads + glColor3f(0.0f,1.0f,0.0f); // Set The Color To Green + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange + + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + + glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + + glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + + glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glEnd(); + } + + + void displayOctTreeAllCulled(const bitoct &node, const T* center, T size, float *frustum[6], unsigned char frustsize ) { + float *new_frustum[6]; unsigned char counter = 0; + for (unsigned char p = 0; p < frustsize; p++ ) { + char res = PlaneAABB(center[0], center[1], center[2], size, frustum[p]); + if (res == 0) { // cube is on the wrong side of the plane (not visible) + return; + } else if ( res == 1 ) { // plane intersects this volume continue culling with this plane + new_frustum[counter++] = frustum[p]; + } // other case is simply not to continue culling with the respective plane + } + if (counter == 0) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0, new_frustum, counter); + } + ++children; // next child + } + } + } + + unsigned long int countVisiblePoints(const bitoct &node, const T* center, T size ) { + unsigned long int result = 0; + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return 0; // culled do not continue with this branch of the tree + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + result += length; + } + } else { // recurse + result += countVisiblePoints( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + return result; + } +}; + +#endif diff --git a/.svn/pristine/91/918c474185616fe51687a5df7fe5c5306bf064b5.svn-base b/.svn/pristine/91/918c474185616fe51687a5df7fe5c5306bf064b5.svn-base new file mode 100644 index 0000000..98b5a4b --- /dev/null +++ b/.svn/pristine/91/918c474185616fe51687a5df7fe5c5306bf064b5.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_RGB_H__ +#define __SCAN_IO_RIEGL_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/91/91cf2c33abb632b1d9f87b6386a2a92a4ff9750b.svn-base b/.svn/pristine/91/91cf2c33abb632b1d9f87b6386a2a92a4ff9750b.svn-base new file mode 100644 index 0000000..59ef4aa --- /dev/null +++ b/.svn/pristine/91/91cf2c33abb632b1d9f87b6386a2a92a4ff9750b.svn-base @@ -0,0 +1,535 @@ +/* + * caliboard implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/hough.h" + +#include "shapes/shape.h" +#include "shapes/ransac.h" +#include "slam6d/icp6D.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" + +#ifdef WITH_SCANSERVER +#include "scanserver/clientInterface.h" +#endif + + + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << bold << " -b" << normal << " NR, " << bold << "--bottom=" << normal << "NR" << endl + << " trim the scan with lower boundary NR" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " NR, " << bold << "--pattern=" << normal << "NR" << endl + << " use pattern NR for plane detection" << endl + << " 0: lightbulb pattern" << endl + << " 1: chess pattern on cardboard" << endl + << " 2: chess pattern on wooden board" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--top=" << normal << "NR" << endl + << " trim the scan with upper boundary NR" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +bool matchPlaneToBoard(vector &points, double *alignxf, int pattern, string output) { + double rPos[3] = {0.0,0.0,0.0}; + double rPosTheta[3] = {0.0,0.0,0.0}; + + vector boardpoints; + double halfwidth; + double halfheight; + double w_step = 0.5; + double h_step = 0.5; + + switch(pattern) { + case 0: + halfheight = 28.5; + halfwidth = 25.0; + break; + case 1: + halfwidth = 18.3; + halfheight = 18.5; + w_step = 0.6; + break; + case 2: + case 3: + halfwidth = 19.0; + halfheight = 38.0; + break; + } + + for(double i = -halfwidth; i <= halfwidth; i+=w_step) { + for(double j = -halfheight; j <= halfheight; j+=h_step) { + double * p = new double[3]; + p[0] = i; + p[1] = j; + p[2] = 0.0; + //cout << p[0] << " " << p[1] << " " << p[2] << endl; + boardpoints.push_back(p); + } + } + + int nr_points = boardpoints.size(); + int nr_points2 = points.size(); + Scan * plane = new Scan(rPos, rPosTheta, points); + Scan * board = new Scan(rPos, rPosTheta, boardpoints); + board->transform(alignxf, Scan::INVALID, 0); + + bool quiet = true; + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(quiet); + + icp6D *my_icp = 0; + double mdm = 50; + int mni = 50; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false); + + plane->createTree(false,false); + board->createTree(false,false); + + my_icp->match(plane, board); + + delete my_icp; + mdm = 2; + mni = 300; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false); + my_icp->match(plane, board); + + + double sum; + double centroid_s[3] = {0.0, 0.0, 0.0}; + double centroid_t[3] = {0.0, 0.0, 0.0}; + vector pairs_out; + Scan::getPtPairs(&pairs_out, plane, board, 1, 0, 2.0, sum, centroid_s, centroid_t); + int nr_matches = pairs_out.size(); + + cout << "Result " << nr_matches << " " << nr_points << " " << nr_points2 << endl; + const double * pos = board->get_rPos(); + const double * postheta = board->get_rPosTheta(); + const double * transMat = board->get_transMat(); + for(int i = 0; i < 16; i++) { + cout << transMat[i] << " "; + } + + cout << endl << endl; + + for(int i = 0; i < 3; i++) { + cout << pos[i] << " "; + } + cout << endl; + for(int i = 0; i < 3; i++) { + cout << deg(postheta[i]) << " "; + } + cout << endl; + vector * result = new vector(); + cout << "Calipoints Start" << endl; + + ofstream caliout(output.c_str()); + + if(nr_matches < nr_points) { + caliout << "failed" << endl; + } else { + caliout << "Calibration" << endl; + } + + switch(pattern) { + // lightbulb + case 0: + for(double y = -25; y < 30; y+=10.0) { + //for(double x = -20; x < 25; x+=10.0) { + for(double x = 20; x > -25; x-=10.0) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + // chessboard on wooden board pattern top + case 2: + for(double x = -7.8; x < 10; x+=5.2) { + for(double y = 4.1; y < 33.0; y+=5.2) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + case 3: + for(double y = -4.1; y > -33.0; y-=5.2) { + //for(double y = -30.1; y < -0.0; y+=5.2) { + // for(double x = 7.8; x > -10; x-=5.2) { + for(double x = -8.1; x < 10; x+=5.2) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + // chessboard on cardboard + case 1: + for(double x = -12; x < 16; x+=4.0) { + for(double y = -12; y < 16; y+=4.0) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + } + caliout.close(); + caliout.clear(); + + cout << "Calipoints End" << endl; + return !(nr_matches < nr_points); +} + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int &end, int &pattern, int &maxDist, int &minDist, double &top, double &bottom, int &octree, IOType &type, bool +&quiet) { + + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "pattern", required_argument, 0, 'p' }, + { "quiet", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { "end", required_argument, 0, 'e' }, + { "top", required_argument, 0, 't' }, + { "bottom", required_argument, 0, 'b' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:O:qp:e:t:b:", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'p': + pattern = atoi(optarg); + if(pattern < 0 || pattern > 3) { cerr << "Error: choose pattern between 0 and 3!\n"; exit(1); } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 't': + top = atof(optarg); + break; + case 'b': + bottom = atof(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +/** + * Main function. The Hough Transform is called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int end = -1; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + int pattern = 0; + double bottom = -5; + double top = 170; + IOType type = UOS; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, end, pattern, maxDist, minDist, top, bottom, octree, type, quiet); + Scan::dir = dir; + int fileNr = start; + string calidir = dir + "/cali"; + +#ifdef WITH_SCANSERVER + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } +#endif //WITH_SCANSERVER + +#ifdef _MSC_VER + int success = mkdir(calidir.c_str()); +#else + int success = mkdir(calidir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing calibration results to " << calidir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << calidir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << calidir << " failed" << endl; + exit(1); + } + + cout << start << " " << end << endl; + int successes = 0; + int failures = 0; + + long calitime = GetCurrentTimeInMilliSec(); +#ifndef WITH_SCANSERVER + while (fileNr <= end) { + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + + string output = calidir + "/scan" + to_string(fileNr,3) + ".3d"; + cout << "Top: " << top << " Bottom: " << bottom << endl; + Scan::allScans[0]->trim(top, bottom); + + Scan::allScans[0]->toGlobal(red, octree); + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + Scan::allScans[0]->transform(id, Scan::ICP, 0); // write end pose + } +#else //WITH_SCANSERVER + Scan::readScansRedSearch(type, start, end, dir, filter, red, octree); + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + string output = calidir + "/scan" + scan->getIdentifier() + ".3d"; + cout << "Top: " << top << " Bottom: " << bottom << endl; + // set trimming, don't want to put it into readScansRedSearch too + scan->trim(top, bottom); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + scan->transform(id, Scan::ICP, 0); // write end pose + } +#endif //WITH_SCANSERVER + cout << "start plane detection" << endl; + long starttime = GetCurrentTimeInMilliSec(); + vector points; + CollisionPlane * plane; + plane = new LightBulbPlane(50,120); +#ifndef WITH_SCANSERVER + Ransac(*plane, Scan::allScans[0], &points); +#else //WITH_SCANSERVER + Ransac(*plane, scan, &points); +#endif //WITH_SCANSERVER + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "nr points " << points.size() << endl; + double nx,ny,nz,d; + plane->getPlane(nx,ny,nz,d); + cout << "DONE " << endl; + + cout << nx << " " << ny << " " << nz << " " << d << endl; + double rPos[3]; + double rPosTheta[3]; + for(int i = 0; i < 3; i++) { + rPosTheta[i] = 0.0; + } + ((LightBulbPlane *)plane)->getCenter(rPos[0], rPos[1], rPos[2]); + double alignxf[16]; + EulerToMatrix4(rPos, rPosTheta, alignxf); + if(matchPlaneToBoard(points, alignxf, pattern, output)) { + successes++; + } else { + failures++; + } + for(int i = points.size() - 1; i > -1; i++) { + delete[] points[i]; + } + + delete plane; + + cout << "Time for Plane Detection " << starttime << endl; +#ifndef WITH_SCANSERVER + delete Scan::allScans[0]; + Scan::allScans.clear(); + fileNr++; +#endif //WITH_SCANSERVER + } + calitime = (GetCurrentTimeInMilliSec() - calitime); + + cout << "Calibration done with " << successes << " successes and " << failures + << " failures!" << endl; + cout << "Time for Calibration " << calitime << endl; + +#ifdef WITH_SCANSERVER + Scan::clearScans(); + ClientInterface::destroy(); +#endif //WITH_SCANSERVER +} + diff --git a/.svn/pristine/92/924341fc291e5d9a2af652b09867cc5a7efba6b7.svn-base b/.svn/pristine/92/924341fc291e5d9a2af652b09867cc5a7efba6b7.svn-base new file mode 100644 index 0000000..ae230c1 --- /dev/null +++ b/.svn/pristine/92/924341fc291e5d9a2af652b09867cc5a7efba6b7.svn-base @@ -0,0 +1,3091 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include "veloslam/svm.h" +int libsvm_version = LIBSVM_VERSION; +typedef float Qfloat; +typedef signed char schar; +#ifndef min +template static inline T min(T x,T y) { return (x static inline T max(T x,T y) { return (x>y)?x:y; } +#endif +template static inline void swap(T& x, T& y) { T t=x; x=y; y=t; } +template static inline void clone(T*& dst, S* src, int n) +{ + dst = new T[n]; + memcpy((void *)dst,(void *)src,sizeof(T)*n); +} +static inline double powi(double base, int times) +{ + double tmp = base, ret = 1.0; + + for(int t=times; t>0; t/=2) + { + if(t%2==1) ret*=tmp; + tmp = tmp * tmp; + } + return ret; +} +#define INF HUGE_VAL +#define TAU 1e-12 +#define Malloc(type,n) (type *)malloc((n)*sizeof(type)) + +static void print_string_stdout(const char *s) +{ + fputs(s,stdout); + fflush(stdout); +} +static void (*svm_print_string) (const char *) = &print_string_stdout; +#if 1 +static void info(const char *fmt,...) +{ + char buf[BUFSIZ]; + va_list ap; + va_start(ap,fmt); + vsprintf(buf,fmt,ap); + va_end(ap); + (*svm_print_string)(buf); +} +#else +static void info(const char *fmt,...) {} +#endif + +// +// Kernel Cache +// +// l is the number of total data items +// size is the cache size limit in bytes +// +class Cache +{ +public: + Cache(int l,long int size); + ~Cache(); + + // request data [0,len) + // return some position p where [p,len) need to be filled + // (p >= len if nothing needs to be filled) + int get_data(const int index, Qfloat **data, int len); + void swap_index(int i, int j); +private: + int l; + long int size; + struct head_t + { + head_t *prev, *next; // a circular list + Qfloat *data; + int len; // data[0,len) is cached in this entry + }; + + head_t *head; + head_t lru_head; + void lru_delete(head_t *h); + void lru_insert(head_t *h); +}; + +Cache::Cache(int l_,long int size_):l(l_),size(size_) +{ + head = (head_t *)calloc(l,sizeof(head_t)); // initialized to 0 + size /= sizeof(Qfloat); + size -= l * sizeof(head_t) / sizeof(Qfloat); + size = max(size, 2 * (long int) l); // cache must be large enough for two columns + lru_head.next = lru_head.prev = &lru_head; +} + +Cache::~Cache() +{ + for(head_t *h = lru_head.next; h != &lru_head; h=h->next) + free(h->data); + free(head); +} + +void Cache::lru_delete(head_t *h) +{ + // delete from current location + h->prev->next = h->next; + h->next->prev = h->prev; +} + +void Cache::lru_insert(head_t *h) +{ + // insert to last position + h->next = &lru_head; + h->prev = lru_head.prev; + h->prev->next = h; + h->next->prev = h; +} + +int Cache::get_data(const int index, Qfloat **data, int len) +{ + head_t *h = &head[index]; + if(h->len) lru_delete(h); + int more = len - h->len; + + if(more > 0) + { + // free old space + while(size < more) + { + head_t *old = lru_head.next; + lru_delete(old); + free(old->data); + size += old->len; + old->data = 0; + old->len = 0; + } + + // allocate new space + h->data = (Qfloat *)realloc(h->data,sizeof(Qfloat)*len); + size -= more; + swap(h->len,len); + } + + lru_insert(h); + *data = h->data; + return len; +} + +void Cache::swap_index(int i, int j) +{ + if(i==j) return; + + if(head[i].len) lru_delete(&head[i]); + if(head[j].len) lru_delete(&head[j]); + swap(head[i].data,head[j].data); + swap(head[i].len,head[j].len); + if(head[i].len) lru_insert(&head[i]); + if(head[j].len) lru_insert(&head[j]); + + if(i>j) swap(i,j); + for(head_t *h = lru_head.next; h!=&lru_head; h=h->next) + { + if(h->len > i) + { + if(h->len > j) + swap(h->data[i],h->data[j]); + else + { + // give up + lru_delete(h); + free(h->data); + size += h->len; + h->data = 0; + h->len = 0; + } + } + } +} + +// +// Kernel evaluation +// +// the static method k_function is for doing single kernel evaluation +// the constructor of Kernel prepares to calculate the l*l kernel matrix +// the member function get_Q is for getting one column from the Q Matrix +// +class QMatrix { +public: + virtual Qfloat *get_Q(int column, int len) const = 0; + virtual double *get_QD() const = 0; + virtual void swap_index(int i, int j) const = 0; + virtual ~QMatrix() {} +}; + +class Kernel: public QMatrix { +public: + Kernel(int l, svm_node * const * x, const svm_parameter& param); + virtual ~Kernel(); + + static double k_function(const svm_node *x, const svm_node *y, + const svm_parameter& param); + virtual Qfloat *get_Q(int column, int len) const = 0; + virtual double *get_QD() const = 0; + virtual void swap_index(int i, int j) const // no so const... + { + swap(x[i],x[j]); + if(x_square) swap(x_square[i],x_square[j]); + } +protected: + + double (Kernel::*kernel_function)(int i, int j) const; + +private: + const svm_node **x; + double *x_square; + + // svm_parameter + const int kernel_type; + const int degree; + const double gamma; + const double coef0; + + static double dot(const svm_node *px, const svm_node *py); + double kernel_linear(int i, int j) const + { + return dot(x[i],x[j]); + } + double kernel_poly(int i, int j) const + { + return powi(gamma*dot(x[i],x[j])+coef0,degree); + } + double kernel_rbf(int i, int j) const + { + return exp(-gamma*(x_square[i]+x_square[j]-2*dot(x[i],x[j]))); + } + double kernel_sigmoid(int i, int j) const + { + return tanh(gamma*dot(x[i],x[j])+coef0); + } + double kernel_precomputed(int i, int j) const + { + return x[i][(int)(x[j][0].value)].value; + } +}; + +Kernel::Kernel(int l, svm_node * const * x_, const svm_parameter& param) +:kernel_type(param.kernel_type), degree(param.degree), + gamma(param.gamma), coef0(param.coef0) +{ + switch(kernel_type) + { + case LINEAR: + kernel_function = &Kernel::kernel_linear; + break; + case POLY: + kernel_function = &Kernel::kernel_poly; + break; + case RBF: + kernel_function = &Kernel::kernel_rbf; + break; + case SIGMOID: + kernel_function = &Kernel::kernel_sigmoid; + break; + case PRECOMPUTED: + kernel_function = &Kernel::kernel_precomputed; + break; + } + + clone(x,x_,l); + + if(kernel_type == RBF) + { + x_square = new double[l]; + for(int i=0;iindex != -1 && py->index != -1) + { + if(px->index == py->index) + { + sum += px->value * py->value; + ++px; + ++py; + } + else + { + if(px->index > py->index) + ++py; + else + ++px; + } + } + return sum; +} + +double Kernel::k_function(const svm_node *x, const svm_node *y, + const svm_parameter& param) +{ + switch(param.kernel_type) + { + case LINEAR: + return dot(x,y); + case POLY: + return powi(param.gamma*dot(x,y)+param.coef0,param.degree); + case RBF: + { + double sum = 0; + while(x->index != -1 && y->index !=-1) + { + if(x->index == y->index) + { + double d = x->value - y->value; + sum += d*d; + ++x; + ++y; + } + else + { + if(x->index > y->index) + { + sum += y->value * y->value; + ++y; + } + else + { + sum += x->value * x->value; + ++x; + } + } + } + + while(x->index != -1) + { + sum += x->value * x->value; + ++x; + } + + while(y->index != -1) + { + sum += y->value * y->value; + ++y; + } + + return exp(-param.gamma*sum); + } + case SIGMOID: + return tanh(param.gamma*dot(x,y)+param.coef0); + case PRECOMPUTED: //x: test (validation), y: SV + return x[(int)(y->value)].value; + default: + return 0; // Unreachable + } +} + +// An SMO algorithm in Fan et al., JMLR 6(2005), p. 1889--1918 +// Solves: +// +// min 0.5(\alpha^T Q \alpha) + p^T \alpha +// +// y^T \alpha = \delta +// y_i = +1 or -1 +// 0 <= alpha_i <= Cp for y_i = 1 +// 0 <= alpha_i <= Cn for y_i = -1 +// +// Given: +// +// Q, p, y, Cp, Cn, and an initial feasible point \alpha +// l is the size of vectors and matrices +// eps is the stopping tolerance +// +// solution will be put in \alpha, objective value will be put in obj +// +class Solver { +public: + Solver() {}; + virtual ~Solver() {}; + + struct SolutionInfo { + double obj; + double rho; + double upper_bound_p; + double upper_bound_n; + double r; // for Solver_NU + }; + + void Solve(int l, const QMatrix& Q, const double *p_, const schar *y_, + double *alpha_, double Cp, double Cn, double eps, + SolutionInfo* si, int shrinking); +protected: + int active_size; + schar *y; + double *G; // gradient of objective function + enum { LOWER_BOUND, UPPER_BOUND, FREE }; + char *alpha_status; // LOWER_BOUND, UPPER_BOUND, FREE + double *alpha; + const QMatrix *Q; + const double *QD; + double eps; + double Cp,Cn; + double *p; + int *active_set; + double *G_bar; // gradient, if we treat free variables as 0 + int l; + bool unshrink; // XXX + + double get_C(int i) + { + return (y[i] > 0)? Cp : Cn; + } + void update_alpha_status(int i) + { + if(alpha[i] >= get_C(i)) + alpha_status[i] = UPPER_BOUND; + else if(alpha[i] <= 0) + alpha_status[i] = LOWER_BOUND; + else alpha_status[i] = FREE; + } + bool is_upper_bound(int i) { return alpha_status[i] == UPPER_BOUND; } + bool is_lower_bound(int i) { return alpha_status[i] == LOWER_BOUND; } + bool is_free(int i) { return alpha_status[i] == FREE; } + void swap_index(int i, int j); + void reconstruct_gradient(); + virtual int select_working_set(int &i, int &j); + virtual double calculate_rho(); + virtual void do_shrinking(); +private: + bool be_shrunk(int i, double Gmax1, double Gmax2); +}; + +void Solver::swap_index(int i, int j) +{ + Q->swap_index(i,j); + swap(y[i],y[j]); + swap(G[i],G[j]); + swap(alpha_status[i],alpha_status[j]); + swap(alpha[i],alpha[j]); + swap(p[i],p[j]); + swap(active_set[i],active_set[j]); + swap(G_bar[i],G_bar[j]); +} + +void Solver::reconstruct_gradient() +{ + // reconstruct inactive elements of G from G_bar and free variables + + if(active_size == l) return; + + int i,j; + int nr_free = 0; + + for(j=active_size;j 2*active_size*(l-active_size)) + { + for(i=active_size;iget_Q(i,active_size); + for(j=0;jget_Q(i,l); + double alpha_i = alpha[i]; + for(j=active_size;jl = l; + this->Q = &Q; + QD=Q.get_QD(); + clone(p, p_,l); + clone(y, y_,l); + clone(alpha,alpha_,l); + this->Cp = Cp; + this->Cn = Cn; + this->eps = eps; + unshrink = false; + + // initialize alpha_status + { + alpha_status = new char[l]; + for(int i=0;iINT_MAX/100 ? INT_MAX : 100*l); + int counter = min(l,1000)+1; + + while(iter < max_iter) + { + // show progress and do shrinking + + if(--counter == 0) + { + counter = min(l,1000); + if(shrinking) do_shrinking(); + info("."); + } + + int i,j; + if(select_working_set(i,j)!=0) + { + // reconstruct the whole gradient + reconstruct_gradient(); + // reset active set size and check + active_size = l; + info("*"); + if(select_working_set(i,j)!=0) + break; + else + counter = 1; // do shrinking next iteration + } + + ++iter; + + // update alpha[i] and alpha[j], handle bounds carefully + + const Qfloat *Q_i = Q.get_Q(i,active_size); + const Qfloat *Q_j = Q.get_Q(j,active_size); + + double C_i = get_C(i); + double C_j = get_C(j); + + double old_alpha_i = alpha[i]; + double old_alpha_j = alpha[j]; + + if(y[i]!=y[j]) + { + double quad_coef = QD[i]+QD[j]+2*Q_i[j]; + if (quad_coef <= 0) + quad_coef = TAU; + double delta = (-G[i]-G[j])/quad_coef; + double diff = alpha[i] - alpha[j]; + alpha[i] += delta; + alpha[j] += delta; + + if(diff > 0) + { + if(alpha[j] < 0) + { + alpha[j] = 0; + alpha[i] = diff; + } + } + else + { + if(alpha[i] < 0) + { + alpha[i] = 0; + alpha[j] = -diff; + } + } + if(diff > C_i - C_j) + { + if(alpha[i] > C_i) + { + alpha[i] = C_i; + alpha[j] = C_i - diff; + } + } + else + { + if(alpha[j] > C_j) + { + alpha[j] = C_j; + alpha[i] = C_j + diff; + } + } + } + else + { + double quad_coef = QD[i]+QD[j]-2*Q_i[j]; + if (quad_coef <= 0) + quad_coef = TAU; + double delta = (G[i]-G[j])/quad_coef; + double sum = alpha[i] + alpha[j]; + alpha[i] -= delta; + alpha[j] += delta; + + if(sum > C_i) + { + if(alpha[i] > C_i) + { + alpha[i] = C_i; + alpha[j] = sum - C_i; + } + } + else + { + if(alpha[j] < 0) + { + alpha[j] = 0; + alpha[i] = sum; + } + } + if(sum > C_j) + { + if(alpha[j] > C_j) + { + alpha[j] = C_j; + alpha[i] = sum - C_j; + } + } + else + { + if(alpha[i] < 0) + { + alpha[i] = 0; + alpha[j] = sum; + } + } + } + + // update G + + double delta_alpha_i = alpha[i] - old_alpha_i; + double delta_alpha_j = alpha[j] - old_alpha_j; + + for(int k=0;k= max_iter) + { + if(active_size < l) + { + // reconstruct the whole gradient to calculate objective value + reconstruct_gradient(); + active_size = l; + info("*"); + } + info("\nWARNING: reaching max number of iterations"); + } + + // calculate rho + + si->rho = calculate_rho(); + + // calculate objective value + { + double v = 0; + int i; + for(i=0;iobj = v/2; + } + + // put back the solution + { + for(int i=0;iupper_bound_p = Cp; + si->upper_bound_n = Cn; + + info("\noptimization finished, #iter = %d\n",iter); + + delete[] p; + delete[] y; + delete[] alpha; + delete[] alpha_status; + delete[] active_set; + delete[] G; + delete[] G_bar; +} + +// return 1 if already optimal, return 0 otherwise +int Solver::select_working_set(int &out_i, int &out_j) +{ + // return i,j such that + // i: maximizes -y_i * grad(f)_i, i in I_up(\alpha) + // j: minimizes the decrease of obj value + // (if quadratic coefficeint <= 0, replace it with tau) + // -y_j*grad(f)_j < -y_i*grad(f)_i, j in I_low(\alpha) + + double Gmax = -INF; + double Gmax2 = -INF; + int Gmax_idx = -1; + int Gmin_idx = -1; + double obj_diff_min = INF; + + for(int t=0;t= Gmax) + { + Gmax = -G[t]; + Gmax_idx = t; + } + } + else + { + if(!is_lower_bound(t)) + if(G[t] >= Gmax) + { + Gmax = G[t]; + Gmax_idx = t; + } + } + + int i = Gmax_idx; + const Qfloat *Q_i = NULL; + if(i != -1) // NULL Q_i not accessed: Gmax=-INF if i=-1 + Q_i = Q->get_Q(i,active_size); + + for(int j=0;j= Gmax2) + Gmax2 = G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[i]+QD[j]-2.0*y[i]*Q_i[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + else + { + if (!is_upper_bound(j)) + { + double grad_diff= Gmax-G[j]; + if (-G[j] >= Gmax2) + Gmax2 = -G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[i]+QD[j]+2.0*y[i]*Q_i[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + } + + if(Gmax+Gmax2 < eps) + return 1; + + out_i = Gmax_idx; + out_j = Gmin_idx; + return 0; +} + +bool Solver::be_shrunk(int i, double Gmax1, double Gmax2) +{ + if(is_upper_bound(i)) + { + if(y[i]==+1) + return(-G[i] > Gmax1); + else + return(-G[i] > Gmax2); + } + else if(is_lower_bound(i)) + { + if(y[i]==+1) + return(G[i] > Gmax2); + else + return(G[i] > Gmax1); + } + else + return(false); +} + +void Solver::do_shrinking() +{ + int i; + double Gmax1 = -INF; // max { -y_i * grad(f)_i | i in I_up(\alpha) } + double Gmax2 = -INF; // max { y_i * grad(f)_i | i in I_low(\alpha) } + + // find maximal violating pair first + for(i=0;i= Gmax1) + Gmax1 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(G[i] >= Gmax2) + Gmax2 = G[i]; + } + } + else + { + if(!is_upper_bound(i)) + { + if(-G[i] >= Gmax2) + Gmax2 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(G[i] >= Gmax1) + Gmax1 = G[i]; + } + } + } + + if(unshrink == false && Gmax1 + Gmax2 <= eps*10) + { + unshrink = true; + reconstruct_gradient(); + active_size = l; + info("*"); + } + + for(i=0;i i) + { + if (!be_shrunk(active_size, Gmax1, Gmax2)) + { + swap_index(i,active_size); + break; + } + active_size--; + } + } +} + +double Solver::calculate_rho() +{ + double r; + int nr_free = 0; + double ub = INF, lb = -INF, sum_free = 0; + for(int i=0;i0) + r = sum_free/nr_free; + else + r = (ub+lb)/2; + + return r; +} + +// +// Solver for nu-svm classification and regression +// +// additional constraint: e^T \alpha = constant +// +class Solver_NU : public Solver +{ +public: + Solver_NU() {} + void Solve(int l, const QMatrix& Q, const double *p, const schar *y, + double *alpha, double Cp, double Cn, double eps, + SolutionInfo* si, int shrinking) + { + this->si = si; + Solver::Solve(l,Q,p,y,alpha,Cp,Cn,eps,si,shrinking); + } +private: + SolutionInfo *si; + int select_working_set(int &i, int &j); + double calculate_rho(); + bool be_shrunk(int i, double Gmax1, double Gmax2, double Gmax3, double Gmax4); + void do_shrinking(); +}; + +// return 1 if already optimal, return 0 otherwise +int Solver_NU::select_working_set(int &out_i, int &out_j) +{ + // return i,j such that y_i = y_j and + // i: maximizes -y_i * grad(f)_i, i in I_up(\alpha) + // j: minimizes the decrease of obj value + // (if quadratic coefficeint <= 0, replace it with tau) + // -y_j*grad(f)_j < -y_i*grad(f)_i, j in I_low(\alpha) + + double Gmaxp = -INF; + double Gmaxp2 = -INF; + int Gmaxp_idx = -1; + + double Gmaxn = -INF; + double Gmaxn2 = -INF; + int Gmaxn_idx = -1; + + int Gmin_idx = -1; + double obj_diff_min = INF; + + for(int t=0;t= Gmaxp) + { + Gmaxp = -G[t]; + Gmaxp_idx = t; + } + } + else + { + if(!is_lower_bound(t)) + if(G[t] >= Gmaxn) + { + Gmaxn = G[t]; + Gmaxn_idx = t; + } + } + + int ip = Gmaxp_idx; + int in = Gmaxn_idx; + const Qfloat *Q_ip = NULL; + const Qfloat *Q_in = NULL; + if(ip != -1) // NULL Q_ip not accessed: Gmaxp=-INF if ip=-1 + Q_ip = Q->get_Q(ip,active_size); + if(in != -1) + Q_in = Q->get_Q(in,active_size); + + for(int j=0;j= Gmaxp2) + Gmaxp2 = G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[ip]+QD[j]-2*Q_ip[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + else + { + if (!is_upper_bound(j)) + { + double grad_diff=Gmaxn-G[j]; + if (-G[j] >= Gmaxn2) + Gmaxn2 = -G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[in]+QD[j]-2*Q_in[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + } + + if(max(Gmaxp+Gmaxp2,Gmaxn+Gmaxn2) < eps) + return 1; + + if (y[Gmin_idx] == +1) + out_i = Gmaxp_idx; + else + out_i = Gmaxn_idx; + out_j = Gmin_idx; + + return 0; +} + +bool Solver_NU::be_shrunk(int i, double Gmax1, double Gmax2, double Gmax3, double Gmax4) +{ + if(is_upper_bound(i)) + { + if(y[i]==+1) + return(-G[i] > Gmax1); + else + return(-G[i] > Gmax4); + } + else if(is_lower_bound(i)) + { + if(y[i]==+1) + return(G[i] > Gmax2); + else + return(G[i] > Gmax3); + } + else + return(false); +} + +void Solver_NU::do_shrinking() +{ + double Gmax1 = -INF; // max { -y_i * grad(f)_i | y_i = +1, i in I_up(\alpha) } + double Gmax2 = -INF; // max { y_i * grad(f)_i | y_i = +1, i in I_low(\alpha) } + double Gmax3 = -INF; // max { -y_i * grad(f)_i | y_i = -1, i in I_up(\alpha) } + double Gmax4 = -INF; // max { y_i * grad(f)_i | y_i = -1, i in I_low(\alpha) } + + // find maximal violating pair first + int i; + for(i=0;i Gmax1) Gmax1 = -G[i]; + } + else if(-G[i] > Gmax4) Gmax4 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(y[i]==+1) + { + if(G[i] > Gmax2) Gmax2 = G[i]; + } + else if(G[i] > Gmax3) Gmax3 = G[i]; + } + } + + if(unshrink == false && max(Gmax1+Gmax2,Gmax3+Gmax4) <= eps*10) + { + unshrink = true; + reconstruct_gradient(); + active_size = l; + } + + for(i=0;i i) + { + if (!be_shrunk(active_size, Gmax1, Gmax2, Gmax3, Gmax4)) + { + swap_index(i,active_size); + break; + } + active_size--; + } + } +} + +double Solver_NU::calculate_rho() +{ + int nr_free1 = 0,nr_free2 = 0; + double ub1 = INF, ub2 = INF; + double lb1 = -INF, lb2 = -INF; + double sum_free1 = 0, sum_free2 = 0; + + for(int i=0;i 0) + r1 = sum_free1/nr_free1; + else + r1 = (ub1+lb1)/2; + + if(nr_free2 > 0) + r2 = sum_free2/nr_free2; + else + r2 = (ub2+lb2)/2; + + si->r = (r1+r2)/2; + return (r1-r2)/2; +} + +// +// Q matrices for various formulations +// +class SVC_Q: public Kernel +{ +public: + SVC_Q(const svm_problem& prob, const svm_parameter& param, const schar *y_) + :Kernel(prob.l, prob.x, param) + { + clone(y,y_,prob.l); + cache = new Cache(prob.l,(long int)(param.cache_size*(1<<20))); + QD = new double[prob.l]; + for(int i=0;i*kernel_function)(i,i); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int start, j; + if((start = cache->get_data(i,&data,len)) < len) + { + for(j=start;j*kernel_function)(i,j)); + } + return data; + } + + double *get_QD() const + { + return QD; + } + + void swap_index(int i, int j) const + { + cache->swap_index(i,j); + Kernel::swap_index(i,j); + swap(y[i],y[j]); + swap(QD[i],QD[j]); + } + + ~SVC_Q() + { + delete[] y; + delete cache; + delete[] QD; + } +private: + schar *y; + Cache *cache; + double *QD; +}; + +class ONE_CLASS_Q: public Kernel +{ +public: + ONE_CLASS_Q(const svm_problem& prob, const svm_parameter& param) + :Kernel(prob.l, prob.x, param) + { + cache = new Cache(prob.l,(long int)(param.cache_size*(1<<20))); + QD = new double[prob.l]; + for(int i=0;i*kernel_function)(i,i); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int start, j; + if((start = cache->get_data(i,&data,len)) < len) + { + for(j=start;j*kernel_function)(i,j); + } + return data; + } + + double *get_QD() const + { + return QD; + } + + void swap_index(int i, int j) const + { + cache->swap_index(i,j); + Kernel::swap_index(i,j); + swap(QD[i],QD[j]); + } + + ~ONE_CLASS_Q() + { + delete cache; + delete[] QD; + } +private: + Cache *cache; + double *QD; +}; + +class SVR_Q: public Kernel +{ +public: + SVR_Q(const svm_problem& prob, const svm_parameter& param) + :Kernel(prob.l, prob.x, param) + { + l = prob.l; + cache = new Cache(l,(long int)(param.cache_size*(1<<20))); + QD = new double[2*l]; + sign = new schar[2*l]; + index = new int[2*l]; + for(int k=0;k*kernel_function)(k,k); + QD[k+l] = QD[k]; + } + buffer[0] = new Qfloat[2*l]; + buffer[1] = new Qfloat[2*l]; + next_buffer = 0; + } + + void swap_index(int i, int j) const + { + swap(sign[i],sign[j]); + swap(index[i],index[j]); + swap(QD[i],QD[j]); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int j, real_i = index[i]; + if(cache->get_data(real_i,&data,l) < l) + { + for(j=0;j*kernel_function)(real_i,j); + } + + // reorder and copy + Qfloat *buf = buffer[next_buffer]; + next_buffer = 1 - next_buffer; + schar si = sign[i]; + for(j=0;jl; + double *minus_ones = new double[l]; + schar *y = new schar[l]; + + int i; + + for(i=0;iy[i] > 0) y[i] = +1; else y[i] = -1; + } + + Solver s; + s.Solve(l, SVC_Q(*prob,*param,y), minus_ones, y, + alpha, Cp, Cn, param->eps, si, param->shrinking); + + double sum_alpha=0; + for(i=0;il)); + + for(i=0;il; + double nu = param->nu; + + schar *y = new schar[l]; + + for(i=0;iy[i]>0) + y[i] = +1; + else + y[i] = -1; + + double sum_pos = nu*l/2; + double sum_neg = nu*l/2; + + for(i=0;ieps, si, param->shrinking); + double r = si->r; + + info("C = %f\n",1/r); + + for(i=0;irho /= r; + si->obj /= (r*r); + si->upper_bound_p = 1/r; + si->upper_bound_n = 1/r; + + delete[] y; + delete[] zeros; +} + +static void solve_one_class( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double *zeros = new double[l]; + schar *ones = new schar[l]; + int i; + + int n = (int)(param->nu*prob->l); // # of alpha's at upper bound + + for(i=0;il) + alpha[n] = param->nu * prob->l - n; + for(i=n+1;ieps, si, param->shrinking); + + delete[] zeros; + delete[] ones; +} + +static void solve_epsilon_svr( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double *alpha2 = new double[2*l]; + double *linear_term = new double[2*l]; + schar *y = new schar[2*l]; + int i; + + for(i=0;ip - prob->y[i]; + y[i] = 1; + + alpha2[i+l] = 0; + linear_term[i+l] = param->p + prob->y[i]; + y[i+l] = -1; + } + + Solver s; + s.Solve(2*l, SVR_Q(*prob,*param), linear_term, y, + alpha2, param->C, param->C, param->eps, si, param->shrinking); + + double sum_alpha = 0; + for(i=0;iC*l)); + + delete[] alpha2; + delete[] linear_term; + delete[] y; +} + +static void solve_nu_svr( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double C = param->C; + double *alpha2 = new double[2*l]; + double *linear_term = new double[2*l]; + schar *y = new schar[2*l]; + int i; + + double sum = C * param->nu * l / 2; + for(i=0;iy[i]; + y[i] = 1; + + linear_term[i+l] = prob->y[i]; + y[i+l] = -1; + } + + Solver_NU s; + s.Solve(2*l, SVR_Q(*prob,*param), linear_term, y, + alpha2, C, C, param->eps, si, param->shrinking); + + info("epsilon = %f\n",-si->r); + + for(i=0;il); + Solver::SolutionInfo si; + switch(param->svm_type) + { + case C_SVC: + solve_c_svc(prob,param,alpha,&si,Cp,Cn); + break; + case NU_SVC: + solve_nu_svc(prob,param,alpha,&si); + break; + case ONE_CLASS: + solve_one_class(prob,param,alpha,&si); + break; + case EPSILON_SVR: + solve_epsilon_svr(prob,param,alpha,&si); + break; + case NU_SVR: + solve_nu_svr(prob,param,alpha,&si); + break; + } + + info("obj = %f, rho = %f\n",si.obj,si.rho); + + // output SVs + + int nSV = 0; + int nBSV = 0; + for(int i=0;il;i++) + { + if(fabs(alpha[i]) > 0) + { + ++nSV; + if(prob->y[i] > 0) + { + if(fabs(alpha[i]) >= si.upper_bound_p) + ++nBSV; + } + else + { + if(fabs(alpha[i]) >= si.upper_bound_n) + ++nBSV; + } + } + } + + info("nSV = %d, nBSV = %d\n",nSV,nBSV); + + decision_function f; + f.alpha = alpha; + f.rho = si.rho; + return f; +} + +// Platt's binary SVM Probablistic Output: an improvement from Lin et al. +static void sigmoid_train( + int l, const double *dec_values, + const double *labels, + double& A, double& B) +{ + double prior1=0, prior0 = 0; + int i; + + for (i=0;i 0) prior1+=1; + else prior0+=1; + + int max_iter=100; // Maximal number of iterations + double min_step=1e-10; // Minimal step taken in line search + double sigma=1e-12; // For numerically strict PD of Hessian + double eps=1e-5; + double hiTarget=(prior1+1.0)/(prior1+2.0); + double loTarget=1/(prior0+2.0); + double *t=Malloc(double,l); + double fApB,p,q,h11,h22,h21,g1,g2,det,dA,dB,gd,stepsize; + double newA,newB,newf,d1,d2; + int iter; + + // Initial Point and Initial Fun Value + A=0.0; B=log((prior0+1.0)/(prior1+1.0)); + double fval = 0.0; + + for (i=0;i0) t[i]=hiTarget; + else t[i]=loTarget; + fApB = dec_values[i]*A+B; + if (fApB>=0) + fval += t[i]*fApB + log(1+exp(-fApB)); + else + fval += (t[i] - 1)*fApB +log(1+exp(fApB)); + } + for (iter=0;iter= 0) + { + p=exp(-fApB)/(1.0+exp(-fApB)); + q=1.0/(1.0+exp(-fApB)); + } + else + { + p=1.0/(1.0+exp(fApB)); + q=exp(fApB)/(1.0+exp(fApB)); + } + d2=p*q; + h11+=dec_values[i]*dec_values[i]*d2; + h22+=d2; + h21+=dec_values[i]*d2; + d1=t[i]-p; + g1+=dec_values[i]*d1; + g2+=d1; + } + + // Stopping Criteria + if (fabs(g1)= min_step) + { + newA = A + stepsize * dA; + newB = B + stepsize * dB; + + // New function value + newf = 0.0; + for (i=0;i= 0) + newf += t[i]*fApB + log(1+exp(-fApB)); + else + newf += (t[i] - 1)*fApB +log(1+exp(fApB)); + } + // Check sufficient decrease + if (newf=max_iter) + info("Reaching maximal iterations in two-class probability estimates\n"); + free(t); +} + +static double sigmoid_predict(double decision_value, double A, double B) +{ + double fApB = decision_value*A+B; + // 1-p used later; avoid catastrophic cancellation + if (fApB >= 0) + return exp(-fApB)/(1.0+exp(-fApB)); + else + return 1.0/(1+exp(fApB)) ; +} + +// Method 2 from the multiclass_prob paper by Wu, Lin, and Weng +static void multiclass_probability(int k, double **r, double *p) +{ + int t,j; + int iter = 0, max_iter=max(100,k); + double **Q=Malloc(double *,k); + double *Qp=Malloc(double,k); + double pQp, eps=0.005/k; + + for (t=0;tmax_error) + max_error=error; + } + if (max_error=max_iter) + info("Exceeds max_iter in multiclass_prob\n"); + for(t=0;tl); + double *dec_values = Malloc(double,prob->l); + + // random shuffle + for(i=0;il;i++) perm[i]=i; + for(i=0;il;i++) + { + int j = i+rand()%(prob->l-i); + swap(perm[i],perm[j]); + } + for(i=0;il/nr_fold; + int end = (i+1)*prob->l/nr_fold; + int j,k; + struct svm_problem subprob; + + subprob.l = prob->l-(end-begin); + subprob.x = Malloc(struct svm_node*,subprob.l); + subprob.y = Malloc(double,subprob.l); + + k=0; + for(j=0;jx[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + for(j=end;jl;j++) + { + subprob.x[k] = prob->x[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + int p_count=0,n_count=0; + for(j=0;j0) + p_count++; + else + n_count++; + + if(p_count==0 && n_count==0) + for(j=begin;j 0 && n_count == 0) + for(j=begin;j 0) + for(j=begin;jx[perm[j]],&(dec_values[perm[j]])); + // ensure +1 -1 order; reason not using CV subroutine + dec_values[perm[j]] *= submodel->label[0]; + } + svm_free_and_destroy_model(&submodel); + svm_destroy_param(&subparam); + } + free(subprob.x); + free(subprob.y); + } + sigmoid_train(prob->l,dec_values,prob->y,probA,probB); + free(dec_values); + free(perm); +} + +// Return parameter of a Laplace distribution +static double svm_svr_probability( + const svm_problem *prob, const svm_parameter *param) +{ + int i; + int nr_fold = 5; + double *ymv = Malloc(double,prob->l); + double mae = 0; + + svm_parameter newparam = *param; + newparam.probability = 0; + svm_cross_validation(prob,&newparam,nr_fold,ymv); + for(i=0;il;i++) + { + ymv[i]=prob->y[i]-ymv[i]; + mae += fabs(ymv[i]); + } + mae /= prob->l; + double std=sqrt(2*mae*mae); + int count=0; + mae=0; + for(i=0;il;i++) + if (fabs(ymv[i]) > 5*std) + count=count+1; + else + mae+=fabs(ymv[i]); + mae /= (prob->l-count); + info("Prob. model for test data: target value = predicted value + z,\nz: Laplace distribution e^(-|z|/sigma)/(2sigma),sigma= %g\n",mae); + free(ymv); + return mae; +} + + +// label: label name, start: begin of each class, count: #data of classes, perm: indices to the original data +// perm, length l, must be allocated before calling this subroutine +static void svm_group_classes(const svm_problem *prob, int *nr_class_ret, int **label_ret, int **start_ret, int **count_ret, int *perm) +{ + int l = prob->l; + int max_nr_class = 16; + int nr_class = 0; + int *label = Malloc(int,max_nr_class); + int *count = Malloc(int,max_nr_class); + int *data_label = Malloc(int,l); + int i; + + for(i=0;iy[i]; + int j; + for(j=0;jparam = *param; + model->free_sv = 0; // XXX + + if(param->svm_type == ONE_CLASS || + param->svm_type == EPSILON_SVR || + param->svm_type == NU_SVR) + { + // regression or one-class-svm + model->nr_class = 2; + model->label = NULL; + model->nSV = NULL; + model->probA = NULL; model->probB = NULL; + model->sv_coef = Malloc(double *,1); + + if(param->probability && + (param->svm_type == EPSILON_SVR || + param->svm_type == NU_SVR)) + { + model->probA = Malloc(double,1); + model->probA[0] = svm_svr_probability(prob,param); + } + + decision_function f = svm_train_one(prob,param,0,0); + model->rho = Malloc(double,1); + model->rho[0] = f.rho; + + int nSV = 0; + int i; + for(i=0;il;i++) + if(fabs(f.alpha[i]) > 0) ++nSV; + model->l = nSV; + model->SV = Malloc(svm_node *,nSV); + model->sv_coef[0] = Malloc(double,nSV); + int j = 0; + for(i=0;il;i++) + if(fabs(f.alpha[i]) > 0) + { + model->SV[j] = prob->x[i]; + model->sv_coef[0][j] = f.alpha[i]; + ++j; + } + + free(f.alpha); + } + else + { + // classification + int l = prob->l; + int nr_class; + int *label = NULL; + int *start = NULL; + int *count = NULL; + int *perm = Malloc(int,l); + + // group training data of the same class + svm_group_classes(prob,&nr_class,&label,&start,&count,perm); + if(nr_class == 1) + info("WARNING: training data in only one class. See README for details.\n"); + + svm_node **x = Malloc(svm_node *,l); + int i; + for(i=0;ix[perm[i]]; + + // calculate weighted C + + double *weighted_C = Malloc(double, nr_class); + for(i=0;iC; + for(i=0;inr_weight;i++) + { + int j; + for(j=0;jweight_label[i] == label[j]) + break; + if(j == nr_class) + fprintf(stderr,"WARNING: class label %d specified in weight is not found\n", param->weight_label[i]); + else + weighted_C[j] *= param->weight[i]; + } + + // train k*(k-1)/2 models + + bool *nonzero = Malloc(bool,l); + for(i=0;iprobability) + { + probA=Malloc(double,nr_class*(nr_class-1)/2); + probB=Malloc(double,nr_class*(nr_class-1)/2); + } + + int p = 0; + for(i=0;iprobability) + svm_binary_svc_probability(&sub_prob,param,weighted_C[i],weighted_C[j],probA[p],probB[p]); + + f[p] = svm_train_one(&sub_prob,param,weighted_C[i],weighted_C[j]); + for(k=0;k 0) + nonzero[si+k] = true; + for(k=0;k 0) + nonzero[sj+k] = true; + free(sub_prob.x); + free(sub_prob.y); + ++p; + } + + // build output + + model->nr_class = nr_class; + + model->label = Malloc(int,nr_class); + for(i=0;ilabel[i] = label[i]; + + model->rho = Malloc(double,nr_class*(nr_class-1)/2); + for(i=0;irho[i] = f[i].rho; + + if(param->probability) + { + model->probA = Malloc(double,nr_class*(nr_class-1)/2); + model->probB = Malloc(double,nr_class*(nr_class-1)/2); + for(i=0;iprobA[i] = probA[i]; + model->probB[i] = probB[i]; + } + } + else + { + model->probA=NULL; + model->probB=NULL; + } + + int total_sv = 0; + int *nz_count = Malloc(int,nr_class); + model->nSV = Malloc(int,nr_class); + for(i=0;inSV[i] = nSV; + nz_count[i] = nSV; + } + + info("Total nSV = %d\n",total_sv); + + model->l = total_sv; + model->SV = Malloc(svm_node *,total_sv); + p = 0; + for(i=0;iSV[p++] = x[i]; + + int *nz_start = Malloc(int,nr_class); + nz_start[0] = 0; + for(i=1;isv_coef = Malloc(double *,nr_class-1); + for(i=0;isv_coef[i] = Malloc(double,total_sv); + + p = 0; + for(i=0;isv_coef[j-1][q++] = f[p].alpha[k]; + q = nz_start[j]; + for(k=0;ksv_coef[i][q++] = f[p].alpha[ci+k]; + ++p; + } + + free(label); + free(probA); + free(probB); + free(count); + free(perm); + free(start); + free(x); + free(weighted_C); + free(nonzero); + for(i=0;il; + int *perm = Malloc(int,l); + int nr_class; + + // stratified cv may not give leave-one-out rate + // Each class to l folds -> some folds may have zero elements + if((param->svm_type == C_SVC || + param->svm_type == NU_SVC) && nr_fold < l) + { + int *start = NULL; + int *label = NULL; + int *count = NULL; + svm_group_classes(prob,&nr_class,&label,&start,&count,perm); + + // random shuffle and then data grouped by fold using the array perm + int *fold_count = Malloc(int,nr_fold); + int c; + int *index = Malloc(int,l); + for(i=0;ix[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + for(j=end;jx[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + struct svm_model *submodel = svm_train(&subprob,param); + if(param->probability && + (param->svm_type == C_SVC || param->svm_type == NU_SVC)) + { + double *prob_estimates=Malloc(double,svm_get_nr_class(submodel)); + for(j=begin;jx[perm[j]],prob_estimates); + free(prob_estimates); + } + else + for(j=begin;jx[perm[j]]); + svm_free_and_destroy_model(&submodel); + free(subprob.x); + free(subprob.y); + } + free(fold_start); + free(perm); +} + + +int svm_get_svm_type(const svm_model *model) +{ + return model->param.svm_type; +} + +int svm_get_nr_class(const svm_model *model) +{ + return model->nr_class; +} + +void svm_get_labels(const svm_model *model, int* label) +{ + if (model->label != NULL) + for(int i=0;inr_class;i++) + label[i] = model->label[i]; +} + +double svm_get_svr_probability(const svm_model *model) +{ + if ((model->param.svm_type == EPSILON_SVR || model->param.svm_type == NU_SVR) && + model->probA!=NULL) + return model->probA[0]; + else + { + fprintf(stderr,"Model doesn't contain information for SVR probability inference\n"); + return 0; + } +} + +double svm_predict_values(const svm_model *model, const svm_node *x, double* dec_values) +{ + int i; + if(model->param.svm_type == ONE_CLASS || + model->param.svm_type == EPSILON_SVR || + model->param.svm_type == NU_SVR) + { + double *sv_coef = model->sv_coef[0]; + double sum = 0; + for(i=0;il;i++) + sum += sv_coef[i] * Kernel::k_function(x,model->SV[i],model->param); + sum -= model->rho[0]; + *dec_values = sum; + + if(model->param.svm_type == ONE_CLASS) + return (sum>0)?1:-1; + else + return sum; + } + else + { + int nr_class = model->nr_class; + int l = model->l; + + double *kvalue = Malloc(double,l); + for(i=0;iSV[i],model->param); + + int *start = Malloc(int,nr_class); + start[0] = 0; + for(i=1;inSV[i-1]; + + int *vote = Malloc(int,nr_class); + for(i=0;inSV[i]; + int cj = model->nSV[j]; + + int k; + double *coef1 = model->sv_coef[j-1]; + double *coef2 = model->sv_coef[i]; + for(k=0;krho[p]; + dec_values[p] = sum; + + if(dec_values[p] > 0) + ++vote[i]; + else + ++vote[j]; + p++; + } + + int vote_max_idx = 0; + for(i=1;i vote[vote_max_idx]) + vote_max_idx = i; + + free(kvalue); + free(start); + free(vote); + return model->label[vote_max_idx]; + } +} + +double svm_predict(const svm_model *model, const svm_node *x) +{ + int nr_class = model->nr_class; + double *dec_values; + if(model->param.svm_type == ONE_CLASS || + model->param.svm_type == EPSILON_SVR || + model->param.svm_type == NU_SVR) + dec_values = Malloc(double, 1); + else + dec_values = Malloc(double, nr_class*(nr_class-1)/2); + double pred_result = svm_predict_values(model, x, dec_values); + free(dec_values); + return pred_result; +} + +double svm_predict_probability( + const svm_model *model, const svm_node *x, double *prob_estimates) +{ + if ((model->param.svm_type == C_SVC || model->param.svm_type == NU_SVC) && + model->probA!=NULL && model->probB!=NULL) + { + int i; + int nr_class = model->nr_class; + double *dec_values = Malloc(double, nr_class*(nr_class-1)/2); + svm_predict_values(model, x, dec_values); + + double min_prob=1e-7; + double **pairwise_prob=Malloc(double *,nr_class); + for(i=0;iprobA[k],model->probB[k]),min_prob),1-min_prob); + pairwise_prob[j][i]=1-pairwise_prob[i][j]; + k++; + } + multiclass_probability(nr_class,pairwise_prob,prob_estimates); + + int prob_max_idx = 0; + for(i=1;i prob_estimates[prob_max_idx]) + prob_max_idx = i; + for(i=0;ilabel[prob_max_idx]; + } + else + return svm_predict(model, x); +} + +static const char *svm_type_table[] = +{ + "c_svc","nu_svc","one_class","epsilon_svr","nu_svr",NULL +}; + +static const char *kernel_type_table[]= +{ + "linear","polynomial","rbf","sigmoid","precomputed",NULL +}; + +int svm_save_model(const char *model_file_name, const svm_model *model) +{ + FILE *fp = fopen(model_file_name,"w"); + if(fp==NULL) return -1; + + const svm_parameter& param = model->param; + + fprintf(fp,"svm_type %s\n", svm_type_table[param.svm_type]); + fprintf(fp,"kernel_type %s\n", kernel_type_table[param.kernel_type]); + + if(param.kernel_type == POLY) + fprintf(fp,"degree %d\n", param.degree); + + if(param.kernel_type == POLY || param.kernel_type == RBF || param.kernel_type == SIGMOID) + fprintf(fp,"gamma %g\n", param.gamma); + + if(param.kernel_type == POLY || param.kernel_type == SIGMOID) + fprintf(fp,"coef0 %g\n", param.coef0); + + int nr_class = model->nr_class; + int l = model->l; + fprintf(fp, "nr_class %d\n", nr_class); + fprintf(fp, "total_sv %d\n",l); + + { + fprintf(fp, "rho"); + for(int i=0;irho[i]); + fprintf(fp, "\n"); + } + + if(model->label) + { + fprintf(fp, "label"); + for(int i=0;ilabel[i]); + fprintf(fp, "\n"); + } + + if(model->probA) // regression has probA only + { + fprintf(fp, "probA"); + for(int i=0;iprobA[i]); + fprintf(fp, "\n"); + } + if(model->probB) + { + fprintf(fp, "probB"); + for(int i=0;iprobB[i]); + fprintf(fp, "\n"); + } + + if(model->nSV) + { + fprintf(fp, "nr_sv"); + for(int i=0;inSV[i]); + fprintf(fp, "\n"); + } + + fprintf(fp, "SV\n"); + const double * const *sv_coef = model->sv_coef; + const svm_node * const *SV = model->SV; + + for(int i=0;ivalue)); + else + while(p->index != -1) + { + fprintf(fp,"%d:%.8g ",p->index,p->value); + p++; + } + fprintf(fp, "\n"); + } + if (ferror(fp) != 0 || fclose(fp) != 0) return -1; + else return 0; +} + +static char *line = NULL; +static int max_line_len; + +static char* readline(FILE *input) +{ + int len; + + if(fgets(line,max_line_len,input) == NULL) + return NULL; + + while(strrchr(line,'\n') == NULL) + { + max_line_len *= 2; + line = (char *) realloc(line,max_line_len); + len = (int) strlen(line); + if(fgets(line+len,max_line_len-len,input) == NULL) + break; + } + return line; +} + +svm_model *svm_load_model(const char *model_file_name) +{ + FILE *fp = fopen(model_file_name,"rb"); + if(fp==NULL) return NULL; + + // read parameters + + svm_model *model = Malloc(svm_model,1); + svm_parameter& param = model->param; + model->rho = NULL; + model->probA = NULL; + model->probB = NULL; + model->label = NULL; + model->nSV = NULL; + + char cmd[81]; + while(1) + { + fscanf(fp,"%80s",cmd); + + if(strcmp(cmd,"svm_type")==0) + { + fscanf(fp,"%80s",cmd); + int i; + for(i=0;svm_type_table[i];i++) + { + if(strcmp(svm_type_table[i],cmd)==0) + { + param.svm_type=i; + break; + } + } + if(svm_type_table[i] == NULL) + { + fprintf(stderr,"unknown svm type.\n"); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + else if(strcmp(cmd,"kernel_type")==0) + { + fscanf(fp,"%80s",cmd); + int i; + for(i=0;kernel_type_table[i];i++) + { + if(strcmp(kernel_type_table[i],cmd)==0) + { + param.kernel_type=i; + break; + } + } + if(kernel_type_table[i] == NULL) + { + fprintf(stderr,"unknown kernel function.\n"); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + else if(strcmp(cmd,"degree")==0) + fscanf(fp,"%d",¶m.degree); + else if(strcmp(cmd,"gamma")==0) + fscanf(fp,"%lf",¶m.gamma); + else if(strcmp(cmd,"coef0")==0) + fscanf(fp,"%lf",¶m.coef0); + else if(strcmp(cmd,"nr_class")==0) + fscanf(fp,"%d",&model->nr_class); + else if(strcmp(cmd,"total_sv")==0) + fscanf(fp,"%d",&model->l); + else if(strcmp(cmd,"rho")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->rho = Malloc(double,n); + for(int i=0;irho[i]); + } + else if(strcmp(cmd,"label")==0) + { + int n = model->nr_class; + model->label = Malloc(int,n); + for(int i=0;ilabel[i]); + } + else if(strcmp(cmd,"probA")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->probA = Malloc(double,n); + for(int i=0;iprobA[i]); + } + else if(strcmp(cmd,"probB")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->probB = Malloc(double,n); + for(int i=0;iprobB[i]); + } + else if(strcmp(cmd,"nr_sv")==0) + { + int n = model->nr_class; + model->nSV = Malloc(int,n); + for(int i=0;inSV[i]); + } + else if(strcmp(cmd,"SV")==0) + { + while(1) + { + int c = getc(fp); + if(c==EOF || c=='\n') break; + } + break; + } + else + { + fprintf(stderr,"unknown text in model file: [%s]\n",cmd); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + + // read sv_coef and SV + + int elements = 0; + long pos = ftell(fp); + + max_line_len = 1024; + line = Malloc(char,max_line_len); + char *p,*endptr,*idx,*val; + + while(readline(fp)!=NULL) + { + p = strtok(line,":"); + while(1) + { + p = strtok(NULL,":"); + if(p == NULL) + break; + ++elements; + } + } + elements += model->l; + + fseek(fp,pos,SEEK_SET); + + int m = model->nr_class - 1; + int l = model->l; + model->sv_coef = Malloc(double *,m); + int i; + for(i=0;isv_coef[i] = Malloc(double,l); + model->SV = Malloc(svm_node*,l); + svm_node *x_space = NULL; + if(l>0) x_space = Malloc(svm_node,elements); + + int j=0; + for(i=0;iSV[i] = &x_space[j]; + + p = strtok(line, " \t"); + model->sv_coef[0][i] = strtod(p,&endptr); + for(int k=1;ksv_coef[k][i] = strtod(p,&endptr); + } + + while(1) + { + idx = strtok(NULL, ":"); + val = strtok(NULL, " \t"); + + if(val == NULL) + break; + x_space[j].index = (int) strtol(idx,&endptr,10); + x_space[j].value = strtod(val,&endptr); + + ++j; + } + x_space[j++].index = -1; + } + free(line); + + if (ferror(fp) != 0 || fclose(fp) != 0) + return NULL; + + model->free_sv = 1; // XXX + return model; +} + +void svm_free_model_content(svm_model* model_ptr) +{ + if(model_ptr->free_sv && model_ptr->l > 0 && model_ptr->SV != NULL) + free((void *)(model_ptr->SV[0])); + if(model_ptr->sv_coef) + { + for(int i=0;inr_class-1;i++) + free(model_ptr->sv_coef[i]); + } + + free(model_ptr->SV); + model_ptr->SV = NULL; + + free(model_ptr->sv_coef); + model_ptr->sv_coef = NULL; + + free(model_ptr->rho); + model_ptr->rho = NULL; + + free(model_ptr->label); + model_ptr->label= NULL; + + free(model_ptr->probA); + model_ptr->probA = NULL; + + free(model_ptr->probB); + model_ptr->probB= NULL; + + free(model_ptr->nSV); + model_ptr->nSV = NULL; +} + +void svm_free_and_destroy_model(svm_model** model_ptr_ptr) +{ + if(model_ptr_ptr != NULL && *model_ptr_ptr != NULL) + { + svm_free_model_content(*model_ptr_ptr); + free(*model_ptr_ptr); + *model_ptr_ptr = NULL; + } +} + +void svm_destroy_param(svm_parameter* param) +{ + free(param->weight_label); + free(param->weight); +} + +const char *svm_check_parameter(const svm_problem *prob, const svm_parameter *param) +{ + // svm_type + + int svm_type = param->svm_type; + if(svm_type != C_SVC && + svm_type != NU_SVC && + svm_type != ONE_CLASS && + svm_type != EPSILON_SVR && + svm_type != NU_SVR) + return "unknown svm type"; + + // kernel_type, degree + + int kernel_type = param->kernel_type; + if(kernel_type != LINEAR && + kernel_type != POLY && + kernel_type != RBF && + kernel_type != SIGMOID && + kernel_type != PRECOMPUTED) + return "unknown kernel type"; + + if(param->gamma < 0) + return "gamma < 0"; + + if(param->degree < 0) + return "degree of polynomial kernel < 0"; + + // cache_size,eps,C,nu,p,shrinking + + if(param->cache_size <= 0) + return "cache_size <= 0"; + + if(param->eps <= 0) + return "eps <= 0"; + + if(svm_type == C_SVC || + svm_type == EPSILON_SVR || + svm_type == NU_SVR) + if(param->C <= 0) + return "C <= 0"; + + if(svm_type == NU_SVC || + svm_type == ONE_CLASS || + svm_type == NU_SVR) + if(param->nu <= 0 || param->nu > 1) + return "nu <= 0 or nu > 1"; + + if(svm_type == EPSILON_SVR) + if(param->p < 0) + return "p < 0"; + + if(param->shrinking != 0 && + param->shrinking != 1) + return "shrinking != 0 and shrinking != 1"; + + if(param->probability != 0 && + param->probability != 1) + return "probability != 0 and probability != 1"; + + if(param->probability == 1 && + svm_type == ONE_CLASS) + return "one-class SVM probability output not supported yet"; + + + // check whether nu-svc is feasible + + if(svm_type == NU_SVC) + { + int l = prob->l; + int max_nr_class = 16; + int nr_class = 0; + int *label = Malloc(int,max_nr_class); + int *count = Malloc(int,max_nr_class); + + int i; + for(i=0;iy[i]; + int j; + for(j=0;jnu*(n1+n2)/2 > min(n1,n2)) + { + free(label); + free(count); + return "specified nu is infeasible"; + } + } + } + free(label); + free(count); + } + + return NULL; +} + +int svm_check_probability_model(const svm_model *model) +{ + return ((model->param.svm_type == C_SVC || model->param.svm_type == NU_SVC) && + model->probA!=NULL && model->probB!=NULL) || + ((model->param.svm_type == EPSILON_SVR || model->param.svm_type == NU_SVR) && + model->probA!=NULL); +} + +void svm_set_print_string_function(void (*print_func)(const char *)) +{ + if(print_func == NULL) + svm_print_string = &print_string_stdout; + else + svm_print_string = print_func; +} diff --git a/.svn/pristine/94/940861b51daaf2ac827a498a2ac881b29f2875aa.svn-base b/.svn/pristine/94/940861b51daaf2ac827a498a2ac881b29f2875aa.svn-base new file mode 100644 index 0000000..6bb19bb --- /dev/null +++ b/.svn/pristine/94/940861b51daaf2ac827a498a2ac881b29f2875aa.svn-base @@ -0,0 +1,106 @@ +/** @file + * @brief Implementation of the virtual functor for graphslam + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPHSLAM_6D_H__ +#define __GRAPHSLAM_6D_H__ + +#include +using std::vector; +#include +using std::map; +/*#include +using std::pair;*/ + +#include "icp6D.h" +#include "graph.h" +#include "newmat/newmatio.h" +#include "sparse/csparse.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair +using namespace NEWMAT; +typedef pair uipair; +typedef pair< uipair, Matrix* > uimpair; + + +class GraphMatrix { + public: + void add(const unsigned int i, const unsigned int j, Matrix &Cij); + void subtract(const unsigned int i, const unsigned int j, Matrix &Cij); + void print() ; + void convertToCS(cs* T); + + ~GraphMatrix(); + + + private: + map< uipair, Matrix* > matrix; + map< uipair, Matrix* >::iterator it; +}; + +class graphSlam6D { + +public: + /** + * Constructor + */ + graphSlam6D() { }; + + graphSlam6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM); + + /** + * Destructor + */ + virtual ~graphSlam6D(); + + virtual double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt) = 0; + + void matchGraph6Dautomatic(vector MetaScan, int nrIt, double cldist, int loopsize); + void matchGraph6Dautomatic(vector MetaScan, int nrIt, int clpairs, int loopsize); + Graph *computeGraph6Dautomatic(vector allScans, int clpairs); + + NEWMAT::ColumnVector solveSparseCholesky(GraphMatrix *G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveSparseCholesky(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveSparseQR(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveCholesky(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solve(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + + void writeMatrixPGM(const NEWMAT::Matrix &G); + void set_mdmll(double mdmll); + inline void set_quiet(bool _quiet) { quiet = _quiet;}; + +protected: + /** + * pointer to the ICP framework + */ + icp6D *my_icp; + + /** + * the epsilon for LUM + */ + double epsilonLUM; + + /** + * the maximal distance (^2 !!!) for matching in LUM + */ + double max_dist_match2_LUM; + + /** + * indicates the NNS method being used + */ + int nns_method; + + /** + * be quiet + */ + bool quiet; + + + long ctime; +}; + +#endif diff --git a/.svn/pristine/94/94aad30f03099c1bb55ea4a9d35ba4b1d7ebbf43.svn-base b/.svn/pristine/94/94aad30f03099c1bb55ea4a9d35ba4b1d7ebbf43.svn-base new file mode 100644 index 0000000..4119b36 --- /dev/null +++ b/.svn/pristine/94/94aad30f03099c1bb55ea4a9d35ba4b1d7ebbf43.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/94/94e3ef8254fc325c698f0279ff4d9ed2d5526339.svn-base b/.svn/pristine/94/94e3ef8254fc325c698f0279ff4d9ed2d5526339.svn-base new file mode 100644 index 0000000..144fc13 --- /dev/null +++ b/.svn/pristine/94/94e3ef8254fc325c698f0279ff4d9ed2d5526339.svn-base @@ -0,0 +1,219 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_rxp.h" +#include "riegl/scanlib.hpp" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_rxp::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + string rxp = ".rxp"; + if (dir.rfind(rxp) == dir.length() - rxp.length() - 1) { // dir is a .rxp file + string shortdir = dir; + shortdir.erase(shortdir.length() -1); // erase last character + if (!dec) { + rc = basic_rconnection::create(shortdir); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(&ptss, maxDist, minDist, start); + } + + buffer buf; + + // skip the first scans + if (imp->getCurrentScan() < start ) { + for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + if (imp->getCurrentScan() >= start) break; + } + } + if (dec->eoi()) return -1; + int cscan = imp->getCurrentScan(); + // iterate over chunks, until the next scan is reached + for ( dec->get(buf); !dec->eoi() ; dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + if (imp->getCurrentScan() != cscan) break; + } + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + //done + } else { + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + scanFileName = "file://" + dir + "scan" + to_string(fileCounter,3) + ".rxp"; + + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + pose_in.close(); + pose_in.clear(); + + + // open scanfile + rc = basic_rconnection::create(scanFileName); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(&ptss, maxDist, minDist); + + // iterate over chunks + buffer buf; + for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + + } + + + fileCounter++; + + return fileCounter-1; +} + +void importer::on_echo_transformed(echo_type echo) +{ + if (currentscan < start) return; + // targets is a member std::vector that contains all + // echoes seen so far, i.e. the current echo is always + // indexed by target_count-1. + target& t(targets[target_count - 1]); + + // target.reflectance + // target.amplitude + // target.deviation + // target.time + // target.vertex point coordinates + // + + Point p; + + p.x = t.vertex[1]*-100.0; + p.y = t.vertex[2]*100.0; + p.z = t.vertex[0]*100.0; + + p.reflectance = t.reflectance; + p.amplitude = t.amplitude; + p.deviation = t.deviation; + + + if ( pointcloud::first == echo ) { + p.type = 0; + } else if ( pointcloud::interior == echo ) { + p.type = 1; + } else if ( pointcloud::last == echo ) { + p.type = 10; + } else if ( pointcloud::single == echo ){ + p.type = 9; + } + if(maxD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxD*maxD) { + if(minD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minD*minD) { + { + if((sqr(p.x) + sqr(p.y) + sqr(p.z)) > 0.1)o->push_back(p); + } + } + } +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rxp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/95/950132edca548379461a4a18da6ee8f480c97f89.svn-base b/.svn/pristine/95/950132edca548379461a4a18da6ee8f480c97f89.svn-base new file mode 100644 index 0000000..93d58ff --- /dev/null +++ b/.svn/pristine/95/950132edca548379461a4a18da6ee8f480c97f89.svn-base @@ -0,0 +1,540 @@ +\documentclass[12pt,dvips]{article} + +\usepackage[T1]{fontenc} +\usepackage[isolatin]{inputenc} +\usepackage{a4} +\usepackage{url} +\usepackage{afterpage} +\usepackage{latexsym} +\usepackage{graphicx} +\usepackage{longtable} +\usepackage{amsmath} +\usepackage[rflt]{floatflt} +\usepackage{fancybox} +\usepackage{bbm} +\usepackage{cite} +\usepackage{picins} + +\usepackage[dvips]{epsfig} + +\parindent0mm +\parskip5pt plus1pt minus2pt +\textwidth16cm +\textheight22cm +\topmargin-1cm +\oddsidemargin0cm + +\renewcommand\floatpagefraction{1.0} +\renewcommand\topfraction{1.0} +\renewcommand\bottomfraction{1.0} +\renewcommand\textfraction{0.0} +\def\dbltopfraction{1.0} +\def\bottomfraction{1.0} +\def\dblfloatpagefraction{1.0} + + +\setcounter{secnumdepth}{5} +%% \setcounter{section}{-1} + +\newcommand{\OO}{{\cal O}} +\newcommand{\bc}{\begin{center}} +\newcommand{\ec}{\end{center}} + +\newcommand{\VNull}{\mathbf{0}} +%\newcommand{\transp}{^{\textsf{T}}} +\newcommand{\transp}{^T} +\renewcommand{\phi}{\varphi} +\newcommand{\verf}[1]{\textsf{#1}} +\renewcommand{\v}[1]{\text{\boldmath $#1$}} +\newcommand{\V}[1]{\text{\boldmath $#1$}} +\newcommand{\m}[1]{\v{#1}} % Format "Matrix" +\newcommand{\M}[1]{\v{#1}} % Format "Matrix" +\newcommand{\sR}{\ensuremath{{\cal R}}} % Referenz-Scan +\newcommand{\sS}{\ensuremath{{\cal S}}} % aktueller Scan +\renewcommand{\O}{{\cal O}} +\newcommand{\norm}[1]{\left | \left | #1 \right | \right |} + +\newcommand{\Vector}[2]{\begin{pmatrix} #1 \\ #2 \end{pmatrix}} +\newcommand{\VEctor}[3]{\begin{pmatrix} #1 \\ #2 \\ #3 \end{pmatrix}} +\newcommand{\hist}[1]{{\cal #1}} +\newcommand{\trace}[1]{\mbox{tr}\left( #1 \right)} + +\newcommand{\rVEctor}[3]{ +\left(\!\!\!\begin{array}{l} +#1 \\ #2 \\ #3 +\end{array}\!\!\right)} +\newenvironment{rmatrix} +{\left(\!\!\!\begin{array}{rr}} +{\end{array}\!\!\right)} +\newenvironment{Rmatrix} +{\left(\!\!\!\begin{array}{rrr}} +{\end{array}\!\!\right)} +\newcommand{\filter}[3]{\ensuremath{\bigl[\,#1,\;#2,\;#3\,\bigr]}} +\newcommand{\R}{\mathbbm{R}} +\newcommand{\N}{\mathbbm{N}} +%\newcommand{\R}{\mathbb{R}} +%\newcommand{\N}{\mathbb{N}} +\newcommand{\grad}{\ensuremath{^{\circ}}} +\newcommand{\textmenge}[2]{\{\, #1 \,| \; #2 \}} +\newcommand{\menge}[2]{\left\{\, #1 \,\left| \; #2 \right.\right\} } +\newcommand{\Menge}[2]{\bigl\{\, #1 \,| \; #2 \bigr\} } +\newcommand{\fueralle}[2]{\forall \, #1\!: \; #2} +\newcommand{\esgibt}[2]{\exists \, #1\!: \; #2} +\newcommand{\Widehat}[1]{\widehat{#1\hspace{+.5ex}}\hspace{-.5ex}} +\newcommand{\textSF}[1]{\textsf{\small #1}} +\newcommand{\textSFsmall}[1]{\textsf{\scriptsize #1}} +\newcommand{\verfSmall}[1]{\textSFsmall{#1}} +\newcommand{\eps}{{\epsilon}} +\renewcommand{\epsilon}{\varepsilon} +\newcommand{\vR}{v_{\text{set}}} +\newcommand{\oR}{\omega_{\text{set}}} +\newcommand{\ATAN}{\text{atan2}} + +%\renewcommand{\familydefault}{\sfdefault} + +%%---------------------------------------------------------------- +%%---------------------------------------------------------------- + +\begin{document} + +{ +\title{\vspace*{-5mm} +\bf 6D SLAM -- \\%[.5cm] +Simultaneous 6 D.O.F. Localization \\and 3D Mapping\\%[1cm] +} +\author{ +\scalebox{.65}{\includegraphics{unilogo.eps}}\\[3ex] +Andreas N\"uchter, Kai Lingemann, Joachim Hertzberg\\ +Department of Mathematics/Computer Science\\ +Institute of Computer Science\\ +Knowledge-Based Systems Research Group\\ +University of Osnabr\"uck\\ +{\small \texttt{http://www.informatik.uni-osnabrueck.de/kbs/}} +} + +\maketitle +\thispagestyle{empty} + +\vspace*{-12mm} + +\begin{center} +\includegraphics[height=50mm]{stylish_scanner} +\end{center} + +\vspace*{1mm} + +\begin{center} +\textbf{Documentation} +\end{center} + +\begin{quote} +This document describes the algorithms for 6D SLAM -- +Simultaneous 6 D.O.F. Localization and 3D Mapping system. 6D SLAM +with mobile robots considers six dimensions for the robot pose, +namely the $x$, $y$ and $z$ coordinates and the roll, yaw and +pitch angles. Robot motion and localization on natural surfaces, +e.g., driving with a mobile robot outdoor, must necessarily +regard these degrees of freedom. +\end{quote} + +\newpage +\setcounter{page}{1} + +\section{Range Image Registration and Robot Relocalization} + +Multiple 3D scans are necessary to digitalize environments +without occlusions. To create a correct and consistent model, the +scans have to be merged into one coordinate system. This process +is called registration. If robot carrying the 3D scanner were +precisely localized, the registration could be done directly +based on the robot pose. However, due to the unprecise robot +sensors, self localization is erroneous, so the geometric +structure of overlapping 3D scans has to be considered for +registration. + +The following method for registration of point sets is part of +many publications, so only a short summary is given here. The +complete algorithm was invented in 1992 and can be found, e.g., +in \cite{Besl_1992}. The method is called \emph{Iterative Closest +Points (ICP) algorithm}. + +Given two independently acquired sets of 3D points, $M$ (model +set, $|M| = N_m$) and $D$ (data set, $|D| = N_d$) which +correspond to a single shape, we aim to find the transformation +consisting of a rotation $\M R$ and a translation $\V t$ which +minimizes the following cost function: +\begin{equation}\label{DMin} +E(\M R, \V t) = +\sum_{i=1}^{N_m}\sum_{j=1}^{N_d}w_{i,j}\norm{\V m_{i}-(\M R +\V d_j+\V t)}^2. +\end{equation} +$w_{i,j}$ is assigned 1 if the $i$-th point of $M$ describes the +same point in space as the $j$-th point of $D$. Otherwise +$w_{i,j}$ is 0. Two things have to be calculated: First, the +corresponding points, and second, the transformation ($\M R$, +$\V t$) that minimize $E(\M R, \V t)$ on the base of the +corresponding points. + +The ICP algorithm calculates iteratively the point +correspondences. In each iteration step, the algorithm selects +the closest points as correspondences and calculates the +transformation ($\M R, \V t$) for minimizing equation +(\ref{DMin}). The assumption is that in the last iteration step +the point correspondences are correct. Besl et al. prove that +the method terminates in a minimum \cite{Besl_1992}. However, +this theorem does not hold in our case, since we use a maximum +tolerable distance $d_\text{max}$ for associating the scan +data. Such a threshold is required, given that the 3D scans +overlap only partially. Fig. \ref{samplematch} (top) shows three +frames, i.e., iteration steps, of the ICP algorithm. The bottom +part shows the start poses $(x,z,\theta_y)$ from which a correct +matching is possible, here with only three degrees of freedom. + +\begin{figure*} +\begin{center} +\includegraphics[width=50mm]{frame1_final}~~ +\includegraphics[width=50mm]{frame2_final}~~ +\includegraphics[width=50mm]{frame3_final} \\[1.5ex] +\caption{{Left: Initial odometry based pose of two 3D + scans. Middle: Pose after five ICP iterations. Right: final + alignment, pairwise matching. +\vspace*{-6mm} +}}\label{samplematch} +\end{center} +\end{figure*} + + +\subsection{Calculation of the rotation and translation} + +In every iteration the optimal tranformation ($\M R$, $\V t$) +has to be computed. Eq. (\ref{DMin}) can be reduced to +\begin{eqnarray} +E(\M R, \V t) & \propto & \frac{1}{N} \sum_{i=1}^N +\norm{\V m_i - (\M R \V d_i + \V t)}^2,\label{DualDMin} +\end{eqnarray} +with $N = \sum_{i=1}^{N_m}\sum_{j=1}^{N_d}w_{i,j}$, since the +correspondence matix can be represented by a vector containing +the point pairs. + +Four methods are known to minimize eq. (\ref{DualDMin}) +\cite{Lorusso_1995}. The 6D SLAM system uses the following one, +based on singular value decomposition (SVD), is robust and easy +to implement, thus we give a brief overview of the SVD-based +algorithms. It was first published by Arun, Huang and Blostein +\cite{Arun_1987}. The difficulty of this minimization problem is +to enforce the orthonormality of matrix $\M R$. The first step of +the computation is to decouple the calculation of the rotation +$\M R$ from the translation $\V t$ using the centroids of the +points belonging to the matching, i.e., +\begin{eqnarray} +\V c_m = \frac{1}{N} \sum_{i=1}^{N} \V m_{i}, \qquad \qquad \V c_d = \frac{1}{N} +\sum_{i=1}^{N} \V d_{j}\label{schwerpunkt2} +\end{eqnarray} +and +\begin{eqnarray} +M' &=& \{ \V m'_{i} = \V m_{i} - \V c_{m} \}_{1,\ldots,N}, \label{d_neu1}\\ +\qquad +D' &=& \{ \V d'_{i}\ = \V d_{i}\, - \V c_{d} \}_{1,\ldots,N}\label{d_neu2}. +\end{eqnarray} + + +After replacing (\ref{schwerpunkt2}), (\ref{d_neu1}) and +(\ref{d_neu2}) in the error function, $E(\M R,\V t)$ +eq. (\ref{DualDMin}) becomes: +\begin{subequations} +\begin{eqnarray} +E(\M R, \V t) +\!\!\!\!\!&\propto&\!\!\!\!\! \frac{1}{N} \sum_{i=1}^{N} +\lvert\lvert{\V m'_{i}-\M R \V d'_i-\underbrace{(\V t-\V c_m+\M R + \V c_d)}_{= \tilde {\V t}}\lvert\lvert}^2 +\nonumber \\ +&=&\!\!\!\!\! \frac{1}{N}\sum_{i=1}^{N}\norm{\V m'_{i}-\M R \V d'_i}^2 +\label{DMinpart1} \\ +&&- \frac{2}{N} \tilde {\V t} \cdot \sum_{i=1}^{N} \left( \V +m'_{i}-\M R \V d'_i \right) \label{DMinpart2} \\ +&&+ \frac{1}{N} +\sum_{i=1}^{N}\norm{\tilde {\V +t}}^2. \label{DMinpart3}\label{fehlerneu} +\end{eqnarray} +\end{subequations} +In order to minimize the sum above, all terms have to be +minimized. The second sum (\ref{DMinpart2}) is zero, since all +values refer to centroid. The third part (\ref{DMinpart3}) has +its minimum for $\tilde {\V t} = \VNull$ or +\begin{eqnarray}\label{translatB} + \V t = \V c_m - \M R \V c_d. +\end{eqnarray} +Therefore the algorithm has to minimize only the first +term, and the error function is expressed in terms of the +rotation only: +\begin{eqnarray}\label{DMinn} +E(\M R, \V t) \propto +\sum_{i=1}^{N}\norm{\V m'_{i}-\M R \V d'_i}^2. +\end{eqnarray} + +\noindent \textit{Theorem:} The optimal rotation is calculated +by $\M R = \M V \M U^T$. Herby the matrices $\M V$ and $\M U$ are +derived by the singular value decomposition $\M H = \M U \M +\Lambda \M V^T$ of a correlation matrix $\M H$. This $3 \times 3$ matrix +$\M H$ is given by +\begin{eqnarray} +\M H = \sum_{i=1}^{N} \V m'^T_i \V d'_i + = \left( +\begin{array}{ccc} +S_{xx} & S_{xy} & S_{xz} \\ +S_{yx} & S_{yy} & S_{yz} \\ +S_{zx} & S_{zy} & S_{zz} \\ +\end{array} +\right), \label{Korrelationsmatrix} +\end{eqnarray} +with $S_{xx} = \sum_{i=1}^{N} \ m'_{ix} d'_{ix}, \ S_{xy} = +\sum_{i=1}^{N} \ m'_{ix} d'_{iy}, \ \ldots \, $. The analogous +algorithm is derived directly from this theorem. +\medskip + + +\textit{Proof:} Since rotation is length preserving, i.e., +$\lvert\lvert\M R\V d'_i\lvert\lvert^2 = \lvert\lvert \V +d'_i\lvert \lvert^2$ the error function (\ref{DMinn}) is expanded +\begin{eqnarray*} +E(\M R, \V t) \propto +\sum_{i=1}^{N}\norm{\V m'_i}^2 +- 2 \sum_{i=1}^{N} \V m'_{i} \cdot \M R +\V d'_i ++ \sum_{i=1}^{N} \norm{\V d'_i}^2. +\end{eqnarray*} +The rotation affects only the middle term, thus it is sufficient +to maximize +\begin{eqnarray}\label{max} +\sum_{i=1}^{N} \V m'_{i} \cdot \M R \V +d'_i +& = & +\sum_{i=1}^{N} \V {m'_{i}}^T \M R \V +d'_i. +\end{eqnarray} +Using the trace of a matrix, (\ref{max}) can be rewritten to +obtain +\begin{eqnarray*} +\trace{\sum_{i=1}^{N} \M R \V d'_i \V {m'_{i}}^T } = +\trace{\M R \M H}, +\end{eqnarray*} +With $\M H$ defined as in (\ref{Korrelationsmatrix}). Now we have +to find the matrix $\M R$ that maximizes $\trace{\M R \M H}$. + +Assume that the singular value decomposition of $\M H$ is +\begin{eqnarray*} + \M H = \M U \M \Lambda \M V^T, +\end{eqnarray*} +with $\M U$ and $\M V$ orthonormal $3 \times 3$ matrices and $\M +\Lambda$ a $3 \times 3$ diagonal matrix without negative +elements. Suppose +\begin{eqnarray*} +\M R = \M V \M U^T. +\end{eqnarray*} +$\M R$ is orthonormal and +\begin{eqnarray*} +\M R \M H & = & \M V \M U^T \M U \M \Lambda \M V^T \\ +& = & \M V \M \Lambda \M V^T +\end{eqnarray*} +is a symmetric, positive definite matrix. Arun, Huang and +Blostein provide a lemma to show that +\begin{eqnarray*} +\trace{\M R \M H} \geq \trace{\M B \M R \M H} +\end{eqnarray*} +for any orthonormal matrix $\M B$. Therefore the matrix $\M R$ is +optimal. Prooving the lemma is straightforward using the +Cauchy-Schwarz \cite{Arun_1987}. Finally, the +optimal translation is calculated as (cf. eq. (\ref{DMinpart3}) +and (\ref{translatB})) +\begin{eqnarray*} +\V t = \V c_m - \M R \V c_d. +\end{eqnarray*} + + +\section{ICP-based 6D SLAM} + +To match two 3D scans with the ICP algorithm it is necessary to +have a sufficient starting guess for the second scan pose. + +\begin{itemize} +\item + Extrapolate the odometry readings to all six degrees of freedom + using previous registration matrices. The change of the robot + pose $\Delta \M P$ given the odometry information + $(x_n,z_n,\theta_{y,n})$, $(x_{n+1},z_{n+1},\theta_{y,n+1})$ + and the registration matrix $\M R({\theta_{x,{n}}}, + {\theta_{y,{n}}}, {\theta_{z,{n}}})$ is calculated by solving: + +\begin{small} +\begin{eqnarray} +\left( +\begin{array}{c} +x_{n+1} \\ +y_{n+1} \\ +z_{n+1} \\ +{\theta_{x,{n+1}}} \\ +{\theta_{y,{n+1}}} \\ +{\theta_{z,{n+1}}} \\ +\end{array} +\right) += +\left( +\begin{array}{c} +x_{n} \\ +y_{n} \\ +z_{n} \\ +{\theta_{x,{n}}} \\ +{\theta_{y,{n}}} \\ +{\theta_{z,{n}}} \\ +\end{array} +\right) ++ +\left( +\begin{array}{ccc|ccc} + & & & & & \\ + & \M R({\theta_{x,{n}}},{\theta_{y,{n}}}, {\theta_{z,{n}}}) & & & \M 0 & +\\ + & & & & & \\ +\hline + & & & 1 & 0 & 0 \\ + & \M 0 & & 0 & 1 & 0 \\ + & & & 0 & 0 & 1 \\ +\end{array} +\right) +\cdot +\underbrace{\left( +\begin{array}{c} +\Delta x_{n+1} \\ +\Delta y_{n+1} \\ +\Delta z_{n+1} \\ +\Delta {\theta_{x,{n+1}}} \\ +\Delta {\theta_{y,{n+1}}} \\ +\Delta {\theta_{z,{n+1}}} \\ +\end{array} +\right).}_{\Delta \V P} \label{PosUpdate6D} +\label{extrapol} +\end{eqnarray} +\end{small} + +Therefore, calculating $\Delta \V P$ requires a matrix +inversion. Finally, the 6D pose $\M P_{n+1}$ is calculated by +\vspace*{-2mm} +\begin{small} +\begin{eqnarray*}\label{inital6DPose} +\M P_{n+1} = \Delta \M P \cdot \M P_{n} +\end{eqnarray*} +\end{small} +using the poses' matrix representations.\\[-1.5ex] + + +\end{itemize} + +\section{Variable Correspondences} + +\begin{tabular}{lll} +$(\M R, \V t)$ & \texttt{double alignxf[16]} & Transformation + Matrix \\ +$\V m_i$, $\V d_i$ & \texttt{class PtPair} & Point Pair\\ +$\V c_m$, $\V c_d$ & \texttt{double cm[3], cd[3]} & Centroids\\ +$\V m'_i$, $\V d'_i$ & \texttt{double** m, d} & Centered + Point Pairs\\ +$\M H$, $\M U$, $\M \Lambda$, $\M V$ & \texttt{Matrix} & SVD + Matrices\\ +$\M R$ & \texttt{double transMat[16]} & Pose as Matrix\\ +$(x_n, y_n, z_n)$ & \texttt{double rPos[3]} & Position of $n$-th 3D Scan\\ +$(\theta_{x,n}, \theta_{y,n}, \theta_{z,n})$ & \texttt{double + rPostheta[3]} & Rotation of $n$-th 3D Scan\\ +\end{tabular} + +\section{File Formats and Units} + +\begin{figure} +\begin{center} +\includegraphics[width=3.2cm]{coordinate_system_white} +\caption{Left handed coordinate system.}\label{coord} +\end{center} +\end{figure} +The coordinate system is left handed, with the $y$ axis pointing +upwards, and the depth axis $z$ (cf. Figure~\ref{coord}). Input +and output files are: + +\footnotetext[1]{stating + with \texttt{XXX} = 000, 001,\dots, until no more files are + found in the specified directory.} + +\begin{enumerate} +\item The 3D scan files (\texttt{scanXXX.3d})\footnotemark[1]\ + have to be of the following structure:\\ The first line + contains the scan's resolution (w x b), followed by lines of + data points (x, y, z). +% +\item The pose files (\texttt{scanXXX.pose})\footnotemark[1]\ associated with each + 3D scan contain information of the estimated pose of the + respective scan as given by, e.g., odometry. The first line + contains the 3 translatorial positions ($x$, $y$, $z$), the + second the rotations pitch, yaw and roll ($\theta_x$, + $\theta_y$, $\theta_z$ around the respective axis) in deg.\\ + Values that are not estimated by the robot (odometry) can be + set to 0 and are extrapolated as described by Eq.~\eqref{extrapol}. +% +\item The SLAM program generated files \texttt{scanXXX.frames}, + consisting of the transformations computed from the scan + matching. Each line contains a $4 \times 4$ OpenGL-style + matrix. The very last matrix is the final transformation for + registering the scan into the common coordinate system. + + The matrix is stored in the following format: + \begin{quote} + $(R[1,1], R[1,2], 0, R[1,3], 0, R[2,1], R[2,2], R[2,3], 0, + R[3,1], R[3,2], R[3,3], 0,$\\$t[1], t[2], t[3], 1),$ + \end{quote} + with $R[x,y]$ the $(x,y)$-th entry of the rotation matrix $\M R$, and + $t[x]$ the $x$-th translation component of $\V t$. +\end{enumerate} + +\section{Requirements} + +All executables can be compiled and used both with Linux and Windows. + +\begin{description} +\item[Linux:] The system was developed and tested under Linux 9.1 with + the g++ compiler version 3.3.3. As additional library, + \texttt{OpenGL} and \texttt{glut} have to be installed, which + should be included in your Linux distribution (tested with + freeglut 2.2.0-78).\\ + To compile, type in \texttt{make} in the main directory. The + executables are generated in the \texttt{./bin} directory. +\item[Windows:] + The system was tested with the C++ compiler from Microsoft Visual + Studio.NET 2005. + To compile, load the respective project file (\texttt{.sln}) + from the directory \texttt{.$\backslash$Visual\_Studio\_Projects$\backslash$}. + The executables are generated in the respective \texttt{Debug} + or \texttt{Release} directories, depending on your compiler settings.\\ + Precompiled versions can be found in the \texttt{./bin} + directory, too. If moving the executables, take care about the \texttt{glut} + directory as well. +\end{description} + +\section{Usage} + +For a detailed explanation about the programs' usage, just start +the respective binary. Both applcations can be configured by a +set of command line parameters, which are explained when starting +the program as mentioned above. + +Especially, take care of the reduction parameters +\texttt{-r}/\texttt{-R} of the SLAM system: Without using one of +those, the registration is being slowed down tremendously due to +taking \emph{all} data points as input. Other potentially +critical parameters are the maximal distance of points that may +form corresponding point pairs (matrix entries $w_{ij}$, +parameter \texttt{-d}), as well as the maximal range distance of +points used for scan matching or displaying (\texttt{-m}), +especially used for eliminating outliers (i.e., data points with +the maximal range distance of the range finder). + +\bibliographystyle{plain} +\bibliography{diss,paper,diplom} + +\end{document} \ No newline at end of file diff --git a/.svn/pristine/95/95a42869a0bfa2c811888ede4ee2040ab01d1633.svn-base b/.svn/pristine/95/95a42869a0bfa2c811888ede4ee2040ab01d1633.svn-base new file mode 100644 index 0000000..66ad156 --- /dev/null +++ b/.svn/pristine/95/95a42869a0bfa2c811888ede4ee2040ab01d1633.svn-base @@ -0,0 +1,92 @@ +/** + * @file Representation of the Accumulator Cube. + * + * This file contains the functions necessary to perform the transformations + * between normal vectors and cube coordinates. The representation is taken + * from + * A. Censi and S. Carpin, + * HSM3D: Feature-Less Global 6DOF Scan-Matching in the Hough/Radon Domain, + * In Proceedings of the IEEE International Conference on Robotics and + * Automation, 2009. + * + * The code in this file is a modified version of the code given by the authors + * on http://purl.org/censi/2008/hsm3d + * + * We gratefully appreciate the work of the authors and thank them for making + * the code publically available. + * + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +/* + + AUTORIGHTS + Copyright (c) 2008 The Regents of the University of California. + All Rights Reserved. + + Created by Stefano Carpin + University of California, Merced, Robotics Lab - School of Engineering + + Permission to use, copy, modify, and distribute this software and its + documentation for educational, research and non-profit purposes, without fee, + and without a written agreement is hereby granted, provided that the above + copyright notice, this paragraph and the following three paragraphs appear in + all copies. + + This software program and documentation are copyrighted by The Regents of the + University of California. The software program and documentation are supplied + "as is", without any accompanying services from The Regents. The Regents does + not warrant that the operation of the program will be uninterrupted or + error-free. The end-user understands that the program was developed for + research purposes and is advised not to rely exclusively on the program for + any reason. + + IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR + DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING + LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, + EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF + SUCH DAMAGE. THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED + HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO + OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR + MODIFICATIONS. + + */ + +#ifndef __HSM3D_H__ +#define __HSM3D_H__ +#include +/*! + \brief A point on the face of the cube with edge size 2 + and centered in 0,0,0 + */ +struct cube_point { + /*! Face of the cube. Must be between 1 and 6 */ + unsigned short int face; + /*! First coordinate on the face. Must be between -1 and 1*/ + double u; + /*! Second coordinate on the face. Must be between -1 and 1*/ + double v; +}; + +/*! + \brief Buffer representing a discretization of cube_point elements + as patches on faces + + Discretizes the the cube centered with edge size 2 + and centered in 0,0,0 using the same number of patches on each face. + Resolution is not stored in the class. + */ +struct buffer_point { + /*! Face of the cube. Must be between 1 and 6 */ + unsigned short int face; + /*! First patch index */ + unsigned int i; + /*! Second path index */ + unsigned int j; +}; + +bool real_compare(double x, double y); + +#endif diff --git a/.svn/pristine/95/95f00480dfb086c40ccc1f56d47927b7c9dbbc85.svn-base b/.svn/pristine/95/95f00480dfb086c40ccc1f56d47927b7c9dbbc85.svn-base new file mode 100644 index 0000000..340a647 --- /dev/null +++ b/.svn/pristine/95/95f00480dfb086c40ccc1f56d47927b7c9dbbc85.svn-base @@ -0,0 +1,63 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_H__ +#define __SCAN_IO_H__ + +#include +using std::string; +#include +using std::vector; + +#include "point.h" + +/** + * @brief IO of a 3D scan + * + * This class needs to be instantiated by a class loading + * 3D scans from different file formats. + */ +class ScanIO { +public: + /** + * Default constructor + */ + ScanIO() {} + /** + * Destructor + */ + virtual ~ScanIO() {} + + /** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function is pure virtual. The actual functions + * for loading a 3D scan are called scan_io_* + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) = 0; +}; + +// Since the shared object files are loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/95/95f56c03058030b9a7493beaaee9c929909dc9cc.svn-base b/.svn/pristine/95/95f56c03058030b9a7493beaaee9c929909dc9cc.svn-base new file mode 100644 index 0000000..214d80c --- /dev/null +++ b/.svn/pristine/95/95f56c03058030b9a7493beaaee9c929909dc9cc.svn-base @@ -0,0 +1,624 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: spinctld.h +// Author: John Labenski +// Created: 11/05/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "spinctld.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/valtext.h" // for wxTextValidator + #include "wx/textctrl.h" +#endif // WX_PRECOMP + +#include "wx/things/spinctld.h" +#include + +#if wxCHECK_VERSION(2,5,0) + #include "wx/math.h" +#else + #if defined(__VISUALC__) || defined(__BORLANDC__) || defined(__WATCOMC__) + #include + #define wxFinite(x) _finite(x) + #elif defined(__GNUG__)||defined(__GNUWIN32__)||defined(__DJGPP__)|| \ + defined(__SGI_CC__)||defined(__SUNCC__)||defined(__XLC__)|| \ + defined(__HPUX__)||defined(__MWERKS__) + #define wxFinite(x) finite(x) + #else + #define wxFinite(x) ((x) == (x)) + #endif +#endif // wxCHECK_VERSION(2,5,0) + +// NOTES : if the textctrl is focused and the program is ending, a killfocus +// event is sent in MSW, this is why m_textCtrl is set to NULL in it's +// destructor and there's so many checks for it not being NULL + +//---------------------------------------------------------------------------- +// wxSpinCtrlDbl +//---------------------------------------------------------------------------- + +// the textctrl used for the wxSpinCtrlDbl, needed for keypresses +class wxSpinCtrlDblTextCtrl : public wxTextCtrl +{ +public: + wxSpinCtrlDblTextCtrl( wxWindow *parent, wxWindowID id, + const wxString &value = wxEmptyString, + const wxPoint &pos = wxDefaultPosition, + const wxSize &size = wxDefaultSize, + long style = 0, + const wxValidator& validator = wxDefaultValidator, + const wxString &name = wxTextCtrlNameStr); + + // MSW sends extra kill focus event + virtual ~wxSpinCtrlDblTextCtrl() + { + if (m_parent) m_parent->m_textCtrl = NULL; + m_parent = NULL; + } + + wxSpinCtrlDbl *m_parent; + + void OnChar( wxKeyEvent &event ); // pass chars to wxSpinCtrlDbl + void OnKillFocus( wxFocusEvent &event ); // sync the spin to textctrl + +private: + DECLARE_EVENT_TABLE() +}; + +BEGIN_EVENT_TABLE(wxSpinCtrlDblTextCtrl,wxTextCtrl) +// EVT_TEXT_ENTER( wxID_ANY, wxSpinCtrlDblTextCtrl::OnTextEnter ) // get them from spinctrldbl +// EVT_TEXT( wxID_ANY, wxSpinCtrlDblTextCtrl::OnTextUpdate ) // get them from spinctrldbl + EVT_CHAR( wxSpinCtrlDblTextCtrl::OnChar ) + EVT_KILL_FOCUS( wxSpinCtrlDblTextCtrl::OnKillFocus ) +END_EVENT_TABLE() + +wxSpinCtrlDblTextCtrl::wxSpinCtrlDblTextCtrl( wxWindow *parent, wxWindowID id, + const wxString &value, + const wxPoint &pos, const wxSize &size, + long style, + const wxValidator& validator, + const wxString &name) + :wxTextCtrl( parent, id, value, pos, size, style, + validator, name) +{ + m_parent = (wxSpinCtrlDbl*)parent; +} + +void wxSpinCtrlDblTextCtrl::OnChar( wxKeyEvent &event ) +{ + if (m_parent) m_parent->OnChar( event ); +} + +void wxSpinCtrlDblTextCtrl::OnKillFocus( wxFocusEvent &event ) +{ + if (m_parent) m_parent->SyncSpinToText(true); + event.Skip(); +} + +//---------------------------------------------------------------------------- +// wxSpinCtrlDbl +//---------------------------------------------------------------------------- + +IMPLEMENT_DYNAMIC_CLASS( wxSpinCtrlDbl, wxControl ) + +BEGIN_EVENT_TABLE(wxSpinCtrlDbl,wxControl) + EVT_SPIN_UP ( wxID_ANY, wxSpinCtrlDbl::OnSpinUp ) + EVT_SPIN_DOWN ( wxID_ANY, wxSpinCtrlDbl::OnSpinDown ) + EVT_TEXT_ENTER( wxID_ANY, wxSpinCtrlDbl::OnTextEnter ) + //EVT_TEXT ( wxID_ANY, wxSpinCtrlDbl::OnText ) + EVT_SET_FOCUS ( wxSpinCtrlDbl::OnFocus ) + EVT_KILL_FOCUS( wxSpinCtrlDbl::OnKillFocus ) +END_EVENT_TABLE() + +void wxSpinCtrlDbl::Init() +{ + m_min = 0; + m_max = 100; + m_value = 0; + m_default_value = 0; + m_increment = 1; + m_digits = wxSPINCTRLDBL_AUTODIGITS; + m_snap_ticks = false; + m_spinButton = NULL; + m_textCtrl = NULL; +} + +bool wxSpinCtrlDbl::Create( wxWindow *parent, wxWindowID id, + const wxString& value, + const wxPoint& pos, const wxSize& size, + long style, + double min, double max, + double initial, + double increment, int digits, + const wxString& name) +{ + if (!wxControl::Create(parent, id, pos, size, style|wxNO_BORDER, + wxDefaultValidator, name)) + return false; + + wxControl::SetLabel(name); + wxControl::SetBackgroundColour(parent->GetBackgroundColour()); + wxControl::SetForegroundColour(parent->GetForegroundColour()); + + int width = size.GetWidth(), height = size.GetHeight(); + + wxSize best_size( DoGetBestSize() ); + if (width == -1) width = best_size.GetWidth(); + if (height == -1) height = best_size.GetHeight(); + + // Create a validator for numbers, +-, and eE for exponential + wxTextValidator validator(wxFILTER_INCLUDE_CHAR_LIST); + +#if wxCHECK_VERSION(2, 5, 4) + wxArrayString list; + + wxString valid_chars(wxT(" 0123456789+-.eE")); + size_t len = valid_chars.Length(); + for (size_t i=0; iGetSize().GetWidth(), height), + wxTE_NOHIDESEL|wxTE_PROCESS_ENTER, validator); + + DoSetSize( pos.x, pos.y, width, height ); + SetBestSize(wxSize(width, height)); + + m_min = min; + m_max = max; + m_value = initial; + m_default_value = initial; + m_increment = increment; + SetDigits( digits ); + + // set the value here without generating an event + if (!value.IsEmpty()) + m_textCtrl->SetValue(value); + else + m_textCtrl->SetValue(wxString::Format(m_textFormat.c_str(), initial)); + + return true; +} + +wxSpinCtrlDbl::~wxSpinCtrlDbl() +{ + if (m_textCtrl) // null this since MSW sends KILL_FOCUS on deletion + { + m_textCtrl->m_parent = NULL; + + wxSpinCtrlDblTextCtrl *text = m_textCtrl; + m_textCtrl = NULL; + delete text; + } + + delete m_spinButton; + m_spinButton = NULL; +} + +#define wxSPINCTRLDBL_SPIN_WIDTH 15 +#define wxSPINCTRLDBL_SPIN_HEIGHT 22 + +void wxSpinCtrlDbl::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + //wxPrintf(wxT("DoSetSize %d, %d %d %d %d %d\n"), GetId(), x, y, width, height, sizeFlags); + + wxSize bestSize( DoGetBestSize() ); + if (width < 0) width = bestSize.GetWidth(); + if (height < 0) height = bestSize.GetHeight(); + + wxWindow::DoSetSize(x, y, width, height, sizeFlags); + + int spinwidth = wxSPINCTRLDBL_SPIN_WIDTH; + int spinheight = wxSPINCTRLDBL_SPIN_HEIGHT; + if (m_spinButton) + m_spinButton->GetSize( &spinwidth, &spinheight ); + +#ifdef __WIN95__ // humm... these used to be different + if (m_textCtrl) m_textCtrl->SetSize( 0, 0, width - spinwidth, height ); + if (m_spinButton) m_spinButton->SetSize( width-spinwidth-2, 0, -1, height ); + //m_textCtrl->SetSize( -3, -3, width - spinwidth, height ); // old wxWin < 2.3.2 + //m_spinButton->SetSize( width-spinwidth-4, -3, -1, height-1 ); +#else + if (m_textCtrl) m_textCtrl->SetSize( 0, 0, width - spinwidth, height ); + if (m_spinButton) m_spinButton->SetSize( width-spinwidth, 0, -1, height ); +#endif +} + +static wxSize s_spinctrl_bestSize(-999,-999); + +wxSize wxSpinCtrlDbl::DoGetBestSize() const +{ + //wxPrintf(wxT("GetBestSize %d\n"), GetId()); + if (s_spinctrl_bestSize.x == -999) + { + wxSpinCtrl spin((wxWindow*)this, wxID_ANY); + s_spinctrl_bestSize = spin.GetBestSize(); + // oops something went wrong, set to reasonable value + if (s_spinctrl_bestSize.GetWidth() < 20) + s_spinctrl_bestSize.SetWidth(95); + if (s_spinctrl_bestSize.GetHeight() < 10) + s_spinctrl_bestSize.SetHeight(wxSPINCTRLDBL_SPIN_HEIGHT); + } + + return s_spinctrl_bestSize; +} + +void wxSpinCtrlDbl::DoSendEvent() +{ + wxCommandEvent event( wxEVT_COMMAND_SPINCTRL_UPDATED, GetId() ); + event.SetEventObject( this ); + event.SetInt( (int)(m_value+0.5) ); + if (m_textCtrl) event.SetString( m_textCtrl->GetValue() ); + GetEventHandler()->ProcessEvent( event ); +} + +void wxSpinCtrlDbl::OnSpinUp( wxSpinEvent &WXUNUSED(event) ) +{ + if (m_textCtrl && m_textCtrl->IsModified() ) + SyncSpinToText(false); + + if ( InRange(m_value + m_increment) ) + { + m_value += m_increment; + SetValue( m_value ); + DoSendEvent(); + } +} + +void wxSpinCtrlDbl::OnSpinDown( wxSpinEvent &WXUNUSED(event) ) +{ + if (m_textCtrl && m_textCtrl->IsModified() ) + SyncSpinToText(false); + + if ( InRange(m_value - m_increment) ) + { + m_value -= m_increment; + SetValue( m_value ); + DoSendEvent(); + } +} + +void wxSpinCtrlDbl::OnTextEnter( wxCommandEvent &event ) +{ + SyncSpinToText(true); + event.Skip(); +} + +void wxSpinCtrlDbl::OnText( wxCommandEvent &event ) +{ + //wxPrintf(wxT("Text '%s'\n"), event.GetString()); fflush(stdout); + event.Skip(); +} + +void wxSpinCtrlDbl::OnChar( wxKeyEvent &event ) +{ + double modifier = 1.0; + if ( event.m_shiftDown ) modifier = 2.0; + if ( event.m_controlDown ) modifier *= 10.0; + if ( event.m_altDown ) modifier *= 100.0; + + switch ( event.GetKeyCode() ) + { + case WXK_UP : + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value + m_increment * modifier ); + DoSendEvent(); + break; + } + case WXK_DOWN : + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value - m_increment * modifier ); + DoSendEvent(); + break; + } + case WXK_PRIOR : // pg-up + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value + m_increment * 10.0 * modifier ); + DoSendEvent(); + break; + } + case WXK_NEXT : // pg-down + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value - m_increment * 10.0 * modifier ); + DoSendEvent(); + break; + } + case WXK_SPACE : + { + SetValue(m_value); + event.Skip(false); + break; + } + case WXK_ESCAPE : + { + SetDefaultValue(); + DoSendEvent(); + break; + } + case WXK_TAB : + { + wxNavigationKeyEvent new_event; + new_event.SetEventObject( GetParent() ); + new_event.SetDirection( !event.ShiftDown() ); + // CTRL-TAB changes the (parent) window, i.e. switch notebook page + new_event.SetWindowChange( event.ControlDown() ); + new_event.SetCurrentFocus( this ); + GetParent()->GetEventHandler()->ProcessEvent( new_event ); + break; + } + default : event.Skip(); break; + } +} + +void wxSpinCtrlDbl::SetValue( double value ) +{ + if (!m_textCtrl || !InRange(value)) + return; + + if ( m_snap_ticks && (m_increment != 0) ) + { + double snap_value = (value - m_default_value) / m_increment; + + if (wxFinite(snap_value)) // FIXME what to do about a failure? + { + if (snap_value - floor(snap_value) < ceil(snap_value) - snap_value) + value = m_default_value + floor(snap_value) * m_increment; + else + value = m_default_value + ceil(snap_value) * m_increment; + } + } + + wxString str(wxString::Format(m_textFormat.c_str(), value)); + + if ((value != m_value) || (str != m_textCtrl->GetValue())) + { + m_textCtrl->SetValue( str ); + m_textCtrl->DiscardEdits(); + m_value = value; + str.ToDouble( &m_value ); // wysiwyg for textctrl + } +} + +void wxSpinCtrlDbl::SetValue( const wxString& text, bool force ) +{ + if (!m_textCtrl) return; + + double value; + if ( text.ToDouble(&value) ) + SetValue( value ); + else if (force) + { + m_textCtrl->SetValue( text ); + m_textCtrl->DiscardEdits(); + } +} + +void wxSpinCtrlDbl::SetRange( double min_val, double max_val ) +{ + //wxCHECK_RET(max_val > min_val, wxT("invalid spinctrl range")); + m_min = min_val; + m_max = max_val; + + if (HasRange()) + { + if (m_value > m_max) + SetValue(m_max); + else if (m_value < m_min) + SetValue(m_min); + } +} + +void wxSpinCtrlDbl::SetIncrement( double increment ) +{ + m_increment = increment; + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetDigits( int digits, formatType fmt ) +{ + wxCHECK_RET(digits >= -1, wxT("invalid spinctrl format")); + + if ((digits == wxSPINCTRLDBL_AUTODIGITS) && (fmt != lg_fmt)) + { + wxString wxstr; + int lastplace = -1, extra_digits = 0; + if (fmt == le_fmt) + { + wxstr.Printf(wxT("%le"), m_increment ); + wxstr.LowerCase(); + lastplace = wxstr.Find(wxT('e')) - 2; + long places; + if (wxstr.AfterFirst(wxT('e')).ToLong(&places)) + extra_digits = int(labs(places)); + } + else if (fmt == lf_fmt) + { + wxstr.Printf(wxT("%lf"), m_increment ); + lastplace = wxstr.Len()-1; + } + + int decimalplace = wxstr.Find(wxT('.')); + + int i = 0; + + for ( i=lastplace; i>decimalplace; i-- ) + { + if ( wxstr.GetChar(i) != wxT('0') ) + { + m_digits = extra_digits + i-decimalplace; + switch (fmt) + { + case le_fmt : m_textFormat.Printf(wxT("%%.%dle"), m_digits ); break; + case lf_fmt : + default : m_textFormat.Printf(wxT("%%.%dlg"), m_digits ); break; + } + + SetValue(m_value); + return; + } + } + + m_digits = 0; // no digits, I guess + } + else + m_digits = digits; + + switch (fmt) + { + case le_fmt : m_textFormat.Printf(wxT("%%.%dle"), m_digits ); break; + case lg_fmt : + { + if (m_digits == -1) + m_textFormat.Printf(wxT("%%lg") ); + else + m_textFormat.Printf(wxT("%%.%dlg"), m_digits ); + break; + } + case lf_fmt : + default : m_textFormat.Printf(wxT("%%.%dlf"), m_digits ); break; + } + + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetFormat( const wxString& format ) +{ + wxString wxstr; + if ( wxstr.Printf(format.c_str(), 123456.123456) > 0 ) + m_textFormat = format; + + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetDefaultValue( double default_value ) +{ + if ( InRange(default_value) ) + { + m_default_value = default_value; + SetDefaultValue(); + } +} + +void wxSpinCtrlDbl::SetSnapToTicks(bool forceTicks) +{ + if (m_snap_ticks != forceTicks) + { + m_snap_ticks = forceTicks; + SetValue( m_value ); + } +} + +void wxSpinCtrlDbl::OnFocus( wxFocusEvent &event ) +{ + if (m_textCtrl) + m_textCtrl->SetFocus(); // this is to pass TAB navigation + + event.Skip(); +} + +void wxSpinCtrlDbl::OnKillFocus( wxFocusEvent &event ) +{ + SyncSpinToText(true); + event.Skip(); +} + +void wxSpinCtrlDbl::SyncSpinToText(bool send_event, bool force_valid) +{ + if (!m_textCtrl) + return; + + double txt_value; + if ( m_textCtrl->GetValue().ToDouble( &txt_value ) ) + { + if ( force_valid || !HasRange() || InRange(txt_value) ) + { + if (force_valid && HasRange()) + { + if (txt_value > GetMax()) + txt_value = GetMax(); + else if (txt_value < GetMin()) + txt_value = GetMin(); + } + + if (m_value != txt_value) + { + SetValue( txt_value ); + if (send_event) DoSendEvent(); + } + } + } + else if (force_valid) + { + // textctrl is out of sync, discard and reset + SetValue(GetValue()); + } +} + +bool wxSpinCtrlDbl::SetFont( const wxFont &font ) +{ + if (!m_textCtrl) return false; + return m_textCtrl->SetFont( font ); +} +wxFont wxSpinCtrlDbl::GetFont() const +{ + if (!m_textCtrl) return GetFont(); + return m_textCtrl->GetFont(); +} + +bool wxSpinCtrlDbl::SetBackgroundColour(const wxColour& colour) +{ + if (!m_textCtrl) return wxControl::SetBackgroundColour(colour); + bool ret = false; + ret = m_textCtrl->SetBackgroundColour(colour); + m_textCtrl->Refresh(); // FIXME is this necessary in GTK/OSX + return ret; +} +wxColour wxSpinCtrlDbl::GetBackgroundColour() const +{ + if (!m_textCtrl) return wxControl::GetBackgroundColour(); + return m_textCtrl->GetBackgroundColour(); +} + +bool wxSpinCtrlDbl::SetForegroundColour(const wxColour& colour) +{ + if (!m_textCtrl) return wxControl::SetForegroundColour(colour); + bool ret = false; + ret = m_textCtrl->SetForegroundColour(colour); + m_textCtrl->Refresh(); + return ret; +} +wxColour wxSpinCtrlDbl::GetForegroundColour() const +{ + if (!m_textCtrl) return wxControl::GetForegroundColour(); + return m_textCtrl->GetForegroundColour(); +} diff --git a/.svn/pristine/96/96ac5cea02801c5e24816cc4213ddaabcf343729.svn-base b/.svn/pristine/96/96ac5cea02801c5e24816cc4213ddaabcf343729.svn-base new file mode 100644 index 0000000..0fe285b --- /dev/null +++ b/.svn/pristine/96/96ac5cea02801c5e24816cc4213ddaabcf343729.svn-base @@ -0,0 +1,178 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_panel.cpp - GLUI_Panel control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_Panel::draw() **********/ + +void GLUI_Panel::draw( int x, int y ) +{ + int top, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + if ( int_val == GLUI_PANEL_RAISED ) { + top = 0; + glLineWidth( 1.0 ); + glColor3f( 1.0, 1.0, 1.0 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( 0, top ); glVertex2i( w, top ); + glVertex2i( 0, top ); glVertex2i( 0, h ); + glEnd(); + + glColor3f( .5, .5, .5 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( w, top ); + glVertex2i( w, h ); + glVertex2i( 0, h ); + glVertex2i( w, h ); + glEnd(); + + /** ORIGINAL RAISED PANEL METHOD - A LITTLE TOO HIGH ** + glLineWidth(1.0); + glBegin( GL_LINES ); + glColor3f( 1.0, 1.0, 1.0 ); + glVertex2i( 1, 1 ); glVertex2i( w-2, 1 ); + glVertex2i( 1, 1 ); glVertex2i( 1, h-2 ); + + glColor3f( .5, .5, .5 ); + glVertex2i( w-1, 1 ); glVertex2i( w-1, h-1 ); + glVertex2i( 1, h-1 ); glVertex2i( w-1, h-1 ); + + glColor3f( 0.0, 0.0, 0.0 ); + glVertex2i( 0, h ); glVertex2i( w, h ); + glVertex2i( w, 0 ); glVertex2i( w, h ); + glEnd(); + + -- Touch up the lines a bit (needed in some opengl implementations + glBegin( GL_POINTS ); + glColor3f( .5, .5, .5 ); + glVertex2i( w-1, h-1 ); + glColor3f( 0.0, 0.0, 0.0 ); + glVertex2i( w, h ); + glEnd(); + **/ + } + else if ( int_val == GLUI_PANEL_EMBOSSED ) { + if ( name[0] == '\0' ) { + top = 0; + } + else { + top = GLUI_PANEL_EMBOSS_TOP; + } + + glLineWidth( 1.0 ); + glColor3f( 1.0, 1.0, 1.0 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( 0, top ); glVertex2i( w, top ); + glVertex2i( w, h ); glVertex2i( 0, h ); + + glVertex2i( 1, top+1 ); glVertex2i( w-1, top+1 ); + glVertex2i( w-1, h-1 ); glVertex2i( 1, h-1 ); + glEnd(); + + glColor3f( .5, .5, .5 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( 0, top ); + glVertex2i( w-1, top ); + glVertex2i( w-1, h-1 ); + glVertex2i( 0, h-1 ); + glEnd(); + + /**** Only display text in embossed panel ****/ + if ( name[0] != '\0' ) { /* Only draw non-null strings */ + int left = 7, height=GLUI_PANEL_NAME_DROP+1; + int str_width; + + str_width = string_width(name); + + if ( glui ) + glColor3ub(glui->bkgd_color.r,glui->bkgd_color.g,glui->bkgd_color.b); + glDisable( GL_CULL_FACE ); + glBegin( GL_QUADS ); + glVertex2i( left-3, 0 ); glVertex2i( left+str_width+3, 0 ); + glVertex2i( left+str_width+3, height ); glVertex2i( left-3, height ); + glEnd(); + + draw_name( left, GLUI_PANEL_NAME_DROP ); + } + } + + glLineWidth( 1.0 ); + + restore_window(orig); +} + + +/****************************** GLUI_Panel::set_name() **********/ + +void GLUI_Panel::set_name( char *new_name ) +{ + strncpy(name,new_name,sizeof(GLUI_String)); + + update_size(); + + if ( glui ) + glui->refresh(); +} + + +/****************************** GLUI_Panel::set_type() **********/ + +void GLUI_Panel::set_type( int new_type ) +{ + int old_window; + + if ( new_type != int_val ) { + int_val = new_type; + + /* translate_and_draw_front(); */ + update_size(); + + old_window = set_to_glut_window(); + glutPostRedisplay( ); + restore_window( old_window ); + } +} + + +/************************************** GLUI_Panel::update_size() **********/ + +void GLUI_Panel::update_size( void ) +{ + int text_size; + + if ( NOT glui ) + return; + + text_size = string_width(name); + + if ( w < text_size + 16 ) + w = text_size + 16 ; + + if ( name[0] != '\0' AND int_val == GLUI_PANEL_EMBOSSED ) { + this->y_off_top = GLUI_YOFF + 8; + } + else { + this->y_off_top = GLUI_YOFF; + } +} diff --git a/.svn/pristine/96/96e49d41db72ae74555d33d364f5b71b2671eac6.svn-base b/.svn/pristine/96/96e49d41db72ae74555d33d364f5b71b2671eac6.svn-base new file mode 100644 index 0000000..4051ae6 --- /dev/null +++ b/.svn/pristine/96/96e49d41db72ae74555d33d364f5b71b2671eac6.svn-base @@ -0,0 +1,227 @@ +/** + * @file + * @brief IO of a 3D scan for leica ASCII file format with relectance values. + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_CAD_H__ +#define __SCAN_IO_CAD_H__ + +#include +using std::string; +#include +using std::vector; +#include +#include +#include +#include + +#include "scan_io.h" + +#include +#include + +namespace po = boost::program_options; // to reduce typing effort +namespace fs = boost::filesystem; // to reduce typing effort + +/** + * @brief 3D scan loader for 1 UOS Scan and multiple .stl files + * + * The compiled class is available as shared object file + */ +class ScanIO_CAD : public ScanIO { + + // default values for parameters / flags / etc + // sampling parameters + static constexpr bool STD_STORE_CAD = false; // don't save sampling + static constexpr float STD_SAMPLE_DIST = 0.5f; // point distance of 0.5 (cm) + static constexpr bool STD_RND_SAMP = true; // use random sampling + // coordinate order + static constexpr unsigned int STD_X_INDEX = 0; // cad x coord = uos x coord + static constexpr unsigned int STD_Y_INDEX = 2; // cad y coord = uos z coord + static constexpr unsigned int STD_Z_INDEX = 1; // cad z coord = uos y coord + // scale factors + static constexpr float STD_SCALE_FACTOR = 0.1f; // general scale factor + static constexpr float STD_X_SCALE = 0.1f; // scale for x axis + static constexpr float STD_Y_SCALE = 0.1f; // scale for y axis + static constexpr float STD_Z_SCALE = 0.1f; // scale for z axis + static constexpr bool STD_COMBINE_SCALES = false; // combine scale factors? + static constexpr bool STD_INVERT_AXIS = false; // default inversion for axes + + +public: + + /** + * @brief Default constructor to initialize the member varibales with + * their default values. + */ + ScanIO_CAD(void); + + virtual int readScans(int start, int end, string &dir, int maxDist, + int minDist, double *euler, vector &ptss); + +private: + + + /** + * @brief method to read a scan in regular UOS .3d file format + * + * @param scan_in the (opened) filestream for the .3d file + * @param maxDist the maximal distance threshold from the origin for points + * @param minDist the minimal distance threshold from the origin for points + * @param points the vector containing the read scan points + * + */ + void read3DScan (std::ifstream &scan_in, int maxDist, int minDist, vector &points); + + /** + * @brief function to create a surface sampling from a given .stl file + * + * @param scan_in the (opened) filestream for the .stl file + * @param points the vector containing the resultant surface sample + * @return true if the surface sample could be created, false otherwise + */ + bool createSamplingFromSTL (std::ifstream &scan_in, vector &points); + /** + * @brief Function to check if a opened .stl file contains binary or + * ASCII data. + * + * @param scan_in reference to the (opened) filestream for the .stl file + * + * @return true if the filestream contains an ASCII encoded .stl file, + * false otherwise + */ + bool hasASCIIHeader (std::ifstream &scan_in); + + /** + * @brief Function to parse an ASCII encoded .stl file and create a + * 3D surface sampling of it. + * + * @param scan_in the (opened) filestream containint the .stl information + * @param points used to store the 3D points of the surface sampling + * @return true if the file could be parsed successfully, false otherwise + */ + bool parseASCII (std::ifstream &scan_in, vector &points); + + /** + * @brief Function to parse an binary encoded .stl file and create a + * 3D surface sampling of it. + * + * @param scan_in the (opened) filestream containint the .stl information + * @param points used to store the 3D points of the surface sampling + * @return true if the file could be parsed successfully, false otherwise + */ + bool parseBinary (std::ifstream &scan_in, vector &points); + + /** + * @brief Method to create a point sampling of a face (i.e. triangle). + * + * @param vertex1 the first corner of the triangle + * @param vertex2 the second corner of the triangle + * @param vertex3 the third corner of the triangle + * @param points reference to the Point vector, where the sample points + * are stored + */ + void createSampingForFace (float* vertex1, float* vertex2, + float* vertex3, vector &points); + + /** + * @brief Method to store the point sampling to the UOS .3d file format. + * The resultant .3d file will have the same name as the original .stl + * file apart from the file extension. + * + * @param filename the name of the .stl file + * @param points a reference to the vector containing the point + * information to be stored + */ + void storeSamplingTo3D (std::string filename, vector &points); + + /** + * @brief Computes the dot product of two 3D vectors given as float*. + * + * @param vec1 the first 3D vector as a float array + * @param vec2 the second 3D vector as a float array + * + * @return the dot product of the two vectors + */ + static float dotProd (const float* vec1, const float* vec2); + + /** + * @brief Method to parse a config file. + * The config file needs to have INI file similar syntax. If a parsing + * error occurs a help with all available options will be printed to the + * console and the program will terminate without matching + * + * @param config A filestream to the config file + */ + void parseConfig (std::ifstream &config); + + /** + * @brief Utility method to convert the data of a point in CAD coordinates + * to the slam coordinate system. + * This can involve the change of coordinate order, axis direction and + * scaling (of all or single coordinates), depending on the configuration + * passed via config file. + * @param raw_data A 3D point read from the CAD file as a float array + * @param vertex The resulting 3D point after all specified + * operations have taken place + */ + void copyRawData2Vertex (float *raw_data, float *vertex); + + // member variables to hold the indices used in data conversion + unsigned int x_index; + unsigned int y_index; + unsigned int z_index; + + // bools to determine if an axis should be inverted during data conversion + bool invert_x; + bool invert_y; + bool invert_z; + + // scale factors (global and individual) for data conversion + float scale_factor; + float x_scale; + float y_scale; + float z_scale; + + // determines if individual scale factors should be used + bool individual_scale; + // determines if individual scaling should be combined with + // the global scale factor + bool combine_scales; + + // determines if random sampling should be used for surface sampling + bool random_sampling; + + // determines if the sampled CAD model is stored as a .3d file + bool store_cad; + // sets the distance between sample points (determines sample density) + float sample_point_dist; + + // option description for easier parsing of config + po::options_description _op_descr; + po::variables_map _vmap; + + std::vector _stl_files; + size_t _stl_files_pos; + + /** + * @brief Method to set up the option description. + * All allowed parameters with their default values should be + * initialized here. + */ + void setUpOptionDescription (void); + + void parseDirForAllSTL (std::string &directory_name); + + bool getNextSTLFromDir (fs::path &stl_file); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/97/97460f8e721a28906c5fca04a4b572997013c85b.svn-base b/.svn/pristine/97/97460f8e721a28906c5fca04a4b572997013c85b.svn-base new file mode 100644 index 0000000..cde81a1 --- /dev/null +++ b/.svn/pristine/97/97460f8e721a28906c5fca04a4b572997013c85b.svn-base @@ -0,0 +1,1052 @@ +//$$ newmat7.cpp Invert, solve, binary operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,7); ++ExeCount; } +#else +#define REPORT {} +#endif + + +//***************************** solve routines ******************************/ + +GeneralMatrix* GeneralMatrix::MakeSolver() +{ + REPORT + GeneralMatrix* gm = new CroutMatrix(*this); + MatrixErrorNoSpace(gm); gm->ReleaseAndDelete(); return gm; +} + +GeneralMatrix* Matrix::MakeSolver() +{ + REPORT + GeneralMatrix* gm = new CroutMatrix(*this); + MatrixErrorNoSpace(gm); gm->ReleaseAndDelete(); return gm; +} + +void CroutMatrix::Solver(MatrixColX& mcout, const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip; Real* el = mcin.data-i; Real* el1 = el; + while (i--) *el++ = 0.0; + el += mcin.storage; i = nrows - mcin.skip - mcin.storage; + while (i--) *el++ = 0.0; + lubksb(el1, mcout.skip); +} + + +// Do we need check for entirely zero output? + +void UpperTriangularMatrix::Solver(MatrixColX& mcout, + const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip-mcout.skip; Real* elx = mcin.data-i; + while (i-- > 0) *elx++ = 0.0; + int nr = mcin.skip+mcin.storage; + elx = mcin.data+mcin.storage; Real* el = elx; + int j = mcout.skip+mcout.storage-nr; int nc = ncols-nr; i = nr-mcout.skip; + while (j-- > 0) *elx++ = 0.0; + Real* Ael = store + (nr*(2*ncols-nr+1))/2; j = 0; + while (i-- > 0) + { + elx = el; Real sum = 0.0; int jx = j++; Ael -= nc; + while (jx--) sum += *(--Ael) * *(--elx); + elx--; *elx = (*elx - sum) / *(--Ael); + } +} + +void LowerTriangularMatrix::Solver(MatrixColX& mcout, + const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip-mcout.skip; Real* elx = mcin.data-i; + while (i-- > 0) *elx++ = 0.0; + int nc = mcin.skip; i = nc+mcin.storage; elx = mcin.data+mcin.storage; + int nr = mcout.skip+mcout.storage; int j = nr-i; i = nr-nc; + while (j-- > 0) *elx++ = 0.0; + Real* el = mcin.data; Real* Ael = store + (nc*(nc+1))/2; j = 0; + while (i-- > 0) + { + elx = el; Real sum = 0.0; int jx = j++; Ael += nc; + while (jx--) sum += *Ael++ * *elx++; + *elx = (*elx - sum) / *Ael++; + } +} + +//******************* carry out binary operations *************************/ + +static GeneralMatrix* + GeneralMult(GeneralMatrix*,GeneralMatrix*,MultipliedMatrix*,MatrixType); +static GeneralMatrix* + GeneralSolv(GeneralMatrix*,GeneralMatrix*,BaseMatrix*,MatrixType); +static GeneralMatrix* + GeneralSolvI(GeneralMatrix*,BaseMatrix*,MatrixType); +static GeneralMatrix* + GeneralKP(GeneralMatrix*,GeneralMatrix*,KPMatrix*,MatrixType); + +GeneralMatrix* MultipliedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm2 = gm2->Evaluate(gm2->Type().MultRHS()); // no symmetric on RHS + gm1=((BaseMatrix*&)bm1)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralMult(gm1, gm2, this, mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralMult(gm1, gm2, this, mt); +#endif +} + +GeneralMatrix* SolvedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm1=((BaseMatrix*&)bm1)->Evaluate(); + gm2=((BaseMatrix*&)bm2)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralSolv(gm1,gm2,this,mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralSolv(gm1,gm2,this,mt); +#endif +} + +GeneralMatrix* KPMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm1=((BaseMatrix*&)bm1)->Evaluate(); + gm2=((BaseMatrix*&)bm2)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralKP(gm1,gm2,this,mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralKP(gm1,gm2,this,mt); +#endif +} + +// routines for adding or subtracting matrices of identical storage structure + +static void Add(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ + *s2++; *s++ = *s1++ + *s2++; + *s++ = *s1++ + *s2++; *s++ = *s1++ + *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ + *s2++; +} + +static void Add(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ += *s2++; *s++ += *s2++; *s++ += *s2++; *s++ += *s2++; } + i=gm->Storage() & 3; while (i--) *s++ += *s2++; +} + +static void Subtract(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ - *s2++; *s++ = *s1++ - *s2++; + *s++ = *s1++ - *s2++; *s++ = *s1++ - *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ - *s2++; +} + +static void Subtract(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ -= *s2++; *s++ -= *s2++; *s++ -= *s2++; *s++ -= *s2++; } + i=gm->Storage() & 3; while (i--) *s++ -= *s2++; +} + +static void ReverseSubtract(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s = *s2++ - *s; s++; *s = *s2++ - *s; s++; + *s = *s2++ - *s; s++; *s = *s2++ - *s; s++; + } + i=gm->Storage() & 3; while (i--) { *s = *s2++ - *s; s++; } +} + +static void SP(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ * *s2++; *s++ = *s1++ * *s2++; + *s++ = *s1++ * *s2++; *s++ = *s1++ * *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ * *s2++; +} + +static void SP(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ *= *s2++; *s++ *= *s2++; *s++ *= *s2++; *s++ *= *s2++; } + i=gm->Storage() & 3; while (i--) *s++ *= *s2++; +} + +// routines for adding or subtracting matrices of different storage structure + +static void AddDS(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Add(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void AddDS(GeneralMatrix* gm, GeneralMatrix* gm2) +// Add into first argument +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, StoreOnExit+LoadOnEntry+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Add(mr2); mr.Next(); mr2.Next(); } +} + +static void SubtractDS + (GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Sub(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void SubtractDS(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Sub(mr2); mr.Next(); mr2.Next(); } +} + +static void ReverseSubtractDS(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.RevSub(mr2); mr2.Next(); mr.Next(); } +} + +static void SPDS(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Multiply(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void SPDS(GeneralMatrix* gm, GeneralMatrix* gm2) +// SP into first argument +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, StoreOnExit+LoadOnEntry+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Multiply(mr2); mr.Next(); mr2.Next(); } +} + +static GeneralMatrix* GeneralMult1(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralMult1"); + int nr=gm1->Nrows(); int nc=gm2->Ncols(); + if (gm1->Ncols() !=gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,mm); + + MatrixCol mcx(gmx, StoreOnExit+DirectPart); + MatrixCol mc2(gm2, LoadOnEntry); + while (nc--) + { + MatrixRow mr1(gm1, LoadOnEntry, mcx.Skip()); + Real* el = mcx.Data(); // pointer to an element + int n = mcx.Storage(); + while (n--) { *(el++) = DotProd(mr1,mc2); mr1.Next(); } + mc2.Next(); mcx.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* GeneralMult2(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + // version that accesses by row only - not good for thin matrices + // or column vectors in right hand term. + REPORT + Tracer tr("GeneralMult2"); + int nr=gm1->Nrows(); int nc=gm2->Ncols(); + if (gm1->Ncols() !=gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,mm); + + MatrixRow mrx(gmx, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr1(gm1, LoadOnEntry); + while (nr--) + { + MatrixRow mr2(gm2, LoadOnEntry, mr1.Skip()); + Real* el = mr1.Data(); // pointer to an element + int n = mr1.Storage(); + mrx.Zero(); + while (n--) { mrx.AddScaled(mr2, *el++); mr2.Next(); } + mr1.Next(); mrx.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* mmMult(GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + // matrix multiplication for type Matrix only + REPORT + Tracer tr("MatrixMult"); + + int nr=gm1->Nrows(); int ncr=gm1->Ncols(); int nc=gm2->Ncols(); + if (ncr != gm2->Nrows()) Throw(IncompatibleDimensionsException(*gm1,*gm2)); + + Matrix* gm = new Matrix(nr,nc); MatrixErrorNoSpace(gm); + + Real* s1=gm1->Store(); Real* s2=gm2->Store(); Real* s=gm->Store(); + + if (ncr) + { + while (nr--) + { + Real* s2x = s2; int j = ncr; + Real* sx = s; Real f = *s1++; int k = nc; + while (k--) *sx++ = f * *s2x++; + while (--j) + { sx = s; f = *s1++; k = nc; while (k--) *sx++ += f * *s2x++; } + s = sx; + } + } + else *gm = 0.0; + + gm->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gm; +} + +static GeneralMatrix* GeneralMult(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + if ( Rectangular(gm1->Type(), gm2->Type(), mtx)) + { + REPORT + return mmMult(gm1, gm2); + } + else + { + REPORT + Compare(gm1->Type() * gm2->Type(),mtx); + int nr = gm2->Nrows(); int nc = gm2->Ncols(); + if (nc <= 5 && nr > nc) { REPORT return GeneralMult1(gm1, gm2, mm, mtx); } + else { REPORT return GeneralMult2(gm1, gm2, mm, mtx); } + } +} + +static GeneralMatrix* GeneralKP(GeneralMatrix* gm1, GeneralMatrix* gm2, + KPMatrix* kp, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralKP"); + int nr1 = gm1->Nrows(); int nc1 = gm1->Ncols(); + int nr2 = gm2->Nrows(); int nc2 = gm2->Ncols(); + Compare((gm1->Type()).KP(gm2->Type()),mtx); + GeneralMatrix* gmx = mtx.New(nr1*nr2, nc1*nc2, kp); + MatrixRow mrx(gmx, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr1(gm1, LoadOnEntry); + for (int i = 1; i <= nr1; ++i) + { + MatrixRow mr2(gm2, LoadOnEntry); + for (int j = 1; j <= nr2; ++j) + { mrx.KP(mr1,mr2); mr2.Next(); mrx.Next(); } + mr1.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* GeneralSolv(GeneralMatrix* gm1, GeneralMatrix* gm2, + BaseMatrix* sm, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralSolv"); + Compare(gm1->Type().i() * gm2->Type(),mtx); + int nr = gm1->Nrows(); + if (nr != gm1->Ncols()) Throw(NotSquareException(*gm1)); + int nc = gm2->Ncols(); + if (gm1->Ncols() != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,sm); MatrixErrorNoSpace(gmx); + Real* r = new Real [nr]; MatrixErrorNoSpace(r); + MONITOR_REAL_NEW("Make (GenSolv)",nr,r) + GeneralMatrix* gms = gm1->MakeSolver(); + Try + { + + MatrixColX mcx(gmx, r, StoreOnExit+DirectPart); // copy to and from r + // this must be inside Try so mcx is destroyed before gmx + MatrixColX mc2(gm2, r, LoadOnEntry); + while (nc--) { gms->Solver(mcx, mc2); mcx.Next(); mc2.Next(); } + } + CatchAll + { + if (gms) gms->tDelete(); + delete gmx; // <-------------------- + gm2->tDelete(); + MONITOR_REAL_DELETE("Delete (GenSolv)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + ReThrow; + } + gms->tDelete(); gmx->ReleaseAndDelete(); gm2->tDelete(); + MONITOR_REAL_DELETE("Delete (GenSolv)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + return gmx; +} + +// version for inverses - gm2 is identity +static GeneralMatrix* GeneralSolvI(GeneralMatrix* gm1, BaseMatrix* sm, + MatrixType mtx) +{ + REPORT + Tracer tr("GeneralSolvI"); + Compare(gm1->Type().i(),mtx); + int nr = gm1->Nrows(); + if (nr != gm1->Ncols()) Throw(NotSquareException(*gm1)); + int nc = nr; + // DiagonalMatrix I(nr); I = 1; + IdentityMatrix I(nr); + GeneralMatrix* gmx = mtx.New(nr,nc,sm); MatrixErrorNoSpace(gmx); + Real* r = new Real [nr]; MatrixErrorNoSpace(r); + MONITOR_REAL_NEW("Make (GenSolvI)",nr,r) + GeneralMatrix* gms = gm1->MakeSolver(); + Try + { + + MatrixColX mcx(gmx, r, StoreOnExit+DirectPart); // copy to and from r + // this must be inside Try so mcx is destroyed before gmx + MatrixColX mc2(&I, r, LoadOnEntry); + while (nc--) { gms->Solver(mcx, mc2); mcx.Next(); mc2.Next(); } + } + CatchAll + { + if (gms) gms->tDelete(); + delete gmx; + MONITOR_REAL_DELETE("Delete (GenSolvI)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + ReThrow; + } + gms->tDelete(); gmx->ReleaseAndDelete(); + MONITOR_REAL_DELETE("Delete (GenSolvI)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + return gmx; +} + +GeneralMatrix* InvertedMatrix::Evaluate(MatrixType mtx) +{ + // Matrix Inversion - use solve routines + Tracer tr("InvertedMatrix::Evaluate"); + REPORT + gm=((BaseMatrix*&)bm)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralSolvI(gm,this,mtx); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralSolvI(gm,this,mtx); +#endif +} + +//*************************** New versions ************************ + +GeneralMatrix* AddedMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("AddedMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); MatrixType mts = mt1 + mt2; + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + REPORT + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT Add(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT Add(gm2,gm1); gmx = gm2; } + else + { + REPORT + // what if new throws an exception + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); Add(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c1 = false; } + if (SAO & 2) { REPORT c2 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT AddDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { REPORT AddDS(gm2,gm1); if (!c1) gm1->tDelete(); gmx = gm2; } + else + { + REPORT + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + AddDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* SubtractedMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("SubtractedMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); MatrixType mts = mt1 + mt2; + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT Subtract(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT ReverseSubtract(gm2,gm1); gmx = gm2; } + else + { + REPORT + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); Subtract(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c1 = false; } + if (SAO & 2) { REPORT c2 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT SubtractDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { + REPORT ReverseSubtractDS(gm2,gm1); + if (!c1) gm1->tDelete(); gmx = gm2; + } + else + { + REPORT + // what if New throws and exception + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + SubtractDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* SPMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("SPMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); + MatrixType mts = mt1.SP(mt2); + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT SP(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT SP(gm2,gm1); gmx = gm2; } + else + { + REPORT + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); SP(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c2 = false; } // c1 and c2 swapped + if (SAO & 2) { REPORT c1 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT SPDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { REPORT SPDS(gm2,gm1); if (!c1) gm1->tDelete(); gmx = gm2; } + else + { + REPORT + // what if New throws and exception + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + SPDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + + + +//*************************** norm functions ****************************/ + +Real BaseMatrix::Norm1() const +{ + // maximum of sum of absolute values of a column + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + int nc = gm->Ncols(); Real value = 0.0; + MatrixCol mc(gm, LoadOnEntry); + while (nc--) + { Real v = mc.SumAbsoluteValue(); if (value < v) value = v; mc.Next(); } + gm->tDelete(); return value; +} + +Real BaseMatrix::NormInfinity() const +{ + // maximum of sum of absolute values of a row + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + int nr = gm->Nrows(); Real value = 0.0; + MatrixRow mr(gm, LoadOnEntry); + while (nr--) + { Real v = mr.SumAbsoluteValue(); if (value < v) value = v; mr.Next(); } + gm->tDelete(); return value; +} + +//********************** Concatenation and stacking *************************/ + +GeneralMatrix* ConcatenatedMatrix::Evaluate(MatrixType mtx) +{ + REPORT + Tracer tr("Concatenate"); +#ifdef TEMPS_DESTROYED_QUICKLY + Try + { + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() | gm2->Type(),mtx); + int nr=gm1->Nrows(); int nc = gm1->Ncols() + gm2->Ncols(); + if (nr != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr--) { mr.ConCat(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); delete this; + return gmx; + } + CatchAll { delete this; ReThrow; } +#ifndef UseExceptions + return 0; +#endif +#else + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() | gm2->Type(),mtx); + int nr=gm1->Nrows(); int nc = gm1->Ncols() + gm2->Ncols(); + if (nr != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr--) { mr.ConCat(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +#endif +} + +GeneralMatrix* StackedMatrix::Evaluate(MatrixType mtx) +{ + REPORT + Tracer tr("Stack"); +#ifdef TEMPS_DESTROYED_QUICKLY + Try + { + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() & gm2->Type(),mtx); + int nc=gm1->Ncols(); + int nr1 = gm1->Nrows(); int nr2 = gm2->Nrows(); + if (nc != gm2->Ncols()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr1+nr2,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr1--) { mr.Copy(mr1); mr1.Next(); mr.Next(); } + while (nr2--) { mr.Copy(mr2); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); delete this; + return gmx; + } + CatchAll { delete this; ReThrow; } +#ifndef UseExceptions + return 0; +#endif +#else + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() & gm2->Type(),mtx); + int nc=gm1->Ncols(); + int nr1 = gm1->Nrows(); int nr2 = gm2->Nrows(); + if (nc != gm2->Ncols()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr1+nr2,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr1--) { mr.Copy(mr1); mr1.Next(); mr.Next(); } + while (nr2--) { mr.Copy(mr2); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +#endif +} + +// ************************* equality of matrices ******************** // + +static bool RealEqual(Real* s1, Real* s2, int n) +{ + int i = n >> 2; + while (i--) + { + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + } + i = n & 3; while (i--) if (*s1++ != *s2++) return false; + return true; +} + +static bool intEqual(int* s1, int* s2, int n) +{ + int i = n >> 2; + while (i--) + { + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + } + i = n & 3; while (i--) if (*s1++ != *s2++) return false; + return true; +} + + +bool operator==(const BaseMatrix& A, const BaseMatrix& B) +{ + Tracer tr("BaseMatrix =="); + REPORT + GeneralMatrix* gmA = ((BaseMatrix&)A).Evaluate(); + GeneralMatrix* gmB = ((BaseMatrix&)B).Evaluate(); + + if (gmA == gmB) // same matrix + { REPORT gmA->tDelete(); return true; } + + if ( gmA->Nrows() != gmB->Nrows() || gmA->Ncols() != gmB->Ncols() ) + // different dimensions + { REPORT gmA->tDelete(); gmB->tDelete(); return false; } + + // check for CroutMatrix or BandLUMatrix + MatrixType AType = gmA->Type(); MatrixType BType = gmB->Type(); + if (AType.CannotConvert() || BType.CannotConvert() ) + { + REPORT + bool bx = gmA->IsEqual(*gmB); + gmA->tDelete(); gmB->tDelete(); + return bx; + } + + // is matrix storage the same + // will need to modify if further matrix structures are introduced + if (AType == BType && gmA->BandWidth() == gmB->BandWidth()) + { // compare store + REPORT + bool bx = RealEqual(gmA->Store(),gmB->Store(),gmA->Storage()); + gmA->tDelete(); gmB->tDelete(); + return bx; + } + + // matrix storage different - just subtract + REPORT return IsZero(*gmA-*gmB); +} + +bool operator==(const GeneralMatrix& A, const GeneralMatrix& B) +{ + Tracer tr("GeneralMatrix =="); + // May or may not call tDeletes + REPORT + + if (&A == &B) // same matrix + { REPORT return true; } + + if ( A.Nrows() != B.Nrows() || A.Ncols() != B.Ncols() ) + { REPORT return false; } // different dimensions + + // check for CroutMatrix or BandLUMatrix + MatrixType AType = A.Type(); MatrixType BType = B.Type(); + if (AType.CannotConvert() || BType.CannotConvert() ) + { REPORT return A.IsEqual(B); } + + // is matrix storage the same + // will need to modify if further matrix structures are introduced + if (AType == BType && A.BandWidth() == B.BandWidth()) + { REPORT return RealEqual(A.Store(),B.Store(),A.Storage()); } + + // matrix storage different - just subtract + REPORT return IsZero(A-B); +} + +bool GeneralMatrix::IsZero() const +{ + REPORT + Real* s=store; int i = storage >> 2; + while (i--) + { + if (*s++) return false; if (*s++) return false; + if (*s++) return false; if (*s++) return false; + } + i = storage & 3; while (i--) if (*s++) return false; + return true; +} + +bool IsZero(const BaseMatrix& A) +{ + Tracer tr("BaseMatrix::IsZero"); + REPORT + GeneralMatrix* gm1 = 0; bool bx; + Try { gm1=((BaseMatrix&)A).Evaluate(); bx = gm1->IsZero(); } + CatchAll { if (gm1) gm1->tDelete(); ReThrow; } + gm1->tDelete(); + return bx; +} + +// IsEqual functions - insist matrices are of same type +// as well as equal values to be equal + +bool GeneralMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("GeneralMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if (A.nrows != nrows || A.ncols != ncols) + // different dimensions + { REPORT return false; } + // is matrix storage the same - compare store + REPORT + return RealEqual(A.store,store,storage); +} + +bool CroutMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("CroutMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if (A.nrows != nrows || A.ncols != ncols) + // different dimensions + { REPORT return false; } + // is matrix storage the same - compare store + REPORT + return RealEqual(A.store,store,storage) + && intEqual(((CroutMatrix&)A).indx, indx, nrows); +} + + +bool BandLUMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("BandLUMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if ( A.Nrows() != nrows || A.Ncols() != ncols + || ((BandLUMatrix&)A).m1 != m1 || ((BandLUMatrix&)A).m2 != m2 ) + // different dimensions + { REPORT return false; } + + // matrix storage the same - compare store + REPORT + return RealEqual(A.Store(),store,storage) + && RealEqual(((BandLUMatrix&)A).store2,store2,storage2) + && intEqual(((BandLUMatrix&)A).indx, indx, nrows); +} + + +#ifdef use_namespace +} +#endif + + diff --git a/.svn/pristine/97/975603e3a14712bb6a955ef16fea09b4b393a94a.svn-base b/.svn/pristine/97/975603e3a14712bb6a955ef16fea09b4b393a94a.svn-base new file mode 100644 index 0000000..4f12ac9 --- /dev/null +++ b/.svn/pristine/97/975603e3a14712bb6a955ef16fea09b4b393a94a.svn-base @@ -0,0 +1,201 @@ +/* + * icp6Dhelix implementation + * + * Copyright (C) Peter Schneider, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via helix-translation + * @author Peter Schneider. Institute of Computer Science, University of Koblenz and Landau, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#include "slam6d/icp6Dhelix.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; +#include + +/** + * computes a rotation matrix that rotates the points around an axis + * and a translation vector, that translates the points along a vector + * that is parallel to the rotation axis. Thus the result is a helical + * translation of the points that can be resolved thru a vector field + * v(x) = cs + c cross x, where cs and c can be build out of an error + * minimization function. + * + * See: + * H. Pottmann, S. Leopoldseder, and M. Hofer. Simultaneous + * registration of multiple views of a 3D object. + * ISPRS Archives 34/3A (2002), 265-270. + * + * @param Pairs Vector of point pairs (pairs of corresponding points) + * @param alignxf The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_HELIX::Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = Pairs.size(); + + int i; + double sum = 0; + double error; + Matrix matB(6,6); + ColumnVector bdVec(6), ccs(6), c(3), cs(3); + matB = 0.0; + double p2x, p2y, p2z, pDistX, pDistY, pDistZ; + + double B[6][3]; + memset(&B[0][0], 0, 18 * sizeof(double)); + double bd[6]; + memset(&bd[0], 0, 6 * sizeof(double)); + + for (i = 0; i < n; i++) { + p2x = Pairs[i].p2.x; + p2y = Pairs[i].p2.y; + p2z = Pairs[i].p2.z; + + B[4][0] += -p2z; + B[3][1] += p2z; + B[5][0] += p2y; + B[3][2] += -p2y; + B[4][2] += p2x; + B[5][1] += -p2x; + B[0][0] += p2z*p2z + p2y*p2y; + B[1][0] += p2y*-p2x; + B[2][0] += -p2z*p2x; + B[1][1] += p2z*p2z + p2x*p2x; + B[2][1] += p2z*-p2y; + B[2][2] += p2x*p2x + p2y*p2y; + + + pDistX = p2x - Pairs[i].p1.x; + pDistY = p2y - Pairs[i].p1.y; + pDistZ = p2z - Pairs[i].p1.z; + + bd[0] += -p2z*pDistY + p2y*pDistZ; + bd[1] += p2z*pDistX - p2x*pDistZ; + bd[2] += -p2y*pDistX + p2x*pDistY; + bd[3] += pDistX; + bd[4] += pDistY; + bd[5] += pDistZ; + + sum += pDistX*pDistX + pDistY*pDistY + pDistZ*pDistZ; + } + + matB(4,4) = matB(5,5) = matB(6,6) = n; + + matB(1,5) = matB(5,1) = B[4][0]; + matB(2,4) = matB(4,2) = B[3][1]; + matB(1,6) = matB(6,1) = B[5][0]; + matB(3,4) = matB(4,3) = B[3][2]; + matB(3,5) = matB(5,3) = B[4][2]; + matB(2,6) = matB(6,2) = B[5][1]; + matB(1,2) = matB(2,1) = B[1][0]; + matB(1,3) = matB(3,1) = B[2][0]; + matB(2,3) = matB(3,2) = B[2][1]; + matB(1,1) = B[0][0]; + matB(2,2) = B[1][1]; + matB(3,3) = B[2][2]; + + bdVec(1) = bd[0]; + bdVec(2) = bd[1]; + bdVec(3) = bd[2]; + bdVec(4) = bd[3]; + bdVec(5) = bd[4]; + bdVec(6) = bd[5]; + + error = sqrt( sum / (double) n ); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "HELIX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << n << " points" << endl; + } + + ccs = matB.i() * bdVec; + + int vectorOffset = 0; + computeRt( &ccs, vectorOffset, alignxf); + + return error; +} + + +void icp6D_HELIX::computeRt(const ColumnVector* ccs, const int vectorOffset, double *alignxf) +{ + ColumnVector c(3), cs(3); + c(1) = -(*ccs)(vectorOffset + 1); + c(2) = -(*ccs)(vectorOffset + 2); + c(3) = -(*ccs)(vectorOffset + 3); + cs(1) = -(*ccs)(vectorOffset + 4); + cs(2) = -(*ccs)(vectorOffset + 5); + cs(3) = -(*ccs)(vectorOffset + 6); + + double CLength = sqrt(c.SumSquare()); + double rotationCheck = c(1)*cs(1) + c(2)*cs(2) + c(3)*cs(3); //c.t() * cs; + Matrix R (3,3); + double angle = atan(CLength); //bemerkung: hier minus gesetzt + + ColumnVector g = c / CLength; + double b0, b1, b2, b3; + double sinAngle = sin(-angle/2); + b0 = cos(-angle/2); + b1 = g(1) * sinAngle; + b2 = g(2) * sinAngle; + b3 = g(3) * sinAngle; + + R(1,1) = b0*b0 + b1*b1 - b2*b2 - b3*b3; + R(1,2) = 2*(b1*b2 + b0*b3); + R(1,3) = 2*(b1*b3 - b0*b2); + R(2,1) = 2*(b1*b2 - b0*b3); + R(2,2) = b0*b0 - b1*b1 + b2*b2 - b3*b3; + R(2,3) = 2*(b2*b3 + b0*b1); + R(3,1) = 2*(b1*b3 + b0*b2); + R(3,2) = 2*(b2*b3 - b0*b1); + R(3,3) = b0*b0 - b1*b1 - b2*b2 + b3*b3; + R = R / (b0*b0 + b1*b1 + b2*b2 + b3*b3); + + double skewValue = rotationCheck / (CLength*CLength); + ColumnVector gs = (cs - (c * skewValue)) / CLength; + ColumnVector pTemp(3); + pTemp(1) = g(2)*gs(3) - g(3)*gs(2); + pTemp(2) = g(3)*gs(1) - g(1)*gs(3); + pTemp(3) = g(1)*gs(2) - g(2)*gs(1); + ColumnVector t = R * -pTemp + g*(skewValue * angle) + pTemp; + + alignxf[0] = R(1,1); + alignxf[1] = R(2,1); + alignxf[2] = R(3,1); + alignxf[3] = 0; + alignxf[4] = R(1,2); + alignxf[5] = R(2,2); + alignxf[6] = R(3,2); + alignxf[7] = 0; + alignxf[8] = R(1,3); + alignxf[9] = R(2,3); + alignxf[10] = R(3,3); + alignxf[11] = 0; + alignxf[12] = t(1); + alignxf[13] = t(2); + alignxf[14] = t(3); + alignxf[15] = 1; +} + + diff --git a/.svn/pristine/97/976a2c45ec1402d9f03d2a4b0e294fd367dbac7f.svn-base b/.svn/pristine/97/976a2c45ec1402d9f03d2a4b0e294fd367dbac7f.svn-base new file mode 100644 index 0000000..2828fd2 --- /dev/null +++ b/.svn/pristine/97/976a2c45ec1402d9f03d2a4b0e294fd367dbac7f.svn-base @@ -0,0 +1,405 @@ +//---------------------------------------------------------------------- +// File: kd_tree.cpp +// Programmer: Sunil Arya and David Mount +// Description: Basic methods for kd-trees. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Increased aspect ratio bound (ANN_AR_TOOBIG) from 100 to 1000. +// Fixed leaf counts to count trivial leaves. +// Added optional pa, pi arguments to Skeleton kd_tree constructor +// for use in load constructor. +// Added annClose() to eliminate KD_TRIVIAL memory leak. +//---------------------------------------------------------------------- + +#include "kd_tree.h" // kd-tree declarations +#include "kd_split.h" // kd-tree splitting rules +#include "kd_util.h" // kd-tree utilities +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global data +// +// For some splitting rules, especially with small bucket sizes, +// it is possible to generate a large number of empty leaf nodes. +// To save storage we allocate a single trivial leaf node which +// contains no points. For messy coding reasons it is convenient +// to have it reference a trivial point index. +// +// KD_TRIVIAL is allocated when the first kd-tree is created. It +// must *never* deallocated (since it may be shared by more than +// one tree). +//---------------------------------------------------------------------- +static int IDX_TRIVIAL[] = {0}; // trivial point index +ANNkd_leaf *KD_TRIVIAL = NULL; // trivial leaf node + +//---------------------------------------------------------------------- +// Printing the kd-tree +// These routines print a kd-tree in reverse inorder (high then +// root then low). (This is so that if you look at the output +// from the right side it appear from left to right in standard +// inorder.) When outputting leaves we output only the point +// indices rather than the point coordinates. There is an option +// to print the point coordinates separately. +// +// The tree printing routine calls the printing routines on the +// individual nodes of the tree, passing in the level or depth +// in the tree. The level in the tree is used to print indentation +// for readability. +//---------------------------------------------------------------------- + +void ANNkd_split::print( // print splitting node + int level, // depth of node in tree + ostream &out) // output stream +{ + child[ANN_HI]->print(level+1, out); // print high child + out << " "; + for (int i = 0; i < level; i++) // print indentation + out << ".."; + out << "Split cd=" << cut_dim << " cv=" << cut_val; + out << " lbnd=" << cd_bnds[ANN_LO]; + out << " hbnd=" << cd_bnds[ANN_HI]; + out << "\n"; + child[ANN_LO]->print(level+1, out); // print low child +} + +void ANNkd_leaf::print( // print leaf node + int level, // depth of node in tree + ostream &out) // output stream +{ + + out << " "; + for (int i = 0; i < level; i++) // print indentation + out << ".."; + + if (this == KD_TRIVIAL) { // canonical trivial leaf node + out << "Leaf (trivial)\n"; + } + else{ + out << "Leaf n=" << n_pts << " <"; + for (int j = 0; j < n_pts; j++) { + out << bkt[j]; + if (j < n_pts-1) out << ","; + } + out << ">\n"; + } +} + +void ANNkd_tree::Print( // print entire tree + ANNbool with_pts, // print points as well? + ostream &out) // output stream +{ + out << "ANN Version " << ANNversion << "\n"; + if (with_pts) { // print point coordinates + out << " Points:\n"; + for (int i = 0; i < n_pts; i++) { + out << "\t" << i << ": "; + annPrintPt(pts[i], dim, out); + out << "\n"; + } + } + if (root == NULL) // empty tree? + out << " Null tree.\n"; + else { + root->print(0, out); // invoke printing at root + } +} + +//---------------------------------------------------------------------- +// kd_tree statistics (for performance evaluation) +// This routine compute various statistics information for +// a kd-tree. It is used by the implementors for performance +// evaluation of the data structure. +//---------------------------------------------------------------------- + +#define MAX(a,b) ((a) > (b) ? (a) : (b)) + +void ANNkdStats::merge(const ANNkdStats &st) // merge stats from child +{ + n_lf += st.n_lf; n_tl += st.n_tl; + n_spl += st.n_spl; n_shr += st.n_shr; + depth = MAX(depth, st.depth); + sum_ar += st.sum_ar; +} + +//---------------------------------------------------------------------- +// Update statistics for nodes +//---------------------------------------------------------------------- + +const double ANN_AR_TOOBIG = 1000; // too big an aspect ratio + +void ANNkd_leaf::getStats( // get subtree statistics + int dim, // dimension of space + ANNkdStats &st, // stats (modified) + ANNorthRect &bnd_box) // bounding box +{ + st.reset(); + st.n_lf = 1; // count this leaf + if (this == KD_TRIVIAL) st.n_tl = 1; // count trivial leaf + double ar = annAspectRatio(dim, bnd_box); // aspect ratio of leaf + // incr sum (ignore outliers) + st.sum_ar += float(ar < ANN_AR_TOOBIG ? ar : ANN_AR_TOOBIG); +} + +void ANNkd_split::getStats( // get subtree statistics + int dim, // dimension of space + ANNkdStats &st, // stats (modified) + ANNorthRect &bnd_box) // bounding box +{ + ANNkdStats ch_stats; // stats for children + // get stats for low child + ANNcoord hv = bnd_box.hi[cut_dim]; // save box bounds + bnd_box.hi[cut_dim] = cut_val; // upper bound for low child + ch_stats.reset(); // reset + child[ANN_LO]->getStats(dim, ch_stats, bnd_box); + st.merge(ch_stats); // merge them + bnd_box.hi[cut_dim] = hv; // restore bound + // get stats for high child + ANNcoord lv = bnd_box.lo[cut_dim]; // save box bounds + bnd_box.lo[cut_dim] = cut_val; // lower bound for high child + ch_stats.reset(); // reset + child[ANN_HI]->getStats(dim, ch_stats, bnd_box); + st.merge(ch_stats); // merge them + bnd_box.lo[cut_dim] = lv; // restore bound + + st.depth++; // increment depth + st.n_spl++; // increment number of splits +} + +//---------------------------------------------------------------------- +// getStats +// Collects a number of statistics related to kd_tree or +// bd_tree. +//---------------------------------------------------------------------- + +void ANNkd_tree::getStats( // get tree statistics + ANNkdStats &st) // stats (modified) +{ + st.reset(dim, n_pts, bkt_size); // reset stats + // create bounding box + ANNorthRect bnd_box(dim, bnd_box_lo, bnd_box_hi); + if (root != NULL) { // if nonempty tree + root->getStats(dim, st, bnd_box); // get statistics + st.avg_ar = st.sum_ar / st.n_lf; // average leaf asp ratio + } +} + +//---------------------------------------------------------------------- +// kd_tree destructor +// The destructor just frees the various elements that were +// allocated in the construction process. +//---------------------------------------------------------------------- + +ANNkd_tree::~ANNkd_tree() // tree destructor +{ + if (root != NULL) delete root; + if (pidx != NULL) delete [] pidx; + if (bnd_box_lo != NULL) annDeallocPt(bnd_box_lo); + if (bnd_box_hi != NULL) annDeallocPt(bnd_box_hi); +} + +//---------------------------------------------------------------------- +// This is called with all use of ANN is finished. It eliminates the +// minor memory leak caused by the allocation of KD_TRIVIAL. +//---------------------------------------------------------------------- +void annClose() // close use of ANN +{ + if (KD_TRIVIAL != NULL) { + delete KD_TRIVIAL; + KD_TRIVIAL = NULL; + } +} + +//---------------------------------------------------------------------- +// kd_tree constructors +// There is a skeleton kd-tree constructor which sets up a +// trivial empty tree. The last optional argument allows +// the routine to be passed a point index array which is +// assumed to be of the proper size (n). Otherwise, one is +// allocated and initialized to the identity. Warning: In +// either case the destructor will deallocate this array. +// +// As a kludge, we need to allocate KD_TRIVIAL if one has not +// already been allocated. (This is because I'm too dumb to +// figure out how to cause a pointer to be allocated at load +// time.) +//---------------------------------------------------------------------- + +void ANNkd_tree::SkeletonTree( // construct skeleton tree + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNpointArray pa, // point array + ANNidxArray pi) // point indices +{ + dim = dd; // initialize basic elements + n_pts = n; + bkt_size = bs; + pts = pa; // initialize points array + + root = NULL; // no associated tree yet + + if (pi == NULL) { // point indices provided? + pidx = new ANNidx[n]; // no, allocate space for point indices + for (int i = 0; i < n; i++) { + pidx[i] = i; // initially identity + } + } + else { + pidx = pi; // yes, use them + } + + bnd_box_lo = bnd_box_hi = NULL; // bounding box is nonexistent + if (KD_TRIVIAL == NULL) // no trivial leaf node yet? + KD_TRIVIAL = new ANNkd_leaf(0, IDX_TRIVIAL); // allocate it +} + +ANNkd_tree::ANNkd_tree( // basic constructor + int n, // number of points + int dd, // dimension + int bs) // bucket size +{ SkeletonTree(n, dd, bs); } // construct skeleton tree + +//---------------------------------------------------------------------- +// rkd_tree - recursive procedure to build a kd-tree +// +// Builds a kd-tree for points in pa as indexed through the +// array pidx[0..n-1] (typically a subarray of the array used in +// the top-level call). This routine permutes the array pidx, +// but does not alter pa[]. +// +// The construction is based on a standard algorithm for constructing +// the kd-tree (see Friedman, Bentley, and Finkel, ``An algorithm for +// finding best matches in logarithmic expected time,'' ACM Transactions +// on Mathematical Software, 3(3):209-226, 1977). The procedure +// operates by a simple divide-and-conquer strategy, which determines +// an appropriate orthogonal cutting plane (see below), and splits +// the points. When the number of points falls below the bucket size, +// we simply store the points in a leaf node's bucket. +// +// One of the arguments is a pointer to a splitting routine, +// whose prototype is: +// +// void split( +// ANNpointArray pa, // complete point array +// ANNidxArray pidx, // point array (permuted on return) +// ANNorthRect &bnds, // bounds of current cell +// int n, // number of points +// int dim, // dimension of space +// int &cut_dim, // cutting dimension +// ANNcoord &cut_val, // cutting value +// int &n_lo) // no. of points on low side of cut +// +// This procedure selects a cutting dimension and cutting value, +// partitions pa about these values, and returns the number of +// points on the low side of the cut. +//---------------------------------------------------------------------- + +ANNkd_ptr rkd_tree( // recursive construction of kd-tree + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + int bsp, // bucket space + ANNorthRect &bnd_box, // bounding box for current node + ANNkd_splitter splitter) // splitting routine +{ + if (n <= bsp) { // n small, make a leaf node + if (n == 0) // empty leaf node + return KD_TRIVIAL; // return (canonical) empty leaf + else // construct the node and return + return new ANNkd_leaf(n, pidx); + } + else { // n large, make a splitting node + int cd; // cutting dimension + ANNcoord cv; // cutting value + int n_lo; // number on low side of cut + ANNkd_node *lo, *hi; // low and high children + + // invoke splitting procedure + (*splitter)(pa, pidx, bnd_box, n, dim, cd, cv, n_lo); + + ANNcoord lv = bnd_box.lo[cd]; // save bounds for cutting dimension + ANNcoord hv = bnd_box.hi[cd]; + + bnd_box.hi[cd] = cv; // modify bounds for left subtree + lo = rkd_tree( // build left subtree + pa, pidx, n_lo, // ...from pidx[0..n_lo-1] + dim, bsp, bnd_box, splitter); + bnd_box.hi[cd] = hv; // restore bounds + + bnd_box.lo[cd] = cv; // modify bounds for right subtree + hi = rkd_tree( // build right subtree + pa, pidx + n_lo, n-n_lo,// ...from pidx[n_lo..n-1] + dim, bsp, bnd_box, splitter); + bnd_box.lo[cd] = lv; // restore bounds + + // create the splitting node + ANNkd_split *ptr = new ANNkd_split(cd, cv, lv, hv, lo, hi); + + return ptr; // return pointer to this node + } +} + +//---------------------------------------------------------------------- +// kd-tree constructor +// This is the main constructor for kd-trees given a set of points. +// It first builds a skeleton tree, then computes the bounding box +// of the data points, and then invokes rkd_tree() to actually +// build the tree, passing it the appropriate splitting routine. +//---------------------------------------------------------------------- + +ANNkd_tree::ANNkd_tree( // construct from point array + ANNpointArray pa, // point array (with at least n pts) + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNsplitRule split) // splitting method +{ + SkeletonTree(n, dd, bs); // set up the basic stuff + pts = pa; // where the points are + if (n == 0) return; // no points--no sweat + + ANNorthRect bnd_box(dd); // bounding box for points + annEnclRect(pa, pidx, n, dd, bnd_box);// construct bounding rectangle + // copy to tree structure + bnd_box_lo = annCopyPt(dd, bnd_box.lo); + bnd_box_hi = annCopyPt(dd, bnd_box.hi); + + switch (split) { // build by rule + case ANN_KD_STD: // standard kd-splitting rule + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, kd_split); + break; + case ANN_KD_MIDPT: // midpoint split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, midpt_split); + break; + case ANN_KD_FAIR: // fair split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, fair_split); + break; + case ANN_KD_SUGGEST: // best (in our opinion) + case ANN_KD_SL_MIDPT: // sliding midpoint split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_midpt_split); + break; + case ANN_KD_SL_FAIR: // sliding fair split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_fair_split); + break; + default: + annError("Illegal splitting method", ANNabort); + } +} diff --git a/.svn/pristine/97/977d84d8d5ad04398d876fe1dad09089bb5d1c58.svn-base b/.svn/pristine/97/977d84d8d5ad04398d876fe1dad09089bb5d1c58.svn-base new file mode 100644 index 0000000..b4dc78f --- /dev/null +++ b/.svn/pristine/97/977d84d8d5ad04398d876fe1dad09089bb5d1c58.svn-base @@ -0,0 +1,19 @@ +/* + * shapes implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/ransac_Boctree.h" +#include "shapes/NumberRecOctree.h" +#include "shapes/ransac.h" + +int main() { + CollisionPlane plane(1.0); // 1.0 cm maxdist + + Ransac(plane,0); + return 0; +} diff --git a/.svn/pristine/97/9791a102352df3ac0215644f050b84a19ae5f1e0.svn-base b/.svn/pristine/97/9791a102352df3ac0215644f050b84a19ae5f1e0.svn-base new file mode 100644 index 0000000..794b21d --- /dev/null +++ b/.svn/pristine/97/9791a102352df3ac0215644f050b84a19ae5f1e0.svn-base @@ -0,0 +1,31 @@ +/* + this file was suggested by Uffe Holst Jun05,2000 + to compile gocr using SAS/C under AmigaOS + + uhc@post6.tele.dk + + SAS/C propably does not support ANSI C++, therefore this changes + + I am a little bit confused about using declaration and + macro definition of abs(). I think that should not be necessary. + Tell me, if you have an Amiga and you can give answer + to the following questions. + + Joerg Schulenburg, see README for EMAIL-address + + */ + +#ifdef _AMIGA +#ifdef __SASC +#if 0 +#include /* may be this can be removed ??? */ +#include /* may be this can be removed ??? */ +extern int abs(int); /* may be this can be removed ??? */ +#endif +#ifndef abs +#define abs(i) ((i) < 0 ? -(i) : (i)) +#endif +#endif +#endif + + diff --git a/.svn/pristine/97/97f7ea5e7da84b7fbe5743d6ffae5f03dd7cef79.svn-base b/.svn/pristine/97/97f7ea5e7da84b7fbe5743d6ffae5f03dd7cef79.svn-base new file mode 100644 index 0000000..61d8fbd --- /dev/null +++ b/.svn/pristine/97/97f7ea5e7da84b7fbe5743d6ffae5f03dd7cef79.svn-base @@ -0,0 +1,140 @@ +/* + * allocator implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/allocator.h" + +using std::vector; +#include +using std::cout; +using std::endl; +#include +using std::runtime_error; + +#include //memset + + + +ChunkAllocator::ChunkAllocator(unsigned int _csize) : + chunksize(_csize), index(_csize), memsize(0), wastedspace(0) +{} + +ChunkAllocator::~ChunkAllocator() +{ + for(unsigned int i = 0; i < mem.size(); i++) { + delete[] mem[i]; + } +} + +void ChunkAllocator::printSize() const +{ + cout << "Alloc'd " << memsize/(1024*1024.0) << " Mb " << endl; + cout << " wasted " << wastedspace/(1024*1024.0) << " Mb " << endl; +} + +unsigned char* ChunkAllocator::allocate(unsigned int size) +{ + unsigned char* chunk; + if (size + index > chunksize) { + // create new chunk + wastedspace += (chunksize-index); + // check for oversize + if (chunksize > size) { + chunk = new unsigned char[chunksize]; + memset(chunk, 0, chunksize); + memsize+=chunksize; + } else { + chunk = new unsigned char[size]; + memset(chunk, 0, size); + memsize+=size; + } + mem.push_back(chunk); + index = 0; + } else { + // use last chunk + chunk = mem.back(); + chunk = chunk + index; + } + index += size; + return chunk; +} + + + +PackedChunkAllocator::PackedChunkAllocator(unsigned int _csize) : + chunksize(_csize), memsize(0) +{} + +PackedChunkAllocator::~PackedChunkAllocator() +{ + for(unsigned int i = 0; i < mem.size(); i++) { + delete[] mem[i]; + } +} + +void PackedChunkAllocator::printSize() const +{ + cout << "Alloc'd " << memsize/(1024*1024.0) << " Mb " << endl; + + unsigned long int wastedspace = 0; + for(unsigned int i = 0; i < index.size(); i++) { + if(index[i] < chunksize) { + wastedspace += chunksize - index[i]; + } + } + cout << "wasted " << wastedspace/(1024*1024.0) << " Mb " << endl; +} + +unsigned char* PackedChunkAllocator::allocate(unsigned int size) +{ + unsigned char* chunk; + for (unsigned int i = 0; i < index.size(); i++) { + if ( !(size + index[i] > chunksize) ) { + // found a suitable entry + chunk = mem[i]; + chunk = chunk + index[i]; // pointer to free byte + index[i] += size; // increment index + return chunk; + } + } + // no chunk is large enough... make new one + if (chunksize > size) { + chunk = new unsigned char[chunksize]; + memset(chunk, 0, chunksize); + memsize += chunksize; + } else { // in case the requested memory is larger than our chunks, make a single chunk thats large enough + chunk = new unsigned char[size]; + memset(chunk, 0, size); + memsize += size; + } + mem.push_back(chunk); + index.push_back(size); + return chunk; +} + +SequentialAllocator::SequentialAllocator(unsigned char* base_ptr, unsigned int max_size) : + m_base_ptr(base_ptr), m_size(max_size), m_index(0) +{} + +SequentialAllocator::~SequentialAllocator() +{} + +void SequentialAllocator::printSize() const +{ + cout << "Using " << m_index << " of " << m_size << " bytes." << endl; +} + +unsigned char* SequentialAllocator::allocate(unsigned int size) +{ + if(m_index + size > m_size) { + throw runtime_error("SequentialAllocator memory overflow"); + } + unsigned char* r = m_base_ptr + m_index; + m_index += size; + return r; +} diff --git a/.svn/pristine/98/981260cea4afb6b9d6083b246f02e4ab7cc78183.svn-base b/.svn/pristine/98/981260cea4afb6b9d6083b246f02e4ab7cc78183.svn-base new file mode 100644 index 0000000..4b96439 --- /dev/null +++ b/.svn/pristine/98/981260cea4afb6b9d6083b246f02e4ab7cc78183.svn-base @@ -0,0 +1,210 @@ +/* + * scan_io_ks_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_ks_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "Color_ScanPos" +#define DATA_PATH_SUFFIX " - Scan001.txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_ks_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (001-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.txt) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_ks_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); +/* +Don't use this part of io_ks because the original io_ks_rgb didn't +have it either, reasoning was "we never got ks_rgb scans with pose", so +the pose files created were already corrected in terms of offset and +scaling + // CAD map -> pose correction [ks x/y/z -> slam -z/y/x] + double tmp; + tmp = pose[0]; + pose[0] = - pose[2]; + pose[2] = tmp; + + // convert coordinate to cm + for(i = 0; i < 3; ++i) pose[i] *= 100.0; +*/ + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_ks_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE | DATA_AMPLITUDE)); +} + +void ScanIO_ks_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + + // TODO: support for amplitude and reflectance + if(xyz != 0 || rgb != 0 || reflectance != 0 || amplitude != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[8]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 8; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // still convert the points, needed for range check + + // the enemy's x/y/z is mapped to slam's x/z/y, shuffle time! + tmp = point[1]; + point[1] = point[2]; + point[2] = tmp; + + // TODO: offset is application specific, handle with care + // correct constant offset (in slam coordinates) + point[0] -= 70000.0; // x + point[2] -= 20000.0; // z + + // convert coordinate to cm + for(i = 0; i < 3; ++i) point[i] *= 100.0; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 3; i < 6; ++i) rgb->push_back( + static_cast(point[i] * 255.0)); + } + if(reflectance != 0) { + reflectance->push_back(point[7]); + } + if(amplitude != 0) { + amplitude->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/98/983320b68c042512d071deb5c13b31aa9158271d.svn-base b/.svn/pristine/98/983320b68c042512d071deb5c13b31aa9158271d.svn-base new file mode 100644 index 0000000..ba93def --- /dev/null +++ b/.svn/pristine/98/983320b68c042512d071deb5c13b31aa9158271d.svn-base @@ -0,0 +1,14 @@ +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" +#include "veloslam/multiscan_random_field.h" + +Random_field::Random_field(void) +{ + +} + +Random_field::~Random_field(void) +{ + +} + diff --git a/.svn/pristine/98/9896224915ac3a2989e49be56e9099f9408a90ff.svn-base b/.svn/pristine/98/9896224915ac3a2989e49be56e9099f9408a90ff.svn-base new file mode 100644 index 0000000..2837e95 --- /dev/null +++ b/.svn/pristine/98/9896224915ac3a2989e49be56e9099f9408a90ff.svn-base @@ -0,0 +1,45 @@ +# Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +# grendel.ccl@gmail.com +# +# This file is part of cvBlob. +# +# cvBlob is free software: you can redistribute it and/or modify +# it under the terms of the Lesser GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# cvBlob is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# Lesser GNU General Public License for more details. +# +# You should have received a copy of the Lesser GNU General Public License +# along with cvBlob. If not, see . +# + +IF (WITH_THERMO) + +MESSAGE(STATUS "With cvblob") +find_package(OpenCV REQUIRED) + +set(CVBLOB_SRCS + cvblob.cpp + cvlabel.cpp + cvaux.cpp + cvcontour.cpp + cvtrack.cpp + cvcolor.cpp +) + +set_source_files_properties(${cvBlob_SRC} + PROPERTIES + COMPILE_FLAGS "-O3" +) + +add_library(cvblob STATIC ${CVBLOB_SRCS}) + +IF(EXPORT_SHARED_LIBS) +add_library(cvblob_s SHARED ${CVBLOB_SRCS}) +ENDIF(EXPORT_SHARED_LIBS) + +ENDIF (WITH_THERMO) diff --git a/.svn/pristine/98/98a7231ea0449be460d625f1fd5607a69edc62a3.svn-base b/.svn/pristine/98/98a7231ea0449be460d625f1fd5607a69edc62a3.svn-base new file mode 100644 index 0000000..2355377 --- /dev/null +++ b/.svn/pristine/98/98a7231ea0449be460d625f1fd5607a69edc62a3.svn-base @@ -0,0 +1,446 @@ +//---------------------------------------------------------------------- +// File: kd_dump.cc +// Programmer: David Mount +// Description: Dump and Load for kd- and bd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Moved dump out of kd_tree.cc into this file. +// Added kd-tree load constructor. +//---------------------------------------------------------------------- +// This file contains routines for dumping kd-trees and bd-trees and +// reloading them. (It is an abuse of policy to include both kd- and +// bd-tree routines in the same file, sorry. There should be no problem +// in deleting the bd- versions of the routines if they are not +// desired.) +//---------------------------------------------------------------------- + +#include +#include +#include "kd_tree.h" // kd-tree declarations +#include "bd_tree.h" // bd-tree declarations + +using namespace std; // make std:: available + +//---------------------------------------------------------------------- +// Constants +//---------------------------------------------------------------------- + +const int STRING_LEN = 500; // maximum string length +const double EPSILON = 1E-5; // small number for float comparison + +enum ANNtreeType {KD_TREE, BD_TREE}; // tree types (used in loading) + +//---------------------------------------------------------------------- +// Procedure declarations +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadDump( // read dump file + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNpointArray &the_pts, // new points (if applic) + ANNidxArray &the_pidx, // point indices (returned) + int &the_dim, // dimension (returned) + int &the_n_pts, // number of points (returned) + int &the_bkt_size, // bucket size (returned) + ANNpoint &the_bnd_box_lo, // low bounding point + ANNpoint &the_bnd_box_hi); // high bounding point + +static ANNkd_ptr annReadTree( // read tree-part of dump file + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNidxArray the_pidx, // point indices (modified) + int &next_idx); // next index (modified) + +//---------------------------------------------------------------------- +// ANN kd- and bd-tree Dump Format +// The dump file begins with a header containing the version of +// ANN, an optional section containing the points, followed by +// a description of the tree. The tree is printed in preorder. +// +// Format: +// #ANN [END_OF_LINE] +// points (point coordinates: this is optional) +// 0 ... (point indices and coordinates) +// 1 ... +// ... +// tree +// ... (lower end of bounding box) +// ... (upper end of bounding box) +// If the tree is null, then a single line "null" is +// output. Otherwise the nodes of the tree are printed +// one per line in preorder. Leaves and splitting nodes +// have the following formats: +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// +// For bd-trees: +// +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +//---------------------------------------------------------------------- + +void ANNkd_tree::Dump( // dump entire tree + ANNbool with_pts, // print points as well? + ostream &out) // output stream +{ + out << "#ANN " << ANNversion << "\n"; + out.precision(ANNcoordPrec); // use full precision in dumping + if (with_pts) { // print point coordinates + out << "points " << dim << " " << n_pts << "\n"; + for (int i = 0; i < n_pts; i++) { + out << i << " "; + annPrintPt(pts[i], dim, out); + out << "\n"; + } + } + out << "tree " // print tree elements + << dim << " " + << n_pts << " " + << bkt_size << "\n"; + + annPrintPt(bnd_box_lo, dim, out); // print lower bound + out << "\n"; + annPrintPt(bnd_box_hi, dim, out); // print upper bound + out << "\n"; + + if (root == NULL) // empty tree? + out << "null\n"; + else { + root->dump(out); // invoke printing at root + } + out.precision(0); // restore default precision +} + +void ANNkd_split::dump( // dump a splitting node + ostream &out) // output stream +{ + out << "split " << cut_dim << " " << cut_val << " "; + out << cd_bnds[ANN_LO] << " " << cd_bnds[ANN_HI] << "\n"; + + child[ANN_LO]->dump(out); // print low child + child[ANN_HI]->dump(out); // print high child +} + +void ANNkd_leaf::dump( // dump a leaf node + ostream &out) // output stream +{ + if (this == KD_TRIVIAL) { // canonical trivial leaf node + out << "leaf 0\n"; // leaf no points + } + else{ + out << "leaf " << n_pts; + for (int j = 0; j < n_pts; j++) { + out << " " << bkt[j]; + } + out << "\n"; + } +} + +void ANNbd_shrink::dump( // dump a shrinking node + ostream &out) // output stream +{ + out << "shrink " << n_bnds << "\n"; + for (int j = 0; j < n_bnds; j++) { + out << bnds[j].cd << " " << bnds[j].cv << " " << bnds[j].sd << "\n"; + } + child[ANN_IN]->dump(out); // print in-child + child[ANN_OUT]->dump(out); // print out-child +} + +//---------------------------------------------------------------------- +// Load kd-tree from dump file +// This rebuilds a kd-tree which was dumped to a file. The dump +// file contains all the basic tree information according to a +// preorder traversal. We assume that the dump file also contains +// point data. (This is to guarantee the consistency of the tree.) +// If not, then an error is generated. +// +// Indirectly, this procedure allocates space for points, point +// indices, all nodes in the tree, and the bounding box for the +// tree. When the tree is destroyed, all but the points are +// deallocated. +// +// This routine calls annReadDump to do all the work. +//---------------------------------------------------------------------- + +ANNkd_tree::ANNkd_tree( // build from dump file + istream &in) // input stream for dump file +{ + int the_dim; // local dimension + int the_n_pts; // local number of points + int the_bkt_size; // local number of points + ANNpoint the_bnd_box_lo; // low bounding point + ANNpoint the_bnd_box_hi; // high bounding point + ANNpointArray the_pts; // point storage + ANNidxArray the_pidx; // point index storage + ANNkd_ptr the_root; // root of the tree + + the_root = annReadDump( // read the dump file + in, // input stream + KD_TREE, // expecting a kd-tree + the_pts, // point array (returned) + the_pidx, // point indices (returned) + the_dim, the_n_pts, the_bkt_size, // basic tree info (returned) + the_bnd_box_lo, the_bnd_box_hi); // bounding box info (returned) + + // create a skeletal tree + SkeletonTree(the_n_pts, the_dim, the_bkt_size, the_pts, the_pidx); + + bnd_box_lo = the_bnd_box_lo; + bnd_box_hi = the_bnd_box_hi; + + root = the_root; // set the root +} + +ANNbd_tree::ANNbd_tree( // build bd-tree from dump file + istream &in) : ANNkd_tree() // input stream for dump file +{ + int the_dim; // local dimension + int the_n_pts; // local number of points + int the_bkt_size; // local number of points + ANNpoint the_bnd_box_lo; // low bounding point + ANNpoint the_bnd_box_hi; // high bounding point + ANNpointArray the_pts; // point storage + ANNidxArray the_pidx; // point index storage + ANNkd_ptr the_root; // root of the tree + + the_root = annReadDump( // read the dump file + in, // input stream + BD_TREE, // expecting a bd-tree + the_pts, // point array (returned) + the_pidx, // point indices (returned) + the_dim, the_n_pts, the_bkt_size, // basic tree info (returned) + the_bnd_box_lo, the_bnd_box_hi); // bounding box info (returned) + + // create a skeletal tree + SkeletonTree(the_n_pts, the_dim, the_bkt_size, the_pts, the_pidx); + bnd_box_lo = the_bnd_box_lo; + bnd_box_hi = the_bnd_box_hi; + + root = the_root; // set the root +} + +//---------------------------------------------------------------------- +// annReadDump - read a dump file +// +// This procedure reads a dump file, constructs a kd-tree +// and returns all the essential information needed to actually +// construct the tree. Because this procedure is used for +// constructing both kd-trees and bd-trees, the second argument +// is used to indicate which type of tree we are expecting. +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadDump( + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNpointArray &the_pts, // new points (returned) + ANNidxArray &the_pidx, // point indices (returned) + int &the_dim, // dimension (returned) + int &the_n_pts, // number of points (returned) + int &the_bkt_size, // bucket size (returned) + ANNpoint &the_bnd_box_lo, // low bounding point (ret'd) + ANNpoint &the_bnd_box_hi) // high bounding point (ret'd) +{ + int j; + char str[STRING_LEN]; // storage for string + char version[STRING_LEN]; // ANN version number + ANNkd_ptr the_root = NULL; + + //------------------------------------------------------------------ + // Input file header + //------------------------------------------------------------------ + in >> str; // input header + if (strcmp(str, "#ANN") != 0) { // incorrect header + annError("Incorrect header for dump file", ANNabort); + } + in.getline(version, STRING_LEN); // get version (ignore) + + //------------------------------------------------------------------ + // Input the points + // An array the_pts is allocated and points are read from + // the dump file. + //------------------------------------------------------------------ + in >> str; // get major heading + if (strcmp(str, "points") == 0) { // points section + in >> the_dim; // input dimension + in >> the_n_pts; // number of points + // allocate point storage + the_pts = annAllocPts(the_n_pts, the_dim); + for (int i = 0; i < the_n_pts; i++) { // input point coordinates + ANNidx idx; // point index + in >> idx; // input point index + if (idx < 0 || idx >= the_n_pts) { + annError("Point index is out of range", ANNabort); + } + for (j = 0; j < the_dim; j++) { + in >> the_pts[idx][j]; // read point coordinates + } + } + in >> str; // get next major heading + } + else { // no points were input + annError("Points must be supplied in the dump file", ANNabort); + } + + //------------------------------------------------------------------ + // Input the tree + // After the basic header information, we invoke annReadTree + // to do all the heavy work. We create our own array of + // point indices (so we can pass them to annReadTree()) + // but we do not deallocate them. They will be deallocated + // when the tree is destroyed. + //------------------------------------------------------------------ + if (strcmp(str, "tree") == 0) { // tree section + in >> the_dim; // read dimension + in >> the_n_pts; // number of points + in >> the_bkt_size; // bucket size + the_bnd_box_lo = annAllocPt(the_dim); // allocate bounding box pts + the_bnd_box_hi = annAllocPt(the_dim); + + for (j = 0; j < the_dim; j++) { // read bounding box low + in >> the_bnd_box_lo[j]; + } + for (j = 0; j < the_dim; j++) { // read bounding box low + in >> the_bnd_box_hi[j]; + } + the_pidx = new ANNidx[the_n_pts]; // allocate point index array + int next_idx = 0; // number of indices filled + // read the tree and indices + the_root = annReadTree(in, tree_type, the_pidx, next_idx); + if (next_idx != the_n_pts) { // didn't see all the points? + annError("Didn't see as many points as expected", ANNwarn); + } + } + else { + annError("Illegal dump format. Expecting section heading", ANNabort); + } + return the_root; +} + +//---------------------------------------------------------------------- +// annReadTree - input tree and return pointer +// +// annReadTree reads in a node of the tree, makes any recursive +// calls as needed to input the children of this node (if internal). +// It returns a pointer to the node that was created. An array +// of point indices is given along with a pointer to the next +// available location in the array. As leaves are read, their +// point indices are stored here, and the point buckets point +// to the first entry in the array. +// +// Recall that these are the formats. The tree is given in +// preorder. +// +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// +// For bd-trees: +// +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadTree( + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNidxArray the_pidx, // point indices (modified) + int &next_idx) // next index (modified) +{ + char tag[STRING_LEN]; // tag (leaf, split, shrink) + int n_pts; // number of points in leaf + int cd; // cut dimension + ANNcoord cv; // cut value + ANNcoord lb; // low bound + ANNcoord hb; // high bound + int n_bnds; // number of bounding sides + int sd; // which side + + in >> tag; // input node tag + + if (strcmp(tag, "null") == 0) { // null tree + return NULL; + } + //------------------------------------------------------------------ + // Read a leaf + //------------------------------------------------------------------ + if (strcmp(tag, "leaf") == 0) { // leaf node + + in >> n_pts; // input number of points + int old_idx = next_idx; // save next_idx + if (n_pts == 0) { // trivial leaf + return KD_TRIVIAL; + } + else { + for (int i = 0; i < n_pts; i++) { // input point indices + in >> the_pidx[next_idx++]; // store in array of indices + } + } + return new ANNkd_leaf(n_pts, &the_pidx[old_idx]); + } + //------------------------------------------------------------------ + // Read a splitting node + //------------------------------------------------------------------ + else if (strcmp(tag, "split") == 0) { // splitting node + + in >> cd >> cv >> lb >> hb; + + // read low and high subtrees + ANNkd_ptr lc = annReadTree(in, tree_type, the_pidx, next_idx); + ANNkd_ptr hc = annReadTree(in, tree_type, the_pidx, next_idx); + // create new node and return + return new ANNkd_split(cd, cv, lb, hb, lc, hc); + } + //------------------------------------------------------------------ + // Read a shrinking node (bd-tree only) + //------------------------------------------------------------------ + else if (strcmp(tag, "shrink") == 0) { // shrinking node + if (tree_type != BD_TREE) { + annError("Shrinking node not allowed in kd-tree", ANNabort); + } + + in >> n_bnds; // number of bounding sides + // allocate bounds array + ANNorthHSArray bds = new ANNorthHalfSpace[n_bnds]; + for (int i = 0; i < n_bnds; i++) { + in >> cd >> cv >> sd; // input bounding halfspace + // copy to array + bds[i] = ANNorthHalfSpace(cd, cv, sd); + } + // read inner and outer subtrees + ANNkd_ptr ic = annReadTree(in, tree_type, the_pidx, next_idx); + ANNkd_ptr oc = annReadTree(in, tree_type, the_pidx, next_idx); + // create new node and return + return new ANNbd_shrink(n_bnds, bds, ic, oc); + } + else { + annError("Illegal node type in dump file", ANNabort); + exit(0); // to keep the compiler happy + } +} diff --git a/.svn/pristine/98/98b8d9ce8d1e83b6afc90afddf8a8bf0ffd2c0fb.svn-base b/.svn/pristine/98/98b8d9ce8d1e83b6afc90afddf8a8bf0ffd2c0fb.svn-base new file mode 100644 index 0000000..58731d4 Binary files /dev/null and b/.svn/pristine/98/98b8d9ce8d1e83b6afc90afddf8a8bf0ffd2c0fb.svn-base differ diff --git a/.svn/pristine/98/98c63f18332d04e665c089fe38806f2e73dd17be.svn-base b/.svn/pristine/98/98c63f18332d04e665c089fe38806f2e73dd17be.svn-base new file mode 100644 index 0000000..fda20d4 --- /dev/null +++ b/.svn/pristine/98/98c63f18332d04e665c089fe38806f2e73dd17be.svn-base @@ -0,0 +1,104 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img) + { + CV_FUNCNAME("cvBlobMeanColor"); + __CV_BEGIN__; + { + CV_ASSERT(imgLabel&&(imgLabel->depth==IPL_DEPTH_LABEL)&&(imgLabel->nChannels==1)); + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + int stepLbl = imgLabel->widthStep/(imgLabel->depth/8); + int stepImg = img->widthStep/(img->depth/8); + int imgLabel_width = imgLabel->width; + int imgLabel_height = imgLabel->height; + int imgLabel_offset = 0; + int img_width = img->width; + int img_height = img->height; + int img_offset = 0; + if(imgLabel->roi) + { + imgLabel_width = imgLabel->roi->width; + imgLabel_height = imgLabel->roi->height; + imgLabel_offset = (imgLabel->nChannels * imgLabel->roi->xOffset) + (imgLabel->roi->yOffset * stepLbl); + } + if(img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = (img->nChannels * img->roi->xOffset) + (img->roi->yOffset * stepImg); + } + + CvLabel *labels = (CvLabel *)imgLabel->imageData + imgLabel_offset; + unsigned char *imgData = (unsigned char *)img->imageData + img_offset; + + double mb = 0; + double mg = 0; + double mr = 0; + double pixels = (double)blob->area; + + for (unsigned int r=0; r<(unsigned int)imgLabel_height; r++, labels+=stepLbl, imgData+=stepImg) + for (unsigned int c=0; c<(unsigned int)imgLabel_width; c++) + { + if (labels[c]==blob->label) + { + mb += ((double)imgData[img->nChannels*c+0])/pixels; // B + mg += ((double)imgData[img->nChannels*c+1])/pixels; // G + mr += ((double)imgData[img->nChannels*c+2])/pixels; // R + } + } + + /*double mb = 0; + double mg = 0; + double mr = 0; + double pixels = (double)blob->area; + for (unsigned int y=0; yheight; y++) + for (unsigned int x=0; xwidth; x++) + { + if (cvGetLabel(imgLabel, x, y)==blob->label) + { + CvScalar color = cvGet2D(img, y, x); + mb += color.val[0]/pixels; + mg += color.val[1]/pixels; + mr += color.val[2]/pixels; + } + }*/ + + return cvScalar(mr, mg, mb); + } + __CV_END__; + } + +} diff --git a/.svn/pristine/98/98f4447cdcf31c3735470baa48f804142aa02671.svn-base b/.svn/pristine/98/98f4447cdcf31c3735470baa48f804142aa02671.svn-base new file mode 100644 index 0000000..d286e1c --- /dev/null +++ b/.svn/pristine/98/98f4447cdcf31c3735470baa48f804142aa02671.svn-base @@ -0,0 +1,85 @@ +/********************************************************************** + + Arcball.h + + A C++ class that implements the Arcball, as described by Ken + Shoemake in Graphics Gems IV. + This class takes as input mouse events (mouse down, mouse drag, + mouse up), and creates the appropriate quaternions and 4x4 matrices + to represent the rotation given by the mouse. + + This class is used as follows: + - initialize [either in the constructor or with set_params()], the + center position (x,y) of the arcball on the screen, and the radius + - on mouse down, call mouse_down(x,y) with the mouse position + - as the mouse is dragged, repeatedly call mouse_motion() with the + current x and y positions. One can optionally pass in the current + state of the SHIFT, ALT, and CONTROL keys (passing zero if keys + are not pressed, non-zero otherwise), which constrains + the rotation to certain axes (X for CONTROL, Y for ALT). + - when the mouse button is released, call mouse_up() + + Axis constraints can also be explicitly set with the + set_constraints() function. + + The current rotation is stored in the 4x4 float matrix 'rot'. + It is also stored in the quaternion 'q_now'. + + ------------------------------------------------------------------ + + Feb 25, 1998 - Paul Rademacher (rademach@cs.unc.edu) + +**********************************************************************/ + + +#ifndef _ARCBALL_H_ +#define _ARCBALL_H_ + + +#include "stdinc.h" +#include "algebra3.h" +#include "quaternion.h" + +#ifdef __APPLE__ +#include +#else +#include +#endif + +class Arcball { +public: + Bool constraint_x, constraint_y; + vec2 center; + float radius, damp_factor; + int zero_increment; + + vec3 constrain_vector( vec3 vector, vec3 axis ); + vec3 mouse_to_sphere( vec2 p ); + + //public: + int is_mouse_down; /* true for down, false for up */ + int is_spinning; + quat q_now, q_down, q_drag, q_increment; + vec2 down_pt; + mat4 rot, rot_increment; + mat4 *rot_ptr; + + void set_damping( float d ); + void idle( void ); + void mouse_down( int x, int y ); + void mouse_up( void ); + void mouse_motion( int x, int y, int shift, int ctrl, int alt ); + void mouse_motion( int x, int y ); + void set_constraints( Bool constrain_x, Bool constrain_y ); + void set_params( vec2 center, float radius ); + void reset_mouse( void ); + void init( void ); + + Arcball( void ); + Arcball( mat4 *mtx ); + Arcball( vec2 center, float radius ); +}; + + +#endif + diff --git a/.svn/pristine/99/99042653e5414e8d0ef85202b942814bbe7741fa.svn-base b/.svn/pristine/99/99042653e5414e8d0ef85202b942814bbe7741fa.svn-base new file mode 100644 index 0000000..6165357 --- /dev/null +++ b/.svn/pristine/99/99042653e5414e8d0ef85202b942814bbe7741fa.svn-base @@ -0,0 +1,191 @@ +/** + * @file + * @brief Scan containing all interprocess shared data and management values. + * + * @author Thomas Escher + */ + +#ifndef SHARED_SCAN_H +#define SHARED_SCAN_H + +#include "scanserver/frame.h" +#include "slam6d/io_types.h" +#include "slam6d/data_types.h" +#include "slam6d/pointfilter.h" + +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +// allocator and type for a scan vector +class SharedScan; +typedef ip::allocator, SegmentManager> SharedScanAllocator; +typedef ip::vector, SharedScanAllocator> SharedScanVector; + +// allocator and type for a shared string +typedef ip::allocator CharAllocator; +typedef ip::basic_string, CharAllocator> SharedString; + +// shared pointer for shared strings +typedef ip::managed_shared_ptr::type SharedStringSharedPtr; + +class CacheObject; + + + +/** + * @brief Central class representing a single scan file in shared memory. + * + * This class identifies a scan file by its path, identificator and io type, which are given to the ScanIO to read a scan. + * It holds all neccessary information like pose, frames and cached data from the scan. The cached data is contained in CacheObjects, one for each data channel and two reduced (one transformed, one untransformed). The access to the CacheObjects' data is given via a derivation from CacheData via MultiArray-types, which imitates a double**-array for easy use. + * All calls to the server are relayed to the ClientInterface and handled there. Access to the CacheObjects causing a cache miss also invoke a server call to the CacheManager. + */ +class SharedScan +{ + // private static class access for onChacheMiss/onAllocation + friend class CacheObject; +public: + //! Constructor by identifiers + SharedScan(const ip::allocator & allocator, + const SharedStringSharedPtr& dir_path_ptr, const char* io_identifier, + IOType iotype); + + //! Deconstructor + ~SharedScan(); + + //! Equality operator based on identifier, directory and type + bool operator==(const SharedScan& r) const; + + //! Filter parameters for range checks when loading from file, invalidate cache for scan CacheObject if it differs + void setRangeParameters(double max_dist, double min_dist); + + //! Filter parameters for height checks when loading from file, invalidate cache for scan CacheObject if it differs + void setHeightParameters(double top, double bottom); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setReductionParameters(const char* params); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setShowReductionParameters(const char* params); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setOcttreeParameters(const char* params); + + //! Add a new frame with the current transformation and given type + void addFrame(double* transformation, unsigned int type); + + //! Save frames into a file for later use + void saveFrames(); + + //! Clear existing frames + void clearFrames(); + + //! Get contained frames + const FrameVector& getFrames(); + + //! Get pose from pose file + double* getPose(); + + //! Get specific cached data + DataXYZ getXYZ(); + DataRGB getRGB(); + DataReflectance getReflectance(); + DataAmplitude getAmplitude(); + DataType getType(); + DataDeviation getDeviation(); + + //! Reduced transformed points + DataXYZ getXYZReduced(); + + //! Create a new set of reduced points + DataXYZ createXYZReduced(unsigned int size); + + //! Reduced untransformed points + DataXYZ getXYZReducedOriginal(); + + //! Create a new set of reduced points originals + DataXYZ createXYZReducedOriginal(unsigned int size); + + //! Individual reduced points to use in show if requested + TripleArray getXYZReducedShow(); + + //! Create a new set of reduced points for use in show + TripleArray createXYZReducedShow(unsigned int size); + + //! Cached tree structure for show + DataPointer getOcttree(); + + //! Create a cached tree structure for show + DataPointer createOcttree(unsigned int size); + + //! ScanHandler related prefetching values to combine loading of separate cache objects + void prefetch(unsigned int type) { m_prefetch |= type; } + + //! Return prefetch values + unsigned int getPrefetch() const { return m_prefetch; } + + //! Clear prefetch values + void clearPrefetch() { m_prefetch = 0; } + + // IO-specific getters + inline const char* getDirPath() const { return m_dir_path_ptr->c_str(); } + inline const char* getIdentifier() const { return m_io_identifier.c_str(); } + inline IOType getIOType() const { return m_iotype; } + inline float getMaxDist() const { return m_max_dist; } + inline float getMinDist() const { return m_min_dist; } + inline double geHeightTop() const { return m_height_top; } + inline double getHeightBottom() const { return m_height_bottom; } + + //! Assembles an PointFilter with range/height parameters (if set) to use process-locally + PointFilter getPointFilter() const; + +private: + SharedStringSharedPtr m_dir_path_ptr; + SharedString m_io_identifier; + IOType m_iotype; + unsigned int m_prefetch; + double m_max_dist, m_min_dist; + double m_height_top, m_height_bottom; + bool m_range_param_set, m_height_param_set; + SharedString m_reduction_parameters; + SharedString m_show_parameters; + SharedString m_octtree_parameters; + bool m_load_frames_file; + +protected: + ip::offset_ptr m_pose; + ip::offset_ptr m_xyz, m_rgb, m_reflectance, m_amplitude, m_type, m_deviation, + m_xyz_reduced, m_xyz_reduced_original, + m_show_reduced, m_octtree; + FrameVector m_frames; + + //! invalidate full cache objects + void invalidateFull(); + + //! invalidate reduced cache objects + void invalidateReduced(); + + //! invalidate show related cache objects + void invalidateShow(); + +private: + //! Static callback for cache misses to send a request to the server interface + static void onCacheMiss(CacheObject* obj); + + //! Static callback for cache object creation calls + static void onAllocation(CacheObject* obj, unsigned int size); + + //! Static callback for cache object invalidation + static void onInvalidation(CacheObject* obj); +}; + +#endif //SHARED_SCAN_H diff --git a/.svn/pristine/99/9909acbbfd56d170fd12be1fb4767718a92f6bac.svn-base b/.svn/pristine/99/9909acbbfd56d170fd12be1fb4767718a92f6bac.svn-base new file mode 100644 index 0000000..25737a6 --- /dev/null +++ b/.svn/pristine/99/9909acbbfd56d170fd12be1fb4767718a92f6bac.svn-base @@ -0,0 +1,38 @@ + + +int glui_img_checkbox_0_dis[] = { 13, 13, /* width, height */ + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 255,255,255, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 255,255,255, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 192,192,192, + 255,255,255, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 255,255,255, +}; diff --git a/.svn/pristine/99/99354b13b7faf6adcfc81736805c080085f218ba.svn-base b/.svn/pristine/99/99354b13b7faf6adcfc81736805c080085f218ba.svn-base new file mode 100644 index 0000000..297d060 --- /dev/null +++ b/.svn/pristine/99/99354b13b7faf6adcfc81736805c080085f218ba.svn-base @@ -0,0 +1,15 @@ +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" +#include "veloslam/cluster_classification.h" + +Cluster_Classification::Cluster_Classification(void) +{ + +} + +Cluster_Classification::~Cluster_Classification(void) +{ + +} + + diff --git a/.svn/pristine/99/994b19cc39b29c0cb30ef4e7042db88839dd7b91.svn-base b/.svn/pristine/99/994b19cc39b29c0cb30ef4e7042db88839dd7b91.svn-base new file mode 100644 index 0000000..03f24ac --- /dev/null +++ b/.svn/pristine/99/994b19cc39b29c0cb30ef4e7042db88839dd7b91.svn-base @@ -0,0 +1,22 @@ +/** + * @file + * @brief Representation of a general cache for search trees + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SEARCHCACHE_H__ +#define __SEARCHCACHE_H__ + +/** + * @brief The general Cache Item + * + * This class contains a general cache item + */ +class SearchTreeCacheItem +{ + public: + virtual ~SearchTreeCacheItem() {}; +}; + + +#endif diff --git a/.svn/pristine/99/9950464c192a22a6ce4d9902792fff4c19c388bc.svn-base b/.svn/pristine/99/9950464c192a22a6ce4d9902792fff4c19c388bc.svn-base new file mode 100644 index 0000000..190b483 --- /dev/null +++ b/.svn/pristine/99/9950464c192a22a6ce4d9902792fff4c19c388bc.svn-base @@ -0,0 +1,259 @@ +/** + * @file plane3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" + +#include +#include +using namespace Eigen; + +#include + +#include +#include +using namespace std; + +model::Plane3d::Plane3d() { + // nothing to do +} + +model::Plane3d::Plane3d(const Point3d& pt, const Vector3d& normal) { + this->pt = pt; + this->normal = normal; + + // normals must be normalized + this->normal.normalize(); +} + + +model::Plane3d::Plane3d(const Point3d& pt, const Vector3d& normal, + const vector& hull) +{ + this->pt = pt; + this->normal = normal; + this->hull = hull; + + // normals must be normalized + this->normal.normalize(); +} + +model::Plane3d::Plane3d(const Plane3d& other) { + this->pt = other.pt; + this->normal = other.normal; + this->hull = other.hull; +} + +model::Plane3d::~Plane3d() { + // nothing to do +} + +model::Point3d model::Plane3d::intersect(const Plane3d& second, const Plane3d& third) { + // XXX http://mathworld.wolfram.com/Plane-PlaneIntersection.html + Point3d result; + Plane3d first = *this; + + MatrixXd mat(3, 3); + mat << first.normal.x, second.normal.x, third.normal.x, + first.normal.y, second.normal.y, third.normal.y, + first.normal.z, second.normal.z, third.normal.z; + + Vector3d term[3]; + term[0] = second.normal.crossProduct(third.normal) * + first.normal.dotProduct(Vector3d(first.pt.x, first.pt.y, first.pt.z)); + + term[1] = third.normal.crossProduct(first.normal) * + second.normal.dotProduct(Vector3d(second.pt.x, second.pt.y, second.pt.z)); + + term[2] = first.normal.crossProduct(second.normal) * + third.normal.dotProduct(Vector3d(third.pt.x, third.pt.y, third.pt.z)); + + Vector3d tempResult = (term[0] + term[1] + term[2]) * (1.0 / mat.determinant()); + + result.x = tempResult.x; + result.y = tempResult.y; + result.z = tempResult.z; + + return result; +} + +model::Plane3d& model::Plane3d::operator=(const Plane3d& other) { + this->pt = other.pt; + this->normal = other.normal; + this->hull = other.hull; + + return *this; +} + +bool model::Plane3d::isVertical() { + this->normal.normalize(); + return (fabs(this->normal.y) < _EPSILON_VERTICAL); +} + +bool model::Plane3d::isHorizontal() { + this->normal.normalize(); + return ((1 - fabs(this->normal.y / this->normal.length())) < _EPSILON_HORIZONTAL); +} + +bool model::Plane3d::isSamePlane(model::Plane3d other) { + // just to be safe + this->normal.normalize(); + other.normal.normalize(); + + double dist = this->pt.distance(other); + double norm = this->normal.crossProduct(other.normal).length(); + + // doing fabs of norm just to be safe, though it is always positive + if (fabs(dist) < _EPSILON_DISTANCE && fabs(norm) < _EPSILON_NORMAL_CROSS_PRODUCT) { + return true; + } + + return false; +} + +model::Vector3d model::Plane3d::computeAverageNormal() { + if(this->hull.size() < 3) { + throw runtime_error("hull contains less than 3 points, cannot compute normal"); + } + + // start from zero + Vector3d normal(0.0, 0.0, 0.0); + + for (vector::iterator it = this->hull.begin() + 1; it != this->hull.end() - 1; ++it) { + Point3d& left = *(it-1); + Point3d& middle = *it; + Point3d& right = *(it+1); + + normal += Vector3d(middle, left).crossProduct(Vector3d(middle, right)); + } + + // treat the boundary cases + Point3d& first = this->hull[0]; + Point3d& second = this->hull[1]; + Point3d& secondLast = this->hull[this->hull.size() - 2]; + Point3d& last = this->hull[this->hull.size() - 1]; + + normal += Vector3d(first, last).crossProduct(Vector3d(first, second)); + normal += Vector3d(last, secondLast).crossProduct(Vector3d(last, first)); + + normal.normalize(); + return normal; +} + +vector > model::Plane3d::getDiscretePoints(const double& dist) const { + if (this->hull.size() < 3) { + throw runtime_error("cannot retrieve discrete points on plane with hull containing less than 3 points"); + } + + // make a deep copy of the current plane + Plane3d copy = *this; + + // this will eventually contain the result + vector > result; + + // the origin of the current system, take the first point in the hull + Point3d origin = copy.hull[0]; + Point3d zero(0.0, 0.0, 0.0); + + // define the rotation around Z and X axis here + Rotation3d rotZ(0.0, 0.0, atan2(copy.normal.x, copy.normal.y)); + copy.normal.rotate(rotZ); + Rotation3d rotX(-atan2(copy.normal.z, copy.normal.y), 0.0, 0.0); + + // translate all points to origin + for (vector::iterator it = copy.hull.begin(); it != copy.hull.end(); ++it) { + // translate + *it -= origin; + + // rotate around Z + it->rotate(zero, rotZ); + + // rotate around X + it->rotate(zero, rotX); + } + + // figure out how to rotate around Y + Vector3d firstSegment; + + Point3d first = copy.hull.front(); + Point3d second = copy.hull[1]; + Point3d third = copy.hull[2]; + + if (first.distance(second) > second.distance(third)) { + firstSegment = Vector3d(first, second); + } else { + firstSegment = Vector3d(second, third); + } + + // define rotation around Y axis after we have moved the entire hull into the XZ plane + copy.normal.rotate(rotX); + Rotation3d rotY(0.0, atan2(firstSegment.z, firstSegment.x), 0.0); + + for (vector::iterator it = copy.hull.begin(); it != copy.hull.end(); ++it) { + // rotate around Y + it->rotate(zero, rotY); + } + + // we need to compute the maximum and minimum offsets + double minX = copy.hull[0].x; + double maxX = copy.hull[0].x; + double minZ = copy.hull[0].z; + double maxZ = copy.hull[0].z; + + // we need to start from the second point + for (vector::iterator it = copy.hull.begin() + 1; + it != copy.hull.end(); ++it) + { + if (it->x < minX) { + minX = it->x; + } + + if (it->x > maxX) { + maxX = it->x; + } + + if (it->z < minZ) { + minZ = it->z; + } + + if (it->z > maxZ) { + maxZ = it->z; + } + } + + // how many steps on each direction? + int stepsX = round((maxX - minX) / dist) + 2; + int stepsZ = round((maxZ - minZ) / dist) + 2; + + // resize the result vector + result.resize(stepsZ); + + for (int j = 0; j < stepsZ; ++j) { + for (int i = 0; i < stepsX; ++i) { + Point3d toPush(minX + dist * (i - 0.5), 0.0, maxZ - dist * (j - 0.5)); + + // rotate back around Y + toPush.rotate(zero, rotY.getInverse()); + + // rotate back around X + toPush.rotate(zero, rotX.getInverse());; + + // rotate back around Z + toPush.rotate(zero, rotZ.getInverse()); + + //translate back to previous system + toPush += origin; + + result[j].push_back(toPush); + } + } + + return result; +} diff --git a/.svn/pristine/99/99ddfc047dbe119aa6e03db880f542945cb3e918.svn-base b/.svn/pristine/99/99ddfc047dbe119aa6e03db880f542945cb3e918.svn-base new file mode 100644 index 0000000..e53c11f --- /dev/null +++ b/.svn/pristine/99/99ddfc047dbe119aa6e03db880f542945cb3e918.svn-base @@ -0,0 +1,640 @@ +/* + * David Scanner implementation + * + * Copyright (C) Vladislav Perelman + * + * Released under the GPL version 3. + * + */ + +/* + * david_scanner.cc + * Program takes as an input path to the config file which needs to + * have all the necessary information for the program. + * Config file has to have (each on a new line, 9 lines in total): + * + * Path to the directory where frames from the video are stored + * The first frame that has to be used + * The last frame that has to be used + * The empty frame without the laser + * Path to the file with intrinsics of the camera + * Path to the rotation of the left board + * Path to the rotation of the right board + * Path to the translation of the left board + * Path to the translation of the right board + * + * Program computes the 3 point cloud of the object and stores it in the + * file scan000.3d, each point in the cloud is represented by the line + * in the file: + * x y z r g b + * + * + * Created on: Oct 4, 2010 + * Author: Vladislav Perelman v.perelman@jacobs-university.de + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#define PI 3.14159265 +using namespace std; + +int main(int argc, char** argv){ + + if (argc!=2){ + cout<<"USAGE: david_scanner config_file\nConfig file should contain path_to_frames first_valid_frame last_valid_frame empty_frame path_to_intrinsics" + "path_to_rotation_left path_to_rotation_right path_to_translation_left and path_to_translation_right each on a new line!"<imageData; + for (int row = 0; row < diff->height; row++){ + for (int col = 0; col < diff->width; col++){ + int R; + R = pixels[ row * diff->widthStep + col * 3 + 2 ]; + if (R>30) { + pixels[ row * diff->widthStep + col * 3 + 0 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 1 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 2 ] = 255; + } else { + pixels[ row * diff->widthStep + col * 3 + 0 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 1 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 2 ] = 0; + } + + } + } + + //remove pixels that don't have at least 2 red neighbors + for (int row = 1; row < diff->height-1; row++){ + for (int col = 1; col < diff->width-1; col++){ + int R = pixels[ row * diff->widthStep + col * 3 + 2 ]; + if (R == 255){ + int r1 = pixels[ (row-1)*diff->widthStep + col * 3 + 2]; + int r2 = pixels[ (row-1)*diff->widthStep + (col-1) * 3 + 2]; + int r3 = pixels[ (row-1)*diff->widthStep + (col+1) * 3 + 2]; + int r4 = pixels[ (row+1)*diff->widthStep + col * 3 + 2]; + int r5 = pixels[ (row+1)*diff->widthStep + (col-1) * 3 + 2]; + int r6 = pixels[ (row+1)*diff->widthStep + (col+1) * 3 + 2]; + int r7 = pixels[ (row)*diff->widthStep + (col-1) * 3 + 2]; + int r8 = pixels[ (row)*diff->widthStep + (col+1) * 3 + 2]; + if (r1+r2+r3+r4+r5+r6+r7+r8<=255) pixels[ row * diff->widthStep + col * 3 + 2 ]=0; + } + } + } + + //*****finding 2 lines on the image***** + + bool good = false; + int threshold = 50; //original threshold for Hough transform, incremented if too many groups of lines found + IplImage* color_dst; + IplImage* tmpImage; + int minX1, minX2, maxX1, maxX2; + CvSeq* lines = 0; + CvPoint* line1; + CvPoint* line2; + int count_groups; + + //incrementing thresholds until only 2 groups of lines can be found + while(!good){ + good = true; + count_groups = 0; //counter for number of line groups. Line group is defined by the slope + int epsilon = 1.5; //error margin for the slope + color_dst = cvCreateImage( cvGetSize(diff), 8, 3 ); + color_dst = cvCloneImage(diff); + tmpImage = cvCreateImage(cvGetSize(diff), IPL_DEPTH_8U, 1); + cvCvtColor(diff, tmpImage, CV_RGB2GRAY); + IplImage* dst = cvCreateImage( cvGetSize(diff), 8, 1 ); + cvCanny(tmpImage, dst, 20, 60, 3 ); + CvMemStorage* storage = cvCreateMemStorage(0); + //find all lines using Hough transform + lines = cvHoughLines2( dst, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI/180,threshold, 150, 100 ); + double first_group, second_group; + for(int i = 0; i < lines->total; i++ ){ + //get the slope of the line, check if it belongs to an already existing group + CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i); + double angle = atan((double)(line[1].x-line[0].x)/(double)(line[1].y-line[0].y))*180/PI; + //starting first group + if (count_groups==0){ + first_group = angle; + line1 = line; + minX1 = line[0].x; + maxX1 = line[1].x; + count_groups++; + + } else { + + if (angle-first_group(epsilon*-1)){ + //line belongs to the first group of line..that's good + if (line[0].xmaxX1)maxX1=line[1].x; + } else { + //check if belongs to the second group + if ( count_groups == 2 ){ + if (angle-second_group(epsilon*-1)){ + if (line[0].xmaxX2)maxX2=line[1].x; + }else{ + //if not then try again with a higher threshold + good = false; + threshold+=20; + cout<<"Increased threshold: "<height,ymin+10)); + points[2]=cvPoint(maxX1, min(color_dst->height,ymax+10)); + points[3]=cvPoint(maxX1, max(0,ymax-10)); + CvPoint* pts[1]; + pts[0]=points; + int npts[1]; + npts[0]=4; + cvPolyLine(color_dst, pts, npts,1,1, CV_RGB(0,0,0), 20, 8 );//removing the group + + x1 = line2[0].x; + x2 = line2[1].x; + y1 = line2[0].y; + y2 = line2[1].y; + + c1 = (double)(x1 - minX2)/(double)(x2 - minX2); + c2 = (double)(maxX2 - x1)/(double)(maxX2 - x2); + + ymin = (c1*y2 - y1)/(c1-1); + ymax = (c2*y2 - y1)/(c2-1); + + if (maxX2 == x2) ymax = y2; + if (minX2 == x1) ymin = y1; + + //getting start and end of the second line + point3 = cvPoint(minX2, ymin); + point4 = cvPoint(maxX2, ymax); + + points[0]=cvPoint(minX2, max(0,ymin-10)); + points[1]=cvPoint(minX2, min(color_dst->height,ymin+10)); + points[2]=cvPoint(maxX2, min(color_dst->height,ymax+10)); + points[3]=cvPoint(maxX2, max(0,ymax-10)); + + pts[0]=points; + + cvPolyLine(color_dst, pts, npts,1,1, CV_RGB(0,0,0), 20, 8 );//removing the group + cvLine(color_dst, point3, point4,CV_RGB(0,255,0),3, 8 ); //draw the second line! + cvLine(color_dst, point1, point2,CV_RGB(0,255,0),3, 8 ); //draw the first line! + + //removing everything to the left of the left line and to the right of the right line + if (point4.x > point2.x){ + if (color_dst->width > point4.x){ + cvRectangle(color_dst,cvPoint(point4.x,0),cvPoint(color_dst->width,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + if (point1.x > 0){ + cvRectangle(color_dst,cvPoint(point1.x,0),cvPoint(0,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + } + if (point4.x < point2.x){ + if (color_dst->width > point2.x){ + cvRectangle(color_dst,cvPoint(point2.x,0),cvPoint(color_dst->width,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + if (point3.x > 0){ + cvRectangle(color_dst,cvPoint(point3.x,0),cvPoint(0,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + } + //at this point we have to lines which we drew in green...which means all the red pixels that remain on the image + //are supposed to be laying on the object. Make them blue (for no particular reason..just looked nicer :) ) + unsigned char* pixels = (unsigned char*)color_dst->imageData; + + for (int row = 1; row < color_dst->height-1; row++){ + for (int col = 1; col < color_dst->width-1; col++){ + int R = pixels[ row * color_dst->widthStep + col * 3 + 2 ]; + if (R == 255){ + pixels[ row * color_dst->widthStep + col * 3 + 0 ]=255; + pixels[ row * color_dst->widthStep + col * 3 + 1 ]=0; + pixels[ row * color_dst->widthStep + col * 3 + 2 ]=0; + } + } + } + + } else continue; + + //take points on planes + CvPoint left1, left2, right1; + if (point1.x < point3.x){ + left1 = point1; + left2 = point2; + right1 = point3; + } else { + left1 = point3; + left2 = point4; + right1 = point1; + } + + //find 3d coordinate of the 2 points on the line on the left plane + //(x,y,z).t() = s*R.i()*A.i()*(u,v,1).t() - R.i()*T + + CvMat* imagepoint1 = cvCreateMat( 3, 1, CV_32F ); + CV_MAT_ELEM(*imagepoint1, float, 0, 0) = left1.x; + CV_MAT_ELEM(*imagepoint1, float, 1, 0) = left1.y; + CV_MAT_ELEM(*imagepoint1, float, 2, 0) = 1; + + + CvMat* b1 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R1iAi, imagepoint1, b1); + + //calculate scalar s based on the fact that point we take is on the wall => z coordinate is 0 + float s1 = CV_MAT_ELEM(*a1, float, 2, 0)/CV_MAT_ELEM(*b1, float, 2, 0); + + CvMat* identity = cvCreateMat(3,3,CV_32F); + cvSetIdentity(identity); + for (int i = 0; i < 3; i++){ + CV_MAT_ELEM(*identity, float, i, i)=s1; + } + CvMat* temp = cvCreateMat(3,1,CV_32F); + cvMatMul(identity,b1, temp); + + CvMat* dpoint1 = cvCreateMat(3,1,CV_32F); + cvSub(temp, a1, dpoint1); //first 3d point on the left plane + + //same thing for the second point + CvMat* imagepoint2 = cvCreateMat( 3, 1, CV_32F ); + + CV_MAT_ELEM(*imagepoint2, float, 0, 0) = left2.x; + CV_MAT_ELEM(*imagepoint2, float, 1, 0) = left2.y; + CV_MAT_ELEM(*imagepoint2, float, 2, 0) = 1; + + CvMat* b2 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R1iAi, imagepoint2, b2); + + float s2 = CV_MAT_ELEM(*a1, float, 2, 0)/CV_MAT_ELEM(*b2, float, 2, 0); + + cvSetIdentity(identity, cvRealScalar(s2)); + cvMatMul(identity,b2, b2); + + CvMat* dpoint2 = cvCreateMat(3,1,CV_32F); + cvSub(b2, a1, dpoint2); //second 3d point on the left plane + + //same for the point on the right plane + CvMat* imagepoint3 = cvCreateMat( 3, 1, CV_32F ); + CV_MAT_ELEM(*imagepoint3, float, 0, 0) = right1.x; + CV_MAT_ELEM(*imagepoint3, float, 1, 0) = right1.y; + CV_MAT_ELEM(*imagepoint3, float, 2, 0) = 1; + + CvMat* b3 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R2iAi, imagepoint3, b3); + + float s3 = CV_MAT_ELEM(*a2, float, 2, 0)/CV_MAT_ELEM(*b3, float, 2, 0); + + cvSetIdentity(identity, cvRealScalar(s3)); + cvMatMul(identity,b3, b3); + + CvMat* dpoint3 = cvCreateMat(3,1,CV_32F); + cvSub(b3, a2, dpoint3); //point on the right plane + + //convert point from the right plane into the coord. system of the left plane + //p1 = R1.i()*[R2|T2]*p2 - R1.i()*T1 + CvMat* dpoint3left = cvCreateMat(3,1,CV_32F); + CvMat* pw = cvCreateMat(4,1,CV_32F); + for (int i = 0; i<3; i++){ + CV_MAT_ELEM(*pw, float, i, 0) = CV_MAT_ELEM(*dpoint3, float, i, 0); + } + CV_MAT_ELEM(*pw, float, 3, 0) = 1.0; + CvMat* r2t2pw = cvCreateMat(3,1,CV_32F); + cvMatMul(r2t2, pw, r2t2pw); + CvMat* r1invr2t2pw = cvCreateMat(3,1,CV_32F); + cvMatMul(r1inv, r2t2pw, r1invr2t2pw); + + cvSub(r1invr2t2pw, a1, dpoint3left); + //now that we have 3 non-colinear point in the same coordinate system we can find the equation of the plane + /* + A = y1 (z2 - z3) + y2 (z3 - z1) + y3 (z1 - z2) + B = z1 (x2 - x3) + z2 (x3 - x1) + z3 (x1 - x2) + C = x1 (y2 - y3) + x2 (y3 - y1) + x3 (y1 - y2) + - D = x1 (y2 z3 - y3 z2) + x2 (y3 z1 - y1 z3) + x3 (y1 z2 - y2 z1) + */ + float x1 = CV_MAT_ELEM(*dpoint1, float,0,0); + float y1 = CV_MAT_ELEM(*dpoint1, float,1,0); + float z1 = CV_MAT_ELEM(*dpoint1, float,2,0); + float x2 = CV_MAT_ELEM(*dpoint2, float,0,0); + float y2 = CV_MAT_ELEM(*dpoint2, float,1,0); + float z2 = CV_MAT_ELEM(*dpoint2, float,2,0); + float x3 = CV_MAT_ELEM(*dpoint3left, float,0,0); + float y3 = CV_MAT_ELEM(*dpoint3left, float,1,0); + float z3 = CV_MAT_ELEM(*dpoint3left, float,2,0); + float planeA = (y1 * (z2 - z3)) + (y2 * (z3 - z1)) + (y3 * (z1 - z2)); + float planeB = (z1 * (x2 - x3)) + (z2 * (x3 - x1)) + (z3 * (x1 - x2)); + float planeC = (x1 * (y2 - y3)) + (x2 * (y3 - y1)) + (x3 * (y1 - y2)); + float planeD = -((x1 * (y2 * z3 - y3 * z2)) + (x2 * (y3 * z1 - y1 * z3)) + (x3 * (y1 * z2 - y2 * z1))); + + //calculate normal to the lazer plane + CvMat* planeNormal = cvCreateMat(3, 1, CV_32F); + CV_MAT_ELEM(*planeNormal, float,0,0) = planeA; + CV_MAT_ELEM(*planeNormal, float,1,0) = planeB; + CV_MAT_ELEM(*planeNormal, float,2,0) = planeC; + + pixels = (unsigned char*)color_dst->imageData; + unsigned char* color_pixels = (unsigned char*)image_empty->imageData; + + //go through all the pixels on the object and calculate the 3d coordinate + for (int row = 1; row < color_dst->height-1; row++){ + for (int col = 1; col < color_dst->width-1; col++){ + int B = pixels[ row * color_dst->widthStep + col * 3]; + if (B == 255){ + //get RGB of the pixel on the original image + int realB = color_pixels[ row * color_dst->widthStep + col * 3]; + int realG = color_pixels[ row * color_dst->widthStep + col * 3 + 1]; + int realR = color_pixels[ row * color_dst->widthStep + col * 3 + 2]; + //Used http://www.cs.princeton.edu/courses/archive/fall00/cs426/lectures/raycast/sld017.htm for reference + //on how to find intersection of ray and a plane + float p0dotN = cvDotProduct(a1,planeNormal); + + CvMat* vtmp = cvCreateMat(3,1,CV_32F); + CV_MAT_ELEM(*vtmp, float,0,0) = col; + CV_MAT_ELEM(*vtmp, float,1,0) = row; + CV_MAT_ELEM(*vtmp, float,2,0) = 1; + + CvMat* v = cvCreateMat(3,1,CV_32F); + cvMatMul(R1iAi, vtmp, v); + + float vdotN = cvDotProduct(v,planeNormal); + float t = (p0dotN - planeD)/vdotN; + + cvSetIdentity(identity, cvRealScalar(t)); + cvMatMul(identity,v,v); + + CvMat* final = cvCreateMat(3,1,CV_32F); + cvSub(v,a1,final); //final point is still in the coordinate system of the left plane. + + CvMat* final_rotated = cvCreateMat(3,1,CV_32F); //translate it into the coordinate system of the camera + cvMatMul(rotation_matrix_left,final,final_rotated); + cvAdd(final_rotated,translation_left, final_rotated); + + //add point to the file (minus next to the y coordinate is there to compensate for the left-handed coordinate system of slam6d, otherwise + //dwarf is shown upside-down. + scanfile< +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_frames : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/99/99e3a822fd39fabe92b287fcdf6f03a2b0588bcc.svn-base b/.svn/pristine/99/99e3a822fd39fabe92b287fcdf6f03a2b0588bcc.svn-base new file mode 100644 index 0000000..351fd10 --- /dev/null +++ b/.svn/pristine/99/99e3a822fd39fabe92b287fcdf6f03a2b0588bcc.svn-base @@ -0,0 +1,463 @@ +/////////////////////////////////////////////////////////////////////////////// +// Name: geometry.h +// Purpose: Additional geometry functions for wxWidgets (see wx/geometry.h) +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +/////////////////////////////////////////////////////////////////////////////// + +#ifndef __WXIMAGER_GEOMETRY_H__ +#define __WXIMAGER_GEOMETRY_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "geometry.h" +#endif + +#include "wx/geometry.h" +#include "wx/things/thingdef.h" + +#define wxGEOMETRY_INF 1E100 + +//----------------------------------------------------------------------------- +// wxRay2DDouble uses point slope line format +// +// y = mx+b, m=(x-x0)/(y-y0) +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxRay2DDouble : public wxPoint2DDouble +{ +public : + + inline wxRay2DDouble(wxDouble x=0, wxDouble y=0, wxDouble slope=0) + { m_x = x; m_y = y; m_slope = slope; } + inline wxRay2DDouble(const wxPoint2DDouble &pt, wxDouble slope) + { m_x = pt.m_x; m_y = pt.m_y; m_slope = slope; } + inline wxRay2DDouble(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { m_x = x1; m_y = y1; m_slope = GetSlope(x1, y1, x2, y2); } + inline wxRay2DDouble(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { m_x = pt1.m_x; m_y = pt1.m_y; m_slope = GetSlope(pt1, pt2); } + inline wxRay2DDouble(const wxRay2DDouble &line) + { m_x = line.m_x; m_y = line.m_y; m_slope = line.m_slope; } + + inline wxDouble GetX() const { return m_x; } + inline wxDouble GetY() const { return m_y; } + inline wxPoint2DDouble GetPoint() const { return (wxPoint2DDouble)(*this); } + inline wxDouble GetSlope() const { return m_slope; } + + inline void SetX(wxDouble x) { m_x = x; } + inline void SetY(wxDouble y) { m_y = y; } + inline void SetPoint(const wxPoint2DDouble &pt ) { m_x = pt.m_x; m_y = pt.m_y; } + inline void SetSlope(wxDouble slope) { m_slope = slope; } + + inline wxDouble GetYFromX(wxDouble x) const {return m_slope*(x-m_x) + m_y;} + inline wxDouble GetXFromY(wxDouble y) const {return (y-m_y)/m_slope + m_x;} + + // Get a point along the line at pos x or y + inline wxPoint2DDouble GetPointOnRayFromX(wxDouble x) const { return wxPoint2DDouble(x, GetYFromX(x)); } + inline wxPoint2DDouble GetPointOnRayFromY(wxDouble y) const + { if (m_slope == 0) return (*this); + return wxPoint2DDouble(GetXFromY(y), y); } + + // Translate the point m_pt along the line to pos x or y + inline void TranslatePointByX(wxDouble x) { m_y = GetYFromX(x); m_x = x; } + inline void TranslatePointByY(wxDouble y) { m_x = GetXFromY(y); m_y = y; } + inline wxRay2DDouble GetTranslatedLineByX(wxDouble x) const { return wxRay2DDouble(x, GetYFromX(x), m_slope); } + inline wxRay2DDouble GetTranslatedLineByY(wxDouble y) const { return wxRay2DDouble(GetXFromY(y), y, m_slope); } + + inline wxDouble GetDistanceToPoint(const wxPoint2DDouble &pt, wxPoint2DDouble *closestPt=NULL) const + { + wxPoint2DDouble l1(m_x, m_y); + wxPoint2DDouble l2(GetPointOnRayFromX(m_x+pt.m_x)); + wxPoint2DDouble v = l2 - l1; + wxPoint2DDouble w = pt - l1; + wxDouble c1 = w.GetDotProduct(v); + wxDouble c2 = v.GetDotProduct(v); + wxDouble b = c1 / c2; + wxPoint2DDouble pb = l1 + b*v; + if (closestPt) *closestPt = pb; + return pb.GetDistance( pt ); + +/* + wxPoint2DDouble ll2 = l2; + double l = ll2.GetDistanceSquare(l1); + double u = ((p.m_x-l1.m_x)*(l2.m_x-l1.m_x)+(p.m_y-l1.m_y)*(l2.m_y-l1.m_y))/l; + wxPoint2DDouble i = l1 + u*(l2-l1); + + //printf("distance %.9lf %.9lf %d\n\n", i.GetDistance(p), pb.GetDistance(p), int(pb==i)); +*/ + + // this x for y on this line + // y(on this line) = m_slope*(x-m_pt.m_x) + m_pt.m_y + // = (-1/m_slope)(x-pt.m_x) + pt.m_y + // so + // x(on this line) = (y-m_pt.m_y)/m_slope + m_pt.m_x + // = (y-pt.m_y)/(-1/m_slope) + m_pt.m_x + + //(y-m_pt.m_y)/m_slope + m_pt.m_x = (y-pt.m_y)(-1/m_slope) + m_pt.m_x + //(y-m_pt.m_y)/m_slope - m_slope*(y-pt.m_y) = + m_pt.m_x - m_pt.m_x + //y*(1/m_slope - m_slope) = + m_pt.m_x - m_pt.m_x +m_slope*pt.m_y + m_slope*m_pt.m_y + //y = (m_pt.m_x - m_pt.m_x +m_slope*pt.m_y + m_slope*m_pt.m_y)/(1/m_slope - m_slope) +/* + wxDouble x = (m_x + m_slope*m_slope*m_x - m_slope*(m_y - m_y))/(m_slope*m_slope+1.0); + wxPoint2DDouble pl(x, m_slope*(x-m_x) + m_y); + if (closestPt) *closestPt = pl; + return pl.GetDistance(pt); +*/ + } + + inline wxDouble GetDistanceToRay( const wxRay2DDouble &ray ) const + { + // FIXME - unchecked, just quickly translated from some other code + if (m_slope != ray.m_slope) return 0; + if (m_slope == 0) return fabs(m_y - ray.m_y); + wxPoint2DDouble p1 = GetPointOnRayFromX(0); + wxPoint2DDouble p2 = ray.GetPointOnRayFromX(0); + // y = (-1/s1)*x+p1.m_y = s2*x + p2.m_y + wxDouble dx = (p1.m_y - p2.m_y)/(m_slope + (1.0/m_slope)); + wxDouble dy = (m_slope*dx+p2.m_y) - p1.m_y; + return sqrt(dx*dx + dy*dy); + } + + inline static wxDouble GetSlope(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { return (y2 - y1)/(x2 - x1); } + inline static wxDouble GetSlope(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { return (pt2.m_y-pt1.m_y)/(pt2.m_x-pt1.m_x); } + + // find the point where the two rays meet, return false if parallel + bool Intersect(const wxRay2DDouble& other, wxPoint2DDouble& pt) const + { + // (y1-y0)/(x1-x0)=m for both lines, equate y1's first + if (m_slope == other.m_slope) return false; + pt.m_x = (m_slope*m_x - other.m_slope*other.m_x + other.m_y - m_y)/(m_slope - other.m_slope); + pt.m_y = GetYFromX(pt.m_x); + return true; + } + + // Operators + + inline wxRay2DDouble operator=(const wxRay2DDouble& r) { m_x = r.m_x; m_y = r.m_y; m_slope = r.m_slope; return *this; } + inline bool operator==(const wxRay2DDouble& r) const { return (m_x == r.m_x)&&(m_y == r.m_y)&&(m_slope == r.m_slope); } + inline bool operator!=(const wxRay2DDouble& r) const { return !(*this == r); } + + inline wxRay2DDouble operator+(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x+rel_pos.m_x, m_y+rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator-(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x-rel_pos.m_x, m_y-rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator*(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x*rel_pos.m_x, m_y*rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator/(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x/rel_pos.m_x, m_y/rel_pos.m_y, m_slope); } + + inline wxRay2DDouble& operator+=(const wxPoint2DDouble& rel_pos) { m_x += rel_pos.m_x; m_y += rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator-=(const wxPoint2DDouble& rel_pos) { m_x -= rel_pos.m_x; m_y -= rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator*=(const wxPoint2DDouble& rel_pos) { m_x *= rel_pos.m_x; m_y *= rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator/=(const wxPoint2DDouble& rel_pos) { m_x /= rel_pos.m_x; m_y /= rel_pos.m_y; return *this; } + + inline wxRay2DDouble operator+(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope+rel_slope); } + inline wxRay2DDouble operator-(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope-rel_slope); } + inline wxRay2DDouble operator*(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope*rel_slope); } + inline wxRay2DDouble operator/(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope/rel_slope); } + + inline wxRay2DDouble& operator+=(const wxDouble& rel_slope) { m_slope += rel_slope; return *this; } + inline wxRay2DDouble& operator-=(const wxDouble& rel_slope) { m_slope -= rel_slope; return *this; } + inline wxRay2DDouble& operator*=(const wxDouble& rel_slope) { m_slope *= rel_slope; return *this; } + inline wxRay2DDouble& operator/=(const wxDouble& rel_slope) { m_slope /= rel_slope; return *this; } + + wxDouble m_slope; +}; + +//----------------------------------------------------------------------------- +// wxLine2DInt uses point slope line format +// +// y = mx+b, m=(x-x0)/(y-y0) +//----------------------------------------------------------------------------- +/* +class WXDLLIMPEXP_THINGS wxLine2DInt : wxRect2DInt +{ +public : + + inline wxLine2DInt(wxInt32 x1=0, wxInt32 y1=0, wxInt32 x2=0, wxInt32 y2=0) + { m_x = x1; m_y = y1; m_width = x2 - x1; m_height = y2 - y1; } + inline wxLine2DInt(const wxPoint2DInt &pt1, const wxPoint2DInt &pt2) + { m_x = pt1.m_x; m_y = pt1.m_y; m_width = pt2.m_x - pt1.m_x; m_height = pt2.m_y - pt1.m_y; } + inline wxLine2DInt(const wxLine2DInt &line) + { m_x = line.m_x; m_y = line.m_y; m_width = line.m_width; m_height = line.m_height; } + + inline wxInt32 GetX1() const { return m_x; } + inline wxInt32 GetY1() const { return m_y; } + inline wxInt32 GetX2() const { return m_x + m_width; } + inline wxInt32 GetY2() const { return m_y + m_height; } + inline wxPoint2DInt Get1Point() const { return GetTopLeft(); } + inline wxPoint2DInt Get2Point() const { return GetBottomRight(); } + inline wxDouble GetSlope() const { return wxDouble(m_height)/wxDouble(m_width); } + + inline void SetX1(wxInt32 x) { m_x = x; } + inline void SetY1(wxInt32 y) { m_y = y; } + inline void SetX2(wxInt32 x) { m_width = m_x - x; } + inline void SetY2(wxInt32 y) { m_height = m_y - y; } + inline void SetPoint1(const wxPoint2DInt &pt ) { SetTopLeft(pt); } + inline void SetPoint2(const wxPoint2DInt &pt ) { SetBottomRight(pt); } + + inline wxDouble GetYFromX(wxDouble x) const {return (wxDouble(m_height)/m_width)*(x-m_x) + m_y;} + inline wxDouble GetXFromY(wxDouble y) const {return (y-m_y)*(wxDouble(m_height)/m_width) + m_x;} + + // Get a point along the line at pos x or y + inline wxPoint2DInt GetPointOnLineFromX(wxInt32 x) const + { return wxPoint2DInt(x, GetYFromX(x)); } + inline wxPoint2DInt GetPointOnLineFromY(wxInt32 y) const + { return wxPoint2DInt(GetXFromY(y), y); } + + // Translate the point m_pt along the line to pos x or y + inline void TranslatePointByX(wxDouble x) + { m_pt.m_y = GetYFromX(x); m_pt.m_x = x; } + inline void TranslatePointByY(wxDouble y) + { m_pt.m_x = GetXFromY(y); m_pt.m_y = y; } + inline wxLine2DInt GetTranslatedLineByX(wxDouble x) + { return wxLine2DInt(x, GetYFromX(x), m_slope); } + inline wxLine2DInt GetTranslatedLineByY(wxDouble y) + { return wxLine2DInt(GetXFromY(y), y, m_slope); } + + inline wxDouble GetDistanceToPoint(const wxPoint2DDouble &pt, wxPoint2DDouble *closestPt=NULL) const + { + wxPoint2DDouble l1(m_pt); + wxPoint2DDouble l2(GetPointOnLineFromX(m_pt.m_x+pt.m_x)); + wxPoint2DDouble v = l2 - l1; + wxPoint2DDouble w = pt - l1; + double c1 = w.GetDotProduct(v); + double c2 = v.GetDotProduct(v); + double b = c1 / c2; + wxPoint2DDouble pb = l1 + b*v; + if (closestPt) *closestPt = pb; + return pb.GetDistance( pt ); + + } + + + inline static wxDouble GetSlope(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { return (y2 - y1)/(x2 - x1); } + inline static wxDouble GetSlope(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { return (pt2.m_y-pt1.m_y)/(pt2.m_x-pt1.m_x); } + + + // Default copy operator is ok + + wxPoint2DDouble m_pt; + wxDouble m_slope; +}; +*/ + +//----------------------------------------------------------------------------- +// wxCircleDouble m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCircleDouble : public wxPoint2DDouble +{ +public : + + inline wxCircleDouble(const wxCircleDouble &circle) + { m_x = circle.m_x; m_y = circle.m_y; m_r = circle.m_r; } + + inline wxCircleDouble(wxDouble x=0, wxDouble y=0, wxDouble r=0) + { m_x = x; m_y = y; m_r = r; } + + inline wxCircleDouble(const wxPoint2DDouble &origin, wxDouble r) + { m_x = origin.m_x; m_y = origin.m_y; m_r = r; } + + inline wxCircleDouble(const wxPoint2DDouble &p1, + const wxPoint2DDouble &p2, + const wxPoint2DDouble &p3); + + inline bool IsEmpty() const { return m_r <= 0; } + + inline wxDouble GetX() const { return m_x; } + inline wxDouble GetY() const { return m_y; } + inline wxPoint2DDouble GetOrigin() const { return wxPoint2DDouble(m_x, m_y); } + inline wxDouble GetRadius() const { return m_r; } + + // Get a bounding rect + inline wxRect2DDouble GetRect() const + { return wxRect2DDouble(m_x-m_r, m_y-m_r, 2.0*m_r, 2.0*m_r); } + + inline void SetX(wxDouble x) { m_x = x; } + inline void SetY(wxDouble y) { m_y = y; } + inline void SetOrigin(const wxPoint2DDouble &origin) { m_x = origin.m_x; m_y = origin.m_y; } + inline void SetRadius(wxDouble r) { m_r = r; } + + inline bool GetPointInCircle(wxDouble x, wxDouble y) const + { if (IsEmpty()) return false; + return ((x-m_x)*(x-m_x) + (y-m_y)*(y-m_y) <= m_r*m_r); } + + inline bool GetPointInCircle(const wxPoint2DDouble &pt) const + { return GetPointInCircle(pt.m_x, pt.m_y); } + + inline bool Intersects(const wxCircleDouble &circle) const + { return GetDistance(circle) <= m_r + circle.m_r; } + + int IntersectLine( const wxRay2DDouble &line, + wxPoint2DDouble *pt1=NULL, + wxPoint2DDouble *pt2=NULL ) const; + + // Operators + + inline wxCircleDouble operator=(const wxCircleDouble& c) { m_x = c.m_x; m_y = c.m_y; m_r = c.m_r; return *this; } + inline bool operator==(const wxCircleDouble& c) const { return (m_x == c.m_x)&&(m_y == c.m_y)&&(m_r == c.m_r); } + inline bool operator!=(const wxCircleDouble& c) const { return !(*this == c); } + + inline wxCircleDouble operator+(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x+rel_origin.m_x, m_y+rel_origin.m_y, m_r); } + inline wxCircleDouble operator-(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x-rel_origin.m_x, m_y-rel_origin.m_y, m_r); } + inline wxCircleDouble operator*(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x*rel_origin.m_x, m_y*rel_origin.m_y, m_r); } + inline wxCircleDouble operator/(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x/rel_origin.m_x, m_y/rel_origin.m_y, m_r); } + + inline wxCircleDouble& operator+=(const wxPoint2DDouble& rel_origin) { m_x += rel_origin.m_x; m_y += rel_origin.m_y; return *this; } + inline wxCircleDouble& operator-=(const wxPoint2DDouble& rel_origin) { m_x -= rel_origin.m_x; m_y -= rel_origin.m_y; return *this; } + inline wxCircleDouble& operator*=(const wxPoint2DDouble& rel_origin) { m_x *= rel_origin.m_x; m_y *= rel_origin.m_y; return *this; } + inline wxCircleDouble& operator/=(const wxPoint2DDouble& rel_origin) { m_x /= rel_origin.m_x; m_y /= rel_origin.m_y; return *this; } + + inline wxCircleDouble operator+(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r+rel_radius); } + inline wxCircleDouble operator-(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r-rel_radius); } + inline wxCircleDouble operator*(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r*rel_radius); } + inline wxCircleDouble operator/(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r/rel_radius); } + + inline wxCircleDouble& operator+=(const wxDouble& rel_radius) { m_r += rel_radius; return *this; } + inline wxCircleDouble& operator-=(const wxDouble& rel_radius) { m_r -= rel_radius; return *this; } + inline wxCircleDouble& operator*=(const wxDouble& rel_radius) { m_r *= rel_radius; return *this; } + inline wxCircleDouble& operator/=(const wxDouble& rel_radius) { m_r /= rel_radius; return *this; } + + wxDouble m_r; +}; + +//----------------------------------------------------------------------------- +// wxCircleInt m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCircleInt : public wxPoint2DInt +{ +public : + + inline wxCircleInt(wxInt32 x=0, wxInt32 y=0, wxInt32 r=0) + { m_x = x; m_y = y; m_r = r; } + inline wxCircleInt(const wxPoint2DInt &origin, wxInt32 r) + { m_x = origin.m_x; m_y = origin.m_y; m_r = r; } + inline wxCircleInt(const wxCircleInt &circle) + { m_x = circle.m_x; m_y = circle.m_y; m_r = circle.m_r; } + + inline bool IsEmpty() const { return m_r <= 0; } + + inline wxInt32 GetX() const { return m_x; } + inline wxInt32 GetY() const { return m_y; } + inline wxPoint2DInt GetOrigin() const { return wxPoint2DInt(m_x, m_y); } + inline wxInt32 GetRadius() const { return m_r; } + + // Get a bounding rect + inline wxRect2DInt GetRect() const + { return wxRect2DInt(m_x-m_r, m_y-m_r, 2*m_r, 2*m_r); } + + inline void SetX(wxInt32 x) { m_x = x; } + inline void SetY(wxInt32 y) { m_y = y; } + inline void SetOrigin(const wxPoint2DInt &origin) { m_x = origin.m_x; m_y = origin.m_y; } + inline void SetRadius(wxInt32 r) { m_r = r; } + + inline bool GetPointInCircle(wxInt32 x, wxInt32 y) const + { if (IsEmpty()) return false; + return ((x-m_x)*(x-m_x) + (y-m_y)*(y-m_y) <= m_r*m_r); } + + inline bool GetPointInCircle(const wxPoint2DInt &pt) const + { return GetPointInCircle(pt.m_x, pt.m_y); } + + inline bool Intersects(const wxCircleInt &circle) const + { return GetDistance(circle) <= m_r + circle.m_r; } + +// int IntersectLine( const wxRay2DDouble &line, +// wxPoint2DInt *pt1=NULL, +// wxPoint2DInt *pt2=NULL ) const; + + // Operators + + inline wxCircleInt operator=(const wxCircleInt& c) { m_x = c.m_x; m_y = c.m_y; m_r = c.m_r; return *this; } + inline bool operator==(const wxCircleInt& c) const { return (m_x == c.m_x)&&(m_y == c.m_y)&&(m_r == c.m_r); } + inline bool operator!=(const wxCircleInt& c) const { return !(*this == c); } + + inline wxCircleInt operator+(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x+rel_origin.m_x, m_y+rel_origin.m_y, m_r); } + inline wxCircleInt operator-(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x-rel_origin.m_x, m_y-rel_origin.m_y, m_r); } + inline wxCircleInt operator*(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x*rel_origin.m_x, m_y*rel_origin.m_y, m_r); } + inline wxCircleInt operator/(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x/rel_origin.m_x, m_y/rel_origin.m_y, m_r); } + + inline wxCircleInt& operator+=(const wxPoint2DInt& rel_origin) { m_x += rel_origin.m_x; m_y += rel_origin.m_y; return *this; } + inline wxCircleInt& operator-=(const wxPoint2DInt& rel_origin) { m_x -= rel_origin.m_x; m_y -= rel_origin.m_y; return *this; } + inline wxCircleInt& operator*=(const wxPoint2DInt& rel_origin) { m_x *= rel_origin.m_x; m_y *= rel_origin.m_y; return *this; } + inline wxCircleInt& operator/=(const wxPoint2DInt& rel_origin) { m_x /= rel_origin.m_x; m_y /= rel_origin.m_y; return *this; } + + inline wxCircleInt operator+(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r+rel_radius); } + inline wxCircleInt operator-(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r-rel_radius); } + inline wxCircleInt operator*(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r*rel_radius); } + inline wxCircleInt operator/(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r/rel_radius); } + + inline wxCircleInt& operator+=(const wxInt32& rel_radius) { m_r += rel_radius; return *this; } + inline wxCircleInt& operator-=(const wxInt32& rel_radius) { m_r -= rel_radius; return *this; } + inline wxCircleInt& operator*=(const wxInt32& rel_radius) { m_r *= rel_radius; return *this; } + inline wxCircleInt& operator/=(const wxInt32& rel_radius) { m_r /= rel_radius; return *this; } + + wxInt32 m_r; +}; + +//----------------------------------------------------------------------------- +// wxEllipseInt m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxEllipseInt +{ +public : + + inline wxEllipseInt(wxInt32 x=0, wxInt32 y=0, wxInt32 r_x=0, wxInt32 r_y=0) + { m_origin.m_x=x; m_origin.m_y=y; m_radius.m_x=r_x; m_radius.m_y=r_y; } + inline wxEllipseInt(const wxPoint2DInt &origin, const wxPoint2DInt radius) + { m_origin = origin; m_radius = radius; } + inline wxEllipseInt(const wxEllipseInt &ellipse) + { m_origin = ellipse.m_origin; m_radius = ellipse.m_radius; } + + inline bool IsEmpty() const { return m_radius.m_x<=0 || m_radius.m_y<=0; } + + inline wxInt32 GetX() const { return m_origin.m_x; } + inline wxInt32 GetY() const { return m_origin.m_y; } + inline wxPoint2DInt GetOrigin() const { return m_origin; } + inline wxInt32 GetXRadius() const { return m_radius.m_x; } + inline wxInt32 GetYRadius() const { return m_radius.m_y; } + inline wxPoint2DInt GetRadius() const { return m_radius; } + + // Get a bounding rect + inline wxRect2DInt GetRect() const + { return wxRect2DInt(m_origin.m_x-m_radius.m_x, + m_origin.m_y-m_radius.m_y, + 2*m_radius.m_x, 2*m_radius.m_y); } + + inline void SetX(wxInt32 x) { m_origin.m_x = x; } + inline void SetY(wxInt32 y) { m_origin.m_y = y; } + inline void SetOrigin(const wxPoint2DInt &origin) { m_origin = origin; } + inline void SetXRadius(wxInt32 r_x) { m_radius.m_x = r_x; } + inline void SetYRadius(wxInt32 r_y) { m_radius.m_y = r_y; } + inline void SetRadius(const wxPoint2DInt &radius) { m_radius = radius; } + + inline bool GetPointInEllipse(wxInt32 x, wxInt32 y) const + { if (IsEmpty()) return false; + return (((x-m_origin.m_x)*(x-m_origin.m_x))/m_radius.m_x + + ((y-m_origin.m_y)*(y-m_origin.m_y))/m_radius.m_y <= 1); } + + inline bool GetPointInEllipse(const wxPoint2DInt &pt) const + { return GetPointInEllipse(pt.m_x, pt.m_y); } + +// int IntersectLine( const wxRay2DDouble &line, +// wxPoint2DInt *pt1=NULL, +// wxPoint2DInt *pt2=NULL ) const; + + + inline bool operator==(const wxEllipseInt& c) const { return (m_origin == c.m_origin)&&(m_radius == c.m_radius); } + inline bool operator!=(const wxEllipseInt& c) const { return !(*this == c); } + + inline wxEllipseInt operator+(const wxPoint2DInt& rel_origin) const { return wxEllipseInt(m_origin+rel_origin, m_radius); } + inline wxEllipseInt& operator+=(const wxPoint2DInt& rel_origin) { m_origin += rel_origin; return *this; } + inline wxEllipseInt operator-(const wxPoint2DInt& rel_origin) const { return wxEllipseInt(m_origin-rel_origin, m_radius); } + inline wxEllipseInt& operator-=(const wxPoint2DInt& rel_origin) { m_origin -= rel_origin; return *this; } + + wxPoint2DInt m_radius; + wxPoint2DInt m_origin; +}; + + +#endif // __WXIMAGER_GEOMETRY_H__ diff --git a/.svn/pristine/9a/9acc0000b12de9881ec2c684e138a98de712017e.svn-base b/.svn/pristine/9a/9acc0000b12de9881ec2c684e138a98de712017e.svn-base new file mode 100644 index 0000000..8bcb9f1 --- /dev/null +++ b/.svn/pristine/9a/9acc0000b12de9881ec2c684e138a98de712017e.svn-base @@ -0,0 +1,223 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxBitmapComboBox +// Purpose: A wxComboBox type button for bitmaps and strings +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +/* + +wxBitmapComboBox is a wxComboBox widget for bitmaps + +You Append some bitmaps either individually or with an array. Since bitmaps are +refed this should be a fast process and you don't have to keep them around. +The size of the items is calculated from the max bitmap and max label so that +they will all line up nicely. + +It acts just like a wxComboBox otherwise, sends a EVT_COMBOBOX when selections +are made with either the mouse on the pulldown list or by pressing the up/down +arrows. + +*/ + +#ifndef _WX_BMPCOMBO_H_ +#define _WX_BMPCOMBO_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "bmpcombo.h" +#endif + +#include "wx/things/thingdef.h" +#include "wx/things/dropdown.h" + +class WXDLLEXPORT wxMenu; +class WXDLLEXPORT wxBitmap; +class WXDLLEXPORT wxKeyEvent; +class WXDLLEXPORT wxPaintEvent; +class WXDLLEXPORT wxDC; +class WXDLLIMPEXP_THINGS wxCustomButton; +class WXDLLIMPEXP_THINGS wxBitmapComboPopupChild; +class WXDLLIMPEXP_THINGS wxBitmapComboLabel; + +enum wxBitmapComboBox_Style +{ + // Position of the labels relative to the bitmaps, use only one + wxBMPCOMBO_LEFT = wxCB_DROPDOWN, + wxBMPCOMBO_RIGHT = wxCB_SIMPLE +}; + +class WXDLLIMPEXP_THINGS wxBitmapComboBox : public DropDownBase +{ +public: + wxBitmapComboBox() : DropDownBase() { Init(); } + + // Compatible with a wxComboBox, uses strings only + wxBitmapComboBox(wxWindow *parent, wxWindowID id, + const wxString& value = wxEmptyString, // used only if first choice is !null + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + int n = 0, const wxString choices[] = (const wxString *) NULL, + long style = wxBMPCOMBO_RIGHT, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxBitmapComboBox")) + :DropDownBase() + { + Init(); + if ((n > 0) || (!value.IsEmpty())) + { + if ((n > 0) && choices) + { + for (int i=0; i= m_x1) && (x <= m_x2) && (y >= m_y1) && (y <= m_y2)); } + inline bool Contains( const wxPoint2DInt &pt ) const { return Contains(pt.m_x, pt.m_y); } + inline bool Contains( const wxBlockInt &b ) const + { return ((m_x1 <= b.m_x1) && (b.m_x2 <= m_x2) && (m_y1 <= b.m_y1) && (b.m_y2 <= m_y2)); } + + inline bool Intersects( const wxBlockInt &b ) const + { return (wxMax(m_x1, b.m_x1)<=wxMin(m_x2, b.m_x2)) && (wxMax(m_y1, b.m_y1)<=wxMin(m_y2, b.m_y2)); } + inline void Intersect( const wxBlockInt &otherBlock ) { Intersect( *this, otherBlock, this ); } + inline void Intersect( const wxBlockInt &src1 , const wxBlockInt &src2 , wxBlockInt *dest ) const + { + dest->m_x1 = wxMax(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMin(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMax(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMin(src1.m_y2, src2.m_y2); + } + + inline void Union( const wxBlockInt &otherBlock ) { Union(*this, otherBlock, this); } + inline void Union( const wxBlockInt &src1, const wxBlockInt &src2, wxBlockInt *dest ) const + { + dest->m_x1 = wxMin(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMax(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMin(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMax(src1.m_y2, src2.m_y2); + } + + // is this block larger than input block, return 1 = larger, 0 = equal, -1 = smaller + int IsLarger(const wxBlockInt &b) const + { + wxInt32 width = m_x2 - m_x1 + 1, + height = m_y2 - m_y1 + 1, + b_width = b.m_x2 - b.m_x1 + 1, + b_height = b.m_y2 - b.m_y1 + 1; + + if ((width <= 0) || (height <= 0)) + return (b_width > 0) && (b_height > 0) ? -1 : 0; + if ((b_width <= 0) || (b_height <= 0)) + return (width > 0) && (height > 0) ? 1 : 0; + + wxDouble w_bw = wxDouble(width)/b_width, + bh_h = wxDouble(b_height)/height; + return (w_bw == bh_h) ? 0 : ((w_bw > bh_h) ? 1 : -1); + } + + bool IsEmpty() const { return (m_x1 > m_x2) || (m_y1 > m_y2); } + + // Unlike Intersects this also includes just touching the other block + bool Touches(const wxBlockInt &block) const; + + // Try to combine these blocks, they must touch and fit to make a single larger block + // this block is expanded if possible + bool Combine(const wxBlockInt &block); + + // test combining the input block with this one, returning the + // remainder of block in top, bottom, left, right - each may be IsEmpty() + // returns false if blocks don't touch or this block already contains block + // |---------------------------| + // | top | + // |---------------------------| + // | left |block| right | + // |---------------------------| + // | bottom | + // |---------------------------| + bool Combine( const wxBlockInt &block, + wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const; + + // test removal of a portion or all of this contained in block returning the + // remainder in top, bottom, left, right - each may be IsEmpty() + // returns false if nothing to delete, this cell is not changed + bool Delete(const wxBlockInt &block, wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const; + + // operators + inline bool operator == (const wxBlockInt& b) + { return (m_x1==b.m_x1) && (m_y1==b.m_y1) && (m_x2==b.m_x2) && (m_y2==b.m_y2); } + inline bool operator != (const wxBlockInt& b) + { return !(*this == b); } + + wxInt32 m_x1, m_y1, m_x2, m_y2; +}; + +//============================================================================= +// wxBlockDouble +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDouble +{ +public: + inline wxBlockDouble(wxDouble x1=0, wxDouble y1=0, wxDouble x2=0, wxDouble y2=0) + : m_x1(x1), m_y1(y1), m_x2(x2), m_y2(y2) {} + inline wxBlockDouble(const wxRect2DDouble &rect) + { m_x1=rect.m_x; m_y1=rect.m_y; m_x2=rect.GetRight(); m_y2=rect.GetBottom(); } + + inline wxDouble GetLeft() const { return m_x1; } + inline wxDouble GetRight() const { return m_x2; } + inline wxDouble GetTop() const { return m_y1; } + inline wxDouble GetBottom() const { return m_y2; } + + inline wxDouble GetWidth() const { return m_x2 - m_x1; } + inline wxDouble GetHeight() const { return m_y2 - m_y1; } + + inline wxPoint2DDouble GetLeftTop() const { return wxPoint2DDouble(m_x1, m_y1); } + inline wxPoint2DDouble GetLeftBottom() const { return wxPoint2DDouble(m_x1, m_y2); } + inline wxPoint2DDouble GetRightTop() const { return wxPoint2DDouble(m_x2, m_y1); } + inline wxPoint2DDouble GetRightBottom() const { return wxPoint2DDouble(m_x2, m_y2); } + + inline wxRect2DDouble GetRect2DDouble() const { return wxRect2DDouble(m_x1, m_y1, m_x2-m_x1, m_y2-m_y1); } + inline void SetRect2DDouble(const wxRect2DDouble &r) { m_x1=r.m_x; m_y1=r.m_y, m_x2=r.GetRight(); m_y2=r.GetBottom(); } + + inline bool Contains( wxDouble x, wxDouble y ) const + { return ((x >= m_x1) && (x <= m_x2) && (y >= m_y1) && (y <= m_y2)); } + inline bool Contains( const wxPoint2DDouble &pt ) const { return Contains(pt.m_x, pt.m_y); } + inline bool Contains( const wxBlockDouble &b ) const + { return ((m_x1 <= b.m_x1) && (b.m_x2 <= m_x2) && (m_y1 <= b.m_y1) && (b.m_y2 <= m_y2)); } + + inline bool Intersects( const wxBlockDouble &b ) const + { return (wxMax(m_x1, b.m_x1)m_x1 = wxMax(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMin(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMax(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMin(src1.m_y2, src2.m_y2); + } + + inline void Union( const wxBlockDouble &otherBlock ) { Union( *this, otherBlock, this ); } + inline void Union( const wxBlockDouble &src1, const wxBlockDouble &src2, wxBlockDouble *dest ) const + { + dest->m_x1 = wxMin(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMax(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMin(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMax(src1.m_y2, src2.m_y2); + } + + // is this block larger than input block, return 1 - larger, 0 = equal, -1 smaller + int IsLarger(const wxBlockDouble &b) const + { + wxDouble width = m_x2 - m_x1, + height = m_y2 - m_y1, + b_width = b.m_x2 - b.m_x1, + b_height = b.m_y2 - b.m_y1; + + if ((width <= 0) || (height <= 0)) + return (b_width > 0) && (b_height > 0) ? -1 : 0; + if ((b_width <= 0) || (b_height <= 0)) + return (width > 0) && (height > 0) ? 1 : 0; + + wxDouble w_bw = width/b_width, + bh_h = b_height/height; + return (w_bw == bh_h) ? 0 : ((w_bw > bh_h) ? 1 : -1); + } + inline bool IsEmpty() const { return (m_x1 > m_x2) || (m_y1 > m_y2); } + + // Unlike Intersects this also includes just touching the other block + bool Touches(const wxBlockDouble &block) const; + + // Try to combine these blocks, they must touch and fit to make a single larger block + // this block is expanded if possible + bool Combine(const wxBlockDouble &block); + + // test combining the input block with this one, returning the + // remainder of block in top, bottom, left, right - each may be IsEmpty() + // returns false if blocks don't touch or this block already contains block + // |---------------------------| + // | top | + // |---------------------------| + // | left |block| right | + // |---------------------------| + // | bottom | + // |---------------------------| + bool Combine( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const; + + // test removal of a portion or all of this contained in block returning the + // remainder in top, bottom, left, right - each may be IsEmpty() + // returns false if nothing to delete, this cell is not changed + bool Delete( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const; + + // operators + inline bool operator == (const wxBlockDouble& b) + { return (m_x1==b.m_x1) && (m_y1==b.m_y1) && (m_x2==b.m_x2) && (m_y2==b.m_y2); } + inline bool operator != (const wxBlockDouble& b) + { return !(*this == b); } + + wxDouble m_x1, m_y1, m_x2, m_y2; +}; + +//============================================================================= +// wxBlockIntSelection - ordered 2D array of wxBlockInts, combines to minimize size +// blocks never overlap each other +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockIntSelection +{ +public : + wxBlockIntSelection(wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) {} + wxBlockIntSelection(const wxBlockIntSelection &blocks, + wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) { Copy(blocks); } + + // Make a full copy of the source + void Copy(const wxBlockIntSelection &source) + { + m_blocks.Clear(); + WX_APPEND_ARRAY(m_blocks, source.GetBlockArray()); + m_sort = source.GetSortType(); + } + + inline int GetCount() const { return m_blocks.GetCount(); } + + inline void Clear() { m_blocks.Clear(); } + + wxArrayBlockInt GetBlockArray() const { return m_blocks; } + +#ifdef USE_wxRANGE + // Get an array of ranges cutting though these blocks + wxArrayRangeInt GetBlockCol(int col) const; + wxArrayRangeInt GetBlockRow(int row) const; +#endif + + wxBlockInt GetBlock( int index ) const; + inline wxBlockInt Item( int index ) const { return GetBlock(index); } + + // Get a block that bounds the selection + wxBlockInt GetBoundingBlock() const; + + // do any of the blocks contains elements + inline bool Contains( int x, int y ) const { return Index(x,y) != wxNOT_FOUND; } + inline bool Contains( const wxPoint2DInt &pt ) const { return Index(pt) != wxNOT_FOUND; } + inline bool Contains( const wxBlockInt &b ) const { return Index(b) != wxNOT_FOUND; } + + // what is the index of a block that contains element + int Index( int x, int y ) const; + inline int Index( const wxPoint2DInt &pt ) const { return Index(pt.m_x, pt.m_y); } + int Index( const wxBlockInt &b ) const; + + // Sorts the blocks according to the wxBlockIntSort_Type + void Sort(wxBlockSort_Type type = wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT); + wxBlockSort_Type GetSortType() const { return m_sort; } + + // Add the block to the selection, returns false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + // addedBlocks (if !NULL) will be filled with the actual changed selections + // by removing the previous selections from the input block + bool SelectBlock( const wxBlockInt &block, bool combineNow=true, wxArrayBlockInt *addedBlocks=NULL); + + // Remove the block to the selection, return false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool DeselectBlock( const wxBlockInt &block, bool combineNow=true); + + // Try to combine the blocks if possible, returns if anything was done + // only need to call this if you've called (De)SelectBlock(..., false) + bool Minimize(); + + // Operators + inline wxBlockInt operator[](int index) const { return GetBlock(index); } + + //wxBlockIntSelection& operator = (const wxBlockIntSelection& other) { Copy(other); return *this; } + + // generic routine using if (b1.Combine(b2)) remove b2 to cleanup array + // sort top_left_bottom_right first (internal use) + static bool DoMinimize( wxArrayBlockInt &blocks ); + // DoMinimize calls this internally + static bool DoDoMinimize( wxArrayBlockInt &blocks ); + +protected : + wxArrayBlockInt m_blocks; + wxBlockSort_Type m_sort; +}; + +//============================================================================= +// wxBlockDoubleSelection - ordered 2D array of wxBlockDoubles, combines to minimze size +// blocks never overlap each other +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDoubleSelection +{ +public : + wxBlockDoubleSelection(wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) {} + wxBlockDoubleSelection(const wxBlockDoubleSelection &blocks, + wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) { Copy(blocks); } + + // Make a full copy of the source + void Copy(const wxBlockDoubleSelection &source) + { + m_blocks.Clear(); + WX_APPEND_ARRAY(m_blocks, source.GetBlockArray()); + m_sort = source.GetSortType(); + } + + inline int GetCount() const { return m_blocks.GetCount(); } + + inline void Clear() { m_blocks.Clear(); } + + wxArrayBlockDouble GetBlockArray() const { return m_blocks; } + +#ifdef USE_wxRANGE + // Get an array of ranges cutting though these blocks + wxArrayRangeDouble GetBlockCol(wxDouble col) const; + wxArrayRangeDouble GetBlockRow(wxDouble row) const; +#endif + + wxBlockDouble GetBlock( int index ) const; + inline wxBlockDouble Item( int index ) const { return GetBlock(index); } + + // Get a block that bounds the selection + wxBlockDouble GetBoundingBlock() const; + + // do any of the blocks contains elements + inline bool Contains( wxDouble x, wxDouble y ) const { return Index(wxPoint2DDouble(x,y)) != wxNOT_FOUND; } + inline bool Contains( const wxPoint2DInt &pt ) const { return Index(pt) != wxNOT_FOUND; } + inline bool Contains( const wxBlockDouble &b ) const { return Index(b) != wxNOT_FOUND; } + + // what is the index of a block that contains element + int Index( wxDouble x, wxDouble y ) const; + inline int Index( const wxPoint2DDouble &pt ) const { return Index(pt.m_x, pt.m_y); } + int Index( const wxBlockDouble &b ) const; + + // Sorts the blocks according to the wxBlockIntSort_Type + void Sort(wxBlockSort_Type type = wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT); + wxBlockSort_Type GetSortType() const { return m_sort; } + + // Add the block to the selection, returns false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool SelectBlock( const wxBlockDouble &block, bool combineNow=true); + + // Remove the block to the selection, return false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool DeselectBlock( const wxBlockDouble &block, bool combineNow=true); + + // Try to combine the blocks if possible, returns if anything was done + // only need to call this if you've called (De)SelectBlock(..., false) + bool Minimize(); + + // Operators + inline wxBlockDouble operator[](int index) const { return GetBlock(index); } + + //wxBlockIntSelection& operator = (const wxBlockIntSelection& other) { Copy(other); return *this; } + + // generic routine using if (b1.Combine(b2)) remove b2 to cleanup array + // sort top_left_bottom_right first (internal use) + static bool DoMinimize( wxArrayBlockDouble &blocks ); + // DoMinimize calls this internally + static bool DoDoMinimize( wxArrayBlockDouble &blocks ); + +protected : + wxArrayBlockDouble m_blocks; + wxBlockSort_Type m_sort; +}; + +//============================================================================= +// wxBlockIntSelectionIterator - iterates through a wxBlockIntSelection +//============================================================================= +enum wxBISI_Type +{ + wxBISI_POINT, // wxBlockIntSelectionIterator::SetType go point by point + wxBISI_BLOCK // go block by block +}; + +class WXDLLIMPEXP_THINGS wxBlockIntSelectionIterator +{ +public : + wxBlockIntSelectionIterator( const wxBlockIntSelection &sel, wxBISI_Type type = wxBISI_POINT ); + wxBlockIntSelectionIterator( const wxArrayBlockInt &blocks, wxBISI_Type type = wxBISI_POINT ); + + // resets the iterating to start at the beginning + void Reset(); + // Set the method to get the blocks, either point by point or each whole block + // also resets the iteration to the beginning + void SetType( wxBISI_Type type ) { m_type = type; Reset(); } + wxBISI_Type GetType() const { return m_type; } + + // Get next selection, returns false if at end (only valid for wxBISI_point) + bool GetNext(wxPoint2DInt &pt); + // Get next selection, returns false if at end (only valid for wxBISI_block) + bool GetNext(wxBlockInt &block); + + // checks if this row and col are in this selection + bool IsInSelection(const wxPoint2DInt &pt) const; + inline bool IsInSelection( int x, int y ) const { return IsInSelection(wxPoint2DInt(x,y)); } + +protected : + wxBISI_Type m_type; + int m_block_index; + wxPoint2DInt m_pt; + wxArrayBlockInt m_blocks; +}; + +//============================================================================= +// wxBlockDoubleSelectionIterator - iterates through a wxBlockDoubleSelection +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDoubleSelectionIterator +{ +public : + wxBlockDoubleSelectionIterator( const wxBlockDoubleSelection &sel ); + wxBlockDoubleSelectionIterator( const wxArrayBlockDouble &blocks ); + + // resets the iterating to start at the beginning + void Reset(); + // Get next selection, returns false if at the end + bool GetNext(wxBlockDouble &block); + // checks if this row and col are in this selection + bool IsInSelection(const wxPoint2DDouble &pt) const; + inline bool IsInSelection( int x, int y ) const { return IsInSelection(wxPoint2DDouble(x,y)); } + +protected : + size_t m_block_index; + wxArrayBlockDouble m_blocks; +}; + +#endif // __wxBLOCK_H__ diff --git a/.svn/pristine/9c/9c1877b74d1ab2ec4885d8843573f53ee87957b6.svn-base b/.svn/pristine/9c/9c1877b74d1ab2ec4885d8843573f53ee87957b6.svn-base new file mode 100644 index 0000000..c9a8cb8 --- /dev/null +++ b/.svn/pristine/9c/9c1877b74d1ab2ec4885d8843573f53ee87957b6.svn-base @@ -0,0 +1,1212 @@ +# Doxyfile 1.4.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = "6D SLAM" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = 1.1 + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc/ + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, +# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, +# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, +# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, +# Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = English + +# This tag can be used to specify the encoding used in the generated output. +# The encoding is not always determined by the language that is chosen, +# but also whether or not the output is meant for Windows or non-Windows users. +# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES +# forces the Windows encoding (this is the default for the Windows binary), +# whereas setting the tag to NO uses a Unix-style encoding (the default for +# all platforms other than Windows). + +USE_WINDOWS_ENCODING = NO + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = include/ + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like the Qt-style comments (thus requiring an +# explicit @brief command for a brief description. + +JAVADOC_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources +# only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. + +SHOW_DIRECTORIES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from the +# version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the progam writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = YES + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = src/show src/slam6D src/grid src/pmd + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm + +FILE_PATTERNS = *.cc *.h *.icc + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. + +EXCLUDE_PATTERNS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES (the default) +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES (the default) +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = YES + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be +# generated containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = NO + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = NO + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_PREDEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more +# powerful graphs. + +CLASS_DIAGRAMS = YES + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = NO + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = NO + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = NO + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = YES + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = NO + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = NO + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_WIDTH = 1024 + +# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_HEIGHT = 1024 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that a graph may be further truncated if the graph's +# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH +# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default), +# the graph is not depth-constrained. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, which results in a white background. +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- + +# The SEARCHENGINE tag specifies whether or not a search engine should be +# used. If set to NO the values of all tags below this one will be ignored. + +SEARCHENGINE = NO diff --git a/.svn/pristine/9d/9dac29113240865803c0902dc37dccf1122ef18f.svn-base b/.svn/pristine/9d/9dac29113240865803c0902dc37dccf1122ef18f.svn-base new file mode 100644 index 0000000..c5172d2 --- /dev/null +++ b/.svn/pristine/9d/9dac29113240865803c0902dc37dccf1122ef18f.svn-base @@ -0,0 +1,17 @@ +Thanks: + ...to everyone who contributed to gocr. If you feel that your + name should be in this list, write mail to the author. These + are in no particular order: + + G.Kugler for sending me first example files and testing. (MayMM) + Klaas Freitag for the libPgm2asc-patch + Ryan Dibble for the otsu.c file + Tim Waugh for the man page + David Pinson for the tkispell-patch + Martin Goldhahn for some patches + Eberhard Burkard for the gocr.tcl patch + James R. Van Zandt for lot of tips + ... + + ... and everyone else who submitted bug-reports, + feature-requests, patches and lots of example files. diff --git a/.svn/pristine/9e/9e6080408542ee7607695d2abfd9a67e84715db0.svn-base b/.svn/pristine/9e/9e6080408542ee7607695d2abfd9a67e84715db0.svn-base new file mode 100644 index 0000000..62dc559 --- /dev/null +++ b/.svn/pristine/9e/9e6080408542ee7607695d2abfd9a67e84715db0.svn-base @@ -0,0 +1,1059 @@ +//$ newfft.cpp + +// This is originally by Sande and Gentleman in 1967! I have translated from +// Fortran into C and a little bit of C++. + +// It takes about twice as long as fftw +// (http://theory.lcs.mit.edu/~fftw/homepage.html) +// but is much shorter than fftw and so despite its age +// might represent a reasonable +// compromise between speed and complexity. +// If you really need the speed get fftw. + + +// THIS SUBROUTINE WAS WRITTEN BY G.SANDE OF PRINCETON UNIVERSITY AND +// W.M.GENTLMAN OF THE BELL TELEPHONE LAB. IT WAS BROUGHT TO LONDON +// BY DR. M.D. GODFREY AT THE IMPERIAL COLLEGE AND WAS ADAPTED FOR +// BURROUGHS 6700 BY D. R. BRILLINGER AND J. PEMBERTON +// IT REPRESENTS THE STATE OF THE ART OF COMPUTING COMPLETE FINITE +// DISCRETE FOURIER TRANSFORMS AS OF NOV.1967. +// OTHER PROGRAMS REQUIRED. +// ONLY THOSE SUBROUTINES INCLUDED HERE. +// USAGE. +// CALL AR1DFT(N,X,Y) +// WHERE N IS THE NUMBER OF POINTS IN THE SEQUENCE . +// X - IS A ONE-DIMENSIONAL ARRAY CONTAINING THE REAL +// PART OF THE SEQUENCE. +// Y - IS A ONE-DIMENSIONAL ARRAY CONTAINING THE +// IMAGINARY PART OF THE SEQUENCE. +// THE TRANSFORM IS RETURNED IN X AND Y. +// METHOD +// FOR A GENERAL DISCUSSION OF THESE TRANSFORMS AND OF +// THE FAST METHOD FOR COMPUTING THEM, SEE GENTLEMAN AND SANDE, +// @FAST FOURIER TRANSFORMS - FOR FUN AND PROFIT,@ 1966 FALL JOINT +// COMPUTER CONFERENCE. +// THIS PROGRAM COMPUTES THIS FOR A COMPLEX SEQUENCE Z(T) OF LENGTH +// N WHOSE ELEMENTS ARE STORED AT(X(I) , Y(I)) AND RETURNS THE +// TRANSFORM COEFFICIENTS AT (X(I), Y(I)). +// DESCRIPTION +// AR1DFT IS A HIGHLY MODULAR ROUTINE CAPABLE OF COMPUTING IN PLACE +// THE COMPLETE FINITE DISCRETE FOURIER TRANSFORM OF A ONE- +// DIMENSIONAL SEQUENCE OF RATHER GENERAL LENGTH N. +// THE MAIN ROUTINE , AR1DFT ITSELF, FACTORS N. IT THEN CALLS ON +// ON GR 1D FT TO COMPUTE THE ACTUAL TRANSFORMS, USING THESE FACTORS. +// THIS GR 1D FT DOES, CALLING AT EACH STAGE ON THE APPROPRIATE KERN +// EL R2FTK, R4FTK, R8FTK, R16FTK, R3FTK, R5FTK, OR RPFTK TO PERFORM +// THE COMPUTATIONS FOR THIS PASS OVER THE SEQUENCE, DEPENDING ON +// WHETHER THE CORRESPONDING FACTOR IS 2, 4, 8, 16, 3, 5, OR SOME +// MORE GENERAL PRIME P. WHEN GR1DFT IS FINISHED THE TRANSFORM IS +// COMPUTED, HOWEVER, THE RESULTS ARE STORED IN "DIGITS REVERSED" +// ORDER. AR1DFT THEREFORE, CALLS UPON GR 1S FS TO SORT THEM OUT. +// TO RETURN TO THE FACTORIZATION, SINGLETON HAS POINTED OUT THAT +// THE TRANSFORMS ARE MORE EFFICIENT IF THE SAMPLE SIZE N, IS OF THE +// FORM B*A**2 AND B CONSISTS OF A SINGLE FACTOR. IN SUCH A CASE +// IF WE PROCESS THE FACTORS IN THE ORDER ABA THEN +// THE REORDERING CAN BE DONE AS FAST IN PLACE, AS WITH SCRATCH +// STORAGE. BUT AS B BECOMES MORE COMPLICATED, THE COST OF THE DIGIT +// REVERSING DUE TO B PART BECOMES VERY EXPENSIVE IF WE TRY TO DO IT +// IN PLACE. IN SUCH A CASE IT MIGHT BE BETTER TO USE EXTRA STORAGE +// A ROUTINE TO DO THIS IS, HOWEVER, NOT INCLUDED HERE. +// ANOTHER FEATURE INFLUENCING THE FACTORIZATION IS THAT FOR ANY FIXED +// FACTOR N WE CAN PREPARE A SPECIAL KERNEL WHICH WILL COMPUTE +// THAT STAGE OF THE TRANSFORM MORE EFFICIENTLY THAN WOULD A KERNEL +// FOR GENERAL FACTORS, ESPECIALLY IF THE GENERAL KERNEL HAD TO BE +// APPLIED SEVERAL TIMES. FOR EXAMPLE, FACTORS OF 4 ARE MORE +// EFFICIENT THAN FACTORS OF 2, FACTORS OF 8 MORE EFFICIENT THAN 4,ETC +// ON THE OTHER HAND DIMINISHING RETURNS RAPIDLY SET IN, ESPECIALLY +// SINCE THE LENGTH OF THE KERNEL FOR A SPECIAL CASE IS ROUGHLY +// PROPORTIONAL TO THE FACTOR IT DEALS WITH. HENCE THESE PROBABLY ARE +// ALL THE KERNELS WE WISH TO HAVE. +// RESTRICTIONS. +// AN UNFORTUNATE FEATURE OF THE SORTING PROBLEM IS THAT THE MOST +// EFFICIENT WAY TO DO IT IS WITH NESTED DO LOOPS, ONE FOR EACH +// FACTOR. THIS PUTS A RESTRICTION ON N AS TO HOW MANY FACTORS IT +// CAN HAVE. CURRENTLY THE LIMIT IS 16, BUT THE LIMIT CAN BE READILY +// RAISED IF NECESSARY. +// A SECOND RESTRICTION OF THE PROGRAM IS THAT LOCAL STORAGE OF THE +// THE ORDER P**2 IS REQUIRED BY THE GENERAL KERNEL RPFTK, SO SOME +// LIMIT MUST BE SET ON P. CURRENTLY THIS IS 19, BUT IT CAN BE INCRE +// INCREASED BY TRIVIAL CHANGES. +// OTHER COMMENTS. +//(1) THE ROUTINE IS ADAPTED TO CHECK WHETHER A GIVEN N WILL MEET THE +// ABOVE FACTORING REQUIREMENTS AN, IF NOT, TO RETURN THE NEXT HIGHER +// NUMBER, NX, SAY, WHICH WILL MEET THESE REQUIREMENTS. +// THIS CAN BE ACCHIEVED BY A STATEMENT OF THE FORM +// CALL FACTR(N,X,Y). +// IF A DIFFERENT N, SAY NX, IS RETURNED THEN THE TRANSFORMS COULD BE +// OBTAINED BY EXTENDING THE SIZE OF THE X-ARRAY AND Y-ARRAY TO NX, +// AND SETTING X(I) = Y(I) = 0., FOR I = N+1, NX. +//(2) IF THE SEQUENCE Z IS ONLY A REAL SEQUENCE, THEN THE IMAGINARY PART +// Y(I)=0., THIS WILL RETURN THE COSINE TRANSFORM OF THE REAL SEQUENCE +// IN X, AND THE SINE TRANSFORM IN Y. + + +#define WANT_STREAM + +#define WANT_MATH + +#include "newmatap.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,20); ++ExeCount; } +#else +#define REPORT {} +#endif + +inline Real square(Real x) { return x*x; } +inline int square(int x) { return x*x; } + +static void GR_1D_FS (int PTS, int N_SYM, int N_UN_SYM, + const SimpleIntArray& SYM, int P_SYM, const SimpleIntArray& UN_SYM, + Real* X, Real* Y); +static void GR_1D_FT (int N, int N_FACTOR, const SimpleIntArray& FACTOR, + Real* X, Real* Y); +static void R_P_FTK (int N, int M, int P, Real* X, Real* Y); +static void R_2_FTK (int N, int M, Real* X0, Real* Y0, Real* X1, Real* Y1); +static void R_3_FTK (int N, int M, Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2); +static void R_4_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3); +static void R_5_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, Real* X2, Real* Y2, + Real* X3, Real* Y3, Real* X4, Real* Y4); +static void R_8_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3, + Real* X4, Real* Y4, Real* X5, Real* Y5, + Real* X6, Real* Y6, Real* X7, Real* Y7); +static void R_16_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3, + Real* X4, Real* Y4, Real* X5, Real* Y5, + Real* X6, Real* Y6, Real* X7, Real* Y7, + Real* X8, Real* Y8, Real* X9, Real* Y9, + Real* X10, Real* Y10, Real* X11, Real* Y11, + Real* X12, Real* Y12, Real* X13, Real* Y13, + Real* X14, Real* Y14, Real* X15, Real* Y15); +static int BitReverse(int x, int prod, int n, const SimpleIntArray& f); + + +bool FFT_Controller::ar_1d_ft (int PTS, Real* X, Real *Y) +{ +// ARBITRARY RADIX ONE DIMENSIONAL FOURIER TRANSFORM + + REPORT + + int F,J,N,NF,P,PMAX,P_SYM,P_TWO,Q,R,TWO_GRP; + + // NP is maximum number of squared factors allows PTS up to 2**32 at least + // NQ is number of not-squared factors - increase if we increase PMAX + const int NP = 16, NQ = 10; + SimpleIntArray PP(NP), QQ(NQ); + + TWO_GRP=16; PMAX=19; + + // PMAX is the maximum factor size + // TWO_GRP is the maximum power of 2 handled as a single factor + // Doesn't take advantage of combining powers of 2 when calculating + // number of factors + + if (PTS<=1) return true; + N=PTS; P_SYM=1; F=2; P=0; Q=0; + + // P counts the number of squared factors + // Q counts the number of the rest + // R = 0 for no non-squared factors; 1 otherwise + + // FACTOR holds all the factors - non-squared ones in the middle + // - length is 2*P+Q + // SYM also holds all the factors but with the non-squared ones + // multiplied together - length is 2*P+R + // PP holds the values of the squared factors - length is P + // QQ holds the values of the rest - length is Q + + // P_SYM holds the product of the squared factors + + // find the factors - load into PP and QQ + while (N > 1) + { + bool fail = true; + for (J=F; J<=PMAX; J++) + if (N % J == 0) { fail = false; F=J; break; } + if (fail || P >= NP || Q >= NQ) return false; // can't factor + N /= F; + if (N % F != 0) QQ[Q++] = F; + else { N /= F; PP[P++] = F; P_SYM *= F; } + } + + R = (Q == 0) ? 0 : 1; // R = 0 if no not-squared factors, 1 otherwise + + NF = 2*P + Q; + SimpleIntArray FACTOR(NF + 1), SYM(2*P + R); + FACTOR[NF] = 0; // we need this in the "combine powers of 2" + + // load into SYM and FACTOR + for (J=0; J0) + { + REPORT + for (J=0; J 0) + { + REPORT + SimpleIntArray U(N_SYM); + for(MultiRadixCounter MRC(N_SYM, SYM, U); !MRC.Finish(); ++MRC) + { + if (MRC.Swap()) + { + int P = MRC.Reverse(); int JJ = MRC.Counter(); Real T; + T=X[JJ]; X[JJ]=X[P]; X[P]=T; T=Y[JJ]; Y[JJ]=Y[P]; Y[P]=T; + } + } + } + + int J,JL,K,L,M,MS; + + // UN_SYM contains the non-squared factors + // I have replaced the Sande-Gentleman code as it runs into + // integer overflow problems + // My code (and theirs) would be improved by using a bit array + // as suggested by Van Loan + + if (N_UN_SYM==0) { REPORT return; } + P_UN_SYM=PTS/square(P_SYM); JL=(P_UN_SYM-3)*P_SYM; MS=P_UN_SYM*P_SYM; + + for (J = P_SYM; J<=JL; J+=P_SYM) + { + K=J; + do K = P_SYM * BitReverse(K / P_SYM, P_UN_SYM, N_UN_SYM, UN_SYM); + while (K 1) + { + bool fail = true; + for (int J = F; J <= PMAX; J++) + if (N % J == 0) { fail = false; F=J; break; } + if (fail || P >= NP || Q >= NQ) { REPORT return false; } + N /= F; + if (N % F != 0) Q++; else { N /= F; P++; } + } + + return true; // can factorise + +} + +bool FFT_Controller::OnlyOldFFT; // static variable + +// **************************** multi radix counter ********************** + +MultiRadixCounter::MultiRadixCounter(int nx, const SimpleIntArray& rx, + SimpleIntArray& vx) + : Radix(rx), Value(vx), n(nx), reverse(0), + product(1), counter(0), finish(false) +{ + REPORT for (int k = 0; k < n; k++) { Value[k] = 0; product *= Radix[k]; } +} + +void MultiRadixCounter::operator++() +{ + REPORT + counter++; int p = product; + for (int k = 0; k < n; k++) + { + Value[k]++; int p1 = p / Radix[k]; reverse += p1; + if (Value[k] == Radix[k]) { REPORT Value[k] = 0; reverse -= p; p = p1; } + else { REPORT return; } + } + finish = true; +} + + +static int BitReverse(int x, int prod, int n, const SimpleIntArray& f) +{ + // x = c[0]+f[0]*(c[1]+f[1]*(c[2]+... + // return c[n-1]+f[n-1]*(c[n-2]+f[n-2]*(c[n-3]+... + // prod is the product of the f[i] + // n is the number of f[i] (don't assume f has the correct length) + + REPORT + const int* d = f.Data() + n; int sum = 0; int q = 1; + while (n--) + { + prod /= *(--d); + int c = x / prod; x-= c * prod; + sum += q * c; q *= *d; + } + return sum; +} + + +#ifdef use_namespace +} +#endif + + diff --git a/.svn/pristine/9f/9f11eacb1523ea193e2a9a1629d44a762c10aca7.svn-base b/.svn/pristine/9f/9f11eacb1523ea193e2a9a1629d44a762c10aca7.svn-base new file mode 100644 index 0000000..0b7e35a --- /dev/null +++ b/.svn/pristine/9f/9f11eacb1523ea193e2a9a1629d44a762c10aca7.svn-base @@ -0,0 +1,9 @@ + + + + 1 + 4 +
f
+ + -0.43944934 1.01121974 4.40021278e-03 -7.87253448e-05 + diff --git a/.svn/pristine/9f/9f7ce42451c025e0100dfe250a313b852df360db.svn-base b/.svn/pristine/9f/9f7ce42451c025e0100dfe250a313b852df360db.svn-base new file mode 100644 index 0000000..78bfef7 --- /dev/null +++ b/.svn/pristine/9f/9f7ce42451c025e0100dfe250a313b852df360db.svn-base @@ -0,0 +1,42 @@ +Fitting parameters + + 70.02918529 209.6252324 0.1541078372 + 94.78295699 + 49.23360397 147.1803571 0.1734849298 + 1.848950128 + 0.7422941575 1.70673579 0.1733822274 + 0.2113527145 + 0.1955923541 0.06041118379 0.1754552928 + 0.1754553498 + 0.1754553471 2.341694142e-08 0.1754553393 +Converged + + +Estimates and standard errors + 19.77 0.73 + -23.63 0.82 + 0.35 0.04 + + +Residual s.d. = 0.42 + +CorrelationMatrix + 1.00 -0.05 -0.91 + -0.05 1.00 -0.31 + -0.91 -0.31 1.00 + + +X, Y, Residual, Hat + 1.00 3.20 0.10 0.89 + 2.00 7.90 -0.11 0.33 + 3.00 11.10 -0.38 0.39 + 4.00 14.50 0.58 0.35 + 6.00 16.70 -0.16 0.32 + 8.00 18.30 -0.02 0.73 + + +Var/cov + 0.5295 -0.0324 -0.0250 + -0.0324 0.6668 -0.0096 + -0.0250 -0.0096 0.0014 + diff --git a/.svn/pristine/9f/9f8a037aa825035d223149edb33d92b615852557.svn-base b/.svn/pristine/9f/9f8a037aa825035d223149edb33d92b615852557.svn-base new file mode 100644 index 0000000..d1b678e --- /dev/null +++ b/.svn/pristine/9f/9f8a037aa825035d223149edb33d92b615852557.svn-base @@ -0,0 +1,56 @@ + + +int glui_img_uparrow[] = { 16, 16, /* width, height */ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 192,192,192, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 0, 0, 0, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 192,192,192, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 0, 0, 0, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 0, 0, 0, +}; diff --git a/.svn/pristine/9f/9fef7f4947e7275d9c69a31ac787a7b53951d6bc.svn-base b/.svn/pristine/9f/9fef7f4947e7275d9c69a31ac787a7b53951d6bc.svn-base new file mode 100644 index 0000000..14804ed --- /dev/null +++ b/.svn/pristine/9f/9fef7f4947e7275d9c69a31ac787a7b53951d6bc.svn-base @@ -0,0 +1,87 @@ +/* ---------------------------- progress output ---------------------- */ +#include +#include +#include "progress.h" + +FILE *fp=NULL; /* output stream for progress info */ +time_t printinterval = 10; /* approx. seconds between printouts, 1.. */ + +/* initialization of progress output, fname="","","-" */ +int ini_progress(char *fname){ + int fd; + if (fp) { fclose(fp); fp=NULL; } + if (fname) if (fname[0]) { + fd=atoi(fname); + if(fd>255 || fname[((fd>99)?3:((fd>9)?2:1))]) fd=-1; /* be sure */ + if (fname[0]=='-' && fname[1]==0) { fp=stdout; } +#ifdef __USE_POSIX + else if (fd>0) { fp=fdopen(fd,"w"); } /* not sure that "w" is ok ???? */ +#endif + else { fp=fopen(fname,"w");if(!fp)fp=fopen(fname,"a"); } + if (!fp) { + fprintf(stderr,"could not open %s for progress output\n",fname); + return -1; /* no success */ + } + } + /* fprintf(stderr,"# progress: fd=%d\n",fileno(fp)); */ + return 0; /* no error */ +} + +progress_counter_t *open_progress(int maxcount, const char *name){ + progress_counter_t *pc; + pc = (progress_counter_t*) malloc( sizeof(progress_counter_t) ); + if (!pc) return 0; /* nonfatal */ + pc->starttime = time(NULL); + pc->maxcount = maxcount; + pc->numskip = 0; + pc->lastprintcount = -1; + pc->name = name; + pc->lastprinttime = pc->starttime; + return pc; +} +/* free counter */ +int close_progress(progress_counter_t *counter){ + if (counter) free(counter); + return 0; +} +/* progress meter output + * only 1output/10s, + estimated endtime (test on pixelfields) + * ToDo: to stderr by default? remove subprogress, ini_progress? rm_progress? + * test on tcl + */ +int progress(int counter, progress_counter_t *pc){ + /* we try to save computing time, so we skip early */ + if ((!fp) || counter - pc->lastprintcount <= pc->numskip) return 0; + { + char cr='\n'; + time_t now = time(NULL); +#if 0 /* debugging */ + if (counter) + fprintf(fp," progress %s %3d / %d time %d skip %d\n", + pc->name,counter,pc->maxcount,(int)(now - pc->starttime), + pc->numskip); fflush(fp); +#endif + if (5*(now - pc->lastprinttime) < 2*printinterval + && counter - pc->lastprintcount >= pc->numskip) { /* save for tests */ + if (pc->numskip < 1024) pc->numskip += pc->numskip+1; + } + if (3*(now - pc->lastprinttime) < 2*printinterval ) { + return 0; /* to early for printing */ + } + if (2*(now - pc->lastprinttime) > 3*printinterval ) { + pc->numskip >>= 1; /* to late for printing */ + } + if (fileno(fp)<3) cr='\r'; /* may be choosen in ini? */ + if (counter) + fprintf(fp," progress %s %5d / %d time[s] %5d / %5d (skip=%d)%c", + pc->name,counter,pc->maxcount, + (int)(now - pc->starttime), /* time gone since start */ + (int)(now - pc->starttime)*pc->maxcount/(counter), /* estimated */ + pc->numskip, cr); + fflush(fp); + pc->lastprintcount=counter; + pc->lastprinttime=now; + } + return 0; /* no error */ +} +/* --------------------- end of progress output ---------------------- */ diff --git a/.svn/pristine/a0/a036f44d215409726b22bdada6ff38ee30dc7c7a.svn-base b/.svn/pristine/a0/a036f44d215409726b22bdada6ff38ee30dc7c7a.svn-base new file mode 100644 index 0000000..a84bd27 --- /dev/null +++ b/.svn/pristine/a0/a036f44d215409726b22bdada6ff38ee30dc7c7a.svn-base @@ -0,0 +1,3 @@ +0 0 0 +-0 0 -0 + diff --git a/.svn/pristine/a0/a0718dcafeb3e40ad6e6c74363979bd784854d5a.svn-base b/.svn/pristine/a0/a0718dcafeb3e40ad6e6c74363979bd784854d5a.svn-base new file mode 100644 index 0000000..4c0133b --- /dev/null +++ b/.svn/pristine/a0/a0718dcafeb3e40ad6e6c74363979bd784854d5a.svn-base @@ -0,0 +1,34 @@ +/* + * line implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/line.h" +#include + +/** + * CTOR. + * + * @param start the startpoint of the line + * @param end the endpoint of the line + */ +line::line(gridPoint* start, gridPoint* end) +{ + this->start = start; + this->end = end; +} + +/** + * Returns the length of the line + * + * @return the length of the line + */ +double line::getLength() +{ + return sqrt(pow((double)start->getX() - end->getX(), 2) + + pow((double)start->getZ() - end->getZ(), 2)); +} diff --git a/.svn/pristine/a0/a0ae9e742ca67ba8bb3527df55adc1998757b02e.svn-base b/.svn/pristine/a0/a0ae9e742ca67ba8bb3527df55adc1998757b02e.svn-base new file mode 100644 index 0000000..491c7b2 --- /dev/null +++ b/.svn/pristine/a0/a0ae9e742ca67ba8bb3527df55adc1998757b02e.svn-base @@ -0,0 +1,157 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_txyzr.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +static double X; +static double Y; +static double Z; +static bool FIRST_POINT = true; + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS + reflectance file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_txyzr::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".xyz"; + + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + double ddummy,x,y,z; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> ddummy; + scan_in >> x; + scan_in >> y; + scan_in >> z; + p.x = 100.0*x; + p.y = 100.0*z; + p.z = 100.0*y; + + if (FIRST_POINT) { + X = p.x; + Y = p.y; + Z = p.z; + FIRST_POINT = false; + } + +// scan_in >> p; + + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) { + if (!ptss.empty()) { + //p -= ptss[0]; + p.x -= X; + p.y -= Y; + p.z -= Z; + } + ptss.push_back(p); + } + + + } + if (!ptss.empty()) { + ptss[0].x = ptss[0].y = ptss[0].z = 0.0; + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_txyzr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/a0/a0b46a94552ad895ebe199a152ad7a8aa9e4d9aa.svn-base b/.svn/pristine/a0/a0b46a94552ad895ebe199a152ad7a8aa9e4d9aa.svn-base new file mode 100644 index 0000000..6130ab5 --- /dev/null +++ b/.svn/pristine/a0/a0b46a94552ad895ebe199a152ad7a8aa9e4d9aa.svn-base @@ -0,0 +1,73 @@ +/** @file + * @brief The 6D Lu Milios style SLAM in 6D + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPH_H__ +#define __GRAPH_H__ + +#include +using std::vector; +#include +using std::string; +#include +using std::ostream; + +#include + +/* Boost graph declaration */ +using boost::edge_weight_t; +typedef boost::adjacency_list < + boost::listS, boost::vecS, boost::undirectedS, + boost::no_property, + boost::property < edge_weight_t, double > > + graph_t; + +/** + * @brief This class represent a directed network. + * Each node corresponds to a laser scan. + */ +class Graph { + +public: + + Graph(); + Graph(const string &netfile); + Graph(int nrScans, bool loop); + Graph(double cldist, int loopsize); + Graph(int nodes, double cldist2, int loopsize); + + int getLink(int i, int fromTo); + void addLink(int i, int j); + + void setNrScans(int _nrScans); + int getNrScans(); + int getNrLinks(); + + int getStart(); + int getEnd(); + + friend ostream& operator<<(ostream& os, Graph* gr); + +private: + /** + * The basic network structure + */ + vector from, to; + + /** + * The number of scans contained in this Graph + */ + int nrScans; + + /** + * The very first Scan + */ + int start; +}; + +#endif diff --git a/.svn/pristine/a0/a0f29033774d5457a328f769e2a81a55be32c6d1.svn-base b/.svn/pristine/a0/a0f29033774d5457a328f769e2a81a55be32c6d1.svn-base new file mode 100644 index 0000000..f2b1e95 --- /dev/null +++ b/.svn/pristine/a0/a0f29033774d5457a328f769e2a81a55be32c6d1.svn-base @@ -0,0 +1,208 @@ +/* + * scan_io_rts implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_rts.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::vector; +#include +using std::stringstream; + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan3d_0_" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_FILE "odometry_0_sync_interpol.dat" + +//! RTS type flag for invalid points +#define TYPE_INVALID 0x10 + + + +std::list ScanIO_rts::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + // only a single pose file, can't do without one + path pose_path(dir_path); + pose_path /= POSE_PATH_FILE; + if(exists(pose_path)) { + for(unsigned int i = start; i <= end; ++i) { + // identifier is a number (0-\infty) + std::string identifier(to_string(i)); + // scan consists of data (.3d) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data)) + break; + identifiers.push_back(identifier); + } + } + return identifiers; +} + +void ScanIO_rts::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + // if directory doesn't match the cached one, rebuild pose cache + if(cached_dir != dir_path) { + // check for pose file + path pose_path(dir_path); + pose_path /= POSE_PATH_FILE; + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file in [") + dir_path + "]"); + + // open pose file once and read all poses + ifstream pose_file(pose_path); + pose_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + vector poses; + double p[6], timestamp; + while(pose_file.good()) { + try { + pose_file >> timestamp + >> p[2] >> p[0] >> p[1] // x, y, z + >> p[3] >> p[5] >> p[4]; // theta_x, theta_y, theta_z + } catch(std::ios_base::failure& e) { + break; + } + + // convert + for(i = 0; i < 3; ++i) p[i] *= 0.1; + + // add in poses + for(i = 0; i < 6; ++i) poses.push_back(p[i]); + } + + // after success, set the cache + cached_poses.swap(poses); + cached_dir = dir_path; + } + + // get index from the identifier and pick the pose + stringstream str(identifier); + unsigned int scan_index; + str >> scan_index; + if(cached_poses.size() < scan_index*6 + 6) + throw std::runtime_error(std::string("There is no pose entry for scan [") + identifier + "]"); + + for(i = 0; i < 6; ++i) + pose[i] = cached_poses[scan_index*6 + i]; + return; +} + +bool ScanIO_rts::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_rts::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + // TODO: Type and other columns? + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read points + // z x y type ? ? + double point[3]; + int type, dummy; + while(data_file.good()) { + try { + data_file >> point[2] >> point[0] >> point[1]; + data_file >> type >> dummy >> dummy; + } catch(std::ios_base::failure& e) { + break; + } + + // convert + point[0] *= 0.1; + point[1] *= -0.1; + point[2] *= 0.1; + + // apply filter and insert point + if(!(type & TYPE_INVALID)) { + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rts; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/a0/a0fdbf281a7c574ac7b9005e263e00509e12f9d7.svn-base b/.svn/pristine/a0/a0fdbf281a7c574ac7b9005e263e00509e12f9d7.svn-base new file mode 100644 index 0000000..d31e7a8 --- /dev/null +++ b/.svn/pristine/a0/a0fdbf281a7c574ac7b9005e263e00509e12f9d7.svn-base @@ -0,0 +1,42 @@ +/* + ---------------------- progress output ---------------------- + output progress for GUIs to a pipe + format: "counter_name" counter maxcounter time estimated_time \r|\n + */ +#ifndef GOCR_PROGRESS_H +#define GOCR_PROGRESS_H "Oct06" +#include + +/* initialization of progress output, fname="","","-" */ +int ini_progress(char *fname); + +/* ToDo: add by open_* and close_* */ +/* place to store values for progress calculation, called often, but + * dont call systime so often + */ +typedef struct progress_counter { + const char *name; /* name of counter */ + int lastprintcount; /* last counter printed for extrapolation */ + int maxcount; /* max counter */ + int numskip; /* num of counts to skip before timecall 0..maxcount */ + time_t starttime; /* start time of this counter */ + time_t lastprinttime; /* last time printed in seconds */ + +} progress_counter_t; + +/* progress output p1=main_progress_0..100% p2=sub_progress_0..100% */ +/* ToDo: improved_progress: counter, maxcount(ini), counter_name(ini), + * printinterval=10 # time before printing out progressmeter + * *numskip=1 # if (counter-lastprintcounter +#include + +/** + * CTor. Sets counter and occupied to 0 and the coordinates to x and z + * + * @param x the x coordinate + * @param z the z coordinate + */ +gridPoint::gridPoint(long x, long z) +{ + this->x = x; + this->z = z; + this->count = 0; + this->occupied = 0; +} + +/** + * The Method increases the internal counter of the point. + * If only count should be increased, occupied must be 0; + * + * @param count weighting of the information + * @param occupied Weighting of occupied info + */ +void gridPoint::addCount(unsigned int count, unsigned int occupied) +{ + if(count < 0 || occupied < 0) + { + std::cerr << "ERROR: Invalid values in gridPoint::addCount " << std::endl; + std::cerr << "(" << count << " " << occupied << ")" << std::endl; + exit(1); + } + + this->count += count; + this->occupied += occupied; +} + +/** + * Sets the counters to count and occupied + * + * @param count new Count + * @param occupied new Occupied + */ +void gridPoint::setFixed(unsigned int count, unsigned int occupied) +{ + this->count = count; + this->occupied = occupied; +} + + +/** + * Calculates the percentage for the gridPoint + * If count is 0 the point has not been reached and -1 is returned, + * otherwise occupied/count + * + * @return percentage of the gridPoint occupancy [0.0 1.0] or -1.0 + */ +float gridPoint::getPercent() const +{ + if(this->count == 0) + return -1.0; + + return (float)this->occupied / (float)this->count; +} diff --git a/.svn/pristine/a1/a14e8af6728cf25d35e5998e359a86e9a97c0f16.svn-base b/.svn/pristine/a1/a14e8af6728cf25d35e5998e359a86e9a97c0f16.svn-base new file mode 100644 index 0000000..e7d1d27 --- /dev/null +++ b/.svn/pristine/a1/a14e8af6728cf25d35e5998e359a86e9a97c0f16.svn-base @@ -0,0 +1,54 @@ +if(WIN32) + add_library(pointfilter STATIC ../slam6d/pointfilter.cc) +else(WIN32) + add_library(pointfilter SHARED ../slam6d/pointfilter.cc) +endif(WIN32) + +set(SCANIO_LIBNAMES + uos uos_rgb ks ks_rgb riegl_txt riegl_rgb rts velodyne +) + +if(WITH_RIVLIB) + set(SCANIO_LIBNAMES ${SCANIO_LIBNAMES} rxp) + if(LIBXML2_FOUND) + include_directories(${LIBXML2_INCLUDE_DIR}) +# set(SCANIO_LIBNAMES ${SCANIO_LIBNAMES} riegl_project) +# target_link_libraries(scan_io_riegl_project ${RIVLIB} scan_io_rxp ${LIBXML2_LIBRARIES}) + endif(LIBXML2_FOUND) +endif(WITH_RIVLIB) + +#IF (WITH_CAD) +# IF(NOT WIN32) +# add_library(scan_io_cad SHARED scan_io_cad.cc) +# target_link_libraries(scan_io_cad ${Boost_PROGRAM_OPTIONS_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) +# ENDIF(NOT WIN32) +#ENDIF (WITH_CAD) + +foreach(libname ${SCANIO_LIBNAMES}) +if(WIN32) + #add_library(scan_io_${libname} STATIC scan_io_${libname}.cc) + add_library(scan_io_${libname} SHARED scan_io_${libname}.cc) +else(WIN32) + add_library(scan_io_${libname} SHARED scan_io_${libname}.cc) +endif(WIN32) + target_link_libraries(scan_io_${libname} pointfilter ${Boost_LIBRARIES} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY}) +endforeach(libname) + +if(WITH_RIVLIB) + target_link_libraries(scan_io_rxp ${RIVLIB}) + if(LIBXML2_FOUND) + target_link_libraries(scan_io_rxp ${LIBXML2_LIBRARIES}) #scan_io_riegl_project ${RIVLIB}) + endif(LIBXML2_FOUND) +endif(WITH_RIVLIB) + +if(WIN32) + add_library(scanio STATIC scan_io.cc ../slam6d/io_types.cc) +else(WIN32) + add_library(scanio SHARED scan_io.cc ../slam6d/io_types.cc) +endif(WIN32) + +if(UNIX) + target_link_libraries(scanio dl) +endif(UNIX) + + diff --git a/.svn/pristine/a2/a20f125cd720ae04b9d41142fccc4c579d10a9f9.svn-base b/.svn/pristine/a2/a20f125cd720ae04b9d41142fccc4c579d10a9f9.svn-base new file mode 100644 index 0000000..80f46ce --- /dev/null +++ b/.svn/pristine/a2/a20f125cd720ae04b9d41142fccc4c579d10a9f9.svn-base @@ -0,0 +1,42 @@ + + +int glui_img_listbox_down[] = { 11, 17, /* width, height */ + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 127,127,127, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 191,191,191, 127,127,127, 0, 0, 0, + 127,127,127, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, 127,127,127, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 127,127,127, 0, 0, 0, + 127,127,127, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 0, 0, 0, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 0, 0, 0, +}; diff --git a/.svn/pristine/a2/a228cdc3bcc1f2580b793553073c7effa290b4c2.svn-base b/.svn/pristine/a2/a228cdc3bcc1f2580b793553073c7effa290b4c2.svn-base new file mode 100644 index 0000000..f7c4741 --- /dev/null +++ b/.svn/pristine/a2/a228cdc3bcc1f2580b793553073c7effa290b4c2.svn-base @@ -0,0 +1,458 @@ +/* + * lum6Deuler implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Andreas Nuechter, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * + * A description of the algorithms implemented here can be found in the following paper + * (ras2007.pdf): + * + * Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter, and Joachim Hertzberg. + * Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous + * Systems (JRAS), Elsevier Science, Volume 56, Issue 2, ISSN 0921-8890, pages 130 - 142, + * February 2008 + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/lum6Deuler.h" +#include "sparse/csparse.h" + +#include +#include +using std::ofstream; +using std::cerr; +#include "slam6d/globals.icc" + +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +lum6DEuler::lum6DEuler(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +lum6DEuler::~lum6DEuler() +{ + delete my_icp; +} + + +/** + * This function calculates the inverse covariances Cij and the Vector Cij*Dij for + * two scans by finding pointpairs. + * + * @param first pointer to the first scan of the link + * @param second pointer to the second scan of the link + * @param nns_method Specifies which NNS method to use + * @param rnd shall we use randomization for computing the point pairs? + * @param max_dist_match2 maximal distance allowed for point pairs + * @param C pointer to the inverse of the covariance matrix Cij + * @param CD pointer to the vector Cij*Dij + */ +void lum6DEuler::covarianceEuler(Scan *first, Scan *second, + int nns_method, int rnd, double max_dist_match2, + Matrix *C, ColumnVector *CD) +{ + // x,y,z denote the coordinates of uk (Here averaged over ak and bk) + // sx,sy,sz are the sums of their respective coordinates of uk over each paint pair + // xpy,xpz,ypz are the sums over x*x + y*y ,x*x + z*z and y*y + z*z respectively over each point pair + // xy,yz,xz are the sums over each respective multiplication + // dx,dy,dz are the deltas in each coordinate of a point pair + // ss is the estimation of the covariance of sensing error + double x, y, z, sx, sy, sz, xy, yz, xz, ypz, xpz, xpy, dx, dy, dz, ss; + + // D is needed to calculate the estimation of the covariance s + ColumnVector D(6); + // Almost Cij*Dij + ColumnVector MZ(6); + // Almost the covarianve + Matrix MM(6,6); + // A set of point pairs + vector uk; + // A point pair + Point ak, bk; + // number of pairs in a set + int m; + +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + + double dummy_centroid_m[3]; + double dummy_centroid_d[3]; + double dummy_sum; + + Scan::getPtPairs(&uk, first, second, thread_num, + rnd, max_dist_match2, dummy_sum, dummy_centroid_m, dummy_centroid_d); + + m = uk.size(); + + MZ = 0.0; + MM = 0.0; + sx = sy = sz = xy = yz = xz = ypz = xpz = xpy = ss = 0.0; + + if (m > 2) { + // for each point pair + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + // Some temporary values + x = (ak.x + bk.x)/2.0; + y = (ak.y + bk.y)/2.0; + z = (ak.z + bk.z)/2.0; + dx = ak.x - bk.x; + dy = ak.y - bk.y; + dz = ak.z - bk.z; + + // Sum up all necessary values to construct MM + sx += x; + sy += y; + sz += z; + + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + + xy += x*y; + xz += x*z; + yz += y*z; + + // Sum up each part of MZ + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += -z * dy + y * dz; + MZ(5) += -y * dx + x * dy; + MZ(6) += z * dx - x * dz; + } + // Now construct the symmetrical matrix MM + MM(1,1) = MM(2,2) = MM(3,3) = m; + MM(4,4) = ypz; + MM(5,5) = xpy; + MM(6,6) = xpz; + + MM(1,5) = MM(5,1) = -sy; + MM(1,6) = MM(6,1) = sz; + MM(2,4) = MM(4,2) = -sz; + MM(2,5) = MM(5,2) = sx; + MM(3,4) = MM(4,3) = sy; + MM(3,6) = MM(6,3) = -sx; + + MM(4,5) = MM(5,4) = -xz; + MM(4,6) = MM(6,4) = -xy; + MM(5,6) = MM(6,5) = -yz; + + // Calculate the pose difference estimation + D = MM.i() * MZ ; + + // Again going through all point pairs to faster calculate s. + // This cannot be done earlier as we need D, and therefore MM and MZ to do this + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + x = (ak.x + bk.x) / 2.0; + y = (ak.y + bk.y) / 2.0; + z = (ak.z + bk.z) / 2.0; + + ss += sqr(ak.x - bk.x - (D(1) - y * D(5) + z * D(6))) + + sqr(ak.y - bk.y - (D(2) - z * D(4) + x * D(5))) + + sqr(ak.z - bk.z - (D(3) + y * D(4) - x * D(6))); + } + + ss = ss / (2*m - 3); + // for dealing with numerical instabilities when identical point clouds are used in matching + if (ss < 0.0000000000001) { + ss = 0.0; + MM(1,1) = MM(1,2) = MM(1,3) = 0.0; + MM(2,1) = MM(2,2) = MM(2,3) = 0.0; + MM(3,1) = MM(3,2) = MM(3,3) = 0.0; + MZ(6) = MZ(1) = MZ(2) = 0.0; + MZ(3) = MZ(4) = MZ(5) = 0.0; + *C = 0; + if(CD) + *CD = 0; + return; + } + ss = 1.0 / ss; + + if (CD) { + *CD = MZ * ss; + } + *C = MM * ss; + + } else { + + // This case should not occur + ss = 0.0; + MM(1,1) = MM(1,2) = MM(1,3) = 0.0; + MM(2,1) = MM(2,2) = MM(2,3) = 0.0; + MM(3,1) = MM(3,2) = MM(3,3) = 0.0; + MZ(6) = MZ(1) = MZ(2) = 0.0; + MZ(3) = MZ(4) = MZ(5) = 0.0; + *C = 0; + if(CD) + *CD = 0; + cerr << "Error calculating covariance matrix" << endl; + + } +} + +/** + * A function to fill the linear system G X = B. + * + * @param gr the Graph is used to map the given covariances C and CD matrices to the correct link + * @param CD A vector containing all covariances C multiplied with their respective estimations D + * @param C A vector containing all covariances C of the pose difference estimations D + * @param G The matrix G specifying the linear equation + * @param B The vector B + */ +void lum6DEuler::FillGB3D(Graph *gr, GraphMatrix* G, ColumnVector* B,vector allScans ) +{ +#ifdef _OPENMP +#pragma omp parallel for schedule(dynamic) +#endif + for(int i = 0; i < gr->getNrLinks(); i++){ + int a = gr->getLink(i,0) - 1; + int b = gr->getLink(i,1) - 1; + Scan *FirstScan = allScans[gr->getLink(i,0)]; + Scan *SecondScan = allScans[gr->getLink(i,1)]; + + // cout << "i " << i << " a: " << a << " b: " << b << endl; + + Matrix Cab(6,6); + ColumnVector CDab(6); + covarianceEuler(FirstScan, SecondScan, nns_method, (int)my_icp->get_rnd(), + (int)max_dist_match2_LUM, &Cab, &CDab); + +#pragma omp critical + { + if(a >= 0){ + B->Rows(a*6+1,a*6+6) += CDab; + G->add(a, a, Cab); + } + if(b >= 0){ + B->Rows(b*6+1,b*6+6) -= CDab; + G->add(b, b, Cab); + } + if(a >= 0 && b >= 0) { + G->subtract(a, b, Cab); + G->subtract(b, a, Cab); + } + + } + } + +// G->print(); +} + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double lum6DEuler::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + + if (nrIt > 1) cout << "Iteration " << iteration << endl; + + + // * Calculate X and CX from all Dij and Cij + int n = (gr.getNrScans() - 1); + + // Construct the linear equation system.. + GraphMatrix *G = new GraphMatrix(); + ColumnVector B(6*n); + B = 0.0; + // ...fill G and B... + FillGB3D(&gr, G, &B, allScans); + // ...and solve it + ColumnVector X = solveSparseCholesky(G, B); + + delete G; + + //cout << "X done!" << endl; + + double sum_position_diff = 0.0; + + // Start with second Scan + int loop_end = gr.getNrScans(); +#ifdef _OPENMP +#pragma omp parallel for reduction(+:sum_position_diff) +#endif + for(int i = 1; i < loop_end; i++){ + + // Now update the Poses + Matrix Ha = IdentityMatrix(6); + + double xa = allScans[i]->get_rPos()[0]; + double ya = allScans[i]->get_rPos()[1]; + double za = allScans[i]->get_rPos()[2]; + + double tx = allScans[i]->get_rPosTheta()[0]; + double ty = allScans[i]->get_rPosTheta()[1]; + + double ctx = cos(tx); + double stx = sin(tx); + double cty = cos(ty); + double sty = sin(ty); + + // Fill Ha + Ha.element(0,4) = -za*ctx+ya*stx; + Ha.element(0,5) = ya*cty*ctx+za*stx*cty; + + Ha.element(1,3) = za; + Ha.element(1,4) = -xa*stx; + Ha.element(1,5) = -xa*ctx*cty+za*sty; + + + Ha.element(2,3) = -ya; + Ha.element(2,4) = xa*ctx; + Ha.element(2,5) = -xa*cty*stx-ya*sty; + + Ha.element(3,5) = sty; + + Ha.element(4,4) = stx; + Ha.element(4,5) = ctx*cty; + + Ha.element(5,4) = ctx; + Ha.element(5,5) = -stx*cty; + // Invert it + Ha = Ha.i(); + + // Get pose estimate + ColumnVector Xtmp = X.Rows((i-1)*6+1,(i-1)*6+6); + + // Correct pose estimate + ColumnVector result = Ha * Xtmp; + + if(!quiet) { + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + } + + double rPos[3]; + double rPosTheta[3]; + + // calculate the updated Pose + for (int k = 0; k < 3; k++) { + rPos[k] = allScans[i]->get_rPos()[k] - result.element(k); + rPosTheta[k] = allScans[i]->get_rPosTheta()[k] - result.element(k+3); + } + + // Update the Pose + if (i != gr.getNrScans() - 1) { + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::LUM, 1); + } else { + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::LUM, 2); + } + + if(!quiet) { + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + } + + double x[3]; + x[0] = result.element(0); + x[1] = result.element(1); + x[2] = result.element(2); + sum_position_diff += Len(x); + } + cout << "Sum of Position differences = " << sum_position_diff << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + + return ret; +} + + diff --git a/.svn/pristine/a2/a2a09314f42f413938ecffa2b2678f6e8b26df67.svn-base b/.svn/pristine/a2/a2a09314f42f413938ecffa2b2678f6e8b26df67.svn-base new file mode 100644 index 0000000..4ea9a40 --- /dev/null +++ b/.svn/pristine/a2/a2a09314f42f413938ecffa2b2678f6e8b26df67.svn-base @@ -0,0 +1,37 @@ +/** + * @file + * @brief IO of a 3D scan in .x3d file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_X3D_H__ +#define __SCAN_IO_X3D_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for xml files in x3d format + * + * The compiled class is available as shared object file + */ +class ScanIO_x3d : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, + int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/a3/a3342d3468cfb44d2c482de44755672ee8afe2e3.svn-base b/.svn/pristine/a3/a3342d3468cfb44d2c482de44755672ee8afe2e3.svn-base new file mode 100644 index 0000000..71397f2 --- /dev/null +++ b/.svn/pristine/a3/a3342d3468cfb44d2c482de44755672ee8afe2e3.svn-base @@ -0,0 +1 @@ +sed -i 's/,//g' *.asc \ No newline at end of file diff --git a/.svn/pristine/a3/a339abce00e5fad291d9254e33d2d31d2f896586.svn-base b/.svn/pristine/a3/a339abce00e5fad291d9254e33d2d31d2f896586.svn-base new file mode 100644 index 0000000..b209cb5 --- /dev/null +++ b/.svn/pristine/a3/a339abce00e5fad291d9254e33d2d31d2f896586.svn-base @@ -0,0 +1,184 @@ +/* + * scan_io_uso_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_uos_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_uos_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_uos_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_uos_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB)); +} + +void ScanIO_uos_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || rgb != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + + // aquire header informations + /* OPTIONAL: the header isn't always there, would require a sanity check + unsigned int n, m; + char[3] dummy; + data_file >> n; + for(unsigned int i = 0; i < 3; ++i) data_file >> dummy[i]; + data_file >> m; + values.reserve(n*m*3); + */ + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + unsigned int color[3]; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + for(i = 0; i < 3; ++i) data_file >> color[i]; + } catch(std::ios_base::failure& e) { + break; + } + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 0; i < 3; ++i) rgb->push_back( + static_cast(color[i])); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/a3/a347b9d2c0c3cbed9bd11801df71451bd50126db.svn-base b/.svn/pristine/a3/a347b9d2c0c3cbed9bd11801df71451bd50126db.svn-base new file mode 100644 index 0000000..7cdf51e --- /dev/null +++ b/.svn/pristine/a3/a347b9d2c0c3cbed9bd11801df71451bd50126db.svn-base @@ -0,0 +1,44 @@ + + +int glui_img_radiobutton_0[] = { 14, 14, /* width, height */ + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 128,128,128, 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 128,128,128, + 0, 0, 0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 0, 0, 0, 0, 0, 0, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 0, 0, 0, + 0, 0, 0, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 128,128,128, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 128,128,128, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, +}; diff --git a/.svn/pristine/a3/a36375913d21694c6b46abac9ba0f09d57c94154.svn-base b/.svn/pristine/a3/a36375913d21694c6b46abac9ba0f09d57c94154.svn-base new file mode 100644 index 0000000..08f7166 --- /dev/null +++ b/.svn/pristine/a3/a36375913d21694c6b46abac9ba0f09d57c94154.svn-base @@ -0,0 +1,198 @@ +/** + * @file scene.h + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +#ifndef SCENE_H_ +#define SCENE_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" +#include "model/vector3d.h" +#include "model/labeledPlane3d.h" + +#include "shapes/hough.h" +#include "shapes/shape.h" +#include "slam6d/Boctree.h" +#include "slam6d/io_types.h" + +#include + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +/** + * All available plane detection algos. + */ +enum PlaneAlgorithm { + RHT, SHT, PHT, PPHT, APHT, RANSAC +}; + +namespace model { + +/** + * A class defining a 3d scene. + */ +class Scene { +private: + // private fields + static const double PRECISION; //!< Precision at which to draw the 3d Bresenham line. + static const double RAY_DIST; //!< The max distance to consider that a ray hit something. + static const double PATCH_DIST; //!< The distance between each discrete patch on a wall surface. + static const double WALL_DIST; //!< Tolerance to consider a point part of a wall, squared. + static const double MIN_EMPTY_AREA; //!< The minimum empty area percentage to be considered a window. + static const double MIN_EDGE_COV; //!< Minimum edge coverage coefficient. + +public: + // public fields + SearchTree *octTree; //!< An efficient octree containing the points. + double **octTreePoints; //!< Used to construct the octree. + unsigned int nrPoints; //!< The total number of points in the octree. + + std::vector points; //!< The 3d point cloud. + std::vector planes; //!< The list of planes in our scene. + + std::vector walls; //!< The walls of the room. + LabeledPlane3d ceiling; //!< The ceiling of the room. + LabeledPlane3d floor; //!< The floor of the room. + + std::vector finalOpenings; //!< The windows of the room. + + std::vector poses; //!< Container for all the poses from where scans have been taken from. + +protected: + // protected methods + Scene(); + +public: + // public methods + inline Scene(const std::vector& points, + const std::vector& planes) : + points(points), + planes(planes) + { + if (!quiet) cout << "== Creating scene..." << endl; + this->nrPoints = 0; + }; + + Scene(const IOType& type, + const int& start, const int& end, + std::string dir, const bool& scanserver, + const int& maxDist, const int& minDist, + const PlaneAlgorithm& alg, const int& octree, const double& red, + const vector& poses); + + Scene(const Scene& other); + ~Scene(); + + /** + * Given some planes, returns the HORIZONTAL convex hull formed by the + * application point inside the plane objects, only of VERTICAL planes. + */ + static std::vector getConvexHull(std::vector planes); + + /** + * Removes planes that have similar normals. [O(n^2)] + * @warning the hull is not averaged, it is simply the first found hull for each plane + */ + static std::vector getSignificantPlanes(std::vector planes); + + /** + * Returns true if the highest horizontal plane has been found. + */ + bool getCeiling(std::vector planes, Plane3d& result); + + /** + * Returns true if the lowest horizontal plane has been found. + */ + bool getFloor(std::vector planes, Plane3d& result); + + /** + * Creates the walls, floor and ceiling. + */ + void detectWalls(); + + /** + * Performs ray casting from source point to destination and returns true + * if the ray successfully reached the destination point, returning the + * point it hit along the way. + */ + bool castRay(const model::Point3d& src, const model::Point3d& dest, const double& extraDist, + Point3d& ptHit); + + /** + * Applies labels to the given plane. + */ + void applyLabels(LabeledPlane3d& surf); + + /** + * Applies labels to all the walls. + */ + void applyAllLabels(); + + /** + * Finds all openings using the SVM. + */ + void detectPotentialOpenings(const LabeledPlane3d& surf, + std::vector& openings); + + /** + * Applies KMeans clustering to the multiple windows yielding only one possible window for each cluster. + * Does not work with OpenCV 2.4.0!!! + */ + void clusterOpenings(const LabeledPlane3d& surf, const std::vector& openings, + std::vector& result) const; + + /** + * Returns all openings, after deciding which are the correct ones. + */ + void addFinalOpenings(const LabeledPlane3d& surf, + std::vector& result); + + /** + * Corrects an image to fill in missing data. + */ + void correct(LabeledPlane3d& surf, const std::vector& openings); + + /** + * Writes the walls to appropriate files in the given folder. + */ + void writeModel(std::string dir); + + /** + * Writes the corrected walls to the given folder. + */ + void writeCorrectedWalls(std::string dir); + + /** + * Computes the corrected wall in UOS_RGB. + */ + void getCorrectedWall(const LabeledPlane3d& surf, vector >& points); + +private: + // private methods + + /** + * Floods a point on the labeling matrix with the other given value. + */ + void flood(LabeledPlane3d& surf, + const int& i, const int& j, + const Label& target, const Label& replacement); + + /** + * Returns true if the cube centered at the given coordinates is occupied. + */ + bool isOccupied(const Point3d& center, const double& width); + +}; + +} /* namespace model */ + +#endif /* SCENE_H_ */ diff --git a/.svn/pristine/a3/a3ad1f3614c3df72dfd2fdcfe76a0203c5c158f7.svn-base b/.svn/pristine/a3/a3ad1f3614c3df72dfd2fdcfe76a0203c5c158f7.svn-base new file mode 100644 index 0000000..9657c1c Binary files /dev/null and b/.svn/pristine/a3/a3ad1f3614c3df72dfd2fdcfe76a0203c5c158f7.svn-base differ diff --git a/.svn/pristine/a3/a3b3666863fc4d49877cb849e50a9a5d4fb8a8cc.svn-base b/.svn/pristine/a3/a3b3666863fc4d49877cb849e50a9a5d4fb8a8cc.svn-base new file mode 100644 index 0000000..f4a5827 --- /dev/null +++ b/.svn/pristine/a3/a3b3666863fc4d49877cb849e50a9a5d4fb8a8cc.svn-base @@ -0,0 +1,132 @@ +# +# Makefile for ./src path, used by configure +# + +EXEEXT = +PROGRAM = gocr$(EXEEXT) +# lib removed for simplification (v0.46) +# but Igor from OSRA an optical chemical structure recognition software +# wants it (v0.47 Mar09) +PGMASCLIB = Pgm2asc +#LIBPGMASCLIB = lib$(PGMASCLIB).a +# ToDo: need a better pgm2asc.h for lib users +#INCLUDEFILES = gocr.h +# avoid german compiler messages +LANG=C + +LIBOBJS=pgm2asc.o \ + box.o \ + database.o \ + detect.o \ + barcode.o \ + lines.o \ + list.o \ + ocr0.o \ + ocr0n.o \ + ocr1.o \ + otsu.o \ + output.o \ + pixel.o \ + unicode.o \ + remove.o \ + pnm.o \ + pcx.o \ + progress.o \ + job.o + +# these two lines are for cross-compiling, not tested +#srcdir = . +#VPATH = . +bindir = ${exec_prefix}/bin +# lib removed for simplification +#libdir = ${exec_prefix}/lib +#includedir = ${prefix}/include + +CC=gcc +# lib removed for simplification +# ar,ranlib detection removed from configure (simplicity) +# but needed by some developpers (linux only) for for (make libs) +# RANLIB = @RANLIB@ +# AR = @AR@ +RANLIB = ranlib +AR = ar +INSTALL=/usr/bin/install -c +# shell is needed for OS/2 to let if test -r $(PROGRAM) ... work +SHELL=/bin/bash + +DEFS=-DHAVE_CONFIG_H +CPPFLAGS= +# to see the config.h +CFLAGS=-g -O2 -fPIC $(CPPFLAGS) -I../include $(DEFS) +LDFLAGS=-lm +LIBS=-lnetpbm +DESTDIR=/usr/local + +.SUFFIXES: .s .o .c .h +# do not look for files if help (etc) is given +.PHONY : doc clean install libs default + +.c.o: gocr.h pgm2asc.h ../include/config.h + $(CC) $(CFLAGS) -c -o $*.o $< + +default: all + +# all: $(PROGRAM) lib$(PGMASCLIB).a +all: $(PROGRAM) + +gocr.o: gocr.h Makefile ../include/version.h + +.c.h: + +#$(PROGRAM): lib$(PGMASCLIB).a gocr.o +$(PROGRAM): $(LIBOBJS) gocr.o + # make it conform to ld --as-needed + #$(CC) -o $@ $(LDFLAGS) gocr.o ./lib$(PGMASCLIB).a $(LIBS) + $(CC) -o $@ $(LDFLAGS) gocr.o $(LIBOBJS) $(LIBS) + if test -r $(PROGRAM); then cp $@ ../bin; fi + +libs: lib$(PGMASCLIB).a lib$(PGMASCLIB).0.48.so + +lib$(PGMASCLIB).0.48.so: $(LIBOBJS) + $(CC) -fPIC -shared -Wl,-h$@ -o $@ $(LIBOBJS) + -ln -s $@ lib$(PGMASCLIB).so + +lib$(PGMASCLIB).a: $(LIBOBJS) + # -rm -f $@ + $(AR) cru $@ $(LIBOBJS) + $(RANLIB) $@ + +$(LIBOBJS): Makefile + +# PHONY = don't look at file clean, -rm = start rm and ignore errors +.PHONY : clean proper install uninstall +install: all + #$(INSTALL) -d $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) $(DESTDIR)$(includedir) + $(INSTALL) -d $(DESTDIR)$(bindir) + $(INSTALL) ../bin/$(PROGRAM) $(DESTDIR)$(bindir) + $(INSTALL) ../bin/gocr.tcl $(DESTDIR)$(bindir) # better X11/bin? + if test -f lib$(PGMASCLIB).a; then\ + $(INSTALL) lib$(PGMASCLIB).a $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).0.48.so $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).so $(DESTDIR)$(libdir);\ + fi + # ToDo: not sure that the link will be installed correctly + #$(INSTALL) $(INCLUDEFILES) $(DESTDIR)$(includedir) + +# directories are not removed +uninstall: + -rm -f $(DESTDIR)$(bindir)/$(PROGRAM) + -rm -f $(DESTDIR)$(bindir)/gocr.tcl + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).a + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).0.48.so + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).so + # ToDo: set to old version.so ? + #for X in $(INCLUDEFILES); do rm -f $(DESTDIR)$(includedir)/$$X; done + +clean: + -rm -f *.o *~ + +proper: clean + -rm -f gocr libPgm2asc.* + -rm -f gocr + diff --git a/.svn/pristine/a3/a3bc913d150d002278c2c439f165d714a939a1e5.svn-base b/.svn/pristine/a3/a3bc913d150d002278c2c439f165d714a939a1e5.svn-base new file mode 100644 index 0000000..e11af7a --- /dev/null +++ b/.svn/pristine/a3/a3bc913d150d002278c2c439f165d714a939a1e5.svn-base @@ -0,0 +1,151 @@ +/* + * graphHOG-Max implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graphHOG-Man.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; +#include +#include +using namespace NEWMAT; +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double graphHOGMan::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + double Pl0[16]; + + ofstream outFile("hogman.graph"); + int n = gr.getNrScans(); + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << endl; + } + + for(int i = 0; i < gr.getNrLinks(); i++){ + int first = gr.getLink(i,0); + int last = gr.getLink(i,1); + + if(first != last-1) { + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + if(i >= 0) { + meta_end.push_back(allScans[i]); + } + } + MetaScan *end = new MetaScan(meta_end, false, false); + + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + my_icp->match(start, end); + + delete start; + delete end; + } + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp->get_nns_method(), my_icp->get_rnd(), my_icp->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + + if(first != last-1) { + allScans[last]->transformToMatrix(Pl0,Scan::INVALID); + } + } + outFile.close(); + + system("LD_LIBRARY_PATH=./bin/ ./bin/hogman3d -update 1 -oc -o hogman-final.graph hogman.graph"); + + ifstream inFile("hogman-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::GRAPHHOGMAN, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::GRAPHHOGMAN, 2); + inFile.close(); + + return DBL_MAX; +} diff --git a/.svn/pristine/a3/a3db5c13ff90a36963278c6a39e4ee3c22e2a436.svn-base b/.svn/pristine/a3/a3db5c13ff90a36963278c6a39e4ee3c22e2a436.svn-base new file mode 100644 index 0000000..00750ed --- /dev/null +++ b/.svn/pristine/a3/a3db5c13ff90a36963278c6a39e4ee3c22e2a436.svn-base @@ -0,0 +1 @@ +3 diff --git a/.svn/pristine/a4/a446ac4968a90238b3d21bd7452f26645b6f1f9c.svn-base b/.svn/pristine/a4/a446ac4968a90238b3d21bd7452f26645b6f1f9c.svn-base new file mode 100644 index 0000000..7a2257a --- /dev/null +++ b/.svn/pristine/a4/a446ac4968a90238b3d21bd7452f26645b6f1f9c.svn-base @@ -0,0 +1,260 @@ +/* + * PMDSDK 2 + * + * File: pmdsdk2.h + * Author: Martin Profittlich + * Version: 1.0 + * + * General header file for applications using the PMDSDK 2.0. + * Contains all necessary definitions and prototypes. + * + * Copyright (c) 2006-2007 PMD Technologies GmbH. + * All Rights Reserved. + * + */ + +// +// Differences from MiniSDK 1.0: +// +// - Distance, amplitude and intensity data type is float (was double) +// - pmdGetRaw() is now pmdGetSourceData() +// - Error code values changed +// - User is responsible for memory (de-)allocation now +// - Info commands removed, introduced pmdSourceCommand instead +// - Plugins! +// - Multiple integration times and modulation frequencies +// - Only one connection command, camera identification via plugin/parameter +// + +#ifndef PMDMSDK2_H_INCLUDED_2503171013 +#define PMDMSDK2_H_INCLUDED_2503171013 + +#include "pmddatadescription.h" +#include "pmdheader.h" + +#ifdef _WIN32 +# ifndef DLLSPEC +# define DLLSPEC __declspec(dllimport) +# endif +#else +# ifdef DLLSPEC +# undef DLLSPEC +# endif +# define DLLSPEC +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +// TYPES + +/// Handle for a camera connection. +///This handle is used for all subsequent operations. +/// +//typedef void* PMDHandle; +typedef unsigned PMDHandle; + +// FUNCTIONS + +ImageHeaderInformation *retriveHeader(); + +int pmdGetDistancesAsync(PMDHandle hnd, float *data, size_t maxLen); +int pmdGetAmplitudesAsync(PMDHandle hnd, float * data, size_t maxLen); +int pmdGetIntensitiesAsync(PMDHandle hnd, float * data, size_t maxLen); + + +/// Connect to a PMD camera or other data source +///\param hnd Empty PMDHandle structure. On success, this value +///will contain the handle for subsequent operations. +///\param rplugin Path of the camera plugin +///\param rparam Parameter for the camera plugin +///\param pplugin Path of the processing plugin. If this is NULL, no porcessing plugin will be loaded. +///\param pparam Parameter for the processing plugin +///\return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdOpen (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam); + +/// Connect to a PMD camera or other data source without processing +///\param hnd Empty PMDHandle structure. On success, this value +///will contain the handle for subsequent operations. +///\param rplugin Path of the camera plugin +///\param rparam Parameter for the camera plugin +///\return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdOpenSourcePlugin (PMDHandle * hnd, const char * rplugin, const char * rparam); + +/// Disconnect and close the handle. +/// \param hnd Handle of the connection. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdClose (PMDHandle hnd); + +/// Get an error description from the last error. +/// Error messages are stored per handle. A new error associated with PMDHandle A +/// does not overwrite the last error message associated with PMDHandle B. +/// \param hnd Handle of the connection/plugin. +/// \param error Memory to hold the error message. +/// \param maxLen Maximum length of the error message, including the terminating zero byte. +/// Longer messages will be truncated. +DLLSPEC int pmdGetLastError (PMDHandle hnd, char * error, size_t maxLen); + +/// Retrieve the a new frame from the camera. +/// To obtain the actual data, use pmdGetSourceData, pmdGetDistances, +/// pmdGetAmplitudes etc. +/// \param hnd Handle of the connection. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdUpdate (PMDHandle hnd); + +/// Set the integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t Integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdSetIntegrationTime (PMDHandle hnd, unsigned idx, unsigned t); + +/// Get the integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t Pointer to a variable to contain the +/// integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetIntegrationTime (PMDHandle hnd, unsigned * t, unsigned idx); + +/// Get a supported integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t The desired integration time +/// \param w Where to look for a valid integration time in respect to the desired +/// integration time (CloseTo, AtLeast or AtMost) +/// \param responsible Pointer to a variable to contain the +/// integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetValidIntegrationTime (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned t); + +/// Set the modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param f Modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdSetModulationFrequency (PMDHandle hnd, unsigned idx, unsigned f); + +/// Get the modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param t Pointer to a variable to contain the +/// modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetModulationFrequency (PMDHandle hnd, unsigned * f, unsigned idx); + +/// Get a supported modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param f The desired modulation frequency +/// \param w Where to look for a valid modulation frequency in respect to the desired +/// modulation frequency (CloseTo, AtLeast or AtMost) +/// \param result Pointer to a variable to contain the +/// modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetValidModulationFrequency (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned f); + +/// Get the raw data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to the memory to contain the address of the data. +/// \param maxLen Maximum length in bytes for the data +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceData (PMDHandle hnd, void * data, size_t maxLen); + +/// Get the size in bytes of the current raw data frame. +/// \param hnd Handle of the connection. +/// \param size Will contain the size after the call +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceDataSize (PMDHandle hnd, size_t * size); + +/// Get the description of the current raw data frame. +/// \param hnd Handle of the connection. +/// \param dd Will contain the PMDDataDescription after the call. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceDataDescription (PMDHandle hnd, struct PMDDataDescription * dd); + +/// Get the distance data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetDistances (PMDHandle hnd, float * data, size_t maxLen); + +/// Get the amplitude data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetAmplitudes (PMDHandle hnd, float * data, size_t maxLen); + +/// Get the intensity data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetIntensities (PMDHandle hnd, float * data, size_t maxLen); + +/// Execute an source plugin-specific command. +/// \param hnd Handle of the connection. +/// \param result Pointer to a block of memory to contain the result string. +/// \param maxLen Maximum length of the result string, including terminating 0. +/// \param cmd The command to be executed. +/// +DLLSPEC int pmdSourceCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); + +/// Execute a processing plugin-specific command. +/// \param hnd Handle of the connection. +/// \param result Pointer to a block of memory to contain the result string. +/// \param maxLen Maximum length of the result string, including terminating 0. +/// \param cmd The command to be executed. +/// +DLLSPEC int pmdProcessingCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); + +// ADDITIONAL PROCESSING + +DLLSPEC int pmdOpenProcessingPlugin (PMDHandle * hnd, const char * pplugin, const char * pparam); + +DLLSPEC int pmdProcess (PMDHandle hnd, + unsigned numOut, struct PMDDataDescription * ddOut, void ** output, + unsigned numIn, struct PMDDataDescription * ddIn, void ** input); + +DLLSPEC int pmdCanProcess (PMDHandle hnd, unsigned * memNeeded, unsigned type, unsigned numFmt, struct PMDDataDescription * fmt); + +// SPECIAL FUNCTIONS +// additional header file? inline code? +DLLSPEC int pmdConnectFireWire (PMDHandle * hnd, unsigned index); +DLLSPEC int pmdConnectASample (PMDHandle * hnd, const char * address); + +#ifndef PMD_NO_DEPRECATED +// DEPRECATED +DLLSPEC int pmdConnect (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam); +DLLSPEC int pmdConnectOnlyRaw (PMDHandle * hnd, const char * rplugin, const char * rparam); +DLLSPEC int pmdDisconnect (PMDHandle hnd); +DLLSPEC int pmdOpenAccessPlugin (PMDHandle * hnd, const char * rplugin, const char * rparam); +DLLSPEC int pmdGetRawData (PMDHandle hnd, void * data, size_t maxLen); +DLLSPEC int pmdGetRawDataSize (PMDHandle hnd, size_t * size); +DLLSPEC int pmdGetRawDataDescription (PMDHandle hnd, struct PMDDataDescription * dd); +DLLSPEC int pmdPlatformCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); +DLLSPEC int pmdConfigureProcess (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); +DLLSPEC int pmdGetInfo (PMDHandle hnd, char * result, size_t maxLen, const char * key); +#endif + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/.svn/pristine/a4/a4827ad1d548482758675a5a553e928deca8ecf9.svn-base b/.svn/pristine/a4/a4827ad1d548482758675a5a553e928deca8ecf9.svn-base new file mode 100644 index 0000000..d5903ea --- /dev/null +++ b/.svn/pristine/a4/a4827ad1d548482758675a5a553e928deca8ecf9.svn-base @@ -0,0 +1,73 @@ +#ifndef __HOUGH_PLANE_H__ +#define __HOUGH_PLANE_H__ + +#include "shapes/convexplane.h" +#include "shapes/ConfigFileHough.h" +//#include "wykobi/wykobi_algorithm.hpp" +#include "slam6d/point.h" +#include "slam6d/scan.h" +#include "shapes/accumulator.h" +#include "newmat/newmatio.h" +#include +using std::ofstream; +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + +struct valuecompare { + bool operator()(int* ip1, int* ip2) const { + if(ip1[0] > ip2[0]) { + return true; + }else { + return false; + } + } +}; + +class Hough { + +public: + ofstream out; + ConfigFileHough myConfigFileHough; + Accumulator *acc; + + int nrEntries; + vector * allPoints; + bool maximum; + bool quiet; + Scan *PlaneScan; + Scan *PlaneScan2; + int planeCounter; + int scanCounter; + // TODO delete planes in Constructor + vector planes; + vector coloredPoints; + + Hough(bool quiet = true, std::string configFile = ""); // this constructor allows the Scan to be set later + Hough(Scan * GlobalScan, bool quiet = true, std::string configFile = "bin/hough.cfg" ); + void SetScan(Scan*); + ~Hough(); + int RHT(); + void SHT(); + void PHT(); + void PPHT(); + void APHT(); + + //vector& getPlanes(); + bool distanceOK(Point p1, Point p2, Point p3); + bool calculatePlane(Point p1, Point p2, Point p3, double &theta, double &phi, double &rho); + + double * const* deletePoints(vector &model, int &size); + double * const* getPoints(int &size); + int deletePoints(double * n, double rho); + int deletePointsQuad(double * n, double rho); + + int writePlanes(int startCount); + void writePlanes(std::string); + int cluster(vPtPair &pairs, double minx, double max, double miny, double maxy); + void writePlanePoints(std::string); + void writeAllPoints(int index, vector points); + +}; + +double calcPlane(vector &ppoint, double plane[4]); + +#endif diff --git a/.svn/pristine/a4/a4e9138349a3e3ae3292fc31559e55ca57567e4c.svn-base b/.svn/pristine/a4/a4e9138349a3e3ae3292fc31559e55ca57567e4c.svn-base new file mode 100644 index 0000000..ec3b8d4 --- /dev/null +++ b/.svn/pristine/a4/a4e9138349a3e3ae3292fc31559e55ca57567e4c.svn-base @@ -0,0 +1,45 @@ +#ifndef __VIEWPOINT_H_ +#define __VIEWPOINT_H_ + +#include +using std::vector; +#include +using std::pair; + +#include "grid/scanGrid.h" +#include +using std::string; + +/** + * The class manages a list of viewpoints from which the + * roboter has taken the scans. + * It provides methods for adding a new viewpoint, saving and loading the + * list. + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 22.02.08 + */ +class viewpointinfo +{ + private: + /** Typedef for a viewpoint */ + typedef pair viewpoint; + + /** Internal vector for storing the viewpoints */ + vector viewpoints; + + /** The path where the file is created */ + string path; + + public: + /** @brief CTor */ + viewpointinfo(string path); + + /** @brief Adds the viewpoint information of a scanGrid */ + void addGrid(const scanGrid *grid); + + /** @brief Writes the internal list to file */ + void write(string filename); +}; + +#endif diff --git a/.svn/pristine/a5/a5da1b9ba33d28b2278fb64ed0cf43f36730535b.svn-base b/.svn/pristine/a5/a5da1b9ba33d28b2278fb64ed0cf43f36730535b.svn-base new file mode 100644 index 0000000..7ea8a96 --- /dev/null +++ b/.svn/pristine/a5/a5da1b9ba33d28b2278fb64ed0cf43f36730535b.svn-base @@ -0,0 +1,289 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL address +*/ + +#include +#include "unicode.h" +#include "output.h" +#include "pcx.h" +#include "gocr.h" /* extern job_t JOB; */ + +/* function is only for debugging and for developing + it prints out a part of pixmap b at point x0,y0 to stderr + using dots .,; if no pixel, and @xoO for pixels + modify n_run and print out what would happen on 2nd, 3th loop! + new: output original and copied pixmap in the same figure + */ +void out_b(struct box *px, pix *b, int x0, int y0, int dx, int dy, int cs ){ + int x,y,x2,y2,yy0,tx,ty,n1,i; + char c1, c2; + yy0=y0; + if (px) { /* overwrite rest of arguments */ + if (!b) { + b=px->p; + x0=px->x0; dx=px->x1-px->x0+1; + y0=px->y0; dy=px->y1-px->y0+1; yy0=y0; + } + if(cs==0) cs=JOB->cfg.cs; + fprintf(stderr,"\n# list box x= %4d %4d d= %3d %3d r= %3d %3d" + " nrun=%d p=%p", /* ToDo: r,nrun is obsolete */ + px->x0, px->y0, px->x1 - px->x0 + 1, px->y1 - px->y0 + 1, + px->x - px->x0, px->y - px->y0, JOB->tmp.n_run, (void*)px); + fprintf(stderr,"\n# dots=%d boxes=%d subboxes=%d c=%s mod=%s" + " line=%d m= %d %d %d %d", + px->dots, px->num_boxes, px->num_subboxes, + decode(px->c,ASCII), decode(px->modifier,ASCII), px->line, + px->m1 - px->y0, px->m2 - px->y0, px->m3 - px->y0, px->m4 - px->y0); + if (px->num_frames) { + int i,j,jo; + fprintf(stderr,"\n# frames= %d (sumvects=%d)",px->num_frames, + ((px->num_frames)?px->num_frame_vectors[px->num_frames-1]:-1)); + for (jo=j=i=0; inum_frames; i++, jo=j) { + fprintf(stderr,"\n# frame %d (%+4d,%3d,%2d) ", + i, px->frame_vol[i], px->frame_per[i], + px->num_frame_vectors[i]-jo); + /* print only the first vectors of each frame */ + for (;jnum_frame_vectors[i] && jframe_vector[j][0] - px->x0, + px->frame_vector[j][1] - px->y0); + } + } + if (px->num_ac){ /* output table of chars and its probabilities */ + fprintf(stderr,"\n# list box char: "); + for(i=0;inum_ac && itas[i]) + fprintf(stderr," %s(%d)", px->tas[i] ,px->wac[i]); + else + fprintf(stderr," %s(%d)",decode(px->tac[i],ASCII),px->wac[i]); + } + fprintf(stderr,"\n"); + if (px->m2 && px->m1dots || y0>px->m2)) { + yy0=px->m1; dy=px->y1-yy0+1; + } + } + tx=dx/80+1; + ty=dy/40+1; /* step, usually 1, but greater on large maps */ + fprintf(stderr,"# list pattern x= %4d %4d d= %3d %3d t= %d %d yy0= %d\n", + x0,y0,dx,dy,tx,ty,yy0); + if (dx>0) + for(y=yy0;yp,x2-x0+px->x0, + y2-y0+px->y0)num_frames) { /* mark vectors */ + int i; + if (c1!='$' && c1!='S') /* dont mark twice */ + for (i=0;inum_frame_vectors[px->num_frames-1];i++) + if ((px->frame_vector[i][0]-px->x0)/tx==(x-x0)/tx + && (px->frame_vector[i][1]-px->y0)/ty==(y-y0)/ty) + { c1=((c1=='@')?'$':'S'); break; } + } + fprintf(stderr,"%c", c1 ); + } + + /* 2nd image is the boxframe in the original bitmap */ + if (dx<40) fprintf(stderr," "); + if (dx<40) /* do it only, if we have enough place */ + for(x=x0;xy0==px->m1 || y-y0+px->y0==px->m2 + || y-y0+px->y0==px->m3 || y-y0+px->y0==px->m4) c1='<'; + if (y==y0 || y==yy0+dy-1) c2='-'; /* boxmarks */ + + fprintf(stderr,"%c%c\n",c1,c2); + } +} + +/* same as out_b, but for faster use, only a box as argument + */ +void out_x(struct box *px) { + out_b(px,NULL,0, 0, 0, 0, JOB->cfg.cs); +} + + +/* print out two boxes side by side, for debugging comparision algos */ +void out_x2(struct box *box1, struct box *box2){ + int x,y,i,tx,ty,dy; + /*FIXME jb static*/static char *c1="OXXXXxx@.,,,,,,,"; + pix *b=&JOB->src.p; + dy=(box1->y1-box1->y0+1); + if(dyy1-box2->y0+1)dy=box2->y1-box2->y0+1; + tx=(box1->x1-box1->x0)/40+1; + ty=(box1->y1-box1->y0)/40+1; /* step, usually 1, but greater on large maps */ + if(box2)fprintf(stderr,"\n# list 2 patterns"); + for(i=0;iy0+i; + for(x=box1->x0;x<=box1->x1;x+=tx) + fprintf(stderr,"%c", c1[ ((getpixel(b,x,y)cfg.cs)?0:8)+marked(b,x,y) ] ); + if(!box2) continue; + fprintf(stderr," "); y=box2->y0+i; + for(x=box2->x0;x<=box2->x1;x+=tx) + fprintf(stderr,"%c", c1[ ((getpixel(b,x,y)cfg.cs)?0:8)+marked(b,x,y) ] ); + } +} + + +/* ---- list output ---- for debugging --- + * list all boxes where the results can be found within the c-option + */ +int output_list(job_t *job) { + int i = 0, j; + struct box *box2; + pix *pp = &job->src.p; + char *lc = job->cfg.lc; + + fprintf(stderr,"\n# list shape for charlist %s",lc); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *) list_get_current(&(JOB->res.boxlist)); + for (j=0; jnum_ac; j++) + if (!lc || (box2->tac[j] && strchr(lc, box2->tac[j])) + || (box2->tas[j] && strstr(lc, box2->tas[j]))) break; + if (jnum_ac) + fprintf(stderr,"\n# box found in charlist"); + if (!lc || (strchr(lc, box2->c) && box2->c < 256 && box2->c) + || (strchr(lc, '_') && box2->c==UNKNOWN) /* for compability */ + || jnum_ac ){ /* also list alternative chars */ + if (!pp) pp=box2->p; + fprintf(stderr, + "\n# list shape %3d x=%4d %4d d= %3d %3d vf=%d ac=%d %04x %s", + i, box2->x0, box2->y0, + box2->x1 - box2->x0 + 1, + box2->y1 - box2->y0 + 1, + box2->num_frames, box2->num_ac, + (int)box2->c, /* wchar_t -> char ???? */ + decode(box2->c,ASCII) ); + if (JOB->cfg.verbose & 4) out_x(box2); + } + i++; + } end_for_each(&(JOB->res.boxlist)); + fprintf(stderr,"\n"); + return 0; +} + +/* --- output of image incl. corored lines usefull for developers --- + * debugging + * bit 0+1 is used for color coding (optical marker) + * color/gray: 0x01=red, 0x02=blue, 0x04=green??? + * opt: 1 - mark unknown boxes red (first pass) + * 2 - mark unknown boxes more red (final pass) + * 4 - mark lines blue + * 8 - reset coloring (remove old marker) + */ +int debug_img(char *fname, struct job_s *job, int opt) { + struct box *box2; + int x, y, ic, dx, i, j, col; + unsigned char *np; + pix *pp = &job->tmp.ppo; + + if ( opt & 8 ) { /* clear debug bits in image */ + for(y=0;yy;y++) { + np=&pp->p[(pp->x)*y]; + for(x=0;xx;x++) { + *np = *np & 0xF1; + np++; + } + } + } + + /* mark longest line which was used to estimate the rotation angle */ + if ((job->cfg.verbose&32) && job->res.lines.dx) + for(i=0;ix;i++) { + y=pp->y/2; + if (job->res.lines.dx) y+=job->res.lines.dy*i/job->res.lines.dx; + x=i; + if (x<0 || x>=pp->x || y<0 || y>=pp->y) continue; + np=&pp->p[x + (pp->x)*y]; + if (*np<160) continue; + if((x&7)<5 && !(x&1)) /* dotted line */ + put(pp,x,y,255,8); + } + + ic = ((opt & 2) ? 1 : 2); /* obsolete */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *) list_get_current(&(job->res.boxlist)); + /* mark boxes in 32=0x40=blue */ + if (box2->c == ' ' || box2->c == '\n') continue; + /* mark chars with green left and under line */ + col = 4; /* green */ + if (box2->c == UNKNOWN && (opt & 3)) col=2; /* red */ + if (box2->x0>1) + for (y = box2->y0; y <= box2->y1; y++) { + np=&pp->p[box2->x0-1 + y * pp->x]; if (*np<160) continue; *np|=col; } + if (box2->y1+1y) + for (x = box2->x0; x <= box2->x1; x++) { + np=&pp->p[x + (box2->y1+1) * pp->x]; if (*np<160) continue; *np|=col; } + /* mark pictures by green cross */ + if (box2->c == PICTURE) + for (x = 0; x < box2->x1-box2->x0+1; x++){ + y=(box2->y1-box2->y0+1)*x/(box2->x1-box2->x0+1); + pp->p[(box2->x0+x) + (box2->y0+y) * pp->x] |= 4; + pp->p[(box2->x1-x) + (box2->y0+y) * pp->x] |= 4; + } + } end_for_each(&(job->res.boxlist)); + + if( opt & 4 ) + { + struct tlines *lines = &job->res.lines; + int yr; + if (job->cfg.verbose) + fprintf(stderr, "# mark lines for %s.ppm\n", fname); + /* or read from outside??? */ + for (i = 0; i < lines->num; i++) { /* mark lines by 0x08 = blue */ + dx = lines->x1[i] - lines->x0[i] + 1; + for (j = -1; j < dx+1; j++) { + x = lines->x0[i] + j; + if (x<0 || x>=pp->x) continue; + for (y=lines->m1[i];y<=lines->m4[i];y++) { + /* box arround m2-m3 */ + if (y>=lines->m2[i] && y<=lines->m3[i] && j>-1 && jdx) yr += lines->dy * x / (lines->dx); + if (yr<0 || yr>=pp->y) continue; + np = &(pp->p[x + (pp->x)*yr]); + if (*np<160) continue; /* do not touch dark pixels */ + if ((*np&6)!=0) continue; /* only change white pixels */ + put(pp, x, yr, 255, 6); /* UPN: 255 and 6 or */ + } + } + } + } + + if (job->cfg.verbose&1) + fprintf(stderr,"# writing %s.ppm\n", fname); + writeppm(fname, pp); + return 0; +} diff --git a/.svn/pristine/a6/a6a7bbefb3eb454964143b7318497046966077c1.svn-base b/.svn/pristine/a6/a6a7bbefb3eb454964143b7318497046966077c1.svn-base new file mode 100644 index 0000000..1b02d35 --- /dev/null +++ b/.svn/pristine/a6/a6a7bbefb3eb454964143b7318497046966077c1.svn-base @@ -0,0 +1,52 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef TEMPORARY_HANDLER_H +#define TEMPORARY_HANDLER_H + +#include "scanserver/cache/cacheHandler.h" +#include "scanserver/sharedScan.h" +#include "scanserver/cacheIO.h" + + + +/** + * @brief CacheHandler for artificially created CacheObjects by reduction in SharedScan. + * + * This handler saves and loads the contents of a CacheObject with arbitrary contents via CacheIO. + */ +class TemporaryHandler : public CacheHandler +{ +public: + /** + * Constructor + * @param static_data determines overwriting policy. Set false for changing data, true for static write-only-once data. + */ + TemporaryHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, bool static_data = false); + + /** + * Deserialize data from a file if it exists and written flag is set, otherwise does nothing + * @return whether written flag was set and file was found and loaded + */ + virtual bool load(); + + /** + * Serialize all data into a file + * It will do so if either the written flag isn't set, or static data flag isn't set regardless of the written flag. + */ + virtual void save(unsigned char* data, unsigned int size); + + //! Reset flag for having a cached file, causing reads to fail and saves to overwrite older files. + virtual void invalidate() { m_written = false; } +protected: + SharedScan* m_scan; +private: + CacheIO::IDType m_id; + bool m_written, m_static_data; +}; + +#endif //TEMPORARY_HANDLER_H diff --git a/.svn/pristine/a6/a6bf209af3e1068ae7292e72da7a79425885517f.svn-base b/.svn/pristine/a6/a6bf209af3e1068ae7292e72da7a79425885517f.svn-base new file mode 100644 index 0000000..b8c6a4d --- /dev/null +++ b/.svn/pristine/a6/a6bf209af3e1068ae7292e72da7a79425885517f.svn-base @@ -0,0 +1,175 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: optvalue.h +// Purpose: An string option & value pair class +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WXOPTIONVALUE_H__ +#define __WXOPTIONVALUE_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "optvalue.h" +#endif + +#include "wx/things/thingdef.h" +class WXDLLIMPEXP_THINGS wxOptionValue; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxOptionValue, wxArrayOptionValue, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// Global wxString utilities +//---------------------------------------------------------------------------- + +//extern wxArrayString wxStringToWords( const wxString &string ); + +//---------------------------------------------------------------------------- +// wxOptionValue - a ref counted wxString key, wxString value container +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxOptionValue : public wxObject +{ +public: + wxOptionValue(bool create = true) : wxObject() { if (create) Create(); } + wxOptionValue( const wxOptionValue &optValue ) : wxObject() { Create(optValue); } + wxOptionValue( const wxString &str ) : wxObject() { Create(str); } + + // (Re)Create as an empty container + bool Create(); + // Ref the other wxOptionValue + bool Create( const wxOptionValue &optValue ); + // Create from a string with this structure + // [type] # optional + // key = value + bool Create( const wxString &string ); + + // Make a true copy of the source wxOptionValue (not refed) + bool Copy( const wxOptionValue &source ); + + // Is there any ref data + bool Ok() const; + // Unref the data + void Destroy(); + + //------------------------------------------------------------------------- + + // Get/Set the "type", which can mean whatever you want + wxString GetType() const; + void SetType( const wxString &type ); + + //------------------------------------------------------------------------- + + // does this have a wxOptionValueArray filled with children + size_t GetChildrenCount() const; + wxArrayOptionValue *GetChildren() const; + + bool AddChild( const wxOptionValue& child ); + void DeleteChildren(); + + //------------------------------------------------------------------------- + + // Get the number of different option name/value combinations + size_t GetOptionCount() const; + // Access the arrays themselves + wxArrayString GetOptionNames() const; + wxArrayString GetOptionValues() const; + // Get a specific option name or value + wxString GetOptionName( size_t n ) const; + wxString GetOptionValue( size_t n ) const; + + // returns the index of the option >= 0 or -1 (wxNOT_FOUND) if not found + int HasOption(const wxString &name) const; + // Search through the option names for this part returning the first match + int FindOption(const wxString &part_of_option_name) const; + // delete this option, returns sucess + bool DeleteOption(const wxString &name); + bool DeleteOption( size_t n ); + + // Option functions (arbitrary name/value mapping) + void SetOption(const wxString& name, const wxString& value, bool force=true ); + void SetOption(const wxString& name, int value, bool force=true ) { SetOption(name, wxString::Format(wxT("%d"), value), force); } + void SetOption(const wxString& name, double value, bool force=true ) { SetOption(name, wxString::Format(wxT("%lf"), value), force); } + + // printf style for numeric values SetOption("Name", true, "%d %f", 2, 2.5) + void SetOption(const wxString& name, bool update, const wxChar* format, ...); + + void SetOption(const wxString& name, int v1, int v2, int v3, bool force=true ) { SetOption(name, wxString::Format(wxT("%d %d %d"), v1, v2, v3), force); } + void SetOption(const wxString& name, double v1, double v2, double v3, bool force=true ) { SetOption(name, wxString::Format(wxT("%lf %lf %lf"), v1, v2, v3), force); } + void SetOption(const wxString& name, int *v, int count, bool force=true ) { if(v) { wxString s; for (int i=0; i < 1415161718191A1B1C1D1E1F1F202122232425262728292A2A2B2C2D2E2F30313233343536363738 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423.0375 722.6172 424.4375 722.9172 425.7875 722.9172 C 426.9375 722.8672 428.0375 722.6672 428.9375 722.0173 C 430.7375 720.5673 430.3375 718.1172 429.7375 716.2673 C 428.5375 714.3173 426.2375 714.1672 424.0875 713.9673 C 423.5375 713.6672 424.1375 713.2173 424.4375 713.0673 C 426.7875 713.2173 429.2875 713.1672 430.5375 711.0673 C 431.6375 708.9673 431.4375 705.7673 429.8375 703.9673 C 428.2875 702.3672 425.4875 702.3173 423.5375 703.0673 C 422.6375 704.0673 L 422.5375 709.7173 422.2875 715.5673 422.3875 721.4172 C f 0 g 436.7375 703.3672 m 436.9375 720.6672 L 436.9375 721.4673 435.9375 721.0673 435.7375 721.6672 C 437.5875 723.6172 440.6875 723.9172 443.4875 723.7173 C 445.4875 723.7673 447.2375 722.9673 448.4875 721.3173 C 449.2875 720.0173 449.6375 718.2673 449.1375 716.7173 C 448.6875 714.4673 446.2375 713.0673 444.1875 712.7673 C 443.9375 712.7173 443.6375 712.8173 443.4875 712.5173 C 450.4875 702.8173 L 450.9875 702.2673 452.0875 702.8173 452.1875 701.9172 C 450.9375 701.9172 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723.6172 499.2375 723.6172 500.8375 723.4673 C 500.6875 722.5673 499.4375 722.9673 498.8875 722.3672 C 491.5875 714.6672 L 491.5875 714.3173 L 500.7375 703.2673 L 501.1875 702.4673 502.2875 702.7173 502.6375 702.0173 C 501.6375 701.6672 500.2875 701.7673 499.2375 701.9172 C 495.6875 705.8173 492.8375 709.8672 489.4375 713.7673 C 489.0375 710.3173 489.1875 706.5673 489.3375 703.0673 C 489.6875 702.2173 491.0375 703.1172 490.9875 702.0173 C 485.2375 702.0173 L 485.3375 703.1672 486.9875 702.0673 487.1875 703.3672 C f U LB %AI5_EndLayer-- %%PageTrailer gsave annotatepage grestore showpage %%Trailer Adobe_IllustratorA_AI5 /terminate get exec Adobe_level2_AI5 /terminate get exec %%EOF \ No newline at end of file diff --git a/.svn/pristine/a8/a8158b2b736b56d4e84a5341887d958094dbb6e4.svn-base b/.svn/pristine/a8/a8158b2b736b56d4e84a5341887d958094dbb6e4.svn-base new file mode 100644 index 0000000..214b45f --- /dev/null +++ b/.svn/pristine/a8/a8158b2b736b56d4e84a5341887d958094dbb6e4.svn-base @@ -0,0 +1,106 @@ +/* + * parcel implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/parcel.h" +#include +#include +#include +using std::cerr; +using std::endl; + +/** + * Ctor + * + * @param offSetX the x-offset of the parcel + * @param offSetZ the z-offset of the parcel + * @param sizeX the width of the parcel + * @param sizeZ the height of the parcel + */ +parcel::parcel(long offSetX, long offSetZ, long sizeX, long sizeZ) + : grid(offSetX, offSetZ, sizeX, sizeZ) +{ +} + +/** + * Adds a grid to the parcel. + * Adds just the points belonging to the parcel and + * ignoring the rest. + * + * @param grid the grid to be added to the parcel + */ +void parcel::addGrid(const grid* g) +{ + // Calculate the startvalue of x + long startX = g->getOffsetX() < getOffsetX() ? getOffsetX() : g->getOffsetX(); + + // calculate z-startvalue + long startZ = g->getOffsetZ() < getOffsetZ() ? getOffsetZ() : g->getOffsetZ(); + + // calculate x-endvalue + long endX = g->getOffsetX() + g->getSizeX() < getOffsetX() + getSizeX() ? g->getOffsetX() + g->getSizeX() + : getOffsetX() + getSizeX(); + + // calculate z-endvalue + long endZ = g->getOffsetZ() + g->getSizeZ() < getOffsetZ() + getSizeZ() ? g->getOffsetZ() + g->getSizeZ() + : getOffsetZ() + getSizeZ(); + + // add every point + for(int i = startX; i < endX; i++) + { + for(int j = startZ; j < endZ; j++) + { + this->addPoint(*g->getAbsolutePoint(i, j)); + } + } +} + +/** + * The static method reads the file and creates a new parcel. + * The parcel is allocated with new, so the caller has to make + * sure it is deleted properly! + * + * @param filename the filename of the parcel + * @return parcel the created parcel + */ +parcel* parcel::readParcel(std::string filename) +{ + std::ifstream infile(filename.c_str()); + + // Stream ok? + if(!infile.good()) + { + std::cerr << "ERROR: In parcel::readparcel, couldn't open stream!" << std::endl; + exit(1); + } + + // Read sizes + long sizeX; + long sizeZ; + infile >> sizeX >> sizeZ; + + // Read offsets + long offsetX; + long offsetZ; + infile >> offsetX >> offsetZ; + + // Create parcel + parcel* p = new parcel(offsetX, offsetZ, sizeX, sizeX); + + // Read all information + long x, z, count, occupied; + while(!infile.eof()) + { + infile >> x >> z >> count >> occupied; + p->setPoint(x, z, count, occupied); + } + + infile.close(); + + return p; +} diff --git a/.svn/pristine/a8/a8681ae31c7559fca0d139c34479e6bf664ac771.svn-base b/.svn/pristine/a8/a8681ae31c7559fca0d139c34479e6bf664ac771.svn-base new file mode 100644 index 0000000..8d718a6 --- /dev/null +++ b/.svn/pristine/a8/a8681ae31c7559fca0d139c34479e6bf664ac771.svn-base @@ -0,0 +1,578 @@ + + + + +GOCR-documentation + + + + + + + + + + +

GOCR-documentation

+

Jörg Schulenburg

+

Magdeburg, June 3, 2002

+ +

Abstract:

+
+In this documentation I describe some ideas for my OCR-program. +It contains algorithms and examples and gives you + an impression of what the program can (or could) do. +
+

+ + +

+

+ + + + + + +

Introduction +

+First I have to say that I am not a expert in pattern recognition +or similar things. My knowledge is based mostly on experiments with my +program. +Therefore do not worry about stupid algorithms I put in this document. +In this documentation I describe some ideas for my OCR-program. +The examples give you an impression of how the program handles +your images. +If you have comments regarding contents or spelling please +write to the author. + +

Segmentation of textual regions / Layout analysis

+ +This is implemented as a recursive division in two parts. + +
    +
  • look for the thickest horizontal or vertical gap through the box
    • +
  • if the gap is less than five times longer than thick do not divide
    • +
  • do the same with the two new parts
    • +
+I know that this algorithm is not as good as you wish, +but I do not know a better one. + +

+It would be very helpful to know about a function which is able to + decide whether the box represents a single text line or a more complex object. + +

Line detection

+

+Line detection is very importand for good recognition. + For example it is difficult to distinguish between lowercase letter p + and uppercase letter P without having a baseline (same total height). + The lowercase version of p has a depht (the lower end is below the + baseline) and therefore its easy to distinguish from the uppercase version + if the baseline is known. The line detection is responsible for finding the + baseline of every text line. + +

+Lines of characters are detected by looking for interline spaces. + These are characterized by a large number of non-black pixels in a + row. Image rotation (skewing) presents a problem, therefore the program + first looks only at the left half of the image. When a line is + found, the left half of the right side is scanned, because lines + are often short. The variation in height gives an indication of + the rotation angle. Using this angle, a second run detects lines + more accurately. Line detection may fail if there is dust on the + image. + +

+In version v0.2.3 this behaviour is slightly changed. + To detect the rotation angle, the line through the most + characters is detected. + +

Cluster detection

+ +A cluster is a group of pixels which are connected with each other. +The simplest way to detect a cluster is to look for a pixel. +If you find one, look to the neighbouring pixels. This can be done recursively. + +

+This method needs a lot of stack space if a cluster is very large, +and can cause problems with the memory. + +

+Do you remember the algorithm for leaving a maze? +Go along the right (or left) wall. This seems to be a good approach +for detecting clusters without recursion. +The following picture shows a trace of the maze algorithm. + +

+ + +
+
+first 35 steps     next 36 steps     
+..@@@@@..@@@@<..   ..v<<<<..v<<<@..   * = starting point
+..@@@@@@@@@.@^<.   ..>>v@^<<<@.@@@.   >^<v = go right,up,left,down
+....@@@@@...@@^.   ....v@@@@...@@@.   @ = black pixel
+....@@@@....@@^.   ....v@@@....@@@.
+....@@@.....@@^.   ....v@@.....@@@.
+....@@@.....@@^.   ....v@@.....@@@.
+...@@@@.....@@^.   ...v<@@.....@@@.
+...@@@......@@^.   ...v@@......@@@.
+...@@@......@@^.   ...v@@......@@@.
+...@@@.....@@@^.   ...v@@.....@@@@.
+...@@@.....@@>^.   ...v@@.....@@@@.
+...@@@.....@@^..   ...v@@.....@@@..
+..@@@@.....@@^..   ..v<@@.....@@@..
+..@@@@....@@@^..   ..v@@@....@@@@..
+*>>>>>>>>>>>>^<<   @@@@@@@@@@@@@@@@
+
+ +

+The minimum and maximum coordinates can be used to create a box around the +cluster. But does this algorithm work with diagonally connected pixels? + +

Engines

+ +GOCR is able to work with different recognition engines. +Since version 0.37 engines have to return a probability value together +with the recognized character or a table of values to a table of characters. +If the probability value is 100, the engine is 100% sure to have found the +right character otherwise the value is less. This gives GOCR the possibility +to compare results of different engines or in case of a not recognized character +to inform the user or another +application (spell checker) which characters probably could be there. + +

Base-Engine

+The base engine (src/ocrX.c) is the original engine used in the first implementation +of GOCR by Jörg. The idea was to get a fast and acceptable result +without learning theoretical background. Later it should be replaced or completed +by a better engine. +The base engine is a rule based engine. +The engine was written without theoretical +background and is improved by try and error method but is is still far from +perfect. The algorithm is very tolerant to size and form af characters +(omnifont). +How does the engine identify a character? For the explanation look at the +following pattern. + +

+ + +
+
+vvvv         vv- white regions
+......@@......  <- crossing one line
+......@@......  
+.....@@@@.....
+.....@@@@.....
+.....@@@@.....
+....@..@@@....  <- white hole / crossing two lines
+....@..@@@....  <- crossing two lines
+....@..@@@....
+...@....@@@...
+...@....@@@...
+...@....@@@...
+..@@@@@@@@@@..  <- horizontal line near center
+..@......@@@..
+..@......@@@..  
+.@........@@@.  v- increasing width of pattern
+.@........@@@.  v
+.@........@@@.  v
+@@@......@@@@@
+    ^^^-- gap
+
+ +

+In the future the program +should detect edges, vertices, gaps, angles and so on. +This is called feature extraction (as far as I know). +With such data the engine could make a cluster analysis. +But this is a difficult task, if the scanned image is noisy. + +

Database-Engine

+The database engine (src/database.c) was the second engine added to GOCR. +It was primary written to give users a simple tool to recognize +special language-specific characters. The program generates a list +(text file db.lst of image filenames and character codes) +and image samples (pnm-files) in a database path (./db/). +The database can be created by hand or extern programs or by GOCR itself +using option (-m 130). In the last case GOCR prompts the user +for not recognized characters. If he enters the character the pattern +is saved in the database path as pnm-file and its file name is added +to the database list (db.lst) together with the text string the pattern +should be replaced by. +For recognition GOCR first loads the database into memory (option -m 2). +The main algorithm compares not recognized characters with stored images +and calculates a distance value. If the distance value is small enough, +the character is treated as recognized. + +

Remove pixels

+ +The following picture shows an n which has additional pixels at the +bottom. Therefore it can not be detected as n. What can be done? + +
    +
  • classify horizontal (=) and vertical (I) pixels by + comparing the distance between the next vertical and next horizontal white + pixels (.) +
    • +
  • measure mean thickness of vertical and horizontal clusters +
    • +
  • erase unusually thin horizontal pixels at the bottom line +
    • +
+ +

+ + +
+
+..@@@@@..@@@@@..     ..==III..===II.. dx=16 dy=15
+..@@@@@@@@@.@@@.     ..==III====.III. thickness 2 to 3
+....@@@@@...@@@.     ....III==...III.
+....@@@@....@@@.     ....III=....III.
+....@@@.....@@@.     ....III.....III.
+....@@@.....@@@.     ....III.....III.
+...@@@@.....@@@.     ...IIII.....III.
+...@@@......@@@.     ...III......III.
+...@@@......@@@.     ...III......III.
+...@@@.....@@@@.     ...III.....IIII.
+...@@@.....@@@@.     ...III.....IIII.
+...@@@.....@@@..     ...III.....III..
+..@@@@.....@@@..     ..IIII.....III..
+..@@@@....@@@@..     ..IIII....IIII..
+@@@@@@@@@@@@@@@@     ================
+      ^^^ 
+      this causes the problem
+
+ +

+A better way is to find serifs (horizontal lines glued on the lower end +of vertical lines) which touch together (v0.2.5). + +

+The next picture shows blind pixels which are caused by dust on the paper. +The upper right dots are not connected with the rest of the character. +This can be detected via fill-algorithms. Currently the program +assumes that dots near the upper end of a character are ``i''-dots +or diaereses (umlaut dots). + +

+ + +
+
+..........................O...     ..........................O...
+..........................O...     ..........................O...
+..............................     ..............................
+..............................     ..............................
+..........@@@.......@@@@......     ..........@@@.......@@@@......
+..@@@@..@@@@@@@...@@@@@@@.....     ..@@@@..@@@@@@@...@@@@@@@.....
+@@@@@@@@@@@@@@@@.@@@@@@@@@....     @@@@@@@@@@@@@@@@.@@@@@@@@@....
+..@@@@@@....@@@@@@.....@@@@...     ..@@@@@@....@@@@@@.....@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@......@@@@@......@@@@@..     ..@@@@......@@@@@......@@@@@..
+@@@@@@@@..@@@@@@@@@..@@@@@@@@@     @@@@@@@@..@@@@@@@@@..@@@@@@@@@
+
+ +

+Add pixels +

+The following picture shows an m. The legs are only barely connected. +How do we handle this? + +
    +
  • if the engine has failed, a filter is switched on and the engine + starts over +
    • +
  • the 2x2 filter sets pixels to (O) near barely connected pixels +
    • +
+ +

+ + +
+
+   vv   vv
+@@@.@@@..@@@...     @@@.@@@..@@@...
+.@@.@@@@.@@@@..<    .@@O@@@@O@@@@..  filter: .@ => O@     @. => @O
+.@@@..@@@..@@..<    .@@@..@@@..@@..          @. => @.     .@ => .@
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.     
+.@@@..@@@..@@@.     .@@@..@@@..@@@.     
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+@@@@@.@@@@.@@@@     @@@@@.@@@@.@@@@
+
+ +

+Similarity analyzer +

+Some characters are a little bit noisy. These characters can be identified by +comparison with other, already recognized characters. This can be done +via a good distance function. May be +the distance function in the actual version of GOCR is not very good. +Feel free to send me your ideas, but be sure it does not waste my time. + +

+Overlapping characters +

+The following picture shows an overlapping ru. +How do we handle this? + +
    +
  • look for 3 weak connections (sum over y is small, start in the middle) +
    • +
  • test if the right and left part can be detected by the engine +
    • +
  • correction of surrounding box +
    • +
+ +

+ + +
+
+....@@...@@@@@@@@@@....@@@@@@@..     ....@@...@@@@@@@@@@....@@@@@@@..
+..@@@@..@@@@@..@@@@......@@@@@..     ..@@@@..@@@@@..@@@@......@@@@@..
+@@@@@@@@@@@@@.,.@@@.......@@@@..     @@@@@@@@@@@@@...@@@.......@@@@..
+..@@@@@@..@@@...@@@.......@@@@..     ..@@@@@@..@@@...@@@.......@@@@..
+...@@@@.......,.@@@@......@@@@..     ...@@@@.........@@@@......@@@@..
+...@@@@.........@@@@......@@@@..     ...@@@@.........@@@@......@@@@..
+...@@@@.......,.@@@.......@@@@..     ...@@@@.........@@@.......@@@@..
+...@@@@.........@@@.......@@@@..     ...@@@@.........@@@.......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@.......@@@@..     ...@@@..........@@@.......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@@...@@@@@@@.     ...@@@..........@@@@@...@@@@@@@.
+..@@@@@.......,..@@@@@@@@@.@@@@@     ..@@@@@..........@@@@@@@@@.@@@@@
+@@@@@@@@@.........@@@@@@@..@@@..     @@@@@@@@@.........@@@@@@@..@@@..
+..............,....@@@..........     ...................@@@..........
+             ^^^
+             213 weak vertical lines
+
+ +

+Of course the situation is more difficult with slanted characters. + +

+The following example shows, how to deal with larger clusters. +To get a fast program a first test should select the possible positions of +division. That can be done by following upper and lower bows to a crease or a break. Than try to break on all detected creases, start at most +important one (not implemented yet v0.2.4). + +

+ + +
+
+             >>>>vvv<<<<<       >>vv<<<<         >>>vvv<<<<
+......@@@@@@@..................@@.........@@@@@@@..........@@@@@@@.....
+....@@@@@@@@@@@...............@@@.......@@@@@@@@@@@......@@@@@@@@@@@...
+...@@@@@@@@@@@@@.............@@@@......@@@@@@@@@@@@@....@@@@@@@@@@@@@..
+..@@@@.......@@@@...........@@@@@.....@@@@.......@@@@..@@@@.......@@@@.
+..@@@........@@@@..........@@@@@@@....@@@........@@@@@@@@@........@@@@.
+.@@@@..........@@.........@@@@@@@@...@@@@..........@@@@@@@.........@@@@
+.@@@.....................@@@@.@@@@...@@@..............@@...........@@@@
+.@@@....................@@@@@.@@@@...@@@...........................@@@@
+@@@...@@@@@@@...........@@@@..@@@...@@@...@@@@@@...................@@@.
+@@@@.@@@@@@@@@@........@@@@...@@@@..@@@@.@@@@@@@@@@...............@@@@.
+@@@@@@@@@@@@@@@.......@@@@....@@@@..@@@@@@@@@@@@@@@...............@@@..
+@@@@@@@.....@@@@@.....@@@.....@@@@..@@@@@@......@@@@@............@@@@..
+@@@@.........@@@@...@@@@......@@@@..@@@@@........@@@@...........@@@....
+@@@@..........@@@@.@@@@.......@@@@..@@@@..........@@@..........@@@@....
+@@@@..........@@@@@@@@@.......@@@@.@@@@@..........@@@.........@@@@.....
+@@@@..........@@@@@@@@@@@@@@@@@@@@@@@@@@..........@@@@.......@@@@......
+@@@@..........@@@@@@@@@@@@@@@@@@@@@@@@@@..........@@@@......@@@........
+.@@@..........@@@@@@@@@@@@@@@@@@@@@@.@@@..........@@@@....@@@@@........
+.@@@@........@@@@.............@@@@...@@@@........@@@@....@@@@..........
+..@@@@.......@@@@.............@@@@....@@@@.......@@@@...@@@@...........
+..@@@@@....@@@@@..............@@@@.....@@@@....@@@@@...@@@@@@..........
+....@@@@@@@@@@@...............@@@@......@@@@@@@@@@@...@@@@@@@@@@@@@@@@@
+.....@@@@@@@@@................@@@@........@@@@@@@@....@@@@@@@@@@@@@@@@@
+........@@@@...................@@..........@@@@@........@@@@@@@..@.@@@.
+            >>>>^            ^<<>>^ ^<<<<<        >>>^<<<      ^^ ^
+
+>,< show the path of the detection algorithm
+
+ +

+The latest version of GOCR may use different algorithms. +You have to look at the sources learn more. + +

+Black/White, Gray and Colors +

+For simplicity colored images are converted to gray internally. +That means a red text on green background will not be detected. +You should use your own filter for this purpose. + +

+If the original image is gray, a critical value is calculated to +extract characters from the background. This can fail, if images are +on the scanned page or tha scan is bad (dark edges or borders). +It is difficult to overcome this problem because graylevels are mostly +restricted to the 8 bit limit (16 bit would help to overcome this problem). + +

+Black/White images are internally converted to gray with two levels (0 and +255). + +

+The lowest 4 bits are not used, because they are used by internal functions +(this can be changed in future). + +

+After calculation of the threshold value (otsu.c) the brightness of +every pixel is recalculated to a new internal threshold value +of 160 (128+32). +This is a bit above the middle of the 8 bit range. The idea is to +make the live easier for the other routines. Pixels which does not sure +belong to the white or black ones get a value near the threshold value. +Some routines can use this bit of more information to ignore outriders. +Second point is, that this is necessary for using lowest for bits +without destroying image informations. + +

Pictures on scanned pages +

+At first all objects on the scanned page are detected. +Objects are clusters of black pixels. +Pictures are detected if they are larger than 4 times the mean size of +all objects. This rule is very simple and can fail some times. +But it works fast and mostly the result is ok. + +

Tools

+ +

+

+
pbmclean:
+
This program is written by Angus Duggan and Jef Poskanzer. + It cleans up ``snow'' on bitmap images. +
+
pnmtools:
+
This tools are used to convert different image-formats to + easy readable PNM (PBM,PGM,PPM) format. + GOCR uses the popen-routine to call this programs if the + suffix of the filename matches to a list in pnm.c. + This will fail if pnmtools are missing. +
+
+ +

related projects (to learn from)

+ +

+

+
unpaper:
+
unpaper - + post-processing scanned and photocopied book pages, + written by Jens Gulden 2005, GPL +
+
+ +

glossary

+
font series:
bold, condensed
+
font shape:
normal, italic, slanted, sc...
+
points:
+
length unit used for font size, 1/72 inch, + but I do not know its exact relation to the font size (height? + totalheight? width? 10pt and 300dpi results in 40 pixel heigh font?) +
+
sans serif:
+
font without the (often thin) lines on the ends + of the character +
+
descewing:
+
compensation of (slightly) rotated text +
+
+ +

More information?

+
+
·
+
see "/usr/share/doc/package/tetex/texmf/.../fntguide.dvi" + in the documentation of the tetex package + +
+
·
+
the fonts-HOWTO file is helpfully too + ("www.faqs.org/faqs/fonts-faq/") + +
+
RTF:
+
RichTextFormat - does someone have a good documontation? +
+
+ +

About this document

+This Document was originaly written in LaTeX. +In May 2002 Joerg has convertet it to HTML. The reason is, that +you can read it now directly and you does not need to have LaTeX and +Ghostscript installed on your computer to read it. +As a side effect you do not need tetex package to build the gocr.rpm-package. +A good viewer to read this document is lynx, links or w3m. + +
+
+
jNOschulen-at-gSmPAMx.de (remove NO+S+PAM)
+ + + \ No newline at end of file diff --git a/.svn/pristine/a8/a8a1baaaa90c99f5d990d6dcf9a6c4c0cc92516c.svn-base b/.svn/pristine/a8/a8a1baaaa90c99f5d990d6dcf9a6c4c0cc92516c.svn-base new file mode 100644 index 0000000..d8d5d21 --- /dev/null +++ b/.svn/pristine/a8/a8a1baaaa90c99f5d990d6dcf9a6c4c0cc92516c.svn-base @@ -0,0 +1,117 @@ +#----------------------------------------------------------------------------- +# Makefile for ANN library +#---------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#---------------------------------------------------------------------- +# History: +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.0 04/01/05 +# Renamed files from .cc to .cpp for Microsoft Visual C++ +# Added kd_dump.cpp +# Revision 1.1 05/03/05 +# Added kd_fix_rad_search.cpp and bd_fix_rad_search.cpp +#---------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Configuration definitions +#----------------------------------------------------------------------------- + +include ../../../Makefile.options + +#----------------------------------------------------------------------------- +# Some basic definitions: +# BASEDIR where include, src, lib, ... are +# INCLIB include directory +# LIBLIB library directory +#----------------------------------------------------------------------------- +ANNLIB = ../../../obj/libANN.a +OBJDIR = ../../../obj/ +INCDIR = ../include/ + +SOURCES = ANN.cpp brute.cpp kd_tree.cpp kd_util.cpp kd_split.cpp \ + kd_dump.cpp kd_search.cpp kd_pr_search.cpp kd_fix_rad_search.cpp \ + bd_tree.cpp bd_search.cpp bd_pr_search.cpp bd_fix_rad_search.cpp \ + perf.cpp + +OBJECTS = $(OBJDIR)ANN.o $(OBJDIR)brute.o $(OBJDIR)kd_tree.o $(OBJDIR)kd_util.o $(OBJDIR)kd_split.o \ + $(OBJDIR)kd_dump.o $(OBJDIR)kd_search.o $(OBJDIR)kd_pr_search.o $(OBJDIR)kd_fix_rad_search.o \ + $(OBJDIR)bd_tree.o $(OBJDIR)bd_search.o $(OBJDIR)bd_pr_search.o $(OBJDIR)bd_fix_rad_search.o \ + $(OBJDIR)perf.o + +#----------------------------------------------------------------------------- +# Make the library +#----------------------------------------------------------------------------- + +default: $(LIBDIR)/$(ANNLIB) + +$(LIBDIR)/$(ANNLIB): $(OBJECTS) + @ar rs $(ANNLIB) $(OBJECTS) + @ranlib $(ANNLIB) + +#----------------------------------------------------------------------------- +# Make object files +#----------------------------------------------------------------------------- + +$(OBJDIR)ANN.o: ANN.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) ANN.cpp -o $(OBJDIR)ANN.o + +$(OBJDIR)brute.o: brute.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) brute.cpp -o $(OBJDIR)brute.o + +$(OBJDIR)kd_tree.o: kd_tree.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_tree.cpp -o $(OBJDIR)kd_tree.o + +$(OBJDIR)kd_util.o: kd_util.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_util.cpp -o $(OBJDIR)kd_util.o + +$(OBJDIR)kd_split.o: kd_split.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_split.cpp -o $(OBJDIR)kd_split.o + +$(OBJDIR)kd_search.o: kd_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_search.cpp -o $(OBJDIR)kd_search.o + +$(OBJDIR)kd_pr_search.o: kd_pr_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_pr_search.cpp -o $(OBJDIR)kd_pr_search.o + +$(OBJDIR)kd_fix_rad_search.o: kd_fix_rad_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_fix_rad_search.cpp -o $(OBJDIR)kd_fix_rad_search.o + +$(OBJDIR)kd_dump.o: kd_dump.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_dump.cpp -o $(OBJDIR)kd_dump.o + +$(OBJDIR)bd_tree.o: bd_tree.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_tree.cpp -o $(OBJDIR)bd_tree.o + +$(OBJDIR)bd_search.o: bd_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_search.cpp -o $(OBJDIR)bd_search.o + +$(OBJDIR)bd_pr_search.o: bd_pr_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_pr_search.cpp -o $(OBJDIR)bd_pr_search.o + +$(OBJDIR)bd_fix_rad_search.o: bd_fix_rad_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_fix_rad_search.cpp -o $(OBJDIR)bd_fix_rad_search.o + +$(OBJDIR)perf.o: perf.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) perf.cpp -o $(OBJDIR)perf.o + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o core + +realclean: clean + diff --git a/.svn/pristine/a8/a8ac64ef2e4dc36c37d12d1aed741fd14b3a79ec.svn-base b/.svn/pristine/a8/a8ac64ef2e4dc36c37d12d1aed741fd14b3a79ec.svn-base new file mode 100644 index 0000000..73f4b3a --- /dev/null +++ b/.svn/pristine/a8/a8ac64ef2e4dc36c37d12d1aed741fd14b3a79ec.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_MAP_H__ +#define __SCAN_IO_UOS_MAP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_map : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/a9/a912d84ec1d45cb58ba17b1b237dcf227b509f4f.svn-base b/.svn/pristine/a9/a912d84ec1d45cb58ba17b1b237dcf227b509f4f.svn-base new file mode 100644 index 0000000..9765308 --- /dev/null +++ b/.svn/pristine/a9/a912d84ec1d45cb58ba17b1b237dcf227b509f4f.svn-base @@ -0,0 +1,573 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxCustomButton based on wxCustomToggleCtrl.cpp +// Purpose: a toggle button +// Author: Bruce Phillips +// Modified by: John Labenski +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) Bruce Phillips, John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "toggle.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/settings.h" + #include "wx/bitmap.h" + #include "wx/timer.h" + #include "wx/dc.h" + #include "wx/dcclient.h" +#endif // WX_PRECOMP + +#include "wx/tglbtn.h" +#include "wx/image.h" +#include "wx/things/toggle.h" + +// ========================================================================== +// wxCustomButton +// ========================================================================== +IMPLEMENT_DYNAMIC_CLASS( wxCustomButton, wxControl ) + +BEGIN_EVENT_TABLE(wxCustomButton,wxControl) + EVT_MOUSE_EVENTS ( wxCustomButton::OnMouseEvents ) + EVT_PAINT ( wxCustomButton::OnPaint ) + EVT_TIMER ( wxID_ANY, wxCustomButton::OnTimer) + EVT_SIZE ( wxCustomButton::OnSize ) +END_EVENT_TABLE() + +wxCustomButton::~wxCustomButton() +{ + if (HasCapture()) ReleaseMouse(); + if (m_timer) delete m_timer; +} + +void wxCustomButton::Init() +{ + m_focused = false; + m_labelMargin = wxSize(4,4); + m_bitmapMargin = wxSize(2,2); + m_down = 0; + m_timer = NULL; + m_eventType = 0; + m_button_style = wxCUSTBUT_TOGGLE|wxCUSTBUT_BOTTOM; +} + +bool wxCustomButton::Create(wxWindow* parent, wxWindowID id, + const wxString& label, const wxBitmap &bitmap, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name)) + return false; + + wxControl::SetLabel(label); + wxControl::SetBackgroundColour(parent->GetBackgroundColour()); + wxControl::SetForegroundColour(parent->GetForegroundColour()); + wxControl::SetFont(parent->GetFont()); + + if (bitmap.Ok()) m_bmpLabel = bitmap; + + if (!SetButtonStyle(style)) return false; + + wxSize bestSize = DoGetBestSize(); + SetSize(wxSize(size.x<0 ? bestSize.x:size.x, size.y<0 ? bestSize.y:size.y)); + SetBestSize(GetSize()); + + CalcLayout(true); + return true; +} + +void wxCustomButton::SetValue(bool depressed) +{ + wxCHECK_RET(!(m_button_style & wxCUSTBUT_NOTOGGLE), wxT("can't set button state")); + m_down = depressed ? 1 : 0; + Refresh(false); +} + +bool wxCustomButton::SetButtonStyle(long style) +{ + int n_styles = 0; + if ((style & wxCUSTBUT_LEFT) != 0) n_styles++; + if ((style & wxCUSTBUT_RIGHT) != 0) n_styles++; + if ((style & wxCUSTBUT_TOP) != 0) n_styles++; + if ((style & wxCUSTBUT_BOTTOM) != 0) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxCustomButton label position allowed")); + + n_styles = 0; + if ((style & wxCUSTBUT_NOTOGGLE) != 0) n_styles++; + if ((style & wxCUSTBUT_BUTTON) != 0) n_styles++; + if ((style & wxCUSTBUT_TOGGLE) != 0) n_styles++; + if ((style & wxCUSTBUT_BUT_DCLICK_TOG) != 0) n_styles++; + if ((style & wxCUSTBUT_TOG_DCLICK_BUT) != 0) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxCustomButton style allowed")); + + m_button_style = style; + + if ((m_button_style & wxCUSTBUT_BUTTON) != 0) + m_down = 0; + + CalcLayout(true); + return true; +} + +void wxCustomButton::SetLabel( const wxString &label ) +{ + wxControl::SetLabel(label); + CalcLayout(true); +} + +// sequence of events in GTK is up, dclick, up. + +void wxCustomButton::OnMouseEvents(wxMouseEvent& event) +{ + if (m_button_style & wxCUSTBUT_NOTOGGLE) return; + + if (event.LeftDown() || event.RightDown()) + { + if (!HasCapture()) + CaptureMouse(); // keep depressed until up + + m_down++; + Redraw(); + } + else if (event.LeftDClick() || event.RightDClick()) + { + m_down++; // GTK eats second down event + Redraw(); + } + else if (event.LeftUp()) + { + if (HasCapture()) + ReleaseMouse(); + + m_eventType = wxEVT_LEFT_UP; + + if (wxRect(wxPoint(0,0), GetSize()).Inside(event.GetPosition())) + { + if ((m_button_style & wxCUSTBUT_BUTTON) && (m_down > 0)) + { + m_down = 0; + Redraw(); + SendEvent(); + return; + } + else + { + if (!m_timer) + { + m_timer = new wxTimer(this, m_down+1); + m_timer->Start(200, true); + } + else + { + m_eventType = wxEVT_LEFT_DCLICK; + } + + if ((m_button_style & wxCUSTBUT_TOGGLE) && + (m_button_style & wxCUSTBUT_TOG_DCLICK_BUT)) m_down++; + } + } + + Redraw(); + } + else if (event.RightUp()) + { + if (HasCapture()) + ReleaseMouse(); + + m_eventType = wxEVT_RIGHT_UP; + + if (wxRect(wxPoint(0,0), GetSize()).Inside(event.GetPosition())) + { + if ((m_button_style & wxCUSTBUT_BUTTON) && (m_down > 0)) + { + m_down = 0; + Redraw(); + SendEvent(); + return; + } + else + { + m_down++; + + if (!m_timer) + { + m_timer = new wxTimer(this, m_down); + m_timer->Start(250, true); + } + else + { + m_eventType = wxEVT_RIGHT_DCLICK; + } + } + } + + Redraw(); + } + else if (event.Entering()) + { + m_focused = true; + if ((event.LeftIsDown() || event.RightIsDown()) && HasCapture()) + m_down++; + + Redraw(); + } + else if (event.Leaving()) + { + m_focused = false; + if ((event.LeftIsDown() || event.RightIsDown()) && HasCapture()) + m_down--; + + Redraw(); + } +} + +void wxCustomButton::OnTimer( wxTimerEvent &event ) +{ + m_timer->Stop(); + delete m_timer; + m_timer = NULL; + + // Clean up the button presses + // FIXME - GTK eats second left down for a DClick, who know about the others? + if (m_button_style & wxCUSTBUT_BUTTON) + { + m_down = 0; + } + else if (m_button_style & wxCUSTBUT_TOGGLE) + { + if (m_eventType == wxEVT_LEFT_UP) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + else if (m_button_style & wxCUSTBUT_BUT_DCLICK_TOG) + { + if (m_eventType == wxEVT_LEFT_DCLICK) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + else if (m_button_style & wxCUSTBUT_TOG_DCLICK_BUT) + { + if (m_eventType == wxEVT_LEFT_UP) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + + Refresh(false); + SendEvent(); +} + +void wxCustomButton::SendEvent() +{ + if (((m_button_style & wxCUSTBUT_TOGGLE) && (m_eventType == wxEVT_LEFT_UP)) || + ((m_button_style & wxCUSTBUT_BUT_DCLICK_TOG) && (m_eventType == wxEVT_LEFT_DCLICK)) || + ((m_button_style & wxCUSTBUT_TOG_DCLICK_BUT) && (m_eventType == wxEVT_LEFT_UP))) + { + wxCommandEvent eventOut(wxEVT_COMMAND_TOGGLEBUTTON_CLICKED, GetId()); + eventOut.SetInt(m_down%2 ? 1 : 0); + eventOut.SetExtraLong(m_eventType); + eventOut.SetEventObject(this); + GetEventHandler()->ProcessEvent(eventOut); + } + else + { + wxCommandEvent eventOut(wxEVT_COMMAND_BUTTON_CLICKED, GetId()); + eventOut.SetInt(0); + eventOut.SetExtraLong(m_eventType); + eventOut.SetEventObject(this); + GetEventHandler()->ProcessEvent(eventOut); + } +} + +wxBitmap wxCustomButton::CreateBitmapDisabled(const wxBitmap &bitmap) const +{ + wxCHECK_MSG(bitmap.Ok(), wxNullBitmap, wxT("invalid bitmap")); + + unsigned char br = GetBackgroundColour().Red(); + unsigned char bg = GetBackgroundColour().Green(); + unsigned char bb = GetBackgroundColour().Blue(); + + wxImage image = bitmap.ConvertToImage(); + int pos, width = image.GetWidth(), height = image.GetHeight(); + unsigned char *img_data = image.GetData(); + + for (int j=0; j lh ? bh : lh; + if (has_bitmap && has_label) lw -= wxMin(m_labelMargin.x, m_bitmapMargin.x); + return wxSize(lw+bw, h); + } + + int w = bw > lw ? bw : lw; + if (has_bitmap && has_label) lh -= wxMin(m_labelMargin.y, m_bitmapMargin.y); + return wxSize(w, lh+bh); +} + +void wxCustomButton::CalcLayout(bool refresh) +{ + int w, h; + GetSize(&w,&h); + + int bw = 0, bh = 0; + int lw = 0, lh = 0; + + if (m_bmpLabel.Ok()) // assume they're all the same size + { + bw = m_bmpLabel.GetWidth(); + bh = m_bmpLabel.GetHeight(); + } + wxString label = GetLabel(); + if (!label.IsEmpty()) + { + GetTextExtent(label, &lw, &lh); + } + + // Center the label or bitmap if only one or the other + if (!m_bmpLabel.Ok()) + { + m_bitmapPos = wxPoint(0,0); + m_labelPos = wxPoint((w-lw)/2, (h-lh)/2); + } + else if (label.IsEmpty()) + { + m_bitmapPos = wxPoint((w-bw)/2, (h-bh)/2); + m_labelPos = wxPoint(0,0); + } + else if (m_button_style & wxCUSTBUT_LEFT) + { + int mid_margin = wxMax(m_labelMargin.x, m_bitmapMargin.x); + m_labelPos = wxPoint((w - (bw+lw+m_labelMargin.x+m_bitmapMargin.x+mid_margin))/2 + m_labelMargin.x, (h - lh)/2); + m_bitmapPos = wxPoint(m_labelPos.x + lw + mid_margin, (h - bh)/2); + } + else if (m_button_style & wxCUSTBUT_RIGHT) + { + int mid_margin = wxMax(m_labelMargin.x, m_bitmapMargin.x); + m_bitmapPos = wxPoint((w - (bw+lw+m_labelMargin.x+m_bitmapMargin.x+mid_margin))/2 + m_bitmapMargin.x, (h - bh)/2); + m_labelPos = wxPoint(m_bitmapPos.x + bw + mid_margin, (h - lh)/2); + } + else if (m_button_style & wxCUSTBUT_TOP) + { + int mid_margin = wxMax(m_labelMargin.y, m_bitmapMargin.y); + m_labelPos = wxPoint((w - lw)/2, (h - (bh+lh+m_labelMargin.y+m_bitmapMargin.y+mid_margin))/2 + m_labelMargin.y); + m_bitmapPos = wxPoint((w - bw)/2, m_labelPos.y + lh + mid_margin); + } + else // if (m_button_style & wxCUSTBUT_BOTTOM) DEFAULT + { + int mid_margin = wxMax(m_labelMargin.y, m_bitmapMargin.y); + m_bitmapPos = wxPoint((w - bw)/2, (h - (bh+lh+m_labelMargin.y+m_bitmapMargin.y+mid_margin))/2 + m_bitmapMargin.y); + m_labelPos = wxPoint((w - lw)/2, m_bitmapPos.y + bh + mid_margin); + } + + if (refresh) Refresh(false); +} diff --git a/.svn/pristine/a9/a929ffea1d9bf2c348d785454b035b0bcbf85711.svn-base b/.svn/pristine/a9/a929ffea1d9bf2c348d785454b035b0bcbf85711.svn-base new file mode 100644 index 0000000..5f36be4 --- /dev/null +++ b/.svn/pristine/a9/a929ffea1d9bf2c348d785454b035b0bcbf85711.svn-base @@ -0,0 +1,802 @@ +############################################################################### +# For more information, please see: http://software.sci.utah.edu +# +# The MIT License +# +# Copyright (c) 2007-2008 +# Scientific Computing and Imaging Institute, University of Utah +# +# License for the specific language governing rights and limitations under +# Permission is hereby granted, free of charge, to any person obtaining a +# copy of this software and associated documentation files (the "Software"), +# to deal in the Software without restriction, including without limitation +# the rights to use, copy, modify, merge, publish, distribute, sublicense, +# and/or sell copies of the Software, and to permit persons to whom the +# Software is furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +# DEALINGS IN THE SOFTWARE. +# +# This script locates the Nvidia Compute Unified Driver Architecture (CUDA) +# tools. It should work on linux, windows, and mac and should be reasonably +# up to date with cuda releases. +# +# The script will prompt the user to specify CUDA_INSTALL_PREFIX if the +# prefix cannot be determined by the location of nvcc in the system path. To +# use a different installed version of the toolkit set the environment variable +# CUDA_BIN_PATH before running cmake (e.g. CUDA_BIN_PATH=/usr/local/cuda1.0 +# instead of the default /usr/local/cuda). +# +# Set CUDA_BUILD_EMULATION to ON for Emulation mode. Defaults to OFF (device +# mode). +# _DEVICEEMU is defined when CUDA_BUILD_EMULATION is TRUE. +# +# Set CUDA_HOST_COMPILATION_CPP to OFF for C compilation of host code. +# Default TRUE. +# +# Set CUDA_BUILD_CUBIN to "ON" or "OFF" to enable and extra compilation pass +# with the -cubin option in Device mode. The output is parsed and register, +# shared memory usage is printed during build. Default ON. +# +# Set CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE to ON if you want the custom build +# rule to be attached to the source file in Visual Studio. Defaults to OFF. +# +# This allows the user to build the target from the CUDA file, however bad +# things can happen if the CUDA source file is added to multiple targets. When +# performing parallel builds it is possible for the custom build command to be +# run more than once and in parallel causing cryptic build errors. This is +# because VS runs the rules for every source file in the target, and a source +# can have only one rule no matter how many projects it is added to. Therefore, +# the rule assigned to the source file really only applies to one target you get +# clashes when it is run from multiple targets. Eventually everything will get +# built, but if the user is unaware of this behavior, there may be confusion. +# It would be nice if we could detect the reuse of source files across multiple +# targets and turn the option off for the user, but no good solution could be +# found. +# +# Set CUDA_64_BIT_DEVICE_CODE to ON to compile for 64 bit devices. Defaults to +# match host bit size. Note that making this different than the host code when +# generating C files from CUDA code just won't work, because size_t gets defined +# by nvcc in the generated source. If you compile to PTX and then load the file +# yourself, you can mix bit sizes between device and host. +# +# Set CUDA_VERBOSE_BUILD to ON to see all the commands used when building the +# CUDA file. When using a Makefile generator the value defaults to VERBOSE (run +# make VERBOSE=1 to see output). You can override this by setting +# CUDA_VERBOSE_BUILD to ON. +# +# The script creates the following macros: +# CUDA_INCLUDE_DIRECTORIES( path0 path1 ... ) +# -- Sets the directories that should be passed to nvcc +# (e.g. nvcc -Ipath0 -Ipath1 ... ). These paths usually contain other .cu +# files. +# +# CUDA_ADD_LIBRARY( cuda_target file0 file1 ... ) +# -- Creates a shared library "cuda_target" which contains all of the source +# (*.c, *.cc, etc.) specified and all of the nvcc'ed .cu files specified. +# All of the specified source files and generated .cpp files are compiled +# using the standard CMake compiler, so the normal INCLUDE_DIRECTORIES, +# LINK_DIRECTORIES, and TARGET_LINK_LIBRARIES can be used to affect their +# build and link. +# +# CUDA_ADD_CUFFT_TO_TARGET( cuda_target ) +# -- Adds the cufft library to the target. Handles whether you are in emulation +# mode or not. +# +# CUDA_ADD_CUBLAS_TO_TARGET( cuda_target ) +# -- Adds the cublas library to the target. Handles whether you are in emulation +# mode or not. +# +# CUDA_ADD_EXECUTABLE( cuda_target file0 file1 ... ) +# -- Same as CUDA_ADD_LIBRARY except that an exectuable is created. +# +# CUDA_COMPILE( cuda_files file0 file1 ... ) +# -- Returns a list of build commands in the first argument to be used with +# ADD_LIBRARY or ADD_EXECUTABLE. +# +# CUDA_BUILD_CLEAN_TARGET() +# -- Creates a convience target that deletes all the dependency files generated. +# You should make clean after running this target to ensure the dependency +# files get regenerated. +# +# The script defines the following variables: +# +# ( Note CUDA_ADD_* macros setup cuda/cut library dependencies automatically. +# These variables are only needed if a cuda API call must be made from code in +# a outside library or executable. ) +# +# CUDA_INCLUDE_DIRS -- Include directory for cuda headers. +# CUDA_LIBRARIES -- Cuda RT library. +# CUDA_CUT_INCLUDE_DIRS -- Include directory for cuda SDK headers (cutil.h). +# CUDA_CUT_LIBRARIES -- SDK libraries. +# CUDA_NVCC_FLAGS -- Additional NVCC command line arguments. NOTE: +# multiple arguments must be semi-colon delimited +# e.g. --compiler-options;-Wall +# CUFFT_LIBRARIES -- Device or emulation library for the Cuda FFT +# implementation (alternative to: +# CUDA_ADD_CUFFT_TO_TARGET macro) +# CUBLAS_LIBRARIES -- Device or emulation library for the Cuda BLAS +# implementation (alterative to: +# CUDA_ADD_CUBLAS_TO_TARGET macro). +# +# +# It might be necessary to set CUDA_INSTALL_PATH manually on certain platforms, +# or to use a cuda runtime not installed in the default location. In newer +# versions of the toolkit the cuda library is included with the graphics +# driver- be sure that the driver version matches what is needed by the cuda +# runtime version. +# +# -- Abe Stephens SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html +# -- James Bigler NVIDIA Corp +############################################################################### + +# FindCUDA.cmake + +# This macro helps us find the location of helper files we will need the full path to +MACRO(CUDA_FIND_HELPER_FILE _name _extension) + SET(_full_name "${_name}.${_extension}") + # CMAKE_CURRENT_LIST_FILE contains the full path to the file currently being + # processed. Using this variable, we can pull out the current path, and + # provide a way to get access to the other files we need local to here. + GET_FILENAME_COMPONENT(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) + FIND_FILE(CUDA_${_name} ${_full_name} PATHS ${CMAKE_CURRENT_LIST_DIR} NO_DEFAULT_PATH) + IF(NOT CUDA_${_name}) + SET(error_message "${_full_name} not found in CMAKE_MODULE_PATH") + IF(CUDA_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "${error_message}") + ELSE(CUDA_FIND_REQUIRED) + IF(NOT CUDA_FIND_QUIETLY) + MESSAGE(STATUS "${error_message}") + ENDIF(NOT CUDA_FIND_QUIETLY) + ENDIF(NOT CUDA_FIND_REQUIRED) + ENDIF(NOT CUDA_${_name}) + # Set this variable as internal, so the user isn't bugged with it. + SET(CUDA_${_name} ${CUDA_${_name}} CACHE INTERNAL "Location of ${_full_name}" FORCE) +ENDMACRO(CUDA_FIND_HELPER_FILE) + +##################################################################### +## CUDA_INCLUDE_NVCC_DEPENDENCIES +## + +# So we want to try and include the dependency file if it exists. If +# it doesn't exist then we need to create an empty one, so we can +# include it. + +# If it does exist, then we need to check to see if all the files it +# depends on exist. If they don't then we should clear the dependency +# file and regenerate it later. This covers the case where a header +# file has disappeared or moved. + +# Need to locate the empty.depend.in file, because CONFIGURE_FILE requires +# full paths. +CUDA_FIND_HELPER_FILE(empty "depend.in") + +MACRO(CUDA_INCLUDE_NVCC_DEPENDENCIES dependency_file) + SET(CUDA_NVCC_DEPEND) + SET(CUDA_NVCC_DEPEND_REGENERATE FALSE) + + + # Include the dependency file. Create it first if it doesn't exist + # for make files except for IDEs (see below). The INCLUDE puts a + # dependency that will force CMake to rerun and bring in the new info + # when it changes. DO NOT REMOVE THIS (as I did and spent a few hours + # figuring out why it didn't work. +# IF(${CMAKE_MAKE_PROGRAM} MATCHES "make") + IF(NOT EXISTS ${dependency_file}) + #message("configuring dependency_file = ${dependency_file}") + CONFIGURE_FILE( + ${CUDA_empty} + ${dependency_file} IMMEDIATE) + ENDIF(NOT EXISTS ${dependency_file}) + # Always include this file to force CMake to run again next + # invocation and rebuild the dependencies. + #message("including dependency_file = ${dependency_file}") + INCLUDE(${dependency_file}) +# ELSE(${CMAKE_MAKE_PROGRAM} MATCHES "make") +# # for IDE generators like MS dev only include the depend files +# # if they exist. This is to prevent ecessive reloading of +# # workspaces after each build. This also means +# # that the depends will not be correct until cmake +# # is run once after the build has completed once. +# # the depend files are created in the wrap tcl/python sections +# # when the .xml file is parsed. +# INCLUDE(${dependency_file} OPTIONAL RESULT_VARIABLE found) +# if (found) +# message("included dependency_file (${dependency_file}) found") +# else() +# message("included dependency_file (${dependency_file}) NOT found") +# endif() +# ENDIF(${CMAKE_MAKE_PROGRAM} MATCHES "make") + + # Now we need to verify the existence of all the included files + # here. If they aren't there we need to just blank this variable and + # make the file regenerate again. +# if(DEFINED CUDA_NVCC_DEPEND) +# message("CUDA_NVCC_DEPEND set") +# else() +# message("CUDA_NVCC_DEPEND NOT set") +# endif() + IF(CUDA_NVCC_DEPEND) + #message("CUDA_NVCC_DEPEND true") + FOREACH(f ${CUDA_NVCC_DEPEND}) + #message("searching for ${f}") + IF(NOT EXISTS ${f}) + #message("file ${f} not found") + SET(CUDA_NVCC_DEPEND_REGENERATE TRUE) + ENDIF() + ENDFOREACH(f) + ELSE(CUDA_NVCC_DEPEND) + #message("CUDA_NVCC_DEPEND false") + # No dependencies, so regenerate the file. + SET(CUDA_NVCC_DEPEND_REGENERATE TRUE) + ENDIF(CUDA_NVCC_DEPEND) + + #message("CUDA_NVCC_DEPEND_REGENERATE = ${CUDA_NVCC_DEPEND_REGENERATE}") + # No incoming dependencies, so we need to generate them. Make the + # output depend on the dependency file itself, which should cause the + # rule to re-run. + IF(CUDA_NVCC_DEPEND_REGENERATE) + SET(CUDA_NVCC_DEPEND ${dependency_file}) + # Force CMake to run again next build + CONFIGURE_FILE( + ${CUDA_empty} + ${dependency_file} IMMEDIATE) + ENDIF(CUDA_NVCC_DEPEND_REGENERATE) + +ENDMACRO(CUDA_INCLUDE_NVCC_DEPENDENCIES) + +############################################################################### +############################################################################### +# Locate CUDA, Set Build Type, etc. +############################################################################### +############################################################################### + +# Set whether we are using emulation or device mode. +OPTION(CUDA_BUILD_EMULATION "Build in Emulation mode" OFF) +# Parse HOST_COMPILATION mode. +OPTION(CUDA_HOST_COMPILATION_CPP "Generated file extension" ON) +# Allow the user to specify if the device code is supposed to be 32 or 64 bit. +if(CMAKE_SIZEOF_VOID_P EQUAL 8) + set(CUDA_64_BIT_DEVICE_CODE_DEFAULT ON) +else() + set(CUDA_64_BIT_DEVICE_CODE_DEFAULT OFF) +endif() +OPTION(CUDA_64_BIT_DEVICE_CODE "Compile device code in 64 bit mode" ${CUDA_64_BIT_DEVICE_CODE_DEFAULT}) +# Prints out extra information about the cuda file during compilation +OPTION(CUDA_BUILD_CUBIN "Generate and parse .cubin files in Device mode." ON) +# Extra user settable flags +SET(CUDA_NVCC_FLAGS "" CACHE STRING "Semi-colon delimit multiple arguments.") +# Attach the build rule to the source file in VS. This option +OPTION(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE "Attach the build rule to the CUDA source file. Enable only when the CUDA source file is added to at most one target." OFF) +# Specifies whether the commands used when compiling the .cu file will be printed out. +OPTION(CUDA_VERBOSE_BUILD "Print out the commands run while compiling the CUDA source file. With the Makefile generator this defaults to VERBOSE variable specified on the command line, but can be forced on with this option." OFF) + +# Search for the cuda distribution. +IF(NOT CUDA_INSTALL_PREFIX) + + # Search in the CUDA_BIN_PATH first. + FIND_PATH(CUDA_INSTALL_PREFIX + NAMES nvcc nvcc.exe + PATHS ENV CUDA_BIN_PATH + DOC "Toolkit location." + NO_DEFAULT_PATH + ) + # Now search default paths + FIND_PATH(CUDA_INSTALL_PREFIX + NAMES nvcc nvcc.exe + PATHS /usr/local/bin + /usr/local/cuda/bin + DOC "Toolkit location." + ) + + IF (CUDA_INSTALL_PREFIX) + STRING(REGEX REPLACE "[/\\\\]?bin[/\\\\]?$" "" CUDA_INSTALL_PREFIX ${CUDA_INSTALL_PREFIX}) + # We need to force this back into the cache. + SET(CUDA_INSTALL_PREFIX ${CUDA_INSTALL_PREFIX} CACHE PATH "Toolkit location." FORCE) + ENDIF(CUDA_INSTALL_PREFIX) + IF (NOT EXISTS ${CUDA_INSTALL_PREFIX}) + MESSAGE(FATAL_ERROR "Specify CUDA_INSTALL_PREFIX") + ENDIF (NOT EXISTS ${CUDA_INSTALL_PREFIX}) +ENDIF (NOT CUDA_INSTALL_PREFIX) + +# CUDA_NVCC +IF (NOT CUDA_NVCC) + FIND_PROGRAM(CUDA_NVCC + NAMES nvcc + PATHS "${CUDA_INSTALL_PREFIX}/bin" + ENV CUDA_BIN_PATH + NO_DEFAULT_PATH + ) + # Search default search paths, after we search our own set of paths. + FIND_PROGRAM(CUDA_NVCC nvcc) + IF(NOT CUDA_NVCC) + MESSAGE(FATAL_ERROR "Could not find nvcc") + ELSE(NOT CUDA_NVCC) + MARK_AS_ADVANCED(CUDA_NVCC) + ENDIF(NOT CUDA_NVCC) +ENDIF(NOT CUDA_NVCC) + +# IF (NOT FOUND_CUDA_NVCC_INCLUDE) +FIND_PATH(FOUND_CUDA_NVCC_INCLUDE + device_functions.h # Header included in toolkit + PATHS "${CUDA_INSTALL_PREFIX}/include" + ENV CUDA_INC_PATH + NO_DEFAULT_PATH + ) +# Search default search paths, after we search our own set of paths. +FIND_PATH(FOUND_CUDA_NVCC_INCLUDE device_functions.h) + +IF(NOT FOUND_CUDA_NVCC_INCLUDE) + MESSAGE(FATAL_ERROR "Could not find CUDA headers") +ELSE(NOT FOUND_CUDA_NVCC_INCLUDE) + # Set the user list of include dir to nothing to initialize it. + SET (CUDA_NVCC_INCLUDE_ARGS_USER "") + SET (CUDA_INCLUDE_DIRS ${FOUND_CUDA_NVCC_INCLUDE}) + + MARK_AS_ADVANCED( + FOUND_CUDA_NVCC_INCLUDE + ) +ENDIF(NOT FOUND_CUDA_NVCC_INCLUDE) + +# ENDIF(NOT FOUND_CUDA_NVCC_INCLUDE) + + +MACRO(FIND_LIBRARY_LOCAL_FIRST _var _names _doc) + FIND_LIBRARY(${_var} + NAMES ${_names} + PATHS "${CUDA_INSTALL_PREFIX}/lib" + ENV CUDA_LIB_PATH + DOC ${_doc} + NO_DEFAULT_PATH + ) + # Search default search paths, after we search our own set of paths. + FIND_LIBRARY(${_var} NAMES ${_names} DOC ${_doc}) +ENDMACRO() + +# CUDA_LIBRARIES +IF (NOT CUDA_LIBRARIES) + + FIND_LIBRARY_LOCAL_FIRST(FOUND_CUDART cudart "\"cudart\" library") + + # Check to see if cudart library was found. + IF(NOT FOUND_CUDART) + MESSAGE(FATAL_ERROR "Could not find cudart library (cudart)") + ENDIF(NOT FOUND_CUDART) + + # 1.1 toolkit on linux doesn't appear to have a separate library on + # some platforms. + FIND_LIBRARY_LOCAL_FIRST(FOUND_CUDA cuda "\"cuda\" library (older versions only).") + + # Add cuda library to the link line only if it is found. + IF (FOUND_CUDA) + SET(CUDA_LIBRARIES ${FOUND_CUDA}) + ENDIF(FOUND_CUDA) + + # Always add cudart to the link line. + IF(FOUND_CUDART) + SET(CUDA_LIBRARIES + ${CUDA_LIBRARIES} ${FOUND_CUDART} + ) + MARK_AS_ADVANCED( + CUDA_LIBRARIES + CUDA_LIB + FOUND_CUDA + FOUND_CUDART + ) + ELSE(FOUND_CUDART) + MESSAGE(FATAL_ERROR "Could not find cuda libraries.") + ENDIF(FOUND_CUDART) + +ENDIF(NOT CUDA_LIBRARIES) + +FIND_PATH(CUDA_SDK_INSTALL_PREFIX common/inc/cutil.h + "/usr/local/src/NVIDIA_GPU_Computing_SDK/C/" + "[HKEY_LOCAL_MACHINE\\SOFTWARE\\NVIDIA Corporation\\Installed Products\\NVIDIA SDK 10\\Compute;InstallDir]" + "$ENV{NVSDKCUDA_ROOT}" + ) + +# Keep the CUDA_INSTALL_PREFIX first in order to be able to override the +# environment variables. +SET(CUDA_SDK_SEARCH_PATH + "${CUDA_SDK_INSTALL_PREFIX}" + "${CUDA_INSTALL_PREFIX}/local/NVSDK0.2" + "${CUDA_INSTALL_PREFIX}/NVSDK0.2" + "${CUDA_INSTALL_PREFIX}/NV_CUDA_SDK" + "$ENV{HOME}/NVIDIA_CUDA_SDK" + "$ENV{HOME}/NVIDIA_CUDA_SDK_MACOSX" + "/Developer/CUDA" + ) +# CUDA_CUT_INCLUDE_DIRS +IF(NOT CUDA_CUT_INCLUDE_DIRS) + FIND_PATH(FOUND_CUT_INCLUDE + cutil.h + PATHS ${CUDA_SDK_SEARCH_PATH} + PATH_SUFFIXES "common/inc" + DOC "Location of cutil.h" + NO_DEFAULT_PATH + ) + # Now search system paths + FIND_PATH(FOUND_CUT_INCLUDE cutil.h DOC "Location of cutil.h") + + IF(FOUND_CUT_INCLUDE) + SET(CUDA_CUT_INCLUDE_DIRS ${FOUND_CUT_INCLUDE}) + MARK_AS_ADVANCED( + FOUND_CUT_INCLUDE + ) + ENDIF(FOUND_CUT_INCLUDE) +ENDIF(NOT CUDA_CUT_INCLUDE_DIRS) + + +# CUDA_CUT_LIBRARIES +IF(NOT CUDA_CUT_LIBRARIES) + # cutil library is called cutil64 for 64 bit builds on windows. We don't want + # to get these confused, so we are setting the name based on the word size of + # the build. + IF(CMAKE_SIZEOF_VOID_P EQUAL 8) + SET(cuda_cutil_name cutil64) + ELSE(CMAKE_SIZEOF_VOID_P EQUAL 8) + SET(cuda_cutil_name cutil32) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8) + + FIND_LIBRARY(FOUND_CUT + NAMES cutil ${cuda_cutil_name} + PATHS ${CUDA_SDK_SEARCH_PATH} + # The new version of the sdk shows up in common/lib, but the old one is in lib + PATH_SUFFIXES "common/lib" "lib" + DOC "Location of cutil library" + NO_DEFAULT_PATH + ) + # Now search system paths + FIND_LIBRARY(FOUND_CUT NAMES cutil ${cuda_cutil_name} DOC "Location of cutil library") + + IF(FOUND_CUT) + SET(CUDA_CUT_LIBRARIES ${FOUND_CUT}) + MARK_AS_ADVANCED(FOUND_CUT) + ENDIF(FOUND_CUT) + + MACRO(FIND_CUDA_HELPER_LIBS _name) + FIND_LIBRARY_LOCAL_FIRST(FOUND_${_name} ${_name} "\"${_name}\" library") + MARK_AS_ADVANCED(FOUND_${_name}) + ENDMACRO(FIND_CUDA_HELPER_LIBS) + + # Search for cufft and cublas libraries. + FIND_CUDA_HELPER_LIBS(cufftemu) + FIND_CUDA_HELPER_LIBS(cublasemu) + FIND_CUDA_HELPER_LIBS(cufft) + FIND_CUDA_HELPER_LIBS(cublas) + + if (CUDA_BUILD_EMULATION) + SET(CUFFT_LIBRARIES ${FOUND_cufftemu}) + SET(CUBLAS_LIBRARIES ${FOUND_cublasemu}) + else() + SET(CUFFT_LIBRARIES ${FOUND_cufft}) + SET(CUBLAS_LIBRARIES ${FOUND_cublas}) + endif() + +ENDIF(NOT CUDA_CUT_LIBRARIES) + + +############################################################################### +# Add include directories to pass to the nvcc command. +MACRO(CUDA_INCLUDE_DIRECTORIES) + FOREACH(dir ${ARGN}) + list(APPEND CUDA_NVCC_INCLUDE_ARGS_USER "-I${dir}") + ENDFOREACH(dir ${ARGN}) +ENDMACRO(CUDA_INCLUDE_DIRECTORIES) + +CUDA_FIND_HELPER_FILE(parse_cubin cmake) +CUDA_FIND_HELPER_FILE(make2cmake cmake) +CUDA_FIND_HELPER_FILE(run_nvcc cmake) + +############################################################################## +############################################################################## +# This helper macro populates the following variables and setups up custom +# commands and targets to invoke the nvcc compiler to generate C or PTX source +# dependant upon the format parameter. The compiler is invoked once with -M +# to generate a dependency file and a second time with -cuda or -ptx to generate +# a .cpp or .ptx file. +# INPUT: +# cuda_target - Target name +# format - PTX or C +# OUTPUT: +# ${target_srcs} - List of the generated C or PTX source files +# ${cuda_cu_sources} - List of the original CU files +############################################################################## +############################################################################## + +MACRO(CUDA_add_custom_commands cuda_target format) + + IF( ${format} MATCHES "PTX" ) + SET( compile_to_ptx ON ) + ELSEIF( ${format} MATCHES "C") + SET( compile_to_ptx OFF ) + ELSE() + MESSAGE( "Invalid format flag passed to CUDA_add_custom_commands: '${format}'. Defaulting to C") + SET( compile_to_ptx OFF ) + ENDIF() + + # Set up all the command line flags here, so that they can be overriden on a per target basis. + + set(nvcc_flags "") + + # Emulation if the card isn't present. + IF (CUDA_BUILD_EMULATION) + # Emulation. + SET(nvcc_flags ${nvcc_flags} --device-emulation -D_DEVICEEMU -g) + ELSE(CUDA_BUILD_EMULATION) + # Device mode. No flags necessary. + ENDIF(CUDA_BUILD_EMULATION) + + IF(CUDA_HOST_COMPILATION_CPP) + SET(generated_extension cpp) + ELSE(CUDA_HOST_COMPILATION_CPP) + SET(generated_extension c) + SET(nvcc_flags ${nvcc_flags} --host-compilation C) + ENDIF(CUDA_HOST_COMPILATION_CPP) + + IF(CUDA_64_BIT_DEVICE_CODE) + SET(nvcc_flags ${nvcc_flags} -m64) + ELSE() + SET(nvcc_flags ${nvcc_flags} -m32) + ENDIF() + + # This needs to be passed in at this stage, because VS needs to fill out the + # value of VCInstallDir from withing VS. + IF(CMAKE_GENERATOR MATCHES "Visual Studio") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + # Add nvcc flag for 64b Windows + SET(ccbin_flags -D "\"CCBIN:PATH=$(VCInstallDir)bin\"" ) + ENDIF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + ENDIF(CMAKE_GENERATOR MATCHES "Visual Studio") + + # Initialize our list of includes with the user ones followed by the CUDA system ones. + set(CUDA_NVCC_INCLUDE_ARGS ${CUDA_NVCC_INCLUDE_ARGS_USER} -I${CUDA_INCLUDE_DIRS} -I${CUDA_CUT_INCLUDE_DIRS}) + # Get the include directories for this directory and use them for our nvcc command. + get_directory_property(CUDA_NVCC_INCLUDE_DIRECTORIES INCLUDE_DIRECTORIES) + if(CUDA_NVCC_INCLUDE_DIRECTORIES) + foreach(dir ${CUDA_NVCC_INCLUDE_DIRECTORIES}) + list(APPEND CUDA_NVCC_INCLUDE_ARGS "-I${dir}") + endforeach() + endif() + + SET(target_srcs "") + SET(cuda_cu_sources "") + + # Iterate over the macro arguments and create custom + # commands for all the .cu files. + FOREACH(file ${ARGN}) + IF(${file} MATCHES ".*\\.cu$") + + # Add a custom target to generate a c or ptx file. ###################### + GET_FILENAME_COMPONENT( basename ${file} NAME ) + IF( compile_to_ptx ) + SET(generated_file "${CMAKE_BINARY_DIR}/lib/ptx/${cuda_target}_generated_${basename}.ptx") + SET(format_flag "-ptx") + FILE(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/lib/ptx) + ELSE( compile_to_ptx ) + SET(generated_file "${CMAKE_BINARY_DIR}/src/cuda/${cuda_target}_generated_${basename}.${generated_extension}") + SET(format_flag "-cuda") + FILE(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/src/cuda) + ENDIF( compile_to_ptx ) + + SET(generated_target "${file}_target") + + + SET(source_file ${CMAKE_CURRENT_SOURCE_DIR}/${file}) + + # Bring in the dependencies. Creates a variable CUDA_NVCC_DEPEND ####### + SET(cmake_dependency_file "${generated_file}.depend") + CUDA_INCLUDE_NVCC_DEPENDENCIES(${cmake_dependency_file}) + SET(NVCC_generated_dependency_file "${generated_file}.NVCC-depend") + + # Convience string for output ########################################### + IF(CUDA_BUILD_EMULATION) + SET(cuda_build_type "Emulation") + ELSE(CUDA_BUILD_EMULATION) + SET(cuda_build_type "Device") + ENDIF(CUDA_BUILD_EMULATION) + + # Build the NVCC made dependency file ################################### + SET(build_cubin OFF) + IF ( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) + IF ( NOT compile_to_ptx ) + SET ( build_cubin ON ) + + # Initialize a string containing commands to produce the cubin report. + SET(generated_cubin_file ${generated_file}.cubin.txt) + + ENDIF( NOT compile_to_ptx ) + ENDIF( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) + + # Configure the build script + set(custom_target_script "${generated_file}.cmake") + configure_file("${CUDA_run_nvcc}" "${custom_target_script}" @ONLY) + + # So if a user specifies the same cuda file as input more than once, you + # can have bad things happen with dependencies. Here we check an option + # to see if this is the behavior they want. + if(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE) + set(main_dep MAIN_DEPENDENCY ${source_file}) + else() + set(main_dep DEPENDS ${source_file}) + endif() + + if(CUDA_VERBOSE_BUILD) + set(verbose_output ON) + elseif(CMAKE_GENERATOR MATCHES "Makefiles") + set(verbose_output "$(VERBOSE)") + else() + set(verbose_output OFF) + endif() + + # Build the generated file and dependency file ########################## + add_custom_command( + OUTPUT ${generated_file} + # These output files depend on the source_file and the contents of cmake_dependency_file + ${main_dep} + DEPENDS ${CUDA_NVCC_DEPEND} + DEPENDS ${custom_target_script} + COMMAND ${CMAKE_COMMAND} ARGS -D verbose:BOOL=${verbose_output} ${ccbin_flags} -P "${custom_target_script}" + COMMENT "Building (${cuda_build_type}) NVCC ${source_file}: ${generated_file}" + ) + + # Make sure the build system knows the file is generated. + set_source_files_properties(${generated_file} PROPERTIES GENERATED TRUE) + + # Add the generated file name to the source list. ###################### + SET(cuda_cu_sources ${cuda_cu_sources} ${source_file}) + SET(target_srcs ${target_srcs} ${generated_file}) + + # Add the other files that we want cmake to clean on a cleanup ########## + list(APPEND CUDA_ADDITIONAL_CLEAN_FILES "${cmake_dependency_file}") + list(REMOVE_DUPLICATES CUDA_ADDITIONAL_CLEAN_FILES) + set(CUDA_ADDITIONAL_CLEAN_FILES ${CUDA_ADDITIONAL_CLEAN_FILES} CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") + + ELSE(${file} MATCHES ".*\\.cu$") + + # Otherwise add the file name to the source list. + SET(target_srcs ${target_srcs} ${file}) + + ENDIF(${file} MATCHES ".*\\.cu$") + ENDFOREACH(file) + +ENDMACRO(CUDA_add_custom_commands) + + +############################################################################### +############################################################################### +# ADD LIBRARY +############################################################################### +############################################################################### +MACRO(CUDA_ADD_LIBRARY cuda_target) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( ${cuda_target} C ${ARGN} ) + + # Add the library. + ADD_LIBRARY(${cuda_target} + ${target_srcs} + ${cuda_cu_sources} + ) + + TARGET_LINK_LIBRARIES(${cuda_target} + ${CUDA_LIBRARIES} + ) + +ENDMACRO(CUDA_ADD_LIBRARY cuda_target) + + +############################################################################### +############################################################################### +# ADD EXECUTABLE +############################################################################### +############################################################################### +MACRO(CUDA_ADD_EXECUTABLE cuda_target) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( ${cuda_target} C ${ARGN} ) + + # Add the library. + ADD_EXECUTABLE(${cuda_target} + ${target_srcs} + ${cuda_cu_sources} + ) + + TARGET_LINK_LIBRARIES(${cuda_target} + ${CUDA_LIBRARIES} + ) + + +ENDMACRO(CUDA_ADD_EXECUTABLE cuda_target) + + +############################################################################### +############################################################################### +# CUDA COMPILE +############################################################################### +############################################################################### +MACRO(CUDA_COMPILE file_variable) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( cuda_compile C ${ARGN} ) + + SET(${file_variable} ${target_srcs} ${cuda_cu_sources}) + +ENDMACRO(CUDA_COMPILE) + + +############################################################################### +############################################################################### +# CUDA COMPILE PTX +############################################################################### +############################################################################### +MACRO(CUDA_COMPILE_PTX ptx_files cuda_files ) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( cuda_compile_ptx PTX ${ARGN} ) + + SET( ${ptx_files} ${target_srcs} ) + SET( ${cuda_files} ${cuda_cu_sources} ) + +ENDMACRO(CUDA_COMPILE_PTX) + +############################################################################### +############################################################################### +# CUDA ADD CUTIL TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUTIL_TO_TARGET target) + target_link_libraries(${target} ${CUDA_CUT_LIBRARIES}) +endmacro() + +############################################################################### +############################################################################### +# CUDA ADD CUFFT TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUFFT_TO_TARGET target) + if (CUDA_BUILD_EMULATION) + target_link_libraries(${target} ${FOUND_cufftemu}) + else() + target_link_libraries(${target} ${FOUND_cufft}) + endif() +endmacro() + +############################################################################### +############################################################################### +# CUDA ADD CUBLAS TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUBLAS_TO_TARGET target) + if (CUDA_BUILD_EMULATION) + target_link_libraries(${target} ${FOUND_cublasemu}) + else() + target_link_libraries(${target} ${FOUND_cublas}) + endif() +endmacro() + +############################################################################### +############################################################################### +# CUDA BUILD CLEAN TARGET +############################################################################### +############################################################################### +macro(CUDA_BUILD_CLEAN_TARGET) + # Call this after you add all your CUDA targets, and you will get a convience + # target. You should also make clean after running this target to get the + # build system to generate all the code again. + add_custom_target(CleanCudaDepends + COMMAND ${CMAKE_COMMAND} -E remove ${CUDA_ADDITIONAL_CLEAN_FILES}) + + # Clear out the variable, so the next time we configure it will be empty. + # This is useful so that the files won't persist in the list after targets + # have been removed. + set(CUDA_ADDITIONAL_CLEAN_FILES "" CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") +endmacro(CUDA_BUILD_CLEAN_TARGET) diff --git a/.svn/pristine/a9/a9b4d93ac03e9cc4801286237eb28c62b5e270e9.svn-base b/.svn/pristine/a9/a9b4d93ac03e9cc4801286237eb28c62b5e270e9.svn-base new file mode 100644 index 0000000..8a91344 --- /dev/null +++ b/.svn/pristine/a9/a9b4d93ac03e9cc4801286237eb28c62b5e270e9.svn-base @@ -0,0 +1,413 @@ +#ifndef SCAN_H +#define SCAN_H + +#include "io_types.h" +#include "data_types.h" +#include "point_type.h" +#include "ptpair.h" + +#include +#include + +#include +#include + +//! SearchTree types +enum nns_type { + simpleKD, ANNTree, BOCTree +}; + +class Scan; +typedef std::vector ScanVector; + +class SearchTree; +class ANNkd_tree; + +/** HOWTO scan +First: Load scans (if you want to use the scanmanager, use ManagedScan) + + BasicScan/ManagedScan::openDirectory(path, type, start, end); + +Pass it to functions (by reference to link it to the same instance) or store it in a global variable + +After loading you might want to set parameters + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + scan->setHeightFilter(top, bottom); // thermo + scan->setReductionParameter(voxelSize, nrpts[, pointtype]); + scan->setSearchTreeParameter(nns_method, use_cuda); + } + +Access the contained data, will be loaded and calculated on demand + + DataXYZ xyz = scan->get("xyz"); + DataXYZ reduced = scan->get("xyz reduced"); + DataRGB rgb = scan->get("rgb"); + + xyz[i][0..2] + reflectance[i] + + unsigned int size = scan->size("xyz reduced"); + +In order to use the prefetching of all requested data field in the scanserver, mark them for use. This is relevant for efficiency, which would otherwise cause loading the files each time another data field is requested. + + scan->get(DATA_XYZ | DATA_RGB | ...); + +Under circumstances the data fields are not available (e.g. no color in uos-type scans) + + DataRGB rgb = scan->get("rgb"); + if(rgb.valid()) { ok, do something } + +If backward-compability to pointer arrays is needed, the PointerArray class can adapt + + BOctTree(PointerArray(scan->get("xyz")).get(), scan->size("xyz"), ...); + +If data isn't needed anymore, flag it for removal + + scan->clear("xyz"); + scan->clear(DATA_XYZ | DATA_RGB | ...); + +Creating data fields with the correct byte size + + scan->create("xyz somethingelse", sizeof(double)*3*N); + +Reading frames in show: + + unsigned int size = scan->readFrames(); + + const double* pose; + AlgoType type; + scan->getFrame(i, pose, type); + +Last, if program ends, clean up + + Scan::closeDirectory(scans); + +**/ + + + +/** + * This class bundles common features of different scan implementations by + * abstraction. It handles the algorithmic parts and leaves IO and other + * features to the deriving classes. + */ +class Scan { + //friend class SearchTree; // TODO: is this neccessary? +public: + enum AlgoType { + INVALID, ICP, ICPINACTIVE, LUM, ELCH, LOOPTORO, LOOPHOGMAN, GRAPHTORO, + GRAPHHOGMAN + }; + + // delete copy-ctor and assignment, scans shouldn't be copied by basic class + // Scan(const Scan& other) = delete; + // Scan& operator=(const Scan& other) = delete; + + virtual ~Scan(); + + //! Holder of all scans - also used in transform for adding frames for each scan at the same time + static std::vector allScans; + + /** + * Attempt to read a directory under \a path and return its read scans. + * No scans are loaded at this point, only checked if all exist. + * + * @param scanserver whether to use managed scans in the scanserver or not + * @param path to the directory containing the scans + * @param type determining which ScanIO to use + * @param start first scan to use + * @param end last scan to use, -1 means from start to last available + */ + static void openDirectory(bool scanserver, const std::string& path, IOType type, + int start, int end = -1); + + /** + * "Close" a directory by deleting all its scans and emptying the + * Scan::allScans vector. + */ + static void closeDirectory(); + + + /* Input filtering and parameter functions */ + + + //! Input filtering for all points based on their euclidean length + virtual void setRangeFilter(double max, double min) = 0; + + //! Input filtering for all points based on their height + virtual void setHeightFilter(double top, double bottom) = 0; + + //! Set reduction parameters, but don't reduce yet + virtual void setReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + + //! Set SearchTree type, but don't create it yet + void setSearchTreeParameter(int nns_method, bool cuda_enabled); + + /** + * Set octtree parameters for show + * @param loadOct will load the serialized octtree from disk regardless + * @param saveOct serialize octtree if not loaded by loadOct after creation + */ + virtual void setOcttreeParameter(double reduction_voxelSize, + double octtree_voxelSize, PointType pointtype, + bool loadOct, bool saveOct); + + + /* Basic getter functions */ + + + inline const double* get_rPos() const; + inline const double* get_rPosTheta() const; + inline const double* get_rPosQuat() const; + //! Pose matrix after initial and match transformations (org+dalign) + inline const double* get_transMat() const; + //! Original pose matrix after initial transform + inline const double* get_transMatOrg() const; + //! Accumulated delta transformation matrix + inline const double* getDAlign() const; + + inline SearchTree* getSearchTree(); + inline ANNkd_tree* getANNTree() const; + + virtual const char* getIdentifier() const = 0; + + //! Determine the maximum number of reduced points in \a scans + static unsigned int getMaxCountReduced(ScanVector& scans); + + + /* Functions for altering data fields, implementation specific */ + + + /** + * Get the data field \a identifier, calculate it on demand if neccessary. + * + * If "xyz reduced" or "xyz reduced original" is requested, the reduction is + * started with "xyz" as input. + */ + virtual DataPointer get(const std::string& identifier) = 0; + + /** + * Load the requested IODataTypes, joined by |, from the scan file. + * + * This feature is neccessary to load multiple data fields at once, not all + * one by one with each get("...") access. + */ + virtual void get(unsigned int types) = 0; + + /** + * Creates a data field \a identifier with \a size bytes. + */ + virtual DataPointer create(const std::string& identifier, unsigned int size) = 0; + + /** + * Clear the data field \a identifier, removing its allocated memory if + * possible or marking it for prioritized removal. + */ + virtual void clear(const std::string& identifier) = 0; + + //! Extension to clear for more than one identifier, e.g. clear(DATA_XYZ | DATA_RGB); + void clear(unsigned int types); + + /** + * Get the size of \a identifier as if it were requested and size() called + * upon its type specialized DataPointer class. + * e.g size("xyz reduced") + */ + template + unsigned int size(const std::string& identifier) { + return (T(get(identifier))).size(); + } + + + /* Frame handling functions */ + + + /** + * Open the .frames-file and read its contents. If not read, the frame list + * will be empty. + * @return count of frames if file has been read, zero otherwise + */ + virtual unsigned int readFrames() = 0; + + /** + * Write the accumulated frames into a .frames-file. + */ + virtual void saveFrames() = 0; + + //! Count of frames + virtual unsigned int getFrameCount() = 0; + + //! Get contents of a frame, pass matrix pointer and type by reference + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) = 0; + +protected: + /** + * Called from transform, this will add its current transMat pose with + * the given type as a frame into the list of frames + */ + virtual void addFrame(AlgoType type) = 0; + +public: + + + /* Direct creation of reduced points and search tree */ + + + //! Apply reduction and initial transMatOrg transformation + void toGlobal(); + + //! Copy reduced points to original and create search tree on it + void createSearchTree(); + + + /* Common transformation and matching functions */ + void mergeCoordinatesWithRoboterPosition(Scan* prevScan); + void transformAll(const double alignxf[16]); + void transformAll(const double alignQuat[4], const double alignt[3]); + + void transform(const double alignxf[16], + const AlgoType type, int islum = 0); + void transform(const double alignQuat[4], + const double alignt[3], const AlgoType type, int islum = 0); + void transformToMatrix(double alignxf[16], + const AlgoType type, int islum = 0); + void transformToEuler(double rP[3], double rPT[3], + const AlgoType type, int islum = 0); + void transformToQuat(double rP[3], double rPQ[4], + const AlgoType type, int islum = 0); + + // Scan matching functions + static void getPtPairs(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d); + static void getNoPairsSimple(std::vector &diff, + Scan* Source, Scan* Target, + int thread_num, + double max_dist_match2); + static void getPtPairsSimple(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, + double *centroid_m, double *centroid_d); + static void getPtPairsParallel(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, int step, + int rnd, double max_dist_match2, + double *sum, + double centroid_m[OPENMP_NUM_THREADS][3], + double centroid_d[OPENMP_NUM_THREADS][3]); + +protected: + /** + * The pose of the scan + * Note: rPos/rPosTheta and transMat _should_ + * always represent the same pose!!! + */ + double rPos[3], //!< 3D position + rPosTheta[3], //!< 3D rotation in Euler representation + rQuat[4], //!< 3D rotation in Quaternion representation + transMat[16], //!< (4x4) transformation matrix + transMatOrg[16]; //!< The original pose of the scan, e.g., from odometry + + /** + * The dalignxf transformation represents the delta transformation virtually applied + * to the tree and is used to compute are actual corresponding points. + */ + double dalignxf[16]; + + //! Run ICP on GPU instead of CPU + bool cuda_enabled; + + //! Defines the method used for nearest neighbor search and which tree to use + int nns_method; + + //! SearchTree for point pair matching, works on the search points + SearchTree* kd; + + //! This KD tree is created only for the CUDA usages + ANNkd_tree* ann_kd_tree; + + //! Voxelsize of the octtree used for reduction + double reduction_voxelSize; + + //! Which point to take out of the reduction octtree, 0 for center + int reduction_nrpts; + + //! Pointtype used for the reduction octtree + PointType reduction_pointtype; + + //! Type of the searchtree to be created + int searchtree_nnstype; + + //! Use CUDA for searching + bool searchtree_cuda_enabled; + + //! Flag whether "xyz reduced" has been initialized for this Scan yet + bool m_has_reduced; + + //! Reduction value used for octtree input + double octtree_reduction_voxelSize; + + //! Voxelsize used in the octtree itself + double octtree_voxelSize; + + //! Pointtype for the Octtree + PointType octtree_pointtype; + + //! Flags to load or save the octtrees from/to storage + bool octtree_loadOct, octtree_saveOct; + + /** + * Basic initializing constructor calling the initalization function. + * Can only be called from deriving classes. + */ + Scan(); + + /** + * This function handles the reduction of points. It builds a lock for + * multithread-safety and calls caldReducedOnDemandPrivate. + * + * The intention is to reduce points, transforme them to the initial pose and + * then copy them to original for the SearchTree. + */ + void calcReducedOnDemand(); + + //! Create specific SearchTree variants matching the capability of the Scan + virtual void createSearchTreePrivate() = 0; + + //! Create reduced points in a multithread-safe environment matching the capability of the Scan + virtual void calcReducedOnDemandPrivate() = 0; + + //! Internal function of transform which alters the reduced points + void transformReduced(const double alignxf[16]); + + //! Internal function of transform which handles the matrices + void transformMatrix(const double alignxf[16]); + + //! Creating reduced points + void calcReducedPoints(); + + //! Copies reduced points to original points without any transformation. + void copyReducedToOriginal(); + + //! Inverse functionality of copyReducedToOriginal. + void copyOriginalToReduced(); + +private: + //! flag for openDirectory and closeDirectory to distinguish the scans + static bool scanserver; + + //! Mutex for safely reducing points and creating the search tree just once in a multithreaded environment + // it can not be compiled in wein32 use boost 1.48, therefore we remeove it temporarily +// boost::mutex m_mutex_reduction, m_mutex_create_tree; +}; + +#include "scan.icc" + +#endif //SCAN_H diff --git a/.svn/pristine/a9/a9eb3942611b4191691a8ce3911926dde1bc0245.svn-base b/.svn/pristine/a9/a9eb3942611b4191691a8ce3911926dde1bc0245.svn-base new file mode 100644 index 0000000..19344bb --- /dev/null +++ b/.svn/pristine/a9/a9eb3942611b4191691a8ce3911926dde1bc0245.svn-base @@ -0,0 +1,450 @@ +//$$ fft.cpp Fast fourier transform + +// Copyright (C) 1991,2,3,4,8: R B Davies + + +#define WANT_MATH +// #define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" + +// #include "newmatio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,19); ++ExeCount; } +#else +#define REPORT {} +#endif + +static void cossin(int n, int d, Real& c, Real& s) +// calculate cos(twopi*n/d) and sin(twopi*n/d) +// minimise roundoff error +{ + REPORT + long n4 = n * 4; int sector = (int)floor( (Real)n4 / (Real)d + 0.5 ); + n4 -= sector * d; + if (sector < 0) { REPORT sector = 3 - (3 - sector) % 4; } + else { REPORT sector %= 4; } + Real ratio = 1.5707963267948966192 * (Real)n4 / (Real)d; + + switch (sector) + { + case 0: REPORT c = cos(ratio); s = sin(ratio); break; + case 1: REPORT c = -sin(ratio); s = cos(ratio); break; + case 2: REPORT c = -cos(ratio); s = -sin(ratio); break; + case 3: REPORT c = sin(ratio); s = -cos(ratio); break; + } +} + +static void fftstep(ColumnVector& A, ColumnVector& B, ColumnVector& X, + ColumnVector& Y, int after, int now, int before) +{ + REPORT + Tracer trace("FFT(step)"); + // const Real twopi = 6.2831853071795864769; + const int gamma = after * before; const int delta = now * after; + // const Real angle = twopi / delta; Real temp; + // Real r_omega = cos(angle); Real i_omega = -sin(angle); + Real r_arg = 1.0; Real i_arg = 0.0; + Real* x = X.Store(); Real* y = Y.Store(); // pointers to array storage + const int m = A.Nrows() - gamma; + + for (int j = 0; j < now; j++) + { + Real* a = A.Store(); Real* b = B.Store(); // pointers to array storage + Real* x1 = x; Real* y1 = y; x += after; y += after; + for (int ia = 0; ia < after; ia++) + { + // generate sins & cosines explicitly rather than iteratively + // for more accuracy; but slower + cossin(-(j*after+ia), delta, r_arg, i_arg); + + Real* a1 = a++; Real* b1 = b++; Real* x2 = x1++; Real* y2 = y1++; + if (now==2) + { + REPORT int ib = before; + if (ib) for (;;) + { + REPORT + Real* a2 = m + a1; Real* b2 = m + b1; a1 += after; b1 += after; + Real r_value = *a2; Real i_value = *b2; + *x2 = r_value * r_arg - i_value * i_arg + *(a2-gamma); + *y2 = r_value * i_arg + i_value * r_arg + *(b2-gamma); + if (!(--ib)) break; + x2 += delta; y2 += delta; + } + } + else + { + REPORT int ib = before; + if (ib) for (;;) + { + REPORT + Real* a2 = m + a1; Real* b2 = m + b1; a1 += after; b1 += after; + Real r_value = *a2; Real i_value = *b2; + int in = now-1; while (in--) + { + // it should be possible to make this faster + // hand code for now = 2,3,4,5,8 + // use symmetry to halve number of operations + a2 -= gamma; b2 -= gamma; Real temp = r_value; + r_value = r_value * r_arg - i_value * i_arg + *a2; + i_value = temp * i_arg + i_value * r_arg + *b2; + } + *x2 = r_value; *y2 = i_value; + if (!(--ib)) break; + x2 += delta; y2 += delta; + } + } + + // temp = r_arg; + // r_arg = r_arg * r_omega - i_arg * i_omega; + // i_arg = temp * i_omega + i_arg * r_omega; + + } + } +} + + +void FFTI(const ColumnVector& U, const ColumnVector& V, + ColumnVector& X, ColumnVector& Y) +{ + // Inverse transform + Tracer trace("FFTI"); + REPORT + FFT(U,-V,X,Y); + const Real n = X.Nrows(); X /= n; Y /= (-n); +} + +void RealFFT(const ColumnVector& U, ColumnVector& X, ColumnVector& Y) +{ + // Fourier transform of a real series + Tracer trace("RealFFT"); + REPORT + const int n = U.Nrows(); // length of arrays + const int n2 = n / 2; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", U)); + ColumnVector A(n2), B(n2); + Real* a = A.Store(); Real* b = B.Store(); Real* u = U.Store(); int i = n2; + while (i--) { *a++ = *u++; *b++ = *u++; } + FFT(A,B,A,B); + int n21 = n2 + 1; + X.ReSize(n21); Y.ReSize(n21); + i = n2 - 1; + a = A.Store(); b = B.Store(); // first els of A and B + Real* an = a + i; Real* bn = b + i; // last els of A and B + Real* x = X.Store(); Real* y = Y.Store(); // first els of X and Y + Real* xn = x + n2; Real* yn = y + n2; // last els of X and Y + + *x++ = *a + *b; *y++ = 0.0; // first complex element + *xn-- = *a++ - *b++; *yn-- = 0.0; // last complex element + + int j = -1; i = n2/2; + while (i--) + { + Real c,s; cossin(j--,n,c,s); + Real am = *a - *an; Real ap = *a++ + *an--; + Real bm = *b - *bn; Real bp = *b++ + *bn--; + Real samcbp = s * am + c * bp; Real sbpcam = s * bp - c * am; + *x++ = 0.5 * ( ap + samcbp); *y++ = 0.5 * ( bm + sbpcam); + *xn-- = 0.5 * ( ap - samcbp); *yn-- = 0.5 * (-bm + sbpcam); + } +} + +void RealFFTI(const ColumnVector& A, const ColumnVector& B, ColumnVector& U) +{ + // inverse of a Fourier transform of a real series + Tracer trace("RealFFTI"); + REPORT + const int n21 = A.Nrows(); // length of arrays + if (n21 != B.Nrows() || n21 == 0) + Throw(ProgramException("Vector lengths unequal or zero", A, B)); + const int n2 = n21 - 1; const int n = 2 * n2; int i = n2 - 1; + + ColumnVector X(n2), Y(n2); + Real* a = A.Store(); Real* b = B.Store(); // first els of A and B + Real* an = a + n2; Real* bn = b + n2; // last els of A and B + Real* x = X.Store(); Real* y = Y.Store(); // first els of X and Y + Real* xn = x + i; Real* yn = y + i; // last els of X and Y + + Real hn = 0.5 / n2; + *x++ = hn * (*a + *an); *y++ = - hn * (*a - *an); + a++; an--; b++; bn--; + int j = -1; i = n2/2; + while (i--) + { + Real c,s; cossin(j--,n,c,s); + Real am = *a - *an; Real ap = *a++ + *an--; + Real bm = *b - *bn; Real bp = *b++ + *bn--; + Real samcbp = s * am - c * bp; Real sbpcam = s * bp + c * am; + *x++ = hn * ( ap + samcbp); *y++ = - hn * ( bm + sbpcam); + *xn-- = hn * ( ap - samcbp); *yn-- = - hn * (-bm + sbpcam); + } + FFT(X,Y,X,Y); // have done inverting elsewhere + U.ReSize(n); i = n2; + x = X.Store(); y = Y.Store(); Real* u = U.Store(); + while (i--) { *u++ = *x++; *u++ = - *y++; } +} + +void FFT(const ColumnVector& U, const ColumnVector& V, + ColumnVector& X, ColumnVector& Y) +{ + // from Carl de Boor (1980), Siam J Sci Stat Comput, 1 173-8 + // but first try Sande and Gentleman + Tracer trace("FFT"); + REPORT + const int n = U.Nrows(); // length of arrays + if (n != V.Nrows() || n == 0) + Throw(ProgramException("Vector lengths unequal or zero", U, V)); + if (n == 1) { REPORT X = U; Y = V; return; } + + // see if we can use the newfft routine + if (!FFT_Controller::OnlyOldFFT && FFT_Controller::CanFactor(n)) + { + REPORT + X = U; Y = V; + if ( FFT_Controller::ar_1d_ft(n,X.Store(),Y.Store()) ) return; + } + + ColumnVector B = V; + ColumnVector A = U; + X.ReSize(n); Y.ReSize(n); + const int nextmx = 8; +#ifndef ATandT + int prime[8] = { 2,3,5,7,11,13,17,19 }; +#else + int prime[8]; + prime[0]=2; prime[1]=3; prime[2]=5; prime[3]=7; + prime[4]=11; prime[5]=13; prime[6]=17; prime[7]=19; +#endif + int after = 1; int before = n; int next = 0; bool inzee = true; + int now = 0; int b1; // initialised to keep gnu happy + + do + { + for (;;) + { + if (next < nextmx) { REPORT now = prime[next]; } + b1 = before / now; if (b1 * now == before) { REPORT break; } + next++; now += 2; + } + before = b1; + + if (inzee) { REPORT fftstep(A, B, X, Y, after, now, before); } + else { REPORT fftstep(X, Y, A, B, after, now, before); } + + inzee = !inzee; after *= now; + } + while (before != 1); + + if (inzee) { REPORT A.Release(); X = A; B.Release(); Y = B; } +} + +// Trigonometric transforms +// see Charles Van Loan (1992) "Computational frameworks for the fast +// Fourier transform" published by SIAM; section 4.4. + +void DCT_II(const ColumnVector& U, ColumnVector& V) +{ + // Discrete cosine transform, type II, of a real series + Tracer trace("DCT_II"); + REPORT + const int n = U.Nrows(); // length of arrays + const int n2 = n / 2; const int n4 = n * 4; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", U)); + ColumnVector A(n); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); + int i = n2; + while (i--) { *a++ = *u++; *(--b) = *u++; } + ColumnVector X, Y; + RealFFT(A, X, Y); A.CleanUp(); + V.ReSize(n); + Real* x = X.Store(); Real* y = Y.Store(); + Real* v = V.Store(); Real* w = v + n; + *v = *x; + int k = 0; i = n2; + while (i--) + { + Real c, s; cossin(++k, n4, c, s); + Real xi = *(++x); Real yi = *(++y); + *(++v) = xi * c + yi * s; *(--w) = xi * s - yi * c; + } +} + +void DCT_II_inverse(const ColumnVector& V, ColumnVector& U) +{ + // Inverse of discrete cosine transform, type II + Tracer trace("DCT_II_inverse"); + REPORT + const int n = V.Nrows(); // length of array + const int n2 = n / 2; const int n4 = n * 4; const int n21 = n2 + 1; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", V)); + ColumnVector X(n21), Y(n21); + Real* x = X.Store(); Real* y = Y.Store(); + Real* v = V.Store(); Real* w = v + n; + *x = *v; *y = 0.0; + int i = n2; int k = 0; + while (i--) + { + Real c, s; cossin(++k, n4, c, s); + Real vi = *(++v); Real wi = *(--w); + *(++x) = vi * c + wi * s; *(++y) = vi * s - wi * c; + } + ColumnVector A; RealFFTI(X, Y, A); + X.CleanUp(); Y.CleanUp(); U.ReSize(n); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); + i = n2; + while (i--) { *u++ = *a++; *u++ = *(--b); } +} + +void DST_II(const ColumnVector& U, ColumnVector& V) +{ + // Discrete sine transform, type II, of a real series + Tracer trace("DST_II"); + REPORT + const int n = U.Nrows(); // length of arrays + const int n2 = n / 2; const int n4 = n * 4; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", U)); + ColumnVector A(n); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); + int i = n2; + while (i--) { *a++ = *u++; *(--b) = -(*u++); } + ColumnVector X, Y; + RealFFT(A, X, Y); A.CleanUp(); + V.ReSize(n); + Real* x = X.Store(); Real* y = Y.Store(); + Real* v = V.Store(); Real* w = v + n; + *(--w) = *x; + int k = 0; i = n2; + while (i--) + { + Real c, s; cossin(++k, n4, c, s); + Real xi = *(++x); Real yi = *(++y); + *v++ = xi * s - yi * c; *(--w) = xi * c + yi * s; + } +} + +void DST_II_inverse(const ColumnVector& V, ColumnVector& U) +{ + // Inverse of discrete sine transform, type II + Tracer trace("DST_II_inverse"); + REPORT + const int n = V.Nrows(); // length of array + const int n2 = n / 2; const int n4 = n * 4; const int n21 = n2 + 1; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", V)); + ColumnVector X(n21), Y(n21); + Real* x = X.Store(); Real* y = Y.Store(); + Real* v = V.Store(); Real* w = v + n; + *x = *(--w); *y = 0.0; + int i = n2; int k = 0; + while (i--) + { + Real c, s; cossin(++k, n4, c, s); + Real vi = *v++; Real wi = *(--w); + *(++x) = vi * s + wi * c; *(++y) = - vi * c + wi * s; + } + ColumnVector A; RealFFTI(X, Y, A); + X.CleanUp(); Y.CleanUp(); U.ReSize(n); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); + i = n2; + while (i--) { *u++ = *a++; *u++ = -(*(--b)); } +} + +void DCT_inverse(const ColumnVector& V, ColumnVector& U) +{ + // Inverse of discrete cosine transform, type I + Tracer trace("DCT_inverse"); + REPORT + const int n = V.Nrows()-1; // length of transform + const int n2 = n / 2; const int n21 = n2 + 1; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", V)); + ColumnVector X(n21), Y(n21); + Real* x = X.Store(); Real* y = Y.Store(); Real* v = V.Store(); + Real vi = *v++; *x++ = vi; *y++ = 0.0; + Real sum1 = vi / 2.0; Real sum2 = sum1; vi = *v++; + int i = n2-1; + while (i--) + { + Real vi2 = *v++; sum1 += vi2 + vi; sum2 += vi2 - vi; + *x++ = vi2; vi2 = *v++; *y++ = vi - vi2; vi = vi2; + } + sum1 += vi; sum2 -= vi; + vi = *v; *x = vi; *y = 0.0; vi /= 2.0; sum1 += vi; sum2 += vi; + ColumnVector A; RealFFTI(X, Y, A); + X.CleanUp(); Y.CleanUp(); U.ReSize(n+1); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); v = u + n; + i = n2; int k = 0; *u++ = sum1 / n2; *v-- = sum2 / n2; + while (i--) + { + Real s = sin(1.5707963267948966192 * (++k) / n2); + Real ai = *(++a); Real bi = *(--b); + Real bz = (ai - bi) / 4 / s; Real az = (ai + bi) / 2; + *u++ = az - bz; *v-- = az + bz; + } +} + +void DCT(const ColumnVector& U, ColumnVector& V) +{ + // Discrete cosine transform, type I + Tracer trace("DCT"); + REPORT + DCT_inverse(U, V); + V *= (V.Nrows()-1)/2; +} + +void DST_inverse(const ColumnVector& V, ColumnVector& U) +{ + // Inverse of discrete sine transform, type I + Tracer trace("DST_inverse"); + REPORT + const int n = V.Nrows()-1; // length of transform + const int n2 = n / 2; const int n21 = n2 + 1; + if (n != 2 * n2) + Throw(ProgramException("Vector length not multiple of 2", V)); + ColumnVector X(n21), Y(n21); + Real* x = X.Store(); Real* y = Y.Store(); Real* v = V.Store(); + Real vi = *(++v); *x++ = 2 * vi; *y++ = 0.0; + int i = n2-1; + while (i--) { *y++ = *(++v); Real vi2 = *(++v); *x++ = vi2 - vi; vi = vi2; } + *x = -2 * vi; *y = 0.0; + ColumnVector A; RealFFTI(X, Y, A); + X.CleanUp(); Y.CleanUp(); U.ReSize(n+1); + Real* a = A.Store(); Real* b = a + n; Real* u = U.Store(); v = u + n; + i = n2; int k = 0; *u++ = 0.0; *v-- = 0.0; + while (i--) + { + Real s = sin(1.5707963267948966192 * (++k) / n2); + Real ai = *(++a); Real bi = *(--b); + Real az = (ai + bi) / 4 / s; Real bz = (ai - bi) / 2; + *u++ = az - bz; *v-- = az + bz; + } +} + +void DST(const ColumnVector& U, ColumnVector& V) +{ + // Discrete sine transform, type I + Tracer trace("DST"); + REPORT + DST_inverse(U, V); + V *= (V.Nrows()-1)/2; +} + + + +#ifdef use_namespace +} +#endif + + diff --git a/.svn/pristine/aa/aa2c13e21d1be6d3bb0c7672c95d3c97457a168d.svn-base b/.svn/pristine/aa/aa2c13e21d1be6d3bb0c7672c95d3c97457a168d.svn-base new file mode 100644 index 0000000..4dbf440 --- /dev/null +++ b/.svn/pristine/aa/aa2c13e21d1be6d3bb0c7672c95d3c97457a168d.svn-base @@ -0,0 +1,241 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job) +{ + +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + +job->cfg.out_format=XML; else +job->cfg.cfilter = "0-9"; + +job->src.fname = "patch00000.pgm"; // TODO +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ +int main(int argn, char *argv[]) { + int multipnm=1; + job_t job; + setvbuf(stdout, (char *) NULL, _IONBF, 0); /* not buffered */ + + while (multipnm==1) { + + job_init(&job); + +// process_arguments(&job, argn, argv); + + mark_start(&job); + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + mark_end(&job); + + job_free(&job); + + } + + return 0; +} + + + +void test() { + int multipnm=1; + job_t job; + + while (multipnm==1) { + job_init(&job); + + job->cfg.out_format=XML; + job->cfg.cfilter = "0-9"; + job->src.fname = "patch00000.pgm"; // TODO + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +} diff --git a/.svn/pristine/aa/aab1465d67abf5a9f1931f8e19ebeefa1a6ddee0.svn-base b/.svn/pristine/aa/aab1465d67abf5a9f1931f8e19ebeefa1a6ddee0.svn-base new file mode 100644 index 0000000..a915c99 --- /dev/null +++ b/.svn/pristine/aa/aab1465d67abf5a9f1931f8e19ebeefa1a6ddee0.svn-base @@ -0,0 +1,214 @@ +/* + * icp6Dlumeuler implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via + * linearization using euler angles + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dlumeuler.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" + +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using linearization with euler angles + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_LUMEULER::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + // alignxf is filled with the current pose, rPos is the translation, rPosTheta are the 3 euler angles theta_x, theta_y, theta_z + double rPos[3], rPosTheta[3]; + Matrix4ToEuler(alignfx, rPosTheta, rPos); + + double error = 0; + double sum = 0.0; + + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "LUMEULER RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + double x = 0.0, y = 0.0, z = 0.0, dx = 0.0, dy = 0.0, dz = 0.0, sx = 0.0, sy = 0.0, sz = 0.0, xpy = 0.0, xpz = 0.0, ypz = 0.0, xy = 0.0, yz = 0.0, xz = 0.0; + + /// MZ = M^T * Z + ColumnVector MZ(6); MZ = 0.0; + /// MM = M^T * M + SymmetricMatrix MM(6); MM = 0.0; + for(unsigned int i = 0; i < pairs.size(); ++i) { + /// temporary values that we shall use multiple times in the subsequent computations + x = (pairs[i].p1.x + pairs[i].p2.x) / 2.0; + y = (pairs[i].p1.y + pairs[i].p2.y) / 2.0; + z = (pairs[i].p1.z + pairs[i].p2.z) / 2.0; + dx = pairs[i].p1.x - pairs[i].p2.x; + dy = pairs[i].p1.y - pairs[i].p2.y; + dz = pairs[i].p1.z - pairs[i].p2.z; + + /// sums of each coordinate + sx += x; + sy += y; + sz += z; + + /// sums of squares of pairs of coordinates + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + + /// sums of products of pairs of coordinates + xy += x*y; + xz += x*z; + yz += y*z; + + /// incrementally construct M^T * Z + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += -z*dy + y*dz; + MZ(5) += -y*dx + x*dy; + MZ(6) += z*dx - x*dz; + } + + /// construct M^T * M + MM(1,1) = MM(2,2) = MM(3,3) = pairs.size(); + MM(4,4) = ypz; + MM(5,5) = xpy; + MM(6,6) = xpz; + MM(1,5) = MM(5,1) = -sy; + MM(1,6) = MM(6,1) = sz; + MM(2,4) = MM(4,2) = -sz; + MM(2,5) = MM(5,2) = sx; + MM(3,4) = MM(4,3) = sy; + MM(3,6) = MM(6,3) = -sx; + MM(4,5) = MM(5,4) = -xz; + MM(4,6) = MM(6,4) = -xy; + MM(5,6) = MM(6,5) = -yz; + + ColumnVector Ehat(6); + Ehat = MM.i() * MZ; + + double cosx = cos(rPosTheta[0]), cosy = cos(rPosTheta[1]), cosz = cos(rPosTheta[2]); + double sinx = sin(rPosTheta[0]), siny = sin(rPosTheta[1]), sinz = sin(rPosTheta[2]); + double tx = rPos[0], ty = rPos[1], tz = rPos[2]; + /// create transform matrix of the first scan + Matrix T1(4, 4); T1 = IdentityMatrix(4); + T1(1, 4) = tx; + T1(2, 4) = ty; + T1(3, 4) = tz; + T1(1, 1) = cosy*cosz; + T1(1, 2) = -cosy*sinz; + T1(1, 3) = siny; + T1(2, 1) = cosz*sinx*siny + cosx*sinz; + T1(2, 2) = cosx*cosz-sinx*siny*sinz; + T1(2, 3) = -cosy*sinx; + T1(3, 1) = sinx*sinz - cosx*cosz*siny; + T1(3, 2) = cosz*sinx + cosx*siny*sinz; + T1(3, 3) = cosx*cosy; + + /// create matrix H + Matrix H(6, 6); H = IdentityMatrix(6); + H(1, 5) = -tz*cosx + ty*sinx; + H(1, 6) = ty*cosx*cosy + tz*cosy*sinx; + H(2, 4) = tz; + H(2, 5) = -tx*sinx; + H(2, 6) = -tx*cosx*cosy + tz*siny; + H(3, 4) = -ty; + H(3, 5) = tx*cosx; + H(3, 6) = -tx*cosy*sinx - ty*siny; + H(4, 6) = siny; + H(5, 5) = sinx; + H(5, 6) = cosx*cosy; + H(6, 5) = cosx; + H(6, 6) = -cosy*sinx; + + /// the vector Xhat is the pose estimation of the second scan = the final pose of the first scan + ColumnVector Xhat(6); Xhat << rPos[0] << rPos[1] << rPos[2] << rPosTheta[0] << rPosTheta[1] << rPosTheta[2]; + ColumnVector X = Xhat - H.i()*Ehat; + + cosx = cos(X(4)), cosy = cos(X(5)), cosz = cos(X(6)); + sinx = sin(X(4)), siny = sin(X(5)), sinz = sin(X(6)); + /// transform of the second scan as computed so far + Matrix T2(4, 4); T2 = IdentityMatrix(4); + T2(1, 4) = X(1); + T2(2, 4) = X(2); + T2(3, 4) = X(3); + T2(1, 1) = cosy*cosz; + T2(1, 2) = -cosy*sinz; + T2(1, 3) = siny; + T2(2, 1) = cosz*sinx*siny + cosx*sinz; + T2(2, 2) = cosx*cosz-sinx*siny*sinz; + T2(2, 3) = -cosy*sinx; + T2(3, 1) = sinx*sinz - cosx*cosz*siny; + T2(3, 2) = cosz*sinx + cosx*siny*sinz; + T2(3, 3) = cosx*cosy; + + /// the incremental transform calculated from the absolute poses of the two scans + Matrix T_inc = T1 * T2.i(); + + /// convert our 4x4 transform to column-wise opengl form + alignfx[0] = T_inc(1, 1); + alignfx[1] = T_inc(2, 1); + alignfx[2] = T_inc(3, 1); + alignfx[3] = 0.0; + alignfx[4] = T_inc(1, 2); + alignfx[5] = T_inc(2, 2); + alignfx[6] = T_inc(3, 2); + alignfx[7] = 0.0; + alignfx[8] = T_inc(1, 3); + alignfx[9] = T_inc(2, 3); + alignfx[10]= T_inc(3, 3); + alignfx[11]= 0.0; + alignfx[12]= T_inc(1, 4); + alignfx[13]= T_inc(2, 4); + alignfx[14]= T_inc(3, 4); + alignfx[15]= 1.0; + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + + return error; +} + diff --git a/.svn/pristine/ab/ab3b9af18238b383949e4436d1408d04d8b994f5.svn-base b/.svn/pristine/ab/ab3b9af18238b383949e4436d1408d04d8b994f5.svn-base new file mode 100644 index 0000000..3ec7708 --- /dev/null +++ b/.svn/pristine/ab/ab3b9af18238b383949e4436d1408d04d8b994f5.svn-base @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan for leica ASCII file format with relectance values. + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_LEICA_H__ +#define __SCAN_IO_LEICA_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for leica ASCII + reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_leica_txt : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/ab/ab508915b0cca998c2dbd3f4c2a6ed05c9465d2e.svn-base b/.svn/pristine/ab/ab508915b0cca998c2dbd3f4c2a6ed05c9465d2e.svn-base new file mode 100644 index 0000000..27a18dc --- /dev/null +++ b/.svn/pristine/ab/ab508915b0cca998c2dbd3f4c2a6ed05c9465d2e.svn-base @@ -0,0 +1,155 @@ + +//#define WANT_STREAM + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat4() +{ +// cout << "\nFourth test of Matrix package\n"; + Tracer et("Fourth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + { + Tracer et1("Stage 1"); + Matrix M(10,10); + UpperTriangularMatrix U(10); + for (i=1;i<=10;i++) for (j=1;j<=10;j++) M(i,j) = 100*i+j; + U << -M; + Matrix X1 = M.Rows(2,4); + Matrix Y1 = U.t().Rows(2,4); + Matrix X = U; { Print(Matrix(X.Columns(2,4).t()-Y1)); } + RowVector RV = M.Row(5); + { + X.ReSize(3,10); + X.Row(1) << M.Row(2); X.Row(2) << M.Row(3); X.Row(3) << M.Row(4); + Print(Matrix(X-X1)); + } + { + UpperTriangularMatrix V = U.SymSubMatrix(3,5); + Matrix MV = U.SubMatrix(3,5,3,5); { Print(Matrix(MV-V)); } + Matrix X2 = M.t().Columns(2,4); { Print(Matrix(X2-X1.t())); } + Matrix Y2 = U.Columns(2,4); { Print(Matrix(Y2-Y1.t())); } + ColumnVector CV = M.t().Column(5); { Print(ColumnVector(CV-RV.t())); } + X.ReSize(10,3); M = M.t(); + X.Column(1) << M.Column(2); X.Column(2) << M.Column(3); + X.Column(3) << M.Column(4); + Print(Matrix(X-X2)); + } + } + + { + Tracer et1("Stage 2"); + Matrix M; Matrix X; M.ReSize(5,8); + for (i=1;i<=5;i++) for (j=1;j<=8;j++) M(i,j) = 100*i+j; + { + X = M.Columns(5,8); M.Columns(5,8) << M.Columns(1,4); + M.Columns(1,4) << X; + X = M.Columns(3,4); M.Columns(3,4) << M.Columns(1,2); + M.Columns(1,2) << X; + X = M.Columns(7,8); M.Columns(7,8) << M.Columns(5,6); + M.Columns(5,6) << X; + } + { + X = M.Column(2); M.Column(2) = M.Column(1); M.Column(1) = X; + X = M.Column(4); M.Column(4) = M.Column(3); M.Column(3) = X; + X = M.Column(6); M.Column(6) = M.Column(5); M.Column(5) = X; + X = M.Column(8); M.Column(8) = M.Column(7); M.Column(7) = X; + X.ReSize(5,8); + } + for (i=1;i<=5;i++) for (j=1;j<=8;j++) X(i,9-j) = 100*i+j; + Print(Matrix(X-M)); + } + { + Tracer et1("Stage 3"); + // try submatrices of zero dimension + Matrix A(4,5); Matrix B, C; + for (i=1; i<=4; i++) for (j=1; j<=5; j++) + A(i,j) = 100+i*10+j; + B = A + 100; + C = A | B.Columns(4,3); Print(Matrix(A - C)); + C = A | B.Columns(1,0); Print(Matrix(A - C)); + C = A | B.Columns(6,5); Print(Matrix(A - C)); + C = A & B.Rows(2,1); Print(Matrix(A - C)); + } + { + Tracer et1("Stage 4"); + BandMatrix BM(5,3,2); + BM(1,1) = 1; BM(1,2) = 2; BM(1,3) = 3; + BM(2,1) = 4; BM(2,2) = 5; BM(2,3) = 6; BM(2,4) = 7; + BM(3,1) = 8; BM(3,2) = 9; BM(3,3) =10; BM(3,4) =11; BM(3,5) =12; + BM(4,1) =13; BM(4,2) =14; BM(4,3) =15; BM(4,4) =16; BM(4,5) =17; + BM(5,2) =18; BM(5,3) =19; BM(5,4) =20; BM(5,5) =21; + SymmetricBandMatrix SM(5,3); + SM.Inject(BandMatrix(BM + BM.t())); + Matrix A = BM + 1; + Matrix M = A + A.t() - 2; + Matrix C = A.i() * BM; + C = A * C - BM; Clean(C, 0.000000001); Print(C); + C = A.i() * SM; + C = A * C - M; Clean(C, 0.000000001); Print(C); + + // check row-wise load + BandMatrix BM1(5,3,2); + BM1.Row(1) << 1 << 2 << 3; + BM1.Row(2) << 4 << 5 << 6 << 7; + BM1.Row(3) << 8 << 9 << 10 << 11 << 12; + BM1.Row(4) << 13 << 14 << 15 << 16 << 17; + BM1.Row(5) << 18 << 19 << 20 << 21; + Matrix M1 = BM1 - BM; Print(M1); + } + { + Tracer et1("Stage 5"); + Matrix X(4,4); + X << 1 << 2 << 3 << 4 + << 5 << 6 << 7 << 8 + << 9 <<10 <<11 <<12 + <<13 <<14 <<15 <<16; + Matrix Y(4,0); + Y = X | Y; + X -= Y; Print(X); + + DiagonalMatrix D(1); + D << 23; // matrix input with just one value + D(1) -= 23; Print(D); + + } + { + Tracer et1("Stage 6"); + Matrix h (2,2); + h << 1.0 << 2.0 << 0.0 << 1.0 ; + RowVector c(2); + c << 0.0 << 1.0; + h -= c & c; + h -= c.t().Reverse() | c.Reverse().t(); + Print(h); + } + { + Tracer et1("Stage 7"); + // Check row-wise input for diagonal matrix + DiagonalMatrix D(4); + D << 18 << 23 << 31 << 17; + DiagonalMatrix D1(4); + D1.Row(1) << 18; D1.Row(2) << 23; D1.Row(3) << 31; D1.Row(4) << 17; + D1 -= D; Print(D1); + D1(1) = 18; D1(2) = 23; D1(3) = 31; D1(4) = 17; + D1 -= D; Print(D1); + } + +// cout << "\nEnd of fourth test\n"; +} + diff --git a/.svn/pristine/ab/ab518997e3cf38b2133b605aff3c07d0f945414a.svn-base b/.svn/pristine/ab/ab518997e3cf38b2133b605aff3c07d0f945414a.svn-base new file mode 100644 index 0000000..4f43b6f --- /dev/null +++ b/.svn/pristine/ab/ab518997e3cf38b2133b605aff3c07d0f945414a.svn-base @@ -0,0 +1,131 @@ +/** + * @file labeledPlane3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +#ifndef LABELEDPLANE3D_H_ +#define LABELEDPLANE3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" +#include "model/candidateOpening.h" +#include "model/commonTypes.h" + +#include +#include +#include +#include + +#include + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +//============================================================================== +// Class Declarations +//============================================================================== +namespace model { + +/** + * The three possible labels on a wall, as a result of the raytracing algorithm. + */ +enum Label { + EMPTY, OCCUPIED, OCCLUDED, OPENING, UNKOWN +}; + +/** + * A class representing a plane that has additional features such as labeling of patches. + */ +class LabeledPlane3d : public Plane3d { +private: + static const std::string RED; + static const std::string GREEN; + static const std::string BLUE; + static const std::string WHITE; + + static const double LINE_EPSILON; //!< An epislon value to decide whether a line is horizontal or vertical. + + static const double SOBEL_SCALE; //!< To be used when applying Sobel to any image. + static const double SOBEL_DELTA; //!< To be used when applying Sobel to any image. + static const int SOBEL_KERNEL; //!< To be used when applying Sobel to any image. + + static const double CANNY_THRESH1; //!< The lower threshold for Canny. + static const double CANNY_THRESH2; //!< The upper threshold for Canny. + + static const double HOUGH_RHO; //!< Rho used in the Hough transform. + static const double HOUGH_THETA; //!< Theta used in the Hough transform. + static const int HOUGH_THRESH; //!< Hough transform threshold. + static const double HOUGH_MIN_LINE_LEN; //!< Minimum line length for Hough transform. + + static const double MIN_EMPTY_AREA; //!< Minimum empty area percentage. + static const double MIN_TOTAL_AREA; //!< Minimum total area percentage of wall. + static const double MAX_TOTAL_AREA; //!< Maximum total area percentage of wall. + +private: + std::string name; + +public: + /** + * Each discrete patch is described in this matrix. + */ + std::vector > > patches; + + /** + * Remember a depth map of the plane to be used when detecting the windows. + * To be built in the same time when applying labels. + */ + std::vector > depthMap; + + /** + * The OpenCV image of the depthMap. + */ + cv::Mat depthImg; + + /** + * The corrected depth image of the wall; + */ + cv::Mat correctedDepthImg; + + /** + * The wall distance and the maximum distance (2 * wall distance + ray distance) + * at which the depth map was computed. + */ + std::pair depthMapDistances; + + // constructores and destructors + LabeledPlane3d(); + LabeledPlane3d(const Point3d& pt, const Vector3d& normal); + LabeledPlane3d(const Point3d& pt, const Vector3d& normal, const std::vector& hull); + + LabeledPlane3d(const LabeledPlane3d& other); + virtual ~LabeledPlane3d(); + + // operators + LabeledPlane3d& operator=(const LabeledPlane3d& other); + + /** + * Computes the Canny for this wall using the depth image. + */ + void detectEdges(cv::Mat& img, cv::Mat& hImg, cv::Mat& vImg, cv::Mat& combined) const; + + /** + * Computes the horizontal and vertical lines. + */ + void computeLines(std::vector& verticalResult, std::vector& horizontalResult) const; + + /** + * Returns all opening candidates. + */ + void computeOpeningCandidates(std::vector& candidates) const; +}; + +} /* namespace model */ + +#endif /* LABELEDPLANE3D_H_ */ diff --git a/.svn/pristine/ab/ab9a0fd1b9110d10fecaef454992190248c843de.svn-base b/.svn/pristine/ab/ab9a0fd1b9110d10fecaef454992190248c843de.svn-base new file mode 100644 index 0000000..81f53b4 --- /dev/null +++ b/.svn/pristine/ab/ab9a0fd1b9110d10fecaef454992190248c843de.svn-base @@ -0,0 +1,37 @@ +Project admins + +Andreas Nuechter andreas@nuechti.de +Kai Lingemann kai.lingemann@gmx.de +Dorit Borrmann d.borrmann@jacobs-university.de + +List of contributors + +Andreas Nuechter andreas@nuechti.de +Kai Lingemann kai.lingemann@gmx.de +Dorit Borrmann d.borrmann@jacobs-university.de +Jan Elseberg j.elseberg@jacobs-university.de +Jochen Sprickerhof jochen@sprickerhof.de +HamidReza Houshiar h.houshiar@jacobs-university.de +Sven Albrecht sven.albrecht@uni-osnabrueck.de +Stan Serebryakov cfr.ssv@gmail.com +Thomas Escher tescher@uni-osnabrueck.de +Thomas Wiemann twiemann@uni-osnabrueck.de +Alexandru Tandrau alexandru@tandrau.com +Alexandru Eugen Ichim eugen@alexichim.com +Flavia Grosan me@flaviagrosan.com +Deyuan Qiu deyuan.qiu@googlemail.com +Darko Makreshanski d.makreshanski@jacobs-university.de +Mohammad Faisal Abdullah m.faisal@jacobs-university.de +Li Ming liming751218@whu.edu.cn +Li Wei xpaulee@gmail.com +Shams Feyzabadi sh.feyzabadi@gmail.co +Vladislav Perelmann v.perelman@jacobs-university.de +Chen Long lchen.whu@gmail.com +Remuas Dumitru r.dumitru@jaocbs-university.de + +Further contributors + +Uwe Hebbelmann, Sebastian Stock, Andre Schemschat +Hartmut Surmann +Amuz Tamrakars, Ulugbek Makhmudov +Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz \ No newline at end of file diff --git a/.svn/pristine/ab/aba329d28e77f00b9318e6127a2a5fbe6cb37d77.svn-base b/.svn/pristine/ab/aba329d28e77f00b9318e6127a2a5fbe6cb37d77.svn-base new file mode 100644 index 0000000..f77dcfe --- /dev/null +++ b/.svn/pristine/ab/aba329d28e77f00b9318e6127a2a5fbe6cb37d77.svn-base @@ -0,0 +1,83 @@ + INSTALLING gOCR + + +INSTALLING BINARIES +------------------- +Be sure that you have all the libraries needed. To install a binary package, +do the following: + +1. Unpack the archive if you have not done so already: + + tar -xzf gocr[version].tar.gz + +on older tar versions, the above line might not work. If so, try the following: + + gzip -cd gocr[version].tgz | tar -xf - + +This creates the directory ./gocr[version] containing the source from +the main archive. + +2. Change to gocr directory and run make (use GNU Make). + + cd gocr[version]; make install + +That's it. + +INSTALLING FROM SOURCE +---------------------- + +Requirements +------------ +You'll need a compiler; we recommend gcc, but the code should compile in any +good one. gcc is available at http://gcc.gnu.org. I had some problems with gcc +2.95.1 (it consumed a LOT of memory while compiling ocr0.c). 2.95.2 seems to +be better. + +gOCR provides some simple functions to read/write pnm archives. Though not +needed, we strongly suggest, however, that you install the NetPBM package. Its +official URL is: http://download.sourceforge.net/netpbm/. + +Installing this package will add support to many different image formats. +If you have a NetPBM version older than August 2000, we suggest that you +download a more recent one, to take advantage of the new PAM functions. + +To create some of the examples provided, you'll need transfig. +This is completely optional. + +Procedure +--------- +1. Unpack the archive if you have not done so already: + + tar -xzf gocr[version].tar.gz + +on older tar versions, the above line might not work. If so, try the following: + + gzip -cd gocr[version].tgz | tar -xf - + +This creates the directory ./gocr[version] containing the source from +the main archive. + +2. Change to gocr directory and run configure. + + cd gocr[version]; ./configure + +For a list of options, try ./configure --help. +If something goes wrong, try to run autoconf. + +3. Run make (GNU Make). This can take a while. + + make + +4. gOCR comes with some examples, which are generated from xfig-files. + If you have transfig installed, you can make them: + + make examples + +5. Install the binaries. You may need to do this as root. + + make install + +6. Run gocr, or the frontend you chose. + + gocr -h Shows help + gocr.tcl Runs Tcl GUI diff --git a/.svn/pristine/ac/ac34815c925af2d4224172bf903bc971def4a274.svn-base b/.svn/pristine/ac/ac34815c925af2d4224172bf903bc971def4a274.svn-base new file mode 100644 index 0000000..388095c --- /dev/null +++ b/.svn/pristine/ac/ac34815c925af2d4224172bf903bc971def4a274.svn-base @@ -0,0 +1,322 @@ +//$$ newmatnl.h definition file for non-linear optimisation + +// Copyright (C) 1993,4,5: R B Davies + +#ifndef NEWMATNL_LIB +#define NEWMATNL_LIB 0 + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +/* + +This is a beginning of a series of classes for non-linear optimisation. + +At present there are two classes. FindMaximum2 is the basic optimisation +strategy when one is doing an optimisation where one has first +derivatives and estimates of the second derivatives. Class +NonLinearLeastSquares is derived from FindMaximum2. This provides the +functions that calculate function values and derivatives. + +A third class is now added. This is for doing maximum-likelihood when +you have first derviatives and something like the Fisher Information +matrix (eg the variance covariance matrix of the first derivatives or +minus the second derivatives - this matrix is assumed to be positive +definite). + + + + class FindMaximum2 + +Suppose T is the ColumnVector of parameters, F(T) the function we want +to maximise, D(T) the ColumnVector of derivatives of F with respect to +T, and S(T) the matrix of second derivatives. + +Then the basic iteration is given a value of T, update it to + + T - S.i() * D + +where .i() denotes inverse. + +If F was quadratic this would give exactly the right answer (except it +might get a minimum rather than a maximum). Since F is not usually +quadratic, the simple procedure would be to recalculate S and D with the +new value of T and keep iterating until the process converges. This is +known as the method of conjugate gradients. + +In practice, this method may not converge. FindMaximum2 considers an +iteration of the form + + T - x * S.i() * D + +where x is a number. It tries x = 1 and uses the values of F and its +slope with respect to x at x = 0 and x = 1 to fit a cubic in x. It then +choses x to maximise the resulting function. This gives our new value of +T. The program checks that the value of F is getting better and carries +out a variety of strategies if it is not. + +The program also has a second strategy. If the successive values of T +seem to be lying along a curve - eg we are following along a curved +ridge, the program will try to fit this ridge and project along it. This +does not work at present and is commented out. + +FindMaximum2 has three virtual functions which need to be over-ridden by +a derived class. + + void Value(const ColumnVector& T, bool wg, Real& f, bool& oorg); + +T is the column vector of parameters. The function returns the value of +the function to f, but may instead set oorg to true if the parameter +values are not valid. If wg is true it may also calculate and store the +second derivative information. + + bool NextPoint(ColumnVector& H, Real& d); + +Using the value of T provided in the previous call of Value, find the +conjugate gradients adjustment to T, that is - S.i() * D. Also return + + d = D.t() * S.i() * D. + +NextPoint should return true if it considers that the process has +converged (d very small) and false otherwise. The previous call of Value +will have set wg to true, so that S will be available. + + Real LastDerivative(const ColumnVector& H); + +Return the scalar product of H and the vector of derivatives at the last +value of T. + +The function Fit is the function that calls the iteration. + + void Fit(ColumnVector&, int); + +The arguments are the trial parameter values as a ColumnVector and the +maximum number of iterations. The program calls a DataException if the +initial parameters are not valid and a ConvergenceException if the +process fails to converge. + + + class NonLinearLeastSquares + +This class is derived from FindMaximum2 and carries out a non-linear +least squares fit. It uses a QR decomposition to carry out the +operations required by FindMaximum2. + +A prototype class R1_Col_I_D is provided. The user needs to derive a +class from this which includes functions the predicted value of each +observation its derivatives. An object from this class has to be +provided to class NonLinearLeastSquares. + +Suppose we observe n normal random variables with the same unknown +variance and such the i-th one has expected value given by f(i,P) +where P is a column vector of unknown parameters and f is a known +function. We wish to estimate P. + +First derive a class from R1_Col_I_D and override Real operator()(int i) +to give the value of the function f in terms of i and the ColumnVector +para defined in class R1_CoL_I_D. Also override ReturnMatrix +Derivatives() to give the derivates of f at para and the value of i +used in the preceeding call to operator(). Return the result as a +RowVector. Construct an object from this class. Suppose in what follows +it is called pred. + +Now constuct a NonLinearLeastSquaresObject accessing pred and optionally +an iteration limit and an accuracy critierion. + + NonLinearLeastSquares NLLS(pred, 1000, 0.0001); + +The accuracy critierion should be somewhat less than one and 0.0001 is +about the smallest sensible value. + +Define a ColumnVector P containing a guess at the value of the unknown +parameter, and a ColumnVector Y containing the unknown data. Call + + NLLS.Fit(Y,P); + +If the process converges, P will contain the estimates of the unknown +parameters. If it does not converge an exception will be generated. + +The following member functions can be called after you have done a fit. + +Real ResidualVariance() const; + +The estimate of the variance of the observations. + +void GetResiduals(ColumnVector& Z) const; + +The residuals of the individual observations. + +void GetStandardErrors(ColumnVector&); + +The standard errors of the observations. + +void GetCorrelations(SymmetricMatrix&); + +The correlations of the observations. + +void GetHatDiagonal(DiagonalMatrix&) const; + +Forms a diagonal matrix of values between 0 and 1. If the i-th value is +larger than, say 0.2, then the i-th data value could have an undue +influence on your estimates. + + +*/ + +class FindMaximum2 +{ + virtual void Value(const ColumnVector&, bool, Real&, bool&) = 0; + virtual bool NextPoint(ColumnVector&, Real&) = 0; + virtual Real LastDerivative(const ColumnVector&) = 0; +public: + void Fit(ColumnVector&, int); + virtual ~FindMaximum2() {} // to keep gnu happy +}; + +class R1_Col_I_D +{ + // The prototype for a Real function of a ColumnVector and an + // integer. + // You need to derive your function from this one and put in your + // function for operator() and Derivatives() at least. + // You may also want to set up a constructor to enter in additional + // parameter values (that will not vary during the solve). + +protected: + ColumnVector para; // Current x value + +public: + virtual bool IsValid() { return true; } + // is the current x value OK + virtual Real operator()(int i) = 0; // i-th function value at current para + virtual void Set(const ColumnVector& X) { para = X; } + // set current para + bool IsValid(const ColumnVector& X) + { Set(X); return IsValid(); } + // set para, check OK + Real operator()(int i, const ColumnVector& X) + { Set(X); return operator()(i); } + // set para, return value + virtual ReturnMatrix Derivatives() = 0; + // return derivatives as RowVector + virtual ~R1_Col_I_D() {} // to keep gnu happy +}; + + +class NonLinearLeastSquares : public FindMaximum2 +{ + // these replace the corresponding functions in FindMaximum2 + void Value(const ColumnVector&, bool, Real&, bool&); + bool NextPoint(ColumnVector&, Real&); + Real LastDerivative(const ColumnVector&); + + Matrix X; // the things we need to do the + ColumnVector Y; // QR triangularisation + UpperTriangularMatrix U; // see the write-up in newmata.txt + ColumnVector M; + Real errorvar, criterion; + int n_obs, n_param; + const ColumnVector* DataPointer; + RowVector Derivs; + SymmetricMatrix Covariance; + DiagonalMatrix SE; + R1_Col_I_D& Pred; // Reference to predictor object + int Lim; // maximum number of iterations + +public: + NonLinearLeastSquares(R1_Col_I_D& pred, int lim=1000, Real crit=0.0001) + : criterion(crit), Pred(pred), Lim(lim) {} + void Fit(const ColumnVector&, ColumnVector&); + Real ResidualVariance() const { return errorvar; } + void GetResiduals(ColumnVector& Z) const { Z = Y; } + void GetStandardErrors(ColumnVector&); + void GetCorrelations(SymmetricMatrix&); + void GetHatDiagonal(DiagonalMatrix&) const; + +private: + void MakeCovariance(); +}; + + +// The next class is the prototype class for calculating the +// log-likelihood. +// I assume first derivatives are available and something like the +// Fisher Information or variance/covariance matrix of the first +// derivatives or minus the matrix of second derivatives is +// available. This matrix must be positive definite. + +class LL_D_FI +{ +protected: + ColumnVector para; // current parameter values + bool wg; // true if FI matrix wanted + +public: + virtual void Set(const ColumnVector& X) { para = X; } + // set parameter values + virtual void WG(bool wgx) { wg = wgx; } + // set wg + + virtual bool IsValid() { return true; } + // return true is para is OK + bool IsValid(const ColumnVector& X, bool wgx=true) + { Set(X); WG(wgx); return IsValid(); } + + virtual Real LogLikelihood() = 0; // return the loglikelihhod + Real LogLikelihood(const ColumnVector& X, bool wgx=true) + { Set(X); WG(wgx); return LogLikelihood(); } + + virtual ReturnMatrix Derivatives() = 0; + // column vector of derivatives + virtual ReturnMatrix FI() = 0; // Fisher Information matrix + virtual ~LL_D_FI() {} // to keep gnu happy +}; + +// This is the class for doing the maximum likelihood estimation + +class MLE_D_FI : public FindMaximum2 +{ + // these replace the corresponding functions in FindMaximum2 + void Value(const ColumnVector&, bool, Real&, bool&); + bool NextPoint(ColumnVector&, Real&); + Real LastDerivative(const ColumnVector&); + + // the things we need for the analysis + LL_D_FI& LL; // reference to log-likelihood + int Lim; // maximum number of iterations + Real Criterion; // convergence criterion + ColumnVector Derivs; // for the derivatives + LowerTriangularMatrix LT; // Cholesky decomposition of FI + SymmetricMatrix Covariance; + DiagonalMatrix SE; + +public: + MLE_D_FI(LL_D_FI& ll, int lim=1000, Real criterion=0.0001) + : LL(ll), Lim(lim), Criterion(criterion) {} + void Fit(ColumnVector& Parameters); + void GetStandardErrors(ColumnVector&); + void GetCorrelations(SymmetricMatrix&); + +private: + void MakeCovariance(); +}; + + +#ifdef use_namespace +} +#endif + + + +#endif + +// body file: newmatnl.cpp + + + + diff --git a/.svn/pristine/ac/ac4a7c42403cd6c98b878244fba1f36277efd9fc.svn-base b/.svn/pristine/ac/ac4a7c42403cd6c98b878244fba1f36277efd9fc.svn-base new file mode 100644 index 0000000..f78c423 --- /dev/null +++ b/.svn/pristine/ac/ac4a7c42403cd6c98b878244fba1f36277efd9fc.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ks file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_STL_H__ +#define __SCAN_IO_STL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for STL scans + * + * The compiled class is available as shared object file + */ +class ScanIO_stl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/ac/ac67ac57b75046b93766fff197af4293a41473b5.svn-base b/.svn/pristine/ac/ac67ac57b75046b93766fff197af4293a41473b5.svn-base new file mode 100644 index 0000000..8cbfaf5 --- /dev/null +++ b/.svn/pristine/ac/ac67ac57b75046b93766fff197af4293a41473b5.svn-base @@ -0,0 +1,411 @@ +/* + * convexplane implementation + * + * Copyright (C) Dorit Borrmann, Remus Dumitru, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +#include "shapes/convexplane.h" +#include "slam6d/globals.icc" +using std::string; +using std::ofstream; + +/** + * Checks the position of a point with respect to the line given by two points. + * @param start starting point of the line + * @param end end point of the line + * @param point point to be checked + * @return true if the point is left of the line or on the line and further away + * from the start point. + */ + +bool ConvexPlane::furtherleft(double * start, double * point, double * end) { + double tmp = (end[0] - start[0])*(point[1] - start[1]) - (point[0] - start[0])*(end[1] - start[1]); + if(fabs(tmp) < 0.0000000001) { + double l1 = (point[0] - start[0])*(point[0] - start[0]) + + (point[1] - start[1])*(point[1] - start[1]); + double l2 = (end[0] - start[0])*(end[0] - start[0]) + + (end[1] - start[1])*(end[1] - start[1]); + return (l1 > l2); + } else if(tmp < 0) { + return false; + + } else { + return true; + } + exit(0); +} + +/** + * Calculates the convex hull of a 2d point set using the Jarvis March + * algorithm. + * + * 1. Find the point that is furthest left in the point set. + * 2. Continue to select points such that the remaining point cloud always + * stays on the right sight of that line spanned by the last point and the new + * point. + * 3. Stop when all remaining points are to the right of the line from the last + * point to the starting point. + */ +void ConvexPlane::JarvisMarchConvexHull(list &points, vector &convex_hull) { + //pointOnHull = leftmost point in S + list::iterator itr = points.begin(); + list::iterator end = itr; + while(itr != points.end()) { + if((*end)[0] > (*itr)[0]) { + end = itr; + } + itr++; + } + double * anchor = (*end); + convex_hull.push_back(anchor); + itr = points.begin(); + double * start = convex_hull[0]; + double * current = (*points.begin()); + bool closed = true; + do { + closed = true; + itr = points.begin(); + end = points.begin(); + while(itr != points.end()) { + if(furtherleft(start, (*itr), current)) { + end = itr; + current = (*end); + closed = false; + } + itr++; + } + start = current; + if(!closed) { + convex_hull.push_back(current); + end = points.erase(end); + } + current = anchor; + } while(start != anchor); + // convex_hull.pop_back(); + + itr = points.begin(); + while(itr != points.end()) { + if((*itr) == anchor) { + itr=points.erase(itr); + break; + } else { + itr++; + } + } + // cout << "End of Convex " << convex_hull.size() << endl; +} + +/** + * Constructor of a convex plane given the normal vector, the distance, the + * direction of the plane (largest coordinate of the normal vector) and a + * vector of points that form the convex hull of the plane. + */ +ConvexPlane::ConvexPlane(double _n[3], double _rho, char _direction, +vector _convex_hull) { + + for(int i = 0; i < 3; i++) { + n[i] = _n[i]; + } + Normalize3(n); + + convex_hull = _convex_hull; + direction = _direction; + rho = _rho; +} + +/** + * Constructor of a convex plane given the normal vector and distance of the + * plane. + */ +ConvexPlane::ConvexPlane(double plane[4]) { + for(int i = 0; i < 3; i++) { + n[i] = plane[i]; + } + rho = plane[3]; + if(fabs(n[0]) < fabs(n[1])) { + if(fabs(n[1]) < fabs(n[2])) { + direction = 'z'; + } else { + direction = 'y'; + } + } else if (fabs(n[2]) < fabs(n[0])){ + direction = 'x'; + } else { + direction = 'z'; + } +} + +/** + * Constructor of a convex plane given several partial planes + */ +ConvexPlane::ConvexPlane(vector &partialplanes) { + int size = partialplanes.size(); + for(int i = 0; i < size; i++) { + for(int j = 0; j < 3; j++) { + n[j] += partialplanes[i]->n[j]; + rho += partialplanes[i]->rho; + } + } + for(int j = 0; j < 3; j++) { + n[j] /= size; + } + rho /= size; +} + +/** + * Constructor of a convex plane given the normal vector and distance of the + * plane and a vector of points that lie on the plane. + */ +ConvexPlane::ConvexPlane(double plane[4], vector &points ) { + + for(int i = 0; i < 3; i++) { + n[i] = plane[i]; + } + rho = plane[3]; + Normalize3(n); + + if(fabs(n[0]) < fabs(n[1])) { + if(fabs(n[1]) < fabs(n[2])) { + direction = 'z'; + } else { + direction = 'y'; + } + } else if (fabs(n[2]) < fabs(n[0])){ + direction = 'x'; + } else { + direction = 'z'; + } + + list point_list; + + for (vector::iterator it = points.begin(); it != points.end(); it++) { + Point p = (*it); + double * point = new double[2]; + switch(direction) { + case 'x': point[0] = p.y; + point[1] = p.z; + break; + case 'y': point[0] = p.x; + point[1] = p.z; + break; + case 'z': point[0] = p.x; + point[1] = p.y; + break; + default: throw runtime_error("default branch taken"); + } + point_list.push_back(point); + } + + if (point_list.size() > 0) { + JarvisMarchConvexHull(point_list, convex_hull); + } +} +ConvexPlane::~ConvexPlane() { + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); it++) { + double* tmp = (*it); + delete[] tmp; + } +} + +/** + * Writes the plane as normalXXX.3d to the directory given in the path. XXX is + * the three digit representation of the counter. + * This function writes the center and the normal of the plane to the file. + */ +void ConvexPlane::writeNormal(string path, int counter) { + ofstream out; + out.open(path.c_str()); + double center[3]; + for(int i = 0; i < 3; i++) { + center[i] = 0.0; + } + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + + switch(direction) { + case 'x': + center[0] += (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + center[1] += (*it)[0]; + center[2] += (*it)[1]; + break; + case 'y': + center[0] += (*it)[0]; + center[1] += (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + center[2] += (*it)[1]; + break; + case 'z': + center[0] += (*it)[0]; + center[1] += (*it)[1]; + center[2] += (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + + } + + for(int i = 0; i < 3; i++) { + center[i] /= convex_hull.size(); + } + + + out << n[0] << " " << n[1] << " " << n[2] << endl; + out << center[0] << " " << center[1] << " " << center[2] << endl; + + out.close(); + +} + +/** + * Writes the convex hull of the plane as planeXXX.3d to the directory given in the path. + * XXX is the three digit representation of the counter. + */ +void ConvexPlane::writePlane(string path, int counter) { + + ofstream out; + out.open(path.c_str()); + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + switch(direction) { + case 'x': + out << (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0] << " "; + out << (*it)[0] << " "; + out << (*it)[1] << endl; + break; + case 'y': + out << (*it)[0] << " "; + out << (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1] << " "; + out << (*it)[1] << endl; + break; + case 'z': + out << (*it)[0] << " "; + out << (*it)[1] << " "; + out << (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2] << endl; + break; + default: throw runtime_error("default branch taken"); + } + + } + out.flush(); + out.close(); +} + +vector ConvexPlane::getConvexHull() { + vector hull; + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + double point[3]; + + switch(direction) { + + case 'x': + point[0] = (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + point[1] = (*it)[0]; + point[2] = (*it)[1]; + break; + case 'y': + point[0] = (*it)[0]; + point[1] = (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + point[2] = (*it)[1]; + break; + case 'z': + point[0] = (*it)[0]; + point[1] = (*it)[1]; + point[2] = (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + + hull.push_back(point[0]); + hull.push_back(point[1]); + hull.push_back(point[2]); + } + + return hull; +} + +void ConvexPlane::getNormal(double* normal, double* origin) { + double center[3]; + for(int i = 0; i < 3; i++) { + center[i] = 0.0; + } + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + switch(direction) { + case 'x': + center[0] += (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + center[1] += (*it)[0]; + center[2] += (*it)[1]; + break; + case 'y': + center[0] += (*it)[0]; + center[1] += (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + center[2] += (*it)[1]; + break; + case 'z': + center[0] += (*it)[0]; + center[1] += (*it)[1]; + center[2] += (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + } + + for(int i = 0; i < 3; i++) { + center[i] /= convex_hull.size(); + } + + normal[0] = n[0]; + normal[1] = n[1]; + normal[2] = n[2]; + + origin[0] = center[0]; + origin[1] = center[1]; + origin[2] = center[2]; +} + +void ConvexPlane::project(const double *p, double *p1) { + double dist = n[0] * p[0] + n[1] * p[1] + n[2] * p[2] - rho; + + p1[0] = p[0] - n[0] * dist; + p1[1] = p[1] - n[1] * dist; + p1[2] = p[2] - n[2] * dist; +} + +bool ConvexPlane::isWall() { + return fabs(n[1]) < 0.1; +} + +bool ConvexPlane::isHorizontal() { + double skalar = n[1] / sqrt(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]) ; + return (1-(fabs(skalar))) < 0.1; +} + +void ConvexPlane::horizontalize() { + + n[0] = 0.0; + n[1] = n[1] < 0 ? -1.0 : 1.0; + n[2] = 0.0; + +} + +void ConvexPlane::verticalize() { + n[1] = 0.0; + Normalize3(n); +} + diff --git a/.svn/pristine/ac/ac74fb3f26c4bc0d678dbee72a660451bfbb6fe7.svn-base b/.svn/pristine/ac/ac74fb3f26c4bc0d678dbee72a660451bfbb6fe7.svn-base new file mode 100644 index 0000000..864ee0d --- /dev/null +++ b/.svn/pristine/ac/ac74fb3f26c4bc0d678dbee72a660451bfbb6fe7.svn-base @@ -0,0 +1,1701 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui.h - Main header for GLUI User Interface Toolkit + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + + +#ifndef _GLUI_H_ +#define _GLUI_H_ + +#include +#include +#include + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#define GLUI_VERSION 2.01f /********** Current version **********/ + + +#ifdef WIN32 +#pragma comment(lib, "glui32.lib") // Link against GLUI library +#endif + +class Arcball; + +/********** Do some basic defines *******/ +#ifndef false +#define true 1 +#define false 0 +#endif + +#ifndef Byte +#define Byte unsigned char +#endif + +#ifndef _RGBC_ +class RGBc { +public: + Byte r, g, b; + + void set(Byte r,Byte g,Byte b) {this->r=r;this->g=g;this->b=b;}; + + RGBc( void ) {}; + RGBc( Byte r, Byte g, Byte b ) { set( r, g, b ); }; +}; +#define _RGBC_ +#endif + +/********** List of GLUT callbacks ********/ + +enum GLUI_Glut_CB_Types { + GLUI_GLUT_RESHAPE, + GLUI_GLUT_KEYBOARD, + GLUI_GLUT_DISPLAY, + GLUI_GLUT_MOUSE, + GLUI_GLUT_MOTION, + GLUI_GLUT_SPECIAL, + GLUI_GLUT_PASSIVE_MOTION, + GLUI_GLUT_ENTRY, + GLUI_GLUT_VISIBILITY +}; + +/********** List of control types **********/ +enum GLUI_Control_Types { + GLUI_CONTROL_CHECKBOX =1, + GLUI_CONTROL_BUTTON, + GLUI_CONTROL_RADIOBUTTON, + GLUI_CONTROL_RADIOGROUP, + GLUI_CONTROL_SLIDER, + GLUI_CONTROL_STATICTEXT, + GLUI_CONTROL_EDITTEXT, + GLUI_CONTROL_BITMAP, + GLUI_CONTROL_PANEL, + GLUI_CONTROL_SPINNER, + GLUI_CONTROL_SEPARATOR, + GLUI_CONTROL_COLUMN, + GLUI_CONTROL_LISTBOX, + GLUI_CONTROL_MOUSE_INTERACTION, + GLUI_CONTROL_ROTATION, + GLUI_CONTROL_TRANSLATION, + GLUI_CONTROL_ROLLOUT +}; + + +/********* Constants for window placement **********/ +#define GLUI_XOFF 6 +#define GLUI_YOFF 6 +#define GLUI_ITEMSPACING 3 +#define GLUI_CHECKBOX_SIZE 13 +#define GLUI_RADIOBUTTON_SIZE 13 +#define GLUI_BUTTON_SIZE 20 +#define GLUI_STATICTEXT_SIZE 13 +#define GLUI_SEPARATOR_HEIGHT 8 +#define GLUI_DEFAULT_CONTROL_WIDTH 100 +#define GLUI_DEFAULT_CONTROL_HEIGHT 13 +#define GLUI_EDITTEXT_BOXINNERMARGINX 3 +#define GLUI_EDITTEXT_HEIGHT 20 +#define GLUI_EDITTEXT_WIDTH 130 +#define GLUI_EDITTEXT_MIN_INT_WIDTH 35 +#define GLUI_EDITTEXT_MIN_TEXT_WIDTH 50 +#define GLUI_PANEL_NAME_DROP 8 +#define GLUI_PANEL_EMBOSS_TOP 4 +/* #define GLUI_ROTATION_WIDTH 60*/ +/* #define GLUI_ROTATION_HEIGHT 78 */ +#define GLUI_ROTATION_WIDTH 50 +#define GLUI_ROTATION_HEIGHT (GLUI_ROTATION_WIDTH+18) +#define GLUI_MOUSE_INTERACTION_WIDTH 50 +#define GLUI_MOUSE_INTERACTION_HEIGHT (GLUI_MOUSE_INTERACTION_WIDTH)+18 + + +/** Different panel control types **/ +#define GLUI_PANEL_NONE 0 +#define GLUI_PANEL_EMBOSSED 1 +#define GLUI_PANEL_RAISED 2 + + +/** Max # of els in control's float_array **/ +#define GLUI_DEF_MAX_ARRAY 30 + +/********* The control's 'active' behavior *********/ +#define GLUI_CONTROL_ACTIVE_MOUSEDOWN 1 +#define GLUI_CONTROL_ACTIVE_PERMANENT 2 + + +/********* Control alignment types **********/ +#define GLUI_ALIGN_CENTER 1 +#define GLUI_ALIGN_RIGHT 2 +#define GLUI_ALIGN_LEFT 3 + + +/********** Limit types - how to limit spinner values *********/ +#define GLUI_LIMIT_NONE 0 +#define GLUI_LIMIT_CLAMP 1 +#define GLUI_LIMIT_WRAP 2 + + +/********** Translation control types ********************/ + +#define GLUI_TRANSLATION_XY 0 +#define GLUI_TRANSLATION_Z 1 +#define GLUI_TRANSLATION_X 2 +#define GLUI_TRANSLATION_Y 3 + +#define GLUI_TRANSLATION_LOCK_NONE 0 +#define GLUI_TRANSLATION_LOCK_X 1 +#define GLUI_TRANSLATION_LOCK_Y 2 + +/********** How was a control activated? *****************/ +#define GLUI_ACTIVATE_MOUSE 1 +#define GLUI_ACTIVATE_TAB 2 + + +/********** What type of live variable does a control have? **********/ +#define GLUI_LIVE_NONE 0 +#define GLUI_LIVE_INT 1 +#define GLUI_LIVE_FLOAT 2 +#define GLUI_LIVE_TEXT 3 +#define GLUI_LIVE_DOUBLE 4 +#define GLUI_LIVE_FLOAT_ARRAY 5 + + +/********** Translation codes **********/ + +enum TranslationCodes { + GLUI_TRANSLATION_MOUSE_NONE=0, + GLUI_TRANSLATION_MOUSE_UP, + GLUI_TRANSLATION_MOUSE_DOWN, + GLUI_TRANSLATION_MOUSE_LEFT, + GLUI_TRANSLATION_MOUSE_RIGHT, + GLUI_TRANSLATION_MOUSE_UP_LEFT, + GLUI_TRANSLATION_MOUSE_UP_RIGHT, + GLUI_TRANSLATION_MOUSE_DOWN_LEFT, + GLUI_TRANSLATION_MOUSE_DOWN_RIGHT +}; + +/************ A string type for us to use **********/ +/* typedef char GLUI_String[300]; */ +class GLUI_String +{ +public: + char string[300]; + + char &operator[]( int i ) { + return string[i]; + } + + operator char*() { return (char*) &string[0]; }; + /* operator void*() { return (void*) &string[0]; }; */ + + GLUI_String( void ) { + string[0] = '\0'; + } + + GLUI_String( char *text ) { + strcpy( string, text ); + } +}; + + +/********* Pre-declare the various classes *********/ +class GLUI; +class GLUI_Control; +class GLUI_Listbox; +class GLUI_Rotation; +class GLUI_Translation; +class GLUI_Mouse_Interaction; +class GLUI_Checkbox; +class GLUI_Slider; +class GLUI_Button; +class GLUI_StaticText; +class GLUI_Bitmap; +class GLUI_EditText; +class GLUI_Node; +class GLUI_Main; +class GLUI_Panel; +class GLUI_Spinner; +class GLUI_RadioButton; +class GLUI_RadioGroup; +class GLUI_Separator; +class GLUI_Column; +class GLUI_Master; +class GLUI_Glut_Window; +class GLUI_Rollout; + + + +/*** Flags for GLUI class constructor ***/ +#define GLUI_SUBWINDOW ((long)(1<< 1)) +#define GLUI_SUBWINDOW_TOP ((long)(1<< 2)) +#define GLUI_SUBWINDOW_BOTTOM ((long)(1<< 3)) +#define GLUI_SUBWINDOW_LEFT ((long)(1<< 4)) +#define GLUI_SUBWINDOW_RIGHT ((long)(1<< 5)) + +/*** Codes for different type of edittext boxes and spinners ***/ +#define GLUI_EDITTEXT_TEXT 1 +#define GLUI_EDITTEXT_INT 2 +#define GLUI_EDITTEXT_FLOAT 3 +#define GLUI_SPINNER_INT GLUI_EDITTEXT_INT +#define GLUI_SPINNER_FLOAT GLUI_EDITTEXT_FLOAT + + + +/*** Definition of callbacks ***/ +typedef void (*GLUI_Update_CB) (int id); +typedef void (*Int1_CB) (int); +typedef void (*Int2_CB) (int, int); +typedef void (*Int3_CB) (int, int, int); +typedef void (*Int4_CB) (int, int, int, int); + + + +/************************************************************/ +/* */ +/* Base class, for hierarchical relationships */ +/* */ +/************************************************************/ + +class GLUI_Node { +protected: + GLUI_Node *parent_node; + GLUI_Node *child_head; + GLUI_Node *child_tail; + GLUI_Node *next_sibling; + GLUI_Node *prev_sibling; + +public: + GLUI_Node *first_sibling( void ); + GLUI_Node *last_sibling( void ); + GLUI_Node *prev( void ); + GLUI_Node *next( void ); + GLUI_Node *first_child( void ) { return child_head; }; + GLUI_Node *last_child( void ) { return child_tail; }; + GLUI_Node *parent(void) { return parent_node; }; + + void link_this_to_parent_last( GLUI_Node *parent ); + void link_this_to_parent_first( GLUI_Node *parent ); + void link_this_to_sibling_next( GLUI_Node *sibling ); + void link_this_to_sibling_prev( GLUI_Node *sibling ); + void unlink( void ); + + void dump( FILE *out, char *name ) { + fprintf( out, "GLUI_node: %s\n", name ); + fprintf( out, " parent: %p child_head: %p child_tail: %p\n", + parent_node, child_head, child_tail ); + fprintf( out, " next: %p prev: %p\n", next_sibling, prev_sibling ); + } + + GLUI_Node( void ) { + parent_node= child_head = child_tail = next_sibling = prev_sibling = NULL; + }; + + friend class GLUI_Rollout; + friend class GLUI_Main; +}; + + + +/************************************************************/ +/* */ +/* Standard Bitmap stuff */ +/* */ +/************************************************************/ + +enum GLUI_StdBitmaps_Codes { + GLUI_STDBITMAP_CHECKBOX_OFF=0, + GLUI_STDBITMAP_CHECKBOX_ON, + GLUI_STDBITMAP_RADIOBUTTON_OFF, + GLUI_STDBITMAP_RADIOBUTTON_ON, + GLUI_STDBITMAP_UP_ARROW, + GLUI_STDBITMAP_DOWN_ARROW, + GLUI_STDBITMAP_LEFT_ARROW, + GLUI_STDBITMAP_RIGHT_ARROW, + GLUI_STDBITMAP_SPINNER_UP_OFF, + GLUI_STDBITMAP_SPINNER_UP_ON, + GLUI_STDBITMAP_SPINNER_DOWN_OFF, + GLUI_STDBITMAP_SPINNER_DOWN_ON, + + GLUI_STDBITMAP_CHECKBOX_OFF_DIS, /*** Disactivated control bitmaps ***/ + GLUI_STDBITMAP_CHECKBOX_ON_DIS, + GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, + GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, + GLUI_STDBITMAP_SPINNER_UP_DIS, + GLUI_STDBITMAP_SPINNER_DOWN_DIS, + GLUI_STDBITMAP_LISTBOX_UP, + GLUI_STDBITMAP_LISTBOX_DOWN, + GLUI_STDBITMAP_LISTBOX_UP_DIS, + /*** + GLUI_STDBITMAP_SLIDER_TAB, + ***/ + GLUI_STDBITMAP_NUM_ITEMS +}; + + +/************ Image Bitmap arrays **********/ +extern int glui_img_checkbox_0[]; +extern int glui_img_checkbox_1[]; +extern int glui_img_radiobutton_0[]; +extern int glui_img_radiobutton_1[]; +extern int glui_img_uparrow[]; +extern int glui_img_downarrow[]; +extern int glui_img_leftarrow[]; +extern int glui_img_rightarrow[]; +extern int glui_img_spinup_0[]; +extern int glui_img_spinup_1[]; +extern int glui_img_spindown_0[]; +extern int glui_img_spindown_1[]; +extern int glui_img_checkbox_0_dis[]; +extern int glui_img_checkbox_1_dis[]; +extern int glui_img_radiobutton_0_dis[]; +extern int glui_img_radiobutton_1_dis[]; +extern int glui_img_spinup_dis[]; +extern int glui_img_spindown_dis[]; +extern int glui_img_listbox_up[]; +extern int glui_img_listbox_down[]; +extern int glui_img_listbox_up_dis[]; + +extern int *bitmap_arrays[]; + + + +/************************************************************/ +/* */ +/* Class GLUI_Bitmap */ +/* */ +/************************************************************/ +class GLUI_Bitmap +{ +public: + unsigned char *pixels; + int w, h; + + void load_from_array( int *array ); + + GLUI_Bitmap( void ) { + pixels = NULL; + w = 0; + h = 0; + } +}; + + + + +/************************************************************/ +/* */ +/* Class GLUI_StdBitmap */ +/* */ +/************************************************************/ +class GLUI_StdBitmaps +{ +public: + GLUI_Bitmap bitmaps[ GLUI_STDBITMAP_NUM_ITEMS ]; + + void draw( int bitmap_num, int x, int y ); + + GLUI_StdBitmaps( void ) { + int i; + + for( i=0; i\n",&len); + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); // wcsdup + memset(buffer, 0, len); + j=0; // reset counter for new line + } + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1,"\n", + line_info.x0[line],line_info.m1[line], + line_info.x1[line]-line_info.x0[line]+1, + line_info.m4[line]-line_info.m1[line],line); + // buffer=append_to_line(buffer,s1,&len); + } + oldline=line; + } + if (box2->c > ' ' && + box2->c <= 'z') i1++; /* count non-space chars */ + if (box2->c == '\n') { + if (JOB->cfg.out_format!=XML) { /* subject of change */ + line_info = JOB->res.lines; + line = box2->line; + if (line > 0) { + line_gap = line_info.m2[line] - line_info.m3[line - 1]; + for (line_gap -= max_single_space_gap; line_gap > 0; + line_gap -= median_gap) { + buffer=append_to_line(buffer,"\n",&len); + j++; /* count chars in line */ + } + } + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); // wcsdup + memset(buffer, 0, len); + j=0; // reset counter for new line + } + } + if (box2->c == ' ') // fill large gaps with spaces + { + if (JOB->res.avX) { /* avoid SIGFPE */ + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1," \n", + box2->x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); +// buffer=append_to_line(buffer,s1,&len); + } else + for (i = (box2->x1 - box2->x0) / (2 * JOB->res.avX) + 1; i > 0; i--) { + buffer=append_to_line(buffer," ",&len); + j++; /* number of chars in line */ + } + } + } + else if (box2->c != '\n') { + if (j==0 && JOB->res.avX) /* first char in new line? */ { + int indent = box2->x0 - JOB->res.lines.x0[box2->line]; + /* correct for angle of page as a whole. */ + if (JOB->res.lines.dx) + indent += box2->y0 * JOB->res.lines.dy / JOB->res.lines.dx; + /* subtract the base margin. */ + indent -= left_margin; + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1," \n", + box2->x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); +// buffer=append_to_line(buffer,s1,&len); + } else + for (i = indent / JOB->res.avX; i > 0; i--) { + buffer=append_to_line(buffer," ",&len); j++; + } + } + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ +// sprintf(s1," x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); + sprintf(s1," %d %d ", + box2->x1-box2->x0+1,box2->y1-box2->y0+1); + buffer=append_to_line(buffer,s1,&len); + if (box2->num_ac>1) { /* ToDo: output a list of alternatives */ + } + } + if (box2->c != UNKNOWN && box2->c != 0) { + buffer= + append_to_line(buffer,decode(box2->c,JOB->cfg.out_format),&len); + if (box2->c > ' ' && + box2->c <= 'z') i2++; /* count non-space chars */ + } else { /* c == UNKNOWN or 0 */ + wchar_t cc; cc=box2->c; + if (box2->num_ac>0 && box2->tas[0] + && (JOB->cfg.out_format!=XML || box2->tas[0][0]!='<')) { + /* output glued chars or ... (?) Jan08 */ + buffer=append_to_line(buffer,box2->tas[0],&len); + j+=strlen(box2->tas[0]); + } else { /* ToDo: leave string empty? set placeholder per option */ + /* output dummy string to mark UNKNOWN */ + if(JOB->cfg.unrec_marker[0]) + buffer = append_to_line(buffer, JOB->cfg.unrec_marker, &len); + } + } + if (JOB->cfg.out_format==XML) { + if (box2->num_ac>-1) { + /* output alist ToDo: separate */ + int i1; char s1[256]; +// sprintf(s1,"\" numac=\"%d\" weights=\"",box2->num_ac); + sprintf(s1," %d ",box2->num_ac); + buffer=append_to_line(buffer,s1,&len); + for (i1=0;i1num_ac;i1++) { + sprintf(s1,"%d",box2->wac[i1]); + buffer=append_to_line(buffer,s1,&len); +// if (i1+1num_ac) buffer=append_to_line(buffer,",",&len); + if (i1+1num_ac) buffer=append_to_line(buffer," ",&len); + } + if (box2->num_ac>1) +// buffer=append_to_line(buffer,"\" achars=\"",&len); + buffer=append_to_line(buffer," ",&len); + for (i1=1;i1num_ac;i1++) { + if (box2->tas[i1] && box2->tas[i1][0]!='<') +// buffer=append_to_line(buffer,box2->tas[i1],&len); + buffer=append_to_line(buffer,box2->tas[i1],&len); + else + buffer=append_to_line(buffer, + decode(box2->tac[i1],JOB->cfg.out_format),&len); + // ToDo: add tas[] (achars->avalues or alternate_strings? +// if (i1+1num_ac) buffer=append_to_line(buffer,",",&len); + if (i1+1num_ac) buffer=append_to_line(buffer," ",&len); + } + } +// buffer=append_to_line(buffer,"\" />\n",&len); + buffer=append_to_line(buffer,"\n",&len); + } + if (box2->num_ac && box2->tas[0]) { + if (box2->tas[0][0]=='<') { /* output special XML object */ +// buffer=append_to_line(buffer,box2->tas[0],&len); + buffer=append_to_line(buffer,"\n",&len); + j+=strlen(box2->tas[0]); + } + } + j++; /* number of chars in line */ + } + i++; + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.out_format==XML && oldline>-1) { /* subject of change */ +// buffer=append_to_line(buffer,"\n",&len); + } + if (JOB->cfg.out_format==XML) { /* subject of change */ +// buffer=append_to_line(buffer,"\n\n",&len); + } + + /* do not forget last line */ + // is there no \n in the last line? If there is, delete next line. + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); + free(buffer); + if( JOB->cfg.verbose&1 ) + fprintf(stderr,"... %d lines, boxes= %d, chars= %d\n",i,i1,i2); +} diff --git a/.svn/pristine/e7/e709a93746f1fc8832f7457d39117f3c2b0f9f28.svn-base b/.svn/pristine/e7/e709a93746f1fc8832f7457d39117f3c2b0f9f28.svn-base new file mode 100644 index 0000000..c7d13de --- /dev/null +++ b/.svn/pristine/e7/e709a93746f1fc8832f7457d39117f3c2b0f9f28.svn-base @@ -0,0 +1,99 @@ +/* + * scan_cv implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/scan_cv.h" + +using namespace std; + +namespace fbr{ + + scan_cv::scan_cv(string dir, unsigned int number, IOType format){ + sDir = dir; + sNumber = number; + sFormat = format; + zMax = numeric_limits::min(); + zMin = numeric_limits::max(); + nPoints = 0; + } + + void scan_cv::convertScanToMat(){ + bool scanserver = false; + Scan::openDirectory(scanserver, sDir, sFormat, sNumber, sNumber); + cout<<"loading "<get("xyz"); + DataReflectance xyz_reflectance = source->get("reflectance"); + nPoints = xyz.size(); + scan.create(nPoints,1,CV_32FC(4)); + scan = cv::Scalar::all(0); + cv::MatIterator_ it; + it = scan.begin(); + for(unsigned int i = 0; i < nPoints; i++){ + float x, y, z, reflectance; + x = xyz[i][0]; + y = xyz[i][1]; + z = xyz[i][2]; + reflectance = xyz_reflectance[i]; + + //normalize the reflectance + reflectance += 32; + reflectance /= 64; + reflectance -= 0.2; + reflectance /= 0.3; + if (reflectance < 0) reflectance = 0; + if (reflectance > 1) reflectance = 1; + + (*it)[0] = x; + (*it)[1] = y; + (*it)[2] = z; + (*it)[3] = reflectance; + + //finding min and max of z + if (z > zMax) zMax = z; + if (z < zMin) zMin = z; + + ++it; + } + Scan::closeDirectory(); + } + + string scan_cv::getScanDir(){ + return sDir; + } + + unsigned int scan_cv::getScanNumber(){ + return sNumber; + } + + unsigned int scan_cv::getNumberOfPoints(){ + return nPoints; + } + + double scan_cv::getZMin(){ + return zMin; + } + + double scan_cv::getZMax(){ + return zMax; + } + + IOType scan_cv::getScanFormat(){ + return sFormat; + } + + cv::Mat scan_cv::getMatScan() + { + return scan; + } + + void scan_cv::getDescription(){ + cout<<"load "<>> DO NOT EDIT THIS FILE IF YOU NOT REALLY KNOW WHAT YOU ARE DOING! <<< + + I have invested lot of time, to write this part of the program. + This engine should recognize chars allways right or return UNKNOWN. + If you change something, test all other example files too, + to be sure that all things work better. (JoergS) + + This engine was pixelbased until 0.40 which was not successfull enough. + Also code changes always hade side effects. The vectorisation of the code + starts from version 0.41 with the chars XNz and seems to be much better + to handle. Vectorization means we frame each character by a chain of + vectors and dont care about pixels anymore. Unfortunatly I have to + replace all the pixel codes, which is a long process. Old code will be lost. + (JorgS) + + +ToDo: + - if box1->p and b differ, reduce probability + - probability makes life much easier here + - use only one box!?, may be bits have usefull infos + - divide this file, suggestion: classify chars: + high=ABCDEFGHIJKLMNOPQRSTUVWXYZbdfhklt, low=acegijmnopqrsuvwxyz + or + often_used=etianmsurwdkgo rarely_used=hvjcflpqxyz.,: + or + every char (large overhead) + - two-pass version (first pass without tolerance) + 2nd pass with tolerance (ex: one tiny more in sdata->holes) + + general feature extraction: + - white holes at middle, upper, lower position (cost much time) + - test lines and triangles insteat of rectangles + + char is removed, wchar_t is used (better code) + + making a static global variable-set x.x0,x.x1, and call test_a, + test_b ... (faster compilation, but not reentrant!) + + - adding slant-angle (if detected) to distinguish between l and / ? + - ac (alternate chars) as string add_ac(box1,"/") => box1->ac="Il/"; + for better context correction or output: "Ha[lI][lI]o!" + +*/ + +#include +#include +// #include "pgm2asc.h" +#include "ocr0.h" +// #include "ocr1.h" +#include "amiga.h" +#include "pnm.h" +#include "gocr.h" + +#define IFV if(JOB->cfg.verbose&4) +#define MM {IFV fprintf(stderr,"\nDBG %c L%04d (%d,%d): ",(char)c_ask,__LINE__,box1->x0,box1->y0);} + +// the old debug mode (0.40) was only for a special char, for another char +// code must be recompiled with C_ASK='char' +// new debug mode (0.41) explains why char is declined or accepted as ABC... +// the output can be filtered by external scripts +// ToDo: we could reduce output to filter string +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +/* this macro is for debugging output: "if char is declined, why?" */ +#if DO_DEBUG /* 0=Work mode, 1=debugging mode */ +// Setac: output, that char is choosen with a probability +// Break: output, why the char is not choosen +// MSG: debugging functions for char C_ASK, mostly messages +// DBG: definitions usefull only for debugging +#define Setac(box1,ac,ad) { MM;IFV fprintf(stderr,"setac %d",ad);setac(box1,ac,ad); } +#define Break { MM;IFV fprintf(stderr,"break"); break; } +#define MSG(x) { MM;IFV x } +#define DBG(x) x +#else +#define Setac(box1,ac,ad) setac(box1,ac,ad) +#define Break break +#define MSG(x) +#define DBG(x) +#endif + +/* extern "C"{ */ + +// static inline int sq(int x) { return x*x; } /* square */ + +/* + * go from vector j1 to vector j2 and measure maximum deviation of + * the steps from the line connecting j1 and j2 + * return the squared maximum distance + * in units of the box size times 1024 + * ToDo: 1) better give back max-dx and max-dy ??? + * errors if j1 and j2 are in different frames or belong to + * more then one frame? + * 2) Better get deviation from a complete vector graphic? + * The vectorgraphic is the ideal test char adapted to the + * extrem vertices of the real char. + */ +int line_deviation( struct box *box1, int j1, int j2 ) { + int r1x, r1y, r2x, r2y, r3x, r3y, i, x, y, d, dist, maxdist=0, frame, l2; + r1x=box1->frame_vector[j1][0]; + r1y=box1->frame_vector[j1][1]; + r2x=box1->frame_vector[j2][0]; + r2y=box1->frame_vector[j2][1]; + if (!box1->num_frames) return(-1); + if (j1<0 || j1>box1->num_frame_vectors[box1->num_frames-1] || + j2<0 || j2>box1->num_frame_vectors[box1->num_frames-1]) { + fprintf(stderr,"Error in "__FILE__" L%d: idx out of range",__LINE__); + return(-1); + } + /* get the frame the endvector belongs to */ + for (i=0;inum_frames;i++) + if (j2num_frame_vectors[i]) break; + frame=i; + /* frame(j1)<=frame(j2) possible */ + for (i=j1;;i++) { // do it for each vector between j1 and j2 + if (i >= box1->num_frame_vectors[frame]) + i=((frame)?box1->num_frame_vectors[frame-1]:0); /* go around */ + if (i==j2) break; + // for (i=j1;i!=j2;i=(i+1)%box1->num_frame_vectors[0]) {~} + r3x=box1->frame_vector[i][0]; + r3y=box1->frame_vector[i][1]; + // Language=german + // german: Abstand Punkt von Strecke, Laenge Lotrechte + // germ.Strecke : l1=(r1+r2)/2+d*(r2-r1)/2 for d=-1..1 + // germ.Lotrechte: l2=r3+b*[-(r2-r1).y,(r2-r1).x] + // Schnittpunkt : l1=l2, + // eq1x: (r1x+r2x)/2-r3x+d*(r2x-r1x)/2+b*(r2y-r1y)=0 + // eq1y: (r1y+r2y)/2-r3y+d*(r2y-r1y)/2-b*(r2x-r1x)=0 + // eq2x: b*(r2x-r1x)*(r2y-r1y)=-((r1x+r2x)/2-r3x+d*(r2x-r1x)/2)*(r2x-r1x) + // eq2y: b*(r2x-r1x)*(r2y-r1y)= ((r1y+r2y)/2-r3y+d*(r2y-r1y)/2)*(r2y-r1y) + // eq2y-eq2x: ... in units of 1024 (fast integer rounded correctly) + l2=sq(r2x-r1x)+sq(r2y-r1y); // square of distance r2-r1 + if (l2==0) { + // fprintf(stderr,"ocr0 L%d: r1==r2 r1= %d %d",__LINE__, r1x, r1y); // debugging + d=-1024; + } else + d=-( ((r1x+r2x)-2*r3x)*(r2x-r1x) + +((r1y+r2y)-2*r3y)*(r2y-r1y))*1024/l2; // ..-1024..+1024.. + if (d<=-1024) { x=r1x; y=r1y; } // starting point + else { + if (d>=1024) { x=r2x; y=r2y; } // end point + else { + x=((r1x+r2x)+1)/2+(d*(r2x-r1x))/2048; + y=((r1y+r2y)+1)/2+(d*(r2y-r1y))/2048; + /* we have the crossing point x,y now */ + } + } + dist=sq((x-r3x)*1024/(box1->x1-box1->x0+1)) + +sq((y-r3y)*1024/(box1->y1-box1->y0+1)); // 0..2*sq(1024) + if (dist>maxdist) maxdist=dist; + // for debugging: + // fprintf(stderr,"\nDBG dev: %d-%d-%d dist=%5d max=%5d d=%d %d,%d-%d,%d" + // " vector= %d %d crosspoint= %d %d ", + // j1,i,j2,dist,maxdist,d,r1x,r1y,r2x,r2y,r3x,r3y,x,y); + } + return maxdist; +} + +/* + * search vectors between j1 and j2 for nearest point a to point r + * example: + * + * r-> $$...$$ $ - mark vectors + * @@$..@@ @ - black pixels + * @@$..@@ . - white pixels + * @@@@.$@ + * a-> @@$@$@@ + * @$.@@@@ + * @@..$@@ + * @@..$@@ + * j1 --> $$...$$ <-- j2 + * + * ToDo: vector aa[5] = {rx,ry,x,y,d^2,idx} statt rx,ry? + * j1 and j2 must be in the same frame + * return aa? + * 2009-07: + * - change from normalized (dx=128,dy=128) to absolute distance + * - simpler and no squeeze effect (problem getting right i2 for "3") + */ +int nearest_frame_vector( struct box *box1, int j1, int j2, int rx, int ry) { + int x,y,d,i,aa[4]; /* x,y,normalized_distance^2,vector_index */ + int frame=0; + // int x0=box1->x0, y0=box1->y0, + // x1=box1->x1, y1=box1->y1; + // int dx=box1->x1-x0+1, dy=box1->y1-y0+1; + if (!box1->num_frames) return(-1); + if (j1<0 || j1>box1->num_frame_vectors[box1->num_frames-1] || + j2<0 || j2>box1->num_frame_vectors[box1->num_frames-1]) { + fprintf(stderr,"Error in "__FILE__" L%d: idx %d-%d out of range\n",__LINE__,j1,j2); + out_x(box1); + return(-1); + } + aa[0]=x=box1->frame_vector[j2][0]; /* x */ + aa[1]=y=box1->frame_vector[j2][1]; /* y */ + /* maximum is (distance*128)^2 if r is inside the box */ + // aa[2]=d=2*sq(128)+sq((rx-(x0+x1)/2)*128/dx)+sq((ry-(y0+y1)/2)*128/dy); + aa[2]=d=2*(sq(x-rx)+sq(y-ry)); /* must be greater than min. dist, Jul09 */ + aa[3]=j2; /* vector index */ + /* get the frame the endvector belongs to */ + for (i=0;inum_frames;i++) + if (j2num_frame_vectors[i]) break; + frame=i; + /* frame(j1)<=frame(j2) possible */ + for (i=j1;;i++) { + if (i >= box1->num_frame_vectors[frame]) + i=((frame)?box1->num_frame_vectors[frame-1]:0); /* go around */ + x=box1->frame_vector[i][0]; /* take a vector */ + y=box1->frame_vector[i][1]; + /* distance to upper left end, normalized to 128 */ + // d=sq((x-rx)*128/dx)+sq((y-ry)*128/dy); // old 2009-07 + d=sq(x-rx)+sq(y-ry); + if (d0 and m==1 box1 is changed +// m>0 modify box1->dots +// m==2 modify box1->y0 +// called by pgm2asc + ocr0(?) +int testumlaut(struct box *box1, int cs, int m, wchar_t *modifier){ + // pix p=*(box1->p); + int r,y,x,x0,x1,y0,y1,dx,dy,m1,m2,m3, + xl,xr,yu,yl; // left, right, upper and lower border of dots + wchar_t mod='\0'; /* (TeX-) modifier ~"'` for compose() */ + DBG( wchar_t c_ask='"'; ) + r=0; + x0=box1->x0; x1=box1->x1; dx=x1-x0+1; + y0=box1->y0; y1=box1->y1; dy=y1-y0+1; + m1=box1->m1; m2=box1->m2; m3=box1->m3; + xl=x0; xr=x1; yu=yl=y0; + if( dy < 5 || 4*y0 > 3*m2+m3 ) return 0; // no low chars: .,-= + /* modifier in box included? */ + if( 2*y1 > m1+m2 ){ + /* modifier in box included? */ + for(y=y0;2*yp,cs,1)==0 ) break; + if( 2*y extract */ + yl=y; + while( get_bw(xl,xr,y,y,box1->p,cs,1)==0 && 2*y<=y0+y1) y++; + if( m&2 ) box1->y0=y; /* set new upper bond */ + } + } + if( yu>=yl ) { if(m) box1->dots=0; return 0; } /* nothing found */ + if( get_bw(xl-1,xl-1,yu,yl-1,box1->p,cs,1)==1 ) // neighbour overlap? + while( get_bw(xl ,xl ,yu,yl-1,box1->p,cs,1)==1 && 2*xlp,cs,1)==1 ) break; + for(;xr>xl;xr--)if( get_bw(xr,xr,yu,yl,box1->p,cs,1)==1 ) break; + + if ( yl-1>yu ) { // tall box ij"a"o"u +#if 0 + x=box1->y0; box1->y0=m1; out_x(box1); box1->y0=x; + fprintf(stderr,"\n#testumlaut x= %d %d m1=%d m2=%d",x0,y0,m1-y0,m2-y0); + fprintf(stderr," yu=%d yl=%d xl=%d xr=%d",yu-y0,yl-y0,xl-x0,xr-x0); +#define DEBUG 1 +#endif + { + + x=xl;y=yu; + if( get_bw(xl,x1+1,yu,yl-1,box1->p,cs,1)==0 ) r=0; // neighbour overlap? + else + if( get_bw(xl ,xl ,yu,yl-1,box1->p,cs,1)==0 + || get_bw(xl-1,xl-1,yu,yl-1,box1->p,cs,1)==0 ) // be sure there are gap to neighbours + if( get_bw(xr ,xr ,yu,yl-1,box1->p,cs,1)==0 + || get_bw(xr+1,xr+1,yu,yl-1,box1->p,cs,1)==0 ) + { int i,j,x; + r=1; + // ...@@@.... RING_ABOVE // ..@@@..@@. TILDE + // ..@...@... // @@.@@@@@.. + // ..@...@... // @......... + // ..@..@@... + // ...@@@.... + for (i=yu;ip,cs,1)==1) break; + for ( ;ip,cs,1)==0) break; + for (j=xl;jp,cs,1)==1) break; + for ( ;jp,cs,1)==0) break; + for ( x=j;xp,cs,1)==1) break; + // vert. gap detected + if( j2 + && num_obj(xl,xr,yu,yl-1,box1->p,cs)>=2 // not best!!! + && num_cross(xl,xr,yu +(yl-yu)/4,yu+ (yl-yu)/4,box1->p,cs) == 2 + && num_cross(xl,xr,yl-1-(yl-yu)/2,yl-1-(yl-yu)/2,box1->p,cs) == 2 + ){ // may be the following lines are not quite ok + while( get_bw(xl,xr,yl,yl,box1->p,cs,1)==0 && 2*yly0=yl; +/* if( m&2 ) box1->y0= ( (r==1) ? yu : yl ); */ + // out_x(box1); + } + if(r==0){ // divided fr != fi + while( get_bw(x0,x1,yu,yu,box1->p,cs,1)==0 && 2*yuy0=yu; + } + if( r==1 ){ yl--; +// .@@@. ..@@. +// .@@.. .@@.. +// .@... .@@.. +// +// if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) +// > loop(box1->p,xl,yl,xr-xl,cs,0,RI) // +dx/8 +// && loop(box1->p,xr,yu,xr-xl,cs,0,LE) +// < loop(box1->p,xr,yl,xr-xl,cs,0,LE)) // -dx/8 ) // é Nov03 + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + - loop(box1->p,xr,yu,xr-xl,cs,0,LE) + > loop(box1->p,xl,yl,xr-xl,cs,0,RI) // +dx/8 + - loop(box1->p,xr,yl,xr-xl,cs,0,LE)+1) // -dx/8 ) // é Nov03 + mod = ACUTE_ACCENT; // ' + + if( xr-xl+1 > 3*(yl-yu+1) + && get_bw(xl,xr,yu,yl,box1->p,cs,2)==0 ) + mod = MACRON; // "-" above + +// .@@@. .@@.. +// ..@@. ..@@. +// ...@. ..@@. +// +// if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) +// < loop(box1->p,xl,yl,xr-xl,cs,0,RI) // -dx/8 +// && loop(box1->p,xr,yu,xr-xl,cs,0,LE) +// > loop(box1->p,xr,yl,xr-xl,cs,0,LE) ) // +dx/8 ) à Nov03 + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + - loop(box1->p,xr,yu,xr-xl,cs,0,LE) + < loop(box1->p,xl,yl,xr-xl,cs,0,RI) // -dx/8 + - loop(box1->p,xr,yl,xr-xl,cs,0,LE) -1 ) // +dx/8 ) à Nov03 + mod = GRAVE_ACCENT; // ` + +#ifdef DEBUG + fprintf(stderr,"\n#testumlaut x= %d %d m1=%d m2=%d",x0,y0,m1-y0,m2-y0); + fprintf(stderr," yu=%d yl=%d xl=%d xr=%d",yu-y0,yl-y0,xl-x0,xr-x0); +#endif + if( (xr-xl+1) < 2*(yl-yu+1)+2 + && 2*(xr-xl+1)+2 > (yl-yu+1) ) { + int i,i1,i2,i3,i4; + i1=loop(box1->p,xl ,(yu+yl)/2,xr-xl+1,cs,0,RI); + i1=loop(box1->p,xl+i1,(yu+yl)/2,xr-xl+1,cs,1,RI); + i2=loop(box1->p,(xl+xr)/2,yu ,yl-yu+1,cs,0,DO); + i2=loop(box1->p,(xl+xr)/2,yu+i2,yl-yu+1,cs,1,DO); + for (i=0;ip,xl+i,yu+i)< cs) break; i3=i; + for ( ;ip,xl+i,yu+i)>=cs) break; i3=i-i3; + for (i=0;ip,xr-i,yu+i)< cs) break; i4=i; + for ( ;ip,xr-i,yu+i)>=cs) break; i4=i-i4; +#ifdef DEBUG + fprintf(stderr,"\n#DEBUG DOT_ABOVE %d %d %d %d",i1,i2,i3,i4); +#endif + if ( (xr-xl<5 && yl-yu<8) /* to small */ + || (i1>=(xr-xl+1)/2+2 && i2>=(yl-yu+1)/2+2 /* symmetrical */ + && abs(i3-i4)<=i1/4+2 && abs(i1-i2)<=i1/4+2 + && abs(i3-i1)<=i1/4+4 && abs(i4-i2)<=i1/4+4) + ) + mod = DOT_ABOVE; // "." above, ToDo: improve it! + } + + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/8 + || loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl-1,xr-xl,cs,0,RI)-dx/8 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + > loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/8 + || loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + > loop(box1->p,xr,yl-1,xr-xl,cs,0,LE)-dx/8 ) + && num_cross(xl,xr,yu ,yu ,box1->p,cs) == 1 + && ( num_cross(xl,xr,yl ,yl ,box1->p,cs) == 2 + || num_cross(xl,xr,yl-1,yl-1,box1->p,cs) == 2 )) + mod = CIRCUMFLEX_ACCENT; // "^" + + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 + || loop(box1->p,xl,yu+1,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 + || loop(box1->p,xr,yu+1,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 ) + && ( num_cross(xl,xr,yu ,yu ,box1->p,cs) == 2 + || num_cross(xl,xr,yu+1,yu+1,box1->p,cs) == 2 ) + && num_cross(xl,xr,yl ,yl ,box1->p,cs) == 1 ) + mod = CARON; // "v" above + + if( /* test for bow (new0.3.6) */ + loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + + loop(box1->p,xl,yl ,xr-xl,cs,0,RI) + - 2*loop(box1->p,xl,(yl+yu)/2,xr-xl,cs,0,RI) > dx/16+1 + && xr-xl>10) + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 + || loop(box1->p,xl,yu+1,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 + || loop(box1->p,xr,yu+1,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 ) + && ( num_cross(xl,xr,yu ,yu ,box1->p,cs) == 2 + || num_cross(xl,xr,yu+1,yu+1,box1->p,cs) == 2 ) + && num_cross(xl,xr,yl ,yl ,box1->p,cs) == 1 ) + mod = BREVE; // round "u" above + + if( xr-xl>3 && yl-yu>1 ) + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl,xr-xl,cs,0,RI) + && loop(box1->p,xr,yu,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl,xr-xl,cs,0,LE) + && num_cross(xl,xr,yu,yu,box1->p,cs) == 2 + && num_cross(xl,xr,yl,yl,box1->p,cs) == 2 ) + mod = TILDE; + + if( xr-xl>2 && yl-yu>2) + if( num_cross(xl,xr,(yu+yl)/2,(yu+yl)/2,box1->p,cs) >1 ) + if( num_cross((xl+xr)/2,(xl+xr)/2,yu,yl,box1->p,cs) >1 ) + if( num_hole(xl,xr,yu,yl,box1->p,cs,NULL) == 1 ) + mod = RING_ABOVE; + +#ifdef DEBUG + printf("\n#DEBUG umlaut mod=0x%04x x=%d..%d y=%d..%d r=%d %s", + (int)mod,yu-box1->y0,yl-box1->y0, + xl-box1->x0,xr-box1->x0,r,((mod==CARON)?"CARON": + ((mod==ACUTE_ACCENT)?"ACUTE": + ((mod==TILDE)?"TILDE":"?")))); + out_x(box1); +#endif + + } + } + if (m) box1->dots=r; // set to 0 also possible after division + if (m) box1->modifier=mod; /* should be resetted after compose ??? */ + MSG(fprintf(stderr,"umlaut mod=%s dots=%d y0o=%d",decode(mod,ASCII),r,y0);) + } +// printf(" modifier=%c",mod); + if (modifier) *modifier=mod; /* set modifier */ + return r; +} + + +static wchar_t ocr0_eE(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i,i1,i2,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar,bad_e=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- most frequent letter e first!!! + // --- test e --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 (smallest seen is 5x6) + DBG( wchar_t c_ask='e'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num != 1) ad=97*ad/100; + /* ToDo: may be a two pass version intolerant/tolerant is better */ + if( loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI)>dx/3 ) Break; // rough test + if( loop(box1->p,x0+dx/2,y0,y1-y0,cs,0,DO)>dy/3 ) Break; + if( loop(box1->p,x0+dx/2,y1,y1-y0,cs,0,UP)>dy/3 ) Break; + if( num_cross(x0,x1,y0+dy/4 ,y0+dy/4 ,box1->p,cs) > 2 + && num_cross(x0,x1,y0+dy/4+1,y0+dy/4+1,box1->p,cs) > 2 ) Break; // gt + x=(x0+x1)/2;i= num_cross(x,x,y0,y1,box1->p,cs); // v0.40 + if (i!=3) { x=(x0+2*x1)/3;i= num_cross(x,x,y0,y1,box1->p,cs); } + if (i!=3) { x=(x0+3*x1)/4;i= num_cross(x,x,y0,y1,box1->p,cs); } + if (i!=3) { i= num_cross((x0+2*x1)/3,(x0+x1)/2,y0,y1,box1->p,cs); } + i=loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI); if( i>dx/2 ) Break; + j=loop(box1->p,x0,y0 ,x1-x0,cs,0,RI); if( jp,x0,y1 ,x1-x0,cs,0,RI); if( jp,x0+dx/2,y0,y1-y0,cs,0,DO); if( i>dx/2 ) Break; + j=loop(box1->p,x1-dx/3,y0,y1-y0,cs,0,DO); if( jp,x0 ,y0,y1-y0,cs,0,DO); if( jp,x1 ,y0,y1-y0,cs,0,DO); if( jp,x0+dx/2,y1,y1-y0,cs,0,UP); if( i>dx/2 ) Break; + j=loop(box1->p,x0 ,y1,y1-y0,cs,0,UP); if( jp,x1 ,y1,y1-y0,cs,0,UP); if( jp,x0, (y0+y1)/2,x1-x0,cs,0,RI) + -loop(box1->p,x0,(3*y0+y1)/4,x1-x0,cs,0,RI) + -loop(box1->p,x0,(y0+3*y1)/4,x1-x0,cs,0,RI); + if (dx>3 && j>=dx/4) Break; // ~g 4x6font + for(y=1;yp,cs) == 2 ) break; + if( y==dy/2 ) Break; // v0.2.5 ~ bad_t + for(i=0,j=x0+dx/4;j<=x1-dx/4 && i<=dx/4;j++) + if( num_cross(j,j,y0,y1,box1->p,cs) == 3 ) i++; + if( dx>4 && dy>5 && (i set x,y + for(x=0,y=i=y0+dy/3;ip,x1,i,y1-y0,cs,0,LE); + if(j>=x) { x=j;y=i; } + } + if (x 2* smallest thickness right + for(i1=dx,i=y0+dy/3;ip,x0 ,i,y1-y0,cs,0,RI); if (j>dx/2) break; + j =loop(box1->p,x0+j,i,y1-y0,cs,1,RI); + if (jp,x1 ,i,y1-y0,cs,0,LE); + j =loop(box1->p,x1-j,i,y1-y0,cs,1,LE); + if(j2*i1) Break; // not accepted, if right line is not very thinn + x =loop(box1->p,x1 ,y,y1-y0,cs,0,LE); + x+=loop(box1->p,x1-x,y,y1-y0,cs,1,LE); + x+=loop(box1->p,x1-x,y,y1-y0,cs,0,LE); + if (3*i2>i1) ad=99*ad/100; + if (2*i2>i1) ad=99*ad/100; + bad_e=60; // used later? + } + if (xp,cs) > 1 ) i=0; + if( i ) Break; +// ..@@@@...<- +// .@@@@@@;. +// @@,...@@. +// @@.....@, +// @@@@@@@@@ +// @@.,;.@,. <- problem (y) == bad_e>50 +// @@.....@. +// @@,...@@. +// .@@@,@@@. +// ..@@@@;..<- + if (dy>11 && bad_e<50) + if ( num_cross(x0,x1,y,y,box1->p,cs) != 1 ) Break; // except "geschwungenem e" + if ( num_cross(x0,x1-dx/3,y ,y ,box1->p,cs) != 1 + && num_cross(x0,x1-dx/3,y+1,y+1,box1->p,cs) != 1 ) Break; + // if( num_hole(x0, x1, y0 , y ,box1->p,cs,NULL) < 1 ){ + if( sdata->holes.num == 0 || sdata->holes.hole[0].y1 >= y-y0){ + if( sdata->hchar ) Break; // ~ \it t + // look if thinn font (may be h-line is broken) Mai00 + for(j=0,i=x0+dx/8;ip,cs,1) == 1 ) j++; + if(j<2*dx/4) Break; + } + if( sdata->holes.num>0 && sdata->holes.hole[0].y0 > y-y0) Break; + if( sdata->holes.num>1 && sdata->holes.hole[1].y0 > y-y0) Break; + if( sdata->holes.num==1 && sdata->holes.hole[0].x0 >= dx/2) { + ad=95*ad/100; } /* 8*10 @ (=at) is not an e */ + // look for horizontal gap + for(x=0,y=i=y0+dy/4;ip,x0,i,x1-x0,cs,0,RI); + if(j>=x) { x=j;y=i; } + } + if (y>y0+dy/4 && ydx/2) Break; // s + if (x>dx/4) ad=99*ad/100; + + if( num_cross(x0+dx/2,x1 ,y1-dy/4,y1 ,box1->p,cs) == 0 + && num_cross(x0+dx/2,x1-1,y1-dy/4,y1 ,box1->p,cs) == 0 + && num_cross(x0+dx/2,x1 ,y1-dy/4,y1-1,box1->p,cs) == 0 ) { + if (sdata->gchar) Break; // ~p + ad=99*ad/100; + } + /* upper case is for 5x6 box */ + if( sdata->hchar // broken B ? should also work when linedetection fails + && loop(box1->p,x1,y1-dy/3,dx,cs,0,LE)<=dx/8 ) { + x = loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); + if( loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)<=x + && loop(box1->p,x0,y0+dy/8,dx,cs,0,RI)<=x ) Break; + if( loop(box1->p,x0,y1-dy/4,dx,cs,0,RI)<=x + && loop(box1->p,x0,y1-dy/8,dx,cs,0,RI)<=x ) Break; + } + x = loop(sdata->bp,0,dy-2 ,dx,cs,0,RI); + if( loop(sdata->bp,0,dy-1-dy/8,dx,cs,0,RI)>x && dy>16) Break; // some Q + if (box1->m2) { + if (sdata->gchar) ad=99*ad/100; + if (sdata->hchar) ad=99*ad/100; + } else ad=99*ad/100; + + Setac(box1,(wchar_t)'e',ad); + if (ad>=100) return 'e'; + break; + } + // --- test E --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4 ;){ // min 3x4 + // rewritten for vectors 0.43 + int i1, i2, i3, i4, i5; // line derivation + corners + DBG( wchar_t c_ask='E'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]>d/2) Break; /* [2] = distance, ~dj... */ + if (aa[0][2]>d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + E f near E + + OOOOOOOO OOOO + O5 O O + O4 O + OOOO3 OOOOOO + O2 O + O O + O1 O O + OOOOOOOO OOOOOO +*/ + // check the bow from below + for (i=aa[1][3];i!=aa[2][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (y1-box1->frame_vector[ i][1]>dy/4) break; // fatal! + } if (i!=aa[2][3]) Break; // ~AHKMNRX + // search most left+down between bottom right and top right + i1=nearest_frame_vector(box1, aa[2][3],aa[3][3], x0, y1); + i5=nearest_frame_vector(box1, i1,aa[3][3], x0, y0); + i3=nearest_frame_vector(box1, i1, i5, x1, (y0+y1)/2); + i2=nearest_frame_vector(box1, i1, i3, x0, (2*y0+y1)/3); + i4=nearest_frame_vector(box1, i3, i5, x0, (y0+2*y1)/3); + i =nearest_frame_vector(box1, aa[0][3],aa[1][3], x0-dx/4, (y0+y1)/2); + if (2*box1->frame_vector[i][0] < aa[0][0]+aa[1][0]-1-dx/16) Break; + if (2*box1->frame_vector[i][0] < aa[0][0]+aa[1][0]) ad=99*ad/100; // f + + MSG(fprintf(stderr,"i1-5 %d %d %d %d %d",i1,i2,i3,i4,i5);) + // holes right open? + for( i=1,y=y0; yp,cs,2) == 0 ) i=0; + if( i ) Break; + for( i=1,y=y1; y>y1-dy/4 && i; y-- ) // long black line + if( get_bw(x0+dx/6,x1-dx/4,y,y,box1->p,cs,2) == 0 ) i=0; + if( i ) Break; + for( i=1,y=y0+dy/3; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>dx/3 ) i=0; + } if( i ) Break; + x=x1-dx/3; y=y0; // von oben durchbohren! + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y0+dy/4 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,DO); if( y>y0+dy/3 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,RI,DO); if( x<=x1 || y>y0+dy/2 ) Break; + x=x1-dx/3; y=y1; // von unten durchbohren! + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,ST,UP); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,UP); if( x<=x1 || yp,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y0+dy/4 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,DO); if( y>y0+dy/3 ) Break; + y+=dy/15; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,LE,ST); if( x15 && x==x0) ad=99*ad/100; // to thin + x+=dx/15+1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y1-dy/3 ) Break; + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) > 0 ) Break; + if (sdata->holes.num > 0) Break; + i=loop(box1->p,x0,y0+dy/4,dx,cs,0,RI); if(i>dx/2) Break; + j=loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); if(ji+dx/8) Break; i=j; + j=loop(box1->p,x0,y1-dy/4,dx,cs,0,RI); if(ji+dx/8) Break; + j=loop(box1->p,x1,y1-dy/4,dx,cs,0,LE); + for( x=dx,y=y0+dy/6; yp,x0,y,dx,cs,0,RI); + if (i>j/2 && ad>98) ad=99*ad/100; + if (i>dx/4) break; + if(i3*dx) // ~[ + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; + + if (box1->m2) { + if (!hchar) ad=ad*99/100; + if ( gchar) ad=ad*99/100; + } + Setac(box1,(wchar_t)'E',ad); + if (ad>=100) return 'E'; + break; + } + return box1->c; +} + +static wchar_t ocr0_n(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i,j,d,x,y,i1,i2,i3,handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test n --------------------------------------------------- + // glued rm is very similar to glued nn -> thickness of h-line should grow + // may02: tested for 8x12 font + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='n'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + i= num_cross( 0,dx-1,dy/4,dy/4,sdata->bp,cs); + j= num_cross( 0,dx-1,dy/2,dy/2,sdata->bp,cs); + if( (i<2 || i>3) && j!=2 ) Break; + if( loop(sdata->bp,dx/2,0,dy,cs,0,DO) > dy/8 && sdata->hchar ) Break; /* tt */ + y=5*dy/8; /* also for handwritten n, where first bow goes not down enough */ + if( num_cross( 0,dx/2,y ,y ,sdata->bp,cs) != 1 + && num_cross( 0,dx/2,y-1,y-1,sdata->bp,cs) != 1 + && num_cross(dx/2,dx-1,y ,y ,sdata->bp,cs) < 1 ) Break; // n rr + // ~thick_w + y=loop(sdata->bp,dx-1-dx/4,0,dy,cs,0,DO); if(y>dy/2) Break; + if(y>1)if( get_bw(dx-1-dx/4,dx-1,0,y-2,sdata->bp,cs,1) == 1 ) Break; + + y=3*dy/4; + if( num_cross(0, dx/2,y ,y ,sdata->bp,cs) == 1 + && num_cross(dx/2,dx-1,y ,y ,sdata->bp,cs) == 0 ) Break; // ~p + y=dy/2; + if( num_cross(0,dx-1,dy/2-dy/8,dy/2-dy/8,sdata->bp,cs) == 2 + && num_cross(0,dx-1,dy/2, dy/2 ,sdata->bp,cs) == 2 ) { // n rr + /* printed n */ + x =loop(sdata->bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // search 1st v-line + x+=loop(sdata->bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // 1st gap + x+=loop(sdata->bp,x,y,dx-x,cs,0,RI); if(x< dx/2) Break; i2=x; // 2nd v-line + x+=loop(sdata->bp,x,y,dx-x,cs,1,RI); if(x<3*dx/4) Break; i3=x; // 2nd gap + i=dy/4; y=13*dy/16; + if( num_cross(dx/2,dx-1,y,y,sdata->bp,cs)==2 ) i=3*dy/8; // \it n + if (i<2 && il1 l2 l3 l4 ??? + for(x=i1;xbp,x, 0,dy,cs,0,DO)>=i ) break; + if(x bp,x,dy-1,dy,cs,0,UP) >dy/4 ) break; + if(x==i2) Break; // no gap detected (glued serifs ??? ) + // glued rm as nn ??? + for(y=0,x=(i1+i2)/2;xbp,x,0,dy,cs,0,DO); + i=loop(sdata->bp,x,i,dy,cs,1,DO); // measure thickness + if( i>y ) y=i; if( i7 ) + if( loop(sdata->bp,dx-1,dy-1-dy/8,dx,cs,0,LE) + +loop(sdata->bp, 0,dy-1-dy/8,dx,cs,0,RI)-dx/8-1 + > loop(sdata->bp,dx-1,dy-1-dy/2,dx,cs,0,LE) + +loop(sdata->bp, 0,dy-1-dy/2,dx,cs,0,RI) ) ad=90*ad/100; // broken o + if( dy>7 && dx>7 ) + if( loop(sdata->bp,dx-1, dy/2,dx,cs,0,LE)==0 + && loop(sdata->bp,dx-1,dy-1-dy/8,dx,cs,0,RI)>dx/8 ) ad=98*ad/100; // broken o + } else { /* check handwritten n */ + if( num_cross(0,dx-1,dy/2, dy/2 ,sdata->bp,cs) != 3 + && num_cross(0,dx-1,dy/2-dy/8,dy/2-dy/8,sdata->bp,cs) != 3 ) Break; + i =loop(sdata->bp,0,dy/2-dy/8,dx,cs,0,RI); if (i>dx/4) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,1,RI); if (i>dx/2) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,0,RI); + if( num_cross(i,i, 0,dy/2-2*dy/8,sdata->bp,cs) != 0 ) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,1,RI); + if( num_cross(i,i,dy/2+1, dy-1,sdata->bp,cs) != 0 ) Break; + handwritten=80; + } + + i= loop(sdata->bp,dx-1 ,dy/2,dx,cs,0,LE); if(i>5) + if( get_bw(dx-1-i/2,dx-1-i/2,0,dy/2,sdata->bp,cs,1) == 1 ) Break; // ~rr + i+=loop(sdata->bp,dx-1-i,dy/2,dx,cs,1,LE); + if( get_bw(dx-1-i ,dx-1-i ,0,dy/2,sdata->bp,cs,1) == 0 ) Break; // ~rv + + if( get_bw(dx/2,dx/2,dy/4,dy/4,sdata->bp,cs,1) == 0 + && get_bw(dx/2,dx-1,dy-2,dy-2,sdata->bp,cs,1) == 0 + && get_bw(dx/2,dx/2,dy/4,dy-2,sdata->bp,cs,1) == 1 ) Break; // ~P + + // glued ri ??? + if( box1->dots>0 && box1->m1 ) + if( get_bw((x1+x0)/2,x1,box1->m1,y0-1,box1->p,cs,1) == 1 ) + if( num_cross( 0,dx-1,0 ,0 ,sdata->bp,cs) >2 + || num_cross( 0,dx-1,1 ,1 ,sdata->bp,cs) >2 ) Break; + + + i=loop(sdata->bp,dx-1, dy-1,dx,cs,0,LE); if (i>dx/2) + i=loop(sdata->bp,dx-1, dy-2,dx,cs,0,LE); + x=loop(sdata->bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + if (sdata->hchar && i-x>1) Break; // ß + x=loop(sdata->bp, 0,dy-1,dx,cs,0,LE); // check for serifs + i=loop(sdata->bp, 0,dy-2,dx,cs,0,LE); if (ibp, 0, 1,dx,cs,0,LE); if (ibp, 0, 2,dx,cs,0,LE); if (ihchar && x>0) Break; // fl + + if (num_cross( 0,dx-1,dy/4,dy/4,sdata->bp,cs)>=3) ad=98*ad/100; // small M + if (sdata->hchar || 2*y0m1+box1->m2) ad=96*ad/100; + if (sdata->gchar) ad=96*ad/100; // ß fl + if (dx<5) { // for small fonts no middle line is possible for m + ad=99*ad/100; // 4x6 m + if (num_cross(0,dx-1,dy/8,dy/8,sdata->bp,cs)>=2) { + ad=97*ad/100; // ~m + if (dy<=4) Setac(box1,'m',97); // only for 4x6 font! + } + } + Setac(box1,'n',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_M(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,i0,i1,i2,i3,t1,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // ------------------ test M --------------------------- + for(ad=d=100;dx>3 && dy>3;){ // dy<=dx nicht perfekt! besser mittleres + // min-suchen fuer m + DBG( wchar_t c_ask='M'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for (y=dy/4;y<=3*dy/4;y++) + if (num_cross(0,dx-1,y,y,bp,cs)>=3) break; + if (y>3*dy/4 && dx>4) Break; + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs)<2 + && num_cross(0,dx-1, dy/8, dy/8,bp,cs)<2 ) Break; /* fat M */ + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)<2 ) Break; + + x = loop(bp,dx-1 ,dy-1,dx,cs,0,LE); // ~ melted kl + x = loop(bp,dx-1-x,dy-1,dx,cs,1,LE); if( x>dx/2 ) Break; + + if( loop(bp, 0,7*dy/16,dx,cs,0,RI) + + loop(bp,dx-1,7*dy/16,dx,cs,0,LE) > dx/2 ) Break; // ~K + + if( dy>8 /* following lines should be extend to range check */ + && loop(bp, dx/4,dy-1, dy,cs,0,UP) 2 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)> 2 ) Break; // ~it_u + if( num_cross(0 ,dx-1,3*dy/4,3*dy/4,bp,cs)==2 + && num_cross(dx/2,dx/2,3*dy/4, dy-1,bp,cs)> 0 ) Break; // ~it_v + + if( loop(bp,3*dx/4, 0,dy,cs,0,DO) + > loop(bp,2*dx/4, 0,dy,cs,0,DO) + && loop(bp,3*dx/4,dy-1,dy,cs,0,UP) + < loop(bp,2*dx/4,dy-1,dy,cs,0,UP) ) Break; // ~N + if( loop(bp,3*dx/4, dy/8,dy,cs,0,DO) + > loop(bp,2*dx/4, dy/8,dy,cs,0,DO) + && loop(bp,3*dx/4,dy-1-dy/8,dy,cs,0,UP) + < loop(bp,2*dx/4,dy-1-dy/8,dy,cs,0,UP) ) Break; // ~serif_N + + // i0 is lower end of upper serifen (widest gap? ) + i0=0; + + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)!=4 ){ // Is it a N ? + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)==3 ){ + for(y=dy/2+1;yy-2 ) Break; // ~N + } + } + } + // MNWK + for(i2=0,i1=x=dx/2;xi2) {i2=y;i1=x;} else break; } + i3=i2+loop(bp,i1,i2,dy-i2,cs,1,DO); + if(i2hchar) Break; // rm + ad=99*ad/100; + } + if (i2==0 && dx>8 && dy>12) Break; // glued and bad splitted serifen-MN + + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) != 0 ) Break; // small A + if (sdata->holes.num != 0) Break; + t1=loop(bp,0 ,3*dy/4,dx,cs,0,RI); + t1=loop(bp,t1,3*dy/4,dx,cs,1,RI); // thickness of line? + if( 7*(t1+1)=i2 ) Break; // no good M + i1+=loop(bp,i1, dy/4,dx,cs,1,RI); + i2+=loop(bp,i2,3*dy/4,dx,cs,1,RI); + if( i1>=i2 ) Break; // no good M + i1+=loop(bp,i1, dy/4,dx,cs,0,RI); + i2+=loop(bp,i2,3*dy/4,dx,cs,0,RI); + if( i1<=i2 ) Break; // no good M + } + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)==2 + && num_cross(0,dx-1,dy/4,dy/4,bp,cs)==2 && !hchar ) Break; // ~ \it u + + if (dy<17) + if( num_cross(0,dx-1, 0, 0,bp,cs)<2 ) ad=99*ad/100; + if (dx>5) /* 4x6 font has only 1 cross at y=1 */ + if( num_cross(0,dx-1, 1, 1,bp,cs)<2 ) ad=96*ad/100; // kt + if( num_cross(dx/2,dx/2, 0, dy-1,bp,cs)!=1) ad=98*ad/100; // kt + if (dx<5 && loop(bp,dx/2,0,dy,cs,0,DO)>=3*dy/8) ad=96*ad/100; // 4x6 H + + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs)<=2 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)<=2 + && dx>8 && dy>12 ){ + ad=98*ad/100; + for(y=5*dy/16;y<5*dy/8;y++) // look for H-line + if( num_cross(0,dx-1,y ,y ,bp,cs)==1 ) break; + if( y<5*dy/8 ) ad=95*ad/100; + if( y<5*dy/8 ) + if( num_cross(2+dx/6,dx-3-dx/6,y-2,y-2,bp,cs)==0 + || num_cross(2+dx/6,dx-3-dx/6,y-1,y-1,bp,cs)==0 ) Break; // ~H bad! + } + + if( loop(bp,3*dx/8, 0,dy,cs,0,DO) >dy/2 + && loop(bp,5*dx/8,dy-1,dy,cs,0,UP) >dy/2 ) ad=95*ad/100; + + if(!hchar){ + ad=98*ad/100; /* not sure */ + if( loop(bp,0, dy/4,dx,cs,0,RI) + < loop(bp,0,dy-1-dy/8,dx,cs,0,RI)-dx/16 ) Break; // ~wi glued + } + if( gchar ) ad=98*ad/100; + if (ad>99 && dx<8) ad=99*ad/100; /* give 5x8 N a chance */ + Setac(box1,'M',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_N(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* corner-points, (x,y,dist^2,vector_idx) */ + dbg[9], + ad; /* tmp-vars */ + + // --- test N ------- +hchar -gchar + for(ad=d=100;dx>3 && dy>3;){ // 4x6font + int j; + DBG( wchar_t c_ask='N'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + if (dx<6) ad=99*ad/100; + if (dx<5) ad=99*ad/100; + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0](dy+2)/5) Break; /* glued tu */ + if (abs(aa[3][1]-aa[0][1])>(dy+4)/8) ad=98*ad/100; /* glued tu */ + /* left and right vertical line */ + d=line_deviation(box1, aa[0][3], aa[1][3]); if (d>2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[2][3], aa[3][3]); if (d>2*sq(1024/4)) Break; + + /* i1: uppermost left ^ from bottom (near 0,0) */ + i1=nearest_frame_vector(box1,aa[1][3],aa[2][3], x0+dx/8, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + MSG( fprintf(stderr,"i1= %d (%d,%d) left ^ from below", i1,x-x0,y-y0);) + if (y-y0 > 5*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + /* i3: uppermost right ^ ~H */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], x1, y0); + MSG( fprintf(stderr,"i3= %d (%d,%d) right ^ (ad=%d)",\ + i3, box1->frame_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0,ad);) + + /* check lower border of diagonal line, may fail on fonts where + * line ends on middle of right vertical line (screen font) */ + dbg[0]=d=line_deviation(box1,i1, aa[2][3]); + /* check right border of left vertical line */ + /* but split to possible lower left serif + vert. line */ + j=nearest_frame_vector(box1,aa[1][3],i1, x0+dx/2, y1+dy/2); + dbg[1]=d=line_deviation(box1, aa[1][3],j ); + +line_deviation(box1, j,i1); + MSG(fprintf(stderr," i1-a2 %d a1_serif-i1 %d ad=%d",dbg[0],dbg[1],ad);) + if (dbg[0] > sq(1024/4)) Break; + if (dx>4 && dbg[1] > sq(1024/4)) ad=97*ad/100; // d=0..2*sq(1024) + if (dx>4 && dbg[1] > sq(1024/3)) Break; // d=0..2*sq(1024) + // serif N has d=sq(1024/3)=116508 + MSG( fprintf(stderr,"ad %d", ad); ) + + /* i2: lowest right v from top, same frame? N-tilde etc.? */ + i2=nearest_frame_vector(box1,aa[3][3],aa[0][3], x1, y1-dy/8); + x=box1->frame_vector[i2][0]; + y=box1->frame_vector[i2][1]; + MSG( fprintf(stderr,"i2= %d (%d,%d) lowest right v from top",\ + i2, box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0);) + if (y-y0 < 3*dy/8) Break; + if (x-x0 < 3*dx/8) Break; + // test H + if ( box1->frame_vector[i3][0]-box1->frame_vector[i1][0]> dx/4 + && box1->frame_vector[i3][1]-box1->frame_vector[i1][1]<=dy/8 + && y<=box1->frame_vector[i1][1]) Break; + /* check if upper left and lower right point are joined directly */ + /* but split to possible upper right serif + down line */ + j=nearest_frame_vector(box1,i2,aa[0][3], x0+dx/2, y0-dy/2); + dbg[2]=d=line_deviation(box1,i2, j) + +line_deviation(box1, j, aa[0][3]); + /* check if upper right and lower right point are joined directly */ + /* but split to possible upper right serif + vert. line */ + j=nearest_frame_vector(box1,aa[3][3],i2, x0+dx/2, y0-dy/2); + dbg[3]=d=line_deviation(box1, aa[3][3],j) + +line_deviation(box1, j,i2); // ToDo: split once more? + MSG( fprintf(stderr," i2-a0 %d a3-i2 %d ad %d",dbg[2],dbg[3], ad); ) + if (dbg[2] > sq(1024/4)) Break; + // serif N, ToDo: do it better + if (dbg[3] > sq(1024/4)) ad=97*ad/100; + if (dbg[3] > sq(1024/3)) Break; + MSG( fprintf(stderr,"ad %d", ad); ) + + MSG( fprintf(stderr,"check against melted tu"); ) + // i1 = left ^ from below, i2 = lowest right v from top + // sample gocr_Device*: 3-8,dy=27 + if ( (box1->frame_vector[i1][1]-y0) + -(y1-box1->frame_vector[i2][1])>dy/8) ad=99*ad/100; /* ~ tu */ + MSG( fprintf(stderr,"tu ad %d", ad); ) + if (box1->frame_vector[i2][0] + -box1->frame_vector[i1][0]<=dx/8) Break; /* nonsignificant distance */ + MSG( fprintf(stderr,"i2-i1<=dx/8 ad %d", ad); ) + /* i1: uppermost left ^ from bottom (near 0,0) */ + /* i2: lowest right v from top, same frame? N-tilde etc.? */ + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]<=dy/8) { + // may happen on screen fonts 7x10 + if (dx>8) ad=97*ad/100; /* too flat (ff,H) */ + } + MSG( fprintf(stderr,"i2-i1<=dy/8 ad %d", ad); ) + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]<=dy/2) ad=99*ad/100; + MSG( \ + fprintf(stderr,"^v %d %d %d %d line dev %d %d %d %d max %d %d ad %d",\ + box1->frame_vector[i1][0]-x0,box1->frame_vector[i1][1]-y0,\ + box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0,\ + dbg[0],dbg[1],dbg[2],dbg[3],sq(1024/4),sq(1024),ad);) + ad=(100-(dbg[0]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[1]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[2]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[3]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + + if (!hchar) ad=99*ad/100; + if ( gchar) ad=98*ad/100; // \sc N + Setac(box1,'N',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_h(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- test h --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + // rewritten for vectors 0.42 + int i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( wchar_t c_ask='h'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + type A B=italic ??? + 18 OOO + O O O + O O + O7OOO OOOO + O4 O O O + O O O O + O O O O O + 2O3 5O6 O OOO +*/ + i1=i8=aa[0][3]; + i2=i3=aa[1][3]; + i5=i6=aa[2][3]; + // check the bow from below (fails on melted serifs) + for (i4=i=i2;i!=i5;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i4][1]) i4=i; // get next maximum + if (box1->frame_vector[ i][1]<=y0) break; // fatal! + } + if (box1->frame_vector[i4][1]-y0frame_vector[i4][1]18 ) + if( get_bw(dx-1-dx/3,dx-1,dy/6 ,dy/5 ,bp,cs,1) == 1 ) Break; + if( get_bw(dx-1-dx/3,dx-1,dy-1-dy/4,dy-1 ,bp,cs,1) == 0 ) Break; // s- + for( x=x0+dx/3;xp,cs,1) == 0 ) break; + if( x>=x1-dx/3 ) Break; + for(i=dy/4,y=y0+dy/3;y<=y1 && i;y++){ + if( num_cross(x0,x1 ,y,y, box1->p,cs) == 2 ) i--; + } if( i ) Break; + for(i=dy/4,y=y0;y<=y0+dy/2 && i;y++){ + if( num_cross(x0,x0+dx/2,y,y, box1->p,cs) == 1 ) i--; + } if( i ) Break; + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) > 0 ) // could happen + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/3 + && sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole(x0, x1, y0+dy/3 , y1-dy/3 ,box1->p,cs,NULL) != 1 ) Break; // mini + if( loop(bp,dx-1,dy/3,dx,cs,0,LE)+dx/8 + < loop(bp,dx-1,dy/2,dx,cs,0,LE) + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)+dx/8 + < loop(bp,dx-1,dy/2,dx,cs,0,LE)) Break; // ~k Okt00 + i=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); + if (i>1 && num_cross(x0,x0,y0+dy/8+2,y0+dy/2, box1->p,cs) == 1 ){ // fi fu + ad=(99-(1<p,cs) == 0 ) ad=97*ad/100; + if (num_cross(x0+dx/2,x0+dx/2,y0,y0+dy/8+2, box1->p,cs) == 1 ) ad=97*ad/100; + if (ad<1) break; + } + i =loop(bp,0,dy/4,dx,cs,0,RI); + i+=loop(bp,i,dy/4,dx,cs,1,RI)+1; + for ( ; i5*dy/8 ) { + ad=98*ad/100; // melted hi, li, but handwritten h + MSG(fprintf(stderr,"ad=%d",ad);) } + if( num_cross(x0,x0,y0+(dy+3)/8,y1,box1->p,cs) > 1 ) { + ad=98*ad/100; // melted fr + MSG(fprintf(stderr,"ad=%d",ad);) } + + i=loop(bp,dx-1,3*dy/4,dx,cs,0,LE); // melted "fr" for vertikal letters + if (i>dx/4 && loop(bp,dx-1-i,dy-1,dy,cs,1,UP)>dy/2) { + ad=94*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } + + i=loop(bp,dx-1,1+dy/16,dx,cs,0,LE); if (i 0 ) { + ad=95*ad/100; // melted fi + MSG(fprintf(stderr,"ad=%d",ad);) } + if (loop(box1->p,x1,y0+1+dy/16,dx,cs,0,LE)p,x1,y0 ,dx,cs,0,LE)p,x1,y0+1,dx,cs,0,LE)holes.num > 0) ad=97*ad/100; + if (box1->m2) { + if ( gchar) ad=98*ad/100; + if (!hchar) ad=97*ad/100; + } else ad=99*ad/100; + Setac(box1,'h',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_H(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,j1,d,x,y,ya,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test H --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='H'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if ( num_cross(0,dx-1,dy/4 ,dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,dy/4-1,dy/4-1,bp,cs) != 2 ) Break; + if ( num_cross(0,dx-1,3*dy/4 ,3*dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/4+1,3*dy/4+1,bp,cs) != 2 ) Break; + if ( loop(bp,0 ,dy/8,dx,cs,0,RI) + + loop(bp,dx-1,dy/8,dx,cs,0,LE)>dx/2 ) Break; // ~A + for ( j1=0,i=1,y=y0+dy/10; yp,x0 ,y,dx,cs,0,RI) + +loop(box1->p,x1 ,y,dx,cs,0,LE); if( j>dx/2 ) i=0; if(j>j1)j1=j; } + if ( !i ) Break; + for ( i=1,y=dy/4; ydx/5 ) i=0; } + if (!i) Break; // ~K Jul00 + for (i=0,ya=y=y0+dy/3; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ) { i=j; ya=y; } } + if (i<=dx/2) Break; ya-=y0; + if (num_cross(0,dx-1,ya ,ya ,bp,cs) != 1 + && num_cross(0,dx-1,ya+1,ya+1,bp,cs) != 1 ) Break; /* Dec00 */ + for (y=ya; y 2 + && num_cross(0,dx-1,y+1,y+1,bp,cs) > 2 ) break; + if (yp,cs,1) == 0 ) i=0; + } if (i) Break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if (get_bw( x, x,y1-dy/4,y1 ,box1->p,cs,1) == 0 ) i=0; + } if (i) Break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if (num_cross(x,x,y0+dy/8,y1-dy/8, box1->p,cs) == 1 ) i=0; + } if (i) Break; + for (i=1,y=y0;y<=y0+dy/4 && i;y++){ + if (num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if (i) Break; + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if (num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if (i) Break; + if (get_bw(x1-dx/8, x1 , y0, y0+dy/8,box1->p,cs,1) != 1 ) Break; + if (get_bw(x0 , x0+dx/8, y1-dy/8, y1,box1->p,cs,1) != 1 ) Break; + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(i1>dx/2) Break; + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(i2i1+dx/8) Break; + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); if(i3i2+dx/8) Break; + if (abs(i1+i3-2*i2)>dx/16+1) Break; + // test for thick tall N looking like a H + if (num_cross(x0,x1,y0, y1 , box1->p,cs) < 2 ) Break; // sure N + if (num_cross(x0,x1,y0,(y0+y1)/2, box1->p,cs) < 2 ) Break; // sure N + i1=loop(bp, 0, dy/4,dx,cs,0,RI); + i1=loop(bp, i1, dy/4,dx,cs,1,RI); // right side of left vert. line + i2=loop(bp, 0,dy-1-dy/4,dx,cs,0,RI); + i2=loop(bp, i2,dy-1-dy/4,dx,cs,1,RI); // right side of left vert. line + i3=loop(bp,dx-1 ,dy-1-dy/4,dx,cs,0,LE); + i3=loop(bp,dx-1-i3,dy-1-dy/4,dx,cs,1,LE); // left side of right vert. line + if (dx<10 && i1-i2>dx/4) Break; + if (dx<10 && i1-i2>dx/8) ad=99*ad/100; // 7x10 ~N + i =loop(bp, 0,dy/2+1+dy/8,dx,cs,0,RI); + i+=loop(bp, i,dy/2+1+dy/8,dx,cs,1,RI); + i =loop(bp, i,dy/2+1+dy/8,dx,cs,0,RI); + if (i6*i2 && 5*i3>6*i2 && i1>i2 && i3>i2) Break; // ??? + if (dx>8) + if (loop(bp,dx-1, 3*dy/8,dx,cs,0,LE) + -loop(bp,dx-1, dy/8,dx,cs,0,LE)>dx/4 + && loop(bp,dx-1, 3*dy/8,dx,cs,0,LE) + -loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)>dx/4 ) Break; // ~K + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) Break; + if (sdata->holes.num != 0) Break; + MSG( fprintf(stderr,"i123 %d %d %d",i1,i2,i3); ) + if ( gchar) ad=99*ad/100; + if (!hchar) ad=98*ad/100; + Setac(box1,'H',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_k(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- test k --------------------------------------------------- + for(ad=100;dx>2 && dy>3;){ // min 3x4 + // rewritten for vectors 0.43 + int d, i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( wchar_t c_ask='k'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + type A B=italic ??? + 18 OOO + O O O + O O6 O + O7 OO O OO + O4OO OO OO + O OO O O + O OO O O O + 2O3 O5 O OOO +*/ + i1=i8=aa[0][3]; + i2=i3=aa[1][3]; + i5= aa[2][3]; + // check the bow from below + for (i4=i=i2;i!=i5;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i4][1]) i4=i; // get next maximum + if (box1->frame_vector[ i][1]<=y0) break; // fatal! + } + if (box1->frame_vector[i4][1]-y0frame_vector[i4][1]frame_vector[i][0]frame_vector[i][0]dx/2) Break; + i3=loop(bp,0,dy/2+dy/4,dx,cs,0,RI); + if (abs(i1+i3-2*i2)>(dx+8)/16+1 || i1p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x1, y1-dy/3,y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4,x1, y0 ,y0+3*dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/4,x1, y0+dy/4,y1-dy/4,box1->p,cs,1) != 1 ) Break; //~1 + if( get_bw(x1-dx/4,x1, y1-dy/8,y1 ,box1->p,cs,1) != 1 ) Break; + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; + // if( num_hole(x0,x1,y0+dy/4,y1,box1->p,cs,NULL) != 0 ) Break; + for(y=y0+1;yp,cs,1) == 0 ) break; + if( yp,cs,100)>50) i=0; + if( i ) Break; // no vertikal line! + + /* check for falling line in the lower left corner */ + for (j=x=0,y=5*dy/8;y<7*dy/8;y++) { + i= loop(bp,dx-1,y,dx,cs,0,LE); if(i>x) { x=i;j=y; } + } // x=dx/6 on fat k + if (x + loop(bp,dx-1-x,y,dx,cs,1,LE)/2 dx/2) + i =loop(bp,dx-1,dy-2,dx,cs,0,LE); if(i>dx/2) Break; + i+=loop(bp,dx-1-i,dy-1,dx,cs,1,LE)/2; + if( get_line(x,y,dx-1-i,dy-1,bp,cs,100)<60 ) Break; + + for(y=y0+dy/3;yp,cs)==2 ) break; + if( y==y1 ) Break; + if( + // num_hole(x0,x1 ,y0 ,y1 ,box1->p,cs,NULL)>0 // ~A happens! + sdata->holes.num > 0 ) + if (sdata->holes.hole[0].x1>dx-1-dx/4 + || sdata->holes.hole[0].y1>dy-1-dy/4 + || sdata->holes.hole[0].y0< dy/4) Break; + // if ( num_hole(x0,x1-dx/4,y0+dy/4,y1-dy/4,box1->p,cs,NULL)==0 ) Break; + i=loop(bp,0,dy-1,dx,cs,0,RI); + i=loop(bp,i,dy-1,dx,cs,1,RI); if (dx>8 && 4*i>3*dx) Break; // ~glued_tz + i =loop(bp,0,dy/4,dx,cs,0,RI); + if (i>dx/4 + && i+loop(bp,i,dy/4,dx,cs,1,RI)>dx/2 + && loop(bp, 0,0,dx,cs,0,RI)<=dx/4 + && loop(bp,dx-1,0,dx,cs,0,LE)>=dx/2 ) ad=90*ad/100; // divided Q + + if( 2*y0>(box1->m1+box1->m2) ) ad=99*ad/100; + + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,'k',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_K(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,i1,i2,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,xa,yb,xb,yc,xc,yd,xd,ye,xe,yf,xf; /* tmp-vars */ + + // --- test K --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // Mar2000 perfect??? no ocr-a X Jul09 + DBG( wchar_t c_ask='K'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for(y=dy/8;yp,x,y0,y1-y0,cs,0,DO); if (y>3*dy/4) { i=1;break; } + if (dy>15 && j>dy/8){ + j =loop(box1->p,x-1,y0+y-1,x1-x0,cs,0,LE)/2; + y+=loop(box1->p,x-j,y0+y-1,y1-y0,cs,0,DO)-1; + } + if(y>=dy/4) i=0; /* ok, found gap */ + } if( i ) Break; + for(y=0,x=x0+dx/4;x<=x1-dx/4;x++){ // lower h-gap + i=loop(box1->p,x,y1,dy,cs,0,UP); + /* on small chars bypass possible low left serifs */ + if (i>0) { i2=loop(box1->p,x-1,y1-i-1,dy,cs,0,UP); + if (i2>1) i+=i2-1; } + if (i>y) { y=i; i1=x; } + } if( y<=dy/8 ) Break; if (yp,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0;y<=y0+dy/4 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( dx<10 ){ + for(i=1,y=y0+dy/3;y<=y1-dy/3 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 1 ) i=0; + } if( i ) Break; + } + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( get_bw(x1-dx/3,x1,y0,y0+dy/8,box1->p,cs,1) != 1 ) Break; // ~k + if( loop(bp,0, dy/4,dx,cs,0,RI) + +loop(bp,0,3*dy/4,dx,cs,0,RI) + <2*loop(bp,0, dy/2,dx,cs,0,RI)-2-dx/32 ) + { if (dy>=16) { Break; } else ad=98*ad/100; } // ~X Jul09 + + i=loop(box1->p,x1,y0+ dy/4,x1-x0+1,cs,0,LE); if(i>dx/2) Break; + j=loop(box1->p,x1,y0+ dy/2,x1-x0+1,cs,0,LE); + x=loop(box1->p,x1,y0+3*dy/8,x1-x0+1,cs,0,LE); if(x>j) j=x; + if(j<=i ) Break; i=j; + j=loop(box1->p,x1,y1-dy/4,x1-x0+1,cs,0,LE); if(j>=i ) Break; + // out_x(box1); // detailed analysis + // + // a d <= that are main points of K + // | / + // b/e + // | \ . + // c f + ya= dy/4;xa=loop(bp,0,ya,dx,cs,0,RI);xa+=loop(bp,xa,ya,dx,cs,1,RI)/2; + yc=dy-dy/4;xc=loop(bp,0,yc,dx,cs,0,RI);xc+=loop(bp,xc,yc,dx,cs,1,RI)/2; + yb=dy/2; xb=dx-1-loop(bp,dx-1,dy/2,dx,cs,0,LE); + for(yd=ye=yf=xe=y=i=0,xf=xd=dx;yxe){ xe=x;ye=dy/2+y; } + x =loop(bp,dx-1,dy/2-y,dx,cs,0,LE); if(x>xe){ xe=x;ye=dy/2-y; } +#if 0 // removed v0.2.4a2 + x =loop(bp,0 ,dy/2+y,dx,cs,0,RI); // middle left border + x+=loop(bp,x ,dy/2+y,dx,cs,1,RI); // test 2nd cross + x+=loop(bp,x ,dy/2+y,dx,cs,0,RI); if(x8 ){ // example szaka0103 + if( xe>5*dx/8 || xb>5*dx/8 ) Break; // ~{\it n} + i=loop(bp,xb,yb,xb,cs,1,LE); // thick center? see font22 + if( get_line2(xb,yb,xd,yd,bp,cs,100)<95 ) // right up + if( get_line2(xb-i/2,yb,xd,yd,bp,cs,100)<95 ) Break; + if( get_line2(xe,ye,xf,yf,bp,cs,100)<95 ) Break; // right down + xe+=loop(bp,xe,ye,dx,cs,1,RI); if( xe>=xf ) Break; // ~{\it n} + } else { + if( dy<16 && !hchar ) Break; + if( loop(bp,0,1,dy,cs,1,DO)<=3*dx/4 + && loop(bp,1,1,dy,cs,1,DO)<=3*dx/4 + && loop(bp,2,1,dy,cs,1,DO)<=3*dx/4 ) Break; // ~x + } + if (loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE)<=dx/8){ + ad=99*ad/100; /* broken B ? */ + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole(x0,x1,y0,(y0+2*y1)/3,box1->p,cs,NULL)>0) Break; // broken B + } + if(box1->m3 && !hchar) ad=99*ad/100; + if(box1->m3 && gchar) ad=99*ad/100; + // printf(" ok xe=%d",xe); + Setac(box1,'K',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_f(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ab[8][4], /* special points (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + /* x=mindist_to_a y=0 "t" + 0>..$$. 0>..$$ 0>..$$ end right bow a--..$$ a--.$7. y>0 "f" + 1>.$..$ 1>.$.. 1>.$$$ start right bow .$7. .$.. + .@... .@.. 2>.@@. start upper end .@.. .@.. + 2>.$... 2>.$.. 3>$$$$ crossing bar .$.. $$$. + 3>$@$$. 3>$@$. $@@$ $@$. .@.. + 4>.$... 4>.$.. 4>.$$. lower end .$.. .$.. + .@... .@.. .@@. .@.. .@.. + .@... .@.. .@@. .@.. .@.. + 5>.$... 5>.$.. 5>.$$. lower start .$.. .$.. + 6>..... 6>$... 6>.... optional left bow + */ + // --- test f like t --------------------------------------------------- + for(ad=d=100;dx>2 && dy>5;){ // sometimes no hchar! + // rewritten for vectors 0.43 + int d, i1, i2, i3, i4, i5, i6, i7, i8, i9; // line derivation + corners + DBG( wchar_t c_ask='f'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]>d/2) Break; /* [2] = distance, ~BCDEF... */ + if (aa[0][2]>d ) Break; /* upper left end */ +/* + 9 + OOO + O 7 O8 + O6 + 1OOOO5 + O4 + O + 2O3 + OOOOO +*/ + i1=nearest_frame_vector(box1,aa[0][3],aa[1][3],x0-dx/2,(5*y0+3*y1)/8); + /* we need i for 4x6 font, where left side of h-bar is near (x0,y1) */ + i =aa[1][3]; if (box1->frame_vector[i][1]frame_vector[i2][0]-x0>dx/2) Break; // ~3 + i =nearest_frame_vector(box1, aa[0][3], i2, x1+2*dx, (y0+y1)/2); + // MSG(fprintf(stderr,"i %d",i);) + if (box1->frame_vector[i ][0] + -box1->frame_vector[i9][0]>dx/8) Break; // ~3 + + if( (box1->dots) ) Break; // Bold-face is gchar + if (dy<=box1->m3-box1->m2+1) Break; + for(x=0,j=y=2+(3*dy+4)/32;y<=5*dy/8;y++){ // upper cross line min=2 + i=loop(bp,0,y,dx,cs,0,RI); if( y>dy/4 && i>5*dx/8 ) break; + i=loop(bp,i,y,dx,cs,1,RI); if( i>x ) { x=i;j=y; } + if( y<3*dy/4 && y>dy/4 + && num_cross(0,dx-1,y ,y ,bp,cs) != 1 + && num_cross(0,dx-1,y+1,y+1,bp,cs) != 1 // against noise + ) break; + } if( y<=5*dy/8 ) Break; y=j;// if( y>dy/2 || ydy/8 + && num_cross( 0, (dx+1)/2,i,i,bp,cs) > 0 + && num_cross((dx+1)/2,dx-1,i,i,bp,cs) > 0 ) Break; // ~Y + + if (loop(bp,3*dx/4, 0,dy,cs,0,DO)>dy/8 + && loop(bp,3*dx/4-1,0,dy,cs,0,DO)>dy/8) Break; // upper bow + i=3*dy/4; if (box1->m3 && i>=box1->m3) i=box1->m3-1; + if (num_cross(0,dx-1,i,i,bp,cs)!=1) Break; + + // the middle bar appear in a wide vertical range, get part below + for (i1=dx,i2=y,j=y+1;jframe_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0);) + ab[7][0]=box1->frame_vector[i3][0]; + ab[7][1]=box1->frame_vector[i3][1]; + ab[7][3]=i3; + if (ab[7][1]-y0<=dy/16) ad=95*ad/100; // ~t + // because of the dx,dy scaling the horiz. bar could be nearer to (x1,y0) + // as the upper right end of the "t" + if (aa[3][0]-x0>3*dx/4 && aa[3][1]-y0>3*dy/16) ad=99*ad/100; // ~t + + + j=loop(bp,0,dy/8,dx,cs,0,RI); // if j>dx/2 we have italic f + if ((2*x(j+dx/4)) break; + if (iloop(bp,0, 1,dx,cs,0,RI) ) Break; // ~X + + i=y;j=1; // j used as flag + if( num_cross(0,dx-1,0,0,bp,cs)==1 && hchar) //~r + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs)!=1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs)!=1 ) Break; // ~* etc. + // check for upper bow to right + for(y=1;j && y=cs || dx<7) && getpixel(bp,x+1,y )>=cs + && getpixel(bp,x ,y-1)< cs && getpixel(bp,x+1,y-1)< cs ) + { j=0;break; } + } if(j) ad=98*ad/100; // not detected + + // if( num_hole (x0 , x1 , y0, y1,box1->p,cs,NULL) != 0 ) Break; // ~e + if (sdata->holes.num != 0) Break; // ~e + for(i1=i2=dx,y=7*dy/8;yi2+dx/4) Break; // ~t ~e + if(i1>i2+1) ad=96*ad/100; // ~t ~e + if( loop(bp,0,3*dy/4,dx,cs,0,RI)5 && !hchar) + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)>3*dx/4 ) + if( loop(bp,dx-1,dy-1,dy,cs,0,UP)8 ) + if( loop(bp, 0,2*dy/3 ,dx,cs,0,RI)>2*dx/3 + || loop(bp, 0,2*dy/3-1,dx,cs,0,RI)>2*dx/3 ) + if( loop(bp,dx-1, dy/4 ,dx,cs,0,LE)>2*dx/3 ) Break; // ~5 ~S + + if (!hchar) + if ( get_bw(x0+dx/8,x0+dx/8,y0+dy/4,y1-dy/16,box1->p,cs,2) == 0 + && num_cross(x1-dx/4,x1-dx/4,y0,y1,box1->p,cs)!=2 + && num_cross(x1-dx/8,x1-dx/8,y0,y1,box1->p,cs)!=2 ) Break; // ~r + + if (dy>15) + if( num_cross(x0,x1,y1-dy/4,y1-dy/4,box1->p,cs)>1 + && num_cross(x0,x1,y0+dy/4,y0+dy/4,box1->p,cs)>1 ) Break; // ~H + + if( dx>4 ) + if( loop(bp,dx-1 ,3*dy/4,dx,cs,0,LE)- + loop(bp,0 ,3*dy/4,dx,cs,0,RI)>dx/5+1 + && loop(bp,dx-1-dx/8,dy-1 ,dy,cs,0,UP)=dx/5+1) ad=98*ad/100; // ~E + i=loop(bp,dx/8,0,dy,cs,0,DO); + if (idy/2) { + ad=98*ad/100; // ~E, could also be a "f" with big serifs + MSG(fprintf(stderr,"ad=%d",ad);) } + if (!gchar) { ad=98*ad/100; + MSG(fprintf(stderr,"ad=%d",ad);) } + } + i = loop(bp,dx-1 ,3*dy/4,dx ,cs,0,LE)/2; + if (loop(bp,dx-1-i , dy-1,dy/2,cs,0,UP)1 + && loop(bp,0, 0,dy/4,cs,0,DO)p,cs,2) == 0) { // white pixels? + ad=98*ad/100; // F + MSG(fprintf(stderr,"ad=%d",ad);) } + + if (!hchar) ad=ad*98/100; // d*=100;d/=128 // not 100% ! + if (box1->m4>0 && gchar && ad<99 && + 8*box1->y1 >= box1->m4*7+box1->m3) ad++; + Setac(box1,'f',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_bB(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test B --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='B'; ) + if (sdata->holes.num < 2) Break; /* tolerant against a tiny hole */ + for(i=1,y=y0;yp,cs,1) != 1 ) i=0; + if( !i ) Break; + for(i=1,y=y1-dy/2;yp,cs,1) != 1 ) i=0; + if( !i ) Break; + if( get_bw(x1,x1 , y0 , y0 ,box1->p,cs,1) == 1 ) Break; + if( num_cross(x0+dx/2, x0+dx/2,y0,y1 ,box1->p,cs) != 3 ) + if( num_cross(x1-dx/3, x1-dx/3,y0,y1 ,box1->p,cs) != 3 ) Break; + /* --- detect center of lower hole --- */ + y = loop(box1->p,x0+dx/2,y1 ,dy,cs,0,UP); if (y>1+dy/8) Break; + y+= loop(box1->p,x0+dx/2,y1-y,dy,cs,1,UP); if (y>dy/3) Break; + y=y1-y-loop(box1->p,x0+dx/2,y1-y,dy,cs,0,UP)/2; if (yp,x0,y0+ y ,dx,cs,0,RI) + > loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)+dx/32 ) + if( get_bw(x0,x0,y0,y0,box1->p,cs,1) == 0 ) + if( get_bw(x0,x0,y1,y1,box1->p,cs,1) == 0 ) Break; // ~8 + i1=loop(box1->p,x0,y0+dy/4,dx,cs,0,RI); + i2=loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); + i =loop(box1->p,x0,y0+dy/2-dy/ 8,dx,cs,0,RI); if(i>i2) i2=i; + i =loop(box1->p,x0,y0+dy/2-dy/16,dx,cs,0,RI); if(i>i2) i2=i; + i3=loop(box1->p,x0,y1-dy/4,dx,cs,0,RI); + if(dy>16 && i3p,x0,y0+ 1 ,dx,cs,0,RI) + >= loop(box1->p,x0,y0+ 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y0+ 0 ,dx,cs,0,RI) + > loop(box1->p,x0,y0+ 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y1- 0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1- 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y1- 1 ,dx,cs,0,RI) + > loop(box1->p,x0,y1- 3 ,dx,cs,0,RI)+dx/32 ) Break; // ~8 Aug00 + } + + if (sdata->holes.num != 2) Break; + if (sdata->holes.hole[0].y0 < y-1 + && sdata->holes.hole[1].y0 < y-1 ) Break; + if (sdata->holes.hole[0].y1 > y+1 + && sdata->holes.hole[1].y1 > y+1 ) Break; + // if( num_hole(0,dx-1,0 ,y+1 ,bp,cs,NULL) != 1 ) Break; + // if( num_hole(0,dx-1,y-1,dy-1,bp,cs,NULL) != 1 ) Break; + // out_x(box1); + + for( x=dx,y=dy/6; yp,x0,y0+y,dx,cs,0,RI); if( i>x+dx/9 ) break; + if(ix )break; + } if( yx) x=i; // allow dust + i=loop(bp,0,dy/2+1,dx,cs,0,RI); if (i>x) x=i; + if ( loop(bp,0, dy/8,dx,cs,0,RI) + +loop(bp,0,7*dy/8,dx,cs,0,RI) > 2*x+1 ) Break; // not konvex! + + if(!hchar){ // ~ fat_a + ad=99*ad/100; + x =loop(bp,0,dy/4,dx,cs,0,RI); + if(loop(bp,0,dy/2,dx,cs,0,RI)>x+dx/8) ad=97*ad/100; + } + + if ( (!hchar) && (dx<=10 || dy<=10) ) ad=97*ad/100; // hchar or good_quality + if (gchar) ad=99*ad/100; + Setac(box1,'B',ad); + break; + } + // --- test b --------------------------------------------------- + for(ad=d=100;dx>3 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='b'; ) + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + for(y=y0;yp,cs,1) != 1 ) Break; + if(yp,cs,1) != 1 ) Break; + if( get_bw(x1- dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1- dx/3, x1 , y0 , y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-4*dx/9, x1 , y0+dy/5, y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( num_cross(x0,x1,y0+dy/4 ,y0+dy/4 ,box1->p,cs) > 1 ) // & + if( num_cross(x0,x1,y0+dy/4-1,y0+dy/4-1,box1->p,cs) > 1 ) + if( dy<16 || + num_cross(x0,x1,y0+dy/5 ,y0+dy/5 ,box1->p,cs) > 1 ) Break; // fat b + for(i=j=0,y=dy/2;yholes.num != 1) Break; + if (sdata->holes.hole[0].y0 < dy/4) Break; + if ((sdata->holes.hole[0].y1-sdata->holes.hole[0].y0+1) + *(sdata->holes.hole[0].x1-sdata->holes.hole[0].x0+1)*16 + < dx*dy) ad=90*ad/100; // hole to small + if( num_hole( x0, x1 , y0+dy/4, y1,box1->p,cs,NULL) != 1 ) Break; + i=loop(bp,dx-1,dy-1 ,dx,cs,0,LE); + j=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); if(j>i) Break; + if (!hchar) ad=99*ad/100; + if ( gchar) ad=99*ad/100; + Setac(box1,'b',ad); + if (ad>=100) return 'b'; + break; + } + return box1->c; +} + +static wchar_t ocr0_dD(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,ya,yb,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test D --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='D'; ) + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/3,y0+dy/2,y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1 ,y0+dy/2,y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1 ,x1 ,y0 ,y0+dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/2,x1 ,y0+dy/4,y0+dy/4 ,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0+dx/2,x0+dx/2,y0 ,y1 ,box1->p,cs) != 2 ) + if( num_cross(x1-dx/3,x1-dx/3,y0 ,y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x1 ,y0+dy/3,y0+dy/3,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x1 ,y1-dy/3,y1-dy/3,box1->p,cs) != 2 ) Break; + if (sdata->holes.num != 1) Break; + if (sdata->holes.hole[0].y0 > dy/3) Break; + if (sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole (x0 ,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) Break; + // test if left edge is straight + for(x=0,y=bp->y-1-dy/8;y>=dy/5;y--){ + i=loop(bp,0,y,x1-x0,cs,0,RI); + if( i+2+dx/16<=x ) break; + if( i>x ) x=i; + } + if (y>=dy/5 ) Break; + /* test if right edge is falling */ + for(x=dx,y=0;yx-1,y,x1-x0,cs,0,LE); + if( i>x+dx/16 ) break; + if( iy-1;y>2*dy/3;y--){ + i=loop(bp,bp->x-1,y,x1-x0,cs,0,LE); + if( i>x+dx/16 ) break; + if( i2*dy/3 ) Break; + if( loop(bp,dx-1,dy-1 ,dx,cs,0,LE) <= + loop(bp,dx-1,dy-2-dy/16,dx,cs,0,LE) ) Break; // P + + y=loop(bp,dx/2,dy-1,dy,cs,0,UP)-1; if (dy>16) y/=2; + if ( y>=dy/16 ) { y-=dy/16; + if (get_bw(dx/2,dx-1,dy-1-y,dy-1-y,bp,cs,1)==1) Break; // ~A + } + + ya=loop(bp, 0,dy-1,dy,cs,0,UP); + yb=loop(bp,dx/16+1,dy-1,dy,cs,0,UP); + if (yady/16 && ya>yb) Break; // ~O + if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI)>dx/16) ad=99*ad/100; // O? 0907 + if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI)>= + loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)) ad=97*ad/100; // ~O 0907 + + if ( loop(bp, dx/2, 0,dy,cs,0,DO) + -loop(bp, dx/2,dy-1,dy,cs,0,UP) > dy/8 ) ad=97*ad/100; // ~b + + + + if (loop(bp, 0, 0,dx,cs,0,RI)>=dx/2 + && loop(bp,dx-1,dy-1,dx,cs,0,LE)>=dx/2 + && loop(bp, 0,dy/2,dx,cs,0,RI)< 2 ) ad=96*ad/100; // thin O + + if(box1->dots) ad=ad*94/100; + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,'D',ad); + break; + } + // --- test d --------------------------------------------------- + for(d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='d'; ) + ad=100; + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2, y1-dy/6, y1-dy/9,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0+dx/2, y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4, x1 , y0+dy/8, y0+dy/8,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/4, y1 ,box1->p,cs,1) != 1 ) Break; + if(dy>19) // 0..dx/3 dont work on serif d, 0..dx/4 is more safe + if( get_bw(x0 , x0+dx/4, y0 , y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0 , x0+dx/4, y0 , y0+dy/6,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0 , x0+dx/4, y1-dy/8, y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2-1,x0+dx/2,y1-dy/8, y1 ,box1->p,cs,1) != 1 ) Break; // ~"A + if( loop(bp,bp->x-1, bp->y/4,x1-x0,cs,0,LE) > + loop(bp,bp->x-1,3*bp->y/4,x1-x0,cs,0,LE)+1 ) Break; + // more than dx/8 of width should show two horizontal lines (o-like) + for (i=dx/8+1,x=0;x1) Break; // "d as a" patch + if (i==1) ad=99*ad/100; // "d as a" patch, serif? + for(i=dy/6+1,y=dy/4;y 3 ) i++; // ~al + } if( i ) ad=98*ad/100; + for(i=dy/8+1,y=0;yholes.num<1) Break; + if (sdata->holes.num>1) { + if (dx<6) Break; ad=95*ad/100; } // glued j above 8 (4x6 sample) + MSG(fprintf(stderr,"hole[0].y0,y1= %d %d",sdata->holes.hole[0].y0,sdata->holes.hole[0].y1);); + if ( sdata->holes.hole[0].y0 < dy/4 ) Break; + if (dy-sdata->holes.hole[0].y1 > dy/4+1) Break; // glued et + // if( num_hole(x0 , x1 , y0+dy/4 , y1 ,box1->p,cs,NULL) !=1 ) Break; + if( num_cross(0 ,dx-1,dy-1-dy/4,dy-1-dy/4,bp,cs) != 2 ) { // glued al + if (dy>15) { Break; } else ad=96*ad/100; + } + if (!hchar) ad=98*ad/100; + if ( gchar) ad=99*ad/100; + Setac(box1,'d',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_F(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test F --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='F'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0+dx/2,x0+dx/2,y0,y0+dy/8,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0,x0+dx/4,y1-dy/4,y1-dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0,x0+dx/2,y0+dy/4,y0+dy/4,box1->p,cs,1) != 1 ) Break; + + for (x=0,y=0;yx) x=j; + } if (ydx/2 ) i=0; } + if( i ) Break; + + x=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); + x=loop(bp,x,dy-1-dy/4,dx,cs,1,RI); // strichdicke + for( i=1,y=dy/3; ydx/3 && ((j>2*x && dx>8) || j>x+1)) i=0; } + if( i ) Break; + + y=dy/8; if (y<1) y=1; + for( i=1; y=dx/3) { i=0; break; } + } + if( i ) Break; + + // check for vertical line on left side + for(i=1,y=1;y<=dy/2 && i;y++) + if( get_bw(0,dx/2,y,y,bp,cs,1) != 1 ) i=0; + if( !i ) Break; + + for(i=1,y=dy/2;ydx/8 // no serif + || loop(bp, 0, dy-3,dx,cs,0,RI)<1) break; + ad=99*ad/100; + } + if( get_bw(dx-1-dx/4,dx-1,dy-1-dy/4,dy-1,bp,cs,1) == 1 ) Break; // ~E + if( get_bw(dx-1 ,dx-1,0 ,dy/3,bp,cs,1) != 1 ) Break; + + if( loop(bp,0, bp->y/4,dx,cs,0,RI) < + loop(bp,0,3*bp->y/4,dx,cs,0,RI)-1 ) Break; + // if( num_hole(x0 , x1 , y0 , y1 ,box1->p,cs,NULL) >0 ) Break; + if (sdata->holes.num > 0) Break; + for(i=0,x=dx/4;xy/4,dx,cs,0,RI)-1; + if (i>=0 && loop(bp,dy-1,i,dy,cs,0,UP)<=3*dy/4 ) ad=ad*98/100; + + // check for screen font P + i= loop(bp,bp->x-1,bp->y/4,dx,cs,0,LE); + if (i<1) { + j=i+loop(bp,bp->x-1-i,bp->y/4, dx ,cs,1,LE); + j= loop(bp,bp->x-1-j,bp->y/4,3*dy/4,cs,0,DO); + if (j<=dy/2) { + i=loop(bp,bp->x-1,0,dx,cs,0,LE); + ad=ad*98/100; + if (i>dx/8) Break; + if (i) ad=98*ad/100; + } + } + + if (!hchar) if ((box1->m2-box1->y0)*8>=dy) { // ignore bad m1..4 + if ( num_cross(2*dx/3,2*dx/3,0,dy-1,bp,cs) < 2 ) ad=90*ad/100; // ~r + } + if (gchar) ad=99*ad/100; + Setac(box1,'F',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_uU(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test uU --------------------------------------------------- + // in Mitte so breit wie oben (bei V kontinuierlich schmaler) + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='u'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for(y=y0+dy/4;yp,cs) < 2 ) break; + if( yi)i=y; if(y1) break; + } if( idy/2)?dx/8:0),y,y,bp,cs); + if( y1 ) i--; // ~{\it v} + if( y2) ) { i--; ad=90*ad/100; } + if( y>dy/2 && j!=1 ) { i--; ad=95*ad/100; } + } if( !i ) Break; + for(i=dy/16+1,y=dy/8;ydy/2 && (j<1 && j>2) ) i--; + if( yp,cs,1) != 1 ) i=0; + } if( i ) Break; + for(i=dx/4+1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y0+dy/3,y1-dy/3,box1->p,cs,3) != 2 ) i--; + } if( !i ) Break; + for(i=1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y1-dy/2,y1,box1->p,cs,3) == 2 ) i=0; + if( get_bw( x, x,y1-dy/3,y1,box1->p,cs,3) == 2 ) ad=98*ad/100; + } if( !i ) Break; + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)==2 + && num_cross(dx-dx/2,dx-1,dy-dy/4,dy-dy/4,bp,cs)==1 ) Break; // ~{\it v} + + i=loop(bp,0,dy-1-dy/16,dx,cs,0,RI); + j=loop(bp,0,dy-1-dy/8 ,dx,cs,0,RI); + if( i15) + if( loop(bp,dx-1,dy/16,dx,cs,0,LE) + > loop(bp,dx-1,dy/8 ,dx,cs,0,LE)+1+dx/32 ) Break; // ~bad 0 (thinn) + if( hchar && dy>7) + if( loop(bp, 0, dy-1,dx,cs,1,RI)==dx + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/16 + && loop(bp, 0,3*dy/4,dx,cs,0,RI)>dx/16 + && loop(bp,dx-1, dy/2,dx,cs,0,LE)>dx/16 + && loop(bp, 0, dy/2,dx,cs,0,RI)>dx/16 + ) Break; // melted ll + + i=loop(bp, 0,dy-2-dy/8,dx,cs,0,RI); + j=loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE); + if ( i>dx/4 && j>dx/4 && i+j>=dx/2) Break; // v + if (i+j>=dx/2) ad=97*ad/100; + + if ( num_cross(0,dx-1,dy/2,dy/2,bp,cs)!=2 ) ad=96*ad/100; // w + if ( loop(bp,dx/2,dy-1,dy,cs,0,UP)>0 ) ad=98*ad/100; // w + + if (ad==100) ad=99; // ToDo: only if lines.wt<100 + bc='u'; + if (gchar) ad=98*ad/100; + if (hchar) bc='U'; + if (box1->dots>0) ad=99*ad/100; + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_micro(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i2,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test \mu µ MICRO_SIGN -------------------------------------- + // in Mitte so breit wie oben (bei V kontinuierlich schmaler) + if( gchar && !hchar ) + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='u'; ) + if (sdata->holes.num > 1) break; /* tolerant against a tiny hole */ + for(y=y0+dy/8;ym3-dy/4;y++) + if( num_cross(x0,x1,y,y,box1->p,cs) < 2 ) break; + if( ym3-dy/4 ) break; + if( get_bw(dx/2,dx/2,3*dy/8,7*dy/8,bp,cs,1)==0 ) break; + if( get_bw(dx/2,dx-1,3*dy/8,7*dy/8,bp,cs,1)==0 ) break; + for(y=dy/2;y5*dx) break; + } if( y>=dy || 2*y>box1->m3+box1->m4) break; i2=y; + for(i=0,x=2*dx/8;xi)i=y; if(y1) break; + } if( im4-box1->m3)-dy/4 && i;y++){ // 12%+1 Fehler + j=num_cross(0,dx/2,y,y,bp,cs); + if( y1 ) i--; // ~{\it v} + if( y2) ) i--; + if( y>dy/2 && j!=1 ) i--; + } if( !i ) break; + for(i=dy/16+1,y=dy/8;ym4-box1->m3)-dy/4 && i;y++){ // 12%+1 Fehler + j=num_cross(dx-dx/2,dx-1,y,y,bp,cs); + if( y>dy/2 && (j<1 && j>2) ) i--; + if( yp,cs,1) != 1 ) i=0; + } if( i ) break; + for(i=dx/4+1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y0+dy/4,y1-dy/2,box1->p,cs,3) != 2 ) i--; + } if( !i ) break; + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)!=1 ) break; + if( num_cross(dx-dx/2,dx-1,dy-dy/2,dy-dy/2,bp,cs)!=1 ) break; + if( get_bw( (dx+2)/4,dx-1,dy-2-3*dy/16,dy-1,bp,cs,1) == 1 ) break; + if( num_cross(0,dx/4,dy-1,dy-1,bp,cs)!=1 ) break; + + Setac(box1,MICRO_SIGN,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_vV(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test v ------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='v'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + x=loop(bp,dx/2,0,dx,cs,1,RI)+dx/2; // be sure in the upper gap + y=loop(bp, x,0,(dy+1)/2,cs,0,DO)-1; // (x,y) should be in the gap + if (x>3*dx/4 || yp,cs,1) != 1 ) Break; + if( get_bw(x0+x,x1,y0+y,y0+y,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+x,x0+x,y1-dy/2,y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+x, x0+x ,y0, y0+dy/3,box1->p,cs,1) == 1 ) // it v? + if( get_bw(x0+x+1,x0+x+1,y0, y0+dy/3,box1->p,cs,1) == 1 ) Break; + + // UVW + if(((num_cross( 0,dx/2+1,dy/ 8,dy/ 8,bp,cs)!=1) + && (num_cross( 0,dx/2+1,dy/16,dy/16,bp,cs)!=1) // it v + && (num_cross(dx/2+1,dx -1,dy/ 8,dy/ 8,bp,cs)!=1)) /* () added on Sep00 */ + || ((num_cross( 0,dx-1,dy-1-dy/8,dy-1-dy/8,bp,cs)> 1) + && (num_cross( 0,dx-1,dy-1 ,dy-1 ,bp,cs)> 1)) ) Break; + // UV + if( get_bw(0 ,dx/8,dy-1-dy/6,dy-1,bp,cs,1)==1 ) Break; + if( get_bw(dx-1-dx/8,dx-1,dy-1-dy/6,dy-1,bp,cs,1)==1 ) Break; + if( loop(bp,0 ,dy/6 ,dx,cs,0,RI) + >=loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) && dy>6 ) Break; + if( loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) + >loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) + && loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) + >loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) ) Break; // better OR ? + if( loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) + >=loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) + && loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) + >=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) ) ad=99*ad/100; // font21 + if( loop(bp,dx-1,dy/6 ,dx,cs,0,LE) + >=loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) && dy>6 ) Break; + x=loop(bp,0,dy-1,dx,cs,0,RI); // 3*x>dx changed to 2*x>dx May2001 JS + x=loop(bp,x,dy-1,dx,cs,1,RI); if ( dx>14 && 2*x>dx ) Break; // U + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)==2 + && num_cross(dx-dx/2,dx-1,dy-dy/4,dy-dy/4,bp,cs)==2 ) Break; // ~{\it u} + +#if 0 + // measure thickness of lower v + i=loop(bp, 0,dy-1-dy/16,dx,cs,0,RI) + +loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE); + j=loop(bp, 0,dy-1-dy/4 ,dx,cs,0,RI) + +loop(bp,dx-1,dy-1-dy/4 ,dx,cs,0,LE); + if( box1->m1 && hchar && dy>15 && j>=i-dx/32 ) Break; // ~Y +#endif + /* V has serifs only on upper site! Y also on bottom, check it. Okt00 */ + i=loop(bp, 0, 0,dx,cs,0,RI); + i=loop(bp, i, 0,dx,cs,1,RI); i1=i; // thickness + i=loop(bp, 0, 1,dx,cs,0,RI); + i=loop(bp, i, 1,dx,cs,1,RI); if(i>i1) i1=i; // thiggest + i=loop(bp, 0,dy/4,dx,cs,0,RI); + i=loop(bp, i,dy/4,dx,cs,1,RI); i2=i; + i=loop(bp, 0,dy ,dx,cs,0,RI); + i=loop(bp, i,dy ,dx,cs,1,RI); i3=i; // thickness + i=loop(bp, 0,dy-1,dx,cs,0,RI); + i=loop(bp, i,dy-1,dx,cs,1,RI); if(i>i3) i3=i; // thiggest + if( y0 < box1->m2 ) + if( i1-i2 > dx/32+2 + && i3-i2 > dx/32+2 ) Break; // ~serif_Y + + if( y0 < box1->m2 ) // uppercase V ? + if( i1-i2 < dx/32+2 ) /* no serif detected */ + if( num_cross(0,dx-1,dy-1-dy/4,dy-1-dy/4,bp,cs)==1 ){ + j=loop(bp, 0,dy-1-dy/4 ,dx,cs,0,RI); + j=loop(bp, j,dy-1-dy/4 ,dx,cs,1,RI); + if (jloop(bp,0 ,dy-1 ,dx,cs,0,RI) ) ad=96*ad/100; + + if (num_cross(0,dx-1, dy/2, dy/2,bp,cs)==1 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)> 1) Break; // 5x8 * Jul09 + + if (gchar) ad=99*ad/100; + bc='v'; + if( hchar ) bc='V'; + Setac(box1, bc, ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_rR(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test r ------- + for(ad=d=100;dy>3 && dx>1;){ // dy>dx, 4x6 font, dx=2 smallest prop-font + DBG( wchar_t c_ask='r'; ) + if (sdata->holes.num > 0 + && ( sdata->holes.hole[0].y1 > dy/2 // tiny hole in upper left + || sdata->holes.hole[0].x1 > dx/2 ) // is tolerated, ~Pp + ) Break; /* tolerant against a tiny hole */ + if( 2*dym3-box1->m1) Break; + + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)<=dx/8 ) Break; + x= loop(bp,dx-1,dy/2,dx,cs,0,LE); if (x<=dx/2) ad=99*ad/100; // ~t + if (loop(bp,dx-1-x/2,0,dy,cs,0,DO)>dy/8) ad=99*ad/100; // ~t + if( dx>4 ) + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)<=dx/8+2 ) Break; // ~v Jun00 + + i=dy-(dy+20)/32; // ignore dust on the ground + + for( y=4*dy/8; y3*dx/8) break; + i2= loop(bp,dx-1,y,dx,cs,0,LE); if(i1>i2) break; + if( (i1+(dx-i2 + -1))/2 >= 4*dx/8 ) break; // mass middle should be left + } + if (y5*dx/8 // not a C + && get_bw(dx-1-dx/8,dx-1,dy-1-dy/4,dy-1,bp,cs,1) ==1 ) Break; + + if( loop(bp, 0,5*dy/8,dx,cs,0,RI)<=dx/8 + && loop(bp,dx-1,5*dy/8,dx,cs,0,LE)>=5*dy/8 + && loop(bp,dx/2, dy-1,dy,cs,0,UP)<=dy/8 ) Break; // ~c + + if( loop(bp, 0,3*dy/8,dx,cs,0,RI) + > loop(bp,dx-1,3*dy/8,dx,cs,0,LE)+dx/8 ) { + if( loop(bp, 0, dy/8,dx,cs,0,RI)3*dx/4 ) Break; // ~i + if( loop(bp,0,dy/4,dx,cs,0,RI)>3*dx/8 // ~I + && get_bw(0,dx/8,0,dy/4,bp,cs,1) ==1 ) Break; + if( num_cross(0,dx-1,dy/2, dy/2 ,bp,cs)!=1 + && num_cross(0,dx-1,dy/2+1,dy/2+1,bp,cs)!=1 ) Break; // ~n 024a3 + + // itallic t is sometimes not high enough, look for v-like shape + for(y=3*dy/4;y1 ) ad=95*ad/100; // ~f + if( num_cross(dx/2 ,dx/2 ,0,dy-1,bp,cs)>2 + && num_cross(dx/2+1,dx/2+1,0,dy-1,bp,cs)>2 ) Break; // ~f + + if (box1->dots) ad=98*ad/100; /* could be modified latin2-r */ + if (hchar) ad=96*ad/100; + if (gchar) ad=97*ad/100; + Setac(box1,'r',ad); + break; // not 100% sure! + } + // --- test R --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='R'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(x0,x1,y1-dy/8,y1-dy/8, box1->p,cs) < 2 ) Break; // ~P + if (loop(bp, dx/2, dy/4,dy,cs,0,DO)>dy/2) Break; // ~C + if (loop(bp, dx/2, 0,dy,cs,0,DO)>dy/8 + && loop(bp, dx/2,dy/16,dx,cs,0,RI)=16 ) Break; + for(i=1,y=y0+dy/8;y<=y1-dy/8 && i;y++){ // left v-line + if( get_bw(x0 , x0+dx/2,y, y,box1->p,cs,1) != 1 ) i=0; + } if( !i ) Break; + for(i=1,x=x0+3*dx/8;x<=x1-dx/4 && i;x++){ // upper h-line + if( get_bw( x, x, y0, y0+dy/4,box1->p,cs,1) != 1 ) i=0; + } if( !i ) Break; + for(y=0,x=x0+dx/4;x<=x1-dx/4;x++){ // lower h-gap + i=loop(box1->p,x,y1,dy,cs,0,UP); + /* on small chars bypass possible low left serifs */ + if (i>0) { i2=loop(box1->p,x-1,y1-i-1,dy,cs,0,UP); + if (i2>1) i+=i2-1; } + if (i>y) { y=i; i1=x; } + } if( y<=dy/8 ) Break; if (yp,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0;y<=y0+3*dy/8 && i;y++){ // upper 2 vert lines + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0+dy/3;y<=y1-dy/3 && i;y++){ // midle h line + if( num_cross(x0,x1,y,y, box1->p,cs) == 1 ) i=0; + } if( i ) ad=95*ad/100; /* sometimes there is a small gap */ + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ // lower 2 vert lies + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( get_bw(x1-dx/3,x1,y0,y0+dy/4,box1->p,cs,1) != 1 ) Break; // pixel ru + x=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(x>dx/2) Break; i=x; // ru + x=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(x<=i ) Break; i=x; // rc + x=loop(bp,dx-1, 5*dy/8,dx,cs,0,LE); if(x>i ) i=x; + x=loop(bp,dx-1, 6*dy/8,dx,cs,0,LE); if(x>i ) i=x; + x=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); if(x>=i ) Break; // rd + + i1=loop(bp,0, dy/4,dx,cs,0,RI); // straight + i2=loop(bp,0, dy/2,dx,cs,0,RI); + i3=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); if( abs(i1+i3-2*i2)>1+dx/16 ) Break; + if (dy>15) + if (loop(bp,dx-1, dy/2,dx,cs,0,LE)>=loop(bp,dx-1, dy-1,dx,cs,0,LE) + && loop(bp,dx-1,3*dy/16,dx,cs,0,LE)>=loop(bp,dx-1,dy/16,dx,cs,0,LE)+dx/8 ) Break; // ~ff + if (dy>7) + if (loop(bp,dx-1,dy-2 ,dx,cs,0,LE) + >loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE)) { + ad=98*ad/100; + if (loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE)==0 + && loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE)>0 ) Break; // broken B ?? + } + j=sdata->holes.num; + if (j != 1) { + i=num_hole (x0,x1,y0,y1-dy/3,box1->p,cs,NULL); + // j=num_hole (x0,x1,y0,y1 ,box1->p,cs,NULL); + if (i==0) ad=90*ad/100; /* some times there is a small gap */ + if (j>1 || j>i) Break; + } + if (sdata->holes.num < 1) ad=90*ad/100; + if (sdata->holes.num==1) + if (sdata->holes.hole[0].y1 > 3*dy/4) ad=95*ad/100; // alpha + + if (!hchar) ad=98*ad/100; + if ( gchar) ad=98*ad/100; + Setac(box1,'R',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_m(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test m ------- + for(ad=d=100;dx>4 && dy>3;){ + DBG( wchar_t c_ask='m'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=96*ad/100; + x =loop(bp,dx-1,dy/2,dx,cs,0,LE); if(3*x>dx) Break; // ~K + y=dy/2; + i=num_cross(0,dx-1,y ,y ,bp,cs); if (i!=3) + i=num_cross(0,dx-1,y+1,y+1,bp,cs); + if (num_cross(0,dx-1,dy/2,dy/2,bp,cs)==1) Break; // 5x8 * Jul09 + if (i<3 && i>5) Break; // m ru rn, handwritten m + // im or glued.mm cut to nm + if (i>3) { ad=99*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } + if (i>=5) { // melted rw ? (Oct08 JS) + x =loop(bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // 1st v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // 1st gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x>3*dx/4) Break; i1=x-i1; // 2nd v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x>6*dx/8) Break; i2=x;// 2nd gap + x+=loop(bp,x,y,dx-x,cs,0,RI); i2=x-i2; // 3th v-line + // printf("\nDBG i1,i2 %d %d", i1, i2); + if (i1>2*i2) Break; // rw + } + for (i=0,y=dy-1-dy/8;y>dy/2;y--) { + i=num_cross(0,dx-1,y,y,bp,cs); if (i>2) break; + } if (i>3) Break; + for ( ;y>dy/2;y--) { + i=num_cross(0,dx-1,y,y,bp,cs); if (i!=3) break; + } if (i>5) Break; y++; i5=y; + if (y> dy/2) handwritten=10; + if (y>3*dy/4) handwritten=60; + /* @@............... + @@......,........ + @@,...@@@....@@@. + @@,,.@@@@..@@@@@, + @@@.@@@@@.@@@@@@, + @@;@@@@@@@@@;,@@, + @@@@@,.@@@@,,,@@@ <- i5 + ,@@@...;@@....@@@ + .@;...........,@@ + ...............@@ + i1 i2 i3 i4 + */ + x =loop(bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // search 1st v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // first gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x>3*dx/4) Break; i2=x; // 2nd v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x>6*dx/8) Break; i3=x; // 2nd gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x<5*dx/8) Break; i4=x; // 3th v-line + if (x>=dx) Break; // missing 3th v-line, ~W + MSG(fprintf(stderr,"y=%d x=%d %d %d %d",y,i1,i2,i3,i4);) + if( abs((i2-i1)-(i4-i3)) > 2+((i2-i1)+(i4-i3))/4 ) Break; // same gap width? rn + if( abs((i2-i1)-(i4-i3)) > 2+((i2-i1)+(i4-i3))/8 ) ad=98*ad/100; // same gap width? rn + // the same game for the lower part =>l1 l2 l3 l4 ??? + i =loop(bp,0,5*dy/8,dx,cs,0,RI); + i =loop(bp,i,5*dy/8,dx,cs,1,RI); + x =loop(bp,0,dy-dy/32-1,dx,cs,0,RI); + x =loop(bp,x,dy-dy/32-1,dx,cs,1,RI); + if( x > i+1 ) i=1; else i=0; /* looks like serif m, Okt00 */ + for(y=0,x=i1;xy) y=i; + } + if(yy) y=i; + } + if(y=dy/2 ) break; + if(xi4-i3+dx/16){ + for(y=0,x=(i1+i2)/2;xy ) y=i; if( 2*i3 ) Break; // melted WT + + x=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if (x>2 && loop(bp,dx-1-x/2,0,dy,cs,0,DO)dy/2) Break; // N + + // {\it m} + if( loop(bp,1, dy/4,dx,cs,0,RI) + >loop(bp,0,7*dy/8,dx,cs,0,RI) ) + Setac(box1,'m',98*ad/100); + + if (handwritten<10){ + x =loop(bp,0,dy/4,dx,cs,0,RI); + x+=loop(bp,x,dy/4,dx,cs,1,RI); + for( ;x=dy/4) ad=99*ad/100; + if (i>(dy+2)/4) ad=95*ad/100; + if (3*i>dy) Break; + } + if(xdots) ad=99*ad/100; + Setac(box1,'m',ad); + if (ad>=100) return 'm'; + break; + + } + return box1->c; +} + +static wchar_t ocr0_tT(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,i1,i2,i3,i4,j,d,x,y,yb,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test T --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='T'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // upper horizontal line + i1= loop (bp, dx/8,0,dy,cs,0,DO); // left side + i2= loop (bp,dx-1-dx/8,0,dy,cs,0,DO); // right side + i3= loop (bp, dx/8,i1,dy,cs,1,DO); // left side + i4= loop (bp,dx-1-dx/8,i2,dy,cs,1,DO); // right side + if (i1>dy/4 || i2>dy/4) Break; + for (x=dx/8;xi1+dy/8 && i>i2+dy/8) break; + if (idx+1 || i+j>=dx || i3*x) break; //~I + } if( y3*dx/4) Break; // ~7 + i+= loop(bp,i ,dy/4,dx,cs,1,RI);if(i>3*dx/4) Break; + + if( num_cross(0,dx-1, dy-1, dy-1,bp,cs) != 1 + && num_cross(0,dx-1, dy-2, dy-2,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,2*dy/3,2*dy/3,bp,cs) != 1 + && num_cross(0,dx-1,2*dy/3,2*dy/3,bp,cs) != 1 ) Break; + if (box1->m3 && 2*y1>box1->m3+box1->m4 + && loop(bp,0, 0,dy/2,cs,0,DO)>=dy/4 + && loop(bp,0,dy-1,dy ,cs,0,UP)<=dy/2) ad=96*ad/100; // ~J + if (gchar) ad=98*ad/100; + if( loop(bp,0,dy-1,dx,cs,0,RI)<=dx/8) ad=99*ad/100; // ~J + i = loop(bp,0,dy/2,dx,cs,0,RI); + j = loop(bp,i,dy/2,dx,cs,1,RI); + if( 2*i>=dx || 2*(dx-j-i)=100) return 'T'; + break; + } + // --- test t --------------------------------------------------- + // written t can look like a + or even with missing right side + // smallest t found in win-screenshot (prop-font) dx=2 + for(ad=d=100;dx>1 && dy>=box1->m3-box1->m2-1;){ // sometimes no hchar! + DBG( wchar_t c_ask='t'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (dy<=box1->m3-box1->m2+1) ad=96*ad/100; // bad line detection? + if (num_cross(0,dx-1,0 ,0 ,bp,cs) != 1) { // font4x5 *=x+- + if (dy<10) Break; ad=98*ad/100; + } + if (num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1) { // *=x+- + if (dy<10) Break; ad=98*ad/100; + } + for(x=0,yb=j=y=dy/32+3*dy/16;y<5*dy/8;y++)if(y>0){ // upper cross line + i=loop(bp,0,y,dx,cs,0,RI); + i=loop(bp,i,y,dx,cs,1,RI); if( i>x ) { x=i;yb=j=y; } // hor. line + i=num_cross(0,dx-1,y ,y ,bp,cs); + j=num_cross(0,dx-1,y+1,y+1,bp,cs); if (i>2 && j>2) break; + if( y<11*dy/16 + && num_cross(0,dx-1,y ,y ,bp,cs) != 1 + && ( num_cross(0,dx-1,y+dy/8,y+dy/8,bp,cs) != 1 || dy<13) // against noise + ) break; + } if( y<4*dy/8 ) Break; + if (dy>12 && x>4 && x>dx/2 && yb<=(dy+4)/8) + if ( loop(bp,dx-1-3*x/4,yb,dy,cs,1,UP) + <=loop(bp,dx-1-1*x/4,yb,dy,cs,1,UP)+1 ) + if ( loop(bp,0 ,dy/2,dy,cs,1,UP)>dx/8 ) Break; // ~C + + if (x=dx && 9*dx>=8*dy) { ad=99*ad/100; } // + + + i=loop(bp,dx-1,0,dx,cs,0,LE); + for(y=0;y1) break; i=j; + } + if( yi ) break; + if( y==yb ) break; + + j=loop(bp,0, dy/2,dx,cs,0,RI); + j=loop(bp,j, dy/2,dx,cs,1,RI); i=j; // thickness + j=loop(bp,0, dy/4,dx,cs,0,RI); + j=loop(bp,j, dy/4,dx,cs,1,RI); if (j=loop(bp,dx-1,yb/2,dx,cs,0,LE) ) Break; // ~1 ??? + + j=1; + for(y=1;j && y=cs && getpixel(bp,x+1,y )>=cs + && getpixel(bp,x ,y-1)< cs && getpixel(bp,x+1,y-1)< cs ) { j=0;break; } + } if(!j) Break; + + if( num_cross(0,dx-1,dy-2,dy-2,bp,cs) == 2 + && num_cross(0,dx-1,dy-1,dy-1,bp,cs) == 2 ) Break; // ~* (5er) + + if( dy>= 16 + && loop(bp, 0, 3*dy/4,dx,cs,0,RI) + >=loop(bp, 0, dy-2,dx,cs,0,RI) + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE) + <=loop(bp,dx-1, dy-2,dx,cs,0,LE) + && loop(bp,dx-1, 1,dx,cs,0,LE)+dx/16 + loop(bp, 0,3*dy/16,dx,cs,0,RI)+dx/16 + || loop(bp,dx-1, 0,dx,cs,0,LE)==0 + || loop(bp,dx-1, 1,dx,cs,0,LE)==0) ) ad=96*ad/100; // ~f Jan02 + if(dx<8 && dy>12){ // thin f's could easily confound with t + x=loop(bp,dx-1,3*dy/16,dx,cs,0,LE); + if (x) + if (loop(bp,dx-x,0,dy,cs,0,DO)<3*dy/16 + && loop(bp, 0, 3*dy/4,dx,cs,0,RI)+1 + >=loop(bp, 0, dy-2,dx,cs,0,RI) + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE) + <=loop(bp,dx-1, dy-2,dx,cs,0,LE) ) Break; + } + if (dx>7) + if( num_cross( 0,dx-1,2*dy/3,2*dy/3,bp,cs) > 1 + && num_cross( 0,dx/2,2*dy/3,2*dy/3,bp,cs) > 0 + && num_cross(dx/2,dx-1,2*dy/3,2*dy/3,bp,cs) > 0 ) + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; // ~6 + // if ( num_hole( x0, x1, y0+dy/4, y1, box1->p,cs,NULL) > 0 ) Break; // ~6 + + if( num_cross(0,dx-1,3*dy/4, 3*dy/4, bp,cs) >= 2 + && num_cross(0,dx-1,3*dy/4-1,3*dy/4-1,bp,cs) >= 2 ){ + ad=99*ad/100; /* italic t ? */ + if (loop(bp,dx/2 ,dy-1,dy,cs,0,UP)>dy/4) Break; // ~h + if (loop(bp,dx/2+1,dy-1,dy,cs,0,UP)>dy/4) Break; // ~h + } + + x= loop(bp,dx-1,dy/2,dx,cs,0,LE); + i= loop(bp,dx-1,dy/8,dx,cs,0,LE); + if (i>x && loop(bp,dx-x,0,dy,cs,0,DO)>=dy/2) ad=90*ad/100; /* ~\ */ + + x= loop(bp,0, 0,dx,cs,0,RI); + i= loop(bp,0, 1,dx,cs,0,RI); if (i1) Break; // l + + // this happens quite often, do not be to strong + if (!box1->m2) ad=99*ad/100; + if (box1->m2) { + if (!hchar) ad=99*ad/100; /* some times t is not long enough */ + if( y0>=box1->m2-(box1->m2-box1->m1)/4 ) ad=99*ad/100; /* to short */ + if( y0>=box1->m2 ) ad=99*ad/100; /* to short */ + } + + if (sdata->holes.num > 0) ad=95*ad/100; + if (gchar) ad=99*ad/100; + if (box1->dots) ad=90*ad/100; + Setac(box1,'t',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_sS(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t ac; + + // --- test sS near 5 --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 (4x6 font) + DBG( wchar_t c_ask='s'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/2, dx/2,0,dy-1,bp,cs)!=3 + && num_cross(5*dx/8,3*dx/8,0,dy-1,bp,cs)!=3 + && dy>4 ) Break; + if( num_cross(0,dx-1,dy/2 ,dy/2 ,bp,cs)!=1 + && num_cross(0,dx-1,dy/2-1,dy/2-1,bp,cs)!=1 ) Break; + // get the upper and lower hole koords + y=dy/4; + x =loop(bp,0,dy/4,dx,cs,0,RI); if(x>3*dx/8) Break; /* slanted too */ + x +=loop(bp,x,dy/4,dx,cs,1,RI); if(x>5*dx/8) Break; /* fat too */ + i1 =loop(bp,x,dy/4,dx,cs,0,RI); i1=(i1+2*x)/2; // upper center x + y=11*dy/16; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); if(x>dx/4) Break; + x +=loop(bp,dx-1-x,y,dx,cs,1,LE); if(dx>5 && dy>7 && x>dx/2) Break; + if (x>3*dx/4) Break; if(x>dx/2) { ad=98*ad/100; MSG({})} + i2 =loop(bp,dx-1-x,y,dx,cs,0,LE); i2=dx-1-(i2+2*x)/2; // upper center x + MSG(fprintf(stderr,"~3 upper right gap (i1=%d,dy/4)",i1);) + // use i3 temporary for x of left upper border of slanted S + i3 =loop(bp,0,dy/4,dx,cs,0,RI); + for( y=dy/4;yi3+dx/8 + && loop(bp,x-1,y,dx,cs,0,UP)>dy/8+1) break; // +1 for s font 5x8 Jul09 + } + if( ydx/8) break; + } + if(y==dy/2) Break; // Mai00 + + y=dy/2+loop(bp,0,dy/2,dy/2,cs,1,DO); + if( !joined(bp,0,y,i2,11*dy/16,cs) ) Break; + + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; // ??? + // if( num_hole( x0, x1, y0+dy/4, y1, box1->p,cs,NULL) > 0 ) Break; + + i1=loop(bp,dx-1,dy-1,dx,cs,0,LE); + i2=loop(bp,dx-1,dy-2,dx,cs,0,LE); + if (i2-i1 >= dx/4) Break; // ~{ 5x7font + + i1=loop(bp, 0, 0,dx,cs,0,RI); + i2=loop(bp, 0, 1,dx,cs,0,RI); + if (i2-i1 >= dx/4) Break; // ~} 5x7font + + // sS5 \sl z left upper v-bow ? + + i1=loop(bp, 0,dy/2,dx,cs,0,RI); + i1=loop(bp, i1,dy/2,dx,cs,1,RI); + if (4*i1>=3*dx) ad=97*ad/100; // ~5 7-segment + + i1=loop(bp,0, dy/16,dx,cs,0,RI); + i2=loop(bp,0,4*dy/16,dx,cs,0,RI); + i3=loop(bp,0,7*dy/16,dx,cs,0,RI); + if( 2*i2+dx/32 >= i1+i3 ){ + if( 2*i2+dx/32 > i1+i3 || dx>9 ) Break; + // very small s? + i1+=loop(bp,i1, dy/16,dx,cs,1,RI); + i2+=loop(bp,i2,4*dy/16,dx,cs,1,RI); + i3+=loop(bp,i3,7*dy/16,dx,cs,1,RI); + if( 2*i2+dx/32 >= i1+i3 ) Break; + } + + for(y=7*dy/16;y<5*dy/8;y++){ + if( num_cross( 0,dx-1,y ,y ,bp,cs)==2 ) + if( num_cross( 0,dx-1,y+1,y+1,bp,cs)==1 ) + if( num_cross( 0,dx/4,y,y,bp,cs)==1 ) break; // ~5 + } if(y<5*dy/8) Break; // v0.2.4a5 + if ( loop(bp, dx-1,dy-2-dy/32,dx,cs,0,LE) + > loop(bp, 0, 1+dy/32,dx,cs,0,RI) + dx/4 ) Break; // ~5 Dec00 + ac='s'; + if (gchar) { ad=98*ad/100; MSG(fprintf(stderr,"gchar=bad");) } + if ( loop(bp, dx-1, 0,dx,cs,1,LE) // ToDo: improve + > loop(bp, 0,dy-1,dx,cs,1,RI)+dx/8 ) ad=98*ad/100; // ~5 4x5 font + if( hchar ){ // (slanted) S but 5 is very similar! check it + ac='S'; + if ( loop(bp,3*dx/4, 0,dy,cs,1,DO) // ToDo: improve + > loop(bp, dx/4,dy-1,dy,cs,1,UP) ) ad=99*ad/100; // ~5 + if ( loop(bp, dx-1,dy-1-dy/32,dx,cs,0,LE) + > loop(bp, 0, 0+dy/32,dx,cs,0,RI) ) ad=99*ad/100; // ~5 + if ( loop(bp, 0,dy-1-dy/32,dx,cs,0,RI) + > loop(bp, dx-1, 0+dy/32,dx,cs,0,LE) ) ad=99*ad/100; // ~5 + } + Setac(box1,ac,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_gG(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test g --------------------------------------------------- + /* some g's have crotchet at upper right end, so hchar can be set */ + // ~italic g + for(ad=d=100;dx>2 && dy>4;){ // min 3x5 + DBG( wchar_t c_ask='g'; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/2, y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4, x1 , y1-dy/4, y1,box1->p,cs,1) != 1 ) Break; // ~p + if( get_bw(x0+dx/2, x0+dx/2, y0, y0+dy/2,box1->p,cs,1) != 1 ) Break; + + if( num_cross(x0+dx/2, x0+dx/2, y0, y1, box1->p,cs) < 3 ) + if( num_cross(x1-dx/2, x1-dx/2, y0, y1, box1->p,cs) < 3 ) Break; + if (sdata->holes.num < 1) Break; + for (i=0;iholes.num;i++){ + if (sdata->holes.hole[i].y1 < 5*dy/8+1) break; + } if (i==sdata->holes.num) Break; // no upper hole found + // if( num_hole ( x0, x1, y0, y0+5*dy/8, box1->p,cs,NULL) != 1 ) Break; + for(y=dy/4;y=15*dy) Break; // ~B + + if (num_cross(x1, x1, (y0+y1)/2, y1, box1->p,cs)>1) { + ad=98*ad/100; // ~& + if (num_cross(x1 , x1 , y0, (y0+y1)/2, box1->p,cs)<1 ) ad=96*ad/100; + if (num_cross(x1-1, x1-1, y0, (y0+y1)/2, box1->p,cs)<1 ) ad=95*ad/100; + } + // looking for a gap + for (x=0,y=dy/4;yx) x=i; + } // in a good font x is greater dx/2 + + if (xp,cs) > 2 + || num_cross(x0,x1 ,y0+dy/8,y0+dy/8,box1->p,cs) > 2) ad=90*ad/100; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) > 2 + || num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) > 2) ad=90*ad/100; + } + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs) >2 ) ad=99*ad/100; // ~/o + + /* test for horizontal symmetry ~8 */ + for (y=0;ym4==0) ad=98*ad/100; + if ( hchar) ad=96*ad/100; + if (!gchar) ad=96*ad/100; + ad=98*ad/100; + Setac(box1,'g',ad); + break; + } + // --- test rundes G --------------------------------------------- + for(ad=d=100;dx>3 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='G'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/2,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x1-dx/4,y0 ,y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y1-dy/4,y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 ,x0+dx/2,y1-dy/3,y1-dy/3,box1->p,cs,1) != 1 ) Break; // ~S + for( y=y0+dy/4;yp,cs,1) == 0 ) break; + if( y==y1-dy/3 ) Break; // no gap + + if( num_cross(x0+dx/2 , x0+dx/2 , y0, y, box1->p,cs) != 1 + || num_cross(x0+dx/2+1, x0+dx/2+1, y0, y, box1->p,cs) != 1 ) Break; // ~e + + x=x0; y=y1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); // left bow? + if( yp,&x,&y,x0,x1,y0,y1,cs,LE,ST); + if( xp,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( xp,&x,&y,x0,x1,y0,y1,cs,LE,ST); + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( xp,&x,&y,x0,x1,y0,y1,cs,RI,UP); // upper end right midle + if( x<=x1 ) Break; + if( yy1-dy/4 ) Break; + + x=x1-dx/3;y=y1; // follow left C-bow, filter S + turmite(box1->p,&x,&y,x0,x1,y0+dy/4,y1,cs,LE,UP); // w=LE b=UP + if( y>y0+dy/4+1 ) Break; /* leave box below for S or on top for CG */ + MSG(fprintf(stderr,"xy= %d %d",x-x0,y-y0);) + /* if (yp,&x,&y,x0,x1,y0 ,y1,cs,RI,UP); + MSG(fprintf(stderr,"xy= %d %d",x-x0,y-y0);) + if( y>y0 ) Break; + if (sdata->holes.num > 0) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) > 0 ) Break; + if( dx>4 && dy>6){ // no (<[ + for(i=1,y=0;i && y Z + if( xi ) i=x; + } if( yi){ i=x;i1=y; } + } if( i1<=dy/4 || i1>=dy-dy/4 ) Break; // around the middle ? + // check from above for gap and left vertical line (~S) + x =loop(bp,0,i1,dx ,cs,0,RI); + x+=loop(bp,x,i1,dx-x,cs,1,RI); // left vertical bow + x+=loop(bp,x,i1,dx-x,cs,0,RI); if (x>=dx) ad=90*ad/100; + MSG(fprintf(stderr,"h-bar y dx %d %d ad= %d",i1,i,ad);) + + i=1; // Mar06: adapted to 4x6 font + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if(i) ad=95*ad/100; // ~C + if(!hchar) ad=98*ad/100; + if( gchar) ad=98*ad/100; + + Setac(box1,'G',ad); + break; + } + // --- test \it g like 9 ---------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='g'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(x0+dx/2,x0+dx/2,y0,y1,box1->p,cs) != 3 // pre select + && num_cross(x0+dx/4,x1-dx/4,y0,y1,box1->p,cs) != 3 ) Break; + for( x=0,i=y=y0+dy/2;y<=y1-3*dy/16;y++){ // suche kerbe + j=loop(box1->p,x0,y,dx,cs,0,RI); + if( j>2 && j>dx/4 && yp,x0+j-2,y+1,dx,cs,0,RI)-2; + if( j>x ) { x=j; i=y; } + } + if( x<4*dx/8 ) Break; + if( num_cross(x0+dx/2,x1,i ,y1,box1->p,cs) != 1 + && num_cross(x0+dx/2,x1,i+1,y1,box1->p,cs) != 1 ) Break; + if( num_hole(x0,x1,y0,i+1,box1->p,cs,NULL)!=1 ) Break; + if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=0 ) Break; + if( loop(box1->p,x0,y1 ,dy,cs,0,RI)>dx/3 && + loop(box1->p,x0,y1-1,dy,cs,0,RI)>dx/3) Break; // no q + for( x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // suche kerbe + j=loop(box1->p,x1,y,dx,cs,0,LE); + if( j>x ) { x=j; i=y; } + } if( x>dx/2 ) Break; // no g + i1=loop(bp,dx-1,dy/8 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + i2=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); if(i1+i3<2*i2-dx/8) Break; // konvex + i1=loop(bp,dx-1,dy/4 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + for(y=dy/4;y0){ x--; // robust + y=loop(bp,dx-x-1, dy-1,dy,cs,0,UP); + if(yp,cs) > 2) ad=90*ad/100; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) > 2 + || num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) > 2) ad=90*ad/100; + + if (box1->m4==0) ad=98*ad/100; + if ( hchar) ad=96*ad/100; + if (!gchar) { + if (box1->m4 - box1->m3 > 2) ad=96*ad/100; + else { + if (y1 > box1->m3) ad=99*ad/100; + else ad=97*ad/100; + } + } + if (ad>99) ad=99; // never be sure to have a 9 + Setac(box1,'g',ad); + break; + } + return box1->c; +} + +// rewritten for vector usage v0.41 +static wchar_t ocr0_xX(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + // pix *bp=sdata->bp; // obsolete + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0, x1=box1->x1, y0=box1->y0, y1=box1->y1; // ,cs=sdata->cs; + int dx=x1-x0+1, dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test xX --------------------------------------------------- + // rewritten for vectors 0.41 + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + int ld, i1, i2, i3, i4; // lien derivation, 4 inner edges + DBG( wchar_t c_ask='x'; ) + if (sdata->holes.num > 0) Break; /* # */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0] dy/16 + && aa[3][1]-y0 > dy/16 + && y1-aa[1][1] > dy/16 + && y1-aa[2][1] > dy/16) Break; // 10x10 ~* (X + vert. line) + /* searching for 4 notches between neighbouring ends */ + + /* 0907: false positive on font4x5 '*'='-' | 'x' */ + i1=nearest_frame_vector(box1, aa[0][3], aa[1][3], x0+dx, y0+dy/4); + i3=nearest_frame_vector(box1, aa[0][3], aa[1][3], x0+dx, y1-dy/4); + i2=nearest_frame_vector(box1, i1, i3, x0, y0+dy/2); + if (box1->frame_vector[i2][0]<=x0+ dx/8) Break; + if (box1->frame_vector[i2][0]<=x0+ dx/4) ad=98*ad/100; + i1=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0 , y0+dy/4); + i3=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0 , y1-dy/4); + i2=nearest_frame_vector(box1, i1, i3, x1, y0+dy/2); + if (box1->frame_vector[i2][0]>=x1- dx/8) Break; + if (box1->frame_vector[i2][0]>=x1- dx/4) ad=98*ad/100; + + /* only left side */ + for (j=i=aa[0][3];i!=aa[1][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i1=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[0][0]+aa[1][0]-2*x>=0) Break; + if ( aa[1][0] >= x ) Break; + if ( aa[0][0] > x ) Break; + if ( aa[0][0] >= x ) ad=99*ad/100; + if (x-x02*sq(1024/4)) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, j, aa[1][3]); + MSG(fprintf(stderr," X-1 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only lower side */ + for (j=i=aa[1][3];i!=aa[2][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][1] + <=box1->frame_vector[j][1]) j=i; /* notice most upper vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i2=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[1][1]+aa[2][1]-2*y<=0) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, aa[1][3], j); + MSG(fprintf(stderr," 1-X %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower right and center point are joined directly */ + ld=line_deviation(box1, j, aa[2][3]); + MSG(fprintf(stderr," X-2 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only right side */ + for (j=i=aa[2][3];i!=aa[3][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + <=box1->frame_vector[j][0]) j=i; /* notice most left vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i3=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[2][0]+aa[3][0]-2*x<=0) Break; + if ( aa[3][0] <= x ) Break; + if ( aa[2][0] < x ) Break; + if ( aa[2][0] <= x ) ad=99*ad/100; + if (dx-(x-x0)2*sq(1024/4)) Break; + /* check if upper right and center point are joined directly */ + ld=line_deviation(box1, j, aa[3][3]); + MSG(fprintf(stderr," X-3 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only upper side */ + for (j=i=aa[3][3];i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][1] + >=box1->frame_vector[j][1]) j=i; /* notice lowest vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i4=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[3][1]+aa[0][1]-2*y>=0) Break; + /* check if upper left and center point are joined directly */ + ld=line_deviation(box1, aa[3][3], j); + MSG(fprintf(stderr," 3-X %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, j, aa[0][3]); + MSG(fprintf(stderr," X-0 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + // center crossing of diagonal lines is small? + if (box1->frame_vector[i3][0] - box1->frame_vector[i1][0] > dx/2) Break; + + if (gchar) ad=99*ad/100; + bc='x'; if(hchar) bc='X'; + Setac(box1,bc,ad); + break; + } + // --- test \it x --------------------------------------------------- +#if 0 + for(ad=d=99;dx>4 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='x'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0,x0+dx/4,y0+dy/2,y0+dy/2,box1->p,cs,1) != 0 ) Break; + if( get_bw(x1-dx/4,x1,y0+dy/2,y0+dy/2,box1->p,cs,1) != 0 ) Break; + if( num_cross(x0+dx/4,x1-dx/4,y0+dy/2,y0+dy/2, box1->p,cs) != 1 ) Break; + if( num_cross(x0,x1,y0+dy/4,y0+dy/4, box1->p,cs) != 3 + && num_cross(x0,x1,y0+dy/8,y0+dy/8, box1->p,cs) < 3 ) Break; + if( num_cross(x0,x1,y1-dy/4,y1-dy/4, box1->p,cs) != 3 + && num_cross(x0,x1,y1-dy/8,y1-dy/8, box1->p,cs) < 3 ) Break; + if( gchar ) ad=97*ad/100; + if( hchar ) ad=96*ad/100; + bc='x'; + Setac(box1,bc,ad); + break; + } +#endif + return box1->c; +} + +static wchar_t ocr0_yY(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,xa,ya,xb,yb,xc,yc,xd,yd; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test italic yY -------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='y'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=97*ad/100; + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs) < 2 + && num_cross(0,dx-1, 1, 1,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + if( num_cross(dx-1,dx-1,0,dy-1,bp,cs) != 1 + && num_cross(dx-2,dx-2,0,dy-1,bp,cs) != 1 ) Break; + if( num_cross(dx/3,dx/3,dy/4,dy-1,bp,cs) != 2 + && num_cross(dx/2,dx/2,dy/4,dy-1,bp,cs) != 2 ) Break; + for(yc=y=0,xc=x=dx/4;xy){ yc=y=i;xc=x; } + } if( y>12*dy/16 || y<3*dy/8 ) Break; + ya=dy/8; xa=xc-loop(bp,xc,ya,dx,cs,0,LE); if(xa< 0) Break; + yb=dy/8; xb=xc+loop(bp,xc,yb,dx,cs,0,RI); if(xb>=dx) Break; + for(y=dy/8;y6*dx/8) ad=99*ad/100; // why this??? + if (loop(bp,dx-1,dy-1,dx,cs,0,LE)<1) Break; + // printf(" abcd=%d %d %d %d %d %d %d %d -",xa,ya,xb,yb,xc,yc,xd,yd); + if( get_line2(xb,yb,xd,yd,bp,cs,100)<95 ) Break; + // if( get_line2(xc,yc,xd,yd,bp,cs,100)<95 ) Break; + // printf("ok"); + bc='y'; + if(gchar && !hchar) bc='y'; else + if(hchar && (!gchar || dy<14)) bc='Y'; else ad=98*ad/100; // SMALL-CAPS ??? + Setac(box1,bc,ad); + break; + } + // --- test yY --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='y'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0,x0,y1-dy/8,y1,box1->p,cs,1) == 1 ) { + if( get_bw(x0,x0+4*dx/8,y0+dy/8,y0+dy/8,box1->p,cs,1) != 1 ) Break; + } else { + if( get_bw(x0,x0+3*dx/8,y0+dy/8,y0+dy/8,box1->p,cs,1) != 1 ) Break; + } + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs) != 2 + && num_cross(0,dx-1, 1, 1,bp,cs) != 2 ) Break; + if( num_cross(dx/2,dx/2,0, 1,bp,cs) != 0 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + if( num_cross(dx-1,dx-1,0,dy-1,bp,cs) != 1 + && num_cross(dx-2,dx-2,0,dy-1,bp,cs) != 1 + && num_cross(dx-dx/8-1,dx-dx/8-1,0,dy-1,bp,cs) != 1 ) Break; + if( loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)+dx/8+1 // Jul00 + < loop(bp, 0,dy-1-dy/8,dx,cs,0,RI) ) Break; + for(y=0,x=dx/4;xy) y=i; + } if( y>10*dy/16 || y<2*dy/8 ) Break; + for(xc=xb=xa=dx,yc=yb=ya=y=0;ydy/8) Break; + for(i=dx,yc=y=dy/4;y<3*dy/4;y++){ + if( num_cross(0,dx-1,y,y,bp,cs) < 2 ) break; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); + x+=loop(bp,dx-1-x,y,dx,cs,1,LE); + j =loop(bp,dx-1-x,y,dx,cs,0,LE); if(j<=i){ i=j;yc=y;xc=dx-1-x-j/2; } + } yc+=dy/16+1; + yc+=loop(bp,xc,yc,i,cs,1,DO)/2; + xa+= loop(bp,xa ,ya,dx,cs,1,RI)/2; + xb=dx-1-loop(bp,dx-1,yb,dx,cs,1,LE)/2; + yd=dy-1-dy/8;xd=dx-1-loop(bp,dx-1,yd,dx,cs,0,LE); if(xd>6*dx/8) Break; + /* check for serife at lower end */ + for (i=0,x=dx-1;ix+dx/16+1) break; /* detect serif */ + if (j=5*dy/8 && !gchar) + if( get_line2(xa,ya,xd ,yd,bp,cs,100)>95 ) + if( get_line2(xb,yb,xd ,yd,bp,cs,100)>95 ) + { if (dx>4) { Break; } else ad=ad*98/100; } // ~V + xa=loop(bp,0,dy/8,dx,cs,0,RI); + xb=loop(bp,0,dy/2,dx,cs,0,RI); + xc=loop(bp,0,dy-1,dx,cs,0,RI); + if( 2*xb< xa+xc ) ad=98*ad/100; // ~V + if( 2*xb<=xa+xc ) ad=98*ad/100; + if( 2*xb<=xa+xc+1 ) ad=98*ad/100; + + bc='y'; + if ((!gchar) && (!hchar)) ad=98*ad/100; + if(y0m2-(box1->m2-box1->m1)/4) + { bc='Y'; if(gchar) ad=98*ad/100; } + // SMALL-CAPS ??? + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_zZ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i1,i2,i3,i4,i5,dbg[9], + d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test zZ ------- + for(ad=d=100;dx>3 && dy>3;){ // dy>dx + DBG( wchar_t c_ask='z'; ) /* for debugging purpose */ + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 edges of the z */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0]dy/8) ad=99*ad/100; + if (aa[0][1]-y0>dy/8) ad=99*ad/100; + if (2*dx2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[1][3], aa[2][3]); if (d>2*sq(1024/4)) Break; + + /* search uppermost right > from left side */ + i1=nearest_frame_vector(box1,aa[0][3],aa[1][3], x1, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + if (y-y0 > 5*dy/8) Break; + if (x-x0 < 3*dx/8) Break; + if (x-aa[0][0]<=dx/4) Break; // ~lI + if (x-aa[0][0]<=dx/3) ad=98*ad/100; // ~lI + if (x-aa[0][0]< dx/2) ad=99*ad/100; // ~lI, dx/2 for fat 8x10 font + /* search most right > ~2 from left side */ + i3=nearest_frame_vector(box1,aa[0][3],aa[1][3], x1+2*dx, (y0+y1)/2); + MSG(fprintf(stderr,"i23xy= %d %d %d %d ad %d",x-x0,y-y0,box1->frame_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0,ad);) + /* dy=7 i3.y=2 for fat screen font (Apr09) */ + if ( box1->frame_vector[i3][1]-y0> (dy+2)/4 + && box1->frame_vector[i3][0]-x>= 0) Break; + if ( box1->frame_vector[i3][1]-y> dy/8+1 // +1 needed for 5x7 Z Jul09 + && box1->frame_vector[i3][0]-x>=-dx/8) ad=98*ad/100; + if ( box1->frame_vector[i3][1]-y> dy/8+1 + && box1->frame_vector[i3][0]-x>= 0) ad=97*ad/100; + if ( box1->frame_vector[i3][1]-y> dy/16+1) ad=99*ad/100; // 9x10 ~2 + if (box1->frame_vector[i3][0]-aa[0][0] + < aa[3][0]-box1->frame_vector[i3][0]) Break; // ~lI + if (box1->frame_vector[i3][0]-aa[0][0] + <(aa[3][0]-box1->frame_vector[i3][0]-1)*2) ad=98*ad/100; // ~lI + /* better test for a bow or peaked angle */ + /* upper part of a 2, on a Z a and b should be at c + .....$@@@@@@a...c. o1 (o1-a)=(dx+5)^2 =dx^2+10*dx+25 + ...$$@@@@@@@@@.... (o1-b)=(dx+1)^2+4^2=dx^2+ 2*dx+18 + ..$@@$@@@$@@@@@... + ..@@@.....$$@@@@.. + ..@@.......@$@@@b. + ..$.........$@@@@. + .$$..........$@@@. + .$...........@@@@. + .............@@@@.< + .............$@@$. + ............$@@@.. + ............@@$... + ............$@$... + --- snip ---- + */ + i4=nearest_frame_vector(box1,aa[2][3],aa[0][3], x1+dx, y0); + i5=nearest_frame_vector(box1,aa[2][3],aa[0][3], x1, y0-dx); + d=sq(box1->frame_vector[i5][0]-box1->frame_vector[i4][0]) + +sq(box1->frame_vector[i5][1]-box1->frame_vector[i4][1]); + if (d>2*sq(dx/8+1)) Break; + if (d>0 && dx<8 ) ad=99*ad/100; // 7x10 2 ~Z + if (d>1 && dx<16) ad=98*ad/100; // 9x10 2 ~Z d=2 + MSG( fprintf(stderr,"i45xy %d %d d %d ad %d upper right bow?",i4,i5,d,ad); ) + + /* check if upper left and upper right point are joined directly */ + dbg[0]=d=line_deviation(box1, aa[0][3], i1); if (d >2*sq(1024/4)) Break; + /* check if lower right and upper left point are joined directly */ + dbg[1]=d=line_deviation(box1, i1, aa[1][3]); if (d >2*sq(1024/4)) Break; + + /* search lowest left < from right side */ + i2=nearest_frame_vector(box1,aa[2][3],aa[3][3], x0, y1); + x=box1->frame_vector[i2][0]; + y=box1->frame_vector[i2][1]; + if (y-y0 < 3*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + if (aa[2][0]-x<=dx/4) Break; // ~lI + if (aa[2][0]-x<=dx/3) ad=98*ad/100; // ~lI + if (aa[2][0]-x< dx/2) ad=99*ad/100; // ~lI, dx/2 for 9x7 fat3 z + /* check if upper right and lower left point are joined directly */ + dbg[2]=d=line_deviation(box1,i2, aa[3][3]); + MSG(fprintf(stderr,"left diag line? d= %d krit= 2..3*%d",d,sq(1024/4));) + if ( d >3*sq(1024/4)) Break; + if (dx>9 && d >2*sq(1024/4)) Break; // to strong for 5x7 Z + /* check if lower left and lower right point are joined directly */ + dbg[3]=d=line_deviation(box1, aa[2][3],i2); if (d >2*sq(1024/4)) Break; + + MSG( fprintf(stderr," i12 %d %d ad %d", i1, i2, ad); ) + /* upper right nick - lower left nick, 0 for fat screen fonts 8x10 */ + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]frame_vector[i1][0]-x0,box1->frame_vector[i1][1]-y0,\ + box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0,\ + dbg[0], dbg[1], dbg[2], dbg[3], sq(1024)/16, ad);) + ad=(100-dbg[0]/sq(1024/4))*ad/100; + ad=(100-dbg[1]/sq(1024/4))*ad/100; + ad=(100-dbg[2]/sq(1024/4))*ad/100; + ad=(100-dbg[3]/sq(1024/4))*ad/100; + + if ( gchar) ad=98*ad/100; + bc='z'; + if( hchar ) bc='Z'; + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_wW(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar,handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,yb,xa,xb,xc,xd,xe,t1; /* tmp-vars */ + wchar_t ac; + + // ------- test w ~{\it w} --------------- + for(ad=d=100;dx>3 && dy>3;){ // dy<=dx + DBG( wchar_t c_ask='w'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // xa xe + // \ xc / <=ya connected xa-xb-xc-xd-xe + // xb xd <=yb + // get two lowest points i3,i4,ya + // out_x(box1); + // ~ul ~uf + // out_x(box1); + for(y=dy/8;y< dy/2;y++) if( num_cross(0,dx-1,y,y,bp,cs)< 2 ) break; + if(y4) { /* 4x6 is to small */ + for(y=dy-1-dy/16;y>3*dy/4;y--) + if( num_cross(0,dx-1,y,y,bp,cs)==2 ) break; + if(y==3*dy/4) Break; + } + yb=y; + t1=loop(bp,0 ,dy/4,dx,cs,0,RI); + t1=loop(bp,t1,dy/4,dx,cs,1,RI); // thickness of line? + for(i=j=0 ;y> dy/4;y--) if( num_cross(0,dx-1,y,y,bp,cs)==4 ) i++; + else if( num_cross(0,dx-1,y,y,bp,cs)>=3 ) j++; + if(i+56 || dx>4)) Break; + if(i+j==0 && dx<=4){ + if (abs(loop(bp, 1,dy-1,dy,cs,0,UP) + -loop(bp,dx-2,dy-1,dy,cs,0,UP))>dy/8+1) Break; // 4x6 N + if ( ( loop(bp, 1, 0,dy,cs,0,DO)>=dy-2 + && loop(bp, 0,dy-1,dy,cs,0,UP)>0) + || ( loop(bp,dx-2, 0,dy,cs,0,DO)>=dy-2 + && loop(bp,dx-1,dy-1,dy,cs,0,UP)>0)) Break; // 4x6 UV + ad=ad*99/100; // 4x6 font + MSG(fprintf(stderr,"ad=%d",ad);) + } + if( num_cross(0,dx-1, 1, 1,bp,cs)< 2 + && num_cross(0,dx-1,dy/16,dy/16,bp,cs)< 2 ) Break; + x =loop(bp,0 ,yb,dx,cs,0,RI); + xb=loop(bp,x ,yb,dx,cs,1,RI);xb=x+xb/2; if(xb>dx/2) Break; + x =loop(bp,dx-1 ,yb,dx,cs,0,LE); + xd=loop(bp,dx-1-x,yb,dx,cs,1,LE);xd=dx-1-x-xd/2;if(xd<3*dx/8) Break; + for(y=0,xc=x=xb+1;xy){xc=x;y=i;} + if(dx>4 && !y) Break; + ya=dy-1-y; // flat + y=loop(bp,xc,ya,dy,cs,1,UP);if(y)y--; + if (dy>6 || dx>4) { // ~4x6 font + if( num_cross(0 ,xc ,ya-y ,ya-y ,bp,cs)!= 2 + && num_cross(0 ,xc ,ya-y/2,ya-y/2,bp,cs)!= 2 ) Break; + if( num_cross(xc,dx-1,ya-y ,ya-y ,bp,cs)!= 2 + && num_cross(xc,dx-1,ya-y/2,ya-y/2,bp,cs)!= 2 ) Break; + } + ya-=y/2; + x =loop(bp,0 ,1 ,dx,cs,0,RI); + xa=loop(bp,x ,1 ,dx,cs,1,RI); + if( x+xa>xb ){ // may be, here is a small but thick letter + // later add some proofs + xa=x+xa/4; + } else { + xa=x+xa/2; + } + x =loop(bp,dx-1 ,1 ,dx,cs,0,LE); + xe=loop(bp,dx-1-x,1 ,dx,cs,1,LE);xe=dx-1-x-xe/2; + MSG( fprintf(stderr,"a-e: %d %d %d %d %d %d %d %d %d %d", + xa,1,xb,yb,xc,ya,xd,yb,xe,1);) + if (ya94 ) break; + if (x==xa+i) Break; // no vert. line found + if( get_line2(xb,yb-1,xc,ya ,bp,cs,100)<95 + && get_line2(xb,yb-1,xc,ya+dy/32,bp,cs,100)<95 + && get_line2(xb,yb-1,xc,ya+dy/16,bp,cs,100)<95 ) Break; + if( get_line2(xc, ya,xd, yb,bp,cs,100)<95 + && get_line2(xc+1,ya,xd, yb,bp,cs,100)<95 ) Break; + if( get_line2(xd,yb,xe ,1+dy/16,bp,cs,100)<95 + && get_line2(xd,yb,dx-1 ,1+dy/8 ,bp,cs,100)<95 // round w + && get_line2(xd,yb,xe+dx/20,1+dy/16,bp,cs,100)<95 ) Break; + // if( num_hole(0,dx-1,0,dy-1,bp,cs,NULL) != 0 ) Break; + // ~ur + MSG(fprintf(stderr,"ad=%d",ad);) + for(i=0,y=5*dy/8;yi ) i=x; if( x3 && dy>3;){ // dy<=dx 4x6font (like a H with fat bar) + DBG( wchar_t c_ask='w'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // ~ul ~uf + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)<2 ) Break; + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs)<2 ) handwritten=40; + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs)<2 ) handwritten=80; + for(i=0,y=0;ydx/2) Break; + xb=loop(bp,x ,yb,dx,cs,0,RI);xb=x+xb/2; if(xb>dx/2) Break; + x =loop(bp,dx-1 ,yb,dx,cs,0,LE); + x+=loop(bp,dx-1-x,yb,dx,cs,1,LE); + xd=loop(bp,dx-1-x,yb,dx,cs,0,LE);xd=dx-1-x-xd/2;if(xd<3*dx/8) Break; + if( num_cross(xb,xd,yb,yb ,bp,cs)!= 1 ) Break; + if( num_cross(xb,xb,yb,dy-1,bp,cs)!= 1 ) Break; + if( num_cross(xd,xd,yb,dy-1,bp,cs)!= 1 ) Break; + if( num_cross(xb,xb, 0,yb ,bp,cs)!= 0 ) Break; + if( num_cross(xd,xd, 0,yb ,bp,cs)!= 0 ) Break; + // if( num_hole(0,dx-1,0,dy-1,bp,cs,NULL) != 0 ) Break; + if (sdata->holes.num != 0) Break; + // ~ur + for(i=0,y=3*dy/4;yi ) i=x; if( xc; +} + +static wchar_t ocr0_aA(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya; /* tmp-vars */ + + // --- test A --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='A'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + // first selection (rough sieve) + if( get_bw(dx/2 ,dx/2 ,dy-1-dy/8,dy-1,bp,cs,1) == 1 + && get_bw(dx/2-1,dx/2-1,dy-1-dy/8,dy-1,bp,cs,1) == 1 ) Break; // ~B + ya=0; /* upper end, not 0 for modified A etc. */ + if (box1->modifier) + for (ya=0;ya=dy/2) ya=0; // already subtracted? + if( num_cross(0,dx-1,ya+ 1 ,ya+ 1 ,bp,cs)!=1 // 600dpi + && num_cross(0,dx-1,ya+ dy/8 ,ya+ dy/8 ,bp,cs)!=1 + && num_cross(0,dx-1,ya+ dy/16 ,ya+ dy/16 ,bp,cs)!=1 + && num_cross(0,dx-1,ya+ dy/8+1,ya+ dy/8+1,bp,cs)!=1 ) Break; + if( num_cross(0,dx-1, 7*dy/8 , 7*dy/8 ,bp,cs)!=2 + && num_cross(0,dx-1, 7*dy/8-1, 7*dy/8-1,bp,cs)!=2 ) Break; + if ( num_cross( 0,dx/8,ya+dy/8,ya+0,bp,cs)>0 ) Break; // ~R + for(y=ya+dy/8;y 1 ) break; + if( y==ya+dy/2 ) Break; i1=y; + if (dy>20) i1++; /* get arround some noise fat font */ + + x =loop(bp,0,i1,dx,cs,0,RI); if(x>3*dx/4) Break; + x+=loop(bp,x,i1,dx,cs,1,RI); if(x>3*dx/4) Break; i2=x; + x+=loop(bp,x,i1,dx,cs,0,RI); if(x<3*dx/8) Break; i2=(x+i2)/2; + // hole (i2,i1) + y+=loop(bp,i2,y,dy,cs,1,DO); + y+=loop(bp,i2,y,dy,cs,0,DO); if(y>3*dy/4) ad=ad*99/100; + if (y>5*dy/6) { MSG(fprintf(stderr,"x,y,i1,i2= %d %d %d %d",x,y,i1,i2);) } + if (y>5*dy/6) Break; + + if( sdata->holes.num != ((box1->modifier==RING_ABOVE)?2:1) + || sdata->holes.hole[0].y1-ya >= dy-1-dy/4) Break; + // if( num_hole ( x0, x1, y0, y1-dy/4 ,box1->p,cs,NULL) != 1 ) Break; + // out_x(box1); + i3=0;i4=0; + for(x=dx/3;x<2*dx/3;x++){ + i4=num_cross(i2,x,y ,dy-1,bp,cs);if(i4<1 || i4>2) + i4=num_cross(i2,x,y+dy/16,dy-1,bp,cs);if(i4<1 || i4>2) break; + if(i4==1) i3=x; + } if(i4<1 || i4>2 || i3==0){ +// ToDo: MSG(fprintf(stderr,"x,y,i4,i3= %d %d %d %d",x,y,i4,i3);) + Break; + } + if( get_bw(dx-1-dx/4, dx-1, dy-1-dy/4, dy-1, bp,cs,1) != 1 ) Break; + + i1=loop(bp,dx-1,ya+ (dy-ya)/4,dx,cs,0,LE); + i2=loop(bp,dx-1,ya+ (dy-ya)/2,dx,cs,0,LE); + i3=loop(bp,dx-1,dy-1-(dy-ya)/4,dx,cs,0,LE); + if( 2*i2-dx/8>i1+i3 ) ad=99*ad/100; /* 6*8 font */ + if( 2*i2+dx/4i1+i3 ) Break; + + i1=loop(bp,0 ,ya+ (dy-ya)/4,dx,cs,0,RI); // linke senkr. linie + i2=loop(bp,0 ,ya+ (dy-ya)/2,dx,cs,0,RI); + i3=loop(bp,0 ,dy-1-(dy-ya)/4,dx,cs,0,RI); + if( 2*i2-dx/8>i1+i3 ) ad=98*ad/100; /* 6*8 font */ + if( 2*i2+dx/4i1+i3 || i1i3+dx/16) break; if( i1+120) ad=97*ad/100; // italic-a + + if (!hchar) ad=99*ad/100; // italic-a + Setac(box1,'A',ad); + break; + } + // --- test a ------------------------------------------- + // with a open bow above the circle starting + // on the right side of the circle + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='a'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2, y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3, x1 , y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3, x1 , y0+dy/4, y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/3, y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/3, x1-dx/3, y0 , y0 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/4, x1-dx/2, y1 , y1 ,box1->p,cs,1) != 1 ) + if( get_bw(x0+dx/4, x1-dx/3, y1-1 , y1-1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0 , y0+dy/2, y1 ,box1->p,cs,1) != 1 ) + if( get_bw(x0+dx/8, x0+dx/8, y0+dy/2, y1 ,box1->p,cs,1) != 1 ) Break; + if( loop(bp,3*dx/8,0,dy,cs,0,DO) > 3*dy/16 ) Break; // ~d + if( num_cross(0,dx-1,dy/4 ,dy/4 , bp,cs) >2 // ~glued am != an + && num_cross(0,dx-1,dy/4+1,dy/4+1, bp,cs) >2 ) Break; + + for( x=dx/4;xdy/2) break; + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); if (i>dy/2) break; + } if( xy-1, bp,cs) == 3 ) i--; + } if( i ) Break; + + i1=loop(bp,0, dy/8,dx,cs,0,RI); + i3=loop(bp,0,3*dy/4,dx,cs,0,RI); + for(y=dy/8+1;y<3*dy/4;y++){ + i2=loop(bp,0,y,dx,cs,0,RI);if(2*i2>i1+i3+1) break; + } if(y==3*dy/4) Break; // ~6 + // ~ s (small thick s), look for vertikal line piece + for(x=3*dx/4;xdy/4 ) break; + if( x==dx ) Break; + + if (sdata->holes.num != 1) ad=96*ad/100; else + if (sdata->holes.num == 1) + if( num_hole ( x0, x1, y0+dy/3, y1 ,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole ( x0, x1, y0, y1, box1->p,cs,NULL) != 1 ) Break; + if( num_hole ( x0, x1, y0, y1-dy/3 ,box1->p,cs,NULL) != 0 ){ + i =loop(bp,0,dy/4,dx,cs,0,RI); + i =loop(bp,i,dy/4,dx,cs,1,RI); + if(ii) Break; // ~ 8 + } + /* test for horizontal symmetry ~8 */ + for (y=0;ydy/4) Break; // ~ serif d + + if (hchar) ad=96*ad/100; + if (gchar) ad=96*ad/100; + Setac(box1,'a',ad); + break; + } + // --- test hand written a --------------------------------------------------- + // rarely char, without bow above the circle + for(ad=d=100;dx>3 && dy>3;){ // min 4x4 + DBG( wchar_t c_ask='a'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/3 , x0+dx/3,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + i = loop(bp,dx/2, 0 ,dy,cs,0,DO); if (i>dy/4) Break; + i+= loop(bp,dx/2, i ,dy,cs,1,DO); if (i>dy/2) Break; + i = loop(bp,dx/2, i ,dy,cs,0,DO); if (ip,cs,1) == 1 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + i = loop(bp,dx/2,dy-1 ,dy,cs,0,UP); if (i>dy/3) Break; + y = i+loop(bp,dx/2,dy-1-i,dy,cs,1,UP); if (i>dy/2) Break; + // normal 'a' has a well separated vertical line right from the circle + // but fat 'a' is like a 'o', only bigger on the right side + if( num_cross(x0+dx/2-1,x1,y1 ,y1 ,box1->p,cs) < 2 /* 4x6font */ + && num_cross(x0+dx/2-1,x1,y1-i,y1-i ,box1->p,cs) < 2 /* 2 or 3 */ + && num_cross(x0+dx/2-1,x1,y1-y,y1-y ,box1->p,cs) < 2 ) + { if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI) + <4*loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)) { Break;} + else ad=98*ad/100; + } + if( num_cross(x0,x1,y0+dy/2 , y0+dy/2,box1->p,cs) < 2 + || num_cross(x0,x1,y0+dy/3 , y0+dy/3,box1->p,cs) < 2 ) Break; // Jun00 + + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/4,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/4,box1->p,cs) != 1 ) Break; + if (sdata->holes.num != 1) + if( num_hole(x0,x1-2,y0 ,y1 ,box1->p,cs,NULL) != 1 ) + // if( num_hole(x0,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) + Break; + if( num_hole(x0,x1 ,y0+dy/3,y1-1 ,box1->p,cs,NULL) != 0 ) Break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + + if( loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)> dx/4 + && loop(bp,dx-1,dy-2,x1-x0,cs,0,LE)> (dx+4)/8 ) ad=97*ad/100; + + x=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + i=loop(bp,dx-1, dy/4,dx,cs,0,LE); if (abs(x-i)>dx/4) Break; + + for( x=dx/4;xdy/2) break; + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); if (i>dy/2) break; + } if( xp,cs) == 1 ) + if( num_cross(x0 , x1, y0, y0,box1->p,cs) == 1 ) + if( loop(bp,dx-1, 0,y1-y0,cs,0,DO)> dy/4 + && loop(bp,dx-1,dy-1,y1-y0,cs,0,UP)> dy/4 ) Break; // ~o + if( loop(bp,dx/2,dy-1,y1-y0,cs,0,UP)> dy/4 ) Break; // ~q + + if (hchar) ad=98*ad/100; + if (gchar) ad=98*ad/100; + // handwritten-a (alpha) + Setac(box1,'a',ad); + break; + } + // --- test A_A_WITH_OGONEK 0x0104 Centr.Eur.Font ------------------------- + /* not sure if we should move this to a get_CentralEuropean-function */ + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='A'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + // first selection (grobes Sieb) + if( get_bw(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs,1) == 1 ) break; // ~B + if( num_cross(0,dx-1, 1 , 1 ,bp,cs)!=1 // 600dpi + && num_cross(0,dx-1, dy/8 , dy/8 ,bp,cs)!=1 + && num_cross(0,dx-1, dy/16 , dy/16 ,bp,cs)!=1 + && num_cross(0,dx-1, dy/8+1, dy/8+1,bp,cs)!=1 ) break; + if( num_cross(0,dx-1, dy-1 , dy-1 ,bp,cs)!=1 ) break; + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs)!=2 + && num_cross(0,dx-1, dy/3 , dy/3 ,bp,cs)!=2 ) break; + if ( num_cross( 0,dx/8,dy/8, 0,bp,cs)>0 ) break; // ~R + for(y=dy/8;y 1 ) break; + if( y==dy/2 ) break; i1=y; + if (dy>20) i1++; /* get arround some noise fat font */ + + x =loop(bp,0,i1,dx,cs,0,RI); if(x>3*dx/4) break; + x+=loop(bp,x,i1,dx,cs,1,RI); if(x>3*dx/4) break; i2=x; + x+=loop(bp,x,i1,dx,cs,0,RI); if(x<3*dx/8) break; i2=(x+i2)/2; + // hole (i2,i1) + y+=loop(bp,i2,y,dy,cs,1,DO); + y+=loop(bp,i2,y,dy,cs,0,DO); if(y>3*dy/4) ad=ad*99/100; + if (y>5*dy/6) break; + + if( sdata->holes.num != 1 || sdata->holes.hole[0].y1 >= dy-1-dy/4) break; + // if( num_hole ( x0, x1, y0, y1-dy/4 ,box1->p,cs,NULL) != 1 ) break; + // out_x(box1); + i3=0;i4=0; + for(x=dx/3;x<2*dx/3;x++){ + i4=num_cross(i2,x,y ,dy-1,bp,cs);if(i4<1 || i4>2) + i4=num_cross(i2,x,y+dy/16,dy-1,bp,cs);if(i4<1 || i4>2) break; + if(i4==1) i3=x; + } if(i4<1 || i4>2 || i3==0){ +// ToDo: g_debug_A(printf(" A: x,y,i4,i3= %d %d %d %d\n",x,y,i4,i3);) + break; + } + if( get_bw(dx-1-dx/4, dx-1, dy-1-dy/4, dy-1, bp,cs,1) != 1 ) break; + /* dy/4 changed to dy/6 because of screenfonts */ + /* there are strange fonts, one has a serif on the upper end of A */ + if ( num_cross( 0,dx/8,dy/6, 0,bp,cs)>0 ) break; + if ( num_cross(dx-1-dx/4,dx-1, 0,dy/6,bp,cs)>0 ) break; + + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + if( 2*i2+dx/4i1+i3 ) break; + + i1=loop(bp,0 , dy/4,dx,cs,0,RI); // linke senkr. linie + i2=loop(bp,0 , dy/2,dx,cs,0,RI); + i3=loop(bp,0 ,dy-1-dy/4,dx,cs,0,RI); + if( 2*i2+dx/4i1+i3 || i1i3+dx/16) break; if( i1+12c; +} + +static wchar_t ocr0_cC(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,t1; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test c,C --------------------------------------------------- + for(ad=d=100;dx>2 && dy>2;){ // min 3x4 + DBG( wchar_t c_ask='c'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/3,y0+dy/2, y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2,y1-dy/3, y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2,y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0,(x0+x1)/2,(y0+y1)/2,(y0+y1)/2,box1->p,cs) > 1 ) Break; // ~ocr-a-[ + + for(y=y0+dy/4;yp,cs,1) == 0 ) break; + if( y==y0+3*dy/4 ) Break; i1=y; // i1: upper end of right gap + + // measure thickness of line! + t1=loop(bp, 0,dy/2,dx,cs,0,RI); + t1=loop(bp,t1,dy/2,dx,cs,1,RI); + if (t1>dx/2) Break; + + for(y=i1,i2=0,x=x0+dx/2;xp,x0+dx/2,i1,dy,cs,0,DO); + if( i>i2 ) { i2=i; } + } if(i2p,x0+5*dx/8,i1,dy,cs,0,UP); + i =i1+1-loop(box1->p,x0+4*dx/8,i1,dy,cs,0,UP); if(iy0+ dy/4+t1/2) Break; // highest, i3: highest point below top-line + + for(y=i1;yp,cs,1) == 1 ) break; + if( y-i1p,cs) < 1 ) Break; // ~L + if (loop(box1->p,x0,y0+3*dy/4,dx,cs,0,RI)>dx/16) + if( num_cross(x0+dx/2,x1,i3 ,y1,box1->p,cs) < 1 + && num_cross(x0+dx/2,x1,y1-dy/4,y1,box1->p,cs) < 1 // may fail + && num_cross(x1 ,x1,y1-dy/4,y1,box1->p,cs) < 1 ) Break; // ~r + + i=1; + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if(!i) ad=95*ad/100; // ~G + + i=loop(bp,0,dy/2,dx,cs,0,RI); + for(y=0;y=dy/4;y--){ + x =loop(bp,0,y,dx,cs,0,RI); + x+=loop(bp,x,y,dx,cs,1,RI); if(x>i5) i5=x; + i =loop(bp,x,y,dx,cs,0,RI); if(ii4+dx/32 ) break; // unusual for c, more a bad e? + } if( y>=dy/4 ) Break; + + if( !hchar ){ // test for e where the middle line is partly removed + x= loop(bp,0,dy/2,dx,cs,0,RI); + x=x +loop(bp,x,dy/2,dx,cs,1,RI); + y=dy/2-loop(bp,x,dy/2,dy,cs,0,UP)-1; + i=x +loop(bp,x,y,dx,cs,1,RI); + i=i +loop(bp,i,y,dx,cs,0,RI); + if( num_cross(x ,x ,1,dy/2,bp,cs) > 1 + || num_cross(x+1,x+1,1,dy/2,bp,cs) > 1 ) + if( num_cross(i-1,i-1,1,dy/2,bp,cs) > 1 + || num_cross(i ,i ,1,dy/2,bp,cs) > 1 ) Break; // ~bad e + } + if( dy>16 && dy>3*dx && hchar ){ // ~[ + x= loop(bp,0, dy/16,dx,cs,0,RI); + x=+loop(bp,0,dy-1-dy/16,dx,cs,0,RI); + i= loop(bp,0, dy/2 ,dx,cs,0,RI)*2; + if( i>=x ) + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs) < 2 ) Break; + + } + if( get_bw(x0,x0,y0 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x1,x1,y0+1,y1-1,box1->p,cs,1) != 1 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( (i7 ) + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,dy-1-dy/ 8,dx,cs,0,LE) + > loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE) + && loop(bp,dx-1, dy/ 8,dx,cs,0,LE) + > loop(bp,dx-1, dy/16,dx,cs,0,LE) ) Break; // ~( + +// printf(" hchar=%d i1=%d i2=%d %d\n",hchar,i1-y0,i2-y0,9*dy/16); + // ~G without characteristic crotchet + if (hchar && dy>15 && dx>7 && i2-y0<9*dy/16 && i1-y0<=dy/4) + if ( loop(bp,5*dx/8,i2-y0,dy,cs,0,DO) > 2*dy/8 ){ + Setac(box1,'G',90); + Break; + } + + if (hchar){ + i=1; + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if (i) ad=98*ad/100; // ~( + if (dy>2*dx) ad=99*ad/100; + } + if( loop(bp,dx-1,dy/2,dx,cs,0,LE) < 6*dx/8 ) ad=98*ad/100; + + i= loop(bp,dx-1,dy/16,dx,cs,0,LE); + j= loop(bp,dx/2,0 ,dy,cs,0,DO); + if (i>=dx/2 && j>dy/8 && j>2 && j=3*dx && dy>12) ad=99*ad/100; // ( + i= loop(bp,dx-1,dy-1,dy,cs,0,UP); + j= loop(bp,dx/2,dy-1,dy,cs,0,UP); + if (i==0 && j>dy/8) ad=95*ad/100; // < + i= loop(bp,dx-1, 0,dy,cs,0,DO); + j= loop(bp,dx/2, 0,dy,cs,0,DO); + if (i==0 && j>dy/8) ad=95*ad/100; // < + if (loop(bp,0,dy-1-dy/8,dx,cs,0,RI)>= 3*dx/4) ad=98*ad/100; // < + if (loop(bp,0,dy-1-dy/8,dx,cs,0,RI)>=(dx+1)/2) ad=98*ad/100; // < + if (loop(bp,0, dy/8,dx,cs,0,RI)>=dx/2) ad=98*ad/100; // < + + if (gchar) ad=98*ad/100; // could happen for 5x7 font + bc=((hchar)?'C':'c'); + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_lL(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i0,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test L --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='L'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + i=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if (i<3 && dy>8) {Break;} + if (ip,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ){ i=j;i1=y; } + } if( i<3*dx/4 ) Break; i1=i; // length of horizontal line + // line thickness (i2) + i=loop(box1->p,x0 ,y0+dy/2,dx,cs,0,RI); if( i>dx/2 ) Break; + j=loop(box1->p,x0+i,y0+dy/2,dx,cs,1,RI); if( i+j>dx/2 ) Break; i2=j; + if (loop(bp,dx-1, 0,dx,cs,0,LE)dx/2 + && loop(bp, 0,5*dy/8,dx,cs,0,RI)p,x0 ,y,dx,cs,0,RI); + if ( j>(dx+2)/4+(y1-dy/4-y)*dx/2/dy ) { i=0; break; } + x=loop(box1->p,x0+j,y,dx,cs,1,RI); + if( ((x>i2+1 || 4*x<3*i2) && y>y0+dy/8) || 4*x>3*i1 ) i=0; + } if( !i ) Break; + if( num_cross(0, dx-1-dx/8, dy-1-dy/2, dy-1-dy/2,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1 , dy/3 , dy/3,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1 , dy/8 , dy/8,bp,cs) != 1 ) Break; + if (loop(bp,0,dy-1,dx,cs,0,RI) + -loop(bp,0,dy-3,dx,cs,0,RI)>1+dx/16) ad=96*ad/100; // ~c + if (loop(box1->p,x0+dx/4,y1,dy,cs,0,UP)>1+dy/16) ad=99*ad/100; // ~4 + + if ( gchar) ad=98*ad/100; + if (!hchar) ad=99*ad/100; + if (5*dx<2*dy && loop(box1->p,x0,y1,dx,cs,0,RI)>dx/4) ad=99*ad/100; // ~l + Setac(box1,'L',ad); + break; + } + // --- test l --------------------------------------------------- + // recognize a "l" is a never ending problem, because there are lots of + // variants and the char is not very unique (under construction) + // --- test italic l --------------------------------------------------- + // --- test l ~italic (set flag-italic) -------------------------------- + // if unsure d should be multiplied by 80..90% + for(ad=d=100; dy>dx && dy>5;){ // min 3x4 + DBG( wchar_t c_ask='l'; ) + if( box1->dots>0 ) Break; + if( num_cross(0, dx-1,dy/2,dy/2,bp,cs) != 1 + || num_cross(0, dx-1,dy/4,dy/4,bp,cs) != 1 ) Break; + // mesure thickness + for(i1=0,i2=dx,y=dy/4;yi1 ) { i1=j; } // thickest + if( j2*i2 ) Break; + if(box1->m3 && dy<=box1->m3-box1->m2) ad=94*ad/100; + if( box1->m2-box1->m1>1 && y0>=box1->m2 ) ad=94*ad/100; + for(i0=0,i3=0,y=0;yi3 ) { i3=j; } // widest space + j = loop(bp,j,y,dx,cs,1,RI); + if( j>i0 ) { i0=j;i3=0; } // thickest + } + if ( i0>4*i2 || 3*i3>2*dx) + if ( loop(bp,dx-1,dy-1,dx,cs,0,LE)>3*dx/8 + || loop(bp, 0,dy-1,dx,cs,0,RI)>3*dx/8) Break; // ~7 + + // detect serifs + x =loop(bp,0, 0,dx,cs,0,RI); + i3=loop(bp,x, 0,dx,cs,0,RI); + x =loop(bp,0, 1,dx,cs,0,RI); + x =loop(bp,x, 1,dx,cs,0,RI); if(x>i3) i3=x; + x =loop(bp,0,dy-1,dx,cs,0,RI); + i4=loop(bp,x,dy-1,dx,cs,0,RI); + x =loop(bp,0,dy-2,dx,cs,0,RI); + x =loop(bp,x,dy-2,dx,cs,0,RI); if(x>i4) i4=x; + if( i3>i1+dx/8+1 && i4>i1+dx/8+1 ) Break; // ~I + + for(i=dx,j=0,y=1;yi+1) break; i=x; + if( num_cross(0,dx-1,y ,y ,bp,cs)==2 + && num_cross(0,dx-1,y+1+dy/32,y+1+dy/32,bp,cs)==2 ) j=1; + } if ( y3) + if( get_bw(dx-1-dx/8,dx-1,0,dy/6,bp,cs,1) != 1 ) + if( get_bw(dx-1-dx/8,dx-1,0,dy/2,bp,cs,1) == 1 ) Break; + + if( get_bw(dx-1-dx/8,dx-1,dy/4,dy/3,bp,cs,1) != 1 ) // large I ??? + if( get_bw(0 ,dx/8,dy/4,dy/3,bp,cs,1) != 1 ) + if( get_bw(dx-1-dx/8,dx-1,0 ,dy/8,bp,cs,1) == 1 ) + if( get_bw(0 ,dx/8,0 ,dy/8,bp,cs,1) == 1 ) ad=ad*97/100; + if( get_bw(dx-1-dx/8,dx-1,dy/2,dy-1,bp,cs,1) != 1 ) // r ??? + if( get_bw(0 ,dx/8,dy/2,dy-1,bp,cs,1) == 1 ) + if( get_bw(dx-1-dx/8,dx-1,0 ,dy/3,bp,cs,1) == 1 ) + if( get_bw(0 ,dx/8,0 ,dy/3,bp,cs,1) == 1 ) Break; + + for( y=1;y<12*dy/16;y++ ) + if( num_cross(0, dx-1, y , y ,bp,cs) != 1 // sure ? + && num_cross(0, dx-1, y-1, y-1,bp,cs) != 1 ) break; + if( y<12*dy/16 ) Break; + + if(dx>3){ + for( y=dy/2;yy-1-5*dy/16;y>=dy/5;y--){ // rechts abfallende Kante/Knick? + i=loop(bp,bp->x-1,y,x1-x0,cs,0,LE); + if( i-2-dx/16>=x ) break; + if( i=dy/5 ) Break; + + // test ob linke Kante gerade + for(x=0,y=bp->y-1-dy/5;y>=dy/5;y--){ // rechts abfallende Kante/Knick? + i=loop(bp,0,y,x1-x0,cs,0,RI); + if( i+2+dx/16x ) x=i; + } + if (y>=dy/5 ) Break; + if (box1->m4 && y1m4) + if ( get_bw(x0,x1,y1+1,box1->m4+dy/8,box1->p,cs,1) == 1 ) + ad=ad*97/100; // unsure !l| + i=loop(bp,dx-1,dy/16,dx,cs,0,LE); + j=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); + if( i>3 && j>3 ) + if( get_bw(dx-1-i/2,dx-1-i/2,0,dy/2,bp,cs,1) == 1 ) Break; // ~t + + for(y=5*dy/8;y8 + && loop(bp, 0,3*dy/4,dx,cs,0,RI)>=dx/4 + && loop(bp, 0,7*dy/8,dx,cs,0,RI)<=dx/8 + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE)<=dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE)<=dx/8 ) Break; // ~J + + if ( 2*i3>5*i1 ) // hmm \tt l can look very similar to 7 + if ( loop(bp,0,dy/4,dx,cs,0,RI)>dx/2 + && get_bw(0,dx/8,0,dy/4,bp,cs,1) == 1 ) Break; // ~7 + + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE)>dx/2 + && get_bw(3*dx/4,dx-1,3*dy/4,dy-1,bp,cs,1) == 1) { + if (loop(bp,0,dy-1,dx,cs,0,RI)2*dy) ad=99*ad/100; // ~L + if(5*dx>3*dy) ad=99*ad/100; // ~L + } + if(!hchar){ // right part (bow) of h is never a l + if( get_bw(dx/4,dx/4, 0,dy/4,bp,cs,1) == 1 + && get_bw(dx/4,dx/4,dy/2,dy-1,bp,cs,1) == 0 ) Break; + } + if( dx>3 && dy>3*dx ) + if( loop(bp,dx/4,dy-1 ,dy,cs,0,UP)< dy/4 + && loop(bp, 0,dy-1-dy/8,dx,cs,0,RI)>=dx/2 + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)<=dx/4 ){ + ad=98*ad/100; // ~] + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE)==0 ) Break; + } + + for(x=0;xi ) break; + } + if( x>=loop(bp,0,y+1,dx,cs,0,RI) ) + if( loop(bp,0 ,0,dy,cs,0,DO)>1 ) + if( loop(bp,0 ,0,dy,cs,0,DO) + - loop(bp,dx/16+1,0,dy,cs,0,DO) < dx/16+1 ) Break; // ~1 Jul00,Nov00 + if( num_cross(0,dx/2,y-1,y-1,bp,cs)==2 ) Break; // ~1 + } + if(dx<8 && dy<12){ // screen font + i= loop(bp,0,0,dy,cs,0,DO); + if( loop(bp,dx/2,1,dy,cs,1,DO)>=dy-2 + && loop(bp,0,dy/2,dx,cs,0,RI)>=2 + && i>1 && ip,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x0+dx/4,y0+1+dy/16,y1-1-dy/16,box1->p,cs,1) != 1 ) Break; /* ~] */ + i=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,dy/2,dx,cs,0,RI)>=dx/2 + && (ip,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x1-dx/4,x1,y0+1+dy/16,y1-1-dy/16,box1->p,cs,1) != 1 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); // konvex/konkav? ~() + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) < i-dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) < i-dx/8 ) Break; // ~( + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) > i+dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) > i+dx/8 ) Break; // ~) + + i= loop(bp, 0, 0,dy,cs,0,DO); // horizontal line? + if(dy>=12 && i>dy/8 && iloop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,3*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) + if( loop(bp,dx-1,8*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,8*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) + if( loop(bp, 0,3*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i,dx,cs,0,RI) + || loop(bp, 0,3*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i+1,dx,cs,0,RI) ) + if( loop(bp, 0,8*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i,dx,cs,0,RI) + || loop(bp, 0,8*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i+1,dx,cs,0,RI) ) Break; // ~t + if( loop(bp, 0,i-1,dx,cs,0,RI)>1 && dx<6 ) Break; // ~t + if( loop(bp, 0,8*dy/16,dx,cs,0,RI)>dx/8 + && loop(bp, 0, i,dx,cs,1,RI)>=dx-1 + && loop(bp,dx-1,8*dy/16,dx,cs,0,LE)>dx/8 + && loop(bp,dx-1, i-1,dx,cs,0,LE)>dx/8 ) Break; // ~t + } +// if( vertical_detected && dx>5 ) + if( loop(bp,0, 1,dx,cs,0,RI)>=dx/2 + && ( loop(bp,0,dy-2,dx,cs,0,RI)<=dx/8 + || loop(bp,0,dy-1,dx,cs,0,RI)<=dx/8 ) ) + if( ( loop(bp,dx-1, 0,dx,cs,0,LE)<=dx/8 + || loop(bp,dx-1, 1,dx,cs,0,LE)<=dx/8 ) + && loop(bp,dx-1,dy-2,dx,cs,0,LE)>=dx/2 ) ad=98*ad/100; // ~/ + + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + + if (!hchar || loop(bp,0,dy/4,dx,cs,0,RI)>dx/2){ // ~z + i=loop(bp,0,dy/16 ,dx,cs,0,RI); + i=loop(bp,i,dy/16 ,dx,cs,1,RI); j=i; + i=loop(bp,0,dy/16+1,dx,cs,0,RI); + i=loop(bp,i,dy/16+1,dx,cs,1,RI); if (i>j) j=i; + i=loop(bp,0,dy/16+2,dx,cs,0,RI); + i=loop(bp,i,dy/16+2,dx,cs,1,RI); if (i>j) j=i; + if (j*4>=dx*3) ad=98*ad/100; // ~z + if (j*8>=dx*7) ad=96*ad/100; // ~z + } + + if( get_bw(x0,x0,y1,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if( get_bw(x1,x1,y1,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if (ad==100) ad--; /* I have to fix that: + .@@@@.<- + @@..@@ + ....@@ + ....@@< + ...@@. + ..@@@. + ..@@.. + .@@... + @@.... + @@@@@@<- + */ + if(!hchar) ad=ad*99/100; + if( gchar) ad=ad*99/100; + Setac(box1,'l',ad); +// if( i<100 ) Break; ???? +// if( loop(bp,0, 1,dx,cs,0,RI)<=dx/8 +// && loop(bp,0,dy/2,dx,cs,0,RI)<=dx/8 +// && loop(bp,0,dy-2,dx,cs,0,RI)<=dx/8 ) vertical_detected=1; + break; + } + return box1->c; +} + +static wchar_t ocr0_oO(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test o,O --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='o'; ) + if (sdata->holes.num !=1 ) Break; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/2 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + if (sdata->holes.hole[0].y0 > dy/3 + || sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + + if( num_cross(x0+dx/2 ,x0+dx/2 ,y0, y1 ,box1->p,cs) != 2 + && num_cross(x0+dx/2+1,x0+dx/2+1,y0, y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/4,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/4,y0+1 , y0+1,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/4,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/4,x1-dx/3,y1-1 , y1-1,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + + x=loop(bp,dx-1,dy-1-dy/3,x1-x0,cs,0,LE); // should be minimum + for( y=dy-1-dy/3;ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 +// && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + && ( get_bw(0,dx/32,0,dy/32,bp,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + // search lowest inner white point + for(y=dy,j=x=0;x 1 ) ad=99*ad/100; // ~a \it a + for(y=0;y 2 ) ad=98*ad/100; // ~a \it a + if (loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)dy/8 + || num_cross(0,dx-1, 0, 0,bp,cs) > 1 + || num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + ) ad=98*ad/100; // ~bq + + // corrections for wrong recognized m1,m2 (all chars of same high) + if (hchar && 2*y0m1+box1->m2) i=1; else i=0; + if (gchar) ad=99*ad/100; + bc='o'; + if (i){ bc='O'; } + if ( bc=='O' && ad>99) ad=99; /* we can never 100% sure, 0O */ + if (bc=='o' && (!hchar) && y0m2) { + Setac(box1,'O',98*ad/100); + Setac(box1,'0',98*ad/100); + } + Setac(box1,bc,ad); + if (bc=='O') Setac(box1,'0',ad); + if (bc=='o') Setac(box1,'0',98*ad/100); + break; + } + return box1->c; +} + +static wchar_t ocr0_pP(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test pP --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='p'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(0 , dx/2,3*dy/4,3*dy/4,bp,cs,1) != 1 ) Break; + if( get_bw(0 , dx/2, dy/2, dy/2,bp,cs,1) < 1 ) Break; + if( get_bw(dx/4, dx-1, dy/4, dy/4,bp,cs,1) != 1 ) Break; + i= loop(bp,dx-1,3*dy/4,dx,cs,0,LE); if (ip,cs) != 2 ) + if( num_cross(x0+dx/2 ,x0+dx/2 , y0, y1-3*dy/16,box1->p,cs) != 2 ) + if( num_cross(x0+dx/2+1,x0+dx/2+1, y0, y1-3*dy/16,box1->p,cs) != 2 ) Break; + if( num_cross(0,dx-1,7*dy/8 ,7*dy/8 ,bp,cs) != 1 ) + if( num_cross(0,dx-1,7*dy/8-1,7*dy/8-1,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(0,dx-1, dy/4-1, dy/4-1,bp,cs) != 3 ) // \it p with nice kurve + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(0,dx-1, dy/4+1, dy/4+1,bp,cs) != 2 ) Break; + + i= loop(bp,0,dy/2,dx,cs,0,RI); if(i<1) i++; + if( num_cross(i-1,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(i-1,dx-1, dy/4+1, dy/4+1,bp,cs) != 2 ) Break; + + i1= loop(bp, 0,3*dy/8,dx,cs,0,RI); if (i1>=dx/2) ad=90*ad/100; + i2=i1+loop(bp,i1,3*dy/8,dx,cs,1,RI); // upper x-position of v line + i3= loop(bp, 0,7*dy/8,dx,cs,0,RI); + i4=i3+loop(bp,i3,7*dy/8,dx,cs,1,RI); // lower x-position of v line + // out_x(box1);printf(" p:"); + for ( y=dy/8; y<7*dy/8; y++ ){ + x=i2+ (8*y-3*dy)*(i4-i2)/(4*dy); // right limit of line + i= loop(bp,0,y,dx,cs,0,RI); if(i>x+dx/16) break; + } if ( y<7*dy/8 ) Break; + for ( x=0,j=y=dy/3; yx ) { x=i; j=y; } if(x>dx/2) break; + } if ( x=dx) Break; + if( get_bw(3*dx/4,dx-1, y , dy-1,bp,cs,1) == 1 ) Break; + + i=num_hole (x0,x1,y0,y1-dy/5,box1->p,cs,NULL); + // j=num_hole (x0,x1,y0,y1 ,box1->p,cs,NULL); + j=sdata->holes.num; + + if (j!=1 && dx< 8) ad=96*ad/100; + if (j!=1 && dx>=8) ad=98*ad/100; + if (i==0 && j==0) ad=90*ad/100; /* some times there is a small gap */ + if (i>1 || j>1 || j>i) Break; + + // check for serif F + i= loop(bp,bp->x-1, bp->y/4, dx ,cs,0,LE); + i=i+loop(bp,bp->x-1-i,bp->y/4, dx ,cs,1,LE); + j= loop(bp,bp->x-1-i,bp->y/4,3*dy/4,cs,0,DO); + if (j>dy/2) ad=80*ad/100; // its an serif-F + + if( ((!hchar) && (!gchar)) || (hchar && gchar)) ad=95*ad/100; + bc='p'; + if( hchar && ((!gchar) || dy<14)) bc='P'; + if ( hchar && gchar) ad=98*ad/100; // \ss sz + if ((!hchar) && !gchar) ad=98*ad/100; + + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_qQ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test Q --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='Q'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/3,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1 ,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y1-dy/3,y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0 ,y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/3,y1-dy/2,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1 ,x1 ,y0 ,y0 ,box1->p,cs,1) == 1 ) Break; //alpha + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) < 2 ) Break; + if( num_cross(x0+dx/5,x1-dx/5,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/5,x1-dx/5,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( get_bw(x1 ,x1 ,y1-dy/8 , y1 ,box1->p,cs,1) == 0 ) + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // i=num_hole(x0,x1,y0,y1,box1->p,cs,NULL); + i=sdata->holes.num; + if(!i) Break; + if( i!=1 && (i!=2 || num_hole(x0,x1,y0+dy/2,y1,box1->p,cs,NULL)!=1) ) Break; + x=x1;y=y1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,LE,ST); if( xp,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( x 5*dx/8 ) Break; // ~4 Okt00 + + x= loop(bp,dx-1,3*dy/8,dy,cs,0,LE); if( x>dx/4 ) Break; + if( loop(bp,dx-1-x,0 ,dy,cs,0,DO) + <= loop(bp,dx-2-x,0 ,dy,cs,0,DO) ) Break; // 4 + + if( loop(bp,dx-1,dy-2,dx,cs,0,LE) + <= loop(bp,dx-1,dy/2,dx,cs,0,LE) ) + if( loop(bp, 1,dy-1,dy,cs,0,UP) + <= loop(bp,dx/2,dy-1,dy,cs,0,UP) ) + if( loop(bp, 0,dy-2,dx,cs,0,RI)>dx/2 ) + if( loop(bp, 0, 0,dx,cs,0,RI)>dx/2 ) Break; // 4 + + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE) + + loop(bp, 0,3*dy/4,dx,cs,0,RI) + < loop(bp,dx-1,2*dy/4,dx,cs,0,LE) + + loop(bp, 0,2*dy/4,dx,cs,0,RI) ) ad=94*ad/100; // 4 + if( loop(bp,0 ,3*dy/4,dx,cs,1,RI) >= dx ) ad=94*ad/100; // 4 + + + if( loop(bp,dx-1,dy/3,dx,cs,0,LE)> dx/4 ) Break; + j=loop(bp,dx/2,dy-1,dy,cs,0,UP); + if (j>1 && j>dy/8) { + if( get_bw(0,dx/2,dy-1-j/2,dy-1-j/2,bp,cs,1) == 1 ) { // ~RA + if (j<5) ad=95*ad/100; + else Break; + } + } + + // italic a + for(i=0,y=0;y 2 ) i++; if(i>dy/8) Break; // ~a \it a + if (i>0) ad=99*ad/100; + + // ~o look at the lower right side for falling line + for(j=x=0,y=dy/2;yx){ x=i; } + if (x-i>j) j=x-i; + if( j>dx/16 ) Break; // falling line detected + } + if (j==0) Break; // no falling line => no Q + if (j<=dx/16) ad=98*ad/100; + if(y1<=box1->m3) ad=98*ad/100; // ~q no underlength! rare + if(!hchar) ad=96*ad/100; + Setac(box1,'Q',ad); + break; + } + // --- test q --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='q'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + for ( y=y0; 2*y<=y0+y1; y++ ){ // detect ring + if( num_cross(x0,x1, y, y,box1->p,cs) == 2 ) Break; + } if (2*y>y0+y1) Break; /* < */ + for ( y=(y0+y1)/2; y<=y1; y++ ){ // detect vert line + if( num_cross(x0, x1, y, y,box1->p,cs) == 1 + && num_cross(x0,x0+dx/2, y, y,box1->p,cs) == 0 ) Break; + } if (y>y1) Break; /* O (y==y1 for 4x6font-q) */ + for ( x=0,j=y=y0+dy/3; y<=y1-dy/8; y++ ){ // detect baseline + i=loop(box1->p,x0,y,dx,cs,0,RI); + if ( i>x ) { x=i; j=y; } + if ( x>dx/2 ) break; + } if ( x=dx) Break; + if (y1-j+1p,cs) != 0 ) ad=96*ad/100; // ~g + if( loop(box1->p,x0+dx/16,j,dy,cs,0,UP)<1+dy/16 ){ + ad=97*ad/100; + if (hchar || !gchar) Break; // 4 + } + if( loop(box1->p,x0+dx/16,j-dy/32-1,dy,cs,1,RI)>=dx-dx/8 + || loop(box1->p,x0+dx/16,j-dy/16-1,dy,cs,1,RI)>=dx-dx/8 ){ + ad=96*ad/100; // 4 + } + if( get_bw(x1-dx/3, x1, y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0, x0+dx/3, y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0, x0+dx/4, y1-dy/8, y1-dy/9,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0, x0+dx/4, y1-dy/5, y1-dy/9,box1->p,cs,1) == 1 ) ad=99*ad/100; + if( num_cross(x0+dx/2,x0+dx/2, y0, j ,box1->p,cs) != 2 ) Break; + // if( num_hole (x0 ,x1 , y0, y1 ,box1->p,cs,NULL) != 1 ) + if (sdata->holes.num != 1) + { if (dx<16) ad=98*ad/100; else Break; } + if( num_hole (x0 ,x1 , y0, j ,box1->p,cs,NULL) != 1 ) + { if (dx<16) ad=98*ad/100; else Break; } + // ~\it g + if( loop(bp,0,dy-1-dy/4,dx,cs,0,RI)>5*dx/8 + && get_bw(dx/4,dx/4,dy-1-dy/4,dy-1,bp,cs,1)==1 ) Break; // ~\it g + // what about unsure m1-m4? + if(!gchar){ ad=ad*99/100; } // ~4 + if( hchar){ ad=ad*99/100; } // ~49 + Setac(box1,'q',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_iIjJ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + ax,ay,bx,by,cx,cy,ex,ey, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,yb,yc,yd,ye,yf,xa,xb, /* tmp-vars */ + (*aa)[4]=sdata->aa; /* the for line ends, (x,y,dist^2,vector_idx) */ + + // --- test i --------------------------------------------------- + // if(box1->dots==1) // what about \it neighbouring ij + for(ad=d=100;dy>3 && dx>0;){ // min 3x4 without dot + DBG( wchar_t c_ask='i'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // ToDo: ':' check that high of dot is smaller than the vert. line! + /* + * o <== ya + * o + * + * ooo <== yb + * o + * o + * o + * ooo + */ + ya=y0; + if (box1->dots!=1) ad=98*ad/100; + while(dy>3*dx && box1->m2){ // test for vertical i without detected dot + i= loop(bp,dx/2,dy-1 ,dy,cs,0,UP); + if (dy-1-im3-2) break; + i+=loop(bp,dx/2,dy-1-i,dy,cs,1,UP); + // distance upper end to m2 > (m2-m1)/3 + if (3*abs(dy-1-i-box1->m2)>box1->m2-box1->m1) break; + if( get_bw(x0,x1,y0,(box1->m1+box1->m2)/2,box1->p,cs,1) == 1 ) + if( get_bw(x0,x1,y1-i ,y1-i ,box1->p,cs,1) == 0 + || get_bw(x0,x1,y1-i-1,y1-i-1,box1->p,cs,1) == 0 + || get_bw(x0,x1,y1-i-2,y1-i-2,box1->p,cs,1) == 0 ) + { + Setac(box1,'i',ad); + return 'i'; /* beleave me, thats an "i"! */ + } break; + } +// if( box1->dots!=1 ) Break; + if( box1->m2 && 2*y0>=box1->m2+box1->m1 ) ya=box1->m1; + +// out_x(box1); + for (y=ya;2*yp,cs,1) == 1 ) break; + if (2*y>=ya+y1) Break; // hmm, gap only, no dot? + ya=y; + if (box1->m2 && ya>box1->m2+2) Break; + for ( ;2*yp,cs,1) != 1 ) break; + if (2*y>=ya+y1) Break; // hmm no gap + for ( ;2*yp,cs,1) == 1 ) break; + yb=y; + if (5*yb>=3*ya+2*y1) ad=99*ad/100; // large gap + if (2*yb>= ya+ y1) ad=97*ad/100; // very large gap, ~: + if (5*yb>=2*ya+3*y1) Break; // huge gap, ~: + if (loop(bp,dx-1,y+(y1-ya+1)/32,dx,cs,0,LE)>dx/2) // unusual (right part of ouml) + ad=95*ad/100; + + // printf(" num_cross dy/2=%d %d\n",dy/2, num_cross(0,dx-1,dy/2,dy/2,bp,cs)); + // printf(" dots=%d\n",box1->dots); out_x(box1); + // \sl ~f. ! + for (y=y1;y>ya;y--) if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) break; + if (y>(ya+3*y1)/4) Break; + if (y>(ya+2*y1)/3) ad=96*ad/100; + + y=(y1-yb+1)/2+yb-y0; /* only one vertical line, italic i is more an tall S */ + if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) Break; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } yc=y; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yd=y; + if( yd<3*(y1-yb+1)/4+yb-y0 ) Break; + y=(y1-yb+1)/2+yb-y0; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } ye=y; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yf=y; + if( yf>(y1-yb+1)/4+yb-y0 ) Break; + if(yd>yc+2){ + xa=loop(bp, 0,yc-1,dx,cs,0,RI); + xb=loop(bp,dx-1,yc-1,dx,cs,0,LE); + if( + xb-loop(bp,dx-1,yc,dx,cs,0,LE) /* Dec00 */ + > xa-loop(bp, 0,yc,dx,cs,0,RI) ){ + y= loop(bp,dx-xb,yc-1,dy,cs,0,DO); + if(y>0){ + i=loop(bp,dx-xb-1,yc-1+y-1,dy,cs,0,DO); + if( i>0 ) y+=i-1; + } + if( yc-1+y < yd-1 ) Break; + } else { + y= loop(bp,11*xa/16,yc-1,dy,cs,0,DO); + if( yc-1+y < yd-2 ) Break; + } + } + if(yf0 ) y+=i-1; + if( ye+1-y > yf+1 ) Break; + } + if( 2*y0 <= box1->m1+box1->m2 + && loop(bp,0, 0,dx,cs,0,RI)+1 + < loop(bp,0,dx/2,dx,cs,0,RI) ) ad=97*ad/100; + + if( gchar ) // i is more often than j, be sure that realy correct Mai00 + if( loop(bp, 0,2*dy/4,dx,cs,0,RI) + -loop(bp,dx-1,2*dy/4,dx,cs,0,LE)>dx/8 ) Break; + + // could be a broken + or similar thing? + if( 3 * ya > box1->m1 + 2*box1->m2 ) ad=90*ad/100; + + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/2 + && loop(bp,dx-1, dy-1,dx,cs,0,LE)5 && num_cross(x0+dx/2,x0+dx/2, ya, y1 ,box1->p,cs) >= 3 ) + ad=95*ad/100; + + Setac(box1,'i',ad); + break; + } + // --- test j --------------------------------------------------- + // if(box1->dots==1) // what about \it neighbouring ij + for(ad=d=100;dy>4 && dx>0;){ // min 3x4 + DBG( wchar_t c_ask='j'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + ya=y0; + if( box1->m2 && 2*y0>=box1->m2+box1->m1 ) ya=box1->m1; + + for(y=ya;2*yp,cs,1) == 1 ) break; + if(2*y>=ya+y1) Break; // hmm only gap + ya=y; + if( box1->m2 && ya>box1->m2+2 ) Break; + for( ;2*yp,cs,1) != 1 ) break; + if(2*y>=ya+y1) Break; // hmm no gap + for( ;2*yp,cs,1) == 1 ) break; + if(2*y>=ya+y1) Break; // hmm very large gap + yb=y; + if( loop(bp,dx-1,y+(y1-ya+1)/32,dx,cs,0,LE)>dx/2 ) Break; // unusual (right part of ouml) + + // printf(" num_cross dy/2=%d %d\n",dy/2, num_cross(0,dx-1,dy/2,dy/2,bp,cs)); + // printf(" dots=%d\n",box1->dots); out_x(box1); + // \sl ~f. ! + for(y=(ya+y1)/2;y<=y1;y++) if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) break; + if(y<=y1) Break; + + y=(y1-yb+1)/2+yb-y0; /* only one vertical line, italic i is more an tall S */ + if( num_cross(0,dx-1,y,y,bp,cs) >2 ) Break; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } yc=y; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yd=y; + if( yd<3*(y1-yb+1)/4+yb-y0 ) Break; + y=(y1-yb+1)/2+yb-y0; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } ye=y; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yf=y; + if( yf>(y1-yb+1)/4+yb-y0 ) Break; + if(yd>yc+2){ + xa=loop(bp, 0,yc-1,dx,cs,0,RI); + xb=loop(bp,dx-1,yc-1,dx,cs,0,LE); + if( + xb-loop(bp,dx-1,yc,dx,cs,0,LE) /* Dec00 */ + > xa-loop(bp, 0,yc,dx,cs,0,RI) ){ + y= loop(bp,dx-xb,yc-1,dy,cs,0,DO); + if(y>0){ + i=loop(bp,dx-xb-1,yc-1+y-1,dy,cs,0,DO); + if( i>0 ) y+=i-1; + } + if( yc-1+y < yd-1 ) Break; + } else { + y= loop(bp,11*xa/16,yc-1,dy,cs,0,DO); + if( yc-1+y < yd-2 ) Break; + } + } + if(yf0 ) y+=i-1; + if( ye+1-y > yf+1 ) Break; + } + if( 2*y0 <= box1->m1+box1->m2 + && loop(bp,0, 0,dx,cs,0,RI)+1 + < loop(bp,0,dx/2,dx,cs,0,RI) ) ad=97*ad/100; + if (loop(bp,0,dy-1,dx,cs,0,RI) + -loop(bp,0,dy-3,dx,cs,0,RI)>1+dx/16) ad=96*ad/100; // ~c + + if( gchar ) // i is more often than j, be sure that realy correct Mai00 + if( loop(bp, 0,2*dy/4,dx,cs,0,RI) + -loop(bp,dx-1,2*dy/4,dx,cs,0,LE)<=dx/8 ) Break; + // could be a broken + or similar thing? + if( 3 * ya > box1->m1 + 2*box1->m2 ) ad=80*ad/100; + if (!gchar) ad=96*ad/100; + if( box1->dots!=1 ) ad=98*ad/100; + + Setac(box1,'j',ad); + + break; + } + // --- test I --------------------------------------------------- + for(ad=d=100;dy>4 && dy>dx && 5*dy>4*(box1->m3-box1->m2);){ // min 3x4 + DBG( wchar_t c_ask='I'; ) + if( box1->dots==1 ) Break; + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + + x =loop(bp,0, dy/2,dx,cs,0,RI); // konvex? divided Q + if(loop(bp,0,7*dy/8,dx,cs,0,RI) > x+dx/8) Break; + for( y=dy/16;y1+dx/8 ) break; + } if( y<3*dy/4 ) Break; + // out_x(box1); + + // upper max width + for(i2=i1=0,y=0;yi1){ i1=x;i2=y; } + } + for(i4=i3=0,y=3*dy/4;yi3){ i3=x;i4=y; } + } + if( abs(i3-i1)>1+dx/8 ) Break; // if i3>>i5 more sure! + if( i1>i5 ){ // look for edges else *80% + } + if(i1+1i2 ) i2=i; + + // printf(" get_line(%d,%d) %d\n",i1,i2, + // get_line2(i1,dy/8,i2,dy-1-dy/8,bp,cs,100)); + if( get_line2(i1,dy/8,i2,dy-1-dy/8,bp,cs,100)<95 ) Break; + x =(i1-i2+4)/8; i1+=x; i2-=x; + + // upper and lower width (what about serifs?) + y=dy/8; + x =loop(bp,i1, y+0,dx,cs,1,LE); i=x; + x =loop(bp,i1, y+1,dx,cs,1,LE); if(x>i)i=x; + x =loop(bp,i1, y+0,dx,cs,1,RI); j=x; + x =loop(bp,i1, y+1,dx,cs,1,RI); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + x =loop(bp,i2,dy-y-1,dx,cs,1,LE); j=x; + x =loop(bp,i2,dy-y-2,dx,cs,1,LE); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + x =loop(bp,i2,dy-y-1,dx,cs,1,RI); j=x; + x =loop(bp,i2,dy-y-2,dx,cs,1,RI); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + + if(dy>15) // v024a4 + if( loop(bp,dx-1,dy/16 ,dx,cs,0,LE) + > loop(bp,dx-1,dy/4 ,dx,cs,0,LE)+1+dx/32 ) Break; // ~bad ) (thinn) + + for(i=0,y=dy/16;y<15*dy/16 && i<2;y++) + if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) i++; + if( i>1 ) Break; + + if(!hchar){ // right part (bow) of h is never a l + if( get_bw(dx/4,dx/4, 0,dy/4,bp,cs,1) == 1 + && get_bw(dx/4,dx/4,dy/2,dy-1,bp,cs,1) == 0 ) Break; + if( loop(bp, 0,dy/4,dx,cs,0,RI)> dx/4 + && loop(bp,dx-1,dy/4,dx,cs,0,LE)<=dx/4 + && loop(bp, 1, 0,dy,cs,0,DO)<=dy/4 ) Break; // ~z + } + + if( get_bw(x1,x1,y0 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x0,y0+1,y1-1,box1->p,cs,1) != 1 ) Break; /* ~] */ + + if ( loop(bp,dx-1, dy/4,dx,cs,0,LE) > dx/2 + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE) > dx/2 + && loop(bp, 0, dy/2,dx,cs,0,RI) < dx/4 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); // konvex/konkav? ~() + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) < i-dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) < i-dx/8 ) Break; // ~( + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) > i+dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) > i+dx/8 ) Break; // ~) + if( loop(bp, 0, dy/8,dx,cs,0,RI) + -(dx-loop(bp,dx-1,7*dy/8,dx,cs,0,LE)) > dx/4 ) Break; // ~/ + if( loop(bp, 0, 0,dx,cs,0,RI) > dx/2 // ToDo: check for serifs + && loop(bp, 0, dy/8,dx,cs,0,RI) > dx/2 + && loop(bp,dx-1,dy-1 ,dx,cs,0,LE) > dx/2 + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) > dx/2 ) ad=99*ad/100; // ~/ + + if (box1->m2 && 3*y0>box1->m1+2*box1->m2) + if( get_bw(x0+dx/8,x1-dx/8,box1->m1,(box1->m1+box1->m2)/2,box1->p,cs,1) == 1 ) + Break; // ~i + + if(i1+1p,cs,1) != 1 + || get_bw(x0+i4/4,x0+i4/4,y1-dy/4,y1,box1->p,cs,1) != 1 ) + { ad=99*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } // ToDo: improve it + if(!hchar){ ad=96*ad/100; MSG({}) } // ~bad_small_r + if (box1->m4 && y1m4) { // probably lower dot? + if ((dx>2 && get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) == 1) + || (dx<3 && get_bw(x0 ,x1 ,y1+1,box1->m4,box1->p,cs,1) == 1)) { + ad=96*ad/100; + } + } // ~! + // a---b + // I + // I + // c---e + // check against Z + for(bx=0,ax=dx,ay=by=y=0;ybx) { bx=dx-1-i; by=y; } + i+=loop(bp,dx-1-i,y,dx,cs,1,LE); if (dx-i-1dy-1-dy/4;y--){ + i =loop(bp,0,y,dx,cs,0,RI); if (iex) { ex=i; ey=y; } + } + x=(3*ax+cx)/4; y=(3*ay+cy)/4; i= loop(bp,x,y,dx,cs,0,RI); + x=(3*bx+ex)/4; y=(3*by+ey)/4; j= loop(bp,x,y,dx,cs,0,LE); + if (j>0 && (2*i>3*j || 3*i<2*j )) ad=99*ad/100; + if (j>0 && ( i>2*j || 2*i< j )) ad=97*ad/100; + i=loop(bp,0,0,dy,cs,0,DO); + if (i>dy/8 && idx/4) ad=96*ad/100; // ~l 5x7 + + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if (gchar) ad=98*ad/100; // J + if (box1->m3 && 2*y1<=box1->m2+box1->m3) ad=96*ad/100; // ' + + Setac(box1,'I',ad); + break; + } + // --- test J --------------------------------------------------- 22Nov06 + for(ad=d=100;dy>4 && dy>=dx && dx>2;){ // min 3x4 ~Y)]d', + // rewritten for vectors 0.42 + int ld, i1, i2, i3, i4, i5, i6, i7; // line derivation + corners + DBG( wchar_t c_ask='J'; ) + if (sdata->holes.num > 0) Break; /* no hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the J */ + if (aa[3][2]>d) Break; /* [2] = distance */ + /* searching for 4 notches between neighbouring ends */ + +/* + type A B + + 6OOOO 6O5 + 7O5 7O + O O + O O + 2O 1O4 1O4 + OO 2OO + 3 3 +*/ + + /* Warning: aa0 can be left upper or left lower point for type B */ + /* get a point on the inner low left side of the J */ + i =nearest_frame_vector(box1,aa[3][3],aa[1][3],(x0+x1)/2,y0); + /* failed for slanted J before Jun09 */ + i1=nearest_frame_vector(box1,i ,aa[1][3], x1+dx/8,y1-dy/8); + /* get the most left point on the lower part of the J */ + i2=nearest_frame_vector(box1,i1,aa[3][3], x0-2*dx, y1-dy/8); + /* get a point on the middle of the bottom of the J */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], (x0+x1)/2, y1); + /* get a point on the outer low right side of the J */ + i4=nearest_frame_vector(box1,aa[1][3],aa[3][3], x1, (y0+2*y1)/3); + /* get a point on the outer right side below top serif */ + i5=nearest_frame_vector(box1,aa[2][3],aa[3][3], (x0+2*x1)/3,y0); + /* get a point on the left side of upper serif */ + i6=nearest_frame_vector(box1,aa[3][3],i1, x0, y0); + /* get a point on the most right left side of upper serif */ + i7=nearest_frame_vector(box1,i6,i1, x1, y0); + MSG(fprintf(stderr," i1-i7 %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7);) + + /* check the highest point on lower left area */ + i =nearest_frame_vector(box1,i1,i3,x0,y0); + if (box1->frame_vector[i ][1]-y0frame_vector[i ][1]-y0<=dy/2) ad=97*ad/100; // imperfect a + /* check the lowest point on upper left area, serife? */ + j =nearest_frame_vector(box1,i6,i7,x0,y1); + if (box1->frame_vector[i ][1] + -box1->frame_vector[j ][1]<=dy/4) Break; // imperfect a + if (box1->frame_vector[i7][1]>y0+dy/4) Break; // not to low + if (box1->frame_vector[i1][1] + -box1->frame_vector[i7][1]frame_vector[i4][1] + -box1->frame_vector[i5][1]frame_vector[i7][0]frame_vector[i1][0] + -box1->frame_vector[i2][0]<=dx/8) Break; // ~1 + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]<=dx/4) ad=ad*99/100; // ~1 + if (box1->frame_vector[i6][1]>y0+dy/8) ad=99*ad/100; // ~1 + if (aa[0][2]==0) { // ]? + ad=99*ad/100; + if (aa[1][2]==0) ad=98*ad/100; + if (aa[2][2]<=aa[3][2]) ad=97*ad/100; + } + + /* check for left bow */ + for (j=i=i2;i!=i4;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] /* [0]=x */ + frame_vector[i1][0]) break; /* curve? */ + } if (i==i4) Break; // ~I + /* check for no right bow */ + for (j=i=i2;i!=i4;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] /* [0]=x */ + >box1->frame_vector[i4][0]) break; + } if (i!=i4) Break; // ~I + /* check for no right bow */ + for (j=i=i5;i!=i6;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] > y0+dy/4) break; + } if (i!=i6) Break; // ~Y + /* check if upper left and lower left points are joined directly */ + ld=line_deviation(box1, i7, i1); + MSG(fprintf(stderr," i7,i1 %d %d linedist= %d/%d",i7,i1,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (5*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (6*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (7*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (8*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i4, i5); + MSG(fprintf(stderr," i4,i5 %d %d linedist= %d/%d",i4,i5,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (5*ld >4*2*sq(1024/4)) ad=99*ad/100; + + // J exists as gchar and ~gchar + if (!hchar){ ad=99*ad/100; } + if (box1->num_frames>1) { + ad=98*ad/100; // j + } + Setac(box1,'J',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_brackets(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,i6,hchar=sdata->hchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* corner-points, (x,y,dist^2,vector_idx) */ + ad,r1,r2; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test > derived from xX --------------------------------------------------- + // rewritten for vectors v0.41 + for(ad=d=100;dx>1 && dy>2;){ // min 3x2 + // 0 - indizes 0,1,i1,i2 pointing to edges of the char + // \ . + // \ . + // i1,i2 + // / + // / + // 1 + DBG( wchar_t c_ask='>'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0 && (dx<6 || dy<6)) Break; /* # */ + /* calculate the half distance to the center */ + d=2*sq(128/4); + /* now we check for the 2 left ends of the > */ + if (aa[0][2]>d) Break; /* upper left end */ + if (aa[1][2]>d) Break; /* lower left end */ + if (aa[1][1]-aa[0][1]num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + } if (j==i || j==aa[0][3]) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; + if (2*x-aa[0][0]-aa[1][0](dy+2)) Break; + if ( aa[0][0]+aa[1][0]-2*x>=0) Break; + i1=j; + d=line_deviation(box1, aa[0][3], j) >sq(1024/4); + /* check if upper left and center point are joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + d=line_deviation(box1, j, aa[1][3]); + /* check if lower left and center point are joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + + /* run along right side from bottom to top */ + for (j=i=aa[1][3];i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + // MSG(fprintf(stderr,"search right: %d %d %d %d",i,j,aa[1][3],aa[0][3]);) + } if (j==i || j==aa[1][3]) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; + if ( (aa[0][0]+aa[1][0]-2*x)>= 0 ) Break; + if (abs(aa[0][1]+aa[1][1]-2*y)>(dy+2)/4) Break; + if (aa[0][0]>=x || aa[1][0]>=x) Break; + i2=j; + d=line_deviation(box1, j, aa[0][3]); + /* check if upper left and center point are directly joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + d=line_deviation(box1, aa[1][3], j); + /* check if lower left and center point are directly joined */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + + /* + ToDo: calculate momentums or max derivations + along lines to distinguish )]}> + i1,i2 + */ + + if (sdata->gchar) ad=98*ad/100; + if (sdata->hchar) ad=99*ad/100; + bc='>'; + Setac(box1,bc,ad); + break; + } + // --- test /\\ ------------------------------------------------ +// if(bc==UNKNOWN) +// if(!box1->dots) + for(ad=d=100;dx>3 && dy>3;){ // min 4x4 for 4x6 font + DBG( wchar_t c_ask='/'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ +#if 1 + for(i=y=0;y2 || (i>0 && dy<16)) Break; +#endif + /* get the center as exact as possible */ + i2=dx-1-loop(bp,dx-1,dy/2 ,dx,cs,0,LE) // be exact for small fonts + +dx-1-loop(bp,dx-1,dy/2+dy%2-1,dx,cs,0,LE) + + loop(bp, 0,dy/2 ,dx,cs,0,RI) + + loop(bp, 0,dy/2+dy%2-1,dx,cs,0,RI); + if (abs(i2-2*dx)>1+dx/2) Break; + if (abs(i2-2*dx)> dx/2) ad=99*ad/100; + + i1=loop(bp,dx-1,dy/16,dx,cs,0,LE); // right side + i3=loop(bp,dx-1,dy-1 ,dx,cs,0,LE); + i4=loop(bp, 0,0 ,dx,cs,0,RI); // left side + i6=loop(bp, 0,dy-1 ,dx,cs,0,RI); + i=(box1->m4+box1->m3)/2-box1->m2; + // + // out_x(box1);printf("() %d %d %d %d %d %d %d\n",i,i1,i2,i3,i4,i5,i6); + + // ~lI + for(i=i4,y=0;ydx/6+1 ) break; i=x; + } if( ydx/6+1 ) break; i=x; + } if( ydx/4 ) { Setac(box1,(bc='/'),ad);break; } + if(i4<=dx/8 && i3<=dx/8 && i6-(dx-i1)>dx/4 ) { Setac(box1,(bc='\\'),ad);break; } + Break; + } + // --- test ()<> ------------------------------------------------ +// if(bc==UNKNOWN) +// if(!box1->dots) + for(ad=d=100;dx>1 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='('; ) + if (sdata->holes.num > 1) {Break;}; /* tolerant against a tiny hole */ +#if 1 + for(i=y=0;y2 || (i>0 && dy<16)) {Break;}; +#endif + /* look for the extrema => r1..r2 */ + for(i=dx,r1=r2=y=dy/2-dy/8;y<=dy/2+dy/8;y++){ + j=loop(bp, 0,y,dx,cs,0,RI); if(j==i) r2=y; if(jdy){ +// from Aug06 vector-version of greater is used +// if(i2==0 && 3*i5>dx && i4<=dx/8 && i6<=dx/8) { Setac(box1,(bc='>'),98);{Break;}; } + if(i5==0 && 3*i2>dx && i1<=dx/8 && i3<=dx/8) { Setac(box1,(bc='<'),98);{Break;}; } + } + if( dx > 2 && 9*dx>=5*dy ){ // 4x6 screen-font (3*5) + ad=98; + if (dx<8) ad=99*ad/100; + if (dx<6) ad=96*ad/100; + if( 2*dx > JOB->res.avX && 4*dx>dy ) ad=98; +// printf(" %d %d %d %d %d %d\n",i5,i1,i3,i2,i4,i6); + if( i5==0 && i1<=dx/8+1 && i3<=dx/8+1 && i1+i3<=dx/8+1 + && i2>=dx/2 && i4>=3*dx/4 && i6>=3*dx/4 ) { + if (2*loop(bp, 0, y/2,dx,cs,0,RI)+1+dx/16=dx/2 && i1>=3*dx/4 && i3>=3*dx/4 ) { + if (2*loop(bp,dx-1, y/2,dx,cs,0,LE)+1+dx/16m4+box1->m3)/2-box1->m2; + // + // out_x(box1);printf("() %d %d %d %d %d %d %d\n",i,i1,i2,i3,i4,i5,i6); + if(2*i2i4+i6 && 2*dx=i){ + Setac(box1,(bc=')'),98);break; } + if(2*i2>i1+i3 && 2*i5=i){ + if(2*i2<=i1+i3+1 || 2*i5>=i4+i6-1) ad=98*ad/100; + if(2*i2<=i1+i3+2 || 2*i5>=i4+i6-2) ad=98*ad/100; + for(x=y=0;yx ) x=i; + } + for(y=0;y<(dy+2)/4;y++){ + i=loop(bp,0,y+dy/8,dx,cs,0,RI);if( i=dx/8+1) ad=99*ad/100; // ~{ Jul09 + if (loop(bp,0,dy/2-dy/8,dx,cs,0,RI)-i5>=dx/8+1) ad=99*ad/100; // ~{ Jul09 + Setac(box1,(bc='('),ad); break; + } + Break; + } + // --------- test [] -------------------------------- + for(ad=d=98;dx>2 && dy>4 && dy>=2*dx;){ // (3,6) on 4x6 font + DBG( wchar_t c_ask=']'; ) + if (sdata->holes.num > 1) { Break;} /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + for(y=0;yp,cs,2) == 2 + && get_bw(x0,x1,y0+1,y0+1,box1->p,cs,2) == 2 ) {Break;}; + if( get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) == 2 + && get_bw(x0,x1,y1-1,y1-1,box1->p,cs,2) == 2 ) {Break;}; + if( get_bw(x0 ,x0,y0 ,y1 ,box1->p,cs,2) == 0 + || get_bw(x0+1 ,x0+1,y0 ,y1 ,box1->p,cs,2) == 0 ) + if( get_bw(x0+dx/2,x1,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) + { Setac(box1,(bc='['),ad);break; } + if( get_bw(x1 ,x1,y0 ,y1 ,box1->p,cs,2) == 0 + || get_bw(x1-1 ,x1-1,y0 ,y1 ,box1->p,cs,2) == 0 ) + if( get_bw(x0,x1-dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) + { Setac(box1,(bc=']'),ad);break; } + break; + } + +#if CODE_NOT_COMPLETED + // --- test ] ------- + for(ad=d=100;dx>2 && dy>3;){ + DBG( wchar_t c_ask=']'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + /* 1/8 distance to the center */ + d=2*sq(128/16); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0]<7*dx/8) Break; + if (aa[2][0]-aa[1][0]<7*dx/8) Break; + if (aa[1][1]-aa[0][1]<7*dy/8) Break; + if (aa[2][1]-aa[3][1]<7*dy/8) Break; + if (aa[3][0]-aa[0][0]<2) Break; /* to small */ + if (aa[2][0]-aa[1][0]<2) Break; /* to small */ + MSG( fprintf(stderr," aa %d %d %d %d %d %d %d %d d %d %d %d %d",\ + aa[0][0]-x0,aa[0][1]-y0,aa[1][0]-x0,aa[1][1]-y0,\ + aa[2][0]-x0,aa[2][1]-y0,aa[3][0]-x0,aa[3][1]-y0,\ + aa[0][2],aa[1][2],aa[2][2],aa[3][2]);) + /* left and right vertical line */ + d=line_deviation(box1, aa[0][3], aa[1][3]); if (d>2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[2][3], aa[3][3]); if (d>2*sq(1024/4)) Break; + + /* search uppermost left ^ */ + i1=nearest_frame_vector(box1,aa[1][3],aa[2][3], x0, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + if (y-y0 > 5*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + /* search uppermost right ^ ~H */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], x1, y0); + if ( box1->frame_vector[i3][0]-x> dx/4 + && box1->frame_vector[i3][1]-y<=dy/8) Break; + + /* check if upper left and lower right point are joined directly */ + dbg[0]=d=line_deviation(box1,i1, aa[2][3]); if (d >2*sq(1024/4)) Break; + /* check if lower left and lower left point are joined directly */ + dbg[1]=d=line_deviation(box1, aa[1][3],i1); if (d >2*sq(1024/4)) Break; + + if (!hchar) ad=99*ad/100; + if ( gchar) ad=98*ad/100; // \sc N + ac=(wchar_t) ']'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } +#endif + // --------- test ocr-a-[] -------------------------------- + if(bc==UNKNOWN) + for(ad=d=98;dx>5 && dy>7 && 2*dy>3*dx;){ // only for accurate font at the moment + DBG( wchar_t c_ask='['; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + if( num_cross(0,dx-1, 0, 0,bp,cs) != 1 ) break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 ) break; + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE) + +loop(bp, 0,dy/2,dx,cs,0,RI) <= dx/4 ) break; // O + for(y=dy/8;yp,cs,1) == 0) + { Setac(box1,(bc='['),ad);break; } + if( get_bw(x0,(5*x0+3*x1)/8,y0+3*dy/16,y1-3*dy/16,box1->p,cs,1) == 0) + { Setac(box1,(bc=']'),ad);break; } + break; + } + // --------- test {} -------------------------------- + for(ad=d=99;dx>2 && dy>5 && 2*dy>3*dx;){ + DBG( wchar_t c_ask='{'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + for(y=0;y3*dx/4 ) ad=99*ad/100; + if ( loop(bp,0, 0,dx,cs,0,RI)>3*dx/4 ) ad=99*ad/100; // < + if ( loop(bp,0, 0,dy,cs,0,DO)=dx/8 ) ad=98*ad/100; // < + if ( loop(bp,dx-2,dy-1,dy,cs,0,UP)>dy/4 ) Break; // f + if ( get_bw(x0,x0,y0,y0+dy/4,box1->p,cs,1) == 1 + || get_bw(x0,x0,y1-dy/4,y1,box1->p,cs,1) == 1 ) Break; + Setac(box1,(bc='{'),ad);Break; + } + for(ad=d=99;dx>2 && dy>5 && 2*dy>3*dx;){ + DBG( wchar_t c_ask='}'; ) + if (!hchar) ad=97*ad/100; + for(y=0;y3*dx/4 ) {ad=99*ad/100;} + if ( loop(bp,dx-1, 0,dx,cs,0,LE)>3*dx/4 ) {ad=99*ad/100;} // > + if ( loop(bp,dx-1, 0,dy,cs,0,DO)=dx/8 ) ad=98*ad/100; // < + if ( loop(bp,1,dy-1,dy,cs,0,UP)>dy/4 ) Break; // ??? + if ( get_bw(x1,x1,y0,y0+dy/4,box1->p,cs,1) == 1 + || get_bw(x1,x1,y1-dy/4,y1,box1->p,cs,1) == 1 ) Break; + Setac(box1,(bc='}'),ad);Break; + } + return box1->c; +} + +#if 0 +/* ---------- empty prototype function for copy and expand ---------- */ +static wchar_t ocr0_XXX(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i0,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ac,ad; /* tmp-vars */ + + // --- test XXX --------------------------------------------------- + return box1->c; +} +#endif + + +/* ----------------------- part9 -------------------------------- */ +static wchar_t ocr0p9(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + i1,i2,i3,i4; /* tmp-vars */ + int xa,xb, /* used for store significant points of char */ + dbg[9]={0,0,0,0,0,0,0,0,0}, /* debugging space */ + ya,yb,ad,cs=sdata->cs; + wchar_t ac,bc=UNKNOWN; // bestletter + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + // --- hchar --- gchar ------------------------- + hchar=0;if( 2*y0<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + gchar=0;if( 2*y1>=2*box1->m3+(box1->m4-box1->m3) ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + /* reserved for the future */ + // --- test beta,\3,sz,"s --------------------------------------------- + if(bc==UNKNOWN && hchar) + for(ad=d=100;dx>3 && dy>6;){ // min 4x7 + DBG( wchar_t c_ask='S'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + /* this part is provisorium, should be changed! + a-\ + | d + b| / + | \ + -c / + */ + if( num_cross(x0 ,x1 ,y0+dy/4 ,y0+dy/4 ,box1->p,cs) != 2 + && num_cross(x0 ,x1 ,y0+dy/4+1,y0+dy/4+1,box1->p,cs) != 2 ) break; + for(i=1+dy/16,y=y0+dy/8;y0;y++){ + if( yp,cs) != 2 ) i--;} + else { if( num_cross(x0 ,x1 ,y,y,box1->p,cs) < 2 ) i--;} + if( get_bw(x0,x0+dx/2,y,y,box1->p,cs,1) == 0 ) i--; + if( yp,cs,1) == 0 ) i--; + } if( i<=0 ) break; + // out_x(box1); + + for(y=y0+dy/3;yp,x1,y,dx,cs,0,LE); + if( i>=dx/8 ) break; + i+=loop(box1->p,x1-i,y,dx,cs,1,LE); + if( i>=dx/2 ) break; + } if( y>=y1-dy/3 ) break; + + for(y=y0+dy/5;yp,cs,1) == 1 ) break; + if( y>=y0+dy/3 ) break; + + for(y=y0+dy/2;yp,cs,1) == 1 ) break; + if( y>=y1 ) break; + + for(y=y1-dy/3;yp,x1,y,dx,cs,0,LE); + if( i>dx/4 + && get_bw(x1-dx/8,x1-dx/8,y,y1,box1->p,cs,1) == 1 ) break; + } if( ym3==0 || 2*y1m3+box1->m4 ) + if( loop(box1->p,x1,y1, dx,cs,0,LE)==0 + && loop(box1->p,x1,y1-dy/4,dx,cs,0,LE)>dx/8 ) break; // ~R + + + for(x=x0+dx/4;xp,cs) == 3 ) break; + if( x>=x1-dx/4 ) break; + + i=loop(bp,dx/2,dy-1,dy,cs,0,UP)+dy/64; // Jul00 + for(x=dx/5;x i ) break; + if( x==dx/2 ) break; + + x=x0+loop(bp,0,dy/4,dx,cs,0,RI); + for(;xp,cs,1) == 0 ) break; + if( xp,cs,NULL) != 0 ) break; + if (sdata->holes.num != 0) break; + + bc=LATIN_SMALL_LETTER_SHARP_S; + Setac(box1,(wchar_t)bc,98); + break; + } + // --- test + ------------------------------------------------ + for(ad=d=100;dx>2 && dy>2;){ // min 3x3 + DBG( wchar_t c_ask='+'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + xa=(dx+1)/3-1; ya=(dy+1)/3-1; /* size of the 4 gaps = 1/3 * 1/3 */ + xb=(dx+1)/4; yb=(dy+2)/4; /* smaller gap */ + if( get_bw(x0,x0+xa,y0,y0+ya,box1->p,cs,1) == 1 ) Break; // left upper + if( get_bw(x0,x0+xa,y1-ya,y1,box1->p,cs,1) == 1 ) Break; // left lower + if( get_bw(x1-xb,x1,y0,y0+ya,box1->p,cs,1) == 1 ) Break; // right upper + if( get_bw(x1-xa,x1,y1-ya,y1,box1->p,cs,1) == 1 ) { // right lower + if( get_bw(x1-xa,x1,y1-yb,y1,box1->p,cs,1) == 1 ) Break; + ad=99*ad/100; // smoothed inner corner? 0907 + } + for(i=0,y=y0+ya;y<=y1-ya;y++){ // horizontal line + if( get_bw(x0+dx/9,x1-dx/9,y,y,box1->p,cs,2) == 0 ) { i=y; break; } + } + if (3*dx<2*dy) ad=99*ad/100; // ~t + if( !i ) Break; + ac=(wchar_t) '+'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test $ ------------------------------------------------ + for(ad=d=99;dx>3 && dy>5;){ // min 3x4 + DBG( wchar_t c_ask='$'; ) + if (sdata->holes.num != 2) Break; + + if( get_bw(x0,x0+dx/5,y0 ,y0+dy/18,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0,x0+dx/9,y1-dy/23,y1 ,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/9,x1,y0 ,y0+dy/18,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/5,x1,y1-dy/23,y1 ,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0,x0+dx/3,y0+dy/3 ,y0+dy/2 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1,y1-dy/2 ,y1-dy/3 ,box1->p,cs,1) != 1 ) Break; + i1=x0+loop(box1->p,x0,y0,dx,cs,0,RI); if( i1x1-dx/5 ) Break; + i2=x0+loop(box1->p,x0,y1,dx,cs,0,RI); if( i2i1 ) Break; + ad= get_line2(i1,y0,i2,y1,box1->p,cs,100)*ad/100; + // check upper left and lower right half circle, $ (Oct08: removed) + // Oct08 JS: check the position of holes (better for tiny fonts) + // upper hole must be the first!? (hole[].x0 = relative coordinates) + if ( sdata->holes.hole[0].y0 < + sdata->holes.hole[1].y0 ) i4=0; else i4=1; /* sort to [idx^i4] */ + if ( sdata->holes.hole[0^i4].y1 > + sdata->holes.hole[1^i4].y0 ) Break; /* no y-overlap allowed */ + // upper left hole + // fprintf(stderr,"\nDBG hole[0]=x0=%d %d", sdata->holes.hole[0^i4].x0, sdata->holes.hole[0^i4].x1); + if ( sdata->holes.hole[0^i4].x0 > (dx+1)/3 ) Break; + if ( sdata->holes.hole[0^i4].x1 > dx/2+dx/4 ) Break; + if ( sdata->holes.hole[0^i4].y1 >= dy/2+dy/8 ) Break; + if ( sdata->holes.hole[0^i4].y0 > dy/2-dy/8 ) Break; + // lower right hole + // fprintf(stderr,"\nDBG hole[1]=x0=%d %d", sdata->holes.hole[1^i4].x0, sdata->holes.hole[1^i4].x1); + if ( sdata->holes.hole[1^i4].x0 <= dx/2-dx/4 ) Break; + if ( sdata->holes.hole[1^i4].x1 < dx/2+dx/4 ) Break; + if ( sdata->holes.hole[1^i4].y1 < dy/2+dy/8 ) Break; + if ( sdata->holes.hole[1^i4].y0 <= dy/2-dy/8 ) Break; + if (ad<95) Break; + ac=(wchar_t) '$'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test & ------------------------------------------------ + for(ad=d=99;dx>3 && dy>4;){ /* 4x6 font */ + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num != 2) Break; + if( get_bw(x1-dx/9,x1,y0,y0+dy/4,box1->p,cs,1) == 1 ) Break; // g + if( loop(bp,dx/2,0,dy,cs,0,DO)>dy/2) Break; + i1=loop(bp,0,dy/8 ,dx,cs,0,RI); if (i1>dx/2) Break; + i =loop(bp,0,dy/4 ,dx,cs,0,RI); if (i1>dx/2) Break; if (idx/2) Break; + i =loop(bp,0,dy-dy/4-1,dx,cs,0,RI); if (i3>dx/2) Break; if (ii1) Break; + for( i2=0, y=dy/4; y<=dy/2+1; y++ ){ + i =loop(bp,0,y,dx,cs,0,RI); if( i>i2 ) i2=i; + } + if(2*i2-i1-i3<1) Break; + // if( num_hole(x0,x1 ,y0,y1,box1->p,cs,NULL)!=2 ) Break; + if( num_hole(x0,x1-dx/4,y0,y1,box1->p,cs,NULL)!=2 ) Break; + if( num_cross(dx-1,dx-1,dy/4,dy-1,bp,cs) < 1 ) Break; + for( x=dx-1; x>=dx/2; x-- ){ + if( num_cross(x,x,dy/4,dy-1,bp,cs) > 1 ) break; + } if( x<=3*dx/4 && x 3 ) { // glued ah + if (dy>15) { Break; } else ad=96*ad/100; + } + if (!hchar) ad=98*ad/100; + bc=(wchar_t) '&'; + Setac(box1,bc,ad); + if (ad>=100) return bc; + break; + } + // --- test \it & like \epsilon\tau ------------------------------ + if(bc==UNKNOWN) + for(ad=d=100;dx>7 && dy>7;){ + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs) != 3 ) break; + if( num_cross(0,dx-1, dy/2, dy/2,bp,cs) != 4 ) break; + if( num_cross(dx/2,dx-1,dy/2, dy/2,bp,cs) != 2 ) break; + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs) != 2 ) break; + if( num_cross(0,dx-1, dy-1, dy-1,bp,cs) != 1 ) break; + if( num_cross( 0, 0,0,dy-1,bp,cs) != 1 ) break; + if( num_cross( dx/3, dx/3,0,dy-1,bp,cs) != 4 ) break; + if( num_cross(13*dx/16,13*dx/16,0,dy/8,bp,cs) != 0 ) break; + if( num_cross(4*dx/8,4*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_cross(3*dx/8,3*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_cross(5*dx/8,5*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_hole(x0 ,(x0+x1)/2,y0, y1,box1->p,cs,NULL) != 1 ) break; + if( num_hole(x0+dx/8,x1-dx/4,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) break; + ac=(wchar_t) '&'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test ? --------------------------------------------------- + for(ad=d=98;dx>2 && dy>5;){ // min 3x(4+2) + DBG( wchar_t c_ask='?'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if ( num_cross(x0, x1, y0, y0, box1->p, cs) !=1 ) Break; // ~? + if ( num_cross(x0, x1, y1, y1, box1->p, cs) > 1 ) Break; // ~? + for(y=y0;yp,cs,1) != 1 ) break; // lower end + if (2*ym4) { // probably lower dot not catched in box? + if (get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) != 1 ) Break; + i1=box1->m4; + for(;i1>y1;i1--) // new y1 + if( get_bw(x0, x1,i1,i1,box1->p,cs,1) == 1 ) break; // lower dot + } + y--; i=y-y0+1; // new dy + for (y=0;yp, cs) == 2 ) break; + if (y==dy/2) Break; + // if( num_hole( x0, x1, y0, y1, box1->p,cs,NULL) > 0 ) Break; + if (sdata->holes.num > 0) Break; + for(y=y0+dy/2;y<=i1;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1) == 0 ) break; + if( y==i1 ) Break; + for( ;y<=i1;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1) == 1 ) break; + if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+7*dx/8,x1,y,i1,box1->p,cs,1) == 1 ) Break; // broken thin 2 + bc='?'; + Setac(box1,(wchar_t)bc,98); + return bc; + } + // --- test !| --------------------------------------------------- + for(ad=d=99; dy>4 && dy>2*dx;){ // min 3x4 + DBG( wchar_t c_ask='!'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // measure thickness + if (num_cross(x0,x1,y0 ,y0 ,box1->p,cs)!=1) Break; + if (num_cross(x0,x1,y0+dy/2,y0+dy/2,box1->p,cs)!=1) Break; + for(y=y0;yp,cs,1) != 1 ) break; // lower end + if (2*ybox1->m3-dy/8) ad=ad*97/100; /* missing dot? */ + i1=y1; + if (y==y1 && box1->m4) { // probably lower dot not catched in box? + if ((dx>2 && get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) == 1) + || (dx<3 && get_bw(x0 ,x1 ,y1+1,box1->m4,box1->p,cs,1) == 1 )) { + i1=box1->m4; + for(;i1>y1;i1--) // new y1 + if( get_bw(x0, x1,i1,i1,box1->p,cs,1) == 1 ) break; // lower dot + } + } i2=i1; + for( i1=0,y=y0;y<=i2;y++){ + i=num_cross(x0,x1,y,y,box1->p,cs); if(i>1) break; + if(i==0 && i1==0) i1=y; + } if(y<=i2 || i1==0 || i1dx/4+1 ) Break; // f + + if (!hchar) ad=96*ad/100; + Setac(box1,(wchar_t)'!',ad); + break; + } + // --- test * five egdes (jagges? beames?) what is the right english word? ---- + for(ad=d=99;dx>2 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, 0,dy-1,bp,cs) != 1 + && num_cross(0,dx-1, 1,dy-2,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 2 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 2 ) Break; + x=dx/2;y=(6*dy+8)/16; // center point 6/8=6/2^3 rounded + /* upwarts from center */ + dbg[0]=i=get_line2(x,y,x ,0,bp,cs,100); if(i<95) Break; + if (dx<8) /* be exact on small fonts, where get_line2 returns 100 (ToDo change) */ + if (get_bw(x,x,0,y,bp,cs,2)==2) Break; + /* horizontal */ + dbg[1]=i=get_line2(0,y,dx-1,y,bp,cs,100); if(i<95) Break; + if (dy<8) + if (get_bw(0,dx-1,y ,y ,bp,cs,2)==2 + && get_bw(0,dx-1,y+1,y+1,bp,cs,2)==2) Break; + /* down (right) */ + i=get_line2(x,y,(5*dx+4)/8,dy-1,bp,cs,100); + j=get_line2(x,y,(6*dx+4)/8,dy-1,bp,cs,100); if(j>i) dbg[2]=i=j; + if(i<95) Break; + /* down (left) */ + dbg[3]=i=get_line2(x, y,(2*dx+4)/8,dy-1,bp,cs,100); if(i<95) Break; // straight up + /* check for lower gap at bottom */ + dbg[4]=i=get_bw( x, x,dy-1-dy/8,dy-1,bp,cs,1); if(i==1) Break; + dbg[5]=i=get_line2( dx/4,dy/4, 0,0,bp,cs,101); if(i<95) Break; // upper left gap + dbg[6]=i=get_line2(dx-1-dx/4,dy/4,dx-1,0,bp,cs,101); if(i<95) Break; // upper right gap + MSG(fprintf(stderr,"%d %d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5],dbg[6]);) + Setac(box1,(wchar_t)'*',ad); + break; + } + // --- test * six egdes (jagges? beames?) incl. vert. line (|+X) ---- + for(ad=d=100;dx>4 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/8, dy/8,bp,cs) != 3 + && num_cross(0,dx-1, 1+dy/8, 1+dy/8,bp,cs) != 3) Break; + if( num_cross(0,dx-1,dy-2-dy/8,dy-2-dy/8,bp,cs) != 3) Break; + if( num_cross(0 , 0, 0,dy-1,bp,cs) != 2) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) != 2) Break; + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs) != 1) Break; + if( num_cross( 0 ,dx/8,dy/2,dy/2,bp,cs) != 0) Break; + if( num_cross(dx-1-dx/8,dx-1,dy/2,dy/2,bp,cs) != 0) Break; + if (dx>5) { + dbg[0]=i=get_line2(0,dy-2-dy/8,dx-1,dy/8,bp,cs,100); if(i<95) Break; // black upwarts beam + dbg[1]=i=get_line2(0,dy/8,dx-1,dy-2-dy/8,bp,cs,100); if(i<95) Break; // black downwards beam + /* check vertical line */ + dbg[2]=i=get_line2(dx/2,0,dx/2, dy-1,bp,cs,100); if(i<95) Break; + } + MSG(fprintf(stderr,"%d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5]);) + Setac(box1,(wchar_t)'*',99); + break; + } + // --- test * six egdes '*'='x'+'-' incl. horizontal line ---- + for(ad=d=100;dx>3 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/8, dx/8, 0, dy-1,bp,cs) != 3 + && num_cross(1+dx/8,1+dx/8, 0, dy-1,bp,cs) != 3) Break; + if( num_cross(dx-1-dx/8,dx-1-dx/8,0,dy-1,bp,cs) != 3 + && num_cross(dx-2-dx/8,dx-2-dx/8,0,dy-1,bp,cs) != 3) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) != 2) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) != 2) Break; + if( num_cross(dx/2,dx/2,0,dy-1,bp,cs) != 1) Break; + // check upper and lower gap + if( num_cross(dx/2,dx/2,0,dy/8,bp,cs) != 0) Break; + if( num_cross(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs) != 0) Break; + if (dx>5) { + dbg[0]=i=get_line2(dx-2-dx/8,0,dx/8,dy-1,bp,cs,100); if(i<95) Break; // black upwarts beam + dbg[1]=i=get_line2(dx/8,0,dx-2-dx/8,dy-1,bp,cs,100); if(i<95) Break; // black downwards beam + /* check horizontal line */ + dbg[2]=i=get_line2(0,dy/2,dx-1,dy/2,bp,cs,100); if(i<95) Break; + } + MSG(fprintf(stderr,"%d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5]);) + Setac(box1,(wchar_t)'*',98); + break; + } + // --- test @ - a popular char should be detectable! added in version v0.2.4a5 + if(bc==UNKNOWN) + for(ad=d=99;dx>5 && dy>7;){ + DBG( wchar_t c_ask='@'; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + // check ~ 7x10 0 with dot in it + // num_holes==1 + hole.y0<=dy/8,>=y1-dy/8 + if (sdata->holes.num==1 + && sdata->holes.hole[0].y0<=y0+dy/8 + && sdata->holes.hole[0].y1>=y1-dy/8) Break; + if (loop(bp, 0,dy/2,dx,cs,0,RI)>dx/4) Break; + if (loop(bp,dx-1,dy/2,dx,cs,0,LE)>dx/4) Break; + if (loop(bp,dx/2,dy-1,dy,cs,0,UP)>dx/8) Break; + if (loop(bp,dx/2, 0,dy,cs,0,DO)>dx/8) Break; + /* ..@@@@..<- 8x10 example + .@@..@@. + @@....@@ + @@..@@@@< + @@.@@.@@ + @@.@@.@@ + @@..@@@. + @@...... + .@@...@@ + ..@@@@@.<- */ + x=6*dx/16; + y=dy/2; + i=num_cross(0,dx-1,y,y,bp,cs); + if (i<3 || i>4) Break; + if( i != 4 && dx>8 ) ad=98*ad/100; + + i=num_cross(x,x,0,dy-1,bp,cs); if (i<2) Break; + if (i!=4) { j=num_cross(x+1,x+1,0,dy-1,bp,cs); + if (abs(4-j)4) Break; + if (i!=4) ad=97*ad/100; + if( num_cross(0, x,y,y,bp,cs) != 2 ) Break; + if( num_cross(x,dx-1,y,y,bp,cs) != 2 ) Break; + if( num_cross(x,x,0, y,bp,cs) != 2 ) Break; + if( num_cross(x,x,y,dy-1,bp,cs) != 2 ) Break; + if (dx>7) { + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + if( num_hole(x0+dx/8,x1-3*dx/16,y0+dy/8,y1-dy/8,box1->p,cs,NULL) != 1 ) Break; + } + Setac(box1,(wchar_t)'@',ad); + break; + } + // --- test paragraph v0.2.6 + if(bc==UNKNOWN && hchar) + for(ad=d=100;dx>4 && dy>15;){ + DBG( wchar_t c_ask='$'; ) + if (sdata->holes.num > 3) break; /* tolerant against a tiny hole */ + if( get_bw( 0,dx/2,3*dy/4,3*dy/4,bp,cs,1) == 1 ) break; + if( get_bw(3*dx/4,dx-1,3*dy/4,3*dy/4,bp,cs,1) == 0 ) break; + if( get_bw( 0,dx/4, dy/4, dy/4,bp,cs,1) == 0 ) break; + if( get_bw( dx/2,dx-1, dy/4, dy/4,bp,cs,1) == 1 ) break; + if( get_bw(dx/2,dx/2, 0, dy/4,bp,cs,1) == 0 ) break; + if( get_bw(dx/2,dx/2,dy-1-dy/4, dy-1,bp,cs,1) == 0 ) break; + if( num_cross(dx/2,dx/2,0,dy-1,bp,cs) != 4 ) break; + if( num_cross(x0,x1,y0+dy/2,y0+dy/2,box1->p,cs) != 2 ) break; + if( num_hole( x0,x1,y0+dy/4,y1-dy/4,box1->p,cs,NULL) != 1 ) break; + Setac(box1,SECTION_SIGN,96); + break; // paragraph=0xA7=167 + } + + return bc; +} + +/* ----------------------- partx -------------------------------- */ +static wchar_t ocr0px(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + i1,i2,i3,i4,j1,cs=sdata->cs; /* tmp-vars */ + int ya,ad; /* used for store significant points of char */ + wchar_t ac,bc=UNKNOWN; // bestletter + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + // --- hchar --- gchar ------------------------- + hchar=0;if( 2*y0<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + gchar=0;if( 2*y1>=2*box1->m3+(box1->m4-box1->m3) ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + /* reserved for special chars, to test at the end */ + // --- test 'ff' --------------------------------------------------- + // ToDo: better check and call test 'f' and 'f' with subboxes + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // Dec00 body copied from H + DBG( wchar_t c_ask='f'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) != 2 ) break; + if( num_cross(0,dx-1,3*dy/4 ,3*dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/4+1,3*dy/4+1,bp,cs) != 2 ) break; + if( loop(bp,0 ,dy/8,dx,cs,0,RI) + + loop(bp,dx-1,dy/8,dx,cs,0,LE)>dx/2 ) break; // ~A + for( j1=0,i=1,y=y0+dy/10; yp,x0 ,y,dx,cs,0,RI) + +loop(box1->p,x1 ,y,dx,cs,0,LE); + if( j>10*dx/16 ) i=0; if ( j>j1 ) j1=j; } + if( !i ) break; + for( x=dx/4; x 3*dy/8 ) break; + if ( 10*y > dy ){ /* italic */ + i=loop(bp,x ,dy-y,dx,cs,0,RI); + if( i>1 && y+loop(bp,x+i-1,dy-y,dy,cs,0,UP)>3*dy/8 ) break; + } + } if( x>=dx/2 ) break; + x=loop(box1->p,x0 ,y1-dy/8,dx,cs,0,RI) + +loop(box1->p,x1 ,y1-dy/8,dx,cs,0,LE); + for( i=1,y=dy/4; ydx/5 ) i=0; } + if( !i ) break; // ~K Jul00 + for( i=0,ya=y=y0+dy/4; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ) { i=j; ya=y; } } + if( i<=dx/2 ) break; ya-=y0; + if( num_cross(0,dx-1,ya ,ya ,bp,cs) != 1 + && num_cross(0,dx-1,ya+1,ya+1,bp,cs) != 1 ) break; /* Dec00 */ + for( y=ya; y 2 + && num_cross(0,dx-1,y+1,y+1,bp,cs) > 2 ) break; + if ( yp,cs,1) == 0 ) i=0; + } if( !i ) break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if( get_bw( x, x,y1-dy/4,y1 ,box1->p,cs,1) == 0 ) i=0; + } if( i ) break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if( num_cross(x,x,y0+dy/8,y1-dy/8, box1->p,cs) == 1 ) i=0; + } if( i ) break; + for(i=1,y=y0;y<=y0+dy/4 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) break; + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) break; + if( num_cross(x0 ,x0+dx/8 ,y0+dy/8 ,y0 ,box1->p,cs) != 0 ) ad=96*ad/100; + if( get_bw(x1-dx/8, x1 , y0, y0+dy/8,box1->p,cs,1) != 1 ) break; + if( get_bw(x0 , x0+dx/8, y1-dy/8, y1,box1->p,cs,1) != 1 ) break; + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(i1>dx/2) break; + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(i2i1+dx/8) break; + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); if(i3i2+dx/8) break; + if(abs(i1+i3-2*i2)>dx/16+1) break; + if( num_hole(x0,x1,y0+dy/4,y1,box1->p,cs,NULL) != 0 ) break; + if (!hchar) ad=96*ad/100; + if (!gchar) ad=99*ad/100; + ac=LATIN_SMALL_LIGATURE_FF; + Setac(box1,ac,ad); + break; + } + // --- test ae --------------------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // provisorium + DBG( wchar_t c_ask=LATIN_SMALL_LETTER_AE; ) + if (sdata->holes.num > 4) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/4,dx-1,3*dy/16,3*dy/16,bp,cs) != 2 + && num_cross(dx-1-dx/4,dx-1,3*dy/16,3*dy/16,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,3*dy/ 4,3*dy/ 4,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(dx-1,0, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) < 2 ) + if( num_cross(0,dx-1,1+dy/16,1+dy/16,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,dy-1-dy/16,dy-1-dy/16,bp,cs) < 2 ) Break; + for( x=0,i2=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,0,y,dx,cs,0,RI); if(j>x) { i2=y; x=j; } + } if( x3*dx/4 ) Break; + for( x=0,i4=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,dx-1,y,dx,cs,0,LE); if(j>x) { i4=y; x=j; } + } if( x3*dx/4 ) Break; + for( x=0,i4=y=dy/8; y<3*dy/4; y++ ){ + j=loop(bp,dx-1 ,y,dx,cs,0,LE); + j=loop(bp,dx-1-j,y,dx,cs,1,LE); + if(j>x) { i4=y; x=j; } + } if( xp,cs,NULL) != 1 ) Break; + if( num_hole(x0+dx/2-1,x1,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + ac=LATIN_SMALL_LETTER_AE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test AE --------------------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>5 && dy>6;){ // provisorium + DBG( wchar_t c_ask=LATIN_CAPITAL_LETTER_AE; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,3*dy/ 4,3*dy/ 4,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) != 1 + && num_cross(0,dx-1, dy/32, dy/32,bp,cs) != 1 + && num_cross(0,dx-1, 0, 0,bp,cs) != 1 ) Break; + // check for upper horizontal line + j=loop(bp,dx-1 ,0,dx,cs,0,LE); x=j; + j=loop(bp,dx-1-j,0,dx,cs,1,LE); + i=loop(bp,dx-1 ,1,dx,cs,0,LE); if (ij) j=i; + if (x>dx/8) Break; + if (jx) break; x=j; + j=loop(bp, j,y,dx,cs,1,RI); if(j>i1) { i1=j; i2=y; } + j=loop(bp,dx-1 ,y,dx,cs,0,LE); + j=loop(bp,dx-1-j,y,dx,cs,1,LE); if(j>i3) { i3=j; i4=y; } + } if( y<3*dy/4 || i1i1) { i1=j; } + j=loop(bp,dx-1 ,dy-1-y,dx,cs,0,LE); + j=loop(bp,dx-1-j,dy-1-y,dx,cs,1,LE); if(j>i3) { i3=j; } + } if( i1<=dx/4 || i3<=dx/4 ) Break; + for( x=dx-1-dx/8; x>dx/2; x-- ){ // look for right the E + if( num_cross(x,x, 0,dy-1,bp,cs) == 3 ) + if( num_cross(x,x, 0,dy/4,bp,cs) == 1 ) + if( num_cross(x-1,dx-1-dx/8,3*dy/4,3*dy/4,bp,cs) == 0 ) + if( num_cross(x,x,3*dy/4,dy-1,bp,cs) == 1 ) break; + } if (x<=dx/2) Break; // not found + if (sdata->holes.num != 1) Break; + if( num_hole(x0,x0+3*dx/4,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole(x0, x1,y0,y1 ,box1->p,cs,NULL) != 1 ) Break; + ac=LATIN_CAPITAL_LETTER_AE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test /0 /o /O O_WITH_STROKE ----------------------------------------- + for(ad=99;dx>4 && dy>4;){ // provisorium + DBG( wchar_t c_ask=LATIN_SMALL_LETTER_O_WITH_STROKE; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 3 ) Break; + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 3 ) Break; + if (loop(bp,dx-1,3*dy/8,dx,cs,0,RI)>dx/8) Break; + if (loop(bp, 0,5*dy/8,dx,cs,0,RI)>dx/8) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross(dx/4,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0,3*dx/4,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0,dy/4,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,3*dy/4,bp,cs) > 2 ) Break; + i1 =loop(bp,dx-1 , 0,dx,cs,0,LE); if( i1>dx/8 ) Break; + i1+=loop(bp,dx-1-i1, 0,dx,cs,1,LE); if( i1>dx/3 ) Break; i1=dx-1-i1; + i2 =loop(bp, 0,dy-1,dx,cs,0,RI); if( i2>dx/8 ) Break; + for(y=1;y3*dx/16 ) break; + } if( yholes.num != 2) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + + if ( hchar && 2*y0m1+box1->m2 ) + ac=LATIN_CAPITAL_LETTER_O_WITH_STROKE; + else ac=LATIN_SMALL_LETTER_O_WITH_STROKE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test /c /C C_WITH_STROKE CENT_SIGN -------------------------- + // here only the version with a continuously vertical line (not broken variant) + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>4;){ // provisorium + DBG( wchar_t c_ask=CENT_SIGN; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1-dx/4,dy/2,dy/2,bp,cs) != 2 ) Break; + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 3 ) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross(dx/4,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0,3*dx/4,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) > 3 ) Break; + if( num_cross( 0, 0,dy/4,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,3*dy/4,bp,cs) > 3 ) Break; + i1 =loop(bp,dx-1 , 0,dx,cs,0,LE); if( i1>dx/4 ) Break; + i1+=loop(bp,dx-1-i1, 0,dx,cs,1,LE); if( i1>dx/4 ) Break; i1=dx-1-i1; + i2 =loop(bp, 0,dy-1,dx,cs,0,RI); if( i2>dx/4 ) Break; + for(y=0;ydx/16+1) x-=dx/16+1; + j=loop(bp,x,y,dx,cs,0,RI); // fprintf(stderr,"\n x=%d j=%d",x,j); + if( j>(dx+4)/8 ) ad=96*ad/100; + if( j>(dx+2)/4 ) break; + } if( yp,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + + ac=CENT_SIGN; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test EURO_CURRENCY_SIGN ----------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // provisorium + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num > 1) break; /* tolerant against a tiny hole */ + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 4 ) break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) != 1 ) break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) != 1 ) break; + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 1 ) break; + for(i=0,y=dy/4;ydx/4 ) break; + j=loop(bp,x,y,dx,cs,1,RI); if( j>i ) i=j; + } if( ydx/2 ) break; + } if( y>=dy-dy/4-1 ) break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + if (sdata->holes.num != 0) break; + ac=EURO_CURRENCY_SIGN; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test LETTER_C_WITH_CEDILLA --------------------------------------------------- + if (bc==UNKNOWN) + if (gchar) + for(ad=98;dx>3 && dy>6;){ // provisorium + DBG( wchar_t c_ask='c'; ) + if (sdata->holes.num > 0) break; /* no tolerant against tiny holes */ + j=loop(bp,dx-1,dy/16 ,dy,cs,0,LE); + x=loop(bp,dx-1,dy/16+1,dy,cs,0,LE); if (xdx) Break; // ~4 ocr-b + if( num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) > 2 ) break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 2 ) break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) > 2 ) break; + for( x=dx,i2=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,0,y,dx,cs,0,RI); if(j0 ) break; i1=x; + for( x=0,i4=y=dy/4; y<5*dy/8; y++ ){ + j=loop(bp,dx-1,y,dx,cs,0,LE); if(j>x) { i4=y; x=j; } + } if( xdy/4) break; + j =loop(bp,dx/2,j,dy,cs,0,DO); if(j3*dx) break; + j =loop(bp,dx-1-j/2,dy-1-dy/8,dy,cs,0,UP); if(j>dy/2) break; // ~() + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + if (sdata->holes.num) break; + if( hchar ) ac= LATIN_CAPITAL_LETTER_C_WITH_CEDILLA; + else ac= LATIN_SMALL_LETTER_C_WITH_CEDILLA; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test # --------------------------------------------------- + for(ad=99;dx>4 && dy>4;){ // never sure? + DBG( wchar_t c_ask='#'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num < 1) Break; + if( num_cross(0,dx-1, dy/8, dy/8,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1,dy-1-dy/8,dy-1-dy/8,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1, dy/2, dy/2,bp,cs) != 2 ) Break; + if( num_cross(0,dx/2, dy/2, dy/2,bp,cs) != 1 ) Break; + /* fat "#" have only small ends on left and right side, we tolerate this */ + j=loop(bp, 0,dy/8,dx,cs,0,RI); if(j<1 || j=dx/2) Break; if (j=dx/2) Break; if (j3*dx/4) { i1=0; break; } + j=loop(bp,j, y,dx,cs,1,RI); if(j>i1) { i1=j; } + j=loop(bp,0,dy-1-y,dx,cs,0,RI); if(j>3*dx/4) { i1=0; break; } + j=loop(bp,j,dy-1-y,dx,cs,1,RI); if(j>i3) { i3=j; } + } + if (i1holes.num != 1) {ad=95*ad/100;} + if( num_hole(x0+dx/8,x1-dx/8,y0+dy/8,y1-dy/8,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole(x0 ,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) Break; + + ac=(wchar_t) '#'; + if( gchar ) {ad=99*ad/100;} + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test bullet, full_box, grabbed cursor, ZapfDingBats_156 + if (bc==UNKNOWN) + for(ad=96;dx>4 && dy>4 && 2*dx>dy;){ // provisorium + DBG( wchar_t c_ask='#'; ) + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) != 0 ) break; + ac=BULLET; + if (gchar && !hchar) ad=80*ad/100; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + /* --- test | (vertical line, could be a I or l) --- */ + for(ad=99;dy>4 && 2*dxp,cs,2) != 0 ) break; + /* more unsure if the borders are not exact */ + if( get_bw(x0 ,x0+dx/8,y0+dy/9,y1-dy/9,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x1-dx/8,x1 ,y0+dy/9,y1-dy/9,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x0+dx/8,x1-dx/8,y0 ,y0+dy/8,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x0+dx/8,x1-dx/8,y1-dy/8,y1 ,box1->p,cs,2) != 0 ) ad=99*ad/100; + if (3*dxm2 && 2*y1> box1->m2+box1->m3) Break; + if (box1->m2 && 3*y1>2*box1->m2+box1->m3) ad=95*ad/100; + ac='|'; + if (!hchar) ad=98*ad/100; + Setac(box1,ac,ad); + break; + } + // --- test % --------------------------------------------------- + for(ad=100;dx>5 && dy>7;){ // provisorium + DBG( wchar_t c_ask='%'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(x0,x1 ,y0+dy/4,y0+dy/4,box1->p,cs) != 3 + && num_cross(x0,x1 ,y0+dy/8,y0+dy/8,box1->p,cs) != 3 ) Break; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) != 3 + && num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) != 3 ) Break; + if( num_cross(x0,x1, y0, y1,box1->p,cs) < 4 + && num_cross(x0+dx/8,x1, y0, y1,box1->p,cs) < 4 + && num_cross(x0,x1+dx/4, y0, y1,box1->p,cs) < 4 + && dx>7 && dy>15) Break; + if( num_cross(x0,x1, y0, y1,box1->p,cs) !=5 ) ad=99*ad/100; + + if (dx>7 && dy>12) { + if( num_hole(x0 ,x1 ,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + if( num_hole(x0+dx/4,x1+dx/4,y0+dy/4,y1,box1->p,cs,NULL) != 1 ) Break; + if( num_hole(x0 ,x1+dx/4,y0,y1 ,box1->p,cs,NULL) != 2 ) Break; + } else ad=98*ad/100; + // use box1->p instead of b, because % is a sum of 3 objects + if ( loop(box1->p,x0,y0 ,dx,cs,0,RI) + <= loop(box1->p,x0,y0+dy/16+1,dx,cs,0,RI) ) ad=96*ad/100; // X + if ( loop(box1->p,x1,y1 ,dx,cs,0,LE) + <= loop(box1->p,x1,y1-1-dy/16,dx,cs,0,LE) ) ad=96*ad/100; // X + for (x=0;xp,cs,2) != 2 ) break; + } if (x=100) return ac; + break; + } + // --- test Omega --------------------------------------------------- + for(ad=d=99;dx>7 && dy>7;){ // min 3x4 + DBG( wchar_t c_ask=GREEK_CAPITAL_LETTER_OMEGA; ) + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 2 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if (sdata->holes.num) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + if( loop(bp,dx/2,dy-dy/4,x1-x0,cs,0,RI)>dx/4 + || loop(bp,dx/2,dy-dy/4,x1-x0,cs,0,LE)>dx/4 ) Break; + if( loop(bp,dx/2,3*dy/8,x1-x0,cs,0,RI)dx/8) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,1,RI); i+=x; if(i<3*dx/8 || i>dx/2) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,0,RI); i+=x; if(i5*dx/8) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,1,RI); i+=x; if(i<7*dx/8) Break; + + /* look for a vertikal gap at lower end */ + for( x=dx/4;x<3*dx/4;x++ ){ + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); + if( i>3*dy/4 ) break; + } + if( x>=3*dx/4 ) Break; + + if( !hchar ) ad=60*ad/100; + bc=GREEK_CAPITAL_LETTER_OMEGA; + Setac(box1,bc,ad); + break; + } + + return bc; +} + +// -------------------- OCR engine ;) ---------------------------- +wchar_t ocr0(struct box *box1, pix *bp, int cs){ + // pix p=*(box1->p); + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + rx,ry,r1,r2,i1,i2,ad; /* tmp-vars */ + // ad,ac will be used in future + wchar_t bc = UNKNOWN; // bestletter + wchar_t um = SPACE; // modifier '" + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + int aa[4][4]; /* corner points, see xX, (x,y,dist^2,vector_idx) v0.41 */ + ocr0_shared_t sdata; // data used in all subfunctions + + sdata.box1=box1; + sdata.bp=bp; + sdata.cs=cs; + // --- hchar --- gchar ------------------------- + hchar=0;if( y0 < box1->m2-(box1->m2-box1->m1)/2 ) hchar=1; + gchar=0;if( y1 > box1->m3+(box1->m4-box1->m3)/2 ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + sdata.hchar=hchar; + sdata.gchar=gchar; + + /* search for nearest points to the 4 courners, typical for xX */ + /* this is faster as calling nearest_frame_vector 4 times */ + aa[0][0]=aa[1][0]=aa[2][0]=aa[3][0]=(x0+x1)/2; /* set to center */ + aa[0][1]=aa[1][1]=aa[2][1]=aa[3][1]=(y0+y1)/2; /* set to center */ + aa[0][2]=aa[1][2]=aa[2][2]=aa[3][2]=2*sq(128); /* distance to box edges */ + aa[0][3]=aa[1][3]=aa[2][3]=aa[3][3]=0; /* vector index */ + /* searching for 4 diagonal line ends */ + for (i=0;inum_frame_vectors[0];i++) { + x=box1->frame_vector[i][0]; /* take a vector */ + y=box1->frame_vector[i][1]; + /* distance to upper left end, normalized to 128 */ + j=0; d=sq((x-x0)*128/dx)+sq((y-y0)*128/dy); + // fprintf(stderr," setaa i= %2d xy= %3d %3d d=%5d aa[3]=%2d\n",i,x-x0,y-y0,d,aa[0][3]); + if (dnum_frames>0) // speedup v0.42 + num_hole(x0,x1,y0,y1,box1->p,cs,&sdata.holes); // call once + // printf(" num_holes=%d\n",sdata.holes.num); + + /* + after division of two glued chars, boundaries could be wrong, + check this first (ToDo: only if a flag set?) + */ + if (2*y0 < box1->m2+box1->m3) + if (box1->m4>box1->m3 && 2*box1->y1>box1->m4+box1->m3){ + /* could be a "I" from divided "Ij" or "Ig" */ + for(y=(box1->m3+box1->m2)/2;2*ym3+box1->m4;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1)==0 ) break; + if(2*ym3+box1->m4) + if( get_bw((x0+x1)/2,(x0+x1)/2,y,box1->m4,box1->p,cs,1)==0 ){ + /* be sure, ~_ */ + if (y>y0) y1=box1->y1=y; + } + } + + DBG( IFV fprintf(stderr,"\nDBG L%d (%d,%d): ",__LINE__,box1->x0,box1->y0); ) + DBG( IFV out_b(box1,sdata.bp,0,0,dx,dy,160); ) + DBG( IFV fprintf(stderr,"# aa[] %d %d %d %d %d %d %d %d (4 corners)" + " d= %d %d %d %d", + aa[0][0]-x0,aa[0][1]-y0,aa[1][0]-x0,aa[1][1]-y0, + aa[2][0]-x0,aa[2][1]-y0,aa[3][0]-x0,aa[3][1]-y0, + aa[0][2], aa[1][2], aa[2][2], aa[3][2]);) + DBG( IFV fprintf(stderr,"\n# holes %d gchar=%d hchar=%d",sdata.holes.num, gchar, hchar);) + + // --- test thin lines - --------------------------------- + for( ad=100; 2*dym3-box1->m2 && 3*dx>=4*dy && dx>2; ){ // min 3x3 (small font) + DBG( wchar_t c_ask='-'; ) + if( get_bw(x0+dx/8+1,x1-dx/8-1,y0+dy/8+((dy>2)?1:0), + y1-dy/8-((dy>2)?1:0),box1->p,cs,2)==2 ) break; + if( box1->dots ) { Setac(box1,'=',97);break; } + if (dx<=2*dy) ad=98*ad/100; + if (dx<=3*dy) ad=99*ad/100; + if (!box1->m4) ad=96*ad/100; + else { + if (y1>=box1->m3) { + if ( dx<2*dy) ad=98*ad/100; + if (2*dx<3*dy) ad=98*ad/100; + Setac(box1,'_',ad); + break; + } + } + Setac(box1,'-',ad); if (ad>=100) return '-'; + break; + } + // --- test thin lines = --------------------------------- + for( ; dy>2 && dx>2; ){ // min 3x3 (small font) + DBG( wchar_t c_ask='='; ) + for( y=y0;yp,cs,1)==1 ) break; + if( get_bw(x0+dx/10,x1-dx/10,y ,y ,box1->p,cs,2)==2 ) break; + if( get_bw(x0 ,x1 ,(y+y1)/2,(y+y1)/2,box1->p,cs,1)==1 ) break; + if( get_bw(x0+dx/10,x1-dx/10,y1 ,y1 ,box1->p,cs,2)==2 ) break; + Setac(box1,'=',100); + return '='; + } + // --- test dots : --------------------------------- + for( ad=100; dy>2 && dy>=2*dx; ){ // max 3x3 (small font) + + DBG( wchar_t c_ask=':'; ) + // check the gap hight + for( i1=dy/16;i1p,cs,1)==0 ) break; + if (i1>=dy/2) Break; + for( i2=dy/16;i2p,cs,1)==0 ) break; + if (i2>=dy/2) Break; + MSG(fprintf(stderr,"gap y12 %d %d",i1,i2);) + + if (box1->m3 && y1>box1->m3) ad=98*ad/100; // ~; + if (box1->m3 && 2*y0> box1->m2+box1->m1) ad=98*ad/100; // ~i + if (gchar) ad=99*ad/100; + ad=ad-abs(i1-i2)/dy*20; + if (abs(i1-dx)>dy/4) Break; // round or quadratic dots? + if (abs(i1-dx)>dy/8) ad=98*ad/100; + if (abs(i2-dx)>dy/4) Break; // round or quadratic dots? + if (abs(i2-dx)>dy/8) ad=98*ad/100; + if (box1->dots!=1) ad=96*ad/100; + Setac(box1,':',ad); // dx<=3 ad-- + if (ad>=100) return ':'; + break; + } + // --- test dots ; --------------------------------- + if( 2*y0> box1->m2+box1->m1 ) // ~i + if( 4*y1>=3*box1->m3+box1->m2 ) // ~: + for( ad=100; dy>5 && dx>1 && dy>2*dx; ){ // max 3x3 (small font) + DBG( wchar_t c_ask=';'; ) + // better would it be to detect round pixelcluster on top + // check high of upper and lower dot + for( i1=0;i1p,cs,1)==0 ) break; + if (i1>=dy/2) break; + for( i2=0;i2p,cs,1)==0 ) break; + if (i2m3) ad=97*ad/100; + if (i2-i1=100) return ';'; + break; + } + // --- first test small dots . --------------------------------- + if( 3*dym4-box1->m1 && abs(dx-dy)<(dx+dy)/4+2 + && 3*y1>=(2*box1->m3+ box1->m2) // dot near baseline? + && 5*y0>=(3*box1->m3+2*box1->m2) ){ // Jul00 + DBG( wchar_t c_ask='.'; ) + d=0; r1=60;r2=140; ad=99; + for(x=x0;x<=x1;x++)for(y=y0;y<=y1;y++){ /* circle equation */ + rx=100*(2*x-(x0+x1))/dx; // normalize to 15bit number + ry=100*(2*y-(y0+y1))/dy; + if( rx*rx + ry*ry < r1*r1 ) if( getpixel(box1->p,x,y)>=cs ){ d++;x=x1+1;y=y1+1; } + if( rx*rx + ry*ry > r2*r2 ) if( getpixel(box1->p,x,y)< cs ){ d++;x=x1+1;y=y1+1; } + // MSG( fprintf(stderr,"x= %3d %3d r= %6d %6d %6d", rx, ry, rx*rx+ry*ry, r1*r1, r2*r2); ) + } + if (loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI)> dx/8) { ad=98*ad/100; // , + if (loop(box1->p,x0,y1 ,x1-x0,cs,0,RI)<=dx/8) ad=98*ad/100; } // , + MSG( fprintf(stderr,"d= %3d ad= %3d", d, ad); ) + if(d==0) + if( loop(box1->p,x0,y0,x1-x0,cs,0,RI) + <= loop(box1->p,x0,y1,x1-x0,cs,0,RI) + || loop(box1->p,x1,y0,x1-x0,cs,0,LE) + >= loop(box1->p,x1,y1,x1-x0,cs,0,LE) ) + { + bc='.'; + if (box1->dots) { Setac(box1,':',ad); ad=98*ad/100; } + Setac(box1,bc,ad); + } + } + // --- first test small dots , --------------------------------- + if( 3*dy<2*(box1->m4-box1->m1) + && 2*y0> box1->m2+box1->m3 + && (2*dx<3*dy + || get_bw(0,dx/2,dy/2,dy-1,bp,cs,1)==0) ){ // ocr-a-, + DBG( wchar_t c_ask=','; ) + ad=100; bc=','; + if (dy==1 && dx==1) ad=98*ad/100; + if (dy==2 && dx==1) ad=99*ad/100; // this is a problem case + if (dx>=dy) ad=99*ad/100; + if( 2*dy >= box1->m4-box1->m1) ad=98*ad/100; + if( loop(box1->p,x0,y0,x1-x0,cs,0,RI) /* simple line */ + > loop(box1->p,x0,y1,x1-x0,cs,0,RI) + && loop(box1->p,x1,y0,x1-x0,cs,0,LE) + < loop(box1->p,x1,y1,x1-x0,cs,0,LE) ) { ad=99*ad/100; } + else { /* with upper circle */ + if( loop(box1->p,x0,(y0+y1+1)/2,x1-x0,cs,0,RI)p,x1, y1 ,x1-x0,cs,0,LE)p,x0,y1-((dy>5)?1:0),x1-x0,cs,0,LE)>(dx+1)/2 ) + if( loop(box1->p,x0, y1 ,x1-x0,cs,0,LE)>(dx+1)/2 ) ad=96*ad/100; + } + if(box1->dots==1) { Setac(box1,';',ad); ad=99*ad/100; } + Setac(box1,bc,ad); + } + // --- first test small dots '" --------------------------------- + if( 2*dy < box1->m4 -box1->m1+1 + && 2*y0 < box1->m2 +box1->m3 + && 3*y1 < box1->m2+2*box1->m3+2 ){ + DBG( wchar_t c_ask='\''; ) + ad=100; bc='\''; + if (2*y1 >= box1->m2+box1->m3) { ad=96*ad/100; MSG({}) } // ~! + if (3*y1>=2*box1->m2+box1->m3) { ad=96*ad/100; MSG({}) } + if (get_bw(x0,x1,(box1->m2+box1->m3)/2,box1->m4,box1->p,cs,1)!=0) + { ad=98*ad/100; MSG({}) } + if (dx>4 + && num_cross(x0,x1,y1,y1,box1->p,cs) == 2) { // " " + bc='"'; + // ocr-a-" has no gap! + if ( get_bw((x0+x1)/2,(x0+x1)/2,y0,y1,box1->p,cs,1)!=0 ) ad=96*ad/100; + } else { + if ( num_cross(x0,x1, y0 , y0 ,box1->p,cs)!=1) ad=96*ad/100; + if ( num_cross(x0,x1,(y0+y1)/2,(y0+y1)/2,box1->p,cs)!=1) ad=98*ad/100; + if (dx>dy) { ad=96*ad/100; MSG({}) } + } + if ( num_cross(x1,x1, y0 , y1 ,box1->p,cs)!=1) ad=99*ad/100; + if ( num_cross(x0,x1, y0+dy/4 , y0+dy/4 ,box1->p,cs)>2) ad=97*ad/100; + if ( num_cross(x0,x1, y1-dy/4 , y1-dy/4 ,box1->p,cs)>2) ad=97*ad/100; // * 5x8font + if (2*y0 > box1->m1+box1->m2) ad=99*ad/100; + Setac(box1,bc,ad); + if (ad>=100) return bc; + } + // --- TILDE ~ --------------------------------- + if( 2*dym4-box1->m1 && dx>=dy && dx>3 && dy>1 + && 2*y0< box1->m1+box1->m2 + && 3*y1<2*box1->m2+box1->m3 ){ + if( loop(box1->p,x0,y0,dx,cs,0,RI) + > loop(box1->p,x0,y1,dx,cs,0,RI) + && loop(box1->p,x1,y0,dx,cs,0,LE) + < loop(box1->p,x1,y1,dx,cs,0,LE) + && num_cross(x0,x1,y0,y0,box1->p,cs) == 2 + && num_cross(x0,x1,y1,y1,box1->p,cs) == 2 ) { + DBG( wchar_t c_ask='~'; ) + bc=TILDE; + Setac(box1,bc,99); + } + } + // --- CIRCUMFLEX, hat ^ --------------------------------- + if( 2*dym4-box1->m1 && dx>=dy && dx>2 && dy>1 + && 2*y0< box1->m1+box1->m2 + && 3*y1<2*box1->m2+box1->m3 ){ + DBG( wchar_t c_ask='^'; ) + if( ( loop(box1->p,x0,y0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1 ,dx,cs,0,RI)-dx/8 + || loop(box1->p,x0,y0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1-1,dx,cs,0,RI)-dx/8 ) + && ( loop(box1->p,x1,y0 ,dx,cs,0,LE) + > loop(box1->p,x1,y1 ,dx,cs,0,LE)-dx/8 + || loop(box1->p,x1,y0 ,dx,cs,0,LE) + > loop(box1->p,x1,y1-1,dx,cs,0,LE)-dx/8 ) + && num_cross(x0,x1,y0 ,y0 ,box1->p,cs) == 1 + && ( num_cross(x0,x1,y1 ,y1 ,box1->p,cs) == 2 + || num_cross(x0,x1,y1-1,y1-1,box1->p,cs) == 2 )) { + bc='^'; + Setac(box1,bc,99); + } + } + // ------------------------------------------------------ +// if( dots==1 ){ um='\''; } +#if 0 /* ToDo: change to vectors, call here or in whatletter */ + if (box1->dots==0) { // i-dots ??? (if dots==0 is wrong) + y=box1->m1; + for(;yp,cs,1)==1) break; + { i1=y; + if( yp,cs,1)==0) break; + if( ybox1->m2-box1->m1){ + testumlaut(box1,cs,2,&um); // set modifier + new y0 ??? + + } + } + } +#else + um = box1->modifier; +#endif + if ( /* um==ACUTE_ACCENT || */ um==DIAERESIS){ + for(y=y1;y>y0;y--) + if( get_bw(x0,x1,y,y,box1->p,cs,1)==0) { y0=y; dy=y1-y0+1; break; } // scan "a "o "u + } + + // --- test numbers 0..9 --- separated for faster compilation + if( JOB->cfg.only_numbers ) return ocr0n(&sdata); + + // bc=ocr1(box1,bp,cs); + if(bc!=UNKNOWN && box1->num_ac>0 && box1->wac[0]==100) + return bc; // for fast compilable tests + + // ------ separated for faster compilation + // ToDo: inser ocr0_shared_t here and split into a,b,cC,d,e,f,g9,... +#define IF_NOT_SURE if(bc==UNKNOWN || box1->num_ac==0 || box1->wac[0]<100) + + IF_NOT_SURE bc=ocr0_eE(&sdata); + IF_NOT_SURE bc=ocr0_f(&sdata); + IF_NOT_SURE bc=ocr0_bB(&sdata); + IF_NOT_SURE bc=ocr0_dD(&sdata); + IF_NOT_SURE bc=ocr0_F(&sdata); + IF_NOT_SURE bc=ocr0_uU(&sdata); + IF_NOT_SURE bc=ocr0_micro(&sdata); + IF_NOT_SURE bc=ocr0_vV(&sdata); + IF_NOT_SURE bc=ocr0_rR(&sdata); + IF_NOT_SURE bc=ocr0_m(&sdata); + IF_NOT_SURE bc=ocr0_tT(&sdata); + IF_NOT_SURE bc=ocr0_sS(&sdata); + IF_NOT_SURE bc=ocr0_gG(&sdata); + IF_NOT_SURE bc=ocr0_xX(&sdata); + IF_NOT_SURE bc=ocr0_yY(&sdata); + IF_NOT_SURE bc=ocr0_zZ(&sdata); + IF_NOT_SURE bc=ocr0_wW(&sdata); + IF_NOT_SURE bc=ocr0_aA(&sdata); + IF_NOT_SURE bc=ocr0_cC(&sdata); + IF_NOT_SURE bc=ocr0_lL(&sdata); + IF_NOT_SURE bc=ocr0_oO(&sdata); + IF_NOT_SURE bc=ocr0_pP(&sdata); + IF_NOT_SURE bc=ocr0_qQ(&sdata); + IF_NOT_SURE bc=ocr0_iIjJ(&sdata); + IF_NOT_SURE bc=ocr0_n(&sdata); + IF_NOT_SURE bc=ocr0_M(&sdata); + IF_NOT_SURE bc=ocr0_N(&sdata); + IF_NOT_SURE bc=ocr0_h(&sdata); + IF_NOT_SURE bc=ocr0_H(&sdata); + IF_NOT_SURE bc=ocr0_k(&sdata); + IF_NOT_SURE bc=ocr0_K(&sdata); + IF_NOT_SURE bc=ocr0n(&sdata); + IF_NOT_SURE bc=ocr0_brackets(&sdata); + IF_NOT_SURE bc=ocr0p9(&sdata); + IF_NOT_SURE bc=ocr0px(&sdata); + + + if(box1->num_ac==0 && bc!=UNKNOWN) fprintf(stderr,""); + if(box1->num_ac>0 && box1->wac[0]>95) box1->c=bc=box1->tac[0]; + /* will be removed later, only fix old things */ + for (i=0;inum_ac;i++) if (box1->tac[i]==bc) { bc=box1->tac[0]; } + + return bc; +} + + diff --git a/.svn/pristine/e7/e7d563f52bf5295e6dba1d67ac23e9f6a160fab9.svn-base b/.svn/pristine/e7/e7d563f52bf5295e6dba1d67ac23e9f6a160fab9.svn-base new file mode 100644 index 0000000..fc8a5de --- /dev/null +++ b/.svn/pristine/e7/e7d563f52bf5295e6dba1d67ac23e9f6a160fab9.svn-base @@ -0,0 +1,165 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + + This version of the GNU Lesser General Public License incorporates +the terms and conditions of version 3 of the GNU General Public +License, supplemented by the additional permissions listed below. + + 0. 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Combined Libraries. + + You may place library facilities that are a work based on the +Library side by side in a single library together with other library +facilities that are not Applications and are not covered by this +License, and convey such a combined library under terms of your +choice, if you do both of the following: + + a) Accompany the combined library with a copy of the same work based + on the Library, uncombined with any other library facilities, + conveyed under the terms of this License. + + b) Give prominent notice with the combined library that part of it + is a work based on the Library, and explaining where to find the + accompanying uncombined form of the same work. + + 6. Revised Versions of the GNU Lesser General Public License. + + The Free Software Foundation may publish revised and/or new versions +of the GNU Lesser General Public License from time to time. Such new +versions will be similar in spirit to the present version, but may +differ in detail to address new problems or concerns. + + Each version is given a distinguishing version number. If the +Library as you received it specifies that a certain numbered version +of the GNU Lesser General Public License "or any later version" +applies to it, you have the option of following the terms and +conditions either of that published version or of any later version +published by the Free Software Foundation. If the Library as you +received it does not specify a version number of the GNU Lesser +General Public License, you may choose any version of the GNU Lesser +General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide +whether future versions of the GNU Lesser General Public License shall +apply, that proxy's public statement of acceptance of any version is +permanent authorization for you to choose that version for the +Library. diff --git a/.svn/pristine/e8/e88ae6b97c38928c3b555756a7b1b4c4d6ef2f6f.svn-base b/.svn/pristine/e8/e88ae6b97c38928c3b555756a7b1b4c4d6ef2f6f.svn-base new file mode 100644 index 0000000..66fd916 --- /dev/null +++ b/.svn/pristine/e8/e88ae6b97c38928c3b555756a7b1b4c4d6ef2f6f.svn-base @@ -0,0 +1,734 @@ +//$$ newmat8.cpp Advanced LU transform, scalar functions + +// Copyright (C) 1991,2,3,4,8: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" +#include "precisio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,8); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/************************** LU transformation ****************************/ + +void CroutMatrix::ludcmp() +// LU decomposition from Golub & Van Loan, algorithm 3.4.1, (the "outer +// product" version). +// This replaces the code derived from Numerical Recipes in C in previous +// versions of newmat and being row oriented runs much faster with large +// matrices. +{ + REPORT + Tracer trace( "Crout(ludcmp)" ); sing = false; + Real* akk = store; // runs down diagonal + + Real big = fabs(*akk); int mu = 0; Real* ai = akk; int k; + + for (k = 1; k < nrows; k++) + { + ai += nrows; const Real trybig = fabs(*ai); + if (big < trybig) { big = trybig; mu = k; } + } + + + if (nrows) for (k = 0;;) + { + /* + int mu1; + { + Real big = fabs(*akk); mu1 = k; Real* ai = akk; int i; + + for (i = k+1; i < nrows; i++) + { + ai += nrows; const Real trybig = fabs(*ai); + if (big < trybig) { big = trybig; mu1 = i; } + } + } + if (mu1 != mu) cout << k << " " << mu << " " << mu1 << endl; + */ + + indx[k] = mu; + + if (mu != k) //row swap + { + Real* a1 = store + nrows * k; Real* a2 = store + nrows * mu; d = !d; + int j = nrows; + while (j--) { const Real temp = *a1; *a1++ = *a2; *a2++ = temp; } + } + + Real diag = *akk; big = 0; mu = k + 1; + if (diag != 0) + { + ai = akk; int i = nrows - k - 1; + while (i--) + { + ai += nrows; Real* al = ai; Real mult = *al / diag; *al = mult; + int l = nrows - k - 1; Real* aj = akk; + // work out the next pivot as part of this loop + // this saves a column operation + if (l-- != 0) + { + *(++al) -= (mult * *(++aj)); + const Real trybig = fabs(*al); + if (big < trybig) { big = trybig; mu = nrows - i - 1; } + while (l--) *(++al) -= (mult * *(++aj)); + } + } + } + else sing = true; + if (++k == nrows) break; // so next line won't overflow + akk += nrows + 1; + } +} + +void CroutMatrix::lubksb(Real* B, int mini) +{ + REPORT + // this has been adapted from Numerical Recipes in C. The code has been + // substantially streamlined, so I do not think much of the original + // copyright remains. However there is not much opportunity for + // variation in the code, so it is still similar to the NR code. + // I follow the NR code in skipping over initial zeros in the B vector. + + Tracer trace("Crout(lubksb)"); + if (sing) Throw(SingularException(*this)); + int i, j, ii = nrows; // ii initialised : B might be all zeros + + + // scan for first non-zero in B + for (i = 0; i < nrows; i++) + { + int ip = indx[i]; Real temp = B[ip]; B[ip] = B[i]; B[i] = temp; + if (temp != 0.0) { ii = i; break; } + } + + Real* bi; Real* ai; + i = ii + 1; + + if (i < nrows) + { + bi = B + ii; ai = store + ii + i * nrows; + for (;;) + { + int ip = indx[i]; Real sum = B[ip]; B[ip] = B[i]; + Real* aij = ai; Real* bj = bi; j = i - ii; + while (j--) sum -= *aij++ * *bj++; + B[i] = sum; + if (++i == nrows) break; + ai += nrows; + } + } + + ai = store + nrows * nrows; + + for (i = nrows - 1; i >= mini; i--) + { + Real* bj = B+i; ai -= nrows; Real* ajx = ai+i; + Real sum = *bj; Real diag = *ajx; + j = nrows - i; while(--j) sum -= *(++ajx) * *(++bj); + B[i] = sum / diag; + } +} + +/****************************** scalar functions ****************************/ + +inline Real square(Real x) { return x*x; } + +Real GeneralMatrix::SumSquare() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += square(*s++); + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real GeneralMatrix::SumAbsoluteValue() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += fabs(*s++); + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real GeneralMatrix::Sum() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +// maxima and minima + +// There are three sets of routines +// MaximumAbsoluteValue, MinimumAbsoluteValue, Maximum, Minimum +// ... these find just the maxima and minima +// MaximumAbsoluteValue1, MinimumAbsoluteValue1, Maximum1, Minimum1 +// ... these find the maxima and minima and their locations in a +// one dimensional object +// MaximumAbsoluteValue2, MinimumAbsoluteValue2, Maximum2, Minimum2 +// ... these find the maxima and minima and their locations in a +// two dimensional object + +// If the matrix has no values throw an exception + +// If we do not want the location find the maximum or minimum on the +// array stored by GeneralMatrix +// This won't work for BandMatrices. We call ClearCorner for +// MaximumAbsoluteValue but for the others use the AbsoluteMinimumValue2 +// version and discard the location. + +// For one dimensional objects, when we want the location of the +// maximum or minimum, work with the array stored by GeneralMatrix + +// For two dimensional objects where we want the location of the maximum or +// minimum proceed as follows: + +// For rectangular matrices use the array stored by GeneralMatrix and +// deduce the location from the location in the GeneralMatrix + +// For other two dimensional matrices use the Matrix Row routine to find the +// maximum or minimum for each row. + +static void NullMatrixError(const GeneralMatrix* gm) +{ + ((GeneralMatrix&)*gm).tDelete(); + Throw(ProgramException("Maximum or minimum of null matrix")); +} + +Real GeneralMatrix::MaximumAbsoluteValue() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int l = storage; Real* s = store; + while (l--) { Real a = fabs(*s++); if (maxval < a) maxval = a; } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MaximumAbsoluteValue1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int l = storage; Real* s = store; int li = storage; + while (l--) + { Real a = fabs(*s++); if (maxval <= a) { maxval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MinimumAbsoluteValue() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = fabs(*s++); + while (l--) { Real a = fabs(*s++); if (minval > a) minval = a; } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::MinimumAbsoluteValue1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = fabs(*s++); int li = l; + while (l--) + { Real a = fabs(*s++); if (minval >= a) { minval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Maximum() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real maxval = *s++; + while (l--) { Real a = *s++; if (maxval < a) maxval = a; } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Maximum1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real maxval = *s++; int li = l; + while (l--) { Real a = *s++; if (maxval <= a) { maxval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Minimum() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = *s++; + while (l--) { Real a = *s++; if (minval > a) minval = a; } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Minimum1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = *s++; int li = l; + while (l--) { Real a = *s++; if (minval >= a) { minval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; maxval = mr.MaximumAbsoluteValue1(maxval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real minval = FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; minval = mr.MinimumAbsoluteValue1(minval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Maximum2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = -FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; maxval = mr.Maximum1(maxval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Minimum2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real minval = FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; minval = mr.Minimum1(minval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real Matrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::MaximumAbsoluteValue1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::MinimumAbsoluteValue1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::Maximum2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::Maximum1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::Minimum2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::Minimum1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real SymmetricMatrix::SumSquare() const +{ + REPORT + Real sum1 = 0.0; Real sum2 = 0.0; Real* s = store; int nr = nrows; + for (int i = 0; iSumSquare(); return s; +} + +Real BaseMatrix::NormFrobenius() const + { REPORT return sqrt(SumSquare()); } + +Real BaseMatrix::SumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->SumAbsoluteValue(); return s; +} + +Real BaseMatrix::Sum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Sum(); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue(); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue1(i); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue2(i, j); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue(); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue1(i); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue2(i, j); return s; +} + +Real BaseMatrix::Maximum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum(); return s; +} + +Real BaseMatrix::Maximum1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum1(i); return s; +} + +Real BaseMatrix::Maximum2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum2(i, j); return s; +} + +Real BaseMatrix::Minimum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum(); return s; +} + +Real BaseMatrix::Minimum1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum1(i); return s; +} + +Real BaseMatrix::Minimum2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum2(i, j); return s; +} + +Real DotProduct(const Matrix& A, const Matrix& B) +{ + REPORT + int n = A.storage; + if (n != B.storage) Throw(IncompatibleDimensionsException(A,B)); + Real sum = 0.0; Real* a = A.store; Real* b = B.store; + while (n--) sum += *a++ * *b++; + return sum; +} + +Real Matrix::Trace() const +{ + REPORT + Tracer trace("Trace"); + int i = nrows; int d = i+1; + if (i != ncols) Throw(NotSquareException(*this)); + Real sum = 0.0; Real* s = store; +// while (i--) { sum += *s; s += d; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += d; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real DiagonalMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; + while (i--) sum += *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real SymmetricMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; int j = 2; + // while (i--) { sum += *s; s += j++; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real LowerTriangularMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; int j = 2; + // while (i--) { sum += *s; s += j++; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real UpperTriangularMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; + while (i) { sum += *s; s += i--; } // won t cause a problem + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real BandMatrix::Trace() const +{ + REPORT + int i = nrows; int w = lower+upper+1; + Real sum = 0.0; Real* s = store+lower; + // while (i--) { sum += *s; s += w; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += w; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real SymmetricBandMatrix::Trace() const +{ + REPORT + int i = nrows; int w = lower+1; + Real sum = 0.0; Real* s = store+lower; + // while (i--) { sum += *s; s += w; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += w; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real IdentityMatrix::Trace() const +{ + Real sum = *store * nrows; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + + +Real BaseMatrix::Trace() const +{ + REPORT + MatrixType Diag = MatrixType::Dg; Diag.SetDataLossOK(); + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(Diag); + Real sum = gm->Trace(); return sum; +} + +void LogAndSign::operator*=(Real x) +{ + if (x > 0.0) { log_value += log(x); } + else if (x < 0.0) { log_value += log(-x); sign = -sign; } + else sign = 0; +} + +void LogAndSign::PowEq(int k) +{ + if (sign) + { + log_value *= k; + if ( (k & 1) == 0 ) sign = 1; + } +} + +Real LogAndSign::Value() const +{ + Tracer et("LogAndSign::Value"); + if (log_value >= FloatingPointPrecision::LnMaximum()) + Throw(OverflowException("Overflow in exponential")); + return sign * exp(log_value); +} + +LogAndSign::LogAndSign(Real f) +{ + if (f == 0.0) { log_value = 0.0; sign = 0; return; } + else if (f < 0.0) { sign = -1; f = -f; } + else sign = 1; + log_value = log(f); +} + +LogAndSign DiagonalMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; + while (i--) sum *= *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign LowerTriangularMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; int j = 2; + // while (i--) { sum *= *s; s += j++; } + if (i) for(;;) { sum *= *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign UpperTriangularMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; + while (i) { sum *= *s; s += i--; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign IdentityMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; + if (i > 0) { sum = *store; sum.PowEq(i); } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign BaseMatrix::LogDeterminant() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + LogAndSign sum = gm->LogDeterminant(); return sum; +} + +LogAndSign GeneralMatrix::LogDeterminant() const +{ + REPORT + Tracer tr("LogDeterminant"); + if (nrows != ncols) Throw(NotSquareException(*this)); + CroutMatrix C(*this); return C.LogDeterminant(); +} + +LogAndSign CroutMatrix::LogDeterminant() const +{ + REPORT + if (sing) return 0.0; + int i = nrows; int dd = i+1; LogAndSign sum; Real* s = store; + if (i) for(;;) + { + sum *= *s; + if (!(--i)) break; + s += dd; + } + if (!d) sum.ChangeSign(); return sum; + +} + +Real BaseMatrix::Determinant() const +{ + REPORT + Tracer tr("Determinant"); + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + LogAndSign ld = gm->LogDeterminant(); + return ld.Value(); +} + + + + + +LinearEquationSolver::LinearEquationSolver(const BaseMatrix& bm) +{ + gm = ( ((BaseMatrix&)bm).Evaluate() )->MakeSolver(); + if (gm==&bm) { REPORT gm = gm->Image(); } + // want a copy if *gm is actually bm + else { REPORT gm->Protect(); } +} + + +#ifdef use_namespace +} +#endif + diff --git a/.svn/pristine/e8/e8b3584064b2e6cfda4b390a503f6a771349ad2c.svn-base b/.svn/pristine/e8/e8b3584064b2e6cfda4b390a503f6a771349ad2c.svn-base new file mode 100644 index 0000000..cc0fbae --- /dev/null +++ b/.svn/pristine/e8/e8b3584064b2e6cfda4b390a503f6a771349ad2c.svn-base @@ -0,0 +1,140 @@ +/* + * frames2pose implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.pose." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char poseFileName[255]; + char frameFileName[255]; + + ifstream pose_in; + ofstream pose_out; + + double rPos[3],rPosTheta[3]; + + double tMatrix[17]; + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++); + + pose_in.open(frameFileName); + + if (!pose_in.good()) break; // no more files in the directory + // read 3D scan + + cout << "Reading frame " << frameFileName << "..." << endl; + + while(pose_in.good()) { + for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]); + } + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + + pose_in.close(); + pose_in.clear(); + + pose_out.open(poseFileName); + + cout << "Writing pose file... " << poseFileName << endl; + + for(int i = 0; i < 3; i++) { + pose_out << rPos[i] << " "; + } + pose_out << endl; + + for(int i = 0; i < 3; i++) { + pose_out << deg(rPosTheta[i]) << " "; + } + pose_out << endl; + + pose_out.close(); + pose_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/.svn/pristine/e8/e8ccc08850bf9ad9953e47e8d7e1da1e5a51c1bf.svn-base b/.svn/pristine/e8/e8ccc08850bf9ad9953e47e8d7e1da1e5a51c1bf.svn-base new file mode 100644 index 0000000..9202c0f --- /dev/null +++ b/.svn/pristine/e8/e8ccc08850bf9ad9953e47e8d7e1da1e5a51c1bf.svn-base @@ -0,0 +1,614 @@ +/* + * scan_io_velodyne implementation + * + * Copyright (C) Mohammad Faisal, Dorit Borrmann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + * @author Mohammad Faisal. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "slam6d/point.h" +#include "veloslam/velodefs.h" +#include "scanio/scan_io_velodyne.h" +#include "slam6d/globals.icc" +#include +#include +#include +using std::ifstream; +using std::ostrstream; +using std::cerr; +using std::endl; +using std::ends; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + +#ifdef _MSC_VER +#include +#endif +#include +#include +using namespace boost::filesystem; + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".bin" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 360 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + +long CountOfLidar = 0; + +//Changes the variable to be filled dynamically. Added a 6th variable to enable or disable a specific sensor +double velodyne_calibrated[VELODYNE_NUM_LASERS][6]; + +/** + * Method to fill the calibration data using the Velodyne64 calibration data from Wuhan. + */ +int backup() +{ + double velodyne_calibrated1[64][6] = + { + { -7.1581192, -4.5, 102, 21.560343, -2.5999999, 1}, + { -6.8178215, -3.4000001, 125, 21.516994, 2.5999999, 1}, + { 0.31782165, 3, 130, 20.617426, -2.5999999, 1}, + { 0.65811908, 4.5999999, 128, 20.574717, 2.5999999, 1}, + { -6.4776502, -0.5, 112, 21.473722, -2.5999999, 1}, + { -6.1375928, 1, 125, 21.430525, 2.5999999, 1}, + { -8.520812, -1.5, 106, 21.734608, -2.5999999, 1}, + { -8.1798887, 0.40000001, 127, 21.690901, 2.5999999, 1}, + { -5.797637, 4, 111, 21.387396, -2.5999999, 1}, + { -5.4577708, 5.5, 126, 21.34433, 2.5999999, 1}, + { -7.8391404, 3.0999999, 113, 21.647291, -2.5999999, 1}, + { -7.4985547, 4.5, 123, 21.603773, 2.5999999, 1}, + { -3.0802133, -4.5, 105, 21.044245, -2.5999999, 1}, + { -2.7406337, -3.2, 133, 21.001518, 2.5999999, 1}, + { -5.1179824, -5.5, 110, 21.301321, -2.5999999, 1}, + { -4.7782598, -4, 129, 21.258366, 2.5999999, 1}, + { -2.4010365, -0.2, 111, 20.958813, -2.5999999, 1}, + { -2.0614092, 1, 130, 20.916126, 2.5999999, 1}, + { -4.4385905, -1.2, 115, 21.215462, -2.5999999, 1}, + { -4.0989642, 0, 133, 21.172602, 2.5999999, 1}, + { -1.7217404, 3.8, 113, 20.873451, -2.5999999, 1}, + { -1.3820176, 5, 130, 20.830786, 2.5999999, 1}, + { -3.7593663, 3, 117, 21.129782, -2.5999999, 1}, + { -3.4197867, 4.5, 129, 21.086998, 2.5999999, 1}, + { 0.998555, -4.5, 107, 20.531982, -2.5999999, 1}, + { 1.339141, -3.2, 131, 20.489222, 2.5999999, 1}, + { -1.0422293, -5.4000001, 128, 20.788124, -2.5999999, 1}, + { -0.70236301, -4, 134, 20.745461, 2.5999999, 1}, + { 1.679889, -0.5, 124, 20.446428, -2.5999999, 1}, + { 2.0208123, 1, 136, 20.403601, 2.5999999, 1}, + { -0.36240739, -1.5, 131, 20.702793, -2.5999999, 1}, + { -0.022349782, 0.2, 136, 20.660116, 2.5999999, 1}, + { -22.737886, -7.8000002, 101, 16.019152, -2.5999999, 1}, + { -22.226072, -5, 88, 15.954137, 2.5999999, 1}, + { -11.513928, 4.5, 121, 14.680806, -2.5999999, 1}, + { -11.002114, 7.4000001, 88, 14.623099, 2.5999999, 1}, + { -21.714685, -1, 94, 15.889649, -2.5999999, 1}, + { -21.203688, 2, 88, 15.82566, 2.5999999, 1}, + { -24.790272, -2.5, 114, 16.284933, -2.5999999, 1}, + { -24.276321, 0.5, 89, 16.217583, 2.5999999, 1}, + { -20.693031, 6, 98, 15.762167, -2.5999999, 1}, + { -20.182682, 9, 92, 15.699132, 2.5999999, 1}, + { -23.762968, 4.5, 107, 16.15085, -2.5999999, 1}, + { -23.250172, 7.5, 80, 16.084715, 2.5999999, 1}, + { -16.615318, -7.5, 121, 15.26925, -2.5999999, 1}, + { -16.105938, -5, 92, 15.209245, 2.5999999, 1}, + { -19.672594, -9, 119, 15.63654, -2.5999999, 1}, + { -19.162729, -6, 89, 15.574372, 2.5999999, 1}, + { -15.596496, -1, 109, 15.14954, -2.5999999, 1}, + { -15.086954, 2, 88, 15.090119, 2.5999999, 1}, + { -18.653046, -2, 117, 15.51261, -2.5999999, 1}, + { -18.143503, 0.69999999, 88, 15.451235, 2.5999999, 1}, + { -14.577271, 5.5, 112, 15.030966, -2.5999999, 1}, + { -14.067405, 8.3999996, 87, 14.972065, 2.5999999, 1}, + { -17.634062, 5, 119, 15.390228, -6.1999998, 1}, + { -17.124681, 7.5, 97, 15.329572, 2.5999999, 1}, + { -10.489829, -7.5, 119, 14.565539, -2.5999999, 1}, + { -9.9770317, -4.6999998, 95, 14.508112, 2.5999999, 1}, + { -13.557318, -8.5, 126, 14.913401, -2.5999999, 1}, + { -13.046968, -6, 92, 14.854958, 2.5999999, 1}, + { -9.4636793, -1, 112, 14.450804, -2.5999999, 1}, + { -8.949728, 1.5, 93, 14.3936, 2.5999999, 1}, + { -12.536313, -2, 121, 14.796721, -2.5999999, 1}, + { -12.025314, 0.40000001, 96, 14.738676, 2.5999999, 1}, + }; + + for ( int i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + velodyne_calibrated[i][0] = velodyne_calibrated1[i][0]; + velodyne_calibrated[i][1] = velodyne_calibrated1[i][1]; + velodyne_calibrated[i][2] = velodyne_calibrated1[i][2]; + velodyne_calibrated[i][3] = velodyne_calibrated1[i][3]; + velodyne_calibrated[i][4] = velodyne_calibrated1[i][4]; + velodyne_calibrated[i][5] = velodyne_calibrated1[i][5]; + } + + return 0; +} + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; +double enabled[VELODYNE_NUM_LASERS]; //New variable to change enabling and disabling of data. + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection enable + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + vertCorrection[i] = velodyne_calibrated[i][0] * RADIANS_PER_LSB; + rotCorrection[i] = velodyne_calibrated[i][1] * RADIANS_PER_LSB; + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + enabled[i] = velodyne_calibrated[i][5]; + } + + return 0; +} + + +int calibrate(string filename) +{ + int linecount = 0; + string line; + std::ifstream myfile (filename.c_str()); + if (myfile.is_open()) + { + cout << "Using Calibration File"<(string::npos - theDelimiter.size()))?string::npos:end + theDelimiter.size()); + i++; + } + + velodyne_calibrated[j][0] = atof(data[0].c_str()); + velodyne_calibrated[j][1] = atof(data[1].c_str()); + velodyne_calibrated[j][2] = atof(data[2].c_str()); + velodyne_calibrated[j][3] = atof(data[3].c_str()); + velodyne_calibrated[j][4] = atof(data[4].c_str()); + velodyne_calibrated[j][5] = atof(data[5].c_str()); + linecount++; + j++; + } + while(!myfile.eof()); + + myfile.close(); + + if (linecount < 60) + { + for (int i = 32; i<64; i++) + { + velodyne_calibrated[i][0] = 0.0; + velodyne_calibrated[i][1] = 0.0; + velodyne_calibrated[i][2] = 0.0; + velodyne_calibrated[i][3] = 0.0; + velodyne_calibrated[i][4] = 0.0; + velodyne_calibrated[i][5] = 0.0; + } + } + } + else + { + cout << "Unable to open calibration file.\nUsing Wuhan hardcored values."<* xyz, + std::vector* rgb, + std::vector* reflectance, + std::vector* amplitude, + std::vector* type, + std::vector* deviation) +{ + + int c, i, j; + unsigned char Head; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pt; + unsigned short *pshort; + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + unsigned short logicalNO; + + float rotational; + float distance; + float corredistance; + int intensity; + int physical; + int size; + + unsigned short rot; + double x, y, z; + + int circle_col = 0; + int circle_row = 0; + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { +#ifdef _MSC_VER + fseek(fp , BLOCK_OFFSET, SEEK_CUR); +#else + fseeko(fp , BLOCK_OFFSET, SEEK_CUR); +#endif + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size 2.2 ) + { + BYTE *inty = ( BYTE * ) ( p + 4 + j * 3 + 2 ); + intensity = *inty; + + ctheta = 2 * M_PI - rotational * RADIANS_PER_LSB; + if ( ctheta == 2*M_PI ) + ctheta = 0; + + sin_ctheta = sin ( ctheta ); + cos_ctheta = cos ( ctheta ); + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + // corredistance = ( distance + distCorrection[physicalNO] ) * ( 1.0 + vertoffsetCorrection[physicalNO] ); + corredistance = ( distance + distCorrection[physicalNO] ) ; + theta = mod2pi_ref ( M_PI, ctheta + rotCorrection[physicalNO] ); /////////????//////// + phi = vertCorrection[physicalNO]; ////////?????///////////////// + + sin_theta = sin ( theta ); + cos_theta = cos ( theta ); + sin_phi = sin ( phi ); + cos_phi = cos ( phi ); + + /////////////////////?a??×?±ê///////////////////// + x = corredistance * cos_theta * cos_phi; + y = corredistance * sin_theta * cos_phi; + z = corredistance * sin_phi +vertoffsetCorrection[physicalNO]*cos_phi; + + x -= horizdffsetCorrection[physicalNO] * cos_ctheta; + y -= horizdffsetCorrection[physicalNO] * sin_ctheta; + + point.rad = sqrt( x*x + y*y ); + point.tan_theta = y/x; + + point.type = POINT_TYPE_GROUND; + point.x=x*100; + point.y=z*100; + point.z=-y*100; + + double p[3]; + p[0] = point.x; + p[1] = point.y; + p[2] = point.z; + + //Enable Check. Could be moved earlier to remove all the unnecessary calculations. + //Here to simplify the implementation + if(filter.check(p) && (enabled[physicalNO]==1)) + { + for(int ii = 0; ii < 3; ++ii) xyz->push_back(p[ii]); + } + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + return 0; +} + +std::list ScanIO_velodyne::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + //Calling the calibration method with the file name "calibration.txt" in the same folder as the scan.bin + string califilename; + string dir(dir_path); + califilename = dir + "calibration" + ".txt"; + calibrate(califilename); + std::list identifiers; +// fileCounter = start; + + velodyne_calib_precompute(); + for(unsigned int i = start; i <= end; ++i) + { + std::string identifier(to_string(i,3)); + + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + DATA_PATH_SUFFIX); + + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + + if(!exists(data)) + break; + identifiers.push_back(identifier); + } + + return identifiers; +} + +void ScanIO_velodyne::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + // on pose information for veloslam + for(i = 0; i < 6; ++i) pose[i] = 0.0; + for(i = 3; i < 6; ++i) pose[i] = 0.0; + return; +} + +bool ScanIO_velodyne::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + + +void ScanIO_velodyne::readScan( + const char* dir_path, + const char* identifier, + PointFilter& filter, + std::vector* xyz, + std::vector* rgb, + std::vector* reflectance, + std::vector* amplitude, + std::vector* type, + std::vector* deviation) +{ + unsigned int i; + FILE *scan_in; + + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + char filename[256]; + sprintf(filename, "%s%s%s",dir_path ,DATA_PATH_PREFIX, DATA_PATH_SUFFIX ); + +#ifdef _MSC_VER + scan_in = fopen(filename,"rb"); +#else + scan_in = fopen64(filename,"rb"); +#endif + + if(scan_in == NULL) + { + cerr<reserve(12*32*CIRCLELENGTH); + + fileCounter= atoi(identifier); + + #ifdef _MSC_VER + fseek(scan_in, 24, SEEK_SET); + fseek(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); +#else + fseeko(scan_in, 24, SEEK_SET); + fseeko(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); +#endif + + read_one_packet( + scan_in, + filter, + xyz, + rgb, + reflectance, + amplitude, + type, + deviation); + + cout << " with " << xyz->size() << " Points"; + cout << " done " << fileCounter< +#include +#include + +#include "grid/scanToGrid.h" + +using std::vector; +using std::map; + +/** + * CTor. + * + * @param resolution the resolution of the grid (centimeters per gridunit) + * @param minRelevantHeight The minimal height of a scan that is relevant + * @param maxRelevantHeight The maximal height of a scan that is relevant + * @param maxDistance The maximal relevant distance + * @param minimalWeighting The minimal weighting for the waypoints + * @param createWaypoints If set waypoints will be created + * @param neighbours If set neighbours will be created + */ +scanToGrid::scanToGrid(double resolution, + double minRelevantHeight, double maxRelevantHeight, + int maxDistance, int spotRadius, + bool createWaypoints, bool neighbours) +{ + this->resolution = resolution; + this->minRelevantHeight = minRelevantHeight; + this->maxRelevantHeight = maxRelevantHeight; + this->waypoints = createWaypoints; + this->neighbours = neighbours; + this->spot = (float)spotRadius / 3000.0; + + // Calculate minimal weighting + this->minimalWeighting = 1;//(1((float)minimalWeighting-1)/ +// (float)scaleToGrid(maxDistance)); +} + +/** + * The method checks if the given point is relevant + * for creating the grid. + * It is not relevant if it is below or above a specified + * height, or if it lies to far away (??) + * + * @param p The point to check (not scaled to grid) + * @return True if the point is relevant + */ +bool scanToGrid::isPointRelevant(const Point &p) const +{ + if(p.y < this->minRelevantHeight || p.y > this->maxRelevantHeight) + { + return false; + } + else + return true; +} + +/** + * The method scales the absolute coordinate of the scanpoint + * to the matching coordinate of the gridpoint + * + * @param point the absolute coordinate of the scanpoint + * + * @return the matching coordiante of the gridpoint + */ +long scanToGrid::scaleToGrid(double point) +{ + return (long)(point / this->resolution); +} + +/** + * The methods calculates the norm vector of the vector given + * through x and z. + * The normvector has one direction oflength 1 or -1 and the other + * length in [-1,1] + * @param x The x component of the vector + * @param z the z component of the vector + * @param xnorm Referenz to the double containing the normalized x value afterwards + * @param znorm Referenz to the double containing the normalized z value afterwards + */ +void scanToGrid::calculateNormvector(long x, long z, + double& xnorm, double& znorm) +{ + xnorm = 0; + znorm = 0; + + // if |X| < |Z|, then norm z to 1 and x to x/z + if(abs(x) < abs(z)) + { + if(z == 0) + return; + + xnorm = (double)x / (double)abs(z); + znorm = z / abs(z); // now znorm is 1 or -1 + } + else + { + if(x == 0) + return; + + xnorm = x / abs(x); // now xnorm is 1 or -1 + znorm = (double)z / (double)abs(x); + } +} + +/** + * The method creates a new grid. It determines the size and offset + * of the new grid and calculates the viewpoint of the roboter during + * the scan. + * The new scangrid is allocated using new, but the pointer is not stored, + * so it must be freed by the calling method. + * + * The scan has to be transformed to absolute values before this method is + * called + * + * @param scan the scan to be transformed + * @param transformation the transformationmatrix needed for calculating + * the viewpoint of the roboter + * + * @return pointer to the created grid. + * (Just gets allocated, does not get freed) + */ +scanGrid* scanToGrid::createGrid(Scan& scan, + const double* transformation) +{ + // Calculate the viewpoint of the scan + double rPos[3]; + double rPosTheta[3]; + + Matrix4ToEuler(transformation, rPosTheta, rPos); + + long vpX = scaleToGrid(rPos[0]); + long vpZ = scaleToGrid(rPos[2]); + + // calculate maximal and minimal coordiantes + double maxX = 0; + double maxZ = 0; + double minX = 0; + double minZ = 0; + + DataXYZ xyz(scan.get("xyz")); + + for(size_t i = 0; i < xyz.size(); ++i) + { + Point it = xyz[i]; + + // If the scan is not relevant, skip it + if(!isPointRelevant(it)) + continue; + + if(it.x < minX) minX = it.x; + if(it.x > maxX) maxX = it.x; + if(it.z < minZ) minZ = it.z; + if(it.z > maxZ) maxZ = it.z; + + } + + // get offsets and sizes + long offsetX = scaleToGrid(minX); + long offsetZ = scaleToGrid(minZ); + long sizeX = scaleToGrid(maxX) - offsetX + 1; + long sizeZ = scaleToGrid(maxZ) - offsetZ + 1; + + //returning new grid + return new scanGrid(vpX, vpZ, + offsetX, offsetZ, + sizeX, sizeZ); +} + +/** + * + * !NOTE! Experimental. Currently this is not used! !NOTE! + * + * The method iterates through the grid and checks for each point + * if it has a specified amount of neighbours. If not enough neighbours + * are found, the point is deleted. + * + * @param grid The grid to check + * @param distance + * @param neighbours The amount of neighbours needed for not getting deleted + */ +void scanToGrid::killAlonePoints(scanGrid* grid, + int distance, int neighbours) +{ + std::vector< gridPoint* > exPoints; + + + for(int i=0; i < grid->getSizeX(); ++i) + { + for(int j=0; j < grid->getSizeZ(); ++j) + { + int found = 0; + + for(int a=i - distance; a < i + distance; ++a) + { + for(int b=i - distance; b < i + distance; ++b) + { + if(a > 0 && b > 0 && + a < grid->getSizeX() && b < grid->getSizeZ()) + { + if(grid->points[a][b]->getPercent() > 0) + { + ++found; + } + } + + } + } + + // not enough neigbours found + if(found < neighbours) + { + exPoints.push_back(grid->points[i][j]); + } + + } + } + + vector::iterator it = exPoints.begin(); + vector::iterator end = exPoints.end(); + + while(it != end) + { + //std::cout << "Deleting " << (*it)->getX() << " " << (*it)->getZ() << " " << std::endl; + (*it)->setFixed(0, 0); + ++it; + } +} + +/** + * The method adds additional information about the neighbours of + * the given point based on some sort of probabilityfunction. + * Given the degree of the scanner, the function calculates the insecure + * points and weights them + * + * @param grid The grid to add the information to + * @param x The absolute x coordinate + * @param z The absolute z coordinate + * @param weighting The weighting of the point + */ +void scanToGrid::createNeighbours(scanGrid *grid, long x, long z, float weighting) +{ + // Calculate direction of the neighbours + long dx = - (grid->getViewpointZ() - z); + long dz = grid->getViewpointX() - x; + + // calculating the normvector of them + double xnorm, znorm; + calculateNormvector(dx, dz, xnorm, znorm); + + // calculating number of neighbours to weight + int r = (int) (sqrt((double)(dx*dx + dz*dz)) * this->spot); + + for(int i = -r; i <= r; ++i) + { + // Skip 0 (0 is the actual point on the vector) + if(i == 0) + continue; + + long px = x + (int) (i * xnorm); + long pz = z + (int) (i * znorm); + + // if calculated point not in grid, skip + if( !grid->contains(px, pz)) + continue; + + float weight = weighting / pow(2.0, abs(i*r)); + + // grid->addPoint(px, pz, + // SOLIDWEIGHT * weight, SOLIDWEIGHT * weight); + grid->addPoint(px, pz, SOLIDWEIGHT, SOLIDWEIGHT); + + if(this->waypoints) + createWaypoints(grid, px, pz, weight); + } +} + + +/** + * The method calculates the free waypoints between the robot and + * the occupied point and adds them to the grid. + * The way is weighted with the weighting-parameter to avoid + * that a path overwrites found obstacles + * + * @param grid pointer to the grid to which the points will be added + * @param x the x-coordinate of the occupied point + * @param z the z-coordinate of the occupied point + * @param weighting The weighting of the point on which the path is based. + */ +void scanToGrid::createWaypoints(scanGrid *grid, long x, long z, float weighting) +{ + if(x == 0 || z == 0) + return; + + long dx = x - grid->getViewpointX(); + long dz = z - grid->getViewpointZ(); + + // calculating the normal vector + double xnorm, znorm; + calculateNormvector(dx, dz, xnorm, znorm); + + int distance = (int)floor(sqrt(pow((double)dx, 2) + pow((double)dz, 2)) / + sqrt(pow(xnorm, 2) + pow(znorm, 2))); + + + for(int i=0; i < distance; ++i) + { + long px = grid->getViewpointX() + (long)(i * xnorm); + long pz = grid->getViewpointZ() + (long)(i * znorm); + + // due to some problems with the viewpoint lieing outside + // of the grid, first check if point is in grid + if(grid->contains(px, pz)) + //grid->addPoint(px, pz, (int)(WAYPOINTWEIGHT * weighting), 0); + grid->addPoint(px, pz, WAYPOINTWEIGHT, 0); + } +} + +/** + * The method adds the point represented by the 2 coordinates. It weights + * the point based on weighting. + * + * @param grid The grid to add the point to + * @param x The x coordinate (scaled to grid) + * @param z The z coordinate (scaled to grid) + * @param weighting Importance of the point (0 <= w <= 1) + */ +void scanToGrid::createPoint(scanGrid *grid, long x, long z, float weighting) +{ + // grid->addPoint(x, z, SOLIDWEIGHT, (int)(SOLIDWEIGHT * weighting)); + grid->addPoint(x, z, SOLIDWEIGHT, SOLIDWEIGHT); +} + +/** + * Converts a scan(3D) to a grid(2D). It iterates through each + * found point of the scan, translates it to the grid and adds it + * to the grid. Points that are somehow not relevant to the grid (e.g. points + * that are to low or to high are ignored. See isPointRelevant) + * + * If waypoints is true, it will also create waypoints from the origin of + * the scan to the found point and mark the space in between as free. + * If Neighbours should be created, it will also weight the surrounding + * spaces of the found point. + * + * @param scan The scan to be converted + * @param transformation The transformationmatrix + * @return pointer to the grid + */ +scanGrid* scanToGrid::convert(Scan& scan, const double* transformation) +{ + scanGrid* grid = createGrid(scan, transformation); + + DataXYZ xyz(scan.get("xyz")); + + // go through all points and create the grid + for(size_t i = 0; i < xyz.size(); ++i) + { + Point p = xyz[i]; + + // if the scan is in the relevant area, create Point for it + if(isPointRelevant(p)) + { + long x = scaleToGrid(p.x); + long z = scaleToGrid(p.z); + + float weighting = calculateWeighting(x - grid->getViewpointX(), + z - grid->getViewpointZ()); + createPoint(grid, x, z, weighting); + + if(this->waypoints) + createWaypoints(grid, x, z, weighting); + + if(this->neighbours) + createNeighbours(grid, x, z, weighting); + + } + } + + // Kill all points which have less then 8 out of 25 neighbours + /*killAlonePoints(grid, 3, 1); + + for(int i = 0; i < grid->getSizeX(); ++i) + { + for(int j = 0; j < grid->getSizeZ(); ++j) + { + gridPoint *p = grid->points[i][j]; + + float weighting = calculateWeighting(p->getX() - grid->getViewpointX(), p->getZ() - grid->getViewpointZ()); + + if(this->waypoints) + createWaypoints(grid, p->getX(), p->getZ(), weighting); + + if(this->neighbours) + createNeighbours(grid, p->getX(), p->getZ(), weighting); + } + }*/ + + return grid; +} diff --git a/.svn/pristine/e9/e93a5dd5590084f11ee52479c83847cd07687ab5.svn-base b/.svn/pristine/e9/e93a5dd5590084f11ee52479c83847cd07687ab5.svn-base new file mode 100644 index 0000000..8215135 --- /dev/null +++ b/.svn/pristine/e9/e93a5dd5590084f11ee52479c83847cd07687ab5.svn-base @@ -0,0 +1,34 @@ +/** + * @file + * @brief Representation of an OpenGL vertex array + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __VERTEXARRAY_H__ +#define __VERTEXARRAY_H__ + +#ifdef _MSC_VER +#include +#endif + +#ifdef __APPLE__ +#include +#else +#include +#endif + + +class vertexArray +{ +public: + vertexArray(int _numPointsToRender); + ~vertexArray(); + + GLfloat* array; + GLint numPointsToRender; + GLuint name; +private: + static GLuint nameCounter; +}; + +#endif diff --git a/.svn/pristine/ea/ea2e1a82686f0b87dc1b61e620a931a1abd3940f.svn-base b/.svn/pristine/ea/ea2e1a82686f0b87dc1b61e620a931a1abd3940f.svn-base new file mode 100644 index 0000000..507ae01 --- /dev/null +++ b/.svn/pristine/ea/ea2e1a82686f0b87dc1b61e620a931a1abd3940f.svn-base @@ -0,0 +1,42 @@ +#ifndef META_SCAN_H +#define META_SCAN_H + +#include "scan.h" + +#include + +class MetaScan : public Scan { +public: + MetaScan(std::vector scans, int nns_method = -1, bool cuda_enabled = false); + virtual ~MetaScan(); + + //! How many scans this meta scan contains + unsigned int size() const; + + //! Return the contained scan + Scan* getScan(unsigned int i) const; + + virtual void setRangeFilter(double max, double min) {} + virtual void setHeightFilter(double top, double bottom) {} + + virtual const char* getIdentifier() const { return "metascan"; } + + virtual DataPointer get(const std::string& identifier) { return DataPointer(0, 0); } + virtual void get(unsigned int types) {} + virtual DataPointer create(const std::string& identifier, unsigned int size) { return DataPointer(0, 0); } + virtual void clear(const std::string& identifier) {} + + virtual unsigned int readFrames() { return 0; } + virtual void saveFrames() {} + virtual unsigned int getFrameCount() { return 0; } + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) {} + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate() {} + virtual void addFrame(AlgoType type) {} +private: + std::vector m_scans; +}; + +#endif //META_SCAN_H diff --git a/.svn/pristine/ea/ea5e903bec24de111db634238e0281cc179a7b70.svn-base b/.svn/pristine/ea/ea5e903bec24de111db634238e0281cc179a7b70.svn-base new file mode 100644 index 0000000..b284a3f --- /dev/null +++ b/.svn/pristine/ea/ea5e903bec24de111db634238e0281cc179a7b70.svn-base @@ -0,0 +1,35 @@ +/* Handle PNM-files Dez98 JS + * 0,0 = left up + * PAM-formats + * PAM any P7 + * PNM-formats + * PGM gray ASCII=P2 RAW=P5 dx dy col gray + * PPM RGB ASCII=P3 RAW=P6 dx dy col RGB + * PBM B/W ASCII=P1 RAW=P4 dx dy bitmap + */ + +#ifndef GOCR_PNM_H +#define GOCR_PNM_H 1 + +#include "config.h" + +struct pixmap { + unsigned char *p; /* pointer of image buffer (pixmap) */ + int x; /* xsize */ + int y; /* ysize */ + int bpp; /* bytes per pixel: 1=gray 3=rgb */ + }; +typedef struct pixmap pix; + +/* return 1 on multiple images (holding file open), 0 else */ +int readpgm(char *name, pix *p, int vvv); + +/* write pgm-map to pnm-file */ +int writepgm(char *nam, pix *p); +int writepbm(char *nam, pix *p); +int writeppm(char *nam, pix *p); /* use lowest 3 bits for farbcoding */ + +/* ----- count colors ------ create histogram ------- */ +void makehisto(pix p, unsigned col[256], int vvv); + +#endif diff --git a/.svn/pristine/ea/ea7a68c2ea16183573f1855ab417c03d2eb679bb.svn-base b/.svn/pristine/ea/ea7a68c2ea16183573f1855ab417c03d2eb679bb.svn-base new file mode 100644 index 0000000..d206f21 --- /dev/null +++ b/.svn/pristine/ea/ea7a68c2ea16183573f1855ab417c03d2eb679bb.svn-base @@ -0,0 +1,144 @@ +#ifndef _MATHUTIL_H +#define _MATHUTIL_H + +#include +#include +#include +#include + +#ifndef _MSC_VER +#define _finite finite +#endif + +//#define INFINITY FLT_MAX +#define M_PI 3.14159265358979323846 +//#define M_PI_2 3.14159265358979323846*2 +//#define NAN 0 + +#define to_radians(x) ( (x) * (M_PI / 180.0 )) +#define to_degrees(x) ( (x) * (180.0 / M_PI )) + +void sincos(double ra, double * sinra, double* cosra); +int isless(double x, double y); + + +//inline int isfinite(double x) { return _finite(x); } + +static inline double sq(double v) +{ + return v*v; +} + +static inline double sgn(double v) +{ + return (v>=0) ? 1 : -1; +} + +// random number between [0, 1) +static inline float randf() +{ + return ((float) rand()) / (RAND_MAX + 1.0); +} + + +static inline float signed_randf() +{ + return randf()*2 - 1; +} + +#ifdef _MSC_VER +static inline double fmin(double a, double b) +{ + return (a < b) ? a : b; +} + +static inline double fmax(double a, double b) +{ + return (a > b) ? a : b; +} +#endif +// return a random integer between [0, bound) +static inline int irand(int bound) +{ + int v = (int) (randf()*bound); + assert(v >= 0); + assert(v < bound); + return v; +} + +#ifndef PI +#define PI 3.14159265358979323846264338 +#endif + +#define TWOPI_INV (0.5/PI) +#define TWOPI (2*PI) + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +static inline int theta_to_int(double theta, int max) +{ + theta = mod2pi_ref(M_PI, theta); + int v = (int) (theta / ( 2 * M_PI ) * max); + + if (v==max) + v = 0; + + assert (v >= 0 && v < max); + + return v; +} + +static inline int imin(int a, int b) +{ + return (a < b) ? a : b; +} + +static inline int imax(int a, int b) +{ + return (a > b) ? a : b; +} + +static inline float fmin(float a, float b) +{ + return (a < b) ? a : b; +} + +static inline float fmax(float a, float b) +{ + return (a > b) ? a : b; +} + +static inline int iclamp(int v, int minv, int maxv) +{ + return imax(minv, imin(v, maxv)); +} + +static inline double fclamp(double v, double minv, double maxv) +{ + return fmax(minv, fmin(v, maxv)); +} + + +#endif diff --git a/.svn/pristine/ea/eacc7eee127caa629e1f200063bb1747ebba0cb0.svn-base b/.svn/pristine/ea/eacc7eee127caa629e1f200063bb1747ebba0cb0.svn-base new file mode 100644 index 0000000..7070504 --- /dev/null +++ b/.svn/pristine/ea/eacc7eee127caa629e1f200063bb1747ebba0cb0.svn-base @@ -0,0 +1,40 @@ +//$$ boolean.h bool class + +// This is for compilers that do not have bool automatically defined + +#ifndef bool_LIB +#define bool_LIB 0 + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +class bool +{ + int value; +public: + bool(const int b) { value = b ? 1 : 0; } + bool(const void* b) { value = b ? 1 : 0; } + bool() {} + operator int() const { return value; } + int operator!() const { return !value; } +}; + + +const bool true = 1; +const bool false = 0; + + + +// version for some older versions of gnu g++ +//#define false 0 +//#define true 1 + +#ifdef use_namespace +} +#endif + + + +#endif diff --git a/.svn/pristine/ea/eaf0c315c1651ee42ccef9ca3dd4ec4ca536cd63.svn-base b/.svn/pristine/ea/eaf0c315c1651ee42ccef9ca3dd4ec4ca536cd63.svn-base new file mode 100644 index 0000000..55807f6 --- /dev/null +++ b/.svn/pristine/ea/eaf0c315c1651ee42ccef9ca3dd4ec4ca536cd63.svn-base @@ -0,0 +1,104 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_bitmaps.cpp + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +int *bitmap_arrays[] = { + glui_img_checkbox_0, + glui_img_checkbox_1, + glui_img_radiobutton_0, + glui_img_radiobutton_1, + glui_img_uparrow, + glui_img_downarrow, + glui_img_leftarrow, + glui_img_rightarrow, + glui_img_spinup_0, + glui_img_spinup_1, + glui_img_spindown_0, + glui_img_spindown_1, + glui_img_checkbox_0_dis, + glui_img_checkbox_1_dis, + glui_img_radiobutton_0_dis, + glui_img_radiobutton_1_dis, + glui_img_spinup_dis, + glui_img_spindown_dis, + glui_img_listbox_up, + glui_img_listbox_down, + glui_img_listbox_up_dis, +}; + + +/************************************ GLUI_Bitmap::load_from_array() ********/ + +void GLUI_Bitmap::load_from_array( int *array ) +{ + int i; + + w = 0; + h = 0; + + if ( array == NULL ) + return; + + w = array[0]; + h = array[1]; + + pixels = (unsigned char*) malloc( sizeof(unsigned char) * w * h * 3); + + for( i = 0; i 128 ) + putchar( '#' ); + else + putchar( ' ' ); + } + putchar( '\n' ); + } + fflush( stdout ); + */ + } +} diff --git a/.svn/pristine/eb/eb42800b4da69b95d744129dc53a74623f0a04ab.svn-base b/.svn/pristine/eb/eb42800b4da69b95d744129dc53a74623f0a04ab.svn-base new file mode 100644 index 0000000..626dbf5 --- /dev/null +++ b/.svn/pristine/eb/eb42800b4da69b95d744129dc53a74623f0a04ab.svn-base @@ -0,0 +1,1447 @@ +@Article{Manduchi_2005, + author = {R. Manduchi and A. Castano and A. Talukder and L. Matthies}, + title = {Obstacle Detection and Terrain Classification for Autonomous Off-road Navigation}, + journal = {Autonomous Robot}, + year = {2005}, + volume = {18}, +} + +@InProceedings{Patel_2005, + author = {K. Patel and W. Macklem and S. Thrun and M. Montemerlo}, + title = {Active Sensing for High-Speed Offroad Driving}, + booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '05)}, + year = {2005}, + address = {Barcelona, Spain}, + month = {April}, +} + +@InProceedings{Batavia_2002, + author = {P. H. Batavia and S. Singh}, + title = {Obstacle Detection in Smooth High Curvature Terrain}, + booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02)}, + pages = {3062 -- 3067}, + year = {2002}, +} + +@InProceedings{Kohlhepp_2003, + author = {P. Kohlhepp and M. Walther and P. 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Stapelfeldt", + title = "{LAOKOON} -- Lernf{\"a}hige autonome kooperierende {K}analroboter", + journal = "KI", + volume = "11", + number = "2", + year = "1997", + pages = "28 -- 32", +} + +@InProceedings{KI2003, + author = "A. N{\"u}chter and H. Surmann and K. Lingemann and J. Hertzberg", + title = "{C}onsistent {3D} {M}odel {C}onstruction with {A}utonomous {M}obile {R}obots", + booktitle = "KI 2003: Advances in Artificial Intelligence. 26th Annual German Conference on AI, Proceedings Springer LNAI vol. 2821", + month = "September", + year = "2003", + pages = "550 -- 564", + address = "Hamburg, Germany" +} + +@InProceedings{KI2005, + author = "A. N{\"u}chter and K. Lingemann and J. Hertzberg and H. Surmann ", + title = "{H}euristic-{B}ased {L}aser {S}can {M}atching for {O}utdoor {6D} {SLAM}", + booktitle = "KI 2005: Advances in Artificial Intelligence. 28th Annual German Conference on AI, Proceedings Springer LNAI vol. 3698", + month = "September", + year = "2005", + pages = "304 -- 319", + address = "Koblenz, Germany" +} + + +@InProceedings{3DIM2003, + author = "A. N{\"u}chter and H. Surmann and J. Hertzberg", + title = "{A}utomatic {M}odel {R}efinement for {3D} {R}econstruction with {M}obile {R}obots", + booktitle = "Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03)", + month = "October", + year = "2003", + address = "Banff, Canada", + pages = "394 -- 401", +} + +@InProceedings{ECMR2005, + author = "K. Lingemann and A. N{\"u}chter and J. Hertzberg and H. Surmann", + title = "{A}bout the {C}ontrol of {H}igh {S}peed {M}obile {I}ndoor {R}obots", + booktitle = "Proceedings of the Second European Conference on Mobile Robotics (ECMR '05)", + month = "September", + year = "2005", + address = "Ancona, Italy", + pages = "218 -- 223", +} + +@InProceedings{ICAR2003, + author = "A. N{\"u}chter and H. Surmann and J. Hertzberg", + title = "{P}lanning {R}obot {M}otion for {3D} {D}igitalization of {I}ndoor {E}nvironments", + booktitle = "Proceedings of the 11th International Conference on Advanced Robotics (ICAR '03)", + month = "June", + year = "2003", + address = "Coimbra, Portugal", + pages = "222 -- 227", +} + +@InProceedings{Levoy_2003, + author = "N. Gelfand and S. Rusinkiewicz and M. 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Omohundro and S. Thayer and W. +Whittaker}, + TITLE = {A System for Volumetric Robotic Mapping of Abandoned Mines}, + YEAR = {2003}, + BOOKTITLE = {Proceedings of the IEEE International Conference on +Robotics and Automation (ICRA '03)}, + ADDDRESS = {Taipei, Taiwan} +} + +@INPROCEEDINGS{Ferguson03a, + AUTHOR = {D. Ferguson and A. Morris and D. H\"{a}hnel and C. Baker and Z. +Omohundro and C. Reverte and S. Thayer and W. Whittaker and W. Whittaker and +W. Burgard and S. Thrun}, + TITLE = {An Autonomous Robotic System for Mapping Abandoned Mines}, + YEAR = {2003}, + BOOKTITLE = {Proceedings of Conference on Neural Information Processing +Systems (NIPS)}, + EDITOR = {S. Thrun and L. Saul and B. Sch\"{o}lkopf}, + PUBLISHER = {MIT Press} +} + +@InProceedings{Folkesson_2003, + title = "Outdoor {E}xploration and {SLAM} using a {C}ompressed {F}ilter", + author = "J. Folkesson and H. 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Halme}, + title = {{A} {M}ilimeter wave radar for close terrain mapping of an intelligent autonomous vehicle}, + booktitle = {Proceedings of the 2nd IFAC Conference on Intelligent Autonomous Vehicles}, + pages = {349 -- 354}, + year = {1995}, + address = {Helsinki, Finnland}, +} + diff --git a/.svn/pristine/eb/ebc7d9d45541cca03825b46a96dc5a1d7f539bad.svn-base b/.svn/pristine/eb/ebc7d9d45541cca03825b46a96dc5a1d7f539bad.svn-base new file mode 100644 index 0000000..0bb004a --- /dev/null +++ b/.svn/pristine/eb/ebc7d9d45541cca03825b46a96dc5a1d7f539bad.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/eb/ebdf5fd35e3b45c92c781fae558f8adac5cc200d.svn-base b/.svn/pristine/eb/ebdf5fd35e3b45c92c781fae558f8adac5cc200d.svn-base new file mode 100644 index 0000000..03661ae --- /dev/null +++ b/.svn/pristine/eb/ebdf5fd35e3b45c92c781fae558f8adac5cc200d.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in front file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_FRONT_H__ +#define __SCAN_IO_FRONT_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_front : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/ec/ec7c1d885a7748a5e26befa00bf9c224eb1c4077.svn-base b/.svn/pristine/ec/ec7c1d885a7748a5e26befa00bf9c224eb1c4077.svn-base new file mode 100644 index 0000000..5cd9e83 --- /dev/null +++ b/.svn/pristine/ec/ec7c1d885a7748a5e26befa00bf9c224eb1c4077.svn-base @@ -0,0 +1,57 @@ +锘#ifndef __GRID_CELL_H__ +#define __GRID_CELL_H__ + +#ifdef _MSC_VER +#define snprintf _snprintf +#undef _STDIO_DEFINED +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/scan.h" +#include +#include +using std::string; +#include +using std::vector; + +typedef std::vector charv; +typedef std::vector charvv; + +#define CELL_TYPE_INVALID 0x00000001 +#define CELL_TYPE_ABOVE_DELTA_R 0x00000002 +#define CELL_TYPE_BELOW_DELTA_R 0x00000004 +#define CELL_TYPE_ABOVE_DELTA_Y 0x00000008 +#define CELL_TYPE_BELOW_DELTA_Y 0x00000010 +#define CELL_TYPE_ABOVE_R 0x00000020 +#define CELL_TYPE_BELOW_R 0x00000040 +#define CELL_TYPE_ABOVE_LIDAR 0x00000080 +#define CELL_TYPE_IN_OBSTACLE_RANGE 0x00000100 +#define CELL_TYPE_STATIC 0x00000200 +#define CELL_TYPE_MOVING 0x00000400 +#define CELL_TYPE_GROUND 0x00000800 + +typedef std::vector cell; +typedef std::vector cellColumn; +typedef std::vector cellArray; + +class cellFeature +{ +public: + float ave_x,ave_y,ave_z; + float min_x,min_y,min_z; + float max_x,max_y,max_z; + float delta_y; + + int circleNum; + int size; + unsigned int cellType; + cell* pCell; + + int columnID; + int cellID; +}; + +typedef std::vector cellFeatureColumn; +typedef std::vector cellFeatureArray; + +#endif //__GRID_CELL_H__ diff --git a/.svn/pristine/ec/eca1c3806a687cce50bf457f83cd54e0111e09ba.svn-base b/.svn/pristine/ec/eca1c3806a687cce50bf457f83cd54e0111e09ba.svn-base new file mode 100644 index 0000000..f8e982f --- /dev/null +++ b/.svn/pristine/ec/eca1c3806a687cce50bf457f83cd54e0111e09ba.svn-base @@ -0,0 +1,313 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_checkbox - GLUI_Checkbox control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_Checkbox::mouse_down_handler() **********/ + +int GLUI_Checkbox::mouse_down_handler( int local_x, int local_y ) +{ + orig_value = int_val; + + TOGGLE_BOOL( int_val ); + + currently_inside = true; + + if ( int_val ) + draw_checked(); + else + draw_unchecked(); + + return false; +} + + +/****************************** GLUI_Checkbox::mouse_up_handler() **********/ + +int GLUI_Checkbox::mouse_up_handler( int local_x, int local_y, int inside ) +{ + if ( NOT inside ) { + int_val = orig_value; + } + else { + set_int_val( int_val ); + + /*** Invoke the callback ***/ + execute_callback(); + } + + if ( int_val ) + draw_checked(); + else + draw_unchecked(); + + return false; +} + + +/****************************** GLUI_Checkbox::mouse_held_down_handler() ******/ + +int GLUI_Checkbox::mouse_held_down_handler( int local_x, int local_y, + int inside) +{ + /********** Toggle checked and unchecked bitmap if we're entering or + leaving the checkbox area **********/ + + /** oops, this was wrong! + if ( NOT inside AND currently_inside == true ) + draw_unchecked(); + else if ( inside AND currently_inside == false ) + draw_checked();*/ + + if ( inside != currently_inside ) + TOGGLE_BOOL( int_val ); + + currently_inside = inside; + + if ( int_val ) + draw_checked(); + else + draw_unchecked(); + + return false; +} + + +/****************************** GLUI_Checkbox::key_handler() **********/ + +int GLUI_Checkbox::key_handler( unsigned char key,int modifiers ) +{ + return false; +} + + +/****************************** GLUI_Checkbox::draw() **********/ + +void GLUI_Checkbox::draw( int x, int y ) +{ + int orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + if ( int_val != 0 ) { + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_ON, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_ON_DIS, 0, 0 ); + } + else { + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_OFF, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_OFF_DIS, 0, 0 ); + } + + draw_active_area(); + + draw_name( text_x_offset, 10); + + restore_window(orig); +} + + +/************************************** GLUI_Checkbox::draw_checked() ******/ + +void GLUI_Checkbox::draw_checked( void ) +{ + int state, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + state = glui->set_front_draw_buffer(); + + glColor3f( 0.0, 0.0, 0.0 ); + glPushMatrix(); + translate_to_origin(); + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_ON, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_ON_DIS, 0, 0 ); + draw_active_area(); + glPopMatrix(); + + glui->restore_draw_buffer(state); + restore_window(orig); +} + + +/************************************** GLUI_Checkbox::draw_unchecked() ******/ + +void GLUI_Checkbox::draw_unchecked( void ) +{ + int state, orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + state = glui->set_front_draw_buffer(); + + glColor3f( 1.0, 1.0, 1.0 ); + glPushMatrix(); + translate_to_origin(); + if ( enabled ) + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_OFF, 0, 0 ); + else + glui->std_bitmaps.draw( GLUI_STDBITMAP_CHECKBOX_OFF_DIS, 0, 0 ); + draw_active_area(); + glPopMatrix(); + + glui->restore_draw_buffer(state); + restore_window(orig); +} + + +/**************************************** GLUI_Checkbox::draw_X() ************/ + +void GLUI_Checkbox::draw_X( void ) +{ + int orig; + + orig = set_to_glut_window(); + + /* glPointSize( 1.0 ); + glBegin( GL_POINTS ); + for( i=2; i<=GLUI_CHECKBOX_SIZE-2; i++ ) { + glVertex2i( i,i ); + glVertex2i( i,GLUI_CHECKBOX_SIZE-i ); + } + glEnd(); + */ + + /* glColor3f( 0.0, 0.0, 0.0 ); */ + + /* + glBegin( GL_LINES ); + glVertex2i( 0, 0 ); + glVertex2i( GLUI_CHECKBOX_SIZE-0, GLUI_CHECKBOX_SIZE-0 ); + glVertex2i( GLUI_CHECKBOX_SIZE-0, 0 ); + glVertex2i( 0, GLUI_CHECKBOX_SIZE-0 ); + glEnd();*/ + + restore_window(orig); +} + + +/********************************** GLUI_Checkbox::draw_empty_box() **********/ + +void GLUI_Checkbox::draw_empty_box( void ) +{ + int orig; + + if ( NOT can_draw()) + return; + + orig = set_to_glut_window(); + + glColor3f( 1.0, 1.0, 1.0 ); + glBegin( GL_QUADS ); + glVertex2i( 0, 0 ); + glVertex2i( GLUI_CHECKBOX_SIZE, 0 ); + glVertex2i( GLUI_CHECKBOX_SIZE, GLUI_CHECKBOX_SIZE ); + glVertex2i( 0, GLUI_CHECKBOX_SIZE ); + glEnd(); + + glColor3f( 0.0, 0.0, 0.0 ); + glBegin( GL_LINE_LOOP ); + glVertex2i( 0, 0 ); + glVertex2i( GLUI_CHECKBOX_SIZE, 0 ); + glVertex2i( GLUI_CHECKBOX_SIZE, GLUI_CHECKBOX_SIZE ); + glVertex2i( 0, GLUI_CHECKBOX_SIZE ); + glEnd(); + + restore_window(orig); +} + + +/************************************ GLUI_Checkbox::update_size() **********/ + +void GLUI_Checkbox::update_size( void ) +{ + int text_size; + + if ( NOT glui ) + return; + + text_size = _glutBitmapWidthString( glui->font, name ); + + /* if ( w < text_x_offset + text_size + 6 ) */ + w = text_x_offset + text_size + 6 ; +} + + +/**************************** GLUI_Checkbox::draw_active_area() **************/ + +void GLUI_Checkbox::draw_active_area( void ) +{ + int text_width, left, right, orig; + + if ( NOT can_draw()) + return; + + orig = set_to_glut_window(); + + text_width = _glutBitmapWidthString( glui->font, name ); + left = text_x_offset-3; + right = left + 7 + text_width; + + if ( active ) { + glEnable( GL_LINE_STIPPLE ); + glLineStipple( 1, 0x5555 ); + glColor3f( 0., 0., 0. ); + } else { + glColor3ub( glui->bkgd_color.r, glui->bkgd_color.g, glui->bkgd_color.b ); + } + + glBegin( GL_LINE_LOOP ); + glVertex2i(left,0); glVertex2i( right,0); + glVertex2i(right,h+1); glVertex2i( left,h+1); + glEnd(); + + glDisable( GL_LINE_STIPPLE ); + + restore_window(orig); +} + + +/********************************* GLUI_Checkbox::set_int_val() **************/ + +void GLUI_Checkbox::set_int_val( int new_val ) +{ + int_val = new_val; + + /*** Update the variable we're (possibly) pointing to ***/ + output_live(true); + + if ( can_draw() ) { + if ( int_val ) + draw_checked(); + else + draw_unchecked(); + } +} diff --git a/.svn/pristine/ec/ecd9e5156ad4e3a6aa0696c719650be713f37169.svn-base b/.svn/pristine/ec/ecd9e5156ad4e3a6aa0696c719650be713f37169.svn-base new file mode 100644 index 0000000..2c6f26a --- /dev/null +++ b/.svn/pristine/ec/ecd9e5156ad4e3a6aa0696c719650be713f37169.svn-base @@ -0,0 +1,194 @@ +#----------------------------------------------------------------------- +# Makefile variations depending on different configurations +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1 05/03/05 +# +# (This Make-config structure is based on the one used by Mesa by Brian +# Paul. If you succeed in porting ANN to your favorite system, please +# send email to mount@cs.umd.edu, and I'll try to include it in this +# list.) +# +#---------------------------------------------------------------------- +# The following configuration-dependent variables are passed to each +# the Makefile in subdirectories: +# +# ANNLIB The name of the ANN library file (usually libANN.a) +# C++ The C compiler (usually CC or g++) +# MAKELIB The command and flags to make a library file (usually +# "ar ...") +# CFLAGS Flags to C++ compiler +# RANLIB For "ranlib" = use ranlib, "true" = don't use ranlib +#---------------------------------------------------------------------- +# Revision 0.1 09/06/97 +# Initial release +# Revision 0.2 06/24/98 +# Minor changes to fix compilation errors on SGI systems. +# Revision 1.0 04/01/05 +# Modifications for alpha with cxx +# Removed CFLAGS2 options (just write your own) +# Removed -DUSING... (Compilers are pretty consistent these days) +# Added linux-g++ target +# Revision 1.1 05/03/05 +# Added macosx-g++ target +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Compilation options (add these, as desired, to the CFLAGS variable +# in the desired compilation target below). For example, +# +# "CFLAGS = -O3 -Wall -DANN_PERF" +# +# -g Debugging. +# -O? Run-time optimization. +# -Wall Be verbose about warnings. +# +# -DANN_PERF Enable performance evaluation. (This may slow execution +# slightly.) +# +# -DANN_NO_LIMITS_H +# Use this if limits.h or float.h does not exist on your +# system. (Also see include/ANN/ANN.h for other changes +# needed.) +# +# -DANN_NO_RANDOM +# Use this option if srandom()/random() are not available +# on your system. Pseudo-random number generation is used +# in the utility program test/ann_test. The combination +# srandom()/random() is considered the best pseudo-random +# number generator, but is not available on all systems. +# If they are not available on your system (for example, +# Visual C++) then srand()/rand() will be used instead by +# setting this parameter. +# +# -DWIN32 +# This is used only for compilation under windows systems +# (but instead of using this, use the various .vcproj +# files in the MS_WIN32 directory). +#----------------------------------------------------------------------------- + +# Linux using g++ +linux-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ +# "C++ = g++" \ +# "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# Mac OS X using g++ +macosx-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ +# "C++ = g++" \ +# "CFLAGS = -O3" \ + "MAKELIB = libtool -static -o " \ + "RANLIB = true" + +# SunOS5 +sunos5: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -O" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# SunOS5 with shared libraries +sunos5-sl: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -Kpic -O" \ + "MAKELIB = ld -G -o" \ + "RANLIB = true" + +# SunOS5 with g++ +sunos5-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# SunOS5 with g++ and shared libraries +sunos5-g++-sl: + $(MAKE) targets \ + "ANNLIB = libANN.so" \ + "C++ = g++" \ + "CFLAGS = -fpic -O3" \ + "MAKELIB = ld -G -o" \ + "RANLIB = true" + +#----------------------------------------------------------------------- +# Used for the author's testing and debugging only +#----------------------------------------------------------------------- + +# debugging version for authors +authors-debug: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -g -DANN_PERF -Wall" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# performance testing version for authors +authors-perf: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3 -DANN_PERF -Wall" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +#----------------------------------------------------------------------- +# Some older ones that I have not tested with the latest version. +#----------------------------------------------------------------------- + +sgi: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC -ansi" \ + "CFLAGS = -O2" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# DEC Alpha with g++ +alpha-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 +sunos4: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -O" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 with g++ +sunos4-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 with g++ and shared libraries +sunos4-g++-sl: + $(MAKE) targets \ + "ANNLIB = libANN.so" \ + "C++ = g++" \ + "CC = g++" \ + "CFLAGS = -fPIC -O3" \ + "MAKELIB = ld -assert pure-text -o" \ + "RANLIB = true" + diff --git a/.svn/pristine/ec/ece14dbe3ab233988bf974f49bfcac4d5dc7d6b4.svn-base b/.svn/pristine/ec/ece14dbe3ab233988bf974f49bfcac4d5dc7d6b4.svn-base new file mode 100644 index 0000000..809985a --- /dev/null +++ b/.svn/pristine/ec/ece14dbe3ab233988bf974f49bfcac4d5dc7d6b4.svn-base @@ -0,0 +1,87 @@ +/** + * @file point3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef POINT3D_H_ +#define POINT3D_H_ + +//============================================================================== +// Defines +//============================================================================== + +//============================================================================== +// Includes +//============================================================================== +#include "model/rotation3d.h" + +#include + +namespace model { + +// Forward declaration. Avoid circular inclusion. +class Plane3d; +class Vector3d; + +/** + * A point in space. + */ +class Point3d { +private: + static constexpr double _EPSILON = 1.0e-3; + +public: + double x; + double y; + double z; + + Point3d(); + + Point3d(const double& x, const double& y, const double& z); + + Point3d(const Point3d& other); + + /** + * rotate this point around another point + * @param ref the other point + * @param rot the rotation around the other point + */ + void rotate(const Point3d& ref, const Rotation3d& rot); + + /** + * translate this point by a vector + * @param vec the vector that defines the translation + */ + void translate(const Vector3d& vec); + + /** + * @return the distance from this point to another point + */ + double distance(const Point3d& other) const; + + /** + * @return the distance to a plane + */ + double distance(const Plane3d& plane) const; + + Point3d& operator=(const Point3d& other); + Point3d operator-(const Point3d& other); + Point3d operator*(const double& coef); + Point3d operator/(const double& div); + void operator/=(const double& div); + void operator+=(const Point3d& other); + void operator-=(const Point3d& other); + void operator*=(const double& coef); + bool operator==(const Point3d& other) const; + bool operator!=(const Point3d& other); + + friend std::ostream& operator<<(std::ostream& os, const Point3d& pt); +}; + + +} /* namespace model */ + +#endif /* POINT3D_H_ */ diff --git a/.svn/pristine/ee/ee0046fde10c98cd5f30745c596163400a305db2.svn-base b/.svn/pristine/ee/ee0046fde10c98cd5f30745c596163400a305db2.svn-base new file mode 100644 index 0000000..41fe06b --- /dev/null +++ b/.svn/pristine/ee/ee0046fde10c98cd5f30745c596163400a305db2.svn-base @@ -0,0 +1,2 @@ +#define version_string "0.48" +#define release_string "20090802" diff --git a/.svn/pristine/ee/ee6eafdfd5917ad87865840df6ad6857abdbe6b0.svn-base b/.svn/pristine/ee/ee6eafdfd5917ad87865840df6ad6857abdbe6b0.svn-base new file mode 100644 index 0000000..88c130f --- /dev/null +++ b/.svn/pristine/ee/ee6eafdfd5917ad87865840df6ad6857abdbe6b0.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PCI_H__ +#define __SCAN_IO_PCI_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_pci : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/ee/ee85be6858b65eca300cfc689aa51f491386802b.svn-base b/.svn/pristine/ee/ee85be6858b65eca300cfc689aa51f491386802b.svn-base new file mode 100644 index 0000000..beca833 --- /dev/null +++ b/.svn/pristine/ee/ee85be6858b65eca300cfc689aa51f491386802b.svn-base @@ -0,0 +1,5000 @@ 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+public: + TestClass(); + ReturnMatrix Sum(); +}; + +TestClass::TestClass() : A(2,3) +{ + B.ReSize(2,3); + A << 1 << 4 + << 4 << 1 + << 2 << 9; + B << 8 << 5 + << 5 << 8 + << 7 << 0; +} + +ReturnMatrix TestClass::Sum() { return Matrix(A + B).ForReturn(); } + + + +void trymatb() +{ +// cout << "\nEleventh test of Matrix package\n"; + Tracer et("Eleventh test of Matrix package"); + Tracer::PrintTrace(); + int i; int j; + RowVector RV; RV.ReSize(10); + { + Tracer et1("Stage 1"); + for (i=1;i<=10;i++) RV(i)=i*i-3; + Matrix X(1,1); X(1,1) = .25; + Print(RowVector(X.i() * RV - RV / .25)); +// Print(RowVector(X.i() * Matrix(RV) - RV / .25)); // != zortech, AT&T + Print(RowVector(X.i() * RV - RV / .25)); + } + LowerTriangularMatrix L(5); UpperTriangularMatrix U(5); + for (i=1; i<=5; i++) for (j=1; j<=i; j++) + { L(i,j) = i*i + j -2.0; U(j,i) = i*i*j+3; } + DiagonalMatrix D(5); + for (i=1; i<=5; i++) D(i,i) = i*i + i + 2; + Matrix M1 = -L; Matrix M2 = L-U; Matrix M3 = U*3; Matrix M4 = U-L; + Matrix M5 = M1 - D; M1 = D * (-3) - M3; + { + Tracer et1("Stage 2"); + Print(Matrix((M2-M4*2)+M5*3-M1)); + M1 = L.t(); Print(Matrix(M1.t()-L)); + M1 = U.t(); Print(Matrix(M1.t()-U)); + } + { + Tracer et1("Stage 3"); + SymmetricMatrix S(5); + for (i=1; i<=5; i++) for (j=1; j<=i; j++) S(i,j) = i*j+i-j+5; + M2 = S.i() * M4; M1 = S; M3=M1*M2-M4; Clean(M3,0.00000001); Print(M3); + SymmetricMatrix T(5); + for (i=1; i<=5; i++) for (j=1; j<=i; j++) T(i,j) = i*i*j*j+i-j+5-i*j; + M1 = S.i() * T; M1 = S * M1; M1 = M1-T; Clean(M1,0.00000001); Print(M1); + ColumnVector CV(5); for (i=1; i<=5; i++) CV(i) = i*i*i+10; + M1 = CV * RV; + } + { + Tracer et1("Stage 4"); + M4.ReSize(5,10); + for (i=1; i<=5; i++) for (j=1; j<=10; j++) M4(i,j) = (i*i*i+10)*(j*j-3); + Print(Matrix(M1-M4)); + M1 = L.t(); M2 = U.t(); M3 = L+U; Print(Matrix(M1-M3.t()+M2)); + } +// UpperTriangularMatrix U2((const UpperTriangularMatrix&)U); // != zortech + UpperTriangularMatrix U2((UpperTriangularMatrix&)U); + { + Tracer et1("Stage 5"); + Print(Matrix(U2-U)); + M2.ReSize(10,10); + for (i=1; i<=10; i++) for (j=1; j<=10; j++) M2(i,j) = (i*i*i+10)*(j*j-3); + D << M2; L << M2; U << M2; // check copy into + Print( Matrix( (D+M2)-(L+U) ) ); + } + { + Tracer et1("Stage 6"); + M1.ReSize(6,10); + for (i=1; i<=6; i++) for (j=1; j<=10; j++) M1(i,j) = 100*i + j; + M2 = M1.SubMatrix(3,5,4,7); M3.ReSize(3,4); + for (i=3; i<=5; i++) for (j=4; j<=7; j++) M3(i-2,j-3) = 100*i + j; + Print(Matrix(M2-M3)); + } + int a1,a2,a3,a4; + { + Tracer et1("Stage 7"); + int a1,a2,a3,a4; + a1=4; a2=9; a3=4; a4=7; + U.ReSize(10); + for (i=1; i<=10; i++) for (j=i; j<=10; j++) U(i,j) = 100*i + j; + M2 = U.SubMatrix(a1,a2,a3,a4); + M3.ReSize(a2-a1+1,a4-a3+1); M3=0.0; + for (i=a1; i<=a2; i++) for (j=(i>a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + { + Tracer et1("Stage 8"); + a1=3; a2=9; a3=2; a4=7; + U.ReSize(10); + for (i=1; i<=10; i++) for (j=i; j<=10; j++) U(i,j) = 100*i + j; + M2 = U.SubMatrix(a1,a2,a3,a4); + M3.ReSize(a2-a1+1,a4-a3+1); M3=0.0; + for (i=a1; i<=a2; i++) for (j=(i>a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + { + Tracer et1("Stage 9"); + a1=4; a2=6; a3=2; a4=5; + U.ReSize(10); + for (i=1; i<=10; i++) for (j=i; j<=10; j++) U(i,j) = 100*i + j; + M2 = U.SubMatrix(a1,a2,a3,a4); + M3.ReSize(a2-a1+1,a4-a3+1); M3=0.0; + for (i=a1; i<=a2; i++) for (j=(i>a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + + { + Tracer et1("Stage 10"); + TestClass TC; + Matrix M = TC.Sum() - 9; + Print(M); + } + + +// cout << "\nEnd of eleventh test\n"; +} diff --git a/.svn/pristine/ee/eec5c24dec45440fb6660c4a921ce78cec84482e.svn-base b/.svn/pristine/ee/eec5c24dec45440fb6660c4a921ce78cec84482e.svn-base new file mode 100644 index 0000000..9f33f85 --- /dev/null +++ b/.svn/pristine/ee/eec5c24dec45440fb6660c4a921ce78cec84482e.svn-base @@ -0,0 +1,463 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "veloslam/velodefs.h" +#include "slam6d/scan_io_velodyne.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + +#ifdef _MSC_VER +#include +#endif + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 360 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + +long CountOfLidar = 0; + +// 我们借到的雷达的标定数据 +double velodyne_calibrated[VELODYNE_NUM_LASERS][5] = +{ + { -7.1581192, -4.5, 102, 21.560343, -2.5999999}, + { -6.8178215, -3.4000001, 125, 21.516994, 2.5999999}, + { 0.31782165, 3, 130, 20.617426, -2.5999999}, + { 0.65811908, 4.5999999, 128, 20.574717, 2.5999999}, + { -6.4776502, -0.5, 112, 21.473722, -2.5999999}, + { -6.1375928, 1, 125, 21.430525, 2.5999999}, + { -8.520812, -1.5, 106, 21.734608, -2.5999999}, + { -8.1798887, 0.40000001, 127, 21.690901, 2.5999999}, + { -5.797637, 4, 111, 21.387396, -2.5999999}, + { -5.4577708, 5.5, 126, 21.34433, 2.5999999}, + { -7.8391404, 3.0999999, 113, 21.647291, -2.5999999}, + { -7.4985547, 4.5, 123, 21.603773, 2.5999999}, + { -3.0802133, -4.5, 105, 21.044245, -2.5999999}, + { -2.7406337, -3.2, 133, 21.001518, 2.5999999}, + { -5.1179824, -5.5, 110, 21.301321, -2.5999999}, + { -4.7782598, -4, 129, 21.258366, 2.5999999}, + { -2.4010365, -0.2, 111, 20.958813, -2.5999999}, + { -2.0614092, 1, 130, 20.916126, 2.5999999}, + { -4.4385905, -1.2, 115, 21.215462, -2.5999999}, + { -4.0989642, 0, 133, 21.172602, 2.5999999}, + { -1.7217404, 3.8, 113, 20.873451, -2.5999999}, + { -1.3820176, 5, 130, 20.830786, 2.5999999}, + { -3.7593663, 3, 117, 21.129782, -2.5999999}, + { -3.4197867, 4.5, 129, 21.086998, 2.5999999}, + { 0.998555, -4.5, 107, 20.531982, -2.5999999}, + { 1.339141, -3.2, 131, 20.489222, 2.5999999}, + { -1.0422293, -5.4000001, 128, 20.788124, -2.5999999}, + { -0.70236301, -4, 134, 20.745461, 2.5999999}, + { 1.679889, -0.5, 124, 20.446428, -2.5999999}, + { 2.0208123, 1, 136, 20.403601, 2.5999999}, + { -0.36240739, -1.5, 131, 20.702793, -2.5999999}, + { -0.022349782, 0.2, 136, 20.660116, 2.5999999}, + { -22.737886, -7.8000002, 101, 16.019152, -2.5999999}, + { -22.226072, -5, 88, 15.954137, 2.5999999}, + { -11.513928, 4.5, 121, 14.680806, -2.5999999}, + { -11.002114, 7.4000001, 88, 14.623099, 2.5999999}, + { -21.714685, -1, 94, 15.889649, -2.5999999}, + { -21.203688, 2, 88, 15.82566, 2.5999999}, + { -24.790272, -2.5, 114, 16.284933, -2.5999999}, + { -24.276321, 0.5, 89, 16.217583, 2.5999999}, + { -20.693031, 6, 98, 15.762167, -2.5999999}, + { -20.182682, 9, 92, 15.699132, 2.5999999}, + { -23.762968, 4.5, 107, 16.15085, -2.5999999}, + { -23.250172, 7.5, 80, 16.084715, 2.5999999}, + { -16.615318, -7.5, 121, 15.26925, -2.5999999}, + { -16.105938, -5, 92, 15.209245, 2.5999999}, + { -19.672594, -9, 119, 15.63654, -2.5999999}, + { -19.162729, -6, 89, 15.574372, 2.5999999}, + { -15.596496, -1, 109, 15.14954, -2.5999999}, + { -15.086954, 2, 88, 15.090119, 2.5999999}, + { -18.653046, -2, 117, 15.51261, -2.5999999}, + { -18.143503, 0.69999999, 88, 15.451235, 2.5999999}, + { -14.577271, 5.5, 112, 15.030966, -2.5999999}, + { -14.067405, 8.3999996, 87, 14.972065, 2.5999999}, + { -17.634062, 5, 119, 15.390228, -6.1999998}, + { -17.124681, 7.5, 97, 15.329572, 2.5999999}, + { -10.489829, -7.5, 119, 14.565539, -2.5999999}, + { -9.9770317, -4.6999998, 95, 14.508112, 2.5999999}, + { -13.557318, -8.5, 126, 14.913401, -2.5999999}, + { -13.046968, -6, 92, 14.854958, 2.5999999}, + { -9.4636793, -1, 112, 14.450804, -2.5999999}, + { -8.949728, 1.5, 93, 14.3936, 2.5999999}, + { -12.536313, -2, 121, 14.796721, -2.5999999}, + { -12.025314, 0.40000001, 96, 14.738676, 2.5999999}, +}; + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + vertCorrection[i] = velodyne_calibrated[i][0] * RADIANS_PER_LSB; + rotCorrection[i] = velodyne_calibrated[i][1] * RADIANS_PER_LSB; + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + } + + return 0; +} + +int read_one_packet ( FILE *fp, vector &ptss, int maxDist, int minDist ) +{ + int maxDist2 = sqr(maxDist); + int minDist2 = sqr(minDist); + + int c, i, j; + unsigned char Head; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pshort; + unsigned short *pt; + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + unsigned short logicalNO; + + float rotational; + float distance; + float corredistance; + int intensity; + int physical; + int size; + + unsigned short rot; + double x, y, z; + + int circle_col = 0; + int circle_row = 0; + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { +#ifdef _MSC_VER + fseek(fp , BLOCK_OFFSET, SEEK_CUR); +#else + fseeko(fp , BLOCK_OFFSET, SEEK_CUR); +#endif + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size 2.2 ) + { + BYTE *inty = ( BYTE * ) ( p + 4 + j * 3 + 2 ); + intensity = *inty; + + ctheta = 2 * M_PI - rotational * RADIANS_PER_LSB; + if ( ctheta == 2*M_PI ) + ctheta = 0; + + sin_ctheta = sin ( ctheta ); + cos_ctheta = cos ( ctheta ); + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + // corredistance = ( distance + distCorrection[physicalNO] ) * ( 1.0 + vertoffsetCorrection[physicalNO] ); + corredistance = ( distance + distCorrection[physicalNO] ) ; + theta = mod2pi_ref ( M_PI, ctheta + rotCorrection[physicalNO] ); /////////????//////// + phi = vertCorrection[physicalNO]; ////////?????///////////////// + + sin_theta = sin ( theta ); + cos_theta = cos ( theta ); + sin_phi = sin ( phi ); + cos_phi = cos ( phi ); + + /////////////////////?a??×?±ê///////////////////// + x = corredistance * cos_theta * cos_phi; + y = corredistance * sin_theta * cos_phi; + z = corredistance * sin_phi +vertoffsetCorrection[physicalNO]*cos_phi; + + x -= horizdffsetCorrection[physicalNO] * cos_ctheta; + y -= horizdffsetCorrection[physicalNO] * sin_ctheta; + + point.rad = sqrt( x*x + y*y ); + point.tan_theta = y/x; + + // point.type|=POINT_TYPE_INVALID; + + point.type = POINT_TYPE_GROUND; + point.x=x*100; + point.y=z*100; + point.z=-y*100; + { + ptss.push_back(point); + } + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + return 0; +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_velodyne::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + FILE *scan_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + "scan" + ".bin"; +#ifdef _MSC_VER + scan_in = fopen(scanFileName.c_str(),"rb"); +#else + scan_in = fopen64(scanFileName.c_str(),"rb"); +#endif + + if(scan_in == NULL) + { + cerr< +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "ScanPos" +#define DATA_PATH_SUFFIX " - Scan001.txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_ks::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (001-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.txt) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + + + +void ScanIO_ks::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // CAD map -> pose correction [ks x/y/z -> slam -z/y/x] + double tmp; + tmp = pose[0]; + pose[0] = - pose[2]; + pose[2] = tmp; + + // convert coordinate to cm + for(i = 0; i < 3; ++i) pose[i] *= 100.0; + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_ks::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_ks::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's x/z/y, shuffle time! + tmp = point[1]; + point[1] = point[2]; + point[2] = tmp; + + // TODO: offset is application specific, handle with care + // correct constant offset (in slam coordinates) + point[0] -= 70000.0; // x + point[2] -= 20000.0; // z + + // convert coordinate to cm + for(i = 0; i < 3; ++i) point[i] *= 100.0; + + // apply filter and insert point + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/ef/ef8ab857424b61c353b889a2f38e9ac48cb190b7.svn-base b/.svn/pristine/ef/ef8ab857424b61c353b889a2f38e9ac48cb190b7.svn-base new file mode 100644 index 0000000..ef51e06 --- /dev/null +++ b/.svn/pristine/ef/ef8ab857424b61c353b889a2f38e9ac48cb190b7.svn-base @@ -0,0 +1,97 @@ +/** + * @file cvpmd.h + * @brief pmdaccess wrappers, PMD -> OpenCV marshalling and a bit of math. + * @author Stanislav `Cfr` Serebryakov + */ +#pragma once + +#include "pmdsdk2.h" +#include + +/** + * @brief Structure for PMD IO, see initPMD. + */ +typedef struct PMD { + PMDHandle hnd; /**< handle for pmd IO */ + float *data; /**< image quering buffer */ + PMDDataDescription dd; /**< contains image size, integration time, etc */ +} PMD; + +/** + * PMD Constructor + * @param *plugin IO plugin name i.e. o3d.L32.pcp + * @param *ip PMD camera IP address + * @return initialized PMD struct + */ +PMD *initPMD(const char* plugin, const char *ip); + +/** + * Destructor + */ +void releasePMD(PMD **pmd); + + +/** + * Returns pointer to the data (used to save float data for offline mode) + */ +float *pmdDataPtr(PMD *p); + + +/** + * Converts PMD data (stored in PMD struct) to provided IplImage (new will be created if NULL passed) + * @param *p initialized PMD struct with grabbed data (i.e. pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float))) + * @param *img destination IplImage (default: 0, new one will be created) + * @return generated IplImage + */ +IplImage *toIplImage(const PMD *p, IplImage *img); + +/** + * Converts PMD distance point to cartesian coords with intrinsic matrix + * @param uv PMD depth point coords (row, col) //FIXME: order! + * @param dist PMD distance for given point + * @param intrinsicMatrix PMD camera' intrinsic matrix (from calibration) + * @return 3D Point in OpenCV format (CvPoint3D32f) + */ + +CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix + , const CvPoint2D32f *pts, const int ptsCnt + , CvPoint3D32f *unitVs); + + +CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts); + +/** + * Get pmd camera' image size + * @param *p initialized PMD struct + * @return image size in OpenCV format (CvSize) + */ +CvSize pmdGetSize(const PMD *p); + +/** + * Query PMD inrensities image. Dont forget to call pmdUpdate before quering! + * @param *p initialized PMD struct + * @param *img destination IplImage (defaul: 0, new one will be created if null passed) + * @return image in OpenCV format (IplImage) + */ +IplImage *pmdQueryImage(PMD *p, IplImage *img); +IplImage *pmdQueryImageAsync(PMD *p, IplImage *img); + +/** + * Store PMD distances (inside p->data) + */ +void pmdRetriveDistances(PMD *p); +void pmdRetriveDistancesAsync(PMD *p); + + +/** + * Query PMD distance image in OpenCV format + */ +IplImage *pmdQueryDistances(PMD *p, IplImage *img); +IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img); + +/** + * Query PMD aplitudes image in OpenCV format (might be used as belief measure) + */ +IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img); +IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img); + diff --git a/.svn/pristine/ef/ef9562916bed57f5d39128eb5f14ab1ef47ae3b3.svn-base b/.svn/pristine/ef/ef9562916bed57f5d39128eb5f14ab1ef47ae3b3.svn-base new file mode 100644 index 0000000..44f0247 --- /dev/null +++ b/.svn/pristine/ef/ef9562916bed57f5d39128eb5f14ab1ef47ae3b3.svn-base @@ -0,0 +1,87 @@ +/** + * @file + * @brief Representation of a 3D scan and implementation of scan matching + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifndef __VELOSCAN_H__ +#define __VELOSCAN_H__ + +#ifdef _MSC_VER +#define snprintf _snprintf +#undef _STDIO_DEFINED +#define _USE_MATH_DEFINES +#endif + +#include +#include + +#include "slam6d/scan.h" +#include "veloslam/gridcell.h" +#include "veloslam/gridcluster.h" + +bool FilterNOMovingObjcets(clusterFeature &glu, cluster &gluData); + +class Trajectory +{ + public: + Trajectory(); + public: + vector path; +}; + + +/** + * @brief 3D scan representation and implementation of dynamic velodyne scan matching + */ +class VeloScan : public Scan { + +public: + VeloScan(); + VeloScan(const VeloScan& s); + ~VeloScan(); + +public: + // FIXME + void FindingAllofObject(int maxDist, int minDist); + void TrackingAllofObject(int trackingAlgo); + void ExchangePointCloud(); + void ClassifiAllofObject(); + + int DumpScan(string filename); + int DumpScanRedPoints(string filename); + int DeletePoints(); + + int CalcRadAndTheta(); + int TransferToCellArray(int maxDist, int minDist); + + void MarkStaticorMovingPointCloud(); + void FreeAllCellAndCluterMemory(); + void ClassifiAllObject(); + void ClassifibyTrackingAllObject(int currentNO ,int windowsize); + void calcReducedPoints_byClassifi(double voxelSize, int nrpts, PointType pointtype); + + int CalcScanCellFeature(); + int CalcCellFeature(cell& cellobj,cellFeature& f); + int FindAndCalcScanClusterFeature(); + int SearchNeigh(cluster& clu,charvv& flagvv,int i,int j); + int CalcClusterFeature(cluster& clu,clusterFeature& f); + void SaveObjectsInPCD(int index, cluster &gClusterData ); + void SaveFrameInPCD( ); + + bool isTrackerHandled; + long scanid; + + /** scanCellFeatureArray */ + cellArray scanCellArray; + cellFeatureArray scanCellFeatureArray; + + clusterArray scanClusterArray; + clusterFeatureArray scanClusterFeatureArray; + + int clusterNum;//the number of clusters to be tracked, added by yuanjun +}; + +#endif diff --git a/.svn/pristine/ef/efe5a5aaed0bfcdf75a1b832814a295c6f58a14c.svn-base b/.svn/pristine/ef/efe5a5aaed0bfcdf75a1b832814a295c6f58a14c.svn-base new file mode 100644 index 0000000..3377f76 --- /dev/null +++ b/.svn/pristine/ef/efe5a5aaed0bfcdf75a1b832814a295c6f58a14c.svn-base @@ -0,0 +1,199 @@ +//$$ hholder.cpp QR decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmatap.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,16); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/*************************** QR decompositions ***************************/ + +inline Real square(Real x) { return x*x; } + +void QRZT(Matrix& X, LowerTriangularMatrix& L) +{ + REPORT + Tracer et("QZT(1)"); + int n = X.Ncols(); int s = X.Nrows(); L.ReSize(s); + Real* xi = X.Store(); int k; + for (int i=0; i +#include +#include "slam6d/scan.h" +#include "veloslam/tracker.h" + +//#define NO_SLIDING_WINDOW + +using namespace std; +extern float constant_static_or_moving; +struct ClusterStatus +{ + bool FilterRet; + bool Matched; +}; + +int GetScanID_in_SlidingWindow(int absNO, int current_pos, int window_size); + + +class TrackerManager +{ +public: + TrackerManager(void); + + ~TrackerManager(void); + + int Init(void); + + int getNumberofTracker(void); + + int HandleScan(VeloScan& scanRef,int trackingAlgo); + + int ClassifiyTrackersObjects(vector allScans, int currentNO ,int windowsize); + + static bool TrackerFilter(clusterFeature &glu, cluster &gluData); + + void TrackerManagerReset(); //added by yuanjun + + void GetTwoScanRoll(Scan *CurrentScan, Scan *preScan);//added by yuanjun + ///////////////////////////////////////////////////////////////// + int DrawEgoTrajectory(); + + int DrawTrackersMovtion_Long_Number_All(vector allScans, int n); + + int DrawTrackersContrailAfterFilted(vector allScans); + ////////////////////////////////////////////////////////////////// +public: + int ListTrackers(); + + int UpdateTrackers(VeloScan& scanRef); + + int UpdateClustersPoistioninTrackers(); + + int AddTrackers(VeloScan& scanRef); + + int MatchTrackers(VeloScan& scanRef,Tracker& tracker,float kg); + + int CalculateTrackersFeature(vector allScans, int currentNO ,int windowsize); + + int MarkClassifiyTrackersResult(vector allScans, int currentNO ,int windowsize); + + int RemoveNoUsedTracker(VeloScan& scanRef); + + int FilterObject(VeloScan& scanRef); + + CMatrix ConstructCostMatrix(VeloScan &scanRef,int *clusterIndex); + + int MatchTracksWithClusters(VeloScan &scanRef); + + list tracks; + //log the new trackerNo should begin + int trackerStartID; + //only for draw the color + int colorIdx; + //log the cluster status such as bool FilterRet; bool Matched; + vector clusterStatus; //should move in cluster struct + + double delta_Theta[3], delta_Pos[3], rollAngle;//added by yuanjun + + //VeloScan *preScan; //added by yuanjun +}; + diff --git a/.svn/pristine/f0/f042f154f021767778eab6bb2b3d3e4b852f9296.svn-base b/.svn/pristine/f0/f042f154f021767778eab6bb2b3d3e4b852f9296.svn-base new file mode 100644 index 0000000..7ad5c62 --- /dev/null +++ b/.svn/pristine/f0/f042f154f021767778eab6bb2b3d3e4b852f9296.svn-base @@ -0,0 +1,447 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_listbox - GLUI_ListBox control class + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_Listbox::mouse_down_handler() **********/ + +int GLUI_Listbox::mouse_down_handler( int local_x, int local_y ) +{ + return false; +} + + +/****************************** GLUI_Listbox::mouse_up_handler() **********/ + +int GLUI_Listbox::mouse_up_handler( int local_x, int local_y, int inside ) +{ + + return false; +} + + +/****************************** GLUI_Listbox::mouse_held_down_handler() ******/ + +int GLUI_Listbox::mouse_held_down_handler( int local_x, int local_y, + int inside) +{ + + return false; +} + + +/****************************** GLUI_Listbox::key_handler() **********/ + +int GLUI_Listbox::key_handler( unsigned char key,int modifiers ) +{ + return false; +} + + +/****************************** GLUI_Listbox::draw() **********/ + +void GLUI_Listbox::draw( int x, int y ) +{ + int orig, name_x; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + /* draw_active_area(); */ + + name_x = MAX(text_x_offset - string_width(this->name) - 3,0); + draw_name( name_x , 13); + draw_box_inwards_outline( text_x_offset, w, + 0, h ); + + + if ( NOT active ) { + draw_box( text_x_offset+3, w-2, 2, h-2, 1.0, 1.0, 1.0 ); + if ( NOT enabled ) + glColor3b( 32, 32, 32 ); + else + glColor3f( 0.0, 0.0, 0.0 ); + glRasterPos2i( text_x_offset+5, 13 ); + draw_string( curr_text.string ); + } + else { + draw_box( text_x_offset+3, w-2, 2, h-2, .0, .0, .6 ); + glColor3f( 1.0, 1.0, 1.0 ); + glRasterPos2i( text_x_offset+5, 13 ); + draw_string( curr_text.string ); + } + + + if ( enabled ) { + glui->std_bitmaps. + draw(GLUI_STDBITMAP_LISTBOX_UP, + w-glui->std_bitmaps.bitmaps[GLUI_STDBITMAP_LISTBOX_UP].w-1, + 2 ); + } + else { + glui->std_bitmaps. + draw(GLUI_STDBITMAP_LISTBOX_UP_DIS, + w-glui->std_bitmaps.bitmaps[GLUI_STDBITMAP_LISTBOX_UP].w-1, + 2 ); + } + + restore_window(orig); +} + + +/************************************ GLUI_Listbox::update_si() **********/ + +void GLUI_Listbox::update_size( void ) +{ + int text_size, delta; + int item_text_size; + + if ( NOT glui ) + return; + + text_size = string_width( name ); + + /*** Find the longest item string ***/ + item_text_size = 0; + delta = 0; + + if ( text_x_offset < text_size +2 ) + delta = text_size+2-text_x_offset; + + text_x_offset += delta; + if ( w < text_x_offset+MAX(GLUI_EDITTEXT_MIN_TEXT_WIDTH,item_text_size)+20) + w = text_x_offset + MAX( GLUI_EDITTEXT_MIN_TEXT_WIDTH,item_text_size)+20; +} + + + +/********************************* GLUI_Listbox::set_int_val() **************/ + +void GLUI_Listbox::set_int_val( int new_val ) +{ + /* int_val = new_val; */ + + do_selection( new_val ); + + /*** Update the variable we're (possibly) pointing to, and update the main gfx ***/ + output_live(true); +} + + +/**************************** GLUI_Listbox::draw_active_area() **************/ + +void GLUI_Listbox::draw_active_area( void ) +{ + int orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + restore_window(orig); +} + + +/**************************************** GLUI_Listbox::add_item() **********/ + +int GLUI_Listbox::add_item( int id, char *new_text ) +{ + GLUI_Listbox_Item *new_node = new GLUI_Listbox_Item; + GLUI_Listbox_Item *head; + + strcpy( new_node->text, new_text ); + new_node->id = id; + + head = (GLUI_Listbox_Item*) items_list.first_child(); + new_node->link_this_to_parent_last( &items_list ); + + if ( head == NULL ) { + /*** This is first item added ***/ + + int_val = id+1; /** Different than id **/ + do_selection( id ); + last_live_int = id; + + if( glui ) + glui->post_update_main_gfx(); + } + + /*** Check if we need to increase control size ***/ + if ( w < text_x_offset + MAX( GLUI_EDITTEXT_MIN_TEXT_WIDTH, string_width( new_text ) ) + 20 ) { + w = text_x_offset + MAX( GLUI_EDITTEXT_MIN_TEXT_WIDTH, string_width( new_text ) ) + 20; + + if ( glui ) + glui->refresh(); + + /* printf( "%s\n", new_text ); */ + } + + + return true; +} + + +/************************************** GLUI_Listbox::delete_item() **********/ + +int GLUI_Listbox::delete_item( char *text ) +{ + GLUI_Listbox_Item *node = get_item_ptr( text ); + + if ( node ) { + node->unlink(); + delete node; + return true; + } + else { + return false; + } +} + + +/************************************** GLUI_Listbox::delete_item() **********/ + +int GLUI_Listbox::delete_item( int id ) +{ + GLUI_Listbox_Item *node = get_item_ptr( id ); + + if ( node ) { + node->unlink(); + delete node; + return true; + } + else { + return false; + } +} + + +/************************************** GLUI_Listbox::sort_items() **********/ + +int GLUI_Listbox::sort_items( void ) +{ + return false; +} + + +/********************************************* GLUI_Listbox::dump() **********/ + +void GLUI_Listbox::dump( FILE *output ) +{ + GLUI_Listbox_Item *item; + + /* printf( "%p\n", (char*) name ); */ + + fprintf( output, "Listbox: %s\n", (char*) name ); + + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + fprintf( output, " %3d : %s\n", item->id, (char*) item->text ); + + item = (GLUI_Listbox_Item *) item->next(); + } +} + + +/************************************ GLUI_Listbox::get_item_ptr() **********/ + +GLUI_Listbox_Item *GLUI_Listbox::get_item_ptr( char *text ) +{ + GLUI_Listbox_Item *item; + + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + if ( NOT strcmp( item->text, text )) + return item; + + item = (GLUI_Listbox_Item *) item->next(); + } + + return NULL; +} + + +/************************************ GLUI_Listbox::get_item_ptr() **********/ + +GLUI_Listbox_Item *GLUI_Listbox::get_item_ptr( int id ) +{ + GLUI_Listbox_Item *item; + + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + if ( item->id == id ) + return item; + + item = (GLUI_Listbox_Item *) item->next(); + } + + return NULL; +} + + +/************************************ GLUI_Listbox::mouse_over() **********/ + +static void listbox_callback( int i ) +{ + int old_val; + + if ( NOT GLUI_Master.curr_left_button_glut_menu OR + GLUI_Master.curr_left_button_glut_menu->type != GLUI_CONTROL_LISTBOX ) + return; + + old_val = ((GLUI_Listbox*)GLUI_Master.curr_left_button_glut_menu)->int_val; + ((GLUI_Listbox*)GLUI_Master.curr_left_button_glut_menu)->set_int_val(i); + + /**** If value changed, execute callback ****/ + if ( old_val != + ((GLUI_Listbox*)GLUI_Master.curr_left_button_glut_menu)->int_val ) { + ((GLUI_Listbox*)GLUI_Master.curr_left_button_glut_menu)->execute_callback(); + } +} + + +/*************************************** GLUI_Listbox::mouse_over() **********/ + +int GLUI_Listbox::mouse_over( int state, int x, int y ) +{ + GLUI_Listbox_Item *item; + + /* printf( "x/y: %d/%d\n", x, y ); */ + + if ( state AND enabled AND x > x_abs + text_x_offset) { + /**** Build a GLUT menu for this listbox ***/ + + /* printf( "%d %d\n", x, y ); */ + + glut_menu_id = glutCreateMenu(listbox_callback); + + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + glutAddMenuEntry( item->text, item->id ); + item = (GLUI_Listbox_Item *) item->next(); + } + + glutAttachMenu( GLUT_LEFT_BUTTON); + + GLUI_Master.set_left_button_glut_menu_control( this ); + } + else if ( glut_menu_id != -1 ) { + /* printf( "OUT\n" ); */ + glutDetachMenu( GLUT_LEFT_BUTTON ); + glutDestroyMenu( glut_menu_id ); + glut_menu_id = -1; + } + + return true; +} + + +/************************************ GLUI_Listbox::do_selection() **********/ + +int GLUI_Listbox::do_selection( int item_num ) +{ + GLUI_Listbox_Item *item, *sel_item; + + /*** Is this item already selected? ***/ + if ( item_num == int_val ) + return false; + + sel_item = NULL; + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + if ( item->id == item_num ) { + sel_item = item; + break; + } + + item = (GLUI_Listbox_Item *) item->next(); + } + + if ( NOT sel_item ) + return false; + + /* printf( "-> %s\n", (char*) sel_item->text ); */ + + int_val = item_num; + strcpy( curr_text.string, sel_item->text.string ); + + translate_and_draw_front(); + + return true; +} + + +/*********************************** GLUI_Listbox::~GLUI_Listbox() **********/ + +GLUI_Listbox::~GLUI_Listbox( ) +{ + GLUI_Listbox_Item *item, *tmp_item; + + item = (GLUI_Listbox_Item *) items_list.first_child(); + while( item ) { + tmp_item = item; + + delete item; + + item = (GLUI_Listbox_Item *) tmp_item->next(); + } +} + + +/****************************** GLUI_Listbox::special_handler() **********/ + +int GLUI_Listbox::special_handler( int key,int modifiers ) +{ + GLUI_Listbox_Item *node, *new_node; + + node = get_item_ptr( int_val ); + new_node = NULL; + + if ( key == GLUT_KEY_DOWN ) { + new_node = (GLUI_Listbox_Item*) node->next(); + } + else if ( key == GLUT_KEY_UP ) { + new_node = (GLUI_Listbox_Item*) node->prev(); + } + else if ( key == GLUT_KEY_HOME ) { + new_node = (GLUI_Listbox_Item*) items_list.first_child(); + } + else if ( key == GLUT_KEY_END ) { + new_node = (GLUI_Listbox_Item*) items_list.last_child(); + } + + if ( new_node != NULL AND new_node != node ) { + node = new_node; + set_int_val( node->id ); + execute_callback(); + return true; + } + else { + return false; + } +} + + +/************************* GLUI_Listbox::increase_width( void ) ***********/ + +void GLUI_Listbox::increase_width( void ) +{ +} diff --git a/.svn/pristine/f0/f068ced0cda33daa900fe1214d3f000d423ce61f.svn-base b/.svn/pristine/f0/f068ced0cda33daa900fe1214d3f000d423ce61f.svn-base new file mode 100644 index 0000000..06d65b8 --- /dev/null +++ b/.svn/pristine/f0/f068ced0cda33daa900fe1214d3f000d423ce61f.svn-base @@ -0,0 +1,439 @@ +//---------------------------------------------------------------------- +// File: kd_util.cpp +// Programmer: Sunil Arya and David Mount +// Description: Common utilities for kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "kd_util.h" // kd-utility declarations + +#include // performance evaluation + +//---------------------------------------------------------------------- +// The following routines are utility functions for manipulating +// points sets, used in determining splitting planes for kd-tree +// construction. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// NOTE: Virtually all point indexing is done through an index (i.e. +// permutation) array pidx. Consequently, a reference to the d-th +// coordinate of the i-th point is pa[pidx[i]][d]. The macro PA(i,d) +// is a shorthand for this. +//---------------------------------------------------------------------- + // standard 2-d indirect indexing +#define PA(i,d) (pa[pidx[(i)]][(d)]) + // accessing a single point +#define PP(i) (pa[pidx[(i)]]) + +//---------------------------------------------------------------------- +// annAspectRatio +// Compute the aspect ratio (ratio of longest to shortest side) +// of a rectangle. +//---------------------------------------------------------------------- + +double annAspectRatio( + int dim, // dimension + const ANNorthRect &bnd_box) // bounding cube +{ + ANNcoord length = bnd_box.hi[0] - bnd_box.lo[0]; + ANNcoord min_length = length; // min side length + ANNcoord max_length = length; // max side length + for (int d = 0; d < dim; d++) { + length = bnd_box.hi[d] - bnd_box.lo[d]; + if (length < min_length) min_length = length; + if (length > max_length) max_length = length; + } + return max_length/min_length; +} + +//---------------------------------------------------------------------- +// annEnclRect, annEnclCube +// These utilities compute the smallest rectangle and cube enclosing +// a set of points, respectively. +//---------------------------------------------------------------------- + +void annEnclRect( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds) // bounding cube (returned) +{ + for (int d = 0; d < dim; d++) { // find smallest enclosing rectangle + ANNcoord lo_bnd = PA(0,d); // lower bound on dimension d + ANNcoord hi_bnd = PA(0,d); // upper bound on dimension d + for (int i = 0; i < n; i++) { + if (PA(i,d) < lo_bnd) lo_bnd = PA(i,d); + else if (PA(i,d) > hi_bnd) hi_bnd = PA(i,d); + } + bnds.lo[d] = lo_bnd; + bnds.hi[d] = hi_bnd; + } +} + +void annEnclCube( // compute smallest enclosing cube + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds) // bounding cube (returned) +{ + int d; + // compute smallest enclosing rect + annEnclRect(pa, pidx, n, dim, bnds); + + ANNcoord max_len = 0; // max length of any side + for (d = 0; d < dim; d++) { // determine max side length + ANNcoord len = bnds.hi[d] - bnds.lo[d]; + if (len > max_len) { // update max_len if longest + max_len = len; + } + } + for (d = 0; d < dim; d++) { // grow sides to match max + ANNcoord len = bnds.hi[d] - bnds.lo[d]; + ANNcoord half_diff = (max_len - len) / 2; + bnds.lo[d] -= half_diff; + bnds.hi[d] += half_diff; + } +} + +//---------------------------------------------------------------------- +// annBoxDistance - utility routine which computes distance from point to +// box (Note: most distances to boxes are computed using incremental +// distance updates, not this function.) +//---------------------------------------------------------------------- + +ANNdist annBoxDistance( // compute distance from point to box + const ANNpoint q, // the point + const ANNpoint lo, // low point of box + const ANNpoint hi, // high point of box + int dim) // dimension of space +{ + register ANNdist dist = 0.0; // sum of squared distances + register ANNdist t; + + for (register int d = 0; d < dim; d++) { + if (q[d] < lo[d]) { // q is left of box + t = ANNdist(lo[d]) - ANNdist(q[d]); + dist = ANN_SUM(dist, ANN_POW(t)); + } + else if (q[d] > hi[d]) { // q is right of box + t = ANNdist(q[d]) - ANNdist(hi[d]); + dist = ANN_SUM(dist, ANN_POW(t)); + } + } + ANN_FLOP(4*dim) // increment floating op count + + return dist; +} + +//---------------------------------------------------------------------- +// annSpread - find spread along given dimension +// annMinMax - find min and max coordinates along given dimension +// annMaxSpread - find dimension of max spread +//---------------------------------------------------------------------- + +ANNcoord annSpread( // compute point spread along dimension + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d) // dimension to check +{ + ANNcoord min = PA(0,d); // compute max and min coords + ANNcoord max = PA(0,d); + for (int i = 1; i < n; i++) { + ANNcoord c = PA(i,d); + if (c < min) min = c; + else if (c > max) max = c; + } + return (max - min); // total spread is difference +} + +void annMinMax( // compute min and max coordinates along dim + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension to check + ANNcoord &min, // minimum value (returned) + ANNcoord &max) // maximum value (returned) +{ + min = PA(0,d); // compute max and min coords + max = PA(0,d); + for (int i = 1; i < n; i++) { + ANNcoord c = PA(i,d); + if (c < min) min = c; + else if (c > max) max = c; + } +} + +int annMaxSpread( // compute dimension of max spread + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim) // dimension of space +{ + int max_dim = 0; // dimension of max spread + ANNcoord max_spr = 0; // amount of max spread + + if (n == 0) return max_dim; // no points, who cares? + + for (int d = 0; d < dim; d++) { // compute spread along each dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spr) { // bigger than current max + max_spr = spr; + max_dim = d; + } + } + return max_dim; +} + +//---------------------------------------------------------------------- +// annMedianSplit - split point array about its median +// Splits a subarray of points pa[0..n] about an element of given +// rank (median: n_lo = n/2) with respect to dimension d. It places +// the element of rank n_lo-1 correctly (because our splitting rule +// takes the mean of these two). On exit, the array is permuted so +// that: +// +// pa[0..n_lo-2][d] <= pa[n_lo-1][d] <= pa[n_lo][d] <= pa[n_lo+1..n-1][d]. +// +// The mean of pa[n_lo-1][d] and pa[n_lo][d] is returned as the +// splitting value. +// +// All indexing is done indirectly through the index array pidx. +// +// This function uses the well known selection algorithm due to +// C.A.R. Hoare. +//---------------------------------------------------------------------- + + // swap two points in pa array +#define PASWAP(a,b) { int tmp = pidx[a]; pidx[a] = pidx[b]; pidx[b] = tmp; } + +void annMedianSplit( + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord &cv, // cutting value + int n_lo) // split into n_lo and n-n_lo +{ + int l = 0; // left end of current subarray + int r = n-1; // right end of current subarray + while (l < r) { + register int i = (r+l)/2; // select middle as pivot + register int k; + + if (PA(i,d) > PA(r,d)) // make sure last > pivot + PASWAP(i,r) + PASWAP(l,i); // move pivot to first position + + ANNcoord c = PA(l,d); // pivot value + i = l; + k = r; + for(;;) { // pivot about c + while (PA(++i,d) < c) ; + while (PA(--k,d) > c) ; + if (i < k) PASWAP(i,k) else break; + } + PASWAP(l,k); // pivot winds up in location k + + if (k > n_lo) r = k-1; // recurse on proper subarray + else if (k < n_lo) l = k+1; + else break; // got the median exactly + } + if (n_lo > 0) { // search for next smaller item + ANNcoord c = PA(0,d); // candidate for max + int k = 0; // candidate's index + for (int i = 1; i < n_lo; i++) { + if (PA(i,d) > c) { + c = PA(i,d); + k = i; + } + } + PASWAP(n_lo-1, k); // max among pa[0..n_lo-1] to pa[n_lo-1] + } + // cut value is midpoint value + cv = (PA(n_lo-1,d) + PA(n_lo,d))/2.0; +} + +//---------------------------------------------------------------------- +// annPlaneSplit - split point array about a cutting plane +// Split the points in an array about a given plane along a +// given cutting dimension. On exit, br1 and br2 are set so +// that: +// +// pa[ 0 ..br1-1] < cv +// pa[br1..br2-1] == cv +// pa[br2.. n -1] > cv +// +// All indexing is done indirectly through the index array pidx. +// +//---------------------------------------------------------------------- + +void annPlaneSplit( // split points by a plane + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv, // cutting value + int &br1, // first break (values < cv) + int &br2) // second break (values == cv) +{ + int l = 0; + int r = n-1; + for(;;) { // partition pa[0..n-1] about cv + while (l < n && PA(l,d) < cv) l++; + while (r >= 0 && PA(r,d) >= cv) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + br1 = l; // now: pa[0..br1-1] < cv <= pa[br1..n-1] + r = n-1; + for(;;) { // partition pa[br1..n-1] about cv + while (l < n && PA(l,d) <= cv) l++; + while (r >= br1 && PA(r,d) > cv) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + br2 = l; // now: pa[br1..br2-1] == cv < pa[br2..n-1] +} + + +//---------------------------------------------------------------------- +// annBoxSplit - split point array about a orthogonal rectangle +// Split the points in an array about a given orthogonal +// rectangle. On exit, n_in is set to the number of points +// that are inside (or on the boundary of) the rectangle. +// +// All indexing is done indirectly through the index array pidx. +// +//---------------------------------------------------------------------- + +void annBoxSplit( // split points by a box + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension of space + ANNorthRect &box, // the box + int &n_in) // number of points inside (returned) +{ + int l = 0; + int r = n-1; + for(;;) { // partition pa[0..n-1] about box + while (l < n && box.inside(dim, PP(l))) l++; + while (r >= 0 && !box.inside(dim, PP(r))) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + n_in = l; // now: pa[0..n_in-1] inside and rest outside +} + +//---------------------------------------------------------------------- +// annSplitBalance - compute balance factor for a given plane split +// Balance factor is defined as the number of points lying +// below the splitting value minus n/2 (median). Thus, a +// median split has balance 0, left of this is negative and +// right of this is positive. (The points are unchanged.) +//---------------------------------------------------------------------- + +int annSplitBalance( // determine balance factor of a split + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv) // cutting value +{ + int n_lo = 0; + for(int i = 0; i < n; i++) { // count number less than cv + if (PA(i,d) < cv) n_lo++; + } + return n_lo - n/2; +} + +//---------------------------------------------------------------------- +// annBox2Bnds - convert bounding box to list of bounds +// Given two boxes, an inner box enclosed within a bounding +// box, this routine determines all the sides for which the +// inner box is strictly contained with the bounding box, +// and adds an appropriate entry to a list of bounds. Then +// we allocate storage for the final list of bounds, and return +// the resulting list and its size. +//---------------------------------------------------------------------- + +void annBox2Bnds( // convert inner box to bounds + const ANNorthRect &inner_box, // inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int &n_bnds, // number of bounds (returned) + ANNorthHSArray &bnds) // bounds array (returned) +{ + int i; + n_bnds = 0; // count number of bounds + for (i = 0; i < dim; i++) { + if (inner_box.lo[i] > bnd_box.lo[i]) // low bound is inside + n_bnds++; + if (inner_box.hi[i] < bnd_box.hi[i]) // high bound is inside + n_bnds++; + } + + bnds = new ANNorthHalfSpace[n_bnds]; // allocate appropriate size + + int j = 0; + for (i = 0; i < dim; i++) { // fill the array + if (inner_box.lo[i] > bnd_box.lo[i]) { + bnds[j].cd = i; + bnds[j].cv = inner_box.lo[i]; + bnds[j].sd = +1; + j++; + } + if (inner_box.hi[i] < bnd_box.hi[i]) { + bnds[j].cd = i; + bnds[j].cv = inner_box.hi[i]; + bnds[j].sd = -1; + j++; + } + } +} + +//---------------------------------------------------------------------- +// annBnds2Box - convert list of bounds to bounding box +// Given an enclosing box and a list of bounds, this routine +// computes the corresponding inner box. It is assumed that +// the box points have been allocated already. +//---------------------------------------------------------------------- + +void annBnds2Box( + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int n_bnds, // number of bounds + ANNorthHSArray bnds, // bounds array + ANNorthRect &inner_box) // inner box (returned) +{ + annAssignRect(dim, inner_box, bnd_box); // copy bounding box to inner + + for (int i = 0; i < n_bnds; i++) { + bnds[i].project(inner_box.lo); // project each endpoint + bnds[i].project(inner_box.hi); + } +} diff --git a/.svn/pristine/f0/f0697c4e4794845dc469c4dae838c3da06a8f802.svn-base b/.svn/pristine/f0/f0697c4e4794845dc469c4dae838c3da06a8f802.svn-base new file mode 100644 index 0000000..214e207 --- /dev/null +++ b/.svn/pristine/f0/f0697c4e4794845dc469c4dae838c3da06a8f802.svn-base @@ -0,0 +1,5 @@ +#include + +// Direct 3<->3 points estimation. rot and trn is out parameters (should be initialized before). +void estimatePose3D(CvPoint3D32f *prev, CvPoint3D32f *curr, CvMat *rot, CvMat *trn); + diff --git a/.svn/pristine/f0/f09036e8e05be086b4f7ba73f9bdcb732499ccc7.svn-base b/.svn/pristine/f0/f09036e8e05be086b4f7ba73f9bdcb732499ccc7.svn-base new file mode 100644 index 0000000..2b29350 --- /dev/null +++ b/.svn/pristine/f0/f09036e8e05be086b4f7ba73f9bdcb732499ccc7.svn-base @@ -0,0 +1,91 @@ +# Compile ANN library +SET(ANN_DIR ${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src/) +SET(ANN_SRCS + ${ANN_DIR}ANN.cpp + ${ANN_DIR}brute.cpp + ${ANN_DIR}kd_tree.cpp + ${ANN_DIR}kd_util.cpp + ${ANN_DIR}kd_split.cpp + ${ANN_DIR}kd_dump.cpp + ${ANN_DIR}kd_search.cpp + ${ANN_DIR}kd_pr_search.cpp + ${ANN_DIR}kd_fix_rad_search.cpp + ${ANN_DIR}bd_tree.cpp + ${ANN_DIR}bd_search.cpp + ${ANN_DIR}bd_pr_search.cpp + ${ANN_DIR}bd_fix_rad_search.cpp + ${ANN_DIR}perf.cpp) +add_library(ANN STATIC ${ANN_SRCS}) +IF(EXPORT_SHARED_LIBS) +add_library(ANN_s SHARED ${ANN_SRCS}) +ENDIF(EXPORT_SHARED_LIBS) + +# on windows systems the DLL_EXPORTS is required +if (WIN32) + SET_TARGET_PROPERTIES(ANN PROPERTIES COMPILE_FLAGS -DDLL_EXPORTS) +endif(WIN32) + +# Compile glui library +SET(GLUI_DIR ${CMAKE_SOURCE_DIR}/3rdparty/glui/) +add_library(glui STATIC + ${GLUI_DIR}glui_add_controls.cpp + ${GLUI_DIR}glui.cpp + ${GLUI_DIR}glui_bitmap_img_data.cpp + ${GLUI_DIR}glui_bitmaps.cpp + ${GLUI_DIR}glui_button.cpp + ${GLUI_DIR}glui_edittext.cpp + ${GLUI_DIR}glui_checkbox.cpp + ${GLUI_DIR}glui_node.cpp + ${GLUI_DIR}glui_radio.cpp + ${GLUI_DIR}glui_statictext.cpp + ${GLUI_DIR}glui_panel.cpp + ${GLUI_DIR}glui_separator.cpp + ${GLUI_DIR}glui_spinner.cpp + ${GLUI_DIR}glui_control.cpp + ${GLUI_DIR}glui_column.cpp + ${GLUI_DIR}glui_translation.cpp + ${GLUI_DIR}glui_rotation.cpp + ${GLUI_DIR}glui_mouse_iaction.cpp + ${GLUI_DIR}glui_listbox.cpp + ${GLUI_DIR}glui_rollout.cpp + ${GLUI_DIR}arcball.cpp + ${GLUI_DIR}algebra3.cpp + ${GLUI_DIR}quaternion.cpp ) + + + +IF(WITH_WXSHOW) + +# Compile wxthings library +SET(WXTHINGS_DIR ${CMAKE_SOURCE_DIR}/3rdparty/wxthings/src/) +add_library(wxthings STATIC + ${WXTHINGS_DIR}block.cpp + ${WXTHINGS_DIR}bmpcombo.cpp + ${WXTHINGS_DIR}dropdown.cpp + # ${WXTHINGS_DIR}filebrws.cpp # these two are not needed and would create unnecessary dependencies + #${WXTHINGS_DIR}genergdi.cpp + ${WXTHINGS_DIR}geometry.cpp + ${WXTHINGS_DIR}menubtn.cpp + ${WXTHINGS_DIR}optvalue.cpp + ${WXTHINGS_DIR}range.cpp + ${WXTHINGS_DIR}spinctld.cpp + ${WXTHINGS_DIR}toggle.cpp +) +ENDIF(WITH_WXSHOW) + +# Compile sparse library +SET(SPARSE_DIR ${CMAKE_SOURCE_DIR}/3rdparty/sparse/) +add_library(sparse STATIC ${SPARSE_DIR}csparse.cc) +IF(EXPORT_SHARED_LIBS) +add_library(sparse_s SHARED ${SPARSE_DIR}csparse.cc) +ENDIF(EXPORT_SHARED_LIBS) + + +# Compile newmat library +SET(NEWMAT_DIR ${CMAKE_SOURCE_DIR}/3rdparty/newmat/) +SET(NEWMAT_SOURCES ${NEWMAT_DIR}newmat1.cpp ${NEWMAT_DIR}newmat2.cpp ${NEWMAT_DIR}newmat3.cpp ${NEWMAT_DIR}newmat4.cpp ${NEWMAT_DIR}newmat5.cpp ${NEWMAT_DIR}newmat6.cpp ${NEWMAT_DIR}newmat7.cpp ${NEWMAT_DIR}newmat8.cpp ${NEWMAT_DIR}newmatex.cpp ${NEWMAT_DIR}bandmat.cpp ${NEWMAT_DIR}submat.cpp ${NEWMAT_DIR}myexcept.cpp ${NEWMAT_DIR}cholesky.cpp ${NEWMAT_DIR}evalue.cpp ${NEWMAT_DIR}fft.cpp ${NEWMAT_DIR}hholder.cpp ${NEWMAT_DIR}jacobi.cpp ${NEWMAT_DIR}newfft.cpp ${NEWMAT_DIR}sort.cpp ${NEWMAT_DIR}svd.cpp ${NEWMAT_DIR}newmatrm.cpp ${NEWMAT_DIR}newmat9.cpp) +add_library(newmat STATIC ${NEWMAT_SOURCES}) +IF(EXPORT_SHARED_LIBS) +add_library(newmat_s SHARED ${NEWMAT_SOURCES}) +ENDIF(EXPORT_SHARED_LIBS) + diff --git a/.svn/pristine/f0/f0ccf574ae04de76fcf34854dcab0455d973ea55.svn-base b/.svn/pristine/f0/f0ccf574ae04de76fcf34854dcab0455d973ea55.svn-base new file mode 100644 index 0000000..bff7366 --- /dev/null +++ b/.svn/pristine/f0/f0ccf574ae04de76fcf34854dcab0455d973ea55.svn-base @@ -0,0 +1,22 @@ +bool PointFilter::check(double* point) +{ + // create a new checker chain + if(m_changed) { + createCheckers(); + // mark as unchanged to avoid recreation on further calls + m_changed = false; + } + + // apply all tests to the point + Checker* checker = m_checker; + while(checker) { + if(checker->test(point)) { + checker = checker->m_next; + } else { + // if even one test fails the point is discarded + return false; + } + } + // point has passed if all tests returned true + return true; +} diff --git a/.svn/pristine/f0/f0e2e071c259b602e7fce2d560792d2b395a6e97.svn-base b/.svn/pristine/f0/f0e2e071c259b602e7fce2d560792d2b395a6e97.svn-base new file mode 100644 index 0000000..a2767a7 --- /dev/null +++ b/.svn/pristine/f0/f0e2e071c259b602e7fce2d560792d2b395a6e97.svn-base @@ -0,0 +1,615 @@ +@Article{Lowe_2004, + author = {D. Lowe}, + title = {Distinctive image features from scale-invariant keypoints}, + journal = {International Journal of Computer Vision}, + year = {2004}, + volume = {2}, + number = {60}, + pages = {91 -- 110}, +} + +@InProceedings{ICAR2005_1, + author = "A. N{\"u}chter and K. Lingemann and J. Hertzberg and H. Surmann", + title = "{A}ccurate {O}bject {L}ocalization in {3D} {L}aser {R}ange {S}cans", + booktitle = "Proceedings of the 12th International Conference on Advanced Robotics (ICAR '05)", + year = "(submitted)", +} + +@InProceedings{IROS2004, + author = "K. Lingemann and H. Surmann and A. N{\"u}chter and J. Hertzberg", + title = "{I}ndoor and {O}utdoor {L}ocalization for {F}ast {M}obile {R}obots", + booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04)", + month = "September", + pages = "2185 -- 2190", + year = "2004", + address = "Sendai, Japan", +} + +@article{RAS2005, + author = "K. Lingemann and A. N{\"u}chter and J. Hertzberg and H. Surmann", + title = "High-{S}peed {L}aser {L}ocalization for {M}obile {R}obots", + journal = "Journal Robotics and Autonomous Systems", + volume = "(accepted)", + year = "2005", +} + +@InProceedings{IAS2004, + author = "A. N{\"u}chter and H. Surmann and and J. Hertzberg", + title = "{A}utomatic {C}lassification of {O}bjects in {3D} {L}aser {R}ange {S}cans", + booktitle = "Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS '04)", + month = "March", + year = "2004", + pages = "963 -- 970", + address = "Amsterdam, The Netherlands" +} + +@InProceedings{SSRR2005, + author = "A. N{\"u}chter and K. Lingemann and J. Hertzberg and H. Surmann and K. Perv{\"o}lz and M. Hennig and K. R. Tiruchinapalli and R. Worst and T. Christaller", + title = "{M}apping of {R}escue {E}nvironments with {Kurt3D}", + booktitle = "Proceedings of the IEEE International Workshop on Rescue Robotics (SSRR '05)", + year = "(submitted)", + address = "Kobe, Japan", + month = "June", +} + +@InProceedings{IAV2004, + author = "H. Surmann and A. N{\"u}chter and K. Lingemann and J. Hertzberg", + title = "{6D SLAM} {A} {P}reliminary {R}eport on {C}losing the {L}oop in {S}ix {D}imensions", + booktitle = "Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04)", + month = "July", + year = "2004", + address = "Lisabon, Portugal" +} + +@article{RAAS2003, + author = "H. Surmann and A. N{\"u}chter and J. 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Casanova", + title = "Obtaining {3D} models of indoor environments with a mobile robot by estimating local surface directions", + journal = "Robotics and Autonomous Systems", + volume = "48", + month = "August", + year = "2004", + pages = "131 -- 143", +} + +@inproceedings{Se_2001, + author = "S. Se and D. Lowe and J. Little", + title = "{L}ocal and {G}lobal {L}ocalization for {M}obile {R}obots using {V}isual {L}andmarks", + booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01)", + month = "October", + address = "Hawaii, USA", + year = "2001", +} + +@InProceedings{Biber_2004, + author = "P. Biber and H. Andreasson and T. Duckett and A. Schilling", + title = "{3D} {M}odeling of {I}ndoor {E}nvironments by a {M}obile {R}obot with a {L}aser {S}canner and {P}anoramic {C}amera", + booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04)", + month = "September", + year = "2004", + address = "Sendai, Japan", +} + +@article{Besl_1992, + author = "P. Besl and N. McKay", + title = "A method for {R}egistration of 3--{D} {S}hapes", + journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence", + month = "February", + year = "1992", + volume = "14", + number = "2", + pages = "239 -- 256" +} \ No newline at end of file diff --git a/.svn/pristine/f0/f0e42ed8ef022a2ba31bd061e8e5d8bdb146f515.svn-base b/.svn/pristine/f0/f0e42ed8ef022a2ba31bd061e8e5d8bdb146f515.svn-base new file mode 100644 index 0000000..bd507dd --- /dev/null +++ b/.svn/pristine/f0/f0e42ed8ef022a2ba31bd061e8e5d8bdb146f515.svn-base @@ -0,0 +1,38 @@ + + +int glui_img_checkbox_1_dis[] = { 13, 13, /* width, height */ + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 128,128,128, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 255,255,255, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, + 192,192,192, 64, 64, 64, 64, 64, 64, 64, 64, 64, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 128,128,128, 64, 64, 64, 192,192,192, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, + 192,192,192, 64, 64, 64, 64, 64, 64, 192,192,192, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 192,192,192, 192,192,192, 255,255,255, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 64, 64, 64, 64, 64, 64, 192,192,192, + 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 64, 64, 64, 192,192,192, 192,192,192, 255,255,255, + 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 128,128,128, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 192,192,192, + 255,255,255, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 128,128,128, 255,255,255, +}; diff --git a/.svn/pristine/f1/f10a22e827b189331b610d049634dc592060d74e.svn-base b/.svn/pristine/f1/f10a22e827b189331b610d049634dc592060d74e.svn-base new file mode 100644 index 0000000..b5cc58a --- /dev/null +++ b/.svn/pristine/f1/f10a22e827b189331b610d049634dc592060d74e.svn-base @@ -0,0 +1,87 @@ +// ===================================================================================== +// +// Filename: test.cc +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 12:15:50 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" +#include "progress.h" +#include "version.h" +#include "config.h" + +char filter[] = "0-9"; +void test() { + int multipnm=1; + job_t job; + + + while (multipnm==1) { + job_init(&job); + + job.cfg.out_format=XML; + job.cfg.cfilter = filter; + job.src.fname = "patch00000.pgm"; // TODO + + multipnm=readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); + + int linecounter = 0; + const char *line; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +} +int main() { + return 0; +} +/* +#include "gocr/pnm.h" +#include "gocr/pgm2asc.h" +#include "gocr/pcx.h" +#include "gocr/ocr0.h" +#include "gocr/progress.h" +#include "gocr/version.h" +#include "gocr/config.h" + +int main() { + job_t job; + + +return 0; +} +*/ diff --git a/.svn/pristine/f1/f147888ae4e11507aadc8b421f9f471411fd0488.svn-base b/.svn/pristine/f1/f147888ae4e11507aadc8b421f9f471411fd0488.svn-base new file mode 100644 index 0000000..a02c4a4 --- /dev/null +++ b/.svn/pristine/f1/f147888ae4e11507aadc8b421f9f471411fd0488.svn-base @@ -0,0 +1,1291 @@ +/** + * @file + * @brief Globally used functions + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GLOBALS_ICC__ +#define __GLOBALS_ICC__ + +#ifdef _MSC_VER +#include +#define _USE_MATH_DEFINES +#include + +inline int gettimeofday (struct timeval* tp, void* tzp) +{ + unsigned long t; + t = timeGetTime(); + tp->tv_sec = t / 1000; + tp->tv_usec = t % 1000; + return 0; /* 0 indicates success. */ +} +#else +#include +#endif + +#include +using std::min; +using std::max; +#include +#include +using std::stringstream; +#include +using std::ostream; +using std::istream; +#include +using std::cout; +using std::endl; +#include +#include +using std::runtime_error; + +/** + * Set bits count + * + * @param unsigned char x + * + * @return char + * + */ +inline unsigned char _my_popcount_3(unsigned char x) { + x -= (x >> 1) & 0x55; //put count of each 2 bits into those 2 bits + x = (x & 0x33) + ((x >> 2) & 0x33); //put count of each 4 bits into those 4 bits + x = (x + (x >> 4)) & 0x0f; //put count of each 8 bits into those 8 bits + return x; +} + +/** + * Converts a class T to a string of width with padding 0 + * + * @param t output + * @param width length + * + * @return string of t + * + */ +template +inline std::string to_string(const T& t, int width) +{ + stringstream ss; + ss << std::setfill('0') << std::setw(width) << t; + return ss.str(); +} + +/** + * Converts a class T to a string of width with padding 0 + * + * @param t output + * @return string of t + * + */ +template +inline std::string to_string(const T& t) +{ + stringstream ss; + ss << t; + return ss.str(); +} + + +/** + * Overridden "<<" operator for sending a (4x4)-matrix to a stream + * + * @param os stream + * @param matrix 4x4 matrix sent to stream + * @return stream + */ +inline ostream& operator<<(ostream& os, const double matrix[16]) +{ + for (int i = 0; i < 16; os << matrix[i++] << " "); + return os; +} + +/** + * Overridden ">>" operator for reading a (4x4)-matrix from a stream.
+ * Throws a runtime error if not enough data in the stream. + * + * @param is stream + * @param matrix 4x4 matrix sent to stream + * @return stream +*/ +inline istream& operator>>(istream& is, double matrix[16]) +{ + for (int i = 0; i < 16; i++) { + if (!is.good()) throw runtime_error("Not enough elements to read for >>(istream&, double[16])"); + is >> matrix[i]; + } + return is; +} + + +/** + * Converts an angle (given in deg) to rad + * + * @param deg integer indicating, whether the figure to be drawn to show + * the clusters should be circles (0) or rectangles(1) + * + * @return the clustered image, with the clusters marked by colored figures + * + */ +template +inline T rad(const T deg) +{ + return ( (2 * M_PI * deg) / 360 ); +} + +/** + * Converts an angle (given in rad) to deg + * + * @param rad angle in rad + * @return angle in deg + */ +template +inline T deg(const T rad) +{ + return ( (rad * 360) / (2 * M_PI) ); +} + + +/** + * Calculates x^2 + * + * @param x input scalar value + * @return squared value + */ +template +static inline T sqr(const T &x) +{ + return x*x; +} + + +/** + * Computes the squared length of a 3-vector + * + * @param x input 3-vector + * @return length^2 of vector + */ +template +inline T Len2(const T *x) +{ + return sqr(x[0]) + sqr(x[1]) + sqr(x[2]); +} + + +/** + * Computes the length of a 3-vector + * + * @param x input 3-vector + * @return length of vector + */ +template +inline T Len(const T *x) +{ + return sqrt(Len2(x)); +} + + +/** + * Computes the squared Eucledian distance between two points + * in 3-space + * + * @param x1 first input vector + * @param x2 decond input vecotr + * @return Eucledian distance^2 between the two locations + */ +template +inline T Dist2(const T *x1, const F *x2) +{ + T dx = x2[0] - x1[0]; + T dy = x2[1] - x1[1]; + T dz = x2[2] - x1[2]; + + return sqr(dx) + sqr(dy) + sqr(dz); +} + +/* + * Normalization of the input 3-vector + * + * @param x input/output 3-vector + */ +template +static inline void Normalize3(T *x) +{ + T norm = sqrt(x[0]*x[0] + x[1]*x[1] + x[2]*x[2]); + x[0] /= norm; + x[1] /= norm; + x[2] /= norm; +} + +/* + * Normalization of the input 4-vector + * + * @param x input/output 4-vector + */ +template +static inline void Normalize4(T *x) +{ + T norm = sqrt((x[0]*x[0] + x[1]*x[1] + x[2]*x[2] + x[3]*x[3])); + + x[0] /= norm; + x[1] /= norm; + x[2] /= norm; + x[3] /= norm; +} + +/** + * Sets a 4x4 matrix to identity + * + * @param M 4x4 matrix + */ +template +inline void M4identity( T *M ) +{ + M[0] = M[5] = M[10] = M[15] = 1.0; + M[1] = M[2] = M[3] = M[4] = M[6] = M[7] = M[8] = M[9] = M[11] = M[12] = M[13] = M[14] = 0.0; +} + +/** + * Multiplies a 4x4 matrices in OpenGL + * (column-major) order + * + * @param M1 first input matrix + * @param M2 second input matrix + * @param Mout output matrix + * + */ +template +inline void MMult(const T *M1, + const T *M2, + T *Mout) +{ + Mout[ 0] = M1[ 0]*M2[ 0]+M1[ 4]*M2[ 1]+M1[ 8]*M2[ 2]+M1[12]*M2[ 3]; + Mout[ 1] = M1[ 1]*M2[ 0]+M1[ 5]*M2[ 1]+M1[ 9]*M2[ 2]+M1[13]*M2[ 3]; + Mout[ 2] = M1[ 2]*M2[ 0]+M1[ 6]*M2[ 1]+M1[10]*M2[ 2]+M1[14]*M2[ 3]; + Mout[ 3] = M1[ 3]*M2[ 0]+M1[ 7]*M2[ 1]+M1[11]*M2[ 2]+M1[15]*M2[ 3]; + Mout[ 4] = M1[ 0]*M2[ 4]+M1[ 4]*M2[ 5]+M1[ 8]*M2[ 6]+M1[12]*M2[ 7]; + Mout[ 5] = M1[ 1]*M2[ 4]+M1[ 5]*M2[ 5]+M1[ 9]*M2[ 6]+M1[13]*M2[ 7]; + Mout[ 6] = M1[ 2]*M2[ 4]+M1[ 6]*M2[ 5]+M1[10]*M2[ 6]+M1[14]*M2[ 7]; + Mout[ 7] = M1[ 3]*M2[ 4]+M1[ 7]*M2[ 5]+M1[11]*M2[ 6]+M1[15]*M2[ 7]; + Mout[ 8] = M1[ 0]*M2[ 8]+M1[ 4]*M2[ 9]+M1[ 8]*M2[10]+M1[12]*M2[11]; + Mout[ 9] = M1[ 1]*M2[ 8]+M1[ 5]*M2[ 9]+M1[ 9]*M2[10]+M1[13]*M2[11]; + Mout[10] = M1[ 2]*M2[ 8]+M1[ 6]*M2[ 9]+M1[10]*M2[10]+M1[14]*M2[11]; + Mout[11] = M1[ 3]*M2[ 8]+M1[ 7]*M2[ 9]+M1[11]*M2[10]+M1[15]*M2[11]; + Mout[12] = M1[ 0]*M2[12]+M1[ 4]*M2[13]+M1[ 8]*M2[14]+M1[12]*M2[15]; + Mout[13] = M1[ 1]*M2[12]+M1[ 5]*M2[13]+M1[ 9]*M2[14]+M1[13]*M2[15]; + Mout[14] = M1[ 2]*M2[12]+M1[ 6]*M2[13]+M1[10]*M2[14]+M1[14]*M2[15]; + Mout[15] = M1[ 3]*M2[12]+M1[ 7]*M2[13]+M1[11]*M2[14]+M1[15]*M2[15]; +} + +template +inline void MMult(const T *M1, + const T *M2, + float *Mout) +{ + Mout[ 0] = M1[ 0]*M2[ 0]+M1[ 4]*M2[ 1]+M1[ 8]*M2[ 2]+M1[12]*M2[ 3]; + Mout[ 1] = M1[ 1]*M2[ 0]+M1[ 5]*M2[ 1]+M1[ 9]*M2[ 2]+M1[13]*M2[ 3]; + Mout[ 2] = M1[ 2]*M2[ 0]+M1[ 6]*M2[ 1]+M1[10]*M2[ 2]+M1[14]*M2[ 3]; + Mout[ 3] = M1[ 3]*M2[ 0]+M1[ 7]*M2[ 1]+M1[11]*M2[ 2]+M1[15]*M2[ 3]; + Mout[ 4] = M1[ 0]*M2[ 4]+M1[ 4]*M2[ 5]+M1[ 8]*M2[ 6]+M1[12]*M2[ 7]; + Mout[ 5] = M1[ 1]*M2[ 4]+M1[ 5]*M2[ 5]+M1[ 9]*M2[ 6]+M1[13]*M2[ 7]; + Mout[ 6] = M1[ 2]*M2[ 4]+M1[ 6]*M2[ 5]+M1[10]*M2[ 6]+M1[14]*M2[ 7]; + Mout[ 7] = M1[ 3]*M2[ 4]+M1[ 7]*M2[ 5]+M1[11]*M2[ 6]+M1[15]*M2[ 7]; + Mout[ 8] = M1[ 0]*M2[ 8]+M1[ 4]*M2[ 9]+M1[ 8]*M2[10]+M1[12]*M2[11]; + Mout[ 9] = M1[ 1]*M2[ 8]+M1[ 5]*M2[ 9]+M1[ 9]*M2[10]+M1[13]*M2[11]; + Mout[10] = M1[ 2]*M2[ 8]+M1[ 6]*M2[ 9]+M1[10]*M2[10]+M1[14]*M2[11]; + Mout[11] = M1[ 3]*M2[ 8]+M1[ 7]*M2[ 9]+M1[11]*M2[10]+M1[15]*M2[11]; + Mout[12] = M1[ 0]*M2[12]+M1[ 4]*M2[13]+M1[ 8]*M2[14]+M1[12]*M2[15]; + Mout[13] = M1[ 1]*M2[12]+M1[ 5]*M2[13]+M1[ 9]*M2[14]+M1[13]*M2[15]; + Mout[14] = M1[ 2]*M2[12]+M1[ 6]*M2[13]+M1[10]*M2[14]+M1[14]*M2[15]; + Mout[15] = M1[ 3]*M2[12]+M1[ 7]*M2[13]+M1[11]*M2[14]+M1[15]*M2[15]; +} + +/** + * Transforms a vactor with a matrix (P = M * V) + * @param M the transformation matrix + * @param v the initial vector + * @param p the transformt vector + */ +template +inline void VTrans(const T *M, const T *V, T *P) +{ + P[0] = M[0] * V[0] + M[4] * V[1] + M[8] * V[2] + M[12]; + P[1] = M[1] * V[0] + M[5] * V[1] + M[9] * V[2] + M[13]; + P[2] = M[2] * V[0] + M[6] * V[1] + M[10] * V[2] + M[14]; +} + +/** + * Converts an Euler angle to a 3x3 matrix + * + * @param rPosTheta vector of Euler angles + * @param alignxf 3x3 matrix corresponding to the Euler angles + */ +inline void EulerToMatrix3(const double *rPosTheta, double *alignxf) +{ + double sx = sin(rPosTheta[0]); + double cx = cos(rPosTheta[0]); + double sy = sin(rPosTheta[1]); + double cy = cos(rPosTheta[1]); + double sz = sin(rPosTheta[2]); + double cz = cos(rPosTheta[2]); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = -cy*sz; + alignxf[4] = -sx*sy*sz + cx*cz; + alignxf[5] = cx*sy*sz + sx*cz; + alignxf[6] = sy; + alignxf[7] = -sx*cy; + alignxf[8] = cx*cy; +} + +/** + * Calculates the determinant of a 3x3 matrix + * + * @param M input 3x3 matrix + * @return determinant of input matrix + */ +template +inline double M3det( const T *M ) +{ + double det; + det = (double)(M[0] * ( M[4]*M[8] - M[7]*M[5] ) + - M[1] * ( M[3]*M[8] - M[6]*M[5] ) + + M[2] * ( M[3]*M[7] - M[6]*M[4] )); + return ( det ); +} + +/** + * Inverts a 3x3 matrix + * + * @param Min input 3x3 matrix + * @param Mout output 3x3 matrix + */ +template +inline void M3inv( const T *Min, T *Mout ) +{ + double det = M3det( Min ); + + if ( fabs( det ) < 0.0005 ) { + M3identity( Mout ); + return; + } + + Mout[0] = (double)( Min[4]*Min[8] - Min[5]*Min[7] ) / det; + Mout[1] = (double)(-( Min[1]*Min[8] - Min[7]*Min[2] )) / det; + Mout[2] = (double)( Min[1]*Min[5] - Min[4]*Min[2] ) / det; + + Mout[3] = (double)(-( Min[3]*Min[8] - Min[5]*Min[6] )) / det; + Mout[4] = (double)( Min[0]*Min[8] - Min[6]*Min[2] ) / det; + Mout[5] = (double)(-( Min[0]*Min[5] - Min[3]*Min[2] )) / det; + + Mout[6] = (double) ( Min[3]*Min[7] - Min[6]*Min[4] ) / det; + Mout[7] = (double)(-( Min[0]*Min[7] - Min[6]*Min[1] )) / det; + Mout[8] = (double) ( Min[0]*Min[4] - Min[1]*Min[3] ) / det; +} + + +/** + * Converts a pose into a RT matrix + * @param *rPos Pointer to the position (double[3]) + * @param *rPosTheta Pointer to the angles (double[3]) + * @param *alignxf The calculated matrix + */ +inline void EulerToMatrix4(const double *rPos, const double *rPosTheta, double *alignxf) +{ + double sx = sin(rPosTheta[0]); + double cx = cos(rPosTheta[0]); + double sy = sin(rPosTheta[1]); + double cy = cos(rPosTheta[1]); + double sz = sin(rPosTheta[2]); + double cz = cos(rPosTheta[2]); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0.0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0.0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + + alignxf[11] = 0.0; + + alignxf[12] = rPos[0]; + alignxf[13] = rPos[1]; + alignxf[14] = rPos[2]; + alignxf[15] = 1; +} + +/** + * Converts a 4x4 matrix to Euler angles. + * + * @param alignxf input 4x4 matrix + * @param rPosTheta output 3-vector of Euler angles + * @param rPos output vector of trnaslation (position) if set + * + */ +static inline void Matrix4ToEuler(const double *alignxf, double *rPosTheta, double *rPos = 0) +{ + + double _trX, _trY; + + if(alignxf[0] > 0.0) { + rPosTheta[1] = asin(alignxf[8]); + } else { + rPosTheta[1] = M_PI - asin(alignxf[8]); + } + // rPosTheta[1] = asin( alignxf[8]); // Calculate Y-axis angle + + double C = cos( rPosTheta[1] ); + if ( fabs( C ) > 0.005 ) { // Gimball lock? + _trX = alignxf[10] / C; // No, so get X-axis angle + _trY = -alignxf[9] / C; + rPosTheta[0] = atan2( _trY, _trX ); + _trX = alignxf[0] / C; // Get Z-axis angle + _trY = -alignxf[4] / C; + rPosTheta[2] = atan2( _trY, _trX ); + } else { // Gimball lock has occurred + rPosTheta[0] = 0.0; // Set X-axis angle to zero + _trX = alignxf[5]; //1 // And calculate Z-axis angle + _trY = alignxf[1]; //2 + rPosTheta[2] = atan2( _trY, _trX ); + } + + rPosTheta[0] = rPosTheta[0]; + rPosTheta[1] = rPosTheta[1]; + rPosTheta[2] = rPosTheta[2]; + + if (rPos != 0) { + rPos[0] = alignxf[12]; + rPos[1] = alignxf[13]; + rPos[2] = alignxf[14]; + } +} + + +/** + * Sets a 3x3 matrix to the identity matrix + * + * @param M input 3x3 matrix + */ +template +static inline void M3identity( T *M ) +{ + M[0] = M[4] = M[8] = 1.0; + M[1] = M[2] = M[3] = M[5] = M[6] = M[7] = 0.0; +} + +/** + * Gets the current time (in ms) + * + * @return current time (in ms) + */ +static inline unsigned long GetCurrentTimeInMilliSec() +{ + static unsigned long milliseconds; +#ifdef _MSC_VER + SYSTEMTIME stime; + GetSystemTime(&stime); + milliseconds = ((stime.wHour * 60 + stime.wMinute) * 60 + stime.wSecond) * 1000 + stime.wMilliseconds; +#else + static struct timeval tv; + gettimeofday(&tv, NULL); + milliseconds = tv.tv_sec * 1000 + tv.tv_usec / 1000; +#endif + return milliseconds; +} + +/** + * generates random numbers in [0..rnd] + * + * @param rnd maximum number + * @return random number between 0 and rnd + */ +inline int rand(int rnd) +{ + return (int) ((double)rnd * (double)std::rand() / (RAND_MAX + 1.0)); +} + +/** + * generates unsigned character random numbers in [0..rnd] + * + * @param rnd maximum number + * @return random number between 0 and rnd + */ +inline unsigned char randUC(unsigned char rnd) +{ + return (unsigned char) ((float)rnd * std::rand() / (RAND_MAX + 1.0)); +} + +/** + * Computes the angle between 2 points in polar coordinates + */ +inline double polardist(double* p, double *p2) { + double stheta = sin(p[0]) * sin(p2[0]); + double myd2 = acos( stheta * cos(p[1]) * cos(p2[1]) + + stheta * sin(p[1]) * sin(p2[1]) + + cos(p[0]) * cos(p2[0])); + return myd2; +} + + + +inline void toKartesian(double *polar, double *kart) { + kart[0] = polar[2] * cos( polar[1] ) * sin( polar[0] ); + kart[1] = polar[2] * sin( polar[1] ) * sin( polar[0] ); + kart[2] = polar[2] * cos( polar[0] ); + +} + +/** + * Transforms a point in cartesian coordinates into polar + * coordinates + */ + +inline void toPolar(double *n, double *polar) { + double phi, theta, rho; + rho = Len(n); + Normalize3(n); + + // if(fabs(1 - fabs(n[1])) < 0.001) { + // cout << "Y " << n[0] << " " << n[1] << " " << n[2] << endl; + + phi = acos(n[2]); + //if ( fabs(phi) < 0.0001) phi = 0.0001; + //if ( fabs(M_PI - phi) < 0.0001) phi = 0.0001; + + double theta0; + + if(fabs(phi) < 0.0001) { + theta = 0.0; + } else if(fabs(M_PI - phi) < 0.0001) { + theta = 0.0; + } else { + if(fabs(n[0]/sin(phi)) > 1.0) { + if(n[0]/sin(phi) < 0) { + theta0 = M_PI; + } else { + theta0 = 0.0; + } + } else { + theta0 = acos(n[0]/sin(phi)); + + } + + + double sintheta = n[1]/sin(phi); + + double EPS = 0.0001; + + if(fabs(sin(theta0) - sintheta) < EPS) { + theta = theta0; + } else if(fabs( sin( 2*M_PI - theta0 ) - sintheta ) < EPS) { + theta = 2*M_PI - theta0; + } else { + theta = 0; + cout << "Fehler" << endl; + } + + } + /* } else { + theta = 0.0; + phi = 0.0; + }*/ + polar[0] = phi; + polar[1] = theta; + polar[2] = rho; + +} + +/* + * Computes the submatrix without + * row i and column j + * + * @param Min input 4x4 matrix + * @param Mout output 3x3 matrix + * @param i row index i + * @param j column index j + */ +template +static inline void M4_submat(const T *Min, T *Mout, int i, int j ) { + int di, dj, si, sj; + // loop through 3x3 submatrix + for( di = 0; di < 3; di ++ ) { + for( dj = 0; dj < 3; dj ++ ) { + // map 3x3 element (destination) to 4x4 element (source) + si = di + ( ( di >= i ) ? 1 : 0 ); + sj = dj + ( ( dj >= j ) ? 1 : 0 ); + // copy element + Mout[di * 3 + dj] = Min[si * 4 + sj]; + } + } +} + +/* + * Computes the determinant of a 4x4 matrix + * + * @param 4x4 matrix + * @return determinant + */ +template +static inline double M4det(const T *M ) +{ + T det, result = 0, i = 1.0; + T Msub3[9]; + int n; + for ( n = 0; n < 4; n++, i *= -1.0 ) { + M4_submat( M, Msub3, 0, n ); + det = M3det( Msub3 ); + result += M[n] * det * i; + } + return( result ); +} + + +/* + * invert a 4x4 Matrix + * + * @param Min input 4x4 matrix + * @param Mout output matrix + * @return 1 if successful + */ +template +static inline int M4inv(const T *Min, T *Mout ) +{ + T mdet = M4det( Min ); + if ( fabs( mdet ) < 0.0005 ) { + cout << "Error matrix inverting!" << endl; + M4identity( Mout ); + return( 0 ); + } + T mtemp[9]; + int i, j, sign; + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + sign = 1 - ( (i +j) % 2 ) * 2; + M4_submat( Min, mtemp, i, j ); + Mout[i+j*4] = ( M3det( mtemp ) * sign ) / mdet; + } + } + return( 1 ); +} + +/* + * transposes a 4x4 matrix + * + * @param Min input 4x4 matrix + * @param Mout output 4x4 matrix + */ +template +static inline int M4transpose(const T *Min, T *Mout ) +{ + Mout[0] = Min[0]; + Mout[4] = Min[1]; + Mout[8] = Min[2]; + Mout[12] = Min[3]; + Mout[1] = Min[4]; + Mout[5] = Min[5]; + Mout[9] = Min[6]; + Mout[13] = Min[7]; + Mout[2] = Min[8]; + Mout[6] = Min[9]; + Mout[10] = Min[10]; + Mout[14] = Min[11]; + Mout[3] = Min[12]; + Mout[7] = Min[13]; + Mout[11] = Min[14]; + Mout[15] = Min[15]; + return( 1 ); +} + +/* +++++++++-------------++++++++++++ + * NAME + * choldc + * DESCRIPTION + * Cholesky Decomposition of a symmetric + * positive definite matrix + * Overwrites lower triangle of matrix + * Numerical Recipes, but has a bit of + * the fancy C++ template thing happening + * +++++++++-------------++++++++++++ */ +static inline bool choldc(double A[3][3], double diag[3]) +{ + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = i; j < 3; j++) { + double sum = A[i][j]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * A[j][k]; + if (i == j) { + if (sum < 1.0e-7) + return false; + diag[i] = sqrt(sum); + } else { + A[j][i] = sum / diag[i]; + } + } + } + return true; +} + + +/* +++++++++-------------++++++++++++ + * NAME + * choldc + * DESCRIPTION + * Cholesky Decomposition of a symmetric + * positive definite matrix + * Overwrites lower triangle of matrix + * Numerical Recipes, but has a bit of + * the fancy C++ template thing happening + * +++++++++-------------++++++++++++ */ +static inline bool choldc(unsigned int n, double **A, double *diag) +{ + for (unsigned int i = 0; i < n; i++) { + for (unsigned int j = i; j < n; j++) { + double sum = A[i][j]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * A[j][k]; + if (i == j) { + if (sum < 1.0e-7) + return false; + diag[i] = sqrt(sum); + } else { + A[j][i] = sum / diag[i]; + } + } + } + return true; +} + + +/* +++++++++-------------++++++++++++ + * NAME + * cholsl + * DESCRIPTION + * Solve Ax=B after choldc + * +++++++++-------------++++++++++++ */ +static inline void cholsl(double A[3][3], + double diag[3], + double B[3], + double x[3]) +{ + for (int i=0; i < 3; i++) { + double sum = B[i]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * x[k]; + x[i] = sum / diag[i]; + } + for (int i=2; i >= 0; i--) { + double sum = x[i]; + for (int k=i+1; k < 3; k++) + sum -= A[k][i] * x[k]; + x[i] = sum / diag[i]; + } +} + + +/* +++++++++-------------++++++++++++ + * NAME + * cholsl + * DESCRIPTION + * Solve Ax=B after choldc + * +++++++++-------------++++++++++++ */ +static inline void cholsl(unsigned int n, + double **A, + double *diag, + double *B, + double *x) +{ + for (unsigned int i=0; i < n; i++) { + double sum = B[i]; + for (int k=(int)i-1; k >= 0; k--) + sum -= A[i][k] * x[k]; + x[i] = sum / diag[i]; + } + for (int i=(int)n-1; i >= 0; i--) { + double sum = x[i]; + for (unsigned int k=i+1; k < n; k++) + sum -= A[k][i] * x[k]; + x[i] = sum / diag[i]; + } +} + + +/** + * Transforms a a quaternion and a translation vector into a 4x4 + * Matrix + * + * @param quat input quaternion + * @param t input translation + * @param mat output matrix + */ +static inline void QuatToMatrix4(const double *quat, const double *t, double *mat) +{ + // double q00 = quat[0]*quat[0]; + double q11 = quat[1]*quat[1]; + double q22 = quat[2]*quat[2]; + double q33 = quat[3]*quat[3]; + double q03 = quat[0]*quat[3]; + double q13 = quat[1]*quat[3]; + double q23 = quat[2]*quat[3]; + double q02 = quat[0]*quat[2]; + double q12 = quat[1]*quat[2]; + double q01 = quat[0]*quat[1]; + mat[0] = 1 - 2 * (q22 + q33); + mat[5] = 1 - 2 * (q11 + q33); + mat[10] = 1 - 2 * (q11 + q22); + mat[4] = 2.0*(q12-q03); + mat[1] = 2.0*(q12+q03); + mat[8] = 2.0*(q13+q02); + mat[2] = 2.0*(q13-q02); + mat[9] = 2.0*(q23-q01); + mat[6] = 2.0*(q23+q01); + + mat[3] = mat[7] = mat[11] = 0.0; + + if (t == 0) { + mat[12] = mat[13] = mat[14] = 0.0; + } else { + mat[12] = t[0]; + mat[13] = t[1]; + mat[14] = t[2]; + } + mat[15] = 1.0; +} + + +/** + * Transforms a 4x4 Transformation Matrix into a quaternion + * + * @param mat matrix to be converted + * @param quat resulting quaternion + * @param t resulting translation + */ +static inline void Matrix4ToQuat(const double *mat, double *quat, double *t = 0) +{ + + double T, S, X, Y, Z, W; + T = 1 + mat[0] + mat[5] + mat[10]; + if ( T > 0.00000001 ) { // to avoid large distortions! + + S = sqrt(T) * 2; + X = ( mat[9] - mat[6] ) / S; + Y = ( mat[2] - mat[8] ) / S; + Z = ( mat[4] - mat[1] ) / S; + W = 0.25 * S; + } else if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0: + S = sqrt( 1.0 + mat[0] - mat[5] - mat[10] ) * 2; + X = 0.25 * S; + Y = (mat[4] + mat[1] ) / S; + Z = (mat[2] + mat[8] ) / S; + W = (mat[9] - mat[6] ) / S; + } else if ( mat[5] > mat[10] ) { // Column 1: + S = sqrt( 1.0 + mat[5] - mat[0] - mat[10] ) * 2; + X = (mat[4] + mat[1] ) / S; + Y = 0.25 * S; + Z = (mat[9] + mat[6] ) / S; + W = (mat[2] - mat[8] ) / S; + } else { // Column 2: + S = sqrt( 1.0 + mat[10] - mat[0] - mat[5] ) * 2; + X = (mat[2] + mat[8] ) / S; + Y = (mat[9] + mat[6] ) / S; + Z = 0.25 * S; + W = (mat[4] - mat[1] ) / S; + } + quat[0] = W; + quat[1] = -X; + quat[2] = -Y; + quat[3] = -Z; + + Normalize4(quat); + if (t != 0) { + t[0] = mat[12]; + t[1] = mat[13]; + t[2] = mat[14]; + } +} + +/** + * Transforms a Quaternion to the corresponding Axis-Angle representation + * + * @param quat 4-vector of quaternion + * gets overridden by the axis/angle representation + */ +static inline void QuatToAA(double *quat){ + //double x, y, z, w; + double sum = 0.0; + + double cos_a, angle, x, y, z, sin_a; + + for(int i = 0; i < 4; i++){ + sum += quat[i]*quat[i]; + } + sum = sqrt(sum); + + //quaternion_normalise( |W,X,Y,Z| ); + cos_a = quat[0]/sum; + angle = acos( cos_a ) * 2; + sin_a = sqrt( 1.0 - cos_a * cos_a ); + if ( fabs( sin_a ) < 0.0005 ) sin_a = 1; + x = quat[1] / sin_a; + y = quat[2] / sin_a; + z = quat[3] / sin_a; + + quat[0] = angle; + quat[1] = x; + quat[2] = y; + quat[3] = z; +} + +/** + * Quaternion Multiplication q1 * q2 = q3 + */ +static inline void QMult(const double *q1, const double *q2, double *q3) { + q3[0] = q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3]; + q3[1] = q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2]; + q3[2] = q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1]; + q3[3] = q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0]; +} + +/** + * Quaternion SLERP + * http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/ + */ +static inline void slerp(const double *qa, const double *qb, const double t, double *qm) { + // Calculate angle between them. + double cosHalfTheta = qa[0] * qb[0] + qa[1] * qb[1] + qa[2] * qb[2] + qa[3] * qb[3]; + // if qa=qb or qa=-qb then theta = 0 and we can return qa + if (fabs(cosHalfTheta) >= 1.0) { + qm[0] = qa[0]; + qm[1] = qa[1]; + qm[2] = qa[2]; + qm[3] = qa[3]; + return; + } + // Calculate temporary values. + double halfTheta = acos(cosHalfTheta); + double sinHalfTheta = sqrt(1.0 - cosHalfTheta * cosHalfTheta); + // if theta = 180 degrees then result is not fully defined + // we could rotate around any axis normal to qa or qb + if (fabs(sinHalfTheta) < 0.001){ + qm[0] = (qa[0] * 0.5 + qb[0] * 0.5); + qm[1] = (qa[1] * 0.5 + qb[1] * 0.5); + qm[2] = (qa[2] * 0.5 + qb[2] * 0.5); + qm[3] = (qa[3] * 0.5 + qb[3] * 0.5); + Normalize4(qm); + return; + } + double ratioA = sin((1 - t) * halfTheta) / sinHalfTheta; + double ratioB = sin(t * halfTheta) / sinHalfTheta; + //calculate Quaternion. + qm[0] = (qa[0] * ratioA + qb[0] * ratioB); + qm[1] = (qa[1] * ratioA + qb[1] * ratioB); + qm[2] = (qa[2] * ratioA + qb[2] * ratioB); + qm[3] = (qa[3] * ratioA + qb[3] * ratioB); + Normalize4(qm); +} + +/* taken from ROOT (CERN) + * as well in: + * Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning + * James J. Kuffner + * + * Distance between two rotations in Quaternion form + * Note: The rotation group is isomorphic to a 3-sphere + * with diametrically opposite points identified. + * The (rotation group-invariant) is the smaller + * of the two possible angles between the images of + * the two rotations on that sphere. Thus the distance + * is never greater than pi/2. + */ +inline double quat_dist(double quat1[4], double quat2[4]) { + double chordLength = std::fabs(quat1[0]*quat2[0] + quat1[1]*quat2[1] + quat1[2]*quat2[2] + quat1[3]*quat2[3]); + if (chordLength > 1) chordLength = 1; // in case roundoff fouls us up + return acos(chordLength) / M_PI * 180.0; +} + + + +/** + * Converts a Rotation given by Axis-Angle and a Translation into a + * 4x4 Transformation matrix + * + * @param aa axis and angle aa[0] is the angle + * @param trans vector containing the translation + * @param matrix matrix to be computed + */ +inline void AAToMatrix(double *aa, double *trans, double *matrix ){ + double rcos = cos(aa[0]); + double rsin = sin(aa[0]); + double u = aa[1]; + double v = aa[2]; + double w = aa[3]; + + matrix[0] = rcos + u*u*(1-rcos); + matrix[1] = w * rsin + v*u*(1-rcos); + matrix[2] = -v * rsin + w*u*(1-rcos); + matrix[3] = 0.0; + matrix[4] = -w * rsin + u*v*(1-rcos); + matrix[5] = rcos + v*v*(1-rcos); + matrix[6] = u * rsin + w*v*(1-rcos); + matrix[7] = 0.0; + matrix[8] = v * rsin + u*w*(1-rcos); + matrix[9] = -u * rsin + v*w*(1-rcos); + matrix[10] = rcos + w*w*(1-rcos); + matrix[11] = 0.0; + matrix[12] = trans[0]; + matrix[13] = trans[1]; + matrix[14] = trans[2]; + matrix[15] = 1.0; + +} + + +/** + * Factors matrix A into lower and upper triangular matrices + * (L and U respectively) in solving the linear equation Ax=b. + * + * @param A (input/output) Matrix(1:n, 1:n) In input, matrix to be + * factored. On output, overwritten with lower and + * upper triangular factors. + * + * @param indx (output) Vector(1:n) Pivot vector. Describes how + * the rows of A were reordered to increase + * numerical stability. + * + * @return return int(0 if successful, 1 otherwise) + */ +inline int LU_factor( double A[4][4], int indx[4]) +{ + int M = 4; + int N = 4; + + int i=0,j=0,k=0; + int jp=0; + + double t; + + int minMN = 4; + + for (j = 0; j < minMN; j++) + { + + // find pivot in column j and test for singularity. + + jp = j; + t = fabs(A[j][j]); + for (i = j+1; i < M; i++) + if ( fabs(A[i][j]) > t) + { + jp = i; + t = fabs(A[i][j]); + } + + indx[j] = jp; + + // jp now has the index of maximum element + // of column j, below the diagonal + + if ( A[jp][j] == 0 ) + return 1; // factorization failed because of zero pivot + + + if (jp != j) // swap rows j and jp + for (k = 0; k < N; k++) + { + t = A[j][k]; + A[j][k] = A[jp][k]; + A[jp][k] =t; + } + + if (j < M) // compute elements j+1:M of jth column + { + // note A(j,j), was A(jp,p) previously which was + // guarranteed not to be zero (Label #1) + // + double recp = 1.0 / A[j][j]; + + for (k = j+1; k < M; k++) + A[k][j] *= recp; + } + + if (j < minMN) + { + // rank-1 update to trailing submatrix: E = E - x*y; + // + // E is the region A(j+1:M, j+1:N) + // x is the column vector A(j+1:M,j) + // y is row vector A(j,j+1:N) + + int ii,jj; + + for (ii = j+1; ii < M; ii++) + for (jj = j+1; jj < N; jj++) + A[ii][jj] -= A[ii][j]*A[j][jj]; + } + } + + return 0; +} + +/** + * Solves a linear system via LU after LU factor + * + * @param A 4x4 matrix + * @param indx indices + * @param b 4 vectort + * + * @return 0 + * + */ +inline int LU_solve(const double A[4][4], const int indx[4], double b[4]) +{ + int i,ii=0,ip,j; + int n = 4; + double sum = 0.0; + + for (i = 0; i < n; i++) + { + ip=indx[i]; + sum=b[ip]; + b[ip]=b[i]; + if (ii) + for (j = ii;j <= i-1; j++) + sum -= A[i][j]*b[j]; + else if (sum) ii=i; + b[i]=sum; + } + for (i = n-1; i >= 0; i--) + { + sum=b[i]; + for (j = i+1; j < n; j++) + sum -= A[i][j]*b[j]; + b[i]=sum/A[i][i]; + } + + return 0; +} + +/** + * Calculates the cross product of two 4-vectors + * + * @param x input 1 + * @param y input 2 + * @param T output + * + */ +template +static inline void Cross(const T *x, const T *y, T *result) +{ + result[0] = x[1] * y[2] - x[2] * y[1]; + result[1] = x[2] * y[0] - x[0] * y[2]; + result[2] = x[0] * y[1] - x[1] * y[0]; + return; +} + +/** + * converts a quaternion to Euler angels in the roll pitch yaw system + */ +static inline void QuatRPYEuler(const double *quat, double *euler) +{ + double n = sqrt(quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3]); + double s = n > 0?2./(n*n):0.; + + double m00, m10, m20, m21, m22; + + + double xs = quat[1]*s; + double ys = quat[2]*s; + double zs = quat[3]*s; + + double wx = quat[0]*xs; + double wy = quat[0]*ys; + double wz = quat[0]*zs; + + double xx = quat[1]*xs; + double xy = quat[1]*ys; + double xz = quat[1]*zs; + + double yy = quat[2]*ys; + double yz = quat[2]*zs; + + double zz = quat[3]*zs; + + m00 = 1.0 - (yy + zz); + m22 = 1.0 - (xx + yy); + + + m10 = xy + wz; + + m20 = xz - wy; + m21 = yz + wx; + + euler[0] = atan2(m21,m22); + euler[1] = atan2(-m20,sqrt(m21*m21 + m22*m22)); + euler[2] = atan2(m10,m00); +} + +/** + * converts from Euler angels in the roll pitch yaw system to a quaternion + */ +static inline void RPYEulerQuat(const double *euler, double *quat) +{ + double sphi = sin(euler[0]); + double stheta = sin(euler[1]); + double spsi = sin(euler[2]); + double cphi = cos(euler[0]); + double ctheta = cos(euler[1]); + double cpsi = cos(euler[2]); + + double _r[3][3] = { //create rotational Matrix + {cpsi*ctheta, cpsi*stheta*sphi - spsi*cphi, cpsi*stheta*cphi + spsi*sphi}, + {spsi*ctheta, spsi*stheta*sphi + cpsi*cphi, spsi*stheta*cphi - cpsi*sphi}, + { -stheta, ctheta*sphi, ctheta*cphi} + }; + +#define MY_MAX(a,b) (((a)>(b))?(a):(b)) + double _w = sqrt(MY_MAX(0, 1 + _r[0][0] + _r[1][1] + _r[2][2]))/2.0; + double _x = sqrt(MY_MAX(0, 1 + _r[0][0] - _r[1][1] - _r[2][2]))/2.0; + double _y = sqrt(MY_MAX(0, 1 - _r[0][0] + _r[1][1] - _r[2][2]))/2.0; + double _z = sqrt(MY_MAX(0, 1 - _r[0][0] - _r[1][1] + _r[2][2]))/2.0; + quat[0] = _w; + quat[1] = (_r[2][1] - _r[1][2])>=0?fabs(_x):-fabs(_x); + quat[2] = (_r[0][2] - _r[2][0])>=0?fabs(_y):-fabs(_y); + quat[3] = (_r[1][0] - _r[0][1])>=0?fabs(_z):-fabs(_z); +} + + +inline void transform3(const double *alignxf, double *point) +{ + double x_neu, y_neu, z_neu; + x_neu = point[0] * alignxf[0] + point[1] * alignxf[4] + point[2] * alignxf[8]; + y_neu = point[0] * alignxf[1] + point[1] * alignxf[5] + point[2] * alignxf[9]; + z_neu = point[0] * alignxf[2] + point[1] * alignxf[6] + point[2] * alignxf[10]; + point[0] = x_neu + alignxf[12]; + point[1] = y_neu + alignxf[13]; + point[2] = z_neu + alignxf[14]; +} + +inline void transform3(const double *alignxf, const double *point, double *tpoint) +{ + tpoint[0] = point[0] * alignxf[0] + point[1] * alignxf[4] + point[2] * alignxf[8] + alignxf[12]; + tpoint[1] = point[0] * alignxf[1] + point[1] * alignxf[5] + point[2] * alignxf[9] + alignxf[13]; + tpoint[2] = point[0] * alignxf[2] + point[1] * alignxf[6] + point[2] * alignxf[10] + alignxf[14]; +} + +inline std::string trim(const std::string& source) +{ + unsigned int start = 0, end = source.size() - 1; + while(source[start] == ' ') start++; + while(source[end] == ' ') end--; + return source.substr(start, end - start + 1); +} + +#endif diff --git a/.svn/pristine/f1/f1d76e217e02ea2e0e974be732f416557bc96070.svn-base b/.svn/pristine/f1/f1d76e217e02ea2e0e974be732f416557bc96070.svn-base new file mode 100644 index 0000000..0173ec6 Binary files /dev/null and b/.svn/pristine/f1/f1d76e217e02ea2e0e974be732f416557bc96070.svn-base differ diff --git a/.svn/pristine/f2/f2012ced5071b0a45a023dca3fc1e048bcd89a31.svn-base b/.svn/pristine/f2/f2012ced5071b0a45a023dca3fc1e048bcd89a31.svn-base new file mode 100644 index 0000000..cb26fe0 --- /dev/null +++ b/.svn/pristine/f2/f2012ced5071b0a45a023dca3fc1e048bcd89a31.svn-base @@ -0,0 +1,309 @@ +/* + * icp6Dapx implementation + * + * Copyright (C) Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of the ICP error function minimization via approximation + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#include "slam6d/icp6Dapx.h" + +#include "slam6d/globals.icc" +#include +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error + * of the point pairs, using the approximation + * sin(x) = x. + * + * @param Pairs Vector of point pairs (pairs of corresponding points) + * @param alignxf The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_APX::Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = Pairs.size(); + + // ?!? <= 3 + if (n <= 3) { + M4identity(alignxf); + return 0; + } + + int i; + + double A[3][3]; + double B[3]; + memset(&A[0][0], 0, 9 * sizeof(double)); + memset(&B[0], 0, 3 * sizeof(double)); + + double sum = 0; + double p1[3], p2[3]; + + for (i = 0; i < n; i++) { + p1[0] = Pairs[i].p1.x; + p1[1] = Pairs[i].p1.y; + p1[2] = Pairs[i].p1.z; + p2[0] = Pairs[i].p2.x; + p2[1] = Pairs[i].p2.y; + p2[2] = Pairs[i].p2.z; + + double p12[3] = { p1[0] - p2[0], p1[1] - p2[1], p1[2] - p2[2] }; + double p2c[3] = { p2[0] - centroid_d[0], p2[1] - centroid_d[1], p2[2] - centroid_d[2] }; + + sum += Len2(p12); + + B[0] += (p12[2]*p2c[1] - p12[1]*p2c[2]); + B[1] += (p12[0]*p2c[2] - p12[2]*p2c[0]); + B[2] += (p12[1]*p2c[0] - p12[0]*p2c[1]); + A[0][0] += (sqr(p2c[1]) + sqr(p2c[2])); + A[0][1] -= p2c[0] * p2c[1]; + A[0][2] -= p2c[0] * p2c[2]; + A[1][1] += (sqr(p2c[0]) + sqr(p2c[2])); + A[1][2] -= p2c[1] * p2c[2]; + A[2][2] += (sqr(p2c[0]) + sqr(p2c[1])); + } + + double error = sqrt(sum / n); + if (!quiet) { + cout.setf(ios::basefield); + cout << "APX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)Pairs.size() << " points" << endl; + } + + // Solve eqns + double diag[3]; + if (!choldc(A, diag)) { + printf("Couldn't find transform.\n"); + return -1.0; + } + double x[3]; + cholsl(A, diag, B, x); + + // Interpret results + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = centroid_m[0] - alignxf[0]*centroid_d[0] - alignxf[4]*centroid_d[1] - alignxf[8]*centroid_d[2]; + alignxf[13] = centroid_m[1] - alignxf[1]*centroid_d[0] - alignxf[5]*centroid_d[1] - alignxf[9]*centroid_d[2]; + alignxf[14] = centroid_m[2] - alignxf[2]*centroid_d[0] - alignxf[6]*centroid_d[1] - alignxf[10]*centroid_d[2]; + alignxf[15] = 1; + + return error; +} + + +double icp6D_APX::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const vector pairs[OPENMP_NUM_THREADS], + double *alignxf) + +{ + +#ifdef _OPENMP + + double At[OPENMP_NUM_THREADS][3][3]; + double Bt[OPENMP_NUM_THREADS][3]; + + for (int j=0;j < OPENMP_NUM_THREADS; j++) + for (int k = 0;k < 3; k++) { + for (int l = 0; l < 3; l++) + At[j][k][l] = 0.0; + Bt[j][k] = 0.0; + } + double A[3][3]; + double B[3]; + memset(&A[0][0], 0, 9 * sizeof(double)); + memset(&B[0], 0, 3 * sizeof(double)); + + double s = 0.0; + double error; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + double cms[3], cds[3]; + for (int i = 0; i < 3; i++) cms[i] = cds[i] = 0.0; + + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + + // compute centroids for all the pairs + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + + cms[0] += centroid_m[i][0]; + cms[1] += centroid_m[i][1]; + cms[2] += centroid_m[i][2]; + cds[0] += centroid_d[i][0]; + cds[1] += centroid_d[i][1]; + cds[2] += centroid_d[i][2]; + } + + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + error = sqrt(s / (double)pairs_size); + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + for (unsigned int i = 0 ; i < (unsigned int)pairs[thread_num].size() ; i++) + { + At[thread_num][0][0] += (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.y - cd[1]) + + (pairs[thread_num][i].p2.z - cd[2])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][0][1] -= (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.y - cd[1]); + At[thread_num][0][2] -= (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][1][1] += (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.x - cd[0]) + + (pairs[thread_num][i].p2.z - cd[2])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][1][2] -= (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][2][2] += (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.x - cd[0]) + + (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.y - cd[1]); + + Bt[thread_num][0] += (pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z) + * (pairs[thread_num][i].p2.y - cd[1]) - (pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) + * (pairs[thread_num][i].p2.z - cd[2]); + Bt[thread_num][1] += (pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + * (pairs[thread_num][i].p2.z - cd[2]) - (pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z) + * (pairs[thread_num][i].p2.x - cd[0]); + Bt[thread_num][2] += (pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) * + (pairs[thread_num][i].p2.x - cd[0]) - (pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + * (pairs[thread_num][i].p2.y - cd[1]); + } + } + + for (int j = 0;j < OPENMP_NUM_THREADS; j++) + for (int k = 0; k < 3; k++) { + for (int l = 0; l < 3; l++) + A[k][l] += At[j][k][l] ; + B[k] += Bt[j][k]; + } + + // continue with linear solution + + if (!quiet) { + cout.setf(ios::basefield); + cout << "PAPX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + // Solve eqns + double diag[3]; + if (!choldc(A, diag)) { + printf("Couldn't find transform.\n"); + return -1.0; + } + double x[3]; + cholsl(A, diag, B, x); + + // Interpret results + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = cm[0] - alignxf[0]*cd[0] - alignxf[4]*cd[1] - alignxf[8]*cd[2]; + alignxf[13] = cm[1] - alignxf[1]*cd[0] - alignxf[5]*cd[1] - alignxf[9]*cd[2]; + alignxf[14] = cm[2] - alignxf[2]*cd[0] - alignxf[6]*cd[1] - alignxf[10]*cd[2]; + alignxf[15] = 1; + + return error; +#else + cout << "Point_Point_Align_Parallel:"<< endl + << "Please compile with OpenMP support to use this function" << endl; + exit(-1); +#endif +} + + +void icp6D_APX::computeRt(const double *x, const double *dx, double *alignxf) +{ + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = dx[0]; + alignxf[13] = dx[1]; + alignxf[14] = dx[2]; + alignxf[15] = 1; +} diff --git a/.svn/pristine/f2/f201e6a61a676209aa2e9a2a38e842f63733d361.svn-base b/.svn/pristine/f2/f201e6a61a676209aa2e9a2a38e842f63733d361.svn-base new file mode 100644 index 0000000..c28969e --- /dev/null +++ b/.svn/pristine/f2/f201e6a61a676209aa2e9a2a38e842f63733d361.svn-base @@ -0,0 +1,285 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ +/* +#include +#include +#include +#include +*/ +#include +#include +#include +#include + + +#include "slam6d/scan_io_rxp.h" +#include "slam6d/scan_io_riegl_project.h" +#include "riegl/scanlib.hpp" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +static vector filenames; +static vector eulers; + +static xmlNodePtr srSeekChildNodeNamed(xmlNodePtr p, const char * name){ + if(p == NULL || name == NULL) return NULL; + + for(p=p->children; p!= NULL; p=p->next){ + if(p->name && (strcmp((char*)p->name,name) == 0)){ + return p; + } + } + return NULL; +} + +static void matrixToPos(const char* matrix, double *rPos, double *rPosTheta) { + stringstream ss( stringstream::in | stringstream::out); + ss << matrix; + + double inMatrix[16], tMatrix[16]; + for (int n=0; n<16; n++) + { + ss >> inMatrix[n]; + } + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; +} + +static int getPaths(const char* filename) { + double rPos[3]; + double rPosTheta[3]; + xmlDocPtr doc; + xmlXPathContextPtr xpathCtx; + xmlXPathObjectPtr xpathObj; + const xmlChar* names = BAD_CAST "/project/scanpositions/scanposition"; + + /* Load XML document */ + doc = xmlParseFile(filename); + if (doc == NULL) { + fprintf(stderr, "Error: unable to parse file \"%s\"\n", filename); + return(-1); + } + + /* Create xpath evaluation context */ + xpathCtx = xmlXPathNewContext(doc); + if(xpathCtx == NULL) { + fprintf(stderr,"Error: unable to create new XPath context\n"); + xmlFreeDoc(doc); + return(-1); + } + + /* Evaluate xpath expression */ + xpathObj = xmlXPathEvalExpression(names, xpathCtx); + + // parse the scanpositions + xmlNodeSetPtr nodes = xpathObj->nodesetval; + int size; + int iter; + + size = (nodes) ? nodes->nodeNr : 0; + + for(iter = 0; iter < size; iter++) { + xmlNodePtr position = nodes->nodeTab[iter]; + xmlNodePtr name = srSeekChildNodeNamed(position, "name"); + xmlNodePtr singlescans = srSeekChildNodeNamed(position, "singlescans"); + xmlNodePtr scan = srSeekChildNodeNamed(singlescans, "scan"); + xmlNodePtr file = srSeekChildNodeNamed(scan, "file"); + + xmlNodePtr sop = srSeekChildNodeNamed(position, "sop"); + xmlNodePtr matrix = srSeekChildNodeNamed(sop, "matrix"); + + + char FILEN[1024]; + char POSITIONN[1024]; + char MATRIX[1024]; + + if (file != 0 && name != 0 && matrix != 0) { + sprintf(POSITIONN, "%s", xmlNodeGetContent(name )); + sprintf(FILEN, "%s", xmlNodeGetContent(file )); + sprintf(MATRIX, "%s", xmlNodeGetContent(matrix)); + + // compute pose + double *euler = new double[6]; + matrixToPos(MATRIX, rPos, rPosTheta); + for (unsigned int i = 0; i < 3; i++) euler[i] = rPos[i]; + for (unsigned int i = 0; i < 3; i++) euler[i+3] = rPosTheta[i]; + eulers.push_back(euler); + + // put together filename + string filename = ""; + filename = "SCANS/" + (string)POSITIONN + "/SINGLESCANS/" + (string)FILEN + ""; + //cout << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << filename << endl; + cout << "Project Scan " << filename << " is mapped to index " << iter << endl; + filenames.push_back(filename); + } + + + + + } + + + + /* Cleanup of XPath data */ + xmlXPathFreeObject(xpathObj); + xmlXPathFreeContext(xpathCtx); + + /* free the document */ + xmlFreeDoc(doc); + + return(0); +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_project::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + + // very first call to readScans... + if (fileCounter == start) { + // parse riegl projects xml file + string xmlFileName = dir + "project.rsp"; + + getPaths(xmlFileName.c_str()); + + } + string scanFileName; + string poseFileName; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + scanFileName = "file://" + dir + filenames[fileCounter]; + + // read 3D scan + + cout << "Processing Scan " << scanFileName; + cout.flush(); + + + + for (unsigned int i = 0; i <= 5; i++) euler[i] = eulers[fileCounter][i]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // open scanfile + std::tr1::shared_ptr rc; + rc = basic_rconnection::create(scanFileName); + rc->open(); + + // decoder splits the binary file into readable chunks + decoder_rxpmarker dec(rc); + // importer interprets the chunks + importer imp(&ptss, maxDist, minDist); + + // iterate over chunks + buffer buf; + for ( dec.get(buf); !dec.eoi(); dec.get(buf) ) { + imp.dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + + + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_project; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/f2/f2467a74ad3a4d2c1eefa6515a622d5239956a2e.svn-base b/.svn/pristine/f2/f2467a74ad3a4d2c1eefa6515a622d5239956a2e.svn-base new file mode 100644 index 0000000..6f957ce --- /dev/null +++ b/.svn/pristine/f2/f2467a74ad3a4d2c1eefa6515a622d5239956a2e.svn-base @@ -0,0 +1,113 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui_statictext.cpp - GLUI_StaticText Control + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + +/****************************** GLUI_StaticText::draw() **********/ + +void GLUI_StaticText::draw( int x, int y ) +{ + int orig; + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + + draw_text(); + + restore_window( orig ); +} + + +/****************************** GLUI_StaticText::set_text() **********/ + +void GLUI_StaticText::set_text( char *text ) +{ + int orig; + + /**** Erase old text first *****/ + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + translate_to_origin(); + erase_text(); + glPopMatrix(); + + set_name( text ); + + if ( NOT can_draw() ) + return; + + orig = set_to_glut_window(); + /**** Redraw the text in the window ****/ + glMatrixMode( GL_MODELVIEW ); + glPushMatrix(); + translate_to_origin(); + draw_text(); + glPopMatrix(); + + restore_window( orig ); +} + + +/************************************ GLUI_StaticText::update_size() **********/ + +void GLUI_StaticText::update_size( void ) +{ + int text_size; + + if ( NOT glui ) + return; + + text_size = string_width( name ); + + if ( w < text_size ) + w = text_size; +} + + +/****************************** GLUI_StaticText::draw_text() **********/ + +void GLUI_StaticText::draw_text( void ) +{ + if ( NOT can_draw() ) + return; + + erase_text(); + draw_name( 0, 9 ); +} + + +/****************************** GLUI_StaticText::erase_text() **********/ + +void GLUI_StaticText::erase_text( void ) +{ + if ( NOT can_draw() ) + return; + + set_to_bkgd_color(); + glDisable( GL_CULL_FACE ); + glBegin( GL_TRIANGLES ); + glVertex2i( 0,0 ); glVertex2i( w, 0 ); glVertex2i( w, h ); + glVertex2i( 0, 0 ); glVertex2i( w, h ); glVertex2i( 0, h ); + glEnd(); +} + + + diff --git a/.svn/pristine/f3/f33703cbb6053f625e652daf442f083252e3f393.svn-base b/.svn/pristine/f3/f33703cbb6053f625e652daf442f083252e3f393.svn-base new file mode 100644 index 0000000..036c110 --- /dev/null +++ b/.svn/pristine/f3/f33703cbb6053f625e652daf442f083252e3f393.svn-base @@ -0,0 +1,243 @@ +/** + * @file + * @brief Representation of a 3D point type + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __POINT_TYPE_H__ +#define __POINT_TYPE_H__ + +#include "point.h" +#include "data_types.h" + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +#include +#include + +class Scan; + + + +class PointType { +public: + + static const unsigned int USE_NONE; + static const unsigned int USE_REFLECTANCE; + static const unsigned int USE_AMPLITUDE; + static const unsigned int USE_DEVIATION; + static const unsigned int USE_HEIGHT; + static const unsigned int USE_TYPE; + static const unsigned int USE_COLOR; + static const unsigned int USE_TIME; + static const unsigned int USE_INDEX; + + PointType(); + + PointType(unsigned int _types); + + bool hasReflectance(); + bool hasAmplitude(); + bool hasDeviation(); + bool hasType(); + bool hasColor(); + bool hasTime(); + bool hasIndex(); + + unsigned int getReflectance(); + unsigned int getAmplitude(); + unsigned int getDeviation(); + unsigned int getTime(); + unsigned int getIndex(); + unsigned int getType(); + unsigned int getType(unsigned int type); + + + unsigned int getPointDim(); + + static PointType deserialize(std::ifstream &f); + + void serialize(std::ofstream &f); + unsigned int toFlags() const; + + template + T *createPoint(const Point &P, unsigned int index=0); + + template + Point createPoint(T *p); + + //! Aquire DataPointer objects from \a scan, determined by its types + void useScan(Scan* scan); + + //! Release the DataPointer objects + void clearScan(); + + //! Create a point with attributes via the DataPointers from the scan + template + T* createPoint(unsigned int i, unsigned int index = 0); + + //! Create an array with coordinate+attribute array per point with transfer of ownership + template + T** createPointArray(Scan* scan); + +private: + /** + * collection of flags + */ + unsigned int types; + /** + * Derived from types: 3 spatial dimensions + 1 for each flag set + **/ + unsigned int pointdim; + + /** + * Stores the size of each point in bytes + **/ + unsigned int pointbytes; + + /** + * Derived from types, to map type to the array index for each point + **/ + int dimensionmap[8]; + + bool hasType(unsigned int type); + + unsigned int getScanSize(Scan* scan); + + DataXYZ* m_xyz; + DataRGB* m_rgb; + DataReflectance* m_reflectance; + DataAmplitude* m_amplitude; + DataType* m_type; + DataDeviation* m_deviation; +}; + + +template +T *PointType::createPoint(const Point &P, unsigned int index ) { + unsigned int counter = 0; + + T *p = new T[pointdim]; + p[counter++] = P.x; + p[counter++] = P.y; + p[counter++] = P.z; + if (types & USE_REFLECTANCE) { + p[counter++] = P.reflectance; + } + if (types & USE_AMPLITUDE) { + p[counter++] = P.amplitude; + } + if (types & USE_DEVIATION) { + p[counter++] = P.deviation; + } + if (types & USE_TYPE) { + p[counter++] = P.type; + } + if (types & USE_COLOR) { + memcpy(&p[counter], P.rgb, 3); + counter++; + } + if (types & USE_TIME) { +// p[counter++] = P.timestamp; + } + if (types & USE_INDEX) { + p[counter++] = index; + } + + return p; +} + +template +Point PointType::createPoint(T *p) { + Point P; + unsigned int counter = 0; + + P.x = p[counter++]; + P.y = p[counter++]; + P.z = p[counter++]; + if (types & USE_REFLECTANCE) { + P.reflectance = p[counter++]; + } + if (types & USE_AMPLITUDE) { + P.amplitude = p[counter++]; + } + if (types & USE_DEVIATION) { + P.deviation = p[counter++]; + } + if (types & USE_TYPE) { + P.type = p[counter++]; + } + if (types & USE_COLOR) { + memcpy(P.rgb, &p[counter], 3); + counter++; + } + if (types & USE_TIME) { +// P.timestamp = p[counter++]; + } + + return P; +} + +template +T *PointType::createPoint(unsigned int i, unsigned int index) { + unsigned int counter = 0; + T* p = new T[pointdim]; + + for(unsigned int j = 0; j < 3; ++j) + p[counter++] = (*m_xyz)[i][j]; + + // if a type is requested try to write the value if the scan provided one + if (types & USE_REFLECTANCE) { + p[counter++] = (m_reflectance? (*m_reflectance)[i]: 0); + } + if (types & USE_AMPLITUDE) { + p[counter++] = (m_amplitude? (*m_amplitude)[i]: 0); + } + if (types & USE_DEVIATION) { + p[counter++] = (m_deviation? (*m_deviation)[i]: 0); + } + if (types & USE_TYPE) { + p[counter++] = (m_type? (*m_type)[i]: 0); + } + if (types & USE_COLOR) { + if(m_rgb) + memcpy(&p[counter], (*m_rgb)[i], 3); + else + p[counter] = 0; + counter++; + } + if (types & USE_TIME) { + } + if (types & USE_INDEX) { + p[counter++] = index; + } + + return p; +} + +template +T** PointType::createPointArray(Scan* scan) +{ + // access data with prefetching + useScan(scan); + + // create a float array with requested attributes by pointtype via createPoint + unsigned int nrpts = getScanSize(scan); + T** pts = new T*[nrpts]; + for(unsigned int i = 0; i < nrpts; i++) { + pts[i] = createPoint(i); + } + + // unlock access to data, remove unneccessary data fields + clearScan(); + + return pts; +} + +#endif diff --git a/.svn/pristine/f3/f36d5fed1ab8322e62725cae2ac52ef887a76ae0.svn-base b/.svn/pristine/f3/f36d5fed1ab8322e62725cae2ac52ef887a76ae0.svn-base new file mode 100644 index 0000000..3411acd --- /dev/null +++ b/.svn/pristine/f3/f36d5fed1ab8322e62725cae2ac52ef887a76ae0.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Zoller+Froehlich file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_ZUF_H__ +#define __SCAN_IO_ZUF_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_zuf : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/f3/f3997f49e5b64d30d27a6d47200d97372414e72d.svn-base b/.svn/pristine/f3/f3997f49e5b64d30d27a6d47200d97372414e72d.svn-base new file mode 100644 index 0000000..2d07280 --- /dev/null +++ b/.svn/pristine/f3/f3997f49e5b64d30d27a6d47200d97372414e72d.svn-base @@ -0,0 +1,533 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + v0.1.0 initial version (stdin added) + v0.2.0 popen added + v0.2.7 review by Bruno Barberi Gnecco + v0.39 autoconf + v0.41 fix integer and heap overflow, change color output + v0.46 fix blank spaces problem in filenames + */ + +#include +#include +#include +#include +#ifdef HAVE_UNISTD_H +/* #include */ +#endif + +/* Windows needs extra code to work fine, ^Z in BMP's will stop input else. + * I do not have any idea when this text mode will be an advantage + * but the MS community seems to like to do simple things in a complex way. */ +#if defined(O_BINARY) && (defined(__WIN32) || defined(__WIN32__)\ + || defined(__WIN64) || defined(__WIN64__) || defined(__MSDOS__)) +# include +# define SET_BINARY(_f) do {if (!isatty(_f)) setmode (_f, O_BINARY);} while (0) +#else +# define SET_BINARY(f) (void)0 +#endif + +#include "pnm.h" +#ifdef HAVE_PAM_H +# include +# include +# include +# include +#else +# include +#endif + +#define EE() fprintf(stderr,"\nERROR "__FILE__" L%d: ",__LINE__) +#define E0(x0) {EE();fprintf(stderr,x0 "\n"); } +#define F0(x0) {EE();fprintf(stderr,x0 "\n"); exit(1);} +#define F1(x0,x1) {EE();fprintf(stderr,x0 "\n",x1); exit(1);} + +/* + * Weights to use for the different colours when converting a ppm + * to greyscale. These weights should sum to 1.0 + * + * The below values have been chosen to reflect the fact that paper + * goes a reddish-yellow as it ages. + * + * v0.41: for better performance, we use integer instead of double + * this integer value divided by 1024 (2^10) gives the factor + */ +#define PPM_RED_WEIGHT 511 /* .499 */ +#define PPM_GREEN_WEIGHT 396 /* .387 */ +#define PPM_BLUE_WEIGHT 117 /* .114 */ + +/* + feel free to expand this list of usable converting programs + Note 1: the last field must be NULL. + Note 2: "smaller" extensions must come later: ".pnm.gz" must come + before ".pnm". + calling external programs is a security risk + ToDo: for better security replace gzip by /usr/bin/gzip ! + */ +char *xlist[]={ + ".pnm.gz", "gzip -cd", /* compressed pnm-files, gzip package */ + ".pbm.gz", "gzip -cd", + ".pgm.gz", "gzip -cd", + ".ppm.gz", "gzip -cd", + ".pnm.bz2", "bzip2 -cd", + ".pbm.bz2", "bzip2 -cd", + ".pgm.bz2", "bzip2 -cd", + ".ppm.bz2", "bzip2 -cd", + ".jpg", "djpeg -gray -pnm", /* JPG/JPEG, jpeg package */ + ".jpeg", "djpeg -gray -pnm", + ".gif", "giftopnm -image=all", /* GIF, netpbm package */ + ".bmp", "bmptoppm", + ".tiff", "tifftopnm", + ".png", "pngtopnm", /* Portable Network Graphics (PNG) format */ + ".ps", "pstopnm -stdout -portrait -pgm", /* postscript */ + ".eps", "pstopnm -stdout -portrait -pgm", /* encapsulated postscript */ + /* gs -sDEVICE=pgmraw -sOutputFile=- -g609x235 -r141x141 -q -dNOPAUSE */ + ".fig", "fig2dev -L ppm -m 3", /* xfig files, transfig package */ + NULL +}; + +/* return a pointer to command converting file to pnm or NULL */ +char *testsuffix(char *name){ + int i; char *rr; + + for(i = 0; xlist[i] != NULL; i += 2 ) { + if((rr=strstr(name, xlist[i])) != NULL) + if(strlen(rr)==strlen(xlist[i])) /* handle *.eps.pbm correct */ + return xlist[i+1]; + } + return NULL; +} + + +char read_char(FILE *f1){ // filter #-comments + char c; + int m; + for(m=0;;){ + c=fgetc(f1); + if( feof(f1) ) E0("read feof"); + if( ferror(f1) ) F0("read ferror"); + if( c == '#' ) { m = 1; continue; } + if( m == 0 ) return c; + if( c == '\n' ) m = 0; + } +} + + +/* + for simplicity only PAM of netpbm is used, the older formats + PBM, PGM and PPM can be handled implicitly by PAM routines (js05) + v0.43: return 1 if multiple file (hold it open), 0 otherwise + */ +#ifdef HAVE_PAM_H +int readpgm(char *name, pix * p, int vvv) { + static FILE *fp=NULL; + static char *pip; + char magic1, magic2; + int i, j, sample, minv = 0, maxv = 0, eofP=0; + struct pam inpam; + tuple *tuplerow; + + assert(p); + + if (!fp) { // fp!=0 for multi-pnm and idx>0 + /* open file; test if conversion is needed. */ + if (name[0] == '-' && name[1] == '\0') { + fp = stdin; + SET_BINARY (fileno(fp)); // Windows needs it for correct work + } + else { + pip = testsuffix(name); + if (!pip) { + fp = fopen(name, "rb"); + if (!fp) + F1("opening file %s", name); + } + else { + char *buf = (char *)malloc((strlen(pip)+strlen(name)+4)); + sprintf(buf, "%s \"%s\"", pip, name); /* allow spaces in filename */ + if (vvv) { + fprintf(stderr, "# popen( %s )\n", buf); + } +#ifdef HAVE_POPEN + /* potential security vulnerability, if name contains tricks */ + /* example: gunzip -c dummy | rm -rf * */ + /* windows needs "rb" for correct work, linux not, cygwin? */ + /* ToDo: do you have better code to go arround this? */ +#if defined(__WIN32) || defined(__WIN32__) || defined(__WIN64) || defined(__WIN64__) + fp = popen(buf, "rb"); /* ToDo: may fail, please report */ + if (!fp) fp = popen(buf, "r"); /* 2nd try, the gnu way */ +#else + fp = popen(buf, "r"); +#endif +#else + F0("sorry, compile with HAVE_POPEN to use pipes"); +#endif + if (!fp) + F1("opening pipe %s", buf); + free(buf); + } + } + } + + /* netpbm 0.10.36 tries to write a comment to nonzero char** comment_p */ + /* patch by C.P.Schmidt 21Nov06 */ + memset (&inpam, 0, sizeof(inpam)); + + /* read pgm-header */ + /* struct pam may change between netpbm-versions, causing problems? */ +#ifdef PAM_STRUCT_SIZE /* ok for netpbm-10.35 */ + /* new-and-better? but PAM_STRUCT_SIZE is not defined in netpbm-10.18 */ + pnm_readpaminit(fp, &inpam, PAM_STRUCT_SIZE(tuple_type)); +#else /* ok for netpbm-10.18 old-and-bad for new netpbms */ + pnm_readpaminit(fp, &inpam, sizeof(inpam)); +#endif + + p->x = inpam.width; + p->y = inpam.height; + magic1=(inpam.format >> 8) & 255; /* 'P' for PNM,PAM */ + magic2=(inpam.format ) & 255; /* '7' for PAM */ + minv=inpam.maxval; + if (vvv) { + fprintf(stderr, "# readpam: format=0x%04x=%c%c h*w(d*b)=%d*%d(%d*%d)\n", + inpam.format, /* magic1*256+magic2 */ + ((magic1>31 && magic1<127)?magic1:'.'), + ((magic2>31 && magic2<127)?magic2:'.'), + inpam.height, + inpam.width, + inpam.depth, + inpam.bytes_per_sample); + } + if ( (1.*(p->x*p->y))!=((1.*p->x)*p->y) ) + F0("Error integer overflow"); + if ( !(p->p = (unsigned char *)malloc(p->x*p->y)) ) + F1("Error at malloc: p->p: %d bytes", p->x*p->y); + tuplerow = pnm_allocpamrow(&inpam); + for ( i=0; i < inpam.height; i++ ) { + pnm_readpamrow(&inpam, tuplerow); /* exit on error */ + for ( j = 0; j < inpam.width; j++ ) { + if (inpam.depth>=3) + /* tuplerow is unsigned long (see pam.h sample) */ + /* we expect 8bit or 16bit integers, + no overflow up to 32-10-2=20 bits */ + sample + = ((PPM_RED_WEIGHT * tuplerow[j][0] + 511)>>10) + + ((PPM_GREEN_WEIGHT * tuplerow[j][1] + 511)>>10) + + ((PPM_BLUE_WEIGHT * tuplerow[j][2] + 511)>>10); + else + sample = tuplerow[j][0]; + sample = 255 * sample / inpam.maxval; /* normalize to 8 bit */ + p->p[i*inpam.width+j] = sample; + if (maxvsample) minv=sample; + } + } + pnm_freepamrow(tuplerow); + pnm_nextimage(fp,&eofP); + if (vvv) + fprintf(stderr,"# readpam: min=%d max=%d eof=%d\n", minv, maxv, eofP); + p->bpp = 1; + if (eofP) { + if (!pip) fclose(fp); +#ifdef HAVE_POPEN + else pclose(fp); /* close pipe (v0.43) */ +#endif + fp=NULL; return 0; + } + return 1; /* multiple image = concatenated pnm */ +} + +#else +/* + if PAM not installed, here is the fallback routine, + which is not so powerful but needs no dependencies from other libs + */ +static int fread_num(char *buf, int bps, FILE *f1) { + int mode, j2, j3; char c1; + for (j2=0;j2>=8; + } + buf[0] += c1-'0'; + } + return 0; +} + +/* + * read image file, used to read the OCR-image and database images, + * image file can be PBM/PGM/PPM in RAW or TEXT + * name: filename of image (input) + * p: pointer where to store the loaded image (input) + * vvv: verbose mode (input) + * return: 0=ok, 1=further image follows (multiple image), -1 on error + * this is the fall back routine if libpnm cant be used + */ +int readpgm( char *name, pix *p, int vvv){ + static char c1, c2; /* magic bytes, file type */ + static char *pip; // static to survive multiple calls + int nx,ny,nc,mod,i,j; // buffer + static FILE *f1=NULL; // trigger read new file or multi image file + unsigned char *pic; + char buf[512]; + int lx, ly, dx; + int bps=1; /* bytes per sample (0..255..65535...) */ + + if (!f1) { /* first of multiple image, on MultipleImageFiles c1 was read */ + pip=NULL; + if (name[0]=='-' && name[1]==0) { + f1=stdin; /* is this correct ??? */ + SET_BINARY (fileno(f1)); // Windows needs it for correct work + } else { + pip=testsuffix(name); + if (!pip) { + f1=fopen(name,"rb"); if (!f1) F1("opening file %s",name); + } else { + sprintf(buf,"%s \"%s\"",pip,name); /* ToDo: how to prevent OVL ? */ + if (vvv) { fprintf(stderr,"# popen( %s )\n",buf); } +#ifdef HAVE_POPEN +#if defined(__WIN32) || defined(__WIN32__) || defined(__WIN64) || defined(__WIN64__) + f1 = popen(buf, "rb"); /* ToDo: may fail, please report */ + if (!f1) f1 = popen(buf, "r"); /* 2nd try, the gnu way */ +#else + f1=popen(buf,"r"); +#endif +#else + F0("only PNM files supported (compiled without HAVE_POPEN)"); +#endif + if (!f1) F1("opening pipe %s",buf); + } + } + c1=fgetc(f1); if (feof(f1)) { E0("unexpected EOF"); return -1; } + } + c2=fgetc(f1); if (feof(f1)) { E0("unexpected EOF"); return -1; } + // check the first two bytes of the PNM file + // PBM PGM PPM + // TXT P1 P2 P3 + // RAW P4 P5 P6 + if (c1!='P' || c2 <'1' || c2 >'6') { + fprintf(stderr,"\nread-PNM-error: file number is %2d," + " position %ld", fileno(f1), ftell(f1)); + fprintf(stderr,"\nread-PNM-error: bad magic bytes, expect 0x50 0x3[1-6]" + " but got 0x%02x 0x%02x", 255&c1, 255&c2); + if (f1) fclose(f1); f1=NULL; return(-1); + } + nx=ny=nc=0; if (c2=='4' || c2=='1') nc=1; + for(mod=0;((c2=='5' || c2=='2') && (mod&7)<6) + || ((c2=='6' || c2=='3') && (mod&7)<6) + || ((c2=='4' || c2=='1') && (mod&7)<4);) + { // mode: 0,2,4=[ |\t|\r|\n] + // 1=nx 3=ny 5=nc 8-13=#rem + c1=read_char(f1); // former: # mod|=8 + if( (mod & 1)==0 ) // whitespaces + if( !isspace(c1) ) mod++; + if( (mod & 1)==1 ) { + if( !isdigit(c1) ) { + if( !isspace(c1) )F0("unexpected character"); + mod++; } + else if(mod==1) nx=nx*10+c1-'0'; + else if(mod==3) ny=ny*10+c1-'0'; + else if(mod==5) nc=nc*10+c1-'0'; + } + } + if(vvv) + fprintf(stderr,"# PNM P%c h*w=%d*%d c=%d head=%ld",c2,ny,nx,nc,ftell(f1)); + if( c2=='4' && (nx&7)!=0 ){ + /* nx=(nx+7)&~7;*/ if(vvv)fprintf(stderr," PBM2PGM nx %d",(nx+7)&~7); + } + if (nc>> 8) bps=2; // bytes per color and pixel + if (nc>>16) bps=3; + if (nc>>24) bps=4; + fflush(stdout); + if ( (1.*(nx*ny))!=((1.*nx)*ny) ) + F0("Error integer overflow"); + pic=(unsigned char *)malloc( nx*ny ); + if(pic==NULL)F0("memory failed"); // no memory + for (i=0;i>10) + + ((PPM_GREEN_WEIGHT * (unsigned char)buf[2*bps-1] + 511)>>10) + + ((PPM_BLUE_WEIGHT * (unsigned char)buf[3*bps-1] + 511)>>10); + /* normalized to 0..255 */ + } + } + if( c2=='1' ) + for(mod=j=i=0,nc=255;i>3,ny,f1))F0("read"); // read all bytes + for(ly=ny-1;ly>=0;ly--) + for(lx=nx-1;lx>=0;lx--) + pic[lx+ly*nx]=( (128 & (pic[(lx+ly*dx)>>3]<<(lx & 7))) ? 0 : 255 ); + nc=255; + } + { + int minc=255, maxc=0; + for (i=0;imaxc) maxc=pic[i]; + if (pic[i]p=pic; p->x=nx; p->y=ny; p->bpp=1; + if (vvv) fprintf(stderr,"\n"); + c1=0; c1=fgetc(f1); /* needed to trigger feof() */ + if (feof(f1) || c1!='P') { /* EOF ^Z or not 'P' -> single image */ + if (vvv) fprintf(stderr,"# PNM EOF\n"); + if(name[0]!='-' || name[1]!=0){ /* do not close stdin */ + if(!pip) fclose(f1); +#ifdef HAVE_POPEN + else pclose(f1); /* close pipe (Jul00) */ +#endif + } + f1=NULL; /* set file is closed flag */ + return 0; + } + return 1; /* multiple image = concatenated pnm's */ +} +#endif /* HAVE_PAM_H */ + +int writepgm(char *nam,pix *p){// P5 raw-pgm + FILE *f1;int a,x,y; + f1=fopen(nam,"wb");if(!f1)F0("open"); // open-error + fprintf(f1,"P5\n%d %d\n255\n",p->x,p->y); + if(p->bpp==3) + for(y=0;yy;y++) + for(x=0;xx;x++){ // set bit + a=x+y*p->x; + p->p[a]=(p->p[3*a+0]+p->p[3*a+1]+p->p[3*a+2])/3; + } + if(p->y!=(int)fwrite(p->p,p->x,p->y,f1))F0("write"); // write all lines + fclose(f1); + return 0; +} + +/* adding colours, care about range */ +void addrgb(unsigned char rgb[3], int sr, int sg, int sb) { + int add[3], i; + /* add colour on dark pixels, subtract on white pixels */ + add[0]=2*sr; add[1]=2*sg; add[2]=2*sb; + if (((int)rgb[0])+((int)rgb[1])+((int)rgb[2])>=3*160) + { add[0]=(-sg-sb); add[1]=(-sr-sb); add[2]=(-sr-sg); } // rgb/2? + /* care about colour range */ + for (i=0;i<3;i++) + if (add[i]<0) rgb[i]-=(( rgb[i]<-add[i])? rgb[i]:-add[i]); + else rgb[i]+=((255-rgb[i]< add[i])?255-rgb[i]: add[i]); +} +/* + * pgmtoppm or pnmtopng, use last 3 bits for farbcoding + * replaces old writebmp variant + */ +int writeppm(char *nam, pix *p){ /* P6 raw-ppm */ + FILE *f1=NULL; int x,y,f1t=0; unsigned char rgb[3], gray, bits; + char buf[128]; + if (strchr(nam,'|')) return -1; /* no nasty code */ + if (strstr(nam,".ppm")) { f1=fopen(nam,"wb"); } +#ifdef HAVE_POPEN + /* be sure that nam contains hacker code like "dummy | rm -rf *" */ + if (!f1) { + strncpy(buf,"pnmtopng > ",12); /* no spaces within filenames allowed! */ + strncpy(buf+11,nam,111); buf[123]=0; + strncpy(buf+strlen(buf),".png",5); + /* we dont care about win "wb" here, never debug on win systems */ + f1 = popen(buf, "w"); if(f1) f1t=1; else E0("popen pnmtopng"); + } + if (!f1) { + strncpy(buf,"gzip -c > ",11); + strncpy(buf+10,nam,109); buf[120]=0; + strncpy(buf+strlen(buf),".ppm.gz",8); + /* we dont care about win "wb" here, never debug on win systems */ + f1 = popen(buf, "w"); if(f1) f1t=1; else E0("popen gzip -c"); + } +#endif + if (!f1) { + strncpy(buf,nam,113); buf[114]=0; + strncpy(buf+strlen(buf),".ppm",5); + f1=fopen(buf,"wb"); + } + if (!f1) F0("open"); /* open-error */ + fprintf(f1,"P6\n%d %d\n255\n",p->x,p->y); + if ( p->bpp==1 ) + for (y=0;yy;y++) + for (x=0;xx;x++){ + gray=p->p[x+y*p->x]; + bits=(gray&0x0F); /* save marker bits */ + /* replace used bits to get max. contrast, 160=0xA0 */ + gray = ((gray<160) ? (gray&~0x0F)>>1 : 0xC3|(gray>>1) ); + rgb[0] = rgb[1] = rgb[2] = gray; + if ((bits & 1)==1) { addrgb(rgb,0,0,8+8*((x+y)&1)); } /* dark blue */ + if ((bits & 8)==8) { addrgb(rgb,0,0, 16); } /* blue (low priority) */ + if ((bits & 6)==6) { addrgb(rgb,0,0, 32); } /* blue */ + if ((bits & 6)==4) { addrgb(rgb,0,48,0); } /* green */ + if ((bits & 6)==2) { addrgb(rgb,32,0,0); } /* red */ + if ( 1!=(int)fwrite(rgb,3,1,f1) ) { E0("write"); y=p->y; break; } + } + if ( p->bpp==3 ) + if ( p->y!=(int)fwrite(p->p,3*p->x,p->y,f1) ) E0("write"); +#ifdef HAVE_POPEN + if (f1t) { pclose (f1); f1=NULL; } +#endif + if (f1) fclose(f1); + return 0; +} + +// high bit = first, +int writepbm(char *nam,pix *p){// P4 raw-pbm + FILE *f1;int x,y,a,b,dx,i; + dx=(p->x+7)&~7; // enlarge to a factor of 8 + for(y=0;yy;y++) + for(x=0;xx;x++){ // set bit + a=(x+y*dx)>>3;b=7-(x&7); // adress an bitisnumber + i=x+y*p->x; + if(p->bpp==3) i=(p->p[3*i+0]+p->p[3*i+1]+p->p[3*i+2])/3; + else i= p->p[ i ]; + i=((i>127)?0:1); + p->p[a]=(p->p[a] & (~1<x,p->y); + if(p->y!=(int)fwrite(p->p,dx>>3,p->y,f1))F0("write"); // write all lines + fclose(f1); + return 0; +} +// ------------------------------------------------------------------------ diff --git a/.svn/pristine/f3/f39c13d0debd57fa9165d6cf81a90423a6d87aff.svn-base b/.svn/pristine/f3/f39c13d0debd57fa9165d6cf81a90423a6d87aff.svn-base new file mode 100644 index 0000000..1363a60 --- /dev/null +++ b/.svn/pristine/f3/f39c13d0debd57fa9165d6cf81a90423a6d87aff.svn-base @@ -0,0 +1,79 @@ +// ===================================================================================== +// +// Filename: scan_ransac.h +// +// Description: +// +// Version: 1.0 +// Created: 09/27/2010 01:21:49 PM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#ifndef __SCAN_RANSAC_H__ +#define __SCAN_RANSAC_H__ + + +#include +#include "numbers.h" + +void *dummy(void *); + +class NumberDetector { + public: + vector *scan_points; + + NumberDetector(vector *points, const char *number_topic, bool _visualize) : visualize(_visualize) { + //number_publisher = n.advertise(number_topic, 10); + //marker_publisher = n.advertise("Marker_array", 10); + + scan_points = points; +/* + sn.set_numbers_size(10); + sn.set_board_p_size(10); + sn.set_char_p_size(10); + sn.set_angle_size(10); +*/ + for (unsigned int i = 0; i < 10; i++) { + detectedNumbers[i] = numberConsensus(i); + /* + sn.numbers[i].header.frame_id = "/map"; + sn.board_p[i] = 0; + sn.char_p[i] = 0; + sn.angle[i] = 0; + */ + } + + running = true; + ransac_thread = new pthread_t(); + pthread_create( ransac_thread, NULL, dummy , (void*)this); + } + + ~NumberDetector() { + running = false; + pthread_join(*ransac_thread, NULL); + + } + + void RANSAC(vector &scan_points); + private: + bool FindNumber(vector &points, double plane[4]); + void printNumbers(); + + pthread_t *ransac_thread; + numberConsensus detectedNumbers[10]; +// sickday::StampedNumbers sn; + + bool visualize; + bool running; +}; + + + + + +#endif diff --git a/.svn/pristine/f3/f3d07d6fd1844fb609b1520fee0191e1b31cc4d0.svn-base b/.svn/pristine/f3/f3d07d6fd1844fb609b1520fee0191e1b31cc4d0.svn-base new file mode 100644 index 0000000..8fe69ef --- /dev/null +++ b/.svn/pristine/f3/f3d07d6fd1844fb609b1520fee0191e1b31cc4d0.svn-base @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/.svn/pristine/f4/f4410a526ca7b7b1ae591a9b2aba2bb08ea8784e.svn-base b/.svn/pristine/f4/f4410a526ca7b7b1ae591a9b2aba2bb08ea8784e.svn-base new file mode 100644 index 0000000..5bdc319 --- /dev/null +++ b/.svn/pristine/f4/f4410a526ca7b7b1ae591a9b2aba2bb08ea8784e.svn-base @@ -0,0 +1,47 @@ +ANN: Approximate Nearest Neighbors +Version: 1.1.1 +Release Date: Aug 4, 2006 +---------------------------------------------------------------------------- +Copyright (c) 1997-2005 University of Maryland and Sunil Arya and David +Mount All Rights Reserved. + +This program is free software; you can redistribute it and/or modify it +under the terms of the GNU Lesser Public License as published by the +Free Software Foundation; either version 2.1 of the License, or (at your +option) any later version. + +This program is distributed in the hope that it will be useful, but +WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser Public License for more details. + +A copy of the terms and conditions of the license can be found in +License.txt or online at + + http://www.gnu.org/copyleft/lesser.html + +To obtain a copy, write to the Free Software Foundation, Inc., +59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +Disclaimer +---------- +The University of Maryland and the authors make no representations about +the suitability or fitness of this software for any purpose. It is +provided "as is" without express or implied warranty. +--------------------------------------------------------------------- + +Authors +------- +David Mount +Dept of Computer Science +University of Maryland, +College Park, MD 20742 USA +mount@cs.umd.edu +http://www.cs.umd.edu/~mount/ + +Sunil Arya +Dept of Computer Science +Hong University of Science and Technology +Clearwater Bay, HONG KONG +arya@cs.ust.hk +http://www.cs.ust.hk/faculty/arya/ diff --git a/.svn/pristine/f4/f4804ce45241c3da4b45f1b58b006c047ee7667a.svn-base b/.svn/pristine/f4/f4804ce45241c3da4b45f1b58b006c047ee7667a.svn-base new file mode 100644 index 0000000..3b7e6a0 --- /dev/null +++ b/.svn/pristine/f4/f4804ce45241c3da4b45f1b58b006c047ee7667a.svn-base @@ -0,0 +1,100 @@ +/** + * @file fbr_global.h + * @brief Globally used headers, functions, structures + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date 2012/05/9 14:00 + */ + +#ifndef FBR_GLOBAL_H_ +#define FBR_GLOBAL_H_ + +#include +#include +#include +#include +#include +#include +#include "slam6d/io_types.h" +#include "slam6d/globals.icc" + +using namespace std; + +namespace fbr{ + + //Vertical angle of view of scanner +#define MAX_ANGLE 60.0 +#define MIN_ANGLE -40.0 + + /** + * @enum projection_method + */ + enum projection_method{ + EQUIRECTANGULAR, + CYLINDRICAL, + MERCATOR, + RECTILINEAR, + PANNINI, + STEREOGRAPHIC, + ZAXIS, + }; + /** + * @enum panorama_map_method + */ + enum panorama_map_method{ + FARTHEST, + EXTENDED, + }; + /** + * @enum feature_method + */ + enum feature_detector_method{ + SIFT_DET, + SURF_DET, + ORB_DET, + FAST_DET, + STAR_DET, + }; + enum feature_descriptor_method{ + SIFT_DES, + SURF_DES, + ORB_DES, + }; + /** + * @enum matching_method + */ + enum matcher_method{ + BRUTEFORCE, + FLANN, + KNN, + RADIUS, + RATIO, + }; + /** + * @enum registration_method + */ + enum registration_method{ + ALL, + RANSAC, + DISABLE, + }; + //RANSAC iteration +#define RANSACITR 20000 + //Inlier influence +#define iInfluence 0.5 + + string scanFormatToString(IOType format); + IOType stringToScanFormat(string format); + string projectionMethodToString(projection_method method); + projection_method stringToProjectionMethod(string method); + string panoramaMapMethodToString(panorama_map_method method); + panorama_map_method stringToPanoramaMapMethod(string method); + string featureDetectorMethodToString(feature_detector_method method); + feature_detector_method stringToFeatureDetectorMethod(string method); + string featureDescriptorMethodToString(feature_descriptor_method method); + feature_descriptor_method stringToFeatureDescriptorMethod(string method); + string matcherMethodToString(matcher_method method); + matcher_method stringToMatcherMethod(string method); + string registrationMethodToString(registration_method method); + registration_method stringToRegistrationMethod(string method); +} +#endif /* FBR_GLOBAL_H_ */ diff --git a/.svn/pristine/f4/f4ba4c126bc87e2ca8c5bea2991b35eff9c567a0.svn-base b/.svn/pristine/f4/f4ba4c126bc87e2ca8c5bea2991b35eff9c567a0.svn-base new file mode 100644 index 0000000..927027b --- /dev/null +++ b/.svn/pristine/f4/f4ba4c126bc87e2ca8c5bea2991b35eff9c567a0.svn-base @@ -0,0 +1,271 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.svn/pristine/f5/f53abef50cf6236de7d3ec8c2f832a1e7c35845a.svn-base b/.svn/pristine/f5/f53abef50cf6236de7d3ec8c2f832a1e7c35845a.svn-base new file mode 100644 index 0000000..3b41b0c --- /dev/null +++ b/.svn/pristine/f5/f53abef50cf6236de7d3ec8c2f832a1e7c35845a.svn-base @@ -0,0 +1,32 @@ +/** + * @file + * @brief IO of a 3D scan in velodyne raw file format + * @author Liwei. Computer School of Wuhan University, China. + */ + +#ifndef __SCAN_IO_VELODYNE_H__ +#define __SCAN_IO_VELODYNE_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for VELODYNE scans + * + * The compiled class is available as shared object file + */ +class ScanIO_velodyne : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); + + int fileCounter; +}; + +#endif diff --git a/.svn/pristine/f5/f5950faa0a86da548e5702b487ca7b926abebc5b.svn-base b/.svn/pristine/f5/f5950faa0a86da548e5702b487ca7b926abebc5b.svn-base new file mode 100644 index 0000000..e20459d --- /dev/null +++ b/.svn/pristine/f5/f5950faa0a86da548e5702b487ca7b926abebc5b.svn-base @@ -0,0 +1,980 @@ +/* + * veloscan implementation + * + * Copyright (C) Andreas Nuechter, Li Wei, Li Ming + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of a 3D scan and of 3D scan matching in all variants + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + * @author Andreas Nuechter. Jacobs University Bremen, Germany + */ + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::stringstream; + +#include "veloslam/veloscan.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +#include "slam6d/Boctree.h" +#include "veloslam/veloscan.h" +#include "veloslam/pcddump.h" +#include "veloslam/trackermanager.h" +#include "veloslam/clusterboundingbox.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif +#include "veloslam/velodefs.h" +#include "veloslam/color_util.h" + +int scanCount =0; +TrackerManager trackMgr; +float absf(float a) +{ + return a>0?a:-a; +} + +Trajectory::Trajectory() +{ + +} + + +/** + * default Constructor + */ +VeloScan::VeloScan() + : Scan() +{ + isTrackerHandled =false; +} + +/** + * Desctuctor + */ +VeloScan::~VeloScan() +{ + FreeAllCellAndCluterMemory(); +} + +int VeloScan::DeletePoints() +{ + FreeAllCellAndCluterMemory(); + return 0; +} + +/** + * Copy constructor + */ +VeloScan::VeloScan(const VeloScan& s) + : Scan(s) +{ } + +int VeloScan::TransferToCellArray(int maxDist, int minDist) +{ +#define DefaultColumnSize 360 + Point P; + DataXYZ xyz(get("xyz")); + int size= xyz.size(); + + int columnSize= 360; //cfg.cfgPlaneDetect.ColumnSize; + int CellSize= 50; //cfg.cfgPlaneDetect.CellSize; + + int MinRad=minDist; //cfg.cfgPlaneDetect.MinRad; + int MaxRad=maxDist; //cfg.cfgPlaneDetect.MaxRad + + if((MaxRad-MinRad)%CellSize!=0) + CellSize=10; + + int i,j,count=0; + int CellNumber=(MaxRad-MinRad)/CellSize; + float flag; + int offset; + + if(columnSize==0) + return -1; + + if(columnSize%360!=0) + columnSize=DefaultColumnSize; + + int sectionSize=columnSize/8; + + scanCellArray.resize(columnSize); + for(i=0; i tanv; + vector::iterator result; + + for(i=0; i=MaxRad) + continue; + + // some point losted which on the vline or hline + if(pt.x >=0 && pt.z>=0 ) + { + if(pt.x > pt.z) + { + flag= pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(pt.x <= 0 && pt.z >=0) + { + if(-pt.x>pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(pt.x<=0 && pt.z<=0) + { + if(-pt.x>-pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(pt.x>=0&&pt.z<=0) + { + if(pt.x>-pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + else + { + continue; + } + + int k= (int)((pt.rad-MinRad)/(CellSize*1.0)); + scanCellArray[offset][k].push_back(&pt); + } + return 0; +} + + + +int VeloScan::CalcCellFeature(cell& cellobj, cellFeature& f) +{ + int outlier; + float lastMaxY; + f.size=cellobj.size(); + f.cellType=0; + + if(f.size==0) + { + f.cellType|=CELL_TYPE_INVALID; + return 0; + } + + f.ave_x= f.ave_y = f.ave_z=0.0; + f.delta_y=0; + + int i=0; + for(i=0; ix; + f.ave_z+=cellobj[i]->z; + f.ave_y+=cellobj[i]->y; + + // if(cellobj[i]->type & POINT_TYPE_BELOW_R) + // f.cellType |=CELL_TYPE_BELOW_R; + + if(i==0) + { + outlier=0; + f.min_x=f.max_x=cellobj[i]->x; + f.min_z=f.max_z=cellobj[i]->z; + lastMaxY=f.min_y=f.max_y=cellobj[i]->y; + } + else + { + if(f.max_xx) f.max_x=cellobj[i]->x; + + if(f.min_x>cellobj[i]->x) f.min_x=cellobj[i]->x; + + if(f.max_zz) f.max_z=cellobj[i]->z; + + if(f.min_z>cellobj[i]->z) f.min_z=cellobj[i]->z; + + if(f.max_yy) + { + lastMaxY=f.max_y; + f.max_y=cellobj[i]->y; + outlier=i; + } + + if(f.min_y>cellobj[i]->y) + f.min_y=cellobj[i]->y; + + } + } + + if(f.size>1) + { + int y=f.ave_y-cellobj[outlier]->y; + y/=(f.size-1)*1.0; + + if(cellobj[outlier]->y-y<50) + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + else + { + f.max_y=lastMaxY; + f.ave_y=y; + } + } + else + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + + f.ave_x/=f.size*1.0; + f.ave_z/=f.size*1.0; + + for(i=0; iy - f.ave_y); + } + + float threshold; + threshold=f.delta_y; + + float GridThresholdGroundDetect =120; + if( threshold > GridThresholdGroundDetect) + f.cellType =CELL_TYPE_STATIC; + else + f.cellType =CELL_TYPE_GROUND; + + return 0; +} + + +int VeloScan::CalcScanCellFeature() +{ + int i,j; + + if( scanCellArray.size()==0) + return -1; + + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + if( scanCellFeatureArray.size()==0) + { + scanCellFeatureArray.resize(columnSize); + for(i=0; i 120) +// { +// scanCellFeatureArray[j][i].cellType |= CELL_TYPE_STATIC; +// for(int k=0;k type |= POINT_TYPE_ABOVE_DELTA_Y; +// +// } + + } + } + + return 0; +} + +int VeloScan::SearchNeigh(cluster& clu,charvv& flagvv,int i,int j) +{ + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + if(i==-1) + i= columnSize-1; + + if(i==columnSize) + i= 0; + + + if(i<0||i>=columnSize||j<0||j>=cellNumber) + return 0; + + if(flagvv[i][j]==1) + return 0; + if(scanCellFeatureArray[i][j].size==0) + { + flagvv[i][j]=1; + return 0; + } + + if(scanCellFeatureArray[i][j].cellType & CELL_TYPE_STATIC) + { + flagvv[i][j]=1; + + clu.push_back(&scanCellFeatureArray[i][j]); + + SearchNeigh(clu,flagvv,i-1,j-1); + SearchNeigh(clu,flagvv,i-1,j); + SearchNeigh(clu,flagvv,i-1,j+1); + SearchNeigh(clu,flagvv,i,j-1); + SearchNeigh(clu,flagvv,i,j+1); + SearchNeigh(clu,flagvv,i+1,j-1); + SearchNeigh(clu,flagvv,i+1,j); + SearchNeigh(clu,flagvv,i+1,j+1); + + SearchNeigh(clu,flagvv,i,j+2); + SearchNeigh(clu,flagvv,i,j-2); + SearchNeigh(clu,flagvv,i+2,j); + SearchNeigh(clu,flagvv,i-2,j); + + //SearchNeigh(clu,flagvv,i,j+3); + //SearchNeigh(clu,flagvv,i,j-3); + //SearchNeigh(clu,flagvv,i+3,j); + //SearchNeigh(clu,flagvv,i-3,j); + } + + return 0; +} + +int VeloScan::CalcClusterFeature(cluster& clu, clusterFeature& f) +{ + f.size=clu.size(); + + if(f.size==0) + { + return 0; + } + + f.clusterType=0; + f.pointNumber=0; + + f.avg_x =0; f.avg_y=0; f.avg_z=0; + + int i=0; + for(i=0; iave_x; + f.avg_y += clu[i]->ave_y; + f.avg_z += clu[i]->ave_z; + + if(i==0) + { + f.min_x=f.max_x=clu[i]->min_x; + f.min_z=f.max_z=clu[i]->min_z; + f.min_y=f.max_y=clu[i]->min_y; + } + else + { + if(f.max_xmax_x) + f.max_x=clu[i]->max_x; + + if(f.min_x>clu[i]->min_x) + f.min_x=clu[i]->min_x; + + if(f.max_zmax_z) + f.max_z=clu[i]->max_z; + + if(f.min_z>clu[i]->min_z) + f.min_z=clu[i]->min_z; + + if(f.max_ymax_y) + f.max_y=clu[i]->max_y; + + if(f.min_y>clu[i]->min_y) + f.min_y=clu[i]->min_y; + + } + f.pointNumber+=clu[i]->size; + f.theta += clu[i]->size*clu[i]->columnID; + f.radius += clu[i]->size*clu[i]->cellID; + } + + f.size_x=f.max_x-f.min_x; + f.size_z=f.max_z-f.min_z; + f.size_y=f.max_y-f.min_y; + + f.avg_x /= f.size; + f.avg_y /= f.size; + f.avg_z /= f.size; + + f.theta=f.theta / (f.pointNumber*1.0); + f.radius=f.radius / (f.pointNumber*1.0); + + return 0; +} + +int VeloScan::FindAndCalcScanClusterFeature() +{ + int i,j; + + if( scanCellArray.size()==0) + return -1; + + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + charvv searchedFlag; + searchedFlag.resize(columnSize); + for(i=0; i *oct = new BOctTree(PointerArray(xyz_t).get(), + xyz_t.size(), reduction_voxelSize, reduction_pointtype); + + vector center; + center.clear(); + + if (reduction_nrpts > 0) { + if (reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + // storing it as reduced scan + unsigned int size = center.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; +} + +bool findBusCluster(clusterFeature &glu, cluster &gluData) +{ + /* double labelSVM; + for(int i=0;i<360;i++) + { + nod[i].index=i+1; + nod[i].value=intersectionFeature[i].slashLength/slashMaxLength; + } + nod[360].index=-1; + labelSVM= svm_predict(m,nod); + + ofstream output; + output.open("intersection.txt"); + output<<"labelSVM:"<0.5) + cout<<"intersection"< 800 || glu.size_z > 800 ) + { + return false; + } + return true; + // no filter + + //char filename[256]; + //string file; + //sprintf(filename,"c:\\filename%d.txt", objcount); + //file =filename; + //DumpPointtoFile(gluData, file); + //DumpFeaturetoFile(glu, "c:\\feature"); + //objcount++; +} + +//long objcount =0; +// In one scans find which the more like moving object such as pedestrian, car, bus. +bool FindMovingObjcets(clusterFeature &glu, cluster &gluData) +{ + // for debug moving object detections. + + if( glu.size_y > 200 && ((glu.size_x>glu.size_y?glu.size_x:glu.size_y))<360) + { + return false; + } + else if((glu.size_y>350 && glu.size_x<140)|| (glu.size_x>350 && glu.size_y<140)) + { + return false; + } + else if(glu.size_y > 250 ) + { + return false; + } + else if((glu.size_x>glu.size_y?glu.size_x:glu.size_y)>420 && glu.size_z<130) + { + return false; + } + else if((glu.size_x>glu.size_y?glu.size_x:glu.size_y)>3.5 + && ((glu.size_x>glu.size_y?glu.size_x:glu.size_y)/(glu.size_x4)) + { + return false; + } + else if(glu.size_x<700 && glu.size_z<700 && glu.size_y > 100 ) + { + return true; + } + if(glu.size_x>1500 || glu.size_z>1500 || glu.size_x*glu.size_z >600*600 ) + { + return false; + } + if (glu.size_x*glu.size_z > 500*500 && glu.size_x/glu.size_z < 1.5) + { + return false; + } + if(glu.size_y < 100) + { + return false; + } + if((glu.size_x + glu.size_y + glu.size_z)<1.5) + { + return false; + } + if(glu.size_z>700) + { + return false; + } + if(glu.size_x>700) + { + return false; + } + if(( glu.size_x + glu.size_z) <4) + { + return false; + } + if( glu.size_x/glu.size_z> 3.0) + { + return false; + } + + return true; +} + + +// bi classification for distigushed the moving or static +void VeloScan::ClassifiAllObject() +{ + int i,j; + int clustersize=scanClusterArray.size(); + + //Find moving Ojbects + for(i=0; isize(); + cell &gCell =*( gcellFreature.pCell); + + for( k=0; k< gcellFreature.pCell->size();++k) + { + // find Point in scan raw points by point_id; + Point p = *(gCell[k]); + if(gcellFreature.cellType & CELL_TYPE_STATIC) + Pt[p.point_id] = POINT_TYPE_STATIC_OBJECT; + if(gcellFreature.cellType & CELL_TYPE_MOVING) + Pt[p.point_id] = POINT_TYPE_MOVING_OBJECT; + if(gcellFreature.cellType & CELL_TYPE_GROUND) + Pt[p.point_id] = POINT_TYPE_GROUND; + } + + } + } +} + +void VeloScan::FindingAllofObject(int maxDist, int minDist) +{ + TransferToCellArray(maxDist, minDist); + CalcScanCellFeature(); + FindAndCalcScanClusterFeature(); + + return; + } + + +void VeloScan::TrackingAllofObject(int trackingAlgo) +{ + trackMgr.HandleScan(*this,trackingAlgo); + } + +void VeloScan::ClassifiAllofObject() +{ + ClassifiAllObject(); + } + +void VeloScan::ExchangePointCloud() +{ + MarkStaticorMovingPointCloud(); + return; + } diff --git a/.svn/pristine/f5/f5ab2bbd50dc2ab4cf98b901dc3ad06a9d485f95.svn-base b/.svn/pristine/f5/f5ab2bbd50dc2ab4cf98b901dc3ad06a9d485f95.svn-base new file mode 100644 index 0000000..429bf21 --- /dev/null +++ b/.svn/pristine/f5/f5ab2bbd50dc2ab4cf98b901dc3ad06a9d485f95.svn-base @@ -0,0 +1,50 @@ +/** + * @file feature_matcher.h + * @brife matches two sets of features + * This class is a feature matcher that findes the matching features. + * It determines the matching features from two sets of feature descriptors and features. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/29 2:00 + */ + +#ifndef FEATURE_MATCHER_H_ +#define FEATURE_MATCHER_H_ + +#include "fbr_global.h" +#include "feature.h" + +namespace fbr{ + /** + * @class feature_mathcer : match features that has same descriptor method. + * @param matches set of matched features + * @param mMethod matcher_method + * @param knn incase of knn search indecate the number of nearest neighbors + * @param radius incase of radius search indicates the radius of the search + * @param nOfMatches number of matches after the first step + * @param nOfFilteredMatches number of matches after the filteration + */ + class feature_matcher{ + vector matches; + matcher_method mMethod; + unsigned int knn; + double radius; + unsigned int nOfMatches; + unsigned int nOfFilteredMatches; + + void init(matcher_method method, int k, double r); + + public: + feature_matcher(); + feature_matcher(matcher_method method); + feature_matcher(matcher_method method, double p); + void match(feature qFeature, feature tFeature); + vector getMatches(); + matcher_method getMatcherMethod(); + unsigned int getKnn(); + double getRadius(); + unsigned int getNumberOfMatches(); + unsigned int getNumberOfFilteredMatches(); + void getDescription(); + }; +} +#endif /* FEATURE_MATCHER_H_ */ diff --git a/.svn/pristine/f5/f5ac826635c96cb9d47dc7e86ac484d61253ac48.svn-base b/.svn/pristine/f5/f5ac826635c96cb9d47dc7e86ac484d61253ac48.svn-base new file mode 100644 index 0000000..4e69843 --- /dev/null +++ b/.svn/pristine/f5/f5ac826635c96cb9d47dc7e86ac484d61253ac48.svn-base @@ -0,0 +1,207 @@ + +#define WANT_STREAM + + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat1() +{ +// cout << "\nFirst test of Matrix package\n\n"; + Tracer et("First test of Matrix package"); + Tracer::PrintTrace(); + { + Tracer et1("Stage 1"); + int i,j; + + LowerTriangularMatrix L(10); + for (i=1;i<=10;i++) for (j=1;j<=i;j++) L(i,j)=2.0+i*i+j; + SymmetricMatrix S(10); + for (i=1;i<=10;i++) for (j=1;j<=i;j++) S(i,j)=i*j+1.0; + SymmetricMatrix S1 = S / 2.0; + S = S1 * 2.0; + UpperTriangularMatrix U=L.t()*2.0; + Print(LowerTriangularMatrix(L-U.t()*0.5)); + DiagonalMatrix D(10); + for (i=1;i<=10;i++) D(i,i)=(i-4)*(i-5)*(i-6); + Matrix M=(S+U-D+L)*(L+U-D+S); + DiagonalMatrix DD=D*D; + LowerTriangularMatrix LD=L*D; + // expressions split for Turbo C + Matrix M1 = S*L + U*L - D*L + L*L + 10.0; + { M1 = M1 + S*U + U*U - D*U + L*U - S*D; } + { M1 = M1 - U*D + DD - LD + S*S; } + { M1 = M1 + U*S - D*S + L*S - 10.0; } + M=M1-M; + Print(M); + } + { + Tracer et1("Stage 2"); + int i,j; + + LowerTriangularMatrix L(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) L(i,j)=1.0+j; + UpperTriangularMatrix U1(9); + for (j=1;j<=9;j++) for (i=1;i<=j;i++) U1(i,j)=1.0+i; + LowerTriangularMatrix LX(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) LX(i,j)=1.0+i*i; + UpperTriangularMatrix UX(9); + for (j=1;j<=9;j++) for (i=1;i<=j;i++) UX(i,j)=1.0+j*j; + { + L=L+LX/0.5; L=L-LX*3.0; L=LX*2.0+L; + U1=U1+UX*2.0; U1=U1-UX*3.0; U1=UX*2.0+U1; + } + + + SymmetricMatrix S(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) S(i,j)=i*i+j; + { + SymmetricMatrix S1 = S; + S=S1+5.0; + S=S-3.0; + } + + DiagonalMatrix D(9); + for (i=1;i<=9;i++) D(i,i)=S(i,i); + UpperTriangularMatrix U=L.t()*2.0; + { + U1=U1*2.0 - U; Print(U1); + L=L*2.0-D; U=U-D; + } + Matrix M=U+L; S=S*2.0; M=S-M; Print(M); + } + { + Tracer et1("Stage 3"); + int i,j; + Matrix M(10,3), N(10,3); + for (i = 1; i<=10; i++) for (j = 1; j<=3; j++) + { M(i,j) = 2*i-j; N(i,j) = i*j + 20; } + Matrix MN = M + N, M1; + + M1 = M; M1 += N; M1 -= MN; Print(M1); + M1 = M; M1 += M1; M1 = M1 - M * 2; Print(M1); + M1 = M; M1 += N * 2; M1 -= (MN + N); Print(M1); + M1 = M; M1 -= M1; Print(M1); + M1 = M; M1 -= MN + M1; M1 += N + M; Print(M1); + M1 = M; M1 -= 5; M1 -= M; M1 *= 0.2; M1 = M1 + 1; Print(M1); + Matrix NT = N.t(); + M1 = M; M1 *= NT; M1 -= M * N.t(); Print(M1); + M = M * M.t(); + DiagonalMatrix D(10); D = 2; + M1 = M; M1 += D; M1 -= M; M1 = M1 - D; Print(M1); + M1 = M; M1 -= D; M1 -= M; M1 = M1 + D; Print(M1); + M1 = M; M1 *= D; M1 /= 2; M1 -= M; Print(M1); + SymmetricMatrix SM; SM << M; + // UpperTriangularMatrix SM; SM << M; + SM += 10; M1 = SM - M; M1 /=10; M1 = M1 - 1; Print(M1); + } + { + Tracer et1("Stage 4"); + int i,j; + Matrix M(10,3), N(10,5); + for (i = 1; i<=10; i++) for (j = 1; j<=3; j++) M(i,j) = 2*i-j; + for (i = 1; i<=10; i++) for (j = 1; j<=5; j++) N(i,j) = i*j + 20; + Matrix M1; + M1 = M; M1 |= N; M1 &= N | M; + M1 -= (M | N) & (N | M); Print(M1); + M1 = M; M1 |= M1; M1 &= M1; + M1 -= (M | M) & (M | M); Print(M1); + + } + { + Tracer et1("Stage 5"); + int i,j; + BandMatrix BM1(10,2,3), BM2(10,4,1); Matrix M1(10,10), M2(10,10); + for (i=1;i<=10;i++) for (j=1;j<=10;j++) + { M1(i,j) = 0.5*i+j*j-50; M2(i,j) = (i*101 + j*103) % 13; } + BM1.Inject(M1); BM2.Inject(M2); + BandMatrix BM = BM1; BM += BM2; + Matrix M1X = BM1; Matrix M2X = BM2; Matrix MX = BM; + MX -= M1X + M2X; Print(MX); + MX = BM1; MX += BM2; MX -= M1X; MX -= M2X; Print(MX); + SymmetricBandMatrix SM1; SM1 << BM1 * BM1.t(); + SymmetricBandMatrix SM2; SM2 << BM2 * BM2.t(); + SM1 *= 5.5; + M1X *= M1X.t(); M1X *= 5.5; M2X *= M2X.t(); + SM1 -= SM2; M1 = SM1 - M1X + M2X; Print(M1); + M1 = BM1; BM1 *= SM1; M1 = M1 * SM1 - BM1; Print(M1); + M1 = BM1; BM1 -= SM1; M1 = M1 - SM1 - BM1; Print(M1); + M1 = BM1; BM1 += SM1; M1 = M1 + SM1 - BM1; Print(M1); + + } + { + Tracer et1("Stage 6"); + int i,j; + Matrix M(10,10), N(10,10); + for (i = 1; i<=10; i++) for (j = 1; j<=10; j++) + { M(i,j) = 2*i-j; N(i,j) = i*j + 20; } + GenericMatrix GM = M; + GM += N; Matrix M1 = GM - N - M; Print(M1); + DiagonalMatrix D(10); D = 3; + GM = D; GM += N; GM += M; GM += D; + M1 = D*2 - GM + M + N; Print(M1); + GM = D; GM *= 4; GM += 16; GM /= 8; GM -= 2; + GM -= D / 2; M1 = GM; Print(M1); + GM = D; GM *= M; GM *= N; GM /= 3; M1 = M*N - GM; Print(M1); + GM = D; GM |= M; GM &= N | D; M1 = GM - ((D | M) & (N | D)); + Print(M1); + GM = M; M1 = M; GM += 5; GM *= 3; M *= 3; M += 15; M1 = GM - M; + Print(M1); + D.ReSize(10); for (i = 1; i<=10; i++) D(i) = i; + M1 = D + 10; GM = D; GM += 10; M1 -= GM; Print(M1); + GM = M; GM -= D; M1 = GM; GM = D; GM -= M; M1 += GM; Print(M1); + GM = M; GM *= D; M1 = GM; GM = D; GM *= M.t(); + M1 -= GM.t(); Print(M1); + GM = M; GM += 2 * GM; GM -= 3 * M; M1 = GM; Print(M1); + GM = M; GM |= GM; GM -= (M | M); M1 = GM; Print(M1); + GM = M; GM &= GM; GM -= (M & M); M1 = GM; Print(M1); + M1 = M; M1 = (M1.t() & M.t()) - (M | M).t(); Print(M1); + M1 = M; M1 = (M1.t() | M.t()) - (M & M).t(); Print(M1); + + } + + { + Tracer et1("Stage 7"); + // test for bug in MS VC5 + int n = 3; + int k; int j; + Matrix A(n,n), B(n,n); + + //first version - MS VC++ 5 mis-compiles if optimisation is on + for (k=1; k<=n; k++) + { + for (j = 1; j <= n; j++) A(k,j) = ((k-1) * (2*j-1)); + } + + //second version + for (k=1; k<=n; k++) + { + const int k1 = k-1; // otherwise Visual C++ 5 fails + for (j = 1; j <= n; j++) B(k,j) = (k1 * (2*j-1)); + } + + if (A != B) + { + cout << "\nVisual C++ version 5 compiler error?"; + cout << "\nTurn off optimisation"; + } + + A -= B; Print(A); + + } + +// cout << "\nEnd of first test\n"; +} + diff --git a/.svn/pristine/f5/f5bc5429fdd1e2522fc25cf2cd36d6f9abd24fd9.svn-base b/.svn/pristine/f5/f5bc5429fdd1e2522fc25cf2cd36d6f9abd24fd9.svn-base new file mode 100644 index 0000000..314aa4a --- /dev/null +++ b/.svn/pristine/f5/f5bc5429fdd1e2522fc25cf2cd36d6f9abd24fd9.svn-base @@ -0,0 +1,236 @@ +/* + * graph implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of a graph + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graph.h" + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +/** + * Constructor to create an empty graph + */ +Graph::Graph() +{ + nrScans = 0; + start = 0; +} + + +/** + * Constructor to read a Graph from a file. + * The file must have the the number of scans in the first line, + * the number of links to be read in the second and the links in + * the links in the third and fourth line + * + * Example: + * 4 + * 3 + * 0 1 + * 1 2 + * 3 4 + * 4 0 + * + * @param netfile Filename of the file to read + */ +Graph::Graph(const string &netfile) +{ + nrScans = 0; + start = 0; + int local_nrScans, local_nrLinks; + cout << "Reading network " << netfile; + + ifstream file(netfile.c_str()); + file >> local_nrScans + >> local_nrLinks; + + int f, t; + for(int j = 0; j < local_nrLinks; j++) { + if (!file.good()) { + cerr << "Error while reading network structure" << endl; + exit(1); + } + file >> f >> t; + cout << f << " " << t << endl; + addLink(f, t); + } + cout << " structure done." << endl; +} + +/** + * Constructor to build a minimally connected Graph with a given number of scans. + * The loop can optionally be closed, so that the first will be connected to the last scan. + * + * @param nScans The number of Scans + * @param loop Specifies whether the first and last scan should be linked + */ +Graph::Graph(int nScans, bool loop) +{ + int nrLinks = 0; + start = 0; + nrScans = nScans; + + if (loop) { + nrLinks = nScans; + } else { + nrLinks = nScans - 1; + } + + for(int i = 0 ;i < nrLinks; i++){ + from.push_back(i); + if (loop) { + to.push_back(i != nrLinks - 1 ? i + 1 : 0) ; + } else { + to.push_back(i + 1); + } + } +} + + +Graph::Graph(int nodes, double cldist2, int loopsize) +{ + // nodes + 1 + start = 0; + nrScans = nodes; + int nrLinks = nodes - 1; + + for(int i = 0; i < nrLinks; i++){ + from.push_back(i); + to.push_back(i + 1); + } + + // nodes + for (int j = 0; j < nodes; j++) { + for (int k = j + 1; k < nodes; k++) { + if ((abs(k-j) > loopsize) && + (Dist2(Scan::allScans[j]->get_rPos(), Scan::allScans[k]->get_rPos()) < cldist2)) { + addLink(j, k); + } + } + } +} + + + +/** + * Returns the specified link + * + * @param i The i-th link + * @param fromTo 0 is the outgoing node and 1 the ingoing + * @return An integer for the node + */ +int Graph::getLink(int i, int fromTo) +{ + if (i >= 0 && i < (int)from.size()) { + if (fromTo == 0) return from[i]; + else return to[i]; + } + return 0; +} + + +/** + * adds a link to a graph + * + * @param i from node + * @param j to node + */ +void Graph::addLink(int i, int j) +{ + int present = 0; + for (unsigned int iterator = 0; iterator < from.size(); iterator++) { + if (from[iterator] == i) present++; + if (to[iterator] == i) present++; + } + if (present == 0) nrScans++; + present = 0; + for (unsigned int iterator = 0; iterator < from.size(); iterator++) { + if (from[iterator] == j) present++; + if (to[iterator] == j) present++; + } + if (present == 0) nrScans++; + + from.push_back(i); + to.push_back(j); +} + + +/** + * Returns the number of links + * @return number of links + */ +int Graph::getNrLinks() +{ + return from.size(); +} + +/** + * Returns the number of scans + * @return number of scans + */ +int Graph::getNrScans() +{ + return nrScans; +} + +/** + * sets the number of scans + * @param number of scans + */ +void Graph::setNrScans(int _nrScans) +{ + nrScans = _nrScans; +} + +/** + * Returns the number of the first scan + * @return number of the first scan + */ +int Graph::getStart() +{ + return start; +} + +/** + * Returns the number of the last scan + * @return number of the last scan + */ +int Graph::getEnd() +{ + return start+nrScans - 1; +} + +/** + * Prints out the Graph nicely formatted + * @param os the stream to print to + * @param gr which Graph to print + * @return the resulting output stream + */ +ostream& operator<<(ostream& os, Graph* gr) +{ + for(int i = 0; i < (int)gr->from.size() ; i++){ + os << "( " << gr->getLink(i,0) << " - " << gr->getLink(i,1) << " )" << endl; + } + return os; +} diff --git a/.svn/pristine/f5/f5f397c30ba4b82cd03350f0f519cb0eeaf38c68.svn-base b/.svn/pristine/f5/f5f397c30ba4b82cd03350f0f519cb0eeaf38c68.svn-base new file mode 100644 index 0000000..e4843d7 --- /dev/null +++ b/.svn/pristine/f5/f5f397c30ba4b82cd03350f0f519cb0eeaf38c68.svn-base @@ -0,0 +1,24 @@ + + +int glui_img_spindown_dis[] = { 12, 8, /* width, height */ + 255,255,255, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 255,255,255, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 64, 64, 64, 255,255,255, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 127,127,127, + 64, 64, 64, 255,255,255, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 127,127,127, 64, 64, 64, 255,255,255, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 127,127,127, 127,127,127, + 255,255,255, 191,191,191, 191,191,191, 127,127,127, 64, 64, 64, + 255,255,255, 191,191,191, 191,191,191, 127,127,127, 127,127,127, + 127,127,127, 127,127,127, 127,127,127, 255,255,255, 191,191,191, + 127,127,127, 64, 64, 64, 255,255,255, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 191,191,191, 191,191,191, 191,191,191, + 191,191,191, 191,191,191, 127,127,127, 64, 64, 64, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, + 64, 64, 64, +}; diff --git a/.svn/pristine/f6/f6000a481d1b6c8d124bc980415cff170a396104.svn-base b/.svn/pristine/f6/f6000a481d1b6c8d124bc980415cff170a396104.svn-base new file mode 100644 index 0000000..408889a --- /dev/null +++ b/.svn/pristine/f6/f6000a481d1b6c8d124bc980415cff170a396104.svn-base @@ -0,0 +1,100 @@ +//---------------------------------------------------------------------- +// File: bd_tree.h +// Programmer: David Mount +// Description: Declarations for standard bd-tree routines +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed IN, OUT to ANN_IN, ANN_OUT +//---------------------------------------------------------------------- + +#ifndef ANN_bd_tree_H +#define ANN_bd_tree_H + +#include // all ANN includes +#include "kd_tree.h" // kd-tree includes + +//---------------------------------------------------------------------- +// bd-tree shrinking node. +// The main addition in the bd-tree is the shrinking node, which +// is declared here. +// +// Shrinking nodes are defined by list of orthogonal halfspaces. +// These halfspaces define a (possibly unbounded) orthogonal +// rectangle. There are two children, in and out. Points that +// lie within this rectangle are stored in the in-child, and the +// other points are stored in the out-child. +// +// We use a list of orthogonal halfspaces rather than an +// orthogonal rectangle object because typically the number of +// sides of the shrinking box will be much smaller than the +// worst case bound of 2*dim. +// +// BEWARE: Note that constructor just copies the pointer to the +// bounding array, but the destructor deallocates it. This is +// rather poor practice, but happens to be convenient. The list +// is allocated in the bd-tree building procedure rbd_tree() just +// prior to construction, and is used for no other purposes. +// +// WARNING: In the near neighbor searching code it is assumed that +// the list of bounding halfspaces is irredundant, meaning that there +// are no two distinct halfspaces in the list with the same outward +// pointing normals. +//---------------------------------------------------------------------- + +class ANNbd_shrink : public ANNkd_node // splitting node of a kd-tree +{ + int n_bnds; // number of bounding halfspaces + ANNorthHSArray bnds; // list of bounding halfspaces + ANNkd_ptr child[2]; // in and out children +public: + ANNbd_shrink( // constructor + int nb, // number of bounding halfspaces + ANNorthHSArray bds, // list of bounding halfspaces + ANNkd_ptr ic=NULL, ANNkd_ptr oc=NULL) // children + { + n_bnds = nb; // cutting dimension + bnds = bds; // assign bounds + child[ANN_IN] = ic; // set children + child[ANN_OUT] = oc; + } + + ~ANNbd_shrink() // destructor + { + if (child[ANN_IN]!= NULL && child[ANN_IN]!= KD_TRIVIAL) + delete child[ANN_IN]; + if (child[ANN_OUT]!= NULL&& child[ANN_OUT]!= KD_TRIVIAL) + delete child[ANN_OUT]; + if (bnds != NULL) + delete [] bnds; // delete bounds + } + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box); // bounding box + virtual void print(int level, ostream &out);// print node + virtual void dump(ostream &out); // dump node + + virtual void ann_search(ANNdist); // standard search + virtual void ann_pri_search(ANNdist); // priority search + virtual void ann_FR_search(ANNdist); // fixed-radius search +}; + +#endif diff --git a/.svn/pristine/f6/f63dc8476f6f5db2ce6cd5bcfff0ddbe4fe67854.svn-base b/.svn/pristine/f6/f63dc8476f6f5db2ce6cd5bcfff0ddbe4fe67854.svn-base new file mode 100644 index 0000000..576c818 --- /dev/null +++ b/.svn/pristine/f6/f63dc8476f6f5db2ce6cd5bcfff0ddbe4fe67854.svn-base @@ -0,0 +1,52 @@ +/** + * @file candidateOpening.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/candidateOpening.h" + +//============================================================================== +// Static member initializations +//============================================================================== +const unsigned int model::CandidateOpening::NR_FEATURES = 14; + +//============================================================================== +// Class implementation +//============================================================================== +model::CandidateOpening::CandidateOpening() { + +} + +model::CandidateOpening::CandidateOpening(const Point3d& pt, const Vector3d& normal, + const std::vector& hull, + const std::vector& features, const std::vector& edges) : + Plane3d(pt, normal, hull) +{ + this->features = features; + this->edges = edges; +} + +model::CandidateOpening::CandidateOpening(const CandidateOpening& other) : Plane3d(other){ + this->features = other.features; + this->edges = other.edges; + this->edgeCoverage = other.edgeCoverage; +} + +model::CandidateOpening::~CandidateOpening() {} + +model::CandidateOpening& model::CandidateOpening::operator=(const CandidateOpening& other) { + if (this != &other) { + Plane3d::operator =(other); + this->features = other.features; + this->edges = other.edges; + this->edgeCoverage = other.edgeCoverage; + } + + return *this; +} diff --git a/.svn/pristine/f6/f6a285fc892b2f6633076a08889840d29e27b2f1.svn-base b/.svn/pristine/f6/f6a285fc892b2f6633076a08889840d29e27b2f1.svn-base new file mode 100644 index 0000000..046b1cf --- /dev/null +++ b/.svn/pristine/f6/f6a285fc892b2f6633076a08889840d29e27b2f1.svn-base @@ -0,0 +1,46 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_IO_H +#define CACHE_IO_H + +#include + +/** + * @brief Serialization management for binary data, intended for use in CacheHandlers. + * + * This class manages the assignment of unique IDs for CacheHandlers to use to identify their files. + * Data is (de)serialized via read and write calls and existance (if so, the file-/datasize too) can be checked via check. + * All files are created in a directory given by createTemporaryDirectory which has to be called before and read/writes to function properly. All files are named 'ddddd.tco' starting from zero. + */ +class CacheIO { +public: + typedef std::string IDType; + + //! Create a directory for temporary cache objects to save in + static void createTemporaryDirectory(std::string& path); + + //! Clean up temporary files + static void removeTemporaryDirectory(); + + //! Creates a unique Id to use for these functions + static IDType getId(); + + //! Check if a physical representation of this cache entry exists and returns non-zero size for the data + static unsigned int check(IDType& id); + + //! Read from file into the data pointer + static void read(IDType& id, char* data); + + //! Write data into a file represented by id + static void write(IDType& id, char* data, unsigned int size); +private: + static std::string path; + static unsigned int free_id; +}; + +#endif //CACHE_IO_H diff --git a/.svn/pristine/f6/f6a7b1c9fb04136e50a89b54be069c22a25760d1.svn-base b/.svn/pristine/f6/f6a7b1c9fb04136e50a89b54be069c22a25760d1.svn-base new file mode 100644 index 0000000..d10ceb6 --- /dev/null +++ b/.svn/pristine/f6/f6a7b1c9fb04136e50a89b54be069c22a25760d1.svn-base @@ -0,0 +1,44 @@ + + +int glui_img_radiobutton_0_dis[] = { 14, 14, /* width, height */ + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 255,255,255, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 255,255,255, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 128,128,128, 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 255,255,255, 192,192,192, 192,192,192, 128,128,128, + 64, 64, 64, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 255,255,255, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 255,255,255, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 255,255,255, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 64, 64, 64, 64, 64, 64, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 64, 64, 64, + 64, 64, 64, 255,255,255, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 128,128,128, 128,128,128, 64, 64, 64, + 64, 64, 64, 64, 64, 64, 64, 64, 64, 128,128,128, 128,128,128, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 128,128,128, 128,128,128, + 128,128,128, 128,128,128, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, 192,192,192, 192,192,192, 192,192,192, 192,192,192, + 192,192,192, +}; diff --git a/.svn/pristine/f6/f6c7b898adc6cff6f53787b1ee21ffd665b5f837.svn-base b/.svn/pristine/f6/f6c7b898adc6cff6f53787b1ee21ffd665b5f837.svn-base new file mode 100644 index 0000000..c2f9b86 --- /dev/null +++ b/.svn/pristine/f6/f6c7b898adc6cff6f53787b1ee21ffd665b5f837.svn-base @@ -0,0 +1,215 @@ +/* + * gridlines implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/gridlines.h" +#include "grid/hough.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; + +#define MINIMALLINELENGTH 2 + +/** + * CTOR + * + * @param g Grid in which lines should be created + * @param max_distance the maximal relecant distance for points + */ +gridlines::gridlines(grid * g, int max_distance, double isSolidPoint) +{ + this->isSolidPoint = isSolidPoint; + createLines(g, max_distance); +} + +/** + * Creates the lines for the grid g and stores + * them in the vector "lines" (clears the vector first) + * Uses hough transformation + * + * @param g the grid that the lines will be created for + * @param max_distance the maximal relevant distance for points + */ +void gridlines::createLines(grid* g, int max_distance) +{ + // read the data out of the grid + double x, z; + vector vx; + vector vz; + + // initialize minimal and maximal x and z values + double xmin = 8000.0, xmax = -8000.0, ymin = 8000.0, ymax = -8000.0; + for (int i = 0; i < g->getSizeX(); i++) { + for (int j = 0; j < g->getSizeZ(); j++) { + //store the point if percentage > ISSOLIDPOINT + if (g->points[i][j]->getPercent() > isSolidPoint) { + x = g->points[i][j]->getX(); + z = g->points[i][j]->getZ(); + + vx.push_back(x); + vz.push_back(z); + + // calculate minimal and maximal x and z values + if (x > xmax) xmax = x; + if (x < xmin) xmin = x; + if (z > ymax) ymax = z; + if (z < ymin) ymin = z; + } + } + } + + // cut the maximal and minimal values if they are too big + if (xmax > max_distance) xmax = max_distance; + if (ymax > max_distance) ymax = max_distance; + if (xmin < -max_distance) xmin = -max_distance; + if (ymin < -max_distance) ymin = -max_distance; + + // create arrays for the "hough" class and norm values +// double array_x[vx.size()], array_z[vz.size()]; + double *array_x = new double[vx.size()]; + double *array_z = new double[vz.size()]; + for (size_t t = 0; t < vx.size(); t++) { + array_x[t] = vx.at(t) - xmin; + array_z[t] = vz.at(t) - ymin; + } + + // set and get parameters for Hough transformation + int sht_nr = 80; + double max_rho_d = sqrt(pow(xmax-xmin, 2) + pow(ymax-ymin, 2)); + + //Set maximal distance + SHT_set_max_distance(max_distance, vx.size()); + + // result variables + int sht_nr_line_pts; + double *sht_x_line_pts = new double[vx.size()]; + double *sht_y_line_pts = new double[vx.size()]; + + // get sht_resolutuion + int sht_resolution = max_distance; + sht_init(sht_resolution); + + // get sht_histogram + int **sht_histogram; + sht_histogram = SHT_alloc_histogram(sht_resolution, sht_resolution); + + // call of Hough transformation + SHT_get_hough_lines(vx.size(), + array_x, + array_z, + sht_resolution, + max_rho_d, + sht_histogram, + sht_nr, + &sht_nr_line_pts, + sht_x_line_pts, + sht_y_line_pts, + xmin, + ymin, + 1); + + cout << "Found " << sht_nr_line_pts/2 << " lines!" << endl; + + // set results back -> norm + for (int j = 0; j < sht_nr_line_pts; j++) { + sht_x_line_pts[j] += xmin; + sht_y_line_pts[j] += ymin; + } + + // delete all lines + this->lines.clear(); + + // store the calculated lines + for (int i = 0; (i < sht_nr_line_pts); i+=2) { + gridPoint* temp_point1 = new gridPoint((long) sht_x_line_pts[i], (long) sht_y_line_pts[i]); + gridPoint* temp_point2 = new gridPoint((long) sht_x_line_pts[i+1], (long) sht_y_line_pts[i+1]); + + if (temp_point1->isSmallerThan(*temp_point2)) { + lines.push_back(line(temp_point1, temp_point2)); + } else { + lines.push_back(line(temp_point2, temp_point1)); + } + } + + SHT_free_histogram(sht_histogram, sht_resolution); + + delete[] array_x; + delete[] array_z; + delete[] sht_x_line_pts; + delete[] sht_y_line_pts; +} + +/** + * Getter for the vector with the lines + * + * @returns the vector with the created lines + */ +vector* gridlines::getLines() +{ + return &this->lines; +} + +/** + * Writes the lines to a gnuplot file + * + * @param file the file to write to + */ +void gridlines::writeGnuPlot(string file) +{ + ofstream str; + str.open(file.c_str()); + if(!str.good()) + { + cerr << "ERROR: In gridlines::writeGnuPlot, unable to open the stream! " + << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } + + for(size_t i = 0; i < lines.size(); i++) { + str << lines.at(i).getStartX() << " " << lines.at(i).getStartZ() << endl; + str << lines.at(i).getEndX() << " " << lines.at(i).getEndZ() << endl; + str << endl; + } + + str.close(); +} + +/** + * Writes the lines to a lin file + * + * @param file the file to write to + */ +void gridlines::writeLin(string file) +{ + ofstream str; + str.open(file.c_str()); + if(!str.good()) + { + cerr << "ERROR: In gridlines::writeLin, unable to open the stream! " + << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } + + for(size_t i = 0; i < lines.size(); i++) { + if(lines.at(i).getLength() < MINIMALLINELENGTH) + continue; + + str << "BEGIN" << endl; + str << lines.at(i).getStartX() << " 0 " << lines.at(i).getStartZ() << endl; + str << lines.at(i).getEndX() << " 0 " << lines.at(i).getEndZ() << endl; + str << "END" << endl; + } + + str.close(); +} diff --git a/.svn/pristine/f7/f7136aa509b3db56971a7f96fe9648cf90174ab6.svn-base b/.svn/pristine/f7/f7136aa509b3db56971a7f96fe9648cf90174ab6.svn-base new file mode 100644 index 0000000..367896c --- /dev/null +++ b/.svn/pristine/f7/f7136aa509b3db56971a7f96fe9648cf90174ab6.svn-base @@ -0,0 +1 @@ +scanserver -b 0 \ No newline at end of file diff --git a/.svn/pristine/f7/f7b117fab7a376fcbb178518f0a3a67ac6bc1cb0.svn-base b/.svn/pristine/f7/f7b117fab7a376fcbb178518f0a3a67ac6bc1cb0.svn-base new file mode 100644 index 0000000..7c65e3a --- /dev/null +++ b/.svn/pristine/f7/f7b117fab7a376fcbb178518f0a3a67ac6bc1cb0.svn-base @@ -0,0 +1,61 @@ +/** @file + * @brief The 6D Lu Milios style SLAM in 6D + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LUM6D_QUAT_H__ +#define __LUM6D_QUAT_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" + +#include "newmat/newmatio.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching with Lu/Milios in 6D. + * + * Reference: D. Borrmann, et al., Globally consistent 3D mapping + * with scan matching, Journal of Robotics and Autonomous + * Systems (2007), + */ +class lum6DQuat : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + lum6DQuat() {}; + lum6DQuat(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~lum6DQuat(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + static void covarianceQuat(Scan *first, Scan *second, int nns_method, + int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0); + +private: + void FillGB3D(Graph *gr, NEWMAT::Matrix* G, NEWMAT::ColumnVector* B, vector allScans); + +}; + +#endif diff --git a/.svn/pristine/f7/f7cceefa9609a4e286be2e74a4983a42dfc79e5d.svn-base b/.svn/pristine/f7/f7cceefa9609a4e286be2e74a4983a42dfc79e5d.svn-base new file mode 100644 index 0000000..504707b --- /dev/null +++ b/.svn/pristine/f7/f7cceefa9609a4e286be2e74a4983a42dfc79e5d.svn-base @@ -0,0 +1,157 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_asc.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format ZuF from Zoller+Froehlich AG + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. Actually, the Riegl poses + * are high precise and this function puts noise + * on it. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_asc::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "ScanPos" + to_string(fileCounter,2) + ".DAT"; + scanFileName = dir + "coordinates" + to_string(fileCounter,2) + ".asc"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + /* + char firstline[255]; + scan_in.getline(firstline, 255); + */ + + double rPos[3] = { 0.0, 0.0, 0.0 }; + double rPosTheta[16] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double inMatrix[16]; + /* + char dummy[255]; + pose_in.getline(dummy, 255); + pose_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + */ + + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + Matrix4ToEuler(inMatrix, rPosTheta, rPos); + + euler[0] = inMatrix[3]; + euler[1] = inMatrix[11]; + euler[2] = inMatrix[7]; + + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[2]; + euler[5] = rPosTheta[1]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + while (scan_in.good()) { + Point p; + double intensity; + scan_in >> p.y >> p.z >> p.x >> intensity; + p.x *= 100; + p.y *= 100; + p.z *= 100; + if (intensity > 0) { + cout << p << endl; + ptss.push_back(p); + } + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_asc; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/.svn/pristine/f8/f81e2d1e04aaee0f56b61fccc325fcfe55ae456d.svn-base b/.svn/pristine/f8/f81e2d1e04aaee0f56b61fccc325fcfe55ae456d.svn-base new file mode 100644 index 0000000..6b43430 --- /dev/null +++ b/.svn/pristine/f8/f81e2d1e04aaee0f56b61fccc325fcfe55ae456d.svn-base @@ -0,0 +1,124 @@ +//---------------------------------------------------------------------- +// File: kd_util.h +// Programmer: Sunil Arya and David Mount +// Description: Common utilities for kd- trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_util_H +#define ANN_kd_util_H + +#include "kd_tree.h" // kd-tree declarations + +//---------------------------------------------------------------------- +// externally accessible functions +//---------------------------------------------------------------------- + +double annAspectRatio( // compute aspect ratio of box + int dim, // dimension + const ANNorthRect &bnd_box); // bounding cube + +void annEnclRect( // compute smallest enclosing rectangle + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds); // bounding cube (returned) + +void annEnclCube( // compute smallest enclosing cube + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds); // bounding cube (returned) + +ANNdist annBoxDistance( // compute distance from point to box + const ANNpoint q, // the point + const ANNpoint lo, // low point of box + const ANNpoint hi, // high point of box + int dim); // dimension of space + +ANNcoord annSpread( // compute point spread along dimension + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d); // dimension to check + +void annMinMax( // compute min and max coordinates along dim + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension to check + ANNcoord& min, // minimum value (returned) + ANNcoord& max); // maximum value (returned) + +int annMaxSpread( // compute dimension of max spread + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim); // dimension of space + +void annMedianSplit( // split points along median value + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord &cv, // cutting value + int n_lo); // split into n_lo and n-n_lo + +void annPlaneSplit( // split points by a plane + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv, // cutting value + int &br1, // first break (values < cv) + int &br2); // second break (values == cv) + +void annBoxSplit( // split points by a box + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension of space + ANNorthRect &box, // the box + int &n_in); // number of points inside (returned) + +int annSplitBalance( // determine balance factor of a split + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv); // cutting value + +void annBox2Bnds( // convert inner box to bounds + const ANNorthRect &inner_box, // inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int &n_bnds, // number of bounds (returned) + ANNorthHSArray &bnds); // bounds array (returned) + +void annBnds2Box( // convert bounds to inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int n_bnds, // number of bounds + ANNorthHSArray bnds, // bounds array + ANNorthRect &inner_box); // inner box (returned) + +#endif diff --git a/.svn/pristine/f8/f8402a3188af4937ba39096350ffb618c9f46e10.svn-base b/.svn/pristine/f8/f8402a3188af4937ba39096350ffb618c9f46e10.svn-base new file mode 100644 index 0000000..fbfb7cc --- /dev/null +++ b/.svn/pristine/f8/f8402a3188af4937ba39096350ffb618c9f46e10.svn-base @@ -0,0 +1,19 @@ +#pragma once +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" + +class Cluster_Classification +{ +public: + Cluster_Classification(void); + ~Cluster_Classification(void); + +public: + svm_model *bus_classifier; + string *bus_classifier_filename; + svm_node *feature_nod; +}; + + + + diff --git a/.svn/pristine/f9/f901c2d8a6456df4eb0a2424d1430e06869f0710.svn-base b/.svn/pristine/f9/f901c2d8a6456df4eb0a2424d1430e06869f0710.svn-base new file mode 100644 index 0000000..b3f8305 --- /dev/null +++ b/.svn/pristine/f9/f901c2d8a6456df4eb0a2424d1430e06869f0710.svn-base @@ -0,0 +1,22 @@ + +#include "glui_img_checkbox_0.c" +#include "glui_img_checkbox_1.c" +#include "glui_img_radiobutton_0.c" +#include "glui_img_radiobutton_1.c" +#include "glui_img_uparrow.c" +#include "glui_img_downarrow.c" +#include "glui_img_leftarrow.c" +#include "glui_img_rightarrow.c" +#include "glui_img_spinup_1.c" +#include "glui_img_spinup_0.c" +#include "glui_img_spindown_1.c" +#include "glui_img_spindown_0.c" +#include "glui_img_checkbox_0_dis.c" +#include "glui_img_checkbox_1_dis.c" +#include "glui_img_radiobutton_0_dis.c" +#include "glui_img_radiobutton_1_dis.c" +#include "glui_img_spinup_dis.c" +#include "glui_img_spindown_dis.c" +#include "glui_img_listbox_up.c" +#include "glui_img_listbox_down.c" +#include "glui_img_listbox_up_dis.c" diff --git a/.svn/pristine/f9/f9881ff05b37463174c8ff919ec0b079ae99d199.svn-base b/.svn/pristine/f9/f9881ff05b37463174c8ff919ec0b079ae99d199.svn-base new file mode 100644 index 0000000..c191476 --- /dev/null +++ b/.svn/pristine/f9/f9881ff05b37463174c8ff919ec0b079ae99d199.svn-base @@ -0,0 +1,642 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: range.cpp +// Purpose: Simple min-max range class and associated selection array class +// Author: John Labenski +// Created: 12/01/2000 +// Copyright: (c) John Labenski 2004 +// Licence: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "range.h" +#endif + +// For compilers that support precompilation, includes "wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/utils.h" +#endif // WX_PRECOMP + +#include "wx/things/range.h" +#include + +const wxRangeInt wxEmptyRangeInt(0, -1); +const wxRangeDouble wxEmptyRangeDouble(0, -1); + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayRangeInt); +WX_DEFINE_OBJARRAY(wxArrayRangeDouble); +WX_DEFINE_OBJARRAY(wxArrayRangeIntSelection); +WX_DEFINE_OBJARRAY(wxArrayRangeDoubleSelection); + + +// set this if you want to double check that that ranges are really working +//#define CHECK_RANGES + +//============================================================================= +// wxRangeInt +//============================================================================= + +bool wxRangeInt::Combine(int i, bool only_if_touching) +{ + if (only_if_touching) + { + if (i == m_min-1) { m_min--; return true; } + else if (i == m_max+1) { m_max++; return true; } + } + else + { + if (i < m_min) { m_min = i; return true; } + else if (i > m_max) { m_max = i; return true; } + } + return false; +} + +bool wxRangeInt::Combine( const wxRangeInt &r, bool only_if_touching ) +{ + if (only_if_touching) + { + if (Touches(r)) + { + *this+=r; + return true; + } + } + else + { + bool added = false; + if (r.m_min < m_min) { m_min = r.m_min; added = true; } + if (r.m_max > m_max) { m_max = r.m_max; added = true; } + return added; + } + return false; +} + +bool wxRangeInt::Delete( const wxRangeInt &r, wxRangeInt *right ) +{ + if (!Contains(r)) + return false; + + if (right) *right = wxEmptyRangeInt; + + if (r.m_min <= m_min) + { + if (r.m_max >= m_max) + { + *this = wxEmptyRangeInt; + return true; + } + + m_min = r.m_max + 1; + return true; + } + + if (r.m_max >= m_max) + { + m_max = r.m_min - 1; + return true; + } + + if (right) + *right = wxRangeInt(r.m_max + 1, m_max); + + m_max = r.m_min - 1; + return true; +} + +//============================================================================= +// wxRangeIntSelection +//============================================================================= +const wxRangeInt& wxRangeIntSelection::GetRange( int index ) const +{ + wxCHECK_MSG((index>=0) && (index m_ranges[count-1].m_max) return wxNOT_FOUND; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if (res == 0) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + return wxNOT_FOUND; +} + +int wxRangeIntSelection::Index( const wxRangeInt &r ) const +{ + register int i, count = m_ranges.GetCount(); + for (i=0; i m_ranges[count-1].m_max) return count; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ((i >= m_ranges[tmp].m_max) && (i < m_ranges[wxMin(tmp+1, count-1)].m_min)) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + // oops shouldn't get here + wxCHECK_MSG(0, -1, wxT("Error calculating NearestIndex in wxRangeIntSelection")); +} + +int wxRangeIntSelection::GetItemCount() const +{ + register int i, items = 0, count = m_ranges.GetCount(); + for (i=0; i 0 ? NearestIndex(range.m_min) : -1; + + if ((nearest < 0) || (nearest == count)) + return false; + + wxRangeInt r; + for (i=nearest; i 0) ? i-1 : -1; + } + else if (!r.IsEmpty()) + m_ranges.Insert(r, i+1); + + done = true; + } + } + + return done; +} + +bool wxRangeIntSelection::SelectRange(const wxRangeInt &range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Selection Range") ); + + // Try to find a range that includes this one and combine it, else insert it, else append it + bool done = false; + int i, count = m_ranges.GetCount(); + int nearest = count > 0 ? NearestIndex(range.m_min) : -1; + + if (nearest < 0) + { + if (!((count > 0) && m_ranges[0].Combine(range, true))) + m_ranges.Insert(range, 0); + return true; + } + else if (nearest == count) + { + if (!((count > 0) && m_ranges[count-1].Combine(range, true))) + m_ranges.Add(range); + return true; + } + else + { + if (m_ranges[nearest].Contains(range)) + return false; + + for (i=nearest; i= range.m_min) + break; + + if (m_ranges[i].m_max < range.m_min) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + count--; + i--; + } + else + { + done = true; + m_ranges[i].m_min = range.m_min; + break; + } + } + + for (i = m_ranges.GetCount() - 1; i >= 0; i--) + { + if (m_ranges[i].m_max <= range.m_max) + break; + + if (m_ranges[i].m_min > range.m_max) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + } + else + { + done = true; + m_ranges[i].m_max = range.m_max; + break; + } + } + + return done; +} + +//============================================================================= +// wxRangeDouble +//============================================================================= + +bool wxRangeDouble::Combine(double i) +{ + if (i < m_min) { m_min = i; return true; } + else if (i > m_max) { m_max = i; return true; } + return false; +} + +bool wxRangeDouble::Combine( const wxRangeDouble &r, bool only_if_touching ) +{ + if (only_if_touching) + { + if (Contains(r)) + { + *this+=r; + return true; + } + } + else + { + bool added = false; + if (r.m_min < m_min) { m_min = r.m_min; added = true; } + if (r.m_max > m_max) { m_max = r.m_max; added = true; } + return added; + } + return false; +} + +bool wxRangeDouble::Delete( const wxRangeDouble &r, wxRangeDouble *right ) +{ + if (!Contains(r)) + return false; + + if (right) *right = wxEmptyRangeDouble; + + if (r.m_min <= m_min) + { + if (r.m_max >= m_max) + { + *this = wxEmptyRangeDouble; + return true; + } + + m_min = r.m_max; + return true; + } + + if (r.m_max >= m_max) + { + m_max = r.m_min; + return true; + } + + if (right) + *right = wxRangeDouble(r.m_max, m_max); + + m_max = r.m_min; + return true; +} + +//============================================================================= +// wxRangeDoubleSelection +//============================================================================= +const wxRangeDouble& wxRangeDoubleSelection::GetRange( int index ) const +{ + wxCHECK_MSG((index>=0) && (index m_ranges[count-1].m_max) return wxNOT_FOUND; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + return wxNOT_FOUND; + +/* + for (register int j=0; j m_ranges[count-1].m_max) return count; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ((i >= m_ranges[tmp].m_max) && (i < m_ranges[wxMin(tmp+1, count-1)].m_min)) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + // oops shouldn't get here + wxCHECK_MSG(0, -1, wxT("Error calculating NearestIndex in wxRangeDoubleSelection")); +} + +bool wxRangeDoubleSelection::SelectRange(const wxRangeDouble &range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Selection Range") ); + + // Try to find a range that includes this one and combine it, else insert it, else append it + bool done = false; + int i, count = m_ranges.GetCount(); + int nearest = count > 0 ? NearestIndex(range.m_min) : -1; + + if (nearest < 0) + { + if (!((count > 0) && m_ranges[0].Combine(range, true))) + m_ranges.Insert(range, 0); + return true; + } + else if (nearest == count) + { + if (!((count > 0) && m_ranges[count-1].Combine(range, true))) + m_ranges.Add(range); + return true; + } + else + { + if (m_ranges[nearest].Contains(range)) + return false; + + for (i=nearest; i 0 ? NearestIndex(range.m_min) : -1; + + if ((nearest < 0) || (nearest == count)) + return false; + + wxRangeDouble r; + for (i=nearest; i 0) ? i-1 : -1; + } + else if (!r.IsEmpty()) + m_ranges.Insert(r, i+1); + + done = true; + } + } + + return done; +} + +bool wxRangeDoubleSelection::BoundRanges(const wxRangeDouble& range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Bounding Range") ); + int i, count = m_ranges.GetCount(); + bool done = false; + + for (i = 0; i < count; i++) + { + if (m_ranges[i].m_min >= range.m_min) + break; + + if (m_ranges[i].m_max < range.m_min) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + count--; + i--; + } + else + { + done = true; + m_ranges[i].m_min = range.m_min; + break; + } + } + + for (i = m_ranges.GetCount() - 1; i >= 0; i--) + { + if (m_ranges[i].m_max <= range.m_max) + break; + + if (m_ranges[i].m_min > range.m_max) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + } + else + { + done = true; + m_ranges[i].m_max = range.m_max; + break; + } + } + + return done; +} diff --git a/.svn/pristine/fa/fa11c73a9693d4b3487fc7743404c971a5e681cd.svn-base b/.svn/pristine/fa/fa11c73a9693d4b3487fc7743404c971a5e681cd.svn-base new file mode 100644 index 0000000..cef8ad2 --- /dev/null +++ b/.svn/pristine/fa/fa11c73a9693d4b3487fc7743404c971a5e681cd.svn-base @@ -0,0 +1,18 @@ +#ifndef __DEBUG_H_ +#define __DEBUG_H_ + +#include + +/** Printouts for debugging + * @author Andre Schemschatt, Uwe Hebbelmann, Sebastian Stock + * @date 14.2.08 + */ + +#ifdef DEBUG + +#define DEBUGPRINT(msg) std::cout <<"[Debug] "<< msg << std::endl; +#else +#define DEBUGPRINT(msg) +#endif + +#endif diff --git a/.svn/pristine/fa/fa4a59844fc48f9c0a266423b0e119dde9449ac0.svn-base b/.svn/pristine/fa/fa4a59844fc48f9c0a266423b0e119dde9449ac0.svn-base new file mode 100644 index 0000000..a7262b3 --- /dev/null +++ b/.svn/pristine/fa/fa4a59844fc48f9c0a266423b0e119dde9449ac0.svn-base @@ -0,0 +1,58 @@ +/* + * metascan implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/metaScan.h" + +#include "slam6d/kdMeta.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +MetaScan::MetaScan(std::vector scans, int nns_method, bool cuda_enabled) : + m_scans(scans) +{ + // add this to the global vector for addFrame reasons + Scan::allScans.push_back(this); +} + +MetaScan::~MetaScan() +{ + // remove this from the global vector for addFrame reasons + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + if(*it == this) { + Scan::allScans.erase(it); + break; + } + } +} + +void MetaScan::createSearchTreePrivate() +{ +#ifdef WITH_METRICS + Timer tc = ClientMetric::create_metatree_time.start(); +#endif //WITH_METRICS + + // TODO: there is no nns_type switch or cuda option for this one because no reduced points are copied, this could be implemented if e.g. cuda is required on metascans + kd = new KDtreeMetaManaged(m_scans); + +#ifdef WITH_METRICS + ClientMetric::create_metatree_time.end(tc); +#endif //WITH_METRICS +} + +unsigned int MetaScan::size() const +{ + return m_scans.size(); +} + +Scan* MetaScan::getScan(unsigned int i) const +{ + return m_scans.at(i); +} diff --git a/.svn/pristine/fa/fac1c08c2dcd58f21f8eec9e61facce31b187a05.svn-base b/.svn/pristine/fa/fac1c08c2dcd58f21f8eec9e61facce31b187a05.svn-base new file mode 100644 index 0000000..f6d8ee1 --- /dev/null +++ b/.svn/pristine/fa/fac1c08c2dcd58f21f8eec9e61facce31b187a05.svn-base @@ -0,0 +1,347 @@ +/// \defgroup rbd_common RBD common library +///@{ + +/// \file include.h +/// Set options and and details of include files. + +#ifndef INCLUDE_LIB +#define INCLUDE_LIB + +#define use_namespace // define name spaces + +//#define SETUP_C_SUBSCRIPTS // allow element access via A[i][j] + +//#define OPT_COMPATIBLE // for use with opt++ + +// Activate just one of the following 3 statements + +//#define SimulateExceptions // use simulated exceptions +#define UseExceptions // use C++ exceptions +//#define DisableExceptions // do not use exceptions + + +//#define TEMPS_DESTROYED_QUICKLY // for compilers that delete + // temporaries too quickly + +//#define TEMPS_DESTROYED_QUICKLY_R // the same thing but applied + // to return from functions only + +//#define DO_FREE_CHECK // check news and deletes balance + +#define USING_DOUBLE // elements of type double +//#define USING_FLOAT // elements of type float + +#define bool_LIB 0 // for compatibility with my older libraries + +//#define ios_format_flags ios::fmtflags // for Gnu 3 and Intel for Linux + + +//#define _STANDARD_ // using standard library + +//#define use_float_h // use float.h for precision data + +//#define HAS_INT64 // if unsigned _int64 is recognised + // used by newran03 + +// comment out next line if Exception causes a problem +#define TypeDefException + +//*********************** end of options set by user ******************** + + +// for Gnu C++ version 3 +#if defined __GNUG__ && __GNUG__ >= 3 + #define _STANDARD_ // use standard library + #define ios_format_flags ios::fmtflags +#endif + +// for Intel C++ for Linux +#if defined __ICC + #define _STANDARD_ // use standard library + #define ios_format_flags ios::fmtflags +#endif + +// for Microsoft Visual C++ 7 and above (and Intel simulating these) +#if defined _MSC_VER && _MSC_VER >= 1300 + #define _STANDARD_ // use standard library +#endif + + +#ifdef _STANDARD_ // using standard library + #include + #if defined _MSC_VER && _MSC_VER == 1200 + #include // for VC++6 + #endif + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + using namespace std; +#else + +#define DEFAULT_HEADER // use AT&T style header + // if no other compiler is recognised + +#ifdef _MSC_VER // Microsoft + #include + +// reactivate these statements to run under MSC version 7.0 +// typedef int jmp_buf[9]; +// extern "C" +// { +// int __cdecl setjmp(jmp_buf); +// void __cdecl longjmp(jmp_buf, int); +// } + + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __ZTC__ // Zortech + #include + #ifdef WANT_STREAM + #include + #include + #define flush "" // not defined in iomanip? + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#if defined __BCPLUSPLUS__ || defined __TURBOC__ // Borland or Turbo + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include // Borland has both float and values + // but values.h returns +INF for + // MAXDOUBLE in BC5 + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __GNUG__ // Gnu C++ + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __WATCOMC__ // Watcom C/C++ + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + + +#ifdef macintosh // MPW C++ on the Mac +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#undef DEFAULT_HEADER +#endif + +#ifdef use_float_h // use float.h for precision values +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#undef DEFAULT_HEADER +#endif + + +#ifdef DEFAULT_HEADER // for example AT&T +#define ATandT +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#define SystemV // use System V +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#endif // DEFAULT_HEADER + +#endif // _STANDARD_ + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +#ifdef USING_FLOAT // set precision type to float +typedef float Real; +typedef double long_Real; +#endif + +#ifdef USING_DOUBLE // set precision type to double +typedef double Real; +typedef long double long_Real; +#endif + + +// This is for (very old) compilers that do not have bool automatically defined + +#ifndef bool_LIB +#define bool_LIB 0 + +class bool +{ + int value; +public: + bool(const int b) { value = b ? 1 : 0; } + bool(const void* b) { value = b ? 1 : 0; } + bool() {} + operator int() const { return value; } + int operator!() const { return !value; } +}; + + +const bool true = 1; +const bool false = 0; + +#endif + + +#ifdef use_namespace +} +#endif + + +#ifdef use_namespace +namespace RBD_COMMON {} +namespace RBD_LIBRARIES // access all my libraries +{ + using namespace RBD_COMMON; +} +#endif + + +#endif + + +///@} + diff --git a/.svn/pristine/fb/fb637274c9337a1a0d156f11ef69ed5c79d67ca5.svn-base b/.svn/pristine/fb/fb637274c9337a1a0d156f11ef69ed5c79d67ca5.svn-base new file mode 100644 index 0000000..a2666af --- /dev/null +++ b/.svn/pristine/fb/fb637274c9337a1a0d156f11ef69ed5c79d67ca5.svn-base @@ -0,0 +1,30 @@ +#ifndef __PARCEL_H_ +#define __PARCEL_H_ + +#include "grid/grid.h" +#include +using std::string; + +/** + * The class represents a section of the map and inherrits grid. + * The grids will be added to the parcel + * The parcel can be stored and read so that it must not permanant be + * in the memory. + * + * @author Andre Schemschatt, Uwe Hebbelmann, Sebastian Stock + * @date 17.2.08 + */ +class parcel : public grid +{ + public: + /** @brief Ctor */ + parcel(long offSetX, long offSetZ, long sizeX, long sizeZ); + + /** @brief Adds a grid to the parcel */ + void addGrid(const grid* grid); + + /** @brief Creates a parcel from the file */ + static parcel* readParcel(std::string filename); +}; + +#endif diff --git a/.svn/pristine/fb/fb98b45e5aa2f3340c57890adf225ea14b2f2406.svn-base b/.svn/pristine/fb/fb98b45e5aa2f3340c57890adf225ea14b2f2406.svn-base new file mode 100644 index 0000000..241b7fc --- /dev/null +++ b/.svn/pristine/fb/fb98b45e5aa2f3340c57890adf225ea14b2f2406.svn-base @@ -0,0 +1,22 @@ +#ifndef __FREEGLUT_H__ +#define __FREEGLUT_H__ + +/* + * freeglut.h + * + * The freeglut library include file + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "freeglut_std.h" +#include "freeglut_ext.h" + +/*** END OF FILE ***/ + +#endif /* __FREEGLUT_H__ */ diff --git a/.svn/pristine/fb/fbd61f7e8c377d327a980c1f6ded7424129e248c.svn-base b/.svn/pristine/fb/fbd61f7e8c377d327a980c1f6ded7424129e248c.svn-base new file mode 100644 index 0000000..84fe2e0 --- /dev/null +++ b/.svn/pristine/fb/fbd61f7e8c377d327a980c1f6ded7424129e248c.svn-base @@ -0,0 +1,21 @@ +#ifndef FRAME_H +#define FRAME_H + +/** + * @brief Simple frame class containing a transformation and type + */ +class Frame { +public: + double transformation[16]; + unsigned int type; + + Frame() {} + Frame(double* transformation, unsigned int type) { set(transformation, type); } + void set(double* transformation, unsigned int type) { + for(unsigned int i = 0; i < 16; ++i) + this->transformation[i] = transformation[i]; + this->type = type; + } +}; + +#endif //FRAME_H \ No newline at end of file diff --git a/.svn/pristine/fb/fbfc6e30beb850758097f26946b9ef5b9f92f543.svn-base b/.svn/pristine/fb/fbfc6e30beb850758097f26946b9ef5b9f92f543.svn-base new file mode 100644 index 0000000..39e0484 --- /dev/null +++ b/.svn/pristine/fb/fbfc6e30beb850758097f26946b9ef5b9f92f543.svn-base @@ -0,0 +1,49 @@ +//---------------------------------------------------------------------- +// File: kd_pr_search.h +// Programmer: Sunil Arya and David Mount +// Description: Priority kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_pr_search_H +#define ANN_kd_pr_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue.h" // priority queue declarations +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global variables +// Active for the life of each call to Appx_Near_Neigh() or +// Appx_k_Near_Neigh(). +//---------------------------------------------------------------------- + +extern double ANNprEps; // the error bound +extern int ANNprDim; // dimension of space +extern ANNpoint ANNprQ; // query point +extern double ANNprMaxErr; // max tolerable squared error +extern ANNpointArray ANNprPts; // the points +extern ANNpr_queue *ANNprBoxPQ; // priority queue for boxes +extern ANNmin_k *ANNprPointMK; // set of k closest points + +#endif diff --git a/.svn/pristine/fc/fce684eabb4586c0fb0b613bb5975f302dfcf3ef.svn-base b/.svn/pristine/fc/fce684eabb4586c0fb0b613bb5975f302dfcf3ef.svn-base new file mode 100644 index 0000000..2a01966 --- /dev/null +++ b/.svn/pristine/fc/fce684eabb4586c0fb0b613bb5975f302dfcf3ef.svn-base @@ -0,0 +1,498 @@ +/* + * matchMarker implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +using std::ifstream; +#include +#include + +#include "slam6d/scan.h" + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" +#include "slam6d/icp6Dminimizer.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6D.h" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +struct match { + double* s_a; + double* s_b; + double* s_c; + double* t_a; + double* t_b; + double* t_c; + int n_o_m; + double variance; + double alignxf[16]; +}; + +void refine(int source, int target, match &tmp) { + // transform scan according to matching triple + Scan::allScans[target]->transformToMatrix(tmp.alignxf,Scan::INVALID); + // search for point pairs + //TODO + bool quiet = true; + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(quiet); + + icp6D *my_icp = 0; + double mdm = 25; + int mni = 100; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.0000, false, false); + + my_icp->match(Scan::allScans[source], Scan::allScans[target]); + + ////cout << "Point pairs: "<< tmp.n_o_m << endl; + const double * transMat = Scan::allScans[target]->get_transMat(); + for(int i = 0; i < 16; i++) { + //cout << tmp.alignxf[i] << " " ; + tmp.alignxf[i] = transMat[i]; + } + //cout << endl; +} + +void evaluate(int source, int target, match &tmp) { + //cout << "S1 " << tmp.s_a[0] << " " << tmp.s_a[1] << " " << tmp.s_a[2] << endl; + //cout << "T1 " << tmp.t_a[0] << " " << tmp.t_a[1] << " " << tmp.t_a[2] << endl; + //cout << "S2 " << tmp.s_b[0] << " " << tmp.s_b[1] << " " << tmp.s_b[2] << endl; + //cout << "T2 " << tmp.t_b[0] << " " << tmp.t_b[1] << " " << tmp.t_b[2] << endl; + //cout << "S3 " << tmp.s_c[0] << " " << tmp.s_c[1] << " " << tmp.s_c[2] << endl; + //cout << "T3 " << tmp.t_c[0] << " " << tmp.t_c[1] << " " << tmp.t_c[2] << endl; + + // Point pairs + vector pairs_in; + pairs_in.push_back(PtPair(tmp.s_a, tmp.t_a)); + pairs_in.push_back(PtPair(tmp.s_b, tmp.t_b)); + pairs_in.push_back(PtPair(tmp.s_c, tmp.t_c)); + + // Calculate centroids + double centroid_s[3]; + double centroid_t[3]; + centroid_s[0] = ((tmp.s_a[0] + tmp.s_b[0] + tmp.s_c[0])/3.0); + centroid_s[1] = ((tmp.s_a[1] + tmp.s_b[1] + tmp.s_c[1])/3.0); + centroid_s[2] = ((tmp.s_a[2] + tmp.s_b[2] + tmp.s_c[2])/3.0); + centroid_t[0] = ((tmp.t_a[0] + tmp.t_b[0] + tmp.t_c[0])/3.0); + centroid_t[1] = ((tmp.t_a[1] + tmp.t_b[1] + tmp.t_c[1])/3.0); + centroid_t[2] = ((tmp.t_a[2] + tmp.t_b[2] + tmp.t_c[2])/3.0); + + // transform scan according to matching triple + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(true); + my_icp6Dminimizer->Point_Point_Align(pairs_in, tmp.alignxf, centroid_s, centroid_t); + Scan::allScans[target]->transformToMatrix(tmp.alignxf,Scan::INVALID); + + vector pairs_out; + // search for point pairs + Scan::getPtPairs(&pairs_out, Scan::allScans[source], Scan::allScans[target], 1, 0, 25.0, centroid_s, centroid_t); + + tmp.n_o_m = pairs_out.size(); + //cout << tmp.n_o_m << endl; + + if(tmp.n_o_m > Scan::allScans[target]->get_points_red_size()) { + //cout << "Point pairs: "<< tmp.n_o_m << endl; + + /* + for(int i = 0; i < 16; i++) { + cout << tmp.alignxf[i] << " "; + } + for(int i = 0; i < pairs_out.size(); i++) { + cout << pairs_out[i].p1.x << " " << pairs_out[i].p1.y << " " << pairs_out[i].p1.z << + " " << pairs_out[i].p2.x << " " << pairs_out[i].p2.y << " " << pairs_out[i].p2.z << endl; + } + */ + } + + //cout << "S1 " << tmp.s_a[0] << " " << tmp.s_a[1] << " " << tmp.s_a[2] << endl; + //cout << "T1 " << tmp.t_a[0] << " " << tmp.t_a[1] << " " << tmp.t_a[2] << endl; + //cout << "S2 " << tmp.s_b[0] << " " << tmp.s_b[1] << " " << tmp.s_b[2] << endl; + //cout << "T2 " << tmp.t_b[0] << " " << tmp.t_b[1] << " " << tmp.t_b[2] << endl; + //cout << "S3 " << tmp.s_c[0] << " " << tmp.s_c[1] << " " << tmp.s_c[2] << endl; + //cout << "T3 " << tmp.t_c[0] << " " << tmp.t_c[1] << " " << tmp.t_c[2] << endl; + //cout << endl; + Scan::allScans[target]->resetPose(); + + delete my_icp6Dminimizer; +} + +void matchBruteForce(int start, int end) { // BOF + double* const* source = Scan::allScans[start]->get_points_red(); + double* const* target = Scan::allScans[end]->get_points_red(); + int nr_m_s = Scan::allScans[start]->get_points_red_size(); + int nr_m_t = Scan::allScans[end]->get_points_red_size(); + double dist_s[nr_m_s][nr_m_s]; + double dist_t[nr_m_t][nr_m_t]; + double eps = 5.0; + vector matching_results; + + // calculate distance graphs + for(int i = 0; i < nr_m_s; i++) { + for(int j = i; j < nr_m_s; j++) { + double dist = sqrt(Dist2(source[i], source[j])); + dist_s[i][j] = dist; + dist_s[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + for(int i = 0; i < nr_m_t; i++) { + for(int j = i; j < nr_m_t; j++) { + double dist = sqrt(Dist2(target[i], target[j])); + dist_t[i][j] = dist; + dist_t[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + //cout << "Done calculating distances" << endl; + + // do matching + for(int i = 0; i < nr_m_s; i++) { // 1 + for(int j = i + 1; j < nr_m_s; j++) { // 2 + double dist_a = dist_s[i][j]; + for(int k = 0; k < nr_m_t; k++) { // 3 + for(int l = 0; l < nr_m_t; l++) { // 4 + if(fabs(dist_t[k][l] - dist_a) < eps) { // 5 + for(int m = j + 1; m < nr_m_s; m++) { // 6 + double dist_3_i = dist_s[i][m]; + double dist_3_j = dist_s[j][m]; + for(int n = 0; n < nr_m_t; n++) { // 7 + if(fabs(dist_t[k][n] - dist_3_i) < eps) { // 8 + if(fabs(dist_t[l][n] - dist_3_j) < eps) { // 9 + //match found calculate error function + match tmp; + tmp.s_a = source[i]; + tmp.s_b = source[j]; + tmp.s_c = source[m]; + tmp.t_a = target[k]; + tmp.t_b = target[l]; + tmp.t_c = target[n]; + evaluate(start, end, tmp); + matching_results.push_back(tmp); + } // 9 + } // 8 + } // 7 + } // 6 + } // 5 + } // 4 + } // 3 + } // 2 + } // 1 + int max = 0; + int max_i = 0; + for(int i = 0; i < matching_results.size(); i++) { + if(matching_results[i].n_o_m > max) { + max_i = i; + max = matching_results[i].n_o_m; + } + //cout << i << ": " << matching_results[i].n_o_m << ", " << matching_results[i].variance << endl; + for(int j = 0; j < 16; j++) { + //cout << matching_results[i].alignxf[j] << " "; + } + } + //cout << "Max index: " << max_i << ", points: " << max << endl; + for(int i = 0; i < 16; i++) { + //cout << matching_results[max_i].alignxf[i] << " "; + } + refine(start, end, matching_results[max_i]); + //cout << endl << "Refined: " << endl; + for(int i = 0; i < 16; i++) { + cout << matching_results[max_i].alignxf[i] << " "; + } + + cout << " 2" << endl; +} // EOF + +void matchMarker(int start, int end) { // BOF + cout << start << " " << end << endl; + double* const* source = Scan::allScans[start]->get_points_red(); + double* const* target = Scan::allScans[end]->get_points_red(); + int nr_m_s = Scan::allScans[start]->get_points_red_size(); + int nr_m_t = Scan::allScans[end]->get_points_red_size(); + cout << "Points: " << nr_m_s << " " << nr_m_t << endl; + double dist_s[nr_m_s][nr_m_s]; + double dist_t[nr_m_t][nr_m_t]; + double eps = 5.0; + vector matching_results; + + // calculate distance graphs + for(int i = 0; i < nr_m_s; i++) { + for(int j = i; j < nr_m_s; j++) { + double dist = sqrt(Dist2(source[i], source[j])); + dist_s[i][j] = dist; + dist_s[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + for(int i = 0; i < nr_m_t; i++) { + for(int j = i; j < nr_m_t; j++) { + double dist = sqrt(Dist2(target[i], target[j])); + dist_t[i][j] = dist; + dist_t[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + //cout << "Done calculating distances" << endl; + for(int runs = 0; runs < 100; runs++) { + int i = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + int j = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + int m = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + double dist_a = dist_s[i][j]; + double dist_3_i = dist_s[i][m]; + double dist_3_j = dist_s[j][m]; + + + // do matching + for(int k = 0; k < nr_m_t; k++) { // 3 + for(int l = 0; l < nr_m_t; l++) { // 4 + if(fabs(dist_t[k][l] - dist_a) < eps) { // 5 + + for(int n = 0; n < nr_m_t; n++) { // 7 + if(fabs(dist_t[k][n] - dist_3_i) < eps) { // 8 + if(fabs(dist_t[l][n] - dist_3_j) < eps) { // 9 + //match found calculate error function + match tmp; + tmp.s_a = source[i]; + tmp.s_b = source[j]; + tmp.s_c = source[m]; + tmp.t_a = target[k]; + tmp.t_b = target[l]; + tmp.t_c = target[n]; + evaluate(start, end, tmp); + matching_results.push_back(tmp); + } // 9 + } // 8 + } // 7 + } // 6 + // 5 + } // 4 + } // 3 + } // 1 + int max = 0; + int max_i = 0; + for(int i = 0; i < matching_results.size(); i++) { + if(matching_results[i].n_o_m > max) { + max_i = i; + max = matching_results[i].n_o_m; + //cout << i << " " << max << endl; + } + //cout << i << ": " << matching_results[i].n_o_m << ", " << matching_results[i].variance << endl; + for(int j = 0; j < 16; j++) { + //cout << matching_results[i].alignxf[j] << " "; + } + } + cout << "Really?" << endl; + //cout << "Max index: " << max_i << ", points: " << max << endl; + for(int i = 0; i < 16; i++) { + //cout << matching_results[max_i].alignxf[i] << " "; + } + refine(start, end, matching_results[max_i]); + //cout << endl << "Refined: " << endl; + for(int i = 0; i < 16; i++) { + cout << matching_results[max_i].alignxf[i] << " "; + } + + cout << " 2" << endl; +} // EOF + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << "-s -e [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, rxp,zahn, ply})" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR" << endl + << " write all points that have no corresponding point closer than NR 'units'" << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -d 5 dat" << endl + << " " << prog << " --max=5000 -d 10.2 dat" << endl + << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param start first scan number 'start' + * @param end last scan number 'end' + * @param dist the maximal distance for a point pair + * @param type the scan format + * @param desc true if start is greater than end + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, + int &start, int &end, double &dist, + IOType &type, bool &desc) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "dist", required_argument, 0, 'd' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + //cout << endl; + while ((c = getopt_long(argc, argv, "f:d:s:e:", longopts, NULL)) != -1) + switch (c) + { + case 'd': + dist = atof(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(start < 0 || end < 0 || start == end) { + cerr << "\n*** You need two different scans for marker based position calculation ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + if(start > end) { + double tmp = start; + start = end; + end = tmp; + desc = true; + } + + return 0; +} + + +/** + * Main program for calculating the difference of two scans. + * Usage: bin/scan_diff -d -s -e 'dir', + * Use -s and -e for the two scans, + * -d + * and 'dir' the directory of a set of scans + * Difference scans will be written to 'dir/diff/scan[00]s.3d' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double dist = 0; + int start = -1, end = -1; + int maxDist = -1; + int minDist = -1; + IOType type = UOS; + bool desc = false; + + parseArgs(argc, argv, dir, start, end, dist, type, desc); + + Scan::readScansRedSearch(type, start, end, dir, maxDist, minDist, -1, 1, false, false, false); + cout << "Start match marker ..." << endl; + srand(time(0)); + srand(0); + long starttime = GetCurrentTimeInMilliSec(); + // matchBruteForce(start, end-start); + matchMarker(0, end - start); + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << " done in " << starttime << " ms" << endl; + + vector ::iterator Iter = Scan::allScans.begin(); + for( ; Iter != Scan::allScans.end(); ) { + Iter = Scan::allScans.begin(); + delete (*Iter); + cout << "."; + cout.flush(); + } + Scan::allScans.clear(); + + cout << endl << endl; + cout << "Normal program end." << endl << endl; +} diff --git a/.svn/pristine/fd/fd0a5f70fcf62b6831815e327f3e80f8c069a691.svn-base b/.svn/pristine/fd/fd0a5f70fcf62b6831815e327f3e80f8c069a691.svn-base new file mode 100644 index 0000000..1c72af8 --- /dev/null +++ b/.svn/pristine/fd/fd0a5f70fcf62b6831815e327f3e80f8c069a691.svn-base @@ -0,0 +1,365 @@ +/* + * scan_red implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Main program for reducing 3D scans. + * + * Program to reduce scans for use with slam6d + * Usage: bin/scan_red -r 'dir', + * Use -r for octree based reduction (voxel size=) + * and 'dir' the directory of a set of scans + * Reduced scans will be written to 'dir/reduced' + * + * @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +#include + +#include "slam6d/scan.h" +#ifdef WITH_SCANSERVER +#include "scanserver/clientInterface.h" +#endif //WITH_SCANSERVER + +#include "slam6d/globals.icc" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] -r directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, + int &start, int &end, int &maxDist, int &minDist, int &octree, + IOType &type) +{ + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:O:", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(!reduced) { + cerr << "\n*** Reduction method missed ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + + +/** + * Main program for reducing scans. + * Usage: bin/scan_red -r 'dir', + * Use -r for octree based reduction (voxel size=) + * and 'dir' the directory of a set of scans + * Reduced scans will be written to 'dir/reduced' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0, end = -1; + int maxDist = -1; + int minDist = -1; + int octree = 0; + IOType type = RIEGL_TXT; + + parseArgs(argc, argv, dir, red, start, end, maxDist, minDist, octree, type); + +#ifdef WITH_SCANSERVER + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } +#endif //WITH_SCANSERVER + + // Get Scans +#ifndef WITH_SCANSERVER + Scan::dir = dir; + int fileNr = start; +#endif //WITH_SCANSERVER + string reddir = dir + "reduced"; + +#ifdef _MSC_VER + int success = mkdir(reddir.c_str()); +#else + int success = mkdir(reddir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + cout << "Writing scans to " << reddir << endl; + } else if(errno == EEXIST) { + cout << "Directory " << reddir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << reddir << " failed" << endl; + exit(1); + } + +#ifndef WITH_SCANSERVER + while (fileNr <= end) { + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + const double* rPos = Scan::allScans[0]->get_rPos(); + const double* rPosTheta = Scan::allScans[0]->get_rPosTheta(); + + // reduction filter for current scan! + + cout << "Reducing Scan No. " << fileNr << endl; + Scan::allScans[0]->calcReducedPoints(red, octree); + + + cout << "Writing Scan No. " << fileNr ; + cout << " with " << Scan::allScans[0]->get_points_red_size() << " points" << endl; + string scanFileName; + string poseFileName; + + scanFileName = dir + "reduced/scan" + to_string(fileNr,3) + ".3d"; + poseFileName = dir + "reduced/scan" + to_string(fileNr,3) + ".pose"; + + + ofstream redptsout(scanFileName.c_str()); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + Point p(Scan::allScans[0]->get_points_red()[j]); + //Points in global coordinate system + redptsout << p.x << " " << p.y << " " << p.z << endl; + + } + redptsout.close(); + redptsout.clear(); +#else //WITH_SCANSERVER + Scan::readScans(type, start, end, dir, maxDist, minDist); + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + const double* rPos = scan->get_rPos(); + const double* rPosTheta = scan->get_rPosTheta(); + + scan->calcReducedPoints(red, octree); + + const char* id = scan->getIdentifier(); + cout << "Writing Scan No. " << id; + cout << " with " << scan->getCountReduced() << " points" << endl; + string scanFileName; + string poseFileName; + + scanFileName = dir + "reduced/scan" + id + ".3d"; + poseFileName = dir + "reduced/scan" + id + ".pose"; + + ofstream redptsout(scanFileName.c_str()); + DataXYZ xyz_r(scan->getXYZReduced()); + for(unsigned int j = 0; j < xyz_r.size(); j++) { + //Points in global coordinate system + redptsout << xyz_r[j][0] << " " << xyz_r[j][1] << " " << xyz_r[j][2] << endl; + } + redptsout.close(); + redptsout.clear(); +#endif //WITH_SCANSERVER + + ofstream posout(poseFileName.c_str()); + + posout << rPos[0] << " " + << rPos[1] << " " + << rPos[2] << endl + << deg(rPosTheta[0]) << " " + << deg(rPosTheta[1]) << " " + << deg(rPosTheta[2]) << endl; + + posout.close(); + posout.clear(); + +#ifndef WITH_SCANSERVER + delete Scan::allScans[0]; + Scan::allScans.clear(); + fileNr++; +#endif //WITH_SCANSERVER + } + + cout << endl << endl; + cout << "Normal program end." << endl << endl; + +#ifdef WITH_SCANSERVER + Scan::clearScans(); + ClientInterface::destroy(); +#endif //WITH_SCANSERVER +} + diff --git a/.svn/pristine/fd/fd11353b03cdcfb49ac376d848a88a029bbde1a5.svn-base b/.svn/pristine/fd/fd11353b03cdcfb49ac376d848a88a029bbde1a5.svn-base new file mode 100644 index 0000000..278bc0d Binary files /dev/null and b/.svn/pristine/fd/fd11353b03cdcfb49ac376d848a88a029bbde1a5.svn-base differ diff --git a/.svn/pristine/fd/fd166230bc1d63d6391747cc445d10b39a7cc23b.svn-base b/.svn/pristine/fd/fd166230bc1d63d6391747cc445d10b39a7cc23b.svn-base new file mode 100644 index 0000000..3ff3364 --- /dev/null +++ b/.svn/pristine/fd/fd166230bc1d63d6391747cc445d10b39a7cc23b.svn-base @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos + reflectance file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_TXYZR_H__ +#define __SCAN_IO_TXYZR_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS + time/reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_txyzr : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/fd/fd3c4581e9ae32d430fb6d38f8737be21e182a7b.svn-base b/.svn/pristine/fd/fd3c4581e9ae32d430fb6d38f8737be21e182a7b.svn-base new file mode 100644 index 0000000..c959f46 --- /dev/null +++ b/.svn/pristine/fd/fd3c4581e9ae32d430fb6d38f8737be21e182a7b.svn-base @@ 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+} + + + +/** + * @brief Access object for data in a CacheObject. + * + * This object functions as a reading lock on the data in a CacheObject. While any of these objects exists with a lock on a CacheObject it is guaranteed the CacheManager won't remove it from memory when flushing the cache. + * It is derived from the DataPointer class, which already represents application-specific access operators for this data, and builds the locking functionality on top of it. + * A CacheDataAccess is returned by the accessing function in a CacheObject as a temporary and is constructed by these means (&&-ctor). Size and data pointer will be copied and the reading lock will also be obtained. When all CacheDataAccess instances for a given CacheObject are destroyed (fell out of scope) all read locks are gone and the CacheManager is able to remove its contained data from memory. + */ +class CacheDataAccess : public DataPointer { + class Lock : public PrivateImplementation { + public: + Lock(ip::interprocess_upgradable_mutex& mutex); + // on destruction, the lock has to be released, which comes from m_lock destruction + virtual ~Lock() {} + private: + ip::sharable_lock m_lock; + }; +public: + // CacheDataAccess& operator=(const CacheDataAccess&) = delete; + // CacheDataAccess(const CacheDataAccess&) = delete; + + //! Aquires a lock on the mutex and takes assigned data + CacheDataAccess(ip::interprocess_upgradable_mutex& mutex, unsigned int& size, unsigned char* data); + + CacheDataAccess(CacheDataAccess&& other) : DataPointer(other) {} + + //! Non-locking version + //CacheDataAccess(unsigned int& size, unsigned char* data); + + //! Transfers the lock to this instance and also takes assigned data + //CacheDataAccess(const CacheDataAccess& other); +}; + +#endif //CACHE_DATA_ACCESS_H diff --git a/.svn/pristine/fd/fd72205590e8900acdb6b9b87b545c48759d6569.svn-base b/.svn/pristine/fd/fd72205590e8900acdb6b9b87b545c48759d6569.svn-base new file mode 100644 index 0000000..4d3d5bf --- /dev/null +++ b/.svn/pristine/fd/fd72205590e8900acdb6b9b87b545c48759d6569.svn-base @@ -0,0 +1,16 @@ + +Always remember Arnold's Laws of Documentation: + + (1) If it should exist, it doesn't. + (2) If it does exist, it's out of date. + (3) Only documentation for useless programs transcends the + first two laws. + + +If you're still interested in the documentation, you can generate both +a doxygen version and some more information about the mathematical background +by typing "make docu" in the parent directory. + +Furthermore, there are some relevant publications in the 'papers' directory, +which are also cited in the source code. + diff --git a/.svn/pristine/fd/fd8591c2a4d3c28e6565e6e0c078d0cf6c63457c.svn-base b/.svn/pristine/fd/fd8591c2a4d3c28e6565e6e0c078d0cf6c63457c.svn-base new file mode 100644 index 0000000..fdb0a22 --- /dev/null +++ b/.svn/pristine/fd/fd8591c2a4d3c28e6565e6e0c078d0cf6c63457c.svn-base @@ -0,0 +1,181 @@ +///////////////////////////////////////////////////////////////////////////// +// Matrix.h : +// Interface of the class CMatrix +// Author : freeia +// Modified Date : 3/11/2003 +// E-mail : freeia@163.com +// Company/School : hdcad +///////////////////////////////////////////////////////////////////////////// + +#ifndef _MATRIX_H +#define _MATRIX_H + +#include + +using namespace std; + +typedef vector VDOUBLE; +typedef vector TMatrix; + + +class CMatrix +{ + + /************************************************************************ + * the interface function of the class CMatrix * + ************************************************************************/ +public: + + ///////////////////////////////////////////////////////////////////////// + // Construction and Destruction + CMatrix(); + + CMatrix(CMatrix& cMatrixB); + + ~CMatrix(); + + TMatrix m_pTMatrix; + + ///////////////////////////////////////////////////////////////////////// + // According to the parameters nRow & nCol to construct a matrix + CMatrix(unsigned int nRow, unsigned int nCol); + + + ///////////////////////////////////////////////////////////////////////// + // This function initialize the matrix : + // the matrix which has been initialized has 0 row & 0 column, and + // all elements in it is zeros. + // + void Initialize(); + + ///////////////////////////////////////////////////////////////////////// + // This function initialize the matrix : + // all elements in it is zeros. + // + void InitializeZero(); + + ///////////////////////////////////////////////////////////////////////// + // To make random in the elements of the matrix and the elements of the + // matrix has been randomized between -1 and 1.These elements must be + // decimal fractions. + // + void RandomInitialize(); + + ///////////////////////////////////////////////////////////////////////// + // Overload Operations + + // 'CMatrix + CMatrix' + CMatrix operator + (CMatrix& cMatrixB); + // 'CMatrix - CMatrix' + CMatrix operator - (CMatrix& cMatrixB); + // 'CMatrix * CMatrix' + CMatrix operator * (CMatrix& cMatrixB); + // 'CMatrix * double' + CMatrix operator * (double nValue); + // 'CMatrix = CMatrix' + CMatrix& operator = (CMatrix& cMatrixB); + CMatrix& operator = (const CMatrix& cMatrixB); + // 'CMatrix += CMatrix' + CMatrix& operator += (CMatrix& cMatrixB); + // 'CMatrix .* CMatrix' + CMatrix operator / (CMatrix& cMatrixB); + + CMatrix Transpose(); + + ///////////////////////////////////////////////////////////////////////// + // Inverse the matrix + // + CMatrix Inverse(); + + unsigned int GetMatrixRowNumber() const + { + return m_nRow; + } + + ///////////////////////////////////////////////////////////////////////// + // Get the matrix Colum Number + // + unsigned int GetMatrixColNumber() const + { + return m_nCol; + } + + void CopySubMatrixFromVector(CMatrix& cMatrix,unsigned int nIndex); + + void CopySubMatrix(CMatrix& cMatrix,unsigned int nStartX,unsigned int nStartY); + + void CopyMatrix(CMatrix& cMatrix); + + CMatrix MergeColumnsToColumnVector(); + + CMatrix Sigmoid(); + + CMatrix SigmoidDerivative(); + + CMatrix tanh(); + + CMatrix tanhDerivative(); + + CMatrix Tansig(); + + CMatrix TansigDerivative(); + + void MakeAllColumnElementsSameValue(unsigned int nRowIndex); + + void Eye(); + + double GetSystemError() const; + + CMatrix AbsoluteValue(); + + void GetMatrixData(CMatrix& cMatrix, unsigned int nIndex); + + void SetMatrixData(CMatrix& cMatrix, unsigned int nIndex); + + + void GetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow); + + + void SetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow); + + ///////////////////////////////////////////////////////////////////////// + // Get the total value of the matrix + double GetTotalElementValue(); + + + void nncpyi(CMatrix &cMatrix, unsigned int nTimes); + + + void nncpyd(CMatrix &cMatrix); + + + void nncpy (CMatrix& cMatrix, unsigned int nTimes); + + + +public: + + unsigned int m_nRow; + unsigned int m_nCol; + + + void SetMatrixRowNumber(unsigned int nRow); + + void SetMatrixColNumber(unsigned int nCol); + + void SetMatrixRowAndCol(unsigned int nRow,unsigned int nCol); + + void SwapMatrixRow(unsigned int nRow1,unsigned int nRow2); + + void SwapMatrixCol(unsigned int nCol1,unsigned int nCol2); +}; + + +///////////////////////////////////////////////////////////////////////////// +// overload operator 'double - CMatrix' +CMatrix operator - (double nValue,CMatrix& cMatrixB); + +CMatrix MergeMatrix(CMatrix& cMatrixA,CMatrix& cMatrixB); + + +#endif // _MATRIX_H \ No newline at end of file diff --git a/.svn/pristine/fd/fde409cc42903b18bb17d1ac8c050379dbf58b6d.svn-base b/.svn/pristine/fd/fde409cc42903b18bb17d1ac8c050379dbf58b6d.svn-base new file mode 100644 index 0000000..34caa70 --- /dev/null +++ b/.svn/pristine/fd/fde409cc42903b18bb17d1ac8c050379dbf58b6d.svn-base @@ -0,0 +1,37 @@ +/** + * @file + * @brief IO of a 3D scan in Kurt3D file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_OLD_H__ +#define __SCAN_IO_OLD_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Kurt3D scans + * + * The compiled class is available as shared object file + */ +class ScanIO_old : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, + int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/.svn/pristine/fe/fe0c1544b027a27566620eaaa9af21cde30bdcd6.svn-base b/.svn/pristine/fe/fe0c1544b027a27566620eaaa9af21cde30bdcd6.svn-base new file mode 100644 index 0000000..c54e33d --- /dev/null +++ b/.svn/pristine/fe/fe0c1544b027a27566620eaaa9af21cde30bdcd6.svn-base @@ -0,0 +1,28 @@ +#pragma once + +#include + +struct Frame { + CvMat *trn; + CvMat *rot; + IplImage *img; + CvPoint **status; + CvPoint3D32f **pts; + CvSize sz; + double alignError; +}; + +Frame *allocFrame3DData(CvSize pmdSz); +void fillFrame(Frame *f, IplImage *img, CvSize pmdSz, CvPoint3D32f **pts, CvPoint **status + , CvMat *rot, CvMat *trn, double alignError); +void releaseFrame(Frame **f); + +struct History { + Frame *frame; + History *prev; +}; + +History *createHistory(); +History *addFrame(History *h, Frame *f); +void releaseTail(History *h); +void checkHistoryLen(History *h, int maxLen); diff --git a/.svn/pristine/fe/fe5ef4662457c1e4a038422f8b74c4fb625f4caa.svn-base b/.svn/pristine/fe/fe5ef4662457c1e4a038422f8b74c4fb625f4caa.svn-base new file mode 100644 index 0000000..ff00049 --- /dev/null +++ b/.svn/pristine/fe/fe5ef4662457c1e4a038422f8b74c4fb625f4caa.svn-base @@ -0,0 +1,32 @@ +/** + * @file graph balancer implementation and utility functions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_H__ +#define __ELCH6D_H__ + +#include "loopSlam6D.h" + +class elch6D : public loopSlam6D { + + public: + elch6D(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + static void graph_balancer(graph_t &g, int f, int l, double *weights); + + static void graph_weight_out(graph_t &g, int first, int last, double *weights); + static void graph_weight_out(graph_t &g, int first, int last, double *weights, string &out_file); + static void graph_pos_out(graph_t &g, const vector &allScans); + static void graph_pos_out(graph_t &g, const vector &allScans, string &out_file); + static void dot_pos_out(graph_t &g, const vector &allScans, string &out_file); + static void graph_out(graph_t &g); + + static void graph_out(graph_t &g, string &out_file); + static void slim_graph_out(graph_t g); + static void slim_graph_out(graph_t g, string &out_file); +}; + +#endif diff --git a/.svn/pristine/fe/feb82c42a082a97f3aba8a02f943e5ac3a7d87f8.svn-base b/.svn/pristine/fe/feb82c42a082a97f3aba8a02f943e5ac3a7d87f8.svn-base new file mode 100644 index 0000000..71a4eaf --- /dev/null +++ b/.svn/pristine/fe/feb82c42a082a97f3aba8a02f943e5ac3a7d87f8.svn-base @@ -0,0 +1,84 @@ +function correctedData = testICP(anglex, angley, anglez) + % erstellung der testrotation, Winkelangabe in grad + Rz = [cos(anglez) -sin(anglez) 0; + sin(anglez) cos(anglez) 0; + 0 0 1]; + + Ry = [ cos(angley) 0 sin(angley); + 0 1 0; + -sin(angley) 0 cos(angley)]; + + Rx = [1 0 0; + 0 cos(anglex) -sin(anglex); + 0 sin(anglex) cos(anglex)]; + + R = Rz * Ry * Rx; + + %% generate random model + model = rand(3, 10)*100 + + %% generate noise + noise = rand(3, 10)*5; + + % rotate and translate model to use as data to be matched + %data = R * model + 200; + + % rotate and translate model to use as data to be matched and add noise + data = R * model + 200 + noise; + + + %% center model cloud + cm = sum(model')' / size(model,2); + centerModel = model - repmat(cm, 1, size(model,2)); + + %% center data cloud + cd = sum(data')' / size(data,2); + centerData = data - repmat(cd, 1, size(data,2)); + + %% correlation matrix H + H = zeros(3,3); + for i=1:size(data,2) + for j=1:3 + for k=1:3 + H(j,k) = H(j,k) + centerModel(j,i)*centerData(k,i); + end + end + end + +% H = zeros(3,3); +% for i=1:3 +% for j=1:3 +% H(i,j) = model(i,:) *data(j,:)'; +% end +% end + + %% rotation + % error in the paper: not H*H' but H'*H! + HH = H'*H; + + [eVec, eVal] = eig(HH); + + lamb1=eVal(1,1); + lamb2=eVal(2,2); + lamb3=eVal(3,3); + + u1=eVec(:,1); + u2=eVec(:,2); + u3=eVec(:,3); + + R=H*(1/sqrt(lamb1)*(u1*u1') + 1/sqrt(lamb2)*(u2*u2') + 1/sqrt(lamb3)*(u3*u3')) + + + %% translation + t=(cm - R*cd) + + + %% transform data to match the model + transformeddata = R*data + repmat(t, 1, size(data,2)) + + %%plot model and transformed data + plot3(transformeddata(1,:),transformeddata(2,:),transformeddata(3,:), 'r.', model(1,:),model(2,:),model(3,:),'go') + legend ('transformed data', 'model', 'Location','NorthEast') + +end + \ No newline at end of file diff --git a/.svn/pristine/ff/ff20af39715cd552a2d39649ce50dbdbf290673c.svn-base b/.svn/pristine/ff/ff20af39715cd552a2d39649ce50dbdbf290673c.svn-base new file mode 100644 index 0000000..8a31065 --- /dev/null +++ b/.svn/pristine/ff/ff20af39715cd552a2d39649ce50dbdbf290673c.svn-base @@ -0,0 +1,31 @@ +if(WITH_MODEL) + + # Module name + set(MODULE "Model") + set(UNIX_LIBS shape scan newmat dl ANN) + set(WIN32_LIBS shape scan newmat XGetopt) + + # Set CXX flags for CGAL + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frounding-math") + + # Sources + file(GLOB SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cc") + + # Binaries + add_executable(model ${SOURCES}) + + # Find libraries + find_library(LIB_CGAL CGAL) + find_library(LIB_GMP gmp) + find_package(Boost REQUIRED) + find_package(OpenCV REQUIRED) + + if(UNIX) + target_link_libraries(model ${UNIX_LIBS} ${LIB_CGAL} ${Boost_LIBS} ${LIB_GMP} ${OpenCV_LIBS}) + endif(UNIX) + + if (WIN32) + target_link_libraries(model ${UNIX_LIBS} ${LIB_CGAL} ${Boost_LIBS} ${LIB_GMP} ${OpenCV_LIBS}) + endif(WIN32) + +endif(WITH_MODEL) diff --git a/.svn/pristine/ff/ffc633e3b12c41182619e2d4c688f35c12352632.svn-base b/.svn/pristine/ff/ffc633e3b12c41182619e2d4c688f35c12352632.svn-base new file mode 100644 index 0000000..a3033c6 --- /dev/null +++ b/.svn/pristine/ff/ffc633e3b12c41182619e2d4c688f35c12352632.svn-base @@ -0,0 +1,7 @@ +Authors (in chronological order): + +Joerg Schulenburg (remove NO+SPAM for valid EMAIL address) + * Original idea and creation, programmer leader + +Bruno Barberi Gnecco + * Programmer diff --git a/.svn/pristine/ff/fffcf1a03a22d599d51337c8e1b99d71f1d20347.svn-base b/.svn/pristine/ff/fffcf1a03a22d599d51337c8e1b99d71f1d20347.svn-base new file mode 100644 index 0000000..b420a69 --- /dev/null +++ b/.svn/pristine/ff/fffcf1a03a22d599d51337c8e1b99d71f1d20347.svn-base @@ -0,0 +1,9 @@ + +#include "pnm.h" + +void readpcx(char *name,pix *p,int vvv); + +/* write 8bit palette no RLE, ToDo: obsolete? */ +void writebmp(char *name,pix p,int vvv); + +/* ------------------------------------------------------------------------ */ diff --git a/.svn/wc.db b/.svn/wc.db new file mode 100644 index 0000000..3547808 Binary files /dev/null and b/.svn/wc.db differ diff --git a/3rdparty/CMakeLists.txt b/3rdparty/CMakeLists.txt new file mode 100644 index 0000000..2b29350 --- /dev/null +++ b/3rdparty/CMakeLists.txt @@ -0,0 +1,91 @@ +# Compile ANN library +SET(ANN_DIR ${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src/) +SET(ANN_SRCS + ${ANN_DIR}ANN.cpp + ${ANN_DIR}brute.cpp + ${ANN_DIR}kd_tree.cpp + ${ANN_DIR}kd_util.cpp + ${ANN_DIR}kd_split.cpp + ${ANN_DIR}kd_dump.cpp + ${ANN_DIR}kd_search.cpp + ${ANN_DIR}kd_pr_search.cpp + ${ANN_DIR}kd_fix_rad_search.cpp + ${ANN_DIR}bd_tree.cpp + ${ANN_DIR}bd_search.cpp + ${ANN_DIR}bd_pr_search.cpp + ${ANN_DIR}bd_fix_rad_search.cpp + ${ANN_DIR}perf.cpp) +add_library(ANN STATIC ${ANN_SRCS}) +IF(EXPORT_SHARED_LIBS) +add_library(ANN_s SHARED ${ANN_SRCS}) +ENDIF(EXPORT_SHARED_LIBS) + +# on windows systems the DLL_EXPORTS is required +if (WIN32) + SET_TARGET_PROPERTIES(ANN PROPERTIES COMPILE_FLAGS -DDLL_EXPORTS) +endif(WIN32) + +# Compile glui library +SET(GLUI_DIR ${CMAKE_SOURCE_DIR}/3rdparty/glui/) +add_library(glui STATIC + ${GLUI_DIR}glui_add_controls.cpp + ${GLUI_DIR}glui.cpp + ${GLUI_DIR}glui_bitmap_img_data.cpp + ${GLUI_DIR}glui_bitmaps.cpp + ${GLUI_DIR}glui_button.cpp + ${GLUI_DIR}glui_edittext.cpp + ${GLUI_DIR}glui_checkbox.cpp + ${GLUI_DIR}glui_node.cpp + ${GLUI_DIR}glui_radio.cpp + ${GLUI_DIR}glui_statictext.cpp + ${GLUI_DIR}glui_panel.cpp + ${GLUI_DIR}glui_separator.cpp + ${GLUI_DIR}glui_spinner.cpp + ${GLUI_DIR}glui_control.cpp + ${GLUI_DIR}glui_column.cpp + ${GLUI_DIR}glui_translation.cpp + ${GLUI_DIR}glui_rotation.cpp + ${GLUI_DIR}glui_mouse_iaction.cpp + ${GLUI_DIR}glui_listbox.cpp + ${GLUI_DIR}glui_rollout.cpp + ${GLUI_DIR}arcball.cpp + ${GLUI_DIR}algebra3.cpp + ${GLUI_DIR}quaternion.cpp ) + + + +IF(WITH_WXSHOW) + +# Compile wxthings library +SET(WXTHINGS_DIR ${CMAKE_SOURCE_DIR}/3rdparty/wxthings/src/) +add_library(wxthings STATIC + ${WXTHINGS_DIR}block.cpp + ${WXTHINGS_DIR}bmpcombo.cpp + ${WXTHINGS_DIR}dropdown.cpp + # ${WXTHINGS_DIR}filebrws.cpp # these two are not needed and would create unnecessary dependencies + #${WXTHINGS_DIR}genergdi.cpp + ${WXTHINGS_DIR}geometry.cpp + ${WXTHINGS_DIR}menubtn.cpp + ${WXTHINGS_DIR}optvalue.cpp + ${WXTHINGS_DIR}range.cpp + ${WXTHINGS_DIR}spinctld.cpp + ${WXTHINGS_DIR}toggle.cpp +) +ENDIF(WITH_WXSHOW) + +# Compile sparse library +SET(SPARSE_DIR ${CMAKE_SOURCE_DIR}/3rdparty/sparse/) +add_library(sparse STATIC ${SPARSE_DIR}csparse.cc) +IF(EXPORT_SHARED_LIBS) +add_library(sparse_s SHARED ${SPARSE_DIR}csparse.cc) +ENDIF(EXPORT_SHARED_LIBS) + + +# Compile newmat library +SET(NEWMAT_DIR ${CMAKE_SOURCE_DIR}/3rdparty/newmat/) +SET(NEWMAT_SOURCES ${NEWMAT_DIR}newmat1.cpp ${NEWMAT_DIR}newmat2.cpp ${NEWMAT_DIR}newmat3.cpp ${NEWMAT_DIR}newmat4.cpp ${NEWMAT_DIR}newmat5.cpp ${NEWMAT_DIR}newmat6.cpp ${NEWMAT_DIR}newmat7.cpp ${NEWMAT_DIR}newmat8.cpp ${NEWMAT_DIR}newmatex.cpp ${NEWMAT_DIR}bandmat.cpp ${NEWMAT_DIR}submat.cpp ${NEWMAT_DIR}myexcept.cpp ${NEWMAT_DIR}cholesky.cpp ${NEWMAT_DIR}evalue.cpp ${NEWMAT_DIR}fft.cpp ${NEWMAT_DIR}hholder.cpp ${NEWMAT_DIR}jacobi.cpp ${NEWMAT_DIR}newfft.cpp ${NEWMAT_DIR}sort.cpp ${NEWMAT_DIR}svd.cpp ${NEWMAT_DIR}newmatrm.cpp ${NEWMAT_DIR}newmat9.cpp) +add_library(newmat STATIC ${NEWMAT_SOURCES}) +IF(EXPORT_SHARED_LIBS) +add_library(newmat_s SHARED ${NEWMAT_SOURCES}) +ENDIF(EXPORT_SHARED_LIBS) + diff --git a/3rdparty/CMakeModules/CountProcessors.cmake b/3rdparty/CMakeModules/CountProcessors.cmake new file mode 100644 index 0000000..950e6af --- /dev/null +++ b/3rdparty/CMakeModules/CountProcessors.cmake @@ -0,0 +1,26 @@ +if(NOT DEFINED PROCESSOR_COUNT) + # Unknown: + set(PROCESSOR_COUNT 0) + + # Linux: + set(cpuinfo_file "/proc/cpuinfo") + if(EXISTS "${cpuinfo_file}") + file(STRINGS "${cpuinfo_file}" procs REGEX "^processor.: [0-9]+$") + list(LENGTH procs PROCESSOR_COUNT) + endif() + + # Mac: + if(APPLE) + find_program(cmd_sys_pro "system_profiler") + if(cmd_sys_pro) + execute_process(COMMAND ${cmd_sys_pro} OUTPUT_VARIABLE info) + string(REGEX REPLACE "^.*Total Number Of Cores: ([0-9]+).*$" "\\1" + PROCESSOR_COUNT "${info}") + endif() + endif() + + # Windows: + if(WIN32) + set(PROCESSOR_COUNT "$ENV{NUMBER_OF_PROCESSORS}") + endif() +endif() diff --git a/3rdparty/CMakeModules/FindCUDA.cmake b/3rdparty/CMakeModules/FindCUDA.cmake new file mode 100644 index 0000000..5f36be4 --- /dev/null +++ b/3rdparty/CMakeModules/FindCUDA.cmake @@ -0,0 +1,802 @@ +############################################################################### +# For more information, please see: http://software.sci.utah.edu +# +# The MIT License +# +# Copyright (c) 2007-2008 +# Scientific Computing and Imaging Institute, University of Utah +# +# License for the specific language governing rights and limitations under +# Permission is hereby granted, free of charge, to any person obtaining a +# copy of this software and associated documentation files (the "Software"), +# to deal in the Software without restriction, including without limitation +# the rights to use, copy, modify, merge, publish, distribute, sublicense, +# and/or sell copies of the Software, and to permit persons to whom the +# Software is furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +# DEALINGS IN THE SOFTWARE. +# +# This script locates the Nvidia Compute Unified Driver Architecture (CUDA) +# tools. It should work on linux, windows, and mac and should be reasonably +# up to date with cuda releases. +# +# The script will prompt the user to specify CUDA_INSTALL_PREFIX if the +# prefix cannot be determined by the location of nvcc in the system path. To +# use a different installed version of the toolkit set the environment variable +# CUDA_BIN_PATH before running cmake (e.g. CUDA_BIN_PATH=/usr/local/cuda1.0 +# instead of the default /usr/local/cuda). +# +# Set CUDA_BUILD_EMULATION to ON for Emulation mode. Defaults to OFF (device +# mode). +# _DEVICEEMU is defined when CUDA_BUILD_EMULATION is TRUE. +# +# Set CUDA_HOST_COMPILATION_CPP to OFF for C compilation of host code. +# Default TRUE. +# +# Set CUDA_BUILD_CUBIN to "ON" or "OFF" to enable and extra compilation pass +# with the -cubin option in Device mode. The output is parsed and register, +# shared memory usage is printed during build. Default ON. +# +# Set CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE to ON if you want the custom build +# rule to be attached to the source file in Visual Studio. Defaults to OFF. +# +# This allows the user to build the target from the CUDA file, however bad +# things can happen if the CUDA source file is added to multiple targets. When +# performing parallel builds it is possible for the custom build command to be +# run more than once and in parallel causing cryptic build errors. This is +# because VS runs the rules for every source file in the target, and a source +# can have only one rule no matter how many projects it is added to. Therefore, +# the rule assigned to the source file really only applies to one target you get +# clashes when it is run from multiple targets. Eventually everything will get +# built, but if the user is unaware of this behavior, there may be confusion. +# It would be nice if we could detect the reuse of source files across multiple +# targets and turn the option off for the user, but no good solution could be +# found. +# +# Set CUDA_64_BIT_DEVICE_CODE to ON to compile for 64 bit devices. Defaults to +# match host bit size. Note that making this different than the host code when +# generating C files from CUDA code just won't work, because size_t gets defined +# by nvcc in the generated source. If you compile to PTX and then load the file +# yourself, you can mix bit sizes between device and host. +# +# Set CUDA_VERBOSE_BUILD to ON to see all the commands used when building the +# CUDA file. When using a Makefile generator the value defaults to VERBOSE (run +# make VERBOSE=1 to see output). You can override this by setting +# CUDA_VERBOSE_BUILD to ON. +# +# The script creates the following macros: +# CUDA_INCLUDE_DIRECTORIES( path0 path1 ... ) +# -- Sets the directories that should be passed to nvcc +# (e.g. nvcc -Ipath0 -Ipath1 ... ). These paths usually contain other .cu +# files. +# +# CUDA_ADD_LIBRARY( cuda_target file0 file1 ... ) +# -- Creates a shared library "cuda_target" which contains all of the source +# (*.c, *.cc, etc.) specified and all of the nvcc'ed .cu files specified. +# All of the specified source files and generated .cpp files are compiled +# using the standard CMake compiler, so the normal INCLUDE_DIRECTORIES, +# LINK_DIRECTORIES, and TARGET_LINK_LIBRARIES can be used to affect their +# build and link. +# +# CUDA_ADD_CUFFT_TO_TARGET( cuda_target ) +# -- Adds the cufft library to the target. Handles whether you are in emulation +# mode or not. +# +# CUDA_ADD_CUBLAS_TO_TARGET( cuda_target ) +# -- Adds the cublas library to the target. Handles whether you are in emulation +# mode or not. +# +# CUDA_ADD_EXECUTABLE( cuda_target file0 file1 ... ) +# -- Same as CUDA_ADD_LIBRARY except that an exectuable is created. +# +# CUDA_COMPILE( cuda_files file0 file1 ... ) +# -- Returns a list of build commands in the first argument to be used with +# ADD_LIBRARY or ADD_EXECUTABLE. +# +# CUDA_BUILD_CLEAN_TARGET() +# -- Creates a convience target that deletes all the dependency files generated. +# You should make clean after running this target to ensure the dependency +# files get regenerated. +# +# The script defines the following variables: +# +# ( Note CUDA_ADD_* macros setup cuda/cut library dependencies automatically. +# These variables are only needed if a cuda API call must be made from code in +# a outside library or executable. ) +# +# CUDA_INCLUDE_DIRS -- Include directory for cuda headers. +# CUDA_LIBRARIES -- Cuda RT library. +# CUDA_CUT_INCLUDE_DIRS -- Include directory for cuda SDK headers (cutil.h). +# CUDA_CUT_LIBRARIES -- SDK libraries. +# CUDA_NVCC_FLAGS -- Additional NVCC command line arguments. NOTE: +# multiple arguments must be semi-colon delimited +# e.g. --compiler-options;-Wall +# CUFFT_LIBRARIES -- Device or emulation library for the Cuda FFT +# implementation (alternative to: +# CUDA_ADD_CUFFT_TO_TARGET macro) +# CUBLAS_LIBRARIES -- Device or emulation library for the Cuda BLAS +# implementation (alterative to: +# CUDA_ADD_CUBLAS_TO_TARGET macro). +# +# +# It might be necessary to set CUDA_INSTALL_PATH manually on certain platforms, +# or to use a cuda runtime not installed in the default location. In newer +# versions of the toolkit the cuda library is included with the graphics +# driver- be sure that the driver version matches what is needed by the cuda +# runtime version. +# +# -- Abe Stephens SCI Institute -- http://www.sci.utah.edu/~abe/FindCuda.html +# -- James Bigler NVIDIA Corp +############################################################################### + +# FindCUDA.cmake + +# This macro helps us find the location of helper files we will need the full path to +MACRO(CUDA_FIND_HELPER_FILE _name _extension) + SET(_full_name "${_name}.${_extension}") + # CMAKE_CURRENT_LIST_FILE contains the full path to the file currently being + # processed. Using this variable, we can pull out the current path, and + # provide a way to get access to the other files we need local to here. + GET_FILENAME_COMPONENT(CMAKE_CURRENT_LIST_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) + FIND_FILE(CUDA_${_name} ${_full_name} PATHS ${CMAKE_CURRENT_LIST_DIR} NO_DEFAULT_PATH) + IF(NOT CUDA_${_name}) + SET(error_message "${_full_name} not found in CMAKE_MODULE_PATH") + IF(CUDA_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "${error_message}") + ELSE(CUDA_FIND_REQUIRED) + IF(NOT CUDA_FIND_QUIETLY) + MESSAGE(STATUS "${error_message}") + ENDIF(NOT CUDA_FIND_QUIETLY) + ENDIF(NOT CUDA_FIND_REQUIRED) + ENDIF(NOT CUDA_${_name}) + # Set this variable as internal, so the user isn't bugged with it. + SET(CUDA_${_name} ${CUDA_${_name}} CACHE INTERNAL "Location of ${_full_name}" FORCE) +ENDMACRO(CUDA_FIND_HELPER_FILE) + +##################################################################### +## CUDA_INCLUDE_NVCC_DEPENDENCIES +## + +# So we want to try and include the dependency file if it exists. If +# it doesn't exist then we need to create an empty one, so we can +# include it. + +# If it does exist, then we need to check to see if all the files it +# depends on exist. If they don't then we should clear the dependency +# file and regenerate it later. This covers the case where a header +# file has disappeared or moved. + +# Need to locate the empty.depend.in file, because CONFIGURE_FILE requires +# full paths. +CUDA_FIND_HELPER_FILE(empty "depend.in") + +MACRO(CUDA_INCLUDE_NVCC_DEPENDENCIES dependency_file) + SET(CUDA_NVCC_DEPEND) + SET(CUDA_NVCC_DEPEND_REGENERATE FALSE) + + + # Include the dependency file. Create it first if it doesn't exist + # for make files except for IDEs (see below). The INCLUDE puts a + # dependency that will force CMake to rerun and bring in the new info + # when it changes. DO NOT REMOVE THIS (as I did and spent a few hours + # figuring out why it didn't work. +# IF(${CMAKE_MAKE_PROGRAM} MATCHES "make") + IF(NOT EXISTS ${dependency_file}) + #message("configuring dependency_file = ${dependency_file}") + CONFIGURE_FILE( + ${CUDA_empty} + ${dependency_file} IMMEDIATE) + ENDIF(NOT EXISTS ${dependency_file}) + # Always include this file to force CMake to run again next + # invocation and rebuild the dependencies. + #message("including dependency_file = ${dependency_file}") + INCLUDE(${dependency_file}) +# ELSE(${CMAKE_MAKE_PROGRAM} MATCHES "make") +# # for IDE generators like MS dev only include the depend files +# # if they exist. This is to prevent ecessive reloading of +# # workspaces after each build. This also means +# # that the depends will not be correct until cmake +# # is run once after the build has completed once. +# # the depend files are created in the wrap tcl/python sections +# # when the .xml file is parsed. +# INCLUDE(${dependency_file} OPTIONAL RESULT_VARIABLE found) +# if (found) +# message("included dependency_file (${dependency_file}) found") +# else() +# message("included dependency_file (${dependency_file}) NOT found") +# endif() +# ENDIF(${CMAKE_MAKE_PROGRAM} MATCHES "make") + + # Now we need to verify the existence of all the included files + # here. If they aren't there we need to just blank this variable and + # make the file regenerate again. +# if(DEFINED CUDA_NVCC_DEPEND) +# message("CUDA_NVCC_DEPEND set") +# else() +# message("CUDA_NVCC_DEPEND NOT set") +# endif() + IF(CUDA_NVCC_DEPEND) + #message("CUDA_NVCC_DEPEND true") + FOREACH(f ${CUDA_NVCC_DEPEND}) + #message("searching for ${f}") + IF(NOT EXISTS ${f}) + #message("file ${f} not found") + SET(CUDA_NVCC_DEPEND_REGENERATE TRUE) + ENDIF() + ENDFOREACH(f) + ELSE(CUDA_NVCC_DEPEND) + #message("CUDA_NVCC_DEPEND false") + # No dependencies, so regenerate the file. + SET(CUDA_NVCC_DEPEND_REGENERATE TRUE) + ENDIF(CUDA_NVCC_DEPEND) + + #message("CUDA_NVCC_DEPEND_REGENERATE = ${CUDA_NVCC_DEPEND_REGENERATE}") + # No incoming dependencies, so we need to generate them. Make the + # output depend on the dependency file itself, which should cause the + # rule to re-run. + IF(CUDA_NVCC_DEPEND_REGENERATE) + SET(CUDA_NVCC_DEPEND ${dependency_file}) + # Force CMake to run again next build + CONFIGURE_FILE( + ${CUDA_empty} + ${dependency_file} IMMEDIATE) + ENDIF(CUDA_NVCC_DEPEND_REGENERATE) + +ENDMACRO(CUDA_INCLUDE_NVCC_DEPENDENCIES) + +############################################################################### +############################################################################### +# Locate CUDA, Set Build Type, etc. +############################################################################### +############################################################################### + +# Set whether we are using emulation or device mode. +OPTION(CUDA_BUILD_EMULATION "Build in Emulation mode" OFF) +# Parse HOST_COMPILATION mode. +OPTION(CUDA_HOST_COMPILATION_CPP "Generated file extension" ON) +# Allow the user to specify if the device code is supposed to be 32 or 64 bit. +if(CMAKE_SIZEOF_VOID_P EQUAL 8) + set(CUDA_64_BIT_DEVICE_CODE_DEFAULT ON) +else() + set(CUDA_64_BIT_DEVICE_CODE_DEFAULT OFF) +endif() +OPTION(CUDA_64_BIT_DEVICE_CODE "Compile device code in 64 bit mode" ${CUDA_64_BIT_DEVICE_CODE_DEFAULT}) +# Prints out extra information about the cuda file during compilation +OPTION(CUDA_BUILD_CUBIN "Generate and parse .cubin files in Device mode." ON) +# Extra user settable flags +SET(CUDA_NVCC_FLAGS "" CACHE STRING "Semi-colon delimit multiple arguments.") +# Attach the build rule to the source file in VS. This option +OPTION(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE "Attach the build rule to the CUDA source file. Enable only when the CUDA source file is added to at most one target." OFF) +# Specifies whether the commands used when compiling the .cu file will be printed out. +OPTION(CUDA_VERBOSE_BUILD "Print out the commands run while compiling the CUDA source file. With the Makefile generator this defaults to VERBOSE variable specified on the command line, but can be forced on with this option." OFF) + +# Search for the cuda distribution. +IF(NOT CUDA_INSTALL_PREFIX) + + # Search in the CUDA_BIN_PATH first. + FIND_PATH(CUDA_INSTALL_PREFIX + NAMES nvcc nvcc.exe + PATHS ENV CUDA_BIN_PATH + DOC "Toolkit location." + NO_DEFAULT_PATH + ) + # Now search default paths + FIND_PATH(CUDA_INSTALL_PREFIX + NAMES nvcc nvcc.exe + PATHS /usr/local/bin + /usr/local/cuda/bin + DOC "Toolkit location." + ) + + IF (CUDA_INSTALL_PREFIX) + STRING(REGEX REPLACE "[/\\\\]?bin[/\\\\]?$" "" CUDA_INSTALL_PREFIX ${CUDA_INSTALL_PREFIX}) + # We need to force this back into the cache. + SET(CUDA_INSTALL_PREFIX ${CUDA_INSTALL_PREFIX} CACHE PATH "Toolkit location." FORCE) + ENDIF(CUDA_INSTALL_PREFIX) + IF (NOT EXISTS ${CUDA_INSTALL_PREFIX}) + MESSAGE(FATAL_ERROR "Specify CUDA_INSTALL_PREFIX") + ENDIF (NOT EXISTS ${CUDA_INSTALL_PREFIX}) +ENDIF (NOT CUDA_INSTALL_PREFIX) + +# CUDA_NVCC +IF (NOT CUDA_NVCC) + FIND_PROGRAM(CUDA_NVCC + NAMES nvcc + PATHS "${CUDA_INSTALL_PREFIX}/bin" + ENV CUDA_BIN_PATH + NO_DEFAULT_PATH + ) + # Search default search paths, after we search our own set of paths. + FIND_PROGRAM(CUDA_NVCC nvcc) + IF(NOT CUDA_NVCC) + MESSAGE(FATAL_ERROR "Could not find nvcc") + ELSE(NOT CUDA_NVCC) + MARK_AS_ADVANCED(CUDA_NVCC) + ENDIF(NOT CUDA_NVCC) +ENDIF(NOT CUDA_NVCC) + +# IF (NOT FOUND_CUDA_NVCC_INCLUDE) +FIND_PATH(FOUND_CUDA_NVCC_INCLUDE + device_functions.h # Header included in toolkit + PATHS "${CUDA_INSTALL_PREFIX}/include" + ENV CUDA_INC_PATH + NO_DEFAULT_PATH + ) +# Search default search paths, after we search our own set of paths. +FIND_PATH(FOUND_CUDA_NVCC_INCLUDE device_functions.h) + +IF(NOT FOUND_CUDA_NVCC_INCLUDE) + MESSAGE(FATAL_ERROR "Could not find CUDA headers") +ELSE(NOT FOUND_CUDA_NVCC_INCLUDE) + # Set the user list of include dir to nothing to initialize it. + SET (CUDA_NVCC_INCLUDE_ARGS_USER "") + SET (CUDA_INCLUDE_DIRS ${FOUND_CUDA_NVCC_INCLUDE}) + + MARK_AS_ADVANCED( + FOUND_CUDA_NVCC_INCLUDE + ) +ENDIF(NOT FOUND_CUDA_NVCC_INCLUDE) + +# ENDIF(NOT FOUND_CUDA_NVCC_INCLUDE) + + +MACRO(FIND_LIBRARY_LOCAL_FIRST _var _names _doc) + FIND_LIBRARY(${_var} + NAMES ${_names} + PATHS "${CUDA_INSTALL_PREFIX}/lib" + ENV CUDA_LIB_PATH + DOC ${_doc} + NO_DEFAULT_PATH + ) + # Search default search paths, after we search our own set of paths. + FIND_LIBRARY(${_var} NAMES ${_names} DOC ${_doc}) +ENDMACRO() + +# CUDA_LIBRARIES +IF (NOT CUDA_LIBRARIES) + + FIND_LIBRARY_LOCAL_FIRST(FOUND_CUDART cudart "\"cudart\" library") + + # Check to see if cudart library was found. + IF(NOT FOUND_CUDART) + MESSAGE(FATAL_ERROR "Could not find cudart library (cudart)") + ENDIF(NOT FOUND_CUDART) + + # 1.1 toolkit on linux doesn't appear to have a separate library on + # some platforms. + FIND_LIBRARY_LOCAL_FIRST(FOUND_CUDA cuda "\"cuda\" library (older versions only).") + + # Add cuda library to the link line only if it is found. + IF (FOUND_CUDA) + SET(CUDA_LIBRARIES ${FOUND_CUDA}) + ENDIF(FOUND_CUDA) + + # Always add cudart to the link line. + IF(FOUND_CUDART) + SET(CUDA_LIBRARIES + ${CUDA_LIBRARIES} ${FOUND_CUDART} + ) + MARK_AS_ADVANCED( + CUDA_LIBRARIES + CUDA_LIB + FOUND_CUDA + FOUND_CUDART + ) + ELSE(FOUND_CUDART) + MESSAGE(FATAL_ERROR "Could not find cuda libraries.") + ENDIF(FOUND_CUDART) + +ENDIF(NOT CUDA_LIBRARIES) + +FIND_PATH(CUDA_SDK_INSTALL_PREFIX common/inc/cutil.h + "/usr/local/src/NVIDIA_GPU_Computing_SDK/C/" + "[HKEY_LOCAL_MACHINE\\SOFTWARE\\NVIDIA Corporation\\Installed Products\\NVIDIA SDK 10\\Compute;InstallDir]" + "$ENV{NVSDKCUDA_ROOT}" + ) + +# Keep the CUDA_INSTALL_PREFIX first in order to be able to override the +# environment variables. +SET(CUDA_SDK_SEARCH_PATH + "${CUDA_SDK_INSTALL_PREFIX}" + "${CUDA_INSTALL_PREFIX}/local/NVSDK0.2" + "${CUDA_INSTALL_PREFIX}/NVSDK0.2" + "${CUDA_INSTALL_PREFIX}/NV_CUDA_SDK" + "$ENV{HOME}/NVIDIA_CUDA_SDK" + "$ENV{HOME}/NVIDIA_CUDA_SDK_MACOSX" + "/Developer/CUDA" + ) +# CUDA_CUT_INCLUDE_DIRS +IF(NOT CUDA_CUT_INCLUDE_DIRS) + FIND_PATH(FOUND_CUT_INCLUDE + cutil.h + PATHS ${CUDA_SDK_SEARCH_PATH} + PATH_SUFFIXES "common/inc" + DOC "Location of cutil.h" + NO_DEFAULT_PATH + ) + # Now search system paths + FIND_PATH(FOUND_CUT_INCLUDE cutil.h DOC "Location of cutil.h") + + IF(FOUND_CUT_INCLUDE) + SET(CUDA_CUT_INCLUDE_DIRS ${FOUND_CUT_INCLUDE}) + MARK_AS_ADVANCED( + FOUND_CUT_INCLUDE + ) + ENDIF(FOUND_CUT_INCLUDE) +ENDIF(NOT CUDA_CUT_INCLUDE_DIRS) + + +# CUDA_CUT_LIBRARIES +IF(NOT CUDA_CUT_LIBRARIES) + # cutil library is called cutil64 for 64 bit builds on windows. We don't want + # to get these confused, so we are setting the name based on the word size of + # the build. + IF(CMAKE_SIZEOF_VOID_P EQUAL 8) + SET(cuda_cutil_name cutil64) + ELSE(CMAKE_SIZEOF_VOID_P EQUAL 8) + SET(cuda_cutil_name cutil32) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8) + + FIND_LIBRARY(FOUND_CUT + NAMES cutil ${cuda_cutil_name} + PATHS ${CUDA_SDK_SEARCH_PATH} + # The new version of the sdk shows up in common/lib, but the old one is in lib + PATH_SUFFIXES "common/lib" "lib" + DOC "Location of cutil library" + NO_DEFAULT_PATH + ) + # Now search system paths + FIND_LIBRARY(FOUND_CUT NAMES cutil ${cuda_cutil_name} DOC "Location of cutil library") + + IF(FOUND_CUT) + SET(CUDA_CUT_LIBRARIES ${FOUND_CUT}) + MARK_AS_ADVANCED(FOUND_CUT) + ENDIF(FOUND_CUT) + + MACRO(FIND_CUDA_HELPER_LIBS _name) + FIND_LIBRARY_LOCAL_FIRST(FOUND_${_name} ${_name} "\"${_name}\" library") + MARK_AS_ADVANCED(FOUND_${_name}) + ENDMACRO(FIND_CUDA_HELPER_LIBS) + + # Search for cufft and cublas libraries. + FIND_CUDA_HELPER_LIBS(cufftemu) + FIND_CUDA_HELPER_LIBS(cublasemu) + FIND_CUDA_HELPER_LIBS(cufft) + FIND_CUDA_HELPER_LIBS(cublas) + + if (CUDA_BUILD_EMULATION) + SET(CUFFT_LIBRARIES ${FOUND_cufftemu}) + SET(CUBLAS_LIBRARIES ${FOUND_cublasemu}) + else() + SET(CUFFT_LIBRARIES ${FOUND_cufft}) + SET(CUBLAS_LIBRARIES ${FOUND_cublas}) + endif() + +ENDIF(NOT CUDA_CUT_LIBRARIES) + + +############################################################################### +# Add include directories to pass to the nvcc command. +MACRO(CUDA_INCLUDE_DIRECTORIES) + FOREACH(dir ${ARGN}) + list(APPEND CUDA_NVCC_INCLUDE_ARGS_USER "-I${dir}") + ENDFOREACH(dir ${ARGN}) +ENDMACRO(CUDA_INCLUDE_DIRECTORIES) + +CUDA_FIND_HELPER_FILE(parse_cubin cmake) +CUDA_FIND_HELPER_FILE(make2cmake cmake) +CUDA_FIND_HELPER_FILE(run_nvcc cmake) + +############################################################################## +############################################################################## +# This helper macro populates the following variables and setups up custom +# commands and targets to invoke the nvcc compiler to generate C or PTX source +# dependant upon the format parameter. The compiler is invoked once with -M +# to generate a dependency file and a second time with -cuda or -ptx to generate +# a .cpp or .ptx file. +# INPUT: +# cuda_target - Target name +# format - PTX or C +# OUTPUT: +# ${target_srcs} - List of the generated C or PTX source files +# ${cuda_cu_sources} - List of the original CU files +############################################################################## +############################################################################## + +MACRO(CUDA_add_custom_commands cuda_target format) + + IF( ${format} MATCHES "PTX" ) + SET( compile_to_ptx ON ) + ELSEIF( ${format} MATCHES "C") + SET( compile_to_ptx OFF ) + ELSE() + MESSAGE( "Invalid format flag passed to CUDA_add_custom_commands: '${format}'. Defaulting to C") + SET( compile_to_ptx OFF ) + ENDIF() + + # Set up all the command line flags here, so that they can be overriden on a per target basis. + + set(nvcc_flags "") + + # Emulation if the card isn't present. + IF (CUDA_BUILD_EMULATION) + # Emulation. + SET(nvcc_flags ${nvcc_flags} --device-emulation -D_DEVICEEMU -g) + ELSE(CUDA_BUILD_EMULATION) + # Device mode. No flags necessary. + ENDIF(CUDA_BUILD_EMULATION) + + IF(CUDA_HOST_COMPILATION_CPP) + SET(generated_extension cpp) + ELSE(CUDA_HOST_COMPILATION_CPP) + SET(generated_extension c) + SET(nvcc_flags ${nvcc_flags} --host-compilation C) + ENDIF(CUDA_HOST_COMPILATION_CPP) + + IF(CUDA_64_BIT_DEVICE_CODE) + SET(nvcc_flags ${nvcc_flags} -m64) + ELSE() + SET(nvcc_flags ${nvcc_flags} -m32) + ENDIF() + + # This needs to be passed in at this stage, because VS needs to fill out the + # value of VCInstallDir from withing VS. + IF(CMAKE_GENERATOR MATCHES "Visual Studio") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + # Add nvcc flag for 64b Windows + SET(ccbin_flags -D "\"CCBIN:PATH=$(VCInstallDir)bin\"" ) + ENDIF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + ENDIF(CMAKE_GENERATOR MATCHES "Visual Studio") + + # Initialize our list of includes with the user ones followed by the CUDA system ones. + set(CUDA_NVCC_INCLUDE_ARGS ${CUDA_NVCC_INCLUDE_ARGS_USER} -I${CUDA_INCLUDE_DIRS} -I${CUDA_CUT_INCLUDE_DIRS}) + # Get the include directories for this directory and use them for our nvcc command. + get_directory_property(CUDA_NVCC_INCLUDE_DIRECTORIES INCLUDE_DIRECTORIES) + if(CUDA_NVCC_INCLUDE_DIRECTORIES) + foreach(dir ${CUDA_NVCC_INCLUDE_DIRECTORIES}) + list(APPEND CUDA_NVCC_INCLUDE_ARGS "-I${dir}") + endforeach() + endif() + + SET(target_srcs "") + SET(cuda_cu_sources "") + + # Iterate over the macro arguments and create custom + # commands for all the .cu files. + FOREACH(file ${ARGN}) + IF(${file} MATCHES ".*\\.cu$") + + # Add a custom target to generate a c or ptx file. ###################### + GET_FILENAME_COMPONENT( basename ${file} NAME ) + IF( compile_to_ptx ) + SET(generated_file "${CMAKE_BINARY_DIR}/lib/ptx/${cuda_target}_generated_${basename}.ptx") + SET(format_flag "-ptx") + FILE(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/lib/ptx) + ELSE( compile_to_ptx ) + SET(generated_file "${CMAKE_BINARY_DIR}/src/cuda/${cuda_target}_generated_${basename}.${generated_extension}") + SET(format_flag "-cuda") + FILE(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/src/cuda) + ENDIF( compile_to_ptx ) + + SET(generated_target "${file}_target") + + + SET(source_file ${CMAKE_CURRENT_SOURCE_DIR}/${file}) + + # Bring in the dependencies. Creates a variable CUDA_NVCC_DEPEND ####### + SET(cmake_dependency_file "${generated_file}.depend") + CUDA_INCLUDE_NVCC_DEPENDENCIES(${cmake_dependency_file}) + SET(NVCC_generated_dependency_file "${generated_file}.NVCC-depend") + + # Convience string for output ########################################### + IF(CUDA_BUILD_EMULATION) + SET(cuda_build_type "Emulation") + ELSE(CUDA_BUILD_EMULATION) + SET(cuda_build_type "Device") + ENDIF(CUDA_BUILD_EMULATION) + + # Build the NVCC made dependency file ################################### + SET(build_cubin OFF) + IF ( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) + IF ( NOT compile_to_ptx ) + SET ( build_cubin ON ) + + # Initialize a string containing commands to produce the cubin report. + SET(generated_cubin_file ${generated_file}.cubin.txt) + + ENDIF( NOT compile_to_ptx ) + ENDIF( NOT CUDA_BUILD_EMULATION AND CUDA_BUILD_CUBIN ) + + # Configure the build script + set(custom_target_script "${generated_file}.cmake") + configure_file("${CUDA_run_nvcc}" "${custom_target_script}" @ONLY) + + # So if a user specifies the same cuda file as input more than once, you + # can have bad things happen with dependencies. Here we check an option + # to see if this is the behavior they want. + if(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE) + set(main_dep MAIN_DEPENDENCY ${source_file}) + else() + set(main_dep DEPENDS ${source_file}) + endif() + + if(CUDA_VERBOSE_BUILD) + set(verbose_output ON) + elseif(CMAKE_GENERATOR MATCHES "Makefiles") + set(verbose_output "$(VERBOSE)") + else() + set(verbose_output OFF) + endif() + + # Build the generated file and dependency file ########################## + add_custom_command( + OUTPUT ${generated_file} + # These output files depend on the source_file and the contents of cmake_dependency_file + ${main_dep} + DEPENDS ${CUDA_NVCC_DEPEND} + DEPENDS ${custom_target_script} + COMMAND ${CMAKE_COMMAND} ARGS -D verbose:BOOL=${verbose_output} ${ccbin_flags} -P "${custom_target_script}" + COMMENT "Building (${cuda_build_type}) NVCC ${source_file}: ${generated_file}" + ) + + # Make sure the build system knows the file is generated. + set_source_files_properties(${generated_file} PROPERTIES GENERATED TRUE) + + # Add the generated file name to the source list. ###################### + SET(cuda_cu_sources ${cuda_cu_sources} ${source_file}) + SET(target_srcs ${target_srcs} ${generated_file}) + + # Add the other files that we want cmake to clean on a cleanup ########## + list(APPEND CUDA_ADDITIONAL_CLEAN_FILES "${cmake_dependency_file}") + list(REMOVE_DUPLICATES CUDA_ADDITIONAL_CLEAN_FILES) + set(CUDA_ADDITIONAL_CLEAN_FILES ${CUDA_ADDITIONAL_CLEAN_FILES} CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") + + ELSE(${file} MATCHES ".*\\.cu$") + + # Otherwise add the file name to the source list. + SET(target_srcs ${target_srcs} ${file}) + + ENDIF(${file} MATCHES ".*\\.cu$") + ENDFOREACH(file) + +ENDMACRO(CUDA_add_custom_commands) + + +############################################################################### +############################################################################### +# ADD LIBRARY +############################################################################### +############################################################################### +MACRO(CUDA_ADD_LIBRARY cuda_target) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( ${cuda_target} C ${ARGN} ) + + # Add the library. + ADD_LIBRARY(${cuda_target} + ${target_srcs} + ${cuda_cu_sources} + ) + + TARGET_LINK_LIBRARIES(${cuda_target} + ${CUDA_LIBRARIES} + ) + +ENDMACRO(CUDA_ADD_LIBRARY cuda_target) + + +############################################################################### +############################################################################### +# ADD EXECUTABLE +############################################################################### +############################################################################### +MACRO(CUDA_ADD_EXECUTABLE cuda_target) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( ${cuda_target} C ${ARGN} ) + + # Add the library. + ADD_EXECUTABLE(${cuda_target} + ${target_srcs} + ${cuda_cu_sources} + ) + + TARGET_LINK_LIBRARIES(${cuda_target} + ${CUDA_LIBRARIES} + ) + + +ENDMACRO(CUDA_ADD_EXECUTABLE cuda_target) + + +############################################################################### +############################################################################### +# CUDA COMPILE +############################################################################### +############################################################################### +MACRO(CUDA_COMPILE file_variable) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( cuda_compile C ${ARGN} ) + + SET(${file_variable} ${target_srcs} ${cuda_cu_sources}) + +ENDMACRO(CUDA_COMPILE) + + +############################################################################### +############################################################################### +# CUDA COMPILE PTX +############################################################################### +############################################################################### +MACRO(CUDA_COMPILE_PTX ptx_files cuda_files ) + + # Create custom commands and targets for each file. + CUDA_add_custom_commands( cuda_compile_ptx PTX ${ARGN} ) + + SET( ${ptx_files} ${target_srcs} ) + SET( ${cuda_files} ${cuda_cu_sources} ) + +ENDMACRO(CUDA_COMPILE_PTX) + +############################################################################### +############################################################################### +# CUDA ADD CUTIL TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUTIL_TO_TARGET target) + target_link_libraries(${target} ${CUDA_CUT_LIBRARIES}) +endmacro() + +############################################################################### +############################################################################### +# CUDA ADD CUFFT TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUFFT_TO_TARGET target) + if (CUDA_BUILD_EMULATION) + target_link_libraries(${target} ${FOUND_cufftemu}) + else() + target_link_libraries(${target} ${FOUND_cufft}) + endif() +endmacro() + +############################################################################### +############################################################################### +# CUDA ADD CUBLAS TO TARGET +############################################################################### +############################################################################### +macro(CUDA_ADD_CUBLAS_TO_TARGET target) + if (CUDA_BUILD_EMULATION) + target_link_libraries(${target} ${FOUND_cublasemu}) + else() + target_link_libraries(${target} ${FOUND_cublas}) + endif() +endmacro() + +############################################################################### +############################################################################### +# CUDA BUILD CLEAN TARGET +############################################################################### +############################################################################### +macro(CUDA_BUILD_CLEAN_TARGET) + # Call this after you add all your CUDA targets, and you will get a convience + # target. You should also make clean after running this target to get the + # build system to generate all the code again. + add_custom_target(CleanCudaDepends + COMMAND ${CMAKE_COMMAND} -E remove ${CUDA_ADDITIONAL_CLEAN_FILES}) + + # Clear out the variable, so the next time we configure it will be empty. + # This is useful so that the files won't persist in the list after targets + # have been removed. + set(CUDA_ADDITIONAL_CLEAN_FILES "" CACHE INTERNAL "List of intermediate files that are part of the cuda dependency scanning.") +endmacro(CUDA_BUILD_CLEAN_TARGET) diff --git a/3rdparty/CMakeModules/empty.depend.in b/3rdparty/CMakeModules/empty.depend.in new file mode 100644 index 0000000..e69de29 diff --git a/3rdparty/CMakeModules/make2cmake.cmake b/3rdparty/CMakeModules/make2cmake.cmake new file mode 100644 index 0000000..ab0167d --- /dev/null +++ b/3rdparty/CMakeModules/make2cmake.cmake @@ -0,0 +1,61 @@ + +# For more information, please see: http://software.sci.utah.edu +# +# The MIT License +# +# Copyright (c) 2007 +# Scientific Computing and Imaging Institute, University of Utah +# +# License for the specific language governing rights and limitations under +# Permission is hereby granted, free of charge, to any person obtaining a +# copy of this software and associated documentation files (the "Software"), +# to deal in the Software without restriction, including without limitation +# the rights to use, copy, modify, merge, publish, distribute, sublicense, +# and/or sell copies of the Software, and to permit persons to whom the +# Software is furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +# DEALINGS IN THE SOFTWARE. + +# Make2cmake CMake Script +# Abe Stephens and James Bigler +# (c) 2007 Scientific Computing and Imaging Institute, University of Utah +# Note that the REGEX expressions may need to be tweaked for different dependency generators. + +FILE(READ ${input_file} depend_text) + +IF (${depend_text} MATCHES ".+") + + # MESSAGE("FOUND DEPENDS") + + # Remember, four backslashes is escaped to one backslash in the string. + STRING(REGEX REPLACE "\\\\ " " " depend_text ${depend_text}) + + # This works for the nvcc -M generated dependency files. + STRING(REGEX REPLACE "^.* : " "" depend_text ${depend_text}) + STRING(REGEX REPLACE "[ \\\\]*\n" ";" depend_text ${depend_text}) + + FOREACH(file ${depend_text}) + + STRING(REGEX REPLACE "^ +" "" file ${file}) + + IF(NOT IS_DIRECTORY ${file}) + SET(cuda_nvcc_depend "${cuda_nvcc_depend} \"${file}\"\n") + ENDIF(NOT IS_DIRECTORY ${file}) + + ENDFOREACH(file) + +ELSE() + # MESSAGE("FOUND NO DEPENDS") +ENDIF() + + +FILE(WRITE ${output_file} "# Generated by: make2cmake.cmake\nSET(CUDA_NVCC_DEPEND\n ${cuda_nvcc_depend})\n\n") diff --git a/3rdparty/CMakeModules/parse_cubin.cmake b/3rdparty/CMakeModules/parse_cubin.cmake new file mode 100644 index 0000000..07bb7ee --- /dev/null +++ b/3rdparty/CMakeModules/parse_cubin.cmake @@ -0,0 +1,105 @@ +# For more information, please see: http://software.sci.utah.edu +# +# The MIT License +# +# Copyright (c) 2007 +# Scientific Computing and Imaging Institute, University of Utah +# +# License for the specific language governing rights and limitations under +# Permission is hereby granted, free of charge, to any person obtaining a +# copy of this software and associated documentation files (the "Software"), +# to deal in the Software without restriction, including without limitation +# the rights to use, copy, modify, merge, publish, distribute, sublicense, +# and/or sell copies of the Software, and to permit persons to whom the +# Software is furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included +# in all copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS +# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER +# DEALINGS IN THE SOFTWARE. + +# .cubin Parsing CMake Script +# Abe Stephens +# (c) 2007 Scientific Computing and Imaging Institute, University of Utah + +FILE(READ ${input_file} file_text) + +IF (${file_text} MATCHES ".+") + + # Remember, four backslashes is escaped to one backslash in the string. + STRING(REGEX REPLACE ";" "\\\\;" file_text ${file_text}) + STRING(REGEX REPLACE "\ncode" ";code" file_text ${file_text}) + + LIST(LENGTH file_text len) + + FOREACH(line ${file_text}) + + # Only look at "code { }" blocks. + IF(line MATCHES "^code") + + # Break into individual lines. + STRING(REGEX REPLACE "\n" ";" line ${line}) + + FOREACH(entry ${line}) + + # Extract kernel names. + IF (${entry} MATCHES "[^g]name = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + + # Check to see if the kernel name starts with "_" + SET(skip FALSE) + # IF (${entry} MATCHES "^_") + # Skip the rest of this block. + # MESSAGE("Skipping ${entry}") + # SET(skip TRUE) + # ELSE (${entry} MATCHES "^_") + MESSAGE("Kernel: ${entry}") + # ENDIF (${entry} MATCHES "^_") + + ENDIF(${entry} MATCHES "[^g]name = ([^ ]+)") + + # Skip the rest of the block if necessary + IF(NOT skip) + + # Registers + IF (${entry} MATCHES "reg = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Registers: ${entry}") + ENDIF(${entry} MATCHES "reg = ([^ ]+)") + + # Local memory + IF (${entry} MATCHES "lmem = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Local: ${entry}") + ENDIF(${entry} MATCHES "lmem = ([^ ]+)") + + # Shared memory + IF (${entry} MATCHES "smem = ([^ ]+)") + STRING(REGEX REPLACE ".* = ([^ ]+)" "\\1" entry ${entry}) + MESSAGE("Shared: ${entry}") + ENDIF(${entry} MATCHES "smem = ([^ ]+)") + + IF (${entry} MATCHES "^}") + MESSAGE("") + ENDIF(${entry} MATCHES "^}") + + ENDIF(NOT skip) + + + ENDFOREACH(entry) + + ENDIF(line MATCHES "^code") + + ENDFOREACH(line) + +ELSE() + # MESSAGE("FOUND NO DEPENDS") +ENDIF() + + diff --git a/3rdparty/CMakeModules/run_nvcc.cmake b/3rdparty/CMakeModules/run_nvcc.cmake new file mode 100644 index 0000000..e772025 --- /dev/null +++ b/3rdparty/CMakeModules/run_nvcc.cmake @@ -0,0 +1,183 @@ +# This file runs the nvcc commands to produce the desired output file along with +# the dependency file needed by CMake to compute dependencies. In addition the +# file checks the output of each command and if the command fails it deletes the +# output files. + +# Input variables +# +# verbose:BOOL=<> OFF: Be as quiet as possible (default) +# ON : Describe each step +# + +# Set these up as variables to make reading the generated file easier +set(CMAKE_COMMAND "@CMAKE_COMMAND@") +set(source_file "@source_file@") +set(generated_file "@generated_file@") +set(NVCC_generated_dependency_file "@NVCC_generated_dependency_file@") +set(cmake_dependency_file "@cmake_dependency_file@") +set(CUDA_make2cmake "@CUDA_make2cmake@") +set(generated_cubin_file "@generated_cubin_file@") +set(CUDA_parse_cubin "@CUDA_parse_cubin@") +set(build_cubin @build_cubin@) + +set(CUDA_NVCC "@CUDA_NVCC@") +set(CUDA_NVCC_FLAGS "@CUDA_NVCC_FLAGS@") +set(nvcc_flags "@nvcc_flags@") +set(CUDA_NVCC_INCLUDE_ARGS "@CUDA_NVCC_INCLUDE_ARGS@") +set(format_flag "@format_flag@") + +if(DEFINED CCBIN) + set(CCBIN -ccbin "${CCBIN}") +endif() + +if(debug) + set(CMAKE_COMMAND "C:/code/CMake-cuda-staging/build-32/src/debug/args.exe") + set(CUDA_NVCC "C:/code/CMake-cuda-staging/build-32/src/debug/args.exe") +endif() + +# cuda_execute_process - Executes a command with optional command echo and status message. +# +# status - Status message to print if verbose is true +# command - COMMAND argument from the usual execute_process argument structure +# ARGN - Remaining arguments are the command with arguments +# +# CUDA_result - return value from running the command +# +# Make this a macro instead of a function, so that things like RESULT_VARIABLE +# and other return variables are present after executing the process. +macro(cuda_execute_process status command) + set(_command ${command}) + if(NOT _command STREQUAL "COMMAND") + message(FATAL_ERROR "Malformed call to cuda_execute_process. Missing COMMAND as second argument. (command = ${command})") + endif() + if(verbose) + execute_process(COMMAND "${CMAKE_COMMAND}" -E echo -- ${status}) + # Now we need to build up our command string. We are accounting for quotes + # and spaces, anything else is left up to the user to fix if they want to + # copy and paste a runnable command line. + set(cuda_execute_process_string) + foreach(arg ${ARGN}) + # If there are quotes, excape them, so they come through. + string(REPLACE "\"" "\\\"" arg ${arg}) + # Args with spaces need quotes around them to get them to be parsed as a single argument. + if(arg MATCHES " ") + list(APPEND cuda_execute_process_string "\"${arg}\"") + else() + list(APPEND cuda_execute_process_string ${arg}) + endif() + endforeach() + # Echo the command + execute_process(COMMAND ${CMAKE_COMMAND} -E echo ${cuda_execute_process_string}) + endif(verbose) + # Run the command + execute_process(COMMAND ${ARGN} RESULT_VARIABLE CUDA_result ) +endmacro() + +# Delete the target file +cuda_execute_process( + "Removing ${generated_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" + ) + +# Generate the dependency file +cuda_execute_process( + "Generating dependency file: ${NVCC_generated_dependency_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + -M + -o "${NVCC_generated_dependency_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Generate the cmake readable dependency file to a temp file. Don't put the +# quotes just around the filenames for the input_file and output_file variables. +# CMake will pass the quotes through and not be able to find the file. +cuda_execute_process( + "Generating temporary cmake readable file: ${cmake_dependency_file}.tmp" + COMMAND "${CMAKE_COMMAND}" + -D "input_file:FILEPATH=${NVCC_generated_dependency_file}" + -D "output_file:FILEPATH=${cmake_dependency_file}.tmp" + -P "${CUDA_make2cmake}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Copy the file if it is different +cuda_execute_process( + "Copy if different ${cmake_dependency_file}.tmp to ${cmake_dependency_file}" + COMMAND "${CMAKE_COMMAND}" -E copy_if_different "${cmake_dependency_file}.tmp" "${cmake_dependency_file}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Delete the temporary file +cuda_execute_process( + "Removing ${cmake_dependency_file}.tmp and ${NVCC_generated_dependency_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${cmake_dependency_file}.tmp" "${NVCC_generated_dependency_file}" + ) + +if(CUDA_result) + message(FATAL_ERROR "Error generating ${generated_file}") +endif() + +# Generate the code +cuda_execute_process( + "Generating ${generated_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + ${format_flag} -o "${generated_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + +if(CUDA_result) + # Since nvcc can sometimes leave half done files make sure that we delete the output file. + cuda_execute_process( + "Removing ${generated_file}" + COMMAND "${CMAKE_COMMAND}" -E remove "${generated_file}" + ) + message(FATAL_ERROR "Error generating file ${generated_file}") +else() + message("Generated ${generated_file} successfully.") +endif() + +# Cubin resource report commands. +if( build_cubin ) + # Run with -cubin to produce resource usage report. + cuda_execute_process( + "Generating ${generated_cubin_file}" + COMMAND "${CUDA_NVCC}" + "${source_file}" + ${CUDA_NVCC_FLAGS} + ${nvcc_flags} + ${CCBIN} + -DNVCC + -cubin + -o "${generated_cubin_file}" + ${CUDA_NVCC_INCLUDE_ARGS} + ) + + # Execute the parser script. + cuda_execute_process( + "Executing the parser script" + COMMAND "${CMAKE_COMMAND}" + -D "input_file:STRING=${generated_cubin_file}" + -P "${CUDA_parse_cubin}" + ) + +endif( build_cubin ) diff --git a/3rdparty/ann_1.1.1_modified/Copyright.txt b/3rdparty/ann_1.1.1_modified/Copyright.txt new file mode 100755 index 0000000..5bdc319 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/Copyright.txt @@ -0,0 +1,47 @@ +ANN: Approximate Nearest Neighbors +Version: 1.1.1 +Release Date: Aug 4, 2006 +---------------------------------------------------------------------------- +Copyright (c) 1997-2005 University of Maryland and Sunil Arya and David +Mount All Rights Reserved. + +This program is free software; you can redistribute it and/or modify it +under the terms of the GNU Lesser Public License as published by the +Free Software Foundation; either version 2.1 of the License, or (at your +option) any later version. + +This program is distributed in the hope that it will be useful, but +WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser Public License for more details. + +A copy of the terms and conditions of the license can be found in +License.txt or online at + + http://www.gnu.org/copyleft/lesser.html + +To obtain a copy, write to the Free Software Foundation, Inc., +59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +Disclaimer +---------- +The University of Maryland and the authors make no representations about +the suitability or fitness of this software for any purpose. It is +provided "as is" without express or implied warranty. +--------------------------------------------------------------------- + +Authors +------- +David Mount +Dept of Computer Science +University of Maryland, +College Park, MD 20742 USA +mount@cs.umd.edu +http://www.cs.umd.edu/~mount/ + +Sunil Arya +Dept of Computer Science +Hong University of Science and Technology +Clearwater Bay, HONG KONG +arya@cs.ust.hk +http://www.cs.ust.hk/faculty/arya/ diff --git a/3rdparty/ann_1.1.1_modified/License.txt b/3rdparty/ann_1.1.1_modified/License.txt new file mode 100755 index 0000000..456ea97 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/License.txt @@ -0,0 +1,450 @@ +---------------------------------------------------------------------- +The ANN Library (all versions) is provided under the terms and +conditions of the GNU Lesser General Public Library, which is stated +below. It can also be found at: + + http://www.gnu.org/copyleft/lesser.html + +---------------------------------------------------------------------- + +GNU LESSER GENERAL PUBLIC LICENSE + +Version 2.1, February 1999 + +Copyright (C) 1991, 1999 Free Software Foundation, Inc. +59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +Everyone is permitted to copy and distribute verbatim copies +of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. It also counts +as the successor of the GNU Library Public License, version 2, hence the +version number 2.1.] + +Preamble + +The licenses for most software are designed to take away your freedom to +share and change it. 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"dll\dll.vcproj", "{A7D00B21-CB9C-4BBB-8DEE-51025104F867}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "sample", "sample\sample.vcproj", "{C76F5A10-7A4A-4546-9414-296DB38BE825}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "test", "test\test.vcproj", "{6AC673C7-7B3F-4520-A761-647B212A4BEF}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ann2fig", "ann2fig\ann2fig.vcproj", "{622DD7D8-0C0A-4303-9176-C9A8AF467E70}" + ProjectSection(ProjectDependencies) = postProject + {A7D00B21-CB9C-4BBB-8DEE-51025104F867} = {A7D00B21-CB9C-4BBB-8DEE-51025104F867} + EndProjectSection +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Win32 = Debug|Win32 + Release|Win32 = Release|Win32 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.ActiveCfg = Debug|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Debug|Win32.Build.0 = Debug|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.ActiveCfg = Release|Win32 + {A7D00B21-CB9C-4BBB-8DEE-51025104F867}.Release|Win32.Build.0 = Release|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.ActiveCfg = Debug|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Debug|Win32.Build.0 = Debug|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.ActiveCfg = Release|Win32 + {C76F5A10-7A4A-4546-9414-296DB38BE825}.Release|Win32.Build.0 = Release|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.ActiveCfg = Debug|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Debug|Win32.Build.0 = Debug|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.ActiveCfg = Release|Win32 + {6AC673C7-7B3F-4520-A761-647B212A4BEF}.Release|Win32.Build.0 = Release|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.ActiveCfg = Debug|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Debug|Win32.Build.0 = Debug|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.ActiveCfg = Release|Win32 + {622DD7D8-0C0A-4303-9176-C9A8AF467E70}.Release|Win32.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/3rdparty/ann_1.1.1_modified/MS_Win32/ann2fig/ann2fig.vcproj b/3rdparty/ann_1.1.1_modified/MS_Win32/ann2fig/ann2fig.vcproj new file mode 100755 index 0000000..977f639 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/MS_Win32/ann2fig/ann2fig.vcproj @@ -0,0 +1,202 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/3rdparty/ann_1.1.1_modified/MS_Win32/dll/dll.vcproj b/3rdparty/ann_1.1.1_modified/MS_Win32/dll/dll.vcproj new file mode 100755 index 0000000..d28c41b --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/MS_Win32/dll/dll.vcproj @@ -0,0 +1,589 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/3rdparty/ann_1.1.1_modified/MS_Win32/sample/sample.vcproj b/3rdparty/ann_1.1.1_modified/MS_Win32/sample/sample.vcproj new file mode 100755 index 0000000..927027b --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/MS_Win32/sample/sample.vcproj @@ -0,0 +1,271 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/3rdparty/ann_1.1.1_modified/MS_Win32/test/test.vcproj b/3rdparty/ann_1.1.1_modified/MS_Win32/test/test.vcproj new file mode 100755 index 0000000..9dbd36c --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/MS_Win32/test/test.vcproj @@ -0,0 +1,302 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/3rdparty/ann_1.1.1_modified/Make-config b/3rdparty/ann_1.1.1_modified/Make-config new file mode 100755 index 0000000..2c6f26a --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/Make-config @@ -0,0 +1,194 @@ +#----------------------------------------------------------------------- +# Makefile variations depending on different configurations +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1 05/03/05 +# +# (This Make-config structure is based on the one used by Mesa by Brian +# Paul. If you succeed in porting ANN to your favorite system, please +# send email to mount@cs.umd.edu, and I'll try to include it in this +# list.) +# +#---------------------------------------------------------------------- +# The following configuration-dependent variables are passed to each +# the Makefile in subdirectories: +# +# ANNLIB The name of the ANN library file (usually libANN.a) +# C++ The C compiler (usually CC or g++) +# MAKELIB The command and flags to make a library file (usually +# "ar ...") +# CFLAGS Flags to C++ compiler +# RANLIB For "ranlib" = use ranlib, "true" = don't use ranlib +#---------------------------------------------------------------------- +# Revision 0.1 09/06/97 +# Initial release +# Revision 0.2 06/24/98 +# Minor changes to fix compilation errors on SGI systems. +# Revision 1.0 04/01/05 +# Modifications for alpha with cxx +# Removed CFLAGS2 options (just write your own) +# Removed -DUSING... (Compilers are pretty consistent these days) +# Added linux-g++ target +# Revision 1.1 05/03/05 +# Added macosx-g++ target +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Compilation options (add these, as desired, to the CFLAGS variable +# in the desired compilation target below). For example, +# +# "CFLAGS = -O3 -Wall -DANN_PERF" +# +# -g Debugging. +# -O? Run-time optimization. +# -Wall Be verbose about warnings. +# +# -DANN_PERF Enable performance evaluation. (This may slow execution +# slightly.) +# +# -DANN_NO_LIMITS_H +# Use this if limits.h or float.h does not exist on your +# system. (Also see include/ANN/ANN.h for other changes +# needed.) +# +# -DANN_NO_RANDOM +# Use this option if srandom()/random() are not available +# on your system. Pseudo-random number generation is used +# in the utility program test/ann_test. The combination +# srandom()/random() is considered the best pseudo-random +# number generator, but is not available on all systems. +# If they are not available on your system (for example, +# Visual C++) then srand()/rand() will be used instead by +# setting this parameter. +# +# -DWIN32 +# This is used only for compilation under windows systems +# (but instead of using this, use the various .vcproj +# files in the MS_WIN32 directory). +#----------------------------------------------------------------------------- + +# Linux using g++ +linux-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ +# "C++ = g++" \ +# "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# Mac OS X using g++ +macosx-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ +# "C++ = g++" \ +# "CFLAGS = -O3" \ + "MAKELIB = libtool -static -o " \ + "RANLIB = true" + +# SunOS5 +sunos5: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -O" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# SunOS5 with shared libraries +sunos5-sl: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -Kpic -O" \ + "MAKELIB = ld -G -o" \ + "RANLIB = true" + +# SunOS5 with g++ +sunos5-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# SunOS5 with g++ and shared libraries +sunos5-g++-sl: + $(MAKE) targets \ + "ANNLIB = libANN.so" \ + "C++ = g++" \ + "CFLAGS = -fpic -O3" \ + "MAKELIB = ld -G -o" \ + "RANLIB = true" + +#----------------------------------------------------------------------- +# Used for the author's testing and debugging only +#----------------------------------------------------------------------- + +# debugging version for authors +authors-debug: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -g -DANN_PERF -Wall" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# performance testing version for authors +authors-perf: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3 -DANN_PERF -Wall" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +#----------------------------------------------------------------------- +# Some older ones that I have not tested with the latest version. +#----------------------------------------------------------------------- + +sgi: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC -ansi" \ + "CFLAGS = -O2" \ + "MAKELIB = ar ruv" \ + "RANLIB = true" + +# DEC Alpha with g++ +alpha-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 +sunos4: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = CC" \ + "CFLAGS = -O" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 with g++ +sunos4-g++: + $(MAKE) targets \ + "ANNLIB = libANN.a" \ + "C++ = g++" \ + "CFLAGS = -O3" \ + "MAKELIB = ar ruv" \ + "RANLIB = ranlib" + +# SunOS4 with g++ and shared libraries +sunos4-g++-sl: + $(MAKE) targets \ + "ANNLIB = libANN.so" \ + "C++ = g++" \ + "CC = g++" \ + "CFLAGS = -fPIC -O3" \ + "MAKELIB = ld -assert pure-text -o" \ + "RANLIB = true" + diff --git a/3rdparty/ann_1.1.1_modified/Makefile b/3rdparty/ann_1.1.1_modified/Makefile new file mode 100755 index 0000000..9d02e0e --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/Makefile @@ -0,0 +1,124 @@ +#----------------------------------------------------------------------------- +# Top-level Makefile for ANN. +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1 05/03/05 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 09/06/97 +# alpha release +# Revision 0.2 06/26/98 +# Minor changes to fix compilation errors on SGI systems. +# Revision 1.0 04/01/05 +# Initial release (finally!) +# Added linux-g++ target +# Revision 1.1 05/03/05 +# Added macosx-g++ target +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# default: list the options +# The following legacy targets are also available. +# make sunos4 for Sun with SunOS 4.x +# make sunos4-g++ for Sun with SunOS 4.x and g++ +# make alpha-g++ for DEC Alpha and g++ +# The following targets are used for internal development only +# make authors-debug author's debugging +# make authors-perf author's performance evaluations +# make distribution author's generation of distribution file +#----------------------------------------------------------------------------- +default: + @echo "Enter one of the following:" + @echo " make linux-g++ for Linux and g++" + @echo " make macosx-g++ for Mac OS X and g++" + @echo " make sunos5 for Sun with SunOS 5.x" + @echo " make sunos5-sl for Sun with SunOS 5.x, make shared libs" + @echo " make sunos5-g++ for Sun with SunOS 5.x and g++" + @echo " make sunos5-g++-sl for Sun with SunOS 5.x, g++, make shared libs" + @echo " make clean remove .o files" + @echo " make realclean remove .o, library and executable files" + @echo " " + @echo "See file Makefile for other compilation options, such as disabling" + @echo "performance measurement code." + +#----------------------------------------------------------------------------- +# main make entry point +#----------------------------------------------------------------------------- +alpha-g++ macosx-g++ linux-g++ sgi sunos4 sunos4-g++ sunos5 sunos5-g++ sunos5-g++-sl authors-debug authors-perf: + cd src ; $(MAKE) $@ + cd test ; $(MAKE) $@ + cd sample ; $(MAKE) $@ + cd ann2fig ; $(MAKE) $@ + +#----------------------------------------------------------------------------- +# Remove .o files and core files +#----------------------------------------------------------------------------- +clean: + cd src ; $(MAKE) clean + cd test ; $(MAKE) clean + cd sample ; $(MAKE) clean + cd ann2fig ; $(MAKE) clean + cd doc ; $(MAKE) clean + cd MS_Win32; $(MAKE) clean + cd validate ; $(MAKE) clean + +#----------------------------------------------------------------------------- +# Remove everthing that can be remade +#----------------------------------------------------------------------------- +realclean: + -rm -f lib/* + -rm -f bin/* + cd src ; $(MAKE) realclean + cd test ; $(MAKE) realclean + cd sample ; $(MAKE) realclean + cd ann2fig ; $(MAKE) realclean + cd doc ; $(MAKE) realclean + cd MS_Win32; $(MAKE) realclean + cd validate ; $(MAKE) realclean + +#----------------------------------------------------------------------------- +# Install (Deyuan Qiu) +#----------------------------------------------------------------------------- +install: + cp lib/*.a /usr/local/lib/ANN + cp include/ANN/*.h /usr/local/include/ANN + cp src/kd_tree.h /usr/local/include/ANN + + +#----------------------------------------------------------------------------- +# Make distribution package (for use by authors only) +#----------------------------------------------------------------------------- +DISTR = ann_1.1.1 + +distribution: realclean + cd .. ; mv -f $(DISTR) $(DISTR)-old; mkdir $(DISTR) + cp Copyright.txt ../$(DISTR) + cp License.txt ../$(DISTR) + cp Make-config ../$(DISTR) + cp Makefile ../$(DISTR) + cp ReadMe.txt ../$(DISTR) + cp -r MS_Win32 ../$(DISTR) +# cd ..; mv -f $(DISTR)_MS_Win32_bin $(DISTR)_MS_Win32_bin-old + cp -r MS_Win32_bin ../$(DISTR)_MS_Win32_bin + cp -r bin ../$(DISTR) + cp -r include ../$(DISTR) + cp -r lib ../$(DISTR) + cp -r src ../$(DISTR) + cp -r test ../$(DISTR) + cp -r sample ../$(DISTR) + cp -r ann2fig ../$(DISTR) + cd ../$(DISTR); mkdir doc + cp doc/*.pdf ../$(DISTR)/doc +# cd .. ; tar -cfv $(DISTR).tar $(DISTR) ; gzip $(DISTR).tar diff --git a/3rdparty/ann_1.1.1_modified/ReadMe.txt b/3rdparty/ann_1.1.1_modified/ReadMe.txt new file mode 100755 index 0000000..50b7664 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/ReadMe.txt @@ -0,0 +1,68 @@ +ANN: Approximate Nearest Neighbors +Version: 1.1.1 +Release date: Aug 4, 2006 +---------------------------------------------------------------------------- +Copyright (c) 1997-2005 University of Maryland and Sunil Arya and David +Mount. All Rights Reserved. See Copyright.txt and License.txt for +complete information on terms and conditions of use and distribution of +this software. +---------------------------------------------------------------------------- + +Authors +------- +David Mount +Dept of Computer Science +University of Maryland, +College Park, MD 20742 USA +mount@cs.umd.edu +http://www.cs.umd.edu/~mount/ + +Sunil Arya +Dept of Computer Science +Hong University of Science and Technology +Clearwater Bay, HONG KONG +arya@cs.ust.hk +http://www.cs.ust.hk/faculty/arya/ + +Introduction +------------ +ANN is a library written in the C++ programming language to support both +exact and approximate nearest neighbor searching in spaces of various +dimensions. It was implemented by David M. Mount of the University of +Maryland, and Sunil Arya of the Hong Kong University of Science and +Technology. ANN (pronounced like the name ``Ann'') stands for +Approximate Nearest Neighbors. ANN is also a testbed containing +programs and procedures for generating data sets, collecting and +analyzing statistics on the performance of nearest neighbor algorithms +and data structures, and visualizing the geometric structure of these +data structures. + +The ANN source code and documentation is available from the following +web page: + + http://www.cs.umd.edu/~mount/ANN + +For more information on ANN and its use, see the ``ANN Programming +Manual,'' which is provided with the software distribution. + +---------------------------------------------------------------------------- +History + Version 0.1 03/04/98 + Preliminary release + Version 0.2 06/24/98 + Changes for SGI compiler. + Version 1.0 04/01/05 + Fixed a number of small bugs + Added dump/load operations + Added annClose to eliminate minor memory leak + Improved compatibility with current C++ compilers + Added compilation for Microsoft Visual Studio.NET + Added compilation for Linux 2.x + Version 1.1 05/03/05 + Added make target for Mac OS X + Added fixed-radius range searching and counting + Added instructions on compiling/using ANN on Windows platforms + Fixed minor output bug in ann2fig + Version 1.1.1 08/04/06 + Added "planted" distribution + Updated old source comments for GNU LPL. diff --git a/3rdparty/ann_1.1.1_modified/ann2fig/Makefile b/3rdparty/ann_1.1.1_modified/ann2fig/Makefile new file mode 100755 index 0000000..0644d17 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/ann2fig/Makefile @@ -0,0 +1,87 @@ +#----------------------------------------------------------------------------- +# Makefile for ann2fig +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIB ANN library +# OTHERLIB other libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN +OTHERLIBS = -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANN2FIG name of executable +#----------------------------------------------------------------------------- + +ANN2FIG = ann2fig +SOURCES = ann2fig.cpp +OBJECTS = $(SOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANN2FIG) + +$(BINDIR)/$(ANN2FIG): $(OBJECTS) + $(C++) $(OBJECTS) -o $(ANN2FIG) $(LDFLAGS) $(ANNLIBS) $(OTHERLIBS) + mv $(ANN2FIG) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann2fig.o: ann2fig.cpp + $(C++) -c -I$(INCDIR) ann2fig.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o core + +realclean: clean diff --git a/3rdparty/ann_1.1.1_modified/ann2fig/ann2fig.cpp b/3rdparty/ann_1.1.1_modified/ann2fig/ann2fig.cpp new file mode 100755 index 0000000..3d2c62f --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/ann2fig/ann2fig.cpp @@ -0,0 +1,585 @@ +//---------------------------------------------------------------------- +// File: ann2fig.cpp +// Programmer: David Mount +// Last modified: 05/03/05 +// Description: convert ann dump file to fig file +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed dump file suffix from .ann to .dmp. +// Revision 1.1 05/03/05 +// Fixed usage output string. +//---------------------------------------------------------------------- +// This program inputs an ann dump file of a search structure +// perhaps along with point coordinates, and outputs a fig (Ver 3.1) +// file (see fig2dev (1)) displaying the tree. The fig file may +// then be displayed using xfig, or converted to any of a number of +// other formats using fig2dev. +// +// If the dimension is 2 then the entire tree is display. If the +// dimension is larger than 2 then the user has the option of +// selecting which two dimensions will be displayed, and the slice +// value for each of the remaining dimensions. All leaf cells +// intersecting the slice are shown along with the points in these +// cells. See the procedure getArgs() below for the command-line +// arguments. +//---------------------------------------------------------------------- + +#include // C standard I/O +#include // file I/O +#include // string manipulation +#include // all ANN includes + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Globals and their defaults +//---------------------------------------------------------------------- + +const int STRING_LEN = 500; // string lengths +const int MAX_DIM = 1000; // maximum dimension +const double DEF_SLICE_VAL = 0; // default slice value +const char FIG_HEAD[] = {"#FIG 3.1"}; // fig file header +const char DUMP_SUFFIX[] = {".dmp"}; // suffix for dump file +const char FIG_SUFFIX[] = {".fig"}; // suffix for fig file + +char file_name[STRING_LEN]; // (root) file name (say xxx) +char infile_name[STRING_LEN];// input file name (xxx.dmp) +char outfile_name[STRING_LEN];// output file name (xxx.fig) +char caption[STRING_LEN]; // caption line (= command line) +ofstream ofile; // output file stream +ifstream ifile; // input file stream +int dim_x = 0; // horizontal dimension +int dim_y = 1; // vertical dimension +double slice_val[MAX_DIM]; // array of slice values +double u_per_in = 1200; // fig units per inch (version 3.1) +double in_size = 5; // size of figure (in inches) +double in_low_x = 1; // fig upper left corner (in inches) +double in_low_y = 1; // fig upper left corner (in inches) +double u_size = 6000; // size of figure (in units) +double u_low_x = 1200; // fig upper left corner (in units) +double u_low_y = 1200; // fig upper left corner (in units) +int pt_size = 10; // point size (in fig units) + +int dim; // dimension +int n_pts; // number of points +ANNpointArray pts = NULL; // point array + +double scale; // scale factor for transformation +double offset_x; // offsets for transformation +double offset_y; + + // transformations +#define TRANS_X(p) (offset_x + scale*(p[dim_x])) +#define TRANS_Y(p) (offset_y - scale*(p[dim_y])) + +//---------------------------------------------------------------------- +// Error handler +//---------------------------------------------------------------------- + +void Error(char *msg, ANNerr level) +{ + if (level == ANNabort) { + cerr << "ann2fig: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ann2fig: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +//---------------------------------------------------------------------- +// set_slice_val - set all slice values to given value +//---------------------------------------------------------------------- + +void set_slice_val(double val) +{ + for (int i = 0; i < MAX_DIM; i++) { + slice_val[i] = val; + } +} + +//---------------------------------------------------------------------- +// getArgs - get input arguments +// +// Syntax: +// ann2fig [-upi scale] [-x low_x] [-y low_y] +// [-sz size] [-dx dim_x] [-dy dim_y] [-sl dim value]* +// [-ps pointsize] +// file +// +// where: +// -upi scale fig units per inch (default = 1200) +// -x low_x x and y offset of upper left corner (inches) +// -y low_y ...(default = 1) +// -sz size maximum side length of figure (in inches) +// ...(default = 5) +// -dx dim_x horizontal dimension (default = 0) +// -dy dim_y vertical dimension (default = 1) +// -sv value default slice value (default = 0) +// -sl dim value each such pair defines the value along the +// ...given dimension at which to slice. This +// ...may be supplied for all dimensions except +// ...dim_x and dim_y. +// -ps pointsize size of points in fig units (def = 10) +// file file (input=file.dmp, output=file.fig) +// +//---------------------------------------------------------------------- + +void getArgs(int argc, char **argv) +{ + int i; + int sl_dim; // temp slice dimension + double sl_val; // temp slice value + + set_slice_val(DEF_SLICE_VAL); // set initial slice-values + + if (argc <= 1) { + cerr << "Syntax:\n\ + ann2fig [-upi scale] [-x low_x] [-y low_y]\n\ + [-sz size] [-dx dim_x] [-dy dim_y] [-sl dim value]*\n\ + file\n\ + \n\ + where:\n\ + -upi scale fig units per inch (default = 1200)\n\ + -x low_x x and y offset of upper left corner (inches)\n\ + -y low_y ...(default = 1)\n\ + -sz size maximum side length of figure (in inches)\n\ + ...(default = 5)\n\ + -dx dim_x horizontal dimension (default = 0)\n\ + -dy dim_y vertical dimension (default = 1)\n\ + -sv value default slice value (default = 0)\n\ + -sl dim value each such pair defines the value along the\n\ + ...given dimension at which to slice. This\n\ + ...may be supplied for each dimension except\n\ + ...dim_x and dim_y.\n\ + -ps pointsize size of points in fig units (def = 10)\n\ + file file (input=file.dmp, output=file.fig)\n"; + exit(0); + } + + ANNbool fileSeen = ANNfalse; // file argument seen? + + for (i = 1; i < argc; i++) { + if (!strcmp(argv[i], "-upi")) { // process -upi option + sscanf(argv[++i], "%lf", &u_per_in); + } + else if (!strcmp(argv[i], "-x")) { // process -x option + sscanf(argv[++i], "%lf", &in_low_x); + } + else if (!strcmp(argv[i], "-y")) { // process -y option + sscanf(argv[++i], "%lf", &in_low_y); + } + else if (!strcmp(argv[i], "-sz")) { // process -sz option + sscanf(argv[++i], "%lf", &in_size); + } + else if (!strcmp(argv[i], "-dx")) { // process -dx option + sscanf(argv[++i], "%d", &dim_x); + } + else if (!strcmp(argv[i], "-dy")) { // process -dy option + sscanf(argv[++i], "%d", &dim_y); + } + else if (!strcmp(argv[i], "-sv")) { // process -sv option + sscanf(argv[++i], "%lf", &sl_val); + set_slice_val(sl_val); // set slice values + } + else if (!strcmp(argv[i], "-sl")) { // process -sl option + sscanf(argv[++i], "%d", &sl_dim); + if (sl_dim < 0 || sl_dim >= MAX_DIM) { + Error("Slice dimension out of bounds", ANNabort); + } + sscanf(argv[++i], "%lf", &slice_val[sl_dim]); + } + if (!strcmp(argv[i], "-ps")) { // process -ps option + sscanf(argv[++i], "%i", &pt_size); + } + else { // must be file name + fileSeen = ANNtrue; + sscanf(argv[i], "%s", file_name); + strcpy(infile_name, file_name); // copy to input file name + strcat(infile_name, DUMP_SUFFIX); + strcpy(outfile_name, file_name); // copy to output file name + strcat(outfile_name, FIG_SUFFIX); + } + } + + if (!fileSeen) { // no file seen + Error("File argument is required", ANNabort); + } + + ifile.open(infile_name, ios::in); // open for reading + if (!ifile) { + Error("Cannot open input file", ANNabort); + } + ofile.open(outfile_name, ios::out); // open for writing + if (!ofile) { + Error("Cannot open output file", ANNabort); + } + + u_low_x = u_per_in * in_low_x; // convert inches to fig units + u_low_y = u_per_in * in_low_y; + u_size = u_per_in * in_size; + + strcpy(caption, argv[0]); // copy command line to caption + for (i = 1; i < argc; i++) { + strcat(caption, " "); + strcat(caption, argv[i]); + } +} + +//---------------------------------------------------------------------- +// Graphics utilities for fig output +// +// writeHeader write header for fig file +// writePoint write a point +// writeBox write a box +// writeLine write a line +//---------------------------------------------------------------------- + +void writeHeader() +{ + ofile << FIG_HEAD << "\n" // fig file header + << "Portrait\n" + << "Center\n" + << "Inches\n" + << (int) u_per_in << " 2\n"; +} + +void writePoint(ANNpoint p) // write a single point +{ + // filled black point object + ofile << "1 3 0 1 -1 7 0 0 0 0.000 1 0.0000 "; + int cent_x = (int) TRANS_X(p); // transform center coords + int cent_y = (int) TRANS_Y(p); + ofile << cent_x << " " << cent_y << " " // write center, radius, bounds + << pt_size << " " << pt_size << " " + << cent_x << " " << cent_y << " " + << cent_x + pt_size << " " << cent_y + pt_size << "\n"; +} + +void writeBox(const ANNorthRect &r) // write box +{ + // unfilled box object + ofile << "2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5\n"; + + int p0_x = (int) TRANS_X(r.lo); // transform endpoints + int p0_y = (int) TRANS_Y(r.lo); + int p1_x = (int) TRANS_X(r.hi); + int p1_y = (int) TRANS_Y(r.hi); + ofile << "\t" + << p0_x << " " << p0_y << " " // write vertices + << p1_x << " " << p0_y << " " + << p1_x << " " << p1_y << " " + << p0_x << " " << p1_y << " " + << p0_x << " " << p0_y << "\n"; +} + +void writeLine(ANNpoint p0, ANNpoint p1) // write line +{ + // unfilled line object + ofile << "2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2\n"; + + int p0_x = (int) TRANS_X(p0); // transform endpoints + int p0_y = (int) TRANS_Y(p0); + int p1_x = (int) TRANS_X(p1); + int p1_y = (int) TRANS_Y(p1); + ofile << "\t" + << p0_x << " " << p0_y << " " // write vertices + << p1_x << " " << p1_y << "\n"; +} + +void writeCaption( // write caption text + const ANNorthRect &bnd_box, // bounding box + char *caption) // caption +{ + if (!strcmp(caption, "\0")) return; // null string? + int px = (int) TRANS_X(bnd_box.lo); // put .5 in. lower left + int py = (int) (TRANS_Y(bnd_box.lo) + 0.50 * u_per_in); + ofile << "4 0 -1 0 0 0 20 0.0000 4 255 2000 "; + ofile << px << " " << py << " " << caption << "\\001\n"; +} + +//---------------------------------------------------------------------- +// overlap - test whether a box overlap slicing region +// +// The slicing region is a 2-dimensional plane in space +// which contains points (x1, x2, ..., xn) satisfying the +// n-2 linear equalities: +// +// xi == slice_val[i] for i != dim_x, dim_y +// +// This procedure returns true of the box defined by +// corner points box.lo and box.hi overlap this plane. +//---------------------------------------------------------------------- + +ANNbool overlap(const ANNorthRect &box) +{ + for (int i = 0; i < dim; i++) { + if (i != dim_x && i != dim_y && + (box.lo[i] > slice_val[i] || box.hi[i] < slice_val[i])) + return ANNfalse; + } + return ANNtrue; +} + +//---------------------------------------------------------------------- +// readTree, recReadTree - inputs tree and outputs figure +// +// readTree procedure initializes things and then calls recReadTree +// which does all the work. +// +// recReadTree reads in a node of the tree, makes any recursive +// calls as needed to input the children of this node (if internal) +// and maintains the bounding box. Note that the bounding box +// is modified within this procedure, but it is the responsibility +// of the procedure that it be restored to its original value +// on return. +// +// Recall that these are the formats. The tree is given in +// preorder. +// +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +// +// On reading a leaf we determine whether we should output the +// cell's points (if dimension = 2 or this cell overlaps the +// slicing region). For splitting nodes we check whether the +// current cell overlaps the slicing plane and whether the +// cutting dimension coincides with either the x or y drawing +// dimensions. If so, we output the corresponding splitting +// segment. +//---------------------------------------------------------------------- + +void recReadTree(ANNorthRect &box) +{ + char tag[STRING_LEN]; // tag (leaf, split, shrink) + int n_pts; // number of points in leaf + int idx; // point index + int cd; // cut dimension + ANNcoord cv; // cut value + ANNcoord lb; // low bound + ANNcoord hb; // high bound + int n_bnds; // number of bounding sides + int sd; // which side + + ifile >> tag; // input node tag + if (strcmp(tag, "leaf") == 0) { // leaf node + + ifile >> n_pts; // input number of points + // check for overlap + if (dim == 2 || overlap(box)) { + for (int i = 0; i < n_pts; i++) { // yes, write the points + ifile >> idx; + writePoint(pts[idx]); + } + } + else { // input but ignore points + for (int i = 0; i < n_pts; i++) { + ifile >> idx; + } + } + } + else if (strcmp(tag, "split") == 0) { // splitting node + + ifile >> cd >> cv >> lb >> hb; + if (lb != box.lo[cd] || hb != box.hi[cd]) { + Error("Bounding box coordinates are fishy", ANNwarn); + } + + ANNcoord lv = box.lo[cd]; // save bounds for cutting dim + ANNcoord hv = box.hi[cd]; + + //-------------------------------------------------------------- + // The following code is rather fragile so modify at your + // own risk. We first decrease the high-end of the bounding + // box down to the cutting plane and then read the left subtree. + // Then we increase the low-end of the bounding box up to the + // cutting plane (thus collapsing the bounding box to a d-1 + // dimensional hyperrectangle). Then we draw the projection of + // its diagonal if it crosses the slicing plane. This will have + // the effect of drawing its intersection on the slicing plane. + // Then we restore the high-end of the bounding box and read + // the right subtree. Finally we restore the low-end of the + // bounding box, before returning. + //-------------------------------------------------------------- + box.hi[cd] = cv; // decrease high bounds + recReadTree(box); // read left subtree + // check for overlap + box.lo[cd] = cv; // increase low bounds + if (dim == 2 || overlap(box)) { // check for overlap + if (cd == dim_x || cd == dim_y) { // cut through slice plane + writeLine(box.lo, box.hi); // draw cutting line + } + } + box.hi[cd] = hv; // restore high bounds + + recReadTree(box); // read right subtree + box.lo[cd] = lv; // restore low bounds + } + else if (strcmp(tag, "shrink") == 0) { // splitting node + + ANNorthRect inner(dim, box); // copy bounding box + ifile >> n_bnds; // number of bounding sides + for (int i = 0; i < n_bnds; i++) { + ifile >> cd >> cv >> sd; // input bounding halfspace + ANNorthHalfSpace hs(cd, cv, sd); // create orthogonal halfspace + hs.project(inner.lo); // intersect by projecting + hs.project(inner.hi); + } + if (dim == 2 || overlap(inner)) { + writeBox(inner); // draw inner rectangle + } + recReadTree(inner); // read inner subtree + recReadTree(box); // read outer subtree + } + else { + Error("Illegal node type in dump file", ANNabort); + } +} + +void readTree(ANNorthRect &bnd_box) +{ + writeHeader(); // output header + writeBox(bnd_box); // draw bounding box + writeCaption(bnd_box, caption); // write caption + recReadTree(bnd_box); // do it +} + +//---------------------------------------------------------------------- +// readANN - read the ANN dump file +// +// This procedure reads in the dump file. See the format below. +// It first reads the header line with version number. If the +// points section is present it reads them (otherwise just leaves +// points = NULL), and then it reads the tree section. It inputs +// the bounding box and determines the parameters for transforming +// the image to figure units. It then invokes the procedure +// readTree to do all the real work. +// +// Dump File Format: = coordinate value (ANNcoord) +// +// #ANN [END_OF_LINE] +// points (point coordinates: this is optional) +// 0 ... (point indices and coordinates) +// 1 ... +// ... +// tree +// ... (lower end of bounding box) +// ... (upper end of bounding box) +// If the tree is null, then a single line "null" is +// output. Otherwise the nodes of the tree are printed +// one per line in preorder. Leaves and splitting nodes +// have the following formats: +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +// +// Note: Infinite lo_ and hi_bounds are printed as the special +// values "-INF" and "+INF", respectively. We do not +// check for this, because the current version of ANN +// starts with a finite bounding box if the tree is +// nonempty. +//---------------------------------------------------------------------- + +void readANN() +{ + int j; + char str[STRING_LEN]; // storage for string + char version[STRING_LEN]; // storage for version + int bkt_size; // bucket size + + ifile >> str; // input header + if (strcmp(str, "#ANN") != 0) { // incorrect header + Error("Incorrect header for dump file", ANNabort); + } + ifile.getline(version, STRING_LEN); // get version (ignore) + ifile >> str; // get major heading + if (strcmp(str, "points") == 0) { // points section + ifile >> dim; // read dimension + ifile >> n_pts; // number of points + pts = annAllocPts(n_pts, dim); // allocate points + for (int i = 0; i < n_pts; i++) { // input point coordinates + int idx; // point index + ifile >> idx; // input point index + if (idx < 0 || idx >= n_pts) { + Error("Point index is out of range", ANNabort); + } + for (j = 0; j < dim; j++) { + ifile >> pts[idx][j]; // read point coordinates + } + } + ifile >> str; // get next major heading + } + if (strcmp(str, "tree") == 0) { // tree section + ifile >> dim; // read dimension + if (dim_x > dim || dim_y > dim) { + Error("Dimensions out of bounds", ANNabort); + } + ifile >> n_pts; // number of points + ifile >> bkt_size; // bucket size (ignored) + // read bounding box + ANNorthRect bnd_box(dim); // create bounding box + for (j = 0; j < dim; j++) { + ifile >> bnd_box.lo[j]; // read box low coordinates + } + for (j = 0; j < dim; j++) { + ifile >> bnd_box.hi[j]; // read box high coordinates + } + // compute scaling factors + double box_len_x = bnd_box.hi[dim_x] - bnd_box.lo[dim_x]; + double box_len_y = bnd_box.hi[dim_y] - bnd_box.lo[dim_y]; + // longer side determines scale + if (box_len_x > box_len_y) scale = u_size/box_len_x; + else scale = u_size/box_len_y; + // compute offsets + offset_x = u_low_x - scale*bnd_box.lo[dim_x]; + offset_y = u_low_y + scale*bnd_box.hi[dim_y]; + readTree(bnd_box); // read the tree and process + } + else if (strcmp(str, "null") == 0) return; // empty tree + else { + cerr << "Input string: " << str << "\n"; + Error("Illegal ann format. Expecting section heading", ANNabort); + } +} + +//---------------------------------------------------------------------- +// Main program +// +// Gets the command-line arguments and invokes the main scanning +// procedure. +//---------------------------------------------------------------------- + +main(int argc, char **argv) +{ + getArgs(argc, argv); // get input arguments + readANN(); // read the dump file +} diff --git a/3rdparty/ann_1.1.1_modified/changelog.txt b/3rdparty/ann_1.1.1_modified/changelog.txt new file mode 100755 index 0000000..99bfc1b --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/changelog.txt @@ -0,0 +1,4 @@ +modified by Deyuan Qiu: +.../include/ANN.h line779 +.../src/kd_tree.h line87 line155 +.../MAKEFILE line94 diff --git a/3rdparty/ann_1.1.1_modified/doc/ANNmanual.pdf b/3rdparty/ann_1.1.1_modified/doc/ANNmanual.pdf new file mode 100755 index 0000000..00e9e90 Binary files /dev/null and b/3rdparty/ann_1.1.1_modified/doc/ANNmanual.pdf differ diff --git a/3rdparty/ann_1.1.1_modified/include/ANN/ANN.h b/3rdparty/ann_1.1.1_modified/include/ANN/ANN.h new file mode 100755 index 0000000..f39082e --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/include/ANN/ANN.h @@ -0,0 +1,914 @@ +//---------------------------------------------------------------------- +// File: ANN.h +// Programmer: Sunil Arya and David Mount +// Last modified: 05/03/05 (Release 1.1) +// Description: Basic include file for approximate nearest +// neighbor searching. +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added copyright and revision information +// Added ANNcoordPrec for coordinate precision. +// Added methods theDim, nPoints, maxPoints, thePoints to ANNpointSet. +// Cleaned up C++ structure for modern compilers +// Revision 1.1 05/03/05 +// Added fixed-radius k-NN searching +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// ANN - approximate nearest neighbor searching +// ANN is a library for approximate nearest neighbor searching, +// based on the use of standard and priority search in kd-trees +// and balanced box-decomposition (bbd) trees. Here are some +// references to the main algorithmic techniques used here: +// +// kd-trees: +// Friedman, Bentley, and Finkel, ``An algorithm for finding +// best matches in logarithmic expected time,'' ACM +// Transactions on Mathematical Software, 3(3):209-226, 1977. +// +// Priority search in kd-trees: +// Arya and Mount, ``Algorithms for fast vector quantization,'' +// Proc. of DCC '93: Data Compression Conference, eds. J. A. +// Storer and M. Cohn, IEEE Press, 1993, 381-390. +// +// Approximate nearest neighbor search and bbd-trees: +// Arya, Mount, Netanyahu, Silverman, and Wu, ``An optimal +// algorithm for approximate nearest neighbor searching,'' +// 5th Ann. ACM-SIAM Symposium on Discrete Algorithms, +// 1994, 573-582. +//---------------------------------------------------------------------- + +#ifndef ANN_H +#define ANN_H + +#ifdef WIN32 + //---------------------------------------------------------------------- + // For Microsoft Visual C++, externally accessible symbols must be + // explicitly indicated with DLL_API, which is somewhat like "extern." + // + // The following ifdef block is the standard way of creating macros + // which make exporting from a DLL simpler. All files within this DLL + // are compiled with the DLL_EXPORTS preprocessor symbol defined on the + // command line. In contrast, projects that use (or import) the DLL + // objects do not define the DLL_EXPORTS symbol. This way any other + // project whose source files include this file see DLL_API functions as + // being imported from a DLL, wheras this DLL sees symbols defined with + // this macro as being exported. + //---------------------------------------------------------------------- + #ifdef DLL_EXPORTS + #define DLL_API __declspec(dllexport) + #else + #define DLL_API __declspec(dllimport) + #endif + //---------------------------------------------------------------------- + // DLL_API is ignored for all other systems + //---------------------------------------------------------------------- +#else + #define DLL_API +#endif + +//---------------------------------------------------------------------- +// basic includes +//---------------------------------------------------------------------- + +#include // math includes +#include // I/O streams +#include // I/O manipulators + +//---------------------------------------------------------------------- +// Limits +// There are a number of places where we use the maximum double value as +// default initializers (and others may be used, depending on the +// data/distance representation). These can usually be found in limits.h +// (as LONG_MAX, INT_MAX) or in float.h (as DBL_MAX, FLT_MAX). +// +// Not all systems have these files. If you are using such a system, +// you should set the preprocessor symbol ANN_NO_LIMITS_H when +// compiling, and modify the statements below to generate the +// appropriate value. For practical purposes, this does not need to be +// the maximum double value. It is sufficient that it be at least as +// large than the maximum squared distance between between any two +// points. +//---------------------------------------------------------------------- +#ifdef ANN_NO_LIMITS_H // limits.h unavailable + #include // replacement for limits.h + const double ANN_DBL_MAX = MAXDOUBLE; // insert maximum double +#else + #include + #include + const double ANN_DBL_MAX = DBL_MAX; +#endif + +#define ANNversion "1.1.1" // ANN version and information +#define ANNversionCmt "" +#define ANNcopyright "David M. Mount and Sunil Arya" +#define ANNlatestRev "Aug 4, 2006" + +//---------------------------------------------------------------------- +// ANNbool +// This is a simple boolean type. Although ANSI C++ is supposed +// to support the type bool, some compilers do not have it. +//---------------------------------------------------------------------- + +enum ANNbool {ANNfalse = 0, ANNtrue = 1}; // ANN boolean type (non ANSI C++) + +//---------------------------------------------------------------------- +// ANNcoord, ANNdist +// ANNcoord and ANNdist are the types used for representing +// point coordinates and distances. They can be modified by the +// user, with some care. It is assumed that they are both numeric +// types, and that ANNdist is generally of an equal or higher type +// from ANNcoord. A variable of type ANNdist should be large +// enough to store the sum of squared components of a variable +// of type ANNcoord for the number of dimensions needed in the +// application. For example, the following combinations are +// legal: +// +// ANNcoord ANNdist +// --------- ------------------------------- +// short short, int, long, float, double +// int int, long, float, double +// long long, float, double +// float float, double +// double double +// +// It is the user's responsibility to make sure that overflow does +// not occur in distance calculation. +//---------------------------------------------------------------------- + +typedef double ANNcoord; // coordinate data type +typedef double ANNdist; // distance data type + +//---------------------------------------------------------------------- +// ANNidx +// ANNidx is a point index. When the data structure is built, the +// points are given as an array. Nearest neighbor results are +// returned as an integer index into this array. To make it +// clearer when this is happening, we define the integer type +// ANNidx. Indexing starts from 0. +// +// For fixed-radius near neighbor searching, it is possible that +// there are not k nearest neighbors within the search radius. To +// indicate this, the algorithm returns ANN_NULL_IDX as its result. +// It should be distinguishable from any valid array index. +//---------------------------------------------------------------------- + +typedef int ANNidx; // point index +const ANNidx ANN_NULL_IDX = -1; // a NULL point index + +//---------------------------------------------------------------------- +// Infinite distance: +// The code assumes that there is an "infinite distance" which it +// uses to initialize distances before performing nearest neighbor +// searches. It should be as larger or larger than any legitimate +// nearest neighbor distance. +// +// On most systems, these should be found in the standard include +// file or possibly . If you do not have these +// file, some suggested values are listed below, assuming 64-bit +// long, 32-bit int and 16-bit short. +// +// ANNdist ANN_DIST_INF Values (see or ) +// ------- ------------ ------------------------------------ +// double DBL_MAX 1.79769313486231570e+308 +// float FLT_MAX 3.40282346638528860e+38 +// long LONG_MAX 0x7fffffffffffffff +// int INT_MAX 0x7fffffff +// short SHRT_MAX 0x7fff +//---------------------------------------------------------------------- + +const ANNdist ANN_DIST_INF = ANN_DBL_MAX; + +//---------------------------------------------------------------------- +// Significant digits for tree dumps: +// When floating point coordinates are used, the routine that dumps +// a tree needs to know roughly how many significant digits there +// are in a ANNcoord, so it can output points to full precision. +// This is defined to be ANNcoordPrec. On most systems these +// values can be found in the standard include files or +// . For integer types, the value is essentially ignored. +// +// ANNcoord ANNcoordPrec Values (see or ) +// -------- ------------ ------------------------------------ +// double DBL_DIG 15 +// float FLT_DIG 6 +// long doesn't matter 19 +// int doesn't matter 10 +// short doesn't matter 5 +//---------------------------------------------------------------------- + +#ifdef DBL_DIG // number of sig. bits in ANNcoord + const int ANNcoordPrec = DBL_DIG; +#else + const int ANNcoordPrec = 15; // default precision +#endif + +//---------------------------------------------------------------------- +// Self match? +// In some applications, the nearest neighbor of a point is not +// allowed to be the point itself. This occurs, for example, when +// computing all nearest neighbors in a set. By setting the +// parameter ANN_ALLOW_SELF_MATCH to ANNfalse, the nearest neighbor +// is the closest point whose distance from the query point is +// strictly positive. +//---------------------------------------------------------------------- + +const ANNbool ANN_ALLOW_SELF_MATCH = ANNtrue; + +//---------------------------------------------------------------------- +// Norms and metrics: +// ANN supports any Minkowski norm for defining distance. In +// particular, for any p >= 1, the L_p Minkowski norm defines the +// length of a d-vector (v0, v1, ..., v(d-1)) to be +// +// (|v0|^p + |v1|^p + ... + |v(d-1)|^p)^(1/p), +// +// (where ^ denotes exponentiation, and |.| denotes absolute +// value). The distance between two points is defined to be the +// norm of the vector joining them. Some common distance metrics +// include +// +// Euclidean metric p = 2 +// Manhattan metric p = 1 +// Max metric p = infinity +// +// In the case of the max metric, the norm is computed by taking +// the maxima of the absolute values of the components. ANN is +// highly "coordinate-based" and does not support general distances +// functions (e.g. those obeying just the triangle inequality). It +// also does not support distance functions based on +// inner-products. +// +// For the purpose of computing nearest neighbors, it is not +// necessary to compute the final power (1/p). Thus the only +// component that is used by the program is |v(i)|^p. +// +// ANN parameterizes the distance computation through the following +// macros. (Macros are used rather than procedures for +// efficiency.) Recall that the distance between two points is +// given by the length of the vector joining them, and the length +// or norm of a vector v is given by formula: +// +// |v| = ROOT(POW(v0) # POW(v1) # ... # POW(v(d-1))) +// +// where ROOT, POW are unary functions and # is an associative and +// commutative binary operator mapping the following types: +// +// ** POW: ANNcoord --> ANNdist +// ** #: ANNdist x ANNdist --> ANNdist +// ** ROOT: ANNdist (>0) --> double +// +// For early termination in distance calculation (partial distance +// calculation) we assume that POW and # together are monotonically +// increasing on sequences of arguments, meaning that for all +// v0..vk and y: +// +// POW(v0) #...# POW(vk) <= (POW(v0) #...# POW(vk)) # POW(y). +// +// Incremental Distance Calculation: +// The program uses an optimized method of computing distances for +// kd-trees and bd-trees, called incremental distance calculation. +// It is used when distances are to be updated when only a single +// coordinate of a point has been changed. In order to use this, +// we assume that there is an incremental update function DIFF(x,y) +// for #, such that if: +// +// s = x0 # ... # xi # ... # xk +// +// then if s' is equal to s but with xi replaced by y, that is, +// +// s' = x0 # ... # y # ... # xk +// +// then the length of s' can be computed by: +// +// |s'| = |s| # DIFF(xi,y). +// +// Thus, if # is + then DIFF(xi,y) is (yi-x). For the L_infinity +// norm we make use of the fact that in the program this function +// is only invoked when y > xi, and hence DIFF(xi,y)=y. +// +// Finally, for approximate nearest neighbor queries we assume +// that POW and ROOT are related such that +// +// v*ROOT(x) = ROOT(POW(v)*x) +// +// Here are the values for the various Minkowski norms: +// +// L_p: p even: p odd: +// ------------------------- ------------------------ +// POW(v) = v^p POW(v) = |v|^p +// ROOT(x) = x^(1/p) ROOT(x) = x^(1/p) +// # = + # = + +// DIFF(x,y) = y - x DIFF(x,y) = y - x +// +// L_inf: +// POW(v) = |v| +// ROOT(x) = x +// # = max +// DIFF(x,y) = y +// +// By default the Euclidean norm is assumed. To change the norm, +// uncomment the appropriate set of macros below. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Use the following for the Euclidean norm +//---------------------------------------------------------------------- +#define ANN_POW(v) ((v)*(v)) +#define ANN_ROOT(x) sqrt(x) +#define ANN_SUM(x,y) ((x) + (y)) +#define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for the L_1 (Manhattan) norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) fabs(v) +// #define ANN_ROOT(x) (x) +// #define ANN_SUM(x,y) ((x) + (y)) +// #define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for a general L_p norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) pow(fabs(v),p) +// #define ANN_ROOT(x) pow(fabs(x),1/p) +// #define ANN_SUM(x,y) ((x) + (y)) +// #define ANN_DIFF(x,y) ((y) - (x)) + +//---------------------------------------------------------------------- +// Use the following for the L_infinity (Max) norm +//---------------------------------------------------------------------- +// #define ANN_POW(v) fabs(v) +// #define ANN_ROOT(x) (x) +// #define ANN_SUM(x,y) ((x) > (y) ? (x) : (y)) +// #define ANN_DIFF(x,y) (y) + +//---------------------------------------------------------------------- +// Array types +// The following array types are of basic interest. A point is +// just a dimensionless array of coordinates, a point array is a +// dimensionless array of points. A distance array is a +// dimensionless array of distances and an index array is a +// dimensionless array of point indices. The latter two are used +// when returning the results of k-nearest neighbor queries. +//---------------------------------------------------------------------- + +typedef ANNcoord* ANNpoint; // a point +typedef ANNpoint* ANNpointArray; // an array of points +typedef ANNdist* ANNdistArray; // an array of distances +typedef ANNidx* ANNidxArray; // an array of point indices + +//---------------------------------------------------------------------- +// Basic point and array utilities: +// The following procedures are useful supplements to ANN's nearest +// neighbor capabilities. +// +// annDist(): +// Computes the (squared) distance between a pair of points. +// Note that this routine is not used internally by ANN for +// computing distance calculations. For reasons of efficiency +// this is done using incremental distance calculation. Thus, +// this routine cannot be modified as a method of changing the +// metric. +// +// Because points (somewhat like strings in C) are stored as +// pointers. Consequently, creating and destroying copies of +// points may require storage allocation. These procedures do +// this. +// +// annAllocPt() and annDeallocPt(): +// Allocate a deallocate storage for a single point, and +// return a pointer to it. The argument to AllocPt() is +// used to initialize all components. +// +// annAllocPts() and annDeallocPts(): +// Allocate and deallocate an array of points as well a +// place to store their coordinates, and initializes the +// points to point to their respective coordinates. It +// allocates point storage in a contiguous block large +// enough to store all the points. It performs no +// initialization. +// +// annCopyPt(): +// Creates a copy of a given point, allocating space for +// the new point. It returns a pointer to the newly +// allocated copy. +//---------------------------------------------------------------------- + +DLL_API ANNdist annDist( + int dim, // dimension of space + ANNpoint p, // points + ANNpoint q); + +DLL_API ANNpoint annAllocPt( + int dim, // dimension + ANNcoord c = 0); // coordinate value (all equal) + +DLL_API ANNpointArray annAllocPts( + int n, // number of points + int dim); // dimension + +DLL_API void annDeallocPt( + ANNpoint &p); // deallocate 1 point + +DLL_API void annDeallocPts( + ANNpointArray &pa); // point array + +DLL_API ANNpoint annCopyPt( + int dim, // dimension + ANNpoint source); // point to copy + +//---------------------------------------------------------------------- +//Overall structure: ANN supports a number of different data structures +//for approximate and exact nearest neighbor searching. These are: +// +// ANNbruteForce A simple brute-force search structure. +// ANNkd_tree A kd-tree tree search structure. ANNbd_tree +// A bd-tree tree search structure (a kd-tree with shrink +// capabilities). +// +// At a minimum, each of these data structures support k-nearest +// neighbor queries. The nearest neighbor query, annkSearch, +// returns an integer identifier and the distance to the nearest +// neighbor(s) and annRangeSearch returns the nearest points that +// lie within a given query ball. +// +// Each structure is built by invoking the appropriate constructor +// and passing it (at a minimum) the array of points, the total +// number of points and the dimension of the space. Each structure +// is also assumed to support a destructor and member functions +// that return basic information about the point set. +// +// Note that the array of points is not copied by the data +// structure (for reasons of space efficiency), and it is assumed +// to be constant throughout the lifetime of the search structure. +// +// The search algorithm, annkSearch, is given the query point (q), +// and the desired number of nearest neighbors to report (k), and +// the error bound (eps) (whose default value is 0, implying exact +// nearest neighbors). It returns two arrays which are assumed to +// contain at least k elements: one (nn_idx) contains the indices +// (within the point array) of the nearest neighbors and the other +// (dd) contains the squared distances to these nearest neighbors. +// +// The search algorithm, annkFRSearch, is a fixed-radius kNN +// search. In addition to a query point, it is given a (squared) +// radius bound. (This is done for consistency, because the search +// returns distances as squared quantities.) It does two things. +// First, it computes the k nearest neighbors within the radius +// bound, and second, it returns the total number of points lying +// within the radius bound. It is permitted to set k = 0, in which +// case it effectively answers a range counting query. If the +// error bound epsilon is positive, then the search is approximate +// in the sense that it is free to ignore any point that lies +// outside a ball of radius r/(1+epsilon), where r is the given +// (unsquared) radius bound. +// +// The generic object from which all the search structures are +// dervied is given below. It is a virtual object, and is useless +// by itself. +//---------------------------------------------------------------------- + +class DLL_API ANNpointSet { +public: + virtual ~ANNpointSet() {} // virtual distructor + + virtual void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0 // error bound + ) = 0; // pure virtual (defined elsewhere) + + virtual int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // query point + ANNdist sqRad, // squared radius + int k = 0, // number of near neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0 // error bound + ) = 0; // pure virtual (defined elsewhere) + + virtual int theDim() = 0; // return dimension of space + virtual int nPoints() = 0; // return number of points + // return pointer to points + virtual ANNpointArray thePoints() = 0; +}; + +//---------------------------------------------------------------------- +// Brute-force nearest neighbor search: +// The brute-force search structure is very simple but inefficient. +// It has been provided primarily for the sake of comparison with +// and validation of the more complex search structures. +// +// Query processing is the same as described above, but the value +// of epsilon is ignored, since all distance calculations are +// performed exactly. +// +// WARNING: This data structure is very slow, and should not be +// used unless the number of points is very small. +// +// Internal information: +// --------------------- +// This data structure bascially consists of the array of points +// (each a pointer to an array of coordinates). The search is +// performed by a simple linear scan of all the points. +//---------------------------------------------------------------------- + +class DLL_API ANNbruteForce: public ANNpointSet { + int dim; // dimension + int n_pts; // number of points + ANNpointArray pts; // point array +public: + ANNbruteForce( // constructor from point array + ANNpointArray pa, // point array + int n, // number of points + int dd); // dimension + + ~ANNbruteForce(); // destructor + + void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // query point + ANNdist sqRad, // squared radius + int k = 0, // number of near neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int theDim() // return dimension of space + { return dim; } + + int nPoints() // return number of points + { return n_pts; } + + ANNpointArray thePoints() // return pointer to points + { return pts; } +}; + +//---------------------------------------------------------------------- +// kd- and bd-tree splitting and shrinking rules +// kd-trees supports a collection of different splitting rules. +// In addition to the standard kd-tree splitting rule proposed +// by Friedman, Bentley, and Finkel, we have introduced a +// number of other splitting rules, which seem to perform +// as well or better (for the distributions we have tested). +// +// The splitting methods given below allow the user to tailor +// the data structure to the particular data set. They are +// are described in greater details in the kd_split.cc source +// file. The method ANN_KD_SUGGEST is the method chosen (rather +// subjectively) by the implementors as the one giving the +// fastest performance, and is the default splitting method. +// +// As with splitting rules, there are a number of different +// shrinking rules. The shrinking rule ANN_BD_NONE does no +// shrinking (and hence produces a kd-tree tree). The rule +// ANN_BD_SUGGEST uses the implementors favorite rule. +//---------------------------------------------------------------------- + +enum ANNsplitRule { + ANN_KD_STD = 0, // the optimized kd-splitting rule + ANN_KD_MIDPT = 1, // midpoint split + ANN_KD_FAIR = 2, // fair split + ANN_KD_SL_MIDPT = 3, // sliding midpoint splitting method + ANN_KD_SL_FAIR = 4, // sliding fair split method + ANN_KD_SUGGEST = 5}; // the authors' suggestion for best +const int ANN_N_SPLIT_RULES = 6; // number of split rules + +enum ANNshrinkRule { + ANN_BD_NONE = 0, // no shrinking at all (just kd-tree) + ANN_BD_SIMPLE = 1, // simple splitting + ANN_BD_CENTROID = 2, // centroid splitting + ANN_BD_SUGGEST = 3}; // the authors' suggested choice +const int ANN_N_SHRINK_RULES = 4; // number of shrink rules + +//---------------------------------------------------------------------- +// kd-tree: +// The main search data structure supported by ANN is a kd-tree. +// The main constructor is given a set of points and a choice of +// splitting method to use in building the tree. +// +// Construction: +// ------------- +// The constructor is given the point array, number of points, +// dimension, bucket size (default = 1), and the splitting rule +// (default = ANN_KD_SUGGEST). The point array is not copied, and +// is assumed to be kept constant throughout the lifetime of the +// search structure. There is also a "load" constructor that +// builds a tree from a file description that was created by the +// Dump operation. +// +// Search: +// ------- +// There are two search methods: +// +// Standard search (annkSearch()): +// Searches nodes in tree-traversal order, always visiting +// the closer child first. +// Priority search (annkPriSearch()): +// Searches nodes in order of increasing distance of the +// associated cell from the query point. For many +// distributions the standard search seems to work just +// fine, but priority search is safer for worst-case +// performance. +// +// Printing: +// --------- +// There are two methods provided for printing the tree. Print() +// is used to produce a "human-readable" display of the tree, with +// indenation, which is handy for debugging. Dump() produces a +// format that is suitable reading by another program. There is a +// "load" constructor, which constructs a tree which is assumed to +// have been saved by the Dump() procedure. +// +// Performance and Structure Statistics: +// ------------------------------------- +// The procedure getStats() collects statistics information on the +// tree (its size, height, etc.) See ANNperf.h for information on +// the stats structure it returns. +// +// Internal information: +// --------------------- +// The data structure consists of three major chunks of storage. +// The first (implicit) storage are the points themselves (pts), +// which have been provided by the users as an argument to the +// constructor, or are allocated dynamically if the tree is built +// using the load constructor). These should not be changed during +// the lifetime of the search structure. It is the user's +// responsibility to delete these after the tree is destroyed. +// +// The second is the tree itself (which is dynamically allocated in +// the constructor) and is given as a pointer to its root node +// (root). These nodes are automatically deallocated when the tree +// is deleted. See the file src/kd_tree.h for further information +// on the structure of the tree nodes. +// +// Each leaf of the tree does not contain a pointer directly to a +// point, but rather contains a pointer to a "bucket", which is an +// array consisting of point indices. The third major chunk of +// storage is an array (pidx), which is a large array in which all +// these bucket subarrays reside. (The reason for storing them +// separately is the buckets are typically small, but of varying +// sizes. This was done to avoid fragmentation.) This array is +// also deallocated when the tree is deleted. +// +// In addition to this, the tree consists of a number of other +// pieces of information which are used in searching and for +// subsequent tree operations. These consist of the following: +// +// dim Dimension of space +// n_pts Number of points currently in the tree +// n_max Maximum number of points that are allowed +// in the tree +// bkt_size Maximum bucket size (no. of points per leaf) +// bnd_box_lo Bounding box low point +// bnd_box_hi Bounding box high point +// splitRule Splitting method used +// +//---------------------------------------------------------------------- + + +//---------------------------------------------------------------------- +// Orthogonal (axis aligned) rectangle +// Orthogonal rectangles are represented by two points, one +// for the lower left corner (min coordinates) and the other +// for the upper right corner (max coordinates). +// +// The constructor initializes from either a pair of coordinates, +// pair of points, or another rectangle. Note that all constructors +// allocate new point storage. The destructor deallocates this +// storage. +// +// BEWARE: Orthogonal rectangles should be passed ONLY BY REFERENCE. +// (C++'s default copy constructor will not allocate new point +// storage, then on return the destructor free's storage, and then +// you get into big trouble in the calling procedure.) +//---------------------------------------------------------------------- + +class ANNorthRect { +public: + ANNpoint lo; // rectangle lower bounds + ANNpoint hi; // rectangle upper bounds +// + ANNorthRect( // basic constructor + int dd, // dimension of space + ANNcoord l=0, // default is empty + ANNcoord h=0) + { lo = annAllocPt(dd, l); hi = annAllocPt(dd, h); } + + ANNorthRect( // (almost a) copy constructor + int dd, // dimension + const ANNorthRect &r) // rectangle to copy + { lo = annCopyPt(dd, r.lo); hi = annCopyPt(dd, r.hi); } + + ANNorthRect( // construct from points + int dd, // dimension + ANNpoint l, // low point + ANNpoint h) // hight point + { lo = annCopyPt(dd, l); hi = annCopyPt(dd, h); } + + ~ANNorthRect() // destructor + { annDeallocPt(lo); annDeallocPt(hi); } + + ANNbool inside(int dim, ANNpoint p);// is point p inside rectangle? +}; + +void annAssignRect( // assign one rect to another + int dim, // dimension (both must be same) + ANNorthRect &dest, // destination (modified) + const ANNorthRect &source); // source + +//---------------------------------------------------------------------- +// Some types and objects used by kd-tree functions +// See src/kd_tree.h and src/kd_tree.cpp for definitions +//---------------------------------------------------------------------- +class ANNkdStats; // stats on kd-tree +//class ANNkd_node; // generic node in a kd-tree + +//---------------------------------------------------------------------- +// Generic kd-tree node +// +// Nodes in kd-trees are of two types, splitting nodes which contain +// splitting information (a splitting hyperplane orthogonal to one +// of the coordinate axes) and leaf nodes which contain point +// information (an array of points stored in a bucket). This is +// handled by making a generic class kd_node, which is essentially an +// empty shell, and then deriving the leaf and splitting nodes from +// this. +//---------------------------------------------------------------------- + +class ANNkd_node{ // generic kd-tree node (empty shell) +public: + virtual ~ANNkd_node() {} // virtual distroyer + + virtual void ann_search(ANNdist) = 0; // tree search + virtual void ann_pri_search(ANNdist) = 0; // priority search + virtual void ann_FR_search(ANNdist) = 0; // fixed-radius search + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box) = 0; // bounding box + // print node + virtual void print(int level, std::ostream &out) = 0; + virtual void dump(std::ostream &out) = 0; // dump node + virtual bool isLeaf() {return false;} //Deyuan Qiu + + friend class ANNkd_tree; // allow kd-tree to access us +}; + +typedef ANNkd_node* ANNkd_ptr; // pointer to a kd-tree node + +class DLL_API ANNkd_tree: public ANNpointSet { +protected: + int dim; // dimension of space + int n_pts; // number of points in tree + int bkt_size; // bucket size + ANNpointArray pts; // the points + ANNidxArray pidx; // point indices (to pts array) + ANNkd_ptr root; // root of kd-tree + ANNpoint bnd_box_lo; // bounding box low point + ANNpoint bnd_box_hi; // bounding box high point + + void SkeletonTree( // construct skeleton tree + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNpointArray pa = NULL, // point array (optional) + ANNidxArray pi = NULL); // point indices (optional) + +public: + ANNkd_tree( // build skeleton tree + int n = 0, // number of points + int dd = 0, // dimension + int bs = 1); // bucket size + + ANNkd_tree( // build from point array + ANNpointArray pa, // point array + int n, // number of points + int dd, // dimension + int bs = 1, // bucket size + ANNsplitRule split = ANN_KD_SUGGEST); // splitting method + + ANNkd_tree( // build from dump file + std::istream& in); // input stream for dump file + + ~ANNkd_tree(); // tree destructor + + void annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + void annkPriSearch( // priority k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (modified) + ANNdistArray dd, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // the query point + ANNdist sqRad, // squared radius of query ball + int k, // number of neighbors to return + ANNidxArray nn_idx = NULL, // nearest neighbor array (modified) + ANNdistArray dd = NULL, // dist to near neighbors (modified) + double eps=0.0); // error bound + + int theDim() // return dimension of space + { return dim; } + + int nPoints() // return number of points + { return n_pts; } + + ANNpointArray thePoints() // return pointer to points + { return pts; } + + virtual void Print( // print the tree (for debugging) + ANNbool with_pts, // print points as well? + std::ostream& out); // output stream + + virtual void Dump( // dump entire tree + ANNbool with_pts, // print points as well? + std::ostream& out); // output stream + + virtual void getStats( // compute tree statistics + ANNkdStats& st); // the statistics (modified) + + ANNkd_ptr getRoot() //Deyuan Qiu + { return root; } +}; + +//---------------------------------------------------------------------- +// Box decomposition tree (bd-tree) +// The bd-tree is inherited from a kd-tree. The main difference +// in the bd-tree and the kd-tree is a new type of internal node +// called a shrinking node (in the kd-tree there is only one type +// of internal node, a splitting node). The shrinking node +// makes it possible to generate balanced trees in which the +// cells have bounded aspect ratio, by allowing the decomposition +// to zoom in on regions of dense point concentration. Although +// this is a nice idea in theory, few point distributions are so +// densely clustered that this is really needed. +//---------------------------------------------------------------------- + +class DLL_API ANNbd_tree: public ANNkd_tree { +public: + ANNbd_tree( // build skeleton tree + int n, // number of points + int dd, // dimension + int bs = 1) // bucket size + : ANNkd_tree(n, dd, bs) {} // build base kd-tree + + ANNbd_tree( // build from point array + ANNpointArray pa, // point array + int n, // number of points + int dd, // dimension + int bs = 1, // bucket size + ANNsplitRule split = ANN_KD_SUGGEST, // splitting rule + ANNshrinkRule shrink = ANN_BD_SUGGEST); // shrinking rule + + ANNbd_tree( // build from dump file + std::istream& in); // input stream for dump file +}; + +//---------------------------------------------------------------------- +// Other functions +// annMaxPtsVisit Sets a limit on the maximum number of points +// to visit in the search. +// annClose Can be called when all use of ANN is finished. +// It clears up a minor memory leak. +//---------------------------------------------------------------------- + +DLL_API void annMaxPtsVisit( // max. pts to visit in search + int maxPts); // the limit + +DLL_API void annClose(); // called to end use of ANN + +#endif diff --git a/3rdparty/ann_1.1.1_modified/include/ANN/ANNperf.h b/3rdparty/ann_1.1.1_modified/include/ANN/ANNperf.h new file mode 100755 index 0000000..614a66f --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/include/ANN/ANNperf.h @@ -0,0 +1,226 @@ +//---------------------------------------------------------------------- +// File: ANNperf.h +// Programmer: Sunil Arya and David Mount +// Last modified: 03/04/98 (Release 0.1) +// Description: Include file for ANN performance stats +// +// Some of the code for statistics gathering has been adapted +// from the SmplStat.h package in the g++ library. +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added ANN_ prefix to avoid name conflicts. +//---------------------------------------------------------------------- + +#ifndef ANNperf_H +#define ANNperf_H + +#undef min +#undef max + +//---------------------------------------------------------------------- +// basic includes +//---------------------------------------------------------------------- + +#include // basic ANN includes + +//---------------------------------------------------------------------- +// kd-tree stats object +// This object is used for collecting information about a kd-tree +// or bd-tree. +//---------------------------------------------------------------------- + +class ANNkdStats { // stats on kd-tree +public: + int dim; // dimension of space + int n_pts; // no. of points + int bkt_size; // bucket size + int n_lf; // no. of leaves (including trivial) + int n_tl; // no. of trivial leaves (no points) + int n_spl; // no. of splitting nodes + int n_shr; // no. of shrinking nodes (for bd-trees) + int depth; // depth of tree + float sum_ar; // sum of leaf aspect ratios + float avg_ar; // average leaf aspect ratio + // + // reset stats + void reset(int d=0, int n=0, int bs=0) + { + dim = d; n_pts = n; bkt_size = bs; + n_lf = n_tl = n_spl = n_shr = depth = 0; + sum_ar = avg_ar = 0.0; + } + + ANNkdStats() // basic constructor + { reset(); } + + void merge(const ANNkdStats &st); // merge stats from child +}; + +//---------------------------------------------------------------------- +// ANNsampStat +// A sample stat collects numeric (double) samples and returns some +// simple statistics. Its main functions are: +// +// reset() Reset to no samples. +// += x Include sample x. +// samples() Return number of samples. +// mean() Return mean of samples. +// stdDev() Return standard deviation +// min() Return minimum of samples. +// max() Return maximum of samples. +//---------------------------------------------------------------------- +class DLL_API ANNsampStat { + int n; // number of samples + double sum; // sum + double sum2; // sum of squares + double minVal, maxVal; // min and max +public : + void reset() // reset everything + { + n = 0; + sum = sum2 = 0; + minVal = ANN_DBL_MAX; + maxVal = -ANN_DBL_MAX; + } + + ANNsampStat() { reset(); } // constructor + + void operator+=(double x) // add sample + { + n++; sum += x; sum2 += x*x; + if (x < minVal) minVal = x; + if (x > maxVal) maxVal = x; + } + + int samples() { return n; } // number of samples + + double mean() { return sum/n; } // mean + + // standard deviation + double stdDev() { return sqrt((sum2 - (sum*sum)/n)/(n-1));} + + double min() { return minVal; } // minimum + double max() { return maxVal; } // maximum +}; + +//---------------------------------------------------------------------- +// Operation count updates +//---------------------------------------------------------------------- + +#ifdef ANN_PERF + #define ANN_FLOP(n) {ann_Nfloat_ops += (n);} + #define ANN_LEAF(n) {ann_Nvisit_lfs += (n);} + #define ANN_SPL(n) {ann_Nvisit_spl += (n);} + #define ANN_SHR(n) {ann_Nvisit_shr += (n);} + #define ANN_PTS(n) {ann_Nvisit_pts += (n);} + #define ANN_COORD(n) {ann_Ncoord_hts += (n);} +#else + #define ANN_FLOP(n) + #define ANN_LEAF(n) + #define ANN_SPL(n) + #define ANN_SHR(n) + #define ANN_PTS(n) + #define ANN_COORD(n) +#endif + +//---------------------------------------------------------------------- +// Performance statistics +// The following data and routines are used for computing performance +// statistics for nearest neighbor searching. Because these routines +// can slow the code down, they can be activated and deactiviated by +// defining the ANN_PERF variable, by compiling with the option: +// -DANN_PERF +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Global counters for performance measurement +// +// visit_lfs The number of leaf nodes visited in the +// tree. +// +// visit_spl The number of splitting nodes visited in the +// tree. +// +// visit_shr The number of shrinking nodes visited in the +// tree. +// +// visit_pts The number of points visited in all the +// leaf nodes visited. Equivalently, this +// is the number of points for which distance +// calculations are performed. +// +// coord_hts The number of times a coordinate of a +// data point is accessed. This is generally +// less than visit_pts*d if partial distance +// calculation is used. This count is low +// in the sense that if a coordinate is hit +// many times in the same routine we may +// count it only once. +// +// float_ops The number of floating point operations. +// This includes all operations in the heap +// as well as distance calculations to boxes. +// +// average_err The average error of each query (the +// error of the reported point to the true +// nearest neighbor). For k nearest neighbors +// the error is computed k times. +// +// rank_err The rank error of each query (the difference +// in the rank of the reported point and its +// true rank). +// +// data_pts The number of data points. This is not +// a counter, but used in stats computation. +//---------------------------------------------------------------------- + +extern int ann_Ndata_pts; // number of data points +extern int ann_Nvisit_lfs; // number of leaf nodes visited +extern int ann_Nvisit_spl; // number of splitting nodes visited +extern int ann_Nvisit_shr; // number of shrinking nodes visited +extern int ann_Nvisit_pts; // visited points for one query +extern int ann_Ncoord_hts; // coordinate hits for one query +extern int ann_Nfloat_ops; // floating ops for one query +extern ANNsampStat ann_visit_lfs; // stats on leaf nodes visits +extern ANNsampStat ann_visit_spl; // stats on splitting nodes visits +extern ANNsampStat ann_visit_shr; // stats on shrinking nodes visits +extern ANNsampStat ann_visit_nds; // stats on total nodes visits +extern ANNsampStat ann_visit_pts; // stats on points visited +extern ANNsampStat ann_coord_hts; // stats on coordinate hits +extern ANNsampStat ann_float_ops; // stats on floating ops +//---------------------------------------------------------------------- +// The following need to be part of the public interface, because +// they are accessed outside the DLL in ann_test.cpp. +//---------------------------------------------------------------------- +DLL_API extern ANNsampStat ann_average_err; // average error +DLL_API extern ANNsampStat ann_rank_err; // rank error + +//---------------------------------------------------------------------- +// Declaration of externally accessible routines for statistics +//---------------------------------------------------------------------- + +DLL_API void annResetStats(int data_size); // reset stats for a set of queries + +DLL_API void annResetCounts(); // reset counts for one queries + +DLL_API void annUpdateStats(); // update stats with current counts + +DLL_API void annPrintStats(ANNbool validate); // print statistics for a run + +#endif diff --git a/3rdparty/ann_1.1.1_modified/include/ANN/ANNx.h b/3rdparty/ann_1.1.1_modified/include/ANN/ANNx.h new file mode 100755 index 0000000..f968aed --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/include/ANN/ANNx.h @@ -0,0 +1,119 @@ +//---------------------------------------------------------------------- +// File: ANNx.h +// Programmer: Sunil Arya and David Mount +// Last modified: 03/04/98 (Release 0.1) +// Description: Internal include file for ANN +// +// These declarations are of use in manipulating some of +// the internal data objects appearing in ANN, but are not +// needed for applications just using the nearest neighbor +// search. +// +// Typical users of ANN should not need to access this file. +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed LO, HI, IN, OUT to ANN_LO, ANN_HI, etc. +//---------------------------------------------------------------------- + +#ifndef ANNx_H +#define ANNx_H + +#include // I/O manipulators +#include // ANN includes + +//---------------------------------------------------------------------- +// Global constants and types +//---------------------------------------------------------------------- +enum {ANN_LO=0, ANN_HI=1}; // splitting indices +enum {ANN_IN=0, ANN_OUT=1}; // shrinking indices + // what to do in case of error +enum ANNerr {ANNwarn = 0, ANNabort = 1}; + +//---------------------------------------------------------------------- +// Maximum number of points to visit +// We have an option for terminating the search early if the +// number of points visited exceeds some threshold. If the +// threshold is 0 (its default) this means there is no limit +// and the algorithm applies its normal termination condition. +//---------------------------------------------------------------------- + +extern int ANNmaxPtsVisited; // maximum number of pts visited +extern int ANNptsVisited; // number of pts visited in search + +//---------------------------------------------------------------------- +// Global function declarations +//---------------------------------------------------------------------- + +void annError( // ANN error routine + char *msg, // error message + ANNerr level); // level of error + +void annPrintPt( // print a point + ANNpoint pt, // the point + int dim, // the dimension + std::ostream &out); // output stream + + + +//---------------------------------------------------------------------- +// Orthogonal (axis aligned) halfspace +// An orthogonal halfspace is represented by an integer cutting +// dimension cd, coordinate cutting value, cv, and side, sd, which is +// either +1 or -1. Our convention is that point q lies in the (closed) +// halfspace if (q[cd] - cv)*sd >= 0. +//---------------------------------------------------------------------- + +class ANNorthHalfSpace { +public: + int cd; // cutting dimension + ANNcoord cv; // cutting value + int sd; // which side +// + ANNorthHalfSpace() // default constructor + { cd = 0; cv = 0; sd = 0; } + + ANNorthHalfSpace( // basic constructor + int cdd, // dimension of space + ANNcoord cvv, // cutting value + int sdd) // side + { cd = cdd; cv = cvv; sd = sdd; } + + ANNbool in(ANNpoint q) const // is q inside halfspace? + { return (ANNbool) ((q[cd] - cv)*sd >= 0); } + + ANNbool out(ANNpoint q) const // is q outside halfspace? + { return (ANNbool) ((q[cd] - cv)*sd < 0); } + + ANNdist dist(ANNpoint q) const // (squared) distance from q + { return (ANNdist) ANN_POW(q[cd] - cv); } + + void setLowerBound(int d, ANNpoint p)// set to lower bound at p[i] + { cd = d; cv = p[d]; sd = +1; } + + void setUpperBound(int d, ANNpoint p)// set to upper bound at p[i] + { cd = d; cv = p[d]; sd = -1; } + + void project(ANNpoint &q) // project q (modified) onto halfspace + { if (out(q)) q[cd] = cv; } +}; + + // array of halfspaces +typedef ANNorthHalfSpace *ANNorthHSArray; + +#endif diff --git a/3rdparty/ann_1.1.1_modified/sample/Makefile b/3rdparty/ann_1.1.1_modified/sample/Makefile new file mode 100755 index 0000000..360579e --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/sample/Makefile @@ -0,0 +1,90 @@ +#----------------------------------------------------------------------------- +# Makefile for the sample program +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- +# Note: For full performance measurements, it is assumed that the library +# and this program have both been compiled with the -DPERF flag. See the +# Makefile in the ANN base directory for this flag. +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIBS libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANNSAMP name of sample program +#----------------------------------------------------------------------------- + +ANNSAMP = ann_sample + +SAMPSOURCES = ann_sample.cpp +SAMPOBJECTS = $(SAMPSOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANNSAMP) + +$(BINDIR)/$(ANNSAMP): $(SAMPOBJECTS) $(LIBDIR)/$(ANNLIB) + $(C++) $(SAMPOBJECTS) -o $(ANNSAMP) $(LDFLAGS) $(ANNLIBS) + mv $(ANNSAMP) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann_sample.o: ann_sample.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) ann_sample.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o *.out core + +realclean: clean diff --git a/3rdparty/ann_1.1.1_modified/sample/ann_sample.cpp b/3rdparty/ann_1.1.1_modified/sample/ann_sample.cpp new file mode 100755 index 0000000..5506376 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/sample/ann_sample.cpp @@ -0,0 +1,198 @@ +//---------------------------------------------------------------------- +// File: ann_sample.cpp +// Programmer: Sunil Arya and David Mount +// Last modified: 03/04/98 (Release 0.1) +// Description: Sample program for ANN +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- + +#include // C standard library +#include // C I/O (for sscanf) +#include // string manipulation +#include // file I/O +#include // ANN declarations + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// ann_sample +// +// This is a simple sample program for the ANN library. After compiling, +// it can be run as follows. +// +// ann_sample [-d dim] [-max mpts] [-nn k] [-e eps] [-df data] [-qf query] +// +// where +// dim is the dimension of the space (default = 2) +// mpts maximum number of data points (default = 1000) +// k number of nearest neighbors per query (default 1) +// eps is the error bound (default = 0.0) +// data file containing data points +// query file containing query points +// +// Results are sent to the standard output. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Parameters that are set in getArgs() +//---------------------------------------------------------------------- +void getArgs(int argc, char **argv); // get command-line arguments + +int k = 1; // number of nearest neighbors +int dim = 2; // dimension +double eps = 0; // error bound +int maxPts = 1000; // maximum number of data points + +istream* dataIn = NULL; // input for data points +istream* queryIn = NULL; // input for query points + +bool readPt(istream &in, ANNpoint p) // read point (false on EOF) +{ + for (int i = 0; i < dim; i++) { + if(!(in >> p[i])) return false; + } + return true; +} + +void printPt(ostream &out, ANNpoint p) // print point +{ + out << "(" << p[0]; + for (int i = 1; i < dim; i++) { + out << ", " << p[i]; + } + out << ")\n"; +} + +int main(int argc, char **argv) +{ + int nPts; // actual number of data points + ANNpointArray dataPts; // data points + ANNpoint queryPt; // query point + ANNidxArray nnIdx; // near neighbor indices + ANNdistArray dists; // near neighbor distances + ANNkd_tree* kdTree; // search structure + + getArgs(argc, argv); // read command-line arguments + + queryPt = annAllocPt(dim); // allocate query point + dataPts = annAllocPts(maxPts, dim); // allocate data points + nnIdx = new ANNidx[k]; // allocate near neigh indices + dists = new ANNdist[k]; // allocate near neighbor dists + + nPts = 0; // read data points + + cout << "Data Points:\n"; + while (nPts < maxPts && readPt(*dataIn, dataPts[nPts])) { + printPt(cout, dataPts[nPts]); + nPts++; + } + + kdTree = new ANNkd_tree( // build search structure + dataPts, // the data points + nPts, // number of points + dim); // dimension of space + + while (readPt(*queryIn, queryPt)) { // read query points + cout << "Query point: "; // echo query point + printPt(cout, queryPt); + + kdTree->annkSearch( // search + queryPt, // query point + k, // number of near neighbors + nnIdx, // nearest neighbors (returned) + dists, // distance (returned) + eps); // error bound + + cout << "\tNN:\tIndex\tDistance\n"; + for (int i = 0; i < k; i++) { // print summary + dists[i] = sqrt(dists[i]); // unsquare distance + cout << "\t" << i << "\t" << nnIdx[i] << "\t" << dists[i] << "\n"; + } + } + delete [] nnIdx; // clean things up + delete [] dists; + delete kdTree; + annClose(); // done with ANN + + return EXIT_SUCCESS; +} + +//---------------------------------------------------------------------- +// getArgs - get command line arguments +//---------------------------------------------------------------------- + +void getArgs(int argc, char **argv) +{ + static ifstream dataStream; // data file stream + static ifstream queryStream; // query file stream + + if (argc <= 1) { // no arguments + cerr << "Usage:\n\n" + << " ann_sample [-d dim] [-max m] [-nn k] [-e eps] [-df data]" + " [-qf query]\n\n" + << " where:\n" + << " dim dimension of the space (default = 2)\n" + << " m maximum number of data points (default = 1000)\n" + << " k number of nearest neighbors per query (default 1)\n" + << " eps the error bound (default = 0.0)\n" + << " data name of file containing data points\n" + << " query name of file containing query points\n\n" + << " Results are sent to the standard output.\n" + << "\n" + << " To run this demo use:\n" + << " ann_sample -df data.pts -qf query.pts\n"; + exit(0); + } + int i = 1; + while (i < argc) { // read arguments + if (!strcmp(argv[i], "-d")) { // -d option + dim = atoi(argv[++i]); // get dimension to dump + } + else if (!strcmp(argv[i], "-max")) { // -max option + maxPts = atoi(argv[++i]); // get max number of points + } + else if (!strcmp(argv[i], "-nn")) { // -nn option + k = atoi(argv[++i]); // get number of near neighbors + } + else if (!strcmp(argv[i], "-e")) { // -e option + sscanf(argv[++i], "%lf", &eps); // get error bound + } + else if (!strcmp(argv[i], "-df")) { // -df option + dataStream.open(argv[++i], ios::in);// open data file + if (!dataStream) { + cerr << "Cannot open data file\n"; + exit(1); + } + dataIn = &dataStream; // make this the data stream + } + else if (!strcmp(argv[i], "-qf")) { // -qf option + queryStream.open(argv[++i], ios::in);// open query file + if (!queryStream) { + cerr << "Cannot open query file\n"; + exit(1); + } + queryIn = &queryStream; // make this query stream + } + else { // illegal syntax + cerr << "Unrecognized option.\n"; + exit(1); + } + i++; + } + if (dataIn == NULL || queryIn == NULL) { + cerr << "-df and -qf options must be specified\n"; + exit(1); + } +} diff --git a/3rdparty/ann_1.1.1_modified/sample/data.pts b/3rdparty/ann_1.1.1_modified/sample/data.pts new file mode 100755 index 0000000..191790d --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/sample/data.pts @@ -0,0 +1,20 @@ +-0.297462 0.176102 +0.565538 -0.361496 +0.909313 -0.182785 +0.920712 0.478408 +0.167682 0.0499836 +0.305223 -0.0805835 +0.114973 0.882453 +0.742916 0.16376 +0.0724605 -0.826775 +0.690960 -0.559284 +0.188485 -0.643934 +0.749427 -0.942415 +-0.970662 -0.223466 +0.916110 0.879597 +0.927417 -0.382593 +-0.711327 0.278713 +-0.519172 0.986146 +0.135338 0.924588 +-0.0837537 0.61687 +0.0520465 0.896306 diff --git a/3rdparty/ann_1.1.1_modified/sample/query.pts b/3rdparty/ann_1.1.1_modified/sample/query.pts new file mode 100755 index 0000000..6c04dbc --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/sample/query.pts @@ -0,0 +1,10 @@ +0.0902484 -0.207129 +-0.419567 0.485743 +0.826225 -0.30962 +0.694758 0.987088 +-0.410807 -0.465182 +-0.836501 0.490184 +0.588289 0.656408 +0.325807 0.38721 +-0.532226 -0.727036 +-0.52506 -0.853508 diff --git a/3rdparty/ann_1.1.1_modified/sample/sample.save b/3rdparty/ann_1.1.1_modified/sample/sample.save new file mode 100755 index 0000000..d8173a2 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/sample/sample.save @@ -0,0 +1,51 @@ +Data Points: +(-0.297462, 0.176102) +(0.565538, -0.361496) +(0.909313, -0.182785) +(0.920712, 0.478408) +(0.167682, 0.0499836) +(0.305223, -0.0805835) +(0.114973, 0.882453) +(0.742916, 0.16376) +(0.0724605, -0.826775) +(0.69096, -0.559284) +(0.188485, -0.643934) +(0.749427, -0.942415) +(-0.970662, -0.223466) +(0.91611, 0.879597) +(0.927417, -0.382593) +(-0.711327, 0.278713) +(-0.519172, 0.986146) +(0.135338, 0.924588) +(-0.0837537, 0.61687) +(0.0520465, 0.896306) +Query point: (0.0902484, -0.207129) + NN: Index Distance + 0 5 0.249455 +Query point: (-0.419567, 0.485743) + NN: Index Distance + 0 0 0.332847 +Query point: (0.826225, -0.30962) + NN: Index Distance + 0 14 0.124759 +Query point: (0.694758, 0.987088) + NN: Index Distance + 0 13 0.246071 +Query point: (-0.410807, -0.465182) + NN: Index Distance + 0 8 0.60357 +Query point: (-0.836501, 0.490184) + NN: Index Distance + 0 15 0.245741 +Query point: (0.588289, 0.656408) + NN: Index Distance + 0 3 0.37708 +Query point: (0.325807, 0.38721) + NN: Index Distance + 0 4 0.372458 +Query point: (-0.532226, -0.727036) + NN: Index Distance + 0 8 0.612857 +Query point: (-0.52506, -0.853508) + NN: Index Distance + 0 8 0.598118 diff --git a/3rdparty/ann_1.1.1_modified/src/ANN.cpp b/3rdparty/ann_1.1.1_modified/src/ANN.cpp new file mode 100755 index 0000000..4e61cec --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/ANN.cpp @@ -0,0 +1,199 @@ +//---------------------------------------------------------------------- +// File: ANN.cpp +// Programmer: Sunil Arya and David Mount +// Description: Methods for ANN.h and ANNx.h +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added performance counting to annDist() +//---------------------------------------------------------------------- + +#include +#include // all ANN includes +#include // ANN performance + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Point methods +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Distance utility. +// (Note: In the nearest neighbor search, most distances are +// computed using partial distance calculations, not this +// procedure.) +//---------------------------------------------------------------------- + +ANNdist annDist( // interpoint squared distance + int dim, + ANNpoint p, + ANNpoint q) +{ + register int d; + register ANNcoord diff; + register ANNcoord dist; + + dist = 0; + for (d = 0; d < dim; d++) { + diff = p[d] - q[d]; + dist = ANN_SUM(dist, ANN_POW(diff)); + } + ANN_FLOP(3*dim) // performance counts + ANN_PTS(1) + ANN_COORD(dim) + return dist; +} + +//---------------------------------------------------------------------- +// annPrintPoint() prints a point to a given output stream. +//---------------------------------------------------------------------- + +void annPrintPt( // print a point + ANNpoint pt, // the point + int dim, // the dimension + std::ostream &out) // output stream +{ + for (int j = 0; j < dim; j++) { + out << pt[j]; + if (j < dim-1) out << " "; + } +} + +//---------------------------------------------------------------------- +// Point allocation/deallocation: +// +// Because points (somewhat like strings in C) are stored +// as pointers. Consequently, creating and destroying +// copies of points may require storage allocation. These +// procedures do this. +// +// annAllocPt() and annDeallocPt() allocate a deallocate +// storage for a single point, and return a pointer to it. +// +// annAllocPts() allocates an array of points as well a place +// to store their coordinates, and initializes the points to +// point to their respective coordinates. It allocates point +// storage in a contiguous block large enough to store all the +// points. It performs no initialization. +// +// annDeallocPts() should only be used on point arrays allocated +// by annAllocPts since it assumes that points are allocated in +// a block. +// +// annCopyPt() copies a point taking care to allocate storage +// for the new point. +// +// annAssignRect() assigns the coordinates of one rectangle to +// another. The two rectangles must have the same dimension +// (and it is not possible to test this here). +//---------------------------------------------------------------------- + +ANNpoint annAllocPt(int dim, ANNcoord c) // allocate 1 point +{ + ANNpoint p = new ANNcoord[dim]; + for (int i = 0; i < dim; i++) p[i] = c; + return p; +} + +ANNpointArray annAllocPts(int n, int dim) // allocate n pts in dim +{ + ANNpointArray pa = new ANNpoint[n]; // allocate points + ANNpoint p = new ANNcoord[n*dim]; // allocate space for coords + for (int i = 0; i < n; i++) { + pa[i] = &(p[i*dim]); + } + return pa; +} + +void annDeallocPt(ANNpoint &p) // deallocate 1 point +{ + delete [] p; + p = NULL; +} + +void annDeallocPts(ANNpointArray &pa) // deallocate points +{ + delete [] pa[0]; // dealloc coordinate storage + delete [] pa; // dealloc points + pa = NULL; +} + +ANNpoint annCopyPt(int dim, ANNpoint source) // copy point +{ + ANNpoint p = new ANNcoord[dim]; + for (int i = 0; i < dim; i++) p[i] = source[i]; + return p; +} + + // assign one rect to another +void annAssignRect(int dim, ANNorthRect &dest, const ANNorthRect &source) +{ + for (int i = 0; i < dim; i++) { + dest.lo[i] = source.lo[i]; + dest.hi[i] = source.hi[i]; + } +} + + // is point inside rectangle? +ANNbool ANNorthRect::inside(int dim, ANNpoint p) +{ + for (int i = 0; i < dim; i++) { + if (p[i] < lo[i] || p[i] > hi[i]) return ANNfalse; + } + return ANNtrue; +} + +//---------------------------------------------------------------------- +// Error handler +//---------------------------------------------------------------------- + +void annError(char *msg, ANNerr level) +{ + if (level == ANNabort) { + cerr << "ANN: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ANN: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +//---------------------------------------------------------------------- +// Limit on number of points visited +// We have an option for terminating the search early if the +// number of points visited exceeds some threshold. If the +// threshold is 0 (its default) this means there is no limit +// and the algorithm applies its normal termination condition. +// This is for applications where there are real time constraints +// on the running time of the algorithm. +//---------------------------------------------------------------------- + +int ANNmaxPtsVisited = 0; // maximum number of pts visited +int ANNptsVisited; // number of pts visited in search + +//---------------------------------------------------------------------- +// Global function declarations +//---------------------------------------------------------------------- + +void annMaxPtsVisit( // set limit on max. pts to visit in search + int maxPts) // the limit +{ + ANNmaxPtsVisited = maxPts; +} diff --git a/3rdparty/ann_1.1.1_modified/src/Makefile b/3rdparty/ann_1.1.1_modified/src/Makefile new file mode 100755 index 0000000..d8d5d21 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/Makefile @@ -0,0 +1,117 @@ +#----------------------------------------------------------------------------- +# Makefile for ANN library +#---------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#---------------------------------------------------------------------- +# History: +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.0 04/01/05 +# Renamed files from .cc to .cpp for Microsoft Visual C++ +# Added kd_dump.cpp +# Revision 1.1 05/03/05 +# Added kd_fix_rad_search.cpp and bd_fix_rad_search.cpp +#---------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Configuration definitions +#----------------------------------------------------------------------------- + +include ../../../Makefile.options + +#----------------------------------------------------------------------------- +# Some basic definitions: +# BASEDIR where include, src, lib, ... are +# INCLIB include directory +# LIBLIB library directory +#----------------------------------------------------------------------------- +ANNLIB = ../../../obj/libANN.a +OBJDIR = ../../../obj/ +INCDIR = ../include/ + +SOURCES = ANN.cpp brute.cpp kd_tree.cpp kd_util.cpp kd_split.cpp \ + kd_dump.cpp kd_search.cpp kd_pr_search.cpp kd_fix_rad_search.cpp \ + bd_tree.cpp bd_search.cpp bd_pr_search.cpp bd_fix_rad_search.cpp \ + perf.cpp + +OBJECTS = $(OBJDIR)ANN.o $(OBJDIR)brute.o $(OBJDIR)kd_tree.o $(OBJDIR)kd_util.o $(OBJDIR)kd_split.o \ + $(OBJDIR)kd_dump.o $(OBJDIR)kd_search.o $(OBJDIR)kd_pr_search.o $(OBJDIR)kd_fix_rad_search.o \ + $(OBJDIR)bd_tree.o $(OBJDIR)bd_search.o $(OBJDIR)bd_pr_search.o $(OBJDIR)bd_fix_rad_search.o \ + $(OBJDIR)perf.o + +#----------------------------------------------------------------------------- +# Make the library +#----------------------------------------------------------------------------- + +default: $(LIBDIR)/$(ANNLIB) + +$(LIBDIR)/$(ANNLIB): $(OBJECTS) + @ar rs $(ANNLIB) $(OBJECTS) + @ranlib $(ANNLIB) + +#----------------------------------------------------------------------------- +# Make object files +#----------------------------------------------------------------------------- + +$(OBJDIR)ANN.o: ANN.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) ANN.cpp -o $(OBJDIR)ANN.o + +$(OBJDIR)brute.o: brute.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) brute.cpp -o $(OBJDIR)brute.o + +$(OBJDIR)kd_tree.o: kd_tree.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_tree.cpp -o $(OBJDIR)kd_tree.o + +$(OBJDIR)kd_util.o: kd_util.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_util.cpp -o $(OBJDIR)kd_util.o + +$(OBJDIR)kd_split.o: kd_split.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_split.cpp -o $(OBJDIR)kd_split.o + +$(OBJDIR)kd_search.o: kd_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_search.cpp -o $(OBJDIR)kd_search.o + +$(OBJDIR)kd_pr_search.o: kd_pr_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_pr_search.cpp -o $(OBJDIR)kd_pr_search.o + +$(OBJDIR)kd_fix_rad_search.o: kd_fix_rad_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_fix_rad_search.cpp -o $(OBJDIR)kd_fix_rad_search.o + +$(OBJDIR)kd_dump.o: kd_dump.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) kd_dump.cpp -o $(OBJDIR)kd_dump.o + +$(OBJDIR)bd_tree.o: bd_tree.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_tree.cpp -o $(OBJDIR)bd_tree.o + +$(OBJDIR)bd_search.o: bd_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_search.cpp -o $(OBJDIR)bd_search.o + +$(OBJDIR)bd_pr_search.o: bd_pr_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_pr_search.cpp -o $(OBJDIR)bd_pr_search.o + +$(OBJDIR)bd_fix_rad_search.o: bd_fix_rad_search.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) bd_fix_rad_search.cpp -o $(OBJDIR)bd_fix_rad_search.o + +$(OBJDIR)perf.o: perf.cpp + $(GPP) -c -I$(INCDIR) $(CFLAGS) perf.cpp -o $(OBJDIR)perf.o + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o core + +realclean: clean + diff --git a/3rdparty/ann_1.1.1_modified/src/bd_fix_rad_search.cpp b/3rdparty/ann_1.1.1_modified/src/bd_fix_rad_search.cpp new file mode 100755 index 0000000..dea3f6b --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/bd_fix_rad_search.cpp @@ -0,0 +1,61 @@ +//---------------------------------------------------------------------- +// File: bd_fix_rad_search.cpp +// Programmer: David Mount +// Description: Standard bd-tree search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_fix_rad_search.h" // kd-tree FR search declarations + +//---------------------------------------------------------------------- +// Approximate searching for bd-trees. +// See the file kd_FR_search.cpp for general information on the +// approximate nearest neighbor search algorithm. Here we +// include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_FR_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_FR_search(ANNdist box_dist) +{ + // check dist calc term cond. + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNkdFRQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNkdFRQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + child[ANN_IN]->ann_FR_search(inner_dist);// search inner child first + child[ANN_OUT]->ann_FR_search(box_dist);// ...then outer child + } + else { // if outer box is closer + child[ANN_OUT]->ann_FR_search(box_dist);// search outer child first + child[ANN_IN]->ann_FR_search(inner_dist);// ...then outer child + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/3rdparty/ann_1.1.1_modified/src/bd_pr_search.cpp b/3rdparty/ann_1.1.1_modified/src/bd_pr_search.cpp new file mode 100755 index 0000000..d16d632 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/bd_pr_search.cpp @@ -0,0 +1,62 @@ +//---------------------------------------------------------------------- +// File: bd_pr_search.cpp +// Programmer: David Mount +// Description: Priority search for bd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +//History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_pr_search.h" // kd priority search declarations + +//---------------------------------------------------------------------- +// Approximate priority searching for bd-trees. +// See the file kd_pr_search.cc for general information on the +// approximate nearest neighbor priority search algorithm. Here +// we include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_pri_search(ANNdist box_dist) +{ + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNprQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNprQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + if (child[ANN_OUT] != KD_TRIVIAL) // enqueue outer if not trivial + ANNprBoxPQ->insert(box_dist,child[ANN_OUT]); + // continue with inner child + child[ANN_IN]->ann_pri_search(inner_dist); + } + else { // if outer box is closer + if (child[ANN_IN] != KD_TRIVIAL) // enqueue inner if not trivial + ANNprBoxPQ->insert(inner_dist,child[ANN_IN]); + // continue with outer child + child[ANN_OUT]->ann_pri_search(box_dist); + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/3rdparty/ann_1.1.1_modified/src/bd_search.cpp b/3rdparty/ann_1.1.1_modified/src/bd_search.cpp new file mode 100755 index 0000000..f057018 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/bd_search.cpp @@ -0,0 +1,61 @@ +//---------------------------------------------------------------------- +// File: bd_search.cpp +// Programmer: David Mount +// Description: Standard bd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_search.h" // kd-tree search declarations + +//---------------------------------------------------------------------- +// Approximate searching for bd-trees. +// See the file kd_search.cpp for general information on the +// approximate nearest neighbor search algorithm. Here we +// include the extensions for shrinking nodes. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// bd_shrink::ann_search - search a shrinking node +//---------------------------------------------------------------------- + +void ANNbd_shrink::ann_search(ANNdist box_dist) +{ + // check dist calc term cond. + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + ANNdist inner_dist = 0; // distance to inner box + for (int i = 0; i < n_bnds; i++) { // is query point in the box? + if (bnds[i].out(ANNkdQ)) { // outside this bounding side? + // add to inner distance + inner_dist = (ANNdist) ANN_SUM(inner_dist, bnds[i].dist(ANNkdQ)); + } + } + if (inner_dist <= box_dist) { // if inner box is closer + child[ANN_IN]->ann_search(inner_dist); // search inner child first + child[ANN_OUT]->ann_search(box_dist); // ...then outer child + } + else { // if outer box is closer + child[ANN_OUT]->ann_search(box_dist); // search outer child first + child[ANN_IN]->ann_search(inner_dist); // ...then outer child + } + ANN_FLOP(3*n_bnds) // increment floating ops + ANN_SHR(1) // one more shrinking node +} diff --git a/3rdparty/ann_1.1.1_modified/src/bd_tree.cpp b/3rdparty/ann_1.1.1_modified/src/bd_tree.cpp new file mode 100755 index 0000000..0977dea --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/bd_tree.cpp @@ -0,0 +1,417 @@ +//---------------------------------------------------------------------- +// File: bd_tree.cpp +// Programmer: David Mount +// Description: Basic methods for bd-trees. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision l.0 04/01/05 +// Fixed centroid shrink threshold condition to depend on the +// dimension. +// Moved dump routine to kd_dump.cpp. +//---------------------------------------------------------------------- + +#include "bd_tree.h" // bd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "kd_split.h" // kd-tree splitting rules + +#include // performance evaluation + +//---------------------------------------------------------------------- +// Printing a bd-tree +// These routines print a bd-tree. See the analogous procedure +// in kd_tree.cpp for more information. +//---------------------------------------------------------------------- + +void ANNbd_shrink::print( // print shrinking node + int level, // depth of node in tree + ostream &out) // output stream +{ + child[ANN_OUT]->print(level+1, out); // print out-child + + out << " "; + for (int i = 0; i < level; i++) // print indentation + out << ".."; + out << "Shrink"; + for (int j = 0; j < n_bnds; j++) { // print sides, 2 per line + if (j % 2 == 0) { + out << "\n"; // newline and indentation + for (int i = 0; i < level+2; i++) out << " "; + } + out << " ([" << bnds[j].cd << "]" + << (bnds[j].sd > 0 ? ">=" : "< ") + << bnds[j].cv << ")"; + } + out << "\n"; + + child[ANN_IN]->print(level+1, out); // print in-child +} + +//---------------------------------------------------------------------- +// kd_tree statistics utility (for performance evaluation) +// This routine computes various statistics information for +// shrinking nodes. See file kd_tree.cpp for more information. +//---------------------------------------------------------------------- + +void ANNbd_shrink::getStats( // get subtree statistics + int dim, // dimension of space + ANNkdStats &st, // stats (modified) + ANNorthRect &bnd_box) // bounding box +{ + ANNkdStats ch_stats; // stats for children + ANNorthRect inner_box(dim); // inner box of shrink + + annBnds2Box(bnd_box, // enclosing box + dim, // dimension + n_bnds, // number of bounds + bnds, // bounds array + inner_box); // inner box (modified) + // get stats for inner child + ch_stats.reset(); // reset + child[ANN_IN]->getStats(dim, ch_stats, inner_box); + st.merge(ch_stats); // merge them + // get stats for outer child + ch_stats.reset(); // reset + child[ANN_OUT]->getStats(dim, ch_stats, bnd_box); + st.merge(ch_stats); // merge them + + st.depth++; // increment depth + st.n_shr++; // increment number of shrinks +} + +//---------------------------------------------------------------------- +// bd-tree constructor +// This is the main constructor for bd-trees given a set of points. +// It first builds a skeleton kd-tree as a basis, then computes the +// bounding box of the data points, and then invokes rbd_tree() to +// actually build the tree, passing it the appropriate splitting +// and shrinking information. +//---------------------------------------------------------------------- + +ANNkd_ptr rbd_tree( // recursive construction of bd-tree + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + int bsp, // bucket space + ANNorthRect &bnd_box, // bounding box for current node + ANNkd_splitter splitter, // splitting routine + ANNshrinkRule shrink); // shrinking rule + +ANNbd_tree::ANNbd_tree( // construct from point array + ANNpointArray pa, // point array (with at least n pts) + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNsplitRule split, // splitting rule + ANNshrinkRule shrink) // shrinking rule + : ANNkd_tree(n, dd, bs) // build skeleton base tree +{ + pts = pa; // where the points are + if (n == 0) return; // no points--no sweat + + ANNorthRect bnd_box(dd); // bounding box for points + // construct bounding rectangle + annEnclRect(pa, pidx, n, dd, bnd_box); + // copy to tree structure + bnd_box_lo = annCopyPt(dd, bnd_box.lo); + bnd_box_hi = annCopyPt(dd, bnd_box.hi); + + switch (split) { // build by rule + case ANN_KD_STD: // standard kd-splitting rule + root = rbd_tree(pa, pidx, n, dd, bs, bnd_box, kd_split, shrink); + break; + case ANN_KD_MIDPT: // midpoint split + root = rbd_tree(pa, pidx, n, dd, bs, bnd_box, midpt_split, shrink); + break; + case ANN_KD_SUGGEST: // best (in our opinion) + case ANN_KD_SL_MIDPT: // sliding midpoint split + root = rbd_tree(pa, pidx, n, dd, bs, bnd_box, sl_midpt_split, shrink); + break; + case ANN_KD_FAIR: // fair split + root = rbd_tree(pa, pidx, n, dd, bs, bnd_box, fair_split, shrink); + break; + case ANN_KD_SL_FAIR: // sliding fair split + root = rbd_tree(pa, pidx, n, dd, bs, + bnd_box, sl_fair_split, shrink); + break; + default: + annError("Illegal splitting method", ANNabort); + } +} + +//---------------------------------------------------------------------- +// Shrinking rules +//---------------------------------------------------------------------- + +enum ANNdecomp {SPLIT, SHRINK}; // decomposition methods + +//---------------------------------------------------------------------- +// trySimpleShrink - Attempt a simple shrink +// +// We compute the tight bounding box of the points, and compute +// the 2*dim ``gaps'' between the sides of the tight box and the +// bounding box. If any of the gaps is large enough relative to +// the longest side of the tight bounding box, then we shrink +// all sides whose gaps are large enough. (The reason for +// comparing against the tight bounding box, is that after +// shrinking the longest box size will decrease, and if we use +// the standard bounding box, we may decide to shrink twice in +// a row. Since the tight box is fixed, we cannot shrink twice +// consecutively.) +//---------------------------------------------------------------------- +const float BD_GAP_THRESH = 0.5; // gap threshold (must be < 1) +const int BD_CT_THRESH = 2; // min number of shrink sides + +ANNdecomp trySimpleShrink( // try a simple shrink + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + const ANNorthRect &bnd_box, // current bounding box + ANNorthRect &inner_box) // inner box if shrinking (returned) +{ + int i; + // compute tight bounding box + annEnclRect(pa, pidx, n, dim, inner_box); + + ANNcoord max_length = 0; // find longest box side + for (i = 0; i < dim; i++) { + ANNcoord length = inner_box.hi[i] - inner_box.lo[i]; + if (length > max_length) { + max_length = length; + } + } + + int shrink_ct = 0; // number of sides we shrunk + for (i = 0; i < dim; i++) { // select which sides to shrink + // gap between boxes + ANNcoord gap_hi = bnd_box.hi[i] - inner_box.hi[i]; + // big enough gap to shrink? + if (gap_hi < max_length*BD_GAP_THRESH) + inner_box.hi[i] = bnd_box.hi[i]; // no - expand + else shrink_ct++; // yes - shrink this side + + // repeat for high side + ANNcoord gap_lo = inner_box.lo[i] - bnd_box.lo[i]; + if (gap_lo < max_length*BD_GAP_THRESH) + inner_box.lo[i] = bnd_box.lo[i]; // no - expand + else shrink_ct++; // yes - shrink this side + } + + if (shrink_ct >= BD_CT_THRESH) // did we shrink enough sides? + return SHRINK; + else return SPLIT; +} + +//---------------------------------------------------------------------- +// tryCentroidShrink - Attempt a centroid shrink +// +// We repeatedly apply the splitting rule, always to the larger subset +// of points, until the number of points decreases by the constant +// fraction BD_FRACTION. If this takes more than dim*BD_MAX_SPLIT_FAC +// splits for this to happen, then we shrink to the final inner box +// Otherwise we split. +//---------------------------------------------------------------------- + +const float BD_MAX_SPLIT_FAC = 0.5; // maximum number of splits allowed +const float BD_FRACTION = 0.5; // ...to reduce points by this fraction + // ...This must be < 1. + +ANNdecomp tryCentroidShrink( // try a centroid shrink + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + const ANNorthRect &bnd_box, // current bounding box + ANNkd_splitter splitter, // splitting procedure + ANNorthRect &inner_box) // inner box if shrinking (returned) +{ + int n_sub = n; // number of points in subset + int n_goal = (int) (n*BD_FRACTION); // number of point in goal + int n_splits = 0; // number of splits needed + // initialize inner box to bounding box + annAssignRect(dim, inner_box, bnd_box); + + while (n_sub > n_goal) { // keep splitting until goal reached + int cd; // cut dim from splitter (ignored) + ANNcoord cv; // cut value from splitter (ignored) + int n_lo; // number of points on low side + // invoke splitting procedure + (*splitter)(pa, pidx, inner_box, n_sub, dim, cd, cv, n_lo); + n_splits++; // increment split count + + if (n_lo >= n_sub/2) { // most points on low side + inner_box.hi[cd] = cv; // collapse high side + n_sub = n_lo; // recurse on lower points + } + else { // most points on high side + inner_box.lo[cd] = cv; // collapse low side + pidx += n_lo; // recurse on higher points + n_sub -= n_lo; + } + } + if (n_splits > dim*BD_MAX_SPLIT_FAC)// took too many splits + return SHRINK; // shrink to final subset + else + return SPLIT; +} + +//---------------------------------------------------------------------- +// selectDecomp - select which decomposition to use +//---------------------------------------------------------------------- + +ANNdecomp selectDecomp( // select decomposition method + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + const ANNorthRect &bnd_box, // current bounding box + ANNkd_splitter splitter, // splitting procedure + ANNshrinkRule shrink, // shrinking rule + ANNorthRect &inner_box) // inner box if shrinking (returned) +{ + ANNdecomp decomp = SPLIT; // decomposition + + switch (shrink) { // check shrinking rule + case ANN_BD_NONE: // no shrinking allowed + decomp = SPLIT; + break; + case ANN_BD_SUGGEST: // author's suggestion + case ANN_BD_SIMPLE: // simple shrink + decomp = trySimpleShrink( + pa, pidx, // points and indices + n, dim, // number of points and dimension + bnd_box, // current bounding box + inner_box); // inner box if shrinking (returned) + break; + case ANN_BD_CENTROID: // centroid shrink + decomp = tryCentroidShrink( + pa, pidx, // points and indices + n, dim, // number of points and dimension + bnd_box, // current bounding box + splitter, // splitting procedure + inner_box); // inner box if shrinking (returned) + break; + default: + annError("Illegal shrinking rule", ANNabort); + } + return decomp; +} + +//---------------------------------------------------------------------- +// rbd_tree - recursive procedure to build a bd-tree +// +// This is analogous to rkd_tree, but for bd-trees. See the +// procedure rkd_tree() in kd_split.cpp for more information. +// +// If the number of points falls below the bucket size, then a +// leaf node is created for the points. Otherwise we invoke the +// procedure selectDecomp() which determines whether we are to +// split or shrink. If splitting is chosen, then we essentially +// do exactly as rkd_tree() would, and invoke the specified +// splitting procedure to the points. Otherwise, the selection +// procedure returns a bounding box, from which we extract the +// appropriate shrinking bounds, and create a shrinking node. +// Finally the points are subdivided, and the procedure is +// invoked recursively on the two subsets to form the children. +//---------------------------------------------------------------------- + +ANNkd_ptr rbd_tree( // recursive construction of bd-tree + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + int bsp, // bucket space + ANNorthRect &bnd_box, // bounding box for current node + ANNkd_splitter splitter, // splitting routine + ANNshrinkRule shrink) // shrinking rule +{ + ANNdecomp decomp; // decomposition method + + ANNorthRect inner_box(dim); // inner box (if shrinking) + + if (n <= bsp) { // n small, make a leaf node + if (n == 0) // empty leaf node + return KD_TRIVIAL; // return (canonical) empty leaf + else // construct the node and return + return new ANNkd_leaf(n, pidx); + } + + decomp = selectDecomp( // select decomposition method + pa, pidx, // points and indices + n, dim, // number of points and dimension + bnd_box, // current bounding box + splitter, shrink, // splitting/shrinking methods + inner_box); // inner box if shrinking (returned) + + if (decomp == SPLIT) { // split selected + int cd; // cutting dimension + ANNcoord cv; // cutting value + int n_lo; // number on low side of cut + // invoke splitting procedure + (*splitter)(pa, pidx, bnd_box, n, dim, cd, cv, n_lo); + + ANNcoord lv = bnd_box.lo[cd]; // save bounds for cutting dimension + ANNcoord hv = bnd_box.hi[cd]; + + bnd_box.hi[cd] = cv; // modify bounds for left subtree + ANNkd_ptr lo = rbd_tree( // build left subtree + pa, pidx, n_lo, // ...from pidx[0..n_lo-1] + dim, bsp, bnd_box, splitter, shrink); + bnd_box.hi[cd] = hv; // restore bounds + + bnd_box.lo[cd] = cv; // modify bounds for right subtree + ANNkd_ptr hi = rbd_tree( // build right subtree + pa, pidx + n_lo, n-n_lo,// ...from pidx[n_lo..n-1] + dim, bsp, bnd_box, splitter, shrink); + bnd_box.lo[cd] = lv; // restore bounds + // create the splitting node + return new ANNkd_split(cd, cv, lv, hv, lo, hi); + } + else { // shrink selected + int n_in; // number of points in box + int n_bnds; // number of bounding sides + + annBoxSplit( // split points around inner box + pa, // points to split + pidx, // point indices + n, // number of points + dim, // dimension + inner_box, // inner box + n_in); // number of points inside (returned) + + ANNkd_ptr in = rbd_tree( // build inner subtree pidx[0..n_in-1] + pa, pidx, n_in, dim, bsp, inner_box, splitter, shrink); + ANNkd_ptr out = rbd_tree( // build outer subtree pidx[n_in..n] + pa, pidx+n_in, n - n_in, dim, bsp, bnd_box, splitter, shrink); + + ANNorthHSArray bnds = NULL; // bounds (alloc in Box2Bnds and + // ...freed in bd_shrink destroyer) + + annBox2Bnds( // convert inner box to bounds + inner_box, // inner box + bnd_box, // enclosing box + dim, // dimension + n_bnds, // number of bounds (returned) + bnds); // bounds array (modified) + + // return shrinking node + return new ANNbd_shrink(n_bnds, bnds, in, out); + } +} diff --git a/3rdparty/ann_1.1.1_modified/src/bd_tree.h b/3rdparty/ann_1.1.1_modified/src/bd_tree.h new file mode 100755 index 0000000..408889a --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/bd_tree.h @@ -0,0 +1,100 @@ +//---------------------------------------------------------------------- +// File: bd_tree.h +// Programmer: David Mount +// Description: Declarations for standard bd-tree routines +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed IN, OUT to ANN_IN, ANN_OUT +//---------------------------------------------------------------------- + +#ifndef ANN_bd_tree_H +#define ANN_bd_tree_H + +#include // all ANN includes +#include "kd_tree.h" // kd-tree includes + +//---------------------------------------------------------------------- +// bd-tree shrinking node. +// The main addition in the bd-tree is the shrinking node, which +// is declared here. +// +// Shrinking nodes are defined by list of orthogonal halfspaces. +// These halfspaces define a (possibly unbounded) orthogonal +// rectangle. There are two children, in and out. Points that +// lie within this rectangle are stored in the in-child, and the +// other points are stored in the out-child. +// +// We use a list of orthogonal halfspaces rather than an +// orthogonal rectangle object because typically the number of +// sides of the shrinking box will be much smaller than the +// worst case bound of 2*dim. +// +// BEWARE: Note that constructor just copies the pointer to the +// bounding array, but the destructor deallocates it. This is +// rather poor practice, but happens to be convenient. The list +// is allocated in the bd-tree building procedure rbd_tree() just +// prior to construction, and is used for no other purposes. +// +// WARNING: In the near neighbor searching code it is assumed that +// the list of bounding halfspaces is irredundant, meaning that there +// are no two distinct halfspaces in the list with the same outward +// pointing normals. +//---------------------------------------------------------------------- + +class ANNbd_shrink : public ANNkd_node // splitting node of a kd-tree +{ + int n_bnds; // number of bounding halfspaces + ANNorthHSArray bnds; // list of bounding halfspaces + ANNkd_ptr child[2]; // in and out children +public: + ANNbd_shrink( // constructor + int nb, // number of bounding halfspaces + ANNorthHSArray bds, // list of bounding halfspaces + ANNkd_ptr ic=NULL, ANNkd_ptr oc=NULL) // children + { + n_bnds = nb; // cutting dimension + bnds = bds; // assign bounds + child[ANN_IN] = ic; // set children + child[ANN_OUT] = oc; + } + + ~ANNbd_shrink() // destructor + { + if (child[ANN_IN]!= NULL && child[ANN_IN]!= KD_TRIVIAL) + delete child[ANN_IN]; + if (child[ANN_OUT]!= NULL&& child[ANN_OUT]!= KD_TRIVIAL) + delete child[ANN_OUT]; + if (bnds != NULL) + delete [] bnds; // delete bounds + } + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box); // bounding box + virtual void print(int level, ostream &out);// print node + virtual void dump(ostream &out); // dump node + + virtual void ann_search(ANNdist); // standard search + virtual void ann_pri_search(ANNdist); // priority search + virtual void ann_FR_search(ANNdist); // fixed-radius search +}; + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/brute.cpp b/3rdparty/ann_1.1.1_modified/src/brute.cpp new file mode 100755 index 0000000..d7cba2c --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/brute.cpp @@ -0,0 +1,109 @@ +//---------------------------------------------------------------------- +// File: brute.cpp +// Programmer: Sunil Arya and David Mount +// Description: Brute-force nearest neighbors +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.1 05/03/05 +// Added fixed-radius kNN search +//---------------------------------------------------------------------- + +#include // all ANN includes +#include "pr_queue_k.h" // k element priority queue + +//---------------------------------------------------------------------- +// Brute-force search simply stores a pointer to the list of +// data points and searches linearly for the nearest neighbor. +// The k nearest neighbors are stored in a k-element priority +// queue (which is implemented in a pretty dumb way as well). +// +// If ANN_ALLOW_SELF_MATCH is ANNfalse then data points at distance +// zero are not considered. +// +// Note that the error bound eps is passed in, but it is ignored. +// These routines compute exact nearest neighbors (which is needed +// for validation purposes in ann_test.cpp). +//---------------------------------------------------------------------- + +ANNbruteForce::ANNbruteForce( // constructor from point array + ANNpointArray pa, // point array + int n, // number of points + int dd) // dimension +{ + dim = dd; n_pts = n; pts = pa; +} + +ANNbruteForce::~ANNbruteForce() { } // destructor (empty) + +void ANNbruteForce::annkSearch( // approx k near neighbor search + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // dist to near neighbors (returned) + double eps) // error bound (ignored) +{ + ANNmin_k mk(k); // construct a k-limited priority queue + int i; + + if (k > n_pts) { // too many near neighbors? + annError("Requesting more near neighbors than data points", ANNabort); + } + // run every point through queue + for (i = 0; i < n_pts; i++) { + // compute distance to point + ANNdist sqDist = annDist(dim, pts[i], q); + if (ANN_ALLOW_SELF_MATCH || sqDist != 0) + mk.insert(sqDist, i); + } + for (i = 0; i < k; i++) { // extract the k closest points + dd[i] = mk.ith_smallest_key(i); + nn_idx[i] = mk.ith_smallest_info(i); + } +} + +int ANNbruteForce::annkFRSearch( // approx fixed-radius kNN search + ANNpoint q, // query point + ANNdist sqRad, // squared radius + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor array (returned) + ANNdistArray dd, // dist to near neighbors (returned) + double eps) // error bound +{ + ANNmin_k mk(k); // construct a k-limited priority queue + int i; + int pts_in_range = 0; // number of points in query range + // run every point through queue + for (i = 0; i < n_pts; i++) { + // compute distance to point + ANNdist sqDist = annDist(dim, pts[i], q); + if (sqDist <= sqRad && // within radius bound + (ANN_ALLOW_SELF_MATCH || sqDist != 0)) { // ...and no self match + mk.insert(sqDist, i); + pts_in_range++; + } + } + for (i = 0; i < k; i++) { // extract the k closest points + if (dd != NULL) + dd[i] = mk.ith_smallest_key(i); + if (nn_idx != NULL) + nn_idx[i] = mk.ith_smallest_info(i); + } + + return pts_in_range; +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_dump.cpp b/3rdparty/ann_1.1.1_modified/src/kd_dump.cpp new file mode 100755 index 0000000..2355377 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_dump.cpp @@ -0,0 +1,446 @@ +//---------------------------------------------------------------------- +// File: kd_dump.cc +// Programmer: David Mount +// Description: Dump and Load for kd- and bd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Moved dump out of kd_tree.cc into this file. +// Added kd-tree load constructor. +//---------------------------------------------------------------------- +// This file contains routines for dumping kd-trees and bd-trees and +// reloading them. (It is an abuse of policy to include both kd- and +// bd-tree routines in the same file, sorry. There should be no problem +// in deleting the bd- versions of the routines if they are not +// desired.) +//---------------------------------------------------------------------- + +#include +#include +#include "kd_tree.h" // kd-tree declarations +#include "bd_tree.h" // bd-tree declarations + +using namespace std; // make std:: available + +//---------------------------------------------------------------------- +// Constants +//---------------------------------------------------------------------- + +const int STRING_LEN = 500; // maximum string length +const double EPSILON = 1E-5; // small number for float comparison + +enum ANNtreeType {KD_TREE, BD_TREE}; // tree types (used in loading) + +//---------------------------------------------------------------------- +// Procedure declarations +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadDump( // read dump file + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNpointArray &the_pts, // new points (if applic) + ANNidxArray &the_pidx, // point indices (returned) + int &the_dim, // dimension (returned) + int &the_n_pts, // number of points (returned) + int &the_bkt_size, // bucket size (returned) + ANNpoint &the_bnd_box_lo, // low bounding point + ANNpoint &the_bnd_box_hi); // high bounding point + +static ANNkd_ptr annReadTree( // read tree-part of dump file + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNidxArray the_pidx, // point indices (modified) + int &next_idx); // next index (modified) + +//---------------------------------------------------------------------- +// ANN kd- and bd-tree Dump Format +// The dump file begins with a header containing the version of +// ANN, an optional section containing the points, followed by +// a description of the tree. The tree is printed in preorder. +// +// Format: +// #ANN [END_OF_LINE] +// points (point coordinates: this is optional) +// 0 ... (point indices and coordinates) +// 1 ... +// ... +// tree +// ... (lower end of bounding box) +// ... (upper end of bounding box) +// If the tree is null, then a single line "null" is +// output. Otherwise the nodes of the tree are printed +// one per line in preorder. Leaves and splitting nodes +// have the following formats: +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// +// For bd-trees: +// +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +//---------------------------------------------------------------------- + +void ANNkd_tree::Dump( // dump entire tree + ANNbool with_pts, // print points as well? + ostream &out) // output stream +{ + out << "#ANN " << ANNversion << "\n"; + out.precision(ANNcoordPrec); // use full precision in dumping + if (with_pts) { // print point coordinates + out << "points " << dim << " " << n_pts << "\n"; + for (int i = 0; i < n_pts; i++) { + out << i << " "; + annPrintPt(pts[i], dim, out); + out << "\n"; + } + } + out << "tree " // print tree elements + << dim << " " + << n_pts << " " + << bkt_size << "\n"; + + annPrintPt(bnd_box_lo, dim, out); // print lower bound + out << "\n"; + annPrintPt(bnd_box_hi, dim, out); // print upper bound + out << "\n"; + + if (root == NULL) // empty tree? + out << "null\n"; + else { + root->dump(out); // invoke printing at root + } + out.precision(0); // restore default precision +} + +void ANNkd_split::dump( // dump a splitting node + ostream &out) // output stream +{ + out << "split " << cut_dim << " " << cut_val << " "; + out << cd_bnds[ANN_LO] << " " << cd_bnds[ANN_HI] << "\n"; + + child[ANN_LO]->dump(out); // print low child + child[ANN_HI]->dump(out); // print high child +} + +void ANNkd_leaf::dump( // dump a leaf node + ostream &out) // output stream +{ + if (this == KD_TRIVIAL) { // canonical trivial leaf node + out << "leaf 0\n"; // leaf no points + } + else{ + out << "leaf " << n_pts; + for (int j = 0; j < n_pts; j++) { + out << " " << bkt[j]; + } + out << "\n"; + } +} + +void ANNbd_shrink::dump( // dump a shrinking node + ostream &out) // output stream +{ + out << "shrink " << n_bnds << "\n"; + for (int j = 0; j < n_bnds; j++) { + out << bnds[j].cd << " " << bnds[j].cv << " " << bnds[j].sd << "\n"; + } + child[ANN_IN]->dump(out); // print in-child + child[ANN_OUT]->dump(out); // print out-child +} + +//---------------------------------------------------------------------- +// Load kd-tree from dump file +// This rebuilds a kd-tree which was dumped to a file. The dump +// file contains all the basic tree information according to a +// preorder traversal. We assume that the dump file also contains +// point data. (This is to guarantee the consistency of the tree.) +// If not, then an error is generated. +// +// Indirectly, this procedure allocates space for points, point +// indices, all nodes in the tree, and the bounding box for the +// tree. When the tree is destroyed, all but the points are +// deallocated. +// +// This routine calls annReadDump to do all the work. +//---------------------------------------------------------------------- + +ANNkd_tree::ANNkd_tree( // build from dump file + istream &in) // input stream for dump file +{ + int the_dim; // local dimension + int the_n_pts; // local number of points + int the_bkt_size; // local number of points + ANNpoint the_bnd_box_lo; // low bounding point + ANNpoint the_bnd_box_hi; // high bounding point + ANNpointArray the_pts; // point storage + ANNidxArray the_pidx; // point index storage + ANNkd_ptr the_root; // root of the tree + + the_root = annReadDump( // read the dump file + in, // input stream + KD_TREE, // expecting a kd-tree + the_pts, // point array (returned) + the_pidx, // point indices (returned) + the_dim, the_n_pts, the_bkt_size, // basic tree info (returned) + the_bnd_box_lo, the_bnd_box_hi); // bounding box info (returned) + + // create a skeletal tree + SkeletonTree(the_n_pts, the_dim, the_bkt_size, the_pts, the_pidx); + + bnd_box_lo = the_bnd_box_lo; + bnd_box_hi = the_bnd_box_hi; + + root = the_root; // set the root +} + +ANNbd_tree::ANNbd_tree( // build bd-tree from dump file + istream &in) : ANNkd_tree() // input stream for dump file +{ + int the_dim; // local dimension + int the_n_pts; // local number of points + int the_bkt_size; // local number of points + ANNpoint the_bnd_box_lo; // low bounding point + ANNpoint the_bnd_box_hi; // high bounding point + ANNpointArray the_pts; // point storage + ANNidxArray the_pidx; // point index storage + ANNkd_ptr the_root; // root of the tree + + the_root = annReadDump( // read the dump file + in, // input stream + BD_TREE, // expecting a bd-tree + the_pts, // point array (returned) + the_pidx, // point indices (returned) + the_dim, the_n_pts, the_bkt_size, // basic tree info (returned) + the_bnd_box_lo, the_bnd_box_hi); // bounding box info (returned) + + // create a skeletal tree + SkeletonTree(the_n_pts, the_dim, the_bkt_size, the_pts, the_pidx); + bnd_box_lo = the_bnd_box_lo; + bnd_box_hi = the_bnd_box_hi; + + root = the_root; // set the root +} + +//---------------------------------------------------------------------- +// annReadDump - read a dump file +// +// This procedure reads a dump file, constructs a kd-tree +// and returns all the essential information needed to actually +// construct the tree. Because this procedure is used for +// constructing both kd-trees and bd-trees, the second argument +// is used to indicate which type of tree we are expecting. +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadDump( + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNpointArray &the_pts, // new points (returned) + ANNidxArray &the_pidx, // point indices (returned) + int &the_dim, // dimension (returned) + int &the_n_pts, // number of points (returned) + int &the_bkt_size, // bucket size (returned) + ANNpoint &the_bnd_box_lo, // low bounding point (ret'd) + ANNpoint &the_bnd_box_hi) // high bounding point (ret'd) +{ + int j; + char str[STRING_LEN]; // storage for string + char version[STRING_LEN]; // ANN version number + ANNkd_ptr the_root = NULL; + + //------------------------------------------------------------------ + // Input file header + //------------------------------------------------------------------ + in >> str; // input header + if (strcmp(str, "#ANN") != 0) { // incorrect header + annError("Incorrect header for dump file", ANNabort); + } + in.getline(version, STRING_LEN); // get version (ignore) + + //------------------------------------------------------------------ + // Input the points + // An array the_pts is allocated and points are read from + // the dump file. + //------------------------------------------------------------------ + in >> str; // get major heading + if (strcmp(str, "points") == 0) { // points section + in >> the_dim; // input dimension + in >> the_n_pts; // number of points + // allocate point storage + the_pts = annAllocPts(the_n_pts, the_dim); + for (int i = 0; i < the_n_pts; i++) { // input point coordinates + ANNidx idx; // point index + in >> idx; // input point index + if (idx < 0 || idx >= the_n_pts) { + annError("Point index is out of range", ANNabort); + } + for (j = 0; j < the_dim; j++) { + in >> the_pts[idx][j]; // read point coordinates + } + } + in >> str; // get next major heading + } + else { // no points were input + annError("Points must be supplied in the dump file", ANNabort); + } + + //------------------------------------------------------------------ + // Input the tree + // After the basic header information, we invoke annReadTree + // to do all the heavy work. We create our own array of + // point indices (so we can pass them to annReadTree()) + // but we do not deallocate them. They will be deallocated + // when the tree is destroyed. + //------------------------------------------------------------------ + if (strcmp(str, "tree") == 0) { // tree section + in >> the_dim; // read dimension + in >> the_n_pts; // number of points + in >> the_bkt_size; // bucket size + the_bnd_box_lo = annAllocPt(the_dim); // allocate bounding box pts + the_bnd_box_hi = annAllocPt(the_dim); + + for (j = 0; j < the_dim; j++) { // read bounding box low + in >> the_bnd_box_lo[j]; + } + for (j = 0; j < the_dim; j++) { // read bounding box low + in >> the_bnd_box_hi[j]; + } + the_pidx = new ANNidx[the_n_pts]; // allocate point index array + int next_idx = 0; // number of indices filled + // read the tree and indices + the_root = annReadTree(in, tree_type, the_pidx, next_idx); + if (next_idx != the_n_pts) { // didn't see all the points? + annError("Didn't see as many points as expected", ANNwarn); + } + } + else { + annError("Illegal dump format. Expecting section heading", ANNabort); + } + return the_root; +} + +//---------------------------------------------------------------------- +// annReadTree - input tree and return pointer +// +// annReadTree reads in a node of the tree, makes any recursive +// calls as needed to input the children of this node (if internal). +// It returns a pointer to the node that was created. An array +// of point indices is given along with a pointer to the next +// available location in the array. As leaves are read, their +// point indices are stored here, and the point buckets point +// to the first entry in the array. +// +// Recall that these are the formats. The tree is given in +// preorder. +// +// Leaf node: +// leaf ... +// Splitting nodes: +// split +// +// For bd-trees: +// +// Shrinking nodes: +// shrink +// +// +// ... (repeated n_bnds times) +//---------------------------------------------------------------------- + +static ANNkd_ptr annReadTree( + istream &in, // input stream + ANNtreeType tree_type, // type of tree expected + ANNidxArray the_pidx, // point indices (modified) + int &next_idx) // next index (modified) +{ + char tag[STRING_LEN]; // tag (leaf, split, shrink) + int n_pts; // number of points in leaf + int cd; // cut dimension + ANNcoord cv; // cut value + ANNcoord lb; // low bound + ANNcoord hb; // high bound + int n_bnds; // number of bounding sides + int sd; // which side + + in >> tag; // input node tag + + if (strcmp(tag, "null") == 0) { // null tree + return NULL; + } + //------------------------------------------------------------------ + // Read a leaf + //------------------------------------------------------------------ + if (strcmp(tag, "leaf") == 0) { // leaf node + + in >> n_pts; // input number of points + int old_idx = next_idx; // save next_idx + if (n_pts == 0) { // trivial leaf + return KD_TRIVIAL; + } + else { + for (int i = 0; i < n_pts; i++) { // input point indices + in >> the_pidx[next_idx++]; // store in array of indices + } + } + return new ANNkd_leaf(n_pts, &the_pidx[old_idx]); + } + //------------------------------------------------------------------ + // Read a splitting node + //------------------------------------------------------------------ + else if (strcmp(tag, "split") == 0) { // splitting node + + in >> cd >> cv >> lb >> hb; + + // read low and high subtrees + ANNkd_ptr lc = annReadTree(in, tree_type, the_pidx, next_idx); + ANNkd_ptr hc = annReadTree(in, tree_type, the_pidx, next_idx); + // create new node and return + return new ANNkd_split(cd, cv, lb, hb, lc, hc); + } + //------------------------------------------------------------------ + // Read a shrinking node (bd-tree only) + //------------------------------------------------------------------ + else if (strcmp(tag, "shrink") == 0) { // shrinking node + if (tree_type != BD_TREE) { + annError("Shrinking node not allowed in kd-tree", ANNabort); + } + + in >> n_bnds; // number of bounding sides + // allocate bounds array + ANNorthHSArray bds = new ANNorthHalfSpace[n_bnds]; + for (int i = 0; i < n_bnds; i++) { + in >> cd >> cv >> sd; // input bounding halfspace + // copy to array + bds[i] = ANNorthHalfSpace(cd, cv, sd); + } + // read inner and outer subtrees + ANNkd_ptr ic = annReadTree(in, tree_type, the_pidx, next_idx); + ANNkd_ptr oc = annReadTree(in, tree_type, the_pidx, next_idx); + // create new node and return + return new ANNbd_shrink(n_bnds, bds, ic, oc); + } + else { + annError("Illegal node type in dump file", ANNabort); + exit(0); // to keep the compiler happy + } +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.cpp b/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.cpp new file mode 100755 index 0000000..87eb757 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.cpp @@ -0,0 +1,183 @@ +//---------------------------------------------------------------------- +// File: kd_fix_rad_search.cpp +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree fixed-radius kNN search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#include "kd_fix_rad_search.h" // kd fixed-radius search decls + +//---------------------------------------------------------------------- +// Approximate fixed-radius k nearest neighbor search +// The squared radius is provided, and this procedure finds the +// k nearest neighbors within the radius, and returns the total +// number of points lying within the radius. +// +// The method used for searching the kd-tree is a variation of the +// nearest neighbor search used in kd_search.cpp, except that the +// radius of the search ball is known. We refer the reader to that +// file for the explanation of the recursive search procedure. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// To keep argument lists short, a number of global variables +// are maintained which are common to all the recursive calls. +// These are given below. +//---------------------------------------------------------------------- + +int ANNkdFRDim; // dimension of space +ANNpoint ANNkdFRQ; // query point +ANNdist ANNkdFRSqRad; // squared radius search bound +double ANNkdFRMaxErr; // max tolerable squared error +ANNpointArray ANNkdFRPts; // the points +ANNmin_k* ANNkdFRPointMK; // set of k closest points +int ANNkdFRPtsVisited; // total points visited +int ANNkdFRPtsInRange; // number of points in the range + +//---------------------------------------------------------------------- +// annkFRSearch - fixed radius search for k nearest neighbors +//---------------------------------------------------------------------- + +int ANNkd_tree::annkFRSearch( + ANNpoint q, // the query point + ANNdist sqRad, // squared radius search bound + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // the approximate nearest neighbor + double eps) // the error bound +{ + ANNkdFRDim = dim; // copy arguments to static equivs + ANNkdFRQ = q; + ANNkdFRSqRad = sqRad; + ANNkdFRPts = pts; + ANNkdFRPtsVisited = 0; // initialize count of points visited + ANNkdFRPtsInRange = 0; // ...and points in the range + + ANNkdFRMaxErr = ANN_POW(1.0 + eps); + ANN_FLOP(2) // increment floating op count + + ANNkdFRPointMK = new ANNmin_k(k); // create set for closest k points + // search starting at the root + root->ann_FR_search(annBoxDistance(q, bnd_box_lo, bnd_box_hi, dim)); + + for (int i = 0; i < k; i++) { // extract the k-th closest points + if (dd != NULL) + dd[i] = ANNkdFRPointMK->ith_smallest_key(i); + if (nn_idx != NULL) + nn_idx[i] = ANNkdFRPointMK->ith_smallest_info(i); + } + + delete ANNkdFRPointMK; // deallocate closest point set + return ANNkdFRPtsInRange; // return final point count +} + +//---------------------------------------------------------------------- +// kd_split::ann_FR_search - search a splitting node +// Note: This routine is similar in structure to the standard kNN +// search. It visits the subtree that is closer to the query point +// first. For fixed-radius search, there is no benefit in visiting +// one subtree before the other, but we maintain the same basic +// code structure for the sake of uniformity. +//---------------------------------------------------------------------- + +void ANNkd_split::ann_FR_search(ANNdist box_dist) +{ + // check dist calc term condition + if (ANNmaxPtsVisited != 0 && ANNkdFRPtsVisited > ANNmaxPtsVisited) return; + + // distance to cutting plane + ANNcoord cut_diff = ANNkdFRQ[cut_dim] - cut_val; + + if (cut_diff < 0) { // left of cutting plane + child[ANN_LO]->ann_FR_search(box_dist);// visit closer child first + + ANNcoord box_diff = cd_bnds[ANN_LO] - ANNkdFRQ[cut_dim]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if in range + if (box_dist * ANNkdFRMaxErr <= ANNkdFRSqRad) + child[ANN_HI]->ann_FR_search(box_dist); + + } + else { // right of cutting plane + child[ANN_HI]->ann_FR_search(box_dist);// visit closer child first + + ANNcoord box_diff = ANNkdFRQ[cut_dim] - cd_bnds[ANN_HI]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdFRMaxErr <= ANNkdFRSqRad) + child[ANN_LO]->ann_FR_search(box_dist); + + } + ANN_FLOP(13) // increment floating ops + ANN_SPL(1) // one more splitting node visited +} + +//---------------------------------------------------------------------- +// kd_leaf::ann_FR_search - search points in a leaf node +// Note: The unreadability of this code is the result of +// some fine tuning to replace indexing by pointer operations. +//---------------------------------------------------------------------- + +void ANNkd_leaf::ann_FR_search(ANNdist box_dist) +{ + register ANNdist dist; // distance to data point + register ANNcoord* pp; // data coordinate pointer + register ANNcoord* qq; // query coordinate pointer + register ANNcoord t; + register int d; + + for (int i = 0; i < n_pts; i++) { // check points in bucket + + pp = ANNkdFRPts[bkt[i]]; // first coord of next data point + qq = ANNkdFRQ; // first coord of query point + dist = 0; + + for(d = 0; d < ANNkdFRDim; d++) { + ANN_COORD(1) // one more coordinate hit + ANN_FLOP(5) // increment floating ops + + t = *(qq++) - *(pp++); // compute length and adv coordinate + // exceeds dist to k-th smallest? + if( (dist = ANN_SUM(dist, ANN_POW(t))) > ANNkdFRSqRad) { + break; + } + } + + if (d >= ANNkdFRDim && // among the k best? + (ANN_ALLOW_SELF_MATCH || dist!=0)) { // and no self-match problem + // add it to the list + ANNkdFRPointMK->insert(dist, bkt[i]); + ANNkdFRPtsInRange++; // increment point count + } + } + ANN_LEAF(1) // one more leaf node visited + ANN_PTS(n_pts) // increment points visited + ANNkdFRPtsVisited += n_pts; // increment number of points visited +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.h b/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.h new file mode 100755 index 0000000..6b3f5c5 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_fix_rad_search.h @@ -0,0 +1,44 @@ +//---------------------------------------------------------------------- +// File: kd_fix_rad_search.h +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree fixed-radius kNN search +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 1.1 05/03/05 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_fix_rad_search_H +#define ANN_kd_fix_rad_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global variables +// These are active for the life of each call to +// annRangeSearch(). They are set to save the number of +// variables that need to be passed among the various search +// procedures. +//---------------------------------------------------------------------- + +extern ANNpoint ANNkdFRQ; // query point (static copy) + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/kd_pr_search.cpp b/3rdparty/ann_1.1.1_modified/src/kd_pr_search.cpp new file mode 100755 index 0000000..edb0479 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_pr_search.cpp @@ -0,0 +1,219 @@ +//---------------------------------------------------------------------- +// File: kd_pr_search.cpp +// Programmer: Sunil Arya and David Mount +// Description: Priority search for kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "kd_pr_search.h" // kd priority search declarations + +//---------------------------------------------------------------------- +// Approximate nearest neighbor searching by priority search. +// The kd-tree is searched for an approximate nearest neighbor. +// The point is returned through one of the arguments, and the +// distance returned is the SQUARED distance to this point. +// +// The method used for searching the kd-tree is called priority +// search. (It is described in Arya and Mount, ``Algorithms for +// fast vector quantization,'' Proc. of DCC '93: Data Compression +// Conference}, eds. J. A. Storer and M. Cohn, IEEE Press, 1993, +// 381--390.) +// +// The cell of the kd-tree containing the query point is located, +// and cells are visited in increasing order of distance from the +// query point. This is done by placing each subtree which has +// NOT been visited in a priority queue, according to the closest +// distance of the corresponding enclosing rectangle from the +// query point. The search stops when the distance to the nearest +// remaining rectangle exceeds the distance to the nearest point +// seen by a factor of more than 1/(1+eps). (Implying that any +// point found subsequently in the search cannot be closer by more +// than this factor.) +// +// The main entry point is annkPriSearch() which sets things up and +// then call the recursive routine ann_pri_search(). This is a +// recursive routine which performs the processing for one node in +// the kd-tree. There are two versions of this virtual procedure, +// one for splitting nodes and one for leaves. When a splitting node +// is visited, we determine which child to continue the search on +// (the closer one), and insert the other child into the priority +// queue. When a leaf is visited, we compute the distances to the +// points in the buckets, and update information on the closest +// points. +// +// Some trickery is used to incrementally update the distance from +// a kd-tree rectangle to the query point. This comes about from +// the fact that which each successive split, only one component +// (along the dimension that is split) of the squared distance to +// the child rectangle is different from the squared distance to +// the parent rectangle. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// To keep argument lists short, a number of global variables +// are maintained which are common to all the recursive calls. +// These are given below. +//---------------------------------------------------------------------- + +double ANNprEps; // the error bound +int ANNprDim; // dimension of space +ANNpoint ANNprQ; // query point +double ANNprMaxErr; // max tolerable squared error +ANNpointArray ANNprPts; // the points +ANNpr_queue *ANNprBoxPQ; // priority queue for boxes +ANNmin_k *ANNprPointMK; // set of k closest points + +//---------------------------------------------------------------------- +// annkPriSearch - priority search for k nearest neighbors +//---------------------------------------------------------------------- + +void ANNkd_tree::annkPriSearch( + ANNpoint q, // query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // dist to near neighbors (returned) + double eps) // error bound (ignored) +{ + // max tolerable squared error + ANNprMaxErr = ANN_POW(1.0 + eps); + ANN_FLOP(2) // increment floating ops + + ANNprDim = dim; // copy arguments to static equivs + ANNprQ = q; + ANNprPts = pts; + ANNptsVisited = 0; // initialize count of points visited + + ANNprPointMK = new ANNmin_k(k); // create set for closest k points + + // distance to root box + ANNdist box_dist = annBoxDistance(q, + bnd_box_lo, bnd_box_hi, dim); + + ANNprBoxPQ = new ANNpr_queue(n_pts);// create priority queue for boxes + ANNprBoxPQ->insert(box_dist, root); // insert root in priority queue + + while (ANNprBoxPQ->non_empty() && + (!(ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited))) { + ANNkd_ptr np; // next box from prior queue + + // extract closest box from queue + ANNprBoxPQ->extr_min(box_dist, (void *&) np); + + ANN_FLOP(2) // increment floating ops + if (box_dist*ANNprMaxErr >= ANNprPointMK->max_key()) + break; + + np->ann_pri_search(box_dist); // search this subtree. + } + + for (int i = 0; i < k; i++) { // extract the k-th closest points + dd[i] = ANNprPointMK->ith_smallest_key(i); + nn_idx[i] = ANNprPointMK->ith_smallest_info(i); + } + + delete ANNprPointMK; // deallocate closest point set + delete ANNprBoxPQ; // deallocate priority queue +} + +//---------------------------------------------------------------------- +// kd_split::ann_pri_search - search a splitting node +//---------------------------------------------------------------------- + +void ANNkd_split::ann_pri_search(ANNdist box_dist) +{ + ANNdist new_dist; // distance to child visited later + // distance to cutting plane + ANNcoord cut_diff = ANNprQ[cut_dim] - cut_val; + + if (cut_diff < 0) { // left of cutting plane + ANNcoord box_diff = cd_bnds[ANN_LO] - ANNprQ[cut_dim]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + new_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + if (child[ANN_HI] != KD_TRIVIAL)// enqueue if not trivial + ANNprBoxPQ->insert(new_dist, child[ANN_HI]); + // continue with closer child + child[ANN_LO]->ann_pri_search(box_dist); + } + else { // right of cutting plane + ANNcoord box_diff = ANNprQ[cut_dim] - cd_bnds[ANN_HI]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + new_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + if (child[ANN_LO] != KD_TRIVIAL)// enqueue if not trivial + ANNprBoxPQ->insert(new_dist, child[ANN_LO]); + // continue with closer child + child[ANN_HI]->ann_pri_search(box_dist); + } + ANN_SPL(1) // one more splitting node visited + ANN_FLOP(8) // increment floating ops +} + +//---------------------------------------------------------------------- +// kd_leaf::ann_pri_search - search points in a leaf node +// +// This is virtually identical to the ann_search for standard search. +//---------------------------------------------------------------------- + +void ANNkd_leaf::ann_pri_search(ANNdist box_dist) +{ + register ANNdist dist; // distance to data point + register ANNcoord* pp; // data coordinate pointer + register ANNcoord* qq; // query coordinate pointer + register ANNdist min_dist; // distance to k-th closest point + register ANNcoord t; + register int d; + + min_dist = ANNprPointMK->max_key(); // k-th smallest distance so far + + for (int i = 0; i < n_pts; i++) { // check points in bucket + + pp = ANNprPts[bkt[i]]; // first coord of next data point + qq = ANNprQ; // first coord of query point + dist = 0; + + for(d = 0; d < ANNprDim; d++) { + ANN_COORD(1) // one more coordinate hit + ANN_FLOP(4) // increment floating ops + + t = *(qq++) - *(pp++); // compute length and adv coordinate + // exceeds dist to k-th smallest? + if( (dist = ANN_SUM(dist, ANN_POW(t))) > min_dist) { + break; + } + } + + if (d >= ANNprDim && // among the k best? + (ANN_ALLOW_SELF_MATCH || dist!=0)) { // and no self-match problem + // add it to the list + ANNprPointMK->insert(dist, bkt[i]); + min_dist = ANNprPointMK->max_key(); + } + } + ANN_LEAF(1) // one more leaf node visited + ANN_PTS(n_pts) // increment points visited + ANNptsVisited += n_pts; // increment number of points visited +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_pr_search.h b/3rdparty/ann_1.1.1_modified/src/kd_pr_search.h new file mode 100755 index 0000000..39e0484 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_pr_search.h @@ -0,0 +1,49 @@ +//---------------------------------------------------------------------- +// File: kd_pr_search.h +// Programmer: Sunil Arya and David Mount +// Description: Priority kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_pr_search_H +#define ANN_kd_pr_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue.h" // priority queue declarations +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global variables +// Active for the life of each call to Appx_Near_Neigh() or +// Appx_k_Near_Neigh(). +//---------------------------------------------------------------------- + +extern double ANNprEps; // the error bound +extern int ANNprDim; // dimension of space +extern ANNpoint ANNprQ; // query point +extern double ANNprMaxErr; // max tolerable squared error +extern ANNpointArray ANNprPts; // the points +extern ANNpr_queue *ANNprBoxPQ; // priority queue for boxes +extern ANNmin_k *ANNprPointMK; // set of k closest points + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/kd_search.cpp b/3rdparty/ann_1.1.1_modified/src/kd_search.cpp new file mode 100755 index 0000000..5004ef7 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_search.cpp @@ -0,0 +1,210 @@ +//---------------------------------------------------------------------- +// File: kd_search.cpp +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed names LO, HI to ANN_LO, ANN_HI +//---------------------------------------------------------------------- + +#include "kd_search.h" // kd-search declarations + +//---------------------------------------------------------------------- +// Approximate nearest neighbor searching by kd-tree search +// The kd-tree is searched for an approximate nearest neighbor. +// The point is returned through one of the arguments, and the +// distance returned is the squared distance to this point. +// +// The method used for searching the kd-tree is an approximate +// adaptation of the search algorithm described by Friedman, +// Bentley, and Finkel, ``An algorithm for finding best matches +// in logarithmic expected time,'' ACM Transactions on Mathematical +// Software, 3(3):209-226, 1977). +// +// The algorithm operates recursively. When first encountering a +// node of the kd-tree we first visit the child which is closest to +// the query point. On return, we decide whether we want to visit +// the other child. If the box containing the other child exceeds +// 1/(1+eps) times the current best distance, then we skip it (since +// any point found in this child cannot be closer to the query point +// by more than this factor.) Otherwise, we visit it recursively. +// The distance between a box and the query point is computed exactly +// (not approximated as is often done in kd-tree), using incremental +// distance updates, as described by Arya and Mount in ``Algorithms +// for fast vector quantization,'' Proc. of DCC '93: Data Compression +// Conference, eds. J. A. Storer and M. Cohn, IEEE Press, 1993, +// 381-390. +// +// The main entry points is annkSearch() which sets things up and +// then call the recursive routine ann_search(). This is a recursive +// routine which performs the processing for one node in the kd-tree. +// There are two versions of this virtual procedure, one for splitting +// nodes and one for leaves. When a splitting node is visited, we +// determine which child to visit first (the closer one), and visit +// the other child on return. When a leaf is visited, we compute +// the distances to the points in the buckets, and update information +// on the closest points. +// +// Some trickery is used to incrementally update the distance from +// a kd-tree rectangle to the query point. This comes about from +// the fact that which each successive split, only one component +// (along the dimension that is split) of the squared distance to +// the child rectangle is different from the squared distance to +// the parent rectangle. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// To keep argument lists short, a number of global variables +// are maintained which are common to all the recursive calls. +// These are given below. +//---------------------------------------------------------------------- + +int ANNkdDim; // dimension of space +ANNpoint ANNkdQ; // query point +double ANNkdMaxErr; // max tolerable squared error +ANNpointArray ANNkdPts; // the points +ANNmin_k *ANNkdPointMK; // set of k closest points + +//---------------------------------------------------------------------- +// annkSearch - search for the k nearest neighbors +//---------------------------------------------------------------------- + +void ANNkd_tree::annkSearch( + ANNpoint q, // the query point + int k, // number of near neighbors to return + ANNidxArray nn_idx, // nearest neighbor indices (returned) + ANNdistArray dd, // the approximate nearest neighbor + double eps) // the error bound +{ + + ANNkdDim = dim; // copy arguments to static equivs + ANNkdQ = q; + ANNkdPts = pts; + ANNptsVisited = 0; // initialize count of points visited + + if (k > n_pts) { // too many near neighbors? + annError("Requesting more near neighbors than data points", ANNabort); + } + + ANNkdMaxErr = ANN_POW(1.0 + eps); + ANN_FLOP(2) // increment floating op count + + ANNkdPointMK = new ANNmin_k(k); // create set for closest k points + // search starting at the root + root->ann_search(annBoxDistance(q, bnd_box_lo, bnd_box_hi, dim)); + + for (int i = 0; i < k; i++) { // extract the k-th closest points + dd[i] = ANNkdPointMK->ith_smallest_key(i); + nn_idx[i] = ANNkdPointMK->ith_smallest_info(i); + } + delete ANNkdPointMK; // deallocate closest point set +} + +//---------------------------------------------------------------------- +// kd_split::ann_search - search a splitting node +//---------------------------------------------------------------------- + +void ANNkd_split::ann_search(ANNdist box_dist) +{ + // check dist calc term condition + if (ANNmaxPtsVisited != 0 && ANNptsVisited > ANNmaxPtsVisited) return; + + // distance to cutting plane + ANNcoord cut_diff = ANNkdQ[cut_dim] - cut_val; + + if (cut_diff < 0) { // left of cutting plane + child[ANN_LO]->ann_search(box_dist);// visit closer child first + + ANNcoord box_diff = cd_bnds[ANN_LO] - ANNkdQ[cut_dim]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdMaxErr < ANNkdPointMK->max_key()) + child[ANN_HI]->ann_search(box_dist); + + } + else { // right of cutting plane + child[ANN_HI]->ann_search(box_dist);// visit closer child first + + ANNcoord box_diff = ANNkdQ[cut_dim] - cd_bnds[ANN_HI]; + if (box_diff < 0) // within bounds - ignore + box_diff = 0; + // distance to further box + box_dist = (ANNdist) ANN_SUM(box_dist, + ANN_DIFF(ANN_POW(box_diff), ANN_POW(cut_diff))); + + // visit further child if close enough + if (box_dist * ANNkdMaxErr < ANNkdPointMK->max_key()) + child[ANN_LO]->ann_search(box_dist); + + } + ANN_FLOP(10) // increment floating ops + ANN_SPL(1) // one more splitting node visited +} + +//---------------------------------------------------------------------- +// kd_leaf::ann_search - search points in a leaf node +// Note: The unreadability of this code is the result of +// some fine tuning to replace indexing by pointer operations. +//---------------------------------------------------------------------- + +void ANNkd_leaf::ann_search(ANNdist box_dist) +{ + register ANNdist dist; // distance to data point + register ANNcoord* pp; // data coordinate pointer + register ANNcoord* qq; // query coordinate pointer + register ANNdist min_dist; // distance to k-th closest point + register ANNcoord t; + register int d; + + min_dist = ANNkdPointMK->max_key(); // k-th smallest distance so far + + for (int i = 0; i < n_pts; i++) { // check points in bucket + + pp = ANNkdPts[bkt[i]]; // first coord of next data point + qq = ANNkdQ; // first coord of query point + dist = 0; + + for(d = 0; d < ANNkdDim; d++) { + ANN_COORD(1) // one more coordinate hit + ANN_FLOP(4) // increment floating ops + + t = *(qq++) - *(pp++); // compute length and adv coordinate + // exceeds dist to k-th smallest? + if( (dist = ANN_SUM(dist, ANN_POW(t))) > min_dist) { + break; + } + } + + if (d >= ANNkdDim && // among the k best? + (ANN_ALLOW_SELF_MATCH || dist!=0)) { // and no self-match problem + // add it to the list + ANNkdPointMK->insert(dist, bkt[i]); + min_dist = ANNkdPointMK->max_key(); + } + } + ANN_LEAF(1) // one more leaf node visited + ANN_PTS(n_pts) // increment points visited + ANNptsVisited += n_pts; // increment number of points visited +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_search.h b/3rdparty/ann_1.1.1_modified/src/kd_search.h new file mode 100755 index 0000000..1adcdd4 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_search.h @@ -0,0 +1,48 @@ +//---------------------------------------------------------------------- +// File: kd_search.h +// Programmer: Sunil Arya and David Mount +// Description: Standard kd-tree search +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_search_H +#define ANN_kd_search_H + +#include "kd_tree.h" // kd-tree declarations +#include "kd_util.h" // kd-tree utilities +#include "pr_queue_k.h" // k-element priority queue + +#include // performance evaluation + +//---------------------------------------------------------------------- +// More global variables +// These are active for the life of each call to annkSearch(). They +// are set to save the number of variables that need to be passed +// among the various search procedures. +//---------------------------------------------------------------------- + +extern int ANNkdDim; // dimension of space (static copy) +extern ANNpoint ANNkdQ; // query point (static copy) +extern double ANNkdMaxErr; // max tolerable squared error +extern ANNpointArray ANNkdPts; // the points (static copy) +extern ANNmin_k *ANNkdPointMK; // set of k closest points +extern int ANNptsVisited; // number of points visited + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/kd_split.cpp b/3rdparty/ann_1.1.1_modified/src/kd_split.cpp new file mode 100755 index 0000000..8d5b3d8 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_split.cpp @@ -0,0 +1,428 @@ +//---------------------------------------------------------------------- +// File: kd_split.cpp +// Programmer: Sunil Arya and David Mount +// Description: Methods for splitting kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +//---------------------------------------------------------------------- + +#include "kd_tree.h" // kd-tree definitions +#include "kd_util.h" // kd-tree utilities +#include "kd_split.h" // splitting functions + +//---------------------------------------------------------------------- +// Constants +//---------------------------------------------------------------------- + +const double ERR = 0.001; // a small value +const double FS_ASPECT_RATIO = 3.0; // maximum allowed aspect ratio + // in fair split. Must be >= 2. + +//---------------------------------------------------------------------- +// kd_split - Bentley's standard splitting routine for kd-trees +// Find the dimension of the greatest spread, and split +// just before the median point along this dimension. +//---------------------------------------------------------------------- + +void kd_split( + ANNpointArray pa, // point array (permuted on return) + ANNidxArray pidx, // point indices + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + // find dimension of maximum spread + cut_dim = annMaxSpread(pa, pidx, n, dim); + n_lo = n/2; // median rank + // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); +} + +//---------------------------------------------------------------------- +// midpt_split - midpoint splitting rule for box-decomposition trees +// +// This is the simplest splitting rule that guarantees boxes +// of bounded aspect ratio. It simply cuts the box with the +// longest side through its midpoint. If there are ties, it +// selects the dimension with the maximum point spread. +// +// WARNING: This routine (while simple) doesn't seem to work +// well in practice in high dimensions, because it tends to +// generate a large number of trivial and/or unbalanced splits. +// Either kd_split(), sl_midpt_split(), or fair_split() are +// recommended, instead. +//---------------------------------------------------------------------- + +void midpt_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + } + } + ANNcoord max_spread = -1; // find long side with most spread + for (d = 0; d < dim; d++) { + // is it among longest? + if (double(bnds.hi[d] - bnds.lo[d]) >= (1-ERR)*max_length) { + // compute its spread + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // is it max so far? + max_spread = spr; + cut_dim = d; + } + } + } + // split along cut_dim at midpoint + cut_val = (bnds.lo[cut_dim] + bnds.hi[cut_dim]) / 2; + // permute points accordingly + int br1, br2; + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + //------------------------------------------------------------------ + // On return: pa[0..br1-1] < cut_val + // pa[br1..br2-1] == cut_val + // pa[br2..n-1] > cut_val + // + // We can set n_lo to any value in the range [br1..br2]. + // We choose split so that points are most evenly divided. + //------------------------------------------------------------------ + if (br1 > n/2) n_lo = br1; + else if (br2 < n/2) n_lo = br2; + else n_lo = n/2; +} + +//---------------------------------------------------------------------- +// sl_midpt_split - sliding midpoint splitting rule +// +// This is a modification of midpt_split, which has the nonsensical +// name "sliding midpoint". The idea is that we try to use the +// midpoint rule, by bisecting the longest side. If there are +// ties, the dimension with the maximum spread is selected. If, +// however, the midpoint split produces a trivial split (no points +// on one side of the splitting plane) then we slide the splitting +// (maintaining its orientation) until it produces a nontrivial +// split. For example, if the splitting plane is along the x-axis, +// and all the data points have x-coordinate less than the x-bisector, +// then the split is taken along the maximum x-coordinate of the +// data points. +// +// Intuitively, this rule cannot generate trivial splits, and +// hence avoids midpt_split's tendency to produce trees with +// a very large number of nodes. +// +//---------------------------------------------------------------------- + +void sl_midpt_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + } + } + ANNcoord max_spread = -1; // find long side with most spread + for (d = 0; d < dim; d++) { + // is it among longest? + if ((bnds.hi[d] - bnds.lo[d]) >= (1-ERR)*max_length) { + // compute its spread + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // is it max so far? + max_spread = spr; + cut_dim = d; + } + } + } + // ideal split at midpoint + ANNcoord ideal_cut_val = (bnds.lo[cut_dim] + bnds.hi[cut_dim])/2; + + ANNcoord min, max; + annMinMax(pa, pidx, n, cut_dim, min, max); // find min/max coordinates + + if (ideal_cut_val < min) // slide to min or max as needed + cut_val = min; + else if (ideal_cut_val > max) + cut_val = max; + else + cut_val = ideal_cut_val; + + // permute points accordingly + int br1, br2; + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + //------------------------------------------------------------------ + // On return: pa[0..br1-1] < cut_val + // pa[br1..br2-1] == cut_val + // pa[br2..n-1] > cut_val + // + // We can set n_lo to any value in the range [br1..br2] to satisfy + // the exit conditions of the procedure. + // + // if ideal_cut_val < min (implying br2 >= 1), + // then we select n_lo = 1 (so there is one point on left) and + // if ideal_cut_val > max (implying br1 <= n-1), + // then we select n_lo = n-1 (so there is one point on right). + // Otherwise, we select n_lo as close to n/2 as possible within + // [br1..br2]. + //------------------------------------------------------------------ + if (ideal_cut_val < min) n_lo = 1; + else if (ideal_cut_val > max) n_lo = n-1; + else if (br1 > n/2) n_lo = br1; + else if (br2 < n/2) n_lo = br2; + else n_lo = n/2; +} + +//---------------------------------------------------------------------- +// fair_split - fair-split splitting rule +// +// This is a compromise between the kd-tree splitting rule (which +// always splits data points at their median) and the midpoint +// splitting rule (which always splits a box through its center. +// The goal of this procedure is to achieve both nicely balanced +// splits, and boxes of bounded aspect ratio. +// +// A constant FS_ASPECT_RATIO is defined. Given a box, those sides +// which can be split so that the ratio of the longest to shortest +// side does not exceed ASPECT_RATIO are identified. Among these +// sides, we select the one in which the points have the largest +// spread. We then split the points in a manner which most evenly +// distributes the points on either side of the splitting plane, +// subject to maintaining the bound on the ratio of long to short +// sides. To determine that the aspect ratio will be preserved, +// we determine the longest side (other than this side), and +// determine how narrowly we can cut this side, without causing the +// aspect ratio bound to be exceeded (small_piece). +// +// This procedure is more robust than either kd_split or midpt_split, +// but is more complicated as well. When point distribution is +// extremely skewed, this degenerates to midpt_split (actually +// 1/3 point split), and when the points are most evenly distributed, +// this degenerates to kd-split. +//---------------------------------------------------------------------- + +void fair_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + cut_dim = 0; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + cut_dim = d; + } + } + + ANNcoord max_spread = 0; // find legal cut with max spread + cut_dim = 0; + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + // is this side midpoint splitable + // without violating aspect ratio? + if (((double) max_length)*2.0/((double) length) <= FS_ASPECT_RATIO) { + // compute spread along this dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // best spread so far + max_spread = spr; + cut_dim = d; // this is dimension to cut + } + } + } + + max_length = 0; // find longest side other than cut_dim + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (d != cut_dim && length > max_length) + max_length = length; + } + // consider most extreme splits + ANNcoord small_piece = max_length / FS_ASPECT_RATIO; + ANNcoord lo_cut = bnds.lo[cut_dim] + small_piece;// lowest legal cut + ANNcoord hi_cut = bnds.hi[cut_dim] - small_piece;// highest legal cut + + int br1, br2; + // is median below lo_cut ? + if (annSplitBalance(pa, pidx, n, cut_dim, lo_cut) >= 0) { + cut_val = lo_cut; // cut at lo_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br1; + } + // is median above hi_cut? + else if (annSplitBalance(pa, pidx, n, cut_dim, hi_cut) <= 0) { + cut_val = hi_cut; // cut at hi_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br2; + } + else { // median cut preserves asp ratio + n_lo = n/2; // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); + } +} + +//---------------------------------------------------------------------- +// sl_fair_split - sliding fair split splitting rule +// +// Sliding fair split is a splitting rule that combines the +// strengths of both fair split with sliding midpoint split. +// Fair split tends to produce balanced splits when the points +// are roughly uniformly distributed, but it can produce many +// trivial splits when points are highly clustered. Sliding +// midpoint never produces trivial splits, and shrinks boxes +// nicely if points are highly clustered, but it may produce +// rather unbalanced splits when points are unclustered but not +// quite uniform. +// +// Sliding fair split is based on the theory that there are two +// types of splits that are "good": balanced splits that produce +// fat boxes, and unbalanced splits provided the cell with fewer +// points is fat. +// +// This splitting rule operates by first computing the longest +// side of the current bounding box. Then it asks which sides +// could be split (at the midpoint) and still satisfy the aspect +// ratio bound with respect to this side. Among these, it selects +// the side with the largest spread (as fair split would). It +// then considers the most extreme cuts that would be allowed by +// the aspect ratio bound. This is done by dividing the longest +// side of the box by the aspect ratio bound. If the median cut +// lies between these extreme cuts, then we use the median cut. +// If not, then consider the extreme cut that is closer to the +// median. If all the points lie to one side of this cut, then +// we slide the cut until it hits the first point. This may +// violate the aspect ratio bound, but will never generate empty +// cells. However the sibling of every such skinny cell is fat, +// and hence packing arguments still apply. +// +//---------------------------------------------------------------------- + +void sl_fair_split( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo) // num of points on low side (returned) +{ + int d; + ANNcoord min, max; // min/max coordinates + int br1, br2; // split break points + + ANNcoord max_length = bnds.hi[0] - bnds.lo[0]; + cut_dim = 0; + for (d = 1; d < dim; d++) { // find length of longest box side + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (length > max_length) { + max_length = length; + cut_dim = d; + } + } + + ANNcoord max_spread = 0; // find legal cut with max spread + cut_dim = 0; + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + // is this side midpoint splitable + // without violating aspect ratio? + if (((double) max_length)*2.0/((double) length) <= FS_ASPECT_RATIO) { + // compute spread along this dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spread) { // best spread so far + max_spread = spr; + cut_dim = d; // this is dimension to cut + } + } + } + + max_length = 0; // find longest side other than cut_dim + for (d = 0; d < dim; d++) { + ANNcoord length = bnds.hi[d] - bnds.lo[d]; + if (d != cut_dim && length > max_length) + max_length = length; + } + // consider most extreme splits + ANNcoord small_piece = max_length / FS_ASPECT_RATIO; + ANNcoord lo_cut = bnds.lo[cut_dim] + small_piece;// lowest legal cut + ANNcoord hi_cut = bnds.hi[cut_dim] - small_piece;// highest legal cut + // find min and max along cut_dim + annMinMax(pa, pidx, n, cut_dim, min, max); + // is median below lo_cut? + if (annSplitBalance(pa, pidx, n, cut_dim, lo_cut) >= 0) { + if (max > lo_cut) { // are any points above lo_cut? + cut_val = lo_cut; // cut at lo_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br1; // balance if there are ties + } + else { // all points below lo_cut + cut_val = max; // cut at max value + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = n-1; + } + } + // is median above hi_cut? + else if (annSplitBalance(pa, pidx, n, cut_dim, hi_cut) <= 0) { + if (min < hi_cut) { // are any points below hi_cut? + cut_val = hi_cut; // cut at hi_cut + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = br2; // balance if there are ties + } + else { // all points above hi_cut + cut_val = min; // cut at min value + annPlaneSplit(pa, pidx, n, cut_dim, cut_val, br1, br2); + n_lo = 1; + } + } + else { // median cut is good enough + n_lo = n/2; // split about median + annMedianSplit(pa, pidx, n, cut_dim, cut_val, n_lo); + } +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_split.h b/3rdparty/ann_1.1.1_modified/src/kd_split.h new file mode 100755 index 0000000..ef80461 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_split.h @@ -0,0 +1,85 @@ +//---------------------------------------------------------------------- +// File: kd_split.h +// Programmer: Sunil Arya and David Mount +// Description: Methods for splitting kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_KD_SPLIT_H +#define ANN_KD_SPLIT_H + +#include "kd_tree.h" // kd-tree definitions + +//---------------------------------------------------------------------- +// External entry points +// These are all splitting procedures for kd-trees. +//---------------------------------------------------------------------- + +void kd_split( // standard (optimized) kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void midpt_split( // midpoint kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void sl_midpt_split( // sliding midpoint kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void fair_split( // fair-split kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +void sl_fair_split( // sliding fair-split kd-splitter + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/kd_tree.cpp b/3rdparty/ann_1.1.1_modified/src/kd_tree.cpp new file mode 100755 index 0000000..2828fd2 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_tree.cpp @@ -0,0 +1,405 @@ +//---------------------------------------------------------------------- +// File: kd_tree.cpp +// Programmer: Sunil Arya and David Mount +// Description: Basic methods for kd-trees. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Increased aspect ratio bound (ANN_AR_TOOBIG) from 100 to 1000. +// Fixed leaf counts to count trivial leaves. +// Added optional pa, pi arguments to Skeleton kd_tree constructor +// for use in load constructor. +// Added annClose() to eliminate KD_TRIVIAL memory leak. +//---------------------------------------------------------------------- + +#include "kd_tree.h" // kd-tree declarations +#include "kd_split.h" // kd-tree splitting rules +#include "kd_util.h" // kd-tree utilities +#include // performance evaluation + +//---------------------------------------------------------------------- +// Global data +// +// For some splitting rules, especially with small bucket sizes, +// it is possible to generate a large number of empty leaf nodes. +// To save storage we allocate a single trivial leaf node which +// contains no points. For messy coding reasons it is convenient +// to have it reference a trivial point index. +// +// KD_TRIVIAL is allocated when the first kd-tree is created. It +// must *never* deallocated (since it may be shared by more than +// one tree). +//---------------------------------------------------------------------- +static int IDX_TRIVIAL[] = {0}; // trivial point index +ANNkd_leaf *KD_TRIVIAL = NULL; // trivial leaf node + +//---------------------------------------------------------------------- +// Printing the kd-tree +// These routines print a kd-tree in reverse inorder (high then +// root then low). (This is so that if you look at the output +// from the right side it appear from left to right in standard +// inorder.) When outputting leaves we output only the point +// indices rather than the point coordinates. There is an option +// to print the point coordinates separately. +// +// The tree printing routine calls the printing routines on the +// individual nodes of the tree, passing in the level or depth +// in the tree. The level in the tree is used to print indentation +// for readability. +//---------------------------------------------------------------------- + +void ANNkd_split::print( // print splitting node + int level, // depth of node in tree + ostream &out) // output stream +{ + child[ANN_HI]->print(level+1, out); // print high child + out << " "; + for (int i = 0; i < level; i++) // print indentation + out << ".."; + out << "Split cd=" << cut_dim << " cv=" << cut_val; + out << " lbnd=" << cd_bnds[ANN_LO]; + out << " hbnd=" << cd_bnds[ANN_HI]; + out << "\n"; + child[ANN_LO]->print(level+1, out); // print low child +} + +void ANNkd_leaf::print( // print leaf node + int level, // depth of node in tree + ostream &out) // output stream +{ + + out << " "; + for (int i = 0; i < level; i++) // print indentation + out << ".."; + + if (this == KD_TRIVIAL) { // canonical trivial leaf node + out << "Leaf (trivial)\n"; + } + else{ + out << "Leaf n=" << n_pts << " <"; + for (int j = 0; j < n_pts; j++) { + out << bkt[j]; + if (j < n_pts-1) out << ","; + } + out << ">\n"; + } +} + +void ANNkd_tree::Print( // print entire tree + ANNbool with_pts, // print points as well? + ostream &out) // output stream +{ + out << "ANN Version " << ANNversion << "\n"; + if (with_pts) { // print point coordinates + out << " Points:\n"; + for (int i = 0; i < n_pts; i++) { + out << "\t" << i << ": "; + annPrintPt(pts[i], dim, out); + out << "\n"; + } + } + if (root == NULL) // empty tree? + out << " Null tree.\n"; + else { + root->print(0, out); // invoke printing at root + } +} + +//---------------------------------------------------------------------- +// kd_tree statistics (for performance evaluation) +// This routine compute various statistics information for +// a kd-tree. It is used by the implementors for performance +// evaluation of the data structure. +//---------------------------------------------------------------------- + +#define MAX(a,b) ((a) > (b) ? (a) : (b)) + +void ANNkdStats::merge(const ANNkdStats &st) // merge stats from child +{ + n_lf += st.n_lf; n_tl += st.n_tl; + n_spl += st.n_spl; n_shr += st.n_shr; + depth = MAX(depth, st.depth); + sum_ar += st.sum_ar; +} + +//---------------------------------------------------------------------- +// Update statistics for nodes +//---------------------------------------------------------------------- + +const double ANN_AR_TOOBIG = 1000; // too big an aspect ratio + +void ANNkd_leaf::getStats( // get subtree statistics + int dim, // dimension of space + ANNkdStats &st, // stats (modified) + ANNorthRect &bnd_box) // bounding box +{ + st.reset(); + st.n_lf = 1; // count this leaf + if (this == KD_TRIVIAL) st.n_tl = 1; // count trivial leaf + double ar = annAspectRatio(dim, bnd_box); // aspect ratio of leaf + // incr sum (ignore outliers) + st.sum_ar += float(ar < ANN_AR_TOOBIG ? ar : ANN_AR_TOOBIG); +} + +void ANNkd_split::getStats( // get subtree statistics + int dim, // dimension of space + ANNkdStats &st, // stats (modified) + ANNorthRect &bnd_box) // bounding box +{ + ANNkdStats ch_stats; // stats for children + // get stats for low child + ANNcoord hv = bnd_box.hi[cut_dim]; // save box bounds + bnd_box.hi[cut_dim] = cut_val; // upper bound for low child + ch_stats.reset(); // reset + child[ANN_LO]->getStats(dim, ch_stats, bnd_box); + st.merge(ch_stats); // merge them + bnd_box.hi[cut_dim] = hv; // restore bound + // get stats for high child + ANNcoord lv = bnd_box.lo[cut_dim]; // save box bounds + bnd_box.lo[cut_dim] = cut_val; // lower bound for high child + ch_stats.reset(); // reset + child[ANN_HI]->getStats(dim, ch_stats, bnd_box); + st.merge(ch_stats); // merge them + bnd_box.lo[cut_dim] = lv; // restore bound + + st.depth++; // increment depth + st.n_spl++; // increment number of splits +} + +//---------------------------------------------------------------------- +// getStats +// Collects a number of statistics related to kd_tree or +// bd_tree. +//---------------------------------------------------------------------- + +void ANNkd_tree::getStats( // get tree statistics + ANNkdStats &st) // stats (modified) +{ + st.reset(dim, n_pts, bkt_size); // reset stats + // create bounding box + ANNorthRect bnd_box(dim, bnd_box_lo, bnd_box_hi); + if (root != NULL) { // if nonempty tree + root->getStats(dim, st, bnd_box); // get statistics + st.avg_ar = st.sum_ar / st.n_lf; // average leaf asp ratio + } +} + +//---------------------------------------------------------------------- +// kd_tree destructor +// The destructor just frees the various elements that were +// allocated in the construction process. +//---------------------------------------------------------------------- + +ANNkd_tree::~ANNkd_tree() // tree destructor +{ + if (root != NULL) delete root; + if (pidx != NULL) delete [] pidx; + if (bnd_box_lo != NULL) annDeallocPt(bnd_box_lo); + if (bnd_box_hi != NULL) annDeallocPt(bnd_box_hi); +} + +//---------------------------------------------------------------------- +// This is called with all use of ANN is finished. It eliminates the +// minor memory leak caused by the allocation of KD_TRIVIAL. +//---------------------------------------------------------------------- +void annClose() // close use of ANN +{ + if (KD_TRIVIAL != NULL) { + delete KD_TRIVIAL; + KD_TRIVIAL = NULL; + } +} + +//---------------------------------------------------------------------- +// kd_tree constructors +// There is a skeleton kd-tree constructor which sets up a +// trivial empty tree. The last optional argument allows +// the routine to be passed a point index array which is +// assumed to be of the proper size (n). Otherwise, one is +// allocated and initialized to the identity. Warning: In +// either case the destructor will deallocate this array. +// +// As a kludge, we need to allocate KD_TRIVIAL if one has not +// already been allocated. (This is because I'm too dumb to +// figure out how to cause a pointer to be allocated at load +// time.) +//---------------------------------------------------------------------- + +void ANNkd_tree::SkeletonTree( // construct skeleton tree + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNpointArray pa, // point array + ANNidxArray pi) // point indices +{ + dim = dd; // initialize basic elements + n_pts = n; + bkt_size = bs; + pts = pa; // initialize points array + + root = NULL; // no associated tree yet + + if (pi == NULL) { // point indices provided? + pidx = new ANNidx[n]; // no, allocate space for point indices + for (int i = 0; i < n; i++) { + pidx[i] = i; // initially identity + } + } + else { + pidx = pi; // yes, use them + } + + bnd_box_lo = bnd_box_hi = NULL; // bounding box is nonexistent + if (KD_TRIVIAL == NULL) // no trivial leaf node yet? + KD_TRIVIAL = new ANNkd_leaf(0, IDX_TRIVIAL); // allocate it +} + +ANNkd_tree::ANNkd_tree( // basic constructor + int n, // number of points + int dd, // dimension + int bs) // bucket size +{ SkeletonTree(n, dd, bs); } // construct skeleton tree + +//---------------------------------------------------------------------- +// rkd_tree - recursive procedure to build a kd-tree +// +// Builds a kd-tree for points in pa as indexed through the +// array pidx[0..n-1] (typically a subarray of the array used in +// the top-level call). This routine permutes the array pidx, +// but does not alter pa[]. +// +// The construction is based on a standard algorithm for constructing +// the kd-tree (see Friedman, Bentley, and Finkel, ``An algorithm for +// finding best matches in logarithmic expected time,'' ACM Transactions +// on Mathematical Software, 3(3):209-226, 1977). The procedure +// operates by a simple divide-and-conquer strategy, which determines +// an appropriate orthogonal cutting plane (see below), and splits +// the points. When the number of points falls below the bucket size, +// we simply store the points in a leaf node's bucket. +// +// One of the arguments is a pointer to a splitting routine, +// whose prototype is: +// +// void split( +// ANNpointArray pa, // complete point array +// ANNidxArray pidx, // point array (permuted on return) +// ANNorthRect &bnds, // bounds of current cell +// int n, // number of points +// int dim, // dimension of space +// int &cut_dim, // cutting dimension +// ANNcoord &cut_val, // cutting value +// int &n_lo) // no. of points on low side of cut +// +// This procedure selects a cutting dimension and cutting value, +// partitions pa about these values, and returns the number of +// points on the low side of the cut. +//---------------------------------------------------------------------- + +ANNkd_ptr rkd_tree( // recursive construction of kd-tree + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + int bsp, // bucket space + ANNorthRect &bnd_box, // bounding box for current node + ANNkd_splitter splitter) // splitting routine +{ + if (n <= bsp) { // n small, make a leaf node + if (n == 0) // empty leaf node + return KD_TRIVIAL; // return (canonical) empty leaf + else // construct the node and return + return new ANNkd_leaf(n, pidx); + } + else { // n large, make a splitting node + int cd; // cutting dimension + ANNcoord cv; // cutting value + int n_lo; // number on low side of cut + ANNkd_node *lo, *hi; // low and high children + + // invoke splitting procedure + (*splitter)(pa, pidx, bnd_box, n, dim, cd, cv, n_lo); + + ANNcoord lv = bnd_box.lo[cd]; // save bounds for cutting dimension + ANNcoord hv = bnd_box.hi[cd]; + + bnd_box.hi[cd] = cv; // modify bounds for left subtree + lo = rkd_tree( // build left subtree + pa, pidx, n_lo, // ...from pidx[0..n_lo-1] + dim, bsp, bnd_box, splitter); + bnd_box.hi[cd] = hv; // restore bounds + + bnd_box.lo[cd] = cv; // modify bounds for right subtree + hi = rkd_tree( // build right subtree + pa, pidx + n_lo, n-n_lo,// ...from pidx[n_lo..n-1] + dim, bsp, bnd_box, splitter); + bnd_box.lo[cd] = lv; // restore bounds + + // create the splitting node + ANNkd_split *ptr = new ANNkd_split(cd, cv, lv, hv, lo, hi); + + return ptr; // return pointer to this node + } +} + +//---------------------------------------------------------------------- +// kd-tree constructor +// This is the main constructor for kd-trees given a set of points. +// It first builds a skeleton tree, then computes the bounding box +// of the data points, and then invokes rkd_tree() to actually +// build the tree, passing it the appropriate splitting routine. +//---------------------------------------------------------------------- + +ANNkd_tree::ANNkd_tree( // construct from point array + ANNpointArray pa, // point array (with at least n pts) + int n, // number of points + int dd, // dimension + int bs, // bucket size + ANNsplitRule split) // splitting method +{ + SkeletonTree(n, dd, bs); // set up the basic stuff + pts = pa; // where the points are + if (n == 0) return; // no points--no sweat + + ANNorthRect bnd_box(dd); // bounding box for points + annEnclRect(pa, pidx, n, dd, bnd_box);// construct bounding rectangle + // copy to tree structure + bnd_box_lo = annCopyPt(dd, bnd_box.lo); + bnd_box_hi = annCopyPt(dd, bnd_box.hi); + + switch (split) { // build by rule + case ANN_KD_STD: // standard kd-splitting rule + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, kd_split); + break; + case ANN_KD_MIDPT: // midpoint split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, midpt_split); + break; + case ANN_KD_FAIR: // fair split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, fair_split); + break; + case ANN_KD_SUGGEST: // best (in our opinion) + case ANN_KD_SL_MIDPT: // sliding midpoint split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_midpt_split); + break; + case ANN_KD_SL_FAIR: // sliding fair split + root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_fair_split); + break; + default: + annError("Illegal splitting method", ANNabort); + } +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_tree.h b/3rdparty/ann_1.1.1_modified/src/kd_tree.h new file mode 100755 index 0000000..e9c8f07 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_tree.h @@ -0,0 +1,186 @@ +//---------------------------------------------------------------------- +// File: kd_tree.h +// Programmer: Sunil Arya and David Mount +// Description: Declarations for standard kd-tree routines +// Last modified: 05/03/05 (Version 1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.1 05/03/05 +// Added fixed radius kNN search +//---------------------------------------------------------------------- + +#ifndef ANN_kd_tree_H +#define ANN_kd_tree_H + +#include // all ANN includes + +using namespace std; // make std:: available + + + +//---------------------------------------------------------------------- +// kd-splitting function: +// kd_splitter is a pointer to a splitting routine for preprocessing. +// Different splitting procedures result in different strategies +// for building the tree. +//---------------------------------------------------------------------- + +typedef void (*ANNkd_splitter)( // splitting routine for kd-trees + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices (permuted on return) + const ANNorthRect &bnds, // bounding rectangle for cell + int n, // number of points + int dim, // dimension of space + int &cut_dim, // cutting dimension (returned) + ANNcoord &cut_val, // cutting value (returned) + int &n_lo); // num of points on low side (returned) + +//---------------------------------------------------------------------- +// Leaf kd-tree node +// Leaf nodes of the kd-tree store the set of points associated +// with this bucket, stored as an array of point indices. These +// are indices in the array points, which resides with the +// root of the kd-tree. We also store the number of points +// that reside in this bucket. +//---------------------------------------------------------------------- + +class ANNkd_leaf: public ANNkd_node // leaf node for kd-tree +{ + int n_pts; // no. points in bucket + ANNidxArray bkt; // bucket of points +public: + ANNkd_leaf( // constructor + int n, // number of points + ANNidxArray b) // bucket + { + n_pts = n; // number of points in bucket + bkt = b; // the bucket + } + + ~ANNkd_leaf() { } // destructor (none) + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box); // bounding box + virtual void print(int level, ostream &out);// print node + virtual void dump(ostream &out); // dump node + + virtual void ann_search(ANNdist); // standard search + virtual void ann_pri_search(ANNdist); // priority search + virtual void ann_FR_search(ANNdist); // fixed-radius search + ANNidxArray getIdxArray() // Deyuan Qiu + { return bkt; } + bool isLeaf() // Deyuan Qiu + { return true; } +}; + +//---------------------------------------------------------------------- +// KD_TRIVIAL is a special pointer to an empty leaf node. Since +// some splitting rules generate many (more than 50%) trivial +// leaves, we use this one shared node to save space. +// +// The pointer is initialized to NULL, but whenever a kd-tree is +// created, we allocate this node, if it has not already been +// allocated. This node is *never* deallocated, so it produces +// a small memory leak. +//---------------------------------------------------------------------- + +extern ANNkd_leaf *KD_TRIVIAL; // trivial (empty) leaf node + +//---------------------------------------------------------------------- +// kd-tree splitting node. +// Splitting nodes contain a cutting dimension and a cutting value. +// These indicate the axis-parellel plane which subdivide the +// box for this node. The extent of the bounding box along the +// cutting dimension is maintained (this is used to speed up point +// to box distance calculations) [we do not store the entire bounding +// box since this may be wasteful of space in high dimensions]. +// We also store pointers to the 2 children. +//---------------------------------------------------------------------- + +class ANNkd_split : public ANNkd_node // splitting node of a kd-tree +{ + int cut_dim; // dim orthogonal to cutting plane + ANNcoord cut_val; // location of cutting plane + ANNcoord cd_bnds[2]; // lower and upper bounds of + // rectangle along cut_dim + ANNkd_ptr child[2]; // left and right children +public: + ANNkd_split( // constructor + int cd, // cutting dimension + ANNcoord cv, // cutting value + ANNcoord lv, ANNcoord hv, // low and high values + ANNkd_ptr lc=NULL, ANNkd_ptr hc=NULL) // children + { + cut_dim = cd; // cutting dimension + cut_val = cv; // cutting value + cd_bnds[ANN_LO] = lv; // lower bound for rectangle + cd_bnds[ANN_HI] = hv; // upper bound for rectangle + child[ANN_LO] = lc; // left child + child[ANN_HI] = hc; // right child + } + + ~ANNkd_split() // destructor + { + if (child[ANN_LO]!= NULL && child[ANN_LO]!= KD_TRIVIAL) + delete child[ANN_LO]; + if (child[ANN_HI]!= NULL && child[ANN_HI]!= KD_TRIVIAL) + delete child[ANN_HI]; + } + + virtual void getStats( // get tree statistics + int dim, // dimension of space + ANNkdStats &st, // statistics + ANNorthRect &bnd_box); // bounding box + virtual void print(int level, ostream &out);// print node + virtual void dump(ostream &out); // dump node + + virtual void ann_search(ANNdist); // standard search + virtual void ann_pri_search(ANNdist); // priority search + virtual void ann_FR_search(ANNdist); // fixed-radius search + ANNkd_ptr getLeftChild() // Deyuan Qiu + { return child[0]; } + ANNkd_ptr getRightChild() // Deyuan Qiu + { return child[1]; } + ANNcoord getCutVal() // Deyuan Qiu + { return cut_val; } + int getCutDim() // Deyuan Qiu + { return cut_dim; } + bool isLeaf() // Deyuan Qiu + { return false; } + float getLoBound() // Deyuan Qiu + { return (float)cd_bnds[0]; } + float getHiBound() // Deyuan Qiu + { return (float)cd_bnds[1]; } +}; + +//---------------------------------------------------------------------- +// External entry points +//---------------------------------------------------------------------- + +ANNkd_ptr rkd_tree( // recursive construction of kd-tree + ANNpointArray pa, // point array (unaltered) + ANNidxArray pidx, // point indices to store in subtree + int n, // number of points + int dim, // dimension of space + int bsp, // bucket space + ANNorthRect &bnd_box, // bounding box for current node + ANNkd_splitter splitter); // splitting routine + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/kd_util.cpp b/3rdparty/ann_1.1.1_modified/src/kd_util.cpp new file mode 100755 index 0000000..06d65b8 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_util.cpp @@ -0,0 +1,439 @@ +//---------------------------------------------------------------------- +// File: kd_util.cpp +// Programmer: Sunil Arya and David Mount +// Description: Common utilities for kd-trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#include "kd_util.h" // kd-utility declarations + +#include // performance evaluation + +//---------------------------------------------------------------------- +// The following routines are utility functions for manipulating +// points sets, used in determining splitting planes for kd-tree +// construction. +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// NOTE: Virtually all point indexing is done through an index (i.e. +// permutation) array pidx. Consequently, a reference to the d-th +// coordinate of the i-th point is pa[pidx[i]][d]. The macro PA(i,d) +// is a shorthand for this. +//---------------------------------------------------------------------- + // standard 2-d indirect indexing +#define PA(i,d) (pa[pidx[(i)]][(d)]) + // accessing a single point +#define PP(i) (pa[pidx[(i)]]) + +//---------------------------------------------------------------------- +// annAspectRatio +// Compute the aspect ratio (ratio of longest to shortest side) +// of a rectangle. +//---------------------------------------------------------------------- + +double annAspectRatio( + int dim, // dimension + const ANNorthRect &bnd_box) // bounding cube +{ + ANNcoord length = bnd_box.hi[0] - bnd_box.lo[0]; + ANNcoord min_length = length; // min side length + ANNcoord max_length = length; // max side length + for (int d = 0; d < dim; d++) { + length = bnd_box.hi[d] - bnd_box.lo[d]; + if (length < min_length) min_length = length; + if (length > max_length) max_length = length; + } + return max_length/min_length; +} + +//---------------------------------------------------------------------- +// annEnclRect, annEnclCube +// These utilities compute the smallest rectangle and cube enclosing +// a set of points, respectively. +//---------------------------------------------------------------------- + +void annEnclRect( + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds) // bounding cube (returned) +{ + for (int d = 0; d < dim; d++) { // find smallest enclosing rectangle + ANNcoord lo_bnd = PA(0,d); // lower bound on dimension d + ANNcoord hi_bnd = PA(0,d); // upper bound on dimension d + for (int i = 0; i < n; i++) { + if (PA(i,d) < lo_bnd) lo_bnd = PA(i,d); + else if (PA(i,d) > hi_bnd) hi_bnd = PA(i,d); + } + bnds.lo[d] = lo_bnd; + bnds.hi[d] = hi_bnd; + } +} + +void annEnclCube( // compute smallest enclosing cube + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds) // bounding cube (returned) +{ + int d; + // compute smallest enclosing rect + annEnclRect(pa, pidx, n, dim, bnds); + + ANNcoord max_len = 0; // max length of any side + for (d = 0; d < dim; d++) { // determine max side length + ANNcoord len = bnds.hi[d] - bnds.lo[d]; + if (len > max_len) { // update max_len if longest + max_len = len; + } + } + for (d = 0; d < dim; d++) { // grow sides to match max + ANNcoord len = bnds.hi[d] - bnds.lo[d]; + ANNcoord half_diff = (max_len - len) / 2; + bnds.lo[d] -= half_diff; + bnds.hi[d] += half_diff; + } +} + +//---------------------------------------------------------------------- +// annBoxDistance - utility routine which computes distance from point to +// box (Note: most distances to boxes are computed using incremental +// distance updates, not this function.) +//---------------------------------------------------------------------- + +ANNdist annBoxDistance( // compute distance from point to box + const ANNpoint q, // the point + const ANNpoint lo, // low point of box + const ANNpoint hi, // high point of box + int dim) // dimension of space +{ + register ANNdist dist = 0.0; // sum of squared distances + register ANNdist t; + + for (register int d = 0; d < dim; d++) { + if (q[d] < lo[d]) { // q is left of box + t = ANNdist(lo[d]) - ANNdist(q[d]); + dist = ANN_SUM(dist, ANN_POW(t)); + } + else if (q[d] > hi[d]) { // q is right of box + t = ANNdist(q[d]) - ANNdist(hi[d]); + dist = ANN_SUM(dist, ANN_POW(t)); + } + } + ANN_FLOP(4*dim) // increment floating op count + + return dist; +} + +//---------------------------------------------------------------------- +// annSpread - find spread along given dimension +// annMinMax - find min and max coordinates along given dimension +// annMaxSpread - find dimension of max spread +//---------------------------------------------------------------------- + +ANNcoord annSpread( // compute point spread along dimension + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d) // dimension to check +{ + ANNcoord min = PA(0,d); // compute max and min coords + ANNcoord max = PA(0,d); + for (int i = 1; i < n; i++) { + ANNcoord c = PA(i,d); + if (c < min) min = c; + else if (c > max) max = c; + } + return (max - min); // total spread is difference +} + +void annMinMax( // compute min and max coordinates along dim + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension to check + ANNcoord &min, // minimum value (returned) + ANNcoord &max) // maximum value (returned) +{ + min = PA(0,d); // compute max and min coords + max = PA(0,d); + for (int i = 1; i < n; i++) { + ANNcoord c = PA(i,d); + if (c < min) min = c; + else if (c > max) max = c; + } +} + +int annMaxSpread( // compute dimension of max spread + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim) // dimension of space +{ + int max_dim = 0; // dimension of max spread + ANNcoord max_spr = 0; // amount of max spread + + if (n == 0) return max_dim; // no points, who cares? + + for (int d = 0; d < dim; d++) { // compute spread along each dim + ANNcoord spr = annSpread(pa, pidx, n, d); + if (spr > max_spr) { // bigger than current max + max_spr = spr; + max_dim = d; + } + } + return max_dim; +} + +//---------------------------------------------------------------------- +// annMedianSplit - split point array about its median +// Splits a subarray of points pa[0..n] about an element of given +// rank (median: n_lo = n/2) with respect to dimension d. It places +// the element of rank n_lo-1 correctly (because our splitting rule +// takes the mean of these two). On exit, the array is permuted so +// that: +// +// pa[0..n_lo-2][d] <= pa[n_lo-1][d] <= pa[n_lo][d] <= pa[n_lo+1..n-1][d]. +// +// The mean of pa[n_lo-1][d] and pa[n_lo][d] is returned as the +// splitting value. +// +// All indexing is done indirectly through the index array pidx. +// +// This function uses the well known selection algorithm due to +// C.A.R. Hoare. +//---------------------------------------------------------------------- + + // swap two points in pa array +#define PASWAP(a,b) { int tmp = pidx[a]; pidx[a] = pidx[b]; pidx[b] = tmp; } + +void annMedianSplit( + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord &cv, // cutting value + int n_lo) // split into n_lo and n-n_lo +{ + int l = 0; // left end of current subarray + int r = n-1; // right end of current subarray + while (l < r) { + register int i = (r+l)/2; // select middle as pivot + register int k; + + if (PA(i,d) > PA(r,d)) // make sure last > pivot + PASWAP(i,r) + PASWAP(l,i); // move pivot to first position + + ANNcoord c = PA(l,d); // pivot value + i = l; + k = r; + for(;;) { // pivot about c + while (PA(++i,d) < c) ; + while (PA(--k,d) > c) ; + if (i < k) PASWAP(i,k) else break; + } + PASWAP(l,k); // pivot winds up in location k + + if (k > n_lo) r = k-1; // recurse on proper subarray + else if (k < n_lo) l = k+1; + else break; // got the median exactly + } + if (n_lo > 0) { // search for next smaller item + ANNcoord c = PA(0,d); // candidate for max + int k = 0; // candidate's index + for (int i = 1; i < n_lo; i++) { + if (PA(i,d) > c) { + c = PA(i,d); + k = i; + } + } + PASWAP(n_lo-1, k); // max among pa[0..n_lo-1] to pa[n_lo-1] + } + // cut value is midpoint value + cv = (PA(n_lo-1,d) + PA(n_lo,d))/2.0; +} + +//---------------------------------------------------------------------- +// annPlaneSplit - split point array about a cutting plane +// Split the points in an array about a given plane along a +// given cutting dimension. On exit, br1 and br2 are set so +// that: +// +// pa[ 0 ..br1-1] < cv +// pa[br1..br2-1] == cv +// pa[br2.. n -1] > cv +// +// All indexing is done indirectly through the index array pidx. +// +//---------------------------------------------------------------------- + +void annPlaneSplit( // split points by a plane + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv, // cutting value + int &br1, // first break (values < cv) + int &br2) // second break (values == cv) +{ + int l = 0; + int r = n-1; + for(;;) { // partition pa[0..n-1] about cv + while (l < n && PA(l,d) < cv) l++; + while (r >= 0 && PA(r,d) >= cv) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + br1 = l; // now: pa[0..br1-1] < cv <= pa[br1..n-1] + r = n-1; + for(;;) { // partition pa[br1..n-1] about cv + while (l < n && PA(l,d) <= cv) l++; + while (r >= br1 && PA(r,d) > cv) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + br2 = l; // now: pa[br1..br2-1] == cv < pa[br2..n-1] +} + + +//---------------------------------------------------------------------- +// annBoxSplit - split point array about a orthogonal rectangle +// Split the points in an array about a given orthogonal +// rectangle. On exit, n_in is set to the number of points +// that are inside (or on the boundary of) the rectangle. +// +// All indexing is done indirectly through the index array pidx. +// +//---------------------------------------------------------------------- + +void annBoxSplit( // split points by a box + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension of space + ANNorthRect &box, // the box + int &n_in) // number of points inside (returned) +{ + int l = 0; + int r = n-1; + for(;;) { // partition pa[0..n-1] about box + while (l < n && box.inside(dim, PP(l))) l++; + while (r >= 0 && !box.inside(dim, PP(r))) r--; + if (l > r) break; + PASWAP(l,r); + l++; r--; + } + n_in = l; // now: pa[0..n_in-1] inside and rest outside +} + +//---------------------------------------------------------------------- +// annSplitBalance - compute balance factor for a given plane split +// Balance factor is defined as the number of points lying +// below the splitting value minus n/2 (median). Thus, a +// median split has balance 0, left of this is negative and +// right of this is positive. (The points are unchanged.) +//---------------------------------------------------------------------- + +int annSplitBalance( // determine balance factor of a split + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv) // cutting value +{ + int n_lo = 0; + for(int i = 0; i < n; i++) { // count number less than cv + if (PA(i,d) < cv) n_lo++; + } + return n_lo - n/2; +} + +//---------------------------------------------------------------------- +// annBox2Bnds - convert bounding box to list of bounds +// Given two boxes, an inner box enclosed within a bounding +// box, this routine determines all the sides for which the +// inner box is strictly contained with the bounding box, +// and adds an appropriate entry to a list of bounds. Then +// we allocate storage for the final list of bounds, and return +// the resulting list and its size. +//---------------------------------------------------------------------- + +void annBox2Bnds( // convert inner box to bounds + const ANNorthRect &inner_box, // inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int &n_bnds, // number of bounds (returned) + ANNorthHSArray &bnds) // bounds array (returned) +{ + int i; + n_bnds = 0; // count number of bounds + for (i = 0; i < dim; i++) { + if (inner_box.lo[i] > bnd_box.lo[i]) // low bound is inside + n_bnds++; + if (inner_box.hi[i] < bnd_box.hi[i]) // high bound is inside + n_bnds++; + } + + bnds = new ANNorthHalfSpace[n_bnds]; // allocate appropriate size + + int j = 0; + for (i = 0; i < dim; i++) { // fill the array + if (inner_box.lo[i] > bnd_box.lo[i]) { + bnds[j].cd = i; + bnds[j].cv = inner_box.lo[i]; + bnds[j].sd = +1; + j++; + } + if (inner_box.hi[i] < bnd_box.hi[i]) { + bnds[j].cd = i; + bnds[j].cv = inner_box.hi[i]; + bnds[j].sd = -1; + j++; + } + } +} + +//---------------------------------------------------------------------- +// annBnds2Box - convert list of bounds to bounding box +// Given an enclosing box and a list of bounds, this routine +// computes the corresponding inner box. It is assumed that +// the box points have been allocated already. +//---------------------------------------------------------------------- + +void annBnds2Box( + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int n_bnds, // number of bounds + ANNorthHSArray bnds, // bounds array + ANNorthRect &inner_box) // inner box (returned) +{ + annAssignRect(dim, inner_box, bnd_box); // copy bounding box to inner + + for (int i = 0; i < n_bnds; i++) { + bnds[i].project(inner_box.lo); // project each endpoint + bnds[i].project(inner_box.hi); + } +} diff --git a/3rdparty/ann_1.1.1_modified/src/kd_util.h b/3rdparty/ann_1.1.1_modified/src/kd_util.h new file mode 100755 index 0000000..6b43430 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/kd_util.h @@ -0,0 +1,124 @@ +//---------------------------------------------------------------------- +// File: kd_util.h +// Programmer: Sunil Arya and David Mount +// Description: Common utilities for kd- trees +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef ANN_kd_util_H +#define ANN_kd_util_H + +#include "kd_tree.h" // kd-tree declarations + +//---------------------------------------------------------------------- +// externally accessible functions +//---------------------------------------------------------------------- + +double annAspectRatio( // compute aspect ratio of box + int dim, // dimension + const ANNorthRect &bnd_box); // bounding cube + +void annEnclRect( // compute smallest enclosing rectangle + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds); // bounding cube (returned) + +void annEnclCube( // compute smallest enclosing cube + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension + ANNorthRect &bnds); // bounding cube (returned) + +ANNdist annBoxDistance( // compute distance from point to box + const ANNpoint q, // the point + const ANNpoint lo, // low point of box + const ANNpoint hi, // high point of box + int dim); // dimension of space + +ANNcoord annSpread( // compute point spread along dimension + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d); // dimension to check + +void annMinMax( // compute min and max coordinates along dim + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension to check + ANNcoord& min, // minimum value (returned) + ANNcoord& max); // maximum value (returned) + +int annMaxSpread( // compute dimension of max spread + ANNpointArray pa, // point array + ANNidxArray pidx, // point indices + int n, // number of points + int dim); // dimension of space + +void annMedianSplit( // split points along median value + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord &cv, // cutting value + int n_lo); // split into n_lo and n-n_lo + +void annPlaneSplit( // split points by a plane + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv, // cutting value + int &br1, // first break (values < cv) + int &br2); // second break (values == cv) + +void annBoxSplit( // split points by a box + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int dim, // dimension of space + ANNorthRect &box, // the box + int &n_in); // number of points inside (returned) + +int annSplitBalance( // determine balance factor of a split + ANNpointArray pa, // points to split + ANNidxArray pidx, // point indices + int n, // number of points + int d, // dimension along which to split + ANNcoord cv); // cutting value + +void annBox2Bnds( // convert inner box to bounds + const ANNorthRect &inner_box, // inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int &n_bnds, // number of bounds (returned) + ANNorthHSArray &bnds); // bounds array (returned) + +void annBnds2Box( // convert bounds to inner box + const ANNorthRect &bnd_box, // enclosing box + int dim, // dimension of space + int n_bnds, // number of bounds + ANNorthHSArray bnds, // bounds array + ANNorthRect &inner_box); // inner box (returned) + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/perf.cpp b/3rdparty/ann_1.1.1_modified/src/perf.cpp new file mode 100755 index 0000000..91bb044 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/perf.cpp @@ -0,0 +1,134 @@ +//---------------------------------------------------------------------- +// File: perf.cpp +// Programmer: Sunil Arya and David Mount +// Description: Methods for performance stats +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Changed names to avoid namespace conflicts. +// Added flush after printing performance stats to fix bug +// in Microsoft Windows version. +//---------------------------------------------------------------------- + +#include // basic ANN includes +#include // performance includes + +using namespace std; // make std:: available + +//---------------------------------------------------------------------- +// Performance statistics +// The following data and routines are used for computing +// performance statistics for nearest neighbor searching. +// Because these routines can slow the code down, they can be +// activated and deactiviated by defining the PERF variable, +// by compiling with the option: -DPERF +//---------------------------------------------------------------------- + +//---------------------------------------------------------------------- +// Global counters for performance measurement +//---------------------------------------------------------------------- + +int ann_Ndata_pts = 0; // number of data points +int ann_Nvisit_lfs = 0; // number of leaf nodes visited +int ann_Nvisit_spl = 0; // number of splitting nodes visited +int ann_Nvisit_shr = 0; // number of shrinking nodes visited +int ann_Nvisit_pts = 0; // visited points for one query +int ann_Ncoord_hts = 0; // coordinate hits for one query +int ann_Nfloat_ops = 0; // floating ops for one query +ANNsampStat ann_visit_lfs; // stats on leaf nodes visits +ANNsampStat ann_visit_spl; // stats on splitting nodes visits +ANNsampStat ann_visit_shr; // stats on shrinking nodes visits +ANNsampStat ann_visit_nds; // stats on total nodes visits +ANNsampStat ann_visit_pts; // stats on points visited +ANNsampStat ann_coord_hts; // stats on coordinate hits +ANNsampStat ann_float_ops; // stats on floating ops +// +ANNsampStat ann_average_err; // average error +ANNsampStat ann_rank_err; // rank error + +//---------------------------------------------------------------------- +// Routines for statistics. +//---------------------------------------------------------------------- + +DLL_API void annResetStats(int data_size) // reset stats for a set of queries +{ + ann_Ndata_pts = data_size; + ann_visit_lfs.reset(); + ann_visit_spl.reset(); + ann_visit_shr.reset(); + ann_visit_nds.reset(); + ann_visit_pts.reset(); + ann_coord_hts.reset(); + ann_float_ops.reset(); + ann_average_err.reset(); + ann_rank_err.reset(); +} + +DLL_API void annResetCounts() // reset counts for one query +{ + ann_Nvisit_lfs = 0; + ann_Nvisit_spl = 0; + ann_Nvisit_shr = 0; + ann_Nvisit_pts = 0; + ann_Ncoord_hts = 0; + ann_Nfloat_ops = 0; +} + +DLL_API void annUpdateStats() // update stats with current counts +{ + ann_visit_lfs += ann_Nvisit_lfs; + ann_visit_nds += ann_Nvisit_spl + ann_Nvisit_lfs; + ann_visit_spl += ann_Nvisit_spl; + ann_visit_shr += ann_Nvisit_shr; + ann_visit_pts += ann_Nvisit_pts; + ann_coord_hts += ann_Ncoord_hts; + ann_float_ops += ann_Nfloat_ops; +} + + // print a single statistic +void print_one_stat(char *title, ANNsampStat s, double div) +{ + cout << title << "= [ "; + cout.width(9); cout << s.mean()/div << " : "; + cout.width(9); cout << s.stdDev()/div << " ]<"; + cout.width(9); cout << s.min()/div << " , "; + cout.width(9); cout << s.max()/div << " >\n"; +} + +DLL_API void annPrintStats( // print statistics for a run + ANNbool validate) // true if average errors desired +{ + cout.precision(4); // set floating precision + cout << " (Performance stats: " + << " [ mean : stddev ]< min , max >\n"; + print_one_stat(" leaf_nodes ", ann_visit_lfs, 1); + print_one_stat(" splitting_nodes ", ann_visit_spl, 1); + print_one_stat(" shrinking_nodes ", ann_visit_shr, 1); + print_one_stat(" total_nodes ", ann_visit_nds, 1); + print_one_stat(" points_visited ", ann_visit_pts, 1); + print_one_stat(" coord_hits/pt ", ann_coord_hts, ann_Ndata_pts); + print_one_stat(" floating_ops_(K) ", ann_float_ops, 1000); + if (validate) { + print_one_stat(" average_error ", ann_average_err, 1); + print_one_stat(" rank_error ", ann_rank_err, 1); + } + cout.precision(0); // restore the default + cout << " )\n"; + cout.flush(); +} diff --git a/3rdparty/ann_1.1.1_modified/src/pr_queue.h b/3rdparty/ann_1.1.1_modified/src/pr_queue.h new file mode 100755 index 0000000..3f4b75c --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/pr_queue.h @@ -0,0 +1,125 @@ +//---------------------------------------------------------------------- +// File: pr_queue.h +// Programmer: Sunil Arya and David Mount +// Description: Include file for priority queue and related +// structures. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef PR_QUEUE_H +#define PR_QUEUE_H + +#include // all ANN includes +#include // performance evaluation + +//---------------------------------------------------------------------- +// Basic types. +//---------------------------------------------------------------------- +typedef void *PQinfo; // info field is generic pointer +typedef ANNdist PQkey; // key field is distance + +//---------------------------------------------------------------------- +// Priority queue +// A priority queue is a list of items, along with associated +// priorities. The basic operations are insert and extract_minimum. +// +// The priority queue is maintained using a standard binary heap. +// (Implementation note: Indexing is performed from [1..max] rather +// than the C standard of [0..max-1]. This simplifies parent/child +// computations.) User information consists of a void pointer, +// and the user is responsible for casting this quantity into whatever +// useful form is desired. +// +// Because the priority queue is so central to the efficiency of +// query processing, all the code is inline. +//---------------------------------------------------------------------- + +class ANNpr_queue { + + struct pq_node { // node in priority queue + PQkey key; // key value + PQinfo info; // info field + }; + int n; // number of items in queue + int max_size; // maximum queue size + pq_node *pq; // the priority queue (array of nodes) + +public: + ANNpr_queue(int max) // constructor (given max size) + { + n = 0; // initially empty + max_size = max; // maximum number of items + pq = new pq_node[max+1]; // queue is array [1..max] of nodes + } + + ~ANNpr_queue() // destructor + { delete [] pq; } + + ANNbool empty() // is queue empty? + { if (n==0) return ANNtrue; else return ANNfalse; } + + ANNbool non_empty() // is queue nonempty? + { if (n==0) return ANNfalse; else return ANNtrue; } + + void reset() // make existing queue empty + { n = 0; } + + inline void insert( // insert item (inlined for speed) + PQkey kv, // key value + PQinfo inf) // item info + { + if (++n > max_size) annError("Priority queue overflow.", ANNabort); + register int r = n; + while (r > 1) { // sift up new item + register int p = r/2; + ANN_FLOP(1) // increment floating ops + if (pq[p].key <= kv) // in proper order + break; + pq[r] = pq[p]; // else swap with parent + r = p; + } + pq[r].key = kv; // insert new item at final location + pq[r].info = inf; + } + + inline void extr_min( // extract minimum (inlined for speed) + PQkey &kv, // key (returned) + PQinfo &inf) // item info (returned) + { + kv = pq[1].key; // key of min item + inf = pq[1].info; // information of min item + register PQkey kn = pq[n--].key;// last item in queue + register int p = 1; // p points to item out of position + register int r = p<<1; // left child of p + while (r <= n) { // while r is still within the heap + ANN_FLOP(2) // increment floating ops + // set r to smaller child of p + if (r < n && pq[r].key > pq[r+1].key) r++; + if (kn <= pq[r].key) // in proper order + break; + pq[p] = pq[r]; // else swap with child + p = r; // advance pointers + r = p<<1; + } + pq[p] = pq[n+1]; // insert last item in proper place + } +}; + +#endif diff --git a/3rdparty/ann_1.1.1_modified/src/pr_queue_k.h b/3rdparty/ann_1.1.1_modified/src/pr_queue_k.h new file mode 100755 index 0000000..c2f01c3 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/src/pr_queue_k.h @@ -0,0 +1,118 @@ +//---------------------------------------------------------------------- +// File: pr_queue_k.h +// Programmer: Sunil Arya and David Mount +// Description: Include file for priority queue with k items. +// Last modified: 01/04/05 (Version 1.0) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +//---------------------------------------------------------------------- + +#ifndef PR_QUEUE_K_H +#define PR_QUEUE_K_H + +#include // all ANN includes +#include // performance evaluation + +//---------------------------------------------------------------------- +// Basic types +//---------------------------------------------------------------------- +typedef ANNdist PQKkey; // key field is distance +typedef int PQKinfo; // info field is int + +//---------------------------------------------------------------------- +// Constants +// The NULL key value is used to initialize the priority queue, and +// so it should be larger than any valid distance, so that it will +// be replaced as legal distance values are inserted. The NULL +// info value must be a nonvalid array index, we use ANN_NULL_IDX, +// which is guaranteed to be negative. +//---------------------------------------------------------------------- + +const PQKkey PQ_NULL_KEY = ANN_DIST_INF; // nonexistent key value +const PQKinfo PQ_NULL_INFO = ANN_NULL_IDX; // nonexistent info value + +//---------------------------------------------------------------------- +// ANNmin_k +// An ANNmin_k structure is one which maintains the smallest +// k values (of type PQKkey) and associated information (of type +// PQKinfo). The special info and key values PQ_NULL_INFO and +// PQ_NULL_KEY means that thise entry is empty. +// +// It is currently implemented using an array with k items. +// Items are stored in increasing sorted order, and insertions +// are made through standard insertion sort. (This is quite +// inefficient, but current applications call for small values +// of k and relatively few insertions.) +// +// Note that the list contains k+1 entries, but the last entry +// is used as a simple placeholder and is otherwise ignored. +//---------------------------------------------------------------------- + +class ANNmin_k { + struct mk_node { // node in min_k structure + PQKkey key; // key value + PQKinfo info; // info field (user defined) + }; + + int k; // max number of keys to store + int n; // number of keys currently active + mk_node *mk; // the list itself + +public: + ANNmin_k(int max) // constructor (given max size) + { + n = 0; // initially no items + k = max; // maximum number of items + mk = new mk_node[max+1]; // sorted array of keys + } + + ~ANNmin_k() // destructor + { delete [] mk; } + + PQKkey ANNmin_key() // return minimum key + { return (n > 0 ? mk[0].key : PQ_NULL_KEY); } + + PQKkey max_key() // return maximum key + { return (n == k ? mk[k-1].key : PQ_NULL_KEY); } + + PQKkey ith_smallest_key(int i) // ith smallest key (i in [0..n-1]) + { return (i < n ? mk[i].key : PQ_NULL_KEY); } + + PQKinfo ith_smallest_info(int i) // info for ith smallest (i in [0..n-1]) + { return (i < n ? mk[i].info : PQ_NULL_INFO); } + + inline void insert( // insert item (inlined for speed) + PQKkey kv, // key value + PQKinfo inf) // item info + { + register int i; + // slide larger values up + for (i = n; i > 0; i--) { + if (mk[i-1].key > kv) + mk[i] = mk[i-1]; + else + break; + } + mk[i].key = kv; // store element here + mk[i].info = inf; + if (n < k) n++; // increment number of items + ANN_FLOP(k-i+1) // increment floating ops + } +}; + +#endif diff --git a/3rdparty/ann_1.1.1_modified/test/Makefile b/3rdparty/ann_1.1.1_modified/test/Makefile new file mode 100755 index 0000000..c3e0233 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/Makefile @@ -0,0 +1,96 @@ +#----------------------------------------------------------------------------- +# Makefile for the test and evaluation program +# +# ANN: Approximate Nearest Neighbors +# Version: 1.1.1 08/04/06 +#----------------------------------------------------------------------------- +# Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +# David Mount. All Rights Reserved. +# +# This software and related documentation is part of the Approximate +# Nearest Neighbor Library (ANN). This software is provided under +# the provisions of the Lesser GNU Public License (LGPL). See the +# file ../ReadMe.txt for further information. +# +# The University of Maryland (U.M.) and the authors make no +# representations about the suitability or fitness of this software for +# any purpose. It is provided "as is" without express or implied +# warranty. +#----------------------------------------------------------------------------- +# Revision 0.1 03/04/98 +# Initial release +# Revision 1.1.1 08/04/06 +# Added copyright/license +#----------------------------------------------------------------------------- +# Note: For full performance measurements, it is assumed that the library +# and this program have both been compiled with the -DANN_PERF flag. See +# the Makefile in the ANN base directory for this flag. +#----------------------------------------------------------------------------- + +#----------------------------------------------------------------------------- +# Basic definitions +# BASEDIR where include, src, lib, ... are +# INCDIR include directory +# LIBDIR library directory +# BINDIR bin directory +# LDFLAGS loader flags +# ANNLIBS ANN library +# OTHERLIBS other libraries +#----------------------------------------------------------------------------- + +BASEDIR = .. +INCDIR = $(BASEDIR)/include +LIBDIR = $(BASEDIR)/lib +BINDIR = $(BASEDIR)/bin +LDFLAGS = -L$(LIBDIR) +ANNLIBS = -lANN +OTHERLIBS = -lm + +#----------------------------------------------------------------------------- +# Some more definitions +# ANNTEST name of test program +#----------------------------------------------------------------------------- + +ANNTEST = ann_test + +HEADERS = rand.h +TESTSOURCES = ann_test.cpp rand.cpp +TESTOBJECTS = $(TESTSOURCES:.cpp=.o) + +#----------------------------------------------------------------------------- +# Make the program +#----------------------------------------------------------------------------- + +default: + @echo "Specify a target configuration" + +targets: $(BINDIR)/$(ANNTEST) + +$(BINDIR)/$(ANNTEST): $(TESTOBJECTS) $(LIBDIR)/$(ANNLIB) + $(C++) $(TESTOBJECTS) -o $(ANNTEST) $(LDFLAGS) $(ANNLIBS) $(OTHERLIBS) + mv $(ANNTEST) $(BINDIR) + +#----------------------------------------------------------------------------- +# configuration definitions +#----------------------------------------------------------------------------- + +include ../Make-config + +#----------------------------------------------------------------------------- +# Objects +#----------------------------------------------------------------------------- + +ann_test.o: ann_test.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) ann_test.cpp + +rand.o: rand.cpp + $(C++) -c -I$(INCDIR) $(CFLAGS) rand.cpp + +#----------------------------------------------------------------------------- +# Cleaning +#----------------------------------------------------------------------------- + +clean: + -rm -f *.o *.out core + +realclean: clean diff --git a/3rdparty/ann_1.1.1_modified/test/ann_test.cpp b/3rdparty/ann_1.1.1_modified/test/ann_test.cpp new file mode 100755 index 0000000..7bee44d --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/ann_test.cpp @@ -0,0 +1,1640 @@ +//---------------------------------------------------------------------- +// File: ann_test.cpp +// Programmer: Sunil Arya and David Mount +// Description: test program for ANN (approximate nearest neighbors) +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 0.2 06/26/98 +// Added CLOCKS_PER_SEC definition if needed +// Revision 1.0 04/01/05 +// Added comments (from "#" to eol) +// Added clus_orth_flats and clus_ellipsoids distributions +// Fixed order of fair and midpt in split_table +// Added dump/load operations +// Cleaned up C++ for modern compilers +// Revision 1.1 05/03/05 +// Added fixed radius kNN search +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#include // clock +#include // math routines +#include // C string ops +#include // file I/O + +#include // ANN declarations +#include // more ANN declarations +#include // performance evaluation + +#include "rand.h" // random point generation + +#ifndef CLOCKS_PER_SEC // define clocks-per-second if needed + #define CLOCKS_PER_SEC 1000000 +#endif + +using namespace std; // make std:: available + +//---------------------------------------------------------------------- +// ann_test +// +// This program is a driver for testing and evaluating the ANN library +// for computing approximate nearest neighbors. It allows the user to +// generate data and query sets of various sizes, dimensions, and +// distributions, to build kd- and bbd-trees of various types, and then +// run queries and outputting various performance statistics. +// +// Overview: +// --------- +// The test program is run as follows: +// +// ann_test < test_input > test_output +// +// where the test_input file contains a list of directives as described +// below. Directives consist of a directive name, followed by list of +// arguments (depending on the directive). Arguments and directives are +// separated by white space (blank, tab, and newline). String arguments +// are not quoted, and consist of a string of nonwhite chacters. A +// character "#" denotes a comment. The following characters up to +// the end of line are ignored. Comments may only be inserted between +// directives (not within the argument list of a directive). +// +// Basic operations: +// ----------------- +// The test program can perform the following operations. How these +// operations are performed depends on the options which are described +// later. +// +// Data Generation: +// ---------------- +// read_data_pts Create a set of data points whose +// coordinates are input from file . +// gen_data_pts Create a set of data points whose +// coordinates are generated from the +// current point distribution. +// +// Building the tree: +// ------------------ +// build_ann Generate an approximate nearest neighbor +// structure for the current data set, using +// the selected splitting rules. Any existing +// tree will be destroyed. +// +// Query Generation/Searching: +// --------------------------- +// read_query_pts Create a set of query points whose +// coordinates are input from file . +// gen_query_pts Create a set of query points whose +// coordinates are generated from the +// current point distribution. +// run_queries Apply nearest neighbor searching to the +// query points using the approximate nearest +// neighbor structure and the given search +// strategy. Possible strategies are: +// standard = standard kd-tree search +// priority = priority search +// +// Miscellaneous: +// -------------- +// output_label Output a label to the output file. +// dump Dump the current structure to given file. +// (The dump format is explained further in +// the source file kd_tree.cc.) +// load Load a tree from a data file which was +// created by the dump operation. Any +// existing tree will be destroyed. +// +// Options: +// -------- +// How these operations are performed depends on a set of options. +// If an option is not specified, a default value is used. An option +// retains its value until it is set again. String inputs are not +// enclosed in quotes, and must contain no embedded white space (sorry, +// this is C++'s convention). +// +// Options affecting search tree structure: +// ---------------------------------------- +// split_rule Type of splitting rule to use in building +// the search tree. Choices are: +// kd = optimized kd-tree +// midpt = midpoint split +// fair = fair split +// sl_midpt = sliding midpt split +// sl_fair = sliding fair split +// suggest = authors' choice for best +// The default is "suggest". See the file +// kd_split.cc for more detailed information. +// +// shrink_rule Type of shrinking rule to use in building +// a bd-tree data structure. If "none" is +// given, then no shrinking is performed and +// the result is a kd-tree. Choices are: +// none = perform no shrinking +// simple = simple shrinking +// centroid = centroid shrinking +// suggest = authors' choice for best +// The default is "none". See the file +// bd_tree.cc for more information. +// bucket_size Bucket size, that is, the maximum number of +// points stored in each leaf node. +// +// Options affecting data and query point generation: +// -------------------------------------------------- +// dim Dimension of space. +// seed Seed for random number generation. +// data_size Number of data points. When reading data +// points from a file, this indicates the +// maximum number of points for storage +// allocation. Default = 100. +// query_size Same as data_size for query points. +// std_dev Standard deviation (used in gauss, +// planted, and clustered distributions). +// This is the "small" distribution for +// clus_ellipsoids. Default = 1. +// std_dev_lo Low and high standard deviations (used in +// std_dev_hi clus_ellipsoids). Default = 1. +// corr_coef Correlation coefficient (used in co-gauss +// and co_lapace distributions). Default = 0.05. +// colors Number of color classes (clusters) (used +// in the clustered distributions). Default = 5. +// new_clust Once generated, cluster centers are not +// normally regenerated. This is so that both +// query points and data points can be generated +// using the same set of clusters. This option +// forces new cluster centers to be generated +// with the next generation of either data or +// query points. +// max_clus_dim Maximum dimension of clusters (used in +// clus_orth_flats and clus_ellipsoids). +// Default = 1. +// distribution Type of input distribution +// uniform = uniform over cube [-1,1]^d. +// gauss = Gaussian with mean 0 +// laplace = Laplacian, mean 0 and var 1 +// co_gauss = correlated Gaussian +// co_laplace = correlated Laplacian +// clus_gauss = clustered Gaussian +// clus_orth_flats = clusters of orth flats +// clus_ellipsoids = clusters of ellipsoids +// planted = planted distribution +// See the file rand.cpp for further information. +// +// Options affecting nearest neighbor search: +// ------------------------------------------ +// epsilon Error bound for approx. near neigh. search. +// near_neigh Number of nearest neighbors to compute. +// max_pts_visit Maximum number of points to visit before +// terminating. (Used in applications where +// real-time performance is important.) +// (Default = 0, which means no limit.) +// radius_bound Sets an upper bound on the nearest +// neighbor search radius. If the bound is +// positive, then fixed-radius nearest +// neighbor searching is performed, and the +// count of the number of points in the +// range is returned. If the bound is +// zero, then standard search is used. +// This can only be used with standard, not +// priority, search. (Default = 0, which +// means standard search.) +// +// Options affection general program behavior: +// ------------------------------------------- +// stats Level of statistics output +// silent = no output, +// exec_time += execution time only +// prep_stats += preprocessing statistics +// query_stats += query performance stats +// query_res += results of queries +// show_pts += show the data points +// show_struct += print search structure +// validate Validate experiment and compute average +// error. Since validation causes exact +// nearest neighbors to be computed by the +// brute force method, this can take a long +// time. Valid arguments are: +// on = turn validation on +// off = turn validation off +// true_near_neigh Number of true nearest neighbors to compute. +// When validating, we compute the difference +// in rank between each reported nearest neighbor +// and the true nearest neighbor of the same +// rank. Thus it is necessary to compute a +// few more true nearest neighbors. By default +// we compute 10 more than near_neigh. With +// this option the exact number can be set. +// (Used only when validating.) +// +// Example: +// -------- +// output_label test_run_0 # output label for this run +// validate off # do not perform validation +// dim 16 # points in dimension 16 +// stats query_stats # output performance statistics for queries +// seed 121212 # random number seed +// data_size 1000 +// distribution uniform +// gen_data_pts # 1000 uniform data points in dim 16 +// query_size 100 +// std_dev 0.05 +// distribution clus_gauss +// gen_query_pts # 100 points in 10 clusters with std_dev 0.05 +// bucket_size 2 +// split_rule kd +// shrink_rule none +// build_ann # kd-tree, bucket size 2 +// epsilon 0.1 +// near_neigh 5 +// max_pts_visit 100 # stop search if more than 100 points seen +// run_queries standard # run queries; 5 nearest neighbors, 10% error +// data_size 500 +// read_data_pts data.in # read up to 500 points from file data.in +// split_rule sl_midpt +// shrink_rule simple +// build_ann # bd-tree; simple shrink, sliding midpoint split +// epsilon 0 +// run_queries priority # run same queries; 0 allowable error +// +//------------------------------------------------------------------------ + +//------------------------------------------------------------------------ +// Constants +//------------------------------------------------------------------------ + +const int STRING_LEN = 500; // max string length +const double ERR = 0.00001; // epsilon (for float compares) + +//------------------------------------------------------------------------ +// Enumerated values and conversions +//------------------------------------------------------------------------ + +typedef enum {DATA, QUERY} PtType; // point types + +//------------------------------------------------------------------------ +// Statistics output levels +//------------------------------------------------------------------------ + +typedef enum { // stat levels + SILENT, // no output + EXEC_TIME, // just execution time + PREP_STATS, // preprocessing info + QUERY_STATS, // query performance + QUERY_RES, // query results + SHOW_PTS, // show data points + SHOW_STRUCT, // show tree structure + N_STAT_LEVELS} // number of levels + StatLev; + +const char stat_table[N_STAT_LEVELS][STRING_LEN] = { + "silent", // SILENT + "exec_time", // EXEC_TIME + "prep_stats", // PREP_STATS + "query_stats", // QUERY_STATS + "query_res", // QUERY_RES + "show_pts", // SHOW_PTS + "show_struct"}; // SHOW_STRUCT + +//------------------------------------------------------------------------ +// Distributions +//------------------------------------------------------------------------ + +typedef enum { // distributions + UNIFORM, // uniform over cube [-1,1]^d. + GAUSS, // Gaussian with mean 0 + LAPLACE, // Laplacian, mean 0 and var 1 + CO_GAUSS, // correlated Gaussian + CO_LAPLACE, // correlated Laplacian + CLUS_GAUSS, // clustered Gaussian + CLUS_ORTH_FLATS, // clustered on orthog flats + CLUS_ELLIPSOIDS, // clustered on ellipsoids + PLANTED, // planted distribution + N_DISTRIBS} + Distrib; + +const char distr_table[N_DISTRIBS][STRING_LEN] = { + "uniform", // UNIFORM + "gauss", // GAUSS + "laplace", // LAPLACE + "co_gauss", // CO_GAUSS + "co_laplace", // CO_LAPLACE + "clus_gauss", // CLUS_GAUSS + "clus_orth_flats", // CLUS_ORTH_FLATS + "clus_ellipsoids", // CLUS_ELLIPSOIS + "planted"}; // PLANTED + +//------------------------------------------------------------------------ +// Splitting rules for kd-trees (see ANN.h for types) +//------------------------------------------------------------------------ + +const int N_SPLIT_RULES = 6; +const char split_table[N_SPLIT_RULES][STRING_LEN] = { + "standard", // standard optimized kd-tree + "midpt", // midpoint split + "fair", // fair split + "sl_midpt", // sliding midpt split + "sl_fair", // sliding fair split + "suggest"}; // authors' choice for best + +//------------------------------------------------------------------------ +// Shrinking rules for bd-trees (see ANN.h for types) +//------------------------------------------------------------------------ + +const int N_SHRINK_RULES = 4; +const char shrink_table[N_SHRINK_RULES][STRING_LEN] = { + "none", // perform no shrinking (kd-tree) + "simple", // simple shrinking + "centroid", // centroid shrinking + "suggest"}; // authors' choice for best + +//---------------------------------------------------------------------- +// Short utility functions +// Error - general error routine +// printPoint - print a point to standard output +// lookUp - look up a name in table and return index +//---------------------------------------------------------------------- + +void Error( // error routine + char *msg, // error message + ANNerr level) // abort afterwards +{ + if (level == ANNabort) { + cerr << "ann_test: ERROR------->" << msg << "<-------------ERROR\n"; + exit(1); + } + else { + cerr << "ann_test: WARNING----->" << msg << "<-------------WARNING\n"; + } +} + +void printPoint( // print point + ANNpoint p, // the point + int dim) // the dimension +{ + cout << "["; + for (int i = 0; i < dim; i++) { + cout << p[i]; + if (i < dim-1) cout << ","; + } + cout << "]"; +} + +int lookUp( // look up name in table + const char *arg, // name to look up + const char (*table)[STRING_LEN], // name table + int size) // table size +{ + int i; + for (i = 0; i < size; i++) { + if (!strcmp(arg, table[i])) return i; + } + return i; +} + +//------------------------------------------------------------------------ +// Function declarations +//------------------------------------------------------------------------ + +void generatePts( // generate data/query points + ANNpointArray &pa, // point array (returned) + int n, // number of points + PtType type, // point type + ANNbool new_clust, // new cluster centers desired? + ANNpointArray src = NULL, // source array (for PLANTED) + int n_src = 0); // source size (for PLANTED) + +void readPts( // read data/query points from file + ANNpointArray &pa, // point array (returned) + int &n, // number of points + char *file_nm, // file name + PtType type); // point type (DATA, QUERY) + +void doValidation(); // perform validation +void getTrueNN(); // compute true nearest neighbors + +void treeStats( // print statistics on kd- or bd-tree + ostream &out, // output stream + ANNbool verbose); // print stats + +//------------------------------------------------------------------------ +// Default execution parameters +//------------------------------------------------------------------------ +const int extra_nn = 10; // how many extra true nn's? + +const int def_dim = 2; // def dimension +const int def_data_size = 100; // def data size +const int def_query_size = 100; // def number of queries +const int def_n_color = 5; // def number of colors +const ANNbool def_new_clust = ANNfalse; // def new clusters flag +const int def_max_dim = 1; // def max flat dimension +const Distrib def_distr = UNIFORM; // def distribution +const double def_std_dev = 1.00; // def standard deviation +const double def_corr_coef = 0.05; // def correlation coef +const int def_bucket_size = 1; // def bucket size +const double def_epsilon = 0.0; // def error bound +const int def_near_neigh = 1; // def number of near neighbors +const int def_max_visit = 0; // def number of points visited +const int def_rad_bound = 0; // def radius bound + // def number of true nn's +const int def_true_nn = def_near_neigh + extra_nn; +const int def_seed = 0; // def seed for random numbers +const ANNbool def_validate = ANNfalse; // def validation flag + // def statistics output level +const StatLev def_stats = QUERY_STATS; +const ANNsplitRule // def splitting rule + def_split = ANN_KD_SUGGEST; +const ANNshrinkRule // def shrinking rule + def_shrink = ANN_BD_NONE; + +//------------------------------------------------------------------------ +// Global variables - Execution options +//------------------------------------------------------------------------ + +int dim; // dimension +int data_size; // data size +int query_size; // number of queries +int n_color; // number of colors +ANNbool new_clust; // generate new clusters? +int max_dim; // maximum flat dimension +Distrib distr; // distribution +double corr_coef; // correlation coef +double std_dev; // standard deviation +double std_dev_lo; // low standard deviation +double std_dev_hi; // high standard deviation +int bucket_size; // bucket size +double epsilon; // error bound +int near_neigh; // number of near neighbors +int max_pts_visit; // max number of points to visit +double radius_bound; // maximum radius search bound +int true_nn; // number of true nn's +ANNbool validate; // validation flag +StatLev stats; // statistics output level +ANNsplitRule split; // splitting rule +ANNshrinkRule shrink; // shrinking rule + +//------------------------------------------------------------------------ +// More globals - pointers to dynamically allocated arrays and structures +// +// It is assumed that all these values are set to NULL when nothing +// is allocated. +// +// data_pts, query_pts The data and query points +// the_tree Points to the kd- or bd-tree for +// nearest neighbor searching. +// apx_nn_idx, apx_dists Record approximate near neighbor +// indices and distances +// apx_pts_in_range Counts of the number of points in +// the in approx range, for fixed- +// radius NN searching. +// true_nn_idx, true_dists Record true near neighbor +// indices and distances +// min_pts_in_range, max_... Min and max counts of the number +// of points in the in approximate +// range. +// valid_dirty To avoid repeated validation, +// we only validate query results +// once. This validation becomes +// invalid, if a new tree, new data +// points or new query points have +// been generated. +// tree_data_size The number of points in the +// current tree. (This will be the +// same a data_size unless points have +// been added since the tree was +// built.) +// +// The approximate and true nearest neighbor results are stored +// in: apx_nn_idx, apx_dists, and true_nn_idx, true_dists. +// They are really flattened 2-dimensional arrays. Each of these +// arrays consists of query_size blocks, each of which contains +// near_neigh (or true_nn) entries, one for each of the nearest +// neighbors for a given query point. +//------------------------------------------------------------------------ + +ANNpointArray data_pts; // data points +ANNpointArray query_pts; // query points +ANNbd_tree* the_tree; // kd- or bd-tree search structure +ANNidxArray apx_nn_idx; // storage for near neighbor indices +ANNdistArray apx_dists; // storage for near neighbor distances +int* apx_pts_in_range; // storage for no. of points in range +ANNidxArray true_nn_idx; // true near neighbor indices +ANNdistArray true_dists; // true near neighbor distances +int* min_pts_in_range; // min points in approx range +int* max_pts_in_range; // max points in approx range + +ANNbool valid_dirty; // validation is no longer valid + +//------------------------------------------------------------------------ +// Initialize global parameters +//------------------------------------------------------------------------ + +void initGlobals() +{ + dim = def_dim; // init execution parameters + data_size = def_data_size; + query_size = def_query_size; + distr = def_distr; + corr_coef = def_corr_coef; + std_dev = def_std_dev; + std_dev_lo = def_std_dev; + std_dev_hi = def_std_dev; + new_clust = def_new_clust; + max_dim = def_max_dim; + n_color = def_n_color; + bucket_size = def_bucket_size; + epsilon = def_epsilon; + near_neigh = def_near_neigh; + max_pts_visit = def_max_visit; + radius_bound = def_rad_bound; + true_nn = def_true_nn; + validate = def_validate; + stats = def_stats; + split = def_split; + shrink = def_shrink; + annIdum = -def_seed; // init. global seed for ran0() + + data_pts = NULL; // initialize storage pointers + query_pts = NULL; + the_tree = NULL; + apx_nn_idx = NULL; + apx_dists = NULL; + apx_pts_in_range = NULL; + true_nn_idx = NULL; + true_dists = NULL; + min_pts_in_range = NULL; + max_pts_in_range = NULL; + + valid_dirty = ANNtrue; // (validation must be done) +} + +//------------------------------------------------------------------------ +// getDirective - skip comments and read next directive +// Returns ANNtrue if directive read, and ANNfalse if eof seen. +//------------------------------------------------------------------------ + +ANNbool skipComment( // skip any comments + istream &in) // input stream +{ + char ch = 0; + // skip whitespace + do { in.get(ch); } while (isspace(ch) && !in.eof()); + while (ch == '#' && !in.eof()) { // comment? + // skip to end of line + do { in.get(ch); } while(ch != '\n' && !in.eof()); + // skip whitespace + do { in.get(ch); } while(isspace(ch) && !in.eof()); + } + if (in.eof()) return ANNfalse; // end of file + in.putback(ch); // put character back + return ANNtrue; +} + +ANNbool getDirective( + istream &in, // input stream + char *directive) // directive storage +{ + if (!skipComment(in)) // skip comments + return ANNfalse; // found eof along the way? + in >> directive; // read directive + return ANNtrue; +} + + +//------------------------------------------------------------------------ +// main program - driver +// The main program reads input options, invokes the necessary +// routines to process them. +//------------------------------------------------------------------------ + +int main(int argc, char** argv) +{ + long clock0; // clock time + char directive[STRING_LEN]; // input directive + char arg[STRING_LEN]; // all-purpose argument + + cout << "------------------------------------------------------------\n" + << "ann_test: Version " << ANNversion << " " << ANNversionCmt << "\n" + << " Copyright: " << ANNcopyright << ".\n" + << " Latest Revision: " << ANNlatestRev << ".\n" + << "------------------------------------------------------------\n\n"; + + initGlobals(); // initialize global values + + //-------------------------------------------------------------------- + // Main input loop + //-------------------------------------------------------------------- + // read input directive + while (getDirective(cin, directive)) { + //---------------------------------------------------------------- + // Read options + //---------------------------------------------------------------- + if (!strcmp(directive,"dim")) { + cin >> dim; + } + else if (!strcmp(directive,"colors")) { + cin >> n_color; + } + else if (!strcmp(directive,"new_clust")) { + new_clust = ANNtrue; + } + else if (!strcmp(directive,"max_clus_dim")) { + cin >> max_dim; + } + else if (!strcmp(directive,"std_dev")) { + cin >> std_dev; + } + else if (!strcmp(directive,"std_dev_lo")) { + cin >> std_dev_lo; + } + else if (!strcmp(directive,"std_dev_hi")) { + cin >> std_dev_hi; + } + else if (!strcmp(directive,"corr_coef")) { + cin >> corr_coef; + } + else if (!strcmp(directive, "data_size")) { + cin >> data_size; + } + else if (!strcmp(directive,"query_size")) { + cin >> query_size; + } + else if (!strcmp(directive,"bucket_size")) { + cin >> bucket_size; + } + else if (!strcmp(directive,"epsilon")) { + cin >> epsilon; + } + else if (!strcmp(directive,"max_pts_visit")) { + cin >> max_pts_visit; + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"radius_bound")) { + cin >> radius_bound; + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"near_neigh")) { + cin >> near_neigh; + true_nn = near_neigh + extra_nn; // also reset true near neighs + valid_dirty = ANNtrue; // validation must be redone + } + else if (!strcmp(directive,"true_near_neigh")) { + cin >> true_nn; + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // seed option + // The seed is reset by setting the global annIdum to the + // negation of the seed value. See rand.cpp. + //---------------------------------------------------------------- + else if (!strcmp(directive,"seed")) { + cin >> annIdum; + annIdum = -annIdum; + } + //---------------------------------------------------------------- + // validate option + //---------------------------------------------------------------- + else if (!strcmp(directive,"validate")) { + cin >> arg; // input argument + if (!strcmp(arg, "on")) { + validate = ANNtrue; + cout << "validate = on " + << "(Warning: this may slow execution time.)\n"; + } + else if (!strcmp(arg, "off")) { + validate = ANNfalse; + } + else { + cerr << "Argument: " << arg << "\n"; + Error("validate argument must be \"on\" or \"off\"", ANNabort); + } + } + //---------------------------------------------------------------- + // distribution option + //---------------------------------------------------------------- + else if (!strcmp(directive,"distribution")) { + cin >> arg; // input name and translate + distr = (Distrib) lookUp(arg, distr_table, N_DISTRIBS); + if (distr >= N_DISTRIBS) { // not something we recognize + cerr << "Distribution: " << arg << "\n"; + Error("Unknown distribution", ANNabort); + } + } + //---------------------------------------------------------------- + // stats option + //---------------------------------------------------------------- + else if (!strcmp(directive,"stats")) { + cin >> arg; // input name and translate + stats = (StatLev) lookUp(arg, stat_table, N_STAT_LEVELS); + if (stats >= N_STAT_LEVELS) { // not something we recognize + cerr << "Stats level: " << arg << "\n"; + Error("Unknown statistics level", ANNabort); + } + if (stats > SILENT) + cout << "stats = " << arg << "\n"; + } + //---------------------------------------------------------------- + // split_rule option + //---------------------------------------------------------------- + else if (!strcmp(directive,"split_rule")) { + cin >> arg; // input split_rule name + split = (ANNsplitRule) lookUp(arg, split_table, N_SPLIT_RULES); + if (split >= N_SPLIT_RULES) { // not something we recognize + cerr << "Splitting rule: " << arg << "\n"; + Error("Unknown splitting rule", ANNabort); + } + } + //---------------------------------------------------------------- + // shrink_rule option + //---------------------------------------------------------------- + else if (!strcmp(directive,"shrink_rule")) { + cin >> arg; // input split_rule name + shrink = (ANNshrinkRule) lookUp(arg, shrink_table, N_SHRINK_RULES); + if (shrink >= N_SHRINK_RULES) { // not something we recognize + cerr << "Shrinking rule: " << arg << "\n"; + Error("Unknown shrinking rule", ANNabort); + } + } + //---------------------------------------------------------------- + // label operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"output_label")) { + cin >> arg; + if (stats > SILENT) + cout << "<" << arg << ">\n"; + } + //---------------------------------------------------------------- + // gen_data_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"gen_data_pts")) { + if (distr == PLANTED) { // planted distribution + Error("Cannot use planted distribution for data points", ANNabort); + } + generatePts( // generate data points + data_pts, // data points + data_size, // data size + DATA, // data points + new_clust); // new clusters flag + valid_dirty = ANNtrue; // validation must be redone + new_clust = ANNfalse; // reset flag + } + //---------------------------------------------------------------- + // gen_query_pts operation + // If the distribution is PLANTED, then the query points + // are planted near the data points (which must already be + // generated). + //---------------------------------------------------------------- + else if (!strcmp(directive,"gen_query_pts")) { + if (distr == PLANTED) { // planted distribution + if (data_pts == NULL) { + Error("Must generate data points before query points for planted distribution", ANNabort); + } + generatePts( // generate query points + query_pts, // point array + query_size, // number of query points + QUERY, // query points + new_clust, // new clusters flag + data_pts, // plant around data pts + data_size); + } + else { // all other distributions + generatePts( // generate query points + query_pts, // point array + query_size, // number of query points + QUERY, // query points + new_clust); // new clusters flag + } + valid_dirty = ANNtrue; // validation must be redone + new_clust = ANNfalse; // reset flag + } + //---------------------------------------------------------------- + // read_data_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"read_data_pts")) { + cin >> arg; // input file name + readPts( + data_pts, // point array + data_size, // number of points + arg, // file name + DATA); // data points + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // read_query_pts operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"read_query_pts")) { + cin >> arg; // input file name + readPts( + query_pts, // point array + query_size, // number of points + arg, // file name + QUERY); // query points + valid_dirty = ANNtrue; // validation must be redone + } + //---------------------------------------------------------------- + // build_ann operation + // We always invoke the constructor for bd-trees. Note + // that when the shrinking rule is NONE (which is true by + // default), then this constructs a kd-tree. + //---------------------------------------------------------------- + else if (!strcmp(directive,"build_ann")) { + //------------------------------------------------------------ + // Build the tree + //------------------------------------------------------------ + if (the_tree != NULL) { // tree exists already + delete the_tree; // get rid of it + } + clock0 = clock(); // start time + + the_tree = new ANNbd_tree( // build it + data_pts, // the data points + data_size, // number of points + dim, // dimension of space + bucket_size, // maximum bucket size + split, // splitting rule + shrink); // shrinking rule + + //------------------------------------------------------------ + // Print summary + //------------------------------------------------------------ + long prep_time = clock() - clock0; // end of prep time + + if (stats > SILENT) { + cout << "[Build ann-structure:\n"; + cout << " split_rule = " << split_table[split] << "\n"; + cout << " shrink_rule = " << shrink_table[shrink] << "\n"; + cout << " data_size = " << data_size << "\n"; + cout << " dim = " << dim << "\n"; + cout << " bucket_size = " << bucket_size << "\n"; + + if (stats >= EXEC_TIME) { // output processing time + cout << " process_time = " + << double(prep_time)/CLOCKS_PER_SEC << " sec\n"; + } + + if (stats >= PREP_STATS) // output or check tree stats + treeStats(cout, ANNtrue); // print tree stats + else + treeStats(cout, ANNfalse); // check stats + + if (stats >= SHOW_STRUCT) { // print the whole tree + cout << " (Structure Contents:\n"; + the_tree->Print(ANNfalse, cout); + cout << " )\n"; + } + cout << "]\n"; + } + } + //---------------------------------------------------------------- + // dump operation + //---------------------------------------------------------------- + else if (!strcmp(directive,"dump")) { + cin >> arg; // input file name + if (the_tree == NULL) { // no tree + Error("Cannot dump. No tree has been built yet", ANNwarn); + } + else { // there is a tree + // try to open file + ofstream out_dump_file(arg); + if (!out_dump_file) { + cerr << "File name: " << arg << "\n"; + Error("Cannot open dump file", ANNabort); + } + // dump the tree and points + the_tree->Dump(ANNtrue, out_dump_file); + if (stats > SILENT) { + cout << "(Tree has been dumped to file " << arg << ")\n"; + } + } + } + //---------------------------------------------------------------- + // load operation + // Since this not only loads a tree, but loads a new set + // of data points. + //---------------------------------------------------------------- + else if (!strcmp(directive,"load")) { + cin >> arg; // input file name + if (the_tree != NULL) { // tree exists already + delete the_tree; // get rid of it + } + if (data_pts != NULL) { // data points exist already + delete data_pts; // get rid of them + } + + ifstream in_dump_file(arg); // try to open file + if (!in_dump_file) { + cerr << "File name: " << arg << "\n"; + Error("Cannot open file for loading", ANNabort); + } + // build tree by loading + the_tree = new ANNbd_tree(in_dump_file); + + dim = the_tree->theDim(); // new dimension + data_size = the_tree->nPoints(); // number of points + data_pts = the_tree->thePoints(); // new points + + valid_dirty = ANNtrue; // validation must be redone + + if (stats > SILENT) { + cout << "(Tree has been loaded from file " << arg << ")\n"; + } + if (stats >= SHOW_STRUCT) { // print the tree + cout << " (Structure Contents:\n"; + the_tree->Print(ANNfalse, cout); + cout << " )\n"; + } + } + //---------------------------------------------------------------- + // run_queries operation + // This section does all the query processing. It consists + // of the following subsections: + // + // ** input the argument (standard or priority) and output + // the header describing the essential information. + // ** allocate space for the results to be stored. + // ** run the queries by invoking the appropriate search + // procedure on the query points. Print nearest neighbor + // if requested. + // ** print final summaries + // + // The approach for processing multiple nearest neighbors is + // pretty crude. We allocate an array whose size is the + // product of the total number of queries times the number of + // nearest neighbors (k), and then use each k consecutive + // entries to store the results of each query. + //---------------------------------------------------------------- + else if (!strcmp(directive,"run_queries")) { + + //------------------------------------------------------------ + // Input arguments and print summary + //------------------------------------------------------------ + enum {STANDARD, PRIORITY} method; + + cin >> arg; // input argument + if (!strcmp(arg, "standard")) { + method = STANDARD; + } + else if (!strcmp(arg, "priority")) { + method = PRIORITY; + } + else { + cerr << "Search type: " << arg << "\n"; + Error("Search type must be \"standard\" or \"priority\"", + ANNabort); + } + if (data_pts == NULL || query_pts == NULL) { + Error("Either data set and query set not constructed", ANNabort); + } + if (the_tree == NULL) { + Error("No search tree built.", ANNabort); + } + + //------------------------------------------------------------ + // Set up everything + //------------------------------------------------------------ + + #ifdef ANN_PERF // performance only + annResetStats(data_size); // reset statistics + #endif + + clock0 = clock(); // start time + // deallocate existing storage + if (apx_nn_idx != NULL) delete [] apx_nn_idx; + if (apx_dists != NULL) delete [] apx_dists; + if (apx_pts_in_range != NULL) delete [] apx_pts_in_range; + // allocate apx answer storage + apx_nn_idx = new ANNidx[near_neigh*query_size]; + apx_dists = new ANNdist[near_neigh*query_size]; + apx_pts_in_range = new int[query_size]; + + annMaxPtsVisit(max_pts_visit); // set max points to visit + + //------------------------------------------------------------ + // Run the queries + //------------------------------------------------------------ + // pointers for current query + ANNidxArray curr_nn_idx = apx_nn_idx; + ANNdistArray curr_dists = apx_dists; + + for (int i = 0; i < query_size; i++) { + #ifdef ANN_PERF + annResetCounts(); // reset counters + #endif + apx_pts_in_range[i] = 0; + + if (radius_bound == 0) { // no radius bound + if (method == STANDARD) { + the_tree->annkSearch( + query_pts[i], // query point + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + else if (method == PRIORITY) { + the_tree->annkPriSearch( + query_pts[i], // query point + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + else { + Error("Internal error - invalid method", ANNabort); + } + } + else { // use radius bound + if (method != STANDARD) { + Error("A nonzero radius bound assumes standard search", + ANNwarn); + } + apx_pts_in_range[i] = the_tree->annkFRSearch( + query_pts[i], // query point + ANN_POW(radius_bound), // squared radius search bound + near_neigh, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists, // distance (returned) + epsilon); // error bound + } + curr_nn_idx += near_neigh; // increment current pointers + curr_dists += near_neigh; + + #ifdef ANN_PERF + annUpdateStats(); // update stats + #endif + } + + long query_time = clock() - clock0; // end of query time + + if (validate) { // validation requested + if (valid_dirty) getTrueNN(); // get true near neighbors + doValidation(); // validate + } + + //------------------------------------------------------------ + // Print summaries + //------------------------------------------------------------ + + if (stats > SILENT) { + cout << "[Run Queries:\n"; + cout << " query_size = " << query_size << "\n"; + cout << " dim = " << dim << "\n"; + cout << " search_method = " << arg << "\n"; + cout << " epsilon = " << epsilon << "\n"; + cout << " near_neigh = " << near_neigh << "\n"; + if (max_pts_visit != 0) + cout << " max_pts_visit = " << max_pts_visit << "\n"; + if (radius_bound != 0) + cout << " radius_bound = " << radius_bound << "\n"; + if (validate) + cout << " true_nn = " << true_nn << "\n"; + + if (stats >= EXEC_TIME) { // print exec time summary + cout << " query_time = " << + double(query_time)/(query_size*CLOCKS_PER_SEC) + << " sec/query"; + #ifdef ANN_PERF + cout << " (biased by perf measurements)"; + #endif + cout << "\n"; + } + + if (stats >= QUERY_STATS) { // output performance stats + #ifdef ANN_PERF + cout.flush(); + annPrintStats(validate); + #else + cout << " (Performance statistics unavailable.)\n"; + #endif + } + + if (stats >= QUERY_RES) { // output results + cout << " (Query Results:\n"; + cout << " Pt\tANN\tDist\n"; + curr_nn_idx = apx_nn_idx; // subarray pointers + curr_dists = apx_dists; + // output nearest neighbors + for (int i = 0; i < query_size; i++) { + cout << " " << setw(4) << i; + for (int j = 0; j < near_neigh; j++) { + // exit if no more neighbors + if (curr_nn_idx[j] == ANN_NULL_IDX) { + cout << "\t[no other pts in radius bound]\n"; + break; + } + else { // output point info + cout << "\t" << curr_nn_idx[j] + << "\t" << ANN_ROOT(curr_dists[j]) + << "\n"; + } + } + // output range count + if (radius_bound != 0) { + cout << " pts_in_radius_bound = " + << apx_pts_in_range[i] << "\n"; + } + // increment subarray pointers + curr_nn_idx += near_neigh; + curr_dists += near_neigh; + } + cout << " )\n"; + } + cout << "]\n"; + } + } + //---------------------------------------------------------------- + // Unknown directive + //---------------------------------------------------------------- + else { + cerr << "Directive: " << directive << "\n"; + Error("Unknown directive", ANNabort); + } + } + //-------------------------------------------------------------------- + // End of input loop (deallocate stuff that was allocated) + //-------------------------------------------------------------------- + if (the_tree != NULL) delete the_tree; + if (data_pts != NULL) annDeallocPts(data_pts); + if (query_pts != NULL) annDeallocPts(query_pts); + if (apx_nn_idx != NULL) delete [] apx_nn_idx; + if (apx_dists != NULL) delete [] apx_dists; + if (apx_pts_in_range != NULL) delete [] apx_pts_in_range; + + annClose(); // close ANN + + return EXIT_SUCCESS; +} + +//------------------------------------------------------------------------ +// generatePts - call appropriate routine to generate points of a +// given distribution. +//------------------------------------------------------------------------ + +void generatePts( + ANNpointArray &pa, // point array (returned) + int n, // number of points to generate + PtType type, // point type + ANNbool new_clust, // new cluster centers desired? + ANNpointArray src, // source array (if distr=PLANTED) + int n_src) // source size (if distr=PLANTED) +{ + if (pa != NULL) annDeallocPts(pa); // get rid of any old points + pa = annAllocPts(n, dim); // allocate point storage + + switch (distr) { + case UNIFORM: // uniform over cube [-1,1]^d. + annUniformPts(pa, n, dim); + break; + case GAUSS: // Gaussian with mean 0 + annGaussPts(pa, n, dim, std_dev); + break; + case LAPLACE: // Laplacian, mean 0 and var 1 + annLaplacePts(pa, n, dim); + break; + case CO_GAUSS: // correlated Gaussian + annCoGaussPts(pa, n, dim, corr_coef); + break; + case CO_LAPLACE: // correlated Laplacian + annCoLaplacePts(pa, n, dim, corr_coef); + break; + case CLUS_GAUSS: // clustered Gaussian + annClusGaussPts(pa, n, dim, n_color, new_clust, std_dev); + break; + case CLUS_ORTH_FLATS: // clustered on orthog flats + annClusOrthFlats(pa, n, dim, n_color, new_clust, std_dev, max_dim); + break; + case CLUS_ELLIPSOIDS: // clustered ellipsoids + annClusEllipsoids(pa, n, dim, n_color, new_clust, std_dev, + std_dev_lo, std_dev_hi, max_dim); + break; + case PLANTED: // planted distribution + annPlanted(pa, n, dim, src, n_src, std_dev); + break; + default: + Error("INTERNAL ERROR: Unknown distribution", ANNabort); + break; + } + + if (stats > SILENT) { + if(type == DATA) cout << "[Generating Data Points:\n"; + else cout << "[Generating Query Points:\n"; + cout << " number = " << n << "\n"; + cout << " dim = " << dim << "\n"; + cout << " distribution = " << distr_table[distr] << "\n"; + if (annIdum < 0) + cout << " seed = " << annIdum << "\n"; + if (distr == GAUSS || distr == CLUS_GAUSS + || distr == CLUS_ORTH_FLATS) + cout << " std_dev = " << std_dev << "\n"; + if (distr == CLUS_ELLIPSOIDS) { + cout << " std_dev = " << std_dev << " (small) \n"; + cout << " std_dev_lo = " << std_dev_lo << "\n"; + cout << " std_dev_hi = " << std_dev_hi << "\n"; + } + if (distr == CO_GAUSS || distr == CO_LAPLACE) + cout << " corr_coef = " << corr_coef << "\n"; + if (distr == CLUS_GAUSS || distr == CLUS_ORTH_FLATS + || distr == CLUS_ELLIPSOIDS) { + cout << " colors = " << n_color << "\n"; + if (new_clust) + cout << " (cluster centers regenerated)\n"; + } + if (distr == CLUS_ORTH_FLATS || distr == CLUS_ELLIPSOIDS) { + cout << " max_dim = " << max_dim << "\n"; + } + } + // want to see points? + if ((type == DATA && stats >= SHOW_PTS) || + (type == QUERY && stats >= QUERY_RES)) { + if(type == DATA) cout << "(Data Points:\n"; + else cout << "(Query Points:\n"; + for (int i = 0; i < n; i++) { + cout << " " << setw(4) << i << "\t"; + printPoint(pa[i], dim); + cout << "\n"; + } + cout << " )\n"; + } + cout << "]\n"; +} + +//------------------------------------------------------------------------ +// readPts - read a collection of data or query points. +//------------------------------------------------------------------------ + +void readPts( + ANNpointArray &pa, // point array (returned) + int &n, // number of points + char *file_nm, // file name + PtType type) // point type (DATA, QUERY) +{ + int i; + //-------------------------------------------------------------------- + // Open input file and read points + //-------------------------------------------------------------------- + ifstream in_file(file_nm); // try to open data file + if (!in_file) { + cerr << "File name: " << file_nm << "\n"; + Error("Cannot open input data/query file", ANNabort); + } + // allocate storage for points + if (pa != NULL) annDeallocPts(pa); // get rid of old points + pa = annAllocPts(n, dim); + + for (i = 0; i < n; i++) { // read the data + if (!(in_file >> pa[i][0])) break; + for (int d = 1; d < dim; d++) { + in_file >> pa[i][d]; + } + } + + char ignore_me; // character for EOF test + in_file >> ignore_me; // try to get one more character + if (!in_file.eof()) { // exhausted space before eof + if (type == DATA) + Error("`data_size' too small. Input file truncated.", ANNwarn); + else + Error("`query_size' too small. Input file truncated.", ANNwarn); + } + n = i; // number of points read + + //-------------------------------------------------------------------- + // Print summary + //-------------------------------------------------------------------- + if (stats > SILENT) { + if (type == DATA) { + cout << "[Read Data Points:\n"; + cout << " data_size = " << n << "\n"; + } + else { + cout << "[Read Query Points:\n"; + cout << " query_size = " << n << "\n"; + } + cout << " file_name = " << file_nm << "\n"; + cout << " dim = " << dim << "\n"; + // print if results requested + if ((type == DATA && stats >= SHOW_PTS) || + (type == QUERY && stats >= QUERY_RES)) { + cout << " (Points:\n"; + for (i = 0; i < n; i++) { + cout << " " << i << "\t"; + printPoint(pa[i], dim); + cout << "\n"; + } + cout << " )\n"; + } + cout << "]\n"; + } +} + +//------------------------------------------------------------------------ +// getTrueNN +// Computes the true nearest neighbors. For purposes of validation, +// this intentionally done in a rather dumb (but safe way), by +// invoking the brute-force search. +// +// The number of true nearest neighbors is somewhat larger than +// the number of nearest neighbors. This is so that the validation +// can determine the expected difference in element ranks. +// +// This procedure is invoked just prior to running queries. Since +// the operation takes a long time, it is performed only if needed. +// In particular, once generated, it will be regenerated only if +// new query or data points are generated, or if the requested number +// of true near neighbors or approximate near neighbors has changed. +// +// To validate fixed-radius searching, we compute two counts, one +// with the original query radius (trueSqRadius) and the other with +// a radius shrunken by the error factor (minSqradius). We then +// check that the count of points inside the approximate range is +// between these two bounds. Because fixed-radius search is +// allowed to ignore points within the shrunken radius, we only +// compute exact neighbors within this smaller distance (for we +// cannot guarantee that we will even visit the other points). +//------------------------------------------------------------------------ + +void getTrueNN() // compute true nearest neighbors +{ + if (stats > SILENT) { + cout << "(Computing true nearest neighbors for validation. This may take time.)\n"; + } + // deallocate existing storage + if (true_nn_idx != NULL) delete [] true_nn_idx; + if (true_dists != NULL) delete [] true_dists; + if (min_pts_in_range != NULL) delete [] min_pts_in_range; + if (max_pts_in_range != NULL) delete [] max_pts_in_range; + + if (true_nn > data_size) { // can't get more nn than points + true_nn = data_size; + } + + // allocate true answer storage + true_nn_idx = new ANNidx[true_nn*query_size]; + true_dists = new ANNdist[true_nn*query_size]; + min_pts_in_range = new int[query_size]; + max_pts_in_range = new int[query_size]; + + ANNidxArray curr_nn_idx = true_nn_idx; // current locations in arrays + ANNdistArray curr_dists = true_dists; + + // allocate search structure + ANNbruteForce *the_brute = new ANNbruteForce(data_pts, data_size, dim); + // compute nearest neighbors + for (int i = 0; i < query_size; i++) { + if (radius_bound == 0) { // standard kNN search + the_brute->annkSearch( // compute true near neighbors + query_pts[i], // query point + true_nn, // number of nearest neighbors + curr_nn_idx, // where to put indices + curr_dists); // where to put distances + } + else { // fixed radius kNN search + // search radii limits + ANNdist trueSqRadius = ANN_POW(radius_bound); + ANNdist minSqRadius = ANN_POW(radius_bound / (1+epsilon)); + min_pts_in_range[i] = the_brute->annkFRSearch( + query_pts[i], // query point + minSqRadius, // shrunken search radius + true_nn, // number of near neighbors + curr_nn_idx, // nearest neighbors (returned) + curr_dists); // distance (returned) + max_pts_in_range[i] = the_brute->annkFRSearch( + query_pts[i], // query point + trueSqRadius, // true search radius + 0, NULL, NULL); // (ignore kNN info) + } + curr_nn_idx += true_nn; // increment nn index pointer + curr_dists += true_nn; // increment nn dist pointer + } + delete the_brute; // delete brute-force struct + valid_dirty = ANNfalse; // validation good for now +} + +//------------------------------------------------------------------------ +// doValidation +// Compares the approximate answers to the k-nearest neighbors +// against the true nearest neighbors (computed earlier). It is +// assumed that the true nearest neighbors and indices have been +// computed earlier. +// +// First, we check that all the results are within their allowed +// limits, and generate an internal error, if not. For the sake of +// performance evaluation, we also compute the following two +// quantities for nearest neighbors: +// +// Average Error +// ------------- +// The relative error between the distance to a reported nearest +// neighbor and the true nearest neighbor (of the same rank), +// +// Rank Error +// ---------- +// The difference in rank between the reported nearest neighbor and +// its position (if any) among the true nearest neighbors. If we +// cannot find this point among the true nearest neighbors, then +// it assumed that the rank of the true nearest neighbor is true_nn+1. +// +// Because of the possibility of duplicate distances, this is computed +// as follows. For the j-th reported nearest neighbor, we count the +// number of true nearest neighbors that are at least this close. Let +// this be rnk. Then the rank error is max(0, j-rnk). (In the code +// below, j is an array index and so the first item is 0, not 1. Thus +// we take max(0, j+1-rnk) instead.) +// +// For the results of fixed-radious range count, we verify that the +// reported number of points in the range lies between the actual +// number of points in the shrunken and the true search radius. +//------------------------------------------------------------------------ + +void doValidation() // perform validation +{ + int* curr_apx_idx = apx_nn_idx; // approx index pointer + ANNdistArray curr_apx_dst = apx_dists; // approx distance pointer + int* curr_tru_idx = true_nn_idx; // true index pointer + ANNdistArray curr_tru_dst = true_dists; // true distance pointer + int i, j; + + if (true_nn < near_neigh) { + Error("Cannot validate with fewer true near neighbors than actual", ANNabort); + } + + for (i = 0; i < query_size; i++) { // validate each query + //---------------------------------------------------------------- + // Compute result errors + // In fixed radius search it is possible that not all k + // nearest neighbors were computed. Because the true + // results are computed over the shrunken radius, we should + // have at least as many true nearest neighbors as + // approximate nearest neighbors. (If not, an infinite + // error will be generated, and so an internal error will + // will be generated. + // + // Because nearest neighbors are sorted in increasing order + // of distance, as soon as we see a null index, we can + // terminate the distance checking. The error in the + // result should not exceed epsilon. However, if + // max_pts_visit is nonzero (meaning that the search is + // terminated early) this might happen. + //---------------------------------------------------------------- + for (j = 0; j < near_neigh; j++) { + if (curr_tru_idx[j] == ANN_NULL_IDX)// no more true neighbors? + break; + // true i-th smallest distance + double true_dist = ANN_ROOT(curr_tru_dst[j]); + // reported i-th smallest + double rept_dist = ANN_ROOT(curr_apx_dst[j]); + // better than optimum? + if (rept_dist < true_dist*(1-ERR)) { + Error("INTERNAL ERROR: True nearest neighbor incorrect", + ANNabort); + } + + double resultErr; // result error + if (true_dist == 0.0) { // let's not divide by zero + if (rept_dist != 0.0) resultErr = ANN_DBL_MAX; + else resultErr = 0.0; + } + else { + resultErr = (rept_dist - true_dist) / ((double) true_dist); + } + + if (resultErr > epsilon && max_pts_visit == 0) { + Error("INTERNAL ERROR: Actual error exceeds epsilon", + ANNabort); + } + #ifdef ANN_PERF + ann_average_err += resultErr; // update statistics error + #endif + } + //-------------------------------------------------------------------- + // Compute rank errors (only needed for perf measurements) + //-------------------------------------------------------------------- + #ifdef ANN_PERF + for (j = 0; j < near_neigh; j++) { + if (curr_tru_idx[i] == ANN_NULL_IDX) // no more true neighbors? + break; + + double rnkErr = 0.0; // rank error + // reported j-th distance + ANNdist rept_dist = curr_apx_dst[j]; + int rnk = 0; // compute rank of this item + while (rnk < true_nn && curr_tru_dst[rnk] <= rept_dist) + rnk++; + if (j+1-rnk > 0) rnkErr = (double) (j+1-rnk); + ann_rank_err += rnkErr; // update average rank error + } + #endif + //---------------------------------------------------------------- + // Check range counts from fixed-radius query + //---------------------------------------------------------------- + if (radius_bound != 0) { // fixed-radius search + if (apx_pts_in_range[i] < min_pts_in_range[i] || + apx_pts_in_range[i] > max_pts_in_range[i]) + Error("INTERNAL ERROR: Invalid fixed-radius range count", + ANNabort); + } + + curr_apx_idx += near_neigh; + curr_apx_dst += near_neigh; + curr_tru_idx += true_nn; // increment current pointers + curr_tru_dst += true_nn; + } +} + +//---------------------------------------------------------------------- +// treeStats +// Computes a number of statistics related to kd_trees and +// bd_trees. These statistics are printed if in verbose mode, +// and otherwise they are only printed if they are deemed to +// be outside of reasonable operating bounds. +//---------------------------------------------------------------------- + +#define log2(x) (log(x)/log(2.0)) // log base 2 + +void treeStats( + ostream &out, // output stream + ANNbool verbose) // print stats +{ + const int MIN_PTS = 20; // min no. pts for checking + const float MAX_FRAC_TL = 0.50; // max frac of triv leaves + const float MAX_AVG_AR = 20; // max average aspect ratio + + ANNkdStats st; // statistics structure + + the_tree->getStats(st); // get statistics + // total number of nodes + int n_nodes = st.n_lf + st.n_spl + st.n_shr; + // should be O(n/bs) + int opt_n_nodes = (int) (2*(float(st.n_pts)/st.bkt_size)); + int too_many_nodes = 10*opt_n_nodes; + if (st.n_pts >= MIN_PTS && n_nodes > too_many_nodes) { + out << "-----------------------------------------------------------\n"; + out << "Warning: The tree has more than 10x as many nodes as points.\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // fraction of trivial leaves + float frac_tl = (st.n_lf == 0 ? 0 : ((float) st.n_tl)/ st.n_lf); + if (st.n_pts >= MIN_PTS && frac_tl > MAX_FRAC_TL) { + out << "-----------------------------------------------------------\n"; + out << "Warning: A significant fraction of leaves contain no points.\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // depth should be O(dim*log n) + int too_many_levels = (int) (2.0 * st.dim * log2((double) st.n_pts)); + int opt_levels = (int) log2(double(st.n_pts)/st.bkt_size); + if (st.n_pts >= MIN_PTS && st.depth > too_many_levels) { + out << "-----------------------------------------------------------\n"; + out << "Warning: The tree is more than 2x as deep as (dim*log n).\n"; + out << "You may want to consider a different split or shrink method.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + // average leaf aspect ratio + if (st.n_pts >= MIN_PTS && st.avg_ar > MAX_AVG_AR) { + out << "-----------------------------------------------------------\n"; + out << "Warning: Average aspect ratio of cells is quite large.\n"; + out << "This may slow queries depending on the point distribution.\n"; + out << "-----------------------------------------------------------\n"; + verbose = ANNtrue; + } + + //------------------------------------------------------------------ + // Print summaries if requested + //------------------------------------------------------------------ + if (verbose) { // output statistics + out << " (Structure Statistics:\n"; + out << " n_nodes = " << n_nodes + << " (opt = " << opt_n_nodes + << ", best if < " << too_many_nodes << ")\n" + << " n_leaves = " << st.n_lf + << " (" << st.n_tl << " contain no points)\n" + << " n_splits = " << st.n_spl << "\n" + << " n_shrinks = " << st.n_shr << "\n"; + out << " empty_leaves = " << frac_tl*100 + << " percent (best if < " << MAX_FRAC_TL*100 << " percent)\n"; + out << " depth = " << st.depth + << " (opt = " << opt_levels + << ", best if < " << too_many_levels << ")\n"; + out << " avg_aspect_ratio = " << st.avg_ar + << " (best if < " << MAX_AVG_AR << ")\n"; + out << " )\n"; + } +} diff --git a/3rdparty/ann_1.1.1_modified/test/rand.cpp b/3rdparty/ann_1.1.1_modified/test/rand.cpp new file mode 100755 index 0000000..9bf6204 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/rand.cpp @@ -0,0 +1,594 @@ +//---------------------------------------------------------------------- +// File: rand.cpp +// Programmer: Sunil Arya and David Mount +// Description: Routines for random point generation +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 0.2 03/26/98 +// Changed random/srandom declarations for SGI's. +// Revision 1.0 04/01/05 +// annClusGauss centers distributed over [-1,1] rather than [0,1] +// Added annClusOrthFlats distribution +// Changed procedure names to avoid namespace conflicts +// Added annClusFlats distribution +// Added rand/srand option and fixed annRan0() initialization. +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#include "rand.h" // random generator declarations + +using namespace std; // make std:: accessible + +//---------------------------------------------------------------------- +// Globals +//---------------------------------------------------------------------- +int annIdum = 0; // used for random number generation + +//------------------------------------------------------------------------ +// annRan0 - (safer) uniform random number generator +// +// The code given here is taken from "Numerical Recipes in C" by +// William Press, Brian Flannery, Saul Teukolsky, and William +// Vetterling. The task of the code is to do an additional randomizing +// shuffle on the system-supplied random number generator to make it +// safer to use. +// +// Returns a uniform deviate between 0.0 and 1.0 using the +// system-supplied routine random() or rand(). Set the global +// annIdum to any negative value to initialise or reinitialise +// the sequence. +//------------------------------------------------------------------------ + +double annRan0() +{ + const int TAB_SIZE = 97; // table size: any large number + int j; + + static double y, v[TAB_SIZE]; + static int iff = 0; + const double RAN_DIVISOR = double(ANN_RAND_MAX + 1UL); + if (RAN_DIVISOR < 0) { + cout << "RAN_DIVISOR " << RAN_DIVISOR << endl; + exit(0); + } + + //-------------------------------------------------------------------- + // As a precaution against misuse, we will always initialize on the + // first call, even if "annIdum" is not set negative. Determine + // "maxran", the next integer after the largest representable value + // of type int. We assume this is a factor of 2 smaller than the + // corresponding value of type unsigned int. + //-------------------------------------------------------------------- + + if (annIdum < 0 || iff == 0) { // initialize + iff = 1; + ANN_SRAND(annIdum); // (re)seed the generator + annIdum = 1; + + for (j = 0; j < TAB_SIZE; j++) // exercise the system routine + ANN_RAND(); // (values intentionally ignored) + + for (j = 0; j < TAB_SIZE; j++) // then save TAB_SIZE-1 values + v[j] = ANN_RAND(); + y = ANN_RAND(); // generate starting value + } + + //-------------------------------------------------------------------- + // This is where we start if not initializing. Use the previously + // saved random number y to get an index j between 1 and TAB_SIZE-1. + // Then use the corresponding v[j] for both the next j and as the + // output number. + //-------------------------------------------------------------------- + + j = int(TAB_SIZE * (y / RAN_DIVISOR)); + y = v[j]; + v[j] = ANN_RAND(); // refill the table entry + return y / RAN_DIVISOR; +} + +//------------------------------------------------------------------------ +// annRanInt - generate a random integer from {0,1,...,n-1} +// +// If n == 0, then -1 is returned. +//------------------------------------------------------------------------ + +static int annRanInt( + int n) +{ + int r = (int) (annRan0()*n); + if (r == n) r--; // (in case annRan0() == 1 or n == 0) + return r; +} + +//------------------------------------------------------------------------ +// annRanUnif - generate a random uniform in [lo,hi] +//------------------------------------------------------------------------ + +static double annRanUnif( + double lo, + double hi) +{ + return annRan0()*(hi-lo) + lo; +} + +//------------------------------------------------------------------------ +// annRanGauss - Gaussian random number generator +// Returns a normally distributed deviate with zero mean and unit +// variance, using annRan0() as the source of uniform deviates. +//------------------------------------------------------------------------ + +static double annRanGauss() +{ + static int iset=0; + static double gset; + + if (iset == 0) { // we don't have a deviate handy + double v1, v2; + double r = 2.0; + while (r >= 1.0) { + //------------------------------------------------------------ + // Pick two uniform numbers in the square extending from -1 to + // +1 in each direction, see if they are in the circle of radius + // 1. If not, try again + //------------------------------------------------------------ + v1 = annRanUnif(-1, 1); + v2 = annRanUnif(-1, 1); + r = v1 * v1 + v2 * v2; + } + double fac = sqrt(-2.0 * log(r) / r); + //----------------------------------------------------------------- + // Now make the Box-Muller transformation to get two normal + // deviates. Return one and save the other for next time. + //----------------------------------------------------------------- + gset = v1 * fac; + iset = 1; // set flag + return v2 * fac; + } + else { // we have an extra deviate handy + iset = 0; // so unset the flag + return gset; // and return it + } +} + +//------------------------------------------------------------------------ +// annRanLaplace - Laplacian random number generator +// Returns a Laplacian distributed deviate with zero mean and +// unit variance, using annRan0() as the source of uniform deviates. +// +// prob(x) = b/2 * exp(-b * |x|). +// +// b is chosen to be sqrt(2.0) so that the variance of the Laplacian +// distribution [2/(b^2)] becomes 1. +//------------------------------------------------------------------------ + +static double annRanLaplace() +{ + const double b = 1.4142136; + + double laprand = -log(annRan0()) / b; + double sign = annRan0(); + if (sign < 0.5) laprand = -laprand; + return(laprand); +} + +//---------------------------------------------------------------------- +// annUniformPts - Generate uniformly distributed points +// A uniform distribution over [-1,1]. +//---------------------------------------------------------------------- + +void annUniformPts( // uniform distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim) // dimension +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (annRanUnif(-1,1)); + } + } +} + +//---------------------------------------------------------------------- +// annGaussPts - Generate Gaussian distributed points +// A Gaussian distribution with zero mean and the given standard +// deviation. +//---------------------------------------------------------------------- + +void annGaussPts( // Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double std_dev) // standard deviation +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (annRanGauss() * std_dev); + } + } +} + +//---------------------------------------------------------------------- +// annLaplacePts - Generate Laplacian distributed points +// Generates a Laplacian distribution (zero mean and unit variance). +//---------------------------------------------------------------------- + +void annLaplacePts( // Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim) // dimension +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) annRanLaplace(); + } + } +} + +//---------------------------------------------------------------------- +// annCoGaussPts - Generate correlated Gaussian distributed points +// Generates a Gauss-Markov distribution of zero mean and unit +// variance. +//---------------------------------------------------------------------- + +void annCoGaussPts( // correlated-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation) // correlation +{ + double std_dev_w = sqrt(1.0 - correlation * correlation); + for (int i = 0; i < n; i++) { + double previous = annRanGauss(); + pa[i][0] = (ANNcoord) previous; + for (int d = 1; d < dim; d++) { + previous = correlation*previous + std_dev_w*annRanGauss(); + pa[i][d] = (ANNcoord) previous; + } + } +} + +//---------------------------------------------------------------------- +// annCoLaplacePts - Generate correlated Laplacian distributed points +// Generates a Laplacian-Markov distribution of zero mean and unit +// variance. +//---------------------------------------------------------------------- + +void annCoLaplacePts( // correlated-Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation) // correlation +{ + double wn; + double corr_sq = correlation * correlation; + + for (int i = 0; i < n; i++) { + double previous = annRanLaplace(); + pa[i][0] = (ANNcoord) previous; + for (int d = 1; d < dim; d++) { + double temp = annRan0(); + if (temp < corr_sq) + wn = 0.0; + else + wn = annRanLaplace(); + previous = correlation * previous + wn; + pa[i][d] = (ANNcoord) previous; + } + } +} + +//---------------------------------------------------------------------- +// annClusGaussPts - Generate clusters of Gaussian distributed points +// Cluster centers are uniformly distributed over [-1,1], and the +// standard deviation within each cluster is fixed. +// +// Note: Once cluster centers have been set, they are not changed, +// unless new_clust = true. This is so that subsequent calls generate +// points from the same distribution. It follows, of course, that any +// attempt to change the dimension or number of clusters without +// generating new clusters is asking for trouble. +// +// Note: Cluster centers are not generated by a call to uniformPts(). +// Although this could be done, it has been omitted for +// compatibility with annClusGaussPts() in the colored version, +// rand_c.cc. +//---------------------------------------------------------------------- + +void annClusGaussPts( // clustered-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev) // standard deviation within clusters +{ + static ANNpointArray clusters = NULL;// cluster storage + + if (clusters == NULL || new_clust) {// need new cluster centers + if (clusters != NULL) // clusters already exist + annDeallocPts(clusters); // get rid of them + clusters = annAllocPts(n_clus, dim); + // generate cluster center coords + for (int i = 0; i < n_clus; i++) { + for (int d = 0; d < dim; d++) { + clusters[i][d] = (ANNcoord) annRanUnif(-1,1); + } + } + } + + for (int i = 0; i < n; i++) { + int c = annRanInt(n_clus); // generate cluster index + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + clusters[c][d]); + } + } +} + +//---------------------------------------------------------------------- +// annClusOrthFlats - points clustered along orthogonal flats +// +// This distribution consists of a collection points clustered +// among a collection of axis-aligned low dimensional flats in +// the hypercube [-1,1]^d. A set of n_clus orthogonal flats are +// generated, each whose dimension is a random number between 1 +// and max_dim. The points are evenly distributed among the clusters. +// For each cluster, we generate points uniformly distributed along +// the flat within the hypercube. +// +// This is done as follows. Each cluster is defined by a d-element +// control vector whose components are either: +// +// CO_FLAG indicating that this component is to be generated +// uniformly in [-1,1], +// x a value other than CO_FLAG in the range [-1,1], +// which indicates that this coordinate is to be +// generated as x plus a Gaussian random deviation +// with the given standard deviation. +// +// The number of zero components is the dimension of the flat, which +// is a random integer in the range from 1 to max_dim. The points +// are disributed between clusters in nearly equal sized groups. +// +// Note: Once cluster centers have been set, they are not changed, +// unless new_clust = true. This is so that subsequent calls generate +// points from the same distribution. It follows, of course, that any +// attempt to change the dimension or number of clusters without +// generating new clusters is asking for trouble. +// +// To make this a bad scenario at query time, query points should be +// selected from a different distribution, e.g. uniform or Gaussian. +// +// We use a little programming trick to generate groups of roughly +// equal size. If n is the total number of points, and n_clus is +// the number of clusters, then the c-th cluster (0 <= c < n_clus) +// is given floor((n+c)/n_clus) points. It can be shown that this +// will exactly consume all n points. +// +// This procedure makes use of the utility procedure, genOrthFlat +// which generates points in one orthogonal flat, according to +// the given control vector. +// +//---------------------------------------------------------------------- +const double CO_FLAG = 999; // special flag value + +static void genOrthFlat( // generate points on an orthog flat + ANNpointArray pa, // point array + int n, // number of points + int dim, // dimension + double *control, // control vector + double std_dev) // standard deviation +{ + for (int i = 0; i < n; i++) { // generate each point + for (int d = 0; d < dim; d++) { // generate each coord + if (control[d] == CO_FLAG) // dimension on flat + pa[i][d] = (ANNcoord) annRanUnif(-1,1); + else // dimension off flat + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + control[d]); + } + } +} + +void annClusOrthFlats( // clustered along orthogonal flats + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev, // standard deviation within clusters + int max_dim) // maximum dimension of the flats +{ + static ANNpointArray control = NULL; // control vectors + + if (control == NULL || new_clust) { // need new cluster centers + if (control != NULL) { // clusters already exist + annDeallocPts(control); // get rid of them + } + control = annAllocPts(n_clus, dim); + + for (int c = 0; c < n_clus; c++) { // generate clusters + int n_dim = 1 + annRanInt(max_dim); // number of dimensions in flat + for (int d = 0; d < dim; d++) { // generate side locations + // prob. of picking next dim + double Prob = ((double) n_dim)/((double) (dim-d)); + if (annRan0() < Prob) { // add this one to flat + control[c][d] = CO_FLAG; // flag this entry + n_dim--; // one fewer dim to fill + } + else { // don't take this one + control[c][d] = annRanUnif(-1,1);// random value in [-1,1] + } + } + } + } + int offset = 0; // offset in pa array + for (int c = 0; c < n_clus; c++) { // generate clusters + int pick = (n+c)/n_clus; // number of points to pick + // generate the points + genOrthFlat(pa+offset, pick, dim, control[c], std_dev); + offset += pick; // increment offset + } +} + +//---------------------------------------------------------------------- +// annClusEllipsoids - points clustered around axis-aligned ellipsoids +// +// This distribution consists of a collection points clustered +// among a collection of low dimensional ellipsoids whose axes +// are alligned with the coordinate axes in the hypercube [-1,1]^d. +// The objective is to model distributions in which the points are +// distributed in lower dimensional subspaces, and within this +// lower dimensional space the points are distributed with a +// Gaussian distribution (with no correlation between the +// dimensions). +// +// The distribution is given the number of clusters or "colors" +// (n_clus), maximum number of dimensions (max_dim) of the lower +// dimensional subspace, a "small" standard deviation +// (std_dev_small), and a "large" standard deviation range +// (std_dev_lo, std_dev_hi). +// +// The algorithm generates n_clus cluster centers uniformly from +// the hypercube [-1,1]^d. For each cluster, it selects the +// dimension of the subspace as a random number r between 1 and +// max_dim. These are the dimensions of the ellipsoid. Then it +// generates a d-element std dev vector whose entries are the +// standard deviation for the coordinates of each cluster in the +// distribution. Among the d-element control vector, r randomly +// chosen values are chosen uniformly from the range [std_dev_lo, +// std_dev_hi]. The remaining values are set to std_dev_small. +// +// Note that annClusGaussPts is a special case of this in which +// max_dim = 0, and std_dev = std_dev_small. +// +// If the flag new_clust is set, then new cluster centers are +// generated. +// +// This procedure makes use of the utility procedure genGauss +// which generates points distributed according to a Gaussian +// distribution. +// +//---------------------------------------------------------------------- + +static void genGauss( // generate points on a general Gaussian + ANNpointArray pa, // point array + int n, // number of points + int dim, // dimension + double *center, // center vector + double *std_dev) // standard deviation vector +{ + for (int i = 0; i < n; i++) { + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev[d]*annRanGauss() + center[d]); + } + } +} + +void annClusEllipsoids( // clustered around ellipsoids + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev_small, // small standard deviation + double std_dev_lo, // low standard deviation for ellipses + double std_dev_hi, // high standard deviation for ellipses + int max_dim) // maximum dimension of the flats +{ + static ANNpointArray centers = NULL; // cluster centers + static ANNpointArray std_dev = NULL; // standard deviations + + if (centers == NULL || new_clust) { // need new cluster centers + if (centers != NULL) // clusters already exist + annDeallocPts(centers); // get rid of them + if (std_dev != NULL) // std deviations already exist + annDeallocPts(std_dev); // get rid of them + + centers = annAllocPts(n_clus, dim); // alloc new clusters and devs + std_dev = annAllocPts(n_clus, dim); + + for (int i = 0; i < n_clus; i++) { // gen cluster center coords + for (int d = 0; d < dim; d++) { + centers[i][d] = (ANNcoord) annRanUnif(-1,1); + } + } + for (int c = 0; c < n_clus; c++) { // generate cluster std dev + int n_dim = 1 + annRanInt(max_dim); // number of dimensions in flat + for (int d = 0; d < dim; d++) { // generate std dev's + // prob. of picking next dim + double Prob = ((double) n_dim)/((double) (dim-d)); + if (annRan0() < Prob) { // add this one to ellipse + // generate random std dev + std_dev[c][d] = annRanUnif(std_dev_lo, std_dev_hi); + n_dim--; // one fewer dim to fill + } + else { // don't take this one + std_dev[c][d] = std_dev_small;// use small std dev + } + } + } + } + + int offset = 0; // next slot to fill + for (int c = 0; c < n_clus; c++) { // generate clusters + int pick = (n+c)/n_clus; // number of points to pick + // generate the points + genGauss(pa+offset, pick, dim, centers[c], std_dev[c]); + offset += pick; // increment offset in array + } +} + +//---------------------------------------------------------------------- +// annPlanted - Generates points from a "planted" distribution +// In high dimensional spaces, interpoint distances tend to be +// highly clustered around the mean value. Approximate nearest +// neighbor searching makes little sense in this context, unless it +// is the case that each query point is significantly closer to its +// nearest neighbor than to other points. Thus, the query points +// should be planted close to the data points. Given a source data +// set, this procedure generates a set of query points having this +// property. +// +// We are given a source data array and a standard deviation. We +// generate points as follows. We select a random point from the +// source data set, and we generate a Gaussian point centered about +// this random point and perturbed by a normal distributed random +// variable with mean zero and the given standard deviation along +// each coordinate. +// +// Note that this essentially the same a clustered Gaussian +// distribution, but where the cluster centers are given by the +// source data set. +//---------------------------------------------------------------------- + +void annPlanted( // planted nearest neighbors + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + ANNpointArray src, // source point array + int n_src, // source size + double std_dev) // standard deviation about source +{ + for (int i = 0; i < n; i++) { + int c = annRanInt(n_src); // generate source index + for (int d = 0; d < dim; d++) { + pa[i][d] = (ANNcoord) (std_dev*annRanGauss() + src[c][d]); + } + } +} diff --git a/3rdparty/ann_1.1.1_modified/test/rand.h b/3rdparty/ann_1.1.1_modified/test/rand.h new file mode 100755 index 0000000..b87cb41 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/rand.h @@ -0,0 +1,131 @@ +//---------------------------------------------------------------------- +// File: rand.h +// Programmer: Sunil Arya and David Mount +// Description: Basic include file for random point generators +// Last modified: 08/04/06 (Version 1.1.1) +//---------------------------------------------------------------------- +// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and +// David Mount. All Rights Reserved. +// +// This software and related documentation is part of the Approximate +// Nearest Neighbor Library (ANN). This software is provided under +// the provisions of the Lesser GNU Public License (LGPL). See the +// file ../ReadMe.txt for further information. +// +// The University of Maryland (U.M.) and the authors make no +// representations about the suitability or fitness of this software for +// any purpose. It is provided "as is" without express or implied +// warranty. +//---------------------------------------------------------------------- +// History: +// Revision 0.1 03/04/98 +// Initial release +// Revision 1.0 04/01/05 +// Added annClusOrthFlats distribution +// Changed procedure names to avoid namespace conflicts +// Added annClusFlats distribution +// Revision 1.1.1 08/04/06 +// Added planted distribution +//---------------------------------------------------------------------- + +#ifndef rand_H +#define rand_H + +//---------------------------------------------------------------------- +// Basic includes +//---------------------------------------------------------------------- +#include // standard includes (rand/random) +#include // math routines +#include // basic ANN includes + +//---------------------------------------------------------------------- +// Although random/srandom is a more reliable random number generator, +// many systems do not have it. If it is not available, set the +// preprocessor symbol ANN_NO_RANDOM, and this will substitute the use +// of rand/srand for them. +//---------------------------------------------------------------------- +#ifdef ANN_NO_RANDOM // for systems not having random() + #define ANN_RAND rand + #define ANN_SRAND srand + #define ANN_RAND_MAX RAND_MAX +#else // otherwise use rand() + #define ANN_RAND random + #define ANN_SRAND srandom + #define ANN_RAND_MAX 2147483647UL // 2**{31} - 1 + // #define ANN_RAND_MAX 1073741824UL // 2**{30} +#endif + +//---------------------------------------------------------------------- +// Globals +//---------------------------------------------------------------------- +extern int annIdum; // random number seed + +//---------------------------------------------------------------------- +// External entry points +//---------------------------------------------------------------------- + +void annUniformPts( // uniform distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim); // dimension + +void annGaussPts( // Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double std_dev); // standard deviation + +void annCoGaussPts( // correlated-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation); // correlation + +void annLaplacePts( // Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim); // dimension + +void annCoLaplacePts( // correlated-Laplacian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + double correlation); // correlation + +void annClusGaussPts( // clustered-Gaussian distribution + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors (clusters) + ANNbool new_clust, // generate new cluster centers + double std_dev); // standard deviation within clusters + +void annClusOrthFlats( // clustered along orthogonal flats + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev, // standard deviation within clusters + int max_dim); // maximum dimension of the flats + +void annClusEllipsoids( // clustered around ellipsoids + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + int n_clus, // number of colors + ANNbool new_clust, // generate new clusters. + double std_dev_small, // small standard deviation + double std_dev_lo, // low standard deviation for ellipses + double std_dev_hi, // high standard deviation for ellipses + int max_dim); // maximum dimension of the flats + +void annPlanted( // planted nearest neighbors + ANNpointArray pa, // point array (modified) + int n, // number of points + int dim, // dimension + ANNpointArray src, // source point array + int n_src, // source size + double std_dev); // standard deviation about source + +#endif diff --git a/3rdparty/ann_1.1.1_modified/test/test1-data.pts b/3rdparty/ann_1.1.1_modified/test/test1-data.pts new file mode 100755 index 0000000..191790d --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test1-data.pts @@ -0,0 +1,20 @@ +-0.297462 0.176102 +0.565538 -0.361496 +0.909313 -0.182785 +0.920712 0.478408 +0.167682 0.0499836 +0.305223 -0.0805835 +0.114973 0.882453 +0.742916 0.16376 +0.0724605 -0.826775 +0.690960 -0.559284 +0.188485 -0.643934 +0.749427 -0.942415 +-0.970662 -0.223466 +0.916110 0.879597 +0.927417 -0.382593 +-0.711327 0.278713 +-0.519172 0.986146 +0.135338 0.924588 +-0.0837537 0.61687 +0.0520465 0.896306 diff --git a/3rdparty/ann_1.1.1_modified/test/test1-query.pts b/3rdparty/ann_1.1.1_modified/test/test1-query.pts new file mode 100755 index 0000000..6c04dbc --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test1-query.pts @@ -0,0 +1,10 @@ +0.0902484 -0.207129 +-0.419567 0.485743 +0.826225 -0.30962 +0.694758 0.987088 +-0.410807 -0.465182 +-0.836501 0.490184 +0.588289 0.656408 +0.325807 0.38721 +-0.532226 -0.727036 +-0.52506 -0.853508 diff --git a/3rdparty/ann_1.1.1_modified/test/test1.in b/3rdparty/ann_1.1.1_modified/test/test1.in new file mode 100755 index 0000000..8f3255f --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test1.in @@ -0,0 +1,15 @@ + validate on + stats query_stats + dim 2 + data_size 20 + query_size 10 +read_data_pts test1-data.pts +read_query_pts test1-query.pts + bucket_size 1 + near_neigh 3 + split_rule suggest + shrink_rule none +build_ann + epsilon 0.0 +run_queries standard +run_queries priority diff --git a/3rdparty/ann_1.1.1_modified/test/test1.save b/3rdparty/ann_1.1.1_modified/test/test1.save new file mode 100755 index 0000000..f92a2f5 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test1.save @@ -0,0 +1,76 @@ +------------------------------------------------------------ +ann_test: Version 1.0 + Copyright: David M. Mount and Sunil Arya. + Latest Revision: Mar 1, 2005. +------------------------------------------------------------ + +validate = on (Warning: this may slow execution time.) +stats = query_stats +[Read Data Points: + data_size = 20 + file_name = test1-data.pts + dim = 2 +] +[Read Query Points: + query_size = 10 + file_name = test1-query.pts + dim = 2 +] +[Build ann-structure: + split_rule = suggest + shrink_rule = none + data_size = 20 + dim = 2 + bucket_size = 1 + process_time = 0 sec + (Structure Statistics: + n_nodes = 39 (opt = 40, best if < 400) + n_leaves = 20 (0 contain no points) + n_splits = 19 + n_shrinks = 0 + empty_leaves = 0 percent (best if < 50 percent) + depth = 6 (opt = 4, best if < 17) + avg_aspect_ratio = 1.48847 (best if < 20) + ) +] +(Computing true nearest neighbors for validation. This may take time.) +[Run Queries: + query_size = 10 + dim = 2 + search_method = standard + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 6.3 : 2.751 ]< 4 , 11 > + splitting_nodes = [ 8.8 : 3.676 ]< 5 , 15 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 15.1 : 6.35 ]< 9 , 26 > + points_visited = [ 6.3 : 2.751 ]< 4 , 11 > + coord_hits/pt = [ 0.57 : 0.2201 ]< 0.35 , 0.95 > + floating_ops_(K) = [ 0.156 : 0.0563 ]< 0.101 , 0.254 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 10 + dim = 2 + search_method = priority + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 5.9 : 2.025 ]< 4 , 9 > + splitting_nodes = [ 8.7 : 3.498 ]< 5 , 15 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + 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--git a/3rdparty/ann_1.1.1_modified/test/test2.in b/3rdparty/ann_1.1.1_modified/test/test2.in new file mode 100755 index 0000000..980b689 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test2.in @@ -0,0 +1,21 @@ + validate on + stats query_stats + dim 8 + data_size 5000 +read_data_pts test2-data.pts + query_size 100 +read_query_pts test2-query.pts + bucket_size 1 + near_neigh 3 + split_rule suggest + shrink_rule none +build_ann + epsilon 0.0 +run_queries standard +run_queries priority + epsilon 0.10 +run_queries standard +run_queries priority + epsilon 0.50 +run_queries standard +run_queries priority diff --git a/3rdparty/ann_1.1.1_modified/test/test2.save b/3rdparty/ann_1.1.1_modified/test/test2.save new file mode 100755 index 0000000..01a5c19 --- /dev/null +++ b/3rdparty/ann_1.1.1_modified/test/test2.save @@ -0,0 +1,156 @@ +------------------------------------------------------------ +ann_test: Version 1.0 + Copyright: David M. Mount and Sunil Arya. + Latest Revision: Mar 1, 2005. +------------------------------------------------------------ + +validate = on (Warning: this may slow execution time.) +stats = query_stats +[Read Data Points: + data_size = 5000 + file_name = test2-data.pts + dim = 8 +] +[Read Query Points: + query_size = 100 + file_name = test2-query.pts + dim = 8 +] +[Build ann-structure: + split_rule = suggest + shrink_rule = none + data_size = 5000 + dim = 8 + bucket_size = 1 + process_time = 0.18 sec + (Structure Statistics: + n_nodes = 9999 (opt = 10000, best if < 100000) + n_leaves = 5000 (0 contain no points) + n_splits = 4999 + n_shrinks = 0 + empty_leaves = 0 percent (best if < 50 percent) + depth = 17 (opt = 12, best if < 196) + avg_aspect_ratio = 2.03396 (best if < 20) + ) +] +(Computing true nearest neighbors for validation. This may take time.) +[Run Queries: + query_size = 100 + dim = 8 + search_method = standard + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0.0008 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 269.6 : 154.1 ]< 68 , 1046 > + splitting_nodes = [ 448.2 : 259.2 ]< 100 , 1858 > + shrinking_nodes = [ 0 : 0 ]< 0 , 0 > + total_nodes = [ 717.8 : 412.6 ]< 168 , 2904 > + points_visited = [ 269.6 : 154.1 ]< 68 , 1046 > + coord_hits/pt = [ 0.1975 : 0.1075 ]< 0.0446 , 0.6974 > + floating_ops_(K) = [ 8.492 : 4.716 ]< 1.939 , 32.61 > + average_error = [ 0 : 0 ]< 0 , 0 > + rank_error = [ 0 : 0 ]< 0 , 0 > + ) +] +[Run Queries: + query_size = 100 + dim = 8 + search_method = priority + epsilon = 0 + near_neigh = 3 + true_nn = 13 + query_time = 0.0011 sec/query (biased by perf measurements) + (Performance stats: [ mean : stddev ]< min , max > + leaf_nodes = [ 237.7 : 131.6 ]< 68 , 801 > + splitting_nodes = [ 408.1 : 227.7 ]< 100 , 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3rdparty/cvblob/CMakeFiles/cvblob.dir/cvtrack.cpp.s +.PHONY : cvtrack.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... cvblob" + @echo "... edit_cache" + @echo "... rebuild_cache" + @echo "... cvaux.o" + @echo "... cvaux.i" + @echo "... cvaux.s" + @echo "... cvblob.o" + @echo "... cvblob.i" + @echo "... cvblob.s" + @echo "... cvcolor.o" + @echo "... cvcolor.i" + @echo "... cvcolor.s" + @echo "... cvcontour.o" + @echo "... cvcontour.i" + @echo "... cvcontour.s" + @echo "... cvlabel.o" + @echo "... cvlabel.i" + @echo "... cvlabel.s" + @echo "... cvtrack.o" + @echo "... cvtrack.i" + @echo "... cvtrack.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/dborrman/Jacobs/software/slam6d/trunk && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/3rdparty/cvblob/README b/3rdparty/cvblob/README new file mode 100644 index 0000000..cebd81f --- /dev/null +++ b/3rdparty/cvblob/README @@ -0,0 +1,90 @@ +README for 0.10.3 cvBlob. + + +1. DOWNLOAD LATEST SOURCE + +You need Subversion ( http://subversion.tigris.org ). + +Read only checkout: + + svn checkout http://cvblob.googlecode.com/svn/trunk/ cvblob-read-only + + +2. DEPENDENCIES + +In order to compile cvBlob you need the following: + + * CMAKE ( http://www.cmake.org ) + * OpenCV ( http://opencvlibrary.sourceforge.net ) + +2.1 Instalation of dependencies in Debian type SO (Ubuntu,...) using apt: + +If you are in a Debian style distribution (Ubuntu, for example) you can do something +like this: + + sudo aptitude install cmake libcv4 libcv-dev libcvaux4 + +2.2 Instalation of dependencies in SuSE using Yast + +Type this: + + su -c "yast -i libopencv1 opencv opencv-debuginfo opencv-debugsource opencv-devel opencv-python cmake cmake-gui" + + +3. COMPILING AND INSTALLING + +In Linux, if you have unpacked the source in $CVBLOB, enter in a console: + + cd $CVBLOB + cmake . + make + sudo make install + +In Windows it must be as easy as in Linux (changing "make" for the equivalent in your compiler). +If problems, please read: + http://www.cmake.org/HTML/RunningCMake.html + +3.1 OpenCV path + +You can tell CMake where OpenCV is installed, in case it can't find it, using the "OpenCV_DIR" variable: + + cmake . -DOpenCV_DIR= + +3.2 Installation path + +To change the destination path for the installation, set "CMAKE_INSTALL_PREFIX" variable: + + cmake . -DCMAKE_INSTALL_PREFIX= + +3.3 Problems + +Latest information about compiling: + http://code.google.com/p/cvblob/wiki/HowToCompile + + +4. INFORMATION + +The official home page of cvBlob is: + http://cvblob.googlecode.com + +Downloads: + http://code.google.com/p/cvblob/downloads/list + +Documentation: + http://code.google.com/p/cvblob/wiki/WikiIndex?tm=6 + +Bug reports: + http://code.google.com/p/cvblob/issues/list + + +5. MAIN AUTHOR + +Comments, suggestions and, why not, donations (PayPal) to: + + Crist贸bal Carnero Li帽谩n E-mail: grendel.ccl@gmail.com + + +6. CONTRIBUTORS + + Stefan Gachter Web page: http://gachter.name + Kouichi Nishino diff --git a/3rdparty/cvblob/cmake_install.cmake b/3rdparty/cvblob/cmake_install.cmake new file mode 100644 index 0000000..9b1c6bf --- /dev/null +++ b/3rdparty/cvblob/cmake_install.cmake @@ -0,0 +1,34 @@ +# Install script for directory: /home/dborrman/Jacobs/software/slam6d/trunk/3rdparty/cvblob + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + diff --git a/3rdparty/cvblob/cvaux.cpp b/3rdparty/cvblob/cvaux.cpp new file mode 100644 index 0000000..0404c88 --- /dev/null +++ b/3rdparty/cvblob/cvaux.cpp @@ -0,0 +1,79 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + ////////////////////////////////////////////////////////////////////////////////////////////////////////////// + // http://www.topcoder.com/tc?module=Static&d1=tutorials&d2=geometry1 + + double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + { + double abx = b.x-a.x; + double aby = b.y-a.y; + double bcx = c.x-b.x; + double bcy = c.y-b.y; + + return abx*bcx + aby*bcy; + } + + double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + { + double abx = b.x-a.x; + double aby = b.y-a.y; + double acx = c.x-a.x; + double acy = c.y-a.y; + + return abx*acy - aby*acx; + } + + double cvDistancePointPoint(CvPoint const &a, CvPoint const &b) + { + double abx = a.x-b.x; + double aby = a.y-b.y; + + return sqrt(abx*abx + aby*aby); + } + + double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment) + { + if (isSegment) + { + double dot1 = cvDotProductPoints(a, b, c); + if (dot1>0) return cvDistancePointPoint(b, c); + + double dot2 = cvDotProductPoints(b, a, c); + if(dot2>0) return cvDistancePointPoint(a, c); + } + + return fabs(cvCrossProductPoints(a,b,c)/cvDistancePointPoint(a,b)); + } + ////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +} diff --git a/3rdparty/cvblob/cvblob.cpp b/3rdparty/cvblob/cvblob.cpp new file mode 100644 index 0000000..83126d8 --- /dev/null +++ b/3rdparty/cvblob/cvblob.cpp @@ -0,0 +1,344 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#include +#else +#include +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + CvLabel cvGreaterBlob(const CvBlobs &blobs) + { + CvLabel label=0; + unsigned int maxArea=0; + + for (CvBlobs::const_iterator it=blobs.begin();it!=blobs.end();++it) + { + CvBlob *blob=(*it).second; + //if ((!blob->_parent)&&(blob->area>maxArea)) + if (blob->area>maxArea) + { + label=blob->label; + maxArea=blob->area; + } + } + + return label; + } + + void cvFilterByArea(CvBlobs &blobs, unsigned int minArea, unsigned int maxArea) + { + CvBlobs::iterator it=blobs.begin(); + while(it!=blobs.end()) + { + CvBlob *blob=(*it).second; + if ((blob->areaarea>maxArea)) + { + cvReleaseBlob(blob); + + CvBlobs::iterator tmp=it; + ++it; + blobs.erase(tmp); + } + else + ++it; + } + } + + void cvFilterByLabel(CvBlobs &blobs, CvLabel label) + { + CvBlobs::iterator it=blobs.begin(); + while(it!=blobs.end()) + { + CvBlob *blob=(*it).second; + if (blob->label!=label) + { + delete blob; + CvBlobs::iterator tmp=it; + ++it; + blobs.erase(tmp); + } + else + ++it; + } + } + + /*void cvCentralMoments(CvBlob *blob, const IplImage *img) + { + CV_FUNCNAME("cvCentralMoments"); + __CV_BEGIN__; + if (!blob->centralMoments) + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_LABEL)&&(img->nChannels==1)); + + //cvCentroid(blob); // Here? + + blob->u11=blob->u20=blob->u02=0.; + + // Only in the bounding box + int stepIn = img->widthStep / (img->depth / 8); + int img_width = img->width; + int img_height = img->height; + int img_offset = 0; + if(0 != img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = img->roi->xOffset + (img->roi->yOffset * stepIn); + } + + CvLabel *imgData=(CvLabel *)img->imageData + (blob->miny * stepIn) + img_offset; + for (unsigned int r=blob->miny; + rmaxy; + r++,imgData+=stepIn) + for (unsigned int c=blob->minx;cmaxx;c++) + if (imgData[c]==blob->label) + { + double tx=(c-blob->centroid.x); + double ty=(r-blob->centroid.y); + blob->u11+=tx*ty; + blob->u20+=tx*tx; + blob->u02+=ty*ty; + } + + blob->centralMoments = true; + } + __CV_END__; + }*/ + + void cvRenderBlob(const IplImage *imgLabel, CvBlob *blob, IplImage *imgSource, IplImage *imgDest, unsigned short mode, CvScalar const &color, double alpha) + { + CV_FUNCNAME("cvRenderBlob"); + __CV_BEGIN__; + + CV_ASSERT(imgLabel&&(imgLabel->depth==IPL_DEPTH_LABEL)&&(imgLabel->nChannels==1)); + CV_ASSERT(imgDest&&(imgDest->depth==IPL_DEPTH_8U)&&(imgDest->nChannels==3)); + + if (mode&CV_BLOB_RENDER_COLOR) + { + int stepLbl = imgLabel->widthStep/(imgLabel->depth/8); + int stepSrc = imgSource->widthStep/(imgSource->depth/8); + int stepDst = imgDest->widthStep/(imgDest->depth/8); + int imgLabel_width = imgLabel->width; + int imgLabel_height = imgLabel->height; + int imgLabel_offset = 0; + int imgSource_width = imgSource->width; + int imgSource_height = imgSource->height; + int imgSource_offset = 0; + int imgDest_width = imgDest->width; + int imgDest_height = imgDest->height; + int imgDest_offset = 0; + if(imgLabel->roi) + { + imgLabel_width = imgLabel->roi->width; + imgLabel_height = imgLabel->roi->height; + imgLabel_offset = (imgLabel->nChannels * imgLabel->roi->xOffset) + (imgLabel->roi->yOffset * stepLbl); + } + if(imgSource->roi) + { + imgSource_width = imgSource->roi->width; + imgSource_height = imgSource->roi->height; + imgSource_offset = (imgSource->nChannels * imgSource->roi->xOffset) + (imgSource->roi->yOffset * stepSrc); + } + if(imgDest->roi) + { + imgDest_width = imgDest->roi->width; + imgDest_height = imgDest->roi->height; + imgDest_offset = (imgDest->nChannels * imgDest->roi->xOffset) + (imgDest->roi->yOffset * stepDst); + } + + CvLabel *labels = (CvLabel *)imgLabel->imageData + imgLabel_offset + (blob->miny * stepLbl); + unsigned char *source = (unsigned char *)imgSource->imageData + imgSource_offset + (blob->miny * stepSrc); + unsigned char *imgData = (unsigned char *)imgDest->imageData + imgDest_offset + (blob->miny * stepDst); + + for (unsigned int r=blob->miny; rmaxy; r++, labels+=stepLbl, source+=stepSrc, imgData+=stepDst) + for (unsigned int c=blob->minx; cmaxx; c++) + { + if (labels[c]==blob->label) + { + imgData[imgDest->nChannels*c+0] = (unsigned char)((1.-alpha)*source[imgSource->nChannels*c+0]+alpha*color.val[0]); + imgData[imgDest->nChannels*c+1] = (unsigned char)((1.-alpha)*source[imgSource->nChannels*c+1]+alpha*color.val[1]); + imgData[imgDest->nChannels*c+2] = (unsigned char)((1.-alpha)*source[imgSource->nChannels*c+2]+alpha*color.val[2]); + } + } + } + + if (mode) + { + if (mode&CV_BLOB_RENDER_TO_LOG) + { + std::clog << "Blob " << blob->label << std::endl; + std::clog << " - Bounding box: (" << blob->minx << ", " << blob->miny << ") - (" << blob->maxx << ", " << blob->maxy << ")" << std::endl; + std::clog << " - Bounding box area: " << (1 + blob->maxx - blob->minx) * (1 + blob->maxy - blob->miny) << std::endl; + std::clog << " - Area: " << blob->area << std::endl; + std::clog << " - Centroid: (" << blob->centroid.x << ", " << blob->centroid.y << ")" << std::endl; + std::clog << std::endl; + } + + if (mode&CV_BLOB_RENDER_TO_STD) + { + std::cout << "Blob " << blob->label << std::endl; + std::cout << " - Bounding box: (" << blob->minx << ", " << blob->miny << ") - (" << blob->maxx << ", " << blob->maxy << ")" << std::endl; + std::cout << " - Bounding box area: " << (1 + blob->maxx - blob->minx) * (1 + blob->maxy - blob->miny) << std::endl; + std::cout << " - Area: " << blob->area << std::endl; + std::cout << " - Centroid: (" << blob->centroid.x << ", " << blob->centroid.y << ")" << std::endl; + std::cout << std::endl; + } + + if (mode&CV_BLOB_RENDER_BOUNDING_BOX) + cvRectangle(imgDest, cvPoint(blob->minx, blob->miny), cvPoint(blob->maxx-1, blob->maxy-1), CV_RGB(255., 0., 0.)); + + if (mode&CV_BLOB_RENDER_ANGLE) + { + double angle = cvAngle(blob); + + double x1,y1,x2,y2; + double lengthLine = MAX(blob->maxx-blob->minx, blob->maxy-blob->miny)/2.; + + x1=blob->centroid.x-lengthLine*cos(angle); + y1=blob->centroid.y-lengthLine*sin(angle); + x2=blob->centroid.x+lengthLine*cos(angle); + y2=blob->centroid.y+lengthLine*sin(angle); + cvLine(imgDest,cvPoint(int(x1),int(y1)),cvPoint(int(x2),int(y2)),CV_RGB(0.,255.,0.)); + } + + if (mode&CV_BLOB_RENDER_CENTROID) + { + cvLine(imgDest,cvPoint(int(blob->centroid.x)-3,int(blob->centroid.y)),cvPoint(int(blob->centroid.x)+3,int(blob->centroid.y)),CV_RGB(0.,0.,255.)); + cvLine(imgDest,cvPoint(int(blob->centroid.x),int(blob->centroid.y)-3),cvPoint(int(blob->centroid.x),int(blob->centroid.y)+3),CV_RGB(0.,0.,255.)); + } + } + + __CV_END__; + } + + /////////////////////////////////////////////////////////////////////////////////////////////////// + // Based on http://en.wikipedia.org/wiki/HSL_and_HSV + + /// \def _HSV2RGB_(H, S, V, R, G, B) + /// \brief Color translation between HSV and RGB. +#define _HSV2RGB_(H, S, V, R, G, B) \ + { \ + double _h = H/60.; \ + int _hf = (int)floor(_h); \ + int _hi = ((int)_h)%6; \ + double _f = _h - _hf; \ + \ + double _p = V * (1. - S); \ + double _q = V * (1. - _f * S); \ + double _t = V * (1. - (1. - _f) * S); \ + \ + switch (_hi) \ + { \ + case 0: \ + R = 255.*V; G = 255.*_t; B = 255.*_p; \ + break; \ + case 1: \ + R = 255.*_q; G = 255.*V; B = 255.*_p; \ + break; \ + case 2: \ + R = 255.*_p; G = 255.*V; B = 255.*_t; \ + break; \ + case 3: \ + R = 255.*_p; G = 255.*_q; B = 255.*V; \ + break; \ + case 4: \ + R = 255.*_t; G = 255.*_p; B = 255.*V; \ + break; \ + case 5: \ + R = 255.*V; G = 255.*_p; B = 255.*_q; \ + break; \ + } \ + } + /////////////////////////////////////////////////////////////////////////////////////////////////// + + typedef std::map Palete; + + void cvRenderBlobs(const IplImage *imgLabel, CvBlobs &blobs, IplImage *imgSource, IplImage *imgDest, unsigned short mode, double alpha) + { + CV_FUNCNAME("cvRenderBlobs"); + __CV_BEGIN__; + { + + CV_ASSERT(imgLabel&&(imgLabel->depth==IPL_DEPTH_LABEL)&&(imgLabel->nChannels==1)); + CV_ASSERT(imgDest&&(imgDest->depth==IPL_DEPTH_8U)&&(imgDest->nChannels==3)); + + Palete pal; + if (mode&CV_BLOB_RENDER_COLOR) + { + + unsigned int colorCount = 0; + for (CvBlobs::const_iterator it=blobs.begin(); it!=blobs.end(); ++it) + { + CvLabel label = (*it).second->label; + + double r, g, b; + + _HSV2RGB_((double)((colorCount*77)%360), .5, 1., r, g, b); + colorCount++; + + pal[label] = CV_RGB(r, g, b); + } + } + + for (CvBlobs::iterator it=blobs.begin(); it!=blobs.end(); ++it) + cvRenderBlob(imgLabel, (*it).second, imgSource, imgDest, mode, pal[(*it).second->label], alpha); + + } + __CV_END__; + } + + // Returns radians + double cvAngle(CvBlob *blob) + { + CV_FUNCNAME("cvAngle"); + __CV_BEGIN__; + + return .5*atan2(2.*blob->u11,(blob->u20-blob->u02)); + + __CV_END__; + } + + void cvSaveImageBlob(const char *filename, IplImage *img, CvBlob const *blob) + { + CvRect roi = cvGetImageROI(img); + cvSetImageROItoBlob(img, blob); + cvSaveImage(filename, img); + cvSetImageROI(img, roi); + } + +} + +ostream& operator<< (ostream& output, const cvb::CvBlob& b) +{ + output << b.label << ": " << b.area << ", (" << b.centroid.x << ", " << b.centroid.y << "), [(" << b.minx << ", " << b.miny << ") - (" << b.maxx << ", " << b.maxy << ")]"; + + return output; +} diff --git a/3rdparty/cvblob/cvblob.h b/3rdparty/cvblob/cvblob.h new file mode 100644 index 0000000..f5d7c3c --- /dev/null +++ b/3rdparty/cvblob/cvblob.h @@ -0,0 +1,585 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +/// \file cvblob.h +/// \brief OpenCV Blob header file. + +#ifdef SWIG +%module cvblob +%{ +#include "cvblob.h" +%} +#endif + +#ifndef CVBLOB_H +#define CVBLOB_H + +#include +#include +#include +#include +#include + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#ifndef __CV_BEGIN__ +#define __CV_BEGIN__ __BEGIN__ +#endif +#ifndef __CV_END__ +#define __CV_END__ __END__ +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + namespace cvb + { + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Contours + + // Chain code: + // 7 0 1 + // 6 2 + // 5 4 3 +#define CV_CHAINCODE_UP 0 ///< Up. +#define CV_CHAINCODE_UP_RIGHT 1 ///< Up and right. +#define CV_CHAINCODE_RIGHT 2 ///< Right. +#define CV_CHAINCODE_DOWN_RIGHT 3 ///< Down and right. +#define CV_CHAINCODE_DOWN 4 ///< Down. +#define CV_CHAINCODE_DOWN_LEFT 5 ///< Down and left. +#define CV_CHAINCODE_LEFT 6 ///< Left. +#define CV_CHAINCODE_UP_LEFT 7 ///< Up and left. + + /// \brief Move vectors of chain codes. + /// \see CV_CHAINCODE_UP + /// \see CV_CHAINCODE_UP_LEFT + /// \see CV_CHAINCODE_LEFT + /// \see CV_CHAINCODE_DOWN_LEFT + /// \see CV_CHAINCODE_DOWN + /// \see CV_CHAINCODE_DOWN_RIGHT + /// \see CV_CHAINCODE_RIGHT + /// \see CV_CHAINCODE_UP_RIGHT + const char cvChainCodeMoves[8][2] = { { 0, -1}, + { 1, -1}, + { 1, 0}, + { 1, 1}, + { 0, 1}, + {-1, 1}, + {-1, 0}, + {-1, -1} + }; + + /// \brief Direction. + /// \see CV_CHAINCODE_UP + /// \see CV_CHAINCODE_UP_LEFT + /// \see CV_CHAINCODE_LEFT + /// \see CV_CHAINCODE_DOWN_LEFT + /// \see CV_CHAINCODE_DOWN + /// \see CV_CHAINCODE_DOWN_RIGHT + /// \see CV_CHAINCODE_RIGHT + /// \see CV_CHAINCODE_UP_RIGHT + typedef unsigned char CvChainCode; + + /// \brief Chain code. + /// \see CvChainCode + typedef std::list CvChainCodes; + + /// \brief Chain code contour. + /// \see CvChainCodes + struct CvContourChainCode + { + CvPoint startingPoint; ///< Point where contour begin. + CvChainCodes chainCode; ///< Polygon description based on chain codes. + }; + + typedef std::list CvContoursChainCode; ///< List of contours (chain codes type). + + /// \brief Polygon based contour. + typedef std::vector CvContourPolygon; + + /// \fn void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color=CV_RGB(255, 255, 255)) + /// \brief Draw a contour. + /// \param contour Chain code contour. + /// \param img Image to draw on. + /// \param color Color to draw (default, white). + /// \see CvContourChainCode + void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color=CV_RGB(255, 255, 255)); + + /// \fn CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc) + /// \brief Convert a chain code contour to a polygon. + /// \param cc Chain code contour. + /// \return A polygon. + /// \see CvContourChainCode + /// \see CvContourPolygon + CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc); + + /// \fn void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color=CV_RGB(255, 255, 255)) + /// \brief Draw a polygon. + /// \param contour Polygon contour. + /// \param img Image to draw on. + /// \param color Color to draw (default, white). + /// \see CvContourPolygon + void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color=CV_RGB(255, 255, 255)); + + /// \fn double cvContourPolygonArea(CvContourPolygon const *p) + /// \brief Calculates area of a polygonal contour. + /// \param p Contour (polygon type). + /// \return Area of the contour. + double cvContourPolygonArea(CvContourPolygon const *p); + + /// \fn double cvContourChainCodePerimeter(CvContourChainCode const *c) + /// \brief Calculates perimeter of a chain code contour. + /// \param c Contour (chain code type). + /// \return Perimeter of the contour. + double cvContourChainCodePerimeter(CvContourChainCode const *c); + + /// \fn double cvContourPolygonPerimeter(CvContourPolygon const *p) + /// \brief Calculates perimeter of a polygonal contour. + /// \param p Contour (polygon type). + /// \return Perimeter of the contour. + double cvContourPolygonPerimeter(CvContourPolygon const *p); + + /// \fn double cvContourPolygonCircularity(const CvContourPolygon *p) + /// \brief Calculates the circularity of a polygon (compactness measure). + /// \param p Contour (polygon type). + /// \return Circularity: a non-negative value, where 0 correspond with a circumference. + double cvContourPolygonCircularity(const CvContourPolygon *p); + + /// \fn CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta=1.) + /// \brief Simplify a polygon reducing the number of vertex according the distance "delta". + /// Uses a version of the Ramer-Douglas-Peucker algorithm (http://en.wikipedia.org/wiki/Ramer-Douglas-Peucker_algorithm). + /// \param p Contour (polygon type). + /// \param delta Minimun distance. + /// \return A simplify version of the original polygon. + CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta=1.); + + /// \fn CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p) + /// \brief Calculates convex hull of a contour. + /// Uses the Melkman Algorithm. Code based on the version in http://w3.impa.br/~rdcastan/Cgeometry/. + /// \param p Contour (polygon type). + /// \return Convex hull. + CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p); + + /// \fn void cvWriteContourPolygonCSV(const CvContourPolygon& p, const std::string& filename) + /// \brief Write a contour to a CSV (Comma-separated values) file. + /// \param p Polygon contour. + /// \param filename File name. + void cvWriteContourPolygonCSV(const CvContourPolygon& p, const std::string& filename); + + /// \fn void cvWriteContourPolygonSVG(const CvContourPolygon& p, const std::string& filename, const CvScalar& stroke=cvScalar(0,0,0), const CvScalar& fill=cvScalar(255,255,255)) + /// \brief Write a contour to a SVG file (http://en.wikipedia.org/wiki/Scalable_Vector_Graphics). + /// \param p Polygon contour. + /// \param filename File name. + /// \param stroke Stroke color (black by default). + /// \param fill Fill color (white by default). + void cvWriteContourPolygonSVG(const CvContourPolygon& p, const std::string& filename, const CvScalar& stroke=cvScalar(0,0,0), const CvScalar& fill=cvScalar(255,255,255)); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Blobs + + /// \brief Type of label. + /// \see IPL_DEPTH_LABEL + typedef unsigned int CvLabel; + //typedef unsigned char CvLabel; + + /// \def IPL_DEPTH_LABEL + /// \brief Size of a label in bits. + /// \see CvLabel +#define IPL_DEPTH_LABEL (sizeof(cvb::CvLabel)*8) + + /// \def CV_BLOB_MAX_LABEL + /// \brief Max label number. + /// \see CvLabel. +#define CV_BLOB_MAX_LABEL std::numeric_limits::max() + + /// \brief Type of identification numbers. + typedef unsigned int CvID; + + /// \brief Struct that contain information about one blob. + struct CvBlob + { + CvLabel label; ///< Label assigned to the blob. + + union + { + unsigned int area; ///< Area (moment 00). + unsigned int m00; ///< Moment 00 (area). + }; + + unsigned int minx; ///< X min. + unsigned int maxx; ///< X max. + unsigned int miny; ///< Y min. + unsigned int maxy; ///< y max. + + CvPoint2D64f centroid; ///< Centroid. + + double m10; ///< Moment 10. + double m01; ///< Moment 01. + double m11; ///< Moment 11. + double m20; ///< Moment 20. + double m02; ///< Moment 02. + + double u11; ///< Central moment 11. + double u20; ///< Central moment 20. + double u02; ///< Central moment 02. + + double n11; ///< Normalized central moment 11. + double n20; ///< Normalized central moment 20. + double n02; ///< Normalized central moment 02. + + double p1; ///< Hu moment 1. + double p2; ///< Hu moment 2. + + CvContourChainCode contour; ///< Contour. + CvContoursChainCode internalContours; ///< Internal contours. + }; + + /// \var typedef std::map CvBlobs + /// \brief List of blobs. + /// A map is used to access each blob from its label number. + /// \see CvLabel + /// \see CvBlob + typedef std::map CvBlobs; + + /// \var typedef std::pair CvLabelBlob + /// \brief Pair (label, blob). + /// \see CvLabel + /// \see CvBlob + typedef std::pair CvLabelBlob; + + /// \fn unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs); + /// \brief Label the connected parts of a binary image. + /// Algorithm based on paper "A linear-time component-labeling algorithm using contour tracing technique" of Fu Chang, Chun-Jen Chen and Chi-Jen Lu. + /// \param img Input binary image (depth=IPL_DEPTH_8U and num. channels=1). + /// \param imgOut Output image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blobs List of blobs. + /// \return Number of pixels that has been labeled. + unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs); + + //IplImage *cvFilterLabel(IplImage *imgIn, CvLabel label); + + /// \fn void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs) + /// \brief Draw a binary image with the blobs that have been given. + /// \param imgIn Input image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param imgOut Output binary image (depth=IPL_DEPTH_8U and num. channels=1). + /// \param blobs List of blobs to be drawn. + /// \see cvLabel + void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs); + + /// \fn CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y) + /// \brief Get the label value from a labeled image. + /// \param img Label image. + /// \param x X coordenate. + /// \param y Y coordenate. + /// \return Label value. + /// \see CvLabel + CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y); + + /// \fn inline void cvReleaseBlob(CvBlob *blob) + /// \brief Clear a blob structure. + /// \param blob Blob. + /// \see CvBlob + inline void cvReleaseBlob(CvBlob *blob) + { + if (blob) + { + for (CvContoursChainCode::iterator jt=blob->internalContours.begin(); jt!=blob->internalContours.end(); ++jt) + { + CvContourChainCode *contour = *jt; + if (contour) + delete contour; + } + blob->internalContours.clear(); + + delete blob; + } + } + + /// \fn inline void cvReleaseBlobs(CvBlobs &blobs) + /// \brief Clear blobs structure. + /// \param blobs List of blobs. + /// \see CvBlobs + inline void cvReleaseBlobs(CvBlobs &blobs) + { + for (CvBlobs::iterator it=blobs.begin(); it!=blobs.end(); ++it) + { + cvReleaseBlob((*it).second); + } + blobs.clear(); + } + + /// \fn CvLabel cvGreaterBlob(const CvBlobs &blobs) + /// \brief Find greater blob. + /// \param blobs List of blobs. + /// \return Label of the greater blob or 0 if there are no blobs. + /// \see cvLabel + CvLabel cvGreaterBlob(const CvBlobs &blobs); + + /// \fn void cvFilterByArea(CvBlobs &blobs, unsigned int minArea, unsigned int maxArea) + /// \brief Filter blobs by area. + /// Those blobs whose areas are not in range will be erased from the input list of blobs. + /// \param blobs List of blobs. + /// \param minArea Minimun area. + /// \param maxArea Maximun area. + void cvFilterByArea(CvBlobs &blobs, unsigned int minArea, unsigned int maxArea); + + /// \fn void cvFilterByLabel(CvBlobs &blobs, CvLabel label) + /// \brief Filter blobs by label. + /// Delete all blobs except those with label l. + /// \param blobs List of blobs. + /// \param label Label to leave. + void cvFilterByLabel(CvBlobs &blobs, CvLabel label); + + /// \fn inline CvPoint2D64f cvCentroid(CvBlob *blob) + /// \brief Calculates centroid. + /// Centroid will be returned and stored in the blob structure. + /// \param blob Blob whose centroid will be calculated. + /// \return Centroid. + /// \see CvBlob + inline CvPoint2D64f cvCentroid(CvBlob *blob) + { + return blob->centroid=cvPoint2D64f(blob->m10/blob->area, blob->m01/blob->area); + } + + /// \fn double cvAngle(CvBlob *blob) + /// \brief Calculates angle orientation of a blob. + /// This function uses central moments so cvCentralMoments should have been called before for this blob. + /// \param blob Blob. + /// \return Angle orientation in radians. + /// \see cvCentralMoments + /// \see CvBlob + double cvAngle(CvBlob *blob); + + /// \fn cvSaveImageBlob(const char *filename, IplImage *img, CvBlob const *blob) + /// \brief Save the image of a blob to a file. + /// The function uses an image (that can be the original pre-processed image or a processed one, or even the result of cvRenderBlobs, for example) and a blob structure. + /// Then the function saves a copy of the part of the image where the blob is. + /// \param filename Name of the file. + /// \param img Image. + /// \param blob Blob. + /// \see CvBlob + /// \see cvRenderBlob + void cvSaveImageBlob(const char *filename, IplImage *img, CvBlob const *blob); + +#define CV_BLOB_RENDER_COLOR 0x0001 ///< Render each blog with a different color. \see cvRenderBlobs +#define CV_BLOB_RENDER_CENTROID 0x0002 ///< Render centroid. \see cvRenderBlobs +#define CV_BLOB_RENDER_BOUNDING_BOX 0x0004 ///< Render bounding box. \see cvRenderBlobs +#define CV_BLOB_RENDER_ANGLE 0x0008 ///< Render angle. \see cvRenderBlobs +#define CV_BLOB_RENDER_TO_LOG 0x0010 ///< Print blob data to log out. \see cvRenderBlobs +#define CV_BLOB_RENDER_TO_STD 0x0020 ///< Print blob data to std out. \see cvRenderBlobs + + /// \fn void cvRenderBlob(const IplImage *imgLabel, CvBlob *blob, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvScalar const &color=CV_RGB(255, 255, 255), double alpha=1.) + /// \brief Draws or prints information about a blob. + /// \param imgLabel Label image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blob Blob. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_BLOB_RENDER_COLOR|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_ANGLE. + /// \param color Color to render (if CV_BLOB_RENDER_COLOR is used). + /// \param alpha If mode CV_BLOB_RENDER_COLOR is used. 1.0 indicates opaque and 0.0 translucent (1.0 by default). + /// \see CV_BLOB_RENDER_COLOR + /// \see CV_BLOB_RENDER_CENTROID + /// \see CV_BLOB_RENDER_BOUNDING_BOX + /// \see CV_BLOB_RENDER_ANGLE + /// \see CV_BLOB_RENDER_TO_LOG + /// \see CV_BLOB_RENDER_TO_STD + void cvRenderBlob(const IplImage *imgLabel, CvBlob *blob, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvScalar const &color=CV_RGB(255, 255, 255), double alpha=1.); + + /// \fn void cvRenderBlobs(const IplImage *imgLabel, CvBlobs &blobs, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, double alpha=1.) + /// \brief Draws or prints information about blobs. + /// \param imgLabel Label image (depth=IPL_DEPTH_LABEL and num. channels=1). + /// \param blobs List of blobs. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_BLOB_RENDER_COLOR|CV_BLOB_RENDER_CENTROID|CV_BLOB_RENDER_BOUNDING_BOX|CV_BLOB_RENDER_ANGLE. + /// \param alpha If mode CV_BLOB_RENDER_COLOR is used. 1.0 indicates opaque and 0.0 translucent (1.0 by default). + /// \see CV_BLOB_RENDER_COLOR + /// \see CV_BLOB_RENDER_CENTROID + /// \see CV_BLOB_RENDER_BOUNDING_BOX + /// \see CV_BLOB_RENDER_ANGLE + /// \see CV_BLOB_RENDER_TO_LOG + /// \see CV_BLOB_RENDER_TO_STD + void cvRenderBlobs(const IplImage *imgLabel, CvBlobs &blobs, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, double alpha=1.); + + /// \fn void cvSetImageROItoBlob(IplImage *img, CvBlob const *blob) + /// \brief Set the ROI of an image to the bounding box of a blob. + /// \param img Image. + /// \param blob Blob. + /// \see CvBlob + inline void cvSetImageROItoBlob(IplImage *img, CvBlob const *blob) + { + cvSetImageROI(img, cvRect(blob->minx, blob->miny, blob->maxx-blob->minx, blob->maxy-blob->miny)); + }; + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Color + + /// \fn CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img) + /// \brief Calculates mean color of a blob in an image. + /// \param blob Blob. + /// \param imgLabel Image of labels. + /// \param img Original image. + /// \return Average color. + CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Aux + + /// \fn double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + /// \brief Dot product of the vectors ab and bc. + /// \param a First point. + /// \param b Middle point. + /// \param c Last point. + /// \return Dot product of ab and bc. + double cvDotProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c); + + /// \fn double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c) + /// \brief Cross product of the vectors ab and bc. + /// \param a Point. + /// \param b Point. + /// \param c Point. + /// \return Cross product of ab and bc. + double cvCrossProductPoints(CvPoint const &a, CvPoint const &b, CvPoint const &c); + + /// \fn double cvDistancePointPoint(CvPoint const &a, CvPoint const &b) + /// \brief Distance between two points. + /// \param a Point. + /// \param b Point. + /// \return Distance. + double cvDistancePointPoint(CvPoint const &a, CvPoint const &b); + + /// \fn double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment=true) + /// \brief Distance between line ab and point c. + /// \param a First point of the segment. + /// \param b Second point of the segment. + /// \param c Point. + /// \param isSegment If false then the distance will be calculated from the line defined by the points a and b, to the point c. + /// \return Distance between ab and c. + double cvDistanceLinePoint(CvPoint const &a, CvPoint const &b, CvPoint const &c, bool isSegment=true); + + //////////////////////////////////////////////////////////////////////////////////////////////////////////// + // Tracking + + /// \brief Struct that contain information about one track. + /// \see CvID + /// \see CvLabel + struct CvTrack + { + CvID id; ///< Track identification number. + + CvLabel label; ///< Label assigned to the blob related to this track. + + unsigned int minx; ///< X min. + unsigned int maxx; ///< X max. + unsigned int miny; ///< Y min. + unsigned int maxy; ///< y max. + + CvPoint2D64f centroid; ///< Centroid. + + unsigned int lifetime; ///< Indicates how much frames the object has been in scene. + unsigned int active; ///< Indicates number of frames that has been active from last inactive period. + unsigned int inactive; ///< Indicates number of frames that has been missing. + }; + + /// \var typedef std::map CvTracks + /// \brief List of tracks. + /// \see CvID + /// \see CvTrack + typedef std::map CvTracks; + + /// \var typedef std::pair CvIDTrack + /// \brief Pair (identification number, track). + /// \see CvID + /// \see CvTrack + typedef std::pair CvIDTrack; + + /// \fn inline void cvReleaseTracks(CvTracks &tracks) + /// \brief Clear tracks structure. + /// \param tracks List of tracks. + /// \see CvTracks + inline void cvReleaseTracks(CvTracks &tracks) + { + for (CvTracks::iterator it=tracks.begin(); it!=tracks.end(); it++) + { + CvTrack *track = (*it).second; + if (track) delete track; + } + + tracks.clear(); + } + + /// \fn cvUpdateTracks(CvBlobs const &b, CvTracks &t, const double thDistance, const unsigned int thInactive, const unsigned int thActive=0) + /// \brief Updates list of tracks based on current blobs. + /// Tracking based on: + /// A.聽Senior,聽A.聽Hampapur,聽Y-L聽Tian,聽L.聽Brown,聽S.聽Pankanti,聽R.聽Bolle.聽Appearance聽Models聽for + /// Occlusion聽Handling.聽Second聽International聽workshop聽on聽Performance聽Evaluation聽of聽Tracking聽and + /// Surveillance聽Systems聽&聽CVPR'01.聽December,聽2001. + /// (http://www.research.ibm.com/peoplevision/PETS2001.pdf) + /// \param b List of blobs. + /// \param t List of tracks. + /// \param thDistance Max distance to determine when a track and a blob match. + /// \param thInactive Max number of frames a track can be inactive. + /// \param thActive If a track becomes inactive but it has been active less than thActive frames, the track will be deleted. + /// \see CvBlobs + /// \see Tracks + void cvUpdateTracks(CvBlobs const &b, CvTracks &t, const double thDistance, const unsigned int thInactive, const unsigned int thActive=0); + +#define CV_TRACK_RENDER_ID 0x0001 ///< Print the ID of each track in the image. \see cvRenderTracks +#define CV_TRACK_RENDER_BOUNDING_BOX 0x0002 ///< Draw bounding box of each track in the image. \see cvRenderTracks +#define CV_TRACK_RENDER_TO_LOG 0x0010 ///< Print track info to log out. \see cvRenderTracks +#define CV_TRACK_RENDER_TO_STD 0x0020 ///< Print track info to log out. \see cvRenderTracks + + /// \fn void cvRenderTracks(CvTracks const tracks, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x00ff, CvFont *font=NULL) + /// \brief Prints tracks information. + /// \param tracks List of tracks. + /// \param imgSource Input image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param imgDest Output image (depth=IPL_DEPTH_8U and num. channels=3). + /// \param mode Render mode. By default is CV_TRACK_RENDER_ID|CV_TRACK_RENDER_BOUNDING_BOX. + /// \param font OpenCV font for print on the image. + /// \see CV_TRACK_RENDER_ID + /// \see CV_TRACK_RENDER_BOUNDING_BOX + /// \see CV_TRACK_RENDER_TO_LOG + /// \see CV_TRACK_RENDER_TO_STD + void cvRenderTracks(CvTracks const tracks, IplImage *imgSource, IplImage *imgDest, unsigned short mode=0x000f, CvFont *font=NULL); + } +#ifdef __cplusplus +} +#endif + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvBlob& b) +/// \brief Overload operator "<<" for printing blob structure. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvBlob& b); + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvContourPolygon& p) +/// \brief Overload operator "<<" for printing polygons in CSV format. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvContourPolygon& p); + +/// \fn std::ostream& operator<< (std::ostream& output, const cvb::CvTrack& t) +/// \brief Overload operator "<<" for printing track structure. +/// \return Stream. +std::ostream& operator<< (std::ostream& output, const cvb::CvTrack& t); +#endif diff --git a/3rdparty/cvblob/cvcolor.cpp b/3rdparty/cvblob/cvcolor.cpp new file mode 100644 index 0000000..fda20d4 --- /dev/null +++ b/3rdparty/cvblob/cvcolor.cpp @@ -0,0 +1,104 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + CvScalar cvBlobMeanColor(CvBlob const *blob, IplImage const *imgLabel, IplImage const *img) + { + CV_FUNCNAME("cvBlobMeanColor"); + __CV_BEGIN__; + { + CV_ASSERT(imgLabel&&(imgLabel->depth==IPL_DEPTH_LABEL)&&(imgLabel->nChannels==1)); + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + int stepLbl = imgLabel->widthStep/(imgLabel->depth/8); + int stepImg = img->widthStep/(img->depth/8); + int imgLabel_width = imgLabel->width; + int imgLabel_height = imgLabel->height; + int imgLabel_offset = 0; + int img_width = img->width; + int img_height = img->height; + int img_offset = 0; + if(imgLabel->roi) + { + imgLabel_width = imgLabel->roi->width; + imgLabel_height = imgLabel->roi->height; + imgLabel_offset = (imgLabel->nChannels * imgLabel->roi->xOffset) + (imgLabel->roi->yOffset * stepLbl); + } + if(img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = (img->nChannels * img->roi->xOffset) + (img->roi->yOffset * stepImg); + } + + CvLabel *labels = (CvLabel *)imgLabel->imageData + imgLabel_offset; + unsigned char *imgData = (unsigned char *)img->imageData + img_offset; + + double mb = 0; + double mg = 0; + double mr = 0; + double pixels = (double)blob->area; + + for (unsigned int r=0; r<(unsigned int)imgLabel_height; r++, labels+=stepLbl, imgData+=stepImg) + for (unsigned int c=0; c<(unsigned int)imgLabel_width; c++) + { + if (labels[c]==blob->label) + { + mb += ((double)imgData[img->nChannels*c+0])/pixels; // B + mg += ((double)imgData[img->nChannels*c+1])/pixels; // G + mr += ((double)imgData[img->nChannels*c+2])/pixels; // R + } + } + + /*double mb = 0; + double mg = 0; + double mr = 0; + double pixels = (double)blob->area; + for (unsigned int y=0; yheight; y++) + for (unsigned int x=0; xwidth; x++) + { + if (cvGetLabel(imgLabel, x, y)==blob->label) + { + CvScalar color = cvGet2D(img, y, x); + mb += color.val[0]/pixels; + mg += color.val[1]/pixels; + mr += color.val[2]/pixels; + } + }*/ + + return cvScalar(mr, mg, mb); + } + __CV_END__; + } + +} diff --git a/3rdparty/cvblob/cvcontour.cpp b/3rdparty/cvblob/cvcontour.cpp new file mode 100644 index 0000000..71b514d --- /dev/null +++ b/3rdparty/cvblob/cvcontour.cpp @@ -0,0 +1,436 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include + +#define _USE_MATH_DEFINES +#include + +#include +#include +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +#ifdef M_PI +const double pi = M_PI; +#else +const double pi = std::atan(1.)*4.; +#endif // M_PI + +namespace cvb +{ + + void cvRenderContourChainCode(CvContourChainCode const *contour, IplImage const *img, CvScalar const &color) + { + CV_FUNCNAME("cvRenderContourChainCode"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + int stepDst = img->widthStep/(img->depth/8); + int img_width = img->width; + int img_height = img->height; + int img_offset = 0; + + if(img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = (img->nChannels * img->roi->xOffset) + (img->roi->yOffset * stepDst); + } + + unsigned char *imgData = (unsigned char *)img->imageData + img_offset; + + unsigned int x = contour->startingPoint.x; + unsigned int y = contour->startingPoint.y; + + for (CvChainCodes::const_iterator it=contour->chainCode.begin(); it!=contour->chainCode.end(); ++it) + { + imgData[img->nChannels*x+img->widthStep*y+0] = (unsigned char)(color.val[0]); // Blue + imgData[img->nChannels*x+img->widthStep*y+1] = (unsigned char)(color.val[1]); // Green + imgData[img->nChannels*x+img->widthStep*y+2] = (unsigned char)(color.val[2]); // Red + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + } + } + __CV_END__; + } + + CvContourPolygon *cvConvertChainCodesToPolygon(CvContourChainCode const *cc) + { + CV_FUNCNAME("cvConvertChainCodesToPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(cc!=NULL); + + CvContourPolygon *contour = new CvContourPolygon; + + unsigned int x = cc->startingPoint.x; + unsigned int y = cc->startingPoint.y; + contour->push_back(cvPoint(x, y)); + + if (cc->chainCode.size()) + { + CvChainCodes::const_iterator it=cc->chainCode.begin(); + CvChainCode lastCode = *it; + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + + ++it; + + for (; it!=cc->chainCode.end(); ++it) + { + if (lastCode!=*it) + { + contour->push_back(cvPoint(x, y)); + lastCode=*it; + } + + x += cvChainCodeMoves[*it][0]; + y += cvChainCodeMoves[*it][1]; + } + } + + return contour; + } + __CV_END__; + } + + void cvRenderContourPolygon(CvContourPolygon const *contour, IplImage *img, CvScalar const &color) + { + CV_FUNCNAME("cvRenderContourPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==3)); + + CvContourPolygon::const_iterator it=contour->begin(); + + if (it!=contour->end()) + { + unsigned int fx, x, fy, y; + fx = x = it->x; + fy = y = it->y; + + for (; it!=contour->end(); ++it) + { + cvLine(img, cvPoint(x, y), cvPoint(it->x, it->y), color, 1); + x = it->x; + y = it->y; + } + + cvLine(img, cvPoint(x, y), cvPoint(fx, fy), color, 1); + } + } + __CV_END__; + } + + double cvContourPolygonArea(CvContourPolygon const *p) + { + CV_FUNCNAME("cvContourPolygonArea"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + if (p->size()<=2) + return 1.; + + CvContourPolygon::const_iterator it=p->begin(); + CvPoint lastPoint = p->back(); + + double a = 0.; + + for (; it!=p->end(); ++it) + { + a += lastPoint.x*it->y - lastPoint.y*it->x; + lastPoint = *it; + } + + return a*0.5; + } + __CV_END__; + } + + double cvContourChainCodePerimeter(CvContourChainCode const *c) + { + CV_FUNCNAME("cvContourChainCodePerimeter"); + __CV_BEGIN__; + { + CV_ASSERT(c!=NULL); + + double perimeter = 0.; + + for(CvChainCodes::const_iterator it=c->chainCode.begin(); it!=c->chainCode.end(); ++it) + { + if ((*it)%2) + perimeter+=sqrt(1.+1.); + else + perimeter+=1.; + } + + return perimeter; + } + __CV_END__; + } + + double cvContourPolygonPerimeter(CvContourPolygon const *p) + { + CV_FUNCNAME("cvContourPolygonPerimeter"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double perimeter = cvDistancePointPoint((*p)[p->size()-1], (*p)[0]); + + for (unsigned int i=0; isize()-1; i++) + perimeter+=cvDistancePointPoint((*p)[i], (*p)[i+1]); + + return perimeter; + } + __CV_END__; + } + + double cvContourPolygonCircularity(const CvContourPolygon *p) + { + CV_FUNCNAME("cvContourPolygonCircularity"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double l = cvContourPolygonPerimeter(p); + double c = (l*l/cvContourPolygonArea(p)) - 4.*pi; + + if (c>=0.) + return c; + else // This could happen if the blob it's only a pixel: the perimeter will be 0. Another solution would be to force "cvContourPolygonPerimeter" to be 1 or greater. + return 0.; + } + __CV_END__; + } + + void simplifyPolygonRecursive(CvContourPolygon const *p, int const i1, int const i2, bool *pnUseFlag, double const delta) + { + CV_FUNCNAME("cvSimplifyPolygonRecursive"); + __CV_BEGIN__; + { + int endIndex = (i2<0)?p->size():i2; + + if (abs(i1-endIndex)<=1) + return; + + CvPoint firstPoint = (*p)[i1]; + CvPoint lastPoint = (i2<0)?p->front():(*p)[i2]; + + double furtherDistance=0.; + int furtherIndex=0; + + for (int i=i1+1; i=delta)&&(d>furtherDistance)) + { + furtherDistance=d; + furtherIndex=i; + } + } + + if (furtherIndex) + { + pnUseFlag[furtherIndex]=true; + + simplifyPolygonRecursive(p, i1, furtherIndex, pnUseFlag, delta); + simplifyPolygonRecursive(p, furtherIndex, i2, pnUseFlag, delta); + } + } + __CV_END__; + } + + CvContourPolygon *cvSimplifyPolygon(CvContourPolygon const *p, double const delta) + { + CV_FUNCNAME("cvSimplifyPolygon"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + double furtherDistance=0.; + unsigned int furtherIndex=0; + + CvContourPolygon::const_iterator it=p->begin(); + ++it; + for (unsigned int i=1; it!=p->end(); ++it, i++) + { + double d = cvDistancePointPoint(*it, p->front()); + + if (d>furtherDistance) + { + furtherDistance = d; + furtherIndex = i; + } + } + + if (furtherDistancepush_back(p->front()); + return result; + } + + bool *pnUseFlag = new bool[p->size()]; + for (unsigned int i=1; isize(); i++) pnUseFlag[i] = false; + + pnUseFlag[0] = pnUseFlag[furtherIndex] = true; + + simplifyPolygonRecursive(p, 0, furtherIndex, pnUseFlag, delta); + simplifyPolygonRecursive(p, furtherIndex, -1, pnUseFlag, delta); + + CvContourPolygon *result = new CvContourPolygon; + + for (unsigned int i=0; isize(); i++) + if (pnUseFlag[i]) + result->push_back((*p)[i]); + + delete[] pnUseFlag; + + return result; + } + __CV_END__; + } + + CvContourPolygon *cvPolygonContourConvexHull(CvContourPolygon const *p) + { + CV_FUNCNAME("cvPolygonContourConvexHull"); + __CV_BEGIN__; + { + CV_ASSERT(p!=NULL); + + if (p->size()<=3) + { + return new CvContourPolygon(p->begin(), p->end()); + } + + deque dq; + + if (cvCrossProductPoints((*p)[0], (*p)[1], (*p)[2])>0) + { + dq.push_back((*p)[0]); + dq.push_back((*p)[1]); + } + else + { + dq.push_back((*p)[1]); + dq.push_back((*p)[0]); + } + + dq.push_back((*p)[2]); + dq.push_front((*p)[2]); + + for (unsigned int i=3; isize(); i++) + { + int s = dq.size(); + + if ((cvCrossProductPoints((*p)[i], dq.at(0), dq.at(1))>=0) && (cvCrossProductPoints(dq.at(s-2), dq.at(s-1), (*p)[i])>=0)) + continue; // TODO Optimize. + + while (cvCrossProductPoints(dq.at(s-2), dq.at(s-1), (*p)[i])<0) + { + dq.pop_back(); + s = dq.size(); + } + + dq.push_back((*p)[i]); + + while (cvCrossProductPoints((*p)[i], dq.at(0), dq.at(1))<0) + dq.pop_front(); + + dq.push_front((*p)[i]); + } + + return new CvContourPolygon(dq.begin(), dq.end()); + } + __CV_END__; + } + + void cvWriteContourPolygonCSV(const CvContourPolygon& p, const string& filename) + { + ofstream f; + f.open(filename.c_str()); + + f << p << endl; + + f.close(); + } + + void cvWriteContourPolygonSVG(const CvContourPolygon& p, const string& filename, const CvScalar& stroke, const CvScalar& fill) + { + int minx=INT_MAX; + int miny=INT_MAX; + int maxx=INT_MIN; + int maxy=INT_MIN; + + stringstream buffer(""); + + for (CvContourPolygon::const_iterator it=p.begin(); it!=p.end(); ++it) + { + if (it->x>maxx) + maxx = it->x; + if (it->xx; + + if (it->y>maxy) + maxy = it->y; + if (it->yy; + + buffer << it->x << "," << it->y << " "; + } + + ofstream f; + f.open(filename.c_str()); + + f << "" << endl; + f << "" << endl; + f << "" << endl; + + f << "" << endl; + + f << "" << endl; + + f.close(); + } + +} + +ostream& operator<< (ostream& output, const cvb::CvContourPolygon& p) +{ + for (cvb::CvContourPolygon::const_iterator it=p.begin(); it!=p.end(); ++it) + output << it->x << ", " << it->y << endl; + + return output; +} diff --git a/3rdparty/cvblob/cvlabel.cpp b/3rdparty/cvblob/cvlabel.cpp new file mode 100644 index 0000000..70be761 --- /dev/null +++ b/3rdparty/cvblob/cvlabel.cpp @@ -0,0 +1,441 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + const char movesE[4][3][4] = { { {-1, -1, 3, CV_CHAINCODE_UP_LEFT }, { 0, -1, 0, CV_CHAINCODE_UP }, { 1, -1, 0, CV_CHAINCODE_UP_RIGHT } }, + { { 1, -1, 0, CV_CHAINCODE_UP_RIGHT }, { 1, 0, 1, CV_CHAINCODE_RIGHT}, { 1, 1, 1, CV_CHAINCODE_DOWN_RIGHT } }, + { { 1, 1, 1, CV_CHAINCODE_DOWN_RIGHT}, { 0, 1, 2, CV_CHAINCODE_DOWN }, {-1, 1, 2, CV_CHAINCODE_DOWN_LEFT } }, + { {-1, 1, 2, CV_CHAINCODE_DOWN_LEFT }, {-1, 0, 3, CV_CHAINCODE_LEFT }, {-1, -1, 3, CV_CHAINCODE_UP_LEFT } } + }; + + const char movesI[4][3][4] = { { { 1, -1, 3, CV_CHAINCODE_UP_RIGHT }, { 0, -1, 0, CV_CHAINCODE_UP }, {-1, -1, 0, CV_CHAINCODE_UP_LEFT } }, + { {-1, -1, 0, CV_CHAINCODE_UP_LEFT }, {-1, 0, 1, CV_CHAINCODE_LEFT }, {-1, 1, 1, CV_CHAINCODE_DOWN_LEFT } }, + { {-1, 1, 1, CV_CHAINCODE_DOWN_LEFT }, { 0, 1, 2, CV_CHAINCODE_DOWN }, { 1, 1, 2, CV_CHAINCODE_DOWN_RIGHT } }, + { { 1, 1, 2, CV_CHAINCODE_DOWN_RIGHT }, { 1, 0, 3, CV_CHAINCODE_RIGHT}, { 1, -1, 3, CV_CHAINCODE_UP_RIGHT } } + }; + + + unsigned int cvLabel (IplImage const *img, IplImage *imgOut, CvBlobs &blobs) + { + CV_FUNCNAME("cvLabel"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_8U)&&(img->nChannels==1)); + CV_ASSERT(imgOut&&(imgOut->depth==IPL_DEPTH_LABEL)&&(img->nChannels==1)); + + unsigned int numPixels=0; + + cvSetZero(imgOut); + + CvLabel label=0; + cvReleaseBlobs(blobs); + + unsigned int stepIn = img->widthStep / (img->depth / 8); + unsigned int stepOut = imgOut->widthStep / (imgOut->depth / 8); + unsigned int imgIn_width = img->width; + unsigned int imgIn_height = img->height; + unsigned int imgIn_offset = 0; + unsigned int imgOut_width = imgOut->width; + unsigned int imgOut_height = imgOut->height; + unsigned int imgOut_offset = 0; + if(img->roi) + { + imgIn_width = img->roi->width; + imgIn_height = img->roi->height; + imgIn_offset = img->roi->xOffset + (img->roi->yOffset * stepIn); + } + if(imgOut->roi) + { + imgOut_width = imgOut->roi->width; + imgOut_height = imgOut->roi->height; + imgOut_offset = imgOut->roi->xOffset + (imgOut->roi->yOffset * stepOut); + } + + unsigned char *imgDataIn = (unsigned char *)img->imageData + imgIn_offset; + CvLabel *imgDataOut = (CvLabel *)imgOut->imageData + imgOut_offset; + +#define imageIn(X, Y) imgDataIn[(X) + (Y)*stepIn] +#define imageOut(X, Y) imgDataOut[(X) + (Y)*stepOut] + + CvLabel lastLabel = 0; + CvBlob *lastBlob = NULL; + + for (unsigned int y=0; y0) + imageOut(x, y-1) = CV_BLOB_MAX_LABEL; + + CvBlob *blob = new CvBlob; + blob->label = label; + blob->area = 1; + blob->minx = x; blob->maxx = x; + blob->miny = y; blob->maxy = y; + blob->m10=x; blob->m01=y; + blob->m11=x*y; + blob->m20=x*x; blob->m02=y*y; + blob->internalContours.clear(); + blobs.insert(CvLabelBlob(label,blob)); + + lastLabel = label; + lastBlob = blob; + + blob->contour.startingPoint = cvPoint(x, y); + + unsigned char direction=1; + unsigned int xx = x; + unsigned int yy = y; + + + bool contourEnd = false; + + do + { + for (unsigned int numAttempts=0; numAttempts<3; numAttempts++) + { + bool found = false; + + for (unsigned char i=0; i<3; i++) + { + int nx = xx+movesE[direction][i][0]; + int ny = yy+movesE[direction][i][1]; + if ((nx=0)&&(ny=0)) + { + if (imageIn(nx, ny)) + { + found = true; + + blob->contour.chainCode.push_back(movesE[direction][i][3]); + + xx=nx; + yy=ny; + + direction=movesE[direction][i][2]; + break; + } + else + { + imageOut(nx, ny) = CV_BLOB_MAX_LABEL; + } + } + } + + if (!found) + direction=(direction+1)%4; + else + { + imageOut(xx, yy) = label; + numPixels++; + + if (xxminx) blob->minx = xx; + else if (xx>blob->maxx) blob->maxx = xx; + if (yyminy) blob->miny = yy; + else if (yy>blob->maxy) blob->maxy = yy; + + blob->area++; + blob->m10+=xx; blob->m01+=yy; + blob->m11+=xx*yy; + blob->m20+=xx*xx; blob->m02+=yy*yy; + + break; + } + + if (contourEnd = ((xx==x) && (yy==y) && (direction==1))) + break; + } + } + while (!contourEnd); + + } + + if ((y+1second; + lastLabel = l; + lastBlob = blob; + } + blob->area++; + blob->m10+=x; blob->m01+=y; + blob->m11+=x*y; + blob->m20+=x*x; blob->m02+=y*y; + } + else + { + l = imageOut(x, y); + + if (l==lastLabel) + blob = lastBlob; + else + { + blob = blobs.find(l)->second; + lastLabel = l; + lastBlob = blob; + } + } + + // XXX This is not necessary (I believe). I only do this for consistency. + imageOut(x, y+1) = CV_BLOB_MAX_LABEL; + + CvContourChainCode *contour = new CvContourChainCode; + contour->startingPoint = cvPoint(x, y); + + unsigned char direction = 3; + unsigned int xx = x; + unsigned int yy = y; + + do + { + for (unsigned int numAttempts=0; numAttempts<3; numAttempts++) + { + bool found = false; + + for (unsigned char i=0; i<3; i++) + { + int nx = xx+movesI[direction][i][0]; + int ny = yy+movesI[direction][i][1]; + if (imageIn(nx, ny)) + { + found = true; + + contour->chainCode.push_back(movesI[direction][i][3]); + + xx=nx; + yy=ny; + + direction=movesI[direction][i][2]; + break; + } + else + { + imageOut(nx, ny) = CV_BLOB_MAX_LABEL; + } + } + + if (!found) + direction=(direction+1)%4; + else + { + if (!imageOut(xx, yy)) + { + imageOut(xx, yy) = l; + numPixels++; + + blob->area++; + blob->m10+=xx; blob->m01+=yy; + blob->m11+=xx*yy; + blob->m20+=xx*xx; blob->m02+=yy*yy; + } + + break; + } + } + } + while (!(xx==x && yy==y)); + + blob->internalContours.push_back(contour); + } + + //else if (!imageOut(x, y)) + if (!labeled) + { + // Internal pixel + CvLabel l = imageOut(x-1, y); + + imageOut(x, y) = l; + numPixels++; + + CvBlob *blob = NULL; + if (l==lastLabel) + blob = lastBlob; + else + { + blob = blobs.find(l)->second; + lastLabel = l; + lastBlob = blob; + } + blob->area++; + blob->m10+=x; blob->m01+=y; + blob->m11+=x*y; + blob->m20+=x*x; blob->m02+=y*y; + } + } + } + } + + for (CvBlobs::iterator it=blobs.begin(); it!=blobs.end(); ++it) + { + cvCentroid((*it).second); + + (*it).second->u11 = (*it).second->m11 - ((*it).second->m10*(*it).second->m01)/(*it).second->m00; + (*it).second->u20 = (*it).second->m20 - ((*it).second->m10*(*it).second->m10)/(*it).second->m00; + (*it).second->u02 = (*it).second->m02 - ((*it).second->m01*(*it).second->m01)/(*it).second->m00; + + double m00_2 = (*it).second->m00 * (*it).second->m00; + + (*it).second->n11 = (*it).second->u11 / m00_2; + (*it).second->n20 = (*it).second->u20 / m00_2; + (*it).second->n02 = (*it).second->u02 / m00_2; + + (*it).second->p1 = (*it).second->n20 + (*it).second->n02; + + double nn = (*it).second->n20 - (*it).second->n02; + (*it).second->p2 = nn*nn + 4.*((*it).second->n11*(*it).second->n11); + } + + return numPixels; + + } + __CV_END__; + } + + void cvFilterLabels(IplImage *imgIn, IplImage *imgOut, const CvBlobs &blobs) + { + CV_FUNCNAME("cvFilterLabels"); + __CV_BEGIN__; + { + CV_ASSERT(imgIn&&(imgIn->depth==IPL_DEPTH_LABEL)&&(imgIn->nChannels==1)); + CV_ASSERT(imgOut&&(imgOut->depth==IPL_DEPTH_8U)&&(imgOut->nChannels==1)); + + int stepIn = imgIn->widthStep / (imgIn->depth / 8); + int stepOut = imgOut->widthStep / (imgOut->depth / 8); + int imgIn_width = imgIn->width; + int imgIn_height = imgIn->height; + int imgIn_offset = 0; + int imgOut_width = imgOut->width; + int imgOut_height = imgOut->height; + int imgOut_offset = 0; + if(imgIn->roi) + { + imgIn_width = imgIn->roi->width; + imgIn_height = imgIn->roi->height; + imgIn_offset = imgIn->roi->xOffset + (imgIn->roi->yOffset * stepIn); + } + if(imgOut->roi) + { + imgOut_width = imgOut->roi->width; + imgOut_height = imgOut->roi->height; + imgOut_offset = imgOut->roi->xOffset + (imgOut->roi->yOffset * stepOut); + } + + char *imgDataOut=imgOut->imageData + imgOut_offset; + CvLabel *imgDataIn=(CvLabel *)imgIn->imageData + imgIn_offset; + + for (unsigned int r=0;r<(unsigned int)imgIn_height;r++, + imgDataIn+=stepIn,imgDataOut+=stepOut) + { + for (unsigned int c=0;c<(unsigned int)imgIn_width;c++) + { + if (imgDataIn[c]) + { + if (blobs.find(imgDataIn[c])==blobs.end()) imgDataOut[c]=0x00; + else imgDataOut[c]=(char)0xff; + } + else + imgDataOut[c]=0x00; + } + } + } + __CV_END__; + } + + + CvLabel cvGetLabel(IplImage const *img, unsigned int x, unsigned int y) + { + CV_FUNCNAME("cvGetLabel"); + __CV_BEGIN__; + { + CV_ASSERT(img&&(img->depth==IPL_DEPTH_LABEL)&&(img->nChannels==1)); + + int step = img->widthStep / (img->depth / 8); + int img_width = 0; + int img_height= 0; + int img_offset = 0; + if(img->roi) + { + img_width = img->roi->width; + img_height = img->roi->height; + img_offset = img->roi->xOffset + (img->roi->yOffset * step); + } + else + { + img_width = img->width; + img_height= img->height; + } + + CV_ASSERT((x>=0)&&(x=0)&&(yimageData + img_offset))[x + y*step]; + } + __CV_END__; + } + +} diff --git a/3rdparty/cvblob/cvtrack.cpp b/3rdparty/cvblob/cvtrack.cpp new file mode 100644 index 0000000..6bc8ca1 --- /dev/null +++ b/3rdparty/cvblob/cvtrack.cpp @@ -0,0 +1,419 @@ +// Copyright (C) 2007 by Crist贸bal Carnero Li帽谩n +// grendel.ccl@gmail.com +// +// This file is part of cvBlob. +// +// cvBlob is free software: you can redistribute it and/or modify +// it under the terms of the Lesser GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// cvBlob is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// Lesser GNU General Public License for more details. +// +// You should have received a copy of the Lesser GNU General Public License +// along with cvBlob. If not, see . +// + +#include +#include +#include +using namespace std; + +#if (defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) || defined(__WINDOWS__) || (defined(__APPLE__) & defined(__MACH__))) +#include +#else +#include +#endif + +#include "cvblob.h" + +namespace cvb +{ + + double distantBlobTrack(CvBlob const *b, CvTrack const *t) + { + double d1; + if (b->centroid.xminx) + { + if (b->centroid.yminy) + d1 = MAX(t->minx - b->centroid.x, t->miny - b->centroid.y); + else if (b->centroid.y>t->maxy) + d1 = MAX(t->minx - b->centroid.x, b->centroid.y - t->maxy); + else // if (t->miny < b->centroid.y)&&(b->centroid.y < t->maxy) + d1 = t->minx - b->centroid.x; + } + else if (b->centroid.x>t->maxx) + { + if (b->centroid.yminy) + d1 = MAX(b->centroid.x - t->maxx, t->miny - b->centroid.y); + else if (b->centroid.y>t->maxy) + d1 = MAX(b->centroid.x - t->maxx, b->centroid.y - t->maxy); + else + d1 = b->centroid.x - t->maxx; + } + else // if (t->minx =< b->centroid.x) && (b->centroid.x =< t->maxx) + { + if (b->centroid.yminy) + d1 = t->miny - b->centroid.y; + else if (b->centroid.y>t->maxy) + d1 = b->centroid.y - t->maxy; + else + return 0.; + } + + double d2; + if (t->centroid.xminx) + { + if (t->centroid.yminy) + d2 = MAX(b->minx - t->centroid.x, b->miny - t->centroid.y); + else if (t->centroid.y>b->maxy) + d2 = MAX(b->minx - t->centroid.x, t->centroid.y - b->maxy); + else // if (b->miny < t->centroid.y)&&(t->centroid.y < b->maxy) + d2 = b->minx - t->centroid.x; + } + else if (t->centroid.x>b->maxx) + { + if (t->centroid.yminy) + d2 = MAX(t->centroid.x - b->maxx, b->miny - t->centroid.y); + else if (t->centroid.y>b->maxy) + d2 = MAX(t->centroid.x - b->maxx, t->centroid.y - b->maxy); + else + d2 = t->centroid.x - b->maxx; + } + else // if (b->minx =< t->centroid.x) && (t->centroid.x =< b->maxx) + { + if (t->centroid.yminy) + d2 = b->miny - t->centroid.y; + else if (t->centroid.y>b->maxy) + d2 = t->centroid.y - b->maxy; + else + return 0.; + } + + return MIN(d1, d2); + } + + // Access to matrix +#define C(blob, track) close[((blob) + (track)*(nBlobs+2))] + // Access to accumulators +#define AB(label) C((label), (nTracks)) +#define AT(id) C((nBlobs), (id)) + // Access to identifications +#define IB(label) C((label), (nTracks)+1) +#define IT(id) C((nBlobs)+1, (id)) + // Access to registers +#define B(label) blobs.find(IB(label))->second +#define T(id) tracks.find(IT(id))->second + + void getClusterForTrack(unsigned int trackPos, CvID *close, unsigned int nBlobs, unsigned int nTracks, CvBlobs const &blobs, CvTracks const &tracks, list &bb, list &tt); + + void getClusterForBlob(unsigned int blobPos, CvID *close, unsigned int nBlobs, unsigned int nTracks, CvBlobs const &blobs, CvTracks const &tracks, list &bb, list &tt) + { + for (unsigned int j=0; j1) + { + getClusterForTrack(j, close, nBlobs, nTracks, blobs, tracks, bb, tt); + } + } + } + } + + void getClusterForTrack(unsigned int trackPos, CvID *close, unsigned int nBlobs, unsigned int nTracks, CvBlobs const &blobs, CvTracks const &tracks, list &bb, list &tt) + { + for (unsigned int i=0; i1) + { + getClusterForBlob(i, close, nBlobs, nTracks, blobs, tracks, bb, tt); + } + } + } + } + + void cvUpdateTracks(CvBlobs const &blobs, CvTracks &tracks, const double thDistance, const unsigned int thInactive, const unsigned int thActive) + { + CV_FUNCNAME("cvUpdateTracks"); + __CV_BEGIN__; + + unsigned int nBlobs = blobs.size(); + unsigned int nTracks = tracks.size(); + + // Proximity matrix: + // Last row/column is for ID/label. + // Last-1 "/" is for accumulation. + CvID *close = new unsigned int[(nBlobs+2)*(nTracks+2)]; // XXX Must be same type than CvLabel. + + try + { + // Inicialization: + unsigned int i=0; + for (CvBlobs::const_iterator it = blobs.begin(); it!=blobs.end(); ++it, i++) + { + AB(i) = 0; + IB(i) = it->second->label; + } + + CvID maxTrackID = 0; + + unsigned int j=0; + for (CvTracks::const_iterator jt = tracks.begin(); jt!=tracks.end(); ++jt, j++) + { + AT(j) = 0; + IT(j) = jt->second->id; + if (jt->second->id > maxTrackID) + maxTrackID = jt->second->id; + } + + // Proximity matrix calculation and "used blob" list inicialization: + for (i=0; iinactive++; + track->label = 0; + } + } + + // Detect new tracks + for (i=0; iid = maxTrackID; + track->label = blob->label; + track->minx = blob->minx; + track->miny = blob->miny; + track->maxx = blob->maxx; + track->maxy = blob->maxy; + track->centroid = blob->centroid; + track->lifetime = 0; + track->active = 0; + track->inactive = 0; + tracks.insert(CvIDTrack(maxTrackID, track)); + } + } + + // Clustering + for (j=0; j tt; tt.push_back(T(j)); + list bb; + + getClusterForTrack(j, close, nBlobs, nTracks, blobs, tracks, bb, tt); + + // Select track + CvTrack *track; + unsigned int area = 0; + for (list::const_iterator it=tt.begin(); it!=tt.end(); ++it) + { + CvTrack *t = *it; + + unsigned int a = (t->maxx-t->minx)*(t->maxy-t->miny); + if (a>area) + { + area = a; + track = t; + } + } + + // Select blob + CvBlob *blob; + area = 0; + //cout << "Matching blobs: "; + for (list::const_iterator it=bb.begin(); it!=bb.end(); ++it) + { + CvBlob *b = *it; + + //cout << b->label << " "; + + if (b->area>area) + { + area = b->area; + blob = b; + } + } + //cout << endl; + + // Update track + //cout << "Matching: track=" << track->id << ", blob=" << blob->label << endl; + track->label = blob->label; + track->centroid = blob->centroid; + track->minx = blob->minx; + track->miny = blob->miny; + track->maxx = blob->maxx; + track->maxy = blob->maxy; + if (track->inactive) + track->active = 0; + track->inactive = 0; + + // Others to inactive + for (list::const_iterator it=tt.begin(); it!=tt.end(); ++it) + { + CvTrack *t = *it; + + if (t!=track) + { + //cout << "Inactive: track=" << t->id << endl; + t->inactive++; + t->label = 0; + } + } + } + } + ///////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + for (CvTracks::iterator jt=tracks.begin(); jt!=tracks.end();) + if ((jt->second->inactive>=thInactive)||((jt->second->inactive)&&(thActive)&&(jt->second->activesecond; + tracks.erase(jt++); + } + else + { + jt->second->lifetime++; + if (!jt->second->inactive) + jt->second->active++; + ++jt; + } + } + catch (...) + { + delete[] close; + throw; // TODO: OpenCV style. + } + + delete[] close; + + __CV_END__; + } + + CvFont *defaultFont = NULL; + + void cvRenderTracks(CvTracks const tracks, IplImage *imgSource, IplImage *imgDest, unsigned short mode, CvFont *font) + { + CV_FUNCNAME("cvRenderTracks"); + __CV_BEGIN__; + + CV_ASSERT(imgDest&&(imgDest->depth==IPL_DEPTH_8U)&&(imgDest->nChannels==3)); + + if ((mode&CV_TRACK_RENDER_ID)&&(!font)) + { + if (!defaultFont) + { + font = defaultFont = new CvFont; + cvInitFont(font, CV_FONT_HERSHEY_DUPLEX, 0.5, 0.5, 0, 1); + // Other fonts: + // CV_FONT_HERSHEY_SIMPLEX, CV_FONT_HERSHEY_PLAIN, + // CV_FONT_HERSHEY_DUPLEX, CV_FONT_HERSHEY_COMPLEX, + // CV_FONT_HERSHEY_TRIPLEX, CV_FONT_HERSHEY_COMPLEX_SMALL, + // CV_FONT_HERSHEY_SCRIPT_SIMPLEX, CV_FONT_HERSHEY_SCRIPT_COMPLEX + } + else + font = defaultFont; + } + + if (mode) + { + for (CvTracks::const_iterator it=tracks.begin(); it!=tracks.end(); ++it) + { + if (mode&CV_TRACK_RENDER_ID) + if (!it->second->inactive) + { + stringstream buffer; + buffer << it->first; + cvPutText(imgDest, buffer.str().c_str(), cvPoint((int)it->second->centroid.x, (int)it->second->centroid.y), font, CV_RGB(0.,255.,0.)); + } + + if (mode&CV_TRACK_RENDER_BOUNDING_BOX) + if (it->second->inactive) + cvRectangle(imgDest, cvPoint(it->second->minx, it->second->miny), cvPoint(it->second->maxx-1, it->second->maxy-1), CV_RGB(0., 0., 50.)); + else + cvRectangle(imgDest, cvPoint(it->second->minx, it->second->miny), cvPoint(it->second->maxx-1, it->second->maxy-1), CV_RGB(0., 0., 255.)); + + if (mode&CV_TRACK_RENDER_TO_LOG) + { + clog << "Track " << it->second->id << endl; + if (it->second->inactive) + clog << " - Inactive for " << it->second->inactive << " frames" << endl; + else + clog << " - Associated with blob " << it->second->label << endl; + clog << " - Lifetime " << it->second->lifetime << endl; + clog << " - Active " << it->second->active << endl; + clog << " - Bounding box: (" << it->second->minx << ", " << it->second->miny << ") - (" << it->second->maxx << ", " << it->second->maxy << ")" << endl; + clog << " - Centroid: (" << it->second->centroid.x << ", " << it->second->centroid.y << ")" << endl; + clog << endl; + } + + if (mode&CV_TRACK_RENDER_TO_STD) + { + cout << "Track " << it->second->id << endl; + if (it->second->inactive) + cout << " - Inactive for " << it->second->inactive << " frames" << endl; + else + cout << " - Associated with blobs " << it->second->label << endl; + cout << " - Lifetime " << it->second->lifetime << endl; + cout << " - Active " << it->second->active << endl; + cout << " - Bounding box: (" << it->second->minx << ", " << it->second->miny << ") - (" << it->second->maxx << ", " << it->second->maxy << ")" << endl; + cout << " - Centroid: (" << it->second->centroid.x << ", " << it->second->centroid.y << ")" << endl; + cout << endl; + } + } + } + + __CV_END__; + } + +} diff --git a/3rdparty/glui/LICENSE.txt b/3rdparty/glui/LICENSE.txt new file mode 100644 index 0000000..7c7481e --- /dev/null +++ b/3rdparty/glui/LICENSE.txt @@ -0,0 +1,33 @@ + GLUI User Interface Toolkit + --------------------------- + + (The ZLIB License) + + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + + History of GLUI's License: + -------------------------- + Originally, GLUI was licensed under LGPL because Paul Rademacher + just wanted something that was very permissive, and LGPL was the + thing he had heard of. I discussed the license with Paul at + SIGGRAPH 2006, where he told me the above, and also told me he was + supportive of changing the license to one of the less restrictive + open source licenses. So after contacting all the authors to get + their OK, GLUI is now under the ZLIB license. + + Bill Baxter -- November 2007 diff --git a/3rdparty/glui/algebra3.cpp b/3rdparty/glui/algebra3.cpp new file mode 100644 index 0000000..f6b9a87 --- /dev/null +++ b/3rdparty/glui/algebra3.cpp @@ -0,0 +1,1037 @@ +/************************************************************************** + + algebra3.cpp, algebra3.h - C++ Vector and Matrix Algebra routines + + There are three vector classes and two matrix classes: vec2, vec3, + vec4, mat3, and mat4. + + All the standard arithmetic operations are defined, with '*' + for dot product of two vectors and multiplication of two matrices, + and '^' for cross product of two vectors. + + Additional functions include length(), normalize(), homogenize for + vectors, and print(), set(), apply() for all classes. + + There is a function transpose() for matrices, but note that it + does not actually change the matrix, + + When multiplied with a matrix, a vector is treated as a row vector + if it precedes the matrix (v*M), and as a column vector if it + follows the matrix (M*v). + + Matrices are stored in row-major form. + + A vector of one dimension (2d, 3d, or 4d) can be cast to a vector + of a higher or lower dimension. If casting to a higher dimension, + the new component is set by default to 1.0, unless a value is + specified: + vec3 a(1.0, 2.0, 3.0 ); + vec4 b( a, 4.0 ); // now b == {1.0, 2.0, 3.0, 4.0}; + When casting to a lower dimension, the vector is homogenized in + the lower dimension. E.g., if a 4d {X,Y,Z,W} is cast to 3d, the + resulting vector is {X/W, Y/W, Z/W}. It is up to the user to + insure the fourth component is not zero before casting. + + There are also the following function for building matrices: + identity2D(), translation2D(), rotation2D(), + scaling2D(), identity3D(), translation3D(), + rotation3D(), rotation3Drad(), scaling3D(), + perspective3D() + + + --------------------------------------------------------------------- + + Author: Jean-Francois DOUEg + Revised: Paul Rademacher + Version 3.2 - Feb 1998 + +**************************************************************************/ + +#include +#include "algebra3.h" +#include + +/**************************************************************** +* * +* vec2 Member functions * +* * +****************************************************************/ + +/******************** vec2 CONSTRUCTORS ********************/ + +vec2::vec2(void) +{n[VX] = n[VY] = 0.0; } + +vec2::vec2(const float x, const float y) +{ n[VX] = x; n[VY] = y; } + +vec2::vec2(const float d) +{ n[VX] = n[VY] = d; } + +vec2::vec2(const vec2& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; } + +vec2::vec2(const vec3& v) // it is up to caller to avoid divide-by-zero +{ n[VX] = v.n[VX]/v.n[VZ]; n[VY] = v.n[VY]/v.n[VZ]; }; + +vec2::vec2(const vec3& v, int dropAxis) { + switch (dropAxis) { + case VX: n[VX] = v.n[VY]; n[VY] = v.n[VZ]; break; + case VY: n[VX] = v.n[VX]; n[VY] = v.n[VZ]; break; + default: n[VX] = v.n[VX]; n[VY] = v.n[VY]; break; + } +} + + +/******************** vec2 ASSIGNMENT OPERATORS ******************/ + +vec2& vec2::operator = (const vec2& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; return *this; } + +vec2& vec2::operator += ( const vec2& v ) +{ n[VX] += v.n[VX]; n[VY] += v.n[VY]; return *this; } + +vec2& vec2::operator -= ( const vec2& v ) +{ n[VX] -= v.n[VX]; n[VY] -= v.n[VY]; return *this; } + +vec2& vec2::operator *= ( const float d ) +{ n[VX] *= d; n[VY] *= d; return *this; } + +vec2& vec2::operator /= ( const float d ) +{ float d_inv = 1./d; n[VX] *= d_inv; n[VY] *= d_inv; return *this; } + +float& vec2::operator [] ( int i) { + if (i < VX || i > VY) + //VEC_ERROR("vec2 [] operator: illegal access; index = " << i << '\n') + VEC_ERROR("vec2 [] operator: illegal access" ); + return n[i]; +} + + +/******************** vec2 SPECIAL FUNCTIONS ********************/ + +float vec2::length(void) +{ return sqrt(length2()); } + +float vec2::length2(void) +{ return n[VX]*n[VX] + n[VY]*n[VY]; } + +vec2& vec2::normalize(void) // it is up to caller to avoid divide-by-zero +{ *this /= length(); return *this; } + +vec2& vec2::apply(V_FCT_PTR fct) +{ n[VX] = (*fct)(n[VX]); n[VY] = (*fct)(n[VY]); return *this; } + +void vec2::set( float x, float y ) +{ n[VX] = x; n[VY] = y; } + +/******************** vec2 FRIENDS *****************************/ + +vec2 operator - (const vec2& a) +{ return vec2(-a.n[VX],-a.n[VY]); } + +vec2 operator + (const vec2& a, const vec2& b) +{ return vec2(a.n[VX]+ b.n[VX], a.n[VY] + b.n[VY]); } + +vec2 operator - (const vec2& a, const vec2& b) +{ return vec2(a.n[VX]-b.n[VX], a.n[VY]-b.n[VY]); } + +vec2 operator * (const vec2& a, const float d) +{ return vec2(d*a.n[VX], d*a.n[VY]); } + +vec2 operator * (const float d, const vec2& a) +{ return a*d; } + +vec2 operator * (const mat3& a, const vec2& v) { + vec3 av; + + av.n[VX] = a.v[0].n[VX]*v.n[VX] + a.v[0].n[VY]*v.n[VY] + a.v[0].n[VZ]; + av.n[VY] = a.v[1].n[VX]*v.n[VX] + a.v[1].n[VY]*v.n[VY] + a.v[1].n[VZ]; + av.n[VZ] = a.v[2].n[VX]*v.n[VX] + a.v[2].n[VY]*v.n[VY] + a.v[2].n[VZ]; + return av; +} + +vec2 operator * (const vec2& v, mat3& a) +{ return a.transpose() * v; } + +vec3 operator * (const mat3& a, const vec3& v) { + vec3 av; + + av.n[VX] = + a.v[0].n[VX]*v.n[VX] + a.v[0].n[VY]*v.n[VY] + a.v[0].n[VZ]*v.n[VZ]; + av.n[VY] = + a.v[1].n[VX]*v.n[VX] + a.v[1].n[VY]*v.n[VY] + a.v[1].n[VZ]*v.n[VZ]; + av.n[VZ] = + a.v[2].n[VX]*v.n[VX] + a.v[2].n[VY]*v.n[VY] + a.v[2].n[VZ]*v.n[VZ]; + return av; +} + +vec3 operator * (const vec3& v, mat3& a) +{ return a.transpose() * v; } + +float operator * (const vec2& a, const vec2& b) +{ return (a.n[VX]*b.n[VX] + a.n[VY]*b.n[VY]); } + +vec2 operator / (const vec2& a, const float d) +{ float d_inv = 1./d; return vec2(a.n[VX]*d_inv, a.n[VY]*d_inv); } + +vec3 operator ^ (const vec2& a, const vec2& b) +{ return vec3(0.0, 0.0, a.n[VX] * b.n[VY] - b.n[VX] * a.n[VY]); } + +int operator == (const vec2& a, const vec2& b) +{ return (a.n[VX] == b.n[VX]) && (a.n[VY] == b.n[VY]); } + +int operator != (const vec2& a, const vec2& b) +{ return !(a == b); } + +/*ostream& operator << (ostream& s, vec2& v) +{ return s << "| " << v.n[VX] << ' ' << v.n[VY] << " |"; } +*/ + +/*istream& operator >> (istream& s, vec2& v) { + vec2 v_tmp; + char c = ' '; + + while (isspace(c)) + s >> c; + // The vectors can be formatted either as x y or | x y | + if (c == '|') { + s >> v_tmp[VX] >> v_tmp[VY]; + while (s >> c && isspace(c)) ; + if (c != '|') + ;//s.set(_bad); + } + else { + s.putback(c); + s >> v_tmp[VX] >> v_tmp[VY]; + } + if (s) + v = v_tmp; + return s; +} +*/ + +void swap(vec2& a, vec2& b) +{ vec2 tmp(a); a = b; b = tmp; } + +vec2 min_vec(const vec2& a, const vec2& b) +{ return vec2(MIN(a.n[VX], b.n[VX]), MIN(a.n[VY], b.n[VY])); } + +vec2 max_vec(const vec2& a, const vec2& b) +{ return vec2(MAX(a.n[VX], b.n[VX]), MAX(a.n[VY], b.n[VY])); } + +vec2 prod(const vec2& a, const vec2& b) +{ return vec2(a.n[VX] * b.n[VX], a.n[VY] * b.n[VY]); } + +/**************************************************************** +* * +* vec3 Member functions * +* * +****************************************************************/ + +// CONSTRUCTORS + +vec3::vec3(void) +{n[VX] = n[VY] = n[VZ] = 0.0;} + +vec3::vec3(const float x, const float y, const float z) +{ n[VX] = x; n[VY] = y; n[VZ] = z; } + +vec3::vec3(const float d) +{ n[VX] = n[VY] = n[VZ] = d; } + +vec3::vec3(const vec3& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; } + +vec3::vec3(const vec2& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = 1.0; } + +vec3::vec3(const vec2& v, float d) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = d; } + +vec3::vec3(const vec4& v) // it is up to caller to avoid divide-by-zero +{ n[VX] = v.n[VX] / v.n[VW]; n[VY] = v.n[VY] / v.n[VW]; + n[VZ] = v.n[VZ] / v.n[VW]; } + +vec3::vec3(const vec4& v, int dropAxis) { + switch (dropAxis) { + case VX: n[VX] = v.n[VY]; n[VY] = v.n[VZ]; n[VZ] = v.n[VW]; break; + case VY: n[VX] = v.n[VX]; n[VY] = v.n[VZ]; n[VZ] = v.n[VW]; break; + case VZ: n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VW]; break; + default: n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; break; + } +} + + +// ASSIGNMENT OPERATORS + +vec3& vec3::operator = (const vec3& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; return *this; } + +vec3& vec3::operator += ( const vec3& v ) +{ n[VX] += v.n[VX]; n[VY] += v.n[VY]; n[VZ] += v.n[VZ]; return *this; } + +vec3& vec3::operator -= ( const vec3& v ) +{ n[VX] -= v.n[VX]; n[VY] -= v.n[VY]; n[VZ] -= v.n[VZ]; return *this; } + +vec3& vec3::operator *= ( const float d ) +{ n[VX] *= d; n[VY] *= d; n[VZ] *= d; return *this; } + +vec3& vec3::operator /= ( const float d ) +{ float d_inv = 1./d; n[VX] *= d_inv; n[VY] *= d_inv; n[VZ] *= d_inv; + return *this; } + +float& vec3::operator [] ( int i) { + if (i < VX || i > VZ) + //VEC_ERROR("vec3 [] operator: illegal access; index = " << i << '\n') + VEC_ERROR("vec3 [] operator: illegal access" ); + + return n[i]; +} + + +// SPECIAL FUNCTIONS + +float vec3::length(void) +{ return sqrt(length2()); } + +float vec3::length2(void) +{ return n[VX]*n[VX] + n[VY]*n[VY] + n[VZ]*n[VZ]; } + +vec3& vec3::normalize(void) // it is up to caller to avoid divide-by-zero +{ *this /= length(); return *this; } + +vec3& vec3::homogenize(void) // it is up to caller to avoid divide-by-zero +{ n[VX] /= n[VZ]; n[VY] /= n[VZ]; n[VZ] = 1.0; return *this; } + +vec3& vec3::apply(V_FCT_PTR fct) +{ n[VX] = (*fct)(n[VX]); n[VY] = (*fct)(n[VY]); n[VZ] = (*fct)(n[VZ]); +return *this; } + +void vec3::set( float x, float y, float z ) // set vector +{ n[VX] = x; n[VY] = y; n[VZ] = z; } + +void vec3::print( FILE *file, char *name ) // print vector to a file +{ + fprintf( file, "%s: <%f, %f, %f>\n", name, n[VX], n[VY], n[VZ] ); +} + +// FRIENDS + +vec3 operator - (const vec3& a) +{ return vec3(-a.n[VX],-a.n[VY],-a.n[VZ]); } + +vec3 operator + (const vec3& a, const vec3& b) +{ return vec3(a.n[VX]+ b.n[VX], a.n[VY] + b.n[VY], a.n[VZ] + b.n[VZ]); } + +vec3 operator - (const vec3& a, const vec3& b) +{ return vec3(a.n[VX]-b.n[VX], a.n[VY]-b.n[VY], a.n[VZ]-b.n[VZ]); } + +vec3 operator * (const vec3& a, const float d) +{ return vec3(d*a.n[VX], d*a.n[VY], d*a.n[VZ]); } + +vec3 operator * (const float d, const vec3& a) +{ return a*d; } + +vec3 operator * (const mat4& a, const vec3& v) +{ return a * vec4(v); } + +vec3 operator * (const vec3& v, mat4& a) +{ return a.transpose() * v; } + +float operator * (const vec3& a, const vec3& b) +{ return (a.n[VX]*b.n[VX] + a.n[VY]*b.n[VY] + a.n[VZ]*b.n[VZ]); } + +vec3 operator / (const vec3& a, const float d) +{ float d_inv = 1./d; return vec3(a.n[VX]*d_inv, a.n[VY]*d_inv, + a.n[VZ]*d_inv); } + +vec3 operator ^ (const vec3& a, const vec3& b) { + return vec3(a.n[VY]*b.n[VZ] - a.n[VZ]*b.n[VY], + a.n[VZ]*b.n[VX] - a.n[VX]*b.n[VZ], + a.n[VX]*b.n[VY] - a.n[VY]*b.n[VX]); +} + +int operator == (const vec3& a, const vec3& b) +{ return (a.n[VX] == b.n[VX]) && (a.n[VY] == b.n[VY]) && (a.n[VZ] == b.n[VZ]); +} + +int operator != (const vec3& a, const vec3& b) +{ return !(a == b); } + +/*ostream& operator << (ostream& s, vec3& v) +{ return s << "| " << v.n[VX] << ' ' << v.n[VY] << ' ' << v.n[VZ] << " |"; } + +istream& operator >> (istream& s, vec3& v) { + vec3 v_tmp; + char c = ' '; + + while (isspace(c)) + s >> c; + // The vectors can be formatted either as x y z or | x y z | + if (c == '|') { + s >> v_tmp[VX] >> v_tmp[VY] >> v_tmp[VZ]; + while (s >> c && isspace(c)) ; + if (c != '|') + ;//s.set(_bad); + } + else { + s.putback(c); + s >> v_tmp[VX] >> v_tmp[VY] >> v_tmp[VZ]; + } + if (s) + v = v_tmp; + return s; +} +*/ + +void swap(vec3& a, vec3& b) +{ vec3 tmp(a); a = b; b = tmp; } + +vec3 min_vec(const vec3& a, const vec3& b) +{ return vec3(MIN(a.n[VX], b.n[VX]), MIN(a.n[VY], b.n[VY]), MIN(a.n[VZ], + b.n[VZ])); } + +vec3 max_vec(const vec3& a, const vec3& b) +{ return vec3(MAX(a.n[VX], b.n[VX]), MAX(a.n[VY], b.n[VY]), MAX(a.n[VZ], + b.n[VZ])); } + +vec3 prod(const vec3& a, const vec3& b) +{ return vec3(a.n[VX] * b.n[VX], a.n[VY] * b.n[VY], a.n[VZ] * b.n[VZ]); } + +/**************************************************************** +* * +* vec4 Member functions * +* * +****************************************************************/ + +// CONSTRUCTORS + +vec4::vec4(void) +{n[VX] = n[VY] = n[VZ] = 0.0; n[VW] = 1.0; } + +vec4::vec4(const float x, const float y, const float z, const float w) +{ n[VX] = x; n[VY] = y; n[VZ] = z; n[VW] = w; } + +vec4::vec4(const float d) +{ n[VX] = n[VY] = n[VZ] = n[VW] = d; } + +vec4::vec4(const vec4& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; n[VW] = v.n[VW]; } + +vec4::vec4(const vec3& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; n[VW] = 1.0; } + +vec4::vec4(const vec3& v, const float d) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; n[VW] = d; } + + +// ASSIGNMENT OPERATORS + +vec4& vec4::operator = (const vec4& v) +{ n[VX] = v.n[VX]; n[VY] = v.n[VY]; n[VZ] = v.n[VZ]; n[VW] = v.n[VW]; +return *this; } + +vec4& vec4::operator += ( const vec4& v ) +{ n[VX] += v.n[VX]; n[VY] += v.n[VY]; n[VZ] += v.n[VZ]; n[VW] += v.n[VW]; +return *this; } + +vec4& vec4::operator -= ( const vec4& v ) +{ n[VX] -= v.n[VX]; n[VY] -= v.n[VY]; n[VZ] -= v.n[VZ]; n[VW] -= v.n[VW]; +return *this; } + +vec4& vec4::operator *= ( const float d ) +{ n[VX] *= d; n[VY] *= d; n[VZ] *= d; n[VW] *= d; return *this; } + +vec4& vec4::operator /= ( const float d ) +{ float d_inv = 1./d; n[VX] *= d_inv; n[VY] *= d_inv; n[VZ] *= d_inv; + n[VW] *= d_inv; return *this; } + +float& vec4::operator [] ( int i) { + if (i < VX || i > VW) + //VEC_ERROR("vec4 [] operator: illegal access; index = " << i << '\n') + VEC_ERROR("vec4 [] operator: illegal access" ); + + return n[i]; +} + + +// SPECIAL FUNCTIONS + +float vec4::length(void) +{ return sqrt(length2()); } + +float vec4::length2(void) +{ return n[VX]*n[VX] + n[VY]*n[VY] + n[VZ]*n[VZ] + n[VW]*n[VW]; } + +vec4& vec4::normalize(void) // it is up to caller to avoid divide-by-zero +{ *this /= length(); return *this; } + +vec4& vec4::homogenize(void) // it is up to caller to avoid divide-by-zero +{ n[VX] /= n[VW]; n[VY] /= n[VW]; n[VZ] /= n[VW]; n[VW] = 1.0; return *this; } + +vec4& vec4::apply(V_FCT_PTR fct) +{ n[VX] = (*fct)(n[VX]); n[VY] = (*fct)(n[VY]); n[VZ] = (*fct)(n[VZ]); +n[VW] = (*fct)(n[VW]); return *this; } + +void vec4::print( FILE *file, char *name ) // print vector to a file +{ + fprintf( file, "%s: <%f, %f, %f, %f>\n", name, n[VX], n[VY], n[VZ], n[VW] ); +} + +void vec4::set( float x, float y, float z, float a ) +{ + n[0] = x; n[1] = y; n[2] = z; n[3] = a; +} + + +// FRIENDS + +vec4 operator - (const vec4& a) +{ return vec4(-a.n[VX],-a.n[VY],-a.n[VZ],-a.n[VW]); } + +vec4 operator + (const vec4& a, const vec4& b) +{ return vec4(a.n[VX] + b.n[VX], a.n[VY] + b.n[VY], a.n[VZ] + b.n[VZ], + a.n[VW] + b.n[VW]); } + +vec4 operator - (const vec4& a, const vec4& b) +{ return vec4(a.n[VX] - b.n[VX], a.n[VY] - b.n[VY], a.n[VZ] - b.n[VZ], + a.n[VW] - b.n[VW]); } + +vec4 operator * (const vec4& a, const float d) +{ return vec4(d*a.n[VX], d*a.n[VY], d*a.n[VZ], d*a.n[VW] ); } + +vec4 operator * (const float d, const vec4& a) +{ return a*d; } + +vec4 operator * (const mat4& a, const vec4& v) { + #define ROWCOL(i) a.v[i].n[0]*v.n[VX] + a.v[i].n[1]*v.n[VY] \ + + a.v[i].n[2]*v.n[VZ] + a.v[i].n[3]*v.n[VW] + return vec4(ROWCOL(0), ROWCOL(1), ROWCOL(2), ROWCOL(3)); + #undef ROWCOL +} + +vec4 operator * (const vec4& v, mat4& a) +{ return a.transpose() * v; } + +float operator * (const vec4& a, const vec4& b) +{ return (a.n[VX]*b.n[VX] + a.n[VY]*b.n[VY] + a.n[VZ]*b.n[VZ] + + a.n[VW]*b.n[VW]); } + +vec4 operator / (const vec4& a, const float d) +{ float d_inv = 1./d; return vec4(a.n[VX]*d_inv, a.n[VY]*d_inv, a.n[VZ]*d_inv, + a.n[VW]*d_inv); } + +int operator == (const vec4& a, const vec4& b) +{ return (a.n[VX] == b.n[VX]) && (a.n[VY] == b.n[VY]) && (a.n[VZ] == b.n[VZ]) + && (a.n[VW] == b.n[VW]); } + +int operator != (const vec4& a, const vec4& b) +{ return !(a == b); } + +/*ostream& operator << (ostream& s, vec4& v) +{ return s << "| " << v.n[VX] << ' ' << v.n[VY] << ' ' << v.n[VZ] << ' ' + << v.n[VW] << " |"; } + +istream& operator >> (istream& s, vec4& v) { + vec4 v_tmp; + char c = ' '; + + while (isspace(c)) + s >> c; + // The vectors can be formatted either as x y z w or | x y z w | + if (c == '|') { + s >> v_tmp[VX] >> v_tmp[VY] >> v_tmp[VZ] >> v_tmp[VW]; + while (s >> c && isspace(c)) ; + if (c != '|') + ;//s.set(_bad); + } + else { + s.putback(c); + s >> v_tmp[VX] >> v_tmp[VY] >> v_tmp[VZ] >> v_tmp[VW]; + } + if (s) + v = v_tmp; + return s; +} +*/ +void swap(vec4& a, vec4& b) +{ vec4 tmp(a); a = b; b = tmp; } + +vec4 min_vec(const vec4& a, const vec4& b) +{ return vec4(MIN(a.n[VX], b.n[VX]), MIN(a.n[VY], b.n[VY]), MIN(a.n[VZ], + b.n[VZ]), MIN(a.n[VW], b.n[VW])); } + +vec4 max_vec(const vec4& a, const vec4& b) +{ return vec4(MAX(a.n[VX], b.n[VX]), MAX(a.n[VY], b.n[VY]), MAX(a.n[VZ], + b.n[VZ]), MAX(a.n[VW], b.n[VW])); } + +vec4 prod(const vec4& a, const vec4& b) +{ return vec4(a.n[VX] * b.n[VX], a.n[VY] * b.n[VY], a.n[VZ] * b.n[VZ], + a.n[VW] * b.n[VW]); } + + +/**************************************************************** +* * +* mat3 member functions * +* * +****************************************************************/ + +// CONSTRUCTORS + +mat3::mat3(void) { *this = identity2D(); } + +mat3::mat3(const vec3& v0, const vec3& v1, const vec3& v2) +{ this->set( v0, v1, v2 ); }; + +mat3::mat3(const float d) +{ v[0] = v[1] = v[2] = vec3(d); } + +mat3::mat3(const mat3& m) +{ v[0] = m.v[0]; v[1] = m.v[1]; v[2] = m.v[2]; } + + +// ASSIGNMENT OPERATORS + +mat3& mat3::operator = ( const mat3& m ) +{ v[0] = m.v[0]; v[1] = m.v[1]; v[2] = m.v[2]; return *this; } + +mat3& mat3::operator += ( const mat3& m ) +{ v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; return *this; } + +mat3& mat3::operator -= ( const mat3& m ) +{ v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; return *this; } + +mat3& mat3::operator *= ( const float d ) +{ v[0] *= d; v[1] *= d; v[2] *= d; return *this; } + +mat3& mat3::operator /= ( const float d ) +{ v[0] /= d; v[1] /= d; v[2] /= d; return *this; } + +vec3& mat3::operator [] ( int i) { + if (i < VX || i > VZ) + //VEC_ERROR("mat3 [] operator: illegal access; index = " << i << '\n') + VEC_ERROR("mat3 [] operator: illegal access" ); + return v[i]; +} + +void mat3::set( const vec3& v0, const vec3& v1, const vec3& v2 ) { + v[0] = v0; v[1] = v1; v[2] = v2; +} + +// SPECIAL FUNCTIONS + +mat3 mat3::transpose(void) { + return mat3(vec3(v[0][0], v[1][0], v[2][0]), + vec3(v[0][1], v[1][1], v[2][1]), + vec3(v[0][2], v[1][2], v[2][2])); +} + +mat3 mat3::inverse(void) // Gauss-Jordan elimination with partial pivoting + { + mat3 a(*this), // As a evolves from original mat into identity + b(identity2D()); // b evolves from identity into inverse(a) + int i, j, i1; + + // Loop over cols of a from left to right, eliminating above and below diag + for (j=0; j<3; j++) { // Find largest pivot in column j among rows j..2 + i1 = j; // Row with largest pivot candidate + for (i=j+1; i<3; i++) + if (fabs(a.v[i].n[j]) > fabs(a.v[i1].n[j])) + i1 = i; + + // Swap rows i1 and j in a and b to put pivot on diagonal + swap(a.v[i1], a.v[j]); + swap(b.v[i1], b.v[j]); + + // Scale row j to have a unit diagonal + if (a.v[j].n[j]==0.) + VEC_ERROR("mat3::inverse: singular matrix; can't invert\n"); + b.v[j] /= a.v[j].n[j]; + a.v[j] /= a.v[j].n[j]; + + // Eliminate off-diagonal elems in col j of a, doing identical ops to b + for (i=0; i<3; i++) + if (i!=j) { + b.v[i] -= a.v[i].n[j]*b.v[j]; + a.v[i] -= a.v[i].n[j]*a.v[j]; + } + } + return b; +} + +mat3& mat3::apply(V_FCT_PTR fct) { + v[VX].apply(fct); + v[VY].apply(fct); + v[VZ].apply(fct); + return *this; +} + + +// FRIENDS + +mat3 operator - (const mat3& a) +{ return mat3(-a.v[0], -a.v[1], -a.v[2]); } + +mat3 operator + (const mat3& a, const mat3& b) +{ return mat3(a.v[0] + b.v[0], a.v[1] + b.v[1], a.v[2] + b.v[2]); } + +mat3 operator - (const mat3& a, const mat3& b) +{ return mat3(a.v[0] - b.v[0], a.v[1] - b.v[1], a.v[2] - b.v[2]); } + +mat3 operator * (mat3& a, mat3& b) { + #define ROWCOL(i, j) \ + a.v[i].n[0]*b.v[0][j] + a.v[i].n[1]*b.v[1][j] + a.v[i].n[2]*b.v[2][j] + return mat3(vec3(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2)), + vec3(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2)), + vec3(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2))); + #undef ROWCOL +} + +mat3 operator * (const mat3& a, const float d) +{ return mat3(a.v[0] * d, a.v[1] * d, a.v[2] * d); } + +mat3 operator * (const float d, const mat3& a) +{ return a*d; } + +mat3 operator / (const mat3& a, const float d) +{ return mat3(a.v[0] / d, a.v[1] / d, a.v[2] / d); } + +int operator == (const mat3& a, const mat3& b) +{ return (a.v[0] == b.v[0]) && (a.v[1] == b.v[1]) && (a.v[2] == b.v[2]); } + +int operator != (const mat3& a, const mat3& b) +{ return !(a == b); } + +/*ostream& operator << (ostream& s, mat3& m) +{ return s << m.v[VX] << '\n' << m.v[VY] << '\n' << m.v[VZ]; } + +istream& operator >> (istream& s, mat3& m) { + mat3 m_tmp; + + s >> m_tmp[VX] >> m_tmp[VY] >> m_tmp[VZ]; + if (s) + m = m_tmp; + return s; +} +*/ + +void swap(mat3& a, mat3& b) +{ mat3 tmp(a); a = b; b = tmp; } + +void mat3::print( FILE *file, char *name ) +{ + int i, j; + + fprintf( stderr, "%s:\n", name ); + + for( i = 0; i < 3; i++ ) + { + fprintf( stderr, " " ); + for( j = 0; j < 3; j++ ) + { + fprintf( stderr, "%f ", v[i][j] ); + } + fprintf( stderr, "\n" ); + } +} + + + +/**************************************************************** +* * +* mat4 member functions * +* * +****************************************************************/ + +// CONSTRUCTORS + +mat4::mat4(void) { *this = identity3D();} + +mat4::mat4(const vec4& v0, const vec4& v1, const vec4& v2, const vec4& v3) +{ v[0] = v0; v[1] = v1; v[2] = v2; v[3] = v3; } + +mat4::mat4(const float d) +{ v[0] = v[1] = v[2] = v[3] = vec4(d); } + +mat4::mat4(const mat4& m) +{ v[0] = m.v[0]; v[1] = m.v[1]; v[2] = m.v[2]; v[3] = m.v[3]; } + +mat4::mat4(const float a00, const float a01, const float a02, const float a03, + const float a10, const float a11, const float a12, const float a13, + const float a20, const float a21, const float a22, const float a23, + const float a30, const float a31, const float a32, const float a33 ) +{ + v[0][0] = a00; v[0][1] = a01; v[0][2] = a02; v[0][3] = a03; + v[1][0] = a10; v[1][1] = a11; v[1][2] = a12; v[1][3] = a13; + v[2][0] = a20; v[2][1] = a21; v[2][2] = a22; v[2][3] = a23; + v[3][0] = a30; v[3][1] = a31; v[3][2] = a32; v[3][3] = a33; +} + +// ASSIGNMENT OPERATORS + +mat4& mat4::operator = ( const mat4& m ) +{ v[0] = m.v[0]; v[1] = m.v[1]; v[2] = m.v[2]; v[3] = m.v[3]; +return *this; } + +mat4& mat4::operator += ( const mat4& m ) +{ v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; v[3] += m.v[3]; +return *this; } + +mat4& mat4::operator -= ( const mat4& m ) +{ v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; v[3] -= m.v[3]; +return *this; } + +mat4& mat4::operator *= ( const float d ) +{ v[0] *= d; v[1] *= d; v[2] *= d; v[3] *= d; return *this; } + +mat4& mat4::operator /= ( const float d ) +{ v[0] /= d; v[1] /= d; v[2] /= d; v[3] /= d; return *this; } + +vec4& mat4::operator [] ( int i) { + if (i < VX || i > VW) + //VEC_ERROR("mat4 [] operator: illegal access; index = " << i << '\n') + VEC_ERROR("mat4 [] operator: illegal access" ); + return v[i]; +} + +// SPECIAL FUNCTIONS; + +mat4 mat4::transpose(void) { + return mat4(vec4(v[0][0], v[1][0], v[2][0], v[3][0]), + vec4(v[0][1], v[1][1], v[2][1], v[3][1]), + vec4(v[0][2], v[1][2], v[2][2], v[3][2]), + vec4(v[0][3], v[1][3], v[2][3], v[3][3])); +} + +mat4 mat4::inverse(void) // Gauss-Jordan elimination with partial pivoting +{ + mat4 a(*this), // As a evolves from original mat into identity + b(identity3D()); // b evolves from identity into inverse(a) + int i, j, i1; + + // Loop over cols of a from left to right, eliminating above and below diag + for (j=0; j<4; j++) { // Find largest pivot in column j among rows j..3 + i1 = j; // Row with largest pivot candidate + for (i=j+1; i<4; i++) + if (fabs(a.v[i].n[j]) > fabs(a.v[i1].n[j])) + i1 = i; + + // Swap rows i1 and j in a and b to put pivot on diagonal + swap(a.v[i1], a.v[j]); + swap(b.v[i1], b.v[j]); + + // Scale row j to have a unit diagonal + if (a.v[j].n[j]==0.) + VEC_ERROR("mat4::inverse: singular matrix; can't invert\n"); + b.v[j] /= a.v[j].n[j]; + a.v[j] /= a.v[j].n[j]; + + // Eliminate off-diagonal elems in col j of a, doing identical ops to b + for (i=0; i<4; i++) + if (i!=j) { + b.v[i] -= a.v[i].n[j]*b.v[j]; + a.v[i] -= a.v[i].n[j]*a.v[j]; + } + } + return b; +} + +mat4& mat4::apply(V_FCT_PTR fct) +{ v[VX].apply(fct); v[VY].apply(fct); v[VZ].apply(fct); v[VW].apply(fct); +return *this; } + + +void mat4::print( FILE *file, char *name ) +{ + int i, j; + + fprintf( stderr, "%s:\n", name ); + + for( i = 0; i < 4; i++ ) + { + fprintf( stderr, " " ); + for( j = 0; j < 4; j++ ) + { + fprintf( stderr, "%f ", v[i][j] ); + } + fprintf( stderr, "\n" ); + } +} + +void mat4::swap_rows( int i, int j ) +{ + vec4 t; + + t = v[i]; + v[i] = v[j]; + v[j] = t; +} + +void mat4::swap_cols( int i, int j ) +{ + float t; + int k; + + for(k=0; k<4; k++ ) { + t = v[k][i]; + v[k][i] = v[k][j]; + v[k][j] = t; + } +} + + +// FRIENDS + +mat4 operator - (const mat4& a) +{ return mat4(-a.v[0], -a.v[1], -a.v[2], -a.v[3]); } + +mat4 operator + (const mat4& a, const mat4& b) +{ return mat4(a.v[0] + b.v[0], a.v[1] + b.v[1], a.v[2] + b.v[2], + a.v[3] + b.v[3]); +} + +mat4 operator - (const mat4& a, const mat4& b) +{ return mat4(a.v[0] - b.v[0], a.v[1] - b.v[1], a.v[2] - b.v[2], a.v[3] - b.v[3]); } + +mat4 operator * (mat4& a, mat4& b) { + #define ROWCOL(i, j) a.v[i].n[0]*b.v[0][j] + a.v[i].n[1]*b.v[1][j] + \ + a.v[i].n[2]*b.v[2][j] + a.v[i].n[3]*b.v[3][j] + return mat4( + vec4(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2), ROWCOL(0,3)), + vec4(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2), ROWCOL(1,3)), + vec4(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2), ROWCOL(2,3)), + vec4(ROWCOL(3,0), ROWCOL(3,1), ROWCOL(3,2), ROWCOL(3,3)) + ); +} + +mat4 operator * (const mat4& a, const float d) +{ return mat4(a.v[0] * d, a.v[1] * d, a.v[2] * d, a.v[3] * d); } + +mat4 operator * (const float d, const mat4& a) +{ return a*d; } + +mat4 operator / (const mat4& a, const float d) +{ return mat4(a.v[0] / d, a.v[1] / d, a.v[2] / d, a.v[3] / d); } + +int operator == (const mat4& a, const mat4& b) +{ return ((a.v[0] == b.v[0]) && (a.v[1] == b.v[1]) && (a.v[2] == b.v[2]) && + (a.v[3] == b.v[3])); } + +int operator != (const mat4& a, const mat4& b) +{ return !(a == b); } + +/*ostream& operator << (ostream& s, mat4& m) +{ return s << m.v[VX] << '\n' << m.v[VY] << '\n' << m.v[VZ] << '\n' << m.v[VW]; } + +istream& operator >> (istream& s, mat4& m) +{ + mat4 m_tmp; + + s >> m_tmp[VX] >> m_tmp[VY] >> m_tmp[VZ] >> m_tmp[VW]; + if (s) + m = m_tmp; + return s; +} +*/ +void swap(mat4& a, mat4& b) +{ mat4 tmp(a); a = b; b = tmp; } + + +/**************************************************************** +* * +* 2D functions and 3D functions * +* * +****************************************************************/ + +mat3 identity2D(void) +{ return mat3(vec3(1.0, 0.0, 0.0), + vec3(0.0, 1.0, 0.0), + vec3(0.0, 0.0, 1.0)); } + +mat3 translation2D(vec2& v) +{ return mat3(vec3(1.0, 0.0, v[VX]), + vec3(0.0, 1.0, v[VY]), + vec3(0.0, 0.0, 1.0)); } + +mat3 rotation2D(vec2& Center, const float angleDeg) { + float angleRad = angleDeg * M_PI / 180.0, + c = cos(angleRad), + s = sin(angleRad); + + return mat3(vec3(c, -s, Center[VX] * (1.0-c) + Center[VY] * s), + vec3(s, c, Center[VY] * (1.0-c) - Center[VX] * s), + vec3(0.0, 0.0, 1.0)); +} + +mat3 scaling2D(vec2& scaleVector) +{ return mat3(vec3(scaleVector[VX], 0.0, 0.0), + vec3(0.0, scaleVector[VY], 0.0), + vec3(0.0, 0.0, 1.0)); } + +mat4 identity3D(void) +{ return mat4(vec4(1.0, 0.0, 0.0, 0.0), + vec4(0.0, 1.0, 0.0, 0.0), + vec4(0.0, 0.0, 1.0, 0.0), + vec4(0.0, 0.0, 0.0, 1.0)); } + +mat4 translation3D(vec3& v) +{ return mat4(vec4(1.0, 0.0, 0.0, v[VX]), + vec4(0.0, 1.0, 0.0, v[VY]), + vec4(0.0, 0.0, 1.0, v[VZ]), + vec4(0.0, 0.0, 0.0, 1.0)); } + +mat4 rotation3D(vec3& Axis, const float angleDeg) { + float angleRad = angleDeg * M_PI / 180.0, + c = cos(angleRad), + s = sin(angleRad), + t = 1.0 - c; + + Axis.normalize(); + return mat4(vec4(t * Axis[VX] * Axis[VX] + c, + t * Axis[VX] * Axis[VY] - s * Axis[VZ], + t * Axis[VX] * Axis[VZ] + s * Axis[VY], + 0.0), + vec4(t * Axis[VX] * Axis[VY] + s * Axis[VZ], + t * Axis[VY] * Axis[VY] + c, + t * Axis[VY] * Axis[VZ] - s * Axis[VX], + 0.0), + vec4(t * Axis[VX] * Axis[VZ] - s * Axis[VY], + t * Axis[VY] * Axis[VZ] + s * Axis[VX], + t * Axis[VZ] * Axis[VZ] + c, + 0.0), + vec4(0.0, 0.0, 0.0, 1.0)); +} + +mat4 rotation3Drad(vec3& Axis, const float angleRad) { + float c = cos(angleRad), + s = sin(angleRad), + t = 1.0 - c; + + Axis.normalize(); + return mat4(vec4(t * Axis[VX] * Axis[VX] + c, + t * Axis[VX] * Axis[VY] - s * Axis[VZ], + t * Axis[VX] * Axis[VZ] + s * Axis[VY], + 0.0), + vec4(t * Axis[VX] * Axis[VY] + s * Axis[VZ], + t * Axis[VY] * Axis[VY] + c, + t * Axis[VY] * Axis[VZ] - s * Axis[VX], + 0.0), + vec4(t * Axis[VX] * Axis[VZ] - s * Axis[VY], + t * Axis[VY] * Axis[VZ] + s * Axis[VX], + t * Axis[VZ] * Axis[VZ] + c, + 0.0), + vec4(0.0, 0.0, 0.0, 1.0)); +} + +mat4 scaling3D(vec3& scaleVector) +{ return mat4(vec4(scaleVector[VX], 0.0, 0.0, 0.0), + vec4(0.0, scaleVector[VY], 0.0, 0.0), + vec4(0.0, 0.0, scaleVector[VZ], 0.0), + vec4(0.0, 0.0, 0.0, 1.0)); } + +mat4 perspective3D(const float d) +{ return mat4(vec4(1.0, 0.0, 0.0, 0.0), + vec4(0.0, 1.0, 0.0, 0.0), + vec4(0.0, 0.0, 1.0, 0.0), + vec4(0.0, 0.0, 1.0/d, 0.0)); } diff --git a/3rdparty/glui/algebra3.h b/3rdparty/glui/algebra3.h new file mode 100644 index 0000000..9842ee7 --- /dev/null +++ b/3rdparty/glui/algebra3.h @@ -0,0 +1,474 @@ +/************************************************************************** + + algebra3.cpp, algebra3.h - C++ Vector and Matrix Algebra routines + + There are three vector classes and two matrix classes: vec2, vec3, + vec4, mat3, and mat4. + + All the standard arithmetic operations are defined, with '*' + for dot product of two vectors and multiplication of two matrices, + and '^' for cross product of two vectors. + + Additional functions include length(), normalize(), homogenize for + vectors, and print(), set(), apply() for all classes. + + There is a function transpose() for matrices, but note that it + does not actually change the matrix, + + When multiplied with a matrix, a vector is treated as a row vector + if it precedes the matrix (v*M), and as a column vector if it + follows the matrix (M*v). + + Matrices are stored in row-major form. + + A vector of one dimension (2d, 3d, or 4d) can be cast to a vector + of a higher or lower dimension. If casting to a higher dimension, + the new component is set by default to 1.0, unless a value is + specified: + vec3 a(1.0, 2.0, 3.0 ); + vec4 b( a, 4.0 ); // now b == {1.0, 2.0, 3.0, 4.0}; + When casting to a lower dimension, the vector is homogenized in + the lower dimension. E.g., if a 4d {X,Y,Z,W} is cast to 3d, the + resulting vector is {X/W, Y/W, Z/W}. It is up to the user to + insure the fourth component is not zero before casting. + + There are also the following function for building matrices: + identity2D(), translation2D(), rotation2D(), + scaling2D(), identity3D(), translation3D(), + rotation3D(), rotation3Drad(), scaling3D(), + perspective3D() + + NOTE: When compiling for Windows, include this file first, to avoid + certain name conflicts + + --------------------------------------------------------------------- + + Author: Jean-Francois DOUEg + Revised: Paul Rademacher + Version 3.2 - Feb 1998 + +**************************************************************************/ + +#ifndef _ALGEBRA3_H_ +#define _ALGEBRA3_H_ + +#include +#include +#include + +// this line defines a new type: pointer to a function which returns a +// float and takes as argument a float +typedef float (*V_FCT_PTR)(float); + +// min-max macros +#ifndef MIN +#define MIN(A,B) ((A) < (B) ? (A) : (B)) +#define MAX(A,B) ((A) > (B) ? (A) : (B)) +#endif + +//#include +// error handling macro +//#define VEC_ERROR(E) { cerr << E; exit(1); } +/*#define << +#define >>*/ + +#ifdef VEC_ERROR_FATAL +#ifndef VEC_ERROR +#define VEC_ERROR(E) { printf( "VERROR %s\n", E ); exit(1); } +#endif +#else +#ifndef VEC_ERROR +#define VEC_ERROR(E) { printf( "VERROR %s\n", E ); } +#endif +#endif + +class vec2; +class vec3; +class vec4; +class mat3; +class mat4; + +/*#ifndef X +enum {X,Y,Z,W}; +#endif +*/ + +/*#ifndef R +enum {R,G,B,ALPHA}; +#endif +*/ + +#ifndef M_PI +#define M_PI 3.141592654 +#endif + + +enum {VX, VY, VZ, VW}; // axes +enum {PA, PB, PC, PD}; // planes +enum {RED, GREEN, BLUE, ALPHA}; // colors +enum {KA, KD, KS, ES}; // phong coefficients + +/**************************************************************** +* * +* 2D Vector * +* * +****************************************************************/ + +class vec2 +{ +protected: + + float n[2]; + +public: + + // Constructors + + vec2(void); + vec2(const float x, const float y); + vec2(const float d); + vec2(const vec2& v); // copy constructor + vec2(const vec3& v); // cast v3 to v2 + vec2(const vec3& v, int dropAxis); // cast v3 to v2 + + // Assignment operators + + vec2& operator = ( const vec2& v ); // assignment of a vec2 + vec2& operator += ( const vec2& v ); // incrementation by a vec2 + vec2& operator -= ( const vec2& v ); // decrementation by a vec2 + vec2& operator *= ( const float d ); // multiplication by a constant + vec2& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec2 + float length2(void); // squared length of a vec2 + vec2& normalize(void); // normalize a vec2 + vec2& apply(V_FCT_PTR fct); // apply a func. to each component + void set( float x, float y ); // set vector + + // friends + + friend vec2 operator - (const vec2& v); // -v1 + friend vec2 operator + (const vec2& a, const vec2& b); // v1 + v2 + friend vec2 operator - (const vec2& a, const vec2& b); // v1 - v2 + friend vec2 operator * (const vec2& a, const float d); // v1 * 3.0 + friend vec2 operator * (const float d, const vec2& a); // 3.0 * v1 + friend vec2 operator * (const mat3& a, const vec2& v); // M . v + friend vec2 operator * (const vec2& v, mat3& a); // v . M + friend float operator * (const vec2& a, const vec2& b); // dot product + friend vec2 operator / (const vec2& a, const float d); // v1 / 3.0 + friend vec3 operator ^ (const vec2& a, const vec2& b); // cross product + friend int operator == (const vec2& a, const vec2& b); // v1 == v2 ? + friend int operator != (const vec2& a, const vec2& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec2& v); // output to stream + //friend istream& operator >> (istream& s, vec2& v); // input from strm. + friend void swap(vec2& a, vec2& b); // swap v1 & v2 + friend vec2 min_vec(const vec2& a, const vec2& b); // min(v1, v2) + friend vec2 max_vec(const vec2& a, const vec2& b); // max(v1, v2) + friend vec2 prod(const vec2& a, const vec2& b); // term by term * + + // necessary friend declarations + + friend class vec3; +}; + +/**************************************************************** +* * +* 3D Vector * +* * +****************************************************************/ + +class vec3 +{ +protected: + + float n[3]; + +public: + + // Constructors + + vec3(void); + vec3(const float x, const float y, const float z); + vec3(const float d); + vec3(const vec3& v); // copy constructor + vec3(const vec2& v); // cast v2 to v3 + vec3(const vec2& v, float d); // cast v2 to v3 + vec3(const vec4& v); // cast v4 to v3 + vec3(const vec4& v, int dropAxis); // cast v4 to v3 + + // Assignment operators + + vec3& operator = ( const vec3& v ); // assignment of a vec3 + vec3& operator += ( const vec3& v ); // incrementation by a vec3 + vec3& operator -= ( const vec3& v ); // decrementation by a vec3 + vec3& operator *= ( const float d ); // multiplication by a constant + vec3& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec3 + float length2(void); // squared length of a vec3 + vec3& normalize(void); // normalize a vec3 + vec3& homogenize(void); // homogenize (div by Z) + vec3& apply(V_FCT_PTR fct); // apply a func. to each component + void set( float x, float y, float z ); // set vector + void print( FILE *file, char *name ); // print vector to a file + + // friends + + friend vec3 operator - (const vec3& v); // -v1 + friend vec3 operator + (const vec3& a, const vec3& b); // v1 + v2 + friend vec3 operator - (const vec3& a, const vec3& b); // v1 - v2 + friend vec3 operator * (const vec3& a, const float d); // v1 * 3.0 + friend vec3 operator * (const float d, const vec3& a); // 3.0 * v1 + friend vec3 operator * (const mat4& a, const vec3& v); // M . v + friend vec3 operator * (const vec3& v, mat4& a); // v . M + friend float operator * (const vec3& a, const vec3& b); // dot product + friend vec3 operator / (const vec3& a, const float d); // v1 / 3.0 + friend vec3 operator ^ (const vec3& a, const vec3& b); // cross product + friend int operator == (const vec3& a, const vec3& b); // v1 == v2 ? + friend int operator != (const vec3& a, const vec3& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec3& v); // output to stream + //friend istream& operator >> (istream& s, vec3& v); // input from strm. + friend void swap(vec3& a, vec3& b); // swap v1 & v2 + friend vec3 min_vec(const vec3& a, const vec3& b); // min(v1, v2) + friend vec3 max_vec(const vec3& a, const vec3& b); // max(v1, v2) + friend vec3 prod(const vec3& a, const vec3& b); // term by term * + + // necessary friend declarations + + friend class vec2; + friend class vec4; + friend class mat3; + friend vec2 operator * (const mat3& a, const vec2& v); // linear transform + friend vec3 operator * (const mat3& a, const vec3& v); // linear transform + friend mat3 operator * (mat3& a, mat3& b); // matrix 3 product + + }; + +/**************************************************************** +* * +* 4D Vector * +* * +****************************************************************/ + +class vec4 +{ +protected: + + float n[4]; + +public: + + // Constructors + + vec4(void); + vec4(const float x, const float y, const float z, const float w); + vec4(const float d); + vec4(const vec4& v); // copy constructor + vec4(const vec3& v); // cast vec3 to vec4 + vec4(const vec3& v, const float d); // cast vec3 to vec4 + + // Assignment operators + + vec4& operator = ( const vec4& v ); // assignment of a vec4 + vec4& operator += ( const vec4& v ); // incrementation by a vec4 + vec4& operator -= ( const vec4& v ); // decrementation by a vec4 + vec4& operator *= ( const float d ); // multiplication by a constant + vec4& operator /= ( const float d ); // division by a constant + float& operator [] ( int i); // indexing + + // special functions + + float length(void); // length of a vec4 + float length2(void); // squared length of a vec4 + vec4& normalize(void); // normalize a vec4 + vec4& apply(V_FCT_PTR fct); // apply a func. to each component + vec4& homogenize(void); + void print( FILE *file, char *name ); // print vector to a file + void set( float x, float y, float z, float a ); + + // friends + + friend vec4 operator - (const vec4& v); // -v1 + friend vec4 operator + (const vec4& a, const vec4& b); // v1 + v2 + friend vec4 operator - (const vec4& a, const vec4& b); // v1 - v2 + friend vec4 operator * (const vec4& a, const float d); // v1 * 3.0 + friend vec4 operator * (const float d, const vec4& a); // 3.0 * v1 + friend vec4 operator * (const mat4& a, const vec4& v); // M . v + friend vec4 operator * (const vec4& v, mat4& a); // v . M + friend float operator * (const vec4& a, const vec4& b); // dot product + friend vec4 operator / (const vec4& a, const float d); // v1 / 3.0 + friend int operator == (const vec4& a, const vec4& b); // v1 == v2 ? + friend int operator != (const vec4& a, const vec4& b); // v1 != v2 ? + //friend ostream& operator << (ostream& s, vec4& v); // output to stream + //friend istream& operator >> (istream& s, vec4& v); // input from strm. + friend void swap(vec4& a, vec4& b); // swap v1 & v2 + friend vec4 min_vec(const vec4& a, const vec4& b); // min(v1, v2) + friend vec4 max_vec(const vec4& a, const vec4& b); // max(v1, v2) + friend vec4 prod(const vec4& a, const vec4& b); // term by term * + + // necessary friend declarations + + friend class vec3; + friend class mat4; + friend vec3 operator * (const mat4& a, const vec3& v); // linear transform + friend mat4 operator * (mat4& a, mat4& b); // matrix 4 product + }; + +/**************************************************************** +* * +* 3x3 Matrix * +* * +****************************************************************/ + +class mat3 +{ +protected: + + vec3 v[3]; + +public: + + // Constructors + + mat3(void); + mat3(const vec3& v0, const vec3& v1, const vec3& v2); + mat3(const float d); + mat3(const mat3& m); + + // Assignment operators + + mat3& operator = ( const mat3& m ); // assignment of a mat3 + mat3& operator += ( const mat3& m ); // incrementation by a mat3 + mat3& operator -= ( const mat3& m ); // decrementation by a mat3 + mat3& operator *= ( const float d ); // multiplication by a constant + mat3& operator /= ( const float d ); // division by a constant + vec3& operator [] ( int i); // indexing + + // special functions + + mat3 transpose(void); // transpose + mat3 inverse(void); // inverse + mat3& apply(V_FCT_PTR fct); // apply a func. to each element + void print( FILE *file, char *name ); // print matrix to a file + void set(const vec3& v0, const vec3& v1, const vec3& v2); + + + // friends + + friend mat3 operator - (const mat3& a); // -m1 + friend mat3 operator + (const mat3& a, const mat3& b); // m1 + m2 + friend mat3 operator - (const mat3& a, const mat3& b); // m1 - m2 + friend mat3 operator * (mat3& a, mat3& b); // m1 * m2 + friend mat3 operator * (const mat3& a, const float d); // m1 * 3.0 + friend mat3 operator * (const float d, const mat3& a); // 3.0 * m1 + friend mat3 operator / (const mat3& a, const float d); // m1 / 3.0 + friend int operator == (const mat3& a, const mat3& b); // m1 == m2 ? + friend int operator != (const mat3& a, const mat3& b); // m1 != m2 ? + //friend ostream& operator << (ostream& s, mat3& m); // output to stream + //friend istream& operator >> (istream& s, mat3& m); // input from strm. + friend void swap(mat3& a, mat3& b); // swap m1 & m2 + + // necessary friend declarations + + friend vec3 operator * (const mat3& a, const vec3& v); // linear transform + friend vec2 operator * (const mat3& a, const vec2& v); // linear transform + }; + +/**************************************************************** +* * +* 4x4 Matrix * +* * +****************************************************************/ + +class mat4 +{ +protected: +public: + + vec4 v[4]; + + + // Constructors + + mat4(void); + mat4(const vec4& v0, const vec4& v1, const vec4& v2, const vec4& v3); + mat4(const float d); + mat4(const mat4& m); + mat4(const float a00, const float a01, const float a02, const float a03, + const float a10, const float a11, const float a12, const float a13, + const float a20, const float a21, const float a22, const float a23, + const float a30, const float a31, const float a32, const float a33 ); + + + // Assignment operators + + mat4& operator = ( const mat4& m ); // assignment of a mat4 + mat4& operator += ( const mat4& m ); // incrementation by a mat4 + mat4& operator -= ( const mat4& m ); // decrementation by a mat4 + mat4& operator *= ( const float d ); // multiplication by a constant + mat4& operator /= ( const float d ); // division by a constant + vec4& operator [] ( int i); // indexing + + // special functions + + mat4 transpose(void); // transpose + mat4 inverse(void); // inverse + mat4& apply(V_FCT_PTR fct); // apply a func. to each element + void print( FILE *file, char *name ); // print matrix to a file + void swap_rows( int i, int j ); // swap rows i and j + void swap_cols( int i, int j ); // swap cols i and j + + // friends + + friend mat4 operator - (const mat4& a); // -m1 + friend mat4 operator + (const mat4& a, const mat4& b); // m1 + m2 + friend mat4 operator - (const mat4& a, const mat4& b); // m1 - m2 + friend mat4 operator * (mat4& a, mat4& b); // m1 * m2 + friend mat4 operator * (const mat4& a, const float d); // m1 * 4.0 + friend mat4 operator * (const float d, const mat4& a); // 4.0 * m1 + friend mat4 operator / (const mat4& a, const float d); // m1 / 3.0 + friend int operator == (const mat4& a, const mat4& b); // m1 == m2 ? + friend int operator != (const mat4& a, const mat4& b); // m1 != m2 ? + //friend ostream& operator << (ostream& s, mat4& m); // output to stream + //friend istream& operator >> (istream& s, mat4& m); // input from strm. + friend void swap(mat4& a, mat4& b); // swap m1 & m2 + + // necessary friend declarations + + friend vec4 operator * (const mat4& a, const vec4& v); // linear transform + //friend vec4 operator * (const vec4& v, const mat4& a); // linear transform + friend vec3 operator * (const mat4& a, const vec3& v); // linear transform + friend vec3 operator * (const vec3& v, const mat4& a); // linear transform + }; + +/**************************************************************** +* * +* 2D functions and 3D functions * +* * +****************************************************************/ + +mat3 identity2D(void); // identity 2D +mat3 translation2D(vec2& v); // translation 2D +mat3 rotation2D(vec2& Center, const float angleDeg); // rotation 2D +mat3 scaling2D(vec2& scaleVector); // scaling 2D +mat4 identity3D(void); // identity 3D +mat4 translation3D(vec3& v); // translation 3D +mat4 rotation3D(vec3& Axis, const float angleDeg); // rotation 3D +mat4 rotation3Drad(vec3& Axis, const float angleRad); // rotation 3D +mat4 scaling3D(vec3& scaleVector); // scaling 3D +mat4 perspective3D(const float d); // perspective 3D + + +vec3 operator * (const vec3& v, mat3& a); +vec2 operator * (const vec2& v, mat3& a); +vec3 operator * (const vec3& v, mat4& a); +vec4 operator * (const vec4& v, mat4& a); + + +#endif diff --git a/3rdparty/glui/arcball.cpp b/3rdparty/glui/arcball.cpp new file mode 100644 index 0000000..49f8889 --- /dev/null +++ b/3rdparty/glui/arcball.cpp @@ -0,0 +1,223 @@ +/********************************************************************** + + arcball.cpp + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +**********************************************************************/ + + +#include "arcball.h" +#include + + +/**************************************** Arcball::Arcball() ****/ +/* Default (void) constructor for Arcball */ + +Arcball::Arcball( void ) +{ + rot_ptr = &rot; + + init(); +} + + +/**************************************** Arcball::Arcball() ****/ +/* Takes as argument a mat4 to use instead of the internal rot */ + +Arcball::Arcball( mat4 *mtx ) +{ + rot_ptr = mtx; +} + + +/**************************************** Arcball::Arcball() ****/ +/* A constructor that accepts the screen center and arcball radius*/ + +Arcball::Arcball( vec2 _center, float _radius ) +{ + rot_ptr = &rot; + + init(); + set_params( _center, _radius ); +} + + +/************************************** Arcball::set_params() ****/ + +void Arcball::set_params( vec2 _center, float _radius ) +{ + center = _center; + radius = _radius; +} + + +/*************************************** Arcball::init() **********/ + +void Arcball::init( void ) +{ + center.set( 0.0, 0.0 ); + radius = 1.0; + q_now = quat_identity(); + *rot_ptr = identity3D(); + q_increment = quat_identity(); + rot_increment = identity3D(); + is_mouse_down = false; + is_spinning = false; + damp_factor = 0.0; + zero_increment = true; +} + + +/*********************************** Arcball::mouse_to_sphere() ****/ + +vec3 Arcball::mouse_to_sphere( vec2 p ) +{ + float mag; + vec2 v2 = (p - center) / radius; + vec3 v3( v2[0], v2[1], 0.0 ); + + mag = v2*v2; + + if ( mag > 1.0 ) { + v3.normalize(); + } + else { + v3[VZ] = sqrt( 1.0 - mag ); + } + + /* Now we add constraints - X takes precedence over Y */ + if ( constraint_x ) { + v3 = constrain_vector( v3, vec3( 1.0, 0.0, 0.0 )); + } else if ( constraint_y ) { + v3 = constrain_vector( v3, vec3( 0.0, 1.0, 0.0 )); + } + + return v3; +} + + +/************************************ Arcball::constrain_vector() ****/ + +vec3 Arcball::constrain_vector( vec3 vector, vec3 axis ) +{ + return (vector-(vector*axis)*axis).normalize(); +} + +/************************************ Arcball::mouse_down() **********/ + +void Arcball::mouse_down( int x, int y ) +{ + down_pt.set( (float)x, (float) y ); + is_mouse_down = true; + + q_increment = quat_identity(); + rot_increment = identity3D(); + zero_increment = true; +} + + +/************************************ Arcball::mouse_up() **********/ + +void Arcball::mouse_up( void ) +{ + q_now = q_drag * q_now; + is_mouse_down = false; +} + + +/********************************** Arcball::mouse_motion() **********/ + +void Arcball::mouse_motion( int x, int y, int shift, int ctrl, int alt ) +{ + /* Set the X constraint if CONTROL key is pressed, Y if ALT key */ + set_constraints( ctrl != 0, alt != 0 ); + + vec2 new_pt( (float)x, (float) y ); + vec3 v0 = mouse_to_sphere( down_pt ); + vec3 v1 = mouse_to_sphere( new_pt ); + + vec3 cross = v0^v1; + + q_drag.set( cross, v0 * v1 ); + + // *rot_ptr = (q_drag * q_now).to_mat4(); + mat4 temp = q_drag.to_mat4(); + *rot_ptr = *rot_ptr * temp; + + down_pt = new_pt; + + /* We keep a copy of the current incremental rotation (= q_drag) */ + q_increment = q_drag; + rot_increment = q_increment.to_mat4(); + + set_constraints( false, false ); + + if ( q_increment.s < .999999 ) { + is_spinning = true; + + zero_increment = false; + } + else { + is_spinning = false; + zero_increment = true; + } +} + + +/********************************** Arcball::mouse_motion() **********/ + +void Arcball::mouse_motion( int x, int y ) +{ + mouse_motion( x, y, 0, 0, 0 ); +} + + +/***************************** Arcball::set_constraints() **********/ + +void Arcball::set_constraints( Bool _constraint_x, Bool _constraint_y ) +{ + constraint_x = _constraint_x; + constraint_y = _constraint_y; +} + +/***************************** Arcball::idle() *********************/ + +void Arcball::idle( void ) +{ + if ( is_mouse_down ) { + is_spinning = false; + zero_increment = true; + } + + if ( damp_factor < 1.0 ) { + q_increment.scale_angle( 1.0 - damp_factor ); + } + + rot_increment = q_increment.to_mat4(); + + if ( q_increment.s >= .999999 ) { + is_spinning = false; + zero_increment = true; + } +} + + +/************************ Arcball::set_damping() *********************/ + +void Arcball::set_damping( float d ) +{ + damp_factor = d; +} + + + + + diff --git a/3rdparty/glui/arcball.h b/3rdparty/glui/arcball.h new file mode 100644 index 0000000..d286e1c --- /dev/null +++ b/3rdparty/glui/arcball.h @@ -0,0 +1,85 @@ +/********************************************************************** + + Arcball.h + + A C++ class that implements the Arcball, as described by Ken + Shoemake in Graphics Gems IV. + This class takes as input mouse events (mouse down, mouse drag, + mouse up), and creates the appropriate quaternions and 4x4 matrices + to represent the rotation given by the mouse. + + This class is used as follows: + - initialize [either in the constructor or with set_params()], the + center position (x,y) of the arcball on the screen, and the radius + - on mouse down, call mouse_down(x,y) with the mouse position + - as the mouse is dragged, repeatedly call mouse_motion() with the + current x and y positions. One can optionally pass in the current + state of the SHIFT, ALT, and CONTROL keys (passing zero if keys + are not pressed, non-zero otherwise), which constrains + the rotation to certain axes (X for CONTROL, Y for ALT). + - when the mouse button is released, call mouse_up() + + Axis constraints can also be explicitly set with the + set_constraints() function. + + The current rotation is stored in the 4x4 float matrix 'rot'. + It is also stored in the quaternion 'q_now'. + + ------------------------------------------------------------------ + + Feb 25, 1998 - Paul Rademacher (rademach@cs.unc.edu) + +**********************************************************************/ + + +#ifndef _ARCBALL_H_ +#define _ARCBALL_H_ + + +#include "stdinc.h" +#include "algebra3.h" +#include "quaternion.h" + +#ifdef __APPLE__ +#include +#else +#include +#endif + +class Arcball { +public: + Bool constraint_x, constraint_y; + vec2 center; + float radius, damp_factor; + int zero_increment; + + vec3 constrain_vector( vec3 vector, vec3 axis ); + vec3 mouse_to_sphere( vec2 p ); + + //public: + int is_mouse_down; /* true for down, false for up */ + int is_spinning; + quat q_now, q_down, q_drag, q_increment; + vec2 down_pt; + mat4 rot, rot_increment; + mat4 *rot_ptr; + + void set_damping( float d ); + void idle( void ); + void mouse_down( int x, int y ); + void mouse_up( void ); + void mouse_motion( int x, int y, int shift, int ctrl, int alt ); + void mouse_motion( int x, int y ); + void set_constraints( Bool constrain_x, Bool constrain_y ); + void set_params( vec2 center, float radius ); + void reset_mouse( void ); + void init( void ); + + Arcball( void ); + Arcball( mat4 *mtx ); + Arcball( vec2 center, float radius ); +}; + + +#endif + diff --git a/3rdparty/glui/glui.cpp b/3rdparty/glui/glui.cpp new file mode 100644 index 0000000..54b4b15 --- /dev/null +++ b/3rdparty/glui/glui.cpp @@ -0,0 +1,1977 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui.cpp + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + +#include "glui.h" +#include "stdinc.h" + + +void (*show_glut_keyboard_CB)(unsigned char, int, int); +void (*show_glut_special_CB)(int, int, int); + + +/*** This object must be used to create a GLUI ***/ + +GLUI_Master_Object GLUI_Master; + + +/************************************ finish_drawing() ************/ + +void finish_drawing( void ) +{ + glFlush(); + glFinish(); +} + +/************************************************ GLUI::GLUI() **********/ + +int GLUI::init( char *text, long flags, int x, int y, int parent_window ) +{ + int old_glut_window; + + this->flags = flags; + + strncpy( window_name.string, text, sizeof(GLUI_String)); + + /*** We copy over the current window callthroughs ***/ + /*** (I think this might actually only be needed for subwindows) ***/ + /* glut_keyboard_CB = GLUI_Master.glut_keyboard_CB; + glut_reshape_CB = GLUI_Master.glut_reshape_CB; + glut_special_CB = GLUI_Master.glut_special_CB; + glut_mouse_CB = GLUI_Master.glut_mouse_CB;*/ + + + if ( (flags & GLUI_SUBWINDOW) != GLUI_SUBWINDOW ) { + old_glut_window = glutGetWindow(); + + create_standalone_window( window_name, x, y ); + setup_default_glut_callbacks(); + + if ( old_glut_window > 0 ) + glutSetWindow( old_glut_window ); + + top_level_glut_window_id = glut_window_id; + } + else { + old_glut_window = glutGetWindow(); + + create_subwindow( parent_window, flags ); + setup_default_glut_callbacks(); + + if ( old_glut_window > 0 ) + glutSetWindow( old_glut_window ); + + top_level_glut_window_id = parent_window; + + /* + glutReshapeFunc( glui_parent_window_reshape_func ); + glutSpecialFunc( glui_parent_window_special_func ); + glutKeyboardFunc( glui_parent_window_keyboard_func ); + glutMouseFunc( glui_parent_window_mouse_func ); + */ + + } + + return true; +} + + +/**************************** GLUI_Main::create_standalone_window() ********/ + +void GLUI_Main::create_standalone_window( char *name, int x, int y ) +{ + glutInitWindowSize( 100, 100 ); + if ( x >= 0 OR y >= 0 ) + glutInitWindowPosition( x, y ); + glutInitDisplayMode( GLUT_RGB | GLUT_SINGLE ); /* | GLUT_DOUBLE ); */ + glut_window_id = glutCreateWindow( name ); + glDisable( GL_DEPTH_TEST ); + glCullFace( GL_BACK ); + glDisable( GL_CULL_FACE ); + glDisable( GL_LIGHTING ); + glDrawBuffer( GL_FRONT ); +} + + +/******************************** GLUI_Main::create_subwindow() **********/ + +void GLUI_Main::create_subwindow( int parent_window, int window_alignment ) +{ + glut_window_id = glutCreateSubWindow( parent_window, 0,0, 100, 100 ); + glDisable( GL_DEPTH_TEST ); + glCullFace( GL_BACK ); + glDisable( GL_CULL_FACE ); + glDisable( GL_LIGHTING ); + glDrawBuffer( GL_FRONT ); + + this->parent_window = parent_window; +} + + +/**************************** GLUI_Main::setup_default_glut_callbacks() *****/ + +void GLUI_Main::setup_default_glut_callbacks( void ) +{ + glutDisplayFunc( glui_display_func ); + glutReshapeFunc( glui_reshape_func ); + glutKeyboardFunc( glui_keyboard_func ); + glutSpecialFunc( glui_special_func ); + glutMouseFunc( glui_mouse_func ); + glutMotionFunc( glui_motion_func ); + glutPassiveMotionFunc( glui_passive_motion_func ); + glutEntryFunc( glui_entry_func ); + glutVisibilityFunc( glui_visibility_func ); + /* glutIdleFunc( glui_idle_func ); */ +} + + +/********************************************** glui_display_func() ********/ + +void glui_display_func( void ) +{ + GLUI *glui; + + /* printf( "display func\n" ); */ + + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->display(); + /* + Do not do anything after the above line, b/c the GLUI + window might have just closed itself + */ + } +} + + +/********************************************** glui_reshape_func() ********/ + +void glui_reshape_func( int w, int h ) +{ + GLUI *glui; + GLUI_Glut_Window *glut_window; + int current_window; + + // printf( "glui_reshape_func(): %d w/h: %d/%d\n", glutGetWindow(), w, h ); + + current_window = glutGetWindow(); + + /*** First check if this is main glut window ***/ + glut_window = GLUI_Master.find_glut_window( current_window ); + if ( glut_window ) { + glut_window->glut_reshape_CB(w,h); + + /*** Now send reshape events to all subwindows ***/ + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while(glui) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glutSetWindow( glui->get_glut_window_id()); + glui->reshape(w,h); + /* glui->check_subwindow_position(); */ + } + glui = (GLUI*) glui->next(); + } + } + else { + /*** A standalone GLUI window ***/ + + glui = GLUI_Master.find_glui_by_window_id( current_window ); + + if ( glui ) { + glui->reshape(w,h); + } + } +} + +/********************************************** glui_keyboard_func() ********/ + +void glui_keyboard_func(unsigned char key, int x, int y) +{ + GLUI *glui; + int current_window; + GLUI_Glut_Window *glut_window; + + current_window = glutGetWindow(); + glut_window = GLUI_Master.find_glut_window( current_window ); + + if ( glut_window ) { /** Was event in a GLUT window? **/ + if ( GLUI_Master.active_control_glui AND GLUI_Master.active_control ) { + glutSetWindow( GLUI_Master.active_control_glui->get_glut_window_id() ); + + GLUI_Master.active_control_glui->keyboard(key,x,y); + finish_drawing(); + + glutSetWindow( current_window ); + } + else { + glut_window->glut_keyboard_CB( key, x, y ); + } + } + else { /*** Nope, event was in a standalone GLUI window **/ + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + if ( glui ) { + glui->keyboard(key,x,y); + finish_drawing(); + } + } + + show_glut_keyboard_CB(key, x, y); +} + + +/************************************************ glui_special_func() ********/ + +void glui_special_func(int key, int x, int y) +{ + GLUI *glui; + int current_window; + GLUI_Glut_Window *glut_window; + + current_window = glutGetWindow(); + glut_window = GLUI_Master.find_glut_window( current_window ); + + if ( glut_window ) { /** Was event in a GLUT window? **/ + if ( GLUI_Master.active_control_glui AND GLUI_Master.active_control ) { + glutSetWindow( GLUI_Master.active_control_glui->get_glut_window_id() ); + + GLUI_Master.active_control_glui->special(key,x,y); + finish_drawing(); + + glutSetWindow( current_window ); + } + else { + glut_window->glut_special_CB( key, x, y ); + } + } + else { /*** Nope, event was in a standalone GLUI window **/ + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->special(key, x, y); + finish_drawing(); + } + } + show_glut_special_CB(key, x, y); +} + + + +/********************************************** glui_mouse_func() ********/ + +void glui_mouse_func(int button, int state, int x, int y) +{ + GLUI *glui; + int current_window; + GLUI_Glut_Window *glut_window; + + current_window = glutGetWindow(); + glut_window = GLUI_Master.find_glut_window( current_window ); + + if ( glut_window ) { /** Was event in a GLUT window? **/ + if ( GLUI_Master.active_control_glui != NULL ) + GLUI_Master.active_control_glui->disactivate_current_control(); + + glut_window->glut_mouse_CB( button, state, x, y ); + finish_drawing(); + } + else { /** Nope - event was in a GLUI standalone window **/ + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + if ( glui ) { + glui->passive_motion( 0,0 ); + glui->mouse( button, state, x, y ); + finish_drawing(); + } + } + +} + + +/********************************************** glui_motion_func() ********/ + +void glui_motion_func(int x, int y) +{ + GLUI *glui; + + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->motion(x,y); + finish_drawing(); + } + +} + + +/**************************************** glui_passive_motion_func() ********/ + +void glui_passive_motion_func(int x, int y) +{ + GLUI *glui; + + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->passive_motion(x,y); + finish_drawing(); + } +} + + +/********************************************** glui_entry_func() ********/ + +void glui_entry_func(int state) +{ + GLUI *glui; + + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->entry(state); + } +} + + +/******************************************** glui_visibility_func() ********/ + +void glui_visibility_func(int state) +{ + GLUI *glui; + + /* printf( "IN GLUI VISIBILITY()\n" ); */ + /* fflush( stdout ); */ + + glui = GLUI_Master.find_glui_by_window_id( glutGetWindow() ); + + if ( glui ) { + glui->visibility(state); + } +} + + +/********************************************** glui_idle_func() ********/ +/* Send idle event to each glui, then to the main window */ + +void glui_idle_func(void) +{ + GLUI *glui; + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + glui->idle(); + finish_drawing(); + + glui = (GLUI*) glui->next(); + } + + if ( GLUI_Master.glut_idle_CB ) { + /*** We set the current glut window before calling the user's + idle function, even though glut explicitly says the window id is + undefined in an idle callback. ***/ + + /** Check what the current window is first ***/ + + /*** Arbitrarily set the window id to the main gfx window of the + first glui window ***/ + /* int current_window, new_window; */ + /* current_window = glutGetWindow(); */ + /* if (GLUI_Master.gluis.first_child() != NULL ) { */ + /* new_window = ((GLUI_Main*)GLUI_Master.gluis.first_child())-> */ + /* main_gfx_window_id; */ + /* if ( new_window > 0 AND new_window != old_window ) { */ + /* --- Window is changed only if its not already the current window ---*/ + /* glutSetWindow( new_window ); */ + /* } */ + /*} */ + + GLUI_Master.glut_idle_CB(); + } +} + + +/*********************************** GLUI_Master_Object::create_glui() ******/ + +GLUI *GLUI_Master_Object::create_glui( char *name, long flags,int x,int y ) +{ + GLUI *new_glui; + + new_glui = new GLUI; + + if ( new_glui ) { + new_glui->init( name, flags, x, y, -1 ); + new_glui->link_this_to_parent_last( &this->gluis ); + return new_glui; + } + else { + return NULL; + } +} + + +/************************** GLUI_Master_Object::create_glui_subwindow() ******/ + +GLUI *GLUI_Master_Object::create_glui_subwindow( int parent_window, + long flags ) +{ + GLUI *new_glui; + char new_name[80]; + + new_glui = new GLUI; + + if ( new_glui ) { + sprintf( new_name, "subwin_%p", this ); + + new_glui->init( new_name, flags | GLUI_SUBWINDOW, 0,0, + parent_window ); + new_glui->main_panel->set_int_val( GLUI_PANEL_EMBOSSED ); + new_glui->link_this_to_parent_last( &this->gluis ); + return new_glui; + } + else { + return NULL; + } +} + + + +/********************** GLUI_Master_Object::find_glui_by_window_id() ********/ + +GLUI *GLUI_Master_Object::find_glui_by_window_id( int window_id ) +{ + GLUI_Node *node; + + node = gluis.first_child(); + while( node ) { + if ( ((GLUI*)node)->get_glut_window_id() == window_id ) + return (GLUI*) node; + + node = node->next(); + } + return NULL; +} + + +/******************************************** GLUI_Main::display() **********/ + +void GLUI_Main::display( void ) +{ + int win_w, win_h; + + /*glutSetWindow(1);///WOW WHAT A HACK */ + + /**** This function is used as a special place to do 'safe' processing, + e.g., handling window close requests. + That is, we can't close the window directly in the callback, so + we set a flag, post a redisplay message (which eventually calls + this function), then close the window safely in here. ****/ + if ( closing == true ) { + close_internal(); + return; + } + + /* if ( TEST_AND( this->flags, GLUI_SUBWINDOW )) + check_subwindow_position(); + */ + + /******* Draw GLUI window ******/ + + glClearColor( (float) bkgd_color.r / 255.0, + (float) bkgd_color.g / 255.0, + (float) bkgd_color.b / 255.0, + 1.0 ); + glClear( GL_COLOR_BUFFER_BIT ); /* | GL_DEPTH_BUFFER_BIT ); */ + + /* glutSwapBuffers(); //performs flush also // %%%%%%%%%% */ + /* return; */ + + win_w = glutGet( GLUT_WINDOW_WIDTH ); + win_h = glutGet( GLUT_WINDOW_HEIGHT ); + + /*** Check here if the window needs resizing ***/ + if ( win_w != main_panel->w OR win_h != main_panel->h ) { + glutReshapeWindow( main_panel->w, main_panel->h ); + return; + } + + set_ortho_projection(); + + glMatrixMode( GL_MODELVIEW ); + glLoadIdentity(); + + /*** Rotate image so y increases upwards, contrary to OpenGL axes ***/ + glTranslatef( (float) win_w/2.0, (float) win_h/2.0, 0.0 ); + glRotatef( 180.0, 0.0, 1.0, 0.0 ); + glRotatef( 180.0, 0.0, 0.0, 1.0 ); + glTranslatef( (float) -win_w/2.0, (float) -win_h/2.0, 0.0 ); + + /* glDrawBuffer( GL_BACK ); // Is there ever a need to draw to back buffer?? */ + + // main_panel->draw_bkgd_box( 0, 0, win_w, win_h ); + main_panel->draw_recursive( 0, 0 ); + + /*glutSwapBuffers(); //performs flush also */ + finish_drawing(); +} + + + + +/*************************************** _glutBitmapWidthString() **********/ + +int _glutBitmapWidthString( void *font, char *s ) +{ + char *p = s; + int width = 0; + + while( *p != '\0' ) { + width += glutBitmapWidth( font, *p ); + p++; + } + + return width; +} + +/************************************ _glutBitmapString *********************/ +/* Displays the contents of a string using GLUT's bitmap character function */ +/* Does not handle newlines */ + +void _glutBitmapString( void *font, const char *s ) +{ + const char *p = s; + + while( *p != '\0' ) { + glutBitmapCharacter( font, *p ); + p++; + } +} + + + +/****************************** GLUI_Main::reshape() **************/ + +void GLUI_Main::reshape( int reshape_w, int reshape_h ) +{ + int new_w, new_h; + + pack_controls(); + + new_w = main_panel->w;/* + 1; */ + new_h = main_panel->h;/* + 1; */ + + if ( reshape_w != new_w OR reshape_h != new_h ) { + this->w = new_w; + this->h = new_h; + + glutReshapeWindow( new_w, new_h ); + } + else { + } + + if ( TEST_AND( this->flags, GLUI_SUBWINDOW ) ) { + check_subwindow_position(); + + /***** if ( TEST_AND(this->flags,GLUI_SUBWINDOW_LEFT )) { + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_LEFT )) { + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_LEFT )) { + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_RIGHT )) { + } + ****/ + } + + glViewport( 0, 0, new_w, new_h ); + + // printf( "%d: %d\n", glutGetWindow(), this->flags ); + + //@@@ + glutPostRedisplay(); +} + + +/****************************** GLUI_Main::keyboard() **************/ + +void GLUI_Main::keyboard(unsigned char key, int x, int y) +{ + GLUI_Control *new_control; + + curr_modifiers = glutGetModifiers(); + + /*** If it's a tab or shift tab, we don't pass it on to the controls. + Instead, we use it to cycle through active controls ***/ + if ( key == '\t' AND mouse_button_down == false ) { + if ( curr_modifiers & GLUT_ACTIVE_SHIFT ) { + new_control = find_prev_control( active_control ); + } + else { + new_control = find_next_control( active_control ); + } + + /* if ( new_control ) + printf( "new_control: %s\n", new_control->name ); + */ + + disactivate_current_control(); + activate_control( new_control, GLUI_ACTIVATE_TAB ); + } + else if ( key == ' ' AND active_control + AND active_control->spacebar_mouse_click == true ) { + /*** If the user presses the spacebar, and a non-edittext control + is active, we send it a mouse down event followed by a mouse up + event (simulated mouse-click) ***/ + + active_control->mouse_down_handler( 0, 0 ); + active_control->mouse_up_handler( 0, 0, true ); + } else { + /*** Pass the keystroke onto the active control, if any ***/ + if ( active_control != NULL ) + active_control->key_handler( key, curr_modifiers ); + } +} + + +/****************************** GLUI_Main::special() **************/ + +void GLUI_Main::special(int key, int x, int y) +{ + curr_modifiers = glutGetModifiers(); + + /*** Pass the keystroke onto the active control, if any ***/ + if ( active_control != NULL ) { + active_control->special_handler( key, glutGetModifiers() ); + } +} + + +/*********************** GLUI_Master_Object::set_glutMouseFunc() **********/ + +void GLUI_Main::set_glutMouseFunc(void (*f)(int button, int state, + int x, int y)) +{ + glut_mouse_CB = f; +// glutMouseFunc( glui_mouse_func ); +// add_cb_to_glut_window( glutGetWindow(), GLUI_GLUT_MOUSE, (void*) f); +} + +/****************************** GLUI_Main::mouse() **************/ + +void GLUI_Main::mouse(int button, int state, int x, int y) +{ + int callthrough; + GLUI_Control *control; + + /* printf( "MOUSE: %d %d\n", button, state ); */ + + callthrough = true; + + curr_modifiers = glutGetModifiers(); + + if ( button == GLUT_LEFT ) { + control = find_control( x, y ); + + /*if ( control ) printf( "control: %s\n", control->name.string ); */ + + if ( mouse_button_down AND active_control != NULL AND + state == GLUT_UP ) { + /** We just released the mouse, which was depressed at some + control **/ + + callthrough = active_control-> + mouse_up_handler( x, y, control==active_control); + glutSetCursor( GLUT_CURSOR_LEFT_ARROW ); + + if ( active_control AND + active_control->active_type == + GLUI_CONTROL_ACTIVE_MOUSEDOWN AND 0){ + /*** This is a control that needs to be disactivated when the + mouse button is released ****/ + disactivate_current_control(); + } + } + else { + if ( control ) { + if ( NOT mouse_button_down AND state == GLUT_DOWN ) { + /*** We just pressed the mouse down at some control ***/ + + if ( active_control != control ) { + if ( active_control != NULL ) { + /** There is an active control still - disactivate it ***/ + disactivate_current_control(); + } + } + + if ( control->enabled ) { + activate_control( control, GLUI_ACTIVATE_MOUSE ); + callthrough = control->mouse_down_handler( x, y ); + } + } + } + } + + if ( state == GLUT_DOWN ) + mouse_button_down = true; + else if ( state == GLUT_UP ) + mouse_button_down = false; + } + + /** + NO CALLTHROUGH NEEDED FOR MOUSE EVENTS + if ( callthrough AND glut_mouse_CB ) + glut_mouse_CB( button, state, x, y ); + **/ + if ( glut_mouse_CB ) + glut_mouse_CB( button, state, x, y ); + + callthrough=callthrough; /* To get rid of compiler warnings */ +} + + +/****************************** GLUI_Main::motion() **************/ + +void GLUI_Main::motion(int x, int y) +{ + int callthrough; + GLUI_Control *control; + + /* printf( "MOTION: %d %d\n", x, y ); */ + + callthrough = true; + + control = find_control(x,y); + + if ( mouse_button_down AND active_control != NULL ) { + callthrough = + active_control->mouse_held_down_handler(x,y,control==active_control); + } + + /** + NO CALLTHROUGH NEEDED FOR MOUSE EVENTS + + if ( callthrough AND glut_motion_CB ) + glut_motion_CB(x,y); + **/ + + callthrough=callthrough; /* To get rid of compiler warnings */ +} + + +/*********************** GLUI_Main::passive_motion() **************/ + +void GLUI_Main::passive_motion(int x, int y) +{ + GLUI_Control *control; + + control = find_control( x, y ); + + /* printf( "%p %p\n", control, mouse_over_control ); */ + + if ( control != mouse_over_control ) { + if ( mouse_over_control ) { + mouse_over_control->mouse_over( false, x, y ); + } + + if ( control ) { + control->mouse_over( true, x, y ); + mouse_over_control = control; + } + } + + /* + if ( curr_cursor != GLUT_CURSOR_INHERIT ) { + curr_cursor = GLUT_CURSOR_INHERIT; + glutSetCursor( GLUT_CURSOR_INHERIT ); + }*/ + +} + + +/****************************** GLUI_Main::entry() **************/ + +void GLUI_Main::entry(int state) +{ + /*if ( NOT active_control OR ( active_control AND ( active_control->type == GLUI_CONTROL_EDITTEXT + OR active_control->type == GLUI_CONTROL_SPINNER) ) )*/ + glutSetCursor( GLUT_CURSOR_LEFT_ARROW ); +} + + +/****************************** GLUI_Main::visibility() **************/ + +void GLUI_Main::visibility(int state) +{ +} + + +/****************************** GLUI_Main::idle() **************/ + +void GLUI_Main::idle(void) +{ + /*** Pass the idle event onto the active control, if any ***/ + + /* printf( "IDLE \t" ); */ + + if ( active_control != NULL ) { + /* First we check if the control actually needs the idle right now. + Otherwise, let's avoid wasting cycles and OpenGL context switching */ + + if ( active_control->needs_idle() ) { + /*** Set the current glut window to the glui window */ + /*** But don't change the window if we're already at that window ***/ + + if ( glut_window_id > 0 AND glutGetWindow() != glut_window_id ) { + glutSetWindow( glut_window_id ); + } + + active_control->idle(); + } + } +} + + +/******************************************* GLUI_Main::find_control() ******/ + +GLUI_Control *GLUI_Main::find_control( int x, int y ) +{ + GLUI_Control *node, *last_container; + + last_container = NULL; + + node = main_panel; + while( node != NULL ) { + if ( node->type != GLUI_CONTROL_COLUMN AND + PT_IN_BOX( x, y, + node->x_abs, node->x_abs + node->w, + node->y_abs, node->y_abs + node->h ) ) { + /*** Point is inside current node ***/ + + if ( node->first_child() == NULL ) { + /*** SPECIAL CASE: for edittext boxes, we make sure click is + in box, and not on name string. This should be generalized + for all controls later... ***/ + if ( node->type == GLUI_CONTROL_EDITTEXT ) { + if ( x < node->x_abs + ((GLUI_EditText*)node)->text_x_offset ) + return (GLUI_Control*) node->parent(); + } + + return node; /* point is inside this node, and node has no children, + so return this node as the selected node */ + } + else { + /*** This is a container class ***/ + last_container = node; + node = (GLUI_Control*) node->first_child(); /* Descend into child */ + } + + } + else { + node = (GLUI_Control*) node->next(); + } + } + + /** No leaf-level nodes found to accept the mouse click, so + return the last container control found which DOES accept the click **/ + + if ( last_container ) { + /* printf( "ctrl: '%s'\n", last_container->name ); */ + + return last_container; + } + else { + return NULL; + } +} + + +/************************************* GLUI_Main::pack_controls() ***********/ + +void GLUI_Main::pack_controls( void ) +{ + main_panel->pack(0,0); + + /**** Now align controls within their bounds ****/ + align_controls( main_panel ); + + /*** If this is a subwindow, expand panel to fit parent window ***/ + if ( TEST_AND( this->flags, GLUI_SUBWINDOW ) ) { + int parent_h, parent_w; + int orig_window; + + orig_window = glutGetWindow(); + glutSetWindow( this->top_level_glut_window_id ); + parent_h = glutGet( GLUT_WINDOW_HEIGHT ); + parent_w = glutGet( GLUT_WINDOW_WIDTH ); + + glutSetWindow( orig_window ); + + /* printf( "%d %d\n", parent_h, parent_w ); */ + + if ( 1 ) { + if ( TEST_AND(this->flags,GLUI_SUBWINDOW_TOP )) { + main_panel->w = MAX( main_panel->w, parent_w ); + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_LEFT )) { + main_panel->h = MAX( main_panel->h, parent_h ); + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_BOTTOM )) { + main_panel->w = MAX( main_panel->w, parent_w ); + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_RIGHT )) { + main_panel->h = MAX( main_panel->h, parent_h ); + } + } + } + + this->w = main_panel->w; + this->h = main_panel->h; +} + + +/************************************ GLUI_Main::align_controls() **********/ + +void GLUI_Main::align_controls( GLUI_Control *control ) +{ + GLUI_Control *child; + + control->align(); + + child = (GLUI_Control*) control->first_child(); + + while( child != NULL ) { + align_controls( child ); + + child = (GLUI_Control*)child->next(); + } +} + + + +/*********************************** GLUI::set_main_gfx_window() ************/ + +void GLUI::set_main_gfx_window( int window_id ) +{ + main_gfx_window_id = window_id; +} + + +/********************************* GLUI_Main::post_update_main_gfx() ********/ + +void GLUI_Main::post_update_main_gfx( void ) +{ + int old_window; + + if ( main_gfx_window_id > 0 ) { + old_window = glutGetWindow(); + glutSetWindow( main_gfx_window_id ); + glutPostRedisplay(); + if( old_window > 0 ) + glutSetWindow( old_window ); + } +} + + +/********************************* GLUI_Main::set_front_draw_buffer() ********/ + +int GLUI_Main::set_front_draw_buffer( void ) +{ + GLint state; + + glGetIntegerv( GL_DRAW_BUFFER, &state ); + + glDrawBuffer( GL_FRONT ); + + return (int)state; +} + + +/********************************* GLUI_Main::restore_draw_buffer() **********/ + +void GLUI_Main::restore_draw_buffer( int buffer_state ) +{ + glDrawBuffer( buffer_state ); +} + + +/******************************************** GLUI_Main::GLUI_Main() ********/ + +GLUI_Main::GLUI_Main( void ) +{ + mouse_button_down = false; + w = 0; + h = 0; + active_control = NULL; + mouse_over_control = NULL; + main_gfx_window_id = -1; + glut_window_id = -1; + curr_modifiers = 0; + closing = false; + parent_window = -1; + glui_id = GLUI_Master.glui_id_counter; + GLUI_Master.glui_id_counter++; + + font = GLUT_BITMAP_HELVETICA_12; + curr_cursor = GLUT_CURSOR_LEFT_ARROW; + + bkgd_color.set( 200, 200, 200 ); + bkgd_color_f[0] = 200.0 / 255.0; + bkgd_color_f[1] = 200.0 / 255.0; + bkgd_color_f[2] = 200.0 / 255.0; + + /*** Create the main panel ***/ + main_panel = new GLUI_Panel; + main_panel->set_int_val( GLUI_PANEL_NONE ); + main_panel->glui = (GLUI*) this; + main_panel->name = "\0"; + glut_mouse_CB = NULL; +} + +/************************************ GLUI_Main::draw_raised_box() **********/ + +void GLUI_Main::draw_raised_box( int x, int y, int w, int h ) +{ + w = w+x; + h = h+y; + + glColor3ub( bkgd_color.r, bkgd_color.g, bkgd_color.b ); + glBegin( GL_LINE_LOOP ); + glVertex2i( x+1, y+1 ); glVertex2i( w-1, y+1 ); + glVertex2i( w-1, h-1 ); glVertex2i( x+1, h-1 ); + glEnd(); + + glColor3d( 1.0, 1.0, 1.0 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( x, h ); glVertex2i( x, y ); glVertex2i( w, y ); + glEnd(); + + glColor3d( 0.0, 0.0, 0.0 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( w, y ); glVertex2i( w, h ); glVertex2i( x, h ); + glEnd(); + + glColor3d( .5, .5, .5 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( w-1, y+1 ); glVertex2i( w-1, h-1 ); glVertex2i( x+1, h-1 ); + glEnd(); +} + + +/************************************ GLUI_Main::draw_lowered_box() **********/ +/* Not quite perfect... **/ + +void GLUI_Main::draw_lowered_box( int x, int y, int w, int h ) +{ + w = w+x; + h = h+y; + + glColor3ub( bkgd_color.r, bkgd_color.g, bkgd_color.b ); + glBegin( GL_LINE_LOOP ); + glVertex2i( x+1, y+1 ); glVertex2i( w-1, y+1 ); + glVertex2i( w-1, h-1 ); glVertex2i( x+1, h-1 ); + glEnd(); + + glColor3d( 0.0, 0.0, 0.0 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( x, h ); glVertex2i( x, y ); glVertex2i( w, y ); + glEnd(); + + glColor3d( 1.0, 1.0, 1.0 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( w, y ); glVertex2i( w, h ); glVertex2i( x, h ); + glEnd(); + + glColor3d( .5, .5, .5 ); + glBegin( GL_LINE_STRIP ); + glVertex2i( w-1, y+1 ); glVertex2i( w-1, h-1 ); glVertex2i( x+1, h-1 ); + glEnd(); +} + + +/************************************* GLUI_Main::activate_control() *********/ + +void GLUI_Main::activate_control( GLUI_Control *control, int how ) +{ + /** Are we not activating a control in the same window as the + previous active control? */ + if ( GLUI_Master.active_control_glui AND + this != (GLUI_Main*) GLUI_Master.active_control_glui ) { + GLUI_Master.active_control_glui->disactivate_current_control(); + } + + /******* Now activate it *****/ + if ( control != NULL AND control->can_activate AND control->enabled ) { + active_control = control; + + control->activate(how); + + /*if ( NOT active_control->is_container OR */ + /* active_control->type == GLUI_CONTROL_ROLLOUT) { */ + active_control->translate_and_draw_front(); + /*} */ + } + else { + active_control = NULL; + } + + /* printf( "activate: %d\n", glutGetWindow() ); */ + GLUI_Master.active_control = active_control; + GLUI_Master.active_control_glui = (GLUI*) this; +} + + +/************************* GLUI_Main::disactivate_current_control() **********/ + +void GLUI_Main::disactivate_current_control( void ) +{ + int orig; + + if ( active_control != NULL ) { + orig = active_control->set_to_glut_window(); + + active_control->disactivate(); + + /** If this isn't a container control, then redraw it in its + disactivated state. Container controls, such as panels, look + the same activated or not **/ + + /*if ( NOT active_control->is_container OR */ + /* active_control->type == GLUI_CONTROL_ROLLOUT ) { */ + active_control->translate_and_draw_front(); + /*} */ + + active_control->restore_window( orig ); + + active_control = NULL; + } + + /* printf( "disactivate: %d\n", glutGetWindow() ); */ + GLUI_Master.active_control = NULL; + GLUI_Master.active_control_glui = NULL; +} + + +/****************************** GLUI_Main::find_next_control() **************/ + +GLUI_Control *GLUI_Main::find_next_control_( GLUI_Control *control ) +{ + /*** THIS IS NOT find_next_control()! This is an unused older + version (look at the underscore at the end) ***/ + + if ( control == NULL ) + return find_next_control_rec( main_panel ); + else + return find_next_control_rec( control ); +} + +/****************************** GLUI_Main::find_next_control() **************/ + +GLUI_Control *GLUI_Main::find_next_control_rec( GLUI_Control *control ) +{ + GLUI_Control *child = NULL, *rec_control, *sibling; + + /*** Recursively investigate children ***/ + child = (GLUI_Control*) control->first_child(); + if ( child ) { + /*** If we can activate the first child, then do so ***/ + if ( child->can_activate AND child->enabled ) + return child; + else /*** Recurse into first child ***/ + rec_control = find_next_control_rec( child ); + + if ( rec_control ) + return rec_control; + } + + /*** At this point, either we don't have children, or the child cannot + be activated. So let's try the next sibling ***/ + + sibling = (GLUI_Control*) control->next(); + if ( sibling ) { + if ( sibling->can_activate AND sibling->enabled ) + return sibling; + else /*** Recurse into sibling ***/ + rec_control = find_next_control_rec( sibling ); + + if ( rec_control ) + return rec_control; + } + + return NULL; +} + + +/****************************** GLUI_Main::find_next_control() **************/ + +GLUI_Control *GLUI_Main::find_next_control( GLUI_Control *control ) +{ + GLUI_Control *tmp_control = NULL; + int back_up; + + if ( control == NULL ) + control = main_panel; + + while( control != NULL ) { + /** see if this control has a child **/ + tmp_control = (GLUI_Control*) control->first_child(); + + if ( tmp_control != NULL ) { + if ( tmp_control->can_activate AND tmp_control->enabled ) + return tmp_control; + + control = tmp_control; /* Descend into child */ + continue; + } + + /*** At this point, control has no children ***/ + + /** see if this control has a next sibling **/ + tmp_control = (GLUI_Control*) control->next(); + + if ( tmp_control != NULL ) { + if ( tmp_control->can_activate AND tmp_control->enabled ) + return tmp_control; + + control = tmp_control; + continue; + } + + /** back up until we find a sibling of an ancestor **/ + back_up = true; + while ( control->parent() AND back_up ) { + control = (GLUI_Control*) control->parent(); + + if ( control->next() ) { + control = (GLUI_Control*) control->next(); + if ( control->can_activate AND control->enabled ) + return control; + else + back_up = false; + + /*** if ( control->is_container ) { + tmp_control = control; + control = NULL; + break; + } + else { + back_up = false; + } + ***/ + } + } + + /** Check if we've cycled back to the top... if so, return NULL **/ + if ( control == main_panel ) { + return NULL; + } + } + /* + if ( tmp_control != NULL AND tmp_control->can_activate AND + tmp_control->enabled ) { + return tmp_control; + }*/ + + return NULL; +} + + +/****************************** GLUI_Main::find_prev_control() **************/ + +GLUI_Control *GLUI_Main::find_prev_control( GLUI_Control *control ) +{ + GLUI_Control *tmp_control, *next_control; + + if ( control == NULL ) { /* here we find the last valid control */ + next_control = main_panel; + + do { + tmp_control = next_control; + next_control = find_next_control( tmp_control ); + } while( next_control != NULL ); + + return tmp_control; + } + else { /* here we find the actual previous control */ + next_control = main_panel; + + do { + tmp_control = next_control; + next_control = find_next_control( tmp_control ); + } while( next_control != NULL AND next_control != control ); + + if ( next_control == NULL OR tmp_control == main_panel ) + return NULL; + else + return tmp_control; + } +} + +/************************* GLUI_Master_Object::set_glutIdleFunc() ***********/ + +void GLUI_Master_Object::set_glutIdleFunc(void (*f)(void)) +{ + glut_idle_CB = f; + glutIdleFunc( glui_idle_func ); +} + + +/**************************************** GLUI::disable() ********************/ + +void GLUI::disable( void ) +{ + disactivate_current_control(); + main_panel->disable(); +} + + +/******************************************** GLUI::sync_live() **************/ + +void GLUI::sync_live( void ) +{ + main_panel->sync_live(true, true); +} + + +/********************************* GLUI_Master_Object::sync_live_all() *****/ + +void GLUI_Master_Object::sync_live_all( void ) +{ + GLUI *glui; + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + + glui->sync_live(); /** sync it **/ + + glui = (GLUI*) glui->next(); + } +} + + +/************************************* GLUI_Master_Object::close() **********/ + +void GLUI_Master_Object::close_all( void ) +{ + GLUI *glui; + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + + glui->close(); /** Set flag to close **/ + + glui = (GLUI*) glui->next(); + } +} + + +/************************************* GLUI_Main::close_internal() **********/ + +void GLUI_Main::close_internal( void ) +{ + glutDestroyWindow(glutGetWindow()); /** Close this window **/ + + this->unlink(); + + if ( GLUI_Master.active_control_glui == this ) { + GLUI_Master.active_control = NULL; + GLUI_Master.active_control_glui = NULL; + } + + if ( parent_window != -1 ) { + glutSetWindow( parent_window ); + int win_w = glutGet( GLUT_WINDOW_WIDTH ); + int win_h = glutGet( GLUT_WINDOW_HEIGHT ); + glutReshapeWindow(win_w+1, win_h); + glutReshapeWindow(win_w-1, win_h); + } + + delete this->main_panel; + + delete this; +} + + +/************************************************** GLUI::close() **********/ + +void GLUI::close( void ) +{ + int old_glut_window; + + closing = true; + + old_glut_window = glutGetWindow(); + glutSetWindow( get_glut_window_id() ); + glutPostRedisplay(); + + glutSetWindow( old_glut_window ); +} + + +/************************** GLUI_Main::check_subwindow_position() **********/ + +void GLUI_Main::check_subwindow_position( void ) +{ + /*** Reposition this window if subwindow ***/ + if ( TEST_AND( this->flags, GLUI_SUBWINDOW ) ) { + + int parent_w, parent_h, new_x, new_y; + int old_window = glutGetWindow(); + + glutSetWindow( glut_window_id ); + + glutSetWindow( glutGet( GLUT_WINDOW_PARENT )); + parent_w = glutGet( GLUT_WINDOW_WIDTH ); + parent_h = glutGet( GLUT_WINDOW_HEIGHT ); + + glutSetWindow( glut_window_id ); + + if ( TEST_AND(this->flags,GLUI_SUBWINDOW_RIGHT )) { + new_x = parent_w - this->w; + new_y = 0; + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_LEFT )) { + new_x = 0; + new_y = 0; + } + else if ( TEST_AND(this->flags,GLUI_SUBWINDOW_BOTTOM )) { + new_x = 0; + new_y = parent_h - this->h; + } + else { /*** GLUI_SUBWINDOW_TOP ***/ + new_x = 0; + new_y = 0; + } + + /** Now make adjustments based on presence of other subwindows **/ + GLUI *curr_glui; + curr_glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( curr_glui ) { + if ( TEST_AND( curr_glui->flags, GLUI_SUBWINDOW) AND + curr_glui->parent_window == this->parent_window ) { + + if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_LEFT ) ) { + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_BOTTOM ) ) { + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_RIGHT ) ) { + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_TOP ) AND + ( TEST_AND( this->flags,GLUI_SUBWINDOW_LEFT ) OR + TEST_AND( this->flags,GLUI_SUBWINDOW_RIGHT ) ) ) { + /** If we are a RIGHT or LEFT subwindow, and there exists some + TOP subwindow, bump our position down **/ + + new_y += curr_glui->h; + } + + /** CHeck multiple subwins at same position **/ + /** We check the glui_id's: only the glui with the higher + ID number (meaning it was created later) gets bumped over **/ + if ( curr_glui != this AND this->glui_id > curr_glui->glui_id ) { + if ( TEST_AND( this->flags,GLUI_SUBWINDOW_LEFT ) AND + TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_LEFT ) ) { + new_x += curr_glui->w; + } + else if ( TEST_AND( this->flags,GLUI_SUBWINDOW_TOP ) AND + TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_TOP ) ) { + new_y += curr_glui->h; + } + else if ( TEST_AND( this->flags,GLUI_SUBWINDOW_BOTTOM ) AND + TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_BOTTOM ) ) { + new_y -= curr_glui->h; + } + else if ( TEST_AND( this->flags,GLUI_SUBWINDOW_RIGHT ) AND + TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_RIGHT ) ) { + new_x -= curr_glui->w; + } + + } + } + + curr_glui = (GLUI*) curr_glui->next(); + } + + + + CLAMP( new_x, 0, new_x ); + CLAMP( new_y, 0, new_y ); + + glutPositionWindow( new_x, new_y ); + /* glutPostRedisplay(); */ + + glutSetWindow( old_window ); + } +} + + +/********************************* GLUI_Master_Object::reshape() **********/ +/* This gets called by the user from a GLUT reshape callback. So we look */ +/* for subwindows that belong to the current window */ + +void GLUI_Master_Object::reshape( void ) +{ + GLUI *glui; + int current_window; + + current_window = glutGetWindow(); + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glutSetWindow( glui->get_glut_window_id()); + glui->check_subwindow_position(); + } + + glui = (GLUI*) glui->next(); + } + + glutSetWindow(current_window); +} + + +/**************************** GLUI_Master_Object::set_glutReshapeFunc() *****/ + +void GLUI_Master_Object::set_glutReshapeFunc(void (*f)(int width, int height)) +{ + glutReshapeFunc( glui_reshape_func ); + add_cb_to_glut_window( glutGetWindow(), GLUI_GLUT_RESHAPE, (void*) f); +} + + +/**************************** GLUI_Master_Object::set_glutKeyboardFunc() ****/ + +void GLUI_Master_Object::set_glutKeyboardFunc(void (*f)(unsigned char key, + int x, int y)) +{ + show_glut_keyboard_CB = f; + // glutKeyboardFunc( glui_keyboard_func ); + // add_cb_to_glut_window( glutGetWindow(), GLUI_GLUT_KEYBOARD, (void*) f); +} + + +/*********************** GLUI_Master_Object::set_glutSpecialFunc() **********/ + +void GLUI_Master_Object::set_glutSpecialFunc(void (*f)(int key, + int x, int y)) +{ + show_glut_special_CB = f; + // glutSpecialFunc( glui_special_func ); + // add_cb_to_glut_window( glutGetWindow(), GLUI_GLUT_SPECIAL, (void*) f); +} + + +/*********************** GLUI_Master_Object::set_glutMouseFunc() **********/ + +void GLUI_Master_Object::set_glutMouseFunc(void (*f)(int button, int state, + int x, int y)) +{ + glutMouseFunc( glui_mouse_func ); + add_cb_to_glut_window( glutGetWindow(), GLUI_GLUT_MOUSE, (void*) f); +} + + +/****************************** glui_parent_window_reshape_func() **********/ +/* This is the reshape callback for a window that contains subwindows */ + +void glui_parent_window_reshape_func( int w, int h ) +{ + int current_window; + GLUI *glui; + int first = true; + + /* printf( "glui_parent_window_reshape_func: %d\n", glutGetWindow() ); */ + + current_window = glutGetWindow(); + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glutSetWindow( glui->get_glut_window_id()); + glui->check_subwindow_position(); + glutSetWindow( current_window ); + + if ( first ) { + glui->glut_reshape_CB( w, h ); + + first = false; + } + } + + glui = (GLUI*) glui->next(); + } +} + + +/****************************** glui_parent_window_keyboard_func() **********/ + +void glui_parent_window_keyboard_func(unsigned char key, int x, int y) +{ + /* printf( "glui_parent_window_keyboard_func: %d\n", glutGetWindow() ); */ + + int current_window; + GLUI *glui; + + current_window = glutGetWindow(); + + if ( GLUI_Master.active_control_glui AND GLUI_Master.active_control ) { + glutSetWindow( GLUI_Master.active_control_glui->get_glut_window_id() ); + + GLUI_Master.active_control_glui->keyboard(key,x,y); + + glutSetWindow( current_window ); + } + else { + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glui->glut_keyboard_CB( key, x, y ); + break; + } + + glui = (GLUI*) glui->next(); + } + } +} + + +/****************************** glui_parent_window_special_func() **********/ + +void glui_parent_window_special_func(int key, int x, int y) +{ + /*printf( "glui_parent_window_special_func: %d\n", glutGetWindow() ); */ + + int current_window; + GLUI *glui; + + /** If clicking in the main area of a window w/subwindows, + disactivate any current control **/ + if ( GLUI_Master.active_control_glui != NULL ) + GLUI_Master.active_control_glui->disactivate_current_control(); + + /*** Now pass on the mouse event ***/ + + current_window = glutGetWindow(); + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glutSetWindow( glui->get_glut_window_id()); + glui->glut_special_CB( key, x, y ); + break; + } + + glui = (GLUI*) glui->next(); + } +} + + +/****************************** glui_parent_window_mouse_func() **********/ + +void glui_parent_window_mouse_func(int button, int state, int x, int y) +{ + int current_window; + GLUI *glui; + + /** If clicking in the main area of a window w/subwindows, + disactivate any current control **/ + if ( GLUI_Master.active_control_glui != NULL ) + GLUI_Master.active_control_glui->disactivate_current_control(); + + + /*** Now pass on the mouse event ***/ + + current_window = glutGetWindow(); + + glui = (GLUI*) GLUI_Master.gluis.first_child(); + while( glui ) { + if ( TEST_AND( glui->flags, GLUI_SUBWINDOW) AND + glui->parent_window == current_window ) { + glutSetWindow( glui->get_glut_window_id()); + glui->glut_mouse_CB( button, state, x, y ); + break; + } + + glui = (GLUI*) glui->next(); + } + +} + + +/************************** GLUI_Master_Object::find_glut_window() **********/ + +GLUI_Glut_Window *GLUI_Master_Object::find_glut_window( int window_id ) +{ + GLUI_Glut_Window *window; + + window = (GLUI_Glut_Window*) glut_windows.first_child(); + while( window ) { + if ( window->glut_window_id == window_id ) + return window; + + window = (GLUI_Glut_Window*) window->next(); + } + + /*** Window not found - return NULL ***/ + return NULL; +} + + +/******************** GLUI_Master_Object::add_cb_to_glut_window() **********/ + +void GLUI_Master_Object::add_cb_to_glut_window(int window_id, + int cb_type,void *cb) +{ + GLUI_Glut_Window *window; + + window = find_glut_window( window_id ); + if ( NOT window ) { + /*** Allocate new window structure ***/ + + window = new GLUI_Glut_Window; + window->glut_window_id = window_id; + window->link_this_to_parent_last( (GLUI_Node*) &this->glut_windows ); + } + + switch( cb_type ) { + case GLUI_GLUT_RESHAPE: + window->glut_reshape_CB = (void(*)(int,int)) cb; + break; + case GLUI_GLUT_DISPLAY: + window->glut_display_CB = (void(*)()) cb; + break; + case GLUI_GLUT_KEYBOARD: + window->glut_keyboard_CB = (void(*)(unsigned char,int,int)) cb; + break; + case GLUI_GLUT_SPECIAL: + window->glut_special_CB = (void(*)(int,int,int)) cb; + break; + case GLUI_GLUT_MOUSE: + window->glut_mouse_CB = (void(*)(int,int,int,int)) cb; + break; + case GLUI_GLUT_MOTION: + window->glut_motion_CB = (void(*)(int,int)) cb; + break; + case GLUI_GLUT_PASSIVE_MOTION: + window->glut_passive_motion_CB = (void(*)(int,int)) cb; + break; + case GLUI_GLUT_ENTRY: + window->glut_entry_CB = (void(*)(int)) cb; + break; + case GLUI_GLUT_VISIBILITY: + window->glut_visibility_CB= (void(*)(int)) cb; + break; + } +} + + +/************* GLUI_Master_Object::set_left_button_glut_menu_control() *****/ + +void GLUI_Master_Object::set_left_button_glut_menu_control( + GLUI_Control *control ) +{ + curr_left_button_glut_menu = control; +} + + +/******************************* GLUI_Main::set_ortho_projection() **********/ + +void GLUI_Main::set_ortho_projection( void ) +{ + int win_h, win_w; + + win_w = glutGet( GLUT_WINDOW_WIDTH ); + win_h = glutGet( GLUT_WINDOW_HEIGHT ); + + glMatrixMode( GL_PROJECTION ); + glLoadIdentity(); + /* gluOrtho2D( 0.0, (float) win_w, 0.0, (float) win_h ); */ + glOrtho( 0.0, (float)win_w, 0.0, (float) win_h, -1000.0, 1000.0 ); + + glMatrixMode( GL_MODELVIEW ); + + return; /****-----------------------------------------------***/ + + glMatrixMode( GL_MODELVIEW ); + glLoadIdentity(); + + /*** Rotate image so y increases upwards, contrary to OpenGL axes ***/ + glTranslatef( (float) win_w/2.0, (float) win_h/2.0, 0.0 ); + glRotatef( 180.0, 0.0, 1.0, 0.0 ); + glRotatef( 180.0, 0.0, 0.0, 1.0 ); + glTranslatef( (float) -win_w/2.0, (float) -win_h/2.0, 0.0 ); +} + + +/******************************* GLUI_Main::set_viewport() **********/ + +void GLUI_Main::set_viewport( void ) +{ + glViewport( 0, 0, main_panel->w, main_panel->h ); +} + + +/****************************** GLUI_Main::refresh() ****************/ + +void GLUI_Main::refresh( void ) +{ + int orig; + int new_w, new_h; + + /****** GLUI_Glut_Window *glut_window; + int current_window; + current_window = glutGetWindow(); + glut_window = GLUI_Master.find_glut_window( current_window ); + if ( glut_window ) { + glut_window->glut_reshape_CB(w,h); + ******/ + + orig = glutGetWindow(); + + pack_controls(); + + if ( TEST_AND( this->flags, GLUI_SUBWINDOW ) ) { + /*** GLUI subwindow ***/ + + check_subwindow_position(); + + if ( glut_window_id > 0 ) + glutSetWindow( glut_window_id ); + glutPostRedisplay(); + + /* printf( "top_level: %d\n", top_level_glut_window_id );*/ + glutSetWindow( top_level_glut_window_id ); + } + else { + /*** Standalone GLUI window ***/ + + if ( glut_window_id > 0 ) + glutSetWindow( glut_window_id ); + + new_h = glutGet( GLUT_WINDOW_HEIGHT ); + new_w = glutGet( GLUT_WINDOW_WIDTH ); + + new_h = this->h; + new_w = this->w; + + glutReshapeWindow( new_w, new_h ); + + glutPostRedisplay(); + } + + glutSetWindow( orig); +} + + + +/***************** GLUI_Master_Object::get_main_gfx_viewport() ***********/ + +void GLUI_Master_Object::get_viewport_area( int *x, int *y, + int *w, int *h ) +{ + GLUI *curr_glui; + int curr_x, curr_y, curr_w, curr_h; + int curr_window; + + curr_window = glutGetWindow(); + curr_x = 0; + curr_y = 0; + curr_w = glutGet( GLUT_WINDOW_WIDTH ); + curr_h = glutGet( GLUT_WINDOW_HEIGHT ); + + curr_glui = (GLUI*) gluis.first_child(); + while( curr_glui ) { + if ( TEST_AND( curr_glui->flags, GLUI_SUBWINDOW) AND + curr_glui->parent_window == curr_window ) { + + /* printf( "%s -> %d %d %d\n", curr_glui->window_name.string, curr_glui->flags, + curr_glui->w, curr_glui->h );*/ + + if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_LEFT ) ) { + curr_x += curr_glui->w; + curr_w -= curr_glui->w; + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_BOTTOM ) ) { + curr_y += curr_glui->h; + curr_h -= curr_glui->h; + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_RIGHT ) ) { + curr_w -= curr_glui->w; + } + else if ( TEST_AND( curr_glui->flags,GLUI_SUBWINDOW_TOP ) ) { + curr_h -= curr_glui->h; + } + } + + curr_glui = (GLUI*) curr_glui->next(); + } + + curr_x = MAX( 0, curr_x ); + curr_y = MAX( 0, curr_y ); + curr_w = MAX( 0, curr_w ); + curr_h = MAX( 0, curr_h ); + + *x = curr_x; + *y = curr_y; + *w = curr_w; + *h = curr_h; +} + + +/*****************GLUI_Master_Object::auto_set_main_gfx_viewport() **********/ + +void GLUI_Master_Object::auto_set_viewport( void ) +{ + int x, y, w, h; + + get_viewport_area( &x, &y, &w, &h ); + glViewport( MAX(x,0), MAX(y,0), MAX(w,0), MAX(h,0) ); +} + + + +/***************************************** GLUI::show() **********************/ + +void GLUI::show( void ) +{ + int orig_window; + + orig_window = main_panel->set_to_glut_window(); + + glutShowWindow(); + + main_panel->restore_window(orig_window); +} + + + +/***************************************** GLUI::hide() **********************/ + +void GLUI::hide( void ) +{ + int orig_window; + + this->disactivate_current_control(); + + orig_window = main_panel->set_to_glut_window(); + + glutHideWindow(); + + main_panel->restore_window(orig_window); +} diff --git a/3rdparty/glui/glui.h b/3rdparty/glui/glui.h new file mode 100644 index 0000000..864ee0d --- /dev/null +++ b/3rdparty/glui/glui.h @@ -0,0 +1,1701 @@ +/**************************************************************************** + + GLUI User Interface Toolkit + --------------------------- + + glui.h - Main header for GLUI User Interface Toolkit + + + -------------------------------------------------- + + Copyright (c) 1998 Paul Rademacher + + This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. + +*****************************************************************************/ + + +#ifndef _GLUI_H_ +#define _GLUI_H_ + +#include +#include +#include + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#define GLUI_VERSION 2.01f /********** Current version **********/ + + +#ifdef WIN32 +#pragma comment(lib, "glui32.lib") // Link against GLUI library +#endif + +class Arcball; + +/********** Do some basic defines *******/ +#ifndef false +#define true 1 +#define false 0 +#endif + +#ifndef Byte +#define Byte unsigned char +#endif + +#ifndef _RGBC_ +class RGBc { +public: + Byte r, g, b; + + void set(Byte r,Byte g,Byte b) {this->r=r;this->g=g;this->b=b;}; + + RGBc( void ) {}; + RGBc( Byte r, Byte g, Byte b ) { set( r, g, b ); }; +}; +#define _RGBC_ +#endif + +/********** List of GLUT callbacks ********/ + +enum GLUI_Glut_CB_Types { + GLUI_GLUT_RESHAPE, + GLUI_GLUT_KEYBOARD, + GLUI_GLUT_DISPLAY, + GLUI_GLUT_MOUSE, + GLUI_GLUT_MOTION, + GLUI_GLUT_SPECIAL, + GLUI_GLUT_PASSIVE_MOTION, + GLUI_GLUT_ENTRY, + GLUI_GLUT_VISIBILITY +}; + +/********** List of control types **********/ +enum GLUI_Control_Types { + GLUI_CONTROL_CHECKBOX =1, + GLUI_CONTROL_BUTTON, + GLUI_CONTROL_RADIOBUTTON, + GLUI_CONTROL_RADIOGROUP, + GLUI_CONTROL_SLIDER, + GLUI_CONTROL_STATICTEXT, + GLUI_CONTROL_EDITTEXT, + GLUI_CONTROL_BITMAP, + GLUI_CONTROL_PANEL, + GLUI_CONTROL_SPINNER, + GLUI_CONTROL_SEPARATOR, + GLUI_CONTROL_COLUMN, + GLUI_CONTROL_LISTBOX, + GLUI_CONTROL_MOUSE_INTERACTION, + GLUI_CONTROL_ROTATION, + GLUI_CONTROL_TRANSLATION, + GLUI_CONTROL_ROLLOUT +}; + + +/********* Constants for window placement **********/ +#define GLUI_XOFF 6 +#define GLUI_YOFF 6 +#define GLUI_ITEMSPACING 3 +#define GLUI_CHECKBOX_SIZE 13 +#define GLUI_RADIOBUTTON_SIZE 13 +#define GLUI_BUTTON_SIZE 20 +#define GLUI_STATICTEXT_SIZE 13 +#define GLUI_SEPARATOR_HEIGHT 8 +#define GLUI_DEFAULT_CONTROL_WIDTH 100 +#define GLUI_DEFAULT_CONTROL_HEIGHT 13 +#define GLUI_EDITTEXT_BOXINNERMARGINX 3 +#define GLUI_EDITTEXT_HEIGHT 20 +#define GLUI_EDITTEXT_WIDTH 130 +#define GLUI_EDITTEXT_MIN_INT_WIDTH 35 +#define GLUI_EDITTEXT_MIN_TEXT_WIDTH 50 +#define GLUI_PANEL_NAME_DROP 8 +#define GLUI_PANEL_EMBOSS_TOP 4 +/* #define GLUI_ROTATION_WIDTH 60*/ +/* #define GLUI_ROTATION_HEIGHT 78 */ +#define GLUI_ROTATION_WIDTH 50 +#define GLUI_ROTATION_HEIGHT (GLUI_ROTATION_WIDTH+18) +#define GLUI_MOUSE_INTERACTION_WIDTH 50 +#define GLUI_MOUSE_INTERACTION_HEIGHT (GLUI_MOUSE_INTERACTION_WIDTH)+18 + + +/** Different panel control types **/ +#define GLUI_PANEL_NONE 0 +#define GLUI_PANEL_EMBOSSED 1 +#define GLUI_PANEL_RAISED 2 + + +/** Max # of els in control's float_array **/ +#define GLUI_DEF_MAX_ARRAY 30 + +/********* The control's 'active' behavior *********/ +#define GLUI_CONTROL_ACTIVE_MOUSEDOWN 1 +#define GLUI_CONTROL_ACTIVE_PERMANENT 2 + + +/********* Control alignment types **********/ +#define GLUI_ALIGN_CENTER 1 +#define GLUI_ALIGN_RIGHT 2 +#define GLUI_ALIGN_LEFT 3 + + +/********** Limit types - how to limit spinner values *********/ +#define GLUI_LIMIT_NONE 0 +#define GLUI_LIMIT_CLAMP 1 +#define GLUI_LIMIT_WRAP 2 + + +/********** Translation control types ********************/ + +#define GLUI_TRANSLATION_XY 0 +#define GLUI_TRANSLATION_Z 1 +#define GLUI_TRANSLATION_X 2 +#define GLUI_TRANSLATION_Y 3 + +#define GLUI_TRANSLATION_LOCK_NONE 0 +#define GLUI_TRANSLATION_LOCK_X 1 +#define GLUI_TRANSLATION_LOCK_Y 2 + +/********** How was a control activated? *****************/ +#define GLUI_ACTIVATE_MOUSE 1 +#define GLUI_ACTIVATE_TAB 2 + + +/********** What type of live variable does a control have? **********/ +#define GLUI_LIVE_NONE 0 +#define GLUI_LIVE_INT 1 +#define GLUI_LIVE_FLOAT 2 +#define GLUI_LIVE_TEXT 3 +#define GLUI_LIVE_DOUBLE 4 +#define GLUI_LIVE_FLOAT_ARRAY 5 + + +/********** Translation codes **********/ + +enum TranslationCodes { + GLUI_TRANSLATION_MOUSE_NONE=0, + GLUI_TRANSLATION_MOUSE_UP, + GLUI_TRANSLATION_MOUSE_DOWN, + GLUI_TRANSLATION_MOUSE_LEFT, + GLUI_TRANSLATION_MOUSE_RIGHT, + GLUI_TRANSLATION_MOUSE_UP_LEFT, + GLUI_TRANSLATION_MOUSE_UP_RIGHT, + GLUI_TRANSLATION_MOUSE_DOWN_LEFT, + GLUI_TRANSLATION_MOUSE_DOWN_RIGHT +}; + +/************ A string type for us to use **********/ +/* typedef char GLUI_String[300]; */ +class GLUI_String +{ +public: + char string[300]; + + char &operator[]( int i ) { + return string[i]; + } + + operator char*() { return (char*) &string[0]; }; + /* operator void*() { return (void*) &string[0]; }; */ + + GLUI_String( void ) { + string[0] = '\0'; + } + + GLUI_String( char *text ) { + strcpy( string, text ); + } +}; + + +/********* Pre-declare the various classes *********/ +class GLUI; +class GLUI_Control; +class GLUI_Listbox; +class GLUI_Rotation; +class GLUI_Translation; +class GLUI_Mouse_Interaction; +class GLUI_Checkbox; +class GLUI_Slider; +class GLUI_Button; +class GLUI_StaticText; +class GLUI_Bitmap; +class GLUI_EditText; +class GLUI_Node; +class GLUI_Main; +class GLUI_Panel; +class GLUI_Spinner; +class GLUI_RadioButton; +class GLUI_RadioGroup; +class GLUI_Separator; +class GLUI_Column; +class GLUI_Master; +class GLUI_Glut_Window; +class GLUI_Rollout; + + + +/*** Flags for GLUI class constructor ***/ +#define GLUI_SUBWINDOW ((long)(1<< 1)) +#define GLUI_SUBWINDOW_TOP ((long)(1<< 2)) +#define GLUI_SUBWINDOW_BOTTOM ((long)(1<< 3)) +#define GLUI_SUBWINDOW_LEFT ((long)(1<< 4)) +#define GLUI_SUBWINDOW_RIGHT ((long)(1<< 5)) + +/*** Codes for different type of edittext boxes and spinners ***/ +#define GLUI_EDITTEXT_TEXT 1 +#define GLUI_EDITTEXT_INT 2 +#define GLUI_EDITTEXT_FLOAT 3 +#define GLUI_SPINNER_INT GLUI_EDITTEXT_INT +#define GLUI_SPINNER_FLOAT GLUI_EDITTEXT_FLOAT + + + +/*** Definition of callbacks ***/ +typedef void (*GLUI_Update_CB) (int id); +typedef void (*Int1_CB) (int); +typedef void (*Int2_CB) (int, int); +typedef void (*Int3_CB) (int, int, int); +typedef void (*Int4_CB) (int, int, int, int); + + + +/************************************************************/ +/* */ +/* Base class, for hierarchical relationships */ +/* */ +/************************************************************/ + +class GLUI_Node { +protected: + GLUI_Node *parent_node; + GLUI_Node *child_head; + GLUI_Node *child_tail; + GLUI_Node *next_sibling; + GLUI_Node *prev_sibling; + +public: + GLUI_Node *first_sibling( void ); + GLUI_Node *last_sibling( void ); + GLUI_Node *prev( void ); + GLUI_Node *next( void ); + GLUI_Node *first_child( void ) { return child_head; }; + GLUI_Node *last_child( void ) { return child_tail; }; + GLUI_Node *parent(void) { return parent_node; }; + + void link_this_to_parent_last( GLUI_Node *parent ); + void link_this_to_parent_first( GLUI_Node *parent ); + void link_this_to_sibling_next( GLUI_Node *sibling ); + void link_this_to_sibling_prev( GLUI_Node *sibling ); + void unlink( void ); + + void dump( FILE *out, char *name ) { + fprintf( out, "GLUI_node: %s\n", name ); + fprintf( out, " parent: %p child_head: %p child_tail: %p\n", + parent_node, child_head, child_tail ); + fprintf( out, " next: %p prev: %p\n", next_sibling, prev_sibling ); + } + + GLUI_Node( void ) { + parent_node= child_head = child_tail = next_sibling = prev_sibling = NULL; + }; + + friend class GLUI_Rollout; + friend class GLUI_Main; +}; + + + +/************************************************************/ +/* */ +/* Standard Bitmap stuff */ +/* */ +/************************************************************/ + +enum GLUI_StdBitmaps_Codes { + GLUI_STDBITMAP_CHECKBOX_OFF=0, + GLUI_STDBITMAP_CHECKBOX_ON, + GLUI_STDBITMAP_RADIOBUTTON_OFF, + GLUI_STDBITMAP_RADIOBUTTON_ON, + GLUI_STDBITMAP_UP_ARROW, + GLUI_STDBITMAP_DOWN_ARROW, + GLUI_STDBITMAP_LEFT_ARROW, + GLUI_STDBITMAP_RIGHT_ARROW, + GLUI_STDBITMAP_SPINNER_UP_OFF, + GLUI_STDBITMAP_SPINNER_UP_ON, + GLUI_STDBITMAP_SPINNER_DOWN_OFF, + GLUI_STDBITMAP_SPINNER_DOWN_ON, + + GLUI_STDBITMAP_CHECKBOX_OFF_DIS, /*** Disactivated control bitmaps ***/ + GLUI_STDBITMAP_CHECKBOX_ON_DIS, + GLUI_STDBITMAP_RADIOBUTTON_OFF_DIS, + GLUI_STDBITMAP_RADIOBUTTON_ON_DIS, + GLUI_STDBITMAP_SPINNER_UP_DIS, + GLUI_STDBITMAP_SPINNER_DOWN_DIS, + GLUI_STDBITMAP_LISTBOX_UP, + GLUI_STDBITMAP_LISTBOX_DOWN, + GLUI_STDBITMAP_LISTBOX_UP_DIS, + /*** + GLUI_STDBITMAP_SLIDER_TAB, + ***/ + GLUI_STDBITMAP_NUM_ITEMS +}; + + +/************ Image Bitmap arrays **********/ +extern int glui_img_checkbox_0[]; +extern int glui_img_checkbox_1[]; +extern int glui_img_radiobutton_0[]; +extern int glui_img_radiobutton_1[]; +extern int glui_img_uparrow[]; +extern int glui_img_downarrow[]; +extern int glui_img_leftarrow[]; +extern int glui_img_rightarrow[]; +extern int glui_img_spinup_0[]; +extern int glui_img_spinup_1[]; +extern int glui_img_spindown_0[]; +extern int glui_img_spindown_1[]; +extern int glui_img_checkbox_0_dis[]; +extern int glui_img_checkbox_1_dis[]; +extern int glui_img_radiobutton_0_dis[]; +extern int glui_img_radiobutton_1_dis[]; +extern int glui_img_spinup_dis[]; +extern int glui_img_spindown_dis[]; +extern int glui_img_listbox_up[]; +extern int glui_img_listbox_down[]; +extern int glui_img_listbox_up_dis[]; + +extern int *bitmap_arrays[]; + + + +/************************************************************/ +/* */ +/* Class GLUI_Bitmap */ +/* */ +/************************************************************/ +class GLUI_Bitmap +{ +public: + unsigned char *pixels; + int w, h; + + void load_from_array( int *array ); + + GLUI_Bitmap( void ) { + pixels = NULL; + w = 0; + h = 0; + } +}; + + + + +/************************************************************/ +/* */ +/* Class GLUI_StdBitmap */ +/* */ +/************************************************************/ +class GLUI_StdBitmaps +{ +public: + GLUI_Bitmap bitmaps[ GLUI_STDBITMAP_NUM_ITEMS ]; + + void draw( int bitmap_num, int x, int y ); + + GLUI_StdBitmaps( void ) { + int i; + + for( i=0; i

GOCR-documentation

+

Jörg Schulenburg

+

Magdeburg, June 3, 2002

+ +

Abstract:

+
+In this documentation I describe some ideas for my OCR-program. +It contains algorithms and examples and gives you + an impression of what the program can (or could) do. +
+

+ + +

+

+ + + + + + +

Introduction +

+First I have to say that I am not a expert in pattern recognition +or similar things. My knowledge is based mostly on experiments with my +program. +Therefore do not worry about stupid algorithms I put in this document. +In this documentation I describe some ideas for my OCR-program. +The examples give you an impression of how the program handles +your images. +If you have comments regarding contents or spelling please +write to the author. + +

Segmentation of textual regions / Layout analysis

+ +This is implemented as a recursive division in two parts. + +
    +
  • look for the thickest horizontal or vertical gap through the box
    • +
  • if the gap is less than five times longer than thick do not divide
    • +
  • do the same with the two new parts
    • +
+I know that this algorithm is not as good as you wish, +but I do not know a better one. + +

+It would be very helpful to know about a function which is able to + decide whether the box represents a single text line or a more complex object. + +

Line detection

+

+Line detection is very importand for good recognition. + For example it is difficult to distinguish between lowercase letter p + and uppercase letter P without having a baseline (same total height). + The lowercase version of p has a depht (the lower end is below the + baseline) and therefore its easy to distinguish from the uppercase version + if the baseline is known. The line detection is responsible for finding the + baseline of every text line. + +

+Lines of characters are detected by looking for interline spaces. + These are characterized by a large number of non-black pixels in a + row. Image rotation (skewing) presents a problem, therefore the program + first looks only at the left half of the image. When a line is + found, the left half of the right side is scanned, because lines + are often short. The variation in height gives an indication of + the rotation angle. Using this angle, a second run detects lines + more accurately. Line detection may fail if there is dust on the + image. + +

+In version v0.2.3 this behaviour is slightly changed. + To detect the rotation angle, the line through the most + characters is detected. + +

Cluster detection

+ +A cluster is a group of pixels which are connected with each other. +The simplest way to detect a cluster is to look for a pixel. +If you find one, look to the neighbouring pixels. This can be done recursively. + +

+This method needs a lot of stack space if a cluster is very large, +and can cause problems with the memory. + +

+Do you remember the algorithm for leaving a maze? +Go along the right (or left) wall. This seems to be a good approach +for detecting clusters without recursion. +The following picture shows a trace of the maze algorithm. + +

+ + +
+
+first 35 steps     next 36 steps     
+..@@@@@..@@@@<..   ..v<<<<..v<<<@..   * = starting point
+..@@@@@@@@@.@^<.   ..>>v@^<<<@.@@@.   >^<v = go right,up,left,down
+....@@@@@...@@^.   ....v@@@@...@@@.   @ = black pixel
+....@@@@....@@^.   ....v@@@....@@@.
+....@@@.....@@^.   ....v@@.....@@@.
+....@@@.....@@^.   ....v@@.....@@@.
+...@@@@.....@@^.   ...v<@@.....@@@.
+...@@@......@@^.   ...v@@......@@@.
+...@@@......@@^.   ...v@@......@@@.
+...@@@.....@@@^.   ...v@@.....@@@@.
+...@@@.....@@>^.   ...v@@.....@@@@.
+...@@@.....@@^..   ...v@@.....@@@..
+..@@@@.....@@^..   ..v<@@.....@@@..
+..@@@@....@@@^..   ..v@@@....@@@@..
+*>>>>>>>>>>>>^<<   @@@@@@@@@@@@@@@@
+
+ +

+The minimum and maximum coordinates can be used to create a box around the +cluster. But does this algorithm work with diagonally connected pixels? + +

Engines

+ +GOCR is able to work with different recognition engines. +Since version 0.37 engines have to return a probability value together +with the recognized character or a table of values to a table of characters. +If the probability value is 100, the engine is 100% sure to have found the +right character otherwise the value is less. This gives GOCR the possibility +to compare results of different engines or in case of a not recognized character +to inform the user or another +application (spell checker) which characters probably could be there. + +

Base-Engine

+The base engine (src/ocrX.c) is the original engine used in the first implementation +of GOCR by Jörg. The idea was to get a fast and acceptable result +without learning theoretical background. Later it should be replaced or completed +by a better engine. +The base engine is a rule based engine. +The engine was written without theoretical +background and is improved by try and error method but is is still far from +perfect. The algorithm is very tolerant to size and form af characters +(omnifont). +How does the engine identify a character? For the explanation look at the +following pattern. + +

+ + +
+
+vvvv         vv- white regions
+......@@......  <- crossing one line
+......@@......  
+.....@@@@.....
+.....@@@@.....
+.....@@@@.....
+....@..@@@....  <- white hole / crossing two lines
+....@..@@@....  <- crossing two lines
+....@..@@@....
+...@....@@@...
+...@....@@@...
+...@....@@@...
+..@@@@@@@@@@..  <- horizontal line near center
+..@......@@@..
+..@......@@@..  
+.@........@@@.  v- increasing width of pattern
+.@........@@@.  v
+.@........@@@.  v
+@@@......@@@@@
+    ^^^-- gap
+
+ +

+In the future the program +should detect edges, vertices, gaps, angles and so on. +This is called feature extraction (as far as I know). +With such data the engine could make a cluster analysis. +But this is a difficult task, if the scanned image is noisy. + +

Database-Engine

+The database engine (src/database.c) was the second engine added to GOCR. +It was primary written to give users a simple tool to recognize +special language-specific characters. The program generates a list +(text file db.lst of image filenames and character codes) +and image samples (pnm-files) in a database path (./db/). +The database can be created by hand or extern programs or by GOCR itself +using option (-m 130). In the last case GOCR prompts the user +for not recognized characters. If he enters the character the pattern +is saved in the database path as pnm-file and its file name is added +to the database list (db.lst) together with the text string the pattern +should be replaced by. +For recognition GOCR first loads the database into memory (option -m 2). +The main algorithm compares not recognized characters with stored images +and calculates a distance value. If the distance value is small enough, +the character is treated as recognized. + +

Remove pixels

+ +The following picture shows an n which has additional pixels at the +bottom. Therefore it can not be detected as n. What can be done? + +
    +
  • classify horizontal (=) and vertical (I) pixels by + comparing the distance between the next vertical and next horizontal white + pixels (.) +
    • +
  • measure mean thickness of vertical and horizontal clusters +
    • +
  • erase unusually thin horizontal pixels at the bottom line +
    • +
+ +

+ + +
+
+..@@@@@..@@@@@..     ..==III..===II.. dx=16 dy=15
+..@@@@@@@@@.@@@.     ..==III====.III. thickness 2 to 3
+....@@@@@...@@@.     ....III==...III.
+....@@@@....@@@.     ....III=....III.
+....@@@.....@@@.     ....III.....III.
+....@@@.....@@@.     ....III.....III.
+...@@@@.....@@@.     ...IIII.....III.
+...@@@......@@@.     ...III......III.
+...@@@......@@@.     ...III......III.
+...@@@.....@@@@.     ...III.....IIII.
+...@@@.....@@@@.     ...III.....IIII.
+...@@@.....@@@..     ...III.....III..
+..@@@@.....@@@..     ..IIII.....III..
+..@@@@....@@@@..     ..IIII....IIII..
+@@@@@@@@@@@@@@@@     ================
+      ^^^ 
+      this causes the problem
+
+ +

+A better way is to find serifs (horizontal lines glued on the lower end +of vertical lines) which touch together (v0.2.5). + +

+The next picture shows blind pixels which are caused by dust on the paper. +The upper right dots are not connected with the rest of the character. +This can be detected via fill-algorithms. Currently the program +assumes that dots near the upper end of a character are ``i''-dots +or diaereses (umlaut dots). + +

+ + +
+
+..........................O...     ..........................O...
+..........................O...     ..........................O...
+..............................     ..............................
+..............................     ..............................
+..........@@@.......@@@@......     ..........@@@.......@@@@......
+..@@@@..@@@@@@@...@@@@@@@.....     ..@@@@..@@@@@@@...@@@@@@@.....
+@@@@@@@@@@@@@@@@.@@@@@@@@@....     @@@@@@@@@@@@@@@@.@@@@@@@@@....
+..@@@@@@....@@@@@@.....@@@@...     ..@@@@@@....@@@@@@.....@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@.......@@@@...     ..@@@@.......@@@.......@@@@...
+..@@@@.......@@@@......@@@@...     ..@@@@.......@@@@......@@@@...
+..@@@@......@@@@@......@@@@@..     ..@@@@......@@@@@......@@@@@..
+@@@@@@@@..@@@@@@@@@..@@@@@@@@@     @@@@@@@@..@@@@@@@@@..@@@@@@@@@
+
+ +

+Add pixels +

+The following picture shows an m. The legs are only barely connected. +How do we handle this? + +
    +
  • if the engine has failed, a filter is switched on and the engine + starts over +
    • +
  • the 2x2 filter sets pixels to (O) near barely connected pixels +
    • +
+ +

+ + +
+
+   vv   vv
+@@@.@@@..@@@...     @@@.@@@..@@@...
+.@@.@@@@.@@@@..<    .@@O@@@@O@@@@..  filter: .@ => O@     @. => @O
+.@@@..@@@..@@..<    .@@@..@@@..@@..          @. => @.     .@ => .@
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.     
+.@@@..@@@..@@@.     .@@@..@@@..@@@.     
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+.@@@..@@@..@@@.     .@@@..@@@..@@@.
+@@@@@.@@@@.@@@@     @@@@@.@@@@.@@@@
+
+ +

+Similarity analyzer +

+Some characters are a little bit noisy. These characters can be identified by +comparison with other, already recognized characters. This can be done +via a good distance function. May be +the distance function in the actual version of GOCR is not very good. +Feel free to send me your ideas, but be sure it does not waste my time. + +

+Overlapping characters +

+The following picture shows an overlapping ru. +How do we handle this? + +
    +
  • look for 3 weak connections (sum over y is small, start in the middle) +
    • +
  • test if the right and left part can be detected by the engine +
    • +
  • correction of surrounding box +
    • +
+ +

+ + +
+
+....@@...@@@@@@@@@@....@@@@@@@..     ....@@...@@@@@@@@@@....@@@@@@@..
+..@@@@..@@@@@..@@@@......@@@@@..     ..@@@@..@@@@@..@@@@......@@@@@..
+@@@@@@@@@@@@@.,.@@@.......@@@@..     @@@@@@@@@@@@@...@@@.......@@@@..
+..@@@@@@..@@@...@@@.......@@@@..     ..@@@@@@..@@@...@@@.......@@@@..
+...@@@@.......,.@@@@......@@@@..     ...@@@@.........@@@@......@@@@..
+...@@@@.........@@@@......@@@@..     ...@@@@.........@@@@......@@@@..
+...@@@@.......,.@@@.......@@@@..     ...@@@@.........@@@.......@@@@..
+...@@@@.........@@@.......@@@@..     ...@@@@.........@@@.......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@.......@@@@..     ...@@@..........@@@.......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@........,.@@@@......@@@@..     ...@@@..........@@@@......@@@@..
+...@@@..........@@@@@...@@@@@@@.     ...@@@..........@@@@@...@@@@@@@.
+..@@@@@.......,..@@@@@@@@@.@@@@@     ..@@@@@..........@@@@@@@@@.@@@@@
+@@@@@@@@@.........@@@@@@@..@@@..     @@@@@@@@@.........@@@@@@@..@@@..
+..............,....@@@..........     ...................@@@..........
+             ^^^
+             213 weak vertical lines
+
+ +

+Of course the situation is more difficult with slanted characters. + +

+The following example shows, how to deal with larger clusters. +To get a fast program a first test should select the possible positions of +division. That can be done by following upper and lower bows to a crease or a break. Than try to break on all detected creases, start at most +important one (not implemented yet v0.2.4). + +

+ + +
+
+             >>>>vvv<<<<<       >>vv<<<<         >>>vvv<<<<
+......@@@@@@@..................@@.........@@@@@@@..........@@@@@@@.....
+....@@@@@@@@@@@...............@@@.......@@@@@@@@@@@......@@@@@@@@@@@...
+...@@@@@@@@@@@@@.............@@@@......@@@@@@@@@@@@@....@@@@@@@@@@@@@..
+..@@@@.......@@@@...........@@@@@.....@@@@.......@@@@..@@@@.......@@@@.
+..@@@........@@@@..........@@@@@@@....@@@........@@@@@@@@@........@@@@.
+.@@@@..........@@.........@@@@@@@@...@@@@..........@@@@@@@.........@@@@
+.@@@.....................@@@@.@@@@...@@@..............@@...........@@@@
+.@@@....................@@@@@.@@@@...@@@...........................@@@@
+@@@...@@@@@@@...........@@@@..@@@...@@@...@@@@@@...................@@@.
+@@@@.@@@@@@@@@@........@@@@...@@@@..@@@@.@@@@@@@@@@...............@@@@.
+@@@@@@@@@@@@@@@.......@@@@....@@@@..@@@@@@@@@@@@@@@...............@@@..
+@@@@@@@.....@@@@@.....@@@.....@@@@..@@@@@@......@@@@@............@@@@..
+@@@@.........@@@@...@@@@......@@@@..@@@@@........@@@@...........@@@....
+@@@@..........@@@@.@@@@.......@@@@..@@@@..........@@@..........@@@@....
+@@@@..........@@@@@@@@@.......@@@@.@@@@@..........@@@.........@@@@.....
+@@@@..........@@@@@@@@@@@@@@@@@@@@@@@@@@..........@@@@.......@@@@......
+@@@@..........@@@@@@@@@@@@@@@@@@@@@@@@@@..........@@@@......@@@........
+.@@@..........@@@@@@@@@@@@@@@@@@@@@@.@@@..........@@@@....@@@@@........
+.@@@@........@@@@.............@@@@...@@@@........@@@@....@@@@..........
+..@@@@.......@@@@.............@@@@....@@@@.......@@@@...@@@@...........
+..@@@@@....@@@@@..............@@@@.....@@@@....@@@@@...@@@@@@..........
+....@@@@@@@@@@@...............@@@@......@@@@@@@@@@@...@@@@@@@@@@@@@@@@@
+.....@@@@@@@@@................@@@@........@@@@@@@@....@@@@@@@@@@@@@@@@@
+........@@@@...................@@..........@@@@@........@@@@@@@..@.@@@.
+            >>>>^            ^<<>>^ ^<<<<<        >>>^<<<      ^^ ^
+
+>,< show the path of the detection algorithm
+
+ +

+The latest version of GOCR may use different algorithms. +You have to look at the sources learn more. + +

+Black/White, Gray and Colors +

+For simplicity colored images are converted to gray internally. +That means a red text on green background will not be detected. +You should use your own filter for this purpose. + +

+If the original image is gray, a critical value is calculated to +extract characters from the background. This can fail, if images are +on the scanned page or tha scan is bad (dark edges or borders). +It is difficult to overcome this problem because graylevels are mostly +restricted to the 8 bit limit (16 bit would help to overcome this problem). + +

+Black/White images are internally converted to gray with two levels (0 and +255). + +

+The lowest 4 bits are not used, because they are used by internal functions +(this can be changed in future). + +

+After calculation of the threshold value (otsu.c) the brightness of +every pixel is recalculated to a new internal threshold value +of 160 (128+32). +This is a bit above the middle of the 8 bit range. The idea is to +make the live easier for the other routines. Pixels which does not sure +belong to the white or black ones get a value near the threshold value. +Some routines can use this bit of more information to ignore outriders. +Second point is, that this is necessary for using lowest for bits +without destroying image informations. + +

Pictures on scanned pages +

+At first all objects on the scanned page are detected. +Objects are clusters of black pixels. +Pictures are detected if they are larger than 4 times the mean size of +all objects. This rule is very simple and can fail some times. +But it works fast and mostly the result is ok. + +

Tools

+ +

+

+
pbmclean:
+
This program is written by Angus Duggan and Jef Poskanzer. + It cleans up ``snow'' on bitmap images. +
+
pnmtools:
+
This tools are used to convert different image-formats to + easy readable PNM (PBM,PGM,PPM) format. + GOCR uses the popen-routine to call this programs if the + suffix of the filename matches to a list in pnm.c. + This will fail if pnmtools are missing. +
+
+ +

related projects (to learn from)

+ +

+

+
unpaper:
+
unpaper - + post-processing scanned and photocopied book pages, + written by Jens Gulden 2005, GPL +
+
+ +

glossary

+
font series:
bold, condensed
+
font shape:
normal, italic, slanted, sc...
+
points:
+
length unit used for font size, 1/72 inch, + but I do not know its exact relation to the font size (height? + totalheight? width? 10pt and 300dpi results in 40 pixel heigh font?) +
+
sans serif:
+
font without the (often thin) lines on the ends + of the character +
+
descewing:
+
compensation of (slightly) rotated text +
+
+ +

More information?

+
+
·
+
see "/usr/share/doc/package/tetex/texmf/.../fntguide.dvi" + in the documentation of the tetex package + +
+
·
+
the fonts-HOWTO file is helpfully too + ("www.faqs.org/faqs/fonts-faq/") + +
+
RTF:
+
RichTextFormat - does someone have a good documontation? +
+
+ +

About this document

+This Document was originaly written in LaTeX. +In May 2002 Joerg has convertet it to HTML. The reason is, that +you can read it now directly and you does not need to have LaTeX and +Ghostscript installed on your computer to read it. +As a side effect you do not need tetex package to build the gocr.rpm-package. +A good viewer to read this document is lynx, links or w3m. + +
+
+
jNOschulen-at-gSmPAMx.de (remove NO+S+PAM)
+ + + \ No newline at end of file diff --git a/3rdparty/gocr-0.48/doc/unicode.txt b/3rdparty/gocr-0.48/doc/unicode.txt new file mode 100644 index 0000000..a2cfe83 --- /dev/null +++ b/3rdparty/gocr-0.48/doc/unicode.txt @@ -0,0 +1,57 @@ +This file is intended to clarify why and how we are using Unicode in gocr. It's +probably only interesting if you intend to do something similar in a project of +yours or to develop gocr. + +History +0.1 initial version + +--- +Why to use Unicode? While in this early development stage gocr doesn't +recognize much more than the ASCII characters, we hope that someday it will +support many different languages with different character sets; that it will +recognize mathematical expressions, and so on. Even in this early stage, we are +trying to support other Latin languages --- accented characters. Since once we +aren't using ASCII characters anymore we are subject to the character set +loaded in the machine if we use the 0x80-0xFF characters, we had to solve the +problem. + +Against what Andrew Tanenbaum once said, "The good thing about standards is +that there are so many to choose from", we decided to not invent a new one and +stick to one of the current; Unicode is the most famous, so we chose it. + +To my dismay, Unicode's support, at this time, sucks. There are few libraries +around to deal with it, contrary to what one would expect. The libraries I +found, though very good, did not provide the kind of support we needed in gocr: +to work internally with hundreds of different characters. They were all focused +in handling external files, user interface --- i18n, in short --- something that +I'm sure is much more needed and used than what gocr needs. + +That's why we wrote our own Unicode code. We implemented only what we needed, +and in a practical way to the developer --- composing characters, etc. Since no +one I know will want the output of their scanned and OCR document in Unicode or +UTF-8 format (though I hope that one format will eventually be used in every OS +and computer around, and ASCII will go to a museum, and though gocr can output +in one of these formats too), we had to output in some format more friendly; +the choices are existing character maps, TeX, SGML and HTML initially, and who +knows what else later. Once we can recognize the text and keep the formatting, +these formats will be desired even more. + +How to implement it (careful: developer's view)? Fortunatedly, there is partial +support for it now. The wchar_t type defined in is a standard (only +sometimes 16, sometimes 32, perhaps even 64 somewhere). Do we need the libc's +string functions? If we do, they also exist for wchar_t. Some conversion +functions were needed: ASCII -> Unicode, Unicode -> everything else. + +The ASCII -> Unicode conversion (done by the compose() function) is written to +be called by the ocr engine, when it recognizes a character. You can also use +the Unicode codes #defined in unicode.h, but the compose function allows a +simpler use. It's recommended to use the symbols itself for ASCII codes (don't +need to LATIN_CAPITAL_LETTER_A, use 'A'). + +The Unicode -> etc conversion (done by decode()) is a bit more difficult +sometimes, since previous symbols may interact with the current one. For +example, if you're converting to TeX, two characters that are in math mode will +call two times math mode; for example, "\( \pi \) \( \iota \)", instead of +"\( \pi \iota \)". Possibly a wider conversion function, decode_text(), which +deals with the entire text at once should be provided; this function will also +create headers, etc. diff --git a/3rdparty/gocr-0.48/gocr.spec b/3rdparty/gocr-0.48/gocr.spec new file mode 100644 index 0000000..256ef5a --- /dev/null +++ b/3rdparty/gocr-0.48/gocr.spec @@ -0,0 +1,143 @@ +%define name gocr +%define version 0.48 +%define release 1 + +%define prefix %{_prefix} +%define _xprefix /usr +%define _xbindir %{_xprefix}/bin + +Summary: Gocr is an OCR (Optical Character Recognition) program. +Name: %{name} +Version: %{version} +Release: %{release} +URL: http://jOCR.sourceforge.net/ +License: GPL +Group: Graphics +Source0: http://prdownloads.sourceforge.net/jocr/%{name}-%{version}.tar.gz +#Source1: %{name}-16x16.xpm.bz2 +#Source2: %{name}-32x32.xpm.bz2 +#Patch0: %{name}-DESTDIR.patch.bz2 +#Patch1: %{name}-paths.patch.bz2 +#following packages are not really needed, but recommended +#BuildRequires: libnetpbm1-devel +#BuildRequires: gtk+-devel >= 1.2.8 +#BuildRequires: transfig +# set RPM_BUILD_ROOT to /var/tmp/gocr-buildroot , overwritten by .rpmmacros +BuildRoot: %{_tmppath}/%{name}-buildroot + +%description +GOCR is an optical character recognition program. +It reads images in many formats and outputs a text file. +Possible image formats are pnm, pbm, pgm, ppm, some pcx and +tga image files. Other formats like pnm.gz, pnm.bz2, png, jpg, tiff, gif, +bmp will be automatically converted using the netpbm-progs, gzip and bzip2 +via unix pipe. +A simple graphical frontend written in tcl/tk and some +sample files (you need transfig for the sample files) are included. +Gocr is also able to recognize and translate barcodes. +You do not have to train the program or store large font bases. +Simply call gocr from the command line and get your results. + + +#%package -n %{name}-devel +#Summary: Development tools for gocr. +#Group: Development/C + +#%description -n %{name}-devel +#GOCR is an optical character recognition program. +#If you want to develop programs which will manipulate gocr, you should +#install gocr-devel. You'll also need to install the gocr package. + + +# not tested, what about gocr.tcl ??? +# switched off because gtk-devel was not available on my PC (joerg Aug06) +# and you dont need it to get gocr working +#%package -n %{name}-gtk +#Summary: Gtk+ frontend for gocr +#Group: Graphics +#Requires: %{name} = %{version} +#BuildRequires: gtk-devel >= 1.2.8 + +#% description -n %{name}-gtk +#Gtk-gocr is a graphical frontend to GOCR the +#optical character recognition program. +# +#Gtk+-based frontend for gocr. + +# rpmbuild -bp: unpacking sources and applaying patches +%prep +rm -rf $RPM_BUILD_ROOT + +%setup -q +#%patch0 -p1 +#%patch1 -p1 + +# rpmbuild -bc: build, after prep, invokes make +# please help +%build +%configure --with-netpbm=no +%{__make} DESTDIR=$RPM_BUILD_ROOT +echo "build end" + +# [ -e config.cache ] && rm -f config.cache +# % configure --with-netpbm=no --prefix=%{_xprefix} --bindir=%{_xbindir} +# % {__make} + +# rpmbuild -bi: install-stage +%install + +%{__make} install DESTDIR=$RPM_BUILD_ROOT + +# not needed anymore +# % post -n %name-gtk +# % {update_menus} +# +# % postun -n %name-gtk +# % {clean_menus} +echo "install end" + +%clean +rm -rf $RPM_BUILD_ROOT +echo "clean end" + +# rpmbuild -bl: list check, check that every file exists +%files -n %{name} +%defattr(-, root, root) +%doc AUTHORS BUGS CREDITS HISTORY README REMARK.txt TODO +%doc doc/{examples.txt,gocr.html,unicode.txt} +%doc examples/{ex.fig,font2.fig,ocr-a.png,ocr-b.png} +%{_mandir}/man1/* +%attr(755,root,root) %{_bindir}/* + +#%files -n %{name}-devel +#%defattr(-, root, root) +#%doc AUTHORS REVIEW +#%{_libdir}/libPgm2asc.a +#%{_includedir}/gocr.h + +#%files -n %{name}-gtk +#%defattr(-, root, root) +#%doc frontend/gnome/{AUTHORS,README,TODO} +##%{_menudir}/* +##%{_iconsdir}/* +#%attr(755,root,root) %{_xbindir}/* + +%changelog +* Tue Feb 5 2008 Joerg Schulenburg, 0.46 +- remove devel part (for simplicity) + +* Wed Aug 30 2006 Joerg Schulenburg, 0.41 +- remove gtk-part (dont work on my PC) + +* Sat Dec 27 2003 Nick Urbanik 0.38-1.1nu +- Change %make to %{__make} +- check config.cache exists before trying to delete it +- Fix the files list for documentation. +- add back the gtk frontend +- Added the correct build require for gtk frontend +- various other fixes to get it to build. + +* Tue Jan 29 2001 Joerg Schulenburg 0.3.6-1 +- gocr.spec taken krom Marcel Pol + +# check: rpmbuild -ba --nobuild gocr.spec diff --git a/3rdparty/gocr-0.48/gpl.html b/3rdparty/gocr-0.48/gpl.html new file mode 100644 index 0000000..101fb0e --- /dev/null +++ b/3rdparty/gocr-0.48/gpl.html @@ -0,0 +1,537 @@ + + + +GNU General Public License - GNU Project - Free Software Foundation (FSF) + + + +

GNU General Public License

+ [image of a Philosophical GNU] + +

+

+

+

+ +

+ +

Table of Contents

+ + +

+ +

+ +

+ + + +

GNU GENERAL PUBLIC LICENSE

+

+Version 2, June 1991 + +

+ +
+Copyright (C) 1989, 1991 Free Software Foundation, Inc.  
+59 Temple Place - Suite 330, Boston, MA  02111-1307, USA
+
+Everyone is permitted to copy and distribute verbatim copies
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+
+ + + +

Preamble

+ +

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+ +

+ +11. + BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY +FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN +OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES +PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED +OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS +TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE +PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, +REPAIR OR CORRECTION. + +

+ +12. + IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR +REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, +INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING +OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED +TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY +YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER +PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + +

+ + +

END OF TERMS AND CONDITIONS

+ + + +

How to Apply These Terms to Your New Programs

+ +

+ If you develop a new program, and you want it to be of the greatest +possible use to the public, the best way to achieve this is to make it +free software which everyone can redistribute and change under these terms. + +

+

+ To do so, attach the following notices to the program. It is safest +to attach them to the start of each source file to most effectively +convey the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + +

+ +
+one line to give the program's name and an idea of what it does.
+Copyright (C) yyyy  name of author
+
+This program is free software; you can redistribute it and/or
+modify it under the terms of the GNU General Public License
+as published by the Free Software Foundation; either version 2
+of the License, or (at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ +

+Also add information on how to contact you by electronic and paper mail. + +

+

+If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + +

+ +
+Gnomovision version 69, Copyright (C) year name of author
+Gnomovision comes with ABSOLUTELY NO WARRANTY; for details
+type `show w'.  This is free software, and you are welcome
+to redistribute it under certain conditions; type `show c' 
+for details.
+
+ +

+The hypothetical commands `show w' and `show c' should show +the appropriate parts of the General Public License. Of course, the +commands you use may be called something other than `show w' and +`show c'; they could even be mouse-clicks or menu items--whatever +suits your program. + +

+

+You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + +

+ +
+Yoyodyne, Inc., hereby disclaims all copyright
+interest in the program `Gnomovision'
+(which makes passes at compilers) written 
+by James Hacker.
+
+signature of Ty Coon, 1 April 1989
+Ty Coon, President of Vice
+
+ +

+This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Library General +Public License instead of this License. + +

+ +Return to GNU's home page. +

+FSF & GNU inquiries & questions to +gnu@gnu.org. +Other ways to contact the FSF. +

+Comments on these web pages to +webmasters@www.gnu.org, +send other questions to +gnu@gnu.org. +

+Copyright notice above.
+Free Software Foundation, Inc., +59 Temple Place - Suite 330, Boston, MA 02111, USA +

+Updated: + +12 Mar 2000 tower + +

+ + diff --git a/3rdparty/gocr-0.48/include/.cvsignore b/3rdparty/gocr-0.48/include/.cvsignore new file mode 100644 index 0000000..7b8264b --- /dev/null +++ b/3rdparty/gocr-0.48/include/.cvsignore @@ -0,0 +1,2 @@ +.cvsignore +config.h diff --git a/3rdparty/gocr-0.48/include/config.h b/3rdparty/gocr-0.48/include/config.h new file mode 100644 index 0000000..7cc24ed --- /dev/null +++ b/3rdparty/gocr-0.48/include/config.h @@ -0,0 +1,37 @@ +/* include/config.h. Generated by configure. */ +/* include/config.h.in. Generated automatically from configure.in by autoheader. */ + +/* Define to empty if the keyword does not work. */ +/* #undef const */ + +/* Define if the setvbuf function takes the buffering type as its second + argument and the buffer pointer as the third, as on System V + before release 3. */ +/* #undef SETVBUF_REVERSED */ + +/* Define if you have the ANSI C header files. */ +#define STDC_HEADERS 1 + +/* Define if you have the gettimeofday function. */ +#define HAVE_GETTIMEOFDAY 1 + +/* Define if you have the popen function. */ +#define HAVE_POPEN 1 + +/* Define if you have the wcschr function. */ +#define HAVE_WCSCHR 1 + +/* Define if you have the wcsdup function. */ +#define HAVE_WCSDUP 1 + +/* Define if you have the header file. */ +//#define HAVE_PAM_H 1 + +/* Define if you have the header file. */ +#define HAVE_PNM_H 1 + +/* Define if you have the header file. */ +#define HAVE_UNISTD_H 1 + +/* Define if you have the header file. */ +#define HAVE_WCHAR_H 1 diff --git a/3rdparty/gocr-0.48/include/config.h.in b/3rdparty/gocr-0.48/include/config.h.in new file mode 100644 index 0000000..6452083 --- /dev/null +++ b/3rdparty/gocr-0.48/include/config.h.in @@ -0,0 +1,36 @@ +/* include/config.h.in. Generated automatically from configure.in by autoheader. */ + +/* Define to empty if the keyword does not work. */ +#undef const + +/* Define if the setvbuf function takes the buffering type as its second + argument and the buffer pointer as the third, as on System V + before release 3. */ +#undef SETVBUF_REVERSED + +/* Define if you have the ANSI C header files. */ +#undef STDC_HEADERS + +/* Define if you have the gettimeofday function. */ +#undef HAVE_GETTIMEOFDAY + +/* Define if you have the popen function. */ +#undef HAVE_POPEN + +/* Define if you have the wcschr function. */ +#undef HAVE_WCSCHR + +/* Define if you have the wcsdup function. */ +#undef HAVE_WCSDUP + +/* Define if you have the header file. */ +#undef HAVE_PAM_H + +/* Define if you have the header file. */ +#undef HAVE_PNM_H + +/* Define if you have the header file. */ +#undef HAVE_UNISTD_H + +/* Define if you have the header file. */ +#undef HAVE_WCHAR_H diff --git a/3rdparty/gocr-0.48/include/version.h b/3rdparty/gocr-0.48/include/version.h new file mode 100644 index 0000000..41fe06b --- /dev/null +++ b/3rdparty/gocr-0.48/include/version.h @@ -0,0 +1,2 @@ +#define version_string "0.48" +#define release_string "20090802" diff --git a/3rdparty/gocr-0.48/src/.cvsignore b/3rdparty/gocr-0.48/src/.cvsignore new file mode 100644 index 0000000..cac8548 --- /dev/null +++ b/3rdparty/gocr-0.48/src/.cvsignore @@ -0,0 +1,4 @@ +.cvsignore +Makefile +gocr +*.o diff --git a/3rdparty/gocr-0.48/src/Makefile b/3rdparty/gocr-0.48/src/Makefile new file mode 100644 index 0000000..f4a5827 --- /dev/null +++ b/3rdparty/gocr-0.48/src/Makefile @@ -0,0 +1,132 @@ +# +# Makefile for ./src path, used by configure +# + +EXEEXT = +PROGRAM = gocr$(EXEEXT) +# lib removed for simplification (v0.46) +# but Igor from OSRA an optical chemical structure recognition software +# wants it (v0.47 Mar09) +PGMASCLIB = Pgm2asc +#LIBPGMASCLIB = lib$(PGMASCLIB).a +# ToDo: need a better pgm2asc.h for lib users +#INCLUDEFILES = gocr.h +# avoid german compiler messages +LANG=C + +LIBOBJS=pgm2asc.o \ + box.o \ + database.o \ + detect.o \ + barcode.o \ + lines.o \ + list.o \ + ocr0.o \ + ocr0n.o \ + ocr1.o \ + otsu.o \ + output.o \ + pixel.o \ + unicode.o \ + remove.o \ + pnm.o \ + pcx.o \ + progress.o \ + job.o + +# these two lines are for cross-compiling, not tested +#srcdir = . +#VPATH = . +bindir = ${exec_prefix}/bin +# lib removed for simplification +#libdir = ${exec_prefix}/lib +#includedir = ${prefix}/include + +CC=gcc +# lib removed for simplification +# ar,ranlib detection removed from configure (simplicity) +# but needed by some developpers (linux only) for for (make libs) +# RANLIB = @RANLIB@ +# AR = @AR@ +RANLIB = ranlib +AR = ar +INSTALL=/usr/bin/install -c +# shell is needed for OS/2 to let if test -r $(PROGRAM) ... work +SHELL=/bin/bash + +DEFS=-DHAVE_CONFIG_H +CPPFLAGS= +# to see the config.h +CFLAGS=-g -O2 -fPIC $(CPPFLAGS) -I../include $(DEFS) +LDFLAGS=-lm +LIBS=-lnetpbm +DESTDIR=/usr/local + +.SUFFIXES: .s .o .c .h +# do not look for files if help (etc) is given +.PHONY : doc clean install libs default + +.c.o: gocr.h pgm2asc.h ../include/config.h + $(CC) $(CFLAGS) -c -o $*.o $< + +default: all + +# all: $(PROGRAM) lib$(PGMASCLIB).a +all: $(PROGRAM) + +gocr.o: gocr.h Makefile ../include/version.h + +.c.h: + +#$(PROGRAM): lib$(PGMASCLIB).a gocr.o +$(PROGRAM): $(LIBOBJS) gocr.o + # make it conform to ld --as-needed + #$(CC) -o $@ $(LDFLAGS) gocr.o ./lib$(PGMASCLIB).a $(LIBS) + $(CC) -o $@ $(LDFLAGS) gocr.o $(LIBOBJS) $(LIBS) + if test -r $(PROGRAM); then cp $@ ../bin; fi + +libs: lib$(PGMASCLIB).a lib$(PGMASCLIB).0.48.so + +lib$(PGMASCLIB).0.48.so: $(LIBOBJS) + $(CC) -fPIC -shared -Wl,-h$@ -o $@ $(LIBOBJS) + -ln -s $@ lib$(PGMASCLIB).so + +lib$(PGMASCLIB).a: $(LIBOBJS) + # -rm -f $@ + $(AR) cru $@ $(LIBOBJS) + $(RANLIB) $@ + +$(LIBOBJS): Makefile + +# PHONY = don't look at file clean, -rm = start rm and ignore errors +.PHONY : clean proper install uninstall +install: all + #$(INSTALL) -d $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) $(DESTDIR)$(includedir) + $(INSTALL) -d $(DESTDIR)$(bindir) + $(INSTALL) ../bin/$(PROGRAM) $(DESTDIR)$(bindir) + $(INSTALL) ../bin/gocr.tcl $(DESTDIR)$(bindir) # better X11/bin? + if test -f lib$(PGMASCLIB).a; then\ + $(INSTALL) lib$(PGMASCLIB).a $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).0.48.so $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).so $(DESTDIR)$(libdir);\ + fi + # ToDo: not sure that the link will be installed correctly + #$(INSTALL) $(INCLUDEFILES) $(DESTDIR)$(includedir) + +# directories are not removed +uninstall: + -rm -f $(DESTDIR)$(bindir)/$(PROGRAM) + -rm -f $(DESTDIR)$(bindir)/gocr.tcl + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).a + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).0.48.so + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).so + # ToDo: set to old version.so ? + #for X in $(INCLUDEFILES); do rm -f $(DESTDIR)$(includedir)/$$X; done + +clean: + -rm -f *.o *~ + +proper: clean + -rm -f gocr libPgm2asc.* + -rm -f gocr + diff --git a/3rdparty/gocr-0.48/src/Makefile.in b/3rdparty/gocr-0.48/src/Makefile.in new file mode 100644 index 0000000..a029a74 --- /dev/null +++ b/3rdparty/gocr-0.48/src/Makefile.in @@ -0,0 +1,132 @@ +# +# Makefile for ./src path, used by configure +# + +EXEEXT = @EXEEXT@ +PROGRAM = gocr$(EXEEXT) +# lib removed for simplification (v0.46) +# but Igor from OSRA an optical chemical structure recognition software +# wants it (v0.47 Mar09) +PGMASCLIB = Pgm2asc +#LIBPGMASCLIB = lib$(PGMASCLIB).a +# ToDo: need a better pgm2asc.h for lib users +#INCLUDEFILES = gocr.h +# avoid german compiler messages +LANG=C + +LIBOBJS=pgm2asc.o \ + box.o \ + database.o \ + detect.o \ + barcode.o \ + lines.o \ + list.o \ + ocr0.o \ + ocr0n.o \ + ocr1.o \ + otsu.o \ + output.o \ + pixel.o \ + unicode.o \ + remove.o \ + pnm.o \ + pcx.o \ + progress.o \ + job.o + +# these two lines are for cross-compiling, not tested +#srcdir = @srcdir@ +#VPATH = @srcdir@ +bindir = @bindir@ +# lib removed for simplification +#libdir = @libdir@ +#includedir = @includedir@ + +CC=@CC@ +# lib removed for simplification +# ar,ranlib detection removed from configure (simplicity) +# but needed by some developpers (linux only) for for (make libs) +# RANLIB = @RANLIB@ +# AR = @AR@ +RANLIB = ranlib +AR = ar +INSTALL=@INSTALL@ +# shell is needed for OS/2 to let if test -r $(PROGRAM) ... work +SHELL=@SHELL@ + +DEFS=@DEFS@ +CPPFLAGS=@CPPFLAGS@ +# to see the config.h +CFLAGS=@CFLAGS@ $(CPPFLAGS) -I../include $(DEFS) +LDFLAGS=@LDFLAGS@ +LIBS=@LIBS@ +DESTDIR=@prefix@ + +.SUFFIXES: .s .o .c .h +# do not look for files if help (etc) is given +.PHONY : doc clean install libs default + +.c.o: gocr.h pgm2asc.h ../include/config.h + $(CC) $(CFLAGS) -c -o $*.o $< + +default: all + +# all: $(PROGRAM) lib$(PGMASCLIB).a +all: $(PROGRAM) + +gocr.o: gocr.h Makefile ../include/version.h + +.c.h: + +#$(PROGRAM): lib$(PGMASCLIB).a gocr.o +$(PROGRAM): $(LIBOBJS) gocr.o + # make it conform to ld --as-needed + #$(CC) -o $@ $(LDFLAGS) gocr.o ./lib$(PGMASCLIB).a $(LIBS) + $(CC) -o $@ $(LDFLAGS) gocr.o $(LIBOBJS) $(LIBS) + if test -r $(PROGRAM); then cp $@ ../bin; fi + +libs: lib$(PGMASCLIB).a lib$(PGMASCLIB).@PACKAGE_VERSION@.so + +lib$(PGMASCLIB).@PACKAGE_VERSION@.so: $(LIBOBJS) + $(CC) -fPIC -shared -Wl,-h$@ -o $@ $(LIBOBJS) + -ln -s $@ lib$(PGMASCLIB).so + +lib$(PGMASCLIB).a: $(LIBOBJS) + # -rm -f $@ + $(AR) cru $@ $(LIBOBJS) + $(RANLIB) $@ + +$(LIBOBJS): Makefile + +# PHONY = don't look at file clean, -rm = start rm and ignore errors +.PHONY : clean proper install uninstall +install: all + #$(INSTALL) -d $(DESTDIR)$(bindir) $(DESTDIR)$(libdir) $(DESTDIR)$(includedir) + $(INSTALL) -d $(DESTDIR)$(bindir) + $(INSTALL) ../bin/$(PROGRAM) $(DESTDIR)$(bindir) + $(INSTALL) ../bin/gocr.tcl $(DESTDIR)$(bindir) # better X11/bin? + if test -f lib$(PGMASCLIB).a; then\ + $(INSTALL) lib$(PGMASCLIB).a $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).@PACKAGE_VERSION@.so $(DESTDIR)$(libdir);\ + $(INSTALL) lib$(PGMASCLIB).so $(DESTDIR)$(libdir);\ + fi + # ToDo: not sure that the link will be installed correctly + #$(INSTALL) $(INCLUDEFILES) $(DESTDIR)$(includedir) + +# directories are not removed +uninstall: + -rm -f $(DESTDIR)$(bindir)/$(PROGRAM) + -rm -f $(DESTDIR)$(bindir)/gocr.tcl + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).a + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).@PACKAGE_VERSION@.so + -rm -f $(DESTDIR)$(libdir)/lib$(PGMASCLIB).so + # ToDo: set to old version.so ? + #for X in $(INCLUDEFILES); do rm -f $(DESTDIR)$(includedir)/$$X; done + +clean: + -rm -f *.o *~ + +proper: clean + -rm -f gocr libPgm2asc.* + -rm -f gocr + diff --git a/3rdparty/gocr-0.48/src/amiga.h b/3rdparty/gocr-0.48/src/amiga.h new file mode 100644 index 0000000..794b21d --- /dev/null +++ b/3rdparty/gocr-0.48/src/amiga.h @@ -0,0 +1,31 @@ +/* + this file was suggested by Uffe Holst Jun05,2000 + to compile gocr using SAS/C under AmigaOS + + uhc@post6.tele.dk + + SAS/C propably does not support ANSI C++, therefore this changes + + I am a little bit confused about using declaration and + macro definition of abs(). I think that should not be necessary. + Tell me, if you have an Amiga and you can give answer + to the following questions. + + Joerg Schulenburg, see README for EMAIL-address + + */ + +#ifdef _AMIGA +#ifdef __SASC +#if 0 +#include /* may be this can be removed ??? */ +#include /* may be this can be removed ??? */ +extern int abs(int); /* may be this can be removed ??? */ +#endif +#ifndef abs +#define abs(i) ((i) < 0 ? -(i) : (i)) +#endif +#endif +#endif + + diff --git a/3rdparty/gocr-0.48/src/barcode.c b/3rdparty/gocr-0.48/src/barcode.c new file mode 100644 index 0000000..8d30bea --- /dev/null +++ b/3rdparty/gocr-0.48/src/barcode.c @@ -0,0 +1,846 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ToDo: + - transform special xml bar code symbols (<>&) to xml symbols (<>&) + +*/ + +#include +#include +#include +/* #include -- we do not want unnecessary dependencies */ +#include "pgm2asc.h" +#include "gocr.h" +#include "pnm.h" + +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +#undef g_debug +#if DO_DEBUG +# define g_debug(a) if (JOB->cfg.verbose&1) { a } +#else +# define g_debug(a) +#endif + +/* + detect barcode and add a XML-string to the box (obj-pointer, ToDo) + ToDo: barcode-output stderr->stdout +*/ + +double sqr(double x) { return(x*x); } + +/* ----------------------------- code128 ---------------------------- * + * "BSBSBS", B=Bar, S=Space, better using 2*6=12bit-integer? */ +#define Num128 107 +const char *code128[Num128+1]={ /* can be generated by an algorithm? */ +/* 00 */"212222","222122","222221","121223","121322","131222","122213","122312", +/* 08 */"132212","221213","221312","231212","112232","122132","122231","113222", +/* 16 */"123122","123221","223211","221132","221231","213212","223112","312131", +/* 24 */"311222","321122","321221","312212","322112","322211","212123","212321", +/* 32 */"232121","111323","131123","131321","112313","132113","132311","211313", +/* 40 */"231113","231311","112133","112331","132131","113123","113321","133121", +/* 48 */"313121","211331","231131","213113","213311","213131","311123","311321", +/* 56 */"331121","312113","312311","332111","314111","221411","431111","111224", +/* 64 */"111422","121124","121421","141122","141221","112214","112412","122114", +/* 72 */"122411","142112","142211","241211","221114","413111","241112","134111", +/* 80 */"111242","121142","121241","114212","124112","124211","411212","421112", +/* 88 */"421211","212141","214121","412121","111143","111341","131141","114113", +/* 96 */"114311","411113","411311","113141","114131","311141","411131","211412", +/*104 */"211214","211232","2331112","???"}; + +/* + code128: see code128.tex by Petr Olsak (108 codes) + quiet_zone: size=10 (before and after code128) + num_bars=3*(start+chars[N]+crc+stop)+1 + B=bar S=space char=BSBSBS (size=11), stop=BSBSBSB (size=11+2) + Width: Bar,Space=1,[2,3,4] char=11 code=11*(N+3)+2 sumB=even,sumS=odd + startA="211412"=103 startB="211214"=104 startC="211232"=105(2dec_digits) + mode/code 0..95 96 97 98 99 100 101 102 103 104 105 106 + 1=A x20-x5f,0-x20 F3 F2 uB mC mB F4 F1 ^A ^B ^C $ + 2=B x20-x7f F3 F2 uA mC F4 mA F1 ^A ^B ^C $ + 3=C "00"-"95" "96" "97" "98" "99" mB mA F1 ^A ^B ^C $ + uA,uB: switch mode for next char, mA,mB: switch mode permanently + crc=(start+1*char1+2*char2+3*char3+...+N*charN) mod 103 + $=stop="2331112"=106 (4bars, with=13) => start/end==211 + return num of chars or string + + size B+W even-variants odd-variants num_codes + 11 = 8+3 = (1+3+4,2+2+4,2+3+3)+(1+1+1) => (6+3+3)*(1) = 12 + = 6+5 = (1+1+4,1+2+3,2+2+2)+(1+1+3,1+2+2) => (3+6+1)*(3+3) = 60 + = 4+7 = (1+1+2)+(1+2+4,1+3+3,2+2+3) => (3)*(6+3+3) = 36 + sum = 108 + */ + /* example: barcode -E -e 128c -b 1434600120000884 >a.eps */ + /* example: barcode -E -e 128b -b 14Test41 >a.eps */ + /* example: barcode -E -e 128raw -b 105 17 14 30 >a.eps */ + +char *decode_code128(int *wb, int num_bars){ + int i, w, i1, i2, i3=0, i4, i5=0, crc, mode=1; + double dww, dw, err, min_err; char cc, *buf; + char *result=NULL; /* malloc and store the result */ + + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; /* summ all bars and spaces */ + + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3!=0 || num_bars<10 || w<11*(num_bars-1)/3+2) + return 0; + g_debug(fprintf(stderr," code128 b%d s%d b%d\n",wb[0],wb[1],wb[2]);) + if (3*wb[0]<4* wb[1] + || 3*wb[0]<4* wb[2] + || 4*wb[0]<3*(wb[1]+wb[2]) + || 3*wb[0]>4*(wb[1]+wb[2])) return 0; /* 211 */ + dw=3.0*w/((num_bars-1)*11+6); + /* get enough memory for all digits in longest mode C */ + buf =(char *) malloc( (num_bars-7)/3*2+1); if (!buf) return result; + result=(char *) malloc(256+(num_bars-7)/3*2+1); + + dww=crc=0; + for(i4=i1=0;i1<(num_bars-1)/3;i1++) { + for(min_err=1e8,i3=Num128,i5=0;i5102 && i3<106) mode=i3-103+1; crc=i3; } /* start */ + if(i1>0 && i1<(num_bars-1)/3-2){ + crc+=i3*(i1); cc=0; /* first * 1 + second * 2 + third * 3 ... */ + i5=((mode>3)?mode>>2:mode&3); mode&=3; /* mode can be modified now */ + switch (i5) { /* mode=1..3=modeA..modeC */ + case 1: if (i3>=64 && i3<96) cc=i3-64; /* modeA: x20-x5f,0-x20 */ + else cc=i3+32; + if (i3==101) mode=1; /* switch to mode A */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=2<<2; /* shift to mode B */ + break; + case 2: cc=i3+32; /* modeB: x20-x7f */ + if (i3==100) mode=2; /* switch to mode B */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=1<<2; /* shift to mode A */ + break; + case 3: + if (i3==101) mode=1; /* switch to mode A */ + if (i3==100) mode=2; /* switch to mode B */ + } + if (i5==3) { buf[i4]='0'+i3/10; i4++; + buf[i4]='0'+i3%10; i4++; } /* modeC: two digits */ + else { + if (cc>=0x20 && i3<=0x7f) { buf[i4]=cc; i4++; } /* modeA+B: one digit */ + if (cc>=0 && cc< 0x20) { buf[i4]='^'; i4++; + buf[i4]=cc+'@'; i4++; } + } + } + if(i1==(num_bars-1)/3-2){ crc=(crc+103-i3)%103; } + if(i1==(num_bars-1)/3-1){ if(i3!=106) i3=-1; } /* stop code */ + mode &= 3; /* remove shift */ + } + else fprintf(stderr," %s=%02d? ",buf,i5); + } + buf[i4]=0; /* end of string */ + if (result) + sprintf(result,"", + i4,buf,crc,dww/((num_bars-1))); + free(buf); + return result; +} + +/* -------------------------------------------------------------------- UPC + EAN 13 (UPC,(1+6+1+6+1)*2bars,size=3+6*7+5+6*7+3=95) + EAN 8 (UPC,(1+4+1+4+1)*2bars,size=3+4*7+5+4*7+3=67) + UPC: (10 codes) + BSB SBSB^n SBSBS BSBS^n BSB + bsb ...... sbsbs ...... bsb + 111 ...... 11111 ...... 111 + num_bars=2*(2*6+3) middle=SBSBS=11111 right/left=BSB=111="101" + char: left=SBSB right=BSBS (size=7) only_dec_digits + SS+BB = (S+S) + (B+B) => BB:SS = 5:2 or 3:4 + size ev+odd even + odd => variants + 7 = 2 + 5 = (1+1) + (1+4,2+3) => (1)*(2+2) = 4 codes + = 4 + 3 = (1+3,2+2) + (1+3) => (2+1)*(2) = 6 codes += 10 codes + ToDo: make it more robust + - return error as mean deviation + * -------------------------------------------------------------------- */ + /* example: barcode -E -e upc -b 12345678901 >a.eps # ok */ + /* example: barcode -E -e ean -b 123456789012 >a.eps # ok */ +#define NumUPC 20 +const char *codeUPC[NumUPC+1]={ /* 0..9, first n = SBSB, last n = BSBS */ + "3211","2221","2122","1411","1132", /* 0,1,2,3,4 normal (+0bit) */ + "1231","1114","1312","1213","3112", /* 5,6,7,8,9 */ + "1123","1222","2212","1141","2311", /* 0,1,2,3,4 mirrored (+1bit) */ + "1321","4111","2131","3121","2113", /* 5,6,7,8,9 */ + "????"}; /* not found */ + +char *decode_UPC(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, crc, mirrored, ean; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=2.0*w/((num_bars-6)*7+2*11); /* or min(wb[]) */ + crc=0; + if ((num_bars)%2!=0 || num_bars<10 || w<7*(num_bars-6)/2+11 + || ((num_bars-6)/2)%2!=0) return 0; /* should be balanced */ + /* check front BSB, middle SBSBS and end BSB */ + dww=0; + for (i=0;i<3;i++) { dww=sqr(wb[i ]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<5;i++) { dww=sqr(wb[i+ num_bars-3]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<3;i++) { dww=sqr(wb[i+2*num_bars-4]/dw-1); if (dww>0.4) return 0; } + buf =(char *)malloc( (num_bars-6)/2+1); if (!buf) return result; + result=(char *)malloc(256+(num_bars-6)/2+1); + + for(ean=i5=0,i1=3;i1<2*num_bars-4;i1+=4) { /* each digit (2bars+2spaces) */ + if (i1==num_bars-3) { i1++; continue; } /* skip middle sync SBSBS */ + for (i4=NumUPC,mirrored=0,digit='?',min_err=16e8,i2=0;i2 0yyyyy */ + switch (ean) { + case 11: ean=1; break; + case 13: ean=2; break; + case 14: ean=3; break; + case 19: ean=4; break; + case 25: ean=5; break; + case 28: ean=6; break; + case 21: ean=7; break; + case 22: ean=8; break; + case 26: ean=9; break; + default: ean=0; /* no or invalid EAN digit or UPC-extension */ + } crc+=ean*1; + /* ToDo: fix possible buffer OVL, complement crc */ + buf[i5]=0; + if (result) + sprintf(result,"", + i5+1,ean,buf,(10-crc%10)%10,dww/((num_bars-6)*2)); + free(buf); + return result; +} + + /* EAN/UPC add-on is either 2 or 5 digits. It always starts with a + * guard bar BSB, followed by ([digit + SB] * (N-1)) + digit. Digit is + * SBSB. Two digit add-on's have 7 bars, and 5 digit add ons have 16. + */ +char *decode_UPC_addon(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, digits=num_bars/3; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + if (num_bars!=7 && num_bars!=16) + return 0; + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=1.0*w/(digits*7+4 + (digits-1)*2); + /* check front BSB, and delineators SB */ + dww=0; + for (i=0;i<2;i++) { dww=sqr(wb[i]/dw-1); if (dww>0.4) return 0; } + dww=sqr(wb[i]*0.5/dw-1); if (dww>0.4) return 0; + for (i=1;i 0.4) return 0; + } + } + buf =(char *)malloc( digits+1); if (!buf) return result; + result=(char *)malloc(256+digits+1); + + for(i5=0,i1=3;i1<2*num_bars-1;i1+=6) { /* each digit (2bars+2spaces) */ + for (i4=NumUPC,digit='?',min_err=16e8,i2=0;i2", + i5, buf, dww/((num_bars-6)*2)); + free(buf); + return result; +} + + +/* --------------------------------------------------------- * + * code 3 of 9, 3 thick of 9 bars + * BSBSBSBSB size=7+3*aw aw=2(3), sumS/sumB=2/1? + * two widths: size=1 or size=2or3, digit_width=13(16) + * 5 bars and 4(+1) spaces per digit, last space is not used + * with 2 (or 0) wide bars, 1 (or 3) wide spaces per digit + * => 3 of 9 => max=9*8*7=504 + * evenBB=(0of5)+(2of5) oddSS=(1of4)+(3of4) max=44 + * ToDo: better code -...-.-.. as 046 or 083 (even,even,odd) + */ +#define Num39 (40+4) /* (3of9)=(2of5)(1of4)+(0of5)(3of4), (2of5)(.-..)=0..9 */ +const char *code39= /* rearranged to BBBBBSSSS (bars,spaces) */ + "0..--..-.." +"1-...-.-..""2.-..-.-..""3--....-..""4..-.-.-..""5-.-...-.." +"6.--...-..""7...--.-..""8-..-..-..""9.-.-..-.." +"A-...-..-.""B.-..-..-.""C--.....-.""D..-.-..-.""E-.-....-." +"F.--....-.""G...--..-.""H-..-...-.""I.-.-...-.""J..--...-." +"K-...-...-""L.-..-...-""M--......-""N..-.-...-""O-.-.....-" +"P.--.....-""Q...--...-""R-..-....-""S.-.-....-""T..--....-" +"U-...--...""V.-..--...""W--...-...""X..-.--...""Y-.-..-..." +"Z.--..-...""-...---..."".-..-.-..."" .-.-.-...""*..--.-..." +/* (0of5)(3of4)=(.....)(3of4) store only 3of4? */ +"$.....---.""/.....--.-""+.....-.--""%......---" +"?xxxxxxxxx"; + +/* example: barcode -E -e 39 -b 123abc | gs -sDEVICE=pnggray -r100 */ + +/* return index[] according to sorted values[], big first */ +void sort(int *value, int *idx, int len){ + int i,j; + for (j=0;jdw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code39 base=%.3f chars=%2d\n ",dw,(num_bars)/5);) + buf =(char *)malloc( 1+(num_bars)/5); if (!buf) return result; + result=(char *)malloc(256+(num_bars)/5); + + for(i5=i1=0;i1<2*num_bars-3;i1+=10) { + /* ToDo: looking for three widest bars/gaps, 0 or 2 bars, 1 or 3 spaces */ + sort(wb+i1,idx,9); + for(err=0,i3=3;i3<9;i3++) // estimate error ?? + err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5", + i5,buf,code39[(crc%44)*10],dww/((num_bars/5)*6)); + free(buf); + return result; +} + +/* code interleaved 2 of 5 numbers-only (10 bars+spaces = 2 decimal digits) + B B B B B <= digit1 bars=1,3,5,... + S S S S S <= digit2 spaces=2,4,6,... + 1122447700 <= weight digit=sum(bit*weight)%11 (except 7+4=11 means 0) + N = narrow bar, W = wide bar, n = narrow space, w = wide space + "NnNn"+interleaved+"WnN" (odd num W, even num w) + 18 digits/inch + see http://www.barcode-1.net/i25code.html (Jun 2009) + minN=0.19mm=0.0075inch + sizeN>0.02inch: sizeW=2..3*sizeN (but constant) + sizeN<0.02inch: sizeW=2.2..3*sizeN + quite zones 10*sizeN or 0.25inch + heigh=max(0.15*symbol_length,0.25inch) + Len = (numChars*(2*(sizeW/sizeN)+3) + 6 + (sizeW/sizeN)) * sizeN + */ +#define Num25 10 +const char *code25= /* is the code sorted randomly? */ +"1-...-2.-..-3--...4..-.-5-.-..6.--..7...--8-..-.9.-.-.0..--."; + +/* example: barcode -E -e i25 -b 123456 >a.eps */ + +/* + add i25, patch by: Chris Lee, 13 Jul 2009 + ToDo: check correctness + */ +char *decode_i25(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i3, i5, crc, idx[7], pos; + double dw, dww, err; char *buf; + char *result=NULL; /* malloc and store the result */ + + int *wb_temp; + int *wb_check; + int code_chars; + + if ((num_bars)%5!=4) return 0; /* chars*5bars + 4 start/stop bars */ + code_chars = ((num_bars - 4) / 5) * 2; +// dw=w*1.0/(9*(num_bars/3)); /* threshold = 1.5..2 */ + + wb_temp = (int *)malloc((code_chars * 5)*sizeof(int)); if (!wb_temp) { return NULL; } + wb_check = (int *)malloc( 7 *sizeof(int)); if (!wb_check) { return NULL; } + + for (i=0; i<(code_chars * 5)+7; i++) { + if (i<4) { wb_check[i] = wb[i]; } /* start sequence NnNn... */ + else if (i > ((code_chars*5)+3)) { /* end sequence ...WnN */ + wb_check[(int)(i-(code_chars*5))] = wb[i]; } + else { + pos = i - 4; + /* reinterleave 0,5,1,6,2,7,3,8,4,9,... to 0,1,2,3,4,5,6,7,8,9,... */ + // pos = (int)(10*(int)(pos/10) + 1.0*(pos%10)/2.0 + 4.5*(pos%2)); + pos = 10*(pos/10) + (pos%10)/2 + 5*(pos&1); + wb_temp[pos] = wb[i]; + } + } + wb = wb_temp; + + /* check start / finish codes */ + sort(wb_check,idx,7); + if (idx[0] != 4 /* widest bar W must be the 4th = 1st of end */ + || wb_check[idx[0]]==wb_check[idx[1]]) { /* exact 1 widest */ + free(wb_temp); + free(wb_check); + g_debug(fprintf(stderr," need exact 1 widest at start of end, abort\n");) + return 0; + } + + for(w=i=0; i<5*code_chars;i++ ) w+=wb[i]; /* summ width */ + dw=w*1.0/(16*(num_bars/5)); /* threshold = 1.5..2 */ + /* whats best and most rigorosely for dw=threshold_width? + * - (1.5..2)*mean_width of every 5th space + * - (1.5..2)*summ(5bars+5spaces)/(13..16) + * - 3/4*summ(three thickest)/3 + */ + dww=crc=0; /* error and checksum (not supported yet) */ +#if 0 /* should we exclude any non-standard code39? */ + /* check for correct start and end symbol * or NwNnWnWnN Narrow+Wide */ + i=2*num_bars-2; + if (wb[ 0]>dw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code25 base=%.3f chars=%2d\n ",dw,code_chars);) + buf =malloc( code_chars); if (!buf) return result; + result=malloc(256+code_chars); + + for(i5=i1=0;i1<5*code_chars;i1+=5) { + /* ToDo: looking for three widest bars/gaps */ + sort(wb+i1,idx,5); + for(err=0,i3=2;i3<5;i3++) + err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5 3th widest */ + if (wb[i1+idx[1]]==wb[i1+idx[2]]) { + free(buf); free(result); + g_debug(fprintf(stderr," need exact 2 widest, abort\n");) + return 0; + } + } + } + buf[i5]=0; + if (result) // ToDo: fix CRC (not defined?) + sprintf(result,"", i5,buf,code25[(crc%10)*10],dww/((num_bars/5)*6)); + + free(wb_temp); + free(wb_check); + free(buf); + return result; +} + +/* code codabar, numbers only, 4 bars per char (1*wide bar, 1*wide space) + robust code (dot-matrix printer) + characters have same length (distance between 1st bar to 4th space) + ??? codeproject: 6*n+2*w=12 or 5*n+3*w=14 + ??? suchymips.de: + variant 1: 18 different bar widths (Monarch code) + variant 2: 2 different bar widths (Codabar Matrix or ABC-Codabar) + 9..11 digits/inch, N=narrow bar, W=wide bar, n=narrow space, w=wide space + see http://www.barcodeman.com/info/codabar.php (Jul 2009) + minN=0.17mm=0.0065inch, 11 digits/inch = 0.0909 = 14*minN + 2of7 + extensions + extensions: 1 wide bar + 2 wide spaces (no narrow space between 2 wide) + 4 start/stop sets = a/t, b/m, c/ *, d/e + - mean wide = thickest of 4 bars + - mean narrow = thinnest of 4 bars, thinnest of 3 (4) spaces or every 4th + wiki-sample: a31117013206375b (wide spaces between chars) schraeg! + barcode: t1234567t n=N=1 w=W=3 c=12,14 (not const.) + */ +const char *code27= /* 4bars+3spaces, 12+12 chars */ +// 0..11: 3 nbar + 1 wbar + 2 nspace + 1 wspace +"0.....--1....--.2...-..-3--.....4..-..-." +"5-....-.6.-....-7.-..-..8.--....9-..-...-...--..$..--..." +// 12..15: 1 nbar + 3 wbar + 3 nspace + 0 wspace +":-...-.-/-.-...-.-.-.-..+..-.-.-" +// 16..23: 3 nbar + 1 wbar + 1 nspace + 2 wspace +"a..--.-.b.-.-..-c...-.--d...---.t..--.-.n.-.-..-*...-.--e...---." +// EOS +"????????"; + +/* example: barcode -E -e cbr -b 123456 >a.eps */ + +char *decode_27(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, i1, i2, i3, i4, i5, b_idx[4], s_idx[3], b_w[4], s_w[3], + max_wdiff, err=0; + // double dw, err; + char *buf, char27[8]="......"; + char *result=NULL; /* malloc and store the result */ + + int code_chars; +#if 0 // ToDo: verifications nb_max < wb_min etc. + int nb_min=99999, nb_max=0, nb_sum=0, nb_num=0; // narrow bar + int ns_min=99999, ns_max=0, ns_sum=0, ns_num=0; // narrow space + int wb_min=99999, wb_max=0, wb_sum=0, wb_num=0; // wide bar + int ws_min=99999, ws_max=0, ws_sum=0, ws_num=0; // wide space +#endif + + if ((num_bars)%4!=0) return 0; /* chars*4bars */ + code_chars = num_bars / 4; +// dw=w*1.0/(9*(num_bars/3)); /* threshold = 1.5..2 */ + + g_debug(fprintf(stderr," codabar chars= %d\n ", code_chars);) + buf =malloc( code_chars); if (!buf) return result; + result=malloc(256+code_chars); + i5=0; // index output string + for (i=0; i< code_chars; i++) { + b_w[0]=wb[i*8+0]; // 1st bar + b_w[1]=wb[i*8+2]; // 2nd bar + b_w[2]=wb[i*8+4]; // 3th bar + b_w[3]=wb[i*8+6]; // 4th bar + s_w[0]=wb[i*8+1]; // 1st space + s_w[1]=wb[i*8+3]; // 2nd space + s_w[2]=wb[i*8+5]; // 3th space + sort(b_w,b_idx,4); /* idx[0] points to widest bar */ + sort(s_w,s_idx,3); /* idx[0] points to widest space */ + g_debug(for(i3=0;i3<7;i3++)fprintf(stderr,"%02d ",wb[8*i+i3]);) + if (b_w[b_idx[0]]==b_w[b_idx[3]]) { err=__LINE__; break; } // min. 1 wide + narrow + // search max. diff between sorted widths + i2=b_w[b_idx[0]]-b_w[b_idx[1]]; i1=1; max_wdiff=i2; // diff widest - 2nd wides + i2=b_w[b_idx[1]]-b_w[b_idx[2]]; if (i2>max_wdiff) { i1=2; max_wdiff=i2; } + i2=b_w[b_idx[2]]-b_w[b_idx[3]]; if (i2>max_wdiff) { i1=3; max_wdiff=i2; } + if (i1==2) { err=__LINE__; break; } // 2 wide + 2 narrow bars not allowed + for (i3=0;i3<7;i3++) char27[i3]='.'; // reset char + if (i1==1) { // 1 wide bar (1 or 2 wspaces) + if (s_w[s_idx[0]]-s_w[s_idx[1]] + >s_w[s_idx[1]]-s_w[s_idx[2]]) { // 1 wspace + char27[2*b_idx[0]+0]='-'; + char27[2*s_idx[0]+1]='-'; + } else { // assume 2 wspaces + if (s_w[s_idx[2]]==s_w[s_idx[1]]) { err=__LINE__; break; } + char27[2*b_idx[0]+0]='-'; + char27[2*s_idx[0]+1]='-'; + char27[2*s_idx[1]+1]='-'; + } + } else { // assume 3 wbars + 0 wspaces + char27[2*s_idx[0]+0]='-'; + char27[2*s_idx[1]+0]='-'; + char27[2*s_idx[2]+0]='-'; + } + for(i4=24,i3=0;i3<24;i3++) { + if (code27[8*i3+1]==char27[0] + && code27[8*i3+2]==char27[1] + && code27[8*i3+3]==char27[2] + && code27[8*i3+4]==char27[3] + && code27[8*i3+5]==char27[4] + && code27[8*i3+6]==char27[5] + && code27[8*i3+7]==char27[6]) { + i4=i3; buf[i5++]=code27[8*i3]; break; } + } + g_debug(fprintf(stderr," %s c27= %c\n ", char27, ((i5)?buf[i5-1]:'?'));) + if (i4==24) { err=__LINE__; break; } + } // each char + if (i>=code_chars) { // else: inconsistent char + g_debug(fprintf(stderr," code27 base=%.3f chars=%2d\n ",0.0,code_chars);) + } else { + g_debug(fprintf(stderr," error %d at char %d, abort\n", err, i);) + free(result); result=0; + } + buf[i5]=0; + if (result) // ToDo: fix CRC (not defined?) + sprintf(result,"", i5,buf,'?',0.0); + + free(buf); + return result; // free at parent! +} + + +/* + decode barcode + - check main characteristics (num bars, min+max width, etc.) + - detect code type + - the current algorithm measures the width of bars and spaces + called by detect_barcode() + ToDo: - like storing sequence of widths for 1D code + store array of bits for 2D matrix code and decode later + */ +char *decode_barcode(struct box *bb){ /* ToDo: char *dest, int len */ + int i, num_bars, yy, w, ww, dx, xx, cs=JOB->cfg.cs, *wb; + char *result=NULL; /* store the result */ + yy=(bb->y0+bb->y1)/2; + w=ww=bb->x1-bb->x0+1; + num_bars = num_cross(bb->x0,bb->x1,yy,yy,bb->p,JOB->cfg.cs); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... detect bars=%3d w=%4d",num_bars,ww); + + /* store width of bars and spaces to buffer wb */ + wb=(int *)malloc(2*num_bars*sizeof(int)); if(!wb) return NULL; + xx=bb->x0; + xx-=loop(bb->p,xx,yy, 8,cs,1,LE); + xx+=loop(bb->p,xx,yy,ww,cs,0,RI); /* start with a bar! */ + for (i=0;i<2*num_bars;i++) { + dx=loop(bb->p,xx,yy,w,cs,1^(i&1),RI); + xx+=dx; + w-=dx; + wb[i]=dx; + } wb[2*num_bars-1]=0; + + /* ToDo: what about probability? if not unique + * - add argument char *result which can be modified or not, + * - or add box2? (would reuse of this code more difficult) + */ + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3==0 && num_bars>=10 && ww>=11*(num_bars-1)/3+2){ + if (!result) result=decode_code128(wb,num_bars); + } + /* test UPC/EAN characteristics */ + if ((num_bars)%2==0 && num_bars>=8 && ww>=7*(num_bars-6)/2+11 + && ((num_bars-6)/2)%2==0){ /* should be balanced */ + if (!result) result=decode_UPC(wb,num_bars); + } + /* test UPC_addon by Michael van Rooyen, often on books */ + if (num_bars==7 || num_bars==16) + if (!result) result=decode_UPC_addon(wb,num_bars); + + /* test code39 characteristics */ + if ((num_bars)%5==0 && num_bars>14){ + if (!result) result=decode_39(wb,num_bars); + } + /* test i2of5 chartacteristics */ + if ((num_bars)%5==4 && num_bars>3) { + if (!result) result=decode_i25(wb,num_bars); + } + + /* test codabar chartacteristics */ + if ((num_bars)%4==0 && num_bars>3) { + if (!result) result=decode_27(wb,num_bars); + } + + free(wb); + return result; +} + +/* + * taking the list of boxes and search for groups of bars (1D-barcodes) + */ +int detect_barcode(job_t *job) +{ + int j=0, j2=0, bx0, by0, bx1, by1, bdx, bdy, bbx, rm, + x0, y0, dx, dy, cs, y, yl0, yl1, yr0, yr1; + struct box *box2, *box3; + + if(JOB->cfg.verbose) + fprintf(stderr,"# barcode.c detect_barcode "); + x0=y0=0; rm=0; dx=job->src.p.x; dy=job->src.p.y; cs=JOB->cfg.cs; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* detect width (bdx) and height (bdy) of possible bar */ + /* ToDo: better check for a line */ + bdx=box2->x1-box2->x0+1 /* substract correction for skewed bars */ + -loop(box2->p,box2->x1,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,LE) + -loop(box2->p,box2->x0,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,RI); + bdy=box2->y1-box2->y0+1; + if (box2->c == PICTURE || box2->c == UNKNOWN) + if (box2->y0 >= y0 && box2->y1 <= y0 + dy /* within frame? */ + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->y1 - box2->y0 > 19 /* min. length */ + && box2->y1 - box2->y0 > 8 * bdx + ) { /* a bar? */ + j=1; /* number of bars */ + bx0=box2->x0; bx1=box2->x1; /* initial values for barcode frame */ + by0=box2->y0; by1=box2->y1; + bbx=bx1-bx0+2; /* width of bar */ + /* this is for scans which are not exactly horizontal */ + yl0=yr0=by0; /* left and right upper bound */ + yl1=yr1=by1; /* left and right lower bound */ + /* --- iteratively take into account next nearest bar --- + * this is important, because bar-boxes are not in right order */ + for (j2=1;j2;) { + j2=0; + /* expand a frame around the potential barcode (bx0,by0,bx1,by1) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if (box3->y0 >= y0 && box3->y1 <= y0 + dy /* within image */ + && box3->x0 >= x0 && box3->x1 <= x0 + dx + && box3->y1 - box3->y0 > 19 /* min. length */ + && box3->y1 - box3->y0 > 4 * (bdx) /* height > 4*width2 */ + && box3->x1 - box3->x0 < 4 * (bdy) /* width < height/4 = bar */ + && (( abs(box3->y0-by0)y1-by1)y0-yl0)y1-yl1)x0 <= bx0 ) + ||( abs(box3->y0-yr0)y1-yr1)x0 >= bx1 ) ) + && box3->x0 > bx0 - 12*bbx /* startspace=5...10 */ + && box3->x1 < bx1 + 12*bbx + && box3->x0 > bx0 - bdy/2 /* dont glue two barcodes together */ + && box3->x1 < bx1 + bdy/2 /* ex: ean13a.jpg */ + /* dont check bars which already within the frame twice ? */ + && ( box3->x1 > bx1 || box3->x0 < bx0 ) + ) { /* a bar? -> extend barcode frame only in x direction */ + /* take minimum of y to have valid barcode for all y */ + if (box3->x0x0; yl0=box3->y0; yl1=box3->y1; } + if (box3->x1>bx1) { bx1=box3->x1; yr0=box3->y0; yr1=box3->y1; } + if (4*(box3->y1-box3->y0)>3*(by1-by0)) { /* carefull reduce */ + if (box3->y0>by0) by0=box3->y0; /* ToDo: fix for non-horizontal */ + if (box3->y1y1; + } + j++; /* found a near bar and count to num bars */ + j2=1; /* continue searching (endless loop?) */ + } + } end_for_each(&(JOB->res.boxlist)); + } + /* j is the num of bars found above, some inner bars are not counted */ + /* ToDo: better iterative add next nearest bars from sorted list near bars? */ + if (j>5) { + char *code=0; + box2->c=PICTURE; /* BARCODE */ + box2->x0=bx0; box2->y0=by0; + box2->x1=bx1; box2->y1=by1; + /* ToDo: add pointer to decoded text */ + + y=(box2->y0+box2->y1)/2; + if (JOB->cfg.verbose){ + int nbars; + nbars=num_cross(box2->x0,box2->x1,y,y,box2->p,JOB->cfg.cs); + fprintf(stderr,"\n# barcode at %3d %3d size %3d %3d nbars %d (%d)", + bx0,by0,bx1-bx0+1,by1-by0+1,nbars,j); + if (j!=nbars) + fprintf(stderr,"\n# ... trouble: num_found_bars != num_cross"); + /* this is because some far bars are detected before near bars */ + } + /* transport the info to the gocr-output (development) */ + /* ToDo: decode and print/store barcode bars=j */ + code=decode_barcode(box2); /* ToDo: char *dest, int len */ + if (!code) { /* failed */ + code=(char *)malloc(128); + /* ToDo: analyze and output num_bars, width of bars etc. */ + if(code) strncpy(code,"",128); + } + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... decoded as: %s", code); + setas(box2,code,99); /* ToDo: set a better weight */ + free(code); + + /* remove inner boxes, only if sure!? (ToDo: use cfg.certainty) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if ( abs(box3->y0-by0)y1-by1)x1 <= bx1 + && box3->x0 >= bx0 + ) { + rm++; /* count removed boxes */ + list_del(&(JOB->res.boxlist),box3); + free_box(box3); + } + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... removed boxes: %d", rm); + rm=0; + } + } + } end_for_each(&(JOB->res.boxlist)); + + /* recalculate averages without bars */ + JOB->res.numC=JOB->res.sumX=JOB->res.sumY=j2=0; + for_each_data(&(JOB->res.boxlist)) { + j2++; + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box3->c==PICTURE) continue; + JOB->res.numC++; /* count remaining boxes */ + JOB->res.sumX+=box3->x1-box3->x0+1; + JOB->res.sumY+=box3->y1-box3->y0+1; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... boxes %d nC %d\n", + j2, JOB->res.numC); + + /* ToDo: detect DataMatrix = iec16022 + * search square of 2 lines and 2 dottet lines (first no rotation) + * output characteristics pixel size, bytes, code type, etc. + */ + + return 0; +} + diff --git a/3rdparty/gocr-0.48/src/barcode.c.orig b/3rdparty/gocr-0.48/src/barcode.c.orig new file mode 100644 index 0000000..0f8e99a --- /dev/null +++ b/3rdparty/gocr-0.48/src/barcode.c.orig @@ -0,0 +1,593 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2008 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ToDo: + - transform special xml bar code symbols (<>&) to xml symbols (<>&) + +*/ + +#include +#include +#include +#include "pgm2asc.h" +#include "gocr.h" +#include "pnm.h" + +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +#undef g_debug +#if DO_DEBUG +# define g_debug(a) a +#else +# define g_debug(a) +#endif + +/* + detect barcode and add a XML-string to the box (obj-pointer, ToDo) + ToDo: barcode-output stderr->stdout +*/ + +double sqr(double x) { return(x*x); } + +/* ----------------------------- code128 ---------------------------- * + * "BSBSBS", B=Bar, S=Space, better using 2*6=12bit-integer? */ +#define Num128 107 +const char *code128[Num128+1]={ /* can be generated by an algorithm? */ +/* 00 */"212222","222122","222221","121223","121322","131222","122213","122312", +/* 08 */"132212","221213","221312","231212","112232","122132","122231","113222", +/* 16 */"123122","123221","223211","221132","221231","213212","223112","312131", +/* 24 */"311222","321122","321221","312212","322112","322211","212123","212321", +/* 32 */"232121","111323","131123","131321","112313","132113","132311","211313", +/* 40 */"231113","231311","112133","112331","132131","113123","113321","133121", +/* 48 */"313121","211331","231131","213113","213311","213131","311123","311321", +/* 56 */"331121","312113","312311","332111","314111","221411","431111","111224", +/* 64 */"111422","121124","121421","141122","141221","112214","112412","122114", +/* 72 */"122411","142112","142211","241211","221114","413111","241112","134111", +/* 80 */"111242","121142","121241","114212","124112","124211","411212","421112", +/* 88 */"421211","212141","214121","412121","111143","111341","131141","114113", +/* 96 */"114311","411113","411311","113141","114131","311141","411131","211412", +/*104 */"211214","211232","2331112","???"}; + +/* + code128: see code128.tex by Petr Olsak (108 codes) + quiet_zone: size=10 (before and after code128) + num_bars=3*(start+chars[N]+crc+stop)+1 + B=bar S=space char=BSBSBS (size=11), stop=BSBSBSB (size=11+2) + Width: Bar,Space=1,[2,3,4] char=11 code=11*(N+3)+2 sumB=even,sumS=odd + startA="211412"=103 startB="211214"=104 startC="211232"=105(2dec_digits) + mode/code 0..95 96 97 98 99 100 101 102 103 104 105 106 + 1=A x20-x5f,0-x20 F3 F2 uB mC mB F4 F1 ^A ^B ^C $ + 2=B x20-x7f F3 F2 uA mC F4 mA F1 ^A ^B ^C $ + 3=C "00"-"95" "96" "97" "98" "99" mB mA F1 ^A ^B ^C $ + uA,uB: switch mode for next char, mA,mB: switch mode permanently + crc=(start+1*char1+2*char2+3*char3+...+N*charN) mod 103 + $=stop="2331112"=106 (4bars, with=13) => start/end==211 + return num of chars or string + + size B+W even-variants odd-variants num_codes + 11 = 8+3 = (1+3+4,2+2+4,2+3+3)+(1+1+1) => (6+3+3)*(1) = 12 + = 6+5 = (1+1+4,1+2+3,2+2+2)+(1+1+3,1+2+2) => (3+6+1)*(3+3) = 60 + = 4+7 = (1+1+2)+(1+2+4,1+3+3,2+2+3) => (3)*(6+3+3) = 36 + sum = 108 + */ + /* example: barcode -E -e 128c -b 1434600120000884 >a.eps */ + /* example: barcode -E -e 128b -b 14Test41 >a.eps */ + /* example: barcode -E -e 128raw -b 105 17 14 30 >a.eps */ + +char *decode_code128(int *wb, int num_bars){ + int i, w, i1, i2, i3=0, i4, i5=0, crc, mode=1; + double dww, dw, err, min_err; char cc, *buf; + char *result=NULL; /* malloc and store the result */ + + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; /* summ all bars and spaces */ + + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3!=0 || num_bars<10 || w<11*(num_bars-1)/3+2) + return 0; + g_debug(fprintf(stderr,"\n code128 b%d s%d b%d",wb[0],wb[1],wb[2]);) + if (3*wb[0]<4* wb[1] + || 3*wb[0]<4* wb[2] + || 4*wb[0]<3*(wb[1]+wb[2]) + || 3*wb[0]>4*(wb[1]+wb[2])) return 0; /* 211 */ + dw=3.0*w/((num_bars-1)*11+6); + /* get enough memory for all digits in longest mode C */ + buf =(char *) malloc( (num_bars-7)/3*2+1); if (!buf) return result; + result=(char *) malloc(256+(num_bars-7)/3*2+1); + + dww=crc=0; + for(i4=i1=0;i1<(num_bars-1)/3;i1++) { + for(min_err=1e8,i3=Num128,i5=0;i5102 && i3<106) mode=i3-103+1; crc=i3; } /* start */ + if(i1>0 && i1<(num_bars-1)/3-2){ + crc+=i3*(i1); cc=0; /* first * 1 + second * 2 + third * 3 ... */ + i5=((mode>3)?mode>>2:mode&3); mode&=3; /* mode can be modified now */ + switch (i5) { /* mode=1..3=modeA..modeC */ + case 1: if (i3>=64 && i3<96) cc=i3-64; /* modeA: x20-x5f,0-x20 */ + else cc=i3+32; + if (i3==101) mode=1; /* switch to mode A */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=2<<2; /* shift to mode B */ + break; + case 2: cc=i3+32; /* modeB: x20-x7f */ + if (i3==100) mode=2; /* switch to mode B */ + if (i3== 99) mode=3; /* switch to mode C */ + if (i3== 98) mode|=1<<2; /* shift to mode A */ + break; + case 3: + if (i3==101) mode=1; /* switch to mode A */ + if (i3==100) mode=2; /* switch to mode B */ + } + if (i5==3) { buf[i4]='0'+i3/10; i4++; + buf[i4]='0'+i3%10; i4++; } /* modeC: two digits */ + else { + if (cc>=0x20 && i3<=0x7f) { buf[i4]=cc; i4++; } /* modeA+B: one digit */ + if (cc>=0 && cc< 0x20) { buf[i4]='^'; i4++; + buf[i4]=cc+'@'; i4++; } + } + } + if(i1==(num_bars-1)/3-2){ crc=(crc+103-i3)%103; } + if(i1==(num_bars-1)/3-1){ if(i3!=106) i3=-1; } /* stop code */ + mode &= 3; /* remove shift */ + } + else fprintf(stderr," %s=%02d? ",buf,i5); + } + buf[i4]=0; /* end of string */ + if (result) + sprintf(result,"", + i4,buf,crc,dww/((num_bars-1))); + free(buf); + return result; +} + +/* -------------------------------------------------------------------- UPC + EAN 13 (UPC,(1+6+1+6+1)*2bars,size=3+6*7+5+6*7+3=95) + EAN 8 (UPC,(1+4+1+4+1)*2bars,size=3+4*7+5+4*7+3=67) + UPC: (10 codes) + BSB SBSB^n SBSBS BSBS^n BSB + bsb ...... sbsbs ...... bsb + 111 ...... 11111 ...... 111 + num_bars=2*(2*6+3) middle=SBSBS=11111 right/left=BSB=111="101" + char: left=SBSB right=BSBS (size=7) only_dec_digits + SS+BB = (S+S) + (B+B) => BB:SS = 5:2 or 3:4 + size ev+odd even + odd => variants + 7 = 2 + 5 = (1+1) + (1+4,2+3) => (1)*(2+2) = 4 codes + = 4 + 3 = (1+3,2+2) + (1+3) => (2+1)*(2) = 6 codes += 10 codes + ToDo: make it more robust + - return error as mean deviation + * -------------------------------------------------------------------- */ + /* example: barcode -E -e upc -b 12345678901 >a.eps # ok */ + /* example: barcode -E -e ean -b 123456789012 >a.eps # ok */ +#define NumUPC 20 +const char *codeUPC[NumUPC+1]={ /* 0..9, first n = SBSB, last n = BSBS */ + "3211","2221","2122","1411","1132", /* 0,1,2,3,4 normal (+0bit) */ + "1231","1114","1312","1213","3112", /* 5,6,7,8,9 */ + "1123","1222","2212","1141","2311", /* 0,1,2,3,4 mirrored (+1bit) */ + "1321","4111","2131","3121","2113", /* 5,6,7,8,9 */ + "????"}; /* not found */ + +char *decode_UPC(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, crc, mirrored, ean; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=2.0*w/((num_bars-6)*7+2*11); /* or min(wb[]) */ + crc=0; + if ((num_bars)%2!=0 || num_bars<10 || w<7*(num_bars-6)/2+11 + || ((num_bars-6)/2)%2!=0) return 0; /* should be balanced */ + /* check front BSB, middle SBSBS and end BSB */ + dww=0; + for (i=0;i<3;i++) { dww=sqr(wb[i ]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<5;i++) { dww=sqr(wb[i+ num_bars-3]/dw-1); if (dww>0.4) return 0; } + for (i=0;i<3;i++) { dww=sqr(wb[i+2*num_bars-4]/dw-1); if (dww>0.4) return 0; } + buf =(char *)malloc( (num_bars-6)/2+1); if (!buf) return result; + result=(char *)malloc(256+(num_bars-6)/2+1); + + for(ean=i5=0,i1=3;i1<2*num_bars-4;i1+=4) { /* each digit (2bars+2spaces) */ + if (i1==num_bars-3) { i1++; continue; } /* skip middle sync SBSBS */ + for (i4=NumUPC,mirrored=0,digit='?',min_err=16e8,i2=0;i2 0yyyyy */ + switch (ean) { + case 11: ean=1; break; + case 13: ean=2; break; + case 14: ean=3; break; + case 19: ean=4; break; + case 25: ean=5; break; + case 28: ean=6; break; + case 21: ean=7; break; + case 22: ean=8; break; + case 26: ean=9; break; + default: ean=0; /* no or invalid EAN digit or UPC-extension */ + } crc+=ean*1; + /* ToDo: fix possible buffer OVL, complement crc */ + buf[i5]=0; + if (result) + sprintf(result,"", + i5+1,ean,buf,(10-crc%10)%10,dww/((num_bars-6)*2)); + free(buf); + return result; +} + + /* EAN/UPC add-on is either 2 or 5 digits. It always starts with a + * guard bar BSB, followed by ([digit + SB] * (N-1)) + digit. Digit is + * SBSB. Two digit add-on's have 7 bars, and 5 digit add ons have 16. + */ +char *decode_UPC_addon(int *wb, int num_bars){ /* ToDo: char *dest, int len */ + int i, w, i1, i2, i3, i4, i5, digits=num_bars/3; + double err, min_err, dw, dww=0.0; char digit; + char *result=NULL, *buf=NULL; /* malloc and store the result */ + if (num_bars!=7 && num_bars!=16) + return 0; + for(w=i=0;i<2*num_bars-1;i++) w+=wb[i]; + + dw=1.0*w/(digits*7+4 + (digits-1)*2); + /* check front BSB, and delineators SB */ + dww=0; + for (i=0;i<2;i++) { dww=sqr(wb[i]/dw-1); if (dww>0.4) return 0; } + dww=sqr(wb[i]*0.5/dw-1); if (dww>0.4) return 0; + for (i=1;i 0.4) return 0; + } + } + buf =(char *)malloc( digits+1); if (!buf) return result; + result=(char *)malloc(256+digits+1); + + for(i5=0,i1=3;i1<2*num_bars-1;i1+=6) { /* each digit (2bars+2spaces) */ + for (i4=NumUPC,digit='?',min_err=16e8,i2=0;i2", + i5, buf, dww/((num_bars-6)*2)); + free(buf); + return result; +} + + +/* --------------------------------------------------------- * + * code 3 of 9, 3 thick of 9 bars + * BSBSBSBSB size=7+3*aw aw=2(3), sumS/sumB=2/1? + * two widths: size=1 or size=2or3, digit_width=13(16) + * 5 bars and 4(+1) spaces per digit, last space is not used + * with 2 (or 0) thick bars, 1 (or 3) thick spaces per digit + * => 3 of 9 => max=9*8*7=504 + * evenBB=(0of5)+(2of5) oddSS=(1of4)+(3of4) max=44 + * ToDo: better code -...-.-.. as 046 or 083 (even,even,odd) + */ +#define Num39 (40+4) /* (3of9)=(2of5)(1of4)+(0of5)(3of4), (2of5)(.-..)=0..9 */ +const char *code39= /* rearranged to BBBBBSSSS (bars,spaces) */ + "0..--..-.." +"1-...-.-..""2.-..-.-..""3--....-..""4..-.-.-..""5-.-...-.." +"6.--...-..""7...--.-..""8-..-..-..""9.-.-..-.." +"A-...-..-.""B.-..-..-.""C--.....-.""D..-.-..-.""E-.-....-." +"F.--....-.""G...--..-.""H-..-...-.""I.-.-...-.""J..--...-." +"K-...-...-""L.-..-...-""M--......-""N..-.-...-""O-.-.....-" +"P.--.....-""Q...--...-""R-..-....-""S.-.-....-""T..--....-" +"U-...--...""V.-..--...""W--...-...""X..-.--...""Y-.-..-..." +"Z.--..-...""-...---..."".-..-.-..."" .-.-.-...""*..--.-..." +/* (0of5)(3of4)=(.....)(3of4) store only 3of4? */ +"$.....---.""/.....--.-""+.....-.--""%......---" +"?xxxxxxxxx"; + +/* example: barcode -E -e 39 -b 123abc | gs -sDEVICE=pnggray -r100 */ + +/* return index[] according to sorted values[], big first */ +void sort(int *value, int *idx, int len){ + int i,j; + for (j=0;jdw*2 || wb[ 1]<=dw*2 || wb[ 2]> dw*2) return 0; + if (wb[i-0]>dw*2 || wb[i-1]> dw*2 || wb[i-2]<=dw*2) return 0; +#endif + g_debug(fprintf(stderr," code39 base=%.3f chars=%2d\n ",dw,(num_bars)/5);) + buf =(char *)malloc( 1+(num_bars)/5); if (!buf) return result; + result=(char *)malloc(256+(num_bars)/5); + + for(i5=i1=0;i1<2*num_bars-3;i1+=10) { + /* ToDo: looking for three widest bars/gaps */ + sort(wb+i1,idx,9); + for(err=0,i3=3;i3<9;i3++) err+=sqr(wb[i1+idx[i3]]/dw-1.0); /* narrow=1, wide=2..3 */ + dww+=err; + for(i3=0;i30 && i5", + i5,buf,code39[(crc%44)*10],dww/((num_bars/5)*6)); + free(buf); + return result; +} + +/* code interleaved 2 of 5 + B B B B B <= digit 1,3,5,... + S S S S S <= digit 2,4,6,... + 1 2 4 7 0 <= weight digit=sum(bit*weight)%11 + */ +const char *code25= /* is the code sorted randomly? */ +"1-...-2.-..-3--...4..-.-5-.-..6.--..7...--8-..-.9.-.-.0..--."; + +/* example: barcode -E -e i25 -b 123456 >a.eps */ + +/* ToDo: decode_i25 (low priority) */ + +/* + decode barcode + - check main characteristics (num bars, min+max width, etc.) + - detect code type + - the current algorithm measures the width of bars and spaces + called by detect_barcode() + */ +char *decode_barcode(struct box *bb){ /* ToDo: char *dest, int len */ + int i, num_bars, yy, w, ww, dx, xx, cs=JOB->cfg.cs, *wb; + char *result=NULL; /* store the result */ + yy=(bb->y0+bb->y1)/2; + w=ww=bb->x1-bb->x0+1; + num_bars = num_cross(bb->x0,bb->x1,yy,yy,bb->p,JOB->cfg.cs); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... detect bars=%3d w=%4d",num_bars,ww); + + /* store width of bars and spaces to buffer wb */ + wb=(int *)malloc(2*num_bars*sizeof(int)); if(!wb) return NULL; + xx=bb->x0; + xx-=loop(bb->p,xx,yy, 8,cs,1,LE); + xx+=loop(bb->p,xx,yy,ww,cs,0,RI); /* start with a bar! */ + for (i=0;i<2*num_bars;i++) { + dx=loop(bb->p,xx,yy,w,cs,1^(i&1),RI); + xx+=dx; + w-=dx; + wb[i]=dx; + } wb[2*num_bars-1]=0; + + /* ToDo: what about probability? if not unique + * - add argument char *result which can be modified or not, + * - or add box2? (would reuse of this code more difficult) + */ + /* test code128 characteristics, ToDo: look for correct start/stop 211 seq. */ + if ((num_bars-1)%3==0 && num_bars>=10 && ww>=11*(num_bars-1)/3+2){ + if (!result) result=decode_code128(wb,num_bars); + } + /* test UPC/EAN characteristics */ + if ((num_bars)%2==0 && num_bars>=8 && ww>=7*(num_bars-6)/2+11 + && ((num_bars-6)/2)%2==0){ /* should be balanced */ + if (!result) result=decode_UPC(wb,num_bars); + } + /* test UPC_addon by Michael van Rooyen, often on books */ + if (num_bars==7 || num_bars==16) + if (!result) result=decode_UPC_addon(wb,num_bars); + + /* test code39 characteristics */ + if ((num_bars)%5==0 && num_bars>14){ + if (!result) result=decode_39(wb,num_bars); + } + free(wb); + return result; +} + +/* + * taking the list of boxes and search for groups of bars (1D-barcodes) + */ +int detect_barcode(job_t *job) +{ + int j=0, j2=0, bx0, by0, bx1, by1, bdx, bdy, bbx, rm, + x0, y0, dx, dy, cs, y, yl0, yl1, yr0, yr1; + struct box *box2, *box3; + + if(JOB->cfg.verbose) + fprintf(stderr,"# barcode.c detect_barcode "); + x0=y0=0; rm=0; dx=job->src.p.x; dy=job->src.p.y; cs=JOB->cfg.cs; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* detect width (bdx) and height (bdy) of possible bar */ + /* ToDo: better check for a line */ + bdx=box2->x1-box2->x0+1 /* substract correction for skewed bars */ + -loop(box2->p,box2->x1,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,LE) + -loop(box2->p,box2->x0,(box2->y0+box2->y1)/2,box2->x1-box2->x0,cs,0,RI); + bdy=box2->y1-box2->y0+1; + if (box2->c == PICTURE || box2->c == UNKNOWN) + if (box2->y0 >= y0 && box2->y1 <= y0 + dy /* within frame? */ + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->y1 - box2->y0 > 19 /* min. length */ + && box2->y1 - box2->y0 > 8 * bdx + ) { /* a bar? */ + j=1; /* number of bars */ + bx0=box2->x0; bx1=box2->x1; /* initial values for barcode frame */ + by0=box2->y0; by1=box2->y1; + bbx=bx1-bx0+2; /* width of bar */ + /* this is for scans which are not exactly horizontal */ + yl0=yr0=by0; /* left and right upper bound */ + yl1=yr1=by1; /* left and right lower bound */ + /* --- iteratively take into account next nearest bar --- + * this is important, because bar-boxes are not in right order */ + for (j2=1;j2;) { + j2=0; + /* expand a frame around the potential barcode (bx0,by0,bx1,by1) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if (box3->y0 >= y0 && box3->y1 <= y0 + dy /* within image */ + && box3->x0 >= x0 && box3->x1 <= x0 + dx + && box3->y1 - box3->y0 > 19 /* min. length */ + && box3->y1 - box3->y0 > 4 * (bdx) /* height > 4*width2 */ + && box3->x1 - box3->x0 < 4 * (bdy) /* width < height/4 = bar */ + && (( abs(box3->y0-by0)y1-by1)y0-yl0)y1-yl1)x0 <= bx0 ) + ||( abs(box3->y0-yr0)y1-yr1)x0 >= bx1 ) ) + && box3->x0 > bx0 - 12*bbx /* startspace=5...10 */ + && box3->x1 < bx1 + 12*bbx + && box3->x0 > bx0 - bdy/2 /* dont glue two barcodes together */ + && box3->x1 < bx1 + bdy/2 /* ex: ean13a.jpg */ + /* dont check bars which already within the frame twice ? */ + && ( box3->x1 > bx1 || box3->x0 < bx0 ) + ) { /* a bar? -> extend barcode frame only in x direction */ + /* take minimum of y to have valid barcode for all y */ + if (box3->x0x0; yl0=box3->y0; yl1=box3->y1; } + if (box3->x1>bx1) { bx1=box3->x1; yr0=box3->y0; yr1=box3->y1; } + if (4*(box3->y1-box3->y0)>3*(by1-by0)) { /* carefull reduce */ + if (box3->y0>by0) by0=box3->y0; /* ToDo: fix for non-horizontal */ + if (box3->y1y1; + } + j++; /* found a near bar and count to num bars */ + j2=1; /* continue searching (endless loop?) */ + } + } end_for_each(&(JOB->res.boxlist)); + } + /* j is the num of bars found above, some inner bars are not counted */ + /* ToDo: better iterative add next nearest bars from sorted list near bars? */ + if (j>5) { + char *code=0; + box2->c=PICTURE; /* BARCODE */ + box2->x0=bx0; box2->y0=by0; + box2->x1=bx1; box2->y1=by1; + /* ToDo: add pointer to decoded text */ + + y=(box2->y0+box2->y1)/2; + if (JOB->cfg.verbose){ + int nbars; + nbars=num_cross(box2->x0,box2->x1,y,y,box2->p,JOB->cfg.cs); + fprintf(stderr,"\n# barcode at %3d %3d size %3d %3d nbars %d (%d)", + bx0,by0,bx1-bx0+1,by1-by0+1,nbars,j); + if (j!=nbars) + fprintf(stderr,"\n# ... trouble: num_found_bars != num_cross"); + /* this is because some far bars are detected before near bars */ + } + /* transport the info to the gocr-output (development) */ + /* ToDo: decode and print/store barcode bars=j */ + code=decode_barcode(box2); /* ToDo: char *dest, int len */ + if (!code) { /* failed */ + code=(char *)malloc(128); + /* ToDo: analyze and output num_bars, width of bars etc. */ + if(code) strncpy(code,"",128); + } + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... decoded as: %s", code); + setas(box2,code,99); /* ToDo: set a better weight */ + free(code); + + /* remove inner boxes, only if sure!? (ToDo: use cfg.certainty) */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* bdy=box3->y1-box3->y0+1; */ + if (box2!=box3) + if (box3->c == PICTURE || box3->c == UNKNOWN) + if ( abs(box3->y0-by0)y1-by1)x1 <= bx1 + && box3->x0 >= bx0 + ) { + rm++; /* count removed boxes */ + list_del(&(JOB->res.boxlist),box3); + free_box(box3); + } + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr,"\n# ... removed boxes: %d", rm); + rm=0; + } + } + } end_for_each(&(JOB->res.boxlist)); + + /* recalculate averages without bars */ + JOB->res.numC=JOB->res.sumX=JOB->res.sumY=j2=0; + for_each_data(&(JOB->res.boxlist)) { + j2++; + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box3->c==PICTURE) continue; + JOB->res.numC++; /* count remaining boxes */ + JOB->res.sumX+=box3->x1-box3->x0+1; + JOB->res.sumY+=box3->y1-box3->y0+1; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr,"\n# ... boxes %d nC %d\n", + j2, JOB->res.numC); + + return 0; +} + diff --git a/3rdparty/gocr-0.48/src/barcode.h b/3rdparty/gocr-0.48/src/barcode.h new file mode 100644 index 0000000..aa10cf2 --- /dev/null +++ b/3rdparty/gocr-0.48/src/barcode.h @@ -0,0 +1,11 @@ +#ifndef _BARCODE_H +#define _BARCODE_H +#include "pnm.h" + +/* + detect barcode and add a string to the box (obj-pointer) +*/ + +int detect_barcode(job_t *job); + +#endif diff --git a/3rdparty/gocr-0.48/src/box.c b/3rdparty/gocr-0.48/src/box.c new file mode 100644 index 0000000..8d7078b --- /dev/null +++ b/3rdparty/gocr-0.48/src/box.c @@ -0,0 +1,372 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL address + + */ + +#include +#include +#include +#include +/* do we need #include ? conflicts with INFINITY in unicode.h */ +#include "gocr.h" +#include "pgm2asc.h" + +/* for sorting letters by position on the image +/ ToDo: - use function same line like this or include lines.m1 etc. */ +int box_gt(struct box *box1, struct box *box2) { + // box1 after box2 ? + if (box1->line > box2->line) + return 1; + if (box1->line < box2->line) + return 0; + if (box1->x0 > box2->x1) // before + return 1; + if (box1->x1 < box2->x0) // before + return 0; + if (box1->x0 > box2->x0) // before, overlapping! + return 1; + + return 0; +} + +/* --- copy part of pix p into new pix b ---- len=10000 + * Returns: 0 on success, 1 on error. + * naming it as copybox isnt very clever, because it dont have to do with the + * char boxes (struct box) + */ +int copybox (pix * p, int x0, int y0, int dx, int dy, pix * b, int len) { + int x, y; + + /* test boundaries */ + if (b->p == NULL || dx < 0 || dy < 0 || dx * dy > len) { + fprintf(stderr, " error-copybox x=%5d %5d d=%5d %5d\n", x0, y0, dx, dy); + return 1; + } + + b->x = dx; + b->y = dy; + b->bpp = 1; +#ifdef FASTER_INCOMPLETE + for (y = 0; y < dy; y++) + memcpy(&pixel_atp(b, 0, y), &pixel_atp(p, x0, y + y0 ), dx); + // and unmark pixels +#else + for (y = 0; y < dy; y++) + for (x = 0; x < dx; x++) + pixel_atp(b, x, y) = getpixel(p, x + x0, y + y0); +#endif + + return 0; +} + +/* reset table of alternative chars (and free memory) */ +int reset_box_ac(struct box *box){ + int i; + for (i=0; inum_ac; i++) + if (box->tas[i]) { + /* fprintf(stderr,"DBG free_s[%d] %p %s\n",i,box->tas[i],box->tas[i]); */ + free(box->tas[i]); + box->tas[i]=0; /* prevent double freeing */ + } + box->num_ac=0; /* mark as freed */ + return 0; +} + +/* ini or copy a box: get memory for box and initialize the memory */ +struct box *malloc_box (struct box *inibox) { + struct box *buf; + int i; + + buf = (struct box *) malloc(sizeof(struct box)); + if (!buf) + return NULL; + if (inibox) { + memcpy(buf, inibox, sizeof(struct box)); + /* only pointer are copied, we want to copy the contents too */ + for (i=0;inum_ac;i++) { + if (inibox->tas[i]) { + buf->tas[i]=(char *)malloc(strlen(inibox->tas[i])+1); + memcpy(buf->tas[i], inibox->tas[i], strlen(inibox->tas[i])+1); + } + } + } + else { /* ToDo: init it */ + buf->num_ac=0; + buf->num_frames=0; + } + /* fprintf(stderr,"\nDBG ini_box %p",buf); */ + return buf; +} + +/* free memory of box */ +int free_box (struct box *box) { + if (!box) return 0; + /* fprintf(stderr,"DBG free_box %p\n",box); out_x(box); */ + reset_box_ac(box); /* free alternative char table */ + free(box); /* free the box memory */ + return 0; +} + +/* simplify the vectorgraph, + * but what is the best way? + * a) melting two neighbouring vectors with nearly same direction? + * (nearest angle to pi) + * b) melting three neigbours with smallest area? + * ToDo: + * mode = 0 - only lossless + * mode = 1 - reduce one vector, smallest possible loss + * mode = 2 - remove jitter (todo, or somewhere else) + * ToDo: include also loop around (last - first element) + * ToDo: reduce by 10..50% + */ +int reduce_vectors ( struct box *box1, int mode ) { + int i1, i2, nx, ny, mx, my, len, + minlen=1024, /* minlength of to neighbouring vectors */ + besti1=0, /* frame for best reduction */ + besti2=2; /* vector replacing its predecessor */ + double sprod, maxsprod=-1; + if (mode!=1) fprintf(stderr,"ERR not supported yet, ToDo\n"); + for (i2=1,i1=0; i1num_frames; i1++) { /* every frame */ + for (;i2num_frame_vectors[i1]-1; i2++) { /* every vector */ + /* predecessor n */ + nx = box1->frame_vector[i2-0][0] - box1->frame_vector[i2-1][0]; + ny = box1->frame_vector[i2-0][1] - box1->frame_vector[i2-1][1]; + /* successor m */ + mx = box1->frame_vector[i2+1][0] - box1->frame_vector[i2-0][0]; + my = box1->frame_vector[i2+1][1] - box1->frame_vector[i2-0][1]; + /* angle is w = a*b/(|a|*|b|) = 1 means parallel */ + /* normalized: minimize w^2 = (a*b/(|a|*|b|)-1)^2 */ + /* -1=90grd, 0=0grd, -2=180grd */ + sprod = /* fabs */(abs(nx*mx+ny*my)*(nx*mx+ny*my) + /(1.*(nx*nx+ny*ny)*(mx*mx+my*my))-1); + /* we dont include math.h because INFINITY conflicts to unicode,h */ + if (sprod<0) sprod=-sprod; + len = (mx*mx+my*my)*(nx*nx+ny*ny); /* sum lengths^2 */ +// ..c ###c ... .. ... +// .b. len=2+2 #b.. len=2+5 #bc len=1+2 bc len=1+1 b#a len=4+5 +// a.. spr=0 a... spr=1/10 a.. spr=1/4 a. spr=1 ##c spr=9/5 +// + if ( len* sprod* sprod* sprod* sprod + num_frames>0) + for (i2=besti2; i2num_frame_vectors[ box1->num_frames-1 ]-1; i2++) { + box1->frame_vector[i2][0]=box1->frame_vector[i2+1][0]; + box1->frame_vector[i2][1]=box1->frame_vector[i2+1][1]; + } + for (i1=besti1; i1num_frames; i1++) + box1->num_frame_vectors[i1]--; +// fprintf(stderr,"\nDBG_reduce_vectors i= %d nv= %d sprod=%f len2=%d\n# ...", +// besti2,box1->num_frame_vectors[ box1->num_frames-1 ],maxsprod,minlen); +// out_x(box1); + return 0; +} + +/* add the contents of box2 to box1 + * especially add vectors of box2 to box1 + */ +int merge_boxes( struct box *box1, struct box *box2 ) { + int i1, i2, i3, i4; + struct box tmpbox, *bsmaller, *bbigger; /* for mixing and sorting */ + /* DEBUG, use valgrind to check uninitialized memory */ +#if 0 + fprintf(stderr,"\nDBG merge_boxes_input:"); out_x(box1); out_x(box2); +#endif + /* pair distance is to expendable, taking borders is easier */ + if ((box2->x1 - box2->x0)*(box2->y1 - box2->y0) + >(box1->x1 - box1->x0)*(box1->y1 - box1->y0)) { + bbigger=box2; bsmaller=box1; } + else { + bbigger=box1; bsmaller=box2; } + /* ToDo: does not work if a third box is added */ + if (box2->y0>box1->y1 || box2->y1y0 + || box2->x0>box1->x1 || box2->x1x0) { + box1->num_boxes += box2->num_boxes; /* num seperate objects 2=ij */ + } else { + if (box2->num_boxes>box1->num_boxes) box1->num_boxes=box2->num_boxes; + box1->num_subboxes += box2->num_subboxes+1; /* num holes 1=abdepq 2=B */ + } + box1->dots += box2->dots; /* num i-dots */ + if ( box2->x0 < box1->x0 ) box1->x0 = box2->x0; + if ( box2->x1 > box1->x1 ) box1->x1 = box2->x1; + if ( box2->y0 < box1->y0 ) box1->y0 = box2->y0; + if ( box2->y1 > box1->y1 ) box1->y1 = box2->y1; + i1 = i2 = 0; + if (bbigger->num_frames) + i1 = bbigger->num_frame_vectors[ bbigger->num_frames - 1 ]; + if (bsmaller->num_frames) + i2 = bsmaller->num_frame_vectors[ bsmaller->num_frames - 1 ]; + while (i1+i2 > MaxFrameVectors) { + if (i1>i2) { reduce_vectors( bbigger, 1 ); i1--; } + else { reduce_vectors( bsmaller, 1 ); i2--; } + } + /* if i1+i2>MaxFrameVectors simplify the vectorgraph */ + /* if sum num_frames>MaxNumFrames through shortest graph away and warn */ + /* first copy the bigger box */ + memcpy(&tmpbox, bbigger, sizeof(struct box)); + /* attach the smaller box */ + for (i4=i3=0; i3num_frames; i3++) { + if (tmpbox.num_frames>=MaxNumFrames) break; + + for (; i4num_frame_vectors[i3]; i4++) { + memcpy(tmpbox.frame_vector[i1], + bsmaller->frame_vector[i4],2*sizeof(int)); + i1++; + } + tmpbox.num_frame_vectors[ tmpbox.num_frames ] = i1; + tmpbox.frame_vol[ tmpbox.num_frames ] = bsmaller->frame_vol[ i3 ]; + tmpbox.frame_per[ tmpbox.num_frames ] = bsmaller->frame_per[ i3 ]; + tmpbox.num_frames++; + if (tmpbox.num_frames>=MaxNumFrames) { + if (JOB->cfg.verbose) + fprintf(stderr,"\nDBG merge_boxes MaxNumFrames reached"); + break; + } + } + /* copy tmpbox to destination */ + box1->num_frames = tmpbox.num_frames; + memcpy(box1->num_frame_vectors, + tmpbox.num_frame_vectors,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_vol, + tmpbox.frame_vol,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_per, + tmpbox.frame_per,sizeof(int)*MaxNumFrames); + memcpy(box1->frame_vector, + tmpbox.frame_vector,sizeof(int)*2*MaxFrameVectors); +#if 0 + if (JOB->cfg.verbose) + fprintf(stderr,"\nDBG merge_boxes_result:"); out_x(box1); +#endif + return 0; +} + +/* used for division of glued chars + * after a box is splitted into 2, where vectors are copied to both, + * vectors outside the new box are cutted and thrown away, + * later replaced by + * - 1st remove outside vectors with outside neighbours (complete frames?) + * add vector on outside vector with inside neighbours + * care about connections through box between outside vectors + * - 2nd reduce outside crossings (inclusive splitting frames if necessary) + * depending on direction (rotation) of outside connections + * - 3th shift outside vectors to crossing points + * - split add this points, connect only in-out...out-in, + * - cutting can result in more objects + * ToDo: + * dont connect --1---2--------3----4-- new-y1 (inside above not drawn) + * \ \->>>>-/ / outside + * \----<<<<-----/ old-y1 + * |======| subtractable? + * + * only connect --1---2--------3----4-- new-y1 + * \>>/ \>>>/ old-y1 outside + * ToDo: what about cutting 2 frames (example: 2fold melted MN) + * better restart framing algo? + * + * ToDo: new vol, per + */ +int cut_box( struct box *box1) { + int i1, i2, i3, i4, x, y, lx, ly, dbg=0; + if (JOB->cfg.verbose) dbg=1; // debug level, enlarge to get more output + if (dbg) fprintf(stderr,"\n cut box x= %3d %3d", box1->x0, box1->y0); + /* check if complete frames are outside the box */ + for (i1=0; i1num_frames; i1++){ + if (dbg>2) fprintf(stderr,"\n checking frame %d outside", i1); + i2 = ((i1)?box1->num_frame_vectors[ i1-1 ]:0); // this frame + i3 = box1->num_frame_vectors[ i1 ]; // next frame + for (i4=i2; i4 < i3; i4++) { + x = box1->frame_vector[i4][0]; + y = box1->frame_vector[i4][1]; + /* break, if one vector is lying inside */ + if (x>=box1->x0 && x<=box1->x1 && y>=box1->y0 && y<=box1->y1) break; + } + if (i4==i3) { /* all vectors outside */ + if (dbg>1) fprintf(stderr,"\n remove frame %d",i1); + /* replace all frames i1,i1+1,... by i1+1,i1+2,... */ + /* replace (x,y) pairs first */ + for (i4=i2; i4num_frame_vectors[ box1->num_frames-1 ]-(i3-i2); + i4++) { + box1->frame_vector[i4][0] = box1->frame_vector[i4+i3-i2][0]; + box1->frame_vector[i4][1] = box1->frame_vector[i4+i3-i2][1]; + } + /* replace the num_frame_vectors */ + for (i4=i1; i4num_frames-1; i4++) + box1->num_frame_vectors[ i4 ] = + box1->num_frame_vectors[ i4+1 ]-(i3-i2); + box1->num_frames--; i1--; + } + } + /* remove vectors outside the box */ + i3=0; + for (i1=0; i1num_frames; i1++){ + if (dbg>2) fprintf(stderr,"\n check cutting vectors on frame %d", i1); + x = box1->frame_vector[0][0]; /* last x */ + y = box1->frame_vector[0][1]; /* last y */ + /* ToDo: start inside to get a closed object */ + if (xx0 || x>box1->x1 || yy0 || y>box1->y1) i3=1; + for (i2=0; i2num_frame_vectors[ i1 ]; i2++) { + lx = x; /* last x */ + ly = y; /* last y */ + x = box1->frame_vector[i2][0]; + y = box1->frame_vector[i2][1]; + // fprintf(stderr,"DBG LEV3 i2= %3d xy= %3d %3d",i2,x,y); + /* check if outside */ + if (xx0 || x>box1->x1 || yy0 || y>box1->y1) { + /* replace by nearest point at border, ToDo: better crossingpoint */ + if (i3==0) { /* wrong if it starts outside */ + if (x < box1->x0) x = box1->frame_vector[i2][0] = box1->x0; + if (x > box1->x1) x = box1->frame_vector[i2][0] = box1->x1; + if (y < box1->y0) y = box1->frame_vector[i2][1] = box1->y0; + if (y > box1->y1) y = box1->frame_vector[i2][1] = box1->y1; + } else { + /* remove vector */ + if (dbg>1) fprintf(stderr,"\n remove vector[%d][%d] x= %2d %2d",i1,i2,x-box1->x0,y-box1->y0); + for (i4=i2;i4num_frame_vectors[ box1->num_frames-1 ]-1;i4++) { + box1->frame_vector[i4][0] = box1->frame_vector[i4+1][0]; + box1->frame_vector[i4][1] = box1->frame_vector[i4+1][1]; + } + for (i4=i1; i4num_frames; i4++) + box1->num_frame_vectors[ i4 ]--; + i2--; /* next element is shiftet now, setting back the counter */ + } + i3++; + // fprintf(stderr," outside i3= %d\n",i3); + continue; + } + // fprintf(stderr," inside i3= %d",i3); + if (i3) { /* ToDo: better crossing point last vector and border */ + if (lx < box1->x0) lx = box1->x0; + if (lx > box1->x1) lx = box1->x1; + if (ly < box1->y0) ly = box1->y0; + if (ly > box1->y1) ly = box1->y1; + x = box1->frame_vector[i2][0] = lx; + y = box1->frame_vector[i2][1] = ly; + i3 = 0; + } + // fprintf(stderr," xy= %3d %3d\n",x,y); + } + } + if (dbg>2) { fprintf(stderr,"\nDBG cut_box_result:"); out_x(box1); } + return 0; +} + diff --git a/3rdparty/gocr-0.48/src/database.c b/3rdparty/gocr-0.48/src/database.c new file mode 100644 index 0000000..e8cb9a3 --- /dev/null +++ b/3rdparty/gocr-0.48/src/database.c @@ -0,0 +1,462 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL address + */ + +#include +#include +#include "gocr.h" +#include "pnm.h" +#include "pgm2asc.h" +#include +#include + +#define Blen 256 + +// load boxes from database into boxlist (for faster access) +// used as alternate engine, comparing chars with database +int load_db(void) { + FILE *f1; + char s1[Blen+1], + s2[Blen+1] = "./db/", /* ToDo: replace by constant! by configure */ + *s3; + int i, j, ii, i2, line; + struct box *box1; + pix *pp; + + if( JOB->cfg.db_path ) strncpy(s2,JOB->cfg.db_path,Blen-1); + i2=strlen(s2); + if (JOB->cfg.verbose) + fprintf(stderr, "# load database %s %s ... ",s2,JOB->cfg.db_path); + + strncpy(s2+i2,"db.lst",Blen-i2);s2[Blen]=0; + f1 = fopen(s2, "r"); + if (!f1) { + fprintf(stderr, " DB %s not found\n",s2); + return 1; + } + + line = 0; /* line counter for better error report */ + for (ii = 0; !feof(f1); ii++) { +/* bbg: should write a better input routine */ + if (!fgets(s1, Blen, f1)) break; line++; + j = strlen(s1); + /* remove carriage return sequences from line */ + while (j > 0 && (s1[j - 1] == '\r' || s1[j - 1] == '\n')) + s1[--j] = 0; + if (!j) continue; /* skip empty line */ + if (s1[0]=='#') continue; /* skip comments (v0.44) */ + /* copy file name */ + for (i = 0; i < j && i+i2 < Blen && strchr(" \t,;",s1[i]) == 0; i++) + s2[i2 + i] = s1[i]; + s2[i2+i]=0; + /* skip spaces */ + for (; i < j && strchr(" \t",s1[i]) != 0; i++); + /* by now: read pix, fill box, goto next ??? */ + pp = (pix *)malloc(sizeof(pix)); + if( !pp ) fprintf(stderr,"malloc error in load_db pix\n"); + + // if (JOB->cfg.verbose) fprintf(stderr,"\n# readpgm %s ",s2); + if (readpgm(s2, pp, 0 * JOB->cfg.verbose)!=0) { + fprintf(stderr,"\ndatabase error: readpgm %s\n", s2); + exit(-1); + } + + box1 = (struct box *)malloc_box(NULL); + if(!box1) fprintf(stderr,"malloc error in load_db box1\n"); + box1->x0 = 0; + box1->x1 = pp->x-1; // white border 1 pixel width + box1->y0 = 0; + box1->y1 = pp->y-1; + box1->x = 1; + box1->y = 1; + box1->dots = 0; + box1->c = 0; + box1->modifier = 0; /* ToDo: obsolete */ + box1->tas[0]=NULL; + box1->tac[0]=0; + box1->wac[0]=100; /* really 100% sure? */ + box1->num_ac=1; + if (s1[i]=='"'){ /* parse a string */ + j=strrchr(s1+i+1,'"')-(s1+i+1); /* we only look for first and last "" */ + if (j>=1) { + s3=(char *)malloc(j+1); + if (!s3) fprintf (stderr, "malloc error in load_db s3\n"); + if (s3) { + memcpy(s3,s1+i+1,j); + s3[j]=0; + box1->tas[0]=s3; + // fprintf(stderr,"\nstring=%s",s3); + } + } else { fprintf(stderr,"load_db: string parse error L%d\n",line); } + } else { + box1->tac[0] = box1->c = s1[i]; /* try to interpret as ASCII */ + /* we can live without hexcode in future if we use UTF8-strings */ + s3=s1+i; + j=strtol( s1+i, &s3, 16); /* try to read 4 to 8 digit hex unicode */ + /* if its an hexcode, ASCII interpretation is overwritten */ + if( j && i+3<=Blen && s3-s1-i>3 ) box1->tac[0] = box1->c = j; + // fprintf(stderr,"\nhexcode=%04x=%04x %d",(int)j,(int)box1->c,s3-s1-i); + } + box1->num = 0; + box1->line = -1; + box1->m1 = 0; /* ToDo: should be given too in the database! */ + box1->m2 = 0; + box1->m3 = 0; + box1->m4 = 0; + box1->p = pp; + list_app(&JOB->tmp.dblist, box1); // append to list +#if 0 + out_x(box1); +#endif + } + fclose(f1); + if (JOB->cfg.verbose) + fprintf(stderr, " %d chars loaded\n", ii); + return 0; +} + +// expand database from box/boxlist name=db_$utime.pbm +// this is added in version v0.3.3 +int store_db(struct box *box1) { + FILE *f1; + char s2[Blen+1] = "./db/", s3[Blen+1]; + int i2, dx, dy; + unsigned c_out; + pix b; /* temporary mini page */ + + if( JOB->cfg.db_path ) strncpy(s2,JOB->cfg.db_path,Blen-1); + i2=strlen(s2); + + /* add (first) char and time to the file name for better debugging */ + + /* decide between 7bit ASCII and UTF8-char or string */ + c_out = ((box1->num_ac && box1->tas[0]) ? + (unsigned char )box1->tas[0][0] /* char */ : + box1->c /* wchar */); + /* (unsigned int)(( char)0x80) = 0xffffff80 */ + /* (unsigned int)((unsigned char)0x80) = 0x00000080 */ + + /* name generation can cause problems, if called twice within a second */ + sprintf(s3,"db_%04x_%08lx.pbm", c_out, (unsigned long)time(NULL)); + /* ToDo: the file name may be not unique */ + + strncpy(s2+i2,"db.lst",Blen-i2);s2[Blen]=0; + f1 = fopen(s2, "a"); + if (!f1) { + fprintf(stderr, " could not access %s\n",s2); + return 1; + } + strncpy(s2+i2,s3,strlen(s3)); s2[i2+strlen(s3)]=0; + /* store image and infos about the char */ + /* ToDo: store the vector list instead of the pixelarray */ + + if (JOB->cfg.verbose) + fprintf(stderr, "store_db: add file %s to database (nac=%d c=%04x)" + "\n#",s3, box1->num_ac, c_out); + + dx=box1->x1-box1->x0+1; + dy=box1->y1-box1->y0+1; + b.p = (unsigned char *) malloc( dx * dy ); + if( !b.p ){ + fprintf( stderr, "\nFATAL: malloc failed, skip store_db" ); + return 2; + } + if (copybox(box1->p, box1->x0, box1->y0, dx, dy, &b, dx * dy)) + return -1; + + writepbm(s2,&b); /* What is to do on error? */ + free(b.p); + + /* store the database line */ + /* some infos about box1->m1,..,m4 should added (base line, high etc.) */ + if (box1->num_ac && box1->tas[0]) { + fprintf(f1, "%s \"%s\"\n",s3,box1->tas[0]); + /* ToDo: what if tas contains '"'? */ + } else { + if( (box1->c >= '0' && box1->c <= '9') + || (box1->c >= 'A' && box1->c <= 'Z') + || (box1->c >= 'a' && box1->c <= 'z') ) + fprintf(f1, "%s %c\n",s3,(char)box1->c); + else { + if (((box1->c)>>16)>>16) + fprintf(f1, "%s %08x\n",s3,(unsigned int)box1->c); + else + fprintf(f1, "%s %04x\n",s3,(unsigned int)box1->c); + } + } + fclose(f1); + return 0; +} + +/* function is only for user prompt on console to identify chars + it prints out a part of pixmap b at point x0,y0 to stderr + using dots .,; if no pixel, and @xoO for pixels + */ +void out_env(struct box *px ){ + int x0,y0,x1,y1,dx,dy,x,y,x2,y2,yy0,tx,ty,i,cs; + char c1, c2; pix *b; + cs=JOB->cfg.cs; + yy0=px->y0; + { /* overwrite rest of arguments */ + b=px->p; + x0=px->x0; x1=px->x1; dx=x1-x0+1; + y0=px->y0; y1=px->y1; dy=y1-y0+1; + y0-=2; y1+=2; + if (px->m4 && y0>px->m1) y0=px->m1; + if (px->m4 && y1m4) y1=px->m4; + if (x1-x0+1<52) { x0-=10; x1+=10; } /* fragment? expand frame */ + if (x1-x0+1<52) { x0-=10; x1+=10; } /* fragment? expand frame */ + if (x1-x0+1<62) { x0-=5; x1+=5; } + if (y1-y0+1<10) { y0-= 4; y1+= 4; } /* fragment? */ + if (x0<0) x0=0; if (x1>=b->x) x1=b->x-1; + if (y0<0) y0=0; if (y1>=b->y) y1=b->y-1; + dx=x1-x0+1; + dy=y1-y0+1; yy0=y0; + fprintf(stderr,"\n# show box + environment"); + fprintf(stderr,"\n# show box x= %4d %4d d= %3d %3d r= %d %d", + px->x0, px->y0, px->x1 - px->x0 + 1, px->y1 - px->y0 + 1, + px->x - px->x0, px->y - px->y0); + if (px->num_ac){ /* output table of chars and its probabilities */ + fprintf(stderr,"\n# list box char: "); + for(i=0;inum_ac && itas[i]) + fprintf(stderr," %s(%d)", px->tas[i] ,px->wac[i]); + else + fprintf(stderr," %s(%d)",decode(px->tac[i],ASCII),px->wac[i]); + } + fprintf(stderr,"\n"); + if (px->dots && px->m2 && px->m1m1; dy=px->y1-yy0+1; } + } + tx=dx/80+1; + ty=dy/40+1; // step, usually 1, but greater on large maps + fprintf(stderr,"# show pattern x= %4d %4d d= %3d %3d t= %d %d\n", + x0,y0,dx,dy,tx,ty); + if (dx>0) + for(y=yy0;yx0 || x > px->x1 + || y+ty-1 < px->y0 || y > px->y1) c1=((c1=='#')?'O':','); + fprintf(stderr,"%c", c1 ); + } + + c1=c2=' '; + /* mark lines with < */ + if (px) if (y==px->m1 || y==px->m2 || y==px->m3 || y==px->m4) c1='<'; + if (y==px->y0 || y==px->y1) c2='-'; /* boxmarks */ + fprintf(stderr,"%c%c\n",c1,c2); + } +} + + +/* +// second variant, for database (with slightly other behaviour) +// new variant +// look at the environment of the pixel too (contrast etc.) +// detailed analysis only of diff pixels! +// +// 100% * distance, 0 is best fit +// = similarity of 2 chars for recognition of noisy chars +// weigth of pixels with only one same neighbour set to 0 +// look at contours too! + ToDo: especially on small boxes distance should only be 0 if + characters are 100% identical! +*/ +// #define DEBUG 2 +int distance2( pix *p1, struct box *box1, + pix *p2, struct box *box2, int cs){ + int rc=0,x,y,v1,v2,i1,i2,rgood=0,rbad=0, + x1,y1,x2,y2,dx,dy,dx1,dy1,dx2,dy2,tx,ty; +#if DEBUG == 2 + if(JOB->cfg.verbose) + fprintf(stderr," DEBUG: distance2\n"); +#endif + x1=box1->x0;y1=box1->y0;x2=box2->x0;y2=box2->y0; + dx1=box1->x1-box1->x0+1; dx2=box2->x1-box2->x0+1; dx=((dx1>dx2)?dx1:dx2);dx=dx1; + dy1=box1->y1-box1->y0+1; dy2=box2->y1-box2->y0+1; dy=((dy1>dy2)?dy1:dy2);dy=dy1; + if(abs(dx1-dx2)>1+dx/16 || abs(dy1-dy2)>1+dy/16) rbad++; // how to weight? + // compare relations to baseline and upper line + if(box1->m4>0 && box2->m4>0){ // used ??? + if(2*box1->y1>box1->m3+box1->m4 && 2*box2->y1m3+box2->m4) rbad+=128; + if(2*box1->y0>box1->m1+box1->m2 && 2*box2->y0m1+box2->m2) rbad+=128; + } + tx=dx/16; if(dx<17)tx=1; // raster + ty=dy/32; if(dy<33)ty=1; + // compare pixels + for( y=0;y0) + rbad+=16*v1; + } + if(rgood+rbad) rc= 100*rbad/(rgood+rbad); else rc=99; + /* if width/high is not correct add badness */ + rc += ( abs(dx1*dy2-dx2*dy1) * 10 ) / (dy1*dy2); + if (rc>100) rc=100; + if(/* rc<10 && */ JOB->cfg.verbose /* &1024 */){ +#if DEBUG == 2 + fprintf(stderr," distance2 rc=%d rgood=%d rbad=%d\n",rc,rgood,rbad); +// out_b(NULL,p1,box1->x0,box1->y0,box1->x1-box1->x0+1, +// box1->y1-box1->y0+1,cs); +// out_b(NULL,p2,box2->x0,box2->y0,box2->x1-box2->x0+1, +// box2->y1-box2->y0+1,cs); + out_x(box1); + out_x(box2); +#endif + } + return rc; +} + +wchar_t ocr_db(struct box *box1) { + int dd = 1000, dist = 1000; + wchar_t c = UNKNOWN; + unsigned char buf[200]; /* Oct08 JS: add unsigned to avoid UTF problems */ + Box *box2, *box3; + + if (!list_empty(&JOB->tmp.dblist)){ + box3 = (Box *)list_get_header(&JOB->tmp.dblist); + if(JOB->cfg.verbose) + fprintf(stderr,"\n#DEBUG: ocr_db (%d,%d) ",box1->x0, box1->y0); + + for_each_data(&JOB->tmp.dblist) { + box2 = (Box *)list_get_current(&JOB->tmp.dblist); + /* do preselect!!! distance() slowly */ + dd = distance2( box2->p, box2, box1->p, box1, JOB->cfg.cs); + if (dd <= dist) { /* new best fit */ + dist = dd; + box3 = box2; /* box3 is a pointer and not copied box2 */ + + if (dist<100 && 100-dist >= JOB->cfg.certainty) { + /* some deviation of the pattern is tolerated */ + int i, wa; + for (i=0;inum_ac;i++) { + wa = (100-dist)*box3->wac[i]/100; /* weight *= (100-dist) */ + if (box3->tas[i]) setas(box1,box3->tas[i],wa); + else setac(box1,box3->tac[i],wa); + } + if (box3->num_ac) c=box3->tac[0]; /* 0 for strings (!UNKNOWN) */ + if (JOB->cfg.verbose) + fprintf(stderr, " dist=%4d c= %c 0x%02x %s wc= %3d", dist, + ((box3->c>32 && box3->c<127) ? (char) box3->c : '.'), + (int)box3->c, ((box3->tas[0])?box3->tas[0]:""), box3->wac[0]); + } + if (dd<=0 && ((box3->num_ac && box3->tas[0]) || box3->c >= 128 + || !strchr ("l1|I0O", box3->c))) + break; /* speedup if found */ + } + } end_for_each(&JOB->tmp.dblist); + + } + + if( (JOB->cfg.mode&128) != 0 && c == UNKNOWN ) { /* prompt the user */ + /* should the output go to stderr or special pipe??? */ + int utf8_ok=0; /* trigger this flag if input is ok */ + int i, endchar; /* index */ + out_env(box1); /* old: out_x(box1); */ + fprintf(stderr,"The above pattern was not recognized.\n" + "Enter UTF8 char or string for above pattern. Leave empty if unsure.\n" + "Press RET at the end (ALT+RET to store into RAM only) : " + ); /* ToDo: empty + alt-return (0x1b 0x0a) for help? ^a for skip all */ + /* UTF-8 (man 7 utf-8): + * 7bit = 0xxxxxxx (0000-007F) + * 11bit = 110xxxxx 10xxxxxx (0080-07FF) + * 16bit = 1110xxxx 10xxxxxx 10xxxxxx (0800-FFFF) + * 21bit = 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx + * 26bit = 111110xx 10xxxxxx 10xxxxxx 10xxxxxx 10xxxxxx + * 31bit = 1111110x 10xxxxxx 10xxxxxx 10xxxxxx 10xxxxxx 10xxxxxx + */ + buf[0]=0; + /* shift/ctrl/altgr-enter acts like enter or ^j or ^m, + * alt-enter returns 0x1b 0x0a and returns from fgets() + * ^d (EOF) returns (nil) from fgets() + * x+(2*)ctrl-d returns from fgets() without returning a 0x0a + * if not UTF-input-mode, we are in trouble? + * ^a=0x01, ^b=0x02, ^e=05, ..., ToDo: meaning of no-input or <=space + */ + fgets((char *)buf,200,stdin); /* including \n=0x0a */ + dd=strlen((char *)buf); + /* output hexcode if verbose set */ + if (JOB->cfg.verbose) { + fprintf(stderr, "\n# fgets [%d]:", dd); + for(i=0; icfg.mode&=~128; } /* skip all */ + buf[dd=i]=0; /* replace final 0x0a or other special codes */ + if (dd==1 && !(buf[0]&128)) { c=buf[0]; utf8_ok=1; } /* single char */ + if (dd>1 && dd<7) { /* try to decode single wide char (utf8) */ + int u0, u1; /* define UTF8-start sequences, u0=0bits u1=1bits */ + u0= 1<<(7-dd); /* compute start byte from UTF8-length */ + u1=255&~((1<<(8-dd))-1); + /* count number of following 10xxxxxx bytes to i */ + for (i=1;i0){ /* ToDo: skip space and tab too? */ + if (utf8_ok==1) { setac(box1, c, 100); } /* store single wchar */ + if (utf8_ok==0) { /* store a string of chars (UTF8-string) */ + c='_'; /* what should we do with c? probably a bad idea? */ + setas(box1, (char *)buf, 100); + } + /* decide between + * 0) just help gocr to find the results and (dont remember, 0x01) + * 1) help and remember in the same run (store to memory, 0x1b) + * 2) expand the database (dont store ugly chars to the database!) + */ + if (endchar!=0x01){ /* ^a before hit return */ + /* is there a reason to dont store to memory? */ + list_app(&JOB->tmp.dblist, box1); /* append to list for 1+2 */ + } + if (endchar!=0x01 && endchar!=0x1b){ + store_db(box1); /* store to disk for 2 */ + } + if (JOB->cfg.verbose) + fprintf(stderr, " got char= %c 16bit= 0x%04x string= \"%s\"\n", + ((c>32 && c<127)?(char)c:'.'), (int)c, buf); + } + } + + return c; +} diff --git a/3rdparty/gocr-0.48/src/detect.c b/3rdparty/gocr-0.48/src/detect.c new file mode 100644 index 0000000..37f8d23 --- /dev/null +++ b/3rdparty/gocr-0.48/src/detect.c @@ -0,0 +1,943 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + check README for my email address +*/ + +#include +#include +#include +#include // toupper, tolower +#include "pgm2asc.h" +#include "gocr.h" + +// ----- detect lines --------------- +/* suggestion: Fourier transform and set line frequency where the + amplitude has a maximum (JS: slow and not smarty enough). + + option: range for line numbers 1..1000 or similar + todo: look for thickest line, and divide if thickness=2*mean_thickness + Set these elements of the box structs: + + m1 <-- top of upper case letters and (bdfhkl) (can differ) + m2 <-- top of letters (acegmnopqrsuvwxyz) + m3 <-- baseline + m4 <-- bottom of hanging letters (gqpy) + + performance can be improved by working with a temporary + list of boxes of the special text line + + - Jun23,00 more robustness of m3 (test liebfrau1) + - Feb01,02 more robustness of m4 (test s46_084.pgm) + - Dec03,12 fix problems with footnotes + ToDo: + - generate lists of boxes per line (faster access) + - use statistics + - for each box look at it neighbours and set box-m1..m4 + - m[1..4].max .min if m4.min-m3.max<1 probability lower + */ +int detect_lines1(pix * p, int x0, int y0, int dx, int dy) +{ + int i, jj, j2, y, yy, my, mi, mc, i1, i2, i3, i4, + m1, m2, m3, m4, ma1, ma2, ma3, ma4, m3pre, m4pre; + struct box *box2, *box3; /* box3 is for verbose / debugging */ + struct tlines *lines = &JOB->res.lines; + + /* ToDo: optional read line-data from external source??? */ + if (lines->num == 0) { // initialize one dummy-line for pictures etc. + lines->m4[0] = 0; + lines->m3[0] = 0; + lines->m2[0] = 0; + lines->m1[0] = 0; + lines->x0[0] = p->x; /* expand to left end during detection */ + lines->x1[0] = 0; /* expand to right end */ + lines->pitch[0] = JOB->cfg.spc; /* default word pitch */ + lines->mono[0] = 0; /* default spacing, 0 = prop */ + lines->num++; + } + i = lines->num; + if (dy < 4) + return 0; /* image is to low for latin chars */ + my = jj = 0; + // get the mean height of all hollow chars + // (better than mean value of everything including bg-pattern or dust?) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if ( box2->c != PICTURE + && box2->num_frames>1 && box2->num_frames<3 /* 1 or 2 holes */ + && box2->y0 >= y0 && box2->y1 <= y0 + dy + && box2->x0 >= x0 && box2->x1 <= x0 + dx + && box2->frame_vol[0]>0 + && box2->frame_vol[1]<0 + ) { + jj++; + my += box2->y1 - box2->y0 + 1; + } + } end_for_each(&(JOB->res.boxlist)); + if (jj==0) { + // get the mean height of all chars + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if ( box2->c != PICTURE + && box2->y1 - box2->y0 + 1 >= 4 /* 4x6 font */ + && box2->y0 >= y0 && box2->y1 <= y0 + dy + && box2->x0 >= x0 && box2->x1 <= x0 + dx ) { + jj++; + my += box2->y1 - box2->y0 + 1; + } + } end_for_each(&(JOB->res.boxlist)); + } + if (jj == 0) + return 0; /* no chars detected */ + + + /* ToDo: a better way could be to mark good boxes (of typical high a-zA-Z0-9) + * first and handle only marked boxes for line scan, exclude ?!,.:;etc + * but without setect the chars itself (using good statistics) + * see adjust_text_lines() + */ + my /= jj; /* we only care about chars with high arround my */ + if (JOB->cfg.verbose & 16) + fprintf(stderr,"\n# detect_lines1(%d %d %d %d) vvv&16 chars=%d my=%d\n# ", + x0, y0, dx, dy, jj, my); + // "my" is the average over the whole image (bad, if different fontsizes) + + if (my < 4) + return 0; /* mean high is to small => error */ + + m4pre=m3pre=y0; /* lower bond of upper line */ + // better function for scanning line around a letter ??? + // or define lines around known chars "eaTmM" + for (j2 = y = y0; y < y0 + dy; y++) { + // look for max. of upper and lower bound of next line + m1 = y0 + dy; + jj = 0; +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr,"searching new line %d\n# ",i /* lines->num */); +#endif + + box3 = NULL; /* mark the most upper box starting next line */ + // find highest point of next line => store to m1-min (m1>=y) + // only objects greater 2/3*my and smaller 3*my are allowed + // a higher "!" at end of line can result in a to low m1 + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) + yy = lines->dy * box2->x0 / (lines->dx); /* correct crooked lines */ + else yy=0; + if ( box2->y0 >= y + yy && box2->y1 < y0 + dy // lower than y + && box2->x0 >= x0 && box2->x1 < x0 + dx // within box ? + && box2->c != PICTURE // no picture + && box2->num_boxes <= 1 // ignore 2 for "!?i" 3 for "ä" + && 3 * (box2->y1 - box2->y0) > 2 * my // not to small + && (box2->y1 - box2->y0) < 3 * my // not to big + && (box2->y1 - box2->y0) > 4) // minimum absolute size + { + if (box2->y0 < m1 + yy) { + m1 = box2->y0 - yy; /* highest upper boundary */ + box3 = box2; + } + // fprintf(stderr,"\n %3d %3d %+3d %d m1= %3d", + // box2->x0, box2->y0, box2->y1 - box2->y0 + 1, box2->num_boxes, m1); + } + } end_for_each(&(JOB->res.boxlist)); + if (!box3 || m1 >= y0+dy) break; /* no further line found */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," most upper box at new line xy= %4d %4d %+4d %+4d\n# ", + box3->x0, box3->y0, box3->x1-box3->x0, box3->y1-box3->y0); + + // at the moment values depend from single chars, which can + // result in bad values (ex: 4x6 /\=) + // ToDo: 2) mean size of next line (store list of y0,y1) + // ToDo: 3) count num0[(y0-m1)*16/my], num1[(y1-m1)*16/my] + // ToDo: or down-top search horizontal nerarest neighbours + lines->x0[i] = x0 + dx - 1; /* expand during operation to left end */ + lines->x1[i] = x0; /* expand to the right end of line */ + m4=m2=m1; mi=m1+my; m3=m1+2*my; jj=0; + // find limits for upper bound, base line and ground line + // m2-max m3-min m4-max + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if ( box2->y0 < y0 || box2->y1 >= y0 + dy + || box2->x0 < x0 || box2->x1 >= x0 + dx ) continue; // out of image + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); + else yy=0; + /* check for ij-dots, used if chars of same high */ + if ( box2->y0 >= y + yy + && box2->y0 >= y + && (box2->y1 - box2->y0) < my + && box2->y1 < m1 + yy + my/4 + && box2->y0 < mi + yy ) { + mi = box2->y0 - yy; /* highest upper boundary i-dot */ + } + // fprintf(stderr,"\n check %3d %3d-%3d y=%d yy=%d m1=%d", box2->x0, box2->y0, box2->y1, y, yy, m1); + /* get m2-max m3-min m4-max */ + if ( box2->y0 >= y + yy // lower than y + && 3 * (box2->y1 - box2->y0 + 1) > 2 * my // right size ? + && (box2->y1 - box2->y0 + 1) < 3 * my // font mix, size = 2.6*my + && (box2->y1 - box2->y0 + 1) > 3 // 4x6 lowercase=4 + && box2->y0 >= m1 // in m1 range? + && box2->y0 <= m1 + yy + 9 * my / 8 // my can be to small if mixed + // ToDo: we need a better (local?) algorithm for big headlines > 2*my + && box2->y1 <= m1 + yy + 3 * my + && box2->y1 >= m1 + yy + my / 2 + // lines can differ in high, my may be to small (smaller headlines) + && box2->y0+box2->y1 <= 2*box3->y1 + ) + { + jj++; // count chars for debugging purpose + if (box2->y0 > m2 + yy) { + m2 = box2->y0 - yy; /* highest upper boundary */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," set m2= %d yy= %d\n# ",m2, yy); + } + if (box2->y1 > m4 + yy && (my>6 || box2->y1 < m3+my)) { + m4 = box2->y1 - yy; /* lowest lower boundary, small font lines can touch */ + } + if ( box2->y1 < m3 + yy + && ( ( 2*box2->y1 > m2+ m4+yy && m2>m1) + || ( 4*box2->y1 > m1+3*m4+yy) ) ) // care for TeX: \(^1\)Footnote 2003 + /* "'!?" could cause trouble here, therefore this lines */ + /* ToDo: get_bw costs time, check pre and next */ + if( get_bw(box2->x0,box2->x1,box2->y1+1 ,box2->y1+my/2,box2->p,JOB->cfg.cs,1) == 0 + || get_bw(box2->x0,box2->x1,box2->y1+my/2,box2->y1+my/2,box2->p,JOB->cfg.cs,1) == 1 + || num_cross(box2->x0,box2->x1,(box2->y0+box2->y1)/2,(box2->y0+box2->y1)/2,box2->p,JOB->cfg.cs)>2 ) + { + m3 = box2->y1 - yy; /* highest lower boundary */ + // printf("\n# set1 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + // out_x(box2); + } + if (box2->y0 + box2->y1 > 2*(m3 + yy) + && box2->y1 < m4 + yy - my/4 -1 + && box2->y1 >= (m2 + m4)/2 // care for TeX: \(^1\)Footnote 2003 + && m2 > m1 ) // be sure to not use ', m2 must be ok + { + m3 = box2->y1 - yy; /* highest lower boundary */ + // printf("\n# set2 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + // out_x(box2); + } + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + // printf(" m=%3d %+2d %+2d %+2d yy=%3d\n",m1,m2-m1,m3-m1,m4-m1,yy); + } + } end_for_each(&(JOB->res.boxlist)); + +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," step 1 y=%4d m= %4d %+3d %+3d %+3d" + " my=%2d chars=%3d\n# ", + y, m1, m2-m1, m3-m1, m4-m1, my, jj); +#endif + + if (m3 == m1) + break; +#if 1 /* make averages about the line */ + // same again better estimation + mc = (3 * m3 + m1) / 4; /* lower center ? */ + ma1 = ma2 = ma3 = ma4 = i1 = i2 = i3 = i4 = jj = 0; + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); else yy=0; + if (box2->y0 >= y + yy && box2->y1 < y0 + dy // lower than y + && box2->x0 >= x0 && box2->x1 < x0 + dx // in box ? + && box2->c != PICTURE // no picture + && 2 * (box2->y1 - box2->y0) > my // right size ? + && (box2->y1 - box2->y0) < 4 * my) { + if ( box2->y0 - yy >= m1-my/4 + && box2->y0 - yy <= m2+my/4 + && box2->y1 - yy >= m3-my/4 + && box2->y1 - yy <= m4+my/4 ) { /* its within allowed range! */ + // jj++; // not used + if (abs(box2->y0 - yy - m1) <= abs(box2->y0 - yy - m2)) + { i1++; ma1 += box2->y0 - yy; } + else { i2++; ma2 += box2->y0 - yy; } + if (abs(box2->y1 - yy - m3) < abs(box2->y1 - yy - m4)) + { i3++; ma3 += box2->y1 - yy; } + else { i4++; ma4 += box2->y1 - yy; } + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + } + } + } end_for_each(&(JOB->res.boxlist)); + + if (i1) m1 = (ma1+i1/2) / i1; /* best rounded */ + if (i2) m2 = (ma2+i2/2) / i2; + if (i3) m3 = (ma3+i3-1) / i3; /* round up */ + if (i4) m4 = (ma4+i4-1) / i4; + // printf("\n# .. set3 m3 m=%3d %+2d %+2d %+2d",m1,m2-m1,m3-m1,m4-m1); + +#endif + + /* expand right and left end of line */ + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line>0 || box2->c == PICTURE) continue; + if (lines->dx) yy = lines->dy * box2->x0 / (lines->dx); else yy=0; + if ( box2->y0 >= y0 && box2->y1 < y0 + dy + && box2->x0 >= x0 && box2->x1 < x0 + dx // in box ? + && box2->c != PICTURE // no picture + && box2->y0 >= m1-1 + && box2->y0 <= m4 + && box2->y1 >= m1 + && box2->y1 <= m4+1 ) { /* its within line */ + if (box2->x1>lines->x1[i]) lines->x1[i] = box2->x1; /* right end */ + if (box2->x0x0[i]) lines->x0[i] = box2->x0; /* left end */ + } + } end_for_each(&(JOB->res.boxlist)); + +#if 1 + /* this is only for test runs */ + if (JOB->cfg.verbose & 16) + fprintf(stderr," step 2 y=%4d m= %4d %+3d %+3d %+3d\n# ", + y,m1,m2-m1,m3-m1,m4-m1); +#endif + + if (m4 == m1) { + if(m3+m4>2*y) y = (m4+m3)/2; /* lower end may overlap the next line */ + continue; + } + jj=0; + lines->wt[i] = 100; + if (5 * (m2 - m1 +1) < m3 - m2 || (m2 - m1) < 2) jj|=1; /* same high */ + if (5 * (m4 - m3 +1) < m3 - m2 || (m4 - m3) < 1) jj|=2; /* same base */ + if (jj&1) lines->wt[i] = 75*lines->wt[i]/100; + if (jj&2) lines->wt[i] = 75*lines->wt[i]/100; + if (jj>0 && JOB->cfg.verbose) { + fprintf(stderr," trouble on line %d, wt*100= %d\n",i,lines->wt[i]); + fprintf(stderr,"# m= %4d %+3d %+3d %+3d\n",m1,m2-m1,m3-m1,m4-m1); + fprintf(stderr,"# i= %3d %3d %3d %3d (counts)\n",i1,i2,i3,i4); + if (jj==3) fprintf(stderr,"# all boxes of same high!\n# "); + if (jj==1) fprintf(stderr,"# all boxes of same upper bound!\n# "); + if (jj==2) fprintf(stderr,"# all boxes of same lower bound!\n# "); + } + /* ToDo: check for dots ij,. to get the missing information */ +#if 1 + /* jj=3: ABCDEF123456 or mnmno or gqpy or lkhfdtb => we are in trouble */ + if (jj==3 && (m4-m1)>my) { jj=0; m2=m1+my/8+1; m4=m3+my/8+1; } /* ABC123 */ + /* using idots, may fail on "ABCDEFGÄÜÖ" */ + if (jj==3 && mi>0 && mim4pre) { jj=2; m1=mi; } /* use ij dots */ + if (jj==1 && m2-(m3-m2)/4>m3pre ) { /* expect: acegmnopqrsuvwxyz */ + if (m1-m4pre0 && JOB->cfg.verbose & 16) { + fprintf(stderr," m= %4d %+2d %+2d %+2d my= %4d\n# ", + m1, m2-m1, m3-m1, m4-m1, my); + } +#endif + + + { // empty space between lines + lines->m4[i] = m4; + lines->m3[i] = m3; + lines->m2[i] = m2; + lines->m1[i] = m1; + lines->pitch[i] = JOB->cfg.spc; /* default word pitch */ + lines->mono[i] = 0; /* default spacing, 0=prop, 1=mono */ + if (JOB->cfg.verbose & 16) + fprintf(stderr, " m= %4d %+3d %+3d %+3d w= %d (line=%d)\n# ", + m1, m2 - m1, m3 - m1, m4 - m1, lines->wt[i], i); + if (i < MAXlines && m4 - m1 > 4) + i++; + if (i >= MAXlines) { + fprintf(stderr, "Warning: lines>MAXlines\n"); + break; + } + } + if (m3+m4>2*y) y = (m3+m4)/2; /* lower end may overlap the next line */ + if (m3>m3pre) m3pre = m3; else m3=y0; /* set for next-line scan */ + if (m4>m4pre) m4pre = m4; else m4=y0; /* set for next-line scan */ + } + lines->num = i; + if (JOB->cfg.verbose) + fprintf(stderr, " num_lines= %d", lines->num-1); + return 0; +} + +// ----- layout analyzis of dx*dy region at x0,y0 ----- +// ----- detect lines via recursive division (new version) --------------- +// what about text in frames??? +// ToDo: change to bottom-top analyse or/and take rotation into account +int detect_lines2(pix *p,int x0,int y0,int dx,int dy,int r){ + int i,x2,y2,x3,y3,x4,y4,x5,y5,y6,mx,my,x30,x31,y30,y31; + struct box *box2,*box3; + // shrink box + if(dx<=0 || dy<=0) return 0; + if(y0+dy< p->y/128 && y0==0) return 0; /* looks like dust */ + if(y0>p->y-p->y/128 && y0+dy==p->y) return 0; /* looks like dust */ + + if(r>1000){ return -1;} // something is wrong + if(JOB->cfg.verbose)fprintf(stderr,"\n# r=%2d ",r); + + mx=my=i=0; // mean thickness + // remove border, shrink size + x2=x0+dx-1; // min x + y2=y0+dy-1; // min y + x3=x0; // max x + y3=y0; // max y + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if(box3->y0>=y0 && box3->y1x0>=x0 && box3->x1x1 > x3 ) x3=box3->x1; // max x + if( box3->x0 < x2 ) x2=box3->x0; // min x + if( box3->y1 > y3 ) y3=box3->y1; // max y + if( box3->y0 < y2 ) y2=box3->y0; // min y + if(box3->c!=PICTURE) + if( box3->y1 - box3->y0 > 4 ) + { + i++; + mx+=box3->x1-box3->x0+1; // mean x + my+=box3->y1-box3->y0+1; // mean y + } + } + } end_for_each(&(JOB->res.boxlist)); + x0=x2; dx=x3-x2+1; + y0=y2; dy=y3-y2+1; + + if(i==0 || dx<=0 || dy<=0) return 0; + mx/=i;my/=i; + // better look for widest h/v-gap, ToDo: vertical lines? + if(r<8){ // max. depth + + // detect widest horizontal gap + y2=y3=y4=y5=y6=0; + x2=x3=x4=x5=y5=0;// min. 3 lines + // position and thickness of gap, y6=num_gaps, nbox^2 ops + for_each_data(&(JOB->res.boxlist)) { // not very efficient, sorry + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box2->c!=PICTURE ) /* ToDo: not sure, that this is a good idea */ + if( box2->y0>=y0 && box2->y1x0>=x0 && box2->x1y1-box2->y0>my/2 ){ // no pictures & dust??? + + y4=y0+dy-1; // nearest vert. box + x4=x0+dx-1; + // ToDo: rotate back box2->x1,y1 to x21,y21 + // look for nearest lowest (y4) and right (x4) neighbour + // of every box (box2) + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if(box3!=box2) + if(box3->y0>=y0 && box3->y1x0>=x0 && box3->x1c!=PICTURE) /* ToDo: not sure, that this is a good idea */ + if(box3->y1-box3->y0>my/2 ){ + // ToDo: here we need the rotation around box2 + x30=box3->x0; + x31=box3->x1; + y30=box3->y0; + y31=box3->y1; + // get min. distances to lower and to right direction + if( y31 > box2->y1 && y30 < y4 ) y4=y30-1; + if( x31 > box2->x1 && x30 < x4 ) x4=x30-1; + } + } end_for_each(&(JOB->res.boxlist)); + // set the witdht and position of largest hor./vert. gap + // largest gap: width position + if( y4-box2->y1 > y3 ) { y3=y4-box2->y1; y2=(y4+box2->y1)/2; } + if( x4-box2->x1 > x3 ) { x3=x4-box2->x1; x2=(x4+box2->x1)/2; } + } + } end_for_each(&(JOB->res.boxlist)); + // fprintf(stderr,"\n widest y-gap= %4d %4d",y2,y3); + // fprintf(stderr,"\n widest x-gap= %4d %4d",x2,x3); + + i=0; // i=1 at x, i=2 at y + // this is the critical point + // is this a good decision or not??? + if(x3>0 || y3>0){ + if(x3>mx && x3>2*y3 && (dy>5*x3 || (x3>10*y3 && y3>0))) i=1; else + if(dx>5*y3 && y3>my) i=2; + } + + // compare with largest box??? + for_each_data(&(JOB->res.boxlist)) { // not very efficient, sorry + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box2->c == PICTURE ) + if( box2->y0>=y0 && box2->y1x0>=x0 && box2->x1x1-box2->x0+4 > dx && box2->y1+4y1+1; i=2; break; } + if( box2->x1-box2->x0+4 > dx && box2->y0-4>y0 ) { y3=1; y2=box2->y0-1; i=2; break; } + if( box2->y1-box2->y0+4 > dy && box2->x1+4x1+1; i=1; break; } + if( box2->y1-box2->y0+4 > dy && box2->x0-4>x0 ) { x3=1; x2=box2->x0-1; i=1; break; } + } + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose)fprintf(stderr," i=%d",i); + + if(JOB->cfg.verbose && i) fprintf(stderr," divide at %s x=%4d y=%4d dx=%4d dy=%4d", + ((i)?( (i==1)?"x":"y" ):"?"),x2,y2,x3,y3); + // divide horizontally if v-gap is thicker than h-gap + // and length is larger 5*width + if(i==1){ detect_lines2(p,x0,y0,x2-x0+1,dy,r+1); + return detect_lines2(p,x2,y0,x0+dx-x2+1,dy,r+1); } + // divide vertically + if(i==2){ detect_lines2(p,x0,y0,dx,y2-y0+1,r+1); + return detect_lines2(p,x0,y2,dx,y0+dy-y2+1,r+1); + } + } + + + if(JOB->cfg.verbose) if(dx<5 || dy<7)fprintf(stderr," empty box"); + if(dx<5 || dy<7) return 0; // do not care about dust + if(JOB->cfg.verbose)fprintf(stderr, " box detected at %4d %4d %4d %4d",x0,y0,dx,dy); + if(JOB->tmp.ppo.p){ + for(i=0;itmp.ppo,x0+i ,y0 ,255,16); + for(i=0;itmp.ppo,x0+i ,y0+dy-1,255,16); + for(i=0;itmp.ppo,x0 ,y0+i ,255,16); + for(i=0;itmp.ppo,x0+dx-1,y0+i ,255,16); + // writebmp("out10.bmp",p2,JOB->cfg.verbose); // colored should be better + } + return detect_lines1(p,x0-0*1,y0-0*2,dx+0*2,dy+0*3); + +/* + struct tlines *lines = &JOB->res.lines; + i=lines->num; lines->num++; + lines->m1[i]=y0; lines->m2[i]=y0+5*dy/16; + lines->m3[i]=y0+12*dy/16; lines->m4[i]=y0+dy-1; + lines->x0[i]=x0; lines->x1[i]=x0+dx-1; + if(JOB->cfg.verbose)fprintf(stderr," - line= %d",lines->num); + return 0; + */ +} + +/* ToDo: herons algorithm for square root x=(x+y/x)/2 is more efficient + * than interval subdivision (?) (germ.: Intervallschachtelung) + * without using matlib + * see http://www.math.vt.edu/people/brown/doc/sqrts.pdf + */ +int my_sqrt(int x){ + int y0=0,y1=x,ym; + for (;y0res.lines.{dx,dy} + * pass 1: get mean vector to nearest char + * pass 2: get mean vector to nearest char without outriders to pass 1 + * extimate direction as (dx,dy,num)[pass] + * ToDo: estimate an error, boxes only work fine for zero-rotation + * for 45 degree use vectors, not boxes to get base line + */ +#define INorm 1024 /* integer unit 1.0 */ +int detect_rotation_angle(job_t *job){ + struct box *box2, *box3, + *box_nn; /* nearest neighbour box */ + int x2, y2, x3, y3, dist, mindist, pass, + rx=0, ry=0, re=0, // final result + /* to avoid 2nd run, wie store pairs in 2 different categories */ + nn[4]={0,0,0,0}, /* num_pairs used for estimation [(pass-1)%2,pass%2] */ + dx[4]={0,0,0,0}, /* x-component of rotation vector per pass */ + dy[4]={0,0,0,0}, /* y-component of rotation vector per pass */ + er[4]={INorm/4,0,0,0}; /* mean angle deviation to pass-1 (radius^2) */ + // de; /* ToDo: absolute maximum error (dx^2+dy^2) */ + // ToDo: next pass: go to bigger distances and reduce max error + // error is diff between passes? or diff of bottoms and top borders (?) + + rx=1024; ry=0; // default + for (pass=0;pass<4;pass++) { + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c==PICTURE) continue; + /* subfunction probability of char */ + // i? + // if (box2->x1 - box2->x0 < 3) continue; /* smallest font is 4x6 */ + if (box2->y1 - box2->y0 < 4) continue; + /* set maximum possible distance */ + box_nn=box2; // initial box to compare with + + // ToDo: clustering or majority + // the algorithm is far from being perfect, pitfalls are likely + // but its better than the old algorithm, ToDo: database-rotated-images + mindist = job->src.p.x * job->src.p.x + job->src.p.y * job->src.p.y; + /* get middle point of the box */ + x2 = (box2->x0 + box2->x1)/2; + y2 = (box2->y0 + box2->y1)/2; + re=0; + /* search for nearest neighbour box_nn[pass+1] of box_nn[pass] */ + for_each_data(&(job->res.boxlist)) { + box3 = (struct box *)list_get_current(&(job->res.boxlist)); + /* try to select only potential neighbouring chars */ + /* select out all senseless combinations */ + if (box3->c==PICTURE || box3==box2) continue; + x3 = (box3->x0 + box3->x1)/2; + y3 = (box3->y0 + box3->y1)/2; /* get middle point of the box */ + if (x3 pass-1? + // scalprod max in direction, cross prod min in direction + // a,b (vectors): ^2/(|a|*|b|)^2 = 0(90deg)..0.5(45deg).. 1(0deg) + // * 1024 ?? + if (pass>0) { // new variant = scalar product + // danger of int overflow, ToDo: use int fraction + re =(int) ((1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1]) + *(1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1])*INorm + /(1.*((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2)) + *(1.*dx[pass-1]*dx[pass-1]+dy[pass-1]*dy[pass-1]))); + if (INorm-re>er[pass-1]) continue; // hits mean deviation + } + /* neighbours should have same order of size (?) */ + if (3*(box3->y1-box3->y0+4) < 2*(box2->y1-box2->y0+1)) continue; + if (2*(box3->y1-box3->y0+1) > 3*(box2->y1-box2->y0+4)) continue; + if (2*(box3->x1-box3->x0+1) > 5*(box2->x1-box2->x0+4)) continue; + if (5*(box3->x1-box3->x0+4) < 2*(box2->x1-box2->x0+1)) continue; + /* should be in right range, Idea: center3 outside box2? noholes */ + if ((x3x1-1) && (x3>box2->x0+1) + && (y3y1-1) && (y3>box2->y0+1)) continue; + // if chars are of different size, connect careful + if ( abs(x3-x2) > 2*(box2->x1 - box2->x0 + box3->x1 - box3 ->x0 + 2)) continue; + if ( abs(y3-y2) > (box2->x1 - box2->x0 + box3->x1 - box3 ->x0 + 2)) continue; + dist = (y3-y2)*(y3-y2) + (x3-x2)*(x3-x2); + // make distances in pass-1 directions shorter or continue if not in pass-1 range? + if (dist<9) continue; /* minimum distance^2 is 3^2 */ + if (distres.boxlist)); + + if (box_nn==box2) continue; /* has no neighbour, next box */ + + box3=box_nn; dist=mindist; + x3 = (box3->x0 + box3->x1)/2; + y3 = (box3->y0 + box3->y1)/2; /* get middle point of the box */ + // dist = my_sqrt(1024*((x3-x2)*(x3-x2)+(y3-y2)*(y3-y2))); + // compare with first box + x2 = (box2->x0 + box2->x1)/2; + y2 = (box2->y0 + box2->y1)/2; + // if the high of neighbouring boxes differ, use min diff (y0,y1) + if (pass>0 && 16*abs(dy[pass-1]) < dx[pass-1]) // dont work for strong rot. + if (abs(box2->y1-box2->y0-box3->y1+box3->y0)>(box2->y1-box2->y0)/8) { + // ad eh ck ... + if (abs(box2->y1-box3->y1)y1; y3=box3->y1; } + // ag ep qu ... + if (abs(box2->y0-box3->y0)y0; y3=box3->y0; } + } + if (abs(x3-x2)<4) continue; + dx[pass]+=(x3-x2)*1024; /* normalized before averaging */ + dy[pass]+=(y3-y2)*1024; /* 1024 is for the precision */ + nn[pass]++; + if (pass>0) { // set error = mean deviation from pass -1 + re = INorm-(int)((1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1]) + *(1.*(x3-x2)*dx[pass-1]+(y3-y2)*dy[pass-1])*INorm + /((1.*(x3-x2)*(x3-x2)+(y3-y2)*(y3-y2)) + *(1.*dx[pass-1]*dx[pass-1]+dy[pass-1]*dy[pass-1])) + ); + er[pass]+=re; + } +#if 0 + if(JOB->cfg.verbose) + fprintf(stderr,"# next nb (x,y,dx,dy,re) %6d %6d %5d %5d %5d pass %d\n", + x2, y2, x3-x2, y3-y2, re, pass+1); +#endif + } end_for_each(&(job->res.boxlist)); + if (!nn[pass]) break; + if (nn[pass]) { + /* meanvalues */ + rx=dx[pass]/=nn[pass]; + ry=dy[pass]/=nn[pass]; + if (pass>0) er[pass]/=nn[pass]; + } + if(JOB->cfg.verbose) + fprintf(stderr,"# rotation angle (x,y,maxr,num)" + " %6d %6d %6d %4d pass %d\n", + rx, ry, er[pass], nn[pass], pass+1); + } + if (abs(ry*100)>abs(rx*50)) + fprintf(stderr,"\n"); + /* ToDo: normalize to 2^10 bit (square fits to 32 it) */ + JOB->res.lines.dx=rx; + JOB->res.lines.dy=ry; + return 0; +} + +/* ----- detect lines --------------- */ +int detect_text_lines(pix * pp, int mo) { + + if (JOB->cfg.verbose) + fprintf(stderr, "# detect.c detect_text_lines (vvv=16 for more info) "); + if (mo & 4){ + if (JOB->cfg.verbose) fprintf(stderr, "# zoning\n# ... "); + detect_lines2(pp, 0, 0, pp->x, pp->y, 0); // later replaced by better algo + } else + detect_lines1(pp, 0, 0, pp->x, pp->y); // old algo + + if(JOB->cfg.verbose) fprintf(stderr,"\n"); + return 0; +} + + +/* ----- adjust lines --------------- */ +// rotation angle? JOB->res.lines.dy, .x0 removed later +// this is for cases, where m1..m4 is not very sure detected before +// chars are recognized +int adjust_text_lines(pix * pp, int mo) { + struct box *box2; + int *m, /* summ m1..m4, num_chars for m1..m4, min m1..m4, max. m1..m4 */ + l, i, dy, dx, diff=0, y0, y1; + + if ((l=JOB->res.lines.num)<2) return 0; // ??? + if (JOB->cfg.verbose) + fprintf(stderr, "# adjust text lines "); + m=(int *)malloc(l*16*sizeof(int)); + if (!m) { fprintf(stderr," malloc failed\n"); return 0;} + for (i=0;i<16*l;i++) m[i]=0; /* initialize */ + dy=JOB->res.lines.dy; /* tan(alpha) of skewing */ + dx=JOB->res.lines.dx; /* old: width of image */ + // js: later skewing is replaced by one transformation of vectorized image + + if (dx) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line<=0) continue; + if (box2->num_ac<1) continue; + if (box2->wac[0]<95) continue; + if (box2->m2==0 || box2->y1m2) continue; // char outside line + if (box2->m3==4 || box2->y0>box2->m3) continue; // char outside line + y0=box2->y0-((box2->x1)*dy/dx); /* corrected by page skewing */ + y1=box2->y1-((box2->x1)*dy/dx); + if (strchr("aemnr",(char)box2->tac[0])) { // cC vV sS oO ... is unsure! + m[box2->line*16+1]+=y0; m[box2->line*16+5]++; // num m2 + m[box2->line*16+2]+=y1; m[box2->line*16+6]++; // num m3 + if (m[box2->line*16+ 9]>y0) m[box2->line*16+ 9]=y0; /* min m2 */ + if (m[box2->line*16+13]line*16+13]=y0; /* max m2 */ + if (m[box2->line*16+10]>y1) m[box2->line*16+10]=y1; /* min m3 */ + if (m[box2->line*16+14]line*16+14]=y1; /* max m3 */ + } + if (strchr("bdhklABDEFGHIKLMNRT123456789",(char)box2->tac[0])) { + m[box2->line*16+0]+=y0; m[box2->line*16+4]++; // num m1 + m[box2->line*16+2]+=y1; m[box2->line*16+6]++; // num m3 + if (m[box2->line*16+ 8]>y0) m[box2->line*16+ 8]=y0; /* min m1 */ + if (m[box2->line*16+12]line*16+12]=y0; /* max m1 */ + if (m[box2->line*16+10]>y1) m[box2->line*16+10]=y1; /* min m3 */ + if (m[box2->line*16+14]line*16+14]=y1; /* max m3 */ + } + if (strchr("gq",(char)box2->tac[0])) { + m[box2->line*16+1]+=y0; m[box2->line*16+5]++; // num m2 + m[box2->line*16+3]+=y1; m[box2->line*16+7]++; // num m4 + if (m[box2->line*16+ 9]>y0) m[box2->line*16+ 9]=y0; /* min m2 */ + if (m[box2->line*16+13]line*16+13]=y0; /* max m2 */ + if (m[box2->line*16+11]>y1) m[box2->line*16+11]=y1; /* min m4 */ + if (m[box2->line*16+15]line*16+15]=y1; /* max m4 */ + } + } end_for_each(&(JOB->res.boxlist)); + + for (i=1;ires.lines.m1[i]-m[i*16+0]/m[i*16+4]); + if (m[i*16+5]) diff+=abs(JOB->res.lines.m2[i]-m[i*16+1]/m[i*16+5]); + if (m[i*16+6]) diff+=abs(JOB->res.lines.m3[i]-m[i*16+2]/m[i*16+6]); + if (m[i*16+7]) diff+=abs(JOB->res.lines.m4[i]-m[i*16+3]/m[i*16+7]); + /* recalculate sureness, empirically */ + if (m[i*16+4]*m[i*16+5]*m[i*16+6]*m[i*16+7] > 0) + JOB->res.lines.wt[i]=(JOB->res.lines.wt[i]+100)/2; + else + JOB->res.lines.wt[i]=(JOB->res.lines.wt[i]*90)/100; + // set mean values of sure detected bounds (rounded precisely) + if ( m[i*16+4]) JOB->res.lines.m1[i]=(m[i*16+0]+m[i*16+4]/2)/m[i*16+4]; + if ( m[i*16+5]) JOB->res.lines.m2[i]=(m[i*16+1]+m[i*16+5]/2)/m[i*16+5]; + if ( m[i*16+6]) JOB->res.lines.m3[i]=(m[i*16+2]+m[i*16+6]/2)/m[i*16+6]; + if ( m[i*16+7]) JOB->res.lines.m4[i]=(m[i*16+3]+m[i*16+7]/2)/m[i*16+7]; + // care about very small fonts + if (JOB->res.lines.m2[i]-JOB->res.lines.m1[i]<=1 && m[i*16+5]==0 && m[i*16+4]) + JOB->res.lines.m2[i]=JOB->res.lines.m1[i]+2; + if (JOB->res.lines.m2[i]-JOB->res.lines.m1[i]<=1 && m[i*16+4]==0 && m[i*16+5]) + JOB->res.lines.m1[i]=JOB->res.lines.m2[i]-2; + if (JOB->res.lines.m4[i]-JOB->res.lines.m3[i]<=1 && m[i*16+7]==0 && m[i*16+6]) + JOB->res.lines.m4[i]=JOB->res.lines.m3[i]+2; + if (JOB->res.lines.m4[i]-JOB->res.lines.m3[i]<=1 && m[i*16+6]==0 && m[i*16+7]) + JOB->res.lines.m3[i]=JOB->res.lines.m4[i]-2; + if ( m[i*16+7]<1 && + JOB->res.lines.m4[i] + <=JOB->res.lines.m3[i]+(JOB->res.lines.m3[i]-JOB->res.lines.m2[i])/4 ) + JOB->res.lines.m4[i]= + JOB->res.lines.m3[i]+(JOB->res.lines.m3[i]-JOB->res.lines.m2[i])/4; + if ( m[i*16+7]<1 && m[i*16+12+2]>0 && // m4 < max.m3+.. + JOB->res.lines.m4[i] < 2*m[i*16+12+2]-JOB->res.lines.m3[i]+2 ) + JOB->res.lines.m4[i] = 2*m[i*16+12+2]-JOB->res.lines.m3[i]+2; + if (JOB->res.lines.m4[i]<=JOB->res.lines.m3[i]) + JOB->res.lines.m4[i]= JOB->res.lines.m3[i]+1; /* 4x6 */ + + if (JOB->cfg.verbose & 17) + fprintf(stderr, "\n# line= %3d m= %4d %+3d %+3d %+3d " + " n= %2d %2d %2d %2d w= %3d diff= %d", + i, JOB->res.lines.m1[i], + JOB->res.lines.m2[i] - JOB->res.lines.m1[i], + JOB->res.lines.m3[i] - JOB->res.lines.m1[i], + JOB->res.lines.m4[i] - JOB->res.lines.m1[i], + m[i*16+4],m[i*16+5],m[i*16+6],m[i*16+7], + JOB->res.lines.wt[i], diff); + } + diff=0; // count adjusted chars +#if 1 + if (dx) + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->line<=0) continue; + /* check if box was on the wrong line, ToDo: search a better line */ + if (2*box2->y0<2*JOB->res.lines.m1[box2->line] + -JOB->res.lines.m4[box2->line] + +JOB->res.lines.m1[box2->line]) box2->line=0; + if (2*box2->y1>2*JOB->res.lines.m4[box2->line] + +JOB->res.lines.m4[box2->line] + -JOB->res.lines.m1[box2->line]) box2->line=0; + /* do adjustments */ + if (box2->num_ac>0 + && box2->num_ac > 31 && box2->tac[0] < 127 /* islower(>256) may SIGSEGV */ + && strchr("cCoOpPsSuUvVwWxXyYzZ",(char)box2->tac[0])) { // no_wchar + if (box2->y0-((box2->x1)*dy/dx) + < (JOB->res.lines.m1[box2->line]+JOB->res.lines.m2[box2->line])/2 + && islower(box2->tac[0]) + ) { setac(box2,toupper((char)box2->tac[0]),(box2->wac[0]+101)/2); diff++; } + if (box2->y0-((box2->x1)*dy/dx) + > (JOB->res.lines.m1[box2->line]+JOB->res.lines.m2[box2->line]+1)/2 + && isupper(box2->tac[0]) + ){ setac(box2,tolower((char)box2->tac[0]),(box2->wac[0]+101)/2); diff++; } + } + box2->m1=JOB->res.lines.m1[box2->line]+((box2->x1)*dy/dx); + box2->m2=JOB->res.lines.m2[box2->line]+((box2->x1)*dy/dx); + box2->m3=JOB->res.lines.m3[box2->line]+((box2->x1)*dy/dx); + box2->m4=JOB->res.lines.m4[box2->line]+((box2->x1)*dy/dx); + } end_for_each(&(JOB->res.boxlist)); +#endif + + free(m); + if(JOB->cfg.verbose) fprintf(stderr,"\n# changed_chars= %d\n",diff); + return(diff); +} + +/* ---- measure mean character + * recalculate mean width and high after changes in boxlist + * ToDo: only within a Range? + */ +int calc_average() { + int i = 0, x0, y0, x1, y1; + struct box *box4; + + JOB->res.numC = 0; + JOB->res.sumY = 0; + JOB->res.sumX = 0; + for_each_data(&(JOB->res.boxlist)) { + box4 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if( box4->c != PICTURE ){ + x0 = box4->x0; x1 = box4->x1; + y0 = box4->y0; y1 = box4->y1; + i++; + if (JOB->res.avX * JOB->res.avY > 0) { + if (x1 - x0 + 1 > 4 * JOB->res.avX + && y1 - y0 + 1 > 4 * JOB->res.avY) continue; /* small picture */ + if (4 * (y1 - y0 + 1) < JOB->res.avY || y1 - y0 < 2) + continue; // dots .,-_ etc. + } + if (x1 - x0 + 1 < 4 + && y1 - y0 + 1 < 6 ) continue; /* dots etc */ + JOB->res.sumX += x1 - x0 + 1; + JOB->res.sumY += y1 - y0 + 1; + JOB->res.numC++; + } + } end_for_each(&(JOB->res.boxlist)); + if ( JOB->res.numC ) { /* avoid div 0 */ + JOB->res.avY = (JOB->res.sumY+JOB->res.numC/2) / JOB->res.numC; + JOB->res.avX = (JOB->res.sumX+JOB->res.numC/2) / JOB->res.numC; + } + if (JOB->cfg.verbose){ + fprintf(stderr, "# averages: mXmY= %d %d nC= %d n= %d\n", + JOB->res.avX, JOB->res.avY, JOB->res.numC, i); + } + return 0; +} + + +/* ---- analyse boxes, find pictures and mark (do this first!!!) + */ +int detect_pictures(job_t *job) { + int i = 0, x0, y0, x1, y1, num_h; + struct box *box2, *box4; + + if ( job->res.numC == 0 ) { + if (job->cfg.verbose) fprintf(stderr, + "# detect.c L%d Warning: numC=0\n", __LINE__); + return -1; + } + /* ToDo: set Y to uppercase mean value? */ + job->res.avY = (job->res.sumY+job->res.numC/2) / job->res.numC; + job->res.avX = (job->res.sumX+job->res.numC/2) / job->res.numC; + /* ToDo: two highest volumes? crosses, on extreme volume + on border */ + if (job->cfg.verbose) + fprintf(stderr, "# detect.c L%d pictures, frames, mXmY= %d %d ... ", + __LINE__, job->res.avX, job->res.avY); + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c == PICTURE) continue; + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + + /* pictures could be of unusual size */ + if (x1 - x0 + 1 > 4 * job->res.avX || y1 - y0 + 1 > 4 * job->res.avY) { + /* count objects on same baseline which could be chars */ + /* else: big headlines could be misinterpreted as pictures */ + num_h=0; + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box4->c == PICTURE) continue; + if (box4->y1-box4->y0 > 2*(y1-y0)) continue; + if (2*(box4->y1-box4->y0) < y1-y0) continue; + if (box4->y0 > y0 + (y1-y0+1)/2 + || box4->y0 < y0 - (y1-y0+1)/2 + || box4->y1 > y1 + (y1-y0+1)/2 + || box4->y1 < y1 - (y1-y0+1)/2) continue; + // ToDo: continue if numcross() only 1, example: |||IIIll||| + num_h++; + } end_for_each(&(job->res.boxlist)); + if (num_h>4) continue; + box2->c = PICTURE; + i++; + } + /* ToDo: pictures could have low contrast=Sum((pixel(p,x,y)-160)^2) */ + } end_for_each(&(job->res.boxlist)); + // start second iteration + if (job->cfg.verbose) { + fprintf(stderr, " %d - boxes %d\n", i, job->res.numC-i); + } + calc_average(); + return 0; +} diff --git a/3rdparty/gocr-0.48/src/gocr.c b/3rdparty/gocr-0.48/src/gocr.c new file mode 100644 index 0000000..16e017d --- /dev/null +++ b/3rdparty/gocr-0.48/src/gocr.c @@ -0,0 +1,374 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job, int argn, char *argv[]) +{ + int i; + char *s1; + + assert(job); + + if (argn <= 1) { + out_version(1); + exit(0); + } +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + + /* process arguments */ + for (i = 1; i < argn; i++) { + if (strcmp(argv[i], "--help") == 0) + help(); /* and quits */ + if (argv[i][0] == '-' && argv[i][1] != 0) { + s1 = ""; + if (i + 1 < argn) + s1 = argv[i + 1]; + switch (argv[i][1]) { + case 'h': /* help */ + help(); + break; + case 'i': /* input image file */ + job->src.fname = s1; + i++; + break; + case 'e': /* logging file */ + if (s1[0] == '-' && s1[1] == '\0') { +#ifdef HAVE_UNISTD_H + dup2(STDOUT_FILENO, STDERR_FILENO); /* -e /dev/stdout works */ +#else + fprintf(stderr, "stderr redirection not possible without unistd.h\n"); +#endif + } + else if (!freopen(s1, "w", stderr)) { + fprintf(stderr, "stderr redirection to %s failed\n", s1); + } + i++; + break; + case 'p': /* database path */ + job->cfg.db_path=s1; + i++; + break; + case 'o': /* output file */ + if (s1[0] == '-' && s1[1] == '\0') { /* default */ + } + else if (!freopen(s1, "w", stdout)) { + fprintf(stderr, "stdout redirection to %s failed\n", s1); + }; + i++; + break; + case 'f': /* output format */ + if (strcmp(s1, "ISO8859_1") == 0) job->cfg.out_format=ISO8859_1; else + if (strcmp(s1, "TeX") == 0) job->cfg.out_format=TeX; else + if (strcmp(s1, "HTML") == 0) job->cfg.out_format=HTML; else + if (strcmp(s1, "XML") == 0) job->cfg.out_format=XML; else + if (strcmp(s1, "SGML") == 0) job->cfg.out_format=SGML; else + if (strcmp(s1, "UTF8") == 0) job->cfg.out_format=UTF8; else + if (strcmp(s1, "ASCII") == 0) job->cfg.out_format=ASCII; else + fprintf(stderr,"Warning: unknown format (-f %s)\n",s1); + i++; + break; + case 'c': /* list of chars (_ = not recognized chars) */ + job->cfg.lc = s1; + i++; + break; + case 'C': /* char filter, default: NULL (all chars) */ + /* ToDo: UTF8 input, wchar */ + job->cfg.cfilter = s1; + i++; + break; + case 'd': /* dust size */ + job->cfg.dust_size = atoi(s1); + i++; + break; + case 'l': /* grey level 0<160<=255, 0 for autodetect */ + job->cfg.cs = atoi(s1); + i++; + break; + case 's': /* spacewidth/dots (0 = autodetect) */ + job->cfg.spc = atoi(s1); + i++; + break; + case 'v': /* verbose mode */ + job->cfg.verbose |= atoi(s1); + i++; + break; + case 'm': /* operation modes */ + job->cfg.mode |= atoi(s1); + i++; + break; + case 'n': /* numbers only */ + job->cfg.only_numbers = atoi(s1); + i++; + break; + case 'x': /* initialize progress output s1=fname */ + ini_progress(s1); + i++; + break; + case 'a': /* set certainty */ + job->cfg.certainty = atoi(s1);; + i++; + break; + case 'u': /* output marker for unrecognized chars */ + job->cfg.unrec_marker = s1; + i++; + break; + default: + fprintf(stderr, "# unknown option use -h for help\n"); + } + continue; + } + else /* argument can be filename v0.2.5 */ if (argv[i][0] != '-' + || argv[i][1] == '\0' ) { + job->src.fname = argv[i]; + } + } +} + +static void mark_start(job_t *job) { + assert(job); + + if (job->cfg.verbose) { + out_version(0); + /* insert some helpful info for support */ + fprintf(stderr, "# compiled: " __DATE__ ); +#if defined(__GNUC__) + fprintf(stderr, " GNUC-%d", __GNUC__ ); +#endif +#ifdef __GNUC_MINOR__ + fprintf(stderr, ".%d", __GNUC_MINOR__ ); +#endif +#if defined(__linux) + fprintf(stderr, " linux"); +#elif defined(__unix) + fprintf(stderr, " unix"); +#endif +#if defined(__WIN32) || defined(__WIN32__) + fprintf(stderr, " WIN32"); +#endif +#if defined(__WIN64) || defined(__WIN64__) + fprintf(stderr, " WIN64"); +#endif +#if defined(__VERSION__) + fprintf(stderr, " version " __VERSION__ ); +#endif + fprintf(stderr, "\n"); + fprintf(stderr, + "# options are: -l %d -s %d -v %d -c %s -m %d -d %d -n %d -a %d -C \"%s\"\n", + job->cfg.cs, job->cfg.spc, job->cfg.verbose, job->cfg.lc, job->cfg.mode, + job->cfg.dust_size, job->cfg.only_numbers, job->cfg.certainty, + job->cfg.cfilter); + fprintf(stderr, "# file: %s\n", job->src.fname); +#ifdef USE_UNICODE + fprintf(stderr,"# using unicode\n"); +#endif +#ifdef HAVE_GETTIMEOFDAY + gettimeofday(&job->tmp.init_time, NULL); +#endif + } +} + +static void mark_end(job_t *job) { + assert(job); + +#ifdef HAVE_GETTIMEOFDAY + /* show elapsed time */ + if (job->cfg.verbose) { + struct timeval end, result; + gettimeofday(&end, NULL); + timeval_subtract(&result, &end, &job->tmp.init_time); + fprintf(stderr,"Elapsed time: %d:%02d:%3.3f.\n", (int)result.tv_sec/60, + (int)result.tv_sec%60, (float)result.tv_usec/1000); + } +#endif +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ +int main(int argn, char *argv[]) { + int multipnm=1; + job_t job; + + JOB = &job; + setvbuf(stdout, (char *) NULL, _IONBF, 0); /* not buffered */ + + while (multipnm==1) { + + job_init(&job); + + process_arguments(&job, argn, argv); + + mark_start(&job); + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + mark_end(&job); + + print_output(&job); + + job_free(&job); + + } + + return 0; +} + diff --git a/3rdparty/gocr-0.48/src/gocr.h b/3rdparty/gocr-0.48/src/gocr.h new file mode 100644 index 0000000..fc798c4 --- /dev/null +++ b/3rdparty/gocr-0.48/src/gocr.h @@ -0,0 +1,288 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + - look for ??? for preliminary code +*/ + +/* General headerfile with gocr-definitions */ + +#ifndef __GOCR_H__ +#define __GOCR_H__ + +#include "pnm.h" +#include "unicode.h" +#include "list.h" +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif + +/* + * wchar_t should always exist (ANSI), but WCHAR.H is sometimes missing + * USE_UNICODE should be removed or replaced by HAVE_WCHAR_H in future + */ +#ifdef HAVE_WCHAR_H +#define USE_UNICODE 1 +#endif + +/* extern "C"{ */ +/* ------------------------ feature extraction ----------------- */ +#define AT 7 /* mark */ +#define M1 1 /* mark */ +enum direction { + UP=1, DO, RI, LE +}; +typedef enum direction DIRECTION; +#define ST 7 /* stop */ +/* ------------------------------------------------------------- */ +/* detect maximas in of line overlapps (return in %) and line koord */ +#define HOR 1 /* horizontal */ +#define VER 2 /* vertikal */ +#define RIS 3 /* rising=steigend */ +#define FAL 4 /* falling=fallend */ + +#define MAXlines 1024 + +/* ToDo: if we have a tree instead of a list, a line could be a node object */ +struct tlines { + int num; + int dx, dy; /* direction of text lines (straight/skew) */ + int m1[MAXlines], /* start of line = upper bound of 'A' */ + m2[MAXlines], /* upper bound of 'e' */ + m3[MAXlines], /* lower bound of 'e' = baseline */ + m4[MAXlines]; /* stop of line = lower bound of 'q' */ + /* ToDo: add sureness per m1,m2 etc? */ + int x0[MAXlines], + x1[MAXlines]; /* left and right border */ + int wt[MAXlines]; /* weight, how sure thats correct in percent, v0.41 */ + int pitch[MAXlines]; /* word pitch (later per box?), v0.41 */ + int mono[MAXlines]; /* spacing type, 0=proportional, 1=monospaced */ +}; + +#define NumAlt 10 /* maximal number of alternative chars (table length) */ +#define MaxNumFrames 8 /* maximum number of frames per char/box */ +#define MaxFrameVectors 128 /* maximum vectors per frame (*8=1KB/box) */ +/* ToDo: use only malloc_box(),free_box(),copybox() for creation, destroy etc. + * adding reference_counter to avoid pointer pointing to freed box + */ +struct box { /* this structure should contain all pixel infos of a letter */ + int x0,x1,y0,y1,x,y,dots; /* xmin,xmax,ymin,ymax,reference-pixel,i-dots */ + int num_boxes, /* 1 "abc", 2 "!i?", 3 "ä" (composed objects) 0.41 */ + num_subboxes; /* 1 for "abdegopqADOPQR", 2 for "B" (holes) 0.41 */ + wchar_t c; /* detected char (same as tac[0], obsolete?) */ + wchar_t modifier; /* default=0, see compose() in unicode.c */ + int num; /* same number = same char */ + int line; /* line number (points to struct tlines lines) */ + int m1,m2,m3,m4; /* m2 = upper boundary, m3 = baseline */ + /* planed: sizeof hole_1, hole_2, certainty (run1=100%,run2=90%,etc.) */ + pix *p; /* pointer to pixmap (v0.2.5) */ + /* tac, wac is used together with setac() to manage very similar chars */ + int num_ac; /* length of table (alternative chars), default=0 */ + wchar_t tac[NumAlt]; /* alternative chars, only used by setac(),getac() */ + int wac[NumAlt]; /* weight of alternative chars */ + char *tas[NumAlt]; /* alternative UTF8-strings or XML codes if tac[]=0 */ + /* replacing old obj */ + /* ToDo: (*obj)[NumAlt] + olen[NumAlt] ??? */ + /* ToDo: bitmap for possible Picture|Object|Char ??? */ +/* char *obj; */ /* pointer to text-object ... -> replaced by tas[] */ + /* ... (melted chars, barcode, picture coords, ...) */ + /* must be freed before box is freed! */ + /* do _not_ copy only the pointer to object */ + /* -------------------------------------------------------- + * extension since v0.41 js05, Store frame vectors, + * which is a table of vectors sourrounding the char and its + * inner white holes. The advantage is the independence from + * resolution, handling of holes, overlap and rotation. + * --------------------------------------------------------- */ + int num_frames; /* number of frames: 1 for cfhklmnrstuvwxyz */ + /* 2 for abdegijopq */ + int frame_vol[MaxNumFrames]; /* volume inside frame +/- (black/white) */ + int frame_per[MaxNumFrames]; /* periphery, summed length of vectors */ + int num_frame_vectors[MaxNumFrames]; /* index to next frame */ + /* biggest frame should be stored first (outer frame) */ + /* biggest has the maximum pair distance */ + /* num vector loops */ + int frame_vector[MaxFrameVectors][2]; /* may be 16*int=fixpoint_number */ + +}; +typedef struct box Box; + +/* true if the coordination pair (a,b) is outside the image p */ +#define outbounds(p, a, b) (a < 0 || b < 0 || a >= (p)->x || b >= (p)->y) + +/* ToDo: this structure seems to be obsolete, remove it */ +typedef struct path { + int start; /* color at the beginning of the path, (0=white, 1=black) */ + int *x; /* x coordinates of transitions */ + int *y; /* y coordinates of transitions */ + int num; /* current number of entries in x or y */ + int max; /* maximum number of entries in x or y */ + /* (if more values need to be stored, the arrays are enlarged) */ +} path_t; + +/* job_t contains all information needed for an OCR task */ +typedef struct job_s { + struct { /* source data */ + char *fname; /* input filename; default value: "-" */ + pix p; /* source pixel data, pixelmap 8bit gray */ + } src; + struct { /* temporary stuff, e.g. buffers */ +#ifdef HAVE_GETTIMEOFDAY + struct timeval init_time; /* starting time of this job */ +#endif + pix ppo; /* pixmap for visual debugging output, obsolete */ + + /* sometimes recognition function is called again and again, if result was 0 + n_run tells the pixel function to return alternative results */ + int n_run; /* num of run, if run_2 critical pattern get other results */ + /* used for 2nd try, pixel uses slower filter function etc. */ + List dblist; /* list of boxes loaded from the character database */ + } tmp; + struct { /* results */ + List boxlist; /* store every object in a box, which contains */ + /* the characteristics of the object (see struct box) */ + List linelist; /* recognized text lines after recognition */ + + struct tlines lines; /* used to access to line-data (statistics) */ + /* here the positions (frames) of lines are */ + /* stored for further use */ + int avX,avY; /* average X,Y (avX=sumX/numC) */ + int sumX,sumY,numC; /* sum of all X,Y; num chars */ + } res; + struct { /* configuration */ + int cs; /* critical grey value (pixel black pixel) */ + /* range: 0..255, 0 means autodetection */ + int spc; /* spacewidth/dots (0 = autodetect); default value: 0 */ + int mode; /* operation modes; default value: 0 */ + /* operation mode (see --help) */ + int dust_size; /* dust size; default value: 10 */ + int only_numbers; /* numbers only; default value: 0 */ + int verbose; /* verbose mode; default value: 0 */ + /* verbose option (see --help) */ + FORMAT out_format; /* output format; default value: ISO8859_1*/ + char *lc; /* debuglist of chars (_ = not recognized chars) */ + /* default value: "_" */ + char *db_path; /* pathname for database; default value: NULL */ + char *cfilter; /* char filter; default value: NULL, ex: "A-Za-z" */ + /* limit of certainty where chars are accepted as identified */ + int certainty; /* in units of 100 (percent); 0..100; default 95 */ + char *unrec_marker; /* output this string for every unrecognized char */ + } cfg; +} job_t; + +/* initialze job structure */ +void job_init(job_t *job); + +/* free job structure */ +void job_free(job_t *job); + +/*FIXME jb: remove JOB; */ +extern job_t *JOB; + +/* calculate the overlapp of the line (0-1) with black points + * by rekursiv bisection + * (evl. Fehlertoleranz mit pixel in Umgebung dx,dy suchen) (umschaltbar) ??? + * MidPoint Line Algorithm (Bresenham) Foley: ComputerGraphics better? + * will be replaced by vector functions + */ + +/* gerade y=dy/dx*x+b, implizit d=F(x,y)=dy*x-dx*y+b*dx=0 + * incrementell y(i+1)=m*(x(i)+1)+b, F(x+1,y+1)=f(F(x,y)) */ +int get_line(int x0, int y0, int x1, int y1, pix *p, int cs, int ret); +int get_line2(int x0, int y0, int x1, int y1, pix *p, int cs, int ret); + +/* look for white 0x02 or black 0x01 dots (0x03 = white+black) */ +char get_bw(int x0, int x1, int y0, int y1, + pix *p, int cs,int mask); + +/* look for black crossing a line x0,y0,x1,y1 + * follow line and count crossings ([white]-black-transitions) + */ +int num_cross(int x0, int x1, int y0, int y1, + pix *p, int cs); + +/* memory allocation with error checking */ +void *xrealloc(void *ptr, size_t size); + +/* follow a line x0,y0,x1,y1 recording locations of transitions, + * return count of transitions + */ +int follow_path(int x0, int x1, int y0, int y1, pix *p, int cs, path_t *path); + +/* ------------------------------------------------------------- + * mark edge-points + * - first move forward until b/w-edge + * - more than 2 pixel? + * - loop around + * - if forward pixel : go up, rotate right + * - if forward no pixel : rotate left + * - stop if found first 2 pixel in same order + * mit an rechter-Wand-entlang-gehen strategie + * -------------------------------------------------------------- + * turmite game: inp: start-x,y, regel r_black=UP,r_white=RIght until border + * out: last-position + * Zaehle dabei, Schritte,Sackgassen,xmax,ymax,ro-,ru-,lo-,lu-Ecken + * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + * + * is this the right place for declaration? + */ +void turmite(pix *p, int *x, int *y, + int x0, int x1, int y0, int y1, int cs, int rw, int rb); + +/* test if points are connected via t-pixel (rekursiv!) */ +int joined(pix *p, int x0, int y0, int x1, int y1, int cs); + +/* move from x,y to direction r until pixel or l steps + * return number of steps + */ +int loop(pix *p, int x, int y, int l, int cs, int col, DIRECTION r); + +#define MAX_HOLES 3 +typedef struct list_holes { + int num; /* numbers of holes, initialize with 0 */ + struct hole_s { + int size,x,y,x0,y0,x1,y1; /* size, start point, outer rectangle */ + } hole[MAX_HOLES]; +} holes_t; + +/* look for white holes surrounded by black points + * at moment white point with black in all four directions + */ +int num_hole(int x0, int x1, int y0, int y1, pix *p, int cs, holes_t *holes); + +/* count for black nonconnected objects --- used for i,auml,ouml,etc. */ +int num_obj(int x0, int x1, int y0, int y1, pix *p, int cs); + +int distance( pix *p1, struct box *box1, /* box-frame */ + pix *p2, struct box *box2, int cs); + +/* call the OCR engine ;) */ +/* char whatletter(struct box *box1,int cs); */ + +/* declared in pixel.c */ +/* getpixel() was pixel() but it may collide with netpnm pixel declaration */ +int getpixel(pix *p, int x, int y); +int marked(pix *p, int x, int y); +void put(pix * p, int x, int y, int ia, int io); + +/* } */ /* extern C */ +#endif /* __GOCR_H__ */ diff --git a/3rdparty/gocr-0.48/src/jconv.c b/3rdparty/gocr-0.48/src/jconv.c new file mode 100644 index 0000000..bd90654 --- /dev/null +++ b/3rdparty/gocr-0.48/src/jconv.c @@ -0,0 +1,168 @@ +/* OCR Aug00 JS +// PGM gray ASCII=P2 RAW=P5 +// PPM RGB ASCII=P3 RAW=P6 +// PBM B/W ASCII=P1 RAW=P4 +// ToDo: +// - pbm-raw to pgm also for x!=0 (mod 8) +// v0.01 bug eliminated +// v0.02 convert renamed into jconv because ImageMagick uses same name +// v0.03 code review bbg +// program is not used anymore, use "convert -verbose -crop 0x0+1+1" instead +*/ + +// #include +#include "config.h" +#include +#include +#include +#include +#include "pnm.h" +#ifdef HAVE_PAM_H +# include +#endif +#include "pcx.h" +#include "tga.h" + +void help( void ) { + printf("jconv version Aug2000 JS (pnm-raw,pcx8,tga24)\n" + "use: jconv [options] ?infile.pnm? ?outfile.pgm? ?ox? ?oy? ?dx? ?dy?\n" + "options: -shrink -pbm -? -help\n" + "example: jconv -shrink -pbm font.pbm font.pbm 0 0 0 0\n"); + exit(1); +} + +int main(int argn, char *argv[]) +{ + char *inam, *onam; + pix bild; + int ox, oy, dx, dy, x, y, i, vvv = 0; + +#ifdef HAVE_PAM_H + pnm_init(&argn, argv); +#endif + // skip options + for (i = 1; i < argn; i++) { + if (argv[i][0] != '-') + break; + if (!strcmp(argv[i], "-?")) + help(); + else if (!strcmp(argv[i], "-help")) + help(); + else if (!strcmp(argv[i], "-shrink")) + vvv |= 2; + else if (!strcmp(argv[i], "-pbm")) + vvv |= 4; + else + printf("unknown option: %s\n", argv[i]); + } + + if (argn - i != 6) + help(); + inam = argv[i++]; + onam = argv[i++]; + ox = atoi(argv[i++]); + oy = atoi(argv[i++]); + dx = atoi(argv[i++]); + dy = atoi(argv[i++]); + printf("# in=%s out=%s offs=%d,%d len=%d,%d vvv=%d\n", + inam, onam, ox, oy, dx, dy, vvv); + + // ----- read picture + if (strstr(inam, ".pbm") || + strstr(inam, ".pgm") || + strstr(inam, ".ppm") || + strstr(inam, ".pnm") || + strstr(inam, ".pam")) + readpgm(inam, &bild, 1); + else if (strstr(inam, ".pcx")) + readpcx(inam, &bild, 1); + else if (strstr(inam, ".tga")) + readtga(inam, &bild, ((vvv > 1) ? 0 : 1)); + else { + printf("Error: unknown suffix\n"); + exit(1); + } + if (ox < 0 || ox >= bild.x) + ox = 0; + if (oy < 0 || ox >= bild.y) + oy = 0; + if (dx <= 0 || ox + dx > bild.x) + dx = bild.x - ox; + if (dy <= 0 || oy + dy > bild.y) + dy = bild.y - oy; + if ((vvv & 2) == 2 && bild.bpp == 1) { // -shrink + int x, y; + printf("# shrinking PGM: offs=%d,%d len=%d,%d\n", ox, oy, dx, dy); + for (y = 0; y < dy; y++) { // shrink upper border + for (x = 0; x < dx; x++) + if (bild.p[x + ox + (y + oy) * bild.x] < 127) + break; + if (x < dx) { + if (y > 0) + y--; + oy += y; + dy -= y; + break; + } + } + for (y = 0; y < dy; y++) { // shrink lower border + for (x = 0; x < dx; x++) + if (bild.p[ox + x + (oy + dy - y - 1) * bild.x] < 127) + break; + if (x < dx) { + if (y > 0) + y--; + dy -= y; + break; + } + } + for (x = 0; x < dx; x++) { // shrink left border + for (y = 0; y < dy; y++) + if (bild.p[x + ox + (y + oy) * bild.x] < 127) + break; + if (y < dy) { + if (x > 0) + x--; + ox += x; + dx -= x; + break; + } + } + for (x = 0; x < dx; x++) { // shrink right border + for (y = 0; y < dy; y++) + if (bild.p[ox + dx - x - 1 + (oy + y) * bild.x] < 127) + break; + if (y < dy) { + if (x > 0) + x--; + dx -= x; + break; + } + } + } + printf("# final dimension: offs=%d,%d len=%d,%d bpp=%d\n", + ox, oy, dx, dy, bild.bpp); + +/* bbg: could be changed to memmoves */ + // ---- new size + for (y = 0; y < dy; y++) + for (x = 0; x < dx; x++) + for (i = 0; i < 3; i++) + bild.p[i + bild.bpp * (x + dx * y)] = + bild.p[i + bild.bpp * (x + ox + (y + oy) * bild.x)]; + bild.x = dx; + bild.y = dy; + // ---- write internal picture of textsite + printf("# write %s\n", onam); + if (strstr(onam, ".pbm")) + writepbm(onam, &bild); + else if (strstr(onam, ".pgm")) + writepgm(onam, &bild); + else if (strstr(onam, ".ppm")) + writeppm(onam, &bild); + else if (strstr(onam, ".pnm")) + writepgm(onam, &bild); + else + printf("Error: unknown suffix"); + free( bild.p ); +} diff --git a/3rdparty/gocr-0.48/src/job.c b/3rdparty/gocr-0.48/src/job.c new file mode 100644 index 0000000..e33adb0 --- /dev/null +++ b/3rdparty/gocr-0.48/src/job.c @@ -0,0 +1,84 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address */ + +#include "pgm2asc.h" +#include "gocr.h" + +/* initialize job structure */ +void job_init(job_t *job) { + /* init source */ + job->src.fname = "-"; + /* FIXME jb: init pix */ + job->src.p.p = NULL; + + /* init results */ + list_init( &job->res.boxlist ); + list_init( &job->res.linelist ); + job->res.avX = 5; + job->res.avY = 8; + job->res.sumX = 0; + job->res.sumY = 0; + job->res.numC = 0; + job->res.lines.dy=0; + job->res.lines.num=0; + + /* init temporaries */ + list_init( &job->tmp.dblist ); + job->tmp.n_run = 0; + /* FIXME jb: init ppo */ + job->tmp.ppo.p = NULL; + job->tmp.ppo.x = 0; + job->tmp.ppo.y = 0; + + /* init cfg */ + job->cfg.cs = 0; + job->cfg.spc = 0; + job->cfg.mode = 0; + job->cfg.dust_size = -1; /* auto detect */ + job->cfg.only_numbers = 0; + job->cfg.verbose = 0; + job->cfg.out_format = UTF8; /* old: ISO8859_1; */ + job->cfg.lc = "_"; + job->cfg.db_path = (char*)NULL; + job->cfg.cfilter = (char*)NULL; + job->cfg.certainty = 95; + job->cfg.unrec_marker = "_"; +} + +/* free job structure */ +void job_free(job_t *job) { + + /* if tmp is just a copy of the pointer to the original image */ + if (job->tmp.ppo.p==job->src.p.p) job->tmp.ppo.p=NULL; + + /* FIMXE jb: free lists + * list_free( &job->res.linelist ); + * list_free( &job->tmp.dblist ); + */ + + list_and_data_free(&(job->res.boxlist), (void (*)(void *))free_box); + + /* FIXME jb: free pix */ + if (job->src.p.p) { free(job->src.p.p); job->src.p.p=NULL; } + + /* FIXME jb: free pix */ + if (job->tmp.ppo.p) { free(job->tmp.ppo.p); job->tmp.ppo.p=NULL; } + +} diff --git a/3rdparty/gocr-0.48/src/lgocr.c b/3rdparty/gocr-0.48/src/lgocr.c new file mode 100644 index 0000000..9115ae3 --- /dev/null +++ b/3rdparty/gocr-0.48/src/lgocr.c @@ -0,0 +1,340 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job, int argn, char *argv[]) +{ + int i; + char *s1; + + assert(job); + + if (argn <= 1) { + out_version(1); + exit(0); + } +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + + /* process arguments */ + for (i = 1; i < argn; i++) { + if (strcmp(argv[i], "--help") == 0) + help(); /* and quits */ + if (argv[i][0] == '-' && argv[i][1] != 0) { + s1 = ""; + if (i + 1 < argn) + s1 = argv[i + 1]; + switch (argv[i][1]) { + case 'h': /* help */ + help(); + break; + case 'i': /* input image file */ + job->src.fname = s1; + i++; + break; + case 'e': /* logging file */ + if (s1[0] == '-' && s1[1] == '\0') { +#ifdef HAVE_UNISTD_H + dup2(STDOUT_FILENO, STDERR_FILENO); /* -e /dev/stdout works */ +#else + fprintf(stderr, "stderr redirection not possible without unistd.h\n"); +#endif + } + else if (!freopen(s1, "w", stderr)) { + fprintf(stderr, "stderr redirection to %s failed\n", s1); + } + i++; + break; + case 'p': /* database path */ + job->cfg.db_path=s1; + i++; + break; + case 'o': /* output file */ + if (s1[0] == '-' && s1[1] == '\0') { /* default */ + } + else if (!freopen(s1, "w", stdout)) { + fprintf(stderr, "stdout redirection to %s failed\n", s1); + }; + i++; + break; + case 'f': /* output format */ + if (strcmp(s1, "ISO8859_1") == 0) job->cfg.out_format=ISO8859_1; else + if (strcmp(s1, "TeX") == 0) job->cfg.out_format=TeX; else + if (strcmp(s1, "HTML") == 0) job->cfg.out_format=HTML; else + if (strcmp(s1, "XML") == 0) job->cfg.out_format=XML; else + if (strcmp(s1, "SGML") == 0) job->cfg.out_format=SGML; else + if (strcmp(s1, "UTF8") == 0) job->cfg.out_format=UTF8; else + if (strcmp(s1, "ASCII") == 0) job->cfg.out_format=ASCII; else + fprintf(stderr,"Warning: unknown format (-f %s)\n",s1); + i++; + break; + case 'c': /* list of chars (_ = not recognized chars) */ + job->cfg.lc = s1; + i++; + break; + case 'C': /* char filter, default: NULL (all chars) */ + /* ToDo: UTF8 input, wchar */ + job->cfg.cfilter = s1; + i++; + break; + case 'd': /* dust size */ + job->cfg.dust_size = atoi(s1); + i++; + break; + case 'l': /* grey level 0<160<=255, 0 for autodetect */ + job->cfg.cs = atoi(s1); + i++; + break; + case 's': /* spacewidth/dots (0 = autodetect) */ + job->cfg.spc = atoi(s1); + i++; + break; + case 'v': /* verbose mode */ + job->cfg.verbose |= atoi(s1); + i++; + break; + case 'm': /* operation modes */ + job->cfg.mode |= atoi(s1); + i++; + break; + case 'n': /* numbers only */ + job->cfg.only_numbers = atoi(s1); + i++; + break; + case 'x': /* initialize progress output s1=fname */ + ini_progress(s1); + i++; + break; + case 'a': /* set certainty */ + job->cfg.certainty = atoi(s1);; + i++; + break; + case 'u': /* output marker for unrecognized chars */ + job->cfg.unrec_marker = s1; + i++; + break; + default: + fprintf(stderr, "# unknown option use -h for help\n"); + } + continue; + } + else /* argument can be filename v0.2.5 */ if (argv[i][0] != '-' + || argv[i][1] == '\0' ) { + job->src.fname = argv[i]; + } + } +} + +static void mark_start(job_t *job) { + assert(job); + + if (job->cfg.verbose) { + out_version(0); + /* insert some helpful info for support */ + fprintf(stderr, "# compiled: " __DATE__ ); +#if defined(__GNUC__) + fprintf(stderr, " GNUC-%d", __GNUC__ ); +#endif +#ifdef __GNUC_MINOR__ + fprintf(stderr, ".%d", __GNUC_MINOR__ ); +#endif +#if defined(__linux) + fprintf(stderr, " linux"); +#elif defined(__unix) + fprintf(stderr, " unix"); +#endif +#if defined(__WIN32) || defined(__WIN32__) + fprintf(stderr, " WIN32"); +#endif +#if defined(__WIN64) || defined(__WIN64__) + fprintf(stderr, " WIN64"); +#endif +#if defined(__VERSION__) + fprintf(stderr, " version " __VERSION__ ); +#endif + fprintf(stderr, "\n"); + fprintf(stderr, + "# options are: -l %d -s %d -v %d -c %s -m %d -d %d -n %d -a %d -C \"%s\"\n", + job->cfg.cs, job->cfg.spc, job->cfg.verbose, job->cfg.lc, job->cfg.mode, + job->cfg.dust_size, job->cfg.only_numbers, job->cfg.certainty, + job->cfg.cfilter); + fprintf(stderr, "# file: %s\n", job->src.fname); +#ifdef USE_UNICODE + fprintf(stderr,"# using unicode\n"); +#endif +#ifdef HAVE_GETTIMEOFDAY + gettimeofday(&job->tmp.init_time, NULL); +#endif + } +} + +static void mark_end(job_t *job) { + assert(job); + +#ifdef HAVE_GETTIMEOFDAY + /* show elapsed time */ + if (job->cfg.verbose) { + struct timeval end, result; + gettimeofday(&end, NULL); + timeval_subtract(&result, &end, &job->tmp.init_time); + fprintf(stderr,"Elapsed time: %d:%02d:%3.3f.\n", (int)result.tv_sec/60, + (int)result.tv_sec%60, (float)result.tv_usec/1000); + } +#endif +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ + diff --git a/3rdparty/gocr-0.48/src/lgocr.h b/3rdparty/gocr-0.48/src/lgocr.h new file mode 100644 index 0000000..fc798c4 --- /dev/null +++ b/3rdparty/gocr-0.48/src/lgocr.h @@ -0,0 +1,288 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + - look for ??? for preliminary code +*/ + +/* General headerfile with gocr-definitions */ + +#ifndef __GOCR_H__ +#define __GOCR_H__ + +#include "pnm.h" +#include "unicode.h" +#include "list.h" +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif + +/* + * wchar_t should always exist (ANSI), but WCHAR.H is sometimes missing + * USE_UNICODE should be removed or replaced by HAVE_WCHAR_H in future + */ +#ifdef HAVE_WCHAR_H +#define USE_UNICODE 1 +#endif + +/* extern "C"{ */ +/* ------------------------ feature extraction ----------------- */ +#define AT 7 /* mark */ +#define M1 1 /* mark */ +enum direction { + UP=1, DO, RI, LE +}; +typedef enum direction DIRECTION; +#define ST 7 /* stop */ +/* ------------------------------------------------------------- */ +/* detect maximas in of line overlapps (return in %) and line koord */ +#define HOR 1 /* horizontal */ +#define VER 2 /* vertikal */ +#define RIS 3 /* rising=steigend */ +#define FAL 4 /* falling=fallend */ + +#define MAXlines 1024 + +/* ToDo: if we have a tree instead of a list, a line could be a node object */ +struct tlines { + int num; + int dx, dy; /* direction of text lines (straight/skew) */ + int m1[MAXlines], /* start of line = upper bound of 'A' */ + m2[MAXlines], /* upper bound of 'e' */ + m3[MAXlines], /* lower bound of 'e' = baseline */ + m4[MAXlines]; /* stop of line = lower bound of 'q' */ + /* ToDo: add sureness per m1,m2 etc? */ + int x0[MAXlines], + x1[MAXlines]; /* left and right border */ + int wt[MAXlines]; /* weight, how sure thats correct in percent, v0.41 */ + int pitch[MAXlines]; /* word pitch (later per box?), v0.41 */ + int mono[MAXlines]; /* spacing type, 0=proportional, 1=monospaced */ +}; + +#define NumAlt 10 /* maximal number of alternative chars (table length) */ +#define MaxNumFrames 8 /* maximum number of frames per char/box */ +#define MaxFrameVectors 128 /* maximum vectors per frame (*8=1KB/box) */ +/* ToDo: use only malloc_box(),free_box(),copybox() for creation, destroy etc. + * adding reference_counter to avoid pointer pointing to freed box + */ +struct box { /* this structure should contain all pixel infos of a letter */ + int x0,x1,y0,y1,x,y,dots; /* xmin,xmax,ymin,ymax,reference-pixel,i-dots */ + int num_boxes, /* 1 "abc", 2 "!i?", 3 "ä" (composed objects) 0.41 */ + num_subboxes; /* 1 for "abdegopqADOPQR", 2 for "B" (holes) 0.41 */ + wchar_t c; /* detected char (same as tac[0], obsolete?) */ + wchar_t modifier; /* default=0, see compose() in unicode.c */ + int num; /* same number = same char */ + int line; /* line number (points to struct tlines lines) */ + int m1,m2,m3,m4; /* m2 = upper boundary, m3 = baseline */ + /* planed: sizeof hole_1, hole_2, certainty (run1=100%,run2=90%,etc.) */ + pix *p; /* pointer to pixmap (v0.2.5) */ + /* tac, wac is used together with setac() to manage very similar chars */ + int num_ac; /* length of table (alternative chars), default=0 */ + wchar_t tac[NumAlt]; /* alternative chars, only used by setac(),getac() */ + int wac[NumAlt]; /* weight of alternative chars */ + char *tas[NumAlt]; /* alternative UTF8-strings or XML codes if tac[]=0 */ + /* replacing old obj */ + /* ToDo: (*obj)[NumAlt] + olen[NumAlt] ??? */ + /* ToDo: bitmap for possible Picture|Object|Char ??? */ +/* char *obj; */ /* pointer to text-object ... -> replaced by tas[] */ + /* ... (melted chars, barcode, picture coords, ...) */ + /* must be freed before box is freed! */ + /* do _not_ copy only the pointer to object */ + /* -------------------------------------------------------- + * extension since v0.41 js05, Store frame vectors, + * which is a table of vectors sourrounding the char and its + * inner white holes. The advantage is the independence from + * resolution, handling of holes, overlap and rotation. + * --------------------------------------------------------- */ + int num_frames; /* number of frames: 1 for cfhklmnrstuvwxyz */ + /* 2 for abdegijopq */ + int frame_vol[MaxNumFrames]; /* volume inside frame +/- (black/white) */ + int frame_per[MaxNumFrames]; /* periphery, summed length of vectors */ + int num_frame_vectors[MaxNumFrames]; /* index to next frame */ + /* biggest frame should be stored first (outer frame) */ + /* biggest has the maximum pair distance */ + /* num vector loops */ + int frame_vector[MaxFrameVectors][2]; /* may be 16*int=fixpoint_number */ + +}; +typedef struct box Box; + +/* true if the coordination pair (a,b) is outside the image p */ +#define outbounds(p, a, b) (a < 0 || b < 0 || a >= (p)->x || b >= (p)->y) + +/* ToDo: this structure seems to be obsolete, remove it */ +typedef struct path { + int start; /* color at the beginning of the path, (0=white, 1=black) */ + int *x; /* x coordinates of transitions */ + int *y; /* y coordinates of transitions */ + int num; /* current number of entries in x or y */ + int max; /* maximum number of entries in x or y */ + /* (if more values need to be stored, the arrays are enlarged) */ +} path_t; + +/* job_t contains all information needed for an OCR task */ +typedef struct job_s { + struct { /* source data */ + char *fname; /* input filename; default value: "-" */ + pix p; /* source pixel data, pixelmap 8bit gray */ + } src; + struct { /* temporary stuff, e.g. buffers */ +#ifdef HAVE_GETTIMEOFDAY + struct timeval init_time; /* starting time of this job */ +#endif + pix ppo; /* pixmap for visual debugging output, obsolete */ + + /* sometimes recognition function is called again and again, if result was 0 + n_run tells the pixel function to return alternative results */ + int n_run; /* num of run, if run_2 critical pattern get other results */ + /* used for 2nd try, pixel uses slower filter function etc. */ + List dblist; /* list of boxes loaded from the character database */ + } tmp; + struct { /* results */ + List boxlist; /* store every object in a box, which contains */ + /* the characteristics of the object (see struct box) */ + List linelist; /* recognized text lines after recognition */ + + struct tlines lines; /* used to access to line-data (statistics) */ + /* here the positions (frames) of lines are */ + /* stored for further use */ + int avX,avY; /* average X,Y (avX=sumX/numC) */ + int sumX,sumY,numC; /* sum of all X,Y; num chars */ + } res; + struct { /* configuration */ + int cs; /* critical grey value (pixel black pixel) */ + /* range: 0..255, 0 means autodetection */ + int spc; /* spacewidth/dots (0 = autodetect); default value: 0 */ + int mode; /* operation modes; default value: 0 */ + /* operation mode (see --help) */ + int dust_size; /* dust size; default value: 10 */ + int only_numbers; /* numbers only; default value: 0 */ + int verbose; /* verbose mode; default value: 0 */ + /* verbose option (see --help) */ + FORMAT out_format; /* output format; default value: ISO8859_1*/ + char *lc; /* debuglist of chars (_ = not recognized chars) */ + /* default value: "_" */ + char *db_path; /* pathname for database; default value: NULL */ + char *cfilter; /* char filter; default value: NULL, ex: "A-Za-z" */ + /* limit of certainty where chars are accepted as identified */ + int certainty; /* in units of 100 (percent); 0..100; default 95 */ + char *unrec_marker; /* output this string for every unrecognized char */ + } cfg; +} job_t; + +/* initialze job structure */ +void job_init(job_t *job); + +/* free job structure */ +void job_free(job_t *job); + +/*FIXME jb: remove JOB; */ +extern job_t *JOB; + +/* calculate the overlapp of the line (0-1) with black points + * by rekursiv bisection + * (evl. Fehlertoleranz mit pixel in Umgebung dx,dy suchen) (umschaltbar) ??? + * MidPoint Line Algorithm (Bresenham) Foley: ComputerGraphics better? + * will be replaced by vector functions + */ + +/* gerade y=dy/dx*x+b, implizit d=F(x,y)=dy*x-dx*y+b*dx=0 + * incrementell y(i+1)=m*(x(i)+1)+b, F(x+1,y+1)=f(F(x,y)) */ +int get_line(int x0, int y0, int x1, int y1, pix *p, int cs, int ret); +int get_line2(int x0, int y0, int x1, int y1, pix *p, int cs, int ret); + +/* look for white 0x02 or black 0x01 dots (0x03 = white+black) */ +char get_bw(int x0, int x1, int y0, int y1, + pix *p, int cs,int mask); + +/* look for black crossing a line x0,y0,x1,y1 + * follow line and count crossings ([white]-black-transitions) + */ +int num_cross(int x0, int x1, int y0, int y1, + pix *p, int cs); + +/* memory allocation with error checking */ +void *xrealloc(void *ptr, size_t size); + +/* follow a line x0,y0,x1,y1 recording locations of transitions, + * return count of transitions + */ +int follow_path(int x0, int x1, int y0, int y1, pix *p, int cs, path_t *path); + +/* ------------------------------------------------------------- + * mark edge-points + * - first move forward until b/w-edge + * - more than 2 pixel? + * - loop around + * - if forward pixel : go up, rotate right + * - if forward no pixel : rotate left + * - stop if found first 2 pixel in same order + * mit an rechter-Wand-entlang-gehen strategie + * -------------------------------------------------------------- + * turmite game: inp: start-x,y, regel r_black=UP,r_white=RIght until border + * out: last-position + * Zaehle dabei, Schritte,Sackgassen,xmax,ymax,ro-,ru-,lo-,lu-Ecken + * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ + * + * is this the right place for declaration? + */ +void turmite(pix *p, int *x, int *y, + int x0, int x1, int y0, int y1, int cs, int rw, int rb); + +/* test if points are connected via t-pixel (rekursiv!) */ +int joined(pix *p, int x0, int y0, int x1, int y1, int cs); + +/* move from x,y to direction r until pixel or l steps + * return number of steps + */ +int loop(pix *p, int x, int y, int l, int cs, int col, DIRECTION r); + +#define MAX_HOLES 3 +typedef struct list_holes { + int num; /* numbers of holes, initialize with 0 */ + struct hole_s { + int size,x,y,x0,y0,x1,y1; /* size, start point, outer rectangle */ + } hole[MAX_HOLES]; +} holes_t; + +/* look for white holes surrounded by black points + * at moment white point with black in all four directions + */ +int num_hole(int x0, int x1, int y0, int y1, pix *p, int cs, holes_t *holes); + +/* count for black nonconnected objects --- used for i,auml,ouml,etc. */ +int num_obj(int x0, int x1, int y0, int y1, pix *p, int cs); + +int distance( pix *p1, struct box *box1, /* box-frame */ + pix *p2, struct box *box2, int cs); + +/* call the OCR engine ;) */ +/* char whatletter(struct box *box1,int cs); */ + +/* declared in pixel.c */ +/* getpixel() was pixel() but it may collide with netpnm pixel declaration */ +int getpixel(pix *p, int x, int y); +int marked(pix *p, int x, int y); +void put(pix * p, int x, int y, int ia, int io); + +/* } */ /* extern C */ +#endif /* __GOCR_H__ */ diff --git a/3rdparty/gocr-0.48/src/lines.c b/3rdparty/gocr-0.48/src/lines.c new file mode 100644 index 0000000..ca46fc1 --- /dev/null +++ b/3rdparty/gocr-0.48/src/lines.c @@ -0,0 +1,358 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address +*/ + +#include +#include +#include +#include +#include +#include "pgm2asc.h" +#include "gocr.h" +#include "unicode.h" + +const char *getTextLine (int line) { + int i; + Element *elem; + + if (line < 0 || line > list_total(&(JOB->res.linelist))) + return NULL; + + for ( i = 0, elem = JOB->res.linelist.start.next; i < line && elem != NULL; i++ ) + elem = elem->next; + + if ( elem != NULL ) + return (const char *)elem->data; + + return NULL; +} + +void free_textlines(void) { + for_each_data(&(JOB->res.linelist)) { + if (list_get_current(&(JOB->res.linelist))) + free(list_get_current(&(JOB->res.linelist))); + } end_for_each(&(JOB->res.linelist)); + list_free(&(JOB->res.linelist)); +} + +/* append a string (s1) to the string buffer (buffer) of length (len) + * if buffer is to small or len==0 realloc buffer, len+=512 + */ +char *append_to_line(char *buffer, const char *s1, int *len) { + char *temp; + int slen=0, alen; + if( s1==NULL || s1[0] == 0 ){ + fprintf(stderr,"\n#BUG: appending 0 to a line makes no sense!"); + return buffer; + } + if ( *len>0 ) slen= strlen(buffer); // used buffer + alen = strlen(s1); + if ( slen+alen+1 >= *len ) { + *len+=512; + temp = (char *)realloc(buffer, *len); + if( !temp ) { fprintf(stderr,"realloc failed!\n"); *len-=512; return buffer; } + else buffer = temp; // buffer successfull enlarged + } + temp = buffer + slen; // end of buffered string + memcpy(temp,s1,alen+1); // copy including end sign '\0' + return buffer; +} + +int calc_median_gap(struct tlines * lines) { + int gaps[MAXlines], l; + if (lines->num<2) return 0; + for (l = 0; l < lines->num - 1; l++) + gaps[l] = lines->m2[l + 1] - lines->m3[l]; + qsort(gaps, lines->num - 1, sizeof(gaps[0]), intcompare); + return gaps[(lines->num - 1) / 2]; +} + +/* + * Return the indent in pixels of the least-indented line. + * Will be subtracted as base_indent to avoid negativ indent. + * + * This is adjusted to account for an angle on the page as + * a whole. For instance, if the page is rotated clockwise, + * lower lines may be physically closer to the left edge + * than higher lines that are logically less indented. + * We rotate around (0,0). Note that this rotation could + * rotate lines "off the left margin", leading to a negative + * indent. + * + * boxlist -- list of character boxes. + * dx, dy -- rotation angle as vector + */ +int get_least_line_indent(List * boxlist, int dx, int dy) { + int min_indent = INT_MAX; + int adjusted_indent; + struct box * box2; + if (JOB->cfg.verbose) + fprintf(stderr, "get_least_line_indent: rot.vector dxdy %d %d\n", + dx, dy); + for_each_data(boxlist) { + box2 = (struct box *)list_get_current(boxlist); + /* if num == -1, indicates this is a space or newline box, + * inserted in list_insert_spaces. */ + if (box2->num != -1) { + adjusted_indent = box2->x0; + if (dx) adjusted_indent += box2->y0 * dy / dx; + if (adjusted_indent < min_indent) { + min_indent = adjusted_indent; + if (dy!=0 && JOB->cfg.verbose) + fprintf(stderr, + "# Line %2d, unadjusted xy %3d %3d, adjusted x %2d\n", + box2->line, box2->x0, box2->y0, adjusted_indent); + } + } + } end_for_each(boxlist); + if (JOB->cfg.verbose) + fprintf(stderr, "# Minimum adjusted x: %d (min_indent)\n", min_indent); + return min_indent; +} + +/* collect all the chars from the box tree and write them to a string buffer + mo is the mode: mode&8 means, use chars even if unsure recognized + ToDo: store full text(?), store decoded text+boxes+position chars (v0.4) + (HTML,UTF,ASCII,XML), not wchar incl. descriptions (at<95% in red) + remove decode(*c, job->cfg.out_format) from gocr.c! + XML add alternate-tags, format tags and position tags + ToDo: better output XML to stdout instead of circumstantial store to lines + not all texts/images follow the line concept? + Better use a tree of objects where leafes are chars instead of simple list. + Chars or objects are taken into account. Objects can be text strings + or XML strings. + */ +void store_boxtree_lines(int mo) { + char *buffer; /* temp buffer for text */ + int i = 0, j = 0; + int len = 1024; // initial buffer length for text line + struct box *box2; + int median_gap = 0; + int max_single_space_gap = 0; + struct tlines line_info; + int line, line_gap, oldline=-1; + int left_margin; + int i1=0, i2=0; + + buffer = (char *)malloc(len); + if ( !buffer ) { + fprintf(stderr,"malloc failed!\n"); // ToDo: index_to_error_list + return; + } + *buffer = 0; + + if ( JOB->cfg.verbose&1 ) + fprintf(stderr,"# store boxtree to lines ..."); + + /* wew: calculate the median line gap, to determine line spacing + * for the text output. The line gap used is between one line's + * m3 (baseline) and the next line's m2 (height of non-rising + * lowercase). We use these lines as they are the least likely + * to vary according to actual character content of lines. + */ + median_gap = calc_median_gap(&JOB->res.lines); + if (median_gap <= 0) { + fprintf(stderr, "# Warning: non-positive median line gap of %d\n", + median_gap); + median_gap = 8; + max_single_space_gap = 12; /* arbitrary */ + } else { + max_single_space_gap = median_gap * 7 / 4; + } + + // Will be subtracted as base_indent to avoid negativ indent. + left_margin = get_least_line_indent(&JOB->res.boxlist, + JOB->res.lines.dx, + JOB->res.lines.dy); + + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1,"\n", + 0,0,0,0); +// buffer=append_to_line(buffer,s1,&len); + sprintf(s1,"\n", + 0,0,0,0); +// buffer=append_to_line(buffer,s1,&len); + } + + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + line = box2->line; + line_info = JOB->res.lines; + /* reset the output char if certainty is below the limit v0.44 */ + if (box2->num_ac && box2->wac[0]cfg.certainty) box2->c=UNKNOWN; + if (line!=oldline) { + if (JOB->cfg.out_format==XML && oldline>-1) { /* subject of change */ +// buffer=append_to_line(buffer,"\n",&len); + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); // wcsdup + memset(buffer, 0, len); + j=0; // reset counter for new line + } + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1,"\n", + line_info.x0[line],line_info.m1[line], + line_info.x1[line]-line_info.x0[line]+1, + line_info.m4[line]-line_info.m1[line],line); + // buffer=append_to_line(buffer,s1,&len); + } + oldline=line; + } + if (box2->c > ' ' && + box2->c <= 'z') i1++; /* count non-space chars */ + if (box2->c == '\n') { + if (JOB->cfg.out_format!=XML) { /* subject of change */ + line_info = JOB->res.lines; + line = box2->line; + if (line > 0) { + line_gap = line_info.m2[line] - line_info.m3[line - 1]; + for (line_gap -= max_single_space_gap; line_gap > 0; + line_gap -= median_gap) { + buffer=append_to_line(buffer,"\n",&len); + j++; /* count chars in line */ + } + } + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); // wcsdup + memset(buffer, 0, len); + j=0; // reset counter for new line + } + } + if (box2->c == ' ') // fill large gaps with spaces + { + if (JOB->res.avX) { /* avoid SIGFPE */ + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1," \n", + box2->x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); +// buffer=append_to_line(buffer,s1,&len); + } else + for (i = (box2->x1 - box2->x0) / (2 * JOB->res.avX) + 1; i > 0; i--) { + buffer=append_to_line(buffer," ",&len); + j++; /* number of chars in line */ + } + } + } + else if (box2->c != '\n') { + if (j==0 && JOB->res.avX) /* first char in new line? */ { + int indent = box2->x0 - JOB->res.lines.x0[box2->line]; + /* correct for angle of page as a whole. */ + if (JOB->res.lines.dx) + indent += box2->y0 * JOB->res.lines.dy / JOB->res.lines.dx; + /* subtract the base margin. */ + indent -= left_margin; + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ + sprintf(s1," \n", + box2->x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); +// buffer=append_to_line(buffer,s1,&len); + } else + for (i = indent / JOB->res.avX; i > 0; i--) { + buffer=append_to_line(buffer," ",&len); j++; + } + } + if (JOB->cfg.out_format==XML) { /* subject of change */ + char s1[255]; /* ToDo: avoid potential buffer overflow !!! */ + /* output lot of usefull information for XML filter */ +// sprintf(s1," x0,box2->y0,box2->x1-box2->x0+1,box2->y1-box2->y0+1); + sprintf(s1," %d %d ", + box2->x1-box2->x0+1,box2->y1-box2->y0+1); + buffer=append_to_line(buffer,s1,&len); + if (box2->num_ac>1) { /* ToDo: output a list of alternatives */ + } + } + if (box2->c != UNKNOWN && box2->c != 0) { + buffer= + append_to_line(buffer,decode(box2->c,JOB->cfg.out_format),&len); + if (box2->c > ' ' && + box2->c <= 'z') i2++; /* count non-space chars */ + } else { /* c == UNKNOWN or 0 */ + wchar_t cc; cc=box2->c; + if (box2->num_ac>0 && box2->tas[0] + && (JOB->cfg.out_format!=XML || box2->tas[0][0]!='<')) { + /* output glued chars or ... (?) Jan08 */ + buffer=append_to_line(buffer,box2->tas[0],&len); + j+=strlen(box2->tas[0]); + } else { /* ToDo: leave string empty? set placeholder per option */ + /* output dummy string to mark UNKNOWN */ + if(JOB->cfg.unrec_marker[0]) + buffer = append_to_line(buffer, JOB->cfg.unrec_marker, &len); + } + } + if (JOB->cfg.out_format==XML) { + if (box2->num_ac>-1) { + /* output alist ToDo: separate */ + int i1; char s1[256]; +// sprintf(s1,"\" numac=\"%d\" weights=\"",box2->num_ac); + sprintf(s1," %d ",box2->num_ac); + buffer=append_to_line(buffer,s1,&len); + for (i1=0;i1num_ac;i1++) { + sprintf(s1,"%d",box2->wac[i1]); + buffer=append_to_line(buffer,s1,&len); +// if (i1+1num_ac) buffer=append_to_line(buffer,",",&len); + if (i1+1num_ac) buffer=append_to_line(buffer," ",&len); + } + if (box2->num_ac>1) +// buffer=append_to_line(buffer,"\" achars=\"",&len); + buffer=append_to_line(buffer," ",&len); + for (i1=1;i1num_ac;i1++) { + if (box2->tas[i1] && box2->tas[i1][0]!='<') +// buffer=append_to_line(buffer,box2->tas[i1],&len); + buffer=append_to_line(buffer,box2->tas[i1],&len); + else + buffer=append_to_line(buffer, + decode(box2->tac[i1],JOB->cfg.out_format),&len); + // ToDo: add tas[] (achars->avalues or alternate_strings? +// if (i1+1num_ac) buffer=append_to_line(buffer,",",&len); + if (i1+1num_ac) buffer=append_to_line(buffer," ",&len); + } + } +// buffer=append_to_line(buffer,"\" />\n",&len); + buffer=append_to_line(buffer,"\n",&len); + } + if (box2->num_ac && box2->tas[0]) { + if (box2->tas[0][0]=='<') { /* output special XML object */ +// buffer=append_to_line(buffer,box2->tas[0],&len); + buffer=append_to_line(buffer,"\n",&len); + j+=strlen(box2->tas[0]); + } + } + j++; /* number of chars in line */ + } + i++; + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.out_format==XML && oldline>-1) { /* subject of change */ +// buffer=append_to_line(buffer,"\n",&len); + } + if (JOB->cfg.out_format==XML) { /* subject of change */ +// buffer=append_to_line(buffer,"\n\n",&len); + } + + /* do not forget last line */ + // is there no \n in the last line? If there is, delete next line. + list_app( &(JOB->res.linelist), (void *)strdup(buffer) ); + free(buffer); + if( JOB->cfg.verbose&1 ) + fprintf(stderr,"... %d lines, boxes= %d, chars= %d\n",i,i1,i2); +} diff --git a/3rdparty/gocr-0.48/src/list.c b/3rdparty/gocr-0.48/src/list.c new file mode 100644 index 0000000..332d2bd --- /dev/null +++ b/3rdparty/gocr-0.48/src/list.c @@ -0,0 +1,334 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + ***********************************IMPORTANT********************************* + Notes to the developers: read the following notes before using these + functions. + * Be careful when using for_each_data() recursively and calling list_del. + It may mangle with the current[] pointers, and possibly segfault or do an + unpredictable or just undesirable behavior. We have been working on a + solution for this problem, and solved some of the biggest problems. + In a few words, the problem is this: when you delete a node, it may be + the current node of a lower level loop. The current code takes care of + access to previous/next elements of the now defunct node. So, if you do + something like: + + for_each_data(l) { + for_each_data(l) { + list_del(l, header_data); + free(header_data); + } end_for_each(l); ++ tempnode = list_cur_next(l); + } end_for_each(l); + + It will work, even though the current node in the outer loop was deleted. + However, if you replace the line marked with + with the following code: + + tempnode = list_next(l, list_get_current(l)); + + it will break, since list_get_current is likely to return NULL or garbage, + since you deleted header_data(). + Conclusion: use list_del carefully. The best way to avoid this problem is + to not use list_del inside a big stack of loops. + * If you have two elements with the same data, the functions will assume + that the first one is the wanted one. Not a bug, a feature. ;-) + * avoid calling list_prev and list_next. They are intensive and slow + functions. Keep the result in a variable or, if you need something more, + use list_get_element_from_data. + + */ + +#include +#include +#include "list.h" +#include "progress.h" + +void list_init( List *l ) { + if ( !l ) + return; + + l->start.next = &l->stop; + l->stop.previous = &l->start; + l->start.previous = l->stop.next = NULL; + l->start.data = l->stop.data = NULL; + l->current = NULL; + l->level = -1; + l->n = 0; +} + +/* inserts data before data_after. If data_after == NULL, appends. + Returns 1 on error, 0 if OK. */ +int list_ins( List *l, void *data_after, void *data) { + Element *e, *after_element; + + /* test arguments */ + if ( !l || !data ) + return 1; + + if ( !data_after || !l->n ) + return list_app(l, data); + + /* get data_after element */ + if ( !(after_element = list_element_from_data(l, data_after)) ) + return 1; + + /* alloc a new element */ + if( !(e = (Element *)malloc(sizeof(Element))) ) + return 1; + e->data = data; + e->next = after_element; + e->previous = after_element->previous; + after_element->previous->next = e; + after_element->previous = e; + l->n++; + + return 0; +} + +/* appends data to the list. Returns 1 on error, 0 if OK. */ +/* same as list_ins(l,NULL,data) ??? */ +int list_app( List *l, void *data ) { + Element *e; + + if ( !l || !data ) + return 1; + if ( !(e = (Element *)malloc(sizeof(Element))) ) + return 1; + + e->data = data; + e->previous = l->stop.previous; + e->next = l->stop.previous->next; + l->stop.previous->next = e; + l->stop.previous = e; + l->n++; + return 0; +} + +/* returns element associated with data. */ +Element *list_element_from_data( List *l, void *data ) { + Element *temp; + + if ( !l || !data || !l->n) + return NULL; + + temp = l->start.next; + + while ( temp->data != data ) { + if ( !temp || temp==&l->stop ) + return NULL; + temp = temp->next; + } + return temp; +} + +/* deletes (first) element with data from list. User must free data. + Returns 0 if OK, 1 on error. + This is the internal version, that shouldn't be called usually. Use the + list_del() macro instead. + */ +int list_del( List *l, void *data ) { + Element *temp; + int i; + + if (!data) return 1; /* do not delete start or stop element */ + + /* find element associated with data */ + if ( !(temp = list_element_from_data(l, data)) ) + return 1; + + /* test if the deleted node is current in some nested loop, and fix it. */ + for ( i = l->level; i >= 0; i-- ) { + if ( l->current[i] == temp ) { + l->current[i] = temp->previous; + } + } + + temp->previous->next = temp->next; + temp->next->previous = temp->previous; + temp->previous = temp->next = NULL; /* mark as freed */ +/* + fprintf(stderr,"\n# list_del=%p start=%p stop=%p",temp,&l->start,&l->stop); +*/ + + /* and free stuff */ + free(temp); /* element pointing to data, fixed mem-leak 0.41 */ + l->n--; + return 0; +} + +/* frees list. See also list_and_data_free() */ +void list_free( List *l ) { + Element *temp, *temp2; + + if ( !l || !l->n ) + return; + + if ( l->current ) { + free(l->current); + } + l->current = NULL; + + temp = l->start.next; + while ( temp && temp!=&l->stop) { + temp2 = temp->next; + free(temp); + temp = temp2; + } + l->start.next = &l->stop; + l->stop.previous = &l->start; +} + +/* setup a new level of for_each */ +int list_higher_level( List *l ) { + Element **newcur; + + if ( !l ) return(1); + + /* + Security-check: NULL pointer passed to realloc. + ANSI allows this, but it may cause portability problems. + */ + newcur = (Element **)realloc(l->current, (l->level+2)*sizeof(Element *)); + if (newcur) { + l->current = newcur; + l->level++; + l->current[l->level] = l->start.next; + } + g_debug(fprintf(stderr, " level++=%d current[]=%p\n", + l->level, l->current);) + if ( !newcur ) { + fprintf(stderr, " realloc failed! abort\n"); return(1); + } + return 0; +} + +void list_lower_level( List *l ) { + if ( !l ) + return; + + if (!l->level) { + free(l->current); /* calm -lefence */ + l->current = NULL; /* could be important */ + } else { + l->current = (Element **)realloc(l->current, l->level*sizeof(Element *)); + } + l->level--; + g_debug(fprintf(stderr, " level--=%d current[]=%p\n", l->level, + l->current);) +} + +/* returns the next item data */ +void *list_next( List *l, void *data ) { + Element *temp; + + if ( !l || !(temp = list_element_from_data(l, data)) ) + return NULL; + if( !temp->next ) return NULL; + return (temp->next->data); +} + +/* returns the previous item data */ +void *list_prev( List *l, void *data ) { + Element *temp; + + if ( !l || !(temp = list_element_from_data(l, data)) ) + return NULL; + if( !temp->previous ) return NULL; + return (temp->previous->data); +} + +/* Similar to qsort. Sorts list, using the (*compare) function, which is + provided by the user. The comparison function must return an integer less + than, equal to, or greater than zero if the first argument is considered to + be respectively less than, equal to, or greater than the second. + Uses the bubble sort algorithm. + */ +void list_sort( List *l, int (*compare)(const void *, const void *) ) { + Element *temp, *prev; + int i, sorted; + progress_counter_t *pc = NULL; + + if ( !l ) + return; + + /* start progress meter, sorting is slow for huge number of elements */ + /* l->n is the worst case, real time is less or equal estimated time */ + pc = open_progress(l->n,"list_sort"); + + for (i = 0; i < l->n; i++ ) { + sorted = 1; /* Flag for early break */ + for ( temp = l->start.next->next; + temp != NULL && temp != &l->stop; temp = temp->next ) { + if ( temp->previous == &l->start ) continue; + if ( compare((const void *)temp->previous->data, + (const void *)temp->data) > 0 ) { + + sorted = 0; /* rest flag */ + /* swap with the previous node */ + prev = temp->previous; + prev->previous->next = temp; + temp->next->previous = prev; + temp->previous = prev->previous; + prev->next = temp->next; + prev->previous = temp; + temp->next = prev; + /* and make sure the node in the for loop is correct */ + temp = prev; + +#ifdef SLOWER_BUT_KEEP_BY_NOW +/* this is a slower version, but guaranteed to work */ + void *data; + + data = temp->data; + prev = temp->previous; + list_del(l, data); + list_ins(l, prev->data, data); + temp = prev; +#endif + } + } + if (sorted) break; + progress(i,pc); /* progress meter */ + } + + close_progress(pc); + g_debug(fprintf(stderr, "list_sort()\n");) +} + +/* calls free_data() for each data in list l, + * before free list with list_free() */ +int list_and_data_free( List *l, void (*free_data)(void *data)) { + void *data; + + if ( !l ) return 0; + if ( !free_data ) return 1; + + for_each_data(l) { + if ((data = list_get_current(l))) + free_data(data); + } end_for_each(l); + + list_free(l); + + g_debug(fprintf(stderr, "list_and_data_free()\n");) + + return 0; +} + diff --git a/3rdparty/gocr-0.48/src/list.h b/3rdparty/gocr-0.48/src/list.h new file mode 100644 index 0000000..dd30099 --- /dev/null +++ b/3rdparty/gocr-0.48/src/list.h @@ -0,0 +1,90 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + */ + +#ifndef GOCR_LIST_H +#define GOCR_LIST_H + +#ifdef DEBUG +#define g_debug(a) a +#else +#define g_debug(a) +#endif + +/* + * Structures + */ + +struct element { + struct element *next, *previous; + void *data; +}; +typedef struct element Element; + +struct list { + Element start; /* simplifies for(each_element) { ... */ + Element stop; /* ... list_del() ... } v0.41 */ + Element **current; /* for(each_element) */ + int n; /* number of elements */ + int level; /* level of nested fors */ +}; +typedef struct list List; + +/* + * Functions + */ + +void list_init ( List *l ); +int list_app ( List *l, void *data ); +int list_ins ( List *l, void *data_after, void *data); +Element*list_element_from_data ( List *l, void *data ); +int list_del ( List *l, void *data ); +void list_free ( List *l ); +int list_and_data_free ( List *l, void (*free_data)(void *data)); +int list_higher_level ( List *l ); +void list_lower_level ( List *l ); +void * list_next ( List *l, void *data ); +void * list_prev ( List *l, void *data ); +void list_sort ( List *l, int (*compare)(const void *, const void *) ); + +#define list_empty(l) ((l)->start.next == &(l)->stop ? 1 : 0) +#define list_get_header(l) ((l)->start.next->data) +#define list_get_tail(l) ((l)->stop.previous->data) +#define list_get_current(l) ((l)->current[(l)->level]->data) +#define list_get_cur_prev(l) ((l)->current[(l)->level]->previous == NULL ? \ + NULL : (l)->current[(l)->level]->previous->data ) +#define list_get_cur_next(l) ((l)->current[(l)->level]->next == NULL ? \ + NULL : (l)->current[(l)->level]->next->data ) +#define list_total(l) ((l)->n) + +#define for_each_data(l) \ + if (list_higher_level(l) == 0) { \ + for ( ; (l)->current[(l)->level] \ + && (l)->current[(l)->level]!=&(l)->stop; (l)->current[(l)->level] = \ + (l)->current[(l)->level]->next ) { + + +#define end_for_each(l) \ + } \ + list_lower_level(l); \ + } + +#endif diff --git a/3rdparty/gocr-0.48/src/ocr0.c b/3rdparty/gocr-0.48/src/ocr0.c new file mode 100644 index 0000000..ad75d0e --- /dev/null +++ b/3rdparty/gocr-0.48/src/ocr0.c @@ -0,0 +1,6756 @@ +/* + rule based OCR engine, partly rewritten for edges (old=pixel) + */ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for email address + + >>> DO NOT EDIT THIS FILE IF YOU NOT REALLY KNOW WHAT YOU ARE DOING! <<< + + I have invested lot of time, to write this part of the program. + This engine should recognize chars allways right or return UNKNOWN. + If you change something, test all other example files too, + to be sure that all things work better. (JoergS) + + This engine was pixelbased until 0.40 which was not successfull enough. + Also code changes always hade side effects. The vectorisation of the code + starts from version 0.41 with the chars XNz and seems to be much better + to handle. Vectorization means we frame each character by a chain of + vectors and dont care about pixels anymore. Unfortunatly I have to + replace all the pixel codes, which is a long process. Old code will be lost. + (JorgS) + + +ToDo: + - if box1->p and b differ, reduce probability + - probability makes life much easier here + - use only one box!?, may be bits have usefull infos + - divide this file, suggestion: classify chars: + high=ABCDEFGHIJKLMNOPQRSTUVWXYZbdfhklt, low=acegijmnopqrsuvwxyz + or + often_used=etianmsurwdkgo rarely_used=hvjcflpqxyz.,: + or + every char (large overhead) + - two-pass version (first pass without tolerance) + 2nd pass with tolerance (ex: one tiny more in sdata->holes) + + general feature extraction: + - white holes at middle, upper, lower position (cost much time) + - test lines and triangles insteat of rectangles + + char is removed, wchar_t is used (better code) + + making a static global variable-set x.x0,x.x1, and call test_a, + test_b ... (faster compilation, but not reentrant!) + + - adding slant-angle (if detected) to distinguish between l and / ? + - ac (alternate chars) as string add_ac(box1,"/") => box1->ac="Il/"; + for better context correction or output: "Ha[lI][lI]o!" + +*/ + +#include +#include +// #include "pgm2asc.h" +#include "ocr0.h" +// #include "ocr1.h" +#include "amiga.h" +#include "pnm.h" +#include "gocr.h" + +#define IFV if(JOB->cfg.verbose&4) +#define MM {IFV fprintf(stderr,"\nDBG %c L%04d (%d,%d): ",(char)c_ask,__LINE__,box1->x0,box1->y0);} + +// the old debug mode (0.40) was only for a special char, for another char +// code must be recompiled with C_ASK='char' +// new debug mode (0.41) explains why char is declined or accepted as ABC... +// the output can be filtered by external scripts +// ToDo: we could reduce output to filter string +#ifndef DO_DEBUG /* can be defined outside (configure --with-debug) */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +/* this macro is for debugging output: "if char is declined, why?" */ +#if DO_DEBUG /* 0=Work mode, 1=debugging mode */ +// Setac: output, that char is choosen with a probability +// Break: output, why the char is not choosen +// MSG: debugging functions for char C_ASK, mostly messages +// DBG: definitions usefull only for debugging +#define Setac(box1,ac,ad) { MM;IFV fprintf(stderr,"setac %d",ad);setac(box1,ac,ad); } +#define Break { MM;IFV fprintf(stderr,"break"); break; } +#define MSG(x) { MM;IFV x } +#define DBG(x) x +#else +#define Setac(box1,ac,ad) setac(box1,ac,ad) +#define Break break +#define MSG(x) +#define DBG(x) +#endif + +/* extern "C"{ */ + +// static inline int sq(int x) { return x*x; } /* square */ + +/* + * go from vector j1 to vector j2 and measure maximum deviation of + * the steps from the line connecting j1 and j2 + * return the squared maximum distance + * in units of the box size times 1024 + * ToDo: 1) better give back max-dx and max-dy ??? + * errors if j1 and j2 are in different frames or belong to + * more then one frame? + * 2) Better get deviation from a complete vector graphic? + * The vectorgraphic is the ideal test char adapted to the + * extrem vertices of the real char. + */ +int line_deviation( struct box *box1, int j1, int j2 ) { + int r1x, r1y, r2x, r2y, r3x, r3y, i, x, y, d, dist, maxdist=0, frame, l2; + r1x=box1->frame_vector[j1][0]; + r1y=box1->frame_vector[j1][1]; + r2x=box1->frame_vector[j2][0]; + r2y=box1->frame_vector[j2][1]; + if (!box1->num_frames) return(-1); + if (j1<0 || j1>box1->num_frame_vectors[box1->num_frames-1] || + j2<0 || j2>box1->num_frame_vectors[box1->num_frames-1]) { + fprintf(stderr,"Error in "__FILE__" L%d: idx out of range",__LINE__); + return(-1); + } + /* get the frame the endvector belongs to */ + for (i=0;inum_frames;i++) + if (j2num_frame_vectors[i]) break; + frame=i; + /* frame(j1)<=frame(j2) possible */ + for (i=j1;;i++) { // do it for each vector between j1 and j2 + if (i >= box1->num_frame_vectors[frame]) + i=((frame)?box1->num_frame_vectors[frame-1]:0); /* go around */ + if (i==j2) break; + // for (i=j1;i!=j2;i=(i+1)%box1->num_frame_vectors[0]) {~} + r3x=box1->frame_vector[i][0]; + r3y=box1->frame_vector[i][1]; + // Language=german + // german: Abstand Punkt von Strecke, Laenge Lotrechte + // germ.Strecke : l1=(r1+r2)/2+d*(r2-r1)/2 for d=-1..1 + // germ.Lotrechte: l2=r3+b*[-(r2-r1).y,(r2-r1).x] + // Schnittpunkt : l1=l2, + // eq1x: (r1x+r2x)/2-r3x+d*(r2x-r1x)/2+b*(r2y-r1y)=0 + // eq1y: (r1y+r2y)/2-r3y+d*(r2y-r1y)/2-b*(r2x-r1x)=0 + // eq2x: b*(r2x-r1x)*(r2y-r1y)=-((r1x+r2x)/2-r3x+d*(r2x-r1x)/2)*(r2x-r1x) + // eq2y: b*(r2x-r1x)*(r2y-r1y)= ((r1y+r2y)/2-r3y+d*(r2y-r1y)/2)*(r2y-r1y) + // eq2y-eq2x: ... in units of 1024 (fast integer rounded correctly) + l2=sq(r2x-r1x)+sq(r2y-r1y); // square of distance r2-r1 + if (l2==0) { + // fprintf(stderr,"ocr0 L%d: r1==r2 r1= %d %d",__LINE__, r1x, r1y); // debugging + d=-1024; + } else + d=-( ((r1x+r2x)-2*r3x)*(r2x-r1x) + +((r1y+r2y)-2*r3y)*(r2y-r1y))*1024/l2; // ..-1024..+1024.. + if (d<=-1024) { x=r1x; y=r1y; } // starting point + else { + if (d>=1024) { x=r2x; y=r2y; } // end point + else { + x=((r1x+r2x)+1)/2+(d*(r2x-r1x))/2048; + y=((r1y+r2y)+1)/2+(d*(r2y-r1y))/2048; + /* we have the crossing point x,y now */ + } + } + dist=sq((x-r3x)*1024/(box1->x1-box1->x0+1)) + +sq((y-r3y)*1024/(box1->y1-box1->y0+1)); // 0..2*sq(1024) + if (dist>maxdist) maxdist=dist; + // for debugging: + // fprintf(stderr,"\nDBG dev: %d-%d-%d dist=%5d max=%5d d=%d %d,%d-%d,%d" + // " vector= %d %d crosspoint= %d %d ", + // j1,i,j2,dist,maxdist,d,r1x,r1y,r2x,r2y,r3x,r3y,x,y); + } + return maxdist; +} + +/* + * search vectors between j1 and j2 for nearest point a to point r + * example: + * + * r-> $$...$$ $ - mark vectors + * @@$..@@ @ - black pixels + * @@$..@@ . - white pixels + * @@@@.$@ + * a-> @@$@$@@ + * @$.@@@@ + * @@..$@@ + * @@..$@@ + * j1 --> $$...$$ <-- j2 + * + * ToDo: vector aa[5] = {rx,ry,x,y,d^2,idx} statt rx,ry? + * j1 and j2 must be in the same frame + * return aa? + * 2009-07: + * - change from normalized (dx=128,dy=128) to absolute distance + * - simpler and no squeeze effect (problem getting right i2 for "3") + */ +int nearest_frame_vector( struct box *box1, int j1, int j2, int rx, int ry) { + int x,y,d,i,aa[4]; /* x,y,normalized_distance^2,vector_index */ + int frame=0; + // int x0=box1->x0, y0=box1->y0, + // x1=box1->x1, y1=box1->y1; + // int dx=box1->x1-x0+1, dy=box1->y1-y0+1; + if (!box1->num_frames) return(-1); + if (j1<0 || j1>box1->num_frame_vectors[box1->num_frames-1] || + j2<0 || j2>box1->num_frame_vectors[box1->num_frames-1]) { + fprintf(stderr,"Error in "__FILE__" L%d: idx %d-%d out of range\n",__LINE__,j1,j2); + out_x(box1); + return(-1); + } + aa[0]=x=box1->frame_vector[j2][0]; /* x */ + aa[1]=y=box1->frame_vector[j2][1]; /* y */ + /* maximum is (distance*128)^2 if r is inside the box */ + // aa[2]=d=2*sq(128)+sq((rx-(x0+x1)/2)*128/dx)+sq((ry-(y0+y1)/2)*128/dy); + aa[2]=d=2*(sq(x-rx)+sq(y-ry)); /* must be greater than min. dist, Jul09 */ + aa[3]=j2; /* vector index */ + /* get the frame the endvector belongs to */ + for (i=0;inum_frames;i++) + if (j2num_frame_vectors[i]) break; + frame=i; + /* frame(j1)<=frame(j2) possible */ + for (i=j1;;i++) { + if (i >= box1->num_frame_vectors[frame]) + i=((frame)?box1->num_frame_vectors[frame-1]:0); /* go around */ + x=box1->frame_vector[i][0]; /* take a vector */ + y=box1->frame_vector[i][1]; + /* distance to upper left end, normalized to 128 */ + // d=sq((x-rx)*128/dx)+sq((y-ry)*128/dy); // old 2009-07 + d=sq(x-rx)+sq(y-ry); + if (d0 and m==1 box1 is changed +// m>0 modify box1->dots +// m==2 modify box1->y0 +// called by pgm2asc + ocr0(?) +int testumlaut(struct box *box1, int cs, int m, wchar_t *modifier){ + // pix p=*(box1->p); + int r,y,x,x0,x1,y0,y1,dx,dy,m1,m2,m3, + xl,xr,yu,yl; // left, right, upper and lower border of dots + wchar_t mod='\0'; /* (TeX-) modifier ~"'` for compose() */ + DBG( wchar_t c_ask='"'; ) + r=0; + x0=box1->x0; x1=box1->x1; dx=x1-x0+1; + y0=box1->y0; y1=box1->y1; dy=y1-y0+1; + m1=box1->m1; m2=box1->m2; m3=box1->m3; + xl=x0; xr=x1; yu=yl=y0; + if( dy < 5 || 4*y0 > 3*m2+m3 ) return 0; // no low chars: .,-= + /* modifier in box included? */ + if( 2*y1 > m1+m2 ){ + /* modifier in box included? */ + for(y=y0;2*yp,cs,1)==0 ) break; + if( 2*y extract */ + yl=y; + while( get_bw(xl,xr,y,y,box1->p,cs,1)==0 && 2*y<=y0+y1) y++; + if( m&2 ) box1->y0=y; /* set new upper bond */ + } + } + if( yu>=yl ) { if(m) box1->dots=0; return 0; } /* nothing found */ + if( get_bw(xl-1,xl-1,yu,yl-1,box1->p,cs,1)==1 ) // neighbour overlap? + while( get_bw(xl ,xl ,yu,yl-1,box1->p,cs,1)==1 && 2*xlp,cs,1)==1 ) break; + for(;xr>xl;xr--)if( get_bw(xr,xr,yu,yl,box1->p,cs,1)==1 ) break; + + if ( yl-1>yu ) { // tall box ij"a"o"u +#if 0 + x=box1->y0; box1->y0=m1; out_x(box1); box1->y0=x; + fprintf(stderr,"\n#testumlaut x= %d %d m1=%d m2=%d",x0,y0,m1-y0,m2-y0); + fprintf(stderr," yu=%d yl=%d xl=%d xr=%d",yu-y0,yl-y0,xl-x0,xr-x0); +#define DEBUG 1 +#endif + { + + x=xl;y=yu; + if( get_bw(xl,x1+1,yu,yl-1,box1->p,cs,1)==0 ) r=0; // neighbour overlap? + else + if( get_bw(xl ,xl ,yu,yl-1,box1->p,cs,1)==0 + || get_bw(xl-1,xl-1,yu,yl-1,box1->p,cs,1)==0 ) // be sure there are gap to neighbours + if( get_bw(xr ,xr ,yu,yl-1,box1->p,cs,1)==0 + || get_bw(xr+1,xr+1,yu,yl-1,box1->p,cs,1)==0 ) + { int i,j,x; + r=1; + // ...@@@.... RING_ABOVE // ..@@@..@@. TILDE + // ..@...@... // @@.@@@@@.. + // ..@...@... // @......... + // ..@..@@... + // ...@@@.... + for (i=yu;ip,cs,1)==1) break; + for ( ;ip,cs,1)==0) break; + for (j=xl;jp,cs,1)==1) break; + for ( ;jp,cs,1)==0) break; + for ( x=j;xp,cs,1)==1) break; + // vert. gap detected + if( j2 + && num_obj(xl,xr,yu,yl-1,box1->p,cs)>=2 // not best!!! + && num_cross(xl,xr,yu +(yl-yu)/4,yu+ (yl-yu)/4,box1->p,cs) == 2 + && num_cross(xl,xr,yl-1-(yl-yu)/2,yl-1-(yl-yu)/2,box1->p,cs) == 2 + ){ // may be the following lines are not quite ok + while( get_bw(xl,xr,yl,yl,box1->p,cs,1)==0 && 2*yly0=yl; +/* if( m&2 ) box1->y0= ( (r==1) ? yu : yl ); */ + // out_x(box1); + } + if(r==0){ // divided fr != fi + while( get_bw(x0,x1,yu,yu,box1->p,cs,1)==0 && 2*yuy0=yu; + } + if( r==1 ){ yl--; +// .@@@. ..@@. +// .@@.. .@@.. +// .@... .@@.. +// +// if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) +// > loop(box1->p,xl,yl,xr-xl,cs,0,RI) // +dx/8 +// && loop(box1->p,xr,yu,xr-xl,cs,0,LE) +// < loop(box1->p,xr,yl,xr-xl,cs,0,LE)) // -dx/8 ) // é Nov03 + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + - loop(box1->p,xr,yu,xr-xl,cs,0,LE) + > loop(box1->p,xl,yl,xr-xl,cs,0,RI) // +dx/8 + - loop(box1->p,xr,yl,xr-xl,cs,0,LE)+1) // -dx/8 ) // é Nov03 + mod = ACUTE_ACCENT; // ' + + if( xr-xl+1 > 3*(yl-yu+1) + && get_bw(xl,xr,yu,yl,box1->p,cs,2)==0 ) + mod = MACRON; // "-" above + +// .@@@. .@@.. +// ..@@. ..@@. +// ...@. ..@@. +// +// if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) +// < loop(box1->p,xl,yl,xr-xl,cs,0,RI) // -dx/8 +// && loop(box1->p,xr,yu,xr-xl,cs,0,LE) +// > loop(box1->p,xr,yl,xr-xl,cs,0,LE) ) // +dx/8 ) à Nov03 + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + - loop(box1->p,xr,yu,xr-xl,cs,0,LE) + < loop(box1->p,xl,yl,xr-xl,cs,0,RI) // -dx/8 + - loop(box1->p,xr,yl,xr-xl,cs,0,LE) -1 ) // +dx/8 ) à Nov03 + mod = GRAVE_ACCENT; // ` + +#ifdef DEBUG + fprintf(stderr,"\n#testumlaut x= %d %d m1=%d m2=%d",x0,y0,m1-y0,m2-y0); + fprintf(stderr," yu=%d yl=%d xl=%d xr=%d",yu-y0,yl-y0,xl-x0,xr-x0); +#endif + if( (xr-xl+1) < 2*(yl-yu+1)+2 + && 2*(xr-xl+1)+2 > (yl-yu+1) ) { + int i,i1,i2,i3,i4; + i1=loop(box1->p,xl ,(yu+yl)/2,xr-xl+1,cs,0,RI); + i1=loop(box1->p,xl+i1,(yu+yl)/2,xr-xl+1,cs,1,RI); + i2=loop(box1->p,(xl+xr)/2,yu ,yl-yu+1,cs,0,DO); + i2=loop(box1->p,(xl+xr)/2,yu+i2,yl-yu+1,cs,1,DO); + for (i=0;ip,xl+i,yu+i)< cs) break; i3=i; + for ( ;ip,xl+i,yu+i)>=cs) break; i3=i-i3; + for (i=0;ip,xr-i,yu+i)< cs) break; i4=i; + for ( ;ip,xr-i,yu+i)>=cs) break; i4=i-i4; +#ifdef DEBUG + fprintf(stderr,"\n#DEBUG DOT_ABOVE %d %d %d %d",i1,i2,i3,i4); +#endif + if ( (xr-xl<5 && yl-yu<8) /* to small */ + || (i1>=(xr-xl+1)/2+2 && i2>=(yl-yu+1)/2+2 /* symmetrical */ + && abs(i3-i4)<=i1/4+2 && abs(i1-i2)<=i1/4+2 + && abs(i3-i1)<=i1/4+4 && abs(i4-i2)<=i1/4+4) + ) + mod = DOT_ABOVE; // "." above, ToDo: improve it! + } + + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/8 + || loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl-1,xr-xl,cs,0,RI)-dx/8 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + > loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/8 + || loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + > loop(box1->p,xr,yl-1,xr-xl,cs,0,LE)-dx/8 ) + && num_cross(xl,xr,yu ,yu ,box1->p,cs) == 1 + && ( num_cross(xl,xr,yl ,yl ,box1->p,cs) == 2 + || num_cross(xl,xr,yl-1,yl-1,box1->p,cs) == 2 )) + mod = CIRCUMFLEX_ACCENT; // "^" + + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 + || loop(box1->p,xl,yu+1,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 + || loop(box1->p,xr,yu+1,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 ) + && ( num_cross(xl,xr,yu ,yu ,box1->p,cs) == 2 + || num_cross(xl,xr,yu+1,yu+1,box1->p,cs) == 2 ) + && num_cross(xl,xr,yl ,yl ,box1->p,cs) == 1 ) + mod = CARON; // "v" above + + if( /* test for bow (new0.3.6) */ + loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + + loop(box1->p,xl,yl ,xr-xl,cs,0,RI) + - 2*loop(box1->p,xl,(yl+yu)/2,xr-xl,cs,0,RI) > dx/16+1 + && xr-xl>10) + if( ( loop(box1->p,xl,yu ,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 + || loop(box1->p,xl,yu+1,xr-xl,cs,0,RI) + < loop(box1->p,xl,yl ,xr-xl,cs,0,RI)-dx/10 ) + && ( loop(box1->p,xr,yu ,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 + || loop(box1->p,xr,yu+1,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl ,xr-xl,cs,0,LE)-dx/10 ) + && ( num_cross(xl,xr,yu ,yu ,box1->p,cs) == 2 + || num_cross(xl,xr,yu+1,yu+1,box1->p,cs) == 2 ) + && num_cross(xl,xr,yl ,yl ,box1->p,cs) == 1 ) + mod = BREVE; // round "u" above + + if( xr-xl>3 && yl-yu>1 ) + if( loop(box1->p,xl,yu,xr-xl,cs,0,RI) + > loop(box1->p,xl,yl,xr-xl,cs,0,RI) + && loop(box1->p,xr,yu,xr-xl,cs,0,LE) + < loop(box1->p,xr,yl,xr-xl,cs,0,LE) + && num_cross(xl,xr,yu,yu,box1->p,cs) == 2 + && num_cross(xl,xr,yl,yl,box1->p,cs) == 2 ) + mod = TILDE; + + if( xr-xl>2 && yl-yu>2) + if( num_cross(xl,xr,(yu+yl)/2,(yu+yl)/2,box1->p,cs) >1 ) + if( num_cross((xl+xr)/2,(xl+xr)/2,yu,yl,box1->p,cs) >1 ) + if( num_hole(xl,xr,yu,yl,box1->p,cs,NULL) == 1 ) + mod = RING_ABOVE; + +#ifdef DEBUG + printf("\n#DEBUG umlaut mod=0x%04x x=%d..%d y=%d..%d r=%d %s", + (int)mod,yu-box1->y0,yl-box1->y0, + xl-box1->x0,xr-box1->x0,r,((mod==CARON)?"CARON": + ((mod==ACUTE_ACCENT)?"ACUTE": + ((mod==TILDE)?"TILDE":"?")))); + out_x(box1); +#endif + + } + } + if (m) box1->dots=r; // set to 0 also possible after division + if (m) box1->modifier=mod; /* should be resetted after compose ??? */ + MSG(fprintf(stderr,"umlaut mod=%s dots=%d y0o=%d",decode(mod,ASCII),r,y0);) + } +// printf(" modifier=%c",mod); + if (modifier) *modifier=mod; /* set modifier */ + return r; +} + + +static wchar_t ocr0_eE(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i,i1,i2,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar,bad_e=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- most frequent letter e first!!! + // --- test e --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 (smallest seen is 5x6) + DBG( wchar_t c_ask='e'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num != 1) ad=97*ad/100; + /* ToDo: may be a two pass version intolerant/tolerant is better */ + if( loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI)>dx/3 ) Break; // rough test + if( loop(box1->p,x0+dx/2,y0,y1-y0,cs,0,DO)>dy/3 ) Break; + if( loop(box1->p,x0+dx/2,y1,y1-y0,cs,0,UP)>dy/3 ) Break; + if( num_cross(x0,x1,y0+dy/4 ,y0+dy/4 ,box1->p,cs) > 2 + && num_cross(x0,x1,y0+dy/4+1,y0+dy/4+1,box1->p,cs) > 2 ) Break; // gt + x=(x0+x1)/2;i= num_cross(x,x,y0,y1,box1->p,cs); // v0.40 + if (i!=3) { x=(x0+2*x1)/3;i= num_cross(x,x,y0,y1,box1->p,cs); } + if (i!=3) { x=(x0+3*x1)/4;i= num_cross(x,x,y0,y1,box1->p,cs); } + if (i!=3) { i= num_cross((x0+2*x1)/3,(x0+x1)/2,y0,y1,box1->p,cs); } + i=loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI); if( i>dx/2 ) Break; + j=loop(box1->p,x0,y0 ,x1-x0,cs,0,RI); if( jp,x0,y1 ,x1-x0,cs,0,RI); if( jp,x0+dx/2,y0,y1-y0,cs,0,DO); if( i>dx/2 ) Break; + j=loop(box1->p,x1-dx/3,y0,y1-y0,cs,0,DO); if( jp,x0 ,y0,y1-y0,cs,0,DO); if( jp,x1 ,y0,y1-y0,cs,0,DO); if( jp,x0+dx/2,y1,y1-y0,cs,0,UP); if( i>dx/2 ) Break; + j=loop(box1->p,x0 ,y1,y1-y0,cs,0,UP); if( jp,x1 ,y1,y1-y0,cs,0,UP); if( jp,x0, (y0+y1)/2,x1-x0,cs,0,RI) + -loop(box1->p,x0,(3*y0+y1)/4,x1-x0,cs,0,RI) + -loop(box1->p,x0,(y0+3*y1)/4,x1-x0,cs,0,RI); + if (dx>3 && j>=dx/4) Break; // ~g 4x6font + for(y=1;yp,cs) == 2 ) break; + if( y==dy/2 ) Break; // v0.2.5 ~ bad_t + for(i=0,j=x0+dx/4;j<=x1-dx/4 && i<=dx/4;j++) + if( num_cross(j,j,y0,y1,box1->p,cs) == 3 ) i++; + if( dx>4 && dy>5 && (i set x,y + for(x=0,y=i=y0+dy/3;ip,x1,i,y1-y0,cs,0,LE); + if(j>=x) { x=j;y=i; } + } + if (x 2* smallest thickness right + for(i1=dx,i=y0+dy/3;ip,x0 ,i,y1-y0,cs,0,RI); if (j>dx/2) break; + j =loop(box1->p,x0+j,i,y1-y0,cs,1,RI); + if (jp,x1 ,i,y1-y0,cs,0,LE); + j =loop(box1->p,x1-j,i,y1-y0,cs,1,LE); + if(j2*i1) Break; // not accepted, if right line is not very thinn + x =loop(box1->p,x1 ,y,y1-y0,cs,0,LE); + x+=loop(box1->p,x1-x,y,y1-y0,cs,1,LE); + x+=loop(box1->p,x1-x,y,y1-y0,cs,0,LE); + if (3*i2>i1) ad=99*ad/100; + if (2*i2>i1) ad=99*ad/100; + bad_e=60; // used later? + } + if (xp,cs) > 1 ) i=0; + if( i ) Break; +// ..@@@@...<- +// .@@@@@@;. +// @@,...@@. +// @@.....@, +// @@@@@@@@@ +// @@.,;.@,. <- problem (y) == bad_e>50 +// @@.....@. +// @@,...@@. +// .@@@,@@@. +// ..@@@@;..<- + if (dy>11 && bad_e<50) + if ( num_cross(x0,x1,y,y,box1->p,cs) != 1 ) Break; // except "geschwungenem e" + if ( num_cross(x0,x1-dx/3,y ,y ,box1->p,cs) != 1 + && num_cross(x0,x1-dx/3,y+1,y+1,box1->p,cs) != 1 ) Break; + // if( num_hole(x0, x1, y0 , y ,box1->p,cs,NULL) < 1 ){ + if( sdata->holes.num == 0 || sdata->holes.hole[0].y1 >= y-y0){ + if( sdata->hchar ) Break; // ~ \it t + // look if thinn font (may be h-line is broken) Mai00 + for(j=0,i=x0+dx/8;ip,cs,1) == 1 ) j++; + if(j<2*dx/4) Break; + } + if( sdata->holes.num>0 && sdata->holes.hole[0].y0 > y-y0) Break; + if( sdata->holes.num>1 && sdata->holes.hole[1].y0 > y-y0) Break; + if( sdata->holes.num==1 && sdata->holes.hole[0].x0 >= dx/2) { + ad=95*ad/100; } /* 8*10 @ (=at) is not an e */ + // look for horizontal gap + for(x=0,y=i=y0+dy/4;ip,x0,i,x1-x0,cs,0,RI); + if(j>=x) { x=j;y=i; } + } + if (y>y0+dy/4 && ydx/2) Break; // s + if (x>dx/4) ad=99*ad/100; + + if( num_cross(x0+dx/2,x1 ,y1-dy/4,y1 ,box1->p,cs) == 0 + && num_cross(x0+dx/2,x1-1,y1-dy/4,y1 ,box1->p,cs) == 0 + && num_cross(x0+dx/2,x1 ,y1-dy/4,y1-1,box1->p,cs) == 0 ) { + if (sdata->gchar) Break; // ~p + ad=99*ad/100; + } + /* upper case is for 5x6 box */ + if( sdata->hchar // broken B ? should also work when linedetection fails + && loop(box1->p,x1,y1-dy/3,dx,cs,0,LE)<=dx/8 ) { + x = loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); + if( loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)<=x + && loop(box1->p,x0,y0+dy/8,dx,cs,0,RI)<=x ) Break; + if( loop(box1->p,x0,y1-dy/4,dx,cs,0,RI)<=x + && loop(box1->p,x0,y1-dy/8,dx,cs,0,RI)<=x ) Break; + } + x = loop(sdata->bp,0,dy-2 ,dx,cs,0,RI); + if( loop(sdata->bp,0,dy-1-dy/8,dx,cs,0,RI)>x && dy>16) Break; // some Q + if (box1->m2) { + if (sdata->gchar) ad=99*ad/100; + if (sdata->hchar) ad=99*ad/100; + } else ad=99*ad/100; + + Setac(box1,(wchar_t)'e',ad); + if (ad>=100) return 'e'; + break; + } + // --- test E --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4 ;){ // min 3x4 + // rewritten for vectors 0.43 + int i1, i2, i3, i4, i5; // line derivation + corners + DBG( wchar_t c_ask='E'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]>d/2) Break; /* [2] = distance, ~dj... */ + if (aa[0][2]>d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + E f near E + + OOOOOOOO OOOO + O5 O O + O4 O + OOOO3 OOOOOO + O2 O + O O + O1 O O + OOOOOOOO OOOOOO +*/ + // check the bow from below + for (i=aa[1][3];i!=aa[2][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (y1-box1->frame_vector[ i][1]>dy/4) break; // fatal! + } if (i!=aa[2][3]) Break; // ~AHKMNRX + // search most left+down between bottom right and top right + i1=nearest_frame_vector(box1, aa[2][3],aa[3][3], x0, y1); + i5=nearest_frame_vector(box1, i1,aa[3][3], x0, y0); + i3=nearest_frame_vector(box1, i1, i5, x1, (y0+y1)/2); + i2=nearest_frame_vector(box1, i1, i3, x0, (2*y0+y1)/3); + i4=nearest_frame_vector(box1, i3, i5, x0, (y0+2*y1)/3); + i =nearest_frame_vector(box1, aa[0][3],aa[1][3], x0-dx/4, (y0+y1)/2); + if (2*box1->frame_vector[i][0] < aa[0][0]+aa[1][0]-1-dx/16) Break; + if (2*box1->frame_vector[i][0] < aa[0][0]+aa[1][0]) ad=99*ad/100; // f + + MSG(fprintf(stderr,"i1-5 %d %d %d %d %d",i1,i2,i3,i4,i5);) + // holes right open? + for( i=1,y=y0; yp,cs,2) == 0 ) i=0; + if( i ) Break; + for( i=1,y=y1; y>y1-dy/4 && i; y-- ) // long black line + if( get_bw(x0+dx/6,x1-dx/4,y,y,box1->p,cs,2) == 0 ) i=0; + if( i ) Break; + for( i=1,y=y0+dy/3; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>dx/3 ) i=0; + } if( i ) Break; + x=x1-dx/3; y=y0; // von oben durchbohren! + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y0+dy/4 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,DO); if( y>y0+dy/3 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,RI,DO); if( x<=x1 || y>y0+dy/2 ) Break; + x=x1-dx/3; y=y1; // von unten durchbohren! + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,ST,UP); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,UP); if( x<=x1 || yp,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y0+dy/4 ) Break; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,DO); if( y>y0+dy/3 ) Break; + y+=dy/15; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,LE,ST); if( x15 && x==x0) ad=99*ad/100; // to thin + x+=dx/15+1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,DO,ST); if( y>y1-dy/3 ) Break; + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) > 0 ) Break; + if (sdata->holes.num > 0) Break; + i=loop(box1->p,x0,y0+dy/4,dx,cs,0,RI); if(i>dx/2) Break; + j=loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); if(ji+dx/8) Break; i=j; + j=loop(box1->p,x0,y1-dy/4,dx,cs,0,RI); if(ji+dx/8) Break; + j=loop(box1->p,x1,y1-dy/4,dx,cs,0,LE); + for( x=dx,y=y0+dy/6; yp,x0,y,dx,cs,0,RI); + if (i>j/2 && ad>98) ad=99*ad/100; + if (i>dx/4) break; + if(i3*dx) // ~[ + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; + + if (box1->m2) { + if (!hchar) ad=ad*99/100; + if ( gchar) ad=ad*99/100; + } + Setac(box1,(wchar_t)'E',ad); + if (ad>=100) return 'E'; + break; + } + return box1->c; +} + +static wchar_t ocr0_n(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i,j,d,x,y,i1,i2,i3,handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test n --------------------------------------------------- + // glued rm is very similar to glued nn -> thickness of h-line should grow + // may02: tested for 8x12 font + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='n'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + i= num_cross( 0,dx-1,dy/4,dy/4,sdata->bp,cs); + j= num_cross( 0,dx-1,dy/2,dy/2,sdata->bp,cs); + if( (i<2 || i>3) && j!=2 ) Break; + if( loop(sdata->bp,dx/2,0,dy,cs,0,DO) > dy/8 && sdata->hchar ) Break; /* tt */ + y=5*dy/8; /* also for handwritten n, where first bow goes not down enough */ + if( num_cross( 0,dx/2,y ,y ,sdata->bp,cs) != 1 + && num_cross( 0,dx/2,y-1,y-1,sdata->bp,cs) != 1 + && num_cross(dx/2,dx-1,y ,y ,sdata->bp,cs) < 1 ) Break; // n rr + // ~thick_w + y=loop(sdata->bp,dx-1-dx/4,0,dy,cs,0,DO); if(y>dy/2) Break; + if(y>1)if( get_bw(dx-1-dx/4,dx-1,0,y-2,sdata->bp,cs,1) == 1 ) Break; + + y=3*dy/4; + if( num_cross(0, dx/2,y ,y ,sdata->bp,cs) == 1 + && num_cross(dx/2,dx-1,y ,y ,sdata->bp,cs) == 0 ) Break; // ~p + y=dy/2; + if( num_cross(0,dx-1,dy/2-dy/8,dy/2-dy/8,sdata->bp,cs) == 2 + && num_cross(0,dx-1,dy/2, dy/2 ,sdata->bp,cs) == 2 ) { // n rr + /* printed n */ + x =loop(sdata->bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // search 1st v-line + x+=loop(sdata->bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // 1st gap + x+=loop(sdata->bp,x,y,dx-x,cs,0,RI); if(x< dx/2) Break; i2=x; // 2nd v-line + x+=loop(sdata->bp,x,y,dx-x,cs,1,RI); if(x<3*dx/4) Break; i3=x; // 2nd gap + i=dy/4; y=13*dy/16; + if( num_cross(dx/2,dx-1,y,y,sdata->bp,cs)==2 ) i=3*dy/8; // \it n + if (i<2 && il1 l2 l3 l4 ??? + for(x=i1;xbp,x, 0,dy,cs,0,DO)>=i ) break; + if(x bp,x,dy-1,dy,cs,0,UP) >dy/4 ) break; + if(x==i2) Break; // no gap detected (glued serifs ??? ) + // glued rm as nn ??? + for(y=0,x=(i1+i2)/2;xbp,x,0,dy,cs,0,DO); + i=loop(sdata->bp,x,i,dy,cs,1,DO); // measure thickness + if( i>y ) y=i; if( i7 ) + if( loop(sdata->bp,dx-1,dy-1-dy/8,dx,cs,0,LE) + +loop(sdata->bp, 0,dy-1-dy/8,dx,cs,0,RI)-dx/8-1 + > loop(sdata->bp,dx-1,dy-1-dy/2,dx,cs,0,LE) + +loop(sdata->bp, 0,dy-1-dy/2,dx,cs,0,RI) ) ad=90*ad/100; // broken o + if( dy>7 && dx>7 ) + if( loop(sdata->bp,dx-1, dy/2,dx,cs,0,LE)==0 + && loop(sdata->bp,dx-1,dy-1-dy/8,dx,cs,0,RI)>dx/8 ) ad=98*ad/100; // broken o + } else { /* check handwritten n */ + if( num_cross(0,dx-1,dy/2, dy/2 ,sdata->bp,cs) != 3 + && num_cross(0,dx-1,dy/2-dy/8,dy/2-dy/8,sdata->bp,cs) != 3 ) Break; + i =loop(sdata->bp,0,dy/2-dy/8,dx,cs,0,RI); if (i>dx/4) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,1,RI); if (i>dx/2) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,0,RI); + if( num_cross(i,i, 0,dy/2-2*dy/8,sdata->bp,cs) != 0 ) Break; + i+=loop(sdata->bp,i,dy/2-dy/8,dx,cs,1,RI); + if( num_cross(i,i,dy/2+1, dy-1,sdata->bp,cs) != 0 ) Break; + handwritten=80; + } + + i= loop(sdata->bp,dx-1 ,dy/2,dx,cs,0,LE); if(i>5) + if( get_bw(dx-1-i/2,dx-1-i/2,0,dy/2,sdata->bp,cs,1) == 1 ) Break; // ~rr + i+=loop(sdata->bp,dx-1-i,dy/2,dx,cs,1,LE); + if( get_bw(dx-1-i ,dx-1-i ,0,dy/2,sdata->bp,cs,1) == 0 ) Break; // ~rv + + if( get_bw(dx/2,dx/2,dy/4,dy/4,sdata->bp,cs,1) == 0 + && get_bw(dx/2,dx-1,dy-2,dy-2,sdata->bp,cs,1) == 0 + && get_bw(dx/2,dx/2,dy/4,dy-2,sdata->bp,cs,1) == 1 ) Break; // ~P + + // glued ri ??? + if( box1->dots>0 && box1->m1 ) + if( get_bw((x1+x0)/2,x1,box1->m1,y0-1,box1->p,cs,1) == 1 ) + if( num_cross( 0,dx-1,0 ,0 ,sdata->bp,cs) >2 + || num_cross( 0,dx-1,1 ,1 ,sdata->bp,cs) >2 ) Break; + + + i=loop(sdata->bp,dx-1, dy-1,dx,cs,0,LE); if (i>dx/2) + i=loop(sdata->bp,dx-1, dy-2,dx,cs,0,LE); + x=loop(sdata->bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + if (sdata->hchar && i-x>1) Break; // ß + x=loop(sdata->bp, 0,dy-1,dx,cs,0,LE); // check for serifs + i=loop(sdata->bp, 0,dy-2,dx,cs,0,LE); if (ibp, 0, 1,dx,cs,0,LE); if (ibp, 0, 2,dx,cs,0,LE); if (ihchar && x>0) Break; // fl + + if (num_cross( 0,dx-1,dy/4,dy/4,sdata->bp,cs)>=3) ad=98*ad/100; // small M + if (sdata->hchar || 2*y0m1+box1->m2) ad=96*ad/100; + if (sdata->gchar) ad=96*ad/100; // ß fl + if (dx<5) { // for small fonts no middle line is possible for m + ad=99*ad/100; // 4x6 m + if (num_cross(0,dx-1,dy/8,dy/8,sdata->bp,cs)>=2) { + ad=97*ad/100; // ~m + if (dy<=4) Setac(box1,'m',97); // only for 4x6 font! + } + } + Setac(box1,'n',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_M(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,i0,i1,i2,i3,t1,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // ------------------ test M --------------------------- + for(ad=d=100;dx>3 && dy>3;){ // dy<=dx nicht perfekt! besser mittleres + // min-suchen fuer m + DBG( wchar_t c_ask='M'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for (y=dy/4;y<=3*dy/4;y++) + if (num_cross(0,dx-1,y,y,bp,cs)>=3) break; + if (y>3*dy/4 && dx>4) Break; + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs)<2 + && num_cross(0,dx-1, dy/8, dy/8,bp,cs)<2 ) Break; /* fat M */ + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)<2 ) Break; + + x = loop(bp,dx-1 ,dy-1,dx,cs,0,LE); // ~ melted kl + x = loop(bp,dx-1-x,dy-1,dx,cs,1,LE); if( x>dx/2 ) Break; + + if( loop(bp, 0,7*dy/16,dx,cs,0,RI) + + loop(bp,dx-1,7*dy/16,dx,cs,0,LE) > dx/2 ) Break; // ~K + + if( dy>8 /* following lines should be extend to range check */ + && loop(bp, dx/4,dy-1, dy,cs,0,UP) 2 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)> 2 ) Break; // ~it_u + if( num_cross(0 ,dx-1,3*dy/4,3*dy/4,bp,cs)==2 + && num_cross(dx/2,dx/2,3*dy/4, dy-1,bp,cs)> 0 ) Break; // ~it_v + + if( loop(bp,3*dx/4, 0,dy,cs,0,DO) + > loop(bp,2*dx/4, 0,dy,cs,0,DO) + && loop(bp,3*dx/4,dy-1,dy,cs,0,UP) + < loop(bp,2*dx/4,dy-1,dy,cs,0,UP) ) Break; // ~N + if( loop(bp,3*dx/4, dy/8,dy,cs,0,DO) + > loop(bp,2*dx/4, dy/8,dy,cs,0,DO) + && loop(bp,3*dx/4,dy-1-dy/8,dy,cs,0,UP) + < loop(bp,2*dx/4,dy-1-dy/8,dy,cs,0,UP) ) Break; // ~serif_N + + // i0 is lower end of upper serifen (widest gap? ) + i0=0; + + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)!=4 ){ // Is it a N ? + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)==3 ){ + for(y=dy/2+1;yy-2 ) Break; // ~N + } + } + } + // MNWK + for(i2=0,i1=x=dx/2;xi2) {i2=y;i1=x;} else break; } + i3=i2+loop(bp,i1,i2,dy-i2,cs,1,DO); + if(i2hchar) Break; // rm + ad=99*ad/100; + } + if (i2==0 && dx>8 && dy>12) Break; // glued and bad splitted serifen-MN + + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) != 0 ) Break; // small A + if (sdata->holes.num != 0) Break; + t1=loop(bp,0 ,3*dy/4,dx,cs,0,RI); + t1=loop(bp,t1,3*dy/4,dx,cs,1,RI); // thickness of line? + if( 7*(t1+1)=i2 ) Break; // no good M + i1+=loop(bp,i1, dy/4,dx,cs,1,RI); + i2+=loop(bp,i2,3*dy/4,dx,cs,1,RI); + if( i1>=i2 ) Break; // no good M + i1+=loop(bp,i1, dy/4,dx,cs,0,RI); + i2+=loop(bp,i2,3*dy/4,dx,cs,0,RI); + if( i1<=i2 ) Break; // no good M + } + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)==2 + && num_cross(0,dx-1,dy/4,dy/4,bp,cs)==2 && !hchar ) Break; // ~ \it u + + if (dy<17) + if( num_cross(0,dx-1, 0, 0,bp,cs)<2 ) ad=99*ad/100; + if (dx>5) /* 4x6 font has only 1 cross at y=1 */ + if( num_cross(0,dx-1, 1, 1,bp,cs)<2 ) ad=96*ad/100; // kt + if( num_cross(dx/2,dx/2, 0, dy-1,bp,cs)!=1) ad=98*ad/100; // kt + if (dx<5 && loop(bp,dx/2,0,dy,cs,0,DO)>=3*dy/8) ad=96*ad/100; // 4x6 H + + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs)<=2 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)<=2 + && dx>8 && dy>12 ){ + ad=98*ad/100; + for(y=5*dy/16;y<5*dy/8;y++) // look for H-line + if( num_cross(0,dx-1,y ,y ,bp,cs)==1 ) break; + if( y<5*dy/8 ) ad=95*ad/100; + if( y<5*dy/8 ) + if( num_cross(2+dx/6,dx-3-dx/6,y-2,y-2,bp,cs)==0 + || num_cross(2+dx/6,dx-3-dx/6,y-1,y-1,bp,cs)==0 ) Break; // ~H bad! + } + + if( loop(bp,3*dx/8, 0,dy,cs,0,DO) >dy/2 + && loop(bp,5*dx/8,dy-1,dy,cs,0,UP) >dy/2 ) ad=95*ad/100; + + if(!hchar){ + ad=98*ad/100; /* not sure */ + if( loop(bp,0, dy/4,dx,cs,0,RI) + < loop(bp,0,dy-1-dy/8,dx,cs,0,RI)-dx/16 ) Break; // ~wi glued + } + if( gchar ) ad=98*ad/100; + if (ad>99 && dx<8) ad=99*ad/100; /* give 5x8 N a chance */ + Setac(box1,'M',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_N(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* corner-points, (x,y,dist^2,vector_idx) */ + dbg[9], + ad; /* tmp-vars */ + + // --- test N ------- +hchar -gchar + for(ad=d=100;dx>3 && dy>3;){ // 4x6font + int j; + DBG( wchar_t c_ask='N'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + if (dx<6) ad=99*ad/100; + if (dx<5) ad=99*ad/100; + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0](dy+2)/5) Break; /* glued tu */ + if (abs(aa[3][1]-aa[0][1])>(dy+4)/8) ad=98*ad/100; /* glued tu */ + /* left and right vertical line */ + d=line_deviation(box1, aa[0][3], aa[1][3]); if (d>2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[2][3], aa[3][3]); if (d>2*sq(1024/4)) Break; + + /* i1: uppermost left ^ from bottom (near 0,0) */ + i1=nearest_frame_vector(box1,aa[1][3],aa[2][3], x0+dx/8, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + MSG( fprintf(stderr,"i1= %d (%d,%d) left ^ from below", i1,x-x0,y-y0);) + if (y-y0 > 5*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + /* i3: uppermost right ^ ~H */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], x1, y0); + MSG( fprintf(stderr,"i3= %d (%d,%d) right ^ (ad=%d)",\ + i3, box1->frame_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0,ad);) + + /* check lower border of diagonal line, may fail on fonts where + * line ends on middle of right vertical line (screen font) */ + dbg[0]=d=line_deviation(box1,i1, aa[2][3]); + /* check right border of left vertical line */ + /* but split to possible lower left serif + vert. line */ + j=nearest_frame_vector(box1,aa[1][3],i1, x0+dx/2, y1+dy/2); + dbg[1]=d=line_deviation(box1, aa[1][3],j ); + +line_deviation(box1, j,i1); + MSG(fprintf(stderr," i1-a2 %d a1_serif-i1 %d ad=%d",dbg[0],dbg[1],ad);) + if (dbg[0] > sq(1024/4)) Break; + if (dx>4 && dbg[1] > sq(1024/4)) ad=97*ad/100; // d=0..2*sq(1024) + if (dx>4 && dbg[1] > sq(1024/3)) Break; // d=0..2*sq(1024) + // serif N has d=sq(1024/3)=116508 + MSG( fprintf(stderr,"ad %d", ad); ) + + /* i2: lowest right v from top, same frame? N-tilde etc.? */ + i2=nearest_frame_vector(box1,aa[3][3],aa[0][3], x1, y1-dy/8); + x=box1->frame_vector[i2][0]; + y=box1->frame_vector[i2][1]; + MSG( fprintf(stderr,"i2= %d (%d,%d) lowest right v from top",\ + i2, box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0);) + if (y-y0 < 3*dy/8) Break; + if (x-x0 < 3*dx/8) Break; + // test H + if ( box1->frame_vector[i3][0]-box1->frame_vector[i1][0]> dx/4 + && box1->frame_vector[i3][1]-box1->frame_vector[i1][1]<=dy/8 + && y<=box1->frame_vector[i1][1]) Break; + /* check if upper left and lower right point are joined directly */ + /* but split to possible upper right serif + down line */ + j=nearest_frame_vector(box1,i2,aa[0][3], x0+dx/2, y0-dy/2); + dbg[2]=d=line_deviation(box1,i2, j) + +line_deviation(box1, j, aa[0][3]); + /* check if upper right and lower right point are joined directly */ + /* but split to possible upper right serif + vert. line */ + j=nearest_frame_vector(box1,aa[3][3],i2, x0+dx/2, y0-dy/2); + dbg[3]=d=line_deviation(box1, aa[3][3],j) + +line_deviation(box1, j,i2); // ToDo: split once more? + MSG( fprintf(stderr," i2-a0 %d a3-i2 %d ad %d",dbg[2],dbg[3], ad); ) + if (dbg[2] > sq(1024/4)) Break; + // serif N, ToDo: do it better + if (dbg[3] > sq(1024/4)) ad=97*ad/100; + if (dbg[3] > sq(1024/3)) Break; + MSG( fprintf(stderr,"ad %d", ad); ) + + MSG( fprintf(stderr,"check against melted tu"); ) + // i1 = left ^ from below, i2 = lowest right v from top + // sample gocr_Device*: 3-8,dy=27 + if ( (box1->frame_vector[i1][1]-y0) + -(y1-box1->frame_vector[i2][1])>dy/8) ad=99*ad/100; /* ~ tu */ + MSG( fprintf(stderr,"tu ad %d", ad); ) + if (box1->frame_vector[i2][0] + -box1->frame_vector[i1][0]<=dx/8) Break; /* nonsignificant distance */ + MSG( fprintf(stderr,"i2-i1<=dx/8 ad %d", ad); ) + /* i1: uppermost left ^ from bottom (near 0,0) */ + /* i2: lowest right v from top, same frame? N-tilde etc.? */ + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]<=dy/8) { + // may happen on screen fonts 7x10 + if (dx>8) ad=97*ad/100; /* too flat (ff,H) */ + } + MSG( fprintf(stderr,"i2-i1<=dy/8 ad %d", ad); ) + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]<=dy/2) ad=99*ad/100; + MSG( \ + fprintf(stderr,"^v %d %d %d %d line dev %d %d %d %d max %d %d ad %d",\ + box1->frame_vector[i1][0]-x0,box1->frame_vector[i1][1]-y0,\ + box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0,\ + dbg[0],dbg[1],dbg[2],dbg[3],sq(1024/4),sq(1024),ad);) + ad=(100-(dbg[0]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[1]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[2]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + ad=(100-(dbg[3]-sq(1024)/2)/sq(1024)/4)*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + + if (!hchar) ad=99*ad/100; + if ( gchar) ad=98*ad/100; // \sc N + Setac(box1,'N',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_h(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- test h --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + // rewritten for vectors 0.42 + int i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( wchar_t c_ask='h'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + type A B=italic ??? + 18 OOO + O O O + O O + O7OOO OOOO + O4 O O O + O O O O + O O O O O + 2O3 5O6 O OOO +*/ + i1=i8=aa[0][3]; + i2=i3=aa[1][3]; + i5=i6=aa[2][3]; + // check the bow from below (fails on melted serifs) + for (i4=i=i2;i!=i5;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i4][1]) i4=i; // get next maximum + if (box1->frame_vector[ i][1]<=y0) break; // fatal! + } + if (box1->frame_vector[i4][1]-y0frame_vector[i4][1]18 ) + if( get_bw(dx-1-dx/3,dx-1,dy/6 ,dy/5 ,bp,cs,1) == 1 ) Break; + if( get_bw(dx-1-dx/3,dx-1,dy-1-dy/4,dy-1 ,bp,cs,1) == 0 ) Break; // s- + for( x=x0+dx/3;xp,cs,1) == 0 ) break; + if( x>=x1-dx/3 ) Break; + for(i=dy/4,y=y0+dy/3;y<=y1 && i;y++){ + if( num_cross(x0,x1 ,y,y, box1->p,cs) == 2 ) i--; + } if( i ) Break; + for(i=dy/4,y=y0;y<=y0+dy/2 && i;y++){ + if( num_cross(x0,x0+dx/2,y,y, box1->p,cs) == 1 ) i--; + } if( i ) Break; + // if( num_hole(x0, x1, y0 , y1 ,box1->p,cs,NULL) > 0 ) // could happen + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/3 + && sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole(x0, x1, y0+dy/3 , y1-dy/3 ,box1->p,cs,NULL) != 1 ) Break; // mini + if( loop(bp,dx-1,dy/3,dx,cs,0,LE)+dx/8 + < loop(bp,dx-1,dy/2,dx,cs,0,LE) + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)+dx/8 + < loop(bp,dx-1,dy/2,dx,cs,0,LE)) Break; // ~k Okt00 + i=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); + if (i>1 && num_cross(x0,x0,y0+dy/8+2,y0+dy/2, box1->p,cs) == 1 ){ // fi fu + ad=(99-(1<p,cs) == 0 ) ad=97*ad/100; + if (num_cross(x0+dx/2,x0+dx/2,y0,y0+dy/8+2, box1->p,cs) == 1 ) ad=97*ad/100; + if (ad<1) break; + } + i =loop(bp,0,dy/4,dx,cs,0,RI); + i+=loop(bp,i,dy/4,dx,cs,1,RI)+1; + for ( ; i5*dy/8 ) { + ad=98*ad/100; // melted hi, li, but handwritten h + MSG(fprintf(stderr,"ad=%d",ad);) } + if( num_cross(x0,x0,y0+(dy+3)/8,y1,box1->p,cs) > 1 ) { + ad=98*ad/100; // melted fr + MSG(fprintf(stderr,"ad=%d",ad);) } + + i=loop(bp,dx-1,3*dy/4,dx,cs,0,LE); // melted "fr" for vertikal letters + if (i>dx/4 && loop(bp,dx-1-i,dy-1,dy,cs,1,UP)>dy/2) { + ad=94*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } + + i=loop(bp,dx-1,1+dy/16,dx,cs,0,LE); if (i 0 ) { + ad=95*ad/100; // melted fi + MSG(fprintf(stderr,"ad=%d",ad);) } + if (loop(box1->p,x1,y0+1+dy/16,dx,cs,0,LE)p,x1,y0 ,dx,cs,0,LE)p,x1,y0+1,dx,cs,0,LE)holes.num > 0) ad=97*ad/100; + if (box1->m2) { + if ( gchar) ad=98*ad/100; + if (!hchar) ad=97*ad/100; + } else ad=99*ad/100; + Setac(box1,'h',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_H(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,j1,d,x,y,ya,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test H --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='H'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if ( num_cross(0,dx-1,dy/4 ,dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,dy/4-1,dy/4-1,bp,cs) != 2 ) Break; + if ( num_cross(0,dx-1,3*dy/4 ,3*dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/4+1,3*dy/4+1,bp,cs) != 2 ) Break; + if ( loop(bp,0 ,dy/8,dx,cs,0,RI) + + loop(bp,dx-1,dy/8,dx,cs,0,LE)>dx/2 ) Break; // ~A + for ( j1=0,i=1,y=y0+dy/10; yp,x0 ,y,dx,cs,0,RI) + +loop(box1->p,x1 ,y,dx,cs,0,LE); if( j>dx/2 ) i=0; if(j>j1)j1=j; } + if ( !i ) Break; + for ( i=1,y=dy/4; ydx/5 ) i=0; } + if (!i) Break; // ~K Jul00 + for (i=0,ya=y=y0+dy/3; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ) { i=j; ya=y; } } + if (i<=dx/2) Break; ya-=y0; + if (num_cross(0,dx-1,ya ,ya ,bp,cs) != 1 + && num_cross(0,dx-1,ya+1,ya+1,bp,cs) != 1 ) Break; /* Dec00 */ + for (y=ya; y 2 + && num_cross(0,dx-1,y+1,y+1,bp,cs) > 2 ) break; + if (yp,cs,1) == 0 ) i=0; + } if (i) Break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if (get_bw( x, x,y1-dy/4,y1 ,box1->p,cs,1) == 0 ) i=0; + } if (i) Break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if (num_cross(x,x,y0+dy/8,y1-dy/8, box1->p,cs) == 1 ) i=0; + } if (i) Break; + for (i=1,y=y0;y<=y0+dy/4 && i;y++){ + if (num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if (i) Break; + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if (num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if (i) Break; + if (get_bw(x1-dx/8, x1 , y0, y0+dy/8,box1->p,cs,1) != 1 ) Break; + if (get_bw(x0 , x0+dx/8, y1-dy/8, y1,box1->p,cs,1) != 1 ) Break; + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(i1>dx/2) Break; + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(i2i1+dx/8) Break; + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); if(i3i2+dx/8) Break; + if (abs(i1+i3-2*i2)>dx/16+1) Break; + // test for thick tall N looking like a H + if (num_cross(x0,x1,y0, y1 , box1->p,cs) < 2 ) Break; // sure N + if (num_cross(x0,x1,y0,(y0+y1)/2, box1->p,cs) < 2 ) Break; // sure N + i1=loop(bp, 0, dy/4,dx,cs,0,RI); + i1=loop(bp, i1, dy/4,dx,cs,1,RI); // right side of left vert. line + i2=loop(bp, 0,dy-1-dy/4,dx,cs,0,RI); + i2=loop(bp, i2,dy-1-dy/4,dx,cs,1,RI); // right side of left vert. line + i3=loop(bp,dx-1 ,dy-1-dy/4,dx,cs,0,LE); + i3=loop(bp,dx-1-i3,dy-1-dy/4,dx,cs,1,LE); // left side of right vert. line + if (dx<10 && i1-i2>dx/4) Break; + if (dx<10 && i1-i2>dx/8) ad=99*ad/100; // 7x10 ~N + i =loop(bp, 0,dy/2+1+dy/8,dx,cs,0,RI); + i+=loop(bp, i,dy/2+1+dy/8,dx,cs,1,RI); + i =loop(bp, i,dy/2+1+dy/8,dx,cs,0,RI); + if (i6*i2 && 5*i3>6*i2 && i1>i2 && i3>i2) Break; // ??? + if (dx>8) + if (loop(bp,dx-1, 3*dy/8,dx,cs,0,LE) + -loop(bp,dx-1, dy/8,dx,cs,0,LE)>dx/4 + && loop(bp,dx-1, 3*dy/8,dx,cs,0,LE) + -loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)>dx/4 ) Break; // ~K + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) Break; + if (sdata->holes.num != 0) Break; + MSG( fprintf(stderr,"i123 %d %d %d",i1,i2,i3); ) + if ( gchar) ad=99*ad/100; + if (!hchar) ad=98*ad/100; + Setac(box1,'H',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_k(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + + // --- test k --------------------------------------------------- + for(ad=100;dx>2 && dy>3;){ // min 3x4 + // rewritten for vectors 0.43 + int d, i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( wchar_t c_ask='k'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]d/2) Break; /* upper left end */ + if (aa[1][2]>d/2) Break; /* lower left end */ + if (aa[2][2]>d/2) Break; /* lowerright end */ +/* + type A B=italic ??? + 18 OOO + O O O + O O6 O + O7 OO O OO + O4OO OO OO + O OO O O + O OO O O O + 2O3 O5 O OOO +*/ + i1=i8=aa[0][3]; + i2=i3=aa[1][3]; + i5= aa[2][3]; + // check the bow from below + for (i4=i=i2;i!=i5;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i4][1]) i4=i; // get next maximum + if (box1->frame_vector[ i][1]<=y0) break; // fatal! + } + if (box1->frame_vector[i4][1]-y0frame_vector[i4][1]frame_vector[i][0]frame_vector[i][0]dx/2) Break; + i3=loop(bp,0,dy/2+dy/4,dx,cs,0,RI); + if (abs(i1+i3-2*i2)>(dx+8)/16+1 || i1p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x1, y1-dy/3,y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4,x1, y0 ,y0+3*dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/4,x1, y0+dy/4,y1-dy/4,box1->p,cs,1) != 1 ) Break; //~1 + if( get_bw(x1-dx/4,x1, y1-dy/8,y1 ,box1->p,cs,1) != 1 ) Break; + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; + // if( num_hole(x0,x1,y0+dy/4,y1,box1->p,cs,NULL) != 0 ) Break; + for(y=y0+1;yp,cs,1) == 0 ) break; + if( yp,cs,100)>50) i=0; + if( i ) Break; // no vertikal line! + + /* check for falling line in the lower left corner */ + for (j=x=0,y=5*dy/8;y<7*dy/8;y++) { + i= loop(bp,dx-1,y,dx,cs,0,LE); if(i>x) { x=i;j=y; } + } // x=dx/6 on fat k + if (x + loop(bp,dx-1-x,y,dx,cs,1,LE)/2 dx/2) + i =loop(bp,dx-1,dy-2,dx,cs,0,LE); if(i>dx/2) Break; + i+=loop(bp,dx-1-i,dy-1,dx,cs,1,LE)/2; + if( get_line(x,y,dx-1-i,dy-1,bp,cs,100)<60 ) Break; + + for(y=y0+dy/3;yp,cs)==2 ) break; + if( y==y1 ) Break; + if( + // num_hole(x0,x1 ,y0 ,y1 ,box1->p,cs,NULL)>0 // ~A happens! + sdata->holes.num > 0 ) + if (sdata->holes.hole[0].x1>dx-1-dx/4 + || sdata->holes.hole[0].y1>dy-1-dy/4 + || sdata->holes.hole[0].y0< dy/4) Break; + // if ( num_hole(x0,x1-dx/4,y0+dy/4,y1-dy/4,box1->p,cs,NULL)==0 ) Break; + i=loop(bp,0,dy-1,dx,cs,0,RI); + i=loop(bp,i,dy-1,dx,cs,1,RI); if (dx>8 && 4*i>3*dx) Break; // ~glued_tz + i =loop(bp,0,dy/4,dx,cs,0,RI); + if (i>dx/4 + && i+loop(bp,i,dy/4,dx,cs,1,RI)>dx/2 + && loop(bp, 0,0,dx,cs,0,RI)<=dx/4 + && loop(bp,dx-1,0,dx,cs,0,LE)>=dx/2 ) ad=90*ad/100; // divided Q + + if( 2*y0>(box1->m1+box1->m2) ) ad=99*ad/100; + + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,'k',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_K(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,i1,i2,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,xa,yb,xb,yc,xc,yd,xd,ye,xe,yf,xf; /* tmp-vars */ + + // --- test K --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // Mar2000 perfect??? no ocr-a X Jul09 + DBG( wchar_t c_ask='K'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for(y=dy/8;yp,x,y0,y1-y0,cs,0,DO); if (y>3*dy/4) { i=1;break; } + if (dy>15 && j>dy/8){ + j =loop(box1->p,x-1,y0+y-1,x1-x0,cs,0,LE)/2; + y+=loop(box1->p,x-j,y0+y-1,y1-y0,cs,0,DO)-1; + } + if(y>=dy/4) i=0; /* ok, found gap */ + } if( i ) Break; + for(y=0,x=x0+dx/4;x<=x1-dx/4;x++){ // lower h-gap + i=loop(box1->p,x,y1,dy,cs,0,UP); + /* on small chars bypass possible low left serifs */ + if (i>0) { i2=loop(box1->p,x-1,y1-i-1,dy,cs,0,UP); + if (i2>1) i+=i2-1; } + if (i>y) { y=i; i1=x; } + } if( y<=dy/8 ) Break; if (yp,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0;y<=y0+dy/4 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( dx<10 ){ + for(i=1,y=y0+dy/3;y<=y1-dy/3 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 1 ) i=0; + } if( i ) Break; + } + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( get_bw(x1-dx/3,x1,y0,y0+dy/8,box1->p,cs,1) != 1 ) Break; // ~k + if( loop(bp,0, dy/4,dx,cs,0,RI) + +loop(bp,0,3*dy/4,dx,cs,0,RI) + <2*loop(bp,0, dy/2,dx,cs,0,RI)-2-dx/32 ) + { if (dy>=16) { Break; } else ad=98*ad/100; } // ~X Jul09 + + i=loop(box1->p,x1,y0+ dy/4,x1-x0+1,cs,0,LE); if(i>dx/2) Break; + j=loop(box1->p,x1,y0+ dy/2,x1-x0+1,cs,0,LE); + x=loop(box1->p,x1,y0+3*dy/8,x1-x0+1,cs,0,LE); if(x>j) j=x; + if(j<=i ) Break; i=j; + j=loop(box1->p,x1,y1-dy/4,x1-x0+1,cs,0,LE); if(j>=i ) Break; + // out_x(box1); // detailed analysis + // + // a d <= that are main points of K + // | / + // b/e + // | \ . + // c f + ya= dy/4;xa=loop(bp,0,ya,dx,cs,0,RI);xa+=loop(bp,xa,ya,dx,cs,1,RI)/2; + yc=dy-dy/4;xc=loop(bp,0,yc,dx,cs,0,RI);xc+=loop(bp,xc,yc,dx,cs,1,RI)/2; + yb=dy/2; xb=dx-1-loop(bp,dx-1,dy/2,dx,cs,0,LE); + for(yd=ye=yf=xe=y=i=0,xf=xd=dx;yxe){ xe=x;ye=dy/2+y; } + x =loop(bp,dx-1,dy/2-y,dx,cs,0,LE); if(x>xe){ xe=x;ye=dy/2-y; } +#if 0 // removed v0.2.4a2 + x =loop(bp,0 ,dy/2+y,dx,cs,0,RI); // middle left border + x+=loop(bp,x ,dy/2+y,dx,cs,1,RI); // test 2nd cross + x+=loop(bp,x ,dy/2+y,dx,cs,0,RI); if(x8 ){ // example szaka0103 + if( xe>5*dx/8 || xb>5*dx/8 ) Break; // ~{\it n} + i=loop(bp,xb,yb,xb,cs,1,LE); // thick center? see font22 + if( get_line2(xb,yb,xd,yd,bp,cs,100)<95 ) // right up + if( get_line2(xb-i/2,yb,xd,yd,bp,cs,100)<95 ) Break; + if( get_line2(xe,ye,xf,yf,bp,cs,100)<95 ) Break; // right down + xe+=loop(bp,xe,ye,dx,cs,1,RI); if( xe>=xf ) Break; // ~{\it n} + } else { + if( dy<16 && !hchar ) Break; + if( loop(bp,0,1,dy,cs,1,DO)<=3*dx/4 + && loop(bp,1,1,dy,cs,1,DO)<=3*dx/4 + && loop(bp,2,1,dy,cs,1,DO)<=3*dx/4 ) Break; // ~x + } + if (loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE)<=dx/8){ + ad=99*ad/100; /* broken B ? */ + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole(x0,x1,y0,(y0+2*y1)/3,box1->p,cs,NULL)>0) Break; // broken B + } + if(box1->m3 && !hchar) ad=99*ad/100; + if(box1->m3 && gchar) ad=99*ad/100; + // printf(" ok xe=%d",xe); + Setac(box1,'K',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_f(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ab[8][4], /* special points (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + /* x=mindist_to_a y=0 "t" + 0>..$$. 0>..$$ 0>..$$ end right bow a--..$$ a--.$7. y>0 "f" + 1>.$..$ 1>.$.. 1>.$$$ start right bow .$7. .$.. + .@... .@.. 2>.@@. start upper end .@.. .@.. + 2>.$... 2>.$.. 3>$$$$ crossing bar .$.. $$$. + 3>$@$$. 3>$@$. $@@$ $@$. .@.. + 4>.$... 4>.$.. 4>.$$. lower end .$.. .$.. + .@... .@.. .@@. .@.. .@.. + .@... .@.. .@@. .@.. .@.. + 5>.$... 5>.$.. 5>.$$. lower start .$.. .$.. + 6>..... 6>$... 6>.... optional left bow + */ + // --- test f like t --------------------------------------------------- + for(ad=d=100;dx>2 && dy>5;){ // sometimes no hchar! + // rewritten for vectors 0.43 + int d, i1, i2, i3, i4, i5, i6, i7, i8, i9; // line derivation + corners + DBG( wchar_t c_ask='f'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the h */ + if (aa[3][2]>d/2) Break; /* [2] = distance, ~BCDEF... */ + if (aa[0][2]>d ) Break; /* upper left end */ +/* + 9 + OOO + O 7 O8 + O6 + 1OOOO5 + O4 + O + 2O3 + OOOOO +*/ + i1=nearest_frame_vector(box1,aa[0][3],aa[1][3],x0-dx/2,(5*y0+3*y1)/8); + /* we need i for 4x6 font, where left side of h-bar is near (x0,y1) */ + i =aa[1][3]; if (box1->frame_vector[i][1]frame_vector[i2][0]-x0>dx/2) Break; // ~3 + i =nearest_frame_vector(box1, aa[0][3], i2, x1+2*dx, (y0+y1)/2); + // MSG(fprintf(stderr,"i %d",i);) + if (box1->frame_vector[i ][0] + -box1->frame_vector[i9][0]>dx/8) Break; // ~3 + + if( (box1->dots) ) Break; // Bold-face is gchar + if (dy<=box1->m3-box1->m2+1) Break; + for(x=0,j=y=2+(3*dy+4)/32;y<=5*dy/8;y++){ // upper cross line min=2 + i=loop(bp,0,y,dx,cs,0,RI); if( y>dy/4 && i>5*dx/8 ) break; + i=loop(bp,i,y,dx,cs,1,RI); if( i>x ) { x=i;j=y; } + if( y<3*dy/4 && y>dy/4 + && num_cross(0,dx-1,y ,y ,bp,cs) != 1 + && num_cross(0,dx-1,y+1,y+1,bp,cs) != 1 // against noise + ) break; + } if( y<=5*dy/8 ) Break; y=j;// if( y>dy/2 || ydy/8 + && num_cross( 0, (dx+1)/2,i,i,bp,cs) > 0 + && num_cross((dx+1)/2,dx-1,i,i,bp,cs) > 0 ) Break; // ~Y + + if (loop(bp,3*dx/4, 0,dy,cs,0,DO)>dy/8 + && loop(bp,3*dx/4-1,0,dy,cs,0,DO)>dy/8) Break; // upper bow + i=3*dy/4; if (box1->m3 && i>=box1->m3) i=box1->m3-1; + if (num_cross(0,dx-1,i,i,bp,cs)!=1) Break; + + // the middle bar appear in a wide vertical range, get part below + for (i1=dx,i2=y,j=y+1;jframe_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0);) + ab[7][0]=box1->frame_vector[i3][0]; + ab[7][1]=box1->frame_vector[i3][1]; + ab[7][3]=i3; + if (ab[7][1]-y0<=dy/16) ad=95*ad/100; // ~t + // because of the dx,dy scaling the horiz. bar could be nearer to (x1,y0) + // as the upper right end of the "t" + if (aa[3][0]-x0>3*dx/4 && aa[3][1]-y0>3*dy/16) ad=99*ad/100; // ~t + + + j=loop(bp,0,dy/8,dx,cs,0,RI); // if j>dx/2 we have italic f + if ((2*x(j+dx/4)) break; + if (iloop(bp,0, 1,dx,cs,0,RI) ) Break; // ~X + + i=y;j=1; // j used as flag + if( num_cross(0,dx-1,0,0,bp,cs)==1 && hchar) //~r + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs)!=1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs)!=1 ) Break; // ~* etc. + // check for upper bow to right + for(y=1;j && y=cs || dx<7) && getpixel(bp,x+1,y )>=cs + && getpixel(bp,x ,y-1)< cs && getpixel(bp,x+1,y-1)< cs ) + { j=0;break; } + } if(j) ad=98*ad/100; // not detected + + // if( num_hole (x0 , x1 , y0, y1,box1->p,cs,NULL) != 0 ) Break; // ~e + if (sdata->holes.num != 0) Break; // ~e + for(i1=i2=dx,y=7*dy/8;yi2+dx/4) Break; // ~t ~e + if(i1>i2+1) ad=96*ad/100; // ~t ~e + if( loop(bp,0,3*dy/4,dx,cs,0,RI)5 && !hchar) + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)>3*dx/4 ) + if( loop(bp,dx-1,dy-1,dy,cs,0,UP)8 ) + if( loop(bp, 0,2*dy/3 ,dx,cs,0,RI)>2*dx/3 + || loop(bp, 0,2*dy/3-1,dx,cs,0,RI)>2*dx/3 ) + if( loop(bp,dx-1, dy/4 ,dx,cs,0,LE)>2*dx/3 ) Break; // ~5 ~S + + if (!hchar) + if ( get_bw(x0+dx/8,x0+dx/8,y0+dy/4,y1-dy/16,box1->p,cs,2) == 0 + && num_cross(x1-dx/4,x1-dx/4,y0,y1,box1->p,cs)!=2 + && num_cross(x1-dx/8,x1-dx/8,y0,y1,box1->p,cs)!=2 ) Break; // ~r + + if (dy>15) + if( num_cross(x0,x1,y1-dy/4,y1-dy/4,box1->p,cs)>1 + && num_cross(x0,x1,y0+dy/4,y0+dy/4,box1->p,cs)>1 ) Break; // ~H + + if( dx>4 ) + if( loop(bp,dx-1 ,3*dy/4,dx,cs,0,LE)- + loop(bp,0 ,3*dy/4,dx,cs,0,RI)>dx/5+1 + && loop(bp,dx-1-dx/8,dy-1 ,dy,cs,0,UP)=dx/5+1) ad=98*ad/100; // ~E + i=loop(bp,dx/8,0,dy,cs,0,DO); + if (idy/2) { + ad=98*ad/100; // ~E, could also be a "f" with big serifs + MSG(fprintf(stderr,"ad=%d",ad);) } + if (!gchar) { ad=98*ad/100; + MSG(fprintf(stderr,"ad=%d",ad);) } + } + i = loop(bp,dx-1 ,3*dy/4,dx ,cs,0,LE)/2; + if (loop(bp,dx-1-i , dy-1,dy/2,cs,0,UP)1 + && loop(bp,0, 0,dy/4,cs,0,DO)p,cs,2) == 0) { // white pixels? + ad=98*ad/100; // F + MSG(fprintf(stderr,"ad=%d",ad);) } + + if (!hchar) ad=ad*98/100; // d*=100;d/=128 // not 100% ! + if (box1->m4>0 && gchar && ad<99 && + 8*box1->y1 >= box1->m4*7+box1->m3) ad++; + Setac(box1,'f',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_bB(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test B --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='B'; ) + if (sdata->holes.num < 2) Break; /* tolerant against a tiny hole */ + for(i=1,y=y0;yp,cs,1) != 1 ) i=0; + if( !i ) Break; + for(i=1,y=y1-dy/2;yp,cs,1) != 1 ) i=0; + if( !i ) Break; + if( get_bw(x1,x1 , y0 , y0 ,box1->p,cs,1) == 1 ) Break; + if( num_cross(x0+dx/2, x0+dx/2,y0,y1 ,box1->p,cs) != 3 ) + if( num_cross(x1-dx/3, x1-dx/3,y0,y1 ,box1->p,cs) != 3 ) Break; + /* --- detect center of lower hole --- */ + y = loop(box1->p,x0+dx/2,y1 ,dy,cs,0,UP); if (y>1+dy/8) Break; + y+= loop(box1->p,x0+dx/2,y1-y,dy,cs,1,UP); if (y>dy/3) Break; + y=y1-y-loop(box1->p,x0+dx/2,y1-y,dy,cs,0,UP)/2; if (yp,x0,y0+ y ,dx,cs,0,RI) + > loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)+dx/32 ) + if( get_bw(x0,x0,y0,y0,box1->p,cs,1) == 0 ) + if( get_bw(x0,x0,y1,y1,box1->p,cs,1) == 0 ) Break; // ~8 + i1=loop(box1->p,x0,y0+dy/4,dx,cs,0,RI); + i2=loop(box1->p,x0,y0+dy/2,dx,cs,0,RI); + i =loop(box1->p,x0,y0+dy/2-dy/ 8,dx,cs,0,RI); if(i>i2) i2=i; + i =loop(box1->p,x0,y0+dy/2-dy/16,dx,cs,0,RI); if(i>i2) i2=i; + i3=loop(box1->p,x0,y1-dy/4,dx,cs,0,RI); + if(dy>16 && i3p,x0,y0+ 1 ,dx,cs,0,RI) + >= loop(box1->p,x0,y0+ 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y0+ 0 ,dx,cs,0,RI) + > loop(box1->p,x0,y0+ 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y1- 0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1- 3 ,dx,cs,0,RI)+dx/32 ) + if( loop(box1->p,x0,y1- 1 ,dx,cs,0,RI) + > loop(box1->p,x0,y1- 3 ,dx,cs,0,RI)+dx/32 ) Break; // ~8 Aug00 + } + + if (sdata->holes.num != 2) Break; + if (sdata->holes.hole[0].y0 < y-1 + && sdata->holes.hole[1].y0 < y-1 ) Break; + if (sdata->holes.hole[0].y1 > y+1 + && sdata->holes.hole[1].y1 > y+1 ) Break; + // if( num_hole(0,dx-1,0 ,y+1 ,bp,cs,NULL) != 1 ) Break; + // if( num_hole(0,dx-1,y-1,dy-1,bp,cs,NULL) != 1 ) Break; + // out_x(box1); + + for( x=dx,y=dy/6; yp,x0,y0+y,dx,cs,0,RI); if( i>x+dx/9 ) break; + if(ix )break; + } if( yx) x=i; // allow dust + i=loop(bp,0,dy/2+1,dx,cs,0,RI); if (i>x) x=i; + if ( loop(bp,0, dy/8,dx,cs,0,RI) + +loop(bp,0,7*dy/8,dx,cs,0,RI) > 2*x+1 ) Break; // not konvex! + + if(!hchar){ // ~ fat_a + ad=99*ad/100; + x =loop(bp,0,dy/4,dx,cs,0,RI); + if(loop(bp,0,dy/2,dx,cs,0,RI)>x+dx/8) ad=97*ad/100; + } + + if ( (!hchar) && (dx<=10 || dy<=10) ) ad=97*ad/100; // hchar or good_quality + if (gchar) ad=99*ad/100; + Setac(box1,'B',ad); + break; + } + // --- test b --------------------------------------------------- + for(ad=d=100;dx>3 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='b'; ) + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + for(y=y0;yp,cs,1) != 1 ) Break; + if(yp,cs,1) != 1 ) Break; + if( get_bw(x1- dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1- dx/3, x1 , y0 , y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-4*dx/9, x1 , y0+dy/5, y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( num_cross(x0,x1,y0+dy/4 ,y0+dy/4 ,box1->p,cs) > 1 ) // & + if( num_cross(x0,x1,y0+dy/4-1,y0+dy/4-1,box1->p,cs) > 1 ) + if( dy<16 || + num_cross(x0,x1,y0+dy/5 ,y0+dy/5 ,box1->p,cs) > 1 ) Break; // fat b + for(i=j=0,y=dy/2;yholes.num != 1) Break; + if (sdata->holes.hole[0].y0 < dy/4) Break; + if ((sdata->holes.hole[0].y1-sdata->holes.hole[0].y0+1) + *(sdata->holes.hole[0].x1-sdata->holes.hole[0].x0+1)*16 + < dx*dy) ad=90*ad/100; // hole to small + if( num_hole( x0, x1 , y0+dy/4, y1,box1->p,cs,NULL) != 1 ) Break; + i=loop(bp,dx-1,dy-1 ,dx,cs,0,LE); + j=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); if(j>i) Break; + if (!hchar) ad=99*ad/100; + if ( gchar) ad=99*ad/100; + Setac(box1,'b',ad); + if (ad>=100) return 'b'; + break; + } + return box1->c; +} + +static wchar_t ocr0_dD(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,ya,yb,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test D --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='D'; ) + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/3,y0+dy/2,y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1 ,y0+dy/2,y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1 ,x1 ,y0 ,y0+dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/2,x1 ,y0+dy/4,y0+dy/4 ,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0+dx/2,x0+dx/2,y0 ,y1 ,box1->p,cs) != 2 ) + if( num_cross(x1-dx/3,x1-dx/3,y0 ,y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x1 ,y0+dy/3,y0+dy/3,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x1 ,y1-dy/3,y1-dy/3,box1->p,cs) != 2 ) Break; + if (sdata->holes.num != 1) Break; + if (sdata->holes.hole[0].y0 > dy/3) Break; + if (sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + // if( num_hole (x0 ,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) Break; + // test if left edge is straight + for(x=0,y=bp->y-1-dy/8;y>=dy/5;y--){ + i=loop(bp,0,y,x1-x0,cs,0,RI); + if( i+2+dx/16<=x ) break; + if( i>x ) x=i; + } + if (y>=dy/5 ) Break; + /* test if right edge is falling */ + for(x=dx,y=0;yx-1,y,x1-x0,cs,0,LE); + if( i>x+dx/16 ) break; + if( iy-1;y>2*dy/3;y--){ + i=loop(bp,bp->x-1,y,x1-x0,cs,0,LE); + if( i>x+dx/16 ) break; + if( i2*dy/3 ) Break; + if( loop(bp,dx-1,dy-1 ,dx,cs,0,LE) <= + loop(bp,dx-1,dy-2-dy/16,dx,cs,0,LE) ) Break; // P + + y=loop(bp,dx/2,dy-1,dy,cs,0,UP)-1; if (dy>16) y/=2; + if ( y>=dy/16 ) { y-=dy/16; + if (get_bw(dx/2,dx-1,dy-1-y,dy-1-y,bp,cs,1)==1) Break; // ~A + } + + ya=loop(bp, 0,dy-1,dy,cs,0,UP); + yb=loop(bp,dx/16+1,dy-1,dy,cs,0,UP); + if (yady/16 && ya>yb) Break; // ~O + if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI)>dx/16) ad=99*ad/100; // O? 0907 + if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI)>= + loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)) ad=97*ad/100; // ~O 0907 + + if ( loop(bp, dx/2, 0,dy,cs,0,DO) + -loop(bp, dx/2,dy-1,dy,cs,0,UP) > dy/8 ) ad=97*ad/100; // ~b + + + + if (loop(bp, 0, 0,dx,cs,0,RI)>=dx/2 + && loop(bp,dx-1,dy-1,dx,cs,0,LE)>=dx/2 + && loop(bp, 0,dy/2,dx,cs,0,RI)< 2 ) ad=96*ad/100; // thin O + + if(box1->dots) ad=ad*94/100; + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,'D',ad); + break; + } + // --- test d --------------------------------------------------- + for(d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='d'; ) + ad=100; + if (sdata->holes.num < 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2, y1-dy/6, y1-dy/9,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0+dx/2, y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4, x1 , y0+dy/8, y0+dy/8,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/4, y1 ,box1->p,cs,1) != 1 ) Break; + if(dy>19) // 0..dx/3 dont work on serif d, 0..dx/4 is more safe + if( get_bw(x0 , x0+dx/4, y0 , y0+dy/5,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0 , x0+dx/4, y0 , y0+dy/6,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0 , x0+dx/4, y1-dy/8, y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2-1,x0+dx/2,y1-dy/8, y1 ,box1->p,cs,1) != 1 ) Break; // ~"A + if( loop(bp,bp->x-1, bp->y/4,x1-x0,cs,0,LE) > + loop(bp,bp->x-1,3*bp->y/4,x1-x0,cs,0,LE)+1 ) Break; + // more than dx/8 of width should show two horizontal lines (o-like) + for (i=dx/8+1,x=0;x1) Break; // "d as a" patch + if (i==1) ad=99*ad/100; // "d as a" patch, serif? + for(i=dy/6+1,y=dy/4;y 3 ) i++; // ~al + } if( i ) ad=98*ad/100; + for(i=dy/8+1,y=0;yholes.num<1) Break; + if (sdata->holes.num>1) { + if (dx<6) Break; ad=95*ad/100; } // glued j above 8 (4x6 sample) + MSG(fprintf(stderr,"hole[0].y0,y1= %d %d",sdata->holes.hole[0].y0,sdata->holes.hole[0].y1);); + if ( sdata->holes.hole[0].y0 < dy/4 ) Break; + if (dy-sdata->holes.hole[0].y1 > dy/4+1) Break; // glued et + // if( num_hole(x0 , x1 , y0+dy/4 , y1 ,box1->p,cs,NULL) !=1 ) Break; + if( num_cross(0 ,dx-1,dy-1-dy/4,dy-1-dy/4,bp,cs) != 2 ) { // glued al + if (dy>15) { Break; } else ad=96*ad/100; + } + if (!hchar) ad=98*ad/100; + if ( gchar) ad=99*ad/100; + Setac(box1,'d',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_F(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test F --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='F'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0+dx/2,x0+dx/2,y0,y0+dy/8,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0,x0+dx/4,y1-dy/4,y1-dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0,x0+dx/2,y0+dy/4,y0+dy/4,box1->p,cs,1) != 1 ) Break; + + for (x=0,y=0;yx) x=j; + } if (ydx/2 ) i=0; } + if( i ) Break; + + x=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); + x=loop(bp,x,dy-1-dy/4,dx,cs,1,RI); // strichdicke + for( i=1,y=dy/3; ydx/3 && ((j>2*x && dx>8) || j>x+1)) i=0; } + if( i ) Break; + + y=dy/8; if (y<1) y=1; + for( i=1; y=dx/3) { i=0; break; } + } + if( i ) Break; + + // check for vertical line on left side + for(i=1,y=1;y<=dy/2 && i;y++) + if( get_bw(0,dx/2,y,y,bp,cs,1) != 1 ) i=0; + if( !i ) Break; + + for(i=1,y=dy/2;ydx/8 // no serif + || loop(bp, 0, dy-3,dx,cs,0,RI)<1) break; + ad=99*ad/100; + } + if( get_bw(dx-1-dx/4,dx-1,dy-1-dy/4,dy-1,bp,cs,1) == 1 ) Break; // ~E + if( get_bw(dx-1 ,dx-1,0 ,dy/3,bp,cs,1) != 1 ) Break; + + if( loop(bp,0, bp->y/4,dx,cs,0,RI) < + loop(bp,0,3*bp->y/4,dx,cs,0,RI)-1 ) Break; + // if( num_hole(x0 , x1 , y0 , y1 ,box1->p,cs,NULL) >0 ) Break; + if (sdata->holes.num > 0) Break; + for(i=0,x=dx/4;xy/4,dx,cs,0,RI)-1; + if (i>=0 && loop(bp,dy-1,i,dy,cs,0,UP)<=3*dy/4 ) ad=ad*98/100; + + // check for screen font P + i= loop(bp,bp->x-1,bp->y/4,dx,cs,0,LE); + if (i<1) { + j=i+loop(bp,bp->x-1-i,bp->y/4, dx ,cs,1,LE); + j= loop(bp,bp->x-1-j,bp->y/4,3*dy/4,cs,0,DO); + if (j<=dy/2) { + i=loop(bp,bp->x-1,0,dx,cs,0,LE); + ad=ad*98/100; + if (i>dx/8) Break; + if (i) ad=98*ad/100; + } + } + + if (!hchar) if ((box1->m2-box1->y0)*8>=dy) { // ignore bad m1..4 + if ( num_cross(2*dx/3,2*dx/3,0,dy-1,bp,cs) < 2 ) ad=90*ad/100; // ~r + } + if (gchar) ad=99*ad/100; + Setac(box1,'F',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_uU(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test uU --------------------------------------------------- + // in Mitte so breit wie oben (bei V kontinuierlich schmaler) + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='u'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + for(y=y0+dy/4;yp,cs) < 2 ) break; + if( yi)i=y; if(y1) break; + } if( idy/2)?dx/8:0),y,y,bp,cs); + if( y1 ) i--; // ~{\it v} + if( y2) ) { i--; ad=90*ad/100; } + if( y>dy/2 && j!=1 ) { i--; ad=95*ad/100; } + } if( !i ) Break; + for(i=dy/16+1,y=dy/8;ydy/2 && (j<1 && j>2) ) i--; + if( yp,cs,1) != 1 ) i=0; + } if( i ) Break; + for(i=dx/4+1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y0+dy/3,y1-dy/3,box1->p,cs,3) != 2 ) i--; + } if( !i ) Break; + for(i=1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y1-dy/2,y1,box1->p,cs,3) == 2 ) i=0; + if( get_bw( x, x,y1-dy/3,y1,box1->p,cs,3) == 2 ) ad=98*ad/100; + } if( !i ) Break; + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)==2 + && num_cross(dx-dx/2,dx-1,dy-dy/4,dy-dy/4,bp,cs)==1 ) Break; // ~{\it v} + + i=loop(bp,0,dy-1-dy/16,dx,cs,0,RI); + j=loop(bp,0,dy-1-dy/8 ,dx,cs,0,RI); + if( i15) + if( loop(bp,dx-1,dy/16,dx,cs,0,LE) + > loop(bp,dx-1,dy/8 ,dx,cs,0,LE)+1+dx/32 ) Break; // ~bad 0 (thinn) + if( hchar && dy>7) + if( loop(bp, 0, dy-1,dx,cs,1,RI)==dx + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/16 + && loop(bp, 0,3*dy/4,dx,cs,0,RI)>dx/16 + && loop(bp,dx-1, dy/2,dx,cs,0,LE)>dx/16 + && loop(bp, 0, dy/2,dx,cs,0,RI)>dx/16 + ) Break; // melted ll + + i=loop(bp, 0,dy-2-dy/8,dx,cs,0,RI); + j=loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE); + if ( i>dx/4 && j>dx/4 && i+j>=dx/2) Break; // v + if (i+j>=dx/2) ad=97*ad/100; + + if ( num_cross(0,dx-1,dy/2,dy/2,bp,cs)!=2 ) ad=96*ad/100; // w + if ( loop(bp,dx/2,dy-1,dy,cs,0,UP)>0 ) ad=98*ad/100; // w + + if (ad==100) ad=99; // ToDo: only if lines.wt<100 + bc='u'; + if (gchar) ad=98*ad/100; + if (hchar) bc='U'; + if (box1->dots>0) ad=99*ad/100; + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_micro(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i2,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test \mu µ MICRO_SIGN -------------------------------------- + // in Mitte so breit wie oben (bei V kontinuierlich schmaler) + if( gchar && !hchar ) + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='u'; ) + if (sdata->holes.num > 1) break; /* tolerant against a tiny hole */ + for(y=y0+dy/8;ym3-dy/4;y++) + if( num_cross(x0,x1,y,y,box1->p,cs) < 2 ) break; + if( ym3-dy/4 ) break; + if( get_bw(dx/2,dx/2,3*dy/8,7*dy/8,bp,cs,1)==0 ) break; + if( get_bw(dx/2,dx-1,3*dy/8,7*dy/8,bp,cs,1)==0 ) break; + for(y=dy/2;y5*dx) break; + } if( y>=dy || 2*y>box1->m3+box1->m4) break; i2=y; + for(i=0,x=2*dx/8;xi)i=y; if(y1) break; + } if( im4-box1->m3)-dy/4 && i;y++){ // 12%+1 Fehler + j=num_cross(0,dx/2,y,y,bp,cs); + if( y1 ) i--; // ~{\it v} + if( y2) ) i--; + if( y>dy/2 && j!=1 ) i--; + } if( !i ) break; + for(i=dy/16+1,y=dy/8;ym4-box1->m3)-dy/4 && i;y++){ // 12%+1 Fehler + j=num_cross(dx-dx/2,dx-1,y,y,bp,cs); + if( y>dy/2 && (j<1 && j>2) ) i--; + if( yp,cs,1) != 1 ) i=0; + } if( i ) break; + for(i=dx/4+1,x=x0+dx/3;x<=x1-dx/3 && i;x++){ + if( get_bw( x, x,y0+dy/4,y1-dy/2,box1->p,cs,3) != 2 ) i--; + } if( !i ) break; + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)!=1 ) break; + if( num_cross(dx-dx/2,dx-1,dy-dy/2,dy-dy/2,bp,cs)!=1 ) break; + if( get_bw( (dx+2)/4,dx-1,dy-2-3*dy/16,dy-1,bp,cs,1) == 1 ) break; + if( num_cross(0,dx/4,dy-1,dy-1,bp,cs)!=1 ) break; + + Setac(box1,MICRO_SIGN,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_vV(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test v ------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='v'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + x=loop(bp,dx/2,0,dx,cs,1,RI)+dx/2; // be sure in the upper gap + y=loop(bp, x,0,(dy+1)/2,cs,0,DO)-1; // (x,y) should be in the gap + if (x>3*dx/4 || yp,cs,1) != 1 ) Break; + if( get_bw(x0+x,x1,y0+y,y0+y,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+x,x0+x,y1-dy/2,y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+x, x0+x ,y0, y0+dy/3,box1->p,cs,1) == 1 ) // it v? + if( get_bw(x0+x+1,x0+x+1,y0, y0+dy/3,box1->p,cs,1) == 1 ) Break; + + // UVW + if(((num_cross( 0,dx/2+1,dy/ 8,dy/ 8,bp,cs)!=1) + && (num_cross( 0,dx/2+1,dy/16,dy/16,bp,cs)!=1) // it v + && (num_cross(dx/2+1,dx -1,dy/ 8,dy/ 8,bp,cs)!=1)) /* () added on Sep00 */ + || ((num_cross( 0,dx-1,dy-1-dy/8,dy-1-dy/8,bp,cs)> 1) + && (num_cross( 0,dx-1,dy-1 ,dy-1 ,bp,cs)> 1)) ) Break; + // UV + if( get_bw(0 ,dx/8,dy-1-dy/6,dy-1,bp,cs,1)==1 ) Break; + if( get_bw(dx-1-dx/8,dx-1,dy-1-dy/6,dy-1,bp,cs,1)==1 ) Break; + if( loop(bp,0 ,dy/6 ,dx,cs,0,RI) + >=loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) && dy>6 ) Break; + if( loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) + >loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) + && loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) + >loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) ) Break; // better OR ? + if( loop(bp,0 ,dy-1-dy/3,dx,cs,0,RI) + >=loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) + && loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) + >=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) ) ad=99*ad/100; // font21 + if( loop(bp,dx-1,dy/6 ,dx,cs,0,LE) + >=loop(bp,dx-1,dy-1-dy/3,dx,cs,0,LE) && dy>6 ) Break; + x=loop(bp,0,dy-1,dx,cs,0,RI); // 3*x>dx changed to 2*x>dx May2001 JS + x=loop(bp,x,dy-1,dx,cs,1,RI); if ( dx>14 && 2*x>dx ) Break; // U + if( num_cross(0 ,dx/2, dy/4, dy/4,bp,cs)==2 + && num_cross(dx-dx/2,dx-1,dy-dy/4,dy-dy/4,bp,cs)==2 ) Break; // ~{\it u} + +#if 0 + // measure thickness of lower v + i=loop(bp, 0,dy-1-dy/16,dx,cs,0,RI) + +loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE); + j=loop(bp, 0,dy-1-dy/4 ,dx,cs,0,RI) + +loop(bp,dx-1,dy-1-dy/4 ,dx,cs,0,LE); + if( box1->m1 && hchar && dy>15 && j>=i-dx/32 ) Break; // ~Y +#endif + /* V has serifs only on upper site! Y also on bottom, check it. Okt00 */ + i=loop(bp, 0, 0,dx,cs,0,RI); + i=loop(bp, i, 0,dx,cs,1,RI); i1=i; // thickness + i=loop(bp, 0, 1,dx,cs,0,RI); + i=loop(bp, i, 1,dx,cs,1,RI); if(i>i1) i1=i; // thiggest + i=loop(bp, 0,dy/4,dx,cs,0,RI); + i=loop(bp, i,dy/4,dx,cs,1,RI); i2=i; + i=loop(bp, 0,dy ,dx,cs,0,RI); + i=loop(bp, i,dy ,dx,cs,1,RI); i3=i; // thickness + i=loop(bp, 0,dy-1,dx,cs,0,RI); + i=loop(bp, i,dy-1,dx,cs,1,RI); if(i>i3) i3=i; // thiggest + if( y0 < box1->m2 ) + if( i1-i2 > dx/32+2 + && i3-i2 > dx/32+2 ) Break; // ~serif_Y + + if( y0 < box1->m2 ) // uppercase V ? + if( i1-i2 < dx/32+2 ) /* no serif detected */ + if( num_cross(0,dx-1,dy-1-dy/4,dy-1-dy/4,bp,cs)==1 ){ + j=loop(bp, 0,dy-1-dy/4 ,dx,cs,0,RI); + j=loop(bp, j,dy-1-dy/4 ,dx,cs,1,RI); + if (jloop(bp,0 ,dy-1 ,dx,cs,0,RI) ) ad=96*ad/100; + + if (num_cross(0,dx-1, dy/2, dy/2,bp,cs)==1 + && num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs)> 1) Break; // 5x8 * Jul09 + + if (gchar) ad=99*ad/100; + bc='v'; + if( hchar ) bc='V'; + Setac(box1, bc, ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_rR(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test r ------- + for(ad=d=100;dy>3 && dx>1;){ // dy>dx, 4x6 font, dx=2 smallest prop-font + DBG( wchar_t c_ask='r'; ) + if (sdata->holes.num > 0 + && ( sdata->holes.hole[0].y1 > dy/2 // tiny hole in upper left + || sdata->holes.hole[0].x1 > dx/2 ) // is tolerated, ~Pp + ) Break; /* tolerant against a tiny hole */ + if( 2*dym3-box1->m1) Break; + + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)<=dx/8 ) Break; + x= loop(bp,dx-1,dy/2,dx,cs,0,LE); if (x<=dx/2) ad=99*ad/100; // ~t + if (loop(bp,dx-1-x/2,0,dy,cs,0,DO)>dy/8) ad=99*ad/100; // ~t + if( dx>4 ) + if( loop(bp,dx-1,dy/2,dx,cs,0,LE)<=dx/8+2 ) Break; // ~v Jun00 + + i=dy-(dy+20)/32; // ignore dust on the ground + + for( y=4*dy/8; y3*dx/8) break; + i2= loop(bp,dx-1,y,dx,cs,0,LE); if(i1>i2) break; + if( (i1+(dx-i2 + -1))/2 >= 4*dx/8 ) break; // mass middle should be left + } + if (y5*dx/8 // not a C + && get_bw(dx-1-dx/8,dx-1,dy-1-dy/4,dy-1,bp,cs,1) ==1 ) Break; + + if( loop(bp, 0,5*dy/8,dx,cs,0,RI)<=dx/8 + && loop(bp,dx-1,5*dy/8,dx,cs,0,LE)>=5*dy/8 + && loop(bp,dx/2, dy-1,dy,cs,0,UP)<=dy/8 ) Break; // ~c + + if( loop(bp, 0,3*dy/8,dx,cs,0,RI) + > loop(bp,dx-1,3*dy/8,dx,cs,0,LE)+dx/8 ) { + if( loop(bp, 0, dy/8,dx,cs,0,RI)3*dx/4 ) Break; // ~i + if( loop(bp,0,dy/4,dx,cs,0,RI)>3*dx/8 // ~I + && get_bw(0,dx/8,0,dy/4,bp,cs,1) ==1 ) Break; + if( num_cross(0,dx-1,dy/2, dy/2 ,bp,cs)!=1 + && num_cross(0,dx-1,dy/2+1,dy/2+1,bp,cs)!=1 ) Break; // ~n 024a3 + + // itallic t is sometimes not high enough, look for v-like shape + for(y=3*dy/4;y1 ) ad=95*ad/100; // ~f + if( num_cross(dx/2 ,dx/2 ,0,dy-1,bp,cs)>2 + && num_cross(dx/2+1,dx/2+1,0,dy-1,bp,cs)>2 ) Break; // ~f + + if (box1->dots) ad=98*ad/100; /* could be modified latin2-r */ + if (hchar) ad=96*ad/100; + if (gchar) ad=97*ad/100; + Setac(box1,'r',ad); + break; // not 100% sure! + } + // --- test R --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='R'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(x0,x1,y1-dy/8,y1-dy/8, box1->p,cs) < 2 ) Break; // ~P + if (loop(bp, dx/2, dy/4,dy,cs,0,DO)>dy/2) Break; // ~C + if (loop(bp, dx/2, 0,dy,cs,0,DO)>dy/8 + && loop(bp, dx/2,dy/16,dx,cs,0,RI)=16 ) Break; + for(i=1,y=y0+dy/8;y<=y1-dy/8 && i;y++){ // left v-line + if( get_bw(x0 , x0+dx/2,y, y,box1->p,cs,1) != 1 ) i=0; + } if( !i ) Break; + for(i=1,x=x0+3*dx/8;x<=x1-dx/4 && i;x++){ // upper h-line + if( get_bw( x, x, y0, y0+dy/4,box1->p,cs,1) != 1 ) i=0; + } if( !i ) Break; + for(y=0,x=x0+dx/4;x<=x1-dx/4;x++){ // lower h-gap + i=loop(box1->p,x,y1,dy,cs,0,UP); + /* on small chars bypass possible low left serifs */ + if (i>0) { i2=loop(box1->p,x-1,y1-i-1,dy,cs,0,UP); + if (i2>1) i+=i2-1; } + if (i>y) { y=i; i1=x; } + } if( y<=dy/8 ) Break; if (yp,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0;y<=y0+3*dy/8 && i;y++){ // upper 2 vert lines + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + for(i=1,y=y0+dy/3;y<=y1-dy/3 && i;y++){ // midle h line + if( num_cross(x0,x1,y,y, box1->p,cs) == 1 ) i=0; + } if( i ) ad=95*ad/100; /* sometimes there is a small gap */ + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ // lower 2 vert lies + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) Break; + if( get_bw(x1-dx/3,x1,y0,y0+dy/4,box1->p,cs,1) != 1 ) Break; // pixel ru + x=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(x>dx/2) Break; i=x; // ru + x=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(x<=i ) Break; i=x; // rc + x=loop(bp,dx-1, 5*dy/8,dx,cs,0,LE); if(x>i ) i=x; + x=loop(bp,dx-1, 6*dy/8,dx,cs,0,LE); if(x>i ) i=x; + x=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); if(x>=i ) Break; // rd + + i1=loop(bp,0, dy/4,dx,cs,0,RI); // straight + i2=loop(bp,0, dy/2,dx,cs,0,RI); + i3=loop(bp,0,dy-1-dy/4,dx,cs,0,RI); if( abs(i1+i3-2*i2)>1+dx/16 ) Break; + if (dy>15) + if (loop(bp,dx-1, dy/2,dx,cs,0,LE)>=loop(bp,dx-1, dy-1,dx,cs,0,LE) + && loop(bp,dx-1,3*dy/16,dx,cs,0,LE)>=loop(bp,dx-1,dy/16,dx,cs,0,LE)+dx/8 ) Break; // ~ff + if (dy>7) + if (loop(bp,dx-1,dy-2 ,dx,cs,0,LE) + >loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE)) { + ad=98*ad/100; + if (loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE)==0 + && loop(bp,dx-1,dy-2-dy/8,dx,cs,0,LE)>0 ) Break; // broken B ?? + } + j=sdata->holes.num; + if (j != 1) { + i=num_hole (x0,x1,y0,y1-dy/3,box1->p,cs,NULL); + // j=num_hole (x0,x1,y0,y1 ,box1->p,cs,NULL); + if (i==0) ad=90*ad/100; /* some times there is a small gap */ + if (j>1 || j>i) Break; + } + if (sdata->holes.num < 1) ad=90*ad/100; + if (sdata->holes.num==1) + if (sdata->holes.hole[0].y1 > 3*dy/4) ad=95*ad/100; // alpha + + if (!hchar) ad=98*ad/100; + if ( gchar) ad=98*ad/100; + Setac(box1,'R',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_m(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test m ------- + for(ad=d=100;dx>4 && dy>3;){ + DBG( wchar_t c_ask='m'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=96*ad/100; + x =loop(bp,dx-1,dy/2,dx,cs,0,LE); if(3*x>dx) Break; // ~K + y=dy/2; + i=num_cross(0,dx-1,y ,y ,bp,cs); if (i!=3) + i=num_cross(0,dx-1,y+1,y+1,bp,cs); + if (num_cross(0,dx-1,dy/2,dy/2,bp,cs)==1) Break; // 5x8 * Jul09 + if (i<3 && i>5) Break; // m ru rn, handwritten m + // im or glued.mm cut to nm + if (i>3) { ad=99*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } + if (i>=5) { // melted rw ? (Oct08 JS) + x =loop(bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // 1st v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // 1st gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x>3*dx/4) Break; i1=x-i1; // 2nd v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x>6*dx/8) Break; i2=x;// 2nd gap + x+=loop(bp,x,y,dx-x,cs,0,RI); i2=x-i2; // 3th v-line + // printf("\nDBG i1,i2 %d %d", i1, i2); + if (i1>2*i2) Break; // rw + } + for (i=0,y=dy-1-dy/8;y>dy/2;y--) { + i=num_cross(0,dx-1,y,y,bp,cs); if (i>2) break; + } if (i>3) Break; + for ( ;y>dy/2;y--) { + i=num_cross(0,dx-1,y,y,bp,cs); if (i!=3) break; + } if (i>5) Break; y++; i5=y; + if (y> dy/2) handwritten=10; + if (y>3*dy/4) handwritten=60; + /* @@............... + @@......,........ + @@,...@@@....@@@. + @@,,.@@@@..@@@@@, + @@@.@@@@@.@@@@@@, + @@;@@@@@@@@@;,@@, + @@@@@,.@@@@,,,@@@ <- i5 + ,@@@...;@@....@@@ + .@;...........,@@ + ...............@@ + i1 i2 i3 i4 + */ + x =loop(bp,0,y,dx ,cs,0,RI); if(x> dx/4) Break; // search 1st v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x> dx/2) Break; i1=x; // first gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x>3*dx/4) Break; i2=x; // 2nd v-line + x+=loop(bp,x,y,dx-x,cs,1,RI); if(x>6*dx/8) Break; i3=x; // 2nd gap + x+=loop(bp,x,y,dx-x,cs,0,RI); if(x<5*dx/8) Break; i4=x; // 3th v-line + if (x>=dx) Break; // missing 3th v-line, ~W + MSG(fprintf(stderr,"y=%d x=%d %d %d %d",y,i1,i2,i3,i4);) + if( abs((i2-i1)-(i4-i3)) > 2+((i2-i1)+(i4-i3))/4 ) Break; // same gap width? rn + if( abs((i2-i1)-(i4-i3)) > 2+((i2-i1)+(i4-i3))/8 ) ad=98*ad/100; // same gap width? rn + // the same game for the lower part =>l1 l2 l3 l4 ??? + i =loop(bp,0,5*dy/8,dx,cs,0,RI); + i =loop(bp,i,5*dy/8,dx,cs,1,RI); + x =loop(bp,0,dy-dy/32-1,dx,cs,0,RI); + x =loop(bp,x,dy-dy/32-1,dx,cs,1,RI); + if( x > i+1 ) i=1; else i=0; /* looks like serif m, Okt00 */ + for(y=0,x=i1;xy) y=i; + } + if(yy) y=i; + } + if(y=dy/2 ) break; + if(xi4-i3+dx/16){ + for(y=0,x=(i1+i2)/2;xy ) y=i; if( 2*i3 ) Break; // melted WT + + x=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if (x>2 && loop(bp,dx-1-x/2,0,dy,cs,0,DO)dy/2) Break; // N + + // {\it m} + if( loop(bp,1, dy/4,dx,cs,0,RI) + >loop(bp,0,7*dy/8,dx,cs,0,RI) ) + Setac(box1,'m',98*ad/100); + + if (handwritten<10){ + x =loop(bp,0,dy/4,dx,cs,0,RI); + x+=loop(bp,x,dy/4,dx,cs,1,RI); + for( ;x=dy/4) ad=99*ad/100; + if (i>(dy+2)/4) ad=95*ad/100; + if (3*i>dy) Break; + } + if(xdots) ad=99*ad/100; + Setac(box1,'m',ad); + if (ad>=100) return 'm'; + break; + + } + return box1->c; +} + +static wchar_t ocr0_tT(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,i1,i2,i3,i4,j,d,x,y,yb,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test T --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='T'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // upper horizontal line + i1= loop (bp, dx/8,0,dy,cs,0,DO); // left side + i2= loop (bp,dx-1-dx/8,0,dy,cs,0,DO); // right side + i3= loop (bp, dx/8,i1,dy,cs,1,DO); // left side + i4= loop (bp,dx-1-dx/8,i2,dy,cs,1,DO); // right side + if (i1>dy/4 || i2>dy/4) Break; + for (x=dx/8;xi1+dy/8 && i>i2+dy/8) break; + if (idx+1 || i+j>=dx || i3*x) break; //~I + } if( y3*dx/4) Break; // ~7 + i+= loop(bp,i ,dy/4,dx,cs,1,RI);if(i>3*dx/4) Break; + + if( num_cross(0,dx-1, dy-1, dy-1,bp,cs) != 1 + && num_cross(0,dx-1, dy-2, dy-2,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,2*dy/3,2*dy/3,bp,cs) != 1 + && num_cross(0,dx-1,2*dy/3,2*dy/3,bp,cs) != 1 ) Break; + if (box1->m3 && 2*y1>box1->m3+box1->m4 + && loop(bp,0, 0,dy/2,cs,0,DO)>=dy/4 + && loop(bp,0,dy-1,dy ,cs,0,UP)<=dy/2) ad=96*ad/100; // ~J + if (gchar) ad=98*ad/100; + if( loop(bp,0,dy-1,dx,cs,0,RI)<=dx/8) ad=99*ad/100; // ~J + i = loop(bp,0,dy/2,dx,cs,0,RI); + j = loop(bp,i,dy/2,dx,cs,1,RI); + if( 2*i>=dx || 2*(dx-j-i)=100) return 'T'; + break; + } + // --- test t --------------------------------------------------- + // written t can look like a + or even with missing right side + // smallest t found in win-screenshot (prop-font) dx=2 + for(ad=d=100;dx>1 && dy>=box1->m3-box1->m2-1;){ // sometimes no hchar! + DBG( wchar_t c_ask='t'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (dy<=box1->m3-box1->m2+1) ad=96*ad/100; // bad line detection? + if (num_cross(0,dx-1,0 ,0 ,bp,cs) != 1) { // font4x5 *=x+- + if (dy<10) Break; ad=98*ad/100; + } + if (num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1) { // *=x+- + if (dy<10) Break; ad=98*ad/100; + } + for(x=0,yb=j=y=dy/32+3*dy/16;y<5*dy/8;y++)if(y>0){ // upper cross line + i=loop(bp,0,y,dx,cs,0,RI); + i=loop(bp,i,y,dx,cs,1,RI); if( i>x ) { x=i;yb=j=y; } // hor. line + i=num_cross(0,dx-1,y ,y ,bp,cs); + j=num_cross(0,dx-1,y+1,y+1,bp,cs); if (i>2 && j>2) break; + if( y<11*dy/16 + && num_cross(0,dx-1,y ,y ,bp,cs) != 1 + && ( num_cross(0,dx-1,y+dy/8,y+dy/8,bp,cs) != 1 || dy<13) // against noise + ) break; + } if( y<4*dy/8 ) Break; + if (dy>12 && x>4 && x>dx/2 && yb<=(dy+4)/8) + if ( loop(bp,dx-1-3*x/4,yb,dy,cs,1,UP) + <=loop(bp,dx-1-1*x/4,yb,dy,cs,1,UP)+1 ) + if ( loop(bp,0 ,dy/2,dy,cs,1,UP)>dx/8 ) Break; // ~C + + if (x=dx && 9*dx>=8*dy) { ad=99*ad/100; } // + + + i=loop(bp,dx-1,0,dx,cs,0,LE); + for(y=0;y1) break; i=j; + } + if( yi ) break; + if( y==yb ) break; + + j=loop(bp,0, dy/2,dx,cs,0,RI); + j=loop(bp,j, dy/2,dx,cs,1,RI); i=j; // thickness + j=loop(bp,0, dy/4,dx,cs,0,RI); + j=loop(bp,j, dy/4,dx,cs,1,RI); if (j=loop(bp,dx-1,yb/2,dx,cs,0,LE) ) Break; // ~1 ??? + + j=1; + for(y=1;j && y=cs && getpixel(bp,x+1,y )>=cs + && getpixel(bp,x ,y-1)< cs && getpixel(bp,x+1,y-1)< cs ) { j=0;break; } + } if(!j) Break; + + if( num_cross(0,dx-1,dy-2,dy-2,bp,cs) == 2 + && num_cross(0,dx-1,dy-1,dy-1,bp,cs) == 2 ) Break; // ~* (5er) + + if( dy>= 16 + && loop(bp, 0, 3*dy/4,dx,cs,0,RI) + >=loop(bp, 0, dy-2,dx,cs,0,RI) + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE) + <=loop(bp,dx-1, dy-2,dx,cs,0,LE) + && loop(bp,dx-1, 1,dx,cs,0,LE)+dx/16 + loop(bp, 0,3*dy/16,dx,cs,0,RI)+dx/16 + || loop(bp,dx-1, 0,dx,cs,0,LE)==0 + || loop(bp,dx-1, 1,dx,cs,0,LE)==0) ) ad=96*ad/100; // ~f Jan02 + if(dx<8 && dy>12){ // thin f's could easily confound with t + x=loop(bp,dx-1,3*dy/16,dx,cs,0,LE); + if (x) + if (loop(bp,dx-x,0,dy,cs,0,DO)<3*dy/16 + && loop(bp, 0, 3*dy/4,dx,cs,0,RI)+1 + >=loop(bp, 0, dy-2,dx,cs,0,RI) + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE) + <=loop(bp,dx-1, dy-2,dx,cs,0,LE) ) Break; + } + if (dx>7) + if( num_cross( 0,dx-1,2*dy/3,2*dy/3,bp,cs) > 1 + && num_cross( 0,dx/2,2*dy/3,2*dy/3,bp,cs) > 0 + && num_cross(dx/2,dx-1,2*dy/3,2*dy/3,bp,cs) > 0 ) + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; // ~6 + // if ( num_hole( x0, x1, y0+dy/4, y1, box1->p,cs,NULL) > 0 ) Break; // ~6 + + if( num_cross(0,dx-1,3*dy/4, 3*dy/4, bp,cs) >= 2 + && num_cross(0,dx-1,3*dy/4-1,3*dy/4-1,bp,cs) >= 2 ){ + ad=99*ad/100; /* italic t ? */ + if (loop(bp,dx/2 ,dy-1,dy,cs,0,UP)>dy/4) Break; // ~h + if (loop(bp,dx/2+1,dy-1,dy,cs,0,UP)>dy/4) Break; // ~h + } + + x= loop(bp,dx-1,dy/2,dx,cs,0,LE); + i= loop(bp,dx-1,dy/8,dx,cs,0,LE); + if (i>x && loop(bp,dx-x,0,dy,cs,0,DO)>=dy/2) ad=90*ad/100; /* ~\ */ + + x= loop(bp,0, 0,dx,cs,0,RI); + i= loop(bp,0, 1,dx,cs,0,RI); if (i1) Break; // l + + // this happens quite often, do not be to strong + if (!box1->m2) ad=99*ad/100; + if (box1->m2) { + if (!hchar) ad=99*ad/100; /* some times t is not long enough */ + if( y0>=box1->m2-(box1->m2-box1->m1)/4 ) ad=99*ad/100; /* to short */ + if( y0>=box1->m2 ) ad=99*ad/100; /* to short */ + } + + if (sdata->holes.num > 0) ad=95*ad/100; + if (gchar) ad=99*ad/100; + if (box1->dots) ad=90*ad/100; + Setac(box1,'t',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_sS(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t ac; + + // --- test sS near 5 --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 (4x6 font) + DBG( wchar_t c_ask='s'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/2, dx/2,0,dy-1,bp,cs)!=3 + && num_cross(5*dx/8,3*dx/8,0,dy-1,bp,cs)!=3 + && dy>4 ) Break; + if( num_cross(0,dx-1,dy/2 ,dy/2 ,bp,cs)!=1 + && num_cross(0,dx-1,dy/2-1,dy/2-1,bp,cs)!=1 ) Break; + // get the upper and lower hole koords + y=dy/4; + x =loop(bp,0,dy/4,dx,cs,0,RI); if(x>3*dx/8) Break; /* slanted too */ + x +=loop(bp,x,dy/4,dx,cs,1,RI); if(x>5*dx/8) Break; /* fat too */ + i1 =loop(bp,x,dy/4,dx,cs,0,RI); i1=(i1+2*x)/2; // upper center x + y=11*dy/16; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); if(x>dx/4) Break; + x +=loop(bp,dx-1-x,y,dx,cs,1,LE); if(dx>5 && dy>7 && x>dx/2) Break; + if (x>3*dx/4) Break; if(x>dx/2) { ad=98*ad/100; MSG({})} + i2 =loop(bp,dx-1-x,y,dx,cs,0,LE); i2=dx-1-(i2+2*x)/2; // upper center x + MSG(fprintf(stderr,"~3 upper right gap (i1=%d,dy/4)",i1);) + // use i3 temporary for x of left upper border of slanted S + i3 =loop(bp,0,dy/4,dx,cs,0,RI); + for( y=dy/4;yi3+dx/8 + && loop(bp,x-1,y,dx,cs,0,UP)>dy/8+1) break; // +1 for s font 5x8 Jul09 + } + if( ydx/8) break; + } + if(y==dy/2) Break; // Mai00 + + y=dy/2+loop(bp,0,dy/2,dy/2,cs,1,DO); + if( !joined(bp,0,y,i2,11*dy/16,cs) ) Break; + + if (sdata->holes.num > 0) + if (sdata->holes.hole[0].y0 > dy/4) Break; // ??? + // if( num_hole( x0, x1, y0+dy/4, y1, box1->p,cs,NULL) > 0 ) Break; + + i1=loop(bp,dx-1,dy-1,dx,cs,0,LE); + i2=loop(bp,dx-1,dy-2,dx,cs,0,LE); + if (i2-i1 >= dx/4) Break; // ~{ 5x7font + + i1=loop(bp, 0, 0,dx,cs,0,RI); + i2=loop(bp, 0, 1,dx,cs,0,RI); + if (i2-i1 >= dx/4) Break; // ~} 5x7font + + // sS5 \sl z left upper v-bow ? + + i1=loop(bp, 0,dy/2,dx,cs,0,RI); + i1=loop(bp, i1,dy/2,dx,cs,1,RI); + if (4*i1>=3*dx) ad=97*ad/100; // ~5 7-segment + + i1=loop(bp,0, dy/16,dx,cs,0,RI); + i2=loop(bp,0,4*dy/16,dx,cs,0,RI); + i3=loop(bp,0,7*dy/16,dx,cs,0,RI); + if( 2*i2+dx/32 >= i1+i3 ){ + if( 2*i2+dx/32 > i1+i3 || dx>9 ) Break; + // very small s? + i1+=loop(bp,i1, dy/16,dx,cs,1,RI); + i2+=loop(bp,i2,4*dy/16,dx,cs,1,RI); + i3+=loop(bp,i3,7*dy/16,dx,cs,1,RI); + if( 2*i2+dx/32 >= i1+i3 ) Break; + } + + for(y=7*dy/16;y<5*dy/8;y++){ + if( num_cross( 0,dx-1,y ,y ,bp,cs)==2 ) + if( num_cross( 0,dx-1,y+1,y+1,bp,cs)==1 ) + if( num_cross( 0,dx/4,y,y,bp,cs)==1 ) break; // ~5 + } if(y<5*dy/8) Break; // v0.2.4a5 + if ( loop(bp, dx-1,dy-2-dy/32,dx,cs,0,LE) + > loop(bp, 0, 1+dy/32,dx,cs,0,RI) + dx/4 ) Break; // ~5 Dec00 + ac='s'; + if (gchar) { ad=98*ad/100; MSG(fprintf(stderr,"gchar=bad");) } + if ( loop(bp, dx-1, 0,dx,cs,1,LE) // ToDo: improve + > loop(bp, 0,dy-1,dx,cs,1,RI)+dx/8 ) ad=98*ad/100; // ~5 4x5 font + if( hchar ){ // (slanted) S but 5 is very similar! check it + ac='S'; + if ( loop(bp,3*dx/4, 0,dy,cs,1,DO) // ToDo: improve + > loop(bp, dx/4,dy-1,dy,cs,1,UP) ) ad=99*ad/100; // ~5 + if ( loop(bp, dx-1,dy-1-dy/32,dx,cs,0,LE) + > loop(bp, 0, 0+dy/32,dx,cs,0,RI) ) ad=99*ad/100; // ~5 + if ( loop(bp, 0,dy-1-dy/32,dx,cs,0,RI) + > loop(bp, dx-1, 0+dy/32,dx,cs,0,LE) ) ad=99*ad/100; // ~5 + } + Setac(box1,ac,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_gG(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test g --------------------------------------------------- + /* some g's have crotchet at upper right end, so hchar can be set */ + // ~italic g + for(ad=d=100;dx>2 && dy>4;){ // min 3x5 + DBG( wchar_t c_ask='g'; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/2, y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/4, x1 , y1-dy/4, y1,box1->p,cs,1) != 1 ) Break; // ~p + if( get_bw(x0+dx/2, x0+dx/2, y0, y0+dy/2,box1->p,cs,1) != 1 ) Break; + + if( num_cross(x0+dx/2, x0+dx/2, y0, y1, box1->p,cs) < 3 ) + if( num_cross(x1-dx/2, x1-dx/2, y0, y1, box1->p,cs) < 3 ) Break; + if (sdata->holes.num < 1) Break; + for (i=0;iholes.num;i++){ + if (sdata->holes.hole[i].y1 < 5*dy/8+1) break; + } if (i==sdata->holes.num) Break; // no upper hole found + // if( num_hole ( x0, x1, y0, y0+5*dy/8, box1->p,cs,NULL) != 1 ) Break; + for(y=dy/4;y=15*dy) Break; // ~B + + if (num_cross(x1, x1, (y0+y1)/2, y1, box1->p,cs)>1) { + ad=98*ad/100; // ~& + if (num_cross(x1 , x1 , y0, (y0+y1)/2, box1->p,cs)<1 ) ad=96*ad/100; + if (num_cross(x1-1, x1-1, y0, (y0+y1)/2, box1->p,cs)<1 ) ad=95*ad/100; + } + // looking for a gap + for (x=0,y=dy/4;yx) x=i; + } // in a good font x is greater dx/2 + + if (xp,cs) > 2 + || num_cross(x0,x1 ,y0+dy/8,y0+dy/8,box1->p,cs) > 2) ad=90*ad/100; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) > 2 + || num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) > 2) ad=90*ad/100; + } + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs) >2 ) ad=99*ad/100; // ~/o + + /* test for horizontal symmetry ~8 */ + for (y=0;ym4==0) ad=98*ad/100; + if ( hchar) ad=96*ad/100; + if (!gchar) ad=96*ad/100; + ad=98*ad/100; + Setac(box1,'g',ad); + break; + } + // --- test rundes G --------------------------------------------- + for(ad=d=100;dx>3 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='G'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/2,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x1-dx/4,y0 ,y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y1-dy/4,y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 ,x0+dx/2,y1-dy/3,y1-dy/3,box1->p,cs,1) != 1 ) Break; // ~S + for( y=y0+dy/4;yp,cs,1) == 0 ) break; + if( y==y1-dy/3 ) Break; // no gap + + if( num_cross(x0+dx/2 , x0+dx/2 , y0, y, box1->p,cs) != 1 + || num_cross(x0+dx/2+1, x0+dx/2+1, y0, y, box1->p,cs) != 1 ) Break; // ~e + + x=x0; y=y1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); // left bow? + if( yp,&x,&y,x0,x1,y0,y1,cs,LE,ST); + if( xp,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( xp,&x,&y,x0,x1,y0,y1,cs,LE,ST); + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( xp,&x,&y,x0,x1,y0,y1,cs,RI,UP); // upper end right midle + if( x<=x1 ) Break; + if( yy1-dy/4 ) Break; + + x=x1-dx/3;y=y1; // follow left C-bow, filter S + turmite(box1->p,&x,&y,x0,x1,y0+dy/4,y1,cs,LE,UP); // w=LE b=UP + if( y>y0+dy/4+1 ) Break; /* leave box below for S or on top for CG */ + MSG(fprintf(stderr,"xy= %d %d",x-x0,y-y0);) + /* if (yp,&x,&y,x0,x1,y0 ,y1,cs,RI,UP); + MSG(fprintf(stderr,"xy= %d %d",x-x0,y-y0);) + if( y>y0 ) Break; + if (sdata->holes.num > 0) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) > 0 ) Break; + if( dx>4 && dy>6){ // no (<[ + for(i=1,y=0;i && y Z + if( xi ) i=x; + } if( yi){ i=x;i1=y; } + } if( i1<=dy/4 || i1>=dy-dy/4 ) Break; // around the middle ? + // check from above for gap and left vertical line (~S) + x =loop(bp,0,i1,dx ,cs,0,RI); + x+=loop(bp,x,i1,dx-x,cs,1,RI); // left vertical bow + x+=loop(bp,x,i1,dx-x,cs,0,RI); if (x>=dx) ad=90*ad/100; + MSG(fprintf(stderr,"h-bar y dx %d %d ad= %d",i1,i,ad);) + + i=1; // Mar06: adapted to 4x6 font + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if(i) ad=95*ad/100; // ~C + if(!hchar) ad=98*ad/100; + if( gchar) ad=98*ad/100; + + Setac(box1,'G',ad); + break; + } + // --- test \it g like 9 ---------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( wchar_t c_ask='g'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(x0+dx/2,x0+dx/2,y0,y1,box1->p,cs) != 3 // pre select + && num_cross(x0+dx/4,x1-dx/4,y0,y1,box1->p,cs) != 3 ) Break; + for( x=0,i=y=y0+dy/2;y<=y1-3*dy/16;y++){ // suche kerbe + j=loop(box1->p,x0,y,dx,cs,0,RI); + if( j>2 && j>dx/4 && yp,x0+j-2,y+1,dx,cs,0,RI)-2; + if( j>x ) { x=j; i=y; } + } + if( x<4*dx/8 ) Break; + if( num_cross(x0+dx/2,x1,i ,y1,box1->p,cs) != 1 + && num_cross(x0+dx/2,x1,i+1,y1,box1->p,cs) != 1 ) Break; + if( num_hole(x0,x1,y0,i+1,box1->p,cs,NULL)!=1 ) Break; + if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=0 ) Break; + if( loop(box1->p,x0,y1 ,dy,cs,0,RI)>dx/3 && + loop(box1->p,x0,y1-1,dy,cs,0,RI)>dx/3) Break; // no q + for( x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // suche kerbe + j=loop(box1->p,x1,y,dx,cs,0,LE); + if( j>x ) { x=j; i=y; } + } if( x>dx/2 ) Break; // no g + i1=loop(bp,dx-1,dy/8 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + i2=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); if(i1+i3<2*i2-dx/8) Break; // konvex + i1=loop(bp,dx-1,dy/4 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + for(y=dy/4;y0){ x--; // robust + y=loop(bp,dx-x-1, dy-1,dy,cs,0,UP); + if(yp,cs) > 2) ad=90*ad/100; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) > 2 + || num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) > 2) ad=90*ad/100; + + if (box1->m4==0) ad=98*ad/100; + if ( hchar) ad=96*ad/100; + if (!gchar) { + if (box1->m4 - box1->m3 > 2) ad=96*ad/100; + else { + if (y1 > box1->m3) ad=99*ad/100; + else ad=97*ad/100; + } + } + if (ad>99) ad=99; // never be sure to have a 9 + Setac(box1,'g',ad); + break; + } + return box1->c; +} + +// rewritten for vector usage v0.41 +static wchar_t ocr0_xX(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + // pix *bp=sdata->bp; // obsolete + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0, x1=box1->x1, y0=box1->y0, y1=box1->y1; // ,cs=sdata->cs; + int dx=x1-x0+1, dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test xX --------------------------------------------------- + // rewritten for vectors 0.41 + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + int ld, i1, i2, i3, i4; // lien derivation, 4 inner edges + DBG( wchar_t c_ask='x'; ) + if (sdata->holes.num > 0) Break; /* # */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0] dy/16 + && aa[3][1]-y0 > dy/16 + && y1-aa[1][1] > dy/16 + && y1-aa[2][1] > dy/16) Break; // 10x10 ~* (X + vert. line) + /* searching for 4 notches between neighbouring ends */ + + /* 0907: false positive on font4x5 '*'='-' | 'x' */ + i1=nearest_frame_vector(box1, aa[0][3], aa[1][3], x0+dx, y0+dy/4); + i3=nearest_frame_vector(box1, aa[0][3], aa[1][3], x0+dx, y1-dy/4); + i2=nearest_frame_vector(box1, i1, i3, x0, y0+dy/2); + if (box1->frame_vector[i2][0]<=x0+ dx/8) Break; + if (box1->frame_vector[i2][0]<=x0+ dx/4) ad=98*ad/100; + i1=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0 , y0+dy/4); + i3=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0 , y1-dy/4); + i2=nearest_frame_vector(box1, i1, i3, x1, y0+dy/2); + if (box1->frame_vector[i2][0]>=x1- dx/8) Break; + if (box1->frame_vector[i2][0]>=x1- dx/4) ad=98*ad/100; + + /* only left side */ + for (j=i=aa[0][3];i!=aa[1][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i1=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[0][0]+aa[1][0]-2*x>=0) Break; + if ( aa[1][0] >= x ) Break; + if ( aa[0][0] > x ) Break; + if ( aa[0][0] >= x ) ad=99*ad/100; + if (x-x02*sq(1024/4)) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, j, aa[1][3]); + MSG(fprintf(stderr," X-1 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only lower side */ + for (j=i=aa[1][3];i!=aa[2][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][1] + <=box1->frame_vector[j][1]) j=i; /* notice most upper vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i2=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[1][1]+aa[2][1]-2*y<=0) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, aa[1][3], j); + MSG(fprintf(stderr," 1-X %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower right and center point are joined directly */ + ld=line_deviation(box1, j, aa[2][3]); + MSG(fprintf(stderr," X-2 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only right side */ + for (j=i=aa[2][3];i!=aa[3][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + <=box1->frame_vector[j][0]) j=i; /* notice most left vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i3=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[2][0]+aa[3][0]-2*x<=0) Break; + if ( aa[3][0] <= x ) Break; + if ( aa[2][0] < x ) Break; + if ( aa[2][0] <= x ) ad=99*ad/100; + if (dx-(x-x0)2*sq(1024/4)) Break; + /* check if upper right and center point are joined directly */ + ld=line_deviation(box1, j, aa[3][3]); + MSG(fprintf(stderr," X-3 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + /* only upper side */ + for (j=i=aa[3][3];i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][1] + >=box1->frame_vector[j][1]) j=i; /* notice lowest vector */ + } if (j==i) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; i4=j; + if (abs(aa[0][0]+aa[1][0]+aa[2][0]+aa[3][0]-4*x)>(dx+2)) Break; + if (abs(aa[0][1]+aa[1][1]+aa[2][1]+aa[3][1]-4*y)>(dy+2)) Break; + if ( aa[3][1]+aa[0][1]-2*y>=0) Break; + /* check if upper left and center point are joined directly */ + ld=line_deviation(box1, aa[3][3], j); + MSG(fprintf(stderr," 3-X %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower left and center point are joined directly */ + ld=line_deviation(box1, j, aa[0][3]); + MSG(fprintf(stderr," X-0 %d %d dist= %d/%d",x-x0,y-y0,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + // center crossing of diagonal lines is small? + if (box1->frame_vector[i3][0] - box1->frame_vector[i1][0] > dx/2) Break; + + if (gchar) ad=99*ad/100; + bc='x'; if(hchar) bc='X'; + Setac(box1,bc,ad); + break; + } + // --- test \it x --------------------------------------------------- +#if 0 + for(ad=d=99;dx>4 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='x'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0,x0+dx/4,y0+dy/2,y0+dy/2,box1->p,cs,1) != 0 ) Break; + if( get_bw(x1-dx/4,x1,y0+dy/2,y0+dy/2,box1->p,cs,1) != 0 ) Break; + if( num_cross(x0+dx/4,x1-dx/4,y0+dy/2,y0+dy/2, box1->p,cs) != 1 ) Break; + if( num_cross(x0,x1,y0+dy/4,y0+dy/4, box1->p,cs) != 3 + && num_cross(x0,x1,y0+dy/8,y0+dy/8, box1->p,cs) < 3 ) Break; + if( num_cross(x0,x1,y1-dy/4,y1-dy/4, box1->p,cs) != 3 + && num_cross(x0,x1,y1-dy/8,y1-dy/8, box1->p,cs) < 3 ) Break; + if( gchar ) ad=97*ad/100; + if( hchar ) ad=96*ad/100; + bc='x'; + Setac(box1,bc,ad); + break; + } +#endif + return box1->c; +} + +static wchar_t ocr0_yY(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,xa,ya,xb,yb,xc,yc,xd,yd; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test italic yY -------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='y'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=97*ad/100; + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs) < 2 + && num_cross(0,dx-1, 1, 1,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + if( num_cross(dx-1,dx-1,0,dy-1,bp,cs) != 1 + && num_cross(dx-2,dx-2,0,dy-1,bp,cs) != 1 ) Break; + if( num_cross(dx/3,dx/3,dy/4,dy-1,bp,cs) != 2 + && num_cross(dx/2,dx/2,dy/4,dy-1,bp,cs) != 2 ) Break; + for(yc=y=0,xc=x=dx/4;xy){ yc=y=i;xc=x; } + } if( y>12*dy/16 || y<3*dy/8 ) Break; + ya=dy/8; xa=xc-loop(bp,xc,ya,dx,cs,0,LE); if(xa< 0) Break; + yb=dy/8; xb=xc+loop(bp,xc,yb,dx,cs,0,RI); if(xb>=dx) Break; + for(y=dy/8;y6*dx/8) ad=99*ad/100; // why this??? + if (loop(bp,dx-1,dy-1,dx,cs,0,LE)<1) Break; + // printf(" abcd=%d %d %d %d %d %d %d %d -",xa,ya,xb,yb,xc,yc,xd,yd); + if( get_line2(xb,yb,xd,yd,bp,cs,100)<95 ) Break; + // if( get_line2(xc,yc,xd,yd,bp,cs,100)<95 ) Break; + // printf("ok"); + bc='y'; + if(gchar && !hchar) bc='y'; else + if(hchar && (!gchar || dy<14)) bc='Y'; else ad=98*ad/100; // SMALL-CAPS ??? + Setac(box1,bc,ad); + break; + } + // --- test yY --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='y'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0,x0,y1-dy/8,y1,box1->p,cs,1) == 1 ) { + if( get_bw(x0,x0+4*dx/8,y0+dy/8,y0+dy/8,box1->p,cs,1) != 1 ) Break; + } else { + if( get_bw(x0,x0+3*dx/8,y0+dy/8,y0+dy/8,box1->p,cs,1) != 1 ) Break; + } + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs) != 2 + && num_cross(0,dx-1, 1, 1,bp,cs) != 2 ) Break; + if( num_cross(dx/2,dx/2,0, 1,bp,cs) != 0 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + if( num_cross(dx-1,dx-1,0,dy-1,bp,cs) != 1 + && num_cross(dx-2,dx-2,0,dy-1,bp,cs) != 1 + && num_cross(dx-dx/8-1,dx-dx/8-1,0,dy-1,bp,cs) != 1 ) Break; + if( loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)+dx/8+1 // Jul00 + < loop(bp, 0,dy-1-dy/8,dx,cs,0,RI) ) Break; + for(y=0,x=dx/4;xy) y=i; + } if( y>10*dy/16 || y<2*dy/8 ) Break; + for(xc=xb=xa=dx,yc=yb=ya=y=0;ydy/8) Break; + for(i=dx,yc=y=dy/4;y<3*dy/4;y++){ + if( num_cross(0,dx-1,y,y,bp,cs) < 2 ) break; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); + x+=loop(bp,dx-1-x,y,dx,cs,1,LE); + j =loop(bp,dx-1-x,y,dx,cs,0,LE); if(j<=i){ i=j;yc=y;xc=dx-1-x-j/2; } + } yc+=dy/16+1; + yc+=loop(bp,xc,yc,i,cs,1,DO)/2; + xa+= loop(bp,xa ,ya,dx,cs,1,RI)/2; + xb=dx-1-loop(bp,dx-1,yb,dx,cs,1,LE)/2; + yd=dy-1-dy/8;xd=dx-1-loop(bp,dx-1,yd,dx,cs,0,LE); if(xd>6*dx/8) Break; + /* check for serife at lower end */ + for (i=0,x=dx-1;ix+dx/16+1) break; /* detect serif */ + if (j=5*dy/8 && !gchar) + if( get_line2(xa,ya,xd ,yd,bp,cs,100)>95 ) + if( get_line2(xb,yb,xd ,yd,bp,cs,100)>95 ) + { if (dx>4) { Break; } else ad=ad*98/100; } // ~V + xa=loop(bp,0,dy/8,dx,cs,0,RI); + xb=loop(bp,0,dy/2,dx,cs,0,RI); + xc=loop(bp,0,dy-1,dx,cs,0,RI); + if( 2*xb< xa+xc ) ad=98*ad/100; // ~V + if( 2*xb<=xa+xc ) ad=98*ad/100; + if( 2*xb<=xa+xc+1 ) ad=98*ad/100; + + bc='y'; + if ((!gchar) && (!hchar)) ad=98*ad/100; + if(y0m2-(box1->m2-box1->m1)/4) + { bc='Y'; if(gchar) ad=98*ad/100; } + // SMALL-CAPS ??? + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_zZ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + int i1,i2,i3,i4,i5,dbg[9], + d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* the for line ends, (x,y,dist^2,vector_idx) */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test zZ ------- + for(ad=d=100;dx>3 && dy>3;){ // dy>dx + DBG( wchar_t c_ask='z'; ) /* for debugging purpose */ + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the 4 edges of the z */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0]dy/8) ad=99*ad/100; + if (aa[0][1]-y0>dy/8) ad=99*ad/100; + if (2*dx2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[1][3], aa[2][3]); if (d>2*sq(1024/4)) Break; + + /* search uppermost right > from left side */ + i1=nearest_frame_vector(box1,aa[0][3],aa[1][3], x1, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + if (y-y0 > 5*dy/8) Break; + if (x-x0 < 3*dx/8) Break; + if (x-aa[0][0]<=dx/4) Break; // ~lI + if (x-aa[0][0]<=dx/3) ad=98*ad/100; // ~lI + if (x-aa[0][0]< dx/2) ad=99*ad/100; // ~lI, dx/2 for fat 8x10 font + /* search most right > ~2 from left side */ + i3=nearest_frame_vector(box1,aa[0][3],aa[1][3], x1+2*dx, (y0+y1)/2); + MSG(fprintf(stderr,"i23xy= %d %d %d %d ad %d",x-x0,y-y0,box1->frame_vector[i3][0]-x0,box1->frame_vector[i3][1]-y0,ad);) + /* dy=7 i3.y=2 for fat screen font (Apr09) */ + if ( box1->frame_vector[i3][1]-y0> (dy+2)/4 + && box1->frame_vector[i3][0]-x>= 0) Break; + if ( box1->frame_vector[i3][1]-y> dy/8+1 // +1 needed for 5x7 Z Jul09 + && box1->frame_vector[i3][0]-x>=-dx/8) ad=98*ad/100; + if ( box1->frame_vector[i3][1]-y> dy/8+1 + && box1->frame_vector[i3][0]-x>= 0) ad=97*ad/100; + if ( box1->frame_vector[i3][1]-y> dy/16+1) ad=99*ad/100; // 9x10 ~2 + if (box1->frame_vector[i3][0]-aa[0][0] + < aa[3][0]-box1->frame_vector[i3][0]) Break; // ~lI + if (box1->frame_vector[i3][0]-aa[0][0] + <(aa[3][0]-box1->frame_vector[i3][0]-1)*2) ad=98*ad/100; // ~lI + /* better test for a bow or peaked angle */ + /* upper part of a 2, on a Z a and b should be at c + .....$@@@@@@a...c. o1 (o1-a)=(dx+5)^2 =dx^2+10*dx+25 + ...$$@@@@@@@@@.... (o1-b)=(dx+1)^2+4^2=dx^2+ 2*dx+18 + ..$@@$@@@$@@@@@... + ..@@@.....$$@@@@.. + ..@@.......@$@@@b. + ..$.........$@@@@. + .$$..........$@@@. + .$...........@@@@. + .............@@@@.< + .............$@@$. + ............$@@@.. + ............@@$... + ............$@$... + --- snip ---- + */ + i4=nearest_frame_vector(box1,aa[2][3],aa[0][3], x1+dx, y0); + i5=nearest_frame_vector(box1,aa[2][3],aa[0][3], x1, y0-dx); + d=sq(box1->frame_vector[i5][0]-box1->frame_vector[i4][0]) + +sq(box1->frame_vector[i5][1]-box1->frame_vector[i4][1]); + if (d>2*sq(dx/8+1)) Break; + if (d>0 && dx<8 ) ad=99*ad/100; // 7x10 2 ~Z + if (d>1 && dx<16) ad=98*ad/100; // 9x10 2 ~Z d=2 + MSG( fprintf(stderr,"i45xy %d %d d %d ad %d upper right bow?",i4,i5,d,ad); ) + + /* check if upper left and upper right point are joined directly */ + dbg[0]=d=line_deviation(box1, aa[0][3], i1); if (d >2*sq(1024/4)) Break; + /* check if lower right and upper left point are joined directly */ + dbg[1]=d=line_deviation(box1, i1, aa[1][3]); if (d >2*sq(1024/4)) Break; + + /* search lowest left < from right side */ + i2=nearest_frame_vector(box1,aa[2][3],aa[3][3], x0, y1); + x=box1->frame_vector[i2][0]; + y=box1->frame_vector[i2][1]; + if (y-y0 < 3*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + if (aa[2][0]-x<=dx/4) Break; // ~lI + if (aa[2][0]-x<=dx/3) ad=98*ad/100; // ~lI + if (aa[2][0]-x< dx/2) ad=99*ad/100; // ~lI, dx/2 for 9x7 fat3 z + /* check if upper right and lower left point are joined directly */ + dbg[2]=d=line_deviation(box1,i2, aa[3][3]); + MSG(fprintf(stderr,"left diag line? d= %d krit= 2..3*%d",d,sq(1024/4));) + if ( d >3*sq(1024/4)) Break; + if (dx>9 && d >2*sq(1024/4)) Break; // to strong for 5x7 Z + /* check if lower left and lower right point are joined directly */ + dbg[3]=d=line_deviation(box1, aa[2][3],i2); if (d >2*sq(1024/4)) Break; + + MSG( fprintf(stderr," i12 %d %d ad %d", i1, i2, ad); ) + /* upper right nick - lower left nick, 0 for fat screen fonts 8x10 */ + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]frame_vector[i1][0]-x0,box1->frame_vector[i1][1]-y0,\ + box1->frame_vector[i2][0]-x0,box1->frame_vector[i2][1]-y0,\ + dbg[0], dbg[1], dbg[2], dbg[3], sq(1024)/16, ad);) + ad=(100-dbg[0]/sq(1024/4))*ad/100; + ad=(100-dbg[1]/sq(1024/4))*ad/100; + ad=(100-dbg[2]/sq(1024/4))*ad/100; + ad=(100-dbg[3]/sq(1024/4))*ad/100; + + if ( gchar) ad=98*ad/100; + bc='z'; + if( hchar ) bc='Z'; + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_wW(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar,handwritten=0, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,yb,xa,xb,xc,xd,xe,t1; /* tmp-vars */ + wchar_t ac; + + // ------- test w ~{\it w} --------------- + for(ad=d=100;dx>3 && dy>3;){ // dy<=dx + DBG( wchar_t c_ask='w'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // xa xe + // \ xc / <=ya connected xa-xb-xc-xd-xe + // xb xd <=yb + // get two lowest points i3,i4,ya + // out_x(box1); + // ~ul ~uf + // out_x(box1); + for(y=dy/8;y< dy/2;y++) if( num_cross(0,dx-1,y,y,bp,cs)< 2 ) break; + if(y4) { /* 4x6 is to small */ + for(y=dy-1-dy/16;y>3*dy/4;y--) + if( num_cross(0,dx-1,y,y,bp,cs)==2 ) break; + if(y==3*dy/4) Break; + } + yb=y; + t1=loop(bp,0 ,dy/4,dx,cs,0,RI); + t1=loop(bp,t1,dy/4,dx,cs,1,RI); // thickness of line? + for(i=j=0 ;y> dy/4;y--) if( num_cross(0,dx-1,y,y,bp,cs)==4 ) i++; + else if( num_cross(0,dx-1,y,y,bp,cs)>=3 ) j++; + if(i+56 || dx>4)) Break; + if(i+j==0 && dx<=4){ + if (abs(loop(bp, 1,dy-1,dy,cs,0,UP) + -loop(bp,dx-2,dy-1,dy,cs,0,UP))>dy/8+1) Break; // 4x6 N + if ( ( loop(bp, 1, 0,dy,cs,0,DO)>=dy-2 + && loop(bp, 0,dy-1,dy,cs,0,UP)>0) + || ( loop(bp,dx-2, 0,dy,cs,0,DO)>=dy-2 + && loop(bp,dx-1,dy-1,dy,cs,0,UP)>0)) Break; // 4x6 UV + ad=ad*99/100; // 4x6 font + MSG(fprintf(stderr,"ad=%d",ad);) + } + if( num_cross(0,dx-1, 1, 1,bp,cs)< 2 + && num_cross(0,dx-1,dy/16,dy/16,bp,cs)< 2 ) Break; + x =loop(bp,0 ,yb,dx,cs,0,RI); + xb=loop(bp,x ,yb,dx,cs,1,RI);xb=x+xb/2; if(xb>dx/2) Break; + x =loop(bp,dx-1 ,yb,dx,cs,0,LE); + xd=loop(bp,dx-1-x,yb,dx,cs,1,LE);xd=dx-1-x-xd/2;if(xd<3*dx/8) Break; + for(y=0,xc=x=xb+1;xy){xc=x;y=i;} + if(dx>4 && !y) Break; + ya=dy-1-y; // flat + y=loop(bp,xc,ya,dy,cs,1,UP);if(y)y--; + if (dy>6 || dx>4) { // ~4x6 font + if( num_cross(0 ,xc ,ya-y ,ya-y ,bp,cs)!= 2 + && num_cross(0 ,xc ,ya-y/2,ya-y/2,bp,cs)!= 2 ) Break; + if( num_cross(xc,dx-1,ya-y ,ya-y ,bp,cs)!= 2 + && num_cross(xc,dx-1,ya-y/2,ya-y/2,bp,cs)!= 2 ) Break; + } + ya-=y/2; + x =loop(bp,0 ,1 ,dx,cs,0,RI); + xa=loop(bp,x ,1 ,dx,cs,1,RI); + if( x+xa>xb ){ // may be, here is a small but thick letter + // later add some proofs + xa=x+xa/4; + } else { + xa=x+xa/2; + } + x =loop(bp,dx-1 ,1 ,dx,cs,0,LE); + xe=loop(bp,dx-1-x,1 ,dx,cs,1,LE);xe=dx-1-x-xe/2; + MSG( fprintf(stderr,"a-e: %d %d %d %d %d %d %d %d %d %d", + xa,1,xb,yb,xc,ya,xd,yb,xe,1);) + if (ya94 ) break; + if (x==xa+i) Break; // no vert. line found + if( get_line2(xb,yb-1,xc,ya ,bp,cs,100)<95 + && get_line2(xb,yb-1,xc,ya+dy/32,bp,cs,100)<95 + && get_line2(xb,yb-1,xc,ya+dy/16,bp,cs,100)<95 ) Break; + if( get_line2(xc, ya,xd, yb,bp,cs,100)<95 + && get_line2(xc+1,ya,xd, yb,bp,cs,100)<95 ) Break; + if( get_line2(xd,yb,xe ,1+dy/16,bp,cs,100)<95 + && get_line2(xd,yb,dx-1 ,1+dy/8 ,bp,cs,100)<95 // round w + && get_line2(xd,yb,xe+dx/20,1+dy/16,bp,cs,100)<95 ) Break; + // if( num_hole(0,dx-1,0,dy-1,bp,cs,NULL) != 0 ) Break; + // ~ur + MSG(fprintf(stderr,"ad=%d",ad);) + for(i=0,y=5*dy/8;yi ) i=x; if( x3 && dy>3;){ // dy<=dx 4x6font (like a H with fat bar) + DBG( wchar_t c_ask='w'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // ~ul ~uf + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs)<2 ) Break; + if( num_cross(0,dx-1,dy/8,dy/8,bp,cs)<2 ) handwritten=40; + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs)<2 ) handwritten=80; + for(i=0,y=0;ydx/2) Break; + xb=loop(bp,x ,yb,dx,cs,0,RI);xb=x+xb/2; if(xb>dx/2) Break; + x =loop(bp,dx-1 ,yb,dx,cs,0,LE); + x+=loop(bp,dx-1-x,yb,dx,cs,1,LE); + xd=loop(bp,dx-1-x,yb,dx,cs,0,LE);xd=dx-1-x-xd/2;if(xd<3*dx/8) Break; + if( num_cross(xb,xd,yb,yb ,bp,cs)!= 1 ) Break; + if( num_cross(xb,xb,yb,dy-1,bp,cs)!= 1 ) Break; + if( num_cross(xd,xd,yb,dy-1,bp,cs)!= 1 ) Break; + if( num_cross(xb,xb, 0,yb ,bp,cs)!= 0 ) Break; + if( num_cross(xd,xd, 0,yb ,bp,cs)!= 0 ) Break; + // if( num_hole(0,dx-1,0,dy-1,bp,cs,NULL) != 0 ) Break; + if (sdata->holes.num != 0) Break; + // ~ur + for(i=0,y=3*dy/4;yi ) i=x; if( xc; +} + +static wchar_t ocr0_aA(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,d,x,y,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya; /* tmp-vars */ + + // --- test A --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='A'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + // first selection (rough sieve) + if( get_bw(dx/2 ,dx/2 ,dy-1-dy/8,dy-1,bp,cs,1) == 1 + && get_bw(dx/2-1,dx/2-1,dy-1-dy/8,dy-1,bp,cs,1) == 1 ) Break; // ~B + ya=0; /* upper end, not 0 for modified A etc. */ + if (box1->modifier) + for (ya=0;ya=dy/2) ya=0; // already subtracted? + if( num_cross(0,dx-1,ya+ 1 ,ya+ 1 ,bp,cs)!=1 // 600dpi + && num_cross(0,dx-1,ya+ dy/8 ,ya+ dy/8 ,bp,cs)!=1 + && num_cross(0,dx-1,ya+ dy/16 ,ya+ dy/16 ,bp,cs)!=1 + && num_cross(0,dx-1,ya+ dy/8+1,ya+ dy/8+1,bp,cs)!=1 ) Break; + if( num_cross(0,dx-1, 7*dy/8 , 7*dy/8 ,bp,cs)!=2 + && num_cross(0,dx-1, 7*dy/8-1, 7*dy/8-1,bp,cs)!=2 ) Break; + if ( num_cross( 0,dx/8,ya+dy/8,ya+0,bp,cs)>0 ) Break; // ~R + for(y=ya+dy/8;y 1 ) break; + if( y==ya+dy/2 ) Break; i1=y; + if (dy>20) i1++; /* get arround some noise fat font */ + + x =loop(bp,0,i1,dx,cs,0,RI); if(x>3*dx/4) Break; + x+=loop(bp,x,i1,dx,cs,1,RI); if(x>3*dx/4) Break; i2=x; + x+=loop(bp,x,i1,dx,cs,0,RI); if(x<3*dx/8) Break; i2=(x+i2)/2; + // hole (i2,i1) + y+=loop(bp,i2,y,dy,cs,1,DO); + y+=loop(bp,i2,y,dy,cs,0,DO); if(y>3*dy/4) ad=ad*99/100; + if (y>5*dy/6) { MSG(fprintf(stderr,"x,y,i1,i2= %d %d %d %d",x,y,i1,i2);) } + if (y>5*dy/6) Break; + + if( sdata->holes.num != ((box1->modifier==RING_ABOVE)?2:1) + || sdata->holes.hole[0].y1-ya >= dy-1-dy/4) Break; + // if( num_hole ( x0, x1, y0, y1-dy/4 ,box1->p,cs,NULL) != 1 ) Break; + // out_x(box1); + i3=0;i4=0; + for(x=dx/3;x<2*dx/3;x++){ + i4=num_cross(i2,x,y ,dy-1,bp,cs);if(i4<1 || i4>2) + i4=num_cross(i2,x,y+dy/16,dy-1,bp,cs);if(i4<1 || i4>2) break; + if(i4==1) i3=x; + } if(i4<1 || i4>2 || i3==0){ +// ToDo: MSG(fprintf(stderr,"x,y,i4,i3= %d %d %d %d",x,y,i4,i3);) + Break; + } + if( get_bw(dx-1-dx/4, dx-1, dy-1-dy/4, dy-1, bp,cs,1) != 1 ) Break; + + i1=loop(bp,dx-1,ya+ (dy-ya)/4,dx,cs,0,LE); + i2=loop(bp,dx-1,ya+ (dy-ya)/2,dx,cs,0,LE); + i3=loop(bp,dx-1,dy-1-(dy-ya)/4,dx,cs,0,LE); + if( 2*i2-dx/8>i1+i3 ) ad=99*ad/100; /* 6*8 font */ + if( 2*i2+dx/4i1+i3 ) Break; + + i1=loop(bp,0 ,ya+ (dy-ya)/4,dx,cs,0,RI); // linke senkr. linie + i2=loop(bp,0 ,ya+ (dy-ya)/2,dx,cs,0,RI); + i3=loop(bp,0 ,dy-1-(dy-ya)/4,dx,cs,0,RI); + if( 2*i2-dx/8>i1+i3 ) ad=98*ad/100; /* 6*8 font */ + if( 2*i2+dx/4i1+i3 || i1i3+dx/16) break; if( i1+120) ad=97*ad/100; // italic-a + + if (!hchar) ad=99*ad/100; // italic-a + Setac(box1,'A',ad); + break; + } + // --- test a ------------------------------------------- + // with a open bow above the circle starting + // on the right side of the circle + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='a'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2, y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3, x1 , y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3, x1 , y0+dy/4, y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y1-dy/3, y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/3, x1-dx/3, y0 , y0 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/4, x1-dx/2, y1 , y1 ,box1->p,cs,1) != 1 ) + if( get_bw(x0+dx/4, x1-dx/3, y1-1 , y1-1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0 , y0+dy/2, y1 ,box1->p,cs,1) != 1 ) + if( get_bw(x0+dx/8, x0+dx/8, y0+dy/2, y1 ,box1->p,cs,1) != 1 ) Break; + if( loop(bp,3*dx/8,0,dy,cs,0,DO) > 3*dy/16 ) Break; // ~d + if( num_cross(0,dx-1,dy/4 ,dy/4 , bp,cs) >2 // ~glued am != an + && num_cross(0,dx-1,dy/4+1,dy/4+1, bp,cs) >2 ) Break; + + for( x=dx/4;xdy/2) break; + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); if (i>dy/2) break; + } if( xy-1, bp,cs) == 3 ) i--; + } if( i ) Break; + + i1=loop(bp,0, dy/8,dx,cs,0,RI); + i3=loop(bp,0,3*dy/4,dx,cs,0,RI); + for(y=dy/8+1;y<3*dy/4;y++){ + i2=loop(bp,0,y,dx,cs,0,RI);if(2*i2>i1+i3+1) break; + } if(y==3*dy/4) Break; // ~6 + // ~ s (small thick s), look for vertikal line piece + for(x=3*dx/4;xdy/4 ) break; + if( x==dx ) Break; + + if (sdata->holes.num != 1) ad=96*ad/100; else + if (sdata->holes.num == 1) + if( num_hole ( x0, x1, y0+dy/3, y1 ,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole ( x0, x1, y0, y1, box1->p,cs,NULL) != 1 ) Break; + if( num_hole ( x0, x1, y0, y1-dy/3 ,box1->p,cs,NULL) != 0 ){ + i =loop(bp,0,dy/4,dx,cs,0,RI); + i =loop(bp,i,dy/4,dx,cs,1,RI); + if(ii) Break; // ~ 8 + } + /* test for horizontal symmetry ~8 */ + for (y=0;ydy/4) Break; // ~ serif d + + if (hchar) ad=96*ad/100; + if (gchar) ad=96*ad/100; + Setac(box1,'a',ad); + break; + } + // --- test hand written a --------------------------------------------------- + // rarely char, without bow above the circle + for(ad=d=100;dx>3 && dy>3;){ // min 4x4 + DBG( wchar_t c_ask='a'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/3 , x0+dx/3,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + i = loop(bp,dx/2, 0 ,dy,cs,0,DO); if (i>dy/4) Break; + i+= loop(bp,dx/2, i ,dy,cs,1,DO); if (i>dy/2) Break; + i = loop(bp,dx/2, i ,dy,cs,0,DO); if (ip,cs,1) == 1 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + i = loop(bp,dx/2,dy-1 ,dy,cs,0,UP); if (i>dy/3) Break; + y = i+loop(bp,dx/2,dy-1-i,dy,cs,1,UP); if (i>dy/2) Break; + // normal 'a' has a well separated vertical line right from the circle + // but fat 'a' is like a 'o', only bigger on the right side + if( num_cross(x0+dx/2-1,x1,y1 ,y1 ,box1->p,cs) < 2 /* 4x6font */ + && num_cross(x0+dx/2-1,x1,y1-i,y1-i ,box1->p,cs) < 2 /* 2 or 3 */ + && num_cross(x0+dx/2-1,x1,y1-y,y1-y ,box1->p,cs) < 2 ) + { if (loop(bp, 0,dy-1-dy/16,dx,cs,0,RI) + <4*loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)) { Break;} + else ad=98*ad/100; + } + if( num_cross(x0,x1,y0+dy/2 , y0+dy/2,box1->p,cs) < 2 + || num_cross(x0,x1,y0+dy/3 , y0+dy/3,box1->p,cs) < 2 ) Break; // Jun00 + + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/4,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/4,box1->p,cs) != 1 ) Break; + if (sdata->holes.num != 1) + if( num_hole(x0,x1-2,y0 ,y1 ,box1->p,cs,NULL) != 1 ) + // if( num_hole(x0,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) + Break; + if( num_hole(x0,x1 ,y0+dy/3,y1-1 ,box1->p,cs,NULL) != 0 ) Break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + + if( loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)> dx/4 + && loop(bp,dx-1,dy-2,x1-x0,cs,0,LE)> (dx+4)/8 ) ad=97*ad/100; + + x=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + i=loop(bp,dx-1, dy/4,dx,cs,0,LE); if (abs(x-i)>dx/4) Break; + + for( x=dx/4;xdy/2) break; + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); if (i>dy/2) break; + } if( xp,cs) == 1 ) + if( num_cross(x0 , x1, y0, y0,box1->p,cs) == 1 ) + if( loop(bp,dx-1, 0,y1-y0,cs,0,DO)> dy/4 + && loop(bp,dx-1,dy-1,y1-y0,cs,0,UP)> dy/4 ) Break; // ~o + if( loop(bp,dx/2,dy-1,y1-y0,cs,0,UP)> dy/4 ) Break; // ~q + + if (hchar) ad=98*ad/100; + if (gchar) ad=98*ad/100; + // handwritten-a (alpha) + Setac(box1,'a',ad); + break; + } + // --- test A_A_WITH_OGONEK 0x0104 Centr.Eur.Font ------------------------- + /* not sure if we should move this to a get_CentralEuropean-function */ + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='A'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + // first selection (grobes Sieb) + if( get_bw(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs,1) == 1 ) break; // ~B + if( num_cross(0,dx-1, 1 , 1 ,bp,cs)!=1 // 600dpi + && num_cross(0,dx-1, dy/8 , dy/8 ,bp,cs)!=1 + && num_cross(0,dx-1, dy/16 , dy/16 ,bp,cs)!=1 + && num_cross(0,dx-1, dy/8+1, dy/8+1,bp,cs)!=1 ) break; + if( num_cross(0,dx-1, dy-1 , dy-1 ,bp,cs)!=1 ) break; + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs)!=2 + && num_cross(0,dx-1, dy/3 , dy/3 ,bp,cs)!=2 ) break; + if ( num_cross( 0,dx/8,dy/8, 0,bp,cs)>0 ) break; // ~R + for(y=dy/8;y 1 ) break; + if( y==dy/2 ) break; i1=y; + if (dy>20) i1++; /* get arround some noise fat font */ + + x =loop(bp,0,i1,dx,cs,0,RI); if(x>3*dx/4) break; + x+=loop(bp,x,i1,dx,cs,1,RI); if(x>3*dx/4) break; i2=x; + x+=loop(bp,x,i1,dx,cs,0,RI); if(x<3*dx/8) break; i2=(x+i2)/2; + // hole (i2,i1) + y+=loop(bp,i2,y,dy,cs,1,DO); + y+=loop(bp,i2,y,dy,cs,0,DO); if(y>3*dy/4) ad=ad*99/100; + if (y>5*dy/6) break; + + if( sdata->holes.num != 1 || sdata->holes.hole[0].y1 >= dy-1-dy/4) break; + // if( num_hole ( x0, x1, y0, y1-dy/4 ,box1->p,cs,NULL) != 1 ) break; + // out_x(box1); + i3=0;i4=0; + for(x=dx/3;x<2*dx/3;x++){ + i4=num_cross(i2,x,y ,dy-1,bp,cs);if(i4<1 || i4>2) + i4=num_cross(i2,x,y+dy/16,dy-1,bp,cs);if(i4<1 || i4>2) break; + if(i4==1) i3=x; + } if(i4<1 || i4>2 || i3==0){ +// ToDo: g_debug_A(printf(" A: x,y,i4,i3= %d %d %d %d\n",x,y,i4,i3);) + break; + } + if( get_bw(dx-1-dx/4, dx-1, dy-1-dy/4, dy-1, bp,cs,1) != 1 ) break; + /* dy/4 changed to dy/6 because of screenfonts */ + /* there are strange fonts, one has a serif on the upper end of A */ + if ( num_cross( 0,dx/8,dy/6, 0,bp,cs)>0 ) break; + if ( num_cross(dx-1-dx/4,dx-1, 0,dy/6,bp,cs)>0 ) break; + + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); + if( 2*i2+dx/4i1+i3 ) break; + + i1=loop(bp,0 , dy/4,dx,cs,0,RI); // linke senkr. linie + i2=loop(bp,0 , dy/2,dx,cs,0,RI); + i3=loop(bp,0 ,dy-1-dy/4,dx,cs,0,RI); + if( 2*i2+dx/4i1+i3 || i1i3+dx/16) break; if( i1+12c; +} + +static wchar_t ocr0_cC(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,t1; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test c,C --------------------------------------------------- + for(ad=d=100;dx>2 && dy>2;){ // min 3x4 + DBG( wchar_t c_ask='c'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 , x0+dx/3,y0+dy/2, y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2,y1-dy/3, y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2,y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0,(x0+x1)/2,(y0+y1)/2,(y0+y1)/2,box1->p,cs) > 1 ) Break; // ~ocr-a-[ + + for(y=y0+dy/4;yp,cs,1) == 0 ) break; + if( y==y0+3*dy/4 ) Break; i1=y; // i1: upper end of right gap + + // measure thickness of line! + t1=loop(bp, 0,dy/2,dx,cs,0,RI); + t1=loop(bp,t1,dy/2,dx,cs,1,RI); + if (t1>dx/2) Break; + + for(y=i1,i2=0,x=x0+dx/2;xp,x0+dx/2,i1,dy,cs,0,DO); + if( i>i2 ) { i2=i; } + } if(i2p,x0+5*dx/8,i1,dy,cs,0,UP); + i =i1+1-loop(box1->p,x0+4*dx/8,i1,dy,cs,0,UP); if(iy0+ dy/4+t1/2) Break; // highest, i3: highest point below top-line + + for(y=i1;yp,cs,1) == 1 ) break; + if( y-i1p,cs) < 1 ) Break; // ~L + if (loop(box1->p,x0,y0+3*dy/4,dx,cs,0,RI)>dx/16) + if( num_cross(x0+dx/2,x1,i3 ,y1,box1->p,cs) < 1 + && num_cross(x0+dx/2,x1,y1-dy/4,y1,box1->p,cs) < 1 // may fail + && num_cross(x1 ,x1,y1-dy/4,y1,box1->p,cs) < 1 ) Break; // ~r + + i=1; + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if(!i) ad=95*ad/100; // ~G + + i=loop(bp,0,dy/2,dx,cs,0,RI); + for(y=0;y=dy/4;y--){ + x =loop(bp,0,y,dx,cs,0,RI); + x+=loop(bp,x,y,dx,cs,1,RI); if(x>i5) i5=x; + i =loop(bp,x,y,dx,cs,0,RI); if(ii4+dx/32 ) break; // unusual for c, more a bad e? + } if( y>=dy/4 ) Break; + + if( !hchar ){ // test for e where the middle line is partly removed + x= loop(bp,0,dy/2,dx,cs,0,RI); + x=x +loop(bp,x,dy/2,dx,cs,1,RI); + y=dy/2-loop(bp,x,dy/2,dy,cs,0,UP)-1; + i=x +loop(bp,x,y,dx,cs,1,RI); + i=i +loop(bp,i,y,dx,cs,0,RI); + if( num_cross(x ,x ,1,dy/2,bp,cs) > 1 + || num_cross(x+1,x+1,1,dy/2,bp,cs) > 1 ) + if( num_cross(i-1,i-1,1,dy/2,bp,cs) > 1 + || num_cross(i ,i ,1,dy/2,bp,cs) > 1 ) Break; // ~bad e + } + if( dy>16 && dy>3*dx && hchar ){ // ~[ + x= loop(bp,0, dy/16,dx,cs,0,RI); + x=+loop(bp,0,dy-1-dy/16,dx,cs,0,RI); + i= loop(bp,0, dy/2 ,dx,cs,0,RI)*2; + if( i>=x ) + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs) < 2 ) Break; + + } + if( get_bw(x0,x0,y0 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x1,x1,y0+1,y1-1,box1->p,cs,1) != 1 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( (i7 ) + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,dy-1-dy/ 8,dx,cs,0,LE) + > loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE) + && loop(bp,dx-1, dy/ 8,dx,cs,0,LE) + > loop(bp,dx-1, dy/16,dx,cs,0,LE) ) Break; // ~( + +// printf(" hchar=%d i1=%d i2=%d %d\n",hchar,i1-y0,i2-y0,9*dy/16); + // ~G without characteristic crotchet + if (hchar && dy>15 && dx>7 && i2-y0<9*dy/16 && i1-y0<=dy/4) + if ( loop(bp,5*dx/8,i2-y0,dy,cs,0,DO) > 2*dy/8 ){ + Setac(box1,'G',90); + Break; + } + + if (hchar){ + i=1; + for(x=dx/2;x=cs + && getpixel(bp,x+1,y )< cs + && getpixel(bp,x+1,y-1)< cs + && getpixel(bp,x ,y-1)< cs ) { i=0;break; } + } + if (i) ad=98*ad/100; // ~( + if (dy>2*dx) ad=99*ad/100; + } + if( loop(bp,dx-1,dy/2,dx,cs,0,LE) < 6*dx/8 ) ad=98*ad/100; + + i= loop(bp,dx-1,dy/16,dx,cs,0,LE); + j= loop(bp,dx/2,0 ,dy,cs,0,DO); + if (i>=dx/2 && j>dy/8 && j>2 && j=3*dx && dy>12) ad=99*ad/100; // ( + i= loop(bp,dx-1,dy-1,dy,cs,0,UP); + j= loop(bp,dx/2,dy-1,dy,cs,0,UP); + if (i==0 && j>dy/8) ad=95*ad/100; // < + i= loop(bp,dx-1, 0,dy,cs,0,DO); + j= loop(bp,dx/2, 0,dy,cs,0,DO); + if (i==0 && j>dy/8) ad=95*ad/100; // < + if (loop(bp,0,dy-1-dy/8,dx,cs,0,RI)>= 3*dx/4) ad=98*ad/100; // < + if (loop(bp,0,dy-1-dy/8,dx,cs,0,RI)>=(dx+1)/2) ad=98*ad/100; // < + if (loop(bp,0, dy/8,dx,cs,0,RI)>=dx/2) ad=98*ad/100; // < + + if (gchar) ad=98*ad/100; // could happen for 5x7 font + bc=((hchar)?'C':'c'); + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_lL(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i0,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test L --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='L'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + i=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if (i<3 && dy>8) {Break;} + if (ip,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ){ i=j;i1=y; } + } if( i<3*dx/4 ) Break; i1=i; // length of horizontal line + // line thickness (i2) + i=loop(box1->p,x0 ,y0+dy/2,dx,cs,0,RI); if( i>dx/2 ) Break; + j=loop(box1->p,x0+i,y0+dy/2,dx,cs,1,RI); if( i+j>dx/2 ) Break; i2=j; + if (loop(bp,dx-1, 0,dx,cs,0,LE)dx/2 + && loop(bp, 0,5*dy/8,dx,cs,0,RI)p,x0 ,y,dx,cs,0,RI); + if ( j>(dx+2)/4+(y1-dy/4-y)*dx/2/dy ) { i=0; break; } + x=loop(box1->p,x0+j,y,dx,cs,1,RI); + if( ((x>i2+1 || 4*x<3*i2) && y>y0+dy/8) || 4*x>3*i1 ) i=0; + } if( !i ) Break; + if( num_cross(0, dx-1-dx/8, dy-1-dy/2, dy-1-dy/2,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1 , dy/3 , dy/3,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1 , dy/8 , dy/8,bp,cs) != 1 ) Break; + if (loop(bp,0,dy-1,dx,cs,0,RI) + -loop(bp,0,dy-3,dx,cs,0,RI)>1+dx/16) ad=96*ad/100; // ~c + if (loop(box1->p,x0+dx/4,y1,dy,cs,0,UP)>1+dy/16) ad=99*ad/100; // ~4 + + if ( gchar) ad=98*ad/100; + if (!hchar) ad=99*ad/100; + if (5*dx<2*dy && loop(box1->p,x0,y1,dx,cs,0,RI)>dx/4) ad=99*ad/100; // ~l + Setac(box1,'L',ad); + break; + } + // --- test l --------------------------------------------------- + // recognize a "l" is a never ending problem, because there are lots of + // variants and the char is not very unique (under construction) + // --- test italic l --------------------------------------------------- + // --- test l ~italic (set flag-italic) -------------------------------- + // if unsure d should be multiplied by 80..90% + for(ad=d=100; dy>dx && dy>5;){ // min 3x4 + DBG( wchar_t c_ask='l'; ) + if( box1->dots>0 ) Break; + if( num_cross(0, dx-1,dy/2,dy/2,bp,cs) != 1 + || num_cross(0, dx-1,dy/4,dy/4,bp,cs) != 1 ) Break; + // mesure thickness + for(i1=0,i2=dx,y=dy/4;yi1 ) { i1=j; } // thickest + if( j2*i2 ) Break; + if(box1->m3 && dy<=box1->m3-box1->m2) ad=94*ad/100; + if( box1->m2-box1->m1>1 && y0>=box1->m2 ) ad=94*ad/100; + for(i0=0,i3=0,y=0;yi3 ) { i3=j; } // widest space + j = loop(bp,j,y,dx,cs,1,RI); + if( j>i0 ) { i0=j;i3=0; } // thickest + } + if ( i0>4*i2 || 3*i3>2*dx) + if ( loop(bp,dx-1,dy-1,dx,cs,0,LE)>3*dx/8 + || loop(bp, 0,dy-1,dx,cs,0,RI)>3*dx/8) Break; // ~7 + + // detect serifs + x =loop(bp,0, 0,dx,cs,0,RI); + i3=loop(bp,x, 0,dx,cs,0,RI); + x =loop(bp,0, 1,dx,cs,0,RI); + x =loop(bp,x, 1,dx,cs,0,RI); if(x>i3) i3=x; + x =loop(bp,0,dy-1,dx,cs,0,RI); + i4=loop(bp,x,dy-1,dx,cs,0,RI); + x =loop(bp,0,dy-2,dx,cs,0,RI); + x =loop(bp,x,dy-2,dx,cs,0,RI); if(x>i4) i4=x; + if( i3>i1+dx/8+1 && i4>i1+dx/8+1 ) Break; // ~I + + for(i=dx,j=0,y=1;yi+1) break; i=x; + if( num_cross(0,dx-1,y ,y ,bp,cs)==2 + && num_cross(0,dx-1,y+1+dy/32,y+1+dy/32,bp,cs)==2 ) j=1; + } if ( y3) + if( get_bw(dx-1-dx/8,dx-1,0,dy/6,bp,cs,1) != 1 ) + if( get_bw(dx-1-dx/8,dx-1,0,dy/2,bp,cs,1) == 1 ) Break; + + if( get_bw(dx-1-dx/8,dx-1,dy/4,dy/3,bp,cs,1) != 1 ) // large I ??? + if( get_bw(0 ,dx/8,dy/4,dy/3,bp,cs,1) != 1 ) + if( get_bw(dx-1-dx/8,dx-1,0 ,dy/8,bp,cs,1) == 1 ) + if( get_bw(0 ,dx/8,0 ,dy/8,bp,cs,1) == 1 ) ad=ad*97/100; + if( get_bw(dx-1-dx/8,dx-1,dy/2,dy-1,bp,cs,1) != 1 ) // r ??? + if( get_bw(0 ,dx/8,dy/2,dy-1,bp,cs,1) == 1 ) + if( get_bw(dx-1-dx/8,dx-1,0 ,dy/3,bp,cs,1) == 1 ) + if( get_bw(0 ,dx/8,0 ,dy/3,bp,cs,1) == 1 ) Break; + + for( y=1;y<12*dy/16;y++ ) + if( num_cross(0, dx-1, y , y ,bp,cs) != 1 // sure ? + && num_cross(0, dx-1, y-1, y-1,bp,cs) != 1 ) break; + if( y<12*dy/16 ) Break; + + if(dx>3){ + for( y=dy/2;yy-1-5*dy/16;y>=dy/5;y--){ // rechts abfallende Kante/Knick? + i=loop(bp,bp->x-1,y,x1-x0,cs,0,LE); + if( i-2-dx/16>=x ) break; + if( i=dy/5 ) Break; + + // test ob linke Kante gerade + for(x=0,y=bp->y-1-dy/5;y>=dy/5;y--){ // rechts abfallende Kante/Knick? + i=loop(bp,0,y,x1-x0,cs,0,RI); + if( i+2+dx/16x ) x=i; + } + if (y>=dy/5 ) Break; + if (box1->m4 && y1m4) + if ( get_bw(x0,x1,y1+1,box1->m4+dy/8,box1->p,cs,1) == 1 ) + ad=ad*97/100; // unsure !l| + i=loop(bp,dx-1,dy/16,dx,cs,0,LE); + j=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); + if( i>3 && j>3 ) + if( get_bw(dx-1-i/2,dx-1-i/2,0,dy/2,bp,cs,1) == 1 ) Break; // ~t + + for(y=5*dy/8;y8 + && loop(bp, 0,3*dy/4,dx,cs,0,RI)>=dx/4 + && loop(bp, 0,7*dy/8,dx,cs,0,RI)<=dx/8 + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE)<=dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE)<=dx/8 ) Break; // ~J + + if ( 2*i3>5*i1 ) // hmm \tt l can look very similar to 7 + if ( loop(bp,0,dy/4,dx,cs,0,RI)>dx/2 + && get_bw(0,dx/8,0,dy/4,bp,cs,1) == 1 ) Break; // ~7 + + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE)>dx/2 + && get_bw(3*dx/4,dx-1,3*dy/4,dy-1,bp,cs,1) == 1) { + if (loop(bp,0,dy-1,dx,cs,0,RI)2*dy) ad=99*ad/100; // ~L + if(5*dx>3*dy) ad=99*ad/100; // ~L + } + if(!hchar){ // right part (bow) of h is never a l + if( get_bw(dx/4,dx/4, 0,dy/4,bp,cs,1) == 1 + && get_bw(dx/4,dx/4,dy/2,dy-1,bp,cs,1) == 0 ) Break; + } + if( dx>3 && dy>3*dx ) + if( loop(bp,dx/4,dy-1 ,dy,cs,0,UP)< dy/4 + && loop(bp, 0,dy-1-dy/8,dx,cs,0,RI)>=dx/2 + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)<=dx/4 ){ + ad=98*ad/100; // ~] + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE)==0 ) Break; + } + + for(x=0;xi ) break; + } + if( x>=loop(bp,0,y+1,dx,cs,0,RI) ) + if( loop(bp,0 ,0,dy,cs,0,DO)>1 ) + if( loop(bp,0 ,0,dy,cs,0,DO) + - loop(bp,dx/16+1,0,dy,cs,0,DO) < dx/16+1 ) Break; // ~1 Jul00,Nov00 + if( num_cross(0,dx/2,y-1,y-1,bp,cs)==2 ) Break; // ~1 + } + if(dx<8 && dy<12){ // screen font + i= loop(bp,0,0,dy,cs,0,DO); + if( loop(bp,dx/2,1,dy,cs,1,DO)>=dy-2 + && loop(bp,0,dy/2,dx,cs,0,RI)>=2 + && i>1 && ip,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x0+dx/4,y0+1+dy/16,y1-1-dy/16,box1->p,cs,1) != 1 ) Break; /* ~] */ + i=loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,dy/2,dx,cs,0,RI)>=dx/2 + && (ip,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x1-dx/4,x1,y0+1+dy/16,y1-1-dy/16,box1->p,cs,1) != 1 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); // konvex/konkav? ~() + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) < i-dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) < i-dx/8 ) Break; // ~( + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) > i+dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) > i+dx/8 ) Break; // ~) + + i= loop(bp, 0, 0,dy,cs,0,DO); // horizontal line? + if(dy>=12 && i>dy/8 && iloop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,3*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) + if( loop(bp,dx-1,8*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,8*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) + if( loop(bp, 0,3*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i,dx,cs,0,RI) + || loop(bp, 0,3*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i+1,dx,cs,0,RI) ) + if( loop(bp, 0,8*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i,dx,cs,0,RI) + || loop(bp, 0,8*dy/16,dx,cs,0,RI)-dx/8 + >loop(bp, 0, i+1,dx,cs,0,RI) ) Break; // ~t + if( loop(bp, 0,i-1,dx,cs,0,RI)>1 && dx<6 ) Break; // ~t + if( loop(bp, 0,8*dy/16,dx,cs,0,RI)>dx/8 + && loop(bp, 0, i,dx,cs,1,RI)>=dx-1 + && loop(bp,dx-1,8*dy/16,dx,cs,0,LE)>dx/8 + && loop(bp,dx-1, i-1,dx,cs,0,LE)>dx/8 ) Break; // ~t + } +// if( vertical_detected && dx>5 ) + if( loop(bp,0, 1,dx,cs,0,RI)>=dx/2 + && ( loop(bp,0,dy-2,dx,cs,0,RI)<=dx/8 + || loop(bp,0,dy-1,dx,cs,0,RI)<=dx/8 ) ) + if( ( loop(bp,dx-1, 0,dx,cs,0,LE)<=dx/8 + || loop(bp,dx-1, 1,dx,cs,0,LE)<=dx/8 ) + && loop(bp,dx-1,dy-2,dx,cs,0,LE)>=dx/2 ) ad=98*ad/100; // ~/ + + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + + if (!hchar || loop(bp,0,dy/4,dx,cs,0,RI)>dx/2){ // ~z + i=loop(bp,0,dy/16 ,dx,cs,0,RI); + i=loop(bp,i,dy/16 ,dx,cs,1,RI); j=i; + i=loop(bp,0,dy/16+1,dx,cs,0,RI); + i=loop(bp,i,dy/16+1,dx,cs,1,RI); if (i>j) j=i; + i=loop(bp,0,dy/16+2,dx,cs,0,RI); + i=loop(bp,i,dy/16+2,dx,cs,1,RI); if (i>j) j=i; + if (j*4>=dx*3) ad=98*ad/100; // ~z + if (j*8>=dx*7) ad=96*ad/100; // ~z + } + + if( get_bw(x0,x0,y1,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if( get_bw(x1,x1,y1,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if (ad==100) ad--; /* I have to fix that: + .@@@@.<- + @@..@@ + ....@@ + ....@@< + ...@@. + ..@@@. + ..@@.. + .@@... + @@.... + @@@@@@<- + */ + if(!hchar) ad=ad*99/100; + if( gchar) ad=ad*99/100; + Setac(box1,'l',ad); +// if( i<100 ) Break; ???? +// if( loop(bp,0, 1,dx,cs,0,RI)<=dx/8 +// && loop(bp,0,dy/2,dx,cs,0,RI)<=dx/8 +// && loop(bp,0,dy-2,dx,cs,0,RI)<=dx/8 ) vertical_detected=1; + break; + } + return box1->c; +} + +static wchar_t ocr0_oO(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test o,O --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='o'; ) + if (sdata->holes.num !=1 ) Break; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/2 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + if (sdata->holes.hole[0].y0 > dy/3 + || sdata->holes.hole[0].y1 < dy-1-dy/3) Break; + + if( num_cross(x0+dx/2 ,x0+dx/2 ,y0, y1 ,box1->p,cs) != 2 + && num_cross(x0+dx/2+1,x0+dx/2+1,y0, y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/4,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/4,y0+1 , y0+1,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/4,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/4,x1-dx/3,y1-1 , y1-1,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + + x=loop(bp,dx-1,dy-1-dy/3,x1-x0,cs,0,LE); // should be minimum + for( y=dy-1-dy/3;ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 +// && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + && ( get_bw(0,dx/32,0,dy/32,bp,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + // search lowest inner white point + for(y=dy,j=x=0;x 1 ) ad=99*ad/100; // ~a \it a + for(y=0;y 2 ) ad=98*ad/100; // ~a \it a + if (loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)dy/8 + || num_cross(0,dx-1, 0, 0,bp,cs) > 1 + || num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + ) ad=98*ad/100; // ~bq + + // corrections for wrong recognized m1,m2 (all chars of same high) + if (hchar && 2*y0m1+box1->m2) i=1; else i=0; + if (gchar) ad=99*ad/100; + bc='o'; + if (i){ bc='O'; } + if ( bc=='O' && ad>99) ad=99; /* we can never 100% sure, 0O */ + if (bc=='o' && (!hchar) && y0m2) { + Setac(box1,'O',98*ad/100); + Setac(box1,'0',98*ad/100); + } + Setac(box1,bc,ad); + if (bc=='O') Setac(box1,'0',ad); + if (bc=='o') Setac(box1,'0',98*ad/100); + break; + } + return box1->c; +} + +static wchar_t ocr0_pP(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test pP --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='p'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(0 , dx/2,3*dy/4,3*dy/4,bp,cs,1) != 1 ) Break; + if( get_bw(0 , dx/2, dy/2, dy/2,bp,cs,1) < 1 ) Break; + if( get_bw(dx/4, dx-1, dy/4, dy/4,bp,cs,1) != 1 ) Break; + i= loop(bp,dx-1,3*dy/4,dx,cs,0,LE); if (ip,cs) != 2 ) + if( num_cross(x0+dx/2 ,x0+dx/2 , y0, y1-3*dy/16,box1->p,cs) != 2 ) + if( num_cross(x0+dx/2+1,x0+dx/2+1, y0, y1-3*dy/16,box1->p,cs) != 2 ) Break; + if( num_cross(0,dx-1,7*dy/8 ,7*dy/8 ,bp,cs) != 1 ) + if( num_cross(0,dx-1,7*dy/8-1,7*dy/8-1,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(0,dx-1, dy/4-1, dy/4-1,bp,cs) != 3 ) // \it p with nice kurve + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(0,dx-1, dy/4+1, dy/4+1,bp,cs) != 2 ) Break; + + i= loop(bp,0,dy/2,dx,cs,0,RI); if(i<1) i++; + if( num_cross(i-1,dx-1, dy/4 , dy/4 ,bp,cs) != 2 ) + if( num_cross(i-1,dx-1, dy/4+1, dy/4+1,bp,cs) != 2 ) Break; + + i1= loop(bp, 0,3*dy/8,dx,cs,0,RI); if (i1>=dx/2) ad=90*ad/100; + i2=i1+loop(bp,i1,3*dy/8,dx,cs,1,RI); // upper x-position of v line + i3= loop(bp, 0,7*dy/8,dx,cs,0,RI); + i4=i3+loop(bp,i3,7*dy/8,dx,cs,1,RI); // lower x-position of v line + // out_x(box1);printf(" p:"); + for ( y=dy/8; y<7*dy/8; y++ ){ + x=i2+ (8*y-3*dy)*(i4-i2)/(4*dy); // right limit of line + i= loop(bp,0,y,dx,cs,0,RI); if(i>x+dx/16) break; + } if ( y<7*dy/8 ) Break; + for ( x=0,j=y=dy/3; yx ) { x=i; j=y; } if(x>dx/2) break; + } if ( x=dx) Break; + if( get_bw(3*dx/4,dx-1, y , dy-1,bp,cs,1) == 1 ) Break; + + i=num_hole (x0,x1,y0,y1-dy/5,box1->p,cs,NULL); + // j=num_hole (x0,x1,y0,y1 ,box1->p,cs,NULL); + j=sdata->holes.num; + + if (j!=1 && dx< 8) ad=96*ad/100; + if (j!=1 && dx>=8) ad=98*ad/100; + if (i==0 && j==0) ad=90*ad/100; /* some times there is a small gap */ + if (i>1 || j>1 || j>i) Break; + + // check for serif F + i= loop(bp,bp->x-1, bp->y/4, dx ,cs,0,LE); + i=i+loop(bp,bp->x-1-i,bp->y/4, dx ,cs,1,LE); + j= loop(bp,bp->x-1-i,bp->y/4,3*dy/4,cs,0,DO); + if (j>dy/2) ad=80*ad/100; // its an serif-F + + if( ((!hchar) && (!gchar)) || (hchar && gchar)) ad=95*ad/100; + bc='p'; + if( hchar && ((!gchar) || dy<14)) bc='P'; + if ( hchar && gchar) ad=98*ad/100; // \ss sz + if ((!hchar) && !gchar) ad=98*ad/100; + + Setac(box1,bc,ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_qQ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad; /* tmp-vars */ + + // --- test Q --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='Q'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( get_bw(x0 ,x0+dx/3,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1 ,y0+dy/3,y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y1-dy/3,y1, box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0 ,y0+dy/4,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/3,y1-dy/2,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1 ,x1 ,y0 ,y0 ,box1->p,cs,1) == 1 ) Break; //alpha + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) < 2 ) Break; + if( num_cross(x0+dx/5,x1-dx/5,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/5,x1-dx/5,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( get_bw(x1 ,x1 ,y1-dy/8 , y1 ,box1->p,cs,1) == 0 ) + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // i=num_hole(x0,x1,y0,y1,box1->p,cs,NULL); + i=sdata->holes.num; + if(!i) Break; + if( i!=1 && (i!=2 || num_hole(x0,x1,y0+dy/2,y1,box1->p,cs,NULL)!=1) ) Break; + x=x1;y=y1; + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,LE,ST); if( xp,&x,&y,x0,x1,y0,y1,cs,ST,LE); + if( x 5*dx/8 ) Break; // ~4 Okt00 + + x= loop(bp,dx-1,3*dy/8,dy,cs,0,LE); if( x>dx/4 ) Break; + if( loop(bp,dx-1-x,0 ,dy,cs,0,DO) + <= loop(bp,dx-2-x,0 ,dy,cs,0,DO) ) Break; // 4 + + if( loop(bp,dx-1,dy-2,dx,cs,0,LE) + <= loop(bp,dx-1,dy/2,dx,cs,0,LE) ) + if( loop(bp, 1,dy-1,dy,cs,0,UP) + <= loop(bp,dx/2,dy-1,dy,cs,0,UP) ) + if( loop(bp, 0,dy-2,dx,cs,0,RI)>dx/2 ) + if( loop(bp, 0, 0,dx,cs,0,RI)>dx/2 ) Break; // 4 + + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE) + + loop(bp, 0,3*dy/4,dx,cs,0,RI) + < loop(bp,dx-1,2*dy/4,dx,cs,0,LE) + + loop(bp, 0,2*dy/4,dx,cs,0,RI) ) ad=94*ad/100; // 4 + if( loop(bp,0 ,3*dy/4,dx,cs,1,RI) >= dx ) ad=94*ad/100; // 4 + + + if( loop(bp,dx-1,dy/3,dx,cs,0,LE)> dx/4 ) Break; + j=loop(bp,dx/2,dy-1,dy,cs,0,UP); + if (j>1 && j>dy/8) { + if( get_bw(0,dx/2,dy-1-j/2,dy-1-j/2,bp,cs,1) == 1 ) { // ~RA + if (j<5) ad=95*ad/100; + else Break; + } + } + + // italic a + for(i=0,y=0;y 2 ) i++; if(i>dy/8) Break; // ~a \it a + if (i>0) ad=99*ad/100; + + // ~o look at the lower right side for falling line + for(j=x=0,y=dy/2;yx){ x=i; } + if (x-i>j) j=x-i; + if( j>dx/16 ) Break; // falling line detected + } + if (j==0) Break; // no falling line => no Q + if (j<=dx/16) ad=98*ad/100; + if(y1<=box1->m3) ad=98*ad/100; // ~q no underlength! rare + if(!hchar) ad=96*ad/100; + Setac(box1,'Q',ad); + break; + } + // --- test q --------------------------------------------------- + for(ad=d=100;dx>2 && dy>3;){ // min 3x4 + DBG( wchar_t c_ask='q'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + for ( y=y0; 2*y<=y0+y1; y++ ){ // detect ring + if( num_cross(x0,x1, y, y,box1->p,cs) == 2 ) Break; + } if (2*y>y0+y1) Break; /* < */ + for ( y=(y0+y1)/2; y<=y1; y++ ){ // detect vert line + if( num_cross(x0, x1, y, y,box1->p,cs) == 1 + && num_cross(x0,x0+dx/2, y, y,box1->p,cs) == 0 ) Break; + } if (y>y1) Break; /* O (y==y1 for 4x6font-q) */ + for ( x=0,j=y=y0+dy/3; y<=y1-dy/8; y++ ){ // detect baseline + i=loop(box1->p,x0,y,dx,cs,0,RI); + if ( i>x ) { x=i; j=y; } + if ( x>dx/2 ) break; + } if ( x=dx) Break; + if (y1-j+1p,cs) != 0 ) ad=96*ad/100; // ~g + if( loop(box1->p,x0+dx/16,j,dy,cs,0,UP)<1+dy/16 ){ + ad=97*ad/100; + if (hchar || !gchar) Break; // 4 + } + if( loop(box1->p,x0+dx/16,j-dy/32-1,dy,cs,1,RI)>=dx-dx/8 + || loop(box1->p,x0+dx/16,j-dy/16-1,dy,cs,1,RI)>=dx-dx/8 ){ + ad=96*ad/100; // 4 + } + if( get_bw(x1-dx/3, x1, y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0, x0+dx/3, y0+dy/3, y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0, x0+dx/4, y1-dy/8, y1-dy/9,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0, x0+dx/4, y1-dy/5, y1-dy/9,box1->p,cs,1) == 1 ) ad=99*ad/100; + if( num_cross(x0+dx/2,x0+dx/2, y0, j ,box1->p,cs) != 2 ) Break; + // if( num_hole (x0 ,x1 , y0, y1 ,box1->p,cs,NULL) != 1 ) + if (sdata->holes.num != 1) + { if (dx<16) ad=98*ad/100; else Break; } + if( num_hole (x0 ,x1 , y0, j ,box1->p,cs,NULL) != 1 ) + { if (dx<16) ad=98*ad/100; else Break; } + // ~\it g + if( loop(bp,0,dy-1-dy/4,dx,cs,0,RI)>5*dx/8 + && get_bw(dx/4,dx/4,dy-1-dy/4,dy-1,bp,cs,1)==1 ) Break; // ~\it g + // what about unsure m1-m4? + if(!gchar){ ad=ad*99/100; } // ~4 + if( hchar){ ad=ad*99/100; } // ~49 + Setac(box1,'q',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_iIjJ(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,hchar=sdata->hchar,gchar=sdata->gchar, + ax,ay,bx,by,cx,cy,ex,ey, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ad,ya,yb,yc,yd,ye,yf,xa,xb, /* tmp-vars */ + (*aa)[4]=sdata->aa; /* the for line ends, (x,y,dist^2,vector_idx) */ + + // --- test i --------------------------------------------------- + // if(box1->dots==1) // what about \it neighbouring ij + for(ad=d=100;dy>3 && dx>0;){ // min 3x4 without dot + DBG( wchar_t c_ask='i'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // ToDo: ':' check that high of dot is smaller than the vert. line! + /* + * o <== ya + * o + * + * ooo <== yb + * o + * o + * o + * ooo + */ + ya=y0; + if (box1->dots!=1) ad=98*ad/100; + while(dy>3*dx && box1->m2){ // test for vertical i without detected dot + i= loop(bp,dx/2,dy-1 ,dy,cs,0,UP); + if (dy-1-im3-2) break; + i+=loop(bp,dx/2,dy-1-i,dy,cs,1,UP); + // distance upper end to m2 > (m2-m1)/3 + if (3*abs(dy-1-i-box1->m2)>box1->m2-box1->m1) break; + if( get_bw(x0,x1,y0,(box1->m1+box1->m2)/2,box1->p,cs,1) == 1 ) + if( get_bw(x0,x1,y1-i ,y1-i ,box1->p,cs,1) == 0 + || get_bw(x0,x1,y1-i-1,y1-i-1,box1->p,cs,1) == 0 + || get_bw(x0,x1,y1-i-2,y1-i-2,box1->p,cs,1) == 0 ) + { + Setac(box1,'i',ad); + return 'i'; /* beleave me, thats an "i"! */ + } break; + } +// if( box1->dots!=1 ) Break; + if( box1->m2 && 2*y0>=box1->m2+box1->m1 ) ya=box1->m1; + +// out_x(box1); + for (y=ya;2*yp,cs,1) == 1 ) break; + if (2*y>=ya+y1) Break; // hmm, gap only, no dot? + ya=y; + if (box1->m2 && ya>box1->m2+2) Break; + for ( ;2*yp,cs,1) != 1 ) break; + if (2*y>=ya+y1) Break; // hmm no gap + for ( ;2*yp,cs,1) == 1 ) break; + yb=y; + if (5*yb>=3*ya+2*y1) ad=99*ad/100; // large gap + if (2*yb>= ya+ y1) ad=97*ad/100; // very large gap, ~: + if (5*yb>=2*ya+3*y1) Break; // huge gap, ~: + if (loop(bp,dx-1,y+(y1-ya+1)/32,dx,cs,0,LE)>dx/2) // unusual (right part of ouml) + ad=95*ad/100; + + // printf(" num_cross dy/2=%d %d\n",dy/2, num_cross(0,dx-1,dy/2,dy/2,bp,cs)); + // printf(" dots=%d\n",box1->dots); out_x(box1); + // \sl ~f. ! + for (y=y1;y>ya;y--) if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) break; + if (y>(ya+3*y1)/4) Break; + if (y>(ya+2*y1)/3) ad=96*ad/100; + + y=(y1-yb+1)/2+yb-y0; /* only one vertical line, italic i is more an tall S */ + if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) Break; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } yc=y; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yd=y; + if( yd<3*(y1-yb+1)/4+yb-y0 ) Break; + y=(y1-yb+1)/2+yb-y0; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } ye=y; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yf=y; + if( yf>(y1-yb+1)/4+yb-y0 ) Break; + if(yd>yc+2){ + xa=loop(bp, 0,yc-1,dx,cs,0,RI); + xb=loop(bp,dx-1,yc-1,dx,cs,0,LE); + if( + xb-loop(bp,dx-1,yc,dx,cs,0,LE) /* Dec00 */ + > xa-loop(bp, 0,yc,dx,cs,0,RI) ){ + y= loop(bp,dx-xb,yc-1,dy,cs,0,DO); + if(y>0){ + i=loop(bp,dx-xb-1,yc-1+y-1,dy,cs,0,DO); + if( i>0 ) y+=i-1; + } + if( yc-1+y < yd-1 ) Break; + } else { + y= loop(bp,11*xa/16,yc-1,dy,cs,0,DO); + if( yc-1+y < yd-2 ) Break; + } + } + if(yf0 ) y+=i-1; + if( ye+1-y > yf+1 ) Break; + } + if( 2*y0 <= box1->m1+box1->m2 + && loop(bp,0, 0,dx,cs,0,RI)+1 + < loop(bp,0,dx/2,dx,cs,0,RI) ) ad=97*ad/100; + + if( gchar ) // i is more often than j, be sure that realy correct Mai00 + if( loop(bp, 0,2*dy/4,dx,cs,0,RI) + -loop(bp,dx-1,2*dy/4,dx,cs,0,LE)>dx/8 ) Break; + + // could be a broken + or similar thing? + if( 3 * ya > box1->m1 + 2*box1->m2 ) ad=90*ad/100; + + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/2 + && loop(bp,dx-1, dy-1,dx,cs,0,LE)5 && num_cross(x0+dx/2,x0+dx/2, ya, y1 ,box1->p,cs) >= 3 ) + ad=95*ad/100; + + Setac(box1,'i',ad); + break; + } + // --- test j --------------------------------------------------- + // if(box1->dots==1) // what about \it neighbouring ij + for(ad=d=100;dy>4 && dx>0;){ // min 3x4 + DBG( wchar_t c_ask='j'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + ya=y0; + if( box1->m2 && 2*y0>=box1->m2+box1->m1 ) ya=box1->m1; + + for(y=ya;2*yp,cs,1) == 1 ) break; + if(2*y>=ya+y1) Break; // hmm only gap + ya=y; + if( box1->m2 && ya>box1->m2+2 ) Break; + for( ;2*yp,cs,1) != 1 ) break; + if(2*y>=ya+y1) Break; // hmm no gap + for( ;2*yp,cs,1) == 1 ) break; + if(2*y>=ya+y1) Break; // hmm very large gap + yb=y; + if( loop(bp,dx-1,y+(y1-ya+1)/32,dx,cs,0,LE)>dx/2 ) Break; // unusual (right part of ouml) + + // printf(" num_cross dy/2=%d %d\n",dy/2, num_cross(0,dx-1,dy/2,dy/2,bp,cs)); + // printf(" dots=%d\n",box1->dots); out_x(box1); + // \sl ~f. ! + for(y=(ya+y1)/2;y<=y1;y++) if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) break; + if(y<=y1) Break; + + y=(y1-yb+1)/2+yb-y0; /* only one vertical line, italic i is more an tall S */ + if( num_cross(0,dx-1,y,y,bp,cs) >2 ) Break; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } yc=y; + for(;y<=y1-y0;y++){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yd=y; + if( yd<3*(y1-yb+1)/4+yb-y0 ) Break; + y=(y1-yb+1)/2+yb-y0; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) break; } ye=y; + for(;y>0;y--){ if( num_cross(0,dx-1,y,y,bp,cs) != 2 ) break; } yf=y; + if( yf>(y1-yb+1)/4+yb-y0 ) Break; + if(yd>yc+2){ + xa=loop(bp, 0,yc-1,dx,cs,0,RI); + xb=loop(bp,dx-1,yc-1,dx,cs,0,LE); + if( + xb-loop(bp,dx-1,yc,dx,cs,0,LE) /* Dec00 */ + > xa-loop(bp, 0,yc,dx,cs,0,RI) ){ + y= loop(bp,dx-xb,yc-1,dy,cs,0,DO); + if(y>0){ + i=loop(bp,dx-xb-1,yc-1+y-1,dy,cs,0,DO); + if( i>0 ) y+=i-1; + } + if( yc-1+y < yd-1 ) Break; + } else { + y= loop(bp,11*xa/16,yc-1,dy,cs,0,DO); + if( yc-1+y < yd-2 ) Break; + } + } + if(yf0 ) y+=i-1; + if( ye+1-y > yf+1 ) Break; + } + if( 2*y0 <= box1->m1+box1->m2 + && loop(bp,0, 0,dx,cs,0,RI)+1 + < loop(bp,0,dx/2,dx,cs,0,RI) ) ad=97*ad/100; + if (loop(bp,0,dy-1,dx,cs,0,RI) + -loop(bp,0,dy-3,dx,cs,0,RI)>1+dx/16) ad=96*ad/100; // ~c + + if( gchar ) // i is more often than j, be sure that realy correct Mai00 + if( loop(bp, 0,2*dy/4,dx,cs,0,RI) + -loop(bp,dx-1,2*dy/4,dx,cs,0,LE)<=dx/8 ) Break; + // could be a broken + or similar thing? + if( 3 * ya > box1->m1 + 2*box1->m2 ) ad=80*ad/100; + if (!gchar) ad=96*ad/100; + if( box1->dots!=1 ) ad=98*ad/100; + + Setac(box1,'j',ad); + + break; + } + // --- test I --------------------------------------------------- + for(ad=d=100;dy>4 && dy>dx && 5*dy>4*(box1->m3-box1->m2);){ // min 3x4 + DBG( wchar_t c_ask='I'; ) + if( box1->dots==1 ) Break; + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + + x =loop(bp,0, dy/2,dx,cs,0,RI); // konvex? divided Q + if(loop(bp,0,7*dy/8,dx,cs,0,RI) > x+dx/8) Break; + for( y=dy/16;y1+dx/8 ) break; + } if( y<3*dy/4 ) Break; + // out_x(box1); + + // upper max width + for(i2=i1=0,y=0;yi1){ i1=x;i2=y; } + } + for(i4=i3=0,y=3*dy/4;yi3){ i3=x;i4=y; } + } + if( abs(i3-i1)>1+dx/8 ) Break; // if i3>>i5 more sure! + if( i1>i5 ){ // look for edges else *80% + } + if(i1+1i2 ) i2=i; + + // printf(" get_line(%d,%d) %d\n",i1,i2, + // get_line2(i1,dy/8,i2,dy-1-dy/8,bp,cs,100)); + if( get_line2(i1,dy/8,i2,dy-1-dy/8,bp,cs,100)<95 ) Break; + x =(i1-i2+4)/8; i1+=x; i2-=x; + + // upper and lower width (what about serifs?) + y=dy/8; + x =loop(bp,i1, y+0,dx,cs,1,LE); i=x; + x =loop(bp,i1, y+1,dx,cs,1,LE); if(x>i)i=x; + x =loop(bp,i1, y+0,dx,cs,1,RI); j=x; + x =loop(bp,i1, y+1,dx,cs,1,RI); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + x =loop(bp,i2,dy-y-1,dx,cs,1,LE); j=x; + x =loop(bp,i2,dy-y-2,dx,cs,1,LE); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + x =loop(bp,i2,dy-y-1,dx,cs,1,RI); j=x; + x =loop(bp,i2,dy-y-2,dx,cs,1,RI); if(x>j)j=x; if(abs(i-j)>1+dx/8)Break; + + if(dy>15) // v024a4 + if( loop(bp,dx-1,dy/16 ,dx,cs,0,LE) + > loop(bp,dx-1,dy/4 ,dx,cs,0,LE)+1+dx/32 ) Break; // ~bad ) (thinn) + + for(i=0,y=dy/16;y<15*dy/16 && i<2;y++) + if( num_cross(0,dx-1,y,y,bp,cs) != 1 ) i++; + if( i>1 ) Break; + + if(!hchar){ // right part (bow) of h is never a l + if( get_bw(dx/4,dx/4, 0,dy/4,bp,cs,1) == 1 + && get_bw(dx/4,dx/4,dy/2,dy-1,bp,cs,1) == 0 ) Break; + if( loop(bp, 0,dy/4,dx,cs,0,RI)> dx/4 + && loop(bp,dx-1,dy/4,dx,cs,0,LE)<=dx/4 + && loop(bp, 1, 0,dy,cs,0,DO)<=dy/4 ) Break; // ~z + } + + if( get_bw(x1,x1,y0 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y0 ,y0 ,box1->p,cs,2) != 2 + && get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) != 2 + && get_bw(x0,x0,y0+1,y1-1,box1->p,cs,1) != 1 ) Break; /* ~] */ + + if ( loop(bp,dx-1, dy/4,dx,cs,0,LE) > dx/2 + && loop(bp,dx-1,3*dy/4,dx,cs,0,LE) > dx/2 + && loop(bp, 0, dy/2,dx,cs,0,RI) < dx/4 ) Break; /* ~[ */ + + x =loop(bp, 0,dy/2,dx,cs,0,RI); // konvex/konkav? ~() + i =loop(bp,dx-1,dy/2,dx,cs,0,LE); + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) > x+dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) < i-dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) < i-dx/8 ) Break; // ~( + if( loop(bp, 0,7*dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp, 0, dy/8,dx,cs,0,RI) < x-dx/8 + && loop(bp,dx-1,7*dy/8,dx,cs,0,LE) > i+dx/8 + && loop(bp,dx-1, dy/8,dx,cs,0,LE) > i+dx/8 ) Break; // ~) + if( loop(bp, 0, dy/8,dx,cs,0,RI) + -(dx-loop(bp,dx-1,7*dy/8,dx,cs,0,LE)) > dx/4 ) Break; // ~/ + if( loop(bp, 0, 0,dx,cs,0,RI) > dx/2 // ToDo: check for serifs + && loop(bp, 0, dy/8,dx,cs,0,RI) > dx/2 + && loop(bp,dx-1,dy-1 ,dx,cs,0,LE) > dx/2 + && loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE) > dx/2 ) ad=99*ad/100; // ~/ + + if (box1->m2 && 3*y0>box1->m1+2*box1->m2) + if( get_bw(x0+dx/8,x1-dx/8,box1->m1,(box1->m1+box1->m2)/2,box1->p,cs,1) == 1 ) + Break; // ~i + + if(i1+1p,cs,1) != 1 + || get_bw(x0+i4/4,x0+i4/4,y1-dy/4,y1,box1->p,cs,1) != 1 ) + { ad=99*ad/100; MSG(fprintf(stderr,"ad=%d",ad);) } // ToDo: improve it + if(!hchar){ ad=96*ad/100; MSG({}) } // ~bad_small_r + if (box1->m4 && y1m4) { // probably lower dot? + if ((dx>2 && get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) == 1) + || (dx<3 && get_bw(x0 ,x1 ,y1+1,box1->m4,box1->p,cs,1) == 1)) { + ad=96*ad/100; + } + } // ~! + // a---b + // I + // I + // c---e + // check against Z + for(bx=0,ax=dx,ay=by=y=0;ybx) { bx=dx-1-i; by=y; } + i+=loop(bp,dx-1-i,y,dx,cs,1,LE); if (dx-i-1dy-1-dy/4;y--){ + i =loop(bp,0,y,dx,cs,0,RI); if (iex) { ex=i; ey=y; } + } + x=(3*ax+cx)/4; y=(3*ay+cy)/4; i= loop(bp,x,y,dx,cs,0,RI); + x=(3*bx+ex)/4; y=(3*by+ey)/4; j= loop(bp,x,y,dx,cs,0,LE); + if (j>0 && (2*i>3*j || 3*i<2*j )) ad=99*ad/100; + if (j>0 && ( i>2*j || 2*i< j )) ad=97*ad/100; + i=loop(bp,0,0,dy,cs,0,DO); + if (i>dy/8 && idx/4) ad=96*ad/100; // ~l 5x7 + + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) == 0 ) ad=99*ad/100; + if (gchar) ad=98*ad/100; // J + if (box1->m3 && 2*y1<=box1->m2+box1->m3) ad=96*ad/100; // ' + + Setac(box1,'I',ad); + break; + } + // --- test J --------------------------------------------------- 22Nov06 + for(ad=d=100;dy>4 && dy>=dx && dx>2;){ // min 3x4 ~Y)]d', + // rewritten for vectors 0.42 + int ld, i1, i2, i3, i4, i5, i6, i7; // line derivation + corners + DBG( wchar_t c_ask='J'; ) + if (sdata->holes.num > 0) Break; /* no hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the upper right end of the J */ + if (aa[3][2]>d) Break; /* [2] = distance */ + /* searching for 4 notches between neighbouring ends */ + +/* + type A B + + 6OOOO 6O5 + 7O5 7O + O O + O O + 2O 1O4 1O4 + OO 2OO + 3 3 +*/ + + /* Warning: aa0 can be left upper or left lower point for type B */ + /* get a point on the inner low left side of the J */ + i =nearest_frame_vector(box1,aa[3][3],aa[1][3],(x0+x1)/2,y0); + /* failed for slanted J before Jun09 */ + i1=nearest_frame_vector(box1,i ,aa[1][3], x1+dx/8,y1-dy/8); + /* get the most left point on the lower part of the J */ + i2=nearest_frame_vector(box1,i1,aa[3][3], x0-2*dx, y1-dy/8); + /* get a point on the middle of the bottom of the J */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], (x0+x1)/2, y1); + /* get a point on the outer low right side of the J */ + i4=nearest_frame_vector(box1,aa[1][3],aa[3][3], x1, (y0+2*y1)/3); + /* get a point on the outer right side below top serif */ + i5=nearest_frame_vector(box1,aa[2][3],aa[3][3], (x0+2*x1)/3,y0); + /* get a point on the left side of upper serif */ + i6=nearest_frame_vector(box1,aa[3][3],i1, x0, y0); + /* get a point on the most right left side of upper serif */ + i7=nearest_frame_vector(box1,i6,i1, x1, y0); + MSG(fprintf(stderr," i1-i7 %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7);) + + /* check the highest point on lower left area */ + i =nearest_frame_vector(box1,i1,i3,x0,y0); + if (box1->frame_vector[i ][1]-y0frame_vector[i ][1]-y0<=dy/2) ad=97*ad/100; // imperfect a + /* check the lowest point on upper left area, serife? */ + j =nearest_frame_vector(box1,i6,i7,x0,y1); + if (box1->frame_vector[i ][1] + -box1->frame_vector[j ][1]<=dy/4) Break; // imperfect a + if (box1->frame_vector[i7][1]>y0+dy/4) Break; // not to low + if (box1->frame_vector[i1][1] + -box1->frame_vector[i7][1]frame_vector[i4][1] + -box1->frame_vector[i5][1]frame_vector[i7][0]frame_vector[i1][0] + -box1->frame_vector[i2][0]<=dx/8) Break; // ~1 + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]<=dx/4) ad=ad*99/100; // ~1 + if (box1->frame_vector[i6][1]>y0+dy/8) ad=99*ad/100; // ~1 + if (aa[0][2]==0) { // ]? + ad=99*ad/100; + if (aa[1][2]==0) ad=98*ad/100; + if (aa[2][2]<=aa[3][2]) ad=97*ad/100; + } + + /* check for left bow */ + for (j=i=i2;i!=i4;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] /* [0]=x */ + frame_vector[i1][0]) break; /* curve? */ + } if (i==i4) Break; // ~I + /* check for no right bow */ + for (j=i=i2;i!=i4;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] /* [0]=x */ + >box1->frame_vector[i4][0]) break; + } if (i!=i4) Break; // ~I + /* check for no right bow */ + for (j=i=i5;i!=i6;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] > y0+dy/4) break; + } if (i!=i6) Break; // ~Y + /* check if upper left and lower left points are joined directly */ + ld=line_deviation(box1, i7, i1); + MSG(fprintf(stderr," i7,i1 %d %d linedist= %d/%d",i7,i1,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (5*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (6*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (7*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + if (8*ld >4*2*sq(1024/4)) ad=99*ad/100; // ~3 + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i4, i5); + MSG(fprintf(stderr," i4,i5 %d %d linedist= %d/%d",i4,i5,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (5*ld >4*2*sq(1024/4)) ad=99*ad/100; + + // J exists as gchar and ~gchar + if (!hchar){ ad=99*ad/100; } + if (box1->num_frames>1) { + ad=98*ad/100; // j + } + Setac(box1,'J',ad); + break; + } + return box1->c; +} + +static wchar_t ocr0_brackets(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i1,i2,i3,i4,i5,i6,hchar=sdata->hchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + (*aa)[4]=sdata->aa, /* corner-points, (x,y,dist^2,vector_idx) */ + ad,r1,r2; /* tmp-vars */ + wchar_t bc=UNKNOWN; + + // --- test > derived from xX --------------------------------------------------- + // rewritten for vectors v0.41 + for(ad=d=100;dx>1 && dy>2;){ // min 3x2 + // 0 - indizes 0,1,i1,i2 pointing to edges of the char + // \ . + // \ . + // i1,i2 + // / + // / + // 1 + DBG( wchar_t c_ask='>'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0 && (dx<6 || dy<6)) Break; /* # */ + /* calculate the half distance to the center */ + d=2*sq(128/4); + /* now we check for the 2 left ends of the > */ + if (aa[0][2]>d) Break; /* upper left end */ + if (aa[1][2]>d) Break; /* lower left end */ + if (aa[1][1]-aa[0][1]num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + } if (j==i || j==aa[0][3]) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; + if (2*x-aa[0][0]-aa[1][0](dy+2)) Break; + if ( aa[0][0]+aa[1][0]-2*x>=0) Break; + i1=j; + d=line_deviation(box1, aa[0][3], j) >sq(1024/4); + /* check if upper left and center point are joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + d=line_deviation(box1, j, aa[1][3]); + /* check if lower left and center point are joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + + /* run along right side from bottom to top */ + for (j=i=aa[1][3];i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[i][0] + >=box1->frame_vector[j][0]) j=i; /* notice most right vector */ + // MSG(fprintf(stderr,"search right: %d %d %d %d",i,j,aa[1][3],aa[0][3]);) + } if (j==i || j==aa[1][3]) Break; + /* calculate the distance to the center */ + x=box1->frame_vector[j][0]; + y=box1->frame_vector[j][1]; + if ( (aa[0][0]+aa[1][0]-2*x)>= 0 ) Break; + if (abs(aa[0][1]+aa[1][1]-2*y)>(dy+2)/4) Break; + if (aa[0][0]>=x || aa[1][0]>=x) Break; + i2=j; + d=line_deviation(box1, j, aa[0][3]); + /* check if upper left and center point are directly joined directly */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + d=line_deviation(box1, aa[1][3], j); + /* check if lower left and center point are directly joined */ + MSG(fprintf(stderr,"x %d %d dist= %d/%d",x-x0,y-y0,d,sq(1024/4));) + if (d >sq(1024/4)) Break; ad=ad-d*100/sq(1024); + MSG(fprintf(stderr,"ad=%d", ad);) + + /* + ToDo: calculate momentums or max derivations + along lines to distinguish )]}> + i1,i2 + */ + + if (sdata->gchar) ad=98*ad/100; + if (sdata->hchar) ad=99*ad/100; + bc='>'; + Setac(box1,bc,ad); + break; + } + // --- test /\\ ------------------------------------------------ +// if(bc==UNKNOWN) +// if(!box1->dots) + for(ad=d=100;dx>3 && dy>3;){ // min 4x4 for 4x6 font + DBG( wchar_t c_ask='/'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ +#if 1 + for(i=y=0;y2 || (i>0 && dy<16)) Break; +#endif + /* get the center as exact as possible */ + i2=dx-1-loop(bp,dx-1,dy/2 ,dx,cs,0,LE) // be exact for small fonts + +dx-1-loop(bp,dx-1,dy/2+dy%2-1,dx,cs,0,LE) + + loop(bp, 0,dy/2 ,dx,cs,0,RI) + + loop(bp, 0,dy/2+dy%2-1,dx,cs,0,RI); + if (abs(i2-2*dx)>1+dx/2) Break; + if (abs(i2-2*dx)> dx/2) ad=99*ad/100; + + i1=loop(bp,dx-1,dy/16,dx,cs,0,LE); // right side + i3=loop(bp,dx-1,dy-1 ,dx,cs,0,LE); + i4=loop(bp, 0,0 ,dx,cs,0,RI); // left side + i6=loop(bp, 0,dy-1 ,dx,cs,0,RI); + i=(box1->m4+box1->m3)/2-box1->m2; + // + // out_x(box1);printf("() %d %d %d %d %d %d %d\n",i,i1,i2,i3,i4,i5,i6); + + // ~lI + for(i=i4,y=0;ydx/6+1 ) break; i=x; + } if( ydx/6+1 ) break; i=x; + } if( ydx/4 ) { Setac(box1,(bc='/'),ad);break; } + if(i4<=dx/8 && i3<=dx/8 && i6-(dx-i1)>dx/4 ) { Setac(box1,(bc='\\'),ad);break; } + Break; + } + // --- test ()<> ------------------------------------------------ +// if(bc==UNKNOWN) +// if(!box1->dots) + for(ad=d=100;dx>1 && dy>4;){ // min 3x4 + DBG( wchar_t c_ask='('; ) + if (sdata->holes.num > 1) {Break;}; /* tolerant against a tiny hole */ +#if 1 + for(i=y=0;y2 || (i>0 && dy<16)) {Break;}; +#endif + /* look for the extrema => r1..r2 */ + for(i=dx,r1=r2=y=dy/2-dy/8;y<=dy/2+dy/8;y++){ + j=loop(bp, 0,y,dx,cs,0,RI); if(j==i) r2=y; if(jdy){ +// from Aug06 vector-version of greater is used +// if(i2==0 && 3*i5>dx && i4<=dx/8 && i6<=dx/8) { Setac(box1,(bc='>'),98);{Break;}; } + if(i5==0 && 3*i2>dx && i1<=dx/8 && i3<=dx/8) { Setac(box1,(bc='<'),98);{Break;}; } + } + if( dx > 2 && 9*dx>=5*dy ){ // 4x6 screen-font (3*5) + ad=98; + if (dx<8) ad=99*ad/100; + if (dx<6) ad=96*ad/100; + if( 2*dx > JOB->res.avX && 4*dx>dy ) ad=98; +// printf(" %d %d %d %d %d %d\n",i5,i1,i3,i2,i4,i6); + if( i5==0 && i1<=dx/8+1 && i3<=dx/8+1 && i1+i3<=dx/8+1 + && i2>=dx/2 && i4>=3*dx/4 && i6>=3*dx/4 ) { + if (2*loop(bp, 0, y/2,dx,cs,0,RI)+1+dx/16=dx/2 && i1>=3*dx/4 && i3>=3*dx/4 ) { + if (2*loop(bp,dx-1, y/2,dx,cs,0,LE)+1+dx/16m4+box1->m3)/2-box1->m2; + // + // out_x(box1);printf("() %d %d %d %d %d %d %d\n",i,i1,i2,i3,i4,i5,i6); + if(2*i2i4+i6 && 2*dx=i){ + Setac(box1,(bc=')'),98);break; } + if(2*i2>i1+i3 && 2*i5=i){ + if(2*i2<=i1+i3+1 || 2*i5>=i4+i6-1) ad=98*ad/100; + if(2*i2<=i1+i3+2 || 2*i5>=i4+i6-2) ad=98*ad/100; + for(x=y=0;yx ) x=i; + } + for(y=0;y<(dy+2)/4;y++){ + i=loop(bp,0,y+dy/8,dx,cs,0,RI);if( i=dx/8+1) ad=99*ad/100; // ~{ Jul09 + if (loop(bp,0,dy/2-dy/8,dx,cs,0,RI)-i5>=dx/8+1) ad=99*ad/100; // ~{ Jul09 + Setac(box1,(bc='('),ad); break; + } + Break; + } + // --------- test [] -------------------------------- + for(ad=d=98;dx>2 && dy>4 && dy>=2*dx;){ // (3,6) on 4x6 font + DBG( wchar_t c_ask=']'; ) + if (sdata->holes.num > 1) { Break;} /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + for(y=0;yp,cs,2) == 2 + && get_bw(x0,x1,y0+1,y0+1,box1->p,cs,2) == 2 ) {Break;}; + if( get_bw(x0,x1,y1 ,y1 ,box1->p,cs,2) == 2 + && get_bw(x0,x1,y1-1,y1-1,box1->p,cs,2) == 2 ) {Break;}; + if( get_bw(x0 ,x0,y0 ,y1 ,box1->p,cs,2) == 0 + || get_bw(x0+1 ,x0+1,y0 ,y1 ,box1->p,cs,2) == 0 ) + if( get_bw(x0+dx/2,x1,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) + { Setac(box1,(bc='['),ad);break; } + if( get_bw(x1 ,x1,y0 ,y1 ,box1->p,cs,2) == 0 + || get_bw(x1-1 ,x1-1,y0 ,y1 ,box1->p,cs,2) == 0 ) + if( get_bw(x0,x1-dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) + { Setac(box1,(bc=']'),ad);break; } + break; + } + +#if CODE_NOT_COMPLETED + // --- test ] ------- + for(ad=d=100;dx>2 && dy>3;){ + DBG( wchar_t c_ask=']'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num > 0) ad=98*ad/100; /* # */ + /* 1/8 distance to the center */ + d=2*sq(128/16); + /* now we check for the 4 ends of the x */ + if (aa[0][2]>d) Break; + if (aa[1][2]>d) Break; + if (aa[2][2]>d) Break; + if (aa[3][2]>d) Break; + if (aa[3][0]-aa[0][0]<7*dx/8) Break; + if (aa[2][0]-aa[1][0]<7*dx/8) Break; + if (aa[1][1]-aa[0][1]<7*dy/8) Break; + if (aa[2][1]-aa[3][1]<7*dy/8) Break; + if (aa[3][0]-aa[0][0]<2) Break; /* to small */ + if (aa[2][0]-aa[1][0]<2) Break; /* to small */ + MSG( fprintf(stderr," aa %d %d %d %d %d %d %d %d d %d %d %d %d",\ + aa[0][0]-x0,aa[0][1]-y0,aa[1][0]-x0,aa[1][1]-y0,\ + aa[2][0]-x0,aa[2][1]-y0,aa[3][0]-x0,aa[3][1]-y0,\ + aa[0][2],aa[1][2],aa[2][2],aa[3][2]);) + /* left and right vertical line */ + d=line_deviation(box1, aa[0][3], aa[1][3]); if (d>2*sq(1024/4)) Break; + ad=(100-(d-sq(1024)/2)/sq(1024)/4)*ad/100; + d=line_deviation(box1, aa[2][3], aa[3][3]); if (d>2*sq(1024/4)) Break; + + /* search uppermost left ^ */ + i1=nearest_frame_vector(box1,aa[1][3],aa[2][3], x0, y0); + x=box1->frame_vector[i1][0]; + y=box1->frame_vector[i1][1]; + if (y-y0 > 5*dy/8) Break; + if (x-x0 > 5*dx/8) Break; + /* search uppermost right ^ ~H */ + i3=nearest_frame_vector(box1,aa[1][3],aa[2][3], x1, y0); + if ( box1->frame_vector[i3][0]-x> dx/4 + && box1->frame_vector[i3][1]-y<=dy/8) Break; + + /* check if upper left and lower right point are joined directly */ + dbg[0]=d=line_deviation(box1,i1, aa[2][3]); if (d >2*sq(1024/4)) Break; + /* check if lower left and lower left point are joined directly */ + dbg[1]=d=line_deviation(box1, aa[1][3],i1); if (d >2*sq(1024/4)) Break; + + if (!hchar) ad=99*ad/100; + if ( gchar) ad=98*ad/100; // \sc N + ac=(wchar_t) ']'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } +#endif + // --------- test ocr-a-[] -------------------------------- + if(bc==UNKNOWN) + for(ad=d=98;dx>5 && dy>7 && 2*dy>3*dx;){ // only for accurate font at the moment + DBG( wchar_t c_ask='['; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + if( num_cross(0,dx-1, 0, 0,bp,cs) != 1 ) break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 1 ) break; + if ( loop(bp,dx-1,dy/2,dx,cs,0,LE) + +loop(bp, 0,dy/2,dx,cs,0,RI) <= dx/4 ) break; // O + for(y=dy/8;yp,cs,1) == 0) + { Setac(box1,(bc='['),ad);break; } + if( get_bw(x0,(5*x0+3*x1)/8,y0+3*dy/16,y1-3*dy/16,box1->p,cs,1) == 0) + { Setac(box1,(bc=']'),ad);break; } + break; + } + // --------- test {} -------------------------------- + for(ad=d=99;dx>2 && dy>5 && 2*dy>3*dx;){ + DBG( wchar_t c_ask='{'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if (!hchar) ad=97*ad/100; + for(y=0;y3*dx/4 ) ad=99*ad/100; + if ( loop(bp,0, 0,dx,cs,0,RI)>3*dx/4 ) ad=99*ad/100; // < + if ( loop(bp,0, 0,dy,cs,0,DO)=dx/8 ) ad=98*ad/100; // < + if ( loop(bp,dx-2,dy-1,dy,cs,0,UP)>dy/4 ) Break; // f + if ( get_bw(x0,x0,y0,y0+dy/4,box1->p,cs,1) == 1 + || get_bw(x0,x0,y1-dy/4,y1,box1->p,cs,1) == 1 ) Break; + Setac(box1,(bc='{'),ad);Break; + } + for(ad=d=99;dx>2 && dy>5 && 2*dy>3*dx;){ + DBG( wchar_t c_ask='}'; ) + if (!hchar) ad=97*ad/100; + for(y=0;y3*dx/4 ) {ad=99*ad/100;} + if ( loop(bp,dx-1, 0,dx,cs,0,LE)>3*dx/4 ) {ad=99*ad/100;} // > + if ( loop(bp,dx-1, 0,dy,cs,0,DO)=dx/8 ) ad=98*ad/100; // < + if ( loop(bp,1,dy-1,dy,cs,0,UP)>dy/4 ) Break; // ??? + if ( get_bw(x1,x1,y0,y0+dy/4,box1->p,cs,1) == 1 + || get_bw(x1,x1,y1-dy/4,y1,box1->p,cs,1) == 1 ) Break; + Setac(box1,(bc='}'),ad);Break; + } + return box1->c; +} + +#if 0 +/* ---------- empty prototype function for copy and expand ---------- */ +static wchar_t ocr0_XXX(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,i0,i1,i2,i3,hchar=sdata->hchar,gchar=sdata->gchar, + x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1,cs=sdata->cs; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + ac,ad; /* tmp-vars */ + + // --- test XXX --------------------------------------------------- + return box1->c; +} +#endif + + +/* ----------------------- part9 -------------------------------- */ +static wchar_t ocr0p9(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + i1,i2,i3,i4; /* tmp-vars */ + int xa,xb, /* used for store significant points of char */ + dbg[9]={0,0,0,0,0,0,0,0,0}, /* debugging space */ + ya,yb,ad,cs=sdata->cs; + wchar_t ac,bc=UNKNOWN; // bestletter + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + // --- hchar --- gchar ------------------------- + hchar=0;if( 2*y0<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + gchar=0;if( 2*y1>=2*box1->m3+(box1->m4-box1->m3) ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + /* reserved for the future */ + // --- test beta,\3,sz,"s --------------------------------------------- + if(bc==UNKNOWN && hchar) + for(ad=d=100;dx>3 && dy>6;){ // min 4x7 + DBG( wchar_t c_ask='S'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + /* this part is provisorium, should be changed! + a-\ + | d + b| / + | \ + -c / + */ + if( num_cross(x0 ,x1 ,y0+dy/4 ,y0+dy/4 ,box1->p,cs) != 2 + && num_cross(x0 ,x1 ,y0+dy/4+1,y0+dy/4+1,box1->p,cs) != 2 ) break; + for(i=1+dy/16,y=y0+dy/8;y0;y++){ + if( yp,cs) != 2 ) i--;} + else { if( num_cross(x0 ,x1 ,y,y,box1->p,cs) < 2 ) i--;} + if( get_bw(x0,x0+dx/2,y,y,box1->p,cs,1) == 0 ) i--; + if( yp,cs,1) == 0 ) i--; + } if( i<=0 ) break; + // out_x(box1); + + for(y=y0+dy/3;yp,x1,y,dx,cs,0,LE); + if( i>=dx/8 ) break; + i+=loop(box1->p,x1-i,y,dx,cs,1,LE); + if( i>=dx/2 ) break; + } if( y>=y1-dy/3 ) break; + + for(y=y0+dy/5;yp,cs,1) == 1 ) break; + if( y>=y0+dy/3 ) break; + + for(y=y0+dy/2;yp,cs,1) == 1 ) break; + if( y>=y1 ) break; + + for(y=y1-dy/3;yp,x1,y,dx,cs,0,LE); + if( i>dx/4 + && get_bw(x1-dx/8,x1-dx/8,y,y1,box1->p,cs,1) == 1 ) break; + } if( ym3==0 || 2*y1m3+box1->m4 ) + if( loop(box1->p,x1,y1, dx,cs,0,LE)==0 + && loop(box1->p,x1,y1-dy/4,dx,cs,0,LE)>dx/8 ) break; // ~R + + + for(x=x0+dx/4;xp,cs) == 3 ) break; + if( x>=x1-dx/4 ) break; + + i=loop(bp,dx/2,dy-1,dy,cs,0,UP)+dy/64; // Jul00 + for(x=dx/5;x i ) break; + if( x==dx/2 ) break; + + x=x0+loop(bp,0,dy/4,dx,cs,0,RI); + for(;xp,cs,1) == 0 ) break; + if( xp,cs,NULL) != 0 ) break; + if (sdata->holes.num != 0) break; + + bc=LATIN_SMALL_LETTER_SHARP_S; + Setac(box1,(wchar_t)bc,98); + break; + } + // --- test + ------------------------------------------------ + for(ad=d=100;dx>2 && dy>2;){ // min 3x3 + DBG( wchar_t c_ask='+'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + xa=(dx+1)/3-1; ya=(dy+1)/3-1; /* size of the 4 gaps = 1/3 * 1/3 */ + xb=(dx+1)/4; yb=(dy+2)/4; /* smaller gap */ + if( get_bw(x0,x0+xa,y0,y0+ya,box1->p,cs,1) == 1 ) Break; // left upper + if( get_bw(x0,x0+xa,y1-ya,y1,box1->p,cs,1) == 1 ) Break; // left lower + if( get_bw(x1-xb,x1,y0,y0+ya,box1->p,cs,1) == 1 ) Break; // right upper + if( get_bw(x1-xa,x1,y1-ya,y1,box1->p,cs,1) == 1 ) { // right lower + if( get_bw(x1-xa,x1,y1-yb,y1,box1->p,cs,1) == 1 ) Break; + ad=99*ad/100; // smoothed inner corner? 0907 + } + for(i=0,y=y0+ya;y<=y1-ya;y++){ // horizontal line + if( get_bw(x0+dx/9,x1-dx/9,y,y,box1->p,cs,2) == 0 ) { i=y; break; } + } + if (3*dx<2*dy) ad=99*ad/100; // ~t + if( !i ) Break; + ac=(wchar_t) '+'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test $ ------------------------------------------------ + for(ad=d=99;dx>3 && dy>5;){ // min 3x4 + DBG( wchar_t c_ask='$'; ) + if (sdata->holes.num != 2) Break; + + if( get_bw(x0,x0+dx/5,y0 ,y0+dy/18,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0,x0+dx/9,y1-dy/23,y1 ,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/9,x1,y0 ,y0+dy/18,box1->p,cs,1) == 1 ) Break; + if( get_bw(x1-dx/5,x1,y1-dy/23,y1 ,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0,x0+dx/3,y0+dy/3 ,y0+dy/2 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3,x1,y1-dy/2 ,y1-dy/3 ,box1->p,cs,1) != 1 ) Break; + i1=x0+loop(box1->p,x0,y0,dx,cs,0,RI); if( i1x1-dx/5 ) Break; + i2=x0+loop(box1->p,x0,y1,dx,cs,0,RI); if( i2i1 ) Break; + ad= get_line2(i1,y0,i2,y1,box1->p,cs,100)*ad/100; + // check upper left and lower right half circle, $ (Oct08: removed) + // Oct08 JS: check the position of holes (better for tiny fonts) + // upper hole must be the first!? (hole[].x0 = relative coordinates) + if ( sdata->holes.hole[0].y0 < + sdata->holes.hole[1].y0 ) i4=0; else i4=1; /* sort to [idx^i4] */ + if ( sdata->holes.hole[0^i4].y1 > + sdata->holes.hole[1^i4].y0 ) Break; /* no y-overlap allowed */ + // upper left hole + // fprintf(stderr,"\nDBG hole[0]=x0=%d %d", sdata->holes.hole[0^i4].x0, sdata->holes.hole[0^i4].x1); + if ( sdata->holes.hole[0^i4].x0 > (dx+1)/3 ) Break; + if ( sdata->holes.hole[0^i4].x1 > dx/2+dx/4 ) Break; + if ( sdata->holes.hole[0^i4].y1 >= dy/2+dy/8 ) Break; + if ( sdata->holes.hole[0^i4].y0 > dy/2-dy/8 ) Break; + // lower right hole + // fprintf(stderr,"\nDBG hole[1]=x0=%d %d", sdata->holes.hole[1^i4].x0, sdata->holes.hole[1^i4].x1); + if ( sdata->holes.hole[1^i4].x0 <= dx/2-dx/4 ) Break; + if ( sdata->holes.hole[1^i4].x1 < dx/2+dx/4 ) Break; + if ( sdata->holes.hole[1^i4].y1 < dy/2+dy/8 ) Break; + if ( sdata->holes.hole[1^i4].y0 <= dy/2-dy/8 ) Break; + if (ad<95) Break; + ac=(wchar_t) '$'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test & ------------------------------------------------ + for(ad=d=99;dx>3 && dy>4;){ /* 4x6 font */ + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num != 2) Break; + if( get_bw(x1-dx/9,x1,y0,y0+dy/4,box1->p,cs,1) == 1 ) Break; // g + if( loop(bp,dx/2,0,dy,cs,0,DO)>dy/2) Break; + i1=loop(bp,0,dy/8 ,dx,cs,0,RI); if (i1>dx/2) Break; + i =loop(bp,0,dy/4 ,dx,cs,0,RI); if (i1>dx/2) Break; if (idx/2) Break; + i =loop(bp,0,dy-dy/4-1,dx,cs,0,RI); if (i3>dx/2) Break; if (ii1) Break; + for( i2=0, y=dy/4; y<=dy/2+1; y++ ){ + i =loop(bp,0,y,dx,cs,0,RI); if( i>i2 ) i2=i; + } + if(2*i2-i1-i3<1) Break; + // if( num_hole(x0,x1 ,y0,y1,box1->p,cs,NULL)!=2 ) Break; + if( num_hole(x0,x1-dx/4,y0,y1,box1->p,cs,NULL)!=2 ) Break; + if( num_cross(dx-1,dx-1,dy/4,dy-1,bp,cs) < 1 ) Break; + for( x=dx-1; x>=dx/2; x-- ){ + if( num_cross(x,x,dy/4,dy-1,bp,cs) > 1 ) break; + } if( x<=3*dx/4 && x 3 ) { // glued ah + if (dy>15) { Break; } else ad=96*ad/100; + } + if (!hchar) ad=98*ad/100; + bc=(wchar_t) '&'; + Setac(box1,bc,ad); + if (ad>=100) return bc; + break; + } + // --- test \it & like \epsilon\tau ------------------------------ + if(bc==UNKNOWN) + for(ad=d=100;dx>7 && dy>7;){ + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/4, dy/4,bp,cs) != 3 ) break; + if( num_cross(0,dx-1, dy/2, dy/2,bp,cs) != 4 ) break; + if( num_cross(dx/2,dx-1,dy/2, dy/2,bp,cs) != 2 ) break; + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs) != 2 ) break; + if( num_cross(0,dx-1, dy-1, dy-1,bp,cs) != 1 ) break; + if( num_cross( 0, 0,0,dy-1,bp,cs) != 1 ) break; + if( num_cross( dx/3, dx/3,0,dy-1,bp,cs) != 4 ) break; + if( num_cross(13*dx/16,13*dx/16,0,dy/8,bp,cs) != 0 ) break; + if( num_cross(4*dx/8,4*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_cross(3*dx/8,3*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_cross(5*dx/8,5*dx/8,dy-dy/4,dy-1,bp,cs) != 1 ) break; + if( num_hole(x0 ,(x0+x1)/2,y0, y1,box1->p,cs,NULL) != 1 ) break; + if( num_hole(x0+dx/8,x1-dx/4,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) break; + ac=(wchar_t) '&'; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test ? --------------------------------------------------- + for(ad=d=98;dx>2 && dy>5;){ // min 3x(4+2) + DBG( wchar_t c_ask='?'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + if ( num_cross(x0, x1, y0, y0, box1->p, cs) !=1 ) Break; // ~? + if ( num_cross(x0, x1, y1, y1, box1->p, cs) > 1 ) Break; // ~? + for(y=y0;yp,cs,1) != 1 ) break; // lower end + if (2*ym4) { // probably lower dot not catched in box? + if (get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) != 1 ) Break; + i1=box1->m4; + for(;i1>y1;i1--) // new y1 + if( get_bw(x0, x1,i1,i1,box1->p,cs,1) == 1 ) break; // lower dot + } + y--; i=y-y0+1; // new dy + for (y=0;yp, cs) == 2 ) break; + if (y==dy/2) Break; + // if( num_hole( x0, x1, y0, y1, box1->p,cs,NULL) > 0 ) Break; + if (sdata->holes.num > 0) Break; + for(y=y0+dy/2;y<=i1;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1) == 0 ) break; + if( y==i1 ) Break; + for( ;y<=i1;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1) == 1 ) break; + if( get_bw(x0,x1,y,y,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+7*dx/8,x1,y,i1,box1->p,cs,1) == 1 ) Break; // broken thin 2 + bc='?'; + Setac(box1,(wchar_t)bc,98); + return bc; + } + // --- test !| --------------------------------------------------- + for(ad=d=99; dy>4 && dy>2*dx;){ // min 3x4 + DBG( wchar_t c_ask='!'; ) + if (sdata->holes.num > 1) Break; /* tolerant against a tiny hole */ + // measure thickness + if (num_cross(x0,x1,y0 ,y0 ,box1->p,cs)!=1) Break; + if (num_cross(x0,x1,y0+dy/2,y0+dy/2,box1->p,cs)!=1) Break; + for(y=y0;yp,cs,1) != 1 ) break; // lower end + if (2*ybox1->m3-dy/8) ad=ad*97/100; /* missing dot? */ + i1=y1; + if (y==y1 && box1->m4) { // probably lower dot not catched in box? + if ((dx>2 && get_bw(x0+1,x1-1,y1+1,box1->m4,box1->p,cs,1) == 1) + || (dx<3 && get_bw(x0 ,x1 ,y1+1,box1->m4,box1->p,cs,1) == 1 )) { + i1=box1->m4; + for(;i1>y1;i1--) // new y1 + if( get_bw(x0, x1,i1,i1,box1->p,cs,1) == 1 ) break; // lower dot + } + } i2=i1; + for( i1=0,y=y0;y<=i2;y++){ + i=num_cross(x0,x1,y,y,box1->p,cs); if(i>1) break; + if(i==0 && i1==0) i1=y; + } if(y<=i2 || i1==0 || i1dx/4+1 ) Break; // f + + if (!hchar) ad=96*ad/100; + Setac(box1,(wchar_t)'!',ad); + break; + } + // --- test * five egdes (jagges? beames?) what is the right english word? ---- + for(ad=d=99;dx>2 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, 0,dy-1,bp,cs) != 1 + && num_cross(0,dx-1, 1,dy-2,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,dy-1,dy-1,bp,cs) != 2 + && num_cross(0,dx-1,dy-2,dy-2,bp,cs) != 2 ) Break; + x=dx/2;y=(6*dy+8)/16; // center point 6/8=6/2^3 rounded + /* upwarts from center */ + dbg[0]=i=get_line2(x,y,x ,0,bp,cs,100); if(i<95) Break; + if (dx<8) /* be exact on small fonts, where get_line2 returns 100 (ToDo change) */ + if (get_bw(x,x,0,y,bp,cs,2)==2) Break; + /* horizontal */ + dbg[1]=i=get_line2(0,y,dx-1,y,bp,cs,100); if(i<95) Break; + if (dy<8) + if (get_bw(0,dx-1,y ,y ,bp,cs,2)==2 + && get_bw(0,dx-1,y+1,y+1,bp,cs,2)==2) Break; + /* down (right) */ + i=get_line2(x,y,(5*dx+4)/8,dy-1,bp,cs,100); + j=get_line2(x,y,(6*dx+4)/8,dy-1,bp,cs,100); if(j>i) dbg[2]=i=j; + if(i<95) Break; + /* down (left) */ + dbg[3]=i=get_line2(x, y,(2*dx+4)/8,dy-1,bp,cs,100); if(i<95) Break; // straight up + /* check for lower gap at bottom */ + dbg[4]=i=get_bw( x, x,dy-1-dy/8,dy-1,bp,cs,1); if(i==1) Break; + dbg[5]=i=get_line2( dx/4,dy/4, 0,0,bp,cs,101); if(i<95) Break; // upper left gap + dbg[6]=i=get_line2(dx-1-dx/4,dy/4,dx-1,0,bp,cs,101); if(i<95) Break; // upper right gap + MSG(fprintf(stderr,"%d %d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5],dbg[6]);) + Setac(box1,(wchar_t)'*',ad); + break; + } + // --- test * six egdes (jagges? beames?) incl. vert. line (|+X) ---- + for(ad=d=100;dx>4 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/8, dy/8,bp,cs) != 3 + && num_cross(0,dx-1, 1+dy/8, 1+dy/8,bp,cs) != 3) Break; + if( num_cross(0,dx-1,dy-2-dy/8,dy-2-dy/8,bp,cs) != 3) Break; + if( num_cross(0 , 0, 0,dy-1,bp,cs) != 2) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) != 2) Break; + if( num_cross(0,dx-1,dy/2,dy/2,bp,cs) != 1) Break; + if( num_cross( 0 ,dx/8,dy/2,dy/2,bp,cs) != 0) Break; + if( num_cross(dx-1-dx/8,dx-1,dy/2,dy/2,bp,cs) != 0) Break; + if (dx>5) { + dbg[0]=i=get_line2(0,dy-2-dy/8,dx-1,dy/8,bp,cs,100); if(i<95) Break; // black upwarts beam + dbg[1]=i=get_line2(0,dy/8,dx-1,dy-2-dy/8,bp,cs,100); if(i<95) Break; // black downwards beam + /* check vertical line */ + dbg[2]=i=get_line2(dx/2,0,dx/2, dy-1,bp,cs,100); if(i<95) Break; + } + MSG(fprintf(stderr,"%d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5]);) + Setac(box1,(wchar_t)'*',99); + break; + } + // --- test * six egdes '*'='x'+'-' incl. horizontal line ---- + for(ad=d=100;dx>3 && dy>4;){ + DBG( wchar_t c_ask='*'; ) + if (sdata->holes.num > 0) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/8, dx/8, 0, dy-1,bp,cs) != 3 + && num_cross(1+dx/8,1+dx/8, 0, dy-1,bp,cs) != 3) Break; + if( num_cross(dx-1-dx/8,dx-1-dx/8,0,dy-1,bp,cs) != 3 + && num_cross(dx-2-dx/8,dx-2-dx/8,0,dy-1,bp,cs) != 3) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) != 2) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) != 2) Break; + if( num_cross(dx/2,dx/2,0,dy-1,bp,cs) != 1) Break; + // check upper and lower gap + if( num_cross(dx/2,dx/2,0,dy/8,bp,cs) != 0) Break; + if( num_cross(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs) != 0) Break; + if (dx>5) { + dbg[0]=i=get_line2(dx-2-dx/8,0,dx/8,dy-1,bp,cs,100); if(i<95) Break; // black upwarts beam + dbg[1]=i=get_line2(dx/8,0,dx-2-dx/8,dy-1,bp,cs,100); if(i<95) Break; // black downwards beam + /* check horizontal line */ + dbg[2]=i=get_line2(0,dy/2,dx-1,dy/2,bp,cs,100); if(i<95) Break; + } + MSG(fprintf(stderr,"%d %d %d %d %d %d",dbg[0],dbg[1],dbg[2],dbg[3],dbg[4],dbg[5]);) + Setac(box1,(wchar_t)'*',98); + break; + } + // --- test @ - a popular char should be detectable! added in version v0.2.4a5 + if(bc==UNKNOWN) + for(ad=d=99;dx>5 && dy>7;){ + DBG( wchar_t c_ask='@'; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + // check ~ 7x10 0 with dot in it + // num_holes==1 + hole.y0<=dy/8,>=y1-dy/8 + if (sdata->holes.num==1 + && sdata->holes.hole[0].y0<=y0+dy/8 + && sdata->holes.hole[0].y1>=y1-dy/8) Break; + if (loop(bp, 0,dy/2,dx,cs,0,RI)>dx/4) Break; + if (loop(bp,dx-1,dy/2,dx,cs,0,LE)>dx/4) Break; + if (loop(bp,dx/2,dy-1,dy,cs,0,UP)>dx/8) Break; + if (loop(bp,dx/2, 0,dy,cs,0,DO)>dx/8) Break; + /* ..@@@@..<- 8x10 example + .@@..@@. + @@....@@ + @@..@@@@< + @@.@@.@@ + @@.@@.@@ + @@..@@@. + @@...... + .@@...@@ + ..@@@@@.<- */ + x=6*dx/16; + y=dy/2; + i=num_cross(0,dx-1,y,y,bp,cs); + if (i<3 || i>4) Break; + if( i != 4 && dx>8 ) ad=98*ad/100; + + i=num_cross(x,x,0,dy-1,bp,cs); if (i<2) Break; + if (i!=4) { j=num_cross(x+1,x+1,0,dy-1,bp,cs); + if (abs(4-j)4) Break; + if (i!=4) ad=97*ad/100; + if( num_cross(0, x,y,y,bp,cs) != 2 ) Break; + if( num_cross(x,dx-1,y,y,bp,cs) != 2 ) Break; + if( num_cross(x,x,0, y,bp,cs) != 2 ) Break; + if( num_cross(x,x,y,dy-1,bp,cs) != 2 ) Break; + if (dx>7) { + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + if( num_hole(x0+dx/8,x1-3*dx/16,y0+dy/8,y1-dy/8,box1->p,cs,NULL) != 1 ) Break; + } + Setac(box1,(wchar_t)'@',ad); + break; + } + // --- test paragraph v0.2.6 + if(bc==UNKNOWN && hchar) + for(ad=d=100;dx>4 && dy>15;){ + DBG( wchar_t c_ask='$'; ) + if (sdata->holes.num > 3) break; /* tolerant against a tiny hole */ + if( get_bw( 0,dx/2,3*dy/4,3*dy/4,bp,cs,1) == 1 ) break; + if( get_bw(3*dx/4,dx-1,3*dy/4,3*dy/4,bp,cs,1) == 0 ) break; + if( get_bw( 0,dx/4, dy/4, dy/4,bp,cs,1) == 0 ) break; + if( get_bw( dx/2,dx-1, dy/4, dy/4,bp,cs,1) == 1 ) break; + if( get_bw(dx/2,dx/2, 0, dy/4,bp,cs,1) == 0 ) break; + if( get_bw(dx/2,dx/2,dy-1-dy/4, dy-1,bp,cs,1) == 0 ) break; + if( num_cross(dx/2,dx/2,0,dy-1,bp,cs) != 4 ) break; + if( num_cross(x0,x1,y0+dy/2,y0+dy/2,box1->p,cs) != 2 ) break; + if( num_hole( x0,x1,y0+dy/4,y1-dy/4,box1->p,cs,NULL) != 1 ) break; + Setac(box1,SECTION_SIGN,96); + break; // paragraph=0xA7=167 + } + + return bc; +} + +/* ----------------------- partx -------------------------------- */ +static wchar_t ocr0px(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + i1,i2,i3,i4,j1,cs=sdata->cs; /* tmp-vars */ + int ya,ad; /* used for store significant points of char */ + wchar_t ac,bc=UNKNOWN; // bestletter + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + // --- hchar --- gchar ------------------------- + hchar=0;if( 2*y0<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + gchar=0;if( 2*y1>=2*box1->m3+(box1->m4-box1->m3) ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + /* reserved for special chars, to test at the end */ + // --- test 'ff' --------------------------------------------------- + // ToDo: better check and call test 'f' and 'f' with subboxes + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // Dec00 body copied from H + DBG( wchar_t c_ask='f'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1, dy/4 , dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) != 2 ) break; + if( num_cross(0,dx-1,3*dy/4 ,3*dy/4 ,bp,cs) != 2 + && num_cross(0,dx-1,3*dy/4+1,3*dy/4+1,bp,cs) != 2 ) break; + if( loop(bp,0 ,dy/8,dx,cs,0,RI) + + loop(bp,dx-1,dy/8,dx,cs,0,LE)>dx/2 ) break; // ~A + for( j1=0,i=1,y=y0+dy/10; yp,x0 ,y,dx,cs,0,RI) + +loop(box1->p,x1 ,y,dx,cs,0,LE); + if( j>10*dx/16 ) i=0; if ( j>j1 ) j1=j; } + if( !i ) break; + for( x=dx/4; x 3*dy/8 ) break; + if ( 10*y > dy ){ /* italic */ + i=loop(bp,x ,dy-y,dx,cs,0,RI); + if( i>1 && y+loop(bp,x+i-1,dy-y,dy,cs,0,UP)>3*dy/8 ) break; + } + } if( x>=dx/2 ) break; + x=loop(box1->p,x0 ,y1-dy/8,dx,cs,0,RI) + +loop(box1->p,x1 ,y1-dy/8,dx,cs,0,LE); + for( i=1,y=dy/4; ydx/5 ) i=0; } + if( !i ) break; // ~K Jul00 + for( i=0,ya=y=y0+dy/4; yp,x0 ,y,dx,cs,0,RI); + j=loop(box1->p,x0+j,y,dx,cs,1,RI); if( j>i ) { i=j; ya=y; } } + if( i<=dx/2 ) break; ya-=y0; + if( num_cross(0,dx-1,ya ,ya ,bp,cs) != 1 + && num_cross(0,dx-1,ya+1,ya+1,bp,cs) != 1 ) break; /* Dec00 */ + for( y=ya; y 2 + && num_cross(0,dx-1,y+1,y+1,bp,cs) > 2 ) break; + if ( yp,cs,1) == 0 ) i=0; + } if( !i ) break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if( get_bw( x, x,y1-dy/4,y1 ,box1->p,cs,1) == 0 ) i=0; + } if( i ) break; + for(i=1,x=x0+dx/4;x<=x1-dx/4 && i;x++){ + if( num_cross(x,x,y0+dy/8,y1-dy/8, box1->p,cs) == 1 ) i=0; + } if( i ) break; + for(i=1,y=y0;y<=y0+dy/4 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) break; + for(i=1,y=y1-dy/4;y<=y1 && i;y++){ + if( num_cross(x0,x1,y,y, box1->p,cs) == 2 ) i=0; + } if( i ) break; + if( num_cross(x0 ,x0+dx/8 ,y0+dy/8 ,y0 ,box1->p,cs) != 0 ) ad=96*ad/100; + if( get_bw(x1-dx/8, x1 , y0, y0+dy/8,box1->p,cs,1) != 1 ) break; + if( get_bw(x0 , x0+dx/8, y1-dy/8, y1,box1->p,cs,1) != 1 ) break; + i1=loop(bp,dx-1, dy/4,dx,cs,0,LE); if(i1>dx/2) break; + i2=loop(bp,dx-1, dy/2,dx,cs,0,LE); if(i2i1+dx/8) break; + i3=loop(bp,dx-1,dy-1-dy/4,dx,cs,0,LE); if(i3i2+dx/8) break; + if(abs(i1+i3-2*i2)>dx/16+1) break; + if( num_hole(x0,x1,y0+dy/4,y1,box1->p,cs,NULL) != 0 ) break; + if (!hchar) ad=96*ad/100; + if (!gchar) ad=99*ad/100; + ac=LATIN_SMALL_LIGATURE_FF; + Setac(box1,ac,ad); + break; + } + // --- test ae --------------------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // provisorium + DBG( wchar_t c_ask=LATIN_SMALL_LETTER_AE; ) + if (sdata->holes.num > 4) Break; /* tolerant against a tiny hole */ + if( num_cross( dx/4,dx-1,3*dy/16,3*dy/16,bp,cs) != 2 + && num_cross(dx-1-dx/4,dx-1,3*dy/16,3*dy/16,bp,cs) != 1 ) Break; + if( num_cross(0,dx-1,3*dy/ 4,3*dy/ 4,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(dx-1,0, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) < 2 ) + if( num_cross(0,dx-1,1+dy/16,1+dy/16,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,dy-1-dy/16,dy-1-dy/16,bp,cs) < 2 ) Break; + for( x=0,i2=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,0,y,dx,cs,0,RI); if(j>x) { i2=y; x=j; } + } if( x3*dx/4 ) Break; + for( x=0,i4=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,dx-1,y,dx,cs,0,LE); if(j>x) { i4=y; x=j; } + } if( x3*dx/4 ) Break; + for( x=0,i4=y=dy/8; y<3*dy/4; y++ ){ + j=loop(bp,dx-1 ,y,dx,cs,0,LE); + j=loop(bp,dx-1-j,y,dx,cs,1,LE); + if(j>x) { i4=y; x=j; } + } if( xp,cs,NULL) != 1 ) Break; + if( num_hole(x0+dx/2-1,x1,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + ac=LATIN_SMALL_LETTER_AE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test AE --------------------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>5 && dy>6;){ // provisorium + DBG( wchar_t c_ask=LATIN_CAPITAL_LETTER_AE; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1,3*dy/ 4,3*dy/ 4,bp,cs) < 2 ) Break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 3 ) Break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) != 1 + && num_cross(0,dx-1, dy/32, dy/32,bp,cs) != 1 + && num_cross(0,dx-1, 0, 0,bp,cs) != 1 ) Break; + // check for upper horizontal line + j=loop(bp,dx-1 ,0,dx,cs,0,LE); x=j; + j=loop(bp,dx-1-j,0,dx,cs,1,LE); + i=loop(bp,dx-1 ,1,dx,cs,0,LE); if (ij) j=i; + if (x>dx/8) Break; + if (jx) break; x=j; + j=loop(bp, j,y,dx,cs,1,RI); if(j>i1) { i1=j; i2=y; } + j=loop(bp,dx-1 ,y,dx,cs,0,LE); + j=loop(bp,dx-1-j,y,dx,cs,1,LE); if(j>i3) { i3=j; i4=y; } + } if( y<3*dy/4 || i1i1) { i1=j; } + j=loop(bp,dx-1 ,dy-1-y,dx,cs,0,LE); + j=loop(bp,dx-1-j,dy-1-y,dx,cs,1,LE); if(j>i3) { i3=j; } + } if( i1<=dx/4 || i3<=dx/4 ) Break; + for( x=dx-1-dx/8; x>dx/2; x-- ){ // look for right the E + if( num_cross(x,x, 0,dy-1,bp,cs) == 3 ) + if( num_cross(x,x, 0,dy/4,bp,cs) == 1 ) + if( num_cross(x-1,dx-1-dx/8,3*dy/4,3*dy/4,bp,cs) == 0 ) + if( num_cross(x,x,3*dy/4,dy-1,bp,cs) == 1 ) break; + } if (x<=dx/2) Break; // not found + if (sdata->holes.num != 1) Break; + if( num_hole(x0,x0+3*dx/4,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole(x0, x1,y0,y1 ,box1->p,cs,NULL) != 1 ) Break; + ac=LATIN_CAPITAL_LETTER_AE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test /0 /o /O O_WITH_STROKE ----------------------------------------- + for(ad=99;dx>4 && dy>4;){ // provisorium + DBG( wchar_t c_ask=LATIN_SMALL_LETTER_O_WITH_STROKE; ) + if (sdata->holes.num > 3) Break; /* tolerant against a tiny hole */ + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 3 ) Break; + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 3 ) Break; + if (loop(bp,dx-1,3*dy/8,dx,cs,0,RI)>dx/8) Break; + if (loop(bp, 0,5*dy/8,dx,cs,0,RI)>dx/8) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross(dx/4,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0,3*dx/4,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0,dy/4,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,3*dy/4,bp,cs) > 2 ) Break; + i1 =loop(bp,dx-1 , 0,dx,cs,0,LE); if( i1>dx/8 ) Break; + i1+=loop(bp,dx-1-i1, 0,dx,cs,1,LE); if( i1>dx/3 ) Break; i1=dx-1-i1; + i2 =loop(bp, 0,dy-1,dx,cs,0,RI); if( i2>dx/8 ) Break; + for(y=1;y3*dx/16 ) break; + } if( yholes.num != 2) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + + if ( hchar && 2*y0m1+box1->m2 ) + ac=LATIN_CAPITAL_LETTER_O_WITH_STROKE; + else ac=LATIN_SMALL_LETTER_O_WITH_STROKE; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test /c /C C_WITH_STROKE CENT_SIGN -------------------------- + // here only the version with a continuously vertical line (not broken variant) + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>4;){ // provisorium + DBG( wchar_t c_ask=CENT_SIGN; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1-dx/4,dy/2,dy/2,bp,cs) != 2 ) Break; + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 3 ) Break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross(dx/4,dx-1, 0, 0,bp,cs) > 2 ) Break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0,3*dx/4,dy-1,dy-1,bp,cs) > 2 ) Break; + if( num_cross( 0, 0, 0,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,dy-1,bp,cs) > 3 ) Break; + if( num_cross( 0, 0,dy/4,dy-1,bp,cs) > 2 ) Break; + if( num_cross(dx-1,dx-1, 0,3*dy/4,bp,cs) > 3 ) Break; + i1 =loop(bp,dx-1 , 0,dx,cs,0,LE); if( i1>dx/4 ) Break; + i1+=loop(bp,dx-1-i1, 0,dx,cs,1,LE); if( i1>dx/4 ) Break; i1=dx-1-i1; + i2 =loop(bp, 0,dy-1,dx,cs,0,RI); if( i2>dx/4 ) Break; + for(y=0;ydx/16+1) x-=dx/16+1; + j=loop(bp,x,y,dx,cs,0,RI); // fprintf(stderr,"\n x=%d j=%d",x,j); + if( j>(dx+4)/8 ) ad=96*ad/100; + if( j>(dx+2)/4 ) break; + } if( yp,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + + ac=CENT_SIGN; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test EURO_CURRENCY_SIGN ----------------------------------------- + if( bc==UNKNOWN ) + for(ad=98;dx>4 && dy>6;){ // provisorium + DBG( wchar_t c_ask='&'; ) + if (sdata->holes.num > 1) break; /* tolerant against a tiny hole */ + if( num_cross(dx/2,dx/2, 0,dy-1,bp,cs) != 4 ) break; + if( num_cross( 0,dx-1, 0, 0,bp,cs) != 1 ) break; + if( num_cross( 0,dx-1,dy-1,dy-1,bp,cs) != 1 ) break; + if( num_cross( 0,dx-1,dy/2,dy/2,bp,cs) != 1 ) break; + for(i=0,y=dy/4;ydx/4 ) break; + j=loop(bp,x,y,dx,cs,1,RI); if( j>i ) i=j; + } if( ydx/2 ) break; + } if( y>=dy-dy/4-1 ) break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + if (sdata->holes.num != 0) break; + ac=EURO_CURRENCY_SIGN; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test LETTER_C_WITH_CEDILLA --------------------------------------------------- + if (bc==UNKNOWN) + if (gchar) + for(ad=98;dx>3 && dy>6;){ // provisorium + DBG( wchar_t c_ask='c'; ) + if (sdata->holes.num > 0) break; /* no tolerant against tiny holes */ + j=loop(bp,dx-1,dy/16 ,dy,cs,0,LE); + x=loop(bp,dx-1,dy/16+1,dy,cs,0,LE); if (xdx) Break; // ~4 ocr-b + if( num_cross(0,dx-1,3*dy/16,3*dy/16,bp,cs) > 2 ) break; + if( num_cross(0,dx-1, 0, dy-1,bp,cs) < 2 ) break; + if( num_cross(0,dx-1, dy/16, dy/16,bp,cs) > 2 ) break; + for( x=dx,i2=y=dy/4; y<3*dy/4; y++ ){ + j=loop(bp,0,y,dx,cs,0,RI); if(j0 ) break; i1=x; + for( x=0,i4=y=dy/4; y<5*dy/8; y++ ){ + j=loop(bp,dx-1,y,dx,cs,0,LE); if(j>x) { i4=y; x=j; } + } if( xdy/4) break; + j =loop(bp,dx/2,j,dy,cs,0,DO); if(j3*dx) break; + j =loop(bp,dx-1-j/2,dy-1-dy/8,dy,cs,0,UP); if(j>dy/2) break; // ~() + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + if (sdata->holes.num) break; + if( hchar ) ac= LATIN_CAPITAL_LETTER_C_WITH_CEDILLA; + else ac= LATIN_SMALL_LETTER_C_WITH_CEDILLA; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + + } + // --- test # --------------------------------------------------- + for(ad=99;dx>4 && dy>4;){ // never sure? + DBG( wchar_t c_ask='#'; ) + if (sdata->holes.num > 2) Break; /* tolerant against a tiny hole */ + if (sdata->holes.num < 1) Break; + if( num_cross(0,dx-1, dy/8, dy/8,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1,dy-1-dy/8,dy-1-dy/8,bp,cs) != 2 ) Break; + if( num_cross(0,dx-1, dy/2, dy/2,bp,cs) != 2 ) Break; + if( num_cross(0,dx/2, dy/2, dy/2,bp,cs) != 1 ) Break; + /* fat "#" have only small ends on left and right side, we tolerate this */ + j=loop(bp, 0,dy/8,dx,cs,0,RI); if(j<1 || j=dx/2) Break; if (j=dx/2) Break; if (j3*dx/4) { i1=0; break; } + j=loop(bp,j, y,dx,cs,1,RI); if(j>i1) { i1=j; } + j=loop(bp,0,dy-1-y,dx,cs,0,RI); if(j>3*dx/4) { i1=0; break; } + j=loop(bp,j,dy-1-y,dx,cs,1,RI); if(j>i3) { i3=j; } + } + if (i1holes.num != 1) {ad=95*ad/100;} + if( num_hole(x0+dx/8,x1-dx/8,y0+dy/8,y1-dy/8,box1->p,cs,NULL) != 1 ) Break; + // if( num_hole(x0 ,x1 ,y0 ,y1 ,box1->p,cs,NULL) != 1 ) Break; + + ac=(wchar_t) '#'; + if( gchar ) {ad=99*ad/100;} + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + // --- test bullet, full_box, grabbed cursor, ZapfDingBats_156 + if (bc==UNKNOWN) + for(ad=96;dx>4 && dy>4 && 2*dx>dy;){ // provisorium + DBG( wchar_t c_ask='#'; ) + if( get_bw(x0,x1,y0,y1,box1->p,cs,2) != 0 ) break; + ac=BULLET; + if (gchar && !hchar) ad=80*ad/100; + Setac(box1,ac,ad); + if (ad>=100) return ac; + break; + } + /* --- test | (vertical line, could be a I or l) --- */ + for(ad=99;dy>4 && 2*dxp,cs,2) != 0 ) break; + /* more unsure if the borders are not exact */ + if( get_bw(x0 ,x0+dx/8,y0+dy/9,y1-dy/9,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x1-dx/8,x1 ,y0+dy/9,y1-dy/9,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x0+dx/8,x1-dx/8,y0 ,y0+dy/8,box1->p,cs,2) != 0 ) ad=99*ad/100; + if( get_bw(x0+dx/8,x1-dx/8,y1-dy/8,y1 ,box1->p,cs,2) != 0 ) ad=99*ad/100; + if (3*dxm2 && 2*y1> box1->m2+box1->m3) Break; + if (box1->m2 && 3*y1>2*box1->m2+box1->m3) ad=95*ad/100; + ac='|'; + if (!hchar) ad=98*ad/100; + Setac(box1,ac,ad); + break; + } + // --- test % --------------------------------------------------- + for(ad=100;dx>5 && dy>7;){ // provisorium + DBG( wchar_t c_ask='%'; ) + if (sdata->holes.num > 2) break; /* tolerant against a tiny hole */ + if( num_cross(x0,x1 ,y0+dy/4,y0+dy/4,box1->p,cs) != 3 + && num_cross(x0,x1 ,y0+dy/8,y0+dy/8,box1->p,cs) != 3 ) Break; + if( num_cross(x0,x1+dx/4,y1-dy/4,y1-dy/4,box1->p,cs) != 3 + && num_cross(x0,x1+dx/4,y1-dy/8,y1-dy/8,box1->p,cs) != 3 ) Break; + if( num_cross(x0,x1, y0, y1,box1->p,cs) < 4 + && num_cross(x0+dx/8,x1, y0, y1,box1->p,cs) < 4 + && num_cross(x0,x1+dx/4, y0, y1,box1->p,cs) < 4 + && dx>7 && dy>15) Break; + if( num_cross(x0,x1, y0, y1,box1->p,cs) !=5 ) ad=99*ad/100; + + if (dx>7 && dy>12) { + if( num_hole(x0 ,x1 ,y0,y1-dy/4,box1->p,cs,NULL) != 1 ) Break; + if( num_hole(x0+dx/4,x1+dx/4,y0+dy/4,y1,box1->p,cs,NULL) != 1 ) Break; + if( num_hole(x0 ,x1+dx/4,y0,y1 ,box1->p,cs,NULL) != 2 ) Break; + } else ad=98*ad/100; + // use box1->p instead of b, because % is a sum of 3 objects + if ( loop(box1->p,x0,y0 ,dx,cs,0,RI) + <= loop(box1->p,x0,y0+dy/16+1,dx,cs,0,RI) ) ad=96*ad/100; // X + if ( loop(box1->p,x1,y1 ,dx,cs,0,LE) + <= loop(box1->p,x1,y1-1-dy/16,dx,cs,0,LE) ) ad=96*ad/100; // X + for (x=0;xp,cs,2) != 2 ) break; + } if (x=100) return ac; + break; + } + // --- test Omega --------------------------------------------------- + for(ad=d=99;dx>7 && dy>7;){ // min 3x4 + DBG( wchar_t c_ask=GREEK_CAPITAL_LETTER_OMEGA; ) + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 2 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if (sdata->holes.num) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 0 ) break; + + if( loop(bp,0 ,0 ,x1-x0,cs,0,RI)<= + loop(bp,0 ,2 ,x1-x0,cs,0,RI) ) Break; + if( loop(bp,dx/2,dy-dy/4,x1-x0,cs,0,RI)>dx/4 + || loop(bp,dx/2,dy-dy/4,x1-x0,cs,0,LE)>dx/4 ) Break; + if( loop(bp,dx/2,3*dy/8,x1-x0,cs,0,RI)dx/8) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,1,RI); i+=x; if(i<3*dx/8 || i>dx/2) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,0,RI); i+=x; if(i5*dx/8) Break; + x=loop(bp,i,dy-1-dy/16,x1-x0,cs,1,RI); i+=x; if(i<7*dx/8) Break; + + /* look for a vertikal gap at lower end */ + for( x=dx/4;x<3*dx/4;x++ ){ + i=loop(bp,x,dy-1,y1-y0,cs,0,UP); + if( i>3*dy/4 ) break; + } + if( x>=3*dx/4 ) Break; + + if( !hchar ) ad=60*ad/100; + bc=GREEK_CAPITAL_LETTER_OMEGA; + Setac(box1,bc,ad); + break; + } + + return bc; +} + +// -------------------- OCR engine ;) ---------------------------- +wchar_t ocr0(struct box *box1, pix *bp, int cs){ + // pix p=*(box1->p); + int i,j,d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1, /* size */ + rx,ry,r1,r2,i1,i2,ad; /* tmp-vars */ + // ad,ac will be used in future + wchar_t bc = UNKNOWN; // bestletter + wchar_t um = SPACE; // modifier '" + int hchar; // char is higher than e + int gchar; // char has ink lower than m3 + int aa[4][4]; /* corner points, see xX, (x,y,dist^2,vector_idx) v0.41 */ + ocr0_shared_t sdata; // data used in all subfunctions + + sdata.box1=box1; + sdata.bp=bp; + sdata.cs=cs; + // --- hchar --- gchar ------------------------- + hchar=0;if( y0 < box1->m2-(box1->m2-box1->m1)/2 ) hchar=1; + gchar=0;if( y1 > box1->m3+(box1->m4-box1->m3)/2 ) gchar=1; + // if the char is slightly moved down correction can be done + if ( y0m2 && y1>box1->m3 && 2*y1m3+box1->m4) // moved + if( 2*(y0-(y1-box1->m3))<=2*box1->m2-(box1->m2-box1->m1) ) hchar=1; + + sdata.hchar=hchar; + sdata.gchar=gchar; + + /* search for nearest points to the 4 courners, typical for xX */ + /* this is faster as calling nearest_frame_vector 4 times */ + aa[0][0]=aa[1][0]=aa[2][0]=aa[3][0]=(x0+x1)/2; /* set to center */ + aa[0][1]=aa[1][1]=aa[2][1]=aa[3][1]=(y0+y1)/2; /* set to center */ + aa[0][2]=aa[1][2]=aa[2][2]=aa[3][2]=2*sq(128); /* distance to box edges */ + aa[0][3]=aa[1][3]=aa[2][3]=aa[3][3]=0; /* vector index */ + /* searching for 4 diagonal line ends */ + for (i=0;inum_frame_vectors[0];i++) { + x=box1->frame_vector[i][0]; /* take a vector */ + y=box1->frame_vector[i][1]; + /* distance to upper left end, normalized to 128 */ + j=0; d=sq((x-x0)*128/dx)+sq((y-y0)*128/dy); + // fprintf(stderr," setaa i= %2d xy= %3d %3d d=%5d aa[3]=%2d\n",i,x-x0,y-y0,d,aa[0][3]); + if (dnum_frames>0) // speedup v0.42 + num_hole(x0,x1,y0,y1,box1->p,cs,&sdata.holes); // call once + // printf(" num_holes=%d\n",sdata.holes.num); + + /* + after division of two glued chars, boundaries could be wrong, + check this first (ToDo: only if a flag set?) + */ + if (2*y0 < box1->m2+box1->m3) + if (box1->m4>box1->m3 && 2*box1->y1>box1->m4+box1->m3){ + /* could be a "I" from divided "Ij" or "Ig" */ + for(y=(box1->m3+box1->m2)/2;2*ym3+box1->m4;y++) + if( get_bw(x0,x1,y,y,box1->p,cs,1)==0 ) break; + if(2*ym3+box1->m4) + if( get_bw((x0+x1)/2,(x0+x1)/2,y,box1->m4,box1->p,cs,1)==0 ){ + /* be sure, ~_ */ + if (y>y0) y1=box1->y1=y; + } + } + + DBG( IFV fprintf(stderr,"\nDBG L%d (%d,%d): ",__LINE__,box1->x0,box1->y0); ) + DBG( IFV out_b(box1,sdata.bp,0,0,dx,dy,160); ) + DBG( IFV fprintf(stderr,"# aa[] %d %d %d %d %d %d %d %d (4 corners)" + " d= %d %d %d %d", + aa[0][0]-x0,aa[0][1]-y0,aa[1][0]-x0,aa[1][1]-y0, + aa[2][0]-x0,aa[2][1]-y0,aa[3][0]-x0,aa[3][1]-y0, + aa[0][2], aa[1][2], aa[2][2], aa[3][2]);) + DBG( IFV fprintf(stderr,"\n# holes %d gchar=%d hchar=%d",sdata.holes.num, gchar, hchar);) + + // --- test thin lines - --------------------------------- + for( ad=100; 2*dym3-box1->m2 && 3*dx>=4*dy && dx>2; ){ // min 3x3 (small font) + DBG( wchar_t c_ask='-'; ) + if( get_bw(x0+dx/8+1,x1-dx/8-1,y0+dy/8+((dy>2)?1:0), + y1-dy/8-((dy>2)?1:0),box1->p,cs,2)==2 ) break; + if( box1->dots ) { Setac(box1,'=',97);break; } + if (dx<=2*dy) ad=98*ad/100; + if (dx<=3*dy) ad=99*ad/100; + if (!box1->m4) ad=96*ad/100; + else { + if (y1>=box1->m3) { + if ( dx<2*dy) ad=98*ad/100; + if (2*dx<3*dy) ad=98*ad/100; + Setac(box1,'_',ad); + break; + } + } + Setac(box1,'-',ad); if (ad>=100) return '-'; + break; + } + // --- test thin lines = --------------------------------- + for( ; dy>2 && dx>2; ){ // min 3x3 (small font) + DBG( wchar_t c_ask='='; ) + for( y=y0;yp,cs,1)==1 ) break; + if( get_bw(x0+dx/10,x1-dx/10,y ,y ,box1->p,cs,2)==2 ) break; + if( get_bw(x0 ,x1 ,(y+y1)/2,(y+y1)/2,box1->p,cs,1)==1 ) break; + if( get_bw(x0+dx/10,x1-dx/10,y1 ,y1 ,box1->p,cs,2)==2 ) break; + Setac(box1,'=',100); + return '='; + } + // --- test dots : --------------------------------- + for( ad=100; dy>2 && dy>=2*dx; ){ // max 3x3 (small font) + + DBG( wchar_t c_ask=':'; ) + // check the gap hight + for( i1=dy/16;i1p,cs,1)==0 ) break; + if (i1>=dy/2) Break; + for( i2=dy/16;i2p,cs,1)==0 ) break; + if (i2>=dy/2) Break; + MSG(fprintf(stderr,"gap y12 %d %d",i1,i2);) + + if (box1->m3 && y1>box1->m3) ad=98*ad/100; // ~; + if (box1->m3 && 2*y0> box1->m2+box1->m1) ad=98*ad/100; // ~i + if (gchar) ad=99*ad/100; + ad=ad-abs(i1-i2)/dy*20; + if (abs(i1-dx)>dy/4) Break; // round or quadratic dots? + if (abs(i1-dx)>dy/8) ad=98*ad/100; + if (abs(i2-dx)>dy/4) Break; // round or quadratic dots? + if (abs(i2-dx)>dy/8) ad=98*ad/100; + if (box1->dots!=1) ad=96*ad/100; + Setac(box1,':',ad); // dx<=3 ad-- + if (ad>=100) return ':'; + break; + } + // --- test dots ; --------------------------------- + if( 2*y0> box1->m2+box1->m1 ) // ~i + if( 4*y1>=3*box1->m3+box1->m2 ) // ~: + for( ad=100; dy>5 && dx>1 && dy>2*dx; ){ // max 3x3 (small font) + DBG( wchar_t c_ask=';'; ) + // better would it be to detect round pixelcluster on top + // check high of upper and lower dot + for( i1=0;i1p,cs,1)==0 ) break; + if (i1>=dy/2) break; + for( i2=0;i2p,cs,1)==0 ) break; + if (i2m3) ad=97*ad/100; + if (i2-i1=100) return ';'; + break; + } + // --- first test small dots . --------------------------------- + if( 3*dym4-box1->m1 && abs(dx-dy)<(dx+dy)/4+2 + && 3*y1>=(2*box1->m3+ box1->m2) // dot near baseline? + && 5*y0>=(3*box1->m3+2*box1->m2) ){ // Jul00 + DBG( wchar_t c_ask='.'; ) + d=0; r1=60;r2=140; ad=99; + for(x=x0;x<=x1;x++)for(y=y0;y<=y1;y++){ /* circle equation */ + rx=100*(2*x-(x0+x1))/dx; // normalize to 15bit number + ry=100*(2*y-(y0+y1))/dy; + if( rx*rx + ry*ry < r1*r1 ) if( getpixel(box1->p,x,y)>=cs ){ d++;x=x1+1;y=y1+1; } + if( rx*rx + ry*ry > r2*r2 ) if( getpixel(box1->p,x,y)< cs ){ d++;x=x1+1;y=y1+1; } + // MSG( fprintf(stderr,"x= %3d %3d r= %6d %6d %6d", rx, ry, rx*rx+ry*ry, r1*r1, r2*r2); ) + } + if (loop(box1->p,x0,y0+dy/2,x1-x0,cs,0,RI)> dx/8) { ad=98*ad/100; // , + if (loop(box1->p,x0,y1 ,x1-x0,cs,0,RI)<=dx/8) ad=98*ad/100; } // , + MSG( fprintf(stderr,"d= %3d ad= %3d", d, ad); ) + if(d==0) + if( loop(box1->p,x0,y0,x1-x0,cs,0,RI) + <= loop(box1->p,x0,y1,x1-x0,cs,0,RI) + || loop(box1->p,x1,y0,x1-x0,cs,0,LE) + >= loop(box1->p,x1,y1,x1-x0,cs,0,LE) ) + { + bc='.'; + if (box1->dots) { Setac(box1,':',ad); ad=98*ad/100; } + Setac(box1,bc,ad); + } + } + // --- first test small dots , --------------------------------- + if( 3*dy<2*(box1->m4-box1->m1) + && 2*y0> box1->m2+box1->m3 + && (2*dx<3*dy + || get_bw(0,dx/2,dy/2,dy-1,bp,cs,1)==0) ){ // ocr-a-, + DBG( wchar_t c_ask=','; ) + ad=100; bc=','; + if (dy==1 && dx==1) ad=98*ad/100; + if (dy==2 && dx==1) ad=99*ad/100; // this is a problem case + if (dx>=dy) ad=99*ad/100; + if( 2*dy >= box1->m4-box1->m1) ad=98*ad/100; + if( loop(box1->p,x0,y0,x1-x0,cs,0,RI) /* simple line */ + > loop(box1->p,x0,y1,x1-x0,cs,0,RI) + && loop(box1->p,x1,y0,x1-x0,cs,0,LE) + < loop(box1->p,x1,y1,x1-x0,cs,0,LE) ) { ad=99*ad/100; } + else { /* with upper circle */ + if( loop(box1->p,x0,(y0+y1+1)/2,x1-x0,cs,0,RI)p,x1, y1 ,x1-x0,cs,0,LE)p,x0,y1-((dy>5)?1:0),x1-x0,cs,0,LE)>(dx+1)/2 ) + if( loop(box1->p,x0, y1 ,x1-x0,cs,0,LE)>(dx+1)/2 ) ad=96*ad/100; + } + if(box1->dots==1) { Setac(box1,';',ad); ad=99*ad/100; } + Setac(box1,bc,ad); + } + // --- first test small dots '" --------------------------------- + if( 2*dy < box1->m4 -box1->m1+1 + && 2*y0 < box1->m2 +box1->m3 + && 3*y1 < box1->m2+2*box1->m3+2 ){ + DBG( wchar_t c_ask='\''; ) + ad=100; bc='\''; + if (2*y1 >= box1->m2+box1->m3) { ad=96*ad/100; MSG({}) } // ~! + if (3*y1>=2*box1->m2+box1->m3) { ad=96*ad/100; MSG({}) } + if (get_bw(x0,x1,(box1->m2+box1->m3)/2,box1->m4,box1->p,cs,1)!=0) + { ad=98*ad/100; MSG({}) } + if (dx>4 + && num_cross(x0,x1,y1,y1,box1->p,cs) == 2) { // " " + bc='"'; + // ocr-a-" has no gap! + if ( get_bw((x0+x1)/2,(x0+x1)/2,y0,y1,box1->p,cs,1)!=0 ) ad=96*ad/100; + } else { + if ( num_cross(x0,x1, y0 , y0 ,box1->p,cs)!=1) ad=96*ad/100; + if ( num_cross(x0,x1,(y0+y1)/2,(y0+y1)/2,box1->p,cs)!=1) ad=98*ad/100; + if (dx>dy) { ad=96*ad/100; MSG({}) } + } + if ( num_cross(x1,x1, y0 , y1 ,box1->p,cs)!=1) ad=99*ad/100; + if ( num_cross(x0,x1, y0+dy/4 , y0+dy/4 ,box1->p,cs)>2) ad=97*ad/100; + if ( num_cross(x0,x1, y1-dy/4 , y1-dy/4 ,box1->p,cs)>2) ad=97*ad/100; // * 5x8font + if (2*y0 > box1->m1+box1->m2) ad=99*ad/100; + Setac(box1,bc,ad); + if (ad>=100) return bc; + } + // --- TILDE ~ --------------------------------- + if( 2*dym4-box1->m1 && dx>=dy && dx>3 && dy>1 + && 2*y0< box1->m1+box1->m2 + && 3*y1<2*box1->m2+box1->m3 ){ + if( loop(box1->p,x0,y0,dx,cs,0,RI) + > loop(box1->p,x0,y1,dx,cs,0,RI) + && loop(box1->p,x1,y0,dx,cs,0,LE) + < loop(box1->p,x1,y1,dx,cs,0,LE) + && num_cross(x0,x1,y0,y0,box1->p,cs) == 2 + && num_cross(x0,x1,y1,y1,box1->p,cs) == 2 ) { + DBG( wchar_t c_ask='~'; ) + bc=TILDE; + Setac(box1,bc,99); + } + } + // --- CIRCUMFLEX, hat ^ --------------------------------- + if( 2*dym4-box1->m1 && dx>=dy && dx>2 && dy>1 + && 2*y0< box1->m1+box1->m2 + && 3*y1<2*box1->m2+box1->m3 ){ + DBG( wchar_t c_ask='^'; ) + if( ( loop(box1->p,x0,y0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1 ,dx,cs,0,RI)-dx/8 + || loop(box1->p,x0,y0 ,dx,cs,0,RI) + > loop(box1->p,x0,y1-1,dx,cs,0,RI)-dx/8 ) + && ( loop(box1->p,x1,y0 ,dx,cs,0,LE) + > loop(box1->p,x1,y1 ,dx,cs,0,LE)-dx/8 + || loop(box1->p,x1,y0 ,dx,cs,0,LE) + > loop(box1->p,x1,y1-1,dx,cs,0,LE)-dx/8 ) + && num_cross(x0,x1,y0 ,y0 ,box1->p,cs) == 1 + && ( num_cross(x0,x1,y1 ,y1 ,box1->p,cs) == 2 + || num_cross(x0,x1,y1-1,y1-1,box1->p,cs) == 2 )) { + bc='^'; + Setac(box1,bc,99); + } + } + // ------------------------------------------------------ +// if( dots==1 ){ um='\''; } +#if 0 /* ToDo: change to vectors, call here or in whatletter */ + if (box1->dots==0) { // i-dots ??? (if dots==0 is wrong) + y=box1->m1; + for(;yp,cs,1)==1) break; + { i1=y; + if( yp,cs,1)==0) break; + if( ybox1->m2-box1->m1){ + testumlaut(box1,cs,2,&um); // set modifier + new y0 ??? + + } + } + } +#else + um = box1->modifier; +#endif + if ( /* um==ACUTE_ACCENT || */ um==DIAERESIS){ + for(y=y1;y>y0;y--) + if( get_bw(x0,x1,y,y,box1->p,cs,1)==0) { y0=y; dy=y1-y0+1; break; } // scan "a "o "u + } + + // --- test numbers 0..9 --- separated for faster compilation + if( JOB->cfg.only_numbers ) return ocr0n(&sdata); + + // bc=ocr1(box1,bp,cs); + if(bc!=UNKNOWN && box1->num_ac>0 && box1->wac[0]==100) + return bc; // for fast compilable tests + + // ------ separated for faster compilation + // ToDo: inser ocr0_shared_t here and split into a,b,cC,d,e,f,g9,... +#define IF_NOT_SURE if(bc==UNKNOWN || box1->num_ac==0 || box1->wac[0]<100) + + IF_NOT_SURE bc=ocr0_eE(&sdata); + IF_NOT_SURE bc=ocr0_f(&sdata); + IF_NOT_SURE bc=ocr0_bB(&sdata); + IF_NOT_SURE bc=ocr0_dD(&sdata); + IF_NOT_SURE bc=ocr0_F(&sdata); + IF_NOT_SURE bc=ocr0_uU(&sdata); + IF_NOT_SURE bc=ocr0_micro(&sdata); + IF_NOT_SURE bc=ocr0_vV(&sdata); + IF_NOT_SURE bc=ocr0_rR(&sdata); + IF_NOT_SURE bc=ocr0_m(&sdata); + IF_NOT_SURE bc=ocr0_tT(&sdata); + IF_NOT_SURE bc=ocr0_sS(&sdata); + IF_NOT_SURE bc=ocr0_gG(&sdata); + IF_NOT_SURE bc=ocr0_xX(&sdata); + IF_NOT_SURE bc=ocr0_yY(&sdata); + IF_NOT_SURE bc=ocr0_zZ(&sdata); + IF_NOT_SURE bc=ocr0_wW(&sdata); + IF_NOT_SURE bc=ocr0_aA(&sdata); + IF_NOT_SURE bc=ocr0_cC(&sdata); + IF_NOT_SURE bc=ocr0_lL(&sdata); + IF_NOT_SURE bc=ocr0_oO(&sdata); + IF_NOT_SURE bc=ocr0_pP(&sdata); + IF_NOT_SURE bc=ocr0_qQ(&sdata); + IF_NOT_SURE bc=ocr0_iIjJ(&sdata); + IF_NOT_SURE bc=ocr0_n(&sdata); + IF_NOT_SURE bc=ocr0_M(&sdata); + IF_NOT_SURE bc=ocr0_N(&sdata); + IF_NOT_SURE bc=ocr0_h(&sdata); + IF_NOT_SURE bc=ocr0_H(&sdata); + IF_NOT_SURE bc=ocr0_k(&sdata); + IF_NOT_SURE bc=ocr0_K(&sdata); + IF_NOT_SURE bc=ocr0n(&sdata); + IF_NOT_SURE bc=ocr0_brackets(&sdata); + IF_NOT_SURE bc=ocr0p9(&sdata); + IF_NOT_SURE bc=ocr0px(&sdata); + + + if(box1->num_ac==0 && bc!=UNKNOWN) fprintf(stderr,""); + if(box1->num_ac>0 && box1->wac[0]>95) box1->c=bc=box1->tac[0]; + /* will be removed later, only fix old things */ + for (i=0;inum_ac;i++) if (box1->tac[i]==bc) { bc=box1->tac[0]; } + + return bc; +} + + diff --git a/3rdparty/gocr-0.48/src/ocr0.h b/3rdparty/gocr-0.48/src/ocr0.h new file mode 100644 index 0000000..4c67d77 --- /dev/null +++ b/3rdparty/gocr-0.48/src/ocr0.h @@ -0,0 +1,63 @@ +#ifndef _OCR0_H +#define _OCR0_H +#include "pgm2asc.h" + +/* ---------------------------------------------------------------- + - functions with thousand of lines make the compilation very slow + therefore the ocr0-function is splitted in subfunctions + - shared data used often in ocr0-subroutines are stored + in ocr0_shared structure. + * ------------------------------------------------------------ */ + +typedef struct ocr0_shared { /* shared variables and properties */ + + struct box *box1; /* box in whole image */ + pix *bp; /* extracted temporarly box, cleaned */ + int cs; /* global threshold value (gray level) */ + + /* ToDo: or MACROS: X0 = box1->x0 */ + int x0, x1, y0, y1; /* box coordinates related to box1 */ + int dx, dy; /* size of box */ + int hchar, gchar; /* relation to m1..m4 */ + int aa[4][4]; /* corner points, see xX (x,y,dist^2,vector_idx) v0.41 */ + holes_t holes; /* list of holes (max MAX_HOLES) */ + +} ocr0_shared_t; + +/* tests for umlaut */ +int testumlaut(struct box *box1, int cs, int m, wchar_t *modifier); +/* detect chars */ +wchar_t ocr0(struct box *box1, pix *b, int cs); +/* detect numbers */ +wchar_t ocr0n(ocr0_shared_t *sdata); + +static inline int sq(int x) { return x*x; } /* square */ + +/* + * go from vector j1 to vector j2 and measure maximum deviation of + * the steps from the line connecting j1 and j2 + * return the squared maximum distance + * in units of the box size times 1024 + */ +int line_deviation( struct box *box1, int j1, int j2 ); + +/* + * search vectors between j1 and j2 for nearest point a to point r + * example: + * + * r-> $$...$$ $ - mark vectors + * @@$..@@ @ - black pixels + * @@$..@@ . - white pixels + * @@@@.$@ + * a-> @@$@$@@ + * @$.@@@@ + * @@..$@@ + * @@..$@@ + * j1 --> $$...$$ <-- j2 + * + * ToDo: vector aa[5] = {rx,ry,x,y,d^2,idx} statt rx,ry? + * j1 and j2 must be in the same frame + * return aa? + */ +int nearest_frame_vector( struct box *box1, int j1, int j2, int rx, int ry); +#endif diff --git a/3rdparty/gocr-0.48/src/ocr0n.c b/3rdparty/gocr-0.48/src/ocr0n.c new file mode 100644 index 0000000..efa2997 --- /dev/null +++ b/3rdparty/gocr-0.48/src/ocr0n.c @@ -0,0 +1,1475 @@ +/* ocr-engine numbers only */ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + OCR engine (c) Joerg Schulenburg + first engine: rule based --- numbers 0..9 + +*/ + +#include +#include +/* #include "pgm2asc.h" */ +#include "ocr0.h" +#include "ocr1.h" +#include "amiga.h" +#include "pnm.h" +#include "gocr.h" + +/* only for debugging and development */ +#define IFV if(JOB->cfg.verbose&4) +#define MM {IFV fprintf(stderr,"\nDBG %c L%04d (%d,%d): ",(char)c_ask,__LINE__,box1->x0,box1->y0);} + +/* the old debug mode (0.40) was only for a special char, for another char + * code must be recompiled with C_ASK='char' + * new debug mode (0.41) explains why char is declined or accepted as ABC... + * the output can be filtered by external scripts + * ToDo: we could reduce output to filter string + */ +#ifndef DO_DEBUG /* can be defined outside */ +#define DO_DEBUG 0 /* 0 is the default */ +#endif + +/* this macro is for debugging output: "if char is declined, why?" */ +#if DO_DEBUG /* 0=Work mode, 1=debugging mode */ +// Setac: output, that char is choosen with a probability +// Break: output, why the char is not choosen +// MSG: debugging functions for char C_ASK, mostly messages +// DBG: definitions usefull only for debugging +#define Setac(box1,ac,ad) { MM;IFV fprintf(stderr,"setac %d",ad);setac(box1,ac,ad); } +#define Break { MM;IFV fprintf(stderr,"break"); break; } +#define MSG(x) { MM;IFV x } +#define DBG(x) x +#else +#define Setac(box1,ac,ad) setac(box1,ac,ad) +#define Break break +#define MSG(x) +#define DBG(x) +#endif + +/* extern "C"{ */ + +// OCR engine ;) +wchar_t ocr0n(ocr0_shared_t *sdata){ + struct box *box1=sdata->box1; + pix *bp=sdata->bp; + int d,x,y,x0=box1->x0,x1=box1->x1,y0=box1->y0,y1=box1->y1; + int dx=x1-x0+1,dy=y1-y0+1,cs=sdata->cs; // size + int xa,xb,ya,yb, /* tmp-vars */ + i1,i2,i3,i4,i,j; + int (*aa)[4]=sdata->aa; /* corner-points, (x,y,dist^2,vector_idx) */ + wchar_t bc=UNKNOWN; // best char + int ad=0; // propability 0..100 + int hchar=sdata->hchar; // char is higher than 'e' + int gchar=sdata->gchar; // char has ink lower than m3 + int dots=box1->dots; + // --- test 5 near S --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( char c_ask='5'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( num_cross( dx/2, dx/2,0,dy-1,bp,cs)!=3 + && num_cross(5*dx/8,3*dx/8,0,dy-1,bp,cs)!=3 ) Break; + + i1=loop(bp,dx-1,dy-1,dx,cs,0,LE); + i2=loop(bp,dx-1,dy-2,dx,cs,0,LE); + if (i2-i1 >= dx/4) Break; // ~{ 5x7font + + // get the upper and lower hole koords, y around dy/4 ??? + x=5*dx/8; + y =loop(bp,x,0,dy,cs,0,DO); if(y>dy/8) Break; + y +=loop(bp,x,y,dy,cs,1,DO); if(y>dy/4) Break; + i1 =loop(bp,x,y,dy,cs,0,DO)+y; if(i1>5*dy/8) Break; + i3=y=(y+i1)/2; // upper end can be shifted to the right for italic + x =loop(bp,0,y,dx,cs,0,RI); if(x>4*dx/8) Break; + x +=loop(bp,x,y,dx,cs,1,RI); if(x>5*dx/8) Break; + i1 =loop(bp,x,y,dx,cs,0,RI); i1=(i1+2*x)/2; // upper center (i1,i3) + y=11*dy/16; + x =loop(bp,dx-1 ,y,dx,cs,0,LE); if(x>dx/4) Break; + x +=loop(bp,dx-1-x,y,dx,cs,1,LE); if(x>dx/2) Break; + i2 =loop(bp,dx-1-x,y,dx,cs,0,LE); i2=dx-1-(i2+2*x)/2; // lower center x + + MSG( fprintf(stderr,"i1,i3=%d,%d i2=%d (upper+lower center)",i1,i3,i2);) + + y =loop(bp,i1,0,dy,cs,0,DO); + y +=loop(bp,i1,y,dy,cs,1,DO); + y =(3*y+i3)/4; + if( num_cross( i1, dx-1, y, y,bp,cs)>0 ){ /* S or serif5 ? */ + y =loop(bp,i1 ,i3,dy,cs,0,DO); + i =loop(bp,i1-1,i3,dy,cs,0,DO); + if (y>i ) ad=99*ad/100; /* looks like S */ + y =loop(bp,i1 ,i3,dy,cs,0,UP); + i =loop(bp,i1+1,i3,dy,cs,0,UP); + if (ii ) ad=99*ad/100; /* looks like S */ + if( num_cross( 0, dx/2, dy-1, dy-1,bp,cs)>1 + && num_cross( dx/2,dx-1, 0, 0,bp,cs)>1 ) ad=98*ad/100; /* serifs */ + if (loop(bp,0,dy-1,dx,cs,0,RI)==0) ad=98*ad/100; /* S or 7segment */ + ad=99*ad/100; + } + + for(y=dy/5;y<3*dy/4;y++) // right gap? + if( num_cross(i1,dx-1,y,y,bp,cs)==0 ) break; + if( y==3*dy/4 ) Break; + + for(y=dy/4;y<=11*dy/16;y++) // left gap? + if( num_cross(0,i2,y,y,bp,cs)==0 ) break; + if( y>11*dy/16 ) Break; + + // if( num_hole( x0, x1, y0, y1, box1->p,cs,NULL) > 0 ) break; + if (sdata->holes.num>0) Break; + + // sS5 \sl z left upper v-bow ? + for(x=dx,i=y=dy/4;yi2 ) i2=i; + i3=loop(bp,0, y ,dx,cs,0,RI); + i =loop(bp,0, y-1,dx,cs,0,RI); if( i=20 && dx<16 ) /* tall S */ + if( loop(bp,0, dy/5 ,dx,cs,0,RI) + ==loop(bp,0, dy/4 ,dx,cs,0,RI) + && + loop(bp,0, dy/10 ,dx,cs,0,RI) + >loop(bp,0, dy/4 ,dx,cs,0,RI) + && + loop(bp,0, 1 ,dx,cs,0,RI) + >loop(bp,0, dy/4 ,dx,cs,0,RI)+1 + && + loop(bp,dx-1, 0 ,dx,cs,0,LE) + >loop(bp,dx-1, 1 ,dx,cs,0,LE) ) Break; + + if( dy>=30 && dx>15 ) /* large S */ + if( loop(bp,dx/4,3*dy/10,dy,cs,1,DO)>0 ) // check start + if( loop(bp,dx-2,3*dy/4 ,dy,cs,1,UP)>0 ) // check end + if( num_cross(dx/4,dx-2,3*dy/10,3*dy/4,bp,cs)==1 ) Break; // connected? + MSG(fprintf(stderr,"~S ad=%d",ad);) + + // small fat s is very similar to rounded serif 5 + // but has a fat diagonal arrea (Oct08 JS) + if ( num_cross(dx/8,dx-1-dx/8,3*dy/10,3*dy/4,bp,cs)==1 ) ad=98*ad/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + + if( dy>17 && dx>9 ) /* S */ + if( loop(bp, 0,dy/2 ,dx,cs,0,RI)0 ) // check start + if( loop(bp,dx-2,2*dy/3 ,dy,cs,1,UP)>0 ) // check end + if( loop(bp, 0, dy/16,dx,cs,0,RI) + >= loop(bp,dx-1, dy-1-dy/16,dx,cs,0,LE) ) ad=ad*98/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + if( loop(bp,3*dx/4 , 0,dy,cs,1,DO) // ToDo: improve! + < loop(bp, dx/4 ,dy-1,dy,cs,1,UP) + && loop(bp,3*dx/4-1, 0,dy,cs,0,DO) + < loop(bp, dx/4+1,dy-1,dy,cs,0,UP) ) ad=ad*98/100; + MSG(fprintf(stderr,"~S ad=%d",ad);) + + if ( gchar) ad=99*ad/100; + if (!hchar) ad=99*ad/100; + Setac(box1,(wchar_t)'5',ad); + if (ad==100) return '5'; + break; + + } + // --- test 1 --------------------------------------------------- + for(ad=d=100;dy>4 && dy>dx && 2*dy>box1->m3-box1->m2;){ // min 3x4 + DBG( char c_ask='1'; ) + if( dots==1 ) Break; + if (sdata->holes.num > 1) Break; /* be tolerant */ + + if( num_cross(0, dx-1, 0 , 0 ,bp,cs) != 1 + && num_cross(0, dx-1, 1 , 1 ,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1,dy/2,dy/2,bp,cs) != 1 ) Break; + if( num_cross(0, dx-1,dy-1,dy-1,bp,cs) != 1 + && num_cross(0, dx-1,dy-2,dy-2,bp,cs) != 1 ) Break; + /* 5x7 micr ocr-a + + ooo @@@.. + .$. ooo ..@.. + $@. oo ..@.. + .$. oo ..@.. + .@. ooooo ..@.@ + .$. ooooo ..@.@ + $@$ ooooo @@@@@ + + */ + i4=0; // human font + if( num_cross(0, dx-1,3*dy/4,3*dy/4,bp,cs) != 2 ) { // except ocr-a + for( y=1; y=dy/2) ad=98*ad/100; + for( i=dy/8,y=7*dy/16;y8 && !i ) Break; + } else { // ocr-a-1 + i= loop(bp,dx/2,0,dy,cs,0,DO); + if (loop(bp,dx/2,i,dy,cs,1,DO) 1 + && num_cross(0, dx-1, 1 , 1 ,bp,cs) > 1 ) Break; // ~/it_7 + + // calculate upper and lower mass center (without lower serif) + + x =loop(bp,0,7*dy/8-1,dx,cs,0,RI); i2=x; + x+=loop(bp,x,7*dy/8-1,dx,cs,1,RI)-1; i2=(i2+x)/2; + + i1=loop(bp,dx-1 ,1+0* dy/4,dx,cs,0,LE); i1=dx-1-i1-(x-i2)/2; + + x =(i1-i2+4)/8; i1+=x; i2-=x; + + if( get_line2(i1,0,i2,dy-1,bp,cs,100)<95 ) { // dont work for ocr-a-1 + i1=loop(bp,dx-1 ,1+0* dy/4,dx,cs,0,LE); i1=dx-1-i1; + if( get_line2(i1,0,i2,dy-1,bp,cs,100)<95 ) Break; + } + // upper and lower width + x =loop(bp,(i1+i2)/2,dy/2,dx,cs,1,RI); i=x; i3=0; + for(y=0;y<7*dy/8;y++) + if( loop(bp,i1+y*(i2-i1)/dy, y,dx,cs,1,RI)-i > 1+dx/8 ) break; + if(y<7*dy/8) ad=98*ad/100; // serif or ocr-a-1 ? + if(y<6*dy/8) ad=99*ad/100; /* MICR E-13B font Jan07 */ + if(y<4*dy/8) Break; + MSG(fprintf(stderr,"i12 %d %d ad= %d", i1,i2,ad);) +// out_x(box1); printf(" i12=%d %d\n",i1,i2); + x =loop(bp,i2,dy-1,dx,cs,1,LE); j=x; + x =loop(bp,i2,dy-2,dx,cs,1,LE); if(x>j)j=x; i=j; + x =loop(bp,i2,dy-1,dx,cs,1,RI); j=x; + x =loop(bp,i2,dy-2,dx,cs,1,RI); if(x>j)j=x; + if(abs(i-j)>1+dx/8) i3|=1; + if(i3) Break; +// out_x(box1);printf(" 11 i=%d j=%d i2=%d dx=%d\n",i,j,i1,dx); + // get most left upper point (i,j) + for(i=dx,j=y=0;y<7*dy/16;y++){ + x =loop(bp,0,y,dx,cs,0,RI); if(x 7*dx/16 MICR E-13B font + if ( i1-i<4*dx/16 ) Break; + MSG(fprintf(stderr,"i12 %d %d ad= %d", i1,i2,ad);) + x =loop(bp,0,dy/2,dx,cs,0,RI); // right distance + j =loop(bp,x,dy/2,dx,cs,1,RI); // thickness + if( j>x+(dy+16)/32 ) ad=98*ad/100; // ~l but MICR E-13B font + x =loop(bp,0,0,dx,cs,0,RI); // straight line ??? + j =loop(bp,0,1,dx,cs,0,RI); if( j>x ) Break; // ~l + if( x==j ) j =loop(bp,0,dy/8,dx,cs,0,RI); if( j>x && !i4) Break; + if( x==j ) if(loop(bp,0,dy/4,dx,cs,0,RI)>x) { // ~l + // check micr-1 first before taken as 'l' + if (loop(bp,dx-1,dy/8,dx,cs,0,LE)<=dx/4 + && loop(bp, 0,3*dy/4,dx,cs,1,RI)< dx-1) ad=97*ad/100; + } + MSG(fprintf(stderr,"1l check ad= %d", ad);) + x=j; +// j =loop(bp,0,2,dx,cs,0,RI); if( j>=x ) Break; x=j; // ~l +// j =loop(bp,0, 0,dx,cs,0,DO); if( !j ) Break; // ~7 + if( !hchar ) // ~ right part of n + /* look for upper right side, not going from nw to se */ + if( loop(bp,dx-1, 1,dx,cs,0,LE)-dy/6 + > loop(bp,dx-1,dy/4,dx,cs,0,LE) + // failes on small fonts with 1 point spaces between chars + // also do not know what the purpose of this line was (JS Oct08) + // || get_bw(x1+1,x1+2,y0,y0+dy/8,box1->p,cs,1)==1 + ) Break; // Mai00 + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE) > dx/2 + && get_bw(x1-dx/4,x1,y1-1,y1,box1->p,cs,1)==1 ) Break; // ~z Jun00 + + i=loop(bp, dx/8,0,dy,cs,0,DO); + for (y=dy,x=dx/2;x<3*dx/4;x++){ /* get upper end y */ + j=loop(bp,x,0,dy,cs,0,DO); if (j=i) ad=98*ad/100; // ~\tt l ??? ocr-a_1 + MSG(fprintf(stderr,"1l check i= %d y= %d ad= %d", i, y, ad);) + + if( loop(bp, 0, dy/8,dx,cs,0,RI) + -(dx-loop(bp,dx-1,7*dy/8,dx,cs,0,LE)) > dx/4 ) Break; // ~/ + + i= loop(bp, 0, 0,dy,cs,0,DO); // horizontal line? + if(dy>=12 && i>dy/8 && iloop(bp,dx-1, i,dx,cs,0,LE) + || loop(bp,dx-1,3*dy/16,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1, i+1,dx,cs,0,LE) ) Break; // ~t,~f + i= loop(bp, 0,dy-1-dy/32,dx,cs,0,RI); + x= loop(bp, 0,dy-2-dy/32,dx,cs,0,RI); if (idx/8 + && loop(bp,dx-1, 3*dy/4,dx,cs,0,LE)-dx/8 + >loop(bp,dx-1,dy-1-dy/32,dx,cs,0,LE) ) Break; // ~t + if( loop(bp, 0,i-1,dx,cs,0,RI)>1 && dx<6) { + ad=99*ad/100; + if ( loop(bp,dx-1,i-1,dx,cs,0,LE)>1 ) Break; // ~t + } + } + + if (dx>8){ + if (loop(bp,0,3*dy/4,dx,cs,0,RI)- + loop(bp,0,dy/2-1,dx,cs,0,RI)>dx/4) ad=95*ad/100; // ~3 + if (loop(bp,dx-1,dy/2-1,dx,cs,0,LE)- + loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/8) ad=99*ad/100; // ~3 ocr-a? + if (loop(bp,dx-1, dy/16,dx,cs,0,LE)- + loop(bp,dx-1, dy/4,dx,cs,0,LE)>dx/8) ad=95*ad/100; // ~23 + MSG(fprintf(stderr,"23 check ad= %d", ad);) + } + /* font 5x9 "2" recognized as "1" */ + i=loop(bp,dx-1-dx/8,dy-1,dy,cs,0,UP); + if (i<=dy/4) { + i+=loop(bp,dx-1-dx/8,dy-1-i,dy,cs,1,UP); + if (i<=dy/4) { + i=loop(bp,dx-1-dx/8,dy-1-i,dy,cs,0,LE); + if (2*i>=dx && loop(bp,dx/4,0,dy,cs,0,DO)i+dx/8) { break; } + } if (y>=dy/2) ad=95*ad/100; // Feb07 care plates, right black border + MSG(fprintf(stderr,"ad= %d", ad);) + + if (sdata->holes.num > 0) Break; // mini holes should be filtered + if (!box1->m3 && ad>98) ad=98; else { + if (!hchar) ad=99*ad/100; + if (box1->y0>box1->m2) ad=98*ad/100; + if (box1->y1<(1*box1->m2+3*box1->m3)/4) ad=98*ad/100; + if (box1->y1-box1->y0<(box1->m3-box1->m1)/2) ad=98*ad/100; + if ( gchar) ad=99*ad/100; + } + + Setac(box1,(wchar_t)'1',ad); + break; + } + // --- test 2 old pixelbased - remove! ----------------------------- +#ifdef Old_pixel_based + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + DBG( char c_ask='2'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( get_bw(x0+dx/2, x0+dx/2 , y1-dy/5, y1 ,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2 , y0 , y0+dy/5,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/8, x1-dx/3 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + + if( get_bw(x1-dx/3, x1 , y0+dy/3 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0 , x0+dx/ 8, y1-dy/16, y1 ,box1->p,cs,1) != 1 ) Break; + if( num_cross(x0, x1-dx/8, y0+dy/2, y0+dy/2,box1->p,cs) != 1 ) Break; + if( get_bw(x0, x0+dx/9 , y0 , y0 ,box1->p,cs,1) == 1 + && get_bw(x0, x0+dx/2 ,y0+3*dy/16,y0+3*dy/16,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0, x0+dx/9 , y0 , y0 ,box1->p,cs,1) + != get_bw(x1-dx/9, x1 , y0 , y0 ,box1->p,cs,1) ) + { if (dx<6 && dy<9) ad=99*ad/100; else Break; } + // out_x(box1); + + for( x=x0+dx/4;xp,cs) == 2 ) break; + if( x>=x1-dx/6 ) Break; + + for( x=x0+dx/4;xp,cs) == 2 ) break; + if( x>=x1-dx/6 ) Break; + + for(i=1,y=y0;yp,cs) == 2 ) i=0; + if( i ) ad=99*ad/100; // ToDo: ocr-a-2 should have 100% + + for(i=1,y=y0+dy/5;yp,cs,1) == 0 ) i=0; + if( i ) Break; + + x=x1-dx/3,y=y1; /* center bottom */ + turmite(box1->p,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,ST,UP); if( yp,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,ST); + if( xp,&x,&y,x0,x1,y0,y1,cs,UP,ST); if( yp,&x,&y,x0,x1,y0,y1,cs,RI,ST); + if( xp,x1,y0+y,dx,cs,0,LE); // use p (not b) for broken chars + if( ix ) x=i; + } + if (y>dy/3 ) Break; // z + + // hole is only allowed in beauty fonts + // if( num_hole( x0, x1, y0, y1,box1->p,cs,NULL) > 0 ) // there is no hole + // if( num_hole( x0, x0+dx/2, y0, y0+dy/2,box1->p,cs,NULL) == 0 ) // except in some beauty fonts + if (sdata->holes.num>0) + if (sdata->holes.hole[0].x1 >= dx/2 || sdata->holes.hole[0].y1 >= dy/2) + Break; + + if (loop(bp,dx-1, 0,dx,cs,0,LE) + =i1 ) Break; // ~z + i1=loop(bp,dx-1,dy-3*dy/16,dx,cs,0,LE); + i2=loop(bp, 0,dy-3*dy/16,dx,cs,0,RI); if( i2>i1 ) ad=98*ad/100; // ~i + if (dots) ad=98*ad/100; // i + if (loop(bp,dx-1,dy-1-dy/16,dx,cs,0,LE)>dx/4) ad=96*ad/100; // \it i + + if ((!hchar) && box1->m4!=0) ad=80*ad/100; + Setac(box1,(wchar_t)'2',ad); + if (ad==100) return '2'; + break; + } +#endif + // --- test 2 new edge based v0.44 -------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // min 3x4 + // rewritten for vectors 0.42 + int ld, i1, i2, i3, i4, i5, i6, i7; // line derivation + corners + DBG( wchar_t c_ask='2'; ) + if (sdata->holes.num > 0) Break; /* no hole */ + /* half distance to the center */ + d=2*sq(128/4); + /* now we check for the lower ends, must be near to the corner */ + if (aa[1][2]>d/4) Break; /* [2] = distance, ~7... */ + if (aa[2][2]>d/2) Break; /* [2] = distance, ~r... */ + if (aa[0][2]>d/1) Break; /* [2] = distance, ~d... */ + if (aa[3][2]>d/1) Break; /* [2] = distance, ~bhk... */ + /* searching for 4 notches between neighbouring ends */ + +/* + type A B + + 1OOO OO + 2 1 2 <- 6 + 7-> OOOO O + O O <- 5 + 3OO4 3OO4 +*/ + + // ToDo: replace by vector code (get point on line at dy/4) + if (loop(bp,dx-1, 0,dx,cs,0,LE) + num_frame_vectors[0] - 1; + /* rightmost point on upper left side */ + i2=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1+dx, y0+dy/4); + /* upper leftmost vector */ + i1=nearest_frame_vector(box1, aa[0][3], i2, x0-dx, (y0+y1)/2); + i3=aa[1][3]; + /* low leftmost vector */ + i5=nearest_frame_vector(box1, aa[2][3], aa[3][3], x0, y1); + /* low mostright vector */ + i4=nearest_frame_vector(box1, aa[1][3], i5, x1+dx, y1); + /* next local max_x-point after i5 */ + i6=i5; + for (i=i5;i!=aa[0][3];i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][0] + >box1->frame_vector[i6][0]) i6=i; // get next maximum + if (box1->frame_vector[ i][0]frame_vector[ i][1]frame_vector[i6][0]>x0+dx/2) break; // 5 + } + /* which type? ToDo: have a more sure algorithm */ + i7=nearest_frame_vector(box1, i2, i3, x0-dx/8, (y0+y1)/2); + if (box1->frame_vector[i7][0]<=x0+ dx/4 + && box1->frame_vector[i7][1]<=y0+2*dy/3) { + MSG(fprintf(stderr,"7-segment-type");) + } else { /* regular-book-type */ + MSG( fprintf(stderr,"upper bow not z-like? ad %d", ad); ) + if (aa[3][0]>=x1-dx/8 // x of upper right point + && aa[3][1]< y0+dy/8) ad=99*ad/100; // y of upper right point + if (aa[0][0]<=x0+dx/8 // x of upper left point + && aa[0][1]< y0+dy/8) ad=99*ad/100; // y of upper left point + if (aa[3][2]<=aa[1][2]) ad=97*ad/100; // dist to (maxx,0) <= (0,maxy) + } + // ToDo: output no=(x,y) + MSG( fprintf(stderr,"i1-7 %d %d %d %d %d %d %d ad %d", + i1,i2,i3,i4,i5,i6,i7,ad); ) + if (i5==i6) Break; // ~+ + + if (box1->frame_vector[i5][1] + -box1->frame_vector[i6][1]frame_vector[i1][1]>y0+dy/2) Break; // not to low + if (box1->frame_vector[i1][0]>x0+dx/8+dx/16) Break; // slanted ? + if (box1->frame_vector[i2][1]>(y0+ y1)/2) Break; + if (box1->frame_vector[i2][1]>(5*y0+3*y1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i2][0]<(x0+x1+1)/2) Break; // fat tiny fonts? + if (box1->frame_vector[i2][0]<(x0+2*x1)/3) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i3][0]>(3*x0+x1)/4) Break; + if (box1->frame_vector[i3][0]>(7*x0+x1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + /* check lowest left point */ + if (box1->frame_vector[i3][1]<(y0+3*y1)/4) Break; + if (box1->frame_vector[i3][1]<(y0+7*y1)/8) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + /* check lower leftmost point from right side */ + if (box1->frame_vector[i5][0]>(x0+2*x1)/3) Break; + if (box1->frame_vector[i5][0]>(x0+ x1)/2) ad=98*ad/100; + if (box1->frame_vector[i5][0]>(2*x0+2+x1)/3) ad=99*ad/100; /* 9x10 2 */ + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i5][1]<(3*y0+5*y1)/8) Break; + if (box1->frame_vector[i5][1]<(y0+3*y1)/4) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i6][1]>(y0+2*y1)/3) Break; + if (box1->frame_vector[i6][1]>(y0+ y1)/2) ad=99*ad/100; + MSG( fprintf(stderr,"ad %d", ad); ) + if (box1->frame_vector[i6][0]<(x0+3*x1)/4) Break; + if (box1->frame_vector[i6][0]<(x0+7*x1)/8) ad=99*ad/100; + + /* check for zZ */ + + /* check if lower left and right points are joined directly */ + ld=line_deviation(box1, i3, i4); + MSG(fprintf(stderr,"i1-i2 %d %d dist= %d/%d",i1,i2,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + if (ld > sq(1024/4)) ad=99*ad/100; + + if (box1->m3) { + if(!hchar){ ad=99*ad/100; } + if( gchar){ ad=99*ad/100; } + } else { if (ad==100) ad=99; } /* not 100% sure */ + Setac(box1,'2',ad); + if (ad==100) return '2'; + break; + } + // --- test 3 ------- + for(ad=d=100;dx>3 && dy>4;){ // dy<=dx nicht perfekt! besser mittleres + // min-suchen fuer m + int i1, i2, i3, i4, i5, i6, i7, i8; // line derivation + corners + DBG( char c_ask='3'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if (sdata->holes.num > 0) ad=98*ad/100; /* be tolerant */ + if (4*dxd/1) Break; /* [2] = distance, ~7... */ + if (aa[2][2]>d/1) Break; /* [2] = distance, ~r... */ + if (aa[0][2]>d/1) Break; /* [2] = distance, ~d... */ + if (aa[3][2]>d/1) Break; /* [2] = distance, ~bhk... */ +/* + type A B C + + 1OO8 1OO 1OO8 + O 8 2 <- 7,8 + 2 2 7 + 1-5-> 3OO7 37 3OO + 4 4 4 + O 6 6 <- 6 + 5OO6 5OO 5OO +*/ + /* rightmost point on upper left side */ + i2=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1, y0+3*dy/16); + /* rightmost point on lower left side */ + i4=nearest_frame_vector(box1, aa[0][3], aa[1][3], x1, y1-dy/4); + /* leftmost point on middle left side */ + i3=nearest_frame_vector(box1, i2, i4, x0, y0+dy/2); + /* upper leftmost vector */ + i1=nearest_frame_vector(box1, aa[0][3], i2, x0-dx, (y0+y1)/2); + i5=aa[1][3]; // points to vector point in point list + i6=aa[2][3]; + i8=aa[3][3]; + /* leftmost point on middle right side */ + i7=nearest_frame_vector(box1, i6, i8, x0 , y0+dy/2); + /* which type? ToDo: have a more sure algorithm */ + if (box1->frame_vector[i7][0]>=x1- dx/4 + && box1->frame_vector[i6][0]>=x1- dx/8 // ToDo: ... + && box1->frame_vector[i6][1]>=y1- dy/8) { + MSG(fprintf(stderr,"7-segment-type");) + } else { /* regular-book-type */ + } + // ToDo: output no=(x,y) + MSG(fprintf(stderr,"i1-8 %d %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7,i8);) + // if (i5==i6) Break; // ~+ + + // i2 = upper left gap ) , i3 = middle left < + if (box1->frame_vector[i2][0] + -box1->frame_vector[i3][0]frame_vector[i4][0] + -box1->frame_vector[i3][0]frame_vector[i4][0] + -box1->frame_vector[i5][0]frame_vector[i2][0] + -box1->frame_vector[i1][0]frame_vector[i1][1]>y0+dy/2) Break; // not to low + if (box1->frame_vector[i1][0]>x0+dx/4+dx/16) Break; // slanted? + if (box1->frame_vector[i5][1]frame_vector[i5][0]>x0+dx/4) Break; + // ToDo .... + + // --- pixel based old code --- + // if( get_bw(x0+dx/2,x0+dx/2,y0,y0+dy/4,box1->p,cs,1) == 0 ) Break; // ~4 + // if( get_bw(x0+dx/2,x0+dx/2,y1-dy/8,y1,box1->p,cs,1) == 0 ) Break; // ~4 + // if( num_cross(x0+dx/2,x0+dx/2,y0 ,y1,box1->p,cs) < 2 ) Break; + // if( num_cross(x0+dx/4,x0+dx/4,y1-dy/2,y1,box1->p,cs) == 0 ) Break; + if( get_bw(dx/2,dx/2, 0,dy/6,bp,cs,1) == 0 ) Break; // ~4 + if( get_bw(dx/2,dx-1, dy/6,dy/6,bp,cs,1) == 0 ) Break; // ~j + if( get_bw(dx/2,dx/2,dy-1-dy/8,dy-1,bp,cs,1) == 0 ) Break; // ~4 + if( num_cross(dx/2,dx/2,0 ,dy-1,bp,cs) < 2 // normal + && num_cross(dx/3,dx/3,0 ,dy-1,bp,cs) < 2 ) Break; // fat LCD + if( num_cross(dx/4,dx/4,dy-1-dy/2,dy-1,bp,cs) == 0 ) Break; + if( loop(bp,dx/2, 0 ,dy,cs,0,DO)>dy/4 ) Break; + if( loop(bp,dx/2, dy-1,dy,cs,0,UP)>dy/4 ) Break; + if( loop(bp,dx-1, dy/3,dy,cs,0,LE)>dy/4 /* 3 with upper bow */ + && loop(bp,dx-1, dy/8,dy,cs,0,LE)>dy/4 /* 3 with horizontal line */ + && loop(bp,dx/4, dy/8,dy,cs,1,RI)dy/4 ) Break; + if( loop(bp,dx-1,3*dy/4,dy,cs,0,LE)>dy/2 ) Break; // ~2 Feb06 + if( loop(bp,dx-1,7*dy/8,dy,cs,0,LE)>dy/2 ) Break; // ~2 Feb06 + // search upper right half circle (may fail on 4x5 font) + for( i3=x=0,i1=y=dy/5;yx) { i3=x=i; i1=y; } + } i3--; + if( loop(bp,i3,i1,1,cs,0,UP)==1 ) { // find hidden gap in tiny fonts + i1--; i3+=loop(bp,i3,i1,dx,cs,0,RI)-1; + } + if (i31+dx/8) ad=ad*99/100; // ~1 with a pixel + // search lower right half circle + for( i4=x=0,i2=y=dy-1-dy/8;y>=dy/2;y-- ){ + i=loop(bp,0,y,dx,cs,0,RI); + if( i>x ) { i4=x=i;i2=y; } + } i4--; if(i41+dx/8) ad=ad*99/100; // ~1 with a pixel + + for( x=xa=0,ya=y=dy/4;y<3*dy/4;y++ ){ // right gap, not on LCD-font + i=loop(bp,dx-1,y,dx,cs,0,LE); + if (i>=xa) { xa=i;ya=y;x=xa+loop(bp,dx-1-xa,y,dx,cs,1,LE); } + } if (dy>3*dx) if (xa<2 && x-xa1+dx/8 // noLCD + && xa<=loop(bp,dx-1,i2,dx,cs,0,LE)) ad=ad*99/100; // ~1 with a pixel + if (xa>1+dx/8 // noLCD + && xa<=loop(bp,dx-1,i1,dx,cs,0,LE)) ad=ad*99/100; // ~1 with a pixel + + // upper left gap = (i3,i1) + // lower left gap = (i4,i2) + MSG(fprintf(stderr,"left white gaps (%d,%d) (%d,%d)",i3,i1,i4,i2);) + if( get_bw(i3,i3,i1,i2 ,bp,cs,1) != 1 ) Break; // no hor. middle line? + if( get_bw(i4,i4,i1,i2 ,bp,cs,1) != 1 ) Break; + if( get_bw(i3,i3,0 ,i1 ,bp,cs,1) != 1 ) Break; // no upper bow? + if( get_bw(i4,i4,i2,dy-1,bp,cs,1) != 1 ) Break; // no lower bow? + // hole is only allowed in beauty fonts + // if( num_hole( x0, x1, y0, y1,box1->p,cs,NULL) > 0 ) // there is no hole + // if( num_hole( x0, x0+dx/2, y0, y0+dy/2,box1->p,cs,NULL) == 0 ) // except in some beauty fonts + if (sdata->holes.num>0) + if (sdata->holes.hole[0].x1 >= dx/2 || sdata->holes.hole[0].y1 >= dy/2) + Break; + Setac(box1,(wchar_t)'3',ad); + if (ad==100) return '3'; + break; + } + // --- test 4 --------------------------------------------------- 25Nov06 + for(ad=d=100;dy>3 && dx>2;){ // min 3x4 ~holes.num > 1) Break; /* no or one hole */ + /* half distance to the center */ + d=2*sq(128/4); /* 2048 */ + /* now we check for the lower left end, must be far away */ + /* lowest is 144 for 9x10 screen font (Apr2009) */ + if (aa[1][2]num_frame_vectors[0] - 1; + /* leftmost upper point */ + i1=nearest_frame_vector(box1, 0, i, x0, y0-dy); + /* lowest from leftmost vector can be very low (20/23) */ + i2=nearest_frame_vector(box1, 0, i, x0-2*dx, (y0+7*y1)/8); + /* lowest vector */ + i4=nearest_frame_vector(box1, 0, i, (x0+2*x1)/3, y1+dy); + /* right center crossing point */ + i3=nearest_frame_vector(box1, i2, i4, x1, (3*y0+y1)/4); + /* get a point on the outer right side below top serif */ + /* next local max_y-point after i4 */ + i5=i4; + for (i=i4;i!=i2;i=(i+1)%box1->num_frame_vectors[0]) { + if (box1->frame_vector[ i][1] + frame_vector[i5][1]) i5=i; // get next maximum + if (box1->frame_vector[ i][1] + >box1->frame_vector[i5][1]+1) break; // break after maximum + if (box1->frame_vector[ i][0]num_frames>1) { // type C D + i = box1->num_frame_vectors[0] - 1; // end outer loop + j = box1->num_frame_vectors[1] - 1; // end inner loop + if (box1->num_frames>2) { // see font2.png, 2nd one pixel hole + j = box1->num_frame_vectors[2] - 1; // end inner loop + ad=99*ad/100; // little bit unsure + } + i6=nearest_frame_vector(box1, i+1, j, x1, y1); + i7=nearest_frame_vector(box1, i+1, j, x0, y1); + if (box1->frame_vector[i1][0] + -box1->frame_vector[i2][0]frame_vector[i ][0]-x0frame_vector[i ][1]-y07) ad=97*ad/100; // q + + } else { // type A B + i6=nearest_frame_vector(box1, i5, i1, (x0+3*x1)/4, y1-dy/8); + i7=nearest_frame_vector(box1, i5, i1, x0 , y1-dy/8); + MSG(fprintf(stderr,"open type");) + if (box1->frame_vector[i6][1]-y0>3*dy/4 + || box1->frame_vector[i7][1]-y0>3*dy/4) ad=96*ad/100; // ~uU + } + // ToDo: output no=(x,y) + MSG(fprintf(stderr,"i1-7 %d %d %d %d %d %d %d",i1,i2,i3,i4,i5,i6,i7);) + if (i5==i6) Break; // ~+ + + if (box1->frame_vector[i1][1]>y0+dy/8) Break; // not to low + if (box1->frame_vector[i2][1] + -box1->frame_vector[i1][1]frame_vector[i3][0] + -box1->frame_vector[i2][0]frame_vector[i3][1] + -box1->frame_vector[i2][1])>dy/4) Break; + if (box1->frame_vector[i2][0]>x0+dx/8) Break; + if (box1->frame_vector[i2][1]>y1-dy/8) Break; + if (box1->frame_vector[i4][1] + -box1->frame_vector[i2][1]frame_vector[i4][1] + -box1->frame_vector[i2][1]frame_vector[i4][1] + -box1->frame_vector[i3][1]<1+dy/16) Break; + if ((box1->frame_vector[i4][1] + -box1->frame_vector[i3][1])*2<= + (box1->frame_vector[i3][1] + -box1->frame_vector[i6][1])) Break; // 090728 gas_meter (flat-ulike) + if ((box1->frame_vector[i4][1] + -box1->frame_vector[i3][1])< + (box1->frame_vector[i3][1] + -box1->frame_vector[i6][1])) ad=99*ad/100; + if (box1->frame_vector[i4][1] + -box1->frame_vector[i3][1]frame_vector[i4][1] + -box1->frame_vector[i3][1]frame_vector[i4][1]frame_vector[i3][0]frame_vector[i3][0]frame_vector[i3][1]>y1-1) Break; + if (box1->frame_vector[i3][1]>y1-dy/16) Break; + if (box1->frame_vector[i3][1]>=y1) Break; // ~5x5# + if (box1->frame_vector[i5][0]frame_vector[i5][1]>y0+2*dy/3) Break; + if (box1->frame_vector[i6][1] + -box1->frame_vector[i5][1]<1+dy/16) Break; + if (box1->frame_vector[i6][0]frame_vector[i7][0]>x0+dx/2) Break; + if (box1->frame_vector[i7][0]>x0+dx/3) ad=ad*99/100; + if (box1->frame_vector[i6][1]frame_vector[i6][0]frame_vector[i6][0]=y1-1-dy/8) ad=96*ad/100; // ~ 42 + if (box1->frame_vector[i7][1]frame_vector[i3][1] + -box1->frame_vector[i2][1])>dy/4) Break; + + /* check if upper left and lower left points are joined directly */ + ld=line_deviation(box1, i1, i2); + MSG(fprintf(stderr," i1-i2 %d %d dist= %d/%d",i1,i2,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i2, i3); + MSG(fprintf(stderr," i2-i3 %d %d dist= %d/%d",i2,i3,ld,2*sq(1024/4));) + if (ld > sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i3, i4); + MSG(fprintf(stderr," i3-i4 %d %d dist= %d/%d",i3,i4,ld,2*sq(1024/4));) + if (ld > sq(1024/4)) Break; + /* check if lower right and upper right points are joined directly */ + ld=line_deviation(box1, i6, i7); + MSG(fprintf(stderr," i6-i7 %d %d dist= %d/%d",i6,i7,ld,2*sq(1024/4));) + if (ld >2*sq(1024/4)) Break; + + // 4 exists as gchar and ~gchar + if(!hchar){ ad=99*ad/100; } + Setac(box1,'4',ad); + break; + } +#ifdef Old_pixel_based + // --- old test 4 pixelbased ------- remove! + for(ad=d=100;dx>3 && dy>5;){ // dy>dx, min 4x6 font + DBG( char c_ask='4'; ) + if (sdata->holes.num > 2) Break; /* be tolerant */ + if (sdata->holes.num > 1) ad=97*ad/100; + // upper raising or vertical line + if( loop(bp,0 ,3*dy/16,dx,cs,0,RI) + < loop(bp,0 ,2*dy/4 ,dx,cs,0,RI)-dx/8 ) Break; + // search for a vertical line on lower end + for (y=0;y= dx/2 ) break; + if (y>=dy/4) Break; + if( loop(bp,0 ,dy-1-dy/8,dx,cs,0,RI) < dx/4 ) Break; + // --- follow line from (1,0) to (0,.7) + y=0; x=loop(bp,0,0,dx,cs,0,RI); + if (x<=dx/4) { // ocr-a-4 + i=loop(bp,0,dy/4,dx,cs,0,RI); if (i>dx/4) Break; + i=loop(bp,i,dy/4,dx,cs,1,RI); if (i>dx/2) Break; + j=loop(bp,i,dy/4,dy,cs,0,DO)+dy/4; if (j>7*dy/8) Break; + } + turmite(bp,&x,&y,0,dx-1,0,dy-1,cs,DO,LE); if( x>=0 ) Break; + + y=loop(bp,0,0,dy,cs,0,DO); + if( (y+loop(bp,0,y,dy,cs,1,DO)) < dy/2 ) Break; + if( get_bw(x0 , x0+3*dx/8, y1-dy/7, y1-dy/7,box1->p,cs,1) == 1 ) Break; + if( get_bw(x0+dx/2, x1 , y1-dy/3, y1-dy/3,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2, x0+dx/2, y0+dy/3, y1-dy/5,box1->p,cs,1) != 1 ) Break; + i=loop(bp,bp->x-1, bp->y/4,dx,cs,0,LE); + if( i > loop(bp,bp->x-1,2*bp->y/4,dx,cs,0,LE)+1 + && i > loop(bp,bp->x-1,3*bp->y/8,dx,cs,0,LE)+1 ) Break; + if (loop(bp,0,0,dx,cs,0,RI)>dx/4) { + for(i=dx/8+1,x=0;x15 && i ) Break; + for(i=dy/10+1,y=dy-1-dy/4;yp,cs,NULL); + // ToDo: + // - get start and endpoint of left edge of left vert. line + // and check if that is an streight line + // - check the right edge of the inner hole (if there) too + i4 = sdata->holes.num; + if (sdata->holes.num >0) { // ~q + i = loop(bp,0,dy/16,dx,cs,0,RI); + if (i < dx/3) Break; + if (i < dx/2) ad=98*ad/100; // hole? + if ( loop(bp, 0,dy-1,dy,cs,0,UP) + -loop(bp,dx/8+1,dy-1,dy,cs,0,UP)>dy/16) ad=97*ad/100; + } + // thickness of left vertical line + for (j=y=0;yj) j=i; + } + if (j>=dx/2) ad=98*ad/100; // ~q handwritten a (or very thinn 4) + // ToDo: check y of masscenter of the hole q4 + + if( i4 ) if( dx > 15 ) + if( loop(bp, dx/2, 0,dy,cs,0,DO)3*dx/4 + && i-loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE)>dx/4 ) Break; + + i =loop(bp,dx-1-dx/4,dy-1,dx,cs,0,UP); + if (i> dy/2) ad=97*ad/100; + if (i>3*dy/4) ad=97*ad/100; /* handwritten n */ + + if( num_cross(0 ,dx-1,dy/16 ,dy/16 , bp,cs) == 2 // ~9 + && loop(bp,dx-1,dy/16 ,dx,cs,0,LE)> + loop(bp,dx-1,dy/16+1+dy/32,dx,cs,0,LE) ) Break; + if ( !hchar) ad=99*ad/100; + if (gchar && !hchar) ad=98*ad/100; // ~q + Setac(box1,(wchar_t)'4',ad); + if (ad>99) bc='4'; + break; + } +#endif + // --- test 6 ------- ocr-a-6 looks like a b :( + for(ad=d=100;dx>3 && dy>4;){ // dy>dx + DBG( char c_ask='6'; ) + if (sdata->holes.num > 2) Break; /* be tolerant */ + if( loop(bp, 0, dy/4,dx,cs,0,RI)>dx/2 // ocr-a=6 + && loop(bp,dx-1, 0,dy,cs,0,DO)>dy/4 ) Break; // italic-6 + if( loop(bp, 0, dy/2,dx,cs,0,RI)>dx/4 ) Break; + if( loop(bp, 0,3*dy/4,dx,cs,0,RI)>dx/4 ) Break; + if( loop(bp,dx-1,3*dy/4,dx,cs,0,LE)>dx/2 ) Break; + if( num_cross(x0+ dx/2,x0+ dx/2,y0 ,y1 ,box1->p,cs) != 3 + && num_cross(x0+5*dx/8,x0+5*dx/8,y0 ,y1 ,box1->p,cs) != 3 ) { + if( num_cross(x0+ dx/2,x0+ dx/2,y0+dy/4,y1 ,box1->p,cs) != 2 + && num_cross(x0+5*dx/8,x0+5*dx/8,y0+dy/4,y1 ,box1->p,cs) != 2 ) Break; + // here we have the problem to decide between ocr-a-6 and b + if ( loop(box1->p,(x0+x1)/2,y0,dy,cs,0,DO)p,x0+dx/2,y0,dx,cs,0,DO)>dy/8 + && loop(box1->p,x1-dx/4,y0,dx,cs,0,DO)>dy/8 ) Break; + } + if( num_cross(x0 ,x1 ,y1-dy/4,y1-dy/4,box1->p,cs) != 2 ) Break; + for( y=y0+dy/6;yp,x1 ,y ,dx,cs,0,LE); if( x>dx/2 ) break; + x+=loop(box1->p,x1-x+1,y-1,dx,cs,0,LE); if( x>dx/2 ) break; + } if( y>=y0+dy/2 ) Break; + if (loop(box1->p,x0,y1-dy/3,dx,cs,0,RI)>dx/4 ) Break; + if (loop(box1->p,x1,y1-dy/3,dx,cs,0,LE)>dx/4 ) Break; + + if (sdata->holes.num != 1) Break; + if (sdata->holes.hole[0].y1 < dy/2) ad=95*ad/100; // whats good for? + if (sdata->holes.hole[0].y0 < dy/4) Break; + MSG( fprintf(stderr,"hole[0].x0,x1 %d %d", sdata->holes.hole[0].x0, + sdata->holes.hole[0].x1); ) + if (sdata->holes.hole[0].x0<1 + && dx-1-sdata->holes.hole[0].x1>2) ad=ad*99/100; // melted serif sS ? + if (loop(box1->p,x0,y0+dy/2,dx,cs,0,RI)>0 + && loop(box1->p,x0,y0+dy/4,dx,cs,0,RI)==0 + && loop(box1->p,x0,y1-dy/4,dx,cs,0,RI)==0) ad=97*ad/100; // molten serif sS +// if( num_hole ( x0, x1, y0, y0+dy/2,box1->p,cs,NULL) > 0 ) ad=95*ad/100; +// if( num_hole ( x0, x1, y0+dy/4, y1,box1->p,cs,NULL) != 1 ) Break; +// if( num_hole ( x0, x1, y0 , y1,box1->p,cs,NULL) != 1 ) Break; +// out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + /* check left vertical bow */ + i1=loop(bp,0,dy/8 ,dx,cs,0,RI); + i3=loop(bp,0,dy-1-dy/8,dx,cs,0,RI); + i2=loop(bp,0,dy/2 ,dx,cs,0,RI); + if(i1+i3-2*i2<-2-dx/16 && i1+i2+i3>0) Break; // convex from left + if(i1+i3-2*i2<1 && i1+i2+i3>0) ad=99*ad/100; // 7-segment-font + for( x=dx,y=0;ydx/2 && i2>dx/4) break; /* its a 6 (example: 7-segment) */ + if (i1x) break; /* may be serifen b */ + } if (y 1 ) i++; if( i>dy/8 ) break; + } if( ydots ) ad=98*ad/100; + Setac(box1,(wchar_t)'6',ad); + bc='6'; + break; + } + // --- test 7 --------------------------------------------------- + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( char c_ask='7'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( loop(bp,dx/2,0,dy,cs,0,DO)>dy/8 ) Break; + if( num_cross(0,dx-1,3*dy/4,3*dy/4,bp,cs) != 1 ) Break; // preselect + for( yb=xb=y=0;y0 && j>dx/4) break; // gap after h-line + j=loop(bp,j,y,dx,cs,1,RI);if(j>xb){ xb=j;yb=y; } // h-line + } if( xbx ) x=j-1; + } if( yj) Break; + j=loop(bp, 0,j,dx,cs,0,RI); + if(j>dx/4 && j<=i+dx/16) Break; // tall T + } + + MSG( fprintf(stderr,"7: ad= %d",ad); ) + if( loop(bp, 0,3*dy/8,dx,cs,0,RI) + <=loop(bp,dx-1,3*dy/8,dx,cs,0,LE)+dx/8 ) ad=ad*98/100; // l + MSG( fprintf(stderr,"7: ad= %d",ad); ) + if( num_cross(0,dx-1,dy/4,dy/4,bp,cs) == 1 + && loop(bp,0,dy/4,dx,cs,0,RI) < dx/2 ) ad=ad*96/100; // J + MSG( fprintf(stderr,"7: ad= %d",ad); ) + + if (box1->m3 && dym3-box1->m2) ad=99*ad/100; // too small + if (box1->m3 && 2*dym3-box1->m2) ad=96*ad/100; // too small + if (dy>3*dx) ad=99*ad/100; // ) + if ( gchar) ad=99*ad/100; // J + if (!hchar) ad=99*ad/100; + Setac(box1,(wchar_t)'7',ad); + break; + } + // --- test 8 --------------------------------------------------- + // last change: May15th,2000 JS + for(ad=d=100;dx>2 && dy>4;){ // or we need large height + DBG( char c_ask='8'; ) + if (sdata->holes.num != 2) Break; + if( num_cross(x0,x1,y0 +dy/4,y0 +dy/4,box1->p,cs) != 2 ) Break; // ~gr (glued) + if( num_cross(x0,x1,y1 -dy/4,y1 -dy/4,box1->p,cs) != 2 + && num_cross(x0,x1,y1-3*dy/8,y1-3*dy/8,box1->p,cs) != 2 ) Break; + if( get_bw(x0,x0+dx/4,y1-dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; // ~9 + if( get_bw(x0,x0+dx/2,y0+dy/4,y0+dy/4,box1->p,cs,1) == 0 ) Break; + if( get_bw(x0+dx/2,x0+dx/2,y0+dy/4,y1-dy/4,box1->p,cs,1) == 0 ) Break; // ~0 +// MSG( printf(" x0 y0 %d %d\n",x0,y0); ) + for( i2=i1=x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // check left middle nick + j=loop(box1->p,x0,y,dx,cs,0,RI); + if (j>x || (abs(j-x)<=dx/8 /* care about MICR E-13B font */ + && (i1=loop(box1->p,x0+j,y,dx,cs,1,RI))>dx/2)) { + if (j>x) x=j; i=y; if (i1>i2) i2=i1; } + } if(i>=y1-dy/3 || (xdx/2) Break; // no gB + if (x< dx/4) ad=99*ad/100; // no B + if (x<=dx/8) ad=98*ad/100; // no B + j = loop(box1->p,x1,y1- dy/4,dx,cs,0,LE); + if( j>loop(box1->p,x1,y1- dy/5,dx,cs,0,LE) + && j>loop(box1->p,x1,y1-2*dy/5,dx,cs,0,LE) ) Break; // & + // check for upper hole + for (j=0;jholes.num;j++) { + if (sdata->holes.hole[j].y1 < i-y0+1 ) break; + if (sdata->holes.hole[j].y1 < i-y0+dy/8) break; + } if (j==sdata->holes.num) Break; // not found + // if( num_hole(x0,x1,y0,i+1 ,box1->p,cs,NULL)!=1 ) + // if( num_hole(x0,x1,y0,i+dy/8,box1->p,cs,NULL)!=1 ) Break; // upper hole + // check for lower hole + for (j=0;jholes.num;j++) { + if (sdata->holes.hole[j].y0 > i-y0-1 ) break; + } if (j==sdata->holes.num) Break; // not found + // if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=1 ) Break; + i1=i; // left middle nick + /* find the middle right nick */ + for( x=0,i2=i=y=y0+dy/3;y<=y1-dy/3;y++){ + j=loop(box1->p,x1,y,dx,cs,0,LE); if( j>=x ) i2=y; + /* we care also for 7-segment and unusual fonts */ + if (j>x || (abs(j-x)<=(dx+4)/8 + && loop(box1->p,x1-j,y,dx,cs,1,LE)>dx/2)){ + if (j>x) x=j; i=y; } + // MSG(fprintf(stderr," yjix %d %d %d %d %d %d",y-y0,j,i-y0,x,loop(box1->p,x1-j,y,dx,cs,1,LE),dx/2);) + } + if( i>y0+dy/2+dy/10 ) Break; + // if( xdx/2 ) Break; + MSG(fprintf(stderr,"center bar at y= %d %d x=%d+%d i1=%d",i-y0,i2-y0,x,j,i1);) + if( num_cross(x0,x1, i , i ,box1->p,cs) != 1 + && num_cross(x0,x1, i+1 , i+1 ,box1->p,cs) != 1 + && num_cross(x0,x1,(i+i2)/2,(i+i2)/2,box1->p,cs) != 1 ) Break; // no g + if(abs(i1-i)>(dy+5)/10) ad=99*ad/100; // y-distance right-left-nick + if(abs(i1-i)>(dy+4)/8) ad=99*ad/100; // y-distance right-left-nick + if(abs(i1-i)>(dy+2)/4) Break; + // ~B ff + for(i=dx,y=0;yi+dx/16 ) break; + } if( yi+dx/16 ) break; + } if( y16 && num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + && loop(bp,0,dy-1,dx,cs,0,RI) 2 ) i++; if( i>dy/8 ) break; + } if( y 1) ad=98*ad/100; // & + if (num_cross(dx-1,dx-1,dy/2,dy-1,bp,cs) > 1) ad=98*ad/100; // & + if (num_cross( 0,dx-1, 0, 0,bp,cs) > 1) ad=98*ad/100; + if (dy>15) + if (num_cross( 0,dx-1, 1, 1,bp,cs) > 1) ad=98*ad/100; + /* if m1..4 is unsure ignore hchar and gchar ~ga */ + if (!hchar) { + if ((box1->m2-box1->y0)*8>=dy) ad=98*ad/100; + else ad=99*ad/100; + } + if ( gchar + && (box1->y1-box1->m3)*8>=dy) ad=99*ad/100; + Setac(box1,(wchar_t)'8',ad); + break; + } + // --- test 9 \it g --------------------------------------------------- + /* + * + * lcd micr round + * ooo ooo ooo + * o o o o o o + * ooo ooo ooo + * o o o + * ooo o o + */ + for(ad=d=100;dx>2 && dy>4;){ // dx>1 dy>2*dx + DBG( char c_ask='9'; ) + if (sdata->holes.num > 1) Break; + if( num_cross(x0+ dx/2,x0+ dx/2,y0,y1-dy/4,box1->p,cs) != 2 // pre select + && num_cross(x0+ dx/2,x0+ dx/2,y0, y1,box1->p,cs) != 3 // pre select + && num_cross(x0+3*dx/8,x0+3*dx/8,y0,y1,box1->p,cs) != 3 + && num_cross(x0+ dx/4,x1 -dx/4,y0,y1,box1->p,cs) != 3 ) Break; + if( num_cross(x0+ dx/2,x0 +dx/2,y0,y0+dy/4,box1->p,cs) < 1 ) Break; + if( num_cross(x0+ dx/2,x1, y0+dy/2 ,y0+dy/2,box1->p,cs) < 1 ) Break; + if( num_cross(x0,x1, y0+ dy/4 ,y0+ dy/4,box1->p,cs) != 2 + && num_cross(x0,x1, y0+3*dy/8 ,y0+3*dy/8,box1->p,cs) != 2 ) Break; + if( num_cross(x1-dx/8,x1,y0+dy/4,y0+dy/4,box1->p,cs) == 0) ad=ad*97/100; // ~4 + for( x=0,i=y=y0+dy/2;y<=y1-dy/4;y++){ // find notch (suche kerbe) + j=loop(box1->p,x0,y,dx,cs,0,RI); + if( j>x ) { x=j; i=y; } + } if (x<1 || xp,x0+x-1,y,dy/8+1,cs,0,DO)/2; y=i=y+j; + j=loop(box1->p,x0+x-1,y,dx/2 ,cs,0,RI); x+=j; + if (x5) + if( num_cross(x0+dx/2,x1,i,y1 ,box1->p,cs) != 1 /* fails on 5x8 */ + && num_cross(x0+dx/2,x1,i,y1-dy/8,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/2,x0+dx/2,i,y1,box1->p,cs) > 1 ) Break; + if( num_cross(x0+dx/2,x1 ,i, i,box1->p,cs) != 1 ) Break; + + if (sdata->holes.num < 1) { /* happens for 5x7 font */ + if (dx<8) ad=98*ad/100; else Break; } + else { + if (sdata->holes.hole[0].y1 >= i+1) Break; + if (sdata->holes.hole[0].y0 > i-1) Break; + if (sdata->holes.num > 1) + if (sdata->holes.hole[1].y0 > i-1) Break; + // if( num_hole(x0,x1,y0,i+1,box1->p,cs,NULL)!=1 ) Break; + // if( num_hole(x0,x1,i-1,y1,box1->p,cs,NULL)!=0 ) Break; + } + if( loop(box1->p,x0,y1 ,dy,cs,0,RI)>dx/3 && + loop(box1->p,x0,y1-1,dy,cs,0,RI)>dx/3 + && (box1->m3==0 || (box1->m3!=0 && (!hchar || gchar)))) ad=98*ad/100; // no q OR ocr-a-9 + for( x=0,i=y=y0+dy/3;y<=y1-dy/3;y++){ // suche kerbe + j=loop(box1->p,x1,y,dx,cs,0,LE); + if( j>x ) { x=j; i=y; } + } if( x>dx/2 ) Break; // no g + i1=loop(bp,dx-1,dy/8 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + i2=loop(bp,dx-1,dy/2 ,dx,cs,0,LE); if(i1+i3-2*i2<-1-dx/16) Break; // konvex + i1=loop(bp,dx-1,dy/4 ,dx,cs,0,LE); if(i1>dx/2) Break; + i3=loop(bp,dx-1,dy-1-dy/8,dx,cs,0,LE); + for(y=dy/4;yi1+(i3-i1)*(2*y-dy/2)/dy+dx/16) break; + // MSG(fprintf(stderr," y i2 %d %d %d",y,i2,i1+(i3-i1)*(2*y-dy/2)/dy);) + } if(y0){ + x--; // robust + y=loop(bp,dx-x-1, dy-1,dy,cs,0,UP); + if(y=16 && dx>9 + && loop(bp, 0,dy/ 4,dx,cs,0,RI) + -loop(bp, 0,dy/16,dx,cs,0,RI)>dx/6 + && loop(bp,dx-1,dy/ 4,dx,cs,0,LE) + -loop(bp,dx-1,dy/16,dx,cs,0,LE)>dx/6) Break; // ~ serif yY + + if (box1->m3) { + if ( gchar) ad=99*ad/100; /* unsure (italic g)? */ + if (box1->m2 && (!gchar) && y1 > box1->m3){ + ad=99*ad/100; + if (box1->m4-box1->m3<3) ad=99*ad/100; + // if (!hchar) ad = 99*ad/100; + } + if (!hchar) ad=99*ad/100; /* unsure */ + } else { if (ad==100) ad=99; } /* not 100% sure */ + Setac(box1,(wchar_t)'9',ad); + break; + } + // 0 is same as O !? + // --- test 0 (with one big hole in it ) ----------------------------- + for(d=ad=100;dx>2 && dy>3;){ // min 3x4 + DBG( char c_ask='0'; ) + if (sdata->holes.num > 1) Break; /* be tolerant */ + if( get_bw(x0 , x0+dx/3,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/3 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + /* could be an O, unless we find a dot in the center */ + if( get_bw(x0 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 3 ) ad=99; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/3 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/3,box1->p,cs,1) != 1 ) Break; + /* accept 0 with dot in center, accept \/0 too ... */ + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 0 ) Break; + + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 2 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 1 ) Break; + if (sdata->holes.num != 1) Break; + + i= loop(bp,0 ,0 ,x1-x0,cs,0,RI)- + loop(bp,0 ,2 ,x1-x0,cs,0,RI); + if (i<0) Break; + if (i==0) { + if (loop(bp,dx-1,0 ,x1-x0,cs,0,LE)> + loop(bp,dx-1,2 ,x1-x0,cs,0,LE) ) ad=98*ad/100; + ad=99*ad/100; /* LCD-type? */ + } + + x=loop(bp,dx-1,dy-1-dy/3,x1-x0,cs,0,LE); // should be minimum + for (y=dy-1-dy/3;yx) x=i; + } + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) { + if (dx<32) ad=ad*99/100; else Break; // ~D + } + + // search lowest inner white point + for(y=dy,j=x=0;x 1 ) ad=99*ad/100; // ~a \it a + + if (loop(bp, 0, 0,x1-x0,cs,0,RI)>=dx/8) { // round, notLCD + if (loop(bp,dx-1,dy-1,x1-x0,cs,0,LE)dy/8 + || num_cross(0,dx-1, 0, 0,bp,cs) > 1 + || num_cross(0,dx-1,dy-1,dy-1,bp,cs) > 1 + ) ad=98*ad/100; // ~bq + + if (box1->m3) { + if (!hchar) ad=98*ad/100; else // ~o + if ( gchar) ad=99*ad/100; // wrong line detection? + } else { if (ad==100) ad=99; } /* not 100% sure */ + if (ad>99) ad=99; /* we can never be sure having a O, + let context correction decide, see below! */ + Setac(box1,(wchar_t)'0',ad); + break; + } + // --- test 0 with a straight line in it ------------------- + for(ad=100;dx>4 && dy>5;){ /* v0.3.1+ */ + DBG( char c_ask='0'; ) + if (sdata->holes.num > 3) Break; /* be tolerant */ + if (sdata->holes.num < 1) Break; + if (sdata->holes.num != 2) ad=95*ad/100; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 1 ) Break; + // out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 3 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + if (sdata->holes.num != 2) ad=85*ad/100; + + if( loop(bp,0 , 0,x1-x0,cs,0,RI)<= + loop(bp,0 , 2+dy/32,x1-x0,cs,0,RI) ) Break; + x= loop(bp,0 ,dy/2 ,x1-x0,cs,0,RI); + i= loop(bp,0 ,dy/2-1,x1-x0,cs,0,RI); if (i>x) x=i; + i= loop(bp,0 ,dy/2-2,x1-x0,cs,0,RI); if (i>x && dy>8) x=i; + if( loop(bp,0 , dy/4,x1-x0,cs,0,RI)x) x=i; + i= loop(bp,dx-1,dy/2-1,x1-x0,cs,0,LE); if(i>x && dy>8) x=i; + if( loop(bp,dx-1,3*dy/4,x1-x0,cs,0,LE)x) x=i; + } + if( ydy/4) Break; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,1,UP); if(y>dy/3) Break; if (y>dy/4) ad=ad*99/100; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,0,UP); if(3*y>2*dy) Break; + x =loop(bp,dx/2,dy-y,dx/2,cs,0,RI); if(x==0) Break; + // MM; fprintf(stderr," y=%d x=%d\n",y-1,x); + if( loop(bp,dx/2+x-1-dx/16,dy-y,y1-y0,cs,0,UP)==0 ) Break; + // $ + for(i=0,y=dy/4;y dx/4 + || loop(bp,dx-1,y,dx-1,cs,0,LE) > dx/4 ) break; + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + /* 5x9 font "9" is like "0" */ + if (dx<16) + if ( num_cross(x0,x0,y0,y1,box1->p,cs) != 1 ) ad=98*ad/100; + + // italic a + for(i=0,y=6*dy/8;y 2 ) i++; else i--; + if(i>0) ad=ad*98/100; // ~'a' \it a + if( !hchar ) ad=90*ad/100; + Setac(box1,(wchar_t)'0',ad); + break; + } + // --- test 0 with a straight dot in it ------------------- + for(ad=100;dx>4 && dy>5;){ /* v0.46+ */ + DBG( char c_ask='0'; ) + if (sdata->holes.num != 1) Break; /* do not be tolerant */ + if (sdata->box1->num_frames != 2) ad=85*ad/100; + if( get_bw(x0 , x0+dx/2,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x1-dx/2 , x1 ,y0+dy/2 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y1-dy/2 , y1,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0 , y0+dy/2,box1->p,cs,1) != 1 ) Break; + if( get_bw(x0+dx/2 , x0+dx/2,y0+dy/3 , y1-dy/3,box1->p,cs,1) != 1 ) Break; + // out_x(box1); printf(" x0 y0 %d %d\n",x0,y0); + if( num_cross(x0+dx/2,x0+dx/2,y0 , y1 ,box1->p,cs) != 3 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y0 , y0 ,box1->p,cs) != 1 ) // AND + if( num_cross(x0+dx/3,x1-dx/3,y0+1 , y0+1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0+dx/3,x1-dx/3,y1 , y1 ,box1->p,cs) != 1 ) // against "rauschen" + if( num_cross(x0+dx/3,x1-dx/3,y1-1 , y1-1 ,box1->p,cs) != 1 ) Break; + if( num_cross(x0 ,x0 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x0+1 ,x0+1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + if( num_cross(x1 ,x1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) + if( num_cross(x1-1 ,x1-1 ,y0+dy/3 , y1-dy/3,box1->p,cs) != 1 ) Break; + // if( num_hole(x0,x1,y0,y1,box1->p,cs,NULL) != 2 ) Break; + + if( loop(bp,0 , 0,x1-x0,cs,0,RI)<= + loop(bp,0 , 2+dy/32,x1-x0,cs,0,RI) ) Break; + x= loop(bp,0 ,dy/2 ,x1-x0,cs,0,RI); + i= loop(bp,0 ,dy/2-1,x1-x0,cs,0,RI); if (i>x) x=i; + i= loop(bp,0 ,dy/2-2,x1-x0,cs,0,RI); if (i>x && dy>8) x=i; + if( loop(bp,0 , dy/4,x1-x0,cs,0,RI)x) x=i; + i= loop(bp,dx-1,dy/2-1,x1-x0,cs,0,LE); if(i>x && dy>8) x=i; + if( loop(bp,dx-1,3*dy/4,x1-x0,cs,0,LE)x) x=i; + } + if( ydy/4) Break; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,1,UP); if(y>dy/3) Break; if (y>dy/4) ad=ad*99/100; + y+=loop(bp,dx/2,dy-1-y,y1-y0,cs,0,UP); if(3*y>2*dy) Break; + x =loop(bp,dx/2,dy-y,dx/2,cs,0,RI); if(x==0) Break; + // MM; fprintf(stderr," y=%d x=%d\n",y-1,x); + if( loop(bp,dx/2+x-1-dx/16,dy-y,y1-y0,cs,0,UP)==0 ) Break; + // $ + for(i=0,y=dy/4;y dx/4 + || loop(bp,dx-1,y,dx-1,cs,0,LE) > dx/4 ) break; + if( ydx/8 ) + if( loop(bp,0 , dy/16,dx,cs,0,RI)dx/8 ) + if( loop(bp,0 ,dy-1-dy/16,dx,cs,0,RI)p,cs,1) == 0 + && get_bw(x1-dx/32,x1,y1-dy/32,y1,box1->p,cs,1) == 0 + && ( get_bw(x0,x0+dx/32,y0,y0+dy/32,box1->p,cs,1) == 1 + || get_bw(x0,x0+dx/32,y1-dy/32,y1,box1->p,cs,1) == 1 ) ) Break; // ~D + + /* 5x9 font "9" is like "0" */ + if (dx<16) + if ( num_cross(x0,x0,y0,y1,box1->p,cs) != 1 ) ad=98*ad/100; + + // italic a + for(i=0,y=6*dy/8;y 2 ) i++; else i--; + if(i>0) ad=ad*98/100; // ~'a' \it a + if( !hchar ) ad=90*ad/100; + Setac(box1,(wchar_t)'0',ad); + break; + } + return box1->c; +} diff --git a/3rdparty/gocr-0.48/src/ocr1.c b/3rdparty/gocr-0.48/src/ocr1.c new file mode 100644 index 0000000..9104034 --- /dev/null +++ b/3rdparty/gocr-0.48/src/ocr1.c @@ -0,0 +1,85 @@ +// test routines - faster to compile +#include +#include +#include "pgm2asc.h" +#include "unicode.h" +#include "amiga.h" +#include "gocr.h" + +// for learn_mode/analyze_mode high, with, yoffset, num of pattern_i, +// - holes (center,radius in relative coordinates) etc. => cluster analyze +// num_hole => min-volume, tolerance border +// pattern: @@ @. @@ +// .@ @. .. +// regular filter for large resolutions to make edges more smooth (on boxes) +// extra-filter (only if not recognized?) +// map + same color to (#==change) +// - anti color +// . not used +// strongest neighbour pixels (3x3) => directions +// second/third run with more and more tolerance!? + +/* FIXME jb: following is unused */ +#if 0 +struct lobj { // line-object (for fitting to near lines) + int x0,y0; // starting point (left up) + int x1,y1; // end point (right down) + int mt; // minimum thickness + int q; // quality, overlapp +}; + +/* FIXME jb global */ +struct lobj obj1; +#endif + +// that is the first draft of feature extraction +// detect main lines and bows +// seems bad implemented, looking for better algorithms (ToDo: use autotrace) +#define MAXL 10 +void ocr2(pix *b,int cs){ + int x1,y1,x2,y2,l,i,j,xa[MAXL],ya[MAXL],xb[MAXL],yb[MAXL],ll[MAXL]; + for(i=0;ix;x1++) // very slowly, but simple to program + for(y1=0;y1y;y1++) // brute force + for(x2=0;x2x;x2++) + for(y2=y1+1;y2y;y2++) + { + if( get_line2(x1,y1,x2,y2,b,cs,100)>99 ) + { // line ??? + l=(x2-x1)*(x2-x1)+(y2-y1)*(y2-y1); // len + for(i=0;ix/2 + && abs(y1+y2-ya[i]-yb[i])<1+b->y/2 + && abs(y1-ya[i])<1+b->y/4 + && abs(x1-xa[i])<1+b->x/4 + ) + { + if( l>ll[i] ) + { + for(j=i;jll[i] ){ // insert if larger + for(j=MAXL-1;j>i;j--){ // shift table + xa[j]=xa[j-1];ya[j]=ya[j-1]; + xb[j]=xb[j-1];yb[j]=yb[j-1];ll[j]=ll[j-1]; + } + xa[i]=x1;ya[i]=y1;xb[i]=x2;yb[i]=y2;ll[i]=l; + break; + } + } + } + } + for(i=0;i + + The algorithm is very simple but works good hopefully. + + Compare the grayscale histogram with a mass density diagram: + I think the algorithm is a kind of + divide a body into two parts in a way that the mass + centers have the largest distance from each other, + the function is weighted in a way that same masses have a advantage + + - otsu algorithm is failing on diskrete multi color images + + TODO: + RGB: do the same with all colors (CMYG?) seperately + + test: hardest case = two colors + bbg: test done, using a two color gray file. Output: + # threshold: Value = 43 gmin=43 gmax=188 + + my changes: + - float -> double + - debug option added (vvv & 1..2) + - **image => *image, &image[i][1] => &image[i*cols+1] + - do only count pixels near contrast regions + this makes otsu much better for shadowed fonts or multi colored text + on white background + + (m) Joerg Schulenburg (see README for email address) + + ToDo: + - measure contrast + - detect low-contrast regions + + */ + +#include +#include + +#define Abs(x) ((x<0)?-(x):x) + +/*======================================================================* + * global thresholding routine * + * takes a 2D unsigned char array pointer, number of rows, and * + * number of cols in the array. returns the value of the threshold * + * x0,y0,x0+dx,y0+dy are the edgepoints of the interesting region * + * vvv is the verbosity for debugging purpose * + *======================================================================*/ +int +otsu (unsigned char *image, int rows, int cols, + int x0, int y0, int dx, int dy, int vvv) { + + unsigned char *np; // pointer to position in the image we are working with + unsigned char op1, op2; // predecessor of pixel *np (start value) + int maxc=0; // maximum contrast (start value) + int thresholdValue=1; // value we will threshold at + int ihist[256]; // image histogram + int chist[256]; // contrast histogram + + int i, j, k; // various counters + int is, i1, i2, ns, n1, n2, gmin, gmax; + double m1, m2, sum, csum, fmax, sb; + + // zero out histogram ... + memset(ihist, 0, sizeof(ihist)); + memset(chist, 0, sizeof(chist)); + op1=op2=0; + + gmin=255; gmax=0; k=dy/512+1; + // v0.43 first get max contrast, dont do it together with next step + // because it failes if we have pattern as background (on top) + for (i = 0; i < dy ; i+=k) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + ihist[*np]++; + if(*np > gmax) gmax=*np; + if(*np < gmin) gmin=*np; + if (Abs(*np-op1)>maxc) maxc=Abs(*np-op1); /* new maximum contrast */ + if (Abs(*np-op2)>maxc) maxc=Abs(*np-op2); /* new maximum contrast */ + /* we hope that maxc will be find its maximum very fast */ + op2=op1; /* shift old pixel to next older */ + op1=*np; /* store old pixel for contrast check */ + np++; /* next pixel */ + } + } + + // generate the histogram + // Aug06 images with large white or black homogeneous + // areas give bad results, so we only add pixels on contrast edges + for (i = 0; i < dy ; i+=k) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + if (Abs(*np-op1)>maxc/4 + || Abs(*np-op2)>maxc/4) + chist[*np]++; // count only relevant pixels + op2=op1; /* shift old pixel to next older */ + op1=*np; /* store old pixel for contrast check */ + np++; /* next pixel */ + } + } + + // set up everything + sum = csum = 0.0; + ns = 0; + is = 0; + + for (k = 0; k <= 255; k++) { + sum += (double) k * (double) chist[k]; /* x*f(x) cmass moment */ + ns += chist[k]; /* f(x) cmass */ + is += ihist[k]; /* f(x) imass */ + // Debug: output to out_hist.dat? + // fprintf(stderr,"\chistogram %3d %6d (brightness weight)", k, ihist[k]); + } + + if (!ns) { + // if n has no value we have problems... + fprintf (stderr, "NOT NORMAL, thresholdValue = 160\n"); + return (160); + } + + // ToDo: only care about extremas in a 3 pixel environment + // check if there are more than 2 mass centers (more colors) + // return object colors and color radius instead of threshold value + // also the reagion, where colored objects are found + // what if more than one background color? no otsu at all? + // whats background? box with lot of other boxes in it + // threshold each box (examples/invers.png,colors.png) + // get maximum white and minimum black pixel color (possible range) + // check range between them for low..high contrast ??? + // typical scenes (which must be covered): + // - white page with text of different colors (gray values) + // - binear page: background (gray=1) + black text (gray=0) + // - text mixed with big (dark) images + // ToDo: recursive clustering for maximum multipol moments? + // idea: normalize ihist to max=1024 before otsu? + + // do the otsu global thresholding method + + if ((vvv&1)) // Debug + fprintf(stderr,"# threshold: value ihist chist mass_dipol_moment\n"); + fmax = -1.0; + n1 = 0; + for (k = 0; k < 255; k++) { + n1 += chist[k]; // left mass (integration) + if (!n1) continue; // we need at least one foreground pixel + n2 = ns - n1; // right mass (num pixels - left mass) + if (n2 == 0) break; // we need at least one background pixel + csum += (double) k *chist[k]; // left mass moment + m1 = csum / n1; // left mass center (black chars) + m2 = (sum - csum) / n2; // right mass center (white background) + // max. dipol moment? + // orig: sb = (double) n1 *(double) n2 * (m1 - m2) * (m1 - m2); + sb = (double) n1 *(double) n2 * (m2 - m1); // seems to be better Aug06 + /* bbg: note: can be optimized. */ + if (sb > fmax) { + fmax = sb; + thresholdValue = k + 1; + // thresholdValue = (m1 + 3 * m2) / 4; + } + if ((vvv&1) && ihist[k]) // Debug + fprintf(stderr,"# threshold: %3d %6d %6d %8.2f\n", + k, ihist[k], chist[k], + sb/(dx*dy)); /* normalized dipol moment */ + } + // ToDo: error = left/right point where sb is 90% of maximum? + // now we count all pixels for background detection + i1 = 0; + for (k = 0; k < thresholdValue; k++) { + i1 += ihist[k]; // left mass (integration) + } + i2 = is - i1; // right mass (num pixels - left mass) + + // at this point we have our thresholding value + // black_char: value=cs + + // can it happen? check for sureness + if (thresholdValue > gmax) { + fprintf(stderr,"# threshold: Value >gmax\n"); + thresholdValue = gmax; + } + if (thresholdValue <= gmin) { + fprintf(stderr,"# threshold: Value<=gmin\n"); + thresholdValue = gmin+1; + } + + // debug code to display thresholding values + if ( vvv & 1 ) + fprintf(stderr,"# threshold: Value = %d gmin=%d gmax=%d cmax=%d" + " b/w= %d %d\n", + thresholdValue, gmin, gmax, maxc, i1, i2); + + // this is a primitive criteria for inversion and should be improved + // old: i1 >= 4*i2, but 0811qemu1.png has a bit above 1/4 + if (2*i1 > 7*i2) { // more black than white, obviously black is background + if ( vvv & 1 ) + fprintf(stderr,"# threshold: invert the image\n"); + // we do inversion here (no data lost) + for (i = 0; i < dy ; i++) { + np = &image[(y0+i)*cols+x0]; + for (j = 0; j < dx ; j++) { + *np=255-*np; + np++; /* next pixel */ + } + } + thresholdValue=255-thresholdValue+1; + } + + return(thresholdValue); + /* range: 0 < thresholdValue <= 255, example: 1 on b/w images */ + /* 0..threshold-1 is foreground */ + /* threshold..255 is background */ + /* ToDo: min=blackmasscenter/2,thresh,max=(whitemasscenter+255)/2 */ +} + +/*======================================================================*/ +/* thresholding the image (set threshold to 128+32=160=0xA0) */ +/* now we have a fixed thresholdValue good to recognize on gray image */ +/* - so lower bits can used for other things (bad design?) */ +/* ToDo: different foreground colors, gray on black/white background */ +/*======================================================================*/ +int +thresholding (unsigned char *image, int rows, int cols, + int x0, int y0, int dx, int dy, int thresholdValue) { + + unsigned char *np; // pointer to position in the image we are working with + + int i, j; // various counters + int gmin=255,gmax=0; + int nmin=255,nmax=0; + + // calculate min/max (twice?) + for (i = y0 + 1; i < y0 + dy - 1; i++) { + np = &image[i*cols+x0+1]; + for (j = x0 + 1; j < x0 + dx - 1; j++) { + if(*np > gmax) gmax=*np; + if(*np < gmin) gmin=*np; + np++; /* next pixel */ + } + } + + /* allowed_threshold=gmin+1..gmax v0.43 */ + if (thresholdValue<=gmin || thresholdValue>gmax){ + thresholdValue=(gmin+gmax+1)/2; /* range=0..1 -> threshold=1 */ + fprintf(stderr,"# thresholdValue out of range %d..%d, reset to %d\n", + gmin, gmax, thresholdValue); + } + + /* b/w: min=0,tresh=1,max=1 v0.43 */ + // actually performs the thresholding of the image... + // later: grayvalues should also be used, only rescaling threshold=160=0xA0 + // sometimes images have no contrast (thresholdValue == gmin) + for (i = y0; i < y0+dy; i++) { + np = &image[i*cols+x0]; + for (j = x0; j < x0+dx; j++) { + *np = (unsigned char) (*np >= thresholdValue || thresholdValue == gmin ? + (255-(gmax - *np)* 80/(gmax - thresholdValue + 1)) : + ( 0+(*np - gmin)*150/(thresholdValue - gmin )) ); + if(*np > nmax) nmax=*np; + if(*np < nmin) nmin=*np; + np++; + } + } + + // fprintf(stderr,"# thresholding: nmin=%d nmax=%d\n", nmin, nmax); + + return(128+32); // return the new normalized threshold value + /* 0..159 is foreground */ + /* 160..255 is background */ +} + diff --git a/3rdparty/gocr-0.48/src/otsu.h b/3rdparty/gocr-0.48/src/otsu.h new file mode 100644 index 0000000..acb1637 --- /dev/null +++ b/3rdparty/gocr-0.48/src/otsu.h @@ -0,0 +1,23 @@ +/* + + see README for EMAIL-address + + */ + + +/*======================================================================*/ +/* OTSU global thresholding routine */ +/* takes a 2D unsigned char array pointer, number of rows, and */ +/* number of cols in the array. returns the value of the threshold */ +/*======================================================================*/ +int +otsu (unsigned char *image, int rows, int cols, int x0, int y0, int dx, int dy, int vvv); + + +/*======================================================================*/ +/* thresholding the image (set threshold to 128+32=160=0xA0) */ +/* now we have a fixed thresholdValue good to recognize on gray image */ +/* - so lower bits can used for other things (bad design?) */ +/*======================================================================*/ +int +thresholding (unsigned char *image, int rows, int cols, int x0, int y0, int dx, int dy, int thresholdValue); diff --git a/3rdparty/gocr-0.48/src/output.c b/3rdparty/gocr-0.48/src/output.c new file mode 100644 index 0000000..7ea8a96 --- /dev/null +++ b/3rdparty/gocr-0.48/src/output.c @@ -0,0 +1,289 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL address +*/ + +#include +#include "unicode.h" +#include "output.h" +#include "pcx.h" +#include "gocr.h" /* extern job_t JOB; */ + +/* function is only for debugging and for developing + it prints out a part of pixmap b at point x0,y0 to stderr + using dots .,; if no pixel, and @xoO for pixels + modify n_run and print out what would happen on 2nd, 3th loop! + new: output original and copied pixmap in the same figure + */ +void out_b(struct box *px, pix *b, int x0, int y0, int dx, int dy, int cs ){ + int x,y,x2,y2,yy0,tx,ty,n1,i; + char c1, c2; + yy0=y0; + if (px) { /* overwrite rest of arguments */ + if (!b) { + b=px->p; + x0=px->x0; dx=px->x1-px->x0+1; + y0=px->y0; dy=px->y1-px->y0+1; yy0=y0; + } + if(cs==0) cs=JOB->cfg.cs; + fprintf(stderr,"\n# list box x= %4d %4d d= %3d %3d r= %3d %3d" + " nrun=%d p=%p", /* ToDo: r,nrun is obsolete */ + px->x0, px->y0, px->x1 - px->x0 + 1, px->y1 - px->y0 + 1, + px->x - px->x0, px->y - px->y0, JOB->tmp.n_run, (void*)px); + fprintf(stderr,"\n# dots=%d boxes=%d subboxes=%d c=%s mod=%s" + " line=%d m= %d %d %d %d", + px->dots, px->num_boxes, px->num_subboxes, + decode(px->c,ASCII), decode(px->modifier,ASCII), px->line, + px->m1 - px->y0, px->m2 - px->y0, px->m3 - px->y0, px->m4 - px->y0); + if (px->num_frames) { + int i,j,jo; + fprintf(stderr,"\n# frames= %d (sumvects=%d)",px->num_frames, + ((px->num_frames)?px->num_frame_vectors[px->num_frames-1]:-1)); + for (jo=j=i=0; inum_frames; i++, jo=j) { + fprintf(stderr,"\n# frame %d (%+4d,%3d,%2d) ", + i, px->frame_vol[i], px->frame_per[i], + px->num_frame_vectors[i]-jo); + /* print only the first vectors of each frame */ + for (;jnum_frame_vectors[i] && jframe_vector[j][0] - px->x0, + px->frame_vector[j][1] - px->y0); + } + } + if (px->num_ac){ /* output table of chars and its probabilities */ + fprintf(stderr,"\n# list box char: "); + for(i=0;inum_ac && itas[i]) + fprintf(stderr," %s(%d)", px->tas[i] ,px->wac[i]); + else + fprintf(stderr," %s(%d)",decode(px->tac[i],ASCII),px->wac[i]); + } + fprintf(stderr,"\n"); + if (px->m2 && px->m1dots || y0>px->m2)) { + yy0=px->m1; dy=px->y1-yy0+1; + } + } + tx=dx/80+1; + ty=dy/40+1; /* step, usually 1, but greater on large maps */ + fprintf(stderr,"# list pattern x= %4d %4d d= %3d %3d t= %d %d yy0= %d\n", + x0,y0,dx,dy,tx,ty,yy0); + if (dx>0) + for(y=yy0;yp,x2-x0+px->x0, + y2-y0+px->y0)num_frames) { /* mark vectors */ + int i; + if (c1!='$' && c1!='S') /* dont mark twice */ + for (i=0;inum_frame_vectors[px->num_frames-1];i++) + if ((px->frame_vector[i][0]-px->x0)/tx==(x-x0)/tx + && (px->frame_vector[i][1]-px->y0)/ty==(y-y0)/ty) + { c1=((c1=='@')?'$':'S'); break; } + } + fprintf(stderr,"%c", c1 ); + } + + /* 2nd image is the boxframe in the original bitmap */ + if (dx<40) fprintf(stderr," "); + if (dx<40) /* do it only, if we have enough place */ + for(x=x0;xy0==px->m1 || y-y0+px->y0==px->m2 + || y-y0+px->y0==px->m3 || y-y0+px->y0==px->m4) c1='<'; + if (y==y0 || y==yy0+dy-1) c2='-'; /* boxmarks */ + + fprintf(stderr,"%c%c\n",c1,c2); + } +} + +/* same as out_b, but for faster use, only a box as argument + */ +void out_x(struct box *px) { + out_b(px,NULL,0, 0, 0, 0, JOB->cfg.cs); +} + + +/* print out two boxes side by side, for debugging comparision algos */ +void out_x2(struct box *box1, struct box *box2){ + int x,y,i,tx,ty,dy; + /*FIXME jb static*/static char *c1="OXXXXxx@.,,,,,,,"; + pix *b=&JOB->src.p; + dy=(box1->y1-box1->y0+1); + if(dyy1-box2->y0+1)dy=box2->y1-box2->y0+1; + tx=(box1->x1-box1->x0)/40+1; + ty=(box1->y1-box1->y0)/40+1; /* step, usually 1, but greater on large maps */ + if(box2)fprintf(stderr,"\n# list 2 patterns"); + for(i=0;iy0+i; + for(x=box1->x0;x<=box1->x1;x+=tx) + fprintf(stderr,"%c", c1[ ((getpixel(b,x,y)cfg.cs)?0:8)+marked(b,x,y) ] ); + if(!box2) continue; + fprintf(stderr," "); y=box2->y0+i; + for(x=box2->x0;x<=box2->x1;x+=tx) + fprintf(stderr,"%c", c1[ ((getpixel(b,x,y)cfg.cs)?0:8)+marked(b,x,y) ] ); + } +} + + +/* ---- list output ---- for debugging --- + * list all boxes where the results can be found within the c-option + */ +int output_list(job_t *job) { + int i = 0, j; + struct box *box2; + pix *pp = &job->src.p; + char *lc = job->cfg.lc; + + fprintf(stderr,"\n# list shape for charlist %s",lc); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *) list_get_current(&(JOB->res.boxlist)); + for (j=0; jnum_ac; j++) + if (!lc || (box2->tac[j] && strchr(lc, box2->tac[j])) + || (box2->tas[j] && strstr(lc, box2->tas[j]))) break; + if (jnum_ac) + fprintf(stderr,"\n# box found in charlist"); + if (!lc || (strchr(lc, box2->c) && box2->c < 256 && box2->c) + || (strchr(lc, '_') && box2->c==UNKNOWN) /* for compability */ + || jnum_ac ){ /* also list alternative chars */ + if (!pp) pp=box2->p; + fprintf(stderr, + "\n# list shape %3d x=%4d %4d d= %3d %3d vf=%d ac=%d %04x %s", + i, box2->x0, box2->y0, + box2->x1 - box2->x0 + 1, + box2->y1 - box2->y0 + 1, + box2->num_frames, box2->num_ac, + (int)box2->c, /* wchar_t -> char ???? */ + decode(box2->c,ASCII) ); + if (JOB->cfg.verbose & 4) out_x(box2); + } + i++; + } end_for_each(&(JOB->res.boxlist)); + fprintf(stderr,"\n"); + return 0; +} + +/* --- output of image incl. corored lines usefull for developers --- + * debugging + * bit 0+1 is used for color coding (optical marker) + * color/gray: 0x01=red, 0x02=blue, 0x04=green??? + * opt: 1 - mark unknown boxes red (first pass) + * 2 - mark unknown boxes more red (final pass) + * 4 - mark lines blue + * 8 - reset coloring (remove old marker) + */ +int debug_img(char *fname, struct job_s *job, int opt) { + struct box *box2; + int x, y, ic, dx, i, j, col; + unsigned char *np; + pix *pp = &job->tmp.ppo; + + if ( opt & 8 ) { /* clear debug bits in image */ + for(y=0;yy;y++) { + np=&pp->p[(pp->x)*y]; + for(x=0;xx;x++) { + *np = *np & 0xF1; + np++; + } + } + } + + /* mark longest line which was used to estimate the rotation angle */ + if ((job->cfg.verbose&32) && job->res.lines.dx) + for(i=0;ix;i++) { + y=pp->y/2; + if (job->res.lines.dx) y+=job->res.lines.dy*i/job->res.lines.dx; + x=i; + if (x<0 || x>=pp->x || y<0 || y>=pp->y) continue; + np=&pp->p[x + (pp->x)*y]; + if (*np<160) continue; + if((x&7)<5 && !(x&1)) /* dotted line */ + put(pp,x,y,255,8); + } + + ic = ((opt & 2) ? 1 : 2); /* obsolete */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *) list_get_current(&(job->res.boxlist)); + /* mark boxes in 32=0x40=blue */ + if (box2->c == ' ' || box2->c == '\n') continue; + /* mark chars with green left and under line */ + col = 4; /* green */ + if (box2->c == UNKNOWN && (opt & 3)) col=2; /* red */ + if (box2->x0>1) + for (y = box2->y0; y <= box2->y1; y++) { + np=&pp->p[box2->x0-1 + y * pp->x]; if (*np<160) continue; *np|=col; } + if (box2->y1+1y) + for (x = box2->x0; x <= box2->x1; x++) { + np=&pp->p[x + (box2->y1+1) * pp->x]; if (*np<160) continue; *np|=col; } + /* mark pictures by green cross */ + if (box2->c == PICTURE) + for (x = 0; x < box2->x1-box2->x0+1; x++){ + y=(box2->y1-box2->y0+1)*x/(box2->x1-box2->x0+1); + pp->p[(box2->x0+x) + (box2->y0+y) * pp->x] |= 4; + pp->p[(box2->x1-x) + (box2->y0+y) * pp->x] |= 4; + } + } end_for_each(&(job->res.boxlist)); + + if( opt & 4 ) + { + struct tlines *lines = &job->res.lines; + int yr; + if (job->cfg.verbose) + fprintf(stderr, "# mark lines for %s.ppm\n", fname); + /* or read from outside??? */ + for (i = 0; i < lines->num; i++) { /* mark lines by 0x08 = blue */ + dx = lines->x1[i] - lines->x0[i] + 1; + for (j = -1; j < dx+1; j++) { + x = lines->x0[i] + j; + if (x<0 || x>=pp->x) continue; + for (y=lines->m1[i];y<=lines->m4[i];y++) { + /* box arround m2-m3 */ + if (y>=lines->m2[i] && y<=lines->m3[i] && j>-1 && jdx) yr += lines->dy * x / (lines->dx); + if (yr<0 || yr>=pp->y) continue; + np = &(pp->p[x + (pp->x)*yr]); + if (*np<160) continue; /* do not touch dark pixels */ + if ((*np&6)!=0) continue; /* only change white pixels */ + put(pp, x, yr, 255, 6); /* UPN: 255 and 6 or */ + } + } + } + } + + if (job->cfg.verbose&1) + fprintf(stderr,"# writing %s.ppm\n", fname); + writeppm(fname, pp); + return 0; +} diff --git a/3rdparty/gocr-0.48/src/output.h b/3rdparty/gocr-0.48/src/output.h new file mode 100644 index 0000000..3066614 --- /dev/null +++ b/3rdparty/gocr-0.48/src/output.h @@ -0,0 +1,37 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address */ + +#ifndef OUTPUT_H +#define OUTPUT_H + +#include +#include +#include "pnm.h" +#include "gocr.h" +#include "list.h" + +void out_b(struct box *px, pix *b, int x0, int y0, int dx, int dy, int cs ); +void out_x(struct box *px); +void out_x2(struct box *box1,struct box *box2); +int output_list(job_t *job); +int debug_img(char *fname, struct job_s *job, int opt); + + +#endif diff --git a/3rdparty/gocr-0.48/src/pcx.c b/3rdparty/gocr-0.48/src/pcx.c new file mode 100644 index 0000000..85280dd --- /dev/null +++ b/3rdparty/gocr-0.48/src/pcx.c @@ -0,0 +1,153 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 1999 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ +/* plan: use popen("ppm2pcx -packed ...","w"); for writing pcx */ + +#include +#include +/* #include */ + +#include "pcx.h" + +typedef unsigned char byte; + +#define ERR(x) { fprintf(stderr,"ERROR "__FILE__" L%d: " x "\n",__LINE__);exit(1);} + +int err; +/* --- needed for reading PCX-files */ +unsigned char read_b(FILE *f1){ + unsigned char c=0; c=fgetc(f1); if(feof(f1) || ferror(f1))err=1; return c; +} + +/* something here is wrong! */ +void readpcx(char *name,pix *p,int vvv){ /* see pcx.format.txt */ + int page,pages,nx,ny,i,j,b,x,y,bpl,bits,pal[256][3]; + FILE *f1; + unsigned char *pic,h[128],bb,b1,b2,b3; + err=0; + for(i=0;i<256;i++)for(j=0;j<3;j++)pal[i][j]=i; + f1=fopen(name,"rb"); if(!f1) ERR("open"); + if(fread(h,1,128,f1)!=128)ERR("read PCX header"); /* 128 Byte lesen -> h[] */ + if(h[0]!=10)ERR("no ZSoft sign"); /* ZSoft sign */ + if(h[2]> 1)ERR("unknown coding"); /* run length encoding */ + bits = h[3]; /* 1 or 8 */ + if(bits!=1 && bits!=8)ERR("only 1 or 8 bits supported"); + nx = h[ 9]*256+h[ 8] - h[ 5]*256-h[ 4] +1; /* Xmax-Xmin */ + ny = h[11]*256+h[10] - h[ 7]*256-h[ 6] +1; /* Ymax-Ymin */ + pages=h[65]; bpl=h[66]+256*h[67]; /* bytes per line */ + if(vvv) + fprintf(stderr,"# PCX version=%d bits=%d x=%d y=%d HRes=%d VRes=%d\n" + "# NPlanes=%d BytesPerLine=%d Palette=%s", + h[1],bits,nx,ny,h[12]+256*h[13],h[14]+256*h[15], + pages,bpl,((h[68]==1)?"1=color/bw":"2=gray")); + /* line1(NP=4): RRRRR...,GGGG....,BBBBB...,IIII...., line2: RRRR...,GGGG.... */ + /* C4 EF = (C4&3F)*EF = EF EF EF EF */ + fflush(stdout); + /* palette: for(i=0;i<16;i++) for(j=0;j<3;j++) h[16+3*i+j] */ + if(pages>1)for(b=0;b<16;b++) for(i=0;i<16;i++) + for(j=0;j< 3;j++) pal[b*16+i][j]=h[16+3*i+j]>>2; + if(bits>7){ + fseek(f1,-3*256,2); if(fread(pal,3,256,f1)!=256)ERR("read palette"); + for(i=0;i<256;i++) for(j=0;j<3;j++) pal[i][j]>>=2; + } + fseek(f1,128,0); + pic=(unsigned char *)malloc( nx*ny ); + if(pic==NULL)ERR("no memory"); /* no memory */ + x=y=0; + do { + for(page=0;page b1=counter */ + do { + b1=1; bb=read_b(f1); b2=bb; if(b1==192)fprintf(stderr,"?"); + if((b2>=192) && (h[2]==1)){b1=b2&63;bb=read_b(f1);b2=bb;} + if(err){fprintf(stderr,"\nread error x=%d y=%d\n",x,y);x=nx;y=ny;break;} + for(b3=0;b3>(8-bits-b)) & ~((~0)<p=pic; p->x=nx; p->y=ny; p->bpp=1; + if(vvv)fprintf(stderr,"\n"); +} + +/* ----------------------------------------------------------------------- +// write bmp 8bit palette no RLE +// bit 2+3 used for color coding (markers) +// replaced by writeppm (ppm.gz) and is obsolate now, removed later + */ +void writebmp(char *name,pix p,int vvv){ /* see pcx.format.txt */ + int nx,ny,i,y,rest[4]={0,0,0,0}; + FILE *f1; + /*FIXME jb static*/static unsigned char *pic, h[54+4*256]; + long fs,fo,hs,is; /* filesize, offset, headersize, imagesize */ + + nx=p.x; ny=p.y; pic=p.p; + if (nx&3) nx+=4-(nx&3); /* must be mod4 ? */ + hs=40; /* bmi headersize fix */ + is=nx*ny; /* imagesize */ + fo=14+hs+4*256; + fs=fo+is; + for(i=0;i<54;i++){ h[i]=0; } + /* BITMAPFILEHEADER */ + h[ 0]='B'; h[ 1]='M'; /* type of file BMP */ + h[ 2]= fs &255; h[ 3]=(fs>> 8)&255; + h[ 4]=(fs>>16)&255; h[ 5]=(fs>>24)&255; /* size of file */ + h[10]= fo &255; h[11]=(fo>> 8)&255; + h[12]=(fo>>16)&255; h[13]=(fo>>24)&255; /* offset to image data */ + /* BITMAPINFO (BITMAPCOREHEADER not used here) */ + /* 14 - HEADER */ + h[14]= hs &255; h[15]=(hs>> 8)&255; + h[16]=(hs>>16)&255; h[17]=(hs>>24)&255; /* bmi-header size */ + h[18]= nx &255; h[19]=(nx>> 8)&255; + h[20]=(0l>>16)&255; h[21]=(0l>>24)&255; /* WIDTH/pixel */ + h[22]= ny &255; h[23]=(ny>> 8)&255; + h[24]=(0l>>16)&255; h[25]=(0l>>24)&255; /* HIGH/pixel */ + h[26]=1; /* planes */ + h[28]=8; /* bits/pixel 1,4,8,24 */ + h[30]=0; /* compression */ + h[34]= is &255; h[35]=(is>> 8)&255; + h[36]=(is>>16)&255; h[37]=(is>>24)&255; /* sizeImage (can be 0 if ~RLE) */ + h[38]=0;h[39]=1; /* ca 100dpi, x/meter */ + h[42]=0;h[43]=1; /* y/meter */ + h[46]=0;h[47]=1; /* colorused (0=maximum) */ + h[50]=0;h[51]=1; /* colorimportand (0=all) */ + /* 54 - endofheader */ + for(i=0;i<256;i++){ + h[54+4*i+0]=((~((i & 2)*64)) & (i & (128+64)))|63; + h[54+4*i+1]=((~((i & 2)*64)) & (~((i & 4)*32)) & (i & (128+64)))|63; + h[54+4*i+2]=( ((i & 2)* 8) | ((~((i & 4)*32)) & (i & (128+64)))|63); + } /* blue-green-red */ + f1=fopen(name,"wb"); if(!f1) fprintf(stderr," error opening file\n"); + if(!f1)ERR("open"); /* open-error */ + if(fwrite(h,1,54+4*256,f1)!=54+4*256)ERR("write head"); + if(vvv) fprintf(stderr,"# write BMP x=%d y=%d\n",nx,ny); + for(y=ny-1;y>=0;y--){ + if(((int)fwrite(pic+p.x*y,1,p.x,f1))!=p.x)ERR("write"); + if(nx>p.x) + if(((int)fwrite(rest,1,nx-p.x,f1))!=nx-p.x)ERR("write"); + } + fclose(f1); +} + +/* ---------------------------------------------------------------------- */ diff --git a/3rdparty/gocr-0.48/src/pcx.h b/3rdparty/gocr-0.48/src/pcx.h new file mode 100644 index 0000000..b420a69 --- /dev/null +++ b/3rdparty/gocr-0.48/src/pcx.h @@ -0,0 +1,9 @@ + +#include "pnm.h" + +void readpcx(char *name,pix *p,int vvv); + +/* write 8bit palette no RLE, ToDo: obsolete? */ +void writebmp(char *name,pix p,int vvv); + +/* ------------------------------------------------------------------------ */ diff --git a/3rdparty/gocr-0.48/src/pgm2asc.c b/3rdparty/gocr-0.48/src/pgm2asc.c new file mode 100644 index 0000000..02899af --- /dev/null +++ b/3rdparty/gocr-0.48/src/pgm2asc.c @@ -0,0 +1,2893 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + - look for ??? for preliminary code + - space: avX=22 11-13 (empirical estimated) + avX=16 5-7 + avX= 7 5-6 + + ToDo: - add filter (r/s mismatch) g300c1 + - better get_line2 function (problems on high resolution) + - write parallelizable code! + - learnmode (optimize filter) + - use ispell for final control or if unsure + - better line scanning (if not even) + - step 5: same chars differ? => expert mode + - chars dx>dy and above 50% hor-crossing > 4 is char-group ? + - detect color of chars and background + - better word space calculation (look at the examples) + (distance: left-left, middle-middle, left-right, thickness of e *0.75) + + GLOBAL DATA (mostly structures) + - pix : image - one byte per pixel bits0-2=working + - lines : rows of the text (points to pix) + - box : list of bounding box for character + - obj : objects (lines, splines, etc. building a character) + */ + + +#include +#include +#include +#include +#include +#include "config.h" +#ifdef HAVE_WCHAR_H +#include +#endif + +#include "amiga.h" +#include "list.h" +#include "pgm2asc.h" +// #include "pcx.h" /* needed for writebmp (removed later) */ +/* ocr1 is the test-engine - remember: this is development version */ +#include "ocr1.h" +/* first engine */ +#include "ocr0.h" +#include "otsu.h" +#include "barcode.h" +#include "progress.h" + +#include "gocr.h" + +/* wew: will be exceeded by capitals at 1200dpi */ +#define MaxBox (100*200) // largest possible letter (buffersize) +#define MAX(a,b) ((a) >= (b) ? (a) : (b)) + +/* if the system does not know about wchar.h, define functions here */ +#ifndef HAVE_WCHAR_H +/* typedef unsigned wchar_t; */ +/* Find the first occurrence of WC in WCS. */ +wchar_t *wcschr (wchar_t *wcs, wchar_t wc) { + int i; for(i=0;wcs[i];i++) if (wcs[i]==wc) return wcs+i; return NULL; +} +wchar_t *wcscpy (wchar_t *dest, const wchar_t *src) { + int i; for(i=0;src[i];i++) dest[i]=src[i]; dest[i]=0; return dest; +} +size_t wcslen (const wchar_t *s){ + size_t i; for(i=0;s[i];i++); return i; +} +#endif +#ifndef HAVE_WCSDUP +wchar_t * wcsdup (const wchar_t *WS) { /* its a gnu extension */ + wchar_t *copy; + copy = (wchar_t *) malloc((wcslen(WS)+1)*sizeof(wchar_t)); + if (!copy)return NULL; + wcscpy(copy, WS); + return copy; +} +#endif + +// ------------------------ feature extraction ----------------- +// ------------------------------------------------------------- +// detect maximas in of line overlaps (return in %) and line coordinates +// this is for future use +#define HOR 1 // horizontal +#define VER 2 // vertical +#define RIS 3 // rising=steigend +#define FAL 4 // falling=fallend + +/* exchange two variables */ +static void swap(int *a, int *b) { + int c = *a; + *a = *b; + *b = c; +} + +// calculate the overlapping of the line (0-1) with black points +// by recursive bisection +// line: y=dy/dx*x+b, implicit form: d=F(x,y)=dy*x-dx*y+b*dx=0 +// incremental y(i+1)=m*(x(i)+1)+b, F(x+1,y+1)=f(F(x,y)) +// ret & 1 => inverse pixel! +// d=2*F(x,y) integer numbers +int get_line(int x0, int y0, int x1, int y1, pix *p, int cs, int ret){ + int dx,dy,incrE,incrNE,d,x,y,r0,r1,ty,tx, + *px,*py,*pdx,*pdy,*ptx,*pty,*px1; + dx=abs(x1-x0); tx=((x1>x0)?1:-1); // tx=x-spiegelung (new) + dy=abs(y1-y0); ty=((y1>y0)?1:-1); // ty=y-spiegelung (new) + // rotate coordinate system if dy>dx +/*bbg: can be faster if instead of pointers we use the variables and swaps? */ +/*js: Do not know, I am happy that the current code is working and is small */ + if(dx>dy){ pdx=&dx;pdy=&dy;px=&x;py=&y;ptx=&tx;pty=&ty;px1=&x1; } + else { pdx=&dy;pdy=&dx;px=&y;py=&x;ptx=&ty;pty=&tx;px1=&y1; } + if( *ptx<0 ){ swap(&x0,&x1);swap(&y0,&y1);tx=-tx;ty=-ty; } + d=((*pdy)<<1)-(*pdx); incrE=(*pdy)<<1; incrNE=((*pdy)-(*pdx))<<1; + x=x0; y=y0; r0=r1=0; /* dd=tolerance (store max drift) */ + while( (*px)<=(*px1) ){ + if( ((getpixel(p,x,y) percentage % +} + +// this function should detect whether a direct connection between points +// exists or not, not finally implemented +// ret & 1 => inverse pixel! +// d=2*F(x,y) integer numbers, ideal line: ,I pixel: I@ +// ..@ @@@ .@. ...,@2@. +1..+3 floodfill around line ??? +// ..@ .@@ .@. ...,.@@@ +2..+4 <= that's not implemented yet +// ..@ ..@ .@. ...,.@@@ +2..+4 +// @.@ @.. .@. ...,@@@. +1..+3 +// @.@ @@. .@. ...I@@@. 0..+3 +// @@@ @@@ .@. ..@1@@.. 0..+2 +// 90% 0% 100% 90% r1-r2 +// I am not satisfied with it +int get_line2(int x0, int y0, int x1, int y1, pix *p, int cs, int ret){ + int dx,dy,incrE,incrNE,d,x,y,r0,r1,ty,tx,q,ddy,rx,ry, + *px,*py,*pdx,*pdy,*ptx,*pty,*px1; + dx=abs(x1-x0); tx=((x1>x0)?1:-1); // tx=x-spiegelung (new) + dy=abs(y1-y0); ty=((y1>y0)?1:-1); // ty=y-spiegelung (new) + // rotate coordinate system if dy>dx + if(dx>dy){ pdx=&dx;pdy=&dy;px=&x;py=&y;ptx=&tx;pty=&ty;px1=&x1;rx=1;ry=0; } + else { pdx=&dy;pdy=&dx;px=&y;py=&x;ptx=&ty;pty=&tx;px1=&y1;rx=0;ry=1; } + if( *ptx<0 ){ swap(&x0,&x1);swap(&y0,&y1);tx=-tx;ty=-ty; } + d=((*pdy)<<1)-(*pdx); incrE=(*pdy)<<1; incrNE=((*pdy)-(*pdx))<<1; + x=x0; y=y0; r0=r1=0; ddy=3; // tolerance = bit 1 + bit 0 = left+right + // int t=(*pdx)/16,tl,tr; // tolerance, left-,right delimiter + while( (*px)<=(*px1) ){ // not finaly implemented + q=((getpixel(p,x,y) percentage % +} + +/* Look for dots in the rectangular region x0 <= x <= x1 and y0 <= y + <= y1 in pixmap p. The two low order bits in mask indicate the color + of dots to look for: If mask==1 then look for black dots (where a + pixel value less than cs is considered black). If mask==2 then look + for white dots. If mask==3 then look for both black and white dots. + If the dots are found, the corresponding bits are set in the returned + value. Heavily used by the engine ocr0*.cc */ +char get_bw(int x0, int x1, int y0, int y1, pix * p, int cs, int mask) { + char rc = 0; // later with error < 2% (1 dot) + int x, y; + + if (x0 < 0) x0 = 0; + if (x1 >= p->x) x1 = p->x - 1; + if (y0 < 0) y0 = 0; + if (y1 >= p->y) y1 = p->y - 1; + + for ( y = y0; y <= y1; y++) + for ( x = x0; x <= x1; x++) { + rc |= ((getpixel(p, x, y) < cs) ? 1 : 2); // break if rc==3 + if ((rc & mask) == mask) + return mask; // break loop + } + return (rc & mask); +} + +/* more general Mar2000 (x0,x1,y0,y1 instead of x0,y0,x1,y1! (history)) + * look for black crossings throw a line from x0,y0 to x1,y1 and count them + * follow line and count crossings ([white]-black-transitions) + * ex: horizontal num_cross of 'm' would return 3 + * + * fail for: .a... a-to-b counts no transitions, but there is + * ...#. + * ..#.. + * .#..b + */ +int num_cross(int x0, int x1, int y0, int y1, pix *p, int cs) { + int rc = 0, col = 0, k, x, y, i, d; // rc=crossings col=0=white + int dx = x1 - x0, dy = y1 - y0; + + d = MAX(abs(dx), abs(dy)); + for (i = 0, x = x0, y = y0; i <= d; i++) { + if (d) { + x = x0 + i * dx / d; + y = y0 + i * dy / d; + } + k = ((getpixel(p, x, y) < cs) ? 1 : 0); // 0=white 1=black + if (col == 0 && k == 1) // found a white-black transition + rc++; + col = k; // last color + } + return rc; +} + +/* check if test matches pattern + * possible pattern: "a-zA-Z0-9+--\\" (x-y dont work for c>127) + * return: 0 means dont fit, 1 means found + * ToDo: wchar_t cc + matching UTF-8 pattern for nonASCII + */ +int my_strchr( char *pattern, wchar_t cc ) { + char *s1; + if (pattern==(char *)NULL) return 0; + + /* if (!(cc&0x80)) s1=strchr(pattern,(char)cc); else */ + switch (cc) { + case '-': /* used as a special character */ + s1=strstr(pattern,"--"); /* search string -- in pattern */ + if (s1) return 1; break; + default: + s1=strstr(pattern,decode(cc, UTF8)); /* search string cc in pattern */ + if (s1) return 1; /* cc simply matches */ + /* single char not found, now check the ranges */ + s1=pattern; + while (s1) { + s1=strchr(s1+1,'-'); /* look for next '-' */ + if ((!s1) || (!s1[0]) || (!s1[1])) return 0; /* nothing found or end */ + if (*(s1-1)=='-' || *(s1+1)=='-') continue; /* skip -- pattern */ + if (*(s1-1)<=cc && *(s1+1)>=cc) return 1; /* within range */ + } + } + return 0; +} + +/* set alternate chars and its weight, called from the engine + if a char is recognized to (weight) percent + can be used for filtering (only numbers etc) + often usefull if Il1 are looking very similar + should this function stay in box.c ??? + weight is between 0 and 100 in percent, 100 means absolutely sure + - not final, not time critical (js) + - replace it by a string-function setaobj(*b,"string",weight) + and let call setac the setas function + */ + +int setas(struct box *b, char *as, int weight){ + int i,j; + if (b->num_ac > NumAlt || b->num_ac<0) { + fprintf(stderr,"\nDBG: There is something wrong with setas()!"); + b->num_ac=0; + } + if (as==NULL) { + fprintf(stderr,"\nDBG: setas(NULL) makes no sense!"); return 0; } + if (as[0]==0) { + fprintf(stderr,"\nDBG: setas(\"\") makes no sense!" + " x= %d %d", b->x0, b->y0); + // out_x(b); + return 0; + } + + /* char filter (ex: only numbers) ToDo: cfilter as UTF-8 */ + if (JOB->cfg.cfilter) { + /* do not accept chars which are not in the cfilter string */ + if ( as[0]>0 && as[1]==0 ) + if ( !my_strchr(JOB->cfg.cfilter,as[0]) ) return 0; + } +#if 0 /* obsolete, done in setac */ + /* not sure that this is the right place, but where else? */ + if ( as[0]>0 && as[1]==0 ) + if (b->modifier != SPACE && b->modifier != 0) { + wchar_t newac; + newac = compose(as[0], b->modifier); + as = (char *)decode(newac, UTF8); /* was (const char *) */ + if (newac == as[0]) { /* nothing composed */ + fprintf(stderr, "\nDBG setas compose was useless %d %d",b->x0,b->y0); + // out_x(b); + } + } +#endif + + /* only the first run gets the full weight */ + weight=(100-JOB->tmp.n_run)*weight/100; + + /* remove same entries from table */ + for (i=0;inum_ac;i++) + if (b->tas[i]) + if (strcmp(as,b->tas[i])==0) break; + if (b->num_ac>0 && inum_ac){ + if (weight<=b->wac[i]) return 0; /* if found + less weight ignore it */ + /* to insert the new weigth on the right place, we remove it first */ + if (b->tas[i]) free(b->tas[i]); + for (j=i;jnum_ac-1;j++){ /* shift lower entries */ + b->tac[j]=b->tac[j+1]; /* copy the char */ + b->tas[j]=b->tas[j+1]; /* copy the pointer to the string */ + b->wac[j]=b->wac[j+1]; /* copy the weight */ + } + b->num_ac--; /* shrink table */ + } + /* sorting and add it to the table */ + for (i=0;inum_ac;i++) if (weight>b->wac[i]) break; + if (b->num_acnum_ac++; /* enlarge table */ + for (j=b->num_ac-1;j>i;j--){ /* shift lower entries */ + b->tac[j]=b->tac[j-1]; /* copy the char */ + b->tas[j]=b->tas[j-1]; /* copy the pointer to the string */ + b->wac[j]=b->wac[j-1]; /* copy the weight */ + } + if (inum_ac) { /* insert new entry */ + b->tac[i]=0; /* insert the char=0 ... */ + b->tas[i]=(char *)malloc(strlen(as)+1); /* ... string */ + if (b->tas[i]) memcpy(b->tas[i],as,strlen(as)+1); + b->wac[i]=weight; /* ... and its weight */ + } + if (i==0) b->c=b->tac[0]; /* char or 0 for string */ + return 0; +} + +/* ToDo: this function will be replaced by a call of setas() later */ +int setac(struct box *b, wchar_t ac, int weight){ + int i,j; + if ((!b) || b->num_ac > NumAlt || b->num_ac<0) { + fprintf(stderr,"\nDBG: This is a bad call to setac()!"); + if(b && (JOB->cfg.verbose & 6)) out_x(b); + b->num_ac=0; + } + if (ac==0 || ac==UNKNOWN) { + fprintf(stderr,"\nDBG: setac(0) makes no sense!"); + return 0; + } + /* char filter (ex: only numbers) ToDo: cfilter as UTF-8 */ + if (JOB->cfg.cfilter) { + /* do not accept chars which are not in the cfilter string */ + /* if ( ac>255 || !strchr(JOB->cfg.cfilter,(char)ac) ) return 0; */ + if ( !my_strchr(JOB->cfg.cfilter,ac) ) return 0; + } + /* not sure that this is the right place, but where else? */ + if (b->modifier != SPACE && b->modifier != 0) { + wchar_t newac; + newac = compose(ac, b->modifier); + if (newac == ac) { /* nothing composed */ + if(JOB->cfg.verbose & 7) + fprintf(stderr, "\nDBG setac(%s): compose was useless @ %d %d", + decode(ac,ASCII), b->x0, b->y0); + /* if(JOB->cfg.verbose & 6) out_x(b); */ + } + ac = newac; + } + + /* only the first run gets the full weight */ + weight=(100-JOB->tmp.n_run)*weight/100; + + /* remove same entries from table */ + for (i=0;inum_ac;i++) if (ac==b->tac[i]) break; + if (b->num_ac>0 && inum_ac){ + if (weight<=b->wac[i]) return 0; + if (b->tas[i]) free(b->tas[i]); + for (j=i;jnum_ac-1;j++){ /* shift lower entries */ + b->tac[j]=b->tac[j+1]; /* copy the char */ + b->tas[j]=b->tas[j+1]; /* copy the pointer to the string */ + b->wac[j]=b->wac[j+1]; /* copy the weight */ + } + b->num_ac--; /* shrink table */ + } + /* sorting it to the table */ + for (i=0;inum_ac;i++) if (weight>b->wac[i]) break; + if (b->num_acnum_ac++; /* enlarge table */ + for (j=b->num_ac-1;j>i;j--){ /* shift lower entries */ + b->tac[j]=b->tac[j-1]; /* copy the char */ + b->tas[j]=b->tas[j-1]; /* copy the pointer to the string */ + b->wac[j]=b->wac[j-1]; /* copy the weight */ + } + if (inum_ac) { /* insert new entry */ + b->tac[i]=ac; /* insert the char ... */ + b->tas[j]=NULL; /* ... no string (?) */ + b->wac[i]=weight; /* ... and its weight */ + } + if (i==0) b->c=ac; /* store best result to b->c (will be obsolete) */ + + return 0; +} + +/* test if ac in wac-table + usefull for contextcorrection and box-splitting + return 0 if not found + return wac if found (wac>0) + */ +int testac(struct box *b, wchar_t ac){ + int i; + if (b->num_ac > NumAlt || b->num_ac<0) { + fprintf(stderr,"\n#DEBUG: There is something wrong with testac()!"); + b->num_ac=0; + } + /* search entries in table */ + for (i=0;inum_ac;i++) if (ac==b->tac[i]) return b->wac[i]; + return 0; +} + + +/* look for edges: follow a line from x0,y0 to x1,y1, record the + * location of each transition, and return their number. + * ex: horizontal num_cross of 'm' would return 6 + * remark: this function is not used, obsolete? ToDo: remove? + */ +int follow_path(int x0, int x1, int y0, int y1, pix *p, int cs, path_t *path) { + int rc = 0, prev, x, y, i, d, color; // rc=crossings col=0=white + int dx = x1 - x0, dy = y1 - y0; + + d = MAX(abs(dx), abs(dy)); + prev = getpixel(p, x0, y0) < cs; // 0=white 1=black + path->start = prev; + for (i = 1, x = x0, y = y0; i <= d; i++) { + if (d) { + x = x0 + i * dx / d; + y = y0 + i * dy / d; + } + color = getpixel(p, x, y) < cs; // 0=white 1=black + if (color != prev){ + if (rc>=path->max){ + int n=path->max*2+10; + path->x = (int *) xrealloc(path->x, n*sizeof(int)); + path->y = (int *) xrealloc(path->y, n*sizeof(int)); + path->max = n; + } + path->x[rc]=x; + path->y[rc]=y; + rc++; + } + prev = color; + } + path->num=rc; + return rc; +} + +/* ToDo: only used in follow_path, which is obsolete, remove? */ +void *xrealloc(void *ptr, size_t size){ + void *p; + p = realloc(ptr, size); + if (size>0 && (!p)){ + fprintf(stderr, "insufficient memory"); + exit(1); + } + return p; +} + +/* + * ------------------------------------------------------------- + * mark edge-points + * - first move forward until b/w-edge + * - more than 2 pixel? + * - loop around + * - if forward pixel : go up, rotate right + * - if forward no pixel : rotate left + * - stop if found first 2 pixel in same order + * go_along_the_right_wall strategy is very similar and used otherwhere + * -------------------------------------------------------------- + * turmite game: inp: start-x,y, regel r_black=UP,r_white=RIght until border + * out: last-position + * + * could be used to extract more features: + * by counting stepps, dead-end streets ,xmax,ymax,ro-,ru-,lo-,lu-edges + * + * use this little animal to find features, I first was happy about it + * but now I prefer the loop() function + */ + +void turmite(pix *p, int *x, int *y, + int x0, int x1, int y0, int y1, int cs, int rw, int rb) { + int r; + if (outbounds(p, x0, y0)) // out of pixmap + return; + while (*x >= x0 && *y >= y0 && *x <= x1 && *y <= y1) { + r = ((getpixel(p, *x, *y) < cs) ? rb : rw); // select rule + switch (r) { + case UP: (*y)--; break; + case DO: (*y)++; break; + case RI: (*x)++; break; + case LE: (*x)--; break; + case ST: break; + default: assert(0); + } + if( r==ST ) break; /* leave the while-loop */ + } +} + +/* search a way from p0 to p1 without crossing pixels of type t + * only two directions, useful to test if there is a gap 's' + * labyrinth algorithm - do you know a faster way? */ +int joined(pix *p, int x0, int y0, int x1, int y1, int cs){ + int t,r,x,y,dx,dy,xa,ya,xb,yb; + x=x0;y=y0;dx=1;dy=0; + if(x1>x0){xa=x0;xb=x1;} else {xb=x0;xa=x1;} + if(y1>y0){ya=y0;yb=y1;} else {yb=y0;ya=y1;} + t=((getpixel(p,x,y)=xa && x+dy<=xb && y-dx>=ya && y-dx<=yb) // wall + { r=dy;dy=-dx;dx=r;x+=dx;y+=dy; } // rotate right and step forward + else { r=dx;dx=-dy;dy=r; } // rotate left + // fprintf(stderr," path xy %d-%d %d-%d %d %d %d %d\n",xa,xb,ya,yb,x,y,dx,dy); + if( x==x1 && y==y1 ) return 1; + if( x==x0 && y==y0 && dx==1) return 0; + } + // return 0; // endless loop ? +} + +/* move from x,y to direction r until pixel of color col is found + * or maximum of l steps + * return the number of steps done */ +int loop(pix *p,int x,int y,int l,int cs,int col, DIRECTION r){ + int i=0; + if(x>=0 && y>=0 && xx && yy){ + switch (r) { + case UP: + for( ;i=0;i++,y--) + if( (getpixel(p,x,y)y;i++,y++) + if( (getpixel(p,x,y)=0;i++,x--) + if( (getpixel(p,x,y)x;i++,x++) + if( (getpixel(p,x,y)maxstack) maxstack=blen; + blen--; /* reduce the stack */ + x=buf[blen*2+0]; + y=buf[blen*2+1]; + if (y < *y0) *y0 = y; + if (y > *y1) *y1 = y; + /* first go to leftmost pixel */ + for ( ; x>0 && (col == ((getpixel(p, x-1, y) < cs) ? 0 : 1)) ; x--); + if ((marked(p,x,y)&mark)==mark) continue; /* already scanned */ + for (dx=-1;dx<2;dx+=2) /* look at upper and lower line, left */ + if ( diag && xx && x-1>0 && y+dx >=0 && y+dx < p->y + && col != ((getpixel(p, x , y+dx) < cs) ? 0 : 1) + && col == ((getpixel(p, x-1, y+dx) < cs) ? 0 : 1) + && !((marked(p,x-1,y+dx)&mark)==mark) + ) { + if (blen+1>=bmax) { overflow|=1; continue; } + buf[blen*2+0]=x-1; + buf[blen*2+1]=y+dx; + blen++; + } + if (x < *x0) *x0 = x; + /* second go right, mark and get new starting points */ + for ( ; xx && (col == ((getpixel(p, x , y) < cs) ? 0 : 1)) ; x++) { + p->p[x + y * p->x] |= (mark & 7); rc++; /* mark pixel */ + /* enlarge frame */ + if (x > *x1) *x1 = x; + for (dx=-1;dx<2;dx+=2) /* look at upper and lower line */ + if ( col == ((getpixel(p, x , y+dx) < cs) ? 0 : 1) + && ( + col != ((getpixel(p, x-1, y ) < cs) ? 0 : 1) + || col != ((getpixel(p, x-1, y+dx) < cs) ? 0 : 1) ) + && !((marked(p,x,y+dx)&mark)==mark) && y+dxy && y+dx>=0 + ) { + if (blen+1>=bmax) { overflow|=1; continue; } + buf[blen*2+0]=x; + buf[blen*2+1]=y+dx; + blen++; + } + } + for (dx=-1;dx<2;dx+=2) /* look at upper and lower line, right */ + if ( diag && xx && x-1>0 && y+dx >=0 && y+dx < p->y + && col == ((getpixel(p, x-1, y ) < cs) ? 0 : 1) + && col != ((getpixel(p, x , y ) < cs) ? 0 : 1) + && col != ((getpixel(p, x-1, y+dx) < cs) ? 0 : 1) + && col == ((getpixel(p, x , y+dx) < cs) ? 0 : 1) + && !((marked(p,x,y+dx)&mark)==mark) + ) { + if (blen+1>=bmax) { overflow|=1; continue; } + buf[blen*2+0]=x; + buf[blen*2+1]=y+dx; + blen++; + } + } + + /* debug, ToDo: use info maxstack and pixels for image classification */ + g_debug(fprintf(stderr," maxstack= %4d pixels= %6d",maxstack,rc);) + if (overflow==1){ + overflow|=2; + fprintf(stderr,"# Warning: frame_nn stack oerflow\n"); + } + free(buf); +#else /* old version, ToDo: improve it for tmp04/005*.pgm.gz */ + int i, j, d, dx, ox, oy, od, nx, ny, rc = 0, rot = 0, x2 = x, y2 = y, ln; + + static const int d0[8][2] = { { 0, -1} /* up */, {-1, -1}, + {-1, 0} /* left */, {-1, 1}, + { 0, 1} /* down */, { 1, 1}, + { 1, 0} /* right */, { 1, -1}}; + + /* check bounds */ + if (outbounds(p, x, y)) + return 0; + /* check if already marked */ + if ((marked(p,x,y)&mark)==mark) + return 0; + + i = ((getpixel(p, x, y) < cs) ? 0 : 1); + rc = 0; + + g_debug(fprintf(stderr," start frame:");) + + for (ln = 0; ln < 2 && rot >= 0; ln++) { // repeat if right-loop + g_debug(fprintf(stderr," ln=%d diag=%d cs=%d x=%d y=%d - go to border\n",ln,diag,cs,x,y);) + + od=d=(8+4*ln-diag)&7; // start robot looks up, right is a wall + // go to right (left) border + if (ln==1) { + x=x2; y=y2; + } + /* start on leftmost position */ + for (dx = 1 - 2*ln; x + dx < p->x && x + dx >= 0 /* bounds */ && + i == ((getpixel(p, x + dx, y) < cs) ? 0 : 1) /* color */; + x += dx); + + g_debug(fprintf(stderr," ln=%d diag=%d cs=%d x=%d y=%d\n",ln,diag,cs,x,y);) + + /* robot stores start-position */ + ox = x; oy = y; + for (rot = 0; abs(rot) <= 64; ) { /* for sure max. 8 spirals */ + /* leftmost position */ + if (ln == 0 && x < x2) { + x2 = x; y2 = y; + } + + g_debug(fprintf(stderr," x=%3d y=%3d d=%d i=%d p=%3d rc=%d\n",x,y,d,i,getpixel(p,x,y),rc);) + + if ( abs(d0[d][1]) ) { /* mark left (right) pixels */ + for (j = 0, dx = d0[d][1]; x + j >= 0 && x + j < p->x + && i == ((getpixel(p, x + j, y) < cs) ? 0 : 1); j += dx) { + if (!((marked(p, x + j, y)&mark)==mark)) + rc++; + p->p[x + j + y * p->x] |= (mark & 7); + } + } + /* look to the front of robot */ + nx = x + d0[d][0]; + ny = y + d0[d][1]; + /* if right is a wall */ + if ( outbounds(p, nx, ny) || i != ((getpixel(p,nx,ny) *x1) *x1 = x; + if (y < *y0) *y0 = y; + if (y > *y1) *y1 = y; + } + if(x==ox && y==oy && d==od) break; // round trip finished + } + } + g_debug(fprintf(stderr," rot=%d\n",rot);) +#endif + return rc; +} + +/* obsolete! replaced by vectors + * mark neighbouring pixel of same color, return number + * better with neighbours of same color (more general) ??? + * parameters: (&~7)-pixmap, start-point, critical_value, mark + * recursion is removed */ +int mark_nn(pix * p, int x, int y, int cs, int r) { + /* out of bounds or already marked? */ + if (outbounds(p, x, y) || (marked(p, x, y)&r)==r) + return 0; + { + int x0, x1, y0, y1; + x0 = x1 = x; + y0 = y1 = y; // not used + return frame_nn(p, x, y, &x0, &x1, &y0, &y1, cs, r, JOB->tmp.n_run & 1); + // using same scheme + } +} + +/* ToDo: finish to replace old frame by this new one + * + * @...........#@@@@@@@. # = marked as already scanned black pixels + * @........@@@@@@@@@@@# only left and right border + * .......#@@@@@@@@@@@@@ left side on even y + * ......@@@@@@@@#.@@@@# right side on odd y + * .....#@@@@@......#@@@ no border is marked twice + * ....@@@@@#......@@@#. works also for thinn lines + * ...#@@@@........#@@@. - outer loop is stored as first + * ..@@@@#........@@@#.. - inner loop is stored as second + * .#@@@@........#@@@@.. 1st in an extra box (think on white chars) + * @@@@#.......@@@@#.... 2nd merge in an extra step + * #@@@@@....#@@@@@..... + * @@@@@@@@@@@@@@#...... + * .#@@@@@@@@@@@@....... + * + * run around the chape using laby-robot + * - used for scanning boxes, look for horizontal b/w transitions + * with unmarked black pixels and call this routine + * - stop if crossing a marked box in same direction (left=up, right=down) + * box - char box, store frame_vectors and box + * x,y - starting point + * mark - 3 bit marker, mark each valid pixel with it + * diag - 0: only pi/2 direction, 1: pi/4 directions (diagonal) + * ds - start direction, 6=right of right border, 2=left of left border + * ret - 0=ok, -1=already marked, -2=max_num_frames_exceeded + * -7=no border in direction ds + */ +#if 0 +#undef g_debug +#define g_debug(x) x +#endif +/* grep keywords: scan_vectors frame_vector */ +int frame_vector(struct box *box1, int x, int y, + int cs, int mark, int diag, int ds) { + int i1, i2, i2o, + new_x=1, /* flag for storing the vector x,y */ + steps=1, /* steps between stored vectors, speedup for big frames */ + d, /* direction */ + ox, oy, /* starting point */ + nx, ny, mx, my, /* used for simplification */ + /* ToDo: add periphery to box (german: Umfang?) */ + rc = 1, /* return code, circumference, sum vector lengths */ + rot = 0, /* memory for rotation, rot=8 means one full rotation */ + vol = 0; /* volume inside frame, negative for white inside black */ + pix *p=box1->p; + + /* translate the 8 directions to (x,y) pairs, + * if only four directions are used, only every 2nd vector is accessed, + * +1 turn left, -1 turn right + */ + static const int d0[8][2] = + { { 0, -1}, /* up */ {-1, -1}, /* up-le */ + {-1, 0}, /* left */ {-1, 1}, /* do-le */ + { 0, 1}, /* down */ { 1, 1}, /* do-ri */ + { 1, 0}, /* right */ { 1, -1} }; /* up-ri */ + + /* check bounds */ + if (outbounds(p, x, y)) + return 0; + + /* pixel color we are looking for, 0=black, 1=white */ + d = ds; + i1 = ((getpixel(p, x, y ) < cs) ? 0 : 1); + i2 = ((getpixel(p, x + d0[d][0], y + d0[d][1]) < cs) ? 0 : 1); + + g_debug(fprintf(stderr,"\nLEV2 frame_vector @ %3d %3d d%d %2d %2d" + " %d-%d pix=%3d mark=%d cs=%d",\ + x,y,ds,d0[ds][0],d0[ds][1],i1,i2,getpixel(p,x,y),mark,cs);) + + if (i1==i2){ + fprintf(stderr,"ERROR frame_vector: no border\n"); + return -7; /* no border detected */ + } + + /* initialize boxframe outside this function + box1->x0=box1->x1=x; + box1->y0=box1->y1=y; + */ + + /* initialize boxvector outside this function + box1->num_frames=0 + num_frame_vectors[0]=0 ??? + and store start value + */ + if (box1->num_frames > MaxNumFrames) return -2; + /* index to next (x,y) */ + i2o=i2=( (box1->num_frames==0)?0: + box1->num_frame_vectors[ box1->num_frames ] ); +#if 0 // obsolete v0.43 + box1->frame_vector[i2][0]=x; + box1->frame_vector[i2][1]=y; + i2++; + box1->num_frame_vectors[ box1->num_frames ]=i2; +#endif + box1->num_frames++; + + /* robot stores start-position */ + ox = x; oy = y; /* look forward to white pixel */ + + for (;;) { /* stop if same marked pixel touched */ + + g_debug(fprintf(stderr,"\nLEV3: x= %3d %3d d= %d rot= %2d %3d",x,y,d,rot,i2);) + + /* ToDo: store max. abs(rot) ??? for better recognition */ + if (new_x) { + g_debug(fprintf(stderr,"\nLEV2: markB xy= %3d %3d ", x, y);) + p->p[x + y * p->x] |= (mark & 7); /* mark black pixel */ + } + + /* store a new vector or enlarge the predecessor */ + if (new_x && (rc%steps)==0) { /* dont store everything on big chars */ + if (i2>=MaxFrameVectors) { + box1->num_frame_vectors[ box1->num_frames-1 ]=i2; + reduce_vectors(box1,1); /* simplify loop */ + i2=box1->num_frame_vectors[ box1->num_frames-1 ]; + /* enlarge steps on big chars getting speedup */ + steps=(box1->y1-box1->y0+box1->x1-box1->x0)/32+1; + } + /* store frame-vector */ + if (i2frame_vector[i2][0]=x; + box1->frame_vector[i2][1]=y; + /* test if older vector points to the same direction */ + if (i2>1) { + /* get predecessor */ + nx=box1->frame_vector[i2-1][0]-box1->frame_vector[i2-2][0]; + ny=box1->frame_vector[i2-1][1]-box1->frame_vector[i2-2][1]; + mx=x -box1->frame_vector[i2-1][0]; + my=y -box1->frame_vector[i2-1][1]; + /* same direction? */ + if (nx*my-ny*mx==0 && nx*mx>=0 && ny*my>=0) { + /* simplify by removing predecessor */ + i2--; + box1->frame_vector[i2][0]=x; + box1->frame_vector[i2][1]=y; + } /* do not simplify */ + } + i2++; + box1->num_frame_vectors[ box1->num_frames-1 ]=i2; + } + g_debug(fprintf(stderr," stored @ %3d steps= %d", i2-1, steps);) + } + new_x=0; /* work for new pixel (x,y) done */ + + /* check if round trip is finished */ + if (x==ox && y==oy && abs(rot)>=8) break; + + /* look to the front of robot (turtle or ant) */ + nx = x + d0[d][0]; + ny = y + d0[d][1]; + + /* next step, if right is a wall turn the turtle left */ + if ( outbounds(p, nx, ny) || i1 != ((getpixel(p,nx,ny)=0 && nxx) { /* if inbound */ + g_debug(fprintf(stderr,"\nLEV2: markW xy= %3d %3d ", nx, ny);) + p->p[nx + ny * p->x] |= (mark & 7); /* mark white pixel */ + } + /* rotate left 90 or 45 degrees */ + d=(d+2-diag) & 7; rot+=2-diag; + /* calculate volume inside frame */ + switch (d+diag) { + case 2+2: vol-=x-1; break; + case 6+2: vol+=x; break; + } + } + else { /* if no wall, go forward and turn right (90 or 45 degrees) */ + x=nx; y=ny; + /* turn back and rotate left */ + d=(d+4+2-diag) & 7; rot+=2-diag-4; + rc++; /* counting steps, used for speedup */ + + /* enlarge frame */ + if (x < box1->x0) box1->x0 = x; + if (x > box1->x1) box1->x1 = x; + if (y < box1->y0) box1->y0 = y; + if (y > box1->y1) box1->y1 = y; + + new_x=1; + } + } + + /* to distinguish inner and outer frames, store volume as +v or -v */ + box1->frame_vol[ box1->num_frames-1 ] = vol; + box1->frame_per[ box1->num_frames-1 ] = rc-1; + + /* dont count and store the first vector twice */ + if (i2-i2o>1) { + i2--; rc--; box1->num_frame_vectors[ box1->num_frames-1 ]=i2; + } + /* output break conditions */ + g_debug(fprintf(stderr,"\nLEV2 o= %3d %3d x= %3d %3d r=%d v=%d",ox,oy,x,y,rot,vol);) + /* rc=1 for a single point, rc=2 for a two pixel sized point */ + g_debug(fprintf(stderr," steps= %3d vectors= %3d",rc,i2);) + /* out_x(box1); ToDo: output only the first thousend */ + return rc; /* return number of bordering pixels = periphery? */ +} + + + +/* clear lowest 3 (marked) bits (they are used for marking) */ +void clr_bits(pix * p, int x0, int x1, int y0, int y1) { + int x, y; + for ( y=y0; y <= y1; y++) + for ( x=x0; x <= x1; x++) + p->p[x+y*p->x] &= ~7; +} + +/* look for white holes surrounded by black points + * at the moment look for white point with black in all four directions + * - store position of hole in coordinates relativ to box! + * ToDo: count only holes with vol>10% ??? + * ToDo: rewrite for frame vectors (faster, no malloc) + * holes are frames rotating left hand + * obsolete, do it with vectors + */ +int num_hole(int x0, int x1, int y0, int y1, pix * p, int cs, holes_t *holes) { + int num_holes = 0, x, y, hole_size; + pix b; // temporary mini-page + int dx = x1 - x0 + 1, dy = y1 - y0 + 1; + unsigned char *buf; // 2nd copy of picture, for working + + if (holes) holes->num=0; + if(dx<3 || dy<3) return 0; + b.p = buf = (unsigned char *) malloc( dx * dy ); + if( !buf ){ + fprintf( stderr, "\nFATAL: malloc(%d) failed, skip num_hole", dx*dy ); + return 0; + } + if (copybox(p, x0, y0, dx, dy, &b, dx * dy)) + { free(b.p); return -1;} + + // printf(" num_hole("); + /* --- mark white-points connected with border */ + for (x = 0; x < b.x; x++) { + if (getpixel(&b, x, 0) >= cs) + mark_nn(&b, x, 0, cs, AT); + if (getpixel(&b, x, b.y - 1) >= cs) + mark_nn(&b, x, b.y - 1, cs, AT); + } + for (y = 0; y < b.y; y++) { + if (getpixel(&b, 0, y) >= cs) + mark_nn(&b, 0, y, cs, AT); + if (getpixel(&b, b.x - 1, y) >= cs) + mark_nn(&b, b.x - 1, y, cs, AT); + } + + g_debug(out_b(NULL,&b,0,0,b.x,b.y,cs);) + // --- look for unmarked white points => hole + for (x = 0; x < b.x; x++) + for (y = 0; y < b.y; y++) + if (!((marked(&b, x, y)&AT)==AT)) // unmarked + if (getpixel(&b, x, y) >= cs) { // hole found +#if 0 + hole_size=mark_nn(&b, x, y, cs, AT); /* old version */ + if (hole_size > 1 || dx * dy <= 40) + num_holes++; +#else + { /* new version, for future store of hole characteristics */ + int x0, x1, y0, y1, i, j; + x0 = x1 = x; + y0 = y1 = y; // not used + hole_size=frame_nn(&b, x, y, &x0, &x1, &y0, &y1, cs, AT, JOB->tmp.n_run & 1); + // store hole for future use, num is initialized with 0 + if (hole_size > 1 || dx * dy <= 40){ + num_holes++; + if (holes) { + // sort in table + for (i=0;inum && ihole[i].size < hole_size) break; + for (j=MAX_HOLES-2;j>=i;j--) + holes->hole[j+1]=holes->hole[j]; + if (ihole[i].size=hole_size; + holes->hole[i].x=x; + holes->hole[i].y=y; + holes->hole[i].x0=x0; + holes->hole[i].y0=y0; + holes->hole[i].x1=x1; + holes->hole[i].y1=y1; + } + holes->num++; + } + } + } +#endif + } + free(b.p); + // printf(")=%d",num_holes); + return num_holes; +} + +/* count for black nonconnected objects --- used for i,auml,ouml,etc. */ +/* ToDo: obsolete, replaced by vectors and box.num_boxes */ +int num_obj(int x0, int x1, int y0, int y1, pix * p, int cs) { + int x, y, rc = 0; // rc=num_obj + unsigned char *buf; // 2nd copy of picture, for working + pix b; + + if(x1x0;y1=box1->y0;x2=box2->x0;y2=box2->y0; + dx1=box1->x1-box1->x0+1; dx2=box2->x1-box2->x0+1; dx=((dx1>dx2)?dx1:dx2); + dy1=box1->y1-box1->y0+1; dy2=box2->y1-box2->y0+1; dy=((dy1>dy2)?dy1:dy2); + if(abs(dx1-dx2)>1+dx/16 || abs(dy1-dy2)>1+dy/16) return 100; + // compare relations to baseline and upper line + if(2*box1->y1>box1->m3+box1->m4 && 2*box2->y1m3+box2->m4) rbad+=128; + if(2*box1->y0>box1->m1+box1->m2 && 2*box2->y0m1+box2->m2) rbad+=128; + // compare pixels + for( y=0;y0) rbad+=16*v1; + else rbad++; + } + if(rgood+rbad) rc= (100*rbad+(rgood+rbad-1))/(rgood+rbad); else rc=99; + if(rc<10 && JOB->cfg.verbose & 7){ + fprintf(stderr,"\n# distance rc=%d good=%d bad=%d",rc,rgood,rbad); +// out_x(box1);out_x(box2); + } + return rc; +} + + + +// ============================= call OCR engine ================== ;) +// nrun=0 from outside, nrun=1 from inside (allows modifications, oobsolete) +wchar_t whatletter(struct box *box1, int cs, int nrun){ + wchar_t bc=UNKNOWN; // best letter + wchar_t um=SPACE; // umlaut? '" => modifier + pix *p=box1->p; // whole image + int x,y,dots,xa,ya,x0,x1,y0,y1,dx,dy,i; + pix b; // box + struct box bbuf=*box1; // restore after modifikation! + + if (box1->num_ac>0 && box1->wac[0]>=JOB->cfg.certainty && bc==UNKNOWN) { + bc=box1->tac[0]; + } + // if (bc!=UNKNOWN) return bc; + // if whatletter() called again, only unknown chars are processed + // bad for splitting! + + // store box data, which can be modified for modified chars in 2nd run + bbuf.x0=box1->x0; bbuf.y0=box1->y0; + bbuf.x1=box1->x1; bbuf.y1=box1->y1; + + xa=box1->x; ya=box1->y; + x0=box1->x0; y0=box1->y0; + x1=box1->x1; y1=box1->y1; + // int vol=(y1-y0+1)*(x1-x0+1); // volume + // crossed l-m , divided chars + while( get_bw(x0,x1,y0,y0,p,cs,1)!=1 && y0+15 && box1->num_boxes>1) + testumlaut(box1,cs,2,&um); /* set box1->modifier + new y0 */ + + dots=box1->dots; + y0 =box1->y0; // dots==2 => y0 below double dots + dy =y1-y0+1; + + // move upper and lower border (for divided letters) + while( get_bw(x0,x1,y0,y0,p,cs,1)==0 && y0+1x0=x0; box1->y0=y0; // set reduced frame + box1->x1=x1; box1->y1=y1; + + // set good startpoint (probably bad from division)? + if( xax1 || yay1 + || getpixel(p,xa,ya)>=cs /* || 2*ya0 ){ + // subfunction? also called after division of two glued chars? + for(y=y1;y>=y0;y--) // low to high (not i-dot) + for(x=(x0+x1)/2,i=0;x>=x0 && x<=x1;i++,x+=((2*i&2)-1)*i) /* is that ok? */ + if (getpixel(p,x,y)x,y be set? */ + } + + // ----- create char-only-box ------------------------------------- + // ToDo: this will be obsolete if vectors are used only + if(dx<1 || dy<1) return bc; /* should not happen */ + b.p = (unsigned char *) malloc( dx * dy ); + if (!b.p) fprintf(stderr,"Warning: malloc failed L%d\n",__LINE__); + if( copybox(p,x0,y0,dx,dy,&b,dx*dy) ) + { free(b.p); return bc; } + // clr_bits(&b,0,b.x-1,0,b.y-1); + // ------ use diagonal too (only 2nd run?) + /* following code failes on ! and ? obsolete if vectors are used + ToDo: + - mark pixels neighoured to pixels outside and remove them from &b + v0.40 + will be replaced by list of edge vectors + - mark accents, dots and remove them from &b + */ +#if 1 /* becomes obsolate by vector code */ + if (y0>0) // mark upper overlap + for ( x=x0; x<=x1; x++) { + if (getpixel(p,x,y0-1)0) // mark left overlap + for ( y=y0; y<=y1; y++) { + if (getpixel(p,x0-1,y)x-1) // mark right overlap + for ( y=y0; y<=y1; y++) { + if (getpixel(p,x1+1,y)num_ac>0 && box1->wac[0]>=JOB->cfg.certainty && bc==UNKNOWN) { + bc=box1->tac[0]; + } + + if (um!=0 && um!=SPACE && bc<127) { /* ToDo: is that obsolete now? */ + wchar_t newbc; + newbc = compose(bc, um ); + if (newbc == bc) { /* nothing composed */ + if(JOB->cfg.verbose & 7) + fprintf(stderr, "\nDBG whatletter: compose(%s) was useless (%d,%d)", + decode(bc,ASCII), box1->x0, box1->y0); + // if(JOB->cfg.verbose & 6) out_x(box1); + } + bc = newbc; + } + // restore modified boxes + box1->x0=bbuf.x0; box1->y0=bbuf.y0; + box1->x1=bbuf.x1; box1->y1=bbuf.y1; +// if (box1->c==UNKNOWN) out_b(box1,&b,0,0,dx,dy,cs); // test + + free(b.p); + return bc; +} + +/* +** creates a list of boxes/frames around objects detected +** on the pixmap p for further work +** returns number of boxes created. +** - by the way: get average X, Y (avX=sumX/numC,..) +*/ +int scan_boxes( pix *p ){ + int x, y, nx, cs, rc, ds; + struct box *box3; + + if (JOB->cfg.verbose) + fprintf(stderr,"# scanning boxes"); + + cs = JOB->cfg.cs; + JOB->res.sumX = JOB->res.sumY = JOB->res.numC = 0; + + /* clear the lowest bits of each pixel, later used as "scanned"-marker */ + clr_bits( p, 0, p->x - 1, 0, p->y - 1); + + for (y=0; y < p->y; y++) + for (x=0; x < p->x; x++) + for (ds=2; ds<7; ds+=4) { // NO - dust of size 1 is not removed !!! + nx=x+((ds==2)?-1:+1); + if (nx<0 || nx>=p->x) continue; /* out of image, ex: recframe */ + if ( getpixel(p, x,y)>=cs || getpixel(p,nx,y)< cs) // b/w transition? + continue; + if ((marked(p, x,y) & 1)&&(marked(p, nx, y) & 1)) + continue; + /* check (and mark) only horizontal b/w transitions */ + // --- insert new box in list + box3 = (struct box *)malloc_box(NULL); + box3->x0=box3->x1=box3->x=x; + box3->y0=box3->y1=box3->y=y; + box3->num_frames=0; + box3->dots=0; + box3->num_boxes=1; + box3->num_subboxes=0; + box3->modifier='\0'; + box3->num=JOB->res.numC; + box3->line=0; // not used here + box3->m1=0; box3->m2=0; box3->m3=0; box3->m4=0; + box3->p=p; + box3->num_ac=0; // for future use + +/* frame, vectorize and mark only odd/even horizontal b/w transitions + * args: box, x,y, cs, mark, diag={0,1}, ds={2,6} + * ds - start direction, 6=right of right border, 2=left of left border + * ret - 0=ok, -1=already marked, -2=max_num_frames_exceeded + * -7=no border in direction ds + * ToDo: count errors and print out for debugging + */ + rc=frame_vector(box3, x, y, cs, 1, 1, ds); + g_debug(fprintf(stderr,"\n# ... scan xy= %3d %3d rc= %2d", x, y, rc);) + if (rc<0) { free_box(box3); continue; } + if (box3->num_frames && !box3->num_frame_vectors[0]) + fprintf(stderr,"\nERROR scan_boxes: no vector in frame (%d,%d)",x,y); + + JOB->res.numC++; + JOB->res.sumX += box3->x1 - box3->x0 + 1; + JOB->res.sumY += box3->y1 - box3->y0 + 1; + + box3->c=(((box3->y1-box3->y0+1) + *(box3->x1-box3->x0+1)>=MaxBox)? PICTURE : UNKNOWN); + list_app(&(JOB->res.boxlist), box3); // append to list + // ToDo: debug + // if (JOB->cfg.verbose && box3->y0==29) out_x(box3); + } + if(JOB->res.numC){ + if (JOB->cfg.verbose) + fprintf(stderr," nC= %3d avD= %2d %2d\n",JOB->res.numC, + (JOB->res.sumX+JOB->res.numC/2)/JOB->res.numC, + (JOB->res.sumY+JOB->res.numC/2)/JOB->res.numC); + } + return JOB->res.numC; +} + +/* compare ints for sorting. Return -1, 0, or 1 according to + whether *vr < *vs, vr == *vs, or *vr > *vs */ +int +intcompare (const void *vr, const void *vs) +{ + int *r=(int *)vr; + int *s=(int *)vs; + + if (*r < *s) return -1; + if (*r > *s) return 1; + return 0; +} + +/* + * measure_pitch - detect monospaced font and measure the pitch + * measure overall pitch for difficult lines, + * after that measure pitch per line + * dists arrays are limited to 1024 elements to reduce + * cpu usage for qsort on images with extreme high number of objects + * insert space if dist>=pitch in list_insert_spaces() + * ToDo: ??? + * - min/max distance-matrix a-a,a-b,a-c,a-d ... etc; td,rd > ie,el,es + * - OR measuring distance as min. pixel distance instead of box distance + * especially useful for italic font! + */ +void measure_pitch( job_t *job ){ + int numdists=0, spc=0, /* number of stored distances */ + pitch_p=2, pdist, pdists[1024], /* proportional distances */ + pitch_m=6, mdist, mdists[1024], /* monospaced distances */ + monospaced=0, l1; + struct box *box2, *prev=NULL; + + if(job->cfg.verbose){ fprintf(stderr,"# check for word pitch"); } + for (l1=0; l1res.lines.num; l1++) + { /* 0 means all lines */ + if(job->cfg.verbose){ fprintf(stderr,"\n# line %2d",l1); } + numdists = 0; /* clear distance lists */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (l1>0 && box2->line!=l1) continue; /* ignore other lines */ + /* ignore dots and pictures (min. font is 4x6) */ + if (box2->y1 - box2->y0 + 1 < 4 || box2->c==PICTURE) { prev=NULL; } + if (!prev) { prev=box2; continue; } /* we need a predecessor */ + /* use center distance for monospaced fonts */ + mdist = ((box2->x0 + box2->x1) - (prev->x0 + prev->x1) + 1)/2; + /* use gap for proportional fonts */ + pdist = box2->x0 - prev->x1 + 1; + /* ToDo: better take 3 instead of 2 neighbours?, smallest font 4x6 */ + /* fonts are expected to be 6 to 60 pixels high, which is about + 4 to 50 pixels wide. We allow some extra margin. */ + if (3 < mdist && mdist < 150) { /* better mdist < 3*Xaverage ? */ + /* two options for overflow: 1) ignore, 2) store randomly */ + if (numdists<1024) { /* we do ignore here */ + mdists[numdists] = mdist; + pdists[numdists] = pdist; + numdists++; + } + } + prev = box2; + } end_for_each(&(job->res.boxlist)); + + if(job->cfg.verbose){ fprintf(stderr," num_gaps= %2d",numdists); } + if( numdists<8 ){ + if (job->cfg.verbose && l1==0) /* only for all lines */ + fprintf(stderr," (WARNING num_gaps<8)"); + } + if (numdists>0) { + int i,diff,ni_min,max,best_m,best_p,ni; double v; + /* aware: takes long time for big data sets */ + /* dilute? (german: ausduennen?) */ + qsort (mdists, numdists, sizeof (int), intcompare); + qsort (pdists, numdists, sizeof (int), intcompare); + /* the new method, div0? */ + v = (mdists[numdists*7/10]-mdists[numdists/5]) + /(double)mdists[numdists/5]; + /* measurements showed v=.09 for Courier and .44 for Times-Roman */ + if (l1==0) monospaced = (v < .22); + best_m= numdists/5; + best_p=4*numdists/5; + /* try to find better pitch for monospaced font (ok for prop) */ + for (i=numdists/5+1;i=3*mdists[best_m]) { best_m=i-1; break; } + } + /* try to find better pitch for proportional font */ + // the largest diff could be the best, if diff is always 1, + // take the diff with the lowest weight + for (ni=ni_min=1024,max=0,i=numdists/2+1;imax) { + max=diff; best_p=i-1; + if ((job->cfg.verbose&(32+16))==48) + fprintf(stderr," best_p=%d maxdiff=%d\n# ...", pdists[best_p], max); + if (max>3 && 3*pdists[i]>=4*pdists[i-1]) { break; } + } + if (diff) { + if (ni16) best_p=i-1; + if ((job->cfg.verbose&(32+16))==48) + fprintf(stderr," best_p=%d ni_min=%d\n# ...", pdists[best_p], ni_min); + } + ni=1; + } else ni++; + } + if (numdists<16 && max<=1 && ni_min>1) best_p=numdists-1; // one word +#if 1 /* debugging */ + if ((job->cfg.verbose&(32+16))==48) { + fprintf(stderr,"\n# ..."); + for (i=0;i0 && job->cfg.spc==0) { + job->res.lines.pitch[l1]=(monospaced?pitch_m:pitch_p); + job->res.lines.mono[l1]=monospaced; + } + if (job->cfg.verbose) { + fprintf(stderr,"\n# ..." + " mono: v=%f (v<0.22) line=%d numdists=%d\n# ...", + v, l1, numdists); + fprintf(stderr," mono: min=%3d max=%3d pitch=%3d @ %2d%%\n# ...", + mdists[0],mdists[numdists-1],pitch_m,best_m*100/numdists); + fprintf(stderr," prop: min=%3d max=%3d pitch=%3d @ %2d%%\n# ...", + pdists[0],pdists[numdists-1],pitch_p,best_p*100/numdists); + fprintf(stderr," result: distance >= %d considered space\n# ...", + job->res.lines.pitch[l1]); + } + } /* if (not) enough spaces */ + if (l1==0) { /* set default spaces to each line */ + int l2; + spc = job->cfg.spc; + if (spc==0) /* set only if not set by option */ + spc = ((monospaced)?pitch_m:pitch_p); + for (l2=0; l2res.lines.num; l2++ ) + job->res.lines.pitch[l2]=spc; + } + } /* each line */ + if (job->cfg.spc==0) + job->cfg.spc = spc; + if (job->cfg.verbose) + fprintf(stderr," overall space width is %d %s\n", + spc, ((monospaced)?"monospaced":"proportional")); + + +} + +/* ---- count subboxes (white holes within black area) -------- + * new: count boxes lying inside another box (usually holes, ex: "aeobdg") + * needed for glue_boxes, dont glue textboxes, tables and other complex + * objects + * ToDo: count only frames of invers spin? do we need sorted list here? -> no + */ +int count_subboxes( pix *pp ){ + int ii=0, num_mini=0, num_same=0, cnt=0; + struct box *box2,*box4; + progress_counter_t *pc = NULL; + if (JOB->cfg.verbose) { fprintf(stderr,"# count subboxes\n# ..."); } + + pc = open_progress(JOB->res.boxlist.n,"count_subboxes"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + box2->num_subboxes=0; + progress(cnt++,pc); + if ( (box2->x1 - box2->x0)<2 + || (box2->y1 - box2->y0)<2) continue; /* speedup for dotted bg */ + // holes inside box2 char, aoebdqg, 0.41 + for_each_data(&(JOB->res.boxlist)) { + box4=(struct box *)list_get_current(&(JOB->res.boxlist)); + if (box4->y0 > box2->y1) break; // faster, but boxes need to be sorted + // ToDo: better use binary tree (above/below x) to find near boxes? + if (box4==box2) continue; + if( box4->x0==box2->x0 && box4->x1==box2->x1 + && box4->y0==box2->y0 && box4->y1==box2->y1) + num_same++; /* erroneous!? */ + if ( box4->x0 >= box2->x0 && box4->x1 <= box2->x1 + && box4->y0 >= box2->y0 && box4->y1 <= box2->y1 + && box4->num_subboxes==0 ) /* box4 inside box2? */ + { + box2->num_subboxes++; ii++; + if ((box4->x1 - box4->x0 + 1) + *(box4->y1 - box4->y0 + 1)<17) num_mini++; + } + } end_for_each(&(JOB->res.boxlist)); +#if 0 + if (cnt < 1000 && JOB->cfg.verbose) + fprintf(stderr," %4d box %4d %4d %+3d %+3d subboxes %4d\n# ...", + cnt, box2->x0, box2->y0, box2->x1-box2->x0, + box2->y1-box2->y0, box2->num_subboxes); +#endif + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if (JOB->cfg.verbose) + fprintf(stderr," %3d subboxes counted (mini=%d, same=%d) nC= %d\n", + ii, num_mini, num_same/2 /* counted twice */, cnt); + return 0; +} + +/* ---- glue holes tochars( before step1 ) v0.42 ----------------------- + glue boxes lying inside another box (usually holes, ex: "aeobdg46890") + Dont add dust to a char! + lines are not detected yet +*/ +int glue_holes_inside_chars( pix *pp ){ + int ii, cs, x0, y0, x1, y1, cnt=0, + glued_same=0, glued_holes=0; + struct box *box2, *box4; + progress_counter_t *pc = NULL; + cs=JOB->cfg.cs; + { + count_subboxes( pp ); /* move to pgm2asc() later */ + + pc = open_progress(JOB->res.boxlist.n,"glue_holes_inside_chars"); + if (JOB->cfg.verbose) + fprintf(stderr,"# glue holes to chars nC= %d\n# ...",JOB->res.numC); + ii=0; + for_each_data(&(JOB->res.boxlist)) { + // get the smaller box which may be extended by bigger boxes around it + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + + progress(cnt++,pc); + + // would it better than moving vectors to build a sub-box-tree? + + // do not remove chars inside pictures (car plates on photos) + if( box2->c == PICTURE || box2->num_subboxes > 7) continue; + + // holes inside char, aoebdqg, 0.41 + // dont merge boxes which have subboxes by itself! + // search boxes inside box2 + // if (x1-x0+1>2 || y1-y0+1>2) /* skip tiny boxes, bad for 4x6 */ + for_each_data(&(JOB->res.boxlist)) { + box4=(struct box *)list_get_current(&(JOB->res.boxlist)); + if(box4!=box2 && box4->c != PICTURE ) + { + // ToDo: dont glue, if size differs by big factors (>16?) + if ( ( box4->x0==x0 && box4->x1==x1 + && box4->y0==y0 && box4->y1==y1 ) /* do not happen !? */ + || ( box4->x0>=x0 && box4->x1<=x1 + && box4->y0>=y0 && box4->y1<=y1 + && box4->num_subboxes==0 ) ) /* no or very small subboxes? */ + { // fkt melt(box2,box4) + // same box, if very small but hollow char (4x5 o) + if( box4->x0==x0 && box4->x1==x1 + && box4->y0==y0 && box4->y1==y1) glued_same++; else glued_holes++; + // fprintf(stderr,"\n# DEBUG merge:"); + // out_x(box2); // small + // out_x(box4); // big + if ((JOB->cfg.verbose & 7)==7) // LEV3 + fprintf(stderr," glue hole (%4d %4d %+3d %+3d %+4d)" + " (%4d %4d %+3d %+3d %+4d) %d\n# ...", + x0, y0, x1-x0+1, y1-y0+1, box2->frame_vol[0], + box4->x0, box4->y0, + box4->x1-box4->x0+1, box4->y1-box4->y0+1, + box4->frame_vol[0], glued_same); + if ((box4->x1-box4->x0+1)< 8*(x1-x0+1) + || (box4->y1-box4->y0+1)<12*(y1-y0+1)) // skip dust + merge_boxes( box2, box4 ); // add box4 to box2 + // out_x(box2); + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + JOB->res.numC--; // dont count fragments as chars + ii++; // count removed + list_del(&(JOB->res.boxlist), box4); // remove box4 + free_box(box4); + // now search another hole inside box2 + } + } + } end_for_each(&(JOB->res.boxlist)); + + } end_for_each(&(JOB->res.boxlist)); + + if (JOB->cfg.verbose) + fprintf(stderr," glued: %3d holes, %3d same, nC= %d\n", + glued_holes, glued_same, JOB->res.numC); + close_progress(pc); + } + return 0; +} + + +/* ---- glue broken chars ( before step1 ??? ) ----------------------- + use this carefully, do not destroy previous detection ~fi, broken K=k' g + glue if boxes are near or diagonally connected + other strategy: mark boxes for deleting and delete in extra loop at end + faster: check only next two following boxes because list is sorted! + ToDo: store m4 of upper line to m4_of_prev_line, and check that "-points are below + done: glue boxes lying inside another box (usually holes, ex: "aeobdg") + Dont add dust to a char! + lines should be detected already (Test it for m1-m4 unknown) + ToDo: divide in glue_idots, glue_thin_chars etc. and optimize it +*/ +int glue_broken_chars( pix *pp ){ + int ii, y, cs, x0, y0, x1, y1, cnt=0, + num_frags=0, glued_frags=0, glued_hor=0; + struct box *box2, *box4; + progress_counter_t *pc = NULL; + cs=JOB->cfg.cs; + { + count_subboxes( pp ); /* move to pgm2asc() later */ + + pc = open_progress(JOB->res.boxlist.n,"glue_broken_chars"); + if (JOB->cfg.verbose) + fprintf(stderr,"# glue broken chars nC= %d\n# ...",JOB->res.numC); + ii=0; + for_each_data(&(JOB->res.boxlist)) { + // get the box which may be extended by boxes around it + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + + progress(cnt++,pc); + + // vertical broken (g965T umlauts etc.) + // not: f, + + // would it better than moving vectors to build a sub-box-tree? + + // do not remove chars inside pictures (car plates on photos) + if( box2->c == PICTURE || box2->num_subboxes > 7) continue; + + /* continue loop if box is below or above line */ + if( box2->m4>0 && y0>box2->m4 ) continue; /* dust outside ? */ + if( box2->m1>0 && y0m1-(box2->m3-box2->m2) ) continue; + /* ToDo: + * - check that y0 is greater as m3 of the char/line above + */ + + // check small boxes (box2) whether they belong + // to near same size or bigger boxes (box4) + if( 2*(y1-y0) < box2->m4 - box2->m1 // care for dots etc. + && ( 2*y1<=(box2->m3+box2->m2) // upper fragments + || 2*y0>=(box2->m3+box2->m2)) ) { // lower fragments + struct box *box5=NULL, *box6=NULL; // nearest and next nearest box + box4=NULL; + num_frags++; /* count for debugging */ + // get the [2nd] next x-nearest box in the same line + for_each_data(&(JOB->res.boxlist)) { + box4=(struct box *)list_get_current(&(JOB->res.boxlist)); + if (box4 == box2 || box4->c == PICTURE) continue; + /* 0.42 speed up for backround pixel pattern, box4 to small */ + if ( box4->x1 - box4->x0 + 1 < x1-x0+1 + && box4->y1 - box4->y0 + 1 < y1-y0+1 ) continue; + // have in mind that line number may be wrong for dust + if (box4->line>=0 && box2->line>=0 && box4->line==box2->line) + { + if (!box5) box5=box4; + if ( abs(box4->x0 + box4->x1 - 2*box2->x0) + x0 + box5->x1 - 2*box2->x0)) + { box6=box5; box5=box4; } + } + } end_for_each(&(JOB->res.boxlist)); + box4=box5; // next nearest box within the same line + if (box4) { +#if 0 /* set this to 1 for debugging of melting bugs */ + if (JOB->cfg.verbose & 7) { + fprintf(stderr,"\n# next two boxes are candidates for melting "); + out_x(box2); + out_x(box4); } +#endif + if( /* umlaut "a "o "u, ij; box2 is the small dot, box4 the body */ + ( y1 <= box2->m2 + && box4->y1 >= box2->m2 // dont melt dots together + && 2* y1 < box4->y1 + box4->y0 // box2 above box4 + && box4->x1+JOB->res.avX/2>=x0 + && box4->x0-JOB->res.avX/2<=x1 + && (y1 < box4->y0 || x0 < box4->x1) // dont melt "d'" + && 3* ( y1 - box4->y0) + <= 2* (box4->y1 - box4->y0) // too far away? dust! + && 8* ( x1 - x0 + 1) + >= (box4->x1 - box4->x0 + 1) // dot must have minimum size + && 10* ( y1 - y0 + 1) + >= (box4->y1 - box4->y0 + 1) // dot must have minimum size + ) || ( 0 && /* broken T */ + 3*(box2->x1 - box2->x0) > 2*JOB->res.avX + && 4*box4->x0>3*box2->x0+box2->x1 + && 4*box4->x1x0+3*box2->x1 + ) + || /* !?; box2 is the dot, box4 the body */ + ( 2*box4->x1>=x0+x1 /* test if box4 is around box2 */ + && 2*box4->x0<=2*x1 /* +x0+1 Jan00 */ + && ( x1-x0 <= box4->x1-box4->x0+2 ) + && 2*y0>=box2->m2+box2->m3 + && 4*y1>=box2->m2+3*box2->m3 + && 4*(y1-y0)m4-box2->m1 + && (8*box4->y1 < box4->m2+7*box4->m3 + || box4->m4-box4->m1<16) /* Jan00 */ + ) + || /* =;: box2 is the upper box, box4 the lower box */ + ( 2*box4->x1>=x0+x1 /* test if box4 is around box2 */ + && 2*box4->x0<=2*x1 /* +x0+1 */ + && ( x1-x0 <= box4->x1-box4->x0+4 ) + && ( 4*x0 <= 3*box4->x1+box4->x0 ) + && (( box2->m2 && box4->m2 + && y1< box2->m3 + && 2*box4->y1 > box4->m3+box4->m2 // can be bigger than m3 + && 4*box4->y0 >= 3*box4->m2+box4->m3 + && 2*box2->y0 < box2->m3+box2->m2 + ) + || ( (!box2->m2) || (!box4->m2) ) + ) + ) + ) + { // fkt melt(box2,box4) + if (JOB->cfg.verbose & 7) + fprintf(stderr," glue objects (%3d %3d %+3d %+3d)" + " (%3d %3d %+3d %+3d)\n# ...", + x0, y0, x1-x0+1, y1-y0+1, box4->x0, box4->y0, + box4->x1-box4->x0+1, box4->y1-box4->y0+1); + // fprintf(stderr,"\n# DEBUG merge:"); // d=7x34 @ (109,51) ??? + // out_x(box2); + // out_x(box4); + merge_boxes( box2, box4 ); // add box4 to box2 + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + // if (JOB->cfg.verbose & 4) out_x(box2); + // JOB->res.numC--; // dont count fragments as chars + ii++; glued_frags++; // remove + // output_list(JOB); + list_del(&(JOB->res.boxlist), box4); /* ret&1: error-message ??? */ + // output_list(JOB); + free_box(box4); + } + } + } +// continue; + + // horizontally broken w' K' + if( 2*y1 < (box2->m3+box2->m2) ) + if( 2*(y1-y0) < (box2->m3+box2->m2) ) // fragment + for_each_data(&(JOB->res.boxlist)) { + box4=(struct box *)list_get_current(&(JOB->res.boxlist)); + if(box4!=box2 && box4->c != PICTURE ) + { + if( box4->line>=0 && box4->line==box2->line + && box4->x1>=x0-1 && box4->x1x0+3*box4->x1<4*x0) + if( get_bw(x0 ,x0 ,y1,y1 ,pp,cs,1) == 1) + if( get_bw(x0-2,x0-1,y1,y1+2,pp,cs,1) == 1) + { // fkt melt(box2,box4) + put(pp,x0,y1+1,~(128+64),0); + merge_boxes( box2, box4 ); + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + JOB->res.numC--; ii++; // remove + glued_hor++; + list_del(&(JOB->res.boxlist), box4); + free_box(box4); + } + } + } end_for_each(&(JOB->res.boxlist)); + + // horizontally broken n h (h=l_) v0.2.5 Jun00 + if( abs(box2->m2-y0)<=(y1-y0)/8 ) + if( abs(box2->m3-y1)<=(y1-y0)/8 ) + if( num_cross(x0, x1,(y0+ y1)/2,(y0+ y1)/2,pp,cs) == 1) + if( num_cross(x0, x1,(y0+3*y1)/4,(y0+3*y1)/4,pp,cs) == 1) + if( get_bw((3*x0+x1)/4,(3*x0+x1)/4,(3*y0+y1)/4,y1,pp,cs,1) == 0) + if( get_bw(x0,(3*x0+x1)/4,(3*y0+y1)/4,(y0+3*y1)/4,pp,cs,1) == 0) + if( get_bw(x0, x0, y0,(3*y0+y1)/4,pp,cs,1) == 1) + for_each_data(&(JOB->res.boxlist)) { + box4=(struct box *)list_get_current(&(JOB->res.boxlist)); + if(box4!=box2 && box4->c != PICTURE ) + { + if( box4->line>=0 && box4->line==box2->line + && box4->x1>x0-3 && box4->x1-2y1-box2->m3)<2) + { // fkt melt(box2,box4) + y=loop(pp,x0,y0,y1-y0,cs,0,DO);if(2*y>y1-y0) continue; + put(pp,x0-1,y0+y ,~(128+64),0); + put(pp,x0-1,y0+y+1,~(128+64),0); + merge_boxes( box2, box4 ); // add box4 to box2 + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; + JOB->res.numC--; ii++; // remove + glued_hor++; + list_del(&(JOB->res.boxlist), box4); + free_box(box4); + } + } + } end_for_each(&(JOB->res.boxlist)); + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr," glued: %3d fragments (found %3d), %3d rest, nC= %d\n", + glued_frags, num_frags, glued_hor, JOB->res.numC); + close_progress(pc); + } + return 0; +} + +/* +** this is a simple way to improve results on noisy images: +** - find similar chars (build cluster of same chars) +** - analyze clusters (could be used for generating unknown font-base) +** - the quality of the result depends mainly on the distance function +*/ + // ---- analyse boxes, compare chars, compress picture ------------ + // ToDo: - error-correction only on large chars! +int find_same_chars( pix *pp){ + int i,k,d,cs,dist,n1,dx; struct box *box2,*box3,*box4,*box5; + pix p=(*pp); + cs=JOB->cfg.cs; + { + if(JOB->cfg.verbose)fprintf(stderr,"# packing"); + i = list_total(&(JOB->res.boxlist)); + for_each_data(&(JOB->res.boxlist)) { + box4 = box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + dist=1000; // 100% maximum + dx = box2->x1 - box2->x0 + 1; + + if(JOB->cfg.verbose)fprintf(stderr,"\r# packing %5d",i); + if( dx>3 ) + for(box3=(struct box *)list_next(&(JOB->res.boxlist),box2);box3; + box3=(struct box *)list_next(&(JOB->res.boxlist),box3)) { + if(box2->num!=box3->num){ + int d=distance(&p,box2,&p,box3,cs); + if ( dnum; // set all num==box2.num to box2.num + for_each_data(&(JOB->res.boxlist)) { + box5=(struct box *)(struct box *)list_get_current(&(JOB->res.boxlist)); + if(box5!=box2) + if( box5->num==n1 ) box5->num=box2->num; + } end_for_each(&(JOB->res.boxlist)); + // out_x2(box2,box5); + // fprintf(stderr," dist=%d\n",d); + } + } + } + // nearest dist to box2 has box4 + // out_b2(box2,box4); + // fprintf(stderr," dist=%d\n",dist); + } end_for_each(&(JOB->res.boxlist)); + k=0; + if(JOB->cfg.verbose)fprintf(stderr," %d different chars",i); + for_each_data(&(JOB->res.boxlist)) { + struct box *box3,*box4; + int j,dist; + box2=(struct box *)list_get_current(&(JOB->res.boxlist)); + for(box3=(struct box *)list_get_header(&(JOB->res.boxlist)); + box3!=box2 && box3!=NULL; + box3=(struct box *)list_next(&(JOB->res.boxlist), box3)) + if(box3->num==box2->num)break; + if(box3!=box2 && box3!=NULL)continue; + i++; + // count number of same chars + dist=0;box4=box2; + + for(box3=box2,j=0;box3; + box3=(struct box *)list_next(&(JOB->res.boxlist), box3)) { + if(box3->num==box2->num){ + j++; + d=distance(&p,box2,&p,box3,cs); + if ( d>dist ) { dist=d; box4=box3; } // worst fit + } + } + if(JOB->cfg.verbose&8){ + out_x2(box2,box4); + fprintf(stderr," no %d char %4d %5d times maxdist=%d\n",i,box2->num,j,dist); + } + // calculate mean-char (error-correction) + // ToDo: calculate maxdist in group + k+=j; + // if(j>1) + // out_b(box1,NULL,0,0,0,0,cs); + if(JOB->cfg.verbose&8) + fprintf(stderr," no %d char %4d %5d times sum=%d\n",i,box2->num,j,k); + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose)fprintf(stderr," ok\n"); + } + return 0; +} + +/* +** call the first engine for all boxes and set box->c=result; +** +*/ +int char_recognition( pix *pp, int mo){ + int i,ii,ni,cs,x0,y0,x1,y1; + struct box *box2; + progress_counter_t *pc; + wchar_t cc; + cs=JOB->cfg.cs; + // ---- analyse boxes, find chars --------------------------------- + if (JOB->cfg.verbose) + fprintf(stderr,"# char recognition"); + i=ii=ni=0; + for_each_data(&(JOB->res.boxlist)) { /* count boxes */ + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + /* wew: isn't this just JOB->res.numC? */ + /* js: The program is very complex. I am not sure anymore + wether numC is the number of boxes or the number of valid + characters. + Because its not time consuming I count the boxes here. */ + if (box2->c==UNKNOWN) i++; + if (box2->c==PICTURE) ii++; + ni++; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr," unknown= %d picts= %d boxes= %d\n# ",i,ii,ni); + if (!ni) return 0; + i=ii=0; + pc = open_progress(ni,"char_recognition"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + x0=box2->x0;x1=box2->x1; + y0=box2->y0;y1=box2->y1; // box + cc=box2->c; + if (cc==PICTURE) continue; + + if ((mo&256)==0) { /* this case should be default (main engine) */ + if(cc==UNKNOWN || box2->num_ac==0 || box2->wac[0]cfg.certainty) + cc=whatletter(box2,cs ,0); + } + + if(mo&2) + if(cc==UNKNOWN || box2->num_ac==0 || box2->wac[0]cfg.certainty) + cc=ocr_db(box2); + + + // box2->c=cc; bad idea (May03 removed) + // set(box2,cc,95); ToDo: is that better? + + if(cc==UNKNOWN) + i++; + ii++; + + if(JOB->cfg.verbose&8) { + fprintf(stderr,"\n# code= %04lx %c",(long)cc,(char)((cc<255)?cc:'_')); + out_b(box2,pp,x0,y0,x1-x0+1,y1-y0+1,cs); + } + progress(ii,pc); /* ii = 0..ni */ + + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if(JOB->cfg.verbose)fprintf(stderr," %d of %d chars unidentified\n",i,ii); + return 0; +} + + +/* +** compare unknown with known chars, +** very similar to the find_similar_char_function but here only to +** improve the result +*/ +int compare_unknown_with_known_chars(pix * pp, int mo) { + int i, cs = JOB->cfg.cs, dist, d, ad, wac, ni, ii; + struct box *box2, *box3, *box4; + progress_counter_t *pc=NULL; + wchar_t bc; + i = ii = 0; // ---- ------------------------------- + if (JOB->cfg.verbose) + fprintf(stderr, "# try to compare unknown with known chars !(mode&8)"); + if (!(mo & 8)) + { + ii=ni=0; + for_each_data(&(JOB->res.boxlist)) { ni++; } end_for_each(&(JOB->res.boxlist)); + pc = open_progress(ni,"compare_chars"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); ii++; + if (box2->c == UNKNOWN || (box2->num_ac>0 && box2->wac[0]<97)) + if (box2->y1 - box2->y0 > 4 && box2->x1 - box2->x0 > 1) { // no dots! + box4 = (struct box *)list_get_header(&(JOB->res.boxlist));; + dist = 1000; /* 100% maximum */ + bc = UNKNOWN; /* best fit char */ + for_each_data(&(JOB->res.boxlist)) { + box3 = (struct box *)list_get_current(&(JOB->res.boxlist)); + wac=((box3->num_ac>0)?box3->wac[0]:100); + if (box3 == box2 || box3->c == UNKNOWN + || waccfg.certainty) continue; + if (box2->y1 - box2->y0 < 5 || box2->x1 - box2->x0 < 3) continue; + d = distance(pp, box2, pp, box3, cs); + if (d < dist) { + dist = d; bc = box3->c; box4 = box3; + } + } end_for_each(&(JOB->res.boxlist)); + if (dist < 10) { + /* sureness can be maximal of box3 */ + if (box4->num_ac>0) ad = box4->wac[0]; + else ad = 97; + ad-=dist; if(ad<1) ad=1; + /* ToDo: ad should depend on ad of bestfit */ + setac(box2,(wchar_t)bc,ad); + i++; + } // limit as option??? + // => better max distance('e','e') ??? + if (dist < 50 && (JOB->cfg.verbose & 7)) { // only for debugging + fprintf(stderr,"\n# L%02d best fit was %04x=%c dist=%3d%% i=%d", + box2->line, (int)bc, (char)((bc<128)?bc:'_'), dist, i); + if(box4->num_ac>0)fprintf(stderr," w= %3d%%",box4->wac[0]); + if ((JOB->cfg.verbose & 4) && dist < 10) + out_x2(box2, box4); + } + progress(ii,pc); + } + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + } + if (JOB->cfg.verbose) + fprintf(stderr, " - found %d (nC=%d)\n", i, ii); + return 0; +} + +/* +// ---- divide overlapping chars which !strchr("_,.:;",c); +// block-splitting (two ore three glued chars) +// division if dots>0 does not work properly! ??? +// +// what about glued "be"? +// what about recursive division? +// ToDo: mark divided boxes to give the engine a chance to +// handle wrong divisions +*/ +int try_to_divide_boxes( pix *pp, int mo){ + struct box *box2, boxa, boxb; + int cs=JOB->cfg.cs, ad=100, + a2[8], ar, // certainty of each part, ar = product of all certainties + cbest; // best certainty, skip search of certaintycfg.verbose) + fprintf(stderr,"# try to divide unknown chars !(mode&16)"); + if(!(mo&16)) // put this to the caller + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + // don't try to split simple structures (ex: 400x30 square) + if ((!box2->num_frames) + || box2->num_frame_vectors[ box2->num_frames-1 ]<9) continue; + if((box2->c==UNKNOWN || (box2->num_ac && box2->wac[0]cfg.certainty)) + && box2->x1-box2->x0>5 && box2->y1-box2->y0>4){ + x0=box2->x0; x1=box2->x1; + y0=box2->y0; y1=box2->y1; + ad=100; + cbest=0; + + /* get minimum vertical lines */ + n1 = num_cross(x0,x1,( y1+y0)/2,( y1+y0)/2,pp,cs); + ii = num_cross(x0,x1,(3*y1+y0)/4,(3*y1+y0)/4,pp,cs); if (iim2 && box2->m3 > box2->m2+2) + for (i=box2->m2+1;i<=box2->m3-1;i++) { + if (loop(pp,x0+1,i,x1-x0,cs,1,RI) > (x1-x0-2)) continue; // ll + ii = num_cross(x0,x1,i,i,pp,cs); if (iim3+box2->m4 /* baseline char ? */ + && num_cross(x0,x1,y1-1,y1-1,pp,cs)==1 // -1 for slopes + && num_cross((x0+2*x1)/3,(x0+3*x1)/4,y0,y1,pp,cs)<3 // not exclude tz + && num_cross((3*x0+x1)/4,(2*x0+x1)/3,y0,y1,pp,cs)<3 // not exclude zl + && loop(pp,x0,y1-(y1-y0)/32,x1-x0,cs,0,RI) + +loop(pp,x1,y1-(y1-y0)/32,x1-x0,cs,0,LE) > (x1-x0+1)/2 + ) continue; /* do not try on bvdo"o etc. */ + + // one vertical line can not be two glued chars, lc? + if ( num_cross(x0,x1,(y1+y0)/2,(y1+y0)/2,pp,cs)<=1 ) continue; + { // doublet = 2 letters + // char buf[4]="\0\0\0"; // 4th byte is string end == \0 + // buf[0]=c1; // c1 is wchar_t! (0xbf00 to 0) failes + // buf[1]=c2; + char buf[64]=""; // end == \0 + if (JOB->cfg.verbose&2){ + fprintf(stderr, "\n#\n# divide box: %4d %4d %3d %3d\n", + x0, y0, x1-x0+1, y1-y0+1); + if (JOB->cfg.verbose&4) out_x(box2); + } + // it would be better if testing is only if most right and left char + // is has no horizontal gap (below m2) ex: be + i=0; // num splittet chars + xi[0]=x0; xi[1]=x0+3; xi[2]=x1; + for ( ; ; xi[i+1]++) { // x[i] .. x[i+1], slower? but better v0.42 + /* break if x is to near to the right border */ + if (xi[i+1]>x1-3) { if (i==0) break; i--; xi[i+2]=x1; continue; } + // ToDo: skip if not a local dy-min for speedup + { int ymin=y1, ymax=y0, bow=0, // min max at cutting point + max0=y0, max1=y0, // max y on left and right side + min0=y1, min1=y1; // min y on left and right side + for (dy=0,ii=0;iinum_frame_vectors[ 0 ];ii++) { + int pre=ii-1, next=(ii+1)%box2->num_frame_vectors[ 0 ]; + if (pre<0) pre=box2->num_frame_vectors[ 0 ]-1; + // check if vector is inside box to cut + if ( box2->frame_vector[ii ][0]<=xi[i ]) continue; + if ( box2->frame_vector[ii ][0]> xi[i+2]) continue; + // 2nd derivation of y(x) + if (abs(box2->frame_vector[ii ][0]-xi[i+1])<2) { + dy= 2*box2->frame_vector[ii ][1] + -box2->frame_vector[next][1] + -box2->frame_vector[pre ][1]; + dx= box2->frame_vector[next][0] + -box2->frame_vector[pre ][0]; + // rotate 180 degree if dx<0 + if (((dx>0)?dy:-dy)<-abs(dx)/2) { bow=1; } + } + // its not the best if we think on glued fi fo etc. + if (( box2->frame_vector[pre ][0]<=xi[i+1] + && box2->frame_vector[next][0]>=xi[i+1]) + || ( box2->frame_vector[pre ][0]>=xi[i+1] + && box2->frame_vector[next][0]<=xi[i+1])) { + if ( box2->frame_vector[ii ][1]>ymax) + ymax= box2->frame_vector[ii ][1]; + if ( box2->frame_vector[ii ][1]frame_vector[ii ][1]; + } + // min and max of left and right side + if ( box2->frame_vector[ii ][1]>max0 + && box2->frame_vector[ii ][0]<=xi[i+1]) + max0=box2->frame_vector[ii ][1]; + if ( box2->frame_vector[ii ][1]>max1 + && box2->frame_vector[ii ][0]> xi[i+1]) + max1=box2->frame_vector[ii ][1]; + if ( box2->frame_vector[ii ][1]frame_vector[ii ][0]<=xi[i+1]) + min0=box2->frame_vector[ii ][1]; + if ( box2->frame_vector[ii ][1]frame_vector[ii ][0]> xi[i+1]) + min1=box2->frame_vector[ii ][1]; + } + if(JOB->cfg.verbose&2) + fprintf(stderr,"\n# test if to split at x%d= %2d %2d %2d" + " bow,(max-min)[i,0,1] %d %3d %3d %3d" + , i, xi[i]-x0, xi[i+1]-x0, xi[i+2]-x0, bow, ymax-ymin, max0-min0, max1-min1); + /* skip if no local minimum at xi[i+1] or if its not thin enough */ + if (bow==0 || 4*(ymax-ymin)>2*(y1-y0)) continue; + // cuttet parts should have about the same height (max-min) + // we dont want to cut an 'n' in three parts! + if (2*(max0-min0+1)<(y1-y0+1)) continue; // left height + if (2*(max1-min1+1)<(y1-y0+1)) continue; // right height + // ToDo: thickness on xi[i+1]? + } + // try to split successive right box if left box is recognised, + // else shift the splitting point further to the right border + // removing ->dots if dot only above one char !!! ??? not implemented + if(JOB->cfg.verbose&2) + fprintf(stderr,"\n# try to split, newbox[%d].x= %2d ... %2d " + "dy= %d ", i, xi[i]-x0, xi[i+1]-x0, dy); + boxa=*box2; // copy contents, ToDo: reset ac-list (in cut_box?) + boxa.x=xi[i]; boxa.y=y0; // obsolete? mark pixel, overlap? + boxa.x0=xi[i];boxa.x1=xi[i+1]; // new horizontal box range + cut_box(&boxa); boxa.num_ac=0; + // out_x(&boxa); + // get wchar + certainty + ci[i]=whatletter(&boxa,cs,0); a2[i]=testac(&boxa,ci[i]); + if(JOB->cfg.verbose&2) + fprintf(stderr,"\n# certainty %d limit= %d cbest= %d ", + a2[i], JOB->cfg.certainty, cbest); + if (a2[i]cfg.certainty || a2[i]cfg.certainty/100 || arcfg.verbose&2) + fprintf(stderr,"\n try end split [%d]=%d [%d]=%d ", + i, xi[i]-x0, i+1, xi[i+1]-x0); + boxb=*box2; // try rest if it has to be split again + boxb.x=xi[i]+1; boxb.y=y0; + boxb.x0=xi[i]+1;boxb.x1=xi[i+1]; + cut_box(&boxb); boxb.num_ac=0; + ci[i]=whatletter(&boxb,cs,0); a2[i]=testac(&boxb,ci[i]); + if (a2[i]cfg.certainty || a2[i]cfg.verbose&2) { + fprintf(stderr,"\n split at/to: "); + for (ii=0;ii<=i;ii++) + fprintf(stderr," %2d %s (%3d)", xi[ii+1]-x0, + decode(ci[ii],ASCII), a2[ii]); + fprintf(stderr,"\n"); + } + // boxa..c changed!!! dots should be modified!!! + // Question: cut it into boxes v0.40 or set a string v0.41? + // new way of building a string v0.41 (can call setas multiple) + // usefull if compare unknown with known strings (except barcode?) + // ToDo: also create alternate variants? ex: I <-> l + for (buf[0]=0,ar=ad,ii=0;ii<=i;ii++) { + ar=a2[ii]*ar/100; // multiply all probabilities + if (i>0 && ci[ii]=='n' && ci[ii-1]=='r') ar--; // m == rn + strncat(buf,decode(ci[ii],JOB->cfg.out_format),20); + } + + if (ar>cbest) cbest=ar; // best (highest) certainty found + // reduce, but not if we cross certainty border + if (99*ar/100 > JOB->cfg.certainty) ar=99*ar/100; + if (JOB->cfg.verbose&2) + fprintf(stderr,"\n split result= %s (%3d) ",buf, ar); + setas(box2,buf,ar); // char *, does it disturb further splitting? + buf[0]=0; + i--; xi[i+2]=x1; + } + } + } + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) fprintf(stderr,", numC %d\n",JOB->res.numC); + return 0; +} + +/* +// ---- divide vertical glued boxes (ex: g above T); +*/ +int divide_vert_glued_boxes( pix *pp, int mo){ + struct box *box2,*box3,*box4; + int y0,y1,y,dy,flag_found,dx; + if(JOB->cfg.verbose)fprintf(stderr,"# divide vertical glued boxes"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c != UNKNOWN) continue; /* dont try on pictures */ + y0=box2->y0; y1=box2->y1; dy=y1-y0+1; + dx=4*(JOB->res.avX+box2->x1-box2->x0+1); // we want to be sure to look at 4ex distance + if ( dy>2*JOB->res.avY && dy<6*JOB->res.avY && box2->m1 + && y0<=box2->m2+2 && y0>=box2->m1-2 + && y1>=box2->m4+JOB->res.avY-2) + { // test if lower end fits one of the other lines? + box4=box2; flag_found=0; + for_each_data(&(JOB->res.boxlist)) { + box4 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box4->c != UNKNOWN) continue; /* dont try on pictures */ + if (box4->x1x0-dx || box4->x0>box2->x1+dx) continue; // ignore far boxes + if (box4->line==box2->line ) flag_found|=1; // near char on same line + if (box4->line==box2->line+1) flag_found|=2; // near char on next line + if (flag_found==3) break; // we have two vertical glued chars + } end_for_each(&(JOB->res.boxlist)); + if (flag_found!=3) continue; // do not divide big chars or special symbols + y=box2->m4; // lower end of the next line + if(JOB->cfg.verbose&2){ + fprintf(stderr,"\n# divide box below y=%4d",y-y0); + if(JOB->cfg.verbose&6)out_x(box2); + } + // --- insert box3 before box2 + box3= (struct box *) malloc_box(box2); + box3->y1=y; + box2->y0=y+1; box2->line++; // m1..m4 should be corrected! + if (box4->line == box2->line){ + box2->m1=box4->m1; box2->m2=box4->m2; + box2->m3=box4->m3; box2->m4=box4->m4; + } + box3->num=JOB->res.numC; + if (list_ins(&(JOB->res.boxlist), box2, box3)) { + fprintf(stderr,"ERROR list_ins\n"); }; + JOB->res.numC++; + } + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose)fprintf(stderr,", numC %d\n",JOB->res.numC); + return 0; +} + + +/* + on some systems isupper(>255) cause a segmentation fault SIGSEGV + therefore this function + ToDo: should be replaced (?) by wctype if available on every system + */ +int wisupper(wchar_t cc){ return ((cc<128)?isupper(cc):0); } +int wislower(wchar_t cc){ return ((cc<128)?islower(cc):0); } +int wisalpha(wchar_t cc){ return ((cc<128)?isalpha(cc):0); } +int wisdigit(wchar_t cc){ return ((cc<128)?isdigit(cc):0); } +int wisspace(wchar_t cc){ return ((cc<128)?isspace(cc):0); } + +/* set box2->c to cc if cc is in the ac-list of box2, return 1 on success */ +int setc(struct box *box2, wchar_t cc){ + int ret=0, w1, w2; + w1=((box2->num_ac) ? box2->wac[0] : 0); // weight of replaced char + w2=testac(box2,cc); + if (JOB->cfg.verbose) + fprintf(stderr, "\n# change %s (%d) to %s (%d to %d) at (%d,%d)", + decode(box2->c,ASCII), w1, decode(cc,ASCII), w2, (100+w2+1)/2, + box2->x0, box2->y0); + if (w2) { if (box2->c!=cc) { ret=1; setac(box2,cc,(100+w2+1)/2); } } + // if(JOB->cfg.verbose & 4) out_x(box2); + // ToDo: modify per setac (shift ac) + return ret; +} + + +/* ---- proof difficult chars Il1 by context view ---- + context: separator, number, vowel, nonvowel, upper case ???? + could be also used to find unknown chars if the environment (nonumbers) + can be found in other places! + ToDo: + - box->tac[] as set of possible chars, ac set by engine, example: + ac="l/" (not "Il|/\" because serifs detected and slant>0) + correction only to one of the ac-set (alternative chars)! + - should be language-settable; Unicode compatible + - box2->ad and wac should be changed? (not proper yet) + * ------------- */ +int context_correction( job_t *job ) { + // const static char + char *l_vowel="aeiouy"; + // *l_Vowel="AEIOU",chars if the environment (nonumbers) + char *l_nonvo = "bcdfghjklmnpqrstvwxz"; + struct box *box4, *box3, *box2, *prev, *next; + // pix *pp = &(job->src.p); + int nc=0, ns=0; // num corrections + + if (job->cfg.verbose) + fprintf(stderr, "# context correction Il1 0O"); + + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c > 0xFF) continue; // temporary UNICODE fix + prev = (struct box *)list_get_cur_prev(&(job->res.boxlist)); + next = (struct box *)list_get_cur_next(&(job->res.boxlist)); + if( (prev) && (prev->c > 0xFF)) continue; // temporary UNICODE fix 2 + if( (next) && (next->c > 0xFF)) continue; // temporary UNICODE fix 3 + if (box2->num_ac<2) continue; // no alternatives + if (box2->wac[0]==100 && box2->wac[1]<100) continue; + if (box2->num_ac && box2->tas[0]) continue; // buggy space_remove 0.42 + + /* check for Il1| which are general difficult to distinguish */ + /* bbg: not very good. Should add some tests to check if is preceded by '.', + spelling, etc */ + /* ToDo: only correct if not 100% sure (wac[i]<100) + and new char is in wat[] */ + if (strchr("Il1|", box2->c) && next && prev) { +// if( strchr(" \n",prev->c) // SPC +// && strchr(" \n",next->c) ) box2->c='I'; else // bad idea! I have ... + if (wisalpha(next->c) && next->c!='i' && + ( prev->c == '\n' || + ( prev->c == ' ' && + ( box4=(struct box *)list_prev(&(job->res.boxlist), prev)) && + box4->c == '.' ) ) ) { nc+=setc(box2,(wchar_t)'I'); } + else if (box2->c!='1' && strchr(l_nonvo,next->c) && + strchr("\" \n",prev->c)) /* lnt => Int, but 1st */ + /* do not change he'll to he'Il! */ + { nc+=setc(box2,(wchar_t)'I'); } // set box2->c to 'I' if 'I' is in the ac-list + else if (strchr(l_vowel,next->c)) /* unusual? Ii Ie Ia Iy Iu */ + /* && strchr("KkBbFfgGpP",prev->c)) */ /* kle Kla Kli */ + { nc+=setc(box2,(wchar_t)'l'); } + else if (wisupper(next->c) + && !strchr("O0I123456789",next->c) + && !strchr("O0I123456789",prev->c)) /* avoid lO => IO (10) */ + { nc+=setc(box2,(wchar_t)'I'); } + else if (wislower(prev->c)) + { nc+=setc(box2,(wchar_t)'l'); } + else if (wisdigit(prev->c) || wisdigit(next->c) + || (next->c=='O' && !wisalpha(prev->c))) /* lO => 10 */ + { nc+=setc(box2,(wchar_t)'1'); } + } + + /* check for O0 */ + else if (strchr("O0", box2->c) && next && prev) { + if (wisspace(prev->c) && wisalpha(next->c)) /* initial letter */ + { nc+=setc(box2,(wchar_t)'O'); } + else if (wisalpha(prev->c) && wisalpha(next->c) + && wisupper(next->c)) /* word in upper case */ + { nc+=setc(box2,(wchar_t)'O'); } + else if (wisdigit(prev->c) || wisdigit(next->c)) + { nc+=setc(box2,(wchar_t)'0'); } + } + + /* check for 5S */ + else if (strchr("5S", box2->c) && next && prev) { + if (wisspace(prev->c) && wisalpha(next->c)) /* initial letter */ + { nc+=setc(box2,(wchar_t)'S'); } + else if (wisalpha(prev->c) && wisalpha(next->c) + && wisupper(next->c)) /* word in upper case */ + { nc+=setc(box2,(wchar_t)'S'); } + else if (wisdigit(prev->c) || wisdigit(next->c)) + { nc+=setc(box2,(wchar_t)'5'); } + } + + /* was a space not found? xXx => x Xx ??? */ + if (wisupper(box2->c) && next && prev) { + if (wislower(prev->c) && wislower(next->c) + && 2 * (box2->x0 - prev->x1) > 3 * (next->x0 - box2->x1)) { + struct box *box3 = malloc_box((struct box *) NULL); + box3->x0 = prev->x1 + 2; + box3->x1 = box2->x0 - 2; + box3->y0 = box2->y0; + box3->y1 = box2->y1; + box3->x = box2->x0 - 1; + box3->y = box2->y0; + box3->dots = 0; + box3->num_boxes = 0; + box3->num_subboxes = 0; + box3->c = ' '; + box3->modifier = 0; + setac(box3,' ',99); /* ToDo: weight depends from distance */ + box3->num = -1; + box3->line = prev->line; + box3->m1 = box3->m2 = box3->m3 = box3->m4 = 0; + box3->p = &(job->src.p); + list_ins(&(job->res.boxlist), box2, box3); + } + } + + /* a space before punctuation? but not " ./file" */ + if ( prev && next) + if (prev->c == ' ' && strchr(" \n" , next->c) + && strchr(".,;:!?)", box2->c)) + if (prev->x1 - prev->x0 < 2 * job->res.avX) { // carefully on tables + box3 = prev; + if ( !list_del(&(job->res.boxlist), box3) ) free_box(box3); + prev = (struct box *)list_get_cur_prev(&(job->res.boxlist)); + ns++; + } + + /* \'\' to \" */ + if ( prev ) + if ( (prev->c == '`' || prev->c == '\'') + && (box2->c == '`' || box2->c == '\'') ) + if (prev->x1 - box2->x0 < job->res.avX) { // carefully on tables + box2->c='\"'; + box3 = prev; + list_del(&(job->res.boxlist), box3); + free_box(box3); + } + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr, " num_corrected= %d removed_spaces= %d\n", nc, ns); + return 0; +} + + +/* ---- insert spaces ---- + * depends strongly from the outcome of measure_pitch() + * ------------------------ */ +int list_insert_spaces( pix *pp, job_t *job ) { + int i=0, j1, j2, i1, maxline=-1, dy=0; char cc; + struct box *box2, *box3=NULL, *box4=NULL; + + // measure mean line height + for(i1=1;i1res.lines.num;i1++) { + dy+=job->res.lines.m4[i1]-job->res.lines.m1[i1]+1; + } if (job->res.lines.num>1) dy/=(job->res.lines.num-1); + i=0; j2=0; + for(i1=1;i1res.lines.num;i1++) { + j1=job->res.lines.m4[i1]-job->res.lines.m1[i1]+1; + if (j1>dy*120/100 || j10 && j2/i>7) dy=j2/i; + if( job->cfg.verbose&1 ) + fprintf(stderr,"# insert space between words (dy=%d) ...",dy); + if (!dy) dy=(job->res.avY)*110/100+1; + + i=0; + for_each_data(&(job->res.boxlist)) { + box2 =(struct box *)list_get_current(&(job->res.boxlist)); + cc=0; + if (box2->line>maxline) { // lines and chars must be sorted! + if (maxline>=0) cc='\n'; // NL + maxline=box2->line; + } + if((box3 = (struct box *)list_prev(&(job->res.boxlist), box2))){ + if (maxline && !box2->line && cc==0) cc=' '; + if (box2->line<=maxline && cc==0) { // lines and chars must be sorted! + int thispitch = job->res.lines.pitch[box2->line]; + int thismono = job->res.lines.mono[box2->line]; + int mdist = (box2->x1 + box2->x0 - (box3->x1 + box3->x0) + 1)/2; + int pdist = box2->x0 - box3->x1 + 1; + if (box2->x1 - box2->x0 < thispitch) pdist=pdist*4/3; + /* allow extra pixels around small characters .,'!: etc */ + // fprintf(stderr,"#\n ... mono= %2d pitch= %2d mdist= %2d pdist= %2d", + // thismono, thispitch, mdist, pdist); + if ((thismono!=0 && mdist >= thispitch) + || (thismono==0 && pdist >= thispitch)) + cc=' '; // insert SPACE + } + } + if(cc){ + box4=(struct box *)list_prev(&(job->res.boxlist), box2); + box3=(struct box *)malloc_box(NULL); + box3->x0=box2->x0-2; box3->x1=box2->x0-2; + box3->y0=box2->y0; box3->y1=box2->y1; + if(cc!='\n' && box4) + box3->x0=box4->x1+2; + if(cc=='\n' || !box4) + box3->x0=job->res.lines.x0[box2->line]; + if(cc=='\n' && box4){ + box3->y0=box4->y1; // better use lines.y1[box2->pre] ??? + box3->y1=box2->y0; + } + box3->x =box2->x0-1; box3->y=box2->y0; + box3->dots=0; box3->c=cc; + box3->num_boxes = 0; + box3->num_subboxes = 0; + box3->modifier='\0'; + box3->num=-1; box3->line=box2->line; + box3->m1=box2->m1; box3->m2=box2->m2; + box3->m3=box2->m3; box3->m4=box2->m4; + box3->p=pp; + setac(box3,cc,100); /* ToDo: weight depends from distance */ + list_ins(&(job->res.boxlist),box2,box3); + if( job->cfg.verbose&1 ) { + fprintf(stderr,"\n# insert space &%d; at x= %4d %4d box= %p", + (int)cc, box3->x0, box3->y0, (void*)box3); + /* out_x(box3); */ + } + i++; + } + } end_for_each(&(job->res.boxlist)); + if( job->cfg.verbose&1 ) fprintf(stderr," found %d\n",i); + return 0; +} + + +/* + add infos where the box is positioned to the box + this is useful for better recognition +*/ +int add_line_info(/* List *boxlist2 */){ + // pix *pp=&JOB->src.p; + struct tlines *lines = &JOB->res.lines; + struct box *box2; + int i,xx,m1,m2,m3,m4,num_line_members=0,num_rest=0; + if( JOB->cfg.verbose&1 ) fprintf(stderr,"# add line infos to boxes ..."); + for_each_data(&(JOB->res.boxlist)) { + box2 =(struct box *)list_get_current(&(JOB->res.boxlist)); + for(i=1;ires.lines.num;i++) /* line 0 is a place holder */ + { + if (lines->dx) xx=lines->dy*((box2->x1+box2->x0)/2)/lines->dx; else xx=0; + m1=lines->m1[i]+xx; + m2=lines->m2[i]+xx; + m3=lines->m3[i]+xx; + m4=lines->m4[i]+xx; + // fprintf(stderr," test line %d m1=%d %d %d %d\n",i,m1,m2,m3,m4); + if (m4-m1==0) continue; /* no text line (line==0) */ +#if 0 + if( box2->y1+2*JOB->res.avY >= m1 + && box2->y0-2*JOB->res.avY <= m4 ) /* not to far away */ +#endif + /* give also a comma behind the line a chance */ + if( box2->x0 >= lines->x0[i] && box2->x1 <= lines->x1[i]+JOB->res.avX ) + if( box2->m2==0 || abs(box2->y0-box2->m2) > abs(box2->y0-m2) ) + { /* found nearest line */ + box2->m1=m1; + box2->m2=m2; + box2->m3=m3; + box2->m4=m4; + box2->line=i; + } + } + if( box2->y1+2 < box2->m1 + || box2->y0 < box2->m1 - (box2->m3-box2->m1)/2 + || box2->y0-2 > box2->m4 + || box2->y1 > box2->m3 + (box2->m3-box2->m1) + ) /* to far away */ + { /* reset */ + box2->m1=0; + box2->m2=0; + box2->m3=0; + box2->m4=0; + box2->line=0; + num_rest++; + } else num_line_members++; + } end_for_each(&(JOB->res.boxlist)); + if( JOB->cfg.verbose&1 ) + fprintf(stderr," done, num_line_chars=%d rest=%d\n", + num_line_members, num_rest); + return 0; +} + + +/* + * bring the boxes in right order + * add_line_info must be executed first! + */ +int sort_box_func (const void *a, const void *b) { + struct box *boxa, *boxb; + + boxa = (struct box *)a; + boxb = (struct box *)b; + + if ( ( boxb->line < boxa->line ) || + ( boxb->line == boxa->line && boxb->x0 < boxa->x0 ) ) + return 1; + return -1; +} + +// ------------------------------------------------------------- +// ------ use this for entry from other programs +// include pnm.h pgm2asc.h +// ------------------------------------------------------------- +// entry point for gocr.c or if it is used as lib +// better name is call_ocr ??? +// jb: OLD COMMENT: not removed due to set_options_* () +// args after pix *pp should be removed and new functions +// set_option_mode(int mode), set_option_spacewidth() .... etc. +// should be used instead, before calling pgm2asc(pix *pp) +// ! change if you can ! - used by X11 frontend +int pgm2asc(job_t *job) +{ + pix *pp; + progress_counter_t *pc; + + assert(job); + /* FIXME jb: remove pp */ + pp = &(job->src.p); + + if( job->cfg.verbose ) + fprintf(stderr, "# db_path= %s\n", job->cfg.db_path); + + pc = open_progress(100,"pgm2asc_main"); + progress(0,pc); /* start progress output 0% 0% */ + + /* ----- count colors ------ create histogram ------- + - this should be used to create a upper and lower limit for cs + - cs is the optimum gray value between cs_min and cs_max + - also inverse scans could be detected here later */ + if (job->cfg.cs==0) + job->cfg.cs=otsu( pp->p,pp->y,pp->x,0,0,pp->x,pp->y, job->cfg.verbose & 1 ); + /* renormalize the image and set the normalized threshold value */ + job->cfg.cs=thresholding( pp->p,pp->y,pp->x,0,0,pp->x,pp->y, job->cfg.cs ); + if( job->cfg.verbose ) + fprintf(stderr, "# thresholding new_threshold= %d\n", job->cfg.cs); + + progress(5,pc); /* progress is only estimated */ + +#if 0 /* dont vast memory */ + /* FIXME jb: malloc */ + if ( job->cfg.verbose & 32 ) { + // generate 2nd imagebuffer for debugging output + job->tmp.ppo.p = (unsigned char *)malloc(job->src.p.y * job->src.p.x); + // buffer + assert(job->tmp.ppo.p); + copybox(&job->src.p, + 0, 0, job->src.p.x, job->src.p.y, + &job->tmp.ppo, + job->src.p.x * job->src.p.y); + } +#else + job->tmp.ppo=job->src.p; /* temporarely, removed later */ +#endif + + /* load character data base */ + if ( job->cfg.mode&2 ) + load_db(); + + /* this is first step for reorganize the PG + ---- look for letters, put rectangular frames around letters + letter = connected points near color F + should be used by dust removing (faster) and line detection! + ---- 0..cs = black letters, last change = Mai99 */ + + progress(8,pc); /* progress is only estimated */ + + scan_boxes( pp ); + if ( !job->res.numC ){ + fprintf( stderr,"# no boxes found - stopped\n" ); + if(job->cfg.verbose&32) debug_img("out01",job,8); + /***** should free stuff, etc) */ + return(1); + } + // if (job->cfg.verbose&32) debug_img("out00",job,4+8); + + progress(10,pc); /* progress is only estimated */ + // if(job->cfg.verbose&32) debug_img("out01",job,4+8); + // output_list(job); // for debugging + // ToDo: matrix printer preprocessing + + remove_dust( job ); /* from the &(job->res.boxlist)! */ +// if(job->cfg.verbose&32) debug_img("out02",job,4+8); +// output_list(job); // for debugging + smooth_borders( job ); /* only for big chars */ + progress(12,pc); /* progress is only estimated */ +// if(job->cfg.verbose&32) debug_img("out03",job,4+8); +// output_list(job); // for debugging + + detect_barcode( job ); /* mark barcode */ +// if(job->cfg.verbose&32) debug_img("out04",job,4+8); +// output_list(job); // for debugging + + detect_pictures( job ); /* mark pictures */ +// if(job->cfg.verbose&32) debug_img("out05",job,4+8); +// output_list(job); // for debugging + + remove_pictures( job ); /* do this as early as possible, before layout */ +// if(job->cfg.verbose&32) debug_img("out06",job,4+8); +// output_list(job); // for debugging + + glue_holes_inside_chars( pp ); /* including count subboxes (holes) */ + + detect_rotation_angle( job ); + +#if 1 /* Rotate the whole picture! move boxes */ + if( job->res.lines.dy!=0 ){ // move down lowest first, move up highest first + // in work! ??? (at end set dy=0) think on ppo! + } +#endif + detect_text_lines( pp, job->cfg.mode ); /* detect and mark JOB->tmp.ppo */ +// if(job->cfg.verbose&32) debug_img("out07",job,4+8); + progress(20,pc); /* progress is only estimated */ + + add_line_info(/* &(job->res.boxlist) */); + if (job->cfg.verbose&32) debug_img("out10",job,4+8); + + divide_vert_glued_boxes( pp, job->cfg.mode); /* after add_line_info, before list_sort! */ +// if(job->cfg.verbose&32) debug_img("out11",job,0); + + remove_melted_serifs( pp ); /* make some corrections on pixmap */ + /* list_ins seems to sort in the boxes on the wrong place ??? */ +// if(job->cfg.verbose&32) debug_img("out12",job,4+8); + + glue_broken_chars( pp ); /* 2nd glue */ +// if(job->cfg.verbose&32) debug_img("out14",job,4+8); + + remove_rest_of_dust( ); +// if(job->cfg.verbose&32) debug_img("out15",job,4+8); + + /* better sort after dust is removed (slow for lot of pixels) */ + list_sort(&(job->res.boxlist), sort_box_func); + + measure_pitch( job ); + + if(job->cfg.mode&64) find_same_chars( pp ); + progress(30,pc); /* progress is only estimated */ +// if(job->cfg.verbose&32) debug_img("out16",job,4+8); + + char_recognition( pp, job->cfg.mode); + progress(60,pc); /* progress is only estimated */ +// if(job->cfg.verbose&32) debug_img("out17",job,4+8); + + if ( adjust_text_lines( pp, job->cfg.mode ) ) { /* correct using chars */ + /* may be, characters/pictures have changed line number */ + list_sort(&(job->res.boxlist), sort_box_func); + // 2nd recognition call if lines are adjusted + char_recognition( pp, job->cfg.mode); + } + +#define BlownUpDrawing 1 /* german: Explosionszeichnung, temporarly */ +#if BlownUpDrawing == 1 /* german: Explosionszeichnung */ +{ /* just for debugging */ + int i,ii,ni; struct box *box2; + i=ii=ni=0; + for_each_data(&(JOB->res.boxlist)) { /* count boxes */ + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c==UNKNOWN) i++; + if (box2->c==PICTURE) ii++; + ni++; + } end_for_each(&(JOB->res.boxlist)); + if (JOB->cfg.verbose) + fprintf(stderr,"# debug: unknown= %d picts= %d boxes= %d\n",i,ii,ni); +} +#endif + // ----------- write out20.pgm ----------- mark lines + boxes + if (job->cfg.verbose&32) debug_img("out20",job,1+4+8); + + compare_unknown_with_known_chars( pp, job->cfg.mode); + progress(70,pc); /* progress is only estimated */ + + try_to_divide_boxes( pp, job->cfg.mode); + progress(80,pc); /* progress is only estimated */ + + /* --- list output ---- for debugging --- */ + if (job->cfg.verbose&6) output_list(job); + + /* ---- insert spaces ---- */ + list_insert_spaces( pp , job ); + + // ---- proof difficult chars Il1 by context view ---- + if (JOB->cfg.verbose) + fprintf(stderr,"# context correction if !(mode&32)\n"); + if (!(job->cfg.mode&32)) context_correction( job ); + + store_boxtree_lines( job->cfg.mode ); + progress(90,pc); /* progress is only estimated */ + +/* 0050002.pgm.gz ca. 109 digits, only 50 recognized (only in lines?) + * ./gocr -v 39 -m 56 -e - -m 4 -C 0-9 -f XML tmp0406/0050002.pbm.gz + * awk 'BEGIN{num=0}/1<\/box>/{num++;}END{print num}' o + * 15*0 24*1 18*2 19*3 15*4 6*5 6*6 6*7 4*8 8*9 sum=125digits counted boxes + * 9*0 19*1 14*2 15*3 11*4 6*5 5*6 6*7 4*8 8*9 sum=97digits recognized + * 1*1 1*7 not recognized (Oct04) + * 33*SPC 76*NL = 109 spaces + 36*unknown sum=241 * 16 missed + */ +#if BlownUpDrawing == 1 /* german: Explosionszeichnung */ +{ /* just for debugging */ + int i,ii,ni; struct box *box2; const char *testc="0123456789ABCDEFGHIJK"; + i=ii=ni=0; + for_each_data(&(JOB->res.boxlist)) { /* count boxes */ + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c==UNKNOWN) i++; + if (box2->c==PICTURE) ii++; + if (box2->c>' ' && box2->c<='z') ni++; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose) + fprintf(stderr,"# debug: (_)= %d picts= %d chars= %d",i,ii,ni); + for (i=0;i<20;i++) { + ni=0; + for_each_data(&(JOB->res.boxlist)) { /* count boxes */ + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c==testc[i]) ni++; + } end_for_each(&(JOB->res.boxlist)); + if(JOB->cfg.verbose && ni>0) + fprintf(stderr," (%c)=%d",testc[i],ni); + } + if(JOB->cfg.verbose) + fprintf(stderr,"\n"); +} +#endif + + // ---- frame-size-histogram + // ---- (my own defined) distance between letters + // ---- write internal picture of textsite + // ----------- write out30.pgm ----------- + if( job->cfg.verbose&32 ) debug_img("out30",job,2+4); + + progress(100,pc); /* progress is only estimated */ + + close_progress(pc); + + return 0; /* what should I return? error-state? num-of-chars? */ +} diff --git a/3rdparty/gocr-0.48/src/pgm2asc.h b/3rdparty/gocr-0.48/src/pgm2asc.h new file mode 100644 index 0000000..3a31884 --- /dev/null +++ b/3rdparty/gocr-0.48/src/pgm2asc.h @@ -0,0 +1,105 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + +*/ + +#ifndef PGM2ASC_H +#define PGM2ASC_H 1 + +#include "pnm.h" +#include "output.h" +#include "list.h" +#include "unicode.h" + +#define pixel_at(pic, xx, yy) (pic).p[(xx)+((yy)*((pic).x))] +#define pixel_atp(pic, xx, yy) (pic)->p[(xx)+((yy)*((pic)->x))] + +#ifndef HAVE_WCHAR_H +wchar_t *wcschr (const wchar_t *wcs, wchar_t wc); +wchar_t *wcscpy (wchar_t *dest, const wchar_t *src); +size_t wcslen (const wchar_t *s); +#endif +#ifndef HAVE_WCSDUP +wchar_t * wcsdup (const wchar_t *WS); /* its a gnu extension */ +#endif + +/* declared in pgm2asc.c */ +/* set alternate chars and its weight, called from the engine + if a char is recognized to (weight) percent */ +int setas(struct box *b, char *as, int weight); /* string + xml */ +int setac(struct box *b, wchar_t ac, int weight); /* wchar */ + +/* for qsort() call */ +int intcompare (const void *vr, const void *vs); + +/* declared in box.c */ +int box_gt(struct box *box1, struct box *box2); +int reset_box_ac(struct box *box); /* reset and free char table */ +struct box *malloc_box( struct box *inibox ); /* alloc memory for a box */ +int free_box( struct box *box ); /* free memory of a box */ +int copybox( pix *p, int x0, int y0, int dx, int dy, pix *b, int len); +int reduce_vectors ( struct box *box1, int mode ); +int merge_boxes( struct box *box1, struct box *box2 ); +int cut_box( struct box *box1); + + +/* declared in database.c */ +int load_db(void); +wchar_t ocr_db(struct box *box1); + +/* declared in detect.c */ +int detect_lines1(pix * p, int x0, int y0, int dx, int dy); +int detect_lines2(pix *p,int x0,int y0,int dx,int dy,int r); +int detect_rotation_angle(job_t *job); +int detect_text_lines(pix * pp, int mo); +int adjust_text_lines(pix * pp, int mo); +int detect_pictures(job_t *job); + +/* declared in lines.c */ +void store_boxtree_lines( int mo ); + /* free memory for internal stored textlines. + * Needs to be called _after_ having retrieved the text. + * After freeing, no call to getTextLine is possible any + * more + */ +void free_textlines( void ); + + /* get result of ocr for a given line number. + * If the line is out of range, the function returns 0, + * otherwise a pointer to a complete line. + */ +const char *getTextLine( int ); + +/* declared in remove.c */ +int remove_dust( job_t *job ); +int remove_pictures( job_t *job); +int remove_melted_serifs( pix *pp ); +int remove_rest_of_dust(); +int smooth_borders( job_t *job ); + +/* declared in pixel.c */ +int marked(pix * p, int x, int y); +int pixel(pix *p, int x, int y); +void put(pix * p, int x, int y, int ia, int io); + +/* start ocr on a image in job.src.p */ +int pgm2asc(job_t *job); + +#endif diff --git a/3rdparty/gocr-0.48/src/pixel.c b/3rdparty/gocr-0.48/src/pixel.c new file mode 100644 index 0000000..41647f3 --- /dev/null +++ b/3rdparty/gocr-0.48/src/pixel.c @@ -0,0 +1,537 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2006 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + Joerg.Schulenburg@physik.uni-magdeburg.de */ + +/* Filter by tree, filter by number methods added by + * William Webber, william@williamwebber.com. */ + +#include "pgm2asc.h" +#include +#include + +/* + * Defining this causes assert() calls to be turned off runtime. + * + * This is normally taken care of by make. + */ +/* #define NDEBUG */ + +// ------------------ (&~7)-pixmap-functions ------------------------ + +/* test if pixel marked? + * Returns: 0 if not marked, least 3 bits if marked. + */ +int marked (pix * p, int x, int y) { + if (x < 0 || y < 0 || x >= p->x || y >= p->y) + return 0; + return (pixel_atp(p, x, y) & 7); +} + +#define Nfilt3 6 /* number of 3x3 filter */ +/* + * Filters to correct possible scanning or image errors. + * + * Each of these filters represents a 3x3 pixel area. + * 0 represents a white or background pixel, 1 a black or + * foreground pixel, and 2 represents a pixel of either value. + * Note that this differs from the meaning of pixel values in + * the image, where a high value means "white" (background), + * and a low value means "black" (foreground). + * + * These filters are applied to the 3x3 environment of a pixel + * to be retrieved from the image, centered around that pixel + * (that is, the to-be-retrieved pixel corresponds with the + * the fifth position of the filter). + * If the filter matches that pixel environment, then + * the returned value of the pixel is inverted (black->white + * or white->black). + * + * So, for instance, the second filter below matches this + * pattern: + * + * 000 + * X0X + * 000 + * + * and "fills in" the middle (retrieved) pixel to rejoin a line + * that may have been broken by a scanning or image error. + */ +const char filt3[Nfilt3][9]={ + {0,0,0, 0,0,1, 1,0,0}, /* (-1,-1) (0,-1) (1,-1) (-1,0) (0,0) ... */ + {0,0,0, 1,0,1, 0,0,0}, + {1,0,0, 0,0,1, 0,0,0}, + {1,1,0, 0,1,0, 2,1,1}, + {0,0,1, 0,0,0, 2,1,0}, + {0,1,0, 0,0,0, 1,2,0} +}; +/* 2=ignore_pixel, 0=white_background, 1=black_pixel */ + + +/* + * Filter by matrix uses the above matrix of filters directly. Pixel + * environments to be filtered are compared pixel by pixel against + * these filters. + * + * Filter by number converts these filters into integer representations + * and stores them in a table. Pixel environments are similarly + * converted to integers, and looked up in the table. + * + * Filter by tree converts these filters into a binary tree. Pixel + * environments are matched by traversing the tree. + * + * A typical performance ratio for these three methods is 20:9:7 + * respectively (i.e., the tree method takes around 35% of the + * time of the matrix method). + */ +#define FILTER_BY_MATRIX 0 +#define FILTER_BY_NUMBER 1 +#define FILTER_BY_TREE 2 + +#define FILTER_METHOD FILTER_BY_TREE + +/* + * Defining FILTER_CHECKED causes filter results from either the tree + * or the number method to be checked against results of the other + * two methods to ensure correctness. This is for bug checking purposes + * only. + */ +/* #define FILTER_CHECKED */ + +/* + * Defining FILTER_STATISTICS causes statistics to be kept on how many + * times the filters are tried, how many times a filter matches, and + * of these matches how many flip a black pixel to white, and how many + * the reverse. These statistics are printed to stderr at the end of + * the program run. Currently, statistics are only kept if the tree + * filter method is being used. + */ +/* #define FILTER_STATISTICS */ + +#ifdef FILTER_STATISTICS +static int filter_tries = 0; +static int filter_matches = 0; +static int filter_blackened = 0; +static int filter_whitened = 0; +#endif + +#ifdef FILTER_STATISTICS +void print_filter_stats() { + fprintf(stderr, "\n# Error filter statistics: tries %d, matches %d, " + "blackened %d, whitened %d\n", + filter_tries, filter_matches, filter_blackened, filter_whitened); +} +#endif + +#if FILTER_METHOD == FILTER_BY_MATRIX || defined(FILTER_CHECKED) +/* + * Filter the pixel at (x,y) by directly applying the matrix. + */ +int pixel_filter_by_matrix(pix * p, int x, int y) { + int i; + static char c33[9]; + memset(c33, 0, sizeof(c33)); + /* copy environment of a point (only highest bit) +bbg: FASTER now. It has 4 ifs less at least, 8 at most. */ + if (x > 0) { c33[3] = pixel_atp(p,x-1, y )>>7; + if (y > 0) c33[0] = pixel_atp(p,x-1,y-1)>>7; + if (y+1 < p->y) c33[6] = pixel_atp(p,x-1,y+1)>>7; + } + if (x+1 < p->x) { c33[5] = pixel_atp(p,x+1, y )>>7; + if (y > 0) c33[2] = pixel_atp(p,x+1,y-1)>>7; + if (y+1 < p->y) c33[8] = pixel_atp(p,x+1,y+1)>>7; + } + if (y > 0) c33[1] = pixel_atp(p, x ,y-1)>>7; + c33[4] = pixel_atp(p, x , y )>>7; + if (y+1 < p->y) c33[7] = pixel_atp(p, x ,y+1)>>7; + + /* do filtering */ + for (i = 0; i < Nfilt3; i++) + if( ( (filt3[i][0]>>1) || c33[0]!=(1 & filt3[i][0]) ) + && ( (filt3[i][1]>>1) || c33[1]!=(1 & filt3[i][1]) ) + && ( (filt3[i][2]>>1) || c33[2]!=(1 & filt3[i][2]) ) + && ( (filt3[i][3]>>1) || c33[3]!=(1 & filt3[i][3]) ) + && ( (filt3[i][4]>>1) || c33[4]!=(1 & filt3[i][4]) ) + && ( (filt3[i][5]>>1) || c33[5]!=(1 & filt3[i][5]) ) + && ( (filt3[i][6]>>1) || c33[6]!=(1 & filt3[i][6]) ) + && ( (filt3[i][7]>>1) || c33[7]!=(1 & filt3[i][7]) ) + && ( (filt3[i][8]>>1) || c33[8]!=(1 & filt3[i][8]) ) ) { + return ((filt3[i][4])?JOB->cfg.cs:0); + } + return pixel_atp(p, x, y) & ~7; +} +#endif + +#if FILTER_METHOD == FILTER_BY_NUMBER || defined(FILTER_CHECKED) + +#define NUM_TABLE_SIZE 512 /* max value of 9-bit value */ +/* + * Recursively generates entries in the number table for a matrix filter. + * + * gen_num_filt is the number representation of the matrix filter. + * This generation is handled recursively because this is the easiest + * way to handle 2 (either value) entries in the filter, which lead + * to 2 distinct entries in the number table (one for each alternate + * value). + */ +void rec_generate_number_table(char * num_table, const char * filter, + int i, unsigned short gen_num_filt) { + if (i == 9) { + /* Invert the value of the number representation, to reflect the + * fact that the "white" is 0 in the filter, 1 (high) in the image. */ + gen_num_filt = ~gen_num_filt; + gen_num_filt &= 0x01ff; + assert(gen_num_filt < NUM_TABLE_SIZE); + num_table[gen_num_filt] = 1; + } else { + if (filter[i] == 0 || filter[i] == 2) + rec_generate_number_table(num_table, filter, i + 1, gen_num_filt); + if (filter[i] == 1 || filter[i] == 2) { + gen_num_filt |= (1 << (8 - i)); + rec_generate_number_table(num_table, filter, i + 1, gen_num_filt); + } + } +} + +/* + * Filter the pixel at (x, y) using a number table. + * + * Each filter can be converted into a 9-bit representation, where + * filters containing 2 (either value) pixels are converted into + * a separate numerical representation for each pixel, where position + * i in the filter corresponds to bit i in the number. Each resulting + * numerical representation N is represented as a 1 value in the Nth + * position of a lookup table. A pixel's environment is converted in + * the same way to a numeric representation P, and that environment + * matches a filter if num_table[P] == 1. + */ +int pixel_filter_by_number(pix * p, int x, int y) { + unsigned short val = 0; + static char num_table[NUM_TABLE_SIZE]; + static int num_table_generated = 0; + if (!num_table_generated) { + int f; + memset(num_table, 0, sizeof(num_table)); + for (f = 0; f < Nfilt3; f++) + rec_generate_number_table(num_table, filt3[f], 0, 0); + num_table_generated = 1; + } + + /* calculate a numeric value for the 3x3 square around the pixel. */ + if (x > 0) { val |= (pixel_atp(p,x-1, y )>>7) << (8 - 3); + if (y > 0) val |= (pixel_atp(p,x-1,y-1)>>7) << (8 - 0); + if (y+1 < p->y) val |= (pixel_atp(p,x-1,y+1)>>7) << (8 - 6); + } + if (x+1 < p->x) { val |= (pixel_atp(p,x+1, y )>>7) << (8 - 5); + if (y > 0) val |= (pixel_atp(p,x+1,y-1)>>7) << (8 - 2); + if (y+1 < p->y) val |= (pixel_atp(p,x+1,y+1)>>7) << (8 - 8); + } + if (y > 0) val |= (pixel_atp(p, x ,y-1)>>7) << (8 - 1); + val |= (pixel_atp(p, x , y )>>7) << (8 - 4); + if (y+1 < p->y) val |= (pixel_atp(p, x ,y+1)>>7) << (8 - 7); + assert(val < NUM_TABLE_SIZE); + + if (num_table[val]) + return (val & (1 << 4)) ? 0 : JOB->cfg.cs; + else + return pixel_atp(p, x, y) & ~7; +} +#endif + +#if FILTER_METHOD == FILTER_BY_TREE || defined(FILTER_CHECKED) + +#define TREE_ARRAY_SIZE 1024 +/* 1+ number of nodes in a complete binary tree of height 10 */ + +/* + * Recursively generate a tree representation of a filter. + */ +void rec_generate_tree(char * tree, const char * filter, int i, int n) { + assert(i >= 0 && i <= 9); + assert(n < TREE_ARRAY_SIZE); + if (i == 9) { + if (filter[4] == 0) + tree[n] = 2; + else + tree[n] = 1; + return; + } + /* first iteration has n == -1, does not set any values of the tree, + just to find whether to start to the left or the right */ + if (n != -1) + tree[n] = 1; + if (filter[i] == 0) + rec_generate_tree(tree, filter, i + 1, n * 2 + 2); + else if (filter[i] == 1) + rec_generate_tree(tree, filter, i + 1, n * 2 + 3); + else { + rec_generate_tree(tree, filter, i + 1, n * 2 + 2); + rec_generate_tree(tree, filter, i + 1, n * 2 + 3); + } +} + +/* + * Filter the pixel at (x, y) using the tree method. + * + * Each filter is represented by a single branch of a binary + * tree, except for filters contain "either value" entries, which + * bifurcate at that point in the branch. Each white pixel in the filter + * is a left branch in the tree, each black pixel a right branch. The + * final node of a branch indicates whether this filter turns a white + * pixel black, or a black one white. + * + * We match a pixel's environment against this tree by similarly + * using the pixels in that environment to traverse the tree. If + * we run out of nodes before getting to the end of a branch, then + * the environment doesn't match against any of the filters represented + * by the tree. Otherwise, we return the value specified by the + * final node. + * + * Since the total tree size, even including missing nodes, is small + * (2 ^ 10), we can use a standard array representation of a binary + * tree, where for the node tree[n], the left child is tree[2n + 2], + * and the right tree[2n + 3]. The only information we want + * from a non-leaf node is whether it exists (that is, is part of + * a filter-representing branch). We represent this with the value + * 1 at the node's slot in the array, the contrary by 0. For the + * leaf node, 0 again represents non-existence, 1 that the filter + * represented by this branch turns a black pixel white, and 2 a + * white pixel black. + */ +int pixel_filter_by_tree(pix * p, int x, int y) { + static char tree[TREE_ARRAY_SIZE]; + static int tree_generated = 0; + int n; + int pixel_val = pixel_atp(p, x, y) & ~7; +#ifdef FILTER_STATISTICS + static int registered_filter_stats = 0; + if (!registered_filter_stats) { + atexit(print_filter_stats); + registered_filter_stats = 1; + } + filter_tries++; +#endif /* FILTER_STATISTICS */ + if (!tree_generated) { + int f; + memset(tree, 0, sizeof(tree)); + for (f = 0; f < Nfilt3; f++) { + const char * filter = filt3[f]; + rec_generate_tree(tree, filter, 0, -1); + } + tree_generated = 1; + } + n = -1; + + /* Note that for the image, low is black, high is white, whereas + * for the filter, 0 is white, 1 is black. For the image, then, + * high (white) means go left, low (black) means go right. */ + +#define IS_BLACK(_dx,_dy) !(pixel_atp(p, x + (_dx), y + (_dy)) >> 7) +#define IS_WHITE(_dx,_dy) (pixel_atp(p, x + (_dx), y + (_dy)) >> 7) +#define GO_LEFT n = n * 2 + 2 +#define GO_RIGHT n = n * 2 + 3 +#define CHECK_NO_MATCH if (tree[n] == 0) return pixel_val + + /* Top row */ + if (y == 0) { + /* top 3 pixels off edge == black == right + n = 2 * (2 * (2 * -1 + 3) + 3) + 3 = 13 */ + n = 13; + } else { + if (x == 0 || IS_BLACK(-1, -1)) + GO_RIGHT; + else + GO_LEFT; + + if (IS_WHITE(0, -1)) + GO_LEFT; + else + GO_RIGHT; + CHECK_NO_MATCH; + + if (x + 1 == p->x || IS_BLACK(+1, -1)) + GO_RIGHT; + else + GO_LEFT; + CHECK_NO_MATCH; + } + + /* Second row */ + if (x == 0 || IS_BLACK(-1, 0)) + GO_RIGHT; + else + GO_LEFT; + CHECK_NO_MATCH; + + if (IS_WHITE(0, 0)) + GO_LEFT; + else + GO_RIGHT; + CHECK_NO_MATCH; + + if (x + 1 == p->x || IS_BLACK(+1, 0)) + GO_RIGHT; + else + GO_LEFT; + CHECK_NO_MATCH; + + /* bottom row */ + if (y + 1 == p->y) { + /* bottom 3 pixels off edge == black == right + n' = 2 * (2 * (2n + 3) + 3) + 3 + = 2 * (4n + 9) + 3 + = 8n + 21 */ + n = 8 * n + 21; + } else { + if (x == 0 || IS_BLACK(-1, +1)) + GO_RIGHT; + else + GO_LEFT; + CHECK_NO_MATCH; + + if (IS_WHITE(0, 1)) + GO_LEFT; + else + GO_RIGHT; + CHECK_NO_MATCH; + + if (x + 1 == p->x || IS_BLACK(+1, +1)) + GO_RIGHT; + else + GO_LEFT; + } + assert(n < TREE_ARRAY_SIZE); + assert(tree[n] == 0 || tree[n] == 1 || tree[n] == 2); + CHECK_NO_MATCH; +#ifdef FILTER_STATISTICS + filter_matches++; +#endif + if (tree[n] == 1) { +#ifdef FILTER_STATISTICS + if (pixel_atp(p, x, y) < JOB->cfg.cs) + filter_whitened++; +#endif + return JOB->cfg.cs; + } else { +#ifdef FILTER_STATISTICS + if (pixel_atp(p, x, y) >= JOB->cfg.cs) + filter_blackened++; +#endif + return 0; + } +} +#endif /* FILTER_METHOD == FILTER_BY_TREE */ + +/* + * This simple filter attempts to correct "fax"-like scan errors. + */ +int pixel_faxfilter(pix *p, int x, int y) { + int r; // filter + r = pixel_atp(p,x,y)&~7; + /* {2,2,2, 2,0,1, 2,1,0} */ + if ((r&128) && (~pixel_atp(p,x+1, y )&128) + && (~pixel_atp(p, x ,y+1)&128) + && ( pixel_atp(p,x+1,y+1)&128)) + r = 64; /* faxfilter */ + + else + /* {2,2,2, 1,0,2, 0,1,2} */ + if ((r&128) && (~pixel_atp(p,x-1, y )&128) + && (~pixel_atp(p, x ,y+1)&128) + && ( pixel_atp(p,x-1,y+1)&128)) + r = 64; /* faxfilter */ + return r & ~7; +} + +#ifdef FILTER_CHECKED +/* + * Print out the 3x3 environment of a pixel as a 9-bit binary. + * + * For debugging purposes only. + */ +void print_pixel_env(FILE * out, pix * p, int x, int y) { + int x0, y0; + for (y0 = y - 1; y0 < y + 2; y0++) { + for (x0 = x - 1; x0 < x + 2; x0++) { + if (x0 < 0 || x0 >= p->x || y0 < 0 || y0 >= p->y) + fputc('?', out); + else if (pixel_atp(p, x0, y0) >> 7) + fputc('0', out); + else + fputc('1', out); + } + } +} +#endif + +/* this function is heavily used + * test if pixel was set, remove low bits (marks) --- later with error-correction + * result depends on n_run, if n_run>0 filter are used + * Returns: pixel-color (without marks) + */ +int getpixel(pix *p, int x, int y){ + if ( x < 0 || y < 0 || x >= p->x || y >= p->y ) + return 255 & ~7; + + /* filter will be used only once later, when vectorization replaces pixel + * processing + */ + if (JOB->tmp.n_run > 0) { /* use the filters (correction of errors) */ +#if FILTER_METHOD == FILTER_BY_NUMBER + int pix = pixel_filter_by_number(p, x, y); +#ifdef FILTER_CHECKED + int pix2 = pixel_filter_by_matrix(p, x, y); + if (pix != pix2) { + fprintf(stderr, + "# BUG: pixel_filter: by number: %d; by matrix: %d, " + "by atp %d; env: ", pix, pix2, pixel_atp(p, x, y) & ~7); + print_pixel_env(stderr, p, x, y); + fputc('\n', stderr); + } +#endif /* FILTER_CHECKED */ + return pix; +#elif FILTER_METHOD == FILTER_BY_MATRIX + return pixel_filter_by_matrix(p, x, y); +#elif FILTER_METHOD == FILTER_BY_TREE + int pix = pixel_filter_by_tree(p, x, y); +#ifdef FILTER_CHECKED + int pix2 = pixel_filter_by_matrix(p, x, y); + int pix3 = pixel_filter_by_number(p, x, y); + if (pix != pix2 || pix != pix3) { + fprintf(stderr, + "# BUG: pixel_filter: tree: %d; matrix: %d, " + "number: %d, atp %d; env: ", pix, pix2, pix3, + pixel_atp(p, x, y) & ~7); + print_pixel_env(stderr, p, x, y); + fputc('\n', stderr); + } +#endif /* FILTER_CHECKED */ + return pix; +#else +#error FILTER_METHOD not defined +#endif /* FILTER_BY_NUMBER */ + } + + return (pixel_atp(p,x,y) & ~7); +} + +/* modify pixel, test if out of range */ +void put(pix * p, int x, int y, int ia, int io) { + if (x < p->x && x >= 0 && y >= 0 && y < p->y) + pixel_atp(p, x, y) = (pixel_atp(p, x, y) & ia) | io; +} diff --git a/3rdparty/gocr-0.48/src/pnm.c b/3rdparty/gocr-0.48/src/pnm.c new file mode 100644 index 0000000..2d07280 --- /dev/null +++ b/3rdparty/gocr-0.48/src/pnm.c @@ -0,0 +1,533 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + v0.1.0 initial version (stdin added) + v0.2.0 popen added + v0.2.7 review by Bruno Barberi Gnecco + v0.39 autoconf + v0.41 fix integer and heap overflow, change color output + v0.46 fix blank spaces problem in filenames + */ + +#include +#include +#include +#include +#ifdef HAVE_UNISTD_H +/* #include */ +#endif + +/* Windows needs extra code to work fine, ^Z in BMP's will stop input else. + * I do not have any idea when this text mode will be an advantage + * but the MS community seems to like to do simple things in a complex way. */ +#if defined(O_BINARY) && (defined(__WIN32) || defined(__WIN32__)\ + || defined(__WIN64) || defined(__WIN64__) || defined(__MSDOS__)) +# include +# define SET_BINARY(_f) do {if (!isatty(_f)) setmode (_f, O_BINARY);} while (0) +#else +# define SET_BINARY(f) (void)0 +#endif + +#include "pnm.h" +#ifdef HAVE_PAM_H +# include +# include +# include +# include +#else +# include +#endif + +#define EE() fprintf(stderr,"\nERROR "__FILE__" L%d: ",__LINE__) +#define E0(x0) {EE();fprintf(stderr,x0 "\n"); } +#define F0(x0) {EE();fprintf(stderr,x0 "\n"); exit(1);} +#define F1(x0,x1) {EE();fprintf(stderr,x0 "\n",x1); exit(1);} + +/* + * Weights to use for the different colours when converting a ppm + * to greyscale. These weights should sum to 1.0 + * + * The below values have been chosen to reflect the fact that paper + * goes a reddish-yellow as it ages. + * + * v0.41: for better performance, we use integer instead of double + * this integer value divided by 1024 (2^10) gives the factor + */ +#define PPM_RED_WEIGHT 511 /* .499 */ +#define PPM_GREEN_WEIGHT 396 /* .387 */ +#define PPM_BLUE_WEIGHT 117 /* .114 */ + +/* + feel free to expand this list of usable converting programs + Note 1: the last field must be NULL. + Note 2: "smaller" extensions must come later: ".pnm.gz" must come + before ".pnm". + calling external programs is a security risk + ToDo: for better security replace gzip by /usr/bin/gzip ! + */ +char *xlist[]={ + ".pnm.gz", "gzip -cd", /* compressed pnm-files, gzip package */ + ".pbm.gz", "gzip -cd", + ".pgm.gz", "gzip -cd", + ".ppm.gz", "gzip -cd", + ".pnm.bz2", "bzip2 -cd", + ".pbm.bz2", "bzip2 -cd", + ".pgm.bz2", "bzip2 -cd", + ".ppm.bz2", "bzip2 -cd", + ".jpg", "djpeg -gray -pnm", /* JPG/JPEG, jpeg package */ + ".jpeg", "djpeg -gray -pnm", + ".gif", "giftopnm -image=all", /* GIF, netpbm package */ + ".bmp", "bmptoppm", + ".tiff", "tifftopnm", + ".png", "pngtopnm", /* Portable Network Graphics (PNG) format */ + ".ps", "pstopnm -stdout -portrait -pgm", /* postscript */ + ".eps", "pstopnm -stdout -portrait -pgm", /* encapsulated postscript */ + /* gs -sDEVICE=pgmraw -sOutputFile=- -g609x235 -r141x141 -q -dNOPAUSE */ + ".fig", "fig2dev -L ppm -m 3", /* xfig files, transfig package */ + NULL +}; + +/* return a pointer to command converting file to pnm or NULL */ +char *testsuffix(char *name){ + int i; char *rr; + + for(i = 0; xlist[i] != NULL; i += 2 ) { + if((rr=strstr(name, xlist[i])) != NULL) + if(strlen(rr)==strlen(xlist[i])) /* handle *.eps.pbm correct */ + return xlist[i+1]; + } + return NULL; +} + + +char read_char(FILE *f1){ // filter #-comments + char c; + int m; + for(m=0;;){ + c=fgetc(f1); + if( feof(f1) ) E0("read feof"); + if( ferror(f1) ) F0("read ferror"); + if( c == '#' ) { m = 1; continue; } + if( m == 0 ) return c; + if( c == '\n' ) m = 0; + } +} + + +/* + for simplicity only PAM of netpbm is used, the older formats + PBM, PGM and PPM can be handled implicitly by PAM routines (js05) + v0.43: return 1 if multiple file (hold it open), 0 otherwise + */ +#ifdef HAVE_PAM_H +int readpgm(char *name, pix * p, int vvv) { + static FILE *fp=NULL; + static char *pip; + char magic1, magic2; + int i, j, sample, minv = 0, maxv = 0, eofP=0; + struct pam inpam; + tuple *tuplerow; + + assert(p); + + if (!fp) { // fp!=0 for multi-pnm and idx>0 + /* open file; test if conversion is needed. */ + if (name[0] == '-' && name[1] == '\0') { + fp = stdin; + SET_BINARY (fileno(fp)); // Windows needs it for correct work + } + else { + pip = testsuffix(name); + if (!pip) { + fp = fopen(name, "rb"); + if (!fp) + F1("opening file %s", name); + } + else { + char *buf = (char *)malloc((strlen(pip)+strlen(name)+4)); + sprintf(buf, "%s \"%s\"", pip, name); /* allow spaces in filename */ + if (vvv) { + fprintf(stderr, "# popen( %s )\n", buf); + } +#ifdef HAVE_POPEN + /* potential security vulnerability, if name contains tricks */ + /* example: gunzip -c dummy | rm -rf * */ + /* windows needs "rb" for correct work, linux not, cygwin? */ + /* ToDo: do you have better code to go arround this? */ +#if defined(__WIN32) || defined(__WIN32__) || defined(__WIN64) || defined(__WIN64__) + fp = popen(buf, "rb"); /* ToDo: may fail, please report */ + if (!fp) fp = popen(buf, "r"); /* 2nd try, the gnu way */ +#else + fp = popen(buf, "r"); +#endif +#else + F0("sorry, compile with HAVE_POPEN to use pipes"); +#endif + if (!fp) + F1("opening pipe %s", buf); + free(buf); + } + } + } + + /* netpbm 0.10.36 tries to write a comment to nonzero char** comment_p */ + /* patch by C.P.Schmidt 21Nov06 */ + memset (&inpam, 0, sizeof(inpam)); + + /* read pgm-header */ + /* struct pam may change between netpbm-versions, causing problems? */ +#ifdef PAM_STRUCT_SIZE /* ok for netpbm-10.35 */ + /* new-and-better? but PAM_STRUCT_SIZE is not defined in netpbm-10.18 */ + pnm_readpaminit(fp, &inpam, PAM_STRUCT_SIZE(tuple_type)); +#else /* ok for netpbm-10.18 old-and-bad for new netpbms */ + pnm_readpaminit(fp, &inpam, sizeof(inpam)); +#endif + + p->x = inpam.width; + p->y = inpam.height; + magic1=(inpam.format >> 8) & 255; /* 'P' for PNM,PAM */ + magic2=(inpam.format ) & 255; /* '7' for PAM */ + minv=inpam.maxval; + if (vvv) { + fprintf(stderr, "# readpam: format=0x%04x=%c%c h*w(d*b)=%d*%d(%d*%d)\n", + inpam.format, /* magic1*256+magic2 */ + ((magic1>31 && magic1<127)?magic1:'.'), + ((magic2>31 && magic2<127)?magic2:'.'), + inpam.height, + inpam.width, + inpam.depth, + inpam.bytes_per_sample); + } + if ( (1.*(p->x*p->y))!=((1.*p->x)*p->y) ) + F0("Error integer overflow"); + if ( !(p->p = (unsigned char *)malloc(p->x*p->y)) ) + F1("Error at malloc: p->p: %d bytes", p->x*p->y); + tuplerow = pnm_allocpamrow(&inpam); + for ( i=0; i < inpam.height; i++ ) { + pnm_readpamrow(&inpam, tuplerow); /* exit on error */ + for ( j = 0; j < inpam.width; j++ ) { + if (inpam.depth>=3) + /* tuplerow is unsigned long (see pam.h sample) */ + /* we expect 8bit or 16bit integers, + no overflow up to 32-10-2=20 bits */ + sample + = ((PPM_RED_WEIGHT * tuplerow[j][0] + 511)>>10) + + ((PPM_GREEN_WEIGHT * tuplerow[j][1] + 511)>>10) + + ((PPM_BLUE_WEIGHT * tuplerow[j][2] + 511)>>10); + else + sample = tuplerow[j][0]; + sample = 255 * sample / inpam.maxval; /* normalize to 8 bit */ + p->p[i*inpam.width+j] = sample; + if (maxvsample) minv=sample; + } + } + pnm_freepamrow(tuplerow); + pnm_nextimage(fp,&eofP); + if (vvv) + fprintf(stderr,"# readpam: min=%d max=%d eof=%d\n", minv, maxv, eofP); + p->bpp = 1; + if (eofP) { + if (!pip) fclose(fp); +#ifdef HAVE_POPEN + else pclose(fp); /* close pipe (v0.43) */ +#endif + fp=NULL; return 0; + } + return 1; /* multiple image = concatenated pnm */ +} + +#else +/* + if PAM not installed, here is the fallback routine, + which is not so powerful but needs no dependencies from other libs + */ +static int fread_num(char *buf, int bps, FILE *f1) { + int mode, j2, j3; char c1; + for (j2=0;j2>=8; + } + buf[0] += c1-'0'; + } + return 0; +} + +/* + * read image file, used to read the OCR-image and database images, + * image file can be PBM/PGM/PPM in RAW or TEXT + * name: filename of image (input) + * p: pointer where to store the loaded image (input) + * vvv: verbose mode (input) + * return: 0=ok, 1=further image follows (multiple image), -1 on error + * this is the fall back routine if libpnm cant be used + */ +int readpgm( char *name, pix *p, int vvv){ + static char c1, c2; /* magic bytes, file type */ + static char *pip; // static to survive multiple calls + int nx,ny,nc,mod,i,j; // buffer + static FILE *f1=NULL; // trigger read new file or multi image file + unsigned char *pic; + char buf[512]; + int lx, ly, dx; + int bps=1; /* bytes per sample (0..255..65535...) */ + + if (!f1) { /* first of multiple image, on MultipleImageFiles c1 was read */ + pip=NULL; + if (name[0]=='-' && name[1]==0) { + f1=stdin; /* is this correct ??? */ + SET_BINARY (fileno(f1)); // Windows needs it for correct work + } else { + pip=testsuffix(name); + if (!pip) { + f1=fopen(name,"rb"); if (!f1) F1("opening file %s",name); + } else { + sprintf(buf,"%s \"%s\"",pip,name); /* ToDo: how to prevent OVL ? */ + if (vvv) { fprintf(stderr,"# popen( %s )\n",buf); } +#ifdef HAVE_POPEN +#if defined(__WIN32) || defined(__WIN32__) || defined(__WIN64) || defined(__WIN64__) + f1 = popen(buf, "rb"); /* ToDo: may fail, please report */ + if (!f1) f1 = popen(buf, "r"); /* 2nd try, the gnu way */ +#else + f1=popen(buf,"r"); +#endif +#else + F0("only PNM files supported (compiled without HAVE_POPEN)"); +#endif + if (!f1) F1("opening pipe %s",buf); + } + } + c1=fgetc(f1); if (feof(f1)) { E0("unexpected EOF"); return -1; } + } + c2=fgetc(f1); if (feof(f1)) { E0("unexpected EOF"); return -1; } + // check the first two bytes of the PNM file + // PBM PGM PPM + // TXT P1 P2 P3 + // RAW P4 P5 P6 + if (c1!='P' || c2 <'1' || c2 >'6') { + fprintf(stderr,"\nread-PNM-error: file number is %2d," + " position %ld", fileno(f1), ftell(f1)); + fprintf(stderr,"\nread-PNM-error: bad magic bytes, expect 0x50 0x3[1-6]" + " but got 0x%02x 0x%02x", 255&c1, 255&c2); + if (f1) fclose(f1); f1=NULL; return(-1); + } + nx=ny=nc=0; if (c2=='4' || c2=='1') nc=1; + for(mod=0;((c2=='5' || c2=='2') && (mod&7)<6) + || ((c2=='6' || c2=='3') && (mod&7)<6) + || ((c2=='4' || c2=='1') && (mod&7)<4);) + { // mode: 0,2,4=[ |\t|\r|\n] + // 1=nx 3=ny 5=nc 8-13=#rem + c1=read_char(f1); // former: # mod|=8 + if( (mod & 1)==0 ) // whitespaces + if( !isspace(c1) ) mod++; + if( (mod & 1)==1 ) { + if( !isdigit(c1) ) { + if( !isspace(c1) )F0("unexpected character"); + mod++; } + else if(mod==1) nx=nx*10+c1-'0'; + else if(mod==3) ny=ny*10+c1-'0'; + else if(mod==5) nc=nc*10+c1-'0'; + } + } + if(vvv) + fprintf(stderr,"# PNM P%c h*w=%d*%d c=%d head=%ld",c2,ny,nx,nc,ftell(f1)); + if( c2=='4' && (nx&7)!=0 ){ + /* nx=(nx+7)&~7;*/ if(vvv)fprintf(stderr," PBM2PGM nx %d",(nx+7)&~7); + } + if (nc>> 8) bps=2; // bytes per color and pixel + if (nc>>16) bps=3; + if (nc>>24) bps=4; + fflush(stdout); + if ( (1.*(nx*ny))!=((1.*nx)*ny) ) + F0("Error integer overflow"); + pic=(unsigned char *)malloc( nx*ny ); + if(pic==NULL)F0("memory failed"); // no memory + for (i=0;i>10) + + ((PPM_GREEN_WEIGHT * (unsigned char)buf[2*bps-1] + 511)>>10) + + ((PPM_BLUE_WEIGHT * (unsigned char)buf[3*bps-1] + 511)>>10); + /* normalized to 0..255 */ + } + } + if( c2=='1' ) + for(mod=j=i=0,nc=255;i>3,ny,f1))F0("read"); // read all bytes + for(ly=ny-1;ly>=0;ly--) + for(lx=nx-1;lx>=0;lx--) + pic[lx+ly*nx]=( (128 & (pic[(lx+ly*dx)>>3]<<(lx & 7))) ? 0 : 255 ); + nc=255; + } + { + int minc=255, maxc=0; + for (i=0;imaxc) maxc=pic[i]; + if (pic[i]p=pic; p->x=nx; p->y=ny; p->bpp=1; + if (vvv) fprintf(stderr,"\n"); + c1=0; c1=fgetc(f1); /* needed to trigger feof() */ + if (feof(f1) || c1!='P') { /* EOF ^Z or not 'P' -> single image */ + if (vvv) fprintf(stderr,"# PNM EOF\n"); + if(name[0]!='-' || name[1]!=0){ /* do not close stdin */ + if(!pip) fclose(f1); +#ifdef HAVE_POPEN + else pclose(f1); /* close pipe (Jul00) */ +#endif + } + f1=NULL; /* set file is closed flag */ + return 0; + } + return 1; /* multiple image = concatenated pnm's */ +} +#endif /* HAVE_PAM_H */ + +int writepgm(char *nam,pix *p){// P5 raw-pgm + FILE *f1;int a,x,y; + f1=fopen(nam,"wb");if(!f1)F0("open"); // open-error + fprintf(f1,"P5\n%d %d\n255\n",p->x,p->y); + if(p->bpp==3) + for(y=0;yy;y++) + for(x=0;xx;x++){ // set bit + a=x+y*p->x; + p->p[a]=(p->p[3*a+0]+p->p[3*a+1]+p->p[3*a+2])/3; + } + if(p->y!=(int)fwrite(p->p,p->x,p->y,f1))F0("write"); // write all lines + fclose(f1); + return 0; +} + +/* adding colours, care about range */ +void addrgb(unsigned char rgb[3], int sr, int sg, int sb) { + int add[3], i; + /* add colour on dark pixels, subtract on white pixels */ + add[0]=2*sr; add[1]=2*sg; add[2]=2*sb; + if (((int)rgb[0])+((int)rgb[1])+((int)rgb[2])>=3*160) + { add[0]=(-sg-sb); add[1]=(-sr-sb); add[2]=(-sr-sg); } // rgb/2? + /* care about colour range */ + for (i=0;i<3;i++) + if (add[i]<0) rgb[i]-=(( rgb[i]<-add[i])? rgb[i]:-add[i]); + else rgb[i]+=((255-rgb[i]< add[i])?255-rgb[i]: add[i]); +} +/* + * pgmtoppm or pnmtopng, use last 3 bits for farbcoding + * replaces old writebmp variant + */ +int writeppm(char *nam, pix *p){ /* P6 raw-ppm */ + FILE *f1=NULL; int x,y,f1t=0; unsigned char rgb[3], gray, bits; + char buf[128]; + if (strchr(nam,'|')) return -1; /* no nasty code */ + if (strstr(nam,".ppm")) { f1=fopen(nam,"wb"); } +#ifdef HAVE_POPEN + /* be sure that nam contains hacker code like "dummy | rm -rf *" */ + if (!f1) { + strncpy(buf,"pnmtopng > ",12); /* no spaces within filenames allowed! */ + strncpy(buf+11,nam,111); buf[123]=0; + strncpy(buf+strlen(buf),".png",5); + /* we dont care about win "wb" here, never debug on win systems */ + f1 = popen(buf, "w"); if(f1) f1t=1; else E0("popen pnmtopng"); + } + if (!f1) { + strncpy(buf,"gzip -c > ",11); + strncpy(buf+10,nam,109); buf[120]=0; + strncpy(buf+strlen(buf),".ppm.gz",8); + /* we dont care about win "wb" here, never debug on win systems */ + f1 = popen(buf, "w"); if(f1) f1t=1; else E0("popen gzip -c"); + } +#endif + if (!f1) { + strncpy(buf,nam,113); buf[114]=0; + strncpy(buf+strlen(buf),".ppm",5); + f1=fopen(buf,"wb"); + } + if (!f1) F0("open"); /* open-error */ + fprintf(f1,"P6\n%d %d\n255\n",p->x,p->y); + if ( p->bpp==1 ) + for (y=0;yy;y++) + for (x=0;xx;x++){ + gray=p->p[x+y*p->x]; + bits=(gray&0x0F); /* save marker bits */ + /* replace used bits to get max. contrast, 160=0xA0 */ + gray = ((gray<160) ? (gray&~0x0F)>>1 : 0xC3|(gray>>1) ); + rgb[0] = rgb[1] = rgb[2] = gray; + if ((bits & 1)==1) { addrgb(rgb,0,0,8+8*((x+y)&1)); } /* dark blue */ + if ((bits & 8)==8) { addrgb(rgb,0,0, 16); } /* blue (low priority) */ + if ((bits & 6)==6) { addrgb(rgb,0,0, 32); } /* blue */ + if ((bits & 6)==4) { addrgb(rgb,0,48,0); } /* green */ + if ((bits & 6)==2) { addrgb(rgb,32,0,0); } /* red */ + if ( 1!=(int)fwrite(rgb,3,1,f1) ) { E0("write"); y=p->y; break; } + } + if ( p->bpp==3 ) + if ( p->y!=(int)fwrite(p->p,3*p->x,p->y,f1) ) E0("write"); +#ifdef HAVE_POPEN + if (f1t) { pclose (f1); f1=NULL; } +#endif + if (f1) fclose(f1); + return 0; +} + +// high bit = first, +int writepbm(char *nam,pix *p){// P4 raw-pbm + FILE *f1;int x,y,a,b,dx,i; + dx=(p->x+7)&~7; // enlarge to a factor of 8 + for(y=0;yy;y++) + for(x=0;xx;x++){ // set bit + a=(x+y*dx)>>3;b=7-(x&7); // adress an bitisnumber + i=x+y*p->x; + if(p->bpp==3) i=(p->p[3*i+0]+p->p[3*i+1]+p->p[3*i+2])/3; + else i= p->p[ i ]; + i=((i>127)?0:1); + p->p[a]=(p->p[a] & (~1<x,p->y); + if(p->y!=(int)fwrite(p->p,dx>>3,p->y,f1))F0("write"); // write all lines + fclose(f1); + return 0; +} +// ------------------------------------------------------------------------ diff --git a/3rdparty/gocr-0.48/src/pnm.h b/3rdparty/gocr-0.48/src/pnm.h new file mode 100644 index 0000000..b284a3f --- /dev/null +++ b/3rdparty/gocr-0.48/src/pnm.h @@ -0,0 +1,35 @@ +/* Handle PNM-files Dez98 JS + * 0,0 = left up + * PAM-formats + * PAM any P7 + * PNM-formats + * PGM gray ASCII=P2 RAW=P5 dx dy col gray + * PPM RGB ASCII=P3 RAW=P6 dx dy col RGB + * PBM B/W ASCII=P1 RAW=P4 dx dy bitmap + */ + +#ifndef GOCR_PNM_H +#define GOCR_PNM_H 1 + +#include "config.h" + +struct pixmap { + unsigned char *p; /* pointer of image buffer (pixmap) */ + int x; /* xsize */ + int y; /* ysize */ + int bpp; /* bytes per pixel: 1=gray 3=rgb */ + }; +typedef struct pixmap pix; + +/* return 1 on multiple images (holding file open), 0 else */ +int readpgm(char *name, pix *p, int vvv); + +/* write pgm-map to pnm-file */ +int writepgm(char *nam, pix *p); +int writepbm(char *nam, pix *p); +int writeppm(char *nam, pix *p); /* use lowest 3 bits for farbcoding */ + +/* ----- count colors ------ create histogram ------- */ +void makehisto(pix p, unsigned col[256], int vvv); + +#endif diff --git a/3rdparty/gocr-0.48/src/progress.c b/3rdparty/gocr-0.48/src/progress.c new file mode 100644 index 0000000..14804ed --- /dev/null +++ b/3rdparty/gocr-0.48/src/progress.c @@ -0,0 +1,87 @@ +/* ---------------------------- progress output ---------------------- */ +#include +#include +#include "progress.h" + +FILE *fp=NULL; /* output stream for progress info */ +time_t printinterval = 10; /* approx. seconds between printouts, 1.. */ + +/* initialization of progress output, fname="","","-" */ +int ini_progress(char *fname){ + int fd; + if (fp) { fclose(fp); fp=NULL; } + if (fname) if (fname[0]) { + fd=atoi(fname); + if(fd>255 || fname[((fd>99)?3:((fd>9)?2:1))]) fd=-1; /* be sure */ + if (fname[0]=='-' && fname[1]==0) { fp=stdout; } +#ifdef __USE_POSIX + else if (fd>0) { fp=fdopen(fd,"w"); } /* not sure that "w" is ok ???? */ +#endif + else { fp=fopen(fname,"w");if(!fp)fp=fopen(fname,"a"); } + if (!fp) { + fprintf(stderr,"could not open %s for progress output\n",fname); + return -1; /* no success */ + } + } + /* fprintf(stderr,"# progress: fd=%d\n",fileno(fp)); */ + return 0; /* no error */ +} + +progress_counter_t *open_progress(int maxcount, const char *name){ + progress_counter_t *pc; + pc = (progress_counter_t*) malloc( sizeof(progress_counter_t) ); + if (!pc) return 0; /* nonfatal */ + pc->starttime = time(NULL); + pc->maxcount = maxcount; + pc->numskip = 0; + pc->lastprintcount = -1; + pc->name = name; + pc->lastprinttime = pc->starttime; + return pc; +} +/* free counter */ +int close_progress(progress_counter_t *counter){ + if (counter) free(counter); + return 0; +} +/* progress meter output + * only 1output/10s, + estimated endtime (test on pixelfields) + * ToDo: to stderr by default? remove subprogress, ini_progress? rm_progress? + * test on tcl + */ +int progress(int counter, progress_counter_t *pc){ + /* we try to save computing time, so we skip early */ + if ((!fp) || counter - pc->lastprintcount <= pc->numskip) return 0; + { + char cr='\n'; + time_t now = time(NULL); +#if 0 /* debugging */ + if (counter) + fprintf(fp," progress %s %3d / %d time %d skip %d\n", + pc->name,counter,pc->maxcount,(int)(now - pc->starttime), + pc->numskip); fflush(fp); +#endif + if (5*(now - pc->lastprinttime) < 2*printinterval + && counter - pc->lastprintcount >= pc->numskip) { /* save for tests */ + if (pc->numskip < 1024) pc->numskip += pc->numskip+1; + } + if (3*(now - pc->lastprinttime) < 2*printinterval ) { + return 0; /* to early for printing */ + } + if (2*(now - pc->lastprinttime) > 3*printinterval ) { + pc->numskip >>= 1; /* to late for printing */ + } + if (fileno(fp)<3) cr='\r'; /* may be choosen in ini? */ + if (counter) + fprintf(fp," progress %s %5d / %d time[s] %5d / %5d (skip=%d)%c", + pc->name,counter,pc->maxcount, + (int)(now - pc->starttime), /* time gone since start */ + (int)(now - pc->starttime)*pc->maxcount/(counter), /* estimated */ + pc->numskip, cr); + fflush(fp); + pc->lastprintcount=counter; + pc->lastprinttime=now; + } + return 0; /* no error */ +} +/* --------------------- end of progress output ---------------------- */ diff --git a/3rdparty/gocr-0.48/src/progress.h b/3rdparty/gocr-0.48/src/progress.h new file mode 100644 index 0000000..d31e7a8 --- /dev/null +++ b/3rdparty/gocr-0.48/src/progress.h @@ -0,0 +1,42 @@ +/* + ---------------------- progress output ---------------------- + output progress for GUIs to a pipe + format: "counter_name" counter maxcounter time estimated_time \r|\n + */ +#ifndef GOCR_PROGRESS_H +#define GOCR_PROGRESS_H "Oct06" +#include + +/* initialization of progress output, fname="","","-" */ +int ini_progress(char *fname); + +/* ToDo: add by open_* and close_* */ +/* place to store values for progress calculation, called often, but + * dont call systime so often + */ +typedef struct progress_counter { + const char *name; /* name of counter */ + int lastprintcount; /* last counter printed for extrapolation */ + int maxcount; /* max counter */ + int numskip; /* num of counts to skip before timecall 0..maxcount */ + time_t starttime; /* start time of this counter */ + time_t lastprinttime; /* last time printed in seconds */ + +} progress_counter_t; + +/* progress output p1=main_progress_0..100% p2=sub_progress_0..100% */ +/* ToDo: improved_progress: counter, maxcount(ini), counter_name(ini), + * printinterval=10 # time before printing out progressmeter + * *numskip=1 # if (counter-lastprintcounter +#include +#include "pgm2asc.h" +#include "gocr.h" +#include "progress.h" + +/* measure mean thickness as an criteria for big chars */ +int mean_thickness( struct box *box2 ){ + int mt=0, i, y, dx=box2->x1-box2->x0+1, dy; + for (y=box2->y0+1; yy1; y++) { + i=loop(box2->p,box2->x0+0,y,dx,JOB->cfg.cs,0,RI); + i=loop(box2->p,box2->x0+i,y,dx,JOB->cfg.cs,1,RI); + mt+=i; + } + dy = box2->y1 - box2->y0 - 1; + if (dy) mt=(mt+dy/2)/dy; + return mt; +} + +/* ---- remove dust --------------------------------- + What is dust? I think, this is a very small pixel cluster without + neighbours. Of course not all dust clusters can be detected correct. + This feature should be possible to switch off via option. + -> may be, all clusters should be stored here? + speed is very slow, I know, but I am happy that it is working well +*/ +int remove_dust( job_t *job ){ + /* new dust removing */ + /* FIXME jb:remove pp */ + pix *pp = &job->src.p; + int i1,i,j,x,y,x0,x1,y0,y1,nC,sX,sY,sP, cs,vvv=job->cfg.verbose; + struct box *box2; +#define HISTSIZE 220 /* histogramm size */ + int histo[HISTSIZE]; + cs=job->cfg.cs; sP=sX=sY=nC=0; + /* + * count number of black pixels within a box and store it in .dots + * later .dots is re-used for number of objects belonging to the character + * should be done in the flood-fill algorithm + * volume of white pixels is estimated to big here (left/right rot) + * ToDo: mean thickness of char lines? + * or interval nesting (minP..maxP) to remove outriders + */ + j=0; + for (i1=0;i1res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (!box2->num_frames) continue; + if (box2->frame_vol[0]<0) continue; /* don't count inner holes */ + j = abs(box2->frame_vol[0]); + if ((box2->y1-box2->y0+1)>3) { + nC++; /* only count potential chars v0.42 */ + sX+=box2->x1 - box2->x0 + 1; + sY+=box2->y1 - box2->y0 + 1; + sP+=j; + } + if (jres.boxlist)); + + if (job->cfg.dust_size < 0 && nC > 0) { /* auto detection */ + /* this formula is empirically, high resolution scans have bigger dust */ + /* maximum allowed dustsize (min=4*7 ca. 32) + * does not work for background pattern! + */ + job->cfg.dust_size = ( ( sX/nC ) * ( sY/nC ) + 16) / 32; + if (vvv) fprintf(stderr, "# remove.c remove_dust(): "); + if (vvv) fprintf(stderr, "\n# dust size detection, vol num" + " #obj=%d maxDust=%d mpixel= %3d mxy= %2d %2d", + nC, job->cfg.dust_size, sP/nC, sX/nC, sY/nC); + /* we assume that for random dust applies histo[i+1]=nC) continue; /* v0.42 lot of pixels -> bg pattern < 3 */ + if (i>=job->cfg.dust_size) break; /* maximum = mean size / 32 */ + if (histo[i/*+1*/]==0) break; /* bad statistic */ + if ((histo[i+2]+histo[i+3]) + >=(histo[i] +histo[i+1])) break; /* no noise, but to late? */ + if ( histo[i-1] > 1024*histo[i] && + 2*histo[i+1] >=histo[i]) break; /* bg pattern */ + } + if (vvv) fprintf(stderr," break"); + if (vvv) for (i1=0,j=i+1;j20) break; /* dont do excessive output */ + } + } + job->cfg.dust_size=i-1; + /* what is the statistic of random dust? + * if we have p pixels on a x*y image we should have + * (p/(x*y))^1 * (x*y) = p singlets + * (p/(x*y))^2 * (x*y) = p^2/(x*y) doublets and + * (p/(x*y))^3 * (x*y) = p^3/(x*y)^2 triplets + */ + if (vvv) fprintf(stderr,"\n# auto dust size = %d nC= %3d .. %3d" + " avD= %2d %2d .. %2d %2d\n", + job->cfg.dust_size, nC, job->res.numC, + (job->res.sumX+job->res.numC/2)/job->res.numC, + (job->res.sumY+job->res.numC/2)/job->res.numC, sX/nC, sY/nC); + } + if (job->cfg.dust_size) + { i=0; + if(vvv){ + fprintf(stderr,"# remove dust of size %2d",job->cfg.dust_size); + /* Warning: better use (1/(x*y))^2 as 1/((x*y)^2), + * because (x*y)^2 may overflow */ + fprintf(stderr," histo=%d,%d(?=%d),%d(?=%d),...\n# ...", + histo[1],histo[2],histo[1]*histo[1]/(pp->x*pp->y), + histo[3], histo[1]*histo[1]/(pp->x*pp->y) + *histo[1]/(pp->x*pp->y)); + } + i = 0; + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + x0=box2->x0;x1=box2->x1;y0=box2->y0;y1=box2->y1; /* box */ + j=abs(box2->frame_vol[0]); + if(j<=job->cfg.dust_size) /* remove this tiny object */ + { /* here we should distinguish dust and i-dots, + * may be we should sort out dots to a seperate dot list and + * after line detection decide, which is dust and which not + * dust should be removed to make recognition easier (ToDo) + */ +#if 0 + if(get_bw((3*x0+x1)/4,(x0+3*x1)/4,y1+y1-y0+1,y1+8*(y1-y0+1),pp,cs,1)) + continue; /* this idea was to simple, see kscan003.jpg sample */ +#endif + /* remove from average */ + job->res.numC--; + job->res.sumX-=x1-x0+1; + job->res.sumY-=y1-y0+1; + /* remove pixels (should only be done with dust) */ + for(x=x0;x<=x1;x++) + for(y=y0;y<=y1;y++){ put(pp,x,y,0,255&~7); } + /* remove from list */ + list_del(&(job->res.boxlist),box2); + /* free memory */ + free_box(box2); + i++; /* count as dust particle */ + continue; + } + } end_for_each(&(job->res.boxlist)); + if(vvv)fprintf(stderr," %3d cluster removed, nC= %3d\n",i,job->res.numC); + } + /* reset dots to 0 and remove white pixels (new) */ + i=0; + for_each_data(&(job->res.boxlist)) { + box2 = ((struct box *)list_get_current(&(job->res.boxlist))); + if (box2->frame_vol[0]<0) continue; /* for black areas only */ + x0=box2->x0;x1=box2->x1;y0=box2->y0;y1=box2->y1; /* box */ + if (x1-x0>16 && y1-y0>30) /* only on large enough chars */ + for(x=x0+1;x<=x1-1;x++) + for(y=y0+1;y<=y1-1;y++){ + if( pixel_atp(pp,x ,y )>=cs + && pixel_atp(pp,x-1,y ) res.boxlist)); + if (vvv) fprintf(stderr,"# ... %3d white pixels removed, cs=%d nC= %3d\n", + i,cs,job->res.numC); + return 0; +} + +/* ---- smooth big chars --------------------------------- + * Big chars often do not have smooth borders, which let fail + * the engine. Here we smooth the borders of big chars (>7x16). + * Smoothing is important for b/w scans, where we often have + * comb like pattern on a vertikal border. I also received + * samples with lot of white pixels (sample: 04/02/25). + * ToDo: obsolete if vector code is complete + */ +int smooth_borders( job_t *job ){ + pix *pp = &job->src.p; + int ii=0,x,y,x0,x1,y0,y1,dx,dy,cs,i0,i1,i2,i3,i4,n1,n2, + cn[8],cm,vvv=job->cfg.verbose; /* dust found */ + struct box *box2; + cs=job->cfg.cs; n1=n2=0; + if(vvv){ fprintf(stderr,"# smooth big chars 7x16 cs=%d",cs); } + /* filter for each big box */ + for_each_data(&(job->res.boxlist)) { n2++; /* count boxes */ + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + /* do not touch small characters! but how we define small characters? */ + if (box2->x1-box2->x0+1<7 || box2->y1-box2->y0+1<16 ) continue; + if (box2->c==PICTURE) continue; + if (mean_thickness(box2)<3) continue; + n1++; /* count boxes matching big-char criteria */ + x0=box2->x0; y0=box2->y0; + x1=box2->x1; y1=box2->y1; + dx=x1-x0+1; dy=y1-y0-1; + /* out_x(box2); + * dont change to much! only change if absolutely sure! + * ....... 1 2 3 + * ex: .?##### 0 * 4 + * ....... 7 6 5 + * we should also avoid removing lines by sytematic remove + * from left end to the right, so we concern also about distance>1 + */ + for(x=box2->x0;x<=box2->x1;x++) + for(y=box2->y0;y<=box2->y1;y++){ /* filter out high frequencies */ + /* this is a very primitive solution, only for learning */ + cn[0]=getpixel(pp,x-1,y); + cn[4]=getpixel(pp,x+1,y); /* horizontal */ + cn[2]=getpixel(pp,x,y-1); + cn[6]=getpixel(pp,x,y+1); /* vertical */ + cn[1]=getpixel(pp,x-1,y-1); + cn[3]=getpixel(pp,x+1,y-1); /* diagonal */ + cn[7]=getpixel(pp,x-1,y+1); + cn[5]=getpixel(pp,x+1,y+1); + cm=getpixel(pp,x,y); + /* check for 5 other and 3 same surrounding pixels */ + for (i0=0;i0<8;i0++) + if ((cn[i0 ]=5 && i3>=3 && i4>=3) { /* change only on borders */ + ii++; /* white : black */ + put(pp,x,y,7,((cmx0,y-box2->y0,i0,i1,i2,i3,i3,cm,getpixel(pp,x,y),cs); +#endif + } + } +#if 0 /* debugging */ + out_x(box2); +#endif + } end_for_each(&(job->res.boxlist)); + if(vvv)fprintf(stderr," ... %3d changes in %d of %d\n",ii,n1,n2); + return 0; +} + +/* test if a corner of box1 is within box2 */ +int box_nested( struct box *box1, struct box *box2){ + /* box1 in box2, +1..-1 frame for pixel-patterns */ + if ( ( ( box1->x0>=box2->x0-1 && box1->x0<=box2->x1+1 ) + || ( box1->x1>=box2->x0-1 && box1->x1<=box2->x1+1 ) ) + && ( ( box1->y0>=box2->y0-1 && box1->y0<=box2->y1+1 ) + || ( box1->y1>=box2->y0-1 && box1->y1<=box2->y1+1 ) ) ) + return 1; + return 0; +} + +/* test if box1 is within box2 */ +int box_covered( struct box *box1, struct box *box2){ + /* box1 in box2, +1..-1 frame for pixel-patterns */ + if ( ( box1->x0>=box2->x0-1 && box1->x1<=box2->x1+1 ) + && ( box1->y0>=box2->y0-1 && box1->y1<=box2->y1+1 ) ) + return 1; + return 0; +} + +/* ---- remove pictures ------------------------------------------ + * may be, not deleting or moving to another list is much better! + * should be renamed to remove_pictures and border boxes + */ +int remove_pictures( job_t *job){ + struct box *box4,*box2; + int j=0, j2=0, num_del=0; + + if (job->cfg.verbose) + fprintf(stderr, "# "__FILE__" L%d: remove pictures\n# ...", + __LINE__); + + /* ToDo: output a list for picture handle scripts */ + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box4->c==PICTURE) j++; else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n# ...", + j, j2, job->res.numC); + + /* remove table frames */ + if (job->res.numC > 8) + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c==PICTURE + && box2->num_ac==0 /* dont remove barcodes */ + && box2->x1-box2->x0+1>box2->p->x/2 /* big table? */ + && box2->y1-box2->y0+1>box2->p->y/2 ){ j=0; + /* count boxes nested with the picture */ + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4 != box2 ) /* not count itself */ + if (box_nested(box4,box2)) j++; /* box4 in box2 */ + } end_for_each(&(job->res.boxlist)); + if( j>8 ){ /* remove box if more than 8 chars are within box */ + list_del(&(job->res.boxlist), box2); /* does not work proper ?! */ + free_box(box2); num_del++; + } + } + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d pictures (table frames)\n# ...", + num_del); + num_del=0; + + /* remove dark-border-boxes (typical for hard copy of book site, + * or spam random border) */ + if (job->res.numC > 1) /* dont remove the only char */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if (box2->c!=PICTURE) continue; // ToDo: PICTUREs set already? + if ( box2->x1-box2->x0+1 > box2->p->x/2 + && box2->y1-box2->y0+1 > box2->p->y/2 ) continue; + j=0; + if (box2->x0==0) j++; + if (box2->y0==0) j++; /* on border? */ + if (box2->x1==box2->p->x-1) j++; + if (box2->y1==box2->p->y-1) j++; + if (j>2){ /* ToDo: check corner pixel */ + int cs=job->cfg.cs; + j=0; + if (getpixel(box2->p,box2->x0,box2->y0)p,box2->x1,box2->y0)p,box2->x0,box2->y1)p,box2->x1,box2->y1)2) { + list_del(&(job->res.boxlist), box2); + free_box(box2); num_del++; + } + } + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d pictures (on border)\n# ...", + num_del); + num_del=0; + + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4->c==PICTURE ) j++; else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n# ...", + j, j2, job->res.numC); + + for(j=1;j;){ j=0; /* this is only because list_del does not work */ + /* can be slow on gray images */ + for_each_data(&(job->res.boxlist)) { + box2 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box2->c==PICTURE && box2->num_ac==0) + for(j=1;j;){ /* let it grow to max before leave */ + j=0; box4=NULL; + /* find boxes nested with the picture and remove */ + /* its for pictures build by compounds */ + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4!=box2 /* not destroy self */ + && (box4->num_ac==0) /* dont remove barcodes etc. */ + && (/* box4->c==UNKNOWN || */ + box4->c==PICTURE) ) /* dont remove valid chars */ + if( + /* box4 in box2, +1..-1 frame for pixel-patterns */ + box_nested(box4,box2) + /* or box2 in box4 */ + || box_nested(box2,box4) /* same? */ + ) + if ( box4->x1-box4->x0+1>2*job->res.avX + || box4->x1-box4->x0+1res.avX/2 + || box4->y1-box4->y0+1>2*job->res.avY + || box4->y1-box4->y0+1res.avY/2 + || box_covered(box4,box2) ) /* box4 completely within box2 */ + /* dont remove chars! see rotate45.fig */ + { + /* do not remove boxes in inner loop (bug?) ToDo: check why! */ + /* instead we leave inner loop and mark box4 as valid */ + if( box4->x0x0 ) box2->x0=box4->x0; + if( box4->x1>box2->x1 ) box2->x1=box4->x1; + if( box4->y0y0 ) box2->y0=box4->y0; + if( box4->y1>box2->y1 ) box2->y1=box4->y1; + j=1; /* mark box4 as valid */ + break; /* and leave inner loop */ + } + } end_for_each(&(job->res.boxlist)); + if (j!=0 && box4!=NULL) { /* check for valid box4 */ + /* ToDo: melt */ + list_del(&(job->res.boxlist), box4); /* does not work proper ?! */ + free_box(box4); /* break; ToDo: necessary to leave after del??? */ + num_del++; + } + + } + } end_for_each(&(job->res.boxlist)); + } + + if (job->cfg.verbose) + fprintf(stderr, " deleted= %d nested pictures\n# ...", num_del); + + /* output a list for picture handle scripts */ + j=0; j2=0; + if(job->cfg.verbose) + for_each_data(&(job->res.boxlist)) { + box4 = (struct box *)list_get_current(&(job->res.boxlist)); + if( box4->c==PICTURE ) { + fprintf(stderr," found picture at %4d %4d size %4d %4d\n# ...", + box4->x0, box4->y0, box4->x1-box4->x0+1, box4->y1-box4->y0+1 ); + j++; + } else j2++; + } end_for_each(&(job->res.boxlist)); + if (job->cfg.verbose) + fprintf(stderr," status: pictures= %d other= %d nC= %d\n", + j, j2, job->res.numC); + return 0; +} + + + + /* ---- remove melted serifs --------------------------------- v0.2.5 + >>v<< + ##########.######## <-y0 + ################### like X VW etc. + ...###.......###... <-y + ...###......###.... + j1 j2 j3 + - can generate new boxes if two characters were glued + */ +int remove_melted_serifs( pix *pp ){ + int x,y,j1,j2,j3,j4,i2,i3,i,ii,ni,cs,x0,x1,xa,xb,y0,y1,vvv=JOB->cfg.verbose; + struct box *box2, *box3; + progress_counter_t *pc = NULL; + + cs=JOB->cfg.cs; i=0; ii=0; ni=0; + for_each_data(&(JOB->res.boxlist)) { + ni++; + } end_for_each(&(JOB->res.boxlist)); + pc = open_progress(ni,"remove_melted_serifs"); + ni = 0; + + if(vvv){ fprintf(stderr,"# searching melted serifs ..."); } + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c != UNKNOWN) continue; /* dont try on pictures */ + x0=box2->x0; x1=box2->x1; + y0=box2->y0; y1=box2->y1; /* box */ + /* upper serifs */ + for(j1=x0;j1+4x1+1) break; + y =loop(pp,j1,y0+1,x1-x0,cs,1,RI); if(y>x) x=y; if(j1+x>x1+1) break; + /* measure mean thickness of serif pos: (j1,y0)-(j1+x,y0) */ + for(j2=j3=j4=0,i2=j1;i2y1-y0) break; + i3+=loop(pp,i2,y0+i3,y1-y0,cs,1,DO); if(8*i3>y1-y0) continue; + if(8*i3j3)j3=i3; + j3 = j3 + loop(pp,j3,y ,x1-j3,cs,1,RI); + i3 = loop(pp,j3,y ,x1-j3,cs,0,RI); + if(i3<2 || j3>=j1+x){j1+=x;continue;} + j3 += i3/2; + + if(x>5) + { + i++; /* snip! */ + for(y=0;y<(y1-y0+1+4)/8;y++)put(pp,j2,y0+y,255,128+64); /* clear highest bit */ + if(vvv&4){ + fprintf(stderr,"\n"); + out_x(box2); + fprintf(stderr,"# melted serifs corrected on %d %d j1=%d j3=%d", + j2-x0, y, j1-x0, j3-x0); + // ToDo: vector cut with line from xa,ya to xb,yb + // two frames of double melted MN become one frame if cut one + // of the melted serifs (new function cut_frames_at_line()) + } + for(xb=0,xa=0;xa<(x1-x0+4)/8;xa++){ /* detect vertical gap */ + i3=y1; + if(box2->m3>y0 && 2*y1>box2->m3+box2->m4) i3=box2->m3; /* some IJ */ + if( loop(pp,j2-xa,i3,i3-y0,cs,0,UP) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,LE) >=xa ){ xb=-xa; break; } + if( loop(pp,j2+xa,i3,i3-y0,cs,0,UP) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,RI) >=xa ){ xb= xa; break; } + } + if( get_bw(j2 ,j2 ,y0,(y0+y1)/2,pp,cs,1) == 0 + && get_bw(j2+xb,j2+xb,(y0+y1)/2,i3,pp,cs,1) == 0 ) + { /* divide */ + box3=malloc_box(box2); + box3->x1=j2-1; + box2->x0=j2+1; x1=box2->x1; + cut_box(box2); /* cut vectors outside the box, see box.c */ + cut_box(box3); + box3->num=JOB->res.numC; + list_ins(&(JOB->res.boxlist),box2,box3); JOB->res.numC++; ii++; /* insert box3 before box2 */ + if(vvv&4) fprintf(stderr," => splitted"); + j1=x0=box2->x0; x=0; /* hopefully ok, UVW */ + } + } + j1+=x; + } + /* same on lower serifs -- change this later to better function + // #### ### + // #### v ### # <-y + // #################### <-y1 + // j1 j2 j3 + */ + for(j1=x0;j1x1+1) break; + y =loop(pp,j1,y1-1,x1-x0,cs,1,RI); if(y>x) x=y; if(j1+x>x1+1) break; + /* measure mean thickness of serif */ + for(j2=j3=j4=0,i2=j1;i2y1-y0) break; + i3+=loop(pp,i2,y1-i3,y1-y0,cs,1,UP); if(8*i3>y1-y0) continue; + if(8*i3j3)j3=i3; + j3 = j3 + loop(pp,j3,y ,x1-j3,cs,1,RI); + i3 = loop(pp,j3,y,x1-j3,cs,0,RI); + if(i3<2 || j3>=j1+x){j1+=x;continue;} + j3 += i3/2; + + /* y =y1-(y1-y0+1+4)/8; */ + if(x>5) + { + i++; /* snip! */ + for(i3=0;i3<(y1-y0+1+4)/8;i3++) + put(pp,j2,y1-i3,255,128+64); /* clear highest bit */ + if(vvv&4){ + fprintf(stderr,"\n"); + out_x(box2); + fprintf(stderr,"# melted serifs corrected on %d %d j1=%d j3=%d",j2-x0,y-y0,j1-x0,j3-x0); + } + for(xb=0,xa=0;xa<(x1-x0+4)/8;xa++){ /* detect vertical gap */ + if( loop(pp,j2-xa,y0,y1-y0,cs,0,DO) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,LE) >=xa ){ xb=-xa; break; } + if( loop(pp,j2+xa,y0,y1-y0,cs,0,DO) > (y1-y0+1)/2 + && loop(pp,j2,(y0+y1)/2,xa+1,cs,0,RI) >=xa ){ xb= xa; break; } + } + if( get_bw(j2 ,j2 ,(y0+y1)/2,y1,pp,cs,1) == 0 + && get_bw(j2+xb,j2+xb,y0,(y0+y1)/2,pp,cs,1) == 0 ) + { /* divide */ + box3=malloc_box(box2); + box3->x1=j2-1; + box2->x0=j2; x1=box2->x1; + cut_box(box2); /* cut vectors outside the box */ + cut_box(box3); + box3->num=JOB->res.numC; + list_ins(&(JOB->res.boxlist),box2,box3); JOB->res.numC++; ii++; + /* box3,box2 in correct order??? */ + if(vvv&4) fprintf(stderr," => splitted"); + j1=x0=box2->x0; x=0; /* hopefully ok, NMK */ + } + } + j1+=x; + } + progress(ni++,pc); + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if(vvv)fprintf(stderr," %3d cluster corrected, %d new boxes\n",i,ii); + return 0; +} + +/* remove black borders often seen on bad scanned copies of books + - dust around the border + */ +int remove_rest_of_dust() { + int i1, i2, vvv = JOB->cfg.verbose, x0, x1, y0, y1, cnt=0; + struct box *box2, *box4; + progress_counter_t *pc = NULL; + + i1 = i2 = 0; /* counter for removed boxes */ + if (vvv) + fprintf(stderr, "# detect dust (avX,nC), ... "); + /* remove fragments from border */ + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (box2->c == UNKNOWN) { + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; /* box */ + /* box in char ??? */ + if ( 2 * JOB->res.numC * (y1 - y0 + 1) < 3 * JOB->res.sumY + && ( y1 < box2->p->y/4 || y0 > 3*box2->p->y/4 ) /* not single line */ + && JOB->res.numC > 1 /* do not remove everything */ + && ( box2->m4 == 0 ) ) /* remove this */ + { + JOB->res.numC--; /* ToDo: dont count tiny pixels */ + /* ToDo: res.sumX,Y must also be corrected */ + i1++; + list_del(&(JOB->res.boxlist), box2); + free_box(box2); + } + } + } end_for_each(&(JOB->res.boxlist)); + + pc = open_progress(JOB->res.boxlist.n,"remove_dust2"); + for_each_data(&(JOB->res.boxlist)) { + box2 = (struct box *)list_get_current(&(JOB->res.boxlist)); + progress(cnt++,pc); + if (box2->c == PICTURE) continue; + x0 = box2->x0; x1 = box2->x1; + y0 = box2->y0; y1 = box2->y1; /* box */ + /* remove tiny box2 if to far away from bigger boxes */ + /* ToDo: remove clouds of tiny pixels (count near small, compare with num bigger) */ + /* 0.42: remove far away pixel? ToDo: do it at earlier? */ + if (x1-x0+1<3 && y1-y0+1<3){ + int xn, yn, xs, ys; + int found=0; /* nearest bigger box */ + /* search near bigger box */ + for_each_data(&(JOB->res.boxlist)) { + box4 = (struct box *)list_get_current(&(JOB->res.boxlist)); + if (found || box4 == box2) continue; + if (box4->x1-box4->x0+1<3 && box4->y1-box4->y0+1<3) continue; + xs = box4->x1-box4->x0+1; + ys = box4->y1-box4->y0+1; + xn = abs((box4->x0+box4->x1)/2 - box2->x0); + yn = abs((box4->y0+box4->y1)/2 - box2->y0); + if (2*xn < 3*xs && 2*yn < 3*ys) { found=1; } + } end_for_each(&(JOB->res.boxlist)); + if (!found) { /* found nothing, box2 to far from big boxes */ + i2++; + list_del(&(JOB->res.boxlist), box2); + free_box(box2); + } + } + } end_for_each(&(JOB->res.boxlist)); + close_progress(pc); + if (vvv) + fprintf(stderr, " %3d + %3d boxes deleted, nC= %d ?\n", + i1, i2, JOB->res.numC); + + return 0; +} diff --git a/3rdparty/gocr-0.48/src/test.cc b/3rdparty/gocr-0.48/src/test.cc new file mode 100644 index 0000000..4dbf440 --- /dev/null +++ b/3rdparty/gocr-0.48/src/test.cc @@ -0,0 +1,241 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2009 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + + sometimes I have written comments in german language, sorry for that + + This file was retrieved from pgm2asc.cc of Joerg, in order to have + a library of the ocr-engine from Klaas Freitag + + */ +#include "config.h" +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" /* only_numbers */ +#include "progress.h" +#include "version.h" + +static void out_version(int v) { + fprintf(stderr, " Optical Character Recognition --- gocr " + version_string " " release_string "\n" + " Copyright (C) 2001-2009 Joerg Schulenburg GPG=1024D/53BDFBE3\n" + " released under the GNU General Public License\n"); + /* as recommended, (c) and license should be part of the binary */ + /* no email because of SPAM, see README for contacting the author */ + if (v) + fprintf(stderr, " use option -h for help\n"); + if (v & 2) + exit(1); + return; +} + +static void help(void) { + out_version(0); + /* output is shortened to essentials, see manual page for details */ + fprintf(stderr, + " using: gocr [options] pnm_file_name # use - for stdin\n" + " options (see gocr manual pages for more details):\n" + " -h, --help\n" + " -i name - input image file (pnm,pgm,pbm,ppm,pcx,...)\n" + " -o name - output file (redirection of stdout)\n" + " -e name - logging file (redirection of stderr)\n" + " -x name - progress output to fifo (see manual)\n" + " -p name - database path including final slash (default is ./db/)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -f fmt - output format (ISO8859_1 TeX HTML XML UTF8 ASCII)\n" + " -l num - threshold grey level 0<160<=255 (0 = autodetect)\n" + " -d num - dust_size (remove small clusters, -1 = autodetect)\n" + " -s num - spacewidth/dots (0 = autodetect)\n" + " -v num - verbose (see manual page)\n" + " -c string - list of chars (debugging, see manual)\n" + " -C string - char filter (ex. hexdigits: ""0-9A-Fx"", only ASCII)\n" + " -m num - operation modes (bitpattern, see manual)\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " -a num - value of certainty (in percent, 0..100, default=95)\n" + " -u string - output this string for every unrecognized character\n"); + fprintf(stderr, /* string length less than 509 bytes for ISO C89 */ + " examples:\n" + "\tgocr -m 4 text1.pbm # do layout analyzis\n" + "\tgocr -m 130 -p ./database/ text1.pbm # extend database\n" + "\tdjpeg -pnm -gray text.jpg | gocr - # use jpeg-file via pipe\n" + "\n"); + fprintf(stderr, " webpage: http://jocr.sourceforge.net/\n"); + exit(0); +} + +#ifdef HAVE_GETTIMEOFDAY +/* from the glibc documentation */ +static int timeval_subtract (struct timeval *result, struct timeval *x, + struct timeval *y) { + + /* Perform the carry for the later subtraction by updating Y. */ + if (x->tv_usec < y->tv_usec) { + int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1; + y->tv_usec -= 1000000 * nsec; + y->tv_sec += nsec; + } + if (x->tv_usec - y->tv_usec > 1000000) { + int nsec = (x->tv_usec - y->tv_usec) / 1000000; + y->tv_usec += 1000000 * nsec; + y->tv_sec -= nsec; + } + + /* Compute the time remaining to wait. + `tv_usec' is certainly positive. */ + result->tv_sec = x->tv_sec - y->tv_sec; + result->tv_usec = x->tv_usec - y->tv_usec; + + /* Return 1 if result is negative. */ + return x->tv_sec < y->tv_sec; +} +#endif + +static void process_arguments(job_t *job) +{ + +#ifdef HAVE_PGM_H + pnm_init(&argn, &argv); +#endif + +job->cfg.out_format=XML; else +job->cfg.cfilter = "0-9"; + +job->src.fname = "patch00000.pgm"; // TODO +} + +static int read_picture(job_t *job) { + int rc=0; + assert(job); + + if (strstr(job->src.fname, ".pcx")) + readpcx(job->src.fname, &job->src.p, job->cfg.verbose); + else + rc=readpgm(job->src.fname, &job->src.p, job->cfg.verbose); + return rc; /* 1 for multiple images, 0 else */ +} + +/* subject of change, we need more output for XML (ToDo) */ +void print_output(job_t *job) { + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + /* notice: decode() is shiftet to getTextLine since 0.38 */ + fputs(line, stdout); + if (job->cfg.out_format==HTML) fputs("
",stdout); + if (job->cfg.out_format!=XML) fputc('\n', stdout); + line = getTextLine(linecounter++); + } + free_textlines(); +} + +/* FIXME jb: remove JOB; */ +job_t *JOB; + + +/* ------------------------------------------------------------- +// ------ MAIN - replace this by your own aplication! +// ------------------------------------------------------------- */ +int main(int argn, char *argv[]) { + int multipnm=1; + job_t job; + setvbuf(stdout, (char *) NULL, _IONBF, 0); /* not buffered */ + + while (multipnm==1) { + + job_init(&job); + +// process_arguments(&job, argn, argv); + + mark_start(&job); + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + mark_end(&job); + + job_free(&job); + + } + + return 0; +} + + + +void test() { + int multipnm=1; + job_t job; + + while (multipnm==1) { + job_init(&job); + + job->cfg.out_format=XML; + job->cfg.cfilter = "0-9"; + job->src.fname = "patch00000.pgm"; // TODO + + multipnm = read_picture(&job); + /* separation of main and rest for using as lib + this will be changed later => introduction of set_option() + for better communication to the engine */ + if (multipnm<0) break; /* read error */ + + /* call main loop */ + pgm2asc(&job); + + int linecounter = 0; + const char *line; + + assert(job); + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +} diff --git a/3rdparty/gocr-0.48/src/test2.c b/3rdparty/gocr-0.48/src/test2.c new file mode 100644 index 0000000..b5cc58a --- /dev/null +++ b/3rdparty/gocr-0.48/src/test2.c @@ -0,0 +1,87 @@ +// ===================================================================================== +// +// Filename: test.cc +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 12:15:50 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "pnm.h" +#include "pgm2asc.h" +#include "pcx.h" +#include "ocr0.h" +#include "progress.h" +#include "version.h" +#include "config.h" + +char filter[] = "0-9"; +void test() { + int multipnm=1; + job_t job; + + + while (multipnm==1) { + job_init(&job); + + job.cfg.out_format=XML; + job.cfg.cfilter = filter; + job.src.fname = "patch00000.pgm"; // TODO + + multipnm=readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); + + int linecounter = 0; + const char *line; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +} +int main() { + return 0; +} +/* +#include "gocr/pnm.h" +#include "gocr/pgm2asc.h" +#include "gocr/pcx.h" +#include "gocr/ocr0.h" +#include "gocr/progress.h" +#include "gocr/version.h" +#include "gocr/config.h" + +int main() { + job_t job; + + +return 0; +} +*/ diff --git a/3rdparty/gocr-0.48/src/tga.c b/3rdparty/gocr-0.48/src/tga.c new file mode 100644 index 0000000..818c422 --- /dev/null +++ b/3rdparty/gocr-0.48/src/tga.c @@ -0,0 +1,87 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 1999 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address +*/ + +#include +#include +#include + +#include "tga.h" + +typedef unsigned char byte; + +// --- needed for reading TGA-files +#if 0 +char read_b(FILE *f1){ // filter #-comments + char c; + c=fgetc(f1); assert(!feof(f1)); assert(!ferror(f1)); + return c; +} +#endif + +//byte tga[18]={ 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,24,32}; +/* header_hex= 00 00 02 00 00 00 00 00 00 00 00 00 xl xh yl yh + * 18 20 -- -- -- -- -- -- -- -- -- -- -- -- -- -- */ + +void readtga(char *name,pix *p,int mode){ // see pcx.format.txt + // mode: 0=gray,1=RGB + int nx,ny,i,x,y; + FILE *f1; + unsigned char *pic,h[18]; + + f1=fopen(name,"rb"); if(!f1) fprintf(stderr," error opening file\n"); + assert(f1); // open-error + assert(fread(h,1,18,f1)==18); /* 18 Byte lesen -> h[] */ + assert(h[ 0]== 0); // TGA0 + assert(h[ 1]== 0); // TGA1 + assert(h[ 2]== 2); // TGA2 no run length encoding + for(i=3;i<12;i++) + assert(h[ i]== 0); // ??? + assert(h[16]==0x18); // TGA16 + assert(h[17]==0x20); // TGA17 + nx = h[12] + (h[13]<<8); /* x-dimension low high */ + ny = h[14] + (h[15]<<8); /* y-dimension low high */ + fprintf(stderr,"# TGA version=%d x=%d y=%d", h[2],nx,ny ); + fflush(stdout); + pic=(unsigned char *)malloc( 3*nx*ny ); + assert(pic!=NULL); // no memory + assert(ny==(int)fread(pic,3*nx,ny,f1)); // read all lines BGR + if(mode==0) + { + for(y=0;y gray */ + for(x=0;x RGB */ + for(x=0;xp=pic; p->x=nx; p->y=ny; p->bpp=1+2*mode; + fprintf(stderr," mode=%d\n",mode); +} + +// ------------------------------------------------------------------------ + diff --git a/3rdparty/gocr-0.48/src/tga.h b/3rdparty/gocr-0.48/src/tga.h new file mode 100644 index 0000000..1bdd1a6 --- /dev/null +++ b/3rdparty/gocr-0.48/src/tga.h @@ -0,0 +1,6 @@ + +#include "pnm.h" + +void readtga(char *name,pix *p,int mode); // mode: 0=gray 1=RGB + +// ------------------------------------------------------------------------ diff --git a/3rdparty/gocr-0.48/src/unicode.c b/3rdparty/gocr-0.48/src/unicode.c new file mode 100644 index 0000000..d8ed703 --- /dev/null +++ b/3rdparty/gocr-0.48/src/unicode.c @@ -0,0 +1,1314 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ + +#include "unicode.h" +#include + +/* FIXME jb global */ +int warn=0; /* if 1 a message is generated if composition is not defined */ + +/* Arguments: the character (main), and the modifier (accent, etc). See the + function if you want to know the modifiers. + Description: This function intends to be a small helper, to avoid having + to write switches in functions. It's therefore mainly to accents, and + specially for the most usual ones. It supports the basic greek + characters too, which is actually not very helpful. + Returns: the unicode character corresponding to the composed character. + + ToDo: + - It seems to me, that tables should be more effectiv. + So we should use tables in future? (js) + */ +wchar_t compose(wchar_t main, wchar_t modifier) { +/* supported by now: part of ISO8859-1, basic greek characters */ + if( main == UNKNOWN || main == PICTURE ) return main; +#ifdef DEBUG + if(modifier!=UNICODE_NULL && modifier!=SPACE) + printf(" compose(%c,%d)",(char)main,(int)modifier); +#endif + if(main>127 && modifier!=0 && modifier!=SPACE && warn) + fprintf(stderr,"# Warning compose %04x + %04x>127\n", + (int)modifier,(int)main); + switch (modifier) { + case UNICODE_NULL: + case SPACE: + return (wchar_t)main; + + case APOSTROPHE: /* do NOT USE this. It's here for compatibility only. + Use ACUTE_ACCENT instead. */ + fprintf( stderr, "COMPOSE: got APOSTROPHE instead of ACUTE_ACCENT"); + + case ACUTE_ACCENT: /* acute/cedilla */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_ACUTE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_ACUTE; + case LATIN_SMALL_LETTER_AE: return LATIN_SMALL_LETTER_AE_WITH_ACUTE; + case LATIN_CAPITAL_LETTER_AE: return LATIN_CAPITAL_LETTER_AE_WITH_ACUTE; + case 'c': return LATIN_SMALL_LETTER_C_WITH_ACUTE; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_ACUTE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_ACUTE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_ACUTE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_ACUTE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_ACUTE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_ACUTE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_ACUTE; + case 'l': return LATIN_SMALL_LETTER_L_WITH_ACUTE; + case 'L': return LATIN_CAPITAL_LETTER_L_WITH_ACUTE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_ACUTE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_ACUTE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_ACUTE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_ACUTE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_ACUTE; + case 'r': return LATIN_SMALL_LETTER_R_WITH_ACUTE; + case 'R': return LATIN_CAPITAL_LETTER_R_WITH_ACUTE; + case 's': return LATIN_SMALL_LETTER_S_WITH_ACUTE; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_ACUTE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_ACUTE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_ACUTE; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_ACUTE; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_ACUTE; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_ACUTE; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_ACUTE; + default: + if(warn)fprintf( stderr, " COMPOSE: ACUTE_ACCENT+%04x not defined\n",(int)main); + } + break; + + case BREVE: /* caron (latin2) "u"-above-... (small bow) */ + switch (main) { + /* FIXME write separate heuristics for breve */ + case 'a': return LATIN_SMALL_LETTER_A_WITH_BREVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_BREVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_BREVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_BREVE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_BREVE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_BREVE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_BREVE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_BREVE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_BREVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_BREVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_BREVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_BREVE; + default: + if(warn)fprintf( stderr, " COMPOSE: BREVE+%04x not defined\n",(int)main); + } + break; + + case CARON: /* caron (latin2) "v"-above-... */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_CARON; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_CARON; + case 'c': return LATIN_SMALL_LETTER_C_WITH_CARON; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CARON; + case 'e': return LATIN_SMALL_LETTER_E_WITH_CARON; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_CARON; + case 'i': return LATIN_SMALL_LETTER_I_WITH_CARON; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_CARON; + case 'o': return LATIN_SMALL_LETTER_O_WITH_CARON; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_CARON; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_CARON; + case 's': return LATIN_SMALL_LETTER_S_WITH_CARON; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_CARON; + case 'u': return LATIN_SMALL_LETTER_U_WITH_CARON; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_CARON; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_CARON; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_CARON; + default: + if(warn)fprintf( stderr, " COMPOSE: CARON+%04x not defined\n",(int)main); + } + break; + + case CEDILLA: + switch (main) { + case 'c': return LATIN_SMALL_LETTER_C_WITH_CEDILLA; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CEDILLA; + default: + if(warn)fprintf( stderr, " COMPOSE: CEDILLA+%04x not defined\n",(int)main); + } + break; + + case TILDE: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_TILDE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_TILDE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_TILDE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_TILDE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_TILDE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_TILDE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_TILDE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_TILDE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_TILDE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_TILDE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_TILDE; + default: + if(warn)fprintf( stderr, " COMPOSE: TILDE+%04x not defined\n",(int)main); + } + break; + + case GRAVE_ACCENT: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_GRAVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_GRAVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_GRAVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_GRAVE; + case 'i': return LATIN_SMALL_LETTER_I_WITH_GRAVE; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_GRAVE; + case 'n': return LATIN_SMALL_LETTER_N_WITH_GRAVE; + case 'N': return LATIN_CAPITAL_LETTER_N_WITH_GRAVE; + case 'o': return LATIN_SMALL_LETTER_O_WITH_GRAVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_GRAVE; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_GRAVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_GRAVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_GRAVE; + default: + if(warn)fprintf( stderr, " COMPOSE: GRAVE_ACCENT+%04x not defined\n",(int)main); + } + break; + + case QUOTATION_MARK: /* do NOT USE this. It's here for compatibility only. + Use DIAERESIS instead. */ + fprintf( stderr, "COMPOSE: got APOSTROPHE instead of ACUTE_ACCENT"); + + case DIAERESIS: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_DIAERESIS; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS; + case 'e': return LATIN_SMALL_LETTER_E_WITH_DIAERESIS; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS; + case 'i': return LATIN_SMALL_LETTER_I_WITH_DIAERESIS; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS; + case 'o': return LATIN_SMALL_LETTER_O_WITH_DIAERESIS; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS; + case 'u': return LATIN_SMALL_LETTER_U_WITH_DIAERESIS; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_DIAERESIS; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_DIAERESIS; + default: + if(warn)fprintf( stderr, " COMPOSE: DIAERESIS+%04x (%c) not defined\n",(int)main,(char)main); + } + break; + + case CIRCUMFLEX_ACCENT: /* ^ */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX; + case 'c': return LATIN_SMALL_LETTER_C_WITH_CIRCUMFLEX; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_CIRCUMFLEX; + case 'e': return LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX; + case 'g': return LATIN_SMALL_LETTER_G_WITH_CIRCUMFLEX; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_CIRCUMFLEX; + case 'h': return LATIN_SMALL_LETTER_H_WITH_CIRCUMFLEX; + case 'H': return LATIN_CAPITAL_LETTER_H_WITH_CIRCUMFLEX; + case 'i': return LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX; + case 'j': return LATIN_SMALL_LETTER_J_WITH_CIRCUMFLEX; + case 'J': return LATIN_CAPITAL_LETTER_J_WITH_CIRCUMFLEX; + case 'o': return LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX; + case '0': return LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX; + case 's': return LATIN_SMALL_LETTER_S_WITH_CIRCUMFLEX; + case 'S': return LATIN_CAPITAL_LETTER_S_WITH_CIRCUMFLEX; + case 'u': return LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX; + case 'w': return LATIN_SMALL_LETTER_W_WITH_CIRCUMFLEX; + case 'W': return LATIN_CAPITAL_LETTER_W_WITH_CIRCUMFLEX; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_CIRCUMFLEX; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_CIRCUMFLEX; + default: + if(warn)fprintf( stderr, " COMPOSE: CIRCUMFLEX_ACCENT+%04x not defined\n",(int)main); + } + break; + + case MACRON: /* a minus sign above the char (latin2) */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_MACRON; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_MACRON; + case 'e': return LATIN_SMALL_LETTER_E_WITH_MACRON; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_MACRON; + case 'i': return LATIN_SMALL_LETTER_I_WITH_MACRON; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_MACRON; + case 'o': return LATIN_SMALL_LETTER_O_WITH_MACRON; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_MACRON; + case 'u': return LATIN_SMALL_LETTER_U_WITH_MACRON; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_MACRON; + case 'y': return LATIN_SMALL_LETTER_Y_WITH_MACRON; + case 'Y': return LATIN_CAPITAL_LETTER_Y_WITH_MACRON; + case LATIN_SMALL_LETTER_AE: return LATIN_SMALL_LETTER_AE_WITH_MACRON; + case LATIN_CAPITAL_LETTER_AE: return LATIN_CAPITAL_LETTER_AE_WITH_MACRON; + case '=': return IDENTICAL_TO; + case '-': return '='; + case ' ': return MODIFIER_LETTER_MACRON; + default: + if(warn)fprintf( stderr, " COMPOSE: MACRON+%04x not defined\n",(int)main); + } + break; + + case DOT_ABOVE: /* latin2 */ + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE; + case 'c': return LATIN_SMALL_LETTER_C_WITH_DOT_ABOVE; + case 'C': return LATIN_CAPITAL_LETTER_C_WITH_DOT_ABOVE; + case 'e': return LATIN_SMALL_LETTER_E_WITH_DOT_ABOVE; + case 'E': return LATIN_CAPITAL_LETTER_E_WITH_DOT_ABOVE; + case 'g': return LATIN_SMALL_LETTER_G_WITH_DOT_ABOVE; + case 'G': return LATIN_CAPITAL_LETTER_G_WITH_DOT_ABOVE; + case 'l': return 'i'; /* correct wrong recognition */ + case 'i': return 'i'; + case LATIN_SMALL_LETTER_DOTLESS_I: return 'i'; + case 'I': return LATIN_CAPITAL_LETTER_I_WITH_DOT_ABOVE; + case 'j': return 'j'; + case 'o': return LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE; + case 'O': return LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE; + case 'z': return LATIN_SMALL_LETTER_Z_WITH_DOT_ABOVE; + case 'Z': return LATIN_CAPITAL_LETTER_Z_WITH_DOT_ABOVE; + case ',': return ';'; + case '.': return ':'; + default: + if(warn)fprintf( stderr, " COMPOSE: DOT_ABOVE+%04x not defined\n",(int)main); + } + break; + + case RING_ABOVE: + switch (main) { + case 'a': return LATIN_SMALL_LETTER_A_WITH_RING_ABOVE; + case 'A': return LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE; + case 'u': return LATIN_SMALL_LETTER_U_WITH_RING_ABOVE; + case 'U': return LATIN_CAPITAL_LETTER_U_WITH_RING_ABOVE; + default: + if(warn)fprintf( stderr, " COMPOSE: RING_ABOVE+%04x not defined\n",(int)main); + } + break; + + case 'e': /* e ligatures: ae, oe. */ + case 'E': + switch (main) { + case 'a': return LATIN_SMALL_LETTER_AE; + case 'A': return LATIN_CAPITAL_LETTER_AE; + case 'o': return LATIN_SMALL_LIGATURE_OE; + case 'O': return LATIN_CAPITAL_LIGATURE_OE; + case '0': return LATIN_CAPITAL_LIGATURE_OE; + default: + if(warn)fprintf( stderr, " COMPOSE: %04x+e/E not defined\n",(int)main); + } + break; + + case 'g': /* greek */ + switch (main) { + /* missing 0x37A-0x390 */ + /* weird cases: Q -> theta (it resembles a little, doesn't it?) + V -> psi (what can I do?) */ + case 'A': return GREEK_CAPITAL_LETTER_ALPHA; + case 'B': return GREEK_CAPITAL_LETTER_BETA; + case 'G': return GREEK_CAPITAL_LETTER_GAMMA; + case 'D': return GREEK_CAPITAL_LETTER_DELTA; + case 'E': return GREEK_CAPITAL_LETTER_EPSILON; + case 'Z': return GREEK_CAPITAL_LETTER_ZETA; + case 'H': return GREEK_CAPITAL_LETTER_ETA; + case 'Q': return GREEK_CAPITAL_LETTER_THETA; + case 'I': return GREEK_CAPITAL_LETTER_IOTA; + case 'K': return GREEK_CAPITAL_LETTER_KAPPA; + case 'L': return GREEK_CAPITAL_LETTER_LAMDA; + case 'M': return GREEK_CAPITAL_LETTER_MU; + case 'N': return GREEK_CAPITAL_LETTER_NU; + case 'X': return GREEK_CAPITAL_LETTER_XI; + case 'O': return GREEK_CAPITAL_LETTER_OMICRON; + case 'P': return GREEK_CAPITAL_LETTER_PI; + case 'R': return GREEK_CAPITAL_LETTER_RHO; + case 'S': return GREEK_CAPITAL_LETTER_SIGMA; + case 'T': return GREEK_CAPITAL_LETTER_TAU; + case 'Y': return GREEK_CAPITAL_LETTER_UPSILON; + case 'F': return GREEK_CAPITAL_LETTER_PHI; + case 'C': return GREEK_CAPITAL_LETTER_CHI; + case 'V': return GREEK_CAPITAL_LETTER_PSI; + case 'W': return GREEK_CAPITAL_LETTER_OMEGA; +/* + case '': return GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA; + case '': return GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_ALPHA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_EPSILON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_ETA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_IOTA_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS; +*/ + case 'a': return GREEK_SMALL_LETTER_ALPHA; + case 'b': return GREEK_SMALL_LETTER_BETA; + case 'g': return GREEK_SMALL_LETTER_GAMMA; + case 'd': return GREEK_SMALL_LETTER_DELTA; + case 'e': return GREEK_SMALL_LETTER_EPSILON; + case 'z': return GREEK_SMALL_LETTER_ZETA; + case 'h': return GREEK_SMALL_LETTER_ETA; + case 'q': return GREEK_SMALL_LETTER_THETA; + case 'i': return GREEK_SMALL_LETTER_IOTA; + case 'k': return GREEK_SMALL_LETTER_KAPPA; + case 'l': return GREEK_SMALL_LETTER_LAMDA; + case 'm': return GREEK_SMALL_LETTER_MU; + case 'n': return GREEK_SMALL_LETTER_NU; + case 'x': return GREEK_SMALL_LETTER_XI; + case 'o': return GREEK_SMALL_LETTER_OMICRON; + case 'p': return GREEK_SMALL_LETTER_PI; + case 'r': return GREEK_SMALL_LETTER_RHO; + case '&': return GREEK_SMALL_LETTER_FINAL_SIGMA; + case 's': return GREEK_SMALL_LETTER_SIGMA; + case 't': return GREEK_SMALL_LETTER_TAU; + case 'y': return GREEK_SMALL_LETTER_UPSILON; + case 'f': return GREEK_SMALL_LETTER_PHI; + case 'c': return GREEK_SMALL_LETTER_CHI; + case 'v': return GREEK_SMALL_LETTER_PSI; + case 'w': return GREEK_SMALL_LETTER_OMEGA; +/* + case '': return GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA; + case '': return GREEK_SMALL_LETTER_OMICRON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_UPSILON_WITH_TONOS; + case '': return GREEK_SMALL_LETTER_OMEGA_WITH_TONOS; + case '': return GREEK_BETA_SYMBOL; + case '': return GREEK_THETA_SYMBOL; + case '': return GREEK_UPSILON_WITH_HOOK_SYMBOL; + case '': return GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL; + case '': return GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL; + case '': return GREEK_PHI_SYMBOL; + case '': return GREEK_PI_SYMBOL; +*/ + default: + if(warn)fprintf( stderr, " COMPOSE: GREEK %04x not defined\n",(int)main); + } + break; + + default: + fprintf( stderr, " COMPOSE: modifier %04x not defined\n",(int)modifier); + } + return (wchar_t)main; +} + +#define UNDEFINED "~" + +/* Arguments: character in Unicode format, type of format to convert to. + Returns: a string containing the Unicode character converted to the chosen + format. This string is statically allocated and should not be freed. + ToDo: better using tables? + */ +const char *decode(wchar_t c, FORMAT type) { + /* static char d; --- js: big bug (missing \0) if &d returned */ + /*FIXME jb static*/ static char bbuf[8*32]; /* space for 8 buffers, rotating */ + /*FIXME jb static*/ static char *buf=bbuf; /* used for UTF8 sequences and undefined codes */ + buf+=32; if(buf>=bbuf+8*32) buf=bbuf; + buf[0]=buf[1]=buf[2]=0; + switch (type) { + case ISO8859_1: + if ( c <= 0xFF ) { /* UNICODE == ISO8859-1 */ + buf[0] = (char)c; + return buf; + } + switch (c) { /* not found in list, but perhaps we can describe it */ + /* todo: add greek. GREEK_SMALL_LETTER_ALPHA = alpha */ + + /* general puctuation */ + case HYPHEN: + return (const char *)"-"; + case FIGURE_DASH: + case EN_DASH: + return (const char *)"--"; + case EM_DASH: + return (const char *)"---"; + case LEFT_SINGLE_QUOTATION_MARK: + return (const char *)"`"; + case RIGHT_SINGLE_QUOTATION_MARK: + return (const char *)"'"; + case SINGLE_LOW_9_QUOTATION_MARK: + return (const char *)","; + case SINGLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case LEFT_DOUBLE_QUOTATION_MARK: + return (const char *)"``"; + case RIGHT_DOUBLE_QUOTATION_MARK: + return (const char *)"''"; + case DOUBLE_LOW_9_QUOTATION_MARK: + return (const char *)",,"; + case DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case DAGGER: + return (const char *)"+"; + case DOUBLE_DAGGER: + return (const char *)"*"; + case BULLET: + return (const char *)"*"; + case TRIANGULAR_BULLET: + return (const char *)"*"; + case HYPHENATION_POINT: + return (const char *)"-"; + case HORIZONTAL_ELLIPSIS: + return (const char *)"..."; + case PER_MILLE_SIGN: + return (const char *)"%%"; /* awk! */ + case SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"<"; + case SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)">"; + case EURO_CURRENCY_SIGN: + return (const char *)"EUR"; /* change it! */ + + /* ligatures */ + case LATIN_SMALL_LIGATURE_FF: + return (const char *)"ff"; + case LATIN_SMALL_LIGATURE_FI: + return (const char *)"fi"; + case LATIN_SMALL_LIGATURE_FL: + return (const char *)"fl"; + case LATIN_SMALL_LIGATURE_FFI: + return (const char *)"ffi"; + case LATIN_SMALL_LIGATURE_FFL: + return (const char *)"ffl"; + case LATIN_SMALL_LIGATURE_LONG_S_T: + case LATIN_SMALL_LIGATURE_ST: + return (const char *)"st"; + + /* extra */ + case UNKNOWN: + return (const char *)"_"; + case PICTURE: + return (const char *)"_"; /* Due to Mobile OCR */ + + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + sprintf(buf,"\\code(%04x)",(unsigned)c); + return buf; /* UNDEFINED; */ + } + break; + case TeX: + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '$': + return (const char *)"\\$"; + case '&': + return (const char *)"\\&"; + case '%': + return (const char *)"\\%"; + case '#': + return (const char *)"\\#"; + case '_': + return (const char *)"\\_"; + case '{': + return (const char *)"\\{"; + case '}': + return (const char *)"\\}"; + case '\\': + return (const char *)"$\\backslash$"; + case '~': + return (const char *)"\\~{}"; + case '^': + return (const char *)"\\^{}"; + default: + buf[0] = (char)c; + return (const char *)buf; + } + } + switch (c) { + /* ISO8859_1 */ + case NO_BREAK_SPACE: + return (const char *)"~"; + case INVERTED_EXCLAMATION_MARK: + return (const char *)"!'"; + case CENT_SIGN: + return (const char *)"\\textcent"; /* \usepackage{textcomp} */ + case POUND_SIGN: + return (const char *)"\\pounds"; + case EURO_CURRENCY_SIGN: + return (const char *)"\\euro"; /* \usepackage{eurosans} */ + case CURRENCY_SIGN: + return (const char *)"\\textcurrency"; /* \usepackage{textcomp} */ + case YEN_SIGN: + return (const char *)"\\textyen"; /* \usepackage{textcomp} */ + case BROKEN_BAR: + return (const char *)"\\textbrokenbar"; /* \usepackage{textcomp} */ + case SECTION_SIGN: + return (const char *)"\\S"; + case DIAERESIS: + return (const char *)"\""; + case COPYRIGHT_SIGN: + return (const char *)"\\copyright"; + case FEMININE_ORDINAL_INDICATOR: + return (const char *)"$^{\\underbar{a}}$"; + case LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"\\flqq{}"; + case NOT_SIGN: + return (const char *)"$\\lnot$"; + case SOFT_HYPHEN: + return (const char *)"\\-"; + case REGISTERED_SIGN: + return (const char *)"\\textregistered";/* \usepackage{textcomp} */ + case MACRON: + return (const char *)"\\textasciimacron";/* \usepackage{textcomp} */ + case DEGREE_SIGN: + return (const char *)"$^{o}$"; + case PLUS_MINUS_SIGN: + return (const char *)"$\\pm$"; + case SUPERSCRIPT_TWO: + return (const char *)"$^{2}$"; + case SUPERSCRIPT_THREE: + return (const char *)"$^{3}$"; + case ACUTE_ACCENT: + return (const char *)"\\( \\prime \\)"; + case MICRO_SIGN: + return (const char *)"$\\mu$"; + case PILCROW_SIGN: + return (const char *)"\\P"; + case MIDDLE_DOT: + return (const char *)"$\\cdot$"; + case CEDILLA: + return (const char *)"\\,"; + case SUPERSCRIPT_ONE: + return (const char *)"$^{1}$"; + case MASCULINE_ORDINAL_INDICATOR: + return (const char *)"$^{\\underbar{o}}$"; + case RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"\\frqq{}"; + case VULGAR_FRACTION_ONE_QUARTER: /* these fractions are not good*/ + return (const char *)"\\( 1\\over 4 \\)"; + case VULGAR_FRACTION_ONE_HALF: + return (const char *)"\\( 1\\over 2 \\)"; + case VULGAR_FRACTION_THREE_QUARTERS: + return (const char *)"\\( 3\\over 4 \\)"; + case INVERTED_QUESTION_MARK: + return (const char *)"?'"; + case LATIN_CAPITAL_LETTER_A_WITH_GRAVE: + return (const char *)"\\`A"; + case LATIN_CAPITAL_LETTER_A_WITH_ACUTE: + return (const char *)"\\'A"; + case LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"\\^A"; + case LATIN_CAPITAL_LETTER_A_WITH_TILDE: + return (const char *)"\\~A"; + case LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS: + return (const char *)"\\\"A"; + case LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"\\AA"; + case LATIN_CAPITAL_LETTER_AE: + return (const char *)"\\AE"; + case LATIN_CAPITAL_LETTER_C_WITH_CARON: + return (const char *)"\\v{C}"; + case LATIN_CAPITAL_LETTER_C_WITH_CEDILLA: + return (const char *)"\\C"; + case LATIN_CAPITAL_LETTER_E_WITH_GRAVE: + return (const char *)"\\`E"; + case LATIN_CAPITAL_LETTER_E_WITH_ACUTE: + return (const char *)"\\'E"; + case LATIN_CAPITAL_LETTER_E_WITH_CARON: + return (const char *)"\\v{E}"; + case LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"\\^E"; + case LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS: + return (const char *)"\\\"E"; + case LATIN_CAPITAL_LETTER_I_WITH_GRAVE: + return (const char *)"\\`I"; + case LATIN_CAPITAL_LETTER_I_WITH_ACUTE: + return (const char *)"\\'I"; + case LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"\\^I"; + case LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS: + return (const char *)"\\\"I"; + case LATIN_CAPITAL_LETTER_ETH: + return (const char *)UNDEFINED; + case LATIN_CAPITAL_LETTER_N_WITH_TILDE: + return (const char *)"\\~N"; + case LATIN_CAPITAL_LETTER_O_WITH_GRAVE: + return (const char *)"\\`O"; + case LATIN_CAPITAL_LETTER_O_WITH_ACUTE: + return (const char *)"\\'O"; + case LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"\\^O"; + case LATIN_CAPITAL_LETTER_O_WITH_TILDE: + return (const char *)"\\~O"; + case LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS: + return (const char *)"\\\"O"; + case MULTIPLICATION_SIGN: + return (const char *)"$\\times$"; + case LATIN_CAPITAL_LETTER_O_WITH_STROKE: + return (const char *)"\\O"; + case LATIN_CAPITAL_LETTER_S_WITH_CARON: + return (const char *)"\\v{S}"; + case LATIN_CAPITAL_LETTER_U_WITH_GRAVE: + return (const char *)"\\`U"; + case LATIN_CAPITAL_LETTER_U_WITH_ACUTE: + return (const char *)"\\'U"; + case LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"\\^U"; + case LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS: + return (const char *)"\\\"U"; + case LATIN_CAPITAL_LETTER_Y_WITH_ACUTE: + return (const char *)"\\'Y"; + case LATIN_CAPITAL_LETTER_Z_WITH_CARON: + return (const char *)"\\v{Z}"; + case LATIN_CAPITAL_LETTER_THORN: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_SHARP_S: + return (const char *)"\\ss"; + case LATIN_SMALL_LETTER_A_WITH_GRAVE: + return (const char *)"\\`a"; + case LATIN_SMALL_LETTER_A_WITH_ACUTE: + return (const char *)"\\'a"; + case LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"\\^a"; + case LATIN_SMALL_LETTER_A_WITH_TILDE: + return (const char *)"\\~a"; + case LATIN_SMALL_LETTER_A_WITH_DIAERESIS: + return (const char *)"\\\"a"; + case LATIN_SMALL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"\\aa"; + case LATIN_SMALL_LETTER_AE: + return (const char *)"\\ae"; + case LATIN_SMALL_LETTER_C_WITH_CARON: + return (const char *)"\\v{c}"; + case LATIN_SMALL_LETTER_C_WITH_CEDILLA: + return (const char *)"\\c"; + case LATIN_SMALL_LETTER_E_WITH_GRAVE: + return (const char *)"\\`e"; + case LATIN_SMALL_LETTER_E_WITH_ACUTE: + return (const char *)"\\'e"; + case LATIN_SMALL_LETTER_E_WITH_CARON: + return (const char *)"\\v{e}"; + case LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"\\^e"; + case LATIN_SMALL_LETTER_E_WITH_DIAERESIS: + return (const char *)"\\\"e"; + case LATIN_SMALL_LETTER_I_WITH_GRAVE: + return (const char *)"\\`i"; + case LATIN_SMALL_LETTER_I_WITH_ACUTE: + return (const char *)"\\'i"; + case LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"\\^i"; + case LATIN_SMALL_LETTER_I_WITH_DIAERESIS: + return (const char *)"\\\"i"; + case LATIN_SMALL_LETTER_ETH: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_N_WITH_TILDE: + return (const char *)"\\~n"; + case LATIN_SMALL_LETTER_O_WITH_GRAVE: + return (const char *)"\\`o"; + case LATIN_SMALL_LETTER_O_WITH_ACUTE: + return (const char *)"\\'o"; + case LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"\\^o"; + case LATIN_SMALL_LETTER_O_WITH_TILDE: + return (const char *)"\\~o"; + case LATIN_SMALL_LETTER_O_WITH_DIAERESIS: + return (const char *)"\\\"o"; + case DIVISION_SIGN: + return (const char *)"$\\div$"; + case LATIN_SMALL_LETTER_O_WITH_STROKE: + return (const char *)"\\o"; + case LATIN_SMALL_LETTER_S_WITH_CARON: + return (const char *)"\\v{s}"; + case LATIN_SMALL_LETTER_U_WITH_GRAVE: + return (const char *)"\\`u"; + case LATIN_SMALL_LETTER_U_WITH_ACUTE: + return (const char *)"\\'u"; + case LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"\\^u"; + case LATIN_SMALL_LETTER_U_WITH_DIAERESIS: + return (const char *)"\\\"u"; + case LATIN_SMALL_LETTER_Y_WITH_ACUTE: + return (const char *)"\\'y"; + case LATIN_SMALL_LETTER_THORN: + return (const char *)UNDEFINED; + case LATIN_SMALL_LETTER_Y_WITH_DIAERESIS: + return (const char *)"\\\"y"; + case LATIN_SMALL_LETTER_Z_WITH_CARON: + return (const char *)"\\v{z}"; + + /* greek */ + /* some (punctuation, accents, accented capital) greek letters missing*/ + case GREEK_CAPITAL_LETTER_ALPHA: + return (const char *)"A"; + case GREEK_CAPITAL_LETTER_BETA: + return (const char *)"B"; + case GREEK_CAPITAL_LETTER_GAMMA: + return (const char *)"\\( \\Gamma \\)"; + case GREEK_CAPITAL_LETTER_DELTA: + return (const char *)"\\( \\Delta \\)"; + case GREEK_CAPITAL_LETTER_EPSILON: + return (const char *)"E"; + case GREEK_CAPITAL_LETTER_ZETA: + return (const char *)"Z"; + case GREEK_CAPITAL_LETTER_ETA: + return (const char *)"H"; + case GREEK_CAPITAL_LETTER_THETA: + return (const char *)"\\( \\Theta \\)"; + case GREEK_CAPITAL_LETTER_IOTA: + return (const char *)"I"; + case GREEK_CAPITAL_LETTER_KAPPA: + return (const char *)"K"; + case GREEK_CAPITAL_LETTER_LAMDA: + return (const char *)"\\( \\Lambda \\)"; + case GREEK_CAPITAL_LETTER_MU: + return (const char *)"M"; + case GREEK_CAPITAL_LETTER_NU: + return (const char *)"N"; + case GREEK_CAPITAL_LETTER_XI: + return (const char *)"\\( \\Xi \\)"; + case GREEK_CAPITAL_LETTER_OMICRON: + return (const char *)"O"; + case GREEK_CAPITAL_LETTER_PI: + return (const char *)"\\( \\Pi \\)"; + case GREEK_CAPITAL_LETTER_RHO: + return (const char *)"P"; + case GREEK_CAPITAL_LETTER_SIGMA: + return (const char *)"\\( \\Sigma \\)"; + case GREEK_CAPITAL_LETTER_TAU: + return (const char *)"T"; + case GREEK_CAPITAL_LETTER_UPSILON: + return (const char *)"\\( \\Upsilon \\)"; + case GREEK_CAPITAL_LETTER_PHI: + return (const char *)"\\( \\Phi \\)"; + case GREEK_CAPITAL_LETTER_CHI: + return (const char *)"\\( \\Chi \\)"; + case GREEK_CAPITAL_LETTER_PSI: + return (const char *)"\\( \\Psi \\)"; + case GREEK_CAPITAL_LETTER_OMEGA: + return (const char *)"\\( \\Omega \\)"; + case GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ALPHA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_EPSILON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ETA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_IOTA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_ALPHA: + return (const char *)"\\( \\alpha \\)"; + case GREEK_SMALL_LETTER_BETA: + return (const char *)"\\( \\beta \\)"; + case GREEK_SMALL_LETTER_GAMMA: + return (const char *)"\\( \\gamma \\)"; + case GREEK_SMALL_LETTER_DELTA: + return (const char *)"\\( \\delta \\)"; + case GREEK_SMALL_LETTER_EPSILON: + return (const char *)"\\( \\epsilon \\)"; + case GREEK_SMALL_LETTER_ZETA: + return (const char *)"\\( \\zeta \\)"; + case GREEK_SMALL_LETTER_ETA: + return (const char *)"\\( \\eta \\)"; + case GREEK_SMALL_LETTER_THETA: + return (const char *)"\\( \\theta \\)"; + case GREEK_SMALL_LETTER_IOTA: + return (const char *)"\\( \\iota \\)"; + case GREEK_SMALL_LETTER_KAPPA: + return (const char *)"\\( \\kappa \\)"; + case GREEK_SMALL_LETTER_LAMDA: + return (const char *)"\\( \\lambda \\)"; + case GREEK_SMALL_LETTER_MU: + return (const char *)"\\( \\mu \\)"; + case GREEK_SMALL_LETTER_NU: + return (const char *)"\\( \\nu \\)"; + case GREEK_SMALL_LETTER_XI: + return (const char *)"\\( \\xi \\)"; + case GREEK_SMALL_LETTER_OMICRON: + return (const char *)"\\( \\omicron \\)"; + case GREEK_SMALL_LETTER_PI: + return (const char *)"\\( \\pi \\)"; + case GREEK_SMALL_LETTER_RHO: + return (const char *)"\\( \\rho \\)"; + case GREEK_SMALL_LETTER_FINAL_SIGMA: + return (const char *)"\\( \\varsigma \\)"; + case GREEK_SMALL_LETTER_SIGMA: + return (const char *)"\\( \\sigma \\)"; + case GREEK_SMALL_LETTER_TAU: + return (const char *)"\\( \\tau \\)"; + case GREEK_SMALL_LETTER_UPSILON: + return (const char *)"\\( \\upsilon \\)"; + case GREEK_SMALL_LETTER_PHI: + return (const char *)"\\( \\varphi \\)"; + case GREEK_SMALL_LETTER_CHI: + return (const char *)"\\( \\chi \\)"; + case GREEK_SMALL_LETTER_PSI: + return (const char *)"\\( \\psi \\)"; + case GREEK_SMALL_LETTER_OMEGA: + return (const char *)"\\( \\omega \\)"; + case GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_OMICRON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_UPSILON_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_SMALL_LETTER_OMEGA_WITH_TONOS: + return (const char *)UNDEFINED; + case GREEK_BETA_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_THETA_SYMBOL: + return (const char *)"\\( \\vartheta \\)"; + case GREEK_UPSILON_WITH_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL: + return (const char *)UNDEFINED; + case GREEK_PHI_SYMBOL: + return (const char *)"\\( \\phi \\)"; + case GREEK_PI_SYMBOL: + return (const char *)"\\( \\varpi \\)"; + /* and some greek letters missing*/ + + /* punctuation (partial) */ + case HYPHEN: + return (const char *)"-"; + case NON_BREAKING_HYPHEN: + return (const char *)UNDEFINED; + case FIGURE_DASH: + case EN_DASH: + return (const char *)"--"; + case EM_DASH: + return (const char *)"---"; + case HORIZONTAL_BAR: + return (const char *)UNDEFINED; + case LEFT_SINGLE_QUOTATION_MARK: + return (const char *)"`"; + case RIGHT_SINGLE_QUOTATION_MARK: + return (const char *)"'"; + case SINGLE_LOW_9_QUOTATION_MARK: + return (const char *)"\\glq{}"; + case SINGLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case LEFT_DOUBLE_QUOTATION_MARK: + return (const char *)"``"; + case RIGHT_DOUBLE_QUOTATION_MARK: + return (const char *)"''"; + case DOUBLE_LOW_9_QUOTATION_MARK: + return (const char *)"\\glqq{}"; + case DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK: + return (const char *)UNDEFINED; + case DAGGER: + return (const char *)"\\dag"; + case DOUBLE_DAGGER: + return (const char *)"\\ddag"; + case BULLET: + return (const char *)"$\\bullet$"; + case TRIANGULAR_BULLET: + return (const char *)"$\\blacktriangleright"; + case HYPHENATION_POINT: + return (const char *)"\\-"; + case HORIZONTAL_ELLIPSIS: + return (const char *)"\\ldots"; + case PER_MILLE_SIGN: + return (const char *)UNDEFINED; + case SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"\\flq{}"; + case SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK: + return (const char *)"\\frq{}"; + /* ligatures */ + case LATIN_SMALL_LIGATURE_FF: + return (const char *)"ff"; + case LATIN_SMALL_LIGATURE_FI: + return (const char *)"fi"; + case LATIN_SMALL_LIGATURE_FL: + return (const char *)"fl"; + case LATIN_SMALL_LIGATURE_FFI: + return (const char *)"ffi"; + case LATIN_SMALL_LIGATURE_FFL: + return (const char *)"ffl"; + case LATIN_SMALL_LIGATURE_LONG_S_T: + case LATIN_SMALL_LIGATURE_ST: + return (const char *)"st"; + /* reserved */ + case 0: + return (const char *)""; + case UNKNOWN: + return (const char *)"\\_"; + case PICTURE: + return (const char *)"(PICTURE)"; + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + sprintf(buf,"\\symbol{%u}",(unsigned)c); + return buf; /* UNDEFINED; */ + } + case HTML: + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '&': + return (const char *)"&"; + /* semicolon must not be coded */ + case '\'': + return (const char *)"'"; + case '"': + return (const char *)"""; + case '<': + return (const char *)"<"; + case '>': + return (const char *)">"; + } + buf[0] = (char)c; + return buf; + } + switch (c) { + case PICTURE: + return (const char *)""; + case UNKNOWN: + return (const char *)"_"; /* better use colored symbol? */ + case LINE_FEED: + return (const char *)"
"; /* \n handled somwhere else? */ + case FORM_FEED: + case CARRIAGE_RETURN: + return (const char *)"
"; + case NO_BREAK_SPACE: + return (const char *)""; + case INVERTED_EXCLAMATION_MARK: + return (const char *)"¡"; + case CENT_SIGN: + return (const char *)"¢"; + case POUND_SIGN: + return (const char *)"£"; + case CURRENCY_SIGN: + return (const char *)"¤"; + case YEN_SIGN: + return (const char *)"¥"; + case BROKEN_BAR: + return (const char *)"¦"; + case SECTION_SIGN: + return (const char *)"§"; + case DIAERESIS: + return (const char *)"¨"; + case COPYRIGHT_SIGN: + return (const char *)"©"; + case FEMININE_ORDINAL_INDICATOR: + return (const char *)"ªem;"; + case LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"«"; + case NOT_SIGN: + return (const char *)"¬"; + case SOFT_HYPHEN: + return (const char *)"­"; + case REGISTERED_SIGN: + return (const char *)"®"; + case MACRON: + return (const char *)"¯"; + case DEGREE_SIGN: + return (const char *)"°"; + case PLUS_MINUS_SIGN: + return (const char *)"±"; + case SUPERSCRIPT_TWO: + return (const char *)"²"; + case SUPERSCRIPT_THREE: + return (const char *)"³"; + case ACUTE_ACCENT: + return (const char *)"´"; + case MICRO_SIGN: + return (const char *)"µ"; + case PILCROW_SIGN: + return (const char *)"¶"; + case MIDDLE_DOT: + return (const char *)"·"; + case CEDILLA: + return (const char *)"¸"; + case SUPERSCRIPT_ONE: + return (const char *)"¹"; + case MASCULINE_ORDINAL_INDICATOR: + return (const char *)"º"; + case RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK: + return (const char *)"»"; + case VULGAR_FRACTION_ONE_QUARTER: + return (const char *)"¼"; + case VULGAR_FRACTION_ONE_HALF: + return (const char *)"½"; + case VULGAR_FRACTION_THREE_QUARTERS: + return (const char *)"¾"; + case INVERTED_QUESTION_MARK: + return (const char *)"¿"; + case LATIN_CAPITAL_LETTER_A_WITH_GRAVE: + return (const char *)"À"; + case LATIN_CAPITAL_LETTER_A_WITH_ACUTE: + return (const char *)"Á"; + case LATIN_CAPITAL_LETTER_A_WITH_BREVE: + return (const char *)"Ă"; + case LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"Â"; + case LATIN_CAPITAL_LETTER_A_WITH_TILDE: + return (const char *)"Ã"; + case LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS: + return (const char *)"Ä"; + case LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"Å"; + case LATIN_CAPITAL_LETTER_AE: + return (const char *)"Æ"; + case LATIN_CAPITAL_LETTER_C_WITH_CARON: + return (const char *)"Č"; + case LATIN_CAPITAL_LETTER_C_WITH_CEDILLA: + return (const char *)"Ç"; + case LATIN_CAPITAL_LETTER_E_WITH_GRAVE: + return (const char *)"È"; + case LATIN_CAPITAL_LETTER_E_WITH_ACUTE: + return (const char *)"É"; + case LATIN_CAPITAL_LETTER_E_WITH_CARON: + return (const char *)"Ě"; + case LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"Ê"; + case LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS: + return (const char *)"Ë"; + case LATIN_CAPITAL_LETTER_I_WITH_GRAVE: + return (const char *)"Ì"; + case LATIN_CAPITAL_LETTER_I_WITH_ACUTE: + return (const char *)"Í"; + case LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"Î"; + case LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS: + return (const char *)"Ï"; + case LATIN_CAPITAL_LETTER_ETH: + return (const char *)"Ð"; + case LATIN_CAPITAL_LETTER_N_WITH_TILDE: + return (const char *)"Ñ"; + case LATIN_CAPITAL_LETTER_O_WITH_GRAVE: + return (const char *)"Ò"; + case LATIN_CAPITAL_LETTER_O_WITH_ACUTE: + return (const char *)"Ó"; + case LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"Ô"; + case LATIN_CAPITAL_LETTER_O_WITH_TILDE: + return (const char *)"Õ"; + case LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS: + return (const char *)"Ö"; + case MULTIPLICATION_SIGN: + return (const char *)"×"; + case LATIN_CAPITAL_LETTER_O_WITH_STROKE: + return (const char *)"Ø"; + case LATIN_CAPITAL_LETTER_S_WITH_CARON: + return (const char *)"Š"; + case LATIN_CAPITAL_LETTER_U_WITH_GRAVE: + return (const char *)"Ù"; + case LATIN_CAPITAL_LETTER_U_WITH_ACUTE: + return (const char *)"Ú"; + case LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"Û"; + case LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS: + return (const char *)"Ü"; + case LATIN_CAPITAL_LETTER_Y_WITH_ACUTE: + return (const char *)"Ý"; + case LATIN_CAPITAL_LETTER_Z_WITH_CARON: + return (const char *)"Ž"; + case LATIN_CAPITAL_LETTER_THORN: + return (const char *)"Þ"; + case LATIN_SMALL_LETTER_SHARP_S: + return (const char *)"ß"; + case LATIN_SMALL_LETTER_A_WITH_GRAVE: + return (const char *)"à"; + case LATIN_SMALL_LETTER_A_WITH_ACUTE: + return (const char *)"á"; + case LATIN_SMALL_LETTER_A_WITH_BREVE: + return (const char *)"ă"; + case LATIN_SMALL_LETTER_A_WITH_CARON: + return (const char *)"&acaron;"; + case LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX: + return (const char *)"â"; + case LATIN_SMALL_LETTER_A_WITH_TILDE: + return (const char *)"ã"; + case LATIN_SMALL_LETTER_A_WITH_DIAERESIS: + return (const char *)"ä"; + case LATIN_SMALL_LETTER_A_WITH_RING_ABOVE: + return (const char *)"å"; + case LATIN_SMALL_LETTER_AE: + return (const char *)"æ"; + case LATIN_SMALL_LETTER_C_WITH_CARON: + return (const char *)"č"; + case LATIN_SMALL_LETTER_C_WITH_CEDILLA: + return (const char *)"ç"; + case LATIN_SMALL_LETTER_E_WITH_GRAVE: + return (const char *)"è"; + case LATIN_SMALL_LETTER_E_WITH_ACUTE: + return (const char *)"é"; + case LATIN_SMALL_LETTER_E_WITH_CARON: + return (const char *)"ě"; + case LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX: + return (const char *)"ê"; + case LATIN_SMALL_LETTER_E_WITH_DIAERESIS: + return (const char *)"ë"; + case LATIN_SMALL_LETTER_I_WITH_GRAVE: + return (const char *)"ì"; + case LATIN_SMALL_LETTER_I_WITH_ACUTE: + return (const char *)"í"; + case LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX: + return (const char *)"î"; + case LATIN_SMALL_LETTER_I_WITH_DIAERESIS: + return (const char *)"ï"; + case LATIN_SMALL_LETTER_ETH: + return (const char *)"ð"; + case LATIN_SMALL_LETTER_N_WITH_TILDE: + return (const char *)"ñ"; + case LATIN_SMALL_LETTER_O_WITH_GRAVE: + return (const char *)"ò"; + case LATIN_SMALL_LETTER_O_WITH_ACUTE: + return (const char *)"ó"; + case LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX: + return (const char *)"ô"; + case LATIN_SMALL_LETTER_O_WITH_TILDE: + return (const char *)"õ"; + case LATIN_SMALL_LETTER_O_WITH_DIAERESIS: + return (const char *)"ö"; + case DIVISION_SIGN: + return (const char *)"÷"; + case LATIN_SMALL_LETTER_O_WITH_STROKE: + return (const char *)"ø"; + case LATIN_SMALL_LETTER_S_WITH_CARON: + return (const char *)"š"; + case LATIN_SMALL_LETTER_U_WITH_GRAVE: + return (const char *)"ù"; + case LATIN_SMALL_LETTER_U_WITH_ACUTE: + return (const char *)"ú"; + case LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX: + return (const char *)"û"; + case LATIN_SMALL_LETTER_U_WITH_DIAERESIS: + return (const char *)"ü"; + case LATIN_SMALL_LETTER_Y_WITH_ACUTE: + return (const char *)"ý"; + case LATIN_SMALL_LETTER_THORN: + return (const char *)"þ"; + case LATIN_SMALL_LETTER_Y_WITH_DIAERESIS: + return (const char *)"ÿ"; + case LATIN_SMALL_LETTER_Z_WITH_CARON: + return (const char *)"ž"; + case EURO_CURRENCY_SIGN: + return (const char *)"€"; + case 0: + return (const char *)""; + default: + sprintf(buf,"&#%u;",(unsigned)c); + return buf; /* undefined */ + } + /* break; unreachable code */ + case XML: /* only 5 &xxx;-ENTITIES ar defined by default */ + if ( c >= SPACE && c <= TILDE ) { /* ASCII */ + switch (c) { + case '&': + return (const char *)"&"; + case '\'': + return (const char *)"'"; + case '"': + return (const char *)"""; + case '<': + return (const char *)"<"; + case '>': + return (const char *)">"; + } + buf[0] = (char)c; + return buf; + } + switch (c) { /* subject of change! */ + case PICTURE: + return (const char *)"(PICTURE)"; + case UNKNOWN: + return (const char *)"_"; /* better use colored symbol? */ + case LINE_FEED: /* \n handled somwhere else? */ + case FORM_FEED: + case CARRIAGE_RETURN: + return (const char *)"
"; + case NO_BREAK_SPACE: + return (const char *)""; + case 0: + return (const char *)""; + default: + sprintf(buf,"&#x%03x;",(unsigned)c); + return buf; /* undefined */ + } + /* break; unreachable code */ + case SGML: + switch (c) { + default: + sprintf(buf,"&#%u;",(unsigned)c); + return buf; /* UNDEFINED */ + } + /* break; unreachable code */ + case ASCII: /* mainly used for debugging */ + if ( c=='\n' || (c>= 0x20 && c <= 0x7F) ) { + buf[0] = (char)c; + return buf; + } + switch (c) { + /* extra */ + case UNKNOWN: + return (const char *)"(?)"; + case PICTURE: + return (const char *)"(?)"; + + default: + /* snprintf seems to be no standard, so I use insecure sprintf */ + if ((unsigned)c>255) sprintf(buf,"(0x%04x)",(unsigned)c); + else sprintf(buf,"(0x%02x)",(unsigned)c); + return buf; /* UNDEFINED; */ + } + /* break; unreachable code */ + default: /* use UTF8 as default, test with xterm -u8 */ + /* extra */ + if ( c == UNKNOWN ) return (const char *)"_"; + if ( c == PICTURE ) return (const char *)"_"; /* Due to Mobile OCR */ + if ( c <= (wchar_t)0x0000007F ) { /* UTF8 == 7bit ASCII */ + buf[0] = (char)c; + return buf; + } + if ( c <= (wchar_t)0x000007FF ) { /* UTF8 == 11bit */ + buf[0] = (char)(0xc0|((c>> 6) & 0x1f)); /* 110xxxxx */ + buf[1] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)0; /* terminate string */ + return buf; + } + /* wchar_t is 16bit for Borland-C !? Jan07 */ + if ( c <= (wchar_t)0x0000FFFF ) { /* UTF8 == 16bit */ + buf[0] = (char)(0xe0|((c>>12) & 0x0f)); /* 1110xxxx */ + buf[1] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x001FFFFF ) { /* UTF8 == 21bit */ + buf[0] = (char)(0xf0|((c>>18) & 0x07)); /* 11110xxx */ + buf[1] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x03FFFFFF ) { /* UTF8 == 26bit */ + buf[0] = (char)(0xf8|((c>>24) & 0x03)); /* 111110xx */ + buf[1] = (char)(0x80|((c>>18) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[5] = (char)0; /* terminate string */ + return buf; + } + if ( c <= (wchar_t)0x7FFFFFFF ) { /* UTF8 == 31bit */ + buf[0] = (char)(0xfc|((c>>30) & 0x01)); /* 1111110x */ + buf[1] = (char)(0x80|((c>>24) & 0x3f)); /* 10xxxxxx */ + buf[2] = (char)(0x80|((c>>18) & 0x3f)); /* 10xxxxxx */ + buf[3] = (char)(0x80|((c>>12) & 0x3f)); /* 10xxxxxx */ + buf[4] = (char)(0x80|((c>> 6) & 0x3f)); /* 10xxxxxx */ + buf[5] = (char)(0x80|( c & 0x3f)); /* 10xxxxxx */ + buf[6] = (char)0; /* terminate string */ + return buf; + } + return (const char *)UNDEFINED; + } +} diff --git a/3rdparty/gocr-0.48/src/unicode.h b/3rdparty/gocr-0.48/src/unicode.h new file mode 100644 index 0000000..563a30d --- /dev/null +++ b/3rdparty/gocr-0.48/src/unicode.h @@ -0,0 +1,1257 @@ +/* +This is a Optical-Character-Recognition program +Copyright (C) 2000-2007 Joerg Schulenburg + + The character codes in this file are Copyright (c) 1991-1999 Unicode, Inc. + All Rights reserved. + + This file is provided as-is by Unicode, Inc. (The Unicode Consortium). + No claims are made as to fitness for any particular purpose. No + warranties of any kind are expressed or implied. The recipient + agrees to determine applicability of information provided. If this + file has been provided on optical media by Unicode, Inc., the sole + remedy for any claim will be exchange of defective media within 90 + days of receipt. + + Unicode, Inc. hereby grants the right to freely use the information + supplied in this file in the creation of products supporting the + Unicode Standard, and to make copies of this file in any form for + internal or external distribution as long as this notice remains + attached. + +For the rest of the file, the following applies: + +This program is free software; you can redistribute it and/or +modify it under the terms of the GNU General Public License +as published by the Free Software Foundation; either version 2 +of the License, or (at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program; if not, write to the Free Software +Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + see README for EMAIL-address + */ + +/* + Only the codes judged necessary by the developers are present in this + file. It conforms with MES-1. You'll find also Greek characters, + mathematical symbols and some extra symbols. + + Use the following regular expression to help add new codes from the + Unicode data files: ([\w\s]*);([\w\s]*);[^\n]* +*/ + +#ifndef G_UNICODE_H +#define G_UNICODE_H + +#include + +enum format { + ISO8859_1, TeX, HTML, XML, SGML, UTF8, ASCII +}; +typedef enum format FORMAT; + +/* + * Prototypes + */ +wchar_t compose(wchar_t main, wchar_t modifier); +const char *decode(wchar_t c, FORMAT type); + +/* + * Unicode codes + */ + +/* E000-F8FF are for private use. We'll reserve E000-E0FF by now. */ +/* the next line isnt proper, but was the easiest way to fix a problem */ +#ifndef UNKNOWN +#define UNKNOWN 0xE000 +#endif +#define PICTURE 0xE001 +#define HEADER_FILE 0xE010 + +/* most codes 0x00-0x1F are not needed, but we provide them anyway. U0000 had + the name changed from NULL to UNICODE_NULL to avoid conflicts. */ +#define UNICODE_NULL 0x0000 +#define START_OF_HEADING 0x0001 +#define START_OF_TEXT 0x0002 +#define END_OF_TEXT 0x0003 +#define END_OF_TRANSMISSION 0x0004 +#define ENQUIRY 0x0005 +#define ACKNOWLEDGE 0x0006 +#define BELL 0x0007 +#define BACKSPACE 0x0008 +#define HORIZONTAL_TABULATION 0x0009 +#define LINE_FEED 0x000A +#define VERTICAL_TABULATION 0x000B +#define FORM_FEED 0x000C +#define CARRIAGE_RETURN 0x000D +#define SHIFT_OUT 0x000E +#define SHIFT_IN 0x000F +#define DATA_LINK_ESCAPE 0x0010 +#define DEVICE_CONTROL_ONE 0x0011 +#define DEVICE_CONTROL_TWO 0x0012 +#define DEVICE_CONTROL_THREE 0x0013 +#define DEVICE_CONTROL_FOUR 0x0014 +#define NEGATIVE_ACKNOWLEDGE 0x0015 +#define SYNCHRONOUS_IDLE 0x0016 +#define END_OF_TRANSMISSION_BLOCK 0x0017 +#define CANCEL 0x0018 +#define END_OF_MEDIUM 0x0019 +#define SUBSTITUTE 0x001A +#define ESCAPE 0x001B +#define FILE_SEPARATOR 0x001C +#define GROUP_SEPARATOR 0x001D +#define RECORD_SEPARATOR 0x001E +#define UNIT_SEPARATOR 0x001F + +/* ASCII */ +#define SPACE 0x0020 +#define EXCLAMATION_MARK 0x0021 +#define QUOTATION_MARK 0x0022 +#define NUMBER_SIGN 0x0023 +#define DOLLAR_SIGN 0x0024 +#define PERCENT_SIGN 0x0025 +#define AMPERSAND 0x0026 +#define APOSTROPHE 0x0027 +#define LEFT_PARENTHESIS 0x0028 +#define RIGHT_PARENTHESIS 0x0029 +#define ASTERISK 0x002A +#define PLUS_SIGN 0x002B +#define COMMA 0x002C +#define HYPHEN_MINUS 0x002D +#define FULL_STOP 0x002E +#define SOLIDUS 0x002F +#define DIGIT_ZERO 0x0030 +#define DIGIT_ONE 0x0031 +#define DIGIT_TWO 0x0032 +#define DIGIT_THREE 0x0033 +#define DIGIT_FOUR 0x0034 +#define DIGIT_FIVE 0x0035 +#define DIGIT_SIX 0x0036 +#define DIGIT_SEVEN 0x0037 +#define DIGIT_EIGHT 0x0038 +#define DIGIT_NINE 0x0039 +#define COLON 0x003A +#define SEMICOLON 0x003B +#define LESS_THAN_SIGN 0x003C +#define EQUALS_SIGN 0x003D +#define GREATER_THAN_SIGN 0x003E +#define QUESTION_MARK 0x003F +#define COMMERCIAL_AT 0x0040 +#define LATIN_CAPITAL_LETTER_A 0x0041 +#define LATIN_CAPITAL_LETTER_B 0x0042 +#define LATIN_CAPITAL_LETTER_C 0x0043 +#define LATIN_CAPITAL_LETTER_D 0x0044 +#define LATIN_CAPITAL_LETTER_E 0x0045 +#define LATIN_CAPITAL_LETTER_F 0x0046 +#define LATIN_CAPITAL_LETTER_G 0x0047 +#define LATIN_CAPITAL_LETTER_H 0x0048 +#define LATIN_CAPITAL_LETTER_I 0x0049 +#define LATIN_CAPITAL_LETTER_J 0x004A +#define LATIN_CAPITAL_LETTER_K 0x004B +#define LATIN_CAPITAL_LETTER_L 0x004C +#define LATIN_CAPITAL_LETTER_M 0x004D +#define LATIN_CAPITAL_LETTER_N 0x004E +#define LATIN_CAPITAL_LETTER_O 0x004F +#define LATIN_CAPITAL_LETTER_P 0x0050 +#define LATIN_CAPITAL_LETTER_Q 0x0051 +#define LATIN_CAPITAL_LETTER_R 0x0052 +#define LATIN_CAPITAL_LETTER_S 0x0053 +#define LATIN_CAPITAL_LETTER_T 0x0054 +#define LATIN_CAPITAL_LETTER_U 0x0055 +#define LATIN_CAPITAL_LETTER_V 0x0056 +#define LATIN_CAPITAL_LETTER_W 0x0057 +#define LATIN_CAPITAL_LETTER_X 0x0058 +#define LATIN_CAPITAL_LETTER_Y 0x0059 +#define LATIN_CAPITAL_LETTER_Z 0x005A +#define LEFT_SQUARE_BRACKET 0x005B +#define REVERSE_SOLIDUS 0x005C +#define RIGHT_SQUARE_BRACKET 0x005D +#define CIRCUMFLEX_ACCENT 0x005E +#define LOW_LINE 0x005F +#define GRAVE_ACCENT 0x0060 +#define LATIN_SMALL_LETTER_A 0x0061 +#define LATIN_SMALL_LETTER_B 0x0062 +#define LATIN_SMALL_LETTER_C 0x0063 +#define LATIN_SMALL_LETTER_D 0x0064 +#define LATIN_SMALL_LETTER_E 0x0065 +#define LATIN_SMALL_LETTER_F 0x0066 +#define LATIN_SMALL_LETTER_G 0x0067 +#define LATIN_SMALL_LETTER_H 0x0068 +#define LATIN_SMALL_LETTER_I 0x0069 +#define LATIN_SMALL_LETTER_J 0x006A +#define LATIN_SMALL_LETTER_K 0x006B +#define LATIN_SMALL_LETTER_L 0x006C +#define LATIN_SMALL_LETTER_M 0x006D +#define LATIN_SMALL_LETTER_N 0x006E +#define LATIN_SMALL_LETTER_O 0x006F +#define LATIN_SMALL_LETTER_P 0x0070 +#define LATIN_SMALL_LETTER_Q 0x0071 +#define LATIN_SMALL_LETTER_R 0x0072 +#define LATIN_SMALL_LETTER_S 0x0073 +#define LATIN_SMALL_LETTER_T 0x0074 +#define LATIN_SMALL_LETTER_U 0x0075 +#define LATIN_SMALL_LETTER_V 0x0076 +#define LATIN_SMALL_LETTER_W 0x0077 +#define LATIN_SMALL_LETTER_X 0x0078 +#define LATIN_SMALL_LETTER_Y 0x0079 +#define LATIN_SMALL_LETTER_Z 0x007A +#define LEFT_CURLY_BRACKET 0x007B +#define VERTICAL_LINE 0x007C +#define RIGHT_CURLY_BRACKET 0x007D +#define TILDE 0x007E + +/* codes 0x7F-0xBF are not needed */ +#define NO_BREAK_SPACE 0x00A0 +#define INVERTED_EXCLAMATION_MARK 0x00A1 +#define CENT_SIGN 0x00A2 +#define POUND_SIGN 0x00A3 +#define CURRENCY_SIGN 0x00A4 +#define YEN_SIGN 0x00A5 +#define BROKEN_BAR 0x00A6 +#define SECTION_SIGN 0x00A7 +#define DIAERESIS 0x00A8 +#define COPYRIGHT_SIGN 0x00A9 +#define FEMININE_ORDINAL_INDICATOR 0x00AA +#define LEFT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK 0x00AB +#define NOT_SIGN 0x00AC +#define SOFT_HYPHEN 0x00AD +#define REGISTERED_SIGN 0x00AE +#define MACRON 0x00AF +#define DEGREE_SIGN 0x00B0 +#define PLUS_MINUS_SIGN 0x00B1 +#define SUPERSCRIPT_TWO 0x00B2 +#define SUPERSCRIPT_THREE 0x00B3 +#define ACUTE_ACCENT 0x00B4 +#define MICRO_SIGN 0x00B5 +#define PILCROW_SIGN 0x00B6 +#define MIDDLE_DOT 0x00B7 +#define CEDILLA 0x00B8 +#define SUPERSCRIPT_ONE 0x00B9 +#define MASCULINE_ORDINAL_INDICATOR 0x00BA +#define RIGHT_POINTING_DOUBLE_ANGLE_QUOTATION_MARK 0x00BB +#define VULGAR_FRACTION_ONE_QUARTER 0x00BC +#define VULGAR_FRACTION_ONE_HALF 0x00BD +#define VULGAR_FRACTION_THREE_QUARTERS 0x00BE +#define INVERTED_QUESTION_MARK 0x00BF +#define LATIN_CAPITAL_LETTER_A_WITH_GRAVE 0x00C0 +#define LATIN_CAPITAL_LETTER_A_WITH_ACUTE 0x00C1 +#define LATIN_CAPITAL_LETTER_A_WITH_CIRCUMFLEX 0x00C2 +#define LATIN_CAPITAL_LETTER_A_WITH_TILDE 0x00C3 +#define LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS 0x00C4 +#define LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE 0x00C5 +#define LATIN_CAPITAL_LETTER_AE 0x00C6 +#define LATIN_CAPITAL_LETTER_C_WITH_CEDILLA 0x00C7 +#define LATIN_CAPITAL_LETTER_E_WITH_GRAVE 0x00C8 +#define LATIN_CAPITAL_LETTER_E_WITH_ACUTE 0x00C9 +#define LATIN_CAPITAL_LETTER_E_WITH_CIRCUMFLEX 0x00CA +#define LATIN_CAPITAL_LETTER_E_WITH_DIAERESIS 0x00CB +#define LATIN_CAPITAL_LETTER_I_WITH_GRAVE 0x00CC +#define LATIN_CAPITAL_LETTER_I_WITH_ACUTE 0x00CD +#define LATIN_CAPITAL_LETTER_I_WITH_CIRCUMFLEX 0x00CE +#define LATIN_CAPITAL_LETTER_I_WITH_DIAERESIS 0x00CF +#define LATIN_CAPITAL_LETTER_ETH 0x00D0 +#define LATIN_CAPITAL_LETTER_N_WITH_TILDE 0x00D1 +#define LATIN_CAPITAL_LETTER_O_WITH_GRAVE 0x00D2 +#define LATIN_CAPITAL_LETTER_O_WITH_ACUTE 0x00D3 +#define LATIN_CAPITAL_LETTER_O_WITH_CIRCUMFLEX 0x00D4 +#define LATIN_CAPITAL_LETTER_O_WITH_TILDE 0x00D5 +#define LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS 0x00D6 +#define MULTIPLICATION_SIGN 0x00D7 +#define LATIN_CAPITAL_LETTER_O_WITH_STROKE 0x00D8 +#define LATIN_CAPITAL_LETTER_U_WITH_GRAVE 0x00D9 +#define LATIN_CAPITAL_LETTER_U_WITH_ACUTE 0x00DA +#define LATIN_CAPITAL_LETTER_U_WITH_CIRCUMFLEX 0x00DB +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS 0x00DC +#define LATIN_CAPITAL_LETTER_Y_WITH_ACUTE 0x00DD +#define LATIN_CAPITAL_LETTER_THORN 0x00DE +#define LATIN_SMALL_LETTER_SHARP_S 0x00DF +#define LATIN_SMALL_LETTER_A_WITH_GRAVE 0x00E0 +#define LATIN_SMALL_LETTER_A_WITH_ACUTE 0x00E1 +#define LATIN_SMALL_LETTER_A_WITH_CIRCUMFLEX 0x00E2 +#define LATIN_SMALL_LETTER_A_WITH_TILDE 0x00E3 +#define LATIN_SMALL_LETTER_A_WITH_DIAERESIS 0x00E4 +#define LATIN_SMALL_LETTER_A_WITH_RING_ABOVE 0x00E5 +#define LATIN_SMALL_LETTER_AE 0x00E6 +#define LATIN_SMALL_LETTER_C_WITH_CEDILLA 0x00E7 +#define LATIN_SMALL_LETTER_E_WITH_GRAVE 0x00E8 +#define LATIN_SMALL_LETTER_E_WITH_ACUTE 0x00E9 +#define LATIN_SMALL_LETTER_E_WITH_CIRCUMFLEX 0x00EA +#define LATIN_SMALL_LETTER_E_WITH_DIAERESIS 0x00EB +#define LATIN_SMALL_LETTER_I_WITH_GRAVE 0x00EC +#define LATIN_SMALL_LETTER_I_WITH_ACUTE 0x00ED +#define LATIN_SMALL_LETTER_I_WITH_CIRCUMFLEX 0x00EE +#define LATIN_SMALL_LETTER_I_WITH_DIAERESIS 0x00EF +#define LATIN_SMALL_LETTER_ETH 0x00F0 +#define LATIN_SMALL_LETTER_N_WITH_TILDE 0x00F1 +#define LATIN_SMALL_LETTER_O_WITH_GRAVE 0x00F2 +#define LATIN_SMALL_LETTER_O_WITH_ACUTE 0x00F3 +#define LATIN_SMALL_LETTER_O_WITH_CIRCUMFLEX 0x00F4 +#define LATIN_SMALL_LETTER_O_WITH_TILDE 0x00F5 +#define LATIN_SMALL_LETTER_O_WITH_DIAERESIS 0x00F6 +#define DIVISION_SIGN 0x00F7 +#define LATIN_SMALL_LETTER_O_WITH_STROKE 0x00F8 +#define LATIN_SMALL_LETTER_U_WITH_GRAVE 0x00F9 +#define LATIN_SMALL_LETTER_U_WITH_ACUTE 0x00FA +#define LATIN_SMALL_LETTER_U_WITH_CIRCUMFLEX 0x00FB +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS 0x00FC +#define LATIN_SMALL_LETTER_Y_WITH_ACUTE 0x00FD +#define LATIN_SMALL_LETTER_THORN 0x00FE +#define LATIN_SMALL_LETTER_Y_WITH_DIAERESIS 0x00FF + +/* latin extended-A */ +#define LATIN_CAPITAL_LETTER_A_WITH_MACRON 0x0100 +#define LATIN_SMALL_LETTER_A_WITH_MACRON 0x0101 +#define LATIN_CAPITAL_LETTER_A_WITH_BREVE 0x0102 +#define LATIN_SMALL_LETTER_A_WITH_BREVE 0x0103 +#define LATIN_CAPITAL_LETTER_A_WITH_OGONEK 0x0104 +#define LATIN_SMALL_LETTER_A_WITH_OGONEK 0x0105 +#define LATIN_CAPITAL_LETTER_C_WITH_ACUTE 0x0106 +#define LATIN_SMALL_LETTER_C_WITH_ACUTE 0x0107 +#define LATIN_CAPITAL_LETTER_C_WITH_CIRCUMFLEX 0x0108 +#define LATIN_SMALL_LETTER_C_WITH_CIRCUMFLEX 0x0109 +#define LATIN_CAPITAL_LETTER_C_WITH_DOT_ABOVE 0x010A +#define LATIN_SMALL_LETTER_C_WITH_DOT_ABOVE 0x010B +#define LATIN_CAPITAL_LETTER_C_WITH_CARON 0x010C +#define LATIN_SMALL_LETTER_C_WITH_CARON 0x010D +#define LATIN_CAPITAL_LETTER_D_WITH_CARON 0x010E +#define LATIN_SMALL_LETTER_D_WITH_CARON 0x010F +#define LATIN_CAPITAL_LETTER_D_WITH_STROKE 0x0110 +#define LATIN_SMALL_LETTER_D_WITH_STROKE 0x0111 +#define LATIN_CAPITAL_LETTER_E_WITH_MACRON 0x0112 +#define LATIN_SMALL_LETTER_E_WITH_MACRON 0x0113 +#define LATIN_CAPITAL_LETTER_E_WITH_BREVE 0x0114 +#define LATIN_SMALL_LETTER_E_WITH_BREVE 0x0115 +#define LATIN_CAPITAL_LETTER_E_WITH_DOT_ABOVE 0x0116 +#define LATIN_SMALL_LETTER_E_WITH_DOT_ABOVE 0x0117 +#define LATIN_CAPITAL_LETTER_E_WITH_OGONEK 0x0118 +#define LATIN_SMALL_LETTER_E_WITH_OGONEK 0x0119 +#define LATIN_CAPITAL_LETTER_E_WITH_CARON 0x011A +#define LATIN_SMALL_LETTER_E_WITH_CARON 0x011B +#define LATIN_CAPITAL_LETTER_G_WITH_CIRCUMFLEX 0x011C +#define LATIN_SMALL_LETTER_G_WITH_CIRCUMFLEX 0x011D +#define LATIN_CAPITAL_LETTER_G_WITH_BREVE 0x011E +#define LATIN_SMALL_LETTER_G_WITH_BREVE 0x011F +#define LATIN_CAPITAL_LETTER_G_WITH_DOT_ABOVE 0x0120 +#define LATIN_SMALL_LETTER_G_WITH_DOT_ABOVE 0x0121 +#define LATIN_CAPITAL_LETTER_G_WITH_CEDILLA 0x0122 +#define LATIN_SMALL_LETTER_G_WITH_CEDILLA 0x0123 +#define LATIN_CAPITAL_LETTER_H_WITH_CIRCUMFLEX 0x0124 +#define LATIN_SMALL_LETTER_H_WITH_CIRCUMFLEX 0x0125 +#define LATIN_CAPITAL_LETTER_H_WITH_STROKE 0x0126 +#define LATIN_SMALL_LETTER_H_WITH_STROKE 0x0127 +#define LATIN_CAPITAL_LETTER_I_WITH_TILDE 0x0128 +#define LATIN_SMALL_LETTER_I_WITH_TILDE 0x0129 +#define LATIN_CAPITAL_LETTER_I_WITH_MACRON 0x012A +#define LATIN_SMALL_LETTER_I_WITH_MACRON 0x012B +#define LATIN_CAPITAL_LETTER_I_WITH_BREVE 0x012C +#define LATIN_SMALL_LETTER_I_WITH_BREVE 0x012D +#define LATIN_CAPITAL_LETTER_I_WITH_OGONEK 0x012E +#define LATIN_SMALL_LETTER_I_WITH_OGONEK 0x012F +#define LATIN_CAPITAL_LETTER_I_WITH_DOT_ABOVE 0x0130 +#define LATIN_SMALL_LETTER_DOTLESS_I 0x0131 +#define LATIN_CAPITAL_LIGATURE_IJ 0x0132 +#define LATIN_SMALL_LIGATURE_IJ 0x0133 +#define LATIN_CAPITAL_LETTER_J_WITH_CIRCUMFLEX 0x0134 +#define LATIN_SMALL_LETTER_J_WITH_CIRCUMFLEX 0x0135 +#define LATIN_CAPITAL_LETTER_K_WITH_CEDILLA 0x0136 +#define LATIN_SMALL_LETTER_K_WITH_CEDILLA 0x0137 +#define LATIN_SMALL_LETTER_KRA 0x0138 +#define LATIN_CAPITAL_LETTER_L_WITH_ACUTE 0x0139 +#define LATIN_SMALL_LETTER_L_WITH_ACUTE 0x013A +#define LATIN_CAPITAL_LETTER_L_WITH_CEDILLA 0x013B +#define LATIN_SMALL_LETTER_L_WITH_CEDILLA 0x013C +#define LATIN_CAPITAL_LETTER_L_WITH_CARON 0x013D +#define LATIN_SMALL_LETTER_L_WITH_CARON 0x013E +#define LATIN_CAPITAL_LETTER_L_WITH_MIDDLE_DOT 0x013F +#define LATIN_SMALL_LETTER_L_WITH_MIDDLE_DOT 0x0140 +#define LATIN_CAPITAL_LETTER_L_WITH_STROKE 0x0141 +#define LATIN_SMALL_LETTER_L_WITH_STROKE 0x0142 +#define LATIN_CAPITAL_LETTER_N_WITH_ACUTE 0x0143 +#define LATIN_SMALL_LETTER_N_WITH_ACUTE 0x0144 +#define LATIN_CAPITAL_LETTER_N_WITH_CEDILLA 0x0145 +#define LATIN_SMALL_LETTER_N_WITH_CEDILLA 0x0146 +#define LATIN_CAPITAL_LETTER_N_WITH_CARON 0x0147 +#define LATIN_SMALL_LETTER_N_WITH_CARON 0x0148 +#define LATIN_SMALL_LETTER_N_PRECEDED_BY_APOSTROPHE 0x0149 +#define LATIN_CAPITAL_LETTER_ENG 0x014A +#define LATIN_SMALL_LETTER_ENG 0x014B +#define LATIN_CAPITAL_LETTER_O_WITH_MACRON 0x014C +#define LATIN_SMALL_LETTER_O_WITH_MACRON 0x014D +#define LATIN_CAPITAL_LETTER_O_WITH_BREVE 0x014E +#define LATIN_SMALL_LETTER_O_WITH_BREVE 0x014F +#define LATIN_CAPITAL_LETTER_O_WITH_DOUBLE_ACUTE 0x0150 +#define LATIN_SMALL_LETTER_O_WITH_DOUBLE_ACUTE 0x0151 +#define LATIN_CAPITAL_LIGATURE_OE 0x0152 +#define LATIN_SMALL_LIGATURE_OE 0x0153 +#define LATIN_CAPITAL_LETTER_R_WITH_ACUTE 0x0154 +#define LATIN_SMALL_LETTER_R_WITH_ACUTE 0x0155 +#define LATIN_CAPITAL_LETTER_R_WITH_CEDILLA 0x0156 +#define LATIN_SMALL_LETTER_R_WITH_CEDILLA 0x0157 +#define LATIN_CAPITAL_LETTER_R_WITH_CARON 0x0158 +#define LATIN_SMALL_LETTER_R_WITH_CARON 0x0159 +#define LATIN_CAPITAL_LETTER_S_WITH_ACUTE 0x015A +#define LATIN_SMALL_LETTER_S_WITH_ACUTE 0x015B +#define LATIN_CAPITAL_LETTER_S_WITH_CIRCUMFLEX 0x015C +#define LATIN_SMALL_LETTER_S_WITH_CIRCUMFLEX 0x015D +#define LATIN_CAPITAL_LETTER_S_WITH_CEDILLA 0x015E +#define LATIN_SMALL_LETTER_S_WITH_CEDILLA 0x015F +#define LATIN_CAPITAL_LETTER_S_WITH_CARON 0x0160 +#define LATIN_SMALL_LETTER_S_WITH_CARON 0x0161 +#define LATIN_CAPITAL_LETTER_T_WITH_CEDILLA 0x0162 +#define LATIN_SMALL_LETTER_T_WITH_CEDILLA 0x0163 +#define LATIN_CAPITAL_LETTER_T_WITH_CARON 0x0164 +#define LATIN_SMALL_LETTER_T_WITH_CARON 0x0165 +#define LATIN_CAPITAL_LETTER_T_WITH_STROKE 0x0166 +#define LATIN_SMALL_LETTER_T_WITH_STROKE 0x0167 +#define LATIN_CAPITAL_LETTER_U_WITH_TILDE 0x0168 +#define LATIN_SMALL_LETTER_U_WITH_TILDE 0x0169 +#define LATIN_CAPITAL_LETTER_U_WITH_MACRON 0x016A +#define LATIN_SMALL_LETTER_U_WITH_MACRON 0x016B +#define LATIN_CAPITAL_LETTER_U_WITH_BREVE 0x016C +#define LATIN_SMALL_LETTER_U_WITH_BREVE 0x016D +#define LATIN_CAPITAL_LETTER_U_WITH_RING_ABOVE 0x016E +#define LATIN_SMALL_LETTER_U_WITH_RING_ABOVE 0x016F +#define LATIN_CAPITAL_LETTER_U_WITH_DOUBLE_ACUTE 0x0170 +#define LATIN_SMALL_LETTER_U_WITH_DOUBLE_ACUTE 0x0171 +#define LATIN_CAPITAL_LETTER_U_WITH_OGONEK 0x0172 +#define LATIN_SMALL_LETTER_U_WITH_OGONEK 0x0173 +#define LATIN_CAPITAL_LETTER_W_WITH_CIRCUMFLEX 0x0174 +#define LATIN_SMALL_LETTER_W_WITH_CIRCUMFLEX 0x0175 +#define LATIN_CAPITAL_LETTER_Y_WITH_CIRCUMFLEX 0x0176 +#define LATIN_SMALL_LETTER_Y_WITH_CIRCUMFLEX 0x0177 +#define LATIN_CAPITAL_LETTER_Y_WITH_DIAERESIS 0x0178 +#define LATIN_CAPITAL_LETTER_Z_WITH_ACUTE 0x0179 +#define LATIN_SMALL_LETTER_Z_WITH_ACUTE 0x017A +#define LATIN_CAPITAL_LETTER_Z_WITH_DOT_ABOVE 0x017B +#define LATIN_SMALL_LETTER_Z_WITH_DOT_ABOVE 0x017C +#define LATIN_CAPITAL_LETTER_Z_WITH_CARON 0x017D +#define LATIN_SMALL_LETTER_Z_WITH_CARON 0x017E +#define LATIN_SMALL_LETTER_LONG_S 0x017F + +/* latin extended B */ +#define LATIN_SMALL_LETTER_B_WITH_STROKE 0x0180 +#define LATIN_CAPITAL_LETTER_B_WITH_HOOK 0x0181 +#define LATIN_CAPITAL_LETTER_B_WITH_TOPBAR 0x0182 +#define LATIN_SMALL_LETTER_B_WITH_TOPBAR 0x0183 +#define LATIN_CAPITAL_LETTER_TONE_SIX 0x0184 +#define LATIN_SMALL_LETTER_TONE_SIX 0x0185 +#define LATIN_CAPITAL_LETTER_OPEN_O 0x0186 +#define LATIN_CAPITAL_LETTER_C_WITH_HOOK 0x0187 +#define LATIN_SMALL_LETTER_C_WITH_HOOK 0x0188 +#define LATIN_CAPITAL_LETTER_AFRICAN_D 0x0189 +#define LATIN_CAPITAL_LETTER_D_WITH_HOOK 0x018A +#define LATIN_CAPITAL_LETTER_D_WITH_TOPBAR 0x018B +#define LATIN_SMALL_LETTER_D_WITH_TOPBAR 0x018C +#define LATIN_SMALL_LETTER_TURNED_DELTA 0x018D +#define LATIN_CAPITAL_LETTER_REVERSED_E 0x018E +#define LATIN_CAPITAL_LETTER_SCHWA 0x018F +#define LATIN_CAPITAL_LETTER_OPEN_E 0x0190 +#define LATIN_CAPITAL_LETTER_F_WITH_HOOK 0x0191 +#define LATIN_SMALL_LETTER_F_WITH_HOOK 0x0192 +#define LATIN_CAPITAL_LETTER_G_WITH_HOOK 0x0193 +#define LATIN_CAPITAL_LETTER_GAMMA 0x0194 +#define LATIN_SMALL_LETTER_HV 0x0195 +#define LATIN_CAPITAL_LETTER_IOTA 0x0196 +#define LATIN_CAPITAL_LETTER_I_WITH_STROKE 0x0197 +#define LATIN_CAPITAL_LETTER_K_WITH_HOOK 0x0198 +#define LATIN_SMALL_LETTER_K_WITH_HOOK 0x0199 +#define LATIN_SMALL_LETTER_L_WITH_BAR 0x019A +#define LATIN_SMALL_LETTER_LAMBDA_WITH_STROKE 0x019B +#define LATIN_CAPITAL_LETTER_TURNED_M 0x019C +#define LATIN_CAPITAL_LETTER_N_WITH_LEFT_HOOK 0x019D +#define LATIN_SMALL_LETTER_N_WITH_LONG_RIGHT_LEG 0x019E +#define LATIN_CAPITAL_LETTER_O_WITH_MIDDLE_TILDE 0x019F +#define LATIN_CAPITAL_LETTER_O_WITH_HORN 0x01A0 +#define LATIN_SMALL_LETTER_O_WITH_HORN 0x01A1 +#define LATIN_CAPITAL_LETTER_OI 0x01A2 +#define LATIN_SMALL_LETTER_OI 0x01A3 +#define LATIN_CAPITAL_LETTER_P_WITH_HOOK 0x01A4 +#define LATIN_SMALL_LETTER_P_WITH_HOOK 0x01A5 +#define LATIN_LETTER_YR 0x01A6 +#define LATIN_CAPITAL_LETTER_TONE_TWO 0x01A7 +#define LATIN_SMALL_LETTER_TONE_TWO 0x01A8 +#define LATIN_CAPITAL_LETTER_ESH 0x01A9 +#define LATIN_LETTER_REVERSED_ESH_LOOP 0x01AA +#define LATIN_SMALL_LETTER_T_WITH_PALATAL_HOOK 0x01AB +#define LATIN_CAPITAL_LETTER_T_WITH_HOOK 0x01AC +#define LATIN_SMALL_LETTER_T_WITH_HOOK 0x01AD +#define LATIN_CAPITAL_LETTER_T_WITH_RETROFLEX_HOOK 0x01AE +#define LATIN_CAPITAL_LETTER_U_WITH_HORN 0x01AF +#define LATIN_SMALL_LETTER_U_WITH_HORN 0x01B0 +#define LATIN_CAPITAL_LETTER_UPSILON 0x01B1 +#define LATIN_CAPITAL_LETTER_V_WITH_HOOK 0x01B2 +#define LATIN_CAPITAL_LETTER_Y_WITH_HOOK 0x01B3 +#define LATIN_SMALL_LETTER_Y_WITH_HOOK 0x01B4 +#define LATIN_CAPITAL_LETTER_Z_WITH_STROKE 0x01B5 +#define LATIN_SMALL_LETTER_Z_WITH_STROKE 0x01B6 +#define LATIN_CAPITAL_LETTER_EZH 0x01B7 +#define LATIN_CAPITAL_LETTER_EZH_REVERSED 0x01B8 +#define LATIN_SMALL_LETTER_EZH_REVERSED 0x01B9 +#define LATIN_SMALL_LETTER_EZH_WITH_TAIL 0x01BA +#define LATIN_LETTER_TWO_WITH_STROKE 0x01BB +#define LATIN_CAPITAL_LETTER_TONE_FIVE 0x01BC +#define LATIN_SMALL_LETTER_TONE_FIVE 0x01BD +#define LATIN_LETTER_INVERTED_GLOTTAL_STOP_WITH_STROKE 0x01BE +#define LATIN_LETTER_WYNN 0x01BF +#define LATIN_LETTER_DENTAL_CLICK 0x01C0 +#define LATIN_LETTER_LATERAL_CLICK 0x01C1 +#define LATIN_LETTER_ALVEOLAR_CLICK 0x01C2 +#define LATIN_LETTER_RETROFLEX_CLICK 0x01C3 +#define LATIN_CAPITAL_LETTER_DZ_WITH_CARON 0x01C4 +#define LATIN_CAPITAL_LETTER_D_WITH_SMALL_LETTER_Z_WITH_CARON 0x01C5 +#define LATIN_SMALL_LETTER_DZ_WITH_CARON 0x01C6 +#define LATIN_CAPITAL_LETTER_LJ 0x01C7 +#define LATIN_CAPITAL_LETTER_L_WITH_SMALL_LETTER_J 0x01C8 +#define LATIN_SMALL_LETTER_LJ 0x01C9 +#define LATIN_CAPITAL_LETTER_NJ 0x01CA +#define LATIN_CAPITAL_LETTER_N_WITH_SMALL_LETTER_J 0x01CB +#define LATIN_SMALL_LETTER_NJ 0x01CC +#define LATIN_CAPITAL_LETTER_A_WITH_CARON 0x01CD +#define LATIN_SMALL_LETTER_A_WITH_CARON 0x01CE +#define LATIN_CAPITAL_LETTER_I_WITH_CARON 0x01CF +#define LATIN_SMALL_LETTER_I_WITH_CARON 0x01D0 +#define LATIN_CAPITAL_LETTER_O_WITH_CARON 0x01D1 +#define LATIN_SMALL_LETTER_O_WITH_CARON 0x01D2 +#define LATIN_CAPITAL_LETTER_U_WITH_CARON 0x01D3 +#define LATIN_SMALL_LETTER_U_WITH_CARON 0x01D4 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_MACRON 0x01D5 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_MACRON 0x01D6 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_ACUTE 0x01D7 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_ACUTE 0x01D8 +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_CARON 0x01D9 +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_CARON 0x01DA +#define LATIN_CAPITAL_LETTER_U_WITH_DIAERESIS_AND_GRAVE 0x01DB +#define LATIN_SMALL_LETTER_U_WITH_DIAERESIS_AND_GRAVE 0x01DC +#define LATIN_SMALL_LETTER_TURNED_E 0x01DD +#define LATIN_CAPITAL_LETTER_A_WITH_DIAERESIS_AND_MACRON 0x01DE +#define LATIN_SMALL_LETTER_A_WITH_DIAERESIS_AND_MACRON 0x01DF +#define LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE_AND_MACRON 0x01E0 +#define LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE_AND_MACRON 0x01E1 +#define LATIN_CAPITAL_LETTER_AE_WITH_MACRON 0x01E2 +#define LATIN_SMALL_LETTER_AE_WITH_MACRON 0x01E3 +#define LATIN_CAPITAL_LETTER_G_WITH_STROKE 0x01E4 +#define LATIN_SMALL_LETTER_G_WITH_STROKE 0x01E5 +#define LATIN_CAPITAL_LETTER_G_WITH_CARON 0x01E6 +#define LATIN_SMALL_LETTER_G_WITH_CARON 0x01E7 +#define LATIN_CAPITAL_LETTER_K_WITH_CARON 0x01E8 +#define LATIN_SMALL_LETTER_K_WITH_CARON 0x01E9 +#define LATIN_CAPITAL_LETTER_O_WITH_OGONEK 0x01EA +#define LATIN_SMALL_LETTER_O_WITH_OGONEK 0x01EB +#define LATIN_CAPITAL_LETTER_O_WITH_OGONEK_AND_MACRON 0x01EC +#define LATIN_SMALL_LETTER_O_WITH_OGONEK_AND_MACRON 0x01ED +#define LATIN_CAPITAL_LETTER_EZH_WITH_CARON 0x01EE +#define LATIN_SMALL_LETTER_EZH_WITH_CARON 0x01EF +#define LATIN_SMALL_LETTER_J_WITH_CARON 0x01F0 +#define LATIN_CAPITAL_LETTER_DZ 0x01F1 +#define LATIN_CAPITAL_LETTER_D_WITH_SMALL_LETTER_Z 0x01F2 +#define LATIN_SMALL_LETTER_DZ 0x01F3 +#define LATIN_CAPITAL_LETTER_G_WITH_ACUTE 0x01F4 +#define LATIN_SMALL_LETTER_G_WITH_ACUTE 0x01F5 +#define LATIN_CAPITAL_LETTER_HWAIR 0x01F6 +#define LATIN_CAPITAL_LETTER_WYNN 0x01F7 +#define LATIN_CAPITAL_LETTER_N_WITH_GRAVE 0x01F8 +#define LATIN_SMALL_LETTER_N_WITH_GRAVE 0x01F9 +#define LATIN_CAPITAL_LETTER_A_WITH_RING_ABOVE_AND_ACUTE 0x01FA +#define LATIN_SMALL_LETTER_A_WITH_RING_ABOVE_AND_ACUTE 0x01FB +#define LATIN_CAPITAL_LETTER_AE_WITH_ACUTE 0x01FC +#define LATIN_SMALL_LETTER_AE_WITH_ACUTE 0x01FD +#define LATIN_CAPITAL_LETTER_O_WITH_STROKE_AND_ACUTE 0x01FE +#define LATIN_SMALL_LETTER_O_WITH_STROKE_AND_ACUTE 0x01FF +#define LATIN_CAPITAL_LETTER_A_WITH_DOUBLE_GRAVE 0x0200 +#define LATIN_SMALL_LETTER_A_WITH_DOUBLE_GRAVE 0x0201 +#define LATIN_CAPITAL_LETTER_A_WITH_INVERTED_BREVE 0x0202 +#define LATIN_SMALL_LETTER_A_WITH_INVERTED_BREVE 0x0203 +#define LATIN_CAPITAL_LETTER_E_WITH_DOUBLE_GRAVE 0x0204 +#define LATIN_SMALL_LETTER_E_WITH_DOUBLE_GRAVE 0x0205 +#define LATIN_CAPITAL_LETTER_E_WITH_INVERTED_BREVE 0x0206 +#define LATIN_SMALL_LETTER_E_WITH_INVERTED_BREVE 0x0207 +#define LATIN_CAPITAL_LETTER_I_WITH_DOUBLE_GRAVE 0x0208 +#define LATIN_SMALL_LETTER_I_WITH_DOUBLE_GRAVE 0x0209 +#define LATIN_CAPITAL_LETTER_I_WITH_INVERTED_BREVE 0x020A +#define LATIN_SMALL_LETTER_I_WITH_INVERTED_BREVE 0x020B +#define LATIN_CAPITAL_LETTER_O_WITH_DOUBLE_GRAVE 0x020C +#define LATIN_SMALL_LETTER_O_WITH_DOUBLE_GRAVE 0x020D +#define LATIN_CAPITAL_LETTER_O_WITH_INVERTED_BREVE 0x020E +#define LATIN_SMALL_LETTER_O_WITH_INVERTED_BREVE 0x020F +#define LATIN_CAPITAL_LETTER_R_WITH_DOUBLE_GRAVE 0x0210 +#define LATIN_SMALL_LETTER_R_WITH_DOUBLE_GRAVE 0x0211 +#define LATIN_CAPITAL_LETTER_R_WITH_INVERTED_BREVE 0x0212 +#define LATIN_SMALL_LETTER_R_WITH_INVERTED_BREVE 0x0213 +#define LATIN_CAPITAL_LETTER_U_WITH_DOUBLE_GRAVE 0x0214 +#define LATIN_SMALL_LETTER_U_WITH_DOUBLE_GRAVE 0x0215 +#define LATIN_CAPITAL_LETTER_U_WITH_INVERTED_BREVE 0x0216 +#define LATIN_SMALL_LETTER_U_WITH_INVERTED_BREVE 0x0217 +#define LATIN_CAPITAL_LETTER_S_WITH_COMMA_BELOW 0x0218 +#define LATIN_SMALL_LETTER_S_WITH_COMMA_BELOW 0x0219 +#define LATIN_CAPITAL_LETTER_T_WITH_COMMA_BELOW 0x021A +#define LATIN_SMALL_LETTER_T_WITH_COMMA_BELOW 0x021B +#define LATIN_CAPITAL_LETTER_YOGH 0x021C +#define LATIN_SMALL_LETTER_YOGH 0x021D +#define LATIN_CAPITAL_LETTER_H_WITH_CARON 0x021E +#define LATIN_SMALL_LETTER_H_WITH_CARON 0x021F +#define LATIN_CAPITAL_LETTER_OU 0x0222 +#define LATIN_SMALL_LETTER_OU 0x0223 +#define LATIN_CAPITAL_LETTER_Z_WITH_HOOK 0x0224 +#define LATIN_SMALL_LETTER_Z_WITH_HOOK 0x0225 +#define LATIN_CAPITAL_LETTER_A_WITH_DOT_ABOVE 0x0226 +#define LATIN_SMALL_LETTER_A_WITH_DOT_ABOVE 0x0227 +#define LATIN_CAPITAL_LETTER_E_WITH_CEDILLA 0x0228 +#define LATIN_SMALL_LETTER_E_WITH_CEDILLA 0x0229 +#define LATIN_CAPITAL_LETTER_O_WITH_DIAERESIS_AND_MACRON 0x022A +#define LATIN_SMALL_LETTER_O_WITH_DIAERESIS_AND_MACRON 0x022B +#define LATIN_CAPITAL_LETTER_O_WITH_TILDE_AND_MACRON 0x022C +#define LATIN_SMALL_LETTER_O_WITH_TILDE_AND_MACRON 0x022D +#define LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE 0x022E +#define LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE 0x022F +#define LATIN_CAPITAL_LETTER_O_WITH_DOT_ABOVE_AND_MACRON 0x0230 +#define LATIN_SMALL_LETTER_O_WITH_DOT_ABOVE_AND_MACRON 0x0231 +#define LATIN_CAPITAL_LETTER_Y_WITH_MACRON 0x0232 +#define LATIN_SMALL_LETTER_Y_WITH_MACRON 0x0233 + +/* IPA extensions */ +#define LATIN_SMALL_LETTER_TURNED_A 0x0250 +#define LATIN_SMALL_LETTER_ALPHA 0x0251 +#define LATIN_SMALL_LETTER_TURNED_ALPHA 0x0252 +#define LATIN_SMALL_LETTER_B_WITH_HOOK 0x0253 +#define LATIN_SMALL_LETTER_OPEN_O 0x0254 +#define LATIN_SMALL_LETTER_C_WITH_CURL 0x0255 +#define LATIN_SMALL_LETTER_D_WITH_TAIL 0x0256 +#define LATIN_SMALL_LETTER_D_WITH_HOOK 0x0257 +#define LATIN_SMALL_LETTER_REVERSED_E 0x0258 +#define LATIN_SMALL_LETTER_SCHWA 0x0259 +#define LATIN_SMALL_LETTER_SCHWA_WITH_HOOK 0x025A +#define LATIN_SMALL_LETTER_OPEN_E 0x025B +#define LATIN_SMALL_LETTER_REVERSED_OPEN_E 0x025C +#define LATIN_SMALL_LETTER_REVERSED_OPEN_E_WITH_HOOK 0x025D +#define LATIN_SMALL_LETTER_CLOSED_REVERSED_OPEN_E 0x025E +#define LATIN_SMALL_LETTER_DOTLESS_J_WITH_STROKE 0x025F +#define LATIN_SMALL_LETTER_G_WITH_HOOK 0x0260 +#define LATIN_SMALL_LETTER_SCRIPT_G 0x0261 +#define LATIN_LETTER_SMALL_CAPITAL_G 0x0262 +#define LATIN_SMALL_LETTER_GAMMA 0x0263 +#define LATIN_SMALL_LETTER_RAMS_HORN 0x0264 +#define LATIN_SMALL_LETTER_TURNED_H 0x0265 +#define LATIN_SMALL_LETTER_H_WITH_HOOK 0x0266 +#define LATIN_SMALL_LETTER_HENG_WITH_HOOK 0x0267 +#define LATIN_SMALL_LETTER_I_WITH_STROKE 0x0268 +#define LATIN_SMALL_LETTER_IOTA 0x0269 +#define LATIN_LETTER_SMALL_CAPITAL_I 0x026A +#define LATIN_SMALL_LETTER_L_WITH_MIDDLE_TILDE 0x026B +#define LATIN_SMALL_LETTER_L_WITH_BELT 0x026C +#define LATIN_SMALL_LETTER_L_WITH_RETROFLEX_HOOK 0x026D +#define LATIN_SMALL_LETTER_LEZH 0x026E +#define LATIN_SMALL_LETTER_TURNED_M 0x026F +#define LATIN_SMALL_LETTER_TURNED_M_WITH_LONG_LEG 0x0270 +#define LATIN_SMALL_LETTER_M_WITH_HOOK 0x0271 +#define LATIN_SMALL_LETTER_N_WITH_LEFT_HOOK 0x0272 +#define LATIN_SMALL_LETTER_N_WITH_RETROFLEX_HOOK 0x0273 +#define LATIN_LETTER_SMALL_CAPITAL_N 0x0274 +#define LATIN_SMALL_LETTER_BARRED_O 0x0275 +#define LATIN_LETTER_SMALL_CAPITAL_OE 0x0276 +#define LATIN_SMALL_LETTER_CLOSED_OMEGA 0x0277 +#define LATIN_SMALL_LETTER_PHI 0x0278 +#define LATIN_SMALL_LETTER_TURNED_R 0x0279 +#define LATIN_SMALL_LETTER_TURNED_R_WITH_LONG_LEG 0x027A +#define LATIN_SMALL_LETTER_TURNED_R_WITH_HOOK 0x027B +#define LATIN_SMALL_LETTER_R_WITH_LONG_LEG 0x027C +#define LATIN_SMALL_LETTER_R_WITH_TAIL 0x027D +#define LATIN_SMALL_LETTER_R_WITH_FISHHOOK 0x027E +#define LATIN_SMALL_LETTER_REVERSED_R_WITH_FISHHOOK 0x027F +#define LATIN_LETTER_SMALL_CAPITAL_R 0x0280 +#define LATIN_LETTER_SMALL_CAPITAL_INVERTED_R 0x0281 +#define LATIN_SMALL_LETTER_S_WITH_HOOK 0x0282 +#define LATIN_SMALL_LETTER_ESH 0x0283 +#define LATIN_SMALL_LETTER_DOTLESS_J_WITH_STROKE_AND_HOOK 0x0284 +#define LATIN_SMALL_LETTER_SQUAT_REVERSED_ESH 0x0285 +#define LATIN_SMALL_LETTER_ESH_WITH_CURL 0x0286 +#define LATIN_SMALL_LETTER_TURNED_T 0x0287 +#define LATIN_SMALL_LETTER_T_WITH_RETROFLEX_HOOK 0x0288 +#define LATIN_SMALL_LETTER_U_BAR 0x0289 +#define LATIN_SMALL_LETTER_UPSILON 0x028A +#define LATIN_SMALL_LETTER_V_WITH_HOOK 0x028B +#define LATIN_SMALL_LETTER_TURNED_V 0x028C +#define LATIN_SMALL_LETTER_TURNED_W 0x028D +#define LATIN_SMALL_LETTER_TURNED_Y 0x028E +#define LATIN_LETTER_SMALL_CAPITAL_Y 0x028F +#define LATIN_SMALL_LETTER_Z_WITH_RETROFLEX_HOOK 0x0290 +#define LATIN_SMALL_LETTER_Z_WITH_CURL 0x0291 +#define LATIN_SMALL_LETTER_EZH 0x0292 +#define LATIN_SMALL_LETTER_EZH_WITH_CURL 0x0293 +#define LATIN_LETTER_GLOTTAL_STOP 0x0294 +#define LATIN_LETTER_PHARYNGEAL_VOICED_FRICATIVE 0x0295 +#define LATIN_LETTER_INVERTED_GLOTTAL_STOP 0x0296 +#define LATIN_LETTER_STRETCHED_C 0x0297 +#define LATIN_LETTER_BILABIAL_CLICK 0x0298 +#define LATIN_LETTER_SMALL_CAPITAL_B 0x0299 +#define LATIN_SMALL_LETTER_CLOSED_OPEN_E 0x029A +#define LATIN_LETTER_SMALL_CAPITAL_G_WITH_HOOK 0x029B +#define LATIN_LETTER_SMALL_CAPITAL_H 0x029C +#define LATIN_SMALL_LETTER_J_WITH_CROSSED_TAIL 0x029D +#define LATIN_SMALL_LETTER_TURNED_K 0x029E +#define LATIN_LETTER_SMALL_CAPITAL_L 0x029F +#define LATIN_SMALL_LETTER_Q_WITH_HOOK 0x02A0 +#define LATIN_LETTER_GLOTTAL_STOP_WITH_STROKE 0x02A1 +#define LATIN_LETTER_REVERSED_GLOTTAL_STOP_WITH_STROKE 0x02A2 +#define LATIN_SMALL_LETTER_DZ_DIGRAPH 0x02A3 +#define LATIN_SMALL_LETTER_DEZH_DIGRAPH 0x02A4 +#define LATIN_SMALL_LETTER_DZ_DIGRAPH_WITH_CURL 0x02A5 +#define LATIN_SMALL_LETTER_TS_DIGRAPH 0x02A6 +#define LATIN_SMALL_LETTER_TESH_DIGRAPH 0x02A7 +#define LATIN_SMALL_LETTER_TC_DIGRAPH_WITH_CURL 0x02A8 +#define LATIN_SMALL_LETTER_FENG_DIGRAPH 0x02A9 +#define LATIN_SMALL_LETTER_LS_DIGRAPH 0x02AA +#define LATIN_SMALL_LETTER_LZ_DIGRAPH 0x02AB +#define LATIN_LETTER_BILABIAL_PERCUSSIVE 0x02AC +#define LATIN_LETTER_BIDENTAL_PERCUSSIVE 0x02AD + +/* spacing modifier letters */ +#define MODIFIER_LETTER_SMALL_H 0x02B0 +#define MODIFIER_LETTER_SMALL_H_WITH_HOOK 0x02B1 +#define MODIFIER_LETTER_SMALL_J 0x02B2 +#define MODIFIER_LETTER_SMALL_R 0x02B3 +#define MODIFIER_LETTER_SMALL_TURNED_R 0x02B4 +#define MODIFIER_LETTER_SMALL_TURNED_R_WITH_HOOK 0x02B5 +#define MODIFIER_LETTER_SMALL_CAPITAL_INVERTED_R 0x02B6 +#define MODIFIER_LETTER_SMALL_W 0x02B7 +#define MODIFIER_LETTER_SMALL_Y 0x02B8 +#define MODIFIER_LETTER_PRIME 0x02B9 +#define MODIFIER_LETTER_DOUBLE_PRIME 0x02BA +#define MODIFIER_LETTER_TURNED_COMMA 0x02BB +#define MODIFIER_LETTER_APOSTROPHE 0x02BC +#define MODIFIER_LETTER_REVERSED_COMMA 0x02BD +#define MODIFIER_LETTER_RIGHT_HALF_RING 0x02BE +#define MODIFIER_LETTER_LEFT_HALF_RING 0x02BF +#define MODIFIER_LETTER_GLOTTAL_STOP 0x02C0 +#define MODIFIER_LETTER_REVERSED_GLOTTAL_STOP 0x02C1 +#define MODIFIER_LETTER_LEFT_ARROWHEAD 0x02C2 +#define MODIFIER_LETTER_RIGHT_ARROWHEAD 0x02C3 +#define MODIFIER_LETTER_UP_ARROWHEAD 0x02C4 +#define MODIFIER_LETTER_DOWN_ARROWHEAD 0x02C5 +#define MODIFIER_LETTER_CIRCUMFLEX_ACCENT 0x02C6 +#define CARON 0x02C7 +#define MODIFIER_LETTER_VERTICAL_LINE 0x02C8 +#define MODIFIER_LETTER_MACRON 0x02C9 +#define MODIFIER_LETTER_ACUTE_ACCENT 0x02CA +#define MODIFIER_LETTER_GRAVE_ACCENT 0x02CB +#define MODIFIER_LETTER_LOW_VERTICAL_LINE 0x02CC +#define MODIFIER_LETTER_LOW_MACRON 0x02CD +#define MODIFIER_LETTER_LOW_GRAVE_ACCENT 0x02CE +#define MODIFIER_LETTER_LOW_ACUTE_ACCENT 0x02CF +#define MODIFIER_LETTER_TRIANGULAR_COLON 0x02D0 +#define MODIFIER_LETTER_HALF_TRIANGULAR_COLON 0x02D1 +#define MODIFIER_LETTER_CENTRED_RIGHT_HALF_RING 0x02D2 +#define MODIFIER_LETTER_CENTRED_LEFT_HALF_RING 0x02D3 +#define MODIFIER_LETTER_UP_TACK 0x02D4 +#define MODIFIER_LETTER_DOWN_TACK 0x02D5 +#define MODIFIER_LETTER_PLUS_SIGN 0x02D6 +#define MODIFIER_LETTER_MINUS_SIGN 0x02D7 +#define BREVE 0x02D8 +#define DOT_ABOVE 0x02D9 +#define RING_ABOVE 0x02DA +#define OGONEK 0x02DB +#define SMALL_TILDE 0x02DC +#define DOUBLE_ACUTE_ACCENT 0x02DD +#define MODIFIER_LETTER_RHOTIC_HOOK 0x02DE +#define MODIFIER_LETTER_CROSS_ACCENT 0x02DF +#define MODIFIER_LETTER_SMALL_GAMMA 0x02E0 +#define MODIFIER_LETTER_SMALL_L 0x02E1 +#define MODIFIER_LETTER_SMALL_S 0x02E2 +#define MODIFIER_LETTER_SMALL_X 0x02E3 +#define MODIFIER_LETTER_SMALL_REVERSED_GLOTTAL_STOP 0x02E4 +#define MODIFIER_LETTER_EXTRA_HIGH_TONE_BAR 0x02E5 +#define MODIFIER_LETTER_HIGH_TONE_BAR 0x02E6 +#define MODIFIER_LETTER_MID_TONE_BAR 0x02E7 +#define MODIFIER_LETTER_LOW_TONE_BAR 0x02E8 +#define MODIFIER_LETTER_EXTRA_LOW_TONE_BAR 0x02E9 +#define MODIFIER_LETTER_YIN_DEPARTING_TONE_MARK 0x02EA +#define MODIFIER_LETTER_YANG_DEPARTING_TONE_MARK 0x02EB +#define MODIFIER_LETTER_VOICING 0x02EC +#define MODIFIER_LETTER_UNASPIRATED 0x02ED +#define MODIFIER_LETTER_DOUBLE_APOSTROPHE 0x02EE + +/* combining diacritical marks */ +#define COMBINING_GRAVE_ACCENT 0x0300 +#define COMBINING_ACUTE_ACCENT 0x0301 +#define COMBINING_CIRCUMFLEX_ACCENT 0x0302 +#define COMBINING_TILDE 0x0303 +#define COMBINING_MACRON 0x0304 +#define COMBINING_OVERLINE 0x0305 +#define COMBINING_BREVE 0x0306 +#define COMBINING_DOT_ABOVE 0x0307 +#define COMBINING_DIAERESIS 0x0308 +#define COMBINING_HOOK_ABOVE 0x0309 +#define COMBINING_RING_ABOVE 0x030A +#define COMBINING_DOUBLE_ACUTE_ACCENT 0x030B +#define COMBINING_CARON 0x030C +#define COMBINING_VERTICAL_LINE_ABOVE 0x030D +#define COMBINING_DOUBLE_VERTICAL_LINE_ABOVE 0x030E +#define COMBINING_DOUBLE_GRAVE_ACCENT 0x030F +#define COMBINING_CANDRABINDU 0x0310 +#define COMBINING_INVERTED_BREVE 0x0311 +#define COMBINING_TURNED_COMMA_ABOVE 0x0312 +#define COMBINING_COMMA_ABOVE 0x0313 +#define COMBINING_REVERSED_COMMA_ABOVE 0x0314 +#define COMBINING_COMMA_ABOVE_RIGHT 0x0315 +#define COMBINING_GRAVE_ACCENT_BELOW 0x0316 +#define COMBINING_ACUTE_ACCENT_BELOW 0x0317 +#define COMBINING_LEFT_TACK_BELOW 0x0318 +#define COMBINING_RIGHT_TACK_BELOW 0x0319 +#define COMBINING_LEFT_ANGLE_ABOVE 0x031A +#define COMBINING_HORN 0x031B +#define COMBINING_LEFT_HALF_RING_BELOW 0x031C +#define COMBINING_UP_TACK_BELOW 0x031D +#define COMBINING_DOWN_TACK_BELOW 0x031E +#define COMBINING_PLUS_SIGN_BELOW 0x031F +#define COMBINING_MINUS_SIGN_BELOW 0x0320 +#define COMBINING_PALATALIZED_HOOK_BELOW 0x0321 +#define COMBINING_RETROFLEX_HOOK_BELOW 0x0322 +#define COMBINING_DOT_BELOW 0x0323 +#define COMBINING_DIAERESIS_BELOW 0x0324 +#define COMBINING_RING_BELOW 0x0325 +#define COMBINING_COMMA_BELOW 0x0326 +#define COMBINING_CEDILLA 0x0327 +#define COMBINING_OGONEK 0x0328 +#define COMBINING_VERTICAL_LINE_BELOW 0x0329 +#define COMBINING_BRIDGE_BELOW 0x032A +#define COMBINING_INVERTED_DOUBLE_ARCH_BELOW 0x032B +#define COMBINING_CARON_BELOW 0x032C +#define COMBINING_CIRCUMFLEX_ACCENT_BELOW 0x032D +#define COMBINING_BREVE_BELOW 0x032E +#define COMBINING_INVERTED_BREVE_BELOW 0x032F +#define COMBINING_TILDE_BELOW 0x0330 +#define COMBINING_MACRON_BELOW 0x0331 +#define COMBINING_LOW_LINE 0x0332 +#define COMBINING_DOUBLE_LOW_LINE 0x0333 +#define COMBINING_TILDE_OVERLAY 0x0334 +#define COMBINING_SHORT_STROKE_OVERLAY 0x0335 +#define COMBINING_LONG_STROKE_OVERLAY 0x0336 +#define COMBINING_SHORT_SOLIDUS_OVERLAY 0x0337 +#define COMBINING_LONG_SOLIDUS_OVERLAY 0x0338 +#define COMBINING_RIGHT_HALF_RING_BELOW 0x0339 +#define COMBINING_INVERTED_BRIDGE_BELOW 0x033A +#define COMBINING_SQUARE_BELOW 0x033B +#define COMBINING_SEAGULL_BELOW 0x033C +#define COMBINING_X_ABOVE 0x033D +#define COMBINING_VERTICAL_TILDE 0x033E +#define COMBINING_DOUBLE_OVERLINE 0x033F +#define COMBINING_GRAVE_TONE_MARK 0x0340 +#define COMBINING_ACUTE_TONE_MARK 0x0341 +#define COMBINING_GREEK_PERISPOMENI 0x0342 +#define COMBINING_GREEK_KORONIS 0x0343 +#define COMBINING_GREEK_DIALYTIKA_TONOS 0x0344 +#define COMBINING_GREEK_YPOGEGRAMMENI 0x0345 +#define COMBINING_BRIDGE_ABOVE 0x0346 +#define COMBINING_EQUALS_SIGN_BELOW 0x0347 +#define COMBINING_DOUBLE_VERTICAL_LINE_BELOW 0x0348 +#define COMBINING_LEFT_ANGLE_BELOW 0x0349 +#define COMBINING_NOT_TILDE_ABOVE 0x034A +#define COMBINING_HOMOTHETIC_ABOVE 0x034B +#define COMBINING_ALMOST_EQUAL_TO_ABOVE 0x034C +#define COMBINING_LEFT_RIGHT_ARROW_BELOW 0x034D +#define COMBINING_UPWARDS_ARROW_BELOW 0x034E +#define COMBINING_DOUBLE_TILDE 0x0360 +#define COMBINING_DOUBLE_INVERTED_BREVE 0x0361 +#define COMBINING_DOUBLE_RIGHTWARDS_ARROW_BELOW 0x0362 + +/* greek letters */ +#define GREEK_NUMERAL_SIGN 0x0374 +#define GREEK_LOWER_NUMERAL_SIGN 0x0375 +#define GREEK_YPOGEGRAMMENI 0x037A +#define GREEK_QUESTION_MARK 0x037E +#define GREEK_TONOS 0x0384 +#define GREEK_DIALYTIKA_TONOS 0x0385 +#define GREEK_CAPITAL_LETTER_ALPHA_WITH_TONOS 0x0386 +#define GREEK_ANO_TELEIA 0x0387 +#define GREEK_CAPITAL_LETTER_EPSILON_WITH_TONOS 0x0388 +#define GREEK_CAPITAL_LETTER_ETA_WITH_TONOS 0x0389 +#define GREEK_CAPITAL_LETTER_IOTA_WITH_TONOS 0x038A +#define GREEK_CAPITAL_LETTER_OMICRON_WITH_TONOS 0x038C +#define GREEK_CAPITAL_LETTER_UPSILON_WITH_TONOS 0x038E +#define GREEK_CAPITAL_LETTER_OMEGA_WITH_TONOS 0x038F +#define GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA_AND_TONOS 0x0390 +#define GREEK_CAPITAL_LETTER_ALPHA 0x0391 +#define GREEK_CAPITAL_LETTER_BETA 0x0392 +#define GREEK_CAPITAL_LETTER_GAMMA 0x0393 +#define GREEK_CAPITAL_LETTER_DELTA 0x0394 +#define GREEK_CAPITAL_LETTER_EPSILON 0x0395 +#define GREEK_CAPITAL_LETTER_ZETA 0x0396 +#define GREEK_CAPITAL_LETTER_ETA 0x0397 +#define GREEK_CAPITAL_LETTER_THETA 0x0398 +#define GREEK_CAPITAL_LETTER_IOTA 0x0399 +#define GREEK_CAPITAL_LETTER_KAPPA 0x039A +#define GREEK_CAPITAL_LETTER_LAMDA 0x039B +#define GREEK_CAPITAL_LETTER_MU 0x039C +#define GREEK_CAPITAL_LETTER_NU 0x039D +#define GREEK_CAPITAL_LETTER_XI 0x039E +#define GREEK_CAPITAL_LETTER_OMICRON 0x039F +#define GREEK_CAPITAL_LETTER_PI 0x03A0 +#define GREEK_CAPITAL_LETTER_RHO 0x03A1 +#define GREEK_CAPITAL_LETTER_SIGMA 0x03A3 +#define GREEK_CAPITAL_LETTER_TAU 0x03A4 +#define GREEK_CAPITAL_LETTER_UPSILON 0x03A5 +#define GREEK_CAPITAL_LETTER_PHI 0x03A6 +#define GREEK_CAPITAL_LETTER_CHI 0x03A7 +#define GREEK_CAPITAL_LETTER_PSI 0x03A8 +#define GREEK_CAPITAL_LETTER_OMEGA 0x03A9 +#define GREEK_CAPITAL_LETTER_IOTA_WITH_DIALYTIKA 0x03AA +#define GREEK_CAPITAL_LETTER_UPSILON_WITH_DIALYTIKA 0x03AB +#define GREEK_SMALL_LETTER_ALPHA_WITH_TONOS 0x03AC +#define GREEK_SMALL_LETTER_EPSILON_WITH_TONOS 0x03AD +#define GREEK_SMALL_LETTER_ETA_WITH_TONOS 0x03AE +#define GREEK_SMALL_LETTER_IOTA_WITH_TONOS 0x03AF +#define GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA_AND_TONOS 0x03B0 +#define GREEK_SMALL_LETTER_ALPHA 0x03B1 +#define GREEK_SMALL_LETTER_BETA 0x03B2 +#define GREEK_SMALL_LETTER_GAMMA 0x03B3 +#define GREEK_SMALL_LETTER_DELTA 0x03B4 +#define GREEK_SMALL_LETTER_EPSILON 0x03B5 +#define GREEK_SMALL_LETTER_ZETA 0x03B6 +#define GREEK_SMALL_LETTER_ETA 0x03B7 +#define GREEK_SMALL_LETTER_THETA 0x03B8 +#define GREEK_SMALL_LETTER_IOTA 0x03B9 +#define GREEK_SMALL_LETTER_KAPPA 0x03BA +#define GREEK_SMALL_LETTER_LAMDA 0x03BB +#define GREEK_SMALL_LETTER_MU 0x03BC +#define GREEK_SMALL_LETTER_NU 0x03BD +#define GREEK_SMALL_LETTER_XI 0x03BE +#define GREEK_SMALL_LETTER_OMICRON 0x03BF +#define GREEK_SMALL_LETTER_PI 0x03C0 +#define GREEK_SMALL_LETTER_RHO 0x03C1 +#define GREEK_SMALL_LETTER_FINAL_SIGMA 0x03C2 +#define GREEK_SMALL_LETTER_SIGMA 0x03C3 +#define GREEK_SMALL_LETTER_TAU 0x03C4 +#define GREEK_SMALL_LETTER_UPSILON 0x03C5 +#define GREEK_SMALL_LETTER_PHI 0x03C6 +#define GREEK_SMALL_LETTER_CHI 0x03C7 +#define GREEK_SMALL_LETTER_PSI 0x03C8 +#define GREEK_SMALL_LETTER_OMEGA 0x03C9 +#define GREEK_SMALL_LETTER_IOTA_WITH_DIALYTIKA 0x03CA +#define GREEK_SMALL_LETTER_UPSILON_WITH_DIALYTIKA 0x03CB +#define GREEK_SMALL_LETTER_OMICRON_WITH_TONOS 0x03CC +#define GREEK_SMALL_LETTER_UPSILON_WITH_TONOS 0x03CD +#define GREEK_SMALL_LETTER_OMEGA_WITH_TONOS 0x03CE +#define GREEK_BETA_SYMBOL 0x03D0 +#define GREEK_THETA_SYMBOL 0x03D1 +#define GREEK_UPSILON_WITH_HOOK_SYMBOL 0x03D2 +#define GREEK_UPSILON_WITH_ACUTE_AND_HOOK_SYMBOL 0x03D3 +#define GREEK_UPSILON_WITH_DIAERESIS_AND_HOOK_SYMBOL 0x03D4 +#define GREEK_PHI_SYMBOL 0x03D5 +#define GREEK_PI_SYMBOL 0x03D6 +#define GREEK_KAI_SYMBOL 0x03D7 +#define GREEK_LETTER_STIGMA 0x03DA +#define GREEK_SMALL_LETTER_STIGMA 0x03DB +#define GREEK_LETTER_DIGAMMA 0x03DC +#define GREEK_SMALL_LETTER_DIGAMMA 0x03DD +#define GREEK_LETTER_KOPPA 0x03DE +#define GREEK_SMALL_LETTER_KOPPA 0x03DF +#define GREEK_LETTER_SAMPI 0x03E0 +#define GREEK_SMALL_LETTER_SAMPI 0x03E1 + +/* general punctuation (partial) */ +#define HYPHEN 0x2010 +#define NON_BREAKING_HYPHEN 0x2011 +#define FIGURE_DASH 0x2012 +#define EN_DASH 0x2013 +#define EM_DASH 0x2014 +#define HORIZONTAL_BAR 0x2015 +#define LEFT_SINGLE_QUOTATION_MARK 0x2018 +#define RIGHT_SINGLE_QUOTATION_MARK 0x2019 +#define SINGLE_LOW_9_QUOTATION_MARK 0x201A +#define SINGLE_HIGH_REVERSED_9_QUOTATION_MARK 0x201B +#define LEFT_DOUBLE_QUOTATION_MARK 0x201C +#define RIGHT_DOUBLE_QUOTATION_MARK 0x201D +#define DOUBLE_LOW_9_QUOTATION_MARK 0x201E +#define DOUBLE_HIGH_REVERSED_9_QUOTATION_MARK 0x201F +#define DAGGER 0x2020 +#define DOUBLE_DAGGER 0x2021 +#define BULLET 0x2022 +#define TRIANGULAR_BULLET 0x2023 +#define HYPHENATION_POINT 0x2027 +#define HORIZONTAL_ELLIPSIS 0x2026 +#define PER_MILLE_SIGN 0x2030 +#define SINGLE_LEFT_POINTING_ANGLE_QUOTATION_MARK 0x2039 +#define SINGLE_RIGHT_POINTING_ANGLE_QUOTATION_MARK 0x203A +#define EURO_CURRENCY_SIGN 0x20AC + +/* mathematical operators */ +#define FOR_ALL 0x2200 +#define COMPLEMENT 0x2201 +#define PARTIAL_DIFFERENTIAL 0x2202 +#define THERE_EXISTS 0x2203 +#define THERE_DOES_NOT_EXIST 0x2204 +#define EMPTY_SET 0x2205 +#define INCREMENT 0x2206 +#define NABLA 0x2207 +#define ELEMENT_OF 0x2208 +#define NOT_AN_ELEMENT_OF 0x2209 +#define SMALL_ELEMENT_OF 0x220A +#define CONTAINS_AS_MEMBER 0x220B +#define DOES_NOT_CONTAIN_AS_MEMBER 0x220C +#define SMALL_CONTAINS_AS_MEMBER 0x220D +#define END_OF_PROOF 0x220E +#define N_ARY_PRODUCT 0x220F +#define N_ARY_COPRODUCT 0x2210 +#define N_ARY_SUMMATION 0x2211 +#define MINUS_SIGN 0x2212 +#define MINUS_OR_PLUS_SIGN 0x2213 +#define DOT_PLUS 0x2214 +#define DIVISION_SLASH 0x2215 +#define SET_MINUS 0x2216 +#define ASTERISK_OPERATOR 0x2217 +#define RING_OPERATOR 0x2218 +#define BULLET_OPERATOR 0x2219 +#define SQUARE_ROOT 0x221A +#define CUBE_ROOT 0x221B +#define FOURTH_ROOT 0x221C +#define PROPORTIONAL_TO 0x221D +/* INFINITY conflicts with math.h */ +#define INFINITY 0x221E +#define RIGHT_ANGLE 0x221F +#define ANGLE 0x2220 +#define MEASURED_ANGLE 0x2221 +#define SPHERICAL_ANGLE 0x2222 +#define DIVIDES 0x2223 +#define DOES_NOT_DIVIDE 0x2224 +#define PARALLEL_TO 0x2225 +#define NOT_PARALLEL_TO 0x2226 +#define LOGICAL_AND 0x2227 +#define LOGICAL_OR 0x2228 +#define INTERSECTION 0x2229 +#define UNION 0x222A +#define INTEGRAL 0x222B +#define DOUBLE_INTEGRAL 0x222C +#define TRIPLE_INTEGRAL 0x222D +#define CONTOUR_INTEGRAL 0x222E +#define SURFACE_INTEGRAL 0x222F +#define VOLUME_INTEGRAL 0x2230 +#define CLOCKWISE_INTEGRAL 0x2231 +#define CLOCKWISE_CONTOUR_INTEGRAL 0x2232 +#define ANTICLOCKWISE_CONTOUR_INTEGRAL 0x2233 +#define THEREFORE 0x2234 +#define BECAUSE 0x2235 +#define RATIO 0x2236 +#define PROPORTION 0x2237 +#define DOT_MINUS 0x2238 +#define EXCESS 0x2239 +#define GEOMETRIC_PROPORTION 0x223A +#define HOMOTHETIC 0x223B +#define TILDE_OPERATOR 0x223C +#define REVERSED_TILDE 0x223D +#define INVERTED_LAZY_S 0x223E +#define SINE_WAVE 0x223F +#define WREATH_PRODUCT 0x2240 +#define NOT_TILDE 0x2241 +#define MINUS_TILDE 0x2242 +#define ASYMPTOTICALLY_EQUAL_TO 0x2243 +#define NOT_ASYMPTOTICALLY_EQUAL_TO 0x2244 +#define APPROXIMATELY_EQUAL_TO 0x2245 +#define APPROXIMATELY_BUT_NOT_ACTUALLY_EQUAL_TO 0x2246 +#define NEITHER_APPROXIMATELY_NOR_ACTUALLY_EQUAL_TO 0x2247 +#define ALMOST_EQUAL_TO 0x2248 +#define NOT_ALMOST_EQUAL_TO 0x2249 +#define ALMOST_EQUAL_OR_EQUAL_TO 0x224A +#define TRIPLE_TILDE 0x224B +#define ALL_EQUAL_TO 0x224C +#define EQUIVALENT_TO 0x224D +#define GEOMETRICALLY_EQUIVALENT_TO 0x224E +#define DIFFERENCE_BETWEEN 0x224F +#define APPROACHES_THE_LIMIT 0x2250 +#define GEOMETRICALLY_EQUAL_TO 0x2251 +#define APPROXIMATELY_EQUAL_TO_OR_THE_IMAGE_OF 0x2252 +#define IMAGE_OF_OR_APPROXIMATELY_EQUAL_TO 0x2253 +#define COLON_EQUALS 0x2254 +#define EQUALS_COLON 0x2255 +#define RING_IN_EQUAL_TO 0x2256 +#define RING_EQUAL_TO 0x2257 +#define CORRESPONDS_TO 0x2258 +#define ESTIMATES 0x2259 +#define EQUIANGULAR_TO 0x225A +#define STAR_EQUALS 0x225B +#define DELTA_EQUAL_TO 0x225C +#define EQUAL_TO_BY_DEFINITION 0x225D +#define MEASURED_BY 0x225E +#define QUESTIONED_EQUAL_TO 0x225F +#define NOT_EQUAL_TO 0x2260 +#define IDENTICAL_TO 0x2261 +#define NOT_IDENTICAL_TO 0x2262 +#define STRICTLY_EQUIVALENT_TO 0x2263 +#define LESS_THAN_OR_EQUAL_TO 0x2264 +#define GREATER_THAN_OR_EQUAL_TO 0x2265 +#define LESS_THAN_OVER_EQUAL_TO 0x2266 +#define GREATER_THAN_OVER_EQUAL_TO 0x2267 +#define LESS_THAN_BUT_NOT_EQUAL_TO 0x2268 +#define GREATER_THAN_BUT_NOT_EQUAL_TO 0x2269 +#define MUCH_LESS_THAN 0x226A +#define MUCH_GREATER_THAN 0x226B +#define BETWEEN 0x226C +#define NOT_EQUIVALENT_TO 0x226D +#define NOT_LESS_THAN 0x226E +#define NOT_GREATER_THAN 0x226F +#define NEITHER_LESS_THAN_NOR_EQUAL_TO 0x2270 +#define NEITHER_GREATER_THAN_NOR_EQUAL_TO 0x2271 +#define LESS_THAN_OR_EQUIVALENT_TO 0x2272 +#define GREATER_THAN_OR_EQUIVALENT_TO 0x2273 +#define NEITHER_LESS_THAN_NOR_EQUIVALENT_TO 0x2274 +#define NEITHER_GREATER_THAN_NOR_EQUIVALENT_TO 0x2275 +#define LESS_THAN_OR_GREATER_THAN 0x2276 +#define GREATER_THAN_OR_LESS_THAN 0x2277 +#define NEITHER_LESS_THAN_NOR_GREATER_THAN 0x2278 +#define NEITHER_GREATER_THAN_NOR_LESS_THAN 0x2279 +#define PRECEDES 0x227A +#define SUCCEEDS 0x227B +#define PRECEDES_OR_EQUAL_TO 0x227C +#define SUCCEEDS_OR_EQUAL_TO 0x227D +#define PRECEDES_OR_EQUIVALENT_TO 0x227E +#define SUCCEEDS_OR_EQUIVALENT_TO 0x227F +#define DOES_NOT_PRECEDE 0x2280 +#define DOES_NOT_SUCCEED 0x2281 +#define SUBSET_OF 0x2282 +#define SUPERSET_OF 0x2283 +#define NOT_A_SUBSET_OF 0x2284 +#define NOT_A_SUPERSET_OF 0x2285 +#define SUBSET_OF_OR_EQUAL_TO 0x2286 +#define SUPERSET_OF_OR_EQUAL_TO 0x2287 +#define NEITHER_A_SUBSET_OF_NOR_EQUAL_TO 0x2288 +#define NEITHER_A_SUPERSET_OF_NOR_EQUAL_TO 0x2289 +#define SUBSET_OF_WITH_NOT_EQUAL_TO 0x228A +#define SUPERSET_OF_WITH_NOT_EQUAL_TO 0x228B +#define MULTISET 0x228C +#define MULTISET_MULTIPLICATION 0x228D +#define MULTISET_UNION 0x228E +#define SQUARE_IMAGE_OF 0x228F +#define SQUARE_ORIGINAL_OF 0x2290 +#define SQUARE_IMAGE_OF_OR_EQUAL_TO 0x2291 +#define SQUARE_ORIGINAL_OF_OR_EQUAL_TO 0x2292 +#define SQUARE_CAP 0x2293 +#define SQUARE_CUP 0x2294 +#define CIRCLED_PLUS 0x2295 +#define CIRCLED_MINUS 0x2296 +#define CIRCLED_TIMES 0x2297 +#define CIRCLED_DIVISION_SLASH 0x2298 +#define CIRCLED_DOT_OPERATOR 0x2299 +#define CIRCLED_RING_OPERATOR 0x229A +#define CIRCLED_ASTERISK_OPERATOR 0x229B +#define CIRCLED_EQUALS 0x229C +#define CIRCLED_DASH 0x229D +#define SQUARED_PLUS 0x229E +#define SQUARED_MINUS 0x229F +#define SQUARED_TIMES 0x22A0 +#define SQUARED_DOT_OPERATOR 0x22A1 +#define RIGHT_TACK 0x22A2 +#define LEFT_TACK 0x22A3 +#define DOWN_TACK 0x22A4 +#define UP_TACK 0x22A5 +#define ASSERTION 0x22A6 +#define MODELS 0x22A7 +#define TRUE 0x22A8 +#define FORCES 0x22A9 +#define TRIPLE_VERTICAL_BAR_RIGHT_TURNSTILE 0x22AA +#define DOUBLE_VERTICAL_BAR_DOUBLE_RIGHT_TURNSTILE 0x22AB +#define DOES_NOT_PROVE 0x22AC +#define NOT_TRUE 0x22AD +#define DOES_NOT_FORCE 0x22AE +#define NEGATED_DOUBLE_VERTICAL_BAR_DOUBLE_RIGHT_TURNSTILE 0x22AF +#define PRECEDES_UNDER_RELATION 0x22B0 +#define SUCCEEDS_UNDER_RELATION 0x22B1 +#define NORMAL_SUBGROUP_OF 0x22B2 +#define CONTAINS_AS_NORMAL_SUBGROUP 0x22B3 +#define NORMAL_SUBGROUP_OF_OR_EQUAL_TO 0x22B4 +#define CONTAINS_AS_NORMAL_SUBGROUP_OR_EQUAL_TO 0x22B5 +#define ORIGINAL_OF 0x22B6 +#define IMAGE_OF 0x22B7 +#define MULTIMAP 0x22B8 +#define HERMITIAN_CONJUGATE_MATRIX 0x22B9 +#define INTERCALATE 0x22BA +#define XOR 0x22BB +#define NAND 0x22BC +#define NOR 0x22BD +#define RIGHT_ANGLE_WITH_ARC 0x22BE +#define RIGHT_TRIANGLE 0x22BF +#define N_ARY_LOGICAL_AND 0x22C0 +#define N_ARY_LOGICAL_OR 0x22C1 +#define N_ARY_INTERSECTION 0x22C2 +#define N_ARY_UNION 0x22C3 +#define DIAMOND_OPERATOR 0x22C4 +#define DOT_OPERATOR 0x22C5 +#define STAR_OPERATOR 0x22C6 +#define DIVISION_TIMES 0x22C7 +#define BOWTIE 0x22C8 +#define LEFT_NORMAL_FACTOR_SEMIDIRECT_PRODUCT 0x22C9 +#define RIGHT_NORMAL_FACTOR_SEMIDIRECT_PRODUCT 0x22CA +#define LEFT_SEMIDIRECT_PRODUCT 0x22CB +#define RIGHT_SEMIDIRECT_PRODUCT 0x22CC +#define REVERSED_TILDE_EQUALS 0x22CD +#define CURLY_LOGICAL_OR 0x22CE +#define CURLY_LOGICAL_AND 0x22CF +#define DOUBLE_SUBSET 0x22D0 +#define DOUBLE_SUPERSET 0x22D1 +#define DOUBLE_INTERSECTION 0x22D2 +#define DOUBLE_UNION 0x22D3 +#define PITCHFORK 0x22D4 +#define EQUAL_AND_PARALLEL_TO 0x22D5 +#define LESS_THAN_WITH_DOT 0x22D6 +#define GREATER_THAN_WITH_DOT 0x22D7 +#define VERY_MUCH_LESS_THAN 0x22D8 +#define VERY_MUCH_GREATER_THAN 0x22D9 +#define LESS_THAN_EQUAL_TO_OR_GREATER_THAN 0x22DA +#define GREATER_THAN_EQUAL_TO_OR_LESS_THAN 0x22DB +#define EQUAL_TO_OR_LESS_THAN 0x22DC +#define EQUAL_TO_OR_GREATER_THAN 0x22DD +#define EQUAL_TO_OR_PRECEDES 0x22DE +#define EQUAL_TO_OR_SUCCEEDS 0x22DF +#define DOES_NOT_PRECEDE_OR_EQUAL 0x22E0 +#define DOES_NOT_SUCCEED_OR_EQUAL 0x22E1 +#define NOT_SQUARE_IMAGE_OF_OR_EQUAL_TO 0x22E2 +#define NOT_SQUARE_ORIGINAL_OF_OR_EQUAL_TO 0x22E3 +#define SQUARE_IMAGE_OF_OR_NOT_EQUAL_TO 0x22E4 +#define SQUARE_ORIGINAL_OF_OR_NOT_EQUAL_TO 0x22E5 +#define LESS_THAN_BUT_NOT_EQUIVALENT_TO 0x22E6 +#define GREATER_THAN_BUT_NOT_EQUIVALENT_TO 0x22E7 +#define PRECEDES_BUT_NOT_EQUIVALENT_TO 0x22E8 +#define SUCCEEDS_BUT_NOT_EQUIVALENT_TO 0x22E9 +#define NOT_NORMAL_SUBGROUP_OF 0x22EA +#define DOES_NOT_CONTAIN_AS_NORMAL_SUBGROUP 0x22EB +#define NOT_NORMAL_SUBGROUP_OF_OR_EQUAL_TO 0x22EC +#define DOES_NOT_CONTAIN_AS_NORMAL_SUBGROUP_OR_EQUAL 0x22ED +#define VERTICAL_ELLIPSIS 0x22EE +#define MIDLINE_HORIZONTAL_ELLIPSIS 0x22EF +#define UP_RIGHT_DIAGONAL_ELLIPSIS 0x22F0 +#define DOWN_RIGHT_DIAGONAL_ELLIPSIS 0x22F1 + +/* Optical Character Recognition in Unicode (see wikipedia/OCR) + * range: 0x2440-0x245F + */ +#define OCR_Hook 0x2440 +#define OCR_Chair 0x2441 +#define OCR_Fork 0x2442 +#define OCR_Inverted_Fork 0x2443 +#define OCR_Belt_Buckle 0x2444 +#define OCR_Bow_Tie 0x2445 + +/* the following 4 MICR chars (magnetic ink character recognition) + * They look like: |: ,|' ||' ||| (known also as MICR-A,B,C,D) + */ +#define OCR_Branch_Bank_Identification 0x2446 +#define OCR_Amount_Of_Check 0x2447 +#define OCR_Customer_Account_Number 0x2448 +#define OCR_Dash 0x2449 + +#define OCR_Double_Backslash 0x244A + +/* latin ligatures */ +#define LATIN_SMALL_LIGATURE_FF 0xFB00 +#define LATIN_SMALL_LIGATURE_FI 0xFB01 +#define LATIN_SMALL_LIGATURE_FL 0xFB02 +#define LATIN_SMALL_LIGATURE_FFI 0xFB03 +#define LATIN_SMALL_LIGATURE_FFL 0xFB04 +#define LATIN_SMALL_LIGATURE_LONG_S_T 0xFB05 +#define LATIN_SMALL_LIGATURE_ST 0xFB06 + +#endif diff --git a/3rdparty/newmat/add_time.png b/3rdparty/newmat/add_time.png new file mode 100644 index 0000000..58731d4 Binary files /dev/null and b/3rdparty/newmat/add_time.png differ diff --git a/3rdparty/newmat/bandmat.cpp b/3rdparty/newmat/bandmat.cpp new file mode 100644 index 0000000..59a14d1 --- /dev/null +++ b/3rdparty/newmat/bandmat.cpp @@ -0,0 +1,569 @@ +//$$ bandmat.cpp Band matrix definitions + +// Copyright (C) 1991,2,3,4,9: R B Davies + +#define WANT_MATH // include.h will get math fns + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,10); ++ExeCount; } +#else +#define REPORT {} +#endif + +static inline int my_min(int x, int y) { return x < y ? x : y; } +static inline int my_max(int x, int y) { return x > y ? x : y; } + + +BandMatrix::BandMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::BM); + GetMatrix(gmx); CornerClear(); +} + +void BandMatrix::SetParameters(const GeneralMatrix* gmx) +{ + REPORT + MatrixBandWidth bw = gmx->BandWidth(); + lower = bw.lower; upper = bw.upper; +} + +void BandMatrix::ReSize(int n, int lb, int ub) +{ + REPORT + Tracer tr("BandMatrix::ReSize"); + if (lb<0 || ub<0) Throw(ProgramException("Undefined bandwidth")); + lower = (lb<=n) ? lb : n-1; upper = (ub<=n) ? ub : n-1; + GeneralMatrix::ReSize(n,n,n*(lower+1+upper)); CornerClear(); +} + +// SimpleAddOK shows when we can add etc two matrices by a simple vector add +// and when we can add one matrix into another +// *gm must be the same type as *this +// return 0 if simple add is OK +// return 1 if we can add into *gm only +// return 2 if we can add into *this only +// return 3 if we can't add either way +// For SP this will still be valid if we swap 1 and 2 + +short BandMatrix::SimpleAddOK(const GeneralMatrix* gm) +{ + const BandMatrix* bm = (const BandMatrix*)gm; + if (bm->lower == lower && bm->upper == upper) { REPORT return 0; } + else if (bm->lower >= lower && bm->upper >= upper) { REPORT return 1; } + else if (bm->lower <= lower && bm->upper <= upper) { REPORT return 2; } + else { REPORT return 3; } +} + +short SymmetricBandMatrix::SimpleAddOK(const GeneralMatrix* gm) +{ + const SymmetricBandMatrix* bm = (const SymmetricBandMatrix*)gm; + if (bm->lower == lower) { REPORT return 0; } + else if (bm->lower > lower) { REPORT return 1; } + else { REPORT return 2; } +} + +void UpperBandMatrix::ReSize(int n, int lb, int ub) +{ + REPORT + if (lb != 0) + { + Tracer tr("UpperBandMatrix::ReSize"); + Throw(ProgramException("UpperBandMatrix with non-zero lower band" )); + } + BandMatrix::ReSize(n, lb, ub); +} + +void LowerBandMatrix::ReSize(int n, int lb, int ub) +{ + REPORT + if (ub != 0) + { + Tracer tr("LowerBandMatrix::ReSize"); + Throw(ProgramException("LowerBandMatrix with non-zero upper band" )); + } + BandMatrix::ReSize(n, lb, ub); +} + +void BandMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("BandMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + MatrixBandWidth mbw = A.BandWidth(); + ReSize(n, mbw.Lower(), mbw.Upper()); +} + +bool BandMatrix::SameStorageType(const GeneralMatrix& A) const +{ + if (Type() != A.Type()) { REPORT return false; } + REPORT + return BandWidth() == A.BandWidth(); +} + +void BandMatrix::ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B) +{ + REPORT + Tracer tr("BandMatrix::ReSizeForAdd"); + MatrixBandWidth A_BW = A.BandWidth(); MatrixBandWidth B_BW = B.BandWidth(); + if ((A_BW.Lower() < 0) | (A_BW.Upper() < 0) | (B_BW.Lower() < 0) + | (A_BW.Upper() < 0)) + Throw(ProgramException("Can't ReSize to BandMatrix" )); + // already know A and B are square + ReSize(A.Nrows(), my_max(A_BW.Lower(), B_BW.Lower()), + my_max(A_BW.Upper(), B_BW.Upper())); +} + +void BandMatrix::ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B) +{ + REPORT + Tracer tr("BandMatrix::ReSizeForSP"); + MatrixBandWidth A_BW = A.BandWidth(); MatrixBandWidth B_BW = B.BandWidth(); + if ((A_BW.Lower() < 0) | (A_BW.Upper() < 0) | (B_BW.Lower() < 0) + | (A_BW.Upper() < 0)) + Throw(ProgramException("Can't ReSize to BandMatrix" )); + // already know A and B are square + ReSize(A.Nrows(), my_min(A_BW.Lower(), B_BW.Lower()), + my_min(A_BW.Upper(), B_BW.Upper())); +} + + +void BandMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::BM); CornerClear(); +} + +void BandMatrix::CornerClear() const +{ + // set unused parts of BandMatrix to zero + REPORT + int i = lower; Real* s = store; int bw = lower + 1 + upper; + while (i) + { int j = i--; Real* sj = s; s += bw; while (j--) *sj++ = 0.0; } + i = upper; s = store + storage; + while (i) + { int j = i--; Real* sj = s; s -= bw; while (j--) *(--sj) = 0.0; } +} + +MatrixBandWidth MatrixBandWidth::operator+(const MatrixBandWidth& bw) const +{ + REPORT + int l = bw.lower; int u = bw.upper; + l = (lower < 0 || l < 0) ? -1 : (lower > l) ? lower : l; + u = (upper < 0 || u < 0) ? -1 : (upper > u) ? upper : u; + return MatrixBandWidth(l,u); +} + +MatrixBandWidth MatrixBandWidth::operator*(const MatrixBandWidth& bw) const +{ + REPORT + int l = bw.lower; int u = bw.upper; + l = (lower < 0 || l < 0) ? -1 : lower+l; + u = (upper < 0 || u < 0) ? -1 : upper+u; + return MatrixBandWidth(l,u); +} + +MatrixBandWidth MatrixBandWidth::minimum(const MatrixBandWidth& bw) const +{ + REPORT + int l = bw.lower; int u = bw.upper; + if ((lower >= 0) && ( (l < 0) || (l > lower) )) l = lower; + if ((upper >= 0) && ( (u < 0) || (u > upper) )) u = upper; + return MatrixBandWidth(l,u); +} + +UpperBandMatrix::UpperBandMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::UB); + GetMatrix(gmx); CornerClear(); +} + +void UpperBandMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::UB); CornerClear(); +} + +LowerBandMatrix::LowerBandMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::LB); + GetMatrix(gmx); CornerClear(); +} + +void LowerBandMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::LB); CornerClear(); +} + +BandLUMatrix::BandLUMatrix(const BaseMatrix& m) +{ + REPORT + Tracer tr("BandLUMatrix"); + storage2 = 0; store2 = 0; // in event of exception during build + GeneralMatrix* gm = ((BaseMatrix&)m).Evaluate(MatrixType::BM); + m1 = ((BandMatrix*)gm)->lower; m2 = ((BandMatrix*)gm)->upper; + GetMatrix(gm); + if (nrows!=ncols) Throw(NotSquareException(*this)); + d = true; sing = false; + indx = new int [nrows]; MatrixErrorNoSpace(indx); + MONITOR_INT_NEW("Index (BndLUMat)",nrows,indx) + storage2 = nrows * m1; + store2 = new Real [storage2]; MatrixErrorNoSpace(store2); + MONITOR_REAL_NEW("Make (BandLUMat)",storage2,store2) + ludcmp(); +} + +BandLUMatrix::~BandLUMatrix() +{ + REPORT + MONITOR_INT_DELETE("Index (BndLUMat)",nrows,indx) + MONITOR_REAL_DELETE("Delete (BndLUMt)",storage2,store2) + delete [] indx; delete [] store2; +} + +MatrixType BandLUMatrix::Type() const { REPORT return MatrixType::BC; } + + +LogAndSign BandLUMatrix::LogDeterminant() const +{ + REPORT + if (sing) return 0.0; + Real* a = store; int w = m1+1+m2; LogAndSign sum; int i = nrows; + // while (i--) { sum *= *a; a += w; } + if (i) for (;;) { sum *= *a; if (!(--i)) break; a += w; } + if (!d) sum.ChangeSign(); return sum; +} + +GeneralMatrix* BandMatrix::MakeSolver() +{ + REPORT + GeneralMatrix* gm = new BandLUMatrix(*this); + MatrixErrorNoSpace(gm); gm->ReleaseAndDelete(); return gm; +} + + +void BandLUMatrix::ludcmp() +{ + REPORT + Real* a = store2; int i = storage2; + // clear store2 - so unused locations are always zero - + // required by operator== + while (i--) *a++ = 0.0; + a = store; + i = m1; int j = m2; int k; int n = nrows; int w = m1 + 1 + m2; + while (i) + { + Real* ai = a + i; + k = ++j; while (k--) *a++ = *ai++; + k = i--; while (k--) *a++ = 0.0; + } + + a = store; int l = m1; + for (k=0; k=mini; i--) + { + Real* b = B + i; Real* bk = b; Real x = *bk; + Real* a = store + w*i; Real y = *a; + int k = l+m1; while (k--) x -= *(++a) * *(++bk); + *b = x / y; + if (l < m2) l++; + } +} + +void BandLUMatrix::Solver(MatrixColX& mcout, const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip; Real* el = mcin.data-i; Real* el1=el; + while (i--) *el++ = 0.0; + el += mcin.storage; i = nrows - mcin.skip - mcin.storage; + while (i--) *el++ = 0.0; + lubksb(el1, mcout.skip); +} + +// Do we need check for entirely zero output? + + +void UpperBandMatrix::Solver(MatrixColX& mcout, + const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip-mcout.skip; Real* elx = mcin.data-i; + while (i-- > 0) *elx++ = 0.0; + int nr = mcin.skip+mcin.storage; + elx = mcin.data+mcin.storage; Real* el = elx; + int j = mcout.skip+mcout.storage-nr; i = nr-mcout.skip; + while (j-- > 0) *elx++ = 0.0; + + Real* Ael = store + (upper+1)*(i-1)+1; j = 0; + if (i > 0) for(;;) + { + elx = el; Real sum = 0.0; int jx = j; + while (jx--) sum += *(--Ael) * *(--elx); + elx--; *elx = (*elx - sum) / *(--Ael); + if (--i <= 0) break; + if (j 0) *elx++ = 0.0; + int nc = mcin.skip; i = nc+mcin.storage; elx = mcin.data+mcin.storage; + int nr = mcout.skip+mcout.storage; int j = nr-i; i = nr-nc; + while (j-- > 0) *elx++ = 0.0; + + Real* el = mcin.data; Real* Ael = store + (lower+1)*nc + lower; j = 0; + if (i > 0) for(;;) + { + elx = el; Real sum = 0.0; int jx = j; + while (jx--) sum += *Ael++ * *elx++; + *elx = (*elx - sum) / *Ael++; + if (--i <= 0) break; + if (jReleaseAndDelete(); return gm; +} + +SymmetricBandMatrix::SymmetricBandMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::SB); + GetMatrix(gmx); +} + +GeneralMatrix* SymmetricBandMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + +LogAndSign SymmetricBandMatrix::LogDeterminant() const +{ + REPORT + BandLUMatrix C(*this); return C.LogDeterminant(); +} + +void SymmetricBandMatrix::SetParameters(const GeneralMatrix* gmx) +{ REPORT lower = gmx->BandWidth().lower; } + +void SymmetricBandMatrix::ReSize(int n, int lb) +{ + REPORT + Tracer tr("SymmetricBandMatrix::ReSize"); + if (lb<0) Throw(ProgramException("Undefined bandwidth")); + lower = (lb<=n) ? lb : n-1; + GeneralMatrix::ReSize(n,n,n*(lower+1)); +} + +void SymmetricBandMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("SymmetricBandMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + MatrixBandWidth mbw = A.BandWidth(); int b = mbw.Lower(); + if (b != mbw.Upper()) + { + Tracer tr("SymmetricBandMatrix::ReSize(GM)"); + Throw(ProgramException("Upper and lower band-widths not equal")); + } + ReSize(n, b); +} + +bool SymmetricBandMatrix::SameStorageType(const GeneralMatrix& A) const +{ + if (Type() != A.Type()) { REPORT return false; } + REPORT + return BandWidth() == A.BandWidth(); +} + +void SymmetricBandMatrix::ReSizeForAdd(const GeneralMatrix& A, + const GeneralMatrix& B) +{ + REPORT + Tracer tr("SymmetricBandMatrix::ReSizeForAdd"); + MatrixBandWidth A_BW = A.BandWidth(); MatrixBandWidth B_BW = B.BandWidth(); + if ((A_BW.Lower() < 0) | (B_BW.Lower() < 0)) + Throw(ProgramException("Can't ReSize to SymmetricBandMatrix" )); + // already know A and B are square + ReSize(A.Nrows(), my_max(A_BW.Lower(), B_BW.Lower())); +} + +void SymmetricBandMatrix::ReSizeForSP(const GeneralMatrix& A, + const GeneralMatrix& B) +{ + REPORT + Tracer tr("SymmetricBandMatrix::ReSizeForSP"); + MatrixBandWidth A_BW = A.BandWidth(); MatrixBandWidth B_BW = B.BandWidth(); + if ((A_BW.Lower() < 0) | (B_BW.Lower() < 0)) + Throw(ProgramException("Can't ReSize to SymmetricBandMatrix" )); + // already know A and B are square + ReSize(A.Nrows(), my_min(A_BW.Lower(), B_BW.Lower())); +} + + +void SymmetricBandMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::SB); +} + +void SymmetricBandMatrix::CornerClear() const +{ + // set unused parts of BandMatrix to zero + REPORT + int i = lower; Real* s = store; int bw = lower + 1; + if (i) for(;;) + { + int j = i; + Real* sj = s; + while (j--) *sj++ = 0.0; + if (!(--i)) break; + s += bw; + } +} + +MatrixBandWidth SymmetricBandMatrix::BandWidth() const + { REPORT return MatrixBandWidth(lower,lower); } + +inline Real square(Real x) { return x*x; } + + +Real SymmetricBandMatrix::SumSquare() const +{ + REPORT + CornerClear(); + Real sum1=0.0; Real sum2=0.0; Real* s=store; int i=nrows; int l=lower; + while (i--) + { int j = l; while (j--) sum2 += square(*s++); sum1 += square(*s++); } + ((GeneralMatrix&)*this).tDelete(); return sum1 + 2.0 * sum2; +} + +Real SymmetricBandMatrix::SumAbsoluteValue() const +{ + REPORT + CornerClear(); + Real sum1=0.0; Real sum2=0.0; Real* s=store; int i=nrows; int l=lower; + while (i--) + { int j = l; while (j--) sum2 += fabs(*s++); sum1 += fabs(*s++); } + ((GeneralMatrix&)*this).tDelete(); return sum1 + 2.0 * sum2; +} + +Real SymmetricBandMatrix::Sum() const +{ + REPORT + CornerClear(); + Real sum1=0.0; Real sum2=0.0; Real* s=store; int i=nrows; int l=lower; + while (i--) + { int j = l; while (j--) sum2 += *s++; sum1 += *s++; } + ((GeneralMatrix&)*this).tDelete(); return sum1 + 2.0 * sum2; +} + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/boolean.h b/3rdparty/newmat/boolean.h new file mode 100644 index 0000000..7070504 --- /dev/null +++ b/3rdparty/newmat/boolean.h @@ -0,0 +1,40 @@ +//$$ boolean.h bool class + +// This is for compilers that do not have bool automatically defined + +#ifndef bool_LIB +#define bool_LIB 0 + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +class bool +{ + int value; +public: + bool(const int b) { value = b ? 1 : 0; } + bool(const void* b) { value = b ? 1 : 0; } + bool() {} + operator int() const { return value; } + int operator!() const { return !value; } +}; + + +const bool true = 1; +const bool false = 0; + + + +// version for some older versions of gnu g++ +//#define false 0 +//#define true 1 + +#ifdef use_namespace +} +#endif + + + +#endif diff --git a/3rdparty/newmat/cholesky.cpp b/3rdparty/newmat/cholesky.cpp new file mode 100644 index 0000000..157056b --- /dev/null +++ b/3rdparty/newmat/cholesky.cpp @@ -0,0 +1,88 @@ +//$$ cholesky.cpp cholesky decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,14); ++ExeCount; } +#else +#define REPORT {} +#endif + +/********* Cholesky decomposition of a positive definite matrix *************/ + +// Suppose S is symmetrix and positive definite. Then there exists a unique +// lower triangular matrix L such that L L.t() = S; + +inline Real square(Real x) { return x*x; } + +ReturnMatrix Cholesky(const SymmetricMatrix& S) +{ + REPORT + Tracer trace("Cholesky"); + int nr = S.Nrows(); + LowerTriangularMatrix T(nr); + Real* s = S.Store(); Real* t = T.Store(); Real* ti = t; + for (int i=0; i=(ControlWord i) const { return (cw & i.cw) == i.cw; } + bool operator<=(ControlWord i) const { return (cw & i.cw) == cw; } + + // flip selected bits + ControlWord operator^(ControlWord i) const + { return ControlWord(cw ^ i.cw); } + ControlWord operator~() const { return ControlWord(~cw); } + + // convert to integer + int operator+() const { return cw; } + int operator!() const { return cw==0; } + FREE_CHECK(ControlWord) +}; + + +#endif diff --git a/3rdparty/newmat/evalue.cpp b/3rdparty/newmat/evalue.cpp new file mode 100644 index 0000000..2e04506 --- /dev/null +++ b/3rdparty/newmat/evalue.cpp @@ -0,0 +1,297 @@ +//$$evalue.cpp eigen-value decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" +#include "newmatap.h" +#include "newmatrm.h" +#include "precisio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,17); ++ExeCount; } +#else +#define REPORT {} +#endif + + + +static void tred2(const SymmetricMatrix& A, DiagonalMatrix& D, + DiagonalMatrix& E, Matrix& Z) +{ + Tracer et("Evalue(tred2)"); + REPORT + Real tol = + FloatingPointPrecision::Minimum()/FloatingPointPrecision::Epsilon(); + int n = A.Nrows(); Z.ReSize(n,n); Z.Inject(A); + D.ReSize(n); E.ReSize(n); + Real* z = Z.Store(); int i; + + for (i=n-1; i > 0; i--) // i=0 is excluded + { + Real f = Z.element(i,i-1); Real g = 0.0; + int k = i-1; Real* zik = z + i*n; + while (k--) g += square(*zik++); + Real h = g + square(f); + if (g <= tol) { REPORT E.element(i) = f; h = 0.0; } + else + { + REPORT + g = sign(-sqrt(h), f); E.element(i) = g; h -= f*g; + Z.element(i,i-1) = f-g; f = 0.0; + Real* zji = z + i; Real* zij = z + i*n; Real* ej = E.Store(); + int j; + for (j=0; j=l; i--) + { + Real ei = E.element(i); Real di = D.element(i); + Real& ei1 = E.element(i+1); + g = c * ei; h = c * p; + if ( fabs(p) >= fabs(ei)) + { + REPORT + c = ei / p; r = sqrt(c*c + 1.0); + ei1 = s*p*r; s = c/r; c = 1.0/r; + } + else + { + REPORT + c = p / ei; r = sqrt(c*c + 1.0); + ei1 = s * ei * r; s = 1.0/r; c /= r; + } + p = c * di - s*g; D.element(i+1) = h + s * (c*g + s*di); + + Real* zki = z + i; Real* zki1 = zki + 1; int k = n; + if (k) for (;;) + { + REPORT + h = *zki1; *zki1 = s*(*zki) + c*h; *zki = c*(*zki) - s*h; + if (!(--k)) break; + zki += n; zki1 += n; + } + } + el = s*p; dl = c*p; + if (fabs(el) <= b) { REPORT; test = true; break; } + } + if (!test) Throw ( ConvergenceException(D) ); + dl += f; + } +/* + for (int i=0; i= 0; i--) + { + Real h = 0.0; Real f = - FloatingPointPrecision::Maximum(); + Real* d = D.Store(); Real* a = A.Store() + (i*(i+1))/2; int k = i; + while (k--) { f = *a++; *d++ = f; h += square(f); } + if (h <= tol) { REPORT *(--ei) = 0.0; h = 0.0; } + else + { + REPORT + Real g = sign(-sqrt(h), f); *(--ei) = g; h -= f*g; + f -= g; *(d-1) = f; *(a-1) = f; f = 0.0; + Real* dj = D.Store(); Real* ej = E.Store(); int j; + for (j = 0; j < i; j++) + { + Real* dk = D.Store(); Real* ak = A.Store()+(j*(j+1))/2; + Real g = 0.0; k = j; + while (k--) g += *ak++ * *dk++; + k = i-j; int l = j; + if (k) for (;;) { g += *ak * *dk++; if (!(--k)) break; ak += ++l; } + g /= h; *ej++ = g; f += g * *dj++; + } + Real hh = f / (2 * h); Real* ak = A.Store(); + dj = D.Store(); ej = E.Store(); + for (j = 0; j < i; j++) + { + f = *dj++; g = *ej - hh * f; *ej++ = g; + Real* dk = D.Store(); Real* ek = E.Store(); k = j+1; + while (k--) { *ak++ -= (f * *ek++ + g * *dk++); } + } + } + *d = *a; *a = h; + } +} + +static void tql1(DiagonalMatrix& D, DiagonalMatrix& E) +{ + Tracer et("Evalue(tql1)"); + REPORT + Real eps = FloatingPointPrecision::Epsilon(); + int n = D.Nrows(); int l; + for (l=1; l=l; i--) + { + Real ei = E.element(i); Real di = D.element(i); + Real& ei1 = E.element(i+1); + g = c * ei; h = c * p; + if ( fabs(p) >= fabs(ei)) + { + REPORT + c = ei / p; r = sqrt(c*c + 1.0); + ei1 = s*p*r; s = c/r; c = 1.0/r; + } + else + { + REPORT + c = p / ei; r = sqrt(c*c + 1.0); + ei1 = s * ei * r; s = 1.0/r; c /= r; + } + p = c * di - s*g; D.element(i+1) = h + s * (c*g + s*di); + } + el = s*p; dl = c*p; + if (fabs(el) <= b) { REPORT test = true; break; } + } + if (!test) Throw ( ConvergenceException(D) ); + Real p = dl + f; + test = false; + for (i=l; i>0; i--) + { + if (p < D.element(i-1)) { REPORT D.element(i) = D.element(i-1); } + else { REPORT test = true; break; } + } + if (!test) i=0; + D.element(i) = p; + } +} + +void EigenValues(const SymmetricMatrix& A, DiagonalMatrix& D, Matrix& Z) +{ REPORT DiagonalMatrix E; tred2(A, D, E, Z); tql2(D, E, Z); SortSV(D,Z,true); } + +void EigenValues(const SymmetricMatrix& X, DiagonalMatrix& D) +{ REPORT DiagonalMatrix E; SymmetricMatrix A; tred3(X,D,E,A); tql1(D,E); } + +void EigenValues(const SymmetricMatrix& X, DiagonalMatrix& D, + SymmetricMatrix& A) +{ REPORT DiagonalMatrix E; tred3(X,D,E,A); tql1(D,E); } + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/example.cpp b/3rdparty/newmat/example.cpp new file mode 100644 index 0000000..36e9662 --- /dev/null +++ b/3rdparty/newmat/example.cpp @@ -0,0 +1,345 @@ +//$$ example.cpp Example of use of matrix package + +#define WANT_STREAM // include.h will get stream fns +#define WANT_MATH // include.h will get math fns + // newmatap.h will get include.h + +#include "newmatap.h" // need matrix applications + +#include "newmatio.h" // need matrix output routines + +#ifdef use_namespace +using namespace NEWMAT; // access NEWMAT namespace +#endif + + +// demonstration of matrix package on linear regression problem + + +void test1(Real* y, Real* x1, Real* x2, int nobs, int npred) +{ + cout << "\n\nTest 1 - traditional, bad\n"; + + // traditional sum of squares and products method of calculation + // but not adjusting means; maybe subject to round-off error + + // make matrix of predictor values with 1s into col 1 of matrix + int npred1 = npred+1; // number of cols including col of ones. + Matrix X(nobs,npred1); + X.Column(1) = 1.0; + + // load x1 and x2 into X + // [use << rather than = when loading arrays] + X.Column(2) << x1; X.Column(3) << x2; + + // vector of Y values + ColumnVector Y(nobs); Y << y; + + // form sum of squares and product matrix + // [use << rather than = for copying Matrix into SymmetricMatrix] + SymmetricMatrix SSQ; SSQ << X.t() * X; + + // calculate estimate + // [bracket last two terms to force this multiplication first] + // [ .i() means inverse, but inverse is not explicity calculated] + ColumnVector A = SSQ.i() * (X.t() * Y); + + // Get variances of estimates from diagonal elements of inverse of SSQ + // get inverse of SSQ - we need it for finding D + DiagonalMatrix D; D << SSQ.i(); + ColumnVector V = D.AsColumn(); + + // Calculate fitted values and residuals + ColumnVector Fitted = X * A; + ColumnVector Residual = Y - Fitted; + Real ResVar = Residual.SumSquare() / (nobs-npred1); + + // Get diagonals of Hat matrix (an expensive way of doing this) + DiagonalMatrix Hat; Hat << X * (X.t() * X).i() * X.t(); + + // print out answers + cout << "\nEstimates and their standard errors\n\n"; + + // make vector of standard errors + ColumnVector SE(npred1); + for (int i=1; i<=npred1; i++) SE(i) = sqrt(V(i)*ResVar); + // use concatenation function to form matrix and use matrix print + // to get two columns + cout << setw(11) << setprecision(5) << (A | SE) << endl; + + cout << "\nObservations, fitted value, residual value, hat value\n"; + + // use concatenation again; select only columns 2 to 3 of X + cout << setw(9) << setprecision(3) << + (X.Columns(2,3) | Y | Fitted | Residual | Hat.AsColumn()); + cout << "\n\n"; +} + +void test2(Real* y, Real* x1, Real* x2, int nobs, int npred) +{ + cout << "\n\nTest 2 - traditional, OK\n"; + + // traditional sum of squares and products method of calculation + // with subtraction of means - less subject to round-off error + // than test1 + + // make matrix of predictor values + Matrix X(nobs,npred); + + // load x1 and x2 into X + // [use << rather than = when loading arrays] + X.Column(1) << x1; X.Column(2) << x2; + + // vector of Y values + ColumnVector Y(nobs); Y << y; + + // make vector of 1s + ColumnVector Ones(nobs); Ones = 1.0; + + // calculate means (averages) of x1 and x2 [ .t() takes transpose] + RowVector M = Ones.t() * X / nobs; + + // and subtract means from x1 and x1 + Matrix XC(nobs,npred); + XC = X - Ones * M; + + // do the same to Y [use Sum to get sum of elements] + ColumnVector YC(nobs); + Real m = Sum(Y) / nobs; YC = Y - Ones * m; + + // form sum of squares and product matrix + // [use << rather than = for copying Matrix into SymmetricMatrix] + SymmetricMatrix SSQ; SSQ << XC.t() * XC; + + // calculate estimate + // [bracket last two terms to force this multiplication first] + // [ .i() means inverse, but inverse is not explicity calculated] + ColumnVector A = SSQ.i() * (XC.t() * YC); + + // calculate estimate of constant term + // [AsScalar converts 1x1 matrix to Real] + Real a = m - (M * A).AsScalar(); + + // Get variances of estimates from diagonal elements of inverse of SSQ + // [ we are taking inverse of SSQ - we need it for finding D ] + Matrix ISSQ = SSQ.i(); DiagonalMatrix D; D << ISSQ; + ColumnVector V = D.AsColumn(); + Real v = 1.0/nobs + (M * ISSQ * M.t()).AsScalar(); + // for calc variance of const + + // Calculate fitted values and residuals + int npred1 = npred+1; + ColumnVector Fitted = X * A + a; + ColumnVector Residual = Y - Fitted; + Real ResVar = Residual.SumSquare() / (nobs-npred1); + + // Get diagonals of Hat matrix (an expensive way of doing this) + Matrix X1(nobs,npred1); X1.Column(1)<0 && alpha1>0 && beta1>0 && (alpha1+beta1)<1.0; } + +Real GARCH11_LL::LogLikelihood() +{ +// cout << endl << " "; +// cout << setw(10) << setprecision(5) << beta; +// cout << setw(10) << setprecision(5) << alpha0; +// cout << setw(10) << setprecision(5) << alpha1; +// cout << setw(10) << setprecision(5) << beta1; +// cout << endl; + ColumnVector H(n); // residual variances + ColumnVector U = Y - X * beta; // the residuals + ColumnVector LH(n); // derivative of log-likelihood wrt H + // each row corresponds to one observation + LH(1)=0; + Matrix Hderiv(n,4); // rectangular matrix of derivatives + // of H wrt parameters + // each row corresponds to one observation + // each column to one of the parameters + + // Regard Y(1) as fixed and don't include in likelihood + // then put in an expected value of H(1) in place of actual value + // which we don't know. Use + // E{H(i)} = alpha0 + alpha1 * E{square(epsilon(i-1))} + beta1 * E{H(i-1)} + // and E{square(epsilon(i-1))} = E{H(i-1)} = E{H(i)} + Real denom = (1-alpha1-beta1); + H(1) = alpha0/denom; // the expected value of H + Hderiv(1,1) = 0; + Hderiv(1,2) = 1.0 / denom; + Hderiv(1,3) = alpha0 / square(denom); + Hderiv(1,4) = Hderiv(1,3); + Real LL = 0.0; // the log likelihood + Real sum1 = 0; // for forming derivative wrt beta + Real sum2 = 0; // for forming second derivative wrt beta + for (int i=2; i<=n; i++) + { + Real u1 = U(i-1); Real h1 = H(i-1); + Real h = alpha0 + alpha1*square(u1) + beta1*h1; // variance of this obsv. + H(i) = h; Real u = U(i); + LL += log(h) + square(u) / h; // -2 * log likelihood + // Hderiv are derivatives of h with respect to the parameters + // need to allow for h1 depending on parameters + Hderiv(i,1) = -2*u1*alpha1*X(i-1) + beta1*Hderiv(i-1,1); // beta + Hderiv(i,2) = 1 + beta1*Hderiv(i-1,2); // alpha0 + Hderiv(i,3) = square(u1) + beta1*Hderiv(i-1,3); // alpha1 + Hderiv(i,4) = h1 + beta1*Hderiv(i-1,4); // beta1 + LH(i) = -0.5 * (1/h - square(u/h)); + sum1 += u * X(i)/ h; + sum2 += square(X(i)) / h; + } + D = Hderiv.t()*LH; // derivatives of likelihood wrt parameters + D(1) += sum1; // add on deriv wrt beta from square(u) term +// cout << setw(10) << setprecision(5) << D << endl; + + // do minus expected value of second derivatives + if (wg) // do only if second derivatives wanted + { + Hderiv.Row(1) = 0.0; + Hderiv = H.AsDiagonal().i() * Hderiv; + D2 << Hderiv.t() * Hderiv; D2 = D2 / 2.0; + D2(1,1) += sum2; +// cout << setw(10) << setprecision(5) << D2 << endl; +// DiagonalMatrix DX; EigenValues(D2,DX); +// cout << setw(10) << setprecision(5) << DX << endl; + + } + return -0.5 * LL; +} + +ReturnMatrix GARCH11_LL::Derivatives() +{ return D; } + +ReturnMatrix GARCH11_LL::FI() +{ + if (!wg) cout << endl << "unexpected call of FI" << endl; + return D2; +} + + + +int main() +{ + // get data + ifstream fin("garch.dat"); + if (!fin) { cout << "cannot find garch.dat\n"; exit(1); } + int n; fin >> n; // series length + // Y contains the dependant variable, X the predictor variable + ColumnVector Y(n), X(n); + int i; + for (i=1; i<=n; i++) fin >> Y(i) >> X(i); + cout << "Read " << n << " data points - begin fit\n\n"; + // now do the fit + ColumnVector H(n); + GARCH11_LL garch11(Y,X); // loglikehood "object" + MLE_D_FI mle_d_fi(garch11,100,0.0001); // mle "object" + ColumnVector Para(4); // to hold the parameters + Para << 0.0 << 0.1 << 0.1 << 0.1; // starting values + // (Should change starting values to a more intelligent formula) + mle_d_fi.Fit(Para); // do the fit + ColumnVector SE; + mle_d_fi.GetStandardErrors(SE); + cout << "\n\n"; + cout << "estimates and standard errors\n"; + cout << setw(15) << setprecision(5) << (Para | SE) << endl << endl; + SymmetricMatrix Corr; + mle_d_fi.GetCorrelations(Corr); + cout << "correlation matrix\n"; + cout << setw(10) << setprecision(2) << Corr << endl << endl; + cout << "inverse of correlation matrix\n"; + cout << setw(10) << setprecision(2) << Corr.i() << endl << endl; + return 0; +} + + + diff --git a/3rdparty/newmat/garch.dat b/3rdparty/newmat/garch.dat new file mode 100644 index 0000000..661680d --- /dev/null +++ b/3rdparty/newmat/garch.dat @@ -0,0 +1,502 @@ +500 + 3.44443 -0.49800 + 1.43549 -0.49600 + 3.70477 -0.49400 + -3.82558 -0.49200 + 1.20130 -0.49000 + -2.62383 -0.48800 + -1.34321 -0.48600 + -0.35801 -0.48400 + -2.18813 -0.48200 + -1.98628 -0.48000 + -1.53262 -0.47800 + -1.45007 -0.47600 + -1.18593 -0.47400 + -0.55274 -0.47200 + -1.55943 -0.47000 + -3.10084 -0.46800 + 0.44254 -0.46600 + -0.63936 -0.46400 + 2.44989 -0.46200 + -2.14392 -0.46000 + 0.47310 -0.45800 + -1.64464 -0.45600 + 0.56628 -0.45400 + -0.80925 -0.45200 + -0.78961 -0.45000 + -1.12984 -0.44800 + -0.50715 -0.44600 + -1.75134 -0.44400 + -1.04231 -0.44200 + 0.94435 -0.44000 + 1.16306 -0.43800 + -2.87888 -0.43600 + -3.31084 -0.43400 + -3.06191 -0.43200 + 1.06977 -0.43000 + 3.50462 -0.42800 + 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points - begin fit + + + -2247.993783 25945.58733 + -537.4533239 + -554.5885614 + -537.2164816 26.36266449 + -520.7034774 + -519.7069034 6.153112127 + -516.7045383 + -516.690955 1.394658892 + -516.396412 + -516.215149 0.1555724069 + -516.1509657 + -516.1486772 0.02342168856 + -516.1420803 + -516.1404735 0.002342030975 + -516.1395282 + -516.1394913 0.0003287516503 + -516.1393961 + -516.1393755 3.25631984e-05 +Converged + + +estimates and standard errors + 1.56690 0.22311 + 0.80046 0.20274 + 0.45307 0.08428 + 0.34655 0.09081 + + +correlation matrix + 1.00 0.00 -0.02 0.01 + 0.00 1.00 0.21 -0.81 + -0.02 0.21 1.00 -0.63 + 0.01 -0.81 -0.63 1.00 + + +inverse of correlation matrix + 1.00 0.03 0.04 0.04 + 0.03 4.77 2.28 5.28 + 0.04 2.28 2.73 3.55 + 0.04 5.28 3.55 7.48 + + diff --git a/3rdparty/newmat/hholder.cpp b/3rdparty/newmat/hholder.cpp new file mode 100644 index 0000000..3377f76 --- /dev/null +++ b/3rdparty/newmat/hholder.cpp @@ -0,0 +1,199 @@ +//$$ hholder.cpp QR decomposition + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmatap.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,16); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/*************************** QR decompositions ***************************/ + +inline Real square(Real x) { return x*x; } + +void QRZT(Matrix& X, LowerTriangularMatrix& L) +{ + REPORT + Tracer et("QZT(1)"); + int n = X.Ncols(); int s = X.Nrows(); L.ReSize(s); + Real* xi = X.Store(); int k; + for (int i=0; i= 3 + #define _STANDARD_ // use standard library + #define ios_format_flags ios::fmtflags +#endif + +// for Intel C++ for Linux +#if defined __ICC + #define _STANDARD_ // use standard library + #define ios_format_flags ios::fmtflags +#endif + +// for Microsoft Visual C++ 7 and above (and Intel simulating these) +#if defined _MSC_VER && _MSC_VER >= 1300 + #define _STANDARD_ // use standard library +#endif + + +#ifdef _STANDARD_ // using standard library + #include + #if defined _MSC_VER && _MSC_VER == 1200 + #include // for VC++6 + #endif + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + using namespace std; +#else + +#define DEFAULT_HEADER // use AT&T style header + // if no other compiler is recognised + +#ifdef _MSC_VER // Microsoft + #include + +// reactivate these statements to run under MSC version 7.0 +// typedef int jmp_buf[9]; +// extern "C" +// { +// int __cdecl setjmp(jmp_buf); +// void __cdecl longjmp(jmp_buf, int); +// } + + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __ZTC__ // Zortech + #include + #ifdef WANT_STREAM + #include + #include + #define flush "" // not defined in iomanip? + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#if defined __BCPLUSPLUS__ || defined __TURBOC__ // Borland or Turbo + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include // Borland has both float and values + // but values.h returns +INF for + // MAXDOUBLE in BC5 + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __GNUG__ // Gnu C++ + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + +#ifdef __WATCOMC__ // Watcom C/C++ + #include + #ifdef WANT_STREAM + #include + #include + #endif + #ifdef WANT_MATH + #include + #include + #endif + #ifdef WANT_STRING + #include + #endif + #ifdef WANT_TIME + #include + #endif + #ifdef WANT_FSTREAM + #include + #endif + #undef DEFAULT_HEADER +#endif + + +#ifdef macintosh // MPW C++ on the Mac +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#undef DEFAULT_HEADER +#endif + +#ifdef use_float_h // use float.h for precision values +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#undef DEFAULT_HEADER +#endif + + +#ifdef DEFAULT_HEADER // for example AT&T +#define ATandT +#include +#ifdef WANT_STREAM +#include +#include +#endif +#ifdef WANT_MATH +#include +#define SystemV // use System V +#include +#endif +#ifdef WANT_STRING +#include +#endif +#ifdef WANT_TIME +#include +#endif +#ifdef WANT_FSTREAM +#include +#endif +#endif // DEFAULT_HEADER + +#endif // _STANDARD_ + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +#ifdef USING_FLOAT // set precision type to float +typedef float Real; +typedef double long_Real; +#endif + +#ifdef USING_DOUBLE // set precision type to double +typedef double Real; +typedef long double long_Real; +#endif + + +// This is for (very old) compilers that do not have bool automatically defined + +#ifndef bool_LIB +#define bool_LIB 0 + +class bool +{ + int value; +public: + bool(const int b) { value = b ? 1 : 0; } + bool(const void* b) { value = b ? 1 : 0; } + bool() {} + operator int() const { return value; } + int operator!() const { return !value; } +}; + + +const bool true = 1; +const bool false = 0; + +#endif + + +#ifdef use_namespace +} +#endif + + +#ifdef use_namespace +namespace RBD_COMMON {} +namespace RBD_LIBRARIES // access all my libraries +{ + using namespace RBD_COMMON; +} +#endif + + +#endif + + +///@} + diff --git a/3rdparty/newmat/jacobi.cpp b/3rdparty/newmat/jacobi.cpp new file mode 100644 index 0000000..4fc43e8 --- /dev/null +++ b/3rdparty/newmat/jacobi.cpp @@ -0,0 +1,123 @@ +//$$jacobi.cpp jacobi eigenvalue analysis + +// Copyright (C) 1991,2,3,4: R B Davies + + +//#define WANT_STREAM + + +#define WANT_MATH + +#include "include.h" +#include "newmatap.h" +#include "precisio.h" +#include "newmatrm.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,18); ++ExeCount; } +#else +#define REPORT {} +#endif + + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, SymmetricMatrix& A, + Matrix& V, bool eivec) +{ + Real epsilon = FloatingPointPrecision::Epsilon(); + Tracer et("Jacobi"); + REPORT + int n = X.Nrows(); DiagonalMatrix B(n), Z(n); D.ReSize(n); A = X; + if (eivec) { REPORT V.ReSize(n,n); D = 1.0; V = D; } + B << A; D = B; Z = 0.0; A.Inject(Z); + bool converged = false; + for (int i=1; i<=50; i++) + { + Real sm=0.0; Real* a = A.Store(); int p = A.Storage(); + while (p--) sm += fabs(*a++); // have previously zeroed diags + if (sm==0.0) { REPORT converged = true; break; } + Real tresh = (i<4) ? 0.2 * sm / square(n) : 0.0; a = A.Store(); + for (p = 0; p < n; p++) + { + Real* ap1 = a + (p*(p+1))/2; + Real& zp = Z.element(p); Real& dp = D.element(p); + for (int q = p+1; q < n; q++) + { + Real* ap = ap1; Real* aq = a + (q*(q+1))/2; + Real& zq = Z.element(q); Real& dq = D.element(q); + Real& apq = A.element(q,p); + Real g = 100 * fabs(apq); Real adp = fabs(dp); Real adq = fabs(dq); + + if (i>4 && g < epsilon*adp && g < epsilon*adq) { REPORT apq = 0.0; } + else if (fabs(apq) > tresh) + { + REPORT + Real t; Real h = dq - dp; Real ah = fabs(h); + if (g < epsilon*ah) { REPORT t = apq / h; } + else + { + REPORT + Real theta = 0.5 * h / apq; + t = 1.0 / ( fabs(theta) + sqrt(1.0 + square(theta)) ); + if (theta<0.0) { REPORT t = -t; } + } + Real c = 1.0 / sqrt(1.0 + square(t)); Real s = t * c; + Real tau = s / (1.0 + c); h = t * apq; + zp -= h; zq += h; dp -= h; dq += h; apq = 0.0; + int j = p; + while (j--) + { + g = *ap; h = *aq; + *ap++ = g-s*(h+g*tau); *aq++ = h+s*(g-h*tau); + } + int ip = p+1; j = q-ip; ap += ip++; aq++; + while (j--) + { + g = *ap; h = *aq; + *ap = g-s*(h+g*tau); *aq++ = h+s*(g-h*tau); + ap += ip++; + } + if (q < n-1) // last loop is non-empty + { + int iq = q+1; j = n-iq; ap += ip++; aq += iq++; + for (;;) + { + g = *ap; h = *aq; + *ap = g-s*(h+g*tau); *aq = h+s*(g-h*tau); + if (!(--j)) break; + ap += ip++; aq += iq++; + } + } + if (eivec) + { + REPORT + RectMatrixCol VP(V,p); RectMatrixCol VQ(V,q); + Rotate(VP, VQ, tau, s); + } + } + } + } + B = B + Z; D = B; Z = 0.0; + } + if (!converged) Throw(ConvergenceException(X)); + if (eivec) SortSV(D, V, true); + else SortAscending(D); +} + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D) +{ REPORT SymmetricMatrix A; Matrix V; Jacobi(X,D,A,V,false); } + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, SymmetricMatrix& A) +{ REPORT Matrix V; Jacobi(X,D,A,V,false); } + +void Jacobi(const SymmetricMatrix& X, DiagonalMatrix& D, Matrix& V) +{ REPORT SymmetricMatrix A; Jacobi(X,D,A,V,true); } + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/myexcept.cpp b/3rdparty/newmat/myexcept.cpp new file mode 100644 index 0000000..f9ba8b5 --- /dev/null +++ b/3rdparty/newmat/myexcept.cpp @@ -0,0 +1,496 @@ +/// \ingroup rbd_common +///@{ + +/// \file myexcept.cpp +/// Exception handler. +/// The low level classes for +/// - my exception class hierarchy +/// - the functions needed for my simulated exceptions +/// - the Tracer mechanism +/// - routines for checking whether new and delete calls are balanced +/// + +// Copyright (C) 1993,4,6: R B Davies + + +#define WANT_STREAM // include.h will get stream fns +#define WANT_STRING + +#include "include.h" // include standard files + + +#include "myexcept.h" // for exception handling + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +//#define REG_DEREG // for print out uses of new/delete +//#define CLEAN_LIST // to print entries being added to + // or deleted from cleanup list + +#ifdef SimulateExceptions + +void Throw() +{ + for (Janitor* jan = JumpBase::jl->janitor; jan; jan = jan->NextJanitor) + jan->CleanUp(); + JumpItem* jx = JumpBase::jl->ji; // previous jumpbase; + if ( !jx ) { Terminate(); } // jl was initial JumpItem + JumpBase::jl = jx; // drop down a level; cannot be in front + // of previous line + Tracer::last = JumpBase::jl->trace; + longjmp(JumpBase::jl->env, 1); +} + +#endif // end of simulate exceptions + + +unsigned long BaseException::Select; +char* BaseException::what_error; +int BaseException::SoFar; +int BaseException::LastOne; + +BaseException::BaseException(const char* a_what) +{ + Select++; SoFar = 0; + if (!what_error) // make space for exception message + { + LastOne = 511; + what_error = new char[512]; + if (!what_error) // fail to make space + { + LastOne = 0; + what_error = (char *)"No heap space for exception message\n"; + } + } + AddMessage("\n\nAn exception has been thrown\n"); + AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +void BaseException::AddMessage(const char* a_what) +{ + if (a_what) + { + int l = strlen(a_what); int r = LastOne - SoFar; + if (l < r) { strcpy(what_error+SoFar, a_what); SoFar += l; } + else if (r > 0) + { + strncpy(what_error+SoFar, a_what, r); + what_error[LastOne] = 0; + SoFar = LastOne; + } + } +} + +void BaseException::AddInt(int value) +{ + bool negative; + if (value == 0) { AddMessage("0"); return; } + else if (value < 0) { value = -value; negative = true; } + else negative = false; + int n = 0; int v = value; // how many digits will we need? + while (v > 0) { v /= 10; n++; } + if (negative) n++; + if (LastOne-SoFar < n) { AddMessage("***"); return; } + + SoFar += n; n = SoFar; what_error[n] = 0; + while (value > 0) + { + int nv = value / 10; int rm = value - nv * 10; value = nv; + what_error[--n] = (char)(rm + '0'); + } + if (negative) what_error[--n] = '-'; + return; +} + +void Tracer::PrintTrace() +{ + cout << "\n"; + for (Tracer* et = last; et; et=et->previous) + cout << " * " << et->entry << "\n"; +} + +void Tracer::AddTrace() +{ + if (last) + { + BaseException::AddMessage("Trace: "); + BaseException::AddMessage(last->entry); + for (Tracer* et = last->previous; et; et=et->previous) + { + BaseException::AddMessage("; "); + BaseException::AddMessage(et->entry); + } + BaseException::AddMessage(".\n"); + } +} + +#ifdef SimulateExceptions + + +Janitor::Janitor() +{ + if (do_not_link) + { + do_not_link = false; NextJanitor = 0; OnStack = false; +#ifdef CLEAN_LIST + cout << "Not added to clean-list " << (unsigned long)this << "\n"; +#endif + } + else + { + OnStack = true; +#ifdef CLEAN_LIST + cout << "Add to clean-list " << (unsigned long)this << "\n"; +#endif + NextJanitor = JumpBase::jl->janitor; JumpBase::jl->janitor=this; + } +} + +Janitor::~Janitor() +{ + // expect the item to be deleted to be first on list + // but must be prepared to search list + if (OnStack) + { +#ifdef CLEAN_LIST + cout << "Delete from clean-list " << (unsigned long)this << "\n"; +#endif + Janitor* lastjan = JumpBase::jl->janitor; + if (this == lastjan) JumpBase::jl->janitor = NextJanitor; + else + { + for (Janitor* jan = lastjan->NextJanitor; jan; + jan = lastjan->NextJanitor) + { + if (jan==this) + { lastjan->NextJanitor = jan->NextJanitor; return; } + lastjan=jan; + } + + Throw(BaseException( +"Cannot resolve memory linked list\nSee notes in myexcept.cpp for details\n" + )); + + +// This message occurs when a call to ~Janitor() occurs, apparently +// without a corresponding call to Janitor(). This could happen if my +// way of deciding whether a constructor is being called by new +// fails. + +// It may happen if you are using my simulated exceptions and also have +// your compiler s exceptions turned on. + +// It can also happen if you have a class derived from Janitor +// which does not include a copy constructor [ eg X(const &X) ]. +// Possibly also if delete is applied an object on the stack (ie not +// called by new). Otherwise, it is a bug in myexcept or your compiler. +// If you do not #define TEMPS_DESTROYED_QUICKLY you will get this +// error with Microsoft C 7.0. There are probably situations where +// you will get this when you do define TEMPS_DESTROYED_QUICKLY. This +// is a bug in MSC. Beware of "operator" statements for defining +// conversions; particularly for converting from a Base class to a +// Derived class. + +// You may get away with simply deleting this error message and Throw +// statement if you can not find a better way of overcoming the +// problem. In any case please tell me if you get this error message, +// particularly for compilers apart from Microsoft C 7.0. + + + } + } +} + +JumpItem* JumpBase::jl; // will be set to zero +jmp_buf JumpBase::env; +bool Janitor::do_not_link; // will be set to false + + +int JanitorInitializer::ref_count; + +JanitorInitializer::JanitorInitializer() +{ + if (ref_count++ == 0) new JumpItem; + // need JumpItem at head of list +} + +#endif // end of SimulateExceptions + +Tracer* Tracer::last; // will be set to zero + + +void Terminate() +{ + cout << "\n\nThere has been an exception with no handler - exiting"; + const char* what = BaseException::what(); + if (what) cout << what << "\n"; + exit(1); +} + + + +#ifdef DO_FREE_CHECK +// Routines for tracing whether new and delete calls are balanced + +FreeCheckLink::FreeCheckLink() : next(FreeCheck::next) + { FreeCheck::next = this; } + +FCLClass::FCLClass(void* t, char* name) : ClassName(name) { ClassStore=t; } + +FCLRealArray::FCLRealArray(void* t, char* o, int s) + : Operation(o), size(s) { ClassStore=t; } + +FCLIntArray::FCLIntArray(void* t, char* o, int s) + : Operation(o), size(s) { ClassStore=t; } + +FreeCheckLink* FreeCheck::next; +int FreeCheck::BadDelete; + +void FCLClass::Report() +{ cout << " " << ClassName << " " << (unsigned long)ClassStore << "\n"; } + +void FCLRealArray::Report() +{ + cout << " " << Operation << " " << (unsigned long)ClassStore << + " " << size << "\n"; +} + +void FCLIntArray::Report() +{ + cout << " " << Operation << " " << (unsigned long)ClassStore << + " " << size << "\n"; +} + +void FreeCheck::Register(void* t, char* name) +{ + FCLClass* f = new FCLClass(t,name); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << "Registering " << name << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::RegisterR(void* t, char* o, int s) +{ + FCLRealArray* f = new FCLRealArray(t,o,s); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::RegisterI(void* t, char* o, int s) +{ + FCLIntArray* f = new FCLIntArray(t,o,s); + if (!f) { cout << "Out of memory in FreeCheck\n"; exit(1); } +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif +} + +void FreeCheck::DeRegister(void* t, char* name) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << "Deregistering " << name << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent object of class and location:\n"; + cout << " " << name << " " << (unsigned long)t << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::DeRegisterR(void* t, char* o, int s) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + if (s >= 0 && ((FCLRealArray*)fcl)->size != s) + { + cout << "\nArray sizes do not agree:\n"; + cout << " " << o << " " << (unsigned long)t + << " " << ((FCLRealArray*)fcl)->size << " " << s << "\n"; + Tracer::PrintTrace(); + cout << "\n"; + } + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent real array:\n"; + cout << " " << o << " " << (unsigned long)t << " " << s << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::DeRegisterI(void* t, char* o, int s) +{ + FreeCheckLink* last = 0; +#ifdef REG_DEREG + cout << o << " " << s << " " << (unsigned long)t << "\n"; +#endif + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) + { + if (fcl->ClassStore==t) + { + if (last) last->next = fcl->next; else next = fcl->next; + if (s >= 0 && ((FCLIntArray*)fcl)->size != s) + { + cout << "\nArray sizes do not agree:\n"; + cout << " " << o << " " << (unsigned long)t + << " " << ((FCLIntArray*)fcl)->size << " " << s << "\n"; + Tracer::PrintTrace(); + cout << "\n"; + } + delete fcl; return; + } + last = fcl; + } + cout << "\nRequest to delete non-existent int array:\n"; + cout << " " << o << " " << (unsigned long)t << " " << s << "\n"; + BadDelete++; + Tracer::PrintTrace(); + cout << "\n"; +} + +void FreeCheck::Status() +{ + if (next) + { + cout << "\nObjects of the following classes remain undeleted:\n"; + for (FreeCheckLink* fcl = next; fcl; fcl = fcl->next) fcl->Report(); + cout << "\n"; + } + else cout << "\nNo objects remain undeleted\n\n"; + if (BadDelete) + { + cout << "\nThere were " << BadDelete << + " requests to delete non-existent items\n\n"; + } +} + +#endif // end of DO_FREE_CHECK + +// derived exception bodies + +Logic_error::Logic_error(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("Logic error:- "); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Runtime_error::Runtime_error(const char* a_what) + : BaseException() +{ + Select = BaseException::Select; + AddMessage("Runtime error:- "); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Domain_error::Domain_error(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("domain error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Invalid_argument::Invalid_argument(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("invalid argument\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Length_error::Length_error(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("length error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Out_of_range::Out_of_range(const char* a_what) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("out of range\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +//Bad_cast::Bad_cast(const char* a_what) : Logic_error() +//{ +// Select = BaseException::Select; +// AddMessage("bad cast\n"); AddMessage(a_what); +// if (a_what) Tracer::AddTrace(); +//} + +//Bad_typeid::Bad_typeid(const char* a_what) : Logic_error() +//{ +// Select = BaseException::Select; +// AddMessage("bad type id.\n"); AddMessage(a_what); +// if (a_what) Tracer::AddTrace(); +//} + +Range_error::Range_error(const char* a_what) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("range error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Overflow_error::Overflow_error(const char* a_what) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("overflow error\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + +Bad_alloc::Bad_alloc(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("bad allocation\n"); AddMessage(a_what); + if (a_what) Tracer::AddTrace(); +} + + + + +unsigned long Logic_error::Select; +unsigned long Runtime_error::Select; +unsigned long Domain_error::Select; +unsigned long Invalid_argument::Select; +unsigned long Length_error::Select; +unsigned long Out_of_range::Select; +//unsigned long Bad_cast::Select; +//unsigned long Bad_typeid::Select; +unsigned long Range_error::Select; +unsigned long Overflow_error::Select; +unsigned long Bad_alloc::Select; + +#ifdef use_namespace +} +#endif + + +///@} + diff --git a/3rdparty/newmat/myexcept.h b/3rdparty/newmat/myexcept.h new file mode 100644 index 0000000..c7aff8e --- /dev/null +++ b/3rdparty/newmat/myexcept.h @@ -0,0 +1,446 @@ +/// \ingroup rbd_common +///@{ + +/// \file myexcept.h +/// Exception handler. +/// The low level classes for +/// - my exception class hierarchy +/// - the functions needed for my simulated exceptions +/// - the Tracer mechanism +/// - routines for checking whether new and delete calls are balanced +/// + + +// A set of classes to simulate exceptions in C++ +// +// Partially copied from Carlos Vidal s article in the C users journal +// September 1992, pp 19-28 +// +// Operations defined +// Try { } +// Throw ( exception object ) +// ReThrow +// Catch ( exception class ) { } +// CatchAll { } +// CatchAndThrow +// +// All catch lists must end with a CatchAll or CatchAndThrow statement +// but not both. +// +// When exceptions are finally implemented replace Try, Throw(E), Rethrow, +// Catch, CatchAll, CatchAndThrow by try, throw E, throw, catch, +// catch(...), and {}. +// +// All exception classes must be derived from BaseException, have no +// non-static variables and must include the statement +// +// static unsigned long Select; +// +// Any constructor in one of these exception classes must include +// +// Select = BaseException::Select; +// +// For each exceptions class, EX_1, some .cpp file must include +// +// unsigned long EX_1::Select; +// + + +#ifndef EXCEPTION_LIB +#define EXCEPTION_LIB + +#include "include.h" + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +void Terminate(); + + +//********** classes for setting up exceptions and reporting ************// + +class BaseException; + +class Tracer // linked list showing how +{ // we got here + const char* entry; + Tracer* previous; +public: + Tracer(const char*); + ~Tracer(); + void ReName(const char*); + static void PrintTrace(); // for printing trace + static void AddTrace(); // insert trace in exception record + static Tracer* last; // points to Tracer list + friend class BaseException; +}; + + +class BaseException // The base exception class +{ +protected: + static char* what_error; // error message + static int SoFar; // no. characters already entered + static int LastOne; // last location in error buffer +public: + static void AddMessage(const char* a_what); + // messages about exception + static void AddInt(int value); // integer to error message + static unsigned long Select; // for identifying exception + BaseException(const char* a_what = 0); + static const char* what() { return what_error; } + // for getting error message +}; + +#ifdef TypeDefException +typedef BaseException Exception; // for compatibility with my older libraries +#endif + +inline Tracer::Tracer(const char* e) + : entry(e), previous(last) { last = this; } + +inline Tracer::~Tracer() { last = previous; } + +inline void Tracer::ReName(const char* e) { entry=e; } + +#ifdef SimulateExceptions // SimulateExceptions + +#include + + +//************* the definitions of Try, Throw and Catch *****************// + + +class JumpItem; +class Janitor; + +class JumpBase // pointer to a linked list of jmp_buf s +{ +public: + static JumpItem *jl; + static jmp_buf env; +}; + +class JumpItem // an item in a linked list of jmp_buf s +{ +public: + JumpItem *ji; + jmp_buf env; + Tracer* trace; // to keep check on Tracer items + Janitor* janitor; // list of items for cleanup + JumpItem() : ji(JumpBase::jl), trace(0), janitor(0) + { JumpBase::jl = this; } + ~JumpItem() { JumpBase::jl = ji; } +}; + +void Throw(); + +inline void Throw(const BaseException&) { Throw(); } + +#define Try \ + if (!setjmp( JumpBase::jl->env )) { \ + JumpBase::jl->trace = Tracer::last; \ + JumpItem JI387256156; + +#define ReThrow Throw() + +#define Catch(EXCEPTION) \ + } else if (BaseException::Select == EXCEPTION::Select) { + +#define CatchAll } else + +#define CatchAndThrow } else Throw(); + + +//****************** cleanup heap following Throw ***********************// + +class Janitor +{ +protected: + static bool do_not_link; // set when new is called + bool OnStack; // false if created by new +public: + Janitor* NextJanitor; + virtual void CleanUp() {} + Janitor(); + virtual ~Janitor(); +}; + + +// The tiresome old trick for initializing the Janitor class +// this is needed for classes derived from Janitor which have objects +// declared globally + +class JanitorInitializer +{ +public: + JanitorInitializer(); +private: + static int ref_count; +}; + +static JanitorInitializer JanInit; + +#endif // end of SimulateExceptions + +#ifdef UseExceptions + +#define Try try +#define Throw(E) throw E +#define ReThrow throw +#define Catch catch +#define CatchAll catch(...) +#define CatchAndThrow {} + +#endif // end of UseExceptions + + +#ifdef DisableExceptions // Disable exceptions + +#define Try { +#define ReThrow Throw() +#define Catch(EXCEPTION) } if (false) { +#define CatchAll } if (false) +#define CatchAndThrow } + +inline void Throw() { Terminate(); } +inline void Throw(const BaseException&) { Terminate(); } + + +#endif // end of DisableExceptions + +#ifndef SimulateExceptions // ! SimulateExceptions + +class Janitor // a dummy version +{ +public: + virtual void CleanUp() {} + Janitor() {} + virtual ~Janitor() {} +}; + +#endif // end of ! SimulateExceptions + + +//******************** FREE_CHECK and NEW_DELETE ***********************// + +#ifdef DO_FREE_CHECK // DO_FREE_CHECK +// Routines for tracing whether new and delete calls are balanced + +class FreeCheck; + +class FreeCheckLink +{ +protected: + FreeCheckLink* next; + void* ClassStore; + FreeCheckLink(); + virtual void Report()=0; // print details of link + friend class FreeCheck; +}; + +class FCLClass : public FreeCheckLink // for registering objects +{ + char* ClassName; + FCLClass(void* t, char* name); + void Report(); + friend class FreeCheck; +}; + +class FCLRealArray : public FreeCheckLink // for registering real arrays +{ + char* Operation; + int size; + FCLRealArray(void* t, char* o, int s); + void Report(); + friend class FreeCheck; +}; + +class FCLIntArray : public FreeCheckLink // for registering int arrays +{ + char* Operation; + int size; + FCLIntArray(void* t, char* o, int s); + void Report(); + friend class FreeCheck; +}; + + +class FreeCheck +{ + static FreeCheckLink* next; + static int BadDelete; +public: + static void Register(void*, char*); + static void DeRegister(void*, char*); + static void RegisterR(void*, char*, int); + static void DeRegisterR(void*, char*, int); + static void RegisterI(void*, char*, int); + static void DeRegisterI(void*, char*, int); + static void Status(); + friend class FreeCheckLink; + friend class FCLClass; + friend class FCLRealArray; + friend class FCLIntArray; +}; + +#define FREE_CHECK(Class) \ +public: \ + void* operator new(size_t size) \ + { \ + void* t = ::operator new(size); FreeCheck::Register(t,#Class); \ + return t; \ + } \ + void operator delete(void* t) \ + { FreeCheck::DeRegister(t,#Class); ::operator delete(t); } + + +#ifdef SimulateExceptions // SimulateExceptions + +#define NEW_DELETE(Class) \ +public: \ + void* operator new(size_t size) \ + { \ + do_not_link=true; \ + void* t = ::operator new(size); FreeCheck::Register(t,#Class); \ + return t; \ + } \ + void operator delete(void* t) \ + { FreeCheck::DeRegister(t,#Class); ::operator delete(t); } + + +#endif // end of SimulateExceptions + + +#define MONITOR_REAL_NEW(Operation, Size, Pointer) \ + FreeCheck::RegisterR(Pointer, Operation, Size); +#define MONITOR_INT_NEW(Operation, Size, Pointer) \ + FreeCheck::RegisterI(Pointer, Operation, Size); +#define MONITOR_REAL_DELETE(Operation, Size, Pointer) \ + FreeCheck::DeRegisterR(Pointer, Operation, Size); +#define MONITOR_INT_DELETE(Operation, Size, Pointer) \ + FreeCheck::DeRegisterI(Pointer, Operation, Size); + +#else // DO_FREE_CHECK not defined + +#define FREE_CHECK(Class) public: +#define MONITOR_REAL_NEW(Operation, Size, Pointer) {} +#define MONITOR_INT_NEW(Operation, Size, Pointer) {} +#define MONITOR_REAL_DELETE(Operation, Size, Pointer) {} +#define MONITOR_INT_DELETE(Operation, Size, Pointer) {} + + +#ifdef SimulateExceptions // SimulateExceptions + + +#define NEW_DELETE(Class) \ +public: \ + void* operator new(size_t size) \ + { do_not_link=true; void* t = ::operator new(size); return t; } \ + void operator delete(void* t) { ::operator delete(t); } + +#endif // end of SimulateExceptions + +#endif // end of ! DO_FREE_CHECK + +#ifndef SimulateExceptions // ! SimulateExceptions + +#define NEW_DELETE(Class) FREE_CHECK(Class) + +#endif // end of ! SimulateExceptions + + +//********************* derived exceptions ******************************// + +class Logic_error : public BaseException +{ +public: + static unsigned long Select; + Logic_error(const char* a_what = 0); +}; + +class Runtime_error : public BaseException +{ +public: + static unsigned long Select; + Runtime_error(const char* a_what = 0); +}; + +class Domain_error : public Logic_error +{ +public: + static unsigned long Select; + Domain_error(const char* a_what = 0); +}; + +class Invalid_argument : public Logic_error +{ +public: + static unsigned long Select; + Invalid_argument(const char* a_what = 0); +}; + +class Length_error : public Logic_error +{ +public: + static unsigned long Select; + Length_error(const char* a_what = 0); +}; + +class Out_of_range : public Logic_error +{ +public: + static unsigned long Select; + Out_of_range(const char* a_what = 0); +}; + +//class Bad_cast : public Logic_error +//{ +//public: +// static unsigned long Select; +// Bad_cast(const char* a_what = 0); +//}; + +//class Bad_typeid : public Logic_error +//{ +//public: +// static unsigned long Select; +// Bad_typeid(const char* a_what = 0); +//}; + +class Range_error : public Runtime_error +{ +public: + static unsigned long Select; + Range_error(const char* a_what = 0); +}; + +class Overflow_error : public Runtime_error +{ +public: + static unsigned long Select; + Overflow_error(const char* a_what = 0); +}; + +class Bad_alloc : public BaseException +{ +public: + static unsigned long Select; + Bad_alloc(const char* a_what = 0); +}; + +#ifdef use_namespace +} +#endif + + +#endif // end of EXCEPTION_LIB + + +// body file: myexcept.cpp + + +///@} + diff --git a/3rdparty/newmat/newfft.cpp b/3rdparty/newmat/newfft.cpp new file mode 100644 index 0000000..62dc559 --- /dev/null +++ b/3rdparty/newmat/newfft.cpp @@ -0,0 +1,1059 @@ +//$ newfft.cpp + +// This is originally by Sande and Gentleman in 1967! I have translated from +// Fortran into C and a little bit of C++. + +// It takes about twice as long as fftw +// (http://theory.lcs.mit.edu/~fftw/homepage.html) +// but is much shorter than fftw and so despite its age +// might represent a reasonable +// compromise between speed and complexity. +// If you really need the speed get fftw. + + +// THIS SUBROUTINE WAS WRITTEN BY G.SANDE OF PRINCETON UNIVERSITY AND +// W.M.GENTLMAN OF THE BELL TELEPHONE LAB. IT WAS BROUGHT TO LONDON +// BY DR. M.D. GODFREY AT THE IMPERIAL COLLEGE AND WAS ADAPTED FOR +// BURROUGHS 6700 BY D. R. BRILLINGER AND J. PEMBERTON +// IT REPRESENTS THE STATE OF THE ART OF COMPUTING COMPLETE FINITE +// DISCRETE FOURIER TRANSFORMS AS OF NOV.1967. +// OTHER PROGRAMS REQUIRED. +// ONLY THOSE SUBROUTINES INCLUDED HERE. +// USAGE. +// CALL AR1DFT(N,X,Y) +// WHERE N IS THE NUMBER OF POINTS IN THE SEQUENCE . +// X - IS A ONE-DIMENSIONAL ARRAY CONTAINING THE REAL +// PART OF THE SEQUENCE. +// Y - IS A ONE-DIMENSIONAL ARRAY CONTAINING THE +// IMAGINARY PART OF THE SEQUENCE. +// THE TRANSFORM IS RETURNED IN X AND Y. +// METHOD +// FOR A GENERAL DISCUSSION OF THESE TRANSFORMS AND OF +// THE FAST METHOD FOR COMPUTING THEM, SEE GENTLEMAN AND SANDE, +// @FAST FOURIER TRANSFORMS - FOR FUN AND PROFIT,@ 1966 FALL JOINT +// COMPUTER CONFERENCE. +// THIS PROGRAM COMPUTES THIS FOR A COMPLEX SEQUENCE Z(T) OF LENGTH +// N WHOSE ELEMENTS ARE STORED AT(X(I) , Y(I)) AND RETURNS THE +// TRANSFORM COEFFICIENTS AT (X(I), Y(I)). +// DESCRIPTION +// AR1DFT IS A HIGHLY MODULAR ROUTINE CAPABLE OF COMPUTING IN PLACE +// THE COMPLETE FINITE DISCRETE FOURIER TRANSFORM OF A ONE- +// DIMENSIONAL SEQUENCE OF RATHER GENERAL LENGTH N. +// THE MAIN ROUTINE , AR1DFT ITSELF, FACTORS N. IT THEN CALLS ON +// ON GR 1D FT TO COMPUTE THE ACTUAL TRANSFORMS, USING THESE FACTORS. +// THIS GR 1D FT DOES, CALLING AT EACH STAGE ON THE APPROPRIATE KERN +// EL R2FTK, R4FTK, R8FTK, R16FTK, R3FTK, R5FTK, OR RPFTK TO PERFORM +// THE COMPUTATIONS FOR THIS PASS OVER THE SEQUENCE, DEPENDING ON +// WHETHER THE CORRESPONDING FACTOR IS 2, 4, 8, 16, 3, 5, OR SOME +// MORE GENERAL PRIME P. WHEN GR1DFT IS FINISHED THE TRANSFORM IS +// COMPUTED, HOWEVER, THE RESULTS ARE STORED IN "DIGITS REVERSED" +// ORDER. AR1DFT THEREFORE, CALLS UPON GR 1S FS TO SORT THEM OUT. +// TO RETURN TO THE FACTORIZATION, SINGLETON HAS POINTED OUT THAT +// THE TRANSFORMS ARE MORE EFFICIENT IF THE SAMPLE SIZE N, IS OF THE +// FORM B*A**2 AND B CONSISTS OF A SINGLE FACTOR. IN SUCH A CASE +// IF WE PROCESS THE FACTORS IN THE ORDER ABA THEN +// THE REORDERING CAN BE DONE AS FAST IN PLACE, AS WITH SCRATCH +// STORAGE. BUT AS B BECOMES MORE COMPLICATED, THE COST OF THE DIGIT +// REVERSING DUE TO B PART BECOMES VERY EXPENSIVE IF WE TRY TO DO IT +// IN PLACE. IN SUCH A CASE IT MIGHT BE BETTER TO USE EXTRA STORAGE +// A ROUTINE TO DO THIS IS, HOWEVER, NOT INCLUDED HERE. +// ANOTHER FEATURE INFLUENCING THE FACTORIZATION IS THAT FOR ANY FIXED +// FACTOR N WE CAN PREPARE A SPECIAL KERNEL WHICH WILL COMPUTE +// THAT STAGE OF THE TRANSFORM MORE EFFICIENTLY THAN WOULD A KERNEL +// FOR GENERAL FACTORS, ESPECIALLY IF THE GENERAL KERNEL HAD TO BE +// APPLIED SEVERAL TIMES. FOR EXAMPLE, FACTORS OF 4 ARE MORE +// EFFICIENT THAN FACTORS OF 2, FACTORS OF 8 MORE EFFICIENT THAN 4,ETC +// ON THE OTHER HAND DIMINISHING RETURNS RAPIDLY SET IN, ESPECIALLY +// SINCE THE LENGTH OF THE KERNEL FOR A SPECIAL CASE IS ROUGHLY +// PROPORTIONAL TO THE FACTOR IT DEALS WITH. HENCE THESE PROBABLY ARE +// ALL THE KERNELS WE WISH TO HAVE. +// RESTRICTIONS. +// AN UNFORTUNATE FEATURE OF THE SORTING PROBLEM IS THAT THE MOST +// EFFICIENT WAY TO DO IT IS WITH NESTED DO LOOPS, ONE FOR EACH +// FACTOR. THIS PUTS A RESTRICTION ON N AS TO HOW MANY FACTORS IT +// CAN HAVE. CURRENTLY THE LIMIT IS 16, BUT THE LIMIT CAN BE READILY +// RAISED IF NECESSARY. +// A SECOND RESTRICTION OF THE PROGRAM IS THAT LOCAL STORAGE OF THE +// THE ORDER P**2 IS REQUIRED BY THE GENERAL KERNEL RPFTK, SO SOME +// LIMIT MUST BE SET ON P. CURRENTLY THIS IS 19, BUT IT CAN BE INCRE +// INCREASED BY TRIVIAL CHANGES. +// OTHER COMMENTS. +//(1) THE ROUTINE IS ADAPTED TO CHECK WHETHER A GIVEN N WILL MEET THE +// ABOVE FACTORING REQUIREMENTS AN, IF NOT, TO RETURN THE NEXT HIGHER +// NUMBER, NX, SAY, WHICH WILL MEET THESE REQUIREMENTS. +// THIS CAN BE ACCHIEVED BY A STATEMENT OF THE FORM +// CALL FACTR(N,X,Y). +// IF A DIFFERENT N, SAY NX, IS RETURNED THEN THE TRANSFORMS COULD BE +// OBTAINED BY EXTENDING THE SIZE OF THE X-ARRAY AND Y-ARRAY TO NX, +// AND SETTING X(I) = Y(I) = 0., FOR I = N+1, NX. +//(2) IF THE SEQUENCE Z IS ONLY A REAL SEQUENCE, THEN THE IMAGINARY PART +// Y(I)=0., THIS WILL RETURN THE COSINE TRANSFORM OF THE REAL SEQUENCE +// IN X, AND THE SINE TRANSFORM IN Y. + + +#define WANT_STREAM + +#define WANT_MATH + +#include "newmatap.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,20); ++ExeCount; } +#else +#define REPORT {} +#endif + +inline Real square(Real x) { return x*x; } +inline int square(int x) { return x*x; } + +static void GR_1D_FS (int PTS, int N_SYM, int N_UN_SYM, + const SimpleIntArray& SYM, int P_SYM, const SimpleIntArray& UN_SYM, + Real* X, Real* Y); +static void GR_1D_FT (int N, int N_FACTOR, const SimpleIntArray& FACTOR, + Real* X, Real* Y); +static void R_P_FTK (int N, int M, int P, Real* X, Real* Y); +static void R_2_FTK (int N, int M, Real* X0, Real* Y0, Real* X1, Real* Y1); +static void R_3_FTK (int N, int M, Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2); +static void R_4_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3); +static void R_5_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, Real* X2, Real* Y2, + Real* X3, Real* Y3, Real* X4, Real* Y4); +static void R_8_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3, + Real* X4, Real* Y4, Real* X5, Real* Y5, + Real* X6, Real* Y6, Real* X7, Real* Y7); +static void R_16_FTK (int N, int M, + Real* X0, Real* Y0, Real* X1, Real* Y1, + Real* X2, Real* Y2, Real* X3, Real* Y3, + Real* X4, Real* Y4, Real* X5, Real* Y5, + Real* X6, Real* Y6, Real* X7, Real* Y7, + Real* X8, Real* Y8, Real* X9, Real* Y9, + Real* X10, Real* Y10, Real* X11, Real* Y11, + Real* X12, Real* Y12, Real* X13, Real* Y13, + Real* X14, Real* Y14, Real* X15, Real* Y15); +static int BitReverse(int x, int prod, int n, const SimpleIntArray& f); + + +bool FFT_Controller::ar_1d_ft (int PTS, Real* X, Real *Y) +{ +// ARBITRARY RADIX ONE DIMENSIONAL FOURIER TRANSFORM + + REPORT + + int F,J,N,NF,P,PMAX,P_SYM,P_TWO,Q,R,TWO_GRP; + + // NP is maximum number of squared factors allows PTS up to 2**32 at least + // NQ is number of not-squared factors - increase if we increase PMAX + const int NP = 16, NQ = 10; + SimpleIntArray PP(NP), QQ(NQ); + + TWO_GRP=16; PMAX=19; + + // PMAX is the maximum factor size + // TWO_GRP is the maximum power of 2 handled as a single factor + // Doesn't take advantage of combining powers of 2 when calculating + // number of factors + + if (PTS<=1) return true; + N=PTS; P_SYM=1; F=2; P=0; Q=0; + + // P counts the number of squared factors + // Q counts the number of the rest + // R = 0 for no non-squared factors; 1 otherwise + + // FACTOR holds all the factors - non-squared ones in the middle + // - length is 2*P+Q + // SYM also holds all the factors but with the non-squared ones + // multiplied together - length is 2*P+R + // PP holds the values of the squared factors - length is P + // QQ holds the values of the rest - length is Q + + // P_SYM holds the product of the squared factors + + // find the factors - load into PP and QQ + while (N > 1) + { + bool fail = true; + for (J=F; J<=PMAX; J++) + if (N % J == 0) { fail = false; F=J; break; } + if (fail || P >= NP || Q >= NQ) return false; // can't factor + N /= F; + if (N % F != 0) QQ[Q++] = F; + else { N /= F; PP[P++] = F; P_SYM *= F; } + } + + R = (Q == 0) ? 0 : 1; // R = 0 if no not-squared factors, 1 otherwise + + NF = 2*P + Q; + SimpleIntArray FACTOR(NF + 1), SYM(2*P + R); + FACTOR[NF] = 0; // we need this in the "combine powers of 2" + + // load into SYM and FACTOR + for (J=0; J0) + { + REPORT + for (J=0; J 0) + { + REPORT + SimpleIntArray U(N_SYM); + for(MultiRadixCounter MRC(N_SYM, SYM, U); !MRC.Finish(); ++MRC) + { + if (MRC.Swap()) + { + int P = MRC.Reverse(); int JJ = MRC.Counter(); Real T; + T=X[JJ]; X[JJ]=X[P]; X[P]=T; T=Y[JJ]; Y[JJ]=Y[P]; Y[P]=T; + } + } + } + + int J,JL,K,L,M,MS; + + // UN_SYM contains the non-squared factors + // I have replaced the Sande-Gentleman code as it runs into + // integer overflow problems + // My code (and theirs) would be improved by using a bit array + // as suggested by Van Loan + + if (N_UN_SYM==0) { REPORT return; } + P_UN_SYM=PTS/square(P_SYM); JL=(P_UN_SYM-3)*P_SYM; MS=P_UN_SYM*P_SYM; + + for (J = P_SYM; J<=JL; J+=P_SYM) + { + K=J; + do K = P_SYM * BitReverse(K / P_SYM, P_UN_SYM, N_UN_SYM, UN_SYM); + while (K 1) + { + bool fail = true; + for (int J = F; J <= PMAX; J++) + if (N % J == 0) { fail = false; F=J; break; } + if (fail || P >= NP || Q >= NQ) { REPORT return false; } + N /= F; + if (N % F != 0) Q++; else { N /= F; P++; } + } + + return true; // can factorise + +} + +bool FFT_Controller::OnlyOldFFT; // static variable + +// **************************** multi radix counter ********************** + +MultiRadixCounter::MultiRadixCounter(int nx, const SimpleIntArray& rx, + SimpleIntArray& vx) + : Radix(rx), Value(vx), n(nx), reverse(0), + product(1), counter(0), finish(false) +{ + REPORT for (int k = 0; k < n; k++) { Value[k] = 0; product *= Radix[k]; } +} + +void MultiRadixCounter::operator++() +{ + REPORT + counter++; int p = product; + for (int k = 0; k < n; k++) + { + Value[k]++; int p1 = p / Radix[k]; reverse += p1; + if (Value[k] == Radix[k]) { REPORT Value[k] = 0; reverse -= p; p = p1; } + else { REPORT return; } + } + finish = true; +} + + +static int BitReverse(int x, int prod, int n, const SimpleIntArray& f) +{ + // x = c[0]+f[0]*(c[1]+f[1]*(c[2]+... + // return c[n-1]+f[n-1]*(c[n-2]+f[n-2]*(c[n-3]+... + // prod is the product of the f[i] + // n is the number of f[i] (don't assume f has the correct length) + + REPORT + const int* d = f.Data() + n; int sum = 0; int q = 1; + while (n--) + { + prod /= *(--d); + int c = x / prod; x-= c * prod; + sum += q * c; q *= *d; + } + return sum; +} + + +#ifdef use_namespace +} +#endif + + diff --git a/3rdparty/newmat/newmat.h b/3rdparty/newmat/newmat.h new file mode 100644 index 0000000..22b9bac --- /dev/null +++ b/3rdparty/newmat/newmat.h @@ -0,0 +1,1814 @@ +//$$ newmat.h definition file for new version of matrix package + +// Copyright (C) 1991,2,3,4,7,2000,2002: R B Davies + +#ifndef NEWMAT_LIB +#define NEWMAT_LIB 0 + +#include "include.h" + +#include "boolean.h" +#include "myexcept.h" + + +#ifdef use_namespace +namespace NEWMAT { using namespace RBD_COMMON; } +namespace RBD_LIBRARIES { using namespace NEWMAT; } +namespace NEWMAT { +#endif + +//#define DO_REPORT // to activate REPORT + +#ifdef NO_LONG_NAMES +#define UpperTriangularMatrix UTMatrix +#define LowerTriangularMatrix LTMatrix +#define SymmetricMatrix SMatrix +#define DiagonalMatrix DMatrix +#define BandMatrix BMatrix +#define UpperBandMatrix UBMatrix +#define LowerBandMatrix LBMatrix +#define SymmetricBandMatrix SBMatrix +#define BandLUMatrix BLUMatrix +#endif + +#ifndef TEMPS_DESTROYED_QUICKLY_R +#define ReturnMatrix ReturnMatrixX +#else +#define ReturnMatrix ReturnMatrixX& +#endif + +// ************************** general utilities ****************************/ + +class GeneralMatrix; + +void MatrixErrorNoSpace(void*); // no space handler + +class LogAndSign +// Return from LogDeterminant function +// - value of the log plus the sign (+, - or 0) +{ + Real log_value; + int sign; +public: + LogAndSign() { log_value=0.0; sign=1; } + LogAndSign(Real); + void operator*=(Real); + void PowEq(int k); // raise to power of k + void ChangeSign() { sign = -sign; } + Real LogValue() const { return log_value; } + int Sign() const { return sign; } + Real Value() const; + FREE_CHECK(LogAndSign) +}; + +// the following class is for counting the number of times a piece of code +// is executed. It is used for locating any code not executed by test +// routines. Use turbo GREP locate all places this code is called and +// check which ones are not accessed. +// Somewhat implementation dependent as it relies on "cout" still being +// present when ExeCounter objects are destructed. + +#ifdef DO_REPORT + +class ExeCounter +{ + int line; // code line number + int fileid; // file identifier + long nexe; // number of executions + static int nreports; // number of reports +public: + ExeCounter(int,int); + void operator++() { nexe++; } + ~ExeCounter(); // prints out reports +}; + +#endif + + +// ************************** class MatrixType *****************************/ + +// Is used for finding the type of a matrix resulting from the binary operations +// +, -, * and identifying what conversions are permissible. +// This class must be updated when new matrix types are added. + +class GeneralMatrix; // defined later +class BaseMatrix; // defined later +class MatrixInput; // defined later + +class MatrixType +{ +public: + enum Attribute { Valid = 1, + Diagonal = 2, // order of these is important + Symmetric = 4, + Band = 8, + Lower = 16, + Upper = 32, + LUDeco = 64, + Ones = 128 }; + + enum { US = 0, + UT = Valid + Upper, + LT = Valid + Lower, + Rt = Valid, + Sm = Valid + Symmetric, + Dg = Valid + Diagonal + Band + Lower + Upper + Symmetric, + Id = Valid + Diagonal + Band + Lower + Upper + Symmetric + + Ones, + RV = Valid, // do not separate out + CV = Valid, // vectors + BM = Valid + Band, + UB = Valid + Band + Upper, + LB = Valid + Band + Lower, + SB = Valid + Band + Symmetric, + Ct = Valid + LUDeco, + BC = Valid + Band + LUDeco + }; + + + static int nTypes() { return 10; } // number of different types + // exclude Ct, US, BC +public: + int attribute; + bool DataLossOK; // true if data loss is OK when + // this represents a destination +public: + MatrixType () : DataLossOK(false) {} + MatrixType (int i) : attribute(i), DataLossOK(false) {} + MatrixType (int i, bool dlok) : attribute(i), DataLossOK(dlok) {} + MatrixType (const MatrixType& mt) + : attribute(mt.attribute), DataLossOK(mt.DataLossOK) {} + void operator=(const MatrixType& mt) + { attribute = mt.attribute; DataLossOK = mt.DataLossOK; } + void SetDataLossOK() { DataLossOK = true; } + int operator+() const { return attribute; } + MatrixType operator+(MatrixType mt) const + { return MatrixType(attribute & mt.attribute); } + MatrixType operator*(const MatrixType&) const; + MatrixType SP(const MatrixType&) const; + MatrixType KP(const MatrixType&) const; + MatrixType operator|(const MatrixType& mt) const + { return MatrixType(attribute & mt.attribute & Valid); } + MatrixType operator&(const MatrixType& mt) const + { return MatrixType(attribute & mt.attribute & Valid); } + bool operator>=(MatrixType mt) const + { return ( attribute & mt.attribute ) == attribute; } + bool operator<(MatrixType mt) const // for MS Visual C++ 4 + { return ( attribute & mt.attribute ) != attribute; } + bool operator==(MatrixType t) const + { return (attribute == t.attribute); } + bool operator!=(MatrixType t) const + { return (attribute != t.attribute); } + bool operator!() const { return (attribute & Valid) == 0; } + MatrixType i() const; // type of inverse + MatrixType t() const; // type of transpose + MatrixType AddEqualEl() const // Add constant to matrix + { return MatrixType(attribute & (Valid + Symmetric)); } + MatrixType MultRHS() const; // type for rhs of multiply + MatrixType sub() const // type of submatrix + { return MatrixType(attribute & Valid); } + MatrixType ssub() const // type of sym submatrix + { return MatrixType(attribute); } // not for selection matrix + GeneralMatrix* New() const; // new matrix of given type + GeneralMatrix* New(int,int,BaseMatrix*) const; + // new matrix of given type + const char* Value() const; // to print type + friend bool Rectangular(MatrixType a, MatrixType b, MatrixType c); + friend bool Compare(const MatrixType&, MatrixType&); + // compare and check conv. + bool IsBand() const { return (attribute & Band) != 0; } + bool IsDiagonal() const { return (attribute & Diagonal) != 0; } + bool IsSymmetric() const { return (attribute & Symmetric) != 0; } + bool CannotConvert() const { return (attribute & LUDeco) != 0; } + // used by operator== + FREE_CHECK(MatrixType) +}; + + +// *********************** class MatrixBandWidth ***********************/ + +class MatrixBandWidth +{ +public: + int lower; + int upper; + MatrixBandWidth(const int l, const int u) : lower(l), upper (u) {} + MatrixBandWidth(const int i) : lower(i), upper(i) {} + MatrixBandWidth operator+(const MatrixBandWidth&) const; + MatrixBandWidth operator*(const MatrixBandWidth&) const; + MatrixBandWidth minimum(const MatrixBandWidth&) const; + MatrixBandWidth t() const { return MatrixBandWidth(upper,lower); } + bool operator==(const MatrixBandWidth& bw) const + { return (lower == bw.lower) && (upper == bw.upper); } + bool operator!=(const MatrixBandWidth& bw) const { return !operator==(bw); } + int Upper() const { return upper; } + int Lower() const { return lower; } + FREE_CHECK(MatrixBandWidth) +}; + + +// ********************* Array length specifier ************************/ + +// This class is introduced to avoid constructors such as +// ColumnVector(int) +// being used for conversions + +class ArrayLengthSpecifier +{ + int value; +public: + int Value() const { return value; } + ArrayLengthSpecifier(int l) : value(l) {} +}; + +// ************************* Matrix routines ***************************/ + + +class MatrixRowCol; // defined later +class MatrixRow; +class MatrixCol; +class MatrixColX; + +class GeneralMatrix; // defined later +class AddedMatrix; +class MultipliedMatrix; +class SubtractedMatrix; +class SPMatrix; +class KPMatrix; +class ConcatenatedMatrix; +class StackedMatrix; +class SolvedMatrix; +class ShiftedMatrix; +class NegShiftedMatrix; +class ScaledMatrix; +class TransposedMatrix; +class ReversedMatrix; +class NegatedMatrix; +class InvertedMatrix; +class RowedMatrix; +class ColedMatrix; +class DiagedMatrix; +class MatedMatrix; +class GetSubMatrix; +class ReturnMatrixX; +class Matrix; +class nricMatrix; +class RowVector; +class ColumnVector; +class SymmetricMatrix; +class UpperTriangularMatrix; +class LowerTriangularMatrix; +class DiagonalMatrix; +class CroutMatrix; +class BandMatrix; +class LowerBandMatrix; +class UpperBandMatrix; +class SymmetricBandMatrix; +class LinearEquationSolver; +class GenericMatrix; + + +#define MatrixTypeUnSp 0 +//static MatrixType MatrixTypeUnSp(MatrixType::US); +// // AT&T needs this + +class BaseMatrix : public Janitor // base of all matrix classes +{ +protected: + virtual int search(const BaseMatrix*) const = 0; + // count number of times matrix + // is referred to + +public: + virtual GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp) = 0; + // evaluate temporary + // for old version of G++ + // virtual GeneralMatrix* Evaluate(MatrixType mt) = 0; + // GeneralMatrix* Evaluate() { return Evaluate(MatrixTypeUnSp); } +#ifndef TEMPS_DESTROYED_QUICKLY + AddedMatrix operator+(const BaseMatrix&) const; // results of operations + MultipliedMatrix operator*(const BaseMatrix&) const; + SubtractedMatrix operator-(const BaseMatrix&) const; + ConcatenatedMatrix operator|(const BaseMatrix&) const; + StackedMatrix operator&(const BaseMatrix&) const; + ShiftedMatrix operator+(Real) const; + ScaledMatrix operator*(Real) const; + ScaledMatrix operator/(Real) const; + ShiftedMatrix operator-(Real) const; + TransposedMatrix t() const; +// TransposedMatrix t; + NegatedMatrix operator-() const; // change sign of elements + ReversedMatrix Reverse() const; + InvertedMatrix i() const; +// InvertedMatrix i; + RowedMatrix AsRow() const; + ColedMatrix AsColumn() const; + DiagedMatrix AsDiagonal() const; + MatedMatrix AsMatrix(int,int) const; + GetSubMatrix SubMatrix(int,int,int,int) const; + GetSubMatrix SymSubMatrix(int,int) const; + GetSubMatrix Row(int) const; + GetSubMatrix Rows(int,int) const; + GetSubMatrix Column(int) const; + GetSubMatrix Columns(int,int) const; +#else + AddedMatrix& operator+(const BaseMatrix&) const; // results of operations + MultipliedMatrix& operator*(const BaseMatrix&) const; + SubtractedMatrix& operator-(const BaseMatrix&) const; + ConcatenatedMatrix& operator|(const BaseMatrix&) const; + StackedMatrix& operator&(const BaseMatrix&) const; + ShiftedMatrix& operator+(Real) const; + ScaledMatrix& operator*(Real) const; + ScaledMatrix& operator/(Real) const; + ShiftedMatrix& operator-(Real) const; + TransposedMatrix& t() const; +// TransposedMatrix& t; + NegatedMatrix& operator-() const; // change sign of elements + ReversedMatrix& Reverse() const; + InvertedMatrix& i() const; +// InvertedMatrix& i; + RowedMatrix& AsRow() const; + ColedMatrix& AsColumn() const; + DiagedMatrix& AsDiagonal() const; + MatedMatrix& AsMatrix(int,int) const; + GetSubMatrix& SubMatrix(int,int,int,int) const; + GetSubMatrix& SymSubMatrix(int,int) const; + GetSubMatrix& Row(int) const; + GetSubMatrix& Rows(int,int) const; + GetSubMatrix& Column(int) const; + GetSubMatrix& Columns(int,int) const; +#endif + Real AsScalar() const; // conversion of 1 x 1 matrix + virtual LogAndSign LogDeterminant() const; + Real Determinant() const; + virtual Real SumSquare() const; + Real NormFrobenius() const; + virtual Real SumAbsoluteValue() const; + virtual Real Sum() const; + virtual Real MaximumAbsoluteValue() const; + virtual Real MaximumAbsoluteValue1(int& i) const; + virtual Real MaximumAbsoluteValue2(int& i, int& j) const; + virtual Real MinimumAbsoluteValue() const; + virtual Real MinimumAbsoluteValue1(int& i) const; + virtual Real MinimumAbsoluteValue2(int& i, int& j) const; + virtual Real Maximum() const; + virtual Real Maximum1(int& i) const; + virtual Real Maximum2(int& i, int& j) const; + virtual Real Minimum() const; + virtual Real Minimum1(int& i) const; + virtual Real Minimum2(int& i, int& j) const; + virtual Real Trace() const; + Real Norm1() const; + Real NormInfinity() const; + virtual MatrixBandWidth BandWidth() const; // bandwidths of band matrix + virtual void CleanUp() {} // to clear store + void IEQND() const; // called by ineq. ops +// virtual ReturnMatrix Reverse() const; // reverse order of elements + + +//protected: +// BaseMatrix() : t(this), i(this) {} + + friend class GeneralMatrix; + friend class Matrix; + friend class nricMatrix; + friend class RowVector; + friend class ColumnVector; + friend class SymmetricMatrix; + friend class UpperTriangularMatrix; + friend class LowerTriangularMatrix; + friend class DiagonalMatrix; + friend class CroutMatrix; + friend class BandMatrix; + friend class LowerBandMatrix; + friend class UpperBandMatrix; + friend class SymmetricBandMatrix; + friend class AddedMatrix; + friend class MultipliedMatrix; + friend class SubtractedMatrix; + friend class SPMatrix; + friend class KPMatrix; + friend class ConcatenatedMatrix; + friend class StackedMatrix; + friend class SolvedMatrix; + friend class ShiftedMatrix; + friend class NegShiftedMatrix; + friend class ScaledMatrix; + friend class TransposedMatrix; + friend class ReversedMatrix; + friend class NegatedMatrix; + friend class InvertedMatrix; + friend class RowedMatrix; + friend class ColedMatrix; + friend class DiagedMatrix; + friend class MatedMatrix; + friend class GetSubMatrix; + friend class ReturnMatrixX; + friend class LinearEquationSolver; + friend class GenericMatrix; + NEW_DELETE(BaseMatrix) +}; + + +// ***************************** working classes **************************/ + +class GeneralMatrix : public BaseMatrix // declarable matrix types +{ + virtual GeneralMatrix* Image() const; // copy of matrix +protected: + int tag; // shows whether can reuse + int nrows, ncols; // dimensions + int storage; // total store required + Real* store; // point to store (0=not set) + GeneralMatrix(); // initialise with no store + GeneralMatrix(ArrayLengthSpecifier); // constructor getting store + void Add(GeneralMatrix*, Real); // sum of GM and Real + void Add(Real); // add Real to this + void NegAdd(GeneralMatrix*, Real); // Real - GM + void NegAdd(Real); // this = this - Real + void Multiply(GeneralMatrix*, Real); // product of GM and Real + void Multiply(Real); // multiply this by Real + void Negate(GeneralMatrix*); // change sign + void Negate(); // change sign + void ReverseElements(); // internal reverse of elements + void ReverseElements(GeneralMatrix*); // reverse order of elements + void operator=(Real); // set matrix to constant + Real* GetStore(); // get store or copy + GeneralMatrix* BorrowStore(GeneralMatrix*, MatrixType); + // temporarily access store + void GetMatrix(const GeneralMatrix*); // used by = and initialise + void Eq(const BaseMatrix&, MatrixType); // used by = + void Eq(const BaseMatrix&, MatrixType, bool);// used by << + void Eq2(const BaseMatrix&, MatrixType); // cut down version of Eq + int search(const BaseMatrix*) const; + virtual GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void CheckConversion(const BaseMatrix&); // check conversion OK + void ReSize(int, int, int); // change dimensions + virtual short SimpleAddOK(const GeneralMatrix* gm) { return 0; } + // see bandmat.cpp for explanation +public: + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + virtual MatrixType Type() const = 0; // type of a matrix + int Nrows() const { return nrows; } // get dimensions + int Ncols() const { return ncols; } + int Storage() const { return storage; } + Real* Store() const { return store; } + virtual ~GeneralMatrix(); // delete store if set + void tDelete(); // delete if tag permits + bool reuse(); // true if tag allows reuse + void Protect() { tag=-1; } // cannot delete or reuse + int Tag() const { return tag; } + bool IsZero() const; // test matrix has all zeros + void Release() { tag=1; } // del store after next use + void Release(int t) { tag=t; } // del store after t accesses + void ReleaseAndDelete() { tag=0; } // delete matrix after use + void operator<<(const Real*); // assignment from an array + void operator<<(const BaseMatrix& X) + { Eq(X,this->Type(),true); } // = without checking type + void Inject(const GeneralMatrix&); // copy stored els only + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator*=(const BaseMatrix&); + void operator|=(const BaseMatrix&); + void operator&=(const BaseMatrix&); + void operator+=(Real); + void operator-=(Real r) { operator+=(-r); } + void operator*=(Real); + void operator/=(Real r) { operator*=(1.0/r); } + virtual GeneralMatrix* MakeSolver(); // for solving + virtual void Solver(MatrixColX&, const MatrixColX&) {} + virtual void GetRow(MatrixRowCol&) = 0; // Get matrix row + virtual void RestoreRow(MatrixRowCol&) {} // Restore matrix row + virtual void NextRow(MatrixRowCol&); // Go to next row + virtual void GetCol(MatrixRowCol&) = 0; // Get matrix col + virtual void GetCol(MatrixColX&) = 0; // Get matrix col + virtual void RestoreCol(MatrixRowCol&) {} // Restore matrix col + virtual void RestoreCol(MatrixColX&) {} // Restore matrix col + virtual void NextCol(MatrixRowCol&); // Go to next col + virtual void NextCol(MatrixColX&); // Go to next col + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real MaximumAbsoluteValue1(int& i) const; + Real MinimumAbsoluteValue1(int& i) const; + Real Maximum1(int& i) const; + Real Minimum1(int& i) const; + Real MaximumAbsoluteValue() const; + Real MaximumAbsoluteValue2(int& i, int& j) const; + Real MinimumAbsoluteValue() const; + Real MinimumAbsoluteValue2(int& i, int& j) const; + Real Maximum() const; + Real Maximum2(int& i, int& j) const; + Real Minimum() const; + Real Minimum2(int& i, int& j) const; + LogAndSign LogDeterminant() const; + virtual bool IsEqual(const GeneralMatrix&) const; + // same type, same values + void CheckStore() const; // check store is non-zero + virtual void SetParameters(const GeneralMatrix*) {} + // set parameters in GetMatrix + operator ReturnMatrix() const; // for building a ReturnMatrix + ReturnMatrix ForReturn() const; + virtual bool SameStorageType(const GeneralMatrix& A) const; + virtual void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + virtual void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + virtual void ReSize(const GeneralMatrix& A); + MatrixInput operator<<(Real); // for loading a list + MatrixInput operator<<(int f); +// ReturnMatrix Reverse() const; // reverse order of elements + void CleanUp(); // to clear store + + friend class Matrix; + friend class nricMatrix; + friend class SymmetricMatrix; + friend class UpperTriangularMatrix; + friend class LowerTriangularMatrix; + friend class DiagonalMatrix; + friend class CroutMatrix; + friend class RowVector; + friend class ColumnVector; + friend class BandMatrix; + friend class LowerBandMatrix; + friend class UpperBandMatrix; + friend class SymmetricBandMatrix; + friend class BaseMatrix; + friend class AddedMatrix; + friend class MultipliedMatrix; + friend class SubtractedMatrix; + friend class SPMatrix; + friend class KPMatrix; + friend class ConcatenatedMatrix; + friend class StackedMatrix; + friend class SolvedMatrix; + friend class ShiftedMatrix; + friend class NegShiftedMatrix; + friend class ScaledMatrix; + friend class TransposedMatrix; + friend class ReversedMatrix; + friend class NegatedMatrix; + friend class InvertedMatrix; + friend class RowedMatrix; + friend class ColedMatrix; + friend class DiagedMatrix; + friend class MatedMatrix; + friend class GetSubMatrix; + friend class ReturnMatrixX; + friend class LinearEquationSolver; + friend class GenericMatrix; + NEW_DELETE(GeneralMatrix) +}; + + + +class Matrix : public GeneralMatrix // usual rectangular matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + Matrix() {} + ~Matrix() {} + Matrix(int, int); // standard declaration + Matrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const Matrix& m) { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+m*ncols; } + const Real* operator[](int m) const { return store+m*ncols; } +#endif + Matrix(const Matrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver(); + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + virtual void ReSize(int,int); // change dimensions + // virtual so we will catch it being used in a vector called as a matrix + void ReSize(const GeneralMatrix& A); + Real MaximumAbsoluteValue2(int& i, int& j) const; + Real MinimumAbsoluteValue2(int& i, int& j) const; + Real Maximum2(int& i, int& j) const; + Real Minimum2(int& i, int& j) const; + friend Real DotProduct(const Matrix& A, const Matrix& B); + NEW_DELETE(Matrix) +}; + +class nricMatrix : public Matrix // for use with Numerical + // Recipes in C +{ + GeneralMatrix* Image() const; // copy of matrix + Real** row_pointer; // points to rows + void MakeRowPointer(); // build rowpointer + void DeleteRowPointer(); +public: + nricMatrix() {} + nricMatrix(int m, int n) // standard declaration + : Matrix(m,n) { MakeRowPointer(); } + nricMatrix(const BaseMatrix& bm) // evaluate BaseMatrix + : Matrix(bm) { MakeRowPointer(); } + void operator=(const BaseMatrix& bm) + { DeleteRowPointer(); Matrix::operator=(bm); MakeRowPointer(); } + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const nricMatrix& m) { operator=((const BaseMatrix&)m); } + void operator<<(const BaseMatrix& X) + { DeleteRowPointer(); Eq(X,this->Type(),true); MakeRowPointer(); } + nricMatrix(const nricMatrix& gm) { GetMatrix(&gm); MakeRowPointer(); } + void ReSize(int m, int n) // change dimensions + { DeleteRowPointer(); Matrix::ReSize(m,n); MakeRowPointer(); } + void ReSize(const GeneralMatrix& A); + ~nricMatrix() { DeleteRowPointer(); } + Real** nric() const { CheckStore(); return row_pointer-1; } + void CleanUp(); // to clear store + NEW_DELETE(nricMatrix) +}; + +class SymmetricMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + SymmetricMatrix() {} + ~SymmetricMatrix() {} + SymmetricMatrix(ArrayLengthSpecifier); + SymmetricMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const SymmetricMatrix& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(m*(m+1))/2; } + const Real* operator[](int m) const { return store+(m*(m+1))/2; } +#endif + MatrixType Type() const; + SymmetricMatrix(const SymmetricMatrix& gm) { GetMatrix(&gm); } + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + NEW_DELETE(SymmetricMatrix) +}; + +class UpperTriangularMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + UpperTriangularMatrix() {} + ~UpperTriangularMatrix() {} + UpperTriangularMatrix(ArrayLengthSpecifier); + void operator=(const BaseMatrix&); + void operator=(const UpperTriangularMatrix& m) + { operator=((const BaseMatrix&)m); } + UpperTriangularMatrix(const BaseMatrix&); + UpperTriangularMatrix(const UpperTriangularMatrix& gm) { GetMatrix(&gm); } + void operator=(Real f) { GeneralMatrix::operator=(f); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+m*ncols-(m*(m+1))/2; } + const Real* operator[](int m) const { return store+m*ncols-(m*(m+1))/2; } +#endif + MatrixType Type() const; + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; + NEW_DELETE(UpperTriangularMatrix) +}; + +class LowerTriangularMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + LowerTriangularMatrix() {} + ~LowerTriangularMatrix() {} + LowerTriangularMatrix(ArrayLengthSpecifier); + LowerTriangularMatrix(const LowerTriangularMatrix& gm) { GetMatrix(&gm); } + LowerTriangularMatrix(const BaseMatrix& M); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const LowerTriangularMatrix& m) + { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(m*(m+1))/2; } + const Real* operator[](int m) const { return store+(m*(m+1))/2; } +#endif + MatrixType Type() const; + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; + NEW_DELETE(LowerTriangularMatrix) +}; + +class DiagonalMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + DiagonalMatrix() {} + ~DiagonalMatrix() {} + DiagonalMatrix(ArrayLengthSpecifier); + DiagonalMatrix(const BaseMatrix&); + DiagonalMatrix(const DiagonalMatrix& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const DiagonalMatrix& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& operator()(int); // access element + Real operator()(int, int) const; // access element + Real operator()(int) const; + Real& element(int, int); // access element + Real& element(int); // access element + Real element(int, int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + + LogAndSign LogDeterminant() const; + Real Trace() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + MatrixBandWidth BandWidth() const; +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(DiagonalMatrix) +}; + +class RowVector : public Matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + RowVector() { nrows = 1; } + ~RowVector() {} + RowVector(ArrayLengthSpecifier n) : Matrix(1,n.Value()) {} + RowVector(const BaseMatrix&); + RowVector(const RowVector& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const RowVector& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int); // access element + Real& element(int); // access element + Real operator()(int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX& c); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(int,int); // in case access is matrix + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + void CleanUp(); // to clear store + // friend ReturnMatrix GetMatrixRow(Matrix& A, int row); + NEW_DELETE(RowVector) +}; + +class ColumnVector : public Matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + ColumnVector() { ncols = 1; } + ~ColumnVector() {} + ColumnVector(ArrayLengthSpecifier n) : Matrix(n.Value(),1) {} + ColumnVector(const BaseMatrix&); + ColumnVector(const ColumnVector& gm) { GetMatrix(&gm); } + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const ColumnVector& m) { operator=((const BaseMatrix&)m); } + Real& operator()(int); // access element + Real& element(int); // access element + Real operator()(int) const; // access element + Real element(int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real& operator[](int m) { return store[m]; } + const Real& operator[](int m) const { return store[m]; } +#endif + MatrixType Type() const; + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int); // change dimensions + void ReSize(int,int); // in case access is matrix + void ReSize(const GeneralMatrix& A); + Real* nric() const + { CheckStore(); return store-1; } // for use by NRIC + void CleanUp(); // to clear store +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(ColumnVector) +}; + +class CroutMatrix : public GeneralMatrix // for LU decomposition +{ + int* indx; + bool d; + bool sing; + void ludcmp(); +public: + CroutMatrix(const BaseMatrix&); + MatrixType Type() const; + void lubksb(Real*, int=0); + ~CroutMatrix(); + GeneralMatrix* MakeSolver() { return this; } // for solving + LogAndSign LogDeterminant() const; + void Solver(MatrixColX&, const MatrixColX&); + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX& c) { GetCol((MatrixRowCol&)c); } + void operator=(const BaseMatrix&); + void operator=(const CroutMatrix& m) { operator=((const BaseMatrix&)m); } + void CleanUp(); // to clear store + bool IsEqual(const GeneralMatrix&) const; + bool IsSingular() const { return sing; } + NEW_DELETE(CroutMatrix) +}; + +// ***************************** band matrices ***************************/ + +class BandMatrix : public GeneralMatrix // band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +protected: + void CornerClear() const; // set unused elements to zero + short SimpleAddOK(const GeneralMatrix* gm); +public: + int lower, upper; // band widths + BandMatrix() { lower=0; upper=0; CornerClear(); } + ~BandMatrix() {} + BandMatrix(int n,int lb,int ub) { ReSize(n,lb,ub); CornerClear(); } + // standard declaration + BandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const BandMatrix& m) { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+(upper+lower)*m+lower; } + const Real* operator[](int m) const { return store+(upper+lower)*m+lower; } +#endif + BandMatrix(const BandMatrix& gm) { GetMatrix(&gm); } + LogAndSign LogDeterminant() const; + GeneralMatrix* MakeSolver(); + Real Trace() const; + Real SumSquare() const { CornerClear(); return GeneralMatrix::SumSquare(); } + Real SumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::SumAbsoluteValue(); } + Real Sum() const + { CornerClear(); return GeneralMatrix::Sum(); } + Real MaximumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::MaximumAbsoluteValue(); } + Real MinimumAbsoluteValue() const + { int i, j; return GeneralMatrix::MinimumAbsoluteValue2(i, j); } + Real Maximum() const { int i, j; return GeneralMatrix::Maximum2(i, j); } + Real Minimum() const { int i, j; return GeneralMatrix::Minimum2(i, j); } + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&); + void RestoreCol(MatrixColX& c) { RestoreCol((MatrixRowCol&)c); } + void NextRow(MatrixRowCol&); + virtual void ReSize(int, int, int); // change dimensions + void ReSize(const GeneralMatrix& A); + bool SameStorageType(const GeneralMatrix& A) const; + void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + MatrixBandWidth BandWidth() const; + void SetParameters(const GeneralMatrix*); + MatrixInput operator<<(Real); // will give error + MatrixInput operator<<(int f); + void operator<<(const Real* r); // will give error + // the next is included because Zortech and Borland + // cannot find the copy in GeneralMatrix + void operator<<(const BaseMatrix& X) { GeneralMatrix::operator<<(X); } + NEW_DELETE(BandMatrix) +}; + +class UpperBandMatrix : public BandMatrix // upper band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + UpperBandMatrix() {} + ~UpperBandMatrix() {} + UpperBandMatrix(int n, int ubw) // standard declaration + : BandMatrix(n, 0, ubw) {} + UpperBandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const UpperBandMatrix& m) + { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + UpperBandMatrix(const UpperBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver() { return this; } + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + void ReSize(int, int, int); // change dimensions + void ReSize(int n,int ubw) // change dimensions + { BandMatrix::ReSize(n,0,ubw); } + void ReSize(const GeneralMatrix& A) { BandMatrix::ReSize(A); } + Real& operator()(int, int); + Real operator()(int, int) const; + Real& element(int, int); + Real element(int, int) const; +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+upper*m; } + const Real* operator[](int m) const { return store+upper*m; } +#endif + NEW_DELETE(UpperBandMatrix) +}; + +class LowerBandMatrix : public BandMatrix // upper band matrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + LowerBandMatrix() {} + ~LowerBandMatrix() {} + LowerBandMatrix(int n, int lbw) // standard declaration + : BandMatrix(n, lbw, 0) {} + LowerBandMatrix(const BaseMatrix&); // evaluate BaseMatrix + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const LowerBandMatrix& m) + { operator=((const BaseMatrix&)m); } + MatrixType Type() const; + LowerBandMatrix(const LowerBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver() { return this; } + void Solver(MatrixColX&, const MatrixColX&); + LogAndSign LogDeterminant() const; + void ReSize(int, int, int); // change dimensions + void ReSize(int n,int lbw) // change dimensions + { BandMatrix::ReSize(n,lbw,0); } + void ReSize(const GeneralMatrix& A) { BandMatrix::ReSize(A); } + Real& operator()(int, int); + Real operator()(int, int) const; + Real& element(int, int); + Real element(int, int) const; +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+lower*(m+1); } + const Real* operator[](int m) const { return store+lower*(m+1); } +#endif + NEW_DELETE(LowerBandMatrix) +}; + +class SymmetricBandMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix + void CornerClear() const; // set unused elements to zero + short SimpleAddOK(const GeneralMatrix* gm); +public: + int lower; // lower band width + SymmetricBandMatrix() { lower=0; CornerClear(); } + ~SymmetricBandMatrix() {} + SymmetricBandMatrix(int n, int lb) { ReSize(n,lb); CornerClear(); } + SymmetricBandMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + void operator=(const SymmetricBandMatrix& m) + { operator=((const BaseMatrix&)m); } + Real& operator()(int, int); // access element + Real& element(int, int); // access element + Real operator()(int, int) const; // access element + Real element(int, int) const; // access element +#ifdef SETUP_C_SUBSCRIPTS + Real* operator[](int m) { return store+lower*(m+1); } + const Real* operator[](int m) const { return store+lower*(m+1); } +#endif + MatrixType Type() const; + SymmetricBandMatrix(const SymmetricBandMatrix& gm) { GetMatrix(&gm); } + GeneralMatrix* MakeSolver(); + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const; + Real MaximumAbsoluteValue() const + { CornerClear(); return GeneralMatrix::MaximumAbsoluteValue(); } + Real MinimumAbsoluteValue() const + { int i, j; return GeneralMatrix::MinimumAbsoluteValue2(i, j); } + Real Maximum() const { int i, j; return GeneralMatrix::Maximum2(i, j); } + Real Minimum() const { int i, j; return GeneralMatrix::Minimum2(i, j); } + Real Trace() const; + LogAndSign LogDeterminant() const; + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void RestoreCol(MatrixRowCol&) {} + void RestoreCol(MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int,int); // change dimensions + void ReSize(const GeneralMatrix& A); + bool SameStorageType(const GeneralMatrix& A) const; + void ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix& B); + void ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix& B); + MatrixBandWidth BandWidth() const; + void SetParameters(const GeneralMatrix*); + NEW_DELETE(SymmetricBandMatrix) +}; + +class BandLUMatrix : public GeneralMatrix +// for LU decomposition of band matrix +{ + int* indx; + bool d; + bool sing; // true if singular + Real* store2; + int storage2; + void ludcmp(); + int m1,m2; // lower and upper +public: + BandLUMatrix(const BaseMatrix&); + MatrixType Type() const; + void lubksb(Real*, int=0); + ~BandLUMatrix(); + GeneralMatrix* MakeSolver() { return this; } // for solving + LogAndSign LogDeterminant() const; + void Solver(MatrixColX&, const MatrixColX&); + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX& c) { GetCol((MatrixRowCol&)c); } + void operator=(const BaseMatrix&); + void operator=(const BandLUMatrix& m) { operator=((const BaseMatrix&)m); } + void CleanUp(); // to clear store + bool IsEqual(const GeneralMatrix&) const; + bool IsSingular() const { return sing; } + NEW_DELETE(BandLUMatrix) +}; + +// ************************** special matrices **************************** + +class IdentityMatrix : public GeneralMatrix +{ + GeneralMatrix* Image() const; // copy of matrix +public: + IdentityMatrix() {} + ~IdentityMatrix() {} + IdentityMatrix(ArrayLengthSpecifier n) : GeneralMatrix(1) + { nrows = ncols = n.Value(); *store = 1; } + IdentityMatrix(const IdentityMatrix& gm) { GetMatrix(&gm); } + IdentityMatrix(const BaseMatrix&); + void operator=(const BaseMatrix&); + void operator=(Real f) { GeneralMatrix::operator=(f); } + MatrixType Type() const; + + LogAndSign LogDeterminant() const; + Real Trace() const; + Real SumSquare() const; + Real SumAbsoluteValue() const; + Real Sum() const { return Trace(); } + void GetRow(MatrixRowCol&); + void GetCol(MatrixRowCol&); + void GetCol(MatrixColX&); + void NextRow(MatrixRowCol&); + void NextCol(MatrixRowCol&); + void NextCol(MatrixColX&); + GeneralMatrix* MakeSolver() { return this; } // for solving + void Solver(MatrixColX&, const MatrixColX&); + GeneralMatrix* Transpose(TransposedMatrix*, MatrixType); + void ReSize(int n); + void ReSize(const GeneralMatrix& A); + MatrixBandWidth BandWidth() const; +// ReturnMatrix Reverse() const; // reverse order of elements + NEW_DELETE(IdentityMatrix) +}; + + + + +// ************************** GenericMatrix class ************************/ + +class GenericMatrix : public BaseMatrix +{ + GeneralMatrix* gm; + int search(const BaseMatrix* bm) const; + friend class BaseMatrix; +public: + GenericMatrix() : gm(0) {} + GenericMatrix(const BaseMatrix& bm) + { gm = ((BaseMatrix&)bm).Evaluate(); gm = gm->Image(); } + GenericMatrix(const GenericMatrix& bm) + { gm = bm.gm->Image(); } + void operator=(const GenericMatrix&); + void operator=(const BaseMatrix&); + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator*=(const BaseMatrix&); + void operator|=(const BaseMatrix&); + void operator&=(const BaseMatrix&); + void operator+=(Real); + void operator-=(Real r) { operator+=(-r); } + void operator*=(Real); + void operator/=(Real r) { operator*=(1.0/r); } + ~GenericMatrix() { delete gm; } + void CleanUp() { delete gm; gm = 0; } + void Release() { gm->Release(); } + GeneralMatrix* Evaluate(MatrixType = MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(GenericMatrix) +}; + +// *************************** temporary classes *************************/ + +class MultipliedMatrix : public BaseMatrix +{ +protected: + // if these union statements cause problems, simply remove them + // and declare the items individually + union { const BaseMatrix* bm1; GeneralMatrix* gm1; }; + // pointers to summands + union { const BaseMatrix* bm2; GeneralMatrix* gm2; }; + MultipliedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : bm1(bm1x),bm2(bm2x) {} + int search(const BaseMatrix*) const; + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~MultipliedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(MultipliedMatrix) +}; + +class AddedMatrix : public MultipliedMatrix +{ +protected: + AddedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~AddedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(AddedMatrix) +}; + +class SPMatrix : public AddedMatrix +{ +protected: + SPMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : AddedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~SPMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + +#ifndef TEMPS_DESTROYED_QUICKLY + friend SPMatrix SP(const BaseMatrix&, const BaseMatrix&); +#else + friend SPMatrix& SP(const BaseMatrix&, const BaseMatrix&); +#endif + + NEW_DELETE(SPMatrix) +}; + +class KPMatrix : public MultipliedMatrix +{ +protected: + KPMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~KPMatrix() {} + MatrixBandWidth BandWidth() const; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend KPMatrix KP(const BaseMatrix&, const BaseMatrix&); +#else + friend KPMatrix& KP(const BaseMatrix&, const BaseMatrix&); +#endif + NEW_DELETE(KPMatrix) +}; + +class ConcatenatedMatrix : public MultipliedMatrix +{ +protected: + ConcatenatedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ConcatenatedMatrix() {} + MatrixBandWidth BandWidth() const; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(ConcatenatedMatrix) +}; + +class StackedMatrix : public ConcatenatedMatrix +{ +protected: + StackedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : ConcatenatedMatrix(bm1x,bm2x) {} + + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~StackedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(StackedMatrix) +}; + +class SolvedMatrix : public MultipliedMatrix +{ + SolvedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : MultipliedMatrix(bm1x,bm2x) {} + friend class BaseMatrix; + friend class InvertedMatrix; // for operator* +public: + ~SolvedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(SolvedMatrix) +}; + +class SubtractedMatrix : public AddedMatrix +{ + SubtractedMatrix(const BaseMatrix* bm1x, const BaseMatrix* bm2x) + : AddedMatrix(bm1x,bm2x) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~SubtractedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(SubtractedMatrix) +}; + +class ShiftedMatrix : public BaseMatrix +{ +protected: + union { const BaseMatrix* bm; GeneralMatrix* gm; }; + Real f; + ShiftedMatrix(const BaseMatrix* bmx, Real fx) : bm(bmx),f(fx) {} + int search(const BaseMatrix*) const; + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ShiftedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend ShiftedMatrix operator+(Real f, const BaseMatrix& BM); +// { return ShiftedMatrix(&BM, f); } +#endif + NEW_DELETE(ShiftedMatrix) +}; + +class NegShiftedMatrix : public ShiftedMatrix +{ +protected: + NegShiftedMatrix(Real fx, const BaseMatrix* bmx) : ShiftedMatrix(bmx,fx) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~NegShiftedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); +#ifndef TEMPS_DESTROYED_QUICKLY + friend NegShiftedMatrix operator-(Real, const BaseMatrix&); +#else + friend NegShiftedMatrix& operator-(Real, const BaseMatrix&); +#endif + NEW_DELETE(NegShiftedMatrix) +}; + +class ScaledMatrix : public ShiftedMatrix +{ + ScaledMatrix(const BaseMatrix* bmx, Real fx) : ShiftedMatrix(bmx,fx) {} + friend class BaseMatrix; + friend class GeneralMatrix; + friend class GenericMatrix; +public: + ~ScaledMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; +#ifndef TEMPS_DESTROYED_QUICKLY + friend ScaledMatrix operator*(Real f, const BaseMatrix& BM); + //{ return ScaledMatrix(&BM, f); } +#endif + NEW_DELETE(ScaledMatrix) +}; + +class NegatedMatrix : public BaseMatrix +{ +protected: + union { const BaseMatrix* bm; GeneralMatrix* gm; }; + NegatedMatrix(const BaseMatrix* bmx) : bm(bmx) {} + int search(const BaseMatrix*) const; +private: + friend class BaseMatrix; +public: + ~NegatedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(NegatedMatrix) +}; + +class TransposedMatrix : public NegatedMatrix +{ + TransposedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~TransposedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(TransposedMatrix) +}; + +class ReversedMatrix : public NegatedMatrix +{ + ReversedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~ReversedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + NEW_DELETE(ReversedMatrix) +}; + +class InvertedMatrix : public NegatedMatrix +{ + InvertedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} +public: + ~InvertedMatrix() {} +#ifndef TEMPS_DESTROYED_QUICKLY + SolvedMatrix operator*(const BaseMatrix&) const; // inverse(A) * B + ScaledMatrix operator*(Real t) const { return BaseMatrix::operator*(t); } +#else + SolvedMatrix& operator*(const BaseMatrix&); // inverse(A) * B + ScaledMatrix& operator*(Real t) const { return BaseMatrix::operator*(t); } +#endif + friend class BaseMatrix; + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(InvertedMatrix) +}; + +class RowedMatrix : public NegatedMatrix +{ + RowedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~RowedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(RowedMatrix) +}; + +class ColedMatrix : public NegatedMatrix +{ + ColedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~ColedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(ColedMatrix) +}; + +class DiagedMatrix : public NegatedMatrix +{ + DiagedMatrix(const BaseMatrix* bmx) : NegatedMatrix(bmx) {} + friend class BaseMatrix; +public: + ~DiagedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(DiagedMatrix) +}; + +class MatedMatrix : public NegatedMatrix +{ + int nr, nc; + MatedMatrix(const BaseMatrix* bmx, int nrx, int ncx) + : NegatedMatrix(bmx), nr(nrx), nc(ncx) {} + friend class BaseMatrix; +public: + ~MatedMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + MatrixBandWidth BandWidth() const; + NEW_DELETE(MatedMatrix) +}; + +class ReturnMatrixX : public BaseMatrix // for matrix return +{ + GeneralMatrix* gm; + int search(const BaseMatrix*) const; +public: + ~ReturnMatrixX() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + friend class BaseMatrix; +#ifdef TEMPS_DESTROYED_QUICKLY_R + ReturnMatrixX(const ReturnMatrixX& tm); +#else + ReturnMatrixX(const ReturnMatrixX& tm) : gm(tm.gm) {} +#endif + ReturnMatrixX(const GeneralMatrix* gmx) : gm((GeneralMatrix*&)gmx) {} +// ReturnMatrixX(GeneralMatrix&); + MatrixBandWidth BandWidth() const; + NEW_DELETE(ReturnMatrixX) +}; + + +// ************************** submatrices ******************************/ + +class GetSubMatrix : public NegatedMatrix +{ + int row_skip; + int row_number; + int col_skip; + int col_number; + bool IsSym; + + GetSubMatrix + (const BaseMatrix* bmx, int rs, int rn, int cs, int cn, bool is) + : NegatedMatrix(bmx), + row_skip(rs), row_number(rn), col_skip(cs), col_number(cn), IsSym(is) {} + void SetUpLHS(); + friend class BaseMatrix; +public: + GetSubMatrix(const GetSubMatrix& g) + : NegatedMatrix(g.bm), row_skip(g.row_skip), row_number(g.row_number), + col_skip(g.col_skip), col_number(g.col_number), IsSym(g.IsSym) {} + ~GetSubMatrix() {} + GeneralMatrix* Evaluate(MatrixType mt=MatrixTypeUnSp); + void operator=(const BaseMatrix&); + void operator+=(const BaseMatrix&); + void operator-=(const BaseMatrix&); + void operator=(const GetSubMatrix& m) { operator=((const BaseMatrix&)m); } + void operator<<(const BaseMatrix&); + void operator<<(const Real*); // copy from array + MatrixInput operator<<(Real); // for loading a list + MatrixInput operator<<(int f); + void operator=(Real); // copy from constant + void operator+=(Real); // add constant + void operator-=(Real r) { operator+=(-r); } // subtract constant + void operator*=(Real); // multiply by constant + void operator/=(Real r) { operator*=(1.0/r); } // divide by constant + void Inject(const GeneralMatrix&); // copy stored els only + MatrixBandWidth BandWidth() const; + NEW_DELETE(GetSubMatrix) +}; + +// ******************** linear equation solving ****************************/ + +class LinearEquationSolver : public BaseMatrix +{ + GeneralMatrix* gm; + int search(const BaseMatrix*) const { return 0; } + friend class BaseMatrix; +public: + LinearEquationSolver(const BaseMatrix& bm); + ~LinearEquationSolver() { delete gm; } + void CleanUp() { delete gm; } + GeneralMatrix* Evaluate(MatrixType) { return gm; } + // probably should have an error message if MatrixType != UnSp + NEW_DELETE(LinearEquationSolver) +}; + +// ************************** matrix input *******************************/ + +class MatrixInput // for reading a list of values into a matrix + // the difficult part is detecting a mismatch + // in the number of elements +{ + int n; // number values still to be read + Real* r; // pointer to next location to be read to +public: + MatrixInput(const MatrixInput& mi) : n(mi.n), r(mi.r) {} + MatrixInput(int nx, Real* rx) : n(nx), r(rx) {} + ~MatrixInput(); + MatrixInput operator<<(Real); + MatrixInput operator<<(int f); + friend class GeneralMatrix; +}; + + + +// **************** a very simple integer array class ********************/ + +// A minimal array class to imitate a C style array but giving dynamic storage +// mostly intended for internal use by newmat + +class SimpleIntArray : public Janitor +{ +protected: + int* a; // pointer to the array + int n; // length of the array +public: + SimpleIntArray(int xn); // build an array length xn + ~SimpleIntArray(); // return the space to memory + int& operator[](int i); // access element of the array - start at 0 + int operator[](int i) const; + // access element of constant array + void operator=(int ai); // set the array equal to a constant + void operator=(const SimpleIntArray& b); + // copy the elements of an array + SimpleIntArray(const SimpleIntArray& b); + // make a new array equal to an existing one + int Size() const { return n; } + // return the size of the array + int* Data() { return a; } // pointer to the data + const int* Data() const { return a; } + // pointer to the data + void ReSize(int i, bool keep = false); + // change length, keep data if keep = true + void CleanUp() { ReSize(0); } + NEW_DELETE(SimpleIntArray) +}; + +// *************************** exceptions ********************************/ + +class NPDException : public Runtime_error // Not positive definite +{ +public: + static unsigned long Select; // for identifying exception + NPDException(const GeneralMatrix&); +}; + +class ConvergenceException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + ConvergenceException(const GeneralMatrix& A); + ConvergenceException(const char* c); +}; + +class SingularException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + SingularException(const GeneralMatrix& A); +}; + +class OverflowException : public Runtime_error +{ +public: + static unsigned long Select; // for identifying exception + OverflowException(const char* c); +}; + +class ProgramException : public Logic_error +{ +protected: + ProgramException(); +public: + static unsigned long Select; // for identifying exception + ProgramException(const char* c); + ProgramException(const char* c, const GeneralMatrix&); + ProgramException(const char* c, const GeneralMatrix&, const GeneralMatrix&); + ProgramException(const char* c, MatrixType, MatrixType); +}; + +class IndexException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + IndexException(int i, const GeneralMatrix& A); + IndexException(int i, int j, const GeneralMatrix& A); + // next two are for access via element function + IndexException(int i, const GeneralMatrix& A, bool); + IndexException(int i, int j, const GeneralMatrix& A, bool); +}; + +class VectorException : public Logic_error // cannot convert to vector +{ +public: + static unsigned long Select; // for identifying exception + VectorException(); + VectorException(const GeneralMatrix& A); +}; + +class NotSquareException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + NotSquareException(const GeneralMatrix& A); +}; + +class SubMatrixDimensionException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + SubMatrixDimensionException(); +}; + +class IncompatibleDimensionsException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + IncompatibleDimensionsException(); + IncompatibleDimensionsException(const GeneralMatrix&, const GeneralMatrix&); +}; + +class NotDefinedException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + NotDefinedException(const char* op, const char* matrix); +}; + +class CannotBuildException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + CannotBuildException(const char* matrix); +}; + + +class InternalException : public Logic_error +{ +public: + static unsigned long Select; // for identifying exception + InternalException(const char* c); +}; + +// ************************ functions ************************************ // + +bool operator==(const GeneralMatrix& A, const GeneralMatrix& B); +bool operator==(const BaseMatrix& A, const BaseMatrix& B); +inline bool operator!=(const GeneralMatrix& A, const GeneralMatrix& B) + { return ! (A==B); } +inline bool operator!=(const BaseMatrix& A, const BaseMatrix& B) + { return ! (A==B); } + + // inequality operators are dummies included for compatibility + // with STL. They throw an exception if actually called. +inline bool operator<=(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator>=(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator<(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } +inline bool operator>(const BaseMatrix& A, const BaseMatrix&) + { A.IEQND(); return true; } + +bool IsZero(const BaseMatrix& A); + + +// *********************** friend functions ****************************** // + +bool Rectangular(MatrixType a, MatrixType b, MatrixType c); +bool Compare(const MatrixType&, MatrixType&); +Real DotProduct(const Matrix& A, const Matrix& B); +#ifndef TEMPS_DESTROYED_QUICKLY + SPMatrix SP(const BaseMatrix&, const BaseMatrix&); + KPMatrix KP(const BaseMatrix&, const BaseMatrix&); + ShiftedMatrix operator+(Real f, const BaseMatrix& BM); + NegShiftedMatrix operator-(Real, const BaseMatrix&); + ScaledMatrix operator*(Real f, const BaseMatrix& BM); +#else + SPMatrix& SP(const BaseMatrix&, const BaseMatrix&); + KPMatrix& KP(const BaseMatrix&, const BaseMatrix&); + NegShiftedMatrix& operator-(Real, const BaseMatrix&); +#endif + + +// ********************* inline functions ******************************** // + +inline LogAndSign LogDeterminant(const BaseMatrix& B) + { return B.LogDeterminant(); } +inline Real Determinant(const BaseMatrix& B) + { return B.Determinant(); } +inline Real SumSquare(const BaseMatrix& B) { return B.SumSquare(); } +inline Real NormFrobenius(const BaseMatrix& B) { return B.NormFrobenius(); } +inline Real Trace(const BaseMatrix& B) { return B.Trace(); } +inline Real SumAbsoluteValue(const BaseMatrix& B) + { return B.SumAbsoluteValue(); } +inline Real Sum(const BaseMatrix& B) + { return B.Sum(); } +inline Real MaximumAbsoluteValue(const BaseMatrix& B) + { return B.MaximumAbsoluteValue(); } +inline Real MinimumAbsoluteValue(const BaseMatrix& B) + { return B.MinimumAbsoluteValue(); } +inline Real Maximum(const BaseMatrix& B) { return B.Maximum(); } +inline Real Minimum(const BaseMatrix& B) { return B.Minimum(); } +inline Real Norm1(const BaseMatrix& B) { return B.Norm1(); } +inline Real Norm1(RowVector& RV) { return RV.MaximumAbsoluteValue(); } +inline Real NormInfinity(const BaseMatrix& B) { return B.NormInfinity(); } +inline Real NormInfinity(ColumnVector& CV) + { return CV.MaximumAbsoluteValue(); } +inline bool IsZero(const GeneralMatrix& A) { return A.IsZero(); } + +#ifdef TEMPS_DESTROYED_QUICKLY +inline ShiftedMatrix& operator+(Real f, const BaseMatrix& BM) + { return BM + f; } +inline ScaledMatrix& operator*(Real f, const BaseMatrix& BM) + { return BM * f; } +#endif + +// these are moved out of the class definitions because of a problem +// with the Intel 8.1 compiler +#ifndef TEMPS_DESTROYED_QUICKLY + inline ShiftedMatrix operator+(Real f, const BaseMatrix& BM) + { return ShiftedMatrix(&BM, f); } + inline ScaledMatrix operator*(Real f, const BaseMatrix& BM) + { return ScaledMatrix(&BM, f); } +#endif + + +inline MatrixInput MatrixInput::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput GeneralMatrix::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput BandMatrix::operator<<(int f) { return *this << (Real)f; } +inline MatrixInput GetSubMatrix::operator<<(int f) { return *this << (Real)f; } + + + +#ifdef use_namespace +} +#endif + + +#endif + +// body file: newmat1.cpp +// body file: newmat2.cpp +// body file: newmat3.cpp +// body file: newmat4.cpp +// body file: newmat5.cpp +// body file: newmat6.cpp +// body file: newmat7.cpp +// body file: newmat8.cpp +// body file: newmatex.cpp +// body file: bandmat.cpp +// body file: submat.cpp + + + + + + + diff --git a/3rdparty/newmat/newmat.lfl b/3rdparty/newmat/newmat.lfl new file mode 100644 index 0000000..b913624 --- /dev/null +++ b/3rdparty/newmat/newmat.lfl @@ -0,0 +1,4 @@ +newmat.h +newmatap.h +newmatio.h +myexcept.cpp diff --git a/3rdparty/newmat/newmat1.cpp b/3rdparty/newmat/newmat1.cpp new file mode 100644 index 0000000..9a6987d --- /dev/null +++ b/3rdparty/newmat/newmat1.cpp @@ -0,0 +1,177 @@ +//$$ newmat1.cpp Matrix type functions + +// Copyright (C) 1991,2,3,4: R B Davies + +//#define WANT_STREAM + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,1); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/************************* MatrixType functions *****************************/ + + +// all operations to return MatrixTypes which correspond to valid types +// of matrices. +// Eg: if it has the Diagonal attribute, then it must also have +// Upper, Lower, Band and Symmetric. + + +MatrixType MatrixType::operator*(const MatrixType& mt) const +{ + REPORT + int a = attribute & mt.attribute & ~Symmetric; + a |= (a & Diagonal) * 31; // recognise diagonal + return MatrixType(a); +} + +MatrixType MatrixType::SP(const MatrixType& mt) const +// elementwise product +// Lower, Upper, Diag, Band if only one is +// Symmetric, Ones, Valid (and Real) if both are +// Need to include Lower & Upper => Diagonal +// Will need to include both Skew => Symmetric +{ + REPORT + int a = ((attribute | mt.attribute) & ~(Symmetric + Valid + Ones)) + | (attribute & mt.attribute); + if ((a & Lower) != 0 && (a & Upper) != 0) a |= Diagonal; + a |= (a & Diagonal) * 31; // recognise diagonal + return MatrixType(a); +} + +MatrixType MatrixType::KP(const MatrixType& mt) const +// Kronecker product +// Lower, Upper, Diag, Symmetric, Band, Valid if both are +// Do not treat Band separately +// Ones is complicated so leave this out +{ + REPORT + int a = (attribute & mt.attribute) & ~Ones; + return MatrixType(a); +} + +MatrixType MatrixType::i() const // type of inverse +{ + REPORT + int a = attribute & ~(Band+LUDeco); + a |= (a & Diagonal) * 31; // recognise diagonal + return MatrixType(a); +} + +MatrixType MatrixType::t() const +// swap lower and upper attributes +// assume Upper is in bit above Lower +{ + REPORT + int a = attribute; + a ^= (((a >> 1) ^ a) & Lower) * 3; + return MatrixType(a); +} + +MatrixType MatrixType::MultRHS() const +{ + REPORT + // remove symmetric attribute unless diagonal + return (attribute >= Dg) ? attribute : (attribute & ~Symmetric); +} + +bool Rectangular(MatrixType a, MatrixType b, MatrixType c) +{ + REPORT + return + ((a.attribute | b.attribute | c.attribute) & ~MatrixType::Valid) == 0; +} + +const char* MatrixType::Value() const +{ +// make a string with the name of matrix with the given attributes + switch (attribute) + { + case Valid: REPORT return "Rect "; + case Valid+Symmetric: REPORT return "Sym "; + case Valid+Band: REPORT return "Band "; + case Valid+Symmetric+Band: REPORT return "SmBnd"; + case Valid+Upper: REPORT return "UT "; + case Valid+Diagonal+Symmetric+Band+Upper+Lower: + REPORT return "Diag "; + case Valid+Diagonal+Symmetric+Band+Upper+Lower+Ones: + REPORT return "Ident"; + case Valid+Band+Upper: REPORT return "UpBnd"; + case Valid+Lower: REPORT return "LT "; + case Valid+Band+Lower: REPORT return "LwBnd"; + default: + REPORT + if (!(attribute & Valid)) return "UnSp "; + if (attribute & LUDeco) + return (attribute & Band) ? "BndLU" : "Crout"; + return "?????"; + } +} + + +GeneralMatrix* MatrixType::New(int nr, int nc, BaseMatrix* bm) const +{ +// make a new matrix with the given attributes + + Tracer tr("New"); GeneralMatrix* gm=0; // initialised to keep gnu happy + switch (attribute) + { + case Valid: + REPORT + if (nc==1) { gm = new ColumnVector(nr); break; } + if (nr==1) { gm = new RowVector(nc); break; } + gm = new Matrix(nr, nc); break; + + case Valid+Symmetric: + REPORT gm = new SymmetricMatrix(nr); break; + + case Valid+Band: + { + REPORT + MatrixBandWidth bw = bm->BandWidth(); + gm = new BandMatrix(nr,bw.lower,bw.upper); break; + } + + case Valid+Symmetric+Band: + REPORT gm = new SymmetricBandMatrix(nr,bm->BandWidth().lower); break; + + case Valid+Upper: + REPORT gm = new UpperTriangularMatrix(nr); break; + + case Valid+Diagonal+Symmetric+Band+Upper+Lower: + REPORT gm = new DiagonalMatrix(nr); break; + + case Valid+Band+Upper: + REPORT gm = new UpperBandMatrix(nr,bm->BandWidth().upper); break; + + case Valid+Lower: + REPORT gm = new LowerTriangularMatrix(nr); break; + + case Valid+Band+Lower: + REPORT gm = new LowerBandMatrix(nr,bm->BandWidth().lower); break; + + case Valid+Diagonal+Symmetric+Band+Upper+Lower+Ones: + REPORT gm = new IdentityMatrix(nr); break; + + default: + Throw(ProgramException("Invalid matrix type")); + } + + MatrixErrorNoSpace(gm); gm->Protect(); return gm; +} + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat2.cpp b/3rdparty/newmat/newmat2.cpp new file mode 100644 index 0000000..6fa4b7b --- /dev/null +++ b/3rdparty/newmat/newmat2.cpp @@ -0,0 +1,633 @@ +//$$ newmat2.cpp Matrix row and column operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,2); ++ExeCount; } +#else +#define REPORT {} +#endif + +//#define MONITOR(what,storage,store) { cout << what << " " << storage << " at " << (long)store << "\n"; } + +#define MONITOR(what,store,storage) {} + +/************************** Matrix Row/Col functions ************************/ + +void MatrixRowCol::Add(const MatrixRowCol& mrc) +{ + // THIS += mrc + REPORT + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ += *el++; +} + +void MatrixRowCol::AddScaled(const MatrixRowCol& mrc, Real x) +{ + REPORT + // THIS += (mrc * x) + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ += *el++ * x; +} + +void MatrixRowCol::Sub(const MatrixRowCol& mrc) +{ + REPORT + // THIS -= mrc + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* el=mrc.data+(f-mrc.skip); + while (l--) *elx++ -= *el++; +} + +void MatrixRowCol::Inject(const MatrixRowCol& mrc) +// copy stored elements only +{ + REPORT + int f = mrc.skip; int l = f + mrc.storage; int lx = skip + storage; + if (f < skip) f = skip; if (l > lx) l = lx; l -= f; + if (l<=0) return; + Real* elx=data+(f-skip); Real* ely=mrc.data+(f-mrc.skip); + while (l--) *elx++ = *ely++; +} + +Real DotProd(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + REPORT // not accessed + int f = mrc1.skip; int f2 = mrc2.skip; + int l = f + mrc1.storage; int l2 = f2 + mrc2.storage; + if (f < f2) f = f2; if (l > l2) l = l2; l -= f; + if (l<=0) return 0.0; + + Real* el1=mrc1.data+(f-mrc1.skip); Real* el2=mrc2.data+(f-mrc2.skip); + Real sum = 0.0; + while (l--) sum += *el1++ * *el2++; + return sum; +} + +void MatrixRowCol::Add(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + // THIS = mrc1 + mrc2 + int f = skip; int l = skip + storage; + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); + Real* el1 = mrc1.data+(f1-mrc1.skip); Real* el2 = mrc2.data+(f2-mrc2.skip); + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); + Real* el1 = mrc1.data+(f1-mrc1.skip); Real* el2 = mrc2.data+(f2-mrc2.skip); + if (f1 lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = x; + l1 = l-f; while (l1--) *elx++ = *ely++ + x; + lx -= l; while (lx--) *elx++ = x; +} + +void MatrixRowCol::NegAdd(const MatrixRowCol& mrc1, Real x) +{ + // THIS = x - mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = x; + l1 = l-f; while (l1--) *elx++ = x - *ely++; + lx -= l; while (lx--) *elx++ = x; +} + +void MatrixRowCol::RevSub(const MatrixRowCol& mrc1) +{ + // THIS = mrc - THIS + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) { *elx = - *elx; elx++; } + l1 = l-f; while (l1--) { *elx = *ely++ - *elx; elx++; } + lx -= l; while (lx--) { *elx = - *elx; elx++; } +} + +void MatrixRowCol::ConCat(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +{ + // THIS = mrc1 | mrc2 + REPORT + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; int lx = skip + storage; + if (f1 < skip) { f1 = skip; if (l1 < f1) l1 = f1; } + if (l1 > lx) { l1 = lx; if (f1 > lx) f1 = lx; } + + Real* elx = data; + + int i = f1-skip; while (i--) *elx++ =0.0; + i = l1-f1; + if (i) // in case f1 would take ely out of range + { Real* ely = mrc1.data+(f1-mrc1.skip); while (i--) *elx++ = *ely++; } + + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; i = mrc1.length; + int skipx = l1 - i; lx -= i; // addresses rel to second seg, maybe -ve + if (f2 < skipx) { f2 = skipx; if (l2 < f2) l2 = f2; } + if (l2 > lx) { l2 = lx; if (f2 > lx) f2 = lx; } + + i = f2-skipx; while (i--) *elx++ = 0.0; + i = l2-f2; + if (i) // in case f2 would take ely out of range + { Real* ely = mrc2.data+(f2-mrc2.skip); while (i--) *elx++ = *ely++; } + lx -= l2; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1) +// element by element multiply into +{ + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0; + l1 = l-f; while (l1--) *elx++ *= *ely++; + lx -= l; while (lx--) *elx++ = 0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +// element by element multiply +{ + int f = skip; int l = skip + storage; + int f1 = mrc1.skip; int l1 = f1 + mrc1.storage; + if (f1l) l1=l; + int f2 = mrc2.skip; int l2 = f2 + mrc2.storage; + if (f2l) l2=l; + Real* el = data + (f-skip); int i; + if (f1l2) l1 = l2; + if (l1<=f1) { REPORT i = l-f; while (i--) *el++ = 0.0; } // disjoint + else + { + REPORT + Real* el1 = mrc1.data+(f1-mrc1.skip); + Real* el2 = mrc2.data+(f1-mrc2.skip); + i = f1-f ; while (i--) *el++ = 0.0; + i = l1-f1; while (i--) *el++ = *el1++ * *el2++; + i = l-l1; while (i--) *el++ = 0.0; + } +} + +void MatrixRowCol::KP(const MatrixRowCol& mrc1, const MatrixRowCol& mrc2) +// row for Kronecker product +{ + int f = skip; int s = storage; Real* el = data; int i; + + i = mrc1.skip * mrc2.length; + if (i > f) + { + i -= f; f = 0; if (i > s) { i = s; s = 0; } else s -= i; + while (i--) *el++ = 0.0; + if (s == 0) return; + } + else f -= i; + + i = mrc1.storage; Real* el1 = mrc1.data; + int mrc2_skip = mrc2.skip; int mrc2_storage = mrc2.storage; + int mrc2_length = mrc2.length; + int mrc2_remain = mrc2_length - mrc2_skip - mrc2_storage; + while (i--) + { + int j; Real* el2 = mrc2.data; Real vel1 = *el1; + if (f == 0 && mrc2_length <= s) + { + j = mrc2_skip; s -= j; while (j--) *el++ = 0.0; + j = mrc2_storage; s -= j; while (j--) *el++ = vel1 * *el2++; + j = mrc2_remain; s -= j; while (j--) *el++ = 0.0; + } + else if (f >= mrc2_length) f -= mrc2_length; + else + { + j = mrc2_skip; + if (j > f) + { + j -= f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = 0.0; + } + else f -= j; + + j = mrc2_storage; + if (j > f) + { + j -= f; el2 += f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = vel1 * *el2++; + } + else f -= j; + + j = mrc2_remain; + if (j > f) + { + j -= f; f = 0; if (j > s) { j = s; s = 0; } else s -= j; + while (j--) *el++ = 0.0; + } + else f -= j; + } + if (s == 0) return; + ++el1; + } + + i = (mrc1.length - mrc1.skip - mrc1.storage) * mrc2.length; + if (i > f) + { + i -= f; if (i > s) i = s; + while (i--) *el++ = 0.0; + } +} + + +void MatrixRowCol::Copy(const MatrixRowCol& mrc1) +{ + // THIS = mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = 0; + + if (l-f) ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::CopyCheck(const MatrixRowCol& mrc1) +// Throw an exception if this would lead to a loss of data +{ + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip || l > lx) Throw(ProgramException("Illegal Conversion")); + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Check(const MatrixRowCol& mrc1) +// Throw an exception if +=, -=, copy etc would lead to a loss of data +{ + REPORT + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip || l > lx) Throw(ProgramException("Illegal Conversion")); +} + +void MatrixRowCol::Check() +// Throw an exception if +=, -= of constant would lead to a loss of data +// that is: check full row is present +// may not be appropriate for symmetric matrices +{ + REPORT + if (skip!=0 || storage!=length) + Throw(ProgramException("Illegal Conversion")); +} + +void MatrixRowCol::Negate(const MatrixRowCol& mrc1) +{ + // THIS = -mrc1 + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = - *ely++; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void MatrixRowCol::Multiply(const MatrixRowCol& mrc1, Real s) +{ + // THIS = mrc1 * s + REPORT + if (!storage) return; + int f = mrc1.skip; int l = f + mrc1.storage; int lx = skip + storage; + if (f < skip) { f = skip; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = data; Real* ely = mrc1.data+(f-mrc1.skip); + + int l1 = f-skip; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ = *ely++ * s; + lx -= l; while (lx--) *elx++ = 0.0; +} + +void DiagonalMatrix::Solver(MatrixColX& mrc, const MatrixColX& mrc1) +{ + // mrc = mrc / mrc1 (elementwise) + REPORT + int f = mrc1.skip; int f0 = mrc.skip; + int l = f + mrc1.storage; int lx = f0 + mrc.storage; + if (f < f0) { f = f0; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = mrc.data; Real* eld = store+f; + + int l1 = f-f0; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ /= *eld++; + lx -= l; while (lx--) *elx++ = 0.0; + // Solver makes sure input and output point to same memory +} + +void IdentityMatrix::Solver(MatrixColX& mrc, const MatrixColX& mrc1) +{ + // mrc = mrc / mrc1 (elementwise) + REPORT + int f = mrc1.skip; int f0 = mrc.skip; + int l = f + mrc1.storage; int lx = f0 + mrc.storage; + if (f < f0) { f = f0; if (l < f) l = f; } + if (l > lx) { l = lx; if (f > lx) f = lx; } + + Real* elx = mrc.data; Real eldv = *store; + + int l1 = f-f0; while (l1--) *elx++ = 0.0; + l1 = l-f; while (l1--) *elx++ /= eldv; + lx -= l; while (lx--) *elx++ = 0.0; + // Solver makes sure input and output point to same memory +} + +void MatrixRowCol::Copy(const Real*& r) +{ + // THIS = *r + REPORT + Real* elx = data; const Real* ely = r+skip; r += length; + int l = storage; while (l--) *elx++ = *ely++; +} + +void MatrixRowCol::Copy(Real r) +{ + // THIS = r + REPORT Real* elx = data; int l = storage; while (l--) *elx++ = r; +} + +void MatrixRowCol::Zero() +{ + // THIS = 0 + REPORT Real* elx = data; int l = storage; while (l--) *elx++ = 0; +} + +void MatrixRowCol::Multiply(Real r) +{ + // THIS *= r + REPORT Real* elx = data; int l = storage; while (l--) *elx++ *= r; +} + +void MatrixRowCol::Add(Real r) +{ + // THIS += r + REPORT + Real* elx = data; int l = storage; while (l--) *elx++ += r; +} + +Real MatrixRowCol::SumAbsoluteValue() +{ + REPORT + Real sum = 0.0; Real* elx = data; int l = storage; + while (l--) sum += fabs(*elx++); + return sum; +} + +// max absolute value of r and elements of row/col +// we use <= or >= in all of these so we are sure of getting +// r reset at least once. +Real MatrixRowCol::MaximumAbsoluteValue1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = fabs(*elx++); if (r <= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// min absolute value of r and elements of row/col +Real MatrixRowCol::MinimumAbsoluteValue1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = fabs(*elx++); if (r >= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// max value of r and elements of row/col +Real MatrixRowCol::Maximum1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = *elx++; if (r <= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +// min value of r and elements of row/col +Real MatrixRowCol::Minimum1(Real r, int& i) +{ + REPORT + Real* elx = data; int l = storage; int li = -1; + while (l--) { Real f = *elx++; if (r >= f) { r = f; li = l; } } + i = (li >= 0) ? storage - li + skip : 0; + return r; +} + +Real MatrixRowCol::Sum() +{ + REPORT + Real sum = 0.0; Real* elx = data; int l = storage; + while (l--) sum += *elx++; + return sum; +} + +void MatrixRowCol::SubRowCol(MatrixRowCol& mrc, int skip1, int l1) const +{ + mrc.length = l1; int d = skip - skip1; + if (d<0) { mrc.skip = 0; mrc.data = data - d; } + else { mrc.skip = d; mrc.data = data; } + d = skip + storage - skip1; + d = ((l1 < d) ? l1 : d) - mrc.skip; mrc.storage = (d < 0) ? 0 : d; + mrc.cw = 0; +} + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat3.cpp b/3rdparty/newmat/newmat3.cpp new file mode 100644 index 0000000..84b0ba9 --- /dev/null +++ b/3rdparty/newmat/newmat3.cpp @@ -0,0 +1,842 @@ +//$$ newmat3.cpp Matrix get and restore rows and columns + +// Copyright (C) 1991,2,3,4: R B Davies + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,3); ++ExeCount; } +#else +#define REPORT {} +#endif + +//#define MONITOR(what,storage,store) +// { cout << what << " " << storage << " at " << (long)store << "\n"; } + +#define MONITOR(what,store,storage) {} + + +// Control bits codes for GetRow, GetCol, RestoreRow, RestoreCol +// +// LoadOnEntry: +// Load data into MatrixRow or Col dummy array under GetRow or GetCol +// StoreOnExit: +// Restore data to original matrix under RestoreRow or RestoreCol +// DirectPart: +// Load or restore only part directly stored; must be set with StoreOnExit +// Still have decide how to handle this with symmetric +// StoreHere: +// used in columns only - store data at supplied storage address; +// used for GetCol, NextCol & RestoreCol. No need to fill out zeros +// HaveStore: +// dummy array has been assigned (internal use only). + +// For symmetric matrices, treat columns as rows unless StoreHere is set; +// then stick to columns as this will give better performance for doing +// inverses + +// How components are used: + +// Use rows wherever possible in preference to columns + +// Columns without StoreHere are used in in-exact transpose, sum column, +// multiply a column vector, and maybe in future access to column, +// additional multiply functions, add transpose + +// Columns with StoreHere are used in exact transpose (not symmetric matrices +// or vectors, load only) + +// Columns with MatrixColX (Store to full column) are used in inverse and solve + +// Functions required for each matrix class + +// GetRow(MatrixRowCol& mrc) +// GetCol(MatrixRowCol& mrc) +// GetCol(MatrixColX& mrc) +// RestoreRow(MatrixRowCol& mrc) +// RestoreCol(MatrixRowCol& mrc) +// RestoreCol(MatrixColX& mrc) +// NextRow(MatrixRowCol& mrc) +// NextCol(MatrixRowCol& mrc) +// NextCol(MatrixColX& mrc) + +// The Restore routines assume StoreOnExit has already been checked +// Defaults for the Next routines are given below +// Assume cannot have both !DirectPart && StoreHere for MatrixRowCol routines + + +// Default NextRow and NextCol: +// will work as a default but need to override NextRow for efficiency + +void GeneralMatrix::NextRow(MatrixRowCol& mrc) +{ + REPORT + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreRow(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetRow(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void GeneralMatrix::NextCol(MatrixRowCol& mrc) +{ + REPORT // 423 + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetCol(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void GeneralMatrix::NextCol(MatrixColX& mrc) +{ + REPORT // 423 + if (+(mrc.cw*StoreOnExit)) { REPORT this->RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcolGetCol(mrc); } + else { REPORT mrc.cw -= StoreOnExit; } +} + + +// routines for matrix + +void Matrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=mrc.length=ncols; mrc.data=store+mrc.rowcol*ncols; +} + + +void Matrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=mrc.length=nrows; + if ( ncols==1 && !(mrc.cw*StoreHere) ) // ColumnVector + { REPORT mrc.data=store; } + else + { + Real* ColCopy; + if ( !(mrc.cw*(HaveStore+StoreHere)) ) + { + REPORT + ColCopy = new Real [nrows]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (MatGetCol)",nrows,ColCopy) + mrc.data = ColCopy; mrc.cw += HaveStore; + } + else { REPORT ColCopy = mrc.data; } + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+mrc.rowcol; int i=nrows; + //while (i--) { *ColCopy++ = *Mstore; Mstore+=ncols; } + if (i) for (;;) + { *ColCopy++ = *Mstore; if (!(--i)) break; Mstore+=ncols; } + } + } +} + +void Matrix::GetCol(MatrixColX& mrc) +{ + REPORT + mrc.skip=0; mrc.storage=nrows; mrc.length=nrows; + if (+(mrc.cw*LoadOnEntry)) + { + REPORT Real* ColCopy = mrc.data; + Real* Mstore = store+mrc.rowcol; int i=nrows; + //while (i--) { *ColCopy++ = *Mstore; Mstore+=ncols; } + if (i) for (;;) + { *ColCopy++ = *Mstore; if (!(--i)) break; Mstore+=ncols; } + } +} + +void Matrix::RestoreCol(MatrixRowCol& mrc) +{ + // always check StoreOnExit before calling RestoreCol + REPORT // 429 + if (+(mrc.cw*HaveStore)) + { + REPORT // 426 + Real* Mstore = store+mrc.rowcol; int i=nrows; + Real* Cstore = mrc.data; + // while (i--) { *Mstore = *Cstore++; Mstore+=ncols; } + if (i) for (;;) + { *Mstore = *Cstore++; if (!(--i)) break; Mstore+=ncols; } + } +} + +void Matrix::RestoreCol(MatrixColX& mrc) +{ + REPORT + Real* Mstore = store+mrc.rowcol; int i=nrows; Real* Cstore = mrc.data; + // while (i--) { *Mstore = *Cstore++; Mstore+=ncols; } + if (i) for (;;) + { *Mstore = *Cstore++; if (!(--i)) break; Mstore+=ncols; } +} + +void Matrix::NextRow(MatrixRowCol& mrc) { REPORT mrc.IncrMat(); } // 1808 + +void Matrix::NextCol(MatrixRowCol& mrc) +{ + REPORT // 632 + if (+(mrc.cw*StoreOnExit)) { REPORT RestoreCol(mrc); } + mrc.rowcol++; + if (mrc.rowcol= LoadOnEntry) + { REPORT *(mrc.data) = *(store+mrc.rowcol); } + +} + +void RowVector::NextCol(MatrixRowCol& mrc) +{ REPORT mrc.rowcol++; mrc.data++; } + +void RowVector::NextCol(MatrixColX& mrc) +{ + if (+(mrc.cw*StoreOnExit)) { REPORT *(store+mrc.rowcol)=*(mrc.data); } + + mrc.rowcol++; + if (mrc.rowcol < ncols) + { + if (+(mrc.cw*LoadOnEntry)) { REPORT *(mrc.data)=*(store+mrc.rowcol); } + } + else { REPORT mrc.cw -= StoreOnExit; } +} + +void RowVector::RestoreCol(MatrixColX& mrc) + { REPORT *(store+mrc.rowcol)=*(mrc.data); } // not accessed + + +// routines for band matrices + +void BandMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + int r = mrc.rowcol; int w = lower+1+upper; mrc.length=ncols; + int s = r-lower; + if (s<0) { mrc.data = store+(r*w-s); w += s; s = 0; } + else mrc.data = store+r*w; + mrc.skip = s; s += w-ncols; if (s>0) w -= s; mrc.storage = w; +} + +// should make special versions of this for upper and lower band matrices + +void BandMatrix::NextRow(MatrixRowCol& mrc) +{ + REPORT + int r = ++mrc.rowcol; + if (r<=lower) { mrc.storage++; mrc.data += lower+upper; } + else { mrc.skip++; mrc.data += lower+upper+1; } + if (r>=ncols-upper) mrc.storage--; +} + +void BandMatrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int w = n+1; + mrc.length=nrows; Real* ColCopy; + int b; int s = c-upper; + if (s<=0) { w += s; s = 0; b = c+lower; } else b = s*w+n; + mrc.skip = s; s += w-nrows; if (s>0) w -= s; mrc.storage = w; + if ( +(mrc.cw*(StoreHere+HaveStore)) ) + { REPORT ColCopy = mrc.data; } + else + { + REPORT + ColCopy = new Real [n+1]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (BMGetCol)",n+1,ColCopy) + mrc.cw += HaveStore; mrc.data = ColCopy; + } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+b; + // while (w--) { *ColCopy++ = *Mstore; Mstore+=n; } + if (w) for (;;) + { *ColCopy++ = *Mstore; if (!(--w)) break; Mstore+=n; } + } +} + +void BandMatrix::GetCol(MatrixColX& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int w = n+1; + mrc.length=nrows; int b; int s = c-upper; + if (s<=0) { w += s; s = 0; b = c+lower; } else b = s*w+n; + mrc.skip = s; s += w-nrows; if (s>0) w -= s; mrc.storage = w; + mrc.data = mrc.store+mrc.skip; + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* ColCopy = mrc.data; Real* Mstore = store+b; + // while (w--) { *ColCopy++ = *Mstore; Mstore+=n; } + if (w) for (;;) + { *ColCopy++ = *Mstore; if (!(--w)) break; Mstore+=n; } + } +} + +void BandMatrix::RestoreCol(MatrixRowCol& mrc) +{ + REPORT + int c = mrc.rowcol; int n = lower+upper; int s = c-upper; + Real* Mstore = store + ((s<=0) ? c+lower : s*n+s+n); + Real* Cstore = mrc.data; + int w = mrc.storage; + // while (w--) { *Mstore = *Cstore++; Mstore += n; } + if (w) for (;;) + { *Mstore = *Cstore++; if (!(--w)) break; Mstore += n; } +} + +// routines for symmetric band matrix + +void SymmetricBandMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + int r=mrc.rowcol; int s = r-lower; int w1 = lower+1; int o = r*w1; + mrc.length = ncols; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + if (+(mrc.cw*DirectPart)) + { REPORT mrc.data = store+o; mrc.storage = w1; } + else + { + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetRow(MatrixRowCol&)")); + int w = w1+lower; s += w-ncols; Real* RowCopy; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + if (!(mrc.cw*HaveStore)) + { + REPORT + RowCopy = new Real [2*lower+1]; MatrixErrorNoSpace(RowCopy); + MONITOR_REAL_NEW("Make (SmBGetRow)",2*lower+1,RowCopy) + mrc.cw += HaveStore; mrc.data = RowCopy; + } + else { REPORT RowCopy = mrc.data; } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *RowCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *RowCopy++ = *Mstore; } + } + } +} + +void SymmetricBandMatrix::GetCol(MatrixRowCol& mrc) +{ + // do not allow StoreHere + if (+(mrc.cw*StoreHere)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixRowCol&)")); + + int c=mrc.rowcol; int w1 = lower+1; mrc.length=nrows; + REPORT + int s = c-lower; int o = c*w1; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + if (+(mrc.cw*DirectPart)) + { REPORT mrc.data = store+o; mrc.storage = w1; } + else + { + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixRowCol&)")); + int w = w1+lower; s += w-ncols; Real* ColCopy; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + + if ( +(mrc.cw*HaveStore) ) { REPORT ColCopy = mrc.data; } + else + { + REPORT ColCopy = new Real [2*lower+1]; MatrixErrorNoSpace(ColCopy); + MONITOR_REAL_NEW("Make (SmBGetCol)",2*lower+1,ColCopy) + mrc.cw += HaveStore; mrc.data = ColCopy; + } + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *ColCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *ColCopy++ = *Mstore; } + } + } +} + +void SymmetricBandMatrix::GetCol(MatrixColX& mrc) +{ + int c=mrc.rowcol; int w1 = lower+1; mrc.length=nrows; + if (+(mrc.cw*DirectPart)) + { + REPORT + int b = c*w1+lower; + mrc.skip = c; c += w1-nrows; w1 -= c; mrc.storage = w1; + Real* ColCopy = mrc.data = mrc.store+mrc.skip; + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+b; + // while (w1--) { *ColCopy++ = *Mstore; Mstore += lower; } + if (w1) for (;;) + { *ColCopy++ = *Mstore; if (!(--w1)) break; Mstore += lower; } + } + } + else + { + REPORT + // do not allow StoreOnExit and !DirectPart + if (+(mrc.cw*StoreOnExit)) + Throw(InternalException("SymmetricBandMatrix::GetCol(MatrixColX&)")); + int s = c-lower; int o = c*w1; + if (s<0) { w1 += s; o -= s; s = 0; } + mrc.skip = s; + + int w = w1+lower; s += w-ncols; + if (s>0) w -= s; mrc.storage = w; int w2 = w-w1; + + Real* ColCopy = mrc.data = mrc.store+mrc.skip; + + if (+(mrc.cw*LoadOnEntry)) + { + REPORT + Real* Mstore = store+o; + while (w1--) *ColCopy++ = *Mstore++; + Mstore--; + while (w2--) { Mstore += lower; *ColCopy++ = *Mstore; } + } + + } +} + +void SymmetricBandMatrix::RestoreCol(MatrixColX& mrc) +{ + REPORT + int c = mrc.rowcol; + Real* Mstore = store + c*lower+c+lower; + Real* Cstore = mrc.data; int w = mrc.storage; + // while (w--) { *Mstore = *Cstore++; Mstore += lower; } + if (w) for (;;) + { *Mstore = *Cstore++; if (!(--w)) break; Mstore += lower; } +} + +// routines for identity matrix + +void IdentityMatrix::GetRow(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.data=store; mrc.length=ncols; +} + +void IdentityMatrix::GetCol(MatrixRowCol& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.length=nrows; + if (+(mrc.cw*StoreHere)) // should not happen + Throw(InternalException("IdentityMatrix::GetCol(MatrixRowCol&)")); + else { REPORT mrc.data=store; } +} + +void IdentityMatrix::GetCol(MatrixColX& mrc) +{ + REPORT + mrc.skip=mrc.rowcol; mrc.storage=1; mrc.length=nrows; + mrc.data = mrc.store+mrc.skip; *(mrc.data)=*store; +} + +void IdentityMatrix::NextRow(MatrixRowCol& mrc) { REPORT mrc.IncrId(); } + +void IdentityMatrix::NextCol(MatrixRowCol& mrc) { REPORT mrc.IncrId(); } + +void IdentityMatrix::NextCol(MatrixColX& mrc) +{ + REPORT + if (+(mrc.cw*StoreOnExit)) { REPORT *store=*(mrc.data); } + mrc.IncrDiag(); // must increase mrc.data so need IncrDiag + int t1 = +(mrc.cw*LoadOnEntry); + if (t1 && mrc.rowcol < ncols) { REPORT *(mrc.data)=*store; } +} + + + + +// *************************** destructors ******************************* + +MatrixRowCol::~MatrixRowCol() +{ + if (+(cw*HaveStore)) + { + MONITOR_REAL_DELETE("Free (RowCol)",-1,data) // do not know length + delete [] data; + } +} + +MatrixRow::~MatrixRow() { if (+(cw*StoreOnExit)) gm->RestoreRow(*this); } + +MatrixCol::~MatrixCol() { if (+(cw*StoreOnExit)) gm->RestoreCol(*this); } + +MatrixColX::~MatrixColX() { if (+(cw*StoreOnExit)) gm->RestoreCol(*this); } + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat4.cpp b/3rdparty/newmat/newmat4.cpp new file mode 100644 index 0000000..68024a3 --- /dev/null +++ b/3rdparty/newmat/newmat4.cpp @@ -0,0 +1,950 @@ +//$$ newmat4.cpp Constructors, ReSize, basic utilities + +// Copyright (C) 1991,2,3,4,8,9: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,4); ++ExeCount; } +#else +#define REPORT {} +#endif + + +#define DO_SEARCH // search for LHS of = in RHS + +// ************************* general utilities *************************/ + +static int tristore(int n) // elements in triangular matrix +{ return (n*(n+1))/2; } + + +// **************************** constructors ***************************/ + +GeneralMatrix::GeneralMatrix() +{ store=0; storage=0; nrows=0; ncols=0; tag=-1; } + +GeneralMatrix::GeneralMatrix(ArrayLengthSpecifier s) +{ + REPORT + storage=s.Value(); tag=-1; + if (storage) + { + store = new Real [storage]; MatrixErrorNoSpace(store); + MONITOR_REAL_NEW("Make (GenMatrix)",storage,store) + } + else store = 0; +} + +Matrix::Matrix(int m, int n) : GeneralMatrix(m*n) +{ REPORT nrows=m; ncols=n; } + +SymmetricMatrix::SymmetricMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +UpperTriangularMatrix::UpperTriangularMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +LowerTriangularMatrix::LowerTriangularMatrix(ArrayLengthSpecifier n) + : GeneralMatrix(tristore(n.Value())) +{ REPORT nrows=n.Value(); ncols=n.Value(); } + +DiagonalMatrix::DiagonalMatrix(ArrayLengthSpecifier m) : GeneralMatrix(m) +{ REPORT nrows=m.Value(); ncols=m.Value(); } + +Matrix::Matrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Rt); + GetMatrix(gmx); +} + +RowVector::RowVector(const BaseMatrix& M) : Matrix(M) +{ + if (nrows!=1) + { + Tracer tr("RowVector"); + Throw(VectorException(*this)); + } +} + +ColumnVector::ColumnVector(const BaseMatrix& M) : Matrix(M) +{ + if (ncols!=1) + { + Tracer tr("ColumnVector"); + Throw(VectorException(*this)); + } +} + +SymmetricMatrix::SymmetricMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Sm); + GetMatrix(gmx); +} + +UpperTriangularMatrix::UpperTriangularMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::UT); + GetMatrix(gmx); +} + +LowerTriangularMatrix::LowerTriangularMatrix(const BaseMatrix& M) +{ + REPORT // CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::LT); + GetMatrix(gmx); +} + +DiagonalMatrix::DiagonalMatrix(const BaseMatrix& M) +{ + REPORT //CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Dg); + GetMatrix(gmx); +} + +IdentityMatrix::IdentityMatrix(const BaseMatrix& M) +{ + REPORT //CheckConversion(M); + // MatrixConversionCheck mcc; + GeneralMatrix* gmx=((BaseMatrix&)M).Evaluate(MatrixType::Id); + GetMatrix(gmx); +} + +GeneralMatrix::~GeneralMatrix() +{ + if (store) + { + MONITOR_REAL_DELETE("Free (GenMatrix)",storage,store) + delete [] store; + } +} + +CroutMatrix::CroutMatrix(const BaseMatrix& m) +{ + REPORT + Tracer tr("CroutMatrix"); + indx = 0; // in case of exception at next line + GeneralMatrix* gm = ((BaseMatrix&)m).Evaluate(MatrixType::Rt); + GetMatrix(gm); + if (nrows!=ncols) { CleanUp(); Throw(NotSquareException(*gm)); } + d=true; sing=false; + indx=new int [nrows]; MatrixErrorNoSpace(indx); + MONITOR_INT_NEW("Index (CroutMat)",nrows,indx) + ludcmp(); +} + +CroutMatrix::~CroutMatrix() +{ + MONITOR_INT_DELETE("Index (CroutMat)",nrows,indx) + delete [] indx; +} + +//ReturnMatrixX::ReturnMatrixX(GeneralMatrix& gmx) +//{ +// REPORT +// gm = gmx.Image(); gm->ReleaseAndDelete(); +//} + +#ifndef TEMPS_DESTROYED_QUICKLY_R + +GeneralMatrix::operator ReturnMatrixX() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + return ReturnMatrixX(gm); +} + +#else + +GeneralMatrix::operator ReturnMatrixX&() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + ReturnMatrixX* x = new ReturnMatrixX(gm); + MatrixErrorNoSpace(x); return *x; +} + +#endif + +#ifndef TEMPS_DESTROYED_QUICKLY_R + +ReturnMatrixX GeneralMatrix::ForReturn() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + return ReturnMatrixX(gm); +} + +#else + +ReturnMatrixX& GeneralMatrix::ForReturn() const +{ + REPORT + GeneralMatrix* gm = Image(); gm->ReleaseAndDelete(); + ReturnMatrixX* x = new ReturnMatrixX(gm); + MatrixErrorNoSpace(x); return *x; +} + +#endif + +// ************************** ReSize matrices ***************************/ + +void GeneralMatrix::ReSize(int nr, int nc, int s) +{ + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (ReDimensi)",storage,store) + delete [] store; + } + storage=s; nrows=nr; ncols=nc; tag=-1; + if (s) + { + store = new Real [storage]; MatrixErrorNoSpace(store); + MONITOR_REAL_NEW("Make (ReDimensi)",storage,store) + } + else store = 0; +} + +void Matrix::ReSize(int nr, int nc) +{ REPORT GeneralMatrix::ReSize(nr,nc,nr*nc); } + +void SymmetricMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void UpperTriangularMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void LowerTriangularMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,tristore(nr)); } + +void DiagonalMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,nr); } + +void RowVector::ReSize(int nc) +{ REPORT GeneralMatrix::ReSize(1,nc,nc); } + +void ColumnVector::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,1,nr); } + +void RowVector::ReSize(int nr, int nc) +{ + Tracer tr("RowVector::ReSize"); + if (nr != 1) Throw(VectorException(*this)); + REPORT GeneralMatrix::ReSize(1,nc,nc); +} + +void ColumnVector::ReSize(int nr, int nc) +{ + Tracer tr("ColumnVector::ReSize"); + if (nc != 1) Throw(VectorException(*this)); + REPORT GeneralMatrix::ReSize(nr,1,nr); +} + +void IdentityMatrix::ReSize(int nr) +{ REPORT GeneralMatrix::ReSize(nr,nr,1); *store = 1; } + + +void Matrix::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void nricMatrix::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void ColumnVector::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void RowVector::ReSize(const GeneralMatrix& A) +{ REPORT ReSize(A.Nrows(), A.Ncols()); } + +void SymmetricMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("SymmetricMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void DiagonalMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("DiagonalMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void UpperTriangularMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("UpperTriangularMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void LowerTriangularMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("LowerTriangularMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void IdentityMatrix::ReSize(const GeneralMatrix& A) +{ + REPORT + int n = A.Nrows(); + if (n != A.Ncols()) + { + Tracer tr("IdentityMatrix::ReSize(GM)"); + Throw(NotSquareException(*this)); + } + ReSize(n); +} + +void GeneralMatrix::ReSize(const GeneralMatrix&) +{ + REPORT + Tracer tr("GeneralMatrix::ReSize(GM)"); + Throw(NotDefinedException("ReSize", "this type of matrix")); +} + +void GeneralMatrix::ReSizeForAdd(const GeneralMatrix& A, const GeneralMatrix&) +{ REPORT ReSize(A); } + +void GeneralMatrix::ReSizeForSP(const GeneralMatrix& A, const GeneralMatrix&) +{ REPORT ReSize(A); } + + +// ************************* SameStorageType ******************************/ + +// SameStorageType checks A and B have same storage type including bandwidth +// It does not check same dimensions since we assume this is already done + +bool GeneralMatrix::SameStorageType(const GeneralMatrix& A) const +{ + REPORT + return Type() == A.Type(); +} + + +// ******************* manipulate types, storage **************************/ + +int GeneralMatrix::search(const BaseMatrix* s) const +{ REPORT return (s==this) ? 1 : 0; } + +int GenericMatrix::search(const BaseMatrix* s) const +{ REPORT return gm->search(s); } + +int MultipliedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm1->search(s) + bm2->search(s); } + +int ShiftedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm->search(s); } + +int NegatedMatrix::search(const BaseMatrix* s) const +{ REPORT return bm->search(s); } + +int ReturnMatrixX::search(const BaseMatrix* s) const +{ REPORT return (s==gm) ? 1 : 0; } + +MatrixType Matrix::Type() const { return MatrixType::Rt; } +MatrixType SymmetricMatrix::Type() const { return MatrixType::Sm; } +MatrixType UpperTriangularMatrix::Type() const { return MatrixType::UT; } +MatrixType LowerTriangularMatrix::Type() const { return MatrixType::LT; } +MatrixType DiagonalMatrix::Type() const { return MatrixType::Dg; } +MatrixType RowVector::Type() const { return MatrixType::RV; } +MatrixType ColumnVector::Type() const { return MatrixType::CV; } +MatrixType CroutMatrix::Type() const { return MatrixType::Ct; } +MatrixType BandMatrix::Type() const { return MatrixType::BM; } +MatrixType UpperBandMatrix::Type() const { return MatrixType::UB; } +MatrixType LowerBandMatrix::Type() const { return MatrixType::LB; } +MatrixType SymmetricBandMatrix::Type() const { return MatrixType::SB; } + +MatrixType IdentityMatrix::Type() const { return MatrixType::Id; } + + + +MatrixBandWidth BaseMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth DiagonalMatrix::BandWidth() const { REPORT return 0; } +MatrixBandWidth IdentityMatrix::BandWidth() const { REPORT return 0; } + +MatrixBandWidth UpperTriangularMatrix::BandWidth() const + { REPORT return MatrixBandWidth(0,-1); } + +MatrixBandWidth LowerTriangularMatrix::BandWidth() const + { REPORT return MatrixBandWidth(-1,0); } + +MatrixBandWidth BandMatrix::BandWidth() const + { REPORT return MatrixBandWidth(lower,upper); } + +MatrixBandWidth GenericMatrix::BandWidth()const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth AddedMatrix::BandWidth() const + { REPORT return gm1->BandWidth() + gm2->BandWidth(); } + +MatrixBandWidth SPMatrix::BandWidth() const + { REPORT return gm1->BandWidth().minimum(gm2->BandWidth()); } + +MatrixBandWidth KPMatrix::BandWidth() const +{ + int lower, upper; + MatrixBandWidth bw1 = gm1->BandWidth(), bw2 = gm2->BandWidth(); + if (bw1.Lower() < 0) + { + if (bw2.Lower() < 0) { REPORT lower = -1; } + else { REPORT lower = bw2.Lower() + (gm1->Nrows() - 1) * gm2->Nrows(); } + } + else + { + if (bw2.Lower() < 0) + { REPORT lower = (1 + bw1.Lower()) * gm2->Nrows() - 1; } + else { REPORT lower = bw2.Lower() + bw1.Lower() * gm2->Nrows(); } + } + if (bw1.Upper() < 0) + { + if (bw2.Upper() < 0) { REPORT upper = -1; } + else { REPORT upper = bw2.Upper() + (gm1->Nrows() - 1) * gm2->Nrows(); } + } + else + { + if (bw2.Upper() < 0) + { REPORT upper = (1 + bw1.Upper()) * gm2->Nrows() - 1; } + else { REPORT upper = bw2.Upper() + bw1.Upper() * gm2->Nrows(); } + } + return MatrixBandWidth(lower, upper); +} + +MatrixBandWidth MultipliedMatrix::BandWidth() const +{ REPORT return gm1->BandWidth() * gm2->BandWidth(); } + +MatrixBandWidth ConcatenatedMatrix::BandWidth() const { REPORT return -1; } + +MatrixBandWidth SolvedMatrix::BandWidth() const +{ + if (+gm1->Type() & MatrixType::Diagonal) + { REPORT return gm2->BandWidth(); } + else { REPORT return -1; } +} + +MatrixBandWidth ScaledMatrix::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth NegatedMatrix::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth TransposedMatrix::BandWidth() const + { REPORT return gm->BandWidth().t(); } + +MatrixBandWidth InvertedMatrix::BandWidth() const +{ + if (+gm->Type() & MatrixType::Diagonal) + { REPORT return MatrixBandWidth(0,0); } + else { REPORT return -1; } +} + +MatrixBandWidth RowedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth ColedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth DiagedMatrix::BandWidth() const { REPORT return 0; } +MatrixBandWidth MatedMatrix::BandWidth() const { REPORT return -1; } +MatrixBandWidth ReturnMatrixX::BandWidth() const + { REPORT return gm->BandWidth(); } + +MatrixBandWidth GetSubMatrix::BandWidth() const +{ + + if (row_skip==col_skip && row_number==col_number) + { REPORT return gm->BandWidth(); } + else { REPORT return MatrixBandWidth(-1); } +} + +// ********************** the memory managment tools **********************/ + +// Rules regarding tDelete, reuse, GetStore +// All matrices processed during expression evaluation must be subject +// to exactly one of reuse(), tDelete(), GetStore() or BorrowStore(). +// If reuse returns true the matrix must be reused. +// GetMatrix(gm) always calls gm->GetStore() +// gm->Evaluate obeys rules +// bm->Evaluate obeys rules for matrices in bm structure + +void GeneralMatrix::tDelete() +{ + if (tag<0) + { + if (tag<-1) { REPORT store=0; delete this; return; } // borrowed + else { REPORT return; } + } + if (tag==1) + { + if (store) + { + REPORT MONITOR_REAL_DELETE("Free (tDelete)",storage,store) + delete [] store; + } + store=0; CleanUp(); tag=-1; return; + } + if (tag==0) { REPORT delete this; return; } + REPORT tag--; return; +} + +static void BlockCopy(int n, Real* from, Real* to) +{ + REPORT + int i = (n >> 3); + while (i--) + { + *to++ = *from++; *to++ = *from++; *to++ = *from++; *to++ = *from++; + *to++ = *from++; *to++ = *from++; *to++ = *from++; *to++ = *from++; + } + i = n & 7; while (i--) *to++ = *from++; +} + +bool GeneralMatrix::reuse() +{ + if (tag<-1) + { + if (storage) + { + REPORT + Real* s = new Real [storage]; MatrixErrorNoSpace(s); + MONITOR_REAL_NEW("Make (reuse)",storage,s) + BlockCopy(storage, store, s); store=s; + } + else { REPORT store = 0; CleanUp(); } + tag=0; return true; + } + if (tag<0) { REPORT return false; } + if (tag<=1) { REPORT return true; } + REPORT tag--; return false; +} + +Real* GeneralMatrix::GetStore() +{ + if (tag<0 || tag>1) + { + Real* s; + if (storage) + { + s = new Real [storage]; MatrixErrorNoSpace(s); + MONITOR_REAL_NEW("Make (GetStore)",storage,s) + BlockCopy(storage, store, s); + } + else s = 0; + if (tag>1) { REPORT tag--; } + else if (tag < -1) { REPORT store=0; delete this; } // borrowed store + else { REPORT } + return s; + } + Real* s=store; store=0; + if (tag==0) { REPORT delete this; } + else { REPORT CleanUp(); tag=-1; } + return s; +} + +void GeneralMatrix::GetMatrix(const GeneralMatrix* gmx) +{ + REPORT tag=-1; nrows=gmx->Nrows(); ncols=gmx->Ncols(); + storage=gmx->storage; SetParameters(gmx); + store=((GeneralMatrix*)gmx)->GetStore(); +} + +GeneralMatrix* GeneralMatrix::BorrowStore(GeneralMatrix* gmx, MatrixType mt) +// Copy storage of *this to storage of *gmx. Then convert to type mt. +// If mt == 0 just let *gmx point to storage of *this if tag==-1. +{ + if (!mt) + { + if (tag == -1) { REPORT gmx->tag = -2; gmx->store = store; } + else { REPORT gmx->tag = 0; gmx->store = GetStore(); } + } + else if (Compare(gmx->Type(),mt)) + { REPORT gmx->tag = 0; gmx->store = GetStore(); } + else + { + REPORT gmx->tag = -2; gmx->store = store; + gmx = gmx->Evaluate(mt); gmx->tag = 0; tDelete(); + } + + return gmx; +} + +void GeneralMatrix::Eq(const BaseMatrix& X, MatrixType mt) +// Count number of references to this in X. +// If zero delete storage in this; +// otherwise tag this to show when storage can be deleted +// evaluate X and copy to this +{ +#ifdef DO_SEARCH + int counter=X.search(this); + if (counter==0) + { + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (operator=)",storage,store) + REPORT delete [] store; storage=0; store = 0; + } + } + else { REPORT Release(counter); } + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) { REPORT GetMatrix(gmx); } + else { REPORT } + Protect(); +#else + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) + { + REPORT + if (store) + { + MONITOR_REAL_DELETE("Free (operator=)",storage,store) + REPORT delete [] store; storage=0; store = 0; + } + GetMatrix(gmx); + } + else { REPORT } + Protect(); +#endif +} + +// version to work with operator<< +void GeneralMatrix::Eq(const BaseMatrix& X, MatrixType mt, bool ldok) +{ + REPORT + if (ldok) mt.SetDataLossOK(); + Eq(X, mt); +} + +void GeneralMatrix::Eq2(const BaseMatrix& X, MatrixType mt) +// a cut down version of Eq for use with += etc. +// we know BaseMatrix points to two GeneralMatrix objects, +// the first being this (may be the same). +// we know tag has been set correctly in each. +{ + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(mt); + if (gmx!=this) { REPORT GetMatrix(gmx); } // simplify GetMatrix ? + else { REPORT } + Protect(); +} + +void GeneralMatrix::Inject(const GeneralMatrix& X) +// copy stored values of X; otherwise leave els of *this unchanged +{ + REPORT + Tracer tr("Inject"); + if (nrows != X.nrows || ncols != X.ncols) + Throw(IncompatibleDimensionsException()); + MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry); + MatrixRow mrx(this, LoadOnEntry+StoreOnExit+DirectPart); + int i=nrows; + while (i--) { mrx.Inject(mr); mrx.Next(); mr.Next(); } +} + +// ************* checking for data loss during conversion *******************/ + +bool Compare(const MatrixType& source, MatrixType& destination) +{ + if (!destination) { destination=source; return true; } + if (destination==source) return true; + if (!destination.DataLossOK && !(destination>=source)) + Throw(ProgramException("Illegal Conversion", source, destination)); + return false; +} + +// ************* Make a copy of a matrix on the heap *********************/ + +GeneralMatrix* Matrix::Image() const +{ + REPORT + GeneralMatrix* gm = new Matrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* SymmetricMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new SymmetricMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* UpperTriangularMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new UpperTriangularMatrix(*this); + MatrixErrorNoSpace(gm); return gm; +} + +GeneralMatrix* LowerTriangularMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new LowerTriangularMatrix(*this); + MatrixErrorNoSpace(gm); return gm; +} + +GeneralMatrix* DiagonalMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new DiagonalMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* RowVector::Image() const +{ + REPORT + GeneralMatrix* gm = new RowVector(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* ColumnVector::Image() const +{ + REPORT + GeneralMatrix* gm = new ColumnVector(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* BandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new BandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* UpperBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new UpperBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* LowerBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new LowerBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* SymmetricBandMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new SymmetricBandMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* nricMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new nricMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* IdentityMatrix::Image() const +{ + REPORT + GeneralMatrix* gm = new IdentityMatrix(*this); MatrixErrorNoSpace(gm); + return gm; +} + +GeneralMatrix* GeneralMatrix::Image() const +{ + bool dummy = true; + if (dummy) // get rid of warning message + Throw(InternalException("Cannot apply Image to this matrix type")); + return 0; +} + + +// *********************** nricMatrix routines *****************************/ + +void nricMatrix::MakeRowPointer() +{ + if (nrows > 0) + { + row_pointer = new Real* [nrows]; MatrixErrorNoSpace(row_pointer); + Real* s = Store() - 1; int i = nrows; Real** rp = row_pointer; + if (i) for (;;) { *rp++ = s; if (!(--i)) break; s+=ncols; } + } + else row_pointer = 0; +} + +void nricMatrix::DeleteRowPointer() +{ if (nrows) delete [] row_pointer; } + +void GeneralMatrix::CheckStore() const +{ + if (!store) + Throw(ProgramException("NRIC accessing matrix with unset dimensions")); +} + + +// *************************** CleanUp routines *****************************/ + +void GeneralMatrix::CleanUp() +{ + // set matrix dimensions to zero, delete storage + REPORT + if (store && storage) + { + MONITOR_REAL_DELETE("Free (CleanUp) ",storage,store) + REPORT delete [] store; + } + store=0; storage=0; nrows=0; ncols=0; +} + +void nricMatrix::CleanUp() +{ DeleteRowPointer(); GeneralMatrix::CleanUp(); } + +void RowVector::CleanUp() +{ GeneralMatrix::CleanUp(); nrows=1; } + +void ColumnVector::CleanUp() +{ GeneralMatrix::CleanUp(); ncols=1; } + +void CroutMatrix::CleanUp() +{ + if (nrows) delete [] indx; + GeneralMatrix::CleanUp(); +} + +void BandLUMatrix::CleanUp() +{ + if (nrows) delete [] indx; + if (storage2) delete [] store2; + GeneralMatrix::CleanUp(); +} + +// ************************ simple integer array class *********************** + +// construct a new array of length xn. Check that xn is non-negative and +// that space is available + +SimpleIntArray::SimpleIntArray(int xn) : n(xn) +{ + if (n < 0) Throw(Logic_error("invalid array length")); + else if (n == 0) { REPORT a = 0; } + else { REPORT a = new int [n]; if (!a) Throw(Bad_alloc()); } +} + +// destroy an array - return its space to memory + +SimpleIntArray::~SimpleIntArray() { REPORT if (a) delete [] a; } + +// access an element of an array; return a "reference" so elements +// can be modified. +// check index is within range +// in this array class the index runs from 0 to n-1 + +int& SimpleIntArray::operator[](int i) +{ + REPORT + if (i < 0 || i >= n) Throw(Logic_error("array index out of range")); + return a[i]; +} + +// same thing again but for arrays declared constant so we can't +// modify its elements + +int SimpleIntArray::operator[](int i) const +{ + REPORT + if (i < 0 || i >= n) Throw(Logic_error("array index out of range")); + return a[i]; +} + +// set all the elements equal to a given value + +void SimpleIntArray::operator=(int ai) + { REPORT for (int i = 0; i < n; i++) a[i] = ai; } + +// set the elements equal to those of another array. +// check the arrays are of the same length + +void SimpleIntArray::operator=(const SimpleIntArray& b) +{ + REPORT + if (b.n != n) Throw(Logic_error("array lengths differ in copy")); + for (int i = 0; i < n; i++) a[i] = b.a[i]; +} + +// construct a new array equal to an existing array +// check that space is available + +SimpleIntArray::SimpleIntArray(const SimpleIntArray& b) : n(b.n) +{ + if (n == 0) { REPORT a = 0; } + else + { + REPORT + a = new int [n]; if (!a) Throw(Bad_alloc()); + for (int i = 0; i < n; i++) a[i] = b.a[i]; + } +} + +// change the size of an array; optionally copy data from old array to +// new array + +void SimpleIntArray::ReSize(int n1, bool keep) +{ + if (n1 == n) { REPORT return; } + else if (n1 == 0) { REPORT n = 0; delete [] a; a = 0; } + else if (n == 0) + { REPORT a = new int [n1]; if (!a) Throw(Bad_alloc()); n = n1; } + else + { + int* a1 = a; + if (keep) + { + REPORT + a = new int [n1]; if (!a) Throw(Bad_alloc()); + if (n > n1) n = n1; + for (int i = 0; i < n; i++) a[i] = a1[i]; + n = n1; delete [] a1; + } + else + { + REPORT n = n1; delete [] a1; + a = new int [n]; if (!a) Throw(Bad_alloc()); + } + } +} + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat5.cpp b/3rdparty/newmat/newmat5.cpp new file mode 100644 index 0000000..234102c --- /dev/null +++ b/3rdparty/newmat/newmat5.cpp @@ -0,0 +1,563 @@ +//$$ newmat5.cpp Transpose, evaluate etc + +// Copyright (C) 1991,2,3,4: R B Davies + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,5); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/************************ carry out operations ******************************/ + + +GeneralMatrix* GeneralMatrix::Transpose(TransposedMatrix* tm, MatrixType mt) +{ + GeneralMatrix* gm1; + + if (Compare(Type().t(),mt)) + { + REPORT + gm1 = mt.New(ncols,nrows,tm); + for (int i=0; iReleaseAndDelete(); return gm1; +} + +GeneralMatrix* SymmetricMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + + +GeneralMatrix* DiagonalMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + +GeneralMatrix* ColumnVector::Transpose(TransposedMatrix*, MatrixType mt) +{ + REPORT + GeneralMatrix* gmx = new RowVector; MatrixErrorNoSpace(gmx); + gmx->nrows = 1; gmx->ncols = gmx->storage = storage; + return BorrowStore(gmx,mt); +} + +GeneralMatrix* RowVector::Transpose(TransposedMatrix*, MatrixType mt) +{ + REPORT + GeneralMatrix* gmx = new ColumnVector; MatrixErrorNoSpace(gmx); + gmx->ncols = 1; gmx->nrows = gmx->storage = storage; + return BorrowStore(gmx,mt); +} + +GeneralMatrix* IdentityMatrix::Transpose(TransposedMatrix*, MatrixType mt) +{ REPORT return Evaluate(mt); } + +GeneralMatrix* GeneralMatrix::Evaluate(MatrixType mt) +{ + if (Compare(this->Type(),mt)) { REPORT return this; } + REPORT + GeneralMatrix* gmx = mt.New(nrows,ncols,this); + MatrixRow mr(this, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + int i=nrows; + while (i--) { mrx.Copy(mr); mrx.Next(); mr.Next(); } + tDelete(); gmx->ReleaseAndDelete(); return gmx; +} + +GeneralMatrix* GenericMatrix::Evaluate(MatrixType mt) + { REPORT return gm->Evaluate(mt); } + +GeneralMatrix* ShiftedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + Compare(gm->Type().AddEqualEl(),mt); + if (!(mt==gm->Type())) + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Add(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + else if (gm->reuse()) + { + REPORT gm->Add(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmy = gm->Type().New(nr,nc,this); + gmy->ReleaseAndDelete(); gmy->Add(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmy; + } +} + +GeneralMatrix* NegShiftedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + Compare(gm->Type().AddEqualEl(),mt); + if (!(mt==gm->Type())) + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.NegAdd(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + else if (gm->reuse()) + { + REPORT gm->NegAdd(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmy = gm->Type().New(nr,nc,this); + gmy->ReleaseAndDelete(); gmy->NegAdd(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmy; + } +} + +GeneralMatrix* ScaledMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + if (Compare(gm->Type(),mt)) + { + if (gm->reuse()) + { + REPORT gm->Multiply(f); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT GeneralMatrix* gmx = gm->Type().New(nr,nc,this); + gmx->ReleaseAndDelete(); gmx->Multiply(gm,f); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + } + else + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Multiply(mr,f); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } +} + +GeneralMatrix* NegatedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); + int nr=gm->Nrows(); int nc=gm->Ncols(); + if (Compare(gm->Type(),mt)) + { + if (gm->reuse()) + { + REPORT gm->Negate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx = gm; delete this; return gmx; +#else + return gm; +#endif + } + else + { + REPORT + GeneralMatrix* gmx = gm->Type().New(nr,nc,this); + gmx->ReleaseAndDelete(); gmx->Negate(gm); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } + } + else + { + REPORT + GeneralMatrix* gmx = mt.New(nr,nc,this); + MatrixRow mr(gm, LoadOnEntry); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + while (nr--) { mrx.Negate(mr); mrx.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; + } +} + +GeneralMatrix* ReversedMatrix::Evaluate(MatrixType mt) +{ + gm=((BaseMatrix*&)bm)->Evaluate(); GeneralMatrix* gmx; + + if ((gm->Type()).IsBand() && ! (gm->Type()).IsDiagonal()) + { + gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(NotDefinedException("Reverse", "band matrices")); + } + + if (gm->reuse()) { REPORT gm->ReverseElements(); gmx = gm; } + else + { + REPORT + gmx = gm->Type().New(gm->Nrows(), gm->Ncols(), this); + gmx->ReverseElements(gm); gmx->ReleaseAndDelete(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx->Evaluate(mt); // target matrix is different type? + +} + +GeneralMatrix* TransposedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm=((BaseMatrix*&)bm)->Evaluate(); + Compare(gm->Type().t(),mt); + GeneralMatrix* gmx=gm->Transpose(this, mt); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* RowedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new RowVector; MatrixErrorNoSpace(gmx); + gmx->nrows = 1; gmx->ncols = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* ColedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new ColumnVector; MatrixErrorNoSpace(gmx); + gmx->ncols = 1; gmx->nrows = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* DiagedMatrix::Evaluate(MatrixType mt) +{ + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new DiagonalMatrix; MatrixErrorNoSpace(gmx); + gmx->nrows = gmx->ncols = gmx->storage = gm->storage; +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* MatedMatrix::Evaluate(MatrixType mt) +{ + Tracer tr("MatedMatrix::Evaluate"); + gm = ((BaseMatrix*&)bm)->Evaluate(); + GeneralMatrix* gmx = new Matrix; MatrixErrorNoSpace(gmx); + gmx->nrows = nr; gmx->ncols = nc; gmx->storage = gm->storage; + if (nr*nc != gmx->storage) + Throw(IncompatibleDimensionsException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmy = gm; delete this; return gmy->BorrowStore(gmx,mt); +#else + return gm->BorrowStore(gmx,mt); +#endif +} + +GeneralMatrix* GetSubMatrix::Evaluate(MatrixType mt) +{ + REPORT + Tracer tr("SubMatrix(evaluate)"); + gm = ((BaseMatrix*&)bm)->Evaluate(); + if (row_number < 0) row_number = gm->Nrows(); + if (col_number < 0) col_number = gm->Ncols(); + if (row_skip+row_number > gm->Nrows() || col_skip+col_number > gm->Ncols()) + { + gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(SubMatrixDimensionException()); + } + if (IsSym) Compare(gm->Type().ssub(), mt); + else Compare(gm->Type().sub(), mt); + GeneralMatrix* gmx = mt.New(row_number, col_number, this); + int i = row_number; + MatrixRow mr(gm, LoadOnEntry, row_skip); + MatrixRow mrx(gmx, StoreOnExit+DirectPart); + MatrixRowCol sub; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + mrx.Copy(sub); mrx.Next(); mr.Next(); + } + gmx->ReleaseAndDelete(); gm->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + + +GeneralMatrix* ReturnMatrixX::Evaluate(MatrixType mt) +{ +#ifdef TEMPS_DESTROYED_QUICKLY_R + GeneralMatrix* gmx = gm; delete this; return gmx->Evaluate(mt); +#else + return gm->Evaluate(mt); +#endif +} + + +void GeneralMatrix::Add(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = *s1++ + f; *s++ = *s1++ + f; *s++ = *s1++ + f; *s++ = *s1++ + f; } + i = storage & 3; while (i--) *s++ = *s1++ + f; +} + +void GeneralMatrix::Add(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) { *s++ += f; *s++ += f; *s++ += f; *s++ += f; } + i = storage & 3; while (i--) *s++ += f; +} + +void GeneralMatrix::NegAdd(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = f - *s1++; *s++ = f - *s1++; *s++ = f - *s1++; *s++ = f - *s1++; } + i = storage & 3; while (i--) *s++ = f - *s1++; +} + +void GeneralMatrix::NegAdd(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) + { + *s = f - *s; s++; *s = f - *s; s++; + *s = f - *s; s++; *s = f - *s; s++; + } + i = storage & 3; while (i--) { *s = f - *s; s++; } +} + +void GeneralMatrix::Negate(GeneralMatrix* gm1) +{ + // change sign of elements + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = -(*s1++); *s++ = -(*s1++); *s++ = -(*s1++); *s++ = -(*s1++); } + i = storage & 3; while(i--) *s++ = -(*s1++); +} + +void GeneralMatrix::Negate() +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) + { *s = -(*s); s++; *s = -(*s); s++; *s = -(*s); s++; *s = -(*s); s++; } + i = storage & 3; while(i--) { *s = -(*s); s++; } +} + +void GeneralMatrix::Multiply(GeneralMatrix* gm1, Real f) +{ + REPORT + Real* s1=gm1->store; Real* s=store; int i=(storage >> 2); + while (i--) + { *s++ = *s1++ * f; *s++ = *s1++ * f; *s++ = *s1++ * f; *s++ = *s1++ * f; } + i = storage & 3; while (i--) *s++ = *s1++ * f; +} + +void GeneralMatrix::Multiply(Real f) +{ + REPORT + Real* s=store; int i=(storage >> 2); + while (i--) { *s++ *= f; *s++ *= f; *s++ *= f; *s++ *= f; } + i = storage & 3; while (i--) *s++ *= f; +} + + +/************************ MatrixInput routines ****************************/ + +// int MatrixInput::n; // number values still to be read +// Real* MatrixInput::r; // pointer to next location to be read to + +MatrixInput MatrixInput::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput"); + if (n<=0) Throw(ProgramException("List of values too long")); + *r = f; int n1 = n-1; n=0; // n=0 so we won't trigger exception + return MatrixInput(n1, r+1); +} + + +MatrixInput GeneralMatrix::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput"); + int n = Storage(); + if (n<=0) Throw(ProgramException("Loading data to zero length matrix")); + Real* r; r = Store(); *r = f; n--; + return MatrixInput(n, r+1); +} + +MatrixInput GetSubMatrix::operator<<(Real f) +{ + REPORT + Tracer et("MatrixInput (GetSubMatrix)"); + SetUpLHS(); + if (row_number != 1 || col_skip != 0 || col_number != gm->Ncols()) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("MatrixInput requires complete rows")); + } + MatrixRow mr(gm, DirectPart, row_skip); // to pick up location and length + int n = mr.Storage(); + if (n<=0) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Loading data to zero length row")); + } + Real* r; r = mr.Data(); *r = f; n--; + if (+(mr.cw*HaveStore)) + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Fails with this matrix type")); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return MatrixInput(n, r+1); +} + +MatrixInput::~MatrixInput() +{ + REPORT + Tracer et("MatrixInput"); + if (n!=0) Throw(ProgramException("A list of values was too short")); +} + +MatrixInput BandMatrix::operator<<(Real) +{ + Tracer et("MatrixInput"); + bool dummy = true; + if (dummy) // get rid of warning message + Throw(ProgramException("Cannot use list read with a BandMatrix")); + return MatrixInput(0, 0); +} + +void BandMatrix::operator<<(const Real*) +{ Throw(ProgramException("Cannot use array read with a BandMatrix")); } + +// ************************* Reverse order of elements *********************** + +void GeneralMatrix::ReverseElements(GeneralMatrix* gm) +{ + // reversing into a new matrix + REPORT + int n = Storage(); Real* rx = Store() + n; Real* x = gm->Store(); + while (n--) *(--rx) = *(x++); +} + +void GeneralMatrix::ReverseElements() +{ + // reversing in place + REPORT + int n = Storage(); Real* x = Store(); Real* rx = x + n; + n /= 2; + while (n--) { Real t = *(--rx); *rx = *x; *(x++) = t; } +} + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat6.cpp b/3rdparty/newmat/newmat6.cpp new file mode 100644 index 0000000..2ccb069 --- /dev/null +++ b/3rdparty/newmat/newmat6.cpp @@ -0,0 +1,1124 @@ +//$$ newmat6.cpp Operators, element access, submatrices + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,6); ++ExeCount; } +#else +#define REPORT {} +#endif + +/*************************** general utilities *************************/ + +static int tristore(int n) // els in triangular matrix +{ return (n*(n+1))/2; } + + +/****************************** operators *******************************/ + +Real& Matrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || m>nrows || n<=0 || n>ncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1]; +} + +Real& SymmetricMatrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || n<=0 || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + if (m>=n) return store[tristore(m-1)+n-1]; + else return store[tristore(n-1)+m-1]; +} + +Real& UpperTriangularMatrix::operator()(int m, int n) +{ + REPORT + if (m<=0 || nncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1-tristore(m-1)]; +} + +Real& LowerTriangularMatrix::operator()(int m, int n) +{ + REPORT + if (n<=0 || mnrows) + Throw(IndexException(m,n,*this)); + return store[tristore(m-1)+n-1]; +} + +Real& DiagonalMatrix::operator()(int m, int n) +{ + REPORT + if (n<=0 || m!=n || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + return store[n-1]; +} + +Real& DiagonalMatrix::operator()(int m) +{ + REPORT + if (m<=0 || m>nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real& ColumnVector::operator()(int m) +{ + REPORT + if (m<=0 || m> nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real& RowVector::operator()(int n) +{ + REPORT + if (n<=0 || n> ncols) Throw(IndexException(n,*this)); + return store[n-1]; +} + +Real& BandMatrix::operator()(int m, int n) +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& UpperBandMatrix::operator()(int m, int n) +{ + REPORT + int w = upper+1; int i = n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& LowerBandMatrix::operator()(int m, int n) +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real& SymmetricBandMatrix::operator()(int m, int n) +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>nrows || n<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>nrows || m<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(n-1)+i]; + } +} + + +Real Matrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || m>nrows || n<=0 || n>ncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1]; +} + +Real SymmetricMatrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || n<=0 || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + if (m>=n) return store[tristore(m-1)+n-1]; + else return store[tristore(n-1)+m-1]; +} + +Real UpperTriangularMatrix::operator()(int m, int n) const +{ + REPORT + if (m<=0 || nncols) + Throw(IndexException(m,n,*this)); + return store[(m-1)*ncols+n-1-tristore(m-1)]; +} + +Real LowerTriangularMatrix::operator()(int m, int n) const +{ + REPORT + if (n<=0 || mnrows) + Throw(IndexException(m,n,*this)); + return store[tristore(m-1)+n-1]; +} + +Real DiagonalMatrix::operator()(int m, int n) const +{ + REPORT + if (n<=0 || m!=n || m>nrows || n>ncols) + Throw(IndexException(m,n,*this)); + return store[n-1]; +} + +Real DiagonalMatrix::operator()(int m) const +{ + REPORT + if (m<=0 || m>nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real ColumnVector::operator()(int m) const +{ + REPORT + if (m<=0 || m> nrows) Throw(IndexException(m,*this)); + return store[m-1]; +} + +Real RowVector::operator()(int n) const +{ + REPORT + if (n<=0 || n> ncols) Throw(IndexException(n,*this)); + return store[n-1]; +} + +Real BandMatrix::operator()(int m, int n) const +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real UpperBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = upper+1; int i = n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real LowerBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<=0 || m>nrows || n<=0 || n>ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; +} + +Real SymmetricBandMatrix::operator()(int m, int n) const +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>nrows || n<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(m-1)+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>nrows || m<=0 || i<0 ) + Throw(IndexException(m,n,*this)); + return store[w*(n-1)+i]; + } +} + + +Real BaseMatrix::AsScalar() const +{ + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + + if (gm->nrows!=1 || gm->ncols!=1) + { + Tracer tr("AsScalar"); + Try + { Throw(ProgramException("Cannot convert to scalar", *gm)); } + CatchAll { gm->tDelete(); ReThrow; } + } + + Real x = *(gm->store); gm->tDelete(); return x; +} + +#ifdef TEMPS_DESTROYED_QUICKLY + +AddedMatrix& BaseMatrix::operator+(const BaseMatrix& bm) const +{ + REPORT + AddedMatrix* x = new AddedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +SPMatrix& SP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ + REPORT + SPMatrix* x = new SPMatrix(&bm1, &bm2); + MatrixErrorNoSpace(x); + return *x; +} + +KPMatrix& KP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ + REPORT + KPMatrix* x = new KPMatrix(&bm1, &bm2); + MatrixErrorNoSpace(x); + return *x; +} + +MultipliedMatrix& BaseMatrix::operator*(const BaseMatrix& bm) const +{ + REPORT + MultipliedMatrix* x = new MultipliedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +ConcatenatedMatrix& BaseMatrix::operator|(const BaseMatrix& bm) const +{ + REPORT + ConcatenatedMatrix* x = new ConcatenatedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +StackedMatrix& BaseMatrix::operator&(const BaseMatrix& bm) const +{ + REPORT + StackedMatrix* x = new StackedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +//SolvedMatrix& InvertedMatrix::operator*(const BaseMatrix& bmx) const +SolvedMatrix& InvertedMatrix::operator*(const BaseMatrix& bmx) +{ + REPORT + SolvedMatrix* x; + Try { x = new SolvedMatrix(bm, &bmx); MatrixErrorNoSpace(x); } + CatchAll { delete this; ReThrow; } + delete this; // since we are using bm rather than this + return *x; +} + +SubtractedMatrix& BaseMatrix::operator-(const BaseMatrix& bm) const +{ + REPORT + SubtractedMatrix* x = new SubtractedMatrix(this, &bm); + MatrixErrorNoSpace(x); + return *x; +} + +ShiftedMatrix& BaseMatrix::operator+(Real f) const +{ + REPORT + ShiftedMatrix* x = new ShiftedMatrix(this, f); + MatrixErrorNoSpace(x); + return *x; +} + +NegShiftedMatrix& operator-(Real f,const BaseMatrix& bm1) +{ + REPORT + NegShiftedMatrix* x = new NegShiftedMatrix(f, &bm1); + MatrixErrorNoSpace(x); + return *x; +} + +ScaledMatrix& BaseMatrix::operator*(Real f) const +{ + REPORT + ScaledMatrix* x = new ScaledMatrix(this, f); + MatrixErrorNoSpace(x); + return *x; +} + +ScaledMatrix& BaseMatrix::operator/(Real f) const +{ + REPORT + ScaledMatrix* x = new ScaledMatrix(this, 1.0/f); + MatrixErrorNoSpace(x); + return *x; +} + +ShiftedMatrix& BaseMatrix::operator-(Real f) const +{ + REPORT + ShiftedMatrix* x = new ShiftedMatrix(this, -f); + MatrixErrorNoSpace(x); + return *x; +} + +TransposedMatrix& BaseMatrix::t() const +{ + REPORT + TransposedMatrix* x = new TransposedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +NegatedMatrix& BaseMatrix::operator-() const +{ + REPORT + NegatedMatrix* x = new NegatedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +ReversedMatrix& BaseMatrix::Reverse() const +{ + REPORT + ReversedMatrix* x = new ReversedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +InvertedMatrix& BaseMatrix::i() const +{ + REPORT + InvertedMatrix* x = new InvertedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +RowedMatrix& BaseMatrix::AsRow() const +{ + REPORT + RowedMatrix* x = new RowedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +ColedMatrix& BaseMatrix::AsColumn() const +{ + REPORT + ColedMatrix* x = new ColedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +DiagedMatrix& BaseMatrix::AsDiagonal() const +{ + REPORT + DiagedMatrix* x = new DiagedMatrix(this); + MatrixErrorNoSpace(x); + return *x; +} + +MatedMatrix& BaseMatrix::AsMatrix(int nrx, int ncx) const +{ + REPORT + MatedMatrix* x = new MatedMatrix(this,nrx,ncx); + MatrixErrorNoSpace(x); + return *x; +} + +#else + +AddedMatrix BaseMatrix::operator+(const BaseMatrix& bm) const +{ REPORT return AddedMatrix(this, &bm); } + +SPMatrix SP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ REPORT return SPMatrix(&bm1, &bm2); } + +KPMatrix KP(const BaseMatrix& bm1,const BaseMatrix& bm2) +{ REPORT return KPMatrix(&bm1, &bm2); } + +MultipliedMatrix BaseMatrix::operator*(const BaseMatrix& bm) const +{ REPORT return MultipliedMatrix(this, &bm); } + +ConcatenatedMatrix BaseMatrix::operator|(const BaseMatrix& bm) const +{ REPORT return ConcatenatedMatrix(this, &bm); } + +StackedMatrix BaseMatrix::operator&(const BaseMatrix& bm) const +{ REPORT return StackedMatrix(this, &bm); } + +SolvedMatrix InvertedMatrix::operator*(const BaseMatrix& bmx) const +{ REPORT return SolvedMatrix(bm, &bmx); } + +SubtractedMatrix BaseMatrix::operator-(const BaseMatrix& bm) const +{ REPORT return SubtractedMatrix(this, &bm); } + +ShiftedMatrix BaseMatrix::operator+(Real f) const +{ REPORT return ShiftedMatrix(this, f); } + +NegShiftedMatrix operator-(Real f, const BaseMatrix& bm) +{ REPORT return NegShiftedMatrix(f, &bm); } + +ScaledMatrix BaseMatrix::operator*(Real f) const +{ REPORT return ScaledMatrix(this, f); } + +ScaledMatrix BaseMatrix::operator/(Real f) const +{ REPORT return ScaledMatrix(this, 1.0/f); } + +ShiftedMatrix BaseMatrix::operator-(Real f) const +{ REPORT return ShiftedMatrix(this, -f); } + +TransposedMatrix BaseMatrix::t() const +{ REPORT return TransposedMatrix(this); } + +NegatedMatrix BaseMatrix::operator-() const +{ REPORT return NegatedMatrix(this); } + +ReversedMatrix BaseMatrix::Reverse() const +{ REPORT return ReversedMatrix(this); } + +InvertedMatrix BaseMatrix::i() const +{ REPORT return InvertedMatrix(this); } + + +RowedMatrix BaseMatrix::AsRow() const +{ REPORT return RowedMatrix(this); } + +ColedMatrix BaseMatrix::AsColumn() const +{ REPORT return ColedMatrix(this); } + +DiagedMatrix BaseMatrix::AsDiagonal() const +{ REPORT return DiagedMatrix(this); } + +MatedMatrix BaseMatrix::AsMatrix(int nrx, int ncx) const +{ REPORT return MatedMatrix(this,nrx,ncx); } + +#endif + +void GeneralMatrix::operator=(Real f) +{ REPORT int i=storage; Real* s=store; while (i--) { *s++ = f; } } + +void Matrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Rt); +} + +void RowVector::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::RV); + if (nrows!=1) + { Tracer tr("RowVector(=)"); Throw(VectorException(*this)); } +} + +void ColumnVector::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::CV); + if (ncols!=1) + { Tracer tr("ColumnVector(=)"); Throw(VectorException(*this)); } +} + +void SymmetricMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Sm); +} + +void UpperTriangularMatrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::UT); +} + +void LowerTriangularMatrix::operator=(const BaseMatrix& X) +{ + REPORT //CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::LT); +} + +void DiagonalMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Dg); +} + +void IdentityMatrix::operator=(const BaseMatrix& X) +{ + REPORT // CheckConversion(X); + // MatrixConversionCheck mcc; + Eq(X,MatrixType::Id); +} + +void GeneralMatrix::operator<<(const Real* r) +{ + REPORT + int i = storage; Real* s=store; + while(i--) *s++ = *r++; +} + + +void GenericMatrix::operator=(const GenericMatrix& bmx) +{ + if (&bmx != this) { REPORT if (gm) delete gm; gm = bmx.gm->Image();} + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator=(const BaseMatrix& bmx) +{ + if (gm) + { + int counter=bmx.search(gm); + if (counter==0) { REPORT delete gm; gm=0; } + else { REPORT gm->Release(counter); } + } + else { REPORT } + GeneralMatrix* gmx = ((BaseMatrix&)bmx).Evaluate(); + if (gmx != gm) { REPORT if (gm) delete gm; gm = gmx->Image(); } + else { REPORT } + gm->Protect(); +} + + +/*************************** += etc ***************************************/ + +// will also need versions for SubMatrix + + + +// GeneralMatrix operators + +void GeneralMatrix::operator+=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator+="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + AddedMatrix* am = new AddedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + AddedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator-=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator-="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + SubtractedMatrix* am = new SubtractedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + SubtractedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator*=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator*="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + MultipliedMatrix* am = new MultipliedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + MultipliedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator|=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator|="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + ConcatenatedMatrix* am = new ConcatenatedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + ConcatenatedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator&=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GeneralMatrix::operator&="); + // MatrixConversionCheck mcc; + Protect(); // so it cannot get deleted + // during Evaluate + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + StackedMatrix* am = new StackedMatrix(this,gm); + MatrixErrorNoSpace(am); + if (gm==this) Release(2); else Release(); + Eq2(*am,Type()); +#else + StackedMatrix am(this,gm); + if (gm==this) Release(2); else Release(); + Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("GeneralMatrix::operator+=(Real)"); + // MatrixConversionCheck mcc; +#ifdef TEMPS_DESTROYED_QUICKLY + ShiftedMatrix* am = new ShiftedMatrix(this,r); + MatrixErrorNoSpace(am); + Release(); Eq2(*am,Type()); +#else + ShiftedMatrix am(this,r); + Release(); Eq2(am,Type()); +#endif +} + +void GeneralMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("GeneralMatrix::operator*=(Real)"); + // MatrixConversionCheck mcc; +#ifdef TEMPS_DESTROYED_QUICKLY + ScaledMatrix* am = new ScaledMatrix(this,r); + MatrixErrorNoSpace(am); + Release(); Eq2(*am,Type()); +#else + ScaledMatrix am(this,r); + Release(); Eq2(am,Type()); +#endif +} + + +// Generic matrix operators + +void GenericMatrix::operator+=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator+="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + AddedMatrix* am = new AddedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + AddedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator-=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator-="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + SubtractedMatrix* am = new SubtractedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + SubtractedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator*=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator*="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + MultipliedMatrix* am = new MultipliedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + MultipliedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator|=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator|="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + ConcatenatedMatrix* am = new ConcatenatedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ConcatenatedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator&=(const BaseMatrix& X) +{ + REPORT + Tracer tr("GenericMatrix::operator&="); + if (!gm) Throw(ProgramException("GenericMatrix is null")); + gm->Protect(); // so it cannot get deleted during Evaluate + GeneralMatrix* gmx = ((BaseMatrix&)X).Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + StackedMatrix* am = new StackedMatrix(gm,gmx); + MatrixErrorNoSpace(am); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + StackedMatrix am(gm,gmx); + if (gmx==gm) gm->Release(2); else gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("GenericMatrix::operator+= (Real)"); + if (!gm) Throw(ProgramException("GenericMatrix is null")); +#ifdef TEMPS_DESTROYED_QUICKLY + ShiftedMatrix* am = new ShiftedMatrix(gm,r); + MatrixErrorNoSpace(am); + gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ShiftedMatrix am(gm,r); + gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + +void GenericMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("GenericMatrix::operator*= (Real)"); + if (!gm) Throw(ProgramException("GenericMatrix is null")); +#ifdef TEMPS_DESTROYED_QUICKLY + ScaledMatrix* am = new ScaledMatrix(gm,r); + MatrixErrorNoSpace(am); + gm->Release(); + GeneralMatrix* gmy = am->Evaluate(); +#else + ScaledMatrix am(gm,r); + gm->Release(); + GeneralMatrix* gmy = am.Evaluate(); +#endif + if (gmy != gm) { REPORT delete gm; gm = gmy->Image(); } + else { REPORT } + gm->Protect(); +} + + +/************************* element access *********************************/ + +Real& Matrix::element(int m, int n) +{ + REPORT + if (m<0 || m>= nrows || n<0 || n>= ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n]; +} + +Real Matrix::element(int m, int n) const +{ + REPORT + if (m<0 || m>= nrows || n<0 || n>= ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n]; +} + +Real& SymmetricMatrix::element(int m, int n) +{ + REPORT + if (m<0 || n<0 || m >= nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + if (m>=n) return store[tristore(m)+n]; + else return store[tristore(n)+m]; +} + +Real SymmetricMatrix::element(int m, int n) const +{ + REPORT + if (m<0 || n<0 || m >= nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + if (m>=n) return store[tristore(m)+n]; + else return store[tristore(n)+m]; +} + +Real& UpperTriangularMatrix::element(int m, int n) +{ + REPORT + if (m<0 || n=ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n-tristore(m)]; +} + +Real UpperTriangularMatrix::element(int m, int n) const +{ + REPORT + if (m<0 || n=ncols) + Throw(IndexException(m,n,*this,true)); + return store[m*ncols+n-tristore(m)]; +} + +Real& LowerTriangularMatrix::element(int m, int n) +{ + REPORT + if (n<0 || m=nrows) + Throw(IndexException(m,n,*this,true)); + return store[tristore(m)+n]; +} + +Real LowerTriangularMatrix::element(int m, int n) const +{ + REPORT + if (n<0 || m=nrows) + Throw(IndexException(m,n,*this,true)); + return store[tristore(m)+n]; +} + +Real& DiagonalMatrix::element(int m, int n) +{ + REPORT + if (n<0 || m!=n || m>=nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + return store[n]; +} + +Real DiagonalMatrix::element(int m, int n) const +{ + REPORT + if (n<0 || m!=n || m>=nrows || n>=ncols) + Throw(IndexException(m,n,*this,true)); + return store[n]; +} + +Real& DiagonalMatrix::element(int m) +{ + REPORT + if (m<0 || m>=nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real DiagonalMatrix::element(int m) const +{ + REPORT + if (m<0 || m>=nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real& ColumnVector::element(int m) +{ + REPORT + if (m<0 || m>= nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real ColumnVector::element(int m) const +{ + REPORT + if (m<0 || m>= nrows) Throw(IndexException(m,*this,true)); + return store[m]; +} + +Real& RowVector::element(int n) +{ + REPORT + if (n<0 || n>= ncols) Throw(IndexException(n,*this,true)); + return store[n]; +} + +Real RowVector::element(int n) const +{ + REPORT + if (n<0 || n>= ncols) Throw(IndexException(n,*this,true)); + return store[n]; +} + +Real& BandMatrix::element(int m, int n) +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real BandMatrix::element(int m, int n) const +{ + REPORT + int w = upper+lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& UpperBandMatrix::element(int m, int n) +{ + REPORT + int w = upper+1; int i = n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real UpperBandMatrix::element(int m, int n) const +{ + REPORT + int w = upper+1; int i = n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& LowerBandMatrix::element(int m, int n) +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real LowerBandMatrix::element(int m, int n) const +{ + REPORT + int w = lower+1; int i = lower+n-m; + if (m<0 || m>= nrows || n<0 || n>= ncols || i<0 || i>=w) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; +} + +Real& SymmetricBandMatrix::element(int m, int n) +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>=nrows || n<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>=nrows || m<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*n+i]; + } +} + +Real SymmetricBandMatrix::element(int m, int n) const +{ + REPORT + int w = lower+1; + if (m>=n) + { + REPORT + int i = lower+n-m; + if ( m>=nrows || n<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*m+i]; + } + else + { + REPORT + int i = lower+m-n; + if ( n>=nrows || m<0 || i<0 ) + Throw(IndexException(m,n,*this,true)); + return store[w*n+i]; + } +} + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat7.cpp b/3rdparty/newmat/newmat7.cpp new file mode 100644 index 0000000..cde81a1 --- /dev/null +++ b/3rdparty/newmat/newmat7.cpp @@ -0,0 +1,1052 @@ +//$$ newmat7.cpp Invert, solve, binary operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,7); ++ExeCount; } +#else +#define REPORT {} +#endif + + +//***************************** solve routines ******************************/ + +GeneralMatrix* GeneralMatrix::MakeSolver() +{ + REPORT + GeneralMatrix* gm = new CroutMatrix(*this); + MatrixErrorNoSpace(gm); gm->ReleaseAndDelete(); return gm; +} + +GeneralMatrix* Matrix::MakeSolver() +{ + REPORT + GeneralMatrix* gm = new CroutMatrix(*this); + MatrixErrorNoSpace(gm); gm->ReleaseAndDelete(); return gm; +} + +void CroutMatrix::Solver(MatrixColX& mcout, const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip; Real* el = mcin.data-i; Real* el1 = el; + while (i--) *el++ = 0.0; + el += mcin.storage; i = nrows - mcin.skip - mcin.storage; + while (i--) *el++ = 0.0; + lubksb(el1, mcout.skip); +} + + +// Do we need check for entirely zero output? + +void UpperTriangularMatrix::Solver(MatrixColX& mcout, + const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip-mcout.skip; Real* elx = mcin.data-i; + while (i-- > 0) *elx++ = 0.0; + int nr = mcin.skip+mcin.storage; + elx = mcin.data+mcin.storage; Real* el = elx; + int j = mcout.skip+mcout.storage-nr; int nc = ncols-nr; i = nr-mcout.skip; + while (j-- > 0) *elx++ = 0.0; + Real* Ael = store + (nr*(2*ncols-nr+1))/2; j = 0; + while (i-- > 0) + { + elx = el; Real sum = 0.0; int jx = j++; Ael -= nc; + while (jx--) sum += *(--Ael) * *(--elx); + elx--; *elx = (*elx - sum) / *(--Ael); + } +} + +void LowerTriangularMatrix::Solver(MatrixColX& mcout, + const MatrixColX& mcin) +{ + REPORT + int i = mcin.skip-mcout.skip; Real* elx = mcin.data-i; + while (i-- > 0) *elx++ = 0.0; + int nc = mcin.skip; i = nc+mcin.storage; elx = mcin.data+mcin.storage; + int nr = mcout.skip+mcout.storage; int j = nr-i; i = nr-nc; + while (j-- > 0) *elx++ = 0.0; + Real* el = mcin.data; Real* Ael = store + (nc*(nc+1))/2; j = 0; + while (i-- > 0) + { + elx = el; Real sum = 0.0; int jx = j++; Ael += nc; + while (jx--) sum += *Ael++ * *elx++; + *elx = (*elx - sum) / *Ael++; + } +} + +//******************* carry out binary operations *************************/ + +static GeneralMatrix* + GeneralMult(GeneralMatrix*,GeneralMatrix*,MultipliedMatrix*,MatrixType); +static GeneralMatrix* + GeneralSolv(GeneralMatrix*,GeneralMatrix*,BaseMatrix*,MatrixType); +static GeneralMatrix* + GeneralSolvI(GeneralMatrix*,BaseMatrix*,MatrixType); +static GeneralMatrix* + GeneralKP(GeneralMatrix*,GeneralMatrix*,KPMatrix*,MatrixType); + +GeneralMatrix* MultipliedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm2 = gm2->Evaluate(gm2->Type().MultRHS()); // no symmetric on RHS + gm1=((BaseMatrix*&)bm1)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralMult(gm1, gm2, this, mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralMult(gm1, gm2, this, mt); +#endif +} + +GeneralMatrix* SolvedMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm1=((BaseMatrix*&)bm1)->Evaluate(); + gm2=((BaseMatrix*&)bm2)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralSolv(gm1,gm2,this,mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralSolv(gm1,gm2,this,mt); +#endif +} + +GeneralMatrix* KPMatrix::Evaluate(MatrixType mt) +{ + REPORT + gm1=((BaseMatrix*&)bm1)->Evaluate(); + gm2=((BaseMatrix*&)bm2)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralKP(gm1,gm2,this,mt); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralKP(gm1,gm2,this,mt); +#endif +} + +// routines for adding or subtracting matrices of identical storage structure + +static void Add(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ + *s2++; *s++ = *s1++ + *s2++; + *s++ = *s1++ + *s2++; *s++ = *s1++ + *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ + *s2++; +} + +static void Add(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ += *s2++; *s++ += *s2++; *s++ += *s2++; *s++ += *s2++; } + i=gm->Storage() & 3; while (i--) *s++ += *s2++; +} + +static void Subtract(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ - *s2++; *s++ = *s1++ - *s2++; + *s++ = *s1++ - *s2++; *s++ = *s1++ - *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ - *s2++; +} + +static void Subtract(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ -= *s2++; *s++ -= *s2++; *s++ -= *s2++; *s++ -= *s2++; } + i=gm->Storage() & 3; while (i--) *s++ -= *s2++; +} + +static void ReverseSubtract(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s = *s2++ - *s; s++; *s = *s2++ - *s; s++; + *s = *s2++ - *s; s++; *s = *s2++ - *s; s++; + } + i=gm->Storage() & 3; while (i--) { *s = *s2++ - *s; s++; } +} + +static void SP(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + Real* s1=gm1->Store(); Real* s2=gm2->Store(); + Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { + *s++ = *s1++ * *s2++; *s++ = *s1++ * *s2++; + *s++ = *s1++ * *s2++; *s++ = *s1++ * *s2++; + } + i=gm->Storage() & 3; while (i--) *s++ = *s1++ * *s2++; +} + +static void SP(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + Real* s2=gm2->Store(); Real* s=gm->Store(); int i=gm->Storage() >> 2; + while (i--) + { *s++ *= *s2++; *s++ *= *s2++; *s++ *= *s2++; *s++ *= *s2++; } + i=gm->Storage() & 3; while (i--) *s++ *= *s2++; +} + +// routines for adding or subtracting matrices of different storage structure + +static void AddDS(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Add(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void AddDS(GeneralMatrix* gm, GeneralMatrix* gm2) +// Add into first argument +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, StoreOnExit+LoadOnEntry+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Add(mr2); mr.Next(); mr2.Next(); } +} + +static void SubtractDS + (GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Sub(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void SubtractDS(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Sub(mr2); mr.Next(); mr2.Next(); } +} + +static void ReverseSubtractDS(GeneralMatrix* gm, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.RevSub(mr2); mr2.Next(); mr.Next(); } +} + +static void SPDS(GeneralMatrix* gm, GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gm, StoreOnExit+DirectPart); + while (nr--) { mr.Multiply(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } +} + +static void SPDS(GeneralMatrix* gm, GeneralMatrix* gm2) +// SP into first argument +{ + REPORT + int nr = gm->Nrows(); + MatrixRow mr(gm, StoreOnExit+LoadOnEntry+DirectPart); + MatrixRow mr2(gm2, LoadOnEntry); + while (nr--) { mr.Multiply(mr2); mr.Next(); mr2.Next(); } +} + +static GeneralMatrix* GeneralMult1(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralMult1"); + int nr=gm1->Nrows(); int nc=gm2->Ncols(); + if (gm1->Ncols() !=gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,mm); + + MatrixCol mcx(gmx, StoreOnExit+DirectPart); + MatrixCol mc2(gm2, LoadOnEntry); + while (nc--) + { + MatrixRow mr1(gm1, LoadOnEntry, mcx.Skip()); + Real* el = mcx.Data(); // pointer to an element + int n = mcx.Storage(); + while (n--) { *(el++) = DotProd(mr1,mc2); mr1.Next(); } + mc2.Next(); mcx.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* GeneralMult2(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + // version that accesses by row only - not good for thin matrices + // or column vectors in right hand term. + REPORT + Tracer tr("GeneralMult2"); + int nr=gm1->Nrows(); int nc=gm2->Ncols(); + if (gm1->Ncols() !=gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,mm); + + MatrixRow mrx(gmx, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr1(gm1, LoadOnEntry); + while (nr--) + { + MatrixRow mr2(gm2, LoadOnEntry, mr1.Skip()); + Real* el = mr1.Data(); // pointer to an element + int n = mr1.Storage(); + mrx.Zero(); + while (n--) { mrx.AddScaled(mr2, *el++); mr2.Next(); } + mr1.Next(); mrx.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* mmMult(GeneralMatrix* gm1, GeneralMatrix* gm2) +{ + // matrix multiplication for type Matrix only + REPORT + Tracer tr("MatrixMult"); + + int nr=gm1->Nrows(); int ncr=gm1->Ncols(); int nc=gm2->Ncols(); + if (ncr != gm2->Nrows()) Throw(IncompatibleDimensionsException(*gm1,*gm2)); + + Matrix* gm = new Matrix(nr,nc); MatrixErrorNoSpace(gm); + + Real* s1=gm1->Store(); Real* s2=gm2->Store(); Real* s=gm->Store(); + + if (ncr) + { + while (nr--) + { + Real* s2x = s2; int j = ncr; + Real* sx = s; Real f = *s1++; int k = nc; + while (k--) *sx++ = f * *s2x++; + while (--j) + { sx = s; f = *s1++; k = nc; while (k--) *sx++ += f * *s2x++; } + s = sx; + } + } + else *gm = 0.0; + + gm->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gm; +} + +static GeneralMatrix* GeneralMult(GeneralMatrix* gm1, GeneralMatrix* gm2, + MultipliedMatrix* mm, MatrixType mtx) +{ + if ( Rectangular(gm1->Type(), gm2->Type(), mtx)) + { + REPORT + return mmMult(gm1, gm2); + } + else + { + REPORT + Compare(gm1->Type() * gm2->Type(),mtx); + int nr = gm2->Nrows(); int nc = gm2->Ncols(); + if (nc <= 5 && nr > nc) { REPORT return GeneralMult1(gm1, gm2, mm, mtx); } + else { REPORT return GeneralMult2(gm1, gm2, mm, mtx); } + } +} + +static GeneralMatrix* GeneralKP(GeneralMatrix* gm1, GeneralMatrix* gm2, + KPMatrix* kp, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralKP"); + int nr1 = gm1->Nrows(); int nc1 = gm1->Ncols(); + int nr2 = gm2->Nrows(); int nc2 = gm2->Ncols(); + Compare((gm1->Type()).KP(gm2->Type()),mtx); + GeneralMatrix* gmx = mtx.New(nr1*nr2, nc1*nc2, kp); + MatrixRow mrx(gmx, LoadOnEntry+StoreOnExit+DirectPart); + MatrixRow mr1(gm1, LoadOnEntry); + for (int i = 1; i <= nr1; ++i) + { + MatrixRow mr2(gm2, LoadOnEntry); + for (int j = 1; j <= nr2; ++j) + { mrx.KP(mr1,mr2); mr2.Next(); mrx.Next(); } + mr1.Next(); + } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +} + +static GeneralMatrix* GeneralSolv(GeneralMatrix* gm1, GeneralMatrix* gm2, + BaseMatrix* sm, MatrixType mtx) +{ + REPORT + Tracer tr("GeneralSolv"); + Compare(gm1->Type().i() * gm2->Type(),mtx); + int nr = gm1->Nrows(); + if (nr != gm1->Ncols()) Throw(NotSquareException(*gm1)); + int nc = gm2->Ncols(); + if (gm1->Ncols() != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,sm); MatrixErrorNoSpace(gmx); + Real* r = new Real [nr]; MatrixErrorNoSpace(r); + MONITOR_REAL_NEW("Make (GenSolv)",nr,r) + GeneralMatrix* gms = gm1->MakeSolver(); + Try + { + + MatrixColX mcx(gmx, r, StoreOnExit+DirectPart); // copy to and from r + // this must be inside Try so mcx is destroyed before gmx + MatrixColX mc2(gm2, r, LoadOnEntry); + while (nc--) { gms->Solver(mcx, mc2); mcx.Next(); mc2.Next(); } + } + CatchAll + { + if (gms) gms->tDelete(); + delete gmx; // <-------------------- + gm2->tDelete(); + MONITOR_REAL_DELETE("Delete (GenSolv)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + ReThrow; + } + gms->tDelete(); gmx->ReleaseAndDelete(); gm2->tDelete(); + MONITOR_REAL_DELETE("Delete (GenSolv)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + return gmx; +} + +// version for inverses - gm2 is identity +static GeneralMatrix* GeneralSolvI(GeneralMatrix* gm1, BaseMatrix* sm, + MatrixType mtx) +{ + REPORT + Tracer tr("GeneralSolvI"); + Compare(gm1->Type().i(),mtx); + int nr = gm1->Nrows(); + if (nr != gm1->Ncols()) Throw(NotSquareException(*gm1)); + int nc = nr; + // DiagonalMatrix I(nr); I = 1; + IdentityMatrix I(nr); + GeneralMatrix* gmx = mtx.New(nr,nc,sm); MatrixErrorNoSpace(gmx); + Real* r = new Real [nr]; MatrixErrorNoSpace(r); + MONITOR_REAL_NEW("Make (GenSolvI)",nr,r) + GeneralMatrix* gms = gm1->MakeSolver(); + Try + { + + MatrixColX mcx(gmx, r, StoreOnExit+DirectPart); // copy to and from r + // this must be inside Try so mcx is destroyed before gmx + MatrixColX mc2(&I, r, LoadOnEntry); + while (nc--) { gms->Solver(mcx, mc2); mcx.Next(); mc2.Next(); } + } + CatchAll + { + if (gms) gms->tDelete(); + delete gmx; + MONITOR_REAL_DELETE("Delete (GenSolvI)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + ReThrow; + } + gms->tDelete(); gmx->ReleaseAndDelete(); + MONITOR_REAL_DELETE("Delete (GenSolvI)",nr,r) + // ATandT version 2.1 gives an internal error + delete [] r; + return gmx; +} + +GeneralMatrix* InvertedMatrix::Evaluate(MatrixType mtx) +{ + // Matrix Inversion - use solve routines + Tracer tr("InvertedMatrix::Evaluate"); + REPORT + gm=((BaseMatrix*&)bm)->Evaluate(); +#ifdef TEMPS_DESTROYED_QUICKLY + GeneralMatrix* gmx; + Try { gmx = GeneralSolvI(gm,this,mtx); } + CatchAll { delete this; ReThrow; } + delete this; return gmx; +#else + return GeneralSolvI(gm,this,mtx); +#endif +} + +//*************************** New versions ************************ + +GeneralMatrix* AddedMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("AddedMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); MatrixType mts = mt1 + mt2; + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + REPORT + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT Add(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT Add(gm2,gm1); gmx = gm2; } + else + { + REPORT + // what if new throws an exception + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); Add(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c1 = false; } + if (SAO & 2) { REPORT c2 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT AddDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { REPORT AddDS(gm2,gm1); if (!c1) gm1->tDelete(); gmx = gm2; } + else + { + REPORT + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + AddDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* SubtractedMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("SubtractedMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); MatrixType mts = mt1 + mt2; + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT Subtract(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT ReverseSubtract(gm2,gm1); gmx = gm2; } + else + { + REPORT + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); Subtract(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c1 = false; } + if (SAO & 2) { REPORT c2 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT SubtractDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { + REPORT ReverseSubtractDS(gm2,gm1); + if (!c1) gm1->tDelete(); gmx = gm2; + } + else + { + REPORT + // what if New throws and exception + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + SubtractDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + +GeneralMatrix* SPMatrix::Evaluate(MatrixType mtd) +{ + REPORT + Tracer tr("SPMatrix::Evaluate"); + gm1=((BaseMatrix*&)bm1)->Evaluate(); gm2=((BaseMatrix*&)bm2)->Evaluate(); + int nr=gm1->Nrows(); int nc=gm1->Ncols(); + if (nr!=gm2->Nrows() || nc!=gm2->Ncols()) + { + Try { Throw(IncompatibleDimensionsException(*gm1, *gm2)); } + CatchAll + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + } + MatrixType mt1 = gm1->Type(), mt2 = gm2->Type(); + MatrixType mts = mt1.SP(mt2); + if (!mtd) { REPORT mtd = mts; } + else if (!(mtd.DataLossOK || mtd >= mts)) + { + gm1->tDelete(); gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + Throw(ProgramException("Illegal Conversion", mts, mtd)); + } + GeneralMatrix* gmx; + bool c1 = (mtd == mt1), c2 = (mtd == mt2); + if ( c1 && c2 && (gm1->SimpleAddOK(gm2) == 0) ) + { + if (gm1->reuse()) { REPORT SP(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (gm2->reuse()) { REPORT SP(gm2,gm1); gmx = gm2; } + else + { + REPORT + Try { gmx = mt1.New(nr,nc,this); } + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + gmx->ReleaseAndDelete(); SP(gmx,gm1,gm2); + } + } + else + { + if (c1 && c2) + { + short SAO = gm1->SimpleAddOK(gm2); + if (SAO & 1) { REPORT c2 = false; } // c1 and c2 swapped + if (SAO & 2) { REPORT c1 = false; } + } + if (c1 && gm1->reuse() ) // must have type test first + { REPORT SPDS(gm1,gm2); gm2->tDelete(); gmx = gm1; } + else if (c2 && gm2->reuse() ) + { REPORT SPDS(gm2,gm1); if (!c1) gm1->tDelete(); gmx = gm2; } + else + { + REPORT + // what if New throws and exception + Try { gmx = mtd.New(nr,nc,this); } + CatchAll + { + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } + SPDS(gmx,gm1,gm2); + if (!c1) gm1->tDelete(); if (!c2) gm2->tDelete(); + gmx->ReleaseAndDelete(); + } + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + return gmx; +} + + + +//*************************** norm functions ****************************/ + +Real BaseMatrix::Norm1() const +{ + // maximum of sum of absolute values of a column + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + int nc = gm->Ncols(); Real value = 0.0; + MatrixCol mc(gm, LoadOnEntry); + while (nc--) + { Real v = mc.SumAbsoluteValue(); if (value < v) value = v; mc.Next(); } + gm->tDelete(); return value; +} + +Real BaseMatrix::NormInfinity() const +{ + // maximum of sum of absolute values of a row + REPORT + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + int nr = gm->Nrows(); Real value = 0.0; + MatrixRow mr(gm, LoadOnEntry); + while (nr--) + { Real v = mr.SumAbsoluteValue(); if (value < v) value = v; mr.Next(); } + gm->tDelete(); return value; +} + +//********************** Concatenation and stacking *************************/ + +GeneralMatrix* ConcatenatedMatrix::Evaluate(MatrixType mtx) +{ + REPORT + Tracer tr("Concatenate"); +#ifdef TEMPS_DESTROYED_QUICKLY + Try + { + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() | gm2->Type(),mtx); + int nr=gm1->Nrows(); int nc = gm1->Ncols() + gm2->Ncols(); + if (nr != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr--) { mr.ConCat(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); delete this; + return gmx; + } + CatchAll { delete this; ReThrow; } +#ifndef UseExceptions + return 0; +#endif +#else + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() | gm2->Type(),mtx); + int nr=gm1->Nrows(); int nc = gm1->Ncols() + gm2->Ncols(); + if (nr != gm2->Nrows()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr--) { mr.ConCat(mr1,mr2); mr1.Next(); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +#endif +} + +GeneralMatrix* StackedMatrix::Evaluate(MatrixType mtx) +{ + REPORT + Tracer tr("Stack"); +#ifdef TEMPS_DESTROYED_QUICKLY + Try + { + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() & gm2->Type(),mtx); + int nc=gm1->Ncols(); + int nr1 = gm1->Nrows(); int nr2 = gm2->Nrows(); + if (nc != gm2->Ncols()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr1+nr2,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr1--) { mr.Copy(mr1); mr1.Next(); mr.Next(); } + while (nr2--) { mr.Copy(mr2); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); delete this; + return gmx; + } + CatchAll { delete this; ReThrow; } +#ifndef UseExceptions + return 0; +#endif +#else + gm2 = ((BaseMatrix*&)bm2)->Evaluate(); + gm1 = ((BaseMatrix*&)bm1)->Evaluate(); + Compare(gm1->Type() & gm2->Type(),mtx); + int nc=gm1->Ncols(); + int nr1 = gm1->Nrows(); int nr2 = gm2->Nrows(); + if (nc != gm2->Ncols()) + Throw(IncompatibleDimensionsException(*gm1, *gm2)); + GeneralMatrix* gmx = mtx.New(nr1+nr2,nc,this); + MatrixRow mr1(gm1, LoadOnEntry); MatrixRow mr2(gm2, LoadOnEntry); + MatrixRow mr(gmx, StoreOnExit+DirectPart); + while (nr1--) { mr.Copy(mr1); mr1.Next(); mr.Next(); } + while (nr2--) { mr.Copy(mr2); mr2.Next(); mr.Next(); } + gmx->ReleaseAndDelete(); gm1->tDelete(); gm2->tDelete(); return gmx; +#endif +} + +// ************************* equality of matrices ******************** // + +static bool RealEqual(Real* s1, Real* s2, int n) +{ + int i = n >> 2; + while (i--) + { + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + } + i = n & 3; while (i--) if (*s1++ != *s2++) return false; + return true; +} + +static bool intEqual(int* s1, int* s2, int n) +{ + int i = n >> 2; + while (i--) + { + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + if (*s1++ != *s2++) return false; if (*s1++ != *s2++) return false; + } + i = n & 3; while (i--) if (*s1++ != *s2++) return false; + return true; +} + + +bool operator==(const BaseMatrix& A, const BaseMatrix& B) +{ + Tracer tr("BaseMatrix =="); + REPORT + GeneralMatrix* gmA = ((BaseMatrix&)A).Evaluate(); + GeneralMatrix* gmB = ((BaseMatrix&)B).Evaluate(); + + if (gmA == gmB) // same matrix + { REPORT gmA->tDelete(); return true; } + + if ( gmA->Nrows() != gmB->Nrows() || gmA->Ncols() != gmB->Ncols() ) + // different dimensions + { REPORT gmA->tDelete(); gmB->tDelete(); return false; } + + // check for CroutMatrix or BandLUMatrix + MatrixType AType = gmA->Type(); MatrixType BType = gmB->Type(); + if (AType.CannotConvert() || BType.CannotConvert() ) + { + REPORT + bool bx = gmA->IsEqual(*gmB); + gmA->tDelete(); gmB->tDelete(); + return bx; + } + + // is matrix storage the same + // will need to modify if further matrix structures are introduced + if (AType == BType && gmA->BandWidth() == gmB->BandWidth()) + { // compare store + REPORT + bool bx = RealEqual(gmA->Store(),gmB->Store(),gmA->Storage()); + gmA->tDelete(); gmB->tDelete(); + return bx; + } + + // matrix storage different - just subtract + REPORT return IsZero(*gmA-*gmB); +} + +bool operator==(const GeneralMatrix& A, const GeneralMatrix& B) +{ + Tracer tr("GeneralMatrix =="); + // May or may not call tDeletes + REPORT + + if (&A == &B) // same matrix + { REPORT return true; } + + if ( A.Nrows() != B.Nrows() || A.Ncols() != B.Ncols() ) + { REPORT return false; } // different dimensions + + // check for CroutMatrix or BandLUMatrix + MatrixType AType = A.Type(); MatrixType BType = B.Type(); + if (AType.CannotConvert() || BType.CannotConvert() ) + { REPORT return A.IsEqual(B); } + + // is matrix storage the same + // will need to modify if further matrix structures are introduced + if (AType == BType && A.BandWidth() == B.BandWidth()) + { REPORT return RealEqual(A.Store(),B.Store(),A.Storage()); } + + // matrix storage different - just subtract + REPORT return IsZero(A-B); +} + +bool GeneralMatrix::IsZero() const +{ + REPORT + Real* s=store; int i = storage >> 2; + while (i--) + { + if (*s++) return false; if (*s++) return false; + if (*s++) return false; if (*s++) return false; + } + i = storage & 3; while (i--) if (*s++) return false; + return true; +} + +bool IsZero(const BaseMatrix& A) +{ + Tracer tr("BaseMatrix::IsZero"); + REPORT + GeneralMatrix* gm1 = 0; bool bx; + Try { gm1=((BaseMatrix&)A).Evaluate(); bx = gm1->IsZero(); } + CatchAll { if (gm1) gm1->tDelete(); ReThrow; } + gm1->tDelete(); + return bx; +} + +// IsEqual functions - insist matrices are of same type +// as well as equal values to be equal + +bool GeneralMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("GeneralMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if (A.nrows != nrows || A.ncols != ncols) + // different dimensions + { REPORT return false; } + // is matrix storage the same - compare store + REPORT + return RealEqual(A.store,store,storage); +} + +bool CroutMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("CroutMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if (A.nrows != nrows || A.ncols != ncols) + // different dimensions + { REPORT return false; } + // is matrix storage the same - compare store + REPORT + return RealEqual(A.store,store,storage) + && intEqual(((CroutMatrix&)A).indx, indx, nrows); +} + + +bool BandLUMatrix::IsEqual(const GeneralMatrix& A) const +{ + Tracer tr("BandLUMatrix IsEqual"); + if (A.Type() != Type()) // not same types + { REPORT return false; } + if (&A == this) // same matrix + { REPORT return true; } + if ( A.Nrows() != nrows || A.Ncols() != ncols + || ((BandLUMatrix&)A).m1 != m1 || ((BandLUMatrix&)A).m2 != m2 ) + // different dimensions + { REPORT return false; } + + // matrix storage the same - compare store + REPORT + return RealEqual(A.Store(),store,storage) + && RealEqual(((BandLUMatrix&)A).store2,store2,storage2) + && intEqual(((BandLUMatrix&)A).indx, indx, nrows); +} + + +#ifdef use_namespace +} +#endif + + diff --git a/3rdparty/newmat/newmat8.cpp b/3rdparty/newmat/newmat8.cpp new file mode 100644 index 0000000..66fd916 --- /dev/null +++ b/3rdparty/newmat/newmat8.cpp @@ -0,0 +1,734 @@ +//$$ newmat8.cpp Advanced LU transform, scalar functions + +// Copyright (C) 1991,2,3,4,8: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" +#include "precisio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,8); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/************************** LU transformation ****************************/ + +void CroutMatrix::ludcmp() +// LU decomposition from Golub & Van Loan, algorithm 3.4.1, (the "outer +// product" version). +// This replaces the code derived from Numerical Recipes in C in previous +// versions of newmat and being row oriented runs much faster with large +// matrices. +{ + REPORT + Tracer trace( "Crout(ludcmp)" ); sing = false; + Real* akk = store; // runs down diagonal + + Real big = fabs(*akk); int mu = 0; Real* ai = akk; int k; + + for (k = 1; k < nrows; k++) + { + ai += nrows; const Real trybig = fabs(*ai); + if (big < trybig) { big = trybig; mu = k; } + } + + + if (nrows) for (k = 0;;) + { + /* + int mu1; + { + Real big = fabs(*akk); mu1 = k; Real* ai = akk; int i; + + for (i = k+1; i < nrows; i++) + { + ai += nrows; const Real trybig = fabs(*ai); + if (big < trybig) { big = trybig; mu1 = i; } + } + } + if (mu1 != mu) cout << k << " " << mu << " " << mu1 << endl; + */ + + indx[k] = mu; + + if (mu != k) //row swap + { + Real* a1 = store + nrows * k; Real* a2 = store + nrows * mu; d = !d; + int j = nrows; + while (j--) { const Real temp = *a1; *a1++ = *a2; *a2++ = temp; } + } + + Real diag = *akk; big = 0; mu = k + 1; + if (diag != 0) + { + ai = akk; int i = nrows - k - 1; + while (i--) + { + ai += nrows; Real* al = ai; Real mult = *al / diag; *al = mult; + int l = nrows - k - 1; Real* aj = akk; + // work out the next pivot as part of this loop + // this saves a column operation + if (l-- != 0) + { + *(++al) -= (mult * *(++aj)); + const Real trybig = fabs(*al); + if (big < trybig) { big = trybig; mu = nrows - i - 1; } + while (l--) *(++al) -= (mult * *(++aj)); + } + } + } + else sing = true; + if (++k == nrows) break; // so next line won't overflow + akk += nrows + 1; + } +} + +void CroutMatrix::lubksb(Real* B, int mini) +{ + REPORT + // this has been adapted from Numerical Recipes in C. The code has been + // substantially streamlined, so I do not think much of the original + // copyright remains. However there is not much opportunity for + // variation in the code, so it is still similar to the NR code. + // I follow the NR code in skipping over initial zeros in the B vector. + + Tracer trace("Crout(lubksb)"); + if (sing) Throw(SingularException(*this)); + int i, j, ii = nrows; // ii initialised : B might be all zeros + + + // scan for first non-zero in B + for (i = 0; i < nrows; i++) + { + int ip = indx[i]; Real temp = B[ip]; B[ip] = B[i]; B[i] = temp; + if (temp != 0.0) { ii = i; break; } + } + + Real* bi; Real* ai; + i = ii + 1; + + if (i < nrows) + { + bi = B + ii; ai = store + ii + i * nrows; + for (;;) + { + int ip = indx[i]; Real sum = B[ip]; B[ip] = B[i]; + Real* aij = ai; Real* bj = bi; j = i - ii; + while (j--) sum -= *aij++ * *bj++; + B[i] = sum; + if (++i == nrows) break; + ai += nrows; + } + } + + ai = store + nrows * nrows; + + for (i = nrows - 1; i >= mini; i--) + { + Real* bj = B+i; ai -= nrows; Real* ajx = ai+i; + Real sum = *bj; Real diag = *ajx; + j = nrows - i; while(--j) sum -= *(++ajx) * *(++bj); + B[i] = sum / diag; + } +} + +/****************************** scalar functions ****************************/ + +inline Real square(Real x) { return x*x; } + +Real GeneralMatrix::SumSquare() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += square(*s++); + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real GeneralMatrix::SumAbsoluteValue() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += fabs(*s++); + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real GeneralMatrix::Sum() const +{ + REPORT + Real sum = 0.0; int i = storage; Real* s = store; + while (i--) sum += *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +// maxima and minima + +// There are three sets of routines +// MaximumAbsoluteValue, MinimumAbsoluteValue, Maximum, Minimum +// ... these find just the maxima and minima +// MaximumAbsoluteValue1, MinimumAbsoluteValue1, Maximum1, Minimum1 +// ... these find the maxima and minima and their locations in a +// one dimensional object +// MaximumAbsoluteValue2, MinimumAbsoluteValue2, Maximum2, Minimum2 +// ... these find the maxima and minima and their locations in a +// two dimensional object + +// If the matrix has no values throw an exception + +// If we do not want the location find the maximum or minimum on the +// array stored by GeneralMatrix +// This won't work for BandMatrices. We call ClearCorner for +// MaximumAbsoluteValue but for the others use the AbsoluteMinimumValue2 +// version and discard the location. + +// For one dimensional objects, when we want the location of the +// maximum or minimum, work with the array stored by GeneralMatrix + +// For two dimensional objects where we want the location of the maximum or +// minimum proceed as follows: + +// For rectangular matrices use the array stored by GeneralMatrix and +// deduce the location from the location in the GeneralMatrix + +// For other two dimensional matrices use the Matrix Row routine to find the +// maximum or minimum for each row. + +static void NullMatrixError(const GeneralMatrix* gm) +{ + ((GeneralMatrix&)*gm).tDelete(); + Throw(ProgramException("Maximum or minimum of null matrix")); +} + +Real GeneralMatrix::MaximumAbsoluteValue() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int l = storage; Real* s = store; + while (l--) { Real a = fabs(*s++); if (maxval < a) maxval = a; } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MaximumAbsoluteValue1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int l = storage; Real* s = store; int li = storage; + while (l--) + { Real a = fabs(*s++); if (maxval <= a) { maxval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MinimumAbsoluteValue() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = fabs(*s++); + while (l--) { Real a = fabs(*s++); if (minval > a) minval = a; } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::MinimumAbsoluteValue1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = fabs(*s++); int li = l; + while (l--) + { Real a = fabs(*s++); if (minval >= a) { minval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Maximum() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real maxval = *s++; + while (l--) { Real a = *s++; if (maxval < a) maxval = a; } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Maximum1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real maxval = *s++; int li = l; + while (l--) { Real a = *s++; if (maxval <= a) { maxval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Minimum() const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = *s++; + while (l--) { Real a = *s++; if (minval > a) minval = a; } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Minimum1(int& i) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + int l = storage - 1; Real* s = store; Real minval = *s++; int li = l; + while (l--) { Real a = *s++; if (minval >= a) { minval = a; li = l; } } + i = storage - li; + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = 0.0; int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; maxval = mr.MaximumAbsoluteValue1(maxval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real minval = FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; minval = mr.MinimumAbsoluteValue1(minval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real GeneralMatrix::Maximum2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real maxval = -FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; maxval = mr.Maximum1(maxval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return maxval; +} + +Real GeneralMatrix::Minimum2(int& i, int& j) const +{ + REPORT + if (storage == 0) NullMatrixError(this); + Real minval = FloatingPointPrecision::Maximum(); int nr = Nrows(); + MatrixRow mr((GeneralMatrix*)this, LoadOnEntry+DirectPart); + for (int r = 1; r <= nr; r++) + { + int c; minval = mr.Minimum1(minval, c); + if (c > 0) { i = r; j = c; } + mr.Next(); + } + ((GeneralMatrix&)*this).tDelete(); return minval; +} + +Real Matrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::MaximumAbsoluteValue1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::MinimumAbsoluteValue1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::Maximum2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::Maximum1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real Matrix::Minimum2(int& i, int& j) const +{ + REPORT + int k; Real m = GeneralMatrix::Minimum1(k); k--; + i = k / Ncols(); j = k - i * Ncols(); i++; j++; + return m; +} + +Real SymmetricMatrix::SumSquare() const +{ + REPORT + Real sum1 = 0.0; Real sum2 = 0.0; Real* s = store; int nr = nrows; + for (int i = 0; iSumSquare(); return s; +} + +Real BaseMatrix::NormFrobenius() const + { REPORT return sqrt(SumSquare()); } + +Real BaseMatrix::SumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->SumAbsoluteValue(); return s; +} + +Real BaseMatrix::Sum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Sum(); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue(); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue1(i); return s; +} + +Real BaseMatrix::MaximumAbsoluteValue2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MaximumAbsoluteValue2(i, j); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue(); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue1(i); return s; +} + +Real BaseMatrix::MinimumAbsoluteValue2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->MinimumAbsoluteValue2(i, j); return s; +} + +Real BaseMatrix::Maximum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum(); return s; +} + +Real BaseMatrix::Maximum1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum1(i); return s; +} + +Real BaseMatrix::Maximum2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Maximum2(i, j); return s; +} + +Real BaseMatrix::Minimum() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum(); return s; +} + +Real BaseMatrix::Minimum1(int& i) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum1(i); return s; +} + +Real BaseMatrix::Minimum2(int& i, int& j) const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + Real s = gm->Minimum2(i, j); return s; +} + +Real DotProduct(const Matrix& A, const Matrix& B) +{ + REPORT + int n = A.storage; + if (n != B.storage) Throw(IncompatibleDimensionsException(A,B)); + Real sum = 0.0; Real* a = A.store; Real* b = B.store; + while (n--) sum += *a++ * *b++; + return sum; +} + +Real Matrix::Trace() const +{ + REPORT + Tracer trace("Trace"); + int i = nrows; int d = i+1; + if (i != ncols) Throw(NotSquareException(*this)); + Real sum = 0.0; Real* s = store; +// while (i--) { sum += *s; s += d; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += d; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real DiagonalMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; + while (i--) sum += *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real SymmetricMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; int j = 2; + // while (i--) { sum += *s; s += j++; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real LowerTriangularMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; int j = 2; + // while (i--) { sum += *s; s += j++; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real UpperTriangularMatrix::Trace() const +{ + REPORT + int i = nrows; Real sum = 0.0; Real* s = store; + while (i) { sum += *s; s += i--; } // won t cause a problem + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real BandMatrix::Trace() const +{ + REPORT + int i = nrows; int w = lower+upper+1; + Real sum = 0.0; Real* s = store+lower; + // while (i--) { sum += *s; s += w; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += w; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real SymmetricBandMatrix::Trace() const +{ + REPORT + int i = nrows; int w = lower+1; + Real sum = 0.0; Real* s = store+lower; + // while (i--) { sum += *s; s += w; } + if (i) for (;;) { sum += *s; if (!(--i)) break; s += w; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +Real IdentityMatrix::Trace() const +{ + Real sum = *store * nrows; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + + +Real BaseMatrix::Trace() const +{ + REPORT + MatrixType Diag = MatrixType::Dg; Diag.SetDataLossOK(); + GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(Diag); + Real sum = gm->Trace(); return sum; +} + +void LogAndSign::operator*=(Real x) +{ + if (x > 0.0) { log_value += log(x); } + else if (x < 0.0) { log_value += log(-x); sign = -sign; } + else sign = 0; +} + +void LogAndSign::PowEq(int k) +{ + if (sign) + { + log_value *= k; + if ( (k & 1) == 0 ) sign = 1; + } +} + +Real LogAndSign::Value() const +{ + Tracer et("LogAndSign::Value"); + if (log_value >= FloatingPointPrecision::LnMaximum()) + Throw(OverflowException("Overflow in exponential")); + return sign * exp(log_value); +} + +LogAndSign::LogAndSign(Real f) +{ + if (f == 0.0) { log_value = 0.0; sign = 0; return; } + else if (f < 0.0) { sign = -1; f = -f; } + else sign = 1; + log_value = log(f); +} + +LogAndSign DiagonalMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; + while (i--) sum *= *s++; + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign LowerTriangularMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; int j = 2; + // while (i--) { sum *= *s; s += j++; } + if (i) for(;;) { sum *= *s; if (!(--i)) break; s += j++; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign UpperTriangularMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; Real* s = store; + while (i) { sum *= *s; s += i--; } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign IdentityMatrix::LogDeterminant() const +{ + REPORT + int i = nrows; LogAndSign sum; + if (i > 0) { sum = *store; sum.PowEq(i); } + ((GeneralMatrix&)*this).tDelete(); return sum; +} + +LogAndSign BaseMatrix::LogDeterminant() const +{ + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + LogAndSign sum = gm->LogDeterminant(); return sum; +} + +LogAndSign GeneralMatrix::LogDeterminant() const +{ + REPORT + Tracer tr("LogDeterminant"); + if (nrows != ncols) Throw(NotSquareException(*this)); + CroutMatrix C(*this); return C.LogDeterminant(); +} + +LogAndSign CroutMatrix::LogDeterminant() const +{ + REPORT + if (sing) return 0.0; + int i = nrows; int dd = i+1; LogAndSign sum; Real* s = store; + if (i) for(;;) + { + sum *= *s; + if (!(--i)) break; + s += dd; + } + if (!d) sum.ChangeSign(); return sum; + +} + +Real BaseMatrix::Determinant() const +{ + REPORT + Tracer tr("Determinant"); + REPORT GeneralMatrix* gm = ((BaseMatrix&)*this).Evaluate(); + LogAndSign ld = gm->LogDeterminant(); + return ld.Value(); +} + + + + + +LinearEquationSolver::LinearEquationSolver(const BaseMatrix& bm) +{ + gm = ( ((BaseMatrix&)bm).Evaluate() )->MakeSolver(); + if (gm==&bm) { REPORT gm = gm->Image(); } + // want a copy if *gm is actually bm + else { REPORT gm->Protect(); } +} + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmat9.cpp b/3rdparty/newmat/newmat9.cpp new file mode 100644 index 0000000..2cf2d26 --- /dev/null +++ b/3rdparty/newmat/newmat9.cpp @@ -0,0 +1,76 @@ +//$$ newmat9.cpp Input and output + +// Copyright (C) 1991,2,3,4: R B Davies + + +#define WANT_FSTREAM + +#include "include.h" + +#include "newmat.h" +#include "newmatio.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,9); ++ExeCount; } +#else +#define REPORT {} +#endif + +// for G++ 3.01 +#ifndef ios_format_flags +#define ios_format_flags long +#endif + +ostream& operator<<(ostream& s, const BaseMatrix& X) +{ + GeneralMatrix* gm = ((BaseMatrix&)X).Evaluate(); operator<<(s, *gm); + gm->tDelete(); return s; +} + + +ostream& operator<<(ostream& s, const GeneralMatrix& X) +{ + MatrixRow mr((GeneralMatrix*)&X, LoadOnEntry); + int w = s.width(); int nr = X.Nrows(); ios_format_flags f = s.flags(); + s.setf(ios::fixed, ios::floatfield); + for (int i=1; i<=nr; i++) + { + int skip = mr.skip; int storage = mr.storage; + Real* store = mr.data; skip *= w+1; + while (skip--) s << " "; + while (storage--) { s.width(w); s << *store++ << " "; } +// while (storage--) s << setw(w) << *store++ << " "; + mr.Next(); s << "\n"; + } + s << flush; s.flags(f); return s; +} + +// include this stuff if you are using an old version of G++ +// with an incomplete io library + +/* + +ostream& operator<<(ostream& os, Omanip_precision i) + { os.precision(i.x); return os; } + +Omanip_precision setprecision(int i) { return Omanip_precision(i); } + +ostream& operator<<(ostream& os, Omanip_width i) + { os.width(i.x); return os; } + +Omanip_width setw(int i) { return Omanip_width(i); } + +*/ + +#ifdef use_namespace +} +#endif + + diff --git a/3rdparty/newmat/newmatap.h b/3rdparty/newmat/newmatap.h new file mode 100644 index 0000000..065df5d --- /dev/null +++ b/3rdparty/newmat/newmatap.h @@ -0,0 +1,171 @@ +//$$ newmatap.h definition file for matrix package applications + +// Copyright (C) 1991,2,3,4,8: R B Davies + +#ifndef NEWMATAP_LIB +#define NEWMATAP_LIB 0 + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + +// ************************** applications *****************************/ + + +void QRZT(Matrix&, LowerTriangularMatrix&); + +void QRZT(const Matrix&, Matrix&, Matrix&); + +void QRZ(Matrix&, UpperTriangularMatrix&); + +void QRZ(const Matrix&, Matrix&, Matrix&); + +inline void HHDecompose(Matrix& X, LowerTriangularMatrix& L) +{ QRZT(X,L); } + +inline void HHDecompose(const Matrix& X, Matrix& Y, Matrix& M) +{ QRZT(X, Y, M); } + +ReturnMatrix Cholesky(const SymmetricMatrix&); + +ReturnMatrix Cholesky(const SymmetricBandMatrix&); + +void SVD(const Matrix&, DiagonalMatrix&, Matrix&, Matrix&, + bool=true, bool=true); + +void SVD(const Matrix&, DiagonalMatrix&); + +inline void SVD(const Matrix& A, DiagonalMatrix& D, Matrix& U, + bool withU = true) { SVD(A, D, U, U, withU, false); } + +void SortSV(DiagonalMatrix& D, Matrix& U, bool ascending = false); + +void SortSV(DiagonalMatrix& D, Matrix& U, Matrix& V, bool ascending = false); + +void Jacobi(const SymmetricMatrix&, DiagonalMatrix&); + +void Jacobi(const SymmetricMatrix&, DiagonalMatrix&, SymmetricMatrix&); + +void Jacobi(const SymmetricMatrix&, DiagonalMatrix&, Matrix&); + +void Jacobi(const SymmetricMatrix&, DiagonalMatrix&, SymmetricMatrix&, + Matrix&, bool=true); + +void EigenValues(const SymmetricMatrix&, DiagonalMatrix&); + +void EigenValues(const SymmetricMatrix&, DiagonalMatrix&, SymmetricMatrix&); + +void EigenValues(const SymmetricMatrix&, DiagonalMatrix&, Matrix&); + +class SymmetricEigenAnalysis +// not implemented yet +{ +public: + SymmetricEigenAnalysis(const SymmetricMatrix&); +private: + DiagonalMatrix diag; + DiagonalMatrix offdiag; + SymmetricMatrix backtransform; + FREE_CHECK(SymmetricEigenAnalysis) +}; + +void SortAscending(GeneralMatrix&); + +void SortDescending(GeneralMatrix&); + + +// class for deciding which fft to use and containing new fft function +class FFT_Controller +{ +public: + static bool OnlyOldFFT; + static bool ar_1d_ft (int PTS, Real* X, Real *Y); + static bool CanFactor(int PTS); +}; + +void FFT(const ColumnVector&, const ColumnVector&, + ColumnVector&, ColumnVector&); + +void FFTI(const ColumnVector&, const ColumnVector&, + ColumnVector&, ColumnVector&); + +void RealFFT(const ColumnVector&, ColumnVector&, ColumnVector&); + +void RealFFTI(const ColumnVector&, const ColumnVector&, ColumnVector&); + +void DCT_II(const ColumnVector&, ColumnVector&); + +void DCT_II_inverse(const ColumnVector&, ColumnVector&); + +void DST_II(const ColumnVector&, ColumnVector&); + +void DST_II_inverse(const ColumnVector&, ColumnVector&); + +void DCT(const ColumnVector&, ColumnVector&); + +void DCT_inverse(const ColumnVector&, ColumnVector&); + +void DST(const ColumnVector&, ColumnVector&); + +void DST_inverse(const ColumnVector&, ColumnVector&); + +// This class is used by the new FFT program + +// Suppose an integer is expressed as a sequence of digits with each +// digit having a different radix. +// This class supposes we are counting with this multi-radix number +// but also keeps track of the number with the digits (and radices) +// reversed. +// The integer starts at zero +// operator++() increases it by 1 +// Counter gives the number of increments +// Reverse() gives the value with the digits in reverse order +// Swap is true if reverse is less than counter +// Finish is true when we have done a complete cycle and are back at zero + +class MultiRadixCounter +{ + const SimpleIntArray& Radix; + // radix of each digit + // n-1 highest order, 0 lowest order + SimpleIntArray& Value; // value of each digit + const int n; // number of digits + int reverse; // value when order of digits is reversed + int product; // product of radices + int counter; // counter + bool finish; // true when we have gone over whole range +public: + MultiRadixCounter(int nx, const SimpleIntArray& rx, + SimpleIntArray& vx); + void operator++(); // increment the multi-radix counter + bool Swap() const { return reverse < counter; } + bool Finish() const { return finish; } + int Reverse() const { return reverse; } + int Counter() const { return counter; } +}; + + +#ifdef use_namespace +} +#endif + + + +#endif + +// body file: cholesky.cpp +// body file: evalue.cpp +// body file: fft.cpp +// body file: hholder.cpp +// body file: jacobi.cpp +// body file: newfft.cpp +// body file: sort.cpp +// body file: svd.cpp + + + + + diff --git a/3rdparty/newmat/newmatex.cpp b/3rdparty/newmat/newmatex.cpp new file mode 100644 index 0000000..cf8bb38 --- /dev/null +++ b/3rdparty/newmat/newmatex.cpp @@ -0,0 +1,307 @@ +//$$ newmatex.cpp Exception handler + +// Copyright (C) 1992,3,4,7: R B Davies + +#define WANT_STREAM // include.h will get stream fns + +#include "include.h" // include standard files +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +unsigned long OverflowException::Select; +unsigned long SingularException::Select; +unsigned long NPDException::Select; +unsigned long ConvergenceException::Select; +unsigned long ProgramException::Select; +unsigned long IndexException::Select; +unsigned long VectorException::Select; +unsigned long NotSquareException::Select; +unsigned long SubMatrixDimensionException::Select; +unsigned long IncompatibleDimensionsException::Select; +unsigned long NotDefinedException::Select; +unsigned long CannotBuildException::Select; +unsigned long InternalException::Select; + + + +static void MatrixDetails(const GeneralMatrix& A) +// write matrix details to Exception buffer +{ + MatrixBandWidth bw = A.BandWidth(); int ubw = bw.upper; int lbw = bw.lower; + BaseException::AddMessage("MatrixType = "); + BaseException::AddMessage(A.Type().Value()); + BaseException::AddMessage(" # Rows = "); BaseException::AddInt(A.Nrows()); + BaseException::AddMessage("; # Cols = "); BaseException::AddInt(A.Ncols()); + if (lbw >=0) + { BaseException::AddMessage("; lower BW = "); BaseException::AddInt(lbw); } + if (ubw >=0) + { BaseException::AddMessage("; upper BW = "); BaseException::AddInt(ubw); } + BaseException::AddMessage("\n"); +} + +NPDException::NPDException(const GeneralMatrix& A) + : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: matrix not positive definite\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +SingularException::SingularException(const GeneralMatrix& A) + : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: matrix is singular\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +ConvergenceException::ConvergenceException(const GeneralMatrix& A) + : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: process fails to converge\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +ConvergenceException::ConvergenceException(const char* c) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\n\n"); + if (c) Tracer::AddTrace(); +} + +OverflowException::OverflowException(const char* c) : Runtime_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\n\n"); + if (c) Tracer::AddTrace(); +} + +ProgramException::ProgramException(const char* c) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\n\n"); + if (c) Tracer::AddTrace(); +} + +ProgramException::ProgramException(const char* c, const GeneralMatrix& A) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\n\n"); + MatrixDetails(A); + if (c) Tracer::AddTrace(); +} + +ProgramException::ProgramException(const char* c, const GeneralMatrix& A, + const GeneralMatrix& B) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\n\n"); + MatrixDetails(A); MatrixDetails(B); + if (c) Tracer::AddTrace(); +} + +ProgramException::ProgramException(const char* c, MatrixType a, MatrixType b) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(c); AddMessage("\nMatrixTypes = "); + AddMessage(a.Value()); AddMessage("; "); + AddMessage(b.Value()); AddMessage("\n\n"); + if (c) Tracer::AddTrace(); +} + +VectorException::VectorException() : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: cannot convert matrix to vector\n\n"); + Tracer::AddTrace(); +} + +VectorException::VectorException(const GeneralMatrix& A) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: cannot convert matrix to vector\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +NotSquareException::NotSquareException(const GeneralMatrix& A) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: matrix is not square\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +SubMatrixDimensionException::SubMatrixDimensionException() + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: incompatible submatrix dimension\n\n"); + Tracer::AddTrace(); +} + +IncompatibleDimensionsException::IncompatibleDimensionsException() + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: incompatible dimensions\n\n"); + Tracer::AddTrace(); +} + +IncompatibleDimensionsException::IncompatibleDimensionsException + (const GeneralMatrix& A, const GeneralMatrix& B) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: incompatible dimensions\n\n"); + MatrixDetails(A); MatrixDetails(B); + Tracer::AddTrace(); +} + +NotDefinedException::NotDefinedException(const char* op, const char* matrix) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: "); + AddMessage(op); + AddMessage(" not defined for "); + AddMessage(matrix); + AddMessage("\n\n"); + Tracer::AddTrace(); +} + +CannotBuildException::CannotBuildException(const char* matrix) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: cannot build matrix type "); + AddMessage(matrix); AddMessage("\n\n"); + Tracer::AddTrace(); +} + +IndexException::IndexException(int i, const GeneralMatrix& A) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: index error: requested index = "); + AddInt(i); AddMessage("\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +IndexException::IndexException(int i, int j, const GeneralMatrix& A) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: index error: requested indices = "); + AddInt(i); AddMessage(", "); AddInt(j); + AddMessage("\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + + +IndexException::IndexException(int i, const GeneralMatrix& A, bool) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage("detected by Newmat: element error: requested index (wrt 0) = "); + AddInt(i); + AddMessage("\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +IndexException::IndexException(int i, int j, const GeneralMatrix& A, bool) + : Logic_error() +{ + Select = BaseException::Select; + AddMessage( + "detected by Newmat: element error: requested indices (wrt 0) = "); + AddInt(i); AddMessage(", "); AddInt(j); + AddMessage("\n\n"); + MatrixDetails(A); + Tracer::AddTrace(); +} + +InternalException::InternalException(const char* c) : Logic_error() +{ + Select = BaseException::Select; + AddMessage("internal error detected by Newmat: please inform author\n"); + AddMessage(c); AddMessage("\n\n"); + Tracer::AddTrace(); +} + + + + +/************************* ExeCounter functions *****************************/ + +#ifdef DO_REPORT + +int ExeCounter::nreports; // will be set to zero + +ExeCounter::ExeCounter(int xl, int xf) : line(xl), fileid(xf), nexe(0) {} + +ExeCounter::~ExeCounter() +{ + nreports++; + cout << "REPORT " << setw(6) << nreports << " " + << setw(6) << fileid << " " << setw(6) << line + << " " << setw(6) << nexe << "\n"; +} + +#endif + +/**************************** error handler *******************************/ + +void MatrixErrorNoSpace(void* v) { if (!v) Throw(Bad_alloc()); } +// throw exception if v is null + + + + +/************************* miscellanous errors ***************************/ + + +void CroutMatrix::GetRow(MatrixRowCol&) + { Throw(NotDefinedException("GetRow","Crout")); } +void CroutMatrix::GetCol(MatrixRowCol&) + { Throw(NotDefinedException("GetCol","Crout")); } +void CroutMatrix::operator=(const BaseMatrix&) + { Throw(NotDefinedException("=","Crout")); } +void BandLUMatrix::GetRow(MatrixRowCol&) + { Throw(NotDefinedException("GetRow","BandLUMatrix")); } +void BandLUMatrix::GetCol(MatrixRowCol&) + { Throw(NotDefinedException("GetCol","BandLUMatrix")); } +void BandLUMatrix::operator=(const BaseMatrix&) + { Throw(NotDefinedException("=","BandLUMatrix")); } +void BaseMatrix::IEQND() const + { Throw(NotDefinedException("inequalities", "matrices")); } +#ifdef TEMPS_DESTROYED_QUICKLY_R + ReturnMatrixX::ReturnMatrixX(const ReturnMatrixX& tm) + : gm(tm.gm) { Throw(ProgramException("ReturnMatrixX error")); } +#endif + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmatio.h b/3rdparty/newmat/newmatio.h new file mode 100644 index 0000000..a310ccb --- /dev/null +++ b/3rdparty/newmat/newmatio.h @@ -0,0 +1,61 @@ +//$$ newmatio.h definition file for matrix package input/output + +// Copyright (C) 1991,2,3,4: R B Davies + +#ifndef NEWMATIO_LIB +#define NEWMATIO_LIB 0 + +#ifndef WANT_STREAM +#define WANT_STREAM +#endif + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +/**************************** input/output *****************************/ + +ostream& operator<<(ostream&, const BaseMatrix&); + +ostream& operator<<(ostream&, const GeneralMatrix&); + + +/* Use in some old versions of G++ without complete iomanipulators + +class Omanip_precision +{ + int x; +public: + Omanip_precision(int i) : x(i) {} + friend ostream& operator<<(ostream& os, Omanip_precision i); +}; + + +Omanip_precision setprecision(int i); + +class Omanip_width +{ + int x; +public: + Omanip_width(int i) : x(i) {} + friend ostream& operator<<(ostream& os, Omanip_width i); +}; + +Omanip_width setw(int i); + +*/ + +#ifdef use_namespace +} +#endif + + + +#endif + +// body file: newmat9.cpp + diff --git a/3rdparty/newmat/newmatnl.cpp b/3rdparty/newmat/newmatnl.cpp new file mode 100644 index 0000000..c683e45 --- /dev/null +++ b/3rdparty/newmat/newmatnl.cpp @@ -0,0 +1,258 @@ +//$$ newmatnl.cpp Non-linear optimisation + +// Copyright (C) 1993,4,5,6: R B Davies + + +#define WANT_MATH +#define WANT_STREAM + +#include "newmatap.h" +#include "newmatnl.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +void FindMaximum2::Fit(ColumnVector& Theta, int n_it) +{ + Tracer tr("FindMaximum2::Fit"); + enum State {Start, Restart, Continue, Interpolate, Extrapolate, + Fail, Convergence}; + State TheState = Start; + Real z,w,x,x2,g,l1,l2,l3,d1,d2=0,d3; + ColumnVector Theta1, Theta2, Theta3; + int np = Theta.Nrows(); + ColumnVector H1(np), H3, HP(np), K, K1(np); + bool oorg, conv; + int counter = 0; + Theta1 = Theta; HP = 0.0; g = 0.0; + + // This is really a set of gotos and labels, but they do not work + // correctly in AT&T C++ and Sun 4.01 C++. + + for(;;) + { + switch (TheState) + { + case Start: + tr.ReName("FindMaximum2::Fit/Start"); + Value(Theta1, true, l1, oorg); + if (oorg) Throw(ProgramException("invalid starting value\n")); + + case Restart: + tr.ReName("FindMaximum2::Fit/ReStart"); + conv = NextPoint(H1, d1); + if (conv) { TheState = Convergence; break; } + if (counter++ > n_it) { TheState = Fail; break; } + + z = 1.0 / sqrt(d1); + H3 = H1 * z; K = (H3 - HP) * g; HP = H3; + g = 0.0; // de-activate to use curved projection + if (g==0.0) K1 = 0.0; else K1 = K * 0.2 + K1 * 0.6; + // (K - K1) * alpha + K1 * (1 - alpha) + // = K * alpha + K1 * (1 - 2 * alpha) + K = K1 * d1; g = z; + + case Continue: + tr.ReName("FindMaximum2::Fit/Continue"); + Theta2 = Theta1 + H1 + K; + Value(Theta2, false, l2, oorg); + if (counter++ > n_it) { TheState = Fail; break; } + if (oorg) + { + H1 *= 0.5; K *= 0.25; d1 *= 0.5; g *= 2.0; + TheState = Continue; break; + } + d2 = LastDerivative(H1 + K * 2.0); + + case Interpolate: + tr.ReName("FindMaximum2::Fit/Interpolate"); + z = d1 + d2 - 3.0 * (l2 - l1); + w = z * z - d1 * d2; + if (w < 0.0) { TheState = Extrapolate; break; } + w = z + sqrt(w); + if (1.5 * w + d1 < 0.0) + { TheState = Extrapolate; break; } + if (d2 > 0.0 && l2 > l1 && w > 0.0) + { TheState = Extrapolate; break; } + x = d1 / (w + d1); x2 = x * x; g /= x; + Theta3 = Theta1 + H1 * x + K * x2; + Value(Theta3, true, l3, oorg); + if (counter++ > n_it) { TheState = Fail; break; } + if (oorg) + { + if (x <= 1.0) + { x *= 0.5; x2 = x*x; g *= 2.0; d1 *= x; H1 *= x; K *= x2; } + else + { + x = 0.5 * (x-1.0); x2 = x*x; Theta1 = Theta2; + H1 = (H1 + K * 2.0) * x; + K *= x2; g = 0.0; d1 = x * d2; l1 = l2; + } + TheState = Continue; break; + } + + if (l3 >= l1 && l3 >= l2) + { Theta1 = Theta3; l1 = l3; TheState = Restart; break; } + + d3 = LastDerivative(H1 + K * 2.0); + if (l1 > l2) + { H1 *= x; K *= x2; Theta2 = Theta3; d1 *= x; d2 = d3*x; } + else + { + Theta1 = Theta2; Theta2 = Theta3; + x -= 1.0; x2 = x*x; g = 0.0; H1 = (H1 + K * 2.0) * x; + K *= x2; l1 = l2; l2 = l3; d1 = x*d2; d2 = x*d3; + if (d1 <= 0.0) { TheState = Start; break; } + } + TheState = Interpolate; break; + + case Extrapolate: + tr.ReName("FindMaximum2::Fit/Extrapolate"); + Theta1 = Theta2; g = 0.0; K *= 4.0; H1 = (H1 * 2.0 + K); + d1 = 2.0 * d2; l1 = l2; + TheState = Continue; break; + + case Fail: + Throw(ConvergenceException(Theta)); + + case Convergence: + Theta = Theta1; return; + } + } +} + + + +void NonLinearLeastSquares::Value + (const ColumnVector& Parameters, bool, Real& v, bool& oorg) +{ + Tracer tr("NonLinearLeastSquares::Value"); + Y.ReSize(n_obs); X.ReSize(n_obs,n_param); + // put the fitted values in Y, the derivatives in X. + Pred.Set(Parameters); + if (!Pred.IsValid()) { oorg=true; return; } + for (int i=1; i<=n_obs; i++) + { + Y(i) = Pred(i); + X.Row(i) = Pred.Derivatives(); + } + if (!Pred.IsValid()) { oorg=true; return; } // check afterwards as well + Y = *DataPointer - Y; Real ssq = Y.SumSquare(); + errorvar = ssq / (n_obs - n_param); + cout << "\n" << setw(15) << setprecision(10) << " " << errorvar; + Derivs = Y.t() * X; // get the derivative and stash it + oorg = false; v = -0.5 * ssq; +} + +bool NonLinearLeastSquares::NextPoint(ColumnVector& Adj, Real& test) +{ + Tracer tr("NonLinearLeastSquares::NextPoint"); + QRZ(X, U); QRZ(X, Y, M); // do the QR decomposition + test = M.SumSquare(); + cout << " " << setw(15) << setprecision(10) + << test << " " << Y.SumSquare() / (n_obs - n_param); + Adj = U.i() * M; + if (test < errorvar * criterion) return true; + else return false; +} + +Real NonLinearLeastSquares::LastDerivative(const ColumnVector& H) +{ return (Derivs * H).AsScalar(); } + +void NonLinearLeastSquares::Fit(const ColumnVector& Data, + ColumnVector& Parameters) +{ + Tracer tr("NonLinearLeastSquares::Fit"); + n_param = Parameters.Nrows(); n_obs = Data.Nrows(); + DataPointer = &Data; + FindMaximum2::Fit(Parameters, Lim); + cout << "\nConverged\n"; +} + +void NonLinearLeastSquares::MakeCovariance() +{ + if (Covariance.Nrows()==0) + { + UpperTriangularMatrix UI = U.i(); + Covariance << UI * UI.t() * errorvar; + SE << Covariance; // get diagonals + for (int i = 1; i<=n_param; i++) SE(i) = sqrt(SE(i)); + } +} + +void NonLinearLeastSquares::GetStandardErrors(ColumnVector& SEX) + { MakeCovariance(); SEX = SE.AsColumn(); } + +void NonLinearLeastSquares::GetCorrelations(SymmetricMatrix& Corr) + { MakeCovariance(); Corr << SE.i() * Covariance * SE.i(); } + +void NonLinearLeastSquares::GetHatDiagonal(DiagonalMatrix& Hat) const +{ + Hat.ReSize(n_obs); + for (int i = 1; i<=n_obs; i++) Hat(i) = X.Row(i).SumSquare(); +} + + +// the MLE_D_FI routines + +void MLE_D_FI::Value + (const ColumnVector& Parameters, bool wg, Real& v, bool& oorg) +{ + Tracer tr("MLE_D_FI::Value"); + if (!LL.IsValid(Parameters,wg)) { oorg=true; return; } + v = LL.LogLikelihood(); + if (!LL.IsValid()) { oorg=true; return; } // check validity again + cout << "\n" << setw(20) << setprecision(10) << v; + oorg = false; + Derivs = LL.Derivatives(); // Get derivatives +} + +bool MLE_D_FI::NextPoint(ColumnVector& Adj, Real& test) +{ + Tracer tr("MLE_D_FI::NextPoint"); + SymmetricMatrix FI = LL.FI(); + LT = Cholesky(FI); + ColumnVector Adj1 = LT.i() * Derivs; + Adj = LT.t().i() * Adj1; + test = SumSquare(Adj1); + cout << " " << setw(20) << setprecision(10) << test; + return (test < Criterion); +} + +Real MLE_D_FI::LastDerivative(const ColumnVector& H) +{ return (Derivs.t() * H).AsScalar(); } + +void MLE_D_FI::Fit(ColumnVector& Parameters) +{ + Tracer tr("MLE_D_FI::Fit"); + FindMaximum2::Fit(Parameters,Lim); + cout << "\nConverged\n"; +} + +void MLE_D_FI::MakeCovariance() +{ + if (Covariance.Nrows()==0) + { + LowerTriangularMatrix LTI = LT.i(); + Covariance << LTI.t() * LTI; + SE << Covariance; // get diagonal + int n = Covariance.Nrows(); + for (int i=1; i <= n; i++) SE(i) = sqrt(SE(i)); + } +} + +void MLE_D_FI::GetStandardErrors(ColumnVector& SEX) +{ MakeCovariance(); SEX = SE.AsColumn(); } + +void MLE_D_FI::GetCorrelations(SymmetricMatrix& Corr) +{ MakeCovariance(); Corr << SE.i() * Covariance * SE.i(); } + + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/newmatnl.h b/3rdparty/newmat/newmatnl.h new file mode 100644 index 0000000..388095c --- /dev/null +++ b/3rdparty/newmat/newmatnl.h @@ -0,0 +1,322 @@ +//$$ newmatnl.h definition file for non-linear optimisation + +// Copyright (C) 1993,4,5: R B Davies + +#ifndef NEWMATNL_LIB +#define NEWMATNL_LIB 0 + +#include "newmat.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + + + +/* + +This is a beginning of a series of classes for non-linear optimisation. + +At present there are two classes. FindMaximum2 is the basic optimisation +strategy when one is doing an optimisation where one has first +derivatives and estimates of the second derivatives. Class +NonLinearLeastSquares is derived from FindMaximum2. This provides the +functions that calculate function values and derivatives. + +A third class is now added. This is for doing maximum-likelihood when +you have first derviatives and something like the Fisher Information +matrix (eg the variance covariance matrix of the first derivatives or +minus the second derivatives - this matrix is assumed to be positive +definite). + + + + class FindMaximum2 + +Suppose T is the ColumnVector of parameters, F(T) the function we want +to maximise, D(T) the ColumnVector of derivatives of F with respect to +T, and S(T) the matrix of second derivatives. + +Then the basic iteration is given a value of T, update it to + + T - S.i() * D + +where .i() denotes inverse. + +If F was quadratic this would give exactly the right answer (except it +might get a minimum rather than a maximum). Since F is not usually +quadratic, the simple procedure would be to recalculate S and D with the +new value of T and keep iterating until the process converges. This is +known as the method of conjugate gradients. + +In practice, this method may not converge. FindMaximum2 considers an +iteration of the form + + T - x * S.i() * D + +where x is a number. It tries x = 1 and uses the values of F and its +slope with respect to x at x = 0 and x = 1 to fit a cubic in x. It then +choses x to maximise the resulting function. This gives our new value of +T. The program checks that the value of F is getting better and carries +out a variety of strategies if it is not. + +The program also has a second strategy. If the successive values of T +seem to be lying along a curve - eg we are following along a curved +ridge, the program will try to fit this ridge and project along it. This +does not work at present and is commented out. + +FindMaximum2 has three virtual functions which need to be over-ridden by +a derived class. + + void Value(const ColumnVector& T, bool wg, Real& f, bool& oorg); + +T is the column vector of parameters. The function returns the value of +the function to f, but may instead set oorg to true if the parameter +values are not valid. If wg is true it may also calculate and store the +second derivative information. + + bool NextPoint(ColumnVector& H, Real& d); + +Using the value of T provided in the previous call of Value, find the +conjugate gradients adjustment to T, that is - S.i() * D. Also return + + d = D.t() * S.i() * D. + +NextPoint should return true if it considers that the process has +converged (d very small) and false otherwise. The previous call of Value +will have set wg to true, so that S will be available. + + Real LastDerivative(const ColumnVector& H); + +Return the scalar product of H and the vector of derivatives at the last +value of T. + +The function Fit is the function that calls the iteration. + + void Fit(ColumnVector&, int); + +The arguments are the trial parameter values as a ColumnVector and the +maximum number of iterations. The program calls a DataException if the +initial parameters are not valid and a ConvergenceException if the +process fails to converge. + + + class NonLinearLeastSquares + +This class is derived from FindMaximum2 and carries out a non-linear +least squares fit. It uses a QR decomposition to carry out the +operations required by FindMaximum2. + +A prototype class R1_Col_I_D is provided. The user needs to derive a +class from this which includes functions the predicted value of each +observation its derivatives. An object from this class has to be +provided to class NonLinearLeastSquares. + +Suppose we observe n normal random variables with the same unknown +variance and such the i-th one has expected value given by f(i,P) +where P is a column vector of unknown parameters and f is a known +function. We wish to estimate P. + +First derive a class from R1_Col_I_D and override Real operator()(int i) +to give the value of the function f in terms of i and the ColumnVector +para defined in class R1_CoL_I_D. Also override ReturnMatrix +Derivatives() to give the derivates of f at para and the value of i +used in the preceeding call to operator(). Return the result as a +RowVector. Construct an object from this class. Suppose in what follows +it is called pred. + +Now constuct a NonLinearLeastSquaresObject accessing pred and optionally +an iteration limit and an accuracy critierion. + + NonLinearLeastSquares NLLS(pred, 1000, 0.0001); + +The accuracy critierion should be somewhat less than one and 0.0001 is +about the smallest sensible value. + +Define a ColumnVector P containing a guess at the value of the unknown +parameter, and a ColumnVector Y containing the unknown data. Call + + NLLS.Fit(Y,P); + +If the process converges, P will contain the estimates of the unknown +parameters. If it does not converge an exception will be generated. + +The following member functions can be called after you have done a fit. + +Real ResidualVariance() const; + +The estimate of the variance of the observations. + +void GetResiduals(ColumnVector& Z) const; + +The residuals of the individual observations. + +void GetStandardErrors(ColumnVector&); + +The standard errors of the observations. + +void GetCorrelations(SymmetricMatrix&); + +The correlations of the observations. + +void GetHatDiagonal(DiagonalMatrix&) const; + +Forms a diagonal matrix of values between 0 and 1. If the i-th value is +larger than, say 0.2, then the i-th data value could have an undue +influence on your estimates. + + +*/ + +class FindMaximum2 +{ + virtual void Value(const ColumnVector&, bool, Real&, bool&) = 0; + virtual bool NextPoint(ColumnVector&, Real&) = 0; + virtual Real LastDerivative(const ColumnVector&) = 0; +public: + void Fit(ColumnVector&, int); + virtual ~FindMaximum2() {} // to keep gnu happy +}; + +class R1_Col_I_D +{ + // The prototype for a Real function of a ColumnVector and an + // integer. + // You need to derive your function from this one and put in your + // function for operator() and Derivatives() at least. + // You may also want to set up a constructor to enter in additional + // parameter values (that will not vary during the solve). + +protected: + ColumnVector para; // Current x value + +public: + virtual bool IsValid() { return true; } + // is the current x value OK + virtual Real operator()(int i) = 0; // i-th function value at current para + virtual void Set(const ColumnVector& X) { para = X; } + // set current para + bool IsValid(const ColumnVector& X) + { Set(X); return IsValid(); } + // set para, check OK + Real operator()(int i, const ColumnVector& X) + { Set(X); return operator()(i); } + // set para, return value + virtual ReturnMatrix Derivatives() = 0; + // return derivatives as RowVector + virtual ~R1_Col_I_D() {} // to keep gnu happy +}; + + +class NonLinearLeastSquares : public FindMaximum2 +{ + // these replace the corresponding functions in FindMaximum2 + void Value(const ColumnVector&, bool, Real&, bool&); + bool NextPoint(ColumnVector&, Real&); + Real LastDerivative(const ColumnVector&); + + Matrix X; // the things we need to do the + ColumnVector Y; // QR triangularisation + UpperTriangularMatrix U; // see the write-up in newmata.txt + ColumnVector M; + Real errorvar, criterion; + int n_obs, n_param; + const ColumnVector* DataPointer; + RowVector Derivs; + SymmetricMatrix Covariance; + DiagonalMatrix SE; + R1_Col_I_D& Pred; // Reference to predictor object + int Lim; // maximum number of iterations + +public: + NonLinearLeastSquares(R1_Col_I_D& pred, int lim=1000, Real crit=0.0001) + : criterion(crit), Pred(pred), Lim(lim) {} + void Fit(const ColumnVector&, ColumnVector&); + Real ResidualVariance() const { return errorvar; } + void GetResiduals(ColumnVector& Z) const { Z = Y; } + void GetStandardErrors(ColumnVector&); + void GetCorrelations(SymmetricMatrix&); + void GetHatDiagonal(DiagonalMatrix&) const; + +private: + void MakeCovariance(); +}; + + +// The next class is the prototype class for calculating the +// log-likelihood. +// I assume first derivatives are available and something like the +// Fisher Information or variance/covariance matrix of the first +// derivatives or minus the matrix of second derivatives is +// available. This matrix must be positive definite. + +class LL_D_FI +{ +protected: + ColumnVector para; // current parameter values + bool wg; // true if FI matrix wanted + +public: + virtual void Set(const ColumnVector& X) { para = X; } + // set parameter values + virtual void WG(bool wgx) { wg = wgx; } + // set wg + + virtual bool IsValid() { return true; } + // return true is para is OK + bool IsValid(const ColumnVector& X, bool wgx=true) + { Set(X); WG(wgx); return IsValid(); } + + virtual Real LogLikelihood() = 0; // return the loglikelihhod + Real LogLikelihood(const ColumnVector& X, bool wgx=true) + { Set(X); WG(wgx); return LogLikelihood(); } + + virtual ReturnMatrix Derivatives() = 0; + // column vector of derivatives + virtual ReturnMatrix FI() = 0; // Fisher Information matrix + virtual ~LL_D_FI() {} // to keep gnu happy +}; + +// This is the class for doing the maximum likelihood estimation + +class MLE_D_FI : public FindMaximum2 +{ + // these replace the corresponding functions in FindMaximum2 + void Value(const ColumnVector&, bool, Real&, bool&); + bool NextPoint(ColumnVector&, Real&); + Real LastDerivative(const ColumnVector&); + + // the things we need for the analysis + LL_D_FI& LL; // reference to log-likelihood + int Lim; // maximum number of iterations + Real Criterion; // convergence criterion + ColumnVector Derivs; // for the derivatives + LowerTriangularMatrix LT; // Cholesky decomposition of FI + SymmetricMatrix Covariance; + DiagonalMatrix SE; + +public: + MLE_D_FI(LL_D_FI& ll, int lim=1000, Real criterion=0.0001) + : LL(ll), Lim(lim), Criterion(criterion) {} + void Fit(ColumnVector& Parameters); + void GetStandardErrors(ColumnVector&); + void GetCorrelations(SymmetricMatrix&); + +private: + void MakeCovariance(); +}; + + +#ifdef use_namespace +} +#endif + + + +#endif + +// body file: newmatnl.cpp + + + + diff --git a/3rdparty/newmat/newmatrc.h b/3rdparty/newmat/newmatrc.h new file mode 100644 index 0000000..2216373 --- /dev/null +++ b/3rdparty/newmat/newmatrc.h @@ -0,0 +1,170 @@ +//$$ newmatrc.h definition file for row/column classes + +// Copyright (C) 1991,2,3,4,7: R B Davies + +#ifndef NEWMATRC_LIB +#define NEWMATRC_LIB 0 + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#include "controlw.h" + + +/************** classes MatrixRowCol, MatrixRow, MatrixCol *****************/ + +// Used for accessing the rows and columns of matrices +// All matrix classes must provide routines for calculating matrix rows and +// columns. Assume rows can be found very efficiently. + +enum LSF { LoadOnEntry=1,StoreOnExit=2,DirectPart=4,StoreHere=8,HaveStore=16 }; + + +class LoadAndStoreFlag : public ControlWord +{ +public: + LoadAndStoreFlag() {} + LoadAndStoreFlag(int i) : ControlWord(i) {} + LoadAndStoreFlag(LSF lsf) : ControlWord(lsf) {} + LoadAndStoreFlag(const ControlWord& cwx) : ControlWord(cwx) {} +}; + +class MatrixRowCol +// the row or column of a matrix +{ +public: // these are public to avoid + // numerous friend statements + int length; // row or column length + int skip; // initial number of zeros + int storage; // number of stored elements + int rowcol; // row or column number + GeneralMatrix* gm; // pointer to parent matrix + Real* data; // pointer to local storage + LoadAndStoreFlag cw; // Load? Store? Is a Copy? + void IncrMat() { rowcol++; data += storage; } // used by NextRow + void IncrDiag() { rowcol++; skip++; data++; } + void IncrId() { rowcol++; skip++; } + void IncrUT() { rowcol++; data += storage; storage--; skip++; } + void IncrLT() { rowcol++; data += storage; storage++; } + +public: + void Zero(); // set elements to zero + void Add(const MatrixRowCol&); // add a row/col + void AddScaled(const MatrixRowCol&, Real); // add a multiple of a row/col + void Add(const MatrixRowCol&, const MatrixRowCol&); + // add two rows/cols + void Add(const MatrixRowCol&, Real); // add a row/col + void NegAdd(const MatrixRowCol&, Real); // Real - a row/col + void Sub(const MatrixRowCol&); // subtract a row/col + void Sub(const MatrixRowCol&, const MatrixRowCol&); + // sub a row/col from another + void RevSub(const MatrixRowCol&); // subtract from a row/col + void ConCat(const MatrixRowCol&, const MatrixRowCol&); + // concatenate two row/cols + void Multiply(const MatrixRowCol&); // multiply a row/col + void Multiply(const MatrixRowCol&, const MatrixRowCol&); + // multiply two row/cols + void KP(const MatrixRowCol&, const MatrixRowCol&); + // Kronecker Product two row/cols + void Copy(const MatrixRowCol&); // copy a row/col + void CopyCheck(const MatrixRowCol&); // ... check for data loss + void Check(const MatrixRowCol&); // just check for data loss + void Check(); // check full row/col present + void Copy(const Real*&); // copy from an array + void Copy(Real); // copy from constant + void Add(Real); // add a constant + void Multiply(Real); // multiply by constant + Real SumAbsoluteValue(); // sum of absolute values + Real MaximumAbsoluteValue1(Real r, int& i); // maximum of absolute values + Real MinimumAbsoluteValue1(Real r, int& i); // minimum of absolute values + Real Maximum1(Real r, int& i); // maximum + Real Minimum1(Real r, int& i); // minimum + Real Sum(); // sum of values + void Inject(const MatrixRowCol&); // copy stored els of a row/col + void Negate(const MatrixRowCol&); // change sign of a row/col + void Multiply(const MatrixRowCol&, Real); // scale a row/col + friend Real DotProd(const MatrixRowCol&, const MatrixRowCol&); + // sum of pairwise product + Real* Data() { return data; } + int Skip() { return skip; } // number of elements skipped + int Storage() { return storage; } // number of elements stored + int Length() { return length; } // length of row or column + void Skip(int i) { skip=i; } + void Storage(int i) { storage=i; } + void Length(int i) { length=i; } + void SubRowCol(MatrixRowCol&, int, int) const; + // get part of a row or column + MatrixRowCol() {} // to stop warning messages + ~MatrixRowCol(); + FREE_CHECK(MatrixRowCol) +}; + +class MatrixRow : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixRow(GeneralMatrix*, LoadAndStoreFlag, int=0); + // extract a row + ~MatrixRow(); + void Next(); // get next row + FREE_CHECK(MatrixRow) +}; + +class MatrixCol : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixCol(GeneralMatrix*, LoadAndStoreFlag, int=0); + // extract a col + MatrixCol(GeneralMatrix*, Real*, LoadAndStoreFlag, int=0); + // store/retrieve a col + ~MatrixCol(); + void Next(); // get next row + FREE_CHECK(MatrixCol) +}; + +// MatrixColX is an alternative to MatrixCol where the complete +// column is stored externally + +class MatrixColX : public MatrixRowCol +{ +public: + // bodies for these are inline at the end of this .h file + MatrixColX(GeneralMatrix*, Real*, LoadAndStoreFlag, int=0); + // store/retrieve a col + ~MatrixColX(); + void Next(); // get next row + Real* store; // pointer to local storage + // less skip + FREE_CHECK(MatrixColX) +}; + +/**************************** inline bodies ****************************/ + +inline MatrixRow::MatrixRow(GeneralMatrix* gmx, LoadAndStoreFlag cwx, int row) +{ gm=gmx; cw=cwx; rowcol=row; gm->GetRow(*this); } + +inline void MatrixRow::Next() { gm->NextRow(*this); } + +inline MatrixCol::MatrixCol(GeneralMatrix* gmx, LoadAndStoreFlag cwx, int col) +{ gm=gmx; cw=cwx; rowcol=col; gm->GetCol(*this); } + +inline MatrixCol::MatrixCol(GeneralMatrix* gmx, Real* r, + LoadAndStoreFlag cwx, int col) +{ gm=gmx; data=r; cw=cwx+StoreHere; rowcol=col; gm->GetCol(*this); } + +inline MatrixColX::MatrixColX(GeneralMatrix* gmx, Real* r, + LoadAndStoreFlag cwx, int col) +{ gm=gmx; store=data=r; cw=cwx+StoreHere; rowcol=col; gm->GetCol(*this); } + + +inline void MatrixCol::Next() { gm->NextCol(*this); } + +inline void MatrixColX::Next() { gm->NextCol(*this); } + +#ifdef use_namespace +} +#endif + +#endif diff --git a/3rdparty/newmat/newmatrm.cpp b/3rdparty/newmat/newmatrm.cpp new file mode 100644 index 0000000..68ce618 --- /dev/null +++ b/3rdparty/newmat/newmatrm.cpp @@ -0,0 +1,189 @@ +//$$newmatrm.cpp rectangular matrix operations + +// Copyright (C) 1991,2,3,4: R B Davies + + + +#include "newmat.h" +#include "newmatrm.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,12); ++ExeCount; } +#else +#define REPORT {} +#endif + + +// operations on rectangular matrices + + +void RectMatrixRow::Reset (const Matrix& M, int row, int skip, int length) +{ + REPORT + RectMatrixRowCol::Reset + ( M.Store()+row*M.Ncols()+skip, length, 1, M.Ncols() ); +} + +void RectMatrixRow::Reset (const Matrix& M, int row) +{ + REPORT + RectMatrixRowCol::Reset( M.Store()+row*M.Ncols(), M.Ncols(), 1, M.Ncols() ); +} + +void RectMatrixCol::Reset (const Matrix& M, int skip, int col, int length) +{ + REPORT + RectMatrixRowCol::Reset + ( M.Store()+col+skip*M.Ncols(), length, M.Ncols(), 1 ); +} + +void RectMatrixCol::Reset (const Matrix& M, int col) +{ + REPORT + RectMatrixRowCol::Reset( M.Store()+col, M.Nrows(), M.Ncols(), 1 ); +} + + +Real RectMatrixRowCol::SumSquare() const +{ + REPORT + long_Real sum = 0.0; int i = n; Real* s = store; int d = spacing; + // while (i--) { sum += (long_Real)*s * *s; s += d; } + if (i) for(;;) + { sum += (long_Real)*s * *s; if (!(--i)) break; s += d; } + return (Real)sum; +} + +Real RectMatrixRowCol::operator*(const RectMatrixRowCol& rmrc) const +{ + REPORT + long_Real sum = 0.0; int i = n; + Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in *")); + } + // while (i--) { sum += (long_Real)*s * *s1; s += d; s1 += d1; } + if (i) for(;;) + { sum += (long_Real)*s * *s1; if (!(--i)) break; s += d; s1 += d1; } + return (Real)sum; +} + +void RectMatrixRowCol::AddScaled(const RectMatrixRowCol& rmrc, Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in AddScaled")); + } + // while (i--) { *s += *s1 * r; s += d; s1 += d1; } + if (i) for (;;) + { *s += *s1 * r; if (!(--i)) break; s += d; s1 += d1; } +} + +void RectMatrixRowCol::Divide(const RectMatrixRowCol& rmrc, Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + Real* s1 = rmrc.store; int d1 = rmrc.spacing; + if (i!=rmrc.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in Divide")); + } + // while (i--) { *s = *s1 / r; s += d; s1 += d1; } + if (i) for (;;) { *s = *s1 / r; if (!(--i)) break; s += d; s1 += d1; } +} + +void RectMatrixRowCol::Divide(Real r) +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s /= r; s += d; } + if (i) for (;;) { *s /= r; if (!(--i)) break; s += d; } +} + +void RectMatrixRowCol::Negate() +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s = - *s; s += d; } + if (i) for (;;) { *s = - *s; if (!(--i)) break; s += d; } +} + +void RectMatrixRowCol::Zero() +{ + REPORT + int i = n; Real* s = store; int d = spacing; + // while (i--) { *s = 0.0; s += d; } + if (i) for (;;) { *s = 0.0; if (!(--i)) break; s += d; } +} + +void ComplexScale(RectMatrixCol& U, RectMatrixCol& V, Real x, Real y) +{ + REPORT + int n = U.n; + if (n != V.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in ComplexScale")); + } + Real* u = U.store; Real* v = V.store; + int su = U.spacing; int sv = V.spacing; + //while (n--) + //{ + // Real z = *u * x - *v * y; *v = *u * y + *v * x; *u = z; + // u += su; v += sv; + //} + if (n) for (;;) + { + Real z = *u * x - *v * y; *v = *u * y + *v * x; *u = z; + if (!(--n)) break; + u += su; v += sv; + } +} + +void Rotate(RectMatrixCol& U, RectMatrixCol& V, Real tau, Real s) +{ + REPORT + // (U, V) = (U, V) * (c, s) where tau = s/(1+c), c^2 + s^2 = 1 + int n = U.n; + if (n != V.n) + { + Tracer tr("newmatrm"); + Throw(InternalException("Dimensions differ in Rotate")); + } + Real* u = U.store; Real* v = V.store; + int su = U.spacing; int sv = V.spacing; + //while (n--) + //{ + // Real zu = *u; Real zv = *v; + // *u -= s * (zv + zu * tau); *v += s * (zu - zv * tau); + // u += su; v += sv; + //} + if (n) for(;;) + { + Real zu = *u; Real zv = *v; + *u -= s * (zv + zu * tau); *v += s * (zu - zv * tau); + if (!(--n)) break; + u += su; v += sv; + } +} + + + + +#ifdef use_namespace +} +#endif + + diff --git a/3rdparty/newmat/newmatrm.h b/3rdparty/newmat/newmatrm.h new file mode 100644 index 0000000..917a390 --- /dev/null +++ b/3rdparty/newmat/newmatrm.h @@ -0,0 +1,122 @@ +//$$newmatrm.h rectangular matrix operations + +// Copyright (C) 1991,2,3,4: R B Davies + +#ifndef NEWMATRM_LIB +#define NEWMATRM_LIB 0 + +#ifdef use_namespace +namespace NEWMAT { +#endif + +// operations on rectangular matrices + +class RectMatrixCol; + +class RectMatrixRowCol +// a class for accessing rows and columns of rectangular matrices +{ +protected: +#ifdef use_namespace // to make namespace work +public: +#endif + Real* store; // pointer to storage + int n; // number of elements + int spacing; // space between elements + int shift; // space between cols or rows + RectMatrixRowCol(Real* st, int nx, int sp, int sh) + : store(st), n(nx), spacing(sp), shift(sh) {} + void Reset(Real* st, int nx, int sp, int sh) + { store=st; n=nx; spacing=sp; shift=sh; } +public: + Real operator*(const RectMatrixRowCol&) const; // dot product + void AddScaled(const RectMatrixRowCol&, Real); // add scaled + void Divide(const RectMatrixRowCol&, Real); // scaling + void Divide(Real); // scaling + void Negate(); // change sign + void Zero(); // zero row col + Real& operator[](int i) { return *(store+i*spacing); } // element + Real SumSquare() const; // sum of squares + Real& First() { return *store; } // get first element + void DownDiag() { store += (shift+spacing); n--; } + void UpDiag() { store -= (shift+spacing); n++; } + friend void ComplexScale(RectMatrixCol&, RectMatrixCol&, Real, Real); + friend void Rotate(RectMatrixCol&, RectMatrixCol&, Real, Real); + FREE_CHECK(RectMatrixRowCol) +}; + +class RectMatrixRow : public RectMatrixRowCol +{ +public: + RectMatrixRow(const Matrix&, int, int, int); + RectMatrixRow(const Matrix&, int); + void Reset(const Matrix&, int, int, int); + void Reset(const Matrix&, int); + Real& operator[](int i) { return *(store+i); } + void Down() { store += shift; } + void Right() { store++; n--; } + void Up() { store -= shift; } + void Left() { store--; n++; } + FREE_CHECK(RectMatrixRow) +}; + +class RectMatrixCol : public RectMatrixRowCol +{ +public: + RectMatrixCol(const Matrix&, int, int, int); + RectMatrixCol(const Matrix&, int); + void Reset(const Matrix&, int, int, int); + void Reset(const Matrix&, int); + void Down() { store += spacing; n--; } + void Right() { store++; } + void Up() { store -= spacing; n++; } + void Left() { store--; } + friend void ComplexScale(RectMatrixCol&, RectMatrixCol&, Real, Real); + friend void Rotate(RectMatrixCol&, RectMatrixCol&, Real, Real); + FREE_CHECK(RectMatrixCol) +}; + +class RectMatrixDiag : public RectMatrixRowCol +{ +public: + RectMatrixDiag(const DiagonalMatrix& D) + : RectMatrixRowCol(D.Store(), D.Nrows(), 1, 1) {} + Real& operator[](int i) { return *(store+i); } + void DownDiag() { store++; n--; } + void UpDiag() { store--; n++; } + FREE_CHECK(RectMatrixDiag) +}; + + +inline RectMatrixRow::RectMatrixRow + (const Matrix& M, int row, int skip, int length) + : RectMatrixRowCol( M.Store()+row*M.Ncols()+skip, length, 1, M.Ncols() ) {} + +inline RectMatrixRow::RectMatrixRow (const Matrix& M, int row) + : RectMatrixRowCol( M.Store()+row*M.Ncols(), M.Ncols(), 1, M.Ncols() ) {} + +inline RectMatrixCol::RectMatrixCol + (const Matrix& M, int skip, int col, int length) + : RectMatrixRowCol( M.Store()+col+skip*M.Ncols(), length, M.Ncols(), 1 ) {} + +inline RectMatrixCol::RectMatrixCol (const Matrix& M, int col) + : RectMatrixRowCol( M.Store()+col, M.Nrows(), M.Ncols(), 1 ) {} + +inline Real square(Real x) { return x*x; } +inline Real sign(Real x, Real y) + { return (y>=0) ? x : -x; } // assume x >=0 + + + + + + +#ifdef use_namespace +} +#endif + +#endif + +// body file: newmatrm.cpp + + diff --git a/3rdparty/newmat/nl_ex.cpp b/3rdparty/newmat/nl_ex.cpp new file mode 100644 index 0000000..ba142d1 --- /dev/null +++ b/3rdparty/newmat/nl_ex.cpp @@ -0,0 +1,93 @@ +// This is an example of a non-linear least squares fit. The example +// is from "Nonlinear estimation" by Gavin Ross (Springer,1990), p 63. +// There are better ways of doing the fit in this case so this +// example is just an example. + +// The model is E(y) = a + b exp(-kx) and there are 6 data points. + +#define WANT_STREAM +#define WANT_MATH +#include "newmatnl.h" +#include "newmatio.h" + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + + +// first define the class describing the predictor function + +class Model_3pe : public R1_Col_I_D +{ + ColumnVector x_values; // the values of "x" + RowVector deriv; // values of derivatives +public: + Model_3pe(const ColumnVector& X_Values) + : x_values(X_Values) { deriv.ReSize(3); } + // load X data + Real operator()(int); + bool IsValid() { return para(3)>0; } + // require "k" > 0 + ReturnMatrix Derivatives() { return deriv; } +}; + +Real Model_3pe::operator()(int i) +{ + Real a = para(1); Real b = para(2); Real k = para(3); + Real xvi = x_values(i); + Real e = exp(-k * xvi); + deriv(1) = 1.0; // calculate derivatives + deriv(2) = e; + deriv(3) = - b * e * xvi; + return a + b * e; // function value +} + +int main() +{ + { + // Get the data + ColumnVector X(6); + ColumnVector Y(6); + X << 1 << 2 << 3 << 4 << 6 << 8; + Y << 3.2 << 7.9 << 11.1 << 14.5 << 16.7 << 18.3; + + + // Do the fit + Model_3pe model(X); // the model object + NonLinearLeastSquares NLLS(model); // the non-linear least squares + // object + ColumnVector Para(3); // for the parameters + Para << 9 << -6 << .5; // trial values of parameters + cout << "Fitting parameters\n"; + NLLS.Fit(Y,Para); // do the fit + + // Inspect the results + ColumnVector SE; // for the standard errors + NLLS.GetStandardErrors(SE); + cout << "\n\nEstimates and standard errors\n" << + setw(10) << setprecision(2) << (Para | SE) << endl; + Real ResidualSD = sqrt(NLLS.ResidualVariance()); + cout << "\nResidual s.d. = " << setw(10) << setprecision(2) << + ResidualSD << endl; + SymmetricMatrix Correlations; + NLLS.GetCorrelations(Correlations); + cout << "\nCorrelationMatrix\n" << + setw(10) << setprecision(2) << Correlations << endl; + ColumnVector Residuals; + NLLS.GetResiduals(Residuals); + DiagonalMatrix Hat; + NLLS.GetHatDiagonal(Hat); + cout << "\nX, Y, Residual, Hat\n" << setw(10) << setprecision(2) << + (X | Y | Residuals | Hat.AsColumn()) << endl; + // recover var/cov matrix + SymmetricMatrix D; + D << SE.AsDiagonal() * Correlations * SE.AsDiagonal(); + cout << "\nVar/cov\n" << setw(14) << setprecision(4) << D << endl; + } + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + + return 0; +} diff --git a/3rdparty/newmat/nl_ex.txt b/3rdparty/newmat/nl_ex.txt new file mode 100644 index 0000000..78bfef7 --- /dev/null +++ b/3rdparty/newmat/nl_ex.txt @@ -0,0 +1,42 @@ +Fitting parameters + + 70.02918529 209.6252324 0.1541078372 + 94.78295699 + 49.23360397 147.1803571 0.1734849298 + 1.848950128 + 0.7422941575 1.70673579 0.1733822274 + 0.2113527145 + 0.1955923541 0.06041118379 0.1754552928 + 0.1754553498 + 0.1754553471 2.341694142e-08 0.1754553393 +Converged + + +Estimates and standard errors + 19.77 0.73 + -23.63 0.82 + 0.35 0.04 + + +Residual s.d. = 0.42 + +CorrelationMatrix + 1.00 -0.05 -0.91 + -0.05 1.00 -0.31 + -0.91 -0.31 1.00 + + +X, Y, Residual, Hat + 1.00 3.20 0.10 0.89 + 2.00 7.90 -0.11 0.33 + 3.00 11.10 -0.38 0.39 + 4.00 14.50 0.58 0.35 + 6.00 16.70 -0.16 0.32 + 8.00 18.30 -0.02 0.73 + + +Var/cov + 0.5295 -0.0324 -0.0250 + -0.0324 0.6668 -0.0096 + -0.0250 -0.0096 0.0014 + diff --git a/3rdparty/newmat/nm10.htm b/3rdparty/newmat/nm10.htm new file mode 100644 index 0000000..1dfe84f --- /dev/null +++ b/3rdparty/newmat/nm10.htm @@ -0,0 +1,3560 @@ + + + + + + + + + +Newmat10 documentation + + + + + +

Documentation for newmat10D, a matrix library in C++

+

next - skip - +up - start
+return to online documentation page

+

Copyright (C) 2006: R B Davies

+

2 April, 2006

+ + + + + +
1. +Introduction
+2. Getting started
+3. Reference manual		 4. +Error messages
+5. Design of the library
+

This is the how to use documentation for newmat plus some +background information on its design.

+

There is additional support material on my web site. +

+

Navigation:  This page is arranged in sections, +sub-sections and sub-sub-sections; four cross-references are given at the top +of these. Next takes you through the sections, sub-sections and +sub-sub-sections in order. Skip goes to the next section, sub-section or +sub-sub-section at the same level in the hierarchy as the section, sub-section +or sub-sub-section that you are currently reading. Up takes you up one +level in the hierarchy and start gets you back here.

+

Please read the sections on customising and +compilers before +attempting to compile newmat.

+

1. Introduction

+

next - skip - +up - start

+ + + + + +
1.1 +Conditions of use
+1.2 Description
+1.3 Is this the library for you?
+1.4 Other matrix libraries		 1.5 +Where to find this library
+1.6 How to contact the author
+1.7 Change history
+1.8 References
+

1.1 Conditions of use

+

next - skip - +up - start

+
+

I place no restrictions on the use of newmat except that I take no liability for any problems that may arise from its use, +distribution or other dealings with it.

+

+You can use it in your commercial projects.

+

+You can make and distribute modified or merged versions. You can +include parts of it in your own software.

+

+If you distribute modified or merged versions, please make it clear +which parts are mine and which parts are modified.

+

+For a substantially modified version, simply note that it is, in +part, derived from my software. A comment in the code will be +sufficient.

+

+The software is provided "as is", without warranty of any kind.

+

+Please understand that there may still be bugs and errors. Use at +your own risk. I (Robert Davies) take no responsibility for any errors +or omissions in this package or for any misfortune that may befall you +or others as a result of your use, distribution or other dealings with it.

+

Please report bugs to me at robert (at) statsresearch.co.nz

+

When reporting a bug please tell me which C++ compiler you are using, and +what version. Also give me details of your computer. And tell me which version +of newmat (e.g. newmat03 or newmat04) you are using. Note any changes +you have made to my code. If at all possible give me a piece of code +illustrating the bug. See the problem report form.

+

Please do report bugs to me.

+

1.2 General description +

+

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+

The package is intended for scientists and engineers who need to manipulate +a variety of types of matrices using standard matrix operations. Emphasis is on +the kind of operations needed in statistical calculations such as least +squares, linear equation solve and eigenvalues.

+

It supports matrix types

+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Matrixrectangular matrix
nricMatrixfor use with Numerical Recipes in C programs
UpperTriangularMatrix 
LowerTriangularMatrix 
DiagonalMatrix 
SymmetricMatrix 
BandMatrix 
UpperBandMatrixupper triangular band matrix
LowerBandMatrixlower triangular band matrix
SymmetricBandMatrix 
RowVectorderived from Matrix
ColumnVectorderived from Matrix
IdentityMatrixdiagonal matrix, elements have same value
+
+

Only one element type (float or double) is supported.

+

The package includes the operations *, +, -, +Kronecker product, Schur product, concatenation, inverse, transpose, conversion between types, submatrix, +determinant, Cholesky decomposition, QR triangularisation, singular value +decomposition, eigenvalues of a symmetric matrix, sorting, fast Fourier +transform, printing and an interface with Numerical Recipes in C.

+

It is intended for matrices in the range 10 x 10 to the maximum size your +machine will accommodate in a single array. The number of elements in an array +cannot exceed the maximum size of an int. The package will work for very +small matrices but becomes rather inefficient. Some of the factorisation +functions are not (yet) optimised for paged memory and so become inefficient +when used with very large matrices.

+

A lazy evaluation approach to evaluating matrix expressions is used +to improve efficiency and reduce the use of temporary storage.

+

I have tested versions of the package on variety of compilers and platforms +including Borland, Gnu, Microsoft, Sun and Watcom. For more details +see the section on compilers.

+

1.3 Is this the library for +you?

+

next - skip - +up - start

+

Do you

+
    +
  • understand * to mean matrix multiply and not element by element +multiply
    • +
  • need matrix operators such as * and + defined as +operators so you can write things like X = A * (B + C);
    • +
  • need a variety of types of matrices (but not sparse)
    • +
  • need only one element type (float or double)
    • +
  • work with matrices in the range 10 x 10 up to what can be stored in memory +
    • +
  • tolerate a moderately large but not huge package
    • +
  • need high quality but not necessarily the latest numerical methods.
    • +
+

Then newmat may be the right matrix library for you.

+

1.4 Other matrix libraries +

+

next - skip - +up - start

+

For details of other C++ matrix libraries look at +http://www.robertnz.net/cpp_site.html. +Look at the section lists of libraries which gives the locations of +several very comprehensive lists of matrix and other C++ libraries and at the +section source code.

+

1.5 Where to find this +library

+

next - skip - +up - start

+ +

1.6 How to contact the +author

+

next - skip - +up - start

+
   Robert Davies
+   16 Gloucester Street
+   Wilton
+   Wellington
+   New Zealand
+
+   email: robert at statsresearch.co.nz
+
+ +

1.7 Change history

+

next - skip - +up - start

+

Newmat10D - April, 2006:

+

Compatibility fix for Gnu G++ 4.1.

+

Newmat10C - March, 2006:

+

Update conditions of use to be acceptable for Debian +distribution, a few minor fixes; additional make files; update include.h, myexpect.h, +myexcept.cpp, precisio.h.

+

Newmat10B - January, 2005:

+

Fix compatibility problems with Gnu G++ 3.4 and Intel 8.1 +compilers; update include.h, myexpect.h, +myexcept.cpp, precisio.h.

+

Newmat10A - October, 2002:

+

Fix error in Kronecker product; fixes for Intel and GCC3 +compilers.

+

Newmat10 - January, 2002:

+

Improve compatibility with GCC, fix errors in FFT and +GenericMatrix, update simulated exceptions, maxima, minima, determinant, dot +product and Frobenius norm functions, update make files for CC and GCC, faster +FFT, A.ReSize(B), fix pointer arithmetic, << for loading +data into rows, IdentityMatrix, Kronecker product, sort singular values.

+

Newmat09 - September, 1997:

+

Operator ==, !=, +=, -=, +*=, /=, |=, &=. Follow new rules for +for (int i; ... ) construct. Change Boolean, TRUE, FALSE to bool, true, +false. Change ReDimension to ReSize. SubMatrix allows zero rows and columns. +Scalar +, - or * matrix is OK. Simplify simulated +exceptions. Fix non-linear programs for AT&T compilers. Dummy inequality +operators. Improve internal row/column operations. Improve matrix LU +decomposition. Improve sort. Reverse function. IsSingular function. Fast trig +transforms. Namespace definitions.

+

Newmat08A - July, 1995:

+

Fix error in SVD.

+

Newmat08 - January, 1995:

+

Corrections to improve compatibility with Gnu, Watcom. +Concatenation of matrices. Elementwise products. Option to use compilers +supporting exceptions. Correction to exception module to allow global +declarations of matrices. Fix problem with inverse of symmetric matrices. Fix +divide-by-zero problem in SVD. Include new QR routines. Sum function. +Non-linear optimisation. GenericMatrices.

+

Newmat07 - January, 1993

+

Minor corrections to improve compatibility with Zortech, +Microsoft and Gnu. Correction to exception module. Additional FFT functions. +Some minor increases in efficiency. Submatrices can now be used on RHS of =. +Option for allowing C type subscripts. Method for loading short lists of +numbers.

+

Newmat06 - December 1992:

+

Added band matrices; 'real' changed to 'Real' (to avoid +potential conflict in complex class); Inject doesn't check for no loss of +information; fixes for AT&T C++ version 3.0; real(A) becomes A.AsScalar(); +CopyToMatrix becomes AsMatrix, etc; .c() is no longer required (to be deleted +in next version); option for version 2.1 or later. Suffix for include files +changed to .h; BOOL changed to Boolean (BOOL doesn't work in g++ v 2.0); +modifications to allow for compilers that destroy temporaries very quickly; +(Gnu users - see the section of compilers). Added CleanUp, +LinearEquationSolver, primitive version of exceptions.

+

Newmat05 - June 1992:

+

For private release only

+

Newmat04 - December 1991:

+

Fix problem with G++1.40, some extra documentation +

+

Newmat03 - November 1991:

+

Col and Cols become Column and Columns. Added Sort, SVD, +Jacobi, Eigenvalues, FFT, real conversion of 1x1 matrix, Numerical Recipes +in C interface, output operations, various scalar functions. Improved +return from functions. Reorganised setting options in "include.hxx". +

+

Newmat02 - July 1991:

+

Version with matrix row/column operations and numerous +additional functions.

+

Matrix - October 1990:

+

Early version of package.

+

1.8 References

+

next - skip - +up - start

+
    +
  • The matrix LU decomposition is from Golub, G.H. & Van Loan, C.F. +(1996), Matrix Computations, published by Johns Hopkins University +Press.
    • +
  • Part of the matrix inverse/solve routine is adapted from Press, Flannery, +Teukolsky, Vetterling (1988), Numerical Recipes in C, published by the +Cambridge University Press.
    • +
  • Many of the advanced matrix routines are adapted from routines in Wilkinson +and Reinsch (1971), Handbook for Automatic Computation, Vol II, Linear +Algebra published by Springer Verlag.
    • +
  • The fast Fourier transform is adapted from Carl de Boor (1980), Siam J +Sci Stat Comput, pp173-8 and the fast trigonometric transforms from Charles +Van Loan (1992) in Computational frameworks for the fast Fourier +transform published by SIAM.
    • +
  • The sort function is derived from Sedgewick, Robert (1992), Algorithms +in C++ published by Addison Wesley.
    • +
+

For references about Newmat see

+
    +
  • Davies, R.B. (1994) Writing a matrix package in C++. In OON-SKI'94: The +second annual object-oriented numerics conference, pp 207-213. Rogue Wave +Software, Corvallis.
    • +
  • Eddelbuttel, Dirk (1996) Object-oriented econometrics: matrix programming +in C++ using GCC and Newmat. Journal of Applied Econometrics, Vol 11, No 2, pp +199-209.
    • +
+

2. Getting started

+

next - skip - +up - start

+ + + + + +
2.1 Overview
+2.2 Make files
+2.3 Customising
+2.4 Compilers
+2.5 Updating from previous versions
+2.6 Catching exceptions		 2.7 Example
+2.8 Testing
+2.9 Bugs
+2.10 Files in newmat10
+2.11 Problem report form
+

2.1 Overview

+

next - skip - +up - start

+

I use .h as the suffix of definition files and .cpp as the suffix of C++ +source files.

+

You will need to compile all the *.cpp files listed as program files in the +files section to get the complete package. Ideally you +should store the resulting object files as a library. The tmt*.cpp files are +used for testing, example.cpp is an example and sl_ex.cpp, nl_ex.cpp and garch.cpp are examples +of the non-linear solve and optimisation routines. A +demonstration and test of the exception mechanism is in test_exc.cpp.

+

I include a number of make files for compiling the example and the +test package. See the section on make files for details. +But with the PC compilers, its pretty quick just to load all the files in the +interactive environments by pointing and clicking.

+

Use the large or win32 console model when you are using a PC. Do not +outline inline functions. You may need to increase the stack size.

+

Your source files that access the newmat will need to #include one or more +of the following files.

+ + + + + + + + + + + + + + + + + + + + + +
include.hto access just the compiler options
newmat.hto access just the main matrix library (includes include.h)
newmatap.hto access the advanced matrix routines such as Cholesky decomposition, QR +triangularisation etc (includes newmat.h)
newmatio.hto access the output routines (includes newmat.h) You +can use this only with compilers that support the standard input/output +routines including manipulators
newmatnl.hto access the non-linear optimisation routines (includes newmat.h)
+

See the section on customising to see how to edit +include.h for your environment and the section on compilers for any special problems with the compiler you +are using.

+

2.2 Make files

+

next - skip - +up - start

+

I have included make files for CC, Microsoft, Intel, Borland 5.5 and Gnu compilers +for compiling the examples. You +can generate make files for a number of other compilers with my +genmake utility. Make files provide +a way of compiling your programs without using the IDE that comes with +PC compilers. See the files section for details. See the +example for how to use them. Leave out the target name +to compile and link all my examples and test files. For more information on how +to use these files see the documentation for my +genmake utility.

+

PC

+

I include make files for Microsoft, Intel, Borland 5.5. For Borland you will need to edit it to show where +you have stored your Borland compiler. For make files for other compilers use my +genmake utility.

+

Unix

+

The make file for the Unix CC compilers link a .cxx file to each .cpp +file since some of these compilers do not recognise .cpp as a legitimate +extension for a C++ file. I suggest you delete this part of the make +file and, if necessary, rename the .cpp files to something your compiler +recognises.

+

My make file for Gnu GCC on Unix systems is for use with +gmake rather than make. I assume your compiler recognises the +.cpp extension. Ordinary make works with it on the Sun but not the +Silicon Graphics or HP machines. On Linux use make.

+

My make file for the CC compilers works with the ordinary make.

+

To compile everything with the CC compiler use

+
   make -f nm_cc.mak
+
+ +

or for the gnu compiler use

+
   gmake -f nm_gnu.mak
+
+ +

There is a line in the make file for CC rm -f $*.cxx. Some systems +won't accept this line and you will need to delete it. In this case, if you +have a bad compile and you are using my scheme for linking .cxx files, you will +need to delete the .cxx file link generated by that compile before you can do +the next one.

+

There is also a make file for the Intel compiler for Linux.

+

2.3 Customising

+

next - skip - +up - start

+

The file include.h sets a variety of options including several +compiler dependent options. You may need to edit include.h to get the options +you require. If you are using a compiler different from one I have worked with +you may have to set up a new section in include.h appropriate for your +compiler.

+

Borland, Turbo, Gnu, Microsoft and Watcom are recognised automatically. If +none of these are recognised a default set of options is used. These are fine +for AT&T, HPUX and Sun C++. If you using a compiler I don't know about you +may have to write a new set of options.

+

There is an option in include.h for selecting whether you use compiler +supported exceptions, simulated exceptions, or disable exceptions. I now set + compiler supported exceptions as the default. Use the option for +compiler supported exceptions if and only if you have set the option on +your compiler to recognise exceptions. Disabling exceptions sometimes helps +with compilers that are incompatible with my exception simulation scheme.

+

If you are using an older compiler that does not recognises +bool as required by the standard then de-activate the statement +#define bool_LIB. This will turn on my Boolean class.

+

Activate the appropriate statement to make the element type float or double. +

+

I suggest you leave the options TEMPS_DESTROYED_QUICKLY, +TEMPS_DESTROYED_QUICKLY_R de-activated, unless you are using a very old +version of Gnu compiler (<2.6). This stores the trees describing +matrix expressions on the stack rather than the heap. See the discussion on +destruction of temporaries for more explanation.

+

The option DO_FREE_CHECK is used for tracking memory +leaks and normally should not be activated.

+

Activate SETUP_C_SUBSCRIPTS if you want to use traditional C style +element access. Note that this does not change +the starting point for indices when you are using round brackets for accessing +elements or selecting submatrices. It does enable you to use C style square +brackets.

+

Activate #define use_namespace if you want to use namespaces. Do this only if you are sure your compiler +supports namespaces. If you do turn this option on, be prepared to turn it off +again if the compiler reports inaccessible variables or the linker reports +missing links.

+

Activate #define _STANDARD_ to use the standard names for the +included files and to find the floating point precision data using the floating +point standard. This will work only with the most recent compilers. This is +automatically turned on for the Gnu compiler version 3 and the Intel compiler +for Linux.

+

If you haven't defined _STANDARD_ and are using a compiler that +include.h does not recognise and you want to pick up the floating point +precision data from float.h then activate #define use_float_h. +Otherwise the floating point precision data will be accessed from +values.h. You may need to do this with computers from Digital, in +particular.

+

2.4 Compilers

+

next - skip - +up - start

+ + + + + +
+2.4.1 AT&T
+2.4.2 Borland
+2.4.3 Gnu G++
+2.4.4 HPUX 		+2.4.5 Intel
+2.4.6 Microsoft
+2.4.7 Sun
+2.4.8 Watcom
+

I have tested this library on a number of compilers. Here are the levels of +success and any special considerations. In most cases I have chosen code that +works under all the compilers I have access to, but I have had to include some +specific work-arounds for some compilers. For the PC versions, I use Pentium 3 +& 4 computers running windows 2000 or XP or various varieties of Linux +(Red Hat or Fedora). The Unix versions are on a Sun Sparc +station. Thanks to Victoria University for access to the Sparc.

+

I have set up a block of code for each of the compilers in include.h. Turbo, +Borland, Gnu, Microsoft and Watcom are recognised automatically. There is a +default option that works for AT&T, Sun C++ and HPUX. So you don't +have to make any changes for these compilers. Otherwise you may have to build +your own set of options in include.h.

+

2.4.1 AT&T

+

next - skip - +up - start

+

The AT&T compiler used to be available on a wide variety of Unix +workstations. I don't know if anyone still uses it. However the AT&T options are +the default if your compiler is not recognised.

+

AT&T C++ 2.1; 3.0.1 on a Sun: Previous versions worked on these +compilers, which I no longer have access to.

+

In AT&T 2.1 you may get an error when you use an expression for the +single argument when constructing a Vector or DiagonalMatrix or one of the +Triangular Matrices. You need to evaluate the expression separately.

+

2.4.2 Borland

+

next - skip - +up - start

+

Newer compilers

+

Borland Builder version 6: This is not compatible with +newmat10. Use newmat11 instead.

+

Borland Builder version 5: This works fine in console mode and no +special editing of the source codes is required. I haven't tested it in GUI +mode. You can set the newmat10 options to use namespace and the standard +library. You +should turn off the Borland option to use pre-compiled headers. There +are notes on compiling with the IDE on my website. +Alternatively you can use the nm_b55.mak make file.

+

Borland Builder version 4: I have successfully used this on older +versions of newmat using the +console wizard (menu item file/new - select new tab). Use compiler +exceptions. Suppose you are compiling my test program tmt. Rename my +main() function in tmt.cpp to my_main(). Rename +tmt.cpp to tmt_main.cpp. Borland will generate a new file +tmt.cpp containing their main() function. Put the line int +my_main(); above this function and put return my_main(); into the +body of main().

+

Borland compiler version 5.5: this is the free C++ compiler available +from Borland's web site. I suggest you use +the compiler supported exceptions and turn on standard in include.h. You +can use the make file nm_b55.mak after editing to correct the file locations for +your system.

+

Older compilers

+

Borland C++ 3.1, 5.02: Use the simulated exceptions with these. Then +version 5.02 works OK. You will need to use +the large or 32 bit flat model. If you are not debugging, turn off the options +that collect debugging information. It compiles with version 3.1 but you can't +run the tmt test program.

+

If you are using versions earlier than 5 remember to edit include.h to +activate my Boolean class.

+

When running my test program under ms-dos you may run out of memory. Either +compile the test routine to run under easywin or use simulated exceptions +rather than the built in exceptions.

+

If you can, upgrade to windows 9X or window NT and use the 32 bit console +model.

+

If you are using the 16 bit large model, don't forget to keep all matrices +less than 64K bytes in length (90x90 for a rectangular matrix if you are using +double as your element type). Otherwise your program will crash +without warning or explanation. You will need to break the tmt set of test files into several parts to get the program +to fit into your computer and run without stack overflow.

+

One version of Borland had DBL_MIN incorrectly defined. If you are using an +older version of Borland and are getting strange numerical errors in the test +programs reinstate the commented out statements in precision.h.

+

You can generate make files for versions 5 or 3.1 with my +genmake utility.

+

2.4.3 Gnu G++

+

next - skip - +up - start

+

Gnu G++ 3.3, 4.0, 4.1: These work OK. If you are using a much +earlier version see if you can upgrade. Standard is automatically turned on with 3.X.

+

If you are using 2.6 or earlier remember to edit include.h to activate my +Boolean class. In 2.6.?, fabs(*X++) causes a problem. You may need to write you +own non-inlined version. 

+

For versions earlier than 2.6.0 you must enable the options +TEMPS_DESTROYED_QUICKLY and TEMPS_DESTROYED_QUICKLY_R. You can't use +expressions like Matrix(X*Y) in the middle of an expression and +(Matrix)(X*Y) is unreliable. If you write a function returning a +matrix, you MUST use the ReturnMatrix method described in +this documentation. This is because g++ destroys temporaries occurring in an +expression too soon for the two stage way of evaluating expressions that newmat +uses. You will have problems with versions of Gnu earlier than 2.3.1.

+

2.4.4 HP-UX

+

next - skip - +up - start

+

HP 9000 series HP-UX. I no longer have access to this compiler. Newmat09 +worked without problems with the simulated exceptions; haven't tried the +built-in exceptions.

+

With recent versions of the compiler you may get warning messages like +Unsafe cast between pointers/references to incomplete classes. At +present, I think these can be ignored.

+

Here are comments I made in 1997.

+

I have tried the library on two versions of HP-UX. (I don't know the version +numbers, the older is a clone of AT&T 3, the newer is HP's version with +exceptions). Both worked after the modifications described in this section. +

+

With the older version of the compiler I needed to edit the math.h library +file to remove a duplicate definition of abs.

+

With the newer version you can set the +eh option to enable exceptions and +activate the UseExceptions option in include.h. If you are using my make file, +you will need to replace CC with CC +eh where ever CC occurs. I recommend that +you do not do this and either disable exceptions or use my simulated +exceptions. I get core dumps when I use the built-in exceptions and suspect +they are not sufficiently debugged as yet.

+

If you are using my simulated exceptions you may get a mass of error +messages from the linker about __EH_JMPBUF_TEMP. In this case get file setjmp.h +(in directory /usr/include/CC ?) and put extern in front of the line

+
   jmp_buf * __EH_JMPBUF_TEMP;
+
+ +

The file setjmp.h is accessed in my file myexcept.h. You may want to change +the #include statement to access your edited copy of setjmp.h.

+ +

2.4.5 Intel

+

next - skip - +up - start

+ +

Newmat works correctly with the Intel 9 C++ compilers for Windows and for +Linux. Standard is automatically switched on for the Linux version and for the +Windows version if you are emulating VC++ 7 or higher.

+ +

2.4.6 Microsoft

+

next - skip - +up - start

+

Newer versions

+

See my web site for instructions how to work +Microsoft's IDE.

+

Microsoft Visual C++ 8: I have tested the express version using +my make file run the compiler.

+

Microsoft Visual C++ 7, 7.1: This works OK. Note that all my tests have +been in console mode. The standard option is on by default but I am still a bit +wary about the namespace option.

+

Microsoft Visual C++ 6: Get the latest service pack. I have tried this +in console mode and it seems to work satisfactorily. Use the compiler supported exceptions. You +may be able to +use the namespace and standard options but I suggest not using namespace. If you want to work under MFC +you may need to #include "stdafx.h" at the beginning of each .cpp file.

+

Microsoft Visual C++ 5: I have tried this in console mode and it +seems to work satisfactorily. There may be a problem with namespace (fixed by Service Pack 3?). Turn optimisation +off. Use the compiler supported exceptions. If +you want to work under MFC  +you may need to #include "stdafx.h" at the +beginning of each .cpp file.

+

Older versions

+

Microsoft Visual C++ 2.0: This used to work OK. I haven't tried it with +recent versions of newmat.

+

You must #define TEMPS_DESTROYED_QUICKLY owing to a bug in version +7 (at least) of MSC. There are some notes in the file include.h on +changes to run under version 7. I haven't tried newmat10 on version 7.

+

Microsoft Visual C++ 1.51. Disable exceptions, comment out the line in +include.h #define TEMPS_DESTROYED_QUICKLY_R. In tmt.cpp, +comment out the Try and CatchAll lines at the beginning of +main() and the line trymati(). You can use the makefile +ms.mak. You will probably need to break the tmt +test files into two parts to get the program to link.

+

If you can, upgrade to windows 95, 98 or window NT and use the 32 bit +console model.

+

If you are using the 16 bit large model, don't forget to keep all matrices +less than 64K bytes in length (90x90 for a rectangular matrix if you are using +double as your element type). Otherwise your program will crash +without warning or explanation. You may need to break the tmt set of test files into two parts to get the program to +fit into your computer.

+

Microsoft Visual C++ 4: I haven't tried this - a correspondent reports: I +use Microsoft Visual C++ Version 4. there is only one minor problem. In all +files you must include #include "stdafx.h" (presumably if +you are using MFC). This file contains essential information for VC++. Leave it +out and you get Unexpected end of file.

+

2.4.7 Sun

+

next - skip - +up - start

+

Sun C++: The current version works fine with +compiler supported exceptions. Sun C++ (version +5): There seems to be a problem with exceptions. If you use my simulated +exceptions the non-linear optimisation programs hang. If you use the compiler +supported exceptions my tmt and test_exc programs crash. You should +disable exceptions.

+

2.4.8 Watcom

+

next - skip - +up - start

+

Open Watcom C++: this works fine.

+

2.5 Updating from previous +versions

+

next - skip - +up - start

+

Newmat10 includes new maxima, minima, +determinant, dot product and Frobenius norm functions, a +faster FFT, revised make files for GCC +and CC compilers, several corrections, new ReSize function, IdentityMatrix +and Kronecker Product. Singular values from +SVD are sorted. The program files include a new file, newfft.cpp, so you +will need to include this in the list of files in your IDE and make files. There +is also a new test file tmtm.cpp. +Pointer arithmetic now mostly meets requirements of +standard. You can use << to load data into rows +of a matrix. The default options in include.h have been +changed. If you are updating from a beta version of newmat09 look through the +next section as there were some late changes to newmat09.

+

If you are upgrading from newmat08 note the following: +

+
    +
  • Boolean, TRUE, FALSE are now bool, true, false. See +customising if your compiler supports the bool class. +
    • +
  • ReDimension is now ReSize. +
    • +
  • The simulated exception package has +been updated.
    • +
  • Operators ==, !=, +=, +-=, *=, |=, &= are now supported as +binary matrix operators.
    • +
  • A+=f, A-=f, A*=f, A/=f, +f+A, f-A, f*A are supported for A +matrix, f scalar.
    • +
  • Fast trigonometric transforms. +
    • +
  • Reverse function for reversing order of +elements in a vector or matrix.
    • +
  • IsSingular function.
    • +
  • An option is included for defining namespaces.
    • +
  • Dummy inequality operators are defined for compatibility +with the STL.
    • +
  • The row/column classes in newmat3.cpp have been modified to +improve efficiency and correct an invalid use of pointer arithmetic. Most users +won't be using these classes explicitly; if you are, please contact me for +details of the changes.
    • +
  • Matrix LU decomposition rewritten (faster for large arrays). +
    • +
  • The sort function rewritten (faster).
    • +
  • The documentation files newmata.txt and newmatb.txt have +been amalgamated and both are included in the hypertext version.
    • +
  • Some of the make files reorganised +again.
    • +
+

If you are upgrading from newmat07 note the following: +

+
    +
  • .cxx files are now .cpp files. Some versions of won't accept +.cpp. The make files for Gnu and AT&T link the .cpp files to .cxx +files before compilation and delete the links after compilation.
    • +
  • An option in include.h allows you to +use compiler supported exceptions, simulated exceptions or disable exceptions. +Edit the file include.h to select one of these three options. Don't simulate +exceptions if you have set your compiler's option to implement exceptions. +
    • +
  • New QR decomposition functions. +
    • +
  • A non-linear least squares class. +
    • +
  • No need to explicitly set the AT&T option in include.h. +
    • +
  • Concatenation and elementwise +multiplication.
    • +
  • A new GenericMatrix class. +
    • +
  • Sum function.
    • +
  • Some of the make files reorganised. +
    • +
+

If you are upgrading from newmat06 note the following: +

+
    +
  • If you are using << to load a Real into a submatrix +change this to =.
    • +
+

If you are upgrading from newmat03 or newmat04 +note the following

+
    +
  • .hxx files are now .h files
    • +
  • real changed to Real
    • +
  • BOOL changed to Boolean
    • +
  • CopyToMatrix changed to AsMatrix, etc
    • +
  • real(A) changed to A.AsScalar()
    • +
+

The current version is quite a bit longer that newmat04, so +if you are almost out of space with newmat04, don't throw newmat04 away until +you have checked your program will work under this version.

+

See the change history for other changes.

+

2.6 Catching exceptions

+

This section applies particularly to people using compiler supported +exceptions rather than my simulated exceptions.

+

If newmat detects an error it will throw an exception. It is important that +you catch this exception and print the error message. Otherwise you will get an +unhelpful message like abnormal termination. I suggest you set up your +main program like 

+
#define WANT_STREAM             // or #include <iostream>
+#include "include.h"            // or #include "newmat.h"
+#include "myexcept.h"
+
+main()
+{
+   try
+   {
+      ... your program here
+   }
+   // catch exceptions thrown by my programs
+   catch(Exception) { cout << Exception::what() << endl; }
+   // catch exceptions thrown by other people's programs
+   catch(...) { cout << "exception caught in main program" << endl; }
+   return 0;
+}
+

If you are using a GUI version rather a console version of the program you +will need to replace the cout statements by windows pop-up messages.

+

If you are using my simulated exceptions or have set the disable exceptions +option in include.h then uncaught exceptions automatically print the +error message generated by the exception so you can ignore this section. +Alternatively use Try, Catch and CatchAll in place of try, catch +and catch(...) in the preceding code. It is probably a good idea to do +this if you are using a GUI version of the program as opposed to a console +version as the cout statement used in newmat's Terminate function +may be ignored in a GUI version.

+

See the section on exceptions for more information on +the exception structure.

+

2.7 Example

+

next - skip - +up - start

+

An example is given in example.cpp. This gives a simple linear +regression example using five different algorithms. The correct output is given +in example.txt. The program carries out a rough check that no memory +is left allocated on the heap when it terminates. See the section on +testing for a comment on the reliability of this check +(generally it doesn't work with the newer compilers) and the use of the +DO_FREE_CHECK option.

+

I include a variety of make files. To compile the example use a command like +

+
   gmake -f nm_gnu.mak example              (Gnu G++)
+   gmake -f nm_cc.mak example               (AT&T, HPUX, Sun)
+   make -f nm_b55.mak example.exe           (Borland C++ 5.5)
+

You can generate make make files for a number of other compilers with my +genmake utility.

+ +

To compile all the example and test files use a command like

+
   gmake -f nm_gnu.mak                      (Gnu G++)
+
+ +

The example uses io manipulators. It will not work with a +compiler that does not support the standard io manipulators.

+

Other example files are nl_ex.cpp and garch.cpp for +demonstrating the non-linear fitting routines, sl_ex for demonstrating +the solve function and test_exc for demonstrating the exceptions.

+

2.8 Testing

+

next - skip - +up - start

+

The library package contains a comprehensive test program in the form of a +series of files with names of the form tmt?.cxx. The files consist of a large +number of matrix formulae all of which evaluate to zero (except the first one +which is used to check that we are detecting non-zero matrices). The printout +should state that it has found just one non-zero matrix.

+

The test program should be run with Real typedefed to double +rather than float in include.h.

+

Make sure the C subscripts are enabled if you want +to test these.

+

If you are carrying out some form of bounds checking, for example, with +Borland's CodeGuard, then disable the testing of the Numerical Recipes in C interface. Activate the statement +#define DONT_DO_NRIC in tmt.h.

+

Various versions of the make file (extension .mak) are included with the +package. See the section on make files.

+

The program also allocates and deletes a large block and small block of +memory before it starts the main testing and then at the end of the test. It +then checks that the blocks of memory were allocated in the same place. If not, +then one suspects that there has been a memory leak. i.e. a piece of memory has +been allocated and not deleted.

+

This is not completely foolproof. Programs may allocate extra print buffers +while the program is running. I have tried to overcome this by doing a print +before I allocate the first memory block. Programs may allocate memory for +different sized items in different places, or might not allocate items +consecutively. Or they might mix the items with memory blocks from other +programs. Nevertheless, I seem to get consistent answers from some of the +compilers I work with, so I think this is a worthwhile test. The compilers that +the test seems to work for include the Borland compilers, Microsoft VC++ 6 , +Watcom 10a, and Gnu 2.96 for Linux.

+

If the DO_FREE_CHECK option in include.h is activated, +the program checks that each new is balanced with exactly one +delete. This provides a more definitive test of no memory leaks. There +are additional statements in myexcept.cpp which can be activated to print out +details of the memory being allocated and released.

+

I have included a facility for checking that each piece of code in the +library is really exercised by the test routines. Each block of code in the +main part of the library contains a word REPORT. newmat.h has +a line defining REPORT that can be activated (deactivate the dummy +version). This gives a printout of the number of times each of the +REPORT statements in the .cpp files is accessed. Use a grep +with line numbers to locate the lines on which REPORT occurs and +compare these with the lines that the printout shows were actually accessed. +One can then see which lines of code were not accessed.

+

2.9 Bugs

+

next - skip - +up - start

+
    +
  • Small memory leaks may occur when an exception is thrown and caught.
    • +
  • My exception scheme may not be not properly linked in with the standard +library exceptions. In particular, my scheme may fail to catch out-of-memory +exceptions.
    • +
+

2.10 List of files

+

next - skip - +up - start

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
DocumentationREADME(.txt)readme file
 COPYING.(.txt)permission to copy, modify etc
 AUTHORS(.txt)author details
 nm10.htmdocumentation file
 add_time.pgnimage used by nm10.htm - move to subdirectory "images"
 rbd.cssstyle sheet for nm10.htm
Definition filesboolean.hboolean class definition
 controlw.hcontrol word definition file
 include.hdetails of include files and options
 myexcept.hgeneral exception handler definitions
 newmat.hmain matrix class definition file
 newmatap.happlications definition file
 newmatio.hinput/output definition file
 newmatnl.hnon-linear optimisation definition file
 newmatrc.hrow/column functions definition files
 newmatrm.hrectangular matrix access definition files
 precisio.hnumerical precision constants
 solution.hone dimensional solve definition file
Program filesbandmat.cppband matrix routines
 cholesky.cppCholesky decomposition
 evalue.cppeigenvalues and eigenvector calculation
 fft.cppfast Fourier, trig. transforms
 hholder.cppQR routines
 jacobi.cppeigenvalues by the Jacobi method
 myexcept.cppgeneral error and exception handler
 newfft.cppnew fast Fourier transform
 newmat1.cpptype manipulation routines
 newmat2.cpprow and column manipulation functions
 newmat3.cpprow and column access functions
 newmat4.cppconstructors, resize, utilities
 newmat5.cpptranspose, evaluate, matrix functions
 newmat6.cppoperators, element access
 newmat7.cppinvert, solve, binary operations
 newmat8.cppLU decomposition, scalar functions
 newmat9.cppoutput routines
 newmatex.cppmatrix exception handler
 newmatnl.cppnon-linear optimisation
 newmatrm.cpprectangular matrix access functions
 sort.cppsorting functions
 solution.cppone dimensional solve
 submat.cppsubmatrix functions
 svd.cppsingular value decomposition
Example filesexample.cppexample of use of package
 example.txtoutput from example
 sl_ex.cppexample of OneDimSolve routine
 sl_ex.txtoutput from example
 nl_ex.cppexample of non-linear least squares
 nl_ex.txtoutput from example
 garch.cppexample of maximum-likelihood fit
 garch.datdata file for garch.cpp
 garch.txtoutput from example
 test_exc.cppdemonstration exceptions
 test_exc.txtoutput from test_exc.cpp
Test filestmt.hheader file for test files
 tmt*.cpptest files (see the section on testing)
 tmt.txtoutput from test files
Make filesnm_gnu.makmake file for Gnu G++
 nm_cc.makmake file for AT&T, Sun and HPUX
 nm_b55.makmake file for Borland C++ 5.5
 nm_m6.makmake file for Microsoft Visual C++ 6, 7, 7.1
 nm_m8.makmake file for Microsoft Visual C++ 8
 nm_i8.makmake file for Intel C++ 8,9 for Windows
 nm_il8.makmake file for Intel C++ 8,9 for Linux
 nm_ow.makmake file for Open Watcom
 newmat.lfllibrary file list for use with genmake
 nm_targ.txttarget file list for use with genmake
+

2.11 Problem report form +

+

next - skip - +up - start

+

Copy and paste this to your editor; fill it out and email to +robert  at  statsresearch.co.nz

+

But first look in my web page http://www.robertnz.net/bugs.htm to see if the bug has +already been reported.

+
 Version: ............... newmat10D (2 April 2006)
+ Your email address: ....
+ Today's date: ..........
+ Your machine: ..........
+ Operating system: ......
+ Compiler & version: ....
+ Compiler options
+   (eg GUI or console)...
+ Describe the problem - attach examples if possible:
+
+
+
+
+
+-----------------------------------------------------------
+
+ +

3. Reference manual

+

next - skip - +up - start

+ + + + + +
3.1 +Constructors
+3.2 Accessing elements
+3.3 Assignment and copying
+3.4 Entering values
+3.5 Unary operations
+3.6 Binary operations
+3.7 Matrix and scalar ops
+3.8 Scalar functions - size & shape
+3.9 Scalar functions - maximum & minimum
+3.10 Scalar functions - numerical
+3.11 Submatrices
+3.12 Change dimension
+3.13 Change type
+3.14 Multiple matrix solve
+3.15 Memory management
+3.16 Efficiency 		3.17 Output
+3.18 Accessing unspecified type
+3.19 Cholesky decomposition
+3.20 QR decomposition
+3.21 Singular value decomposition
+3.22 Eigenvalue decomposition
+3.23 Sorting
+3.24 Fast Fourier transform
+3.25 Fast trigonometric transforms
+3.26 Numerical recipes in C
+3.27 Exceptions
+3.28 Cleanup following exception
+3.29 Non-linear applications
+3.30 Standard template library
+3.31 Namespace
+

3.1 Constructors

+

next - skip - +up - start

+

To construct an m x n matrix, A, (m and +n are integers) use

+
    Matrix A(m,n);
+
+ +

The UpperTriangularMatrix, LowerTriangularMatrix, SymmetricMatrix and +DiagonalMatrix types are square. To construct an n x n matrix +use, for example

+
    UpperTriangularMatrix UT(n);
+    LowerTriangularMatrix LT(n);
+    SymmetricMatrix S(n);
+    DiagonalMatrix D(n);
+
+ +

Band matrices need to include bandwidth information in their constructors. +

+
    BandMatrix BM(n, lower, upper);
+    UpperBandMatrix UB(n, upper);
+    LowerBandMatrix LB(n, lower);
+    SymmetricBandMatrix SB(n, lower);
+
+ +

The integers upper and lower are the number of non-zero +diagonals above and below the diagonal (excluding the diagonal) +respectively.

+

The RowVector and ColumnVector types take just one argument in their +constructors:

+
    RowVector RV(n);
+    ColumnVector CV(n);
+
+ +

These constructors do not initialise the elements of the matrices. + +To set all the elements to zero use, for example,

+
    Matrix A(m, n); A = 0.0;
+
+ +

The IdentityMatrix takes one argument in its constructor specifying its +dimension.

+
    IdentityMatrix I(n);
+

The value of the diagonal elements is set to 1 by default, but you can +change this value as with other matrix types.

+ +

You can also construct vectors and matrices without specifying the +dimension. For example

+
    Matrix A;
+
+ +

In this case the dimension must be set by an assignment +statement or a re-size statement.

+

You can also use a constructor to set a matrix equal to another matrix or +matrix expression.

+
    Matrix A = UT;
+    Matrix A = UT * LT;
+
+ +

Only conversions that don't lose information are supported - eg you cannot +convert an upper triangular matrix into a diagonal matrix using =.

+

3.2 Accessing elements +

+

next - skip - +up - start

+

Elements are accessed by expressions of the form A(i,j) where +i and j run from 1 to the appropriate dimension. Access elements +of vectors with just one argument. Diagonal matrices can accept one or two +subscripts.

+

This is different from the earliest version of the package in which the +subscripts ran from 0 to one less than the appropriate dimension. Use +A.element(i,j) if you want this earlier convention.

+

A(i,j) and A.element(i,j) can appear on either side of an += sign.

+

If you activate the #define SETUP_C_SUBSCRIPTS in +include.h you can also access elements using the traditional C style +notation. That is A[i][j] for matrices (except diagonal) and +V[i] for vectors and diagonal matrices. The subscripts start at zero +(i.e. like element) and there is no range checking. Because of the +possibility of confusing V(i) and V[i], I suggest you do +not activate this option unless you really want to use it.

+

Symmetric matrices are stored as lower triangular matrices. It is important +to remember this if you are using the A[i][j] method of accessing +elements. Make sure the first subscript is greater than or equal to the second +subscript. However, if you are using the A(i,j) method the program +will swap i and j if necessary; so it doesn't matter if you +think of the storage as being in the upper triangle (but it does matter +in some other situations such as when entering data).

+

The IdentityMatrix type does not support element access. +

+

3.3 Assignment and copying

+

next - skip - +up - start

+

The operator = is used for copying matrices, converting matrices, +or evaluating expressions. For example

+
    A = B;  A = L;  A = L * U;
+
+ +

Only conversions that don't lose information are supported. The dimensions +of the matrix on the left hand side are adjusted to those of the matrix or +expression on the right hand side. Elements on the right hand side which are +not present on the left hand side are set to zero.

+

The operator << can be used in place of = where it +is permissible for information to be lost.

+

For example

+
    SymmetricMatrix S; Matrix A;
+    ......
+    S << A.t() * A;
+
+ +

is acceptable whereas

+
    S = A.t() * A;                            // error
+
+ +

will cause a runtime error since the package does not (yet?) recognise +A.t()*A as symmetric.

+

Note that you can not use << with constructors. For +example

+
    SymmetricMatrix S << A.t() * A;           // error
+
+ +

does not work.

+

Also note that << cannot be used to load values from a full +matrix into a band matrix, since it will be unable to determine the bandwidth +of the band matrix.

+

A third copy routine is used in a similar role to =. Use

+
    A.Inject(D);
+
+ +

to copy the elements of D to the corresponding elements of +A but leave the elements of A unchanged if there is no +corresponding element of D (the = operator would set them to +0). This is useful, for example, for setting the diagonal elements of a matrix +without disturbing the rest of the matrix. Unlike = and +<<, Inject does not reset the dimensions of A, which +must match those of D. Inject does not test for no loss of +information.

+

You cannot replace D by a matrix expression. The effect of +Inject(D) depends on the type of D. If D is an +expression it might not be obvious to the user what type it would have. So I +thought it best to disallow expressions.

+

Inject can be used for loading values from a regular matrix into a band +matrix. (Don't forget to zero any elements of the left hand side that will not +be set by the loading operation).

+

Both << and Inject can be used with submatrix expressions on +the left hand side. See the section on submatrices.

+

To set the elements of a matrix to a scalar use operator =

+
    Real r; int m,n;
+    ......
+    Matrix A(m,n); A = r;
+ +

Notes:

+ +
    +
  • When you do a matrix assignment to another matrix or matrix expression with +either = or << the original data array associated with the matrix + being assigned to is destroyed +even if there is no change in length. See the section on storage. +This means, in particular, that pointers to matrix elements - e.g. +Real* a; a = &(A(1,1)); become invalid. If you want avoid this you + can use +Inject rather than =. But remember that you may need to zero + the matrix first.
    +
    • +
+ +

3.4 Entering values

+

next - skip - +up - start

+

You can load the elements of a matrix from an array:

+
    Matrix A(3,2);
+    Real a[] = { 11,12,21,22,31,33 };
+    A << a;
+
+ +

This construction does not check that the numbers of elements match +correctly. This version of << can be used with submatrices on +the left hand side. It is not defined for band matrices.

+

Alternatively you can enter short lists using a sequence of numbers +separated by << .

+
    Matrix A(3,2);
+    A << 11 << 12
+      << 21 << 22
+      << 31 << 32;
+
+ +

This does check for the correct total number of entries, although the +message for there being insufficient numbers in the list may be delayed until +the end of the block or the next use of this construction. This does not +work for band matrices or for long lists. It does work for submatrices if the +submatrix is a single complete row. For example

+
    Matrix A(3,2);
+    A.Row(1) << 11 << 12;
+    A.Row(2) << 21 << 22;
+    A.Row(3) << 31 << 32;
+
+ +

Load only values that are actually stored in the matrix. For example

+
    SymmetricMatrix S(2);
+    S.Row(1) << 11;
+    S.Row(2) << 21 << 22;
+
+ +

Try to restrict this way of loading data to numbers. You can include +expressions, but these must not call a function which includes the same +construction.

+ +

Remember that matrices are stored by rows and that symmetric matrices are +stored as lower triangular matrices when using these methods to enter +data.

+

3.5 Unary operators

+

next - skip - +up - start

+

The package supports unary operations

+
    X = -A;           // change sign of elements
+    X = A.t();        // transpose
+    X = A.i();        // inverse (of square matrix A)
+    X = A.Reverse();  // reverse order of elements of vector
+                      // or matrix (not band matrix)
+
+ +

3.6 Binary operators

+

next - skip - +up - start

+

The package supports binary operations

+
    X = A + B;       // matrix addition
+    X = A - B;       // matrix subtraction
+    X = A * B;       // matrix multiplication
+    X = A.i() * B;   // equation solve (square matrix A)
+    X = A | B;       // concatenate horizontally (concatenate the rows)
+    X = A & B;       // concatenate vertically (concatenate the columns)
+    X = SP(A, B);    // elementwise product of A and B (Schur product)
+    X = KP(A, B);    // Kronecker product of A and B
+    bool b = A == B; // test whether A and B are equal
+    bool b = A != B; // ! (A == B)
+    A += B;          // A = A + B;
+    A -= B;          // A = A - B;
+    A *= B;          // A = A * B;
+    A |= B;          // A = A | B;
+    A &= B;          // A = A & B;
+    <, >, <=, >=     // included for compatibility with STL - see notes
+
+ +

Notes:

+
    +
  • If you are doing repeated multiplication. For example A*B*C, use +brackets to force the order of evaluation to minimise the number of operations. +If C is a column vector and A is not a vector, then it will +usually reduce the number of operations to use A*(B*C).
    • +
  • In the equation solve example case the inverse is not explicitly +calculated. An LU decomposition of A is performed and this is applied +to B. This is more efficient than calculating the inverse and then +multiplying. See also multiple matrix solving.
    • +
  • The package does not (yet?) recognise B*A.i() as an equation solve +and the inverse of A would be calculated. It is probably better to use +(A.t().i()*B.t()).t().
    • +
  • Horizontal or vertical concatenation returns a result of type Matrix, +RowVector or ColumnVector.
    • +
  • If A is m x p, B is m x q, +then A | B is m x (p+q) with the k-th row +being the elements of the k-th row of A followed by the +elements of the k-th row of B.
    • +
  • If A is p x n, B is q x n, +then A & B is (p+q) x n with the k-th +column being the elements of the k-th column of A followed by +the elements of the k-th column of B.
    • +
  • For complicated concatenations of matrices, consider instead using +submatrices.
    • +
  • See the section on submatrices on using a submatrix +on the RHS of an expression.
    • +
  • Two matrices are equal if their difference is zero. They may be of +different types. For the CroutMatrix or BandLUMatrix they must be of the same +type and have all their elements equal. This is not a very useful operator and +is included for compatibility with some container templates.
    • +
  • The inequality operators are included for compatibility with the +standard template library. If actually called, they will +throw an exception. So don't try to sort a list of matrices.
    • +
  • A row vector multiplied by a column vector yields a 1x1 matrix, not +a Real. To get a Real result use either AsScalar or +DotProduct.
    • +
  • The result from Kronecker product, KP(A, B), possesses an attribute such as +upper triangular, lower triangular, band, symmetric, diagonal if both of the +matrices A and B have the attribute. (This differs slightly from the way the +January 2002 version of newmat10 worked).
    • +
+

Remember that the product of symmetric matrices is not +necessarily symmetric so the following code will not run:

+
   SymmetricMatrix A, B;
+   .... put values in A, B ....
+   SymmetricMatrix C = A * B;   // run time error
+ +

Use instead

+
   Matrix C = A * B;
+ +

or, if you know the product will be symmetric, +use

+
   SymmetricMatrix C; C << A * B;
+
+ +

3.7 Matrix and scalar

+

next - skip - +up - start

+

The following expressions multiply the elements of a matrix A by a +scalar f: A * f or f * A . Likewise one can divide +the elements of a matrix A by a scalar f: A / f . +

+

The expressions A + f and A - f add or subtract a +rectangular matrix of the same dimension as A with elements equal to +f to or from the matrix A .

+

The expression f + A is an alternative to A + f. The +expression f - A subtracts matrix A from a rectangular matrix +of the same dimension as A and with elements equal to f . +

+

The expression A += f replaces A by A + f. +Operators -=, *=, /= are similarly defined.

+

3.8 Scalar functions of a +matrix - size & shape

+

next - skip - +up - start

+

This page describes functions returning the values associated with the size +and shape of matrices. The following pages describe other scalar matrix +functions.

+
    int m = A.Nrows();                     // number of rows
+    int n = A.Ncols();                     // number of columns
+    MatrixType mt = A.Type();              // type of matrix
+    Real* s = A.Store();                   // pointer to array of elements
+    int l = A.Storage();                   // length of array of elements
+    MatrixBandWidth mbw = A.BandWidth();   // upper and lower bandwidths
+
+ +

MatrixType mt = A.Type() returns the type of a matrix. Use +mt.Value() to get a string (UT, LT, Rect, Sym, Diag, Band, UB, LB, +Crout, BndLU) showing the type (Vector types are returned as Rect).

+

MatrixBandWidth has member functions Upper() and +Lower() for finding the upper and lower bandwidths (number of +diagonals above and below the diagonal, both zero for a diagonal matrix). For +non-band matrices -1 is returned for both these values.

+

3.9 Scalar functions of a +matrix - maximum & minimum

+

next - skip - +up - start

+

This page describes functions for finding the maximum and minimum elements +of a matrix.

+
    int i, j;
+    Real mv = A.MaximumAbsoluteValue();    // maximum of absolute values
+    Real mv = A.MinimumAbsoluteValue();    // minimum of absolute values
+    Real mv = A.Maximum();                 // maximum value
+    Real mv = A.Minimum();                 // minimum value
+    Real mv = A.MaximumAbsoluteValue1(i);  // maximum of absolute values
+    Real mv = A.MinimumAbsoluteValue1(i);  // minimum of absolute values
+    Real mv = A.Maximum1(i);               // maximum value
+    Real mv = A.Minimum1(i);               // minimum value
+    Real mv = A.MaximumAbsoluteValue2(i,j);// maximum of absolute values
+    Real mv = A.MinimumAbsoluteValue2(i,j);// minimum of absolute values
+    Real mv = A.Maximum2(i,j);             // maximum value
+    Real mv = A.Minimum2(i,j);             // minimum value
+
+ +

All these functions throw an exception if A has no rows or no +columns.

+

The versions A.MaximumAbsoluteValue1(i), etc return the location of +the extreme element in a RowVector, ColumnVector or DiagonalMatrix. The +versions A.MaximumAbsoluteValue2(i,j), etc return the row and column +numbers of the extreme element. If the extreme value occurs more than once the +location of the last one is given.

+

The versions MaximumAbsoluteValue(A), MinimumAbsoluteValue(A), Maximum(A), +Minimum(A) can be used in place of A.MaximumAbsoluteValue(), +A.MinimumAbsoluteValue(), A.Maximum(), A.Minimum().

+

3.10 Scalar functions of a +matrix - numerical

+

next - skip - +up - start

+
    Real r = A.AsScalar();                 // value of 1x1 matrix
+    Real ssq = A.SumSquare();              // sum of squares of elements
+    Real sav = A.SumAbsoluteValue();       // sum of absolute values
+    Real s = A.Sum();                      // sum of values
+    Real norm = A.Norm1();                 // maximum of sum of absolute
+                                              values of elements of a column
+    Real norm = A.NormInfinity();          // maximum of sum of absolute
+                                              values of elements of a row
+    Real norm = A.NormFrobenius();         // square root of sum of squares
+                                           // of the elements
+    Real t = A.Trace();                    // trace
+    Real d = A.Determinant();              // determinant
+    LogAndSign ld = A.LogDeterminant();    // log of determinant
+    bool z = A.IsZero();                   // test all elements zero
+    bool s = A.IsSingular();               // A is a CroutMatrix or
+                                              BandLUMatrix
+    Real s = DotProduct(A, B);             // dot product of A and B
+                                           // interpreted as vectors
+
+ +

A.LogDeterminant() returns a value of type LogAndSign. If ld is of +type LogAndSign use

+
    ld.Value()    to get the value of the determinant
+    ld.Sign()     to get the sign of the determinant (values 1, 0, -1)
+    ld.LogValue() to get the log of the absolute value.
+
+ +

Note that the direct use of the function Determinant() will often +cause a floating point overflow exception.

+

A.IsZero() returns Boolean value true if the matrix +A has all elements equal to 0.0.

+

IsSingular is defined only for CroutMatrix and BandLUMatrix. It +returns true if one of the diagonal elements of the LU decomposition +is exactly zero.

+

DotProduct(const Matrix& A,const Matrix& B) converts both +of the arguments to rectangular matrices, checks that they have the same number +of elements and then calculates the first element of A * first element +of B + second element of A * second element of B + +... ignoring the row/column structure of A and B. It is +primarily intended for the situation where A and B are row or +column vectors.

+

The versions Sum(A), SumSquare(A), SumAbsoluteValue(A), Trace(A), +LogDeterminant(A), Determinant(A), Norm1(A), NormInfinity(A), NormFrobenius(A) +can be used in place of A.Sum(), A.SumSquare(), A.SumAbsoluteValue(), +A.Trace(), A.LogDeterminant(), A.Norm1(), A.NormInfinity(), A.NormFrobenius(). +

+

3.11 Submatrices

+

next - skip - +up - start

+
    A.SubMatrix(fr,lr,fc,lc)
+
+ +

This selects a submatrix from A. The arguments +fr,lr,fc,lc are the first row, last row, +first column, last column of the submatrix with the numbering beginning at 1. +

+

I allow lr = fr-1 or lc = fc-1 or to indicate that a +matrix of zero rows or columns is to be returned.

+

A submatrix command may be used in any matrix expression or on the left hand +side of =, << or Inject. Inject does not check +no information loss. You can also use the construction

+
    Real c; .... A.SubMatrix(fr,lr,fc,lc) = c;
+
+ +

to set a submatrix equal to a constant.

+

The following are variants of SubMatrix:

+
    A.SymSubMatrix(f,l)             //   This assumes fr=fc and lr=lc.
+    A.Rows(f,l)                     //   select rows
+    A.Row(f)                        //   select single row
+    A.Columns(f,l)                  //   select columns
+    A.Column(f)                     //   select single column
+
+ +

In each case f and l mean the first and last row or column +to be selected (starting at 1).

+

I allow l = f-1 to indicate that a matrix of zero rows or columns +is to be returned.

+

If SubMatrix or its variant occurs on the right hand side of an = +or << or within an expression think of its type as follows

+
    A.SubMatrix(fr,lr,fc,lc)           If A is RowVector or
+                                       ColumnVector then same type
+                                       otherwise type Matrix
+    A.SymSubMatrix(f,l)                Same type as A
+    A.Rows(f,l)                        Type Matrix
+    A.Row(f)                           Type RowVector
+    A.Columns(f,l)                     Type Matrix
+    A.Column(f)                        Type ColumnVector
+
+ +

If SubMatrix or its variant appears on the left hand side of = or +<< , think of its type being Matrix. Thus L.Row(1) +where L is LowerTriangularMatrix expects L.Ncols() elements +even though it will use only one of them. If you are using = the +program will check for no loss of data.

+ +

A SubMatrix can appear on the left-hand side of += or -= +with a matrix expression on the right-hand side. It can also appear on the +left-hand side of +=, -=, *= or /= with a +Real on the right-hand side. In each case there must be no loss of information. +

+

The Row version can appear on the left hand side of +<< for loading literal data into a row. +Load only the number of elements that are actually going to be stored in +memory.

+

Do not use the += and -= operations with a submatrix of a +SymmetricMatrix or BandSymmetricMatrix on the LHS and a Real on the RHS.

+

You can't pass a submatrix (or any of its variants) as a reference +non-constant matrix in a function argument. For example, the following will not +work:

+
   void YourFunction(Matrix& A);
+   ...
+   Matrix B(10,10);
+   YourFunction(B.SubMatrix(1,5,1,5))    // won't compile
+

If you are are using the submatrix facility to build a matrix from a small +number of components, consider instead using the concatenation operators.

+

3.12 Change dimensions

+

next - skip - +up - start

+

The following operations change the dimensions of a matrix. The values of +the elements are lost.

+
    A.ReSize(nrows,ncols);        // for type Matrix or nricMatrix
+    A.ReSize(n);                  // for all other types, except Band
+    A.ReSize(n,lower,upper);      // for BandMatrix
+    A.ReSize(n,lower);            // for LowerBandMatrix
+    A.ReSize(n,upper);            // for UpperBandMatrix
+    A.ReSize(n,lower);            // for SymmetricBandMatrix
+    A.ReSize(B);                  // set dims to those of B 
+
+ +

Use A.CleanUp() to set the dimensions of A to zero and +release all the heap memory.

+

A.ReSize(B) sets the dimensions of A to those of a matrix +B. This includes the band-width in the case of a band matrix. It is an +error for A to be a band matrix and B not a band matrix (or +diagonal matrix).

+

Remember that ReSize destroys values. If you want to +ReSize, but keep the values in the bit that is left use something like +

+
   ColumnVector V(100);
+   ...                            // load values
+   V = V.Rows(1,50);              // to get first 50 values.
+
+ +

If you want to extend a matrix or vector use something like

+
   ColumnVector V(50);
+   ...                            // load values
+   { V.Release(); ColumnVector X=V; V.ReSize(100); V.Rows(1,50)=X; }
+                                  // V now length 100
+
+ +

3.13 Change type

+

next - skip - +up - start

+

The following functions interpret the elements of a matrix (stored row by +row) to be a vector or matrix of a different type. Actual copying is usually +avoided where these occur as part of a more complicated expression.

+
    A.AsRow()
+    A.AsColumn()
+    A.AsDiagonal()
+    A.AsMatrix(nrows,ncols)
+    A.AsScalar()
+
+ +

The expression A.AsScalar() is used to convert a 1 x 1 matrix to a +scalar.

+

3.14 Multiple matrix solve

+

next - skip - +up - start

+

To solve the matrix equation Ay = b where A is a square +matrix of equation coefficients, y is a column vector of values to be +solved for, and b is a column vector, use the code

+
    int n = something
+    Matrix A(n,n); ColumnVector b(n);
+    ... put values in A and b
+    ColumnVector y = A.i() * b;       // solves matrix equation
+
+ +

The following notes are for the case where you want to solve more than one +matrix equation with different values of b but the same A. Or +where you want to solve a matrix equation and also find the determinant of +A. In these cases you probably want to avoid repeating the LU +decomposition of A for each solve or determinant calculation.

+

If A is a square or symmetric matrix use

+
    CroutMatrix X = A;                // carries out LU decomposition
+    Matrix AP = X.i()*P; Matrix AQ = X.i()*Q;
+    LogAndSign ld = X.LogDeterminant();
+
+ +

rather than

+
    Matrix AP = A.i()*P; Matrix AQ = A.i()*Q;
+    LogAndSign ld = A.LogDeterminant();
+
+ +

since each operation will repeat the LU decomposition.

+

If A is a BandMatrix or a SymmetricBandMatrix begin with

+
    BandLUMatrix X = A;               // carries out LU decomposition
+
+ +

A CroutMatrix or a BandLUMatrix can't be manipulated or copied. Use +references as an alternative to copying.

+

Alternatively use

+
    LinearEquationSolver X = A;
+
+ +

This will choose the most appropriate decomposition of A. That is, +the band form if A is banded; the Crout decomposition if A is +square or symmetric and no decomposition if A is triangular or +diagonal.

+

3.15 Memory management

+

next - skip - +up - start

+

The package does not support delayed copy. Several strategies are required +to prevent unnecessary matrix copies.

+

Where a matrix is called as a function argument use a constant reference. +For example

+
    YourFunction(const Matrix& A)
+
+ +

rather than

+
    YourFunction(Matrix A)
+
+ +

Skip the rest of this section on your first reading.

+

Gnu g++ (< 2.6) users please read on: if you are returning +matrix values from a function, then you must use the ReturnMatrix +construct.

+

A second place where it is desirable to avoid unnecessary copies is when a +function is returning a matrix. Matrices can be returned from a function with +the return command as you would expect. However these may incur one and +possibly two copyings of the matrix. To avoid this use the following +instructions.

+

Make your function of type ReturnMatrix . Then precede the return statement +with a Release statement (or a ReleaseAndDelete statement if the matrix was +created with new). For example

+
    ReturnMatrix MakeAMatrix()
+    {
+       Matrix A;                // or any other matrix type
+       ......
+       A.Release(); return A;
+    }
+
+ +

or

+
    ReturnMatrix MakeAMatrix()
+    {
+       Matrix* m = new Matrix;
+       ......
+       m->ReleaseAndDelete(); return *m;
+    }
+
+ +

If your compiler objects to this code, replace the return statements with +

+
    return A.ForReturn();
+
+ +

or

+
    return m->ForReturn();
+
+ +

If you are using AT&T C++ you may wish to replace return A; by +return (ReturnMatrix)A; to avoid a warning message; but this will give +a runtime error with Gnu. (You can't please everyone.)

+
+

Do not forget to make the function of type ReturnMatrix; otherwise you +may get incomprehensible run-time errors.

+
+

You can also use .Release() or ->ReleaseAndDelete() to +allow a matrix expression to recycle space. Suppose you call

+
    A.Release();
+
+ +

just before A is used just once in an expression. Then the memory +used by A is either returned to the system or reused in the +expression. In either case, A's memory is destroyed. This procedure +can be used to improve efficiency and reduce the use of memory.

+

Use ->ReleaseAndDelete for matrices created by new if you want +to completely delete the matrix after it is accessed.

+

3.16 Efficiency

+

next - skip - +up - start

+

The package tends to be not very efficient for dealing with matrices with +short rows. This is because some administration is required for accessing rows +for a variety of types of matrices. To reduce the administration a special +multiply routine is used for rectangular matrices in place of the generic one. +Where operations can be done without reference to the individual rows (such as +adding matrices of the same type) appropriate routines are used.

+

When you are using small matrices (say smaller than 10 x 10) you may find it +faster to use rectangular matrices rather than the triangular or symmetric +ones.

+

3.17 Output

+

next - skip - +up - start

+

To print a matrix use an expression like

+
   Matrix A;
+   ......
+   cout << setw(10) << setprecision(5) << A;
+
+ +

This will work only with systems that support the standard input/output +routines including manipulators. You need to #include the files iostream.h, +iomanip.h, newmatio.h in your C++ source files that use this facility. The +files iostream.h, iomanip.h will be included automatically if you include the +statement #define WANT_STREAM at the beginning of your source file. So +you can begin your file with either

+
   #define WANT_STREAM
+   #include "newmatio.h"
+
+ +

or

+
   #include <iostream.h>
+   #include <iomanip.h>
+   #include "newmatio.h"
+
+ +

The present version of this routine is useful only for matrices small enough +to fit within a page or screen width.

+

To print several vectors or matrices in columns use a concatenation operator:

+
   ColumnVector A, B;
+   .....
+   cout << setw(10) << setprecision(5) << (A | B);
+
+ +

3.18 Unspecified type

+

next - skip - +up - start

+

Skip this section on your first reading.

+

If you want to work with a matrix of unknown type, say in a function. You +can construct a matrix of type GenericMatrix. Eg

+
   Matrix A;
+   .....                                  // put some values in A
+   GenericMatrix GM = A;
+
+ +

A GenericMatrix matrix can be used anywhere where a matrix expression can be +used and also on the left hand side of an =. You can pass any type of +matrix (excluding the Crout and BandLUMatrix types) to a const +GenericMatrix& argument in a function. However most scalar functions +including Nrows(), Ncols(), Type() and element access do not work with it. Nor +does the ReturnMatrix construct. See also the paragraph on LinearEquationSolver.

+

An alternative and less flexible approach is to use BaseMatrix or +GeneralMatrix.

+

Suppose you wish to write a function which accesses a matrix of unknown type +including expressions (eg A*B). Then use a layout similar to the +following:

+
   void YourFunction(BaseMatrix& X)
+   {
+      GeneralMatrix* gm = X.Evaluate();   // evaluate an expression
+                                          // if necessary
+      ........                            // operations on *gm
+      gm->tDelete();                      // delete *gm if a temporary
+   }
+
+ +

See, as an example, the definitions of operator<< in +newmat9.cpp.

+

Under certain circumstances; particularly where X is to be used +just once in an expression you can leave out the Evaluate() statement +and the corresponding tDelete(). Just use X in the +expression.

+

If you know YourFunction will never have to handle a formula as its argument +you could also use

+
   void YourFunction(const GeneralMatrix& X)
+   {
+      ........                            // operations on X
+   }
+
+ +

Do not try to construct a GeneralMatrix or BaseMatrix.

+

3.19 Cholesky +decomposition

+

next - skip - +up - start

+

Suppose S is symmetric and positive definite. Then there exists a +unique lower triangular matrix L such that L * L.t() = S. To +calculate this use

+
    SymmetricMatrix S;
+    ......
+    LowerTriangularMatrix L = Cholesky(S);
+
+ +

If S is a symmetric band matrix then L is a band matrix +and an alternative procedure is provided for carrying out the decomposition: +

+
    SymmetricBandMatrix S;
+    ......
+    LowerBandMatrix L = Cholesky(S);
+
+ +

3.20 QR decomposition

+

next - skip - +up - start

+

This is a variant on the usual QR transformation.

+

Start with matrix (dimensions shown to left and below the matrix)

+
       / 0    0 \      s
+       \ X    Y /      n
+
+         s    t
+
+ +

Our version of the QR decomposition multiplies this matrix by an orthogonal +matrix Q to get

+
       / U    M \      s
+       \ 0    Z /      n
+
+         s    t
+
+ +

where U is upper triangular (the R of the QR transform). That is +

+
      Q  / 0   0 \  =  / U   M \
+         \ X   Y /     \ 0   Z /
+ +

This is good for solving least squares problems: choose b (matrix or column +vector) to minimise the sum of the squares of the elements of

+
         Y - X*b
+
+ +

Then choose b = U.i()*M; The residuals Y - X*b are in +Z.

+

This is the usual QR transformation applied to the matrix X with +the square zero matrix concatenated on top of it. It gives the same triangular +matrix as the QR transform applied directly to X and generally seems +to work in the same way as the usual QR transform. However it fits into the +matrix package better and also gives us the residuals directly. It turns out to +be essentially a modified Gram-Schmidt decomposition.

+

Two routines are provided in newmat:

+
    QRZ(X, U);
+
+ +

replaces X by orthogonal columns and forms U.

+
    QRZ(X, Y, M);
+
+ +

uses X from the first routine, replaces Y by Z +and forms M.

+

The are also two routines QRZT(X, L) and QRZT(X, Y, M) +which do the same decomposition on the transposes of all these matrices. QRZT +replaces the routines HHDecompose in earlier versions of newmat. HHDecompose is +still defined but just calls QRZT.

+

For an example of the use of this decomposition see the file +example.cpp.

+

3.21 Singular value +decomposition

+

next - skip - +up - start

+

The singular value decomposition of an m x n Matrix +A (where m >= n) is a decomposition

+
    A  = U * D * V.t()
+
+ +

where U is m x n with U.t() * U equalling +the identity, D is an n x n DiagonalMatrix and +V is an n x n orthogonal matrix (type Matrix in +Newmat).

+

Singular value decompositions are useful for understanding the structure of +ill-conditioned matrices, solving least squares problems, and for finding the +eigenvalues of A.t() * A.

+

To calculate the singular value decomposition of A (with m +>= n) use one of

+
    SVD(A, D, U, V);                  // U = A is OK
+    SVD(A, D);
+    SVD(A, D, U);                     // U = A is OK
+    SVD(A, D, U, false);              // U (can = A) for workspace only
+    SVD(A, D, U, V, false);           // U (can = A) for workspace only
+
+ +

where A, U and V are of type Matrix and +D is a DiagonalMatrix. The values of A are not +changed unless A is also inserted as the third argument.

+ +

The elements of D are sorted in descending order.

+

Remember that the SVD decomposition is not completely unique. The signs of the elements in a column of U may be reversed +if the signs in the corresponding column in V are reversed. If a +number of the singular values are identical one can apply an orthogonal +transformation to the corresponding columns of U and the corresponding +columns of V.

+

3.22 Eigenvalue +decomposition

+

next - skip - +up - start

+

An eigenvalue decomposition of a SymmetricMatrix A is a +decomposition

+
    A  = V * D * V.t()
+
+ +

where V is an orthogonal matrix (type Matrix in +Newmat) and D is a DiagonalMatrix.

+

Eigenvalue analyses are used in a wide variety of engineering, statistical +and other mathematical analyses.

+

The package includes two algorithms: Jacobi and Householder. The first is +extremely reliable but much slower than the second.

+

The code is adapted from routines in Handbook for Automatic Computation, +Vol II, Linear Algebra by Wilkinson and Reinsch, published by Springer +Verlag.

+
    Jacobi(A,D,S,V);                  // A, S symmetric; S is workspace,
+                                      //    S = A is OK; V is a matrix
+    Jacobi(A,D);                      // A symmetric
+    Jacobi(A,D,S);                    // A, S symmetric; S is workspace,
+                                      //    S = A is OK
+    Jacobi(A,D,V);                    // A symmetric; V is a matrix
+
+    EigenValues(A,D);                 // A symmetric
+    EigenValues(A,D,S);               // A, S symmetric; S is for back
+                                      //    transforming, S = A is OK
+    EigenValues(A,D,V);               // A symmetric; V is a matrix
+
+ +

where A, S are of type SymmetricMatrix, +D is of type DiagonalMatrix and V is of type +Matrix. The values of A are not changed unless A is +also inserted as the third argument. If you need eigenvectors use one of the +forms with matrix V. The eigenvectors are returned as the columns of +V.

+ +

The elements of D are sorted in ascending order.

+

Remember that an eigenvalue decomposition is not completely +unique - see the comments about the SVD +decomposition.

+

3.23 Sorting

+

next - skip - +up - start

+

To sort the values in a matrix or vector, A, (in general this +operation makes sense only for vectors and diagonal matrices) use one of

+
    SortAscending(A);
+
+    SortDescending(A);
+
+ +

I use the quicksort algorithm. The algorithm is similar to that in +Sedgewick's algorithms in C++. If the sort seems to be failing (as quicksort +can do) an exception is thrown.

+

You will get incorrect results if you try to sort a band matrix - but why +would you want to sort a band matrix?

+

3.24 Fast Fourier transform +

+

next - skip - +up - start

+
   FFT(X, Y, F, G);                         // F=X and G=Y are OK
+
+ +

where X, Y, F, G are column vectors. +X and Y are the real and imaginary input vectors; F +and G are the real and imaginary output vectors. The lengths of +X and Y must be equal and should be the product of numbers +less than about 10 for fast execution.

+

The formula is

+
          n-1
+   h[k] = SUM  z[j] exp (-2 pi i jk/n)
+          j=0
+
+ +

where z[j] is stored complex and stored in X(j+1) and +Y(j+1). Likewise h[k] is complex and stored in +F(k+1) and G(k+1). The fast Fourier algorithm takes order +n log(n) operations (for good values of n) rather than +n**2 that straight evaluation (see the file tmtf.cpp) takes. +

+

I use one of two methods:

+
    +
  • A program originally written by Sande and Gentleman. This requires that +n can be expressed as a product of small numbers.
    • +
  • A method of Carl de Boor (1980), Siam J Sci Stat Comput, pp 173-8. +The sines and cosines are calculated explicitly. This gives better accuracy, at +an expense of being a little slower than is otherwise possible. This is slower +than the Sande-Gentleman program but will work for all n --- although it +will be very slow for bad values of n.
    • +
+

Related functions

+
   FFTI(F, G, X, Y);                        // X=F and Y=G are OK
+   RealFFT(X, F, G);
+   RealFFTI(F, G, X);
+
+ +

FFTI is the inverse transform for FFT. RealFFT is +for the case when the input vector is real, that is Y = 0. I assume +the length of X, denoted by n, is even. That is, +n must be divisible by 2. The program sets the lengths of F and +G to n/2 + 1. RealFFTI is the inverse of +RealFFT.

+

See also the section on fast trigonometric +transforms.

+

3.25 Fast trigonometric +transforms

+

next - skip - +up - start

+

These are the sin and cosine transforms as defined by Charles Van Loan +(1992) in Computational frameworks for the fast Fourier transform +published by SIAM. See page 229. Some other authors use slightly different +conventions. All the functions call the fast Fourier +transforms and require an even transform length, denoted by +m in these notes. That is, m must be divisible by 2. As with the +FFT m should be the product of numbers less than about 10 for fast +execution.

+

The functions I define are

+
   DCT(U,V);                // U, V are ColumnVectors, length m+1
+   DCT_inverse(V,U);        // inverse of DCT
+   DST(U,V);                // U, V are ColumnVectors, length m+1
+   DST_inverse(V,U);        // inverse of DST
+   DCT_II(U,V);             // U, V are ColumnVectors, length m
+   DCT_II_inverse(V,U);     // inverse of DCT_II
+   DST_II(U,V);             // U, V are ColumnVectors, length m
+   DST_II_inverse(V,U);     // inverse of DST_II
+
+ +

where the first argument is the input and the second argument is the output. +V = U is OK. The length of the output ColumnVector is set by the +functions.

+

Here are the formulae:

+

DCT

+
                   m-1                             k
+   v[k] = u[0]/2 + SUM { u[j] cos (pi jk/m) } + (-) u[m]/2
+                   j=1
+
+ +

for k = 0...m, where u[j] and v[k] are stored in +U(j+1) and V(k+1).

+

DST

+
          m-1
+   v[k] = SUM { u[j] sin (pi jk/m) }
+          j=1
+
+ +

for k = 1...(m-1), where u[j] and v[k] are stored +in U(j+1) and V(k+1)and where u[0] and u[m] +are ignored and v[0] and v[m] are set to zero. For the +inverse function v[0] and v[m] are ignored and u[0] +and u[m] are set to zero.

+

DCT_II

+
          m-1
+   v[k] = SUM { u[j] cos (pi (j+1/2)k/m) }
+          j=0
+
+ +

for k = 0...(m-1), where u[j] and v[k] are stored +in U(j+1) and V(k+1).

+

DST_II

+
           m
+   v[k] = SUM { u[j] sin (pi (j-1/2)k/m) }
+          j=1
+
+ +

for k = 1...m, where u[j] and v[k] are stored in +U(j) and V(k).

+

Note that the relationship between the subscripts in the formulae and those +used in newmat is different for DST_II (and DST_II_inverse).

+

3.26 Interface to Numerical +Recipes in C

+

next - skip - +up - start

+

This package can be used with the vectors and matrices defined in +Numerical Recipes in C. You need to edit the routines in Numerical +Recipes so that the elements are of the same type as used in this package. Eg +replace float by double, vector by dvector and matrix by dmatrix, etc. You may +need to edit the function definitions to use the version acceptable to your +compiler (if you are using the first edition of NRIC). You may need to enclose +the code from Numerical Recipes in extern "C" { ... }. You +will also need to include the matrix and vector utility routines.

+

Then any vector in Numerical Recipes with subscripts starting from 1 in a +function call can be accessed by a RowVector, ColumnVector or DiagonalMatrix in +the present package. Similarly any matrix with subscripts starting from 1 can +be accessed by an nricMatrix in the present package. The class nricMatrix is +derived from Matrix and can be used in place of Matrix. In each case, if you +wish to refer to a RowVector, ColumnVector, DiagonalMatrix or nricMatrix +X in an function from Numerical Recipes, use X.nric() in the +function call.

+

Numerical Recipes cannot change the dimensions of a matrix or vector. So +matrices or vectors must be correctly dimensioned before a Numerical Recipes +routine is called.

+

For example

+
   SymmetricMatrix B(44);
+   .....                             // load values into B
+   nricMatrix BX = B;                // copy values to an nricMatrix
+   DiagonalMatrix D(44);             // Matrices for output
+   nricMatrix V(44,44);              //    correctly dimensioned
+   int nrot;
+   jacobi(BX.nric(),44,D.nric(),V.nric(),&nrot);
+                                     // jacobi from NRIC
+   cout << D;                        // print eigenvalues
+
+ +

3.27 Exceptions

+

next - skip - +up - start

+

Here is the class structure for exceptions:

+
Exception
+  Logic_error
+    ProgramException                 miscellaneous matrix error
+    IndexException                   index out of bounds
+    VectorException                  unable to convert matrix to vector
+    NotSquareException               matrix is not square (invert, solve)
+    SubMatrixDimensionException      out of bounds index of submatrix
+    IncompatibleDimensionsException  (multiply, add etc)
+    NotDefinedException              operation not defined (eg <)
+    CannotBuildException             copying a matrix where copy is undefined
+    InternalException                probably an error in newmat
+  Runtime_error
+    NPDException                     matrix not positive definite (Cholesky)
+    ConvergenceException             no convergence (e-values, non-linear, sort)
+    SingularException                matrix is singular (invert, solve)
+    SolutionException                no convergence in solution routine
+    OverflowException                floating point overflow
+  Bad_alloc                          out of space (new fails)
+
+ +

I have attempted to mimic the exception class structure in the C++ standard +library, by defining the Logic_error and Runtime_error classes.

+

Suppose you have edited include.h to use my simulated +exceptions or to disable exceptions. If there is no catch statement or exceptions are disabled then my +Terminate() function in myexcept.h is called when you throw an +exception. This prints out +an error message, the dimensions and types of the matrices involved, the name +of the routine detecting the exception, and any other information set by the +Tracer class. Also see the section on error messages for additional notes on the messages generated +by the exceptions.

+

You can also print this information in a catch clause by printing Exception::what(). +

+

If you are using compiler supported exceptions then see the section +on catching exceptions.  +

+

See the file test_exc.cpp as an example of catching an exception +and printing the error message.

+

The 08 version of newmat defined a member function void +SetAction(int) to help customise the action when an exception is called. +This has been deleted in the 09 and 10 versions. Now include an instruction +such as cout << Exception::what() << endl; in the +Catch or CatchAll block to determine the action.

+

The library includes the alternatives of using the inbuilt exceptions +provided by a compiler, simulating exceptions, or disabling exceptions. See +customising for selecting the correct exception option. +

+

The rest of this section describes my partial simulation of exceptions for +compilers which do not support C++ exceptions. I use Carlos Vidal's article in +the September 1992 C Users Journal as a starting point.

+

Newmat does a partial clean up of memory following throwing an exception - +see the next section. However, the present version will leave a little heap +memory unrecovered under some circumstances. I would not expect this to be a +major problem, but it is something that needs to be sorted out.

+

The functions/macros I define are Try, Throw, Catch, CatchAll and +CatchAndThrow. Try, Throw, Catch and CatchAll correspond to try, throw, catch +and catch(...) in the C++ standard. A list of Catch clauses must be terminated +by either CatchAll or CatchAndThrow but not both. Throw takes an Exception as +an argument or takes no argument (for passing on an exception). I do not have a +version of Throw for specifying which exceptions a function might throw. Catch +takes an exception class name as an argument; CatchAll and CatchAndThrow don't +have any arguments. Try, Catch and CatchAll must be followed by blocks enclosed +in curly brackets.

+

I have added another macro ReThrow to mean a rethrow, Throw(). This was +necessary to enable the package to be compatible with both my exception package +and C++ exceptions.

+

If you want to throw an exception, use a statement like

+
   Throw(Exception("Error message\n"));
+
+ +

It is important to have the exception declaration in the Throw statement, +rather than as a separate statement.

+

All exception classes must be derived from the class, Exception, defined in +newmat and can contain only static variables. See the examples in newmat if you +want to define additional exceptions.

+

Note that the simulation exception mechanism does not work if you define +arrays of matrices.

+

3.28 Cleanup after an +exception

+

next - skip - +up - start

+

This section is about the simulated exceptions used in newmat. It is +irrelevant if you are using the exceptions built into a compiler or have set +the disable-exceptions option.

+

The simulated exception mechanisms in newmat are based on the C functions +setjmp and longjmp. These functions do not call destructors so can lead to +garbage being left on the heap. (I refer to memory allocated by new as +heap memory). For example, when you call

+
   Matrix A(20,30);
+
+ +

a small amount of space is used on the stack containing the row and column +dimensions of the matrix and 600 doubles are allocated on the heap for the +actual values of the matrix. At the end of the block in which A is declared, +the destructor for A is called and the 600 doubles are freed. The locations on +the stack are freed as part of the normal operations of the stack. If you leave +the block using a longjmp command those 600 doubles will not be freed and will +occupy space until the program terminates.

+

To overcome this problem newmat keeps a list of all the currently declared +matrices and its exception mechanism will return heap memory when you do a +Throw and Catch.

+

However it will not return heap memory from objects from other packages. +

+

If you want the mechanism to work with another class you will have to do +four things:

+
    +
  1. derive your class from class Janitor defined in except.h;
    2. +
  2. define a function void CleanUp() in that class to return all heap +memory;
    3. +
  3. include the following lines in the class definition 
          public:
+         void* operator new(size_t size)
+         { do_not_link=true; void* t = ::operator new(size); return t; }
+         void operator delete(void* t) { ::operator delete(t); }
+
    + +
    4. +
  4. be sure to include a copy constructor in you class definition, that is, +something like 
          X(const X&);
+
    + +
    5. +
+

Note that the function CleanUp() does somewhat the same duties as +the destructor. However CleanUp() has to do the cleaning for +the class you are working with and also the classes it is derived from. So it +will often be wrong to use exactly the same code for both CleanUp() +and the destructor or to define your destructor as a call to +CleanUp().

+

3.29 Non-linear +applications

+

next - skip - +up - start

+

Files solution.h, solution.cpp contain a class for solving for x in +y = f(x) where x is a one-dimensional continuous +monotonic function. This is not a matrix thing at all but is included because +it is a useful thing and because it is a simpler version of the technique used +in the non-linear least squares.

+

Files newmatnl.h, newmatnl.cpp contain a series of classes for non-linear +least squares and maximum likelihood. These classes work on very well-behaved +functions but need upgrading for less well-behaved functions.

+

Documentation for both of these is in the definition files. Simple examples +are in sl_ex.cpp, nl_ex.cpp and garch.cpp.

+

3.30 Standard template +library

+

next - skip - +up - start

+

The standard template library (STL) is the set of container templates +(vector, deque, list etc) defined by the C++ standards committee. Newmat is +intended to be compatible with the STL in the sense that you can store matrices +in the standard containers. I have defined == and +inequality operators which seem to be required by some versions of the STL. Probably there will have +to be some other changes. My experiments with the Rogue Wave STL that comes +with Borland C++ 5.0 showed that some things worked and some things +unexpectedly didn't work.

+

If you want to use the container classes with Newmat please note

+
    +
  • Don't use simulated exceptions.
    • +
  • Make sure the option DO_FREE_CHECK is not +turned on.
    • +
  • You can store only one type of matrix in a container. If you want to use a +variety of types use the GenericMatrix type or store pointers to the matrices. +
    • +
  • The vector and deque container templates like to copy their elements. For +the vector container this happens when you insert an element anywhere except at +the end or when you append an element and the current vector storage overflows. +Since Newmat does not have copy-on-write this could get very +inefficient. (Later versions may have copy-on-write for the +GenericMatrix type).
    • +
  • You won't be able to sort the container or do anything that would call an +inequality operator.
    • +
+

I doubt whether the STL container will be used often for matrices. So I +don't think these limitations are very critical. If you think otherwise, please +tell me.

+

3.31 Namespace

+

next - skip - +up - start

+

Namespace is a new facility in C++. Its purpose is to avoid name +clashes between different libraries. I have included the namespace capability. +Activate the line #define use_namespace in include.h. Then +include either the statement

+
   using namespace NEWMAT;
+
+ +

at the beginning of any file that needs to access the newmat library or

+
   using namespace RBD_LIBRARIES;
+
+ +

at the beginning of any file that needs to access all my libraries.

+

This works correctly with Borland C++ version 5.

+

Microsoft Visual C++ version 5 works in my example +and test files, but fails with apparently insignificant changes (it may be more +reliable if you have applied service pack 3). If you #include +"newmatap.h", but no other newmat include file, then also #include +"newmatio.h". It seems to work with Microsoft +Visual C++ version 6 if you have applied at least service pack 2.

+

My use of namespace works with Gnu g++ version +3.3

+

I have defined the following namespaces:

+
    +
  • RBD_COMMON for functions and classes used by most of my libraries
    • +
  • NEWMAT for the newmat library
    • +
  • RBD_LIBRARIES for all my libraries
    • +
+

4. Error messages

+

next - skip - +up - start

+

Most error messages are self-explanatory. The message gives the size of the +matrices involved. Matrix types are referred to by the following codes:

+
   Matrix or vector                   Rect
+   Symmetric matrix                   Sym
+   Band matrix                        Band
+   Symmetric band matrix              SmBnd
+   Lower triangular matrix            LT
+   Lower triangular band matrix       LwBnd
+   Upper triangular matrix            UT
+   Upper triangular band matrix       UpBnd
+   Diagonal matrix                    Diag
+   Crout matrix (LU matrix)           Crout
+   Band LU matrix                     BndLU
+
+ +

Other codes should not occur.

+

See the section on exceptions for more details on the +structure of the exception classes.

+

I have defined a class Tracer that is intended to help locate the place +where an error has occurred. At the beginning of a function I suggest you +include a statement like

+
   Tracer tr("name");
+
+ +

where name is the name of the function. This name will be printed as part of +the error message, if an exception occurs in that function, or in a function +called from that function. You can change the name as you proceed through a +function with the ReName function

+
   tr.ReName("new name");
+
+ +

if, for example, you want to track progress through the function.

+

5. Notes on the design of the +library

+

next - skip - +up - start

+ + + + + +
5.1 +Safety, usability, efficiency
+5.2 Matrix vs array library
+5.3 Design questions
+5.4 Data storage
+5.5 Memory management - 1
+5.6 Memory management - 2
+5.7 Evaluation of expressions 		5.8 Explosion in the number of operations
+5.9 Destruction of temporaries
+5.10 A calculus of matrix types
+5.11 Pointer arithmetic
+5.12 Error handling
+5.13 Sparse matrices
+5.14 Complex matrices
+

I describe some of the ideas behind this package, some of the decisions that +I needed to make and give some details about the way it works. You don't need +to read this part of the documentation in order to use the package.

+

It isn't obvious what is the best way of going about structuring a matrix +package. I don't think you can figure this out with thought experiments. +Different people have to try out different approaches. And someone else may +have to figure out which is best. Or, more likely, the ultimate packages will +lift some ideas from each of a variety of trial packages. So, I don't claim my +package is an ultimate package, but simply a trial of a number of ideas. +The following pages give some background on these ideas.

+

5.1 Safety, usability, +efficiency

+

next - skip - +up - start

+

Some general comments

+

A library like newmat needs to balance safety, +usability and efficiency.

+

By safety, I mean getting the right answer, and not causing crashes +or damage to the computer system.

+

By usability, I mean being easy to learn and use, including not being +too complicated, being intuitive, saving the users' time, being nice to use. +

+

Efficiency means minimising the use of computer memory and time.

+

In the early days of computers the emphasis was on efficiency. But computer +power gets cheaper and cheaper, halving in price every 18 months. On the other +hand the unaided human brain is probably not a lot better than it was 100,000 +years ago! So we should expect the balance to shift to put more emphasis on +safety and usability and a little less on efficiency. So I don't mind if my +programs are a little less efficient than programs written in pure C (or +Fortran) if I gain substantially in safety and usability. But I would mind if +they were a lot less efficient.

+

Type of use

+

Second reason for putting extra emphasis on safety and usability is the way +I and, I suspect, most other users actually use newmat. Most completed +programs are used only a few times. Some result is required for a client, paper +or thesis. The program is developed and tested, the result is obtained, and the +program archived. Of course bits of the program will be recycled for the next +project. But it may be less usual for the same program to be run over and over +again. So the cost, computer time + people time, is in the development time and +often, much less in the actual time to run the final program. So good use of +people time, especially during development is really important. This means you +need highly usable libraries.

+

So if you are dealing with matrices, you want the good interface that I have +tried to provide in newmat, and, of course, reliable methods underneath +it.

+

Of course, efficiency is still important. We often want to run the biggest +problem our computer will handle and often a little bigger. The C++ language +almost lets us have both worlds. We can define a reasonably good interface, and +get good efficiency in the use of the computer.

+

Levels of access

+

We can imagine the black box model of a newmat. Suppose the +inside is hidden but can be accessed by the methods described in the +reference section. Then the interface is reasonably +consistent and intuitive. Matrices can be accessed and manipulated in much the +same way as doubles or ints in regular C. All accesses are checked. It is most +unlikely that an incorrect index will crash the system. In general, users do +not need to use pointers, so one shouldn't get pointers pointing into space. +And, hopefully, you will get simpler code and so less errors.

+

There are some exceptions to this. In particular, the C-like subscripts are not checked for validity. They give +faster access but with a lower level of safety.

+

Then there is the Store() function which takes you to +the data array within a matrix. This takes you right inside the black +box. But this is what you have to use if you are writing, for example, a +new matrix factorisation, and require fast access to the data array. I have +tried to write code to simplify access to the interior of a rectangular matrix, +see file newmatrm.cpp, but I don't regard this as very successful, as yet, and +have not included it in the documentation. Ideally we should have improved +versions of this code for each of the major types of matrix. But, in reality, +most of my matrix factorisations are written in what is basically the C +language with very little C++.

+

So our box is not very black. You have a choice of how far you +penetrate. On the outside you have a good level of safety, but in some cases +efficiency is compromised a little. If you penetrate inside the box +safety is reduced but you can get better efficiency.

+

Some performance data

+

This section looks at the performance on newmat for simple sums, +comparing it with C code and with a simple array program. +

+

The following table lists the time (in seconds) for carrying out the +operations X=A+B;, X=A+B+C;, X=A+B+C+D;, X=A+B+C+D+E; where +X,A,B,C,D,E are of type ColumnVector, with a variety of programs. I am +using Microsoft VC++, version 6 in console mode under windows 2000 on a PC with +a 1 ghz Pentium III and 512 mbytes of memory.

+
    length    iters. newmat      C C-res.  subs.  array
+X = A + B
+         2   5000000   27.8    0.3    8.8    1.9    9.5 
+        20    500000    3.0    0.3    1.1    1.9    1.2 
+       200     50000    0.5    0.3    0.4    1.9    0.3 
+      2000      5000    0.4    0.3    0.4    2.0    1.0 
+     20000       500    4.5    4.5    4.5    6.7    4.4 
+    200000        50    5.2    4.7    5.5    5.8    5.2 
+
+X = A + B + C
+         2   5000000   36.6    0.4    8.9    2.5   12.2 
+        20    500000    4.0    0.4    1.2    2.5    1.6 
+       200     50000    0.8    0.3    0.5    2.5    0.5 
+      2000      5000    3.6    4.4    4.6    9.0    4.4 
+     20000       500    6.8    5.4    5.4    9.6    6.8 
+    200000        50    8.6    6.0    6.7    7.1    8.6 
+
+X = A + B + C + D
+         2   5000000   44.0    0.7    9.3    3.1   14.6 
+        20    500000    4.9    0.6    1.5    3.1    1.9 
+       200     50000    1.0    0.6    0.8    3.2    0.8 
+      2000      5000    5.6    6.6    6.8   11.5    5.9 
+     20000       500    9.0    6.7    6.8   11.0    8.5 
+    200000        50   11.9    7.1    7.9    9.5   12.0 
+
+X = A + B + C + D + E
+         2   5000000   50.6    1.0    9.5    3.8   17.1 
+        20    500000    5.7    0.8    1.7    3.9    2.4 
+       200     50000    1.3    0.9    1.0    3.9    1.0 
+      2000      5000    7.0    8.3    8.2   13.8    7.1 
+     20000       500   11.5    8.1    8.4   13.2   11.0 
+    200000        50   15.2    8.7    9.5   12.4   15.4 
+
+

I have graphed the results +and included rather more array lengths.

+ +

The first column gives the lengths of the arrays, the second the number of +iterations and the remaining columns the total time required in seconds. If the +only thing that consumed time was the double precision addition then the +numbers within each block of the table would be the same. The summation is +repeated 5 times within each loop, for example:

+
   for (i=1; i<=m; ++i)
+   {
+      X1 = A1+B1+C1; X2 = A2+B2+C2; X3 = A3+B3+C3;
+      X4 = A4+B4+C4; X5 = A5+B5+C5;
+   }
+

The column labelled newmat is using the standard newmat add. The column labelled C uses the usual C method: while +(j1--) *x1++ = *a1++ + *b1++; . The following column also includes an +X.ReSize() in the outer loop to correspond to the reassignment of +memory that newmat would do. In the next column the calculation is using +the usual C style for loop +and accessing the elements using newmat subscripts such as +A(i). The final column is the time taken by a +simple array package. This uses an alternative method for avoiding temporaries +and unnecessary copies that does not involve runtime tests. It does its sums in blocks of 4 and copies in blocks of +8 in the same way that newmat does.

+

Here are my conclusions.

+
    +
  • Newmat does very badly for length 2 and doesn't do well for +length 20. There is a lot of code in newmat for +determining which sum algorithm to use and it is not surprising that this +impacts on performance for small lengths. +However the array program is also having difficulty with length 2 so it +is unlikely that the problem could be completely eliminated.
    • +
  • For arrays of length 2000 or longer newmat is doing about as well as +C and slightly better than C with resize in the X=A+B table. For the +other two tables it tends to be slower, but not dramatically so.
    • +
  • It is really important for fast processing with the Pentium III to stay +within the Pentium cache.
    • +
  • Addition using the newmat subscripts, while considerably slower than +the others, is still surprisingly good for the longer arrays.
    • +
  • The array program and newmat are similar for +lengths 2000 or higher (the longer times for the array program for the longest +arrays shown on the graph are probably a quirk of the timing program).
    • +
+

In summary: for the situation considered here, newmat is doing very +well for large ColumnVectors, even for sums with several terms, but not so well +for shorter ColumnVectors.

+

5.2 Matrix vs array +library

+

next - skip - +up - start

+

The newmat library is for the manipulation of matrices, including the +standard operations such as multiplication as understood by numerical analysts, +engineers and mathematicians.

+

A matrix is a two dimensional array of numbers. However, very special +operations such as matrix multiplication are defined specifically for matrices. +This means that a matrix library, as I understand the term, is different +from a general array library. Here are some contrasting properties.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FeatureMatrix +libraryArray +library
ExpressionsMatrix expressions; +* means matrix multiply; inverse functionArithmetic operations, if +supported, mean elementwise combination of arrays
Element accessAccess to the elements of a +matrixHigh speed access to elements +directly and perhaps with iterators
Elementary functionsFor example: determinant, +traceMatrix multiplication as a +function
Advanced functionsFor example: eigenvalue +analysis 
Element typesReal and possibly +complexWide range - real, integer, string +etc
TypesRectangular, symmetric, diagonal, +etcOne, two and three dimensional +arrays, at least
+

Both types of library need to support access to sub-matrices or sub-arrays, +have good efficiency and storage management, and graceful exit for errors. In +both cases, we probably need two versions, one optimised for large matrices or +arrays and one for small matrices or arrays.

+

It may be possible to amalgamate the two sets of requirements to some +extent. However newmat is definitely oriented towards the matrix library +set.

+

5.3 Design questions

+

next - skip - +up - start

+

Even within the bounds set by the requirements of a matrix library there is +a substantial opportunity for variation between what different matrix packages +might provide. It is not possible to build a matrix package that will meet +everyone's requirements. In many cases if you put in one facility, you impose +overheads on everyone using the package. This both in storage required for the +program and in efficiency. Likewise a package that is optimised towards +handling large matrices is likely to become less efficient for very small +matrices where the administration time for the matrix may become significant +compared with the time to carry out the operations. It is better to provide a +variety of packages (hopefully compatible) so that most users can find one that +meets their requirements. This package is intended to be one of these packages; +but not all of them.

+

Since my background is in statistical methods, this package is oriented +towards the kinds things you need for statistical analyses.

+

Now looking at some specific questions.

+

What size of matrices?

+

A matrix library may target small matrices (say 3 x 3), or medium sized +matrices, or very large matrices.

+

A library targeting very small matrices will seek to minimise +administration. A library for medium sized or very large matrices can spend +more time on administration in order to conserve space or optimise the +evaluation of expressions. A library for very large matrices will need to pay +special attention to storage and numerical properties. This library is designed +for medium sized matrices. This means it is worth introducing some +optimisations, but I don't have to worry about setting up some form of virtual +memory.

+

Which matrix types?

+

As well as the usual rectangular matrices, matrices occurring repeatedly in +numerical calculations are upper and lower triangular matrices, symmetric +matrices and diagonal matrices. This is particularly the case in calculations +involving least squares and eigenvalue calculations. So as a first stage these +were the types I decided to include.

+

It is also necessary to have types row vector and column vector. In a +matrix package, in contrast to an array package, it is necessary +to have both these types since they behave differently in matrix expressions. +The vector types can be derived for the rectangular matrix type, so having them +does not greatly increase the complexity of the package.

+

The problem with having several matrix types is the number of versions of +the binary operators one needs. If one has 5 distinct matrix types then a +simple library will need 25 versions of each of the binary operators. In fact, +we can evade this problem, but at the cost of some complexity.

+

What element types?

+

Ideally we would allow element types double, float, complex and int, at +least. It might be reasonably easy, using templates or equivalent, to provide a +library which could handle a variety of element types. However, as soon as one +starts implementing the binary operators between matrices with different +element types, again one gets an explosion in the number of operations one +needs to consider. At the present time the compilers I deal with are not up to +handling this problem with templates. (Of course, when I started writing +newmat there were no templates). But even when the compilers do meet the +specifications of the draft standard, writing a matrix package that allows for +a variety of element types using the template mechanism is going to be very +difficult. I am inclined to use templates in an array library but not in +a matrix library.

+

Hence I decided to implement only one element type. But the user can decide +whether this is float or double. The package assumes elements are of type Real. +The user typedefs Real to float or double.

+

It might also be worth including symmetric and triangular matrices with +extra precision elements (double or long double) to be used for storage only +and with a minimum of operations defined. These would be used for accumulating +the results of sums of squares and product matrices or multi-stage QR +triangularisations.

+

Allow matrix expressions

+

I want to be able to write matrix expressions the way I would on paper. So +if I want to multiply two matrices and then add the transpose of a third one I +can write something like X = A * B + C.t();. I want this expression to +be evaluated with close to the same efficiency as a hand-coded version. This is +not so much of a problem with expressions including a multiply since the +multiply will dominate the time. However, it is not so easy to achieve with +expressions with just + and -.

+

A second requirement is that temporary matrices generated during the +evaluation of an expression are destroyed as quickly as possible.

+

A desirable feature is that a certain amount of intelligence be +displayed in the evaluation of an expression. For example, in the expression +X = A.i() * B; where i() denotes inverse, it would be +desirable if the inverse wasn't explicitly calculated.

+

Naming convention

+

How are classes and public member functions to be named? As a general rule I +have spelt identifiers out in full with individual words being capitalised. For +example UpperTriangularMatrix. If you don't like this you can #define or +typedef shorter names. This convention means you can select an abbreviation +scheme that makes sense to you.

+

Exceptions to the general rule are the functions for transpose and inverse. +To make matrix expressions more like the corresponding mathematical formulae, I +have used the single letter abbreviations, t() and i().

+

Row and column index ranges

+

In mathematical work matrix subscripts usually start at one. In C, array +subscripts start at zero. In Fortran, they start at one. Possibilities for this +package were to make them start at 0 or 1 or be arbitrary.

+

Alternatively one could specify an index set for indexing the rows +and columns of a matrix. One would be able to add or multiply matrices only if +the appropriate row and column index sets were identical.

+

In fact, I adopted the simpler convention of making the rows and columns of +a matrix be indexed by an integer starting at one, following the traditional +convention. In an earlier version of the package I had them starting at zero, +but even I was getting mixed up when trying to use this earlier package. So I +reverted to the more usual notation and started at 1.

+

Element access - method and checking

+

We want to be able to use the notation A(i,j) to specify the +(i,j)-th element of a matrix. This is the way mathematicians expect to +address the elements of matrices. I consider the notation A[i][j] +totally alien. However I include this as an option to help people converting +from C.

+

There are two ways of working out the address of A(i,j). One is +using a dope vector which contains the first address of each row. +Alternatively you can calculate the address using the formula appropriate for +the structure of A. I use this second approach. It is probably slower, +but saves worrying about an extra bit of storage.

+

The other question is whether to check for i and j being +in range. I do carry out this check following years of experience with both +systems that do and systems that don't do this check. I would hope that the +routines I supply with this package will reduce your need to access elements of +matrices so speed of access is not a high priority.

+

Use iterators

+

Iterators are an alternative way of providing fast access to the elements of +an array or matrix when they are to be accessed sequentially. They need to be +customised for each type of matrix. I have not implemented iterators in this +package, although some iterator like functions are used internally for some row +and column functions.

+

5.4 Data storage

+

next - skip - +up - start

+

The stack and heap

+

To understand how newmat stores matrices you need to know a little bit +about the heap and stack.

+

The data values of variables or objects in a C++ program are stored in either +of two sections of memory called the stack and the heap. Sometimes +there is more than one heap to cater for different sized variables.

+

If you declare an automatic variable

+
   int x;
+

then the value of x is stored on the stack. As you declare more +variables the stack gets bigger. When you exit a block (i.e a section of code +delimited by curly brackets {...}) the memory used by the automatic +variables declared in the block is released and the stack shrinks.

+

When you declare a variable with new, for example,

+
   int* y = new int;
+

the pointer y is stored on the stack but the value it is +pointing to is stored on the heap. Memory on the heap is not +released until the program explicitly does this with a delete statement

+
   delete *y;
+

or the program exits.

+

On the stack, variables and objects are is always added to the end of +the stack and are removed in the reverse order to that in which they are +added - that is the last on will be the first off. This is not the case with the +heap, where the variables and objects can be removed in any order. So one +can get alternating pieces of used and unused memory. When a new variable or +object is declared on the heap the system needs to search for piece of +unused memory large enough to hold it. This means that storing on the heap +will usually be a slower process than storing on the stack. There is also +likely to be waste space on the heap because of gaps between the used +blocks of memory that are too small for the next object you want to store on the +heap. There is also the possibility of wasting space if you forget to +remove a variable or object on the heap even though you have finished +using it. However, the stack is usually limited to holding small objects +with size known at compile time. Large objects, objects whose size you don't +know at compile time, and objects that you want to persist after the end of the +block need to be stored on the heap.

+

In C++, the constructor/destructor system enables one to build +complicated objects such as matrices that behave as automatic variables stored +on the stack, so the programmer doesn't have to worry about deleting them +at the end of the block, but which really utilise the heap for storing +their data.

+

Structure of matrix objects

+

Each matrix object contains the basic information such as the number of rows +and columns, the amount of memory used, a status variable and a pointer to the data array which is on +the heap. So if you declare a matrix

+
   Matrix A(1000,1000);
+

there is an small amount of memory used on the stack for storing the numbers +of rows and columns, the amount of  memory used, the status variable and +the pointer together with 1,000,000 Real locations stored on the heap. +When you exit the block in which A is declared, the heap memory used by +A is automatically returned to the system, as well as the memory used on +the stack.

+

Of course, if you use new to declare a matrix

+
   Matrix* B = new Matrix(1000,1000);
+

both the information about the size and the actual data are stored on heap +and not deleted until the program exits or you do an explicit delete:

+
   delete *B;
+

If you carry out an assignment with = or << or do a +resize() the data array currently associated with a matrix is destroyed and +a new array generated. For example

+
   Matrix A(1000,1000);
+   Matrix B(50, 50);
+   ... put some values in B
+   A = B;
+

At the last step the heap memory associated with A is returned to the +system and a new block of heap memory is assigned to contain the new values. +This happens even if there is no change in the amount of memory required.

+

One block or several

+

The elements of the matrix are stored as a single array. Alternatives would +have been to store each row as a separate array or a set of adjacent rows as a +separate array. The present solution simplifies the program but limits the size +of matrices in 16 bit PCs that have a 64k byte limit on the size of arrays (I +don't use the huge keyword). The large arrays may also cause problems +for memory management in smaller machines. [The 16 bit PC problem has largely +gone away but it was a problem when much of newmat was written. Now, +occasionally I run into the 32 bit PC problem.]

+

By row or by column or other

+

In Fortran two dimensional arrays are stored by column. In most other +systems they are stored by row. I have followed this later convention. This +makes it easier to interface with other packages written in C but harder to +interface with those written in Fortran. This may have been a wrong decision. +Most work on the efficient manipulation of large matrices is being done in +Fortran. It would have been easier to use this work if I had adopted the +Fortran convention.

+

An alternative would be to store the elements by mid-sized rectangular +blocks. This might impose less strain on memory management when one needs to +access both rows and columns.

+

Storage of symmetric matrices

+

Symmetric matrices are stored as lower triangular matrices. The decision was +pretty arbitrary, but it does slightly simplify the Cholesky decomposition +program.

+

5.5 Memory management - +reference counting or status variable?

+

next - skip - +up - start

+

Consider the instruction

+
   X = A + B + C;
+
+ +

To evaluate this a simple program will add A to B putting +the total in a temporary T1. Then it will add T1 to +C creating another temporary T2 which will be copied into +X. T1 and T2 will sit around till the end of the +execution of the statement and perhaps of the block. It would be faster if the +program recognised that T1 was temporary and stored the sum of +T1 and C back into T1 instead of creating +T2 and then avoided the final copy by just assigning the contents of +T1 to X rather than copying. In this case there will be no +temporaries requiring deletion. (More precisely there will be a header to be +deleted but no contents).

+

For an instruction like

+
   X = (A * B) + (C * D);
+
+ +

we can't easily avoid one temporary being left over, so we would like this +temporary deleted as quickly as possible.

+

I provide the functionality for doing all this by attaching a status +variable to each matrix. This indicates if the matrix is temporary so that its +memory is available for recycling or deleting. Any matrix operation checks the +status variables of the matrices it is working with and recycles or deletes any +temporary memory.

+

An alternative or additional approach would be to use reference counting +and delayed copying - also known as copy on write. If a program +requests a matrix to be copied, the copy is delayed until an instruction is +executed which modifies the memory of either the original matrix or the copy. +If the original matrix is deleted before either matrix is modified, in effect, +the values of the original matrix are transferred to the copy without any +actual copying taking place. This solves the difficult problem of returning an +object from a function without copying and saves the unnecessary copying in the +previous examples.

+

There are downsides to the delayed copying approach. Typically, for delayed +copying one uses a structure like the following:

+
   Matrix
+     |
+     +------> Array Object
+     |          |
+     |          +------> Data array
+     |          |
+     |          +------- Counter
+     |
+     +------ Dimension information
+
+
+ +

where the arrows denote a pointer to a data structure. If one wants to +access the Data array one will need to track through two pointers. If +one is going to write, one will have to check whether one needs to copy first. +This is not important when one is going to access the whole array, say, for a +add operation. But if one wants to access just a single element, then it +imposes a significant additional overhead on that operation. Any subscript +operation would need to check whether an update was required - even read since +it is hard for the compiler to tell whether a subscript access is a read or +write.

+

Some matrix libraries don't bother to do this. So if you write A = +B; and then modify an element of one of A or B, then the +same element of the other is also modified. I don't think this is acceptable +behaviour.

+

Delayed copy does not provide the additional functionality of my approach +but I suppose it would be possible to have both delayed copy and tagging +temporaries.

+

My approach does not automatically avoid all copying. In particular, you +need use a special technique to return a matrix from a function without +copying.

+

5.6 Memory management - +accessing contiguous locations

+

next - skip - +up - start

+

Modern computers work faster if one accesses memory by running through +contiguous locations rather than by jumping around all over the place. Newmat +stores matrices by rows so that algorithms that access +memory by running along rows will tend to work faster than one that runs down +columns. A number of the algorithms used in Newmat were developed before this +was an issue and so are not as efficient as possible.

+

I have gradually upgrading the algorithms to access memory by rows. The +following table shows the current status of this process.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
FunctionContiguous memory accessComment
Add, subtractYes 
MultiplyYes 
ConcatenateYes 
TransposeNo 
Invert and solveYesMostly
CholeskyYes 
QRZ, QRZTYes 
SVDNo 
JacobiNoNot an issue; used only for smaller matrices
EigenvaluesNo 
SortYesQuick-sort is naturally good
FFT?Could be improved?
+

5.7 Evaluation of expressions - +lazy evaluation

+

next - skip - +up - start

+

Consider the instruction

+
   X = B - X;
+
+ +

A simple program will subtract X from B, store the result +in a temporary T1 and copy T1 into X. It would be +faster if the program recognised that the result could be stored directly into +X. This would happen automatically if the program could look at the +instruction first and mark X as temporary.

+

C programmers would expect to avoid the same problem with

+
   X = X - B;
+
+ +

by using an operator -=

+
   X -= B;
+
+ +

However this is an unnatural notation for non C users and it may be nicer to +write X = X - B; and know that the program will carry out the +simplification.

+

Another example where this intelligent analysis of an instruction is helpful +is in

+
   X = A.i() * B;
+
+ +

where i() denotes inverse. Numerical analysts know it is +inefficient to evaluate this expression by carrying out the inverse operation +and then the multiply. Yet it is a convenient way of writing the instruction. +It would be helpful if the program recognised this expression and carried out +the more appropriate approach.

+

I regard this interpretation of A.i() * B as just providing a +convenient notation. The objective is not primarily to correct the errors of +people who are unaware of the inefficiency of A.i() * B if interpreted +literally.

+

There is a third reason for the two-stage evaluation of expressions and this +is probably the most important one. In C++ it is quite hard to return an +expression from a function such as (*, + etc) without a copy. +This is particularly the case when an assignment (=) is involved. The +mechanism described here provides one way for avoiding this in matrix +expressions.

+

The C++ standard (section 12.8/15) allows the compiler to optimise away the +copy when returning an object from a function (but there will still be one copy +is an assignment (=) is involved). This means special handling of returns from a +function is less important when a modern optimising compiler is being +used. 

+

To carry out this intelligent analysis of an instruction matrix +expressions are evaluated in two stages. In the the first stage a tree +representation of the expression is formed. For example (A+B)*C is +represented by a tree

+

+       *
+      / \
+     +   C
+    / \
+   A   B
+
+ +

Rather than adding A and B the + operator yields +an object of a class AddedMatrix which is just a pair of pointers to +A and B. Then the * operator yields a +MultipliedMatrix which is a pair of pointers to the AddedMatrix +and C. The tree is examined for any simplifications and then evaluated +recursively.

+

Further possibilities not yet included are to recognise A.t()*A and +A.t()+A as symmetric or to improve the efficiency of evaluation of +expressions like A+B+C, A*B*C, A*B.t() (t() +denotes transpose).

+

One of the disadvantages of the two-stage approach is that the types of +matrix expressions are determined at run-time. So the compiler will not detect +errors of the type

+
   Matrix M;
+   DiagonalMatrix D;
+   ....;
+   D = M;
+
+ +

We don't allow conversions using = when information would be lost. +Such errors will be detected when the statement is executed.

+

5.8 How to overcome an +explosion in number of operations

+

next - skip - +up - start

+

The package attempts to solve the problem of the large number of versions of +the binary operations required when one has a variety of types.

+

With n types of matrices the binary operations will each require +n-squared separate algorithms. Some reduction in the number may be +possible by carrying out conversions. However, the situation rapidly becomes +impossible with more than 4 or 5 types. Doug Lea told me that it was possible +to avoid this problem. I don't know what his solution is. Here's mine.

+

Each matrix type includes routines for extracting individual rows or +columns. I assume a row or column consists of a sequence of zeros, a sequence +of stored values and then another sequence of zeros. Only a single algorithm is +then required for each binary operation. The rows can be located very quickly +since most of the matrices are stored row by row. Columns must be copied and so +the access is somewhat slower. As far as possible my algorithms access the +matrices by row.

+

There is another approach. Each of the matrix types defined in this package +can be set up so both rows and columns have their elements at equal intervals +provided we are prepared to store the rows and columns in up to three chunks. +With such an approach one could write a single "generic" algorithm +for each of multiply and add. This would be a reasonable alternative to my +approach.

+

I provide several algorithms for operations like + . If one is adding two +matrices of the same type then there is no need to access the individual rows +or columns and a faster general algorithm is appropriate.

+

Generally the method works well. However symmetric matrices are not always +handled very efficiently (yet) since complete rows are not stored explicitly. +

+

The original version of the package did not use this access by row or column +method and provided the multitude of algorithms for the combination of +different matrix types. The code file length turned out to be just a little +longer than the present one when providing the same facilities with 5 distinct +types of matrices. It would have been very difficult to increase the number of +matrix types in the original version. Apparently 4 to 5 types is about the +break even point for switching to the approach adopted in the present package. +

+

However it must also be admitted that there is a substantial overhead in the +approach adopted in the present package for small matrices. The test program +developed for the original version of the package takes 30 to 50% longer to run +with the current version (though there may be some other reasons for this). +This is for matrices in the range 6x6 to 10x10.

+

To try to improve the situation a little I do provide an ordinary matrix +multiplication routine for the case when all the matrices involved are +rectangular.

+

5.9 Destruction of +temporaries

+

next - skip - +up - start

+

Versions before version 5 of newmat did not work correctly with Gnu C++ +(version 5 or earlier). This was because the tree structure used to represent a +matrix expression was set up on the stack. This was fine for AT&T, Borland +and Zortech C++.

+

However early version Gnu C++ destroys temporary structures as soon as the +function that accesses them finishes. The other compilers wait until the end of +the current expression or current block. To overcome this problem, there is now +an option to store the temporaries forming the tree structure on the heap +(created with new) and to delete them explicitly. Activate the definition of +TEMPS_DESTROYED_QUICKLY to set this option.

+

Now that the C++ standards committee has said that temporary structures +should not be destroyed before a statement finishes, I suggest using the stack, +because of the difficulty of managing exceptions with the heap version.

+

5.10 A calculus of matrix +types

+

next - skip - +up - start

+

The program needs to be able to work out the class of the result of a matrix +expression. This is to check that a conversion is legal or to determine the +class of an intermediate result. To assist with this, a class MatrixType is +defined. Operators +, -, *, >= are +defined to calculate the types of the results of expressions or to check that +conversions are legal.

+

Early versions of newmat stored the types of the results of +operations in a table. So, for example, if you multiplied an +UpperTriangularMatrix by a LowerTriangularMatrix, newmat would look up +the table and see that the result was of type Matrix. With this approach the +exploding number of operations problem recurred although +not as seriously as when code had to be written for each pair of types. But +there was always the suspicion that somewhere, there was an error in one of +those 9x9 tables, that would be very hard to find. And the problem would get +worse as additional matrix types or operators were included.

+

The present version of newmat solves the problem by assigning +attributes such as diagonal or band or upper +triangular to each matrix type. Which attributes a matrix type has, is +stored as bits in an integer. As an example, the DiagonalMatrix type has the +bits corresponding to diagonal, symmetric and band equal +to 1. By looking at the attributes of each of the operands of a binary +operator, the program can work out the attributes of the result of the +operation with simple bitwise operations. Hence it can deduce an appropriate +type. The symmetric attribute is a minor problem because +symmetric * symmetric does not yield symmetric unless both +operands are diagonal. But otherwise very simple code can be used to +deduce the attributes of the result of a binary operation.

+

Tables of the types resulting from the binary operators are output at the +beginning of the test program.

+

5.11 Pointer arithmetic

+

next - skip - +up - start

+

Suppose you do something like

+
   int* y = new int[100];
+   y += 200;          // y points to something outside the array
+   // y is never accessed
+
+ +

Then the standard says that the behaviour of the program is undefined +even if y is never accessed. (You are allowed to calculate a pointer +value one location beyond the end of the array). In practice, a program like +this does not cause any problems with any compiler I have come across and +no-one has reported any such problems to me.

+

However, this error is detected by Borland's Code Guard +bound's checker and this makes it very difficult to use this to use Code +Guard to detect other problems since the output is swamped by reports of +this error.

+

Now consider

+
   int* y = new int[100];
+   y += 200;          // y points to something outside the array
+   y -= 150;          // y points to something inside the array
+   // y is accessed
+
+ +

Again this is not strictly correct but does not seem to cause a problem. But +it is much more doubtful than the previous example.

+

I removed most instances of the second version of the problem from Newmat09. +Hopefully the remainder of these instances were removed from the current +version of Newmat10. In addition, most instances of the first version of the +problem have also been fixed.

+

There is one exception. The interface to the Numerical +Recipes in C does still contain the second version of the problem. This is +inevitable because of the way Numerical Recipes in C stores vectors and +matrices. If you are running the test program with a +bounds checking program, edit tmt.h to disable the testing of the NRIC +interface.

+

The rule does does cause a problem for authors of matrix and +multidimensional array packages. If we want to run down a column of a matrix we +would like to do something like

+
   // set values of column 1
+   Matrix A;
+   ... set dimensions and put values in A
+   Real* a = A.Store();               // points to first element
+   int nr = A.Nrows();                // number of rows
+   int nc = A.Ncols();                // number of columns
+   while (nr--)
+   {
+      *a = something to put in first element of row
+      a += nc;                        // jump to next element of column
+   }
+
+ +

If the matrix has more than one column the last execution of a += +nc; will run off the end of the space allocated to the matrix and we'll +get a bounds error report.

+

Instead we have to use a program like

+
   // set values of column 1
+   Matrix A;
+   ... set dimensions and put values in A
+   Real* a = A.Store();               // points to first element
+   int nr = A.Nrows();                // number of rows
+   int nc = A.Ncols();                // number of columns
+   if (nr != 0)
+   {
+      for(;;)
+      {
+         *a = something to put in first element of row
+         if (!(--nr)) break;
+         a += nc;                     // jump to next element of column
+      }
+   }
+
+ +

which is more complicated and consequently introduces more chance of error. +

+

5.12 Error handling +

+

next - skip - +up - start

+

The library now does have a moderately graceful exit from errors. One can +use either the simulated exceptions or the compiler supported exceptions. When +newmat08 was released (in 1995), compiler exception handling in the compilers I +had access to was unreliable. I recommended you used my simulated exceptions. +In 1997 compiler supported exceptions seemed to work on a variety of +compilers - but not all compilers. This is still true in 2001. Try using the +compiler supported exceptions if you have a recent compiler, but if you are +getting strange crashes or errors try going back to my simulated exceptions. +

+

The approach in the present library, attempting to simulate C++ exceptions, +is not completely satisfactory, but seems a good interim solution for those who +cannot use compiler supported exceptions. People who don't want exceptions in +any shape or form, can set the option to exit the program if an exception is +thrown.

+

The exception mechanism cannot clean-up objects explicitly created by new. +This must be explicitly carried out by the package writer or the package user. +I have not yet done this completely with the present package so occasionally a +little garbage may be left behind after an exception. I don't think this is a +big problem, but it is one that needs fixing.

+

5.13 Sparse matrices

+

next - skip - +up - start

+

The library does not support sparse matrices.

+

For sparse matrices there is going to be some kind of structure vector. It +is going to have to be calculated for the results of expressions in much the +same way that types are calculated. In addition, a whole new set of row and +column operations would have to be written.

+

Sparse matrices are important for people solving large sets of differential +equations as well as being important for statistical and operational research +applications.

+

But there are packages being developed specifically for sparse matrices and +these might present the best approach, at least where sparse matrices are the +main interest.

+

5.14 Complex matrices

+

next - skip - +up - start

+

The package does not yet support matrices with complex elements. There are +at least two approaches to including these. One is to have matrices with +complex elements.

+

This probably means making new versions of the basic row and column +operations for Real*Complex, Complex*Complex, Complex*Real and similarly for ++ and -. This would be OK, except that if I also want to do +this for sparse matrices, then when you put these together, the whole thing +will get out of hand.

+

The alternative is to represent a Complex matrix by a pair of Real matrices. +One probably needs another level of decoding expressions but I think it might +still be simpler than the first approach. But there is going to be a problem +with accessing elements and it does not seem possible to solve this in an +entirely satisfactory way.

+

Complex matrices are used extensively by electrical engineers and physicists +and really should be fully supported in a comprehensive package.

+

You can simulate most complex operations by representing Z = X + iY +by

+
    /  X   Y \
+    \ -Y   X / 
+
+ +

Most matrix operations will simulate the corresponding complex operation, +when applied to this matrix. But, of course, this matrix is essentially twice as big as you +would need with a genuine complex matrix library.

+

return to top
+return to online documentation page

+

 

+

 

+

 

+

 

+

 

+

 

+

 

+ + \ No newline at end of file diff --git a/3rdparty/newmat/nm_b55.mak b/3rdparty/newmat/nm_b55.mak new file mode 100644 index 0000000..90ff99c --- /dev/null +++ b/3rdparty/newmat/nm_b55.mak @@ -0,0 +1,193 @@ +BORLANDPATH = "C:\program files\Borland\cbuilder5" + +TASM = TASM32 +TLIB = tlib +TLINK = ilink32 +LIBPATH = $(BORLANDPATH)\LIB +INCLUDEPATH = $(BORLANDPATH)\INCLUDE + +DIFF = sdiff +PRE = + +CC = bcc32 -W- -v- -H- -3 -N -Og -Oi -Ov -f -I$(INCLUDEPATH) + +.cpp.obj: + $(CC) -c {$< } + +everything: tmt.exe example.exe test_exc.exe nl_ex.exe sl_ex.exe garch.exe + +newmat_lobj = newmat1.obj newmat2.obj newmat3.obj newmat4.obj newmat5.obj newmat6.obj newmat7.obj newmat8.obj newmatex.obj bandmat.obj submat.obj myexcept.obj cholesky.obj evalue.obj fft.obj hholder.obj jacobi.obj newfft.obj sort.obj svd.obj newmatrm.obj newmat9.obj + +newmat.lib: $(newmat_lobj) + $(TLIB) $@ /P32 /u $(newmat_lobj) + +tmt_obj = tmt.obj tmt1.obj tmt2.obj tmt3.obj tmt4.obj tmt5.obj tmt6.obj tmt7.obj tmt8.obj tmt9.obj tmta.obj tmtb.obj tmtc.obj tmtd.obj tmte.obj tmtf.obj tmtg.obj tmth.obj tmti.obj tmtj.obj tmtk.obj tmtl.obj tmtm.obj + +tmt.exe: $(tmt_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(tmt_obj),$@,, newmat.lib import32.lib cw32.lib +| + +example_obj = example.obj + +example.exe: $(example_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(example_obj),$@,, newmat.lib import32.lib cw32.lib +| + +test_exc_obj = test_exc.obj + +test_exc.exe: $(test_exc_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(test_exc_obj),$@,, newmat.lib import32.lib cw32.lib +| + +nl_ex_obj = nl_ex.obj newmatnl.obj + +nl_ex.exe: $(nl_ex_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(nl_ex_obj),$@,, newmat.lib import32.lib cw32.lib +| + +sl_ex_obj = sl_ex.obj solution.obj myexcept.obj + +sl_ex.exe: $(sl_ex_obj) + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(sl_ex_obj),$@,,import32.lib cw32.lib +| + +garch_obj = garch.obj newmatnl.obj + +garch.exe: $(garch_obj) newmat.lib + $(TLINK) /x/L$(LIBPATH)/Gn -Tpe -ap -c @&&| +c0x32.obj $(garch_obj),$@,, newmat.lib import32.lib cw32.lib +| + +newmat1.obj: newmat1.cpp newmat.h include.h boolean.h myexcept.h + +newmat2.obj: newmat2.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat3.obj: newmat3.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat4.obj: newmat4.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat5.obj: newmat5.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat6.obj: newmat6.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat7.obj: newmat7.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat8.obj: newmat8.cpp include.h newmat.h newmatrc.h precisio.h boolean.h myexcept.h controlw.h + +newmatex.obj: newmatex.cpp include.h newmat.h boolean.h myexcept.h + +bandmat.obj: bandmat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +submat.obj: submat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +myexcept.obj: myexcept.cpp include.h myexcept.h + +cholesky.obj: cholesky.cpp include.h newmat.h boolean.h myexcept.h + +evalue.obj: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +fft.obj: fft.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +hholder.obj: hholder.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +jacobi.obj: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h boolean.h myexcept.h + +newfft.obj: newfft.cpp newmatap.h newmat.h include.h boolean.h myexcept.h + +sort.obj: sort.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +svd.obj: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +newmatrm.obj: newmatrm.cpp newmat.h newmatrm.h include.h boolean.h myexcept.h + +newmat9.obj: newmat9.cpp include.h 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+tmtd.obj: tmtd.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmte.obj: tmte.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtf.obj: tmtf.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtg.obj: tmtg.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmth.obj: tmth.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmti.obj: tmti.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtj.obj: tmtj.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtk.obj: tmtk.cpp include.h newmatap.h newmatio.h tmt.h newmat.h boolean.h myexcept.h + +tmtl.obj: tmtl.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +tmtm.obj: tmtm.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +example.obj: example.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +test_exc.obj: test_exc.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +nl_ex.obj: nl_ex.cpp newmatnl.h newmatio.h newmat.h include.h boolean.h myexcept.h + +newmatnl.obj: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +sl_ex.obj: sl_ex.cpp include.h solution.h boolean.h myexcept.h + +solution.obj: solution.cpp include.h boolean.h myexcept.h solution.h + +garch.obj: garch.cpp newmatap.h newmatio.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +tmt.txx: tmt.exe + $(PRE)tmt > tmt.txx + $(DIFF) tmt.txt tmt.txx + +example.txx: example.exe + $(PRE)example > example.txx + $(DIFF) example.txt example.txx + +test_exc.txx: test_exc.exe + $(PRE)test_exc > test_exc.txx + $(DIFF) test_exc.txt test_exc.txx + +nl_ex.txx: nl_ex.exe + $(PRE)nl_ex > nl_ex.txx + $(DIFF) nl_ex.txt nl_ex.txx + +sl_ex.txx: sl_ex.exe + $(PRE)sl_ex > sl_ex.txx + $(DIFF) sl_ex.txt sl_ex.txx + +garch.txx: garch.exe + $(PRE)garch > garch.txx + $(DIFF) garch.txt garch.txx + diff --git a/3rdparty/newmat/nm_cc.mak b/3rdparty/newmat/nm_cc.mak new file mode 100644 index 0000000..9ae3fa2 --- /dev/null +++ b/3rdparty/newmat/nm_cc.mak @@ -0,0 +1,182 @@ +CXX = CC +CXXFLAGS = -O2 + +DIFF = ./sdiff +PRE = ./ + + +.SUFFIXES: +.SUFFIXES: .a .o .c .cpp + +.cpp.o: + rm -f $*.cxx + ln $*.cpp $*.cxx + $(CXX) $(CXXFLAGS) -c $*.cxx + rm $*.cxx + +everything: tmt example test_exc nl_ex sl_ex garch + +newmat_lobj = newmat1.o newmat2.o newmat3.o newmat4.o newmat5.o newmat6.o newmat7.o newmat8.o newmatex.o bandmat.o submat.o myexcept.o cholesky.o evalue.o fft.o hholder.o jacobi.o newfft.o sort.o svd.o newmatrm.o newmat9.o + +libnewmat.a: $(newmat_lobj) + $(AR) -cr $@ $(newmat_lobj) + ranlib $@ + +tmt_obj = tmt.o tmt1.o tmt2.o tmt3.o tmt4.o tmt5.o tmt6.o tmt7.o tmt8.o tmt9.o tmta.o tmtb.o tmtc.o tmtd.o tmte.o tmtf.o tmtg.o tmth.o tmti.o tmtj.o tmtk.o tmtl.o tmtm.o + +tmt: $(tmt_obj) libnewmat.a + $(CXX) -o $@ $(tmt_obj) -L. -lnewmat -lm + +example_obj = example.o + +example: $(example_obj) libnewmat.a + $(CXX) -o $@ $(example_obj) -L. -lnewmat -lm + +test_exc_obj = test_exc.o + +test_exc: $(test_exc_obj) libnewmat.a + $(CXX) -o $@ $(test_exc_obj) -L. -lnewmat -lm + +nl_ex_obj = nl_ex.o newmatnl.o + +nl_ex: $(nl_ex_obj) libnewmat.a + $(CXX) -o $@ $(nl_ex_obj) -L. -lnewmat -lm + +sl_ex_obj = sl_ex.o solution.o myexcept.o + +sl_ex: $(sl_ex_obj) + $(CXX) -o $@ $(sl_ex_obj) -L. -lm + +garch_obj = garch.o newmatnl.o + +garch: $(garch_obj) libnewmat.a + $(CXX) -o $@ $(garch_obj) -L. -lnewmat -lm + +newmat1.o: newmat1.cpp newmat.h include.h boolean.h myexcept.h + +newmat2.o: newmat2.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat3.o: newmat3.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat4.o: newmat4.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat5.o: newmat5.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat6.o: newmat6.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat7.o: newmat7.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat8.o: newmat8.cpp include.h newmat.h newmatrc.h precisio.h boolean.h myexcept.h controlw.h + +newmatex.o: newmatex.cpp include.h newmat.h boolean.h myexcept.h + +bandmat.o: bandmat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +submat.o: submat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +myexcept.o: myexcept.cpp include.h myexcept.h + +cholesky.o: cholesky.cpp include.h newmat.h boolean.h myexcept.h + +evalue.o: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +fft.o: fft.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +hholder.o: hholder.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +jacobi.o: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h boolean.h myexcept.h + +newfft.o: newfft.cpp newmatap.h newmat.h include.h boolean.h myexcept.h + +sort.o: sort.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +svd.o: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +newmatrm.o: newmatrm.cpp newmat.h newmatrm.h include.h boolean.h myexcept.h + +newmat9.o: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h boolean.h myexcept.h controlw.h + +tmt.o: tmt.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt1.o: tmt1.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt2.o: tmt2.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt3.o: tmt3.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt4.o: tmt4.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt5.o: tmt5.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt6.o: tmt6.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt7.o: tmt7.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt8.o: tmt8.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt9.o: tmt9.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmta.o: tmta.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtb.o: tmtb.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtc.o: tmtc.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtd.o: tmtd.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmte.o: tmte.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtf.o: tmtf.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtg.o: tmtg.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmth.o: tmth.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmti.o: tmti.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtj.o: tmtj.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtk.o: tmtk.cpp include.h newmatap.h newmatio.h tmt.h newmat.h boolean.h myexcept.h + +tmtl.o: tmtl.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +tmtm.o: tmtm.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +example.o: example.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +test_exc.o: test_exc.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +nl_ex.o: nl_ex.cpp newmatnl.h newmatio.h newmat.h include.h boolean.h myexcept.h + +newmatnl.o: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +sl_ex.o: sl_ex.cpp include.h solution.h boolean.h myexcept.h + +solution.o: solution.cpp include.h boolean.h myexcept.h solution.h + +garch.o: garch.cpp newmatap.h newmatio.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +tmt.txx: tmt + $(PRE)tmt > tmt.txx + $(DIFF) tmt.txt tmt.txx + +example.txx: example + $(PRE)example > example.txx + $(DIFF) example.txt example.txx + +test_exc.txx: test_exc + $(PRE)test_exc > test_exc.txx + $(DIFF) test_exc.txt test_exc.txx + +nl_ex.txx: nl_ex + $(PRE)nl_ex > nl_ex.txx + $(DIFF) nl_ex.txt nl_ex.txx + +sl_ex.txx: sl_ex + $(PRE)sl_ex > sl_ex.txx + $(DIFF) sl_ex.txt sl_ex.txx + +garch.txx: garch + $(PRE)garch > garch.txx + $(DIFF) garch.txt garch.txx + diff --git a/3rdparty/newmat/nm_gnu.mak b/3rdparty/newmat/nm_gnu.mak new file mode 100644 index 0000000..d3d7b2f --- /dev/null +++ b/3rdparty/newmat/nm_gnu.mak @@ -0,0 +1,177 @@ +CXX = g++ +CXXFLAGS = -O2 -Wall + +DIFF = ./sdiff +PRE = ./ +MAJOR = 1 +MINOR = 0 + +%.o: %.cpp + $(CXX) $(CXXFLAGS) -c $*.cpp + +everything: tmt example test_exc nl_ex sl_ex garch + +newmat_lobj = newmat1.o newmat2.o newmat3.o newmat4.o newmat5.o newmat6.o newmat7.o newmat8.o newmatex.o bandmat.o submat.o myexcept.o cholesky.o evalue.o fft.o hholder.o jacobi.o newfft.o sort.o svd.o newmatrm.o newmat9.o + +libnewmat.a: $(newmat_lobj) + $(AR) -cr $@ $(newmat_lobj) + ranlib $@ + +tmt_obj = tmt.o tmt1.o tmt2.o tmt3.o tmt4.o tmt5.o tmt6.o tmt7.o tmt8.o tmt9.o tmta.o tmtb.o tmtc.o tmtd.o tmte.o tmtf.o tmtg.o tmth.o tmti.o tmtj.o tmtk.o tmtl.o tmtm.o + +tmt: $(tmt_obj) libnewmat.a + $(CXX) -o $@ $(tmt_obj) -L. -lnewmat -lm + +example_obj = example.o + +example: $(example_obj) libnewmat.a + $(CXX) -o $@ $(example_obj) -L. -lnewmat -lm + +test_exc_obj = test_exc.o + +test_exc: $(test_exc_obj) libnewmat.a + $(CXX) -o $@ $(test_exc_obj) -L. -lnewmat -lm + +nl_ex_obj = nl_ex.o newmatnl.o + +nl_ex: $(nl_ex_obj) libnewmat.a + $(CXX) -o $@ $(nl_ex_obj) -L. -lnewmat -lm + +sl_ex_obj = sl_ex.o solution.o myexcept.o + +sl_ex: $(sl_ex_obj) + $(CXX) -o $@ $(sl_ex_obj) -L. -lm + +garch_obj = garch.o newmatnl.o + +garch: $(garch_obj) libnewmat.a + $(CXX) -o $@ $(garch_obj) -L. -lnewmat -lm + +newmat1.o: newmat1.cpp newmat.h include.h boolean.h myexcept.h + +newmat2.o: newmat2.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat3.o: newmat3.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat4.o: newmat4.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat5.o: newmat5.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat6.o: newmat6.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat7.o: newmat7.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +newmat8.o: newmat8.cpp include.h newmat.h newmatrc.h precisio.h boolean.h myexcept.h controlw.h + +newmatex.o: newmatex.cpp include.h newmat.h boolean.h myexcept.h + +bandmat.o: bandmat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +submat.o: submat.cpp include.h newmat.h newmatrc.h boolean.h myexcept.h controlw.h + +myexcept.o: myexcept.cpp include.h myexcept.h + +cholesky.o: cholesky.cpp include.h newmat.h boolean.h myexcept.h + +evalue.o: evalue.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +fft.o: fft.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +hholder.o: hholder.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +jacobi.o: jacobi.cpp include.h newmatap.h precisio.h newmatrm.h newmat.h boolean.h myexcept.h + +newfft.o: newfft.cpp newmatap.h newmat.h include.h boolean.h myexcept.h + +sort.o: sort.cpp include.h newmatap.h newmat.h boolean.h myexcept.h + +svd.o: svd.cpp include.h newmatap.h newmatrm.h precisio.h newmat.h boolean.h myexcept.h + +newmatrm.o: newmatrm.cpp newmat.h newmatrm.h include.h boolean.h myexcept.h + +newmat9.o: newmat9.cpp include.h newmat.h newmatio.h newmatrc.h boolean.h myexcept.h controlw.h + +tmt.o: tmt.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt1.o: tmt1.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt2.o: tmt2.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt3.o: tmt3.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt4.o: tmt4.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt5.o: tmt5.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt6.o: tmt6.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt7.o: tmt7.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmt8.o: tmt8.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmt9.o: tmt9.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmta.o: tmta.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtb.o: tmtb.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtc.o: tmtc.cpp include.h newmat.h tmt.h boolean.h myexcept.h + +tmtd.o: tmtd.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmte.o: tmte.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtf.o: tmtf.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtg.o: tmtg.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmth.o: tmth.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmti.o: tmti.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtj.o: tmtj.cpp include.h newmatap.h tmt.h newmat.h boolean.h myexcept.h + +tmtk.o: tmtk.cpp include.h newmatap.h newmatio.h tmt.h newmat.h boolean.h myexcept.h + +tmtl.o: tmtl.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +tmtm.o: tmtm.cpp newmat.h tmt.h include.h boolean.h myexcept.h + +example.o: example.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +test_exc.o: test_exc.cpp newmatap.h newmatio.h newmat.h include.h boolean.h myexcept.h + +nl_ex.o: nl_ex.cpp newmatnl.h newmatio.h newmat.h include.h boolean.h myexcept.h + +newmatnl.o: newmatnl.cpp newmatap.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +sl_ex.o: sl_ex.cpp include.h solution.h boolean.h myexcept.h + +solution.o: solution.cpp include.h boolean.h myexcept.h solution.h + +garch.o: garch.cpp newmatap.h newmatio.h newmatnl.h newmat.h include.h boolean.h myexcept.h + +tmt.txx: tmt + $(PRE)tmt > tmt.txx + $(DIFF) tmt.txt tmt.txx + +example.txx: example + $(PRE)example > example.txx + $(DIFF) example.txt example.txx + +test_exc.txx: test_exc + $(PRE)test_exc > test_exc.txx + $(DIFF) test_exc.txt test_exc.txx + +nl_ex.txx: nl_ex + $(PRE)nl_ex > nl_ex.txx + $(DIFF) nl_ex.txt nl_ex.txx + +sl_ex.txx: sl_ex + $(PRE)sl_ex > sl_ex.txx + $(DIFF) sl_ex.txt sl_ex.txx + +garch.txx: garch + $(PRE)garch > garch.txx + $(DIFF) garch.txt garch.txx + diff --git a/3rdparty/newmat/nm_targ.txt b/3rdparty/newmat/nm_targ.txt new file mode 100644 index 0000000..14b00b3 --- /dev/null +++ b/3rdparty/newmat/nm_targ.txt @@ -0,0 +1,7 @@ +newmat.lfl +tmt +example +test_exc +nl_ex +sl_ex +garch diff --git a/3rdparty/newmat/precisio.h b/3rdparty/newmat/precisio.h new file mode 100644 index 0000000..db5cb02 --- /dev/null +++ b/3rdparty/newmat/precisio.h @@ -0,0 +1,266 @@ +/// \ingroup newmat +///@{ + +/// \file precisio.h +/// Floating point precision constants. + +#ifndef PRECISION_LIB +#define PRECISION_LIB 0 + +#define WANT_MATH +#include "include.h" // in case being used as stand alone + +#ifdef _STANDARD_ // standard library available +#include +#endif + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef _STANDARD_ // standard library available + +#ifdef OPT_COMPATIBLE +#include // for FLT_MAX +#endif + +using namespace std; + +/// Floating point precision. +class FloatingPointPrecision +{ +public: + static int Dig() // number of decimal digits or precision + { return numeric_limits::digits10 ; } + + static Real Epsilon() // smallest number such that 1+Eps!=Eps + { return numeric_limits::epsilon(); } + + static int Mantissa() // bits in mantisa + { return numeric_limits::digits; } + + static Real Maximum() // maximum value + { return numeric_limits::max(); } + + static int MaximumDecimalExponent() // maximum decimal exponent + { return numeric_limits::max_exponent10; } + + static int MaximumExponent() // maximum binary exponent + { return numeric_limits::max_exponent; } + + static Real LnMaximum() // natural log of maximum + { return (Real)log(Maximum()); } + + static Real Minimum() // minimum positive value + { return numeric_limits::min(); } + + static int MinimumDecimalExponent() // minimum decimal exponent + { return numeric_limits::min_exponent10; } + + static int MinimumExponent() // minimum binary exponent + { return numeric_limits::min_exponent; } + + static Real LnMinimum() // natural log of minimum + { return (Real)log(Minimum()); } + + static int Radix() // exponent radix + { return numeric_limits::radix; } + + static int Rounds() // addition rounding (1 = does round) + { + return numeric_limits::round_style == + round_to_nearest ? 1 : 0; + } + +}; + + +#else // _STANDARD_ not defined + +#ifndef SystemV // if there is float.h + +#ifdef USING_FLOAT + +/// Floating point precision (type float). +class FloatingPointPrecision +{ +public: + static int Dig() + { return FLT_DIG; } // number of decimal digits or precision + + static Real Epsilon() + { return FLT_EPSILON; } // smallest number such that 1+Eps!=Eps + + static int Mantissa() + { return FLT_MANT_DIG; } // bits in mantisa + + static Real Maximum() + { return FLT_MAX; } // maximum value + + static int MaximumDecimalExponent() + { return FLT_MAX_10_EXP; } // maximum decimal exponent + + static int MaximumExponent() + { return FLT_MAX_EXP; } // maximum binary exponent + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { return FLT_MIN; } // minimum positive value + + static int MinimumDecimalExponent() + { return FLT_MIN_10_EXP; } // minimum decimal exponent + + static int MinimumExponent() + { return FLT_MIN_EXP; } // minimum binary exponent + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + + static int Radix() + { return FLT_RADIX; } // exponent radix + + static int Rounds() + { return FLT_ROUNDS; } // addition rounding (1 = does round) + +}; + +#endif // USING_FLOAT + + +#ifdef USING_DOUBLE + +/// Floating point precision (type double). +class FloatingPointPrecision +{ +public: + + static int Dig() + { return DBL_DIG; } // number of decimal digits or precision + + static Real Epsilon() + { return DBL_EPSILON; } // smallest number such that 1+Eps!=Eps + + static int Mantissa() + { return DBL_MANT_DIG; } // bits in mantisa + + static Real Maximum() + { return DBL_MAX; } // maximum value + + static int MaximumDecimalExponent() + { return DBL_MAX_10_EXP; } // maximum decimal exponent + + static int MaximumExponent() + { return DBL_MAX_EXP; } // maximum binary exponent + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { +//#ifdef __BCPLUSPLUS__ +// return 2.225074e-308; // minimum positive value +//#else + return DBL_MIN; +//#endif + } + + static int MinimumDecimalExponent() + { return DBL_MIN_10_EXP; } // minimum decimal exponent + + static int MinimumExponent() + { return DBL_MIN_EXP; } // minimum binary exponent + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + + + static int Radix() + { return FLT_RADIX; } // exponent radix + + static int Rounds() + { return FLT_ROUNDS; } // addition rounding (1 = does round) + +}; + +#endif // USING_DOUBLE + +#else // if there is no float.h + +#ifdef OPT_COMPATIBLE +#define FLT_MAX MAXFLOAT +#endif + + +#ifdef USING_FLOAT + +/// Floating point precision (type float). +class FloatingPointPrecision +{ +public: + + static Real Epsilon() + { return pow(2.0,(int)(1-FSIGNIF)); } + // smallest number such that 1+Eps!=Eps + + static Real Maximum() + { return MAXFLOAT; } // maximum value + + static Real LnMaximum() + { return (Real)log(Maximum()); } // natural log of maximum + + static Real Minimum() + { return MINFLOAT; } // minimum positive value + + static Real LnMinimum() + { return (Real)log(Minimum()); } // natural log of minimum + +}; + +#endif // USING_FLOAT + + +#ifdef USING_DOUBLE + +/// Floating point precision (type double). +class FloatingPointPrecision +{ +public: + + static Real Epsilon() + { return pow(2.0,(int)(1-DSIGNIF)); } + // smallest number such that 1+Eps!=Eps + + static Real Maximum() + { return MAXDOUBLE; } // maximum value + + static Real LnMaximum() + { return LN_MAXDOUBLE; } // natural log of maximum + + static Real Minimum() + { return MINDOUBLE; } + + static Real LnMinimum() + { return LN_MINDOUBLE; } // natural log of minimum +}; + +#endif // USING_DOUBLE + +#endif // SystemV + +#endif // _STANDARD_ + + + + +#ifdef use_namespace +} +#endif // use_namespace + + + +#endif // PRECISION_LIB + + +///@} diff --git a/3rdparty/newmat/rbd.css b/3rdparty/newmat/rbd.css new file mode 100644 index 0000000..b17ff67 --- /dev/null +++ b/3rdparty/newmat/rbd.css @@ -0,0 +1,20 @@ +/* Style sheet - if you are saving my html files, please also save this file as rbd.css */ +h1 { font-family: Arial, Helvetica, sans-serif; font-size: 20pt; color: maroon } +h2 { font-family: Arial, Helvetica, sans-serif; font-size: 16pt; color: maroon } +h3 { font-family: Arial, Helvetica, sans-serif; font-size: 14pt; color: maroon } +h4 { font-family: Arial, Helvetica, sans-serif; font-size: 12pt; color: maroon } +body { font-family: "Times New Roman", Times, serif; background-color: white } +body.gray { font-family: "Times New Roman", Times, serif; background-color: #CCCCCC } +p { font-family: "Times New Roman", Times, serif; margin-top: 8; margin-bottom: 8 } +p.small { font-family: "Times New Roman", Times, serif; font-size: 10pt; margin-top: 8; margin-bottom: 8 } +ul { line-height: 100%; margin-top: 2; margin-bottom: 2 } +li { margin-top: 2; margin-bottom: 2; font-size: 10pt } +tt { font-family: "Courier New", Courier, monospaced; font-size: 10pt } +pre { font-family: "Courier New", Courier, monospaced; font-size: 10pt } +pre.small { font-family: "Courier New", Courier, monospaced; font-size: 8pt } +hr { color: maroon } +a:link { color: blue } +a:visited { color: green } +a:active { color: red } +table { font-size: 10pt } +.question { color: navy; } \ No newline at end of file diff --git a/3rdparty/newmat/sl_ex.cpp b/3rdparty/newmat/sl_ex.cpp new file mode 100644 index 0000000..c287100 --- /dev/null +++ b/3rdparty/newmat/sl_ex.cpp @@ -0,0 +1,33 @@ +// This is an example of the use of solution to find the cube root of +// the integers -10 to 10 + +// you will need to compile and link solution.cpp and except.cpp + +#define WANT_STREAM +#define WANT_MATH + +#include "include.h" +#include "solution.h" + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + + +// the cube class + +class Cube : public R1_R1 +{ Real operator()() { return x*x*x; } }; + +int main() +{ + // construct the Cube object + Cube cube; + // and then the solve object + OneDimSolve cube_root(cube); + // Now do the solves + for (int i=-10; i<=10; i++) + cout << i << " " << cube_root.Solve(i,0,1.5) << endl; + return 0; +} + diff --git a/3rdparty/newmat/sl_ex.txt b/3rdparty/newmat/sl_ex.txt new file mode 100644 index 0000000..b578f10 --- /dev/null +++ b/3rdparty/newmat/sl_ex.txt @@ -0,0 +1,21 @@ +-10 -2.15443 +-9 -2.08008 +-8 -2 +-7 -1.91293 +-6 -1.81712 +-5 -1.70998 +-4 -1.5874 +-3 -1.44225 +-2 -1.25992 +-1 -1.00001 +0 0 +1 1.00001 +2 1.25992 +3 1.44225 +4 1.58741 +5 1.70998 +6 1.81712 +7 1.91293 +8 2 +9 2.08008 +10 2.15443 diff --git a/3rdparty/newmat/solution.cpp b/3rdparty/newmat/solution.cpp new file mode 100644 index 0000000..9ed0fbe --- /dev/null +++ b/3rdparty/newmat/solution.cpp @@ -0,0 +1,200 @@ +//$$ solution.cpp // solve routines + +// Copyright (C) 1994: R B Davies + + +#define WANT_STREAM // include.h will get stream fns +#define WANT_MATH // include.h will get math fns + +#include "include.h" +#include "boolean.h" +#include "myexcept.h" + +#include "solution.h" + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +void R1_R1::Set(Real X) +{ + if ((!minXinf && X <= minX) || (!maxXinf && X >= maxX)) + Throw(SolutionException("X value out of range")); + x = X; xSet = true; +} + +R1_R1::operator Real() +{ + if (!xSet) Throw(SolutionException("Value of X not set")); + Real y = operator()(); + return y; +} + +unsigned long SolutionException::Select; + +SolutionException::SolutionException(const char* a_what) : BaseException() +{ + Select = BaseException::Select; + AddMessage("Error detected by solution package\n"); + AddMessage(a_what); AddMessage("\n"); + if (a_what) Tracer::AddTrace(); +}; + +inline Real square(Real x) { return x*x; } + +void OneDimSolve::LookAt(int V) +{ + lim--; + if (!lim) Throw(SolutionException("Does not converge")); + Last = V; + Real yy = function(x[V]) - YY; + Finish = (fabs(yy) <= accY) || (Captured && fabs(x[L]-x[U]) <= accX ); + y[V] = vpol*yy; +} + +void OneDimSolve::HFlip() { hpol=-hpol; State(U,C,L); } + +void OneDimSolve::VFlip() + { vpol = -vpol; y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2]; } + +void OneDimSolve::Flip() +{ + hpol=-hpol; vpol=-vpol; State(U,C,L); + y[0] = -y[0]; y[1] = -y[1]; y[2] = -y[2]; +} + +void OneDimSolve::State(int I, int J, int K) { L=I; C=J; U=K; } + +void OneDimSolve::Linear(int I, int J, int K) +{ + x[J] = (x[I]*y[K] - x[K]*y[I])/(y[K] - y[I]); + // cout << "Linear\n"; +} + +void OneDimSolve::Quadratic(int I, int J, int K) +{ + // result to overwrite I + Real YJK, YIK, YIJ, XKI, XKJ; + YJK = y[J] - y[K]; YIK = y[I] - y[K]; YIJ = y[I] - y[J]; + XKI = (x[K] - x[I]); + XKJ = (x[K]*y[J] - x[J]*y[K])/YJK; + if ( square(YJK/YIK)>(x[K] - x[J])/XKI || + square(YIJ/YIK)>(x[J] - x[I])/XKI ) + { + x[I] = XKJ; + // cout << "Quadratic - exceptional\n"; + } + else + { + XKI = (x[K]*y[I] - x[I]*y[K])/YIK; + x[I] = (XKJ*y[I] - XKI*y[J])/YIJ; + // cout << "Quadratic - normal\n"; + } +} + +Real OneDimSolve::Solve(Real Y, Real X, Real Dev, int Lim) +{ + enum Loop { start, captured1, captured2, binary, finish }; + Tracer et("OneDimSolve::Solve"); + lim=Lim; Captured = false; + if (Dev==0.0) Throw(SolutionException("Dev is zero")); + L=0; C=1; U=2; vpol=1; hpol=1; y[C]=0.0; y[U]=0.0; + if (Dev<0.0) { hpol=-1; Dev = -Dev; } + YY=Y; // target value + x[L] = X; // initial trial value + if (!function.IsValid(X)) + Throw(SolutionException("Starting value is invalid")); + Loop TheLoop = start; + for (;;) + { + switch (TheLoop) + { + case start: + LookAt(L); if (Finish) { TheLoop = finish; break; } + if (y[L]>0.0) VFlip(); // so Y[L] < 0 + + x[U] = X + Dev * hpol; + if (!function.maxXinf && x[U] > function.maxX) + x[U] = (function.maxX + X) / 2.0; + if (!function.minXinf && x[U] < function.minX) + x[U] = (function.minX + X) / 2.0; + + LookAt(U); if (Finish) { TheLoop = finish; break; } + if (y[U] > 0.0) { TheLoop = captured1; Captured = true; break; } + if (y[U] == y[L]) + Throw(SolutionException("Function is flat")); + if (y[U] < y[L]) HFlip(); // Change direction + State(L,U,C); + for (i=0; i<20; i++) + { + // cout << "Searching for crossing point\n"; + // Have L C then crossing point, Y[L] function.maxX) + x[U] = (function.maxX + x[C]) / 2.0; + if (!function.minXinf && x[U] < function.minX) + x[U] = (function.minX + x[C]) / 2.0; + + LookAt(U); if (Finish) { TheLoop = finish; break; } + if (y[U] > 0) { TheLoop = captured2; Captured = true; break; } + if (y[U] < y[C]) + Throw(SolutionException("Function is not monotone")); + Dev *= 2.0; + State(C,U,L); + } + if (TheLoop != start ) break; + Throw(SolutionException("Cannot locate a crossing point")); + + case captured1: + // cout << "Captured - 1\n"; + // We have 2 points L and U with crossing between them + Linear(L,C,U); // linear interpolation + // - result to C + LookAt(C); if (Finish) { TheLoop = finish; break; } + if (y[C] > 0.0) Flip(); // Want y[C] < 0 + if (y[C] < 0.5*y[L]) { State(C,L,U); TheLoop = binary; break; } + + case captured2: + // cout << "Captured - 2\n"; + // We have L,C before crossing, U after crossing + Quadratic(L,C,U); // quad interpolation + // - result to L + State(C,L,U); + if ((x[C] - x[L])*hpol <= 0.0 || (x[C] - x[U])*hpol >= 0.0) + { TheLoop = captured1; break; } + LookAt(C); if (Finish) { TheLoop = finish; break; } + // cout << "Through first stage\n"; + if (y[C] > 0.0) Flip(); + if (y[C] > 0.5*y[L]) { TheLoop = captured2; break; } + else { State(C,L,U); TheLoop = captured1; break; } + + case binary: + // We have L, U around crossing - do binary search + // cout << "Binary\n"; + for (i=3; i; i--) + { + x[C] = 0.5*(x[L]+x[U]); + LookAt(C); if (Finish) { TheLoop = finish; break; } + if (y[C]>0.0) State(L,U,C); else State(C,L,U); + } + if (TheLoop != binary) break; + TheLoop = captured1; break; + + case finish: + return x[Last]; + + } + } +} + +bool R1_R1::IsValid(Real X) +{ + Set(X); + return (minXinf || x > minX) && (maxXinf || x < maxX); +} + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/solution.h b/3rdparty/newmat/solution.h new file mode 100644 index 0000000..1019c14 --- /dev/null +++ b/3rdparty/newmat/solution.h @@ -0,0 +1,95 @@ +//$$ solution.h // solve routines + +#include "boolean.h" +#include "myexcept.h" + +#ifdef use_namespace +namespace RBD_COMMON { +#endif + + +// Solve the equation f(x)=y for x where f is a monotone continuous +// function of x +// Essentially Brent s method + +// You need to derive a class from R1_R1 and override "operator()" +// with the function you want to solve. +// Use an object from this class in OneDimSolve + +class R1_R1 +{ + // the prototype for a Real function of a Real variable + // you need to derive your function from this one and put in your + // function for operator() at least. You probably also want to set up a + // constructor to put in additional parameter values (e.g. that will not + // vary during a solve) + +protected: + Real x; // Current x value + bool xSet; // true if a value assigned to x + +public: + Real minX, maxX; // range of value x + bool minXinf, maxXinf; // true if these are infinite + R1_R1() : xSet(false), minXinf(true), maxXinf(true) {} + virtual Real operator()() = 0; // function value at current x + // set current x + virtual void Set(Real X); // set x, check OK + Real operator()(Real X) { Set(X); return operator()(); } + // set x, return value + virtual bool IsValid(Real X); + operator Real(); // implicit conversion + virtual ~R1_R1() {} // to keep gnu happy +}; + +class SolutionException : public BaseException +{ +public: + static unsigned long Select; + SolutionException(const char* a_what = 0); +}; + +class OneDimSolve +{ + R1_R1& function; // reference to the function + Real accX; // accuracy in X direction + Real accY; // accuracy in Y direction + int lim; // maximum number of iterations + +public: + OneDimSolve(R1_R1& f, Real AccY = 0.0001, Real AccX = 0.0) + : function(f), accX(AccX), accY(AccY) {} + // f is an R1_R1 function + Real Solve(Real Y, Real X, Real Dev, int Lim=100); + // Solve for x in Y=f(x) + // X is the initial trial value of x + // X+Dev is the second trial value + // program returns a value of x such that + // |Y-f(x)| <= accY or |f.inv(Y)-x| <= accX + +private: + Real x[3], y[3]; // Trial values of X and Y + int L,C,U,Last; // Locations of trial values + int vpol, hpol; // polarities + Real YY; // target value + int i; + void LookAt(int); // get new value of function + bool Finish; // true if LookAt finds conv. + bool Captured; // true when target surrounded + void VFlip(); + void HFlip(); + void Flip(); + void State(int I, int J, int K); + void Linear(int, int, int); + void Quadratic(int, int, int); +}; + + +#ifdef use_namespace +} +#endif + +// body file: solution.cpp + + + diff --git a/3rdparty/newmat/sort.cpp b/3rdparty/newmat/sort.cpp new file mode 100644 index 0000000..9aacf31 --- /dev/null +++ b/3rdparty/newmat/sort.cpp @@ -0,0 +1,272 @@ +//$$ sort.cpp Sorting + +// Copyright (C) 1991,2,3,4: R B Davies + +#define WANT_MATH + +#include "include.h" + +#include "newmatap.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,13); ++ExeCount; } +#else +#define REPORT {} +#endif + +/******************************** Quick sort ********************************/ + +// Quicksort. +// Essentially the method described in Sedgewick s algorithms in C++ +// My version is still partially recursive, unlike Segewick s, but the +// smallest segment of each split is used in the recursion, so it should +// not overlead the stack. + +// If the process does not seems to be converging an exception is thrown. + + +#define DoSimpleSort 17 // when to switch to insert sort +#define MaxDepth 50 // maximum recursion depth + +static void MyQuickSortDescending(Real* first, Real* last, int depth); +static void InsertionSortDescending(Real* first, const int length, + int guard); +static Real SortThreeDescending(Real* a, Real* b, Real* c); + +static void MyQuickSortAscending(Real* first, Real* last, int depth); +static void InsertionSortAscending(Real* first, const int length, + int guard); + + +void SortDescending(GeneralMatrix& GM) +{ + REPORT + Tracer et("QuickSortDescending"); + + Real* data = GM.Store(); int max = GM.Storage(); + + if (max > DoSimpleSort) MyQuickSortDescending(data, data + max - 1, 0); + InsertionSortDescending(data, max, DoSimpleSort); + +} + +static Real SortThreeDescending(Real* a, Real* b, Real* c) +{ + // sort *a, *b, *c; return *b; optimise for already sorted + if (*a >= *b) + { + if (*b >= *c) { REPORT return *b; } + else if (*a >= *c) { REPORT Real x = *c; *c = *b; *b = x; return x; } + else { REPORT Real x = *a; *a = *c; *c = *b; *b = x; return x; } + } + else if (*c >= *b) { REPORT Real x = *c; *c = *a; *a = x; return *b; } + else if (*a >= *c) { REPORT Real x = *a; *a = *b; *b = x; return x; } + else { REPORT Real x = *c; *c = *a; *a = *b; *b = x; return x; } +} + +static void InsertionSortDescending(Real* first, const int length, + int guard) +// guard gives the length of the sequence to scan to find first +// element (eg = length) +{ + REPORT + if (length <= 1) return; + + // scan for first element + Real* f = first; Real v = *f; Real* h = f; + if (guard > length) { REPORT guard = length; } + int i = guard - 1; + while (i--) if (v < *(++f)) { v = *f; h = f; } + *h = *first; *first = v; + + // do the sort + i = length - 1; f = first; + while (i--) + { + Real* g = f++; h = f; v = *h; + while (*g < v) *h-- = *g--; + *h = v; + } +} + +static void MyQuickSortDescending(Real* first, Real* last, int depth) +{ + REPORT + for (;;) + { + const int length = last - first + 1; + if (length < DoSimpleSort) { REPORT return; } + if (depth++ > MaxDepth) + Throw(ConvergenceException("QuickSortDescending fails: ")); + Real* centre = first + length/2; + const Real test = SortThreeDescending(first, centre, last); + Real* f = first; Real* l = last; + for (;;) + { + while (*(++f) > test) {} + while (*(--l) < test) {} + if (l <= f) break; + const Real temp = *f; *f = *l; *l = temp; + } + if (f > centre) + { REPORT MyQuickSortDescending(l+1, last, depth); last = f-1; } + else { REPORT MyQuickSortDescending(first, f-1, depth); first = l+1; } + } +} + +void SortAscending(GeneralMatrix& GM) +{ + REPORT + Tracer et("QuickSortAscending"); + + Real* data = GM.Store(); int max = GM.Storage(); + + if (max > DoSimpleSort) MyQuickSortAscending(data, data + max - 1, 0); + InsertionSortAscending(data, max, DoSimpleSort); + +} + +static void InsertionSortAscending(Real* first, const int length, + int guard) +// guard gives the length of the sequence to scan to find first +// element (eg guard = length) +{ + REPORT + if (length <= 1) return; + + // scan for first element + Real* f = first; Real v = *f; Real* h = f; + if (guard > length) { REPORT guard = length; } + int i = guard - 1; + while (i--) if (v > *(++f)) { v = *f; h = f; } + *h = *first; *first = v; + + // do the sort + i = length - 1; f = first; + while (i--) + { + Real* g = f++; h = f; v = *h; + while (*g > v) *h-- = *g--; + *h = v; + } +} +static void MyQuickSortAscending(Real* first, Real* last, int depth) +{ + REPORT + for (;;) + { + const int length = last - first + 1; + if (length < DoSimpleSort) { REPORT return; } + if (depth++ > MaxDepth) + Throw(ConvergenceException("QuickSortAscending fails: ")); + Real* centre = first + length/2; + const Real test = SortThreeDescending(last, centre, first); + Real* f = first; Real* l = last; + for (;;) + { + while (*(++f) < test) {} + while (*(--l) > test) {} + if (l <= f) break; + const Real temp = *f; *f = *l; *l = temp; + } + if (f > centre) + { REPORT MyQuickSortAscending(l+1, last, depth); last = f-1; } + else { REPORT MyQuickSortAscending(first, f-1, depth); first = l+1; } + } +} + +//********* sort diagonal matrix & rearrange matrix columns **************** + +// used by SVD + +// these are for sorting singular values - should be updated with faster +// sorts that handle exchange of columns better +// however time is probably not significant compared with SVD time + +void SortSV(DiagonalMatrix& D, Matrix& U, bool ascending) +{ + REPORT + Tracer trace("SortSV_DU"); + int m = U.Nrows(); int n = U.Ncols(); + if (n != D.Nrows()) Throw(IncompatibleDimensionsException(D,U)); + Real* u = U.Store(); + for (int i=0; i p) { k = j; p = D.element(j); } } + } + if (k != i) + { + D.element(k) = D.element(i); D.element(i) = p; int j = m; + Real* uji = u + i; Real* ujk = u + k; + if (j) for(;;) + { + p = *uji; *uji = *ujk; *ujk = p; + if (!(--j)) break; + uji += n; ujk += n; + } + } + } +} + +void SortSV(DiagonalMatrix& D, Matrix& U, Matrix& V, bool ascending) +{ + REPORT + Tracer trace("SortSV_DUV"); + int mu = U.Nrows(); int mv = V.Nrows(); int n = D.Nrows(); + if (n != U.Ncols()) Throw(IncompatibleDimensionsException(D,U)); + if (n != V.Ncols()) Throw(IncompatibleDimensionsException(D,V)); + Real* u = U.Store(); Real* v = V.Store(); + for (int i=0; i p) { k = j; p = D.element(j); } } + } + if (k != i) + { + D.element(k) = D.element(i); D.element(i) = p; + Real* uji = u + i; Real* ujk = u + k; + Real* vji = v + i; Real* vjk = v + k; + int j = mu; + if (j) for(;;) + { + p = *uji; *uji = *ujk; *ujk = p; if (!(--j)) break; + uji += n; ujk += n; + } + j = mv; + if (j) for(;;) + { + p = *vji; *vji = *vjk; *vjk = p; if (!(--j)) break; + vji += n; vjk += n; + } + } + } +} + + + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/submat.cpp b/3rdparty/newmat/submat.cpp new file mode 100644 index 0000000..ce0a47e --- /dev/null +++ b/3rdparty/newmat/submat.cpp @@ -0,0 +1,429 @@ +//$$ submat.cpp submatrices + +// Copyright (C) 1991,2,3,4: R B Davies + +#include "include.h" + +#include "newmat.h" +#include "newmatrc.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,11); ++ExeCount; } +#else +#define REPORT {} +#endif + + +/****************************** submatrices *********************************/ + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::SubMatrix(int first_row, int last_row, int first_col, + int last_col) const +#else +GetSubMatrix BaseMatrix::SubMatrix(int first_row, int last_row, int first_col, + int last_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix"); + int a = first_row - 1; int b = last_row - first_row + 1; + int c = first_col - 1; int d = last_col - first_col + 1; + if (a<0 || b<0 || c<0 || d<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, c, d, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, b, c, d, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::SymSubMatrix(int first_row, int last_row) const +#else +GetSubMatrix BaseMatrix::SymSubMatrix(int first_row, int last_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(symmetric)"); + int a = first_row - 1; int b = last_row - first_row + 1; + if (a<0 || b<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, a, b, true); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix( this, a, b, a, b, true); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Row(int first_row) const +#else +GetSubMatrix BaseMatrix::Row(int first_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(row)"); + int a = first_row - 1; + if (a<0) Throw(SubMatrixDimensionException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, 1, 0, -1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, 1, 0, -1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Rows(int first_row, int last_row) const +#else +GetSubMatrix BaseMatrix::Rows(int first_row, int last_row) const +#endif +{ + REPORT + Tracer tr("SubMatrix(rows)"); + int a = first_row - 1; int b = last_row - first_row + 1; + if (a<0 || b<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, a, b, 0, -1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, a, b, 0, -1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Column(int first_col) const +#else +GetSubMatrix BaseMatrix::Column(int first_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix(column)"); + int c = first_col - 1; + if (c<0) Throw(SubMatrixDimensionException()); +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, 0, -1, c, 1, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, 0, -1, c, 1, false); +#endif +} + +#ifdef TEMPS_DESTROYED_QUICKLY +GetSubMatrix& BaseMatrix::Columns(int first_col, int last_col) const +#else +GetSubMatrix BaseMatrix::Columns(int first_col, int last_col) const +#endif +{ + REPORT + Tracer tr("SubMatrix(columns)"); + int c = first_col - 1; int d = last_col - first_col + 1; + if (c<0 || d<0) Throw(SubMatrixDimensionException()); + // allow zero rows or columns +#ifdef TEMPS_DESTROYED_QUICKLY + GetSubMatrix* x = new GetSubMatrix(this, 0, -1, c, d, false); + MatrixErrorNoSpace(x); + return *x; +#else + return GetSubMatrix(this, 0, -1, c, d, false); +#endif +} + +void GetSubMatrix::SetUpLHS() +{ + REPORT + Tracer tr("SubMatrix(LHS)"); + const BaseMatrix* bm1 = bm; + GeneralMatrix* gm1 = ((BaseMatrix*&)bm)->Evaluate(); + if ((BaseMatrix*)gm1!=bm1) + Throw(ProgramException("Invalid LHS")); + if (row_number < 0) row_number = gm1->Nrows(); + if (col_number < 0) col_number = gm1->Ncols(); + if (row_skip+row_number > gm1->Nrows() + || col_skip+col_number > gm1->Ncols()) + Throw(SubMatrixDimensionException()); +} + +void GetSubMatrix::operator<<(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(<<)"); GeneralMatrix* gmx = 0; + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + LoadAndStoreFlag lasf = + ( row_skip == col_skip + && gm->Type().IsSymmetric() + && gmx->Type().IsSymmetric() ) + ? LoadOnEntry+DirectPart + : LoadOnEntry; + MatrixRow mrx(gmx, lasf); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.CopyCheck(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator<<(const Real* r) +{ + REPORT + Tracer tr("SubMatrix(< gm->Nrows() || col_skip+col_number > gm->Ncols()) + Throw(SubMatrixDimensionException()); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::operator=(Real r) +{ + REPORT + Tracer tr("SubMatrix(=Real)"); + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Copy(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::Inject(const GeneralMatrix& gmx) +{ + REPORT + Tracer tr("SubMatrix(inject)"); + SetUpLHS(); + if (row_number != gmx.Nrows() || col_number != gmx.Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx((GeneralMatrix*)(&gmx), LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Inject(mrx); mr.Next(); mrx.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif +} + +void GetSubMatrix::operator+=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(+=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(mrx); // check for loss of info + sub.Add(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator-=(const BaseMatrix& bmx) +{ + REPORT + Tracer tr("SubMatrix(-=)"); GeneralMatrix* gmx = 0; + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); gmx = ((BaseMatrix&)bmx).Evaluate(); + if (row_number != gmx->Nrows() || col_number != gmx->Ncols()) + Throw(IncompatibleDimensionsException()); + MatrixRow mrx(gmx, LoadOnEntry); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(mrx); // check for loss of info + sub.Sub(mrx); mr.Next(); mrx.Next(); + } + gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { + if (gmx) gmx->tDelete(); +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator+=(Real r) +{ + REPORT + Tracer tr("SubMatrix(+= or -= Real)"); + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Check(); // check for loss of info + sub.Add(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +void GetSubMatrix::operator*=(Real r) +{ + REPORT + Tracer tr("SubMatrix(*= or /= Real)"); + // MatrixConversionCheck mcc; // Check for loss of info + Try + { + SetUpLHS(); + MatrixRow mr(gm, LoadOnEntry+StoreOnExit+DirectPart, row_skip); + // do need LoadOnEntry + MatrixRowCol sub; int i = row_number; + while (i--) + { + mr.SubRowCol(sub, col_skip, col_number); // put values in sub + sub.Multiply(r); mr.Next(); + } +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + } + + CatchAll + { +#ifdef TEMPS_DESTROYED_QUICKLY + delete this; +#endif + ReThrow; + } +} + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/svd.cpp b/3rdparty/newmat/svd.cpp new file mode 100644 index 0000000..e3cf33c --- /dev/null +++ b/3rdparty/newmat/svd.cpp @@ -0,0 +1,227 @@ +//$$svd.cpp singular value decomposition + +// Copyright (C) 1991,2,3,4,5: R B Davies +// Updated 17 July, 1995 + +#define WANT_MATH + +#include "include.h" +#include "newmatap.h" +#include "newmatrm.h" +#include "precisio.h" + +#ifdef use_namespace +namespace NEWMAT { +#endif + +#ifdef DO_REPORT +#define REPORT { static ExeCounter ExeCount(__LINE__,15); ++ExeCount; } +#else +#define REPORT {} +#endif + + +static Real pythag(Real f, Real g, Real& c, Real& s) +// return z=sqrt(f*f+g*g), c=f/z, s=g/z +// set c=1,s=0 if z==0 +// avoid floating point overflow or divide by zero +{ + if (f==0 && g==0) { c=1.0; s=0.0; return 0.0; } + Real af = f>=0 ? f : -f; + Real ag = g>=0 ? g : -g; + if (ag= no. Cols", A)); + if (withV && &U == &V) + Throw(ProgramException("Need different matrices for U and V", U, V)); + U = A; Real g = 0.0; Real f,h; Real x = 0.0; int i; + RowVector E(n); RectMatrixRow EI(E,0); Q.ReSize(n); + RectMatrixCol UCI(U,0); RectMatrixRow URI(U,0,1,n-1); + + if (n) for (i=0;;) + { + EI.First() = g; Real ei = g; EI.Right(); Real s = UCI.SumSquare(); + if (s=0; i--) + { + VCI.Left(); + if (g!=0.0) + { + VCI.Divide(URI, URI.First()*g); int j = n-i; + RectMatrixCol VCJ = VCI; + while (--j) { VCJ.Right(); VCJ.AddScaled( VCI, (URI*VCJ) ); } + } + VCI.Zero(); VCI.Up(); VCI.First() = 1.0; g=E.element(i); + if (i==0) break; + URI.UpDiag(); + } + } + + if (withU) + { + REPORT + for (i=n-1; i>=0; i--) + { + g = Q.element(i); URI.Reset(U,i,i+1,n-i-1); URI.Zero(); + if (g!=0.0) + { + h=UCI.First()*g; int j=n-i; RectMatrixCol UCJ = UCI; + while (--j) + { + UCJ.Right(); UCI.Down(); UCJ.Down(); Real s = UCI*UCJ; + UCI.Up(); UCJ.Up(); UCJ.AddScaled(UCI,s/h); + } + UCI.Divide(g); + } + else UCI.Zero(); + UCI.First() += 1.0; + if (i==0) break; + UCI.UpDiag(); + } + } + + eps *= x; + for (int k=n-1; k>=0; k--) + { + Real z = -FloatingPointPrecision::Maximum(); // to keep Gnu happy + Real y; int limit = 50; int l = 0; + while (limit--) + { + Real c, s; int i; int l1=k; bool tfc=false; + for (l=k; l>=0; l--) + { +// if (fabs(E.element(l))<=eps) goto test_f_convergence; + if (fabs(E.element(l))<=eps) { REPORT tfc=true; break; } + if (fabs(Q.element(l-1))<=eps) { REPORT l1=l; break; } + REPORT + } + if (!tfc) + { + REPORT + l=l1; l1=l-1; s = -1.0; c = 0.0; + for (i=l; i<=k; i++) + { + f = - s * E.element(i); E.element(i) *= c; +// if (fabs(f)<=eps) goto test_f_convergence; + if (fabs(f)<=eps) { REPORT break; } + g = Q.element(i); h = pythag(g,f,c,s); Q.element(i) = h; + if (withU) + { + REPORT + RectMatrixCol UCI(U,i); RectMatrixCol UCJ(U,l1); + ComplexScale(UCJ, UCI, c, s); + } + } + } +// test_f_convergence: z = Q.element(k); if (l==k) goto convergence; + z = Q.element(k); if (l==k) { REPORT break; } + + x = Q.element(l); y = Q.element(k-1); + g = E.element(k-1); h = E.element(k); + f = ((y-z)*(y+z) + (g-h)*(g+h)) / (2*h*y); + if (f>1) { REPORT g = f * sqrt(1 + square(1/f)); } + else if (f<-1) { REPORT g = -f * sqrt(1 + square(1/f)); } + else { REPORT g = sqrt(f*f + 1); } + { REPORT f = ((x-z)*(x+z) + h*(y / ((f<0.0) ? f-g : f+g)-h)) / x; } + + c = 1.0; s = 1.0; + for (i=l+1; i<=k; i++) + { + g = E.element(i); y = Q.element(i); h = s*g; g *= c; + z = pythag(f,h,c,s); E.element(i-1) = z; + f = x*c + g*s; g = -x*s + g*c; h = y*s; y *= c; + if (withV) + { + REPORT + RectMatrixCol VCI(V,i); RectMatrixCol VCJ(V,i-1); + ComplexScale(VCI, VCJ, c, s); + } + z = pythag(f,h,c,s); Q.element(i-1) = z; + f = c*g + s*y; x = -s*g + c*y; + if (withU) + { + REPORT + RectMatrixCol UCI(U,i); RectMatrixCol UCJ(U,i-1); + ComplexScale(UCI, UCJ, c, s); + } + } + E.element(l) = 0.0; E.element(k) = f; Q.element(k) = x; + } + if (l!=k) { Throw(ConvergenceException(A)); } +// convergence: + if (z < 0.0) + { + REPORT + Q.element(k) = -z; + if (withV) { RectMatrixCol VCI(V,k); VCI.Negate(); } + } + } + if (withU & withV) SortSV(Q, U, V); + else if (withU) SortSV(Q, U); + else if (withV) SortSV(Q, V); + else SortDescending(Q); +} + +void SVD(const Matrix& A, DiagonalMatrix& D) +{ REPORT Matrix U; SVD(A, D, U, U, false, false); } + + + +#ifdef use_namespace +} +#endif + diff --git a/3rdparty/newmat/test_exc.cpp b/3rdparty/newmat/test_exc.cpp new file mode 100644 index 0000000..367b05b --- /dev/null +++ b/3rdparty/newmat/test_exc.cpp @@ -0,0 +1,186 @@ +#define WANT_STREAM + +#include "newmatap.h" +#include "newmatio.h" // to help namespace with VC++ 5 + +#ifdef use_namespace +using namespace RBD_LIBRARIES; +#endif + +//#include // if you want to use set_terminate + +/**************************** test exceptions ******************************/ + + +int main() +{ + // activate the next expression if you want to use compiler supported + // exceptions and you want Terminate to catch uncaught exceptions + // set_terminate(Terminate); + Real* s1; Real* s2; Real* s3; Real* s4; + // Forces cout to allocate memory at beginning + cout << "\nThis tests the exception system, so you will get\n" << + "a long list of error messages\n\n"; + cout << "\nPrint a real number (may help lost memory test): " << 3.14159265 << "\n"; + // Throw exception to set up exception buffer + Try { Throw(BaseException("Just a dummy\n")); } + CatchAll {}; + { Matrix A1(40,200); s1 = A1.Store(); } + { Matrix A1(1,1); s3 = A1.Store(); } + { + Tracer et("Test"); + + Try + { + Tracer et("Try block"); + + + + cout << "-----------------------------------------\n\n"; + Matrix A(2,3), B(4,5); A = 1; B = 2; + cout << "Incompatible dimensions\n"; + et.ReName("Block A"); + Try { Matrix C = A + B; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Bad index\n"; + et.ReName("Block B"); + Try { Real f = A(3,3); cout << f << endl; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Illegal conversion\n"; + et.ReName("Block C"); + Try { UpperTriangularMatrix U = A; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert non-square matrix - 1\n"; + et.ReName("Block D"); + Try { CroutMatrix X = A; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert non-square matrix - 2\n"; + et.ReName("Block E"); + Try { Matrix X = A.i(); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Non 1x1 matrix to scalar\n"; + et.ReName("Block F"); + Try { Real f = A.AsScalar(); cout << f << endl; } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Matrix to vector\n"; + et.ReName("Block G"); + Try { ColumnVector CV = A;} + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Invert singular matrix\n"; + et.ReName("Block H"); + Try { Matrix X(2,2); X<<1<<2<<2<<4; X = X.i(); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "SubMatrix error\n"; + et.ReName("Block I"); + Try { Matrix X = A.Row(3); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "SubMatrix error\n"; + et.ReName("Block J"); + Try { Matrix X = A.Row(0); } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Cholesky error\n"; + et.ReName("Block K"); + Try + { + SymmetricMatrix SM(50); SM = 10; + LowerTriangularMatrix L = Cholesky(SM); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Inequality error\n"; + et.ReName("Block L"); + Try + { + Matrix A(10,10), B(10,10); A = 10; B = 20; + if ( A < B) A = B; + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Maximum of empty matrix\n"; + et.ReName("Block M"); + Try + { + Matrix A(10,20); A = 5; Matrix B=A.Rows(6,5); + MaximumAbsoluteValue(B); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Incorrectly ReSizing band matrix\n"; + et.ReName("Block N"); + Try + { + BandMatrix A(20,5,3); A = 5; UpperBandMatrix B; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "Incorrectly ReSizing symmetric band matrix\n"; + et.ReName("Block M"); + Try + { + BandMatrix A(20,5,3); A = 5; SymmetricBandMatrix B; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + cout << "ReSize CroutMatrix\n"; + et.ReName("Block O"); + Try + { + Matrix A(3,3); A = 0; A(1,1) = A(2,2) = A(3,3) = 1; + CroutMatrix B = A;; + B.ReSize(A); + } + CatchAll { cout << BaseException::what() << endl; } + cout << "-----------------------------------------\n\n"; + + } + CatchAll { cout << "\nException generated in test program\n\n"; } + } + + cout << "\nEnd test\n"; + { Matrix A1(40,200); s2 = A1.Store(); } + cout << "\n(The following memory checks are probably not valid with all\n"; + cout << "compilers - see documentation)\n"; + cout << "\nChecking for lost memory: " + << (unsigned long)s1 << " " << (unsigned long)s2 << " "; + if (s1 != s2) cout << " - error\n"; else cout << " - ok\n"; + { Matrix A1(1,1); s4 = A1.Store(); } + cout << "\nChecking for lost memory: " + << (unsigned long)s3 << " " << (unsigned long)s4 << " "; + if (s3 != s4) cout << " - error\n\n"; else cout << " - ok\n\n"; + + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + +// Throw(Runtime_error("Exception outside try block")); + + return 0; +} diff --git a/3rdparty/newmat/test_exc.txt b/3rdparty/newmat/test_exc.txt new file mode 100644 index 0000000..edbd62a --- /dev/null +++ b/3rdparty/newmat/test_exc.txt @@ -0,0 +1,188 @@ + +This tests the exception system, so you will get +a long list of error messages + + +Print a real number (may help lost memory test): 3.14159 +----------------------------------------- + +Incompatible dimensions + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible dimensions + +MatrixType = Rect # Rows = 2; # Cols = 3 +MatrixType = Rect # Rows = 4; # Cols = 5 +Trace: AddedMatrix::Evaluate; Block A; Test. + +----------------------------------------- + +Bad index + + +An exception has been thrown +Logic error:- detected by Newmat: index error: requested indices = 3, 3 + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: Block B; Test. + +----------------------------------------- + +Illegal conversion + + +An exception has been thrown +Logic error:- detected by Newmat: Illegal Conversion +MatrixTypes = Rect ; UT + +Trace: Block C; Test. + +----------------------------------------- + +Invert non-square matrix - 1 + + +An exception has been thrown +Logic error:- detected by Newmat: matrix is not square + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: CroutMatrix; Block D; Test. + +----------------------------------------- + +Invert non-square matrix - 2 + + +An exception has been thrown +Logic error:- detected by Newmat: matrix is not square + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: GeneralSolvI; InvertedMatrix::Evaluate; Block E; Test. + +----------------------------------------- + +Non 1x1 matrix to scalar + + +An exception has been thrown +Logic error:- detected by Newmat: Cannot convert to scalar + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: AsScalar; Block F; Test. + +----------------------------------------- + +Matrix to vector + + +An exception has been thrown +Logic error:- detected by Newmat: cannot convert matrix to vector + +MatrixType = Rect # Rows = 2; # Cols = 3 +Trace: ColumnVector; Block G; Test. + +----------------------------------------- + +Invert singular matrix + + +An exception has been thrown +Runtime error:- detected by Newmat: matrix is singular + +MatrixType = Crout # Rows = 2; # Cols = 2 +Trace: Crout(lubksb); GeneralSolvI; InvertedMatrix::Evaluate; Block H; Test. + +----------------------------------------- + +SubMatrix error + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible submatrix dimension + +Trace: SubMatrix(evaluate); Block I; Test. + +----------------------------------------- + +SubMatrix error + + +An exception has been thrown +Logic error:- detected by Newmat: incompatible submatrix dimension + +Trace: SubMatrix(row); Block J; Test. + +----------------------------------------- + +Cholesky error + + +An exception has been thrown +Runtime error:- detected by Newmat: matrix not positive definite + +MatrixType = Sym # Rows = 50; # Cols = 50 +Trace: Cholesky; Block K; Test. + +----------------------------------------- + +Inequality error + + +An exception has been thrown +Logic error:- detected by Newmat: inequalities not defined for matrices + +Trace: Block L; Test. + +----------------------------------------- + +Maximum of empty matrix + + +An exception has been thrown +Logic error:- detected by Newmat: Maximum or minimum of null matrix + +Trace: Block M; Test. + +----------------------------------------- + +Incorrectly ReSizing band matrix + + +An exception has been thrown +Logic error:- detected by Newmat: UpperBandMatrix with non-zero lower band + +Trace: UpperBandMatrix::ReSize; Block N; Test. + +----------------------------------------- + +Incorrectly ReSizing symmetric band matrix + + +An exception has been thrown +Logic error:- detected by Newmat: Upper and lower band-widths not equal + +Trace: SymmetricBandMatrix::ReSize(GM); Block M; Test. + +----------------------------------------- + +ReSize CroutMatrix + + +An exception has been thrown +Logic error:- detected by Newmat: ReSize not defined for this type of matrix + +Trace: GeneralMatrix::ReSize(GM); Block O; Test. + +----------------------------------------- + + +End test + +(The following memory checks are probably not valid with all +compilers - see documentation) + +Checking for lost memory: 8142064 8142064 - ok + +Checking for lost memory: 8142064 8142064 - ok + diff --git a/3rdparty/newmat/tmt.cpp b/3rdparty/newmat/tmt.cpp new file mode 100644 index 0000000..12617bb --- /dev/null +++ b/3rdparty/newmat/tmt.cpp @@ -0,0 +1,431 @@ +#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +//using namespace NEWMAT; +namespace NEWMAT { +#endif + + +/**************************** test program ******************************/ + + +class PrintCounter +{ + int count; + const char* s; +public: + ~PrintCounter(); + PrintCounter(const char * sx) : count(0), s(sx) {} + void operator++() { count++; } +}; + +PrintCounter PCZ("Number of non-zero matrices (should be 1) = "); +PrintCounter PCN("Number of matrices tested = "); + +PrintCounter::~PrintCounter() +{ cout << s << count << "\n"; } + + +void Print(const Matrix& X) +{ + ++PCN; + cout << "\nMatrix type: " << X.Type().Value() << " ("; + cout << X.Nrows() << ", "; + cout << X.Ncols() << ")\n\n"; + if (X.IsZero()) { cout << "All elements are zero\n" << flush; return; } + int nr=X.Nrows(); int nc=X.Ncols(); + for (int i=1; i<=nr; i++) + { + for (int j=1; j<=nc; j++) cout << X(i,j) << "\t"; + cout << "\n"; + } + cout << flush; ++PCZ; +} + +void Print(const UpperTriangularMatrix& X) +{ + ++PCN; + cout << "\nMatrix type: " << X.Type().Value() << " ("; + cout << X.Nrows() << ", "; + cout << X.Ncols() << ")\n\n"; + if (X.IsZero()) { cout << "All elements are zero\n" << flush; return; } + int nr=X.Nrows(); int nc=X.Ncols(); + for (int i=1; i<=nr; i++) + { + int j; + for (j=1; j -c)) A(i,j) = 0.0; } + } +} + +void Clean(DiagonalMatrix& A, Real c) +{ + int nr = A.Nrows(); + for (int i=1; i<=nr; i++) + { Real a = A(i,i); if ((a < c) && (a > -c)) A(i,i) = 0.0; } +} + +void PentiumCheck(Real N, Real D) +{ + Real R = N / D; + R = R * D - N; + if ( R > 1 || R < -1) + cout << "Pentium error detected: % error = " << 100 * R / N << "\n"; +} + + +#ifdef use_namespace +} +using namespace NEWMAT; +#endif + +//*************************** main program ********************************** + +void TestTypeAdd(); // test + +void TestTypeMult(); // test * +void TestTypeConcat(); // test | +void TestTypeSP(); // test SP +void TestTypeKP(); // test KP +void TestTypeOrder(); // test >= + + +int main() +{ + Real* s1; Real* s2; Real* s3; Real* s4; + cout << "\nBegin test\n"; // Forces cout to allocate memory at beginning + cout << "Now print a real number: " << 3.14159265 << endl; + // Throw exception to set up exception buffer +#ifndef DisableExceptions + Try { Throw(BaseException("Just a dummy\n")); } + CatchAll {} +#else + cout << "Not doing exceptions\n"; +#endif + { Matrix A1(40,200); s1 = A1.Store(); } + { Matrix A1(1,1); s3 = A1.Store(); } + { + Tracer et("Matrix test program"); + + Matrix A(25,150); + { + int i; + RowVector A(8); + for (i=1;i<=7;i++) A(i)=0.0; A(8)=1.0; + Print(A); + } + cout << "\n"; + + TestTypeAdd(); TestTypeMult(); TestTypeConcat(); + TestTypeSP(); TestTypeKP(); TestTypeOrder(); + + + Try { + trymat1(); + trymat2(); + trymat3(); + trymat4(); + trymat5(); + trymat6(); + trymat7(); + trymat8(); + trymat9(); + trymata(); + trymatb(); + trymatc(); + trymatd(); + trymate(); + trymatf(); + trymatg(); + trymath(); + trymati(); + trymatj(); + trymatk(); + trymatl(); + trymatm(); + + cout << "\nEnd of tests\n"; + } + CatchAll + { + cout << "\nTest program fails - exception generated\n\n"; + cout << BaseException::what(); + } + + + } + + { Matrix A1(40,200); s2 = A1.Store(); } + cout << "\n(The following memory checks are probably not valid with all\n"; + cout << "compilers - see documentation)\n"; + cout << "\nChecking for lost memory: " + << (unsigned long)s1 << " " << (unsigned long)s2 << " "; + if (s1 != s2) cout << " - error\n"; else cout << " - ok\n"; + { Matrix A1(1,1); s4 = A1.Store(); } + cout << "\nChecking for lost memory: " + << (unsigned long)s3 << " " << (unsigned long)s4 << " "; + if (s3 != s4) cout << " - error\n\n"; else cout << " - ok\n\n"; + + // check for Pentium bug + PentiumCheck(4195835L,3145727L); + PentiumCheck(5244795L,3932159L); + +#ifdef DO_FREE_CHECK + FreeCheck::Status(); +#endif + return 0; +} + + + + +//************************ test type manipulation **************************/ + + +// These functions may cause problems for Glockenspiel 2.0c; they are used +// only for testing so you can delete them + + +void TestTypeAdd() +{ + MatrixType list[10]; + list[0] = MatrixType::UT; + list[1] = MatrixType::LT; + list[2] = MatrixType::Rt; + list[3] = MatrixType::Sm; + list[4] = MatrixType::Dg; + list[5] = MatrixType::BM; + list[6] = MatrixType::UB; + list[7] = MatrixType::LB; + list[8] = MatrixType::SB; + list[9] = MatrixType::Id; + + cout << "+ "; + int i; + for (i=0; i= "; + int i; + for (i = 0; i=list[i]) ? "Yes " : "No "); + cout << "\n"; + } + cout << "\n"; +} + + diff --git a/3rdparty/newmat/tmt.h b/3rdparty/newmat/tmt.h new file mode 100644 index 0000000..2d522d0 --- /dev/null +++ b/3rdparty/newmat/tmt.h @@ -0,0 +1,66 @@ +// definition file for test programs + +//#define DONT_DO_NRIC // activate if running a bounds checker + +#ifdef use_namespace +//using namespace NEWMAT; +namespace NEWMAT { +#endif + +// print time between construction and destruction +class time_lapse +{ + double start_time; +public: + time_lapse(); + ~time_lapse(); +}; + +void Print(const Matrix& X); +void Print(const UpperTriangularMatrix& X); +void Print(const DiagonalMatrix& X); +void Print(const SymmetricMatrix& X); +void Print(const LowerTriangularMatrix& X); + +void Clean(Matrix&, Real); +void Clean(DiagonalMatrix&, Real); + +#ifdef use_namespace +} +using namespace NEWMAT; +#endif + +void trymat1(); void trymat2(); void trymat3(); +void trymat4(); void trymat5(); void trymat6(); +void trymat7(); void trymat8(); void trymat9(); +void trymata(); void trymatb(); void trymatc(); +void trymatd(); void trymate(); void trymatf(); +void trymatg(); void trymath(); void trymati(); +void trymatj(); void trymatk(); void trymatl(); +void trymatm(); + + +// body file: tmt.cpp +// body file: tmt1.cpp +// body file: tmt2.cpp +// body file: tmt3.cpp +// body file: tmt4.cpp +// body file: tmt5.cpp +// body file: tmt6.cpp +// body file: tmt7.cpp +// body file: tmt8.cpp +// body file: tmt9.cpp +// body file: tmta.cpp +// body file: tmtb.cpp +// body file: tmtc.cpp +// body file: tmtd.cpp +// body file: tmte.cpp +// body file: tmtf.cpp +// body file: tmtg.cpp +// body file: tmth.cpp +// body file: tmti.cpp +// body file: tmtj.cpp +// body file: tmtk.cpp +// body file: tmtl.cpp +// body file: tmtm.cpp + diff --git a/3rdparty/newmat/tmt.txt b/3rdparty/newmat/tmt.txt new file mode 100644 index 0000000..c0a18f4 --- /dev/null +++ b/3rdparty/newmat/tmt.txt @@ -0,0 +1,5016 @@ + +Begin test +Now print a real number: 3.14159 + +Matrix type: Rect (1, 8) + +0 0 0 0 0 0 0 1 + ++ UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Sym Sym Rect Rect Rect Sym Sym +Diag UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Sym SmBnd Band Band Band SmBnd SmBnd +Ident UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident + +* UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Diag UT LT Rect Rect Diag Band UpBnd LwBnd Band Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Rect Band Band Band Band Band Band +Ident UT LT Rect Rect Diag Band UpBnd LwBnd Band Ident + +| UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +LT Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Diag Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Band Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +UpBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +LwBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +SmBnd Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Ident Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect + +SP UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Diag UT UT Diag UpBnd UpBnd Diag UpBnd Diag +LT Diag LT LT LT Diag LwBnd Diag LwBnd LwBnd Diag +Rect UT LT Rect Rect Diag Band UpBnd LwBnd Band Diag +Sym UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Diag Diag Diag Diag Diag Diag Diag Diag Diag Diag Diag +Band UpBnd LwBnd Band Band Diag Band UpBnd LwBnd Band Diag +UpBnd UpBnd Diag UpBnd UpBnd Diag UpBnd UpBnd Diag UpBnd Diag +LwBnd Diag LwBnd LwBnd LwBnd Diag LwBnd Diag LwBnd LwBnd Diag +SmBnd UpBnd LwBnd Band SmBnd Diag Band UpBnd LwBnd SmBnd Diag +Ident Diag Diag Diag Diag Diag Diag Diag Diag Diag Ident + +KP UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT UT Rect Rect Rect UT Rect UT Rect Rect UT +LT Rect LT Rect Rect LT Rect Rect LT Rect LT +Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect Rect +Sym Rect Rect Rect Sym Sym Rect Rect Rect Sym Sym +Diag UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag +Band Rect Rect Rect Rect Band Band Band Band Band Band +UpBnd UT Rect Rect Rect UpBnd Band UpBnd Band Band UpBnd +LwBnd Rect LT Rect Rect LwBnd Band Band LwBnd Band LwBnd +SmBnd Rect Rect Rect Sym SmBnd Band Band Band SmBnd SmBnd +Ident UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Diag + +>= UT LT Rect Sym Diag Band UpBnd LwBnd SmBnd Ident +UT Yes No Yes No No No No No No No +LT No Yes Yes No No No No No No No +Rect No No Yes No No No No No No No +Sym No No Yes Yes No No No No No No +Diag Yes Yes Yes Yes Yes Yes Yes Yes Yes No +Band No No Yes No No Yes No No No No +UpBnd Yes No Yes No No Yes Yes No No No +LwBnd No Yes Yes No No Yes No Yes No No +SmBnd No No Yes Yes No Yes No No Yes No +Ident Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes + + + * First test of Matrix package + * Matrix test program + +Matrix type: LT (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: UT (9, 9) + +All elements are zero + +Matrix type: Rect (9, 9) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 8) + +All elements are zero + +Matrix type: Rect (20, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + + * Second test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (8, 10) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (20, 1) + +All elements are zero + +Matrix type: Rect (4, 7) + +All elements are zero + +Matrix type: Rect (4, 7) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (0, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (1, 0) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (14, 1) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + +Matrix type: Rect (20, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (4, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + + * Third test of Matrix package + * Matrix test program + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (6, 7) + +All elements are zero + +Matrix type: Rect (6, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 3) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + + * Fourth test of Matrix package + * Matrix test program + +Matrix type: Rect (3, 10) + +All elements are zero + +Matrix type: Rect (3, 10) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (10, 3) + +All elements are zero + +Matrix type: Rect (5, 8) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (4, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Diag (1, 1) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + + * Fifth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (2, 3) + +All elements are zero + +Matrix type: Rect (3, 2) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (5, 6) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Rect (31, 31) + +All elements are zero + +Matrix type: Diag (31, 31) + +All elements are zero + + * Sixth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 16) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 17) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 18) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 99) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 100) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + +Matrix type: Rect (1, 101) + +All elements are zero + + * Seventh test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 121) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (11, 11) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + + * Eighth test of Matrix package + * Matrix test program + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Diag (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: LT (4, 4) + +All elements are zero + +Matrix type: UT (4, 4) + +All elements are zero + +Matrix type: Diag (12, 12) + +All elements are zero + +Matrix type: Rect (10, 6) + +All elements are zero + +Matrix type: Rect (5, 9) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (6, 0) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + + * Ninth test of Matrix package + * Matrix test program + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 3) + +All elements are zero + +Matrix type: Rect (7, 3) + +All elements are zero + +Matrix type: Rect (3, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Tenth test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 6) + +All elements are zero + +Matrix type: Rect (8, 6) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: UT (4, 4) + +All elements are zero + +Matrix type: Rect (4, 2) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Eleventh test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (3, 4) + +All elements are zero + +Matrix type: Rect (6, 4) + +All elements are zero + +Matrix type: Rect (7, 6) + +All elements are zero + +Matrix type: Rect (3, 4) + +All elements are zero + +Matrix type: Rect (2, 3) + +All elements are zero + + * Twelfth test of Matrix package + * Matrix test program + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (3, 5) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: Rect (7, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: UT (5, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: UT (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: UT (20, 20) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: LT (5, 5) + +All elements are zero + +Matrix type: Rect (5, 8) + +All elements are zero + +Matrix type: LT (20, 20) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: Rect (0, 0) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + + * Thirteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (20, 5) + +All elements are zero + +Matrix type: Rect (20, 3) + +All elements are zero + +Matrix type: Rect (5, 3) + +All elements are zero + +Matrix type: Rect (3, 5) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (40, 40) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (50, 50) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + + * Fourteenth test of Matrix package + * Matrix test program + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (8, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (5, 5) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (21, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Rect (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Rect (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (21, 21) + +All elements are zero + +Matrix type: Diag (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (30, 30) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Rect (2, 2) + +All elements are zero + +Matrix type: Diag (2, 2) + +All elements are zero + +Matrix type: Diag (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (22, 20) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Sym (10, 10) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Diag (9, 9) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Diag (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +Matrix type: Diag (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + + * Fifteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (98, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (2450, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2187, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2310, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2401, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2197, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (2021, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (768, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1280, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (1792, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (320, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (50, 1) + +All elements are zero + +Matrix type: Rect (98, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (22, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (51, 1) + +All elements are zero + +Matrix type: Rect (100, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (1025, 1) + +All elements are zero + +Matrix type: Rect (2048, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (2000, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (1226, 1) + +All elements are zero + +Matrix type: Rect (2450, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (13, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (12, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (9, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (16, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (30, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (42, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (24, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (40, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (48, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (4, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (5, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (26, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (32, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (18, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (202, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (1000, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (275, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (1001, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (3, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (27, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (33, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + +Matrix type: Rect (19, 1) + +All elements are zero + + * Sixteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 6) + +All elements are zero + +Matrix type: Rect (1, 8) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (1, 3) + +All elements are zero + +Matrix type: Rect (1, 5) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + + * Seventeenth test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (6, 1) + +All elements are zero + +Matrix type: Rect (1, 7) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (80, 1) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 8) + +All elements are zero + +Matrix type: Rect (8, 1) + +All elements are zero + +Matrix type: Rect (7, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (7, 2) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Sym (20, 20) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (10, 10) + +All elements are zero + +Matrix type: Rect (6, 6) + +All elements are zero + +Matrix type: Rect (9, 2) + +All elements are zero + +Matrix type: Rect (1, 1) + +All elements are zero + +Matrix type: Rect (20, 30) + +All elements are zero + +Matrix type: UT (25, 25) + +All elements are zero + +Matrix type: LT (25, 25) + +All elements are zero + +Matrix type: Diag (25, 25) + +All elements are zero + +Matrix type: Sym (25, 25) + +All elements are zero + +Matrix type: Diag (25, 25) + +All elements are zero + +Matrix type: Rect (10, 1) + +All elements are zero + +Matrix type: Rect (1, 10) + +All elements are zero + +Matrix type: Rect (5, 5) + +All elements are zero + +Matrix type: Diag (4, 4) + +All elements are zero + +Matrix type: Rect (4, 4) + +All elements are zero + +Matrix type: Rect (1, 2) + +All elements are zero + + * Eighteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (23, 1) + +All elements are zero + +Matrix type: Rect (10, 20) + +All elements are zero + + * Nineteenth test of Matrix package + * Matrix test program + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (13, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: Diag (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: LT (7, 7) + +All elements are zero + +Matrix type: UT (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (25, 25) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (19, 19) + +All elements are zero + +Matrix type: Rect (2, 1) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + +Matrix type: Rect (7, 7) + +All elements are zero + + * Twentieth test of Matrix package + * Matrix test program +C subscripts not enabled, not tested + + + * Twenty first test of Matrix package + * Matrix test program + +Matrix type: Rect (1, 28) + +All elements are zero + + * Twenty second test of Matrix package + * Matrix test program + +Matrix type: Rect (8, 9) + +All elements are zero + +Matrix type: Diag (150, 150) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: LT (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: UT (12, 12) + +All elements are zero + +Matrix type: LT (12, 12) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (24, 24) + +All elements are zero + +Matrix type: Rect (1, 4) + +All elements are zero + +Matrix type: UT (24, 24) + +All elements are zero + +Matrix type: LT (24, 24) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (12, 12) + +All elements are zero + +Matrix type: Rect (3, 3) + +All elements are zero + +Matrix type: Rect (1, 15) + +All elements are zero + +Matrix type: Rect (15, 1) + +All elements are zero + +Matrix type: Rect (15, 15) + +All elements are zero + +End of tests + +(The following memory checks are probably not valid with all +compilers - see documentation) + +Checking for lost memory: 8797116 8797116 - ok + +Checking for lost memory: 8797116 8797116 - ok + +Number of matrices tested = 1215 +Number of non-zero matrices (should be 1) = 1 diff --git a/3rdparty/newmat/tmt1.cpp b/3rdparty/newmat/tmt1.cpp new file mode 100644 index 0000000..4e69843 --- /dev/null +++ b/3rdparty/newmat/tmt1.cpp @@ -0,0 +1,207 @@ + +#define WANT_STREAM + + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat1() +{ +// cout << "\nFirst test of Matrix package\n\n"; + Tracer et("First test of Matrix package"); + Tracer::PrintTrace(); + { + Tracer et1("Stage 1"); + int i,j; + + LowerTriangularMatrix L(10); + for (i=1;i<=10;i++) for (j=1;j<=i;j++) L(i,j)=2.0+i*i+j; + SymmetricMatrix S(10); + for (i=1;i<=10;i++) for (j=1;j<=i;j++) S(i,j)=i*j+1.0; + SymmetricMatrix S1 = S / 2.0; + S = S1 * 2.0; + UpperTriangularMatrix U=L.t()*2.0; + Print(LowerTriangularMatrix(L-U.t()*0.5)); + DiagonalMatrix D(10); + for (i=1;i<=10;i++) D(i,i)=(i-4)*(i-5)*(i-6); + Matrix M=(S+U-D+L)*(L+U-D+S); + DiagonalMatrix DD=D*D; + LowerTriangularMatrix LD=L*D; + // expressions split for Turbo C + Matrix M1 = S*L + U*L - D*L + L*L + 10.0; + { M1 = M1 + S*U + U*U - D*U + L*U - S*D; } + { M1 = M1 - U*D + DD - LD + S*S; } + { M1 = M1 + U*S - D*S + L*S - 10.0; } + M=M1-M; + Print(M); + } + { + Tracer et1("Stage 2"); + int i,j; + + LowerTriangularMatrix L(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) L(i,j)=1.0+j; + UpperTriangularMatrix U1(9); + for (j=1;j<=9;j++) for (i=1;i<=j;i++) U1(i,j)=1.0+i; + LowerTriangularMatrix LX(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) LX(i,j)=1.0+i*i; + UpperTriangularMatrix UX(9); + for (j=1;j<=9;j++) for (i=1;i<=j;i++) UX(i,j)=1.0+j*j; + { + L=L+LX/0.5; L=L-LX*3.0; L=LX*2.0+L; + U1=U1+UX*2.0; U1=U1-UX*3.0; U1=UX*2.0+U1; + } + + + SymmetricMatrix S(9); + for (i=1;i<=9;i++) for (j=1;j<=i;j++) S(i,j)=i*i+j; + { + SymmetricMatrix S1 = S; + S=S1+5.0; + S=S-3.0; + } + + DiagonalMatrix D(9); + for (i=1;i<=9;i++) D(i,i)=S(i,i); + UpperTriangularMatrix U=L.t()*2.0; + { + U1=U1*2.0 - U; Print(U1); + L=L*2.0-D; U=U-D; + } + Matrix M=U+L; S=S*2.0; M=S-M; Print(M); + } + { + Tracer et1("Stage 3"); + int i,j; + Matrix M(10,3), N(10,3); + for (i = 1; i<=10; i++) for (j = 1; j<=3; j++) + { M(i,j) = 2*i-j; N(i,j) = i*j + 20; } + Matrix MN = M + N, M1; + + M1 = M; M1 += N; M1 -= MN; Print(M1); + M1 = M; M1 += M1; M1 = M1 - M * 2; Print(M1); + M1 = M; M1 += N * 2; M1 -= (MN + N); Print(M1); + M1 = M; M1 -= M1; Print(M1); + M1 = M; M1 -= MN + M1; M1 += N + M; Print(M1); + M1 = M; M1 -= 5; M1 -= M; M1 *= 0.2; M1 = M1 + 1; Print(M1); + Matrix NT = N.t(); + M1 = M; M1 *= NT; M1 -= M * N.t(); Print(M1); + M = M * M.t(); + DiagonalMatrix D(10); D = 2; + M1 = M; M1 += D; M1 -= M; M1 = M1 - D; Print(M1); + M1 = M; M1 -= D; M1 -= M; M1 = M1 + D; Print(M1); + M1 = M; M1 *= D; M1 /= 2; M1 -= M; Print(M1); + SymmetricMatrix SM; SM << M; + // UpperTriangularMatrix SM; SM << M; + SM += 10; M1 = SM - M; M1 /=10; M1 = M1 - 1; Print(M1); + } + { + Tracer et1("Stage 4"); + int i,j; + Matrix M(10,3), N(10,5); + for (i = 1; i<=10; i++) for (j = 1; j<=3; j++) M(i,j) = 2*i-j; + for (i = 1; i<=10; i++) for (j = 1; j<=5; j++) N(i,j) = i*j + 20; + Matrix M1; + M1 = M; M1 |= N; M1 &= N | M; + M1 -= (M | N) & (N | M); Print(M1); + M1 = M; M1 |= M1; M1 &= M1; + M1 -= (M | M) & (M | M); Print(M1); + + } + { + Tracer et1("Stage 5"); + int i,j; + BandMatrix BM1(10,2,3), BM2(10,4,1); Matrix M1(10,10), M2(10,10); + for (i=1;i<=10;i++) for (j=1;j<=10;j++) + { M1(i,j) = 0.5*i+j*j-50; M2(i,j) = (i*101 + j*103) % 13; } + BM1.Inject(M1); BM2.Inject(M2); + BandMatrix BM = BM1; BM += BM2; + Matrix M1X = BM1; Matrix M2X = BM2; Matrix MX = BM; + MX -= M1X + M2X; Print(MX); + MX = BM1; MX += BM2; MX -= M1X; MX -= M2X; Print(MX); + SymmetricBandMatrix SM1; SM1 << BM1 * BM1.t(); + SymmetricBandMatrix SM2; SM2 << BM2 * BM2.t(); + SM1 *= 5.5; + M1X *= M1X.t(); M1X *= 5.5; M2X *= M2X.t(); + SM1 -= SM2; M1 = SM1 - M1X + M2X; Print(M1); + M1 = BM1; BM1 *= SM1; M1 = M1 * SM1 - BM1; Print(M1); + M1 = BM1; BM1 -= SM1; M1 = M1 - SM1 - BM1; Print(M1); + M1 = BM1; BM1 += SM1; M1 = M1 + SM1 - BM1; Print(M1); + + } + { + Tracer et1("Stage 6"); + int i,j; + Matrix M(10,10), N(10,10); + for (i = 1; i<=10; i++) for (j = 1; j<=10; j++) + { M(i,j) = 2*i-j; N(i,j) = i*j + 20; } + GenericMatrix GM = M; + GM += N; Matrix M1 = GM - N - M; Print(M1); + DiagonalMatrix D(10); D = 3; + GM = D; GM += N; GM += M; GM += D; + M1 = D*2 - GM + M + N; Print(M1); + GM = D; GM *= 4; GM += 16; GM /= 8; GM -= 2; + GM -= D / 2; M1 = GM; Print(M1); + GM = D; GM *= M; GM *= N; GM /= 3; M1 = M*N - GM; Print(M1); + GM = D; GM |= M; GM &= N | D; M1 = GM - ((D | M) & (N | D)); + Print(M1); + GM = M; M1 = M; GM += 5; GM *= 3; M *= 3; M += 15; M1 = GM - M; + Print(M1); + D.ReSize(10); for (i = 1; i<=10; i++) D(i) = i; + M1 = D + 10; GM = D; GM += 10; M1 -= GM; Print(M1); + GM = M; GM -= D; M1 = GM; GM = D; GM -= M; M1 += GM; Print(M1); + GM = M; GM *= D; M1 = GM; GM = D; GM *= M.t(); + M1 -= GM.t(); Print(M1); + GM = M; GM += 2 * GM; GM -= 3 * M; M1 = GM; Print(M1); + GM = M; GM |= GM; GM -= (M | M); M1 = GM; Print(M1); + GM = M; GM &= GM; GM -= (M & M); M1 = GM; Print(M1); + M1 = M; M1 = (M1.t() & M.t()) - (M | M).t(); Print(M1); + M1 = M; M1 = (M1.t() | M.t()) - (M & M).t(); Print(M1); + + } + + { + Tracer et1("Stage 7"); + // test for bug in MS VC5 + int n = 3; + int k; int j; + Matrix A(n,n), B(n,n); + + //first version - MS VC++ 5 mis-compiles if optimisation is on + for (k=1; k<=n; k++) + { + for (j = 1; j <= n; j++) A(k,j) = ((k-1) * (2*j-1)); + } + + //second version + for (k=1; k<=n; k++) + { + const int k1 = k-1; // otherwise Visual C++ 5 fails + for (j = 1; j <= n; j++) B(k,j) = (k1 * (2*j-1)); + } + + if (A != B) + { + cout << "\nVisual C++ version 5 compiler error?"; + cout << "\nTurn off optimisation"; + } + + A -= B; Print(A); + + } + +// cout << "\nEnd of first test\n"; +} + diff --git a/3rdparty/newmat/tmt2.cpp b/3rdparty/newmat/tmt2.cpp new file mode 100644 index 0000000..eadb1ce --- /dev/null +++ b/3rdparty/newmat/tmt2.cpp @@ -0,0 +1,287 @@ + +//#define WANT_STREAM + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat2() +{ +// cout << "\nSecond test of Matrix package\n\n"; + Tracer et("Second test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + Matrix M(3,5); + for (i=1; i<=3; i++) for (j=1; j<=5; j++) M(i,j) = 100*i + j; + Matrix X(8,10); + for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j; + Matrix Y = X; Matrix Z = X; + { X.SubMatrix(2,4,3,7) << M; } + for (i=1; i<=3; i++) for (j=1; j<=5; j++) Y(i+1,j+2) = 100*i + j; + Print(Matrix(X-Y)); + + + Real a[15]; Real* r = a; + for (i=1; i<=3; i++) for (j=1; j<=5; j++) *r++ = 100*i + j; + { Z.SubMatrix(2,4,3,7) << a; } + Print(Matrix(Z-Y)); + + { M=33; X.SubMatrix(2,4,3,7) << M; } + { Z.SubMatrix(2,4,3,7) = 33; } + Print(Matrix(Z-X)); + + for (i=1; i<=8; i++) for (j=1; j<=10; j++) X(i,j) = 1000*i + 10*j; + Y = X; + UpperTriangularMatrix U(5); + for (i=1; i<=5; i++) for (j=i; j<=5; j++) U(i,j) = 100*i + j; + { X.SubMatrix(3,7,5,9) << U; } + for (i=1; i<=5; i++) for (j=i; j<=5; j++) Y(i+2,j+4) = 100*i + j; + for (i=1; i<=5; i++) for (j=1; jReSize(10,20); + for (i = 1; i <= 10; i++) for (j = 1; j <= 20; j++) + (*MX)(i,j) = 100 * i + j; + ColumnVector* CV = new ColumnVector(10); + if (!CV) Throw(Bad_alloc("New fails ")); + *CV << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9 << 10; + RowVector* RV = new RowVector(CV->t() | (*CV + 10).t()); + if (!RV) Throw(Bad_alloc("New fails ")); + CV1 = ColumnVector(10); CV1 = 1; RV1 = RowVector(20); RV1 = 1; + *MX -= 100 * *CV * RV1 + CV1 * *RV; + Print(*MX); + delete MX; delete CV; delete RV; + } + + + // test copying of vectors and matrices with no elements + { + ColumnVector dims(16); + Matrix M1; Matrix M2 = M1; Print(M2); + dims(1) = M2.Nrows(); dims(2) = M2.Ncols(); + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows(); dims(6) = M2.Ncols(); + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10,20); M2.CleanUp(); + dims(9) = M2.Nrows(); dims(10) = M2.Ncols(); + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(20,10); M2.ReSize(0,0); + dims(13) = M2.Nrows(); dims(14) = M2.Ncols(); + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + { + ColumnVector dims(16); + ColumnVector M1; ColumnVector M2 = M1; Print(M2); + dims(1) = M2.Nrows(); dims(2) = M2.Ncols()-1; + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows(); dims(6) = M2.Ncols()-1; + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10); M2.CleanUp(); + dims(9) = M2.Nrows(); dims(10) = M2.Ncols()-1; + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(10); M2.ReSize(0); + dims(13) = M2.Nrows(); dims(14) = M2.Ncols()-1; + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + { + ColumnVector dims(16); + RowVector M1; RowVector M2 = M1; Print(M2); + dims(1) = M2.Nrows()-1; dims(2) = M2.Ncols(); + dims(3) = (Real)(unsigned long)M2.Store(); dims(4) = M2.Storage(); + M2 = M1; + dims(5) = M2.Nrows()-1; dims(6) = M2.Ncols(); + dims(7) = (Real)(unsigned long)M2.Store(); dims(8) = M2.Storage(); + M2.ReSize(10); M2.CleanUp(); + dims(9) = M2.Nrows()-1; dims(10) = M2.Ncols(); + dims(11) = (Real)(unsigned long)M2.Store(); dims(12) = M2.Storage(); + M2.ReSize(10); M2.ReSize(0); + dims(13) = M2.Nrows()-1; dims(14) = M2.Ncols(); + dims(15) = (Real)(unsigned long)M2.Store(); dims(16) = M2.Storage(); + Print(dims); + } + + // test identity matrix + { + Matrix M; + IdentityMatrix I(10); DiagonalMatrix D(10); D = 1; + M = I; M -= D; Print(M); + D -= I; Print(D); + ColumnVector X(8); + D = 1; + X(1) = Sum(D) - Sum(I); + X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I); + X(3) = SumSquare(D) - SumSquare(I); + X(4) = Trace(D) - Trace(I); + X(5) = Maximum(D) - Maximum(I); + X(6) = Minimum(D) - Minimum(I); + X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue(); + X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign(); + Clean(X,0.00000001); Print(X); + + for (i = 1; i <= 10; i++) for (j = 1; j <= 10; j++) + M(i,j) = 100 * i + j; + Matrix N; + N = M * I - M; Print(N); + N = I * M - M; Print(N); + N = M * I.i() - M; Print(N); + N = I.i() * M - M; Print(N); + N = I.i(); N -= I; Print(N); + N = I.t(); N -= I; Print(N); + N = I.t(); N += (-I); Print(N); // <---------------- + D = I; N = D; D = 1; N -= D; Print(N); + N = I; D = 1; N -= D; Print(N); + N = M + 2 * IdentityMatrix(10); N -= (M + 2 * D); Print(N); + + I *= 4; + + D = 4; + + X.ReSize(14); + X(1) = Sum(D) - Sum(I); + X(2) = SumAbsoluteValue(D) - SumAbsoluteValue(I); + X(3) = SumSquare(D) - SumSquare(I); + X(4) = Trace(D) - Trace(I); + X(5) = Maximum(D) - Maximum(I); + X(6) = Minimum(D) - Minimum(I); + X(7) = LogDeterminant(D).LogValue() - LogDeterminant(I).LogValue(); // <-- + X(8) = LogDeterminant(D).Sign() - LogDeterminant(I).Sign(); + int i,j; + X(9) = I.Maximum1(i) - 4; X(10) = i-1; + X(11) = I.Maximum2(i,j) - 4; X(12) = i-10; X(13) = j-10; + X(14) = I.Nrows() - 10; + Clean(X,0.00000001); Print(X); + + + N = D.i(); + N += I / (-16); + Print(N); + N = M * I - 4 * M; Print(N); + N = I * M - 4 * M; Print(N); + N = M * I.i() - 0.25 * M; Print(N); + N = I.i() * M - 0.25 * M; Print(N); + N = I.i(); N -= I * 0.0625; Print(N); + N = I.i(); N = N - 0.0625 * I; Print(N); + N = I.t(); N -= I; Print(N); + D = I * 2; N = D; D = 1; N -= 8 * D; Print(N); + N = I * 2; N -= 8 * D; Print(N); + N = 0.5 * I + M; N -= M; N -= 2.0 * D; Print(N); + + IdentityMatrix J(10); J = 8; + D = 4; + DiagonalMatrix E(10); E = 8; + N = (I + J) - (D + E); Print(N); + N = (5*I + 3*J) - (5*D + 3*E); Print(N); + N = (-I + J) - (-D + E); Print(N); + N = (I - J) - (D - E); Print(N); + N = (I | J) - (D | E); Print(N); + N = (I & J) - (D & E); Print(N); + N = SP(I,J) - SP(D,E); Print(N); + N = D.SubMatrix(2,5,3,8) - I.SubMatrix(2,5,3,8); Print(N); + + N = M; N.Inject(I); D << M; N -= (M + I); N += D; Print(N); + D = 4; + + IdentityMatrix K = I.i()*7 - J.t()/4; + N = D.i() * 7 - E / 4 - K; Print(N); + K = I * J; N = K - D * E; Print(N); + N = I * J; N -= D * E; Print(N); + K = 5*I - 3*J; + N = K - (5*D - 3*E); Print(N); + K = I.i(); N = K - 0.0625 * I; Print(N); + K = I.t(); N = K - I; Print(N); + + + K.ReSize(20); D.ReSize(20); D = 1; + D -= K; Print(D); + + I.ReSize(3); J.ReSize(3); K = I * J; N = K - I; Print(N); + K << D; N = K - D; Print(N); + + + } + + +// cout << "\nEnd of second test\n"; +} diff --git a/3rdparty/newmat/tmt3.cpp b/3rdparty/newmat/tmt3.cpp new file mode 100644 index 0000000..86b1475 --- /dev/null +++ b/3rdparty/newmat/tmt3.cpp @@ -0,0 +1,160 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + +void trymat3() +{ + Tracer et("Third test of Matrix package"); + Tracer::PrintTrace(); + + { + Tracer et1("Stage 1"); + int i,j; + SymmetricMatrix S(7); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) S(i,j)=i*i+j; + S=-S+2.0; + + DiagonalMatrix D(7); + for (i=1;i<=7;i++) D(i,i)=S(i,i); + + Matrix M4(7,7); { M4=D+(D+4.0); M4=M4-D*2.0; M4=M4-4.0; Print(M4); } + SymmetricMatrix S2=D; Matrix M2=S2; { M2=-D+M2; Print(M2); } + UpperTriangularMatrix U2=D; { M2=U2; M2=D-M2; Print(M2); } + LowerTriangularMatrix L2=D; { M2=L2; M2=D-M2; Print(M2); } + M2=D; M2=M2-D; Print(M2); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) L2(i,j)=2.0-i*i-j; + U2=L2.t(); D=D.t(); S=S.t(); + M4=(L2-1.0)+(U2+1.0)-D-S; Print(M4); + M4=(-L2+1.0)+(-U2-1.0)+D+S; Print(M4); + } + + { + Tracer et1("Stage 2"); + int i,j; + DiagonalMatrix D(6); + for (i=1;i<=6;i++) D(i,i)=i*3.0+i*i+2.0; + UpperTriangularMatrix U2(7); LowerTriangularMatrix L2(7); + for (i=1;i<=7;i++) for (j=1;j<=i;j++) L2(i,j)=2.0-i*i+j; + { U2=L2.t(); } + DiagonalMatrix D1(7); for (i=1;i<=7;i++) D1(i,i)=(i-2)*(i-4); + Matrix M2(6,7); + for (i=1;i<=6;i++) for (j=1;j<=7;j++) M2(i,j)=2.0+i*j+i*i+2.0*j*j; + Matrix MD=D; SymmetricMatrix MD1(1); MD1=D1; + Matrix MX=MD*M2*MD1 - D*(M2*D1); Print(MX); + MX=MD*M2*MD1 - (D*M2)*D1; Print(MX); + { + D.ReSize(7); for (i=1;i<=7;i++) D(i,i)=i*3.0+i*i+2.0; + LowerTriangularMatrix LD(1); LD=D; + UpperTriangularMatrix UD(1); UD=D; + M2=U2; M2=LD*M2*MD1 - D*(U2*D1); Print(M2); + M2=U2; M2=UD*M2*MD1 - (D*U2)*D1; Print(M2); + M2=L2; M2=LD*M2*MD1 - D*(L2*D1); Print(M2); + M2=L2; M2=UD*M2*MD1 - (D*L2)*D1; Print(M2); + } + } + + { + Tracer et1("Stage 3"); + // test inverse * scalar + DiagonalMatrix D(6); + for (int i=1;i<=6;i++) D(i)=i*i; + DiagonalMatrix E = D.i() * 4.0; + DiagonalMatrix I(6); I = 1.0; + E=D*E-I*4.0; Print(E); + E = D.i() / 0.25; E=D*E-I*4.0; Print(E); + } + { + Tracer et1("Stage 4"); + Matrix sigma(3,3); Matrix sigmaI(3,3); + sigma = 0; sigma(1,1) = 1.0; sigma(2,2) = 1.0; sigma(3,3) = 1.0; + sigmaI = sigma.i(); + sigmaI -= sigma; Clean(sigmaI, 0.000000001); Print(sigmaI); + } + { + Tracer et1("Stage 5"); + Matrix X(5,5); DiagonalMatrix DM(5); + for (int i=1; i<=5; i++) for (int j=1; j<=5; j++) + X(i,j) = (23*i+59*j) % 43; + DM << 1 << 8 << -7 << 2 << 3; + Matrix Y = X.i() * DM; Y = X * Y - DM; + Clean(Y, 0.000000001); Print(Y); + } + { + Tracer et1("Stage 6"); // test reverse function + ColumnVector CV(10), RCV(10); + CV << 2 << 7 << 1 << 6 << -3 << 1 << 8 << -4 << 0 << 17; + RCV << 17 << 0 << -4 << 8 << 1 << -3 << 6 << 1 << 7 << 2; + ColumnVector X = CV - RCV.Reverse(); Print(X); + RowVector Y = CV.t() - RCV.t().Reverse(); Print(Y); + DiagonalMatrix D = CV.AsDiagonal() - RCV.AsDiagonal().Reverse(); + Print(D); + X = CV & CV.Rows(1,9).Reverse(); + ColumnVector Z(19); + Z.Rows(1,10) = RCV.Reverse(); Z.Rows(11,19) = RCV.Rows(2,10); + X -= Z; Print(X); Z -= Z.Reverse(); Print(Z); + Matrix A(3,3); A << 1 << 2 << 3 << 4 << 5 << 6 << 7 << 8 << 9; + Matrix B(3,3); B << 9 << 8 << 7 << 6 << 5 << 4 << 3 << 2 << 1; + Matrix Diff = A - B.Reverse(); Print(Diff); + Diff = (-A).Reverse() + B; Print(Diff); + UpperTriangularMatrix U; + U << A.Reverse(); Diff = U; U << B; Diff -= U; Print(Diff); + U << (-A).Reverse(); Diff = U; U << B; Diff += U; Print(Diff); + } + { + Tracer et1("Stage 7"); // test IsSingular function + ColumnVector XX(4); + Matrix A(3,3); + A = 0; + CroutMatrix B1 = A; + XX(1) = B1.IsSingular() ? 0 : 1; + A << 1 << 3 << 6 + << 7 << 11 << 13 + << 2 << 4 << 1; + CroutMatrix B2(A); + XX(2) = B2.IsSingular() ? 1 : 0; + BandMatrix C(3,1,1); C.Inject(A); + BandLUMatrix B3(C); + XX(3) = B3.IsSingular() ? 1 : 0; + C = 0; + BandLUMatrix B4(C); + XX(4) = B4.IsSingular() ? 0 : 1; + Print(XX); + } + { + Tracer et1("Stage 8"); // inverse with vector of 0s + Matrix A(3,3); Matrix Z(3,3); ColumnVector X(6); + A << 1 << 3 << 6 + << 7 << 11 << 13 + << 2 << 4 << 1; + Z = 0; + Matrix B = (A | Z) & (Z | A); // 6 * 6 matrix + X = 0.0; + X = B.i() * X; + Print(X); + // also check inverse with non-zero Y + Matrix Y(3,3); + Y << 0.0 << 1.0 << 1.0 + << 5.0 << 0.0 << 5.0 + << 3.0 << 3.0 << 0.0; + Matrix YY = Y & Y; // stack Y matrices + YY = B.i() * YY; + Matrix Y1 = A.i() * Y; + YY -= Y1 & Y1; Clean(YY, 0.000000001); Print(YY); + Y1 = A * Y1 - Y; Clean(Y1, 0.000000001); Print(Y1); + } + + +} + diff --git a/3rdparty/newmat/tmt4.cpp b/3rdparty/newmat/tmt4.cpp new file mode 100644 index 0000000..27a18dc --- /dev/null +++ b/3rdparty/newmat/tmt4.cpp @@ -0,0 +1,155 @@ + +//#define WANT_STREAM + + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat4() +{ +// cout << "\nFourth test of Matrix package\n"; + Tracer et("Fourth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + { + Tracer et1("Stage 1"); + Matrix M(10,10); + UpperTriangularMatrix U(10); + for (i=1;i<=10;i++) for (j=1;j<=10;j++) M(i,j) = 100*i+j; + U << -M; + Matrix X1 = M.Rows(2,4); + Matrix Y1 = U.t().Rows(2,4); + Matrix X = U; { Print(Matrix(X.Columns(2,4).t()-Y1)); } + RowVector RV = M.Row(5); + { + X.ReSize(3,10); + X.Row(1) << M.Row(2); X.Row(2) << M.Row(3); X.Row(3) << M.Row(4); + Print(Matrix(X-X1)); + } + { + UpperTriangularMatrix V = U.SymSubMatrix(3,5); + Matrix MV = U.SubMatrix(3,5,3,5); { Print(Matrix(MV-V)); } + Matrix X2 = M.t().Columns(2,4); { Print(Matrix(X2-X1.t())); } + Matrix Y2 = U.Columns(2,4); { Print(Matrix(Y2-Y1.t())); } + ColumnVector CV = M.t().Column(5); { Print(ColumnVector(CV-RV.t())); } + X.ReSize(10,3); M = M.t(); + X.Column(1) << M.Column(2); X.Column(2) << M.Column(3); + X.Column(3) << M.Column(4); + Print(Matrix(X-X2)); + } + } + + { + Tracer et1("Stage 2"); + Matrix M; Matrix X; M.ReSize(5,8); + for (i=1;i<=5;i++) for (j=1;j<=8;j++) M(i,j) = 100*i+j; + { + X = M.Columns(5,8); M.Columns(5,8) << M.Columns(1,4); + M.Columns(1,4) << X; + X = M.Columns(3,4); M.Columns(3,4) << M.Columns(1,2); + M.Columns(1,2) << X; + X = M.Columns(7,8); M.Columns(7,8) << M.Columns(5,6); + M.Columns(5,6) << X; + } + { + X = M.Column(2); M.Column(2) = M.Column(1); M.Column(1) = X; + X = M.Column(4); M.Column(4) = M.Column(3); M.Column(3) = X; + X = M.Column(6); M.Column(6) = M.Column(5); M.Column(5) = X; + X = M.Column(8); M.Column(8) = M.Column(7); M.Column(7) = X; + X.ReSize(5,8); + } + for (i=1;i<=5;i++) for (j=1;j<=8;j++) X(i,9-j) = 100*i+j; + Print(Matrix(X-M)); + } + { + Tracer et1("Stage 3"); + // try submatrices of zero dimension + Matrix A(4,5); Matrix B, C; + for (i=1; i<=4; i++) for (j=1; j<=5; j++) + A(i,j) = 100+i*10+j; + B = A + 100; + C = A | B.Columns(4,3); Print(Matrix(A - C)); + C = A | B.Columns(1,0); Print(Matrix(A - C)); + C = A | B.Columns(6,5); Print(Matrix(A - C)); + C = A & B.Rows(2,1); Print(Matrix(A - C)); + } + { + Tracer et1("Stage 4"); + BandMatrix BM(5,3,2); + BM(1,1) = 1; BM(1,2) = 2; BM(1,3) = 3; + BM(2,1) = 4; BM(2,2) = 5; BM(2,3) = 6; BM(2,4) = 7; + BM(3,1) = 8; BM(3,2) = 9; BM(3,3) =10; BM(3,4) =11; BM(3,5) =12; + BM(4,1) =13; BM(4,2) =14; BM(4,3) =15; BM(4,4) =16; BM(4,5) =17; + BM(5,2) =18; BM(5,3) =19; BM(5,4) =20; BM(5,5) =21; + SymmetricBandMatrix SM(5,3); + SM.Inject(BandMatrix(BM + BM.t())); + Matrix A = BM + 1; + Matrix M = A + A.t() - 2; + Matrix C = A.i() * BM; + C = A * C - BM; Clean(C, 0.000000001); Print(C); + C = A.i() * SM; + C = A * C - M; Clean(C, 0.000000001); Print(C); + + // check row-wise load + BandMatrix BM1(5,3,2); + BM1.Row(1) << 1 << 2 << 3; + BM1.Row(2) << 4 << 5 << 6 << 7; + BM1.Row(3) << 8 << 9 << 10 << 11 << 12; + BM1.Row(4) << 13 << 14 << 15 << 16 << 17; + BM1.Row(5) << 18 << 19 << 20 << 21; + Matrix M1 = BM1 - BM; Print(M1); + } + { + Tracer et1("Stage 5"); + Matrix X(4,4); + X << 1 << 2 << 3 << 4 + << 5 << 6 << 7 << 8 + << 9 <<10 <<11 <<12 + <<13 <<14 <<15 <<16; + Matrix Y(4,0); + Y = X | Y; + X -= Y; Print(X); + + DiagonalMatrix D(1); + D << 23; // matrix input with just one value + D(1) -= 23; Print(D); + + } + { + Tracer et1("Stage 6"); + Matrix h (2,2); + h << 1.0 << 2.0 << 0.0 << 1.0 ; + RowVector c(2); + c << 0.0 << 1.0; + h -= c & c; + h -= c.t().Reverse() | c.Reverse().t(); + Print(h); + } + { + Tracer et1("Stage 7"); + // Check row-wise input for diagonal matrix + DiagonalMatrix D(4); + D << 18 << 23 << 31 << 17; + DiagonalMatrix D1(4); + D1.Row(1) << 18; D1.Row(2) << 23; D1.Row(3) << 31; D1.Row(4) << 17; + D1 -= D; Print(D1); + D1(1) = 18; D1(2) = 23; D1(3) = 31; D1(4) = 17; + D1 -= D; Print(D1); + } + +// cout << "\nEnd of fourth test\n"; +} + diff --git a/3rdparty/newmat/tmt5.cpp b/3rdparty/newmat/tmt5.cpp new file mode 100644 index 0000000..6a293e0 --- /dev/null +++ b/3rdparty/newmat/tmt5.cpp @@ -0,0 +1,125 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +// **************************** test program ****************************** + + + +ReturnMatrix Returner0(const GenericMatrix& GM) +{ Matrix M = GM; M.Release(); return M; } + +ReturnMatrix Returner1(const GenericMatrix& GM) +{ Matrix M = GM+1; M.Release(); return M; } + +ReturnMatrix Returner2(const GenericMatrix& GM) +{ UpperBandMatrix M = GM*2; M.Release(); return M; } + +ReturnMatrix Returner3(const GenericMatrix& GM) +{ LowerBandMatrix M = GM*3; M.Release(); return M; } + +ReturnMatrix Returner4(const GenericMatrix& GM) +{ SymmetricMatrix M = GM+4; M.Release(); return M; } + +ReturnMatrix Returner5(const GenericMatrix& GM) +{ SymmetricBandMatrix M = GM*5; M.Release(); return M; } + +ReturnMatrix Returner6(const GenericMatrix& GM) +{ BandMatrix M = GM*6; M.Release(); return M; } + +ReturnMatrix Returner7(const GenericMatrix& GM) +{ DiagonalMatrix M = GM*7; M.Release(); return M; } + +void trymat5() +{ +// cout << "\nFifth test of Matrix package\n"; + Tracer et("Fifth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + Matrix A(5,6); + for (i=1;i<=5;i++) for (j=1;j<=6;j++) A(i,j)=1+i*j+i*i+j*j; + ColumnVector CV(6); + for (i=1;i<=6;i++) CV(i)=i*i+3; + ColumnVector CV2(5); for (i=1;i<=5;i++) CV2(i)=1.0; + ColumnVector CV1=CV; + + { + CV=A*CV; + RowVector RV=CV.t(); // RowVector RV; RV=CV.t(); + RV=RV-1.0; + CV=(RV*A).t()+A.t()*CV2; CV1=(A.t()*A)*CV1 - CV; + Print(CV1); + } + + CV1.ReSize(6); + CV2.ReSize(6); + CV.ReSize(6); + for (i=1;i<=6;i++) { CV1(i)=i*3+1; CV2(i)=10-i; CV(i)=11+i*2; } + ColumnVector CX=CV2-CV; { CX=CX+CV1; Print(CX); } + Print(ColumnVector(CV1+CV2-CV)); + RowVector RV=CV.t(); RowVector RV1=CV1.t(); + RowVector R=RV-RV1; Print(RowVector(R-CV2.t())); + +// test loading of list + + RV.ReSize(10); + for (i=1;i<=10;i++) RV(i) = i*i; + RV1.ReSize(10); + RV1 << 1 << 4 << 9 << 16 << 25 << 36 << 49 << 64 << 81 << 100; // << 121; + Print(RowVector(RV-RV1)); + + et.ReName("Fifth test of Matrix package - almost at end"); + + Matrix X(2,3); + X << 11 << 12 << 13 + << 21 << 22 << 23; + + Matrix Y = X.t(); // check simple transpose + + X(1,1) -= 11; X(1,2) -= 12; X(1,3) -= 13; + X(2,1) -= 21; X(2,2) -= 22; X(2,3) -= 23; + Print(X); + + Y(1,1) -= 11; Y(2,1) -= 12; Y(3,1) -= 13; + Y(1,2) -= 21; Y(2,2) -= 22; Y(3,2) -= 23; + Print(Y); + + et.ReName("Fifth test of Matrix package - at end"); + + RV = Returner1(RV)-1; Print(RowVector(RV-RV1)); + CV1 = Returner1(RV.t())-1; Print(ColumnVector(RV.t()-CV1)); +#ifndef DONT_DO_NRIC + nricMatrix AA = A; + X = Returner1(AA)-A-1; Print(X); +#endif + UpperTriangularMatrix UT(31); + for (i=1; i<=31; i++) for (j=i; j<=31; j++) UT(i,j) = i+j+(i-j)*(i-2*j); + UpperBandMatrix UB(31,5); UB.Inject(UT); + LowerTriangularMatrix LT = UT.t(); + LowerBandMatrix LB(31,5); LB.Inject(LT); + A = Returner0(UB)-LB.t(); Print(A); + A = Returner2(UB).t()-LB*2; Print(A); + A = Returner3(LB).t()-UB*3; Print(A); + SymmetricMatrix SM; SM << (UT+LT); + A = Returner4(SM)-UT-LT-4; Print(A); + SymmetricBandMatrix SB(31,5); SB.Inject(SM); + A = Returner5(SB)/5-UB-LB; Print(A); + BandMatrix B = UB+LB*LB; A = LB; + A = Returner6(B)/6 - UB - A*A; Print(A); + DiagonalMatrix D; D << UT; + D << (Returner7(D)/7 - UT); Print(D); + +// cout << "\nEnd of fifth test\n"; +} diff --git a/3rdparty/newmat/tmt6.cpp b/3rdparty/newmat/tmt6.cpp new file mode 100644 index 0000000..aa4c9f7 --- /dev/null +++ b/3rdparty/newmat/tmt6.cpp @@ -0,0 +1,155 @@ + +//#define WANT_STREAM +#define WANT_MATH + + +#include "include.h" + +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +// slow sort program + +static void SimpleSortDescending(Real* first, const int length) +{ + int i = length; + while (--i) + { + Real x = *first; Real* f = first; Real* g = f; + int j = i; + while (j--) if (x < *(++f)) { g = f; x = *g; } + *g = *first; *first++ = x; + } +} + +static void TestSort(int n) +{ + // make some data + RowVector X(n); + int i; + for (i = 1; i <= n; i++) + X(i) = sin((Real)i) + 0.3 * cos(i/5.0) - 0.6 * sin(i/7.0) + 0.2 * sin(2.0 * i); + RowVector X_Sorted = X; SimpleSortDescending(X_Sorted.Store(), n); + RowVector A = X + X.Reverse(); SimpleSortDescending(A.Store(), n); + + // test descending sort + + RowVector Y = X; SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X_Sorted; SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X_Sorted.Reverse(); SortDescending(Y); Y -= X_Sorted; Print(Y); + Y = X + X.Reverse(); SortDescending(Y); Y -= A; Print(Y); + + // test ascending sort + + Y = X; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X_Sorted; SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X_Sorted.Reverse(); SortAscending(Y); Y -= X_Sorted.Reverse(); Print(Y); + Y = X + X.Reverse(); SortAscending(Y); Y -= A.Reverse(); Print(Y); +} + + +void trymat6() +{ + Tracer et("Sixth test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + + DiagonalMatrix D(6); + UpperTriangularMatrix U(6); + for (i=1;i<=6;i++) { for (j=i;j<=6;j++) U(i,j)=i*i*i-50; D(i,i)=i*i+i-10; } + LowerTriangularMatrix L=(U*3.0).t(); + SymmetricMatrix S(6); + for (i=1;i<=6;i++) for (j=i;j<=6;j++) S(i,j)=i*i+2.0+j; + Matrix MD=D; Matrix ML=L; Matrix MU=U; Matrix MS=S; + Matrix M(6,6); + for (i=1;i<=6;i++) for (j=1;j<=6;j++) M(i,j)=i*j+i*i-10.0; + { + Tracer et1("Stage 1"); + Print(Matrix(MS+(-MS))); + Print(Matrix((S+M)-(MS+M))); + Print(Matrix((M+U)-(M+MU))); + Print(Matrix((M+L)-(M+ML))); + } + { + Tracer et1("Stage 2"); + Print(Matrix((M+D)-(M+MD))); + Print(Matrix((U+D)-(MU+MD))); + Print(Matrix((D+L)-(ML+MD))); + Print(Matrix((-U+D)+MU-MD)); + Print(Matrix((-L+D)+ML-MD)); + } + { + Tracer et1("Stage 3 - concatenate"); + RowVector A(5); + A << 1 << 2 << 3 << 4 << 5; + RowVector B(5); + B << 3 << 1 << 4 << 1 << 5; + Matrix C(3,5); + C << 2 << 3 << 5 << 7 << 11 + << 13 << 17 << 19 << 23 << 29 + << 31 << 37 << 41 << 43 << 47; + Matrix X1 = A & B & C; + Matrix X2 = (A.t() | B.t() | C.t()).t(); + Matrix X3(5,5); + X3.Row(1)=A; X3.Row(2)=B; X3.Rows(3,5)=C; + Print(Matrix(X1-X2)); + Print(Matrix(X1-X3)); + LowerTriangularMatrix LT1; LT1 << (A & B & C); + UpperTriangularMatrix UT1; UT1 << (A.t() | B.t() | C.t()); + Print(LowerTriangularMatrix(LT1-UT1.t())); + DiagonalMatrix D1; D1 << (A.t() | B.t() | C.t()); + ColumnVector At = A.t(); + ColumnVector Bt = B.t(); + Matrix Ct = C.t(); + LowerTriangularMatrix LT2; LT2 << (At | Bt | Ct); + UpperTriangularMatrix UT2; UT2 << (At.t() & Bt.t() & Ct.t()); + Matrix ABt = At | Bt; + DiagonalMatrix D2; D2 << (ABt | Ct); + Print(LowerTriangularMatrix(LT2-UT2.t())); + Print(DiagonalMatrix(D1-D2)); + Print(Matrix(LT1+UT2-D2-X1)); + Matrix M1 = LT1 | UT2; Matrix M2 = UT1 & LT2; + Print(Matrix(M1-M2.t())); + M1 = UT2 | LT1; M2 = LT2 & UT1; + Print(Matrix(M1-M2.t())); + M1 = (LT1 | UT2) & (UT2 | LT1); + M2 = (UT1 & LT2) | (LT2 & UT1); + Print(Matrix(M1-M2.t())); + SymmetricMatrix SM1; SM1 << (M1 + M1.t()); + SymmetricMatrix SM2; SM2 << ((SM1 | M1) & (M1.t() | SM1)); + Matrix M3(20,20); + M3.SubMatrix(1,10,1,10) = SM1; + M3.SubMatrix(1,10,11,20) = M1; + M3.SubMatrix(11,20,1,10) = M2; + M3.SubMatrix(11,20,11,20) = SM1; + Print(Matrix(M3-SM2)); + + SymmetricMatrix SM(15); SM = 0; SM.SymSubMatrix(1,10) = SM1; + M3.ReSize(15,15); M3 = 0; M3.SubMatrix(1,10,1,10) = SM1; + M3 -= SM; Print(M3); + SM = 0; SM.SymSubMatrix(6,15) = SM1; + M3.ReSize(15,15); M3 = 0; M3.SubMatrix(6,15,6,15) = SM1; + M3 = M3.t() - SM; Print(M3); + } + { + Tracer et1("Stage 4 - sort"); + TestSort(1); TestSort(2); TestSort(3); TestSort(4); + TestSort(15); TestSort(16); TestSort(17); TestSort(18); + TestSort(99); TestSort(100); TestSort(101); + } + + +// cout << "\nEnd of sixth test\n"; +} + diff --git a/3rdparty/newmat/tmt7.cpp b/3rdparty/newmat/tmt7.cpp new file mode 100644 index 0000000..39f4cfb --- /dev/null +++ b/3rdparty/newmat/tmt7.cpp @@ -0,0 +1,132 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +/**************************** test program ******************************/ + + +void trymat7() +{ +// cout << "\nSeventh test of Matrix package\n"; + Tracer et("Seventh test of Matrix package"); + Tracer::PrintTrace(); + + int i,j; + + + DiagonalMatrix D(6); + UpperTriangularMatrix U(6); + for (i=1;i<=6;i++) { for (j=i;j<=6;j++) U(i,j)=i*i*j-50; D(i,i)=i*i+i-10; } + LowerTriangularMatrix L=(U*3.0).t(); + SymmetricMatrix S(6); + for (i=1;i<=6;i++) for (j=i;j<=6;j++) S(i,j)=i*i+2.0+j; + Matrix MD=D; Matrix ML=L; Matrix MU=U; + Matrix MS=S; + Matrix M(6,6); + for (i=1;i<=6;i++) for (j=1;j<=6;j++) M(i,j)=i*j+i*i-10.0; + { + Tracer et1("Stage 1"); + Print(Matrix((S-M)-(MS-M))); + Print(Matrix((-M-S)+(MS+M))); + Print(Matrix((U-M)-(MU-M))); + } + { + Tracer et1("Stage 2"); + Print(Matrix((L-M)+(M-ML))); + Print(Matrix((D-M)+(M-MD))); + Print(Matrix((D-S)+(MS-MD))); + Print(Matrix((D-L)+(ML-MD))); + } + + { M=MU.t(); } + LowerTriangularMatrix LY=D.i()*U.t(); + { + Tracer et1("Stage 3"); + MS=D*LY-M; Clean(MS,0.00000001); Print(MS); + L=U.t(); + LY=D.i()*L; MS=D*LY-M; Clean(MS,0.00000001); Print(MS); + } + { + Tracer et1("Stage 4"); + UpperTriangularMatrix UT(11); + int i, j; + for (i=1;i<=11;i++) for (j=i;j<=11;j++) UT(i,j)=i*i+j*3; + GenericMatrix GM; Matrix X; + UpperBandMatrix UB(11,3); UB.Inject(UT); UT = UB; + UpperBandMatrix UB2 = UB / 8; + GM = UB2-UT/8; X = GM; Print(X); + SymmetricBandMatrix SB(11,4); SB << (UB + UB.t()); + X = SB - UT - UT.t(); Print(X); + BandMatrix B = UB + UB.t()*2; + DiagonalMatrix D; D << B; + X.ReSize(1,1); X(1,1) = Trace(B)-Sum(D); Print(X); + X = SB + 5; Matrix X1=X; X = SP(UB,X); Matrix X2 =UB; + X1 = (X1.AsDiagonal() * X2.AsDiagonal()).AsRow()-X.AsColumn().t(); + Print(X1); + X1=SB.t(); X2 = B.t(); X = SB.i() * B - X1.i() * X2.t(); + Clean(X,0.00000001); Print(X); + X = SB.i(); X = X * B - X1.i() * X2.t(); + Clean(X,0.00000001); Print(X); + D = 1; X = SB.i() * SB - D; Clean(X,0.00000001); Print(X); + ColumnVector CV(11); + CV << 2 << 6 <<3 << 8 << -4 << 17.5 << 2 << 1 << -2 << 5 << 3.75; + D << 2 << 6 <<3 << 8 << -4 << 17.5 << 2 << 1 << -2 << 5 << 3.75; + X = CV.AsDiagonal(); X = X-D; Print(X); + SymmetricBandMatrix SB1(11,7); SB1 = 5; + SymmetricBandMatrix SB2 = SB1 + D; + X.ReSize(11,11); X=0; + for (i=1;i<=11;i++) for (j=1;j<=11;j++) + { + if (abs(i-j)<=7) X(i,j)=5; + if (i==j) X(i,j)+=CV(i); + } + SymmetricMatrix SM; SM.ReSize(11); + SM=SB; SB = SB+SB2; X1 = SM+X-SB; Print(X1); + SB2=0; X2=SB2; X1=SB; Print(X2); + for (i=1;i<=11;i++) SB2.Column(i)<a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + { + Tracer et1("Stage 8"); + a1=3; a2=9; a3=2; a4=7; + U.ReSize(10); + for (i=1; i<=10; i++) for (j=i; j<=10; j++) U(i,j) = 100*i + j; + M2 = U.SubMatrix(a1,a2,a3,a4); + M3.ReSize(a2-a1+1,a4-a3+1); M3=0.0; + for (i=a1; i<=a2; i++) for (j=(i>a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + { + Tracer et1("Stage 9"); + a1=4; a2=6; a3=2; a4=5; + U.ReSize(10); + for (i=1; i<=10; i++) for (j=i; j<=10; j++) U(i,j) = 100*i + j; + M2 = U.SubMatrix(a1,a2,a3,a4); + M3.ReSize(a2-a1+1,a4-a3+1); M3=0.0; + for (i=a1; i<=a2; i++) for (j=(i>a3) ? i : a3; j<=a4; j++) + M3(i-a1+1,j-a3+1) = 100*i + j; + Print(Matrix(M2-M3)); + } + + { + Tracer et1("Stage 10"); + TestClass TC; + Matrix M = TC.Sum() - 9; + Print(M); + } + + +// cout << "\nEnd of eleventh test\n"; +} diff --git a/3rdparty/newmat/tmtc.cpp b/3rdparty/newmat/tmtc.cpp new file mode 100644 index 0000000..9d77af1 --- /dev/null +++ b/3rdparty/newmat/tmtc.cpp @@ -0,0 +1,200 @@ + +//#define WANT_STREAM + + +#include "include.h" +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + + +void trymatc() +{ +// cout << "\nTwelfth test of Matrix package\n"; + Tracer et("Twelfth test of Matrix package"); + Tracer::PrintTrace(); + DiagonalMatrix D(15); D=1.5; + Matrix A(15,15); + int i,j; + for (i=1;i<=15;i++) for (j=1;j<=15;j++) A(i,j)=i*i+j-150; + { A = A + D; } + ColumnVector B(15); + for (i=1;i<=15;i++) B(i)=i+i*i-150.0; + { + Tracer et1("Stage 1"); + ColumnVector B1=B; + B=(A*2.0).i() * B1; + Matrix X = A*B-B1/2.0; + Clean(X, 0.000000001); Print(X); + A.ReSize(3,5); + for (i=1; i<=3; i++) for (j=1; j<=5; j++) A(i,j) = i+100*j; + + B = A.AsColumn()+10000; + RowVector R = (A+10000).AsColumn().t(); + Print( RowVector(R-B.t()) ); + } + + { + Tracer et1("Stage 2"); + B = A.AsColumn()+10000; + Matrix XR = (A+10000).AsMatrix(15,1).t(); + Print( RowVector(XR-B.t()) ); + } + + { + Tracer et1("Stage 3"); + B = (A.AsMatrix(15,1)+A.AsColumn())/2.0+10000; + Matrix MR = (A+10000).AsColumn().t(); + Print( RowVector(MR-B.t()) ); + + B = (A.AsMatrix(15,1)+A.AsColumn())/2.0; + MR = A.AsColumn().t(); + Print( RowVector(MR-B.t()) ); + } + + { + Tracer et1("Stage 4"); + B = (A.AsMatrix(15,1)+A.AsColumn())/2.0; + RowVector R = A.AsColumn().t(); + Print( RowVector(R-B.t()) ); + } + + { + Tracer et1("Stage 5"); + RowVector R = (A.AsColumn()-5000).t(); + B = ((R.t()+10000) - A.AsColumn())-5000; + Print( RowVector(B.t()) ); + } + + { + Tracer et1("Stage 6"); + B = A.AsColumn(); ColumnVector B1 = (A+10000).AsColumn() - 10000; + Print(ColumnVector(B1-B)); + } + + { + Tracer et1("Stage 7"); + Matrix X = B.AsMatrix(3,5); Print(Matrix(X-A)); + for (i=1; i<=3; i++) for (j=1; j<=5; j++) B(5*(i-1)+j) -= i+100*j; + Print(B); + } + + { + Tracer et1("Stage 8"); + A.ReSize(7,7); D.ReSize(7); + for (i=1; i<=7; i++) for (j=1; j<=7; j++) A(i,j) = i*j*j; + for (i=1; i<=7; i++) D(i,i) = i; + UpperTriangularMatrix U; U << A; + Matrix X = A; for (i=1; i<=7; i++) X(i,i) = i; + A.Inject(D); Print(Matrix(X-A)); + X = U; U.Inject(D); A = U; for (i=1; i<=7; i++) X(i,i) = i; + Print(Matrix(X-A)); + } + + { + Tracer et1("Stage 9"); + A.ReSize(7,5); + for (i=1; i<=7; i++) for (j=1; j<=5; j++) A(i,j) = i+100*j; + Matrix Y = A; Y = Y - ((const Matrix&)A); Print(Y); + Matrix X = A; // X.Release(); + Y = A; Y = ((const Matrix&)X) - A; Print(Y); Y = 0.0; + Y = ((const Matrix&)X) - ((const Matrix&)A); Print(Y); + } + + { + Tracer et1("Stage 10"); + // some tests on submatrices + UpperTriangularMatrix U(20); + for (i=1; i<=20; i++) for (j=i; j<=20; j++) U(i,j)=100 * i + j; + UpperTriangularMatrix V = U.SymSubMatrix(1,5); + UpperTriangularMatrix U1 = U; + U1.SubMatrix(4,8,5,9) /= 2; + U1.SubMatrix(4,8,5,9) += 388 * V; + U1.SubMatrix(4,8,5,9) *= 2; + U1.SubMatrix(4,8,5,9) += V; + U1 -= U; UpperTriangularMatrix U2 = U1; + U1 << U1.SubMatrix(4,8,5,9); + U2.SubMatrix(4,8,5,9) -= U1; Print(U2); + U1 -= (777*V); Print(U1); + + U1 = U; U1.SubMatrix(4,8,5,9) -= U.SymSubMatrix(1,5); + U1 -= U; U2 = U1; U1 << U1.SubMatrix(4,8,5,9); + U2.SubMatrix(4,8,5,9) -= U1; Print(U2); + U1 += V; Print(U1); + + U1 = U; + U1.SubMatrix(3,10,15,19) += 29; + U1 -= U; + Matrix X = U1.SubMatrix(3,10,15,19); X -= 29; Print(X); + U1.SubMatrix(3,10,15,19) *= 0; Print(U1); + + LowerTriangularMatrix L = U.t(); + LowerTriangularMatrix M = L.SymSubMatrix(1,5); + LowerTriangularMatrix L1 = L; + L1.SubMatrix(5,9,4,8) /= 2; + L1.SubMatrix(5,9,4,8) += 388 * M; + L1.SubMatrix(5,9,4,8) *= 2; + L1.SubMatrix(5,9,4,8) += M; + L1 -= L; LowerTriangularMatrix L2 = L1; + L1 << L1.SubMatrix(5,9,4,8); + L2.SubMatrix(5,9,4,8) -= L1; Print(L2); + L1 -= (777*M); Print(L1); + + L1 = L; L1.SubMatrix(5,9,4,8) -= L.SymSubMatrix(1,5); + L1 -= L; L2 =L1; L1 << L1.SubMatrix(5,9,4,8); + L2.SubMatrix(5,9,4,8) -= L1; Print(L2); + L1 += M; Print(L1); + + L1 = L; + L1.SubMatrix(15,19,3,10) -= 29; + L1 -= L; + X = L1.SubMatrix(15,19,3,10); X += 29; Print(X); + L1.SubMatrix(15,19,3,10) *= 0; Print(L1); + } + + { + Tracer et1("Stage 11"); + // more tests on submatrices + Matrix M(20,30); + for (i=1; i<=20; i++) for (j=1; j<=30; j++) M(i,j)=100 * i + j; + Matrix M1 = M; + + for (j=1; j<=30; j++) + { ColumnVector CV = 3 * M1.Column(j); M.Column(j) += CV; } + for (i=1; i<=20; i++) + { RowVector RV = 5 * M1.Row(i); M.Row(i) -= RV; } + + M += M1; Print(M); + + } + + { + Tracer et1("Stage 12"); + // more tests on Release + Matrix M(20,30); + for (i=1; i<=20; i++) for (j=1; j<=30; j++) M(i,j)=100 * i + j; + Matrix M1 = M; + M.Release(); + Matrix M2 = M; + Matrix X = M; Print(X); + X = M1 - M2; Print(X); + +#ifndef DONT_DO_NRIC + nricMatrix N = M1; + nricMatrix N1 = N; + N.Release(); + nricMatrix N2 = N; + nricMatrix Y = N; Print(Y); + Y = N1 - N2; Print(Y); +#endif + + } + +// cout << "\nEnd of twelfth test\n"; +} diff --git a/3rdparty/newmat/tmtd.cpp b/3rdparty/newmat/tmtd.cpp new file mode 100644 index 0000000..fc0ca15 --- /dev/null +++ b/3rdparty/newmat/tmtd.cpp @@ -0,0 +1,196 @@ + +//#define WANT_STREAM + +#include "include.h" +#include "newmatap.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + +ReturnMatrix Inverter(const CroutMatrix& X) +{ + Matrix Y = X.i(); + Y.Release(); + return Y.ForReturn(); +} + + +void trymatd() +{ + Tracer et("Thirteenth test of Matrix package"); + Tracer::PrintTrace(); + Matrix X(5,20); + int i,j; + for (j=1;j<=20;j++) X(1,j) = j+1; + for (i=2;i<=5;i++) for (j=1;j<=20; j++) X(i,j) = (long)X(i-1,j) * j % 1001; + SymmetricMatrix S; S << X * X.t(); + Matrix SM = X * X.t() - S; + Print(SM); + LowerTriangularMatrix L = Cholesky(S); + Matrix Diff = L*L.t()-S; Clean(Diff, 0.000000001); + Print(Diff); + { + Tracer et1("Stage 1"); + LowerTriangularMatrix L1(5); + Matrix Xt = X.t(); Matrix Xt2 = Xt; + QRZT(X,L1); + Diff = L - L1; Clean(Diff,0.000000001); Print(Diff); + UpperTriangularMatrix Ut(5); + QRZ(Xt,Ut); + Diff = L - Ut.t(); Clean(Diff,0.000000001); Print(Diff); + Matrix Y(3,20); + for (j=1;j<=20;j++) Y(1,j) = 22-j; + for (i=2;i<=3;i++) for (j=1;j<=20; j++) + Y(i,j) = (long)Y(i-1,j) * j % 101; + Matrix Yt = Y.t(); Matrix M,Mt; Matrix Y2=Y; + QRZT(X,Y,M); QRZ(Xt,Yt,Mt); + Diff = Xt - X.t(); Clean(Diff,0.000000001); Print(Diff); + Diff = Yt - Y.t(); Clean(Diff,0.000000001); Print(Diff); + Diff = Mt - M.t(); Clean(Diff,0.000000001); Print(Diff); + Diff = Y2 * Xt2 * S.i() - M * L.i(); + Clean(Diff,0.000000001); Print(Diff); + } + + ColumnVector C1(5); + { + Tracer et1("Stage 2"); + X.ReSize(5,5); + for (j=1;j<=5;j++) X(1,j) = j+1; + for (i=2;i<=5;i++) for (j=1;j<=5; j++) + X(i,j) = (long)X(i-1,j) * j % 1001; + for (i=1;i<=5;i++) C1(i) = i*i; + CroutMatrix A = X; + ColumnVector C2 = A.i() * C1; C1 = X.i() * C1; + X = C1 - C2; Clean(X,0.000000001); Print(X); + } + + { + Tracer et1("Stage 3"); + X.ReSize(7,7); + for (j=1;j<=7;j++) X(1,j) = j+1; + for (i=2;i<=7;i++) for (j=1;j<=7; j++) + X(i,j) = (long)X(i-1,j) * j % 1001; + C1.ReSize(7); + for (i=1;i<=7;i++) C1(i) = i*i; + RowVector R1 = C1.t(); + Diff = R1 * X.i() - ( X.t().i() * R1.t() ).t(); Clean(Diff,0.000000001); + Print(Diff); + } + + { + Tracer et1("Stage 4"); + X.ReSize(5,5); + for (j=1;j<=5;j++) X(1,j) = j+1; + for (i=2;i<=5;i++) for (j=1;j<=5; j++) + X(i,j) = (long)X(i-1,j) * j % 1001; + C1.ReSize(5); + for (i=1;i<=5;i++) C1(i) = i*i; + CroutMatrix A1 = X*X; + ColumnVector C2 = A1.i() * C1; C1 = X.i() * C1; C1 = X.i() * C1; + X = C1 - C2; Clean(X,0.000000001); Print(X); + } + + + { + Tracer et1("Stage 5"); + int n = 40; + SymmetricBandMatrix B(n,2); B = 0.0; + for (i=1; i<=n; i++) + { + B(i,i) = 6; + if (i<=n-1) B(i,i+1) = -4; + if (i<=n-2) B(i,i+2) = 1; + } + B(1,1) = 5; B(n,n) = 5; + SymmetricMatrix A = B; + ColumnVector X(n); + X(1) = 429; + for (i=2;i<=n;i++) X(i) = (long)X(i-1) * 31 % 1001; + X = X / 100000L; + // the matrix B is rather ill-conditioned so the difficulty is getting + // good agreement (we have chosen X very small) may not be surprising; + // maximum element size in B.i() is around 1400 + ColumnVector Y1 = A.i() * X; + LowerTriangularMatrix C1 = Cholesky(A); + ColumnVector Y2 = C1.t().i() * (C1.i() * X) - Y1; + Clean(Y2, 0.000000001); Print(Y2); + UpperTriangularMatrix CU = C1.t().i(); + LowerTriangularMatrix CL = C1.i(); + Y2 = CU * (CL * X) - Y1; + Clean(Y2, 0.000000001); Print(Y2); + Y2 = B.i() * X - Y1; Clean(Y2, 0.000000001); Print(Y2); + + LowerBandMatrix C2 = Cholesky(B); + Matrix M = C2 - C1; Clean(M, 0.000000001); Print(M); + ColumnVector Y3 = C2.t().i() * (C2.i() * X) - Y1; + Clean(Y3, 0.000000001); Print(Y3); + CU = C1.t().i(); + CL = C1.i(); + Y3 = CU * (CL * X) - Y1; + Clean(Y3, 0.000000001); Print(Y3); + + Y3 = B.i() * X - Y1; Clean(Y3, 0.000000001); Print(Y3); + + SymmetricMatrix AI = A.i(); + Y2 = AI*X - Y1; Clean(Y2, 0.000000001); Print(Y2); + SymmetricMatrix BI = B.i(); + BandMatrix C = B; Matrix CI = C.i(); + M = A.i() - CI; Clean(M, 0.000000001); Print(M); + M = B.i() - CI; Clean(M, 0.000000001); Print(M); + M = AI-BI; Clean(M, 0.000000001); Print(M); + M = AI-CI; Clean(M, 0.000000001); Print(M); + + M = A; AI << M; M = AI-A; Clean(M, 0.000000001); Print(M); + C = B; BI << C; M = BI-B; Clean(M, 0.000000001); Print(M); + + + } + + { + Tracer et1("Stage 5"); + SymmetricMatrix A(4), B(4); + A << 5 + << 1 << 4 + << 2 << 1 << 6 + << 1 << 0 << 1 << 7; + B << 8 + << 1 << 5 + << 1 << 0 << 9 + << 2 << 1 << 0 << 6; + LowerTriangularMatrix AB = Cholesky(A) * Cholesky(B); + Matrix M = Cholesky(A) * B * Cholesky(A).t() - AB*AB.t(); + Clean(M, 0.000000001); Print(M); + M = A * Cholesky(B); M = M * M.t() - A * B * A; + Clean(M, 0.000000001); Print(M); + } + { + Tracer et1("Stage 6"); + int N=49; + int i; + SymmetricBandMatrix S(N,1); + Matrix B(N,N+1); B=0; + for (i=1;i<=N;i++) { S(i,i)=1; B(i,i)=1; B(i,i+1)=-1; } + for (i=1;ij) A(i,j) = 0; else if (i==j) A(i,j) = 21-i; else A(i,j) = -1; } + A = A.t(); + SymmetricMatrix S1; S1 << A.t() * A; + SymmetricMatrix S2; S2 << A * A.t(); + DiagonalMatrix D; Matrix U; Matrix V; +#ifdef ATandT + int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug +#else + DiagonalMatrix I(A.Ncols()); +#endif + I=1.0; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + for (i=1; i<=20; i++) D(i) -= sqrt((22.0-i)*(21.0-i)); + Clean(D,0.000000001); Print(D); + Jacobi(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); + for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i); + Clean(D,0.000000001); Print(D); + Jacobi(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + D = D.Reverse(); + for (i=1; i<=20; i++) D(i) -= (22-i)*(21-i); + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D, V); CheckIsSorted(D, true); + V = S1 - V * D * V.t(); Clean(V,0.000000001); Print(V); + for (i=1; i<=20; i++) D(i) -= (i+1)*i; + Clean(D,0.000000001); Print(D); + EigenValues(S2, D, V); CheckIsSorted(D, true); + V = S2 - V * D * V.t(); Clean(V,0.000000001); Print(V); + for (i=2; i<=21; i++) D(i) -= (i-1)*i; + Clean(D,0.000000001); Print(D); + + EigenValues(S1, D); CheckIsSorted(D, true); + for (i=1; i<=20; i++) D(i) -= (i+1)*i; + Clean(D,0.000000001); Print(D); + EigenValues(S2, D); CheckIsSorted(D, true); + for (i=2; i<=21; i++) D(i) -= (i-1)*i; + Clean(D,0.000000001); Print(D); + } + + { + Tracer et1("Stage 3"); + Matrix A(30,30); + int i,j; + for (i=1; i<=30; i++) for (j=1; j<=30; j++) + { if (i>j) A(i,j) = 0; else if (i==j) A(i,j) = 1; else A(i,j) = -1; } + Real d1 = A.LogDeterminant().Value(); + DiagonalMatrix D; Matrix U; Matrix V; +#ifdef ATandT + int anc = A.Ncols(); DiagonalMatrix I(anc); // AT&T 2.1 bug +#else + DiagonalMatrix I(A.Ncols()); +#endif + I=1.0; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + Matrix SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + Real d2 = D.LogDeterminant().Value(); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + Real d3 = D.LogDeterminant().Value(); + ColumnVector Test(3); + Test(1) = d1 - 1; Test(2) = d2 - 1; Test(3) = d3 - 1; + Clean(Test,0.00000001); Print(Test); // only 8 decimal figures + A.ReSize(2,2); + Real a = 1.5; Real b = 2; Real c = 2 * (a*a + b*b); + A << a << b << a << b; + I.ReSize(2); I=1; + SVD(A,D,U,V); CheckIsSorted(D); + SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + D = D*D; SortDescending(D); + DiagonalMatrix D50(2); D50 << c << 0; D = D - D50; + Clean(D,0.000000001); + Print(D); + A << a << a << b << b; + SVD(A,D,U,V); CheckIsSorted(D); + SU = U.t() * U - I; Clean(SU,0.000000001); Print(SU); + SV = V.t() * V - I; Clean(SV,0.000000001); Print(SV); + B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + D = D*D; SortDescending(D); + D = D - D50; + Clean(D,0.000000001); + Print(D); + } + + { + Tracer et1("Stage 4"); + + // test for bug found by Olof Runborg, + // Department of Numerical Analysis and Computer Science (NADA), + // KTH, Stockholm + + Matrix A(22,20); + + A = 0; + + int a=1; + + A(a+0,a+2) = 1; A(a+0,a+18) = -1; + A(a+1,a+9) = 1; A(a+1,a+12) = -1; + A(a+2,a+11) = 1; A(a+2,a+12) = -1; + A(a+3,a+10) = 1; A(a+3,a+19) = -1; + A(a+4,a+16) = 1; A(a+4,a+19) = -1; + A(a+5,a+17) = 1; A(a+5,a+18) = -1; + A(a+6,a+10) = 1; A(a+6,a+4) = -1; + A(a+7,a+3) = 1; A(a+7,a+2) = -1; + A(a+8,a+14) = 1; A(a+8,a+15) = -1; + A(a+9,a+13) = 1; A(a+9,a+16) = -1; + A(a+10,a+8) = 1; A(a+10,a+9) = -1; + A(a+11,a+1) = 1; A(a+11,a+15) = -1; + A(a+12,a+16) = 1; A(a+12,a+4) = -1; + A(a+13,a+6) = 1; A(a+13,a+9) = -1; + A(a+14,a+5) = 1; A(a+14,a+4) = -1; + A(a+15,a+0) = 1; A(a+15,a+1) = -1; + A(a+16,a+14) = 1; A(a+16,a+0) = -1; + A(a+17,a+7) = 1; A(a+17,a+6) = -1; + A(a+18,a+13) = 1; A(a+18,a+5) = -1; + A(a+19,a+7) = 1; A(a+19,a+8) = -1; + A(a+20,a+17) = 1; A(a+20,a+3) = -1; + A(a+21,a+6) = 1; A(a+21,a+11) = -1; + + + Matrix U, V; DiagonalMatrix S; + + SVD(A, S, U, V, true, true); CheckIsSorted(S); + + DiagonalMatrix D(20); D = 1; + + Matrix tmp = U.t() * U - D; + Clean(tmp,0.000000001); Print(tmp); + + tmp = V.t() * V - D; + Clean(tmp,0.000000001); Print(tmp); + + tmp = U * S * V.t() - A ; + Clean(tmp,0.000000001); Print(tmp); + + } + + { + Tracer et1("Stage 5"); + Matrix A(10,10); + + A.Row(1) << 1.00 << 0.07 << 0.05 << 0.00 << 0.06 + << 0.09 << 0.03 << 0.02 << 0.02 << -0.03; + A.Row(2) << 0.07 << 1.00 << 0.05 << 0.05 << -0.03 + << 0.07 << 0.00 << 0.07 << 0.00 << 0.02; + A.Row(3) << 0.05 << 0.05 << 1.00 << 0.05 << 0.02 + << 0.01 << -0.05 << 0.04 << 0.05 << -0.03; + A.Row(4) << 0.00 << 0.05 << 0.05 << 1.00 << -0.05 + << 0.04 << 0.01 << 0.02 << -0.05 << 0.00; + A.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00 + << -0.03 << 0.02 << -0.02 << 0.04 << 0.00; + A.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03 + << 1.00 << -0.06 << 0.08 << -0.02 << -0.10; + A.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02 + << -0.06 << 1.00 << 0.09 << 0.12 << -0.03; + A.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02 + << 0.08 << 0.09 << 1.00 << 0.00 << -0.02; + A.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04 + << -0.02 << 0.12 << 0.00 << 1.00 << 0.02; + A.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00 + << -0.10 << -0.03 << -0.02 << 0.02 << 1.00; + + SymmetricMatrix AS; AS << A; + Matrix V; DiagonalMatrix D, D1; + ColumnVector Check(6); + EigenValues(AS,D,V); CheckIsSorted(D, true); + Check(1) = MaximumAbsoluteValue(A - V * D * V.t()); + DiagonalMatrix I(10); I = 1; + Check(2) = MaximumAbsoluteValue(V * V.t() - I); + Check(3) = MaximumAbsoluteValue(V.t() * V - I); + + EigenValues(AS, D1); CheckIsSorted(D1, true); + D -= D1; + Clean(D,0.000000001); Print(D); + + Jacobi(AS,D,V); + Check(4) = MaximumAbsoluteValue(A - V * D * V.t()); + Check(5) = MaximumAbsoluteValue(V * V.t() - I); + Check(6) = MaximumAbsoluteValue(V.t() * V - I); + + SortAscending(D); + D -= D1; + Clean(D,0.000000001); Print(D); + + Clean(Check,0.000000001); Print(Check); + + // Check loading rows + + SymmetricMatrix B(10); + + B.Row(1) << 1.00; + B.Row(2) << 0.07 << 1.00; + B.Row(3) << 0.05 << 0.05 << 1.00; + B.Row(4) << 0.00 << 0.05 << 0.05 << 1.00; + B.Row(5) << 0.06 << -0.03 << 0.02 << -0.05 << 1.00; + B.Row(6) << 0.09 << 0.07 << 0.01 << 0.04 << -0.03 + << 1.00; + B.Row(7) << 0.03 << 0.00 << -0.05 << 0.01 << 0.02 + << -0.06 << 1.00; + B.Row(8) << 0.02 << 0.07 << 0.04 << 0.02 << -0.02 + << 0.08 << 0.09 << 1.00; + B.Row(9) << 0.02 << 0.00 << 0.05 << -0.05 << 0.04 + << -0.02 << 0.12 << 0.00 << 1.00; + B.Row(10) << -0.03 << 0.02 << -0.03 << 0.00 << 0.00 + << -0.10 << -0.03 << -0.02 << 0.02 << 1.00; + + B -= AS; Print(B); + + } + + { + Tracer et1("Stage 6"); + // badly scaled matrix + Matrix A(9,9); + + A.Row(1) << 1.13324e+012 << 3.68788e+011 << 3.35163e+009 + << 3.50193e+011 << 1.25335e+011 << 1.02212e+009 + << 3.16602e+009 << 1.02418e+009 << 9.42959e+006; + A.Row(2) << 3.68788e+011 << 1.67128e+011 << 1.27449e+009 + << 1.25335e+011 << 6.05413e+010 << 4.34573e+008 + << 1.02418e+009 << 4.69192e+008 << 3.61098e+006; + A.Row(3) << 3.35163e+009 << 1.27449e+009 << 1.25571e+007 + << 1.02212e+009 << 4.34573e+008 << 3.69769e+006 + << 9.42959e+006 << 3.61098e+006 << 3.59450e+004; + A.Row(4) << 3.50193e+011 << 1.25335e+011 << 1.02212e+009 + << 1.43514e+011 << 5.42310e+010 << 4.15822e+008 + << 1.23068e+009 << 4.31545e+008 << 3.58714e+006; + A.Row(5) << 1.25335e+011 << 6.05413e+010 << 4.34573e+008 + << 5.42310e+010 << 2.76601e+010 << 1.89102e+008 + << 4.31545e+008 << 2.09778e+008 << 1.51083e+006; + A.Row(6) << 1.02212e+009 << 4.34573e+008 << 3.69769e+006 + << 4.15822e+008 << 1.89102e+008 << 1.47143e+006 + << 3.58714e+006 << 1.51083e+006 << 1.30165e+004; + A.Row(7) << 3.16602e+009 << 1.02418e+009 << 9.42959e+006 + << 1.23068e+009 << 4.31545e+008 << 3.58714e+006 + << 1.12335e+007 << 3.54778e+006 << 3.34311e+004; + A.Row(8) << 1.02418e+009 << 4.69192e+008 << 3.61098e+006 + << 4.31545e+008 << 2.09778e+008 << 1.51083e+006 + << 3.54778e+006 << 1.62552e+006 << 1.25885e+004; + A.Row(9) << 9.42959e+006 << 3.61098e+006 << 3.59450e+004 + << 3.58714e+006 << 1.51083e+006 << 1.30165e+004 + << 3.34311e+004 << 1.25885e+004 << 1.28000e+002; + + + SymmetricMatrix AS; AS << A; + Matrix V; DiagonalMatrix D, D1; + ColumnVector Check(6); + EigenValues(AS,D,V); CheckIsSorted(D, true); + Check(1) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000; + DiagonalMatrix I(9); I = 1; + Check(2) = MaximumAbsoluteValue(V * V.t() - I); + Check(3) = MaximumAbsoluteValue(V.t() * V - I); + + EigenValues(AS, D1); + D -= D1; + Clean(D,0.001); Print(D); + + Jacobi(AS,D,V); + Check(4) = MaximumAbsoluteValue(A - V * D * V.t()) / 100000; + Check(5) = MaximumAbsoluteValue(V * V.t() - I); + Check(6) = MaximumAbsoluteValue(V.t() * V - I); + + SortAscending(D); + D -= D1; + Clean(D,0.001); Print(D); + + Clean(Check,0.0000001); Print(Check); + } + + { + Tracer et1("Stage 7"); + // matrix with all singular values close to 1 + Matrix A(8,8); + A.Row(1)<<-0.4343<<-0.0445<<-0.4582<<-0.1612<<-0.3191<<-0.6784<<0.1068<<0; + A.Row(2)<<0.5791<<0.5517<<0.2575<<-0.1055<<-0.0437<<-0.5282<<0.0442<<0; + A.Row(3)<<0.5709<<-0.5179<<-0.3275<<0.2598<<-0.196<<-0.1451<<-0.4143<<0; + A.Row(4)<<0.2785<<-0.5258<<0.1251<<-0.4382<<0.0514<<-0.0446<<0.6586<<0; + A.Row(5)<<0.2654<<0.3736<<-0.7436<<-0.0122<<0.0376<<0.3465<<0.3397<<0; + A.Row(6)<<0.0173<<-0.0056<<-0.1903<<-0.7027<<0.4863<<-0.0199<<-0.4825<<0; + A.Row(7)<<0.0434<<0.0966<<0.1083<<-0.4576<<-0.7857<<0.3425<<-0.1818<<0; + A.Row(8)<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<0.0<<-1.0; + Matrix U,V; DiagonalMatrix D; + SVD(A,D,U,V); CheckIsSorted(D); + Matrix B = U * D * V.t() - A; Clean(B,0.000000001); Print(B); + DiagonalMatrix I(8); I = 1; D -= I; Clean(D,0.0001); Print(D); + U *= U.t(); U -= I; Clean(U,0.000000001); Print(U); + V *= V.t(); V -= I; Clean(V,0.000000001); Print(V); + + } + + { + Tracer et1("Stage 8"); + // check SortSV functions + + Matrix A(15, 10); + int i, j; + for (i = 1; i <= 15; ++i) for (j = 1; j <= 10; ++j) + A(i, j) = i + j / 1000.0; + DiagonalMatrix D(10); + D << 0.2 << 0.5 << 0.1 << 0.7 << 0.8 << 0.3 << 0.4 << 0.7 << 0.9 << 0.6; + Matrix U = A; Matrix V = 10 - 2 * A; + Matrix Prod = U * D * V.t(); + + DiagonalMatrix D2 = D; SortDescending(D2); + DiagonalMatrix D1 = D; SortSV(D1, U, V); Matrix X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U); X = D1 - D2; Print(X); + D1 = D; SortSV(D1, V); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + + D2 = D; SortAscending(D2); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U, V, true); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + U = A; V = 10 - 2 * A; + D1 = D; SortSV(D1, U, true); X = D1 - D2; Print(X); + D1 = D; SortSV(D1, V, true); X = D1 - D2; Print(X); + X = Prod - U * D1 * V.t(); Clean(X,0.000000001); Print(X); + } + + { + Tracer et1("Stage 9"); + // Tom William's example + Matrix A(10,10); + Matrix U; + Matrix V; + DiagonalMatrix Sigma; + Real myVals[] = + { + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, + 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, + }; + + A << myVals; + SVD(A, Sigma, U, V); CheckIsSorted(Sigma); + A -= U * Sigma * V.t(); + Clean(A, 0.000000001); Print(A); + } + + + +} diff --git a/3rdparty/newmat/tmtf.cpp b/3rdparty/newmat/tmtf.cpp new file mode 100644 index 0000000..01a0e9b --- /dev/null +++ b/3rdparty/newmat/tmtf.cpp @@ -0,0 +1,404 @@ + +//#define WANT_STREAM +#define WANT_MATH + +#include "include.h" + +#include "newmatap.h" + +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + +static void SlowFT(const ColumnVector& a, const ColumnVector&b, + ColumnVector& x, ColumnVector& y) +{ + int n = a.Nrows(); + x.ReSize(n); y.ReSize(n); + Real f = 6.2831853071795864769/n; + for (int j=1; j<=n; j++) + { + Real sumx = 0.0; Real sumy = 0.0; + for (int k=1; k<=n; k++) + { + Real theta = - (j-1) * (k-1) * f; + Real c = cos(theta); Real s = sin(theta); + sumx += c * a(k) - s * b(k); sumy += s * a(k) + c * b(k); + } + x(j) = sumx; y(j) = sumy; + } +} + +static void SlowDTT_II(const ColumnVector& a, ColumnVector& c, ColumnVector& s) +{ + int n = a.Nrows(); c.ReSize(n); s.ReSize(n); + Real f = 6.2831853071795864769 / (4*n); + int k; + + for (k=1; k<=n; k++) + { + Real sum = 0.0; + const int k1 = k-1; // otherwise Visual C++ 5 fails + for (int j=1; j<=n; j++) sum += cos(k1 * (2*j-1) * f) * a(j); + c(k) = sum; + } + + for (k=1; k<=n; k++) + { + Real sum = 0.0; + for (int j=1; j<=n; j++) sum += sin(k * (2*j-1) * f) * a(j); + s(k) = sum; + } +} + +static void SlowDTT(const ColumnVector& a, ColumnVector& c, ColumnVector& s) +{ + int n1 = a.Nrows(); int n = n1 - 1; + c.ReSize(n1); s.ReSize(n1); + Real f = 6.2831853071795864769 / (2*n); + int k; + + int sign = 1; + for (k=1; k<=n1; k++) + { + Real sum = 0.0; + for (int j=2; j<=n; j++) sum += cos((j-1) * (k-1) * f) * a(j); + c(k) = sum + (a(1) + sign * a(n1)) / 2.0; + sign = -sign; + } + + for (k=2; k<=n; k++) + { + Real sum = 0.0; + for (int j=2; j<=n; j++) sum += sin((j-1) * (k-1) * f) * a(j); + s(k) = sum; + } + s(1) = s(n1) = 0; +} + +static void test(int n) +{ + Tracer et("Test FFT"); + + ColumnVector A(n), B(n), X, Y; + for (int i=0; i q) ? p : q; } + +static int my_min(int p, int q) { return (p < q) ? p : q; } + + +void BandFunctions(int l1, int u1, int l2, int u2) +{ + int i, j; + BandMatrix BM1(20, l1, u1); BM1 = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l1 && i - j >= -u1) BM1(i, j) = 100 * i + j; + + BandMatrix BM2 = BM1; Matrix M = BM2 - BM1; Print(M); + + BM2.ReSize(20, l2, u2); BM2 = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l2 && i - j >= -u2) BM2(i, j) = (100 * i + j) * 11; + + BandMatrix BMA = BM1 + BM2, BMS = BM1 - BM2, BMSP = SP(BM1, BM2), + BMM = BM1 * BM2, BMN = -BM1; + + Matrix M1(20,20); M1 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l1 && i - j >= -u1) M1(i, j) = 100 * i + j; + + Matrix M2(20,20); M2 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l2 && i - j >= -u2) M2(i, j) = (100 * i + j) * 11; + + Matrix MA = M1 + M2, MS = M1 - M2, MSP = SP(M1, M2), MM = M1 * M2, MN = -M1; + MA -= BMA; MS -= BMS; MSP -= BMSP; MM -= BMM; MN -= BMN; + Print(MA); Print(MS); Print(MSP); Print(MM); Print(MN); + + Matrix Test(7, 2); + Test(1,1) = BM1.BandWidth().Lower() - l1; + Test(1,2) = BM1.BandWidth().Upper() - u1; + Test(2,1) = BM2.BandWidth().Lower() - l2; + Test(2,2) = BM2.BandWidth().Upper() - u2; + Test(3,1) = BMA.BandWidth().Lower() - my_max(l1,l2); + Test(3,2) = BMA.BandWidth().Upper() - my_max(u1,u2); + Test(4,1) = BMS.BandWidth().Lower() - my_max(l1,l2); + Test(4,2) = BMS.BandWidth().Upper() - my_max(u1,u2); + Test(5,1) = BMSP.BandWidth().Lower() - my_min(l1,l2); + Test(5,2) = BMSP.BandWidth().Upper() - my_min(u1,u2); + Test(6,1) = BMM.BandWidth().Lower() - (l1 + l2); + Test(6,2) = BMM.BandWidth().Upper() - (u1 + u2); + Test(7,1) = BMN.BandWidth().Lower() - l1; + Test(7,2) = BMN.BandWidth().Upper() - u1; + Print(Test); + + // test element function + BandMatrix BM1E(20, l1, u1); BM1E = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l1 && i - j >= -u1) BM1E.element(i-1, j-1) = 100 * i + j; + BandMatrix BM2E = BM1E; BM2E.ReSize(BM2); BM2E = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l2 && i - j >= -u2) + BM2E.element(i-1, j-1) = (100 * i + j) * 11; + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test element function with constant + BM1E = 444444.04; BM2E = 555555.0; + const BandMatrix BM1C = BM1, BM2C = BM2; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l1 && i - j >= -u1) + BM1E.element(i-1, j-1) = BM1C.element(i-1, j-1); + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l2 && i - j >= -u2) + BM2E.element(i-1, j-1) = BM2C.element(i-1, j-1); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test subscript function with constant + BM1E = 444444.04; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l1 && i - j >= -u1) BM1E(i, j) = BM1C(i, j); + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + if (i - j <= l2 && i - j >= -u2) BM2E(i, j) = BM2C(i, j); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); +} + +void LowerBandFunctions(int l1, int l2) +{ + int i, j; + LowerBandMatrix BM1(20, l1); BM1 = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1(i, j) = 100 * i + j; + + LowerBandMatrix BM2 = BM1; Matrix M = BM2 - BM1; Print(M); + + BM2.ReSize(20, l2); BM2 = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2(i, j) = (100 * i + j) * 11; + + LowerBandMatrix BMA = BM1 + BM2, BMS = BM1 - BM2, BMSP = SP(BM1, BM2), + BMM = BM1 * BM2, BMN = -BM1; + + Matrix M1(20,20); M1 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) M1(i, j) = 100 * i + j; + + Matrix M2(20,20); M2 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) M2(i, j) = (100 * i + j) * 11; + + Matrix MA = M1 + M2, MS = M1 - M2, MSP = SP(M1, M2), MM = M1 * M2, MN = -M1; + MA -= BMA; MS -= BMS; MSP -= BMSP; MM -= BMM; MN -= BMN; + Print(MA); Print(MS); Print(MSP); Print(MM); Print(MN); + + Matrix Test(7, 2); + Test(1,1) = BM1.BandWidth().Lower() - l1; + Test(1,2) = BM1.BandWidth().Upper(); + Test(2,1) = BM2.BandWidth().Lower() - l2; + Test(2,2) = BM2.BandWidth().Upper(); + Test(3,1) = BMA.BandWidth().Lower() - my_max(l1,l2); + Test(3,2) = BMA.BandWidth().Upper(); + Test(4,1) = BMS.BandWidth().Lower() - my_max(l1,l2); + Test(4,2) = BMS.BandWidth().Upper(); + Test(5,1) = BMSP.BandWidth().Lower() - my_min(l1,l2); + Test(5,2) = BMSP.BandWidth().Upper(); + Test(6,1) = BMM.BandWidth().Lower() - (l1 + l2); + Test(6,2) = BMM.BandWidth().Upper(); + Test(7,1) = BMN.BandWidth().Lower() - l1; + Test(7,2) = BMN.BandWidth().Upper(); + Print(Test); + + // test element function + LowerBandMatrix BM1E(20, l1); BM1E = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(i-1, j-1) = 100 * i + j; + LowerBandMatrix BM2E = BM1E; BM2E.ReSize(BM2); BM2E = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(i-1, j-1) = (100 * i + j) * 11; + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test element function with constant + BM1E = 444444.04; BM2E = 555555.0; + const LowerBandMatrix BM1C = BM1, BM2C = BM2; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(i-1, j-1) = BM1C.element(i-1, j-1); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(i-1, j-1) = BM2C.element(i-1, j-1); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test subscript function with constant + BM1E = 444444.04; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E(i, j) = BM1C(i, j); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E(i, j) = BM2C(i, j); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); +} + +void UpperBandFunctions(int u1, int u2) +{ + int i, j; + UpperBandMatrix BM1(20, u1); BM1 = 999999.0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u1) BM1(i, j) = 100 * i + j; + + UpperBandMatrix BM2 = BM1; Matrix M = BM2 - BM1; Print(M); + + BM2.ReSize(20, u2); BM2 = 777777.0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u2) BM2(i, j) = (100 * i + j) * 11; + + UpperBandMatrix BMA = BM1 + BM2, BMS = BM1 - BM2, BMSP = SP(BM1, BM2), + BMM = BM1 * BM2, BMN = -BM1; + + Matrix M1(20,20); M1 = 0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u1) M1(i, j) = 100 * i + j; + + Matrix M2(20,20); M2 = 0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u2) M2(i, j) = (100 * i + j) * 11; + + Matrix MA = M1 + M2, MS = M1 - M2, MSP = SP(M1, M2), MM = M1 * M2, MN = -M1; + MA -= BMA; MS -= BMS; MSP -= BMSP; MM -= BMM; MN -= BMN; + Print(MA); Print(MS); Print(MSP); Print(MM); Print(MN); + + Matrix Test(7, 2); + Test(1,1) = BM1.BandWidth().Lower(); + Test(1,2) = BM1.BandWidth().Upper() - u1; + Test(2,1) = BM2.BandWidth().Lower(); + Test(2,2) = BM2.BandWidth().Upper() - u2; + Test(3,1) = BMA.BandWidth().Lower(); + Test(3,2) = BMA.BandWidth().Upper() - my_max(u1,u2); + Test(4,1) = BMS.BandWidth().Lower(); + Test(4,2) = BMS.BandWidth().Upper() - my_max(u1,u2); + Test(5,1) = BMSP.BandWidth().Lower(); + Test(5,2) = BMSP.BandWidth().Upper() - my_min(u1,u2); + Test(6,1) = BMM.BandWidth().Lower(); + Test(6,2) = BMM.BandWidth().Upper() - (u1 + u2); + Test(7,1) = BMN.BandWidth().Lower(); + Test(7,2) = BMN.BandWidth().Upper() - u1; + Print(Test); + + // test element function + UpperBandMatrix BM1E(20, u1); BM1E = 999999.0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u1) BM1E.element(i-1, j-1) = 100 * i + j; + UpperBandMatrix BM2E = BM1E; BM2E.ReSize(BM2); BM2E = 777777.0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u2) BM2E.element(i-1, j-1) = (100 * i + j) * 11; + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test element function with constant + BM1E = 444444.04; BM2E = 555555.0; + const UpperBandMatrix BM1C = BM1, BM2C = BM2; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u1) BM1E.element(i-1, j-1) = BM1C.element(i-1, j-1); + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u2) BM2E.element(i-1, j-1) = BM2C.element(i-1, j-1); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test subscript function with constant + BM1E = 444444.04; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u1) BM1E(i, j) = BM1C(i, j); + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + if (i - j >= -u2) BM2E(i, j) = BM2C(i, j); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); +} + +void SymmetricBandFunctions(int l1, int l2) +{ + int i, j; + SymmetricBandMatrix BM1(20, l1); BM1 = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1(i, j) = 100 * i + j; + + SymmetricBandMatrix BM2 = BM1; Matrix M = BM2 - BM1; Print(M); + + BM2.ReSize(20, l2); BM2 = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2(i, j) = (100 * i + j) * 11; + + SymmetricBandMatrix BMA = BM1 + BM2, BMS = BM1 - BM2, BMSP = SP(BM1, BM2), + BMN = -BM1; + BandMatrix BMM = BM1 * BM2; + + SymmetricMatrix M1(20); M1 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) M1(i, j) = 100 * i + j; + + SymmetricMatrix M2(20); M2 = 0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) M2(i, j) = (100 * i + j) * 11; + + SymmetricMatrix MA = M1 + M2, MS = M1 - M2, MSP = SP(M1, M2), MN = -M1; + Matrix MM = M1 * M2; + MA -= BMA; MS -= BMS; MSP -= BMSP; MM -= BMM; MN -= BMN; + Print(MA); Print(MS); Print(MSP); Print(MM); Print(MN); + + Matrix Test(7, 2); + Test(1,1) = BM1.BandWidth().Lower() - l1; + Test(1,2) = BM1.BandWidth().Upper() - l1; + Test(2,1) = BM2.BandWidth().Lower() - l2; + Test(2,2) = BM2.BandWidth().Upper() - l2; + Test(3,1) = BMA.BandWidth().Lower() - my_max(l1,l2); + Test(3,2) = BMA.BandWidth().Upper() - my_max(l1,l2); + Test(4,1) = BMS.BandWidth().Lower() - my_max(l1,l2); + Test(4,2) = BMS.BandWidth().Upper() - my_max(l1,l2); + Test(5,1) = BMSP.BandWidth().Lower() - my_min(l1,l2); + Test(5,2) = BMSP.BandWidth().Upper() - my_min(l1,l2); + Test(6,1) = BMM.BandWidth().Lower() - (l1 + l2); + Test(6,2) = BMM.BandWidth().Upper() - (l1 + l2); + Test(7,1) = BMN.BandWidth().Lower() - l1; + Test(7,2) = BMN.BandWidth().Upper() - l1; + Print(Test); + + // test element function + SymmetricBandMatrix BM1E(20, l1); BM1E = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(i-1, j-1) = 100 * i + j; + SymmetricBandMatrix BM2E = BM1E; BM2E.ReSize(BM2); BM2E = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(i-1, j-1) = (100 * i + j) * 11; + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // reverse subscripts + BM1E = 999999.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(j-1, i-1) = 100 * i + j; + BM2E = 777777.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(j-1, i-1) = (100 * i + j) * 11; + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test element function with constant + BM1E = 444444.04; BM2E = 555555.0; + const SymmetricBandMatrix BM1C = BM1, BM2C = BM2; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(i-1, j-1) = BM1C.element(i-1, j-1); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(i-1, j-1) = BM2C.element(i-1, j-1); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // reverse subscripts + BM1E = 444444.0; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E.element(j-1, i-1) = BM1C.element(j-1, i-1); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E.element(j-1, i-1) = BM2C.element(j-1, i-1); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // test subscript function with constant + BM1E = 444444.0; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E(i, j) = BM1C(i, j); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E(i, j) = BM2C(i, j); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // reverse subscripts + BM1E = 444444.0; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E(j, i) = BM1C(j, i); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E(j, i) = BM2C(j, i); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + + // partly reverse subscripts + BM1E = 444444.0; BM2E = 555555.0; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l1) BM1E(j, i) = BM1C(i, j); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + if (i - j <= l2) BM2E(j, i) = BM2C(i, j); + M1 = BM1E - BM1; Print(M1); + M2 = BM2E - BM2; Print(M2); + +} + + + +void trymath() +{ +// cout << "\nSeventeenth test of Matrix package\n"; +// cout << "\n"; + Tracer et("Seventeenth test of Matrix package"); + Tracer::PrintTrace(); + + + { + Tracer et1("Stage 1"); + int i, j; + BandMatrix B(8,3,1); + for (i=1; i<=8; i++) for (j=-3; j<=1; j++) + { int k = i+j; if (k>0 && k<=8) B(i,k) = i + k/64.0; } + + IdentityMatrix I(8); BandMatrix B1; B1 = I; + UpperTriangularMatrix UT = I; Print(Matrix(B1-UT)); + Print(Matrix(B * B - B * 2 + I - (B - I) * (B - I))); + Matrix A = B; BandMatrix C; C = B; + Print(Matrix(B * A - C * 2 + I - (A - I) * (B - I))); + + C.ReSize(8,2,2); C = 0.0; C.Inject(B); + Matrix X = A.t(); + B1.ReSize(8,2,2); B1.Inject(X); Print(Matrix(C.t()-B1)); + + Matrix BI = B.i(); A = A.i()-BI; Clean(A,0.000000001); Print(A); + BandLUMatrix BLU = B.t(); + BI = BLU.i(); A = X.i()-BI; Clean(A,0.000000001); Print(A); + X.ReSize(1,1); + X(1,1) = BLU.LogDeterminant().Value()-B.LogDeterminant().Value(); + Clean(X,0.000000001); Print(X); + + UpperBandMatrix U; U << B; LowerBandMatrix L; L << B; + DiagonalMatrix D; D << B; + Print( Matrix(L + (U - D - B)) ); + + + + for (i=1; i<=8; i++) A.Column(i) << B.Column(i); + Print(Matrix(A-B)); + } + { + Tracer et1("Stage 2"); + BandMatrix A(7,2,2); + int i,j; + for (i=1; i<=7; i++) for (j=1; j<=7; j++) + { + int k=i-j; if (k<0) k = -k; + if (k==0) A(i,j)=6; + else if (k==1) A(i,j) = -4; + else if (k==2) A(i,j) = 1; + A(1,1) = A(7,7) = 5; + } + DiagonalMatrix D(7); D = 0.0; A = A - D; + BandLUMatrix B(A); Matrix M = A; + ColumnVector V(6); + V(1) = LogDeterminant(B).Value(); + V(2) = LogDeterminant(A).Value(); + V(3) = LogDeterminant(M).Value(); + V(4) = Determinant(B); + V(5) = Determinant(A); + V(6) = Determinant(M); + V = V / 64 - 1; Clean(V,0.000000001); Print(V); + ColumnVector X(7); + +#ifdef ATandT + Real a[7]; + // the previous statement causes a core dump in tmti.cpp + // on the HP9000 - seems very strange. Possibly the exception + // mechanism is failing to track the stack correctly. If you get + // this problem replace by the following statement. +// Real* a = new Real [7]; if (!a) exit(1); + a[0]=1; a[1]=2; a[2]=3; a[3]=4; a[4]=5; a[5]=6; a[6]=7; +#else + Real a[] = {1,2,3,4,5,6,7}; +#endif + X << a; +// include these if you are using the previous dynamic definition of a +//#ifdef ATandT +// delete [] a; +//#endif + M = (M.i()*X).t() - (B.i()*X).t() * 2.0 + (A.i()*X).t(); + Clean(M,0.000000001); Print(M); + + + BandMatrix P(80,2,5); ColumnVector CX(80); + for (i=1; i<=80; i++) for (j=1; j<=80; j++) + { int d = i-j; if (d<=2 && d>=-5) P(i,j) = i + j/100.0; } + for (i=1; i<=80; i++) CX(i) = i*100.0; + Matrix MP = P; + ColumnVector V1 = P.i() * CX; ColumnVector V2 = MP.i() * CX; + V = V1 - V2; Clean(V,0.000000001); Print(V); + + V1 = P * V1; V2 = MP * V2; V = V1 - V2; Clean(V,0.000000001); Print(V); + RowVector XX(1); + XX = LogDeterminant(P).Value() / LogDeterminant(MP).Value() - 1.0; + Clean(XX,0.000000001); Print(XX); + + LowerBandMatrix LP(80,5); + for (i=1; i<=80; i++) for (j=1; j<=80; j++) + { int d = i-j; if (d<=5 && d>=0) LP(i,j) = i + j/100.0; } + MP = LP; + XX.ReSize(4); + XX(1) = LogDeterminant(LP).Value(); + XX(2) = LogDeterminant(MP).Value(); + V1 = LP.i() * CX; V2 = MP.i() * CX; + V = V1 - V2; Clean(V,0.000000001); Print(V); + + UpperBandMatrix UP(80,4); + for (i=1; i<=80; i++) for (j=1; j<=80; j++) + { int d = i-j; if (d<=0 && d>=-4) UP(i,j) = i + j/100.0; } + MP = UP; + XX(3) = LogDeterminant(UP).Value(); + XX(4) = LogDeterminant(MP).Value(); + V1 = UP.i() * CX; V2 = MP.i() * CX; + V = V1 - V2; Clean(V,0.000000001); Print(V); + XX = XX / SumAbsoluteValue(XX) - .25; Clean(XX,0.000000001); Print(XX); + } + + { + Tracer et1("Stage 3"); + SymmetricBandMatrix SA(8,5); + int i,j; + for (i=1; i<=8; i++) for (j=1; j<=8; j++) + if (i-j<=5 && 0<=i-j) SA(i,j) =i + j/128.0; + DiagonalMatrix D(8); D = 10; SA = SA + D; + + Matrix MA1(8,8); Matrix MA2(8,8); + for (i=1; i<=8; i++) + { MA1.Column(i) << SA.Column(i); MA2.Row(i) << SA.Row(i); } + Print(Matrix(MA1-MA2)); + + D = 10; SA = SA.t() + D; MA1 = MA1 + D; + Print(Matrix(MA1-SA)); + + UpperBandMatrix UB(8,3); LowerBandMatrix LB(8,4); + D << SA; UB << SA; LB << SA; + SA = SA * 5.0; D = D * 5.0; LB = LB * 5.0; UB = UB * 5.0; + BandMatrix B = LB - D + UB - SA; Print(Matrix(B)); + + SymmetricBandMatrix A(7,2); A = 100.0; + for (i=1; i<=7; i++) for (j=1; j<=7; j++) + { + int k=i-j; + if (k==0) A(i,j)=6; + else if (k==1) A(i,j) = -4; + else if (k==2) A(i,j) = 1; + A(1,1) = A(7,7) = 5; + } + BandLUMatrix C(A); Matrix M = A; + ColumnVector X(8); + X(1) = LogDeterminant(C).Value() - 64; + X(2) = LogDeterminant(A).Value() - 64; + X(3) = LogDeterminant(M).Value() - 64; + X(4) = SumSquare(M) - SumSquare(A); + X(5) = SumAbsoluteValue(M) - SumAbsoluteValue(A); + X(6) = MaximumAbsoluteValue(M) - MaximumAbsoluteValue(A); + X(7) = Trace(M) - Trace(A); + X(8) = Sum(M) - Sum(A); + Clean(X,0.000000001); Print(X); + +#ifdef ATandT + Real a[7]; a[0]=1; a[1]=2; a[2]=3; a[3]=4; a[4]=5; a[5]=6; a[6]=7; +#else + Real a[] = {1,2,3,4,5,6,7}; +#endif + X.ReSize(7); + X << a; + X = M.i()*X - C.i()*X * 2 + A.i()*X; + Clean(X,0.000000001); Print(X); + + + LB << A; UB << A; D << A; + BandMatrix XA = LB + (UB - D); + Print(Matrix(XA - A)); + + for (i=1; i<=7; i++) for (j=1; j<=7; j++) + { + int k=i-j; + if (k==0) A(i,j)=6; + else if (k==1) A(i,j) = -4; + else if (k==2) A(i,j) = 1; + A(1,1) = A(7,7) = 5; + } + D = 1; + + M = LB.i() * LB - D; Clean(M,0.000000001); Print(M); + M = UB.i() * UB - D; Clean(M,0.000000001); Print(M); + M = XA.i() * XA - D; Clean(M,0.000000001); Print(M); + Matrix MUB = UB; Matrix MLB = LB; + M = LB.i() * UB - LB.i() * MUB; Clean(M,0.000000001); Print(M); + M = UB.i() * LB - UB.i() * MLB; Clean(M,0.000000001); Print(M); + M = LB.i() * UB - LB.i() * Matrix(UB); Clean(M,0.000000001); Print(M); + M = UB.i() * LB - UB.i() * Matrix(LB); Clean(M,0.000000001); Print(M); + } + + { + // some tests about adding and subtracting band matrices of different + // sizes - check bandwidth of results + Tracer et1("Stage 4"); + + BandFunctions(9, 3, 9, 3); // equal + BandFunctions(4, 7, 4, 7); // equal + BandFunctions(9, 3, 5, 8); // neither < or > + BandFunctions(5, 8, 9, 3); // neither < or > + BandFunctions(9, 8, 5, 3); // > + BandFunctions(3, 5, 8, 9); // < + + LowerBandFunctions(9, 9); // equal + LowerBandFunctions(4, 4); // equal + LowerBandFunctions(9, 5); // > + LowerBandFunctions(3, 8); // < + + UpperBandFunctions(3, 3); // equal + UpperBandFunctions(7, 7); // equal + UpperBandFunctions(8, 3); // > + UpperBandFunctions(5, 9); // < + + SymmetricBandFunctions(9, 9); // equal + SymmetricBandFunctions(4, 4); // equal + SymmetricBandFunctions(9, 5); // > + SymmetricBandFunctions(3, 8); // < + + DiagonalMatrix D(6); D << 2 << 3 << 4.5 << 1.25 << 9.5 << -5; + BandMatrix BD = D; + UpperBandMatrix UBD; UBD = D; + LowerBandMatrix LBD; LBD = D; + SymmetricBandMatrix SBD = D; + Matrix X = BD - D; Print(X); X = UBD - D; Print(X); + X = LBD - D; Print(X); X = SBD - D; Print(X); + Matrix Test(9,2); + Test(1,1) = BD.BandWidth().Lower(); Test(1,2) = BD.BandWidth().Upper(); + Test(2,1) = UBD.BandWidth().Lower(); Test(2,2) = UBD.BandWidth().Upper(); + Test(3,1) = LBD.BandWidth().Lower(); Test(3,2) = LBD.BandWidth().Upper(); + Test(4,1) = SBD.BandWidth().Lower(); Test(4,2) = SBD.BandWidth().Upper(); + + IdentityMatrix I(10); I *= 5; + BD = I; UBD = I; LBD = I; SBD = I; + X = BD - I; Print(X); X = UBD - I; Print(X); + X = LBD - I; Print(X); X = SBD - I; Print(X); + Test(5,1) = BD.BandWidth().Lower(); Test(5,2) = BD.BandWidth().Upper(); + Test(6,1) = UBD.BandWidth().Lower(); Test(6,2) = UBD.BandWidth().Upper(); + Test(7,1) = LBD.BandWidth().Lower(); Test(7,2) = LBD.BandWidth().Upper(); + Test(8,1) = SBD.BandWidth().Lower(); Test(8,2) = SBD.BandWidth().Upper(); + + RowVector RV = D.AsRow(); I.ReSize(6); BandMatrix BI = I; I = 1; + BD = RV.AsDiagonal() + BI; X = BD - D - I; Print(X); + Test(9,1) = BD.BandWidth().Lower(); Test(9,2) = BD.BandWidth().Upper(); + + Print(Test); + } + + { + // various element functions + Tracer et1("Stage 5"); + + int i, j; + Matrix Count(1, 1); Count = 0; // for counting errors + Matrix M(20,30); + for (i = 1; i <= 20; ++i) for (j = 1; j <= 30; ++j) + M(i, j) = 100 * i + j; + const Matrix CM = M; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 30; ++j) + { + if (M(i, j) != CM(i, j)) ++Count(1,1); + if (M(i, j) != CM.element(i-1, j-1)) ++Count(1,1); + if (M(i, j) != M.element(i-1, j-1)) ++Count(1,1); + } + + UpperTriangularMatrix U(20); + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + U(i, j) = 100 * i + j; + const UpperTriangularMatrix CU = U; + for (i = 1; i <= 20; ++i) for (j = i; j <= 20; ++j) + { + if (U(i, j) != CU(i, j)) ++Count(1,1); + if (U(i, j) != CU.element(i-1, j-1)) ++Count(1,1); + if (U(i, j) != U.element(i-1, j-1)) ++Count(1,1); + } + + LowerTriangularMatrix L(20); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + L(i, j) = 100 * i + j; + const LowerTriangularMatrix CL = L; + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + { + if (L(i, j) != CL(i, j)) ++Count(1,1); + if (L(i, j) != CL.element(i-1, j-1)) ++Count(1,1); + if (L(i, j) != L.element(i-1, j-1)) ++Count(1,1); + } + + SymmetricMatrix S(20); + for (i = 1; i <= 20; ++i) for (j = 1; j <= i; ++j) + S(i, j) = 100 * i + j; + const SymmetricMatrix CS = S; + for (i = 1; i <= 20; ++i) for (j = 1; j <= 20; ++j) + { + if (S(i, j) != CS(i, j)) ++Count(1,1); + if (S(i, j) != CS.element(i-1, j-1)) ++Count(1,1); + if (S(i, j) != S.element(i-1, j-1)) ++Count(1,1); + if (S(i, j) != S(j, i)) ++Count(1,1); + if (S(i, j) != CS(i, j)) ++Count(1,1); + if (S(i, j) != CS.element(i-1, j-1)) ++Count(1,1); + if (S(i, j) != S.element(i-1, j-1)) ++Count(1,1); + } + + DiagonalMatrix D(20); + for (i = 1; i <= 20; ++i) D(i) = 100 * i + i * i; + const DiagonalMatrix CD = D; + for (i = 1; i <= 20; ++i) + { + if (D(i, i) != CD(i, i)) ++Count(1,1); + if (D(i, i) != CD.element(i-1, i-1)) ++Count(1,1); + if (D(i, i) != D.element(i-1, i-1)) ++Count(1,1); + if (D(i, i) != D(i)) ++Count(1,1); + if (D(i) != CD(i)) ++Count(1,1); + if (D(i) != CD.element(i-1)) ++Count(1,1); + if (D(i) != D.element(i-1)) ++Count(1,1); + } + + RowVector R(20); + for (i = 1; i <= 20; ++i) R(i) = 100 * i + i * i; + const RowVector CR = R; + for (i = 1; i <= 20; ++i) + { + if (R(i) != CR(i)) ++Count(1,1); + if (R(i) != CR.element(i-1)) ++Count(1,1); + if (R(i) != R.element(i-1)) ++Count(1,1); + } + + ColumnVector C(20); + for (i = 1; i <= 20; ++i) C(i) = 100 * i + i * i; + const ColumnVector CC = C; + for (i = 1; i <= 20; ++i) + { + if (C(i) != CC(i)) ++Count(1,1); + if (C(i) != CC.element(i-1)) ++Count(1,1); + if (C(i) != C.element(i-1)) ++Count(1,1); + } + + Print(Count); + + } + + { + // resize to another matrix size + Tracer et1("Stage 6"); + + Matrix A(20, 30); A = 3; + Matrix B(3, 4); + B.ReSize(A); B = 6; B -= 2 * A; Print(B); + + A.ReSize(25,25); A = 12; + + UpperTriangularMatrix U(5); + U.ReSize(A); U = 12; U << (U - A); Print(U); + + LowerTriangularMatrix L(5); + L.ReSize(U); L = 12; L << (L - A); Print(L); + + DiagonalMatrix D(5); + D.ReSize(U); D = 12; D << (D - A); Print(D); + + SymmetricMatrix S(5); + S.ReSize(U); S = 12; S << (S - A); Print(S); + + IdentityMatrix I(5); + I.ReSize(U); I = 12; D << (I - A); Print(D); + + A.ReSize(10, 1); A = 17; + ColumnVector C(5); C.ReSize(A); C = 17; C -= A; Print(C); + + A.ReSize(1, 10); A = 15; + RowVector R(5); R.ReSize(A); R = 15; R -= A; Print(R); + + } + + { + // generic matrix and identity matrix + Tracer et1("Stage 7"); + IdentityMatrix I(5); + I *= 4; + GenericMatrix GM = I; + GM /= 2; + DiagonalMatrix D = GM; + Matrix A = GM + 10; + A -= 10; + A -= D; + Print(A); + } + + { + // SP and upper and lower triangular matrices + Tracer et1("Stage 8"); + UpperTriangularMatrix UT(4); + UT << 3 << 7 << 3 << 9 + << 5 << 2 << 6 + << 8 << 0 + << 4; + LowerTriangularMatrix LT; LT.ReSize(UT); + LT << 2 + << 7 << 9 + << 2 << 8 << 6 + << 1 << 0 << 3 << 5; + + DiagonalMatrix D = SP(UT, LT); + DiagonalMatrix D1(4); + D1 << 6 << 45 << 48 << 20; + D -= D1; Print(D); + BandMatrix BM = SP(UT, LT); + Matrix X = BM - D1; Print(X); + RowVector RV(2); + RV(1) = BM.BandWidth().Lower(); + RV(2) = BM.BandWidth().Upper(); + Print(RV); + } + +// cout << "\nEnd of Seventeenth test\n"; +} + diff --git a/3rdparty/newmat/tmti.cpp b/3rdparty/newmat/tmti.cpp new file mode 100644 index 0000000..01ded9d --- /dev/null +++ b/3rdparty/newmat/tmti.cpp @@ -0,0 +1,209 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +void WillNotConverge() +{ + Matrix A(10,10); + Throw(ConvergenceException(A)); +} + +void ReSizeMatrix(Matrix& A) +// for seeing if we can redimension a vector as a matrix +{ A.ReSize(4,5); } + +void trymati() +{ +#ifndef DisableExceptions + Tracer et("Eighteenth test of Matrix package"); + Matrix RUStillThere(10,20); RUStillThere = 1553; + Tracer::PrintTrace(); + + ColumnVector checks(23); checks = 1.0; checks(1) = 0.0; + + Try { WillNotConverge(); } + Catch(ConvergenceException) { checks(2) = 0; } + CatchAll { checks(1) = 1; } + + + Try { Matrix M(10,10); SymmetricMatrix S = M; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(3) = 0; } + CatchAll { checks(1) = 1; } + + + Try { Matrix M(10,10); M(10,11) = 2.0; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IndexException) { checks(4) = 0; } + CatchAll { checks(1) = 1; } + + Try { Matrix M(10,10); M = 0.0; M = M.i(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(SingularException) { checks(5) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { ColumnVector A(30), B(50); A = 5; B = 3; FFT(A,B,A,B); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(6) = 0; } + CatchAll { checks(1) = 1; } + + Try + { + ColumnVector A(30); A = 5; Matrix At = A.t(); + DiagonalMatrix D; + SVD(At,D); + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(Logic_error) { checks(6) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { BandMatrix X(10,3,4); X(1,10) = 4.0; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IndexException) { checks(7) = 0; } + CatchAll { checks(1) = 1; } + + Try + { + SymmetricMatrix S(10); S = 5; + LowerTriangularMatrix L = Cholesky(S); + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(NPDException) { checks(8) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { BandMatrix M(10,3,5); M = 0.0; Matrix XM = M.i(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(1) = 1; } + Catch(SingularException) { checks(9) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { ColumnVector X(10); ColumnVector Y; X = 5; X = X - Y; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(IncompatibleDimensionsException) { checks(10) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try + { + UpperTriangularMatrix U(3); RowVector RV(3); RV = 10; + U.Row(2) = RV; + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(11) = 0; } + Catch(Bad_alloc) { checks(1) = 1; } + CatchAndThrow; + + Try { DiagonalMatrix D(3); D << 12 << 13 << 14 << 15; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(12) = 0; } + CatchAndThrow; + + Try { ColumnVector D(3); D << 12 << 13; D << 1 << 2 << 3; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(13) = 0; } + CatchAndThrow; + + + Try { { ColumnVector D(3); D << 12 << 13; } } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(14) = 0; } + CatchAndThrow; + + Try { ColumnVector CV; ReSizeMatrix(CV); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(VectorException) { checks(15) = 0; } + CatchAndThrow; + + Try { RowVector RV(20); ReSizeMatrix(RV); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(VectorException) { checks(16) = 0; } + CatchAndThrow; + + Try + { + UpperTriangularMatrix U(10); U = 5; + DiagonalMatrix D(10); D = 2; + D += U; // illegal conversion + } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(17) = 0; } + CatchAndThrow; + + Try { Matrix A(2,3), B(2,3); if (A < B) A = B; } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(NotDefinedException) { checks(18) = 0; } + CatchAndThrow; + + Try { SymmetricBandMatrix A(3,1); A = 1; A = A.Reverse(); } + Catch(ConvergenceException) { checks(1) = 1; } + Catch(InternalException) { checks(1) = 1; } + Catch(NotDefinedException) { checks(19) = 0; } + CatchAndThrow; + + Try + { + Matrix A(5,5); A = 1.0; + UpperTriangularMatrix B(10); + B.SubMatrix(3,7,3,7) = A; + } + Catch(ProgramException) { checks(20) = 0; } + CatchAndThrow; + + Try { { RowVector D(1); D << 12 << 13; } } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(21) = 0; } + CatchAndThrow; + + Try { { RowVector D(0); D << 12; } } + Catch(InternalException) { checks(1) = 1; } + Catch(ProgramException) { checks(22) = 0; } + CatchAndThrow; + + Try { Matrix M(10,10); Matrix XM(3,3); M = 0.0; XM = M.i(); } + Catch(SingularException) { checks(23) = 0; } + CatchAll { checks(1) = 1; } + + Print(checks); + Matrix RUStillThere1(10,20); RUStillThere1 = 1553; + RUStillThere = RUStillThere - RUStillThere1; + Print(RUStillThere); +#endif + +} + + + diff --git a/3rdparty/newmat/tmtj.cpp b/3rdparty/newmat/tmtj.cpp new file mode 100644 index 0000000..2ddbd32 --- /dev/null +++ b/3rdparty/newmat/tmtj.cpp @@ -0,0 +1,152 @@ + +//#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" +//#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +void trymatj() +{ + Tracer et("Nineteenth test of Matrix package"); + Tracer::PrintTrace(); + // testing elementwise (SP) products + + { + Tracer et1("Stage 1"); + Matrix A(13,7), B(13,7), C(13,7); + int i,j; + for (i=1;i<=13;i++) for (j=1; j<=7; j++) + { + Real a = (i+j*j)/2, b = (i*j-i/4); + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + // Where complete matrix routine can be used + Matrix X = SP(A,B)-C; Print(X); + X = SP(A,B+1.0)-A-C; Print(X); + X = SP(A-1,B)+B-C; Print(X); + X = SP(A-1,B+1)+B-A-C+1; Print(X); + // Where row-wise routine will be used + A = A.Rows(7,13); B = B.Rows(7,13); C = C.Rows(7,13); + LowerTriangularMatrix LTA; LTA << A; + UpperTriangularMatrix UTB; UTB << B; + DiagonalMatrix DC; DC << C; + X = SP(LTA,UTB) - DC; Print(X); + X = SP(LTA*2,UTB) - DC*2; Print(X); + X = SP(LTA, UTB /2) - DC/2; Print(X); + X = SP(LTA/2, UTB*2) - DC; Print(X); + DiagonalMatrix DX; + DX << SP(A,B); DX << (DX-C); Print(DX); + DX << SP(A*4,B); DX << (DX-C*4); Print(DX); + DX << SP(A,B*2); DX << (DX-C*2); Print(DX); + DX << SP(A/4,B/4); DX << (DX-C/16); Print(DX); + LowerTriangularMatrix LX; + LX = SP(LTA,B); LX << (LX-C); Print(LX); + LX = SP(LTA*3,B); LX << (LX-C*3); Print(LX); + LX = SP(LTA,B*5); LX << (LX-C*5); Print(LX); + LX = SP(-LTA,-B); LX << (LX-C); Print(LX); + } + { + // Symmetric Matrices + Tracer et1("Stage 2"); + SymmetricMatrix A(25), B(25), C(25); + int i,j; + for (i=1;i<=25;i++) for (j=i;j<=25;j++) + { + Real a = i*j +i - j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + UpperTriangularMatrix UT; + UT << SP(A,B); UT << (UT - C); Print(UT); + Matrix MA = A, X; + X = SP(MA,B)-C; Print(X); + X = SP(A,B)-C; Print(X); + SymmetricBandMatrix BA(25,5), BB(25,5), BC(25,5); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA*7,BB)-BC*7; Print(X); + X = SP(BA,BB/8)-BC/8; Print(X); + X = SP(BA*16,BB/16)-BC; Print(X); + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA*2, BB/2)-BC; Print(X); + X = SP(BA, BB/2)-BC/2; Print(X); + X = SP(BA*2, BB)-BC*2; Print(X); + } + { + // Band matrices + Tracer et1("Stage 3"); + Matrix A(19,19), B(19,19), C(19,19); + int i,j; + for (i=1;i<=19;i++) for (j=1;j<=19;j++) + { + Real a = i*j +i - 1.5*j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; C(i,j)=a*b; + } + BandMatrix BA(19,10,7), BB(19,8,15), BC(19,8,7); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + Matrix X; BandMatrix BX; ColumnVector BW(2); + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA/8,BB); X=X-BC/8; Print(X); + X = SP(BA,BB*17); X=X-BC*17; Print(X); + X = SP(BA/4,BB*7); X=X-BC*7/4; Print(X); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA/8,BB)-BC/8; Print(X); + X = SP(BA,BB*17)-BC*17; Print(X); + X = SP(BA/4,BB*7)-BC*7/4; Print(X); + BX = SP(BA,BB); + BW(1)=BX.upper-7; BW(2)=BX.lower-8; Print(BW); + + BA.ReSize(19,7,10); BB.ReSize(19,15,8); + BC.ReSize(19,7,8); + BA.Inject(A); BB.Inject(B); BC.Inject(C); + + X = SP(BA,BB); X=X-BC; Print(X); + X = SP(BA/8,BB); X=X-BC/8; Print(X); + X = SP(BA,BB*17); X=X-BC*17; Print(X); + X = SP(BA/4,BB*7); X=X-BC*7/4; Print(X); + X = SP(BA,BB)-BC; Print(X); + X = SP(BA/8,BB)-BC/8; Print(X); + X = SP(BA,BB*17)-BC*17; Print(X); + X = SP(BA/4,BB*7)-BC*7/4; Print(X); + BX = SP(BA,BB); + BW(1)=BX.upper-8; BW(2)=BX.lower-7; Print(BW); + } + { + // SymmetricBandMatrices + Tracer et1("Stage 4"); + Matrix A(7,7), B(7,7); + int i,j; + for (i=1;i<=7;i++) for (j=1;j<=7;j++) + { + Real a = i*j +i - 1.5*j + 3; + Real b = i * i + j; + A(i,j)=a; B(i,j)=b; + } + BandMatrix BA(7,2,4), BB(7,3,1), BC(7,2,1); + BA.Inject(A); + SymmetricBandMatrix SB(7,3); + SymmetricMatrix S; S << (B+B.t()); + SB.Inject(S); A = BA; S = SB; + Matrix X; + X = SP(BA,SB); X=X-SP(A,S); Print(X); + X = SP(BA*2,SB); X=X-SP(A,S*2); Print(X); + X = SP(BA,SB/4); X=X-SP(A/4,S); Print(X); + X = SP(BA*4,SB/4); X=X-SP(A,S); Print(X); + X = SP(BA,SB)-SP(A,S); Print(X); + X = SP(BA*2,SB)-SP(A,S*2); Print(X); + X = SP(BA,SB/4)-SP(A/4,S); Print(X); + X = SP(BA*4,SB/4)-SP(A,S); Print(X); + } + +} + + diff --git a/3rdparty/newmat/tmtk.cpp b/3rdparty/newmat/tmtk.cpp new file mode 100644 index 0000000..500d105 --- /dev/null +++ b/3rdparty/newmat/tmtk.cpp @@ -0,0 +1,188 @@ + +#define WANT_STREAM + +#include "include.h" + +#include "newmatap.h" +#include "newmatio.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + +static inline int my_min(int x, int y) { return x < y ? x : y; } +static inline int my_max(int x, int y) { return x > y ? x : y; } + + +#ifdef SETUP_C_SUBSCRIPTS + +void trymatk() +{ + Tracer et("Twentieth test of Matrix package"); + Tracer::PrintTrace(); + // test C subscript package + + + int i,j; Matrix X, Y; + + cout << "Matrix\n"; + Matrix A(15,35), B(15, 35); + for (i=0; i<15; i++) for (j=0; j<35; j++) + { A[i][j] = i+100*j; B(i+1,j+1) = i+100*j; } + X = A - B; Print(X); Y = X; + for (i=0; i<15; i++) for (j=0; j<35; j++) + { + X.element(i,j) = A.element(i,j) - B[i][j]; + Y.element(i,j) = ((const Matrix&)A)[i][j] - B[i][j]; + } + Print(X); Print(Y); + A.CleanUp(); B.CleanUp(); + + cout << "UpperTriangularMatrix\n"; + UpperTriangularMatrix A1(15), B1(15); + for (i=0; i<15; i++) for (j=i; j<15; j++) + { A1[i][j] = i+100*j; B1(i+1,j+1) = i+100*j; } + X = A1 - B1; Print(X); Y = X; + for (i=0; i<15; i++) for (j=i; j<15; j++) + { + X.element(i,j) = A1.element(i,j) - B1[i][j]; + Y.element(i,j) = ((const UpperTriangularMatrix&)A1)[i][j] - B1[i][j]; + } + Print(X); Print(Y); + A1.CleanUp(); B1.CleanUp(); + + cout << "LowerTriangularMatrix\n"; + LowerTriangularMatrix A2(35), B2(35); + for (i=0; i<35; i++) for (j=0; j<=i; j++) + { A2[i][j] = i+100*j; B2(i+1,j+1) = i+100*j; } + X = A2 - B2; Print(X); Y = X; + for (i=0; i<35; i++) for (j=0; j<=i; j++) + { + X.element(i,j) = A2.element(i,j) - B2[i][j]; + Y.element(i,j) = ((const LowerTriangularMatrix&)A2)[i][j] - B2[i][j]; + } + Print(X); Print(Y); + A2.CleanUp(); B2.CleanUp(); + + cout << "SymmetricMatrix\n"; + SymmetricMatrix A3(10), B3(10); + for (i=0; i<10; i++) for (j=0; j<=i; j++) + { A3[i][j] = i+100*j; B3(i+1,j+1) = i+100*j; } + X = A3 - B3; Print(X); Y = X; + for (i=0; i<10; i++) for (j=0; j<=i; j++) + { + X.element(i,j) = A3.element(i,j) - B3[i][j]; + Y.element(i,j) = ((const SymmetricMatrix&)A3)[i][j] - B3[i][j]; + } + Print(X); Print(Y); + A3.CleanUp(); B3.CleanUp(); + + cout << "DiagonalMatrix\n"; + DiagonalMatrix A4(10), B4(10); + for (i=0; i<10; i++) + { A4[i] = i+100; B4(i+1) = i+100; } + X = A4 - B4; Print(X); Y = X; + for (i=0; i<10; i++) + { + X.element(i,i) = A4.element(i) - B4[i]; + Y.element(i,i) = ((const DiagonalMatrix&)A4)[i] - B4[i]; + } + Print(X); Print(Y); + A4.CleanUp(); B4.CleanUp(); + + cout << "RowVector\n"; + RowVector A5(10), B5(10); + for (i=0; i<10; i++) + { A5[i] = i+100; B5(i+1) = i+100; } + X = A5 - B5; Print(X); Y = X; + for (i=0; i<10; i++) + { + X.element(0,i) = A5.element(i) - B5[i]; + Y.element(0,i) = ((const RowVector&)A5)[i] - B5[i]; + } + Print(X); Print(Y); + A5.CleanUp(); B5.CleanUp(); + + cout << "ColumnVector\n"; + ColumnVector A6(10), B6(10); + for (i=0; i<10; i++) + { A6[i] = i+100; B6(i+1) = i+100; } + X = A6 - B6; Print(X); Y = X; + for (i=0; i<10; i++) + { + X.element(i,0) = A6.element(i) - B6[i]; + Y.element(i,0) = ((const ColumnVector&)A6)[i] - B6[i]; + } + Print(X); Print(Y); + A6.CleanUp(); B6.CleanUp(); + + cout << "BandMatrix\n"; + BandMatrix A7(55,10, 5), B7(55, 10, 5); + for (i=0; i<55; i++) for (j=my_max(0,i-10); j<=my_min(54,i+5); j++) + { A7[i][j] = i+100*j; B7(i+1,j+1) = i+100*j; } + X = A7 - B7; Print(X); Y = X; + for (i=0; i<55; i++) for (j=my_max(0,i-10); j<=my_min(54,i+5); j++) + { + X.element(i,j) = A7.element(i,j) - B7[i][j]; + Y.element(i,j) = ((const BandMatrix&)A7)[i][j] - B7[i][j]; + } + Print(X); Print(Y); + A7.CleanUp(); B7.CleanUp(); + + cout << "UpperBandMatrix\n"; + UpperBandMatrix A8(80,15), B8(80,15); + for (i=0; i<80; i++) for (j=i; j<=my_min(79,i+15); j++) + { A8[i][j] = i+100*j; B8(i+1,j+1) = i+100*j; } + X = A8 - B8; Print(X); Y = X; + for (i=0; i<80; i++) for (j=i; j<=my_min(79,i+15); j++) + { + X.element(i,j) = A8.element(i,j) - B8[i][j]; + Y.element(i,j) = ((const UpperBandMatrix&)A8)[i][j] - B8[i][j]; + } + Print(X); Print(Y); + A8.CleanUp(); B8.CleanUp(); + + cout << "LowerBandMatrix\n"; + LowerBandMatrix A9(75,27), B9(75,27); + for (i=0; i<75; i++) for (j=my_max(0,i-27); j<=i; j++) + { A9[i][j] = i+100*j; B9(i+1,j+1) = i+100*j; } + X = A9 - B9; Print(X); Y = X; + for (i=0; i<75; i++) for (j=my_max(0,i-27); j<=i; j++) + { + X.element(i,j) = A9.element(i,j) - B9[i][j]; + Y.element(i,j) = ((const LowerBandMatrix&)A9)[i][j] - B9[i][j]; + } + Print(X); Print(Y); + A9.CleanUp(); B9.CleanUp(); + + cout << "SymmetricBandMatrix\n"; + SymmetricBandMatrix Aa(69,15), Ba(69,15); + for (i=0; i<69; i++) for (j=my_max(0,i-15); j<=i; j++) + { Aa[i][j] = i+100*j; Ba(i+1,j+1) = i+100*j; } + X = Aa - Ba; Print(X); Y = X; + for (i=0; i<69; i++) for (j=my_max(0,i-15); j<=i; j++) + { + X.element(i,j) = Aa.element(i,j) - Ba[i][j]; + Y.element(i,j) = ((const SymmetricBandMatrix&)Aa)[i][j] - Ba[i][j]; + } + Print(X); Print(Y); + Aa.CleanUp(); Ba.CleanUp(); + + +} + + +#else + +void trymatk() +{ + Tracer et("Twentieth test of Matrix package"); + Tracer::PrintTrace(); + // test C subscript package + cout << "C subscripts not enabled, not tested\n\n"; +} + +#endif diff --git a/3rdparty/newmat/tmtl.cpp b/3rdparty/newmat/tmtl.cpp new file mode 100644 index 0000000..37bd7c3 --- /dev/null +++ b/3rdparty/newmat/tmtl.cpp @@ -0,0 +1,198 @@ + +#define WANT_STREAM + +#define WANT_MATH + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + +// test maxima and minima + +Real TestMax(const GenericMatrix& GM) +{ + Matrix M = GM; + ColumnVector CV = GM.AsColumn(); + + int c, i, j, k; int n = CV.Nrows(), nr = M.Nrows(), nc = M.Ncols(); + Real x1, x2, x3; + + MatrixBandWidth mbw = GM.BandWidth(); + int u = mbw.Upper(); int l = mbw.Lower(); + bool IsBandMatrix = u > 0 && l > 0 && !(u == 0 && l == 0); + + x1 = GM.MaximumAbsoluteValue(); + x2 = GM.MaximumAbsoluteValue1(i); + if (fabs(CV(i)) != x2) return 1.1; + x3 = GM.MaximumAbsoluteValue2(i,j); + if (fabs(M(i,j)) != x3) return 1.2; + if (x3 != x1) return 1.3; + if (x2 != x1) return 1.4; + c = 0; + for (k = 1; k <= n; k++) + { + Real cvk = fabs(CV(k)); + if (x1 <= cvk) { if (x1 < cvk) return 1.5; else c++; } + } + if (c == 0) return 1.6; + + + x1 = GM.MinimumAbsoluteValue(); + x2 = GM.MinimumAbsoluteValue1(i); + if (fabs(CV(i)) != x2) return 2.1; + x3 = GM.MinimumAbsoluteValue2(i,j); + if (fabs(M(i,j)) != x3) return 2.2; + if (x3 != x1) return 2.3; + if (x2 != CV.MinimumAbsoluteValue()) return 2.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = fabs(M(i,j)); + if (x1 >= mij) { if (x1 > mij) return 2.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = fabs(CV(k)); + if (x1 >= cvk) { if (x1 > cvk) return 2.52; else c++; } + } + } + if (c == 0) return 2.6; + + x1 = GM.Maximum(); + x2 = GM.Maximum1(i); + if (CV(i) != x2) return 3.1; + x3 = GM.Maximum2(i,j); + if (M(i,j) != x3) return 3.2; + if (x3 != x1) return 3.3; + if (x2 != CV.Maximum()) return 3.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = M(i,j); + if (x1 <= mij) { if (x1 < mij) return 3.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = CV(k); + if (x1 <= cvk) { if (x1 < cvk) return 3.52; else c++; } + } + } + if (c == 0) return 3.6; + + x1 = GM.Minimum(); + x2 = GM.Minimum1(i); + if (CV(i) != x2) return 4.1; + x3 = GM.Minimum2(i,j); + if (M(i,j) != x3) return 4.2; + if (x3 != x1) return 4.3; + if (x2 != CV.Minimum()) return 4.4; + c = 0; + if (IsBandMatrix) + { + for (i = 1; i <= nr; i++) for (j = 1; j <= nc; j++) + if (i - j <= l && j - i <= u) + { + Real mij = M(i,j); + if (x1 >= mij) { if (x1 > mij) return 4.51; else c++; } + } + } + else + { + for (k = 1; k <= n; k++) + { + Real cvk = CV(k); + if (x1 >= cvk) { if (x1 > cvk) return 4.52; else c++; } + } + } + if (c == 0) return 4.6; + + return 0; + +} + + +void trymatl() +{ + Tracer et("Twenty first test of Matrix package"); + Tracer::PrintTrace(); + + Matrix M(4, 4); + M << 1.5 << 1.0 << -4.0 << 4.5 + << 3.5 << 7.0 << 2.0 << -1.0 + << -1.5 << 7.5 << -6.0 << 5.0 + << 0.5 << -8.0 << 5.5 << 4.0; + UpperTriangularMatrix UM; UM << M; + LowerTriangularMatrix LM; LM << -M; + SymmetricMatrix SM; SM << (UM + UM.t()); + BandMatrix BM(4, 1, 2); BM.Inject(M); + DiagonalMatrix DM; DM << M; + SymmetricBandMatrix SBM(4,1); SBM.Inject(M); + RowVector Test(28); int k = 0; + + // tests for different shapes + Test(++k) = TestMax(GenericMatrix(M)); + Test(++k) = TestMax(GenericMatrix(UM)); + Test(++k) = TestMax(GenericMatrix(LM)); + Test(++k) = TestMax(GenericMatrix(SM)); + Test(++k) = TestMax(GenericMatrix(DM)); + Test(++k) = TestMax(GenericMatrix(BM)); + Test(++k) = TestMax(GenericMatrix(SBM)); + + // tests for constant matrices - don't put non-zeros in corners of BM + Matrix MX(4,4); + MX = 1; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + MX = 0; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + MX = -1; Test(++k) = TestMax(GenericMatrix(MX)); + BM.Inject(MX); Test(++k) = TestMax(GenericMatrix(BM)); + + // test for non-square + MX = M | (2 * M).t(); Test(++k) = TestMax(GenericMatrix(MX)); + + // test on row and column vector + RowVector RV(6); + RV << 1 << 3 << -5 << 2 << -4 << 3; + Test(++k) = TestMax(GenericMatrix(RV)); + Test(++k) = TestMax(GenericMatrix(RV.t())); + + // test for function form + Test(++k) = (MaximumAbsoluteValue(RV) - 5); + Test(++k) = (MinimumAbsoluteValue(RV) - 1); + Test(++k) = (Maximum(RV) - 3); + Test(++k) = (Minimum(RV) + 5); + Test(++k) = (MaximumAbsoluteValue(-RV) - 5); + Test(++k) = (MinimumAbsoluteValue(-RV) - 1); + Test(++k) = (Maximum(-RV) - 5); + Test(++k) = (Minimum(-RV) + 3); + + // test formulae + RowVector RV2(6); + RV2 << 2 << 8 << 1 << 9 << 3 << -1; + Test(++k) = (MaximumAbsoluteValue(RV+RV2) - 11); + Test(++k) = (MinimumAbsoluteValue(RV+RV2) - 1); + Test(++k) = (Maximum(RV+RV2) - 11); + Test(++k) = (Minimum(RV+RV2) + 4); + + + Print(Test); +} + diff --git a/3rdparty/newmat/tmtm.cpp b/3rdparty/newmat/tmtm.cpp new file mode 100644 index 0000000..0e80e98 --- /dev/null +++ b/3rdparty/newmat/tmtm.cpp @@ -0,0 +1,222 @@ + +#define WANT_STREAM + +#define WANT_MATH + +#include "newmat.h" + +#include "tmt.h" + +#ifdef use_namespace +using namespace NEWMAT; +#endif + + + +// test Kronecker Product + + +void trymatm() +{ + Tracer et("Twenty second test of Matrix package"); + Tracer::PrintTrace(); + + { + Tracer et1("Stage 1"); + + + Matrix A(2,3); + A << 3 << 5 << 2 + << 4 << 1 << 6; + + Matrix B(4,3); + B << 7 << 2 << 9 + << 1 << 3 << 6 + << 4 << 10 << 5 + << 11 << 8 << 12; + + Matrix C(8, 9); + + C.Row(1) << 21 << 6 << 27 << 35 << 10 << 45 << 14 << 4 << 18; + C.Row(2) << 3 << 9 << 18 << 5 << 15 << 30 << 2 << 6 << 12; + C.Row(3) << 12 << 30 << 15 << 20 << 50 << 25 << 8 << 20 << 10; + C.Row(4) << 33 << 24 << 36 << 55 << 40 << 60 << 22 << 16 << 24; + + C.Row(5) << 28 << 8 << 36 << 7 << 2 << 9 << 42 << 12 << 54; + C.Row(6) << 4 << 12 << 24 << 1 << 3 << 6 << 6 << 18 << 36; + C.Row(7) << 16 << 40 << 20 << 4 << 10 << 5 << 24 << 60 << 30; + C.Row(8) << 44 << 32 << 48 << 11 << 8 << 12 << 66 << 48 << 72; + + Matrix AB = KP(A,B) - C; Print(AB); + + IdentityMatrix I1(10); IdentityMatrix I2(15); I2 *= 2; + DiagonalMatrix D = KP(I1, I2) - IdentityMatrix(150) * 2; + Print(D); + } + + { + Tracer et1("Stage 2"); + + UpperTriangularMatrix A(3); + A << 3 << 8 << 5 + << 7 << 2 + << 4; + UpperTriangularMatrix B(4); + B << 4 << 1 << 7 << 2 + << 3 << 9 << 8 + << 1 << 5 + << 6; + + UpperTriangularMatrix C(12); + + C.Row(1) <<12<< 3<<21<< 6 <<32<< 8<<56<<16 <<20<< 5<<35<<10; + C.Row(2) << 9<<27<<24 << 0<<24<<72<<64 << 0<<15<<45<<40; + C.Row(3) << 3<<15 << 0<< 0<< 8<<40 << 0<< 0<< 5<<25; + C.Row(4) <<18 << 0<< 0<< 0<<48 << 0<< 0<< 0<<30; + + C.Row(5) <<28<< 7<<49<<14 << 8<< 2<<14<< 4; + C.Row(6) <<21<<63<<56 << 0<< 6<<18<<16; + C.Row(7) << 7<<35 << 0<< 0<< 2<<10; + C.Row(8) <<42 << 0<< 0<< 0<<12; + + C.Row(9) <<16<< 4<<28<< 8; + C.Row(10) <<12<<36<<32; + C.Row(11) << 4<<20; + C.Row(12) <<24; + + + UpperTriangularMatrix AB = KP(A,B) - C; Print(AB); + + LowerTriangularMatrix BT = B.t(); Matrix N(12,12); + + N.Row(1) <<12 << 0<< 0<< 0 <<32<< 0<< 0<< 0 <<20<< 0<< 0<< 0; + N.Row(2) << 3 << 9<< 0<< 0 << 8<<24<< 0<< 0 << 5<<15<< 0<< 0; + N.Row(3) <<21 <<27<< 3<< 0 <<56<<72<< 8<< 0 <<35<<45<< 5<< 0; + N.Row(4) << 6 <<24<<15<<18 <<16<<64<<40<<48 <<10<<40<<25<<30; + + N.Row(5) << 0 << 0<< 0<< 0 <<28<< 0<< 0<< 0 << 8<< 0<< 0<< 0; + N.Row(6) << 0 << 0<< 0<< 0 << 7<<21<< 0<< 0 << 2<< 6<< 0<< 0; + N.Row(7) << 0 << 0<< 0<< 0 <<49<<63<< 7<< 0 <<14<<18<< 2<< 0; + N.Row(8) << 0 << 0<< 0<< 0 <<14<<56<<35<<42 << 4<<16<<10<<12; + + N.Row(9) << 0 << 0<< 0<< 0 << 0<< 0<< 0<< 0 <<16<< 0<< 0<< 0; + N.Row(10)<< 0 << 0<< 0<< 0 << 0<< 0<< 0<< 0 << 4<<12<< 0<< 0; + N.Row(11)<< 0 << 0<< 0<< 0 << 0<< 0<< 0<< 0 <<28<<36<< 4<< 0; + N.Row(12)<< 0 << 0<< 0<< 0 << 0<< 0<< 0<< 0 << 8<<32<<20<<24; + + Matrix N1 = KP(A, BT); N1 -= N; Print(N1); + AB << KP(A, BT); AB << (AB - N); Print(AB); + BT << KP(A, BT); BT << (BT - N); Print(BT); + + LowerTriangularMatrix AT = A.t(); + N1 = KP(AT, B); N1 -= N.t(); Print(N1); + AB << KP(AT, B); AB << (AB - N.t()); Print(AB); + BT << KP(AT, B); BT << (BT - N.t()); Print(BT); + } + + { + Tracer et1("Stage 3"); + + BandMatrix BMA(6,2,3); + BMA.Row(1) << 5.25 << 4.75 << 2.25 << 1.75; + BMA.Row(2) << 1.25 << 9.75 << 4.50 << 0.25 << 1.50; + BMA.Row(3) << 7.75 << 1.50 << 3.00 << 4.25 << 0.50 << 5.50; + BMA.Row(4) << 2.75 << 9.00 << 8.00 << 3.25 << 3.50; + BMA.Row(5) << 8.75 << 6.25 << 5.00 << 5.75; + BMA.Row(6) << 3.75 << 6.75 << 6.00; + + Matrix A = BMA; + + BandMatrix BMB(4,2,1); + BMB.Row(1) << 4.5 << 9.5; + BMB.Row(2) << 1.5 << 6.0 << 2.0; + BMB.Row(3) << 0.5 << 2.5 << 8.5 << 7.5; + BMB.Row(4) << 3.0 << 4.0 << 6.5; + + Matrix B = BMB; + + BandMatrix BMC = KP(BMA, BMB); + BandMatrix BMC1(24,11,15); + BMC1.Inject(Matrix(KP(BMA, B))); // not directly Band Matrix + Matrix C2 = KP(A, BMB); + Matrix C = KP(A, B); + + Matrix M = C - BMC; Print(M); + M = C - BMC1; Print(M); + M = C - C2; Print(M); + + RowVector X(4); + X(1) = BMC.BandWidth().Lower() - 10; + X(2) = BMC.BandWidth().Upper() - 13; + X(3) = BMC1.BandWidth().Lower() - 11; + X(4) = BMC1.BandWidth().Upper() - 15; + Print(X); + + UpperTriangularMatrix UT; UT << KP(BMA, BMB); + UpperTriangularMatrix UT1; UT1 << (C - UT); Print(UT1); + LowerTriangularMatrix LT; LT << KP(BMA, BMB); + LowerTriangularMatrix LT1; LT1 << (C - LT); Print(LT1); + } + + { + Tracer et1("Stage 4"); + + SymmetricMatrix SM1(4); + SM1.Row(1) << 2; + SM1.Row(2) << 4 << 5; + SM1.Row(3) << 9 << 2 << 1; + SM1.Row(4) << 3 << 6 << 8 << 2; + + SymmetricMatrix SM2(3); + SM2.Row(1) << 3; + SM2.Row(2) << -7 << -6; + SM2.Row(3) << 4 << -2 << -1; + + SymmetricMatrix SM = KP(SM1, SM2); + Matrix M1 = SM1; Matrix M2 = SM2; + Matrix M = KP(SM1, SM2); M -= SM; Print(M); + M = KP(SM1, SM2) - SM; Print(M); + M = KP(M1, SM2) - SM; Print(M); + M = KP(SM1, M2) - SM; Print(M); + M = KP(M1, M2); M -= SM; Print(M); + } + + { + Tracer et1("Stage 5"); + + Matrix A(2,3); + A << 3 << 5 << 2 + << 4 << 1 << 6; + + Matrix B(3,4); + B << 7 << 2 << 9 << 11 + << 1 << 3 << 6 << 8 + << 4 << 10 << 5 << 12; + + RowVector C(2); C << 3 << 7; + ColumnVector D(4); D << 0 << 5 << 13 << 11; + + Matrix M = KP(C * A, B * D) - KP(C, B) * KP(A, D); Print(M); + } + + { + Tracer et1("Stage 6"); + + RowVector A(3), B(5), C(15); + A << 5 << 2 << 4; + B << 3 << 2 << 0 << 1 << 6; + C << 15 << 10 << 0 << 5 << 30 + << 6 << 4 << 0 << 2 << 12 + << 12 << 8 << 0 << 4 << 24; + Matrix N = KP(A, B) - C; Print(N); + N = KP(A.t(), B.t()) - C.t(); Print(N); + N = KP(A.AsDiagonal(), B.AsDiagonal()) - C.AsDiagonal(); Print(N); + } + +} + + + + + + diff --git a/3rdparty/sparse/csparse.cc b/3rdparty/sparse/csparse.cc new file mode 100644 index 0000000..4d74204 --- /dev/null +++ b/3rdparty/sparse/csparse.cc @@ -0,0 +1,2118 @@ +#include +#include +#include +#include + +#include "csparse.h" + +cs *cs_add ( const cs *A, const cs *B, double alpha, double beta ) +/* + Purpose: + + CS_ADD computes C = alpha*A + beta*B for sparse A and B. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, nz = 0, anz, *Cp, *Ci, *Bp, m, n, bnz, *w, values ; + double *x, *Bx, *Cx ; + cs *C ; + if (!A || !B) return (NULL) ; /* check inputs */ + m = A->m ; anz = A->p [A->n] ; + n = B->n ; Bp = B->p ; Bx = B->x ; bnz = Bp [n] ; + w = (int*)cs_calloc (m, sizeof (int)) ; + values = (A->x != NULL) && (Bx != NULL) ; + x = values ? (double*)cs_malloc (m, sizeof (double)) : NULL ; + C = cs_spalloc (m, n, anz + bnz, values, 0) ; + if (!C || !w || (values && !x)) return (cs_done (C, w, x, 0)) ; + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (j = 0 ; j < n ; j++) + { + Cp [j] = nz ; /* column j of C starts here */ + nz = cs_scatter (A, j, alpha, w, x, j+1, C, nz) ; /* alpha*A(:,j)*/ + nz = cs_scatter (B, j, beta, w, x, j+1, C, nz) ; /* beta*B(:,j) */ + if (values) for (p = Cp [j] ; p < nz ; p++) Cx [p] = x [Ci [p]] ; + } + Cp [n] = nz ; /* finalize the last column of C */ + cs_sprealloc (C, 0) ; /* remove extra space from C */ + return (cs_done (C, w, x, 1)) ; /* success; free workspace, return C */ +} +static int cs_wclear (int mark, int lemax, int *w, int n) +/* + Purpose: + + CS_WCLEAR clears W. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int k ; + if (mark < 2 || (mark + lemax < 0)) + { + for (k = 0 ; k < n ; k++) if (w [k] != 0) w [k] = 1 ; + mark = 2 ; + } + return (mark) ; /* at this point, w [0..n-1] < mark holds */ +} + +/* keep off-diagonal entries; drop diagonal entries */ +static int cs_diag (int i, int j, double aij, void *other) +{ + return (i != j); +} + +/* p = amd(A+A') if symmetric is true, or amd(A'A) otherwise */ +int *cs_amd ( const cs *A, int order ) +/* + Purpose: + + CS_AMD carries out the approximate minimum degree algorithm. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. + + Parameters: + + Input, int ORDER: + -1:natural, + 0:Cholesky, + 1:LU, + 2:QR +*/ +{ + cs *C, *A2, *AT ; + int *Cp, *Ci, *last, *ww, *len, *nv, *next, *P, *head, *elen, *degree, *w, + *hhead, *ATp, *ATi, d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1, + k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi, + ok, cnz, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, n, m ; + unsigned int h ; + /* --- Construct matrix C ----------------------------------------------- */ + if (!A || order < 0) return (NULL) ; /* check inputs; quick return */ + AT = cs_transpose (A, 0) ; /* compute A' */ + if (!AT) return (NULL) ; + m = A->m ; n = A->n ; + dense = (int)CS_MAX (16, 10 * sqrt ((double) n)) ; /* find dense threshold */ + dense = CS_MIN (n-2, dense) ; + if (order == 0 && n == m) + { + C = cs_add (A, AT, 0, 0) ; /* C = A+A' */ + } + else if (order == 1) + { + ATp = AT->p ; /* drop dense columns from AT */ + ATi = AT->i ; + for (p2 = 0, j = 0 ; j < m ; j++) + { + p = ATp [j] ; /* column j of AT starts here */ + ATp [j] = p2 ; /* new column j starts here */ + if (ATp [j+1] - p > dense) continue ; /* skip dense col j */ + for ( ; p < ATp [j+1] ; p++) ATi [p2++] = ATi [p] ; + } + ATp [m] = p2 ; /* finalize AT */ + A2 = cs_transpose (AT, 0) ; /* A2 = AT' */ + C = A2 ? cs_multiply (AT, A2) : NULL ; /* C=A'*A with no dense rows */ + cs_spfree (A2) ; + } + else + { + C = cs_multiply (AT, A) ; /* C=A'*A */ + } + cs_spfree (AT) ; + if (!C) return (NULL) ; + P = (int*)cs_malloc (n+1, sizeof (int)) ; /* allocate result */ + ww = (int*)cs_malloc (8*(n+1), sizeof (int)) ;/* get workspace */ + len = ww ; nv = ww + (n+1) ; next = ww + 2*(n+1) ; + head = ww + 3*(n+1) ; elen = ww + 4*(n+1) ; degree = ww + 5*(n+1) ; + w = ww + 6*(n+1) ; hhead = ww + 7*(n+1) ; + last = P ; /* use P as workspace for last */ + cs_fkeep (C, &cs_diag, NULL) ; /* drop diagonal entries */ + Cp = C->p ; + cnz = Cp [n] ; + if (!cs_sprealloc (C, cnz+cnz/5+2*n)) return (cs_idone (P, C, ww, 0)) ; + /* --- Initialize quotient graph ---------------------------------------- */ + for (k = 0 ; k < n ; k++) len [k] = Cp [k+1] - Cp [k] ; + len [n] = 0 ; + nzmax = C->nzmax ; + Ci = C->i ; + for (i = 0 ; i <= n ; i++) + { + head [i] = -1 ; /* degree list i is empty */ + last [i] = -1 ; + next [i] = -1 ; + hhead [i] = -1 ; /* hash list i is empty */ + nv [i] = 1 ; /* node i is just one node */ + w [i] = 1 ; /* node i is alive */ + elen [i] = 0 ; /* Ek of node i is empty */ + degree [i] = len [i] ; /* degree of node i */ + } + mark = cs_wclear (0, 0, w, n) ; /* clear w */ + elen [n] = -2 ; /* n is a dead element */ + Cp [n] = -1 ; /* n is a root of assembly tree */ + w [n] = 0 ; /* n is a dead element */ + /* --- Initialize degree lists ------------------------------------------ */ + for (i = 0 ; i < n ; i++) + { + d = degree [i] ; + if (d == 0) /* node i is empty */ + { + elen [i] = -2 ; /* element i is dead */ + nel++ ; + Cp [i] = -1 ; /* i is a root of assemby tree */ + w [i] = 0 ; + } + else if (d > dense) /* node i is dense */ + { + nv [i] = 0 ; /* absorb i into element n */ + elen [i] = -1 ; /* node i is dead */ + nel++ ; + Cp [i] = CS_FLIP (n) ; + nv [n]++ ; + } + else + { + if (head [d] != -1) last [head [d]] = i ; + next [i] = head [d] ; /* put node i in degree list d */ + head [d] = i ; + } + } + while (nel < n) /* while (selecting pivots) do */ + { + /* --- Select node of minimum approximate degree -------------------- */ + for (k = -1 ; mindeg < n && (k = head [mindeg]) == -1 ; mindeg++) ; + if (next [k] != -1) last [next [k]] = -1 ; + head [mindeg] = next [k] ; /* remove k from degree list */ + elenk = elen [k] ; /* elenk = |Ek| */ + nvk = nv [k] ; /* # of nodes k represents */ + nel += nvk ; /* nv[k] nodes of A eliminated */ + /* --- Garbage collection ------------------------------------------- */ + if (elenk > 0 && cnz + mindeg >= nzmax) + { + for (j = 0 ; j < n ; j++) + { + if ((p = Cp [j]) >= 0) /* j is a live node or element */ + { + Cp [j] = Ci [p] ; /* save first entry of object */ + Ci [p] = CS_FLIP (j) ; /* first entry is now CS_FLIP(j) */ + } + } + for (q = 0, p = 0 ; p < cnz ; ) /* scan all of memory */ + { + if ((j = CS_FLIP (Ci [p++])) >= 0) /* found object j */ + { + Ci [q] = Cp [j] ; /* restore first entry of object */ + Cp [j] = q++ ; /* new pointer to object j */ + for (k3 = 0 ; k3 < len [j]-1 ; k3++) Ci [q++] = Ci [p++] ; + } + } + cnz = q ; /* Ci [cnz...nzmax-1] now free */ + } + /* --- Construct new element ---------------------------------------- */ + dk = 0 ; + nv [k] = -nvk ; /* flag k as in Lk */ + p = Cp [k] ; + pk1 = (elenk == 0) ? p : cnz ; /* do in place if elen[k] == 0 */ + pk2 = pk1 ; + for (k1 = 1 ; k1 <= elenk + 1 ; k1++) + { + if (k1 > elenk) + { + e = k ; /* search the nodes in k */ + pj = p ; /* list of nodes starts at Ci[pj]*/ + ln = len [k] - elenk ; /* length of list of nodes in k */ + } + else + { + e = Ci [p++] ; /* search the nodes in e */ + pj = Cp [e] ; + ln = len [e] ; /* length of list of nodes in e */ + } + for (k2 = 1 ; k2 <= ln ; k2++) + { + i = Ci [pj++] ; + if ((nvi = nv [i]) <= 0) continue ; /* node i dead, or seen */ + dk += nvi ; /* degree[Lk] += size of node i */ + nv [i] = -nvi ; /* negate nv[i] to denote i in Lk*/ + Ci [pk2++] = i ; /* place i in Lk */ + if (next [i] != -1) last [next [i]] = last [i] ; + if (last [i] != -1) /* remove i from degree list */ + { + next [last [i]] = next [i] ; + } + else + { + head [degree [i]] = next [i] ; + } + } + if (e != k) + { + Cp [e] = CS_FLIP (k) ; /* absorb e into k */ + w [e] = 0 ; /* e is now a dead element */ + } + } + if (elenk != 0) cnz = pk2 ; /* Ci [cnz...nzmax] is free */ + degree [k] = dk ; /* external degree of k - |Lk\i| */ + Cp [k] = pk1 ; /* element k is in Ci[pk1..pk2-1] */ + len [k] = pk2 - pk1 ; + elen [k] = -2 ; /* k is now an element */ + /* --- Find set differences ----------------------------------------- */ + mark = cs_wclear (mark, lemax, w, n) ; /* clear w if necessary */ + for (pk = pk1 ; pk < pk2 ; pk++) /* scan 1: find |Le\Lk| */ + { + i = Ci [pk] ; + if ((eln = elen [i]) <= 0) continue ;/* skip if elen[i] empty */ + nvi = -nv [i] ; /* nv [i] was negated */ + wnvi = mark - nvi ; + for (p = Cp [i] ; p <= Cp [i] + eln - 1 ; p++) /* scan Ei */ + { + e = Ci [p] ; + if (w [e] >= mark) + { + w [e] -= nvi ; /* decrement |Le\Lk| */ + } + else if (w [e] != 0) /* ensure e is a live element */ + { + w [e] = degree [e] + wnvi ; /* 1st time e seen in scan 1 */ + } + } + } + /* --- Degree update ------------------------------------------------ */ + for (pk = pk1 ; pk < pk2 ; pk++) /* scan2: degree update */ + { + i = Ci [pk] ; /* consider node i in Lk */ + p1 = Cp [i] ; + p2 = p1 + elen [i] - 1 ; + pn = p1 ; + for (h = 0, d = 0, p = p1 ; p <= p2 ; p++) /* scan Ei */ + { + e = Ci [p] ; + if (w [e] != 0) /* e is an unabsorbed element */ + { + dext = w [e] - mark ; /* dext = |Le\Lk| */ + if (dext > 0) + { + d += dext ; /* sum up the set differences */ + Ci [pn++] = e ; /* keep e in Ei */ + h += e ; /* compute the hash of node i */ + } + else + { + Cp [e] = CS_FLIP (k) ; /* aggressive absorb. e->k */ + w [e] = 0 ; /* e is a dead element */ + } + } + } + elen [i] = pn - p1 + 1 ; /* elen[i] = |Ei| */ + p3 = pn ; + p4 = p1 + len [i] ; + for (p = p2 + 1 ; p < p4 ; p++) /* prune edges in Ai */ + { + j = Ci [p] ; + if ((nvj = nv [j]) <= 0) continue ; /* node j dead or in Lk */ + d += nvj ; /* degree(i) += |j| */ + Ci [pn++] = j ; /* place j in node list of i */ + h += j ; /* compute hash for node i */ + } + if (d == 0) /* check for mass elimination */ + { + Cp [i] = CS_FLIP (k) ; /* absorb i into k */ + nvi = -nv [i] ; + dk -= nvi ; /* |Lk| -= |i| */ + nvk += nvi ; /* |k| += nv[i] */ + nel += nvi ; + nv [i] = 0 ; + elen [i] = -1 ; /* node i is dead */ + } + else + { + degree [i] = CS_MIN (degree [i], d) ; /* update degree(i) */ + Ci [pn] = Ci [p3] ; /* move first node to end */ + Ci [p3] = Ci [p1] ; /* move 1st el. to end of Ei */ + Ci [p1] = k ; /* add k as 1st element in of Ei */ + len [i] = pn - p1 + 1 ; /* new len of adj. list of node i */ + h %= n ; /* finalize hash of i */ + next [i] = hhead [h] ; /* place i in hash bucket */ + hhead [h] = i ; + last [i] = h ; /* save hash of i in last[i] */ + } + } /* scan2 is done */ + degree [k] = dk ; /* finalize |Lk| */ + lemax = CS_MAX (lemax, dk) ; + mark = cs_wclear (mark+lemax, lemax, w, n) ; /* clear w */ + /* --- Supernode detection ------------------------------------------ */ + for (pk = pk1 ; pk < pk2 ; pk++) + { + i = Ci [pk] ; + if (nv [i] >= 0) continue ; /* skip if i is dead */ + h = last [i] ; /* scan hash bucket of node i */ + i = hhead [h] ; + hhead [h] = -1 ; /* hash bucket will be empty */ + for ( ; i != -1 && next [i] != -1 ; i = next [i], mark++) + { + ln = len [i] ; + eln = elen [i] ; + for (p = Cp[i]+1 ; p <= Cp[i]+ln-1 ; p++) w [Ci [p]] = mark ; + jlast = i ; + for (j = next [i] ; j != -1 ; ) /* compare i with all j */ + { + ok = (len [j] == ln) && (elen [j] == eln) ; + for (p = Cp [j] + 1 ; ok && p <= Cp [j] + ln - 1 ; p++) + { + if (w [Ci [p]] != mark) ok = 0 ; /* compare i and j*/ + } + if (ok) /* i and j are identical */ + { + Cp [j] = CS_FLIP (i) ; /* absorb j into i */ + nv [i] += nv [j] ; + nv [j] = 0 ; + elen [j] = -1 ; /* node j is dead */ + j = next [j] ; /* delete j from hash bucket */ + next [jlast] = j ; + } + else + { + jlast = j ; /* j and i are different */ + j = next [j] ; + } + } + } + } + /* --- Finalize new element------------------------------------------ */ + for (p = pk1, pk = pk1 ; pk < pk2 ; pk++) /* finalize Lk */ + { + i = Ci [pk] ; + if ((nvi = -nv [i]) <= 0) continue ;/* skip if i is dead */ + nv [i] = nvi ; /* restore nv[i] */ + d = degree [i] + dk - nvi ; /* compute external degree(i) */ + d = CS_MIN (d, n - nel - nvi) ; + if (head [d] != -1) last [head [d]] = i ; + next [i] = head [d] ; /* put i back in degree list */ + last [i] = -1 ; + head [d] = i ; + mindeg = CS_MIN (mindeg, d) ; /* find new minimum degree */ + degree [i] = d ; + Ci [p++] = i ; /* place i in Lk */ + } + nv [k] = nvk ; /* # nodes absorbed into k */ + if ((len [k] = p-pk1) == 0) /* length of adj list of element k*/ + { + Cp [k] = -1 ; /* k is a root of the tree */ + w [k] = 0 ; /* k is now a dead element */ + } + if (elenk != 0) cnz = p ; /* free unused space in Lk */ + } + /* --- Postordering ----------------------------------------------------- */ + for (i = 0 ; i < n ; i++) Cp [i] = CS_FLIP (Cp [i]) ;/* fix assembly tree */ + for (j = 0 ; j <= n ; j++) head [j] = -1 ; + for (j = n ; j >= 0 ; j--) /* place unordered nodes in lists */ + { + if (nv [j] > 0) continue ; /* skip if j is an element */ + next [j] = head [Cp [j]] ; /* place j in list of its parent */ + head [Cp [j]] = j ; + } + for (e = n ; e >= 0 ; e--) /* place elements in lists */ + { + if (nv [e] <= 0) continue ; /* skip unless e is an element */ + if (Cp [e] != -1) + { + next [e] = head [Cp [e]] ; /* place e in list of its parent */ + head [Cp [e]] = e ; + } + } + for (k = 0, i = 0 ; i <= n ; i++) /* postorder the assembly tree */ + { + if (Cp [i] == -1) k = cs_tdfs (i, k, head, next, P, w) ; + } + return (cs_idone (P, C, ww, 1)) ; +} + +/* compute nonzero pattern of L(k,:) */ +static +int cs_ereach (const cs *A, int k, const int *parent, int *s, int *w, + double *x, int top) +{ + int i, p, len, *Ap = A->p, *Ai = A->i ; + double *Ax = A->x ; + for (p = Ap [k] ; p < Ap [k+1] ; p++) /* get pattern of L(k,:) */ + { + i = Ai [p] ; /* A(i,k) is nonzero */ + if (i > k) continue ; /* only use upper triangular part of A */ + x [i] = Ax [p] ; /* x(i) = A(i,k) */ + for (len = 0 ; w [i] != k ; i = parent [i]) /* traverse up etree */ + { + s [len++] = i ; /* L(k,i) is nonzero */ + w [i] = k ; /* mark i as visited */ + } + while (len > 0) s [--top] = s [--len] ; /* push path onto stack */ + } + return (top) ; /* s [top..n-1] contains pattern of L(k,:)*/ +} + +/* L = chol (A, [Pinv parent cp]), Pinv is optional */ +csn *cs_chol (const cs *A, const css *S) +{ + double d, lki, *Lx, *x ; + int top, i, p, k, n, *Li, *Lp, *cp, *Pinv, *w, *s, *c, *parent ; + cs *L, *C, *E ; + csn *N ; + if (!A || !S || !S->cp || !S->parent) return (NULL) ; /* check inputs */ + n = A->n ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + w = (int*)cs_malloc (3*n, sizeof (int)) ; s = w + n, c = w + 2*n ; + x = (double*)cs_malloc (n, sizeof (double)) ; + cp = S->cp ; Pinv = S->Pinv ; parent = S->parent ; + C = Pinv ? cs_symperm (A, Pinv, 1) : ((cs *) A) ; + E = Pinv ? C : NULL ; + if (!N || !w || !x || !C) return (cs_ndone (N, E, w, x, 0)) ; + N->L = L = cs_spalloc (n, n, cp [n], 1, 0) ; + if (!L) return (cs_ndone (N, E, w, x, 0)) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; + for (k = 0 ; k < n ; k++) + { + /* --- Nonzero pattern of L(k,:) ------------------------------------ */ + Lp [k] = c [k] = cp [k] ; /* column k of L starts here */ + x [k] = 0 ; /* x (0:k) is now zero */ + w [k] = k ; /* mark node k as visited */ + top = cs_ereach (C, k, parent, s, w, x, n) ; /* find row k of L*/ + d = x [k] ; /* d = C(k,k) */ + x [k] = 0 ; /* clear workspace for k+1st iteration */ + /* --- Triangular solve --------------------------------------------- */ + for ( ; top < n ; top++) /* solve L(0:k-1,0:k-1) * x = C(:,k) */ + { + i = s [top] ; /* s [top..n-1] is pattern of L(k,:) */ + lki = x [i] / Lx [Lp [i]] ; /* L(k,i) = x (i) / L(i,i) */ + x [i] = 0 ; /* clear workspace for k+1st iteration */ + for (p = Lp [i] + 1 ; p < c [i] ; p++) + { + x [Li [p]] -= Lx [p] * lki ; + } + d -= lki * lki ; /* d = d - L(k,i)*L(k,i) */ + p = c [i]++ ; + Li [p] = k ; /* store L(k,i) in column i */ + Lx [p] = lki ; + } + /* --- Compute L(k,k) ----------------------------------------------- */ + if (d <= 0) return (cs_ndone (N, E, w, x, 0)) ; /* not pos def */ + p = c [k]++ ; + Li [p] = k ; /* store L(k,k) = sqrt (d) in column k */ + Lx [p] = sqrt (d) ; + } + Lp [n] = cp [n] ; /* finalize L */ + return (cs_ndone (N, E, w, x, 1)) ; /* success: free E,w,x; return N */ +} + + +/* x=A\b where A is symmetric positive definite; b overwritten with solution */ +int cs_cholsol (const cs *A, double *b, int order) +{ + double *x ; + css *S ; + csn *N ; + int n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + S = cs_schol (A, order) ; /* ordering and symbolic analysis */ + N = cs_chol (A, S) ; /* numeric Cholesky factorization */ + x = (double*)cs_malloc (n, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (n, S->Pinv, b, x) ; /* x = P*b */ + cs_lsolve (N->L, x) ; /* x = L\x */ + cs_ltsolve (N->L, x) ; /* x = L'\x */ + cs_pvec (n, S->Pinv, x, b) ; /* b = P'*x */ + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + return (ok) ; +} + +/* process edge (j,i) of the matrix */ +static void cs_cedge (int j, int i, const int *first, int *maxfirst, int *delta, + int *prevleaf, int *ancestor) +{ + int q, s, sparent, jprev ; + if (i <= j || first [j] <= maxfirst [i]) return ; + maxfirst [i] = first [j] ; /* update max first[j] seen so far */ + jprev = prevleaf [i] ; /* j is a leaf of the ith subtree */ + delta [j]++ ; /* A(i,j) is in the skeleton matrix */ + if (jprev != -1) + { + /* q = least common ancestor of jprev and j */ + for (q = jprev ; q != ancestor [q] ; q = ancestor [q]) ; + for (s = jprev ; s != q ; s = sparent) + { + sparent = ancestor [s] ; /* path compression */ + ancestor [s] = q ; + } + delta [q]-- ; /* decrement to account for overlap in q */ + } + prevleaf [i] = j ; /* j is now previous leaf of ith subtree */ +} + +/* colcount = column counts of LL'=A or LL'=A'A, given parent & post ordering */ +int *cs_counts (const cs *A, const int *parent, const int *post, int ata) +{ + int i, j, k, p, n, m, ii, s, *ATp, *ATi, *maxfirst, *prevleaf, *ancestor, + *head = NULL, *next = NULL, *colcount, *w, *first, *delta ; + cs *AT ; + if (!A || !parent || !post) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; + s = 4*n + (ata ? (n+m+1) : 0) ; + w = (int*)cs_malloc (s, sizeof (int)) ; first = w+3*n ; /* get workspace */ + ancestor = w ; maxfirst = w+n ; prevleaf = w+2*n ; + delta = colcount = (int*)cs_malloc (n, sizeof (int)) ; /* allocate result */ + AT = cs_transpose (A, 0) ; + if (!AT || !colcount || !w) return (cs_idone (colcount, AT, w, 1)) ; + for (k = 0 ; k < s ; k++) w [k] = -1 ; /* clear workspace w [0..s-1] */ + for (k = 0 ; k < n ; k++) /* find first [j] */ + { + j = post [k] ; + delta [j] = (first [j] == -1) ? 1 : 0 ; /* delta[j]=1 if j is a leaf */ + for ( ; j != -1 && first [j] == -1 ; j = parent [j]) first [j] = k ; + } + ATp = AT->p ; ATi = AT->i ; + if (ata) + { + head = w+4*n ; next = w+5*n+1 ; + for (k = 0 ; k < n ; k++) w [post [k]] = k ; /* invert post */ + for (i = 0 ; i < m ; i++) + { + k = n ; /* k = least postordered column in row i */ + for (p = ATp [i] ; p < ATp [i+1] ; p++) k = CS_MIN (k, w [ATi [p]]); + next [i] = head [k] ; /* place row i in link list k */ + head [k] = i ; + } + } + for (i = 0 ; i < n ; i++) ancestor [i] = i ; /* each node in its own set */ + for (k = 0 ; k < n ; k++) + { + j = post [k] ; /* j is the kth node in postordered etree */ + if (parent [j] != -1) delta [parent [j]]-- ; /* j is not a root */ + if (ata) + { + for (ii = head [k] ; ii != -1 ; ii = next [ii]) + { + for (p = ATp [ii] ; p < ATp [ii+1] ; p++) + cs_cedge (j, ATi [p], first, maxfirst, delta, prevleaf, + ancestor) ; + } + } + else + { + for (p = ATp [j] ; p < ATp [j+1] ; p++) + cs_cedge (j, ATi [p], first, maxfirst, delta, prevleaf, + ancestor) ; + } + if (parent [j] != -1) ancestor [j] = parent [j] ; + } + for (j = 0 ; j < n ; j++) /* sum up delta's of each child */ + { + if (parent [j] != -1) colcount [parent [j]] += colcount [j] ; + } + return (cs_idone (colcount, AT, w, 1)) ; /* success: free workspace */ +} + +/* p [0..n] = cumulative sum of c [0..n-1], and then copy p [0..n-1] into c */ +int cs_cumsum (int *p, int *c, int n) +{ + int i, nz = 0 ; + if (!p || !c) return (-1) ; /* check inputs */ + for (i = 0 ; i < n ; i++) + { + p [i] = nz ; + nz += c [i] ; + c [i] = p [i] ; + } + p [n] = nz ; + return (nz) ; /* return sum (c [0..n-1]) */ +} + +/* depth-first-search of the graph of a matrix, starting at node j */ +int cs_dfs (int j, cs *L, int top, int *xi, int *pstack, const int *Pinv) +{ + int i, p, p2, done, jnew, head = 0, *Lp, *Li ; + if (!L || !xi || !pstack) return (-1) ; + Lp = L->p ; Li = L->i ; + xi [0] = j ; /* initialize the recursion stack */ + while (head >= 0) + { + j = xi [head] ; /* get j from the top of the recursion stack */ + jnew = Pinv ? (Pinv [j]) : j ; + if (!CS_MARKED(Lp,j)) + { + CS_MARK (Lp,j) ; /* mark node j as visited */ + pstack [head] = (jnew < 0) ? 0 : CS_UNFLIP (Lp [jnew]) ; + } + done = 1 ; /* node j done if no unvisited neighbors */ + p2 = (jnew < 0) ? 0 : CS_UNFLIP (Lp [jnew+1]) ; + for (p = pstack [head] ; p < p2 ; p++) /* examine all neighbors of j */ + { + i = Li [p] ; /* consider neighbor node i */ + if (CS_MARKED (Lp,i)) continue ; /* skip visited node i */ + pstack [head] = p ; /* pause depth-first search of node j */ + xi [++head] = i ; /* start dfs at node i */ + done = 0 ; /* node j is not done */ + break ; /* break, to start dfs (i) */ + } + if (done) /* depth-first search at node j is done */ + { + head-- ; /* remove j from the recursion stack */ + xi [--top] = j ; /* and place in the output stack */ + } + } + return (top) ; +} + +/* breadth-first search for coarse decomposition (C0,C1,R1 or R0,R3,C3) */ +static int cs_bfs (const cs *A, int n, int *wi, int *wj, int *queue, + const int *imatch, const int *jmatch, int mark) +{ + int *Ap, *Ai, head = 0, tail = 0, j, i, p, j2 ; + cs *C ; + for (j = 0 ; j < n ; j++) /* place all unmatched nodes in queue */ + { + if (imatch [j] >= 0) continue ; /* skip j if matched */ + wj [j] = 0 ; /* j in set C0 (R0 if transpose) */ + queue [tail++] = j ; /* place unmatched col j in queue */ + } + if (tail == 0) return (1) ; /* quick return if no unmatched nodes */ + C = (mark == 1) ? ((cs *) A) : cs_transpose (A, 0) ; + if (!C) return (0) ; /* bfs of C=A' to find R0,R3,C3 */ + Ap = C->p ; Ai = C->i ; + while (head < tail) /* while queue is not empty */ + { + j = queue [head++] ; /* get the head of the queue */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (wi [i] >= 0) continue ; /* skip if i is marked */ + wi [i] = mark ; /* i in set R1 (C3 if transpose) */ + j2 = jmatch [i] ; /* traverse alternating path to j2 */ + if (wj [j2] >= 0) continue ;/* skip j2 if it is marked */ + wj [j2] = mark ; /* j2 in set C1 (R3 if transpose) */ + queue [tail++] = j2 ; /* add j2 to queue */ + } + } + if (mark != 1) cs_spfree (C) ; /* free A' if it was created */ + return (1) ; +} + +/* collect matched rows and columns into P and Q */ +static void cs_matched (int m, const int *wi, const int *jmatch, int *P, int *Q, + int *cc, int *rr, int set, int mark) +{ + int kc = cc [set], i ; + int kr = rr [set-1] ; + for (i = 0 ; i < m ; i++) + { + if (wi [i] != mark) continue ; /* skip if i is not in R set */ + P [kr++] = i ; + Q [kc++] = jmatch [i] ; + } + cc [set+1] = kc ; + rr [set] = kr ; +} + + +static void cs_unmatched (int m, const int *wi, int *P, int *rr, int set) +/* + Purpose: + + CS_UNMATCHED collects unmatched rows into the permutation vector P. +*/ +{ + int i, kr = rr [set] ; + for (i = 0 ; i < m ; i++) if (wi [i] == 0) P [kr++] = i ; + rr [set+1] = kr ; +} + +/* return 1 if row i is in R2 */ +static int cs_rprune (int i, int j, double aij, void *other) +{ + int *rr = (int *) other ; + return (i >= rr [1] && i < rr [2]) ; +} + +/* Given A, find coarse dmperm */ +csd *cs_dmperm (const cs *A) +{ + int m, n, i, j, k, p, cnz, nc, *jmatch, *imatch, *wi, *wj, *Pinv, *Cp, *Ci, + *Ps, *Rs, nb1, nb2, *P, *Q, *cc, *rr, *R, *S, ok ; + cs *C ; + csd *D, *scc ; + /* --- Maximum matching ------------------------------------------------- */ + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; + D = cs_dalloc (m, n) ; /* allocate result */ + if (!D) return (NULL) ; + P = D->P ; Q = D->Q ; R = D->R ; S = D->S ; cc = D->cc ; rr = D->rr ; + jmatch = cs_maxtrans (A) ; /* max transversal */ + imatch = jmatch + m ; /* imatch = inverse of jmatch */ + if (!jmatch) return (cs_ddone (D, NULL, jmatch, 0)) ; + /* --- Coarse decomposition --------------------------------------------- */ + wi = R ; wj = S ; /* use R and S as workspace */ + for (j = 0 ; j < n ; j++) wj [j] = -1 ; /* unmark all cols for bfs */ + for (i = 0 ; i < m ; i++) wi [i] = -1 ; /* unmark all rows for bfs */ + cs_bfs (A, n, wi, wj, Q, imatch, jmatch, 1) ; /* find C0, C1, R1 */ + ok = cs_bfs (A, m, wj, wi, P, jmatch, imatch, 3) ; /* find R0, R3, C3 */ + if (!ok) return (cs_ddone (D, NULL, jmatch, 0)) ; + cs_unmatched (n, wj, Q, cc, 0) ; /* unmatched set C0 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 1, 1) ; /* set R1 and C1 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 2, -1) ; /* set R2 and C2 */ + cs_matched (m, wi, jmatch, P, Q, cc, rr, 3, 3) ; /* set R3 and C3 */ + cs_unmatched (m, wi, P, rr, 3) ; /* unmatched set R0 */ + cs_free (jmatch) ; + /* --- Fine decomposition ----------------------------------------------- */ + Pinv = cs_pinv (P, m) ; /* Pinv=P' */ + if (!Pinv) return (cs_ddone (D, NULL, NULL, 0)) ; + C = cs_permute (A, Pinv, Q, 0) ;/* C=A(P,Q) (it will hold A(R2,C2)) */ + cs_free (Pinv) ; + if (!C) return (cs_ddone (D, NULL, NULL, 0)) ; + Cp = C->p ; Ci = C->i ; + nc = cc [3] - cc [2] ; /* delete cols C0, C1, and C3 from C */ + if (cc [2] > 0) for (j = cc [2] ; j <= cc [3] ; j++) Cp [j-cc[2]] = Cp [j] ; + C->n = nc ; + if (rr [2] - rr [1] < m) /* delete rows R0, R1, and R3 from C */ + { + cs_fkeep (C, cs_rprune, rr) ; + cnz = Cp [nc] ; + if (rr [1] > 0) for (p = 0 ; p < cnz ; p++) Ci [p] -= rr [1] ; + } + C->m = nc ; + scc = cs_scc (C) ; /* find strongly-connected components of C*/ + if (!scc) return (cs_ddone (D, C, NULL, 0)) ; + /* --- Combine coarse and fine decompositions --------------------------- */ + Ps = scc->P ; /* C(Ps,Ps) is the permuted matrix */ + Rs = scc->R ; /* kth block is Rs[k]..Rs[k+1]-1 */ + nb1 = scc->nb ; /* # of blocks of A(*/ + for (k = 0 ; k < nc ; k++) wj [k] = Q [Ps [k] + cc [2]] ; /* combine */ + for (k = 0 ; k < nc ; k++) Q [k + cc [2]] = wj [k] ; + for (k = 0 ; k < nc ; k++) wi [k] = P [Ps [k] + rr [1]] ; + for (k = 0 ; k < nc ; k++) P [k + rr [1]] = wi [k] ; + nb2 = 0 ; /* create the fine block partitions */ + R [0] = 0 ; + S [0] = 0 ; + if (cc [2] > 0) nb2++ ; /* leading coarse block A (R1, [C0 C1]) */ + for (k = 0 ; k < nb1 ; k++) /* coarse block A (R2,C2) */ + { + R [nb2] = Rs [k] + rr [1] ; /* A (R2,C2) splits into nb1 fine blocks */ + S [nb2] = Rs [k] + cc [2] ; + nb2++ ; + } + if (rr [2] < m) + { + R [nb2] = rr [2] ; /* trailing coarse block A ([R3 R0], C3) */ + S [nb2] = cc [3] ; + nb2++ ; + } + R [nb2] = m ; + S [nb2] = n ; + D->nb = nb2 ; + cs_dfree (scc) ; + return (cs_ddone (D, C, NULL, 1)) ; +} + +static int cs_tol (int i, int j, double aij, void *tol) +{ + return (fabs (aij) > *((double *) tol)) ; +} +int cs_droptol (cs *A, double tol) +{ + return (cs_fkeep (A, &cs_tol, &tol)) ; /* keep all large entries */ +} + +static int cs_nonzero (int i, int j, double aij, void *other) +{ + return (aij != 0) ; +} +int cs_dropzeros (cs *A) +{ + return (cs_fkeep (A, &cs_nonzero, NULL)) ; /* keep all nonzero entries */ +} +int cs_dupl (cs *A) +/* + Purpose: + + CS_DUPL removes duplicate entries from A. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int i, j, p, q, nz = 0, n, m, *Ap, *Ai, *w ; + double *Ax ; + if (!A) return (0) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + w = (int*)cs_malloc (m, sizeof (int)) ; /* get workspace */ + if (!w) return (0) ; /* out of memory */ + for (i = 0 ; i < m ; i++) w [i] = -1 ; /* row i not yet seen */ + for (j = 0 ; j < n ; j++) + { + q = nz ; /* column j will start at q */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* A(i,j) is nonzero */ + if (w [i] >= q) + { + Ax [w [i]] += Ax [p] ; /* A(i,j) is a duplicate */ + } + else + { + w [i] = nz ; /* record where row i occurs */ + Ai [nz] = i ; /* keep A(i,j) */ + Ax [nz++] = Ax [p] ; + } + } + Ap [j] = q ; /* record start of column j */ + } + Ap [n] = nz ; /* finalize A */ + cs_free (w) ; /* free workspace */ + return (cs_sprealloc (A, 0)) ; /* remove extra space from A */ +} + +/* add an entry to a triplet matrix; return 1 if ok, 0 otherwise */ +int cs_entry (cs *T, int i, int j, double x) +{ + if (!T || (T->nz >= T->nzmax && !cs_sprealloc (T, 2*(T->nzmax)))) return(0); + if (T->x) T->x [T->nz] = x ; + T->i [T->nz] = i ; + T->p [T->nz++] = j ; + T->m = CS_MAX (T->m, i+1) ; + T->n = CS_MAX (T->n, j+1) ; + return (1) ; +} + +/* compute the etree of A (using triu(A), or A'A without forming A'A */ +int *cs_etree (const cs *A, int ata) +{ + int i, k, p, m, n, inext, *Ap, *Ai, *w, *parent, *ancestor, *prev ; + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; + parent = (int*)cs_malloc (n, sizeof (int)) ; + w = (int*)cs_malloc (n + (ata ? m : 0), sizeof (int)) ; + ancestor = w ; prev = w + n ; + if (!w || !parent) return (cs_idone (parent, NULL, w, 0)) ; + if (ata) for (i = 0 ; i < m ; i++) prev [i] = -1 ; + for (k = 0 ; k < n ; k++) + { + parent [k] = -1 ; /* node k has no parent yet */ + ancestor [k] = -1 ; /* nor does k have an ancestor */ + for (p = Ap [k] ; p < Ap [k+1] ; p++) + { + i = ata ? (prev [Ai [p]]) : (Ai [p]) ; + for ( ; i != -1 && i < k ; i = inext) /* traverse from i to k */ + { + inext = ancestor [i] ; /* inext = ancestor of i */ + ancestor [i] = k ; /* path compression */ + if (inext == -1) parent [i] = k ; /* no anc., parent is k */ + } + if (ata) prev [Ai [p]] = k ; + } + } + return (cs_idone (parent, NULL, w, 1)) ; +} + +/* drop entries for which fkeep(A(i,j)) is false; return nz if OK, else -1 */ +int cs_fkeep (cs *A, int (*fkeep) (int, int, double, void *), void *other) +{ + int j, p, nz = 0, n, *Ap, *Ai ; + double *Ax ; + if (!A || !fkeep) return (-1) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + p = Ap [j] ; /* get current location of col j */ + Ap [j] = nz ; /* record new location of col j */ + for ( ; p < Ap [j+1] ; p++) + { + if (fkeep (Ai [p], j, Ax ? Ax [p] : 1, other)) + { + if (Ax) Ax [nz] = Ax [p] ; /* keep A(i,j) */ + Ai [nz++] = Ai [p] ; + } + } + } + return (Ap [n] = nz) ; /* finalize A and return nnz(A) */ +} + +/* y = A*x+y */ +int cs_gaxpy (const cs *A, const double *x, double *y) +{ + int p, j, n, *Ap, *Ai ; + double *Ax ; + if (!A || !x || !y) return (0) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + y [Ai [p]] += Ax [p] * x [j] ; + } + } + return (1) ; +} + +/* apply the ith Householder vector to x */ +int cs_happly (const cs *V, int i, double beta, double *x) +{ + int p, *Vp, *Vi ; + double *Vx, tau = 0 ; + if (!V || !x) return (0) ; /* check inputs */ + Vp = V->p ; Vi = V->i ; Vx = V->x ; + for (p = Vp [i] ; p < Vp [i+1] ; p++) /* tau = v'*x */ + { + tau += Vx [p] * x [Vi [p]] ; + } + tau *= beta ; /* tau = beta*(v'*x) */ + for (p = Vp [i] ; p < Vp [i+1] ; p++) /* x = x - v*tau */ + { + x [Vi [p]] -= Vx [p] * tau ; + } + return (1) ; +} + +/* create a Householder reflection [v,beta,s]=house(x), overwrite x with v, + * where (I-beta*v*v')*x = s*x. See Algo 5.1.1, Golub & Van Loan, 3rd ed. */ +double cs_house (double *x, double *beta, int n) +{ + double s, sigma = 0 ; + int i ; + if (!x || !beta) return (-1) ; /* check inputs */ + for (i = 1 ; i < n ; i++) sigma += x [i] * x [i] ; + if (sigma == 0) + { + s = fabs (x [0]) ; /* s = |x(0)| */ + (*beta) = (x [0] <= 0) ? 2 : 0 ; + x [0] = 1 ; + } + else + { + s = sqrt (x [0] * x [0] + sigma) ; /* s = norm (x) */ + x [0] = (x [0] <= 0) ? (x [0] - s) : (-sigma / (x [0] + s)) ; + (*beta) = -1. / (s * x [0]) ; + } + return (s) ; +} + +/* x(P) = b, for dense vectors x and b; P=NULL denotes identity */ +int cs_ipvec (int n, const int *P, const double *b, double *x) +{ + int k ; + if (!x || !b) return (0) ; /* check inputs */ + for (k = 0 ; k < n ; k++) x [P ? P [k] : k] = b [k] ; + return (1) ; +} +cs *cs_load ( FILE *f ) +/* + Purpose: + + CS_LOAD loads a triplet matrix from a file. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int i, j ; + double x ; + cs *T ; + if (!f) return (NULL) ; + T = cs_spalloc (0, 0, 1, 1, 1) ; + while (fscanf (f, "%d %d %lg\n", &i, &j, &x) == 3) + { + if (!cs_entry (T, i, j, x)) return (cs_spfree (T)) ; + } + return (T) ; +} +int cs_lsolve ( const cs *L, double *x ) +/* + Purpose: + + CS_LSOLVE solves L*x=b. + + Discussion: + + On input, X contains the right hand side, and on output, the solution. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, n, *Lp, *Li ; + double *Lx ; + if (!L || !x) return (0) ; /* check inputs */ + n = L->n ; Lp = L->p ; Li = L->i ; Lx = L->x ; + for (j = 0 ; j < n ; j++) + { + x [j] /= Lx [Lp [j]] ; + for (p = Lp [j]+1 ; p < Lp [j+1] ; p++) + { + x [Li [p]] -= Lx [p] * x [j] ; + } + } + return (1) ; +} +int cs_ltsolve ( const cs *L, double *x ) +/* + Purpose: + + CS_LTSOLVE solves L'*x=b. + + Discussion: + + On input, X contains the right hand side, and on output, the solution. + + Reference: + + Timothy Davis, + Direct Methods for Sparse Linear Systems, + SIAM, Philadelphia, 2006. +*/ +{ + int p, j, n, *Lp, *Li ; + double *Lx ; + if (!L || !x) return (0) ; /* check inputs */ + n = L->n ; Lp = L->p ; Li = L->i ; Lx = L->x ; + for (j = n-1 ; j >= 0 ; j--) + { + for (p = Lp [j]+1 ; p < Lp [j+1] ; p++) + { + x [j] -= Lx [p] * x [Li [p]] ; + } + x [j] /= Lx [Lp [j]] ; + } + return (1) ; +} + +/* [L,U,Pinv]=lu(A, [Q lnz unz]). lnz and unz can be guess */ +csn *cs_lu (const cs *A, const css *S, double tol) +{ + cs *L, *U ; + csn *N ; + double pivot, *Lx, *Ux, *x, a, t ; + int *Lp, *Li, *Up, *Ui, *Pinv, *xi, *Q, n, ipiv, k, top, p, i, col, lnz,unz; + if (!A || !S) return (NULL) ; /* check inputs */ + n = A->n ; + Q = S->Q ; lnz = S->lnz ; unz = S->unz ; + x = (double*)cs_malloc (n, sizeof (double)) ; + xi = (int*)cs_malloc (2*n, sizeof (int)) ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + if (!x || !xi || !N) return (cs_ndone (N, NULL, xi, x, 0)) ; + N->L = L = cs_spalloc (n, n, lnz, 1, 0) ; /* initial L and U */ + N->U = U = cs_spalloc (n, n, unz, 1, 0) ; + N->Pinv = Pinv = (int*)cs_malloc (n, sizeof (int)) ; + if (!L || !U || !Pinv) return (cs_ndone (N, NULL, xi, x, 0)) ; + Lp = L->p ; Up = U->p ; + for (i = 0 ; i < n ; i++) x [i] = 0 ; /* clear workspace */ + for (i = 0 ; i < n ; i++) Pinv [i] = -1 ; /* no rows pivotal yet */ + for (k = 0 ; k <= n ; k++) Lp [k] = 0 ; /* no cols of L yet */ + lnz = unz = 0 ; + for (k = 0 ; k < n ; k++) /* compute L(:,k) and U(:,k) */ + { + /* --- Triangular solve --------------------------------------------- */ + Lp [k] = lnz ; /* L(:,k) starts here */ + Up [k] = unz ; /* U(:,k) starts here */ + if ((lnz + n > L->nzmax && !cs_sprealloc (L, 2*L->nzmax + n)) || + (unz + n > U->nzmax && !cs_sprealloc (U, 2*U->nzmax + n))) + { + return (cs_ndone (N, NULL, xi, x, 0)) ; + } + Li = L->i ; Lx = L->x ; Ui = U->i ; Ux = U->x ; + col = Q ? (Q [k]) : k ; + top = cs_splsolve (L, A, col, xi, x, Pinv) ; /* x = L\A(:,col) */ + /* --- Find pivot --------------------------------------------------- */ + ipiv = -1 ; + a = -1 ; + for (p = top ; p < n ; p++) + { + i = xi [p] ; /* x(i) is nonzero */ + if (Pinv [i] < 0) /* row i is not pivotal */ + { + if ((t = fabs (x [i])) > a) + { + a = t ; /* largest pivot candidate so far */ + ipiv = i ; + } + } + else /* x(i) is the entry U(Pinv[i],k) */ + { + Ui [unz] = Pinv [i] ; + Ux [unz++] = x [i] ; + } + } + if (ipiv == -1 || a <= 0) return (cs_ndone (N, NULL, xi, x, 0)) ; + if (Pinv [col] < 0 && fabs (x [col]) >= a*tol) ipiv = col ; + /* --- Divide by pivot ---------------------------------------------- */ + pivot = x [ipiv] ; /* the chosen pivot */ + Ui [unz] = k ; /* last entry in U(:,k) is U(k,k) */ + Ux [unz++] = pivot ; + Pinv [ipiv] = k ; /* ipiv is the kth pivot row */ + Li [lnz] = ipiv ; /* first entry in L(:,k) is L(k,k) = 1 */ + Lx [lnz++] = 1 ; + for (p = top ; p < n ; p++) /* L(k+1:n,k) = x / pivot */ + { + i = xi [p] ; + if (Pinv [i] < 0) /* x(i) is an entry in L(:,k) */ + { + Li [lnz] = i ; /* save unpermuted row in L */ + Lx [lnz++] = x [i] / pivot ; /* scale pivot column */ + } + x [i] = 0 ; /* x [0..n-1] = 0 for next k */ + } + } + /* --- Finalize L and U ------------------------------------------------- */ + Lp [n] = lnz ; + Up [n] = unz ; + Li = L->i ; /* fix row indices of L for final Pinv */ + for (p = 0 ; p < lnz ; p++) Li [p] = Pinv [Li [p]] ; + cs_sprealloc (L, 0) ; /* remove extra space from L and U */ + cs_sprealloc (U, 0) ; + return (cs_ndone (N, NULL, xi, x, 1)) ; /* success */ +} + +/* x=A\b where A is unsymmetric; b overwritten with solution */ +int cs_lusol (const cs *A, double *b, int order, double tol) +{ + double *x ; + css *S ; + csn *N ; + int n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + S = cs_sqr (A, order, 0) ; /* ordering and symbolic analysis */ + N = cs_lu (A, S, tol) ; /* numeric LU factorization */ + x = (double*)cs_malloc (n, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (n, N->Pinv, b, x) ; /* x = P*b */ + cs_lsolve (N->L, x) ; /* x = L\x */ + cs_usolve (N->U, x) ; /* x = U\x */ + cs_ipvec (n, S->Q, x, b) ; /* b = Q*x */ + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + return (ok) ; +} + +#ifdef MATLAB_MEX_FILE +#define malloc mxMalloc +#define free mxFree +#define realloc mxRealloc +#define calloc mxCalloc +#endif + +/* wrapper for malloc */ +void *cs_malloc (int n, size_t size) +{ + return (CS_OVERFLOW (n,size) ? NULL : malloc (CS_MAX (n,1) * size)) ; +} + +/* wrapper for calloc */ +void *cs_calloc (int n, size_t size) +{ + return (CS_OVERFLOW (n,size) ? NULL : calloc (CS_MAX (n,1), size)) ; +} + +/* wrapper for free */ +void *cs_free (void *p) +{ + if (p) free (p) ; /* free p if it is not already NULL */ + return (NULL) ; /* return NULL to simplify the use of cs_free */ +} + +/* wrapper for realloc */ +void *cs_realloc (void *p, int n, size_t size, int *ok) +{ + void *p2 ; + *ok = !CS_OVERFLOW (n,size) ; /* guard against int overflow */ + if (!(*ok)) return (p) ; /* p unchanged if n too large */ + p2 = realloc (p, CS_MAX (n,1) * size) ; /* realloc the block */ + *ok = (p2 != NULL) ; + return ((*ok) ? p2 : p) ; /* return original p if failure */ +} + +/* find an augmenting path starting at column k and extend the match if found */ +static void cs_augment (int k, const cs *A, int *jmatch, int *cheap, int *w, + int *js, int *is, int *ps) +{ + int found = 0, p, i = -1, *Ap = A->p, *Ai = A->i, head = 0, j ; + js [0] = k ; /* start with just node k in jstack */ + while (head >= 0) + { + /* --- Start (or continue) depth-first-search at node j ------------- */ + j = js [head] ; /* get j from top of jstack */ + if (w [j] != k) /* 1st time j visited for kth path */ + { + w [j] = k ; /* mark j as visited for kth path */ + for (p = cheap [j] ; p < Ap [j+1] && !found ; p++) + { + i = Ai [p] ; /* try a cheap assignment (i,j) */ + found = (jmatch [i] == -1) ; + } + cheap [j] = p ; /* start here next time j is traversed*/ + if (found) + { + is [head] = i ; /* column j matched with row i */ + break ; /* end of augmenting path */ + } + ps [head] = Ap [j] ; /* no cheap match: start dfs for j */ + } + /* --- Depth-first-search of neighbors of j ------------------------- */ + for (p = ps [head] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* consider row i */ + if (w [jmatch [i]] == k) continue ; /* skip jmatch [i] if marked */ + ps [head] = p + 1 ; /* pause dfs of node j */ + is [head] = i ; /* i will be matched with j if found */ + js [++head] = jmatch [i] ; /* start dfs at column jmatch [i] */ + break ; + } + if (p == Ap [j+1]) head-- ; /* node j is done; pop from stack */ + } /* augment the match if path found: */ + if (found) for (p = head ; p >= 0 ; p--) jmatch [is [p]] = js [p] ; +} + +/* find a maximum transveral */ +int *cs_maxtrans (const cs *A) /* returns jmatch [0..m-1]; imatch [0..n-1] */ +{ + int i, j, k, n, m, p, n2 = 0, m2 = 0, *Ap, *jimatch, *w, *cheap, *js, *is, + *ps, *Ai, *Cp, *jmatch, *imatch ; + cs *C ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; m = A->m ; Ap = A->p ; Ai = A->i ; + w = jimatch = (int*)cs_calloc (m+n, sizeof (int)) ; /* allocate result */ + if (!jimatch) return (NULL) ; + for (j = 0 ; j < n ; j++) /* count non-empty rows and columns */ + { + n2 += (Ap [j] < Ap [j+1]) ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) w [Ai [p]] = 1 ; + } + for (i = 0 ; i < m ; i++) m2 += w [i] ; + C = (m2 < n2) ? cs_transpose (A,0) : ((cs *) A) ; /* transpose if needed */ + if (!C) return (cs_idone (jimatch, (m2 < n2) ? C : NULL, NULL, 0)) ; + n = C->n ; m = C->m ; Cp = C->p ; + jmatch = (m2 < n2) ? jimatch + n : jimatch ; + imatch = (m2 < n2) ? jimatch : jimatch + m ; + w = (int*)cs_malloc (5*n, sizeof (int)) ; /* allocate workspace */ + if (!w) return (cs_idone (jimatch, (m2 < n2) ? C : NULL, w, 0)) ; + cheap = w + n ; js = w + 2*n ; is = w + 3*n ; ps = w + 4*n ; + for (j = 0 ; j < n ; j++) cheap [j] = Cp [j] ; /* for cheap assignment */ + for (j = 0 ; j < n ; j++) w [j] = -1 ; /* all columns unflagged */ + for (i = 0 ; i < m ; i++) jmatch [i] = -1 ; /* nothing matched yet */ + for (k = 0 ; k < n ; k++) cs_augment (k, C, jmatch, cheap, w, js, is, ps) ; + for (j = 0 ; j < n ; j++) imatch [j] = -1 ; /* find row match */ + for (i = 0 ; i < m ; i++) if (jmatch [i] >= 0) imatch [jmatch [i]] = i ; + return (cs_idone (jimatch, (m2 < n2) ? C : NULL, w, 1)) ; +} + +/* C = A*B */ +cs *cs_multiply (const cs *A, const cs *B) +{ + int p, j, nz = 0, anz, *Cp, *Ci, *Bp, m, n, bnz, *w, values, *Bi ; + double *x, *Bx, *Cx ; + cs *C ; + if (!A || !B) return (NULL) ; /* check inputs */ + m = A->m ; anz = A->p [A->n] ; + n = B->n ; Bp = B->p ; Bi = B->i ; Bx = B->x ; bnz = Bp [n] ; + w = (int*)cs_calloc (m, sizeof (int)) ; + values = (A->x != NULL) && (Bx != NULL) ; + x = values ? (double*)cs_malloc (m, sizeof (double)) : NULL ; + C = cs_spalloc (m, n, anz + bnz, values, 0) ; + if (!C || !w || (values && !x)) return (cs_done (C, w, x, 0)) ; + Cp = C->p ; + for (j = 0 ; j < n ; j++) + { + if (nz + m > C->nzmax && !cs_sprealloc (C, 2*(C->nzmax)+m)) + { + return (cs_done (C, w, x, 0)) ; /* out of memory */ + } + Ci = C->i ; Cx = C->x ; /* C may have been reallocated */ + Cp [j] = nz ; /* column j of C starts here */ + for (p = Bp [j] ; p < Bp [j+1] ; p++) + { + nz = cs_scatter (A, Bi [p], Bx ? Bx [p] : 1, w, x, j+1, C, nz) ; + } + if (values) for (p = Cp [j] ; p < nz ; p++) Cx [p] = x [Ci [p]] ; + } + Cp [n] = nz ; /* finalize the last column of C */ + cs_sprealloc (C, 0) ; /* remove extra space from C */ + return (cs_done (C, w, x, 1)) ; /* success; free workspace, return C */ +} + +/* 1-norm of a sparse matrix = max (sum (abs (A))), largest column sum */ +double cs_norm (const cs *A) +{ + int p, j, n, *Ap ; + double *Ax, norm = 0, s ; + if (!A || !A->x) return (-1) ; /* check inputs */ + n = A->n ; Ap = A->p ; Ax = A->x ; + for (j = 0 ; j < n ; j++) + { + for (s = 0, p = Ap [j] ; p < Ap [j+1] ; p++) s += fabs (Ax [p]) ; + norm = CS_MAX (norm, s) ; + } + return (norm) ; +} + +/* C = A(P,Q) where P and Q are permutations of 0..m-1 and 0..n-1. */ +cs *cs_permute (const cs *A, const int *Pinv, const int *Q, int values) +{ + int p, j, k, nz = 0, m, n, *Ap, *Ai, *Cp, *Ci ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (m, n, Ap [n], values && Ax != NULL, 0) ; + if (!C) return (cs_done (C, NULL, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (k = 0 ; k < n ; k++) + { + Cp [k] = nz ; /* column k of C is column Q[k] of A */ + j = Q ? (Q [k]) : k ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + if (Cx) Cx [nz] = Ax [p] ; /* row i of A is row Pinv[i] of C */ + Ci [nz++] = Pinv ? (Pinv [Ai [p]]) : Ai [p] ; + } + } + Cp [n] = nz ; /* finalize the last column of C */ + return (cs_done (C, NULL, NULL, 1)) ; +} + +/* Pinv = P', or P = Pinv' */ +int *cs_pinv (int const *P, int n) +{ + int k, *Pinv ; + if (!P) return (NULL) ; /* P = NULL denotes identity */ + Pinv = (int*)cs_malloc (n, sizeof (int)) ; /* allocate resuult */ + if (!Pinv) return (NULL) ; /* out of memory */ + for (k = 0 ; k < n ; k++) Pinv [P [k]] = k ;/* invert the permutation */ + return (Pinv) ; /* return result */ +} + +/* post order a forest */ +int *cs_post (int n, const int *parent) +{ + int j, k = 0, *post, *w, *head, *next, *stack ; + if (!parent) return (NULL) ; /* check inputs */ + post = (int*)cs_malloc (n, sizeof (int)) ; /* allocate result */ + w = (int*)cs_malloc (3*n, sizeof (int)) ; /* 3*n workspace */ + head = w ; next = w + n ; stack = w + 2*n ; + if (!w || !post) return (cs_idone (post, NULL, w, 0)) ; + for (j = 0 ; j < n ; j++) head [j] = -1 ; /* empty link lists */ + for (j = n-1 ; j >= 0 ; j--) /* traverse nodes in reverse order*/ + { + if (parent [j] == -1) continue ; /* j is a root */ + next [j] = head [parent [j]] ; /* add j to list of its parent */ + head [parent [j]] = j ; + } + for (j = 0 ; j < n ; j++) + { + if (parent [j] != -1) continue ; /* skip j if it is not a root */ + k = cs_tdfs (j, k, head, next, post, stack) ; + } + return (cs_idone (post, NULL, w, 1)) ; /* success; free w, return post */ +} + +/* print a sparse matrix */ +int cs_print (const cs *A, int brief) +{ + int p, j, m, n, nzmax, nz, *Ap, *Ai ; + double *Ax ; + if (!A) { printf ("(null)\n") ; return (0) ; } + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + nzmax = A->nzmax ; nz = A->nz ; + printf ("CSparse Version %d.%d.%d, %s. %s\n", CS_VER, CS_SUBVER, + CS_SUBSUB, CS_DATE, CS_COPYRIGHT) ; + if (nz < 0) + { + printf ("%d-by-%d, nzmax: %d nnz: %d, 1-norm: %g\n", m, n, nzmax, + Ap [n], cs_norm (A)) ; + for (j = 0 ; j < n ; j++) + { + printf (" col %d : locations %d to %d\n", j, Ap [j], Ap [j+1]-1); + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + printf (" %d : %g\n", Ai [p], Ax ? Ax [p] : 1) ; + if (brief && p > 20) { printf (" ...\n") ; return (1) ; } + } + } + } + else + { + printf ("triplet: %d-by-%d, nzmax: %d nnz: %d\n", m, n, nzmax, nz) ; + for (p = 0 ; p < nz ; p++) + { + printf (" %d %d : %g\n", Ai [p], Ap [p], Ax ? Ax [p] : 1) ; + if (brief && p > 20) { printf (" ...\n") ; return (1) ; } + } + } + return (1) ; +} + +/* x = b(P), for dense vectors x and b; P=NULL denotes identity */ +int cs_pvec (int n, const int *P, const double *b, double *x) +{ + int k ; + if (!x || !b) return (0) ; /* check inputs */ + for (k = 0 ; k < n ; k++) x [k] = b [P ? P [k] : k] ; + return (1) ; +} + +/* sparse QR factorization [V,beta,p,R] = qr (A) */ +csn *cs_qr (const cs *A, const css *S) +{ + double *Rx, *Vx, *Ax, *Beta, *x ; + int i, k, p, m, n, vnz, p1, top, m2, len, col, rnz, *s, *leftmost, *Ap, + *Ai, *parent, *Rp, *Ri, *Vp, *Vi, *w, *Pinv, *Q ; + cs *R, *V ; + csn *N ; + if (!A || !S || !S->parent || !S->Pinv) return (NULL) ; /* check inputs */ + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + Q = S->Q ; parent = S->parent ; Pinv = S->Pinv ; m2 = S->m2 ; + vnz = S->lnz ; rnz = S->unz ; + leftmost = Pinv + m + n ; + w = (int*)cs_malloc (m2+n, sizeof (int)) ; + x = (double*)cs_malloc (m2, sizeof (double)) ; + N = (csn*)cs_calloc (1, sizeof (csn)) ; + if (!w || !x || !N) return (cs_ndone (N, NULL, w, x, 0)) ; + s = w + m2 ; /* size n */ + for (k = 0 ; k < m2 ; k++) x [k] = 0 ; /* clear workspace x */ + N->L = V = cs_spalloc (m2, n, vnz, 1, 0) ; /* allocate V */ + N->U = R = cs_spalloc (m2, n, rnz, 1, 0) ; /* allocate R, m2-by-n */ + N->B = Beta = (double*)cs_malloc (n, sizeof (double)) ; + if (!R || !V || !Beta) return (cs_ndone (N, NULL, w, x, 0)) ; + Rp = R->p ; Ri = R->i ; Rx = R->x ; + Vp = V->p ; Vi = V->i ; Vx = V->x ; + for (i = 0 ; i < m2 ; i++) w [i] = -1 ; /* clear w, to mark nodes */ + rnz = 0 ; vnz = 0 ; + for (k = 0 ; k < n ; k++) /* compute V and R */ + { + Rp [k] = rnz ; /* R(:,k) starts here */ + Vp [k] = p1 = vnz ; /* V(:,k) starts here */ + w [k] = k ; /* add V(k,k) to pattern of V */ + Vi [vnz++] = k ; + top = n ; + col = Q ? Q [k] : k ; + for (p = Ap [col] ; p < Ap [col+1] ; p++) /* find R(:,k) pattern */ + { + i = leftmost [Ai [p]] ; /* i = min(find(A(i,Q))) */ + for (len = 0 ; w [i] != k ; i = parent [i]) /* traverse up to k */ + { + s [len++] = i ; + w [i] = k ; + } + while (len > 0) s [--top] = s [--len] ; /* push path on stack */ + i = Pinv [Ai [p]] ; /* i = permuted row of A(:,col) */ + x [i] = Ax [p] ; /* x (i) = A(.,col) */ + if (i > k && w [i] < k) /* pattern of V(:,k) = x (k+1:m) */ + { + Vi [vnz++] = i ; /* add i to pattern of V(:,k) */ + w [i] = k ; + } + } + for (p = top ; p < n ; p++) /* for each i in pattern of R(:,k) */ + { + i = s [p] ; /* R(i,k) is nonzero */ + cs_happly (V, i, Beta [i], x) ; /* apply (V(i),Beta(i)) to x */ + Ri [rnz] = i ; /* R(i,k) = x(i) */ + Rx [rnz++] = x [i] ; + x [i] = 0 ; + if (parent [i] == k) vnz = cs_scatter (V, i, 0, w, NULL, k, V, vnz); + } + for (p = p1 ; p < vnz ; p++) /* gather V(:,k) = x */ + { + Vx [p] = x [Vi [p]] ; + x [Vi [p]] = 0 ; + } + Ri [rnz] = k ; /* R(k,k) = norm (x) */ + Rx [rnz++] = cs_house (Vx+p1, Beta+k, vnz-p1) ; /* [v,beta]=house(x) */ + } + Rp [n] = rnz ; /* finalize R */ + Vp [n] = vnz ; /* finalize V */ + return (cs_ndone (N, NULL, w, x, 1)) ; /* success */ +} + +/* x=A\b where A can be rectangular; b overwritten with solution */ +int cs_qrsol (const cs *A, double *b, int order) +{ + double *x ; + css *S ; + csn *N ; + cs *AT = NULL ; + int k, m, n, ok ; + if (!A || !b) return (0) ; /* check inputs */ + n = A->n ; + m = A->m ; + if (m >= n) + { + S = cs_sqr (A, order, 1) ; /* ordering and symbolic analysis */ + N = cs_qr (A, S) ; /* numeric QR factorization */ + x = (double*)cs_calloc (S ? S->m2 : 1, sizeof (double)) ; + ok = (S && N && x) ; + if (ok) + { + cs_ipvec (m, S->Pinv, b, x) ; /* x(0:m-1) = P*b(0:m-1) */ + for (k = 0 ; k < n ; k++) /* apply Householder refl. to x */ + { + cs_happly (N->L, k, N->B [k], x) ; + } + cs_usolve (N->U, x) ; /* x = R\x */ + cs_ipvec (n, S->Q, x, b) ; /* b(0:n-1) = Q*x (permutation) */ + } + } + else + { + AT = cs_transpose (A, 1) ; /* Ax=b is underdetermined */ + S = cs_sqr (AT, order, 1) ; /* ordering and symbolic analysis */ + N = cs_qr (AT, S) ; /* numeric QR factorization of A' */ + x = (double*)cs_calloc (S ? S->m2 : 1, sizeof (double)) ; + ok = (AT && S && N && x) ; + if (ok) + { + cs_pvec (m, S->Q, b, x) ; /* x(0:m-1) = Q'*b (permutation) */ + cs_utsolve (N->U, x) ; /* x = R'\x */ + for (k = m-1 ; k >= 0 ; k--) /* apply Householder refl. to x */ + { + cs_happly (N->L, k, N->B [k], x) ; + } + cs_pvec (n, S->Pinv, x, b) ; /* b (0:n-1) = P'*x */ + } + } + cs_free (x) ; + cs_sfree (S) ; + cs_nfree (N) ; + cs_spfree (AT) ; + return (ok) ; +} + +/* xi [top...n-1] = nodes reachable from graph of L*P' via nodes in B(:,k). + * xi [n...2n-1] used as workspace */ +int cs_reach (cs *L, const cs *B, int k, int *xi, const int *Pinv) +{ + int p, n, top, *Bp, *Bi, *Lp ; + if (!L || !B || !xi) return (-1) ; + n = L->n ; Bp = B->p ; Bi = B->i ; Lp = L->p ; + top = n ; + for (p = Bp [k] ; p < Bp [k+1] ; p++) + { + if (!CS_MARKED (Lp, Bi [p])) /* start a dfs at unmarked node i */ + { + top = cs_dfs (Bi [p], L, top, xi, xi+n, Pinv) ; + } + } + for (p = top ; p < n ; p++) CS_MARK (Lp, xi [p]) ; /* restore L */ + return (top) ; +} + +/* x = x + beta * A(:,j), where x is a dense vector and A(:,j) is sparse */ +int cs_scatter (const cs *A, int j, double beta, int *w, double *x, int mark, + cs *C, int nz) +{ + int i, p, *Ap, *Ai, *Ci ; + double *Ax ; + if (!A || !w || !C) return (-1) ; /* ensure inputs are valid */ + Ap = A->p ; Ai = A->i ; Ax = A->x ; Ci = C->i ; + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; /* A(i,j) is nonzero */ + if (w [i] < mark) + { + w [i] = mark ; /* i is new entry in column j */ + Ci [nz++] = i ; /* add i to pattern of C(:,j) */ + if (x) x [i] = beta * Ax [p] ; /* x(i) = beta*A(i,j) */ + } + else if (x) x [i] += beta * Ax [p] ; /* i exists in C(:,j) already */ + } + return (nz) ; +} + +/* find the strongly connected components of a square matrix */ +csd *cs_scc (cs *A) /* matrix A temporarily modified, then restored */ +{ + int n, i, k, b = 0, top, *xi, *pstack, *P, *R, *Ap, *ATp ; + cs *AT ; + csd *D ; + if (!A) return (NULL) ; + n = A->n ; Ap = A->p ; + D = cs_dalloc (n, 0) ; + AT = cs_transpose (A, 0) ; /* AT = A' */ + xi = (int*)cs_malloc (2*n, sizeof (int)) ; /* allocate workspace */ + pstack = xi + n ; + if (!D || !AT || !xi) return (cs_ddone (D, AT, xi, 0)) ; + P = D->P ; R = D->R ; ATp = AT->p ; + top = n ; + for (i = 0 ; i < n ; i++) /* first dfs(A) to find finish times (xi) */ + { + if (!CS_MARKED (Ap,i)) top = cs_dfs (i, A, top, xi, pstack, NULL) ; + } + for (i = 0 ; i < n ; i++) CS_MARK (Ap, i) ; /* restore A; unmark all nodes*/ + top = n ; + b = n ; + for (k = 0 ; k < n ; k++) /* dfs(A') to find strongly connnected comp. */ + { + i = xi [k] ; /* get i in reverse order of finish times */ + if (CS_MARKED (ATp,i)) continue ; /* skip node i if already ordered */ + R [b--] = top ; /* node i is the start of a component in P */ + top = cs_dfs (i, AT, top, P, pstack, NULL) ; + } + R [b] = 0 ; /* first block starts at zero; shift R up */ + for (k = b ; k <= n ; k++) R [k-b] = R [k] ; + D->nb = R [n+1] = b = n-b ; /* b = # of strongly connected components */ + return (cs_ddone (D, AT, xi, 1)) ; +} + +/* ordering and symbolic analysis for a Cholesky factorization */ +css *cs_schol (const cs *A, int order) +{ + int n, *c, *post, *P ; + cs *C ; + css *S ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; + S = (css*)cs_calloc (1, sizeof (css)) ; /* allocate symbolic analysis */ + if (!S) return (NULL) ; /* out of memory */ + P = cs_amd (A, order) ; /* P = amd(A+A'), or natural */ + S->Pinv = cs_pinv (P, n) ; /* find inverse permutation */ + cs_free (P) ; + if (order >= 0 && !S->Pinv) return (cs_sfree (S)) ; + C = cs_symperm (A, S->Pinv, 0) ; /* C = spones(triu(A(P,P))) */ + S->parent = cs_etree (C, 0) ; /* find etree of C */ + post = cs_post (n, S->parent) ; /* postorder the etree */ + c = cs_counts (C, S->parent, post, 0) ; /* find column counts of chol(C) */ + cs_free (post) ; + cs_spfree (C) ; + S->cp = (int*)cs_malloc (n+1, sizeof (int)) ; /* find column pointers for L */ + S->unz = S->lnz = cs_cumsum (S->cp, c, n) ; + cs_free (c) ; + return ((S->lnz >= 0) ? S : cs_sfree (S)) ; +} + +/* solve Lx=b(:,k), leaving pattern in xi[top..n-1], values scattered in x. */ +int cs_splsolve (cs *L, const cs *B, int k, int *xi, double *x, const int *Pinv) +{ + int j, jnew, p, px, top, n, *Lp, *Li, *Bp, *Bi ; + double *Lx, *Bx ; + if (!L || !B || !xi || !x) return (-1) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; n = L->n ; + Bp = B->p ; Bi = B->i ; Bx = B->x ; + top = cs_reach (L, B, k, xi, Pinv) ; /* xi[top..n-1]=Reach(B(:,k)) */ + for (p = top ; p < n ; p++) x [xi [p]] = 0 ;/* clear x */ + for (p = Bp [k] ; p < Bp [k+1] ; p++) x [Bi [p]] = Bx [p] ; /* scatter B */ + for (px = top ; px < n ; px++) + { + j = xi [px] ; /* x(j) is nonzero */ + jnew = Pinv ? (Pinv [j]) : j ; /* j is column jnew of L */ + if (jnew < 0) continue ; /* column jnew is empty */ + for (p = Lp [jnew]+1 ; p < Lp [jnew+1] ; p++) + { + x [Li [p]] -= Lx [p] * x [j] ; /* x(i) -= L(i,j) * x(j) */ + } + } + return (top) ; /* return top of stack */ +} + +/* compute vnz, Pinv, leftmost, m2 from A and parent */ +static int *cs_vcount (const cs *A, const int *parent, int *m2, int *vnz) +{ + int i, k, p, pa, n = A->n, m = A->m, *Ap = A->p, *Ai = A->i ; + int *Pinv = (int*)cs_malloc (2*m+n, sizeof (int)), *leftmost = Pinv + m + n ; + int *w = (int*)cs_malloc (m+3*n, sizeof (int)) ; + int *next = w, *head = w + m, *tail = w + m + n, *nque = w + m + 2*n ; + if (!Pinv || !w) return (cs_idone (Pinv, NULL, w, 0)) ; + for (k = 0 ; k < n ; k++) head [k] = -1 ; /* queue k is empty */ + for (k = 0 ; k < n ; k++) tail [k] = -1 ; + for (k = 0 ; k < n ; k++) nque [k] = 0 ; + for (i = 0 ; i < m ; i++) leftmost [i] = -1 ; + for (k = n-1 ; k >= 0 ; k--) + { + for (p = Ap [k] ; p < Ap [k+1] ; p++) + { + leftmost [Ai [p]] = k ; /* leftmost[i] = min(find(A(i,:)))*/ + } + } + for (i = m-1 ; i >= 0 ; i--) /* scan rows in reverse order */ + { + Pinv [i] = -1 ; /* row i is not yet ordered */ + k = leftmost [i] ; + if (k == -1) continue ; /* row i is empty */ + if (nque [k]++ == 0) tail [k] = i ; /* first row in queue k */ + next [i] = head [k] ; /* put i at head of queue k */ + head [k] = i ; + } + (*vnz) = 0 ; + (*m2) = m ; + for (k = 0 ; k < n ; k++) /* find row permutation and nnz(V)*/ + { + i = head [k] ; /* remove row i from queue k */ + (*vnz)++ ; /* count V(k,k) as nonzero */ + if (i < 0) i = (*m2)++ ; /* add a fictitious row */ + Pinv [i] = k ; /* associate row i with V(:,k) */ + if (--nque [k] <= 0) continue ; /* skip if V(k+1:m,k) is empty */ + (*vnz) += nque [k] ; /* nque [k] = nnz (V(k+1:m,k)) */ + if ((pa = parent [k]) != -1) /* move all rows to parent of k */ + { + if (nque [pa] == 0) tail [pa] = tail [k] ; + next [tail [k]] = head [pa] ; + head [pa] = next [i] ; + nque [pa] += nque [k] ; + } + } + for (i = 0 ; i < m ; i++) if (Pinv [i] < 0) Pinv [i] = k++ ; + return (cs_idone (Pinv, NULL, w, 1)) ; +} + +/* symbolic analysis for QR or LU */ +css *cs_sqr (const cs *A, int order, int qr) +{ + int n, k, ok = 1, *post ; + css *S ; + if (!A) return (NULL) ; /* check inputs */ + n = A->n ; + S = (css*)cs_calloc (1, sizeof (css)) ; /* allocate symbolic analysis */ + if (!S) return (NULL) ; /* out of memory */ + S->Q = cs_amd (A, order) ; /* fill-reducing ordering */ + if (order >= 0 && !S->Q) return (cs_sfree (S)) ; + if (qr) /* QR symbolic analysis */ + { + cs *C = (order >= 0) ? cs_permute (A, NULL, S->Q, 0) : ((cs *) A) ; + S->parent = cs_etree (C, 1) ; /* etree of C'*C, where C=A(:,Q) */ + post = cs_post (n, S->parent) ; + S->cp = cs_counts (C, S->parent, post, 1) ; /* col counts chol(C'*C) */ + cs_free (post) ; + ok = C && S->parent && S->cp ; + if (ok) S->Pinv = cs_vcount (C, S->parent, &(S->m2), &(S->lnz)) ; + ok = ok && S->Pinv ; + if (ok) for (S->unz = 0, k = 0 ; k < n ; k++) S->unz += S->cp [k] ; + if (order >= 0) cs_spfree (C) ; + } + else + { + S->unz = 4*(A->p [n]) + n ; /* for LU factorization only, */ + S->lnz = S->unz ; /* guess nnz(L) and nnz(U) */ + } + return (ok ? S : cs_sfree (S)) ; +} + +/* C = A(p,p) where A and C are symmetric the upper part stored, Pinv not P */ +cs *cs_symperm (const cs *A, const int *Pinv, int values) +{ + int i, j, p, q, i2, j2, n, *Ap, *Ai, *Cp, *Ci, *w ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; + n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (n, n, Ap [n], values && (Ax != NULL), 0) ; + w = (int*)cs_calloc (n, sizeof (int)) ; + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (j = 0 ; j < n ; j++) /* count entries in each column of C */ + { + j2 = Pinv ? Pinv [j] : j ; /* column j of A is column j2 of C */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (i > j) continue ; /* skip lower triangular part of A */ + i2 = Pinv ? Pinv [i] : i ; /* row i of A is row i2 of C */ + w [CS_MAX (i2, j2)]++ ; /* column count of C */ + } + } + cs_cumsum (Cp, w, n) ; /* compute column pointers of C */ + for (j = 0 ; j < n ; j++) + { + j2 = Pinv ? Pinv [j] : j ; /* column j of A is column j2 of C */ + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + i = Ai [p] ; + if (i > j) continue ; /* skip lower triangular part of A*/ + i2 = Pinv ? Pinv [i] : i ; /* row i of A is row i2 of C */ + Ci [q = w [CS_MAX (i2, j2)]++] = CS_MIN (i2, j2) ; + if (Cx) Cx [q] = Ax [p] ; + } + } + return (cs_done (C, w, NULL, 1)) ; /* success; free workspace, return C */ +} + +/* depth-first search and postorder of a tree rooted at node j */ +int cs_tdfs (int j, int k, int *head, const int *next, int *post, int *stack) +{ + int i, p, top = 0 ; + if (!head || !next || !post || !stack) return (-1) ; /* check inputs */ + stack [0] = j ; /* place j on the stack */ + while (top >= 0) /* while (stack is not empty) */ + { + p = stack [top] ; /* p = top of stack */ + i = head [p] ; /* i = youngest child of p */ + if (i == -1) + { + top-- ; /* p has no unordered children left */ + post [k++] = p ; /* node p is the kth postordered node */ + } + else + { + head [p] = next [i] ; /* remove i from children of p */ + stack [++top] = i ; /* start dfs on child node i */ + } + } + return (k) ; +} + +/* C = A' */ +cs *cs_transpose (const cs *A, int values) +{ + int p, q, j, *Cp, *Ci, n, m, *Ap, *Ai, *w ; + double *Cx, *Ax ; + cs *C ; + if (!A) return (NULL) ; + m = A->m ; n = A->n ; Ap = A->p ; Ai = A->i ; Ax = A->x ; + C = cs_spalloc (n, m, Ap [n], values && Ax, 0) ; /* allocate result */ + w = (int*)cs_calloc (m, sizeof (int)) ; + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (p = 0 ; p < Ap [n] ; p++) w [Ai [p]]++ ; /* row counts */ + cs_cumsum (Cp, w, m) ; /* row pointers */ + for (j = 0 ; j < n ; j++) + { + for (p = Ap [j] ; p < Ap [j+1] ; p++) + { + Ci [q = w [Ai [p]]++] = j ; /* place A(i,j) as entry C(j,i) */ + if (Cx) Cx [q] = Ax [p] ; + } + } + return (cs_done (C, w, NULL, 1)) ; /* success; free w and return C */ +} + +/* C = compressed-column form of a triplet matrix T */ +cs *cs_triplet (const cs *T) +{ + int m, n, nz, p, k, *Cp, *Ci, *w, *Ti, *Tj ; + double *Cx, *Tx ; + cs *C ; + if (!T) return (NULL) ; /* check inputs */ + m = T->m ; n = T->n ; Ti = T->i ; Tj = T->p ; Tx = T->x ; nz = T->nz ; + C = cs_spalloc (m, n, nz, Tx != NULL, 0) ; /* allocate result */ + w = (int*)cs_calloc (n, sizeof (int)) ; /* get workspace */ + if (!C || !w) return (cs_done (C, w, NULL, 0)) ; /* out of memory */ + Cp = C->p ; Ci = C->i ; Cx = C->x ; + for (k = 0 ; k < nz ; k++) w [Tj [k]]++ ; /* column counts */ + cs_cumsum (Cp, w, n) ; /* column pointers */ + for (k = 0 ; k < nz ; k++) + { + Ci [p = w [Tj [k]]++] = Ti [k] ; /* A(i,j) is the pth entry in C */ + if (Cx) Cx [p] = Tx [k] ; + } + return (cs_done (C, w, NULL, 1)) ; /* success; free w and return C */ +} + +/* sparse Cholesky update/downdate, L*L' + sigma*w*w' (sigma = +1 or -1) */ +int cs_updown (cs *L, int sigma, const cs *C, const int *parent) +{ + int p, f, j, *Lp, *Li, *Cp, *Ci ; + double *Lx, *Cx, alpha, beta = 1, delta, gamma, w1, w2, *w, n, beta2 = 1 ; + if (!L || !C || !parent) return (0) ; + Lp = L->p ; Li = L->i ; Lx = L->x ; n = L->n ; + Cp = C->p ; Ci = C->i ; Cx = C->x ; + if ((p = Cp [0]) >= Cp [1]) return (1) ; /* return if C empty */ + w = (double*)cs_malloc ((int)n, sizeof (double)) ; + if (!w) return (0) ; + f = Ci [p] ; + for ( ; p < Cp [1] ; p++) f = CS_MIN (f, Ci [p]) ; /* f = min (find (C)) */ + for (j = f ; j != -1 ; j = parent [j]) w [j] = 0 ; /* clear workspace w */ + for (p = Cp [0] ; p < Cp [1] ; p++) w [Ci [p]] = Cx [p] ; /* w = C */ + for (j = f ; j != -1 ; j = parent [j]) /* walk path f up to root */ + { + p = Lp [j] ; + alpha = w [j] / Lx [p] ; /* alpha = w(j) / L(j,j) */ + beta2 = beta*beta + sigma*alpha*alpha ; + if (beta2 <= 0) break ; /* not positive definite */ + beta2 = sqrt (beta2) ; + delta = (sigma > 0) ? (beta / beta2) : (beta2 / beta) ; + gamma = sigma * alpha / (beta2 * beta) ; + Lx [p] = delta * Lx [p] + ((sigma > 0) ? (gamma * w [j]) : 0) ; + beta = beta2 ; + for (p++ ; p < Lp [j+1] ; p++) + { + w1 = w [Li [p]] ; + w [Li [p]] = w2 = w1 - alpha * Lx [p] ; + Lx [p] = delta * Lx [p] + gamma * ((sigma > 0) ? w1 : w2) ; + } + } + cs_free (w) ; + return (beta2 > 0) ; +} + +/* solve Ux=b where x and b are dense. x=b on input, solution on output. */ +int cs_usolve (const cs *U, double *x) +{ + int p, j, n, *Up, *Ui ; + double *Ux ; + if (!U || !x) return (0) ; /* check inputs */ + n = U->n ; Up = U->p ; Ui = U->i ; Ux = U->x ; + for (j = n-1 ; j >= 0 ; j--) + { + x [j] /= Ux [Up [j+1]-1] ; + for (p = Up [j] ; p < Up [j+1]-1 ; p++) + { + x [Ui [p]] -= Ux [p] * x [j] ; + } + } + return (1) ; +} + +/* allocate a sparse matrix (triplet form or compressed-column form) */ +cs *cs_spalloc (int m, int n, int nzmax, int values, int triplet) +{ + cs *A = (cs*)cs_calloc (1, sizeof (cs)) ; /* allocate the cs struct */ + if (!A) return (NULL) ; /* out of memory */ + A->m = m ; /* define dimensions and nzmax */ + A->n = n ; + A->nzmax = nzmax = CS_MAX (nzmax, 1) ; + A->nz = triplet ? 0 : -1 ; /* allocate triplet or comp.col */ + A->p = (int*)cs_malloc (triplet ? nzmax : n+1, sizeof (int)) ; + A->i = (int*)cs_malloc (nzmax, sizeof (int)) ; + A->x = values ? (double*)cs_malloc (nzmax, sizeof (double)) : NULL ; + return ((!A->p || !A->i || (values && !A->x)) ? cs_spfree (A) : A) ; +} + +/* change the max # of entries sparse matrix */ +int cs_sprealloc (cs *A, int nzmax) +{ + int ok, oki, okj = 1, okx = 1 ; + if (!A) return (0) ; + nzmax = (nzmax <= 0) ? (A->p [A->n]) : nzmax ; + A->i = (int*)cs_realloc (A->i, nzmax, sizeof (int), &oki) ; + if (A->nz >= 0) A->p = (int*)cs_realloc (A->p, nzmax, sizeof (int), &okj) ; + if (A->x) A->x = (double*)cs_realloc (A->x, nzmax, sizeof (double), &okx) ; + ok = (oki && okj && okx) ; + if (ok) A->nzmax = nzmax ; + return (ok) ; +} + +/* free a sparse matrix */ +cs *cs_spfree (cs *A) +{ + if (!A) return (NULL) ; /* do nothing if A already NULL */ + cs_free (A->p) ; + cs_free (A->i) ; + cs_free (A->x) ; + return (cs*)(cs_free (A)) ; /* free the cs struct and return NULL */ +} + +/* free a numeric factorization */ +csn *cs_nfree (csn *N) +{ + if (!N) return (NULL) ; /* do nothing if N already NULL */ + cs_spfree (N->L) ; + cs_spfree (N->U) ; + cs_free (N->Pinv) ; + cs_free (N->B) ; + return (csn*)(cs_free (N)) ; /* free the csn struct and return NULL */ +} + +/* free a symbolic factorization */ +css *cs_sfree (css *S) +{ + if (!S) return (NULL) ; /* do nothing if S already NULL */ + cs_free (S->Pinv) ; + cs_free (S->Q) ; + cs_free (S->parent) ; + cs_free (S->cp) ; + return (css*)(cs_free (S)) ; /* free the css struct and return NULL */ +} + +/* allocate a cs_dmperm or cs_scc result */ +csd *cs_dalloc (int m, int n) +{ + csd *D ; + D = (csd*)cs_calloc (1, sizeof (csd)) ; + if (!D) return (NULL) ; + D->P = (int*)cs_malloc (m, sizeof (int)) ; + D->R = (int*)cs_malloc (m+6, sizeof (int)) ; + D->Q = (int*)cs_malloc (n, sizeof (int)) ; + D->S = (int*)cs_malloc (n+6, sizeof (int)) ; + return ((!D->P || !D->R || !D->Q || !D->S) ? cs_dfree (D) : D) ; +} + +/* free a cs_dmperm or cs_scc result */ +csd *cs_dfree (csd *D) +{ + if (!D) return (NULL) ; /* do nothing if D already NULL */ + cs_free (D->P) ; + cs_free (D->Q) ; + cs_free (D->R) ; + cs_free (D->S) ; + return (csd*)(cs_free (D)) ; +} + +/* free workspace and return a sparse matrix result */ +cs *cs_done (cs *C, void *w, void *x, int ok) +{ + cs_free (w) ; /* free workspace */ + cs_free (x) ; + return (ok ? C : cs_spfree (C)) ; /* return result if OK, else free it */ +} + +/* free workspace and return int array result */ +int *cs_idone (int *p, cs *C, void *w, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + return (ok ? p : (int*)cs_free (p)) ; /* return result if OK, else free it */ +} + +/* free workspace and return a numeric factorization (Cholesky, LU, or QR) */ +csn *cs_ndone (csn *N, cs *C, void *w, void *x, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + cs_free (x) ; + return (ok ? N : cs_nfree (N)) ; /* return result if OK, else free it */ +} + +/* free workspace and return a csd result */ +csd *cs_ddone (csd *D, cs *C, void *w, int ok) +{ + cs_spfree (C) ; /* free temporary matrix */ + cs_free (w) ; /* free workspace */ + return (ok ? D : cs_dfree (D)) ; /* return result if OK, else free it */ +} + +/* solve U'x=b where x and b are dense. x=b on input, solution on output. */ +int cs_utsolve (const cs *U, double *x) +{ + int p, j, n, *Up, *Ui ; + double *Ux ; + if (!U || !x) return (0) ; /* check inputs */ + n = U->n ; Up = U->p ; Ui = U->i ; Ux = U->x ; + for (j = 0 ; j < n ; j++) + { + for (p = Up [j] ; p < Up [j+1]-1 ; p++) + { + x [j] -= Ux [p] * x [Ui [p]] ; + } + x [j] /= Ux [p] ; + } + return (1) ; +} diff --git a/3rdparty/sparse/csparse.h b/3rdparty/sparse/csparse.h new file mode 100644 index 0000000..0b1bd58 --- /dev/null +++ b/3rdparty/sparse/csparse.h @@ -0,0 +1,134 @@ +#ifndef _CS_H +#define _CS_H + +#ifdef MATLAB_MEX_FILE +#include "mex.h" +#endif +#define CS_VER 1 /* CSparse Version 1.2.0 */ +#define CS_SUBVER 2 +#define CS_SUBSUB 0 +#define CS_DATE "Mar 6, 2006" /* CSparse release date */ +#define CS_COPYRIGHT "Copyright (c) Timothy A. Davis, 2006" + +/* --- primary CSparse routines and data structures ------------------------- */ +typedef struct cs_sparse /* matrix in compressed-column or triplet form */ +{ + int nzmax ; /* maximum number of entries */ + int m ; /* number of rows */ + int n ; /* number of columns */ + int *p ; /* column pointers (size n+1) or col indices (size nzmax) */ + int *i ; /* row indices, size nzmax */ + double *x ; /* numerical values, size nzmax */ + int nz ; /* # of entries in triplet matrix, -1 for compressed-col */ +} cs ; + +cs *cs_add (const cs *A, const cs *B, double alpha, double beta) ; +int cs_cholsol (const cs *A, double *b, int order) ; +int cs_dupl (cs *A) ; +int cs_entry (cs *T, int i, int j, double x) ; +int cs_lusol (const cs *A, double *b, int order, double tol) ; +int cs_gaxpy (const cs *A, const double *x, double *y) ; +cs *cs_multiply (const cs *A, const cs *B) ; +int cs_qrsol (const cs *A, double *b, int order) ; +cs *cs_transpose (const cs *A, int values) ; +cs *cs_triplet (const cs *T) ; +double cs_norm (const cs *A) ; +int cs_print (const cs *A, int brief) ; +cs *cs_load (FILE *f) ; +/* utilities */ +void *cs_calloc (int n, size_t size) ; +void *cs_free (void *p) ; +void *cs_realloc (void *p, int n, size_t size, int *ok) ; +cs *cs_spalloc (int m, int n, int nzmax, int values, int triplet) ; +cs *cs_spfree (cs *A) ; +int cs_sprealloc (cs *A, int nzmax) ; +void *cs_malloc (int n, size_t size) ; + +/* --- secondary CSparse routines and data structures ----------------------- */ +typedef struct cs_symbolic /* symbolic Cholesky, LU, or QR analysis */ +{ + int *Pinv ; /* inverse row perm. for QR, fill red. perm for Chol */ + int *Q ; /* fill-reducing column permutation for LU and QR */ + int *parent ; /* elimination tree for Cholesky and QR */ + int *cp ; /* column pointers for Cholesky, row counts for QR */ + int m2 ; /* # of rows for QR, after adding fictitious rows */ + int lnz ; /* # entries in L for LU or Cholesky; in V for QR */ + int unz ; /* # entries in U for LU; in R for QR */ +} css ; + +typedef struct cs_numeric /* numeric Cholesky, LU, or QR factorization */ +{ + cs *L ; /* L for LU and Cholesky, V for QR */ + cs *U ; /* U for LU, R for QR, not used for Cholesky */ + int *Pinv ; /* partial pivoting for LU */ + double *B ; /* beta [0..n-1] for QR */ +} csn ; + +typedef struct cs_dmperm_results /* cs_dmperm or cs_scc output */ +{ + int *P ; /* size m, row permutation */ + int *Q ; /* size n, column permutation */ + int *R ; /* size nb+1, block k is rows R[k] to R[k+1]-1 in A(P,Q) */ + int *S ; /* size nb+1, block k is cols S[k] to S[k+1]-1 in A(P,Q) */ + int nb ; /* # of blocks in fine dmperm decomposition */ + int rr [5] ; /* coarse row decomposition */ + int cc [5] ; /* coarse column decomposition */ +} csd ; + +int *cs_amd (const cs *A, int order) ; +csn *cs_chol (const cs *A, const css *S) ; +csd *cs_dmperm (const cs *A) ; +int cs_droptol (cs *A, double tol) ; +int cs_dropzeros (cs *A) ; +int cs_happly (const cs *V, int i, double beta, double *x) ; +int cs_ipvec (int n, const int *P, const double *b, double *x) ; +int cs_lsolve (const cs *L, double *x) ; +int cs_ltsolve (const cs *L, double *x) ; +csn *cs_lu (const cs *A, const css *S, double tol) ; +cs *cs_permute (const cs *A, const int *P, const int *Q, int values) ; +int *cs_pinv (const int *P, int n) ; +int cs_pvec (int n, const int *P, const double *b, double *x) ; +csn *cs_qr (const cs *A, const css *S) ; +css *cs_schol (const cs *A, int order) ; +css *cs_sqr (const cs *A, int order, int qr) ; +cs *cs_symperm (const cs *A, const int *Pinv, int values) ; +int cs_usolve (const cs *U, double *x) ; +int cs_utsolve (const cs *U, double *x) ; +int cs_updown (cs *L, int sigma, const cs *C, const int *parent) ; +/* utilities */ +css *cs_sfree (css *S) ; +csn *cs_nfree (csn *N) ; +csd *cs_dfree (csd *D) ; + +/* --- tertiary CSparse routines -------------------------------------------- */ +int *cs_counts (const cs *A, const int *parent, const int *post, int ata) ; +int cs_cumsum (int *p, int *c, int n) ; +int cs_dfs (int j, cs *L, int top, int *xi, int *pstack, const int *Pinv) ; +int *cs_etree (const cs *A, int ata) ; +int cs_fkeep (cs *A, int (*fkeep) (int, int, double, void *), void *other) ; +double cs_house (double *x, double *beta, int n) ; +int *cs_maxtrans (const cs *A) ; +int *cs_post (int n, const int *parent) ; +int cs_reach (cs *L, const cs *B, int k, int *xi, const int *Pinv) ; +csd *cs_scc (cs *A) ; +int cs_scatter (const cs *A, int j, double beta, int *w, double *x, int mark, + cs *C, int nz) ; +int cs_splsolve (cs *L, const cs *B, int k, int *xi, double *x, + const int *Pinv) ; +int cs_tdfs (int j, int k, int *head, const int *next, int *post, + int *stack) ; +/* utilities */ +csd *cs_dalloc (int m, int n) ; +cs *cs_done (cs *C, void *w, void *x, int ok) ; +int *cs_idone (int *p, cs *C, void *w, int ok) ; +csn *cs_ndone (csn *N, cs *C, void *w, void *x, int ok) ; +csd *cs_ddone (csd *D, cs *C, void *w, int ok) ; + +#define CS_MAX(a,b) (((a) > (b)) ? (a) : (b)) +#define CS_MIN(a,b) (((a) < (b)) ? (a) : (b)) +#define CS_FLIP(i) (-(i)-2) +#define CS_UNFLIP(i) (((i) < 0) ? CS_FLIP(i) : (i)) +#define CS_MARKED(Ap,j) (Ap [j] < 0) +#define CS_MARK(Ap,j) { Ap [j] = CS_FLIP (Ap [j]) ; } +#define CS_OVERFLOW(n,size) (n > INT_MAX / (int) size) +#endif diff --git a/3rdparty/windows/GL/freeglut.h b/3rdparty/windows/GL/freeglut.h new file mode 100644 index 0000000..241b7fc --- /dev/null +++ b/3rdparty/windows/GL/freeglut.h @@ -0,0 +1,22 @@ +#ifndef __FREEGLUT_H__ +#define __FREEGLUT_H__ + +/* + * freeglut.h + * + * The freeglut library include file + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "freeglut_std.h" +#include "freeglut_ext.h" + +/*** END OF FILE ***/ + +#endif /* __FREEGLUT_H__ */ diff --git a/3rdparty/windows/GL/freeglut_ext.h b/3rdparty/windows/GL/freeglut_ext.h new file mode 100644 index 0000000..af91879 --- /dev/null +++ b/3rdparty/windows/GL/freeglut_ext.h @@ -0,0 +1,236 @@ +#ifndef __FREEGLUT_EXT_H__ +#define __FREEGLUT_EXT_H__ + +/* + * freeglut_ext.h + * + * The non-GLUT-compatible extensions to the freeglut library include file + * + * Copyright (c) 1999-2000 Pawel W. Olszta. All Rights Reserved. + * Written by Pawel W. Olszta, + * Creation date: Thu Dec 2 1999 + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifdef __cplusplus + extern "C" { +#endif + +/* + * Additional GLUT Key definitions for the Special key function + */ +#define GLUT_KEY_NUM_LOCK 0x006D +#define GLUT_KEY_BEGIN 0x006E +#define GLUT_KEY_DELETE 0x006F +#define GLUT_KEY_SHIFT_L 0x0070 +#define GLUT_KEY_SHIFT_R 0x0071 +#define GLUT_KEY_CTRL_L 0x0072 +#define GLUT_KEY_CTRL_R 0x0073 +#define GLUT_KEY_ALT_L 0x0074 +#define GLUT_KEY_ALT_R 0x0075 + +/* + * GLUT API Extension macro definitions -- behaviour when the user clicks on an "x" to close a window + */ +#define GLUT_ACTION_EXIT 0 +#define GLUT_ACTION_GLUTMAINLOOP_RETURNS 1 +#define GLUT_ACTION_CONTINUE_EXECUTION 2 + +/* + * Create a new rendering context when the user opens a new window? + */ +#define GLUT_CREATE_NEW_CONTEXT 0 +#define GLUT_USE_CURRENT_CONTEXT 1 + +/* + * Direct/Indirect rendering context options (has meaning only in Unix/X11) + */ +#define GLUT_FORCE_INDIRECT_CONTEXT 0 +#define GLUT_ALLOW_DIRECT_CONTEXT 1 +#define GLUT_TRY_DIRECT_CONTEXT 2 +#define GLUT_FORCE_DIRECT_CONTEXT 3 + +/* + * GLUT API Extension macro definitions -- the glutGet parameters + */ +#define GLUT_INIT_STATE 0x007C + +#define GLUT_ACTION_ON_WINDOW_CLOSE 0x01F9 + +#define GLUT_WINDOW_BORDER_WIDTH 0x01FA +#define GLUT_WINDOW_HEADER_HEIGHT 0x01FB + +#define GLUT_VERSION 0x01FC + +#define GLUT_RENDERING_CONTEXT 0x01FD +#define GLUT_DIRECT_RENDERING 0x01FE + +#define GLUT_FULL_SCREEN 0x01FF + +/* + * New tokens for glutInitDisplayMode. + * Only one GLUT_AUXn bit may be used at a time. + * Value 0x0400 is defined in OpenGLUT. + */ +#define GLUT_AUX 0x1000 + +#define GLUT_AUX1 0x1000 +#define GLUT_AUX2 0x2000 +#define GLUT_AUX3 0x4000 +#define GLUT_AUX4 0x8000 + +/* + * Context-related flags, see freeglut_state.c + */ +#define GLUT_INIT_MAJOR_VERSION 0x0200 +#define GLUT_INIT_MINOR_VERSION 0x0201 +#define GLUT_INIT_FLAGS 0x0202 +#define GLUT_INIT_PROFILE 0x0203 + +/* + * Flags for glutInitContextFlags, see freeglut_init.c + */ +#define GLUT_DEBUG 0x0001 +#define GLUT_FORWARD_COMPATIBLE 0x0002 + + +/* + * Flags for glutInitContextProfile, see freeglut_init.c + */ +#define GLUT_CORE_PROFILE 0x0001 +#define GLUT_COMPATIBILITY_PROFILE 0x0002 + +/* + * Process loop function, see freeglut_main.c + */ +FGAPI void FGAPIENTRY glutMainLoopEvent( void ); +FGAPI void FGAPIENTRY glutLeaveMainLoop( void ); +FGAPI void FGAPIENTRY glutExit ( void ); + +/* + * Window management functions, see freeglut_window.c + */ +FGAPI void FGAPIENTRY glutFullScreenToggle( void ); +FGAPI void FGAPIENTRY glutLeaveFullScreen( void ); + +/* + * Window-specific callback functions, see freeglut_callbacks.c + */ +FGAPI void FGAPIENTRY glutMouseWheelFunc( void (* callback)( int, int, int, int ) ); +FGAPI void FGAPIENTRY glutCloseFunc( void (* callback)( void ) ); +FGAPI void FGAPIENTRY glutWMCloseFunc( void (* callback)( void ) ); +/* A. Donev: Also a destruction callback for menus */ +FGAPI void FGAPIENTRY glutMenuDestroyFunc( void (* callback)( void ) ); + +/* + * State setting and retrieval functions, see freeglut_state.c + */ +FGAPI void FGAPIENTRY glutSetOption ( GLenum option_flag, int value ); +FGAPI int * FGAPIENTRY glutGetModeValues(GLenum mode, int * size); +/* A.Donev: User-data manipulation */ +FGAPI void* FGAPIENTRY glutGetWindowData( void ); +FGAPI void FGAPIENTRY glutSetWindowData(void* data); +FGAPI void* FGAPIENTRY glutGetMenuData( void ); +FGAPI void FGAPIENTRY glutSetMenuData(void* data); + +/* + * Font stuff, see freeglut_font.c + */ +FGAPI int FGAPIENTRY glutBitmapHeight( void* font ); +FGAPI GLfloat FGAPIENTRY glutStrokeHeight( void* font ); +FGAPI void FGAPIENTRY glutBitmapString( void* font, const unsigned char *string ); +FGAPI void FGAPIENTRY glutStrokeString( void* font, const unsigned char *string ); + +/* + * Geometry functions, see freeglut_geometry.c + */ +FGAPI void FGAPIENTRY glutWireRhombicDodecahedron( void ); +FGAPI void FGAPIENTRY glutSolidRhombicDodecahedron( void ); +FGAPI void FGAPIENTRY glutWireSierpinskiSponge ( int num_levels, GLdouble offset[3], GLdouble scale ); +FGAPI void FGAPIENTRY glutSolidSierpinskiSponge ( int num_levels, GLdouble offset[3], GLdouble scale ); +FGAPI void FGAPIENTRY glutWireCylinder( GLdouble radius, GLdouble height, GLint slices, GLint stacks); +FGAPI void FGAPIENTRY glutSolidCylinder( GLdouble radius, GLdouble height, GLint slices, GLint stacks); + +/* + * Extension functions, see freeglut_ext.c + */ +typedef void (*GLUTproc)(); +FGAPI GLUTproc FGAPIENTRY glutGetProcAddress( const char *procName ); + +/* + * Multi-touch/multi-pointer extensions + */ + +#define GLUT_HAS_MULTI 1 + +FGAPI void FGAPIENTRY glutMultiEntryFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutMultiButtonFunc( void (* callback)( int, int, int, int, int ) ); +FGAPI void FGAPIENTRY glutMultiMotionFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutMultiPassiveFunc( void (* callback)( int, int, int ) ); + +/* + * Joystick functions, see freeglut_joystick.c + */ +/* USE OF THESE FUNCTIONS IS DEPRECATED !!!!! */ +/* If you have a serious need for these functions in your application, please either + * contact the "freeglut" developer community at freeglut-developer@lists.sourceforge.net, + * switch to the OpenGLUT library, or else port your joystick functionality over to PLIB's + * "js" library. + */ +int glutJoystickGetNumAxes( int ident ); +int glutJoystickGetNumButtons( int ident ); +int glutJoystickNotWorking( int ident ); +float glutJoystickGetDeadBand( int ident, int axis ); +void glutJoystickSetDeadBand( int ident, int axis, float db ); +float glutJoystickGetSaturation( int ident, int axis ); +void glutJoystickSetSaturation( int ident, int axis, float st ); +void glutJoystickSetMinRange( int ident, float *axes ); +void glutJoystickSetMaxRange( int ident, float *axes ); +void glutJoystickSetCenter( int ident, float *axes ); +void glutJoystickGetMinRange( int ident, float *axes ); +void glutJoystickGetMaxRange( int ident, float *axes ); +void glutJoystickGetCenter( int ident, float *axes ); + +/* + * Initialization functions, see freeglut_init.c + */ +FGAPI void FGAPIENTRY glutInitContextVersion( int majorVersion, int minorVersion ); +FGAPI void FGAPIENTRY glutInitContextFlags( int flags ); +FGAPI void FGAPIENTRY glutInitContextProfile( int profile ); + +/* to get the typedef for va_list */ +#include + +FGAPI void FGAPIENTRY glutInitErrorFunc( void (* vError)( const char *fmt, va_list ap ) ); +FGAPI void FGAPIENTRY glutInitWarningFunc( void (* vWarning)( const char *fmt, va_list ap ) ); + +/* + * GLUT API macro definitions -- the display mode definitions + */ +#define GLUT_CAPTIONLESS 0x0400 +#define GLUT_BORDERLESS 0x0800 +#define GLUT_SRGB 0x1000 + +#ifdef __cplusplus + } +#endif + +/*** END OF FILE ***/ + +#endif /* __FREEGLUT_EXT_H__ */ diff --git a/3rdparty/windows/GL/freeglut_std.h b/3rdparty/windows/GL/freeglut_std.h new file mode 100644 index 0000000..a1a7a1f --- /dev/null +++ b/3rdparty/windows/GL/freeglut_std.h @@ -0,0 +1,624 @@ +#ifndef __FREEGLUT_STD_H__ +#define __FREEGLUT_STD_H__ + +/* + * freeglut_std.h + * + * The GLUT-compatible part of the freeglut library include file + * + * Copyright (c) 1999-2000 Pawel W. Olszta. All Rights Reserved. + * Written by Pawel W. Olszta, + * Creation date: Thu Dec 2 1999 + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#ifdef __cplusplus + extern "C" { +#endif + +/* + * Under windows, we have to differentiate between static and dynamic libraries + */ +#ifdef _WIN32 +/* #pragma may not be supported by some compilers. + * Discussion by FreeGLUT developers suggests that + * Visual C++ specific code involving pragmas may + * need to move to a separate header. 24th Dec 2003 + */ + +/* Define FREEGLUT_LIB_PRAGMAS to 1 to include library + * pragmas or to 0 to exclude library pragmas. + * The default behavior depends on the compiler/platform. + */ +# ifndef FREEGLUT_LIB_PRAGMAS +# if ( defined(_MSC_VER) || defined(__WATCOMC__) ) && !defined(_WIN32_WCE) +# define FREEGLUT_LIB_PRAGMAS 1 +# else +# define FREEGLUT_LIB_PRAGMAS 0 +# endif +# endif + + /* +# ifndef WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN 1 +# endif + */ +# ifndef NOMINMAX +# define NOMINMAX +# endif +# include + +/* Windows static library */ +# ifdef FREEGLUT_STATIC + +#error Static linking is not supported with this build. Please remove the FREEGLUT_STATIC preprocessor directive, or download the source code from http://freeglut.sf.net/ and build against that. + +/* Windows shared library (DLL) */ +# else + +# define FGAPIENTRY __stdcall +# if defined(FREEGLUT_EXPORTS) +# define FGAPI __declspec(dllexport) +# else +# define FGAPI __declspec(dllimport) + + /* Link with Win32 shared freeglut lib */ +# if FREEGLUT_LIB_PRAGMAS +# pragma comment (lib, "freeglut.lib") +# endif + +# endif + +# endif + +/* Drag in other Windows libraries as required by FreeGLUT */ +# if FREEGLUT_LIB_PRAGMAS +# pragma comment (lib, "glu32.lib") /* link OpenGL Utility lib */ +# pragma comment (lib, "opengl32.lib") /* link Microsoft OpenGL lib */ +# pragma comment (lib, "gdi32.lib") /* link Windows GDI lib */ +# pragma comment (lib, "winmm.lib") /* link Windows MultiMedia lib */ +# pragma comment (lib, "user32.lib") /* link Windows user lib */ +# endif + +#else + +/* Non-Windows definition of FGAPI and FGAPIENTRY */ +# define FGAPI +# define FGAPIENTRY + +#endif + +/* + * The freeglut and GLUT API versions + */ +#define FREEGLUT 1 +#define GLUT_API_VERSION 4 +#define FREEGLUT_VERSION_2_0 1 +#define GLUT_XLIB_IMPLEMENTATION 13 + +/* + * Always include OpenGL and GLU headers + */ +#include +#include + +/* + * GLUT API macro definitions -- the special key codes: + */ +#define GLUT_KEY_F1 0x0001 +#define GLUT_KEY_F2 0x0002 +#define GLUT_KEY_F3 0x0003 +#define GLUT_KEY_F4 0x0004 +#define GLUT_KEY_F5 0x0005 +#define GLUT_KEY_F6 0x0006 +#define GLUT_KEY_F7 0x0007 +#define GLUT_KEY_F8 0x0008 +#define GLUT_KEY_F9 0x0009 +#define GLUT_KEY_F10 0x000A +#define GLUT_KEY_F11 0x000B +#define GLUT_KEY_F12 0x000C +#define GLUT_KEY_LEFT 0x0064 +#define GLUT_KEY_UP 0x0065 +#define GLUT_KEY_RIGHT 0x0066 +#define GLUT_KEY_DOWN 0x0067 +#define GLUT_KEY_PAGE_UP 0x0068 +#define GLUT_KEY_PAGE_DOWN 0x0069 +#define GLUT_KEY_HOME 0x006A +#define GLUT_KEY_END 0x006B +#define GLUT_KEY_INSERT 0x006C + +/* + * GLUT API macro definitions -- mouse state definitions + */ +#define GLUT_LEFT_BUTTON 0x0000 +#define GLUT_MIDDLE_BUTTON 0x0001 +#define GLUT_RIGHT_BUTTON 0x0002 +#define GLUT_DOWN 0x0000 +#define GLUT_UP 0x0001 +#define GLUT_LEFT 0x0000 +#define GLUT_ENTERED 0x0001 + +/* + * GLUT API macro definitions -- the display mode definitions + */ +#define GLUT_RGB 0x0000 +#define GLUT_RGBA 0x0000 +#define GLUT_INDEX 0x0001 +#define GLUT_SINGLE 0x0000 +#define GLUT_DOUBLE 0x0002 +#define GLUT_ACCUM 0x0004 +#define GLUT_ALPHA 0x0008 +#define GLUT_DEPTH 0x0010 +#define GLUT_STENCIL 0x0020 +#define GLUT_MULTISAMPLE 0x0080 +#define GLUT_STEREO 0x0100 +#define GLUT_LUMINANCE 0x0200 + +/* + * GLUT API macro definitions -- windows and menu related definitions + */ +#define GLUT_MENU_NOT_IN_USE 0x0000 +#define GLUT_MENU_IN_USE 0x0001 +#define GLUT_NOT_VISIBLE 0x0000 +#define GLUT_VISIBLE 0x0001 +#define GLUT_HIDDEN 0x0000 +#define GLUT_FULLY_RETAINED 0x0001 +#define GLUT_PARTIALLY_RETAINED 0x0002 +#define GLUT_FULLY_COVERED 0x0003 + +/* + * GLUT API macro definitions -- fonts definitions + * + * Steve Baker suggested to make it binary compatible with GLUT: + */ +#if defined(_MSC_VER) || defined(__CYGWIN__) || defined(__MINGW32__) || defined(__WATCOMC__) +# define GLUT_STROKE_ROMAN ((void *)0x0000) +# define GLUT_STROKE_MONO_ROMAN ((void *)0x0001) +# define GLUT_BITMAP_9_BY_15 ((void *)0x0002) +# define GLUT_BITMAP_8_BY_13 ((void *)0x0003) +# define GLUT_BITMAP_TIMES_ROMAN_10 ((void *)0x0004) +# define GLUT_BITMAP_TIMES_ROMAN_24 ((void *)0x0005) +# define GLUT_BITMAP_HELVETICA_10 ((void *)0x0006) +# define GLUT_BITMAP_HELVETICA_12 ((void *)0x0007) +# define GLUT_BITMAP_HELVETICA_18 ((void *)0x0008) +#else + /* + * I don't really know if it's a good idea... But here it goes: + */ + extern void* glutStrokeRoman; + extern void* glutStrokeMonoRoman; + extern void* glutBitmap9By15; + extern void* glutBitmap8By13; + extern void* glutBitmapTimesRoman10; + extern void* glutBitmapTimesRoman24; + extern void* glutBitmapHelvetica10; + extern void* glutBitmapHelvetica12; + extern void* glutBitmapHelvetica18; + + /* + * Those pointers will be used by following definitions: + */ +# define GLUT_STROKE_ROMAN ((void *) &glutStrokeRoman) +# define GLUT_STROKE_MONO_ROMAN ((void *) &glutStrokeMonoRoman) +# define GLUT_BITMAP_9_BY_15 ((void *) &glutBitmap9By15) +# define GLUT_BITMAP_8_BY_13 ((void *) &glutBitmap8By13) +# define GLUT_BITMAP_TIMES_ROMAN_10 ((void *) &glutBitmapTimesRoman10) +# define GLUT_BITMAP_TIMES_ROMAN_24 ((void *) &glutBitmapTimesRoman24) +# define GLUT_BITMAP_HELVETICA_10 ((void *) &glutBitmapHelvetica10) +# define GLUT_BITMAP_HELVETICA_12 ((void *) &glutBitmapHelvetica12) +# define GLUT_BITMAP_HELVETICA_18 ((void *) &glutBitmapHelvetica18) +#endif + +/* + * GLUT API macro definitions -- the glutGet parameters + */ +#define GLUT_WINDOW_X 0x0064 +#define GLUT_WINDOW_Y 0x0065 +#define GLUT_WINDOW_WIDTH 0x0066 +#define GLUT_WINDOW_HEIGHT 0x0067 +#define GLUT_WINDOW_BUFFER_SIZE 0x0068 +#define GLUT_WINDOW_STENCIL_SIZE 0x0069 +#define GLUT_WINDOW_DEPTH_SIZE 0x006A +#define GLUT_WINDOW_RED_SIZE 0x006B +#define GLUT_WINDOW_GREEN_SIZE 0x006C +#define GLUT_WINDOW_BLUE_SIZE 0x006D +#define GLUT_WINDOW_ALPHA_SIZE 0x006E +#define GLUT_WINDOW_ACCUM_RED_SIZE 0x006F +#define GLUT_WINDOW_ACCUM_GREEN_SIZE 0x0070 +#define GLUT_WINDOW_ACCUM_BLUE_SIZE 0x0071 +#define GLUT_WINDOW_ACCUM_ALPHA_SIZE 0x0072 +#define GLUT_WINDOW_DOUBLEBUFFER 0x0073 +#define GLUT_WINDOW_RGBA 0x0074 +#define GLUT_WINDOW_PARENT 0x0075 +#define GLUT_WINDOW_NUM_CHILDREN 0x0076 +#define GLUT_WINDOW_COLORMAP_SIZE 0x0077 +#define GLUT_WINDOW_NUM_SAMPLES 0x0078 +#define GLUT_WINDOW_STEREO 0x0079 +#define GLUT_WINDOW_CURSOR 0x007A + +#define GLUT_SCREEN_WIDTH 0x00C8 +#define GLUT_SCREEN_HEIGHT 0x00C9 +#define GLUT_SCREEN_WIDTH_MM 0x00CA +#define GLUT_SCREEN_HEIGHT_MM 0x00CB +#define GLUT_MENU_NUM_ITEMS 0x012C +#define GLUT_DISPLAY_MODE_POSSIBLE 0x0190 +#define GLUT_INIT_WINDOW_X 0x01F4 +#define GLUT_INIT_WINDOW_Y 0x01F5 +#define GLUT_INIT_WINDOW_WIDTH 0x01F6 +#define GLUT_INIT_WINDOW_HEIGHT 0x01F7 +#define GLUT_INIT_DISPLAY_MODE 0x01F8 +#define GLUT_ELAPSED_TIME 0x02BC +#define GLUT_WINDOW_FORMAT_ID 0x007B + +/* + * GLUT API macro definitions -- the glutDeviceGet parameters + */ +#define GLUT_HAS_KEYBOARD 0x0258 +#define GLUT_HAS_MOUSE 0x0259 +#define GLUT_HAS_SPACEBALL 0x025A +#define GLUT_HAS_DIAL_AND_BUTTON_BOX 0x025B +#define GLUT_HAS_TABLET 0x025C +#define GLUT_NUM_MOUSE_BUTTONS 0x025D +#define GLUT_NUM_SPACEBALL_BUTTONS 0x025E +#define GLUT_NUM_BUTTON_BOX_BUTTONS 0x025F +#define GLUT_NUM_DIALS 0x0260 +#define GLUT_NUM_TABLET_BUTTONS 0x0261 +#define GLUT_DEVICE_IGNORE_KEY_REPEAT 0x0262 +#define GLUT_DEVICE_KEY_REPEAT 0x0263 +#define GLUT_HAS_JOYSTICK 0x0264 +#define GLUT_OWNS_JOYSTICK 0x0265 +#define GLUT_JOYSTICK_BUTTONS 0x0266 +#define GLUT_JOYSTICK_AXES 0x0267 +#define GLUT_JOYSTICK_POLL_RATE 0x0268 + +/* + * GLUT API macro definitions -- the glutLayerGet parameters + */ +#define GLUT_OVERLAY_POSSIBLE 0x0320 +#define GLUT_LAYER_IN_USE 0x0321 +#define GLUT_HAS_OVERLAY 0x0322 +#define GLUT_TRANSPARENT_INDEX 0x0323 +#define GLUT_NORMAL_DAMAGED 0x0324 +#define GLUT_OVERLAY_DAMAGED 0x0325 + +/* + * GLUT API macro definitions -- the glutVideoResizeGet parameters + */ +#define GLUT_VIDEO_RESIZE_POSSIBLE 0x0384 +#define GLUT_VIDEO_RESIZE_IN_USE 0x0385 +#define GLUT_VIDEO_RESIZE_X_DELTA 0x0386 +#define GLUT_VIDEO_RESIZE_Y_DELTA 0x0387 +#define GLUT_VIDEO_RESIZE_WIDTH_DELTA 0x0388 +#define GLUT_VIDEO_RESIZE_HEIGHT_DELTA 0x0389 +#define GLUT_VIDEO_RESIZE_X 0x038A +#define GLUT_VIDEO_RESIZE_Y 0x038B +#define GLUT_VIDEO_RESIZE_WIDTH 0x038C +#define GLUT_VIDEO_RESIZE_HEIGHT 0x038D + +/* + * GLUT API macro definitions -- the glutUseLayer parameters + */ +#define GLUT_NORMAL 0x0000 +#define GLUT_OVERLAY 0x0001 + +/* + * GLUT API macro definitions -- the glutGetModifiers parameters + */ +#define GLUT_ACTIVE_SHIFT 0x0001 +#define GLUT_ACTIVE_CTRL 0x0002 +#define GLUT_ACTIVE_ALT 0x0004 + +/* + * GLUT API macro definitions -- the glutSetCursor parameters + */ +#define GLUT_CURSOR_RIGHT_ARROW 0x0000 +#define GLUT_CURSOR_LEFT_ARROW 0x0001 +#define GLUT_CURSOR_INFO 0x0002 +#define GLUT_CURSOR_DESTROY 0x0003 +#define GLUT_CURSOR_HELP 0x0004 +#define GLUT_CURSOR_CYCLE 0x0005 +#define GLUT_CURSOR_SPRAY 0x0006 +#define GLUT_CURSOR_WAIT 0x0007 +#define GLUT_CURSOR_TEXT 0x0008 +#define GLUT_CURSOR_CROSSHAIR 0x0009 +#define GLUT_CURSOR_UP_DOWN 0x000A +#define GLUT_CURSOR_LEFT_RIGHT 0x000B +#define GLUT_CURSOR_TOP_SIDE 0x000C +#define GLUT_CURSOR_BOTTOM_SIDE 0x000D +#define GLUT_CURSOR_LEFT_SIDE 0x000E +#define GLUT_CURSOR_RIGHT_SIDE 0x000F +#define GLUT_CURSOR_TOP_LEFT_CORNER 0x0010 +#define GLUT_CURSOR_TOP_RIGHT_CORNER 0x0011 +#define GLUT_CURSOR_BOTTOM_RIGHT_CORNER 0x0012 +#define GLUT_CURSOR_BOTTOM_LEFT_CORNER 0x0013 +#define GLUT_CURSOR_INHERIT 0x0064 +#define GLUT_CURSOR_NONE 0x0065 +#define GLUT_CURSOR_FULL_CROSSHAIR 0x0066 + +/* + * GLUT API macro definitions -- RGB color component specification definitions + */ +#define GLUT_RED 0x0000 +#define GLUT_GREEN 0x0001 +#define GLUT_BLUE 0x0002 + +/* + * GLUT API macro definitions -- additional keyboard and joystick definitions + */ +#define GLUT_KEY_REPEAT_OFF 0x0000 +#define GLUT_KEY_REPEAT_ON 0x0001 +#define GLUT_KEY_REPEAT_DEFAULT 0x0002 + +#define GLUT_JOYSTICK_BUTTON_A 0x0001 +#define GLUT_JOYSTICK_BUTTON_B 0x0002 +#define GLUT_JOYSTICK_BUTTON_C 0x0004 +#define GLUT_JOYSTICK_BUTTON_D 0x0008 + +/* + * GLUT API macro definitions -- game mode definitions + */ +#define GLUT_GAME_MODE_ACTIVE 0x0000 +#define GLUT_GAME_MODE_POSSIBLE 0x0001 +#define GLUT_GAME_MODE_WIDTH 0x0002 +#define GLUT_GAME_MODE_HEIGHT 0x0003 +#define GLUT_GAME_MODE_PIXEL_DEPTH 0x0004 +#define GLUT_GAME_MODE_REFRESH_RATE 0x0005 +#define GLUT_GAME_MODE_DISPLAY_CHANGED 0x0006 + +/* + * Initialization functions, see fglut_init.c + */ +FGAPI void FGAPIENTRY glutInit( int* pargc, char** argv ); +FGAPI void FGAPIENTRY glutInitWindowPosition( int x, int y ); +FGAPI void FGAPIENTRY glutInitWindowSize( int width, int height ); +FGAPI void FGAPIENTRY glutInitDisplayMode( unsigned int displayMode ); +FGAPI void FGAPIENTRY glutInitDisplayString( const char* displayMode ); + +/* + * Process loop function, see freeglut_main.c + */ +FGAPI void FGAPIENTRY glutMainLoop( void ); + +/* + * Window management functions, see freeglut_window.c + */ +FGAPI int FGAPIENTRY glutCreateWindow( const char* title ); +FGAPI int FGAPIENTRY glutCreateSubWindow( int window, int x, int y, int width, int height ); +FGAPI void FGAPIENTRY glutDestroyWindow( int window ); +FGAPI void FGAPIENTRY glutSetWindow( int window ); +FGAPI int FGAPIENTRY glutGetWindow( void ); +FGAPI void FGAPIENTRY glutSetWindowTitle( const char* title ); +FGAPI void FGAPIENTRY glutSetIconTitle( const char* title ); +FGAPI void FGAPIENTRY glutReshapeWindow( int width, int height ); +FGAPI void FGAPIENTRY glutPositionWindow( int x, int y ); +FGAPI void FGAPIENTRY glutShowWindow( void ); +FGAPI void FGAPIENTRY glutHideWindow( void ); +FGAPI void FGAPIENTRY glutIconifyWindow( void ); +FGAPI void FGAPIENTRY glutPushWindow( void ); +FGAPI void FGAPIENTRY glutPopWindow( void ); +FGAPI void FGAPIENTRY glutFullScreen( void ); + +/* + * Display-connected functions, see freeglut_display.c + */ +FGAPI void FGAPIENTRY glutPostWindowRedisplay( int window ); +FGAPI void FGAPIENTRY glutPostRedisplay( void ); +FGAPI void FGAPIENTRY glutSwapBuffers( void ); + +/* + * Mouse cursor functions, see freeglut_cursor.c + */ +FGAPI void FGAPIENTRY glutWarpPointer( int x, int y ); +FGAPI void FGAPIENTRY glutSetCursor( int cursor ); + +/* + * Overlay stuff, see freeglut_overlay.c + */ +FGAPI void FGAPIENTRY glutEstablishOverlay( void ); +FGAPI void FGAPIENTRY glutRemoveOverlay( void ); +FGAPI void FGAPIENTRY glutUseLayer( GLenum layer ); +FGAPI void FGAPIENTRY glutPostOverlayRedisplay( void ); +FGAPI void FGAPIENTRY glutPostWindowOverlayRedisplay( int window ); +FGAPI void FGAPIENTRY glutShowOverlay( void ); +FGAPI void FGAPIENTRY glutHideOverlay( void ); + +/* + * Menu stuff, see freeglut_menu.c + */ +FGAPI int FGAPIENTRY glutCreateMenu( void (* callback)( int menu ) ); +FGAPI void FGAPIENTRY glutDestroyMenu( int menu ); +FGAPI int FGAPIENTRY glutGetMenu( void ); +FGAPI void FGAPIENTRY glutSetMenu( int menu ); +FGAPI void FGAPIENTRY glutAddMenuEntry( const char* label, int value ); +FGAPI void FGAPIENTRY glutAddSubMenu( const char* label, int subMenu ); +FGAPI void FGAPIENTRY glutChangeToMenuEntry( int item, const char* label, int value ); +FGAPI void FGAPIENTRY glutChangeToSubMenu( int item, const char* label, int value ); +FGAPI void FGAPIENTRY glutRemoveMenuItem( int item ); +FGAPI void FGAPIENTRY glutAttachMenu( int button ); +FGAPI void FGAPIENTRY glutDetachMenu( int button ); + +/* + * Global callback functions, see freeglut_callbacks.c + */ +FGAPI void FGAPIENTRY glutTimerFunc( unsigned int time, void (* callback)( int ), int value ); +FGAPI void FGAPIENTRY glutIdleFunc( void (* callback)( void ) ); + +/* + * Window-specific callback functions, see freeglut_callbacks.c + */ +FGAPI void FGAPIENTRY glutKeyboardFunc( void (* callback)( unsigned char, int, int ) ); +FGAPI void FGAPIENTRY glutSpecialFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutReshapeFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutVisibilityFunc( void (* callback)( int ) ); +FGAPI void FGAPIENTRY glutDisplayFunc( void (* callback)( void ) ); +FGAPI void FGAPIENTRY glutMouseFunc( void (* callback)( int, int, int, int ) ); +FGAPI void FGAPIENTRY glutMotionFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutPassiveMotionFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutEntryFunc( void (* callback)( int ) ); + +FGAPI void FGAPIENTRY glutKeyboardUpFunc( void (* callback)( unsigned char, int, int ) ); +FGAPI void FGAPIENTRY glutSpecialUpFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutJoystickFunc( void (* callback)( unsigned int, int, int, int ), int pollInterval ); +FGAPI void FGAPIENTRY glutMenuStateFunc( void (* callback)( int ) ); +FGAPI void FGAPIENTRY glutMenuStatusFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutOverlayDisplayFunc( void (* callback)( void ) ); +FGAPI void FGAPIENTRY glutWindowStatusFunc( void (* callback)( int ) ); + +FGAPI void FGAPIENTRY glutSpaceballMotionFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutSpaceballRotateFunc( void (* callback)( int, int, int ) ); +FGAPI void FGAPIENTRY glutSpaceballButtonFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutButtonBoxFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutDialsFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutTabletMotionFunc( void (* callback)( int, int ) ); +FGAPI void FGAPIENTRY glutTabletButtonFunc( void (* callback)( int, int, int, int ) ); + +/* + * State setting and retrieval functions, see freeglut_state.c + */ +FGAPI int FGAPIENTRY glutGet( GLenum query ); +FGAPI int FGAPIENTRY glutDeviceGet( GLenum query ); +FGAPI int FGAPIENTRY glutGetModifiers( void ); +FGAPI int FGAPIENTRY glutLayerGet( GLenum query ); + +/* + * Font stuff, see freeglut_font.c + */ +FGAPI void FGAPIENTRY glutBitmapCharacter( void* font, int character ); +FGAPI int FGAPIENTRY glutBitmapWidth( void* font, int character ); +FGAPI void FGAPIENTRY glutStrokeCharacter( void* font, int character ); +FGAPI int FGAPIENTRY glutStrokeWidth( void* font, int character ); +FGAPI int FGAPIENTRY glutBitmapLength( void* font, const unsigned char* string ); +FGAPI int FGAPIENTRY glutStrokeLength( void* font, const unsigned char* string ); + +/* + * Geometry functions, see freeglut_geometry.c + */ +FGAPI void FGAPIENTRY glutWireCube( GLdouble size ); +FGAPI void FGAPIENTRY glutSolidCube( GLdouble size ); +FGAPI void FGAPIENTRY glutWireSphere( GLdouble radius, GLint slices, GLint stacks ); +FGAPI void FGAPIENTRY glutSolidSphere( GLdouble radius, GLint slices, GLint stacks ); +FGAPI void FGAPIENTRY glutWireCone( GLdouble base, GLdouble height, GLint slices, GLint stacks ); +FGAPI void FGAPIENTRY glutSolidCone( GLdouble base, GLdouble height, GLint slices, GLint stacks ); + +FGAPI void FGAPIENTRY glutWireTorus( GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings ); +FGAPI void FGAPIENTRY glutSolidTorus( GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings ); +FGAPI void FGAPIENTRY glutWireDodecahedron( void ); +FGAPI void FGAPIENTRY glutSolidDodecahedron( void ); +FGAPI void FGAPIENTRY glutWireOctahedron( void ); +FGAPI void FGAPIENTRY glutSolidOctahedron( void ); +FGAPI void FGAPIENTRY glutWireTetrahedron( void ); +FGAPI void FGAPIENTRY glutSolidTetrahedron( void ); +FGAPI void FGAPIENTRY glutWireIcosahedron( void ); +FGAPI void FGAPIENTRY glutSolidIcosahedron( void ); + +/* + * Teapot rendering functions, found in freeglut_teapot.c + */ +FGAPI void FGAPIENTRY glutWireTeapot( GLdouble size ); +FGAPI void FGAPIENTRY glutSolidTeapot( GLdouble size ); + +/* + * Game mode functions, see freeglut_gamemode.c + */ +FGAPI void FGAPIENTRY glutGameModeString( const char* string ); +FGAPI int FGAPIENTRY glutEnterGameMode( void ); +FGAPI void FGAPIENTRY glutLeaveGameMode( void ); +FGAPI int FGAPIENTRY glutGameModeGet( GLenum query ); + +/* + * Video resize functions, see freeglut_videoresize.c + */ +FGAPI int FGAPIENTRY glutVideoResizeGet( GLenum query ); +FGAPI void FGAPIENTRY glutSetupVideoResizing( void ); +FGAPI void FGAPIENTRY glutStopVideoResizing( void ); +FGAPI void FGAPIENTRY glutVideoResize( int x, int y, int width, int height ); +FGAPI void FGAPIENTRY glutVideoPan( int x, int y, int width, int height ); + +/* + * Colormap functions, see freeglut_misc.c + */ +FGAPI void FGAPIENTRY glutSetColor( int color, GLfloat red, GLfloat green, GLfloat blue ); +FGAPI GLfloat FGAPIENTRY glutGetColor( int color, int component ); +FGAPI void FGAPIENTRY glutCopyColormap( int window ); + +/* + * Misc keyboard and joystick functions, see freeglut_misc.c + */ +FGAPI void FGAPIENTRY glutIgnoreKeyRepeat( int ignore ); +FGAPI void FGAPIENTRY glutSetKeyRepeat( int repeatMode ); +FGAPI void FGAPIENTRY glutForceJoystickFunc( void ); + +/* + * Misc functions, see freeglut_misc.c + */ +FGAPI int FGAPIENTRY glutExtensionSupported( const char* extension ); +FGAPI void FGAPIENTRY glutReportErrors( void ); + +/* Comment from glut.h of classic GLUT: + + Win32 has an annoying issue where there are multiple C run-time + libraries (CRTs). If the executable is linked with a different CRT + from the GLUT DLL, the GLUT DLL will not share the same CRT static + data seen by the executable. In particular, atexit callbacks registered + in the executable will not be called if GLUT calls its (different) + exit routine). GLUT is typically built with the + "/MD" option (the CRT with multithreading DLL support), but the Visual + C++ linker default is "/ML" (the single threaded CRT). + + One workaround to this issue is requiring users to always link with + the same CRT as GLUT is compiled with. That requires users supply a + non-standard option. GLUT 3.7 has its own built-in workaround where + the executable's "exit" function pointer is covertly passed to GLUT. + GLUT then calls the executable's exit function pointer to ensure that + any "atexit" calls registered by the application are called if GLUT + needs to exit. + + Note that the __glut*WithExit routines should NEVER be called directly. + To avoid the atexit workaround, #define GLUT_DISABLE_ATEXIT_HACK. */ + +/* to get the prototype for exit() */ +#include + +#if defined(_WIN32) && !defined(GLUT_DISABLE_ATEXIT_HACK) && !defined(__WATCOMC__) +FGAPI void FGAPIENTRY __glutInitWithExit(int *argcp, char **argv, void (__cdecl *exitfunc)(int)); +FGAPI int FGAPIENTRY __glutCreateWindowWithExit(const char *title, void (__cdecl *exitfunc)(int)); +FGAPI int FGAPIENTRY __glutCreateMenuWithExit(void (* func)(int), void (__cdecl *exitfunc)(int)); +#ifndef FREEGLUT_BUILDING_LIB +#if defined(__GNUC__) +#define FGUNUSED __attribute__((unused)) +#else +#define FGUNUSED +#endif +static void FGAPIENTRY FGUNUSED glutInit_ATEXIT_HACK(int *argcp, char **argv) { __glutInitWithExit(argcp, argv, exit); } +#define glutInit glutInit_ATEXIT_HACK +static int FGAPIENTRY FGUNUSED glutCreateWindow_ATEXIT_HACK(const char *title) { return __glutCreateWindowWithExit(title, exit); } +#define glutCreateWindow glutCreateWindow_ATEXIT_HACK +static int FGAPIENTRY FGUNUSED glutCreateMenu_ATEXIT_HACK(void (* func)(int)) { return __glutCreateMenuWithExit(func, exit); } +#define glutCreateMenu glutCreateMenu_ATEXIT_HACK +#endif +#endif + +#ifdef __cplusplus + } +#endif + +/*** END OF FILE ***/ + +#endif /* __FREEGLUT_STD_H__ */ + diff --git a/3rdparty/windows/GL/glut.h b/3rdparty/windows/GL/glut.h new file mode 100644 index 0000000..ce61238 --- /dev/null +++ b/3rdparty/windows/GL/glut.h @@ -0,0 +1,21 @@ +#ifndef __GLUT_H__ +#define __GLUT_H__ + +/* + * glut.h + * + * The freeglut library include file + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * PAWEL W. OLSZTA BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +#include "freeglut_std.h" + +/*** END OF FILE ***/ + +#endif /* __GLUT_H__ */ diff --git a/3rdparty/windows/XGetopt.cpp b/3rdparty/windows/XGetopt.cpp new file mode 100644 index 0000000..bb714fc --- /dev/null +++ b/3rdparty/windows/XGetopt.cpp @@ -0,0 +1,525 @@ +/* + getopt.c - implementation of getopt(3) and getopt_long(3) + Copyright Keristor Systems and Chris Croughton 1997 + Internet: swdev@keristor.org + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR + IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, + INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#include +#include +#include + +#define XGETOPT_NAMES +#include "XGetopt.h" + +/* + * This is the published interface for the GNU getopt module + */ + +char *optarg = NULL; +int optind = 0; +int opterr = 1; +int optopt = 0; + +int getopt(int argc, char * const argv[], const char *optstring); +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); + +/************************************************************************ + * + * Everything from here down is a rewrite without looking at the GNU + * implementation; it is therefore free of GPL and LGPL contraints, see + * above for licencing information. + * + ************************************************************************/ + +#define true 1 +#define false 0 +#define bool char + +enum action +{ + E_PERMUTE, + E_POSIX, + E_INPLACE, + E_NUM_OF_ACTIONS +}; + +static bool initialised = false; +static bool endargs = false; +static char *nextchar = NULL; + +/* Note that the lookup routines use and modify the global variables - not + * nice, but better than passing everything as reference parameters. + */ + +static int +lookup_shortopt(int argc, char **argv, const char *opts) +{ + int c = *optarg++; + /* remember the Alamo - a dodgy character if ever there was one */ + nextchar = optarg; + /* look at the options - like any you see? */ + while (*opts) + { + if (c == *opts++) + { + /* OK, it's a fair (c)op, guv */ + if (*opts == ':') + { + /* we can do arguments, but there will be nothing left of this arg */ + nextchar = NULL; + if (*++opts == ':') + { + /* but it's optional, so either a 5 minute argument or nothing */ + if (!*optarg) + optarg = NULL; + return c; + } + else + { + /* this argument's not optional, you get the full half hour */ + if (*optarg) + { + /* We've got an argument on our hands! */ + return c; + } + else + { + /* try the next door down */ + if (++optind < argc) + { + /* OK, we've got it ("Oh no you haven't!") */ + optarg = argv[optind]; + return c; + } + else + { + /* Th-Th-Th-That's All, Folks! */ + optopt = c; + if (opterr) + fprintf(stderr, "required parameter for -%c missing\n", c); + /* we've got an option, but it's dud */ + return '?'; + } + } + } + } + else + { + /* no arguments please, we're British */ + nextchar = optarg; + optarg = NULL; + return c; + } + } + } + /* return to sender, address unknown */ + optopt = c; + optarg = NULL; + return -1; +} + +static int +lookup_longopt(int argc, char **argv, + const struct option *longopts, + int *longindex) +{ + char *eqp; + bool ambig = false; + int match = -1; + int exact = -1; + int min; + int len; + int i; + + /* if we have no long options, any we get are wrong */ + if (!longopts) + { + if (opterr) + fprintf(stderr, "long options not supported\n"); + return '?'; + } + /* look for equality or fraternity */ + eqp = strchr(optarg, '='); + min = (eqp ? eqp - optarg : strlen(optarg)); + for (i = 0; longopts[i].name; i++) + { + len = strlen(longopts[i].name); + /* is it exact? */ + if (len == min && strncmp(longopts[i].name, optarg, len) == 0) + { + /* an exact match - go no further, we can't get better than this */ + exact = i; + break; + } + /* a match as far as the argument goes? */ + if (strncmp(longopts[i].name, optarg, min) == 0) + { + /* if we've already found one of those, it's ambiguous */ + if (match < 0) + match = i; + else + ambig = true; + } + } + /* we've looked at everything, now what? */ + if (exact < 0) + { + /* no exact match, if it's ambiguous then fail othersise use what + * (if anything) we have */ + if (ambig) + { + if (opterr) + fprintf(stderr, "option --%s is ambiguous\n", optarg); + return '?'; + } + else + exact = match; + } + /* if we don't have anything, return -1 (/not/ fail, this could be a test */ + if (exact < 0) + return -1; + switch (longopts[exact].has_arg) + { + case no_argument: + /* we have nothing to fight about... */ + if (eqp) + { + /* ... except equality */ + if (opterr) + fprintf(stderr, "option --%s does not take an argument\n", optarg); + return '?'; + } + optarg = NULL; + break; + case required_argument: + /* you have to fight, so there! */ + if (eqp) + optarg = eqp + 1; + else if (++optind < argc) + optarg = argv[optind]; + else + { + if (opterr) + fprintf(stderr, "missing argument for option --%s\n", optarg); + return '?'; + } + break; + case optional_argument: + /* you don't have to fight if you don't want to */ + optarg = (eqp ? eqp + 1 : NULL); + break; + } + /* tell the caller what he's got */ + if (longindex) + *longindex = exact; + if (longopts[exact].flag) + { + /* set a flag rather than returning the value */ + *longopts[exact].flag = longopts[exact].val; + return 0; + } + return longopts[exact].val; +} + +/* + * Note that this internal function drops the const on the arg list. That's + * because optarg etc. are defined without const. + */ +static int +getnextopt(int argc, char **argv, const char *optstring, + const struct option *longopts, int *longindex, + bool longonly, enum action act) +{ + static int thisind = 0; + static int oldind = 0; + int c = 0; + + /* if we haven't started, make sure we're not in Denmark */ + if (!initialised) + { + initialised = true; + nextchar = NULL; + endargs = false; + thisind = 0; + oldind = 0; + optind = 0; + } + + /* check for previous sequence of short options */ + if (nextchar && *nextchar) + { + optarg = nextchar; + c = lookup_shortopt(argc, argv, optstring); + /* now shuffle the arguments if necessary */ + if (act == E_PERMUTE && oldind != thisind && (!nextchar || !*nextchar)) + { + int optlen = optind - thisind; /* the length of the option */ + int optnum = thisind - oldind; /* number of args in between */ + memmove(argv+oldind+optlen+1, argv+oldind, sizeof(*argv) * optnum); + optind = oldind + optlen; + } + return c; + } + + /* check for end of argument list */ + if (++optind >= argc || !argv[optind]) + { + optarg = NULL; + return EOF; /* no arguments left */ + } + + /* get next argument from list */ + optarg = argv[optind]; + + /* if we've had "--" then treat as normal argument */ + if (endargs) + return (act == E_INPLACE ? '\1' : EOF); + + /* if we're permuting the arguments, look for the next option */ + if (act == E_PERMUTE) + { + int i; + /* save where we are, we'll need this later */ + oldind = optind; + for (i = optind; i < argc; i++) + { + char *p = argv[i]; + /* remember that "--" ends options? Ignore anything past it... */ + if (strcmp(p, "--") == 0) + { + int optnum = i - oldind; /* number of args in between */ + if (optnum > 0) + { + /* shuffle the arguments up over it */ + memmove(argv+oldind+1, argv+oldind, sizeof(*argv) * optnum); + optind = ++oldind; + optarg = argv[optind]; + } + break; + } + if (*p == '-' && strcmp(p, "-")) + { + /* we found a honest-to-goodness option! Set up shop here... */ + optind = i; + optarg = p; + break; + } + } + } + + /* test for "--" meaning "end of options" - everything after that is an + * argument not an option */ + if (strcmp(optarg, "--") == 0) + { + endargs = true; + if (++optind < argc) + { + optarg = argv[optind]; + return (act == E_INPLACE ? '\1' : EOF); + } + else + { + optarg = NULL; + return EOF; + } + } + + /* an argument of "-" or not starting with '-'is not an option */ + if (strcmp(optarg, "-") == 0 || *optarg != '-') + { + /* if we're being POSIXLY_CORRECT (ugh!) then the first non-option ends + * the options. I don't like it but that's what the spec. says... */ + if (act == E_POSIX) + endargs = true; + return (act == E_INPLACE ? '\1' : EOF); + } + + thisind = optind; /* remember this position, lookup changes it */ + + /* OK, it's some sort of option, junk the first '-' */ + optarg++; + + /* prime for "option not found" */ + c = -1; + /* test the next character - another '-' means it's a long option */ + if (longopts && *optarg == '-') + { + /* it's a long option, skip the next '-' */ + optarg++; + c = lookup_longopt(argc, argv, longopts, longindex); + if (c < 0) + { + fprintf(stderr, "unknown option --%s\n", optarg); + c = '?'; + } + } + else if (longopts && longonly) + { + int tmperr = opterr; + opterr = 0; + /* try a long option first, if that doesn't work try a short one */ + c = lookup_longopt(argc, argv, longopts, longindex); + opterr = tmperr; + if (c < 0) + c = lookup_shortopt(argc, argv, optstring); + } + else + { + /* just try short options */ + c = lookup_shortopt(argc, argv, optstring); + } + + /* if not found give (optional) error and return '?' */ + if (c < 0) + { + if (opterr) + fprintf(stderr, "unknown option -%c\n", optopt); + optarg = 0; + c = '?'; + } + + /* now shuffle the arguments if necessary - I told you we'd need to save + * that old index! (I wonder if there's a more elegant way to do this?) */ + if (act == E_PERMUTE && oldind != thisind && (!nextchar || !*nextchar)) + { + int optlen = optind - thisind; /* the length of the option */ + int optnum = thisind - oldind; /* number of args in between */ + memmove(argv+oldind+optlen+1, argv+oldind, sizeof(*argv) * optnum); + optind = oldind + optlen; + oldind = 0; + thisind = 0; + } + return c; +} + + +/*********************************************************************** + * At last, the real routines we wanted to call! + **********************************************************************/ + +/** + * Scan the command-line parameters for options in the form \b -x. + */ +int getopt(int argc, char * const argv[], const char *optstring) +{ + return getnextopt(argc, (char**)argv, optstring, NULL, NULL, + false, E_PERMUTE); +} + +/** + * Scan the command-line parameters for options, allowing both the short + * (single character) options and long (string) options. + */ +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex) +{ + return getnextopt(argc, (char**)argv, optstring, longopts, longindex, + false, E_PERMUTE); +} + +/** + * Scan the command-line parameters for long options only + */ +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex) +{ + return getnextopt(argc, (char**)argv, optstring, longopts, longindex, + true, E_PERMUTE); +} + + +/*********************************************************************** + * Just in case you wanted to test this stuff (or as an example of how + * not to use and abuse it), some code to do call it with arguments... + **********************************************************************/ + +#ifdef TEST_GETOPT + +const char *shortopts = "abcr:o::"; + +char *Args[] = +{ + "arg0", + "arg1", + "-abc", + "-rargr1", + "-r", "argr2", + "-oargo", + "-o", + "arg2", + "--", + "arg3", + "-arg4", + "arg5", + NULL +}; + +int heckle = 'x'; + +struct option longopts[] = +{ + { "help", no_argument, NULL, 'h' }, + { "heckle", no_argument, &heckle, 'k' }, + { "speck", no_argument, &heckle, 's' }, + { "arg", required_argument, NULL, 'g' }, + { "opt", optional_argument, NULL, 'z' }, + { 0, 0, 0, 0 } +}; + +int +main(int argc, char **argv) +{ + int i; + int c; + if (argc <= 1) + { + argv = Args; + argc = (sizeof(Args) / sizeof(Args[0])) - 1; + } + else + shortopts="hksg:z::"; + for (i = 0; i < argc; i++) + printf("%2d <%s>\n", i, argv[i]); + while ((c = getopt_long(argc, argv, shortopts, longopts, NULL)) != EOF) + { + printf("option %d '%c' (%s)\n", optind, c, optarg); +#if DEBUG + for (i = 0; i < argc; i++) + printf("%2d <%s>\n", i, argv[i]); +#endif + } + for (i = optind; i < argc; i++) + printf("param %2d <%s>\n", i, argv[i]); + printf("flag = '%c'\n", heckle); + return 0; +} + +#endif + diff --git a/3rdparty/windows/XGetopt.h b/3rdparty/windows/XGetopt.h new file mode 100644 index 0000000..93f167d --- /dev/null +++ b/3rdparty/windows/XGetopt.h @@ -0,0 +1,130 @@ +#ifndef _XGETOPT_H +#define _XGETOPT_H + +/* + getopt.h - comand line option parsing + Copyright Keristor Systems and Chris Croughton 1997 - 2005 + Internet: swdev@keristor.org + + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + + THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR + IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, + INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +/**@file xgetopt.h + * + * This module is designed as a "drop-in" replacement for the GNU + * \c getopt.h module, providing the \c getopt(), \c getopt_long() and + * \c getopt_long_only() functions and the \c option structure. However, + * it is a compile-time replacement not an object one, the actual + * names of the external variables and functions are hidden so that + * namespace clashes don't occur (some linkers object if they find + * the same symbol in more than one library). + * + * It was written originally because of systems which don't have the GNU + * C library installed. + * + * It also provides a few functions to help create a string of short + * (single-character) options given an array of long option structures. + * + * This is a "clean-room" implementation, no GPL or proprietary code + * was looked at when creating it. The only things used were the + * descriptions of the interfaces in the \c man pages (and the POSIX + * specification), and some "black box" testing to determine error + * conditions and messages not specified in the interface description. + */ + +#if defined(_cplusplus) || defined(__cplusplus) +extern "C" { +#endif + +/* + * This bit of faffing about is because some systems don't like the same + * functions defined in more than one library, they get confused. So what + * we do is to redefine the variables to the names in the interface but + * fool the linker. This only makes a difference if you try to debug the + * getopt code. Note that we don't have to do it with the structure name + * or enums, since it's only linkage that's affected. + */ + +#define optarg _XLIB_optarg +#define optind _XLIB_optind +#define opterr _XLIB_opterr +#define optopt _XLIB_optopt + +#define getopt _XLIB_getopt +#define getopt_long _XLIB_getopt_long +#define getopt_long_only _XLIB_getopt_long_only + +/** holds a pointer to an option argument */ +extern char *optarg; +/** index to te first non-option argument */ +extern int optind; +/** allow error messages if non-zero (default) */ +extern int opterr; +/** holds the option character in error, if any */ +extern int optopt; + +enum +{ + /** this option has no argument */ + no_argument, + /** an argument is required with this option */ + required_argument, + /** an argument to this option is optional */ + optional_argument +}; + +/** + * Structure to describe a long option. + * The last item in the array of these descriptors must have all elements + * set to zero + */ +struct option +{ + /** long option name */ + const char *name; + /** argument type, if any */ + int has_arg; + /** pointer to a flag to be set if the option is present */ + int *flag; + /** value to be returned if the option is present */ + int val; +}; + +/** Scan the command-line parameters for options in the form {\em -x}. */ +int getopt(int argc, char * const argv[], const char *optstring); +/** Scan the command-line parameters for options, allowing both the short + * (single character) options and long (string) options. + */ +int getopt_long(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); +/** Scan the command-line parameters for long options only */ +int getopt_long_only(int argc, char * const argv[], const char *optstring, + const struct option *longopts, int *longindex); + +#if defined(_cplusplus) || defined(__cplusplus) +} +#endif + +#endif diff --git a/3rdparty/windows/dirent.h b/3rdparty/windows/dirent.h new file mode 100644 index 0000000..39ff0f3 --- /dev/null +++ b/3rdparty/windows/dirent.h @@ -0,0 +1,364 @@ +/***************************************************************************** + * dirent.h - dirent API for Microsoft Visual Studio + * + * Copyright (C) 2006 Toni Ronkko + * + * Permission is hereby granted, free of charge, to any person obtaining + * a copy of this software and associated documentation files (the + * ``Software''), to deal in the Software without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Software, and to + * permit persons to whom the Software is furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED ``AS IS'', WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL TONI RONKKO BE LIABLE FOR ANY CLAIM, DAMAGES OR + * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, + * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR + * OTHER DEALINGS IN THE SOFTWARE. + * + * Aug 11, 2010, Toni Ronkko + * Added d_type and d_namlen fields to dirent structure. The former is + * especially useful for determining whether directory entry represents a + * file or a directory. For more information, see + * http://www.delorie.com/gnu/docs/glibc/libc_270.html + * + * Aug 11, 2010, Toni Ronkko + * Improved conformance to the standards. For example, errno is now set + * properly on failure and assert() is never used. Thanks to Peter Brockam + * for suggestions. + * + * Aug 11, 2010, Toni Ronkko + * Fixed a bug in rewinddir(): when using relative directory names, change + * of working directory no longer causes rewinddir() to fail. + * + * Dec 15, 2009, John Cunningham + * Added rewinddir member function + * + * Jan 18, 2008, Toni Ronkko + * Using FindFirstFileA and WIN32_FIND_DATAA to avoid converting string + * between multi-byte and unicode representations. This makes the + * code simpler and also allows the code to be compiled under MingW. Thanks + * to Azriel Fasten for the suggestion. + * + * Mar 4, 2007, Toni Ronkko + * Bug fix: due to the strncpy_s() function this file only compiled in + * Visual Studio 2005. Using the new string functions only when the + * compiler version allows. + * + * Nov 2, 2006, Toni Ronkko + * Major update: removed support for Watcom C, MS-DOS and Turbo C to + * simplify the file, updated the code to compile cleanly on Visual + * Studio 2005 with both unicode and multi-byte character strings, + * removed rewinddir() as it had a bug. + * + * Aug 20, 2006, Toni Ronkko + * Removed all remarks about MSVC 1.0, which is antiqued now. Simplified + * comments by removing SGML tags. + * + * May 14 2002, Toni Ronkko + * Embedded the function definitions directly to the header so that no + * source modules need to be included in the Visual Studio project. Removed + * all the dependencies to other projects so that this very header can be + * used independently. + * + * May 28 1998, Toni Ronkko + * First version. + *****************************************************************************/ +#ifndef DIRENT_H +#define DIRENT_H + +#define WIN32_LEAN_AND_MEAN +#include +#include +#include +#include +#include +#include + +/* File type and permission flags for stat() */ +#if defined(_MSC_VER) && !defined(S_IREAD) +# define S_IFMT _S_IFMT /* file type mask */ +# define S_IFDIR _S_IFDIR /* directory */ +# define S_IFCHR _S_IFCHR /* character device */ +# define S_IFFIFO _S_IFFIFO /* pipe */ +# define S_IFREG _S_IFREG /* regular file */ +# define S_IREAD _S_IREAD /* read permission */ +# define S_IWRITE _S_IWRITE /* write permission */ +# define S_IEXEC _S_IEXEC /* execute permission */ +#endif +#define S_IFBLK 0 /* block device */ +#define S_IFLNK 0 /* link */ +#define S_IFSOCK 0 /* socket */ + +#if defined(_MSC_VER) +# define S_IRUSR S_IREAD /* read, user */ +# define S_IWUSR S_IWRITE /* write, user */ +# define S_IXUSR 0 /* execute, user */ +# define S_IRGRP 0 /* read, group */ +# define S_IWGRP 0 /* write, group */ +# define S_IXGRP 0 /* execute, group */ +# define S_IROTH 0 /* read, others */ +# define S_IWOTH 0 /* write, others */ +# define S_IXOTH 0 /* execute, others */ +#endif + +/* Indicates that d_type field is available in dirent structure */ +#define _DIRENT_HAVE_D_TYPE + +/* File type flags for d_type */ +#define DT_UNKNOWN 0 +#define DT_REG S_IFREG +#define DT_DIR S_IFDIR +#define DT_FIFO S_IFFIFO +#define DT_SOCK S_IFSOCK +#define DT_CHR S_IFCHR +#define DT_BLK S_IFBLK + +/* Macros for converting between st_mode and d_type */ +#define IFTODT(mode) ((mode) & S_IFMT) +#define DTTOIF(type) (type) + +/* + * File type macros. Note that block devices, sockets and links cannot be + * distinguished on Windows and the macros S_ISBLK, S_ISSOCK and S_ISLNK are + * only defined for compatibility. These macros should always return false + * on Windows. + */ +#define S_ISFIFO(mode) (((mode) & S_IFMT) == S_IFFIFO) +#define S_ISDIR(mode) (((mode) & S_IFMT) == S_IFDIR) +#define S_ISREG(mode) (((mode) & S_IFMT) == S_IFREG) +#define S_ISLNK(mode) (((mode) & S_IFMT) == S_IFLNK) +#define S_ISSOCK(mode) (((mode) & S_IFMT) == S_IFSOCK) +#define S_ISCHR(mode) (((mode) & S_IFMT) == S_IFCHR) +#define S_ISBLK(mode) (((mode) & S_IFMT) == S_IFBLK) + +#ifdef __cplusplus +extern "C" { +#endif + + +typedef struct dirent +{ + char d_name[MAX_PATH + 1]; /* File name */ + size_t d_namlen; /* Length of name without \0 */ + int d_type; /* File type */ +} dirent; + + +typedef struct DIR +{ + dirent curentry; /* Current directory entry */ + WIN32_FIND_DATAA find_data; /* Private file data */ + int cached; /* True if data is valid */ + HANDLE search_handle; /* Win32 search handle */ + char patt[MAX_PATH + 3]; /* Initial directory name */ +} DIR; + + +/* Forward declarations */ +static DIR *opendir(const char *dirname); +static struct dirent *readdir(DIR *dirp); +static int closedir(DIR *dirp); +static void rewinddir(DIR* dirp); + + +/* Use the new safe string functions introduced in Visual Studio 2005 */ +#if defined(_MSC_VER) && _MSC_VER >= 1400 +# define DIRENT_STRNCPY(dest,src,size) strncpy_s((dest),(size),(src),_TRUNCATE) +#else +# define DIRENT_STRNCPY(dest,src,size) strncpy((dest),(src),(size)) +#endif + +/* Set errno variable */ +#if defined(_MSC_VER) +#define DIRENT_SET_ERRNO(x) _set_errno (x) +#else +#define DIRENT_SET_ERRNO(x) (errno = (x)) +#endif + + +/***************************************************************************** + * Open directory stream DIRNAME for read and return a pointer to the + * internal working area that is used to retrieve individual directory + * entries. + */ +static DIR *opendir(const char *dirname) +{ + DIR *dirp; + + /* ensure that the resulting search pattern will be a valid file name */ + if (dirname == NULL) { + DIRENT_SET_ERRNO (ENOENT); + return NULL; + } + if (strlen (dirname) + 3 >= MAX_PATH) { + DIRENT_SET_ERRNO (ENAMETOOLONG); + return NULL; + } + + /* construct new DIR structure */ + dirp = (DIR*) malloc (sizeof (struct DIR)); + if (dirp != NULL) { + int error; + + /* + * Convert relative directory name to an absolute directory one. This + * allows rewinddir() to function correctly when the current working + * directory is changed between opendir() and rewinddir(). + */ + if (GetFullPathNameA (dirname, MAX_PATH, dirp->patt, NULL)) { + char *p; + + /* append the search pattern "\\*\0" to the directory name */ + p = strchr (dirp->patt, '\0'); + if (dirp->patt < p && *(p-1) != '\\' && *(p-1) != ':') { + *p++ = '\\'; + } + *p++ = '*'; + *p = '\0'; + + /* open directory stream and retrieve the first entry */ + dirp->search_handle = FindFirstFileA (dirp->patt, &dirp->find_data); + if (dirp->search_handle != INVALID_HANDLE_VALUE) { + /* a directory entry is now waiting in memory */ + dirp->cached = 1; + error = 0; + } else { + /* search pattern is not a directory name? */ + DIRENT_SET_ERRNO (ENOENT); + error = 1; + } + } else { + /* buffer too small */ + DIRENT_SET_ERRNO (ENOMEM); + error = 1; + } + + if (error) { + free (dirp); + dirp = NULL; + } + } + + return dirp; +} + + +/***************************************************************************** + * Read a directory entry, and return a pointer to a dirent structure + * containing the name of the entry in d_name field. Individual directory + * entries returned by this very function include regular files, + * sub-directories, pseudo-directories "." and "..", but also volume labels, + * hidden files and system files may be returned. + */ +static struct dirent *readdir(DIR *dirp) +{ + DWORD attr; + if (dirp == NULL) { + /* directory stream did not open */ + DIRENT_SET_ERRNO (EBADF); + return NULL; + } + + /* get next directory entry */ + if (dirp->cached != 0) { + /* a valid directory entry already in memory */ + dirp->cached = 0; + } else { + /* get the next directory entry from stream */ + if (dirp->search_handle == INVALID_HANDLE_VALUE) { + return NULL; + } + if (FindNextFileA (dirp->search_handle, &dirp->find_data) == FALSE) { + /* the very last entry has been processed or an error occured */ + FindClose (dirp->search_handle); + dirp->search_handle = INVALID_HANDLE_VALUE; + return NULL; + } + } + + /* copy as a multibyte character string */ + DIRENT_STRNCPY ( dirp->curentry.d_name, + dirp->find_data.cFileName, + sizeof(dirp->curentry.d_name) ); + dirp->curentry.d_name[MAX_PATH] = '\0'; + + /* compute the length of name */ + dirp->curentry.d_namlen = strlen (dirp->curentry.d_name); + + /* determine file type */ + attr = dirp->find_data.dwFileAttributes; + if ((attr & FILE_ATTRIBUTE_DEVICE) != 0) { + dirp->curentry.d_type = DT_CHR; + } else if ((attr & FILE_ATTRIBUTE_DIRECTORY) != 0) { + dirp->curentry.d_type = DT_DIR; + } else { + dirp->curentry.d_type = DT_REG; + } + return &dirp->curentry; +} + + +/***************************************************************************** + * Close directory stream opened by opendir() function. Close of the + * directory stream invalidates the DIR structure as well as any previously + * read directory entry. + */ +static int closedir(DIR *dirp) +{ + if (dirp == NULL) { + /* invalid directory stream */ + DIRENT_SET_ERRNO (EBADF); + return -1; + } + + /* release search handle */ + if (dirp->search_handle != INVALID_HANDLE_VALUE) { + FindClose (dirp->search_handle); + dirp->search_handle = INVALID_HANDLE_VALUE; + } + + /* release directory structure */ + free (dirp); + return 0; +} + + +/***************************************************************************** + * Resets the position of the directory stream to which dirp refers to the + * beginning of the directory. It also causes the directory stream to refer + * to the current state of the corresponding directory, as a call to opendir() + * would have done. If dirp does not refer to a directory stream, the effect + * is undefined. + */ +static void rewinddir(DIR* dirp) +{ + if (dirp != NULL) { + /* release search handle */ + if (dirp->search_handle != INVALID_HANDLE_VALUE) { + FindClose (dirp->search_handle); + } + + /* open new search handle and retrieve the first entry */ + dirp->search_handle = FindFirstFileA (dirp->patt, &dirp->find_data); + if (dirp->search_handle != INVALID_HANDLE_VALUE) { + /* a directory entry is now waiting in memory */ + dirp->cached = 1; + } else { + /* failed to re-open directory: no directory entry in memory */ + dirp->cached = 0; + } + } +} + + +#ifdef __cplusplus +} +#endif +#endif /*DIRENT_H*/ diff --git a/3rdparty/windows/freeglut.dll b/3rdparty/windows/freeglut.dll new file mode 100644 index 0000000..e70e8af Binary files /dev/null and b/3rdparty/windows/freeglut.dll differ diff --git a/3rdparty/windows/freeglut.lib b/3rdparty/windows/freeglut.lib new file mode 100644 index 0000000..b20f023 Binary files /dev/null and b/3rdparty/windows/freeglut.lib differ diff --git a/3rdparty/windows/x64/freeglut.dll b/3rdparty/windows/x64/freeglut.dll new file mode 100644 index 0000000..1ad0f7a Binary files /dev/null and b/3rdparty/windows/x64/freeglut.dll differ diff --git a/3rdparty/windows/x64/freeglut.lib b/3rdparty/windows/x64/freeglut.lib new file mode 100644 index 0000000..4fa5838 Binary files /dev/null and b/3rdparty/windows/x64/freeglut.lib differ diff --git a/3rdparty/wxthings/docs/readme.txt b/3rdparty/wxthings/docs/readme.txt new file mode 100644 index 0000000..6359988 --- /dev/null +++ b/3rdparty/wxthings/docs/readme.txt @@ -0,0 +1,79 @@ +readme.txt for wxThings + +block.h/cpp - wxBlockInt is a wxGridSelection type class based on +wxRect2DInt to store selected 2-D rectangular areas. It knows how to +combine with other blocks. wxBlockIntSelection consists of an array +of wxBlockInts. It minimizes them if possible so they never overlap +and can sort them from each corner. + +range.h/cpp - wxRangeInt min/max class for storing a 1-D range of +values and knows how to combine with other wxRangeInts. +wxRangeIntSelection contains an array of wxRangeInts and minimizes them +if possible, they never overlap, and always stay in order from low to +high. wxRangeDbl and wxRangeDblSelection is the same, but for double +valued ranges. + +filebrws.h/cpp & filebrws_icons_wdr.h - wxFileBrowser is an Explorer +type wiget with a tree view of dirs and a list/icon view of files with +optional image preview. Not fully completed, but works. You need wxWidgets +CVS HEAD, >= 2.5. + +geometry.h/cpp - wxCircleInt, wxCircleDouble, wxRay2DDouble, wxRay2DInt +wxEllipseInt, wxEllipseDouble, etc... not fully finished. + +genergdi.h/cpp - wxGenericColour, wxGenericPen. A color and pen that store +the values themselves and have identical functions as wxColour and wxPen. +They do not require a GUI and are suited to instances where you may want to +store a considerable number of different ones. + +optvalue.h/cpp - wxOptionValue class contains a string type and two +arrays of options and values. It works on the same format as the +wxFileConfig class and can load and save to a string/stream. +[opt valuetype] +option1 = value1 +option2 = value2 + +spinctld.h/cpp - wxSpinCtrlDbl is a drop in replacement for a +wxSpinCtrl that uses doubles with extra features such as, ESC sets +'default' value, SPACE sets the control to the last valid value, using +SHIFT,CTRL,ALT work as multipliers for the increment when using the +arrow keys or PgUp/PgDn. It can display in decimal or exponential +format and can 'guess' the number of appropriate digits from the +increment or you can set it yourself. + +toggle.h/cpp - wxCustomButton a toggle type button that can act like a +wxButton, wxBitmapButton, wxToggleButton (w/ image or not). It is a +drop in replacement for each of these controls. It can display the icon +along with the text (on any side) and can create a "greyed" +out image to use when the button is disabled. It can also do weird +things like act like a button on a single click and a toggle on double +click. Note: to differentiate between single and double clicks a timer +is used, if you want it to be just a regular toggle button I suggest +you remove the timer code. + +dropdown.h/cpp - DropDownBase a base class for a combobox type widget. It +manages a wxPopupTransientWindow as a child. See wxBitmapComboBox. + +bmpcombo.h/cpp - wxBitmapComboBox is a wxComboBox widget for bitmaps. You +Append some bitmaps either individually or with an array. Since bitmaps are +refed this should be a fast process and you don't have to keep them around. +It acts just like a wxComboBox otherwise, sends a EVT_COMBOBOX when selections +are made with either the mouse on the pulldown list or by pressing the up/down +arrows. There is a problem in wxGTK when this is used in a modal dialog, the +mouse events do not go to the popup transient window's child and so you cannot +select items, the keys still work though. + +menubtn.h/cpp - wxMenuButton is a button with a label and/or bitmap +and a combobox type dropbown to the right of it. You can attach a menu +to it and the dropdown button shows the menu. If you click on the label +button the next wxITEM_RADIO in the attached menu is selected in a +round robin fashion. If there are no radio items then the label button +does nothing. + +medsort.h - Various Public Domain median finding or sorting +macros, a quick select routine, wirth's kth smallest, torben median, +pixel qsort, and a pixel qsort that sorts two arrays together (only one +is used for the comparison, the other just follows). They can be +DECLARED in headers, DEFINED in you cpp files, or just used inline. +Since they're macros you can set if they're for arrays of doubles, +ints, chars... diff --git a/3rdparty/wxthings/include/wx/things/block.h b/3rdparty/wxthings/include/wx/things/block.h new file mode 100644 index 0000000..f27b372 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/block.h @@ -0,0 +1,516 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: block.h +// Purpose: Rectangular selection storage classes for ints and doubles +// Author: John Labenski +// Created: 07/01/02 +// Copyright: (c) John Labenski, 2004 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#ifndef __wxBLOCK_H__ +#define __wxBLOCK_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "block.h" +#endif + +#include "wx/geometry.h" +#include "wx/things/thingdef.h" + +//#define USE_wxRANGE + +#ifdef USE_wxRANGE + #include "wx/things/range.h" +#endif + +// Note: Why are these not just wxRect2DXXX with m_x and m_width? +// because the double blocks need to match up at the edges and x+width +// does not always exactly equal the edge of an adjoining block + +class WXDLLIMPEXP_THINGS wxBlockInt; +class WXDLLIMPEXP_THINGS wxBlockDouble; +class WXDLLIMPEXP_THINGS wxBlockIntSelection; +class WXDLLIMPEXP_THINGS wxBlockDoubleSelection; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxBlockInt, wxArrayBlockInt, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxBlockDouble, wxArrayBlockDouble, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxBlockIntSelection, wxArrayBlockIntSelection, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxBlockDoubleSelection, wxArrayBlockDoubleSelection, class WXDLLIMPEXP_THINGS); + +//============================================================================= +// wxBlockXXX constants +//============================================================================= + +// wxEmptyBlockXXX = (0,0,-1,-1) +WXDLLIMPEXP_DATA_THINGS(extern const wxBlockInt) wxEmptyBlockInt; +WXDLLIMPEXP_DATA_THINGS(extern const wxBlockDouble) wxEmptyBlockDouble; + +//============================================================================= +// wxBlockXXX sorting functions +//============================================================================= + +enum wxBlockSort_Type +{ + wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT, + wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT, + wxBLOCKSORT_BOTTOMLEFT_TOPRIGHT, + wxBLOCKSORT_BOTTOMRIGHT_TOPLEFT, + wxBLOCKSORT_SMALLEST_TO_LARGEST, + wxBLOCKSORT_LARGEST_TO_SMALLEST +}; + +// functions to sort an array of blocks from any corner +extern void wxArrayBlockIntSort(wxArrayBlockInt &blocks, + wxBlockSort_Type type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT); + +extern void wxArrayBlockDoubleSort(wxArrayBlockDouble &blocks, + wxBlockSort_Type type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT); + +//============================================================================= +// wxBlockInt - a rectangle bounded by the corner points that can combine with +// other wxBlockInts +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockInt +{ +public: + inline wxBlockInt(wxInt32 x1=0, wxInt32 y1=0, wxInt32 x2=0, wxInt32 y2=0) : m_x1(x1), m_y1(y1), m_x2(x2), m_y2(y2) {} + inline wxBlockInt(const wxRect2DInt &rect) : m_x1(rect.m_x), m_y1(rect.m_y), m_x2(rect.GetRight()), m_y2(rect.GetBottom()) {} + + inline wxInt32 GetLeft() const { return m_x1; } + inline wxInt32 GetRight() const { return m_x2; } + inline wxInt32 GetTop() const { return m_y1; } + inline wxInt32 GetBottom() const { return m_y2; } + + inline wxInt32 GetWidth() const { return m_x2 - m_x1 + 1; } + inline wxInt32 GetHeight() const { return m_y2 - m_y1 + 1; } + + inline wxPoint2DInt GetLeftTop() const { return wxPoint2DInt(m_x1, m_y1); } + inline wxPoint2DInt GetLeftBottom() const { return wxPoint2DInt(m_x1, m_y2); } + inline wxPoint2DInt GetRightTop() const { return wxPoint2DInt(m_x2, m_y1); } + inline wxPoint2DInt GetRightBottom() const { return wxPoint2DInt(m_x2, m_y2); } + + inline wxRect2DInt GetRect2DInt() const { return wxRect2DInt(m_x1, m_y1, m_x2-m_x1+1, m_y2-m_y1+1); } + inline void SetRect2DInt(const wxRect2DInt &r) { m_x1=r.m_x; m_y1=r.m_y, m_x2=r.GetRight(); m_y2=r.GetBottom(); } + + inline bool Contains( wxInt32 x, wxInt32 y ) const + { return ((x >= m_x1) && (x <= m_x2) && (y >= m_y1) && (y <= m_y2)); } + inline bool Contains( const wxPoint2DInt &pt ) const { return Contains(pt.m_x, pt.m_y); } + inline bool Contains( const wxBlockInt &b ) const + { return ((m_x1 <= b.m_x1) && (b.m_x2 <= m_x2) && (m_y1 <= b.m_y1) && (b.m_y2 <= m_y2)); } + + inline bool Intersects( const wxBlockInt &b ) const + { return (wxMax(m_x1, b.m_x1)<=wxMin(m_x2, b.m_x2)) && (wxMax(m_y1, b.m_y1)<=wxMin(m_y2, b.m_y2)); } + inline void Intersect( const wxBlockInt &otherBlock ) { Intersect( *this, otherBlock, this ); } + inline void Intersect( const wxBlockInt &src1 , const wxBlockInt &src2 , wxBlockInt *dest ) const + { + dest->m_x1 = wxMax(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMin(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMax(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMin(src1.m_y2, src2.m_y2); + } + + inline void Union( const wxBlockInt &otherBlock ) { Union(*this, otherBlock, this); } + inline void Union( const wxBlockInt &src1, const wxBlockInt &src2, wxBlockInt *dest ) const + { + dest->m_x1 = wxMin(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMax(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMin(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMax(src1.m_y2, src2.m_y2); + } + + // is this block larger than input block, return 1 = larger, 0 = equal, -1 = smaller + int IsLarger(const wxBlockInt &b) const + { + wxInt32 width = m_x2 - m_x1 + 1, + height = m_y2 - m_y1 + 1, + b_width = b.m_x2 - b.m_x1 + 1, + b_height = b.m_y2 - b.m_y1 + 1; + + if ((width <= 0) || (height <= 0)) + return (b_width > 0) && (b_height > 0) ? -1 : 0; + if ((b_width <= 0) || (b_height <= 0)) + return (width > 0) && (height > 0) ? 1 : 0; + + wxDouble w_bw = wxDouble(width)/b_width, + bh_h = wxDouble(b_height)/height; + return (w_bw == bh_h) ? 0 : ((w_bw > bh_h) ? 1 : -1); + } + + bool IsEmpty() const { return (m_x1 > m_x2) || (m_y1 > m_y2); } + + // Unlike Intersects this also includes just touching the other block + bool Touches(const wxBlockInt &block) const; + + // Try to combine these blocks, they must touch and fit to make a single larger block + // this block is expanded if possible + bool Combine(const wxBlockInt &block); + + // test combining the input block with this one, returning the + // remainder of block in top, bottom, left, right - each may be IsEmpty() + // returns false if blocks don't touch or this block already contains block + // |---------------------------| + // | top | + // |---------------------------| + // | left |block| right | + // |---------------------------| + // | bottom | + // |---------------------------| + bool Combine( const wxBlockInt &block, + wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const; + + // test removal of a portion or all of this contained in block returning the + // remainder in top, bottom, left, right - each may be IsEmpty() + // returns false if nothing to delete, this cell is not changed + bool Delete(const wxBlockInt &block, wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const; + + // operators + inline bool operator == (const wxBlockInt& b) + { return (m_x1==b.m_x1) && (m_y1==b.m_y1) && (m_x2==b.m_x2) && (m_y2==b.m_y2); } + inline bool operator != (const wxBlockInt& b) + { return !(*this == b); } + + wxInt32 m_x1, m_y1, m_x2, m_y2; +}; + +//============================================================================= +// wxBlockDouble +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDouble +{ +public: + inline wxBlockDouble(wxDouble x1=0, wxDouble y1=0, wxDouble x2=0, wxDouble y2=0) + : m_x1(x1), m_y1(y1), m_x2(x2), m_y2(y2) {} + inline wxBlockDouble(const wxRect2DDouble &rect) + { m_x1=rect.m_x; m_y1=rect.m_y; m_x2=rect.GetRight(); m_y2=rect.GetBottom(); } + + inline wxDouble GetLeft() const { return m_x1; } + inline wxDouble GetRight() const { return m_x2; } + inline wxDouble GetTop() const { return m_y1; } + inline wxDouble GetBottom() const { return m_y2; } + + inline wxDouble GetWidth() const { return m_x2 - m_x1; } + inline wxDouble GetHeight() const { return m_y2 - m_y1; } + + inline wxPoint2DDouble GetLeftTop() const { return wxPoint2DDouble(m_x1, m_y1); } + inline wxPoint2DDouble GetLeftBottom() const { return wxPoint2DDouble(m_x1, m_y2); } + inline wxPoint2DDouble GetRightTop() const { return wxPoint2DDouble(m_x2, m_y1); } + inline wxPoint2DDouble GetRightBottom() const { return wxPoint2DDouble(m_x2, m_y2); } + + inline wxRect2DDouble GetRect2DDouble() const { return wxRect2DDouble(m_x1, m_y1, m_x2-m_x1, m_y2-m_y1); } + inline void SetRect2DDouble(const wxRect2DDouble &r) { m_x1=r.m_x; m_y1=r.m_y, m_x2=r.GetRight(); m_y2=r.GetBottom(); } + + inline bool Contains( wxDouble x, wxDouble y ) const + { return ((x >= m_x1) && (x <= m_x2) && (y >= m_y1) && (y <= m_y2)); } + inline bool Contains( const wxPoint2DDouble &pt ) const { return Contains(pt.m_x, pt.m_y); } + inline bool Contains( const wxBlockDouble &b ) const + { return ((m_x1 <= b.m_x1) && (b.m_x2 <= m_x2) && (m_y1 <= b.m_y1) && (b.m_y2 <= m_y2)); } + + inline bool Intersects( const wxBlockDouble &b ) const + { return (wxMax(m_x1, b.m_x1)m_x1 = wxMax(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMin(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMax(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMin(src1.m_y2, src2.m_y2); + } + + inline void Union( const wxBlockDouble &otherBlock ) { Union( *this, otherBlock, this ); } + inline void Union( const wxBlockDouble &src1, const wxBlockDouble &src2, wxBlockDouble *dest ) const + { + dest->m_x1 = wxMin(src1.m_x1, src2.m_x1); + dest->m_x2 = wxMax(src1.m_x2, src2.m_x2); + dest->m_y1 = wxMin(src1.m_y1, src2.m_y1); + dest->m_y2 = wxMax(src1.m_y2, src2.m_y2); + } + + // is this block larger than input block, return 1 - larger, 0 = equal, -1 smaller + int IsLarger(const wxBlockDouble &b) const + { + wxDouble width = m_x2 - m_x1, + height = m_y2 - m_y1, + b_width = b.m_x2 - b.m_x1, + b_height = b.m_y2 - b.m_y1; + + if ((width <= 0) || (height <= 0)) + return (b_width > 0) && (b_height > 0) ? -1 : 0; + if ((b_width <= 0) || (b_height <= 0)) + return (width > 0) && (height > 0) ? 1 : 0; + + wxDouble w_bw = width/b_width, + bh_h = b_height/height; + return (w_bw == bh_h) ? 0 : ((w_bw > bh_h) ? 1 : -1); + } + inline bool IsEmpty() const { return (m_x1 > m_x2) || (m_y1 > m_y2); } + + // Unlike Intersects this also includes just touching the other block + bool Touches(const wxBlockDouble &block) const; + + // Try to combine these blocks, they must touch and fit to make a single larger block + // this block is expanded if possible + bool Combine(const wxBlockDouble &block); + + // test combining the input block with this one, returning the + // remainder of block in top, bottom, left, right - each may be IsEmpty() + // returns false if blocks don't touch or this block already contains block + // |---------------------------| + // | top | + // |---------------------------| + // | left |block| right | + // |---------------------------| + // | bottom | + // |---------------------------| + bool Combine( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const; + + // test removal of a portion or all of this contained in block returning the + // remainder in top, bottom, left, right - each may be IsEmpty() + // returns false if nothing to delete, this cell is not changed + bool Delete( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const; + + // operators + inline bool operator == (const wxBlockDouble& b) + { return (m_x1==b.m_x1) && (m_y1==b.m_y1) && (m_x2==b.m_x2) && (m_y2==b.m_y2); } + inline bool operator != (const wxBlockDouble& b) + { return !(*this == b); } + + wxDouble m_x1, m_y1, m_x2, m_y2; +}; + +//============================================================================= +// wxBlockIntSelection - ordered 2D array of wxBlockInts, combines to minimize size +// blocks never overlap each other +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockIntSelection +{ +public : + wxBlockIntSelection(wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) {} + wxBlockIntSelection(const wxBlockIntSelection &blocks, + wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) { Copy(blocks); } + + // Make a full copy of the source + void Copy(const wxBlockIntSelection &source) + { + m_blocks.Clear(); + WX_APPEND_ARRAY(m_blocks, source.GetBlockArray()); + m_sort = source.GetSortType(); + } + + inline int GetCount() const { return m_blocks.GetCount(); } + + inline void Clear() { m_blocks.Clear(); } + + wxArrayBlockInt GetBlockArray() const { return m_blocks; } + +#ifdef USE_wxRANGE + // Get an array of ranges cutting though these blocks + wxArrayRangeInt GetBlockCol(int col) const; + wxArrayRangeInt GetBlockRow(int row) const; +#endif + + wxBlockInt GetBlock( int index ) const; + inline wxBlockInt Item( int index ) const { return GetBlock(index); } + + // Get a block that bounds the selection + wxBlockInt GetBoundingBlock() const; + + // do any of the blocks contains elements + inline bool Contains( int x, int y ) const { return Index(x,y) != wxNOT_FOUND; } + inline bool Contains( const wxPoint2DInt &pt ) const { return Index(pt) != wxNOT_FOUND; } + inline bool Contains( const wxBlockInt &b ) const { return Index(b) != wxNOT_FOUND; } + + // what is the index of a block that contains element + int Index( int x, int y ) const; + inline int Index( const wxPoint2DInt &pt ) const { return Index(pt.m_x, pt.m_y); } + int Index( const wxBlockInt &b ) const; + + // Sorts the blocks according to the wxBlockIntSort_Type + void Sort(wxBlockSort_Type type = wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT); + wxBlockSort_Type GetSortType() const { return m_sort; } + + // Add the block to the selection, returns false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + // addedBlocks (if !NULL) will be filled with the actual changed selections + // by removing the previous selections from the input block + bool SelectBlock( const wxBlockInt &block, bool combineNow=true, wxArrayBlockInt *addedBlocks=NULL); + + // Remove the block to the selection, return false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool DeselectBlock( const wxBlockInt &block, bool combineNow=true); + + // Try to combine the blocks if possible, returns if anything was done + // only need to call this if you've called (De)SelectBlock(..., false) + bool Minimize(); + + // Operators + inline wxBlockInt operator[](int index) const { return GetBlock(index); } + + //wxBlockIntSelection& operator = (const wxBlockIntSelection& other) { Copy(other); return *this; } + + // generic routine using if (b1.Combine(b2)) remove b2 to cleanup array + // sort top_left_bottom_right first (internal use) + static bool DoMinimize( wxArrayBlockInt &blocks ); + // DoMinimize calls this internally + static bool DoDoMinimize( wxArrayBlockInt &blocks ); + +protected : + wxArrayBlockInt m_blocks; + wxBlockSort_Type m_sort; +}; + +//============================================================================= +// wxBlockDoubleSelection - ordered 2D array of wxBlockDoubles, combines to minimze size +// blocks never overlap each other +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDoubleSelection +{ +public : + wxBlockDoubleSelection(wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) {} + wxBlockDoubleSelection(const wxBlockDoubleSelection &blocks, + wxBlockSort_Type sort_type = wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT) + : m_sort(sort_type) { Copy(blocks); } + + // Make a full copy of the source + void Copy(const wxBlockDoubleSelection &source) + { + m_blocks.Clear(); + WX_APPEND_ARRAY(m_blocks, source.GetBlockArray()); + m_sort = source.GetSortType(); + } + + inline int GetCount() const { return m_blocks.GetCount(); } + + inline void Clear() { m_blocks.Clear(); } + + wxArrayBlockDouble GetBlockArray() const { return m_blocks; } + +#ifdef USE_wxRANGE + // Get an array of ranges cutting though these blocks + wxArrayRangeDouble GetBlockCol(wxDouble col) const; + wxArrayRangeDouble GetBlockRow(wxDouble row) const; +#endif + + wxBlockDouble GetBlock( int index ) const; + inline wxBlockDouble Item( int index ) const { return GetBlock(index); } + + // Get a block that bounds the selection + wxBlockDouble GetBoundingBlock() const; + + // do any of the blocks contains elements + inline bool Contains( wxDouble x, wxDouble y ) const { return Index(wxPoint2DDouble(x,y)) != wxNOT_FOUND; } + inline bool Contains( const wxPoint2DInt &pt ) const { return Index(pt) != wxNOT_FOUND; } + inline bool Contains( const wxBlockDouble &b ) const { return Index(b) != wxNOT_FOUND; } + + // what is the index of a block that contains element + int Index( wxDouble x, wxDouble y ) const; + inline int Index( const wxPoint2DDouble &pt ) const { return Index(pt.m_x, pt.m_y); } + int Index( const wxBlockDouble &b ) const; + + // Sorts the blocks according to the wxBlockIntSort_Type + void Sort(wxBlockSort_Type type = wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT); + wxBlockSort_Type GetSortType() const { return m_sort; } + + // Add the block to the selection, returns false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool SelectBlock( const wxBlockDouble &block, bool combineNow=true); + + // Remove the block to the selection, return false if nothing was done + // use combineNow=false to make quick additions, when done call Minimize() + bool DeselectBlock( const wxBlockDouble &block, bool combineNow=true); + + // Try to combine the blocks if possible, returns if anything was done + // only need to call this if you've called (De)SelectBlock(..., false) + bool Minimize(); + + // Operators + inline wxBlockDouble operator[](int index) const { return GetBlock(index); } + + //wxBlockIntSelection& operator = (const wxBlockIntSelection& other) { Copy(other); return *this; } + + // generic routine using if (b1.Combine(b2)) remove b2 to cleanup array + // sort top_left_bottom_right first (internal use) + static bool DoMinimize( wxArrayBlockDouble &blocks ); + // DoMinimize calls this internally + static bool DoDoMinimize( wxArrayBlockDouble &blocks ); + +protected : + wxArrayBlockDouble m_blocks; + wxBlockSort_Type m_sort; +}; + +//============================================================================= +// wxBlockIntSelectionIterator - iterates through a wxBlockIntSelection +//============================================================================= +enum wxBISI_Type +{ + wxBISI_POINT, // wxBlockIntSelectionIterator::SetType go point by point + wxBISI_BLOCK // go block by block +}; + +class WXDLLIMPEXP_THINGS wxBlockIntSelectionIterator +{ +public : + wxBlockIntSelectionIterator( const wxBlockIntSelection &sel, wxBISI_Type type = wxBISI_POINT ); + wxBlockIntSelectionIterator( const wxArrayBlockInt &blocks, wxBISI_Type type = wxBISI_POINT ); + + // resets the iterating to start at the beginning + void Reset(); + // Set the method to get the blocks, either point by point or each whole block + // also resets the iteration to the beginning + void SetType( wxBISI_Type type ) { m_type = type; Reset(); } + wxBISI_Type GetType() const { return m_type; } + + // Get next selection, returns false if at end (only valid for wxBISI_point) + bool GetNext(wxPoint2DInt &pt); + // Get next selection, returns false if at end (only valid for wxBISI_block) + bool GetNext(wxBlockInt &block); + + // checks if this row and col are in this selection + bool IsInSelection(const wxPoint2DInt &pt) const; + inline bool IsInSelection( int x, int y ) const { return IsInSelection(wxPoint2DInt(x,y)); } + +protected : + wxBISI_Type m_type; + int m_block_index; + wxPoint2DInt m_pt; + wxArrayBlockInt m_blocks; +}; + +//============================================================================= +// wxBlockDoubleSelectionIterator - iterates through a wxBlockDoubleSelection +//============================================================================= + +class WXDLLIMPEXP_THINGS wxBlockDoubleSelectionIterator +{ +public : + wxBlockDoubleSelectionIterator( const wxBlockDoubleSelection &sel ); + wxBlockDoubleSelectionIterator( const wxArrayBlockDouble &blocks ); + + // resets the iterating to start at the beginning + void Reset(); + // Get next selection, returns false if at the end + bool GetNext(wxBlockDouble &block); + // checks if this row and col are in this selection + bool IsInSelection(const wxPoint2DDouble &pt) const; + inline bool IsInSelection( int x, int y ) const { return IsInSelection(wxPoint2DDouble(x,y)); } + +protected : + size_t m_block_index; + wxArrayBlockDouble m_blocks; +}; + +#endif // __wxBLOCK_H__ diff --git a/3rdparty/wxthings/include/wx/things/bmpcombo.h b/3rdparty/wxthings/include/wx/things/bmpcombo.h new file mode 100644 index 0000000..8bcb9f1 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/bmpcombo.h @@ -0,0 +1,223 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxBitmapComboBox +// Purpose: A wxComboBox type button for bitmaps and strings +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +/* + +wxBitmapComboBox is a wxComboBox widget for bitmaps + +You Append some bitmaps either individually or with an array. Since bitmaps are +refed this should be a fast process and you don't have to keep them around. +The size of the items is calculated from the max bitmap and max label so that +they will all line up nicely. + +It acts just like a wxComboBox otherwise, sends a EVT_COMBOBOX when selections +are made with either the mouse on the pulldown list or by pressing the up/down +arrows. + +*/ + +#ifndef _WX_BMPCOMBO_H_ +#define _WX_BMPCOMBO_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "bmpcombo.h" +#endif + +#include "wx/things/thingdef.h" +#include "wx/things/dropdown.h" + +class WXDLLEXPORT wxMenu; +class WXDLLEXPORT wxBitmap; +class WXDLLEXPORT wxKeyEvent; +class WXDLLEXPORT wxPaintEvent; +class WXDLLEXPORT wxDC; +class WXDLLIMPEXP_THINGS wxCustomButton; +class WXDLLIMPEXP_THINGS wxBitmapComboPopupChild; +class WXDLLIMPEXP_THINGS wxBitmapComboLabel; + +enum wxBitmapComboBox_Style +{ + // Position of the labels relative to the bitmaps, use only one + wxBMPCOMBO_LEFT = wxCB_DROPDOWN, + wxBMPCOMBO_RIGHT = wxCB_SIMPLE +}; + +class WXDLLIMPEXP_THINGS wxBitmapComboBox : public DropDownBase +{ +public: + wxBitmapComboBox() : DropDownBase() { Init(); } + + // Compatible with a wxComboBox, uses strings only + wxBitmapComboBox(wxWindow *parent, wxWindowID id, + const wxString& value = wxEmptyString, // used only if first choice is !null + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + int n = 0, const wxString choices[] = (const wxString *) NULL, + long style = wxBMPCOMBO_RIGHT, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxBitmapComboBox")) + :DropDownBase() + { + Init(); + if ((n > 0) || (!value.IsEmpty())) + { + if ((n > 0) && choices) + { + for (int i=0; iSetChild(win) in your DoShowPopup function. +Additionally, you'll want to put a window to the left of the dropdown button. + +You need to subclass this to make a new control. + +You need to override these function in DropDownBase +DoGetBestSize() let wxWidgets know how big this control wants to be +DoGetBestDropHeight(max) - max is the # pixels to bottom of screen, you probably want + it smaller so return that height, return -1 if you don't want the popup shown. +DoShowPopup() - this is called from ShowPopup after creating the m_popupWin. + Create your child window with the popup as the parent and call + GetPopupWindow()->SetChild(win). Make sure you call + DropDownBase::DoShowPopup() to have the popup window shown. +*/ + +#ifndef _WX_DROPDOWNBASE_H_ +#define _WX_DROPDOWNBASE_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "dropdown.h" +#endif + +#include "wx/popupwin.h" +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxTimer; +class WXDLLEXPORT wxTimerEvent; +class WXDLLEXPORT wxCustomButton; +class WXDLLIMPEXP_THINGS DropDownPopup; + +#define DROPDOWN_DROP_WIDTH 14 // these are the default sizes +#define DROPDOWN_DROP_HEIGHT 22 + +//----------------------------------------------------------------------------- +// DropDownBase generic combobox type widget that drops down a DropDownPopup +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS DropDownBase : public wxControl +{ +public: + + DropDownBase() : wxControl() { Init(); } + + DropDownBase( wxWindow *parent, wxWindowID id = wxID_ANY, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("DropDownBase")) + : wxControl() + { + Init(); + Create(parent, id, pos, size, style, val, name); + } + + virtual ~DropDownBase(); + + bool Create(wxWindow* parent, + wxWindowID id = wxID_ANY, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("DropDownBase")); + + virtual bool ShowPopup(); + virtual void HidePopup(); + bool IsPopupShown(); + + // implementation + void OnDropButton( wxCommandEvent &event ); + wxCustomButton* GetDropDownButton() { return m_dropdownButton; } + // Get the popup window, NULL when not shown + DropDownPopup* GetPopupWindow() { return m_popupWin; } + +protected: + virtual void DoSetSize(int x, int y, int width, int height, + int sizeFlags = wxSIZE_AUTO); + + void OnSize( wxSizeEvent& event ); + virtual wxSize DoGetBestSize() const; + + virtual bool DoShowPopup(); + + // override to set the height of the dropdown box + // input max_height is height from bottom of ctrl to bottom of screen + // return < 1 to not have the popup displayed + virtual int DoGetBestDropHeight(int max_height) { return max_height; } + + wxCustomButton *m_dropdownButton; + DropDownPopup *m_popupWin; + +private: + void Init(); + DECLARE_DYNAMIC_CLASS(DropDownBase) + DECLARE_EVENT_TABLE() +}; + +//----------------------------------------------------------------------------- +// DropDownPopup generic popup window, call SetChild +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS DropDownPopup : public wxPopupTransientWindow +{ +public: + DropDownPopup() : wxPopupTransientWindow() { Init(); } + DropDownPopup(DropDownBase *parent, int style = wxBORDER_NONE) : wxPopupTransientWindow() + { + Init(); + Create(parent, style); + } + virtual ~DropDownPopup(); + + bool Create(DropDownBase *parent, int style = wxBORDER_NONE); + + virtual void Popup(wxWindow *focus = NULL); + virtual void Dismiss(); + virtual bool ProcessLeftDown(wxMouseEvent& event); + + virtual void SetChild(wxWindow *child); + virtual wxWindow *GetChild() const { return m_childWin; } + bool m_ignore_popup; + +protected: + + // start/stop timer shat pushes and pops handler when the mouse goes over + // the scrollbars (if any) of the child window + void StartTimer(); + void StopTimer(); + void PushPopupHandler(wxWindow* child); + void PopPopupHandler(wxWindow* child); + + void OnMouse( wxMouseEvent& event ); + void OnKeyDown( wxKeyEvent &event ); + void OnTimer( wxTimerEvent& event ); + void OnIdle( wxIdleEvent& event ); + + wxPoint m_mouse; // last/current mouse position + wxWindow *m_childWin; // store our own child pointer + DropDownBase *m_owner; + wxTimer *m_timer; // timer for tracking mouse position + bool m_popped_handler; // state of the event handler + +private: + void Init(); + DECLARE_DYNAMIC_CLASS(DropDownPopup) + DECLARE_EVENT_TABLE() +}; + +#endif // _WX_DROPDOWNBASE_H_ diff --git a/3rdparty/wxthings/include/wx/things/filebrws.h b/3rdparty/wxthings/include/wx/things/filebrws.h new file mode 100644 index 0000000..babc42f --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/filebrws.h @@ -0,0 +1,358 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: filebrws.h +// Purpose: A file browser widget with tree and/or list control views +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_FILEBROWSER_H__ +#define __WX_FILEBROWSER_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "filebrws.h" +#endif + +#include "wx/listctrl.h" +#include "wx/dirctrl.h" +#include "wx/filedlg.h" +#include "wx/textdlg.h" +#include "wx/generic/filedlgg.h" +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxCheckBox; +class WXDLLEXPORT wxComboBox; +class WXDLLEXPORT wxTreeEvent; +class WXDLLEXPORT wxSplitterWindow; +class WXDLLEXPORT wxGenericDirCtrl; +class WXDLLEXPORT wxListCtrl; +class WXDLLEXPORT wxListEvent; +class WXDLLEXPORT wxToolBar; +class WXDLLEXPORT wxBitmapButton; +class WXDLLEXPORT wxConfigBase; +class WXDLLEXPORT wxFileCtrl; +class WXDLLEXPORT wxFileName; + +class WXDLLIMPEXP_THINGS wxFileBrowser; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxFileData, wxArrayFileData, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// MultilineTextDialog : wxTextEntryDialog for multiple lines +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS MultilineTextDialog : public wxTextEntryDialog +{ +public: + MultilineTextDialog(wxWindow *parent, + const wxString& message, + const wxString& caption = wxGetTextFromUserPromptStr, + const wxString& value = wxEmptyString, + long style = 0, + const wxPoint& pos = wxDefaultPosition); +}; + +//---------------------------------------------------------------------------- +// wxFileBrowserEvent : events for the wxFileBrowser +//---------------------------------------------------------------------------- +// wxEVT_FILEBROWSER_FILE_SELECTED - a file has been selected (single click) +// wxEVT_FILEBROWSER_FILE_ACTIVATED - a file has been double clicked or enter pressed +// wxEVT_FILEBROWSER_DIR_SELECTED - a dir has been selected (single click) +// wxEVT_FILEBROWSER_DIR_ACTIVATED - a dir has been double clicked or enter pressed + +BEGIN_DECLARE_EVENT_TYPES() + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_SELECTED, wxEVT_USER_FIRST + 1000) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_FILE_ACTIVATED, wxEVT_USER_FIRST + 1001) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_SELECTED, wxEVT_USER_FIRST + 1002) + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_FILEBROWSER_DIR_ACTIVATED, wxEVT_USER_FIRST + 1003) +END_DECLARE_EVENT_TYPES() + +class WXDLLIMPEXP_THINGS wxFileBrowserEvent : public wxCommandEvent +{ +public: + wxFileBrowserEvent( wxEventType commandType = wxEVT_NULL, + wxFileBrowser *fileBrowser = NULL, + wxWindowID id = wxID_ANY ); + + wxFileBrowserEvent( const wxFileBrowserEvent &event ) : wxCommandEvent(event) {} + + // Get the full path + filename + wxString GetFilePath() const { return GetString(); } + void SetFilePath(const wxString &filepath) { SetString(filepath); } + + virtual wxEvent *Clone() const { return new wxFileBrowserEvent(*this); } + +private: + DECLARE_ABSTRACT_CLASS(wxFileBrowserEvent) +}; + +typedef void (wxEvtHandler::*wxFileBrowserEventFunction)(wxFileBrowserEvent&); + +#define wxFileBrowserEventHandler(func) \ + (wxObjectEventFunction)(wxEventFunction)wxStaticCastEvent(wxFileBrowserEventFunction, &func) + +#define wx__DECLARE_FILEBROWSEREVT(evt, id, fn) wx__DECLARE_EVT1( evt, id, wxFileBrowserEventHandler(fn)) + +#define EVT_FILEBROWSER_FILE_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_SELECTED, id, fn ) +#define EVT_FILEBROWSER_FILE_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_FILE_ACTIVATED, id, fn ) +#define EVT_FILEBROWSER_DIR_SELECTED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_SELECTED, id, fn ) +#define EVT_FILEBROWSER_DIR_ACTIVATED(id, fn) wx__DECLARE_FILEBROWSEREVT( wxEVT_FILEBROWSER_DIR_ACTIVATED, id, fn ) + +//---------------------------------------------------------------------------- +// wxFileBrowser +//---------------------------------------------------------------------------- + +enum wxFileBrowserStyles_Type +{ + // note: these are wxListCtrl styles to allow normal wxWindow styles to work + + wxFILEBROWSER_TREE = wxLC_SORT_DESCENDING, // treectrl view + wxFILEBROWSER_LIST = wxLC_LIST, // listctrl view + wxFILEBROWSER_DETAILS = wxLC_REPORT, // listctrl details view + wxFILEBROWSER_SMALL_ICON = wxLC_SMALL_ICON, // listctrl icon view + wxFILEBROWSER_LARGE_ICON = wxLC_ICON, // NOT IMPL listctrl large icon + wxFILEBROWSER_PREVIEW = wxLC_SORT_ASCENDING, // NOT implemented + + wxFILEBROWSER_SPLIT_VERTICAL = wxLC_NO_HEADER, // tree and listctrl are + // split vertically else horizontal + + wxFILEBROWSER_SHOW_FOLDERS = wxLC_NO_SORT_HEADER, // when showing listview also show + // the folders in the treectrl + + wxFILEBROWSER_VIEW_MASK = wxFILEBROWSER_TREE|wxFILEBROWSER_LIST|wxFILEBROWSER_DETAILS|wxFILEBROWSER_SMALL_ICON|wxFILEBROWSER_LARGE_ICON|wxFILEBROWSER_PREVIEW, + wxFILEBROWSER_STYLE_MASK = wxFILEBROWSER_VIEW_MASK|wxFILEBROWSER_SPLIT_VERTICAL|wxFILEBROWSER_SHOW_FOLDERS +}; + +class WXDLLIMPEXP_THINGS wxFileBrowser : public wxControl +{ +public : + wxFileBrowser() : wxControl() { Init(); } + + wxFileBrowser( wxWindow* parent, const wxWindowID id, + const wxString& dir = wxDirDialogDefaultFolderStr, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxFILEBROWSER_DETAILS, + const wxString& filter = wxFileSelectorDefaultWildcardStr, + int defaultFilter = 0, + const wxString& name = wxT("wxFileBrowser")) : wxControl() + { + Init(); + Create(parent, id, dir, pos, size, style, filter, defaultFilter, name); + } + + virtual ~wxFileBrowser(); + + bool Create( wxWindow* parent, const wxWindowID id, + const wxString& dir = wxDirDialogDefaultFolderStr, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxFILEBROWSER_DETAILS, + const wxString& filter = wxFileSelectorDefaultWildcardStr, + int defaultFilter = 0, + const wxString& name = wxT("wxFileBrowser") ); + + // Get the current dir (not file), optionally add a trailing platform dependent '/' or '\' + wxString GetPath(bool add_wxFILE_SEP_PATH = false) const; + // Go to a directory, returns sucess + bool SetPath(const wxString &dirName); + + // go to a dir or send an EVT_FILEBROWSER_FILE_ACTIVATED if a filename + bool OpenFilePath(const wxString &filePath); + + // Go to a higher directory, returns sucess + bool CanGoUpDir() const; + bool GoUpDir(); + + // Go to your "Home" folder "~/" in unix, "My Documents" in MSW + bool GoToHomeDir(); + + // Go forwards and backwards through the recent dir history + bool CanGoPathHistoryForward(); + bool CanGoPathHistoryBackward(); + bool GoPathHistoryForward(); + bool GoPathHistoryBackward(); + // Add a new path to the history paths at the current index + void AddPathHistory(const wxString& path); + + // Set the file filter to one of the filter combobox items + bool SetFilter(int comboItem); + // Set all the file filters, deleting previous and select one + bool SetFilters(const wxString &filters, int select = 0); + // Add or set the file filter, "All Files (*)|*", it must have a "|" in it + bool AddFilter(const wxString &filter); + // Get the current file filter + wxString GetFilter() const { return m_filter; } + // Get the wild card used for the filter + wxString GetWild() const { return m_filter.AfterLast(wxT('|')); } + + // Set how the files are displayed - see enum wxFileBrowserStyles_Type + void SetBrowserStyle(long style); + long GetBrowserStyle() const { return m_browser_style; } + bool HasBrowserStyle(int style_mask) const { return (m_browser_style & style_mask) != 0; } + + // Show or hide hidden files + void ShowHidden(bool show_hidden); + bool GetShowHidden() const { return m_show_hidden; } + + // When showing the files in a listctrl also show the folders in the treectrl + // also don't let them unsplit it + void ShowFolders(bool show_folders); + bool GetShowFolders() const { return HasBrowserStyle(wxFILEBROWSER_SHOW_FOLDERS); } + + // When splitting, split vertically or horizontally + void SplitVertical(bool split_vertically); + bool GetSplitVertical() const { return HasBrowserStyle(wxFILEBROWSER_SPLIT_VERTICAL); } + + // ----------------------------------------------------------------------- + // implementation + + // utility function, returns the dir part of the filepath w/ trailing wxFILE_SEP_PATH + bool GetPathFromFilePath(const wxString &filepath, wxString &path) const; + + // Delete all selected items in the wxFileCtrl + bool DeleteSelectedListItems(bool ask_ok = true); + // Store a list of selected items that you'll copy/cut when you paste them + bool CopyCutSelectedListItems(bool copy_them); + // Paste the stored CopyCutSelectedListItems - based on CopyCutSelectedListItems list + bool PasteCopyCutSelectedListItems(); + + // Get a list of all the selected items in the list control + wxArrayInt GetSelectedListItems() const; + // Get the wxFileData items that are selected in the list control + wxArrayFileData GetSelectedListFileData() const; + // Get the currently focused list item or NULL if none selected + wxFileData *GetFocusedListItem() const; + + // Create a wxFileData from a wxFileName + wxFileData CreateFileData(const wxFileName& fileName) const; + + // Get the last or currently focused path + filename + wxString GetLastFocusedFilePath(); + + // Show a simple dialog that contains the properties of the file/dir + void ShowPropertiesDialog(const wxFileData &fileData) const; + + // returns a string with the name of a program to run the file + wxString GetOpenWithFileCmd(wxFileData* fd) const; + + // Get a pointer to the path history combo, can change its contents + wxComboBox *GetPathCombo() const { return m_pathCombo; } + // Get a pointer to the filter combo + // don't delete selections less than the # of filters passed in + // ie. check for items with GetClientData() !NULL + wxComboBox *GetFilterCombo() const { return m_filterCombo; } + + // Can this file be read/opened? + bool CanRead(const wxString& filePath) const; + // Can this file be written to, deleted, moved, cut... + bool CanWrite(const wxString& filePath) const; + + // Update the menu/toolbar items + void UpdateMenu(wxMenu *menu); + void UpdateToolBar(wxToolBar *toolBar); + // Update the state of the toolbar and menu items + void UpdateItems(); + +#if wxUSE_CONFIG + // Load the recent paths/filters, max = 20 + void LoadConfig(wxConfigBase& config, + bool paths=true, bool filters=true, + const wxString &configPath = wxT("/wxFileBrowser")); + // Save the recent paths, filters, if n_xxx < 0 then don't save it + void SaveConfig(wxConfigBase& config, + int n_paths=10, int n_filters=10, + const wxString &configPath = wxT("/wxFileBrowser")); +#endif // wxUSE_CONFIG + +protected : + void OnSize( wxSizeEvent& event ); + void DoSize(); + + virtual wxSize DoGetBestSize() const; + + // toolbar tools events + void OnViewButtons(wxCommandEvent &event); + void OnPathCombo(wxCommandEvent &event); + void OnPathComboEnter(wxCommandEvent &event); + void OnFilterCombo(wxCommandEvent &event); + void OnFilterComboEnter(wxCommandEvent &event); + + // wxDirCtrl events - a wxTreeCtrl + void OnTreeItemSelection(wxTreeEvent &event); + void OnTreeItemActivation(wxTreeEvent &event); + void OnTreeRightClick(wxTreeEvent& event); + + // wxFileCtrl events - a wxListCtrl + void OnListColClick(wxListEvent &event); + void OnListItemActivated(wxListEvent &event); + void OnListItemSelected(wxListEvent &event); + void OnListRightClick(wxListEvent &event); + + void OnTreeMenu(wxCommandEvent &event); + void OnListMenu(wxCommandEvent &event); + + void OnIdle( wxIdleEvent &event ); + + //for delayed set path from combo + void OnSetPath( wxCommandEvent &event ); + void OnSetFilter( wxCommandEvent &event ); + + // (re)inserts the item at pos, deleting it if it existed after pos + // keeps recent items at top + bool InsertComboItem(wxComboBox *combo, const wxString &item, int pos = 0) const; + + // Send an event, returns false if event.Veto() called + bool DoSendEvent(wxFileBrowserEvent &event) const; + + int FBStyleToLCStyle(int fb_style) const; // wxFileBrowserStyles_Type to wxLC_XXX + int FBStyleToMenuID(int fb_style) const; // wxFileBrowserStyles_Type menu id + int MenuIDToFBStyle(int menuID) const; // menu id to wxFileBrowserStyles_Type + + // Windows + wxToolBar *m_viewToolBar; + wxToolBar *m_pathToolBar; + + wxBitmapButton *m_viewButton; + wxComboBox *m_filterCombo; + + wxComboBox *m_pathCombo; + + wxSplitterWindow *m_splitterWin; + wxGenericDirCtrl *m_dirCtrl; + wxFileCtrl *m_fileCtrl; + + wxMenu *m_listMenu; // popup menu in listctrl + wxMenu *m_treeMenu; // popup menu in treectrl + wxMenu *m_viewMenu; // popup menu in for changing view + + // data + wxString m_filter; // current filter + wxString m_path; // current path + wxString m_lastFocusedFilePath; // path + filename of last focused item + + wxArrayString m_pathHistory; // recently used paths + int m_path_history_index; // current index in recently used paths + + wxArrayFileData m_copycutFiles; // list of names when copying or cutting + bool m_last_copy; // last CopyCutSelectedListItems was a copy, else cut + + int m_init_filters; // # of filters initially passed in + + bool m_ignore_tree_event; // temporarily ignore m_dirCtrl events + long m_browser_style; + + int m_filterComboSelection; // last selection of the filter/path combo + int m_pathComboSelection; + + bool m_show_hidden; // show hidden files + +private : + void Init(); + DECLARE_EVENT_TABLE() + DECLARE_DYNAMIC_CLASS(wxFileBrowser) +}; + +#endif // __WX_FILEBROWSER_H__ diff --git a/3rdparty/wxthings/include/wx/things/genergdi.h b/3rdparty/wxthings/include/wx/things/genergdi.h new file mode 100644 index 0000000..4b9f74b --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/genergdi.h @@ -0,0 +1,317 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: genergdi.h +// Purpose: Generic gdi pen and colour +// Author: John Labenski +// Modified by: +// Created: 12/1/2000 +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#ifndef _WX_GENERGDI_H_ +#define _WX_GENERGDI_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "genergdi.h" +#endif + +#include "wx/colour.h" +#include "wx/pen.h" +#include "wx/brush.h" +#include "wx/things/thingdef.h" + +class WXDLLIMPEXP_THINGS wxGenericColour; +class WXDLLIMPEXP_THINGS wxGenericPen; +class WXDLLIMPEXP_THINGS wxGenericBrush; + +// Uncreated and invalid versions of the generic colour, pen, and brush +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericColour) wxNullGenericColour; +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericPen) wxNullGenericPen; +WXDLLIMPEXP_DATA_THINGS(extern const wxGenericBrush) wxNullGenericBrush; + +// Arrays of the generic colours, pens, and brushes +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericColour, wxArrayGenericColour, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericPen, wxArrayGenericPen, class WXDLLIMPEXP_THINGS); +WX_DECLARE_OBJARRAY_WITH_DECL(wxGenericBrush, wxArrayGenericBrush, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// wxGenericColour - a RGBA colour that's converts from and to a wxColour. +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericColour : public wxObject +{ +public: + wxGenericColour() : wxObject() {} + wxGenericColour( const wxGenericColour& c ) { Create(c); } + wxGenericColour( const wxColour& c ) { Create(c); } + wxGenericColour( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha=255 ) + : wxObject() { Create(red, green, blue, alpha); } + wxGenericColour( unsigned long colABGR ) : wxObject() { CreateABGR(colABGR); } + + // Implicit conversion from the colour name + wxGenericColour( const wxString &colourName ) : wxObject() { Create(colourName); } + wxGenericColour( const char *colourName ) : wxObject() { Create(wxString::FromAscii(colourName)); } +#if wxUSE_UNICODE + wxGenericColour( const wxChar *colourName ) : wxObject() { Create(wxString(colourName)); } +#endif + + virtual ~wxGenericColour() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this colour, unrefing this colour first. + // Use these to detach this colour from it's refed copies. + void Create( const wxGenericColour& c ); + void Create( const wxColour& c); + void Create( unsigned char red = 0, unsigned char green = 0, + unsigned char blue = 0, unsigned char alpha=255 ); + void CreateABGR( unsigned long colABGR ); + void CreateARGB( unsigned long colARGB ); + void Create( const wxString& colourName ); + + // ----------------------------------------------------------------------- + // Set the colour values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericColour &c ); + void Set( const wxColour& c ); + void Set( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha=255 ); + void SetABGR( unsigned long colABGR ); + void SetARGB( unsigned long colARGB ); + void Set( const wxString& colourName ); + + void SetRed ( unsigned char r ); + void SetGreen( unsigned char g ); + void SetBlue ( unsigned char b ); + void SetAlpha( unsigned char a ); + + // ----------------------------------------------------------------------- + // Get the colour values + inline wxColour GetColour() const { return wxColour(GetRed(), GetGreen(), GetBlue()); } + + unsigned char GetRed() const; + unsigned char GetGreen() const; + unsigned char GetBlue() const; + unsigned char GetAlpha() const; + + // wxWidgets wxColour compatibility functions + unsigned char Red() const { return GetRed(); } + unsigned char Green() const { return GetGreen(); } + unsigned char Blue() const { return GetBlue(); } + unsigned char Alpha() const { return GetAlpha(); } + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs( const wxGenericColour& c ) const; + bool IsSameAs( const wxColour& c ) const; + + // Get a "hot to cold" colour where i ranges from 0 to 255 + wxGenericColour GetHotColdColour(double i) const; + + // Read colour to and from string + //wxString WriteString(const wxString& format = wxT("%d,%d,%d,%d")) const; + //bool ReadString(const wxString& str, const wxString& format = wxT("%d,%d,%d,%d")); + + // operators + bool operator == (const wxGenericColour& c) const + { return m_refData == c.m_refData; } + bool operator != (const wxGenericColour& c) const + { return m_refData != c.m_refData; } + + wxGenericColour& operator = (const wxGenericColour& c) + { + if ( (*this) != c ) + Ref(c); + return *this; + } + wxGenericColour& operator = ( const wxColour& c ) { Create(c); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericColour) +}; + +//---------------------------------------------------------------------------- +// wxGenericPen - a pen structure that converts to and from wxPen +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericPen : public wxObject +{ +public: + wxGenericPen() : wxObject() {} + wxGenericPen( const wxGenericPen &pen ) : wxObject() { Create(pen); } + wxGenericPen( const wxPen &pen ) : wxObject() { Create(pen); } + wxGenericPen( const wxGenericColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ) : wxObject() + { Create(colour, width, style, cap, join); } + wxGenericPen( const wxColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ) : wxObject() + { Create(colour, width, style, cap, join); } + + virtual ~wxGenericPen() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this pen, unrefing this pen first. + // Use these to detach this pen from it's refed copies. + void Create( const wxGenericPen &pen ); + void Create( const wxPen &pen ); + void Create( const wxGenericColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ); + void Create( const wxColour &colour, int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND ); + + // ----------------------------------------------------------------------- + // Set the values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericPen& pen ); + void Set( const wxPen& pen ); + void SetColour( const wxGenericColour &colour ); + void SetColour( const wxColour &colour ); + void SetColour( int red, int green, int blue, int alpha=255 ); + void SetCap( int capStyle ); + void SetJoin( int joinStyle ); + void SetStyle( int style ); + void SetWidth( int width ); + void SetDashes( int number_of_dashes, const wxDash *dash ); + + // ----------------------------------------------------------------------- + // Get the pen values + wxPen GetPen() const; + + wxGenericColour GetGenericColour() const; + wxColour GetColour() const; + int GetWidth() const; + int GetStyle() const; + int GetCap() const; + int GetJoin() const; + int GetDashes(wxDash **ptr) const; + int GetDashCount() const; + wxDash* GetDash() const; + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs(const wxGenericPen& pen) const; + bool IsSameAs(const wxPen& pen) const; + + // Read pen to and from string + //wxString WriteString() const; + //bool ReadString(const wxString& str); + + // operators + bool operator == (const wxGenericPen& pen) const + { return m_refData == pen.m_refData; } + bool operator != (const wxGenericPen& pen) const + { return m_refData != pen.m_refData; } + + wxGenericPen& operator = (const wxGenericPen& pen) + { + if ( (*this) != pen ) + Ref(pen); + return *this; + } + wxGenericPen& operator = ( const wxPen& pen ) { Create(pen); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericPen) +}; + +//---------------------------------------------------------------------------- +// wxGenericBrush - a brush structure that converts to and from wxBrush +// You can have thousands of them without using up resources. (on MSW) +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxGenericBrush : public wxObject +{ +public: + wxGenericBrush() : wxObject() {} + wxGenericBrush( const wxGenericBrush &brush ) : wxObject() { Create(brush); } + wxGenericBrush( const wxBrush &brush ) : wxObject() { Create(brush); } + wxGenericBrush( const wxGenericColour &colour, int style = wxSOLID) + : wxObject() { Create(colour, style); } + wxGenericBrush( const wxColour &colour, int style = wxSOLID) + : wxObject() { Create(colour, style); } + wxGenericBrush( const wxBitmap& stipple ) : wxObject() { Create(stipple); } + + virtual ~wxGenericBrush() {} + // Destroy the refed data + void Destroy() { UnRef(); } + // Is this colour valid, has refed data + bool Ok() const { return m_refData != NULL; } + + // ----------------------------------------------------------------------- + // (re)Create this brush, unrefing this pen first. + // Use these to detach this pen from it's refed copies. + void Create( const wxGenericBrush &brush ); + void Create( const wxBrush &brush ); + void Create( const wxGenericColour &colour, int style = wxSOLID ); + void Create( const wxColour &colour, int style = wxSOLID ); + void Create( const wxBitmap &stipple ); + + // ----------------------------------------------------------------------- + // Set the values of the refed data. + // Use these to adjust the values of all the refed copies. + void Set( const wxGenericBrush& brush ); + void Set( const wxBrush& brush ); + void SetColour( const wxGenericColour &colour ); + void SetColour( const wxColour &colour ); + void SetColour( int red, int green, int blue, int alpha=255 ); + void SetStyle( int style ); + void SetStipple( const wxBitmap& stipple ); + + // ----------------------------------------------------------------------- + // Get the brush values + wxBrush GetBrush() const; + + wxGenericColour GetGenericColour() const; + wxColour GetColour() const; + int GetStyle() const; + wxBitmap* GetStipple() const; + + bool IsHatch() const + { return (GetStyle()>=wxFIRST_HATCH) && (GetStyle()<=wxLAST_HATCH); } + + // ----------------------------------------------------------------------- + // Equivalency tests + bool IsSameAs(const wxGenericBrush& brush) const; + bool IsSameAs(const wxBrush& brush) const; + + // operators + bool operator == (const wxGenericBrush& brush) const + { return m_refData == brush.m_refData; } + bool operator != (const wxGenericBrush& brush) const + { return m_refData != brush.m_refData; } + + wxGenericBrush& operator = (const wxGenericBrush& brush) + { + if ( (*this) != brush ) + Ref(brush); + return *this; + } + wxGenericBrush& operator = ( const wxBrush& brush ) { Create(brush); return *this; } + +private: + // ref counting code + virtual wxObjectRefData *CreateRefData() const; + virtual wxObjectRefData *CloneRefData(const wxObjectRefData *data) const; + + DECLARE_DYNAMIC_CLASS(wxGenericBrush) +}; + +#endif // _WX_GENERGDI_H_ diff --git a/3rdparty/wxthings/include/wx/things/geometry.h b/3rdparty/wxthings/include/wx/things/geometry.h new file mode 100644 index 0000000..351fd10 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/geometry.h @@ -0,0 +1,463 @@ +/////////////////////////////////////////////////////////////////////////////// +// Name: geometry.h +// Purpose: Additional geometry functions for wxWidgets (see wx/geometry.h) +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +/////////////////////////////////////////////////////////////////////////////// + +#ifndef __WXIMAGER_GEOMETRY_H__ +#define __WXIMAGER_GEOMETRY_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "geometry.h" +#endif + +#include "wx/geometry.h" +#include "wx/things/thingdef.h" + +#define wxGEOMETRY_INF 1E100 + +//----------------------------------------------------------------------------- +// wxRay2DDouble uses point slope line format +// +// y = mx+b, m=(x-x0)/(y-y0) +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxRay2DDouble : public wxPoint2DDouble +{ +public : + + inline wxRay2DDouble(wxDouble x=0, wxDouble y=0, wxDouble slope=0) + { m_x = x; m_y = y; m_slope = slope; } + inline wxRay2DDouble(const wxPoint2DDouble &pt, wxDouble slope) + { m_x = pt.m_x; m_y = pt.m_y; m_slope = slope; } + inline wxRay2DDouble(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { m_x = x1; m_y = y1; m_slope = GetSlope(x1, y1, x2, y2); } + inline wxRay2DDouble(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { m_x = pt1.m_x; m_y = pt1.m_y; m_slope = GetSlope(pt1, pt2); } + inline wxRay2DDouble(const wxRay2DDouble &line) + { m_x = line.m_x; m_y = line.m_y; m_slope = line.m_slope; } + + inline wxDouble GetX() const { return m_x; } + inline wxDouble GetY() const { return m_y; } + inline wxPoint2DDouble GetPoint() const { return (wxPoint2DDouble)(*this); } + inline wxDouble GetSlope() const { return m_slope; } + + inline void SetX(wxDouble x) { m_x = x; } + inline void SetY(wxDouble y) { m_y = y; } + inline void SetPoint(const wxPoint2DDouble &pt ) { m_x = pt.m_x; m_y = pt.m_y; } + inline void SetSlope(wxDouble slope) { m_slope = slope; } + + inline wxDouble GetYFromX(wxDouble x) const {return m_slope*(x-m_x) + m_y;} + inline wxDouble GetXFromY(wxDouble y) const {return (y-m_y)/m_slope + m_x;} + + // Get a point along the line at pos x or y + inline wxPoint2DDouble GetPointOnRayFromX(wxDouble x) const { return wxPoint2DDouble(x, GetYFromX(x)); } + inline wxPoint2DDouble GetPointOnRayFromY(wxDouble y) const + { if (m_slope == 0) return (*this); + return wxPoint2DDouble(GetXFromY(y), y); } + + // Translate the point m_pt along the line to pos x or y + inline void TranslatePointByX(wxDouble x) { m_y = GetYFromX(x); m_x = x; } + inline void TranslatePointByY(wxDouble y) { m_x = GetXFromY(y); m_y = y; } + inline wxRay2DDouble GetTranslatedLineByX(wxDouble x) const { return wxRay2DDouble(x, GetYFromX(x), m_slope); } + inline wxRay2DDouble GetTranslatedLineByY(wxDouble y) const { return wxRay2DDouble(GetXFromY(y), y, m_slope); } + + inline wxDouble GetDistanceToPoint(const wxPoint2DDouble &pt, wxPoint2DDouble *closestPt=NULL) const + { + wxPoint2DDouble l1(m_x, m_y); + wxPoint2DDouble l2(GetPointOnRayFromX(m_x+pt.m_x)); + wxPoint2DDouble v = l2 - l1; + wxPoint2DDouble w = pt - l1; + wxDouble c1 = w.GetDotProduct(v); + wxDouble c2 = v.GetDotProduct(v); + wxDouble b = c1 / c2; + wxPoint2DDouble pb = l1 + b*v; + if (closestPt) *closestPt = pb; + return pb.GetDistance( pt ); + +/* + wxPoint2DDouble ll2 = l2; + double l = ll2.GetDistanceSquare(l1); + double u = ((p.m_x-l1.m_x)*(l2.m_x-l1.m_x)+(p.m_y-l1.m_y)*(l2.m_y-l1.m_y))/l; + wxPoint2DDouble i = l1 + u*(l2-l1); + + //printf("distance %.9lf %.9lf %d\n\n", i.GetDistance(p), pb.GetDistance(p), int(pb==i)); +*/ + + // this x for y on this line + // y(on this line) = m_slope*(x-m_pt.m_x) + m_pt.m_y + // = (-1/m_slope)(x-pt.m_x) + pt.m_y + // so + // x(on this line) = (y-m_pt.m_y)/m_slope + m_pt.m_x + // = (y-pt.m_y)/(-1/m_slope) + m_pt.m_x + + //(y-m_pt.m_y)/m_slope + m_pt.m_x = (y-pt.m_y)(-1/m_slope) + m_pt.m_x + //(y-m_pt.m_y)/m_slope - m_slope*(y-pt.m_y) = + m_pt.m_x - m_pt.m_x + //y*(1/m_slope - m_slope) = + m_pt.m_x - m_pt.m_x +m_slope*pt.m_y + m_slope*m_pt.m_y + //y = (m_pt.m_x - m_pt.m_x +m_slope*pt.m_y + m_slope*m_pt.m_y)/(1/m_slope - m_slope) +/* + wxDouble x = (m_x + m_slope*m_slope*m_x - m_slope*(m_y - m_y))/(m_slope*m_slope+1.0); + wxPoint2DDouble pl(x, m_slope*(x-m_x) + m_y); + if (closestPt) *closestPt = pl; + return pl.GetDistance(pt); +*/ + } + + inline wxDouble GetDistanceToRay( const wxRay2DDouble &ray ) const + { + // FIXME - unchecked, just quickly translated from some other code + if (m_slope != ray.m_slope) return 0; + if (m_slope == 0) return fabs(m_y - ray.m_y); + wxPoint2DDouble p1 = GetPointOnRayFromX(0); + wxPoint2DDouble p2 = ray.GetPointOnRayFromX(0); + // y = (-1/s1)*x+p1.m_y = s2*x + p2.m_y + wxDouble dx = (p1.m_y - p2.m_y)/(m_slope + (1.0/m_slope)); + wxDouble dy = (m_slope*dx+p2.m_y) - p1.m_y; + return sqrt(dx*dx + dy*dy); + } + + inline static wxDouble GetSlope(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { return (y2 - y1)/(x2 - x1); } + inline static wxDouble GetSlope(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { return (pt2.m_y-pt1.m_y)/(pt2.m_x-pt1.m_x); } + + // find the point where the two rays meet, return false if parallel + bool Intersect(const wxRay2DDouble& other, wxPoint2DDouble& pt) const + { + // (y1-y0)/(x1-x0)=m for both lines, equate y1's first + if (m_slope == other.m_slope) return false; + pt.m_x = (m_slope*m_x - other.m_slope*other.m_x + other.m_y - m_y)/(m_slope - other.m_slope); + pt.m_y = GetYFromX(pt.m_x); + return true; + } + + // Operators + + inline wxRay2DDouble operator=(const wxRay2DDouble& r) { m_x = r.m_x; m_y = r.m_y; m_slope = r.m_slope; return *this; } + inline bool operator==(const wxRay2DDouble& r) const { return (m_x == r.m_x)&&(m_y == r.m_y)&&(m_slope == r.m_slope); } + inline bool operator!=(const wxRay2DDouble& r) const { return !(*this == r); } + + inline wxRay2DDouble operator+(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x+rel_pos.m_x, m_y+rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator-(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x-rel_pos.m_x, m_y-rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator*(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x*rel_pos.m_x, m_y*rel_pos.m_y, m_slope); } + inline wxRay2DDouble operator/(const wxPoint2DDouble& rel_pos) const { return wxRay2DDouble(m_x/rel_pos.m_x, m_y/rel_pos.m_y, m_slope); } + + inline wxRay2DDouble& operator+=(const wxPoint2DDouble& rel_pos) { m_x += rel_pos.m_x; m_y += rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator-=(const wxPoint2DDouble& rel_pos) { m_x -= rel_pos.m_x; m_y -= rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator*=(const wxPoint2DDouble& rel_pos) { m_x *= rel_pos.m_x; m_y *= rel_pos.m_y; return *this; } + inline wxRay2DDouble& operator/=(const wxPoint2DDouble& rel_pos) { m_x /= rel_pos.m_x; m_y /= rel_pos.m_y; return *this; } + + inline wxRay2DDouble operator+(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope+rel_slope); } + inline wxRay2DDouble operator-(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope-rel_slope); } + inline wxRay2DDouble operator*(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope*rel_slope); } + inline wxRay2DDouble operator/(const wxDouble& rel_slope) const { return wxRay2DDouble(m_x, m_y, m_slope/rel_slope); } + + inline wxRay2DDouble& operator+=(const wxDouble& rel_slope) { m_slope += rel_slope; return *this; } + inline wxRay2DDouble& operator-=(const wxDouble& rel_slope) { m_slope -= rel_slope; return *this; } + inline wxRay2DDouble& operator*=(const wxDouble& rel_slope) { m_slope *= rel_slope; return *this; } + inline wxRay2DDouble& operator/=(const wxDouble& rel_slope) { m_slope /= rel_slope; return *this; } + + wxDouble m_slope; +}; + +//----------------------------------------------------------------------------- +// wxLine2DInt uses point slope line format +// +// y = mx+b, m=(x-x0)/(y-y0) +//----------------------------------------------------------------------------- +/* +class WXDLLIMPEXP_THINGS wxLine2DInt : wxRect2DInt +{ +public : + + inline wxLine2DInt(wxInt32 x1=0, wxInt32 y1=0, wxInt32 x2=0, wxInt32 y2=0) + { m_x = x1; m_y = y1; m_width = x2 - x1; m_height = y2 - y1; } + inline wxLine2DInt(const wxPoint2DInt &pt1, const wxPoint2DInt &pt2) + { m_x = pt1.m_x; m_y = pt1.m_y; m_width = pt2.m_x - pt1.m_x; m_height = pt2.m_y - pt1.m_y; } + inline wxLine2DInt(const wxLine2DInt &line) + { m_x = line.m_x; m_y = line.m_y; m_width = line.m_width; m_height = line.m_height; } + + inline wxInt32 GetX1() const { return m_x; } + inline wxInt32 GetY1() const { return m_y; } + inline wxInt32 GetX2() const { return m_x + m_width; } + inline wxInt32 GetY2() const { return m_y + m_height; } + inline wxPoint2DInt Get1Point() const { return GetTopLeft(); } + inline wxPoint2DInt Get2Point() const { return GetBottomRight(); } + inline wxDouble GetSlope() const { return wxDouble(m_height)/wxDouble(m_width); } + + inline void SetX1(wxInt32 x) { m_x = x; } + inline void SetY1(wxInt32 y) { m_y = y; } + inline void SetX2(wxInt32 x) { m_width = m_x - x; } + inline void SetY2(wxInt32 y) { m_height = m_y - y; } + inline void SetPoint1(const wxPoint2DInt &pt ) { SetTopLeft(pt); } + inline void SetPoint2(const wxPoint2DInt &pt ) { SetBottomRight(pt); } + + inline wxDouble GetYFromX(wxDouble x) const {return (wxDouble(m_height)/m_width)*(x-m_x) + m_y;} + inline wxDouble GetXFromY(wxDouble y) const {return (y-m_y)*(wxDouble(m_height)/m_width) + m_x;} + + // Get a point along the line at pos x or y + inline wxPoint2DInt GetPointOnLineFromX(wxInt32 x) const + { return wxPoint2DInt(x, GetYFromX(x)); } + inline wxPoint2DInt GetPointOnLineFromY(wxInt32 y) const + { return wxPoint2DInt(GetXFromY(y), y); } + + // Translate the point m_pt along the line to pos x or y + inline void TranslatePointByX(wxDouble x) + { m_pt.m_y = GetYFromX(x); m_pt.m_x = x; } + inline void TranslatePointByY(wxDouble y) + { m_pt.m_x = GetXFromY(y); m_pt.m_y = y; } + inline wxLine2DInt GetTranslatedLineByX(wxDouble x) + { return wxLine2DInt(x, GetYFromX(x), m_slope); } + inline wxLine2DInt GetTranslatedLineByY(wxDouble y) + { return wxLine2DInt(GetXFromY(y), y, m_slope); } + + inline wxDouble GetDistanceToPoint(const wxPoint2DDouble &pt, wxPoint2DDouble *closestPt=NULL) const + { + wxPoint2DDouble l1(m_pt); + wxPoint2DDouble l2(GetPointOnLineFromX(m_pt.m_x+pt.m_x)); + wxPoint2DDouble v = l2 - l1; + wxPoint2DDouble w = pt - l1; + double c1 = w.GetDotProduct(v); + double c2 = v.GetDotProduct(v); + double b = c1 / c2; + wxPoint2DDouble pb = l1 + b*v; + if (closestPt) *closestPt = pb; + return pb.GetDistance( pt ); + + } + + + inline static wxDouble GetSlope(wxDouble x1, wxDouble y1, wxDouble x2, wxDouble y2) + { return (y2 - y1)/(x2 - x1); } + inline static wxDouble GetSlope(const wxPoint2DDouble &pt1, const wxPoint2DDouble &pt2) + { return (pt2.m_y-pt1.m_y)/(pt2.m_x-pt1.m_x); } + + + // Default copy operator is ok + + wxPoint2DDouble m_pt; + wxDouble m_slope; +}; +*/ + +//----------------------------------------------------------------------------- +// wxCircleDouble m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCircleDouble : public wxPoint2DDouble +{ +public : + + inline wxCircleDouble(const wxCircleDouble &circle) + { m_x = circle.m_x; m_y = circle.m_y; m_r = circle.m_r; } + + inline wxCircleDouble(wxDouble x=0, wxDouble y=0, wxDouble r=0) + { m_x = x; m_y = y; m_r = r; } + + inline wxCircleDouble(const wxPoint2DDouble &origin, wxDouble r) + { m_x = origin.m_x; m_y = origin.m_y; m_r = r; } + + inline wxCircleDouble(const wxPoint2DDouble &p1, + const wxPoint2DDouble &p2, + const wxPoint2DDouble &p3); + + inline bool IsEmpty() const { return m_r <= 0; } + + inline wxDouble GetX() const { return m_x; } + inline wxDouble GetY() const { return m_y; } + inline wxPoint2DDouble GetOrigin() const { return wxPoint2DDouble(m_x, m_y); } + inline wxDouble GetRadius() const { return m_r; } + + // Get a bounding rect + inline wxRect2DDouble GetRect() const + { return wxRect2DDouble(m_x-m_r, m_y-m_r, 2.0*m_r, 2.0*m_r); } + + inline void SetX(wxDouble x) { m_x = x; } + inline void SetY(wxDouble y) { m_y = y; } + inline void SetOrigin(const wxPoint2DDouble &origin) { m_x = origin.m_x; m_y = origin.m_y; } + inline void SetRadius(wxDouble r) { m_r = r; } + + inline bool GetPointInCircle(wxDouble x, wxDouble y) const + { if (IsEmpty()) return false; + return ((x-m_x)*(x-m_x) + (y-m_y)*(y-m_y) <= m_r*m_r); } + + inline bool GetPointInCircle(const wxPoint2DDouble &pt) const + { return GetPointInCircle(pt.m_x, pt.m_y); } + + inline bool Intersects(const wxCircleDouble &circle) const + { return GetDistance(circle) <= m_r + circle.m_r; } + + int IntersectLine( const wxRay2DDouble &line, + wxPoint2DDouble *pt1=NULL, + wxPoint2DDouble *pt2=NULL ) const; + + // Operators + + inline wxCircleDouble operator=(const wxCircleDouble& c) { m_x = c.m_x; m_y = c.m_y; m_r = c.m_r; return *this; } + inline bool operator==(const wxCircleDouble& c) const { return (m_x == c.m_x)&&(m_y == c.m_y)&&(m_r == c.m_r); } + inline bool operator!=(const wxCircleDouble& c) const { return !(*this == c); } + + inline wxCircleDouble operator+(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x+rel_origin.m_x, m_y+rel_origin.m_y, m_r); } + inline wxCircleDouble operator-(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x-rel_origin.m_x, m_y-rel_origin.m_y, m_r); } + inline wxCircleDouble operator*(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x*rel_origin.m_x, m_y*rel_origin.m_y, m_r); } + inline wxCircleDouble operator/(const wxPoint2DDouble& rel_origin) const { return wxCircleDouble(m_x/rel_origin.m_x, m_y/rel_origin.m_y, m_r); } + + inline wxCircleDouble& operator+=(const wxPoint2DDouble& rel_origin) { m_x += rel_origin.m_x; m_y += rel_origin.m_y; return *this; } + inline wxCircleDouble& operator-=(const wxPoint2DDouble& rel_origin) { m_x -= rel_origin.m_x; m_y -= rel_origin.m_y; return *this; } + inline wxCircleDouble& operator*=(const wxPoint2DDouble& rel_origin) { m_x *= rel_origin.m_x; m_y *= rel_origin.m_y; return *this; } + inline wxCircleDouble& operator/=(const wxPoint2DDouble& rel_origin) { m_x /= rel_origin.m_x; m_y /= rel_origin.m_y; return *this; } + + inline wxCircleDouble operator+(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r+rel_radius); } + inline wxCircleDouble operator-(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r-rel_radius); } + inline wxCircleDouble operator*(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r*rel_radius); } + inline wxCircleDouble operator/(const wxDouble& rel_radius) const { return wxCircleDouble(m_x, m_y, m_r/rel_radius); } + + inline wxCircleDouble& operator+=(const wxDouble& rel_radius) { m_r += rel_radius; return *this; } + inline wxCircleDouble& operator-=(const wxDouble& rel_radius) { m_r -= rel_radius; return *this; } + inline wxCircleDouble& operator*=(const wxDouble& rel_radius) { m_r *= rel_radius; return *this; } + inline wxCircleDouble& operator/=(const wxDouble& rel_radius) { m_r /= rel_radius; return *this; } + + wxDouble m_r; +}; + +//----------------------------------------------------------------------------- +// wxCircleInt m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCircleInt : public wxPoint2DInt +{ +public : + + inline wxCircleInt(wxInt32 x=0, wxInt32 y=0, wxInt32 r=0) + { m_x = x; m_y = y; m_r = r; } + inline wxCircleInt(const wxPoint2DInt &origin, wxInt32 r) + { m_x = origin.m_x; m_y = origin.m_y; m_r = r; } + inline wxCircleInt(const wxCircleInt &circle) + { m_x = circle.m_x; m_y = circle.m_y; m_r = circle.m_r; } + + inline bool IsEmpty() const { return m_r <= 0; } + + inline wxInt32 GetX() const { return m_x; } + inline wxInt32 GetY() const { return m_y; } + inline wxPoint2DInt GetOrigin() const { return wxPoint2DInt(m_x, m_y); } + inline wxInt32 GetRadius() const { return m_r; } + + // Get a bounding rect + inline wxRect2DInt GetRect() const + { return wxRect2DInt(m_x-m_r, m_y-m_r, 2*m_r, 2*m_r); } + + inline void SetX(wxInt32 x) { m_x = x; } + inline void SetY(wxInt32 y) { m_y = y; } + inline void SetOrigin(const wxPoint2DInt &origin) { m_x = origin.m_x; m_y = origin.m_y; } + inline void SetRadius(wxInt32 r) { m_r = r; } + + inline bool GetPointInCircle(wxInt32 x, wxInt32 y) const + { if (IsEmpty()) return false; + return ((x-m_x)*(x-m_x) + (y-m_y)*(y-m_y) <= m_r*m_r); } + + inline bool GetPointInCircle(const wxPoint2DInt &pt) const + { return GetPointInCircle(pt.m_x, pt.m_y); } + + inline bool Intersects(const wxCircleInt &circle) const + { return GetDistance(circle) <= m_r + circle.m_r; } + +// int IntersectLine( const wxRay2DDouble &line, +// wxPoint2DInt *pt1=NULL, +// wxPoint2DInt *pt2=NULL ) const; + + // Operators + + inline wxCircleInt operator=(const wxCircleInt& c) { m_x = c.m_x; m_y = c.m_y; m_r = c.m_r; return *this; } + inline bool operator==(const wxCircleInt& c) const { return (m_x == c.m_x)&&(m_y == c.m_y)&&(m_r == c.m_r); } + inline bool operator!=(const wxCircleInt& c) const { return !(*this == c); } + + inline wxCircleInt operator+(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x+rel_origin.m_x, m_y+rel_origin.m_y, m_r); } + inline wxCircleInt operator-(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x-rel_origin.m_x, m_y-rel_origin.m_y, m_r); } + inline wxCircleInt operator*(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x*rel_origin.m_x, m_y*rel_origin.m_y, m_r); } + inline wxCircleInt operator/(const wxPoint2DInt& rel_origin) const { return wxCircleInt(m_x/rel_origin.m_x, m_y/rel_origin.m_y, m_r); } + + inline wxCircleInt& operator+=(const wxPoint2DInt& rel_origin) { m_x += rel_origin.m_x; m_y += rel_origin.m_y; return *this; } + inline wxCircleInt& operator-=(const wxPoint2DInt& rel_origin) { m_x -= rel_origin.m_x; m_y -= rel_origin.m_y; return *this; } + inline wxCircleInt& operator*=(const wxPoint2DInt& rel_origin) { m_x *= rel_origin.m_x; m_y *= rel_origin.m_y; return *this; } + inline wxCircleInt& operator/=(const wxPoint2DInt& rel_origin) { m_x /= rel_origin.m_x; m_y /= rel_origin.m_y; return *this; } + + inline wxCircleInt operator+(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r+rel_radius); } + inline wxCircleInt operator-(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r-rel_radius); } + inline wxCircleInt operator*(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r*rel_radius); } + inline wxCircleInt operator/(const wxInt32& rel_radius) const { return wxCircleInt(m_x, m_y, m_r/rel_radius); } + + inline wxCircleInt& operator+=(const wxInt32& rel_radius) { m_r += rel_radius; return *this; } + inline wxCircleInt& operator-=(const wxInt32& rel_radius) { m_r -= rel_radius; return *this; } + inline wxCircleInt& operator*=(const wxInt32& rel_radius) { m_r *= rel_radius; return *this; } + inline wxCircleInt& operator/=(const wxInt32& rel_radius) { m_r /= rel_radius; return *this; } + + wxInt32 m_r; +}; + +//----------------------------------------------------------------------------- +// wxEllipseInt m_r*m_r = (x-m_origin.m_x)^2 + (y-m_origin.m_y)^2 +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxEllipseInt +{ +public : + + inline wxEllipseInt(wxInt32 x=0, wxInt32 y=0, wxInt32 r_x=0, wxInt32 r_y=0) + { m_origin.m_x=x; m_origin.m_y=y; m_radius.m_x=r_x; m_radius.m_y=r_y; } + inline wxEllipseInt(const wxPoint2DInt &origin, const wxPoint2DInt radius) + { m_origin = origin; m_radius = radius; } + inline wxEllipseInt(const wxEllipseInt &ellipse) + { m_origin = ellipse.m_origin; m_radius = ellipse.m_radius; } + + inline bool IsEmpty() const { return m_radius.m_x<=0 || m_radius.m_y<=0; } + + inline wxInt32 GetX() const { return m_origin.m_x; } + inline wxInt32 GetY() const { return m_origin.m_y; } + inline wxPoint2DInt GetOrigin() const { return m_origin; } + inline wxInt32 GetXRadius() const { return m_radius.m_x; } + inline wxInt32 GetYRadius() const { return m_radius.m_y; } + inline wxPoint2DInt GetRadius() const { return m_radius; } + + // Get a bounding rect + inline wxRect2DInt GetRect() const + { return wxRect2DInt(m_origin.m_x-m_radius.m_x, + m_origin.m_y-m_radius.m_y, + 2*m_radius.m_x, 2*m_radius.m_y); } + + inline void SetX(wxInt32 x) { m_origin.m_x = x; } + inline void SetY(wxInt32 y) { m_origin.m_y = y; } + inline void SetOrigin(const wxPoint2DInt &origin) { m_origin = origin; } + inline void SetXRadius(wxInt32 r_x) { m_radius.m_x = r_x; } + inline void SetYRadius(wxInt32 r_y) { m_radius.m_y = r_y; } + inline void SetRadius(const wxPoint2DInt &radius) { m_radius = radius; } + + inline bool GetPointInEllipse(wxInt32 x, wxInt32 y) const + { if (IsEmpty()) return false; + return (((x-m_origin.m_x)*(x-m_origin.m_x))/m_radius.m_x + + ((y-m_origin.m_y)*(y-m_origin.m_y))/m_radius.m_y <= 1); } + + inline bool GetPointInEllipse(const wxPoint2DInt &pt) const + { return GetPointInEllipse(pt.m_x, pt.m_y); } + +// int IntersectLine( const wxRay2DDouble &line, +// wxPoint2DInt *pt1=NULL, +// wxPoint2DInt *pt2=NULL ) const; + + + inline bool operator==(const wxEllipseInt& c) const { return (m_origin == c.m_origin)&&(m_radius == c.m_radius); } + inline bool operator!=(const wxEllipseInt& c) const { return !(*this == c); } + + inline wxEllipseInt operator+(const wxPoint2DInt& rel_origin) const { return wxEllipseInt(m_origin+rel_origin, m_radius); } + inline wxEllipseInt& operator+=(const wxPoint2DInt& rel_origin) { m_origin += rel_origin; return *this; } + inline wxEllipseInt operator-(const wxPoint2DInt& rel_origin) const { return wxEllipseInt(m_origin-rel_origin, m_radius); } + inline wxEllipseInt& operator-=(const wxPoint2DInt& rel_origin) { m_origin -= rel_origin; return *this; } + + wxPoint2DInt m_radius; + wxPoint2DInt m_origin; +}; + + +#endif // __WXIMAGER_GEOMETRY_H__ diff --git a/3rdparty/wxthings/include/wx/things/medsort.h b/3rdparty/wxthings/include/wx/things/medsort.h new file mode 100644 index 0000000..b33b514 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/medsort.h @@ -0,0 +1,446 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: medsort.h +// Purpose: Macros of generic public domain median sorting algorithms +// Author: John Labenski & mostly others +// Created: 07/01/02 +// Copyright: see macro headers, rewritten by John Labenski, 2002 +// License: Public Domain +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_MEDSORT_H__ +#define __WX_MEDSORT_H__ + +/* + Notes : + + code taken from http://ndevilla.free.fr/median/ + see the headers for each function taken from the files + see bottom for benchmark data + + Each of these functions are implemented as macros that can be used to either + DECLARE and DEFINE functions for the different element types required + or they can be used inline + + for example: + + in a header file declare the function with + DECLARE_WIRTHS_MEDIAN( wirths_median_int, int ) + and you'll get this code + int wirths_median_int( int *arr, int n, int &median ); + + in the c(pp) file define the function + DEFINE_WIRTHS_MEDIAN( wirths_median_int, int ) + and get + int withs_median_int( int *arr, int n, int &median ) + { the function itself } + + otherwise use the macro inline in some other function + IMPLEMENT_WIRTHS_MEDIAN(int, arr, n, &median) +*/ + + +/*--------------------------------------------------------------------------- + * This Quickselect routine is based on the algorithm described in + * "Numerical recipes in C", Second Edition, + * Cambridge University Press, 1992, Section 8.5, ISBN 0-521-43108-5 + * This code by Nicolas Devillard - 1998. Public domain. + ---------------------------------------------------------------------------- + + This does NOT fully sort the input array, but it does modify it + + QUICK_SELECT(elem_type, arr, n, median) + elem_type is a valid data type, int, long, unsigned char, float... + arr is an array delcared as elem_type *array and passed as array + n is the size of the array, ie. total element count + median contains the median value on exit + +---------------------------------------------------------------------------*/ + +#define DECLARE_QUICK_SELECT( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_QUICK_SELECT( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + IMPLEMENT_QUICK_SELECT( elem_type, arr, n, median ) + +#define IMPLEMENT_QUICK_SELECT(elem_type, arr, n, median) \ +{ \ + int low=0, high=n-1, half=(low+high)/2, middle, ll, hh; \ + \ + for (;;) { \ + if (high <= low) /* One element only */ \ + break; /*return arr[half] ; */ \ + \ + if (high == low + 1) { /* Two elements only */ \ + if (arr[low] > arr[high]) \ + { register elem_type t=arr[low];arr[low]=arr[high];arr[high]=t; } \ + break; /* return arr[half] ; */ \ + } \ + \ + /* Find median of low, middle and high items; swap into low */ \ + middle = (low + high) / 2; \ + if (arr[middle] > arr[high]) { register elem_type t=arr[middle];arr[middle]=arr[high];arr[high]=t; } \ + if (arr[low] > arr[high]) { register elem_type t=arr[low]; arr[low] =arr[high];arr[high]=t; } \ + if (arr[middle] > arr[low] ) { register elem_type t=arr[middle];arr[middle]=arr[low]; arr[low] =t; } \ + \ + /* Swap low item (now in position middle) into position (low+1) */ \ + { register elem_type t=arr[middle];arr[middle]=arr[low+1];arr[low+1]=t; } \ + \ + /* Nibble from ends towards middle, swapping items when stuck */ \ + ll = low + 1; \ + hh = high; \ + for (;;) { \ + do ll++; while (arr[low] > arr[ll] ); \ + do hh--; while (arr[hh] > arr[low]); \ + \ + if (hh < ll) break; \ + \ + { register elem_type t=arr[ll];arr[ll]=arr[hh];arr[hh]=t;} \ + } \ + \ + /* Swap middle item (in position low) back into correct position */ \ + { register elem_type t=arr[low];arr[low]=arr[hh];arr[hh]=t; } \ + \ + /* Re-set active partition */ \ + if (hh <= half) low = ll; \ + if (hh >= half) high = hh - 1; \ + } \ + median = arr[half]; \ +} + + +/*--------------------------------------------------------------------------- + Function : kth_smallest() + In : array of elements, # of elements in the array, rank k + Out : one element + Job : find the kth smallest element in the array + Notice : use the median() macro defined below to get the median. + + Reference: + + Author: Wirth, Niklaus + Title: Algorithms + data structures = programs + Publisher: Englewood Cliffs: Prentice-Hall, 1976 + Physical description: 366 p. + Series: Prentice-Hall Series in Automatic Computation + --------------------------------------------------------------------------- + + This does NOT fully sort the input array, but it does modify it + + WIRTHS_KTH_SMALLEST(elem_type, arr, n, k, ksmallest) + elem_type is a valid data type, int, long, unsigned char, float... + arr is an array delcared as elem_type *array and passed as array + n is the size of the array, ie. total element count + k is the kth smallest value of the array that you want to find + ksmallest contains the kth smallest value of arr on exit + + WIRTHS_MEDIAN(elem_type, arr, n, median) finds median value + Calls WIRTHS_KTH_SMALLEST with (k = n/2) fills median + +---------------------------------------------------------------------------*/ + +#define DECLARE_WIRTHS_MEDIAN( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_WIRTHS_MEDIAN( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + WIRTHS_MEDIAN( elem_type, arr, n, median ) + +#define IMPLEMENT_WIRTHS_MEDIAN(elem_type, arr, n, median) \ + IMPLEMENT_WIRTHS_KTH_SMALLEST(elem_type, arr, n, (((n)&1)?((n)/2):(((n)/2)-1)), median) + + +#define DECLARE_WIRTHS_KTH_SMALLEST( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ); + +#define DEFINE_WIRTHS_KTH_SMALLEST( name, elem_type ) \ + elem_type name( elem_type *arr, int n, elem_type &median ) \ + IMPLEMENT_WIRTHS_MEDIAN( elem_type, arr, n, median ) + +#define IMPLEMENT_WIRTHS_KTH_SMALLEST(elem_type, arr, n, k, ksmallest) \ +{ \ + register int i, j, l=0, m=n-1; \ + register elem_type x; \ + \ + while (lmax) max=arr[i]; \ + } \ + \ + while (1) { \ + guess = (min+max)/2; \ + less = 0; greater = 0; equal = 0; \ + maxltguess = min; \ + mingtguess = max; \ + for (i=0; imaxltguess) maxltguess = arr[i]; \ + } else if (arr[i]>guess) { \ + greater++; \ + if (arr[i]greater) max = maxltguess; \ + else min = mingtguess; \ + } \ + if (less >= (n+1)/2) median = maxltguess; \ + else if (less+equal >= (n+1)/2) median = guess; \ + else median = mingtguess; \ +} + +/*---------------------------------------------------------------------------- + Function : pixel_qsort() + In : pixel array, size of the array + Out : void + Job : sort out the array of pixels + Notice : optimized implementation, unreadable. +--------------------------------------------------------------------------- + + This fully sorts the input array by modifying it + + DECLARE_PIXEL_QSORT(name, elem_type) + +----------------------------------------------------------------------------*/ + +#define PIXEL_QSORT_STACK_SIZE 50 +#define PIXEL_QSORT_THRESHOLD 7 + +#define DECLARE_PIXEL_QSORT( name, elem_type ) \ + void name( elem_type *arr, int n ); + +#define DEFINE_PIXEL_QSORT( name, elem_type ) \ + void name( elem_type *arr, int n ) \ + IMPLEMENT_PIXEL_QSORT( name, elem_type ) + +#define IMPLEMENT_PIXEL_QSORT( elem_type, arr, n ) \ +{ \ + int i, ir=n, j, k, l=1, j_stack=0; \ + int *i_stack ; \ + elem_type a ; \ + \ + i_stack = (int*)malloc(PIXEL_QSORT_STACK_SIZE * sizeof(elem_type)); \ + for (;;) { \ + if (ir-l < PIXEL_QSORT_THRESHOLD) { \ + for (j=l+1 ; j<=ir ; j++) { \ + a = arr[j-1]; \ + for (i=j-1 ; i>=1 ; i--) { \ + if (arr[i-1] <= a) break; \ + arr[i] = arr[i-1]; \ + } \ + arr[i] = a; \ + } \ + if (j_stack == 0) break; \ + ir = i_stack[j_stack-- -1]; \ + l = i_stack[j_stack-- -1]; \ + } else { \ + k = (l+ir) >> 1; \ + { elem_type t=arr[k-1];arr[k-1]=arr[l];arr[l]=t; } \ + if (arr[l] > arr[ir-1]) { \ + { elem_type t=arr[l];arr[l]=arr[ir-1];arr[ir-1]=t; } \ + } \ + if (arr[l-1] > arr[ir-1]) { \ + { elem_type t=arr[l-1];arr[l-1]=arr[ir-1];arr[ir-1]=t; } \ + } \ + if (arr[l] > arr[l-1]) { \ + { elem_type t=arr[l];arr[l]=arr[l-1];arr[l-1]=t; } \ + } \ + i = l+1; j = ir; a = arr[l-1]; \ + for (;;) { \ + do i++; while (arr[i-1] < a); \ + do j--; while (arr[j-1] > a); \ + if (j < i) break; \ + { elem_type t=arr[i-1];arr[i-1]=arr[j-1];arr[j-1]=t; } \ + } \ + arr[l-1] = arr[j-1]; \ + arr[j-1] = a; \ + j_stack += 2; \ + wxASSERT(!(j_stack>PIXEL_QSORT_STACK_SIZE)); \ + /* if (j_stack > PIXEL_QSORT_STACK_SIZE) { */ \ + /* printf("stack too small in pixel_qsort: aborting"); */ \ + /* exit(-2001); } */ \ + if (ir-i+1 >= j-l) { \ + i_stack[j_stack-1] = ir; \ + i_stack[j_stack-2] = i; \ + ir = j-1; \ + } else { \ + i_stack[j_stack-1] = j-1; \ + i_stack[j_stack-2] = l; \ + l = i; \ + } \ + } \ + } \ + free(i_stack); \ +} + + +/*------------------------------------------------------------------------- + Function : pixel_qsort2() + In : two pixel arrays, size of the arrays + Out : void + Job : sort out both arrays based on the first array + Notice : optimized implementation, unreadable. +--------------------------------------------------------------------------- + + This fully sorts the input arrays by modifying them + Uses the first array as the comparison array + + DECLARE_PIXEL_QSORT2(name, elem_type) + +----------------------------------------------------------------------------*/ + +#define PIXEL_QSORT2_STACK_SIZE 50 +#define PIXEL_QSORT2_THRESHOLD 7 + +#define DECLARE_PIXEL_QSORT2( name, elem_type ) \ + void name( elem_type *arr, elem_type *arr2, int n ); + +#define DEFINE_PIXEL_QSORT2( name, elem_type ) \ + void name( elem_type *arr, elem_type *arr2, int n ) \ + IMPLEMENT_PIXEL_QSORT2( name, elem_type ) + +#define IMPLEMENT_PIXEL_QSORT2( elem_type, arr, arr2, n ) \ +{ \ + int i, ir=n, j, k, l=1, j_stack=0; \ + int *i_stack ; \ + elem_type a, a2 ; \ + \ + i_stack = (int*)malloc(PIXEL_QSORT2_STACK_SIZE * sizeof(elem_type)); \ + for (;;) { \ + if (ir-l < PIXEL_QSORT2_THRESHOLD) { \ + for (j=l+1 ; j<=ir ; j++) { \ + a = arr[j-1]; a2 = arr2[j-1]; \ + for (i=j-1 ; i>=1 ; i--) { \ + if (arr[i-1] <= a) break; \ + arr[i] = arr[i-1]; \ + arr2[i] = arr2[i-1]; \ + } \ + arr[i] = a; arr2[i] = a2; \ + } \ + if (j_stack == 0) break; \ + ir = i_stack[j_stack-- -1]; \ + l = i_stack[j_stack-- -1]; \ + } else { \ + k = (l+ir) >> 1; \ + { elem_type t=arr[k-1];arr[k-1]=arr[l];arr[l]=t; t=arr2[k-1];arr2[k-1]=arr2[l];arr2[l]=t; } \ + if (arr[l] > arr[ir-1]) { \ + { elem_type t=arr[l];arr[l]=arr[ir-1];arr[ir-1]=t; t=arr2[l];arr2[l]=arr2[ir-1];arr2[ir-1]=t;} \ + } \ + if (arr[l-1] > arr[ir-1]) { \ + { elem_type t=arr[l-1];arr[l-1]=arr[ir-1];arr[ir-1]=t; t=arr2[l-1];arr2[l-1]=arr2[ir-1];arr2[ir-1]=t;} \ + } \ + if (arr[l] > arr[l-1]) { \ + { elem_type t=arr[l];arr[l]=arr[l-1];arr[l-1]=t; t=arr2[l];arr2[l]=arr2[l-1];arr2[l-1]=t; } \ + } \ + i = l+1; j = ir; a = arr[l-1]; a2 = arr2[l-1]; \ + for (;;) { \ + do i++; while (arr[i-1] < a); \ + do j--; while (arr[j-1] > a); \ + if (j < i) break; \ + { elem_type t=arr[i-1];arr[i-1]=arr[j-1];arr[j-1]=t; t=arr2[i-1];arr2[i-1]=arr2[j-1];arr2[j-1]=t;} \ + } \ + arr[l-1] = arr[j-1]; arr2[l-1] = arr2[j-1]; \ + arr[j-1] = a; arr2[j-1] = a2; \ + j_stack += 2; \ + wxASSERT(!(j_stack>PIXEL_QSORT_STACK_SIZE)); \ + /* if (j_stack > PIXEL_QSORT_STACK_SIZE) { */ \ + /* printf("stack too small in pixel_qsort: aborting"); */ \ + /* exit(-2001); } */ \ + if (ir-i+1 >= j-l) { \ + i_stack[j_stack-1] = ir; \ + i_stack[j_stack-2] = i; \ + ir = j-1; \ + } else { \ + i_stack[j_stack-1] = j-1; \ + i_stack[j_stack-2] = l; \ + l = i; \ + } \ + } \ + } \ + free(i_stack); \ +} + + + +/* +Abbreviated benchmark data from +http://ndevilla.free.fr/median/median/node13.html + +(QuickSelect, Wirth, Aho/Hopcroft/Ullman, Torben, pixel quicksort) +Pentium II 400 MHz running Linux 2.0 with glibc-2.0.7. + +The basic method using the libc qsort() function has not been represented here, +because it is so slow compared to the others that it would make the plot unreadable. +Furthermore, it depends on the local implementation of your C library. + +Ratios have been obtained for sets with increasing number of values, +from 1e4 to 1e6. The speed ratios have been computed to the fastest method +on average (QuickSelect), then averaged over all measure points. + +QuickSelect : 1.00 +WIRTH median : 1.33 +AHU median : 3.71 +Torben : 8.95 +fast pixel sort : 6.50 + + Elm Qselect Wirth AHU Torben pqsort +10000 0.000 0.000 0.010 0.010 0.010 +100000 0.010 0.020 0.050 0.140 0.100 +200000 0.040 0.040 0.180 0.310 0.220 +300000 0.070 0.060 0.190 0.470 0.340 +400000 0.080 0.140 0.150 0.630 0.450 +500000 0.110 0.080 0.510 0.800 0.580 +600000 0.090 0.140 0.320 0.940 0.730 +700000 0.120 0.100 0.450 1.100 0.810 +800000 0.120 0.160 0.590 1.270 0.940 +900000 0.180 0.250 0.760 1.430 1.070 +1000000 0.210 0.290 0.600 1.580 1.240 +*/ + +#endif //__WX_MEDSORT_H__ diff --git a/3rdparty/wxthings/include/wx/things/menubtn.h b/3rdparty/wxthings/include/wx/things/menubtn.h new file mode 100644 index 0000000..bb86873 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/menubtn.h @@ -0,0 +1,193 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxMenuButton +// Purpose: A button with a dropdown wxMenu +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +/* + +wxMenuButton is a button that drops down an assigned wxMenu + +Create the button with either a text or bitmap label. + Create a new wxMenu and call AssignMenu and thats it. When you press the + dropdown button the menu appears. When you press the label button the next + wxITEM_RADIO (ie wxMenuItem::GetKind) in the menu is selected round robin. + If there are no radio items then it really just acts like a menubar, though + this is probably not too useful. The events sent in this case are EVT_MENUs + either generated by the menu when you click on it or created when you click + on the label to select the next radio item. +*/ + +#ifndef _WX_MENUBTN_H_ +#define _WX_MENUBTN_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "menubtn.h" +#endif + +#include "wx/things/thingdef.h" +#include "wx/things/toggle.h" + +class WXDLLEXPORT wxMenu; +class WXDLLEXPORT wxBitmap; +class WXDLLIMPEXP_THINGS wxCustomButton; + +//----------------------------------------------------------------------------- +// wxMenuButton styles +//----------------------------------------------------------------------------- + +#define wxMENUBUTTON_DROP_WIDTH 10 +#define wxMENUBUTTON_DROP_HEIGHT 22 + +enum wxMenuButton_Styles +{ + wxMENUBUT_FLAT = wxCUSTBUT_FLAT +}; + +//----------------------------------------------------------------------------- +// wxMenuButton +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxMenuButton : public wxControl +{ +public: + + wxMenuButton() : wxControl() { Init(); } + + // Use this constructor if you need one compatible with a wxButton + // setup the button later with AssignMenu + wxMenuButton( wxWindow* parent, + wxWindowID id, + const wxString &label, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxMenuButton")) + : wxControl() + { + Init(); + Create(parent,id,label,wxNullBitmap,pos,size,style,val,name); + } + + // Use this constructor if you need one compatible with a wxBitmapButton + // setup the button later with AssignMenu + wxMenuButton( wxWindow* parent, wxWindowID id, + const wxBitmap &bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxMenuButton")) + : wxControl() + { + Init(); + Create(parent,id,wxEmptyString,bitmap,pos,size,style,val,name); + } + + // wxComboBox constructor, completely setup later + wxMenuButton( wxWindow *parent, wxWindowID id, + const wxString& value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + int n = 0, const wxString choices[] = (const wxString *) NULL, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxMenuButton")) + : wxControl() + { + n = n; choices = choices; // get rid of unused warning + Init(); + Create(parent, id, value, wxNullBitmap, pos, size, style, val, name); + } + + // Native constructor + wxMenuButton( wxWindow* parent, wxWindowID id, + const wxString &label, const wxBitmap &bitmap, + wxMenu *menu, bool static_menu = false, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxMenuButton")) + : wxControl() + { + Init(); + AssignMenu(menu, static_menu); + Create(parent,id,label,bitmap,pos,size,style,val,name); + } + + virtual ~wxMenuButton(); + + bool Create( wxWindow* parent, + wxWindowID id, + const wxString &label, + const wxBitmap &bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxNO_BORDER, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxMenuButton")); + + // Gets the id of the first selected radio item or wxNOT_FOUND (-1) if none + int GetSelection() const; + + // This menu will be displayed when the dropdown button is pressed. + // if static_menu is false it will be deleted when the buttton is destroyed. + void AssignMenu(wxMenu *menu, bool static_menu = false); + + wxMenu *GetMenu() const { return m_menu; } + + // get a pointer to the label button, for turning it into a toggle perhaps + wxCustomButton *GetLabelButton() const { return m_labelButton; } + wxCustomButton *GetDropDownButton() const { return m_dropdownButton; } + + void SetToolTip(const wxString &tip); + void SetToolTip(wxToolTip *tip); + +protected: + void OnButton(wxCommandEvent &event); + + virtual void DoSetSize(int x, int y, int width, int height, + int sizeFlags = wxSIZE_AUTO); + + virtual wxSize DoGetBestSize(); + +// FIXME! - in MSW the radio items don't check themselves +#ifdef __WXMSW__ + void OnMenu( wxCommandEvent &event ); +#endif + + + wxCustomButton *m_labelButton; + wxCustomButton *m_dropdownButton; + + wxMenu *m_menu; + bool m_menu_static; + long m_style; + +private: + void Init(); + DECLARE_DYNAMIC_CLASS(wxMenuButton) + DECLARE_EVENT_TABLE() +}; + +//----------------------------------------------------------------------------- +// wxMenuButtonEvents +// +// EVT_MENUBUTTON_OPEN(id, fn) - menu is about to be opened, (dis)(en)able items +// or call Veto() to stop menu from popping up +// this is a wxNotifyEvent +//----------------------------------------------------------------------------- + +BEGIN_DECLARE_EVENT_TYPES() + DECLARE_EXPORTED_EVENT_TYPE(WXDLLIMPEXP_THINGS, wxEVT_MENUBUTTON_OPEN, 0) +END_DECLARE_EVENT_TYPES() + +#define EVT_MENUBUTTON_OPEN(id, fn) DECLARE_EVENT_TABLE_ENTRY(wxEVT_MENUBUTTON_OPEN, id, wxID_ANY, (wxObjectEventFunction) (wxEventFunction) (wxCommandEventFunction) (wxNotifyEventFunction) & fn, (wxObject *) NULL ), + +#endif // _WX_MENUBTN_H_ diff --git a/3rdparty/wxthings/include/wx/things/optvalue.h b/3rdparty/wxthings/include/wx/things/optvalue.h new file mode 100644 index 0000000..b8c6a4d --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/optvalue.h @@ -0,0 +1,175 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: optvalue.h +// Purpose: An string option & value pair class +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WXOPTIONVALUE_H__ +#define __WXOPTIONVALUE_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "optvalue.h" +#endif + +#include "wx/things/thingdef.h" +class WXDLLIMPEXP_THINGS wxOptionValue; + +#include "wx/dynarray.h" +WX_DECLARE_OBJARRAY_WITH_DECL(wxOptionValue, wxArrayOptionValue, class WXDLLIMPEXP_THINGS); + +//---------------------------------------------------------------------------- +// Global wxString utilities +//---------------------------------------------------------------------------- + +//extern wxArrayString wxStringToWords( const wxString &string ); + +//---------------------------------------------------------------------------- +// wxOptionValue - a ref counted wxString key, wxString value container +//---------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxOptionValue : public wxObject +{ +public: + wxOptionValue(bool create = true) : wxObject() { if (create) Create(); } + wxOptionValue( const wxOptionValue &optValue ) : wxObject() { Create(optValue); } + wxOptionValue( const wxString &str ) : wxObject() { Create(str); } + + // (Re)Create as an empty container + bool Create(); + // Ref the other wxOptionValue + bool Create( const wxOptionValue &optValue ); + // Create from a string with this structure + // [type] # optional + // key = value + bool Create( const wxString &string ); + + // Make a true copy of the source wxOptionValue (not refed) + bool Copy( const wxOptionValue &source ); + + // Is there any ref data + bool Ok() const; + // Unref the data + void Destroy(); + + //------------------------------------------------------------------------- + + // Get/Set the "type", which can mean whatever you want + wxString GetType() const; + void SetType( const wxString &type ); + + //------------------------------------------------------------------------- + + // does this have a wxOptionValueArray filled with children + size_t GetChildrenCount() const; + wxArrayOptionValue *GetChildren() const; + + bool AddChild( const wxOptionValue& child ); + void DeleteChildren(); + + //------------------------------------------------------------------------- + + // Get the number of different option name/value combinations + size_t GetOptionCount() const; + // Access the arrays themselves + wxArrayString GetOptionNames() const; + wxArrayString GetOptionValues() const; + // Get a specific option name or value + wxString GetOptionName( size_t n ) const; + wxString GetOptionValue( size_t n ) const; + + // returns the index of the option >= 0 or -1 (wxNOT_FOUND) if not found + int HasOption(const wxString &name) const; + // Search through the option names for this part returning the first match + int FindOption(const wxString &part_of_option_name) const; + // delete this option, returns sucess + bool DeleteOption(const wxString &name); + bool DeleteOption( size_t n ); + + // Option functions (arbitrary name/value mapping) + void SetOption(const wxString& name, const wxString& value, bool force=true ); + void SetOption(const wxString& name, int value, bool force=true ) { SetOption(name, wxString::Format(wxT("%d"), value), force); } + void SetOption(const wxString& name, double value, bool force=true ) { SetOption(name, wxString::Format(wxT("%lf"), value), force); } + + // printf style for numeric values SetOption("Name", true, "%d %f", 2, 2.5) + void SetOption(const wxString& name, bool update, const wxChar* format, ...); + + void SetOption(const wxString& name, int v1, int v2, int v3, bool force=true ) { SetOption(name, wxString::Format(wxT("%d %d %d"), v1, v2, v3), force); } + void SetOption(const wxString& name, double v1, double v2, double v3, bool force=true ) { SetOption(name, wxString::Format(wxT("%lf %lf %lf"), v1, v2, v3), force); } + void SetOption(const wxString& name, int *v, int count, bool force=true ) { if(v) { wxString s; for (int i=0; i m_max; } + + // Swap the min and max values + inline void SwapMinMax() { register int temp=m_min; m_min=m_max; m_max=temp; } + + // returns -1 for i < min, 0 for in range, +1 for i > m_max + inline int Position(int i) const { return i < m_min ? -1 : (i > m_max ? 1 : 0); } + + // Is this point or the range within this range + inline bool Contains( int i ) const { return (i >= m_min) && (i <= m_max); } + inline bool Contains( const wxRangeInt &r ) const + { return (r.m_min >= m_min) && (r.m_max <= m_max); } + + // returns if the range intersects the given range + inline bool Intersects(const wxRangeInt& r) const + { return Intersect(r).IsEmpty(); } + // returns the intersection of the range with the other + inline wxRangeInt Intersect(const wxRangeInt& r) const + { return wxRangeInt(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); } + // returns the union of the range with the other + inline wxRangeInt Union(const wxRangeInt& r) const + { return wxRangeInt(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); } + + // Is this point inside or touches +/- 1 of the range + inline bool Touches( int i ) const + { return !IsEmpty() && wxRangeInt(m_min-1, m_max+1).Contains(i); } + // Is the range adjoining this range + inline bool Touches( const wxRangeInt &r ) const + { if (IsEmpty() || r.IsEmpty()) return false; + wxRangeInt rExp(m_min-1, m_max+1); + return rExp.Contains(r.m_min) || rExp.Contains(r.m_max); } + // combine this single point with the range by expanding the m_min/m_max to contain it + // if only_if_touching then only combine if i is just outside the range by +/-1 + // returns true if the range has been changed at all, false if not + bool Combine(int i, bool only_if_touching = false); + bool Combine(const wxRangeInt &r, bool only_if_touching = false); + + // delete range r from this, return true is anything was done + // if r spans this then this and right become wxEmptyRangeInt + // else if r is inside of this then this is the left side and right is the right + // else if r.m_min > m_min then this is the left side + // else if r.m_min < m_min this is the right side + bool Delete( const wxRangeInt &r, wxRangeInt *right=NULL ); + + // operators + // no copy ctor or assignment operator - the defaults are ok + + // comparison + inline bool operator==(const wxRangeInt& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); } + inline bool operator!=(const wxRangeInt& r) const { return !(*this == r); } + + // Adding ranges unions them to create the largest range + inline wxRangeInt operator+(const wxRangeInt& r) const { return Union(r); } + inline wxRangeInt& operator+=(const wxRangeInt& r) { if(r.m_minm_max) m_max=r.m_max; return *this; } + // Subtracting ranges intersects them to get the smallest range + inline wxRangeInt operator-(const wxRangeInt& r) const { return Intersect(r); } + inline wxRangeInt& operator-=(const wxRangeInt& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max m_max; } + + // Swap the min and max values + inline void SwapMinMax() { register wxDouble temp = m_min; m_min = m_max; m_max = temp; } + + // returns -1 for i < min, 0 for in range, +1 for i > m_max + inline int Position(wxDouble i) const { return i < m_min ? -1 : i > m_max ? 1 : 0; } + + // Is this point or the range within this range + inline bool Contains( wxDouble i ) const { return (i>=m_min)&&(i<=m_max); } + inline bool Contains( const wxRangeDouble &r ) const + { return (r.m_min>=m_min)&&(r.m_max<=m_max); } + + // returns if the range intersects the given range + inline bool Intersects(const wxRangeDouble& r) const + { return Intersect(r).IsEmpty(); } + // returns the intersection of the range with the other + inline wxRangeDouble Intersect(const wxRangeDouble& r) const + { return wxRangeDouble(wxMax(m_min, r.m_min), wxMin(m_max, r.m_max)); } + // returns the union of the range with the other + inline wxRangeDouble Union(const wxRangeDouble& r) const + { return wxRangeDouble(wxMin(m_min, r.m_min), wxMax(m_max, r.m_max)); } + + // no touches for double since what would be a good eps value? + + // combine this single point with the range by expanding the m_min/m_max to contain it + // if only_if_touching then only combine if there is overlap + // returns true if the range has been changed at all, false if not + bool Combine(wxDouble i); + bool Combine( const wxRangeDouble &r, bool only_if_touching = false ); + + // delete range r from this, return true is anything was done + // if r spans this then this and right become wxEmptyRangeInt + // else if r is inside of this then this is the left side and right is the right + // else if r.m_min > m_min then this is the left side + // else if r.m_min < m_min this is the right side + bool Delete( const wxRangeDouble &r, wxRangeDouble *right=NULL ); + + // operators + // no copy ctor or assignment operator - the defaults are ok + + // comparison + inline bool operator==(const wxRangeDouble& r) const { return (m_min == r.m_min)&&(m_max == r.m_max); } + inline bool operator!=(const wxRangeDouble& r) const { return !(*this == r); } + + // Adding ranges unions them to create the largest range + inline wxRangeDouble operator+(const wxRangeDouble& r) const { return Union(r); } + inline wxRangeDouble& operator+=(const wxRangeDouble& r) { if(r.m_minm_max) m_max=r.m_max; return *this; } + // Subtracting ranges intersects them to get the smallest range + inline wxRangeDouble operator-(const wxRangeDouble& r) const { return Intersect(r); } + inline wxRangeDouble& operator-=(const wxRangeDouble& r) { if(r.m_min>m_min) m_min=r.m_min; if(r.m_max to return to it + + Shift + Arrow = *2 increment value + Ctrl + Arrow = *10 increment value + Alt + Arrow = *100 increment value + combinations of Shift, Ctrl, Alt increment by the product of the factors + + PgUp & PgDn = *10 increment * the product of the Shift, Ctrl, Alt factors + + sets the control's value to the it's last valid state + + SetDigits controls the format of the text, # decimal places + exponential uses the %.Xle format otherwise %.Xlf, where places = X + for arbitray formats subclass control and override SyncSpinToText() + for proper behavior when a user types in a value +*/ + +#ifndef __wxSPINCTRLDBL_H__ +#define __wxSPINCTRLDBL_H__ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "spinctld.h" +#endif + +#include "wx/spinbutt.h" +#include "wx/spinctrl.h" // for EVT_SPINCTRL +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxTextCtrl; +class WXDLLIMPEXP_THINGS wxSpinCtrlDblTextCtrl; + +enum +{ + wxSPINCTRLDBL_AUTODIGITS = -1 // try to autocalc the # of digits +}; + +class WXDLLIMPEXP_THINGS wxSpinCtrlDbl: public wxControl +{ +public: + wxSpinCtrlDbl() : wxControl() { Init(); } + + // Native constructor - note &parent, this is to avoid ambiguity + wxSpinCtrlDbl( wxWindow &parent, wxWindowID id, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(95,-1), + long style = 0, + double min = 0.0, double max = 100.0, + double initial = 0.0, + double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS, + const wxString& name = _T("wxSpinCtrlDbl") ) + { + Init(); + Create(&parent, id, value, pos, size, style, + min, max, initial, increment, digits, name); + } + + // wxSpinCtrl compatibility, call SetIncrement(increment,digits) after + wxSpinCtrlDbl( wxWindow *parent, wxWindowID id = wxID_ANY, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(95,-1), + long style = 0, + int min = 0, int max = 100, + int initial = 0, + const wxString& name = _T("wxSpinCtrlDbl") ) + { + Init(); + Create(parent, id, value, pos, size, style, + (double)min, (double)max, (double)initial, 1.0, -1, name); + } + + bool Create( wxWindow *parent, + wxWindowID id = wxID_ANY, + const wxString &value = wxEmptyString, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxSize(100,-1), + long style = 0, + double min = 0.0, double max = 100.0, + double initial = 0.0, + double increment = 1.0, int digits = wxSPINCTRLDBL_AUTODIGITS, + const wxString& name = _T("wxSpinCtrlDbl") ); + + virtual ~wxSpinCtrlDbl(); + + // ----------------------------------------------------------------------- + // Public (normal usage) functions + + enum formatType + { + lf_fmt, // %lf + le_fmt, // %le + lg_fmt // %lg + }; + + virtual void SetValue( double value ); + void SetValue( double value, double min, double max, double increment, + int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt ) + { SetRange(min, max); SetIncrement(increment); SetDigits(digits, fmt); SetValue(value); } + // Set the value as text, if force then set text as is + virtual void SetValue( const wxString& text, bool force ); + // Set the allowed range, if max_val < min_val then no range and all vals allowed. + void SetRange( double min_val, double max_val ); + // Set the increment to use when the spin button or arrow keys pressed. + void SetIncrement( double increment ); + void SetIncrement( double increment, int digits, formatType fmt = lg_fmt ) + { SetIncrement(increment); SetDigits(digits, fmt); } + // Set the number of digits to show, use wxSPINCTRLDBL_AUTODIGITS + // or specify exact number to show i.e. %.[digits]lf + // The format type is used to create an appropriate format string. + void SetDigits( int digits = wxSPINCTRLDBL_AUTODIGITS, formatType fmt = lg_fmt ); + // Set the format string to use, ie. format="%.2lf" for .01 + void SetFormat( const wxString& format ); + // Set the control the the default value. + virtual void SetDefaultValue() { SetValue( m_default_value ); } + // Set the value of the default value, default is the inital value. + void SetDefaultValue( double default_value ); + // Force the value to always be divisible by the increment, initially off. + // This uses the default_value as the basis, you'll get strange results + // for very large differences between the current value and default value + // when the increment is very small. + void SetSnapToTicks(bool forceTicks); + + double GetValue() const { return m_value; } + double GetMin() const { return m_min; } + double GetMax() const { return m_max; } + virtual bool HasRange() const { return m_max >= m_min; } + virtual bool InRange(double value) const { return !HasRange() || ((value >= m_min) && (value <= m_max)); } + double GetIncrement() const { return m_increment; } + int GetDigits() const { return m_digits; } + wxString GetFormat() const { return m_textFormat; } + double GetDefaultValue() const { return m_default_value; } + bool GetSnapToTicks() const { return m_snap_ticks; } + + bool IsDefaultValue() const { return (m_value == m_default_value); } + + virtual bool SetFont( const wxFont &font ); + wxFont GetFont() const; + + virtual bool SetBackgroundColour(const wxColour& colour); + wxColour GetBackgroundColour() const; + + virtual bool SetForegroundColour(const wxColour& colour); + wxColour GetForegroundColour() const; + + // for setting... stuff + wxTextCtrl *GetTextCtrl() { return (wxTextCtrl*)m_textCtrl; } + +protected: + void OnSpinUp( wxSpinEvent &event ); + void OnSpinDown( wxSpinEvent &event ); + void OnTextEnter( wxCommandEvent &event ); + void OnText( wxCommandEvent &event ); + // the textctrl is subclassed to get at pgup/dn and then sent here + void OnChar( wxKeyEvent &event ); + + virtual void SyncSpinToText(bool send_event = true, bool force_valid = true); + + void DoSendEvent(); // send an event based on current state + + virtual void DoSetSize(int x, int y, int width, int height, + int sizeFlags = wxSIZE_AUTO); + + virtual wxSize DoGetBestSize() const; + + void OnFocus( wxFocusEvent& event ); // pass focus to textctrl, for wxTAB_TRAVERSAL + void OnKillFocus( wxFocusEvent &event ); + + wxSpinButton *m_spinButton; + wxSpinCtrlDblTextCtrl *m_textCtrl; + + double m_min; // min allowed value + double m_max; // max allowed value + double m_value; // current value + double m_default_value; // initial value, or SetDefaultValue(value) + double m_increment; // how much to to add per spin + int m_digits; // number of digits displayed after decimal point + bool m_snap_ticks; // value is divisible by increment + wxString m_textFormat; // used as wxString.Printf(m_textFormat.c_str(), m_value); + +private: + friend class wxSpinCtrlDblTextCtrl; + + void Init(); + DECLARE_DYNAMIC_CLASS(wxSpinCtrlDbl) + DECLARE_EVENT_TABLE() +}; + +#endif // __wxSPINCTRLDBL_H__ diff --git a/3rdparty/wxthings/include/wx/things/thingdef.h b/3rdparty/wxthings/include/wx/things/thingdef.h new file mode 100644 index 0000000..7562a03 --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/thingdef.h @@ -0,0 +1,42 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: thingdef.h +// Purpose: Definitions for wxThings +// Author: John Labenski +// Modified by: +// Created: 1/08/1999 +// RCS-ID: $Id: thingdef.h,v 1.2 2006/03/21 05:33:19 jrl1 Exp $ +// Copyright: (c) John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#ifndef __WX_THINGDEF_H__ +#define __WX_THINGDEF_H__ + +#include "wx/defs.h" + +// ---------------------------------------------------------------------------- +// DLLIMPEXP macros +// ---------------------------------------------------------------------------- + +// These are our DLL macros (see the contrib libs like wxPlot) +#ifdef WXMAKINGDLL_THINGS + #define WXDLLIMPEXP_THINGS WXEXPORT + #define WXDLLIMPEXP_DATA_THINGS(type) WXEXPORT type +#elif defined(WXUSINGDLL) + #define WXDLLIMPEXP_THINGS WXIMPORT + #define WXDLLIMPEXP_DATA_THINGS(type) WXIMPORT type +#else // not making nor using DLL + #define WXDLLIMPEXP_THINGS + #define WXDLLIMPEXP_DATA_THINGS(type) type +#endif + +// ---------------------------------------------------------------------------- +// wxWidgets backwards compatibility macros +// ---------------------------------------------------------------------------- + +#include "wx/dynarray.h" +#ifndef WX_DECLARE_OBJARRAY_WITH_DECL // for wx2.4 backwards compatibility + #define WX_DECLARE_OBJARRAY_WITH_DECL(T, name, expmode) WX_DECLARE_USER_EXPORTED_OBJARRAY(T, name, WXDLLIMPEXP_THINGS) +#endif + +#endif // __WX_THINGDEF_H__ diff --git a/3rdparty/wxthings/include/wx/things/toggle.h b/3rdparty/wxthings/include/wx/things/toggle.h new file mode 100644 index 0000000..3dcfc1e --- /dev/null +++ b/3rdparty/wxthings/include/wx/things/toggle.h @@ -0,0 +1,254 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxCustomButton.h based on wxCustomToggleCtrl.cpp +// Purpose: a toggle button +// Author: Bruce Phillips modified by John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) Bruce Phillips, John Labenski +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +/* + +wxCustomButton is a bitmap and/or text button that can toggle or not. + +It can be used as a drop-in replacement for a wxButton, wxToggleButton, + wxBitmapButton, and the non-existant "wxBitmapToggleButton." + +The event's wxCommandEvent::GetExtraLong contains one of the following + wxEVT_LEFT_UP, wxEVT_RIGHT_UP, wxEVT_LEFT_DCLICK, wxEVT_RIGHT_DCLICK + these can be used to distinguish between the types of events sent + +There are four styles the button can take. + +wxCUSTBUT_BUTTON == wxButton + Left and Right clicks and double clicks all send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +wxCUSTBUT_TOGGLE == wxToggleButton + Left clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + Left double clicks and Right clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +wxCUSTBUT_BUT_DCLICK_TOG + Left and Right clicks and Right double clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + Left double clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + +wxCUSTBUT_TOG_DCLICK_BUT + Left clicks sends + wxEVT_COMMAND_TOGGLEBUTTON_CLICKED => EVT_TOGGLEBUTTON(id, fn) + Left and Right double clicks and Right clicks send + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id,fn) + +The event's wxCommandEvent::GetInt (IsChecked) is true (1) if the button is + depressed, this is only useful for the wxToggleButton styles + +For both types of button when double-clicked it sends this event + wxEVT_COMMAND_BUTTON_CLICKED => EVT_BUTTON(id, fn) + and the button state does not change. Only a single EVT_BUTTON event should + be sent on double-click and event.GetExtraLong == wxEVT_XXX_DCLICK, + if not then there's a bug. + +If no bitmaps are set the text is centered, if only a bitmap it set then + it's centered, if a bitmap and text are set then the text is one of the + positions wxCUSTBUT_LEFT/RIGHT/TOP/BOTTOM + +The disabled bitmap it automatically created by dithering with the background, + the others just copy the bitmap in the constructor. The control assumes they + are all the same size. + +You have to #include "wx/tglbtn.h" for EVT_TOGGLEBUTTON + +*/ + +#ifndef _WX_CUSTOMBUTTON_H_ +#define _WX_CUSTOMBUTTON_H_ + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma interface "toggle.h" +#endif + +#include "wx/things/thingdef.h" + +class WXDLLEXPORT wxTimer; +class WXDLLEXPORT wxTimerEvent; + +//----------------------------------------------------------------------------- +// wxCustomButton styles +//----------------------------------------------------------------------------- + +enum wxCustomButton_Style +{ + // Position of the label, use only one + wxCUSTBUT_LEFT = 0x0001, + wxCUSTBUT_RIGHT = 0x0002, + wxCUSTBUT_TOP = 0x0004, + wxCUSTBUT_BOTTOM = 0x0008, + // Button style, use only one + wxCUSTBUT_NOTOGGLE = 0x0100, + wxCUSTBUT_BUTTON = 0x0200, + wxCUSTBUT_TOGGLE = 0x0400, + wxCUSTBUT_BUT_DCLICK_TOG = 0x0800, + wxCUSTBUT_TOG_DCLICK_BUT = 0x1000, + // drawing styles + wxCUSTBUT_FLAT = 0x2000 // flat, mouseover raises if not depressed +}; + +//----------------------------------------------------------------------------- +// wxCustomButton +//----------------------------------------------------------------------------- + +class WXDLLIMPEXP_THINGS wxCustomButton : public wxControl +{ +public: + + wxCustomButton() : wxControl() { Init(); } + + // wxToggleButton or wxButton compatible constructor (also wxTextCtrl) + wxCustomButton(wxWindow* parent, wxWindowID id, + const wxString& label, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,label,wxNullBitmap,pos,size,style,val,name); + } + + // wxBitmapButton compatible constructor + wxCustomButton(wxWindow *parent, wxWindowID id, + const wxBitmap& bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,wxEmptyString,bitmap,pos,size,style,val,name); + } + + // Native constructor + wxCustomButton(wxWindow *parent, wxWindowID id, + const wxString& label, const wxBitmap& bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = wxCUSTBUT_TOGGLE|wxCUSTBUT_BOTTOM, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")) + : wxControl() + { + Init(); + Create(parent,id,label,bitmap,pos,size,style,val,name); + } + + virtual ~wxCustomButton(); + + bool Create(wxWindow* parent, + wxWindowID id, + const wxString& label, + const wxBitmap &bitmap, + const wxPoint& pos = wxDefaultPosition, + const wxSize& size = wxDefaultSize, + long style = 0, + const wxValidator& val = wxDefaultValidator, + const wxString& name = wxT("wxCustomButton")); + + bool GetValue() const { return m_down%2 != 0; } + void SetValue( bool depressed ); + + // Use combinations of wxCustomButton_Style(s) + long GetButtonStyle() const { return m_button_style; } + bool SetButtonStyle( long style ); + + // Set the text label, wxEmptyString for none + void SetLabel( const wxString &label ); + + // set the bitmaps, ONLY this Label bitmap is used for calculating control size + // all bitmaps will be centered accordingly in any case + // call SetSet(GetBestSize()) if you change their size and want the control to resize appropriately + void SetBitmapLabel(const wxBitmap& bitmap); + void SetBitmapSelected(const wxBitmap& sel) { m_bmpSelected = sel; CalcLayout(true); }; + void SetBitmapFocus(const wxBitmap& focus) { m_bmpFocus = focus; CalcLayout(true); }; + void SetBitmapDisabled(const wxBitmap& disabled) { m_bmpDisabled = disabled; CalcLayout(true); }; + // wxBitmapButton compatibility + void SetLabel(const wxBitmap& bitmap) { SetBitmapLabel(bitmap); } + + // retrieve the bitmaps + const wxBitmap& GetBitmapLabel() const { return m_bmpLabel; } + const wxBitmap& GetBitmapSelected() const { return m_bmpSelected; } + const wxBitmap& GetBitmapFocus() const { return m_bmpFocus; } + const wxBitmap& GetBitmapDisabled() const { return m_bmpDisabled; } + + // Creates a "disabled" bitmap by dithering it with the background colour + wxBitmap CreateBitmapDisabled(const wxBitmap &bitmap) const; + + // set/get the margins (in pixels) around the label and bitmap + // if fit = true then resize the button to fit + void SetMargins(const wxSize &margin, bool fit = false); + + // set/get the margins around the text label + // the inter bitmap/label margin is the max of either margin, not the sum + void SetLabelMargin(const wxSize &margin, bool fit = false); + wxSize GetLabelMargin() const { return m_labelMargin; } + // set/get the margins around the bitmap + // the inter bitmap/label margin is the max of either margin, not the sum + void SetBitmapMargin(const wxSize &margin, bool fit = false); + wxSize GetBitmapMargin() const { return m_bitmapMargin; } + + // can be used to activate the focused behavior (see MenuButton) + void SetFocused(bool focused) { m_focused = focused; Refresh(false); } + bool GetFocused() const { return m_focused; } + +protected: + void OnPaint(wxPaintEvent &event); + void Redraw(); + virtual void Paint( wxDC &dc ); + + virtual wxSize DoGetBestSize() const; + + virtual void SendEvent(); + + void OnMouseEvents(wxMouseEvent &event); + + void OnTimer(wxTimerEvent &event); + void OnSize( wxSizeEvent &event ); + + virtual void CalcLayout(bool refresh); + + int m_down; // toggle state if m_down%2 then depressed + bool m_focused; // mouse in window + long m_button_style; + + // the bitmaps for various states + wxBitmap m_bmpLabel, + m_bmpSelected, + m_bmpFocus, + m_bmpDisabled; + + // the margins around the label/bitmap + wxSize m_labelMargin, + m_bitmapMargin; + + wxPoint m_bitmapPos, + m_labelPos; + + wxTimer *m_timer; + + wxEventType m_eventType; // store the mouse event type + +private: + void Init(); + DECLARE_DYNAMIC_CLASS(wxCustomButton) + DECLARE_EVENT_TABLE() +}; + +#endif // _WX_CUSTOMBUTTON_H_ diff --git a/3rdparty/wxthings/src/Makefile b/3rdparty/wxthings/src/Makefile new file mode 100644 index 0000000..333f3ca --- /dev/null +++ b/3rdparty/wxthings/src/Makefile @@ -0,0 +1,116 @@ +# Makefile for wxthings lib (UNIX). + +# ---------------------------------------------------------------------------- +# wxWidgets build settings + +WXCONFIG := wx-config + +WXDIR = $(shell $(WXCONFIG) --prefix) +WXEXECDIR = $(shell $(WXCONFIG) --exec-prefix) +WXLIBDIR = $(WXEXECDIR)/lib + +WXBASENAME = $(shell $(WXCONFIG) --basename) +WXVERSION = $(shell $(WXCONFIG) --version) +WXRELEASE = $(shell $(WXCONFIG) --release) + +WXCXX = $(shell $(WXCONFIG) --cxx) +WXCXXFLAGS = $(shell $(WXCONFIG) --cxxflags) +WXLIBS = $(shell $(WXCONFIG) --libs) + +WXSTC_LIB = $(WXBASENAME)_stc-$(WXRELEASE) + +# ---------------------------------------------------------------------------- + +# in filebrws.cpp we need to resize comboboxes in toolbar +ifndef GTK_CFLAGS +ifeq (gtk2, $(findstring gtk2, $(WXBASENAME))) +GTK_CFLAGS = $(shell pkg-config --cflags gtk+-2.0) +else +GTK_CFLAGS = $(shell gtk-config --cflags) +endif +endif + +# ---------------------------------------------------------------------------- + +# the wxstedit component is used for the wxFileBrowser class +WXSTEDIT_LIB = $(WXBASENAME)_stedit-$(WXRELEASE) +WXSTEDIT_DIR = ../../wxstedit + +# ---------------------------------------------------------------------------- + +WXTHINGS_LIBNAME = $(WXBASENAME)_wxthings-$(WXRELEASE) +WXTHINGS_LIBDIR = $(WXLIBDIR) + +LIBVERSION_CURRENT=1 +LIBVERSION_REVISION=0 +LIBVERSION_AGE=0 + +TARGET_LIBNAME = lib$(WXTHINGS_LIBNAME) + +TARGET_LIB_STATIC = $(WXTHINGS_LIBDIR)/$(TARGET_LIBNAME).a +TARGET_LIB_SHARED = $(WXTHINGS_LIBDIR)/$(TARGET_LIBNAME).so.$(LIBVERSION_CURRENT).$(LIBVERSION_REVISION).$(LIBVERSION_AGE) +TARGET_LIB_LINK1 = $(TARGET_LIBNAME).so.$(LIBVERSION_CURRENT) +TARGET_LIB_LINK2 = $(TARGET_LIBNAME).so + +# ---------------------------------------------------------------------------- + +CXXFLAGS = $(WXCXXFLAGS) $(GTK_CFLAGS) -MMD -g -Wall -Wunused -Wunused-parameter +LDLIBS = $(WXLIBS) +CXX = $(WXCXX) + +#-fdump-class-hierarchy this dumps out a file.cpp.class file +# -pg in libs and defs for profiling +PROFILE = #-pg +APPEXTRADEFS = -I$(WXDIR)/contrib/include -I$(WXSTEDIT_DIR)/include -I../include $(PROFILE) +APPEXTRALIBS = -l$(WXSTC_LIB) -l$(WXSTEDIT_LIB) $(PROFILE) + +# ---------------------------------------------------------------------------- + +RM = rm -f +AR = ar +AROPTIONS = rcu +RANLIB = ranlib +LN_S = ln -s + +# ---------------------------------------------------------------------------- + +OBJECTS = \ + block.o \ + bmpcombo.o \ + dropdown.o \ + filebrws.o \ + genergdi.o \ + geometry.o \ + menubtn.o \ + optvalue.o \ + range.o \ + spinctld.o \ + toggle.o + +DEPFILES=$(OBJECTS:.o=.d) + +.cpp.o: + $(CXX) -c $(CXXFLAGS) $(APPEXTRADEFS) -o $@ $< + +all: $(TARGET_LIB_STATIC) $(TARGET_LIB_SHARED) + +$(TARGET_LIB_STATIC) : $(OBJECTS) + @$(RM) $@ + $(AR) $(AROPTIONS) $@ $(OBJECTS) + $(RANLIB) $@ + +$(TARGET_LIB_SHARED): $(OBJECTS) + $(CXX) -shared -o $@ $(OBJECTS) + cd $(WXTHINGS_LIBDIR) \ + && $(RM) $(TARGET_LIB_LINK1) $(TARGET_LIB_LINK2) \ + && $(LN_S) $(TARGET_LIB_SHARED) $(TARGET_LIB_LINK1) \ + && $(LN_S) $(TARGET_LIB_SHARED) $(TARGET_LIB_LINK2) + +clean: + rm -f $(OBJECTS) $(DEPFILES) core \ + $(TARGET_LIB_STATIC) \ + $(TARGET_LIB_SHARED) \ + $(WXTHINGS_LIBDIR)/$(TARGET_LIB_LINK1) \ + $(WXTHINGS_LIBDIR)/$(TARGET_LIB_LINK2) + +-include $(DEPFILES) diff --git a/3rdparty/wxthings/src/block.cpp b/3rdparty/wxthings/src/block.cpp new file mode 100644 index 0000000..19f1638 --- /dev/null +++ b/3rdparty/wxthings/src/block.cpp @@ -0,0 +1,1064 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: block.cpp +// Purpose: Rectangular selection storage classes for ints and doubles +// Author: John Labenski +// Created: 07/01/02 +// Copyright: (c) John Labenski 2004 +// Licence: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "block.h" +#endif + +// For compilers that support precompilation, includes "wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + //#include "wx/object.h" +#endif // WX_PRECOMP + +#include "wx/things/block.h" + +// use this to check to see if there is any overlap after minimizing +//#define CHECK_BLOCK_OVERLAP 1 + +#define PRINT_BLOCK(msg, b) { wxPrintf(wxT("Block '%s' %lg %lg %lg %lg\n"), msg, (double)(b).m_x1, (double)(b).m_y1, (double)(b).m_x2, (double)(b).m_y2); } + +wxBlockInt const wxEmptyBlockInt(0, 0, -1, -1); +wxBlockDouble const wxEmptyBlockDouble(0, 0, -1, -1); + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayBlockInt); +WX_DEFINE_OBJARRAY(wxArrayBlockDouble); +WX_DEFINE_OBJARRAY(wxArrayBlockIntSelection); +WX_DEFINE_OBJARRAY(wxArrayBlockDoubleSelection); + +// ---------------------------------------------------------------------------- +// Sorting functions for wxBlockInt +// ---------------------------------------------------------------------------- + +static int wxCMPFUNC_CONV wxblockint_sort_topleft_bottomright( wxBlockInt **a, wxBlockInt **b) +{ + register int y = ((*a)->m_y1 - (*b)->m_y1); + + if (y < 0) return -1; + if (y == 0) return ((*a)->m_x1 - (*b)->m_x1); + return 1; +} +static int wxCMPFUNC_CONV wxblockint_sort_topright_bottomleft( wxBlockInt **a, wxBlockInt **b) +{ + register int y = ((*a)->m_y1 - (*b)->m_y1); + + if (y < 0) return -1; + if (y == 0) return ((*a)->m_x2 - (*b)->m_x2); + return 1; +} + +static int wxCMPFUNC_CONV wxblockint_sort_bottomleft_topright( wxBlockInt **a, wxBlockInt **b) +{ + register int y = ((*a)->m_y2 - (*b)->m_y2); + + if (y > 0) return -1; + if (y == 0) return ((*a)->m_x1 - (*b)->m_x1); + return 1; +} +static int wxCMPFUNC_CONV wxblockint_sort_bottomright_topleft( wxBlockInt **a, wxBlockInt **b) +{ + register int y = ((*a)->m_y2 - (*b)->m_y2); + + if (y > 0) return -1; + if (y == 0) return ((*a)->m_x2 - (*b)->m_x2); + return 1; +} +static int wxCMPFUNC_CONV wxblockint_sort_largest_to_smallest( wxBlockInt **a, wxBlockInt **b) +{ + return (*a)->IsLarger(**b); +} +static int wxCMPFUNC_CONV wxblockint_sort_smallest_to_largest( wxBlockInt **a, wxBlockInt **b) +{ + return -(*a)->IsLarger(**b); +} + +void wxArrayBlockIntSort(wxArrayBlockInt &blocks, wxBlockSort_Type type) +{ + switch (type) + { + case wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT : blocks.Sort(wxblockint_sort_topleft_bottomright); break; + case wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT : blocks.Sort(wxblockint_sort_topright_bottomleft); break; + case wxBLOCKSORT_BOTTOMLEFT_TOPRIGHT : blocks.Sort(wxblockint_sort_bottomleft_topright); break; + case wxBLOCKSORT_BOTTOMRIGHT_TOPLEFT : blocks.Sort(wxblockint_sort_bottomright_topleft); break; + case wxBLOCKSORT_SMALLEST_TO_LARGEST : blocks.Sort(wxblockint_sort_smallest_to_largest); break; + case wxBLOCKSORT_LARGEST_TO_SMALLEST : blocks.Sort(wxblockint_sort_largest_to_smallest); break; + default : wxFAIL_MSG(wxT("unknown block sort type")); + } +} + +// ---------------------------------------------------------------------------- +// Sorting functions for wxBlockDouble +// ---------------------------------------------------------------------------- + +static int wxCMPFUNC_CONV wxblockdouble_sort_topleft_bottomright( wxBlockDouble **a, wxBlockDouble **b) +{ + register wxDouble y = ((*a)->m_y1 - (*b)->m_y1); + + if (y < 0) return -1; + if (y == 0) return int((*a)->m_x1 - (*b)->m_x1); + return 1; +} +static int wxCMPFUNC_CONV wxblockdouble_sort_topright_bottomleft( wxBlockDouble **a, wxBlockDouble **b) +{ + register wxDouble y = ((*a)->m_y1 - (*b)->m_y1); + + if (y < 0) return -1; + if (y == 0) return int((*a)->m_x2 - (*b)->m_x2); + return 1; +} + +static int wxCMPFUNC_CONV wxblockdouble_sort_bottomleft_topright( wxBlockDouble **a, wxBlockDouble **b) +{ + register wxDouble y = ((*a)->m_y2 - (*b)->m_y2); + + if (y > 0) return -1; + if (y == 0) return int((*a)->m_x1 - (*b)->m_x1); + return 1; +} +static int wxCMPFUNC_CONV wxblockdouble_sort_bottomright_topleft( wxBlockDouble **a, wxBlockDouble **b) +{ + register wxDouble y = ((*a)->m_y2 - (*b)->m_y2); + + if (y > 0) return -1; + if (y == 0) return int((*a)->m_x2 - (*b)->m_x2); + return 1; +} +static int wxCMPFUNC_CONV wxblockdouble_sort_largest_to_smallest( wxBlockDouble **a, wxBlockDouble **b) +{ + return (*a)->IsLarger(**b); +} +static int wxCMPFUNC_CONV wxblockdouble_sort_smallest_to_largest( wxBlockDouble **a, wxBlockDouble **b) +{ + return -(*a)->IsLarger(**b); +} + +void wxArrayBlockDoubleSort(wxArrayBlockDouble &blocks, wxBlockSort_Type type) +{ + switch (type) + { + case wxBLOCKSORT_TOPLEFT_BOTTOMRIGHT : blocks.Sort(wxblockdouble_sort_topleft_bottomright); break; + case wxBLOCKSORT_TOPRIGHT_BOTTOMLEFT : blocks.Sort(wxblockdouble_sort_topright_bottomleft); break; + case wxBLOCKSORT_BOTTOMLEFT_TOPRIGHT : blocks.Sort(wxblockdouble_sort_bottomleft_topright); break; + case wxBLOCKSORT_BOTTOMRIGHT_TOPLEFT : blocks.Sort(wxblockdouble_sort_bottomright_topleft); break; + case wxBLOCKSORT_SMALLEST_TO_LARGEST : blocks.Sort(wxblockdouble_sort_smallest_to_largest); break; + case wxBLOCKSORT_LARGEST_TO_SMALLEST : blocks.Sort(wxblockdouble_sort_largest_to_smallest); break; + default : wxFAIL_MSG(wxT("unknown block sort type")); + } +} + +//============================================================================= +// wxBlockInt +//============================================================================= + +#define TEST_BLOCKS + +#ifdef TEST_BLOCKS +void TestBlocks() +{ + printf("Start Testing blocks -----------------------------------------\n"); + wxBlockInt b1(1,1,4,4); + wxBlockInt b2(5,4,10,11); + PRINT_BLOCK("b1", b1) + PRINT_BLOCK("b2", b2) + + wxBlockInt iB; + iB.Intersect(b1, b2, &iB); + PRINT_BLOCK("Intersect b1 b2", iB) + + wxBlockInt uB; + uB.Union(b1, b2, &uB); + PRINT_BLOCK("Union b1 b2", uB) + + printf("Touches b1 b2 %d %d\n", b1.Touches(b2), b2.Touches(b1)); + + b1 = wxBlockInt(2,3,7,9); + b2 = wxBlockInt(8,3,8,3); + printf("Touches b1 b2 %d %d\n", b1.Touches(b2), b2.Touches(b1)); + + b1 = wxBlockInt(2,3,7,9); + b2 = wxBlockInt(1,3,1,3); + printf("Touches b1 b2 %d %d\n", b1.Touches(b2), b2.Touches(b1)); + iB.Intersect(b1, b2, &iB); + PRINT_BLOCK("Intersect b1 b2", iB) + + b1 = wxBlockInt(2,3,7,9); + b2 = wxBlockInt(2,2,2,2); + printf("Touches b1 b2 %d %d\n", b1.Touches(b2), b2.Touches(b1)); + + b1 = wxBlockInt(2,3,7,9); + b2 = wxBlockInt(7,10,7,10); + printf("Touches b1 b2 %d %d\n", b1.Touches(b2), b2.Touches(b1)); + + printf("End Testing blocks -----------------------------------------\n"); + fflush(stdout); +} +#endif //TEST_BLOCKS + +bool wxBlockInt::Touches(const wxBlockInt &b) const // see Intersects +{ + //if (((wxMax(m_x1, b.m_x1)) <= (wxMin(m_x2, b.m_x2))) && + // ((wxMax(m_y1, b.m_y1)) <= (wxMin(m_y2, b.m_y2)))) + // return true; + + return Intersects(wxBlockInt(b.m_x1-1, b.m_y1-1, b.m_x2+1, b.m_y2+1)); + +/* + wxInt32 left = wxMax( m_x1, b.m_x1 ); + wxInt32 right = wxMin( m_x2, b.m_x2 ); + + if (labs(left - right) <= 1) + { + wxInt32 top = wxMax( m_y1, b.m_y1 ); + wxInt32 bottom = wxMin( m_y2, b.m_y2 ); + if (labs(top - bottom) <= 1) + return true; + } + return false; +*/ +} + +bool wxBlockInt::Combine(const wxBlockInt &b) +{ + if (!Touches(b)) return false; + if (Contains(b)) return true; + if (b.Contains(*this)) + { + *this = b; + return true; + } + + wxBlockInt unionBlock; + Union( *this, b, &unionBlock ); + + if (unionBlock.IsEmpty()) return false; + + // at least one of the two blocks has to be at each corner of the union + if (((unionBlock.GetLeftTop() == GetLeftTop()) || (unionBlock.GetLeftTop() == b.GetLeftTop())) && + ((unionBlock.GetRightTop() == GetRightTop()) || (unionBlock.GetRightTop() == b.GetRightTop())) && + ((unionBlock.GetLeftBottom() == GetLeftBottom()) || (unionBlock.GetLeftBottom() == b.GetLeftBottom())) && + ((unionBlock.GetRightBottom() == GetRightBottom()) || (unionBlock.GetRightBottom() == b.GetRightBottom())) ) + { + *this = unionBlock; + return true; + } + + return false; +} + +bool wxBlockInt::Combine( const wxBlockInt &block, + wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const +{ + top = bottom = left = right = wxEmptyBlockInt; + + wxBlockInt iBlock; + Intersect(*this, block, &iBlock); + + if (iBlock.IsEmpty()) return false; // nothing to combine + if (iBlock == *this) return true; // can combine all of this, no leftover + + bool combined = false; + + if ( block.m_y1 < m_y1 ) + { + top = wxBlockInt( block.m_x1, block.m_y1, block.m_x2, m_y1-1 ); + combined = true; + } + if ( block.m_y2 > m_y2 ) + { + bottom = wxBlockInt( block.m_x1, m_y2+1, block.m_x2, block.m_y2 ); + combined = true; + } + if ( block.m_x1 < m_x1 ) + { + left = wxBlockInt( block.m_x1, iBlock.m_y1, m_x1-1, iBlock.m_y2 ); + combined = true; + } + if ( block.m_x2 > m_x2 ) + { + right = wxBlockInt( m_x2+1, iBlock.m_y1, block.m_x2, iBlock.m_y2 ); + combined = true; + } + + return combined; +} + +bool wxBlockInt::Delete( const wxBlockInt &block, + wxBlockInt &top, wxBlockInt &bottom, + wxBlockInt &left, wxBlockInt &right) const +{ + top = bottom = left = right = wxEmptyBlockInt; + + wxBlockInt iBlock; + Intersect(*this, block, &iBlock); + + if (iBlock.IsEmpty()) return false; // nothing to delete + if (iBlock == *this) return true; // can delete all of this, no leftover + + bool deleted = false; + + if ( m_y1 < iBlock.m_y1 ) + { + top = wxBlockInt( m_x1, m_y1, m_x2, iBlock.m_y1-1 ); + deleted = true; + } + if ( GetBottom() > iBlock.GetBottom() ) + { + bottom = wxBlockInt( m_x1, iBlock.m_y2+1, m_x2, m_y2 ); + deleted = true; + } + if ( m_x1 < iBlock.m_x1 ) + { + left = wxBlockInt( m_x1, iBlock.m_y1, iBlock.m_x1-1, iBlock.m_y2 ); + deleted = true; + } + if ( GetRight() > iBlock.GetRight() ) + { + right = wxBlockInt( iBlock.m_x2+1, iBlock.m_y1, m_x2, iBlock.m_y2 ); + deleted = true; + } + + return deleted; +} + +//============================================================================= +// wxBlockDouble +//============================================================================= + +bool wxBlockDouble::Touches(const wxBlockDouble &b) const // see Intersects +{ + if (((wxMax(m_x1, b.m_x1)) <= (wxMin(m_x2, b.m_x2))) && + ((wxMax(m_y1, b.m_y1)) <= (wxMin(m_y2, b.m_y2)))) + return true; + + return false; +} + +bool wxBlockDouble::Combine(const wxBlockDouble &b) +{ + if (!Touches(b)) return false; + if (Contains(b)) return true; + if (b.Contains(*this)) + { + *this = b; + return true; + } + + wxBlockDouble unionBlock; + Union( *this, b, &unionBlock ); + + if (unionBlock.IsEmpty()) return false; + + // at least one of the two blocks has to be at each corner of the union + if (((unionBlock.GetLeftTop() == GetLeftTop()) || (unionBlock.GetLeftTop() == b.GetLeftTop())) && + ((unionBlock.GetRightTop() == GetRightTop()) || (unionBlock.GetRightTop() == b.GetRightTop())) && + ((unionBlock.GetLeftBottom() == GetLeftBottom()) || (unionBlock.GetLeftBottom() == b.GetLeftBottom())) && + ((unionBlock.GetRightBottom() == GetRightBottom()) || (unionBlock.GetRightBottom() == b.GetRightBottom())) ) + { + *this = unionBlock; + return true; + } + + return false; +} + +bool wxBlockDouble::Combine( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const +{ + top = bottom = left = right = wxEmptyBlockDouble; + + wxBlockDouble iBlock; + Intersect(*this, block, &iBlock); + + if (iBlock.IsEmpty()) return false; // nothing to combine + if (iBlock == *this) return true; // can combine all of this, no leftover + + bool combined = false; + + if ( block.m_y1 < m_y1 ) + { + top = wxBlockDouble( block.m_x1, block.m_y1, block.m_x2, m_y1 ); + combined = true; + } + if ( block.m_y2 > m_y2 ) + { + bottom = wxBlockDouble( block.m_x1, m_y2, block.m_x2, block.m_y2 ); + combined = true; + } + if ( block.m_x1 < m_x1 ) + { + left = wxBlockDouble( block.m_x1, iBlock.m_y1, m_x1, iBlock.m_y2 ); + combined = true; + } + if ( block.m_x2 > m_x2 ) + { + right = wxBlockDouble( m_x2, iBlock.m_y1, block.m_x2, iBlock.m_y2 ); + combined = true; + } + + return combined; +} + +bool wxBlockDouble::Delete( const wxBlockDouble &block, + wxBlockDouble &top, wxBlockDouble &bottom, + wxBlockDouble &left, wxBlockDouble &right) const +{ + top = bottom = left = right = wxEmptyBlockDouble; + + wxBlockDouble iBlock; + Intersect(*this, block, &iBlock); + + if (iBlock.IsEmpty()) return false; // nothing to delete + if (iBlock == *this) return true; // can delete all of this, no leftover + + bool deleted = false; + + if ( m_y1 < iBlock.m_y1 ) + { + top = wxBlockDouble( m_x1, m_y1, m_x2, iBlock.m_y1 ); + deleted = true; + } + if ( m_y2 > iBlock.m_y2 ) + { + bottom = wxBlockDouble( m_x1, iBlock.m_y2, m_x2, m_y2 ); + deleted = true; + } + if ( m_x1 < iBlock.m_x1 ) + { + left = wxBlockDouble( m_x1, iBlock.m_y1, iBlock.m_x1, iBlock.m_y2 ); + deleted = true; + } + if ( m_x2 > iBlock.m_x2 ) + { + right = wxBlockDouble( iBlock.m_x2, iBlock.m_y1, m_x2, iBlock.m_y2 ); + deleted = true; + } + + return deleted; +} + +//============================================================================= +// wxBlockIntSelection +//============================================================================= +wxBlockInt wxBlockIntSelection::GetBlock( int index ) const +{ + wxCHECK_MSG((index>=0) && (index= m_blocks[n].m_x1) && (col <= m_blocks[n].m_x2)) + { + wxRangeInt range(m_blocks[n].m_y1, m_blocks[n].m_y2); + ranges.Add(range); + } + } + return ranges; +} + +wxArrayRangeInt wxBlockIntSelection::GetBlockRow(int row) const +{ + wxArrayRangeInt ranges; + register int n, count = m_blocks.GetCount(); + for (n=0; n= m_blocks[n].m_y1) && (row <= m_blocks[n].m_y2)) + ranges.Add(wxRangeInt(m_blocks[n].m_x1, m_blocks[n].m_x2)); + } + return ranges; +} +#endif // USE_wxRANGE + +wxBlockInt wxBlockIntSelection::GetBoundingBlock() const +{ + register int n, count = m_blocks.GetCount(); + if (count == 0) return wxEmptyBlockInt; + wxBlockInt bound = m_blocks[0]; + for (n=1; n 0) ? n - 1 : -1; + + if (!top.IsEmpty()) m_blocks.Add(top); + if (!bottom.IsEmpty()) m_blocks.Add(bottom); + if (!left.IsEmpty()) m_blocks.Add(left); + if (!right.IsEmpty()) m_blocks.Add(right); + } + } + + if (combineNow) + Minimize(); + + return done; +} + +bool wxBlockIntSelection::SelectBlock( const wxBlockInt &block, bool combineNow, + wxArrayBlockInt *addedBlocks ) +{ + wxCHECK_MSG(!block.IsEmpty(), false, wxT("Invalid block") ); + + //TestBlocks(); + + wxArrayBlockInt extraBlocks; + wxArrayBlockInt *extra = &extraBlocks; + + if (addedBlocks != NULL) + { + addedBlocks->Clear(); + extra = addedBlocks; + } + + extra->Add(block); + + int n, count = m_blocks.GetCount(); + wxBlockInt top, bottom, left, right; + + for (n=0; nGetCount()); k++) + { + if (m_blocks[n].Combine(extra->Item(k), top, bottom, left, right)) + { + extra->RemoveAt(k); + if (!top.IsEmpty()) extra->Add(top); + if (!bottom.IsEmpty()) extra->Add(bottom); + if (!left.IsEmpty()) extra->Add(left); + if (!right.IsEmpty()) extra->Add(right); + //DoMinimize( *extra ); + n = -1; + break; + } + } + } + + if (extra->GetCount() > 0u) + { + WX_APPEND_ARRAY(m_blocks, *extra); + if (combineNow) + Minimize(); + + return true; + } + + return false; +} + +bool wxBlockIntSelection::Minimize() +{ + bool ret = DoMinimize(m_blocks); + Sort(m_sort); + return ret; +} + +bool wxBlockIntSelection::DoMinimize(wxArrayBlockInt &blocks) +{ + int n; + for (n=0; n<1000; n++) // should probably just take a few + { + if (!DoDoMinimize(blocks)) break; + } + +#ifdef CHECK_BLOCK_OVERLAP + for (size_t a=0; a=0) && (index= m_blocks[n].m_x1) && (col <= m_blocks[n].m_x2)) + { + wxRangeDouble range(m_blocks[n].m_y1, m_blocks[n].m_y2); + ranges.Add(range); + } + } + return ranges; +} + +wxArrayRangeDouble wxBlockDoubleSelection::GetBlockRow(wxDouble row) const +{ + wxArrayRangeDouble ranges; + register int n, count = m_blocks.GetCount(); + for (n=0; n= m_blocks[n].m_y1) && (row <= m_blocks[n].m_y2)) + ranges.Add(wxRangeDouble(m_blocks[n].m_x1, m_blocks[n].m_x2)); + } + return ranges; +} +#endif // USE_wxRANGE + +wxBlockDouble wxBlockDoubleSelection::GetBoundingBlock() const +{ + register int n, count = m_blocks.GetCount(); + if (count == 0) return wxEmptyBlockDouble; + wxBlockDouble bound = m_blocks[0]; + for (n=1; n= m_blocks[n].m_x1) && (y >= m_blocks[n].m_y1) && + (x <= m_blocks[n].m_x2) && (y <= m_blocks[n].m_y2) ) + return true; + } + return wxNOT_FOUND; +} + +int wxBlockDoubleSelection::Index( const wxBlockDouble &b ) const +{ + register int n, count = m_blocks.GetCount(); + for (n=0; n 0) ? n - 1 : -1; + + if (!top.IsEmpty()) m_blocks.Add(top); + if (!bottom.IsEmpty()) m_blocks.Add(bottom); + if (!left.IsEmpty()) m_blocks.Add(left); + if (!right.IsEmpty()) m_blocks.Add(right); + } + } + + if (combineNow) + Minimize(); + + return done; +} + +bool wxBlockDoubleSelection::SelectBlock( const wxBlockDouble &block, bool combineNow) +{ + // It's valid to select a block with a width and height 0 since that means that point + //wxCHECK_MSG(!block.IsEmpty(), false, wxT("Invalid block") ); + + wxArrayBlockDouble extra; + extra.Add(block); + wxBlockDouble top, bottom, left, right; + + for (int n=0; n 0) + { + done = m_blocks[n].Combine(extra[k], top, bottom, left, right); + if (done) + { + extra.RemoveAt(k); + k--; + } + } + else + { + done = extra[k].Combine(m_blocks[n], top, bottom, left, right); + if (done) + { + m_blocks.RemoveAt(n); + n = -1; + } + } + } + + if (done) + { + if (!top.IsEmpty()) extra.Add(top); + if (!bottom.IsEmpty()) extra.Add(bottom); + if (!left.IsEmpty()) extra.Add(left); + if (!right.IsEmpty()) extra.Add(right); + //DoMinimize( extra ); + if (n == -1) + break; + } + } + } + + if (extra.GetCount() > 0u) + { + WX_APPEND_ARRAY(m_blocks, extra); + if (combineNow) + Minimize(); + + return true; + } + + return false; +} + +bool wxBlockDoubleSelection::Minimize() +{ + bool ret = DoMinimize(m_blocks); + Sort(m_sort); + return ret; +} + +bool wxBlockDoubleSelection::DoMinimize(wxArrayBlockDouble &blocks) +{ + int n; + for (n=0; n<1000; n++) // should probably just take < 10 at most + { + if (!DoDoMinimize(blocks)) break; + } + +#ifdef CHECK_BLOCK_OVERLAP + for (size_t a=0; a= int(m_blocks.GetCount()))) + return false; + + // first time here + if (m_block_index < 0) + { + m_block_index = 0; + pt = m_pt = m_blocks[m_block_index].GetLeftTop(); + return true; + } + + // at end of block swap to new one + if (m_pt == m_blocks[m_block_index].GetRightBottom()) + { + ++m_block_index; + if (int(m_blocks.GetCount()) > m_block_index) + { + pt = m_pt = m_blocks[m_block_index].GetLeftTop(); + return true; + } + else // past end nothing more to check + return false; + } + // at end of col, down to next row + if (m_pt.m_x == m_blocks[m_block_index].GetRight()) + { + m_pt.m_x = m_blocks[m_block_index].m_x1; + m_pt.m_y++; + + pt = m_pt; + return true; + } + + // increment the col + m_pt.m_x++; + pt = m_pt; + + return true; +} + +bool wxBlockIntSelectionIterator::IsInSelection(const wxPoint2DInt &pt) const +{ + register int n, count = m_blocks.GetCount(); + for (n=0; nGetBackgroundColour()); +} + +void wxBitmapComboPopupChild::OnPaint( wxPaintEvent &WXUNUSED(event) ) +{ + wxPaintDC dc(this); + PrepareDC(dc); + //dc.SetBackground(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + //dc.Clear(); + + dc.SetFont(m_bmpCombo->GetFont()); + + int y = 0, dy = m_bmpCombo->GetItemSize().y; + wxPoint origin = dc.GetDeviceOrigin(); + wxSize clientSize = GetClientSize(); + + for (int n=0; nGetCount(); n++) + { + if (y + dy > -origin.y) + { + dc.SetDeviceOrigin(origin.x, origin.y + y + 1); + m_bmpCombo->DrawItem(dc, n); + } + + y += dy; + if (y > -origin.y + clientSize.y) + break; + } + + dc.SetDeviceOrigin(0, 0); + PrepareDC(dc); // reset back + + if (m_bmpCombo->GetSelection() >= 0) + { + if (m_last_selection < 0) + m_last_selection = m_bmpCombo->GetSelection(); + + DrawSelection(m_last_selection, dc); + } +} + +void wxBitmapComboPopupChild::OnMouse( wxMouseEvent &event ) +{ + wxPoint mouse = event.GetPosition(); + CalcUnscrolledPosition(mouse.x, mouse.y, &mouse.x, &mouse.y); + + //wxPrintf(wxT("bmpcombo mouse %d %d\n"), mouse.x, mouse.y); fflush(stdout); + + // Get selection from mouse pos, force valid + int sel = m_bmpCombo->GetItemSize().y != 0 ? mouse.y/m_bmpCombo->GetItemSize().y : -1; + if (sel < 0) + sel = 0; + else if (sel >= m_bmpCombo->GetCount()) + sel = m_bmpCombo->GetCount()-1; + + if (event.LeftDown()) + { + // quickly show user what they selected before hiding it + if (sel != m_last_selection) + { + wxClientDC dc(this); + PrepareDC(dc); + if (m_last_selection >= 0) + DrawSelection(m_last_selection, dc); + if (sel >= 0) + DrawSelection(sel, dc); + + m_last_selection = sel; + } + + m_bmpCombo->SetSelection(sel, true); + m_bmpCombo->HidePopup(); + return; + } +} + +void wxBitmapComboPopupChild::OnKeyDown( wxKeyEvent &event ) +{ + int sel = m_last_selection; + + switch (event.GetKeyCode()) + { + case WXK_ESCAPE : + { + m_bmpCombo->HidePopup(); + return; + } + case WXK_RETURN : + { + m_bmpCombo->SetSelection(sel, true); + m_bmpCombo->HidePopup(); + return; + } + case WXK_UP : sel--; break; + case WXK_DOWN : sel++; break; + default : event.Skip(true); return; + } + + if (sel < 0) + sel = 0; + if (sel >= m_bmpCombo->GetCount()) + sel = m_bmpCombo->GetCount()-1; + + if (sel != m_last_selection) + { + wxClientDC dc(this); + PrepareDC(dc); + if (m_last_selection>=0) + DrawSelection(m_last_selection, dc); + + if (sel>=0) + DrawSelection(sel, dc); + + m_last_selection = sel; + } +} + +void wxBitmapComboPopupChild::DrawSelection( int n, wxDC& dc ) +{ + dc.SetBrush(*wxTRANSPARENT_BRUSH); + dc.SetPen(*wxBLACK_PEN); + dc.SetLogicalFunction(wxINVERT); + int height = m_bmpCombo->GetItemSize().y; + dc.DrawRectangle(0, wxMax(0,height*n-1), GetClientSize().x, height+2); + dc.SetLogicalFunction(wxCOPY); +} + +// ========================================================================== +// wxBitmapComboLabel - the main "window" to the left of the dropdown button +// ========================================================================== +IMPLEMENT_DYNAMIC_CLASS( wxBitmapComboLabel, wxWindow ) + +BEGIN_EVENT_TABLE(wxBitmapComboLabel, wxWindow) + EVT_PAINT( wxBitmapComboLabel::OnPaint ) + EVT_CHAR( wxBitmapComboLabel::OnChar ) +END_EVENT_TABLE() + +void wxBitmapComboLabel::OnChar( wxKeyEvent &event ) +{ + switch (event.GetKeyCode()) + { + case WXK_UP : m_bmpCombo->SetNextSelection(false, true); break; + case WXK_DOWN : m_bmpCombo->SetNextSelection(true, true); break; + default : break; + } +} + +void wxBitmapComboLabel::OnPaint( wxPaintEvent &WXUNUSED(event) ) +{ + wxPaintDC dc(this); + dc.SetFont(m_bmpCombo->GetFont()); + //dc.SetBackground(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + //dc.Clear(); + dc.SetBrush(*wxTheBrushList->FindOrCreateBrush(GetBackgroundColour(), wxSOLID)); + dc.SetPen(*wxTRANSPARENT_PEN); + dc.DrawRectangle(wxRect(wxPoint(0,0), GetClientSize())); + + const int sel = m_bmpCombo->GetSelection(); + if ((sel >= 0) && (sel < m_bmpCombo->GetCount())) + m_bmpCombo->DrawItem(dc, sel); +} + +// ============================================================================ +// wxBitmapComboBox +// ============================================================================ +IMPLEMENT_DYNAMIC_CLASS( wxBitmapComboBox, DropDownBase ) + +BEGIN_EVENT_TABLE(wxBitmapComboBox,DropDownBase) + EVT_SIZE( wxBitmapComboBox::OnSize ) +END_EVENT_TABLE() + +wxBitmapComboBox::~wxBitmapComboBox() +{ + while (m_bitmaps.GetCount() > 0u) + { + wxBitmap *bmp = (wxBitmap*)m_bitmaps.Item(0); + m_bitmaps.RemoveAt(0); + delete bmp; + } +} + +void wxBitmapComboBox::Init() +{ + m_labelWin = NULL; + m_frozen = true; + m_selection = 0; + m_win_border = 0; + m_label_style = wxBMPCOMBO_LEFT; +} + +bool wxBitmapComboBox::Create( wxWindow* parent, wxWindowID id, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!DropDownBase::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name)) + return false; + + m_labelWin = new wxBitmapComboLabel(this); + m_win_border = m_labelWin->GetSize().x - m_labelWin->GetClientSize().x; + + SetBackgroundColour(*wxWHITE); + + m_frozen = false; + CalcLayout(); + + wxSize bestSize = DoGetBestSize(); + SetSize( wxSize(size.x < 0 ? bestSize.x : size.x, + size.y < 0 ? bestSize.y : size.y) ); + + return SetButtonStyle(style); +} + +#define BMPCOMBO_LABEL_MASK (wxBMPCOMBO_LEFT|wxBMPCOMBO_RIGHT) + +bool wxBitmapComboBox::SetButtonStyle(long style) +{ + style &= BMPCOMBO_LABEL_MASK; // strip off extras + + int n_styles = 0; + if (style & wxBMPCOMBO_LEFT) n_styles++; + if (style & wxBMPCOMBO_RIGHT) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxBitmapComboBox label position allowed")); + if (n_styles < 1) style |= (m_label_style & BMPCOMBO_LABEL_MASK); + + m_label_style = style; + + m_labelWin->Refresh(true); + + return true; +} + +void wxBitmapComboBox::OnSize( wxSizeEvent& event ) +{ + event.Skip(); + + if (!m_labelWin || !m_dropdownButton) return; + + wxSize size = GetClientSize(); + //wxPrintf(wxT("ComboOnSize %d %d\n"), size.x, size.y); + int width = size.x - ((wxWindow*)m_dropdownButton)->GetSize().x; + m_labelWin->SetSize(0, 0, width, size.y); +} + +void wxBitmapComboBox::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ +/* + wxSize curSize( GetSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (height == -1) + height = curSize.GetHeight(); +*/ + DropDownBase::DoSetSize(x, y, width, height, sizeFlags); +/* + width = width - ((wxWindow*)m_dropdownButton)->GetSize().x; + m_labelWin->SetSize(0, 0, width, height); +*/ +} + +wxSize wxBitmapComboBox::DoGetBestSize() const +{ + if (GetCount() == 0) return DropDownBase::DoGetBestSize(); + + wxSize size(0,0); + size.x = m_labelSize.x + m_bitmapSize.x + (m_labelSize.x != 0 ? BORDER*2 : 0); + size.y = wxMax(m_labelSize.y, m_bitmapSize.y) + m_win_border; + + size.x += m_win_border + DROPDOWN_DROP_WIDTH; + if (size.y < DROPDOWN_DROP_HEIGHT) size.y = DROPDOWN_DROP_HEIGHT; + + return size; +} + +int wxBitmapComboBox::DoGetBestDropHeight(int max_height) +{ + int count = GetCount(); + if (count < 1) return -1; + + // add one for drawing selection rect + return wxMin(m_itemSize.y*count + m_win_border+1, max_height); +} + +bool wxBitmapComboBox::DoShowPopup() +{ + if (m_popupWin) + { + wxBitmapComboPopupChild *popChild = new wxBitmapComboPopupChild(m_popupWin, this); + m_popupWin->SetChild(popChild); + + if (popChild) + { + popChild->m_last_selection = GetSelection(); + int scr_pos = m_selection > 0 ? m_selection*m_itemSize.y-1 : 0; + int count = GetCount(); + popChild->SetScrollbars(1, 1, m_itemSize.x, m_itemSize.y*count+1, 0, scr_pos); + } + } + + return DropDownBase::DoShowPopup(); +} + +void wxBitmapComboBox::HidePopup() +{ + DropDownBase::HidePopup(); + + // FIXME - MSW destroys the sunken border of labelWin when in toolbar + // a refresh doesn't help +} + +void wxBitmapComboBox::Thaw() +{ + m_frozen = false; + CalcLayout(); + if (m_labelWin) + m_labelWin->Refresh(); +} + +void wxBitmapComboBox::CalcLayout() +{ + if (m_frozen) return; + + int height = 0, width = 0; + m_itemSize = m_labelSize = m_bitmapSize = wxSize(0,0); + int count = GetCount(); + wxBitmap bmp; + + for (int n=0; n m_bitmapSize.x) m_bitmapSize.x = width; + if (height > m_bitmapSize.y) m_bitmapSize.y = height; + } + if (!m_labels[n].IsEmpty()) + { + GetTextExtent(m_labels[n], &width, &height); + + if (width > m_labelSize.x) m_labelSize.x = width; + if (height > m_labelSize.y) m_labelSize.y = height; + } + } + + m_itemSize.x = m_labelSize.x + m_bitmapSize.x + m_win_border; + m_itemSize.y = wxMax(m_labelSize.y, m_bitmapSize.y) + m_win_border; +} + +void wxBitmapComboBox::CalcLabelBitmapPos(int n, const wxSize &area, wxPoint &labelPos, wxPoint &bitmapPos) const +{ + labelPos = bitmapPos = wxPoint(0,0); + + int bw = 0, bh = 0; + int lw = 0, lh = 0; + + if (GetBitmap(n).Ok()) + { + bw = GetBitmap(n).GetWidth(); + bh = GetBitmap(n).GetHeight(); + } + if (!m_labels[n].IsEmpty()) + { + GetTextExtent(m_labels[n], &lw, &lh); + } + + if (m_bitmapSize.x == 0) // There aren't any bitmaps, left align label + { + labelPos = wxPoint(BORDER, (area.y-lh)/2); + } + else if (m_labelSize.x == 0) // There aren't any labels, center bitmap + { + bitmapPos = wxPoint((area.x-bw)/2, (area.y-bh)/2); + } + else if ((m_label_style & wxBMPCOMBO_RIGHT) != 0) + { + labelPos = wxPoint(m_bitmapSize.x+BORDER, (area.y - lh)/2); + bitmapPos = wxPoint((m_bitmapSize.x-bw)/2, (area.y - bh)/2); + } + else // if ((m_label_style & wxBMPCOMBO_LEFT) != 0) + { + labelPos = wxPoint(BORDER, (area.y - lh)/2); + bitmapPos = wxPoint(BORDER*2 + m_labelSize.x + (area.x - BORDER*2 - m_labelSize.x - bw)/2, (area.y - bh)/2); + } +} + +void wxBitmapComboBox::DrawItem(wxDC &dc, int n) const +{ + wxSize itemSize(GetItemSize()); //((wxWindow*)GetLabelWindow())->GetClientSize().x, dy); + + wxPoint labelPos, bitmapPos; + CalcLabelBitmapPos(n, itemSize, labelPos, bitmapPos); + + if (GetBitmap(n).Ok()) + dc.DrawBitmap(GetBitmap(n), bitmapPos.x, bitmapPos.y, true); + if (!GetLabel(n).IsEmpty()) + dc.DrawText(GetLabel(n), labelPos.x, labelPos.y); +} + +void wxBitmapComboBox::Append(const wxString &label, const wxBitmap &bitmap, int count) +{ + for (int n=0; n=0) && (n 0u) + { + wxBitmap *bmp = (wxBitmap*)m_bitmaps.Item(0); + m_bitmaps.RemoveAt(0); + delete bmp; + } + CalcLayout(); +} + +void wxBitmapComboBox::Delete( int n, int count ) +{ + wxCHECK_RET((n>=0) && (count>0) && (n+count<=GetCount()), wxT("invalid index")); + + for (int i=0; i=0) && (n < GetCount()), wxEmptyString, wxT("invalid index")); + return m_labels[n]; +} + +wxBitmap wxBitmapComboBox::GetBitmap( int n ) const +{ + wxCHECK_MSG((n>=0) && (n < GetCount()), wxNullBitmap, wxT("invalid index")); + return *(wxBitmap *)m_bitmaps.Item(n); +} + +void wxBitmapComboBox::SetSelection( int n, bool send_event ) +{ + wxCHECK_RET((n>=0) && (n < GetCount()), wxT("invalid index")); + m_selection = n; + m_labelWin->Refresh(true); + + if (send_event) + { + wxCommandEvent event( wxEVT_COMMAND_COMBOBOX_SELECTED, GetId() ); + event.SetInt( m_selection ); + event.SetEventObject( this ); + GetEventHandler()->ProcessEvent( event ); + } +} + +void wxBitmapComboBox::SetNextSelection(bool foward, bool send_event) +{ + const int count = GetCount(); + if (count == 0) return; + + int sel = m_selection; + + if (foward) + { + if ((sel < 0) || (sel == count - 1)) + sel = 0; + else + sel++; + } + else + { + if (sel <= 0) + sel = count - 1; + else + sel--; + } + + SetSelection(sel, send_event); +} + +void wxBitmapComboBox::SetLabel(int n, const wxString &label) +{ + wxCHECK_RET( (n>=0) && (n < GetCount()), wxT("invalid index")); + m_labels[n] = label; + CalcLayout(); + + if (n == m_selection) m_labelWin->Refresh(false); +} + +void wxBitmapComboBox::SetBitmap(int n, const wxBitmap &bitmap) +{ + wxCHECK_RET((n>=0) && (n < GetCount()), wxT("invalid index")); + *((wxBitmap*)m_bitmaps.Item(n)) = bitmap; + CalcLayout(); + + if (n == m_selection) m_labelWin->Refresh(false); +} + +bool wxBitmapComboBox::SetBackgroundColour(const wxColour &colour) +{ + // not a failure for wx 2.5.x since InheritAttributes calls this + // from wxWindow::Create + if (m_labelWin) + { + m_labelWin->SetBackgroundColour(colour); + m_labelWin->Refresh(); + } + return DropDownBase::SetBackgroundColour(colour); +} diff --git a/3rdparty/wxthings/src/dropdown.cpp b/3rdparty/wxthings/src/dropdown.cpp new file mode 100644 index 0000000..6450cb8 --- /dev/null +++ b/3rdparty/wxthings/src/dropdown.cpp @@ -0,0 +1,405 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: DropDownBase +// Purpose: base class for a control like a combobox +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "dropdown.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/bitmap.h" +#endif // WX_PRECOMP + +#include "wx/timer.h" +#include "wx/things/dropdown.h" +#include "wx/things/toggle.h" +#include "wx/renderer.h" + +/* XPM */ +static const char *down_arrow_xpm_data[] = { +/* columns rows colors chars-per-pixel */ +"7 4 2 1", +" c None", +"a c Black", +/* pixels */ +"aaaaaaa", +" aaaaa ", +" aaa ", +" a "}; + +#define IDD_DROPDOWN_BUTTON 100 + +static wxBitmap s_dropdownBitmap; // all buttons share the same bitmap + +// ========================================================================== +// DropDownPopup +// ========================================================================== +#define USE_POPUP_TIMER 0 // FIXME after 2.5.4 we don't need either +#define USE_POPUP_IDLE 0 + +IMPLEMENT_DYNAMIC_CLASS( DropDownPopup, wxPopupTransientWindow ) + +BEGIN_EVENT_TABLE(DropDownPopup, wxPopupTransientWindow) + EVT_KEY_DOWN(DropDownPopup::OnKeyDown) + EVT_MOUSE_EVENTS(DropDownPopup::OnMouse) +#if USE_POPUP_TIMER + EVT_TIMER( wxID_ANY, DropDownPopup::OnTimer ) +#endif // USE_POPUP_TIMER +#if USE_POPUP_IDLE + EVT_IDLE( DropDownPopup::OnIdle ) // use Connect/Disconnect instead +#endif // USE_POPUP_IDLE +END_EVENT_TABLE() + +bool DropDownPopup::Create(DropDownBase *parent, int style) +{ + m_owner = parent; + return wxPopupTransientWindow::Create(parent, style); +} + +void DropDownPopup::Init() +{ + m_owner = NULL; + m_childWin = NULL; + m_timer = NULL; + m_popped_handler = false; +} + +DropDownPopup::~DropDownPopup() +{ + StopTimer(); +} + +void DropDownPopup::StartTimer() +{ +#if USE_POPUP_TIMER + if (!m_timer) + m_timer = new wxTimer(this, wxID_ANY); + + m_timer->Start(200, false); +#endif // USE_POPUP_TIMER +} + +void DropDownPopup::StopTimer() +{ + if (m_timer) + { + if (m_timer->IsRunning()) + m_timer->Stop(); + delete m_timer; + m_timer = NULL; + } +} + +void DropDownPopup::PushPopupHandler(wxWindow* child) +{ + if (child && m_handlerPopup && m_popped_handler) + { + m_popped_handler = false; + + if (child->GetEventHandler() != (wxEvtHandler*)m_handlerPopup) + child->PushEventHandler((wxEvtHandler*)m_handlerPopup); + if (!child->HasCapture()) + child->CaptureMouse(); + + child->SetFocus(); + } +} +void DropDownPopup::PopPopupHandler(wxWindow* child) +{ + if (child && m_handlerPopup && !m_popped_handler) + { + m_popped_handler = true; + + if (child->GetEventHandler() == (wxEvtHandler*)m_handlerPopup) + child->PopEventHandler(false); + if (child->HasCapture()) + child->ReleaseMouse(); + + child->SetFocus(); + } +} + +void DropDownPopup::OnTimer( wxTimerEvent &WXUNUSED(event) ) +{ + if (!IsShown()) return; + + m_mouse = ScreenToClient(wxGetMousePosition()); + + wxWindow *child = GetChild(); + if (!child) return; // nothing to do + + wxRect clientRect(GetClientRect()); + //wxPrintf(wxT("**DropDownPopup::OnTimer mouse %d %d -- %d %d %d\n"), m_mouse.x, m_mouse.y, m_popped_handler, m_child, m_handlerPopup); fflush(stdout); + // pop the event handler if inside the child window or + // restore the event handler if not in the child window + if (clientRect.Inside(m_mouse)) + PopPopupHandler(child); + else + PushPopupHandler(child); +} + +void DropDownPopup::OnIdle( wxIdleEvent& event ) +{ + if (IsShown()) + { + m_mouse = ScreenToClient(wxGetMousePosition()); + wxPrintf(wxT("OnIdle mouse %d %d\n"), m_mouse.x, m_mouse.y); + + wxWindow *child = GetChild(); + if (!child) return; // nothing to do + + wxRect clientRect(GetClientRect()); + //wxPrintf(wxT("**DropDownPopup::OnIdle mouse %d %d -- %d %d %d\n"), m_mouse.x, m_mouse.y, m_popped_handler, m_child, m_handlerPopup); fflush(stdout); + // pop the event handler if inside the child window or + // restore the event handler if not in the child window + if (clientRect.Inside(m_mouse)) + PopPopupHandler(child); + else + PushPopupHandler(child); + } + event.Skip(); +} + +void DropDownPopup::OnMouse( wxMouseEvent& event ) +{ + m_mouse = event.GetPosition(); + event.Skip(); +} + +void DropDownPopup::OnKeyDown( wxKeyEvent &event ) +{ + if (GetChild() && GetChild()->ProcessEvent(event)) + event.Skip(false); + else + event.Skip(true); +} + +void DropDownPopup::SetChild(wxWindow *win) +{ + m_childWin = win; +} + +void DropDownPopup::Popup(wxWindow *focus) +{ + wxPopupTransientWindow::Popup(focus); + +#if USE_POPUP_IDLE + Connect(wxID_ANY, wxEVT_IDLE, + (wxObjectEventFunction)(wxEventFunction)(wxIdleEventFunction) + &DropDownPopup::OnIdle, 0, this); +#endif //USE_POPUP_IDLE + +#if USE_POPUP_TIMER + // start the timer to track the mouse position + StartTimer(); +#endif //USE_POPUP_TIMER +} + +void DropDownPopup::Dismiss() +{ +#if USE_POPUP_IDLE + Disconnect(wxID_ANY, wxEVT_IDLE, + (wxObjectEventFunction)(wxEventFunction)(wxIdleEventFunction) + &DropDownPopup::OnIdle, 0, this); +#endif //USE_POPUP_IDLE + +#if USE_POPUP_TIMER + StopTimer(); +#endif //USE_POPUP_TIMER + + // restore the event handler if necessary for the base class Dismiss + wxWindow *child = GetChild(); + if (child) PushPopupHandler(child); + + m_popped_handler = false; + + wxPopupTransientWindow::Dismiss(); +} + +bool DropDownPopup::ProcessLeftDown( wxMouseEvent &event ) +{ + m_mouse = event.GetPosition(); + //wxPrintf(wxT("DropDownPopup::ProcessLeftDown %d %d\n"), m_mouse.x, m_mouse.y); fflush(stdout); + + if (m_popped_handler) return true; // shouldn't ever get here, but just in case + + StopTimer(); + + // don't let the click on the dropdown button actually press it + wxCustomButton *dropBut = m_owner->GetDropDownButton(); + if (dropBut) + { + wxPoint dropMousePt = dropBut->ScreenToClient(ClientToScreen(m_mouse)); + if (dropBut->HitTest(dropMousePt) == wxHT_WINDOW_INSIDE) + { + m_ignore_popup = true; + Dismiss(); + return true; + } + } + + if (GetClientRect().Inside(m_mouse)) + return false; + + Dismiss(); + return true; +} + +// ============================================================================ +// DropDownBase +// ============================================================================ + +IMPLEMENT_DYNAMIC_CLASS( DropDownBase, wxControl ) + +BEGIN_EVENT_TABLE(DropDownBase, wxControl) + EVT_BUTTON(IDD_DROPDOWN_BUTTON, DropDownBase::OnDropButton) + EVT_SIZE( DropDownBase::OnSize ) +END_EVENT_TABLE() + +DropDownBase::~DropDownBase() +{ +} + +void DropDownBase::Init() +{ + m_popupWin = NULL; + m_dropdownButton = NULL; +} + +bool DropDownBase::Create( wxWindow* parent, wxWindowID id, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN|style,val,name)) + return false; + + if (!s_dropdownBitmap.Ok()) + s_dropdownBitmap = wxBitmap(down_arrow_xpm_data); + + m_dropdownButton = new wxCustomButton(this, IDD_DROPDOWN_BUTTON, + s_dropdownBitmap, + wxDefaultPosition, + wxSize(DROPDOWN_DROP_WIDTH, wxDefaultCoord), + wxCUSTBUT_BUTTON); + + return true; +} + +void DropDownBase::OnSize( wxSizeEvent& event ) +{ + event.Skip(); +/* + if (!m_dropdownButton) return; + + wxSize size = GetClientSize(); + wxPrintf(wxT("DropDownBase %d %d\n"), size.x, size.y); + + wxSize dropSize = m_dropdownButton->GetSize(); + m_dropdownButton->SetSize(size.x-dropSize.x, 0, dropSize.x, size.y); +*/ +} + +void DropDownBase::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + wxSize curSize( GetSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (height == -1) + height = curSize.GetHeight(); + + wxControl::DoSetSize(x, y, width, height, sizeFlags); + + wxSize dropSize = m_dropdownButton->GetSize(); + m_dropdownButton->SetSize(width-dropSize.x, 0, dropSize.x, height); +} + +wxSize DropDownBase::DoGetBestSize() const +{ + return wxSize(95, DROPDOWN_DROP_HEIGHT); +} + +bool DropDownBase::ShowPopup() +{ + int x = 0, y = GetSize().y; + ClientToScreen( &x, &y ); + + // control too low, can't show scrollbar, don't bother displaying + wxRect displayRect = wxGetClientDisplayRect(); + if (displayRect.GetBottom() - y < DROPDOWN_DROP_HEIGHT) return false; + + int width = GetSize().x; + int height = DoGetBestDropHeight(displayRect.GetBottom() - y); + if (height < 1) return false; + + m_popupWin = new DropDownPopup(this); + + m_popupWin->SetSize(x, y, width, height); + if (m_popupWin->GetChild()) + m_popupWin->GetChild()->SetSize(width, height); + + //wxPrintf(wxT("ShowPopup %d %d, %d %d -- %d\n"), width, height, m_popupWin->GetSize().x, m_popupWin->GetSize().y, m_popupWin->GetMinHeight()); + + return DoShowPopup(); +} + +bool DropDownBase::DoShowPopup() +{ + if (m_popupWin) + { + if (m_popupWin->GetChild()) + m_popupWin->GetChild()->SetSize(m_popupWin->GetClientSize()); + + m_popupWin->Popup(this); + return true; + } + + return false; +} + +void DropDownBase::HidePopup() +{ + if (m_popupWin) + { + m_popupWin->Dismiss(); + m_popupWin->Destroy(); + m_popupWin = NULL; + } + + m_dropdownButton->Refresh(true); // MSW help in toolbar +} + +bool DropDownBase::IsPopupShown() +{ + return m_popupWin && m_popupWin->IsShown(); +} + +void DropDownBase::OnDropButton( wxCommandEvent &WXUNUSED(event)) +{ + if (m_popupWin && m_popupWin->m_ignore_popup) + { + m_popupWin->m_ignore_popup = false; + return; + } + + if (IsPopupShown()) + HidePopup(); + else + ShowPopup(); +} diff --git a/3rdparty/wxthings/src/filebrws.cpp b/3rdparty/wxthings/src/filebrws.cpp new file mode 100644 index 0000000..f984875 --- /dev/null +++ b/3rdparty/wxthings/src/filebrws.cpp @@ -0,0 +1,2626 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: filebrws.cpp +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "filebrws.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/wx.h" +#endif // WX_PRECOMP + +#include "wx/mimetype.h" +#include "wx/tglbtn.h" // for EVT_TOGGLE_BUTTON +#include "wx/splitter.h" +#include "wx/imaglist.h" +#include "wx/confbase.h" +#include "wx/filename.h" +#include "wx/dir.h" +#include "wx/artprov.h" +#include "wx/image.h" // wxInitAllImageHandlers +#include "wx/renderer.h" +#include "wx/file.h" +#include "wx/txtstrm.h" +#include "wx/wfstream.h" + +#include "wx/filefn.h" // wxStat + +#include "wx/things/filebrws.h" + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayFileData); + +// #include "wx/stedit/stedit.h" + +// defined in src/generic/dirctrlg.cpp +extern size_t wxGetAvailableDrives(wxArrayString &paths, wxArrayString &names, wxArrayInt &icon_ids); + +#define BORDER 5 +#define MIN_SPLIT 8 + +//------------------------------------------------------------------------------ +// constants +//------------------------------------------------------------------------------ + +enum +{ + ID_wxFILEBROWSER_PATH_COMBO = 100, + ID_wxFILEBROWSER_PATH_BUTTON, + ID_wxFILEBROWSER_DIRCTRL, + ID_wxFILEBROWSER_LISTCTRL, + ID_wxFLEBROWSER_VIEW_TOOLBAR, + ID_wxFLEBROWSER_PATH_TOOLBAR, + + ID_wxFILEBROWSER_FILTER_COMBO, + + ID_wxFILEBROWSER_VIEW_BUTTON, + + ID_wxFILEBROWSER_VIEW_TREE, + ID_wxFILEBROWSER_VIEW_LIST, + ID_wxFILEBROWSER_VIEW_DETAILS, + ID_wxFILEBROWSER_VIEW_SMALL_ICON, + ID_wxFILEBROWSER_VIEW_LARGE_ICON, + ID_wxFILEBROWSER_VIEW_PREVIEW, + + ID_wxFILEBROWSER_GO_BACK, + ID_wxFILEBROWSER_GO_FORWARD, + ID_wxFILEBROWSER_GO_UP, + ID_wxFILEBROWSER_GO_HOME, + ID_wxFILEBROWSER_REFRESH, + + ID_wxFILEBROWSER_TREE_MENU_PROPERITES, + + ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, + ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, + ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, + ID_wxFILEBROWSER_LIST_MENU_DELETE, + ID_wxFILEBROWSER_LIST_MENU_RENAME, + ID_wxFILEBROWSER_LIST_MENU_PROPERITES, + + ID_wxFILEBROWSER_LIST_MENU_OPTIONS, + ID_wxFILEBROWSER_SHOW_HIDDEN, + ID_wxFILEBROWSER_SHOW_FOLDERS, + ID_wxFILEBROWSER_SPLIT_VERTICAL, + + ID_wxFILEBROWSER_COMBOSETPATH, // for delayed setting path to get out of combo event for Gtk + ID_wxFILEBROWSER_COMBOSETFILTER +}; + +int wxFileBrowser::FBStyleToLCStyle(int s) const // wxFileBrowserStyles_Type to wxLC_XXX +{ + return + (s)&wxFILEBROWSER_TREE ? wxLC_REPORT : + (s)&wxFILEBROWSER_LIST ? wxLC_LIST : + (s)&wxFILEBROWSER_DETAILS ? wxLC_REPORT : + (s)&wxFILEBROWSER_SMALL_ICON ? wxLC_SMALL_ICON : + (s)&wxFILEBROWSER_LARGE_ICON ? wxLC_ICON : + (s)&wxFILEBROWSER_PREVIEW ? wxLC_ICON : wxLC_REPORT; +} +int wxFileBrowser::FBStyleToMenuID(int s) const // wxFileBrowserStyles_Type menu id +{ + return + (s)&wxFILEBROWSER_TREE ? ID_wxFILEBROWSER_VIEW_TREE : + (s)&wxFILEBROWSER_LIST ? ID_wxFILEBROWSER_VIEW_LIST : + (s)&wxFILEBROWSER_DETAILS ? ID_wxFILEBROWSER_VIEW_DETAILS : + (s)&wxFILEBROWSER_SMALL_ICON ? ID_wxFILEBROWSER_VIEW_SMALL_ICON : + (s)&wxFILEBROWSER_LARGE_ICON ? ID_wxFILEBROWSER_VIEW_LARGE_ICON : + (s)&wxFILEBROWSER_PREVIEW ? ID_wxFILEBROWSER_VIEW_PREVIEW : ID_wxFILEBROWSER_VIEW_DETAILS; +} +int wxFileBrowser::MenuIDToFBStyle(int id) const // menu id to wxFileBrowserStyles_Type +{ + return + (id)==ID_wxFILEBROWSER_VIEW_TREE ? wxFILEBROWSER_TREE : + (id)==ID_wxFILEBROWSER_VIEW_LIST ? wxFILEBROWSER_LIST : + (id)==ID_wxFILEBROWSER_VIEW_DETAILS ? wxFILEBROWSER_DETAILS : + (id)==ID_wxFILEBROWSER_VIEW_SMALL_ICON ? wxFILEBROWSER_SMALL_ICON : + (id)==ID_wxFILEBROWSER_VIEW_LARGE_ICON ? wxFILEBROWSER_LARGE_ICON : + (id)==ID_wxFILEBROWSER_VIEW_PREVIEW ? wxFILEBROWSER_PREVIEW : wxFILEBROWSER_DETAILS; +} + +//============================================================================ +// Button Icons +//============================================================================ +/* XPM */ +/* +static const char *view_xpm_data[] = { +// columns rows colors chars-per-pixel +"16 16 4 1", +"a c Black", +"b c #0000FF", +"c c #FFFFFF", +"d c #808080", +// pixels +"aaaaaaaaaaaaaaaa", +"abbbbbbbbbbbbbba", +"abbbbbbbbbbbbbba", +"aaaaaaaaaaaaaaaa", +"adddddddddddddda", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"acbbccccbbccccca", +"acbbaaacbbaaacca", +"acccccccccccccca", +"aaaaaaaaaaaaaaaa"}; + +static const char *details_xpm_data[]={ +"16 15 4 1", +"# c None", +"a c #000000", +"b c #000080", +". c #c0c0c0", +"################", +"###aaaa#aaa#aaa#", +"################", +"bbbbbbbbbbbbbbbb", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################", +"b##aaaa#aaa#aaa#", +"################"}; + +static const char *list_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................", +"................", +"##......##......", +"#a#.bbb.#a#.bbb.", +"###.....###.....", +"................"}; + +static const char *large_icons_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +"..###...........", +"..#a##..........", +"..#aa#..........", +"..#aa#..........", +"..####..........", +"................", +".bbbbbb...###...", +"..........#a##..", +"..........#aa#..", +"..........#aa#..", +"..........####..", +"................", +".........bbbbbb.", +"................"}; + +static const char *small_icons_xpm_data[]={ +"16 15 4 1", +". c None", +"b c #000000", +"# c #000080", +"a c #ffffff", +"................", +".##.............", +".#a#.bbb........", +".###............", +"................", +"................", +"........##......", +"........#a#.bbb.", +"........###.....", +"................", +"................", +"...##...........", +"...#a#.bbb......", +"...###..........", +"................"}; + +static const char *tree_xpm_data[]={ +"16 15 4 1", +". c None", +"# c #000000", +"a c #ffff00", +"b c #ffffff", +".#aa#...........", +".#a##...........", +"..#.............", +"..####aa#.......", +".....#a##.......", +"......#.........", +"......####b#b#..", +"......#..#b#b#..", +"......#.........", +"......####b#b#..", +"......#..#b#b#..", +"......#.........", +".......###b#b#..", +".........#b#b#..", +"................"}; + +static const char *preview_xpm_data[]={ +"16 15 14 1", +". c None", +"k c #000080", +"l c #0058c0", +"g c #0080ff", +"e c #585858", +"c c #808080", +"b c #89562f", +"f c #a0a0a0", +"h c #a86a3a", +"j c #bd7741", +"i c #d48549", +"# c #ff0000", +"a c #ffff00", +"d c #ffffff", +".......###......", +".a..a..bc.#.....", +"..aa...bdc......", +"..aa..cbddc.....", +".a..acdbdddc....", +"....cddbddddc...", +"....eddbddddf...", +"....eddbdddddf..", +".....edbddddff..", +"..g.hiijiiih.g..", +".gggghiiiihgggg.", +".kllllhhhhggllk.", +".llllllllllllll.", +".kklkllklklklkk.", +"................"}; + +static const char *hidden_xpm_data[] = { +"16 15 7 1", +" c None", +"a c Black", +"b c #EFBE1B", +"d c #F6F0B4", +"e c #FFEF7D", +"f c #FBD915", +"g c #8E8220", +" ", +" aaa ", +" addfa ", +" adffffa ", +" adfdadba ", +" affaaabga ", +" aedadbga ", +" adfbbbgga ", +" adfbaggga ", +" adfba aaa ", +" adfba ", +" adfbgga ", +" abbaga ", +" aa a ", +" "}; +*/ + +wxBitmap GetBitmapFromIconId(int imageId) +{ + return wxTheFileIconsTable->GetSmallImageList()->GetBitmap(imageId); +} + +// ---------------------------------------------------------------------------- +// CopyDir - copy a full directory recursively, returns # files copied +// code taken and modified from wxWidgets forum, by "Tyler" - public domain +// ---------------------------------------------------------------------------- + +int CopyDir(const wxString& fromDir, const wxString& toDir) +{ + wxString from(fromDir), to(toDir); + + if (!from.length() || !to.length()) return false; + + // append a slash if there is not one (for easier parsing) + // because who knows what people will pass to the function. + if (to[to.length()-1] != wxFILE_SEP_PATH) + to += wxFILE_SEP_PATH; + if (from[from.length()-1] != wxFILE_SEP_PATH) + from += wxFILE_SEP_PATH; + + // first make sure that the source dir exists + if(!wxDir::Exists(from)) + { + wxLogError(from + wxT(" does not exist. Can not copy directory.")); + return 0; + } + + if (!wxDir::Exists(to)) + wxMkdir(to); + + wxDir dir(from); + wxString filename; + int count = 0; + + if (dir.GetFirst(&filename)) + { + do { + if (wxDirExists(from + filename)) + { + wxMkdir(to + filename); + count += CopyDir(from + filename, to + filename); + } + else + { + wxCopyFile(from + filename, to + filename); + count++; + } + } + while (dir.GetNext(&filename)); + } + return count; +} + +//------------------------------------------------------------------------------ +// MultilineTextDialog - makes the wxTextEntryDialog multiline +//------------------------------------------------------------------------------ + +MultilineTextDialog::MultilineTextDialog(wxWindow *parent, + const wxString& message, + const wxString& caption, + const wxString& value, + long style, + const wxPoint& pos) + :wxTextEntryDialog(parent, message, caption, value, + style|wxTextEntryDialogStyle|wxTE_MULTILINE, pos) +{ + int height = m_textctrl->GetSize().y; + m_textctrl->SetSize(300, 100); + height = (100-height > 0) ? 100 - height : 0; + wxSize size(GetSize()); + SetSize(size.x, size.y+height); + Layout(); + //m_textctrl->SetEditable(false); +} + +//------------------------------------------------------------------------------ +// MultilineTextDialog +//------------------------------------------------------------------------------ +#define ID_OPENWITH_BROWSE 5 +#define ID_OPENWITH_TEXTCTRL 6 + +class OpenWithDialog : public wxDialog +{ +public: + OpenWithDialog(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Open With"), + const wxString& openCommand = wxEmptyString, + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition) : wxDialog(), m_fileData(fileData) + { + m_textCtrl = NULL; + Create(parent, winId, fileData, caption, openCommand, style, pos); + } + bool Create(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Open With"), + const wxString& openCommand = wxEmptyString, + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition); + + wxString GetOpenCommand() const { return m_command; } + +protected: + void OnButton(wxCommandEvent& event); + + wxString m_command; + wxFileData m_fileData; + wxTextCtrl *m_textCtrl; + DECLARE_EVENT_TABLE(); +}; + +BEGIN_EVENT_TABLE(OpenWithDialog, wxDialog) + EVT_BUTTON(-1, OpenWithDialog::OnButton) +END_EVENT_TABLE() + +bool OpenWithDialog::Create(wxWindow *parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption, + const wxString& openCommand, + long style, const wxPoint& pos) +{ + if (!wxDialog::Create(parent, winId, caption, pos, wxDefaultSize, style)) + return false; + + m_fileData = fileData; + wxFileName fileName(fileData.GetFilePath()); + wxString openCmd = openCommand; + wxString description(wxT("Unknown file type")); + if (openCmd.IsEmpty()) + { + wxFileType *fileType = wxTheMimeTypesManager->GetFileTypeFromExtension(fileName.GetExt()); + if (fileType) + { + fileType->GetDescription(&description); + openCmd = fileType->GetOpenCommand(fileName.GetFullPath()); + } + } + + wxBoxSizer *rootSizer = new wxBoxSizer( wxVERTICAL ); + + wxStaticText *labelText = new wxStaticText( this, wxID_ANY, wxT("Choose the program to open the file"), wxDefaultPosition, wxDefaultSize, 0 ); + rootSizer->Add( labelText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *iconSizer = new wxFlexGridSizer( 2, 0, 0 ); + iconSizer->AddGrowableCol( 1 ); + + wxBitmap iconBitmap = GetBitmapFromIconId(m_fileData.GetImageId()); + wxStaticBitmap *staticBitmap = new wxStaticBitmap( this, wxID_ANY, iconBitmap, wxDefaultPosition, wxDefaultSize ); + iconSizer->Add( staticBitmap, 0, wxALIGN_CENTER|wxALL, 5 ); + + wxStaticText *nameText = new wxStaticText( this, wxID_ANY, fileName.GetFullPath(), wxDefaultPosition, wxDefaultSize, 0 ); + iconSizer->Add( nameText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + iconSizer->AddSpacer(5); + + wxStaticText *descripText = new wxStaticText( this, wxID_ANY, description, wxDefaultPosition, wxDefaultSize, 0 ); + iconSizer->Add( descripText, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + rootSizer->Add( iconSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticBox *staticBox = new wxStaticBox( this, wxID_ANY, wxT("Program") ); + wxStaticBoxSizer *staticBoxSizer = new wxStaticBoxSizer( staticBox, wxVERTICAL ); + + m_textCtrl = new wxTextCtrl( this, ID_OPENWITH_TEXTCTRL, openCmd, wxDefaultPosition, wxSize(400,-1), 0 ); + staticBoxSizer->Add( m_textCtrl, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *browseSizer = new wxFlexGridSizer( 2, 0, 0 ); + browseSizer->AddGrowableCol( 1 ); + + wxButton *browseButton = new wxButton( this, ID_OPENWITH_BROWSE, wxT("Browse..."), wxDefaultPosition, wxDefaultSize, 0 ); + browseSizer->Add( browseButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + //wxCheckBox *item10 = new wxCheckBox( this, wxID_ANY, wxT("Always use selected program to open this kind of file"), wxDefaultPosition, wxDefaultSize, 0 ); + //browseSizer->Add( item10, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + browseSizer->AddSpacer(5); + staticBoxSizer->Add( browseSizer, 0, wxGROW|wxALIGN_CENTER|wxALL, 0 ); + + rootSizer->Add( staticBoxSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxBoxSizer *buttonSizer = new wxBoxSizer( wxHORIZONTAL ); + + wxButton *okButton = new wxButton( this, wxID_OK, wxT("OK"), wxDefaultPosition, wxDefaultSize, 0 ); + okButton->SetDefault(); + buttonSizer->Add( okButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + wxButton *cancelButton = new wxButton( this, wxID_CANCEL, wxT("Cancel"), wxDefaultPosition, wxDefaultSize, 0 ); + buttonSizer->Add( cancelButton, 0, wxALIGN_CENTER|wxALL, 5 ); + + rootSizer->Add( buttonSizer, 0, wxALIGN_CENTER|wxALL, 5 ); + + SetMinSize(wxSize(400, 300)); + SetSizer( rootSizer ); + rootSizer->SetSizeHints( this ); + return true; +} + +void OpenWithDialog::OnButton(wxCommandEvent& event) +{ + switch (event.GetId()) + { + case wxID_CANCEL : m_command.Clear(); break; + case wxID_OK : m_command = m_textCtrl->GetValue(); break; + case ID_OPENWITH_BROWSE : + { + wxString filters(wxT("All files (*)|*")); +#ifdef __WXMSW__ + filters = wxT("Executable files (*.exe)|*.exe|Batch files (*.bat)|*.bat|All files (*)|*"); +#endif //__WXMSW__ + wxString startPath = m_fileData.GetFilePath(); + wxString fileName = wxFileSelector( wxT("Open With"), + wxPathOnly(startPath), + wxFileNameFromPath(startPath), + wxEmptyString, + filters, + wxOPEN|wxFILE_MUST_EXIST ); + if (!fileName.IsEmpty()) + { + fileName += wxT(" \"") + m_fileData.GetFilePath() + wxT("\""); + m_textCtrl->SetValue(fileName); + } + + break; + } + }; + + event.Skip(); // let wxDialog exit if OK or CANCEL +} + +//------------------------------------------------------------------------------ +// wxFilePropertiesDialog - a properties dialog for a file +//------------------------------------------------------------------------------ + +class wxFilePropertiesDialog : public wxDialog +{ +public: + wxFilePropertiesDialog(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Properties"), + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition) : wxDialog(), m_fileData(fileData) + { + Create(parent, winId, fileData, caption, style, pos); + } + bool Create(wxWindow* parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption = wxT("Properties"), + long style = wxDEFAULT_DIALOG_STYLE, + const wxPoint& pos = wxDefaultPosition); + +protected: + wxFileData m_fileData; + DECLARE_EVENT_TABLE(); +}; + +BEGIN_EVENT_TABLE(wxFilePropertiesDialog, wxDialog) +END_EVENT_TABLE() + +bool wxFilePropertiesDialog::Create(wxWindow *parent, wxWindowID winId, + const wxFileData& fileData, + const wxString& caption, + long style, const wxPoint& pos) +{ + m_fileData = fileData; + + if (!wxDialog::Create(parent, winId, caption, pos, wxDefaultSize, style)) + return false; + + wxString typeStr; + wxString locationStr = fileData.GetFilePath().BeforeLast(wxFILE_SEP_PATH); + wxString sizeStr; + wxString modifiedStr = fileData.GetModificationTime(); + wxString attrStr = fileData.GetEntry(wxFileData::FileList_Perm); + + if (fileData.IsDir()) + { + typeStr = sizeStr = _("Directory"); + } + else if (fileData.IsLink()) + { + typeStr = sizeStr = _("Link"); + } + else if (fileData.IsDrive()) + { + typeStr = sizeStr = _("Drive"); + } + else if (fileData.IsFile()) + { + wxString ext = wxFileName(fileData.GetFileName()).GetExt(); + wxString description; + wxFileType *ft = wxTheMimeTypesManager->GetFileTypeFromExtension(ext); + if (ft && ft->GetDescription(&description)) + typeStr = description; + + if (description.IsEmpty()) // gtk does this... + { + if (!ext.IsEmpty()) + typeStr = ext + wxT(" file"); + else + typeStr = wxT("Unknown file type"); + } + + sizeStr = fileData.GetEntry(wxFileData::FileList_Size) + wxT(" bytes"); + attrStr = fileData.GetEntry(wxFileData::FileList_Perm); + } + + wxPanel *panel = new wxPanel(this, wxID_ANY); + wxBoxSizer *rootSizer = new wxBoxSizer( wxVERTICAL ); + wxFlexGridSizer *fileNameSizer = new wxFlexGridSizer( 2, 0, 0 ); + + wxBitmap iconBitmap = GetBitmapFromIconId(fileData.GetImageId()); + wxStaticBitmap *iconStaticBitmap = new wxStaticBitmap( panel, wxID_ANY, iconBitmap, + wxDefaultPosition, wxDefaultSize ); + fileNameSizer->Add( iconStaticBitmap, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *fileNameText = new wxStaticText( panel, wxID_ANY, fileData.GetFileName(), wxDefaultPosition, wxDefaultSize, 0 ); + fileNameSizer->Add( fileNameText, 0, wxALIGN_CENTRE|wxALL, 5 ); + rootSizer->Add( fileNameSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticBox *generalBox = new wxStaticBox( panel, wxID_ANY, wxT("General") ); + wxStaticBoxSizer *generalBoxSizer = new wxStaticBoxSizer( generalBox, wxVERTICAL ); + wxFlexGridSizer *generalSizer = new wxFlexGridSizer( 2, 0, 0 ); + + wxStaticText *typeNameText = new wxStaticText( panel, wxID_ANY, wxT("Type:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( typeNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *typeText = new wxStaticText( panel, wxID_ANY, typeStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( typeText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *locationNameText = new wxStaticText( panel, wxID_ANY, wxT("Location:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( locationNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *locationText = new wxStaticText( panel, wxID_ANY, locationStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( locationText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *sizeNameText = new wxStaticText( panel, wxID_ANY, wxT("Size:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( sizeNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *sizeText = new wxStaticText( panel, wxID_ANY, sizeStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( sizeText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *modifiedNameText = new wxStaticText( panel, wxID_ANY, wxT("Modified:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( modifiedNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *modifiedText = new wxStaticText( panel, wxID_ANY, modifiedStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( modifiedText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *attributesNameText = new wxStaticText( panel, wxID_ANY, wxT("Attributes:"), wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( attributesNameText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxStaticText *attributesText = new wxStaticText( panel, wxID_ANY, attrStr, wxDefaultPosition, wxDefaultSize, 0 ); + generalSizer->Add( attributesText, 0, wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + generalBoxSizer->Add( generalSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL, 5 ); + rootSizer->Add( generalBoxSizer, 0, wxGROW|wxALIGN_CENTER_VERTICAL|wxALL, 5 ); + + wxFlexGridSizer *buttonSizer = new wxFlexGridSizer( 2, 0, 0 ); + wxButton *okButton = new wxButton( panel, wxID_OK, wxT("OK"), wxDefaultPosition, wxDefaultSize, 0 ); + okButton->SetDefault(); + buttonSizer->Add( okButton, 0, wxALIGN_CENTRE|wxALL, 5 ); + rootSizer->Add( buttonSizer, 0, wxALIGN_CENTRE|wxALL, 5 ); + + panel->SetAutoLayout( true ); + panel->SetSizer( rootSizer ); + rootSizer->Fit( panel ); + rootSizer->SetSizeHints( this ); + + // have a min size so it really only varies for really long paths + wxSize size = GetSize(); + if (size.x < 400) + SetSize(wxSize(400, size.y)); + + return true; +} + +//------------------------------------------------------------------------------ +// wxFileBrowserEvent, events for the wxFileBrowser +//------------------------------------------------------------------------------ +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_FILE_SELECTED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_FILE_ACTIVATED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_DIR_SELECTED) +DEFINE_EVENT_TYPE(wxEVT_FILEBROWSER_DIR_ACTIVATED) + +IMPLEMENT_ABSTRACT_CLASS(wxFileBrowserEvent, wxCommandEvent) + +wxFileBrowserEvent::wxFileBrowserEvent(wxEventType commandType, + wxFileBrowser *fileBrowser, wxWindowID win_id) + :wxCommandEvent(commandType, win_id) +{ + SetEventObject( fileBrowser ); +} + +//---------------------------------------------------------------------------- +// wxFileBrowser +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxFileBrowser, wxControl); + +BEGIN_EVENT_TABLE(wxFileBrowser, wxControl) + // View toolbar items + EVT_MENU(ID_wxFILEBROWSER_VIEW_TREE, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_LIST, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_DETAILS, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_SMALL_ICON, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_LARGE_ICON, wxFileBrowser::OnViewButtons) + EVT_MENU(ID_wxFILEBROWSER_VIEW_PREVIEW, wxFileBrowser::OnViewButtons) + + EVT_BUTTON(ID_wxFILEBROWSER_VIEW_BUTTON, wxFileBrowser::OnViewButtons) + //EVT_MENU(ID_wxFILEBROWSER_VIEW_BUTTON, wxFileBrowser::OnViewButtons) + + // menu items for the right click treectrl menu + EVT_MENU(ID_wxFILEBROWSER_TREE_MENU_PROPERITES, wxFileBrowser::OnTreeMenu) + + // menu items for the right click listctrl menu + EVT_MENU(ID_wxFILEBROWSER_GO_BACK, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_FORWARD, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_UP, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_GO_HOME, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_REFRESH, wxFileBrowser::OnListMenu) + + EVT_MENU(wxID_OPEN, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_CUT, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_COPY, wxFileBrowser::OnListMenu) + EVT_MENU(wxID_PASTE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_DELETE, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_RENAME, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_LIST_MENU_PROPERITES, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SHOW_HIDDEN, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SHOW_FOLDERS, wxFileBrowser::OnListMenu) + EVT_MENU(ID_wxFILEBROWSER_SPLIT_VERTICAL, wxFileBrowser::OnListMenu) + + // combobox events + EVT_COMBOBOX (ID_wxFILEBROWSER_FILTER_COMBO, wxFileBrowser::OnFilterCombo) + EVT_TEXT_ENTER(ID_wxFILEBROWSER_FILTER_COMBO, wxFileBrowser::OnFilterComboEnter) + EVT_COMBOBOX (ID_wxFILEBROWSER_PATH_COMBO, wxFileBrowser::OnPathCombo) + EVT_TEXT_ENTER(ID_wxFILEBROWSER_PATH_COMBO, wxFileBrowser::OnPathComboEnter) + EVT_BUTTON (ID_wxFILEBROWSER_PATH_BUTTON, wxFileBrowser::OnPathComboEnter) + // fake internal events to get around GTK combo event loops + EVT_MENU (ID_wxFILEBROWSER_COMBOSETPATH, wxFileBrowser::OnSetPath) + EVT_MENU (ID_wxFILEBROWSER_COMBOSETFILTER, wxFileBrowser::OnSetFilter) + + // TreeCtrl + EVT_TREE_SEL_CHANGED (wxID_ANY, wxFileBrowser::OnTreeItemSelection) + EVT_TREE_ITEM_ACTIVATED (wxID_ANY, wxFileBrowser::OnTreeItemActivation) + EVT_TREE_ITEM_RIGHT_CLICK(wxID_ANY, wxFileBrowser::OnTreeRightClick) + + // ListCtrl + EVT_LIST_ITEM_ACTIVATED (wxID_ANY, wxFileBrowser::OnListItemActivated) + EVT_LIST_ITEM_SELECTED (wxID_ANY, wxFileBrowser::OnListItemSelected) + EVT_LIST_ITEM_RIGHT_CLICK (wxID_ANY, wxFileBrowser::OnListRightClick) + + EVT_SIZE (wxFileBrowser::OnSize) + //EVT_IDLE (wxFileBrowser::OnIdle) +END_EVENT_TABLE() + +void wxFileBrowser::Init() +{ + m_ignore_tree_event = true; // turned off after Create + m_init_filters = 0; + m_browser_style = wxFILEBROWSER_LIST; + + m_path_history_index = 0; + + m_viewToolBar = NULL; + m_pathToolBar = NULL; + + m_viewButton = NULL; + m_filterCombo = NULL; + m_pathCombo = NULL; + m_splitterWin = NULL; + m_dirCtrl = NULL; + m_fileCtrl = NULL; + m_listMenu = NULL; + m_treeMenu = NULL; + m_viewMenu = NULL; + + m_filterComboSelection = 0; + m_pathComboSelection = 0; + + m_show_hidden = false; +} + +bool wxFileBrowser::Create( wxWindow *parent, const wxWindowID id, + const wxString& dir, + const wxPoint& pos, const wxSize& size, long style, + const wxString& filter, int defaultFilter, + const wxString& name) +{ + m_ignore_tree_event = true; + + if (!wxControl::Create(parent, id, pos, size, style, wxDefaultValidator, name)) + return false; + + // disable the log in case image handlers have already been initialized + { + wxLogNull logNull; + wxInitAllImageHandlers(); // need this for the icons + } + + // Find what directory to start with + if (!GetPathFromFilePath(dir, m_path)) + m_path = wxGetCwd(); + + // ------------------------------------------------------------------------ + // Create the popup menu for the wxFileCtrl + m_listMenu = new wxMenu; + m_listMenu->Append(wxID_OPEN, wxT("&Open")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, wxT("&View file...")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, wxT("Open &with...")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, wxT("&New folder")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(wxID_CUT, wxT("Cu&t")); + m_listMenu->Append(wxID_COPY, wxT("&Copy")); + m_listMenu->Append(wxID_PASTE, wxT("&Paste")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_DELETE, wxT("&Delete...")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_RENAME, wxT("Rena&me")); + m_listMenu->AppendSeparator(); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_PROPERITES, wxT("P&roperties")); + m_listMenu->AppendSeparator(); + + m_treeMenu = new wxMenu; + m_treeMenu->Append(ID_wxFILEBROWSER_TREE_MENU_PROPERITES, wxT("P&roperties")); + + wxMenu *optionsMenu = new wxMenu(wxEmptyString); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SHOW_HIDDEN, wxT("Show Hidden Files")); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SHOW_FOLDERS, wxT("Show Folders")); + optionsMenu->AppendCheckItem(ID_wxFILEBROWSER_SPLIT_VERTICAL, wxT("Split Vertically")); + m_listMenu->Append(ID_wxFILEBROWSER_LIST_MENU_OPTIONS, wxT("Optio&ns"), optionsMenu); + + // ------------------------------------------------------------------------ + // Create the menu for the view button menu + m_viewMenu = new wxMenu; + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_TREE, wxT("Tree view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_LIST, wxT("List view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_DETAILS, wxT("Details view")); + m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_SMALL_ICON, wxT("Small icon view")); + //m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_LARGE_ICON, wxT("Large icon view")); + //m_viewMenu->AppendRadioItem(ID_wxFILEBROWSER_VIEW_PREVIEW, wxT("Image preview view")); + + // ------------------------------------------------------------------------ + // Create the first Toolbar + m_viewToolBar = new wxToolBar(this, ID_wxFLEBROWSER_VIEW_TOOLBAR); + + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_BACK, wxT("Back"), + wxArtProvider::GetBitmap(wxART_GO_BACK), wxArtProvider::GetBitmap(wxART_GO_BACK, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go back one directory"), wxT("Go back one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_FORWARD, wxT("Forward"), + wxArtProvider::GetBitmap(wxART_GO_FORWARD), wxArtProvider::GetBitmap(wxART_GO_FORWARD, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go forward one directory"), wxT("Go forward one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_UP, wxT("Up"), + wxArtProvider::GetBitmap(wxART_GO_DIR_UP), wxArtProvider::GetBitmap(wxART_GO_DIR_UP, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go up one directory"), wxT("Go up one directory")); + m_viewToolBar->AddTool(ID_wxFILEBROWSER_GO_HOME, wxT("Home"), + wxArtProvider::GetBitmap(wxART_GO_HOME), wxArtProvider::GetBitmap(wxART_GO_HOME, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go to your home directory"), wxT("Go to your home directory")); + m_viewToolBar->AddSeparator(); + + m_viewToolBar->AddCheckTool(ID_wxFILEBROWSER_SHOW_FOLDERS, wxT("Folders"), + wxArtProvider::GetBitmap(wxART_HELP_SIDE_PANEL), wxArtProvider::GetBitmap(wxART_HELP_SIDE_PANEL, wxART_TOOLBAR), + wxT("Show folder view"), wxT("Show folder view")); + m_viewToolBar->AddSeparator(); + + // MenuButton METHOD ---------------- +// m_viewButton = new wxMenuButton(m_viewToolBar, wxID_ANY, +// //wxBitmap(view_xpm_data), +// wxArtProvider::GetBitmap(wxART_LIST_VIEW), +// wxDefaultPosition, wxSize(32,22)); +// m_viewButton->AssignMenu(viewMenu, false); +// m_viewButton->SetToolTip(wxT("Change view mode")); +// m_viewToolBar->AddControl(m_viewButton); + + // CREATE BITMAP METHOD ---------------- + wxBitmap viewBmp(wxArtProvider::GetBitmap(wxART_LIST_VIEW)); //, wxART_TOOLBAR)); + wxSize toolBmpSize = m_viewToolBar->GetToolSize(); + wxSize toolSize = m_viewToolBar->GetToolSize(); + { + wxImage viewImg(viewBmp.ConvertToImage()); + int w = viewImg.GetWidth(), h = viewImg.GetHeight(); + int s = 10; + unsigned char r = 103, g = 200, b = 101; + viewImg.GetOrFindMaskColour(&r, &g, &b); + viewImg.Resize(wxSize(w + s, h), wxPoint(0,0), r, g, b); + viewImg.SetMask(false); + viewBmp = wxBitmap(viewImg); + wxMemoryDC memDC; + memDC.SelectObject(viewBmp); + wxRendererNative& renderer = wxRendererNative::Get(); + renderer.DrawComboBoxDropButton(this, memDC, wxRect(w, 0, s, toolBmpSize.y), wxCONTROL_PRESSED); + //renderer.DrawDropArrow(this, memDC, wxRect(w, 0, s, toolBmpSize.y)); + + memDC.SelectObject(wxNullBitmap); + viewImg = viewBmp.ConvertToImage(); + viewImg.SetMaskColour(r, g, b); + viewBmp = wxBitmap(viewImg); + } + + m_viewButton = new wxBitmapButton(m_viewToolBar, ID_wxFILEBROWSER_VIEW_BUTTON, + //wxBitmap(view_xpm_data), + viewBmp, + wxDefaultPosition, + wxSize(toolSize.GetWidth()+10, toolSize.GetHeight())); + m_viewButton->SetToolTip(wxT("Change view mode")); + m_viewToolBar->AddControl(m_viewButton); + + //m_viewToolBar->AddTool(ID_wxFILEBROWSER_VIEW_BUTTON, wxT("Views"), + // viewBmp, viewBmp, + // wxITEM_NORMAL, wxT("Change view mode"), wxT("Change view mode")); + + m_filterCombo = new wxComboBox(m_viewToolBar, ID_wxFILEBROWSER_FILTER_COMBO, + wxT("Any file (*.*)"), // sets init size + wxDefaultPosition, wxSize(40, wxDefaultCoord), + 0, NULL, + wxCB_DROPDOWN|wxTE_PROCESS_ENTER); + m_filterCombo->SetToolTip(wxT("Filter files using wildcards (file1?2.a*)")); + SetFilters(filter, defaultFilter); + m_viewToolBar->AddSeparator(); + m_viewToolBar->AddControl(m_filterCombo); + + m_viewToolBar->Realize(); + + // ------------------------------------------------------------------------ + // Create second Toolbar + m_pathToolBar = new wxToolBar(this, ID_wxFLEBROWSER_PATH_TOOLBAR); + + m_pathCombo = new wxComboBox(m_pathToolBar, ID_wxFILEBROWSER_PATH_COMBO, + wxT("C: I'm a pretty long dir name so I'm sized big"), + wxDefaultPosition, wxSize(40, wxDefaultCoord), + 0, NULL, + wxCB_DROPDOWN|wxTE_PROCESS_ENTER); + m_pathCombo->SetToolTip(wxT("Enter path")); + m_pathCombo->Append(GetPath(true), (void*)NULL); + m_pathCombo->SetSelection(0); + m_pathComboSelection = 0; + m_pathToolBar->AddControl(m_pathCombo); + + m_pathToolBar->AddTool(ID_wxFILEBROWSER_PATH_BUTTON, wxT("Open"), + wxArtProvider::GetBitmap(wxART_FILE_OPEN), wxArtProvider::GetBitmap(wxART_FILE_OPEN, wxART_TOOLBAR), + wxITEM_NORMAL, wxT("Go to path or open file"), wxT("Go to path or open file")); + + m_pathToolBar->Realize(); + + // ------------------------------------------------------------------------ + // Create the splitter window and children + int dirCtrlStyle = style & wxFILEBROWSER_TREE ? wxDIRCTRL_DIR_ONLY : 0; + m_splitterWin = new wxSplitterWindow(this, wxID_ANY, + wxDefaultPosition, wxDefaultSize, + wxSP_BORDER|wxSP_3D|wxCLIP_CHILDREN); + m_splitterWin->SetMinimumPaneSize(MIN_SPLIT); // don't let it unsplit + m_splitterWin->SetSashGravity(0.3); // bottom grows more than top + + m_dirCtrl = new wxGenericDirCtrl(m_splitterWin, ID_wxFILEBROWSER_DIRCTRL, + m_path, wxDefaultPosition, wxSize(50,50), + dirCtrlStyle|wxNO_BORDER, wxEmptyString, 0); + + m_dirCtrl->Show(true); + + m_fileCtrl = new wxFileCtrl(m_splitterWin, wxID_ANY, GetWild(), false, + wxDefaultPosition, wxSize(50,50), + wxNO_BORDER|wxLC_SINGLE_SEL|FBStyleToLCStyle(style)); + m_fileCtrl->Show(true); + m_fileCtrl->GoToDir(m_path); + + // ------------------------------------------------------------------------ + + SetBrowserStyle( style ); + m_splitterWin->Show(true); + + AddPathHistory(GetPath(true)); + + UpdateItems(); + m_ignore_tree_event = false; + return true; +} + +wxFileBrowser::~wxFileBrowser() +{ + // delete all the attached data + int n, count = m_filterCombo->GetCount(); + for ( n = 0; n < count; n++ ) + { + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + delete data; + } + + delete m_listMenu; + delete m_treeMenu; + delete m_viewMenu; +} + +void wxFileBrowser::OnSize( wxSizeEvent &event ) +{ + //wxPrintf(wxT("OnSize GetSize(%d %d) Event(%d %d)\n"), GetSize().x, GetSize().y, event.GetSize().x, event.GetSize().y); fflush(stdout); + event.Skip(); + DoSize(); +} + +// The code in src/gtk/window.cpp wxWindow::DoSetSize fails since +// m_parent->m_wxwindow == NULL so nothing is done +#ifdef __WXGTK__ + #include + void GtkToolbarResizeWindow(wxWindow* win, const wxSize& size) + { + // don't take the x,y values, they're wrong because toolbar sets them + GtkWidget *widget = GTK_WIDGET(win->m_widget); + //gtk_widget_set_usize(widget, size.x, size.y); this is deprecated use below + gtk_widget_set_size_request(widget, size.x, size.y); + if (GTK_WIDGET_VISIBLE(widget)) + gtk_widget_queue_resize(widget); + } +#endif //__WXGTK__ + +void wxFileBrowser::DoSize() +{ + if (!m_splitterWin) + return; + + wxSize clientSize(GetClientSize()); + int h = 0; + + if (m_viewToolBar && m_filterCombo) + { + wxSize tbSize(m_viewToolBar->GetSize()); + m_viewToolBar->SetSize(0, h, clientSize.x, tbSize.y); + wxSize toolSize(m_viewToolBar->GetToolSize()); + wxSize marginSize(m_viewToolBar->GetMargins()); + wxRect comboRect(m_filterCombo->GetRect()); + wxSize comboSize(clientSize.x - comboRect.x - marginSize.x, comboRect.height); + +#ifdef __WXGTK__ + int sep = m_viewToolBar->GetToolSeparation(); + comboSize.x = clientSize.x - 6*toolSize.x - 6*sep; + GtkToolbarResizeWindow(m_filterCombo, comboSize); +#else + m_filterCombo->SetSize(comboSize); + m_viewToolBar->Realize(); +#endif + + //wxPrintf(wxT("FilterCombo %d %d - %d\n"), comboSize.x, comboSize.y, m_filterCombo->GetSize().y); + h += tbSize.y; + } + + if (m_pathToolBar && m_pathCombo) + { + wxSize tbSize(m_pathToolBar->GetSize()); + m_pathToolBar->SetSize(0, h, clientSize.x, tbSize.y); + wxSize toolSize(m_pathToolBar->GetToolSize()); + wxSize marginSize(m_pathToolBar->GetMargins()); + wxRect comboRect(m_pathCombo->GetRect()); + wxSize comboSize(clientSize.x - comboRect.x - toolSize.x - marginSize.x, comboRect.height); + +#ifdef __WXGTK__ + //int sep = m_viewToolBar->GetToolSeparation(); + comboSize.x = clientSize.x - toolSize.x - 2; + GtkToolbarResizeWindow(m_pathCombo, comboSize); +#else + //wxPrintf(wxT("Do Size %d %d - %d %d %d\n"), clientSize.x, clientSize.y, clientSize.x, comboRect.width, clientSize.x - comboRect.x - toolSize.x - marginSize.x); + m_pathCombo->SetSize(comboSize); + m_pathToolBar->Realize(); +#endif + + //wxPrintf(wxT("PathCombo %d %d - %d\n"), clientSize.x - comboRect.x - toolSize.x - marginSize.x, comboRect.height, m_pathCombo->GetSize().y); + h += tbSize.y; + } + + m_splitterWin->SetSize(wxRect(0, h, clientSize.x, clientSize.y - h)); + + // Make sure the splitter window doesn't unsplit when the window size changes, + // even though we already told it not to. + // FIXME : This should be fixed in the splitter window + if (m_splitterWin && m_splitterWin->IsSplit()) + { + int splitter_pos = m_splitterWin->GetSashPosition(); + int splitter_size = (m_splitterWin->GetSplitMode() == wxSPLIT_VERTICAL) ? + m_splitterWin->GetSize().GetWidth() : m_splitterWin->GetSize().GetHeight(); + int min_size = m_splitterWin->GetMinimumPaneSize(); + + if (splitter_pos < min_size) + m_splitterWin->SetSashPosition(wxMin(splitter_size, min_size)); + else if (splitter_pos > splitter_size - min_size) + m_splitterWin->SetSashPosition(wxMax(0, splitter_size - min_size)); + } +} + +wxSize wxFileBrowser::DoGetBestSize() const +{ + return wxSize(200,400); + //return wxControl::DoGetBestSize(); +} + +void wxFileBrowser::OnIdle(wxIdleEvent &event) +{ + event.Skip(); + + // Ancient code to display a preview of images + +/* + if ((m_browser_style & wxFILEBROWSER_PREVIEW) && + (int(m_previewFiles.GetCount()) > 0)) + { + int i, count = m_previewFiles.GetCount(); + int flags = 0; + int prev_index = 0; + int min_index = m_fileCtrl->HitTest(wxPoint(20,150), flags); + if (min_index < 0) min_index = 0; + int max_index = min_index + (m_fileCtrl->GetClientSize().x*m_fileCtrl->GetClientSize().y)/3000; + + for (i=0; im_list_index >= min_index) || + (m_previewFiles[i]->m_list_index <= max_index)) + { + prev_index = i; + break; + } + } + + wxFileBrowserFile *browserFile = m_previewFiles[prev_index]; + + int icon_index = browserFile->m_icon_index; + + wxString path = GetPath(true); + + wxImage img(path + browserFile->m_name); + if (img.Ok()) + { + int w = img.GetWidth(), h = img.GetHeight(); + browserFile->m_image_size.Printf(wxT("(%dx%d)"), w, h); + + int icon_w, icon_h; + m_normalImageList->GetSize(0, icon_w, icon_h); + + if (w > icon_w || h > icon_h) + { + if (w > h) + { + h = (h*icon_w)/w; + if (h == 0) h = 1; + w = icon_w; + } + else + { + w = (w*icon_h)/h; + if (w == 0) w = 1; + h = icon_h; + } + + img.Rescale(w, h); + } + + wxImage img2(icon_w, icon_h); + unsigned char r=5, g=5, b=5; + if (img.HasMask()) + { + r = img.GetMaskRed(); + g = img.GetMaskGreen(); + b = img.GetMaskBlue(); + } + else + { + img.FindFirstUnusedColour(&r, &g, &b); + img.SetMask(true); + img.SetMaskColour(r, g, b); + } + unsigned char *data = img2.GetData(); + long icon_size = icon_w*icon_h; + for (i=0; iReplace(icon_index, icon); + + if (browserFile->m_list_index >= 0) // maybe still filling the listCtrl + { + m_fileCtrl->SetItemImage(browserFile->m_list_index, + icon_index, icon_index); + } + } + m_previewFiles.RemoveAt(prev_index); + + if (count > 1) event.RequestMore(); + } + */ +} + +#define FILEBRWS_LIST_VIEW_MASK (wxFILEBROWSER_DETAILS|wxFILEBROWSER_LIST|wxFILEBROWSER_SMALL_ICON|wxFILEBROWSER_LARGE_ICON|wxFILEBROWSER_PREVIEW) +#define FILEBRWS_VIEW_MASK (FILEBRWS_LIST_VIEW_MASK|wxFILEBROWSER_TREE) + +void wxFileBrowser::SetBrowserStyle( long style ) +{ + style &= wxFILEBROWSER_STYLE_MASK; + + int n_styles = 0; + if (style & wxFILEBROWSER_LIST ) n_styles++; + if (style & wxFILEBROWSER_DETAILS ) n_styles++; + if (style & wxFILEBROWSER_LARGE_ICON) n_styles++; + if (style & wxFILEBROWSER_SMALL_ICON) n_styles++; + if (style & wxFILEBROWSER_PREVIEW ) n_styles++; + if (style & wxFILEBROWSER_TREE ) n_styles++; + wxCHECK_RET(n_styles == 1, wxT("Only one wxFileBrowser list style allowed")); + + long last_style = m_browser_style; + m_browser_style = style; // swap to new style immediately + + // Only the tree view will be shown + if (!HasBrowserStyle(FILEBRWS_LIST_VIEW_MASK)) + { + m_fileCtrl->Show(false); + + if (m_splitterWin->IsSplit()) + m_splitterWin->Unsplit(m_fileCtrl); + else // if (m_splitterWin->GetWindow1() != m_dirCtrl) + m_splitterWin->Initialize(m_dirCtrl); + + // show and reload the files for the dirctrl using the filter + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) != 0) + { + m_ignore_tree_event = true; + wxString currentPath = GetPath(false); + m_dirCtrl->SetWindowStyleFlag(m_dirCtrl->GetWindowStyleFlag() & (~wxDIRCTRL_DIR_ONLY)); + m_dirCtrl->SetFilter(GetFilter()); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_splitterWin->SizeWindows(); + UpdateItems(); + return; + } + + // Else - show a combination of tree and list views + + // Try to avoid flicker by changing mode only if necessary + switch (m_browser_style & FILEBRWS_VIEW_MASK) + { + case wxFILEBROWSER_DETAILS : + { + if ((last_style & wxFILEBROWSER_DETAILS) == 0) + m_fileCtrl->ChangeToReportMode(); + break; + } + case wxFILEBROWSER_LIST : + { + if ((last_style & wxFILEBROWSER_LIST) == 0) + m_fileCtrl->ChangeToListMode(); + break; + } + case wxFILEBROWSER_SMALL_ICON : + { + if ((last_style & wxFILEBROWSER_SMALL_ICON) == 0) + m_fileCtrl->ChangeToSmallIconMode(); + break; + } + default : break; + } + + // are both tree and list view shown + if (GetShowFolders()) + { + if (GetSplitVertical()) + { + if (m_splitterWin->GetSplitMode() != wxSPLIT_VERTICAL) + { + if (m_splitterWin->IsSplit()) // FIXME need to unsplit to resplit + m_splitterWin->Unsplit(m_splitterWin->GetWindow2()); + } + + int sash_pos = m_splitterWin->GetSashPosition(); + m_splitterWin->SplitVertically(m_dirCtrl, m_fileCtrl, sash_pos); + } + else + { + if (m_splitterWin->GetSplitMode() != wxSPLIT_HORIZONTAL) + { + if (m_splitterWin->IsSplit()) // FIXME need to unsplit to resplit + m_splitterWin->Unsplit(m_splitterWin->GetWindow2()); + } + + int sash_pos = m_splitterWin->GetSashPosition(); + m_splitterWin->SplitHorizontally(m_dirCtrl, m_fileCtrl, sash_pos); + } + + m_dirCtrl->Show(true); + } + else // just list view + { + if (m_splitterWin->IsSplit()) + m_splitterWin->Unsplit(m_dirCtrl); + else // if (m_splitterWin->GetWindow1() != m_fileCtrl) + m_splitterWin->Initialize(m_fileCtrl); + + m_dirCtrl->Show(false); + } + + m_fileCtrl->Show(true); + + // In dir mode always show all dirs + m_dirCtrl->SetFilter(wxEmptyString); + + // if it used to have wxFILEBROWSER_TREE style, make tree show only dirs + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) == 0) + { + m_ignore_tree_event = true; + m_dirCtrl->SetFilter(wxT("*|*")); + m_dirCtrl->SetWindowStyleFlag(m_dirCtrl->GetWindowStyleFlag() | wxDIRCTRL_DIR_ONLY); + wxString currentPath = GetPath(false); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_splitterWin->SizeWindows(); + UpdateItems(); +} + +bool wxFileBrowser::CanRead(const wxString& filePath) const +{ + return wxFile::Access(filePath, wxFile::read); +} + +bool wxFileBrowser::CanWrite(const wxString& filePath) const +{ + return wxFile::Access(filePath, wxFile::write); +} + +void wxFileBrowser::UpdateItems() +{ + UpdateMenu(m_listMenu); + UpdateMenu(m_viewMenu); + + UpdateToolBar(m_viewToolBar); + UpdateToolBar(m_pathToolBar); +} + +void EnableMenuItem(wxMenu *menu, wxWindowID menu_id, bool value) +{ + if (menu) + { + wxMenuItem *menuItem = menu->FindItem(menu_id); + if (menuItem) + menuItem->Enable(value); + } +} +void CheckMenuItem(wxMenu *menu, wxWindowID menu_id, bool value) +{ + if (menu) + { + wxMenuItem *menuItem = menu->FindItem(menu_id); + if (menuItem) + menuItem->Check(value); + } +} + +void wxFileBrowser::UpdateMenu( wxMenu* menu ) +{ + if (!menu) return; + + CheckMenuItem(menu, FBStyleToMenuID(m_browser_style), true); + + // Update options menu --------------------------- + + CheckMenuItem(menu, ID_wxFILEBROWSER_SHOW_HIDDEN, GetShowHidden()); + EnableMenuItem(menu, ID_wxFILEBROWSER_SHOW_FOLDERS, !HasBrowserStyle(wxFILEBROWSER_TREE)); + CheckMenuItem(menu, ID_wxFILEBROWSER_SHOW_FOLDERS, GetShowFolders()); + CheckMenuItem(menu, ID_wxFILEBROWSER_SPLIT_VERTICAL, GetSplitVertical()); + + // Update go items --------------------------- + + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_BACK, CanGoPathHistoryBackward()); + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_FORWARD, CanGoPathHistoryForward()); + CheckMenuItem(menu, ID_wxFILEBROWSER_GO_UP, CanGoUpDir()); + + // Update cut, copy, paste --------------------------- + + // wxLIST_STATE_FOCUSED ? nah probably selected + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + + wxFileData *fd = NULL; + if (item >= 0) + fd = (wxFileData*)m_fileCtrl->GetItemData(item); + + bool is_file = fd && !fd->IsDir() && !fd->IsDrive() && !fd->IsLink(); + bool is_dir = fd && fd->IsDir(); + + // There's nothing you can do with this + if (fd && (fd->GetFileName() == wxT(".."))) + { + is_file = is_dir = false; + } + + bool can_read = (is_file || is_dir) && fd && CanRead(fd->GetFilePath()); + bool can_write = (is_file || is_dir) && fd && CanWrite(fd->GetFilePath()); + bool can_write_dir = CanWrite(GetPath()); + + // can't do anything with drive listing in MSW + bool is_top = false; +#ifndef __UNIX__ + if (GetPath(false).IsEmpty()) is_top = true; +#endif //__UNIX__ + + EnableMenuItem(menu, wxID_OPEN, (is_file || is_dir) && can_read); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE, is_file && can_read); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH, is_file && can_read); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER, !is_top && can_write_dir); + + EnableMenuItem(menu, wxID_CUT, is_file && can_write); + EnableMenuItem(menu, wxID_COPY, is_file && can_read); + EnableMenuItem(menu, wxID_PASTE, !is_top && (m_copycutFiles.GetCount() > 0u) && can_write_dir); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_DELETE, (is_file || is_dir) && can_write); + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_RENAME, (is_file || is_dir) && can_write); + + EnableMenuItem(menu, ID_wxFILEBROWSER_LIST_MENU_PROPERITES, is_file || is_dir); +} +void wxFileBrowser::UpdateToolBar( wxToolBar* toolBar ) +{ + if (!toolBar) return; + + toolBar->EnableTool(ID_wxFILEBROWSER_GO_BACK, CanGoPathHistoryBackward()); + toolBar->EnableTool(ID_wxFILEBROWSER_GO_FORWARD, CanGoPathHistoryForward()); + toolBar->EnableTool(ID_wxFILEBROWSER_GO_UP, CanGoUpDir()); + toolBar->EnableTool(ID_wxFILEBROWSER_SHOW_FOLDERS, !HasBrowserStyle(wxFILEBROWSER_TREE)); + toolBar->ToggleTool(ID_wxFILEBROWSER_SHOW_FOLDERS, GetShowFolders()); +} + +void wxFileBrowser::ShowHidden(bool show_hidden) +{ + m_show_hidden = show_hidden; + + m_ignore_tree_event = true; + m_dirCtrl->ShowHidden(m_show_hidden); + m_fileCtrl->ShowHidden(m_show_hidden); + m_ignore_tree_event = false; + + UpdateItems(); +} + +void wxFileBrowser::ShowFolders(bool show_folders) +{ + m_browser_style &= (~wxFILEBROWSER_SHOW_FOLDERS); + if (show_folders) + m_browser_style |= wxFILEBROWSER_SHOW_FOLDERS; + + SetBrowserStyle(m_browser_style); +} + +void wxFileBrowser::SplitVertical(bool split_vertically) +{ + m_browser_style &= (~wxFILEBROWSER_SPLIT_VERTICAL); + if (split_vertically) + m_browser_style |= wxFILEBROWSER_SPLIT_VERTICAL; + + SetBrowserStyle(m_browser_style); +} + +bool wxFileBrowser::GetPathFromFilePath(const wxString &filepath, wxString &path) const +{ + path = filepath; + + wxFileName filename(filepath); + if (filename.FileExists()) + path = filename.GetPath(); + + if (!wxDirExists(path)) return false; + + if (path.Last() != wxFILE_SEP_PATH) + path += wxFILE_SEP_PATH; + + return true; +} + +wxString AddDelete_wxFILE_SEP_PATH(const wxString &path_, bool add_sep) +{ + wxString path(path_); + +#if __UNIX__ + if (path.IsEmpty()) return wxFILE_SEP_PATH; +#endif + + if (add_sep) + { + if (path.IsEmpty() || (path.Last() != wxFILE_SEP_PATH)) + path += wxFILE_SEP_PATH; + } + else if (!path.IsEmpty() && (path.Last() == wxFILE_SEP_PATH)) + path = path.RemoveLast(); + + return path; +} + +wxString wxFileBrowser::GetPath(bool add_wxFILE_SEP_PATH) const +{ + return AddDelete_wxFILE_SEP_PATH(m_path, add_wxFILE_SEP_PATH); +} + +bool wxFileBrowser::SetPath(const wxString &dirname) +{ + wxString path = dirname; + + if (dirname.IsEmpty()) + { +#ifdef __UNIX__ + path = wxFILE_SEP_PATH; +#endif + } + else + { + if (!GetPathFromFilePath(dirname, path)) + return false; + } + + m_path = AddDelete_wxFILE_SEP_PATH(path, true); + + m_ignore_tree_event = true; + m_dirCtrl->SetPath(GetPath(false)); // doesn't like trailing wxFILE_SEP_PATH - segfault + m_ignore_tree_event = false; + + if (!HasBrowserStyle(wxFILEBROWSER_TREE)) // don't care otherwise + m_fileCtrl->GoToDir(m_path); + + InsertComboItem(m_pathCombo, GetPath(true), 0); + + AddPathHistory(GetPath(true)); + UpdateItems(); + return true; +} + +bool wxFileBrowser::CanGoUpDir() const +{ + wxString path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + return !path.IsEmpty() && wxDirExists(path); +} +bool wxFileBrowser::GoUpDir() +{ + wxString path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + if (!path.IsEmpty() && wxDirExists(path)) + return SetPath(path); + + return false; +} + +bool wxFileBrowser::GoToHomeDir() +{ + + return SetPath(wxFileName::GetHomeDir()); +} + +bool wxFileBrowser::CanGoPathHistoryForward() +{ + if (m_path_history_index < int(m_pathHistory.GetCount()) - 1) + { + // maybe they deleted it? + if (!wxDirExists(m_pathHistory[m_path_history_index+1])) + { + m_path_history_index++; + m_pathHistory.RemoveAt(m_path_history_index); + return CanGoPathHistoryForward(); + } + + return true; + } + if (m_pathHistory.GetCount() == 0u) + m_pathHistory.Add(GetPath(true)); + + return false; +} +bool wxFileBrowser::CanGoPathHistoryBackward() +{ + if (m_path_history_index != 0) + { + // maybe they deleted it? + if (!wxDirExists(m_pathHistory[m_path_history_index-1])) + { + m_path_history_index--; + m_pathHistory.RemoveAt(m_path_history_index); + return CanGoPathHistoryBackward(); + } + + return true; + } + if (m_pathHistory.GetCount() == 0u) + m_pathHistory.Add(GetPath(true)); + + return false; +} + +bool wxFileBrowser::GoPathHistoryForward() +{ + if (!CanGoPathHistoryForward()) + return false; + + m_path_history_index++; + return SetPath(m_pathHistory[m_path_history_index]); +} +bool wxFileBrowser::GoPathHistoryBackward() +{ + if (!CanGoPathHistoryBackward()) + return false; + + m_path_history_index--; + return SetPath(m_pathHistory[m_path_history_index]); +} + +void wxFileBrowser::AddPathHistory(const wxString& path) +{ + if (!wxDirExists(path) || (path == m_pathHistory[m_path_history_index])) + return; + + int count = m_pathHistory.GetCount(); + if (count == 0) + { + m_path_history_index = 0; + m_pathHistory.Add(path); + } + else if (m_path_history_index == count-1) + { + m_path_history_index++; + m_pathHistory.Add(path); + } + else + { + m_path_history_index++; + m_pathHistory[m_path_history_index] = path; + } +} + +void wxFileBrowser::OnTreeItemSelection(wxTreeEvent &event) +{ + if (m_ignore_tree_event) + { + event.Skip(); + return; + } + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_SELECTED, this, GetId()); + + if (m_dirCtrl->GetFilePath().IsEmpty()) + fbEvent.SetEventType(wxEVT_FILEBROWSER_DIR_SELECTED); + + fbEvent.SetFilePath(m_dirCtrl->GetPath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnTreeItemActivation(wxTreeEvent &event) +{ + if (m_ignore_tree_event) + { + event.Skip(); + return; + } + + wxString path; + if (!GetPathFromFilePath(m_dirCtrl->GetPath(), path)) + return; + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_ACTIVATED, this, GetId()); + + m_path = path; + if (m_dirCtrl->GetFilePath().IsEmpty()) + { + fbEvent.SetEventType(wxEVT_FILEBROWSER_DIR_ACTIVATED); + + if (!HasBrowserStyle(wxFILEBROWSER_TREE)) + m_fileCtrl->GoToDir(m_path); + } + + fbEvent.SetFilePath(m_dirCtrl->GetPath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnTreeRightClick(wxTreeEvent &event) +{ + UpdateMenu(m_treeMenu); + m_dirCtrl->PopupMenu(m_treeMenu, event.GetPoint()); +} + +void wxFileBrowser::OnListItemActivated(wxListEvent &event) +{ + wxString filename = event.GetLabel(); + if (filename.IsEmpty()) return; + + wxFileData *fd = (wxFileData*)event.GetData(); + wxCHECK_RET(fd, wxT("Invalid filedata")); + wxString filePath = fd->GetFilePath(); + + wxEventType evtType = fd->IsDir() ? wxEVT_FILEBROWSER_DIR_ACTIVATED : + wxEVT_FILEBROWSER_FILE_ACTIVATED; + wxFileBrowserEvent fbEvent(evtType, this, GetId()); + + if (fd->IsDir()) + { + if (filename == wxT("..")) + filePath = filePath.RemoveLast().BeforeLast(wxFILE_SEP_PATH); + + SetPath(filePath); + } + + fbEvent.SetFilePath(filePath); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnListItemSelected(wxListEvent &event) +{ + wxFileData *fd = (wxFileData*)event.GetData(); + wxCHECK_RET(fd, wxT("Invalid filedata")); + + wxEventType evtType = fd->IsDir() ? wxEVT_FILEBROWSER_DIR_SELECTED : + wxEVT_FILEBROWSER_FILE_SELECTED; + wxFileBrowserEvent fbEvent(evtType, this, GetId()); + fbEvent.SetFilePath(fd->GetFilePath()); + DoSendEvent(fbEvent); +} + +void wxFileBrowser::OnListRightClick(wxListEvent &event) +{ + UpdateMenu(m_listMenu); + m_fileCtrl->PopupMenu(m_listMenu, event.GetPoint()); +} + +wxFileData* wxFileBrowser::GetFocusedListItem() const +{ + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_FOCUSED); + + if (item >= 0) + return (wxFileData*)m_fileCtrl->GetItemData(item); + + return NULL; +} + +wxArrayInt wxFileBrowser::GetSelectedListItems() const +{ + wxArrayInt selItems; + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + + while (item >= 0) + { + selItems.Add((int)item); + item = m_fileCtrl->GetNextItem(item, wxLIST_NEXT_ALL, wxLIST_STATE_SELECTED); + } + + return selItems; +} + +wxArrayFileData wxFileBrowser::GetSelectedListFileData() const +{ + wxArrayFileData fileDatas; + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return fileDatas; + + for (size_t n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, fileDatas, wxT("Invalid filedata item")); + + wxFileData newFd(*fd); + fileDatas.Add(newFd); + } + + return fileDatas; +} + + +wxFileData wxFileBrowser::CreateFileData(const wxFileName& fileName) const +{ + if (fileName.DirExists()) + { + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_dir, wxFileIconsTable::folder); + } + else if (fileName.FileExists()) + { + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_file, wxFileIconsTable::file); + } +#if defined(__WINDOWS__) || defined(__DOS__) || defined(__WXMAC__) || defined(__OS2__) + else + { + // FIXME this is ugly, but should work + wxArrayString names, paths; + wxArrayInt icons; + size_t n, count = wxGetAvailableDrives(paths, names, icons); + for (n = 0; n < count; n++) + { + if (fileName.GetFullPath() == paths[n]) + return wxFileData(fileName.GetPath(), fileName.GetName(), wxFileData::is_drive, icons[n]); + } + } +#endif + return wxFileData(); +} + +bool wxFileBrowser::DeleteSelectedListItems(bool WXUNUSED(ask_ok)) +{ + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return false; + + size_t n = 0; + wxArrayString filePaths; + wxArrayInt isDirs; + wxString fileNameString; + int line_length = 0; + for (n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, false, wxT("Invalid filedata item")); + + if (fd->IsDrive()) + { + wxString msg = wxT("Unable to delete drive: \"")+fd->GetFilePath()+wxT("\"\n"); + msg += wxT("Please deselect drive and try again."); + wxMessageBox(msg, + wxT("Error deleting"), wxOK|wxCENTRE|wxICON_INFORMATION, this); + return false; + } + if (fd->GetFileName() == wxT("..")) + { + wxString msg = wxT("Unable to delete parent directory: \"")+fd->GetFilePath()+wxT("\"\n"); + msg += wxT("Please deselect dir and try again."); + wxMessageBox(msg, + wxT("Error deleting"), wxOK|wxCENTRE|wxICON_INFORMATION, this); + return false; + } + + isDirs.Add(fd->IsDir() ? 1 : 0); + filePaths.Add(fd->GetFilePath()); + if (line_length > 100) + { + fileNameString += wxT("\n"); + line_length = 0; + } + fileNameString += fd->GetFileName(); + if (n < selItems.GetCount() - 1) + fileNameString += wxT(", "); + + line_length += fd->GetFileName().Length() + 2; + } + + MultilineTextDialog tDialog( this, + wxT("Delete files(s)/dir(s)?"), + wxT("Confirm deleting?"), + fileNameString, + wxTE_READONLY); + + if (tDialog.ShowModal() != wxID_OK) + return false; + + for (n=0; nDeleteItem(selItems[n]); + else + { + wxString msg = wxT("Sorry, unable to delete dir: \"")+filePaths[n]+wxT("\"\n"); + msg += wxT("Perhaps it is not empty?"); + int ret = wxMessageBox(msg, wxT("Error deleting dir"), + wxOK|wxCANCEL|wxCENTRE|wxICON_INFORMATION, this); + + if (ret == wxCANCEL) break; + } + } + else + { + if (CanWrite(filePaths[n]) && wxRemoveFile(filePaths[n])) + m_fileCtrl->DeleteItem(selItems[n]); + else + { + int ret = wxMessageBox(wxT("Sorry, unable to delete file : \"")+filePaths[n]+wxT("\""), + wxT("Error deleting file"), + wxOK|wxCANCEL|wxCENTRE|wxICON_INFORMATION, this); + if (ret == wxCANCEL) break; + } + } + } + + SetPath(GetPath()); // refresh views + return true; +} + +bool wxFileBrowser::CopyCutSelectedListItems(bool copy_them) +{ + m_last_copy = copy_them; + m_copycutFiles.Clear(); + + wxArrayInt selItems = GetSelectedListItems(); + if ((int)selItems.GetCount() < 1) + return false; + + for (size_t n=0; nGetItemData(selItems[n]); + wxCHECK_MSG(fd, false, wxT("Invalid filedata item")); + + if (fd->GetFileName() != wxT("..")) + { + if (!m_last_copy) + m_fileCtrl->SetItemState(selItems[n], wxLIST_MASK_STATE, wxLIST_STATE_CUT); + + m_copycutFiles.Add(wxFileData(*fd)); + } + } + + return m_copycutFiles.GetCount() > 0U; +} + +bool wxFileBrowser::PasteCopyCutSelectedListItems() +{ + wxString path = GetPath(true); + + for (size_t n=0; nFindItem(-1, srcFileName); + + if (!dst_file_exists || (item_id < 0)) + { + wxListItem item; + item.m_itemId = m_fileCtrl->GetItemCount(); + item.m_col = 0; + wxFileData *fd = new wxFileData(dstFilePath, srcFileName, wxFileData::is_file, wxFileIconsTable::file); + m_fileCtrl->Add(fd, item); + } + else + { + wxListItem item; + item.m_itemId = item_id; + m_fileCtrl->UpdateItem(item); + } + } + + SetPath(GetPath()); // refresh views + return true; +} + +void wxFileBrowser::OnTreeMenu(wxCommandEvent &event) +{ + switch(event.GetId()) + { + case ID_wxFILEBROWSER_TREE_MENU_PROPERITES : + { + wxFileName fileName(m_dirCtrl->GetPath()); + wxFileData fd(CreateFileData(fileName)); + //if (!fd) return; + + ShowPropertiesDialog(fd); + break; + } + default : break; + } +} + +void wxFileBrowser::OnListMenu(wxCommandEvent &event) +{ + switch(event.GetId()) + { + case ID_wxFILEBROWSER_GO_BACK : + { + if (CanGoPathHistoryBackward()) + GoPathHistoryBackward(); + + break; + } + case ID_wxFILEBROWSER_GO_FORWARD : + { + if (CanGoPathHistoryForward()) + GoPathHistoryForward(); + + break; + } + case ID_wxFILEBROWSER_GO_UP : + { + if (CanGoUpDir()) + GoUpDir(); + + break; + } + case ID_wxFILEBROWSER_GO_HOME : + { + GoToHomeDir(); + break; + } + case ID_wxFILEBROWSER_REFRESH : + { + SetPath(GetPath(true)); + break; + } + case wxID_OPEN : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + OpenFilePath(fd->GetFilePath()); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_NEW_FOLDER : + { + m_fileCtrl->MakeDir(); + SetPath(GetPath(true)); + break; + } + case wxID_CUT : + case wxID_COPY : + { + m_last_copy = event.GetId() == wxID_COPY; + CopyCutSelectedListItems(m_last_copy); + break; + } + case wxID_PASTE : + { + PasteCopyCutSelectedListItems(); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_DELETE : + { + DeleteSelectedListItems(true); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_RENAME : + { + long item = m_fileCtrl->GetNextItem(-1, wxLIST_NEXT_ALL, wxLIST_STATE_FOCUSED); + if (item >= 0) + m_fileCtrl->EditLabel( item ); + break; + } + case ID_wxFILEBROWSER_LIST_MENU_OPEN_WITH : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + wxString cmd = GetOpenWithFileCmd(fd); + + if (!cmd.IsEmpty()) + { + long ret = wxExecute(cmd, wxEXEC_ASYNC, NULL); + if (ret == 0) + { + wxMessageBox(wxT("Error running program"), wxT("Error running program"), + wxOK, this); + } + } + break; + } + case ID_wxFILEBROWSER_LIST_MENU_VIEW_FILE : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + wxLogNull logNull; + wxImage image(fd->GetFilePath()); + if (image.Ok()) + { + wxDialog dialog(this, -1, wxT("Preview : ") + fd->GetFilePath(), + wxDefaultPosition, wxDefaultSize, + wxDEFAULT_DIALOG_STYLE|wxRESIZE_BORDER ); + + wxScrolledWindow *scrWin = new wxScrolledWindow(&dialog, -1); + wxStaticBitmap *statBitmap = new wxStaticBitmap(scrWin, -1, wxBitmap(image)); + + // not necessary in MSW + int ext = 0; //dialog.GetSize().GetWidth() - dialog.GetClientSize().GetWidth(); + + wxRect clientRect = wxGetClientDisplayRect(); + wxRect imageRect(0, 0, image.GetWidth()+ext, image.GetHeight()+ext); + clientRect.Intersect(imageRect); + dialog.SetClientSize(clientRect.width, clientRect.height); + + scrWin->SetScrollbars(1, 1, image.GetWidth(), image.GetHeight()); + + dialog.ShowModal(); + break; + } + else // view as text + { + + wxFrame* frame = new wxFrame(this, wxID_ANY, wxT("Text Viewer")); + wxTextCtrl* textCtrl = new wxTextCtrl(frame, wxID_ANY, wxT(""), + wxDefaultPosition, wxDefaultSize, wxTE_MULTILINE|wxTE_RICH|wxTE_READONLY); + + wxString s; + wxFileInputStream inputStream(fd->GetFilePath()); + wxTextInputStream textStream(inputStream); + while (!inputStream.Eof()) + { + s += textStream.ReadLine() + wxT("\n"); + if (s.Length() > 1000000) + { + wxMessageBox(wxT("This file is too large for the text viewer."), + wxT("File truncated"), wxOK, this); + break; + } + } + + textCtrl->AppendText(s); + frame->Show(true); + +/* + wxSTEditorOptions steOptions(STE_DEFAULT_OPTIONS); + steOptions.GetMenuManager()->CreateForNotebook(); +#if wxUSE_CONFIG + wxConfigBase *config = wxConfigBase::Get(false); // don't create + if (config) + steOptions.LoadConfig(*config); +#endif //wxUSE_CONFIG + + wxSTEditorFrame *editor = new wxSTEditorFrame(this, wxID_ANY, wxT("Editor")); + editor->CreateOptions(steOptions); + editor->GetEditor()->LoadFile(fd->GetFilePath()); + editor->Centre(); + editor->Show(true); +*/ + } + break; + } + case ID_wxFILEBROWSER_LIST_MENU_PROPERITES : + { + wxFileData *fd = GetFocusedListItem(); + if (!fd) return; + + ShowPropertiesDialog(*fd); + break; + } + case ID_wxFILEBROWSER_SHOW_HIDDEN : ShowHidden(event.IsChecked()); break; + case ID_wxFILEBROWSER_SHOW_FOLDERS : ShowFolders(event.IsChecked()); break; + case ID_wxFILEBROWSER_SPLIT_VERTICAL : SplitVertical(event.IsChecked()); break; + + default : break; + } +} + +void wxFileBrowser::OnViewButtons(wxCommandEvent &event) +{ + switch (event.GetId()) + { + case ID_wxFILEBROWSER_VIEW_BUTTON : + { + wxWindow *win = (wxWindow*)event.GetEventObject(); + if (win) + win->PopupMenu(m_viewMenu, wxPoint(0, win->GetSize().y)); +/* + wxToolBar *win = (wxToolBar*)event.GetEventObject(); + { + wxSize toolSize(win->GetToolSize()); + wxSize marginSize(win->GetMargins()); + int pack = win->GetToolPacking(); + int sep = win->GetToolSeparation(); + wxPrintf(wxT(" %d %d, %d %d, %d %d\n"), toolSize.x, toolSize.y, marginSize.x, marginSize.y, pack, sep); + win->PopupMenu(m_viewMenu, + wxPoint(toolSize.x*5 + 2*marginSize.x, + win->GetSize().y-marginSize.y)); + } +*/ + break; + } + case ID_wxFILEBROWSER_VIEW_TREE : + case ID_wxFILEBROWSER_VIEW_LIST : + case ID_wxFILEBROWSER_VIEW_DETAILS : + case ID_wxFILEBROWSER_VIEW_SMALL_ICON : + case ID_wxFILEBROWSER_VIEW_LARGE_ICON : + case ID_wxFILEBROWSER_VIEW_PREVIEW : + { + long style = MenuIDToFBStyle(event.GetId()); + style |= (m_browser_style & (~wxFILEBROWSER_VIEW_MASK)); + SetBrowserStyle(style); + break; + } + default : event.Skip(); break; + } +} + +void wxFileBrowser::OnPathCombo(wxCommandEvent &event) +{ + // gtk sends events for just dropping the box + if (m_pathComboSelection == event.GetSelection()) + return; + + m_pathComboSelection = event.GetSelection(); + + // be overly cautious, GTK combo sends events and in some cases leads to a loop + // it also doesn't like to have selection changed inside this handler + wxCommandEvent setevent( wxEVT_COMMAND_MENU_SELECTED, ID_wxFILEBROWSER_COMBOSETPATH ); + setevent.SetString(event.GetString()); + GetEventHandler()->AddPendingEvent(setevent); +} +void wxFileBrowser::OnPathComboEnter(wxCommandEvent &WXUNUSED(event)) +{ + OpenFilePath(m_pathCombo->GetValue()); +} +void wxFileBrowser::OnSetPath( wxCommandEvent &event ) +{ + SetPath(event.GetString()); + m_pathComboSelection = m_pathCombo->GetSelection(); +} + +bool wxFileBrowser::OpenFilePath(const wxString &filePath) +{ + wxString path = filePath; + + if (path.IsEmpty() || (path.Find(wxT('|')) != wxNOT_FOUND)) + return false; + + bool want_dir = (path.Last() == wxFILE_SEP_PATH); + if (want_dir) + path = path.RemoveLast(); + + // Get home dir of user for ~ +#ifdef __UNIX__ + if (path == wxT("~")) + { + path = wxGetUserHome(); + } + else if (path.BeforeFirst(wxT('/')) == wxT("~")) + { + path = wxGetUserHome() + path.Remove(0, 1); + } +#endif // __UNIX__ + + // deal with ../ and what not + if (path.Contains(wxT(".."))) + { + // path is just ".." or "../" + if (path == wxT("..")) + path = GetPath(false).BeforeLast(wxFILE_SEP_PATH); + // path is "../some/dir" - note: no need to check for at least 3 chars + else if ((path.Mid(0, 3) == wxString(wxT("..")) + wxFILE_SEP_PATH)) + path = GetPath(false).BeforeLast(wxFILE_SEP_PATH) + wxFILE_SEP_PATH + path.AfterFirst(wxFILE_SEP_PATH); + // path is "/some/where/.." + else if (path.Mid(path.Len()-3) == wxFILE_SEP_PATH + wxString(wxT(".."))) + path = path.BeforeLast(wxFILE_SEP_PATH).BeforeLast(wxFILE_SEP_PATH); + else + return false; + } + + wxFileName filename(path); + + if (filename.DirExists()) + { + SetPath(path); + return true; + } + + // They really wanted a dir, but it doesn't exist + if (want_dir) + return false; + + // if it's a file then just "load" it + if (filename.FileExists()) + { + //SetPath(filename.GetPath()); + + long item = m_fileCtrl->FindItem(-1, filename.GetName(), false); + if (item >= 0) + { + m_fileCtrl->SetItemState(item, wxLIST_STATE_SELECTED, wxLIST_STATE_SELECTED); + m_fileCtrl->EnsureVisible( item ); + } + + wxFileBrowserEvent fbEvent(wxEVT_FILEBROWSER_FILE_ACTIVATED, this, GetId()); + fbEvent.SetFilePath(path); + DoSendEvent(fbEvent); + } + + return true; +} + +bool wxFileBrowser::InsertComboItem(wxComboBox *combo, const wxString &item, int pos) const +{ + int combo_index = combo->FindString(item); + + if (combo_index == wxNOT_FOUND) + combo->Insert(item, pos, (void*)NULL); + else if ((combo_index == pos) || (combo_index < pos)) + return true; + else if (combo_index > pos) + { + wxString *data = (wxString*) combo->GetClientData(combo_index); + combo->Delete(combo_index); + combo->Insert(item, pos, (void*)data); + } + + if (combo->GetSelection() != pos) + combo->SetSelection(pos); + + return true; +} + +bool wxFileBrowser::SetFilter( int n ) +{ + wxCHECK_MSG((n>=0) && (nGetCount())), false, wxT("Invalid filter item")); + + wxString filter = m_filterCombo->GetString(n); + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + if (data && !data->IsEmpty()) + filter += wxT("|") + (*data); + else + filter += wxT("|") + filter; + + AddFilter(filter); + return true; +} + +bool wxFileBrowser::AddFilter(const wxString &filter_) +{ + wxString filter(filter_); + if (filter.IsEmpty()) + filter = wxFileSelectorDefaultWildcardStr; + if (filter.Find(wxT('|')) == wxNOT_FOUND) + filter += wxT("|") + filter; + + m_filter = filter; + InsertComboItem(m_filterCombo, filter.BeforeFirst(wxT('|')), m_init_filters); + m_filterComboSelection = m_filterCombo->GetSelection(); + + if ((m_dirCtrl->GetWindowStyleFlag() & wxDIRCTRL_DIR_ONLY) == 0) + { + m_ignore_tree_event = true; + wxString currentPath = GetPath(false); + m_dirCtrl->SetFilter(GetFilter()); + m_dirCtrl->ReCreateTree(); + m_dirCtrl->ExpandPath(currentPath); + m_ignore_tree_event = false; + } + + m_fileCtrl->SetWild(GetWild()); + + return true; +} + +bool wxFileBrowser::SetFilters(const wxString &filter, int select) +{ + wxArrayString filterNames; + wxArrayString filterArray; + if (filter.IsEmpty() || + (::wxParseCommonDialogsFilter(filter, filterNames, filterArray) == 0)) + { + filterNames.Add(wxT("All files (")+wxString(wxFileSelectorDefaultWildcardStr)+wxT(")")); + filterArray.Add(wxFileSelectorDefaultWildcardStr); + } + + wxCHECK_MSG(select < int(filterNames.GetCount()), false, wxT("Invalid filter selection")); + + m_filter = filterNames[select] + wxT("|") + filterArray[select]; + m_init_filters = filterArray.GetCount(); + + // delete old filters if any + int n, count = m_filterCombo->GetCount(); + for ( n = 0; n < count; n++ ) + { + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + delete data; + } + + for ( n = 0; n < m_init_filters; n++ ) + m_filterCombo->Append(filterNames[n], (void*)new wxString(filterArray[n])); + + m_filterCombo->SetSelection(select); + m_filterComboSelection = select; + + if (!m_dirCtrl) return true; // This is during creation + + return SetFilter(select); +} + +void wxFileBrowser::OnFilterComboEnter(wxCommandEvent &event) +{ + if (event.GetString().Find(wxT('|')) == wxNOT_FOUND) + AddFilter(event.GetString() + wxT("|") + event.GetString()); +} +void wxFileBrowser::OnFilterCombo(wxCommandEvent &event) +{ + int sel = event.GetSelection(); + // gtk combo sends events when the combo is opened... ignore them + if ((sel < 0) || (sel == m_filterComboSelection)) + return; + + m_filterComboSelection = sel; + + wxString filter = event.GetString(); + wxString *data = (wxString*)m_filterCombo->GetClientData(sel); + if (data && !data->IsEmpty()) + filter += wxT("|") + (*data); + else + filter += wxT("|") + filter; + + // see OnPathCombo for why it's done this way + wxCommandEvent setevent( wxEVT_COMMAND_MENU_SELECTED, ID_wxFILEBROWSER_COMBOSETFILTER ); + setevent.SetString(filter); + setevent.SetInt(data && !data->IsEmpty() ? sel : -1); + GetEventHandler()->AddPendingEvent(setevent); +} +void wxFileBrowser::OnSetFilter( wxCommandEvent &event ) +{ + if ( event.GetInt() != -1) + SetFilter(event.GetInt()); + else + AddFilter(event.GetString()); +} + +bool wxFileBrowser::DoSendEvent(wxFileBrowserEvent &event) const +{ + return !GetEventHandler()->ProcessEvent(event); // || event.IsAllowed(); +} + +#if wxUSE_CONFIG +void wxFileBrowser::LoadConfig(wxConfigBase& config, bool paths, bool filters, + const wxString &configPath ) +{ + wxString value, key; + key = configPath + wxT("/style"); + if (config.Read(key, &value) && (!value.IsEmpty())) + { + long lvalue = 0; + if (value.ToLong(&lvalue)) + { + SetBrowserStyle(lvalue); + } + } + + if (paths) + { + int n = 0; + key = configPath + wxString::Format(wxT("/dir%d"), 1+n); + while ((n < 21) && config.Read(key, &value) && (!value.IsEmpty())) + { + value.Trim(false).Trim(true); + if (!value.IsEmpty()) + { + if (value.Last() != wxFILE_SEP_PATH) + value += wxFILE_SEP_PATH; + //if (wxDirExists(value)) + { + if (m_pathCombo->FindString(value) == wxNOT_FOUND) + m_pathCombo->Append(value, (void*)NULL); + } + } + n++; + key = configPath + wxString::Format(wxT("/dir%d"), 1+n); + value = wxEmptyString; + } + } + if (filters) + { + int n = 0; + key = configPath + wxString::Format(wxT("/filter%d"), 1+n); + while ((n < 21) && config.Read(key, &value) && (!value.IsEmpty())) + { + value.Trim(false).Trim(true); + if (!value.IsEmpty()) + { + if (m_filterCombo->FindString(value) == wxNOT_FOUND) + m_filterCombo->Append(value, (void*)NULL); + } + n++; + key = configPath + wxString::Format(wxT("/filter%d"), 1+n); + value = wxEmptyString; + } + } +} +void wxFileBrowser::SaveConfig(wxConfigBase& config, int n_paths, int n_filters, + const wxString &configPath) +{ + wxString value, key; + key = configPath + wxT("/style"); + config.Write(key, GetBrowserStyle()); + + if (n_paths > 0) + { + int n, item = 1, count = m_pathCombo->GetCount(); + for (n = 0; (n < count) && (item < n_paths); n++) + { + value = m_pathCombo->GetString(n); + if (!value.IsEmpty()) + { + config.Write(configPath + wxString::Format(wxT("/dir%d"), item), value); + item++; + } + } + } + if (n_filters > 0) + { + int n, item = 1, count = m_filterCombo->GetCount(); + for (n = 0; (n < count) && (item < n_filters); n++) + { + // don't save the initial filters since they are programmed in + wxString *data = (wxString*)m_filterCombo->GetClientData(n); + if (data) continue; + + value = m_filterCombo->GetString(n); + if (!value.IsEmpty()) + { + config.Write(configPath + wxString::Format(wxT("/filter%d"), item), value); + item++; + } + } + } +} +#endif // wxUSE_CONFIG + +void wxFileBrowser::ShowPropertiesDialog(const wxFileData &fileData) const +{ + wxFilePropertiesDialog propDialog((wxWindow*)this, wxID_ANY, + fileData, + fileData.GetFileName() + wxT(" Properties"), + wxDEFAULT_DIALOG_STYLE, wxDefaultPosition); + + propDialog.Centre(); + propDialog.ShowModal(); +} + +wxString wxFileBrowser::GetOpenWithFileCmd(wxFileData* fd) const +{ + wxCHECK_MSG(fd, wxEmptyString, wxT("Invalid wxFileData for GetOpenWithFileCmd")); + OpenWithDialog dialog((wxWindow*)this, wxID_ANY, *fd); + dialog.ShowModal(); + return dialog.GetOpenCommand(); +} diff --git a/3rdparty/wxthings/src/genergdi.cpp b/3rdparty/wxthings/src/genergdi.cpp new file mode 100644 index 0000000..3f74e05 --- /dev/null +++ b/3rdparty/wxthings/src/genergdi.cpp @@ -0,0 +1,712 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: genergdi.cpp +// Purpose: Generic gdi pen and colour +// Author: John Labenski +// Modified by: +// Created: 12/01/2000 +// Copyright: (c) John Labenski +// Licence: wxWidgets license +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "genergdi.h" +#endif + +// For compilers that support precompilation, includes "wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#include "wx/things/genergdi.h" +#include "wx/tokenzr.h" + +const wxGenericColour wxNullGenericColour; +const wxGenericPen wxNullGenericPen; +const wxGenericBrush wxNullGenericBrush; +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayGenericColour) +WX_DEFINE_OBJARRAY(wxArrayGenericPen) +WX_DEFINE_OBJARRAY(wxArrayGenericBrush) + +//---------------------------------------------------------------------------- +// wxGenericColour +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericColour, wxObject) + +class wxGenericColourRefData : public wxObjectRefData +{ +public: + wxGenericColourRefData(unsigned char r = 0, unsigned char g = 0, + unsigned char b = 0, unsigned char a = 255) + : wxObjectRefData(), m_r(r), m_g(g), m_b(b), m_a(a) {} + + wxGenericColourRefData( const wxGenericColourRefData& data ) + : wxObjectRefData(), m_r(data.m_r), m_g(data.m_g), m_b(data.m_b), m_a(data.m_a) {} + + unsigned char m_r, m_g, m_b, m_a; +}; + +#define M_GCOLOURDATA ((wxGenericColourRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericColour::CreateRefData() const +{ + return new wxGenericColourRefData; +} +wxObjectRefData *wxGenericColour::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericColourRefData(*(const wxGenericColourRefData *)data); +} + +void wxGenericColour::Create( const wxGenericColour& c ) +{ + Ref(c); +} +void wxGenericColour::Create( const wxColour& c) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + Set(c); +} +void wxGenericColour::Create( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha ) +{ + UnRef(); + m_refData = new wxGenericColourRefData(red, green, blue, alpha); +} +void wxGenericColour::CreateABGR( unsigned long colABGR ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + SetABGR(colABGR); +} +void wxGenericColour::CreateARGB( unsigned long colARGB ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + SetARGB(colARGB); +} +void wxGenericColour::Create( const wxString& colourName ) +{ + UnRef(); + m_refData = new wxGenericColourRefData; + Set(colourName); +} + +void wxGenericColour::Set( const wxGenericColour &c ) +{ + wxCHECK_RET(Ok() && c.Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = c.GetRed(); + M_GCOLOURDATA->m_g = c.GetGreen(); + M_GCOLOURDATA->m_b = c.GetBlue(); + M_GCOLOURDATA->m_a = c.GetAlpha(); +} +void wxGenericColour::Set( const wxColour& c ) +{ + wxCHECK_RET(Ok() && c.Ok(), wxT("Invalid colour")); + M_GCOLOURDATA->m_r = c.Red(); + M_GCOLOURDATA->m_g = c.Green(); + M_GCOLOURDATA->m_b = c.Blue(); +} +void wxGenericColour::Set( unsigned char red, unsigned char green, + unsigned char blue, unsigned char alpha ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = red; + M_GCOLOURDATA->m_g = green; + M_GCOLOURDATA->m_b = blue; + M_GCOLOURDATA->m_a = alpha; +} +void wxGenericColour::SetABGR( unsigned long colABGR ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = (unsigned char)(0xFF& colABGR); + M_GCOLOURDATA->m_g = (unsigned char)(0xFF&(colABGR >> 8)); + M_GCOLOURDATA->m_b = (unsigned char)(0xFF&(colABGR >> 16)); + M_GCOLOURDATA->m_a = (unsigned char)(0xFF&(colABGR >> 24)); +} +void wxGenericColour::SetARGB( unsigned long colARGB ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_b = (unsigned char)(0xFF& colARGB); + M_GCOLOURDATA->m_g = (unsigned char)(0xFF&(colARGB >> 8)); + M_GCOLOURDATA->m_r = (unsigned char)(0xFF&(colARGB >> 16)); + M_GCOLOURDATA->m_a = (unsigned char)(0xFF&(colARGB >> 24)); +} +void wxGenericColour::Set( const wxString& colourName ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + Set(wxColour(colourName)); +} +void wxGenericColour::SetRed( unsigned char r ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_r = r; +} +void wxGenericColour::SetGreen( unsigned char g ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_g = g; +} +void wxGenericColour::SetBlue( unsigned char b ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_b = b; +} +void wxGenericColour::SetAlpha( unsigned char a ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic colour")); + M_GCOLOURDATA->m_a = a; +} + +unsigned char wxGenericColour::GetRed() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_r; +} +unsigned char wxGenericColour::GetGreen() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_g; +} +unsigned char wxGenericColour::GetBlue() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_b; +} +unsigned char wxGenericColour::GetAlpha() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic colour")); + return M_GCOLOURDATA->m_a; +} + +bool wxGenericColour::IsSameAs( const wxGenericColour& c ) const +{ + wxCHECK_MSG(Ok() && c.Ok(), false, wxT("Invalid generic colour")); + wxGenericColourRefData *cData = (wxGenericColourRefData*)c.GetRefData(); + return (M_GCOLOURDATA->m_r == cData->m_r) && (M_GCOLOURDATA->m_g == cData->m_g) && + (M_GCOLOURDATA->m_b == cData->m_b) && (M_GCOLOURDATA->m_a == cData->m_a); +} + +bool wxGenericColour::IsSameAs( const wxColour& c ) const +{ + wxCHECK_MSG(Ok() && c.Ok(), false, wxT("Invalid colour")); + return (M_GCOLOURDATA->m_r == c.Red()) && + (M_GCOLOURDATA->m_g == c.Green()) && + (M_GCOLOURDATA->m_b == c.Blue()); +} + +// This code is assumed to be public domain, originally from Paul Bourke, July 1996 +// http://astronomy.swin.edu.au/~pbourke/colour/colourramp/source1.c + +wxGenericColour wxGenericColour::GetHotColdColour(double v) const +{ + wxGenericColour c(255, 255, 255); + const double vmin = 0.0, vmax = 255.0, dv = vmax - vmin; + + if (v < vmin) v = vmin; + if (v > vmax) v = vmax; + + if (v < (vmin + 0.25 * dv)) + { + c.SetRed(0); + c.SetGreen(int(vmax*(4.0 * (v - vmin) / dv) + 0.5)); + } + else if (v < (vmin + 0.5 * dv)) + { + c.SetRed(0); + c.SetBlue(int(vmax*(1.0 + 4.0 * (vmin + 0.25 * dv - v) / dv) + 0.5)); + } + else if (v < (vmin + 0.75 * dv)) + { + c.SetRed(int(vmax*(4.0 * (v - vmin - 0.5 * dv) / dv) + 0.5)); + c.SetBlue(0); + } + else + { + c.SetGreen(int(vmax*(1.0 + 4.0 * (vmin + 0.75 * dv - v) / dv) + 0.5)); + c.SetBlue(0); + } + + return c; +} +/* +wxString wxGenericColour::WriteString(const wxString& format) const +{ + return wxString::Format(format.c_str(), m_r, m_g, m_b, m_a); +} +bool wxGenericColour::ReadString(const wxString& str, const wxString& format) +{ + int r,g,b,a; + if (4 == wxSscanf(str, format.c_str(), &r, &g, &b, &a)) + { + m_r = r; + m_g = g; + m_b = b; + m_a = a; + return true; + } + + return false; +} +*/ + +//---------------------------------------------------------------------------- +// wxGenericPen +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericPen, wxObject) + +class wxGenericPenRefData : public wxObjectRefData +{ +public: + wxGenericPenRefData(int width = 1, int style = wxSOLID, + int cap = wxCAP_ROUND, int join = wxJOIN_ROUND) + : wxObjectRefData(), m_width(width), m_style(style), + m_cap(cap), m_join(join), + m_dash_count(0), m_dash(NULL) {} + + wxGenericPenRefData(const wxGenericPenRefData& data) : wxObjectRefData(), + m_colour(data.m_colour), m_width(data.m_width), m_style(data.m_style), + m_cap(data.m_cap), m_join(data.m_join), + m_dash_count(data.m_dash_count), m_dash(NULL) + { + if (data.m_dash) + { + m_dash = (wxDash*)malloc(m_dash_count*sizeof(wxDash)); + memcpy(m_dash, data.m_dash, m_dash_count*sizeof(wxDash)); + } + } + + ~wxGenericPenRefData() { if (m_dash) free(m_dash); } + + wxGenericColour m_colour; + int m_width; + int m_style; + int m_cap; + int m_join; + + int m_dash_count; // don't arbitrarily adjust these! + wxDash *m_dash; +}; + +#define M_GPENDATA ((wxGenericPenRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericPen::CreateRefData() const +{ + return new wxGenericPenRefData; +} +wxObjectRefData *wxGenericPen::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericPenRefData(*(const wxGenericPenRefData *)data); +} + +void wxGenericPen::Create( const wxGenericPen &pen ) +{ + Ref(pen); +} +void wxGenericPen::Create( const wxPen &pen ) +{ + UnRef(); + m_refData = new wxGenericPenRefData; + Set(pen); +} +void wxGenericPen::Create(const wxGenericColour &colour, int width, int style, + int cap, int join ) +{ + UnRef(); + m_refData = new wxGenericPenRefData(width, style, cap, join); + M_GPENDATA->m_colour = colour; +} +void wxGenericPen::Create(const wxColour &colour, int width, int style, + int cap, int join ) +{ + Create(wxGenericColour(colour), width, style, cap, join); +} + +void wxGenericPen::Set( const wxGenericPen& pen ) +{ + wxCHECK_RET(Ok() && pen.Ok(), wxT("Invalid generic pen")); + SetColour(pen.GetColour()); + M_GPENDATA->m_width = pen.GetWidth(); + M_GPENDATA->m_style = pen.GetStyle(); + M_GPENDATA->m_cap = pen.GetCap(); + M_GPENDATA->m_join = pen.GetJoin(); + + wxDash* dash; + int n_dashes = pen.GetDashes(&dash); + SetDashes(n_dashes, dash); +} +void wxGenericPen::Set( const wxPen &pen ) +{ + wxCHECK_RET(Ok() && pen.Ok(), wxT("Invalid generic pen")); + SetColour(pen.GetColour()); + M_GPENDATA->m_width = pen.GetWidth(); + M_GPENDATA->m_style = pen.GetStyle(); + M_GPENDATA->m_cap = pen.GetCap(); + M_GPENDATA->m_join = pen.GetJoin(); + + wxDash* dash; + int n_dashes = pen.GetDashes(&dash); + SetDashes(n_dashes, dash); + + // or SetDashes(pen.GetDashCount(), pen.GetDash()); not in msw 2.4 +} +void wxGenericPen::SetColour( const wxGenericColour &colour ) +{ + wxCHECK_RET(Ok() && colour.Ok(), wxT("Invalid generic pen or colour")); + M_GPENDATA->m_colour = colour; +} +void wxGenericPen::SetColour( const wxColour &colour ) +{ + SetColour(wxGenericColour(colour)); +} +void wxGenericPen::SetColour( int red, int green, int blue, int alpha ) +{ + SetColour(wxGenericColour(red, green, blue, alpha)); +} +void wxGenericPen::SetCap( int capStyle ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_cap = capStyle; +} +void wxGenericPen::SetJoin( int joinStyle ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_join = joinStyle; +} +void wxGenericPen::SetStyle( int style ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_style = style; +} +void wxGenericPen::SetWidth( int width ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + M_GPENDATA->m_width = width; +} +void wxGenericPen::SetDashes( int number_of_dashes, const wxDash *dash ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic pen")); + wxCHECK_RET(((number_of_dashes == 0) && !dash) || + ((number_of_dashes > 0) && dash), wxT("Invalid dashes for pen")); + + // internal double check to see if somebody's messed with this + //wxCHECK_RET(((M_GPENDATA->m_dash_count == 0) && !M_GPENDATA->m_dash) || + // ((M_GPENDATA->m_dash_count != 0) && M_GPENDATA->m_dash), wxT("Invalid internal dashes for pen")); + + if (M_GPENDATA->m_dash) + { + free(M_GPENDATA->m_dash); + M_GPENDATA->m_dash = NULL; + M_GPENDATA->m_dash_count = 0; + } + + if (!dash) + return; + + M_GPENDATA->m_dash_count = number_of_dashes; + M_GPENDATA->m_dash = (wxDash*)malloc(number_of_dashes*sizeof(wxDash)); + memcpy(M_GPENDATA->m_dash, dash, number_of_dashes*sizeof(wxDash)); +} + +wxPen wxGenericPen::GetPen() const +{ + wxCHECK_MSG(Ok(), wxNullPen, wxT("Invalid generic pen")); + wxPen pen(M_GPENDATA->m_colour.GetColour(), M_GPENDATA->m_width, M_GPENDATA->m_style); + pen.SetCap(M_GPENDATA->m_cap); + pen.SetJoin(M_GPENDATA->m_join); + if (M_GPENDATA->m_dash_count > 0) + pen.SetDashes(M_GPENDATA->m_dash_count, M_GPENDATA->m_dash); + + return pen; +} + +wxGenericColour wxGenericPen::GetGenericColour() const +{ + wxCHECK_MSG(Ok(), wxNullGenericColour, wxT("Invalid generic pen")); + return M_GPENDATA->m_colour; +} +wxColour wxGenericPen::GetColour() const +{ + wxCHECK_MSG(Ok(), wxNullColour, wxT("Invalid generic pen")); + return M_GPENDATA->m_colour.GetColour(); +} +int wxGenericPen::GetWidth() const +{ + wxCHECK_MSG(Ok(), 1, wxT("Invalid generic pen")); + return M_GPENDATA->m_width; +} +int wxGenericPen::GetStyle() const +{ + wxCHECK_MSG(Ok(), wxSOLID, wxT("Invalid generic pen")); + return M_GPENDATA->m_style; +} +int wxGenericPen::GetCap() const +{ + wxCHECK_MSG(Ok(), wxCAP_ROUND, wxT("Invalid generic pen")); + return M_GPENDATA->m_cap; +} +int wxGenericPen::GetJoin() const +{ + wxCHECK_MSG(Ok(), wxJOIN_ROUND, wxT("Invalid generic pen")); + return M_GPENDATA->m_join; +} +int wxGenericPen::GetDashes(wxDash **ptr) const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic pen")); + *ptr = (wxDash*)M_GPENDATA->m_dash; + return M_GPENDATA->m_dash_count; +} +int wxGenericPen::GetDashCount() const +{ + wxCHECK_MSG(Ok(), 0, wxT("Invalid generic pen")); + return M_GPENDATA->m_dash_count; +} +wxDash* wxGenericPen::GetDash() const +{ + wxCHECK_MSG(Ok(), NULL, wxT("Invalid generic pen")); + return M_GPENDATA->m_dash; +} + +bool wxGenericPen::IsSameAs(const wxGenericPen &pen) const +{ + wxCHECK_MSG(Ok() && pen.Ok(), false, wxT("Invalid generic pen")); + wxGenericPenRefData *pData = (wxGenericPenRefData*)pen.GetRefData(); + + if ((M_GPENDATA->m_colour != pData->m_colour) || (M_GPENDATA->m_width != pData->m_width) || + (M_GPENDATA->m_style != pData->m_style) || (M_GPENDATA->m_cap != pData->m_cap) || + (M_GPENDATA->m_join != pData->m_join) || (M_GPENDATA->m_dash_count != pen.GetDashCount())) + return false; + + if (M_GPENDATA->m_dash_count > 0) + return memcmp(M_GPENDATA->m_dash, pen.GetDash(), M_GPENDATA->m_dash_count*sizeof(wxDash)) == 0; + + return true; +} +bool wxGenericPen::IsSameAs(const wxPen &pen) const +{ + wxCHECK_MSG(Ok() && pen.Ok(), false, wxT("Invalid generic pen")); + wxGenericPen gp(pen); + gp.GetGenericColour().SetAlpha(M_GPENDATA->m_colour.GetAlpha()); + return IsSameAs(gp); +} + + + + +/* +wxString wxGenericPen::WriteString() const +{ + wxString str; + str.Printf(wxT("%s,%d,%d,%d,%d,%d"), m_colour.WriteString().c_str(), + m_width, m_style, m_cap, m_join, + m_dash_count); + + for (int i = 0; i < m_dash_count; i++) + str += wxString::Format(wxT(",%d"), m_dash[i]); + + return str; +} + +bool wxGenericPen::ReadString(const wxString& str) +{ + wxArrayString tokens = wxStringTokenize(str, wxT(", "), wxTOKEN_DEFAULT); + size_t n, count = tokens.GetCount(); + + if (count < 9u) + return false; + + long val; + + for (n = 0; n < count; n++) + { + if (!tokens[n].ToLong(&val)) + return false; + + values.Add(int(val)); + } + + m_colour.Set(values[0], values[1], values[2], values[3]); + + size_t num_dashes = values[8]; + + if (num_dashes != count - 9) + return false; + + if (num_dashes > 0) + { + wxDash *dash = new wxDash[num_dashes]; + for (n = 0; n < num_dashes; n++) + dash[n] = (wxDash)values[n]; + + SetDashes(num_dashes, dash); + delete dash; + } + + + m_width = values[4]; + m_style = values[5]; + m_cap = values[6]; + m_join = values[7]; + //m_dash_count = values[8]; + + return true; +} +*/ + + +//---------------------------------------------------------------------------- +// wxGenericBrush +//---------------------------------------------------------------------------- +IMPLEMENT_DYNAMIC_CLASS(wxGenericBrush, wxObject) + +class wxGenericBrushRefData : public wxObjectRefData +{ +public: + wxGenericBrushRefData(const wxGenericColour& c = wxNullGenericColour, + int style = wxSOLID) : wxObjectRefData(), + m_colour(c), m_style(style) {} + + wxGenericBrushRefData(const wxGenericBrushRefData& data) : wxObjectRefData(), + m_colour(data.m_colour), m_style(data.m_style), m_stipple(data.m_stipple) {} + + ~wxGenericBrushRefData() { } + + wxGenericColour m_colour; + int m_style; + wxBitmap m_stipple; +}; + +#define M_GBRUSHDATA ((wxGenericBrushRefData*)m_refData) + +//---------------------------------------------------------------------------- +wxObjectRefData *wxGenericBrush::CreateRefData() const +{ + return new wxGenericBrushRefData; +} +wxObjectRefData *wxGenericBrush::CloneRefData(const wxObjectRefData *data) const +{ + return new wxGenericBrushRefData(*(const wxGenericBrushRefData *)data); +} + +void wxGenericBrush::Create( const wxGenericBrush &brush ) +{ + Ref(brush); +} +void wxGenericBrush::Create( const wxBrush &brush ) +{ + UnRef(); + m_refData = new wxGenericBrushRefData; + Set(brush); +} +void wxGenericBrush::Create(const wxGenericColour &colour, int style) +{ + UnRef(); + m_refData = new wxGenericBrushRefData(colour, style); +} +void wxGenericBrush::Create(const wxColour &colour, int style) +{ + Create(wxGenericColour(colour), style); +} +void wxGenericBrush::Create( const wxBitmap &stipple ) +{ + UnRef(); + wxCHECK_RET(stipple.Ok(), wxT("Invalid bitmap in wxGenericBrush::Create")); + + int style = stipple.GetMask() ? wxSTIPPLE_MASK_OPAQUE : wxSTIPPLE; + m_refData = new wxGenericBrushRefData(wxNullGenericColour, style); + M_GBRUSHDATA->m_stipple = stipple; +} + +void wxGenericBrush::Set( const wxGenericBrush& brush ) +{ + wxCHECK_RET(Ok() && brush.Ok(), wxT("Invalid generic brush")); + SetColour(brush.GetColour()); + M_GBRUSHDATA->m_style = brush.GetStyle(); + wxBitmap* stipple = brush.GetStipple(); + if (stipple && stipple->Ok()) + M_GBRUSHDATA->m_stipple = *stipple; +} +void wxGenericBrush::Set( const wxBrush &brush ) +{ + wxCHECK_RET(Ok() && brush.Ok(), wxT("Invalid generic brush")); + SetColour(brush.GetColour()); + M_GBRUSHDATA->m_style = brush.GetStyle(); + wxBitmap* stipple = brush.GetStipple(); + if (stipple && stipple->Ok()) + M_GBRUSHDATA->m_stipple = *stipple; +} +void wxGenericBrush::SetColour( const wxGenericColour &colour ) +{ + wxCHECK_RET(Ok() && colour.Ok(), wxT("Invalid generic brush or colour")); + M_GBRUSHDATA->m_colour = colour; +} +void wxGenericBrush::SetColour( const wxColour &colour ) +{ + SetColour(wxGenericColour(colour)); +} +void wxGenericBrush::SetColour( int red, int green, int blue, int alpha ) +{ + SetColour(wxGenericColour(red, green, blue, alpha)); +} +void wxGenericBrush::SetStyle( int style ) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic brush")); + M_GBRUSHDATA->m_style = style; +} +void wxGenericBrush::SetStipple(const wxBitmap& stipple) +{ + wxCHECK_RET(Ok(), wxT("Invalid generic brush")); + M_GBRUSHDATA->m_stipple = stipple; + M_GBRUSHDATA->m_style = stipple.GetMask() ? wxSTIPPLE_MASK_OPAQUE : wxSTIPPLE; + +} + +wxBrush wxGenericBrush::GetBrush() const +{ + wxCHECK_MSG(Ok(), wxNullBrush, wxT("Invalid generic brush")); + if (M_GBRUSHDATA->m_stipple.Ok()) + return wxBrush(M_GBRUSHDATA->m_stipple); + + return wxBrush(M_GBRUSHDATA->m_colour.GetColour(), M_GBRUSHDATA->m_style); +} + +wxGenericColour wxGenericBrush::GetGenericColour() const +{ + wxCHECK_MSG(Ok(), wxNullGenericColour, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_colour; +} +wxColour wxGenericBrush::GetColour() const +{ + wxCHECK_MSG(Ok(), wxNullColour, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_colour.GetColour(); +} +int wxGenericBrush::GetStyle() const +{ + wxCHECK_MSG(Ok(), wxSOLID, wxT("Invalid generic brush")); + return M_GBRUSHDATA->m_style; +} +wxBitmap* wxGenericBrush::GetStipple() const +{ + wxCHECK_MSG(Ok(), NULL, wxT("Invalid generic brush")); + return &M_GBRUSHDATA->m_stipple; +} + +bool wxGenericBrush::IsSameAs(const wxGenericBrush& brush) const +{ + wxCHECK_MSG(Ok() && brush.Ok(), 1, wxT("Invalid generic brush")); + wxGenericBrushRefData *bData = (wxGenericBrushRefData*)brush.GetRefData(); + return (M_GBRUSHDATA->m_colour == bData->m_colour) && + (M_GBRUSHDATA->m_style == bData->m_style) && + (M_GBRUSHDATA->m_stipple == bData->m_stipple); +} +bool wxGenericBrush::IsSameAs(const wxBrush& brush) const +{ + wxCHECK_MSG(Ok() && brush.Ok(), 1, wxT("Invalid generic brush")); + wxGenericBrush gB(brush); + gB.GetGenericColour().SetAlpha(M_GBRUSHDATA->m_colour.GetAlpha()); + return IsSameAs(gB); +} diff --git a/3rdparty/wxthings/src/geometry.cpp b/3rdparty/wxthings/src/geometry.cpp new file mode 100644 index 0000000..7758d29 --- /dev/null +++ b/3rdparty/wxthings/src/geometry.cpp @@ -0,0 +1,210 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: geometry.cpp +// Author: John Labenski +// Created: 07/01/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "geometry.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#include "wx/things/geometry.h" + +/* +2.4 : How do I generate a circle through three points? +Let the three given points be a, b, c. Use _0 and _1 to represent x and y coordinates. The coordinates of the center p=(p_0,p_1) of the circle determined by a, b, and c are: +A = b_0 - a_0; B = b_1 - a_1; C = c_0 - a_0; D = c_1 - a_1; +E = A*(a_0 + b_0) + B*(a_1 + b_1); F = C*(a_0 + c_0) + D*(a_1 + c_1); +G = 2.0*(A*(c_1 - b_1)-B*(c_0 - b_0)); +p_0 = (D*E - B*F) / G; p_1 = (A*F - C*E) / G; +If G is zero then the three points are collinear and no finite-radius circle through them exists. Otherwise, the radius of the circle is: +r^2 = (a_0 - p_0)^2 + (a_1 - p_1)^2 +[O' Rourke (C)] p. 201. Simplified by Jim Ward. +*/ + +wxCircleDouble::wxCircleDouble(const wxPoint2DDouble &p1, + const wxPoint2DDouble &p2, + const wxPoint2DDouble &p3) +{ + wxDouble A = p2.m_x - p1.m_x, + B = p2.m_y - p1.m_y, + C = p3.m_x - p1.m_x, + D = p3.m_y - p1.m_y; + + wxDouble E = A*(p1.m_x + p2.m_x) + B*(p1.m_y + p2.m_y), + F = C*(p1.m_x + p3.m_x) + D*(p1.m_y + p3.m_y), + G = 2.0*(A*(p3.m_y - p2.m_y)-B*(p3.m_x - p2.m_x)); + + if (G == 0) + { + m_x = m_y = m_r = 0; + return; + } + + m_x = (D*E - B*F) / G, + m_y = (A*F - C*E) / G; + m_r = sqrt( (p1.m_x - m_x)*(p1.m_x - m_x) + (p1.m_y - m_y)*(p1.m_y - m_y) ); +} + +int wxCircleDouble::IntersectLine( const wxRay2DDouble &line, + wxPoint2DDouble *pt1, + wxPoint2DDouble *pt2 ) const +{ + //if (line.GetDistanceToPoint(m_origin) > m_r) return 0; + + wxDouble l1_x = m_x-m_r, l1_y = line.GetYFromX(l1_x); + wxDouble l2_x = m_x+m_r, l2_y = line.GetYFromX(l2_x); + + // quick check to see it it intersects at all + //wxDouble top = m_origin.m_y-m_r, bot = m_origin.m_y+m_r; + //if (((l1_y < top)&&(l2_y < top))||((l1_y > bot)&&(l2_y > bot))) return 0; + + wxDouble l2_l1_x = l2_x - l1_x, l2_l1_y = l2_y - l1_y; + + wxDouble a = l2_l1_x*l2_l1_x + l2_l1_y*l2_l1_y; + wxDouble b = 2.0 * (l2_l1_x * (l1_x - m_x) + l2_l1_y * (l1_y - m_y) ); + + wxDouble c = m_x*m_x + m_y*m_y + l1_x*l1_x + l1_y*l1_y - 2.0*(m_x*l1_x + m_y*l1_y) - m_r*m_r; + wxDouble det = b*b - 4.0*a*c; + + if ( det < 0 ) + { + return 0; + } + else if ( det == 0 ) + { + if (pt1) + { + wxDouble u = -b/(2.0*a); + pt1->m_x = l2_x + u*l2_l1_x; + pt1->m_y = l2_y + u*l2_l1_y; + } + return 1; + } + // else det > 0 so 2 points intersect + wxDouble e = sqrt(det); + + if (pt1) + { + wxDouble u1 = (-b - e)/( 2.0*a ); + pt1->m_x = l1_x + u1*l2_l1_x; + pt1->m_y = l1_y + u1*l2_l1_y; + } + if (pt2) + { + wxDouble u2 = (-b + e)/( 2.0*a ); + pt2->m_x = l1_x + u2*l2_l1_x; + pt2->m_y = l1_y + u2*l2_l1_y; + } + + return 2; +} + + + + + + + + +/* +int wxEllipseInt::IntersectLine( const wxLine2DInt &line, + wxPoint2DInt &pt1, + wxPoint2DInt &pt2 ) const +{ + + //Intersection.intersectEllipseLine = function(c, rx, ry, a1, a2) { + //var result; + //line.m_pt // var origin = new Vector2D(a1.x, a1.y); + wxPoint2DInt dir = pt2 - p21; // var dir = Vector2D.fromPoints(a1, a2); + //m_origin //var center = new Vector2D(c.x, c.y); + wxPoint2DInt diff = line.m_pt - m_origin; //var diff = origin.subtract(center); + + //var mDir = new Vector2D( dir.x/(rx*rx), dir.y/(ry*ry) ); + wxPoint2DDouble mDir = wxPoint2DDouble(wxDouble(dir.m_x)/(m_radius.m_x*m_radius.m_x), + wxDouble(dir.m_y)/(m_radius.m_y*m_radius.m_y)); + //var mDiff = new Vector2D( diff.x/(rx*rx), diff.y/(ry*ry) ); + wxPoint2DDouble mDiff = wxPoint2DDouble(wxDouble(diff.m_x)/(m_radius.m_x*m_radius.m_x), + wxDouble(diff.m_y)/(m_radius.m_y*m_radius.m_y)); + + wxDouble a = dir.GetDotProduct(mDir); //var a = dir.dot(mDir); + wxDouble b = dir.GetDotProduct(mDiff); //var b = dir.dot(mDiff); + wxDouble c = diff.GetDotProduct(m_diff); //var c = diff.dot(mDiff) - 1.0; + wxDouble d = b*b - a*c; //var d = b*b - a*c; + + if ( d < 0 ) + { + return 0; //result = new Intersection("Outside"); + } + else if ( d > 0 ) + { + wxDouble root = sqrt(d); //var root = Math.sqrt(d); + wxDouble t_a = (-b - root)/a; //var t_a = (-b - root) / a; + wxDouble t_b = (-b + root)/a; //var t_b = (-b + root) / a; + + if ( (t_a < 0 || 1 < t_a) && (t_b < 0 || 1 < t_b) ) + { + if ( (t_a < 0 && t_b < 0) || (t_a > 1 && t_b > 1) ) + result = new Intersection("Outside"); + else + result = new Intersection("Inside"); + } + else + { + result = new Intersection("Intersection"); + if ( 0 <= t_a && t_a <= 1 ) + result.appendPoint( a1.lerp(a2, t_a) ); + if ( 0 <= t_b && t_b <= 1 ) + result.appendPoint( a1.lerp(a2, t_b) ); + } + } + else + { + var t = -b/a; + if ( 0 <= t && t <= 1 ) + { + result = new Intersection("Intersection"); + result.appendPoint( a1.lerp(a2, t) ); + } else + { + result = new Intersection("Outside"); + } + } + + return result; +} +*/ +/* +> I am looking for the algorithm to calculate the intersection of a line +with +> an ellipse, that is not necessarily parrallel to x,y axis. +> +> I cannot find anything that is easy to understand. + +The ellipse can be represented by a quadratic polynomial, +a00+a10*x+a01*y+a20*x^2+a11*x*y+a02*y^2 = 0. +The line is b0+b1*x+b2*y = 0 where one of b1 or b2 is +not zero. For the sake of argument, suppose b2 is not +zero. Solve for y = -(b0+b1*x)/b2. Replace this in the +quadratic equation and multiply through by b2^2 to get +Q(x) = c0 + c1*x + c2*x^2 = 0 where + c0 = a02*b0^2-a01*b0*b2+a00*b2^2 + c1 = 2*a02*b0*b1-a11*b0*b2-a01*b1*b2+a10*b2^2 + c2 = a02*b1^2-a11*b1*b2+a02*b2^2 +If Q(x) has no real roots, the line and ellipse do not intersect. +If Q(x) has a single, repeated real root x0, the line and ellipse +are tangent. The y-value is y0 = -(b0+b1*x0)/b2. If Q(x) +has two distinct real roots x0 and x1, the line and ellipse +intersect in two points (x0,y0) and (x1,y1) where +y0 = -(b0+b1*x0)/b2 and y1 = -(b0+b1*x1)/b2. + +*/ diff --git a/3rdparty/wxthings/src/menubtn.cpp b/3rdparty/wxthings/src/menubtn.cpp new file mode 100644 index 0000000..b83b5cb --- /dev/null +++ b/3rdparty/wxthings/src/menubtn.cpp @@ -0,0 +1,356 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxMenuButton +// Purpose: A button with a dropdown wxMenu +// Author: John Labenski +// Modified by: +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "menubtn.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/menu.h" + #include "wx/settings.h" + #include "wx/bitmap.h" + #include "wx/pen.h" + #include "wx/dc.h" +#endif // WX_PRECOMP + +#include "wx/things/toggle.h" +#include "wx/things/menubtn.h" + +/* XPM */ +static const char *down_arrow_xpm_data[] = { +/* columns rows colors chars-per-pixel */ +"5 3 2 1", +" c None", +"a c Black", +/* pixels */ +"aaaaa", +" aaa ", +" a "}; + +static wxBitmap s_dropdownBitmap; // all buttons share the same bitmap + +enum +{ + IDD_DROPDOWN_BUTTON = 100 +}; + +//----------------------------------------------------------------------------- +// wxMenuButtonEvents +//----------------------------------------------------------------------------- + +DEFINE_LOCAL_EVENT_TYPE(wxEVT_MENUBUTTON_OPEN) + +// ========================================================================== +// MenuDropButton +// ========================================================================== + +class MenuDropButton : public wxCustomButton +{ +public: + MenuDropButton( wxWindow *parent, wxWindowID id, long style) : wxCustomButton() + { + if (!s_dropdownBitmap.Ok()) + s_dropdownBitmap = wxBitmap(down_arrow_xpm_data); + + Create( parent, id, wxEmptyString, s_dropdownBitmap, wxDefaultPosition, + wxSize(wxMENUBUTTON_DROP_WIDTH, wxMENUBUTTON_DROP_HEIGHT), style); + } + + virtual void Paint( wxDC &dc ) + { + wxCustomButton *labelBut = ((wxMenuButton*)GetParent())->GetLabelButton(); + + // pretend that both buttons have focus (for flat style) + if (labelBut) + { + wxPoint p = GetParent()->ScreenToClient(wxGetMousePosition()); + + if (GetRect().Inside(p) || labelBut->GetRect().Inside(p)) + { + m_focused = true; + + if (!labelBut->GetFocused()) + labelBut->SetFocused(true); + } + else + { + m_focused = false; + + if (labelBut->GetFocused()) + labelBut->SetFocused(false); + } + } + + wxCustomButton::Paint(dc); + } +}; + +// ========================================================================== +// MenuLabelButton +// ========================================================================== + +class MenuLabelButton : public wxCustomButton +{ +public: + MenuLabelButton( wxWindow* parent, wxWindowID id, + const wxString &label, + const wxBitmap &bitmap, + long style ) : wxCustomButton() + { + Create(parent, id, label, bitmap, wxDefaultPosition, wxDefaultSize, style); + } + + virtual void Paint( wxDC &dc ) + { + wxCustomButton *dropBut = ((wxMenuButton*)GetParent())->GetDropDownButton(); + + // pretend that both buttons have focus (for flat style) + if (dropBut) + { + wxPoint p = GetParent()->ScreenToClient(wxGetMousePosition()); + + if (GetRect().Inside(p) || dropBut->GetRect().Inside(p)) + { + m_focused = true; + + if (!dropBut->GetFocused()) + dropBut->SetFocused(true); + } + else + { + m_focused = false; + + if (dropBut->GetFocused()) + dropBut->SetFocused(false); + } + } + + wxCustomButton::Paint(dc); + } +}; + +// ========================================================================== +// wxMenuButton +// ========================================================================== + +IMPLEMENT_DYNAMIC_CLASS( wxMenuButton, wxControl ) + +BEGIN_EVENT_TABLE(wxMenuButton,wxControl) + EVT_BUTTON(wxID_ANY, wxMenuButton::OnButton) + +#ifdef __WXMSW__ + EVT_MENU(wxID_ANY, wxMenuButton::OnMenu) +#endif +END_EVENT_TABLE() + +wxMenuButton::~wxMenuButton() +{ + AssignMenu(NULL, true); +} + +void wxMenuButton::Init() +{ + m_labelButton = NULL; + m_dropdownButton = NULL; + m_menu = NULL; + m_menu_static = false; + m_style = 0; +} + +bool wxMenuButton::Create( wxWindow* parent, wxWindowID id, + const wxString &label, + const wxBitmap &bitmap, + const wxPoint& pos, + const wxSize& size, + long style, + const wxValidator& val, + const wxString& name) +{ + m_style = style; + + long flat = style & wxMENUBUT_FLAT; + + wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name); + wxControl::SetLabel(label); + SetBackgroundColour(parent->GetBackgroundColour()); + SetForegroundColour(parent->GetForegroundColour()); + SetFont(parent->GetFont()); + + m_labelButton = new MenuLabelButton(this, id, label, bitmap, wxCUSTBUT_BUTTON|flat); + m_dropdownButton = new MenuDropButton(this, IDD_DROPDOWN_BUTTON, wxCUSTBUT_BUTTON|flat); + + wxSize bestSize = DoGetBestSize(); + SetSize( wxSize(size.x < 0 ? bestSize.x : size.x, + size.y < 0 ? bestSize.y : size.y) ); + + //SetBestSize(GetSize()); + + return true; +} + +#ifdef __WXMSW__ +// FIXME - I think there was a patch to fix this +void wxMenuButton::OnMenu( wxCommandEvent &event ) +{ + event.Skip(); + wxMenuItem *mi = m_menu->FindItem(event.GetId()); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + m_menu->Check(event.GetId(), true); +} +#endif // __WXMSW__ + +void wxMenuButton::OnButton( wxCommandEvent &event) +{ + int win_id = event.GetId(); + + if (win_id == IDD_DROPDOWN_BUTTON) + { + if (m_menu) + { + wxNotifyEvent mevent(wxEVT_MENUBUTTON_OPEN, GetId()); + mevent.SetEventObject(this); + if (GetEventHandler()->ProcessEvent(mevent) && !mevent.IsAllowed()) + return; + + if (!m_menu) + return; + + PopupMenu(m_menu, wxPoint(0, GetSize().y)); + + m_labelButton->Refresh(false); + m_dropdownButton->Refresh(false); + } + } + else if (win_id == m_labelButton->GetId()) + { + if (!m_menu) return; + + const wxMenuItemList &items = m_menu->GetMenuItems(); + int first_radio_id = -1; + int checked_id = -1; + bool check_next = false; + + // find the next available radio item to check + for (wxMenuItemList::Node *node = items.GetFirst(); node; node = node->GetNext()) + { + wxMenuItem *mi = (wxMenuItem*)node->GetData(); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + { + if (first_radio_id == -1) + first_radio_id = mi->GetId(); + + if (check_next) + { + check_next = false; + checked_id = mi->GetId(); + break; + } + else if (mi->IsChecked()) + check_next = true; + } + } + // the last item was checked, go back to the first + if (check_next && (first_radio_id != -1)) + checked_id = first_radio_id; + + if (checked_id != -1) + { + m_menu->Check(checked_id, true); + + wxCommandEvent mevent( wxEVT_COMMAND_MENU_SELECTED, checked_id); + mevent.SetEventObject( m_menu ); + mevent.SetInt(1); + GetEventHandler()->ProcessEvent(mevent); + } + } +} + +int wxMenuButton::GetSelection() const +{ + wxCHECK_MSG(m_menu != NULL, wxNOT_FOUND, wxT("No attached menu in wxMenuButton::GetSelection")); + + const wxMenuItemList &items = m_menu->GetMenuItems(); + + for (wxMenuItemList::Node *node = items.GetFirst(); node; node = node->GetNext()) + { + wxMenuItem *mi = (wxMenuItem*)node->GetData(); + if (mi && (mi->GetKind() == wxITEM_RADIO)) + { + if (mi->IsChecked()) + return mi->GetId(); + } + } + + return wxNOT_FOUND; +} + +void wxMenuButton::AssignMenu(wxMenu *menu, bool static_menu) +{ + if (!m_menu_static && m_menu) + delete m_menu; + + m_menu = menu; + m_menu_static = static_menu; +} + +void wxMenuButton::SetToolTip(const wxString &tip) +{ + wxWindow::SetToolTip(tip); + ((wxWindow*)m_labelButton)->SetToolTip(tip); + ((wxWindow*)m_dropdownButton)->SetToolTip(tip); +} +void wxMenuButton::SetToolTip(wxToolTip *tip) +{ + wxWindow::SetToolTip(tip); + ((wxWindow*)m_labelButton)->SetToolTip(tip); + ((wxWindow*)m_dropdownButton)->SetToolTip(tip); +} + +void wxMenuButton::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + wxSize curSize( GetSize() ); + wxSize bestSize( DoGetBestSize() ); + + if (width == -1) + width = curSize.GetWidth(); + if (width < 10) + width = bestSize.GetWidth(); + + if (height == -1) + height = curSize.GetHeight(); + if (height < 5) + height = bestSize.GetHeight(); + + wxWindow::DoSetSize(x, y, width, height, sizeFlags); + + if (m_labelButton) + m_labelButton->SetSize(0, 0, width - wxMENUBUTTON_DROP_WIDTH, height); + if (m_dropdownButton) + m_dropdownButton->SetSize(width-wxMENUBUTTON_DROP_WIDTH, 0, wxMENUBUTTON_DROP_WIDTH, height); +} + +wxSize wxMenuButton::DoGetBestSize() +{ + if (!m_labelButton || !m_dropdownButton) + return wxSize(wxMENUBUTTON_DROP_WIDTH+wxMENUBUTTON_DROP_HEIGHT, wxMENUBUTTON_DROP_HEIGHT); + + wxSize size = m_labelButton->GetBestSize(); + size.x += wxMENUBUTTON_DROP_WIDTH; + return size; +} diff --git a/3rdparty/wxthings/src/optvalue.cpp b/3rdparty/wxthings/src/optvalue.cpp new file mode 100644 index 0000000..02ea640 --- /dev/null +++ b/3rdparty/wxthings/src/optvalue.cpp @@ -0,0 +1,602 @@ +///////////////////////////////////////////////////////////////////////////// +// Name : optvalue.cpp +// Author : John Labenski +// Created : 07/01/02 +// Copyright: John Labenski, 2002 +// License : wxWidgets v2 +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "optvalue.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h" +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/object.h" + #include "wx/string.h" + #include "wx/gdicmn.h" +#endif // WX_PRECOMP + +#include "wx/tokenzr.h" +#include "wx/things/optvalue.h" + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayOptionValue); + +//---------------------------------------------------------------------------- +// Global wxString utilities +//---------------------------------------------------------------------------- +/* +wxArrayString wxStringToWords( const wxString &string ) +{ + +// wxArrayString arr; +// wxString word, s = string.Strip(wxString::both); +// wxMemoryInputStream memstream( s.c_str(), string.Length() ); +// wxTextInputStream textstream(memstream); +// while (!memstream.Eof()) +// { +// word = textstream.ReadWord(); +// if (!word.IsEmpty()) arr.Add(word.Strip(wxString::both)); +// } +// return arr; + + wxArrayString arr; + wxString s = string.Strip(wxString::both); + while (!s.IsEmpty()) + { + arr.Add(s.BeforeFirst(wxT(' '))); + s = s.AfterFirst(wxT(' ')).Strip(wxString::both); + } + return arr; +} +*/ + +//---------------------------------------------------------------------------- +// wxOptionValueRefData +//---------------------------------------------------------------------------- + +class wxOptionValueRefData: public wxObjectRefData +{ +public: + wxOptionValueRefData() : wxObjectRefData() {} + + wxOptionValueRefData(const wxOptionValueRefData& data) : wxObjectRefData() + { + m_type = data.m_type; + m_optionNames = data.m_optionNames; + m_optionValues = data.m_optionValues; + m_children = data.m_children;; + } + + ~wxOptionValueRefData() {} + + wxString m_type; + wxArrayString m_optionNames; + wxArrayString m_optionValues; + wxArrayOptionValue m_children; +}; + +#define M_OPTVALUDATA ((wxOptionValueRefData *)m_refData) + +//---------------------------------------------------------------------------- +// wxOptionValue - a ref counted wxString key, wxString value container +//---------------------------------------------------------------------------- + +IMPLEMENT_DYNAMIC_CLASS(wxOptionValue, wxObject); + +wxObjectRefData *wxOptionValue::CreateRefData() const +{ + return new wxOptionValueRefData; +} +wxObjectRefData *wxOptionValue::CloneRefData(const wxObjectRefData *data) const +{ + return new wxOptionValueRefData(*(const wxOptionValueRefData *)data); +} + +bool wxOptionValue::Create() +{ + UnRef(); + m_refData = new wxOptionValueRefData(); + return Ok(); +} + +bool wxOptionValue::Create( const wxOptionValue &optValue ) +{ + wxCHECK_MSG( optValue.Ok(), false, wxT("Invalid wxOptionValue") ); + + UnRef(); + Ref( optValue ); + return Ok(); +} + +bool wxOptionValue::Create( const wxString &string ) +{ + UnRef(); + m_refData = new wxOptionValueRefData(); + + int i, start = 0, length = string.Length(); + + wxString buff; + + const wxChar *s = string.GetData(); + +// const wxChar comma = 44; // comma + const wxChar tab = 9; // tab +// const wxChar space = 32; // space + const wxChar cr = 13; // carrage return + const wxChar lf = 10; // line feed + const wxChar openbracket = wxT('['); + const wxChar closebracket = wxT(']'); + const wxChar equals = wxT('='); + const wxChar ccr = wxT('\n'); + + bool has_type = false; + + for (i=0; im_type = buff; + s++; + start = i+1; + break; + } + else if ((*s != tab) && (*s != cr) && (*s != lf) && (*s != ccr)) + { + buff.Append(*s); + } + else + return false; + } + } + + buff.Clear(); + for (i=start; i=0; j--) + { + const wxChar c = t[j]; + if ((c == cr) || (c == lf) || (c == ccr) || (c == tab)) + { + j++; + break; + } + } + if (j<0) j = 0; + M_OPTVALUDATA->m_optionNames.Add(buff.Mid(j)); + buff.Remove(j).Trim(true); + } + if (!buff.IsEmpty()) + M_OPTVALUDATA->m_optionValues.Add(buff); + + buff.Clear(); + } + s++; + } + + buff.Trim(false).Trim(true); + if (!buff.IsEmpty()) + M_OPTVALUDATA->m_optionValues.Add(buff); + + if ((M_OPTVALUDATA->m_optionValues.GetCount() != M_OPTVALUDATA->m_optionNames.GetCount())) + { + int i; + wxPrintf(wxT("wxOptionValue::wxOptionValue( const wxString &string BUSTED\n")); + + wxPrintf(wxT("[%s]\n"), M_OPTVALUDATA->m_type.c_str()); + for (i=0; i<(int)M_OPTVALUDATA->m_optionNames.GetCount(); i++) + wxPrintf(wxT("{%s}\n"), M_OPTVALUDATA->m_optionNames[i].c_str()); + for (i=0; i<(int)M_OPTVALUDATA->m_optionValues.GetCount(); i++) + wxPrintf(wxT("{%s}\n"), M_OPTVALUDATA->m_optionValues[i].c_str()); + fflush(stdout); + } + + return ((M_OPTVALUDATA->m_optionValues.GetCount() > 0) && + (M_OPTVALUDATA->m_optionValues.GetCount() != + M_OPTVALUDATA->m_optionNames.GetCount())); +} + +bool wxOptionValue::Copy( const wxOptionValue &optValue ) +{ + wxCHECK_MSG( optValue.Ok(), false, wxT("Invalid wxOptionValue") ); + + if (!Ok()) Create(); + + M_OPTVALUDATA->m_type = optValue.GetType(); + M_OPTVALUDATA->m_optionNames = optValue.GetOptionNames(); + M_OPTVALUDATA->m_optionValues = optValue.GetOptionValues(); + if (optValue.GetChildrenCount()) + M_OPTVALUDATA->m_children = *optValue.GetChildren(); + else + M_OPTVALUDATA->m_children.Clear(); + + return true; +} + +bool wxOptionValue::Ok() const +{ + return M_OPTVALUDATA != NULL; +} + +void wxOptionValue::Destroy() +{ + UnRef(); +} + +//----------------------------------------------------------------------------- + +wxString wxOptionValue::GetType() const +{ + wxCHECK_MSG( Ok(), wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_type; +} + +void wxOptionValue::SetType( const wxString &type ) +{ + wxCHECK_RET( Ok(), wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_type = type; +} + +//----------------------------------------------------------------------------- + +size_t wxOptionValue::GetChildrenCount() const +{ + wxCHECK_MSG( Ok(), 0, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_children.GetCount(); +} +wxArrayOptionValue *wxOptionValue::GetChildren() const +{ + wxCHECK_MSG( Ok(), NULL, wxT("Invalid wxOptionValue") ); + return &M_OPTVALUDATA->m_children; +} +bool wxOptionValue::AddChild( const wxOptionValue& child ) +{ + wxCHECK_MSG( Ok() && child.Ok(), 0, wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_children.Add(child); + return true; +} +void wxOptionValue::DeleteChildren() +{ + wxCHECK_RET( Ok(), wxT("Invalid wxOptionValue") ); + M_OPTVALUDATA->m_children.Clear(); +} + +//----------------------------------------------------------------------------- + +size_t wxOptionValue::GetOptionCount() const +{ + wxCHECK_MSG( Ok(), 0, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames.GetCount(); +} + +wxArrayString wxOptionValue::GetOptionNames() const +{ + wxCHECK_MSG( Ok(), wxArrayString(), wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames; +} +wxArrayString wxOptionValue::GetOptionValues() const +{ + wxCHECK_MSG( Ok(), wxArrayString(), wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionValues; +} + +wxString wxOptionValue::GetOptionName( size_t n ) const +{ + wxCHECK_MSG( Ok() && (nm_optionNames.GetCount()), + wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionNames[n]; +} + +wxString wxOptionValue::GetOptionValue( size_t n ) const +{ + wxCHECK_MSG( Ok() && (nm_optionValues.GetCount()), + wxEmptyString, wxT("Invalid wxOptionValue") ); + return M_OPTVALUDATA->m_optionValues[n]; +} + +int wxOptionValue::HasOption(const wxString& name) const +{ + wxCHECK_MSG( Ok(), wxNOT_FOUND, wxT("Invalid wxOptionValue") ); + int index = M_OPTVALUDATA->m_optionNames.Index(name, false); + return index; +} + +int wxOptionValue::FindOption(const wxString &part_of_option_name) const +{ + wxCHECK_MSG( Ok(), wxNOT_FOUND, wxT("Invalid wxOptionValue") ); + int i, count = M_OPTVALUDATA->m_optionNames.GetCount(); + + for (i=0; im_optionNames[i].Contains(part_of_option_name)) + return i; + } + return wxNOT_FOUND; +} + +bool wxOptionValue::DeleteOption(const wxString &name) +{ + wxCHECK_MSG( Ok(), false, wxT("Invalid wxOptionValue")); + int index = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (index == wxNOT_FOUND) return false; + M_OPTVALUDATA->m_optionNames.RemoveAt(index); + M_OPTVALUDATA->m_optionValues.RemoveAt(index); + return true; +} + +bool wxOptionValue::DeleteOption( size_t n ) +{ + wxCHECK_MSG( Ok(), false, wxT("Invalid wxOptionValue") ); + wxCHECK_MSG( n < M_OPTVALUDATA->m_optionValues.GetCount(), false, wxT("invalid index")); + M_OPTVALUDATA->m_optionNames.RemoveAt(n); + M_OPTVALUDATA->m_optionValues.RemoveAt(n); + return true; +} + +//----------------------------------------------------------------------------- +// Set Options + +// Option functions (arbitrary name/value mapping) +void wxOptionValue::SetOption(const wxString& name, const wxString& value, bool force) +{ + wxCHECK_RET( Ok() && (name.Length() > 0), wxT("Invalid wxOptionValue or option") ); + + int idx = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (idx == wxNOT_FOUND) + { + M_OPTVALUDATA->m_optionNames.Add(name); + M_OPTVALUDATA->m_optionValues.Add(value); + } + else if (force) + { + M_OPTVALUDATA->m_optionNames[idx] = name; + M_OPTVALUDATA->m_optionValues[idx] = value; + } +} + +void wxOptionValue::SetOption(const wxString &name, bool update, const wxChar *format, ...) +{ + va_list argptr; + va_start(argptr, format); + wxString s; + s.PrintfV(format, argptr); + va_end(argptr); + SetOption(name, s, update); +} + +//----------------------------------------------------------------------------- +// Get Options + +wxString wxOptionValue::GetOption(const wxString& name) const +{ + wxCHECK_MSG( Ok(), wxEmptyString, wxT("Invalid wxOptionValue") ); + + int idx = M_OPTVALUDATA->m_optionNames.Index(name, false); + if (idx != wxNOT_FOUND) + return M_OPTVALUDATA->m_optionValues[idx]; + + return wxEmptyString; +} + +int wxOptionValue::GetOptionInt(const wxString& name) const +{ + return wxAtoi(GetOption(name)); +} + +bool wxOptionValue::GetOption(const wxString& name, wxString &value ) const +{ + wxString s = GetOption(name); + if (!s.IsEmpty()) { value = s; return true; } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, int *value ) const +{ + long n; + if (GetOption(name).ToLong(&n)) + { + *value = (int)n; + return true; + } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, float *value ) const +{ + double n; + if (GetOption(name, &n)) + { + *value = (float)n; + return true; + } + return false; +} +bool wxOptionValue::GetOption(const wxString& name, double *value ) const +{ + double n; + if (GetOption(name).ToDouble(&n)) + { + *value = n; + return true; + } + return false; +} + +int wxOptionValue::GetOption(const wxString& name, const wxChar *format, ...) const +{ + wxString n = GetOption(name); + if (n.IsEmpty()) return 0; + va_list argptr; + va_start(argptr, format); +// int i = wxVsscanf(n.c_str(), format, argptr); // VisualStudio doesn't have this + int i = wxSscanf(n.c_str(), format, argptr); + va_end(argptr); + return i; +} + +int wxOptionValue::GetOption(const wxString& name, wxArrayInt &values, + int count, const wxString& delims) const +{ + wxString value = GetOption(name); + wxStringTokenizer tokens(value, delims, wxTOKEN_STRTOK); + int read_count = 0; + + while (((count < 0) || (read_count <= count)) && tokens.HasMoreTokens()) + { + long num; + if (!tokens.GetNextToken().ToLong(&num)) return read_count; + values.Add(num); + read_count++; + } + return read_count; +} + +bool wxOptionValue::GetOption(const wxString& name, unsigned char *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = (unsigned char)intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, int *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, long *value, int count, + const wxString& delims) const +{ + wxArrayInt intArr; intArr.Alloc(count); + if (GetOption(name, intArr, count, delims) != count) + return false; + + for (int i = 0; i < count; i++) value[i] = intArr[i]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, float *value, int count, + const wxString& delims) const +{ + double *nums = (double*)malloc(sizeof(double)*count); + if (GetOption(name, nums, count, delims)) + { + for (int i=0; i < count; i++) value[i] = (float)nums[i]; + free(nums); + return true; + } + free(nums); + return false; +} +bool wxOptionValue::GetOption(const wxString& name, double *value, int count, + const wxString& delims) const +{ + wxString optValue = GetOption(name); + wxStringTokenizer tokens(optValue, delims, wxTOKEN_STRTOK); + int read_count = 0; + double *nums = (double*)malloc(sizeof(double)*count); + double num; + + while ((read_count <= count) && tokens.HasMoreTokens()) + { + if (!tokens.GetNextToken().ToDouble(&num)) + { + free(nums); + return false; + } + if (read_count >= count) break; + read_count++; + } + + if (read_count == count) + { + for (int i = 0; i < count; i++) value[i] = nums[i]; + free(nums); + return true; + } + + free(nums); + return false; +} + + +bool wxOptionValue::GetOption(const wxString& name, int *v1, int *v2, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 2, delims) != 2) + return false; + + if (v1) *v1 = intArr[0]; + if (v2) *v2 = intArr[1]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, int *v1, int *v2, int *v3, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 3, delims) != 3) + return false; + + if (v1) *v1 = intArr[0]; + if (v2) *v2 = intArr[1]; + if (v3) *v3 = intArr[2]; + return true; +} +bool wxOptionValue::GetOption(const wxString& name, float *v1, float *v2, float *v3, + const wxString& delims) const +{ + double nums[3]; + if (GetOption(name, nums, 3, delims)) + return false; + + if (v1) *v1 = (float)nums[0]; + if (v2) *v2 = (float)nums[1]; + if (v3) *v3 = (float)nums[2]; + return true; +} + +bool wxOptionValue::GetOption(const wxString& name, wxRect &value, + const wxString& delims) const +{ + wxArrayInt intArr; + if (GetOption(name, intArr, 4, delims) != 4) + return false; + + value = wxRect(intArr[0], intArr[1], intArr[2], intArr[3]); + return true; +} diff --git a/3rdparty/wxthings/src/range.cpp b/3rdparty/wxthings/src/range.cpp new file mode 100644 index 0000000..c191476 --- /dev/null +++ b/3rdparty/wxthings/src/range.cpp @@ -0,0 +1,642 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: range.cpp +// Purpose: Simple min-max range class and associated selection array class +// Author: John Labenski +// Created: 12/01/2000 +// Copyright: (c) John Labenski 2004 +// Licence: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "range.h" +#endif + +// For compilers that support precompilation, includes "wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/utils.h" +#endif // WX_PRECOMP + +#include "wx/things/range.h" +#include + +const wxRangeInt wxEmptyRangeInt(0, -1); +const wxRangeDouble wxEmptyRangeDouble(0, -1); + +#include "wx/arrimpl.cpp" +WX_DEFINE_OBJARRAY(wxArrayRangeInt); +WX_DEFINE_OBJARRAY(wxArrayRangeDouble); +WX_DEFINE_OBJARRAY(wxArrayRangeIntSelection); +WX_DEFINE_OBJARRAY(wxArrayRangeDoubleSelection); + + +// set this if you want to double check that that ranges are really working +//#define CHECK_RANGES + +//============================================================================= +// wxRangeInt +//============================================================================= + +bool wxRangeInt::Combine(int i, bool only_if_touching) +{ + if (only_if_touching) + { + if (i == m_min-1) { m_min--; return true; } + else if (i == m_max+1) { m_max++; return true; } + } + else + { + if (i < m_min) { m_min = i; return true; } + else if (i > m_max) { m_max = i; return true; } + } + return false; +} + +bool wxRangeInt::Combine( const wxRangeInt &r, bool only_if_touching ) +{ + if (only_if_touching) + { + if (Touches(r)) + { + *this+=r; + return true; + } + } + else + { + bool added = false; + if (r.m_min < m_min) { m_min = r.m_min; added = true; } + if (r.m_max > m_max) { m_max = r.m_max; added = true; } + return added; + } + return false; +} + +bool wxRangeInt::Delete( const wxRangeInt &r, wxRangeInt *right ) +{ + if (!Contains(r)) + return false; + + if (right) *right = wxEmptyRangeInt; + + if (r.m_min <= m_min) + { + if (r.m_max >= m_max) + { + *this = wxEmptyRangeInt; + return true; + } + + m_min = r.m_max + 1; + return true; + } + + if (r.m_max >= m_max) + { + m_max = r.m_min - 1; + return true; + } + + if (right) + *right = wxRangeInt(r.m_max + 1, m_max); + + m_max = r.m_min - 1; + return true; +} + +//============================================================================= +// wxRangeIntSelection +//============================================================================= +const wxRangeInt& wxRangeIntSelection::GetRange( int index ) const +{ + wxCHECK_MSG((index>=0) && (index m_ranges[count-1].m_max) return wxNOT_FOUND; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if (res == 0) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + return wxNOT_FOUND; +} + +int wxRangeIntSelection::Index( const wxRangeInt &r ) const +{ + register int i, count = m_ranges.GetCount(); + for (i=0; i m_ranges[count-1].m_max) return count; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ((i >= m_ranges[tmp].m_max) && (i < m_ranges[wxMin(tmp+1, count-1)].m_min)) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + // oops shouldn't get here + wxCHECK_MSG(0, -1, wxT("Error calculating NearestIndex in wxRangeIntSelection")); +} + +int wxRangeIntSelection::GetItemCount() const +{ + register int i, items = 0, count = m_ranges.GetCount(); + for (i=0; i 0 ? NearestIndex(range.m_min) : -1; + + if ((nearest < 0) || (nearest == count)) + return false; + + wxRangeInt r; + for (i=nearest; i 0) ? i-1 : -1; + } + else if (!r.IsEmpty()) + m_ranges.Insert(r, i+1); + + done = true; + } + } + + return done; +} + +bool wxRangeIntSelection::SelectRange(const wxRangeInt &range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Selection Range") ); + + // Try to find a range that includes this one and combine it, else insert it, else append it + bool done = false; + int i, count = m_ranges.GetCount(); + int nearest = count > 0 ? NearestIndex(range.m_min) : -1; + + if (nearest < 0) + { + if (!((count > 0) && m_ranges[0].Combine(range, true))) + m_ranges.Insert(range, 0); + return true; + } + else if (nearest == count) + { + if (!((count > 0) && m_ranges[count-1].Combine(range, true))) + m_ranges.Add(range); + return true; + } + else + { + if (m_ranges[nearest].Contains(range)) + return false; + + for (i=nearest; i= range.m_min) + break; + + if (m_ranges[i].m_max < range.m_min) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + count--; + i--; + } + else + { + done = true; + m_ranges[i].m_min = range.m_min; + break; + } + } + + for (i = m_ranges.GetCount() - 1; i >= 0; i--) + { + if (m_ranges[i].m_max <= range.m_max) + break; + + if (m_ranges[i].m_min > range.m_max) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + } + else + { + done = true; + m_ranges[i].m_max = range.m_max; + break; + } + } + + return done; +} + +//============================================================================= +// wxRangeDouble +//============================================================================= + +bool wxRangeDouble::Combine(double i) +{ + if (i < m_min) { m_min = i; return true; } + else if (i > m_max) { m_max = i; return true; } + return false; +} + +bool wxRangeDouble::Combine( const wxRangeDouble &r, bool only_if_touching ) +{ + if (only_if_touching) + { + if (Contains(r)) + { + *this+=r; + return true; + } + } + else + { + bool added = false; + if (r.m_min < m_min) { m_min = r.m_min; added = true; } + if (r.m_max > m_max) { m_max = r.m_max; added = true; } + return added; + } + return false; +} + +bool wxRangeDouble::Delete( const wxRangeDouble &r, wxRangeDouble *right ) +{ + if (!Contains(r)) + return false; + + if (right) *right = wxEmptyRangeDouble; + + if (r.m_min <= m_min) + { + if (r.m_max >= m_max) + { + *this = wxEmptyRangeDouble; + return true; + } + + m_min = r.m_max; + return true; + } + + if (r.m_max >= m_max) + { + m_max = r.m_min; + return true; + } + + if (right) + *right = wxRangeDouble(r.m_max, m_max); + + m_max = r.m_min; + return true; +} + +//============================================================================= +// wxRangeDoubleSelection +//============================================================================= +const wxRangeDouble& wxRangeDoubleSelection::GetRange( int index ) const +{ + wxCHECK_MSG((index>=0) && (index m_ranges[count-1].m_max) return wxNOT_FOUND; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + return wxNOT_FOUND; + +/* + for (register int j=0; j m_ranges[count-1].m_max) return count; + + // Binary search + int res, tmp, lo = 0, hi = count; + + while ( lo < hi ) + { + tmp = (lo + hi)/2; + res = m_ranges[tmp].Position(i); + + if ( res == 0 ) + return tmp; + else if ((i >= m_ranges[tmp].m_max) && (i < m_ranges[wxMin(tmp+1, count-1)].m_min)) + return tmp; + else if ( res < 0 ) + hi = tmp; + else //if ( res > 0 ) + lo = tmp + 1; + } + + // oops shouldn't get here + wxCHECK_MSG(0, -1, wxT("Error calculating NearestIndex in wxRangeDoubleSelection")); +} + +bool wxRangeDoubleSelection::SelectRange(const wxRangeDouble &range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Selection Range") ); + + // Try to find a range that includes this one and combine it, else insert it, else append it + bool done = false; + int i, count = m_ranges.GetCount(); + int nearest = count > 0 ? NearestIndex(range.m_min) : -1; + + if (nearest < 0) + { + if (!((count > 0) && m_ranges[0].Combine(range, true))) + m_ranges.Insert(range, 0); + return true; + } + else if (nearest == count) + { + if (!((count > 0) && m_ranges[count-1].Combine(range, true))) + m_ranges.Add(range); + return true; + } + else + { + if (m_ranges[nearest].Contains(range)) + return false; + + for (i=nearest; i 0 ? NearestIndex(range.m_min) : -1; + + if ((nearest < 0) || (nearest == count)) + return false; + + wxRangeDouble r; + for (i=nearest; i 0) ? i-1 : -1; + } + else if (!r.IsEmpty()) + m_ranges.Insert(r, i+1); + + done = true; + } + } + + return done; +} + +bool wxRangeDoubleSelection::BoundRanges(const wxRangeDouble& range) +{ + wxCHECK_MSG(!range.IsEmpty(), false, wxT("Invalid Bounding Range") ); + int i, count = m_ranges.GetCount(); + bool done = false; + + for (i = 0; i < count; i++) + { + if (m_ranges[i].m_min >= range.m_min) + break; + + if (m_ranges[i].m_max < range.m_min) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + count--; + i--; + } + else + { + done = true; + m_ranges[i].m_min = range.m_min; + break; + } + } + + for (i = m_ranges.GetCount() - 1; i >= 0; i--) + { + if (m_ranges[i].m_max <= range.m_max) + break; + + if (m_ranges[i].m_min > range.m_max) // range is out of bounds + { + done = true; + m_ranges.RemoveAt(i); + } + else + { + done = true; + m_ranges[i].m_max = range.m_max; + break; + } + } + + return done; +} diff --git a/3rdparty/wxthings/src/spinctld.cpp b/3rdparty/wxthings/src/spinctld.cpp new file mode 100644 index 0000000..214d80c --- /dev/null +++ b/3rdparty/wxthings/src/spinctld.cpp @@ -0,0 +1,624 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: spinctld.h +// Author: John Labenski +// Created: 11/05/02 +// Copyright: John Labenski, 2002 +// License: wxWidgets +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "spinctld.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/valtext.h" // for wxTextValidator + #include "wx/textctrl.h" +#endif // WX_PRECOMP + +#include "wx/things/spinctld.h" +#include + +#if wxCHECK_VERSION(2,5,0) + #include "wx/math.h" +#else + #if defined(__VISUALC__) || defined(__BORLANDC__) || defined(__WATCOMC__) + #include + #define wxFinite(x) _finite(x) + #elif defined(__GNUG__)||defined(__GNUWIN32__)||defined(__DJGPP__)|| \ + defined(__SGI_CC__)||defined(__SUNCC__)||defined(__XLC__)|| \ + defined(__HPUX__)||defined(__MWERKS__) + #define wxFinite(x) finite(x) + #else + #define wxFinite(x) ((x) == (x)) + #endif +#endif // wxCHECK_VERSION(2,5,0) + +// NOTES : if the textctrl is focused and the program is ending, a killfocus +// event is sent in MSW, this is why m_textCtrl is set to NULL in it's +// destructor and there's so many checks for it not being NULL + +//---------------------------------------------------------------------------- +// wxSpinCtrlDbl +//---------------------------------------------------------------------------- + +// the textctrl used for the wxSpinCtrlDbl, needed for keypresses +class wxSpinCtrlDblTextCtrl : public wxTextCtrl +{ +public: + wxSpinCtrlDblTextCtrl( wxWindow *parent, wxWindowID id, + const wxString &value = wxEmptyString, + const wxPoint &pos = wxDefaultPosition, + const wxSize &size = wxDefaultSize, + long style = 0, + const wxValidator& validator = wxDefaultValidator, + const wxString &name = wxTextCtrlNameStr); + + // MSW sends extra kill focus event + virtual ~wxSpinCtrlDblTextCtrl() + { + if (m_parent) m_parent->m_textCtrl = NULL; + m_parent = NULL; + } + + wxSpinCtrlDbl *m_parent; + + void OnChar( wxKeyEvent &event ); // pass chars to wxSpinCtrlDbl + void OnKillFocus( wxFocusEvent &event ); // sync the spin to textctrl + +private: + DECLARE_EVENT_TABLE() +}; + +BEGIN_EVENT_TABLE(wxSpinCtrlDblTextCtrl,wxTextCtrl) +// EVT_TEXT_ENTER( wxID_ANY, wxSpinCtrlDblTextCtrl::OnTextEnter ) // get them from spinctrldbl +// EVT_TEXT( wxID_ANY, wxSpinCtrlDblTextCtrl::OnTextUpdate ) // get them from spinctrldbl + EVT_CHAR( wxSpinCtrlDblTextCtrl::OnChar ) + EVT_KILL_FOCUS( wxSpinCtrlDblTextCtrl::OnKillFocus ) +END_EVENT_TABLE() + +wxSpinCtrlDblTextCtrl::wxSpinCtrlDblTextCtrl( wxWindow *parent, wxWindowID id, + const wxString &value, + const wxPoint &pos, const wxSize &size, + long style, + const wxValidator& validator, + const wxString &name) + :wxTextCtrl( parent, id, value, pos, size, style, + validator, name) +{ + m_parent = (wxSpinCtrlDbl*)parent; +} + +void wxSpinCtrlDblTextCtrl::OnChar( wxKeyEvent &event ) +{ + if (m_parent) m_parent->OnChar( event ); +} + +void wxSpinCtrlDblTextCtrl::OnKillFocus( wxFocusEvent &event ) +{ + if (m_parent) m_parent->SyncSpinToText(true); + event.Skip(); +} + +//---------------------------------------------------------------------------- +// wxSpinCtrlDbl +//---------------------------------------------------------------------------- + +IMPLEMENT_DYNAMIC_CLASS( wxSpinCtrlDbl, wxControl ) + +BEGIN_EVENT_TABLE(wxSpinCtrlDbl,wxControl) + EVT_SPIN_UP ( wxID_ANY, wxSpinCtrlDbl::OnSpinUp ) + EVT_SPIN_DOWN ( wxID_ANY, wxSpinCtrlDbl::OnSpinDown ) + EVT_TEXT_ENTER( wxID_ANY, wxSpinCtrlDbl::OnTextEnter ) + //EVT_TEXT ( wxID_ANY, wxSpinCtrlDbl::OnText ) + EVT_SET_FOCUS ( wxSpinCtrlDbl::OnFocus ) + EVT_KILL_FOCUS( wxSpinCtrlDbl::OnKillFocus ) +END_EVENT_TABLE() + +void wxSpinCtrlDbl::Init() +{ + m_min = 0; + m_max = 100; + m_value = 0; + m_default_value = 0; + m_increment = 1; + m_digits = wxSPINCTRLDBL_AUTODIGITS; + m_snap_ticks = false; + m_spinButton = NULL; + m_textCtrl = NULL; +} + +bool wxSpinCtrlDbl::Create( wxWindow *parent, wxWindowID id, + const wxString& value, + const wxPoint& pos, const wxSize& size, + long style, + double min, double max, + double initial, + double increment, int digits, + const wxString& name) +{ + if (!wxControl::Create(parent, id, pos, size, style|wxNO_BORDER, + wxDefaultValidator, name)) + return false; + + wxControl::SetLabel(name); + wxControl::SetBackgroundColour(parent->GetBackgroundColour()); + wxControl::SetForegroundColour(parent->GetForegroundColour()); + + int width = size.GetWidth(), height = size.GetHeight(); + + wxSize best_size( DoGetBestSize() ); + if (width == -1) width = best_size.GetWidth(); + if (height == -1) height = best_size.GetHeight(); + + // Create a validator for numbers, +-, and eE for exponential + wxTextValidator validator(wxFILTER_INCLUDE_CHAR_LIST); + +#if wxCHECK_VERSION(2, 5, 4) + wxArrayString list; + + wxString valid_chars(wxT(" 0123456789+-.eE")); + size_t len = valid_chars.Length(); + for (size_t i=0; iGetSize().GetWidth(), height), + wxTE_NOHIDESEL|wxTE_PROCESS_ENTER, validator); + + DoSetSize( pos.x, pos.y, width, height ); + SetBestSize(wxSize(width, height)); + + m_min = min; + m_max = max; + m_value = initial; + m_default_value = initial; + m_increment = increment; + SetDigits( digits ); + + // set the value here without generating an event + if (!value.IsEmpty()) + m_textCtrl->SetValue(value); + else + m_textCtrl->SetValue(wxString::Format(m_textFormat.c_str(), initial)); + + return true; +} + +wxSpinCtrlDbl::~wxSpinCtrlDbl() +{ + if (m_textCtrl) // null this since MSW sends KILL_FOCUS on deletion + { + m_textCtrl->m_parent = NULL; + + wxSpinCtrlDblTextCtrl *text = m_textCtrl; + m_textCtrl = NULL; + delete text; + } + + delete m_spinButton; + m_spinButton = NULL; +} + +#define wxSPINCTRLDBL_SPIN_WIDTH 15 +#define wxSPINCTRLDBL_SPIN_HEIGHT 22 + +void wxSpinCtrlDbl::DoSetSize(int x, int y, int width, int height, int sizeFlags) +{ + //wxPrintf(wxT("DoSetSize %d, %d %d %d %d %d\n"), GetId(), x, y, width, height, sizeFlags); + + wxSize bestSize( DoGetBestSize() ); + if (width < 0) width = bestSize.GetWidth(); + if (height < 0) height = bestSize.GetHeight(); + + wxWindow::DoSetSize(x, y, width, height, sizeFlags); + + int spinwidth = wxSPINCTRLDBL_SPIN_WIDTH; + int spinheight = wxSPINCTRLDBL_SPIN_HEIGHT; + if (m_spinButton) + m_spinButton->GetSize( &spinwidth, &spinheight ); + +#ifdef __WIN95__ // humm... these used to be different + if (m_textCtrl) m_textCtrl->SetSize( 0, 0, width - spinwidth, height ); + if (m_spinButton) m_spinButton->SetSize( width-spinwidth-2, 0, -1, height ); + //m_textCtrl->SetSize( -3, -3, width - spinwidth, height ); // old wxWin < 2.3.2 + //m_spinButton->SetSize( width-spinwidth-4, -3, -1, height-1 ); +#else + if (m_textCtrl) m_textCtrl->SetSize( 0, 0, width - spinwidth, height ); + if (m_spinButton) m_spinButton->SetSize( width-spinwidth, 0, -1, height ); +#endif +} + +static wxSize s_spinctrl_bestSize(-999,-999); + +wxSize wxSpinCtrlDbl::DoGetBestSize() const +{ + //wxPrintf(wxT("GetBestSize %d\n"), GetId()); + if (s_spinctrl_bestSize.x == -999) + { + wxSpinCtrl spin((wxWindow*)this, wxID_ANY); + s_spinctrl_bestSize = spin.GetBestSize(); + // oops something went wrong, set to reasonable value + if (s_spinctrl_bestSize.GetWidth() < 20) + s_spinctrl_bestSize.SetWidth(95); + if (s_spinctrl_bestSize.GetHeight() < 10) + s_spinctrl_bestSize.SetHeight(wxSPINCTRLDBL_SPIN_HEIGHT); + } + + return s_spinctrl_bestSize; +} + +void wxSpinCtrlDbl::DoSendEvent() +{ + wxCommandEvent event( wxEVT_COMMAND_SPINCTRL_UPDATED, GetId() ); + event.SetEventObject( this ); + event.SetInt( (int)(m_value+0.5) ); + if (m_textCtrl) event.SetString( m_textCtrl->GetValue() ); + GetEventHandler()->ProcessEvent( event ); +} + +void wxSpinCtrlDbl::OnSpinUp( wxSpinEvent &WXUNUSED(event) ) +{ + if (m_textCtrl && m_textCtrl->IsModified() ) + SyncSpinToText(false); + + if ( InRange(m_value + m_increment) ) + { + m_value += m_increment; + SetValue( m_value ); + DoSendEvent(); + } +} + +void wxSpinCtrlDbl::OnSpinDown( wxSpinEvent &WXUNUSED(event) ) +{ + if (m_textCtrl && m_textCtrl->IsModified() ) + SyncSpinToText(false); + + if ( InRange(m_value - m_increment) ) + { + m_value -= m_increment; + SetValue( m_value ); + DoSendEvent(); + } +} + +void wxSpinCtrlDbl::OnTextEnter( wxCommandEvent &event ) +{ + SyncSpinToText(true); + event.Skip(); +} + +void wxSpinCtrlDbl::OnText( wxCommandEvent &event ) +{ + //wxPrintf(wxT("Text '%s'\n"), event.GetString()); fflush(stdout); + event.Skip(); +} + +void wxSpinCtrlDbl::OnChar( wxKeyEvent &event ) +{ + double modifier = 1.0; + if ( event.m_shiftDown ) modifier = 2.0; + if ( event.m_controlDown ) modifier *= 10.0; + if ( event.m_altDown ) modifier *= 100.0; + + switch ( event.GetKeyCode() ) + { + case WXK_UP : + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value + m_increment * modifier ); + DoSendEvent(); + break; + } + case WXK_DOWN : + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value - m_increment * modifier ); + DoSendEvent(); + break; + } + case WXK_PRIOR : // pg-up + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value + m_increment * 10.0 * modifier ); + DoSendEvent(); + break; + } + case WXK_NEXT : // pg-down + { + if (m_textCtrl && m_textCtrl->IsModified()) SyncSpinToText(false); + SetValue( m_value - m_increment * 10.0 * modifier ); + DoSendEvent(); + break; + } + case WXK_SPACE : + { + SetValue(m_value); + event.Skip(false); + break; + } + case WXK_ESCAPE : + { + SetDefaultValue(); + DoSendEvent(); + break; + } + case WXK_TAB : + { + wxNavigationKeyEvent new_event; + new_event.SetEventObject( GetParent() ); + new_event.SetDirection( !event.ShiftDown() ); + // CTRL-TAB changes the (parent) window, i.e. switch notebook page + new_event.SetWindowChange( event.ControlDown() ); + new_event.SetCurrentFocus( this ); + GetParent()->GetEventHandler()->ProcessEvent( new_event ); + break; + } + default : event.Skip(); break; + } +} + +void wxSpinCtrlDbl::SetValue( double value ) +{ + if (!m_textCtrl || !InRange(value)) + return; + + if ( m_snap_ticks && (m_increment != 0) ) + { + double snap_value = (value - m_default_value) / m_increment; + + if (wxFinite(snap_value)) // FIXME what to do about a failure? + { + if (snap_value - floor(snap_value) < ceil(snap_value) - snap_value) + value = m_default_value + floor(snap_value) * m_increment; + else + value = m_default_value + ceil(snap_value) * m_increment; + } + } + + wxString str(wxString::Format(m_textFormat.c_str(), value)); + + if ((value != m_value) || (str != m_textCtrl->GetValue())) + { + m_textCtrl->SetValue( str ); + m_textCtrl->DiscardEdits(); + m_value = value; + str.ToDouble( &m_value ); // wysiwyg for textctrl + } +} + +void wxSpinCtrlDbl::SetValue( const wxString& text, bool force ) +{ + if (!m_textCtrl) return; + + double value; + if ( text.ToDouble(&value) ) + SetValue( value ); + else if (force) + { + m_textCtrl->SetValue( text ); + m_textCtrl->DiscardEdits(); + } +} + +void wxSpinCtrlDbl::SetRange( double min_val, double max_val ) +{ + //wxCHECK_RET(max_val > min_val, wxT("invalid spinctrl range")); + m_min = min_val; + m_max = max_val; + + if (HasRange()) + { + if (m_value > m_max) + SetValue(m_max); + else if (m_value < m_min) + SetValue(m_min); + } +} + +void wxSpinCtrlDbl::SetIncrement( double increment ) +{ + m_increment = increment; + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetDigits( int digits, formatType fmt ) +{ + wxCHECK_RET(digits >= -1, wxT("invalid spinctrl format")); + + if ((digits == wxSPINCTRLDBL_AUTODIGITS) && (fmt != lg_fmt)) + { + wxString wxstr; + int lastplace = -1, extra_digits = 0; + if (fmt == le_fmt) + { + wxstr.Printf(wxT("%le"), m_increment ); + wxstr.LowerCase(); + lastplace = wxstr.Find(wxT('e')) - 2; + long places; + if (wxstr.AfterFirst(wxT('e')).ToLong(&places)) + extra_digits = int(labs(places)); + } + else if (fmt == lf_fmt) + { + wxstr.Printf(wxT("%lf"), m_increment ); + lastplace = wxstr.Len()-1; + } + + int decimalplace = wxstr.Find(wxT('.')); + + int i = 0; + + for ( i=lastplace; i>decimalplace; i-- ) + { + if ( wxstr.GetChar(i) != wxT('0') ) + { + m_digits = extra_digits + i-decimalplace; + switch (fmt) + { + case le_fmt : m_textFormat.Printf(wxT("%%.%dle"), m_digits ); break; + case lf_fmt : + default : m_textFormat.Printf(wxT("%%.%dlg"), m_digits ); break; + } + + SetValue(m_value); + return; + } + } + + m_digits = 0; // no digits, I guess + } + else + m_digits = digits; + + switch (fmt) + { + case le_fmt : m_textFormat.Printf(wxT("%%.%dle"), m_digits ); break; + case lg_fmt : + { + if (m_digits == -1) + m_textFormat.Printf(wxT("%%lg") ); + else + m_textFormat.Printf(wxT("%%.%dlg"), m_digits ); + break; + } + case lf_fmt : + default : m_textFormat.Printf(wxT("%%.%dlf"), m_digits ); break; + } + + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetFormat( const wxString& format ) +{ + wxString wxstr; + if ( wxstr.Printf(format.c_str(), 123456.123456) > 0 ) + m_textFormat = format; + + SetValue(m_value); +} + +void wxSpinCtrlDbl::SetDefaultValue( double default_value ) +{ + if ( InRange(default_value) ) + { + m_default_value = default_value; + SetDefaultValue(); + } +} + +void wxSpinCtrlDbl::SetSnapToTicks(bool forceTicks) +{ + if (m_snap_ticks != forceTicks) + { + m_snap_ticks = forceTicks; + SetValue( m_value ); + } +} + +void wxSpinCtrlDbl::OnFocus( wxFocusEvent &event ) +{ + if (m_textCtrl) + m_textCtrl->SetFocus(); // this is to pass TAB navigation + + event.Skip(); +} + +void wxSpinCtrlDbl::OnKillFocus( wxFocusEvent &event ) +{ + SyncSpinToText(true); + event.Skip(); +} + +void wxSpinCtrlDbl::SyncSpinToText(bool send_event, bool force_valid) +{ + if (!m_textCtrl) + return; + + double txt_value; + if ( m_textCtrl->GetValue().ToDouble( &txt_value ) ) + { + if ( force_valid || !HasRange() || InRange(txt_value) ) + { + if (force_valid && HasRange()) + { + if (txt_value > GetMax()) + txt_value = GetMax(); + else if (txt_value < GetMin()) + txt_value = GetMin(); + } + + if (m_value != txt_value) + { + SetValue( txt_value ); + if (send_event) DoSendEvent(); + } + } + } + else if (force_valid) + { + // textctrl is out of sync, discard and reset + SetValue(GetValue()); + } +} + +bool wxSpinCtrlDbl::SetFont( const wxFont &font ) +{ + if (!m_textCtrl) return false; + return m_textCtrl->SetFont( font ); +} +wxFont wxSpinCtrlDbl::GetFont() const +{ + if (!m_textCtrl) return GetFont(); + return m_textCtrl->GetFont(); +} + +bool wxSpinCtrlDbl::SetBackgroundColour(const wxColour& colour) +{ + if (!m_textCtrl) return wxControl::SetBackgroundColour(colour); + bool ret = false; + ret = m_textCtrl->SetBackgroundColour(colour); + m_textCtrl->Refresh(); // FIXME is this necessary in GTK/OSX + return ret; +} +wxColour wxSpinCtrlDbl::GetBackgroundColour() const +{ + if (!m_textCtrl) return wxControl::GetBackgroundColour(); + return m_textCtrl->GetBackgroundColour(); +} + +bool wxSpinCtrlDbl::SetForegroundColour(const wxColour& colour) +{ + if (!m_textCtrl) return wxControl::SetForegroundColour(colour); + bool ret = false; + ret = m_textCtrl->SetForegroundColour(colour); + m_textCtrl->Refresh(); + return ret; +} +wxColour wxSpinCtrlDbl::GetForegroundColour() const +{ + if (!m_textCtrl) return wxControl::GetForegroundColour(); + return m_textCtrl->GetForegroundColour(); +} diff --git a/3rdparty/wxthings/src/toggle.cpp b/3rdparty/wxthings/src/toggle.cpp new file mode 100644 index 0000000..9765308 --- /dev/null +++ b/3rdparty/wxthings/src/toggle.cpp @@ -0,0 +1,573 @@ +///////////////////////////////////////////////////////////////////////////// +// Name: wxCustomButton based on wxCustomToggleCtrl.cpp +// Purpose: a toggle button +// Author: Bruce Phillips +// Modified by: John Labenski +// Created: 11/05/2002 +// RCS-ID: +// Copyright: (c) Bruce Phillips, John Labenki +// Licence: wxWidgets licence +///////////////////////////////////////////////////////////////////////////// + +#if defined(__GNUG__) && !defined(NO_GCC_PRAGMA) + #pragma implementation "toggle.h" +#endif + +// For compilers that support precompilation, includes "wx/wx.h". +#include "wx/wxprec.h" + +#ifdef __BORLANDC__ + #pragma hdrstop +#endif + +#ifndef WX_PRECOMP + #include "wx/control.h" + #include "wx/settings.h" + #include "wx/bitmap.h" + #include "wx/timer.h" + #include "wx/dc.h" + #include "wx/dcclient.h" +#endif // WX_PRECOMP + +#include "wx/tglbtn.h" +#include "wx/image.h" +#include "wx/things/toggle.h" + +// ========================================================================== +// wxCustomButton +// ========================================================================== +IMPLEMENT_DYNAMIC_CLASS( wxCustomButton, wxControl ) + +BEGIN_EVENT_TABLE(wxCustomButton,wxControl) + EVT_MOUSE_EVENTS ( wxCustomButton::OnMouseEvents ) + EVT_PAINT ( wxCustomButton::OnPaint ) + EVT_TIMER ( wxID_ANY, wxCustomButton::OnTimer) + EVT_SIZE ( wxCustomButton::OnSize ) +END_EVENT_TABLE() + +wxCustomButton::~wxCustomButton() +{ + if (HasCapture()) ReleaseMouse(); + if (m_timer) delete m_timer; +} + +void wxCustomButton::Init() +{ + m_focused = false; + m_labelMargin = wxSize(4,4); + m_bitmapMargin = wxSize(2,2); + m_down = 0; + m_timer = NULL; + m_eventType = 0; + m_button_style = wxCUSTBUT_TOGGLE|wxCUSTBUT_BOTTOM; +} + +bool wxCustomButton::Create(wxWindow* parent, wxWindowID id, + const wxString& label, const wxBitmap &bitmap, + const wxPoint& pos, const wxSize& size, + long style, const wxValidator& val, + const wxString& name) +{ + if (!wxControl::Create(parent,id,pos,size,wxNO_BORDER|wxCLIP_CHILDREN,val,name)) + return false; + + wxControl::SetLabel(label); + wxControl::SetBackgroundColour(parent->GetBackgroundColour()); + wxControl::SetForegroundColour(parent->GetForegroundColour()); + wxControl::SetFont(parent->GetFont()); + + if (bitmap.Ok()) m_bmpLabel = bitmap; + + if (!SetButtonStyle(style)) return false; + + wxSize bestSize = DoGetBestSize(); + SetSize(wxSize(size.x<0 ? bestSize.x:size.x, size.y<0 ? bestSize.y:size.y)); + SetBestSize(GetSize()); + + CalcLayout(true); + return true; +} + +void wxCustomButton::SetValue(bool depressed) +{ + wxCHECK_RET(!(m_button_style & wxCUSTBUT_NOTOGGLE), wxT("can't set button state")); + m_down = depressed ? 1 : 0; + Refresh(false); +} + +bool wxCustomButton::SetButtonStyle(long style) +{ + int n_styles = 0; + if ((style & wxCUSTBUT_LEFT) != 0) n_styles++; + if ((style & wxCUSTBUT_RIGHT) != 0) n_styles++; + if ((style & wxCUSTBUT_TOP) != 0) n_styles++; + if ((style & wxCUSTBUT_BOTTOM) != 0) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxCustomButton label position allowed")); + + n_styles = 0; + if ((style & wxCUSTBUT_NOTOGGLE) != 0) n_styles++; + if ((style & wxCUSTBUT_BUTTON) != 0) n_styles++; + if ((style & wxCUSTBUT_TOGGLE) != 0) n_styles++; + if ((style & wxCUSTBUT_BUT_DCLICK_TOG) != 0) n_styles++; + if ((style & wxCUSTBUT_TOG_DCLICK_BUT) != 0) n_styles++; + wxCHECK_MSG(n_styles < 2, false, wxT("Only one wxCustomButton style allowed")); + + m_button_style = style; + + if ((m_button_style & wxCUSTBUT_BUTTON) != 0) + m_down = 0; + + CalcLayout(true); + return true; +} + +void wxCustomButton::SetLabel( const wxString &label ) +{ + wxControl::SetLabel(label); + CalcLayout(true); +} + +// sequence of events in GTK is up, dclick, up. + +void wxCustomButton::OnMouseEvents(wxMouseEvent& event) +{ + if (m_button_style & wxCUSTBUT_NOTOGGLE) return; + + if (event.LeftDown() || event.RightDown()) + { + if (!HasCapture()) + CaptureMouse(); // keep depressed until up + + m_down++; + Redraw(); + } + else if (event.LeftDClick() || event.RightDClick()) + { + m_down++; // GTK eats second down event + Redraw(); + } + else if (event.LeftUp()) + { + if (HasCapture()) + ReleaseMouse(); + + m_eventType = wxEVT_LEFT_UP; + + if (wxRect(wxPoint(0,0), GetSize()).Inside(event.GetPosition())) + { + if ((m_button_style & wxCUSTBUT_BUTTON) && (m_down > 0)) + { + m_down = 0; + Redraw(); + SendEvent(); + return; + } + else + { + if (!m_timer) + { + m_timer = new wxTimer(this, m_down+1); + m_timer->Start(200, true); + } + else + { + m_eventType = wxEVT_LEFT_DCLICK; + } + + if ((m_button_style & wxCUSTBUT_TOGGLE) && + (m_button_style & wxCUSTBUT_TOG_DCLICK_BUT)) m_down++; + } + } + + Redraw(); + } + else if (event.RightUp()) + { + if (HasCapture()) + ReleaseMouse(); + + m_eventType = wxEVT_RIGHT_UP; + + if (wxRect(wxPoint(0,0), GetSize()).Inside(event.GetPosition())) + { + if ((m_button_style & wxCUSTBUT_BUTTON) && (m_down > 0)) + { + m_down = 0; + Redraw(); + SendEvent(); + return; + } + else + { + m_down++; + + if (!m_timer) + { + m_timer = new wxTimer(this, m_down); + m_timer->Start(250, true); + } + else + { + m_eventType = wxEVT_RIGHT_DCLICK; + } + } + } + + Redraw(); + } + else if (event.Entering()) + { + m_focused = true; + if ((event.LeftIsDown() || event.RightIsDown()) && HasCapture()) + m_down++; + + Redraw(); + } + else if (event.Leaving()) + { + m_focused = false; + if ((event.LeftIsDown() || event.RightIsDown()) && HasCapture()) + m_down--; + + Redraw(); + } +} + +void wxCustomButton::OnTimer( wxTimerEvent &event ) +{ + m_timer->Stop(); + delete m_timer; + m_timer = NULL; + + // Clean up the button presses + // FIXME - GTK eats second left down for a DClick, who know about the others? + if (m_button_style & wxCUSTBUT_BUTTON) + { + m_down = 0; + } + else if (m_button_style & wxCUSTBUT_TOGGLE) + { + if (m_eventType == wxEVT_LEFT_UP) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + else if (m_button_style & wxCUSTBUT_BUT_DCLICK_TOG) + { + if (m_eventType == wxEVT_LEFT_DCLICK) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + else if (m_button_style & wxCUSTBUT_TOG_DCLICK_BUT) + { + if (m_eventType == wxEVT_LEFT_UP) + m_down = event.GetId()%2 ? 0 : 1; + else + m_down = event.GetId()%2 ? 1 : 0; + } + + Refresh(false); + SendEvent(); +} + +void wxCustomButton::SendEvent() +{ + if (((m_button_style & wxCUSTBUT_TOGGLE) && (m_eventType == wxEVT_LEFT_UP)) || + ((m_button_style & wxCUSTBUT_BUT_DCLICK_TOG) && (m_eventType == wxEVT_LEFT_DCLICK)) || + ((m_button_style & wxCUSTBUT_TOG_DCLICK_BUT) && (m_eventType == wxEVT_LEFT_UP))) + { + wxCommandEvent eventOut(wxEVT_COMMAND_TOGGLEBUTTON_CLICKED, GetId()); + eventOut.SetInt(m_down%2 ? 1 : 0); + eventOut.SetExtraLong(m_eventType); + eventOut.SetEventObject(this); + GetEventHandler()->ProcessEvent(eventOut); + } + else + { + wxCommandEvent eventOut(wxEVT_COMMAND_BUTTON_CLICKED, GetId()); + eventOut.SetInt(0); + eventOut.SetExtraLong(m_eventType); + eventOut.SetEventObject(this); + GetEventHandler()->ProcessEvent(eventOut); + } +} + +wxBitmap wxCustomButton::CreateBitmapDisabled(const wxBitmap &bitmap) const +{ + wxCHECK_MSG(bitmap.Ok(), wxNullBitmap, wxT("invalid bitmap")); + + unsigned char br = GetBackgroundColour().Red(); + unsigned char bg = GetBackgroundColour().Green(); + unsigned char bb = GetBackgroundColour().Blue(); + + wxImage image = bitmap.ConvertToImage(); + int pos, width = image.GetWidth(), height = image.GetHeight(); + unsigned char *img_data = image.GetData(); + + for (int j=0; j lh ? bh : lh; + if (has_bitmap && has_label) lw -= wxMin(m_labelMargin.x, m_bitmapMargin.x); + return wxSize(lw+bw, h); + } + + int w = bw > lw ? bw : lw; + if (has_bitmap && has_label) lh -= wxMin(m_labelMargin.y, m_bitmapMargin.y); + return wxSize(w, lh+bh); +} + +void wxCustomButton::CalcLayout(bool refresh) +{ + int w, h; + GetSize(&w,&h); + + int bw = 0, bh = 0; + int lw = 0, lh = 0; + + if (m_bmpLabel.Ok()) // assume they're all the same size + { + bw = m_bmpLabel.GetWidth(); + bh = m_bmpLabel.GetHeight(); + } + wxString label = GetLabel(); + if (!label.IsEmpty()) + { + GetTextExtent(label, &lw, &lh); + } + + // Center the label or bitmap if only one or the other + if (!m_bmpLabel.Ok()) + { + m_bitmapPos = wxPoint(0,0); + m_labelPos = wxPoint((w-lw)/2, (h-lh)/2); + } + else if (label.IsEmpty()) + { + m_bitmapPos = wxPoint((w-bw)/2, (h-bh)/2); + m_labelPos = wxPoint(0,0); + } + else if (m_button_style & wxCUSTBUT_LEFT) + { + int mid_margin = wxMax(m_labelMargin.x, m_bitmapMargin.x); + m_labelPos = wxPoint((w - (bw+lw+m_labelMargin.x+m_bitmapMargin.x+mid_margin))/2 + m_labelMargin.x, (h - lh)/2); + m_bitmapPos = wxPoint(m_labelPos.x + lw + mid_margin, (h - bh)/2); + } + else if (m_button_style & wxCUSTBUT_RIGHT) + { + int mid_margin = wxMax(m_labelMargin.x, m_bitmapMargin.x); + m_bitmapPos = wxPoint((w - (bw+lw+m_labelMargin.x+m_bitmapMargin.x+mid_margin))/2 + m_bitmapMargin.x, (h - bh)/2); + m_labelPos = wxPoint(m_bitmapPos.x + bw + mid_margin, (h - lh)/2); + } + else if (m_button_style & wxCUSTBUT_TOP) + { + int mid_margin = wxMax(m_labelMargin.y, m_bitmapMargin.y); + m_labelPos = wxPoint((w - lw)/2, (h - (bh+lh+m_labelMargin.y+m_bitmapMargin.y+mid_margin))/2 + m_labelMargin.y); + m_bitmapPos = wxPoint((w - bw)/2, m_labelPos.y + lh + mid_margin); + } + else // if (m_button_style & wxCUSTBUT_BOTTOM) DEFAULT + { + int mid_margin = wxMax(m_labelMargin.y, m_bitmapMargin.y); + m_bitmapPos = wxPoint((w - bw)/2, (h - (bh+lh+m_labelMargin.y+m_bitmapMargin.y+mid_margin))/2 + m_bitmapMargin.y); + m_labelPos = wxPoint((w - lw)/2, m_bitmapPos.y + bh + mid_margin); + } + + if (refresh) Refresh(false); +} diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..6ccfadb --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,429 @@ +cmake_minimum_required (VERSION 2.6.1) +SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/3rdparty/CMakeModules" ${CMAKE_MODULE_PATH}) +project (Slam6D) + +#include_directories(OPENGL_INCLUDE_DIR) +IF(WIN32) + set(Boost_USE_STATIC_LIBS TRUE) +ELSE(WIN32) + set(Boost_USE_STATIC_LIBS FALSE) +ENDIF(WIN32) + +SET(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.44" "1.44.0" "1.45.0" "1.45" "1.46" "1.46.1" "1.47.0" "1.47" "1.48" "1.49") +IF(WIN32) + # for some unknown reason no one variant works on all windows platforms + find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED) +ELSE(WIN32) + find_package( Boost COMPONENTS serialization graph regex filesystem system thread date_time REQUIRED) +ENDIF(WIN32) + +if(Boost_FOUND) + link_directories(${BOOST_LIBRARY_DIRS}) + include_directories(${Boost_INCLUDE_DIRS}) + add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS}) +endif() + +################################################# +# Declare Options and modify build accordingly ## +################################################# + +## FreeGLUT +OPTION(WITH_FREEGLUT "Whether freeglut is available. This enables iterative drawing in show. ON/OFF" ON) + +IF(WITH_FREEGLUT) + MESSAGE(STATUS "With freeglut") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_FREEGLUT") +ELSE(WITH_FREEGLUT) + MESSAGE(STATUS "Without freeglut") +ENDIF(WITH_FREEGLUT) + +## Show +OPTION(WITH_SHOW "Whether to build Show. This is the Visualization program of slam6d. ON/OFF" ON) + +IF(WITH_SHOW) + FIND_PACKAGE(OpenGL REQUIRED) + FIND_PACKAGE(GLUT REQUIRED) + MESSAGE(STATUS "With show") +ELSE(WITH_SHOW) + # SET (WITH_OCTREE_DISPLAY "ON" CACHE INTERNAL "" FORCE) + MESSAGE(STATUS "Without show") +ENDIF(WITH_SHOW) + +## WXShow +OPTION(WITH_WXSHOW "Whether to build WXShow. This is the wxwidgets variant of Show. ON/OFF" OFF) + +IF(WITH_WXSHOW) + FIND_PACKAGE(OpenGL REQUIRED) + FIND_PACKAGE(GLUT REQUIRED) + find_package(wxWidgets COMPONENTS core base gl REQUIRED) + # set wxWidgets_wxrc_EXECUTABLE to be ignored in the configuration + SET (wxWidgets_wxrc_EXECUTABLE " " CACHE INTERNAL "" FORCE) + # wxWidgets include (this will do all the magic to configure everything) + include( ${wxWidgets_USE_FILE}) + MESSAGE(STATUS "With wxshow") +ELSE(WITH_XWSHOW) + MESSAGE(STATUS "Without wxshow") +ENDIF(WITH_WXSHOW) + +## Shapes +OPTION(WITH_SHAPE_DETECTION "Whether to build shapes and planes executable for detecting planes. ON/OFF" OFF) +IF(WITH_SHAPE_DETECTION) + MESSAGE(STATUS "With shape detection") +ELSE(WITH_SHAPE_DETECTION) + MESSAGE(STATUS "Without shape detection") +ENDIF(WITH_SHAPE_DETECTION) + +## Interior reconstruction +option(WITH_MODEL "Whether to build model executable for modelling interior environments. ON/OFF" OFF) + +if(WITH_MODEL) + message(STATUS "With interior reconstruction") +else(WITH_MODEL) + message(STATUS "Without interior reconstruction") +endif(WITH_MODEL) + +## Thermo +OPTION(WITH_THERMO "Whether to build executables for mutual calibration of laser scanner and camera. ON/OFF" OFF) +IF(WITH_THERMO) + FIND_PACKAGE(OpenCV REQUIRED) + add_subdirectory(3rdparty/cvblob) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + MESSAGE(STATUS "With thermo") +ELSE(WITH_THERMO) + MESSAGE(STATUS "Without thermo") +ENDIF(WITH_THERMO) + +## Octree +OPTION(WITH_OCTREE_DISPLAY "Whether to use octree display for efficiently culling scans ON/OFF" ON) + +IF(WITH_OCTREE_DISPLAY) + MESSAGE(STATUS "Using octree display") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_GL_POINTS") +ELSE(WITH_OCTREE_DISPLAY) + MESSAGE(STATUS "Using displaylists: Warning potentially much slower") +ENDIF(WITH_OCTREE_DISPLAY) +#SET (WITH_OCTREE_DISPLAY ${WITH_OCTREE_DISPLAY} CACHE BOOL +#"Whether to use octree display for efficiently culling scans ON/OFF" FORCE) + + +## Octree +OPTION(WITH_COMPACT_OCTREE "Whether to use the compact octree display ON/OFF" OFF) + +IF(WITH_COMPACT_OCTREE) + MESSAGE(STATUS "Using compact octrees") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_COMPACT_TREE") +ELSE(WITH_COMPACT_OCTREE) + MESSAGE(STATUS "Not using compact octreees: Warning uses more memory") +ENDIF(WITH_COMPACT_OCTREE) + +## Glee? +OPTION(WITH_GLEE "Whether to use OpenGL extensions, requires glee. ON/OFF" OFF) + +IF(WITH_GLEE) + MESSAGE(STATUS "Using opengl extensions") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_GLEE") +ELSE(WITH_GLEE) + MESSAGE(STATUS "Not using opengl extensions") +ENDIF(WITH_GLEE) + +## Gridder +OPTION(WITH_GRIDDER "Whether to build the 2DGridder binary ON/OFF" OFF) + +IF(WITH_GRIDDER) + MESSAGE(STATUS "With 2DGridder") +ELSE(WITH_GRIDDER) + MESSAGE(STATUS "Without 2DGridder") +ENDIF(WITH_GRIDDER) + +## Dynamic VELOSLAM +OPTION(WITH_VELOSLAM "Whether to build the Velodyne data processing (veloslam/veloshow) ON/OFF" OFF) + +IF(WITH_VELOSLAM) + MESSAGE(STATUS "With VELOSLAM") +ELSE(WITH_VELOSLAM) + MESSAGE(STATUS "Without VELOSLAM") +ENDIF(WITH_VELOSLAM) + +## Home-made Laserscanner +OPTION(WITH_DAVID_3D_SCANNER "Whether to build the David scanner app for homemade laser scanners binary ON/OFF" OFF) + +IF(WITH_DAVID_3D_SCANNER) + MESSAGE(STATUS "With David scanner") +ELSE(WITH_DAVID_3D_SCANNER) + MESSAGE(STATUS "Without David scanner") +ENDIF(WITH_DAVID_3D_SCANNER) + +## Tools + +OPTION(WITH_TOOLS "Whether to build additional tools like convergence frame_to_graph etc. ON/OFF" OFF) + +IF(WITH_TOOLS) + MESSAGE(STATUS "With Tools") +ELSE(WITH_TOOLS) + MESSAGE(STATUS "Without Tools") +ENDIF(WITH_TOOLS) + + + +## Scan reduction +OPTION(WITH_SCAN_REDUCTION "Whether to build the scan reduction binary scan_red ON/OFF" OFF) + +IF(WITH_SCAN_REDUCTION) + MESSAGE(STATUS "With scan_red") +ELSE(WITH_SCAN_REDUCTION) + MESSAGE(STATUS "Without scan_red") +ENDIF(WITH_SCAN_REDUCTION) + +## Scan difference +OPTION(WITH_SCAN_DIFF "Whether to build the scan_diff binary ON/OFF" OFF) + +IF(WITH_SCAN_DIFF) + MESSAGE(STATUS "With scan_diff") +ELSE(WITH_SCAN_DIFF) + MESSAGE(STATUS "Without scan_diff") +ENDIF(WITH_SCAN_DIFF) + + +## CAD matching +OPTION (WITH_CAD "Wether to build with CAD import lib ON/OFF" OFF) + +IF (WITH_CAD) + MESSAGE (STATUS "With CAD import") + find_package (Boost COMPONENTS program_options filesystem REQUIRED) +ELSE (WITH_CAD) + MESSAGE (STATUS "Without CAD import") +ENDIF (WITH_CAD) + +## RivLib +OPTION(WITH_RIVLIB "Whether the RIEGL rivlib is present ON/OFF" OFF) + +IF(WITH_RIVLIB) + MESSAGE(STATUS "Compiling a scan IO for RXP files") + include_directories(${CMAKE_SOURCE_DIR}/3rdparty) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty) + SET(RIEGL_DIR ${CMAKE_SOURCE_DIR}/3rdparty/riegl/) + IF(WIN32) + SET(RIVLIB ${RIEGL_DIR}libscanlib-mt.lib ${RIEGL_DIR}libctrllib-mt.lib ${RIEGL_DIR}libboost_system-mt-1_43_0-vns.lib) + ELSE(WIN32) + SET(RIVLIB ${RIEGL_DIR}libscanlib-mt-s.a ${RIEGL_DIR}libctrllib-mt-s.a ${RIEGL_DIR}libboost_system-mt-s-1_43_0-vns.a pthread) + ENDIF(WIN32) + FIND_PACKAGE(LibXml2 ) + +ELSE(WITH_RIVLIB) + MESSAGE(STATUS "Do NOT compile a scan IO for RXP") +ENDIF(WITH_RIVLIB) + +## CUDA support, TODO depend on CUDA_FIND +OPTION(WITH_CUDA "Compile with CUDA support" OFF) +IF(WITH_CUDA) + MESSAGE(STATUS "Compiling WITH CUDA support") + FIND_PACKAGE(CUDA) + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_CUDA") +ELSE(WITH_CUDA) + MESSAGE(STATUS "Compiling WITHOUT CUDA support") +ENDIF(WITH_CUDA) + +## PMD +OPTION(WITH_PMD "Whether to build the PMD tools like grabVideoAnd3D calibrate etc. ON/OFF" OFF) + +IF(WITH_PMD) + FIND_PACKAGE(OpenGL REQUIRED) + MESSAGE(STATUS "With Tools") +ELSE(WITH_PMD) + MESSAGE(STATUS "Without Tools") +ENDIF(WITH_PMD) + +## FBR +OPTION(WITH_FBR "Whether to compile feature based registration. ON/OFF" OFF) + +IF(WITH_FBR) + MESSAGE(STATUS "With FBR ") +ELSE(WITH_FBR) + MESSAGE(STATUS "Without FBR") +ENDIF(WITH_FBR) + +## Special treatment for system specifics +IF(APPLE) +add_definitions(-Dfopen64=fopen) +ENDIF(APPLE) + +## Multiple Cores +IF(APPLE) + SET(PROCESSOR_COUNT 2) +ELSE(APPLE) + INCLUDE(CountProcessors) + SET(NUMBER_OF_CPUS "${PROCESSOR_COUNT}" CACHE STRING "The number of processors to use (default: ${PROCESSOR_COUNT})" ) +ENDIF(APPLE) + +# OPEN +FIND_PACKAGE(OpenMP) +IF(OPENMP_FOUND) + OPTION(WITH_OPENMP "Whether to use parallel processing capabilities of OPENMP. ON/OFF" ON) +ENDIF(OPENMP_FOUND) + +IF(OPENMP_FOUND AND WITH_OPENMP) + MESSAGE(STATUS "With OpenMP ") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=${PROCESSOR_COUNT} -DOPENMP_NUM_THREADS=${NUMBER_OF_CPUS} ${OpenMP_CXX_FLAGS} -DOPENMP") +ELSE(OPENMP_FOUND AND WITH_OPENMP) + MESSAGE(STATUS "Without OpenMP") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DMAX_OPENMP_NUM_THREADS=1 -DOPENMP_NUM_THREADS=1") +ENDIF(OPENMP_FOUND AND WITH_OPENMP) + +## TORO +OPTION(WITH_TORO "Whether to use TORO. ON/OFF" OFF) + +IF(WITH_TORO) + IF(WIN32) + SET(Subversion_SVN_EXECUTABLE "svn.exe") + ENDIF(WIN32) + cmake_minimum_required (VERSION 2.8) + include(ExternalProject) + ExternalProject_Add(toro3d + SVN_REPOSITORY https://www.openslam.org/data/svn/toro/trunk + SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/toro" + CONFIGURE_COMMAND "" + BUILD_COMMAND make + BUILD_IN_SOURCE 1 + INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/toro/toro3d ${CMAKE_SOURCE_DIR}/bin/ + ) + MESSAGE(STATUS "With TORO ") +ELSE(WITH_TORO) + MESSAGE(STATUS "Without TORO") +ENDIF(WITH_TORO) + + +## HOGMAN +OPTION(WITH_HOGMAN "Whether to use HOGMAN. ON/OFF" OFF) + +IF(WITH_HOGMAN) + # dependant on libqt4-devi + find_package( Qt4 REQUIRED) + # CMake of earlier versions do not have external project capabilities + cmake_minimum_required (VERSION 2.8) + include(ExternalProject) + ExternalProject_Add(hogman + SVN_REPOSITORY https://svn.openslam.org/data/svn/hog-man/trunk + SOURCE_DIR "${CMAKE_SOURCE_DIR}/3rdparty/hogman" + CONFIGURE_COMMAND /configure --prefix= + BUILD_COMMAND LD_LIBRARY_PATH=${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib make + BUILD_IN_SOURCE 1 + INSTALL_COMMAND cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/bin/hogman3d ${CMAKE_SOURCE_DIR}/bin/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_csparse.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer_hogman.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_optimizer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_graph_viewer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_math.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_qglviewer.so ${CMAKE_SOURCE_DIR}/lib/ && + cp ${CMAKE_SOURCE_DIR}/3rdparty/hogman/lib/libhogman_stuff.so ${CMAKE_SOURCE_DIR}/lib/ + ) + MESSAGE(STATUS "With HOGMAN: Currently hogman needs to be compiled manually, please make sure hogman3d is somewhere in your PATH") +ELSE(WITH_HOGMAN) + MESSAGE(STATUS "Without HOGMAN") +ENDIF(WITH_HOGMAN) + +OPTION(EXPORT_SHARED_LIBS "Whether to build additional shared libraries for use in other projects. ON/OFF" OFF) + +IF(EXPORT_SHARED_LIBS) + MESSAGE(STATUS "exporting additional libraries") +ELSE(EXPORT_SHARED_LIBS) + MESSAGE(STATUS "not exporting libraries") +ENDIF(EXPORT_SHARED_LIBS) + +OPTION(WITH_METRICS "Whether to use metrics in slam6d. ON/OFF" OFF) + +IF(WITH_METRICS) + MESSAGE(STATUS "With metrics in slam6d.") + SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWITH_METRICS") +ELSE(WITH_METRICS) + MESSAGE(STATUS "Without metrics in slam6d.") +ENDIF(WITH_METRICS) + +IF(WIN32) + SET(ADDITIONAL_CFLAGS "-O2" CACHE STRING"Additional flags given to the compiler ()" ) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows) + link_directories(${CMAKE_SOURCE_DIR}/3rdparty/windows/x64) + add_library(XGetopt STATIC ${CMAKE_SOURCE_DIR}/3rdparty/windows/XGetopt.cpp) + SET(CMAKE_STATIC_LIBRARY_SUFFIX "32.lib") +ELSE(WIN32) + SET(ADDITIONAL_CFLAGS "-O3 -std=c++0x -msse3 -Wall -finline-functions -Wno-unused-but-set-variable -Wno-write-strings -Wno-char-subscripts -Wno-unused-result" CACHE STRING"Additional flags given to the compiler (-O3 -Wall -finline-functions -Wno-write-strings)" ) + # Add include path for OpenGL without GL/-prefix + # to avoid the include incompatibility between MACOS + # and linux + FIND_PATH(OPENGL_INC gl.h /usr/include/GL) + include_directories(${OPENGL_INC}) +ENDIF(WIN32) + +# Add OpenGL includes for MACOS if needed +# The OSX OpenGL frameworks natively supports freeglut extensions +IF(APPLE) + include_directories(/System/Library/Frameworks/GLUT.framework/Headers) + include_directories(/System/Library/Frameworks/OpenGL.framework/Headers) +ENDIF(APPLE) + +SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CFLAGS}") + +# Hide CMake variables +SET (CMAKE_INSTALL_PREFIX "/usr/local" CACHE INTERNAL "" FORCE) +SET (CMAKE_BUILD_TYPE "" CACHE INTERNAL "" FORCE) + + +# Set output directories for libraries and executables +SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib ) +SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/obj ) +SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin ) + +# Set include and link dirs ... +include_directories(${CMAKE_SOURCE_DIR}/include) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/glui) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/wxthings/include/) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/include) +include_directories(${CMAKE_SOURCE_DIR}/3rdparty/ann_1.1.1_modified/src) +link_directories(${CMAKE_SOURCE_DIR}/obj) +link_directories(${CMAKE_SOURCE_DIR}/lib) + +add_subdirectory(3rdparty) +add_subdirectory(src/slam6d) +add_subdirectory(src/scanio) +add_subdirectory(src/scanserver) +add_subdirectory(src/veloslam) +add_subdirectory(src/show) +add_subdirectory(src/grid) +add_subdirectory(src/pmd) +add_subdirectory(src/shapes) +add_subdirectory(src/thermo) +IF(WITH_FBR) + add_subdirectory(src/slam6d/fbr) +ENDIF(WITH_FBR) +add_subdirectory(src/scanner) +add_subdirectory(src/model) + +IF(EXPORT_SHARED_LIBS) +## Compiling a shared library containing all of the project +add_library(slam SHARED src/slam6d/icp6D.cc) +target_link_libraries(slam scanlib_s ANN_s sparse_s newmat_s) +ENDIF(EXPORT_SHARED_LIBS) + +MESSAGE (STATUS "Build environment is set up!") + + +# hack to "circumvent" Debug and Release folders that are created under visual studio +# this is why the INSTALL target has to be used in visual studio +IF(MSVC) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Release/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Release DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) + + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/bin/Debug/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/3rdparty/windows/ CONFIGURATIONS Debug DESTINATION ${CMAKE_SOURCE_DIR}/windows FILES_MATCHING PATTERN "*.dll" PATTERN "*.exe") + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(MSVC) diff --git a/CONTRIBUTORS b/CONTRIBUTORS new file mode 100644 index 0000000..81f53b4 --- /dev/null +++ b/CONTRIBUTORS @@ -0,0 +1,37 @@ +Project admins + +Andreas Nuechter andreas@nuechti.de +Kai Lingemann kai.lingemann@gmx.de +Dorit Borrmann d.borrmann@jacobs-university.de + +List of contributors + +Andreas Nuechter andreas@nuechti.de +Kai Lingemann kai.lingemann@gmx.de +Dorit Borrmann d.borrmann@jacobs-university.de +Jan Elseberg j.elseberg@jacobs-university.de +Jochen Sprickerhof jochen@sprickerhof.de +HamidReza Houshiar h.houshiar@jacobs-university.de +Sven Albrecht sven.albrecht@uni-osnabrueck.de +Stan Serebryakov cfr.ssv@gmail.com +Thomas Escher tescher@uni-osnabrueck.de +Thomas Wiemann twiemann@uni-osnabrueck.de +Alexandru Tandrau alexandru@tandrau.com +Alexandru Eugen Ichim eugen@alexichim.com +Flavia Grosan me@flaviagrosan.com +Deyuan Qiu deyuan.qiu@googlemail.com +Darko Makreshanski d.makreshanski@jacobs-university.de +Mohammad Faisal Abdullah m.faisal@jacobs-university.de +Li Ming liming751218@whu.edu.cn +Li Wei xpaulee@gmail.com +Shams Feyzabadi sh.feyzabadi@gmail.co +Vladislav Perelmann v.perelman@jacobs-university.de +Chen Long lchen.whu@gmail.com +Remuas Dumitru r.dumitru@jaocbs-university.de + +Further contributors + +Uwe Hebbelmann, Sebastian Stock, Andre Schemschat +Hartmut Surmann +Amuz Tamrakars, Ulugbek Makhmudov +Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz \ No newline at end of file diff --git a/LICENSING b/LICENSING new file mode 100644 index 0000000..a825429 --- /dev/null +++ b/LICENSING @@ -0,0 +1,640 @@ +3DTK is released under the GPLv3 license, which is included in this +document. + +In addition, the source code contains the 'newmat' library from Robert +Davies and the 'csparse' library from Tim Davis; the viewer +application uses the 'glui' extension by Paul Rademacher or +wxThings/wxWidgets, 'GOCR', 'ANN Library', 'autopano-sift-c', all with +their own licenses. These libraries are provided just to simplify the +installation and testing of 3DTK. Please pay attention to these +licenses when you are using 3DTK. + +Furthermore, all images, figures, videos and animations created with +a 3DTK are automatically subject to the creative commons license +Attribution-ShareAlike 3.0 Unported (CC BY-SA 3.0). Please see for +further information http://creativecommons.org/licenses/by-sa/3.0/ +Thus, please do not remove the tag on the image etc. + +The authors of 3DTK request, that the software is not used in any +military context. + +---- + +GNU GENERAL PUBLIC LICENSE + +Version 3, 29 June 2007 + +Copyright 2007 Free Software Foundation, Inc. + +Everyone is permitted to copy and distribute verbatim copies of this +license document, but changing it is not allowed. Preamble + +The GNU General Public License is a free, copyleft license for +software and other kinds of works. + +The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom +to share and change all versions of a program--to make sure it remains +free software for all its users. We, the Free Software Foundation, use +the GNU General Public License for most of our software; it applies +also to any other work released this way by its authors. You can apply +it to your programs, too. + +When we speak of free software, we are referring to freedom, not +price. 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This will configure slam6d +using the default settings. If you wish to configure the project using +custom settings do: "make config". This command requires ccmake be +installed on your system. Alternatively you may change into the build +directory ".build" and configure the project with your preferred cmake +configurator, i.e.: + +cd .build && cmake -i ../ + +For Microsoft Windows, use the cmake-gui application provided by cmake +to configure and generate project files for the appropriate version of +Microsoft Visual Studio C++ of your system. Use the INSTALL target to +built the entire project. Executables (and .dll's) will then reside +in the "windows" folder. For running the binaries you need to install +the proper redistributable package. + +Some Boost libraries (graph, regex, serialization, filesystem, +interprocess) are needed to compile the slam6D program. + +If you are using Debian just do: + + aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev freeglut3-dev libxmu-dev libxi-dev + +or, if you are still using Debian stable (lenny): + + aptitude install libboost-graph1.35-dev libboost-regex1.35-dev libboost-serialization1.35-dev freeglut3-dev libxmu-dev libxi-dev + +for Ubuntu this would be: + + sudo aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev libboost1.46-dev libboost-filesystem1.46-dev freeglut3-dev libxmu-dev libxi-dev + +SuSE users please use yast2 for installing the missing packages + + +Additionally for CAD matching support the following dependencies must +be satisfied (exemplarily for Ubuntu): + + sudo aptitude install libboost-program-options-dev + +------------------------------------------------------------------- + +For a detailed explanation of the programm, its usage, etc., please +refer to the high level documentation doc/documentation_HL.pdf +(esp. sections 4-6, for starters). + +IMPORTANT: +Take care to register scans first (bin/slam6D) before trying to +display them (bin/show), and think about using the point reduction +(see section 6) for a much faster scan matching result. Extremely +large scans might need to be reduced (using bin/scan_red) before +registration. This will write reduced scans in the uos format into a +directory "reduced" in the data directory. + +Three example scans are included in the dat directory, several +larger data sets can be downloaded from the data repository, +http://kos.informatik.uni-osnabrueck.de/3Dscans/ +(Alternatively, click on the "Data Repository" link on this project's +web site on Sourceforge, http://slam6d.sourceforge.net/) + +EXAMPLES: +(using the data set in the slam6d repository) +bin/slam6D -m 500 -R 5 -d 25.0 --metascan dat +bin/show dat + +(using the data set in the slam6d repository) +bin/slam6D --max=500 -r 10.2 -i 20 --metascan dat +bin/show dat + +(using hannover1.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 65 -r 10 -i 100 -d 75 -D 250 --epsICP=0.00001 + -I 50 --cldist=750 -L 0 -G 1 /home/nuechter/dat/dat_hannover1 +bin/show -s 1 -e 65 /home/nuechter/dat/dat_hannover1 + +(using hannover2.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -q -r 10 -f rts -s 23 -d 75 -L 4 --cldist=1500 -G 1 -D -1 + --DlastSLAM 250 --graphDist 200 -I 50 hannover2 +bin/show -f rts -s 23 hannover2 + +(using kvarntorp_mine.tgz (dat_mine1) form http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 76 -r 10 -m 3000 -d 50 -i 1000 --epsICP=0.000001 + -I 50 -D 75 --clpairs=5000 -f old /home/nuechter/dat/dat_mine1/ +bin/show -s 1 -e 76 -m 3000 -f old /home/nuechter/dat/dat_mine1/ + +(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/scan_red -s 0 -e 12 -r 10 /home/nuechter/dat/bremen_city +bin/slam6D -a 2 -q /home/nuechter/dat/bremen_city/reduced -f uos -d 150 + -s 0 -e 12 --anim=1 -n /home/nuechter/dat/bremen_city/bremen.net + -G 1 -D 100 -i 0 -I 50 -p --epsSLAM=0.0 +bin/show -s 0 -e 12 /home/nuechter/dat/bremen_city/reduced + +(using UniKoblenz_CampusTour3_OsnabrueckFormat.tar.gz from +http://kos.informatik.uni-osnabrueck.de/3Dscans/) +bin/slam6D -s 1 -e 320 -r 20 -i 300 --epsICP=0.000001 -d 45 -D 45 + -f uos --algo=2 -l 10 -L 4 -I 100 -G 1 + /home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/ +bin/show -s 1 -e 320 -f uos /home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/ +------------------------------------------------------------------- + +For detecting planes compile with the WITH_PLANE option. +Adapt the settings in bin/hough.cfg for your data set. + +EXAMPLE: (using the data set in the slam6d repository, no modification +of bin/hough.cfg necessary) + +bin/planes -s 0 dat +bin/show -s 0 -e 0 dat -l dat/planes/planes.list + +(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/) +adapt these settings in bin/hough.cfg: +RhoNum 500 +RhoMax 5000 +MaxPointPlaneDist 50.0 +MinPlaneSize 50 +PointDist 100.0 +/bin/planes -f riegl_txt -s 0 /home/nuechter/dat/bremen_city/ -r 50 -O 1 -m 5000 +/bin/show -s 0 -e 0 /home/nuechter/dat/bremen_city/ -f riegl_txt -l dat/planes/planes.list -r 10 -O 1 -m 5000 + +------------------------------------------------------------------- +The IO relevant parameters -f(ormat), -s(tart), -e(nd) can be omitted +in slam6D and show if a 'format' file exists in the directory, which +contains key=value lines (spaces are trimmed automatically) for +format, start, end with the same values as in the commandline. These +format-file parameters will be overwritten by commandline parameters +so that the format-file will provide the right IO type and full index +range and the user can overwrite the index range as he sees fit. + +------------------------------------------------------------------- +A reference manual can be found in doc/refman.pdf resp. +doc/html/index.html (type in 'make docu' to compile the doxygen +documentation for the HTML files). diff --git a/README.planes b/README.planes new file mode 100644 index 0000000..7186f4a --- /dev/null +++ b/README.planes @@ -0,0 +1,61 @@ +This project is part of the 3D Toolkit (3DTK). +------------------------------------------------------------------- + +To compile the project simply call "make". This will configure 3DTK-planes using the +default settings. If you wish to configure the project using custom settings do: +you may change into the build directory ".build" and configure the +project with your preferred cmake configurator, i.e.: +cd .build && cmake -i ../ + +For Microsoft Windows, use the cmake-gui application provided by cmake to +configure and generate project files for the appropriate version of visual +studio of your system. Use the INSTALL target to built the entire project. +Executables (and .dll's) will then reside in the "windows" folder. + +------------------------------------------------------------------- + +For a detailed explanation of the functionality of the programm, please +refer to: +Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas N眉chter. The 3D +Hough Transform for Plane Detection in Point Clouds - A Review and A new +Accumulator Design, Journal 3D Research, Springer, Volume 2, Number 2, +March 2011. + +One example scans is included in the dat directory, several +larger data sets can be downloaded from the data repository, +http://kos.informatik.uni-osnabrueck.de/3Dscans/ +(Alternatively, click on the "Data Repository" link on this project's +web site on Sourceforge, http://slam6d.sourceforge.net/) + +IMPORTANT; +For detecting planes compile slam6D with the WITH_PLANE option. +Adapt the settings in bin/hough.cfg for your data set. + +Extremely large scans might need to be reduced before registration. +Use the -r option to use an octree based reduction of the scan. +It is highly recommended to use the -O option as well for reduction to chose +points randomly (instead of the center) from the octree voxels. + +For a list and description of all the parameters run without any parameters +bin/planes + +EXAMPLES: +(using the data set in the slam6d repository) +bin/planes dat + +(using octree based reduction of the scan with voxel size 10 and 3 points from each voxel) +bin/planes -s 0 -r 10 -O 3 dat + +(using octree based reduction of the scan with voxel size 10 using the center of each voxel) +bin/planes -s 0 -r 10 dat + +The generated output is written to the directory specified in the config file in +bin/hough.cfg (default: dat/planes). +The output contains a file planes.list that lists the files containing the +detected planes. Each file with the name planeXXX.3d (with XXX numbers in +increasing order) specifies the 3D points of the convex hull of the largest +cluster detected on the plane. + +To view the result with the viewer from slam6d +bin/show -s 0 -e 0 dat -l dat/planes/planes.list + diff --git a/README.scanserver b/README.scanserver new file mode 100644 index 0000000..0bebbfa --- /dev/null +++ b/README.scanserver @@ -0,0 +1,63 @@ +This file describes the scanserver functionality, the code changes and its behaviour. + +To run with the scanserver functionality, pass -S or --scanserver to the slam6D/show call. Start the scanserver with bin/scanserver & first. If you want to directly jump to usage examples, see the "USAGE" section below. + +The scanserver is a new method to load and manage scans for 'slam6D', 'show' and some few other tools (so far). It removes all the IO code from the clients and handles it in the server process. This separation offers persistence of scan data and avoids unneccessary reloads of full scans or even reduced versions thereof. By using a caching framework it also transparently handles the available memory given and enables (nearly) endless amounts of data. The client is only required to open the interface, load a directory and start working on those scans without having to alter its workflow (e.g., pre-reduce them) to accomodate huge data volumes. + +If you have questions or problems (or both), contact Thomas Escher . + + + +USAGE: + +1. General + +Start the scanserver once (in another terminal, or in the same one as a background process): + bin/scanserver & + +Do all the normal work as you would normally do, adding the parameter -S: + bin/slam6D dat -S + bin/show dat -S + +2. Changing the available memory size + +Changing the cache memory size used by scan data (about half the system memory usually works): + + bin/scanserver -c 3500 (for 8GB RAM) + +If you intend to not reload the full scans for different reduction parameters or don't have too much memory/disk space, disable binary scan caching. Binary scan caching saves the full scans as long as the range or height parameters aren't touched, which would cause a full reload: + + bin/scanserver -b 0 + +If your dataset contains many scans and loops (e.g., 'hannover' with 468 scans), the default data memory (150M) won't be enough to hold all the animation frames and you need to increase it: + + bin/scanserver -d 250 + +3. Altering the shared memory on your linux system (bus_error) + +If you receive a bus_error, the size of your shared memory is too small and the requested allocation was too big. This is resolved via remounting your shm device. Default is half of the available RAM. This limit can be increased to nearly 90% of the RAM if required. + + sudo mount -o remount,size=7000M /dev/shm (for 8GB RAM) + +4. Locking the memory to avoid swapping (Linux only) + +If a great portion of the RAM is used for the cache data, swapping will usually occur after 50% of usage. To avoid this, the scanserver tries to lock the whole memory in place. This will fail without superuser rights, as well as on a full shared memory (see 3.) even with rights. Add these two additional lines to '/etc/security/limits.conf': + + * soft memlock unlimited + * hard memlock unlimited + +5. Using the octtree serialization feature in show with scanserver + +The octtree serialization behaves slightly different than before. Since the scanserver caches octtrees between calls of 'show', the loading of octtrees only becomes relevant if no octtrees are in the cache and have to be created from the scan itself. If this has been done once before and the octtrees have been saved via --saveOct before this can be used to speed up the octtree loading with --loadOct. + + bin/show dat --loadOct --saveOct + +If octtrees are not cached, they are deserialized if available, created otherwise and then saved for future calls. + +IMPLEMENTATION STATUS: + +Currently only 'slam6D' and 'show' are working with the scanserver. + +Since the scanserver handles the disk IO now and the filtering has been optimized, not all ScanIOs are updated yet. Just copy and paste and change the minor parts about reading the input lines. + +Working: 'ls src/scanio' in a shell diff --git a/bin/Debug/freeglut.dll b/bin/Debug/freeglut.dll new file mode 100644 index 0000000..e70e8af Binary files /dev/null and b/bin/Debug/freeglut.dll differ diff --git a/bin/Debug/testresult.bat b/bin/Debug/testresult.bat new file mode 100644 index 0000000..367896c --- /dev/null +++ b/bin/Debug/testresult.bat @@ -0,0 +1 @@ +scanserver -b 0 \ No newline at end of file diff --git a/bin/Release/freeglut.dll b/bin/Release/freeglut.dll new file mode 100644 index 0000000..e70e8af Binary files /dev/null and b/bin/Release/freeglut.dll differ diff --git a/bin/Release/testresult.bat b/bin/Release/testresult.bat new file mode 100644 index 0000000..367896c --- /dev/null +++ b/bin/Release/testresult.bat @@ -0,0 +1 @@ +scanserver -b 0 \ No newline at end of file diff --git a/bin/asc_comma_remove.sh b/bin/asc_comma_remove.sh new file mode 100755 index 0000000..71397f2 --- /dev/null +++ b/bin/asc_comma_remove.sh @@ -0,0 +1 @@ +sed -i 's/,//g' *.asc \ No newline at end of file diff --git a/bin/bash_completion_3dtk.sh b/bin/bash_completion_3dtk.sh new file mode 100644 index 0000000..19a6e23 --- /dev/null +++ b/bin/bash_completion_3dtk.sh @@ -0,0 +1,106 @@ +#bash completion for show and slam6d + +#have show && +_show() +{ + local cur prev opts filetype + + COMPREPLY=() + cur=`_get_cword` + prev=${COMP_WORDS[COMP_CWORD-1]} + + ## split the long options + _split_longopt + + # options list + opts="-e -s -f --format -F --fps -m --max -M --min -O --octree -r --reduce -R --reflectance --reflectivity -a --amplitude -d --deviation -h --height -T --type --saveOct --loadOct --advanced" + filetype="uos uos_map uos_rgb uos_frames uos_map_frames old rts rts_map ifp riegl_txt riegl_rgb riegl_bin zahn ply wrl xyz zuf iais front x3d rxp ais" + + case $prev in + -f|--format) + COMPREPLY=( $( compgen -W "${filetype}" -- ${cur} ) ) + return 0 + ;; + esac + + + # reflectivity/reflectance are synonymous + if [[ ${cur} == --ref* ]] ; then + COMPREPLY=( "--reflectance" ) + return 0 + fi + + + # relevant options to complete + if [[ ${cur} == -* ]] ; then + COMPREPLY=( $( compgen -W "${opts}" -- "$cur" ) ) + fi + + + # stolen from _cd function in bash_completion + _cd +} && +complete -o dirnames -F _show show + + +_slam6D() +{ + local cur prev opts filetype + + COMPREPLY=() + cur=`_get_cword` + prev=${COMP_WORDS[COMP_CWORD-1]} + + ## split the long options + _split_longopt + +# -n FILE, --net=FILE +# specifies the file that includes the net structure for SLAM +# + + opts="-e -s -f --format -m --max -M --min -O --octree -r --reduce -R --random -q --quiet -Q --veryquiet -u --cuda -p --trustpose -n --net --metascan -L --loop6DAlgo -l --loopsize -I --iterSLAM -i --iter -G --epsICP --epsICP --exportAllPoints --DlastSLAM -D --distSLAM -d --dist --cache -C --clpairs -c --cldist -A --anim -a --algo " + filetype="uos uos_map uos_rgb uos_frames uos_map_frames old rts rts_map ifp riegl_txt riegl_rgb riegl_bin zahn ply wrl xyz zuf iais front x3d rxp ais" + + case $prev in + -f|--format) + COMPREPLY=( $( compgen -W "${filetype}" -- ${cur} ) ) + return 0 + ;; + -L|--loop6DAlgo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6" -- ${cur} ) ) + return 0 + ;; + -G|--graphSlam6DAlgo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6" -- ${cur} ) ) + return 0 + ;; + -a|--algo) + COMPREPLY=( $( compgen -W "0 1 2 3 4 5 6 7 8 9" -- ${cur} ) ) + return 0 + ;; + -n|--net) + _filedir + return 0 + ;; + esac + + + + # relevant options to complete + if [[ ${cur} == -* ]] ; then + COMPREPLY=( $( compgen -W "${opts}" -- "$cur" ) ) + fi + + + # stolen from _cd function in bash_completion + _cd +} && +complete -o dirnames -F _slam6D slam6D + +# Local variables: +# mode: shell-script +# sh-basic-offset: 4 +# sh-indent-comment: t +# indent-tabs-mode: nil +# End: +# ex: ts=4 sw=4 et filetype=sh diff --git a/bin/convert.py b/bin/convert.py new file mode 100755 index 0000000..bb40c81 --- /dev/null +++ b/bin/convert.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python +# +# converts all .frames files in a directory into the new format + +import os, sys + +def main(): + if len(sys.argv) != 2: + print 'converts all .frames files in a directory into the new format' + print 'run with %s directory' % sys.argv[0] + return + directory = sys.argv[1] + for name in os.listdir(directory): + fullpath = os.path.join(directory, name) + if os.path.isfile(fullpath) and fullpath.endswith('.frames'): + frame = file(fullpath).read() + frame = frame.replace('\n\n', '\n') + frame = frame.replace('\n-1 0 0 1\n', '0\n') + frame = frame.replace('\n-1 1 0 1\n', '0\n') + frame = frame.replace('\n0 0 1 1\n', '1\n') + frame = frame.replace('\n1 1 0 1\n', '2\n') + frame = frame.replace('\n1 0 0 1\n', '3\n') + file(fullpath, 'w').write(frame) + +if __name__ == '__main__': + main() diff --git a/bin/hough.cfg b/bin/hough.cfg new file mode 100644 index 0000000..e7e258c --- /dev/null +++ b/bin/hough.cfg @@ -0,0 +1,22 @@ +;;;Configuration for hough transform + +MaxDist 500 ; maximum distance between point triple +MinDist 50 ; minimum distance between point triple +AccumulatorMax 50 ; plane detected if cell reaches AccumulatorMax +MinSizeAllPoints 20 ; plane detection stops if only this percentage of points are left +RhoNum 300 ; number of cells in direction of rho +ThetaNum 360 ; " " " " " " theta +PhiNum 176 ; " " " " " " phi +RhoMax 1500 ; maximum distance between planes and origin +MaxPointPlaneDist 10.0 ; maximal noise +MaxPlanes 5 ; maximum number of planes to be detected +MinPlaneSize 100 ; minimum number of points for a plane to be still considered +MinPlanarity 0.05 ; minimum for the smallest eigenvalue after plane fitting +PlaneRatio 0.5 ; consider planes with a counter higher than PlaneRatio*MaxCounter +PointDist 5.0 ; threshold for region growing +PeakWindow false ; true if sliding window for peak detection is desired +WindowSize 8 ; side length of sliding window +TrashMax 20 ; number of not considerd planes before abort +AccumulatorType 2 ; Array 0, Ball 1, Cube 2, BallI 3 +PlaneDir dat/planes/ + diff --git a/bin/rts_recordingtime_gps.m b/bin/rts_recordingtime_gps.m new file mode 100644 index 0000000..894d7e8 --- /dev/null +++ b/bin/rts_recordingtime_gps.m @@ -0,0 +1,29 @@ +function output = recordingtime_gps(input, ref) + +[input_m, input_n] = size(input); +[ref_m, ref_n] = size(ref); + +output = zeros(ref_m, input_n); + +for i = 1 : ref_m + upper_index = find(input(:,1) > ref(i,1)); + + upper = input(upper_index(1),:); + + if(upper_index(1) > 1) + lower = input((upper_index(1)-1),:); + else + lower = upper; + end + + diff = upper - lower; + + if(diff(1) == 0) + rel_time = 0; + else + rel_time = (ref(i,1) - lower(1,1)) / diff(1); + end + + output(i,:) = lower + rel_time .* diff; + +end diff --git a/bin/rts_recordingtime_sync.m b/bin/rts_recordingtime_sync.m new file mode 100644 index 0000000..8eff5c2 --- /dev/null +++ b/bin/rts_recordingtime_sync.m @@ -0,0 +1,75 @@ +% script for interpolating data of RTS Hannover + +function output = recordingtime_sync(input, ref) + +[input_m, input_n] = size(input); +[ref_m, ref_n] = size(ref); + +output = zeros(ref_m, input_n); + +for i = 1 : ref_m + upper_index = find(input(:,1) > ref(i,1)); + + upper = input(upper_index(1),:); + + if(upper_index(1) > 1) + lower = input((upper_index(1)-1),:); + else + lower = upper; + end + + diff = upper - lower; + + % normalise angel sym 0 + if(diff(5) > pi) + diff(5) = diff(5) - 2*pi; + end + if(diff(5) < -pi) + diff(5) = diff(5) + 2*pi; + end + + if(diff(6) > pi) + diff(6) = diff(6) - 2*pi; + end + if(diff(6) < -pi) + diff(6) = diff(6) + 2*pi; + end + + if(diff(7) > pi) + diff(7) = diff(7) - 2*pi; + end + if(diff(7) < -pi) + diff(7) = diff(7) + 2*pi; + end + + if(diff(1) == 0) + rel_time = 0; + else + rel_time = (ref(i,1) - lower(1,1)) / diff(1); + end + + output(i,:) = lower + rel_time .* diff; + + % normalise angel sym 0 + if(output(i,5) > pi) + output(i,5) = output(i,5) - 2*pi; + end + if(output(i,5) < -pi) + output(i,5) = output(i,5) + 2*pi; + end + + if(output(i,6) > pi) + output(i,6) = output(i,6) - 2*pi; + end + if(output(i,6) < -pi) + output(i,6) = output(i,6) + 2*pi; + end + + if(output(i,7) > (2*pi)) + output(i,7) = output(i,7) - 2*pi; + end + if(output(i,7) < 0.0) + output(i,7) = output(i,7) + 2*pi; + end + +end diff --git a/bin/wx.fbp b/bin/wx.fbp new file mode 100644 index 0000000..429114a --- /dev/null +++ b/bin/wx.fbp @@ -0,0 +1,5978 @@ + + + + + + C++ + 1 + UTF-8 + connect + impl_virtual + + 1000 + none + 0 + MyProject1 + + . + + 1 + 0 + 0 + + + + + 1 + + + + 0 + wxID_ANY + + + Selection + + 229,1328 + wxDEFAULT_FRAME_STYLE + + Selection + + + wxFILTER_NONE + wxDefaultValidator + + + + wxTAB_TRAVERSAL + 1 + + + + OnClose + + + + + + + + + + + + + + + + + + + + + + + + + + + + bSizer1 + wxVERTICAL + public + + 5 + wxRIGHT|wxLEFT + 0 + + + 1 + + 1 + + + 0 + wxID_ANY + Draw Points + + + 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+the onces that are already supported by our program, write your own +scan_io function. 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0000000..41455a0 --- /dev/null +++ b/dat/scan002.pose @@ -0,0 +1,3 @@ +-7.99848 -15.3529 337.973 +1.11333 -0.470508 -0.479231 + diff --git a/doc/README b/doc/README new file mode 100644 index 0000000..4d3d5bf --- /dev/null +++ b/doc/README @@ -0,0 +1,16 @@ + +Always remember Arnold's Laws of Documentation: + + (1) If it should exist, it doesn't. + (2) If it does exist, it's out of date. + (3) Only documentation for useless programs transcends the + first two laws. + + +If you're still interested in the documentation, you can generate both +a doxygen version and some more information about the mathematical background +by typing "make docu" in the parent directory. + +Furthermore, there are some relevant publications in the 'papers' directory, +which are also cited in the source code. + diff --git a/doc/david_scanner.pdf b/doc/david_scanner.pdf new file mode 100644 index 0000000..06d6282 Binary files /dev/null and b/doc/david_scanner.pdf differ diff --git a/doc/documentation_HL.pdf b/doc/documentation_HL.pdf new file mode 100644 index 0000000..41f93bc Binary files /dev/null and b/doc/documentation_HL.pdf differ diff --git a/doc/doxygen.cfg b/doc/doxygen.cfg new file mode 100644 index 0000000..c9a8cb8 --- /dev/null +++ b/doc/doxygen.cfg @@ -0,0 +1,1212 @@ +# Doxyfile 1.4.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = "6D SLAM" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = 1.1 + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc/ + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, +# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, +# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, +# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, +# Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = English + +# This tag can be used to specify the encoding used in the generated output. +# The encoding is not always determined by the language that is chosen, +# but also whether or not the output is meant for Windows or non-Windows users. +# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES +# forces the Windows encoding (this is the default for the Windows binary), +# whereas setting the tag to NO uses a Unix-style encoding (the default for +# all platforms other than Windows). + +USE_WINDOWS_ENCODING = NO + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = include/ + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like the Qt-style comments (thus requiring an +# explicit @brief command for a brief description. + +JAVADOC_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources +# only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. + +SHOW_DIRECTORIES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from the +# version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the progam writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = YES + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = src/show src/slam6D src/grid src/pmd + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm + +FILE_PATTERNS = *.cc *.h *.icc + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. + +EXCLUDE_PATTERNS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES (the default) +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES (the default) +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = YES + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be +# generated containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = YES + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = NO + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = NO + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_PREDEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more +# powerful graphs. + +CLASS_DIAGRAMS = YES + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = NO + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = NO + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = NO + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = YES + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = NO + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = NO + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_WIDTH = 1024 + +# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_HEIGHT = 1024 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that a graph may be further truncated if the graph's +# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH +# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default), +# the graph is not depth-constrained. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, which results in a white background. +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- + +# The SEARCHENGINE tag specifies whether or not a search engine should be +# used. If set to NO the values of all tags below this one will be ignored. + +SEARCHENGINE = NO diff --git a/doc/high_level_doc/Makefile b/doc/high_level_doc/Makefile new file mode 100644 index 0000000..b9491fe --- /dev/null +++ b/doc/high_level_doc/Makefile @@ -0,0 +1,2 @@ +clean: + rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out refman.pdf diff --git a/doc/high_level_doc/coordinate_system.eps b/doc/high_level_doc/coordinate_system.eps new file mode 100644 index 0000000..6c4b1b2 --- /dev/null +++ b/doc/high_level_doc/coordinate_system.eps @@ -0,0 +1,15151 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/free_icp/doc/high_level_doc/coordinate_system.eps +%%Creator: XV version 3.10a-jumboFix of 20050410 - by John Bradley +%%BoundingBox: 99 181 513 611 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define string to hold a scanline's worth of data +/pix 1242 string def + +% define space for color conversions +/grays 414 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +99 181 translate + +% size of image (on paper, in 1/72inch coords) +414.00000 429.98400 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two 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space for color conversions +/grays 414 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +99 181 translate + +% size of image (on paper, in 1/72inch coords) +414.00000 429.98400 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +414 430 8 % dimensions of data +[414 0 0 -430 0 430] % mapping matrix +{currentfile pix readhexstring pop} +false 3 colorimage + +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff 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+ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff +ffffffffffffffffffffffffffffffffffff + +showpage + +% stop using temporary dictionary +end + +% restore original state +origstate restore + +%%Trailer diff --git a/doc/high_level_doc/diplom.bib b/doc/high_level_doc/diplom.bib new file mode 100644 index 0000000..d03b737 --- /dev/null +++ b/doc/high_level_doc/diplom.bib @@ -0,0 +1,928 @@ +@InProceedings{VMV2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. Hertzberg", + title = "{F}ast acquiring and analysis of three dimensional laser range data", + booktitle = "Proceedings of the of the 6th International Fall Workshop Vision, Modeling, and Visualization (VMV '01)", + month = "November", + year = "2001", + pages = "59 -- 66", + address = "Stuttgart, Germany" +} + +@InProceedings{ISR2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. Hertzberg", + title = "A 3{D} laser range finder for autonomous mobile robots", + booktitle = "Proceedings of the of the 32nd International Symposium on Robotics (ISR '01)", + month = "April", + year = "2001", + pages = "153 -- 158", + address = "Seoul, Korea" +} + +@Book{Report2001, + author = "H. Surmann and K. Lingemann and A. N{\"u}chter and J. Hertzberg", + title = "Aufbau eines 3D--Laserscanners f{\"u}r autonome mobile Roboter, GMD Report 126", + publisher = "GMD - Forschungszentrum Informationstechnik GmbH", + address = "Sankt Augustin", + month = "March", + year = "2001", +} + +@InProceedings{IT2001, + author = "A. N{\"u}chter and K. Lingemann", + title = "Ein 3{D}-{L}aserscanner f{\"u}r autonome mobile {R}oboter", + booktitle = "Tagungsband zum 3. Fachwissenschaftlichen Informatikkongress - Informatiktage 2001", + month = "November", + year = "2001", + pages = "89 -- 92", + address = "Bad Schussenried, Germany" +} + +@Article{Ariadne1998, + author= "H. Surmann", + title = "Diener mit unscharfer {L}ogik", + month = "March", + year = "1998", + journal = "GMD--Pointer, http://www.gmd.de/pointer/2-98/servicerob.html", +} + +@misc{Karpinski2000, + author = "M. Karpinski", + title = "Approximative {A}lgorithmen f{\"u}r {NP}--harte {B}erechnungsprobleme (\textit{{APX} 00}), {U}niversit{"a}t {B}onn, {V}orlesungsmitschrift", + year = "2000", +} + + +@misc{Frehse1997, + author = "J. Frehse", + title = "Infinitisimalrechnung II, {U}niversit{"a}t {B}onn, {V}orlesungsmitschrift", + year = "1997", +} + + +@misc{Hudelson1998, + author = "M. Hudelson", + title = "Graph {T}heory (\textit{{M}ath 453}), {F}all {S}emester, {W}ashington {S}tate {U}niversity, {V}orlesungsmitschrift", + year = "1998", +} + +@book{Russel, + author = "S. Russell and P. Norvig", + title = "Artificial Intelligence, A Modern Approach", + year = "1995", + publisher = "Prentice Hall, Inc.", + address = "Upper Sanddle River, NJ, USA", +} + +@book{Arnold, + author = "V. Arnold", + title = "Gew鰄nliche Differentialgleichungen", + year = "2001", + publisher = "Springer Verlag", + address = "Berlin Heidelberg", +} + +@book{Heuser, + author = "H. 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Negahdaripour", + title = "Closed--form solution of absolute orientation using orthonormal matrices", + journal = "Journal of the Optical Society of America A", + month = "July", + year = "1988", + volume = "5", + number = "7", + pages = "1127 -- 1135" +} + + +@article{Besl_1992, + author = "P. Besl and N. McKay", + title = "A method for {R}egistration of 3--{D} {S}hapes", + journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence", + month = "February", + year = "1992", + volume = "14", + number = "2", + pages = "239 -- 256" +} + +@article{Shermer_1992, + author = "T. Shermer", + title = "{R}ecent {R}esults in {A}rt {G}alleries", + journal = "Proceedings of the IEEE", + month = "September", + year = "1992", + volume = "80", + number = "9", + pages = "1384 -- 1399" +} + +@InProceedings{Chen_1991, + author = "Y. Chen and G. Medioni", + title = "{O}bject {M}odelling by {R}egistration of {M}ultiple {Range} {I}mages", + booktitle = "Proceedings of the IEEE Conference on Robotics and Automation (ICRA '91)", + month = "April", + year = "1991", + address = "Sacramento, CA, USA", + pages = "2724 -- 2729", +} + +@InProceedings{Hebert_2001, + author = "M. Hebert and M. Deans and D. Huber and B. Nabbe and N. Vandapel", + title = "Progress in 3--{D} {M}apping and {L}ocalization", + booktitle = "Proceedings of the 9th International Symposium on Intelligent Robotic Systems, (SIRS '01)", + month = "July", + year = "2001", + address = "Toulouse, France" +} + +@InProceedings{Sappa_2001, + author = "A. Sappa and A. Restrepo-Specht and M. Devy", + title = "Range {I}mage {R}egistration by using an {E}dge--based {R}epresentation", + booktitle = "Proceedings of th 9th International Symposium on Intelligent Robotic Systems, (SIRS '01)", + month = "July", + year = "2001", + address = "Toulouse, France" +} + +@inproceedings{Simon_1994, + author = "D. Simon and M. Hebert and T. Kanade", + title = "Real--time 3--{D} pose estimation using a high--speed range sensor", + booktitle = "Proceedings of IEEE International Conference on Robotics and Automation (ICRA '94)", + month = "May", + year = "1994", + volume = "3", + pages = "2235 -- 2241", + address = "San Diego, CA, USA" +} + +@inproceedings{Huber_2000, + author = "D. Huber and O. Carmichael and M. Hebert", + title = "3{D} map reconstruction from range data", + booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00)", + month = "April", + year = "2000", + volume = "1", + pages = "891 -- 897", + address = "San Francisco, CA, USA" +} + +@article{Johnson_1999, + author = "A. E. Johnson and M. Hebert", + title = "Using spin images for efficient object recognition in cluttered 3{D} scenes", + journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence", + month = "May", + year = "1999", + volume = "21", + number = "5", + pages = "433 -- 449" +} + +@InProceedings{Johnson_1998, + author = {A. E. Johnson and M. Hebert}, + title = {Efficient multiple model recognition in cluttered {3-D}scenes}, + booktitle = {Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (CVPR' 98)}, + pages = {671 -- 677}, + year = {1998}, + address = {Santa Barbara, CA, U.S.A.}, + month = {June} +} + +@inproceedings{Huber_2001, + author = "D. Huber", + title = "Automatic 3{D} {M}odeling {U}sing {R}ange {I}mages {O}btained from {U}nknown {V}iewpoints", + booktitle = "Proceedings of the Third International Conference on 3D Digital Imaging and Modeling (3DIM '01)", + month = "May", + year = "2001", + pages = "153 -- 160", + address = "Quebec City, Canada", +} + +@inproceedings{Huber_1999, + author = "D. Huber and M. Hebert", + title = "A {N}ew {A}pproach to 3--{D} {T}errain {M}apping", + booktitle = "Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS '99)", + month = "October", + year = "1999", + pages = "1121 -- 1127", + publisher = "IEEE", + address = "Kyonjyu, Korea" +} + +@techreport{Zhang_1992, + author = "Z. Zhang", + title = "Iterative point matching for registration of free--form curves", + number = "RR-1658", + year = "1992", + institution = "INRIA--Sophia Antipolis", + address = "Valbonne Cedex, France", + url = "citeseer.nj.nec.com/zhang92iterative.html" +} + +@inproceedings{Schroeder_1998, + author="W. Schr{"o}der and E. Forgber and G. R{"o}h", + title = "{L}aser range camera applications", + booktitle = "Proceedings of the 5th ESA Workshop on Advanced Space Technologies for Robot Applications", + month = "December", + year = "1998", + address = "Noordwijk, The Netherlands" +} + +@article{Lange_2001, + author="R. Lange and P. Seitz", + title = "{S}olid-state time-of-flight range camera", + journal = "IEEE Journal of Quantum Electronics", + month = "March", + year = "2001", + volume = "37", + number = "3", +} + +@inproceedings{Banos_1998, + author="H. Gonzales-Banos and J. Latombe", + title = "Planning {R}obot {M}otions for {R}ange--{I}mage {A}cqusition and {A}utomatic 3{D} {M}odel {C}onstruction", + booktitle = "Proceedings of AAAI Fall Symposium", + month = "October", + year = "1998", + publisher = "AAAI Press", + address = "Menlo Park, CA, USA" +} + +@inproceedings{Banos_2000, + author="H. Gonzalez-Banos and E. Mao and J.C. Latombe and T.M. Murali and A. Efrat", + title = "Planning {R}obot {M}otion {S}trategies for {E}fficient {M}odel {C}onstruction", + booktitle = "Robotics Research -- The 9th International Symposium (ISRR'99)", + year = "2000", + publisher = "Springer", + pages = "345 -- 352", + editor = "J. Hollerbach and D. Koditschek" +} + +@inproceedings{Banta_1995, + author="J. Banta and Y. Zhieng and X. Wang and G. Zhang and M. Smith and M. Abidi", + title = "A ``{B}est--{N}ext--{V}iew'' {A}lgorithm for {T}hree--{D}imensional {S}cene {R}econstruction {U}sing {R}ange {I}mages", + booktitle = "Proceedings SPIE (Intelligent Robots and Computer Vision XIV: Algorithms), vol 2588", + year = "1995", + editor = "D. Casasent", + pages = "418 -- 429" +} + +@inproceedings{Thrun_2000, + author="S. Thrun and D. Fox and W. Burgard", + title = "A real-time algorithm for mobile robot mapping with application to multi robot and 3{D} mapping", + booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00)", + month = "April", + year = "2000", + address = "San Francisco, CA, USA", +} + +@article{Thrun_2001, + author="S. Thrun and D. Fox and W. Burgard and F. Dellaert", + title = "{R}obust {M}onte {C}arlo {L}ocalization for {M}obile {R}obots", + journal = "Artificial Intelligence", + year = "2001", + month = "Summer", +} + + +@inproceedings{Haehnel_2001, + author="D. H{\"a}hnel and W. Burgard and S. Thrun", + title = "Learning {C}ompact 3{D} {M}odels of {I}ndoor and {O}utdoor {E}nvironments with a {M}obile {R}obot", + booktitle = "Proceedings of the fourth European workshop on advanced mobile robots (EUROBOT '01)", + month = "September", + year = "2001", + address = "Lund, Sweden", +} + +@inproceedings{Haehnel_2002, + author="D. H{"a}hnel and W. Burgard", + title = "{P}robabilistic {M}atching for {3D} {S}can {R}egistration", + booktitle = "Proceedings of the second German conference on robotics (ROBOTIK '02)", + month = "June", + year = "2002", + address = "Ludwigsburg, Germany", +} + +@inproceedings{Rusi_2001, + author="S. Rusinkiewicz and M. Levoy", + title = "Efficient variants of the {ICP} algorithm", + booktitle = "Proceedings of the Third International Conference on 3D Digital Imaging and Modellling (3DIM '01)", + month = "May", + year = "2001", + address = "Quebec City, Canada", + pages = "145 -- 152", +} + +@inproceedings{Lorusso_1995, + author = "A. Lorusso and D. Eggert and R. Fisher", + title = "A {C}omparison of {F}our {A}lgorithms for {E}stimating 3-{D} {R}igid {T}ransformations", + Booktitle = "Proceedings of the 4th British Machine Vision Conference (BMVC '95)", + pages = "237 -- 246", + address = "Birmingham, England", + month = "September", + year = "1995", + url = "citeseer.nj.nec.com/lorusso95comparison.html" +} + +@article{Curless_1996, + author = "B. Curless and M. Levoy", + title = "A {V}olumetric {M}ethod for {B}uilding {C}omplex {M}odels from {R}ange {I}mages", + journal = "Computer Graphics", + volume = "30", + number = "{Annual Conference Series}", + pages = "303 -- 312", + year = "1996", + url = "citeseer.nj.nec.com/curless96volumetric.html" +} + +@inproceedings{Banos_2001, + author = "H. Gonzalez-Banos and J. Latombe", + title = "A {R}andomized {A}rt-{G}allery {A}lgorithm for {S}ensor {P}lacement", + booktitle = "Proceedings of ACM Symposium on Computational Geometry (SoCG'01)", + month = "June", + year = "2001", + address = "Medford, MA, USA" +} + +@inproceedings{Latombe_2000, + author = "H. Gonzalez-Banos and J. Latombe", + title = "Robot {N}avigation for {A}utomatic {M}odel {C}onstruction {U}sing {S}afe {R}egions", + booktitle = "Lecture Notes in Control and Information Sciences, 271, (Proceedings of International Symposium on Experimental Robotics (ISER '00))", + month = "December", + year = "2000", + address = "Waikiki, HI, USA", + editor = "D. Russ and S. Singh", + pages = "405 -- 415", + publisher = "Springer", +} + +@phdthesis{Verbeek_2001, + author = "Chr. Verbeek", + title = "Reaktive {S}teuerung autonomer mobiler {R}oboter", + school = "Technische Fakult{\"a}t der {U}niversit{\"a}t Bielefeld", + month = "January", + year = "2001", +} + + +@inproceedings{Pulli_1997, + author = "K. Pulli and T. Duchamp and H. Hoppe and J. McDonald and L. Shapiro and W. Stuetzle", + title = "Robust meshes from multiple range maps", + booktitle = "Proceedings IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '97)", + address = "Ottawa, Canada", + month = "May", + year = "1997", + url = "citeseer.nj.nec.com/pulli97robust.html" +} + +@inproceedings{Benjemaa_1997, + author = "R. Benjemaa and F. Schmitt", + title = "{F}ast {G}lobal {R}egistration of {3D} {S}ampled {S}urfaces {U}sing a {M}ulti-{Z}-{B}uffer {T}echnique", + booktitle = "Proceedings IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '97)", + address = "Ottawa, Canada", + month = "May", + year = "1997", +} + +@article{Hoppe_1992, + author = "H. Hoppe and T. DeRose and T. Duchamp and J. McDonald and W. Stuetzle", + title = "Surface reconstruction from unorganized points", + journal = "Computer Graphics", + volume = "26", + number = "2", + pages = "71 -- 78", + year = "1992", + url = "citeseer.nj.nec.com/hoppe92surface.html" +} + +@misc{City_2001, + author = "City Project Page", + title = "\texttt{http://graphics.lcs.mit.edu/city/city.html}", + year = "2001" +} + +@misc{Bahnplanung_2001, + author = "R. Klein and Chr. Icking and E. Langetepe", + title = "Entwicklung, {A}nalyse und experimentelle {E}rprobung von kompetitiven {A}lgorithmen f{\"u}r die {B}ahnplanung autonomer {S}ysteme, \texttt{http://web.informatik.uni-bonn.de/I/research/dfg-bahnplanung/}", + year = "2001" +} + +@article{Hoffmann_2002, + author ="F. Hoffmann and Chr. Icking and R. Klein and K. Kriegel", + title = "The Polygon Exploration Problem", + journal = "SIAM Journal on Computing", + volume = "31", + number = "2", + pages = "577--600", + year = "2002", + url = "citeseer.nj.nec.com/493716.html" +} + + +@inproceedings{Stamos_2000, + author = "I. Stamos and P. Allen", + title = "3-{D} {M}odel {C}onstruction {U}sing {R}ange and {I}mage {D}ata", + booktitle = "Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR '00)", + month = "June", + year = "2000", + address = "USA" +} + +@inproceedings{Allen_2001, + author = "P. Allen and I. Stamos and A. Gueorguiev and E. Gold and P. Blaer", + title = "{AVENUE:} {A}utomated {S}ite {M}odelling in {U}rban {E}nvironments", + booktitle = "Proceedings of the Third International Conference on 3D Digital Imaging and Modeling (3DIM '01)", + month = "May", + year = "2001", + address = "Quebec City, Canada", +} + +@inproceedings{Gueorguiev_2000, + author = "A. Gueorguiev and P. Allen and E. Gold and P. Blaer", + title = "{D}esign, {A}rcitecture and {C}ontrol of a {M}obile Site-{M}odelling {R}obot", + booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00)", + month = "April", + year = "2000", + address = "San Francisco, CA, USA" +} + +@inproceedings{Allen_1998, + author = "P. Allen and M. Reed and I. Stamos", + title = "View {P}lanning for {S}ite {M}odeling", + booktitle = "Proceedings of the DARPA Image Understanding Workshop", + address = "Monterey", + month = "November", + year = "1998" +} + +@inproceedings{Reed_1997, + author = "M. Reed and P. Allen and I. Stamos", + title = "Automated {M}odel {A}cquisition from {R}ange {I}mages with {V}iew {P}lanning", + booktitle = "Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR '97)", + address = "Puerto Rico", + year = " 1997", +} + +@article{Reed_1999, + author ="M. Reed and P. Allen", + title = "3-{D} {M}odeling from {R}ange {I}magery: {A}n {I}ncremental {M}ethod with a {P}lanning {C}omponent", + journal = "{I}mage and {V}ision {C}omputing", + volume = "17", + pages = "99 -- 111", + year = "1999" +} + +@inproceedings{Yang_1998, + author = "P. Allen and R. Yang", + title = "Registering, {I}ntegrating, and {B}uilding {CAD} {M}odels from {R}ange {D}ata", + booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '98)", + month = "May", + year = "1998", + address = "Leuven, Belgium", +} + +@misc{matrixfaq, + author = "Matrix FAQ", + title = "Version 2, \texttt{http://skal.planet-d.net/demo/matrixfaq.htm}", + year = "1997" +} + +@techreport{Dam_1998, + author = "E. Dam and M. Koch and M. Lillholm", + title = "{Q}uaternion, {I}nterpolation and {A}nimation", + number = "DIKU-TR-98/5", + year = "1998", + institution = "Department of Computer Science University of Copenhagen", + address = "Copenhagen, Denmark", +} + +@article{Hart_1994, + author ="J. Hart and G. Francis and L. Kauffmann", + title = "{V}isualizing {Q}uaternion {Rotation}", + journal = "{ACM} {T}ransactions on {G}raphics", + volume = "13", + pages = "256 -- 276", + year = "1994", + month = "July", +} + +@inproceedings{Pervin_1983, + author = "E. Pervin and J. Webb", + title = "{Q}uaternions for computer vision and robotics", + booktitle = "Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR '83)", + address = "Washington, D.C., USA", + year = " 1983", +} + +@misc{Hamilton, + author = "Sir William Rowan Hamilton (1805-1865)", + title = "\texttt{http://www.maths.tcd.ie/pub/{H}istMath/ {P}eople/{H}amilton/}", + year = "2000" +} + +@inproceedings{Hamilton_1843, + author = "W. Hamilton", + title = "{O}n a new {S}pecies of {I}maginary {Q}uantities connected with a theory of {Q}uaternions", + booktitle = "Proceedings of the Royal Irish Academy", + month = "November", + address = "Dublin, Ireland", + year = " 1843", +} + +@article{Eggert_1998, + author ="D. Eggert and A. Fitzgibbon and R. Fisher", + title = "{S}imultaneous {R}egistration of {M}ultiple {R}ange {V}iews {S}atisfying {G}lobal {C}onsistency {C}onstraints For {U}se {I}n {R}everse {E}ngineering", + journal = "{C}omputer {V}ision and {I}mage {U}nderstanding", + volume = "69", + pages = "253 -- 272", + year = "1998", + month = "March", +} + +@inproceedings{Michelangelo_2000, + author = "M. Levoy and K. Pulli and B. Curless and S. Rusinkiewicz and D. Koller and L. Pereira and M. Ginzton and S. Anerson and J. Davis and J. Ginsberg and J. Shade and D. Fulk", + title = "{T}he {D}igital {M}ichelangelo {P}roject: {3D} {S}canning of {L}arge {S}tatues", + booktitle = "Proceedings of the ACM SIGGRAPH", + year = "2000", + address = "New Orleans, USA", + month = "July", +} + +@inproceedings{Pulli_1999, + author = "K. Pulli", + title = "{M}ultiview {R}egistration for {L}arge {D}ata {S}ets", + booktitle = "Proceedings of the 2nd International Conference on 3D Digital Imaging and Modeling (3DIM '99)", + address = "Ottawa, Canada", + year = "1999", + month = "October", + pages = "160 -- 168", +} + +@inproceedings{Stoddart_1996, + author = "A. Stoddart and A. Hilton", + title = "{R}egistration of multiple point sets", + booktitle = "Proceedings of the 13th IAPR International Conference on Pattern Recognition", + year = "1996", + pages = "40--44", + address = "Vienna, Austria", + month = "August", +} + +@inproceedings{Cunnington_1999, + author = "S. Cunnington and A. Stoddart", + title = "{N}-{V}iew {P}oint {S}et {R}egistration: {A} {C}omparison", + Booktitle = "Proceedings of the 10th British Machine Vision Conference (BMVC '99)", + year = "1999", + address = "Nottingham, UK.", + url = "citeseer.nj.nec.com/319525.html" +} + +@article{Blais_1995, + author ="G. Blais and D. Levine", + title = "{R}egistration {M}ultiview {R}ange {D}ata to {C}reate 3{D} {C}omputer {O}bjects", + journal = "{P}attern {A}nalysis and {M}achine {I}ntelligence", + volume = "17", + number ="8", + pages = "820 -- 824", + year = "1995", + month = "August", +} + +@article{Benjemaa_1998, + author ="R. Benjemaas and F. Schmitt", + title = "{A} {S}olution {F}or {T}he {R}egistration {O}f {M}ultiple 3{D} {P}oint {S}ets {U}sing {U}nit {Q}uaternions", + journal = "{C}omputer {V}ision -- ECCV '98", + volume = "2", + pages = "34 -- 50", + year = "1998", + publisher = "Springer Verlag", +} + +@inproceedings{Frueh_2001_1, + author = "C. Fr{\"u}h and A. Zakhor", + title = "3{D} {M}odel {G}eneration for {C}ities {U}sing {A}erial {P}hotographs and {G}round {L}evel {L}aser {S}cans", + Booktitle = "Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR '01)", + year = "2001", + month = "December", + address = "Kauai, Hawaii, USA", +} + +@inproceedings{Frueh_2001_2, + author = "C. Fr{\"u}h and A. Zakhor", + title = "{F}ast 3{D} {M}odel {G}eneration in {U}rban {E}nvironments", + Booktitle = "Proceedings of the 4th International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI '01)", + year = "2001", + month = "August", + address = "Baden Baden, Germany", +} + +@inproceedings{Sequeira_1999, + author = "V. Sequeira and K. Ng and E. Wolfart and J. Goncalves and D. Hogg", + title = "{A}utomated {3D} reconstruction of interiors with multiple scan--views", + booktitle = "Proceedings of SPIE, Electronic Imaging '99, The Society for Imaging Science and Technology /SPIE's 11th Annual Symposium", + year = "1999", + address = "San Jose, CA, USA", + month = "January", +} + +@Article{Sequeira_1995, + author= "V. Sequeira and J. Goncalves and M. Ribeiro", + title = "{3D} environment modelling using laser range sensing", + year = "1995", + journal = "Robotics and Automation", + pages = "81 -- 91", + volume = "16", + publisher = "Elsevier", +} + +@inproceedings{Sappa_2000, + author = "A. Sappa and M. Devy and M. Garcia", + title = "{M}odelling {B}uilt {E}nvironments from {L}arge {R}ange {I}mages using {A}daptive {T}riangular {M}eshes", + booktitle = "Proceedings of the 8th International Symposium on Intelligent Robotic Systems, (SIRS '00)", + year = "2000", + address = "Reading, United Kingdom", + month = "July", + pages = "23 -- 29" +} + +@inproceedings{Garcia_2000, + author = "A. Sappa and M. Garcia", + title = "{I}ncremental {M}ultiview {I}ntegration of {R}ange {I}mages", + booktitle = "Proceedings of the 15th IAPR International Conference on Pattern Recognition", + year = "2000", + pages = "546 -- 549", + address = "Barcelona, Spain", + month = "September", +} + +@inproceedings{Garcia_1998, + author = "M. Garcia and S. Velazquez and A. Sappa", + title = "{A} {T}wo--{S}tage {A}lgorithm for {P}lanning the {N}ext {V}iew {F}rom {R}ange {I}mages", + Booktitle = "Proceedings of the 9th British Machine Vision Conference (BMVC '98)", + pages = "720 -- 729", + address = "Southampton, United Kingdom", + year = "1998", +} + +@inproceedings{Huber_2001_1, + author = "Daniel F. Huber and Martial Hebert", + title = "Fully Automatic Registration of Multiple 3D Data Sets", + booktitle = "IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum (CVBVS '01)", + month = "December", + year = "2001" +} + +@inproceedings{Turk_1994, + author = "G. Turk and M. Levoy", + title = "{Z}ippered polygon meshes from range images", + booktitle = "Proceedings of the ACM SIGGRAPH '94", + year = "1994", + address = "Orlando, FL, USA", + month = "July", + pages = "311 -- 318", +} + +@inproceedings{Zhao_2001, + author = "H. Zhao and R. Shibasaki", + title = "{R}econstructing {T}extured {CAD} {M}odel of {U}rban {E}nvironment {U}sing {V}ehicle-{B}orne {L}aser {R}ange {S}canners and {L}ine {C}ameras", + booktitle = "Second International Workshop on Computer Vision System (ICVS '01)", + year = "2001", + address = "Vancouver, Canada", + month = "July", + pages = "284 -- 295", +} + +@article{Zhao_2000, + author = "H. Zhao and R. Shibasaki", + title = "{R}econstruction of {T}extured Urban {3D} {M}odel by {G}round-{B}ased {L}aser {R}ange and {CCD} {I}mages", + journal = "IEICE Transactions on Information and Systems", + volume = "E38-D", + number ="7", + pages = ".1429 -- 1440", + year = "2000", +} + +@inproceedings{Indiveri_1999, + author = "G. Indiveri", + title = "{K}inematic {T}ime-invariant {C}ontrol of a {2D} {N}onholonomic {V}ehicle", + booktitle = "Proceedings of the 38th Conference on Decision and Control, (CDC '99)", + address = "Phoenix, USA", + month = "December", + year = "1999", +} + +@article{Carlsson_1999, + author ="S. Carlsson and B. Nilsson", + title = "{C}omputing {V}ision {P}oints in {P}olygons", + journal = "{A}lgorithmica", + volume = "24", + number ="1", + pages = "50 -- 75", + year = "1999", +} + +@article{Vatti_1992, + author ="B. Vatti", + title = "{A} {G}eneric {S}olution to {P}olygon {C}lipping", + journal = "{C}ommunications of the {ACM}", + volume = "35", + number ="7", + pages = "56 -- 63", + year = "1992", +} + +@article{Amenta_2001, + author ="N. Amenta and S. Choi and R. Kolluri", + title = "{T}he {P}ower {C}rust", + journal = "{C}ommunications of the {ACM}", + volume = "35", + number ="7", + pages = "56 -- 63", + year = "2001", +} + +@article{Prytherch_2002, + author ="D. Prytherch and M. 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Urrutia", + year = "2000", + url = "citeseer.nj.nec.com/bern00mesh.html" +} + +@misc{WDR, + author = "WDR", + title = "{L}eonardo {S}chwerpunkt {H}aptik \texttt{http://capehorn.gmd.de:8080/download/haptik/\linebreak haptik.mp3}" +} + +@misc{CAMERA, + author = "CAMERA: CAd Modelling of Built Environments from Range Analysis", + title = "\texttt{http://www.dai.ed.ac.uk/homes/rbf/{CAMERA}/camera.htm}", + year = "2000" +} + +@misc{RESOLV, + author = "{The ACTS RESOLV (REconstruction using Scanned Laser and Video) Project}", + title = "\texttt{http://www.comp.leeds.ac.uk/resolv/}", + year = "1999" +} + +@misc{RIEGLold, + author = "RIEGL Laser Measurement Systems GmbH", + title = "\texttt{http://www.riegl.co.at/}", + year = "2001" +} + +@misc{AVENUE, + author = "{AVENUE (Autonomous Vehicle for Exploration and Navigation in Urban Environments) Project}", + title = "\texttt{http://www.cs.columbia.edu/} \texttt{robotics/projects/avenue/}", + year = "2001" +} + +@misc{3DMAP, + author = "3D Terrain Mapping Using Range Sensors", + title = "\texttt{http://www-2.cs.cmu.edu/$\sim$dhuber/ mapping/}", + year = "1999" +} + +@misc{URLTHRUN, + author = "CMU's 3D Robot Mapping Project", + title = "\texttt{http://www-2.cs.cmu.edu/$\sim$thrun/3D/index.html}", + year = "2000" +} + +@misc{3DFAX, + author = "Project to build a 3D fax machine", + title = "\texttt{http://graphics.stanford.edu/projects/faxing/}", + year = "2001" +} + +@misc{LYAPUNOV, + author = "The Lyapunov Function, Wolfram Research{,}", + title = "\texttt{http://mathworld.wolfram.com/Lyapunov\linebreak Function.html}", + year = "2002" +} + +@misc{CLAY, + author = "Clay Mathematics Institute", + title = "\texttt{http://www.claymath.org/prizeproblems/index.htm}", + month = "May", + year = "2000" +} + +@misc{POWERCRUST, + author = "The Power Crust", + title = "\texttt{http://www.cs.utexas.edu/users/amenta/powercrust/}", + year = "2002" +} + +@misc{INTRO, + author = "MIT's Bouncing Baby Robot?", + title = "\texttt{http://www.controleng.com/archives/2000/ctl0101.00\linebreak /000101w1.htm}", + year = "2000" +} + +@misc{SIEMENS3D, + author = "Siemens 3D-Sensor", + title = "http://w4.siemens.de/FuI/de/archiv/newworld/heft2\_01/artikel03/", + year = "2001", +} + + + + + + diff --git a/doc/high_level_doc/diss.bib b/doc/high_level_doc/diss.bib new file mode 100644 index 0000000..7af6afe --- /dev/null +++ b/doc/high_level_doc/diss.bib @@ -0,0 +1,485 @@ +@Book{WasIstWas_1999, + author = {P. 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Finkel}, + title = {An Algorithm for Finding Best Matches in Logarithmic Expected Time}, + journal = {ACM Transaction on Mathematical Software}, + year = {1977}, + OPTkey = {}, + volume = {3}, + number = {3}, + pages = {209 -- 226}, + month = {September}, + OPTnote = {}, + OPTannote = {} +} + + + +@Article{Shoemake_1985, + author = {K. Shoemake}, + title = {Animating rotation with quaternion curves}, + journal = {Computer Graphics}, + year = {1985}, + OPTkey = {}, + volume = {19}, + number = {3}, + pages = {245 -- 254}, + month = {July}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Walker_1991, + author = {M. W. Walker and L. Shao and R. A. Volz}, + title = {Estimating 3-D location parameters using dual number quaternions}, + journal = {CVGIP: Image Understanding}, + year = {1991}, + OPTkey = {}, + volume = {54}, + OPTnumber = {}, + pages = {358 -- 367}, + month = {November}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Hyafil_1977, + author = {L. Hyafil and R. L. Rivest}, + title = {Constructing optimal binary decision trees is NP-complete}, + journal = {Information Processing Letters 5}, + year = {1976}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + pages = {15 -- 17}, + month = {May}, + OPTnote = {}, + OPTannote = {} +} + + +@Article{Arya_1998, + author = {S. Arya and D. M. Mount and N. S. Netanyahu and R. Silverman and A. Y. Wu}, + title = {{A}n {O}ptimal {A}lgorithms for {A}pproximate {N}earest {N}eighbor {S}earcching in {F}ixed {D}imensions}, + journal = {Journal of the ACM}, + year = {1998}, + OPTkey = {}, + OPTvolume = {}, + volume = {45}, + pages = {891 -- 923}, + month = {}, + OPTnote = {}, + OPTannote = {} +} + + +@InProceedings{Arya_1993, + author = {S. Arya and D. M. Mount}, + title = {{A}pproximate nearest neigbor queries in fixed dimensions}, + year = {1993}, + OPTkey = {}, + booktitle = {Proceedings of the 4th ACM-SIAM Symposium on Discrete Algorithms}, + pages = {271 -- 280}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + OPTaddress = {}, + OPTmonth = {}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + +@InProceedings{Surmann_2000, + author = {H. Surmann and A. Morales}, + title = {A five layer sensor architecture for autonomous robots in indoor environments}, + year = {2000}, + OPTkey = {}, + booktitle = {Proceedings of the International symposium on robotics and automation (ISRA '00)}, + pages = {533 -- 538}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + address = {Monterrey, N.L., Mexico}, + month = {November}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + +@Article{Fukunaga_1973, + author = {K. Fukuanaga and L. D. Hostetler}, + title = {Optimization of $k$-nearest neighbor density estimation}, + journal = {IEEE Transaction on Information Theory IT-19}, + year = {1973}, + OPTkey = {}, + OPTvolume = {}, + OPTnumber = {}, + pages = {320 -- 326}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + + +@Article{Stetson_1968, + author = {K. A. Stetson}, + title = {Holographic surface contouring by limited depth of focus}, + journal = {Applied Optics}, + year = {1968}, + OPTkey = {}, + volume = {7}, + number = {5}, + pages = {987 -- 989}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + + +@PhdThesis{PhDGiel, + author = {D. Giel}, + title = {Hologram tomography for surface topometry}, + school = {Mathematisch-Naturwissenschaftliche Fakult{\"a}t der Heinrich-Heine- Universit{\"a}t D\"{u}sseldorf}, + year = {2003}, + OPTkey = {}, + OPTtype = {}, + OPTaddress = {}, + OPTmonth = {}, + OPTnote = {}, + OPTannote = {} +} + +@InProceedings{MRNV2004, + author = {D. Giel and S. Frey and A. Thelen and J. Bongartz and P. Hering and A. N\"{u}chter and H. Surmann and K. Lingemann and J. Hertzberg}, + title = {Ultra-fast Holographic Recording and Automatic 3D Scan Matching of Living Human Faces}, + OPTcrossref = {}, + OPTkey = {}, + booktitle = {Proceedings of the Scientific Workshop Medical Robotics, Navigation and Visualization (MRNV '04)}, + OPTpages = {to appaer}, + year = {2004}, + OPTeditor = {}, + OPTvolume = {}, + OPTnumber = {}, + OPTseries = {}, + address = {Remagen, Germany}, + OPTmonth = {}, + OPTorganization = {}, + OPTpublisher = {}, + OPTnote = {}, + OPTannote = {} +} + diff --git a/doc/high_level_doc/documentation.bbl b/doc/high_level_doc/documentation.bbl new file mode 100644 index 0000000..bb7a748 --- /dev/null +++ b/doc/high_level_doc/documentation.bbl @@ -0,0 +1,22 @@ +\begin{thebibliography}{1} + +\bibitem{Arun_1987} +K.~S. Arun, T.~S. Huang, and S.~D. Blostein. +\newblock Least square fitting of two 3-d point sets. +\newblock {\em IEEE Transactions on Pattern Analysis and Machine Intelligence}, + 9(5):698 -- 700, 1987. + +\bibitem{Besl_1992} +P.~Besl and N.~McKay. +\newblock A method for {R}egistration of 3--{D} {S}hapes. +\newblock {\em IEEE Transactions on Pattern Analysis and Machine Intelligence}, + 14(2):239 -- 256, February 1992. + +\bibitem{Lorusso_1995} +A.~Lorusso, D.~Eggert, and R.~Fisher. +\newblock A {C}omparison of {F}our {A}lgorithms for {E}stimating 3-{D} {R}igid + {T}ransformations. +\newblock In {\em Proceedings of the 4th British Machine Vision Conference + (BMVC '95)}, pages 237 -- 246, Birmingham, England, September 1995. + +\end{thebibliography} diff --git a/doc/high_level_doc/documentation.tex b/doc/high_level_doc/documentation.tex new file mode 100644 index 0000000..93d58ff --- /dev/null +++ b/doc/high_level_doc/documentation.tex @@ -0,0 +1,540 @@ +\documentclass[12pt,dvips]{article} + +\usepackage[T1]{fontenc} +\usepackage[isolatin]{inputenc} +\usepackage{a4} +\usepackage{url} +\usepackage{afterpage} +\usepackage{latexsym} +\usepackage{graphicx} +\usepackage{longtable} +\usepackage{amsmath} +\usepackage[rflt]{floatflt} +\usepackage{fancybox} +\usepackage{bbm} +\usepackage{cite} +\usepackage{picins} + +\usepackage[dvips]{epsfig} + +\parindent0mm +\parskip5pt plus1pt minus2pt +\textwidth16cm +\textheight22cm +\topmargin-1cm +\oddsidemargin0cm + +\renewcommand\floatpagefraction{1.0} +\renewcommand\topfraction{1.0} +\renewcommand\bottomfraction{1.0} +\renewcommand\textfraction{0.0} +\def\dbltopfraction{1.0} +\def\bottomfraction{1.0} +\def\dblfloatpagefraction{1.0} + + +\setcounter{secnumdepth}{5} +%% \setcounter{section}{-1} + +\newcommand{\OO}{{\cal O}} +\newcommand{\bc}{\begin{center}} +\newcommand{\ec}{\end{center}} + +\newcommand{\VNull}{\mathbf{0}} +%\newcommand{\transp}{^{\textsf{T}}} +\newcommand{\transp}{^T} +\renewcommand{\phi}{\varphi} +\newcommand{\verf}[1]{\textsf{#1}} +\renewcommand{\v}[1]{\text{\boldmath $#1$}} +\newcommand{\V}[1]{\text{\boldmath $#1$}} +\newcommand{\m}[1]{\v{#1}} % Format "Matrix" +\newcommand{\M}[1]{\v{#1}} % Format "Matrix" +\newcommand{\sR}{\ensuremath{{\cal R}}} % Referenz-Scan +\newcommand{\sS}{\ensuremath{{\cal S}}} % aktueller Scan +\renewcommand{\O}{{\cal O}} +\newcommand{\norm}[1]{\left | \left | #1 \right | \right |} + +\newcommand{\Vector}[2]{\begin{pmatrix} #1 \\ #2 \end{pmatrix}} +\newcommand{\VEctor}[3]{\begin{pmatrix} #1 \\ #2 \\ #3 \end{pmatrix}} +\newcommand{\hist}[1]{{\cal #1}} +\newcommand{\trace}[1]{\mbox{tr}\left( #1 \right)} + +\newcommand{\rVEctor}[3]{ +\left(\!\!\!\begin{array}{l} +#1 \\ #2 \\ #3 +\end{array}\!\!\right)} +\newenvironment{rmatrix} +{\left(\!\!\!\begin{array}{rr}} +{\end{array}\!\!\right)} +\newenvironment{Rmatrix} +{\left(\!\!\!\begin{array}{rrr}} +{\end{array}\!\!\right)} +\newcommand{\filter}[3]{\ensuremath{\bigl[\,#1,\;#2,\;#3\,\bigr]}} +\newcommand{\R}{\mathbbm{R}} +\newcommand{\N}{\mathbbm{N}} +%\newcommand{\R}{\mathbb{R}} +%\newcommand{\N}{\mathbb{N}} +\newcommand{\grad}{\ensuremath{^{\circ}}} +\newcommand{\textmenge}[2]{\{\, #1 \,| \; #2 \}} +\newcommand{\menge}[2]{\left\{\, #1 \,\left| \; #2 \right.\right\} } +\newcommand{\Menge}[2]{\bigl\{\, #1 \,| \; #2 \bigr\} } +\newcommand{\fueralle}[2]{\forall \, #1\!: \; #2} +\newcommand{\esgibt}[2]{\exists \, #1\!: \; #2} +\newcommand{\Widehat}[1]{\widehat{#1\hspace{+.5ex}}\hspace{-.5ex}} +\newcommand{\textSF}[1]{\textsf{\small #1}} +\newcommand{\textSFsmall}[1]{\textsf{\scriptsize #1}} +\newcommand{\verfSmall}[1]{\textSFsmall{#1}} +\newcommand{\eps}{{\epsilon}} +\renewcommand{\epsilon}{\varepsilon} +\newcommand{\vR}{v_{\text{set}}} +\newcommand{\oR}{\omega_{\text{set}}} +\newcommand{\ATAN}{\text{atan2}} + +%\renewcommand{\familydefault}{\sfdefault} + +%%---------------------------------------------------------------- +%%---------------------------------------------------------------- + +\begin{document} + +{ +\title{\vspace*{-5mm} +\bf 6D SLAM -- \\%[.5cm] +Simultaneous 6 D.O.F. Localization \\and 3D Mapping\\%[1cm] +} +\author{ +\scalebox{.65}{\includegraphics{unilogo.eps}}\\[3ex] +Andreas N\"uchter, Kai Lingemann, Joachim Hertzberg\\ +Department of Mathematics/Computer Science\\ +Institute of Computer Science\\ +Knowledge-Based Systems Research Group\\ +University of Osnabr\"uck\\ +{\small \texttt{http://www.informatik.uni-osnabrueck.de/kbs/}} +} + +\maketitle +\thispagestyle{empty} + +\vspace*{-12mm} + +\begin{center} +\includegraphics[height=50mm]{stylish_scanner} +\end{center} + +\vspace*{1mm} + +\begin{center} +\textbf{Documentation} +\end{center} + +\begin{quote} +This document describes the algorithms for 6D SLAM -- +Simultaneous 6 D.O.F. Localization and 3D Mapping system. 6D SLAM +with mobile robots considers six dimensions for the robot pose, +namely the $x$, $y$ and $z$ coordinates and the roll, yaw and +pitch angles. Robot motion and localization on natural surfaces, +e.g., driving with a mobile robot outdoor, must necessarily +regard these degrees of freedom. +\end{quote} + +\newpage +\setcounter{page}{1} + +\section{Range Image Registration and Robot Relocalization} + +Multiple 3D scans are necessary to digitalize environments +without occlusions. To create a correct and consistent model, the +scans have to be merged into one coordinate system. This process +is called registration. If robot carrying the 3D scanner were +precisely localized, the registration could be done directly +based on the robot pose. However, due to the unprecise robot +sensors, self localization is erroneous, so the geometric +structure of overlapping 3D scans has to be considered for +registration. + +The following method for registration of point sets is part of +many publications, so only a short summary is given here. The +complete algorithm was invented in 1992 and can be found, e.g., +in \cite{Besl_1992}. The method is called \emph{Iterative Closest +Points (ICP) algorithm}. + +Given two independently acquired sets of 3D points, $M$ (model +set, $|M| = N_m$) and $D$ (data set, $|D| = N_d$) which +correspond to a single shape, we aim to find the transformation +consisting of a rotation $\M R$ and a translation $\V t$ which +minimizes the following cost function: +\begin{equation}\label{DMin} +E(\M R, \V t) = +\sum_{i=1}^{N_m}\sum_{j=1}^{N_d}w_{i,j}\norm{\V m_{i}-(\M R +\V d_j+\V t)}^2. +\end{equation} +$w_{i,j}$ is assigned 1 if the $i$-th point of $M$ describes the +same point in space as the $j$-th point of $D$. Otherwise +$w_{i,j}$ is 0. Two things have to be calculated: First, the +corresponding points, and second, the transformation ($\M R$, +$\V t$) that minimize $E(\M R, \V t)$ on the base of the +corresponding points. + +The ICP algorithm calculates iteratively the point +correspondences. In each iteration step, the algorithm selects +the closest points as correspondences and calculates the +transformation ($\M R, \V t$) for minimizing equation +(\ref{DMin}). The assumption is that in the last iteration step +the point correspondences are correct. Besl et al. prove that +the method terminates in a minimum \cite{Besl_1992}. However, +this theorem does not hold in our case, since we use a maximum +tolerable distance $d_\text{max}$ for associating the scan +data. Such a threshold is required, given that the 3D scans +overlap only partially. Fig. \ref{samplematch} (top) shows three +frames, i.e., iteration steps, of the ICP algorithm. The bottom +part shows the start poses $(x,z,\theta_y)$ from which a correct +matching is possible, here with only three degrees of freedom. + +\begin{figure*} +\begin{center} +\includegraphics[width=50mm]{frame1_final}~~ +\includegraphics[width=50mm]{frame2_final}~~ +\includegraphics[width=50mm]{frame3_final} \\[1.5ex] +\caption{{Left: Initial odometry based pose of two 3D + scans. Middle: Pose after five ICP iterations. Right: final + alignment, pairwise matching. +\vspace*{-6mm} +}}\label{samplematch} +\end{center} +\end{figure*} + + +\subsection{Calculation of the rotation and translation} + +In every iteration the optimal tranformation ($\M R$, $\V t$) +has to be computed. Eq. (\ref{DMin}) can be reduced to +\begin{eqnarray} +E(\M R, \V t) & \propto & \frac{1}{N} \sum_{i=1}^N +\norm{\V m_i - (\M R \V d_i + \V t)}^2,\label{DualDMin} +\end{eqnarray} +with $N = \sum_{i=1}^{N_m}\sum_{j=1}^{N_d}w_{i,j}$, since the +correspondence matix can be represented by a vector containing +the point pairs. + +Four methods are known to minimize eq. (\ref{DualDMin}) +\cite{Lorusso_1995}. The 6D SLAM system uses the following one, +based on singular value decomposition (SVD), is robust and easy +to implement, thus we give a brief overview of the SVD-based +algorithms. It was first published by Arun, Huang and Blostein +\cite{Arun_1987}. The difficulty of this minimization problem is +to enforce the orthonormality of matrix $\M R$. The first step of +the computation is to decouple the calculation of the rotation +$\M R$ from the translation $\V t$ using the centroids of the +points belonging to the matching, i.e., +\begin{eqnarray} +\V c_m = \frac{1}{N} \sum_{i=1}^{N} \V m_{i}, \qquad \qquad \V c_d = \frac{1}{N} +\sum_{i=1}^{N} \V d_{j}\label{schwerpunkt2} +\end{eqnarray} +and +\begin{eqnarray} +M' &=& \{ \V m'_{i} = \V m_{i} - \V c_{m} \}_{1,\ldots,N}, \label{d_neu1}\\ +\qquad +D' &=& \{ \V d'_{i}\ = \V d_{i}\, - \V c_{d} \}_{1,\ldots,N}\label{d_neu2}. +\end{eqnarray} + + +After replacing (\ref{schwerpunkt2}), (\ref{d_neu1}) and +(\ref{d_neu2}) in the error function, $E(\M R,\V t)$ +eq. (\ref{DualDMin}) becomes: +\begin{subequations} +\begin{eqnarray} +E(\M R, \V t) +\!\!\!\!\!&\propto&\!\!\!\!\! \frac{1}{N} \sum_{i=1}^{N} +\lvert\lvert{\V m'_{i}-\M R \V d'_i-\underbrace{(\V t-\V c_m+\M R + \V c_d)}_{= \tilde {\V t}}\lvert\lvert}^2 +\nonumber \\ +&=&\!\!\!\!\! \frac{1}{N}\sum_{i=1}^{N}\norm{\V m'_{i}-\M R \V d'_i}^2 +\label{DMinpart1} \\ +&&- \frac{2}{N} \tilde {\V t} \cdot \sum_{i=1}^{N} \left( \V +m'_{i}-\M R \V d'_i \right) \label{DMinpart2} \\ +&&+ \frac{1}{N} +\sum_{i=1}^{N}\norm{\tilde {\V +t}}^2. \label{DMinpart3}\label{fehlerneu} +\end{eqnarray} +\end{subequations} +In order to minimize the sum above, all terms have to be +minimized. The second sum (\ref{DMinpart2}) is zero, since all +values refer to centroid. The third part (\ref{DMinpart3}) has +its minimum for $\tilde {\V t} = \VNull$ or +\begin{eqnarray}\label{translatB} + \V t = \V c_m - \M R \V c_d. +\end{eqnarray} +Therefore the algorithm has to minimize only the first +term, and the error function is expressed in terms of the +rotation only: +\begin{eqnarray}\label{DMinn} +E(\M R, \V t) \propto +\sum_{i=1}^{N}\norm{\V m'_{i}-\M R \V d'_i}^2. +\end{eqnarray} + +\noindent \textit{Theorem:} The optimal rotation is calculated +by $\M R = \M V \M U^T$. Herby the matrices $\M V$ and $\M U$ are +derived by the singular value decomposition $\M H = \M U \M +\Lambda \M V^T$ of a correlation matrix $\M H$. This $3 \times 3$ matrix +$\M H$ is given by +\begin{eqnarray} +\M H = \sum_{i=1}^{N} \V m'^T_i \V d'_i + = \left( +\begin{array}{ccc} +S_{xx} & S_{xy} & S_{xz} \\ +S_{yx} & S_{yy} & S_{yz} \\ +S_{zx} & S_{zy} & S_{zz} \\ +\end{array} +\right), \label{Korrelationsmatrix} +\end{eqnarray} +with $S_{xx} = \sum_{i=1}^{N} \ m'_{ix} d'_{ix}, \ S_{xy} = +\sum_{i=1}^{N} \ m'_{ix} d'_{iy}, \ \ldots \, $. The analogous +algorithm is derived directly from this theorem. +\medskip + + +\textit{Proof:} Since rotation is length preserving, i.e., +$\lvert\lvert\M R\V d'_i\lvert\lvert^2 = \lvert\lvert \V +d'_i\lvert \lvert^2$ the error function (\ref{DMinn}) is expanded +\begin{eqnarray*} +E(\M R, \V t) \propto +\sum_{i=1}^{N}\norm{\V m'_i}^2 +- 2 \sum_{i=1}^{N} \V m'_{i} \cdot \M R +\V d'_i ++ \sum_{i=1}^{N} \norm{\V d'_i}^2. +\end{eqnarray*} +The rotation affects only the middle term, thus it is sufficient +to maximize +\begin{eqnarray}\label{max} +\sum_{i=1}^{N} \V m'_{i} \cdot \M R \V +d'_i +& = & +\sum_{i=1}^{N} \V {m'_{i}}^T \M R \V +d'_i. +\end{eqnarray} +Using the trace of a matrix, (\ref{max}) can be rewritten to +obtain +\begin{eqnarray*} +\trace{\sum_{i=1}^{N} \M R \V d'_i \V {m'_{i}}^T } = +\trace{\M R \M H}, +\end{eqnarray*} +With $\M H$ defined as in (\ref{Korrelationsmatrix}). Now we have +to find the matrix $\M R$ that maximizes $\trace{\M R \M H}$. + +Assume that the singular value decomposition of $\M H$ is +\begin{eqnarray*} + \M H = \M U \M \Lambda \M V^T, +\end{eqnarray*} +with $\M U$ and $\M V$ orthonormal $3 \times 3$ matrices and $\M +\Lambda$ a $3 \times 3$ diagonal matrix without negative +elements. Suppose +\begin{eqnarray*} +\M R = \M V \M U^T. +\end{eqnarray*} +$\M R$ is orthonormal and +\begin{eqnarray*} +\M R \M H & = & \M V \M U^T \M U \M \Lambda \M V^T \\ +& = & \M V \M \Lambda \M V^T +\end{eqnarray*} +is a symmetric, positive definite matrix. Arun, Huang and +Blostein provide a lemma to show that +\begin{eqnarray*} +\trace{\M R \M H} \geq \trace{\M B \M R \M H} +\end{eqnarray*} +for any orthonormal matrix $\M B$. Therefore the matrix $\M R$ is +optimal. Prooving the lemma is straightforward using the +Cauchy-Schwarz \cite{Arun_1987}. Finally, the +optimal translation is calculated as (cf. eq. (\ref{DMinpart3}) +and (\ref{translatB})) +\begin{eqnarray*} +\V t = \V c_m - \M R \V c_d. +\end{eqnarray*} + + +\section{ICP-based 6D SLAM} + +To match two 3D scans with the ICP algorithm it is necessary to +have a sufficient starting guess for the second scan pose. + +\begin{itemize} +\item + Extrapolate the odometry readings to all six degrees of freedom + using previous registration matrices. The change of the robot + pose $\Delta \M P$ given the odometry information + $(x_n,z_n,\theta_{y,n})$, $(x_{n+1},z_{n+1},\theta_{y,n+1})$ + and the registration matrix $\M R({\theta_{x,{n}}}, + {\theta_{y,{n}}}, {\theta_{z,{n}}})$ is calculated by solving: + +\begin{small} +\begin{eqnarray} +\left( +\begin{array}{c} +x_{n+1} \\ +y_{n+1} \\ +z_{n+1} \\ +{\theta_{x,{n+1}}} \\ +{\theta_{y,{n+1}}} \\ +{\theta_{z,{n+1}}} \\ +\end{array} +\right) += +\left( +\begin{array}{c} +x_{n} \\ +y_{n} \\ +z_{n} \\ +{\theta_{x,{n}}} \\ +{\theta_{y,{n}}} \\ +{\theta_{z,{n}}} \\ +\end{array} +\right) ++ +\left( +\begin{array}{ccc|ccc} + & & & & & \\ + & \M R({\theta_{x,{n}}},{\theta_{y,{n}}}, {\theta_{z,{n}}}) & & & \M 0 & +\\ + & & & & & \\ +\hline + & & & 1 & 0 & 0 \\ + & \M 0 & & 0 & 1 & 0 \\ + & & & 0 & 0 & 1 \\ +\end{array} +\right) +\cdot +\underbrace{\left( +\begin{array}{c} +\Delta x_{n+1} \\ +\Delta y_{n+1} \\ +\Delta z_{n+1} \\ +\Delta {\theta_{x,{n+1}}} \\ +\Delta {\theta_{y,{n+1}}} \\ +\Delta {\theta_{z,{n+1}}} \\ +\end{array} +\right).}_{\Delta \V P} \label{PosUpdate6D} +\label{extrapol} +\end{eqnarray} +\end{small} + +Therefore, calculating $\Delta \V P$ requires a matrix +inversion. Finally, the 6D pose $\M P_{n+1}$ is calculated by +\vspace*{-2mm} +\begin{small} +\begin{eqnarray*}\label{inital6DPose} +\M P_{n+1} = \Delta \M P \cdot \M P_{n} +\end{eqnarray*} +\end{small} +using the poses' matrix representations.\\[-1.5ex] + + +\end{itemize} + +\section{Variable Correspondences} + +\begin{tabular}{lll} +$(\M R, \V t)$ & \texttt{double alignxf[16]} & Transformation + Matrix \\ +$\V m_i$, $\V d_i$ & \texttt{class PtPair} & Point Pair\\ +$\V c_m$, $\V c_d$ & \texttt{double cm[3], cd[3]} & Centroids\\ +$\V m'_i$, $\V d'_i$ & \texttt{double** m, d} & Centered + Point Pairs\\ +$\M H$, $\M U$, $\M \Lambda$, $\M V$ & \texttt{Matrix} & SVD + Matrices\\ +$\M R$ & \texttt{double transMat[16]} & Pose as Matrix\\ +$(x_n, y_n, z_n)$ & \texttt{double rPos[3]} & Position of $n$-th 3D Scan\\ +$(\theta_{x,n}, \theta_{y,n}, \theta_{z,n})$ & \texttt{double + rPostheta[3]} & Rotation of $n$-th 3D Scan\\ +\end{tabular} + +\section{File Formats and Units} + +\begin{figure} +\begin{center} +\includegraphics[width=3.2cm]{coordinate_system_white} +\caption{Left handed coordinate system.}\label{coord} +\end{center} +\end{figure} +The coordinate system is left handed, with the $y$ axis pointing +upwards, and the depth axis $z$ (cf. Figure~\ref{coord}). Input +and output files are: + +\footnotetext[1]{stating + with \texttt{XXX} = 000, 001,\dots, until no more files are + found in the specified directory.} + +\begin{enumerate} +\item The 3D scan files (\texttt{scanXXX.3d})\footnotemark[1]\ + have to be of the following structure:\\ The first line + contains the scan's resolution (w x b), followed by lines of + data points (x, y, z). +% +\item The pose files (\texttt{scanXXX.pose})\footnotemark[1]\ associated with each + 3D scan contain information of the estimated pose of the + respective scan as given by, e.g., odometry. The first line + contains the 3 translatorial positions ($x$, $y$, $z$), the + second the rotations pitch, yaw and roll ($\theta_x$, + $\theta_y$, $\theta_z$ around the respective axis) in deg.\\ + Values that are not estimated by the robot (odometry) can be + set to 0 and are extrapolated as described by Eq.~\eqref{extrapol}. +% +\item The SLAM program generated files \texttt{scanXXX.frames}, + consisting of the transformations computed from the scan + matching. Each line contains a $4 \times 4$ OpenGL-style + matrix. The very last matrix is the final transformation for + registering the scan into the common coordinate system. + + The matrix is stored in the following format: + \begin{quote} + $(R[1,1], R[1,2], 0, R[1,3], 0, R[2,1], R[2,2], R[2,3], 0, + R[3,1], R[3,2], R[3,3], 0,$\\$t[1], t[2], t[3], 1),$ + \end{quote} + with $R[x,y]$ the $(x,y)$-th entry of the rotation matrix $\M R$, and + $t[x]$ the $x$-th translation component of $\V t$. +\end{enumerate} + +\section{Requirements} + +All executables can be compiled and used both with Linux and Windows. + +\begin{description} +\item[Linux:] The system was developed and tested under Linux 9.1 with + the g++ compiler version 3.3.3. As additional library, + \texttt{OpenGL} and \texttt{glut} have to be installed, which + should be included in your Linux distribution (tested with + freeglut 2.2.0-78).\\ + To compile, type in \texttt{make} in the main directory. The + executables are generated in the \texttt{./bin} directory. +\item[Windows:] + The system was tested with the C++ compiler from Microsoft Visual + Studio.NET 2005. + To compile, load the respective project file (\texttt{.sln}) + from the directory \texttt{.$\backslash$Visual\_Studio\_Projects$\backslash$}. + The executables are generated in the respective \texttt{Debug} + or \texttt{Release} directories, depending on your compiler settings.\\ + Precompiled versions can be found in the \texttt{./bin} + directory, too. If moving the executables, take care about the \texttt{glut} + directory as well. +\end{description} + +\section{Usage} + +For a detailed explanation about the programs' usage, just start +the respective binary. Both applcations can be configured by a +set of command line parameters, which are explained when starting +the program as mentioned above. + +Especially, take care of the reduction parameters +\texttt{-r}/\texttt{-R} of the SLAM system: Without using one of +those, the registration is being slowed down tremendously due to +taking \emph{all} data points as input. Other potentially +critical parameters are the maximal distance of points that may +form corresponding point pairs (matrix entries $w_{ij}$, +parameter \texttt{-d}), as well as the maximal range distance of +points used for scan matching or displaying (\texttt{-m}), +especially used for eliminating outliers (i.e., data points with +the maximal range distance of the range finder). + +\bibliographystyle{plain} +\bibliography{diss,paper,diplom} + +\end{document} \ No newline at end of file diff --git a/doc/high_level_doc/frame1_final.eps b/doc/high_level_doc/frame1_final.eps new file mode 100644 index 0000000..c24fdf3 --- /dev/null +++ b/doc/high_level_doc/frame1_final.eps @@ -0,0 +1,9097 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: frame1_final.eps +%%Creator: fig2dev Version 3.2 Patchlevel 3d +%%CreationDate: Thu Dec 4 14:21:18 2003 +%%For: root@rhum (root) +%%BoundingBox: 0 0 412 412 +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put 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+countdictstack exch sub { end } repeat +restore grestore +% +% End Imported PIC File: frame1.eps +%%EndDocument +% +% Polyline +60.000 slw +n 2430 7110 m 4230 7110 l 4230 8280 l 2430 8280 l + cp gs col6 s gr +$F2psEnd +rs diff --git a/doc/high_level_doc/frame2_final.eps b/doc/high_level_doc/frame2_final.eps new file mode 100644 index 0000000..9a90c6c --- /dev/null +++ b/doc/high_level_doc/frame2_final.eps @@ -0,0 +1,9249 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: frame2_final.eps +%%Creator: fig2dev Version 3.2 Patchlevel 3d +%%CreationDate: Thu Dec 4 14:21:46 2003 +%%For: root@rhum (root) +%%BoundingBox: 0 0 412 412 +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def +/col4 {1.000 0.000 0.000 srgb} bind def +/col5 {1.000 0.000 1.000 srgb} bind def +/col6 {1.000 1.000 0.000 srgb} bind def +/col7 {1.000 1.000 1.000 srgb} bind def +/col8 {0.000 0.000 0.560 srgb} bind def +/col9 {0.000 0.000 0.690 srgb} bind def +/col10 {0.000 0.000 0.820 srgb} bind def +/col11 {0.530 0.810 1.000 srgb} bind def +/col12 {0.000 0.560 0.000 srgb} bind def +/col13 {0.000 0.690 0.000 srgb} bind def +/col14 {0.000 0.820 0.000 srgb} bind def +/col15 {0.000 0.560 0.560 srgb} bind def +/col16 {0.000 0.690 0.690 srgb} bind def +/col17 {0.000 0.820 0.820 srgb} bind def +/col18 {0.560 0.000 0.000 srgb} bind def +/col19 {0.690 0.000 0.000 srgb} bind def +/col20 {0.820 0.000 0.000 srgb} bind def +/col21 {0.560 0.000 0.560 srgb} bind def +/col22 {0.690 0.000 0.690 srgb} bind def +/col23 {0.820 0.000 0.820 srgb} bind def +/col24 {0.500 0.190 0.000 srgb} bind def +/col25 {0.630 0.250 0.000 srgb} bind def +/col26 {0.750 0.380 0.000 srgb} bind def +/col27 {1.000 0.500 0.500 srgb} bind def +/col28 {1.000 0.630 0.630 srgb} bind def +/col29 {1.000 0.750 0.750 srgb} bind def +/col30 {1.000 0.880 0.880 srgb} bind def +/col31 {1.000 0.840 0.000 srgb} bind def + +end +save +newpath 0 412 moveto 0 0 lineto 412 0 lineto 412 412 lineto closepath clip newpath +-73.7 527.2 translate +1 -1 scale + +/cp {closepath} bind def +/ef {eofill} bind def +/gr {grestore} bind def +/gs {gsave} bind def +/sa {save} bind def +/rs {restore} bind def +/l {lineto} bind def +/m {moveto} bind def +/rm {rmoveto} bind def +/n {newpath} bind def +/s {stroke} bind def +/sh {show} bind def +/slc {setlinecap} bind def +/slj {setlinejoin} bind def +/slw {setlinewidth} bind def +/srgb {setrgbcolor} bind def +/rot {rotate} bind def +/sc {scale} bind def +/sd {setdash} bind def +/ff {findfont} bind def +/sf {setfont} bind def +/scf {scalefont} bind def +/sw {stringwidth} bind def +/tr {translate} bind def +/tnt {dup dup currentrgbcolor + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb} + bind def +/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul + 4 -2 roll mul srgb} bind def +/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def +/$F2psEnd {$F2psEnteredState restore end} def + +$F2psBegin +10 setmiterlimit + 0.06299 0.06299 sc +% +% Fig objects follow +% +% Polyline +% +% pen to black in case this eps object doesn't set color first +0 0 0 setrgbcolor +% Begin Imported EPS File: frame2.eps +%%BeginDocument: frame2.eps +% +n gs +1170 1845 tr +12.500000 -12.500000 sc +0 -522 tr +-37 -160 tr +sa +n 37 160 m 559 160 l 559 682 l 37 682 l cp clip n +countdictstack +mark +/showpage {} def +% EPS file follows: +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/scanner/docu/iav2004/frame2.eps +%%Creator: XV Version 3.10a Rev: 12/29/94 (PNG patch 1.2) - by John Bradley +%%BoundingBox: 37 160 559 682 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define space for color conversions +/grays 600 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +37 160 translate + +% size of image (on paper, in 1/72inch coords) +522.00000 522.00000 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the 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restore original state +origstate restore + +%%Trailer + +cleartomark +countdictstack exch sub { end } repeat +restore grestore +% +% End Imported PIC File: frame2.eps +%%EndDocument +% +% Polyline +60.000 slw +n 2430 7110 m 4230 7110 l 4230 8280 l 2430 8280 l + cp gs col6 s gr +$F2psEnd +rs diff --git a/doc/high_level_doc/frame3_final.eps b/doc/high_level_doc/frame3_final.eps new file mode 100644 index 0000000..e4f924e --- /dev/null +++ b/doc/high_level_doc/frame3_final.eps @@ -0,0 +1,9035 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: frame3_final.eps +%%Creator: fig2dev Version 3.2 Patchlevel 3d +%%CreationDate: Mon Dec 15 08:28:19 2003 +%%For: root@rhum (root) +%%BoundingBox: 0 0 412 412 +%%Magnification: 1.0000 +%%EndComments +/$F2psDict 200 dict def +$F2psDict begin +$F2psDict /mtrx matrix put +/col-1 {0 setgray} bind def +/col0 {0.000 0.000 0.000 srgb} bind def +/col1 {0.000 0.000 1.000 srgb} bind def +/col2 {0.000 1.000 0.000 srgb} bind def +/col3 {0.000 1.000 1.000 srgb} bind def 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def +/col28 {1.000 0.630 0.630 srgb} bind def +/col29 {1.000 0.750 0.750 srgb} bind def +/col30 {1.000 0.880 0.880 srgb} bind def +/col31 {1.000 0.840 0.000 srgb} bind def + +end +save +newpath 0 412 moveto 0 0 lineto 412 0 lineto 412 412 lineto closepath clip newpath +-73.7 527.2 translate +1 -1 scale + +/cp {closepath} bind def +/ef {eofill} bind def +/gr {grestore} bind def +/gs {gsave} bind def +/sa {save} bind def +/rs {restore} bind def +/l {lineto} bind def +/m {moveto} bind def +/rm {rmoveto} bind def +/n {newpath} bind def +/s {stroke} bind def +/sh {show} bind def +/slc {setlinecap} bind def +/slj {setlinejoin} bind def +/slw {setlinewidth} bind def +/srgb {setrgbcolor} bind def +/rot {rotate} bind def +/sc {scale} bind def +/sd {setdash} bind def +/ff {findfont} bind def +/sf {setfont} bind def +/scf {scalefont} bind def +/sw {stringwidth} bind def +/tr {translate} bind def +/tnt {dup dup currentrgbcolor + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add + 4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb} + bind def +/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul + 4 -2 roll mul srgb} bind def +/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def +/$F2psEnd {$F2psEnteredState restore end} def + +$F2psBegin +10 setmiterlimit + 0.06299 0.06299 sc +% +% Fig objects follow +% +% Polyline +% +% pen to black in case this eps object doesn't set color first +0 0 0 setrgbcolor +% Begin Imported EPS File: frame3.eps +%%BeginDocument: frame3.eps +% +n gs +1170 1845 tr +12.500000 -12.500000 sc +0 -522 tr +-37 -160 tr +sa +n 37 160 m 559 160 l 559 682 l 37 682 l cp clip n +countdictstack +mark +/showpage {} def +% EPS file follows: +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: /home/scanner/docu/iav2004/frame3.eps +%%Creator: XV Version 3.10a Rev: 12/29/94 (PNG patch 1.2) - by John Bradley +%%BoundingBox: 37 160 559 682 +%%Pages: 1 +%%DocumentFonts: +%%EndComments +%%EndProlog + +%%Page: 1 1 + +% remember original state +/origstate save def + +% build a temporary dictionary +20 dict begin + +% define space for color conversions +/grays 600 string def % space for gray scale line +/npixls 0 def +/rgbindx 0 def + +% lower left corner +37 160 translate + +% size of image (on paper, in 1/72inch coords) +522.00000 522.00000 scale + +% define 'colorimage' if it isn't defined +% ('colortogray' and 'mergeprocs' come from xwd2ps +% via xgrab) +/colorimage where % do we know about 'colorimage'? + { pop } % yes: pop off the 'dict' returned + { % no: define one + /colortogray { % define an RGB->I function + /rgbdata exch store % call input 'rgbdata' + rgbdata length 3 idiv + /npixls exch store + /rgbindx 0 store + 0 1 npixls 1 sub { + grays exch + rgbdata rgbindx get 20 mul % Red + rgbdata rgbindx 1 add get 32 mul % Green + rgbdata rgbindx 2 add get 12 mul % Blue + add add 64 idiv % I = .5G + .31R + .18B + put + /rgbindx rgbindx 3 add store + } for + grays 0 npixls getinterval + } bind def + + % Utility procedure for colorimage operator. + % This procedure takes two procedures off the + % stack and merges them into a single procedure. + + /mergeprocs { % def + dup length + 3 -1 roll + dup + length + dup + 5 1 roll + 3 -1 roll + add + array cvx + dup + 3 -1 roll + 0 exch + putinterval + dup + 4 2 roll + putinterval + } bind def + + /colorimage { % def + pop pop % remove 'false 3' operands + {colortogray} mergeprocs + image + } bind def + } ifelse % end of 'false' case + + + +% define the colormap +/cmap 9 string def + + +% load up the colormap +currentfile cmap readhexstring +000000 ffffff 0000ff +pop pop % lose return values from readhexstring + + +% rlecmapimage expects to have 'w h bits matrix' on stack +/rlecmapimage { + /buffer 1 string def + /rgbval 3 string def + /block 384 string def + + % proc to read a block from file, and return RGB data + { currentfile buffer readhexstring pop + /bcount exch 0 get store + bcount 128 ge + { % it's a non-run block + 0 1 bcount 128 sub + { currentfile buffer readhexstring pop pop + + % look up value in color map + /rgbval cmap buffer 0 get 3 mul 3 getinterval store + + % and put it in position i*3 in block + block exch 3 mul rgbval putinterval + } for + block 0 bcount 127 sub 3 mul getinterval + } + + { % else it's a run block + currentfile buffer readhexstring pop pop + + % look up value in colormap + /rgbval cmap buffer 0 get 3 mul 3 getinterval store + + 0 1 bcount { block exch 3 mul rgbval putinterval } for + + block 0 bcount 1 add 3 mul getinterval + } ifelse + } % end of proc + false 3 colorimage +} bind def + + +600 600 8 % dimensions of data +[600 0 0 -600 0 600] % mapping matrix +rlecmapimage + +840100010001070181000132018300010001020181000182010001820100011901810001 +8401000100010a01850001000100010a0181000110018300010001070185000100010001 +820100010801810001820100010d018100012a0185000100010001820100010601810001 +01018100010801810001020183000100010a018300010001820100010801810001130185 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Lowe}, + title = {Distinctive image features from scale-invariant keypoints}, + journal = {International Journal of Computer Vision}, + year = {2004}, + volume = {2}, + number = {60}, + pages = {91 -- 110}, +} + +@InProceedings{ICAR2005_1, + author = "A. N{\"u}chter and K. Lingemann and J. Hertzberg and H. Surmann", + title = "{A}ccurate {O}bject {L}ocalization in {3D} {L}aser {R}ange {S}cans", + booktitle = "Proceedings of the 12th International Conference on Advanced Robotics (ICAR '05)", + year = "(submitted)", +} + +@InProceedings{IROS2004, + author = "K. Lingemann and H. Surmann and A. N{\"u}chter and J. Hertzberg", + title = "{I}ndoor and {O}utdoor {L}ocalization for {F}ast {M}obile {R}obots", + booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04)", + month = "September", + pages = "2185 -- 2190", + year = "2004", + address = "Sendai, Japan", +} + +@article{RAS2005, + author = "K. Lingemann and A. N{\"u}chter and J. Hertzberg and H. Surmann", + title = "High-{S}peed {L}aser {L}ocalization for {M}obile {R}obots", + journal = "Journal Robotics and Autonomous Systems", + volume = "(accepted)", + year = "2005", +} + +@InProceedings{IAS2004, + author = "A. N{\"u}chter and H. Surmann and and J. Hertzberg", + title = "{A}utomatic {C}lassification of {O}bjects in {3D} {L}aser {R}ange {S}cans", + booktitle = "Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS '04)", + month = "March", + year = "2004", + pages = "963 -- 970", + address = "Amsterdam, The Netherlands" +} + +@InProceedings{SSRR2005, + author = "A. N{\"u}chter and K. Lingemann and J. Hertzberg and H. Surmann and K. Perv{\"o}lz and M. Hennig and K. R. Tiruchinapalli and R. Worst and T. Christaller", + title = "{M}apping of {R}escue {E}nvironments with {Kurt3D}", + booktitle = "Proceedings of the IEEE International Workshop on Rescue Robotics (SSRR '05)", + year = "(submitted)", + address = "Kobe, Japan", + month = "June", +} + +@InProceedings{IAV2004, + author = "H. Surmann and A. N{\"u}chter and K. Lingemann and J. Hertzberg", + title = "{6D SLAM} {A} {P}reliminary {R}eport on {C}losing the {L}oop in {S}ix {D}imensions", + booktitle = "Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04)", + month = "July", + year = "2004", + address = "Lisabon, Portugal" +} + +@article{RAAS2003, + author = "H. Surmann and A. N{\"u}chter and J. Hertzberg", + title = "{A}n autonomous mobile robot with a {3D} laser range finder for {3D} exploration and digitalization of indoor en +vironments", + journal = "Robotics and Autonomous Systems", + volume = "45", + number = "3 -- 4", + month = "December", + year = "2003", + pages = "181 -- 198", +} + +@InProceedings{KI2003, + author = "A. N{\"u}chter and H. Surmann and K. Lingemann and J. Hertzberg", + title = "Consistent 3D Model Construction with Autonomous Mobile Robots", + booktitle = " KI 2003: Advances in Artificial Intelligence. 26th Annual German Conference on AI, Proceedings Springer LNAI vol. 2821", + month = "September", + year = "2003", + pages = "550 -- 564", + address = "Hamburg, Germany" +} + +@InProceedings{ICRA2004, + author = "A. N{\"u}chter and H. Surmann and K. Lingemann and J. Hertzberg and S. 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Surmann ", + title = "{H}euristic-{B}ased {L}aser {S}can {M}atching for {O}utdoor {6D} {SLAM}", + booktitle = "KI 2005: Advances in Artificial Intelligence. 28th Annual German Conference on AI, Proceedings Springer LNAI vol. 3698", + month = "September", + year = "2005", + pages = "304 -- 319", + address = "Koblenz, Germany" +} + + +@InProceedings{3DIM2003, + author = "A. N{\"u}chter and H. Surmann and J. Hertzberg", + title = "{A}utomatic {M}odel {R}efinement for {3D} {R}econstruction with {M}obile {R}obots", + booktitle = "Proceedings of the 4th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '03)", + month = "October", + year = "2003", + address = "Banff, Canada", + pages = "394 -- 401", +} + +@InProceedings{ECMR2005, + author = "K. Lingemann and A. N{\"u}chter and J. Hertzberg and H. 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Christensen", + booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '03)", + year = "2003", + month = "September", + address = "Taipei, Taiwan", + pages = "419--426", +} + +@PhdThesis{Clark_1999, + author = {S. Clark}, + title = {{A}utonomous {L}and {V}ehicle {N}avigation}, + school = {The University of Sydney}, + year = {1999}, + address = {Sydney, Australia}, +} + +@InProceedings{Suomela_1995, + author = {J. Suomela and J. Kuusela and A. Halme}, + title = {{A} {M}ilimeter wave radar for close terrain mapping of an intelligent autonomous vehicle}, + booktitle = {Proceedings of the 2nd IFAC Conference on Intelligent Autonomous Vehicles}, + pages = {349 -- 354}, + year = {1995}, + address = {Helsinki, Finnland}, +} + diff --git a/doc/high_level_doc/stylish_scanner.eps b/doc/high_level_doc/stylish_scanner.eps new file mode 100644 index 0000000..be1f00b --- /dev/null +++ b/doc/high_level_doc/stylish_scanner.eps @@ -0,0 +1,3644 @@ +%!PS-Adobe-3.0 EPSF-3.0 +%%Creator: GIMP PostScript file plugin V 1.16 by Peter Kirchgessner +%%Title: /home/publications/#stuff/stylish_kurt.eps +%%CreationDate: Thu Mar 30 11:56:25 2006 +%%DocumentData: Clean7Bit +%%LanguageLevel: 2 +%%Pages: 1 +%%BoundingBox: 14 14 759 1067 +%%EndComments +%%BeginProlog +% Use own dictionary to avoid conflicts +10 dict begin +%%EndProlog +%%Page: 1 1 +% Translate for offset +14.173228346456694 14.173228346456694 translate +% Translate to begin of first scanline 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%%CMYKCustomColor: 0.1 1 0.65 0.25 (Uni-Rot) %AI3_TemplateBox: 306 396 306 396 %AI3_TileBox: 37 6 575 787 %AI3_DocumentPreview: PC_TIFF %AI5_ArtSize: 595 842 %AI5_RulerUnits: 1 %AI5_ArtFlags: 1 0 0 1 0 0 1 1 0 %AI5_TargetResolution: 800 %AI5_NumLayers: 1 %AI5_OpenToView: 2 924 1.5 976 583 18 0 1 2 40 %AI5_OpenViewLayers: 7 %%EndComments %%BeginProlog %%BeginResource: procset Adobe_level2_AI5 1.0 0 %%Title: (Adobe Illustrator (R) Version 5.0 Level 2 Emulation) %%Version: 1.0 %%CreationDate: (04/10/93) () %%Copyright: ((C) 1987-1993 Adobe Systems Incorporated All Rights Reserved) userdict /Adobe_level2_AI5 21 dict dup begin put /packedarray where not { userdict begin /packedarray { array astore readonly } bind def /setpacking /pop load def /currentpacking false def end 0 } if pop userdict /defaultpacking currentpacking put true setpacking /initialize { Adobe_level2_AI5 begin } bind def /terminate { currentdict Adobe_level2_AI5 eq { end } if } bind def mark /setcustomcolor where not { /findcmykcustomcolor { 5 packedarray } bind def /setcustomcolor { exch aload pop pop 4 { 4 index mul 4 1 roll } repeat 5 -1 roll pop setcmykcolor } def } if /gt38? mark {version cvx exec} stopped {cleartomark true} {38 gt exch pop} ifelse def userdict /deviceDPI 72 0 matrix defaultmatrix dtransform dup mul exch dup mul add sqrt put userdict /level2? systemdict /languagelevel known dup { pop systemdict /languagelevel get 2 ge } if put level2? not { /setcmykcolor where not { /setcmykcolor { exch .11 mul add exch .59 mul add exch .3 mul add 1 exch sub setgray } def } if /currentcmykcolor where not { /currentcmykcolor { 0 0 0 1 currentgray sub } def } if /setoverprint where not { /setoverprint /pop load def } if /selectfont where not { /selectfont { exch findfont exch dup type /arraytype eq { makefont } { scalefont } ifelse setfont } bind def } if /cshow where not { /cshow { [ 0 0 5 -1 roll aload pop ] cvx bind forall } bind def } if } if cleartomark /anyColor? { add add add 0 ne } bind def /testColor { gsave setcmykcolor currentcmykcolor grestore } bind def /testCMYKColorThrough { testColor anyColor? } bind def userdict /composite? level2? { gsave 1 1 1 1 setcmykcolor currentcmykcolor grestore add add add 4 eq } { 1 0 0 0 testCMYKColorThrough 0 1 0 0 testCMYKColorThrough 0 0 1 0 testCMYKColorThrough 0 0 0 1 testCMYKColorThrough and and and } ifelse put composite? not { userdict begin gsave /cyan? 1 0 0 0 testCMYKColorThrough def /magenta? 0 1 0 0 testCMYKColorThrough def /yellow? 0 0 1 0 testCMYKColorThrough def /black? 0 0 0 1 testCMYKColorThrough def grestore /isCMYKSep? cyan? magenta? yellow? black? or or or def /customColor? isCMYKSep? not def end } if end defaultpacking setpacking %%EndResource %%BeginResource: procset Adobe_IllustratorA_AI5 1.1 0 %%Title: (Adobe Illustrator (R) Version 5.0 Abbreviated Prolog) %%Version: 1.1 %%CreationDate: (3/7/1994) () %%Copyright: ((C) 1987-1994 Adobe Systems Incorporated All Rights Reserved) currentpacking true setpacking userdict /Adobe_IllustratorA_AI5_vars 70 dict dup begin put /_lp /none def /_pf { } def /_ps { } def /_psf { } def /_pss { } def /_pjsf { } def /_pjss { } def /_pola 0 def /_doClip 0 def /cf currentflat def /_tm matrix def /_renderStart [ /e0 /r0 /a0 /o0 /e1 /r1 /a1 /i0 ] def /_renderEnd [ null null null null /i1 /i1 /i1 /i1 ] def /_render -1 def /_rise 0 def /_ax 0 def /_ay 0 def /_cx 0 def /_cy 0 def /_leading [ 0 0 ] def /_ctm matrix def /_mtx matrix def /_sp 16#020 def /_hyphen (-) def /_fScl 0 def /_cnt 0 def /_hs 1 def /_nativeEncoding 0 def /_useNativeEncoding 0 def /_tempEncode 0 def /_pntr 0 def /_tDict 2 dict def /_wv 0 def /Tx { } def /Tj { } def /CRender { } def /_AI3_savepage { } def /_gf null def /_cf 4 array def /_if null def /_of false def /_fc { } def /_gs null def /_cs 4 array def /_is null def /_os false def /_sc { } def /discardSave null def /buffer 256 string def /beginString null def /endString null def /endStringLength null def /layerCnt 1 def /layerCount 1 def /perCent (%) 0 get def /perCentSeen? false def /newBuff null def /newBuffButFirst null def /newBuffLast null def /clipForward? false def end userdict /Adobe_IllustratorA_AI5 74 dict dup begin put /initialize { Adobe_IllustratorA_AI5 dup begin Adobe_IllustratorA_AI5_vars begin discardDict { bind pop pop } forall dup /nc get begin { dup xcheck 1 index type /operatortype ne and { bind } if pop pop } forall end newpath } def /terminate { end end } def /_ null def /ddef { Adobe_IllustratorA_AI5_vars 3 1 roll put } def /xput { dup load dup length exch maxlength eq { dup dup load dup length 2 mul dict copy def } if load begin def end } def /npop { { pop } repeat } def /sw { dup length exch stringwidth exch 5 -1 roll 3 index mul add 4 1 roll 3 1 roll mul add } def /swj { dup 4 1 roll dup length exch stringwidth exch 5 -1 roll 3 index mul add 4 1 roll 3 1 roll mul add 6 2 roll /_cnt 0 ddef { 1 index eq { /_cnt _cnt 1 add ddef } if } forall pop exch _cnt mul exch _cnt mul 2 index add 4 1 roll 2 index add 4 1 roll pop pop } def /ss { 4 1 roll { 2 npop (0) exch 2 copy 0 exch put pop gsave false charpath currentpoint 4 index setmatrix stroke grestore moveto 2 copy rmoveto } exch cshow 3 npop } def /jss { 4 1 roll { 2 npop (0) exch 2 copy 0 exch put gsave _sp eq { exch 6 index 6 index 6 index 5 -1 roll widthshow currentpoint } { false charpath currentpoint 4 index setmatrix stroke } ifelse grestore moveto 2 copy rmoveto } exch cshow 6 npop } def /sp { { 2 npop (0) exch 2 copy 0 exch put pop false charpath 2 copy rmoveto } exch cshow 2 npop } def /jsp { { 2 npop (0) exch 2 copy 0 exch put _sp eq { exch 5 index 5 index 5 index 5 -1 roll widthshow } { false charpath } ifelse 2 copy rmoveto } exch cshow 5 npop } def /pl { transform 0.25 sub round 0.25 add exch 0.25 sub round 0.25 add exch itransform } def /setstrokeadjust where { pop true setstrokeadjust /c { curveto } def /C /c load def /v { currentpoint 6 2 roll curveto } def /V /v load def /y { 2 copy curveto } def /Y /y load def /l { lineto } def /L /l load def /m { moveto } def } { /c { pl curveto } def /C /c load def /v { currentpoint 6 2 roll pl curveto } def /V /v load def /y { pl 2 copy curveto } def /Y /y load def /l { pl lineto } def /L /l load def /m { pl moveto } def } ifelse /d { setdash } def /cf { } def /i { dup 0 eq { pop cf } if setflat } def /j { setlinejoin } def /J { setlinecap } def /M { setmiterlimit } def /w { setlinewidth } def /H { } def /h { closepath } def /N { _pola 0 eq { _doClip 1 eq { clip /_doClip 0 ddef } if newpath } { /CRender { N } ddef } ifelse } def /n { N } def /F { _pola 0 eq { _doClip 1 eq { gsave _pf grestore clip newpath /_lp /none ddef _fc /_doClip 0 ddef } { _pf } ifelse } { /CRender { F } ddef } ifelse } def /f { closepath F } def /S { _pola 0 eq { _doClip 1 eq { gsave _ps grestore clip newpath /_lp /none ddef _sc /_doClip 0 ddef } { _ps } ifelse } { /CRender { S } ddef } ifelse } def /s { closepath S } def /B { _pola 0 eq { _doClip 1 eq gsave F grestore { gsave S grestore clip newpath /_lp /none ddef _sc /_doClip 0 ddef } { S } ifelse } { /CRender { B } ddef } ifelse } def /b { closepath B } def /W { /_doClip 1 ddef } def /* { count 0 ne { dup type /stringtype eq { pop } if } if newpath } def /u { } def /U { } def /q { _pola 0 eq { gsave } if } def /Q { _pola 0 eq { grestore } if } def /*u { _pola 1 add /_pola exch ddef } def /*U { _pola 1 sub /_pola exch ddef _pola 0 eq { CRender } if } def /D { pop } def /*w { } def /*W { } def /` { /_i save ddef clipForward? { nulldevice } if 6 1 roll 4 npop concat pop userdict begin /showpage { } def 0 setgray 0 setlinecap 1 setlinewidth 0 setlinejoin 10 setmiterlimit [] 0 setdash /setstrokeadjust where {pop false setstrokeadjust} if newpath 0 setgray false setoverprint } def /~ { end _i restore } def /O { 0 ne /_of exch ddef /_lp /none ddef } def /R { 0 ne /_os exch ddef /_lp /none ddef } def /g { /_gf exch ddef /_fc { _lp /fill ne { _of setoverprint _gf setgray /_lp /fill ddef } if } ddef /_pf { _fc fill } ddef /_psf { _fc ashow } ddef /_pjsf { _fc awidthshow } ddef /_lp /none ddef } def /G { /_gs exch ddef /_sc { _lp /stroke ne { _os setoverprint _gs setgray /_lp /stroke ddef } if } ddef /_ps { _sc stroke } ddef /_pss { _sc ss } ddef /_pjss { _sc jss } ddef /_lp /none ddef } def /k { _cf astore pop /_fc { _lp /fill ne { _of setoverprint _cf aload pop setcmykcolor /_lp /fill ddef } if } ddef /_pf { _fc fill } ddef /_psf { _fc ashow } ddef /_pjsf { _fc awidthshow } ddef /_lp /none ddef } def /K { _cs astore pop /_sc { _lp /stroke ne { _os setoverprint _cs aload pop setcmykcolor /_lp /stroke ddef } if } ddef /_ps { _sc stroke } ddef /_pss { _sc ss } ddef /_pjss { _sc jss } ddef /_lp /none ddef } def /x { /_gf exch ddef findcmykcustomcolor /_if exch ddef /_fc { _lp /fill ne { _of setoverprint _if _gf 1 exch sub setcustomcolor /_lp /fill ddef } if } ddef /_pf { _fc fill } ddef /_psf { _fc ashow } ddef /_pjsf { _fc awidthshow } ddef /_lp /none ddef } def /X { /_gs exch ddef findcmykcustomcolor /_is exch ddef /_sc { _lp /stroke ne { _os setoverprint _is _gs 1 exch sub setcustomcolor /_lp /stroke ddef } if } ddef /_ps { _sc stroke } ddef /_pss { _sc ss } ddef /_pjss { _sc jss } ddef /_lp /none ddef } def /A { pop } def /annotatepage { userdict /annotatepage 2 copy known {get exec} {pop pop} ifelse } def /discard { save /discardSave exch store discardDict begin /endString exch store gt38? { 2 add } if load stopped pop end discardSave restore } bind def userdict /discardDict 7 dict dup begin put /pre38Initialize { /endStringLength endString length store /newBuff buffer 0 endStringLength getinterval store /newBuffButFirst newBuff 1 endStringLength 1 sub getinterval store /newBuffLast newBuff endStringLength 1 sub 1 getinterval store } def /shiftBuffer { newBuff 0 newBuffButFirst putinterval newBuffLast 0 currentfile read not { stop } if put } def 0 { pre38Initialize mark currentfile newBuff readstring exch pop { { newBuff endString eq { cleartomark stop } if shiftBuffer } loop } { stop } ifelse } def 1 { pre38Initialize /beginString exch store mark currentfile newBuff readstring exch pop { { newBuff beginString eq { /layerCount dup load 1 add store } { newBuff endString eq { /layerCount dup load 1 sub store layerCount 0 eq { cleartomark stop } if } if } ifelse shiftBuffer } loop } { stop } ifelse } def 2 { mark { currentfile buffer readline not { stop } if endString eq { cleartomark stop } if } loop } def 3 { /beginString exch store /layerCnt 1 store mark { currentfile buffer readline not { stop } if dup beginString eq { pop /layerCnt dup load 1 add store } { endString eq { layerCnt 1 eq { cleartomark stop } { /layerCnt dup load 1 sub store } ifelse } if } ifelse } loop } def end userdict /clipRenderOff 15 dict dup begin put { /n /N /s /S /f /F /b /B } { { _doClip 1 eq { /_doClip 0 ddef clip } if newpath } def } forall /Tr /pop load def /Bb {} def /BB /pop load def /Bg {12 npop} def /Bm {6 npop} def /Bc /Bm load def /Bh {4 npop} def end /Lb { 4 npop 6 1 roll pop 4 1 roll pop pop pop 0 eq { 0 eq { (%AI5_BeginLayer) 1 (%AI5_EndLayer--) discard } { /clipForward? true def /Tx /pop load def /Tj /pop load def currentdict end clipRenderOff begin begin } ifelse } { 0 eq { save /discardSave exch store } if } ifelse } bind def /LB { discardSave dup null ne { restore } { pop clipForward? { currentdict end end begin /clipForward? false ddef } if } ifelse } bind def /Pb { pop pop 0 (%AI5_EndPalette) discard } bind def /Np { 0 (%AI5_End_NonPrinting--) discard } bind def /Ln /pop load def /Ap /pop load def /Ar { 72 exch div 0 dtransform dup mul exch dup mul add sqrt dup 1 lt { pop 1 } if setflat } def /Mb { q } def /Md { } def /MB { Q } def /nc 3 dict def nc begin /setgray { pop } bind def /setcmykcolor { 4 npop } bind def /setcustomcolor { 2 npop } bind def currentdict readonly pop end currentdict readonly pop end setpacking %%EndResource %%EndProlog %%BeginSetup Adobe_level2_AI5 /initialize get exec Adobe_IllustratorA_AI5 /initialize get exec %AI5_Begin_NonPrinting Np %AI3_BeginPattern: (Gelbe Streifen) (Gelbe Streifen) 8.4499 4.6 80.4499 76.6 [ %AI3_Tile (0 O 0 R 0 0.4 1 0 k 0 0.4 1 0 K) @ ( 800 Ar 0 J 0 j 3.6 w 4 M []0 d %AI3_Note: 0 D 8.1999 8.1999 m 80.6999 8.1999 L S 8.1999 22.6 m 80.6999 22.6 L S 8.1999 37.0001 m 80.6999 37.0001 L S 8.1999 51.3999 m 80.6999 51.3999 L S 8.1999 65.8 m 80.6999 65.8 L S 8.1999 15.3999 m 80.6999 15.3999 L S 8.1999 29.8 m 80.6999 29.8 L S 8.1999 44.1999 m 80.6999 44.1999 L S 8.1999 58.6 m 80.6999 58.6 L S 8.1999 73.0001 m 80.6999 73.0001 L S ) & ] E %AI3_EndPattern %AI5_End_NonPrinting-- %AI5_Begin_NonPrinting Np 3 Bn %AI5_BeginGradient: (Gelb & Blau Kreis) (Gelb & Blau Kreis) 1 2 Bd [ < 000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1F2021222324252627 28292A2B2C2D2E2F303132333435363738393A3B3C3D3E3F404142434445464748494A4B4C4D4E4F 505152535455565758595A5B5C5D5E5F606162636465666768696A6B6C6D6E6F7071727374757677 78797A7B7C7D7E7F808182838485868788898A8B8C8D8E8F909192939495969798999A9B9C9D9E9F A0A1A2A3A4A5A6A7A8A9AAABACADAEAFB0B1B2B3B4B5B6B7B8B9BABBBCBDBEBFC0C1C2C3C4C5C6C7 C8C9CACBCCCDCECFD0D1D2D3D4D5D6D7D8D9DADBDCDDDEDFE0E1E2E3E4E5E6E7E8E9EAEBECEDEEEF F0F1F2F3F4F5F6F7F8F9FAFBFCFDFEFF > < 1415161718191A1B1C1D1E1F1F202122232425262728292A2A2B2C2D2E2F30313233343536363738 393A3B3C3D3E3F40414142434445464748494A4B4C4D4D4E4F50515253545556575858595A5B5C5D 5E5F60616263646465666768696A6B6C6D6E6F6F707172737475767778797A7B7B7C7D7E7F808182 83848586868788898A8B8C8D8E8F90919292939495969798999A9B9C9D9D9E9FA0A1A2A3A4A5A6A7 A8A9A9AAABACADAEAFB0B1B2B3B4B4B5B6B7B8B9BABBBCBDBEBFC0C0C1C2C3C4C5C6C7C8C9CACBCB CCCDCECFD0D1D2D3D4D5D6D7D7D8D9DADBDCDDDEDFE0E1E2E2E3E4E5E6E7E8E9EAEBECEDEEEEEFF0 F1F2F3F4F5F6F7F8F9F9FAFBFCFDFEFF > < ABAAAAA9A8A7A7A6A5A5A4A3A3A2A1A1A09F9F9E9D9D9C9B9B9A9999989797969595949393929191 908F8F8E8D8D8C8B8B8A8989888787868585848383828181807F7F7E7D7D7C7B7B7A797978777776 7575747373727171706F6F6E6D6D6C6B6B6A6969686767666565646362626160605F5E5E5D5C5C5B 5A5A5958585756565554545352525150504F4E4E4D4C4C4B4A4A4948484746464544444342424140 403F3E3E3D3C3C3B3A3A3938383736363534343332323130302F2E2E2D2C2C2B2A2A292828272626 25242423222121201F1F1E1D1D1C1B1B1A1919181717161515141313121111100F0F0E0D0D0C0B0B 0A090908070706050504030302010100 > 0 1 %_Br [ 0 0.08 0.67 0 1 50 14 %_Bs 1 1 0 0 1 50 100 %_Bs BD %AI5_EndGradient %AI5_BeginGradient: (Rot & Gelb) (Rot & Gelb) 0 2 Bd [ 0 < 000102030405060708090A0B0C0D0E0F101112131415161718191A1B1C1D1E1F2021222324252627 28292A2B2C2D2E2F303132333435363738393A3B3C3D3E3F404142434445464748494A4B4C4D4E4F 505152535455565758595A5B5C5D5E5F606162636465666768696A6B6C6D6E6F7071727374757677 78797A7B7C7D7E7F808182838485868788898A8B8C8D8E8F909192939495969798999A9B9C9D9E9F A0A1A2A3A4A5A6A7A8A9AAABACADAEAFB0B1B2B3B4B5B6B7B8B9BABBBCBDBEBFC0C1C2C3C4C5C6C7 C8C9CACBCCCDCECFD0D1D2D3D4D5D6D7D8D9DADBDCDDDEDFE0E1E2E3E4E5E6E7E8E9EAEBECEDEEEF F0F1F2F3F4F5F6F7F8F9FAFBFCFDFEFF > < FFFFFEFEFDFDFDFCFCFBFBFBFAFAF9F9F9F8F8F7F7F7F6F6F5F5F5F4F4F3F3F3F2F2F1F1F1F0F0EF EFEFEEEEEDEDEDECECEBEBEBEAEAE9E9E9E8E8E7E7E7E6E6E5E5E5E4E4E3E3E3E2E2E1E1E1E0E0DF DFDFDEDEDDDDDDDCDCDBDBDBDADAD9D9D9D8D8D7D7D7D6D6D5D5D5D4D4D3D3D3D2D2D1D1D1D0D0CF CFCFCECECDCDCDCCCCCBCBCBCACAC9C9C9C8C8C7C7C7C6C6C5C5C5C4C4C3C3C3C2C2C1C1C1C0C0BF BFBFBEBEBDBDBDBCBCBBBBBBBABAB9B9B9B8B8B7B7B7B6B6B5B5B5B4B4B3B3B3B2B2B1B1B1B0B0AF AFAFAEAEADADADACACABABABAAAAA9A9A9A8A8A7A7A7A6A6A5A5A5A4A4A3A3A3A2A2A1A1A1A0A09F 9F9F9E9E9D9D9D9C9C9B9B9B9A9A9999 > 0 1 %_Br [ 0 1 0.6 0 1 50 100 %_Bs 0 0 1 0 1 50 0 %_Bs BD %AI5_EndGradient %AI5_BeginGradient: (Schwarz & Wei\247) (Schwarz & Wei\247) 0 2 Bd [ < FFFEFDFCFBFAF9F8F7F6F5F4F3F2F1F0EFEEEDECEBEAE9E8E7E6E5E4E3E2E1E0DFDEDDDCDBDAD9D8 D7D6D5D4D3D2D1D0CFCECDCCCBCAC9C8C7C6C5C4C3C2C1C0BFBEBDBCBBBAB9B8B7B6B5B4B3B2B1B0 AFAEADACABAAA9A8A7A6A5A4A3A2A1A09F9E9D9C9B9A999897969594939291908F8E8D8C8B8A8988 87868584838281807F7E7D7C7B7A797877767574737271706F6E6D6C6B6A69686766656463626160 5F5E5D5C5B5A595857565554535251504F4E4D4C4B4A494847464544434241403F3E3D3C3B3A3938 37363534333231302F2E2D2C2B2A292827262524232221201F1E1D1C1B1A19181716151413121110 0F0E0D0C0B0A09080706050403020100 > 0 %_Br [ 0 0 50 100 %_Bs 1 0 50 0 %_Bs BD %AI5_EndGradient %AI5_End_NonPrinting-- %AI5_BeginPalette 0 0 Pb Pn Pc 1 g Pc 0 g Pc 0 0 0 0 k Pc 0.75 g Pc 0.5 g Pc 0.25 g Pc 0 g Pc Bb 2 (Schwarz & Wei\247) -4014 4716 0 0 1 0 0 1 0 0 Bg 0 BB Pc 0.25 0 0 0 k Pc 0.5 0 0 0 k Pc 0.75 0 0 0 k Pc 1 0 0 0 k Pc 0.25 0.25 0 0 k Pc 0.5 0.5 0 0 k Pc 0.75 0.75 0 0 k Pc 1 1 0 0 k Pc Bb 2 (Rot & Gelb) -4014 4716 0 0 1 0 0 1 0 0 Bg 0 BB Pc 0 0.25 0 0 k Pc 0 0.5 0 0 k Pc 0 0.75 0 0 k Pc 0 1 0 0 k Pc 0 0.25 0.25 0 k Pc 0 0.5 0.5 0 k Pc 0 0.75 0.75 0 k Pc 0 1 1 0 k Pc Bb 0 0 0 0 Bh 2 (Gelb & Blau Kreis) -4014 4716 0 0 1 0 0 1 0 0 Bg 0 BB Pc 0 0 0.25 0 k Pc 0 0 0.5 0 k Pc 0 0 0.75 0 k Pc 0 0 1 0 k Pc 0.25 0 0.25 0 k Pc 0.5 0 0.5 0 k Pc 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/dev/null and b/doc/papers/jfr2008.pdf differ diff --git a/doc/papers/ras2007.pdf b/doc/papers/ras2007.pdf new file mode 100644 index 0000000..7e4ee63 Binary files /dev/null and b/doc/papers/ras2007.pdf differ diff --git a/include/grid/Debug.h b/include/grid/Debug.h new file mode 100644 index 0000000..cef8ad2 --- /dev/null +++ b/include/grid/Debug.h @@ -0,0 +1,18 @@ +#ifndef __DEBUG_H_ +#define __DEBUG_H_ + +#include + +/** Printouts for debugging + * @author Andre Schemschatt, Uwe Hebbelmann, Sebastian Stock + * @date 14.2.08 + */ + +#ifdef DEBUG + +#define DEBUGPRINT(msg) std::cout <<"[Debug] "<< msg << std::endl; +#else +#define DEBUGPRINT(msg) +#endif + +#endif diff --git a/include/grid/grid.h b/include/grid/grid.h new file mode 100644 index 0000000..d4253bd --- /dev/null +++ b/include/grid/grid.h @@ -0,0 +1,115 @@ +#ifndef __GRID_H_ +#define __GRID_H_ + +#include "grid/gridPoint.h" + +/** + * The class represents the base class for all 2D views. + * It contains a two dimensional array of gridPoints, + * the offset (in absolute coordinates) of the grid and + * the size of the grid. + * The size of the grid must be set during the instanciation of + * the grid and cant be changed afterwards. + * + * It provides methods for adding and setting information about + * points to the grid and obtaining a point and writing the grid + * using a gridWriter-object. + + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * @date 12.02.2008 + */ +class grid +{ + public: + /** Array containing the gridPoints */ + gridPoint*** points; + + private: + /** X offset (absolute coordinate) */ + long offsetX; + + /** Z offset (absolute coordinate) */ + long offsetZ; + + /** Width of the array */ + long sizeX; + + /** Height of the array */ + long sizeZ; + + /** @brief The method frees the internal array */ + void clear(); + + /** @brief The method allocates and initialises the internal array */ + void allocate(long maxX, long maxZ); + + public: + /** @brief CTor */ + grid(long offsetX, long offsetZ, long sizeX, long sizeZ); + + /** @brief Dtor */ + virtual ~grid(); + + /** @brief Adds the information of the given point to the grid */ + virtual void addPoint(const gridPoint& point); + + /** @brief Adds the information to the grid at the specified coords */ + virtual void addPoint(long x, long z, unsigned int count, unsigned int occupied); + + /** @brief Sets the fixed values for a points */ + virtual void setPoint(long x, long z, unsigned int count, unsigned int occupied); + + /** @brief Returns the point of the absolute coordinates */ + gridPoint* getAbsolutePoint(long x, long z) const; + + /** + * Method checks if the given Point is in this grid + * @param x The absolute x coordinate + * @param z The absolute z coordinate + */ + inline bool contains(long x, long z) const + { + x -= getOffsetX(); + z -= getOffsetZ(); + if( x < 0 || z < 0 || x >= getSizeX() || z >= getSizeZ()) + return false; + else + return true; + } + + /** + * Getter for offsetx + * @return offsetX + */ + inline long getOffsetX() const { + return this->offsetX; + } + + /** + * Getter for offsetZ + * @return offsetZ + */ + inline long getOffsetZ() const { + return this->offsetZ; + } + + /** + * Getter for the arraysize (X) + * @return arraysize x + */ + inline long getSizeX() const { + return this->sizeX; + } + + /** + * Getter for the arraysize (Z) + * @return arraysize z + */ + inline long getSizeZ() const { + return this->sizeZ; + } +}; + +#endif diff --git a/include/grid/gridPoint.h b/include/grid/gridPoint.h new file mode 100644 index 0000000..a90112d --- /dev/null +++ b/include/grid/gridPoint.h @@ -0,0 +1,92 @@ +#ifndef __GRIDPOINT_H_ +#define __GRIDPOINT_H_ + +/** + * The class represents a point in the grid. It contains its + * absolute coordinates (x, z), a counter how often the point + * has been found within a scan and a counter how often it has + * been found occupied. + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 11.02.2008 + */ +class gridPoint +{ + private: + /** The absolute x coordinate */ + long x; + + /** The absolute z coordinate */ + long z; + + /** Counter how often point was visited */ + unsigned int count; + + /** Counter how often point was occupied */ + unsigned int occupied; + + public: + /** @brief CTor */ + gridPoint(long x, long z); + + /** @brief Adds amount to the internal counter */ + void addCount(unsigned int count, unsigned int occupied); + + /** @brief Adds fixed values to both counters */ + void addFixed(unsigned int count, unsigned int occupied); + + /** @brief Overwrites the internal counters directly */ + void setFixed(unsigned int count, unsigned int occupied); + + /** @brief Returns the occupied value as Percent */ + float getPercent() const; + + /** + * Getter for the visited counter + * @return Count + */ + inline unsigned int getCount() const{ + return this->count; + } + + /** + * Getter for the occupied counter + * @return Count of Occupieds + */ + inline unsigned int getOccupied() const{ + return this->occupied; + } + + /** + * Getter for the absolute x coordinate + * @return the absolute x coordinate + */ + inline long getX() const { + return this->x; + } + + /** + * Getter for the absolute z coordinate + * @return the absolute z coordinate + */ + inline long getZ() const { + return this->z; + } + + /** + * Checks if the point is smaller than the given point + * @param p the point to campare to + * @return true if smaller else false + */ + inline bool isSmallerThan(const gridPoint& p) const + { + if (getX() < p.getX()) return true; + if (getX() > p.getX()) return false; + if (getZ() < p.getZ()) return true; + if (getZ() > p.getZ()) return false; + + return true; + } +}; + +#endif diff --git a/include/grid/gridWriter.h b/include/grid/gridWriter.h new file mode 100644 index 0000000..13c9f84 --- /dev/null +++ b/include/grid/gridWriter.h @@ -0,0 +1,126 @@ +#ifndef __GRIDWRITER_H_ +#define __GRIDWRITER_H_ + +#include +#include + +#include "grid/grid.h" +#include +using std::string; + +/** + * The class represents the baseclass for all writers. + * Writers are used by the grid-class for writing the + * internal gridPoint-array to a file. + * Writers for a specific format must inherit this class. + * + * Furthermore it provides static methods for creating writers + * for each format. + * + * @author Andre Schemschat, Sebastian Stock, Uwe Hebbelmann + * @date 20.02.08 + */ +class gridWriter +{ + protected: + /** The referenz to the used stream */ + std::ofstream stream; + + /** The filename of the file to be opened*/ + std::string filename; + public: + /** @brief CTor */ + gridWriter(std::string file); + + /** @brief Copy-CTor */ + gridWriter(std::ofstream &stream); + + /** @brief DTor */ + virtual ~gridWriter(); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid) = 0; +}; + +/** + * Class for writing the grid as a PPM to a file. + * The PPM is in a greyscaled format with 100 tones. + * + * @author Andre Schemschat, Uwe Hebbelmann, Sebastian Stock + * @date 20.2.08 + */ +class ppmWriter : public gridWriter +{ + public: + /** @brief CTor */ + ppmWriter(std::string file); + + /** @brief CTor */ + ppmWriter(std::ofstream &stream); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing the grid in the parcel-file-format + * (this writer is used to store each parcel during the convert) + * + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class parcelWriter : public gridWriter +{ + public: + /** @brief CTor */ + parcelWriter(std::string file); + + /** @brief CTor */ + parcelWriter(std::ofstream &stream); + + /** @brief Method to write the grid */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing the grid in the gnuplot-file-format + * + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class gnuplotWriter : public gridWriter +{ + public: + /** @brief CTor */ + gnuplotWriter(std::string file); + + /** @brief CTor */ + gnuplotWriter(std::ofstream &stream); + + /** @brief Writemethod for gnuplot */ + virtual void write(const grid& grid); +}; + +/** + * Class for writing all parcels to one world map (own format) + * @author Sebastian Stock, Andre Schemschatt, Uwe Hebbelmann + * @date 20.2.08 + */ +class worldWriter : public gridWriter +{ + public: + /** @brief CTor */ + worldWriter(std::string file, long minX, long maxX, + long minZ, long maxZ, int resolution, + long vpX, long vpZ); + + /** @brief CTor */ + worldWriter(std::ofstream &stream, long minX, long maxX, + long minZ, long maxZ, int resolution, + long vpX, long vpZ); + + /** @brief Writemethod for the world map */ + virtual void write(const grid& grid); +}; + +#endif diff --git a/include/grid/gridlines.h b/include/grid/gridlines.h new file mode 100644 index 0000000..8972487 --- /dev/null +++ b/include/grid/gridlines.h @@ -0,0 +1,50 @@ +#ifndef __GRIDLINES_H_ +#define __GRIDLINES_H_ + +#include +using std::vector; + +#include +using std::string; +#include "grid/grid.h" +#include "grid/line.h" + + +/** + * Class calculates all lines of a grid using hough transformation. + * Consideres all points with a percentage higher than "isSolidPoint" variable. + * Contains a method to write the lines to file (GnuPlot or own lin) + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * @date 25.02.2008 + */ +class gridlines +{ + private: + /** Minimal percentage for a solid point relevant for a line */ + double isSolidPoint; + + /** contains all lines of the grid */ + vector lines; + + public: + /** @brief CTOR */ + gridlines(grid* g, int max_distance, double isSolidPoint); + + /** + * @brief Creates the lines for the grid g and stores them in the vector "lines" + */ + void createLines(grid* g, int max_distance); + + /** @brief Returns the vector with the lines */ + vector* getLines(); + + /** @brief Writes the lines to a gnuplot file */ + void writeGnuPlot(string file); + + /** @brief Writes the lines to a lin file */ + void writeLin(string file); +}; + +#endif diff --git a/include/grid/hough.h b/include/grid/hough.h new file mode 100644 index 0000000..993ea88 --- /dev/null +++ b/include/grid/hough.h @@ -0,0 +1,64 @@ +/*************************************************************************** + * hough.h + ***************************************************************************/ +#ifndef _hough_h +#define _hough_h + +/*************************************************************************** + * INCLUDED HEADERS + ***************************************************************************/ +#include +#include +#include +#include +#include +#include +#include + +extern int sht_init(int sht_resolution); +extern int **SHT_alloc_histogram(int x_max, int y_max); +extern void SHT_free_histogram(int **histogram, int x_max); +extern int **SHT_init_histogram(int **histogram, double x_max, double y_max); +extern int SHT_get_hough_lines(int nr_pts, double *x, double *y, + int sht_resolution, double max_rho_d, + int **sht_histogram, int depth, + int *nr_line_pts, double *x_line_pts, + double *y_line_pts, + double xmin, double ymin, int unsorted); +// int **sht_maxima_histogram); +extern int print_hough_lines(int sht_nr_line_pts, + double *sht_x_line_pts, + double *sht_y_line_pts); +extern int SHT_get_max_distance(void); +extern void SHT_set_max_distance(int max_distance, int drange = 721); +extern int SHT_Print_histogram(FILE *fpr, + int resolution, + int **histogram, + int average); +extern int SHT_calc_line(int resolution, + double max_rho_d, + int **histogram, + int i, int j, double *m, double *b); +int SHT_show_line(int resolution, double max_rho_d, + int **histogram,int i, int j, + double *x0, double *y0,double *x1, double *y1); + +#endif /* _hough_h */ + + + + + + + + + + + + + + + + + + diff --git a/include/grid/line.h b/include/grid/line.h new file mode 100644 index 0000000..2482687 --- /dev/null +++ b/include/grid/line.h @@ -0,0 +1,62 @@ +#ifndef __LINE_H_ +#define __LINE_H_ + +#include "grid/gridPoint.h" + +/** + * Class represents a line object starting at the gridPoint "start" + * and ending at the gridPoint "end" + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 25.02.2008 + */ +class line +{ + private: + /** The starting point of the line */ + gridPoint* start; + + /** The ending point of the line */ + gridPoint* end; + + public: + /** @brief CTor */ + line(gridPoint* start, gridPoint* end); + + /** @brief Returns the length of the line */ + double getLength(); + + /** + * Getter for the start x-coordinate + * @return the start x-coordinate + */ + inline long getStartX() const{ + return start->getX(); + } + + /** + * Getter for the start z-coordinate + * @return the start z-coordinate + */ + inline long getStartZ() const{ + return start->getZ(); + } + + /** + * Getter for the end x-coordinate + * @return the end x-coordinate + */ + inline long getEndX() const{ + return end->getX(); + } + + /** + * Getter for the end z-coordinate + * @return the end z-coordinate + */ + inline long getEndZ() const{ + return end->getZ(); + } +}; + +#endif diff --git a/include/grid/parcel.h b/include/grid/parcel.h new file mode 100644 index 0000000..a2666af --- /dev/null +++ b/include/grid/parcel.h @@ -0,0 +1,30 @@ +#ifndef __PARCEL_H_ +#define __PARCEL_H_ + +#include "grid/grid.h" +#include +using std::string; + +/** + * The class represents a section of the map and inherrits grid. + * The grids will be added to the parcel + * The parcel can be stored and read so that it must not permanant be + * in the memory. + * + * @author Andre Schemschatt, Uwe Hebbelmann, Sebastian Stock + * @date 17.2.08 + */ +class parcel : public grid +{ + public: + /** @brief Ctor */ + parcel(long offSetX, long offSetZ, long sizeX, long sizeZ); + + /** @brief Adds a grid to the parcel */ + void addGrid(const grid* grid); + + /** @brief Creates a parcel from the file */ + static parcel* readParcel(std::string filename); +}; + +#endif diff --git a/include/grid/parcelinfo.h b/include/grid/parcelinfo.h new file mode 100644 index 0000000..3b23ef6 --- /dev/null +++ b/include/grid/parcelinfo.h @@ -0,0 +1,85 @@ +#ifndef __PARCELINFO_H_ +#define __PARCELINFO_H_ + +#include + +/** + * The class contains the information about an already created parcel, + * such as offset and filename, but not the actual data. + * It also contains the parcel height and width as static members. + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre SChemschat + * @date 15.02.08 + */ +class parcelinfo +{ + private: + /** The x-offset of parcel (absolute coordiante) */ + long offsetX; + + /** The z-offset of parcel (absolute coordiante) */ + long offsetZ; + + /** The filename of the parcel */ + std::string filename; + + /** sets whether the parcel was needed for the last scan or not */ + bool used; + + /** The width of the parcel */ + static long parcelwidth; + + /** The height of the parcel */ + static long parcelheight; + + public: + /** @brief Sets the parcelsize */ + static void setParcelsize(long width, long height); + + /** @brief CTor */ + parcelinfo(long offsetX, long offsetZ, std::string filename); + + /** @brief < operator */ + bool operator< (const parcelinfo &parcel) const; + + /** @brief == operator */ + bool operator== (const parcelinfo &parcel) const; + + /** @brief Checks if the parcel contains a given point*/ + bool contains(long x, long z) const; + + /** @brief Sets the used flag (true) */ + void setUsed(); + + /** @brief Resets the used flag (false) */ + void resetUsed(); + + /** @brief Returns whether the parcel was needed */ + int wasUsed() const; + + /** + * Returns the x-offset + * @return the x-offset of the parcel + */ + inline int getOffsetX() const { + return this->offsetX; + } + + /** + * Returns the z-offset + * @return the z-offset of the parcel + */ + inline int getOffsetZ() const { + return this->offsetZ; + } + + /** + * Getter for the filename + * @return the filename of the parcel + */ + inline const std::string& getFilename() const { + return this->filename; + } +}; + +#endif diff --git a/include/grid/parcelmanager.h b/include/grid/parcelmanager.h new file mode 100644 index 0000000..4ddbe0d --- /dev/null +++ b/include/grid/parcelmanager.h @@ -0,0 +1,101 @@ +#ifndef __PARCELMANAGER_H_ +#define __PARCELMANAGER_H_ + +#include +#include +using std::map; + +#include "grid/parcel.h" +#include "grid/parcelinfo.h" +#include +using std::string; + + +#define PARCELINFOFILE "parcelinfo.conf" + +/** + * The parcelmanager manages all views of the map + * (Views are represented as parcels) + * It provides methods for adding scangrids and creating the entire map. + * It contains an internal memorymanagment for managing the parcels + * during runtime. + * + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * @date 15.02.08 + */ +class parcelmanager +{ + private: + /** Typedef for the map */ + typedef map parcelmap; + + /** The map for all parcelinfos and parcels */ + parcelmap parcels; + + /** The width of each parcel */ + int parcelwidth; + /** The height of each parcel */ + int parcelheight; + + /** Last viewpoint (X) */ + long viewpointX; + /** Last viewpoint (Z) */ + long viewpointZ; + + /** The resolution set as parameter */ + int resolution; + + /** The minimal found x value */ + long minX; + /** The maximal found x value */ + long maxX; + + /** The minimal found z value */ + long minZ; + /** The maximal found z value */ + long maxZ; + + + /** The path where all infos should be stored */ + string path; + + /** @brief The method frees each (not used) parcel */ + void freeMemory(bool all); + + /** @brief The method clears all internal data */ + void clear(); + + /** @brief The method loads a parcel specified by info */ + void loadParcel(parcelinfo *info); + + /** @brief The method creates a new parcel */ + void createParcel(long x, long z); + + /** @brief Method keeps min/Max-X/Z up to date */ + void updateOuterPoints(const grid* g); + + public: + /** @brief CTor */ + parcelmanager(long width, long height, string path, int resolution, bool resume); + + /** @brief Dtor */ + ~parcelmanager(); + + /** @brief The method adds a grid to all affected parcels */ + void addGrid(const grid* g, long vpX, long vpZ); + + /** @brief The method saves the infos created so far */ + void saveParcelinfo(string filename); + + /** @brief The method loads the parcelinfos from file */ + void loadParcelinfo(string filename); + + /** @brief The method combines all parcels to a worldmap and writes it */ + void writeWorld(string filename); + + /** @brief Merges all parcels into one grid and returns it */ + grid* createWorldGrid(); +}; + +#endif diff --git a/include/grid/scanGrid.h b/include/grid/scanGrid.h new file mode 100644 index 0000000..cd9a7ab --- /dev/null +++ b/include/grid/scanGrid.h @@ -0,0 +1,47 @@ +#ifndef __SCANGRID_H_ +#define __SCANGRID_H_ + +#include "grid/grid.h" + +/** + * The class represents a 2D section of a scan. + * It inherrits from grid -> the internal representation is an array + * + * @author Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * @date 14.02.2008 + */ +class scanGrid : public grid +{ + /** The position of the robot (X) */ + long viewpointX; + + /** The position of the robot (Z) */ + long viewpointZ; + + public: + /** @brief CTor */ + scanGrid(long viewX, long viewZ, long offsetX, long offsetZ, + long sizeX, long sizeZ); + + /** @brief DTor */ + virtual ~scanGrid(); + + /** + * Getter for the x position of the robot when the scan was made + * @return x position + */ + inline long getViewpointX() const { + return this->viewpointX; + } + + /** + * Getter for the z position of the robot when the scan was made + * @return z position + */ + inline long getViewpointZ() const { + return this->viewpointZ; + } +}; + +#endif diff --git a/include/grid/scanToGrid.h b/include/grid/scanToGrid.h new file mode 100644 index 0000000..91e8f57 --- /dev/null +++ b/include/grid/scanToGrid.h @@ -0,0 +1,95 @@ +#ifndef __SCANTOGRID_H_ +#define __SCANTOGRID_H_ + +#include "grid/scanGrid.h" +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#define WAYPOINTWEIGHT 10 +#define SOLIDWEIGHT 5000 + +/** + * The class provides methods to create a 2D scanGrid from a given scan. + * It sorts out points not relevant for the grid and tries to + * reduce noise within the data. + * It also marks free spaces between found obstacles. + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 11.02.2008 + */ +class scanToGrid +{ + private: + /** The minimal height of a scan that is relevant */ + double minRelevantHeight; + + /** The maximal height of a scan that is relevant */ + double maxRelevantHeight; + + /** The resolution of the grid (centimeters per gridunit) */ + double resolution; + + /** The maximal distance */ + int maxDistance; + + /** The distance weighting */ + double minimalWeighting; + + /** the spot-value of the laser */ + float spot; + + /** If set, ways between the viewpoint and found point will be created */ + bool waypoints; + + /** If set, neighbours for each point will be weighted */ + bool neighbours; + + /** + * The method calculates the weighting of a Point + * based on its distance and an internal formula. + * + * @param distance The distance of the point to the robots position + * @return The calculated weighting for the point + */ + inline float calculateWeighting(long x, long z) + { + double distance = sqrt(pow((double)x, 2) + pow((double)z, 2)); + return this->minimalWeighting * distance + 1; + } + + /** @brief Calculates the normvector for the vector (x|z) */ + void calculateNormvector(long x, long z, double& xnorm, double &znorm); + + /** @brief Creates a new grid and sets the offsets */ + scanGrid* createGrid(Scan& scan, const double* transformation); + + /** @brief Creates the free points between the robot and the occupied point */ + void createWaypoints(scanGrid* grid, long x, long z, float weighting); + + /** @brief Creates the neighbours for the given point */ + void createNeighbours(scanGrid *grid, long x, long z, float weighting); + + /** @brief Method adds a point (and maybee its neighbours) to the grid */ + void createPoint(scanGrid* grid, long x, long z, float weighting); + + /** @brief Method checks the grid for values which stand alone and deletes them */ + void killAlonePoints(scanGrid* grid, int distance, int neighbours); + + /** @brief Checks if the points lies within the relevant area */ + bool isPointRelevant(const Point& p) const; + + /** @brief Converts the coordinate of a scanpoint to the grid raster */ + long scaleToGrid(double point); + + public: + /** @brief Ctor*/ + scanToGrid(double resolution, double minRelevantHeight, + double maxRelevantHeight, int maxDistance , + int spotRadius, bool createWays, + bool neighbours); + + /** @brief Converts the scan to a grid */ + scanGrid* convert(Scan& scan, const double* transformation); +}; + +#endif diff --git a/include/grid/scanmanager.h b/include/grid/scanmanager.h new file mode 100644 index 0000000..8c01a1f --- /dev/null +++ b/include/grid/scanmanager.h @@ -0,0 +1,48 @@ +#include + +#include "slam6d/scan.h" +#include "slam6d/managedScan.h" + +/** + * The class manages all scans and the frames of the scans + * It reads all scans and frame information and holds an object for the + * scans and the transformationmatrices + * + * @author Uwe Hebbelmann, Andre Schemschatt, Sebastian Stock + * date 14.2.08 + */ +class scanmanager { + + private: + /** Vector for the transformation of all scans */ + std::vector < std::vector > metaMatrix; + + /** @brief Reads the frame files that were created by Slam6D */ + void readFrames(string inputdir, + int start, + int end, + bool readInitial, + bool correctYAxis); + + public: + /** @brief Ctor */ + scanmanager(); + + /** @bried DTor */ + ~scanmanager(); + + /** @brief Reads scans, frames and the transformationmatrix */ + void startscan(string inputdir, string outputdir, IOType scantype, + int start, int end, bool readInitial, + int max_distance, int min_distance, + bool correctYAxis); + + /** @brief Getter for the number of scans */ + size_t getScanCount() const; + + /** @brief Returns scan with number i */ + Scan& getScan(int i); + + /** @brief Returns transformationmatrix with number i */ + const std::vector & getMatrix(int i); +}; diff --git a/include/grid/viewpointinfo.h b/include/grid/viewpointinfo.h new file mode 100644 index 0000000..ec3b8d4 --- /dev/null +++ b/include/grid/viewpointinfo.h @@ -0,0 +1,45 @@ +#ifndef __VIEWPOINT_H_ +#define __VIEWPOINT_H_ + +#include +using std::vector; +#include +using std::pair; + +#include "grid/scanGrid.h" +#include +using std::string; + +/** + * The class manages a list of viewpoints from which the + * roboter has taken the scans. + * It provides methods for adding a new viewpoint, saving and loading the + * list. + * + * @author Sebastian Stock, Uwe Hebbelmann, Andre Schemschat + * @date 22.02.08 + */ +class viewpointinfo +{ + private: + /** Typedef for a viewpoint */ + typedef pair viewpoint; + + /** Internal vector for storing the viewpoints */ + vector viewpoints; + + /** The path where the file is created */ + string path; + + public: + /** @brief CTor */ + viewpointinfo(string path); + + /** @brief Adds the viewpoint information of a scanGrid */ + void addGrid(const scanGrid *grid); + + /** @brief Writes the internal list to file */ + void write(string filename); +}; + +#endif diff --git a/include/model/candidateOpening.h b/include/model/candidateOpening.h new file mode 100644 index 0000000..37437e9 --- /dev/null +++ b/include/model/candidateOpening.h @@ -0,0 +1,45 @@ +/** + * @file candidateOpening.h + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +#ifndef CANDIDATEOPENING_H_ +#define CANDIDATEOPENING_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" + +#include + +namespace model { + +class CandidateOpening : public Plane3d { +public: + static const unsigned int NR_FEATURES; //!< The number of features required for the SVM. + +public: + std::vector features; //!< The 14 features required for the SVM. + std::vector edges; //!< Coordinates of each edge (uh, lh, uv, lv). + double edgeCoverage; //!< Percentage on how much the edges correspond to edges detected in Canny. + +public: + // constructors and destructors + CandidateOpening(); + CandidateOpening(const Point3d& pt, const Vector3d& normal, + const std::vector& hull, + const std::vector& features, const std::vector& edges); + CandidateOpening(const CandidateOpening& other); + virtual ~CandidateOpening(); + + // operators + CandidateOpening& operator=(const CandidateOpening& other); +}; + +} /* namespace model */ + +#endif /* CANDIDATEOPENING_H_ */ diff --git a/include/model/commonTypes.h b/include/model/commonTypes.h new file mode 100644 index 0000000..af2a40f --- /dev/null +++ b/include/model/commonTypes.h @@ -0,0 +1,32 @@ +/** + * @file commonTypes.h + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +#ifndef COMMONTYPES_H_ +#define COMMONTYPES_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" +#include "model/rotation3d.h" + +#include + +//============================================================================== +// Typedefs +//============================================================================== +namespace model { + +typedef std::pair Pose6d; + +// the maximum image value +static const int MAX_IMG_VAL = 255; + +} /* namespace model */ + +#endif /* COMMONTYPES_H_ */ diff --git a/include/model/graphicsAlg.h b/include/model/graphicsAlg.h new file mode 100644 index 0000000..84559c1 --- /dev/null +++ b/include/model/graphicsAlg.h @@ -0,0 +1,102 @@ +/** + * @file graphicsAlg.h + * + * @auhtor Remus Claudiu Dumitru + * @date 18 Feb 2012 + * + */ + +#ifndef GRAPHICSALG_H_ +#define GRAPHICSALG_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace model { + +class GraphicsAlg { +private: + typedef double Type; + typedef CGAL::Simple_cartesian SC; + typedef CGAL::Filtered_kernel K; + + typedef CGAL::Alpha_shape_euclidean_traits_2 Gt; + typedef CGAL::Alpha_shape_vertex_base_2 Avb; + + typedef CGAL::Triangulation_hierarchy_vertex_base_2 Av; + typedef CGAL::Triangulation_face_base_2 Tf; + typedef CGAL::Alpha_shape_face_base_2 Af; + + typedef CGAL::Triangulation_default_data_structure_2 Tds; + typedef CGAL::Delaunay_triangulation_2 Dt; + typedef CGAL::Triangulation_hierarchy_2

Ht; + + /** + * Computes the alpha edges. + */ + template + static void alpha_edges(InputIterator begin, InputIterator end, + const Type& Alpha, + bool mode, + OutputIterator out); + +public: + typedef CGAL::Alpha_shape_2 Alpha_shape_2; + + typedef K::Point_2 Point; + typedef K::Segment_2 Segment; + typedef Alpha_shape_2::Face Face; + typedef Alpha_shape_2::Vertex Vertex; + typedef Alpha_shape_2::Edge Edge; + typedef Alpha_shape_2::Face_handle Face_handle; + typedef Alpha_shape_2::Vertex_handle Vertex_handle; + + typedef Alpha_shape_2::Face_circulator Face_circulator; + typedef Alpha_shape_2::Vertex_circulator Vertex_circulator; + typedef Alpha_shape_2::Locate_type Locate_type; + + typedef Alpha_shape_2::Face_iterator Face_iterator; + typedef Alpha_shape_2::Vertex_iterator Vertex_iterator; + typedef Alpha_shape_2::Edge_iterator Edge_iterator; + typedef Alpha_shape_2::Edge_circulator Edge_circulator; + + typedef Alpha_shape_2::Alpha_iterator Alpha_iterator; + typedef Alpha_shape_2::Alpha_shape_edges_iterator Alpha_shape_edges_iterator; + + /** + * Sort planes HORIZONTALLY in a clockwise order, around the center of mass. + * @warning in place sort + */ + static void clockwiseSort(std::vector& planes); + + /** + * Computes the HORIZONTAL convex hull of the given planes. + */ + static std::vector getConcaveHull(std::vector planes); + + /** + * Computes the discrete line between two points using Bresenham's algorithm. + * @param src the source point + * @param dest the destination point + * @param precision the precision at which the discrete line shall be drawn + */ + static void getDiscreteLine(model::Point3d src, model::Point3d dest, double precision, const double& extraDist, + std::vector& line); +}; + +} /* namespace model */ + +#endif /* GRAPHICSALG_H_ */ diff --git a/include/model/labeledPlane3d.h b/include/model/labeledPlane3d.h new file mode 100644 index 0000000..4f43b6f --- /dev/null +++ b/include/model/labeledPlane3d.h @@ -0,0 +1,131 @@ +/** + * @file labeledPlane3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +#ifndef LABELEDPLANE3D_H_ +#define LABELEDPLANE3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" +#include "model/candidateOpening.h" +#include "model/commonTypes.h" + +#include +#include +#include +#include + +#include + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +//============================================================================== +// Class Declarations +//============================================================================== +namespace model { + +/** + * The three possible labels on a wall, as a result of the raytracing algorithm. + */ +enum Label { + EMPTY, OCCUPIED, OCCLUDED, OPENING, UNKOWN +}; + +/** + * A class representing a plane that has additional features such as labeling of patches. + */ +class LabeledPlane3d : public Plane3d { +private: + static const std::string RED; + static const std::string GREEN; + static const std::string BLUE; + static const std::string WHITE; + + static const double LINE_EPSILON; //!< An epislon value to decide whether a line is horizontal or vertical. + + static const double SOBEL_SCALE; //!< To be used when applying Sobel to any image. + static const double SOBEL_DELTA; //!< To be used when applying Sobel to any image. + static const int SOBEL_KERNEL; //!< To be used when applying Sobel to any image. + + static const double CANNY_THRESH1; //!< The lower threshold for Canny. + static const double CANNY_THRESH2; //!< The upper threshold for Canny. + + static const double HOUGH_RHO; //!< Rho used in the Hough transform. + static const double HOUGH_THETA; //!< Theta used in the Hough transform. + static const int HOUGH_THRESH; //!< Hough transform threshold. + static const double HOUGH_MIN_LINE_LEN; //!< Minimum line length for Hough transform. + + static const double MIN_EMPTY_AREA; //!< Minimum empty area percentage. + static const double MIN_TOTAL_AREA; //!< Minimum total area percentage of wall. + static const double MAX_TOTAL_AREA; //!< Maximum total area percentage of wall. + +private: + std::string name; + +public: + /** + * Each discrete patch is described in this matrix. + */ + std::vector > > patches; + + /** + * Remember a depth map of the plane to be used when detecting the windows. + * To be built in the same time when applying labels. + */ + std::vector > depthMap; + + /** + * The OpenCV image of the depthMap. + */ + cv::Mat depthImg; + + /** + * The corrected depth image of the wall; + */ + cv::Mat correctedDepthImg; + + /** + * The wall distance and the maximum distance (2 * wall distance + ray distance) + * at which the depth map was computed. + */ + std::pair depthMapDistances; + + // constructores and destructors + LabeledPlane3d(); + LabeledPlane3d(const Point3d& pt, const Vector3d& normal); + LabeledPlane3d(const Point3d& pt, const Vector3d& normal, const std::vector& hull); + + LabeledPlane3d(const LabeledPlane3d& other); + virtual ~LabeledPlane3d(); + + // operators + LabeledPlane3d& operator=(const LabeledPlane3d& other); + + /** + * Computes the Canny for this wall using the depth image. + */ + void detectEdges(cv::Mat& img, cv::Mat& hImg, cv::Mat& vImg, cv::Mat& combined) const; + + /** + * Computes the horizontal and vertical lines. + */ + void computeLines(std::vector& verticalResult, std::vector& horizontalResult) const; + + /** + * Returns all opening candidates. + */ + void computeOpeningCandidates(std::vector& candidates) const; +}; + +} /* namespace model */ + +#endif /* LABELEDPLANE3D_H_ */ diff --git a/include/model/plane3d.h b/include/model/plane3d.h new file mode 100644 index 0000000..9125bfd --- /dev/null +++ b/include/model/plane3d.h @@ -0,0 +1,113 @@ +/** + * @file plane3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef PLANE3D_H_ +#define PLANE3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/vector3d.h" + +#include + +namespace model { + +/** + * A class defining a plane. + */ +class Plane3d { +private: + /** + * used to determine if vertical + */ + static constexpr double _EPSILON_VERTICAL = 0.02; + + /** + * used to determine if horizontal + */ + static constexpr double _EPSILON_HORIZONTAL = 0.02; + + /** + * if two planes are this close in cm + * then they may be considered to be the same + */ + static constexpr double _EPSILON_DISTANCE = 20; + + /** + * if the length of the crossproduct of two normals is less than this + * then the planes may be considered to be the same + */ + static constexpr double _EPSILON_NORMAL_CROSS_PRODUCT = 2e-1; + +public: + /** + * the normal defining the plane + */ + Vector3d normal; + + /** + * the point of application of the normal + */ + Point3d pt; + + /** + * the convex hull of this plane + */ + std::vector hull; + + Plane3d(); + Plane3d(const Point3d& pt, const Vector3d& normal); + Plane3d(const Point3d& pt, const Vector3d& normal, + const std::vector& hull); + + Plane3d(const Plane3d& other); + + virtual ~Plane3d(); + + /** + * compute the intersection of three planes + */ + Point3d intersect(const Plane3d& first, const Plane3d& second); + + /** + * copies one plane to another + */ + Plane3d& operator=(const Plane3d& other); + + /** + * returns true if a plane is vertical within some predefined epsilon values + */ + bool isVertical(); + + /** + * returns true if a plane is horizontal within some predefined epsilon values + */ + bool isHorizontal(); + + /** + * returns true if this plane replresents the same plane as other + * within some predefined epsilon values + */ + bool isSamePlane(Plane3d other); + + /** + * Computes the normal of the plane from the hull. + */ + Vector3d computeAverageNormal(); + + /** + * Returns the 3D coordinates of points on the plane, which have a fixed + * distance to their next neighbor. + */ + std::vector > getDiscretePoints(const double& dist) const; +}; + +} /* namespace model */ + +#endif /* PLANE3D_H_ */ diff --git a/include/model/point3d.h b/include/model/point3d.h new file mode 100644 index 0000000..809985a --- /dev/null +++ b/include/model/point3d.h @@ -0,0 +1,87 @@ +/** + * @file point3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef POINT3D_H_ +#define POINT3D_H_ + +//============================================================================== +// Defines +//============================================================================== + +//============================================================================== +// Includes +//============================================================================== +#include "model/rotation3d.h" + +#include + +namespace model { + +// Forward declaration. Avoid circular inclusion. +class Plane3d; +class Vector3d; + +/** + * A point in space. + */ +class Point3d { +private: + static constexpr double _EPSILON = 1.0e-3; + +public: + double x; + double y; + double z; + + Point3d(); + + Point3d(const double& x, const double& y, const double& z); + + Point3d(const Point3d& other); + + /** + * rotate this point around another point + * @param ref the other point + * @param rot the rotation around the other point + */ + void rotate(const Point3d& ref, const Rotation3d& rot); + + /** + * translate this point by a vector + * @param vec the vector that defines the translation + */ + void translate(const Vector3d& vec); + + /** + * @return the distance from this point to another point + */ + double distance(const Point3d& other) const; + + /** + * @return the distance to a plane + */ + double distance(const Plane3d& plane) const; + + Point3d& operator=(const Point3d& other); + Point3d operator-(const Point3d& other); + Point3d operator*(const double& coef); + Point3d operator/(const double& div); + void operator/=(const double& div); + void operator+=(const Point3d& other); + void operator-=(const Point3d& other); + void operator*=(const double& coef); + bool operator==(const Point3d& other) const; + bool operator!=(const Point3d& other); + + friend std::ostream& operator<<(std::ostream& os, const Point3d& pt); +}; + + +} /* namespace model */ + +#endif /* POINT3D_H_ */ diff --git a/include/model/rotation3d.h b/include/model/rotation3d.h new file mode 100644 index 0000000..a2b757b --- /dev/null +++ b/include/model/rotation3d.h @@ -0,0 +1,49 @@ +/** + * @file rotation3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef RAOTATION3D_H_ +#define RAOTATION3D_H_ + +//============================================================================== +// Defines +//============================================================================== + +//============================================================================== +// Includes +//============================================================================== + +namespace model { + +/** + * A rotation in space. + */ +class Rotation3d { +public: + double x; + double y; + double z; + + inline Rotation3d(const double& x = 0.0, const double& y = 0.0, const double& z = 0.0) { + this->x = x; + this->y = y; + this->z = z; + } + + Rotation3d(const Rotation3d& other); + + Rotation3d& operator=(const Rotation3d& other); + + /** + * Returns a rotation that represents the inverse of the current one. + */ + Rotation3d getInverse(); +}; + +} /* namespace model */ + +#endif /* RAOTATION3D_H_ */ diff --git a/include/model/scene.h b/include/model/scene.h new file mode 100644 index 0000000..08f7166 --- /dev/null +++ b/include/model/scene.h @@ -0,0 +1,198 @@ +/** + * @file scene.h + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +#ifndef SCENE_H_ +#define SCENE_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" +#include "model/vector3d.h" +#include "model/labeledPlane3d.h" + +#include "shapes/hough.h" +#include "shapes/shape.h" +#include "slam6d/Boctree.h" +#include "slam6d/io_types.h" + +#include + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +/** + * All available plane detection algos. + */ +enum PlaneAlgorithm { + RHT, SHT, PHT, PPHT, APHT, RANSAC +}; + +namespace model { + +/** + * A class defining a 3d scene. + */ +class Scene { +private: + // private fields + static const double PRECISION; //!< Precision at which to draw the 3d Bresenham line. + static const double RAY_DIST; //!< The max distance to consider that a ray hit something. + static const double PATCH_DIST; //!< The distance between each discrete patch on a wall surface. + static const double WALL_DIST; //!< Tolerance to consider a point part of a wall, squared. + static const double MIN_EMPTY_AREA; //!< The minimum empty area percentage to be considered a window. + static const double MIN_EDGE_COV; //!< Minimum edge coverage coefficient. + +public: + // public fields + SearchTree *octTree; //!< An efficient octree containing the points. + double **octTreePoints; //!< Used to construct the octree. + unsigned int nrPoints; //!< The total number of points in the octree. + + std::vector points; //!< The 3d point cloud. + std::vector planes; //!< The list of planes in our scene. + + std::vector walls; //!< The walls of the room. + LabeledPlane3d ceiling; //!< The ceiling of the room. + LabeledPlane3d floor; //!< The floor of the room. + + std::vector finalOpenings; //!< The windows of the room. + + std::vector poses; //!< Container for all the poses from where scans have been taken from. + +protected: + // protected methods + Scene(); + +public: + // public methods + inline Scene(const std::vector& points, + const std::vector& planes) : + points(points), + planes(planes) + { + if (!quiet) cout << "== Creating scene..." << endl; + this->nrPoints = 0; + }; + + Scene(const IOType& type, + const int& start, const int& end, + std::string dir, const bool& scanserver, + const int& maxDist, const int& minDist, + const PlaneAlgorithm& alg, const int& octree, const double& red, + const vector& poses); + + Scene(const Scene& other); + ~Scene(); + + /** + * Given some planes, returns the HORIZONTAL convex hull formed by the + * application point inside the plane objects, only of VERTICAL planes. + */ + static std::vector getConvexHull(std::vector planes); + + /** + * Removes planes that have similar normals. [O(n^2)] + * @warning the hull is not averaged, it is simply the first found hull for each plane + */ + static std::vector getSignificantPlanes(std::vector planes); + + /** + * Returns true if the highest horizontal plane has been found. + */ + bool getCeiling(std::vector planes, Plane3d& result); + + /** + * Returns true if the lowest horizontal plane has been found. + */ + bool getFloor(std::vector planes, Plane3d& result); + + /** + * Creates the walls, floor and ceiling. + */ + void detectWalls(); + + /** + * Performs ray casting from source point to destination and returns true + * if the ray successfully reached the destination point, returning the + * point it hit along the way. + */ + bool castRay(const model::Point3d& src, const model::Point3d& dest, const double& extraDist, + Point3d& ptHit); + + /** + * Applies labels to the given plane. + */ + void applyLabels(LabeledPlane3d& surf); + + /** + * Applies labels to all the walls. + */ + void applyAllLabels(); + + /** + * Finds all openings using the SVM. + */ + void detectPotentialOpenings(const LabeledPlane3d& surf, + std::vector& openings); + + /** + * Applies KMeans clustering to the multiple windows yielding only one possible window for each cluster. + * Does not work with OpenCV 2.4.0!!! + */ + void clusterOpenings(const LabeledPlane3d& surf, const std::vector& openings, + std::vector& result) const; + + /** + * Returns all openings, after deciding which are the correct ones. + */ + void addFinalOpenings(const LabeledPlane3d& surf, + std::vector& result); + + /** + * Corrects an image to fill in missing data. + */ + void correct(LabeledPlane3d& surf, const std::vector& openings); + + /** + * Writes the walls to appropriate files in the given folder. + */ + void writeModel(std::string dir); + + /** + * Writes the corrected walls to the given folder. + */ + void writeCorrectedWalls(std::string dir); + + /** + * Computes the corrected wall in UOS_RGB. + */ + void getCorrectedWall(const LabeledPlane3d& surf, vector >& points); + +private: + // private methods + + /** + * Floods a point on the labeling matrix with the other given value. + */ + void flood(LabeledPlane3d& surf, + const int& i, const int& j, + const Label& target, const Label& replacement); + + /** + * Returns true if the cube centered at the given coordinates is occupied. + */ + bool isOccupied(const Point3d& center, const double& width); + +}; + +} /* namespace model */ + +#endif /* SCENE_H_ */ diff --git a/include/model/util.h b/include/model/util.h new file mode 100644 index 0000000..9d2116e --- /dev/null +++ b/include/model/util.h @@ -0,0 +1,74 @@ +/** + * @file util.h + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +#ifndef UTIL_H_ +#define UTIL_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/vector3d.h" + +#include +#include + +namespace model { + +/** + * Checks if a point is one one side of an edge. + */ +bool sameSide(const model::Point3d& p1, const model::Point3d& p2, const model::Point3d& a, const model::Point3d& b); + +/** + * Checks if this point lies inside a certain convex hull. + */ +bool insideHull(const model::Point3d& pt, const std::vector& hull); + +/** + * Computes the convex hull of 3D points, disregarding their height. + */ +std::vector getHorizontalConvexHull(std::vector points); + +/** + * Checks if a file exists. + * @param fileName the name of the file to check for existance + */ +bool fileExists(const std::string& fileName); + +/** + * @return true if given file is a directory + */ +bool fileIsDir(const std::string& fileName); + +/** + * Creates a directory at the given path. + */ +bool makeDir(const std::string& path); + +/** + * definition of x^2 + */ +template +static inline T sqr(const T& x) { + return x * x; +} + +/** + * generates a random RGB color + */ +static inline void randomColor(const int& maxVal, + int& r, int& g, int& b) +{ + r = rand() % maxVal; + g = rand() % maxVal; + b = rand() % maxVal; +} + +} /* namespace model */ + +#endif /* UTIL_H_ */ diff --git a/include/model/vector3d.h b/include/model/vector3d.h new file mode 100644 index 0000000..b007928 --- /dev/null +++ b/include/model/vector3d.h @@ -0,0 +1,92 @@ +/** + * @file vector3d.h + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +#ifndef VECTOR3D_H_ +#define VECTOR3D_H_ + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" + +#include + +namespace model { + +/** + * A vector in space. + */ +class Vector3d { +public: + double x; + double y; + double z; + + Vector3d(); + + Vector3d(const double& x, const double& y, const double& z); + + /** + * constructor for vector b - a, where a and b are points + */ + Vector3d(const Point3d& a, const Point3d& b); + + Vector3d(const Vector3d& other); + + Vector3d& operator=(const Vector3d& other); + + /** + * normalizes the vector + * @warning in place + */ + void normalize(); + + /** + * inverts the vector + * @warning in place + */ + void invert(); + + /** + * @return the length of the vector + */ + double length() const; + + /** + * rotates the vector around the origin by the given rotation + * @param rot the rotation object that describes how much to rotate the vector + * @warning in place + */ + void rotate(const Rotation3d& rot); + + /** + * @return the cross product (still a vector) between this vector and another given one + */ + Vector3d crossProduct(const Vector3d& other) const; + + /** + * @return the dot product between this vector and another given one + */ + double dotProduct(const Vector3d& other) const; + + /** + * @return the angle between two vectors + */ + double angle(const Vector3d& other); + + void operator+=(const Vector3d& other); + Vector3d operator+(const Vector3d& other); + Vector3d operator*(const double& val); + void operator/=(const double& div); + + friend std::ostream& operator<<(std::ostream& os, const Vector3d& vect); +}; + +} /* namespace model */ + +#endif /* VECTOR3D_H_ */ diff --git a/include/pmd/cvpmd.h b/include/pmd/cvpmd.h new file mode 100644 index 0000000..ef51e06 --- /dev/null +++ b/include/pmd/cvpmd.h @@ -0,0 +1,97 @@ +/** + * @file cvpmd.h + * @brief pmdaccess wrappers, PMD -> OpenCV marshalling and a bit of math. + * @author Stanislav `Cfr` Serebryakov + */ +#pragma once + +#include "pmdsdk2.h" +#include + +/** + * @brief Structure for PMD IO, see initPMD. + */ +typedef struct PMD { + PMDHandle hnd; /**< handle for pmd IO */ + float *data; /**< image quering buffer */ + PMDDataDescription dd; /**< contains image size, integration time, etc */ +} PMD; + +/** + * PMD Constructor + * @param *plugin IO plugin name i.e. o3d.L32.pcp + * @param *ip PMD camera IP address + * @return initialized PMD struct + */ +PMD *initPMD(const char* plugin, const char *ip); + +/** + * Destructor + */ +void releasePMD(PMD **pmd); + + +/** + * Returns pointer to the data (used to save float data for offline mode) + */ +float *pmdDataPtr(PMD *p); + + +/** + * Converts PMD data (stored in PMD struct) to provided IplImage (new will be created if NULL passed) + * @param *p initialized PMD struct with grabbed data (i.e. pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float))) + * @param *img destination IplImage (default: 0, new one will be created) + * @return generated IplImage + */ +IplImage *toIplImage(const PMD *p, IplImage *img); + +/** + * Converts PMD distance point to cartesian coords with intrinsic matrix + * @param uv PMD depth point coords (row, col) //FIXME: order! + * @param dist PMD distance for given point + * @param intrinsicMatrix PMD camera' intrinsic matrix (from calibration) + * @return 3D Point in OpenCV format (CvPoint3D32f) + */ + +CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix + , const CvPoint2D32f *pts, const int ptsCnt + , CvPoint3D32f *unitVs); + + +CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts); + +/** + * Get pmd camera' image size + * @param *p initialized PMD struct + * @return image size in OpenCV format (CvSize) + */ +CvSize pmdGetSize(const PMD *p); + +/** + * Query PMD inrensities image. Dont forget to call pmdUpdate before quering! + * @param *p initialized PMD struct + * @param *img destination IplImage (defaul: 0, new one will be created if null passed) + * @return image in OpenCV format (IplImage) + */ +IplImage *pmdQueryImage(PMD *p, IplImage *img); +IplImage *pmdQueryImageAsync(PMD *p, IplImage *img); + +/** + * Store PMD distances (inside p->data) + */ +void pmdRetriveDistances(PMD *p); +void pmdRetriveDistancesAsync(PMD *p); + + +/** + * Query PMD distance image in OpenCV format + */ +IplImage *pmdQueryDistances(PMD *p, IplImage *img); +IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img); + +/** + * Query PMD aplitudes image in OpenCV format (might be used as belief measure) + */ +IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img); +IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img); + diff --git a/include/pmd/pmdWrap.h b/include/pmd/pmdWrap.h new file mode 100644 index 0000000..f4cd589 --- /dev/null +++ b/include/pmd/pmdWrap.h @@ -0,0 +1,82 @@ +#pragma once + +#include +#include + +#include + +#include "cvpmd.h" + +#include "slam6d/icp6Dminimizer.h" + +struct PMDFiles { + FILE *i; // intens + FILE *a; // ampl + FILE *p; // 3d pts + FILE *h; // pmd image headers +}; + +struct TrackingSettings { + int winSz; + double quality; + int minFeatures; + int maxFeatures; + int minDist; + IplImage *pyr; + IplImage *pyrPrev; + IplImage *iCamPrev; + CvPoint2D32f *pts[2]; + char *ptsStatus; + int trackingFlags; +}; + +struct PMDCam { + PMD *_pmd; + CvCapture *_capture; + PMDFiles _f; + CvMat *intrinsicPMD; + CvMat *intrinsicCam; + CvMat *distortionPMD; + CvMat *distortionCam; + CvMat *rotation; + CvMat *translation; + // Undistortion maps + IplImage *_mapXCam; + IplImage *_mapYCam; + IplImage *_mapXPMD; + IplImage *_mapYPMD; + // Data + IplImage *_iCamColorUBuffer; + IplImage *iCamColor; + IplImage *iCam; + IplImage *_iCamColorU; + IplImage *iPMDI; + IplImage *_iPMDIU; + IplImage *iPMDA; + IplImage *_iPMDAU; + CvPoint3D32f **pts; + unsigned int timestamp; + unsigned int timestampUsec; + // Pose Estimation + icp6Dminimizer *icp; + int minPts4Pose; + double maxError; + int minConsensusPts; + int savePoses; + // Settings + ImageHeaderInformation *header; + int synchronous; + int hybrid; + int _offlineMode; + int historyLen; + TrackingSettings _track; + double sigmaDepth; + double sigmaColor; + double dpThreshold; + +}; + +PMDCam *initPMDCam(const char *confPath); +int grabData(PMDCam *pmdc); + + diff --git a/include/pmd/pmdaccess2/pmddatadescription.h b/include/pmd/pmdaccess2/pmddatadescription.h new file mode 100644 index 0000000..e2d61c9 --- /dev/null +++ b/include/pmd/pmdaccess2/pmddatadescription.h @@ -0,0 +1,354 @@ +/***************************************************************************** + * PMDSDK 2 + * + * Copyright (c) 2006-2007 PMD Technologies GmbH + * All Rights Reserved. + * + * File: pmddatadescription.h + * Author: Martin Profittlich + * Created: 20060808 + * + *****************************************************************************/ + +#ifndef DATADESCRIPTION_H_672861066752896024487934289650 +#define DATADESCRIPTION_H_672861066752896024487934289650 + +/// \addtogroup core +/// @{ + +#include "pmdsdk2common.h" + +BEGIN_EXTERN_C + + +/// \addtogroup DataCodes +/// @{ + +// TODO: move defines to separate file + +// raw data ID system: +// 0x00 0x00 0bORWWWWWW 0bRRRRDABD +// R = Reserved, must be 0 +// O = Byte order (1 = Big Endian) +// W = Bit width +// D = Difference +// A = Channel A +// B = Channel B + +/// A/B PMD data (e.g. PMD[vision] 3k-S) +#define PMD_RAW_L16_AB 0x00001006u +/// A/B PMD data (BigEndian) (e.g. CamCube) +#define PMD_RAW_B16_AB 0x00009006u +/// Difference and A/B PMD data +#define PMD_RAW_L16_DAB 0x0000100Eu +/// Difference and A/B PMD data (Big Endian) (e.g. USB-L) +#define PMD_RAW_B16_DAB 0x0000900Eu +/// A/B and difference PMD data +#define PMD_RAW_L16_ABD 0x00001007u +/// A/B and difference PMD data (Big Endian) (e.g. PMD[vision] A2 w/o addition information) +#define PMD_RAW_B16_ABD 0x00009007u +/// Packed PMD difference data (e.g. PMD[vision] 19k) +#define PMD_RAW_P12_D 0x00000C01u +/// PMD difference data (e.g. PMD[vision] 64) +#define PMD_RAW_L16_D 0x00001001u + +/// PMD difference data with saturation information +//#define PMD_RAW_L16D_SAT 1005u +/// A/B, difference and information PMD data (e.g. PMD[vision] A2 w/ additional information) +//#define PMD_RAW_L16ABD_AUX 1006u + +/// Unknown data +#define PMD_UNKNOWN_DATA 0x00000000u + +/// 32-bit floating point distances in meters +#define PMD_DISTANCE_LF32 0x00010001u +/// 32-bit floating point amplitudes +#define PMD_AMPLITUDE_LF32 0x00010002u +/// 32-bit floating point intensities +#define PMD_INTENSITY_LF32 0x00010004u +/// 32-bit floating point reflectivities +#define PMD_REFLECTIVITY_LF32 0x00010008u +/// 16-bit boolean information +#define PMD_FLAGS_16 0x00010010u + +/// Cartesian X coordinates +#define PMD_X_COORD_LF32 0x00010020u +/// Cartesian Y coordinates +#define PMD_Y_COORD_LF32 0x00010040u +/// Cartesian Z coordinates +#define PMD_Z_COORD_LF32 0x00010080u + +/// 16 bit distances in millimeters and amplitudes +#define PMD_DISTANCE_I16_AMPLITUDE_I16 0x00020003u +/// 16 bit distances in 100 micrometers and amplitudes +#define PMD_DISTANCE_100UM_I16_AMPLITUDE_I16 0x00020103u + +/// A3 camera data v2.31 +#define PMD_A3_DATA_2_31 0x00040003u +/// A3 camera data v4 +#define PMD_A3_DATA_4 0x00040005u +/// A3 camera raw data +#define PMD_A3_RAWDATA_2_31 0x00040007u +/// A3 sub type +#define PMD_A3_DISTANCE 0x00000001u +/// A3 sub type +#define PMD_A3_AMPLITUDE 0x00000002u +/// A3 sub type +#define PMD_A3_CONFIDENCE 0x00000004u +/// A3 sub type +#define PMD_A3_COORDINATES 0x00000008u +/// A3 sub type +#define PMD_A3_OBJECT_LIST 0x00000010u + +/// A3 camera data +#define PMD_O3D_DATA_1_7 0x00050003u +/// O3D sub type +#define PMD_O3D_DISTANCE 0x00000002u +/// O3D sub type +#define PMD_O3D_INTENSITY 0x00000004u +/// O3D sub type +#define PMD_O3D_STDDEV 0x00000010u +/// O3D sub type +#define PMD_O3D_VIEW_X 0x00000020u +/// O3D sub type +#define PMD_O3D_VIEW_Y 0x00000040u +/// O3D sub type +#define PMD_O3D_VIEW_Z 0x00000080u +/// O3D sub type +#define PMD_O3D_X 0x00000100u +/// O3D sub type +#define PMD_O3D_Y 0x00000200u +/// O3D sub type +#define PMD_O3D_Z 0x00000400u + +/// user defined data type +#define PMD_USER_DEFINED_0 0xFFFF0000u +/// user defined data type +#define PMD_USER_DEFINED_1 0xFFFF0001u +/// user defined data type +#define PMD_USER_DEFINED_2 0xFFFF0002u +/// user defined data type +#define PMD_USER_DEFINED_3 0xFFFF0003u +/// user defined data type +#define PMD_USER_DEFINED_4 0xFFFF0004u +/// user defined data type +#define PMD_USER_DEFINED_5 0xFFFF0005u +/// user defined data type +#define PMD_USER_DEFINED_6 0xFFFF0006u +/// user defined data type +#define PMD_USER_DEFINED_7 0xFFFF0007u +/// user defined data type +#define PMD_USER_DEFINED_8 0xFFFF0008u +/// user defined data type +#define PMD_USER_DEFINED_9 0xFFFF0009u +/// user defined data type +#define PMD_USER_DEFINED_10 0xFFFF000au +/// user defined data type +#define PMD_USER_DEFINED_11 0xFFFF000bu +/// user defined data type +#define PMD_USER_DEFINED_12 0xFFFF000cu +/// user defined data type +#define PMD_USER_DEFINED_13 0xFFFF000du +/// user defined data type +#define PMD_USER_DEFINED_14 0xFFFF000eu +/// user defined data type +#define PMD_USER_DEFINED_15 0xFFFF000fu + +// pixel origin values +/// The top-right pixel is the first pixel +#define PMD_ORIGIN_TOP_RIGHT 0x00000000u +/// The top-left pixel is the first pixel +#define PMD_ORIGIN_TOP_LEFT 0x00000001u +/// The bottom-right pixel is the first pixel +#define PMD_ORIGIN_BOTTOM_RIGHT 0x00000002u +/// The bottom-left pixel is the first pixel +#define PMD_ORIGIN_BOTTOM_LEFT 0x00000003u + +/// The pixel origin is on the right edge of the image +#define PMD_ORIGIN_RIGHT 0x00000000u +/// The pixel origin is on the left edge of the image +#define PMD_ORIGIN_LEFT 0x00000001u +/// The pixel origin is on the top edge of the image +#define PMD_ORIGIN_TOP 0x00000000u +/// The pixel origin is on the bottom edge of the image +#define PMD_ORIGIN_BOTTOM 0x00000002u + +// pixel direction values +/// The second pixel is on the right or the left of the first pixel +#define PMD_DIRECTION_HORIZONTAL 0x00000000u +/// The second pixel is aboce or below the first pixel +#define PMD_DIRECTION_VERTICAL 0x00010000u + +// sub header types +/// The PMDGenericData structure is used in the PMDDataDescription +#define PMD_GENERIC_DATA 0x00000001u +/// The PMDImageData structure is used in the PMDDataDescription +#define PMD_IMAGE_DATA 0x00000002u + +/// @} + +/// Generic data description +struct PMDGenericData +{ + /// Specific type of the data + unsigned subType; + /// Number of elements in the data + unsigned numElem; + /// Size of one element in bytes + unsigned sizeOfElem; +}; + +/// Standard PMD image data. +struct PMDImageData +{ + /// Specific type of the data + unsigned subType; + /// Number of columns in the image + unsigned numColumns; + /// Number of rows in the image + unsigned numRows; + /// Number of sub images + unsigned numSubImages; + + /// Integration times at which the data was captured + int integrationTime[4]; + /// Modulation frequencies at which the data was captured + int modulationFrequency[4]; + /// Offsets for up to four separate measurements in mm. + int offset[4]; + + /// Pixel aspect ratio. The ratio is pixelAspectRatio / 1000.0 + int pixelAspectRatio; + /// Position/direction of the first pixel. + int pixelOrigin; + + /// Time at which the data was captured. Most significant word. + int timeStampHi; + /// Time at which the data was captured. Least significant word. + unsigned timeStampLo; + + /// Reserved for future use. + char reserved[24]; + + /// Contains user-defined information. This will not be evaluated by the PMDSDK. + unsigned userData0; +}; + +/// Layout description of a data block. +struct PMDDataDescription +{ + /// Unique ID of the plugin that generated the data + unsigned PID; + /// Unique ID of the data + unsigned DID; + /// Interpretation of the data + unsigned type; + /// Size of the data block in bytes + unsigned size; + + /// Type of the sub header + unsigned subHeaderType; + /// Specific interpretation-dependent information + union + { + /// Generic data + struct PMDGenericData gen; + /// Standard PMD image data + struct PMDImageData std; + /// Ensure fixed size + char fillUpToSizeOfStructure[108]; + } +#ifdef PMD_ANSI_C + u +#endif + ; +}; + +#ifndef PMD_NO_DEPRECATED + +typedef struct PMDDataDescription DataDescription; +typedef struct PMDImageData StandardPMDData; +typedef struct PMDGenericData GenericData; +#define GENERIC_DATA PMD_GENERIC_DATA +#define STANDARD_PMD_DATA PMD_IMAGE_DATA + +#define RAW_L16_AB PMD_RAW_L16_AB +#define RAW_L16_DAB PMD_RAW_L16_DAB +#define RAW_B16_DAB PMD_RAW_B16_DAB +#define RAW_L16_ABD PMD_RAW_L16_ABD +#define RAW_B16_ABD PMD_RAW_B16_ABD +#define RAW_P12_D PMD_RAW_P12_D +#define RAW_L16_D PMD_RAW_L16_D + +#define UNKNOWN_DATA PMD_UNKNOWN_DATA + +#define DISTANCE_LF32 PMD_DISTANCE_LF32 +#define AMPLITUDE_LF32 PMD_AMPLITUDE_LF32 +#define INTENSITY_LF32 PMD_INTENSITY_LF32 +#define REFLECTIVITY_LF32 PMD_REFLECTIVITY_LF32 +#define FLAGS_16 PMD_FLAGS_16 + +#define X_COORD_LF32 PMD_X_COORD_LF32 +#define Y_COORD_LF32 PMD_Y_COORD_LF32 +#define Z_COORD_LF32 PMD_Z_COORD_LF32 + +#define DISTANCE_I16_AMPLITUDE_I16 PMD_DISTANCE_I16_AMPLITUDE_I16 +#define DISTANCE_100UM_I16_AMPLITUDE_I16 PMD_DISTANCE_100UM_I16_AMPLITUDE_I16 + +#define A3_DATA_2_31 PMD_A3_DATA_2_31 +#define A3_DATA_4 PMD_A3_DATA_4 +#define A3_RAWDATA_2_31 PMD_A3_RAWDATA_2_31 +#define A3_DISTANCE PMD_A3_DISTANCE +#define A3_AMPLITUDE PMD_A3_AMPLITUDE +#define A3_CONFIDENCE PMD_A3_CONFIDENCE +#define A3_COORDINATES PMD_A3_COORDINATES +#define A3_OBJECT_LIST PMD_A3_OBJECT_LIST + +#define O3D_DATA_1_7 PMD_O3D_DATA_1_7 +#define O3D_DISTANCE PMD_O3D_DISTANCE +#define O3D_INTENSITY PMD_O3D_INTENSITY +#define O3D_STDDEV PMD_O3D_STDDEV +#define O3D_VIEW_X PMD_O3D_VIEW_X +#define O3D_VIEW_Y PMD_O3D_VIEW_Y +#define O3D_VIEW_Z PMD_O3D_VIEW_Z +#define O3D_X PMD_O3D_X +#define O3D_Y PMD_O3D_Y +#define O3D_Z PMD_O3D_Z + +#define USER_DEFINED_0 PMD_USER_DEFINED_0 +#define USER_DEFINED_1 PMD_USER_DEFINED_1 +#define USER_DEFINED_2 PMD_USER_DEFINED_2 +#define USER_DEFINED_3 PMD_USER_DEFINED_3 +#define USER_DEFINED_4 PMD_USER_DEFINED_4 +#define USER_DEFINED_5 PMD_USER_DEFINED_5 +#define USER_DEFINED_6 PMD_USER_DEFINED_6 +#define USER_DEFINED_7 PMD_USER_DEFINED_7 +#define USER_DEFINED_8 PMD_USER_DEFINED_8 +#define USER_DEFINED_9 PMD_USER_DEFINED_9 +#define USER_DEFINED_10 PMD_USER_DEFINED_10 +#define USER_DEFINED_11 PMD_USER_DEFINED_11 +#define USER_DEFINED_12 PMD_USER_DEFINED_12 +#define USER_DEFINED_13 PMD_USER_DEFINED_13 +#define USER_DEFINED_14 PMD_USER_DEFINED_14 +#define USER_DEFINED_15 PMD_USER_DEFINED_15 + +#define ORIGIN_TOP_RIGHT PMD_ORIGIN_TOP_RIGHT +#define ORIGIN_TOP_LEFT PMD_ORIGIN_TOP_LEFT +#define ORIGIN_BOTTOM_RIGHT PMD_ORIGIN_BOTTOM_RIGHT +#define ORIGIN_BOTTOM_LEFT PMD_ORIGIN_BOTTOM_LEFT + +#define ORIGIN_RIGHT PMD_ORIGIN_RIGHT +#define ORIGIN_LEFT PMD_ORIGIN_LEFT +#define ORIGIN_TOP PMD_ORIGIN_TOP +#define ORIGIN_BOTTOM PMD_ORIGIN_BOTTOM + +#define DIRECTION_HORIZONTAL PMD_DIRECTION_HORIZONTAL +#define DIRECTION_VERTICAL PMD_DIRECTION_VERTICAL + +#endif + +END_EXTERN_C + +/// @} + +#endif diff --git a/include/pmd/pmdaccess2/pmdheader.h b/include/pmd/pmdaccess2/pmdheader.h new file mode 100644 index 0000000..627b2d7 --- /dev/null +++ b/include/pmd/pmdaccess2/pmdheader.h @@ -0,0 +1,131 @@ +#pragma once + +enum FilterTypes { + NO_FILTER = 0, + MEDIAN_FILTER, //1 + MEAN_FILTER, //2 + ADAPTIVE_MEAN_FILTER //3 +}; + + + +typedef struct ImageHeaderInformation { + float DataSize; + float HeaderSize; + float ImageType; + float SamplingMode; + float SamplingRate; + float IntegrationTime_Exp0; + float IntegrationTime_Exp1; + float Seconds; + float Useconds; + float MedianFilter; + float MeanFilter; + float AdaptiveMeanFilter; + float ExponentialFilter; + float ExponentialFilterValue; + float AdaptiveMeanValueFilterThreshold; + float ValidImage; + float ErrorCode; + float Temperature; + float CurrentProgram; + float CurrentValue; + float CurrentTriggerMode; + float CurrentProduct; + float CurrentUnit; + float RoiLeft; + float RoiRight; + float RoiTop; + float RoiBottom; + float FocalDistance; + float PixelSize; + float DelayStartTime; + float DelayReverseTime; + float OutputTypeOut1; + float OutputTypeOut2; + float internaluse01; + float internaluse02; + float internaluse03; + float internaluse04; + float internaluse05; + float internaluse06; + float internaluse07; + float internaluse08; + float internaluse09; + float internaluse10; + float internaluse11; + float internaluse12; + float internaluse13; + float internaluse14; + float internaluse15; + float internaluse16; + float internaluse17; + float internaluse18; + float internaluse19; + float internaluse20; + float internaluse21; + float internaluse22; + float internaluse23; + float internaluse24; + float AverageDetermination; + float Reserved1; + float Reserved2; + float Reserved3; + float Reserved4; + float Reserved5; + float Reserved6; + float Reserved7; + float Reserved8; + float Reserved9; + float Reserved10; + float Reserved11; + float Reserved12; + float Reserved13; + float Reserved14; + float Reserved15; + float Reserved16; + float Reserved17; + float Reserved18; + float Reserved19; + float Reserved20; + float Reserved21; + float Reserved22; + float Reserved23; + float Reserved24; + float Reserved25; + float Reserved26; + float Reserved27; + float Reserved28; + float Reserved29; + float Reserved30; + float Reserved31; + float Reserved32; + float Reserved33; + float Reserved34; + float Reserved35; + float Reserved36; + float Reserved37; + float Reserved38; + float Reserved39; + float Reserved40; + float Reserved41; + float Reserved42; + float Reserved43; + float Reserved44; + float Reserved45; +} T_IMAGEHEADER; + +enum ImageTypes { + INVALID_IMAGE = 0, + DISTANCE_IMAGE , //1 + INTENSITY_IMAGE, //2 + NOT_USED_TYPE, //3 + CURRENT_STD_IMAGE, //4 + NORMAL_X_IMAGE, //5 + NORMAL_Y_IMAGE, //6 + NORMAL_Z_IMAGE, //7 + KARTESIAN_X_IMAGE, //8 + KARTESIAN_Y_IMAGE, //9 + KARTESIAN_Z_IMAGE //10 +}; + diff --git a/include/pmd/pmdaccess2/pmdsdk2.h b/include/pmd/pmdaccess2/pmdsdk2.h new file mode 100644 index 0000000..7a2257a --- /dev/null +++ b/include/pmd/pmdaccess2/pmdsdk2.h @@ -0,0 +1,260 @@ +/* + * PMDSDK 2 + * + * File: pmdsdk2.h + * Author: Martin Profittlich + * Version: 1.0 + * + * General header file for applications using the PMDSDK 2.0. + * Contains all necessary definitions and prototypes. + * + * Copyright (c) 2006-2007 PMD Technologies GmbH. + * All Rights Reserved. + * + */ + +// +// Differences from MiniSDK 1.0: +// +// - Distance, amplitude and intensity data type is float (was double) +// - pmdGetRaw() is now pmdGetSourceData() +// - Error code values changed +// - User is responsible for memory (de-)allocation now +// - Info commands removed, introduced pmdSourceCommand instead +// - Plugins! +// - Multiple integration times and modulation frequencies +// - Only one connection command, camera identification via plugin/parameter +// + +#ifndef PMDMSDK2_H_INCLUDED_2503171013 +#define PMDMSDK2_H_INCLUDED_2503171013 + +#include "pmddatadescription.h" +#include "pmdheader.h" + +#ifdef _WIN32 +# ifndef DLLSPEC +# define DLLSPEC __declspec(dllimport) +# endif +#else +# ifdef DLLSPEC +# undef DLLSPEC +# endif +# define DLLSPEC +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +// TYPES + +/// Handle for a camera connection. +///This handle is used for all subsequent operations. +/// +//typedef void* PMDHandle; +typedef unsigned PMDHandle; + +// FUNCTIONS + +ImageHeaderInformation *retriveHeader(); + +int pmdGetDistancesAsync(PMDHandle hnd, float *data, size_t maxLen); +int pmdGetAmplitudesAsync(PMDHandle hnd, float * data, size_t maxLen); +int pmdGetIntensitiesAsync(PMDHandle hnd, float * data, size_t maxLen); + + +/// Connect to a PMD camera or other data source +///\param hnd Empty PMDHandle structure. On success, this value +///will contain the handle for subsequent operations. +///\param rplugin Path of the camera plugin +///\param rparam Parameter for the camera plugin +///\param pplugin Path of the processing plugin. If this is NULL, no porcessing plugin will be loaded. +///\param pparam Parameter for the processing plugin +///\return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdOpen (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam); + +/// Connect to a PMD camera or other data source without processing +///\param hnd Empty PMDHandle structure. On success, this value +///will contain the handle for subsequent operations. +///\param rplugin Path of the camera plugin +///\param rparam Parameter for the camera plugin +///\return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdOpenSourcePlugin (PMDHandle * hnd, const char * rplugin, const char * rparam); + +/// Disconnect and close the handle. +/// \param hnd Handle of the connection. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdClose (PMDHandle hnd); + +/// Get an error description from the last error. +/// Error messages are stored per handle. A new error associated with PMDHandle A +/// does not overwrite the last error message associated with PMDHandle B. +/// \param hnd Handle of the connection/plugin. +/// \param error Memory to hold the error message. +/// \param maxLen Maximum length of the error message, including the terminating zero byte. +/// Longer messages will be truncated. +DLLSPEC int pmdGetLastError (PMDHandle hnd, char * error, size_t maxLen); + +/// Retrieve the a new frame from the camera. +/// To obtain the actual data, use pmdGetSourceData, pmdGetDistances, +/// pmdGetAmplitudes etc. +/// \param hnd Handle of the connection. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdUpdate (PMDHandle hnd); + +/// Set the integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t Integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdSetIntegrationTime (PMDHandle hnd, unsigned idx, unsigned t); + +/// Get the integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t Pointer to a variable to contain the +/// integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetIntegrationTime (PMDHandle hnd, unsigned * t, unsigned idx); + +/// Get a supported integration time of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the integration time. +/// \param t The desired integration time +/// \param w Where to look for a valid integration time in respect to the desired +/// integration time (CloseTo, AtLeast or AtMost) +/// \param responsible Pointer to a variable to contain the +/// integration time in microseconds. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetValidIntegrationTime (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned t); + +/// Set the modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param f Modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdSetModulationFrequency (PMDHandle hnd, unsigned idx, unsigned f); + +/// Get the modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param t Pointer to a variable to contain the +/// modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetModulationFrequency (PMDHandle hnd, unsigned * f, unsigned idx); + +/// Get a supported modulation frequency of the camera +/// \param hnd Handle of the connection. +/// \param idx Index of the modulation frequency. +/// \param f The desired modulation frequency +/// \param w Where to look for a valid modulation frequency in respect to the desired +/// modulation frequency (CloseTo, AtLeast or AtMost) +/// \param result Pointer to a variable to contain the +/// modulation frequency in Hz. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetValidModulationFrequency (PMDHandle hnd, unsigned * result, unsigned idx, Proximity w, unsigned f); + +/// Get the raw data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to the memory to contain the address of the data. +/// \param maxLen Maximum length in bytes for the data +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceData (PMDHandle hnd, void * data, size_t maxLen); + +/// Get the size in bytes of the current raw data frame. +/// \param hnd Handle of the connection. +/// \param size Will contain the size after the call +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceDataSize (PMDHandle hnd, size_t * size); + +/// Get the description of the current raw data frame. +/// \param hnd Handle of the connection. +/// \param dd Will contain the PMDDataDescription after the call. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetSourceDataDescription (PMDHandle hnd, struct PMDDataDescription * dd); + +/// Get the distance data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetDistances (PMDHandle hnd, float * data, size_t maxLen); + +/// Get the amplitude data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetAmplitudes (PMDHandle hnd, float * data, size_t maxLen); + +/// Get the intensity data from the current frame. +/// \param hnd Handle of the connection. +/// \param data Pointer to a block of memory to contain the data. +/// \return PMD_OK on success, errorcode otherwise +/// +DLLSPEC int pmdGetIntensities (PMDHandle hnd, float * data, size_t maxLen); + +/// Execute an source plugin-specific command. +/// \param hnd Handle of the connection. +/// \param result Pointer to a block of memory to contain the result string. +/// \param maxLen Maximum length of the result string, including terminating 0. +/// \param cmd The command to be executed. +/// +DLLSPEC int pmdSourceCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); + +/// Execute a processing plugin-specific command. +/// \param hnd Handle of the connection. +/// \param result Pointer to a block of memory to contain the result string. +/// \param maxLen Maximum length of the result string, including terminating 0. +/// \param cmd The command to be executed. +/// +DLLSPEC int pmdProcessingCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); + +// ADDITIONAL PROCESSING + +DLLSPEC int pmdOpenProcessingPlugin (PMDHandle * hnd, const char * pplugin, const char * pparam); + +DLLSPEC int pmdProcess (PMDHandle hnd, + unsigned numOut, struct PMDDataDescription * ddOut, void ** output, + unsigned numIn, struct PMDDataDescription * ddIn, void ** input); + +DLLSPEC int pmdCanProcess (PMDHandle hnd, unsigned * memNeeded, unsigned type, unsigned numFmt, struct PMDDataDescription * fmt); + +// SPECIAL FUNCTIONS +// additional header file? inline code? +DLLSPEC int pmdConnectFireWire (PMDHandle * hnd, unsigned index); +DLLSPEC int pmdConnectASample (PMDHandle * hnd, const char * address); + +#ifndef PMD_NO_DEPRECATED +// DEPRECATED +DLLSPEC int pmdConnect (PMDHandle * hnd, const char * rplugin, const char * rparam, const char * pplugin, const char * pparam); +DLLSPEC int pmdConnectOnlyRaw (PMDHandle * hnd, const char * rplugin, const char * rparam); +DLLSPEC int pmdDisconnect (PMDHandle hnd); +DLLSPEC int pmdOpenAccessPlugin (PMDHandle * hnd, const char * rplugin, const char * rparam); +DLLSPEC int pmdGetRawData (PMDHandle hnd, void * data, size_t maxLen); +DLLSPEC int pmdGetRawDataSize (PMDHandle hnd, size_t * size); +DLLSPEC int pmdGetRawDataDescription (PMDHandle hnd, struct PMDDataDescription * dd); +DLLSPEC int pmdPlatformCommand (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); +DLLSPEC int pmdConfigureProcess (PMDHandle hnd, char * result, size_t maxLen, const char * cmd); +DLLSPEC int pmdGetInfo (PMDHandle hnd, char * result, size_t maxLen, const char * key); +#endif + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/include/pmd/pmdaccess2/pmdsdk2common.h b/include/pmd/pmdaccess2/pmdsdk2common.h new file mode 100644 index 0000000..0d82bf0 --- /dev/null +++ b/include/pmd/pmdaccess2/pmdsdk2common.h @@ -0,0 +1,163 @@ +/***************************************************************************** + * PMDSDK 2 + * + * Copyright (c) 2006-2007 PMD Technologies GmbH + * All Rights Reserved. + * + * File: pmdsdk2common.h + * Author: Martin Profittlich + * Created: 20060530 + * + *****************************************************************************/ + +#ifndef MSDK2COMMON_H_82635748816555424683995524346951 +#define MSDK2COMMON_H_82635748816555424683995524346951 + +/// \addtogroup core +/// @{ + +// Includes + +#include + +// Macros + +#ifdef __cplusplus +/// Mark beginning of extern "C" block +# define BEGIN_EXTERN_C extern "C" { +/// Mark ending of extern "C" block +# define END_EXTERN_C } +#else +/// Mark beginning of extern "C" block +# define BEGIN_EXTERN_C +/// Mark ending of extern "C" block +# define END_EXTERN_C +#endif + +#ifdef __cplusplus +/// Mark beginning of pmd namespace +# define BEGIN_PMD_NAMESPACE namespace pmd { +/// Mark ending of pmd namespace +# define END_PMD_NAMESPACE } +#endif + +#ifndef _WIN32 +/// No export needed for non-windows platforms +# define PMD_EXPORT +#else +/// Win32 export definition (only if not already defined as dllexport) +# ifndef PMD_EXPORT +# define PMD_EXPORT __declspec(dllimport) +# endif +#endif + +// Types + +/// Single precision float +typedef float PMDFloat32; +/// Double precision float +typedef double PMDFloat64; + +/// Standard float +#ifndef PMDFloat +typedef PMDFloat32 PMDFloat; +#endif + +/// Unsigned 32-bit integer +typedef unsigned PMDUInt32; +/// Signed 32-bit integer +typedef signed int PMDSInt32; + +/// Unsigned 16-bit integer +typedef unsigned short PMDUInt16; +/// Signed 16-bit integer +typedef signed short PMDSInt16; + +/// Unsigned 8-bit integer +typedef unsigned char PMDUInt8; +/// Signed 8-bit integer +typedef signed char PMDSInt8; + +/// Enumeration for retrieving valid integration times and modulation +/// frequencies +typedef enum { AtLeast, AtMost, CloseTo } Proximity; + +// Resultcodes + +/// \addtogroup StatusCodes +/// @{ + +/// Success +#define PMD_OK 0 + +/// Runtime error +#define PMD_RUNTIME_ERROR 1024 +/// Generic error +#define PMD_GENERIC_ERROR 1025 +/// Connection lost +#define PMD_DISCONNECTED 1026 +/// An invalid value was given +#define PMD_INVALID_VALUE 1027 + +/// Program error +#define PMD_LOGIC_ERROR 2048 +/// Handle not known (internal error) +#define PMD_UNKNOWN_HANDLE 2049 +/// Requested functionality not implemented +#define PMD_NOT_IMPLEMENTED 2050 +/// Index or value out of range +#define PMD_OUT_OF_BOUNDS 2051 + +/// Could not get resource +#define PMD_RESOURCE_ERROR 4096 +/// Could not open file +#define PMD_FILE_NOT_FOUND 4097 +/// Could not connect to or open the data source +#define PMD_COULD_NOT_OPEN 4098 +/// Could not retrieve the requested data +#define PMD_DATA_NOT_FOUND 4099 +/// There is no more data left +#define PMD_END_OF_DATA 4100 + +// DEPRECATED +#ifndef PMD_NO_DEPRECATED +#define PMD_COULD_NOT_CONNECT 4098 +#endif + +/// @} + +// Limits + +// Versions + +/// Version 1.0.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_0_0 0x00010000 +/// Version 1.1.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_1_0 0x00010100 +/// Version 1.1.1 of the plugin interface +#define PMD_INTERFACE_VERSION_1_1_1 0x00010101 +/// Version 1.2.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_2_0 0x00010200 +/// Version 1.2.1 of the plugin interface +#define PMD_INTERFACE_VERSION_1_2_1 0x00010201 +/// Version 1.3.0 of the plugin interface +#define PMD_INTERFACE_VERSION_1_3_0 0x00010300 +/// The current version of the plugin interface +#define PMD_CURRENT_INTERFACE_VERSION PMD_INTERFACE_VERSION_1_3_0 + +// Helper functions + +BEGIN_EXTERN_C + +/// Generate a new unique ID +unsigned pmdNewGUID (); + +struct PMDDataDescription; +/// Convert byte order of a PMDDataDescription structure. +void pmdHelperConvertDDByteOrder (struct PMDDataDescription * dd); + +END_EXTERN_C + +/// @} + +#endif diff --git a/include/pmd/pose/history.h b/include/pmd/pose/history.h new file mode 100644 index 0000000..c54e33d --- /dev/null +++ b/include/pmd/pose/history.h @@ -0,0 +1,28 @@ +#pragma once + +#include + +struct Frame { + CvMat *trn; + CvMat *rot; + IplImage *img; + CvPoint **status; + CvPoint3D32f **pts; + CvSize sz; + double alignError; +}; + +Frame *allocFrame3DData(CvSize pmdSz); +void fillFrame(Frame *f, IplImage *img, CvSize pmdSz, CvPoint3D32f **pts, CvPoint **status + , CvMat *rot, CvMat *trn, double alignError); +void releaseFrame(Frame **f); + +struct History { + Frame *frame; + History *prev; +}; + +History *createHistory(); +History *addFrame(History *h, Frame *f); +void releaseTail(History *h); +void checkHistoryLen(History *h, int maxLen); diff --git a/include/pmd/pose/motion3-horn.h b/include/pmd/pose/motion3-horn.h new file mode 100644 index 0000000..214e207 --- /dev/null +++ b/include/pmd/pose/motion3-horn.h @@ -0,0 +1,5 @@ +#include + +// Direct 3<->3 points estimation. rot and trn is out parameters (should be initialized before). +void estimatePose3D(CvPoint3D32f *prev, CvPoint3D32f *curr, CvMat *rot, CvMat *trn); + diff --git a/include/scanio/old/scan_io.h b/include/scanio/old/scan_io.h new file mode 100644 index 0000000..340a647 --- /dev/null +++ b/include/scanio/old/scan_io.h @@ -0,0 +1,63 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_H__ +#define __SCAN_IO_H__ + +#include +using std::string; +#include +using std::vector; + +#include "point.h" + +/** + * @brief IO of a 3D scan + * + * This class needs to be instantiated by a class loading + * 3D scans from different file formats. + */ +class ScanIO { +public: + /** + * Default constructor + */ + ScanIO() {} + /** + * Destructor + */ + virtual ~ScanIO() {} + + /** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function is pure virtual. The actual functions + * for loading a 3D scan are called scan_io_* + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) = 0; +}; + +// Since the shared object files are loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_ais.h b/include/scanio/old/scan_io_ais.h new file mode 100644 index 0000000..54b6f44 --- /dev/null +++ b/include/scanio/old/scan_io_ais.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ais file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_AIS_H__ +#define __SCAN_IO_AIS_H__ + +#include +using std::string; +#include +using std::vector; + +#include "slam6d/scan_io.h" + +/** + * @brief 3D scan loader for AIS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ais : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_asc.h b/include/scanio/old/scan_io_asc.h new file mode 100644 index 0000000..a944341 --- /dev/null +++ b/include/scanio/old/scan_io_asc.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in ASC file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_ASC_H__ +#define __SCAN_IO_ASC_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for ASC file format (Riegl scans) + * + * The compiled class is available as shared object file + */ +class ScanIO_asc : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_cad.h b/include/scanio/old/scan_io_cad.h new file mode 100644 index 0000000..4051ae6 --- /dev/null +++ b/include/scanio/old/scan_io_cad.h @@ -0,0 +1,227 @@ +/** + * @file + * @brief IO of a 3D scan for leica ASCII file format with relectance values. + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_CAD_H__ +#define __SCAN_IO_CAD_H__ + +#include +using std::string; +#include +using std::vector; +#include +#include +#include +#include + +#include "scan_io.h" + +#include +#include + +namespace po = boost::program_options; // to reduce typing effort +namespace fs = boost::filesystem; // to reduce typing effort + +/** + * @brief 3D scan loader for 1 UOS Scan and multiple .stl files + * + * The compiled class is available as shared object file + */ +class ScanIO_CAD : public ScanIO { + + // default values for parameters / flags / etc + // sampling parameters + static constexpr bool STD_STORE_CAD = false; // don't save sampling + static constexpr float STD_SAMPLE_DIST = 0.5f; // point distance of 0.5 (cm) + static constexpr bool STD_RND_SAMP = true; // use random sampling + // coordinate order + static constexpr unsigned int STD_X_INDEX = 0; // cad x coord = uos x coord + static constexpr unsigned int STD_Y_INDEX = 2; // cad y coord = uos z coord + static constexpr unsigned int STD_Z_INDEX = 1; // cad z coord = uos y coord + // scale factors + static constexpr float STD_SCALE_FACTOR = 0.1f; // general scale factor + static constexpr float STD_X_SCALE = 0.1f; // scale for x axis + static constexpr float STD_Y_SCALE = 0.1f; // scale for y axis + static constexpr float STD_Z_SCALE = 0.1f; // scale for z axis + static constexpr bool STD_COMBINE_SCALES = false; // combine scale factors? + static constexpr bool STD_INVERT_AXIS = false; // default inversion for axes + + +public: + + /** + * @brief Default constructor to initialize the member varibales with + * their default values. + */ + ScanIO_CAD(void); + + virtual int readScans(int start, int end, string &dir, int maxDist, + int minDist, double *euler, vector &ptss); + +private: + + + /** + * @brief method to read a scan in regular UOS .3d file format + * + * @param scan_in the (opened) filestream for the .3d file + * @param maxDist the maximal distance threshold from the origin for points + * @param minDist the minimal distance threshold from the origin for points + * @param points the vector containing the read scan points + * + */ + void read3DScan (std::ifstream &scan_in, int maxDist, int minDist, vector &points); + + /** + * @brief function to create a surface sampling from a given .stl file + * + * @param scan_in the (opened) filestream for the .stl file + * @param points the vector containing the resultant surface sample + * @return true if the surface sample could be created, false otherwise + */ + bool createSamplingFromSTL (std::ifstream &scan_in, vector &points); + /** + * @brief Function to check if a opened .stl file contains binary or + * ASCII data. + * + * @param scan_in reference to the (opened) filestream for the .stl file + * + * @return true if the filestream contains an ASCII encoded .stl file, + * false otherwise + */ + bool hasASCIIHeader (std::ifstream &scan_in); + + /** + * @brief Function to parse an ASCII encoded .stl file and create a + * 3D surface sampling of it. + * + * @param scan_in the (opened) filestream containint the .stl information + * @param points used to store the 3D points of the surface sampling + * @return true if the file could be parsed successfully, false otherwise + */ + bool parseASCII (std::ifstream &scan_in, vector &points); + + /** + * @brief Function to parse an binary encoded .stl file and create a + * 3D surface sampling of it. + * + * @param scan_in the (opened) filestream containint the .stl information + * @param points used to store the 3D points of the surface sampling + * @return true if the file could be parsed successfully, false otherwise + */ + bool parseBinary (std::ifstream &scan_in, vector &points); + + /** + * @brief Method to create a point sampling of a face (i.e. triangle). + * + * @param vertex1 the first corner of the triangle + * @param vertex2 the second corner of the triangle + * @param vertex3 the third corner of the triangle + * @param points reference to the Point vector, where the sample points + * are stored + */ + void createSampingForFace (float* vertex1, float* vertex2, + float* vertex3, vector &points); + + /** + * @brief Method to store the point sampling to the UOS .3d file format. + * The resultant .3d file will have the same name as the original .stl + * file apart from the file extension. + * + * @param filename the name of the .stl file + * @param points a reference to the vector containing the point + * information to be stored + */ + void storeSamplingTo3D (std::string filename, vector &points); + + /** + * @brief Computes the dot product of two 3D vectors given as float*. + * + * @param vec1 the first 3D vector as a float array + * @param vec2 the second 3D vector as a float array + * + * @return the dot product of the two vectors + */ + static float dotProd (const float* vec1, const float* vec2); + + /** + * @brief Method to parse a config file. + * The config file needs to have INI file similar syntax. If a parsing + * error occurs a help with all available options will be printed to the + * console and the program will terminate without matching + * + * @param config A filestream to the config file + */ + void parseConfig (std::ifstream &config); + + /** + * @brief Utility method to convert the data of a point in CAD coordinates + * to the slam coordinate system. + * This can involve the change of coordinate order, axis direction and + * scaling (of all or single coordinates), depending on the configuration + * passed via config file. + * @param raw_data A 3D point read from the CAD file as a float array + * @param vertex The resulting 3D point after all specified + * operations have taken place + */ + void copyRawData2Vertex (float *raw_data, float *vertex); + + // member variables to hold the indices used in data conversion + unsigned int x_index; + unsigned int y_index; + unsigned int z_index; + + // bools to determine if an axis should be inverted during data conversion + bool invert_x; + bool invert_y; + bool invert_z; + + // scale factors (global and individual) for data conversion + float scale_factor; + float x_scale; + float y_scale; + float z_scale; + + // determines if individual scale factors should be used + bool individual_scale; + // determines if individual scaling should be combined with + // the global scale factor + bool combine_scales; + + // determines if random sampling should be used for surface sampling + bool random_sampling; + + // determines if the sampled CAD model is stored as a .3d file + bool store_cad; + // sets the distance between sample points (determines sample density) + float sample_point_dist; + + // option description for easier parsing of config + po::options_description _op_descr; + po::variables_map _vmap; + + std::vector _stl_files; + size_t _stl_files_pos; + + /** + * @brief Method to set up the option description. + * All allowed parameters with their default values should be + * initialized here. + */ + void setUpOptionDescription (void); + + void parseDirForAllSTL (std::string &directory_name); + + bool getNextSTLFromDir (fs::path &stl_file); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_front.h b/include/scanio/old/scan_io_front.h new file mode 100644 index 0000000..03661ae --- /dev/null +++ b/include/scanio/old/scan_io_front.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in front file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_FRONT_H__ +#define __SCAN_IO_FRONT_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_front : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_iais.h b/include/scanio/old/scan_io_iais.h new file mode 100644 index 0000000..5c4ac3b --- /dev/null +++ b/include/scanio/old/scan_io_iais.h @@ -0,0 +1,30 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_IAIS_H__ +#define __SCAN_IO_IAIS_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan representation + */ +class ScanIO_iais : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_ifp.h b/include/scanio/old/scan_io_ifp.h new file mode 100644 index 0000000..2ed8875 --- /dev/null +++ b/include/scanio/old/scan_io_ifp.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in IFP format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_IFP_H__ +#define __SCAN_IO_IFP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for IFP (Stuttgart) scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ifp : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_ks.h b/include/scanio/old/scan_io_ks.h new file mode 100644 index 0000000..12e5ff2 --- /dev/null +++ b/include/scanio/old/scan_io_ks.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ks file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_KS_H__ +#define __SCAN_IO_KS_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for KS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_ks_rgb.h b/include/scanio/old/scan_io_ks_rgb.h new file mode 100644 index 0000000..7b22b11 --- /dev/null +++ b/include/scanio/old/scan_io_ks_rgb.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ks file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_leica_txt.h b/include/scanio/old/scan_io_leica_txt.h new file mode 100644 index 0000000..3ec7708 --- /dev/null +++ b/include/scanio/old/scan_io_leica_txt.h @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan for leica ASCII file format with relectance values. + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_LEICA_H__ +#define __SCAN_IO_LEICA_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for leica ASCII + reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_leica_txt : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_oct.h b/include/scanio/old/scan_io_oct.h new file mode 100644 index 0000000..c167f20 --- /dev/null +++ b/include/scanio/old/scan_io_oct.h @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan in oct-file format + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __SCAN_IO_OCT_H__ +#define __SCAN_IO_OCT_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for from binary octree files + * + * The compiled class is available as shared object file + */ +class ScanIO_oct : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_old.h b/include/scanio/old/scan_io_old.h new file mode 100644 index 0000000..34caa70 --- /dev/null +++ b/include/scanio/old/scan_io_old.h @@ -0,0 +1,37 @@ +/** + * @file + * @brief IO of a 3D scan in Kurt3D file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_OLD_H__ +#define __SCAN_IO_OLD_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Kurt3D scans + * + * The compiled class is available as shared object file + */ +class ScanIO_old : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, + int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_pci.h b/include/scanio/old/scan_io_pci.h new file mode 100644 index 0000000..88c130f --- /dev/null +++ b/include/scanio/old/scan_io_pci.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PCI_H__ +#define __SCAN_IO_PCI_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_pci : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_pcl.h b/include/scanio/old/scan_io_pcl.h new file mode 100644 index 0000000..5cb05af --- /dev/null +++ b/include/scanio/old/scan_io_pcl.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PCL_H__ +#define __SCAN_IO_PCL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_pcl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_ply.h b/include/scanio/old/scan_io_ply.h new file mode 100644 index 0000000..3357521 --- /dev/null +++ b/include/scanio/old/scan_io_ply.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in PLY format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_PLY_H__ +#define __SCAN_IO_PLY_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for PLY scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ply : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_riegl_bin.h b/include/scanio/old/scan_io_riegl_bin.h new file mode 100644 index 0000000..9508a98 --- /dev/null +++ b/include/scanio/old/scan_io_riegl_bin.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_bin : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_riegl_project.h b/include/scanio/old/scan_io_riegl_project.h new file mode 100644 index 0000000..c399b6d --- /dev/null +++ b/include/scanio/old/scan_io_riegl_project.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_PROJECT_H +#define __SCAN_IO_RIEGL_PROJECT_H + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans in the binary rxp format + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_project : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_riegl_rgb.h b/include/scanio/old/scan_io_riegl_rgb.h new file mode 100644 index 0000000..7b7dd2a --- /dev/null +++ b/include/scanio/old/scan_io_riegl_rgb.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_RGB_H__ +#define __SCAN_IO_RIEGL_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_riegl_txt.h b/include/scanio/old/scan_io_riegl_txt.h new file mode 100644 index 0000000..e7e5367 --- /dev/null +++ b/include/scanio/old/scan_io_riegl_txt.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_rts.h b/include/scanio/old/scan_io_rts.h new file mode 100644 index 0000000..ddf0be6 --- /dev/null +++ b/include/scanio/old/scan_io_rts.h @@ -0,0 +1,31 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RTS_H__ +#define __SCAN_IO_RTS_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan representation + */ +class ScanIO_rts : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_rts_map.h b/include/scanio/old/scan_io_rts_map.h new file mode 100644 index 0000000..966c014 --- /dev/null +++ b/include/scanio/old/scan_io_rts_map.h @@ -0,0 +1,37 @@ +/** + * @file + * @brief IO of 3D scan from Uni Hannover + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RTS_MAP_H__ +#define __SCAN_IO_RTS_MAP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for RTS scans. The first scan + * is a point cloud calculated from a 2D line map. + * + * The compiled class is available as shared object file + */ +class ScanIO_rts_map : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_rxp.h b/include/scanio/old/scan_io_rxp.h new file mode 100644 index 0000000..18eae6d --- /dev/null +++ b/include/scanio/old/scan_io_rxp.h @@ -0,0 +1,85 @@ +/** + * @file + * @brief IO of 3D scans in Riegl file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_RXP_H__ +#define __SCAN_IO_RXP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" +#include "riegl/scanlib.hpp" +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +class importer; + +/** + * @brief 3D scan loader for Riegl scans in the binary rxp format + * + * The compiled class is available as shared object file + */ +class ScanIO_rxp : public ScanIO { + std::tr1::shared_ptr rc; + decoder_rxpmarker *dec; + importer *imp; +public: + ScanIO_rxp() : dec(0), imp(0) {} + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + + +/** + * The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class. + * + * Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com . + */ +class importer + : public pointcloud +{ + vector *o; + +public: + importer(vector *o_, int maxDist, int minDist, int _s = 0 ) + : pointcloud(false) // set this to true if you need gps aligned timing + , o(o_), start(_s) + { + maxD = maxDist; + minD = minDist; + currentscan = 0; + } + + int getCurrentScan() {return currentscan;}; + +protected: + int start; + int maxD; + int minD; + int currentscan; + // overridden from pointcloud class + void on_echo_transformed(echo_type echo); + + void on_frame_stop(const frame_stop& arg) { + basic_packets::on_frame_stop(arg); + currentscan++; + } + + +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_stl.h b/include/scanio/old/scan_io_stl.h new file mode 100644 index 0000000..f78c423 --- /dev/null +++ b/include/scanio/old/scan_io_stl.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in ks file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_STL_H__ +#define __SCAN_IO_STL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for STL scans + * + * The compiled class is available as shared object file + */ +class ScanIO_stl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_txyzr.h b/include/scanio/old/scan_io_txyzr.h new file mode 100644 index 0000000..3ff3364 --- /dev/null +++ b/include/scanio/old/scan_io_txyzr.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos + reflectance file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_TXYZR_H__ +#define __SCAN_IO_TXYZR_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS + time/reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_txyzr : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_uos.h b/include/scanio/old/scan_io_uos.h new file mode 100644 index 0000000..7ae3751 --- /dev/null +++ b/include/scanio/old/scan_io_uos.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_uos_frames.h b/include/scanio/old/scan_io_uos_frames.h new file mode 100644 index 0000000..c7920d4 --- /dev/null +++ b/include/scanio/old/scan_io_uos_frames.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_FRAMES_H__ +#define __SCAN_IO_UOS_FRAMES_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_frames : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_uos_map.h b/include/scanio/old/scan_io_uos_map.h new file mode 100644 index 0000000..73f4b3a --- /dev/null +++ b/include/scanio/old/scan_io_uos_map.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_MAP_H__ +#define __SCAN_IO_UOS_MAP_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_map : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_uos_map_frames.h b/include/scanio/old/scan_io_uos_map_frames.h new file mode 100644 index 0000000..065c473 --- /dev/null +++ b/include/scanio/old/scan_io_uos_map_frames.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_MAP_FRAMES_H__ +#define __SCAN_IO_UOS_MAP_FRAMES_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_map_frames : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_uos_rgb.h b/include/scanio/old/scan_io_uos_rgb.h new file mode 100644 index 0000000..90de1f1 --- /dev/null +++ b/include/scanio/old/scan_io_uos_rgb.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "slam6d/scan_io.h" + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_velodyne.h b/include/scanio/old/scan_io_velodyne.h new file mode 100644 index 0000000..65ff4c4 --- /dev/null +++ b/include/scanio/old/scan_io_velodyne.h @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan in velodyne raw file format + * @author Liwei. Computer School of Wuhan University, China. + */ + +#ifndef __SCAN_IO_VELODYNE_H__ +#define __SCAN_IO_VELODYNE_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for VELODYNE scans + * + * The compiled class is available as shared object file + */ +class ScanIO_velodyne : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_velodyne_frames.h b/include/scanio/old/scan_io_velodyne_frames.h new file mode 100755 index 0000000..54ffc18 --- /dev/null +++ b/include/scanio/old/scan_io_velodyne_frames.h @@ -0,0 +1,35 @@ +/** + * @file + * @brief IO of a 3D scan in velodyne raw file format + * @author Liwei. Computer School of Wuhan University, China. + */ + +#ifndef __SCAN_IO_VELODYNE_FRAME_H__ +#define __SCAN_IO_VELODYNE_FRAME_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for VELODYNE scans + * + * The compiled class is available as shared object file + */ +class ScanIO_velodyne_frame : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_wrl.h b/include/scanio/old/scan_io_wrl.h new file mode 100644 index 0000000..08276c9 --- /dev/null +++ b/include/scanio/old/scan_io_wrl.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in WRL format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_WRL_H__ +#define __SCAN_IO_WRL_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for PLY scans + * + * The compiled class is available as shared object file + */ +class ScanIO_wrl : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_x3d.h b/include/scanio/old/scan_io_x3d.h new file mode 100644 index 0000000..4ea9a40 --- /dev/null +++ b/include/scanio/old/scan_io_x3d.h @@ -0,0 +1,37 @@ +/** + * @file + * @brief IO of a 3D scan in .x3d file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_X3D_H__ +#define __SCAN_IO_X3D_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for xml files in x3d format + * + * The compiled class is available as shared object file + */ +class ScanIO_x3d : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, + int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_xyz.h b/include/scanio/old/scan_io_xyz.h new file mode 100644 index 0000000..312bf8c --- /dev/null +++ b/include/scanio/old/scan_io_xyz.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in XYZ file format (i.e., pure 3D data points only) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZ_H__ +#define __SCAN_IO_XYZ_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for XYZ scans (i.e., pure 3D data points only) + * + * The compiled class is available as shared object file + */ +class ScanIO_xyz : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_xyz_rgb.h b/include/scanio/old/scan_io_xyz_rgb.h new file mode 100644 index 0000000..992bf88 --- /dev/null +++ b/include/scanio/old/scan_io_xyz_rgb.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in XYZ file format (i.e., pure 3D data points only) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZ_RGB_H__ +#define __SCAN_IO_XYZ_RGB_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for XYZ scans (i.e., pure 3D data points only) + * + * The compiled class is available as shared object file + */ +class ScanIO_xyz_rgb : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_xyzr.h b/include/scanio/old/scan_io_xyzr.h new file mode 100644 index 0000000..804180a --- /dev/null +++ b/include/scanio/old/scan_io_xyzr.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan in uos + reflectance file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_XYZR_H__ +#define __SCAN_IO_XYZR_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for UOS + reflectance scans + * + * The compiled class is available as shared object file + */ +class ScanIO_xyzr : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_zahn.h b/include/scanio/old/scan_io_zahn.h new file mode 100644 index 0000000..7105159 --- /dev/null +++ b/include/scanio/old/scan_io_zahn.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of a 3D scan for 3D scans of a tooth + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_ZAHN_H__ +#define __SCAN_IO_ZAHN_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for tooth scans + * + * The compiled class is available as shared object file + */ +class ScanIO_zahn : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/old/scan_io_zuf.h b/include/scanio/old/scan_io_zuf.h new file mode 100644 index 0000000..3411acd --- /dev/null +++ b/include/scanio/old/scan_io_zuf.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief IO of 3D scans in Zoller+Froehlich file format + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SCAN_IO_ZUF_H__ +#define __SCAN_IO_ZUF_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_zuf : public ScanIO { +public: + virtual int readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss); +}; + +// Since this shared object file is loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/scan_io.h b/include/scanio/scan_io.h new file mode 100644 index 0000000..1d06b39 --- /dev/null +++ b/include/scanio/scan_io.h @@ -0,0 +1,90 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_H__ +#define __SCAN_IO_H__ + +#include "slam6d/io_types.h" +#include "slam6d/pointfilter.h" + +#include +#include +#include +#include + + + +/** + * @brief IO of a 3D scan + * + * This class needs to be instantiated by a class loading + * 3D scans from different file formats. + */ +class ScanIO { +public: + /** + * Read a directory and return all possible scans in the [start,end] interval. + * + * @param dir_path The directory from which to read the scans + * @param start Starting index + * @param end Last index + * @return List of IO-specific identifiers of scans, matching the search + */ + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0; + + /** + * Reads the pose from a dedicated pose file or from the scan file. + * + * @param dir_path The directory the scan is contained in + * @param scan_identifier IO-specific identifier for the particular scan + * @param pose Pointer to an existing double[6] array where the pose is saved in + */ + virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0; + + /** + * Given a scan identifier, load the contents of this particular scan. + * + * @param dir_path The directory the scan is contained in + * @param identifier IO-specific identifier for the particular scan + * @param filter Filter object which each point is tested on by its position + */ + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz = 0, std::vector* rgb = 0, std::vector* reflectance = 0, std::vector* amplitude = 0, std::vector* type = 0, std::vector* deviation = 0) = 0; + + /** + * Returns whether this ScanIO can load the requested data from a scan. + * + * @param type data channel request + * @return whether it's supported or not + */ + virtual bool supports(IODataType type) = 0; + + /** + * @brief Global mapping of io_types to single instances of ScanIOs. + * + * If the ScanIO doesn't exist, it will be created and saved in a map. + * Otherwise, the matching ScanIO will be returned. + * + * @param type Key identifying the ScanIO + * @return The newly created or found ScanIO + */ + static ScanIO* getScanIO(IOType iotype); + + //! Delete all ScanIO instances and (lazy) try to unload the libraries. + static void clearScanIOs(); +private: + static std::map m_scanIOs; +}; + +// Since the shared object files are loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanio/scan_io_ks.h b/include/scanio/scan_io_ks.h new file mode 100644 index 0000000..5316afa --- /dev/null +++ b/include/scanio/scan_io_ks.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_H__ +#define __SCAN_IO_KS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_ks_rgb.h b/include/scanio/scan_io_ks_rgb.h new file mode 100644 index 0000000..8fe69ef --- /dev/null +++ b/include/scanio/scan_io_ks_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_riegl_rgb.h b/include/scanio/scan_io_riegl_rgb.h new file mode 100644 index 0000000..4cd5dbd --- /dev/null +++ b/include/scanio/scan_io_riegl_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_RGB_H__ +#define __SCAN_IO_RIEGL_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_riegl_txt.h b/include/scanio/scan_io_riegl_txt.h new file mode 100644 index 0000000..6fbe67e --- /dev/null +++ b/include/scanio/scan_io_riegl_txt.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_rts.h b/include/scanio/scan_io_rts.h new file mode 100644 index 0000000..e64d813 --- /dev/null +++ b/include/scanio/scan_io_rts.h @@ -0,0 +1,30 @@ +/** + * @file + * @brief IO of a 3D scan in rts file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for RTS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rts : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +private: + std::string cached_dir; + std::vector cached_poses; +}; + +#endif diff --git a/include/scanio/scan_io_rxp.h b/include/scanio/scan_io_rxp.h new file mode 100644 index 0000000..156461f --- /dev/null +++ b/include/scanio/scan_io_rxp.h @@ -0,0 +1,83 @@ +/** + * @file + * @brief IO of a 3D scan in rxp file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RXP_H__ +#define __SCAN_IO_RXP_H__ + +#include "scan_io.h" +#include "slam6d/point.h" + +#include "riegl/scanlib.hpp" +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +class importer; + + + +/** + * @brief 3D scan loader for RXP scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rxp : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); + + ScanIO_rxp() : dec(0), imp(0) {} +private: + std::tr1::shared_ptr rc; + decoder_rxpmarker *dec; + importer *imp; + std::string old_path; +}; + +/** + * The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class. + * + * Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com . + */ +class importer : public scanlib::pointcloud +{ +public: + importer(PointFilter& filter, int start, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) : + pointcloud(false), // set this to true if you need gps aligned timing + filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation), + start(start), currentscan(0) + {} + inline int getCurrentScan() { return currentscan; } + inline void set(PointFilter& filter, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) + { + this->filter = &filter; + this->xyz = xyz; + this->reflectance = reflectance; + this->amplitude = amplitude; + this->type = type; + this->deviation = deviation; + } +protected: + PointFilter* filter; + std::vector *xyz; + std::vector *reflectance; + std::vector *amplitude; + std::vector *type; + std::vector *deviation; + int start; + int currentscan; + // overridden from pointcloud class + void on_echo_transformed(echo_type echo); + + void on_frame_stop(const scanlib::frame_stop& arg) { + scanlib::basic_packets::on_frame_stop(arg); + currentscan++; + } +}; + +#endif diff --git a/include/scanio/scan_io_uos.h b/include/scanio/scan_io_uos.h new file mode 100644 index 0000000..fbb5424 --- /dev/null +++ b/include/scanio/scan_io_uos.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_uos_rgb.h b/include/scanio/scan_io_uos_rgb.h new file mode 100644 index 0000000..0bb004a --- /dev/null +++ b/include/scanio/scan_io_uos_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanio/scan_io_velodyne.h b/include/scanio/scan_io_velodyne.h new file mode 100644 index 0000000..3b41b0c --- /dev/null +++ b/include/scanio/scan_io_velodyne.h @@ -0,0 +1,32 @@ +/** + * @file + * @brief IO of a 3D scan in velodyne raw file format + * @author Liwei. Computer School of Wuhan University, China. + */ + +#ifndef __SCAN_IO_VELODYNE_H__ +#define __SCAN_IO_VELODYNE_H__ + +#include +using std::string; +#include +using std::vector; + +#include "scan_io.h" + +/** + * @brief 3D scan loader for VELODYNE scans + * + * The compiled class is available as shared object file + */ +class ScanIO_velodyne : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); + + int fileCounter; +}; + +#endif diff --git a/include/scanserver/cache/accessData.h b/include/scanserver/cache/accessData.h new file mode 100644 index 0000000..5d44f1e --- /dev/null +++ b/include/scanserver/cache/accessData.h @@ -0,0 +1,20 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef ACCESS_DATA_H +#define ACCESS_DATA_H + +/** + * @brief Derivable class to store access informations in. + * + * Obviously a TODO + */ +class AccessData { + +}; + +#endif //ACCESS_DATA_H diff --git a/include/scanserver/cache/cacheDataAccess.h b/include/scanserver/cache/cacheDataAccess.h new file mode 100644 index 0000000..fe73c33 --- /dev/null +++ b/include/scanserver/cache/cacheDataAccess.h @@ -0,0 +1,56 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_DATA_ACCESS_H +#define CACHE_DATA_ACCESS_H + +#include "slam6d/data_types.h" + +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; +} + + + +/** + * @brief Access object for data in a CacheObject. + * + * This object functions as a reading lock on the data in a CacheObject. While any of these objects exists with a lock on a CacheObject it is guaranteed the CacheManager won't remove it from memory when flushing the cache. + * It is derived from the DataPointer class, which already represents application-specific access operators for this data, and builds the locking functionality on top of it. + * A CacheDataAccess is returned by the accessing function in a CacheObject as a temporary and is constructed by these means (&&-ctor). Size and data pointer will be copied and the reading lock will also be obtained. When all CacheDataAccess instances for a given CacheObject are destroyed (fell out of scope) all read locks are gone and the CacheManager is able to remove its contained data from memory. + */ +class CacheDataAccess : public DataPointer { + class Lock : public PrivateImplementation { + public: + Lock(ip::interprocess_upgradable_mutex& mutex); + // on destruction, the lock has to be released, which comes from m_lock destruction + virtual ~Lock() {} + private: + ip::sharable_lock m_lock; + }; +public: + // CacheDataAccess& operator=(const CacheDataAccess&) = delete; + // CacheDataAccess(const CacheDataAccess&) = delete; + + //! Aquires a lock on the mutex and takes assigned data + CacheDataAccess(ip::interprocess_upgradable_mutex& mutex, unsigned int& size, unsigned char* data); + + CacheDataAccess(CacheDataAccess&& other) : DataPointer(other) {} + + //! Non-locking version + //CacheDataAccess(unsigned int& size, unsigned char* data); + + //! Transfers the lock to this instance and also takes assigned data + //CacheDataAccess(const CacheDataAccess& other); +}; + +#endif //CACHE_DATA_ACCESS_H diff --git a/include/scanserver/cache/cacheHandler.h b/include/scanserver/cache/cacheHandler.h new file mode 100644 index 0000000..76fd133 --- /dev/null +++ b/include/scanserver/cache/cacheHandler.h @@ -0,0 +1,51 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_HANDLER_H +#define CACHE_HANDLER_H + +class CacheManager; +class CacheObject; + +/** + * @brief IO handling for CacheObjects to (de)serialize the cached data. + * + * Each CacheObject has to be assigned a CacheHandler to have its contents loaded (e.g. from harddrive) when a cache miss occurs or save it when the CacheManager flushes the cache and removes CacheObjects' contents. + * The load and save functions are virtual and thereby can only be called within the process where they have been created. + * + */ +class CacheHandler { +public: + CacheHandler(CacheObject* object, CacheManager* manager); + virtual ~CacheHandler(); + + /** + * Called by the CacheManager when a CacheObject has to be loaded after a cache miss + * The usual course of action should be to determine the size (and load the data locally if needed), request the referenced CacheObject to be allocated by the CacheManager via allocateCacheObject and have the data written to the obtained memory. + * @return whether the load was successful or no cached resource was assigned/found + * @throw possibly IO/stream/conversion errors in overloaded classes + */ + virtual bool load() = 0; + + /** + * Called by the CacheManager when a CacheObject has to be saved before removal + * The data to be saved it given in the arguments and will be removed by the CacheManager after this function returns. + * @throw possibly IO/stream/conversion errors in overloaded classes + */ + virtual void save(unsigned char* data, unsigned int size) = 0; + + /** + * Called by the CacheManager when a CacheObject has been invalidated. + * Appropriate action should be taken to invalidate the handled resource. + */ + virtual void invalidate() = 0; +protected: + CacheManager* m_manager; + CacheObject* m_object; +}; + +#endif //CACHE_HANDLER_H diff --git a/include/scanserver/cache/cacheManager.h b/include/scanserver/cache/cacheManager.h new file mode 100644 index 0000000..23f931c --- /dev/null +++ b/include/scanserver/cache/cacheManager.h @@ -0,0 +1,100 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_MANAGER_H +#define CACHE_MANAGER_H + +#include +#include + +// segment manager, allocators, pointers, ... +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +#include "scanserver/cache/cacheObject.h" +#include "scanserver/cache/cacheHandler.h" + + +/** + * @brief Central cache management for CacheObjects, handling cache misses and calling CacheHandlers and allocating memory for contents. + * + * The CacheManager creates and handles CacheObjects in the shared memory given by the segment manager in the constructor. It also opens a shared memory exclusively for CacheObjects' contents. + * Cache misses in CacheObject should invoke loadCacheObject to have it loaded into memory. This CacheObject's CacheHandler is called, which in turn requests memory via allocateCacheObject. This function tries to allocate enough memory and flushes out other CacheObjects which are not read-locked in order to do the former. + * The flushing behaviour determines which CacheObjects are to be removed first and can be altered. (TODO) + */ +class CacheManager { +public: + /** + * The SegmentManager comes from another shared memory where COs have to be created in. + * A CacheManager owned shared memory will be opened to create the CO contents in. + */ + CacheManager(SegmentManager* sm, const char* shm_name, std::size_t cache_size); + + /** + * Deletes all CacheObjects and closes the shared memory. + */ + ~CacheManager(); + + /** + * Allocates a CacheObject in shared memory. + */ + CacheObject* createCacheObject(); + + /** + * Request a CacheObject to be loaded into memory, causing its CacheHandler to be called. + * If no resource was to be found, the function returns false. If an error occured (e.g. IO/stream/conversion errors) it will throw. + * @return if the CacheObject was loaded successfully + * @throws when no memory could be allocated (see allocateCacheObject) or an error occured in the CacheHandler implementation + */ + bool loadCacheObject(CacheObject* obj); + + /** + * Allocates enough space for a cache object. This will flush other CacheObjects if the exclusive shared memory is full. + * @return Pointer to the allocated space in the object + * @throws when no memory could be allocated because removing all remaining (non read-locked) CacheObjects removed didn't free enough memory. + */ + unsigned char* allocateCacheObject(CacheObject* obj, unsigned int size); + + /** + * Invalidate a CacheObject and its handler. + */ + void invalidateCacheObject(CacheObject* obj); + + /** + * Change the flushing behaviour by setting a specific heuristic. + */ + // TODO + +private: + SegmentManager* m_segment_manager; + ip::managed_shared_memory* m_msm; + std::string m_shm_name; + + std::vector m_objects, m_loaded; + + /** + * Allocates memory for a CO. Will throw a bad_alloc if it fails so. + * Only to be called within allocateCacheObject. + */ + unsigned char* load(CacheObject* obj, unsigned int size); + + /** + * Removes cached data from a CO and marks it as unloaded. + * Only to be called when an exclusive lock has been obtained inside allocateCacheObject. + */ + void unload(CacheObject* obj); +}; + +#endif //CACHE_MANAGER_H diff --git a/include/scanserver/cache/cacheObject.h b/include/scanserver/cache/cacheObject.h new file mode 100644 index 0000000..6bb7e87 --- /dev/null +++ b/include/scanserver/cache/cacheObject.h @@ -0,0 +1,121 @@ +/** + * @file + * + * @author Thomas Escher + */ + +#ifndef CACHE_OBJECT_H +#define CACHE_OBJECT_H + +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; +} + +#include "scanserver/cache/cacheHandler.h" +#include "scanserver/cache/cacheDataAccess.h" + + + +/** + * @brief An object representing a cache entry, holding the data and managing cache access. + * + * This cache object holds a pointer to the cached data if it is loaded and is accessible through the aquisition of a CacheDataAccess. The CacheDataAccess will lock this CacheObject so the CacheManager can't remove it from memory while it is read (i.e. CacheDataAccess holds a lock). If the data isn't hold in memory the access will cause a cache miss to occur and consequently communications to the CacheManager are started to get this CacheObject loaded into memory. + * Cached data is held in a shared memory exclusively for these objects. On client startup openSharedMemory has to be called once. Every access then obtains the process-local data pointer by its handle in this shared memory. + * When the CacheObject is created it has to be assigned a CacheHandler which handles the application specific IO part. Save calls should serialize the CacheObject's contents to a safe place (e.g. harddrive), Load calls should recall these contents. + */ +class CacheObject { + friend class CacheManager; +public: + CacheObject(); + ~CacheObject(); + + /** + * Aquires the lock, accesses the contained data directly on hit or requests loading from the CacheManager if missed. + * The aquisition takes place through the function represented by template F. F relays the call to the process who created the CacheHandler which is then able to do its work. This is neccessary because CacheHandler owns virtual functions and these can only be called in the creating process. + * + * Can throw an exception if the server is unable to load the data. + */ + template + inline CacheDataAccess getCacheData() + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // aquire data by safely requesting it once through the means of functionality given by F + if(m_handle == 0) { + ip::scoped_lock request(m_cache_miss); + if(m_handle == 0) { + F(this); + } + // TODO: exceptions checking + } + // TODO: Access Data + return CacheDataAccess(m_mutex_in_use, m_size, reinterpret_cast(m_msm->get_address_from_handle(m_handle))); + } + + /** + * Allocate space to write into. + * Repeated calls will always create new space without saving the old one, no CacheHandler calls will be made for this CacheObject. + */ + template + inline CacheDataAccess createCacheData(unsigned int size) + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // allocate data through template function + F(this, size); + // TODO: Access Data + return CacheDataAccess(m_mutex_in_use, m_size, reinterpret_cast(m_msm->get_address_from_handle(m_handle))); + } + + /** + * Let the CacheManager invalidate this CacheObject and its handler + */ + template + inline void invalidate() + { + // lock read mutex to prevent removal in between calls + ip::sharable_lock use(m_mutex_in_use); + // allocate data through template function + F(this); + // TODO: Access Data + } + + /** + * Set a cache handler for loading and saving data on cache misses or flushes. + * This may only be assigned once and load/save calls have to be process local. + */ + void setCacheHandler(CacheHandler* handler); + + /** + * Open the shared memory on client side so CacheObjects can access their data from there. + * Call once on client initialization. + */ + static void openSharedMemory(const char* shm_name); +private: + //! Size in bytes of contained data + unsigned int m_size; + + //! Handle to contained data in CacheObject exclusive shared memory, used to obtain process-local pointers + ip::managed_shared_memory::handle_t m_handle; + + //! Will be share-locked by every reading entity, exclusive-locked by manipulating entity, the CacheManager + ip::interprocess_upgradable_mutex m_mutex_in_use; + + //! Execute-once protection for a read request on a cache miss + ip::interprocess_mutex m_cache_miss; + + //! IO handling object for load and saves, to be called within the creating process + CacheHandler* m_handler; + + //! Singleton shared memory for data access + static ip::managed_shared_memory* m_msm; +}; + +#endif //CACHE_OBJECT_H diff --git a/include/scanserver/cacheIO.h b/include/scanserver/cacheIO.h new file mode 100644 index 0000000..046b1cf --- /dev/null +++ b/include/scanserver/cacheIO.h @@ -0,0 +1,46 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef CACHE_IO_H +#define CACHE_IO_H + +#include + +/** + * @brief Serialization management for binary data, intended for use in CacheHandlers. + * + * This class manages the assignment of unique IDs for CacheHandlers to use to identify their files. + * Data is (de)serialized via read and write calls and existance (if so, the file-/datasize too) can be checked via check. + * All files are created in a directory given by createTemporaryDirectory which has to be called before and read/writes to function properly. All files are named 'ddddd.tco' starting from zero. + */ +class CacheIO { +public: + typedef std::string IDType; + + //! Create a directory for temporary cache objects to save in + static void createTemporaryDirectory(std::string& path); + + //! Clean up temporary files + static void removeTemporaryDirectory(); + + //! Creates a unique Id to use for these functions + static IDType getId(); + + //! Check if a physical representation of this cache entry exists and returns non-zero size for the data + static unsigned int check(IDType& id); + + //! Read from file into the data pointer + static void read(IDType& id, char* data); + + //! Write data into a file represented by id + static void write(IDType& id, char* data, unsigned int size); +private: + static std::string path; + static unsigned int free_id; +}; + +#endif //CACHE_IO_H diff --git a/include/scanserver/clientInterface.h b/include/scanserver/clientInterface.h new file mode 100644 index 0000000..9e05b03 --- /dev/null +++ b/include/scanserver/clientInterface.h @@ -0,0 +1,192 @@ +/** + * @file + * @brief Clientside command structure for client-server interaction. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_CLIENTINTERFACE_H +#define SCANSERVER_CLIENTINTERFACE_H + +// segment manager, allocators, containers, pointers, mutexes ... +#include +#include +#include +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +// allocator and type for a shared string +typedef ip::allocator CharAllocator; +typedef ip::basic_string, CharAllocator> SharedString; + +#include "scanserver/sharedScan.h" +#include "scanserver/cache/cacheObject.h" + + + +//! TEST: Pod message type +enum message_t { + MESSAGE_NONE = 0, + MESSAGE_STOP, + MESSAGE_READ_DIRECTORY, + MESSAGE_LOAD_CACHE_OBJECT, + MESSAGE_ALLOCATE_CACHE_OBJECT, + MESSAGE_INVALIDATE_CACHE_OBJECT, + MESSAGE_GET_POSE, + MESSAGE_ADD_FRAME, + MESSAGE_LOAD_FRAMES_FILE, + MESSAGE_SAVE_FRAMES_FILE, + MESSAGE_CLEAR_FRAMES, + MESSAGE_GET_CACHE_SIZE, + MESSAGE_PRINT_METRICS +}; + + + +/** + * @brief Clientside communication for the scanserver management. + * + * This is the main class visible in clients, relaying all calls to the server via shared memory. Access can be obtained via create and subsequent calls to getInstance. + * All calls to the server are put into a message type and its arguments written to interprocess containers for transfer to the server. + * The ServerInterface derives this class to share the mutexes and arguments and hides the server functionality from the client. This also splits up compilation between the client and server parts. + */ +class ClientInterface { +protected: + //! The segment manager used for creating new objects with construct<> + ip::offset_ptr segment_manager; + + //! Void allocator to use for ip-STL-containers + ip::allocator allocator; + + //! Mutex for concurrent access to the client interface, protecting the server communication and argument manipulation + ip::interprocess_mutex m_mutex_client; + + //! Mutex for client-server communication, handling the process switch and work on the server + ip::interprocess_mutex m_mutex_server; + + //! Condition the server waits on and the client notifies to + ip::interprocess_condition m_condition_server; + + //! Condition the clients will wait on while the server processes + ip::interprocess_condition m_condition_client; + + //! TEST: Pod message type + message_t m_message; + + //! String arguments for message passing + SharedString m_arg_string_1, m_arg_string_2; + + //! Integer arguments for message passing + unsigned int m_arg_uint_1, m_arg_uint_2; + + //! size_t argument for >4GB sizes + std::size_t m_arg_size_t; + + //! Float arguments for message passing + float m_arg_float_1, m_arg_float_2; + + //! IO type argument for message passing + IOType m_arg_io_type; + + //! An error message containing detais + SharedString m_error_message; + + //! Pointer for a scanvector + ip::offset_ptr m_scanvector_ptr; + + //! Pointer for a scan + ip::offset_ptr m_sharedscan_ptr; + + //! Pointer for a cache object + ip::offset_ptr m_cacheobject_ptr; + +// TODO: remove this later on, this is for close for the testclient +public: +// private: + //! internal message sending + void sendMessage(message_t message); + +public: + //! Add and read a directory into the scan vector, ownership: client + SharedScanVector* readDirectory(const char* dir_path, IOType type = UOS, unsigned int start = 0, unsigned int end = -1); + + //! "Close" a directory by releasing all contained scans, deleting the vector and resetting the pointer + void closeDirectory(SharedScanVector*& scans); + + //! Called from SharedScan on a cache miss, this requests the serverside cache handler to load, returns false if no cached file was found + bool loadCacheObject(CacheObject* obj); + + //! Called from SharedScan, request enough memory to hold reduced points + void allocateCacheObject(CacheObject* obj, unsigned int size); + + //! Called from SharedScan, let the CacheManager invalide a CacheObject + void invalidateCacheObject(CacheObject* obj); + + //! Called from SharedScan, requests the pose + void getPose(SharedScan* scan); + + //! Called from SharedScan, requests a frame and writes into it + void addFrame(SharedScan* scan, double* transformation, unsigned int type); + + //! Called from SharedScan, requests loading frames saved in the file + void loadFramesFile(SharedScan* scan); + + //! Called from SharedScan, requests saving frames into a file + void saveFramesFile(SharedScan* scan); + + //! Called from SharedScan, this removes all previous contained frames + void clearFrames(SharedScan* scan); + + //! Returns the CacheObject shared memory size for allocation and planning purposes + std::size_t getCacheSize(); + + //! Let the server print out its metric + void printMetrics(); + +protected: + //! Trivial constructor: initialize all shared memory containers, only allowed to be called by the ServerInterface + ClientInterface(SegmentManager* sm) : + segment_manager(sm), + allocator(sm), + m_message(MESSAGE_NONE), + m_arg_string_1(allocator), + m_arg_string_2(allocator), + m_error_message(allocator) + { + } + + // only the instance in the server will deconstruct + virtual ~ClientInterface() + { + } + +protected: + //! The one shared memory opened in the application, a single one in each of the clients and in the server + static ip::managed_shared_memory* m_msm; + +private: + //! Client singleton for easy global access in the whole application + static ClientInterface* m_singleton; + +public: + //! Opens the shared memory and sets the singleton in a client process + static ClientInterface* create(); + + //! Closes the shared memory + static void destroy(); + + //! Returns the singleton instance + static ClientInterface* getInstance(); +}; + +#endif //SCANSERVER_CLIENTINTERFACE_H diff --git a/include/scanserver/defines.h b/include/scanserver/defines.h new file mode 100644 index 0000000..f8f3a08 --- /dev/null +++ b/include/scanserver/defines.h @@ -0,0 +1,19 @@ +/** + * @file + * @brief Server/Client wide definitions. + * + * If running multiple instances of the scanserver, one can change these shared memory names individually. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_DEFINES_H +#define SCANSERVER_DEFINES_H + +//! shared memory for SharedScans, Frames and communications +#define SHM_NAME_DATA "3dtk_scanserver_data" + +//! CacheManager/CacheObject only shared memory +#define SHM_NAME_CACHE "3dtk_scanserver_cache" + +#endif //SCANSERVER_DEFINES_H diff --git a/include/scanserver/frame.h b/include/scanserver/frame.h new file mode 100644 index 0000000..276eca0 --- /dev/null +++ b/include/scanserver/frame.h @@ -0,0 +1,28 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef SHARED_FRAME_H +#define SHARED_FRAME_H + +#include "slam6d/frame.h" + +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +typedef ip::allocator FrameAllocator; +typedef ip::vector FrameVector; + + +#endif //SHARED_FRAME_H diff --git a/include/scanserver/frame_io.h b/include/scanserver/frame_io.h new file mode 100644 index 0000000..9c9c967 --- /dev/null +++ b/include/scanserver/frame_io.h @@ -0,0 +1,28 @@ +/** + * @file + * @brief IO for .frames files. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_FRAME_IO_H +#define SCANSERVER_FRAME_IO_H + +#include "scanserver/frame.h" + + + +/** + * @brief This class handles the serialization of .frames files and saves/extracts the contained Frame instances. + */ +class FrameIO +{ +public: + //! Loads a frames file and fills the given shared vector + static void loadFile(const char* dir, const char* identifier, FrameVector& frames); + + //! Saves a frames file from a shared frames vector + static void saveFile(const char* dir, const char* identifier, const FrameVector& frames); +}; + +#endif //SCANSERVER_FRAME_IO_H diff --git a/include/scanserver/io_types.h b/include/scanserver/io_types.h new file mode 100644 index 0000000..27fa470 --- /dev/null +++ b/include/scanserver/io_types.h @@ -0,0 +1,30 @@ +/** + * @file + * @brief Scan types and mapping functions. + * + * @author Thomas Escher + */ + +#ifndef IO_TYPES_H +#define IO_TYPES_H + +//! IO types for file formats, distinguishing the use of ScanIOs +enum IOType { + UOS, UOS_MAP, UOS_FRAMES, UOS_MAP_FRAMES, UOS_RGB, OLD, RTS, RTS_MAP, RIEGL_TXT, RIEGL_PROJECT, RIEGL_RGB, RIEGL_BIN, IFP, ZAHN, PLY, WRL, XYZ, ZUF, ASC, IAIS, FRONT, X3D, RXP, KIT, AIS, OCT, TXYZR, XYZR, XYZ_RGB, KS, KS_RGB, STL, LEICA, PCL, PCI, UOS_CAD, VELODYNE, VELODYNE_FRAMES +}; + +//! Data channels in the scans +enum IODataType { + DATA_XYZ = 1<<0, + DATA_RGB = 1<<1, + DATA_REFLECTANCE = 1<<2, + DATA_AMPLITUDE = 1<<3, + DATA_TYPE = 1<<4, + DATA_DEVIATION = 1<<5 +}; + +IOType formatname_to_io_type(const char * string); + +const char * io_type_to_libname(IOType type); + +#endif //IO_TYPES_H diff --git a/include/scanserver/metrics.h b/include/scanserver/metrics.h new file mode 100644 index 0000000..604faa4 --- /dev/null +++ b/include/scanserver/metrics.h @@ -0,0 +1,122 @@ +/** + * @file + * @brief Metrics for measuring various aspects of an application + * @author Thomas Escher + */ + +#ifndef METRICS_H +#define METRICS_H + +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +template +class Metric { +public: + //! Reserve a minimum of 1k values to reduced allocation overhead in between + Metric(unsigned int reserve = 1000) { + m_values.reserve(reserve); + } + + //! Print the sum of this metric + T sum() const { + T value = 0; + for(typename std::vector::const_iterator it = m_values.begin(); it != m_values.end(); ++it) + value += *it; + return value; + } + + //! Print the average of this metric + T average() const { + if(m_values.size() != 0) + return sum() / (T)(m_values.size()); + else + return (T)0; + } + + std::size_t size() const { + return m_values.size(); + } + + void reset() { + m_values.clear(); + } + +protected: + inline void commit(const T& value) { + m_values.push_back(value); + } + +private: + std::vector m_values; +}; + +#ifdef _MSC_VER + typedef LARGE_INTEGER Timer; +#else + typedef timeval Timer; +#endif + +/** + * @brief Measures time differences in seconds. + */ +class TimeMetric : public Metric { +public: + TimeMetric(unsigned int reserve = 1000); + + //! Start the timer + Timer start(); + + //! End the timer and commit value + void end(Timer&); + +private: +#ifdef _MSC_VER + static LARGE_INTEGER frequency; + static bool init; +#endif +}; + +/** + * @brief Measures access count or size. + */ +class CounterMetric : public Metric { +public: + CounterMetric(unsigned int reserve = 1000); + void add(unsigned long long value = 1); + +private: +}; + + + +struct ServerMetric { + static TimeMetric scan_loading, cacheio_write_time, cacheio_read_time; + static CounterMetric cacheio_write_size, cacheio_read_size; + static void print(); +}; + +struct ClientMetric { + static TimeMetric + // Scan + // directory loading + read_scan_time, scan_load_time, + // reduce, transform, copy, create tree as part of the reduction and tree preparation + calc_reduced_points_time, transform_time, copy_original_time, create_tree_time, + // new scanserver only times + on_demand_reduction_time, create_metatree_time, + // part of transform dealing with frames + add_frames_time, + // slam6D + matching_time, + // ClientInterface + clientinterface_time, cache_miss_time, allocate_time, frames_time; + static void print(); +}; + +#endif //METRICS_H diff --git a/include/scanserver/multiArray.h b/include/scanserver/multiArray.h new file mode 100644 index 0000000..cb9556c --- /dev/null +++ b/include/scanserver/multiArray.h @@ -0,0 +1,96 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef MULTI_ARRAY_H +#define MULTI_ARRAY_H + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include "scanserver/cache/cacheDataAccess.h" + + + +/** + * @brief Point-Array imitation for xyz[i][0..2] calls + */ +template +class TripleArray : public CacheDataAccess { +public: + //! Take ownership of a cache data + TripleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {} + + //! Move constructor of this type like CacheData, transfer lock + TripleArray(TripleArray&& other) : CacheDataAccess(other) {} + + //! Represent the CacheData as an array of T[3]'s + inline return_type* operator[](unsigned int i) const + { + return reinterpret_cast(getData()) + (i*3); + } + + //! Count of T[3] objects in this CacheData + inline unsigned int size() const { return CacheDataAccess::getSize() / (3*sizeof(return_type)); } +}; + +/** + * @brief Point-Array imitation for value[i] calls + */ +template +class SingleArray : public CacheDataAccess { +public: + //! Take ownership of a cache data + SingleArray(CacheDataAccess&& cd) : CacheDataAccess(cd) {} + + //! Move constructor of this type like CacheData, transfer lock + SingleArray(SingleArray&& other) : CacheDataAccess(other) {} + + //! Represent the CacheData as an array of T's + inline return_type& operator[](unsigned int i) const + { + return *(reinterpret_cast(getData()) + i); + } + + //! Count of T objects in this CacheData + inline unsigned int size() const { return CacheDataAccess::getSize() / sizeof(return_type); } +}; + +typedef TripleArray DataXYZ; +typedef TripleArray DataRGB; +typedef SingleArray DataReflectance; +typedef SingleArray DataAmplitude; +typedef SingleArray DataType; +typedef SingleArray DataDeviation; + +/** + * To simplify T** access patterns for an array of T[3] (points), this RAII type class helps creating and managing this pointer array on the stack. + */ +template +class Array { +public: + //! Create a temporary array and fill it sequentially with pointers to each point + Array(const TripleArray& data) { + unsigned int size = data.size(); + m_array = new T*[size]; + for(unsigned int i = 0; i < size; ++i) + m_array[i] = data[i]; + } + + //! Removes the temporary array on destruction (RAII) + ~Array() { + delete[] m_array; + } + + //! Conversion operator to interface the MultiArray to a T** array + inline T* const* get() const { return m_array; } +private: + T** m_array; +}; + +#endif //MULTI_ARRAY_H diff --git a/include/scanserver/pointfilter.h b/include/scanserver/pointfilter.h new file mode 100644 index 0000000..f24dc7c --- /dev/null +++ b/include/scanserver/pointfilter.h @@ -0,0 +1,113 @@ +/** + * @file + * @brief IO filtering class for ScanIO to discard unwanted points. + * + * @author Thomas Escher + */ + +#ifndef POINT_FILTER_H +#define POINT_FILTER_H + +#include +#include + +class Checker; + + +/** + * Flexible filtering class for parsing a set of points. + * + * This class is configurable with parameters for range and height and can be transferred via the use of a parameter string. + * Use on a point set via repeated use of the check function, which creates the internal Checker structures once for each change to the parameters. The amount of tests is held as minimal as possible. + */ +class PointFilter +{ +public: + // Default empty constructor + PointFilter(); + //! Deserialization constructor, forms parameters back from a string given by getParams + PointFilter(const std::string& params); + ~PointFilter(); + + PointFilter& setRange(float maxDist, float minDist); + PointFilter& setHeight(double top, double bottom); + + //! Serialization function to convert it into a string, usable in the constructor + std::string getParams(); + + //! Check a point, returning success if all contained Checker functions accept that point (implemented in .icc) + inline bool check(double* point); +private: + //! Storage for parameter keys and values + std::map m_params; + + //! If either not created yet or parameters get changed, this flag will cause check to create a new Checker chain + bool m_changed; + + //! created in the first check call with the changed flag set + Checker* m_checker; + + //! Allocation of the checkers + void createCheckers(); + + // factory magic + template friend struct CheckerFactory; + static std::map factory; +}; + +class Checker { +public: + Checker(); + ~Checker(); + + //! Testing function + virtual bool test(double* point) = 0; + + //! Next test in chain + Checker* m_next; +}; + +//! Factory integrating the create-function and adding it to the lookup map in an easy template +template +struct CheckerFactory { + //! Instanciate in the source code with the to be created class as template argument and associated key string as constructor argument + CheckerFactory(const std::string& key) { PointFilter::factory[key] = CheckerFactory::create; } + //! Automated create function, safely returning a nullpointer if the constructor throws for unwanted values + static Checker* create(const std::string& value) { try { return new T(value); } catch(...) { return 0; } } +}; + +class CheckerRangeMax : public Checker { +public: + CheckerRangeMax(const std::string& value); + virtual bool test(double* point); +private: + double m_max; +}; + +class CheckerRangeMin : public Checker { +public: + CheckerRangeMin(const std::string& value); + virtual bool test(double* point); +private: + double m_min; +}; + +class CheckerHeightTop : public Checker { +public: + CheckerHeightTop(const std::string& value); + virtual bool test(double* point); +private: + double m_top; +}; + +class CheckerHeightBottom : public Checker { +public: + CheckerHeightBottom(const std::string& value); + virtual bool test(double* point); +private: + double m_bottom; +}; + +#include "scanserver/pointfilter.icc" + +#endif //POINT_FILTER_H diff --git a/include/scanserver/pointfilter.icc b/include/scanserver/pointfilter.icc new file mode 100644 index 0000000..bff7366 --- /dev/null +++ b/include/scanserver/pointfilter.icc @@ -0,0 +1,22 @@ +bool PointFilter::check(double* point) +{ + // create a new checker chain + if(m_changed) { + createCheckers(); + // mark as unchanged to avoid recreation on further calls + m_changed = false; + } + + // apply all tests to the point + Checker* checker = m_checker; + while(checker) { + if(checker->test(point)) { + checker = checker->m_next; + } else { + // if even one test fails the point is discarded + return false; + } + } + // point has passed if all tests returned true + return true; +} diff --git a/include/scanserver/scanHandler.h b/include/scanserver/scanHandler.h new file mode 100644 index 0000000..47847d4 --- /dev/null +++ b/include/scanserver/scanHandler.h @@ -0,0 +1,56 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef SCAN_HANDLER_H +#define SCAN_HANDLER_H + +#include "scanserver/temporaryHandler.h" +#include +#include + + +/** + * @brief CacheHandler for scan files. + * + * This class handles scan files. On a cache miss it reads from the original scan file by calling ScanIO to load the proper library for input. + * If binary scan caching is enabled the TemporaryHandler functionality is invoked in saves and, if binary scan caching is enabled, also on loads. In the latter case the binary cache file has priority over parsing the scan anew. Invalidation is taken into consideration, reloading the scan with new range parameters. + */ +class ScanHandler : public TemporaryHandler +{ +public: + ScanHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, IODataType data); + + /** + * Reads specific scan data from a file, located by SharedScan's identifiers via ScanIO. + * If binary caching is enabled it will try to read from this resource first to speed up the process. + * @return true, will throw otherwise because we are desperate for scans + * @throw if both the binary cache and the scan resource were unavailable + */ + virtual bool load(); + + /** + * Does nothing unless binary caching is enabled, which will save the contents via CacheIO. + */ + virtual void save(unsigned char* data, unsigned int size); + + //! Enable binary caching of scan data + static void setBinaryCaching(); +private: + IODataType m_data; + + static bool binary_caching; + + //! Cached vectors for prefetching + static std::map* > m_prefetch_xyz; + static std::map* > m_prefetch_rgb; + static std::map* > m_prefetch_reflectance; + static std::map* > m_prefetch_amplitude; + static std::map* > m_prefetch_type; + static std::map* > m_prefetch_deviation; +}; + +#endif //SCAN_HANDLER_H diff --git a/include/scanserver/scan_io/scan_io.h b/include/scanserver/scan_io/scan_io.h new file mode 100644 index 0000000..39502ea --- /dev/null +++ b/include/scanserver/scan_io/scan_io.h @@ -0,0 +1,90 @@ +/** + * @file + * @brief IO of a 3D scan + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_H__ +#define __SCAN_IO_H__ + +#include +#include +#include +#include + +#include "scanserver/io_types.h" +#include "scanserver/pointfilter.h" + + + +/** + * @brief IO of a 3D scan + * + * This class needs to be instantiated by a class loading + * 3D scans from different file formats. + */ +class ScanIO { +public: + /** + * Read a directory and return all possible scans in the [start,end] interval. + * + * @param dir_path The directory from which to read the scans + * @param start Starting index + * @param end Last index + * @return List of IO-specific identifiers of scans, matching the search + */ + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end) = 0; + + /** + * Reads the pose from a dedicated pose file or from the scan file. + * + * @param dir_path The directory the scan is contained in + * @param scan_identifier IO-specific identifier for the particular scan + * @param pose Pointer to an existing double[6] array where the pose is saved in + */ + virtual void readPose(const char* dir_path, const char* identifier, double* pose) = 0; + + /** + * Given a scan identifier, load the contents of this particular scan. + * + * @param dir_path The directory the scan is contained in + * @param identifier IO-specific identifier for the particular scan + * @param filter Filter object which each point is tested on by its position + */ + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz = 0, std::vector* rgb = 0, std::vector* reflectance = 0, std::vector* amplitude = 0, std::vector* type = 0, std::vector* deviation = 0) = 0; + + /** + * Returns whether this ScanIO can load the requested data from a scan. + * + * @param type data channel request + * @return whether it's supported or not + */ + virtual bool supports(IODataType type) = 0; + + /** + * @brief Global mapping of io_types to single instances of ScanIOs. + * + * If the ScanIO doesn't exist, it will be created and saved in a map. + * Otherwise, the matching ScanIO will be returned. + * + * @param type Key identifying the ScanIO + * @return The newly created or found ScanIO + */ + static ScanIO* getScanIO(IOType iotype); + + //! Delete all ScanIO instances and (lazy) try to unload the libraries. + static void clearScanIOs(); +private: + static std::map m_scanIOs; +}; + +// Since the shared object files are loaded on the fly, we +// need class factories + +// the types of the class factories +typedef ScanIO* create_sio(); +typedef void destroy_sio(ScanIO*); + +#endif diff --git a/include/scanserver/scan_io/scan_io_ks.h b/include/scanserver/scan_io/scan_io_ks.h new file mode 100644 index 0000000..878000c --- /dev/null +++ b/include/scanserver/scan_io/scan_io_ks.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_H__ +#define __SCAN_IO_KS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_ks_rgb.h b/include/scanserver/scan_io/scan_io_ks_rgb.h new file mode 100644 index 0000000..1a5fb6a --- /dev/null +++ b/include/scanserver/scan_io/scan_io_ks_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_KS_RGB_H__ +#define __SCAN_IO_KS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for KS RGB scans + * + * The compiled class is available as shared object file + */ +class ScanIO_ks_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_riegl_rgb.h b/include/scanserver/scan_io/scan_io_riegl_rgb.h new file mode 100644 index 0000000..98b5a4b --- /dev/null +++ b/include/scanserver/scan_io/scan_io_riegl_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_RGB_H__ +#define __SCAN_IO_RIEGL_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_riegl_txt.h b/include/scanserver/scan_io/scan_io_riegl_txt.h new file mode 100644 index 0000000..f4567de --- /dev/null +++ b/include/scanserver/scan_io/scan_io_riegl_txt.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RIEGL_H__ +#define __SCAN_IO_RIEGL_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for Riegl scans + * + * The compiled class is available as shared object file + */ +class ScanIO_riegl_txt : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_rts.h b/include/scanserver/scan_io/scan_io_rts.h new file mode 100644 index 0000000..d43c458 --- /dev/null +++ b/include/scanserver/scan_io/scan_io_rts.h @@ -0,0 +1,30 @@ +/** + * @file + * @brief IO of a 3D scan in rts file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for RTS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rts : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +private: + std::string cached_dir; + std::vector cached_poses; +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_rxp.h b/include/scanserver/scan_io/scan_io_rxp.h new file mode 100644 index 0000000..52b158f --- /dev/null +++ b/include/scanserver/scan_io/scan_io_rxp.h @@ -0,0 +1,83 @@ +/** + * @file + * @brief IO of a 3D scan in rxp file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_RXP_H__ +#define __SCAN_IO_RXP_H__ + +#include "scan_io.h" +#include "slam6d/point.h" + +#include "riegl/scanlib.hpp" +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +class importer; + + + +/** + * @brief 3D scan loader for RXP scans + * + * The compiled class is available as shared object file + */ +class ScanIO_rxp : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); + + ScanIO_rxp() : dec(0), imp(0) {} +private: + std::tr1::shared_ptr rc; + decoder_rxpmarker *dec; + importer *imp; + std::string old_path; +}; + +/** + * The importer class is the interface to riegl's pointcloud class, and will convert their point struct to slam6d's point class. + * + * Code adapted from rivlib/example/pointcloudcpp.cpp available from http://www.riegl.com . + */ +class importer : public scanlib::pointcloud +{ +public: + importer(PointFilter& filter, int start, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) : + pointcloud(false), // set this to true if you need gps aligned timing + filter(&filter), xyz(xyz), reflectance(reflectance), amplitude(amplitude), type(type), deviation(deviation), + start(start), currentscan(0) + {} + inline int getCurrentScan() { return currentscan; } + inline void set(PointFilter& filter, std::vector* xyz, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) + { + this->filter = &filter; + this->xyz = xyz; + this->reflectance = reflectance; + this->amplitude = amplitude; + this->type = type; + this->deviation = deviation; + } +protected: + PointFilter* filter; + std::vector *xyz; + std::vector *reflectance; + std::vector *amplitude; + std::vector *type; + std::vector *deviation; + int start; + int currentscan; + // overridden from pointcloud class + void on_echo_transformed(echo_type echo); + + void on_frame_stop(const scanlib::frame_stop& arg) { + scanlib::basic_packets::on_frame_stop(arg); + currentscan++; + } +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_uos.h b/include/scanserver/scan_io/scan_io_uos.h new file mode 100644 index 0000000..4119b36 --- /dev/null +++ b/include/scanserver/scan_io/scan_io_uos.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_H__ +#define __SCAN_IO_UOS_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans + * + * The compiled class is available as shared object file + */ +class ScanIO_uos : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/scan_io/scan_io_uos_rgb.h b/include/scanserver/scan_io/scan_io_uos_rgb.h new file mode 100644 index 0000000..2a6144b --- /dev/null +++ b/include/scanserver/scan_io/scan_io_uos_rgb.h @@ -0,0 +1,27 @@ +/** + * @file + * @brief IO of a 3D scan in uos file format + * @author Thomas Escher + */ + +#ifndef __SCAN_IO_UOS_RGB_H__ +#define __SCAN_IO_UOS_RGB_H__ + +#include "scan_io.h" + + + +/** + * @brief 3D scan loader for UOS scans with color information + * + * The compiled class is available as shared object file + */ +class ScanIO_uos_rgb : public ScanIO { +public: + virtual std::list readDirectory(const char* dir_path, unsigned int start, unsigned int end); + virtual void readPose(const char* dir_path, const char* identifier, double* pose); + virtual void readScan(const char* dir_path, const char* identifier, PointFilter&& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation); + virtual bool supports(IODataType type); +}; + +#endif diff --git a/include/scanserver/serverInterface.h b/include/scanserver/serverInterface.h new file mode 100644 index 0000000..14fbc73 --- /dev/null +++ b/include/scanserver/serverInterface.h @@ -0,0 +1,104 @@ +/** + * @file + * @brief Serverside command structure for client-server interaction. + * + * @author Thomas Escher + */ + +#ifndef SCANSERVER_SERVERINTERFACE_H +#define SCANSERVER_SERVERINTERFACE_H + +#include "scanserver/clientInterface.h" +#include "scanserver/cache/cacheManager.h" + +// hide the boost namespace +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + + + +/** + * @brief Central instance of the server management. + * + * This class handles all the serverside communication and relays cache management calls to the CacheManager. + * It derives ClientInterface and shares its mutexes and arguments, neccessary for the communication. It also holds the SharedScan and CacheManager instances. + * create will open the shared memory and place a ServerInterface instance in it, after which the main server loop run handles all communication. + */ +class ServerInterface : public ClientInterface +{ +private: + //! Container for all shared scans the server can hold + SharedScanVector m_scans; + + //! Cache manager for handling all cache objects inside the shared scans + CacheManager m_manager; + + //! Saved size of the CacheObject shared memory + std::size_t m_cache_size; + +private: + //! Read a directory of scans by letting the corresponding ScanIO reading it and creating a scan for each entry + SharedScanVector* readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end); + + //! Cache miss from a CacheObject, relayed to CacheManager + bool loadCacheObject(CacheObject* obj); + + //! Allocate call from SharedScan, relayed to CacheManager + void allocateCacheObject(CacheObject* obj, unsigned int size); + + //! Invalidate call from SharedScan, relayed to CacheManager + void invalidateCacheObject(CacheObject* obj); + + //! Call from SharedScan, relayed to ScanIO + void getPose(SharedScan* scan); + + //! Allocate a new Frame in its vector + void addFrame(SharedScan* scan); + + //! Relayed to FrameIO + void loadFramesFile(SharedScan* scan); + + //! Relayed to FrameIO + void saveFramesFile(SharedScan* scan); + + //! Empties this SharedScan's FrameVector + void clearFrames(SharedScan* scan); + + //! Call from client + std::size_t getCacheSize(); + + //! Prints out caching related metrics + void printMetrics(); + + //! Find a scan by matching its identifier, path and io type to avoid placing the same scan multiple times into the scan vector + SharedScan* findScan(const SharedStringSharedPtr& dir_path, const char* identifier, IOType type) const; + +public: + /** + * Constructor + * @param sm SegmentManager for allocator objects to construct interprocess containers with + * @param shm_name Name of the cache shared memory that will be passed to CacheManager + * @param cache_size Size of cache shared memory + */ + ServerInterface(SegmentManager* sm, const char* shm_name, std::size_t cache_size); + ~ServerInterface(); + + //! Create the shared memory in the system and put all neccessary structures in it + static ServerInterface* create(std::size_t data_size, std::size_t cache_size); + + //! remove the shared memory from the system + static void destroy(); + + //! Main server loop for message handling and function dispatching + void run(); + +private: + //! Cleaning up internal data without destroying the instance + void cleanup(); +}; + +#endif //SCANSERVER_SERVERINTERFACE_H diff --git a/include/scanserver/serverScan.h b/include/scanserver/serverScan.h new file mode 100644 index 0000000..89547ff --- /dev/null +++ b/include/scanserver/serverScan.h @@ -0,0 +1,41 @@ +/** + * @file + * @brief Scan containing all interprocess shared data and management values. + * + * @author Thomas Escher + */ + +#ifndef SERVER_SCAN__H +#define SERVER_SCAN__H + +#include "sharedScan.h" + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +class CacheManager; + + + +/** + * @brief Privileged derivation of SharedScan for serverside construction. + * + * For client/server separation in both code access and compilation matters this class creates the CacheObjects and CacheHandlers for SharedScan in the server process. It further gives access to the pose and frame vector members. + */ +class ServerScan : public SharedScan { +public: + ServerScan(const ip::allocator & allocator, + const SharedStringSharedPtr& dir_path_ptr, const char* io_identifier, + IOType iotype, CacheManager* cm); + + inline void setPose(double* pose) { m_pose = pose; } + inline FrameVector& getFrames() { return m_frames; } +private: +}; + +#endif //SERVER_SCAN__H \ No newline at end of file diff --git a/include/scanserver/sharedScan.h b/include/scanserver/sharedScan.h new file mode 100644 index 0000000..6165357 --- /dev/null +++ b/include/scanserver/sharedScan.h @@ -0,0 +1,191 @@ +/** + * @file + * @brief Scan containing all interprocess shared data and management values. + * + * @author Thomas Escher + */ + +#ifndef SHARED_SCAN_H +#define SHARED_SCAN_H + +#include "scanserver/frame.h" +#include "slam6d/io_types.h" +#include "slam6d/data_types.h" +#include "slam6d/pointfilter.h" + +#include +#include +#include +#include + +// hide the boost namespace and shorten others +namespace +{ + namespace ip = boost::interprocess; + // the segment manager providing the allocations + typedef ip::managed_shared_memory::segment_manager SegmentManager; +} + +// allocator and type for a scan vector +class SharedScan; +typedef ip::allocator, SegmentManager> SharedScanAllocator; +typedef ip::vector, SharedScanAllocator> SharedScanVector; + +// allocator and type for a shared string +typedef ip::allocator CharAllocator; +typedef ip::basic_string, CharAllocator> SharedString; + +// shared pointer for shared strings +typedef ip::managed_shared_ptr::type SharedStringSharedPtr; + +class CacheObject; + + + +/** + * @brief Central class representing a single scan file in shared memory. + * + * This class identifies a scan file by its path, identificator and io type, which are given to the ScanIO to read a scan. + * It holds all neccessary information like pose, frames and cached data from the scan. The cached data is contained in CacheObjects, one for each data channel and two reduced (one transformed, one untransformed). The access to the CacheObjects' data is given via a derivation from CacheData via MultiArray-types, which imitates a double**-array for easy use. + * All calls to the server are relayed to the ClientInterface and handled there. Access to the CacheObjects causing a cache miss also invoke a server call to the CacheManager. + */ +class SharedScan +{ + // private static class access for onChacheMiss/onAllocation + friend class CacheObject; +public: + //! Constructor by identifiers + SharedScan(const ip::allocator & allocator, + const SharedStringSharedPtr& dir_path_ptr, const char* io_identifier, + IOType iotype); + + //! Deconstructor + ~SharedScan(); + + //! Equality operator based on identifier, directory and type + bool operator==(const SharedScan& r) const; + + //! Filter parameters for range checks when loading from file, invalidate cache for scan CacheObject if it differs + void setRangeParameters(double max_dist, double min_dist); + + //! Filter parameters for height checks when loading from file, invalidate cache for scan CacheObject if it differs + void setHeightParameters(double top, double bottom); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setReductionParameters(const char* params); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setShowReductionParameters(const char* params); + + //! Set parameters and invalidate cache for reduced CacheObjects if it differs + void setOcttreeParameters(const char* params); + + //! Add a new frame with the current transformation and given type + void addFrame(double* transformation, unsigned int type); + + //! Save frames into a file for later use + void saveFrames(); + + //! Clear existing frames + void clearFrames(); + + //! Get contained frames + const FrameVector& getFrames(); + + //! Get pose from pose file + double* getPose(); + + //! Get specific cached data + DataXYZ getXYZ(); + DataRGB getRGB(); + DataReflectance getReflectance(); + DataAmplitude getAmplitude(); + DataType getType(); + DataDeviation getDeviation(); + + //! Reduced transformed points + DataXYZ getXYZReduced(); + + //! Create a new set of reduced points + DataXYZ createXYZReduced(unsigned int size); + + //! Reduced untransformed points + DataXYZ getXYZReducedOriginal(); + + //! Create a new set of reduced points originals + DataXYZ createXYZReducedOriginal(unsigned int size); + + //! Individual reduced points to use in show if requested + TripleArray getXYZReducedShow(); + + //! Create a new set of reduced points for use in show + TripleArray createXYZReducedShow(unsigned int size); + + //! Cached tree structure for show + DataPointer getOcttree(); + + //! Create a cached tree structure for show + DataPointer createOcttree(unsigned int size); + + //! ScanHandler related prefetching values to combine loading of separate cache objects + void prefetch(unsigned int type) { m_prefetch |= type; } + + //! Return prefetch values + unsigned int getPrefetch() const { return m_prefetch; } + + //! Clear prefetch values + void clearPrefetch() { m_prefetch = 0; } + + // IO-specific getters + inline const char* getDirPath() const { return m_dir_path_ptr->c_str(); } + inline const char* getIdentifier() const { return m_io_identifier.c_str(); } + inline IOType getIOType() const { return m_iotype; } + inline float getMaxDist() const { return m_max_dist; } + inline float getMinDist() const { return m_min_dist; } + inline double geHeightTop() const { return m_height_top; } + inline double getHeightBottom() const { return m_height_bottom; } + + //! Assembles an PointFilter with range/height parameters (if set) to use process-locally + PointFilter getPointFilter() const; + +private: + SharedStringSharedPtr m_dir_path_ptr; + SharedString m_io_identifier; + IOType m_iotype; + unsigned int m_prefetch; + double m_max_dist, m_min_dist; + double m_height_top, m_height_bottom; + bool m_range_param_set, m_height_param_set; + SharedString m_reduction_parameters; + SharedString m_show_parameters; + SharedString m_octtree_parameters; + bool m_load_frames_file; + +protected: + ip::offset_ptr m_pose; + ip::offset_ptr m_xyz, m_rgb, m_reflectance, m_amplitude, m_type, m_deviation, + m_xyz_reduced, m_xyz_reduced_original, + m_show_reduced, m_octtree; + FrameVector m_frames; + + //! invalidate full cache objects + void invalidateFull(); + + //! invalidate reduced cache objects + void invalidateReduced(); + + //! invalidate show related cache objects + void invalidateShow(); + +private: + //! Static callback for cache misses to send a request to the server interface + static void onCacheMiss(CacheObject* obj); + + //! Static callback for cache object creation calls + static void onAllocation(CacheObject* obj, unsigned int size); + + //! Static callback for cache object invalidation + static void onInvalidation(CacheObject* obj); +}; + +#endif //SHARED_SCAN_H diff --git a/include/scanserver/temporaryHandler.h b/include/scanserver/temporaryHandler.h new file mode 100644 index 0000000..1b02d35 --- /dev/null +++ b/include/scanserver/temporaryHandler.h @@ -0,0 +1,52 @@ +/** + * @file + * @brief + * + * @author Thomas Escher + */ + +#ifndef TEMPORARY_HANDLER_H +#define TEMPORARY_HANDLER_H + +#include "scanserver/cache/cacheHandler.h" +#include "scanserver/sharedScan.h" +#include "scanserver/cacheIO.h" + + + +/** + * @brief CacheHandler for artificially created CacheObjects by reduction in SharedScan. + * + * This handler saves and loads the contents of a CacheObject with arbitrary contents via CacheIO. + */ +class TemporaryHandler : public CacheHandler +{ +public: + /** + * Constructor + * @param static_data determines overwriting policy. Set false for changing data, true for static write-only-once data. + */ + TemporaryHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, bool static_data = false); + + /** + * Deserialize data from a file if it exists and written flag is set, otherwise does nothing + * @return whether written flag was set and file was found and loaded + */ + virtual bool load(); + + /** + * Serialize all data into a file + * It will do so if either the written flag isn't set, or static data flag isn't set regardless of the written flag. + */ + virtual void save(unsigned char* data, unsigned int size); + + //! Reset flag for having a cached file, causing reads to fail and saves to overwrite older files. + virtual void invalidate() { m_written = false; } +protected: + SharedScan* m_scan; +private: + CacheIO::IDType m_id; + bool m_written, m_static_data; +}; + +#endif //TEMPORARY_HANDLER_H diff --git a/include/shapes/ConfigFileHough.h b/include/shapes/ConfigFileHough.h new file mode 100644 index 0000000..ebff746 --- /dev/null +++ b/include/shapes/ConfigFileHough.h @@ -0,0 +1,91 @@ +#ifndef _ConfigFileHough_ +#define _ConfigFileHough_ + +#define DEF_CfgFileName "bin/hough.cfg" +#define DEF_MaxDist 500 +#define DEF_MinDist 50 +#define DEF_AccumulatorMax 100 +#define DEF_MinSizeAllPoints 20 +#define DEF_RhoNum 500 +#define DEF_ThetaNum 360 +#define DEF_PhiNum 176 +#define DEF_RhoMax 1500 +#define DEF_MaxPointPlaneDist 1.5 +#define DEF_MaxPlanes 20 +#define DEF_MinPlaneSize 100 +#define DEF_MinPlanarity 0.3 +#define DEF_PlaneRatio 0.5 +#define DEF_PointDist 5.0 +#define DEF_PeakWindow false +#define DEF_WindowSize 8 +#define DEF_TrashMax 20 + +#define DEF_AccumulatorType 3 +#define DEF_PlaneDir "dat/planes/" +#define FNAME_LENGTH 100 + +struct maxcompare { + bool operator()(int* ip1, int* ip2) const { + return (ip1[0] >ip2[0]); + } +}; + +class ConfigFileHough { + +public: + + ConfigFileHough(); + + unsigned int LoadCfg(const char *CfgFile); + void ShowConfiguration(); + + inline char* Get_CfgFileName(); + + inline double Get_MaxDist(); + inline double Get_MinDist(); + inline unsigned int Get_AccumulatorMax(); + inline unsigned int Get_MinSizeAllPoints(); + inline unsigned int Get_RhoNum(); + inline unsigned int Get_ThetaNum(); + inline unsigned int Get_PhiNum(); + inline unsigned int Get_RhoMax(); + inline double Get_MaxPointPlaneDist(); + inline unsigned int Get_MaxPlanes(); + inline unsigned int Get_MinPlaneSize(); + inline double Get_MinPlanarity(); + inline double Get_PlaneRatio(); + inline double Get_PointDist(); + inline bool Get_PeakWindow(); + inline unsigned int Get_WindowSize(); + inline unsigned int Get_TrashMax(); + + inline unsigned int Get_AccumulatorType(); + inline char* Get_PlaneDir(); + +//private: // Parameters are public to avoid having to create mutator functions + + char CfgFileName[FNAME_LENGTH]; + double MaxDist; + double MinDist; + unsigned int AccumulatorMax; + unsigned int MinSizeAllPoints; + unsigned int RhoNum; + unsigned int ThetaNum; + unsigned int PhiNum; + unsigned int RhoMax; + double MaxPointPlaneDist; + unsigned int MaxPlanes; + unsigned int MinPlaneSize; + double MinPlanarity; + double PlaneRatio; + double PointDist; + bool PeakWindow; + unsigned int WindowSize; + unsigned int TrashMax; + unsigned int AccumulatorType; + char PlaneDir[FNAME_LENGTH]; + +}; +#include "ConfigFileHough.icc" + +#endif diff --git a/include/shapes/ConfigFileHough.icc b/include/shapes/ConfigFileHough.icc new file mode 100644 index 0000000..90d8d2e --- /dev/null +++ b/include/shapes/ConfigFileHough.icc @@ -0,0 +1,22 @@ +inline char *ConfigFileHough::Get_CfgFileName(){return CfgFileName;} +inline double ConfigFileHough::Get_MaxDist(){return MaxDist;} +inline double ConfigFileHough::Get_MinDist(){return MinDist;} + +inline unsigned int ConfigFileHough::Get_AccumulatorMax(){return AccumulatorMax;} +inline unsigned int ConfigFileHough::Get_MinSizeAllPoints(){return MinSizeAllPoints;} +inline unsigned int ConfigFileHough::Get_RhoNum(){return RhoNum;} +inline unsigned int ConfigFileHough::Get_ThetaNum(){return ThetaNum;} +inline unsigned int ConfigFileHough::Get_PhiNum(){return PhiNum;} +inline unsigned int ConfigFileHough::Get_RhoMax(){return RhoMax;} +inline double ConfigFileHough::Get_MaxPointPlaneDist(){return MaxPointPlaneDist;} +inline unsigned int ConfigFileHough::Get_MaxPlanes(){return MaxPlanes;} + +inline unsigned int ConfigFileHough::Get_MinPlaneSize(){return MinPlaneSize;} +inline double ConfigFileHough::Get_MinPlanarity(){return MinPlanarity;} +inline double ConfigFileHough::Get_PlaneRatio(){return PlaneRatio;} +inline double ConfigFileHough::Get_PointDist(){return PointDist;} +inline bool ConfigFileHough::Get_PeakWindow(){return PeakWindow;} +inline unsigned int ConfigFileHough::Get_WindowSize(){return WindowSize;} +inline unsigned int ConfigFileHough::Get_TrashMax(){return TrashMax;} +inline unsigned int ConfigFileHough::Get_AccumulatorType(){return AccumulatorType;} +inline char* ConfigFileHough::Get_PlaneDir(){return PlaneDir;} diff --git a/include/shapes/NumberRecOctree.h b/include/shapes/NumberRecOctree.h new file mode 100644 index 0000000..37eaf13 --- /dev/null +++ b/include/shapes/NumberRecOctree.h @@ -0,0 +1,100 @@ +#ifndef NRRANSAC_OCTREE_H +#define NRRANSAC_OCTREE_H + +#include "shapes/geom_math.h" +#include "shapes/ransac_Boctree.h" +#include "slam6d/Boctree.h" + + + +template +class NumberRecOctTree : public RansacOctTree { + + public: +// NumberRecOctTree(vector &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree(pts, voxelSize, _pointtype) {} + NumberRecOctTree(vector &pts, T voxelSize, PointType _pointtype = PointType() ) : RansacOctTree(pts, voxelSize, _pointtype) {} + + long PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius) { + setNumber(plane, _center, radius, maxdist); + return PointsOnNumber(*BOctTree::root, BOctTree::center, BOctTree::size); + } + + void PointsOnNumber(double plane[4], double maxdist, double _center[3], double radius, vector &n) { + setNumber(plane, _center, radius, maxdist); + PointsOnNumber(*BOctTree::root, BOctTree::center, BOctTree::size, n); + } + + + protected: + long PointsOnNumber(bitoct &node, T *center, T size) { + if (!SphereInAABB(center[0], center[1], center[2], size)) { + return 0; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + long result = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains plane + if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if( closeToPlane(point) ) + result++; + point += BOctTree::POINTDIM; + } + } + } else { // recurse + result += PointsOnNumber( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + + return result; + } + + void PointsOnNumber(bitoct &node, T *center, T size, vector &n) { + if (!SphereInAABB(center[0], center[1], center[2], size)) { + return ; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains plane + if ( SphereInAABB(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if( closeToPlane(point) ) + n.push_back(point); + point+=BOctTree::POINTDIM; + } + } + } else { // recurse + PointsOnNumber( children->node, ccenter, size/2.0, n); + } + ++children; // next child + } + } + } + +}; + + +#endif diff --git a/include/shapes/accumulator.h b/include/shapes/accumulator.h new file mode 100644 index 0000000..6773e6e --- /dev/null +++ b/include/shapes/accumulator.h @@ -0,0 +1,199 @@ +#ifndef __ACCUMULATOR__ +#define __ACCUMULATOR__ +#include +#include "shapes/ConfigFileHough.h" +#include "slam6d/point.h" +using std::multiset; +#include "shapes/hsm3d.h" + + +double* polar2normal(double theta, double phi); + +/** + * Accumulator for the Hough Transform. For a detailed explanation of the + * different accumulator types please see: + * Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas N眉chter. + * A Data Structure for the 3D Hough Transform for Plane Detection. + * In Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '10), + * Lecce, Italy, September 2010. + */ +class Accumulator { + + public: + /** Contains the configuration for the accumulator */ + ConfigFileHough myConfigFileHough; + /** TODO */ + int count; + /** Constructor */ + Accumulator() { } + /** Destructor */ + virtual ~Accumulator() { } + /** Prints the accumulator so that the data can be shown using gnuplot */ + virtual void printAccumulator() = 0; + /** Sets the counters for each accumulator cells back to 0 */ + virtual void resetAccumulator() = 0; + /** Accumulates the cell containing theta, phi and rho. + * A plane is represented by: + * rho = cos(theta)*sin(phi)*x + sin(phi)*sin(theta)*y + cos(phi)*z + * @param theta theta angle of the plane + * @param phi phi angle of the plane + * @param rho distance of the plane + */ + virtual bool accumulate(double theta, double phi, double rho) = 0; + /** Accumulate all the cells that correspond to planes that go through p. + * A plane is represented by: + * rho = cos(theta)*sin(phi)*x + sin(phi)*sin(theta)*y + cos(phi)*z + * @param p the point that is transformed into Hough Space + */ + virtual void accumulate(Point p) = 0; + /** Accumulates all the cells that correspond to planes that go through p. + * @param p the point that is transformed into Hough Space + * @return the plane whose counter has exceeded the + * ConfigFileHough.GetAccumulatorMax , or {-1,_,_} + */ + virtual double* accumulateRet(Point p) = 0; + /** Accumulate all the cells that correspond to planes that go through p. + * @param p the point that is transformed into Hough Space + * @return the cell that has the maximum counter of all cells touched by the + * Hough Transform of p + */ + virtual int* accumulateAPHT(Point p) = 0; + /** + * Given the representation (rho, theta, phi) of a plane, the function + * calculates the center of the cell that this plane belongs to. + * A plane is represented by: + * rho = cos(theta)*sin(phi)*x + sin(phi)*sin(theta)*y + cos(phi)*z + * @param theta theta angle of the plane + * @param phi phi angle of the plane + * @param rho distance of the plane (newly calculated distance will be + * written here) + * @return the normal vector of the plane in the center of the cell + */ + virtual double* getMax(double &rho, double &theta, double &phi) = 0; + /** + * Given a cell in the accumulator, the function calculates the plane that + * is represented by this cell, i.e., the rho, theta, phi representation of + * the plane in the center of the cell. + * @param cell the indices of the cell in the accumulator + * @return normal vector (x,y,z) and distance (rho) of the plane representation {x, y, z, rho} + */ + virtual double* getMax(int* cell) = 0; + /** + * Returns a sorted list of the all cells in the accumulator. + * @return a sorted multiset containing the cells as (counter, rho_index, theta_index, phi_index) + */ + virtual multiset* getMax() = 0; + /** + * Cleans the accumulator using a very simple sliding window strategy. A + * quadratic window is moved over the accumulator. In each step all the + * counters in the window except the maximum counter are set to 0. + * @param the size of the window + */ + virtual void peakWindow(int size) = 0; +}; + +/** + * The AccumulatorSimple represents the Hough Space as an array. Each dimension + * is evenly discretized. This means that when projected onto the unit sphere + * the cells vary significantly in size. + */ +class AccumulatorSimple : public Accumulator { + public: + AccumulatorSimple(ConfigFileHough myCfg); + virtual ~AccumulatorSimple(); + virtual void printAccumulator(); + void resetAccumulator(); + bool accumulate(double theta, double phi, double rho); + void accumulate(Point p); + double* accumulateRet(Point p); + int* accumulateAPHT(Point p); + double* getMax(double &rho, double &theta, double &phi); + double* getMax(int* cell); + void peakWindow(int size); + multiset* getMax(); + private: + int ***accumulator; +}; + +/** + * The AccumulatorCube maps the unit sphere onto a cube. Each face of the cube + * is evenly discretized. + */ +class AccumulatorCube : public Accumulator { + public: + AccumulatorCube(ConfigFileHough myCfg); + virtual ~AccumulatorCube(); + virtual void printAccumulator(); + void printAccumulator2(); + void resetAccumulator(); + void peakWindow(int size); + bool accumulate(double theta, double phi, double rho); + void accumulate(Point p); + double* accumulateRet(Point p); + int* accumulateAPHT(Point p); + double* getMax(double &rho, double &theta, double &phi); + double* getMax(int* cell); + multiset* getMax(); + private: + int nrCells; + int ****accumulator; + buffer_point coords_s2_to_cell(double *n, unsigned int width); + double* coords_cube_to_s2(buffer_point lastbp, unsigned int width); + void coords_cube_for_print(buffer_point src, double** result, unsigned int width); + buffer_point lastbp; +}; + +/** + * The AccumulatorBall discretizes the unit sphere slice-wise. For each slice a + * a stepwidth in calculated for discretization in direction of theta is + * calculated. + */ +class AccumulatorBall : public Accumulator { + public: + AccumulatorBall(ConfigFileHough myCfg); + virtual ~AccumulatorBall(); + virtual void printAccumulator(); + void resetAccumulator(); + bool accumulate(double theta, double phi, double rho); + void accumulate(Point p); + double* accumulateRet(Point p); + int* accumulateAPHT(Point p); + double* getMax(double &rho, double &theta, double &phi); + double* getMax(int* cell); + multiset* getMax(); + void peakWindow(int size); + private: + int ***accumulator; + int *ballNr; +}; + +/** + * The AccumulatorBallI is an improvement of the AccumulatorBall. It + * discretizes the unit sphere slice-wise. For each slice a stepwidth in + * calculated for discretization in direction of theta is calculated. The + * difference to AccumulatorBall is that both of the poles are covered by on + * cell each. + */ +class AccumulatorBallI : public Accumulator { + public: + AccumulatorBallI(ConfigFileHough myCfg); + virtual ~AccumulatorBallI(); + virtual void printAccumulator(); + void resetAccumulator(); + bool accumulate(double theta, double phi, double rho); + void accumulate(Point p); + double* accumulateRet(Point p); + int* accumulateAPHT(Point p); + double* getMax(double &rho, double &theta, double &phi); + double* getMax(int* cell); + multiset* getMax(); + void peakWindow(int size); + private: + int ***accumulator; + int *ballNr; + double step; // in degree + double phi_top_deg; + double phi_top_rad; +}; + +#endif diff --git a/include/shapes/config_sickday.h b/include/shapes/config_sickday.h new file mode 100644 index 0000000..ca2559b --- /dev/null +++ b/include/shapes/config_sickday.h @@ -0,0 +1,47 @@ +// ===================================================================================== +// +// Filename: sickday.h +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 02:08:25 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +const int MIN_NR_PTS = 1200; + +const double IMG_RES = 2.0; // in cm +const int BOARD_SIZE_X = 59.40 / IMG_RES; // number of pixels wide +const int BOARD_SIZE_Z = 84.10 / IMG_RES; // number of pixels high + +const int WHITE_BORDER = 4; // number of pixels on the border to whiten. 10 cm ? + +const double MINREFL = -10.0; +const double MAXREFL = 10.0; +const double REFL_THRESHOLD = (0.0 - MINREFL ) / ( MAXREFL - MINREFL); // threshold for binarizing image + +const double MAX_DIST_TO_PLANE = 10.0; // RANSAC max distance to plane +const double MIN_SCORE = 0.65; // minimal score for accepting the board hypothesis (between 0 and 1) +const double SCORE_SCALE = 0.50; // score is scaled so that SCORE_SCALE is probability 0 + +/////////////// constants for OCR +const string OCRRESULT = "/tmp/ocrresult.txt"; +const string OCRERROR = "/tmp/ocrerr.txt"; +/////////////// number (except 1) are usually 17,27 pixel wide,high +// +const int MIN_NR_WIDTH = 28.0 / IMG_RES; // 14 pixel ? All Numbers except 1 must at least be this wide +const int MIN_1_WIDTH = 16.0 / IMG_RES; // 8 pixel ? Number 1 must at least be this wide +const int MIN_NR_HEIGHT = 46.0 / IMG_RES; // 23 pixel ? Numbers must at least be this high + +const int MAX_1_WIDTH = 28.0 / IMG_RES; // 14 pixel ? Number 1 must at most be this wide +const int MAX_NR_WIDTH = 42.0 / IMG_RES; // 21 pixel ? All Numbers except 1 must at most be this wide +const int MAX_NR_HEIGHT = 62.0 / IMG_RES; // 31 pixel ? Numbers must at most be this high + + + diff --git a/include/shapes/convexplane.h b/include/shapes/convexplane.h new file mode 100644 index 0000000..e4aef30 --- /dev/null +++ b/include/shapes/convexplane.h @@ -0,0 +1,45 @@ +#ifndef __CONVEX_PLANE_H__ +#define __CONVEX_PLANE_H__ + +#include "slam6d/point.h" + +#include +#include +using std::vector; +using std::list; + +#include +using std::set; + + + +class ConvexPlane { +protected: + ConvexPlane() {}; + +public: + static bool furtherleft(double * point, double * start, double * end); + static void JarvisMarchConvexHull(list &points, vector &convex_hull); + ConvexPlane(double _n[3], double _rho, char _direction, vector _convex_hull); + ConvexPlane(double plane[4], vector &points ); + ConvexPlane(double plane[4]); + ConvexPlane(vector &partialplanes); + ~ConvexPlane(); + void writePlane(std::string, int counter); + void writeNormal(std::string, int counter); + vector getConvexHull(); + void getNormal(double* normal, double* origin); + void project(const double *p, double *p1); + + double n[3]; + double rho; + char direction; + int pointsize; + vector convex_hull; + bool isWall(); + bool isHorizontal(); + void horizontalize(); + void verticalize(); +}; + +#endif diff --git a/include/shapes/geom_math.h b/include/shapes/geom_math.h new file mode 100644 index 0000000..d6e96ce --- /dev/null +++ b/include/shapes/geom_math.h @@ -0,0 +1,88 @@ +#ifndef __GEOM_MATH_H__ +#define __GEOM_MATH_H__ + +#include "newmat/newmatio.h" +#include "newmat/newmatap.h" +//using namespace NEWMAT; + +#include +using std::vector; + +template +T planeDist(const T *p, F nx, F ny, F nz, F d) { + return p[0]*nx + p[1]*ny + p[2]*nz + d; +} +bool SphereInAABB( float x, float y, float z, float size ) ; +void setNumber(double *plane, double *center, double _radius, double _maxDist) ; +bool PlaneInCube( float x, float y, float z, float size, float nx, float ny, float nz, float d); +bool PlaneInCube( float x, float y, float z, float size); +bool closeToPlane(double *p); + +// given a set of points this will calculate the best fit plane +template +static T fitPlane(vector &ppoints, T plane[4], T centroid[3]) { + NEWMAT::SymmetricMatrix A(3); + A = 0; + int n; + n = ppoints.size(); + double cx, cy, cz; + cx = 0.0; + cy = 0.0; + cz = 0.0; + + for (int i = 0; i < n; i++) { + T* p = ppoints[i]; + cx += p[0]; + cy += p[1]; + cz += p[2]; + } + cx /= n; + cy /= n; + cz /= n; + + centroid[0] = cx; + centroid[1] = cy; + centroid[2] = cz; + + for (int i = 0; i < n; i++) { + T* p = ppoints[i]; + A(1, 1) += (p[0] - cx)*(p[0] - cx); + A(2, 2) += (p[1] - cy)*(p[1] - cy); + A(3, 3) += (p[2] - cz)*(p[2] - cz); + A(1, 2) += (p[0] - cx)*(p[1] - cy); + A(1, 3) += (p[0] - cx)*(p[2] - cz); + A(2, 3) += (p[1] - cy)*(p[2] - cz); + } + + NEWMAT::DiagonalMatrix D; + NEWMAT::Matrix V; + try { + NEWMAT::Jacobi(A,D,V); + } catch (NEWMAT::ConvergenceException) { + cout << "couldn't find plane..." << endl; + return 0; + } + /* + cout << "A: "<< endl << A << endl; + cout << "D: "<< endl << D << endl; + cout << "V: "<< endl << V << endl; + */ + int index; + D.MinimumAbsoluteValue1(index); + + plane[0] = V(1,index); + plane[1] = V(2,index); + plane[2] = V(3,index); + plane[3] = -planeDist(plane, cx, cy, cz, 0.0); + //plane[3] = -(plane[0]*cx + plane[1]*cy + plane[2]*cz); + + double sum = 0.0; + for(int i = 1; i < 4; i++) { + sum += D(i); + } + sum = D(index)/sum; + + return D(index)/n; +} + +#endif diff --git a/include/shapes/hough.h b/include/shapes/hough.h new file mode 100644 index 0000000..d5903ea --- /dev/null +++ b/include/shapes/hough.h @@ -0,0 +1,73 @@ +#ifndef __HOUGH_PLANE_H__ +#define __HOUGH_PLANE_H__ + +#include "shapes/convexplane.h" +#include "shapes/ConfigFileHough.h" +//#include "wykobi/wykobi_algorithm.hpp" +#include "slam6d/point.h" +#include "slam6d/scan.h" +#include "shapes/accumulator.h" +#include "newmat/newmatio.h" +#include +using std::ofstream; +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + +struct valuecompare { + bool operator()(int* ip1, int* ip2) const { + if(ip1[0] > ip2[0]) { + return true; + }else { + return false; + } + } +}; + +class Hough { + +public: + ofstream out; + ConfigFileHough myConfigFileHough; + Accumulator *acc; + + int nrEntries; + vector * allPoints; + bool maximum; + bool quiet; + Scan *PlaneScan; + Scan *PlaneScan2; + int planeCounter; + int scanCounter; + // TODO delete planes in Constructor + vector planes; + vector coloredPoints; + + Hough(bool quiet = true, std::string configFile = ""); // this constructor allows the Scan to be set later + Hough(Scan * GlobalScan, bool quiet = true, std::string configFile = "bin/hough.cfg" ); + void SetScan(Scan*); + ~Hough(); + int RHT(); + void SHT(); + void PHT(); + void PPHT(); + void APHT(); + + //vector& getPlanes(); + bool distanceOK(Point p1, Point p2, Point p3); + bool calculatePlane(Point p1, Point p2, Point p3, double &theta, double &phi, double &rho); + + double * const* deletePoints(vector &model, int &size); + double * const* getPoints(int &size); + int deletePoints(double * n, double rho); + int deletePointsQuad(double * n, double rho); + + int writePlanes(int startCount); + void writePlanes(std::string); + int cluster(vPtPair &pairs, double minx, double max, double miny, double maxy); + void writePlanePoints(std::string); + void writeAllPoints(int index, vector points); + +}; + +double calcPlane(vector &ppoint, double plane[4]); + +#endif diff --git a/include/shapes/hsm3d.h b/include/shapes/hsm3d.h new file mode 100644 index 0000000..66ad156 --- /dev/null +++ b/include/shapes/hsm3d.h @@ -0,0 +1,92 @@ +/** + * @file Representation of the Accumulator Cube. + * + * This file contains the functions necessary to perform the transformations + * between normal vectors and cube coordinates. The representation is taken + * from + * A. Censi and S. Carpin, + * HSM3D: Feature-Less Global 6DOF Scan-Matching in the Hough/Radon Domain, + * In Proceedings of the IEEE International Conference on Robotics and + * Automation, 2009. + * + * The code in this file is a modified version of the code given by the authors + * on http://purl.org/censi/2008/hsm3d + * + * We gratefully appreciate the work of the authors and thank them for making + * the code publically available. + * + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +/* + + AUTORIGHTS + Copyright (c) 2008 The Regents of the University of California. + All Rights Reserved. + + Created by Stefano Carpin + University of California, Merced, Robotics Lab - School of Engineering + + Permission to use, copy, modify, and distribute this software and its + documentation for educational, research and non-profit purposes, without fee, + and without a written agreement is hereby granted, provided that the above + copyright notice, this paragraph and the following three paragraphs appear in + all copies. + + This software program and documentation are copyrighted by The Regents of the + University of California. The software program and documentation are supplied + "as is", without any accompanying services from The Regents. The Regents does + not warrant that the operation of the program will be uninterrupted or + error-free. The end-user understands that the program was developed for + research purposes and is advised not to rely exclusively on the program for + any reason. + + IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR + DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING + LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, + EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF + SUCH DAMAGE. THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED + HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO + OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR + MODIFICATIONS. + + */ + +#ifndef __HSM3D_H__ +#define __HSM3D_H__ +#include +/*! + \brief A point on the face of the cube with edge size 2 + and centered in 0,0,0 + */ +struct cube_point { + /*! Face of the cube. Must be between 1 and 6 */ + unsigned short int face; + /*! First coordinate on the face. Must be between -1 and 1*/ + double u; + /*! Second coordinate on the face. Must be between -1 and 1*/ + double v; +}; + +/*! + \brief Buffer representing a discretization of cube_point elements + as patches on faces + + Discretizes the the cube centered with edge size 2 + and centered in 0,0,0 using the same number of patches on each face. + Resolution is not stored in the class. + */ +struct buffer_point { + /*! Face of the cube. Must be between 1 and 6 */ + unsigned short int face; + /*! First patch index */ + unsigned int i; + /*! Second path index */ + unsigned int j; +}; + +bool real_compare(double x, double y); + +#endif diff --git a/include/shapes/image.h b/include/shapes/image.h new file mode 100644 index 0000000..eb5d75a --- /dev/null +++ b/include/shapes/image.h @@ -0,0 +1,43 @@ +#ifndef IMAGE_H +#define IMAGE_H + +#include +#include "slam6d/point.h" + +using std::vector; + +class Image { + +public: + Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, + const vector *points = 0); + Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, const vector *points = 0); + Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, double * const* points, int size); + int getWidth(); + int getHeight(); + float getValueAt(int width, int height); + float getMin(); + float getMax(); + + int calcMarker(float threshold, int ** regdat); + void mergeregion(int x, int y, int delreg, int targetreg, int** img, int it = 0); + int blobColor(float dist, int ** regdat); + int cluster(float dist, int** dat, int ** regdat); + void writeCenters(int regions, int** clusters, const vector *points); + void printScans(int ** regdat, double * const* points, int size); + void printImage(const char* filename, bool color, int** img, int height, int width, int min, int max); + void printImage(const char *filename, bool color); + ~Image(); + +private: + int width; + int height; + float minw; + float maxw; + float minh; + float maxh; + float threshold; + float ** data; +}; + +#endif diff --git a/include/shapes/integralimg.h b/include/shapes/integralimg.h new file mode 100644 index 0000000..7b929ed --- /dev/null +++ b/include/shapes/integralimg.h @@ -0,0 +1,108 @@ +// ===================================================================================== +// +// Filename: integralimg.cc +// +// Description: +// +// Version: 1.0 +// Created: 09/20/2010 06:58:34 PM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== +// +#include +using std::cout; +using std::cerr; +using std::endl; + + +#ifndef __INTEGRALIMG_H__ +#define __INTEGRALIMG_H__ + +#define TBB 5 +#define SBB 7 +#define HEIGHT 26 +//#define HEIGHT 40 +#define WIDTH 30 +const int black[4][2] = { {0,0}, {WIDTH+2*SBB,0}, {WIDTH+2*SBB,HEIGHT+TBB}, {0,HEIGHT+TBB}}; +const int white[4][2] = { {SBB,TBB}, {WIDTH+SBB,TBB}, {WIDTH+SBB,HEIGHT+TBB}, {SBB,HEIGHT+TBB}}; +/*const int black[4][2] = { {0,0}, {30+2*SBB,0}, {30+2*SBB,40+TBB}, {0,40+TBB}}; +const int white[4][2] = { {SBB,TBB}, {30+SBB,TBB}, {30+SBB,40+TBB}, {SBB,40+TBB}}; +*/ +class integral_img { +public: + + integral_img(int **_img, int x, int y) { + img = _img; + X = x; + Y = y; + + for (int i = 1; i < X; i++) { + img[i][0] += img[i-1][0]; + } + for (int j = 1; j < Y; j++) { + img[0][j] += img[0][j-1]; + } + + for (int i = 1; i < X; i++) { + for (int j = 1; j < Y; j++) { + img[i][j] += img[i-1][j] + img[i][j-1] - img[i-1][j-1]; + } + } + } + + int At(int x, int y) { + if (x < 0 || y < 0) { + return 0; + } + if (x >= X) x = X - 1; + if (y >= Y) y = Y - 1; + return img[x][y]; + } + + double getBest(int &x, int&y) { + int score; + int maxscore = 0; + int maxx = 0; + int maxy = 0; + + + for (int i = -SBB; i < X+SBB; i++) { + for (int j = -TBB; j < Y+TBB; j++) { + score = 2*getWhite(i,j) - getBlack(i,j); +// cout << i << " " << j << ": W " << getWhite(i,j)<< " B " << getBlack(i,j) << " SCORE " << score << endl; + + if (score > maxscore) { + maxscore = score; + maxx = i; + maxy = j; + } + } + } + x = maxx + SBB; + y = maxy + TBB; + return (double)maxscore/(double)(HEIGHT*WIDTH); + } + + inline int getWhite(int x, int y) { + return At(x + white[0][0], y + white[0][1]) + At(x + white[2][0], y + white[2][1]) - + At(x + white[1][0], y + white[1][1]) - At(x + white[3][0], y + white[3][1]); + } + + inline int getBlack(int x, int y) { + return At(x + black[0][0], y + black[0][1]) + At(x + black[2][0], y + black[2][1]) - + At(x + black[1][0], y + black[1][1]) - At(x + black[3][0], y + black[3][1]); + } + + + int **img; + int X; + int Y; + +}; + +#endif diff --git a/include/shapes/numberrec.h b/include/shapes/numberrec.h new file mode 100644 index 0000000..6cca6ea --- /dev/null +++ b/include/shapes/numberrec.h @@ -0,0 +1,24 @@ +// ===================================================================================== +// +// Filename: numberrec.h +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 01:26:59 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== +#ifndef __NUMBERREC_H__ +#define __NUMBERREC_H__ + + +//void my_test(); +bool gocr_recognizeNumber(string &filename, int &number, double &probability); + +#endif + diff --git a/include/shapes/numbers.h b/include/shapes/numbers.h new file mode 100644 index 0000000..b4d36eb --- /dev/null +++ b/include/shapes/numbers.h @@ -0,0 +1,231 @@ +// ===================================================================================== +// +// Filename: numbers.h +// +// Description: +// +// Version: 1.0 +// Created: 09/24/2010 02:03:48 PM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#ifndef __NUMBERS_H_ +#define __NUMBERS_H_ + +class numberState { +public: + numberState() : number(0), char_p(0), board_p(0) { + for (int i = 0; i < 3; i++) { + position[i] = 0.0; + } + }; + numberState(int _number) : number(_number), char_p(0), board_p(0) { + for (int i = 0; i < 3; i++) { + position[i] = 0.0; + } + }; + numberState(int _number, double _char_p, double _board_p, double _position[3]) + : number(_number), char_p(_char_p), board_p(_board_p) + { + for (int i = 0; i < 3; i++) { + position[i] = _position[i]; + } + for (int i = 0; i < 4; i++) { + plane[i] = 0; + } + } + numberState(int _number, double _char_p, double _board_p, double _position[3], double _plane[4]) + : number(_number), char_p(_char_p), board_p(_board_p) + { + for (int i = 0; i < 3; i++) { + position[i] = _position[i]; + } + for (int i = 0; i < 4; i++) { + plane[i] = _plane[i]; + } + } + + double dist(numberState &ns) { + double x = ns.position[0] - position[0]; + double y = ns.position[1] - position[1]; + double z = ns.position[2] - position[2]; + + return sqrt( x*x + y*y +z*z ); + } + + int number; + double char_p; + double board_p; + double position[3]; + double plane[4]; + +}; + +inline ostream& operator<<(ostream& os, const numberState ns) +{ + os << "P(" << ns.number << ") = " << ns.char_p; + os << " P(" << ns.position[0] << ", " << ns.position[1] << ", " << ns.position[2] << ") = " << ns.board_p; + return os; +} + +class numberConsensus { +public: + + numberConsensus() { + sum_board_probability = 0.0; + sum_char_probability = 0.0; + consensus = numberState(); + } + + numberConsensus(int number) { + sum_board_probability = 0.0; + sum_char_probability = 0.0; + consensus = numberState(number); + } + + void addObservation(int number, double cp, double bp, double pos[3], double plane[4]) { + addObservation( numberState(number, cp, bp, pos, plane) ); + } + + bool isClose(double pos[3]) { + return isClose( numberState(0, 0, 0, pos) ); + } + + bool isClose(numberState ns) { + for (unsigned int i = 0; i < clusters.size(); i++) { + if (ccenters[i].dist(ns) < 100.0 ) { // should be good enough + return true; + } + } + return false; + } + + void addObservation(numberState ns) { + if (ns.number != consensus.number) return; + +// observations.push_back(ns); + sum_board_probability += ns.board_p; + sum_char_probability += ns.char_p; + + if (clusters.empty()) { + vector vec; + vec.push_back(ns); + ccenters.push_back(ns); + clusters.push_back(vec); + + updateConsensus(0); + return; + } + + for (unsigned int i = 0; i < clusters.size(); i++) { + if (ccenters[i].dist(ns) < 100.0 ) { // should be good enough + cout << "new point is close to previous cluster..." << endl; + clusters[i].push_back(ns); + updateConsensus(i); + return; + } + } + + // new cluster + vector vec; + vec.push_back(ns); + ccenters.push_back(ns); + clusters.push_back(vec); + + updateConsensus(clusters.size() -1); + return; + } + + void updateConsensus(int changed) { + // First compute new representative for the changed cluster + double pos[3]; pos[0] = pos[1] = pos[2] = 0.0; + + vector changed_cluster = clusters[changed]; + for (unsigned int i = 0; i < changed_cluster.size(); i++) { + for (int j = 0; j < 3; j++) + pos[j] += changed_cluster[i].position[j]; + } + for (int j = 0; j < 3; j++) + pos[j] = pos[j] / changed_cluster.size(); + + // set representative + ccenters[changed] = numberState(consensus.number, 0, 0, pos ) ; + + if (clusters.size() == 1) { // special case + if (clusters[0].size() == 1) { // + cout << "first number found..." << endl; + ccenters[0].char_p = clusters[0][0].char_p; + ccenters[0].board_p = clusters[0][0].board_p; + consensus = ccenters[0]; + return; + } + } + + + for (unsigned int i = 0; i < clusters.size(); i++) { + double sum_bp = 0.0; + double sum_cp = 0.0; + for (unsigned int j = 0; j < clusters[i].size(); j++) { + sum_bp += clusters[i][j].board_p; + sum_cp += clusters[i][j].char_p; + } + ccenters[i].char_p = sum_cp / sum_char_probability; + ccenters[i].board_p = sum_bp / sum_board_probability; + } + + + consensus = ccenters[0]; + for (unsigned int i = 1; i < ccenters.size(); i++) { + if (consensus.char_p * consensus.board_p < ccenters[i].char_p * ccenters[i].board_p) { + consensus = ccenters[i]; + } + } + + } +/* + void updateConsensus() { + double pos[3]; pos[0] = pos[1] = pos[2] = 0.0; + double plane[4]; + double bp = 0.0; + double cp = 0.0; + + for (unsigned int i = 0; i < observations.size(); i++) { + for (int j = 0; j < 3; j++) + pos[j] += observations[i].board_p * observations[i].position[j]; + + cp += observations[i].char_p; + bp += observations[i].board_p; + } + + for (int j = 0; j < 3; j++) + pos[j] = pos[j] / observations.size(); + cp = cp / observations.size(); + bp = bp / observations.size(); + + consensus = numberState(consensus.number, cp, bp, pos, plane); + } + */ + + numberState getConsensus() { + return consensus; + } + +private: + numberState consensus; +// vector observations; + + vector< vector > clusters; + vector ccenters; + + double sum_char_probability; + double sum_board_probability; + + +}; + +#endif diff --git a/include/shapes/parascan.h b/include/shapes/parascan.h new file mode 100644 index 0000000..35641a4 --- /dev/null +++ b/include/shapes/parascan.h @@ -0,0 +1,35 @@ +/* parascan.h */ + +#ifndef parascan +#define parascan + +/* dependencies */ +/* -------------------------------------------------------------------------- */ + +/* constant definitions */ +/* -------------------------------------------------------------------------- */ + +#define LF 0x0A /* line feed: zeilenvorschub */ +#define CR 0x20 /* carriage return: wagenruecklauf */ +#define COMMENT 0x3B /* ';' als kommentartrennzeichen */ +#define NAMELEN 80 /* maximale Laenge der Dateinamen */ + +/* typedefinitions */ +/* -------------------------------------------------------------------------- */ + +/* macros */ +/* -------------------------------------------------------------------------- */ + +/* prototyps */ +/* -------------------------------------------------------------------------- */ + +extern int paramtr_scan_int(FILE *stream, const char *search,int defaultval); +extern double paramtr_scan_double(FILE *stream, const char *search,double defaultval); +extern bool paramtr_scan_str(FILE *stream, const char *search, char *target); +extern int paramtr_scan_echo(const char *filename, const char *search); +/* descriptions */ +/* -------------------------------------------------------------------------- */ + + +#endif /* end of parascan.h */ + diff --git a/include/shapes/ppair.h b/include/shapes/ppair.h new file mode 100644 index 0000000..b6a2b53 --- /dev/null +++ b/include/shapes/ppair.h @@ -0,0 +1,69 @@ +/** + * @file + * @brief Definition of plane pairs + * + * @author + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Dorit Borrmann. School of Engineering and Science, Jacobs University Bremen gGmbH, Germany. + */ +#ifndef __PPAIR_H__ +#define __PPAIR_H__ + +#include "convexplane.h" +/** + * @brief Representing point pairs + */ +class PPair { +public: + enum TYPE {UNDEFINED, EQUAL, PARALLEL, PERPENDICULAR}; + + inline PPair(ConvexPlane *p1, ConvexPlane *p2); + inline PPair() : p1(0), p2(0) {}; + + ConvexPlane *p1; ///< The two points forming the pair + ConvexPlane *p2; ///< The two points forming the pair + double angle; + double center_distance; // or poly distance? + double plane_distance; + // intersection linie + Point istart, iend; + + TYPE type; + +}; + +inline PPair::PPair(ConvexPlane *_p1, ConvexPlane *_p2) { + type = UNDEFINED; + p1 = _p1; + p2 = _p2; + + // TODO hier richtigen wert berechnen + center_distance = 0.0; + plane_distance = fabs(p1->rho - p2->rho); + double tmp = p1->n[0] * p2->n[0] + p1->n[1] * p2->n[1] + p1->n[2] * p2->n[2]; + if (tmp > 1.0) { + angle = 0.0; + } else if (tmp < -1.0) { + angle = M_PI; + } else { + angle = acos( tmp ); + } + if (angle > M_PI / 2.0) { + angle = M_PI - angle; + } + + double nnx = p2->n[0]/p2->n[0]; + + double y = (p2->rho - nnx * p1->rho) / (p2->n[1] - nnx * p1->n[1]); + double x = (p1->rho - p1->n[1] * y) / p1->n[0]; + double z = 0.0; + + istart = Point(x,y,z); + + double nn[3]; + Cross(p1->n, p2->n, nn); + + iend = Point(x + nn[0], y + nn[1], nn[2]); +} + +#endif diff --git a/include/shapes/quadtree.h b/include/shapes/quadtree.h new file mode 100644 index 0000000..c3ec621 --- /dev/null +++ b/include/shapes/quadtree.h @@ -0,0 +1,116 @@ +#ifndef QUADTREE_H +#define QUADTREE_H + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ios; +using std::ofstream; +#include +using std::vector; +#include +using std::set; + +#include "slam6d/globals.icc" // globals constant definitions +//#include "defs.h" +//#include "plane.h" + +const int MIN_PTS_IN_BUCKET = -1; + + +/* +++++++++-------------++++++++++++ + * CLASS NAME + * QuadTree + * DESCRIPTION + * A quadtree is used to convert an + * unbounded 3D plane to a 3D surface, + * such that it can be drawn to the + * screen. + * The code is similar to the octree + * class. + * PARAMETERS + * -- + * +++++++++-------------++++++++++++ */ + +class QuadTree { + public: + + //QuadTree(double **pts, int n, double, Plane *); + QuadTree(double **pts, int n, double, double min_angle); + ~QuadTree(); + + vector >& getClusters(); + +// int outputQuad(char *); +// void getQuadTreePoints(vector &quad_x, vector &quad_y, vector &quad_z); +// void getQuadTreeColor(double &colorR, double &colorG, double &colorB); + + private: + + QuadTree(vector &splitPoints, double center[2], + double x_size, double y_size,set &n, + set &e, set &s, set &w); + + int countPoints(double **pts, int n, double center[2], + double x_size, double y_size); + + int countPointsAndQueue(const vector &i_points, + vector &points, + double center[2], + double x_size, double y_size, + set &n, + set &e, + set &s, + set &w); + + int countPointsAndQueue(double **pts, int , + vector &points, + double center[2], + double x_size, double y_size, + set &no, + set &e, + set &s, + set &w); + + // int _OutputQuad(ofstream& quadout); + vector > clusters; + set north; + set south; + set east; + set west; + + QuadTree *child[4]; + + vector points; + double center[2]; + double x_size, y_size; + double size2; + + int leaf; + + static int anz; + static double qSize; + static double dist; + + static bool close(double *p, set &cluster); + static bool close(double *p1, double *p2); + static int where(double *p1, vector >& clusters); + static vector >& clusterCells(vector > &clusters1, + set border1, + vector > &clusters2, + set border2, vector >&cl); +// static Plane *basePlane; +}; + +#endif + + + + + + + + + diff --git a/include/shapes/ransac.h b/include/shapes/ransac.h new file mode 100644 index 0000000..7d8ec9a --- /dev/null +++ b/include/shapes/ransac.h @@ -0,0 +1,55 @@ +#ifndef __RANSAC_H__ +#define __RANSAC_H__ + +#include "shape.h" +#include "slam6d/scan.h" +#include "shapes/ransac_Boctree.h" + +// TODO implement some parameters to modify ransac (maybe in CollisionShape?) +template +void Ransac(CollisionShape &shape, Scan *scan, vector *best_points = 0) { + int best_score = 0; + CollisionShape *best = shape.copy(); + + // stores 3 sample points + vector ps; + // create octree from the points + DataXYZ xyz(scan->get("xyz reduced")); + RansacOctTree *oct = new RansacOctTree(PointerArray(xyz).get(), xyz.size(), 50.0 ); + + cout << "start 5000 iterations" << endl; + for(int i = 0; i < 5000; i++) { + ps.clear(); + // randomly select points from the octree + oct->DrawPoints(ps, shape.getNrPoints()); + // compute shape parameters from points + if ( shape.hypothesize(ps) ) { + // count number of points on the shape + int r = oct->PointsOnShape(shape); + if (r > best_score) { + if (best) delete best; + // remember this best fitted shape + best_score = r; + best = shape.copy(); + } + } + } + cout << "5000 iterations done" << endl; + if (best_points) { + best_points->clear(); + oct->PointsOnShape(*best, *best_points); + cout << "Nr points before refinement " << best_points->size() << endl; + best->refine(best_points); + best_points->clear(); + oct->PointsOnShape(*best, *best_points); + cout << "Nr points after refinement " << best_points->size() << endl; + } + shape = *best; + delete best; + + delete oct; + + +} + +#endif diff --git a/include/shapes/ransac_Boctree.h b/include/shapes/ransac_Boctree.h new file mode 100644 index 0000000..db64a7e --- /dev/null +++ b/include/shapes/ransac_Boctree.h @@ -0,0 +1,249 @@ +/** + * @file + * @brief Efficient representation of an octree for ransac + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef RANSAC_OCTREE_H +#define RANSAC_OCTREE_H + +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#include "shapes/geom_math.h" + +#include "slam6d/globals.icc" +#include "slam6d/Boctree.h" +#include "shape.h" + +/** + * @brief Octree + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + */ +template +class RansacOctTree : public BOctTree { + +public: + + template + RansacOctTree(P* const* pts, int n, T _voxelSize, PointType _pointtype = PointType() ) : BOctTree(pts, n, _voxelSize, _pointtype) {} + + // RansacOctTree(vector &pts, T voxelSize, PointType _pointtype = PointType() ) : BOctTree(pts, voxelSize, _pointtype) {} + + RansacOctTree(std::string filename) : BOctTree (filename) {} + + void DrawPoints(vector &p, unsigned char nrp) { + DrawPoints(p, *BOctTree::root, nrp); + } + + + unsigned long PointsOnShape(CollisionShape &shape) { + return PointsOnShape(*BOctTree::root, BOctTree::center, BOctTree::size, shape); + } + + void PointsOnShape(CollisionShape &shape, vector &points) { + PointsOnShape(*BOctTree::root, BOctTree::center, BOctTree::size, shape, points); +// exit(0); + } + +protected: +void showbits(char a) +{ + int i , k , mask; + + for( i =7 ; i >= 0 ; i--) + { + mask = 1 << i; + k = a & mask; + if( k == 0) + cout<<"0 "; + else + cout<<"1 "; + } +} + + long PointsOnShape(bitoct &node, T *center, T size, CollisionShape &shape ) { + if (! shape.isInCube(center[0], center[1], center[2], size)) { + return 0; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + /* + printf("parent %p children: %p \n", &node, children); + cout << " "; + showbits(node.valid); + cout << endl; + cout << " "; + showbits(node.leaf); + cout << endl; +*/ + long result = 0; + +// int r = 0; + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists +// printf("i: %u r: %d parent %p child[r]: %p \n", i, r, &node, children); +// r++; + + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains shape + if ( shape.isInCube(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if ( shape.containsPoint(point) ) + result++; + point+= BOctTree::POINTDIM; + } + } + } else { // recurse + result += PointsOnShape( children->node, ccenter, size/2.0, shape); + } + ++children; // next child + } + } + + return result; + } + + void PointsOnShape(bitoct &node, T *center, T size, CollisionShape &shape, vector &vpoints) { + if (! shape.isInCube(center[0], center[1], center[2], size)) { + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf contains shape + if ( shape.isInCube(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->points; + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { +// cerr << point[0] << " " << point[1] << " " << point[2] << endl; + if ( shape.containsPoint(point) ) { + T * p = new T[BOctTree::POINTDIM]; + for (unsigned int iterator = 0; iterator < BOctTree::POINTDIM; iterator++) { + p[iterator] = point[iterator]; + } + vpoints.push_back(p); + } + point+= BOctTree::POINTDIM; + } + } + } else { // recurse + PointsOnShape( children->node, ccenter, size/2.0, shape, vpoints); + } + ++children; // next child + } + } + } + + + void DrawPoints(vector &p, bitoct &node, unsigned char nrp) { + bitunion *children; + bitoct::getChildren(node, children); + + unsigned char n_children = POPCOUNT(node.valid); + unsigned char r = randUC(n_children); + if (r == n_children) r--; + +/* cout << (unsigned int)r << " nc " << (unsigned int)n_children << endl; + showbits(node.valid); + cout << endl; + showbits(node.leaf); + cout << endl; +*/ + bool leaf = false; + unsigned char child_index = 0; +/* if (r == 2) { + for (unsigned char i = 0; i < 8; i++) { + cout << "i " << (unsigned int)i << endl; + if ( ( 1 << i ) & node.valid ) { // if ith node exists + cout << "valid " << endl; + if (child_index == r) { + cout << "ci == r" << endl; + if ( ( 1 << i ) & node.leaf ) { // if ith node exists + cout << "leaf" << endl; + leaf = true; + } + cout << "no leaf" << endl; + break; + } + child_index++; + } + } + } else {*/ + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if (child_index == r) { + if ( ( 1 << i ) & node.leaf ) { // if ith node exists + leaf = true; + } + break; + } + child_index++; + } + } +// } +// cout << (unsigned int)r << " nc " << (unsigned int)n_children << " " << (unsigned int)child_index << endl; + if (child_index != r) return; // bitmask valid might be all zero + + if (leaf) { +/* cout << "STOPPED" << endl; + return;*/ + pointrep *points = children[r].points; + unsigned int length = points[0].length; + if (length < nrp) return; + if (length == nrp) { + for (char c = 0; c < nrp; c++) { + p.push_back(&(points[BOctTree::POINTDIM*c+1].v)); + } + return; + } + + // randomly get nrp points, we will not check if this succeeds in getting nrp distinct points + for (char c = 0; c < nrp; c++) { + int tmp = rand(points[0].length); + p.push_back(&(points[BOctTree::POINTDIM*tmp+1].v)); + } + } else { +/* printf("r: %d parent %p children %p child[r]: %p \n", r, &node, children, &(children[r].node)); + showbits(node.valid); + cout << endl; + showbits(node.leaf); + cout << endl; + cout << "RECURSED" << endl;*/ + DrawPoints(p, children[r].node, nrp); + } + } + +}; + +#endif diff --git a/include/shapes/scan_ransac.h b/include/shapes/scan_ransac.h new file mode 100644 index 0000000..1363a60 --- /dev/null +++ b/include/shapes/scan_ransac.h @@ -0,0 +1,79 @@ +// ===================================================================================== +// +// Filename: scan_ransac.h +// +// Description: +// +// Version: 1.0 +// Created: 09/27/2010 01:21:49 PM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +#ifndef __SCAN_RANSAC_H__ +#define __SCAN_RANSAC_H__ + + +#include +#include "numbers.h" + +void *dummy(void *); + +class NumberDetector { + public: + vector *scan_points; + + NumberDetector(vector *points, const char *number_topic, bool _visualize) : visualize(_visualize) { + //number_publisher = n.advertise(number_topic, 10); + //marker_publisher = n.advertise("Marker_array", 10); + + scan_points = points; +/* + sn.set_numbers_size(10); + sn.set_board_p_size(10); + sn.set_char_p_size(10); + sn.set_angle_size(10); +*/ + for (unsigned int i = 0; i < 10; i++) { + detectedNumbers[i] = numberConsensus(i); + /* + sn.numbers[i].header.frame_id = "/map"; + sn.board_p[i] = 0; + sn.char_p[i] = 0; + sn.angle[i] = 0; + */ + } + + running = true; + ransac_thread = new pthread_t(); + pthread_create( ransac_thread, NULL, dummy , (void*)this); + } + + ~NumberDetector() { + running = false; + pthread_join(*ransac_thread, NULL); + + } + + void RANSAC(vector &scan_points); + private: + bool FindNumber(vector &points, double plane[4]); + void printNumbers(); + + pthread_t *ransac_thread; + numberConsensus detectedNumbers[10]; +// sickday::StampedNumbers sn; + + bool visualize; + bool running; +}; + + + + + +#endif diff --git a/include/shapes/shape.h b/include/shapes/shape.h new file mode 100644 index 0000000..d26cca0 --- /dev/null +++ b/include/shapes/shape.h @@ -0,0 +1,338 @@ +#ifndef __SHAPE_H__ +#define __SHAPE_H__ + +#include +using std::vector; +#include "slam6d/globals.icc" +#include "newmat/newmatio.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + + + +/** + * The Shape class is for efficient collision detection in the Octree. + */ +template +class CollisionShape { + public: + + + /** + * This is the main function for speeding up the search for points on the shape. + * + * @param cx, cy, cz, size The center and size of the octrees bucket. Buckets are axis aligned bounding cubes + * + * @return returns wether this shape is within the cube (true even if only partially) + * if unsure err on the side of caution, i.e. return true + */ + virtual bool isInCube(T cx, T cy, T cz, T size) = 0; + + virtual void refine(vector *points) = 0; + + virtual bool containsPoint(T* p) = 0; + + virtual bool hypothesize(vector &points) = 0; + + virtual unsigned char getNrPoints() = 0; + + virtual CollisionShape *copy() = 0; + + virtual CollisionShape& operator=(const CollisionShape &other) {return *this;}; + +// virtual bool valid() = 0; +}; + + +template +class CollisionPlane : public CollisionShape { + public: + +// CollisionPlane (T *_plane, T _maxDist) { + CollisionPlane (T _maxDist) { + maxDist = _maxDist; + // TODO make nicer + /* nx = _plane[0]; + ny = _plane[1]; + nz = _plane[2]; + d = _plane[3];*/ + } + + CollisionPlane(T _maxDist, T x, T y, T z, T _d) { + maxDist = _maxDist; + nx = x; + ny = y; + nz = z; + d = _d; + } + + virtual bool isInCube(T x, T y, T z, T size) { + T xm, xp, ym, yp, zm, zp; + T Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + Fxm = nx * xm; + Fym = ny * ym; + Fzm = nz * zm; + + bool positive = (Fxm + Fym + Fzm + d > 0); + + + Fxp = nx * xp; + if( (Fxp + Fym + Fzm + d < 0) == positive ) + return true; + + Fyp = ny * yp; + if( (Fxm + Fyp + Fzm + d < 0) == positive ) + return true; + + if( (Fxp + Fyp + Fzm + d < 0) == positive ) + return true; + + Fzp = nz * zp; + if( (Fxm + Fym + Fzp + d < 0) == positive ) + return true; + + if( (Fxp + Fym + Fzp + d < 0) == positive ) + return true; + if( (Fxm + Fyp + Fzp + d < 0) == positive ) + return true; + if( (Fxp + Fyp + Fzp + d < 0) == positive ) + return true; + + return false; + } + + + virtual bool containsPoint(T* p) { + return fabs(planeDist(p, nx, ny, nz, d)) < maxDist; + } + + virtual void refine(vector *points) { + cout << nx << " " << ny << " " << nz << " " << d << endl; + T plane[4] = {0,0,0,0}; + T centroid[3]; + fitPlane((*points), plane, centroid); + nx = plane[0]; + ny = plane[1]; + nz = plane[2]; + d = plane[3]; + cout << nx << " " << ny << " " << nz << " " << d << endl; + } + + virtual bool hypothesize(vector &points) { + if (points.size() < getNrPoints()) return false; + T a[3], b[3], f[3], plane[4]; + + for (int j = 0; j < 3;j++) { // compute plane + a[j] = points[0][j] - points[1][j]; + b[j] = points[0][j] - points[2][j]; + f[j] = points[0][j] + points[1][j] + points[2][j]; + f[j] /= 3.0; + } + Cross(a,b, plane); + if (fabs(Len2(plane)) < 0.0001 ) { + // points are collinear + return false; + } + Normalize3(plane); + plane[3] = -1.0 * planeDist(f, plane[0], plane[1], plane[2], 0.0); // compute distance from origin + if (plane[3] < 0.0) { // flip normal if necessary + for (int j = 0; j < 4;j++) { + plane[j] = -plane[j]; + } + } + + nx = plane[0]; + ny = plane[1]; + nz = plane[2]; + d = plane[3]; + return true; + } + + virtual unsigned char getNrPoints() { + return 3; + } + + virtual CollisionShape* copy() { + return new CollisionPlane(maxDist, nx, ny, nz, d); + } + + + virtual CollisionPlane& operator=(const CollisionShape &_other) { + CollisionPlane &other = (CollisionPlane &)_other; + if (this != &other) { + this->maxDist = other.maxDist; + this->nx = other.nx ; + this->ny = other.ny ; + this->nz = other.nz ; + this->d = other.d ; + } + + return *this; + } + + void getPlane(double &x, double &y, double &z, double &_d) { + x = nx; + y = ny; + z = nz; + _d = d; + } + + + protected: + T maxDist; + T nx, ny, nz, d; // plane equation TODO make nicer + +}; + +template +class LightBulbPlane : public CollisionPlane { + public: + + LightBulbPlane (T _maxDist, T _maxSize) : CollisionPlane(_maxDist) { + maxSize = _maxSize; + c[0] = 0; + c[1] = 0; + c[2] = 0; + } + + LightBulbPlane (T _maxDist, T _maxSize, T x, T y, T z, T _d, T* center) : CollisionPlane(_maxDist) { + maxSize = _maxSize; + CollisionPlane::nx = x; + CollisionPlane::ny = y; + CollisionPlane::nz = z; + CollisionPlane::d = _d; + for(int i = 0; i < 3; i++) { + c[i] = center[i]; + } + + } + + void refine(vector *points) { + cout << "LightBulbPlane" << endl; + cout << this->nx << " " << this->ny << " " << this->nz << " " << this->d << endl; + T plane[4]; + fitPlane((*points), plane, c); + this->nx = plane[0]; + this->ny = plane[1]; + this->nz = plane[2]; + this->d = plane[3]; + cout << this->nx << " " << this->ny << " " << this->nz << " " << this->d << endl; + } + + bool isInCube(T cx, T cy, T cz, T size) { + double radius = sqrt(3*size*size); + T c_dist = (cx - c[0])*(cx - c[0]) + (cy - c[1])*(cy - c[1]) + (cz - c[2])*(cz - c[2]); + return c_dist <= ((radius + maxSize)*(radius + maxSize)); + } + + virtual bool containsPoint(T* p) { + if(fabs(p[0]*CollisionPlane::nx + p[1]*CollisionPlane::ny + p[2]*CollisionPlane::nz + CollisionPlane::d) < CollisionPlane::maxDist) { + return (Dist2(p, c) < (maxSize*maxSize)); + } + return false; + } + + virtual bool hypothesize(vector &points) { + if(!CollisionPlane::hypothesize(points)) return false; + double maxSize2 = maxSize*maxSize; + for(int i = 0; i < 3; i++) { + for(int j = 0; j < 3; j++) { + if(Dist2(points[i], points[j]) > maxSize2) return false; + } + } + for (int j = 0; j < 3;j++) { // compute plane + c[j] = points[0][j] + points[1][j] + points[2][j]; + + c[j] /= 3.0; + } + return true; + } + + virtual CollisionShape * copy() { + return new LightBulbPlane(CollisionPlane::maxDist, maxSize, CollisionPlane::nx, CollisionPlane::ny, CollisionPlane::nz, CollisionPlane::d, c); + } + + virtual LightBulbPlane& operator=(const CollisionShape &_other) { + LightBulbPlane &other = (LightBulbPlane &)_other; + if (this != &other) { + this->maxDist = other.maxDist; + this->nx = other.nx ; + this->ny = other.ny ; + this->nz = other.nz ; + this->d = other.d ; + this->maxSize = other.maxSize; + for(int i = 0; i < 3; i++) { + this->c[i] = other.c[i]; + } + } + + return *this; + } + + void getCenter(T &x, T &y, T &z) { + x = this->c[0]; + y = this->c[1]; + z = this->c[2]; + } + /* + bool validate(vector pts) { + // create array which will not be used + bool plane[125][125]; + for(int i = 0; i < 125; i++) { + for(int j = 0; j < 125; j++) { + plane[j][i] = false; + } + } + double t[3]; + double alignxf[16]; + double aa[4]; + aa[0] = -1.0 * acos(this.ny); + aa[1] = this.nz / sqrt( this.nz*this.nz + this.nx*this.nx ); + aa[2] = 0; + aa[3] = -this.nx / sqrt( this.nx*this.nz + this.nx*this.nx ); + + AAToMatrix(aa, t, alignxf); + + // compute 2d projection of the points, and scale reflectivity + for (unsigned int i = 0; i < points.size(); i++) { + double *p = points[i]; + + npoints[i] = new double[4]; + wykobi::point2d point; + + double x, y; + + x = -(p[0] * alignxf[0] + p[1] * alignxf[4] + p[2] * alignxf[8]); + y = p[0] * alignxf[2] + p[1] * alignxf[6] + p[2] * alignxf[10]; + + if (x > maxx) maxx = x; + if (x < minx) minx = y; + if (y > maxz) maxz = y; + + point = wykobi::make_point(x, y); + point_list.push_back(point); + } + + vector< wykobi::point2d > point_list; + + wykobi::polygon convex_hull; + wykobi::algorithm::convex_hull_jarvis_march< wykobi::point2d >(point_list.begin(),point_list.end(),std::back_inserter(convex_hull)); + + + + return true; + } + */ + protected: + T maxSize; + T c[3]; +}; + +#endif diff --git a/include/shapes/sickday.h b/include/shapes/sickday.h new file mode 100644 index 0000000..0525792 --- /dev/null +++ b/include/shapes/sickday.h @@ -0,0 +1,46 @@ +// ===================================================================================== +// +// Filename: sickday.h +// +// Description: +// +// Version: 1.0 +// Created: 09/26/2010 02:08:25 AM +// Revision: none +// Compiler: g++ +// +// Author: Jan Elseberg (), jelseber@uos.de +// Company: Universitaet Osnabrueck +// +// ===================================================================================== + +const int MIN_NR_PTS = 1200; + +const double IMG_RES = 2.0; // in cm +const int BOARD_SIZE_X = 59.40 / IMG_RES; // number of pixels wide +const int BOARD_SIZE_Z = 84.10 / IMG_RES; // number of pixels high + +const int WHITE_BORDER = 4; // number of pixels on the border to whiten. 10 cm ? + +const double MINREFL = -10.0; +const double MAXREFL = 10.0; +const double REFL_THRESHOLD = (0.0 - MINREFL ) / ( MAXREFL - MINREFL); // threshold for binarizing image + +const double MAX_DIST_TO_PLANE = 10.0; // RANSAC max distance to plane +const double MIN_SCORE = 0.65; // minimal score for accepting the board hypothesis (between 0 and 1) +const double SCORE_SCALE = 0.50; // score is scaled so that SCORE_SCALE is probability 0 + +/////////////// constants for OCR +const string OCRRESULT = "/tmp/ocrresult.txt"; +const string OCRERROR = "/tmp/ocrerr.txt"; +/////////////// number (except 1) are usually 17,27 pixel wide,high +// +const int MIN_NR_WIDTH = 28.0 / IMG_RES; // 14 pixel ? All Numbers except 1 must at least be this wide +const int MIN_1_WIDTH = 16.0 / IMG_RES; // 8 pixel ? Number 1 must at least be this wide +const int MIN_NR_HEIGHT = 46.0 / IMG_RES; // 23 pixel ? Numbers must at least be this high + +const int MAX_NR_WIDTH = 42.0 / IMG_RES; // 21 pixel ? All Numbers must at most be this wide +const int MAX_NR_HEIGHT = 62.0 / IMG_RES; // 31 pixel ? Numbers must at most be this high + + + diff --git a/include/show/NurbsPath.h b/include/show/NurbsPath.h new file mode 100644 index 0000000..8404556 --- /dev/null +++ b/include/show/NurbsPath.h @@ -0,0 +1,35 @@ +#ifndef __NURBSPATH_H__ +#define __NURBSPATH_H__ + +#include +using std::list; +#include +using std::vector; +#include "show/PathGraph.h" +//#include "../map_sim/EdgeList.h" + +/** + * @class NurbsPath + * This class uses Non-Uniform rational B-Splines (NURBS) to smoothen + * a given path of nodes. + * @author Anton Flügge + * @author Hannes Schulz + */ + +class NurbsPath{ + public: + static vector camRatio; + NurbsPath(){} + vector getNurbsPath(list&, unsigned int, int); + vector getNurbsPath(vector&, unsigned int, int); + private: + float coxDeBoor(float u,int i,int k,const float* Knots); + void getOutpoint(float t,float OutPoint[],float*opx,float*opy,const float*knots); + unsigned int ivN; + unsigned int ivDegree; + unsigned int ivOrder; + unsigned int ivNumKnots; + unsigned int ivNumP; +}; + +#endif /* __NURBSPATH_H__ */ diff --git a/include/show/PathGraph.h b/include/show/PathGraph.h new file mode 100644 index 0000000..14a1d77 --- /dev/null +++ b/include/show/PathGraph.h @@ -0,0 +1,228 @@ +#ifndef __PATHGRAPH_H__ +#define __PATHGRAPH_H__ +#include +using std::map; +#include +using std::list; +#include +#include + + +typedef struct {float x; float y; } PointXY; +typedef struct {float x; float y; float z; } PointXYZ; + + +/** @class PGNode + * A 2D-node in a PathGraph. + */ +struct PGNode{ + PGNode():smallestCost(LONG_MAX){}; + PointXY point; ///< 2D coordinates of node + list neighbours; ///< List of neighbours of node + double smallestCost; ///< Smallest cost from start (used in AStar) +}; + +/** + * @class PGEdge + * Represents an edge in a PathGraph, using pointers to PGNode. + */ +struct PGEdge { + PGEdge():isAlive(true){} + PGNode* start; ///< Start of edge + PGNode* end; ///< End of edge + bool isAlive; ///< useful for checking which edges have been checked already + bool operator<(const PGEdge& e)const{ + PGNode* min = (start emin) return false; + + PGNode* max = (start>end)?start:end; + PGNode* emax = (e.start>e.end)?e.start:e.end; + return max < emax; + } +}; + +/** @class PathGraph + * Represents a graph as a list of nodes which know their neigbours. + * @author Anton Flügge + * @author Hannes Schulz + */ +class PathGraph { + friend class PathGraphCreator; + friend class VisibilityPathGraphCreator; + + public: + /** @class Iter + * pseudo-iterator useful to iterate over all edges in graph + * Edges with points start and end equal are ignored. + */ + class Iter{ + private: + map visitedEdges; ///< keeps track of visited edges + list::iterator aktNode; ///< it. to node in nodelist + list::iterator aktNeighbour; ///< it. to node in aktNode's neighbour list + list::iterator lastNode; ///< last node in nodelist + list::iterator lastNeighbour; ///< last node in aktNode's neighbour list + public: + /** + * @param f iterator of first in nodelist + * @param l iterator of last in nodelist + */ + Iter(list::iterator f,list::iterator l) + :aktNode(f),lastNode(l){ + if(f==l) + return; + aktNeighbour = (*f)->neighbours.begin(); + lastNeighbour = (*f)->neighbours.end(); + if(aktNeighbour == lastNeighbour) + (*this)++; + visitedEdges[**this] = true; + /* + PGEdge pge = (**this); + if(pge.start->point < pge.end->point) + (*this)++; + if(pge.start->point == pge.end->point) + (*this)++; + */ + } + /** + * delete edge + */ + inline void remove(PathGraph* pg){ + PGNode *anode = (*aktNode), *anei = (*aktNeighbour); + (*this)++; + pg->deleteEdge(anode,anei); + } + /** + * advance iterator + */ + inline void operator++(int){ + bool visited = true; + while(visited){ + aktNeighbour++; + if(aktNeighbour == lastNeighbour){ + aktNode++; + if(aktNode != lastNode){ + aktNeighbour = (*aktNode)->neighbours.begin(); + lastNeighbour = (*aktNode)->neighbours.end(); + if(lastNeighbour == aktNeighbour) // node does not have neighbours + continue; + /* + PGEdge pge = (**this); + if(pge.start->point < pge.end->point) + continue; + if(pge.start->point == pge.end->point) + continue; + */ + if(visitedEdges.find(**this) != visitedEdges.end()) // edge visited + continue; + visitedEdges[**this] = true; + visited = false; + }else{ + visited = false; + } + }else{ + PGEdge pge = (**this); + /* + if(pge.start->point < pge.end->point) + continue; + if(pge.start->point == pge.end->point) + continue; + */ + if(visitedEdges.find(pge) != visitedEdges.end()) // edge visited + continue; + visitedEdges[pge] = true; + visited = false; + } + } + } + /// compare two iterators + inline bool operator==(const Iter& i){ + if(aktNode == lastNode) + if(i.aktNode == lastNode) + return true; + return (aktNode == i.aktNode) + && (aktNeighbour == i.aktNeighbour); + } + /// @return true if no more edges in graph + inline bool isLast(){ return aktNode == lastNode; } + /// @return current edge + inline PGEdge operator*(){ + PGEdge e; + e.start = (*aktNode); + e.end = (*aktNeighbour); + return e; + } + }; + PathGraph():ivpStartNode(NULL),ivpEndNode(NULL),startOnGraph(true),endOnGraph(true){} + /// @return whether node is end node + inline bool isEndNode(PGNode* n){return n==ivpEndNode;} + /** Inserts a node in the graph. + * @param p coordinates of node + * @return pointer to new PGNode (NOT PointXY!) + */ + PGNode* insertNode(PointXY p); + /** Inserts a node in the graph and connects it to all nodes already in the graph. + * @param p coordinates of node + */ + void insertNodeAndConnectToAll(PointXY p); + /** Inserts a node in the graph, if not already exists. + * @param p coordinates of node + * @return pointer to existing PGNode if exists, else to new PGNode + */ + PGNode* insertUniqueNode(PointXY p); + /// inserts edge between two nodes (BOTH ways) + void insertEdge(PGNode*, PGNode*); + /// delete a node and all its edges from the graph + void deleteNode(PGNode*); + /// delete edge between two nodes (BOTH ways) + void deleteEdge(PGNode*,PGNode*); + /** set the start node and insert it if necessary + * deletes old start node, if it was + * insert by an previous call of setStartNode + * @return false iff a node at this point already exists + */ + bool setStartNode(PointXY p); + /** set the end node and insert it if necessary + * deletes old end node, if it was + * insert by an previous call of setEndNode + * @return false iff a node at this point already exists + */ + bool setEndNode(PointXY p); + /// resets smallestCost in every node to zero. + inline void clearNodeCosts(){ + for(list::iterator i=ivNodeList.begin();i!=ivNodeList.end();i++){ + (*i)->smallestCost = LONG_MAX; + } + } + /// @return pointer to start node + inline PGNode* getStartNode() {return ivpStartNode;} + /// @return pointer to end node + inline PGNode* getEndNode() {return ivpEndNode;} + /** prints a ".map" file useful for plotting the graph + * @param fn file name + */ + void printGraphMap(const char*); + /// save graph to file fn + void saveGraph(const char*); + /// save path to file fn + void savePath(const char*); + /// load graph from file fn + void loadGraph(const char*); + ~PathGraph(); + void insertOneDirEdge(PGNode*, PGNode*); ///< hack: do not use :) + + /// return an iterator to the first edge + Iter firstEdge(); + private: + list ivNodeList; ///< list of all nodes in graph + PGNode* ivpStartNode; ///< start node + PGNode* ivpEndNode; ///< end node + + bool startOnGraph; ///< false if start node is no part of the original graph + bool endOnGraph; ///< false if end node is no part of the original graph +}; + + +#endif /* __PATHGRAPH_H__ */ diff --git a/include/show/colordisplay.h b/include/show/colordisplay.h new file mode 100644 index 0000000..3659446 --- /dev/null +++ b/include/show/colordisplay.h @@ -0,0 +1,44 @@ +#ifndef __COLORDISPLAY_H__ +#define __COLORDISPLAY_H__ +#include "show/colormanager.h" +#include "limits.h" +#include +using std::set; + +class colordisplay { + public: + virtual ~colordisplay() {} + inline void setColorManager(ColorManager *_cm) { cm = _cm; } + + void displayLOD(float lod) { + if (cm) cm->load(); + drawLOD(lod); + if (cm) cm->unload(); + }; + + void display() { + if (cm) cm->load(); + draw(); + if (cm) cm->unload(); + } + + virtual void selectRay(float * &point) {}; + virtual void selectRay(double * &point) {}; + virtual void selectRay(set &points, int depth=INT_MAX) {}; + virtual void selectRay(set &points, int depth=INT_MAX) {}; + virtual void selectRayBrushSize(set &points, int brushsize) {}; + virtual void selectRayBrushSize(set &points, int brushsize) {}; + + virtual void cycleLOD() {}; + + protected: + + virtual void drawLOD(float lod) = 0; + virtual void draw() = 0; + + ColorManager *cm; +}; + + + +#endif diff --git a/include/show/colormanager.h b/include/show/colormanager.h new file mode 100644 index 0000000..035c2cb --- /dev/null +++ b/include/show/colormanager.h @@ -0,0 +1,293 @@ +#ifndef __COLORMANAGER_H__ +#define __COLORMANAGER_H__ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif +#include +#include + +class ColorMap { + public: + enum CM { + SOLID = 0, + GREY = 1, + HSV = 2, + JET = 3, + HOT = 4, + SHSV = 5 + }; + + virtual ~ColorMap() {}; + + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + d[0] = d[1] = d[2] = 1.0; + } + + static ColorMap getColorMap(CM map); + + /** + * hue is in [0,360], all others in [0,1] + */ + static void convert_hsv_to_rgb(float hue, float s, float v, + float &r, float &g, float &b); +}; + +class GreyMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + d[0] = (float)i/(float)buckets; + d[1] = (float)i/(float)buckets; + d[2] = (float)i/(float)buckets; + } +}; + +class HSVMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + convert_hsv_to_rgb(360.0*t, 1.0, 1.0, d[0], d[1], d[2]); + } +}; + +class SHSVMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + convert_hsv_to_rgb(240.0*(1.0-t), 1.0, 1.0, d[0], d[1], d[2]); + } +}; + +class JetMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + if (t <= 0.125) { + d[0] = d[1] = 0.0; d[2] = 0.5 + 0.5*(t/0.125); + } else if (t < 0.375) { + d[0] = 0.0; d[2] = 1.0; d[1] = (t-0.125)/0.25; + } else if (t < 0.625) { + d[1] = 1.0; d[0] = (t-0.375)/0.25;; d[2] = 1.0 - d[0]; + } else if (t < 0.875) { + d[0] = 1.0; d[2] = 0.0; d[1] = 1.0 - (t-0.625)/0.25; + } else { + d[1] = d[2] = 0.0; d[0] = 1.0 - 0.5*((t - 0.875)/0.125); + } + } +}; + +class HotMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets) { + float t = (float)i/(float)buckets; + if (t <= 1.0/3.0) { + d[1] = d[2] = 0.0; d[0] = t/(1.0/3.0); + } else if (t <= 2.0/3.0) { + d[0] = 1.0; d[2] = 0.0; d[1] = (t-(1.0/3.0))/(1.0/3.0); + } else { + d[0] = 1.0; d[1] = 1.0; d[2] = (t-(2.0/3.0))/(1.0/3.0); + } + } +}; + +class DiffMap : public ColorMap { + public: + virtual void calcColor(float *d, unsigned int i, unsigned int buckets); + private: + static const float cmap[7][3]; +}; + +class ColorManager { + + public: + + ColorManager(unsigned int _buckets, unsigned int pointdim, float *_mins, float *_maxs, const float *_color = 0) : buckets(_buckets) { + if (_color) { + color[0] = _color[0]; + color[1] = _color[1]; + color[2] = _color[2]; + } else { + color[0] = 1; + color[1] = 1; + color[2] = 1; + } + + colormap = new float*[buckets + 1]; // allow a color more for values equal to max + for (unsigned int i = 0; i < buckets; i++) { + colormap[i] = new float[3]; + } + colormap[buckets] = new float[3]; + + mins = new float[pointdim]; + maxs = new float[pointdim]; + for (unsigned int i = 0; i < pointdim; i++) { + mins[i] = _mins[i]; + maxs[i] = _maxs[i]; + } + + setCurrentDim(0); + } + + virtual ~ColorManager() { + for (unsigned int i = 0; i < buckets; i++) { + delete[] colormap[i]; + } + delete[] colormap[buckets]; + delete[] colormap; + + delete[] mins; + delete[] maxs; + } + + virtual void load() { + glColor3f(color[0], color[1], color[2] ); + glEnable (GL_TEXTURE_1D); + glBindTexture (GL_TEXTURE_1D, 0); + } + + virtual void unload() { + glDisable (GL_TEXTURE_1D); + } + + virtual void setColor(float *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(double *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(short int *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + virtual void setColor(signed char *val) { + glTexCoord1f( (float)((val[currentdim]-min)/extent) ); + } + + virtual void setColorMap(ColorMap &cm) { + for (unsigned int i = 0; i < buckets; i++) { + cm.calcColor(colormap[i], i, buckets); + } + cm.calcColor(colormap[buckets], buckets-1, buckets); + convertToTexture1D(); + } + + + void setCurrentDim(unsigned int cdim) { + currentdim = cdim; + makeValid(); + } + + + void setMinMax(float _min, float _max) { + if (_min < _max) { + min = _min; + max = _max; + } + extent = max - min; + } + + protected: + + + void convertToTexture1D() { + unsigned char *imageData = new unsigned char[(buckets+1) * 3]; + for (unsigned int i = 0; i < buckets; i++) { + imageData[3*i+0] = colormap[i][0]*255; + imageData[3*i+1] = colormap[i][1]*255; + imageData[3*i+2] = colormap[i][2]*255; + } + + imageData[3*buckets+0] = colormap[buckets][0]*255; + imageData[3*buckets+1] = colormap[buckets][1]*255; + imageData[3*buckets+2] = colormap[buckets][2]*255; + + glBindTexture (GL_TEXTURE_1D, 0); + glPixelStorei (GL_UNPACK_ALIGNMENT, 1); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_WRAP_S, GL_CLAMP); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); + glTexParameteri (GL_TEXTURE_1D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); + glTexEnvf (GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + glTexImage1D (GL_TEXTURE_1D, 0, GL_RGB, buckets+1, 0, GL_RGB, GL_UNSIGNED_BYTE, imageData); + delete[] imageData; + } + + void makeValid() { + min = mins[currentdim]; + max = maxs[currentdim]; + + extent = max - min; + } + + unsigned int buckets; + + unsigned int currentdim; + + /** stores minima and maxima for each point dimension */ + float *mins; + float *maxs; + /** maps color to value */ + float **colormap; + + float min; + float max; + + float extent; + + float color[3]; + +}; + +class CColorManager : public ColorManager { + public: + CColorManager(unsigned int buckets, unsigned int pointdim, float *mins, float *maxs, unsigned int _colordim) : ColorManager(buckets, pointdim, mins, maxs) { + colordim = _colordim; + } + + virtual void load() { + glGetBooleanv(GL_COLOR_LOGIC_OP, &color_state); + glDisable(GL_COLOR_LOGIC_OP); // this disables inversion of color, but also messes with fog behaviour + glColor3f(color[0], color[1], color[2] ); + glEnable (GL_TEXTURE_1D); + glBindTexture (GL_TEXTURE_1D, 0); + } + + virtual void unload() { + glDisable (GL_TEXTURE_1D); + if (color_state) { + glEnable(GL_COLOR_LOGIC_OP); + } + } + + void setColor(double *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + void setColor(float *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + void setColor(short *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + virtual void setColor(signed char *val) { + GLubyte color[3]; + memcpy(color, &val[colordim], 3); + glColor3ubv(color); + } + + private: + unsigned int colordim; + GLboolean color_state; +}; + + +#endif diff --git a/include/show/compacttree.h b/include/show/compacttree.h new file mode 100644 index 0000000..9559ad3 --- /dev/null +++ b/include/show/compacttree.h @@ -0,0 +1,538 @@ +/** + * @file + * @brief Efficient representation of an octree + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef COMPACTOCTREE_H +#define COMPACTOCTREE_H + +#include +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#include "slam6d/globals.icc" +#include "slam6d/point_type.h" + +#include "slam6d/Boctree.h" +#include "show/colormanager.h" +#include "show/colordisplay.h" +#include "show/viewcull.h" +#include "show/scancolormanager.h" +#include "slam6d/allocator.h" + + +#define POINTERBITS 32 +//#define WITH_8BIT_POINTS +#ifdef WITH_8BIT_POINTS +typedef signed char tshort; +#define TSHORT_MAXP1 (1 << 7); +#define TSHORT_MAX ((1 << 7) - 1); +typedef signed char shortpointrep; +#else +typedef short int tshort; +#define TSHORT_MAXP1 (1 << 15); +#define TSHORT_MAX ((1 << 15) - 1); +typedef short int shortpointrep; +#endif + + + +typedef unsigned int lint; + +class ScanColorManager; +// forward declaration +template union cbitunion; +/** + * This struct represents the nodes of the octree + * + * child_pointer is a relative pointer to the first child of this node, as it is only + * 48 bit this will cause issues on systems with more than 268 TB of memory. All children + * of this node must be stored sequentially. If one of the children is a leaf, that + * child will be a pointer to however a set of points is represented (pointrep *). + * + * valid is a bitmask describing wether the corresponding buckets are filled. + * + * leaf is a bitmask describing wether the correpsonding bucket is a leaf node. + * + * The representation of the bitmask is somewhat inefficient. We use 16 bits for only + * 3^8 possible states, so in essence we could save 3 bits by compression. + * + */ +class cbitoct{ + public: + +#ifdef _MSC_VER + __int64 child_pointer : POINTERBITS; + unsigned valid : 8; + unsigned leaf : 8; +#else + signed long child_pointer : POINTERBITS; + unsigned valid : 8; + unsigned leaf : 8; +#endif + /** + * sets the child pointer of parent so it points to child + */ + template + static inline void link(cbitoct &parent, cbitunion *child) { + parent.child_pointer = (long)((char*)child - (char*)&parent); + } + + /** + * Returns the children of this node (given as parent). + */ + template + static inline void getChildren(cbitoct &parent, cbitunion* &children) { + children = (cbitunion*)((char*)&parent + parent.child_pointer); + } + + +}; + +class cbitp{ + public: + +#ifdef _MSC_VER + __int64 pointer : POINTERBITS; + unsigned int length : 24; +#else + signed long pointer : POINTERBITS; + unsigned int length : 24; +#endif +}; + + +/** + * This union combines an octree node with a pointer to a set of points. This allows + * us to use both nodes and leaves interchangeably. + * + * points is a pointer to the point representation in use + * + * node is simply the octree node + * + */ +template union cbitunion { + cbitp points; + cbitoct node; + + cbitunion(cbitp p) : points(p) {}; + cbitunion(cbitoct b) : node(b) {}; + cbitunion() { + node.child_pointer = 0; + node.valid = 0; + node.leaf = 0; + }; // needed for new [] + + inline shortpointrep* getPoints() { + return (shortpointrep*)((char*)this + this->points.pointer); + } + inline unsigned int getLength() { + return this->points.length; + } + /** + * sets the child pointer of parent so it points to child + */ + inline void linkPoints(shortpointrep *child, unsigned int l) { + this->points.length = l; // do this first in case of overflow + this->points.pointer = (long)((char*)child - (char*)this); + } + +}; + +/** + * @brief Octree + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + */ +class ScanColorManager; + +class compactTree : public colordisplay { + +public: + + template + compactTree(P * const* pts, int n, double voxelSize, PointType _pointtype = PointType(), ScanColorManager *scm=0 ); + + template + compactTree(vector

&pts, double voxelSize, PointType _pointtype = PointType()); + + compactTree(std::string filename, ScanColorManager *scm = 0) { + alloc = new PackedChunkAllocator; + deserialize(filename); + if (scm) { + scm->registerTree(this); + scm->updateRanges(mins); + scm->updateRanges(maxs); + } + setColorManager(0); + maxtargetpoints = maxTargetPoints(*root); + current_lod_mode = 0; + } + + virtual ~compactTree(); + + inline void GetOctTreeCenter(vector&c); + inline void AllPoints(vector &vp); + + inline long countNodes(); + inline long countLeaves(); + void setColorManager(ColorManager *_cm); + void drawLOD(float lod); + void draw(); + void displayOctTree(double minsize = FLT_MAX); + template + void selectRay(vector &points); + template + void selectRay(T * &point); + + inline void getCenter(double center[3]) const; + + void serialize(std::string filename); +protected: + + Allocator* alloc; + + void AllPoints( cbitoct &node, vector &vp, double center[3], double size); + + void GetOctTreeCenter(vector&c, cbitoct &node, double *center, double size); + + long countNodes(cbitoct &node); + + long countLeaves(cbitoct &node); + + void deletetNodes(cbitoct &node); + + template + bool branch(union cbitunion &node, vector &splitPoints, double _center[3], double _size); + + template + inline void countPointsAndQueue(vector &i_points, double center[8][3], double size, cbitoct &parent, double *pcenter); + + template + inline void countPointsAndQueue(P * const* pts, int n, double center[8][3], double size, cbitoct &parent, double *pcenter); + + + void childcenter(double *pcenter, double *ccenter, double size, unsigned char i); + + template +inline unsigned char childIndex(const double *center, const P *point); + + + unsigned long maxTargetPoints( cbitoct &node ); + + void displayOctTreeAll( cbitoct &node, double *center, double size); + + void displayOctTreeAllCulled( cbitoct &node, double *center, double size ); + + void displayOctTreeCulledLOD(long targetpts, cbitoct &node, double *center, double size ); + void displayOctTreeLOD(long targetpts, cbitoct &node, double *center, double size ); + + void displayOctTreeCulledLOD2(float lod, cbitoct &node, double *center, double size ); + void displayOctTreeLOD2(float lod, cbitoct &node, double *center, double size ); + + + void displayOctTreeCAllCulled( cbitoct &node, double *center, double size, double minsize ); + + void displayOctTreeCAll( cbitoct &node, double *center, double size, double minsize ); + + void showCube(double *center, double size); + + /** + * the root of the octree + */ + cbitoct* root; + + + /** + * storing the center + */ + double center[3]; + + /** + * storing the dimension + */ + double size; + + /** + * storing the voxel size + */ + double voxelSize; + + double precision; + + /** + * storing minimal and maximal values for all dimensions + **/ + double *mins; + double *maxs; + + unsigned int POINTDIM; + + PointType pointtype; + + shortpointrep* createPoints(lint length); + + void deserialize(std::string filename ); + void deserialize(std::ifstream &f, cbitoct &node); + void serialize(std::ofstream &of, cbitoct &node); + + + unsigned long maxtargetpoints; + unsigned int current_lod_mode; + + void cycleLOD() { + current_lod_mode = (current_lod_mode+1)%3; + } +}; + +template + compactTree::compactTree(vector

&pts, double voxelSize, PointType _pointtype) { + alloc = new PackedChunkAllocator; + + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = new double[POINTDIM]; + maxs = new double[POINTDIM]; + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (unsigned int j = 1; j < pts.size(); j++) { + mins[i] = min(mins[i], pts[j][i]); + maxs[i] = max(maxs[i], pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + + // calculate new buckets + double newcenter[8][3]; + double sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + root = alloc->allocate(); + + countPointsAndQueue(pts, newcenter, sizeNew, *root, center); + maxtargetpoints = maxTargetPoints(*root); + current_lod_mode = 0; + } + +template + bool compactTree::branch( union cbitunion &node, vector &splitPoints, double _center[3], double _size) { + // if bucket is too small stop building tree + // ----------------------------------------- + if ((_size <= voxelSize)) { + // copy points + shortpointrep *points = createPoints(splitPoints.size()); + node.linkPoints(points, splitPoints.size()); + int i = 0; + double distance; + for (typename vector

::iterator itr = splitPoints.begin(); + itr != splitPoints.end(); itr++) { + for (unsigned int iterator = 0; iterator < 3; iterator++) { + distance = (*itr)[iterator] - _center[iterator]; + + if (distance >= _size) { +// points[i++] = (1 << 15) -1; + points[i++] = TSHORT_MAX; + } else { +// points[i++] = (distance/_size ) * (1 << 15);//* pow(2,15) ; + points[i++] = (distance/_size ) * TSHORT_MAXP1; + } + } + for (unsigned int iterator = 3; iterator < POINTDIM; iterator++) { + points[i++] = (*itr)[iterator]; + } + } + return true; + } + + // calculate new buckets + double newcenter[8][3]; + double sizeNew; + + sizeNew = _size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(_center, newcenter[i], _size, i); + } + + countPointsAndQueue(splitPoints, newcenter, sizeNew, node.node, _center); + return false; + } + +template + void compactTree::countPointsAndQueue(vector &i_points, double center[8][3], double size, cbitoct &parent, double *pcenter) { + vector points[8]; + int n_children = 0; + + for (typename vector

::iterator itr = i_points.begin(); itr != i_points.end(); itr++) { + points[childIndex

(pcenter, *itr)].push_back( *itr ); + } + + i_points.clear(); + vector().swap(i_points); + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + // create children + cbitunion *children = alloc->allocate >(n_children); + cbitoct::link(parent, children); + + int count = 0; + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + if ( branch(children[count], points[j], center[j], size)) { // leaf node + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + points[j].clear(); + vector().swap(points[j]); + ++count; + } + } + } + + template + void compactTree::countPointsAndQueue(P * const* pts, int n, double center[8][3], double size, cbitoct &parent, double *pcenter) { + vector points[8]; + int n_children = 0; + + for (int i = 0; i < n; i++) { + points[childIndex

(pcenter, pts[i])].push_back( pts[i] ); + } + for (int j = 0; j < 8; j++) { + // if non-empty set valid flag for this child + if (!points[j].empty()) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + + // create children + cbitunion *children = alloc->allocate >(n_children); + cbitoct::link(parent, children); + int count = 0; + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + if ( branch(children[count], points[j], center[j], size)) { // leaf node + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + points[j].clear(); + vector().swap(points[j]); + ++count; + } + } + } + + template + void compactTree::selectRay(T * &point) { + //selectRay(point, *root, center, size, FLT_MAX); + } +template + compactTree::compactTree(P * const* pts, int n, double voxelSize, PointType _pointtype , ScanColorManager *scm ) : pointtype(_pointtype) { + alloc = new PackedChunkAllocator; + + cm = 0; + if (scm) { + scm->registerTree(this); + for (int i = 1; i < n; i++) { + scm->updateRanges(pts[i]); + } + } + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = new double[POINTDIM]; + maxs = new double[POINTDIM]; + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (int j = 1; j < n; j++) { + mins[i] = min(mins[i], (double)pts[j][i]); + maxs[i] = max(maxs[i], (double)pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + + size += 1.0; // some buffer for numerical problems + + double vs = size; + while (vs > voxelSize) { + vs = vs/2.0; + } +// vs = vs/2.0; +// double precision = vs/ pow(2, sizeof(tshort)*8-1); + //precision = vs/ (1 << 15); //pow(2, 15); + precision = vs / TSHORT_MAXP1; + // vs is the real voxelsize + cout << "real voxelsize is " << vs << endl; + cout << "precision is now " << precision << endl; + + // calculate new buckets + double newcenter[8][3]; + double sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + root = alloc->allocate(); + + countPointsAndQueue(pts, n, newcenter, sizeNew, *root, center); + maxtargetpoints = maxTargetPoints(*root); + current_lod_mode = 0; + } + +template +inline unsigned char compactTree::childIndex(const double *center, const P *point) { + return (point[0] >= center[0] ) | ((point[1] >= center[1] ) << 1) | ((point[2] >= center[2] ) << 2) ; +} + + void compactTree::getCenter(double _center[3]) const { + _center[0] = center[0]; + _center[1] = center[1]; + _center[2] = center[2]; + } +#endif diff --git a/include/show/display.h b/include/show/display.h new file mode 100644 index 0000000..e4aafc9 --- /dev/null +++ b/include/show/display.h @@ -0,0 +1,96 @@ +#include +#include +#include "show/viewcull.h" +#include "show/scancolormanager.h" +//#include "show/colormanager.h" +/* +#include "limits.h" +#include +using std::vector; +#include +#include +using std::string; + +#include +#include +#include +#include +#include +*/ +#ifndef __DISPLAY_H__ +#define __DISPLAY_H__ + +using namespace std; + +class SDisplay { + public: + //inline void setColorManager(ColorManager *_cm) { cm = _cm; } + + + //virtual SDisplay* readFromFile(string &filename) = 0; + virtual const char *getName() { return "Unnamed display"; } + virtual void display(double detail) { displayAll(); } + virtual void displayAll(); + + virtual void displayObject() = 0; + + static void readDisplays(string &filename, vector &displays); + + + protected: + static double mirror[16]; + //ColorManager *cm; +}; + +class PointDisplay : public SDisplay { + + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + PointDisplay(vector &p, vector &l); + + vector points; + vector labels; +}; + +class LineDisplay : public SDisplay { + + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + LineDisplay(vector &l); + + vector lines; +}; + +class PlaneDisplay : public SDisplay { + public: + static SDisplay* readFromFile(string &filename, float* color); + virtual void displayObject(); + + private: + + PlaneDisplay(vector &p, float* c); + vector points; + float * color; + +}; + +class GroupPlaneDisplay : public SDisplay { + public: + static SDisplay* readFromFile(string &filename); + virtual void displayObject(); + + private: + + GroupPlaneDisplay(vector &p); + vector planes; +}; + +#endif diff --git a/include/show/scancolormanager.h b/include/show/scancolormanager.h new file mode 100644 index 0000000..2400c37 --- /dev/null +++ b/include/show/scancolormanager.h @@ -0,0 +1,97 @@ +#ifndef __SCANCOLORMANAGER_H__ +#define __SCANCOLORMANAGER_H__ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "slam6d/point.h" +#include "slam6d/scan.h" +#include "show/colordisplay.h" +//#include "show/show_Boctree.h" +#include "show/colormanager.h" +#include +#include +#include "slam6d/point_type.h" +using std::vector; + +//template class Show_BOctTree; + +/** + * This class is a special ColorManager that handles a set of Colormanagers. + * This manager is capable of mapping managers to scans in dependence of the state of the + * show program. + */ +class ScanColorManager { + public: + + static const unsigned int MODE_STATIC; + static const unsigned int MODE_COLOR_SCAN; + static const unsigned int MODE_ANIMATION; + static const unsigned int MODE_POINT_COLOR; + + ScanColorManager(unsigned int _buckets, PointType type); + + void registerTree(colordisplay *b); + + void setColorMap(ColorMap &cm); + void setColorMap(ColorMap::CM &cm); + void setCurrentType(unsigned int type); + void setMinMax(float min, float max); + void setMode(const unsigned int &mode); + void setInvert(bool invert); + + float getMin(); + float getMax(); + float getMin(unsigned int dim); + float getMax(unsigned int dim); + unsigned int getPointDim(); + void makeValid(); + + void selectColors(Scan::AlgoType type); + + template + void updateRanges(P *point); + + protected: + + unsigned int currentdim; + + vector allScans; + vector allManager; + + vector staticManager; + vector scanManager; + vector colorsManager; + + unsigned int currenttype; + + unsigned int buckets; + + /** stores minima and maxima for each point dimension */ + float *mins; + float *maxs; + /** maps valuetypes to point dimension for easier access */ + PointType pointtype; + + bool valid; + bool colorScans; + bool inverted; +}; + + template + void ScanColorManager::updateRanges(P *point) { + for (unsigned int i = 0; i < pointtype.getPointDim(); i++) { + if (point[i] < mins[i]) mins[i] = point[i]; + if (point[i] > maxs[i]) maxs[i] = point[i]; + } + } + + +#endif diff --git a/include/show/selectionframe.h b/include/show/selectionframe.h new file mode 100644 index 0000000..79af4bf --- /dev/null +++ b/include/show/selectionframe.h @@ -0,0 +1,233 @@ +#ifndef __INCLUDE_SELECTIONFRAME__ +#define __INCLUDE_SELECTIONFRAME__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "wx/things/spinctld.h" +/////////////////////////////////////////////////////////////////////////// + + +/////////////////////////////////////////////////////////////////////////////// +/// Class Selection +/////////////////////////////////////////////////////////////////////////////// +class Selection : public wxFrame +{ + private: + + protected: + wxCheckBox* m_checkBox1; + wxCheckBox* m_checkBox2; + wxCheckBox* m_checkBox3; + wxPanel* m_panel2; + wxStaticText* m_staticText2; + + wxSpinCtrl* pointsize_spinner; + wxPanel* m_panel21; + wxStaticText* m_staticText21; + + wxChoice* m_choice1; + wxPanel* m_panel3; + wxStaticText* m_staticText4; + +// wxSpinCtrl* fogdens_spinner; + wxSpinCtrlDbl* fogdens_spinner; + wxPanel* m_panel211; + wxStaticText* m_staticText211; + + wxChoice* m_choice11; + wxPanel* m_panel212; + wxStaticText* m_staticText212; + + wxChoice* m_choice12; + wxPanel* m_panel213; + wxStaticText* m_staticText213; + + wxChoice* m_choice13; + wxPanel* m_panel411; + wxStaticText* m_staticText411; + +// wxSpinCtrl* m_spinCtrl61; + wxSpinCtrlDbl* m_spinCtrl61; + wxPanel* m_panel41; + wxStaticText* m_staticText41; + + wxSpinCtrlDbl* m_spinCtrl6; + wxButton* m_button4; + wxStaticLine* m_staticline1; + wxButton* m_button3; + wxPanel* m_panel4; + wxStaticText* m_staticText6; + wxSpinCtrl* m_spinCtrl3; + wxButton* m_button5; + wxStaticLine* m_staticline2; + wxPanel* m_panel412; + wxStaticText* m_staticText412; + wxTextCtrl* m_textCtrl1; + wxButton* m_button51; + wxButton* m_button6; + wxButton* m_button14; + wxStaticLine* m_staticline4; + wxCheckBox* m_checkBox4; + wxButton* m_button7; + wxPanel* m_panel4121; + wxStaticText* m_staticText4121; + wxTextCtrl* m_textCtrl11; + wxButton* m_button511; + wxButton* m_button61; + wxPanel* m_panel4131; + wxStaticText* m_staticText4131; + + wxSpinCtrl* m_spinCtrl621; + wxButton* m_button71; + wxStaticLine* m_staticline3; + wxPanel* m_panel41211; + wxStaticText* m_staticText41211; + wxTextCtrl* m_textCtrl111; + wxButton* m_button5111; + wxButton* m_button611; + wxCheckBox* m_checkBox5; + wxCheckBox* m_checkBox6; + wxPanel* m_panel41311; + wxStaticText* m_staticText41311; + + wxSpinCtrl* m_spinCtrl6211; + wxPanel* m_panel413111; + wxStaticText* m_staticText413111; + + wxSpinCtrl* m_spinCtrl62111; + wxPanel* m_panel413112; + wxStaticText* m_staticText413112; + + wxSpinCtrl* frame_spin; + wxPanel* m_panel4131111; + wxStaticText* m_staticText4131111; + + wxSpinCtrl* m_spinCtrl621111; + wxPanel* farplane_panel; + wxStaticText* farplane_text; + + wxSpinCtrl* farplane_spinner; + wxPanel* nearplane_panel; + wxStaticText* nearplane_text; + + wxSpinCtrl* nearplane_spinner; + wxPanel* lod_panel; + wxStaticText* lod_text; + + wxSpinCtrlDbl* lod_spinner; + wxButton* cycleLOD; + wxButton* m_button31; + + // Virtual event handlers, overide them in your derived class + virtual void OnClose( wxCloseEvent& event ) { exit(0); event.Skip(); } + virtual void OnDrawPoints( wxCommandEvent& event ) { event.Skip(); } + virtual void OnDrawCameras( wxCommandEvent& event ) { event.Skip(); } + virtual void OnDrawPaths( wxCommandEvent& event ) { event.Skip(); } + virtual void OnPointSize( wxSpinEvent& event ) { event.Skip(); } + virtual void OnFogChoice( wxCommandEvent& event ) { event.Skip(); } + virtual void OnFogDensity( wxSpinEvent& event ) { event.Skip(); } + virtual void OnColorValue( wxCommandEvent& event ) { event.Skip(); } + virtual void OnColorMap( wxCommandEvent& event ) { event.Skip(); } + virtual void OnColorType( wxCommandEvent& event ) { event.Skip(); } + virtual void OnColorMinVal( wxSpinEvent& event ) { event.Skip(); } + virtual void OnColorMaxVal( wxSpinEvent& event ) { event.Skip(); } + virtual void OnColorResetMinMax( wxCommandEvent& event ) { event.Skip(); } + virtual void OnInvert( wxCommandEvent& event ) { event.Skip(); } + virtual void OnAnimDelay( wxSpinEvent& event ) { event.Skip(); } + virtual void OnAnimate( wxCommandEvent& event ) { event.Skip(); } + virtual void OnCameraFile( wxCommandEvent& event ) { event.Skip(); } + virtual void OnCameraSavePath( wxCommandEvent& event ) { event.Skip(); } + virtual void OnCameraLoadPath( wxCommandEvent& event ) { event.Skip(); } + virtual void OnCameraLoadRobotPath( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSaveAnimation( wxCommandEvent& event ) { event.Skip(); } + virtual void OnAnimatePath( wxCommandEvent& event ) { event.Skip(); } + virtual void OnPositionFile( wxCommandEvent& event ) { event.Skip(); } + virtual void OnPositionSave( wxCommandEvent& event ) { event.Skip(); } + virtual void OnPositionLoad( wxCommandEvent& event ) { event.Skip(); } + virtual void OnFactor( wxSpinEvent& event ) { event.Skip(); } + virtual void OnSaveImage( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionFile( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionSave( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionClear( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionSU( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionSV( wxCommandEvent& event ) { event.Skip(); } + virtual void OnSelectionDepth( wxSpinEvent& event ) { event.Skip(); } + virtual void OnSelectionBrushsize( wxSpinEvent& event ) { event.Skip(); } + virtual void OnFrameSpinner( wxSpinEvent& event ) { event.Skip(); } + virtual void OnFramerateSpinner( wxSpinEvent& event ) { event.Skip(); } + virtual void OnFarplaneSpinner( wxSpinEvent& event ) { event.Skip(); } + virtual void OnNearplaneSpinner( wxSpinEvent& event ) { event.Skip(); } + virtual void OnLODAdaption( wxSpinEvent& event ) { event.Skip(); } + virtual void OnCycleLOD( wxCommandEvent& event ) { event.Skip(); } + + + public: + wxBoxSizer* bSizer1; + + Selection( wxWindow* parent, wxWindowID id = wxID_ANY, const wxString& title = wxT("Selection"), const wxPoint& pos = wxDefaultPosition, const wxSize& size = wxSize( -1,-1 ), long style = wxDEFAULT_FRAME_STYLE|wxTAB_TRAVERSAL, bool advanced_controls = false ); + ~Selection(); + +}; + +/////////////////////////////////////////////////////////////////////////////// +/// Class Controls +/////////////////////////////////////////////////////////////////////////////// +class Controls : public wxFrame +{ + private: + + protected: + wxStaticText* m_staticText21; + + wxSpinCtrlDbl* apex_spinner; + wxStaticText* m_staticText211; + wxSpinCtrlDbl* parallel_spinner; + wxButton* m_button15; + wxButton* m_button16; + wxStaticText* m_staticText212; + + wxSpinCtrl* camera_spinner; + wxButton* m_button19; + wxButton* m_button20; + wxCheckBox* m_checkBox7; + wxCheckBox* always_box; + wxCheckBox* alwaysred_box; + + // Virtual event handlers, overide them in your derived class + virtual void OnClose( wxCloseEvent& event ) { exit(0); event.Skip(); } + virtual void OnApexAngle( wxSpinEvent& event ) { event.Skip(); } + virtual void OnParallelZoom( wxSpinEvent& event ) { event.Skip(); } + virtual void OnTopView( wxCommandEvent& event ) { event.Skip(); } + virtual void OnResetPosition( wxCommandEvent& event ) { event.Skip(); } + virtual void OnChooseCamera( wxSpinEvent& event ) { event.Skip(); } + virtual void OnAddCamera( wxCommandEvent& event ) { event.Skip(); } + virtual void OnDeleteCamera( wxCommandEvent& event ) { event.Skip(); } + virtual void OnMouseNav( wxCommandEvent& event ) { event.Skip(); } + virtual void OnAlwaysAllPoints( wxCommandEvent& event ) { event.Skip(); } + virtual void OnAlwaysReducePoints( wxCommandEvent& event ) { event.Skip(); } + + + public: + + Controls( wxWindow* parent, wxWindowID id = wxID_ANY, const wxString& title = wxT("Controls"), const wxPoint& pos = wxDefaultPosition, const wxSize& size = wxSize( -1,-1 ), long style = wxDEFAULT_FRAME_STYLE|wxTAB_TRAVERSAL ); + ~Controls(); + +}; + +#endif diff --git a/include/show/show.h b/include/show/show.h new file mode 100644 index 0000000..61e00b8 --- /dev/null +++ b/include/show/show.h @@ -0,0 +1,129 @@ +/** + * @file + * @brief Displaying of a matched 3D scene + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SHOW_H__ +#define __SHOW_H__ + + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#elif WITH_FREEGLUT +#include +#else +#include +#endif + +#include +using std::string; +#include +using std::vector; + +#include "show/PathGraph.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" + +/** for Glut display mode */ +#define RGBA 4 ///< colors for GLUT display +#define RGB 3 ///< colors for GLUT display + +/** float value "nearly" zero? */ +#define DIV_EPSILON 0.001 +/** comparing two floats/doubles */ +#define COMPARE_EPSILON 0.000001 + +#define BUFSIZE 1048576 ///< defining the buffer size + +// This defines the floating point precision of the show program +typedef float sfloat; + +#include "show/show1.icc" +#include "show/show.icc" + +void CallBackReshapeFunc(int width, int height); +void CallBackIdleFunc(void); +void DisplayItFunc(GLenum mode, bool interruptable = false); +void DrawPoints(GLenum mode, bool interruptable = false); +void DrawUrl(); +void glDumpWindowPPM(const char *filename, GLenum mode); +void glWriteImagePPM(const char *filename, int scale, GLenum mode); +void ProcessHitsFunc(GLint hits, GLuint buffer[]); +int parseArgs(int argc, char **argv, string &dir, int& start, int& end, int& maxDist, bool& wanim, bool &readInitial); +void usage(char * prog); +void myNewMenu(); +void topView(); +void resetView(int dummy); +void setView(double pos[3], double new_quat[4], + double newMouseRotX, double newMouseRotY, double newMouseRotZ, + double newCangle, + bool sTV, bool cNMM, double pzoom_new, + bool s_points, bool s_path, bool s_cameras, double ps, int + sf, double fD, bool invert); +void update_view_rotate(int); +void update_view_translation(int); +void startAnimation(int dummy); +void invertView(int dummy); +void callTopView(int dummy); +void drawCameras(void); +void callAddCamera(int dummy); +void callCameraUpdate(int dummy); +void callDeleteCamera(int dummy); + +void pathAnimate(int dummy); +void savePath(int dummy); +void loadPath(int dummy); +void savePose(int dummy); +void loadPose(int dummy); +void saveImage(int dummy); +void CallBackInterfaceFunc(unsigned char key, int x, int y); +void CallBackKeyboardFunc(unsigned char key, int x, int y); +void CallBackKeyboardUpFunc(unsigned char key, int x, int y); +void CallBackMouseFunc(int button, int state, int x, int y); +void CallBackMouseFuncMoving(int button, int state, int x, int y); +void CallBackMouseMotionFunc(int x, int y); +void CallBackSpecialFunc(int key, int x, int y); +void InterfaceFunc(unsigned char key); +void updateCamera(); +void drawRobotPath(int dummy); +int calcFrameNo(); +int calcNoOfPoints(vector, vector); +void calcInterpolatedCameras(vector, vector); +void calcPointSequence(vector &sequence, int frameNr); + +void createDisplayLists(bool reduced=false); + +void updatePointModeControls(); +void changePointMode(int dummy); +void mapColorToValue(int dummy); +void changeColorMap(int dummy); +void minmaxChanged(int dummy); +void resetMinMax(int dummy); +void setScansColored(int dummy); + +void saveSelection(int dummy); +void clearSelection(int dummy); + +void updateControls(); +void updateTopViewControls(); +void resetRotationButton(); +void updateCamControls(); +bool isInterrupted(); +void checkForInterrupt(); +void interruptDrawing(); +void cycleLOD(); + +enum { ROTATION_X, ROTATION_RX, ROTATION_Y, ROTATION_RY, ROTATION_Z, ROTATION_RZ }; + /** enumeration for translation */ +enum { TRANS_X, TRANS_RX, TRANS_Y, TRANS_RY, TRANS_Z, TRANS_RZ }; + /** enumeration for the menue */ +enum { MENU_SCREEN, MENU_LIST, MENU_QUIT }; + +#endif + diff --git a/include/show/show.icc b/include/show/show.icc new file mode 100644 index 0000000..2a389e3 --- /dev/null +++ b/include/show/show.icc @@ -0,0 +1,28 @@ +/** + @file + @brief Displaying of a matched 3D scene + @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +/** + sets the OpenGL point, + (z axis is inverted in OpenGL) +*/ +void setGLPoint(GLdouble pX, GLdouble pY, GLdouble pZ) +{ + // pZ *= -1.0; + glVertex3d(pX, pY, pZ); +} + + +/** + sets the OpenGL point, + (z axis is inverted in OpenGL) +*/ +void setGLPoint(GLdouble* p) +{ + GLdouble pZ = 1.0 * p[2]; + + glVertex3d(p[0], p[1], pZ); +} diff --git a/include/show/show1.icc b/include/show/show1.icc new file mode 100644 index 0000000..461dbe4 --- /dev/null +++ b/include/show/show1.icc @@ -0,0 +1,121 @@ +/** + * @file + * @brief Inline helper functions for show program + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/globals.icc" + +/** + * converts a quaterion to a 4x4 matrix + * in OpenGL style + */ +template +inline void QuaternionToMatrix4(const double *quat, T *mat) +{ + double xy = quat[0] * quat[1] * -1.0; + double xz = quat[0] * quat[2]; + double yz = quat[1] * quat[2] * -1.0; + double wx = quat[3] * quat[0]; + double wy = quat[3] * quat[1] * -1.0; + double wz = quat[3] * quat[2]; + double x2 = sqr(quat[0]); + double y2 = sqr(quat[1]); + double z2 = sqr(quat[2]); + + mat[0] = 1.0 - 2.0 * (y2 + z2); + mat[4] = 2.0 * (xy - wz); + mat[8] = 2.0 * (xz + wy); + + mat[1] = 2.0 * (xy + wz); + mat[5] = 1.0 - 2.0 * (x2 + z2); + mat[9] = 2.0 * (yz - wx); + + mat[2] = 2.0 * (xz - wy); + mat[6] = 2.0 * (yz + wx); + mat[10] = 1.0 - 2.0 * (x2 + y2); + + mat[11] = mat[7] = mat[3] = mat[12] = mat[13] = mat[14] = 0.0; + mat[15] = 1.0; +} + +/** + * converts a 4x4 matrix to a quaternion + */ +template +inline void Matrix4ToQuaternion(const T *mat, double *quat) +{ + double S; + double Trace = 1 + mat[0] + mat[5] + mat[10]; + if ( Trace > COMPARE_EPSILON ) { + S = sqrt(Trace) * 2; + quat[0] = -1.0 * ( mat[9] - mat[6] ) / S; // q_x + quat[1] = -1.0 * ( mat[2] - mat[8] ) / S; // q_y + quat[2] = -1.0 * ( mat[4] - mat[1] ) / S; // q_z + quat[3] = 0.25 * S; // q_0 + } else if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0: + S = sqrt( 1.0 + mat[0] - mat[5] - mat[10] ) * 2; + quat[0] = -1.0 * 0.25 * S; + quat[1] = -1.0 * (mat[4] + mat[1] ) / S; + quat[2] = -1.0 * (mat[2] + mat[8] ) / S; + quat[3] = (mat[9] - mat[6] ) / S; + } else if ( mat[5] > mat[10] ) { // Column 1: + S = sqrt( 1.0 + mat[5] - mat[0] - mat[10] ) * 2; + quat[0] = -1.0 * (mat[4] + mat[1] ) / S; + quat[1] = -1.0 * 0.25 * S; + quat[2] = -1.0 * (mat[9] + mat[6] ) / S; + quat[3] = (mat[2] - mat[8] ) / S; + } else { // Column 2: + S = sqrt( 1.0 + mat[10] - mat[0] - mat[5] ) * 2; + quat[0] = -1.0 * (mat[2] + mat[8] ) / S; + quat[1] = -1.0 * (mat[9] + mat[6] ) / S; + quat[2] = -1.0 * 0.25 * S; + quat[3] = (mat[4] - mat[1] ) / S; + } +} + +/** + * normalizes a quaternion to gain a unit quaternion + */ +template +inline void QuatNormalize(T *q) +{ + T norm = sqrt(sqr(q[0]) + sqr(q[1]) + sqr(q[2]) + sqr(q[3])); + q[3] = q[3] / norm; + q[2] = q[2] / norm; + q[1] = q[1] / norm; + q[0] = q[0] / norm; +} + +/** + * multiplication of quaternions + */ +template +inline void QuatMult(const T *q, const T *q_new, T *qtemp) +{ + qtemp[3] = q_new[3] * q[3] - q_new[0] * q[0] - q_new[1] * q[1] - q_new[2] * q[2]; + qtemp[0] = q_new[3] * q[0] + q_new[0] * q[3] + q_new[1] * q[2] - q_new[2] * q[1]; + qtemp[1] = q_new[3] * q[1] + q_new[1] * q[3] + q_new[2] * q[0] - q_new[0] * q[2]; + qtemp[2] = q_new[3] * q[2] + q_new[2] * q[3] + q_new[0] * q[1] - q_new[1] * q[0]; +} + +/** + * converts a quaternion to an axis angle + */ +inline void QuaternionToAxisAngle(const double *quat, double *axis, double &angle) +{ + double quaternion_norm = sqrt( sqr(quat[0]) + sqr(quat[1]) + sqr(quat[2]) + sqr(quat[3]) ); + double normalized_quat[4]; + normalized_quat[0] = quat[0] / quaternion_norm; + normalized_quat[1] = quat[1] / quaternion_norm; + normalized_quat[2] = quat[2] / quaternion_norm; + normalized_quat[3] = quat[3] / quaternion_norm; + double cos_a = normalized_quat[3]; + angle = deg(acos( cos_a )) * 2.0; + double sin_a = sqrt( 1.0 - cos_a * cos_a ); + if ( fabs( sin_a ) < DIV_EPSILON ) sin_a = 1; + axis[0] = normalized_quat[0] / sin_a; + axis[1] = normalized_quat[1] / sin_a; + axis[2] = -1.0 * normalized_quat[2] / sin_a; +} diff --git a/include/show/show_Boctree.h b/include/show/show_Boctree.h new file mode 100644 index 0000000..5057926 --- /dev/null +++ b/include/show/show_Boctree.h @@ -0,0 +1,929 @@ +/** + * @file + * @brief Representation of an octree for show + * @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef SHOWBOCTREE_H +#define SHOWBOCTREE_H + +#include "slam6d/Boctree.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" +#include "show/viewcull.h" +#include "show/colordisplay.h" +#include "slam6d/scan.h" + + + +/** + * @brief Octree for show + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + * + * It contains software culling functionalities + */ +template +class Show_BOctTree : public colordisplay +{ +protected: + BOctTree* m_tree; + + unsigned long maxtargetpoints; + + unsigned int current_lod_mode; + + //! A copy of pointdim of the tree initialized from + unsigned int POINTDIM; + + DataOcttree* m_cache_access; + Scan* m_scan; + + void init(ScanColorManager* scm) { + setColorManager(0); + if (scm) { + scm->registerTree(this); + scm->updateRanges(m_tree->getMins()); + scm->updateRanges(m_tree->getMaxs()); + } + POINTDIM = m_tree->getPointdim(); + maxtargetpoints = maxTargetPoints(m_tree->getRoot()); + current_lod_mode = 0; + m_cache_access = 0; + m_scan = 0; + } + +public: + //! Create with tree held in cache, lock indefinitely + Show_BOctTree(Scan* scan, DataOcttree* cache_access, ScanColorManager* scm = 0) + { + m_tree = &cache_access->get(); + init(scm); + // save cache access and hold it until an unlock + m_cache_access = cache_access; + m_scan = scan; + } + + //! Retrieve a cache access object and update the tree pointer + void lockCachedTree() { + if(m_scan != 0 && m_cache_access == 0) { + m_cache_access = new DataOcttree(m_scan->get("octtree")); + m_tree = &(m_cache_access->get()); + } + } + + //! Remove the data access + void unlockCachedTree() { + if(m_scan != 0 && m_cache_access != 0) { + delete m_cache_access; m_cache_access = 0; + //m_tree = 0; + } + } + + //! Create with already constructed tree and take ownership + Show_BOctTree(BOctTree* tree, ScanColorManager* scm = 0) : + m_tree(tree) + { + init(scm); + } + + //! Create tree by points + template + Show_BOctTree(P * const* pts, int n, T voxelSize, PointType pointtype = PointType(), ScanColorManager *scm = 0) + { + m_tree = new BOctTree(pts, n, voxelSize, pointtype, true); + init(scm); + } + + //! Create tree by deserializing from file + Show_BOctTree(std::string filename, ScanColorManager *scm = 0) + { + m_tree = new BOctTree(filename); + init(scm); + } + + virtual ~Show_BOctTree() { + // only delete cache access if created via this method + if(m_cache_access) { + delete m_cache_access; + } + // if not constructed by a cache-located tree, delete the owned tree + if(!m_scan) + delete m_tree; + } + + BOctTree* getTree() const { return m_tree; } + + void serialize(const std::string& filename) const { m_tree->serialize(filename); } + + unsigned int getMemorySize() const { return m_tree->getMemorySize(); } + + // virtual functions from colordisplay + + void selectRayBrushSize(set &points, int brushsize) { + selectRayBS(points, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), brushsize); + } + + void selectRay(set &points, int depth = INT_MAX) { + selectRay(points, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), depth); + } + + void selectRay(T * &point) { + selectRay(point, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), FLT_MAX); + } + + void cycleLOD() { + current_lod_mode = (current_lod_mode+1)%3; + } + + void drawLOD(float ratio) { + switch (current_lod_mode) { + case 0: + glBegin(GL_POINTS); + displayOctTreeCulledLOD(maxtargetpoints * ratio, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + break; + case 1: + glBegin(GL_POINTS); + displayOctTreeCulledLOD2(ratio, m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + break; + case 2: +#ifdef WITH_GLEE + if (GLEE_ARB_point_parameters) { + glPointParameterfARB(GL_POINT_SIZE_MIN_ARB, 1.0); + glPointParameterfARB(GL_POINT_SIZE_MAX_ARB, 100000.0); + GLfloat p[3] = {0.0, 0.0000, 0.0000005}; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + displayOctTreeCPAllCulled(m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize(), + m_tree->getSize() / pow(2, min( (int)(ratio * m_tree->getMaxDepth()), (int)(m_tree->getMaxDepth() - 3)))); + p[0] = 1.0; + p[2] = 0.0; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + } +#endif + break; + default: + break; + } + } + + void draw() { + glBegin(GL_POINTS); + displayOctTreeAllCulled(m_tree->getRoot(), m_tree->getCenter(), m_tree->getSize()); + glEnd(); + } + + // reroute center call (for recast from colordisplay to show_bocttree) + void getCenter(double _center[3]) const { + m_tree->getCenter(_center); + } + +protected: + + //! ? + unsigned long maxTargetPoints(const bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + unsigned long max = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned long length = points[0].length; + if (length > max) max = length; + } else { // recurse + unsigned long tp = maxTargetPoints(children->node); + if (tp > max) max = tp; + } + ++children; // next child + } + } + + return max*POPCOUNT(node.valid); + } + + void displayOctTreeAll(const bitoct &node) { +// T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // recurse + displayOctTreeAll( children->node); + } + ++children; // next child + } + } + } + + void displayOctTreeAllCulled(const bitoct &node, const T* center, T size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + // if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + //} + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeLOD2(float ratio, const bitoct &node, const T* center, T size ) { + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 1) { + if ((int)length > l ) { + T each = (T)POINTDIM * (T)((T)length/(T)l); + T *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } /* else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + }*/ + } else { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD2(float ratio, const bitoct &node, const T* center, T size ) { + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD2(ratio, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l != 0) { + if ((int)length > l ) { + T each = (T)POINTDIM * (T)((T)length/(T)l); + T *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } + } + } + } else { // recurse + //int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + //l = max((int)(l*l*ratio), 0); + //if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + //} + } + ++children; // next child + } + } + } + + void displayOctTreeLOD3(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + + if ( l <= targetpts) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } + } else { // recurse + displayOctTreeLOD3(targetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD3(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD3(targetpts, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + //l = std::min( max((int)(l*l*ratio), 1), targetpts); + + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + if (targetpts <= 0 ) cout << l << " " << targetpts << endl; + if ( l <= targetpts) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } + } + + } else { // recurse + displayOctTreeCulledLOD3(targetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeCulledLOD(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD(targetpts, node, center, size); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + T each = (T)POINTDIM * (T)((T)length/(T)newtargetpts); + T *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + //point += each; + } + } + } + + } else { // recurse + displayOctTreeCulledLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void displayOctTreeLOD(long targetpts, const bitoct &node, const T* center, T size ) { + if (targetpts <= 0) return; // no need to display anything + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + T each = (T)POINTDIM * (T)((T)length/(T)newtargetpts); + T *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (T)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0], p[1], p[2]); + //point += each; + } + } + } else { // recurse + displayOctTreeLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + void selectRay(set &selpoints, const bitoct &node, const T* center, T size, int max_depth, int depth = 0) { + if (depth < max_depth && !HitBoundingBox(center, size ))return; + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( !(depth+1 < max_depth) || HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + selpoints.insert(point); + point+=POINTDIM; + } + } + } else { // recurse + selectRay( selpoints, children->node, ccenter, size/2.0, max_depth, depth+1); + } + ++children; // next child + } + } + } + + void selectRayBS(set &selpoints, const bitoct &node, const T* center, T size, int brushsize) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if (ScreenDist(point) < brushsize && RayDist(point) > 100.0) + selpoints.insert(point); + point+=POINTDIM; + } + } + } else { // recurse + selectRayBS( selpoints, children->node, ccenter, size/2.0, brushsize); + } + ++children; // next child + } + } + } + + void selectRay(T * &selpoint, const bitoct &node, const T* center, T size, float min) { + if (!HitBoundingBox(center, size ))return; + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( HitBoundingBox(ccenter, size) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + T dist = RayDist(point); + if (min > dist && ScreenDist(point) < 5 && dist > 100.0) { + selpoint = point; + min = dist; + } + point+=POINTDIM; + } + } + } else { // recurse + selectRay( selpoint, children->node, ccenter, size/2.0, min); + } + ++children; // next child + } + } + } + + void displayOctTreeCAllCulled(const bitoct &node, const T* center, T size, T minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCAll(node, center, size, minsize); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + showCube(ccenter, size/2.0); + } + } else { // recurse + displayOctTreeCAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void displayOctTreeCAll(const bitoct &node, const T* center, T size, T minsize ) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + showCube(ccenter, size/2.0); + } else { // recurse + displayOctTreeCAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + + void displayOctTreeCPAllCulled(const bitoct &node, const T* center, T size, T minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCPAll(node, center, size, minsize); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( minsize > size ) { + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + if(cm) { + if (( 1 << i ) & node.leaf ) + cm->setColor( &(children->getPoints()[1]) ); + else + cm->setColor( m_tree->pickPoint(children->node) ); + } + + glPointSize(size/2.0); + glBegin(GL_POINTS); + glVertex3f( ccenter[0], ccenter[1], ccenter[2] ); + glEnd(); + } + }else if ( ( 1 << i ) & node.leaf ) { + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + glPointSize(1.0); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + glEnd(); + } + } else { // recurse + displayOctTreeCPAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void displayOctTreeCPAll(const bitoct &node, const T* center, T size, T minsize ) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + if(cm) { + if (( 1 << i ) & node.leaf ) + cm->setColor( &(children->getPoints()[1]) ); + else + cm->setColor( m_tree->pickPoint(children->node) ); + } + + glPointSize(size/2.0); + glBegin(GL_POINTS); + glVertex3f( ccenter[0], ccenter[1], ccenter[2] ); + glEnd(); + } + }else if ( ( 1 << i ) & node.leaf ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + glPointSize(1.0); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + glEnd(); + } else { // recurse + displayOctTreeCPAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } + } + + void showCube(const T* center, T size) { + glLineWidth(1.0); + glBegin(GL_QUADS); // draw a cube with 6 quads + glColor3f(0.0f,1.0f,0.0f); // Set The Color To Green + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange + + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + + glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + + glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + + glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glEnd(); + } + + + void displayOctTreeAllCulled(const bitoct &node, const T* center, T size, float *frustum[6], unsigned char frustsize ) { + float *new_frustum[6]; unsigned char counter = 0; + for (unsigned char p = 0; p < frustsize; p++ ) { + char res = PlaneAABB(center[0], center[1], center[2], size, frustum[p]); + if (res == 0) { // cube is on the wrong side of the plane (not visible) + return; + } else if ( res == 1 ) { // plane intersects this volume continue culling with this plane + new_frustum[counter++] = frustum[p]; + } // other case is simply not to continue culling with the respective plane + } + if (counter == 0) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node); + return; + } + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0], point[1], point[2]); + point+=POINTDIM; + } + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0, new_frustum, counter); + } + ++children; // next child + } + } + } + + unsigned long int countVisiblePoints(const bitoct &node, const T* center, T size ) { + unsigned long int result = 0; + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return 0; // culled do not continue with this branch of the tree + + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + BOctTree::childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + pointrep *points = children->getPointreps(); + unsigned int length = points[0].length; + result += length; + } + } else { // recurse + result += countVisiblePoints( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + return result; + } +}; + +#endif diff --git a/include/show/vertexarray.h b/include/show/vertexarray.h new file mode 100644 index 0000000..8215135 --- /dev/null +++ b/include/show/vertexarray.h @@ -0,0 +1,34 @@ +/** + * @file + * @brief Representation of an OpenGL vertex array + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __VERTEXARRAY_H__ +#define __VERTEXARRAY_H__ + +#ifdef _MSC_VER +#include +#endif + +#ifdef __APPLE__ +#include +#else +#include +#endif + + +class vertexArray +{ +public: + vertexArray(int _numPointsToRender); + ~vertexArray(); + + GLfloat* array; + GLint numPointsToRender; + GLuint name; +private: + static GLuint nameCounter; +}; + +#endif diff --git a/include/show/viewcull.h b/include/show/viewcull.h new file mode 100644 index 0000000..964f99b --- /dev/null +++ b/include/show/viewcull.h @@ -0,0 +1,165 @@ +#include +#include +#include + + +#ifdef _MSC_VER +#include +#include +#include +#else +#include +#include +#include +#endif + +#ifndef __VIEWCULL_H__ +#define __VIEWCULL_H__ + +///////////////////////// Variable declarations... +/** The 6 planes of the viewing frustum */ +extern float frustum[6][4]; + +/** the modelview * projection matrix to map a model point to an onscreen coordinate */ +extern float matrix[16]; +/** some useful variables for faster calculation of the pixel coordinates */ +extern short VP[4]; +/** a unit vector pointing to the right of the screen */ +extern float right[3]; +/** how much detail is shown, 0 means everything is plotted */ +extern short DETAIL; + +extern double SX, SY, SZ, EX, EY, EZ; +extern float origin[3], dir[3]; /*ray */ +extern float dist; +extern int rayX,rayY; +extern float rayVP[4]; + +#define NUMDIM 3 +#define RIGHT 0 +#define LEFT 1 +#define MIDDLE 2 + +extern float minB[NUMDIM], maxB[NUMDIM]; /*box */ +extern float coord[NUMDIM]; /* hit point */ + + +template bool HitBoundingBox(const T center[3], T size ) +{ + minB[0] = center[0] - size; + minB[1] = center[1] - size; + minB[2] = center[2] - size; + + maxB[0] = center[0] + size; + maxB[1] = center[1] + size; + maxB[2] = center[2] + size; + + bool inside = true; + char quadrant[NUMDIM]; + register int i; + int whichPlane; + float maxT[NUMDIM]; + float candidatePlane[NUMDIM]; + + // Find candidate planes; this loop can be avoided if + // rays cast all from the eye(assume perpsective view) + for (i=0; i maxB[i]) { + quadrant[i] = RIGHT; + candidatePlane[i] = maxB[i]; + inside = false; + }else { + candidatePlane[i] = 0.0; + quadrant[i] = MIDDLE; + } + + // Ray origin inside bounding box + if(inside) { + return (true); + } + + + // Calculate T distances to candidate planes + for (i = 0; i < NUMDIM; i++) + if (quadrant[i] != MIDDLE && dir[i] !=0.) + maxT[i] = (candidatePlane[i]-origin[i]) / dir[i]; + else + maxT[i] = -1.; + + // Get largest of the maxT's for final choice of intersection + whichPlane = 0; + for (i = 1; i < NUMDIM; i++) + if (maxT[whichPlane] < maxT[i]) + whichPlane = i; + + // Check final candidate actually inside box + if (maxT[whichPlane] < 0.) return (false); + for (i = 0; i < NUMDIM; i++) + if (whichPlane != i) { + coord[i] = origin[i] + maxT[whichPlane] *dir[i]; + if (coord[i] < minB[i] || coord[i] > maxB[i]) + return (false); + } else { + coord[i] = candidatePlane[i]; + } + return (true); // ray hits box +} + +void calcRay(int x, int y, double znear, double zfar); + +#include +template +float RayDist(T *point) +{ + return point[0] * dir[0] + point[1] * dir[1] + point[2] * dir[2] - dist; +} + +template +short ScreenDist(T *point) { + float pn[3]; + // x coordinate on screen, not normalized + pn[0] = point[0] * matrix[0] + point[1] * matrix[4] + point[2] * matrix[8] + matrix[12]; + pn[1] = point[0] * matrix[1] + point[1] * matrix[5] + point[2] * matrix[9] + matrix[13]; + // normalization + pn[2] = point[0] * matrix[3] + point[1] * matrix[7] + point[2] * matrix[11] + matrix[15]; + + // normalized x coordinate on screen + pn[0] /= pn[2]; + pn[1] /= pn[2]; + + // true x coordinate in viewport coordinate system + //Xi = pn[0]*VP[0] + VP[1]; + //fTempo[4]*0.5+0.5)*viewport[2]+viewport[0]; + + float XX = ( (pn[0])*rayVP[0] + rayVP[1]); + float YY = ( (pn[1])*rayVP[2] + rayVP[3]); + + short dx, dy; + if (XX > rayX) dx = XX-rayX; + else dx = rayX-XX; + + if (YY > rayY) dy = YY-rayY; + else dy = rayY-YY; + + // for the benefit of visual studio's compiler cast to float + return sqrt((float)(dx*dx + dy*dy)); +} + +void ExtractFrustum(short detail); +void ExtractFrustum(float *frust[6]); + + +bool CubeInFrustum( float x, float y, float z, float size ); +int CubeInFrustum2( float x, float y, float z, float size ); +char PlaneAABB( float x, float y, float z, float size, float *plane ); + +void remViewport(); +bool LOD(float x, float y, float z, float size); +int LOD2(float x, float y, float z, float size); + + +#endif diff --git a/include/show/wxshow.h b/include/show/wxshow.h new file mode 100644 index 0000000..4d452db --- /dev/null +++ b/include/show/wxshow.h @@ -0,0 +1,40 @@ +#ifndef _glpane_ +#define _glpane_ + +#include "GL/glut.h" +#include "wx/wx.h" +#include "wx/glcanvas.h" + +class BasicGLPane : public wxGLCanvas +{ + wxGLContext* m_context; + +public: + BasicGLPane(wxFrame* parent, int* args); + virtual ~BasicGLPane(); + + void resized(wxSizeEvent& evt); + + int getWidth(); + int getHeight(); + + void render(wxPaintEvent& evt); + void paint(bool interruptable=false); + void prepare3DViewport(int topleft_x, int topleft_y, int bottomrigth_x, int bottomrigth_y); + + // events + void idle(); + void idle_event(wxIdleEvent& event); + void mouseMoved(wxMouseEvent& event); + void mouseEvent(wxMouseEvent& event); + void mouseDown(wxMouseEvent& event); + void mouseWheelMoved(wxMouseEvent& event); + void mouseReleased(wxMouseEvent& event); + void rightClick(wxMouseEvent& event); + void mouseLeftWindow(wxMouseEvent& event); + void keyPressed(wxKeyEvent& event); + void keyReleased(wxKeyEvent& event); + + DECLARE_EVENT_TABLE() +}; +#endif diff --git a/include/slam6d/Boctree.h b/include/slam6d/Boctree.h new file mode 100644 index 0000000..f2bfc55 --- /dev/null +++ b/include/slam6d/Boctree.h @@ -0,0 +1,1567 @@ +/** + * @file + * @brief Efficient representation of an octree + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef BOCTREE_H +#define BOCTREE_H + +#include "searchTree.h" +#include "point_type.h" +#include "data_types.h" +#include "allocator.h" +#include "limits.h" +#include "nnparams.h" +#include "globals.icc" + + +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#if __GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4) + #define POPCOUNT(mask) __builtin_popcount(mask) +#else + #define POPCOUNT(mask) _my_popcount_3(mask) +#endif + +#include // to avoid ifdeffing for offset_ptr.get(), use &(*ptr) +namespace { namespace ip = boost::interprocess; } + + +// forward declaration +template union bitunion; + +/** + * This is our preferred representation for the leaf nodes (as it is the most compact). + * BOctTree makes an array of this, the first containing the number of points (not the + * number of coordinates) stored. + */ +template union dunion { + T v; + unsigned int length; + dunion() : length(0) {}; + +}; +// typedefs in combination with templates are weird +//typedef dunion pointrep; +#define pointrep union dunion + + + + +/** + * This struct represents the nodes of the octree + * + * child_pointer is a relative pointer to the first child of this node, as it is only + * 48 bit this will cause issues on systems with more than 268 TB of memory. All children + * of this node must be stored sequentially. If one of the children is a leaf, that + * child will be a pointer to however a set of points is represented (pointrep *). + * + * valid is a bitmask describing whether the corresponding buckets are filled. + * + * leaf is a bitmask describing whether the correpsonding bucket is a leaf node. + * + * The representation of the bitmask is somewhat inefficient. We use 16 bits for only + * 3^8 possible states, so in essence we could save 3 bits by compression. + * + */ +class bitoct{ + public: + +#ifdef _MSC_VER + __int64 child_pointer : 48; + unsigned valid : 8; + unsigned leaf : 8; +#else + signed long child_pointer : 48; + unsigned valid : 8; + unsigned leaf : 8; +#endif + /** + * sets the child pointer of parent so it points to child + */ + template + static inline void link(bitoct &parent, bitunion *child) { + parent.child_pointer = (long)((char*)child - (char*)&parent); + } + + /** + * Returns the children of this node (given as parent). + */ + template + static inline void getChildren(const bitoct &parent, bitunion* &children) { + children = (bitunion*)((char*)&parent + parent.child_pointer); + } + + template + inline bitunion* getChild(unsigned char index) { + bitunion *children = (bitunion*)((char*)this + this->child_pointer); + for (unsigned char i = 0; i < index; i++) { + if ( ( 1 << i ) & valid ) { // if ith node exists + children++; + } + } + return children; + } +}; + + +/** + * This union combines an octree node with a pointer to a set of points. This allows + * us to use both nodes and leaves interchangeably. + * + * points is a pointer to the point representation in use + * + * node is simply the octree node + * + */ +template union bitunion { + pointrep *points; + //union dunion *points; + bitoct node; + + bitunion(pointrep *p) : points(p) {}; + bitunion(bitoct b) : node(b) {}; + bitunion() : points(0) { + node.child_pointer = 0; + node.valid = 0; + node.leaf = 0; + }; // needed for new [] + + //! Leaf node: links a pointrep array [length+values] to this union, saved as an offset pointer + static inline void link(bitunion* leaf, pointrep* points) { + // use node child_pointer as offset_ptr, not pointrep + leaf->node.child_pointer = (long)((char*)points - (char*)leaf); + } + + //! Leaf node: points in the array + inline T* getPoints() const { + // absolute pointer + //return &(this->points[1].v); + // offset pointer + return reinterpret_cast( + reinterpret_cast((char*)this + node.child_pointer) + 1 + ); + } + + //! Leaf node: length in the array + inline unsigned int getLength() const { + // absolute pointer + //return this->points[0].length; + // offset pointer + return (reinterpret_cast((char*)this + node.child_pointer))[0].length; + } + + //! Leaf node: all points + inline pointrep* getPointreps() const { + return reinterpret_cast((char*)this + node.child_pointer); + } + + inline bitunion* getChild(unsigned char index) const { + bitunion *children = (bitunion*)((char*)this + this->node.child_pointer); + for (unsigned char i = 0; i < index; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + children++; + } + } + return children; + } + + inline bool isValid(unsigned char index) { + return ( ( 1 << index ) & node.valid ); + } + /* + inline pointrep* getChild(unsigned char index) { + bitunion *children = (bitunion*)((char*)this + this->node.child_pointer); + return children[index].points; + }*/ + + inline bool childIsLeaf(unsigned char index) { + return ( ( 1 << index ) & node.leaf ); // if ith node is leaf get center + } +}; + + +// initialized in Boctree.cc, sequence intialized on startup +extern char amap[8][8]; +extern char imap[8][8]; +extern char sequence2ci[8][256][8]; // maps preference to index in children array for every valid_mask and every case + + + +/** + * @brief Octree + * + * A cubic bounding box is calculated + * from the given 3D points. Then it + * is recusivly subdivided into smaller + * subboxes + */ +template +class BOctTree : public SearchTree { +public: + BOctTree() { + } + + template + BOctTree(P * const* pts, int n, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false ) : pointtype(_pointtype), earlystop(_earlystop) + { + alloc = new PackedChunkAllocator; + + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (int j = 1; j < n; j++) { + mins[i] = min(mins[i], (T)pts[j][i]); + maxs[i] = max(maxs[i], (T)pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + size += 1.0; // for numerical reasons we increase size + + // calculate new buckets + T newcenter[8][3]; + T sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + uroot = alloc->allocate >(); + root = &uroot->node; + + countPointsAndQueueFast(pts, n, newcenter, sizeNew, *root, center); + init(); + } + + BOctTree(std::string filename) { + alloc = new PackedChunkAllocator; + deserialize(filename); + init(); + } + + template + BOctTree(vector

&pts, T voxelSize, PointType _pointtype = PointType(), bool _earlystop = false) : earlystop(_earlystop) + { + alloc = new PackedChunkAllocator; + + this->voxelSize = voxelSize; + + this->POINTDIM = pointtype.getPointDim(); + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + // initialising + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = pts[0][i]; + maxs[i] = pts[0][i]; + } + + for (unsigned int i = 0; i < POINTDIM; i++) { + for (unsigned int j = 1; j < pts.size(); j++) { + mins[i] = min(mins[i], pts[j][i]); + maxs[i] = max(maxs[i], pts[j][i]); + } + } + + center[0] = 0.5 * (mins[0] + maxs[0]); + center[1] = 0.5 * (mins[1] + maxs[1]); + center[2] = 0.5 * (mins[2] + maxs[2]); + size = max(max(0.5 * (maxs[0] - mins[0]), 0.5 * (maxs[1] - mins[1])), 0.5 * (maxs[2] - mins[2])); + + size += 1.0; // for numerical reasons we increase size + + // calculate new buckets + T newcenter[8][3]; + T sizeNew = size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(center, newcenter[i], size, i); + } + // set up values + uroot = alloc->allocate >(); + root = &uroot->node; + + countPointsAndQueue(pts, newcenter, sizeNew, *root, center); + } + + virtual ~BOctTree() + { + if(alloc) { + delete alloc; + } + } + + void init() { + // compute maximal depth as well as the size of the smalles leaf + real_voxelSize = size; + max_depth = 1; + while (real_voxelSize > voxelSize) { + real_voxelSize = real_voxelSize/2.0; + max_depth++; + } + + child_bit_depth = alloc->allocate(max_depth); + child_bit_depth_inv = alloc->allocate(max_depth); + + for(int d=0; d < max_depth; d++) { + child_bit_depth[d] = 1 << (max_depth - d - 1); + child_bit_depth_inv[d] = ~child_bit_depth[d]; + } + + mult = 1.0/real_voxelSize; + add[0] = -center[0] + size; + add[1] = -center[1] + size; + add[2] = -center[2] + size; + + largest_index = child_bit_depth[0] * 2 -1; + } + +protected: + + /** + * Serialization critical variables + */ + //! the root of the octree + ip::offset_ptr root; + ip::offset_ptr > uroot; + + //! storing the center + T center[3]; + + //! storing the dimension + T size; + + //! storing the voxel size + T voxelSize; + + //! The real voxelsize of the leaves + T real_voxelSize; + + //! Offset and real voxelsize inverse factor for manipulation points + T add[3]; + T mult; + + //! Dimension of each point: 3 (xyz) + N (attributes) + unsigned int POINTDIM; + + //! storing minimal and maximal values for all dimensions + ip::offset_ptr mins; + ip::offset_ptr maxs; + + //! Details of point attributes + PointType pointtype; + + //! ? + unsigned char max_depth; + ip::offset_ptr child_bit_depth; + ip::offset_ptr child_bit_depth_inv; + int largest_index; + + /** + * Serialization uncritical, runtime relevant variables + */ + + //! Threadlocal storage of parameters used in SearchTree operations + static NNParams params[100]; + + /** + * Serialization uncritical, runtime irrelevant variables (constructor-stuff) + */ + + //! Whether to stop subdividing at N<10 nodes or not + bool earlystop; + + //! Allocator used for creating nodes in the constructor + Allocator* alloc; + +public: + + inline const T* getMins() const { return &(*mins); } + inline const T* getMaxs() const { return &(*maxs); } + inline const T* getCenter() const { return center; } + inline T getSize() const { return size; } + inline unsigned int getPointdim() const { return POINTDIM; } + inline const bitoct& getRoot() const { return *root; } + inline unsigned int getMaxDepth() const { return max_depth; } + + inline void getCenter(double _center[3]) const { + _center[0] = center[0]; + _center[1] = center[1]; + _center[2] = center[2]; + } + + void GetOctTreeCenter(vector&c) { GetOctTreeCenter(c, *root, center, size); } + void GetOctTreeRandom(vector&c) { GetOctTreeRandom(c, *root); } + void GetOctTreeRandom(vector&c, unsigned int ptspervoxel) { GetOctTreeRandom(c, ptspervoxel, *root); } + void AllPoints(vector &vp) { AllPoints(*BOctTree::root, vp); } + + long countNodes() { return 1 + countNodes(*root); } // computes number of inner nodes + long countLeaves() { return countLeaves(*root); } // computes number of leaves + points + long countOctLeaves() { return countOctLeaves(*root); } // computes number of leaves + + void deserialize(std::string filename ) { + char buffer[sizeof(T) * 20]; + T *p = reinterpret_cast(buffer); + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(T)); + voxelSize = p[0]; + center[0] = p[1]; + center[1] = p[2]; + center[2] = p[3]; + size = p[4]; + + file.read(buffer, sizeof(int)); + int *ip = reinterpret_cast(buffer); + POINTDIM = *ip; + + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + + file.read(reinterpret_cast(&(*mins)), POINTDIM * sizeof(T)); + file.read(reinterpret_cast(&(*maxs)), POINTDIM * sizeof(T)); + + // read root node + uroot = alloc->allocate >(); + root = &uroot->node; + + deserialize(file, *root); + file.close(); + } + + static void deserialize(std::string filename, vector &points ) { + char buffer[sizeof(T) * 20]; + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + PointType pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(T)); // read over voxelsize, center and size + file.read(buffer, sizeof(int)); + + int *ip = reinterpret_cast(buffer); + unsigned int POINTDIM = *ip; + + file.read(buffer, POINTDIM * sizeof(T)); + file.read(buffer, POINTDIM * sizeof(T)); + + // read root node + deserialize(file, points, pointtype); + file.close(); + } + + void serialize(std::string filename) { + char buffer[sizeof(T) * 20]; + T *p = reinterpret_cast(buffer); + + std::ofstream file; + file.open (filename.c_str(), std::ios::out | std::ios::binary); + + // write magic bits + buffer[0] = 'X'; + buffer[1] = 'T'; + file.write(buffer, 2); + + // write header + pointtype.serialize(file); + + p[0] = voxelSize; + p[1] = center[0]; + p[2] = center[1]; + p[3] = center[2]; + p[4] = size; + + int *ip = reinterpret_cast(&(buffer[5 * sizeof(T)])); + *ip = POINTDIM; + + file.write(buffer, 5 * sizeof(T) + sizeof(int)); + + + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i] = mins[i]; + } + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i+POINTDIM] = maxs[i]; + } + + file.write(buffer, 2*POINTDIM * sizeof(T)); + + // write root node + serialize(file, *root); + + file.close(); + } + + static PointType readType(std::string filename ) { + char buffer[sizeof(T) * 20]; + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return PointType(); + } + + // read header + PointType pointtype = PointType::deserialize(file); + + file.close(); + + return pointtype; + } + + + /** + * Picks the first point in depth first order starting from the given node + * + */ + T* pickPoint(bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //return &(children->points[1].v); + // offset pointer + return children->getPoints(); + } else { // recurse + return pickPoint(children->node); + } + ++children; // next child + } + } + return 0; + } + + static void childcenter(const T *pcenter, T *ccenter, T size, unsigned char i) { + switch (i) { + case 0: // 000 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 1: // 001 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 2: // 010 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 3: // 011 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 4: // 100 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 5: // 101 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 6: // 110 + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 7: // 111 + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + default: + break; + } + } + + static void childcenter(int x, int y, int z, int &cx, int &cy, int &cz, char i, int size) { + switch (i) { + case 0: // 000 + cx = x - size ; + cy = y - size ; + cz = z - size ; + break; + case 1: // 001 + cx = x + size ; + cy = y - size ; + cz = z - size ; + break; + case 2: // 010 + cx = x - size ; + cy = y + size ; + cz = z - size ; + break; + case 3: // 011 + cx = x + size ; + cy = y + size ; + cz = z - size ; + break; + case 4: // 100 + cx = x - size ; + cy = y - size ; + cz = z + size ; + break; + case 5: // 101 + cx = x + size ; + cy = y - size ; + cz = z + size ; + break; + case 6: // 110 + cx = x - size ; + cy = y + size ; + cz = z + size ; + break; + case 7: // 111 + cx = x + size ; + cy = y + size ; + cz = z + size ; + break; + default: + break; + } + } + +protected: + + void AllPoints( bitoct &node, vector &vp) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + T *point = &(points[1].v); // first point + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + //T *p = new T[BOctTree::POINTDIM]; +// T *p = new T[3]; +// p[0] = point[0]; p[1] = point[1]; p[2] = point[2]; + T *p = new T[BOctTree::POINTDIM]; + for (unsigned int k = 0; k < BOctTree::POINTDIM; k++) + p[k] = point[k]; + + vp.push_back(p); + + //glVertex3f( point[0], point[1], point[2]); + point+=BOctTree::POINTDIM; + } + } else { // recurse + AllPoints( children->node, vp); + } + ++children; // next child + } + } + } + + static void deserialize(std::ifstream &f, vector &vpoints, PointType &pointtype) { + char buffer[2]; + pointrep *point = new pointrep[pointtype.getPointDim()]; + f.read(buffer, 2); + bitoct node; + node.valid = buffer[0]; + node.leaf = buffer[1]; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + pointrep first; + f.read(reinterpret_cast(&first), sizeof(pointrep)); + unsigned int length = first.length; // read first element, which is the length + for (unsigned int k = 0; k < length; k++) { + f.read(reinterpret_cast(point), sizeof(pointrep) * pointtype.getPointDim()); // read the points + vpoints.push_back( pointtype.createPoint( &(point->v ) ) ); + } + } else { // write child + deserialize(f, vpoints, pointtype); + } + } + } + delete [] point; + } + + void deserialize(std::ifstream &f, bitoct &node) { + char buffer[2]; + f.read(buffer, 2); + node.valid = buffer[0]; + node.leaf = buffer[1]; + + unsigned short n_children = POPCOUNT(node.valid); + + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + pointrep first; + f.read(reinterpret_cast(&first), sizeof(pointrep)); + unsigned int length = first.length; // read first element, which is the length + pointrep *points = alloc->allocate (POINTDIM*length + 1); + // absolute pointer + //children->points = points; + // offset pointer + bitunion::link(children, points); + points[0] = first; + points++; + f.read(reinterpret_cast(points), sizeof(pointrep) * length * POINTDIM); // read the points + } else { // write child + deserialize(f, children->node); + } + ++children; // next child + } + } + } + + void serialize(std::ofstream &of, bitoct &node) { + char buffer[2]; + buffer[0] = node.valid; + buffer[1] = node.leaf; + of.write(buffer, 2); + + + // write children + bitunion *children; + bitoct::getChildren(node, children); + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf write points + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + of.write(reinterpret_cast(points), sizeof(pointrep) * (length * POINTDIM +1)); + } else { // write child + serialize(of, children->node); + } + ++children; // next child + } + } + } + + void GetOctTreeCenter(vector&c, bitoct &node, T *center, T size) { + T ccenter[3]; + bitunion *children; + bitoct::getChildren(node, children); + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + T * cp = new T[3]; + for (unsigned int iterator = 0; iterator < 3; iterator++) { + cp[iterator] = ccenter[iterator]; + } + c.push_back(cp); + } else { // recurse + GetOctTreeCenter(c, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } + } + + void GetOctTreeRandom(vector&c, bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + // new version to ignore leaves with less than 3 points + /* + if(points[0].length > 2) { + for(int tmp = 0; tmp < points[0].length; tmp++) { + T *point = &(points[POINTDIM*tmp+1].v); + c.push_back(point); + } + } + */ + //old version + + int tmp = rand(points[0].length); + T *point = &(points[POINTDIM*tmp+1].v); + c.push_back(point); + + + } else { // recurse + GetOctTreeRandom(c, children->node); + } + ++children; // next child + } + } + } + + void GetOctTreeRandom(vector&c, unsigned int ptspervoxel, bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //pointrep *points = children->points; + // offset pointer + pointrep* points = children->getPointreps(); + unsigned int length = points[0].length; + if (ptspervoxel >= length) { + for (unsigned int j = 0; j < length; j++) + c.push_back(&(points[POINTDIM*j+1].v)); + + ++children; // next child + continue; + } + set indices; + while(indices.size() < ptspervoxel) { + int tmp = rand(length-1); + indices.insert(tmp); + } + for(set::iterator it = indices.begin(); it != indices.end(); it++) + c.push_back(&(points[POINTDIM*(*it)+1].v)); + + } else { // recurse + GetOctTreeRandom(c, ptspervoxel, children->node); + } + ++children; // next child + } + } + } + + long countNodes(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + //++result; + } else { // recurse + result += countNodes(children->node) + 1; + } + ++children; // next child + } + } + return result; + } + + long countLeaves(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + long nrpts = children->getLength(); + result += POINTDIM*nrpts; + } else { // recurse + result += countLeaves(children->node); + } + ++children; // next child + } + } + return result; + } + + long countOctLeaves(bitoct &node) { + long result = 0; + bitunion *children; + bitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + result ++; + } else { // recurse + result += countTrueLeaves(children->node); + } + ++children; // next child + } + } + return result; + } + + // TODO: is this still needed? nodes and pointreps are all in the Allocator + void deletetNodes(bitoct &node) { + bitunion *children; + bitoct::getChildren(node, children); + bool haschildren = false; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // absolute pointer + //delete [] children->points; + // offset pointer + delete [] children->getPointreps(); + } else { // recurse + deletetNodes(children->node); + } + ++children; // next child + haschildren = true; + } + } + // delete children + if (haschildren) { + bitoct::getChildren(node, children); + } + } + + template + void* branch( bitoct &node, P * const * splitPoints, int n, T _center[3], T _size) { + // if bucket is too small stop building tree + // ----------------------------------------- + if ((_size <= voxelSize) || (earlystop && n <= 10) ) { + + // copy points + pointrep *points = alloc->allocate (POINTDIM*n + 1); + + points[0].length = n; + int i = 1; + for (int j = 0; j < n; j++) { + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + points[i++].v = splitPoints[j][iterator]; + } + } + return points; + } + + // calculate new buckets + T newcenter[8][3]; + T sizeNew; + + sizeNew = _size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(_center, newcenter[i], _size, i); + } + + countPointsAndQueueFast(splitPoints, n, newcenter, sizeNew, node, _center); + return 0; + } + + template + void* branch( bitoct &node, vector &splitPoints, T _center[3], T _size) { + // if bucket is too small stop building tree + // ----------------------------------------- + if ((_size <= voxelSize) || (earlystop && splitPoints.size() <= 10) ) { + // copy points + pointrep *points = alloc->allocate (POINTDIM*splitPoints.size() + 1); + points[0].length = splitPoints.size(); + int i = 1; + for (typename vector

::iterator itr = splitPoints.begin(); + itr != splitPoints.end(); itr++) { + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + points[i++].v = (*itr)[iterator]; + } + } + return points; + } + + // calculate new buckets + T newcenter[8][3]; + T sizeNew; + + sizeNew = _size / 2.0; + + for (unsigned char i = 0; i < 8; i++) { + childcenter(_center, newcenter[i], _size, i); + } + + countPointsAndQueue(splitPoints, newcenter, sizeNew, node, _center); + return 0; + } + + template + void countPointsAndQueue(vector &i_points, T center[8][3], T size, bitoct &parent, T *pcenter) { + vector points[8]; + int n_children = 0; + for (typename vector

::iterator itr = i_points.begin(); itr != i_points.end(); itr++) { + points[childIndex

(pcenter, *itr)].push_back( *itr ); + } + + i_points.clear(); + vector().swap(i_points); + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(parent, children); + + int count = 0; + for (int j = 0; j < 8; j++) { + if (!points[j].empty()) { + pointrep *c = (pointrep*)branch(children[count].node, points[j], center[j], size); // leaf node + if (c) { + // absolute pointer + //children[count].points = c; // set this child to deque of points + // offset pointer + bitunion::link(&children[count], c); + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + points[j].clear(); + vector().swap(points[j]); + ++count; + } + } + } + + template + void countPointsAndQueueFast(P * const* points, int n, T center[8][3], T size, bitoct &parent, T pcenter[3]) { + P * const *blocks[9]; + blocks[0] = points; + blocks[8] = points + n; + fullsort(points, n, pcenter, blocks+1); + + int n_children = 0; + + for (int j = 0; j < 8; j++) { + // if non-empty set valid flag for this child + if (blocks[j+1] - blocks[j] > 0) { + parent.valid = ( 1 << j ) | parent.valid; + ++n_children; + } + } + + // create children + bitunion *children = alloc->allocate >(n_children); + bitoct::link(parent, children); + int count = 0; + for (int j = 0; j < 8; j++) { + if (blocks[j+1] - blocks[j] > 0) { + pointrep *c = (pointrep*)branch(children[count].node, blocks[j], blocks[j+1] - blocks[j], center[j], size); // leaf node + if (c) { + // absolute pointer + //children[count].points = c; // set this child to vector of points + // offset pointer + bitunion::link(&children[count], c); // set this child to vector of points + parent.leaf = ( 1 << j ) | parent.leaf; // remember this is a leaf + } + ++count; + } + } + } + + + void getByIndex(T *point, T *&points, unsigned int &length) { + unsigned int x,y,z; + x = (point[0] + add[0]) * mult; + y = (point[1] + add[1]) * mult; + z = (point[2] + add[2]) * mult; + + bitunion *node = uroot; + unsigned char child_index; + unsigned int child_bit; + unsigned int depth = 0; + + while (true) { + child_bit = child_bit_depth[depth]; + child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2); + if (node->childIsLeaf(child_index) ) { + node = node->getChild(child_index); + points = node->getPoints(); + length = node->getLength(); + return; + } else { + node = node->getChild(child_index); + } + depth++; + } + } + + template + inline unsigned char childIndex(const T *center, const P *point) { + return (point[0] > center[0] ) | ((point[1] > center[1] ) << 1) | ((point[2] > center[2] ) << 2) ; + } + + /** + * Given a leaf node, this function looks for the closest point to params[threadNum].closest + * in the list of points. + */ + inline void findClosestInLeaf(bitunion *node, int threadNum) const { + if (params[threadNum].count >= params[threadNum].max_count) return; + params[threadNum].count++; + T* points = node->getPoints(); + unsigned int length = node->getLength(); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double myd2 = Dist2(params[threadNum].p, points); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = points; + if (myd2 <= 0.0001) { + params[threadNum].closest_v = 0; // the search radius in units of voxelSize + } else { + params[threadNum].closest_v = sqrt(myd2) * mult + 1; // the search radius in units of voxelSize + } + } + points+=BOctTree::POINTDIM; + } + } + + + +/** + * This function finds the closest point in the octree given a specified + * radius. This implementation is quit complex, although it is already + * simplified. The simplification incurs a significant loss in speed, as + * several calculations have to be performed repeatedly and a high number of + * unnecessary jumps are executed. + */ + double *FindClosest(double *point, double maxdist2, int threadNum) const + { + params[threadNum].closest = 0; // no point found currently + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = point; + params[threadNum].x = (point[0] + add[0]) * mult; + params[threadNum].y = (point[1] + add[1]) * mult; + params[threadNum].z = (point[2] + add[2]) * mult; + params[threadNum].closest_v = sqrt(maxdist2) * mult + 1; // the search radius in units of voxelSize + params[threadNum].count = 0; + params[threadNum].max_count = 10000; // stop looking after this many buckets + + + // box within bounds in voxel coordinates + int xmin, ymin, zmin, xmax, ymax, zmax; + xmin = max(params[threadNum].x-params[threadNum].closest_v, 0); + ymin = max(params[threadNum].y-params[threadNum].closest_v, 0); + zmin = max(params[threadNum].z-params[threadNum].closest_v, 0); + +// int largest_index = child_bit_depth[0] * 2 -1; + + xmax = min(params[threadNum].x+params[threadNum].closest_v, largest_index); + ymax = min(params[threadNum].y+params[threadNum].closest_v, largest_index); + zmax = min(params[threadNum].z+params[threadNum].closest_v, largest_index); + + unsigned char depth = 0; + unsigned int child_bit; + unsigned int child_index_min; + unsigned int child_index_max; + + bitunion *node = &(*uroot); + + int cx, cy, cz; + + child_bit = child_bit_depth[depth]; + cx = child_bit_depth[depth]; + cy = child_bit_depth[depth]; + cz = child_bit_depth[depth]; + + while (true) { // find the first node where branching is required + child_index_min = ((xmin & child_bit )!=0) | (((ymin & child_bit )!=0 )<< 1) | (((zmin & child_bit )!=0) << 2); + child_index_max = ((xmax & child_bit )!=0) | (((ymax & child_bit )!=0 )<< 1) | (((zmax & child_bit )!=0) << 2); + + // if these are the same, go there + // TODO: optimization: also traverse if only single child... + if (child_index_min == child_index_max) { + if (node->childIsLeaf(child_index_min) ) { // luckily, no branching is required + findClosestInLeaf(node->getChild(child_index_min), threadNum); + return static_cast(params[threadNum].closest); + } else { + if (node->isValid(child_index_min) ) { // only descend when there is a child + childcenter(cx,cy,cz, cx,cy,cz, child_index_min, child_bit/2 ); + node = node->getChild(child_index_min); + child_bit /= 2; + } else { // there is no child containing the bounding box => no point is close enough + return 0; + } + } + } else { + // if min and max are not in the same child we must branch + break; + } + } + + // node contains all box-within-bounds cells, now begin best bin first search + _FindClosest(threadNum, node->node, child_bit/2, cx, cy, cz); + return static_cast(params[threadNum].closest); + } + + /** + * This is the heavy duty search function doing most of the (theoretically unneccesary) work. The tree is recursively searched. + * Depending on which of the 8 child-voxels is closer to the query point, the children are examined in a special order. + * This order is defined in map, imap is its inverse and sequence2ci is a speedup structure for faster access to the child indices. + */ + void _FindClosest(int threadNum, bitoct &node, int size, int x, int y, int z) const + { + // Recursive case + + // compute which child is closest to the query point + unsigned char child_index = ((params[threadNum].x - x) >= 0) | + (((params[threadNum].y - y) >= 0) << 1) | + (((params[threadNum].z - z) >= 0) << 2); + + char *seq2ci = sequence2ci[child_index][node.valid]; // maps preference to index in children array + char *mmap = amap[child_index]; // maps preference to area index + + bitunion *children; + bitoct::getChildren(node, children); + int cx, cy, cz; + cx = cy = cz = 0; // just to shut up the compiler warnings + for (unsigned char i = 0; i < 8; i++) { // in order of preference + child_index = mmap[i]; // the area index of the node + if ( ( 1 << child_index ) & node.valid ) { // if ith node exists + childcenter(x,y,z, cx,cy,cz, child_index, size); + if ( params[threadNum].closest_v == 0 || max(max(abs( cx - params[threadNum].x ), + abs( cy - params[threadNum].y )), + abs( cz - params[threadNum].z )) - size + > params[threadNum].closest_v ) { + continue; + } + // find the closest point in leaf seq2ci[i] + if ( ( 1 << child_index ) & node.leaf ) { // if ith node is leaf + findClosestInLeaf( &children[seq2ci[i]], threadNum); + } else { // recurse + _FindClosest(threadNum, children[seq2ci[i]].node, size/2, cx, cy, cz); + } + } + } + } + + + /** + * This function shows the possible speedup that can be gained by using the + * octree for nearest neighbour search, if a more sophisticated + * implementation were given. Here, only the bucket in which the query point + * falls is looked up. If doing the same thing in the kd-tree search, this + * function is about 3-5 times as fast + */ + double *FindClosestInBucket(double *point, double maxdist2, int threadNum) { + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = point; + unsigned int x,y,z; + x = (point[0] + add[0]) * mult; + y = (point[1] + add[1]) * mult; + z = (point[2] + add[2]) * mult; + T * points; + unsigned int length; + + bitunion *node = uroot; + unsigned char child_index; + + unsigned int child_bit = child_bit_depth[0]; + + while (true) { + child_index = ((x & child_bit )!=0) | (((y & child_bit )!=0 )<< 1) | (((z & child_bit )!=0) << 2); + if (node->childIsLeaf(child_index) ) { + node = node->getChild(child_index); + points = node->getPoints(); + length = node->getLength(); + + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double myd2 = Dist2(params[threadNum].p, points); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = points; + } + points+=BOctTree::POINTDIM; + } + return static_cast(params[threadNum].closest); + } else { + if (node->isValid(child_index) ) { + node = node->getChild(child_index); + } else { + return 0; + } + } + child_bit >>= 1; + } + return static_cast(params[threadNum].closest); + } + + +template + void fullsort(P * const * points, int n, T splitval[3], P * const * blocks[9]) { + P* const * L0; + P* const * L1; + P* const * L2; + unsigned int n0L, n0R, n1L, n1R ; + + // sort along Z + L0 = sort(points, n, splitval[2], 2); + + n0L = L0 - points; + // sort along Y (left of Z) points -- L0 + L1 = sort(points, n0L, splitval[1], 1); + + n1L = L1 - points; + // sort along X (left of Y) points -- L1 + L2 = sort(points, n1L, splitval[0], 0); + + blocks[0] = L2; + + n1R = n0L - n1L; + // sort along X (right of Y) // L1 -- L0 + L2 = sort(L1, n1R, splitval[0], 0); + + blocks[1] = L1; + blocks[2] = L2; + + n0R = n - n0L; + // sort along Y (right of Z) L0 -- end + L1 = sort(L0, n0R, splitval[1], 1); + + n1L = L1 - L0; + // sort along X (left of Y) points -- L1 + L2 = sort(L0, n1L, splitval[0], 0); + + blocks[3] = L0; + blocks[4] = L2; + + n1R = n0R - n1L; + // sort along X (right of Y) // L1 -- L0 + L2 = sort(L1, n1R, splitval[0], 0); + + blocks[5] = L1; + blocks[6] = L2; + } + + + template + P* const * sort(P* const * points, unsigned int n, T splitval, unsigned char index) { + if (n==0) return points; + + if (n==1) { + if (points[0][index] < splitval) + return points+1; + else + return points; + } + + P **left = const_cast(points); + P **right = const_cast(points + n - 1); + + + while (1) { + while ((*left)[index] < splitval) + { + left++; + if (right < left) + break; + } + while ((*right)[index] >= splitval) + { + right--; + if (right < left) + break; + } + if (right < left) + break; + + std::swap(*left, *right); + } + return left; + } + +public: + /** + * Copies another (via new constructed) octtree into cache allocated memory and makes it position independant + */ + BOctTree(const BOctTree& other, unsigned char* mem_ptr, unsigned int mem_max) + { + alloc = new SequentialAllocator(mem_ptr, mem_max); + + // "allocate" space for *this + alloc->allocate >(); + + // take members + unsigned int i; + for(i = 0; i < 3; ++i) + center[i] = other.center[i]; + size = other.size; + voxelSize = other.voxelSize; + real_voxelSize = other.real_voxelSize; + for(i = 0; i < 3; ++i) + add[i] = other.add[i]; + mult = other.mult; + POINTDIM = other.POINTDIM; + mins = alloc->allocate(POINTDIM); + maxs = alloc->allocate(POINTDIM); + for(i = 0; i < POINTDIM; ++i) { + mins[i] = other.mins[i]; + maxs[i] = other.maxs[i]; + } + pointtype = other.pointtype; + max_depth = other.max_depth; + child_bit_depth = alloc->allocate(max_depth); + child_bit_depth_inv = alloc->allocate(max_depth); + for(i = 0; i < max_depth; ++i) { + child_bit_depth[i] = other.child_bit_depth[i]; + child_bit_depth_inv[i] = other.child_bit_depth_inv[i]; + } + largest_index = other.largest_index; + + // take node structure + uroot = alloc->allocate >(); + root = &uroot->node; + copy_children(*other.root, *root); + + // test if allocator has used up his space + //alloc->printSize(); + + // discard allocator, space is managed by the cache manager + delete alloc; alloc = 0; + } + +private: + void copy_children(const bitoct& other, bitoct& my) { + // copy node attributes + my.valid = other.valid; + my.leaf = other.leaf; + + // other children + bitunion* other_children; + bitoct::getChildren(other, other_children); + + // create own children + unsigned int n_children = POPCOUNT(other.valid); + bitunion* my_children = alloc->allocate >(n_children); + bitoct::link(my, my_children); + + // iterate over all (valid) children and copy them + for(unsigned int i = 0; i < 8; ++i) { + if((1<getLength(); + pointrep* other_pointreps = other_children->getPointreps(); + pointrep* my_pointreps = alloc->allocate(POINTDIM * length + 1); + for(unsigned int j = 0; j < POINTDIM * length + 1; ++j) + my_pointreps[j] = other_pointreps[j]; + // assign + bitunion::link(my_children, my_pointreps); + } else { + // child is already created, copy and create children for it + copy_children(other_children->node, my_children->node); + } + ++other_children; + ++my_children; + } + } + } + +public: + //! Size of the whole tree structure, including the main class, its serialize critical allocated variables and nodes, not the allocator + unsigned int getMemorySize() + { + return sizeof(*this) // all member variables + + 2*POINTDIM*sizeof(T) // mins, maxs + + 2*max_depth*sizeof(unsigned int) // child_bit_depth(_inv) + + sizeof(bitunion) // uroot + + sizeChildren(*root); // all nodes + } + +private: + //! Recursive size of a node's children + unsigned int sizeChildren(const bitoct& node) { + unsigned int s = 0; + bitunion* children; + bitoct::getChildren(node, children); + + // size of children allocation + unsigned int n_children = POPCOUNT(node.valid); + s += sizeof(bitunion)*n_children; + + // iterate over all (valid) children and sum them up + for(unsigned int i = 0; i < 8; ++i) { + if((1<getLength()*POINTDIM+1); + } else { + // childe node is already accounted for, add its children + s += sizeChildren(children->node); + } + ++children; // next (valid) child + } + } + return s; + } +}; + +typedef SingleObject > DataOcttree; + +template +NNParams BOctTree::params[100]; + +#endif diff --git a/include/slam6d/allocator.h b/include/slam6d/allocator.h new file mode 100644 index 0000000..228ef87 --- /dev/null +++ b/include/slam6d/allocator.h @@ -0,0 +1,73 @@ +/** + * @file + * @brief allocator object that gets chunks of memory and then hands parts of them to a user + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Thomas Escher + */ +#ifndef ALLOCATOR_H +#define ALLOCATOR_H + +#include + +class Allocator { +public: + virtual ~Allocator() {} + + template + T* allocate(unsigned int nr = 1) { return reinterpret_cast(allocate(nr*sizeof(T))); } + + virtual void printSize() const = 0; + +protected: + virtual unsigned char* allocate(unsigned int size) = 0; +}; + + + +class ChunkAllocator : public Allocator { +public: + ChunkAllocator(unsigned int _csize = (1 << 20)); + ~ChunkAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + std::vector mem; + const unsigned int chunksize; + unsigned int index; + unsigned long int memsize; + unsigned long int wastedspace; +}; + + + +class PackedChunkAllocator : public Allocator { +public: + PackedChunkAllocator(unsigned int _csize = (1<<20)); + ~PackedChunkAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + std::vector mem; + std::vector index; + const unsigned int chunksize; + unsigned long int memsize; +}; + + + +class SequentialAllocator : public Allocator { +public: + //! Handle a preallocated memory up to \a max_size. + SequentialAllocator(unsigned char* base_ptr, unsigned int max_size); + ~SequentialAllocator(); + void printSize() const; +protected: + unsigned char* allocate(unsigned int size); +private: + unsigned char* m_base_ptr; + unsigned int m_size, m_index; +}; + +#endif diff --git a/include/slam6d/ann_kd.h b/include/slam6d/ann_kd.h new file mode 100644 index 0000000..039185a --- /dev/null +++ b/include/slam6d/ann_kd.h @@ -0,0 +1,66 @@ +/** @file + * @brief Encapsules the implementation of ANN k-d trees. + * @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany. + * @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany. + */ + +#ifndef __ANN_KD_H__ +#define __ANN_KD_H__ + +#include "slam6d/kdparams.h" +#include "slam6d/searchTree.h" +#include "ANN/ANN.h" + +/** + * @brief Encapsulating class to create and store ANN KD Trees. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or in a fixed radius distance). + **/ +class ANNtree : public SearchTree { + +public: + + /** + * default constructor + */ + ANNtree(); + + /** + * Constructor using the point set pts and the num_of_pts n + */ + ANNtree(double **_pts, int n); + + /** + * destructor + */ + virtual ~ANNtree(); + + + /** + * Finds the closest point within the tree, + * wrt. the point given as first parameter. + * @param _p point + * @param maxdist2 maximal search distance. + * @param threadNum Thread number, for parallelization + * @return Pointer to the closest point + */ + double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const; + +private: + + /** + * a pointer to ANNkd_tree instance + */ + ANNkd_tree* annkd; + ANNdistArray nn; //temporary ANNdistArray instance to use for storing the nearest neighbor + ANNidxArray nn_idx; //temporary ANNdistArray instance to use for storing the nearest neighbor + + double** pts; + +}; + +#endif + + diff --git a/include/slam6d/basicScan.h b/include/slam6d/basicScan.h new file mode 100644 index 0000000..a76008f --- /dev/null +++ b/include/slam6d/basicScan.h @@ -0,0 +1,67 @@ +#ifndef BASIC_SCAN_H +#define BASIC_SCAN_H + +#include "scan.h" +#include "frame.h" + +#include +#include + + +class BasicScan : public Scan { +public: + static void openDirectory(const std::string& path, IOType type, int start, int end); + static void closeDirectory(); +/* + Scan(const double *euler, int maxDist = -1); + Scan(const double rPos[3], const double rPosTheta[3], int maxDist = -1); + Scan(const double _rPos[3], const double _rPosTheta[3], vector &pts); +*/ + virtual ~BasicScan(); + + virtual void setRangeFilter(double max, double min); + virtual void setHeightFilter(double top, double bottom); + + virtual const char* getIdentifier() const { return m_identifier.c_str(); } + + virtual DataPointer get(const std::string& identifier); + virtual void get(unsigned int types); + virtual DataPointer create(const std::string& identifier, unsigned int size); + virtual void clear(const std::string& identifier); + + virtual unsigned int readFrames(); + virtual void saveFrames(); + virtual unsigned int getFrameCount(); + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type); + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate(); + virtual void addFrame(AlgoType type); + +private: + //! Path and identifier of where the scan is located + std::string m_path, m_identifier; + + IOType m_type; + + double m_filter_max, m_filter_min, m_filter_top, m_filter_bottom; + bool m_filter_range_set, m_filter_height_set; + + std::map> m_data; + + std::vector m_frames; + + + //! Constructor for openDirectory + BasicScan(const std::string& path, const std::string& identifier, IOType type); + + //! Initialization function + void init(); + + void createANNTree(); + + void createOcttree(); +}; + +#endif //BASIC_SCAN_H diff --git a/include/slam6d/convergence.h b/include/slam6d/convergence.h new file mode 100644 index 0000000..f85c07a --- /dev/null +++ b/include/slam6d/convergence.h @@ -0,0 +1,62 @@ +/** + * @file + * @brief generating convergence data + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + */ + +#ifndef __CONVERGENCE_H__ +#define __CONVERGENCE_H__ + +#ifdef _MSC_VER + #define _USE_MATH_DEFINES + #include + #include "XGetopt.h" +#else + #include +#endif + +#include +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif +#include + +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ofstream; +using std::ios; +using std::ifstream; + +#include +using std::string; + +/** float value "nearly" zero? */ +#define DIV_EPSILON 0.001 +/** comparing two floats/doubles */ +#define COMPARE_EPSILON 0.000001 + +#define CONV_LOCAL 1 +#define CONV_GLOBAL 0 +#define CONV_ALL 2 + +#define BUFSIZE 1048576 ///< defining the buffer size + +#include "slam6d/globals.icc" + + +int parseArgs(int argc, char **argv, string &dir, int& frame); +void usage(char * prog); + +void getGlobalConvergence(ifstream *inputFile, ofstream *outputFile); +void getLocalConvergence(ifstream *inputFile, ofstream *outputFile); +void getAllConvergence(ifstream *inputFile, ofstream *outputFile, int FrameNr); + + + +#endif + diff --git a/include/slam6d/cuda/CIcpGpuCuda.cuh b/include/slam6d/cuda/CIcpGpuCuda.cuh new file mode 100755 index 0000000..89c6731 --- /dev/null +++ b/include/slam6d/cuda/CIcpGpuCuda.cuh @@ -0,0 +1,415 @@ +/** @file + * @brief GPU-ICP Algorithm + * @author Deyuan Qiu, University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany. + * Fraunhofer IAIS, Sankt Augustin, Germany. + */ + +#ifndef CICPGPUCUDA_H +#define CICPGPUCUDA_H + +#include // C standard library +#include // C I/O (for sscanf) +#include // string manipulation +#include // file I/O +#include // min() +#include + +#include "ANN/ANN.h" // ANN declarations +#include "ANN/ANNperf.h" // kd-tree printing +#include "kd_tree.h" // ANN node declaration + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +#include "slam6d/cuda/CSystem.h" + +/* + * The maximum block size. For nVidia G80 architecture, 192 is suggested. + */ +//#define BLOCKSIZE 512 +//#define BLOCKSIZE 256 +#define BLOCKSIZE 64 +//#define BLOCKSIZE 1 + + +/* + * The big enough size of the AoS that is going to allocate for the kd-tree. + */ +//#define TREESIZE 262143 +#define TREESIZE 524288 + +#ifdef use_namespace +using namespace std; +#endif + +/* +* @class CIcpGpuCuda +* @brief Iterative Closest Point algorithm is implemented on a programmable graphic +* device. Kernels are implemented by CUDA (Compute Unified Device Architecture) GPGPU +* programming language (http://www.nvidia.com/object/cuda_home.html). To compile the code, +* nvcc compiler and related CUDA libraries must be installed. Kernel files are wrapped in +* CIcpGpuCuda_kernel.cuh and CIcpGpuCuda.cu. Attention: only NVidia GeForce G80 architecture +* and onwards graphic devices are garanteed to be supported. +* @author Deyuan Qiu +* @date 2008.Nov. +*/ +class CIcpGpuCuda{ + +public: + + /* + * standard constructor + * @param argc passed from application main function. + * @param argv passed from application main function. + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + CIcpGpuCuda(unsigned unWidth, unsigned unHeight, unsigned max_iter){ + init(unWidth, unHeight,max_iter); + } + + /* + * standard destructor + */ + ~CIcpGpuCuda(); + + /* + * Set maximum iteration for ICP. + * @param unTimes number of times ICP iterates maximally. + */ + void setMaxIteration(unsigned unTimes); + + /* + * Set maximum processing time for ICP, in milliseconds. + * @param dMilliseconds ICP quits when elapsed time exceeds. + */ + void setMaxProcTime(double dMilliseconds); + + /* + * Set maximum deviation for ICP. + * @param dDeviation ICP quits when specified deviation is achieved. + */ + void setMaxDeviation(double dDeviation); + + /* + * Set search radiuses for ICP. An iterative decreasing radius + * is applied. Search radius decreases linearly from fRadiusMax to + * fRadiusMin within unIterations iterations. + * @param fRadiusMax Initial radius. + * @param fRadiusMin Final radius. + * @param unIterations Number of iterations, in which radius decreases. + */ + void setSearchRadius(float fRadiusMax, float fRadiusMin, unsigned unIterations); + + /* + * Get the number of points in point cloud. Model point cloud + * and scene point cloud must have the same number of points. + * @return Number of points in point cloud. + */ + unsigned getSize(void); + + /* + * Get the the 2 dimensional pointer to the scene point cloud. Page-lock memory is + * allocated and freed by the class. The data type must be casted to single pricision + * float, and the array should be loaded as [3][N]. + * @return 2 dimensional pointer to scene point cloud. + */ + float** getScenePointer(void); + + /* + * Get the the 2 dimensional pointer to the model point cloud. Memory allocation + * and freeing is handled by the class. The data type must be casted to double pricision + * float, and the array should be loaded as [N][3]. Notice the difference to + * getScenePointer(). + * @return 2 dimensional pointer to scene point cloud. + */ + double** getModelPointer(void); + + /* + * The method is called after point clouds are loaded, and before iteration() is called. + */ + void setPointClouds(void); + + /* + * ICP iterations. + */ + void iteration(void); + + /* + * Get the transformation matrix. + * @return The transformation matrix. + */ + Matrix* getMatrix(void); + + /** + * These two functions are to set and get the tree pointer + * It is supposed to be created in scan file and passed to this class + **/ + + void setTreePointer(ANNkd_tree *); + void getTreePointer(ANNkd_tree *&); + + double getTime(void); + + void setMinimums(float x, float y, float z); + Matrix** getMatrices(); + + void setTrans_Trans_inv(const double[], const double[]); + + void findNearestNeighbors(float, unsigned); + + Matrix fillHomoMatrix(Matrix* , double*); + + void computeCentroid(float*, float*, float*, float *&); + + Matrix computeHMatrix(); + + void printMatrix(Matrix *); + + void setSize(unsigned int width, unsigned int height); + +private: + + //////////////// + //cpu variables + //////////////// + + + /* + * Initialization. Memories are allocated and default environmental state + * is set. Called by standard constructor. + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + void init(unsigned unWidth, unsigned unHeight, unsigned max_iter); + + /* + * Initialization. Memories are allocated and default environmental state + * is set. Called by init(). + * @param unWidth the width of point cloud image. + * @param unHeight the height of pint cloud image. + */ + void setResolution(unsigned unWidth, unsigned unHeight); + + /* + * The internal search structure is set. + */ + void setTree(void); + + /* + * Set the model point cloud. + */ + void setModel(void); + + /* + * Set the scene point cloud. + */ + void setScene(void); + + /* + * Calculate the size of the search structure from its depth. The depth + * is the number of levels of the tree. The search structure then is arraged + * into a struture of arrays (SoA). A left-balanced binary tree is suggested. + * @param nDepth Depth of the kd-tree. + */ + inline int depth2size(int nDepth); + + /* + * Rearrange the search structure into a structure of arrays (SoA). The rule + * is: the N node's left child has the index of 2N, while the right child 2N+1. + * Arrangement is fulfilled in recursion. + * @param root pointer to the root node + * @param unStart the currenet node + */ + void rearrange(ANNkd_ptr root, unsigned unStart); + + /* + * Get CUBLAS errors before this line. + */ + void getCublasErr(void); + + /* + * Get CUDA errors before this line. + */ + void getCudaErr(void); + + /* + * tree: structure of arrays (SoA) + */ + unsigned _unSizeTree; //Size of the allocated memory. + float* fSplit; + unsigned* unIdx; + unsigned* unAxis; + bool* bIsLeaf; + float* fLoBound; + float* fHiBound; + unsigned unSizeTree; //Size of memory that the tree actually takes. + + /* + * transformation matrix + */ + float m[16]; + Matrix* trans; + Matrix* trans_inv; + + /* + * kernel constants + */ + unsigned unSizeData; + unsigned unNoThreads; + unsigned unNoBlocks; + unsigned _unWidth; + unsigned _unHeight; + + /* + * search structure + */ + ANNkd_tree* kdTree; + ANNkdStats* st; + + /* + * data pointers + */ + float* fHstScn[3]; + float* fHstScnX; + float* fHstScnY; + float* fHstScnZ; + double** h_idata; + + /* + * icp + */ + unsigned unMaxIteration; + unsigned _unIterations; + float fMaxProcTime; + float fMaxDeviation; + float _fSearchRadiusMax; + float _fSearchRadiusMin; + float _fRadiusStep; + unsigned _unNoQSizeStep; + float* temp_ones; + float* ones; + + enum EnumIcpState { ICP_LIMIT = 0, + ICP_PROCESSING = 1, + ICP_NOTMATCHABLE = 2, + ICP_MAXITERATIONS = 3, + ICP_TIMEELAPSED = 4, + ICP_SUCCESS = 5 }; + + unsigned unPairs; + unsigned* pNoPairs; + Matrix* final_matrix; + double _dElapsedTime; + Matrix** matrices; + + /* + Minimums of all values + */ + float min_x; + float min_y; + float min_z; + + clock_t init_time; // To save the starting point of the timer Added by Shams + + //////////////// + //gpu variables + //////////////// + + float* fDevSplit; + unsigned* unDevIdx; + unsigned* unDevAxis; + bool* bDevIsLeaf; + float* fDevLoBound; + float* fDevHiBound; + float* fDevScnX; + float* fDevScnY; + float* fDevScnZ; + float* fDist; + float* fDistCpt; //compacted distance list + unsigned* unMask; + float* fDevMdlPairX; + float* fDevMdlPairY; + float* fDevMdlPairZ; + float* fDevScnPairX; + float* fDevScnPairY; + float* fDevScnPairZ; + + ///////////// + float* cngfDevScnX; + float* cngfDevScnY; + float* cngfDevScnZ; + float* cngfDevMdlPairX; + float* cngfDevMdlPairY; + float* cngfDevMdlPairZ; + float* cngfDevScnPairX; + float* cngfDevScnPairY; + float* cngfDevScnPairZ; + ///////////// + float* fCenModX; + float* fCenModY; + float* fCenModZ; + float* fCenScnX; + float* fCenScnY; + float* fCenScnZ; + unsigned* unNoPairs; + + //kd-tree based nearest neighbor search, using a priority queue. + void class_nns_priority( + float* fDevScnX, //scene point cloud + float* fDevScnY, + float* fDevScnZ, + float* fDist, //squared distance between pairs, for deviation calculation + float* fDevSplit, //kd-tree: position of splitting plain (inner node) + unsigned* unDevIdx, //kd-tree: index of point (leaf node) + unsigned* unDevAxis, //kd-tree: axis where splitting plain locates (inner node) + bool* bDevIsLeaf, //kd-tree: node type (both nodes) + float* fDevLoBound, //kd-tree: lower bounding box (inner node) + float* fDevHiBound, //kd-tree: higher bounding box (inner node) + unsigned* unMask, //a 0-1 mask of pair and non-pairs. + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fSearchRadius, + unsigned unSize, + unsigned unWidth, + unsigned unQStep); //for dubugging thread + + + //centralize a pointcloud + void class_centralize(unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fcm0, + float fcm1, + float fcm2, + float fcs0, + float fcs1, + float fcs2, + float* fCenteredModX, //centered point cloud + float* fCenteredModY, + float* fCenteredModZ, + float* fCenteredScnX, + float* fCenteredScnY, + float* fCenteredScnZ); + + //transform point cloud + void class_transformation(float* fDevScnX, //piont cloud to be transformed + float* fDevScnY, + float* fDevScnZ, + float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23); +}; + + + +#endif diff --git a/include/slam6d/cuda/CIcpGpuCuda_kernel.cu b/include/slam6d/cuda/CIcpGpuCuda_kernel.cu new file mode 100755 index 0000000..c2a367f --- /dev/null +++ b/include/slam6d/cuda/CIcpGpuCuda_kernel.cu @@ -0,0 +1,201 @@ +/** @file + * @brief GPU kernel operation + * @author Deyuan Qii, University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany. + * Fraunhofer IAIS, Sankt Augustin, Germany. + */ + + +#define nns_kernel(QSelector) __global__ void nns_priority##QSelector(\ + float* fDevScnX,\ + float* fDevScnY,\ + float* fDevScnZ,\ + float* fDist,\ + float* fDevSplit,\ + unsigned* unDevIdx,\ + unsigned* unDevAxis,\ + bool* bDevIsLeaf,\ + float* fDevLoBound,\ + float* fDevHiBound,\ + unsigned* unMask,\ + float* fDevMdlPairX,\ + float* fDevMdlPairY,\ + float* fDevMdlPairZ,\ + float* fDevScnPairX,\ + float* fDevScnPairY,\ + float* fDevScnPairZ,\ + float fSearchRadius,\ + unsigned unSize,\ + unsigned unWidth){\ +\ +/*/////////////*/\ +/* preparation */\ +/*/////////////*/\ + const unsigned unSizeData = unSize;\ + const int nWidth = (int)unWidth;\ + const unsigned tid = blockIdx.x*blockDim.x + threadIdx.x;\ + const unsigned unQSize = (unsigned)QSIZE##QSelector;\ + const float fRadius = fSearchRadius*fSearchRadius;\ +\ +/*////////*/\ +/* kernel */\ +/*////////*/\ + if(tid= nn_dist) /* further from nearest so far*/\ + break;\ + while (!bDevIsLeaf[unNodeIdx]) { /* descend until leaf found*/\ + cd = unDevAxis[unNodeIdx]; /* cutting dimension*/\ + new_off = fQ[cd] - fDevSplit[unNodeIdx]; /* offset to further child*/\ + if (new_off < 0) { /* q is below cutting plane*/\ + old_off = fQ[cd] - fDevLoBound[unNodeIdx]; /* compute offset*/\ + if (old_off > 0) /* overlaps interval*/\ + old_off = 0;\ + new_rd = fRd - old_off*old_off /* distance to further child*/\ + + new_off*new_off;\ + q.Insert(unNode*2+1, new_rd); /* enqueue hi_child for later*/\ + unNode *= 2; /* visit lo_child next*/\ + unNodeIdx = unNode-1;\ + }\ + else { /* q is above cutting plane*/\ + old_off = fQ[cd] - fDevHiBound[unNodeIdx];\ + if(old_off < 0)\ + old_off = 0;\ + new_rd = fRd - old_off*old_off /* distance to further child*/\ + + new_off*new_off;\ + q.Insert(unNode*2, new_rd);\ +\ + unNode = 2*unNode + 1;\ + unNodeIdx = unNode-1;\ + }\ + }\ + unPointIdx = unDevIdx[unNodeIdx];\ + nPointIdxX=(int)unPointIdx%nWidth; /*access via texture*/\ + nPointIdxY=(int)unPointIdx/nWidth;\ + f4Mdl=tex2D(refTex,(float)nPointIdxX,(float)nPointIdxY);\ + fM_temp[0]=f4Mdl.x;\ + fM_temp[1]=f4Mdl.y;\ + fM_temp[2]=f4Mdl.z;\ + fDist_temp = DIST(fM_temp,fQ);\ + if(fDist_tempfRadius){ /*if non-pair*/\ + unMask[tid]=0;\ + fDevMdlPairX[tid]=0.0f; fDevMdlPairY[tid]=0.0f; fDevMdlPairZ[tid]=0.0f;\ + fDevScnPairX[tid]=0.0f; fDevScnPairY[tid]=0.0f; fDevScnPairZ[tid]=0.0f;\ + }\ + else{\ + unMask[tid]=1;\ + fDist[tid] = nn_dist; /*return nearest distance for deviation calculation*/\ + fDevMdlPairX[tid]=fM[0]; fDevMdlPairY[tid]=fM[1]; fDevMdlPairZ[tid]=fM[2];\ + fDevScnPairX[tid]=fQ[0]; fDevScnPairY[tid]=fQ[1]; fDevScnPairZ[tid]=fQ[2];\ + }\ + }\ +} + +nns_kernel(1) +nns_kernel(2) +nns_kernel(3) +nns_kernel(4) +nns_kernel(5) +nns_kernel(6) + +__global__ void centralize(unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fcm0, + float fcm1, + float fcm2, + float fcs0, + float fcs1, + float fcs2, + float* fCenteredModX, + float* fCenteredModY, + float* fCenteredModZ, + float* fCenteredScnX, + float* fCenteredScnY, + float* fCenteredScnZ){ + const unsigned tid = blockIdx.x*blockDim.x + threadIdx.x; + + if(unMask[tid]){ + fCenteredModX[tid] = fDevMdlPairX[tid] - fcm0; + fCenteredModY[tid] = fDevMdlPairY[tid] - fcm1; + fCenteredModZ[tid] = fDevMdlPairZ[tid] - fcm2; + fCenteredScnX[tid] = fDevScnPairX[tid] - fcs0; + fCenteredScnY[tid] = fDevScnPairY[tid] - fcs1; + fCenteredScnZ[tid] = fDevScnPairZ[tid] - fcs2; + }else{ + fCenteredModX[tid] = 0.0f; + fCenteredModY[tid] = 0.0f; + fCenteredModZ[tid] = 0.0f; + fCenteredScnX[tid] = 0.0f; + fCenteredScnY[tid] = 0.0f; + fCenteredScnZ[tid] = 0.0f; + } +} + + +__global__ void transformation(float* fDevScnX, + float* fDevScnY, + float* fDevScnZ, + float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23){ + const unsigned tid = blockIdx.x*blockDim.x + threadIdx.x; + double adTmp[3]; + adTmp[0] = fDevScnX[tid] * m00 + + fDevScnY[tid] * m01 + + fDevScnZ[tid] * m02 + m03; + adTmp[1] = fDevScnX[tid] * m10 + + fDevScnY[tid] * m11 + + fDevScnZ[tid] * m12 + m13; + adTmp[2] = fDevScnX[tid] * m20 + + fDevScnY[tid] * m21 + + fDevScnZ[tid] * m22 + m23; + fDevScnX[tid] = adTmp[0]; + fDevScnY[tid] = adTmp[1]; + fDevScnZ[tid] = adTmp[2]; +} diff --git a/include/slam6d/cuda/CIcpGpuCuda_kernel.cuh b/include/slam6d/cuda/CIcpGpuCuda_kernel.cuh new file mode 100755 index 0000000..f9cd97e --- /dev/null +++ b/include/slam6d/cuda/CIcpGpuCuda_kernel.cuh @@ -0,0 +1,268 @@ +/** @file + * @brief GPU kernel operation + * @author Deyuan Qii, University of Applied Sciences Bonn-Rhein-Sieg, Sankt Augustin, Germany. + * Fraunhofer IAIS, Sankt Augustin, Germany. + */ + +#ifndef CICPGPUCUDA_KERNEL_CUH +#define CICPGPUCUDA_KERNEL_CUH + +#include //cuda +#include //cuda utility +#include "cublas.h" //cublas +#include "cudpp/cudpp.h" //cudpp + +#define NO_QSIZE 6 //number of different queue size +#define QSIZE1 1 +#define QSIZE2 1 +#define QSIZE3 1 +#define QSIZE4 1 +#define QSIZE5 1 +#define QSIZE6 1 +#define DIST(x,y) ((x[0]-y[0])*(x[0]-y[0])+(x[1]-y[1])*(x[1]-y[1])+(x[2]-y[2])*(x[2]-y[2])) +#define nns_kernel_h(QSelector) __global__ void nns_priority##QSelector(\ + float* fDevScnX,\ + float* fDevScnY,\ + float* fDevScnZ,\ + float* fDist,\ + float* fDevSplit,\ + unsigned* unDevIdx,\ + unsigned* unDevAxis,\ + bool* bDevIsLeaf,\ + float* fDevLoBound,\ + float* fDevHiBound,\ + unsigned* unMask,\ + float* fDevMdlPairX,\ + float* fDevMdlPairY,\ + float* fDevMdlPairZ,\ + float* fDevScnPairX,\ + float* fDevScnPairY,\ + float* fDevScnPairZ,\ + float fSearchRadius,\ + unsigned unSize,\ + unsigned unWidth); + +//global variable +texture refTex; +dim3 dimBlock; +dim3 dimGrid; +float4* f4Mdl; +cudaArray* cuArray; +cudaChannelFormatDesc cuDesc = cudaCreateChannelDesc(); +CUDPPResult result; +CUDPPHandle compactplan; + + +nns_kernel_h(1) +nns_kernel_h(2) +nns_kernel_h(3) +nns_kernel_h(4) +nns_kernel_h(5) +nns_kernel_h(6) + +__global__ void centralize(unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fcm0, + float fcm1, + float fcm2, + float fcs0, + float fcs1, + float fcs2, + float* fCenteredModX, + float* fCenteredModY, + float* fCenteredModZ, + float* fCenteredScnX, + float* fCenteredScnY, + float* fCenteredScnZ); + +__global__ void transformation(float* fDevScnX, + float* fDevScnY, + float* fDevScnZ, + float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23); + +extern "C" +void wrapper_nns_priority(//float* fDevModX, // +// float* fDevModY, // +// float* fDevModZ,// + float* fDevScnX,// + float* fDevScnY,// + float* fDevScnZ,// + float* fDist, + float* fDevSplit, // + unsigned* unDevIdx, // + unsigned* unDevAxis, // + bool* bDevIsLeaf, // + float* fDevLoBound,// + float* fDevHiBound,// +// unsigned* unDevResult, + unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, +// float* fDevMdlPairTempX, +// float* fDevMdlPairTempY, +// float* fDevMdlPairTempZ, +// unsigned* temp, + dim3 dimGrid, + dim3 dimBlock, + float fSearchRadius, + unsigned unSize, + unsigned unWidth, + unsigned unQStep){ + + //kernel selection + switch(unQStep) + { + case 0: nns_priority1<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + case 1: nns_priority2<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + case 2: nns_priority3<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + case 3: nns_priority4<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + case 4: nns_priority5<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + case 5: nns_priority6<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); break; + default: nns_priority6<<>>(/*fDevMdlX, fDevMdlY, fDevMdlZ,*/ fDevScnX, fDevScnY, fDevScnZ, + fDist, fDevSplit, unDevIdx, unDevAxis, bDevIsLeaf, fDevLoBound, fDevHiBound, + /*unDevResult,*/ unMask, fDevMdlPairX, fDevMdlPairY, fDevMdlPairZ, fDevScnPairX, fDevScnPairY, fDevScnPairZ, + /*temp,*/ fSearchRadius, unSize, unWidth); + } + +} + +extern "C" +void wrapper_centralize(unsigned* unMask, + float* fDevMdlPairX, + float* fDevMdlPairY, + float* fDevMdlPairZ, + float* fDevScnPairX, + float* fDevScnPairY, + float* fDevScnPairZ, + float fcm0, + float fcm1, + float fcm2, + float fcs0, + float fcs1, + float fcs2, + float* fCenteredModX, + float* fCenteredModY, + float* fCenteredModZ, + float* fCenteredScnX, + float* fCenteredScnY, + float* fCenteredScnZ, + dim3 dimGrid, + dim3 dimBlock){ + centralize<<>>(unMask, + fDevMdlPairX,fDevMdlPairY,fDevMdlPairZ,fDevScnPairX,fDevScnPairY,fDevScnPairZ, + fcm0,fcm1,fcm2,fcs0,fcs1,fcs2, + fCenteredModX,fCenteredModY,fCenteredModZ,fCenteredScnX,fCenteredScnY,fCenteredScnZ); +} + +extern "C" +void wrapper_transformation(float* fDevScnX, + float* fDevScnY, + float* fDevScnZ, + float m00, float m01, float m02, float m03, + float m10, float m11, float m12, float m13, + float m20, float m21, float m22, float m23, + dim3 dimGrid, dim3 dimBlock){ + transformation<<>>(fDevScnX, fDevScnY, fDevScnZ, + m00, m01, m02, m03, + m10, m11, m12, m13, + m20, m21, m22, m23); +} + +//An internal queue structure. +struct Q{ +public: + Q(unsigned* q_idx, float* q_dist, unsigned unMemSize, unsigned unSize = 0){ + _qhead_idx = q_idx; + _qtail_idx = q_idx; + _qhead_dist = q_dist; + _qtail_dist = q_dist; + _unMemSize = unMemSize; + _unSize = unSize; + } + + __device__ unsigned getSize(){ + return _unSize; + } + + __device__ bool notEmpty(){ + if(_qhead_idx==_qtail_idx) return false; + else return true; + } + + __device__ void Insert(unsigned unNode, float fDist){ + if(_unSize<_unMemSize){ + *_qtail_idx = unNode; + *_qtail_dist = fDist; + _qtail_idx++; + _qtail_dist++; + _unSize++; + } + } + + __device__ void Extr_Min(unsigned* idx, float* min){ + float fMin = HUGE; + unsigned unIdx = 0; + unsigned unI = 0; + + for(unsigned i=0;i<_unSize;i++){ + if(_qhead_dist[i] +class CSystem +{ + public: + /** + * Allocation of 2D arrays + * @param unRows number of rows + * @param unCols number of columns + * @param aatArray data array + */ + static void allocate (unsigned int unRows, unsigned int unCols, T** &aatArray); + /** + * Deallocation of 2D arrays. Pointers are set to null. + * @param aatArray data array + */ + static void deallocate (T** &aatArray); + /** + * Allocation of 3D arrays + * @param unRows number of rows + * @param unCols number of columns + * @param unSlices number of slices + * @param aaatArray data array + */ + static void allocate (unsigned int unRows, unsigned int unCols, unsigned int unSlices, T*** &aaatArray); + /** + * Deallocation of 3D arrays. Pointers are set to null. + * @param aaatArray data array + */ + static void deallocate (T*** &aaatArray); +}; + +#include "slam6d/cuda/CSystem.icc" + +#endif /*CSYSTEM_H_*/ diff --git a/include/slam6d/cuda/CSystem.icc b/include/slam6d/cuda/CSystem.icc new file mode 100644 index 0000000..110ff04 --- /dev/null +++ b/include/slam6d/cuda/CSystem.icc @@ -0,0 +1,45 @@ +template +void CSystem::allocate (unsigned int unRows, unsigned int unCols, T** &aatArray) +{ + aatArray = new T*[unRows]; + aatArray[0] = new T[unRows*unCols]; + for (unsigned int unRow = 1; unRow < unRows; unRow++) + { + aatArray[unRow] = &aatArray[0][unCols*unRow]; + } +} + +template +void CSystem::deallocate (T**& aatArray) +{ + delete[] aatArray[0]; + delete[] aatArray; + aatArray = 0; +} + +template +void CSystem::allocate (unsigned int unRows, unsigned int unCols, unsigned int unSlices, T*** &aaatArray) +{ + aaatArray = new T**[unRows]; + aaatArray[0] = new T*[unRows*unCols]; + aaatArray[0][0] = new T[unRows*unCols*unSlices]; + for (unsigned int unRow = 0; unRow < unRows; unRow++) + { + aaatArray[unRow] = &aaatArray[0][unRow*unCols]; + for (unsigned int unCol = 0; unCol < unCols; unCol++) + { + aaatArray[unRow][unCol] = + &aaatArray[0][0][unRow*(unCols*unSlices)+unCol*unSlices]; + } + } +} + +template +void CSystem::deallocate (T***& aaatArray) +{ + // fairAssert(aaatArray != NULL, "Assertion while trying to deallocate null pointer reference"); + delete[] aaatArray[0][0]; + delete[] aaatArray[0]; + delete[] aaatArray; + aaatArray = 0; +} diff --git a/include/slam6d/cuda/icp6Dcuda.h b/include/slam6d/cuda/icp6Dcuda.h new file mode 100644 index 0000000..d57b3b8 --- /dev/null +++ b/include/slam6d/cuda/icp6Dcuda.h @@ -0,0 +1,61 @@ +/* + * File: icp_gpu_cuda.h + * Author: shams + * + * Created on April 17, 2010, 6:48 PM + */ + +#ifndef _ICP6DCUDA_H__ +#define _ICP6DCUDA_H__ + +#include + +#include "slam6d/cuda/CIcpGpuCuda.cuh" +#include "slam6d/icp6D.h" + +class icp6Dcuda : public icp6D { +private: + CIcpGpuCuda* icp; + double** h_idata; + float** fHstScn; + + float max_radius; // 0.3 */ + float min_radius; //0.05 */ + int iteration; + int max_iteration; // 120 Must be greater than 5 */ + int max_proctime; + float max_deviation; + int width; + int height; + + unsigned int max_scnSize; + +// Default resolution for Slam6D software + +public: + icp6Dcuda(icp6Dminimizer *my_icp6Dminimizer, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + bool cuda_enabled = false); + + /** + * Destructor (empty, but needed, because virtual) + */ + virtual ~icp6Dcuda() {}; + + int match(Scan* PreviousScan, Scan* CurrentScan); + + void initGPUicp(float max_rad, float min_rad, int iter, int max_iter, + int max_proctime, float max_dev, const double trans[], const double trans_inv[]); +}; + + +#endif /* _ICP_GPU_CUDA_H */ + diff --git a/include/slam6d/d2tree.icc b/include/slam6d/d2tree.icc new file mode 100644 index 0000000..88bc0b0 --- /dev/null +++ b/include/slam6d/d2tree.icc @@ -0,0 +1,42 @@ + +inline void D2Tree::calcDivide(double x_size, double y_size, double z_size, + double center[3], + double &x_sizeNew, double &y_sizeNew, double &z_sizeNew, + double newcenter[8][3]) +{ + x_sizeNew = x_size * 0.5; + y_sizeNew = y_size * 0.5; + z_sizeNew = z_size * 0.5; + + newcenter[0][0] = center[0] - x_sizeNew; + newcenter[0][1] = center[1] - y_sizeNew; + newcenter[0][2] = center[2] - z_sizeNew; + + newcenter[1][0] = center[0] + x_sizeNew; + newcenter[1][1] = center[1] - y_sizeNew; + newcenter[1][2] = center[2] - z_sizeNew; + + newcenter[2][0] = center[0] - x_sizeNew; + newcenter[2][1] = center[1] + y_sizeNew; + newcenter[2][2] = center[2] - z_sizeNew; + + newcenter[3][0] = center[0] - x_sizeNew; + newcenter[3][1] = center[1] - y_sizeNew; + newcenter[3][2] = center[2] + z_sizeNew; + + newcenter[4][0] = center[0] + x_sizeNew; + newcenter[4][1] = center[1] + y_sizeNew; + newcenter[4][2] = center[2] - z_sizeNew; + + newcenter[5][0] = center[0] + x_sizeNew; + newcenter[5][1] = center[1] - y_sizeNew; + newcenter[5][2] = center[2] + z_sizeNew; + + newcenter[6][0] = center[0] - x_sizeNew; + newcenter[6][1] = center[1] + y_sizeNew; + newcenter[6][2] = center[2] + z_sizeNew; + + newcenter[7][0] = center[0] + x_sizeNew; + newcenter[7][1] = center[1] + y_sizeNew; + newcenter[7][2] = center[2] + z_sizeNew; +} diff --git a/include/slam6d/data_types.h b/include/slam6d/data_types.h new file mode 100644 index 0000000..b13ec1f --- /dev/null +++ b/include/slam6d/data_types.h @@ -0,0 +1,225 @@ +/** + * @file + * @brief Basic DataPointer class and its derivates SingleArray and TripleArray + * + * This file contains several classes for array-like access. The SingleArray + * and TripleArray classes and their typedefs to DataXYZ/... overload + * the operator[] and have a size function to act as their native arrays. + * Similar to the array classes, SingleObject represents a whole object with + * all its members in that allocated space. + * + * If an array of pointers to the elements of a TripleArray is required it can + * create a temporary class PointerArray which holds creates and deletes a + * native pointer array and follows the RAII-pattern. + */ + +#ifndef DATA_TYPES_H +#define DATA_TYPES_H + + +/** + * Representation of a pointer to a data field with no access methods. + * + * Type-specialized access is gained by deriving from this class and + * implementing access functions like operator[] and size(). + * + * The PrivateImplementation feature enables RAII-type locking mechanisms + * used in the scanserver for holding CacheObject-locks. It is protected so + * that scanserver-unaware code can only construct this class with a pointer + * and size. Initialization of a derived class with these locking mechanisms + * creates this class with the private implementation value, which will be + * deleted in this dtor when it completely falls out of scope. + */ +class DataPointer { +protected: + //! Subclass for storing further members and attaching an overloadable dtor + class PrivateImplementation { + public: + virtual ~PrivateImplementation() {} + }; +public: + // DataPointer& operator=(const DataPointer&) = delete; + // DataPointer(const DataPointer&) = delete; + + /** + * Ctor for the initial creation + * + * @param pointer base pointer to the data + * @param size of the pointed data in bytes + */ + DataPointer(unsigned char* pointer, unsigned int size, + PrivateImplementation* private_impl = 0) : + m_pointer(pointer), m_size(size), m_private_impl(private_impl) { + } + + /** + * Copy-Ctor for passing along via return by value + * + * The type-specialized classes (B) will be called with their + * B(DataPointer&&) temporary ctor and call this constructor, so the private + * imlementation has to be taken away. The temporary inside that constructor + * isn't seen as temporary anymore, so we need a simple reference-ctor. + */ + DataPointer(DataPointer& other) { + m_pointer = other.m_pointer; + m_size = other.m_size; + // take ownership of this value, other is a temporary and will deconstruct + m_private_impl = other.m_private_impl; + other.m_private_impl = 0; + }; + + /** + * Same as DataPointer(DataPointer&), except this is for functions returning + * DataPointer instead of derived classes, so the temporary-ctor is used. + */ + DataPointer(DataPointer&& other) { + m_pointer = other.m_pointer; + m_size = other.m_size; + // take ownership of this value, other is a temporary and will deconstruct + m_private_impl = other.m_private_impl; + other.m_private_impl = 0; + } + + //! Delete the private implementation with its derived dtor + ~DataPointer() { + if(m_private_impl != 0) + delete m_private_impl; + } + + //! Indicator for nullpointer / no data contained if false + inline bool valid() { + return m_size != 0; + } + + inline unsigned char* get_raw_pointer() const { return m_pointer; } + +protected: + unsigned char* m_pointer; + unsigned int m_size; + +private: + PrivateImplementation* m_private_impl; +}; + + + +template +class SingleArray : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of array + SingleArray(DataPointer&& temp) : + DataPointer(temp) + { + } + + SingleArray(SingleArray&& temp) : + DataPointer(temp) + { + } + + //! Represent the pointer as an array of T + inline T& operator[](unsigned int i) const + { + return *(reinterpret_cast(m_pointer) + i); + } + + //! The number of T instances in this array + unsigned int size() { + return m_size / sizeof(T); + } +}; + + + +template +class TripleArray : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of array + TripleArray(DataPointer&& temp) : + DataPointer(temp) + { + } + + TripleArray(TripleArray&& temp) : + DataPointer(temp) + { + } + + //! Represent the pointer as an array of T[3] + inline T* operator[](unsigned int i) const + { + return reinterpret_cast(m_pointer) + (i*3); + } + + //! The number of T[3] instances in this array + unsigned int size() const { + return m_size / (3 * sizeof(T)); + } +}; + + + +template +class SingleObject : public DataPointer { +public: + //! Cast return-by-value temporary DataPointer to this type of object + SingleObject(DataPointer&& temp) : + DataPointer(temp) + { + } + + SingleObject(SingleObject&& temp) : + DataPointer(temp) + { + } + + //! Type-cast + inline T& get() const + { + return *reinterpret_cast(m_pointer); + } + + //! There is only one object in here + unsigned int size() const { + return 1; + } +}; + + + +/** + * To simplify T** access patterns for an array of T[3] (points), this RAII- + * type class helps creating and managing this pointer array on the stack. + */ +template +class PointerArray { +public: + //! Create a temporary array and fill it sequentially with pointers to points + PointerArray(const TripleArray& data) { + unsigned int size = data.size(); + m_array = new T*[size]; + for(unsigned int i = 0; i < size; ++i) + m_array[i] = data[i]; + } + + //! Removes the temporary array on destruction (RAII) + ~PointerArray() { + delete[] m_array; + } + + //! Conversion operator to interface the TripleArray to a T** array + inline T** get() const { return m_array; } +private: + T** m_array; +}; + +// TODO: naming, see scan.h +typedef TripleArray DataXYZ; +typedef TripleArray DataXYZFloat; +typedef TripleArray DataRGB; +typedef SingleArray DataReflectance; +typedef SingleArray DataAmplitude; +typedef SingleArray DataType; +typedef SingleArray DataDeviation; + +#endif //DATA_TYPES_H diff --git a/include/slam6d/elch6D.h b/include/slam6d/elch6D.h new file mode 100644 index 0000000..ff00049 --- /dev/null +++ b/include/slam6d/elch6D.h @@ -0,0 +1,32 @@ +/** + * @file graph balancer implementation and utility functions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_H__ +#define __ELCH6D_H__ + +#include "loopSlam6D.h" + +class elch6D : public loopSlam6D { + + public: + elch6D(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + static void graph_balancer(graph_t &g, int f, int l, double *weights); + + static void graph_weight_out(graph_t &g, int first, int last, double *weights); + static void graph_weight_out(graph_t &g, int first, int last, double *weights, string &out_file); + static void graph_pos_out(graph_t &g, const vector &allScans); + static void graph_pos_out(graph_t &g, const vector &allScans, string &out_file); + static void dot_pos_out(graph_t &g, const vector &allScans, string &out_file); + static void graph_out(graph_t &g); + + static void graph_out(graph_t &g, string &out_file); + static void slim_graph_out(graph_t g); + static void slim_graph_out(graph_t g, string &out_file); +}; + +#endif diff --git a/include/slam6d/elch6Deuler.h b/include/slam6d/elch6Deuler.h new file mode 100644 index 0000000..5c3390f --- /dev/null +++ b/include/slam6d/elch6Deuler.h @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using Euler angles + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_EULER_H__ +#define __ELCH6D_EULER_H__ + +#include "elch6D.h" + +class elch6Deuler : public elch6D { + + public: + elch6Deuler(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/include/slam6d/elch6Dquat.h b/include/slam6d/elch6Dquat.h new file mode 100644 index 0000000..36cb355 --- /dev/null +++ b/include/slam6d/elch6Dquat.h @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_QUAT_H__ +#define __ELCH6D_QUAT_H__ + +#include "elch6D.h" + +class elch6Dquat : public elch6D { + + public: + elch6Dquat(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/include/slam6d/elch6Dslerp.h b/include/slam6d/elch6Dslerp.h new file mode 100644 index 0000000..7060ccf --- /dev/null +++ b/include/slam6d/elch6Dslerp.h @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using SLERP + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_SLERP_H__ +#define __ELCH6D_SLERP_H__ + +#include "elch6D.h" + +class elch6Dslerp : public elch6D { + + public: + elch6Dslerp(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/include/slam6d/elch6DunitQuat.h b/include/slam6d/elch6DunitQuat.h new file mode 100644 index 0000000..385e26f --- /dev/null +++ b/include/slam6d/elch6DunitQuat.h @@ -0,0 +1,22 @@ +/** + * @file ELCH implementation using unit Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ELCH6D_UINTQUAT_H__ +#define __ELCH6D_UNITQUAT_H__ + +#include "elch6D.h" + +class elch6DunitQuat : public elch6D { + + public: + elch6DunitQuat(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : elch6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); + +}; + +#endif diff --git a/include/slam6d/fbr/fbr_global.h b/include/slam6d/fbr/fbr_global.h new file mode 100644 index 0000000..3b7e6a0 --- /dev/null +++ b/include/slam6d/fbr/fbr_global.h @@ -0,0 +1,100 @@ +/** + * @file fbr_global.h + * @brief Globally used headers, functions, structures + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date 2012/05/9 14:00 + */ + +#ifndef FBR_GLOBAL_H_ +#define FBR_GLOBAL_H_ + +#include +#include +#include +#include +#include +#include +#include "slam6d/io_types.h" +#include "slam6d/globals.icc" + +using namespace std; + +namespace fbr{ + + //Vertical angle of view of scanner +#define MAX_ANGLE 60.0 +#define MIN_ANGLE -40.0 + + /** + * @enum projection_method + */ + enum projection_method{ + EQUIRECTANGULAR, + CYLINDRICAL, + MERCATOR, + RECTILINEAR, + PANNINI, + STEREOGRAPHIC, + ZAXIS, + }; + /** + * @enum panorama_map_method + */ + enum panorama_map_method{ + FARTHEST, + EXTENDED, + }; + /** + * @enum feature_method + */ + enum feature_detector_method{ + SIFT_DET, + SURF_DET, + ORB_DET, + FAST_DET, + STAR_DET, + }; + enum feature_descriptor_method{ + SIFT_DES, + SURF_DES, + ORB_DES, + }; + /** + * @enum matching_method + */ + enum matcher_method{ + BRUTEFORCE, + FLANN, + KNN, + RADIUS, + RATIO, + }; + /** + * @enum registration_method + */ + enum registration_method{ + ALL, + RANSAC, + DISABLE, + }; + //RANSAC iteration +#define RANSACITR 20000 + //Inlier influence +#define iInfluence 0.5 + + string scanFormatToString(IOType format); + IOType stringToScanFormat(string format); + string projectionMethodToString(projection_method method); + projection_method stringToProjectionMethod(string method); + string panoramaMapMethodToString(panorama_map_method method); + panorama_map_method stringToPanoramaMapMethod(string method); + string featureDetectorMethodToString(feature_detector_method method); + feature_detector_method stringToFeatureDetectorMethod(string method); + string featureDescriptorMethodToString(feature_descriptor_method method); + feature_descriptor_method stringToFeatureDescriptorMethod(string method); + string matcherMethodToString(matcher_method method); + matcher_method stringToMatcherMethod(string method); + string registrationMethodToString(registration_method method); + registration_method stringToRegistrationMethod(string method); +} +#endif /* FBR_GLOBAL_H_ */ diff --git a/include/slam6d/fbr/feature.h b/include/slam6d/fbr/feature.h new file mode 100644 index 0000000..79cf380 --- /dev/null +++ b/include/slam6d/fbr/feature.h @@ -0,0 +1,51 @@ +/** + * @file feature.h + * @brief detects features on images and create the descriptor for them + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/5/24/ 2:00 + */ + +#ifndef FEATURE_H_ +#define FEATURE_H_ + +#include "fbr_global.h" + +using namespace std; + +namespace fbr{ + /** + * @class feature + * @brief class to detect and describe features + * @param fDetectorMethod feature_detector_method + * @param fDescriptorMethod feature_descriptor_method + * @param keypoints vector containing the detected features + * @param descriptors cv::Mat containig the descriptor of features + */ + class feature{ + feature_detector_method fDetectorMethod; + feature_descriptor_method fDescriptorMethod; + vector keypoints; + cv::Mat descriptors; + enum description_method{ + FEATURE_DESCRIPTION, + DESCRIPTOR_DESCRIPTION, + ALL, + }; + public: + /** + * constructor of feature class + */ + feature(); + void featureDetection(cv::Mat pImage, feature_detector_method method); + void featureDetection(cv::Mat pImage); + void featureDescription(cv::Mat pImage, feature_descriptor_method method); + void featureDescription(cv::Mat pImage); + feature_detector_method getDetectorMethod(); + feature_descriptor_method getDescriptorMethod(); + vector getFeatures(); + cv::Mat getDescriptors(); + void getDescription(description_method method=ALL); + unsigned int getNumberOfFeatures(); + }; +} +#endif /* FEATURE_H_ */ diff --git a/include/slam6d/fbr/feature_matcher.h b/include/slam6d/fbr/feature_matcher.h new file mode 100644 index 0000000..429bf21 --- /dev/null +++ b/include/slam6d/fbr/feature_matcher.h @@ -0,0 +1,50 @@ +/** + * @file feature_matcher.h + * @brife matches two sets of features + * This class is a feature matcher that findes the matching features. + * It determines the matching features from two sets of feature descriptors and features. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/29 2:00 + */ + +#ifndef FEATURE_MATCHER_H_ +#define FEATURE_MATCHER_H_ + +#include "fbr_global.h" +#include "feature.h" + +namespace fbr{ + /** + * @class feature_mathcer : match features that has same descriptor method. + * @param matches set of matched features + * @param mMethod matcher_method + * @param knn incase of knn search indecate the number of nearest neighbors + * @param radius incase of radius search indicates the radius of the search + * @param nOfMatches number of matches after the first step + * @param nOfFilteredMatches number of matches after the filteration + */ + class feature_matcher{ + vector matches; + matcher_method mMethod; + unsigned int knn; + double radius; + unsigned int nOfMatches; + unsigned int nOfFilteredMatches; + + void init(matcher_method method, int k, double r); + + public: + feature_matcher(); + feature_matcher(matcher_method method); + feature_matcher(matcher_method method, double p); + void match(feature qFeature, feature tFeature); + vector getMatches(); + matcher_method getMatcherMethod(); + unsigned int getKnn(); + double getRadius(); + unsigned int getNumberOfMatches(); + unsigned int getNumberOfFilteredMatches(); + void getDescription(); + }; +} +#endif /* FEATURE_MATCHER_H_ */ diff --git a/include/slam6d/fbr/panorama.h b/include/slam6d/fbr/panorama.h new file mode 100644 index 0000000..0591988 --- /dev/null +++ b/include/slam6d/fbr/panorama.h @@ -0,0 +1,75 @@ +/** + * @file panorama.h + * @brife create panorama images from 3D scans. + * This class is a panorama image container with different projections. + * It creats panoramic images with specified resolutions. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/23 2:00 + */ + +#ifndef PANORAMA_H_ +#define PANORAMA_H_ + +#include "fbr_global.h" + +using namespace std; + +namespace fbr{ + /** + * @class panorama : create panorama images with different projection methods from input scan files(Mat from scan_cv class) in opencv Mat format + * @param iReflectance panorama image from reflectance data + * @param iRange panorama image from range data + * @param iMap panorama map of 3D cartesian coordinate of input scan(same points as iRange and iReflectance) + * @param extendedIMap 3D vector as panorama map with all the points + * @param iWidth width of the panorama image (cols in opencv) + * @param iHeight height of panorama image (rows in opencv) + * @param pMethod projection method for panorama creation + * @param nImage number of images per scan specially for Rectilinear, Pannini and Stereographic projections + * @param pParam special d parameter of Pannini projection (Master Thesis for more info) or special R parameter of Stereographic projection (Master Thesis for more info) + */ + class panorama{ + cv::Mat iReflectance; + cv::Mat iMap; + cv::Mat iRange; + vector > > extendedIMap; + unsigned int iWidth; + unsigned int iHeight; + projection_method pMethod; + unsigned int nImages; + double pParam; + panorama_map_method mapMethod; + + void init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod); + void map(int x, int y, cv::MatIterator_ it, double range); + public: + /** + * constructor of class panorama + * @param width the width of the panorama image + * @param height the height of the panorama image + * @param method the projection method + * @param images number of subsets to crate panorama image + * @param param special parameter for pannini or stereographic projections + * @param mapMethod mapping method for panorama image and 3D points + */ + panorama (unsigned int width, unsigned int height, projection_method method); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param); + panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod); + /** + * @brief creates the panorama reflectance image and map. + */ + void createPanorama(cv::Mat scan); + unsigned int getImageWidth(); + unsigned int getImageHeight(); + projection_method getProjectionMethod(); + unsigned int getNumberOfImages(); + double getProjectionParam(); + cv::Mat getReflectanceImage(); + cv::Mat getMap(); + cv::Mat getRangeImage(); + vector > > getExtendedMap(); + panorama_map_method getMapMethod(); + void getDescription(); + }; +} +#endif /* PANORAMA_H_ */ diff --git a/include/slam6d/fbr/registration.h b/include/slam6d/fbr/registration.h new file mode 100644 index 0000000..4b9ed98 --- /dev/null +++ b/include/slam6d/fbr/registration.h @@ -0,0 +1,96 @@ +/** + * @file registration.h + * @brife register two scans. + * This class register two scans with respect to the matched features. + * It determines the transformation matrix. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/30 1:00 + */ + +#ifndef REGISTRATION_H_ +#define REGISTRATION_H_ + +#include "fbr_global.h" +#include "slam6d/icp6Dquat.h" + +using namespace std; + +namespace fbr{ + /** + * @class registration : registers two scnas + * @param minDistance threshold for min distance between the each three points for registration process + * @param minError threshold for min error after transformation of a point from second coordinate to first to determin the inliers + * @param minInlier threshold fir min inlier to consider the align as positive + * @param rMethod registration Method + * @param bAlign best alignment + * @param bError error of registration with bAlign + * @param bErrorIndex error index of registration with bAlign + */ + class registration{ + unsigned int minDistance; + double minError; + unsigned int minInlier; + registration_method rMethod; + double bestAlign[16]; + double bestError; + unsigned int bestErrorIndex; + + /** + * getCoord : get 3D coordinate of query scan and train scan for each match + * @param fKeypoints vector of KeyPoints from query (first) scan + * @param sKeypoints vector of KeyPoints from train (second) scan + * @param matches vector holding found matches + * @param fPMap Mat containing the 3D coordinate of each match from query scan + * @param sPMap Mat containing the 3D coordinate of each match from train scan + * @param idx index of the match + * @param cq Point3f for returning the 3D coordinate of query scan + * @param ct Point3f for returning the 3D coordinate of train scan + * @return 1 on success 0 on failure + */ + int getCoord( vector fKeypoints, vector sKeypoints, vector matches, cv::Mat fPMap, cv::Mat sPMap, int idx, cv::Point3f& cq, cv::Point3f& ct); + /** + * pointToArray : convert 3D point3f to double array + * @param c 3D point whith Point3f type + * @param cd returning 3d point as double array + */ + void pointToArray(cv::Point3f c, double* cd); + /** + * coordTransform : transform a point with the align + * @param p input train 3D point + * @param align input transformation matrix + * @return Point3f trasformed 3D point + */ + cv::Point3f coordTransform(cv::Point3f p, double* align); + /** + * findAlign : find the best align + * @param fPMap input Mat wich contains the 3D coordinates of each pixel of first panorama image + * @param fKeypoints vector containing the features of first panorama image + * @param sPMap input Mat wich contains the 3D coordinates of each pixel of second panorama image + * @param sKeypoints vector containing the features of second panorama image + * @param matches vector containing the matched features of both images + */ + int findAlign(unsigned int i, unsigned int j, unsigned int k, cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches); + + public: + registration(); + registration(unsigned int minD, double minE, unsigned int minI, registration_method method); + /** + * findRegistration : find the transformation matrix between two scans + * @param fPMap first panorama map which is 3D points coresponding to fist panorama image + * @param fKeypoints keypoints from the first scan + * @param sPMap second panorama map which is 3D points coresponding to second panorama image + * @param sKeypoints keypoints from the second scan + * @param matches matched keypoints from first to second scan + */ + void findRegistration(cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches); + unsigned int getMinDistance(); + double getMinError(); + unsigned int getMinInlier(); + registration_method getRegistrationMethod(); + double * getBestAlign(); + double getBestError(); + unsigned int getBestErrorIndex(); + void getDescription(); + }; +} +#endif /* REGISTRATION_H_ */ diff --git a/include/slam6d/fbr/scan_cv.h b/include/slam6d/fbr/scan_cv.h new file mode 100644 index 0000000..1cdc3d6 --- /dev/null +++ b/include/slam6d/fbr/scan_cv.h @@ -0,0 +1,60 @@ +/** + * @file scan_cv.h + * @brief load 3D Scans in opencv format for featuer based registration. + * This class is an 3D scan container for scans that have different scan file formats + * and add them to a OpenCV Mat data type also normalize the reflectance. + * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany. + * @date Date: 2012/05/9 2:00 + */ + +#ifndef SCAN_CV_H_ +#define SCAN_CV_H_ + +#include "fbr_global.h" +#include "slam6d/scan.h" +#include "slam6d/managedScan.h" + +namespace fbr{ + /** + * @class scan_cv + * @brief class for 3D scans in open CV Mat data type + * @param sDir name and dir of the input scan file + * @param scan Mat data type which contains the 3D Scan + * @param sNumber input scan number + * @param nPoints Number of points + * @param zmax max value in z direction + * @param zmin min value in z direction + * @param sFormat input scan file format in IOType + */ + class scan_cv{ + string sDir; + cv::Mat scan; + unsigned int sNumber; + unsigned int nPoints; + double zMax; + double zMin; + IOType sFormat; + + public: + /** + * constructor of class scan_cv + * @param dir directory of the input scan file + * @param number input scan number + * @param format input scan file format + */ + scan_cv (string dir, unsigned int number, IOType format); + /** + * @brief read scan file and convert it to open cv Mat + */ + void convertScanToMat(); + string getScanDir(); + unsigned int getScanNumber(); + unsigned int getNumberOfPoints(); + double getZMin(); + double getZMax(); + IOType getScanFormat(); + cv::Mat getMatScan(); + void getDescription(); + }; +} +#endif /* SCAN_CV_H_ */ diff --git a/include/slam6d/frame.h b/include/slam6d/frame.h new file mode 100644 index 0000000..84fe2e0 --- /dev/null +++ b/include/slam6d/frame.h @@ -0,0 +1,21 @@ +#ifndef FRAME_H +#define FRAME_H + +/** + * @brief Simple frame class containing a transformation and type + */ +class Frame { +public: + double transformation[16]; + unsigned int type; + + Frame() {} + Frame(double* transformation, unsigned int type) { set(transformation, type); } + void set(double* transformation, unsigned int type) { + for(unsigned int i = 0; i < 16; ++i) + this->transformation[i] = transformation[i]; + this->type = type; + } +}; + +#endif //FRAME_H \ No newline at end of file diff --git a/include/slam6d/gapx6D.h b/include/slam6d/gapx6D.h new file mode 100644 index 0000000..f509fbd --- /dev/null +++ b/include/slam6d/gapx6D.h @@ -0,0 +1,62 @@ +/** @file + * @brief The global correction based upon APX transform + * + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GAPX6D_H__ +#define __GAPX6D_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" +#include "icp6D.h" +#include "graph.h" + +#include "newmat/newmatio.h" + +//typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief + * + */ +class gapx6D : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + gapx6D() {}; + gapx6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~gapx6D(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static double LUM[4]; + +private: + double genBArotForLinkedPair(int firstScanNum, int secondScanNum, vPtPair *ptpairs, + double *centroids_m, double *centroids_d, NEWMAT::Matrix *B, NEWMAT::ColumnVector *A); + double genBAtransForLinkedPair(int firstScanNum, int secondScanNum, + double *centroids_m, double *centroids_d, + NEWMAT::SymmetricMatrix *B, NEWMAT::ColumnVector *A, NEWMAT::ColumnVector &X); + +}; + +#endif diff --git a/include/slam6d/ghelix6DQ2.h b/include/slam6d/ghelix6DQ2.h new file mode 100644 index 0000000..d6996db --- /dev/null +++ b/include/slam6d/ghelix6DQ2.h @@ -0,0 +1,60 @@ +/** @file + * @brief The global correction based upon 6D Lu Milios style SLAM in 6D but with a helix correction step + * + * @author Peter Schneider. Institute of Computer Science, University of Koblenz , Germany. + */ + +#ifndef __GHELIX_Q2_H__ +#define __GHELIX_Q2_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" +#include "icp6D.h" +#include "graph.h" + +#include "newmat/newmatio.h" + +//typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching based upon Lu/Milios in 6D but using helix correction step. + * + * H. Pottman, et al., Simultaneous registration of multiple + * views of a 3D object, + */ +class ghelix6DQ2 : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + ghelix6DQ2() {}; + ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~ghelix6DQ2(); + + virtual double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static double LUM[4]; + +private: + + double genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + NEWMAT::Matrix *B, NEWMAT::ColumnVector *Bd); +}; + +#endif diff --git a/include/slam6d/globals.icc b/include/slam6d/globals.icc new file mode 100644 index 0000000..a02c4a4 --- /dev/null +++ b/include/slam6d/globals.icc @@ -0,0 +1,1291 @@ +/** + * @file + * @brief Globally used functions + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GLOBALS_ICC__ +#define __GLOBALS_ICC__ + +#ifdef _MSC_VER +#include +#define _USE_MATH_DEFINES +#include + +inline int gettimeofday (struct timeval* tp, void* tzp) +{ + unsigned long t; + t = timeGetTime(); + tp->tv_sec = t / 1000; + tp->tv_usec = t % 1000; + return 0; /* 0 indicates success. */ +} +#else +#include +#endif + +#include +using std::min; +using std::max; +#include +#include +using std::stringstream; +#include +using std::ostream; +using std::istream; +#include +using std::cout; +using std::endl; +#include +#include +using std::runtime_error; + +/** + * Set bits count + * + * @param unsigned char x + * + * @return char + * + */ +inline unsigned char _my_popcount_3(unsigned char x) { + x -= (x >> 1) & 0x55; //put count of each 2 bits into those 2 bits + x = (x & 0x33) + ((x >> 2) & 0x33); //put count of each 4 bits into those 4 bits + x = (x + (x >> 4)) & 0x0f; //put count of each 8 bits into those 8 bits + return x; +} + +/** + * Converts a class T to a string of width with padding 0 + * + * @param t output + * @param width length + * + * @return string of t + * + */ +template +inline std::string to_string(const T& t, int width) +{ + stringstream ss; + ss << std::setfill('0') << std::setw(width) << t; + return ss.str(); +} + +/** + * Converts a class T to a string of width with padding 0 + * + * @param t output + * @return string of t + * + */ +template +inline std::string to_string(const T& t) +{ + stringstream ss; + ss << t; + return ss.str(); +} + + +/** + * Overridden "<<" operator for sending a (4x4)-matrix to a stream + * + * @param os stream + * @param matrix 4x4 matrix sent to stream + * @return stream + */ +inline ostream& operator<<(ostream& os, const double matrix[16]) +{ + for (int i = 0; i < 16; os << matrix[i++] << " "); + return os; +} + +/** + * Overridden ">>" operator for reading a (4x4)-matrix from a stream.
+ * Throws a runtime error if not enough data in the stream. + * + * @param is stream + * @param matrix 4x4 matrix sent to stream + * @return stream +*/ +inline istream& operator>>(istream& is, double matrix[16]) +{ + for (int i = 0; i < 16; i++) { + if (!is.good()) throw runtime_error("Not enough elements to read for >>(istream&, double[16])"); + is >> matrix[i]; + } + return is; +} + + +/** + * Converts an angle (given in deg) to rad + * + * @param deg integer indicating, whether the figure to be drawn to show + * the clusters should be circles (0) or rectangles(1) + * + * @return the clustered image, with the clusters marked by colored figures + * + */ +template +inline T rad(const T deg) +{ + return ( (2 * M_PI * deg) / 360 ); +} + +/** + * Converts an angle (given in rad) to deg + * + * @param rad angle in rad + * @return angle in deg + */ +template +inline T deg(const T rad) +{ + return ( (rad * 360) / (2 * M_PI) ); +} + + +/** + * Calculates x^2 + * + * @param x input scalar value + * @return squared value + */ +template +static inline T sqr(const T &x) +{ + return x*x; +} + + +/** + * Computes the squared length of a 3-vector + * + * @param x input 3-vector + * @return length^2 of vector + */ +template +inline T Len2(const T *x) +{ + return sqr(x[0]) + sqr(x[1]) + sqr(x[2]); +} + + +/** + * Computes the length of a 3-vector + * + * @param x input 3-vector + * @return length of vector + */ +template +inline T Len(const T *x) +{ + return sqrt(Len2(x)); +} + + +/** + * Computes the squared Eucledian distance between two points + * in 3-space + * + * @param x1 first input vector + * @param x2 decond input vecotr + * @return Eucledian distance^2 between the two locations + */ +template +inline T Dist2(const T *x1, const F *x2) +{ + T dx = x2[0] - x1[0]; + T dy = x2[1] - x1[1]; + T dz = x2[2] - x1[2]; + + return sqr(dx) + sqr(dy) + sqr(dz); +} + +/* + * Normalization of the input 3-vector + * + * @param x input/output 3-vector + */ +template +static inline void Normalize3(T *x) +{ + T norm = sqrt(x[0]*x[0] + x[1]*x[1] + x[2]*x[2]); + x[0] /= norm; + x[1] /= norm; + x[2] /= norm; +} + +/* + * Normalization of the input 4-vector + * + * @param x input/output 4-vector + */ +template +static inline void Normalize4(T *x) +{ + T norm = sqrt((x[0]*x[0] + x[1]*x[1] + x[2]*x[2] + x[3]*x[3])); + + x[0] /= norm; + x[1] /= norm; + x[2] /= norm; + x[3] /= norm; +} + +/** + * Sets a 4x4 matrix to identity + * + * @param M 4x4 matrix + */ +template +inline void M4identity( T *M ) +{ + M[0] = M[5] = M[10] = M[15] = 1.0; + M[1] = M[2] = M[3] = M[4] = M[6] = M[7] = M[8] = M[9] = M[11] = M[12] = M[13] = M[14] = 0.0; +} + +/** + * Multiplies a 4x4 matrices in OpenGL + * (column-major) order + * + * @param M1 first input matrix + * @param M2 second input matrix + * @param Mout output matrix + * + */ +template +inline void MMult(const T *M1, + const T *M2, + T *Mout) +{ + Mout[ 0] = M1[ 0]*M2[ 0]+M1[ 4]*M2[ 1]+M1[ 8]*M2[ 2]+M1[12]*M2[ 3]; + Mout[ 1] = M1[ 1]*M2[ 0]+M1[ 5]*M2[ 1]+M1[ 9]*M2[ 2]+M1[13]*M2[ 3]; + Mout[ 2] = M1[ 2]*M2[ 0]+M1[ 6]*M2[ 1]+M1[10]*M2[ 2]+M1[14]*M2[ 3]; + Mout[ 3] = M1[ 3]*M2[ 0]+M1[ 7]*M2[ 1]+M1[11]*M2[ 2]+M1[15]*M2[ 3]; + Mout[ 4] = M1[ 0]*M2[ 4]+M1[ 4]*M2[ 5]+M1[ 8]*M2[ 6]+M1[12]*M2[ 7]; + Mout[ 5] = M1[ 1]*M2[ 4]+M1[ 5]*M2[ 5]+M1[ 9]*M2[ 6]+M1[13]*M2[ 7]; + Mout[ 6] = M1[ 2]*M2[ 4]+M1[ 6]*M2[ 5]+M1[10]*M2[ 6]+M1[14]*M2[ 7]; + Mout[ 7] = M1[ 3]*M2[ 4]+M1[ 7]*M2[ 5]+M1[11]*M2[ 6]+M1[15]*M2[ 7]; + Mout[ 8] = M1[ 0]*M2[ 8]+M1[ 4]*M2[ 9]+M1[ 8]*M2[10]+M1[12]*M2[11]; + Mout[ 9] = M1[ 1]*M2[ 8]+M1[ 5]*M2[ 9]+M1[ 9]*M2[10]+M1[13]*M2[11]; + Mout[10] = M1[ 2]*M2[ 8]+M1[ 6]*M2[ 9]+M1[10]*M2[10]+M1[14]*M2[11]; + Mout[11] = M1[ 3]*M2[ 8]+M1[ 7]*M2[ 9]+M1[11]*M2[10]+M1[15]*M2[11]; + Mout[12] = M1[ 0]*M2[12]+M1[ 4]*M2[13]+M1[ 8]*M2[14]+M1[12]*M2[15]; + Mout[13] = M1[ 1]*M2[12]+M1[ 5]*M2[13]+M1[ 9]*M2[14]+M1[13]*M2[15]; + Mout[14] = M1[ 2]*M2[12]+M1[ 6]*M2[13]+M1[10]*M2[14]+M1[14]*M2[15]; + Mout[15] = M1[ 3]*M2[12]+M1[ 7]*M2[13]+M1[11]*M2[14]+M1[15]*M2[15]; +} + +template +inline void MMult(const T *M1, + const T *M2, + float *Mout) +{ + Mout[ 0] = M1[ 0]*M2[ 0]+M1[ 4]*M2[ 1]+M1[ 8]*M2[ 2]+M1[12]*M2[ 3]; + Mout[ 1] = M1[ 1]*M2[ 0]+M1[ 5]*M2[ 1]+M1[ 9]*M2[ 2]+M1[13]*M2[ 3]; + Mout[ 2] = M1[ 2]*M2[ 0]+M1[ 6]*M2[ 1]+M1[10]*M2[ 2]+M1[14]*M2[ 3]; + Mout[ 3] = M1[ 3]*M2[ 0]+M1[ 7]*M2[ 1]+M1[11]*M2[ 2]+M1[15]*M2[ 3]; + Mout[ 4] = M1[ 0]*M2[ 4]+M1[ 4]*M2[ 5]+M1[ 8]*M2[ 6]+M1[12]*M2[ 7]; + Mout[ 5] = M1[ 1]*M2[ 4]+M1[ 5]*M2[ 5]+M1[ 9]*M2[ 6]+M1[13]*M2[ 7]; + Mout[ 6] = M1[ 2]*M2[ 4]+M1[ 6]*M2[ 5]+M1[10]*M2[ 6]+M1[14]*M2[ 7]; + Mout[ 7] = M1[ 3]*M2[ 4]+M1[ 7]*M2[ 5]+M1[11]*M2[ 6]+M1[15]*M2[ 7]; + Mout[ 8] = M1[ 0]*M2[ 8]+M1[ 4]*M2[ 9]+M1[ 8]*M2[10]+M1[12]*M2[11]; + Mout[ 9] = M1[ 1]*M2[ 8]+M1[ 5]*M2[ 9]+M1[ 9]*M2[10]+M1[13]*M2[11]; + Mout[10] = M1[ 2]*M2[ 8]+M1[ 6]*M2[ 9]+M1[10]*M2[10]+M1[14]*M2[11]; + Mout[11] = M1[ 3]*M2[ 8]+M1[ 7]*M2[ 9]+M1[11]*M2[10]+M1[15]*M2[11]; + Mout[12] = M1[ 0]*M2[12]+M1[ 4]*M2[13]+M1[ 8]*M2[14]+M1[12]*M2[15]; + Mout[13] = M1[ 1]*M2[12]+M1[ 5]*M2[13]+M1[ 9]*M2[14]+M1[13]*M2[15]; + Mout[14] = M1[ 2]*M2[12]+M1[ 6]*M2[13]+M1[10]*M2[14]+M1[14]*M2[15]; + Mout[15] = M1[ 3]*M2[12]+M1[ 7]*M2[13]+M1[11]*M2[14]+M1[15]*M2[15]; +} + +/** + * Transforms a vactor with a matrix (P = M * V) + * @param M the transformation matrix + * @param v the initial vector + * @param p the transformt vector + */ +template +inline void VTrans(const T *M, const T *V, T *P) +{ + P[0] = M[0] * V[0] + M[4] * V[1] + M[8] * V[2] + M[12]; + P[1] = M[1] * V[0] + M[5] * V[1] + M[9] * V[2] + M[13]; + P[2] = M[2] * V[0] + M[6] * V[1] + M[10] * V[2] + M[14]; +} + +/** + * Converts an Euler angle to a 3x3 matrix + * + * @param rPosTheta vector of Euler angles + * @param alignxf 3x3 matrix corresponding to the Euler angles + */ +inline void EulerToMatrix3(const double *rPosTheta, double *alignxf) +{ + double sx = sin(rPosTheta[0]); + double cx = cos(rPosTheta[0]); + double sy = sin(rPosTheta[1]); + double cy = cos(rPosTheta[1]); + double sz = sin(rPosTheta[2]); + double cz = cos(rPosTheta[2]); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = -cy*sz; + alignxf[4] = -sx*sy*sz + cx*cz; + alignxf[5] = cx*sy*sz + sx*cz; + alignxf[6] = sy; + alignxf[7] = -sx*cy; + alignxf[8] = cx*cy; +} + +/** + * Calculates the determinant of a 3x3 matrix + * + * @param M input 3x3 matrix + * @return determinant of input matrix + */ +template +inline double M3det( const T *M ) +{ + double det; + det = (double)(M[0] * ( M[4]*M[8] - M[7]*M[5] ) + - M[1] * ( M[3]*M[8] - M[6]*M[5] ) + + M[2] * ( M[3]*M[7] - M[6]*M[4] )); + return ( det ); +} + +/** + * Inverts a 3x3 matrix + * + * @param Min input 3x3 matrix + * @param Mout output 3x3 matrix + */ +template +inline void M3inv( const T *Min, T *Mout ) +{ + double det = M3det( Min ); + + if ( fabs( det ) < 0.0005 ) { + M3identity( Mout ); + return; + } + + Mout[0] = (double)( Min[4]*Min[8] - Min[5]*Min[7] ) / det; + Mout[1] = (double)(-( Min[1]*Min[8] - Min[7]*Min[2] )) / det; + Mout[2] = (double)( Min[1]*Min[5] - Min[4]*Min[2] ) / det; + + Mout[3] = (double)(-( Min[3]*Min[8] - Min[5]*Min[6] )) / det; + Mout[4] = (double)( Min[0]*Min[8] - Min[6]*Min[2] ) / det; + Mout[5] = (double)(-( Min[0]*Min[5] - Min[3]*Min[2] )) / det; + + Mout[6] = (double) ( Min[3]*Min[7] - Min[6]*Min[4] ) / det; + Mout[7] = (double)(-( Min[0]*Min[7] - Min[6]*Min[1] )) / det; + Mout[8] = (double) ( Min[0]*Min[4] - Min[1]*Min[3] ) / det; +} + + +/** + * Converts a pose into a RT matrix + * @param *rPos Pointer to the position (double[3]) + * @param *rPosTheta Pointer to the angles (double[3]) + * @param *alignxf The calculated matrix + */ +inline void EulerToMatrix4(const double *rPos, const double *rPosTheta, double *alignxf) +{ + double sx = sin(rPosTheta[0]); + double cx = cos(rPosTheta[0]); + double sy = sin(rPosTheta[1]); + double cy = cos(rPosTheta[1]); + double sz = sin(rPosTheta[2]); + double cz = cos(rPosTheta[2]); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0.0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0.0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + + alignxf[11] = 0.0; + + alignxf[12] = rPos[0]; + alignxf[13] = rPos[1]; + alignxf[14] = rPos[2]; + alignxf[15] = 1; +} + +/** + * Converts a 4x4 matrix to Euler angles. + * + * @param alignxf input 4x4 matrix + * @param rPosTheta output 3-vector of Euler angles + * @param rPos output vector of trnaslation (position) if set + * + */ +static inline void Matrix4ToEuler(const double *alignxf, double *rPosTheta, double *rPos = 0) +{ + + double _trX, _trY; + + if(alignxf[0] > 0.0) { + rPosTheta[1] = asin(alignxf[8]); + } else { + rPosTheta[1] = M_PI - asin(alignxf[8]); + } + // rPosTheta[1] = asin( alignxf[8]); // Calculate Y-axis angle + + double C = cos( rPosTheta[1] ); + if ( fabs( C ) > 0.005 ) { // Gimball lock? + _trX = alignxf[10] / C; // No, so get X-axis angle + _trY = -alignxf[9] / C; + rPosTheta[0] = atan2( _trY, _trX ); + _trX = alignxf[0] / C; // Get Z-axis angle + _trY = -alignxf[4] / C; + rPosTheta[2] = atan2( _trY, _trX ); + } else { // Gimball lock has occurred + rPosTheta[0] = 0.0; // Set X-axis angle to zero + _trX = alignxf[5]; //1 // And calculate Z-axis angle + _trY = alignxf[1]; //2 + rPosTheta[2] = atan2( _trY, _trX ); + } + + rPosTheta[0] = rPosTheta[0]; + rPosTheta[1] = rPosTheta[1]; + rPosTheta[2] = rPosTheta[2]; + + if (rPos != 0) { + rPos[0] = alignxf[12]; + rPos[1] = alignxf[13]; + rPos[2] = alignxf[14]; + } +} + + +/** + * Sets a 3x3 matrix to the identity matrix + * + * @param M input 3x3 matrix + */ +template +static inline void M3identity( T *M ) +{ + M[0] = M[4] = M[8] = 1.0; + M[1] = M[2] = M[3] = M[5] = M[6] = M[7] = 0.0; +} + +/** + * Gets the current time (in ms) + * + * @return current time (in ms) + */ +static inline unsigned long GetCurrentTimeInMilliSec() +{ + static unsigned long milliseconds; +#ifdef _MSC_VER + SYSTEMTIME stime; + GetSystemTime(&stime); + milliseconds = ((stime.wHour * 60 + stime.wMinute) * 60 + stime.wSecond) * 1000 + stime.wMilliseconds; +#else + static struct timeval tv; + gettimeofday(&tv, NULL); + milliseconds = tv.tv_sec * 1000 + tv.tv_usec / 1000; +#endif + return milliseconds; +} + +/** + * generates random numbers in [0..rnd] + * + * @param rnd maximum number + * @return random number between 0 and rnd + */ +inline int rand(int rnd) +{ + return (int) ((double)rnd * (double)std::rand() / (RAND_MAX + 1.0)); +} + +/** + * generates unsigned character random numbers in [0..rnd] + * + * @param rnd maximum number + * @return random number between 0 and rnd + */ +inline unsigned char randUC(unsigned char rnd) +{ + return (unsigned char) ((float)rnd * std::rand() / (RAND_MAX + 1.0)); +} + +/** + * Computes the angle between 2 points in polar coordinates + */ +inline double polardist(double* p, double *p2) { + double stheta = sin(p[0]) * sin(p2[0]); + double myd2 = acos( stheta * cos(p[1]) * cos(p2[1]) + + stheta * sin(p[1]) * sin(p2[1]) + + cos(p[0]) * cos(p2[0])); + return myd2; +} + + + +inline void toKartesian(double *polar, double *kart) { + kart[0] = polar[2] * cos( polar[1] ) * sin( polar[0] ); + kart[1] = polar[2] * sin( polar[1] ) * sin( polar[0] ); + kart[2] = polar[2] * cos( polar[0] ); + +} + +/** + * Transforms a point in cartesian coordinates into polar + * coordinates + */ + +inline void toPolar(double *n, double *polar) { + double phi, theta, rho; + rho = Len(n); + Normalize3(n); + + // if(fabs(1 - fabs(n[1])) < 0.001) { + // cout << "Y " << n[0] << " " << n[1] << " " << n[2] << endl; + + phi = acos(n[2]); + //if ( fabs(phi) < 0.0001) phi = 0.0001; + //if ( fabs(M_PI - phi) < 0.0001) phi = 0.0001; + + double theta0; + + if(fabs(phi) < 0.0001) { + theta = 0.0; + } else if(fabs(M_PI - phi) < 0.0001) { + theta = 0.0; + } else { + if(fabs(n[0]/sin(phi)) > 1.0) { + if(n[0]/sin(phi) < 0) { + theta0 = M_PI; + } else { + theta0 = 0.0; + } + } else { + theta0 = acos(n[0]/sin(phi)); + + } + + + double sintheta = n[1]/sin(phi); + + double EPS = 0.0001; + + if(fabs(sin(theta0) - sintheta) < EPS) { + theta = theta0; + } else if(fabs( sin( 2*M_PI - theta0 ) - sintheta ) < EPS) { + theta = 2*M_PI - theta0; + } else { + theta = 0; + cout << "Fehler" << endl; + } + + } + /* } else { + theta = 0.0; + phi = 0.0; + }*/ + polar[0] = phi; + polar[1] = theta; + polar[2] = rho; + +} + +/* + * Computes the submatrix without + * row i and column j + * + * @param Min input 4x4 matrix + * @param Mout output 3x3 matrix + * @param i row index i + * @param j column index j + */ +template +static inline void M4_submat(const T *Min, T *Mout, int i, int j ) { + int di, dj, si, sj; + // loop through 3x3 submatrix + for( di = 0; di < 3; di ++ ) { + for( dj = 0; dj < 3; dj ++ ) { + // map 3x3 element (destination) to 4x4 element (source) + si = di + ( ( di >= i ) ? 1 : 0 ); + sj = dj + ( ( dj >= j ) ? 1 : 0 ); + // copy element + Mout[di * 3 + dj] = Min[si * 4 + sj]; + } + } +} + +/* + * Computes the determinant of a 4x4 matrix + * + * @param 4x4 matrix + * @return determinant + */ +template +static inline double M4det(const T *M ) +{ + T det, result = 0, i = 1.0; + T Msub3[9]; + int n; + for ( n = 0; n < 4; n++, i *= -1.0 ) { + M4_submat( M, Msub3, 0, n ); + det = M3det( Msub3 ); + result += M[n] * det * i; + } + return( result ); +} + + +/* + * invert a 4x4 Matrix + * + * @param Min input 4x4 matrix + * @param Mout output matrix + * @return 1 if successful + */ +template +static inline int M4inv(const T *Min, T *Mout ) +{ + T mdet = M4det( Min ); + if ( fabs( mdet ) < 0.0005 ) { + cout << "Error matrix inverting!" << endl; + M4identity( Mout ); + return( 0 ); + } + T mtemp[9]; + int i, j, sign; + for ( i = 0; i < 4; i++ ) { + for ( j = 0; j < 4; j++ ) { + sign = 1 - ( (i +j) % 2 ) * 2; + M4_submat( Min, mtemp, i, j ); + Mout[i+j*4] = ( M3det( mtemp ) * sign ) / mdet; + } + } + return( 1 ); +} + +/* + * transposes a 4x4 matrix + * + * @param Min input 4x4 matrix + * @param Mout output 4x4 matrix + */ +template +static inline int M4transpose(const T *Min, T *Mout ) +{ + Mout[0] = Min[0]; + Mout[4] = Min[1]; + Mout[8] = Min[2]; + Mout[12] = Min[3]; + Mout[1] = Min[4]; + Mout[5] = Min[5]; + Mout[9] = Min[6]; + Mout[13] = Min[7]; + Mout[2] = Min[8]; + Mout[6] = Min[9]; + Mout[10] = Min[10]; + Mout[14] = Min[11]; + Mout[3] = Min[12]; + Mout[7] = Min[13]; + Mout[11] = Min[14]; + Mout[15] = Min[15]; + return( 1 ); +} + +/* +++++++++-------------++++++++++++ + * NAME + * choldc + * DESCRIPTION + * Cholesky Decomposition of a symmetric + * positive definite matrix + * Overwrites lower triangle of matrix + * Numerical Recipes, but has a bit of + * the fancy C++ template thing happening + * +++++++++-------------++++++++++++ */ +static inline bool choldc(double A[3][3], double diag[3]) +{ + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = i; j < 3; j++) { + double sum = A[i][j]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * A[j][k]; + if (i == j) { + if (sum < 1.0e-7) + return false; + diag[i] = sqrt(sum); + } else { + A[j][i] = sum / diag[i]; + } + } + } + return true; +} + + +/* +++++++++-------------++++++++++++ + * NAME + * choldc + * DESCRIPTION + * Cholesky Decomposition of a symmetric + * positive definite matrix + * Overwrites lower triangle of matrix + * Numerical Recipes, but has a bit of + * the fancy C++ template thing happening + * +++++++++-------------++++++++++++ */ +static inline bool choldc(unsigned int n, double **A, double *diag) +{ + for (unsigned int i = 0; i < n; i++) { + for (unsigned int j = i; j < n; j++) { + double sum = A[i][j]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * A[j][k]; + if (i == j) { + if (sum < 1.0e-7) + return false; + diag[i] = sqrt(sum); + } else { + A[j][i] = sum / diag[i]; + } + } + } + return true; +} + + +/* +++++++++-------------++++++++++++ + * NAME + * cholsl + * DESCRIPTION + * Solve Ax=B after choldc + * +++++++++-------------++++++++++++ */ +static inline void cholsl(double A[3][3], + double diag[3], + double B[3], + double x[3]) +{ + for (int i=0; i < 3; i++) { + double sum = B[i]; + for (int k=i-1; k >= 0; k--) + sum -= A[i][k] * x[k]; + x[i] = sum / diag[i]; + } + for (int i=2; i >= 0; i--) { + double sum = x[i]; + for (int k=i+1; k < 3; k++) + sum -= A[k][i] * x[k]; + x[i] = sum / diag[i]; + } +} + + +/* +++++++++-------------++++++++++++ + * NAME + * cholsl + * DESCRIPTION + * Solve Ax=B after choldc + * +++++++++-------------++++++++++++ */ +static inline void cholsl(unsigned int n, + double **A, + double *diag, + double *B, + double *x) +{ + for (unsigned int i=0; i < n; i++) { + double sum = B[i]; + for (int k=(int)i-1; k >= 0; k--) + sum -= A[i][k] * x[k]; + x[i] = sum / diag[i]; + } + for (int i=(int)n-1; i >= 0; i--) { + double sum = x[i]; + for (unsigned int k=i+1; k < n; k++) + sum -= A[k][i] * x[k]; + x[i] = sum / diag[i]; + } +} + + +/** + * Transforms a a quaternion and a translation vector into a 4x4 + * Matrix + * + * @param quat input quaternion + * @param t input translation + * @param mat output matrix + */ +static inline void QuatToMatrix4(const double *quat, const double *t, double *mat) +{ + // double q00 = quat[0]*quat[0]; + double q11 = quat[1]*quat[1]; + double q22 = quat[2]*quat[2]; + double q33 = quat[3]*quat[3]; + double q03 = quat[0]*quat[3]; + double q13 = quat[1]*quat[3]; + double q23 = quat[2]*quat[3]; + double q02 = quat[0]*quat[2]; + double q12 = quat[1]*quat[2]; + double q01 = quat[0]*quat[1]; + mat[0] = 1 - 2 * (q22 + q33); + mat[5] = 1 - 2 * (q11 + q33); + mat[10] = 1 - 2 * (q11 + q22); + mat[4] = 2.0*(q12-q03); + mat[1] = 2.0*(q12+q03); + mat[8] = 2.0*(q13+q02); + mat[2] = 2.0*(q13-q02); + mat[9] = 2.0*(q23-q01); + mat[6] = 2.0*(q23+q01); + + mat[3] = mat[7] = mat[11] = 0.0; + + if (t == 0) { + mat[12] = mat[13] = mat[14] = 0.0; + } else { + mat[12] = t[0]; + mat[13] = t[1]; + mat[14] = t[2]; + } + mat[15] = 1.0; +} + + +/** + * Transforms a 4x4 Transformation Matrix into a quaternion + * + * @param mat matrix to be converted + * @param quat resulting quaternion + * @param t resulting translation + */ +static inline void Matrix4ToQuat(const double *mat, double *quat, double *t = 0) +{ + + double T, S, X, Y, Z, W; + T = 1 + mat[0] + mat[5] + mat[10]; + if ( T > 0.00000001 ) { // to avoid large distortions! + + S = sqrt(T) * 2; + X = ( mat[9] - mat[6] ) / S; + Y = ( mat[2] - mat[8] ) / S; + Z = ( mat[4] - mat[1] ) / S; + W = 0.25 * S; + } else if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0: + S = sqrt( 1.0 + mat[0] - mat[5] - mat[10] ) * 2; + X = 0.25 * S; + Y = (mat[4] + mat[1] ) / S; + Z = (mat[2] + mat[8] ) / S; + W = (mat[9] - mat[6] ) / S; + } else if ( mat[5] > mat[10] ) { // Column 1: + S = sqrt( 1.0 + mat[5] - mat[0] - mat[10] ) * 2; + X = (mat[4] + mat[1] ) / S; + Y = 0.25 * S; + Z = (mat[9] + mat[6] ) / S; + W = (mat[2] - mat[8] ) / S; + } else { // Column 2: + S = sqrt( 1.0 + mat[10] - mat[0] - mat[5] ) * 2; + X = (mat[2] + mat[8] ) / S; + Y = (mat[9] + mat[6] ) / S; + Z = 0.25 * S; + W = (mat[4] - mat[1] ) / S; + } + quat[0] = W; + quat[1] = -X; + quat[2] = -Y; + quat[3] = -Z; + + Normalize4(quat); + if (t != 0) { + t[0] = mat[12]; + t[1] = mat[13]; + t[2] = mat[14]; + } +} + +/** + * Transforms a Quaternion to the corresponding Axis-Angle representation + * + * @param quat 4-vector of quaternion + * gets overridden by the axis/angle representation + */ +static inline void QuatToAA(double *quat){ + //double x, y, z, w; + double sum = 0.0; + + double cos_a, angle, x, y, z, sin_a; + + for(int i = 0; i < 4; i++){ + sum += quat[i]*quat[i]; + } + sum = sqrt(sum); + + //quaternion_normalise( |W,X,Y,Z| ); + cos_a = quat[0]/sum; + angle = acos( cos_a ) * 2; + sin_a = sqrt( 1.0 - cos_a * cos_a ); + if ( fabs( sin_a ) < 0.0005 ) sin_a = 1; + x = quat[1] / sin_a; + y = quat[2] / sin_a; + z = quat[3] / sin_a; + + quat[0] = angle; + quat[1] = x; + quat[2] = y; + quat[3] = z; +} + +/** + * Quaternion Multiplication q1 * q2 = q3 + */ +static inline void QMult(const double *q1, const double *q2, double *q3) { + q3[0] = q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3]; + q3[1] = q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2]; + q3[2] = q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1]; + q3[3] = q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0]; +} + +/** + * Quaternion SLERP + * http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/ + */ +static inline void slerp(const double *qa, const double *qb, const double t, double *qm) { + // Calculate angle between them. + double cosHalfTheta = qa[0] * qb[0] + qa[1] * qb[1] + qa[2] * qb[2] + qa[3] * qb[3]; + // if qa=qb or qa=-qb then theta = 0 and we can return qa + if (fabs(cosHalfTheta) >= 1.0) { + qm[0] = qa[0]; + qm[1] = qa[1]; + qm[2] = qa[2]; + qm[3] = qa[3]; + return; + } + // Calculate temporary values. + double halfTheta = acos(cosHalfTheta); + double sinHalfTheta = sqrt(1.0 - cosHalfTheta * cosHalfTheta); + // if theta = 180 degrees then result is not fully defined + // we could rotate around any axis normal to qa or qb + if (fabs(sinHalfTheta) < 0.001){ + qm[0] = (qa[0] * 0.5 + qb[0] * 0.5); + qm[1] = (qa[1] * 0.5 + qb[1] * 0.5); + qm[2] = (qa[2] * 0.5 + qb[2] * 0.5); + qm[3] = (qa[3] * 0.5 + qb[3] * 0.5); + Normalize4(qm); + return; + } + double ratioA = sin((1 - t) * halfTheta) / sinHalfTheta; + double ratioB = sin(t * halfTheta) / sinHalfTheta; + //calculate Quaternion. + qm[0] = (qa[0] * ratioA + qb[0] * ratioB); + qm[1] = (qa[1] * ratioA + qb[1] * ratioB); + qm[2] = (qa[2] * ratioA + qb[2] * ratioB); + qm[3] = (qa[3] * ratioA + qb[3] * ratioB); + Normalize4(qm); +} + +/* taken from ROOT (CERN) + * as well in: + * Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning + * James J. Kuffner + * + * Distance between two rotations in Quaternion form + * Note: The rotation group is isomorphic to a 3-sphere + * with diametrically opposite points identified. + * The (rotation group-invariant) is the smaller + * of the two possible angles between the images of + * the two rotations on that sphere. Thus the distance + * is never greater than pi/2. + */ +inline double quat_dist(double quat1[4], double quat2[4]) { + double chordLength = std::fabs(quat1[0]*quat2[0] + quat1[1]*quat2[1] + quat1[2]*quat2[2] + quat1[3]*quat2[3]); + if (chordLength > 1) chordLength = 1; // in case roundoff fouls us up + return acos(chordLength) / M_PI * 180.0; +} + + + +/** + * Converts a Rotation given by Axis-Angle and a Translation into a + * 4x4 Transformation matrix + * + * @param aa axis and angle aa[0] is the angle + * @param trans vector containing the translation + * @param matrix matrix to be computed + */ +inline void AAToMatrix(double *aa, double *trans, double *matrix ){ + double rcos = cos(aa[0]); + double rsin = sin(aa[0]); + double u = aa[1]; + double v = aa[2]; + double w = aa[3]; + + matrix[0] = rcos + u*u*(1-rcos); + matrix[1] = w * rsin + v*u*(1-rcos); + matrix[2] = -v * rsin + w*u*(1-rcos); + matrix[3] = 0.0; + matrix[4] = -w * rsin + u*v*(1-rcos); + matrix[5] = rcos + v*v*(1-rcos); + matrix[6] = u * rsin + w*v*(1-rcos); + matrix[7] = 0.0; + matrix[8] = v * rsin + u*w*(1-rcos); + matrix[9] = -u * rsin + v*w*(1-rcos); + matrix[10] = rcos + w*w*(1-rcos); + matrix[11] = 0.0; + matrix[12] = trans[0]; + matrix[13] = trans[1]; + matrix[14] = trans[2]; + matrix[15] = 1.0; + +} + + +/** + * Factors matrix A into lower and upper triangular matrices + * (L and U respectively) in solving the linear equation Ax=b. + * + * @param A (input/output) Matrix(1:n, 1:n) In input, matrix to be + * factored. On output, overwritten with lower and + * upper triangular factors. + * + * @param indx (output) Vector(1:n) Pivot vector. Describes how + * the rows of A were reordered to increase + * numerical stability. + * + * @return return int(0 if successful, 1 otherwise) + */ +inline int LU_factor( double A[4][4], int indx[4]) +{ + int M = 4; + int N = 4; + + int i=0,j=0,k=0; + int jp=0; + + double t; + + int minMN = 4; + + for (j = 0; j < minMN; j++) + { + + // find pivot in column j and test for singularity. + + jp = j; + t = fabs(A[j][j]); + for (i = j+1; i < M; i++) + if ( fabs(A[i][j]) > t) + { + jp = i; + t = fabs(A[i][j]); + } + + indx[j] = jp; + + // jp now has the index of maximum element + // of column j, below the diagonal + + if ( A[jp][j] == 0 ) + return 1; // factorization failed because of zero pivot + + + if (jp != j) // swap rows j and jp + for (k = 0; k < N; k++) + { + t = A[j][k]; + A[j][k] = A[jp][k]; + A[jp][k] =t; + } + + if (j < M) // compute elements j+1:M of jth column + { + // note A(j,j), was A(jp,p) previously which was + // guarranteed not to be zero (Label #1) + // + double recp = 1.0 / A[j][j]; + + for (k = j+1; k < M; k++) + A[k][j] *= recp; + } + + if (j < minMN) + { + // rank-1 update to trailing submatrix: E = E - x*y; + // + // E is the region A(j+1:M, j+1:N) + // x is the column vector A(j+1:M,j) + // y is row vector A(j,j+1:N) + + int ii,jj; + + for (ii = j+1; ii < M; ii++) + for (jj = j+1; jj < N; jj++) + A[ii][jj] -= A[ii][j]*A[j][jj]; + } + } + + return 0; +} + +/** + * Solves a linear system via LU after LU factor + * + * @param A 4x4 matrix + * @param indx indices + * @param b 4 vectort + * + * @return 0 + * + */ +inline int LU_solve(const double A[4][4], const int indx[4], double b[4]) +{ + int i,ii=0,ip,j; + int n = 4; + double sum = 0.0; + + for (i = 0; i < n; i++) + { + ip=indx[i]; + sum=b[ip]; + b[ip]=b[i]; + if (ii) + for (j = ii;j <= i-1; j++) + sum -= A[i][j]*b[j]; + else if (sum) ii=i; + b[i]=sum; + } + for (i = n-1; i >= 0; i--) + { + sum=b[i]; + for (j = i+1; j < n; j++) + sum -= A[i][j]*b[j]; + b[i]=sum/A[i][i]; + } + + return 0; +} + +/** + * Calculates the cross product of two 4-vectors + * + * @param x input 1 + * @param y input 2 + * @param T output + * + */ +template +static inline void Cross(const T *x, const T *y, T *result) +{ + result[0] = x[1] * y[2] - x[2] * y[1]; + result[1] = x[2] * y[0] - x[0] * y[2]; + result[2] = x[0] * y[1] - x[1] * y[0]; + return; +} + +/** + * converts a quaternion to Euler angels in the roll pitch yaw system + */ +static inline void QuatRPYEuler(const double *quat, double *euler) +{ + double n = sqrt(quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3]); + double s = n > 0?2./(n*n):0.; + + double m00, m10, m20, m21, m22; + + + double xs = quat[1]*s; + double ys = quat[2]*s; + double zs = quat[3]*s; + + double wx = quat[0]*xs; + double wy = quat[0]*ys; + double wz = quat[0]*zs; + + double xx = quat[1]*xs; + double xy = quat[1]*ys; + double xz = quat[1]*zs; + + double yy = quat[2]*ys; + double yz = quat[2]*zs; + + double zz = quat[3]*zs; + + m00 = 1.0 - (yy + zz); + m22 = 1.0 - (xx + yy); + + + m10 = xy + wz; + + m20 = xz - wy; + m21 = yz + wx; + + euler[0] = atan2(m21,m22); + euler[1] = atan2(-m20,sqrt(m21*m21 + m22*m22)); + euler[2] = atan2(m10,m00); +} + +/** + * converts from Euler angels in the roll pitch yaw system to a quaternion + */ +static inline void RPYEulerQuat(const double *euler, double *quat) +{ + double sphi = sin(euler[0]); + double stheta = sin(euler[1]); + double spsi = sin(euler[2]); + double cphi = cos(euler[0]); + double ctheta = cos(euler[1]); + double cpsi = cos(euler[2]); + + double _r[3][3] = { //create rotational Matrix + {cpsi*ctheta, cpsi*stheta*sphi - spsi*cphi, cpsi*stheta*cphi + spsi*sphi}, + {spsi*ctheta, spsi*stheta*sphi + cpsi*cphi, spsi*stheta*cphi - cpsi*sphi}, + { -stheta, ctheta*sphi, ctheta*cphi} + }; + +#define MY_MAX(a,b) (((a)>(b))?(a):(b)) + double _w = sqrt(MY_MAX(0, 1 + _r[0][0] + _r[1][1] + _r[2][2]))/2.0; + double _x = sqrt(MY_MAX(0, 1 + _r[0][0] - _r[1][1] - _r[2][2]))/2.0; + double _y = sqrt(MY_MAX(0, 1 - _r[0][0] + _r[1][1] - _r[2][2]))/2.0; + double _z = sqrt(MY_MAX(0, 1 - _r[0][0] - _r[1][1] + _r[2][2]))/2.0; + quat[0] = _w; + quat[1] = (_r[2][1] - _r[1][2])>=0?fabs(_x):-fabs(_x); + quat[2] = (_r[0][2] - _r[2][0])>=0?fabs(_y):-fabs(_y); + quat[3] = (_r[1][0] - _r[0][1])>=0?fabs(_z):-fabs(_z); +} + + +inline void transform3(const double *alignxf, double *point) +{ + double x_neu, y_neu, z_neu; + x_neu = point[0] * alignxf[0] + point[1] * alignxf[4] + point[2] * alignxf[8]; + y_neu = point[0] * alignxf[1] + point[1] * alignxf[5] + point[2] * alignxf[9]; + z_neu = point[0] * alignxf[2] + point[1] * alignxf[6] + point[2] * alignxf[10]; + point[0] = x_neu + alignxf[12]; + point[1] = y_neu + alignxf[13]; + point[2] = z_neu + alignxf[14]; +} + +inline void transform3(const double *alignxf, const double *point, double *tpoint) +{ + tpoint[0] = point[0] * alignxf[0] + point[1] * alignxf[4] + point[2] * alignxf[8] + alignxf[12]; + tpoint[1] = point[0] * alignxf[1] + point[1] * alignxf[5] + point[2] * alignxf[9] + alignxf[13]; + tpoint[2] = point[0] * alignxf[2] + point[1] * alignxf[6] + point[2] * alignxf[10] + alignxf[14]; +} + +inline std::string trim(const std::string& source) +{ + unsigned int start = 0, end = source.size() - 1; + while(source[start] == ' ') start++; + while(source[end] == ' ') end--; + return source.substr(start, end - start + 1); +} + +#endif diff --git a/include/slam6d/graph.h b/include/slam6d/graph.h new file mode 100644 index 0000000..6130ab5 --- /dev/null +++ b/include/slam6d/graph.h @@ -0,0 +1,73 @@ +/** @file + * @brief The 6D Lu Milios style SLAM in 6D + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPH_H__ +#define __GRAPH_H__ + +#include +using std::vector; +#include +using std::string; +#include +using std::ostream; + +#include + +/* Boost graph declaration */ +using boost::edge_weight_t; +typedef boost::adjacency_list < + boost::listS, boost::vecS, boost::undirectedS, + boost::no_property, + boost::property < edge_weight_t, double > > + graph_t; + +/** + * @brief This class represent a directed network. + * Each node corresponds to a laser scan. + */ +class Graph { + +public: + + Graph(); + Graph(const string &netfile); + Graph(int nrScans, bool loop); + Graph(double cldist, int loopsize); + Graph(int nodes, double cldist2, int loopsize); + + int getLink(int i, int fromTo); + void addLink(int i, int j); + + void setNrScans(int _nrScans); + int getNrScans(); + int getNrLinks(); + + int getStart(); + int getEnd(); + + friend ostream& operator<<(ostream& os, Graph* gr); + +private: + /** + * The basic network structure + */ + vector from, to; + + /** + * The number of scans contained in this Graph + */ + int nrScans; + + /** + * The very first Scan + */ + int start; +}; + +#endif diff --git a/include/slam6d/graphHOG-Man.h b/include/slam6d/graphHOG-Man.h new file mode 100644 index 0000000..5145973 --- /dev/null +++ b/include/slam6d/graphHOG-Man.h @@ -0,0 +1,61 @@ +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPH_HOGMAN_H__ +#define __GRAPH_HOGMAN_H__ + +#include "graphSlam6D.h" + +class graphHOGMan : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + graphHOGMan() {}; + /** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Which nearest neigbor search method shall we use + * @param epsilonLUM Termination criterion for LUM + */ + graphHOGMan(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) + { } + + virtual ~graphHOGMan() + { + delete my_icp; + } + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + +}; + +#endif diff --git a/include/slam6d/graphSlam6D.h b/include/slam6d/graphSlam6D.h new file mode 100644 index 0000000..6bb19bb --- /dev/null +++ b/include/slam6d/graphSlam6D.h @@ -0,0 +1,106 @@ +/** @file + * @brief Implementation of the virtual functor for graphslam + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPHSLAM_6D_H__ +#define __GRAPHSLAM_6D_H__ + +#include +using std::vector; +#include +using std::map; +/*#include +using std::pair;*/ + +#include "icp6D.h" +#include "graph.h" +#include "newmat/newmatio.h" +#include "sparse/csparse.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair +using namespace NEWMAT; +typedef pair uipair; +typedef pair< uipair, Matrix* > uimpair; + + +class GraphMatrix { + public: + void add(const unsigned int i, const unsigned int j, Matrix &Cij); + void subtract(const unsigned int i, const unsigned int j, Matrix &Cij); + void print() ; + void convertToCS(cs* T); + + ~GraphMatrix(); + + + private: + map< uipair, Matrix* > matrix; + map< uipair, Matrix* >::iterator it; +}; + +class graphSlam6D { + +public: + /** + * Constructor + */ + graphSlam6D() { }; + + graphSlam6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM); + + /** + * Destructor + */ + virtual ~graphSlam6D(); + + virtual double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt) = 0; + + void matchGraph6Dautomatic(vector MetaScan, int nrIt, double cldist, int loopsize); + void matchGraph6Dautomatic(vector MetaScan, int nrIt, int clpairs, int loopsize); + Graph *computeGraph6Dautomatic(vector allScans, int clpairs); + + NEWMAT::ColumnVector solveSparseCholesky(GraphMatrix *G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveSparseCholesky(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveSparseQR(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solveCholesky(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + NEWMAT::ColumnVector solve(const NEWMAT::Matrix &G, const NEWMAT::ColumnVector &B); + + void writeMatrixPGM(const NEWMAT::Matrix &G); + void set_mdmll(double mdmll); + inline void set_quiet(bool _quiet) { quiet = _quiet;}; + +protected: + /** + * pointer to the ICP framework + */ + icp6D *my_icp; + + /** + * the epsilon for LUM + */ + double epsilonLUM; + + /** + * the maximal distance (^2 !!!) for matching in LUM + */ + double max_dist_match2_LUM; + + /** + * indicates the NNS method being used + */ + int nns_method; + + /** + * be quiet + */ + bool quiet; + + + long ctime; +}; + +#endif diff --git a/include/slam6d/graphToro.h b/include/slam6d/graphToro.h new file mode 100644 index 0000000..0c7f5ee --- /dev/null +++ b/include/slam6d/graphToro.h @@ -0,0 +1,61 @@ +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __GRAPH_TORO_H__ +#define __GRAPH_TORO_H__ + +#include "graphSlam6D.h" + +class graphToro : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + graphToro() {}; + /** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Which nearest neigbor search method shall we use + * @param epsilonLUM Termination criterion for LUM + */ + graphToro(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) + { } + + virtual ~graphToro() + { + delete my_icp; + } + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + +}; + +#endif diff --git a/include/slam6d/icp6D.h b/include/slam6d/icp6D.h new file mode 100644 index 0000000..524a171 --- /dev/null +++ b/include/slam6d/icp6D.h @@ -0,0 +1,135 @@ +/** @file + * @brief Representation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6D_H__ +#define __ICP6D_H__ + +#include +using std::vector; + +#include "newmat/newmat.h" +//using namespace NEWMAT; + +#include "slam6d/scan.h" +#include "slam6d/icp6Dminimizer.h" + +/** + * @brief Representation of 3D scan matching with ICP. + * + * Manages the matching of 3D scans. + * Important values, such as maximal matching distance, + * maximal number of iterations, etc. + * are specified in the constructor. + */ +class icp6D { + +public: + icp6D(icp6Dminimizer *my_icp6Dminimizer, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + bool cuda_enabled = false, + bool cad_matching = false); + + /** + * Destructor (empty, but needed, because virtual) + */ + virtual ~icp6D() {}; + + void doICP(vector allScans); + virtual int match(Scan* PreviousScan, Scan* CurrentScan); + void covarianceEuler(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C); + void covarianceQuat(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C); + double Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *nrp=0); + + inline int get_rnd(); + inline bool get_meta(); + inline int get_anim(); + inline int get_nns_method(); + inline void set_anim(int anim); + inline double get_max_dist_match2(); + inline void set_max_dist_match2(double max_dist_match2); + inline void set_max_num_iterations(int max_num_iterations); + inline void set_cad_matching (bool cad_matching); + inline bool get_cad_matching (void); + +protected: + + /** + * suppress output to cout + */ + bool quiet; + + /** + * take every rnd point for matching + */ + int rnd; + + /** + * extrapolate odometry + */ + bool eP; + + /** + * match against all scans (= meta scan), or against the last scan only + */ + bool meta; + + /** + * specifies which NNS method should be used + */ + int nns_method; + + /** + * specifies if the ANN trees have to be built + */ + bool cuda_enabled; + + /** + * the maximal distance (^2 !!!) for matching + */ + double max_dist_match2; + + /** + * the maximal number of iterations + */ + int max_num_iterations; + + /** + * write anim'th animation frame + */ + int anim; + + /** + * epsilon for stopping ICP algorithm ( convergence criterium ) + */ + double epsilonICP; + + /** + * ptr to ICP error function minimizer functor + */ + icp6Dminimizer *my_icp6Dminimizer; + + /** + * Maximum number of points in all scans + */ + unsigned int max_scn_size; //FIXME -> update with metascan + + /** + * determines if CAD models are matched against one scan + */ + bool cad_matching; +}; + +#include "icp6D.icc" + +#endif diff --git a/include/slam6d/icp6D.icc b/include/slam6d/icp6D.icc new file mode 100644 index 0000000..3de444e --- /dev/null +++ b/include/slam6d/icp6D.icc @@ -0,0 +1,98 @@ +/** + * @file + * @brief Implementation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +/** + * Will return the maximal number of randomization + * + * @return the maximal number of iterations + */ +inline int icp6D::get_rnd() +{ + return rnd; +} + +/** + * Will return weather to use the meta scan + * + * @return the maximal number of iterations + */ +inline bool icp6D::get_meta() +{ + return meta; +} + +/** + * Will return the anim flag + * + * @return the anim flag + */ +inline int icp6D::get_anim() { + return anim; +} + +/** + * Will return the used nearest neigbor search method + * + * @return the nns_method number + */ +inline int icp6D::get_nns_method() +{ + return nns_method; +} + +/** + * Set the anim flag + * + * @param anim Animate which frames? + */ +inline void icp6D::set_anim(int anim) { + this->anim = anim; +} + +/** + * Get the maximal distance for matching + * + * @return the maximal distance for matching + */ +inline double icp6D::get_max_dist_match2() { + return max_dist_match2; +} + +/** + * Set the maximal distance for matching + * + * @param max_dist_match2 the maximal distance (^2 !!!) for matching + */ +inline void icp6D::set_max_dist_match2(double max_dist_match2) { + this->max_dist_match2 = max_dist_match2; +} + +/** + * Set the Maximum number of iterations + * + * @param max_num_iterations Maximum number of iterations + */ +inline void icp6D::set_max_num_iterations(int max_num_iterations) { + this->max_num_iterations = max_num_iterations; +} + +/** + * @brief Enable / Disable CAD matching (i.e. matching only against first scan) + * + * @param cad_matching The new value to determine if CAD matching should + * be done + */ +inline void icp6D::set_cad_matching (bool cad_matching) +{ + this->cad_matching = cad_matching; +} + +inline bool icp6D::get_cad_matching (void) +{ + return this->cad_matching; +} diff --git a/include/slam6d/icp6Dapx.h b/include/slam6d/icp6Dapx.h new file mode 100644 index 0000000..addfb7f --- /dev/null +++ b/include/slam6d/icp6Dapx.h @@ -0,0 +1,42 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6DAPX_H__ +#define __ICP6DAPX_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via approximation + */ +class icp6D_APX : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_APX(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_APX() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const vector pairs[OPENMP_NUM_THREADS], + double *alignxf); + + static void computeRt(const double *x, const double *dx, double *alignxf); + + inline int getAlgorithmID() { return 6; }; +}; + +#endif diff --git a/include/slam6d/icp6Ddual.h b/include/slam6d/icp6Ddual.h new file mode 100644 index 0000000..5e76972 --- /dev/null +++ b/include/slam6d/icp6Ddual.h @@ -0,0 +1,33 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author ???, Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DDUALQUAT_H__ +#define __ICP6DDUALQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_DUAL : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_DUAL(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_DUAL() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 4; }; +}; + +#endif diff --git a/include/slam6d/icp6Dhelix.h b/include/slam6d/icp6Dhelix.h new file mode 100644 index 0000000..dda27f2 --- /dev/null +++ b/include/slam6d/icp6Dhelix.h @@ -0,0 +1,38 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Peter Schneider. Institute of Computer Science, University of Koblenz and Landau, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DHELIX_H__ +#define __ICP6DHELIX_H__ + +#include "icp6Dminimizer.h" +#include "newmat/newmatio.h" +using namespace NEWMAT; + +/** + * @brief Implementation of the ICP error function minimization via helix-translation + */ +class icp6D_HELIX : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_HELIX(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_HELIX() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + static void computeRt(const ColumnVector* ccs, const int vectorOffset, double *alignxf); + + inline int getAlgorithmID() { return 5; }; + +}; + +#endif diff --git a/include/slam6d/icp6Dlumeuler.h b/include/slam6d/icp6Dlumeuler.h new file mode 100644 index 0000000..3f71902 --- /dev/null +++ b/include/slam6d/icp6Dlumeuler.h @@ -0,0 +1,32 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DLUMEULER_H__ +#define __ICP6DLUMEULER_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_LUMEULER : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_LUMEULER(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_LUMEULER() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 3; }; +}; + +#endif diff --git a/include/slam6d/icp6Dlumquat.h b/include/slam6d/icp6Dlumquat.h new file mode 100644 index 0000000..1fc51f9 --- /dev/null +++ b/include/slam6d/icp6Dlumquat.h @@ -0,0 +1,32 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DLUMQUAT_H__ +#define __ICP6DLUMQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_LUMQUAT : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_LUMQUAT(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_LUMQUAT() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 8; }; +}; + +#endif diff --git a/include/slam6d/icp6Dminimizer.h b/include/slam6d/icp6Dminimizer.h new file mode 100644 index 0000000..e3dfadf --- /dev/null +++ b/include/slam6d/icp6Dminimizer.h @@ -0,0 +1,91 @@ +/** @file + * @brief Implementation of the virtual functor for ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DMINIMIZER__ +#define __ICP6DMINIMIZER__ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include +using std::vector; + +#ifdef _OPENMP +#include +#endif + +#include "ptpair.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +class icp6Dminimizer { + +public: + /** + * Constructor + */ + icp6Dminimizer(bool quiet = false) { this->quiet = quiet; }; + /** + * Destructor + */ + virtual ~icp6Dminimizer() {}; + + /** + * aligning the point pairs + */ + // a detailed discussion of the minimization techniques used for this + // function is given in: + // Andreas Nuechter, Jan Elseberg, Peter Schneider, and Dietrich Paulus. + // Study of Parameterizations for the Rigid Body Transformations of The + // Scan Registration Problem, Journal Computer Vision and Image + // Understanding (CVIU), Elsevier Science, Volume 114, Issue 8, + // pp. 963-980, August 2010. + virtual double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]) = 0; + + /** + * aligning the point pairs parallel algorithms + */ + virtual double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], + double *alignxf) + { + cout << "this function is not implemented!!!" << endl; + exit(-1); + } + virtual double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const vector pairs[OPENMP_NUM_THREADS], + double *alignxf) + { + cout << "this function is not implemented!!!" << endl; + exit(-1); + } + + virtual int getAlgorithmID() = 0; + +protected: + bool quiet; ///< determines the verbosity +}; + +#endif diff --git a/include/slam6d/icp6Dortho.h b/include/slam6d/icp6Dortho.h new file mode 100644 index 0000000..cbe3ff3 --- /dev/null +++ b/include/slam6d/icp6Dortho.h @@ -0,0 +1,33 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Christian Mueller (Knut). Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __ICP6DORTHO_H__ +#define __ICP6DORTHO_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_ORTHO : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_ORTHO(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_ORTHO() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + inline int getAlgorithmID() { return 3; }; +}; + +#endif diff --git a/include/slam6d/icp6Dquat.h b/include/slam6d/icp6Dquat.h new file mode 100644 index 0000000..b3935f1 --- /dev/null +++ b/include/slam6d/icp6Dquat.h @@ -0,0 +1,42 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __ICP6DQUAT_H__ +#define __ICP6DQUAT_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via quaternions + */ +class icp6D_QUAT : public icp6Dminimizer +{ +public: + /** constructor */ + icp6D_QUAT(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** destructor */ + virtual ~icp6D_QUAT() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], double *alignxf); + inline int getAlgorithmID() { return 1; }; + +protected: + void quaternion2matrix(double *q, double m[3][3]); + int ferrari(double a, double b, double c, double d, double rts[4]); + int qudrtc(double b, double c, double rts[4]); + double cubic(double p, double q, double r); + void maxEigenVector(double Q[4][4], double ev[4]); + void characteristicPol(double Q[4][4], double c[4]); +}; + +#endif diff --git a/include/slam6d/icp6Dquatscale.h b/include/slam6d/icp6Dquatscale.h new file mode 100644 index 0000000..14645d4 --- /dev/null +++ b/include/slam6d/icp6Dquatscale.h @@ -0,0 +1,29 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Flavia Grosan, Alex Tandrau. Jacobs University Bremen gGmbH, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __ICP6DQUATSCALE_H__ +#define __ICP6DQUATSCALE_H__ + +#include "icp6Dquat.h" + +/** + * @brief Implementation of the ICP error function minimization via quaternions + */ +class icp6D_QUAT_SCALE : public icp6D_QUAT +{ +public: + /** constructor */ + icp6D_QUAT_SCALE(bool quiet = false) : icp6D_QUAT(quiet) {}; + /** destructor */ + virtual ~icp6D_QUAT_SCALE() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + inline int getAlgorithmID() { return 9; }; + +}; + +#endif diff --git a/include/slam6d/icp6Dsvd.h b/include/slam6d/icp6Dsvd.h new file mode 100644 index 0000000..3bc9aa6 --- /dev/null +++ b/include/slam6d/icp6Dsvd.h @@ -0,0 +1,40 @@ +/** @file + * @brief Definition of the ICP error function minimization + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#ifndef __ICP6DSVD_H__ +#define __ICP6DSVD_H__ + +#include "icp6Dminimizer.h" + +/** + * @brief Implementation of the ICP error function minimization via singular value decomposition + */ +class icp6D_SVD : public icp6Dminimizer +{ +public: + /** + * Constructor + */ + icp6D_SVD(bool quiet = false) : icp6Dminimizer(quiet) {}; + /** + * Destructor + */ + virtual ~icp6D_SVD() {}; + + double Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]); + + double Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], double *alignxf); + + inline int getAlgorithmID() { return 2; }; +}; + +#endif diff --git a/include/slam6d/io_types.h b/include/slam6d/io_types.h new file mode 100644 index 0000000..27fa470 --- /dev/null +++ b/include/slam6d/io_types.h @@ -0,0 +1,30 @@ +/** + * @file + * @brief Scan types and mapping functions. + * + * @author Thomas Escher + */ + +#ifndef IO_TYPES_H +#define IO_TYPES_H + +//! IO types for file formats, distinguishing the use of ScanIOs +enum IOType { + UOS, UOS_MAP, UOS_FRAMES, UOS_MAP_FRAMES, UOS_RGB, OLD, RTS, RTS_MAP, RIEGL_TXT, RIEGL_PROJECT, RIEGL_RGB, RIEGL_BIN, IFP, ZAHN, PLY, WRL, XYZ, ZUF, ASC, IAIS, FRONT, X3D, RXP, KIT, AIS, OCT, TXYZR, XYZR, XYZ_RGB, KS, KS_RGB, STL, LEICA, PCL, PCI, UOS_CAD, VELODYNE, VELODYNE_FRAMES +}; + +//! Data channels in the scans +enum IODataType { + DATA_XYZ = 1<<0, + DATA_RGB = 1<<1, + DATA_REFLECTANCE = 1<<2, + DATA_AMPLITUDE = 1<<3, + DATA_TYPE = 1<<4, + DATA_DEVIATION = 1<<5 +}; + +IOType formatname_to_io_type(const char * string); + +const char * io_type_to_libname(IOType type); + +#endif //IO_TYPES_H diff --git a/include/slam6d/io_utils.h b/include/slam6d/io_utils.h new file mode 100644 index 0000000..29804e7 --- /dev/null +++ b/include/slam6d/io_utils.h @@ -0,0 +1,36 @@ +/** + * @file + * @brief tools for file format processing + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __IO_UTILS_H__ +#define __IO_UTILS_H__ + +#include "slam6d/io_types.h" +#include "slam6d/globals.icc" + +#include +using std::string; +using std::cerr; + +/** + * Make type, start and end a write once only class for parseFormatFile because + * we know the directory only after the type, start and end parameters may have + * been written already, so encapsulate this write once behaviour in this class. + */ +template +class WriteOnce { +public: + WriteOnce(T& value) : value(value), written(false) {} + WriteOnce& operator=(const T& other) { if(!written) { value = other; written = true; } return *this; } + operator T() const { return value; } +private: + T& value; + bool written; +}; + +void parseFormatFile(string& dir, WriteOnce& type, WriteOnce& start, WriteOnce& end); + +#endif diff --git a/include/slam6d/kd.h b/include/slam6d/kd.h new file mode 100644 index 0000000..133f7c2 --- /dev/null +++ b/include/slam6d/kd.h @@ -0,0 +1,94 @@ +/** @file + * @brief Representation of the optimized k-d tree. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_H__ +#define __KD_H__ + +#include "slam6d/kdparams.h" +#include "slam6d/searchTree.h" + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtree : public SearchTree { +public: + KDtree(double **pts, int n); + + virtual ~KDtree(); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const; + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtree *child1; ///< pointers to the childs + KDtree *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + /** + * store the value itself + * Here we store just a pointer to the data + */ + double **p; + } leaf; + }; + + void _FindClosest(int threadNum) const; +}; + +#endif diff --git a/include/slam6d/kdManaged.h b/include/slam6d/kdManaged.h new file mode 100644 index 0000000..dbc51b6 --- /dev/null +++ b/include/slam6d/kdManaged.h @@ -0,0 +1,120 @@ +/** @file + * @brief Representation of the optimized k-d tree. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_MANAGED_H__ +#define __KD_MANAGED_H__ + +#include "slam6d/kdparams.h" +#include "slam6d/searchTree.h" +#include "slam6d/data_types.h" + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include +#include + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtreeManagedBase : public SearchTree { +public: + KDtreeManagedBase(const DataXYZ& pts, unsigned int* indices, unsigned int n); + + virtual ~KDtreeManagedBase(); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; } + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtreeManagedBase *child1; ///< pointers to the childs + KDtreeManagedBase *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + //! Content is an array of indices to be put into the dynamically aquired data array + unsigned int* p; + } leaf; + }; + + void _FindClosest(const DataXYZ& pts, int threadNum) const; +}; + +class Scan; + +class KDtreeManaged : public KDtreeManagedBase { +public: + KDtreeManaged(Scan* scan); + virtual ~KDtreeManaged() {} + + virtual void lock(); + virtual void unlock(); + + //! Aquires cached data first to pass on to the usual KDtree to process + virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const; +private: + Scan* m_scan; + DataXYZ* m_data; + + //! Mutex for safely reducing points just once in a multithreaded environment + boost::mutex m_mutex_locking; + volatile unsigned int m_count_locking; + + // constructor initializer list hacks + unsigned int* m_temp_indices; + unsigned int* prepareTempIndices(unsigned int n); +}; + +#endif diff --git a/include/slam6d/kdMeta.h b/include/slam6d/kdMeta.h new file mode 100644 index 0000000..12514f8 --- /dev/null +++ b/include/slam6d/kdMeta.h @@ -0,0 +1,137 @@ +/** @file + * @brief Representation of the optimized k-d tree. MetaScan variant. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#ifndef __KD_META_H__ +#define __KD_META_H__ + +#include "kdparams.h" +#include "searchTree.h" +#include "data_types.h" + +#include +#include + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + + + +class Scan; + + + +/** + * @brief The optimized k-d tree. + * + * A kD tree for points, with limited + * capabilities (find nearest point to + * a given point, or to a ray). + **/ +class KDtreeMeta : public SearchTree { +protected: + class Index { + public: + unsigned int s, i; + inline void set(unsigned int _s, unsigned int _i) { s = _s; i = _i; } + }; +public: + KDtreeMeta(); + virtual ~KDtreeMeta(); + + void create(const DataXYZ* const* pts, Index* indices, unsigned int n); + + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; } + +protected: + /** + * storing the parameters of the k-d tree, i.e., the current closest point, + * the distance to the current closest point and the point itself. + * These global variable are needed in this search. + * + * Padded in the parallel case. + */ +#ifdef _OPENMP +#ifdef __INTEL_COMPILER + __declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS]; +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif //__INTEL_COMPILER +#else + static KDParams params[MAX_OPENMP_NUM_THREADS]; +#endif + + /** + * number of points. If this is 0: intermediate node. If nonzero: leaf. + */ + int npts; + + /** + * Cue the standard rant about anon unions but not structs in C++ + */ + union { + /** + * in case of internal node... + */ + struct { + double center[3]; ///< storing the center of the voxel (R^3) + double dx, ///< defining the voxel itself + dy, ///< defining the voxel itself + dz, ///< defining the voxel itself + r2; ///< defining the voxel itself + int splitaxis; ///< defining the kind of splitaxis + KDtreeMeta *child1; ///< pointers to the childs + KDtreeMeta *child2; ///< pointers to the childs + } node; + /** + * in case of leaf node ... + */ + struct { + //! Content is an array of indices to be put into the dynamically aquired data array + Index* p; + } leaf; + }; + + inline double* point(const DataXYZ* const* pts, const Index& i) const { + return (*pts[i.s])[i.i]; + } + + void _FindClosest(const DataXYZ* const* pts, int threadNum) const; +}; + +class KDtreeMetaManaged : public KDtreeMeta { +public: + KDtreeMetaManaged(const vector& scans); + virtual ~KDtreeMetaManaged(); + + virtual void lock(); + virtual void unlock(); + + //! Aquires cached data first to pass on to the usual KDtree to process + virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const; +private: + Scan** m_scans; + DataXYZ** m_data; + unsigned int m_size; + + //! Mutex for safely reducing points just once in a multithreaded environment + boost::mutex m_mutex_locking; + volatile unsigned int m_count_locking; + + // constructor initializer list hacks + Index* m_temp_indices; + Index* prepareTempIndices(const vector& scans); + unsigned int getPointsSize(const vector& scans); +}; + +#endif diff --git a/include/slam6d/kdcache.h b/include/slam6d/kdcache.h new file mode 100644 index 0000000..d0039bd --- /dev/null +++ b/include/slam6d/kdcache.h @@ -0,0 +1,50 @@ +/** + * @file + * @brief Representation of the cache for cached k-d tree search. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __KD_CACHE_H__ +#define __KD_CACHE_H__ + +#include "searchCache.h" +#include "kdparams.h" + +// just a prototype +class KDtree_cache; +class Scan; + +/** + * @brief cache item + * + * The return value of the cached k-d tree + * is a bundle of the closest point and + * a pointer to the leaf. + **/ +class KDCacheItem : public SearchTreeCacheItem { +public: + KDCacheItem() { node = 0; }; + KDParams param; + KDtree_cache *node; +}; + +/** + * @brief cache + * + * The cache consists of an array of KDCacheItems + * and two Scan numbers. + **/ +class KDCache { +public: +// KDCache() { SourceScanNr = TargetScanNr = 0; item = 0; }; + KDCache() { target = 0; item = 0; }; + KDCacheItem *item; // array of items +// unsigned int SourceScanNr; +// unsigned int TargetScanNr; + Scan const * target; +}; + +#endif + + diff --git a/include/slam6d/kdparams.h b/include/slam6d/kdparams.h new file mode 100644 index 0000000..31fc7cf --- /dev/null +++ b/include/slam6d/kdparams.h @@ -0,0 +1,41 @@ +/** + * @file + * @brief Representation of the parameter of a k-d tree + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __KDPARAMS_H__ +#define __KDPARAMS_H__ + +/** + * @brief Contains the intermediate (static) values of a k-d tree or a cached k-d tree + * + * A parameter class for the latter k-d tree. + * Includes the padding for parallelizetion + * to avoid cache conflicts. + **/ +class KDParams +{ +public: + /** + * pointer to the closest point. size = 4 bytes of 32 bit machines + */ + double *closest; + + /** + * distance to the closest point. size = 8 bytes + */ + double closest_d2; + + /** + * pointer to the point, size = 4 bytes of 32 bit machines + */ + double *p; + + /** + * expand to 128 bytes to avoid false-sharing, 16 bytes from above + 28*4 bytes = 128 bytes + */ + int padding[28]; +}; + +#endif diff --git a/include/slam6d/loopHOG-Man.h b/include/slam6d/loopHOG-Man.h new file mode 100644 index 0000000..c5efc79 --- /dev/null +++ b/include/slam6d/loopHOG-Man.h @@ -0,0 +1,21 @@ +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOP_HOG_MAN_H__ +#define __LOOP_HOG_MAN_H__ + +#include "loopSlam6D.h" + +class loopHOGMan : public loopSlam6D { + + public: + loopHOGMan(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); +}; + +#endif diff --git a/include/slam6d/loopSlam6D.h b/include/slam6d/loopSlam6D.h new file mode 100644 index 0000000..fa9cc20 --- /dev/null +++ b/include/slam6d/loopSlam6D.h @@ -0,0 +1,67 @@ +/** @file + * @brief Implementation of the virtual functor for a loop closing algorithm + * @author Jochen Sprickerhof + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOPSLAM6D_H__ +#define __LOOPSLAM6D_H__ + +#include +using std::vector; + +#include "icp6D.h" +#include "icp6Dminimizer.h" +#include "scan.h" +#include "graph.h" + +class loopSlam6D { + +public: + /** + * Constructor + * @param _quiet suppress informative output + * @param my_icp6Dminimizer the used ICP algorithm + * @param mdm maximal distance match for ICP + * @param max_num_iterations Maximal number of iterations for ICP + * @param rnd randomized point selection for ICP + * @param eP Extrapolate odometry + * @param anim animate scan matching + * @param epsilonICP the ICP epsilon + * @param nns_method the k-d tree search + */ + loopSlam6D(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, int rnd, bool eP, int anim, double epsilonICP, int nns_method) + { + this->quiet = _quiet; + this->my_icp6D = new icp6D(my_icp6Dminimizer, mdm, max_num_iterations, + quiet, false, rnd, eP, anim, epsilonICP, nns_method); + }; + + /** + * Destructor + */ + virtual ~loopSlam6D() { + delete my_icp6D; + }; + + /** + * virtual loop closing function + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g) = 0; + +protected: + bool quiet; + + /** + * pointer to the ICP framework + */ + icp6D *my_icp6D; + +}; + +#endif diff --git a/include/slam6d/loopToro.h b/include/slam6d/loopToro.h new file mode 100644 index 0000000..e013c39 --- /dev/null +++ b/include/slam6d/loopToro.h @@ -0,0 +1,21 @@ +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LOOP_TORO_H__ +#define __LOOP_TORO_H__ + +#include "loopSlam6D.h" + +class loopToro : public loopSlam6D { + + public: + loopToro(bool _quiet, icp6Dminimizer *my_icp6Dminimizer, double mdm, int max_num_iterations, + int rnd, bool eP, int anim, double epsilonICP, int nns_method) + : loopSlam6D(_quiet, my_icp6Dminimizer, mdm, max_num_iterations, rnd, eP, anim, epsilonICP, nns_method) {} + + virtual void close_loop(const vector &allScans, int first, int last, graph_t &g); +}; + +#endif diff --git a/include/slam6d/lum6Deuler.h b/include/slam6d/lum6Deuler.h new file mode 100644 index 0000000..85fb793 --- /dev/null +++ b/include/slam6d/lum6Deuler.h @@ -0,0 +1,63 @@ +/** @file + * @brief The 6D Lu Milios style SLAM in 6D + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LUM6D_EULER_H__ +#define __LUM6D_EULER_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" + +#include "newmat/newmatio.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching with Lu/Milios in 6D. + * + * Reference: D. Borrmann, et al., Globally consistent 3D mapping + * with scan matching, Journal of Robotics and Autonomous + * Systems (2007), + */ +class lum6DEuler : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + lum6DEuler() {}; + lum6DEuler(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~lum6DEuler(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + + static void covarianceEuler(Scan *first, Scan *second, int nns_method, + int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0); + +private: + void FillGB3D(Graph *gr, GraphMatrix *G, NEWMAT::ColumnVector* B, vector allScans); +// void CalculateLinks3D(int numLinks, vPtPair **ptpairs, vector * CD , vector * C); + +}; + +#endif diff --git a/include/slam6d/lum6Dquat.h b/include/slam6d/lum6Dquat.h new file mode 100644 index 0000000..7c65e3a --- /dev/null +++ b/include/slam6d/lum6Dquat.h @@ -0,0 +1,61 @@ +/** @file + * @brief The 6D Lu Milios style SLAM in 6D + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __LUM6D_QUAT_H__ +#define __LUM6D_QUAT_H__ + +#include +using std::vector; + +#include "graphSlam6D.h" + +#include "newmat/newmatio.h" + +typedef vector vPtPair; ///< just a typedef: vPtPair = vector of type PtPair + + +/* + * @brief Representation of 3D scan matching with Lu/Milios in 6D. + * + * Reference: D. Borrmann, et al., Globally consistent 3D mapping + * with scan matching, Journal of Robotics and Autonomous + * Systems (2007), + */ +class lum6DQuat : public graphSlam6D { + +public: + /** + * Constructor (default) + */ + lum6DQuat() {}; + lum6DQuat(icp6Dminimizer *my_icp6Dminimizer, + double mdm = 25.0, + double max_dist_match = 25.0, + int max_num_iterations = 50, + bool quiet = false, + bool meta = false, + int rnd = 1, + bool eP = true, + int anim = -1, + double epsilonICP = 0.0000001, + int nns_method = simpleKD, + double epsilonLUM = 0.5); + + virtual ~lum6DQuat(); + + double doGraphSlam6D(Graph gr, vector MetaScan, int nrIt); + static void covarianceQuat(Scan *first, Scan *second, int nns_method, + int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0); + +private: + void FillGB3D(Graph *gr, NEWMAT::Matrix* G, NEWMAT::ColumnVector* B, vector allScans); + +}; + +#endif diff --git a/include/slam6d/managedScan.h b/include/slam6d/managedScan.h new file mode 100644 index 0000000..64fbefa --- /dev/null +++ b/include/slam6d/managedScan.h @@ -0,0 +1,78 @@ +#ifndef MANAGED_SCAN_H +#define MANAGED_SCAN_H + +#include "scan.h" +#include "scanserver/sharedScan.h" + + + +class ManagedScan : public Scan { +public: + static void openDirectory(const std::string& path, IOType type, + int start, int end = -1); + static void closeDirectory(); + + static std::size_t getMemorySize(); + + virtual ~ManagedScan(); + + virtual void setRangeFilter(double max, double min); + virtual void setHeightFilter(double top, double bottom); + virtual void setReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + void setShowReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + virtual void setOcttreeParameter(double reduction_voxelSize, + double octtree_voxelSize, PointType pointtype, + bool loadOct, bool saveOct); + + virtual const char* getIdentifier() const { return m_shared_scan->getIdentifier(); } + + virtual DataPointer get(const std::string& identifier); + virtual void get(unsigned int types); + virtual DataPointer create(const std::string& identifier, unsigned int size); + virtual void clear(const std::string& identifier); + + virtual unsigned int readFrames(); + virtual void saveFrames(); + virtual unsigned int getFrameCount(); + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type); + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate(); + virtual void addFrame(AlgoType type); + +private: + //! Reference to the shared scan + SharedScan* m_shared_scan; + + //! SharedScan vector to be deleted on closeDirectory + static SharedScanVector* shared_scans; + + //! Flag to keep track of whether we have to update/create reduced points at the start + bool m_reduced_ready; + + //! Flag to reset the persistent frames on write actions in slam to avoid a clear call + bool m_reset_frames_on_write; + + //! Voxelsize of the octtree used for reduction + double show_reduction_voxelSize; + + //! Which point to take out of the reduction octtree, 0 for center + int show_reduction_nrpts; + + //! Pointtype used for the reduction octtree + PointType show_reduction_pointtype; + + + ManagedScan(SharedScan* shared_scan); + + //! Create reduced points for show + void calcReducedShow(); + + //! Create Octtree for show + void createOcttree(); +}; + +#endif //MANAGED_SCAN_H diff --git a/include/slam6d/metaScan.h b/include/slam6d/metaScan.h new file mode 100644 index 0000000..507ae01 --- /dev/null +++ b/include/slam6d/metaScan.h @@ -0,0 +1,42 @@ +#ifndef META_SCAN_H +#define META_SCAN_H + +#include "scan.h" + +#include + +class MetaScan : public Scan { +public: + MetaScan(std::vector scans, int nns_method = -1, bool cuda_enabled = false); + virtual ~MetaScan(); + + //! How many scans this meta scan contains + unsigned int size() const; + + //! Return the contained scan + Scan* getScan(unsigned int i) const; + + virtual void setRangeFilter(double max, double min) {} + virtual void setHeightFilter(double top, double bottom) {} + + virtual const char* getIdentifier() const { return "metascan"; } + + virtual DataPointer get(const std::string& identifier) { return DataPointer(0, 0); } + virtual void get(unsigned int types) {} + virtual DataPointer create(const std::string& identifier, unsigned int size) { return DataPointer(0, 0); } + virtual void clear(const std::string& identifier) {} + + virtual unsigned int readFrames() { return 0; } + virtual void saveFrames() {} + virtual unsigned int getFrameCount() { return 0; } + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) {} + +protected: + virtual void createSearchTreePrivate(); + virtual void calcReducedOnDemandPrivate() {} + virtual void addFrame(AlgoType type) {} +private: + std::vector m_scans; +}; + +#endif //META_SCAN_H diff --git a/include/slam6d/metrics.h b/include/slam6d/metrics.h new file mode 100644 index 0000000..96fe916 --- /dev/null +++ b/include/slam6d/metrics.h @@ -0,0 +1,143 @@ +/** + * @file + * @brief Metrics for measuring various aspects of an application + * @author Thomas Escher + */ + +#ifndef METRICS_H +#define METRICS_H + +#include + +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +template +class Metric { +public: + //! Reserve a minimum of 1k values to reduced allocation overhead in between + Metric(unsigned int reserve = 1000) { + m_values.reserve(reserve); + m_use_lock = 0; + } + + //! Print the sum of this metric + T sum() const { + T value = 0; + for(typename std::vector::const_iterator it = m_values.begin(); it != m_values.end(); ++it) + value += *it; + return value; + } + + //! Print the average of this metric + T average() const { + if(m_values.size() != 0) + return sum() / (T)(m_values.size()); + else + return (T)0; + } + + std::size_t size() const { + return m_values.size(); + } + + void reset() { + m_values.clear(); + } + + //! If functions will be called in a multithread context, these will enable safety + void set_threadsafety(bool multithreaded) { + boost::lock_guard lock(m_mutex_commit); + if(multithreaded) { + ++m_use_lock; + } else { + --m_use_lock; + } + } + +protected: + inline void commit(const T& value) { + if(m_use_lock > 0) { + boost::lock_guard lock(m_mutex_commit); + m_values.push_back(value); + } else { + m_values.push_back(value); + } + } + +private: + std::vector m_values; + volatile unsigned int m_use_lock; + boost::mutex m_mutex_commit; +}; + +#ifdef _MSC_VER + typedef LARGE_INTEGER Timer; +#else + typedef timeval Timer; +#endif + +/** + * @brief Measures time differences in seconds. + */ +class TimeMetric : public Metric { +public: + TimeMetric(unsigned int reserve = 1000); + + //! Start the timer + Timer start(); + + //! End the timer and commit value + void end(Timer&); + +private: +#ifdef _MSC_VER + static LARGE_INTEGER frequency; + static bool init; +#endif +}; + +/** + * @brief Measures access count or size. + */ +class CounterMetric : public Metric { +public: + CounterMetric(unsigned int reserve = 1000); + void add(unsigned long long value = 1); + +private: +}; + + + +struct ServerMetric { + static TimeMetric scan_loading, cacheio_write_time, cacheio_read_time; + static CounterMetric cacheio_write_size, cacheio_read_size; + static void print(); +}; + +struct ClientMetric { + static TimeMetric + // Scan + // directory loading + read_scan_time, scan_load_time, + // reduce, transform, copy, create tree as part of the reduction and tree preparation + calc_reduced_points_time, transform_time, copy_original_time, create_tree_time, + // new scanserver only times + on_demand_reduction_time, create_metatree_time, + // part of transform dealing with frames + add_frames_time, + // slam6D + matching_time, + // ClientInterface + clientinterface_time, cache_miss_time, allocate_time, frames_time; + static void print(bool scanserver = false); +}; + +#endif //METRICS_H diff --git a/include/slam6d/nnparams.h b/include/slam6d/nnparams.h new file mode 100644 index 0000000..f3b1ed4 --- /dev/null +++ b/include/slam6d/nnparams.h @@ -0,0 +1,38 @@ +#ifndef __NNPARAMS_H__ +#define __NNPARAMS_H__ + +struct NNParams { +/** + * pointer to the closest point. size = 4 bytes of 32 bit machines + */ + void *closest; + + /** + * distance to the closest point. size = 8 bytes + */ + double closest_d2; + + // distance to the closest point in voxels + int closest_v; + + // location of the query point in voxel coordinates + int x; + int y; + int z; + + /** + * pointer to the point, size = 4 bytes of 32 bit machines + */ + double *p; + + /** + * expand to 128 bytes to avoid false-sharing, 16 bytes from above + 28*4 bytes = 128 bytes + */ +// int padding[24]; + + int count; + int max_count; + +}; + +#endif diff --git a/include/slam6d/point.h b/include/slam6d/point.h new file mode 100644 index 0000000..41b247b --- /dev/null +++ b/include/slam6d/point.h @@ -0,0 +1,136 @@ +/** + * @file + * @brief Representation of a 3D point + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __POINT_H__ +#define __POINT_H__ + +#include +#include +using std::ostream; +using std::istream; + +#include +using std::runtime_error; + +/** + * @brief Representation of a point in 3D space + */ +class Point { + +public: + /** + * Default constructor + */ + inline Point() { x = y = z = 0.0; point_id = 0; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0; rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;}; + /** + * Copy constructor + */ + inline Point(const Point& p) { x = p.x; y = p.y; z = p.z; type = p.type; point_id = p.point_id; + reflectance = p.reflectance; amplitude = p.amplitude; deviation = p.deviation; rgb[0] = p.rgb[0]; rgb[1] = p.rgb[1]; rgb[2] = p.rgb[2];}; + /** + * Constructor with an array, i.e., vecctor of coordinates + */ + inline Point(const double *p) { x = p[0]; y = p[1]; z = p[2]; type = 0; reflectance = 0.0; amplitude = 0.0; deviation = 0.0; + rgb[0] = 255; rgb[1] = 255; rgb[2] = 255;}; + inline Point(const double *p, const char *c) { x = p[0]; y = p[1]; z = p[2]; rgb[0] = c[0]; rgb[1] = c[1]; rgb[2] = c[2];}; + + /** + * Constructor with three double values + */ + inline Point(const double _x, const double _y, const double _z) { x = _x; y = _y; z = _z; }; + inline Point(const double _x, const double _y, const double _z, const char _r, const char _g, const char _b) { x = _x; y = _y; z = _z; rgb[0] = _r; rgb[1] = _g; rgb[2] = _b;}; + + static inline Point cross(const Point &X, const Point &Y) { + Point res; + res.x = X.y * Y.z - X.z * Y.y; + res.y = X.z * Y.x - X.x * Y.z; + res.z = X.x * Y.y - X.y * Y.x; + return res; + }; + + static inline Point norm(const Point &p) { + double l = sqrt(p.x*p.x + p.y*p.y + p.z*p.z); + Point res(p.x/l, p.y/l, p.z/l); + return res; + }; + + inline Point operator+(const Point &p) const { + Point res; + res.x = x + p.x; + res.y = y + p.y; + res.z = z + p.z; + return res; + }; + + inline Point operator-(const Point &p) const { + Point res; + res.x = x - p.x; + res.y = y - p.y; + res.z = z - p.z; + return res; + }; + + inline Point& operator-=(const Point &p) { + x -= p.x; + y -= p.y; + z -= p.z; + return *this; + }; + inline Point& operator+=(const Point &p) { + x += p.x; + y += p.y; + z += p.z; + return *this; + }; + + + + inline void transform(const double alignxf[16]); + inline double distance(const Point& p); + inline friend ostream& operator<<(ostream& os, const Point& p); + inline friend istream& operator>>(istream& is, Point& p); + + // also public; set/get functions not necessary here + /// x coordinate in 3D space + double x; + /// y coordinate in 3D space + double y; + /// z coordinate in 3D space + double z; + /// additional information about the point, e.g., semantic + /// also used in veloscan for distiuguish moving or static + int type; + + /////////////////////////for veloslam///////////////////////////// + double rad; + /// tang in cylindrical coordinates for veloscan + double tan_theta; + // point id in points for veloscan , you can use it find point. + long point_id; + /////////////////////////for veloslam///////////////////////////// + + // color information of the point between 0 and 255 + // rgb + unsigned char rgb[3]; + + float reflectance; + float amplitude; + float deviation; +}; + + +inline Point operator*(const double &v, const Point &p) { + Point res; + res.x = v * p.x; + res.y = v * p.y; + res.z = v * p.z; + return res; +} + +#include "point.icc" + +#endif diff --git a/include/slam6d/point.icc b/include/slam6d/point.icc new file mode 100644 index 0000000..f2bf225 --- /dev/null +++ b/include/slam6d/point.icc @@ -0,0 +1,62 @@ +#include +/** + * @file + * @brief Implementation of a 3D point. + * + * Representation of a 3D point. + * Only inline functions are used, therefore no .cc file. + * + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + **/ + + +/** + * Overridden "<<" operator for sending a point to a stream + */ +inline ostream& operator<<(ostream& os, const Point& p) { + os << p.x << " " << p.y << " " << p.z; + return os; +} + +/** + * Overridden ">>" operator for reading a point from a stream. + * Throws a runtime error if not enough data in the stream. + */ +inline istream& operator>>(istream& is, Point& p) { + if (!is.good()) throw runtime_error("Not enough elements to read for >>(istream&, Point).1"); + is >> p.x; + if (!is.good()) throw runtime_error("Not enough elements to read for >>(istream&, Point).2"); + is >> p.y; + if (!is.good()) throw runtime_error("Not enough elements to read for >>(istream&, Point).3"); + is >> p.z; + return is; +} + +/** + * Transforms a point by the given transformation. + * @param *alignxf The transformation (4x4 matrix) + */ +inline void Point::transform(const double *alignxf) +{ + double x_neu, y_neu, z_neu; + x_neu = x * alignxf[0] + y * alignxf[4] + z * alignxf[8]; + y_neu = x * alignxf[1] + y * alignxf[5] + z * alignxf[9]; + z_neu = x * alignxf[2] + y * alignxf[6] + z * alignxf[10]; + x = x_neu + alignxf[12]; + y = y_neu + alignxf[13]; + z = z_neu + alignxf[14]; +} + +/** + * Calculates the difference between two points. + * @param p The second point + */ + +inline double Point::distance(const Point &p) +{ + double distance; + distance = (p.x - x)*(p.x - x) + (p.y - y)*(p.y - y) + (p.z - z)*(p.z - z); + return sqrt(distance); +} + diff --git a/include/slam6d/point_type.h b/include/slam6d/point_type.h new file mode 100644 index 0000000..036c110 --- /dev/null +++ b/include/slam6d/point_type.h @@ -0,0 +1,243 @@ +/** + * @file + * @brief Representation of a 3D point type + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#ifndef __POINT_TYPE_H__ +#define __POINT_TYPE_H__ + +#include "point.h" +#include "data_types.h" + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +#include +#include + +class Scan; + + + +class PointType { +public: + + static const unsigned int USE_NONE; + static const unsigned int USE_REFLECTANCE; + static const unsigned int USE_AMPLITUDE; + static const unsigned int USE_DEVIATION; + static const unsigned int USE_HEIGHT; + static const unsigned int USE_TYPE; + static const unsigned int USE_COLOR; + static const unsigned int USE_TIME; + static const unsigned int USE_INDEX; + + PointType(); + + PointType(unsigned int _types); + + bool hasReflectance(); + bool hasAmplitude(); + bool hasDeviation(); + bool hasType(); + bool hasColor(); + bool hasTime(); + bool hasIndex(); + + unsigned int getReflectance(); + unsigned int getAmplitude(); + unsigned int getDeviation(); + unsigned int getTime(); + unsigned int getIndex(); + unsigned int getType(); + unsigned int getType(unsigned int type); + + + unsigned int getPointDim(); + + static PointType deserialize(std::ifstream &f); + + void serialize(std::ofstream &f); + unsigned int toFlags() const; + + template + T *createPoint(const Point &P, unsigned int index=0); + + template + Point createPoint(T *p); + + //! Aquire DataPointer objects from \a scan, determined by its types + void useScan(Scan* scan); + + //! Release the DataPointer objects + void clearScan(); + + //! Create a point with attributes via the DataPointers from the scan + template + T* createPoint(unsigned int i, unsigned int index = 0); + + //! Create an array with coordinate+attribute array per point with transfer of ownership + template + T** createPointArray(Scan* scan); + +private: + /** + * collection of flags + */ + unsigned int types; + /** + * Derived from types: 3 spatial dimensions + 1 for each flag set + **/ + unsigned int pointdim; + + /** + * Stores the size of each point in bytes + **/ + unsigned int pointbytes; + + /** + * Derived from types, to map type to the array index for each point + **/ + int dimensionmap[8]; + + bool hasType(unsigned int type); + + unsigned int getScanSize(Scan* scan); + + DataXYZ* m_xyz; + DataRGB* m_rgb; + DataReflectance* m_reflectance; + DataAmplitude* m_amplitude; + DataType* m_type; + DataDeviation* m_deviation; +}; + + +template +T *PointType::createPoint(const Point &P, unsigned int index ) { + unsigned int counter = 0; + + T *p = new T[pointdim]; + p[counter++] = P.x; + p[counter++] = P.y; + p[counter++] = P.z; + if (types & USE_REFLECTANCE) { + p[counter++] = P.reflectance; + } + if (types & USE_AMPLITUDE) { + p[counter++] = P.amplitude; + } + if (types & USE_DEVIATION) { + p[counter++] = P.deviation; + } + if (types & USE_TYPE) { + p[counter++] = P.type; + } + if (types & USE_COLOR) { + memcpy(&p[counter], P.rgb, 3); + counter++; + } + if (types & USE_TIME) { +// p[counter++] = P.timestamp; + } + if (types & USE_INDEX) { + p[counter++] = index; + } + + return p; +} + +template +Point PointType::createPoint(T *p) { + Point P; + unsigned int counter = 0; + + P.x = p[counter++]; + P.y = p[counter++]; + P.z = p[counter++]; + if (types & USE_REFLECTANCE) { + P.reflectance = p[counter++]; + } + if (types & USE_AMPLITUDE) { + P.amplitude = p[counter++]; + } + if (types & USE_DEVIATION) { + P.deviation = p[counter++]; + } + if (types & USE_TYPE) { + P.type = p[counter++]; + } + if (types & USE_COLOR) { + memcpy(P.rgb, &p[counter], 3); + counter++; + } + if (types & USE_TIME) { +// P.timestamp = p[counter++]; + } + + return P; +} + +template +T *PointType::createPoint(unsigned int i, unsigned int index) { + unsigned int counter = 0; + T* p = new T[pointdim]; + + for(unsigned int j = 0; j < 3; ++j) + p[counter++] = (*m_xyz)[i][j]; + + // if a type is requested try to write the value if the scan provided one + if (types & USE_REFLECTANCE) { + p[counter++] = (m_reflectance? (*m_reflectance)[i]: 0); + } + if (types & USE_AMPLITUDE) { + p[counter++] = (m_amplitude? (*m_amplitude)[i]: 0); + } + if (types & USE_DEVIATION) { + p[counter++] = (m_deviation? (*m_deviation)[i]: 0); + } + if (types & USE_TYPE) { + p[counter++] = (m_type? (*m_type)[i]: 0); + } + if (types & USE_COLOR) { + if(m_rgb) + memcpy(&p[counter], (*m_rgb)[i], 3); + else + p[counter] = 0; + counter++; + } + if (types & USE_TIME) { + } + if (types & USE_INDEX) { + p[counter++] = index; + } + + return p; +} + +template +T** PointType::createPointArray(Scan* scan) +{ + // access data with prefetching + useScan(scan); + + // create a float array with requested attributes by pointtype via createPoint + unsigned int nrpts = getScanSize(scan); + T** pts = new T*[nrpts]; + for(unsigned int i = 0; i < nrpts; i++) { + pts[i] = createPoint(i); + } + + // unlock access to data, remove unneccessary data fields + clearScan(); + + return pts; +} + +#endif diff --git a/include/slam6d/pointfilter.h b/include/slam6d/pointfilter.h new file mode 100644 index 0000000..a4c0107 --- /dev/null +++ b/include/slam6d/pointfilter.h @@ -0,0 +1,113 @@ +/** + * @file + * @brief IO filtering class for ScanIO to discard unwanted points. + * + * @author Thomas Escher + */ + +#ifndef POINT_FILTER_H +#define POINT_FILTER_H + +#include +#include + +class Checker; + + +/** + * Flexible filtering class for parsing a set of points. + * + * This class is configurable with parameters for range and height and can be transferred via the use of a parameter string. + * Use on a point set via repeated use of the check function, which creates the internal Checker structures once for each change to the parameters. The amount of tests is held as minimal as possible. + */ +class PointFilter +{ +public: + // Default empty constructor + PointFilter(); + //! Deserialization constructor, forms parameters back from a string given by getParams + PointFilter(const std::string& params); + ~PointFilter(); + + PointFilter& setRange(double maxDist, double minDist); + PointFilter& setHeight(double top, double bottom); + + //! Serialization function to convert it into a string, usable in the constructor + std::string getParams(); + + //! Check a point, returning success if all contained Checker functions accept that point (implemented in .icc) + inline bool check(double* point); +private: + //! Storage for parameter keys and values + std::map m_params; + + //! If either not created yet or parameters get changed, this flag will cause check to create a new Checker chain + bool m_changed; + + //! created in the first check call with the changed flag set + Checker* m_checker; + + //! Allocation of the checkers + void createCheckers(); + + // factory magic + template friend struct CheckerFactory; + static std::map* factory; +}; + +class Checker { +public: + Checker(); + ~Checker(); + + //! Testing function + virtual bool test(double* point) = 0; + + //! Next test in chain + Checker* m_next; +}; + +//! Factory integrating the create-function and adding it to the lookup map in an easy template +template +struct CheckerFactory { + //! Instanciate in the source code with the to be created class as template argument and associated key string as constructor argument + CheckerFactory(const std::string& key) { (*PointFilter::factory)[key] = CheckerFactory::create; } + //! Automated create function, safely returning a nullpointer if the constructor throws for unwanted values + static Checker* create(const std::string& value) { try { return new T(value); } catch(...) { return 0; } } +}; + +class CheckerRangeMax : public Checker { +public: + CheckerRangeMax(const std::string& value); + virtual bool test(double* point); +private: + double m_max; +}; + +class CheckerRangeMin : public Checker { +public: + CheckerRangeMin(const std::string& value); + virtual bool test(double* point); +private: + double m_min; +}; + +class CheckerHeightTop : public Checker { +public: + CheckerHeightTop(const std::string& value); + virtual bool test(double* point); +private: + double m_top; +}; + +class CheckerHeightBottom : public Checker { +public: + CheckerHeightBottom(const std::string& value); + virtual bool test(double* point); +private: + double m_bottom; +}; + +#include "pointfilter.icc" + +#endif //POINT_FILTER_H diff --git a/include/slam6d/pointfilter.icc b/include/slam6d/pointfilter.icc new file mode 100644 index 0000000..bff7366 --- /dev/null +++ b/include/slam6d/pointfilter.icc @@ -0,0 +1,22 @@ +bool PointFilter::check(double* point) +{ + // create a new checker chain + if(m_changed) { + createCheckers(); + // mark as unchanged to avoid recreation on further calls + m_changed = false; + } + + // apply all tests to the point + Checker* checker = m_checker; + while(checker) { + if(checker->test(point)) { + checker = checker->m_next; + } else { + // if even one test fails the point is discarded + return false; + } + } + // point has passed if all tests returned true + return true; +} diff --git a/include/slam6d/ptpair.h b/include/slam6d/ptpair.h new file mode 100644 index 0000000..83167e5 --- /dev/null +++ b/include/slam6d/ptpair.h @@ -0,0 +1,39 @@ +/** + * @file + * @brief Definition of point pairs + * + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __PTPAIR_H__ +#define __PTPAIR_H__ + +#include "slam6d/point.h" +#include +using std::endl; +#include +using std::ofstream; + +/** + * @brief Representing point pairs + */ +class PtPair { +public: + /** + * Constructor, by two 'point' pointers + */ + inline PtPair(double *_p1, double *_p2); + + inline PtPair(Point &p1, Point &p2); + + inline PtPair(); + + inline friend ostream& operator<<(ostream& os, const PtPair& pair); + + Point p1, ///< The two points forming the pair + p2; ///< The two points forming the pair +}; + +#include "ptpair.icc" +#endif diff --git a/include/slam6d/ptpair.icc b/include/slam6d/ptpair.icc new file mode 100644 index 0000000..80d25fd --- /dev/null +++ b/include/slam6d/ptpair.icc @@ -0,0 +1,35 @@ +/** + * @file + * @brief Implemetnations of point pairs + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +/** + * Constructor, by two 'point' pointers + */ +inline PtPair::PtPair(double *_p1, double *_p2) +{ + p1 = Point(_p1); + p2 = Point(_p2); +} + +inline PtPair::PtPair(Point &_p1, Point &_p2) +{ + p1 = Point(_p1); + p2 = Point(_p2); +} + +inline PtPair::PtPair() +{ + p1 = Point(); + p2 = Point(); +} + +/** + * Overridden "<<" operator for sending a pair to a stream + */ +inline ostream& operator<<(ostream& os, const PtPair& pair) { + os << pair.p1 << " - " << pair.p2 << endl; + return os; +} diff --git a/include/slam6d/scan.h b/include/slam6d/scan.h new file mode 100644 index 0000000..8a91344 --- /dev/null +++ b/include/slam6d/scan.h @@ -0,0 +1,413 @@ +#ifndef SCAN_H +#define SCAN_H + +#include "io_types.h" +#include "data_types.h" +#include "point_type.h" +#include "ptpair.h" + +#include +#include + +#include +#include + +//! SearchTree types +enum nns_type { + simpleKD, ANNTree, BOCTree +}; + +class Scan; +typedef std::vector ScanVector; + +class SearchTree; +class ANNkd_tree; + +/** HOWTO scan +First: Load scans (if you want to use the scanmanager, use ManagedScan) + + BasicScan/ManagedScan::openDirectory(path, type, start, end); + +Pass it to functions (by reference to link it to the same instance) or store it in a global variable + +After loading you might want to set parameters + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + scan->setHeightFilter(top, bottom); // thermo + scan->setReductionParameter(voxelSize, nrpts[, pointtype]); + scan->setSearchTreeParameter(nns_method, use_cuda); + } + +Access the contained data, will be loaded and calculated on demand + + DataXYZ xyz = scan->get("xyz"); + DataXYZ reduced = scan->get("xyz reduced"); + DataRGB rgb = scan->get("rgb"); + + xyz[i][0..2] + reflectance[i] + + unsigned int size = scan->size("xyz reduced"); + +In order to use the prefetching of all requested data field in the scanserver, mark them for use. This is relevant for efficiency, which would otherwise cause loading the files each time another data field is requested. + + scan->get(DATA_XYZ | DATA_RGB | ...); + +Under circumstances the data fields are not available (e.g. no color in uos-type scans) + + DataRGB rgb = scan->get("rgb"); + if(rgb.valid()) { ok, do something } + +If backward-compability to pointer arrays is needed, the PointerArray class can adapt + + BOctTree(PointerArray(scan->get("xyz")).get(), scan->size("xyz"), ...); + +If data isn't needed anymore, flag it for removal + + scan->clear("xyz"); + scan->clear(DATA_XYZ | DATA_RGB | ...); + +Creating data fields with the correct byte size + + scan->create("xyz somethingelse", sizeof(double)*3*N); + +Reading frames in show: + + unsigned int size = scan->readFrames(); + + const double* pose; + AlgoType type; + scan->getFrame(i, pose, type); + +Last, if program ends, clean up + + Scan::closeDirectory(scans); + +**/ + + + +/** + * This class bundles common features of different scan implementations by + * abstraction. It handles the algorithmic parts and leaves IO and other + * features to the deriving classes. + */ +class Scan { + //friend class SearchTree; // TODO: is this neccessary? +public: + enum AlgoType { + INVALID, ICP, ICPINACTIVE, LUM, ELCH, LOOPTORO, LOOPHOGMAN, GRAPHTORO, + GRAPHHOGMAN + }; + + // delete copy-ctor and assignment, scans shouldn't be copied by basic class + // Scan(const Scan& other) = delete; + // Scan& operator=(const Scan& other) = delete; + + virtual ~Scan(); + + //! Holder of all scans - also used in transform for adding frames for each scan at the same time + static std::vector allScans; + + /** + * Attempt to read a directory under \a path and return its read scans. + * No scans are loaded at this point, only checked if all exist. + * + * @param scanserver whether to use managed scans in the scanserver or not + * @param path to the directory containing the scans + * @param type determining which ScanIO to use + * @param start first scan to use + * @param end last scan to use, -1 means from start to last available + */ + static void openDirectory(bool scanserver, const std::string& path, IOType type, + int start, int end = -1); + + /** + * "Close" a directory by deleting all its scans and emptying the + * Scan::allScans vector. + */ + static void closeDirectory(); + + + /* Input filtering and parameter functions */ + + + //! Input filtering for all points based on their euclidean length + virtual void setRangeFilter(double max, double min) = 0; + + //! Input filtering for all points based on their height + virtual void setHeightFilter(double top, double bottom) = 0; + + //! Set reduction parameters, but don't reduce yet + virtual void setReductionParameter(double voxelSize, int nrpts = 0, + PointType pointtype = PointType()); + + //! Set SearchTree type, but don't create it yet + void setSearchTreeParameter(int nns_method, bool cuda_enabled); + + /** + * Set octtree parameters for show + * @param loadOct will load the serialized octtree from disk regardless + * @param saveOct serialize octtree if not loaded by loadOct after creation + */ + virtual void setOcttreeParameter(double reduction_voxelSize, + double octtree_voxelSize, PointType pointtype, + bool loadOct, bool saveOct); + + + /* Basic getter functions */ + + + inline const double* get_rPos() const; + inline const double* get_rPosTheta() const; + inline const double* get_rPosQuat() const; + //! Pose matrix after initial and match transformations (org+dalign) + inline const double* get_transMat() const; + //! Original pose matrix after initial transform + inline const double* get_transMatOrg() const; + //! Accumulated delta transformation matrix + inline const double* getDAlign() const; + + inline SearchTree* getSearchTree(); + inline ANNkd_tree* getANNTree() const; + + virtual const char* getIdentifier() const = 0; + + //! Determine the maximum number of reduced points in \a scans + static unsigned int getMaxCountReduced(ScanVector& scans); + + + /* Functions for altering data fields, implementation specific */ + + + /** + * Get the data field \a identifier, calculate it on demand if neccessary. + * + * If "xyz reduced" or "xyz reduced original" is requested, the reduction is + * started with "xyz" as input. + */ + virtual DataPointer get(const std::string& identifier) = 0; + + /** + * Load the requested IODataTypes, joined by |, from the scan file. + * + * This feature is neccessary to load multiple data fields at once, not all + * one by one with each get("...") access. + */ + virtual void get(unsigned int types) = 0; + + /** + * Creates a data field \a identifier with \a size bytes. + */ + virtual DataPointer create(const std::string& identifier, unsigned int size) = 0; + + /** + * Clear the data field \a identifier, removing its allocated memory if + * possible or marking it for prioritized removal. + */ + virtual void clear(const std::string& identifier) = 0; + + //! Extension to clear for more than one identifier, e.g. clear(DATA_XYZ | DATA_RGB); + void clear(unsigned int types); + + /** + * Get the size of \a identifier as if it were requested and size() called + * upon its type specialized DataPointer class. + * e.g size("xyz reduced") + */ + template + unsigned int size(const std::string& identifier) { + return (T(get(identifier))).size(); + } + + + /* Frame handling functions */ + + + /** + * Open the .frames-file and read its contents. If not read, the frame list + * will be empty. + * @return count of frames if file has been read, zero otherwise + */ + virtual unsigned int readFrames() = 0; + + /** + * Write the accumulated frames into a .frames-file. + */ + virtual void saveFrames() = 0; + + //! Count of frames + virtual unsigned int getFrameCount() = 0; + + //! Get contents of a frame, pass matrix pointer and type by reference + virtual void getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) = 0; + +protected: + /** + * Called from transform, this will add its current transMat pose with + * the given type as a frame into the list of frames + */ + virtual void addFrame(AlgoType type) = 0; + +public: + + + /* Direct creation of reduced points and search tree */ + + + //! Apply reduction and initial transMatOrg transformation + void toGlobal(); + + //! Copy reduced points to original and create search tree on it + void createSearchTree(); + + + /* Common transformation and matching functions */ + void mergeCoordinatesWithRoboterPosition(Scan* prevScan); + void transformAll(const double alignxf[16]); + void transformAll(const double alignQuat[4], const double alignt[3]); + + void transform(const double alignxf[16], + const AlgoType type, int islum = 0); + void transform(const double alignQuat[4], + const double alignt[3], const AlgoType type, int islum = 0); + void transformToMatrix(double alignxf[16], + const AlgoType type, int islum = 0); + void transformToEuler(double rP[3], double rPT[3], + const AlgoType type, int islum = 0); + void transformToQuat(double rP[3], double rPQ[4], + const AlgoType type, int islum = 0); + + // Scan matching functions + static void getPtPairs(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d); + static void getNoPairsSimple(std::vector &diff, + Scan* Source, Scan* Target, + int thread_num, + double max_dist_match2); + static void getPtPairsSimple(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, + double *centroid_m, double *centroid_d); + static void getPtPairsParallel(std::vector *pairs, + Scan* Source, Scan* Target, + int thread_num, int step, + int rnd, double max_dist_match2, + double *sum, + double centroid_m[OPENMP_NUM_THREADS][3], + double centroid_d[OPENMP_NUM_THREADS][3]); + +protected: + /** + * The pose of the scan + * Note: rPos/rPosTheta and transMat _should_ + * always represent the same pose!!! + */ + double rPos[3], //!< 3D position + rPosTheta[3], //!< 3D rotation in Euler representation + rQuat[4], //!< 3D rotation in Quaternion representation + transMat[16], //!< (4x4) transformation matrix + transMatOrg[16]; //!< The original pose of the scan, e.g., from odometry + + /** + * The dalignxf transformation represents the delta transformation virtually applied + * to the tree and is used to compute are actual corresponding points. + */ + double dalignxf[16]; + + //! Run ICP on GPU instead of CPU + bool cuda_enabled; + + //! Defines the method used for nearest neighbor search and which tree to use + int nns_method; + + //! SearchTree for point pair matching, works on the search points + SearchTree* kd; + + //! This KD tree is created only for the CUDA usages + ANNkd_tree* ann_kd_tree; + + //! Voxelsize of the octtree used for reduction + double reduction_voxelSize; + + //! Which point to take out of the reduction octtree, 0 for center + int reduction_nrpts; + + //! Pointtype used for the reduction octtree + PointType reduction_pointtype; + + //! Type of the searchtree to be created + int searchtree_nnstype; + + //! Use CUDA for searching + bool searchtree_cuda_enabled; + + //! Flag whether "xyz reduced" has been initialized for this Scan yet + bool m_has_reduced; + + //! Reduction value used for octtree input + double octtree_reduction_voxelSize; + + //! Voxelsize used in the octtree itself + double octtree_voxelSize; + + //! Pointtype for the Octtree + PointType octtree_pointtype; + + //! Flags to load or save the octtrees from/to storage + bool octtree_loadOct, octtree_saveOct; + + /** + * Basic initializing constructor calling the initalization function. + * Can only be called from deriving classes. + */ + Scan(); + + /** + * This function handles the reduction of points. It builds a lock for + * multithread-safety and calls caldReducedOnDemandPrivate. + * + * The intention is to reduce points, transforme them to the initial pose and + * then copy them to original for the SearchTree. + */ + void calcReducedOnDemand(); + + //! Create specific SearchTree variants matching the capability of the Scan + virtual void createSearchTreePrivate() = 0; + + //! Create reduced points in a multithread-safe environment matching the capability of the Scan + virtual void calcReducedOnDemandPrivate() = 0; + + //! Internal function of transform which alters the reduced points + void transformReduced(const double alignxf[16]); + + //! Internal function of transform which handles the matrices + void transformMatrix(const double alignxf[16]); + + //! Creating reduced points + void calcReducedPoints(); + + //! Copies reduced points to original points without any transformation. + void copyReducedToOriginal(); + + //! Inverse functionality of copyReducedToOriginal. + void copyOriginalToReduced(); + +private: + //! flag for openDirectory and closeDirectory to distinguish the scans + static bool scanserver; + + //! Mutex for safely reducing points and creating the search tree just once in a multithreaded environment + // it can not be compiled in wein32 use boost 1.48, therefore we remeove it temporarily +// boost::mutex m_mutex_reduction, m_mutex_create_tree; +}; + +#include "scan.icc" + +#endif //SCAN_H diff --git a/include/slam6d/scan.icc b/include/slam6d/scan.icc new file mode 100644 index 0000000..2a703cc --- /dev/null +++ b/include/slam6d/scan.icc @@ -0,0 +1,27 @@ +inline const double* Scan::get_rPos() const { + return rPos; +} + +inline const double* Scan::get_rPosTheta() const { + return rPosTheta; +} + +inline const double* Scan::get_rPosQuat() const { + return rQuat; +} + +inline const double* Scan::get_transMat() const { + return transMat; +} + +inline const double* Scan::get_transMatOrg() const { + return transMatOrg; +} + +inline const double* Scan::getDAlign() const { + return dalignxf; +} + +inline ANNkd_tree* Scan::getANNTree() const { + return ann_kd_tree; +} diff --git a/include/slam6d/searchCache.h b/include/slam6d/searchCache.h new file mode 100644 index 0000000..03f24ac --- /dev/null +++ b/include/slam6d/searchCache.h @@ -0,0 +1,22 @@ +/** + * @file + * @brief Representation of a general cache for search trees + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SEARCHCACHE_H__ +#define __SEARCHCACHE_H__ + +/** + * @brief The general Cache Item + * + * This class contains a general cache item + */ +class SearchTreeCacheItem +{ + public: + virtual ~SearchTreeCacheItem() {}; +}; + + +#endif diff --git a/include/slam6d/searchTree.h b/include/slam6d/searchTree.h new file mode 100644 index 0000000..e59f0a6 --- /dev/null +++ b/include/slam6d/searchTree.h @@ -0,0 +1,155 @@ +/** + * @file + * @brief Representation of a general search trees + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifndef __SEARCHTREE_H__ +#define __SEARCHTREE_H__ + +#include +using std::vector; + +#include "searchCache.h" +#include "ptpair.h" +#include "data_types.h" + +/** + * @brief The tree structure + * + * A tree holds the pointer to the data + **/ +class Tree { +public: + /** + * Destructor - deletes the tree + * pure virtual, i.e., must be implented by a derived class + */ + virtual inline ~Tree() {}; +}; + + +class Scan; +/** + * @brief The search tree structure + * + * A search tree holds the pointer to the data. + * Furthermore, search functionality must be privided + **/ +class SearchTree : public Tree { + friend class Scan; +public: + /** + * Constructor (default) + */ + inline SearchTree() {}; + + /** + * Constructor - Constructs a tree from the input. + * must be implented by a derived class + * @param pts 3D array of points + * @param n number of points + */ + SearchTree(double **pts, int n); + + /** + * Destructor - deletes the tree + * virtual, i.e., must be implented by a derived class + */ + virtual inline ~SearchTree() {}; + + /** + * Aquire a lock on this tree, signaling that its resources are in use. Neccessary for cached data in the scanserver. + */ + virtual inline void lock() {}; + + /** + * Release the lock on this tree, signaling that its resources are aren't in use anymore. Neccessary for cached data in the scanserver. + */ + virtual inline void unlock() {}; + + /** + * This Search function returns a pointer to the closest point + * of the query point within maxdist2. If there if no such point + * a 0-pointer might be returned. + * + * @param _p Pointer to query point + * @param maxdist2 Maximal distance for closest points + * @param threadNum If parallel threads share the search tree the thread num must be given + * @return Pointer to closest point + */ + virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const = 0 ; + + virtual void getPtPairs(vector *pairs, + double *source_alignxf, + double * const *q_points, unsigned int startindex, unsigned int endindex, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d); + + virtual void getPtPairs(vector *pairs, + double *source_alignxf, + const DataXYZ& xyz_r, unsigned int startindex, unsigned int endindex, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d); +}; + + +/** + * @brief The search tree structure + * + * A search tree holds the pointer to the data. + * Furthermore, search functionality must be privided + **/ +class CachedSearchTree : public SearchTree { +public: + /** + * Constructor (default) + */ + inline CachedSearchTree() {}; + + /** + * Constructor - Constructs a tree from the input. + * pure virtual, i.e., must be implented by a derived class + * @param pts 3D array of points + * @param n number of points + */ + CachedSearchTree(double **pts, int n, CachedSearchTree *_parent = 0); + + /** + * Destructor - deletes the tree + * pure virtual, i.e., must be implented by a derived class + */ + virtual inline ~CachedSearchTree() {}; + + /** + * This Search function returns a pointer to the closest point + * of the query point within maxdist2. This function searches from the + * root to the leafs. + * + * @param _p Pointer to query point + * @param maxdist2 Maximal distance for closest points + * @param threadNum If parallel threads share the search tree the thread num must be given + * @return A new cach Item + */ + virtual SearchTreeCacheItem* FindClosestCacheInit(double *_p, double maxdist2, int threadNum = 0) = 0; + + /** + * This Search function returns a pointer to the closest point + * of the query point within maxdist2. This function might be started + * from the leafs. + * + * @param _p Pointer to query point + * @param maxdist2 Maximal distance for closest points + * @param threadNum If parallel threads share the search tree the thread num must be given + * @return A new cach Item + */ + virtual SearchTreeCacheItem* FindClosestCache(double *_p, double maxdist2, int threadNum = 0) = 0; + double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { + return 0; + } +}; + + +#endif diff --git a/include/thermo/thermo.h b/include/thermo/thermo.h new file mode 100644 index 0000000..a75c2da --- /dev/null +++ b/include/thermo/thermo.h @@ -0,0 +1,36 @@ +#ifndef __THERMO_H__ +#define __THERMO_H__ + +#include +#include +#include +#include +using namespace std; +typedef vector > Float2D[1200][1600]; + +void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc); +void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet); +IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]); +void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color=false); +IplImage* resizeImage(IplImage *source, int scale); +IplImage* detectCorners(IplImage *orgimage, int corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale=1); +void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1); +void writeCalibParam(int images, int corner_exp, int board_w, CvMat* image_points, CvSize size, string dir); + +void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir, +IOType type, int scale, double rot_angle, double minDist, double maxDist, +bool correction, int neighborhood, int method=0); + +bool readPoints(string filename, CvPoint3D32f *corners, int size) ; +void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors); +void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat * +points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat +* distortions, CvMat * instrinsics, int corners, int successes, string dir, bool quiet=true, string substring = "") ; +void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet=true, string substring = "") ; +void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size); +void clusterSearch(float ** points, int size, double thresh1, double thresh2, fstream &outfile); +void sortDistances(float ** points, int size); +void ExtrCalibFunc(int board_w, int board_h, int start, int end, bool optical, bool chess, bool quiet, string dir, int scale=1); + + +#endif diff --git a/include/veloslam/cluster_classification.h b/include/veloslam/cluster_classification.h new file mode 100644 index 0000000..fbfb7cc --- /dev/null +++ b/include/veloslam/cluster_classification.h @@ -0,0 +1,19 @@ +#pragma once +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" + +class Cluster_Classification +{ +public: + Cluster_Classification(void); + ~Cluster_Classification(void); + +public: + svm_model *bus_classifier; + string *bus_classifier_filename; + svm_node *feature_nod; +}; + + + + diff --git a/include/veloslam/clusterboundingbox.h b/include/veloslam/clusterboundingbox.h new file mode 100644 index 0000000..0b28435 --- /dev/null +++ b/include/veloslam/clusterboundingbox.h @@ -0,0 +1,82 @@ +/** + * @file + * @brief calculate rectangle bounding box and minimal unregular bounding box for cluster + the rectangle bounding box can be inclined therefore it can better represent cluster + and vehicle direction,the result is stored as a clusterfeature in clusterFeatureArray + * + * @author Quanwen Zhu, Wuhan University, China + */ +#include +#include "veloslam/gridcluster.h" + + +using namespace std; + + struct PointID +{ + int cellIndex; + int pointIndexInCell; +}; + + struct BesiegePoint +{ + double x; + double y; + double angle; + PointID pointID; +}; + + struct OrientedBoundingBox +{ + + double angle; + double length; + double width; + double circumference; + double area; + double newMaxXPointX; + double newMaxXPointY; + + double newMaxYPointX; + double newMaxYPointY; + + double newMinXPointX; + double newMinXPointY; + + double newMinYPointX; + double newMinYPointY; + PointID boundingPointID[4]; +}; + + +class BoundingBox +{ +public: + BoundingBox(void); + ~BoundingBox(void); + void Initial(void); + double CalDirectionTwoPoints(double XPos1,double YPos1,double XPos2,double YPos2); + + void CalCoordsAftRotation(double x,double y,double *newX,double *newY,double theta); + + void CalAllBoundingBox( cluster &gluClusterData); + + void CalBestRectangleBox(cluster &gluClusterData,clusterFeature &glu); + + void CalMinBoundingBox(cluster &gluClusterData,clusterFeature &glu); + +private : + bool calCandidateBox; + + + /** + * all rectangle bounding box candidates + */ + vector allCandBox; + + /** + * unregular minBounding box points + */ + vector minBoundingBox; + +}; diff --git a/include/veloslam/color_util.h b/include/veloslam/color_util.h new file mode 100644 index 0000000..46f631e --- /dev/null +++ b/include/veloslam/color_util.h @@ -0,0 +1,113 @@ +#ifndef _COLOR_UTIL +#define _COLOR_UTIL + +#include "math_util.h" + +static int ColorTableShot[8][3]= +{ +// {255,255,255}, + {255,0,122}, + {255,255,0}, + {255,0,255}, + {0,255,255}, + {0,0,255}, + {255,122,0}, + // {255,0,0}, + {0,255,0}, + {139,0,139} + +}; + +static int ColorTableCircle[16][3]= +{ + {255,255,255}, + {255,122,255}, + {255,255,0}, + {255,122,0}, + {255,0,255}, + {255,0,122}, + {0,255,255}, + {0,255,122}, + {0,0,255}, + {0,0,122}, + {255,0,0}, + {122,0,0}, + {0,122,0}, + {0,255,0}, + {139,0,139}, + {139,122,139} + +}; + +#define JET_COLORS_LUT_SIZE 1024 +static float jet_colors[JET_COLORS_LUT_SIZE][3]; +static int jet_colors_initialized = 0; + +static inline void color_util_rand_color(float f[4], + double alpha, + double min_intensity) +{ + f[3] = alpha; + +again: + f[0] = randf(); + f[1] = randf(); + f[2] = randf(); + + float v = f[0] + f[1] + f[2]; + + // reject colors that are too dark + if (v < min_intensity) + goto again; +} + +/** Given an array of colors, a palette is created that linearly interpolates through all the colors. **/ +static void color_util_build_color_table(double color_palette[][3], + int palette_size, + float lut[][3], + int lut_size) +{ + for (int idx = 0; idx < lut_size; idx++) + { + double znorm = ((double) idx) / lut_size; + + int color_index = (palette_size - 1) * znorm; + double alpha = (palette_size - 1) * znorm - color_index; + + for (int i = 0; i < 3; i++) + { + lut[idx][i] = color_palette[color_index][i] * (1.0 - alpha) + color_palette[color_index+1][i]*alpha; + } + } +} + + +static void init_color_table_jet() +{ + double jet[][3] = {{ 0, 0, 1 }, + { 0, .5, .5 }, + { .8, .8, 0 }, + { 1, 0, 0 }}; + + color_util_build_color_table( + jet, + sizeof(jet)/(sizeof(double)*3), + jet_colors, + JET_COLORS_LUT_SIZE); + + jet_colors_initialized = 1; +} + +static inline float *color_util_jet(double v) +{ + if (!jet_colors_initialized) + init_color_table_jet(); + + v = fmax(0, v); + v = fmin(1, v); + + int idx = (JET_COLORS_LUT_SIZE - 1) * v; + return jet_colors[idx]; +} + +#endif diff --git a/include/veloslam/debugview.h b/include/veloslam/debugview.h new file mode 100644 index 0000000..6212934 --- /dev/null +++ b/include/veloslam/debugview.h @@ -0,0 +1,56 @@ +#pragma once + +#include +#include +#include "veloslam/veloscan.h" +#include "veloslam/tracker.h" + +#include /* OpenGL header file */ +#include /* OpenGL utilities header file */ + +#ifdef _MSC_VER +#include +#else +#include +#endif + +/** for Glut display mode */ +#define RGBA 4 ///< colors for GLUT display +#define RGB 3 ///< colors for GLUT display +extern GLenum buffermode_debugView; + +extern void StartShow(); + +void GetCurrecntdelteMat(Scan& CurrentScan , double *deltaMat); + +void DrawText(float x, float y, float z, char * outputstring); +void DrawTextRGB(float x, float y, float z, float r, float g, float b, char * outputstring); +void DrawTextRGB(Point P, float r, float g, float b, char * outputstring); + +void Draw_Line_GL_RGB(float x1, float y1, float z1, float x2, float y2, float z2, float r,float g,float b,float width=1.0); +void Draw_Line_GL(float x1, float y1, float z1, float x2, float y2, float z2); +void Draw_Line_GL_RGB(Point P1, Point P2, int width, float r,float g,float b, bool arrow); + +void Draw_Cube_GL_RGB(float min_x, float min_y, float min_z, + float max_x, float max_y, float max_z, + float r,float g,float b); + +void Draw_Inclined_Cube_GL_RGB(double rectangleVexPos[4][2],double min_z,double max_z, + float r,float g,float b,float width=1.0); + +void DrawPointsRGB(Point p, float r, float g, float b); +void DrawPoint(Point p, int size , float r, float g, float b); +void DrawPoint(Point p, int size , float r, float g, float b, double deltaMat[16]); + +int DrawAll_ScanPoints_Number(vector allScans, int psize, float r, float g, float b, int n); + + +void glDumpWindowPPM_debugView(const char *filename, GLenum mode); + +static void Reshape(int w, int h); +static void SpecialKey(int key, int x, int y); +static void Draw(void); +int Show(int frameno); + + + diff --git a/include/veloslam/gridcell.h b/include/veloslam/gridcell.h new file mode 100644 index 0000000..5cd9e83 --- /dev/null +++ b/include/veloslam/gridcell.h @@ -0,0 +1,57 @@ +锘#ifndef __GRID_CELL_H__ +#define __GRID_CELL_H__ + +#ifdef _MSC_VER +#define snprintf _snprintf +#undef _STDIO_DEFINED +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/scan.h" +#include +#include +using std::string; +#include +using std::vector; + +typedef std::vector charv; +typedef std::vector charvv; + +#define CELL_TYPE_INVALID 0x00000001 +#define CELL_TYPE_ABOVE_DELTA_R 0x00000002 +#define CELL_TYPE_BELOW_DELTA_R 0x00000004 +#define CELL_TYPE_ABOVE_DELTA_Y 0x00000008 +#define CELL_TYPE_BELOW_DELTA_Y 0x00000010 +#define CELL_TYPE_ABOVE_R 0x00000020 +#define CELL_TYPE_BELOW_R 0x00000040 +#define CELL_TYPE_ABOVE_LIDAR 0x00000080 +#define CELL_TYPE_IN_OBSTACLE_RANGE 0x00000100 +#define CELL_TYPE_STATIC 0x00000200 +#define CELL_TYPE_MOVING 0x00000400 +#define CELL_TYPE_GROUND 0x00000800 + +typedef std::vector cell; +typedef std::vector cellColumn; +typedef std::vector cellArray; + +class cellFeature +{ +public: + float ave_x,ave_y,ave_z; + float min_x,min_y,min_z; + float max_x,max_y,max_z; + float delta_y; + + int circleNum; + int size; + unsigned int cellType; + cell* pCell; + + int columnID; + int cellID; +}; + +typedef std::vector cellFeatureColumn; +typedef std::vector cellFeatureArray; + +#endif //__GRID_CELL_H__ diff --git a/include/veloslam/gridcluster.h b/include/veloslam/gridcluster.h new file mode 100644 index 0000000..d9f6d21 --- /dev/null +++ b/include/veloslam/gridcluster.h @@ -0,0 +1,58 @@ +锘#ifndef __GRID_CLUSTER_H__ +#define __GRID_CLUSTER_H__ + +#include "slam6d/scan.h" +#include "veloslam/gridcell.h" + +#define CUDE_TYPE_ABOVE_LIDAR 0x00000001 +#define CUDE_TYPE_IN_OBSTACLE_RANGE 0x00000002 +#define CUDE_TYPE_CONTAIN_SICK 0x00000400 + +#define CLUSTER_FEATURE_TYPE_OBJECT 0x00000001 + +#define CLUSTER_TYPE_MOVING_OBJECT 0x00000002 +#define CLUSTER_TYPE_MOVING_OBJECT_PEDESTRIAN 0x00000004 +#define CLUSTER_TYPE_MOVING_OBJECT_BICYCLE 0x00000008 +#define CLUSTER_TYPE_MOVING_OBJECT_CAR 0x00000010 +#define CLUSTER_TYPE_MOVING_OBJECT_ BUS 0x00000020 + +#define CLUSTER_TYPE_STATIC_OBJECT 0x00010000 +#define CLUSTER_TYPE_STATIC_OBJECT_BUILDING 0x00020000 +#define CLUSTER_TYPE_STATIC_OBJECT_BILLBOARD 0x00040000 +#define CLUSTER_TYPE_STATIC_OBJECT_SCULPTURE 0x00080000 + +#define CLUSTER_TYPE_STATIC_OBJECT_PLANT 0x00100000 +#define CLUSTER_TYPE_STATIC_OBJECT_TREE 0x00200000 +#define CLUSTER_TYPE_STATIC_OBJECT_SHRUB 0x00400000 + +class clusterFeature +{ +public: + float min_x,min_y,min_z; + float max_x,max_y,max_z; + float avg_x, avg_y, avg_z; + float min_y_x, max_y_x; + float size_x,size_y,size_z; + float speed_x, speed_y, speed; + + float theta, radius; + int size; + + float length; + float width; + float boxDirection; + double boxVex[4][2]; + + int frameNO; //in which scan + int selfID; //which number in clusters + int trackNO; //which track log it + + int pointNumber; + unsigned int clusterType; +}; + +typedef std::vector cluster; +typedef std::vector clusterArray; +typedef std::vector clusterFeatureArray; + +#endif //__GRID_CLUSTER_H__ diff --git a/include/veloslam/intersection_detection.h b/include/veloslam/intersection_detection.h new file mode 100644 index 0000000..312e307 --- /dev/null +++ b/include/veloslam/intersection_detection.h @@ -0,0 +1,59 @@ + +#include "veloslam/gridcell.h" +#include "veloslam/gridcluster.h" +#include "veloslam/svm.h" + +float absf(float a); + +struct IntersectionFeature +{ + float angle; + float slashLength; + int slashEndColumn; + int slashEndRow; +}; + +class IntersectionDetection +{ +public: + IntersectionDetection(); + ~IntersectionDetection(); + + + int GetPointData(); + int CalcRadAndTheta(); + int CalPointCellPos(double x,double y,double z ,int * column,int * row); + int CalCellMinDis(); + int TransferToCellArray(); + + int CalcAllCellFeature(); + int CalcCellFeature(cell& cellobj, cellFeature& f); + int CalWideSlashEdge_For_RoadShape(float Angle,int startColumID,int startRowID,float maxLength,float wide); + int DetectIntersection(); + + +private: + + int cellSize; + int columnNum; + int cellNum; + int MinRad; + int MaxRad; + + + vector allPoints_AfterRegstn; + cellArray cellArray_AfterRegstn; + cellFeatureArray cellFeatureArray_AfterRegstn; + float slashWide; + float slashMaxLength; + float slashAngleDefinition; + vector minCellDisList; + vector intersectionFeature; + + + /* clusterArray clusterArrayAfterRegstn; + clusterFeatureArray clusterFeatureArray_AfterRegstn; +*/ + + +}; \ No newline at end of file diff --git a/include/veloslam/kalmanfilter.h b/include/veloslam/kalmanfilter.h new file mode 100644 index 0000000..57be749 --- /dev/null +++ b/include/veloslam/kalmanfilter.h @@ -0,0 +1,77 @@ +/***************By yuanjun**************************/ +#pragma once + +#include "veloslam/veloscan.h" +#include "veloslam/matrix.h" + +using namespace std; + +typedef struct _X_state +{ + float x_position; + float z_positon; + float x_speed; + float z_speed; + +}ObjectState; + +typedef struct _Z_measurement +{ + float x_measurement; + float z_measurement; +}Measurement; + +class KalmanFilter +{ +public: + KalmanFilter(); + KalmanFilter(clusterFeature &glu,double rollAngle); + ~KalmanFilter(void); + + void InitialKalmanFilter(clusterFeature &glu); + + void timeUpdate(); + + void stateUpdate(clusterFeature &glu,double rollAngle,double *pos); + + ObjectState GetCurrentState(); + + ObjectState GetPredictState(); + + Measurement GetPredictMeasurement(double rollAngle,double *pos); + + CMatrix CalMeasureDeviation(); + + KalmanFilter& operator = (const KalmanFilter& anotherKF); + + void CalCoorRoll(double angle); + +public: + + CMatrix A; + + CMatrix H; + + CMatrix X1; + + CMatrix X2; + + CMatrix Z; + + CMatrix K; + + CMatrix Q; + + CMatrix R; + + CMatrix P1; + + CMatrix P2; + + CMatrix CoordinateRoll; + + double angle; +}; + + + diff --git a/include/veloslam/lap.h b/include/veloslam/lap.h new file mode 100644 index 0000000..f541f00 --- /dev/null +++ b/include/veloslam/lap.h @@ -0,0 +1,43 @@ +/************************************************************************ +* +* lap.cpp + version 1.0 - 4 September 1996 + author: Roy Jonker @ MagicLogic Optimization Inc. + e-mail: roy_jonker@magiclogic.com + + Code for Linear Assignment Problem, according to + + "A Shortest Augmenting Path Algorithm for Dense and Sparse Linear + Assignment Problems," Computing 38, 325-340, 1987 + + by + + R. Jonker and A. Volgenant, University of Amsterdam. +* +*************************************************************************/ + +#include +#include +#include +#include + +using namespace std; + +#define BIG 100000 + +#if !defined TRUE +#define TRUE 1 +#endif +#if !defined FALSE +#define FALSE 0 +#endif + +typedef int Boolean; +typedef int row; +typedef int col; +typedef double cost; + +cost lap(int dim, cost **assigncost,col *rowsol, row *colsol,cost *u,cost *v); + +void checklap(int dim,cost **assigncost,col *rowsol,row *colsol,cost *u,cost *v); + diff --git a/include/veloslam/math_util.h b/include/veloslam/math_util.h new file mode 100644 index 0000000..d206f21 --- /dev/null +++ b/include/veloslam/math_util.h @@ -0,0 +1,144 @@ +#ifndef _MATHUTIL_H +#define _MATHUTIL_H + +#include +#include +#include +#include + +#ifndef _MSC_VER +#define _finite finite +#endif + +//#define INFINITY FLT_MAX +#define M_PI 3.14159265358979323846 +//#define M_PI_2 3.14159265358979323846*2 +//#define NAN 0 + +#define to_radians(x) ( (x) * (M_PI / 180.0 )) +#define to_degrees(x) ( (x) * (180.0 / M_PI )) + +void sincos(double ra, double * sinra, double* cosra); +int isless(double x, double y); + + +//inline int isfinite(double x) { return _finite(x); } + +static inline double sq(double v) +{ + return v*v; +} + +static inline double sgn(double v) +{ + return (v>=0) ? 1 : -1; +} + +// random number between [0, 1) +static inline float randf() +{ + return ((float) rand()) / (RAND_MAX + 1.0); +} + + +static inline float signed_randf() +{ + return randf()*2 - 1; +} + +#ifdef _MSC_VER +static inline double fmin(double a, double b) +{ + return (a < b) ? a : b; +} + +static inline double fmax(double a, double b) +{ + return (a > b) ? a : b; +} +#endif +// return a random integer between [0, bound) +static inline int irand(int bound) +{ + int v = (int) (randf()*bound); + assert(v >= 0); + assert(v < bound); + return v; +} + +#ifndef PI +#define PI 3.14159265358979323846264338 +#endif + +#define TWOPI_INV (0.5/PI) +#define TWOPI (2*PI) + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +static inline int theta_to_int(double theta, int max) +{ + theta = mod2pi_ref(M_PI, theta); + int v = (int) (theta / ( 2 * M_PI ) * max); + + if (v==max) + v = 0; + + assert (v >= 0 && v < max); + + return v; +} + +static inline int imin(int a, int b) +{ + return (a < b) ? a : b; +} + +static inline int imax(int a, int b) +{ + return (a > b) ? a : b; +} + +static inline float fmin(float a, float b) +{ + return (a < b) ? a : b; +} + +static inline float fmax(float a, float b) +{ + return (a > b) ? a : b; +} + +static inline int iclamp(int v, int minv, int maxv) +{ + return imax(minv, imin(v, maxv)); +} + +static inline double fclamp(double v, double minv, double maxv) +{ + return fmax(minv, fmin(v, maxv)); +} + + +#endif diff --git a/include/veloslam/matrix.h b/include/veloslam/matrix.h new file mode 100644 index 0000000..fdb0a22 --- /dev/null +++ b/include/veloslam/matrix.h @@ -0,0 +1,181 @@ +///////////////////////////////////////////////////////////////////////////// +// Matrix.h : +// Interface of the class CMatrix +// Author : freeia +// Modified Date : 3/11/2003 +// E-mail : freeia@163.com +// Company/School : hdcad +///////////////////////////////////////////////////////////////////////////// + +#ifndef _MATRIX_H +#define _MATRIX_H + +#include + +using namespace std; + +typedef vector VDOUBLE; +typedef vector TMatrix; + + +class CMatrix +{ + + /************************************************************************ + * the interface function of the class CMatrix * + ************************************************************************/ +public: + + ///////////////////////////////////////////////////////////////////////// + // Construction and Destruction + CMatrix(); + + CMatrix(CMatrix& cMatrixB); + + ~CMatrix(); + + TMatrix m_pTMatrix; + + ///////////////////////////////////////////////////////////////////////// + // According to the parameters nRow & nCol to construct a matrix + CMatrix(unsigned int nRow, unsigned int nCol); + + + ///////////////////////////////////////////////////////////////////////// + // This function initialize the matrix : + // the matrix which has been initialized has 0 row & 0 column, and + // all elements in it is zeros. + // + void Initialize(); + + ///////////////////////////////////////////////////////////////////////// + // This function initialize the matrix : + // all elements in it is zeros. + // + void InitializeZero(); + + ///////////////////////////////////////////////////////////////////////// + // To make random in the elements of the matrix and the elements of the + // matrix has been randomized between -1 and 1.These elements must be + // decimal fractions. + // + void RandomInitialize(); + + ///////////////////////////////////////////////////////////////////////// + // Overload Operations + + // 'CMatrix + CMatrix' + CMatrix operator + (CMatrix& cMatrixB); + // 'CMatrix - CMatrix' + CMatrix operator - (CMatrix& cMatrixB); + // 'CMatrix * CMatrix' + CMatrix operator * (CMatrix& cMatrixB); + // 'CMatrix * double' + CMatrix operator * (double nValue); + // 'CMatrix = CMatrix' + CMatrix& operator = (CMatrix& cMatrixB); + CMatrix& operator = (const CMatrix& cMatrixB); + // 'CMatrix += CMatrix' + CMatrix& operator += (CMatrix& cMatrixB); + // 'CMatrix .* CMatrix' + CMatrix operator / (CMatrix& cMatrixB); + + CMatrix Transpose(); + + ///////////////////////////////////////////////////////////////////////// + // Inverse the matrix + // + CMatrix Inverse(); + + unsigned int GetMatrixRowNumber() const + { + return m_nRow; + } + + ///////////////////////////////////////////////////////////////////////// + // Get the matrix Colum Number + // + unsigned int GetMatrixColNumber() const + { + return m_nCol; + } + + void CopySubMatrixFromVector(CMatrix& cMatrix,unsigned int nIndex); + + void CopySubMatrix(CMatrix& cMatrix,unsigned int nStartX,unsigned int nStartY); + + void CopyMatrix(CMatrix& cMatrix); + + CMatrix MergeColumnsToColumnVector(); + + CMatrix Sigmoid(); + + CMatrix SigmoidDerivative(); + + CMatrix tanh(); + + CMatrix tanhDerivative(); + + CMatrix Tansig(); + + CMatrix TansigDerivative(); + + void MakeAllColumnElementsSameValue(unsigned int nRowIndex); + + void Eye(); + + double GetSystemError() const; + + CMatrix AbsoluteValue(); + + void GetMatrixData(CMatrix& cMatrix, unsigned int nIndex); + + void SetMatrixData(CMatrix& cMatrix, unsigned int nIndex); + + + void GetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow); + + + void SetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow); + + ///////////////////////////////////////////////////////////////////////// + // Get the total value of the matrix + double GetTotalElementValue(); + + + void nncpyi(CMatrix &cMatrix, unsigned int nTimes); + + + void nncpyd(CMatrix &cMatrix); + + + void nncpy (CMatrix& cMatrix, unsigned int nTimes); + + + +public: + + unsigned int m_nRow; + unsigned int m_nCol; + + + void SetMatrixRowNumber(unsigned int nRow); + + void SetMatrixColNumber(unsigned int nCol); + + void SetMatrixRowAndCol(unsigned int nRow,unsigned int nCol); + + void SwapMatrixRow(unsigned int nRow1,unsigned int nRow2); + + void SwapMatrixCol(unsigned int nCol1,unsigned int nCol2); +}; + + +///////////////////////////////////////////////////////////////////////////// +// overload operator 'double - CMatrix' +CMatrix operator - (double nValue,CMatrix& cMatrixB); + +CMatrix MergeMatrix(CMatrix& cMatrixA,CMatrix& cMatrixB); + + +#endif // _MATRIX_H \ No newline at end of file diff --git a/include/veloslam/multiscan_random_field.h b/include/veloslam/multiscan_random_field.h new file mode 100644 index 0000000..c158cde --- /dev/null +++ b/include/veloslam/multiscan_random_field.h @@ -0,0 +1,14 @@ +#pragma once +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" + +class Random_field +{ +public: + Random_field(void); + ~Random_field(void); + +public: + +}; + diff --git a/include/veloslam/pcddump.h b/include/veloslam/pcddump.h new file mode 100644 index 0000000..3724847 --- /dev/null +++ b/include/veloslam/pcddump.h @@ -0,0 +1,9 @@ +#pragma once + +#include +#include +#include "veloslam/veloscan.h" +#include "veloslam/tracker.h" + +void DumpPointtoFile(cluster &gluData1, string filename); +void DumpFeaturetoFile(clusterFeature &glu, string filename); diff --git a/include/veloslam/svm.h b/include/veloslam/svm.h new file mode 100644 index 0000000..dbc5e08 --- /dev/null +++ b/include/veloslam/svm.h @@ -0,0 +1,101 @@ +#ifndef _LIBSVM_H +#define _LIBSVM_H + +#define LIBSVM_VERSION 311 + +#ifdef __cplusplus +extern "C" { +#endif + +extern int libsvm_version; + +struct svm_node +{ + int index; + double value; +}; + +struct svm_problem +{ + int l; + double *y; + struct svm_node **x; +}; + +enum { C_SVC, NU_SVC, ONE_CLASS, EPSILON_SVR, NU_SVR }; /* svm_type */ +enum { LINEAR, POLY, RBF, SIGMOID, PRECOMPUTED }; /* kernel_type */ + +struct svm_parameter +{ + int svm_type; + int kernel_type; + int degree; /* for poly */ + double gamma; /* for poly/rbf/sigmoid */ + double coef0; /* for poly/sigmoid */ + + /* these are for training only */ + double cache_size; /* in MB */ + double eps; /* stopping criteria */ + double C; /* for C_SVC, EPSILON_SVR and NU_SVR */ + int nr_weight; /* for C_SVC */ + int *weight_label; /* for C_SVC */ + double* weight; /* for C_SVC */ + double nu; /* for NU_SVC, ONE_CLASS, and NU_SVR */ + double p; /* for EPSILON_SVR */ + int shrinking; /* use the shrinking heuristics */ + int probability; /* do probability estimates */ +}; + +// +// svm_model +// +struct svm_model +{ + struct svm_parameter param; /* parameter */ + int nr_class; /* number of classes, = 2 in regression/one class svm */ + int l; /* total #SV */ + struct svm_node **SV; /* SVs (SV[l]) */ + double **sv_coef; /* coefficients for SVs in decision functions (sv_coef[k-1][l]) */ + double *rho; /* constants in decision functions (rho[k*(k-1)/2]) */ + double *probA; /* pariwise probability information */ + double *probB; + + /* for classification only */ + + int *label; /* label of each class (label[k]) */ + int *nSV; /* number of SVs for each class (nSV[k]) */ + /* nSV[0] + nSV[1] + ... + nSV[k-1] = l */ + /* XXX */ + int free_sv; /* 1 if svm_model is created by svm_load_model*/ + /* 0 if svm_model is created by svm_train */ +}; + +struct svm_model *svm_train(const struct svm_problem *prob, const struct svm_parameter *param); +void svm_cross_validation(const struct svm_problem *prob, const struct svm_parameter *param, int nr_fold, double *target); + +int svm_save_model(const char *model_file_name, const struct svm_model *model); +struct svm_model *svm_load_model(const char *model_file_name); + +int svm_get_svm_type(const struct svm_model *model); +int svm_get_nr_class(const struct svm_model *model); +void svm_get_labels(const struct svm_model *model, int *label); +double svm_get_svr_probability(const struct svm_model *model); + +double svm_predict_values(const struct svm_model *model, const struct svm_node *x, double* dec_values); +double svm_predict(const struct svm_model *model, const struct svm_node *x); +double svm_predict_probability(const struct svm_model *model, const struct svm_node *x, double* prob_estimates); + +void svm_free_model_content(struct svm_model *model_ptr); +void svm_free_and_destroy_model(struct svm_model **model_ptr_ptr); +void svm_destroy_param(struct svm_parameter *param); + +const char *svm_check_parameter(const struct svm_problem *prob, const struct svm_parameter *param); +int svm_check_probability_model(const struct svm_model *model); + +void svm_set_print_string_function(void (*print_func)(const char *)); + +#ifdef __cplusplus +} +#endif + +#endif /* _LIBSVM_H */ diff --git a/include/veloslam/tracker.h b/include/veloslam/tracker.h new file mode 100644 index 0000000..436a544 --- /dev/null +++ b/include/veloslam/tracker.h @@ -0,0 +1,44 @@ +#pragma once +#include "veloslam/veloscan.h" +#include "veloslam/kalmanfilter.h" +#include + +using namespace std; + +struct MoveState +{ + ObjectState targetState; + int frameNo; +}; + +class Tracker +{ +public: + Tracker(void); + Tracker(clusterFeature &glu,double rollAngle);//added by yuanjun + Tracker(const Tracker ©Tracker);//added by yuanjun + ~Tracker(void); + void TrackerReset();//added by yuanjun + + // for log all the cluster for tracking + deque statusList; + deque dataList; + // log the tracker is or not Matched. + + // bool Matched or not; + bool missMatch; + //for log Cluster ID in lastScan. + int matchClusterID; + //show different color. + int colorIdx; + // for log the lift length trackerID + int trackerID; + + int missedTime;//added by yuanjun + KalmanFilter kalmanFilter;//added by yuanjun + vector moveStateList;//added by yuanjun + + //feature for movement + float moving_distance; +}; + diff --git a/include/veloslam/trackermanager.h b/include/veloslam/trackermanager.h new file mode 100644 index 0000000..d7e2fe0 --- /dev/null +++ b/include/veloslam/trackermanager.h @@ -0,0 +1,83 @@ +#pragma once + +#include +#include +#include "slam6d/scan.h" +#include "veloslam/tracker.h" + +//#define NO_SLIDING_WINDOW + +using namespace std; +extern float constant_static_or_moving; +struct ClusterStatus +{ + bool FilterRet; + bool Matched; +}; + +int GetScanID_in_SlidingWindow(int absNO, int current_pos, int window_size); + + +class TrackerManager +{ +public: + TrackerManager(void); + + ~TrackerManager(void); + + int Init(void); + + int getNumberofTracker(void); + + int HandleScan(VeloScan& scanRef,int trackingAlgo); + + int ClassifiyTrackersObjects(vector allScans, int currentNO ,int windowsize); + + static bool TrackerFilter(clusterFeature &glu, cluster &gluData); + + void TrackerManagerReset(); //added by yuanjun + + void GetTwoScanRoll(Scan *CurrentScan, Scan *preScan);//added by yuanjun + ///////////////////////////////////////////////////////////////// + int DrawEgoTrajectory(); + + int DrawTrackersMovtion_Long_Number_All(vector allScans, int n); + + int DrawTrackersContrailAfterFilted(vector allScans); + ////////////////////////////////////////////////////////////////// +public: + int ListTrackers(); + + int UpdateTrackers(VeloScan& scanRef); + + int UpdateClustersPoistioninTrackers(); + + int AddTrackers(VeloScan& scanRef); + + int MatchTrackers(VeloScan& scanRef,Tracker& tracker,float kg); + + int CalculateTrackersFeature(vector allScans, int currentNO ,int windowsize); + + int MarkClassifiyTrackersResult(vector allScans, int currentNO ,int windowsize); + + int RemoveNoUsedTracker(VeloScan& scanRef); + + int FilterObject(VeloScan& scanRef); + + CMatrix ConstructCostMatrix(VeloScan &scanRef,int *clusterIndex); + + int MatchTracksWithClusters(VeloScan &scanRef); + + list tracks; + //log the new trackerNo should begin + int trackerStartID; + //only for draw the color + int colorIdx; + //log the cluster status such as bool FilterRet; bool Matched; + vector clusterStatus; //should move in cluster struct + + double delta_Theta[3], delta_Pos[3], rollAngle;//added by yuanjun + + //VeloScan *preScan; //added by yuanjun +}; + diff --git a/include/veloslam/velodefs.h b/include/veloslam/velodefs.h new file mode 100644 index 0000000..b26b2e3 --- /dev/null +++ b/include/veloslam/velodefs.h @@ -0,0 +1,16 @@ +#ifndef __SCAN_VELODEFS_H__ +#define __SCAN_VELODEFS_H__ + +#define POINT_TYPE_INVALID 0x00000001 +#define POINT_TYPE_ABOVE_DELTA_R 0x00000002 +#define POINT_TYPE_BELOW_DELTA_R 0x00000004 +#define POINT_TYPE_ABOVE_DELTA_Y 0x00000008 +#define POINT_TYPE_BELOW_DELTA_Y 0x00000010 +#define POINT_TYPE_ABOVE_R 0x00000020 +#define POINT_TYPE_BELOW_R 0x00000040 +#define POINT_TYPE_STATIC_OBJECT 0x00000080 +#define POINT_TYPE_MOVING_OBJECT 0x00000100 +#define POINT_TYPE_GROUND 0x00000200 + + +#endif diff --git a/include/veloslam/veloscan.h b/include/veloslam/veloscan.h new file mode 100644 index 0000000..44f0247 --- /dev/null +++ b/include/veloslam/veloscan.h @@ -0,0 +1,87 @@ +/** + * @file + * @brief Representation of a 3D scan and implementation of scan matching + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifndef __VELOSCAN_H__ +#define __VELOSCAN_H__ + +#ifdef _MSC_VER +#define snprintf _snprintf +#undef _STDIO_DEFINED +#define _USE_MATH_DEFINES +#endif + +#include +#include + +#include "slam6d/scan.h" +#include "veloslam/gridcell.h" +#include "veloslam/gridcluster.h" + +bool FilterNOMovingObjcets(clusterFeature &glu, cluster &gluData); + +class Trajectory +{ + public: + Trajectory(); + public: + vector path; +}; + + +/** + * @brief 3D scan representation and implementation of dynamic velodyne scan matching + */ +class VeloScan : public Scan { + +public: + VeloScan(); + VeloScan(const VeloScan& s); + ~VeloScan(); + +public: + // FIXME + void FindingAllofObject(int maxDist, int minDist); + void TrackingAllofObject(int trackingAlgo); + void ExchangePointCloud(); + void ClassifiAllofObject(); + + int DumpScan(string filename); + int DumpScanRedPoints(string filename); + int DeletePoints(); + + int CalcRadAndTheta(); + int TransferToCellArray(int maxDist, int minDist); + + void MarkStaticorMovingPointCloud(); + void FreeAllCellAndCluterMemory(); + void ClassifiAllObject(); + void ClassifibyTrackingAllObject(int currentNO ,int windowsize); + void calcReducedPoints_byClassifi(double voxelSize, int nrpts, PointType pointtype); + + int CalcScanCellFeature(); + int CalcCellFeature(cell& cellobj,cellFeature& f); + int FindAndCalcScanClusterFeature(); + int SearchNeigh(cluster& clu,charvv& flagvv,int i,int j); + int CalcClusterFeature(cluster& clu,clusterFeature& f); + void SaveObjectsInPCD(int index, cluster &gClusterData ); + void SaveFrameInPCD( ); + + bool isTrackerHandled; + long scanid; + + /** scanCellFeatureArray */ + cellArray scanCellArray; + cellFeatureArray scanCellFeatureArray; + + clusterArray scanClusterArray; + clusterFeatureArray scanClusterFeatureArray; + + int clusterNum;//the number of clusters to be tracked, added by yuanjun +}; + +#endif diff --git a/manifest.xml b/manifest.xml new file mode 100644 index 0000000..dbeb311 --- /dev/null +++ b/manifest.xml @@ -0,0 +1,21 @@ + + + Slam6D - This project consists of a software to register 3D point clouds + into a common coordinate system, as well as a viewer to display the szene. + For the registration, different ICP minimizing algorithms can be chosen, + as well as global relaxation methods, aiming at generating an overall + globally consistent szene. Several formats for the point clouds are + supported, new formats can be implemented easily. + + Andreas Nuechter, Kai Lingemann, Jochen Sprickerhof, Dorit Borrmann, Jan Elseberg + GPL + + https://slam6d.svn.sourceforge.net/svnroot/slam6d + + + + + + + diff --git a/src/grid/2DGridder.cc b/src/grid/2DGridder.cc new file mode 100644 index 0000000..cd03444 --- /dev/null +++ b/src/grid/2DGridder.cc @@ -0,0 +1,507 @@ +/* + * 2DGridder implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/scanGrid.h" +#include "grid/scanToGrid.h" +#include "slam6d/scan.h" +#include "grid/scanmanager.h" +#include "grid/parcelmanager.h" +#include "grid/gridWriter.h" +#include "grid/viewpointinfo.h" +#include "grid/gridlines.h" +#include "slam6d/globals.icc" + +#include "grid/Debug.h" + +#include +#include +#include +#include +#include +#include + +using std::cerr; +using std::flush; + +#ifdef _MSC_VER + #define _USE_MATH_DEFINES + #include + #include "GL/glut.h" /* Header File For The glu toolkit */ + #include "XGetopt.h" +#else + #include + #include +#endif + +/** + * 2DGridder + * + * Main class to convert a 3D scan to a 2D grid + * + * @author Andre Schemschadt, Uwe Hebbelmann, Sebastian Stock + * @date 20.02.2008 + */ + +/** + * Explains the usage of this program's command line parameters + * + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << "Usage: " << prog << endl + << " [-s NR] [-e NR] [-m NR] [-M NR] [-f F] [-o DIR] [-t] " << endl + << " [-h NR] [-H NR] [-r NR] [-w] [-p NR] [-P Nr] [-y] [-n] " < cannot be smaller than .\n"; + exit(1); + } + break; + case 'c': + count = atoi(optarg); + if( count < 1){ + cerr << "Error: must be greater than 1.\n"; + exit(1); + } + break; + case 'R': + resume = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 't': + readInitial = true; + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'H': + maxHeight = atoi(optarg); + break; + case 'h': + minHeight = atoi(optarg); + break; + case 'g': + writeGrids = true; + break; + case 'r': + resolution = atol(optarg); + if (resolution < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'w': + waypoints = false; + break; + case 'n': + neighbours = false; + break; + case 'p': + parcelWidth = atol(optarg); + if (parcelWidth < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'P': + parcelHeight = atol(optarg); + if (parcelHeight < 1) { + cerr << "Error: cannot be smaller than 1.\n"; + exit(1); + } + break; + case 'y': + correctY = true; + break; + case 'a': + spotradius = atoi(optarg); + if (spotradius < 0) { + cerr << "Error: cannot be smaller than 0.\n"; + exit(1); + } + break; + case 'd': + writeWorld = false; + break; + case 'l': + writeLines = true; + break; + case 'i': + writeWorldppm = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort(); + }} + + if (optind != argc-1) { + cerr << "\n*** Input directory missing ***" << endl; + usage(argv[0]); + } + inputdir = argv[optind]; + + //If no output directory is set, set it to the input directory + if (outputdir == "") outputdir = inputdir; + +#ifndef _MSC_VER + if (inputdir[inputdir.length()-1] != '/') inputdir = inputdir + "/"; + if (outputdir[outputdir.length()-1] != '/') outputdir = outputdir + "/"; +#else + if (inputdir[inputdir.length()-1] != '\\') inputdir = inputdir + "\\"; + if (outputdir[outputdir.length()-1] != '\\') outputdir = outputdir + "\\"; +#endif + + return 0; +} + +/** + * Main function. + * Reads the scan (scan000.3d, ...) and frames files (scan000.frames, ...) from the data directory. + * The frames are used for animation of the matching process. Converts the 3D scan data to a 2D grid map + * and stores it + * + * @param argc count of the command-line arguments + * @param argv command-line arguments + */ +int main(int argc, char **argv){ + // Start message + cout << "(c) University of Osnabrueck, 2006 - 2008" << endl << endl + << "Restricted Usage" << endl + << "Don't use without permission" << endl; + + + // Usage + if(argc <= 1){ + usage(argv[0]); + } + + /////////////////////////////////////// + // Defaultvalues + string scandir = ""; + string outputdir = "./parcels/"; + + int start = 0; + int end = -1; + int maxDistance = 2500; + int minDistance = -1; + bool readInitial = false; + IOType scantype = UOS; + bool correctY = false; + + double maxRelevantHeight = 50; + double minRelevantHeight = 2; + long resolution = 10; + bool createWaypoints = true; + bool createNeighbours = true; + + int parcelWidth = 1000; + int parcelHeight = 1000; + + int spotradius = 15; + + bool writeWorld = true; + bool writeLines = false; + bool writeGrids = false; + bool writeWorldppm = false; + + double isSolidPoint = 0.2; + int count = 50; + bool resume = false; + /////////////////////////////////////// + + + // parses the command-line arguments and sets the respective flags + parseArgs(argc, argv, + scandir, outputdir, start, end, maxDistance, minDistance, + readInitial, scantype, correctY, + minRelevantHeight, maxRelevantHeight, resolution, + createWaypoints, createNeighbours, + parcelWidth, parcelHeight, + writeWorld, writeLines, writeGrids, spotradius, writeWorldppm, + count, resume); + + // calculate parcel width and height + parcelWidth /= resolution; + parcelHeight /= resolution; + + // create parcelmanager + cout << "Create parcelmanager ..." << endl; + parcelmanager parcelman(parcelWidth, parcelHeight, + outputdir, resolution, resume); + + cout << "Create viewpointlist ... " << endl; + viewpointinfo viewpoint(outputdir); + + for (int i = start; i <= end; i+=count) + { + int endloop = i + count - 1 < end ? i + count - 1 : end; + + // get Scans + cout << "Reading scans " << i << " to " << endloop << " ... "; + scanmanager scanman; + scanman.startscan(scandir, outputdir, scantype, i, endloop, + readInitial, maxDistance, minDistance, + correctY); + + cout << "Done."<< endl; + + // create grid from scans + cout << "Creating grids " << i << " to " << endloop << " ... "; + scanToGrid stg(resolution, + minRelevantHeight, + maxRelevantHeight, + maxDistance, + spotradius, + createWaypoints, + createNeighbours); + + cout << "Done."<< endl; + + // convert scans + cout << "Converting " << scanman.getScanCount() <<" scans ... "; + + vector grids; + for(size_t j = 0; j < scanman.getScanCount(); j++) + { + cout << "." << flush; + double* p = scanman.getMatrix(j).back(); + scanman.getScan(j).transformAll(p); + grids.push_back(stg.convert(scanman.getScan(j), p)); + } + cout << "Done." << endl; + + // start writing + cout << "Processing from " << i << " to " << endloop << endl; + for(size_t j = 0; j < grids.size(); ++j) + { + cout << "Adding scan " << i << " ... " << flush; + parcelman.addGrid(grids[j], + grids[j]->getViewpointX(), + grids[j]->getViewpointZ()); + + viewpoint.addGrid(grids[j]); + cout << "Done."<< endl; + } + + // print grids for each scan if wished + if(writeGrids) + { + cout << "Writing grids " << i + << " to " << endloop << " ... " << endl; + + string str; + stringstream stream; + for(size_t j = 0; j < grids.size(); ++j) + { + cout << "Writing grid " << i << " ... " << flush; + stream.clear(); + stream << outputdir << "grid" << j+i << ".ppm "; + stream >> str; + + ppmWriter writer(str); + writer.write(*grids[j]); + cout << "Done."< + +#include "grid/grid.h" +#include + +/** + * CTor. + * Allocates an array of gridPoints + * and sets the offsets and sizes + * + * @param offsetX the x-offest of the array + * @param offsetZ the z-offset of the array + * @param sizeX the x-size of the array + * @param sizeZ the y-size of the array + */ +grid::grid(long offsetX, long offsetZ, long sizeX, long sizeZ) +{ + if(sizeX < 1 || sizeZ < 1) + { + std::cerr << "ERROR: Invalid array size in grid::grid! "<< std::endl; + exit(1); + } + + points = NULL; + + // Allocate array + this->points = new gridPoint**[sizeX]; + + for(int i=0; i < sizeX; ++i) + { + this->points[i] = new gridPoint*[sizeZ]; + for(int j=0; j < sizeZ; ++j) + { + this->points[i][j] = new gridPoint(offsetX + i, offsetZ + j); + } + } + + this->offsetX = offsetX; + this->offsetZ = offsetZ; + this->sizeX = sizeX; + this->sizeZ = sizeZ; +} + +/** + * DTor. Deletes the array + */ +grid::~grid() +{ + clear(); +} + +/** + * Frees the memory if array is set + */ +void grid::clear() +{ + if(this->points == NULL) + return; + + // delete all points + for(int i=0; i < getSizeX(); ++i) + { + for(int j=0; j < getSizeZ(); ++j) + { + delete this->points[i][j]; + } + + delete[] this->points[i]; + } + + delete[] this->points; + + this->points = NULL; +} + +/** + * Adds point to given point in the grid (updates the point) + * + * @param x the absolute x coordinate + * @param z the absolute z coordinate + * @param occupied is the point occupied or free? + * @param weight weighting of the information + */ +void grid::addPoint(long x, long z, unsigned int count, unsigned int occupied) +{ + if(this->points == NULL) + { + std::cerr << "ERROR: In grid::addPoint, allocate never called!" << std::endl; + exit(1); + } + + // get the absolute gridPoint + gridPoint *p = getAbsolutePoint(x, z); + + // increase counters + p->addCount(count, occupied); +} + +/** + * Adds new point into the grid or updates the point with new + * point information + * @param point a reference to the point (new information) + */ +void grid::addPoint(const gridPoint& point) +{ + gridPoint *p = getAbsolutePoint(point.getX(), point.getZ()); + p->addCount(point.getCount(), point.getOccupied()); +} + +/** + * Sets values for the point + * + * @param x absolute x coordinate + * @param z absolute z coordinate + * @param count new counter value (number of counts) + * @param occupied new occupied value (number of occupieds) + */ +void grid::setPoint(long x, long z, unsigned int count, unsigned int occupied) +{ + gridPoint* p = getAbsolutePoint(x, z); + p->setFixed(count, occupied); +} + +/** + * Returns point of the absolute coordinates + * The absolute coordinates get transformed to relative coordinates + + * @param x the absolute x coordinate + * @param z the absolute z coordinate + * + * @return gridPoint* pointer to the found gridPoint + */ +gridPoint* grid::getAbsolutePoint(long x, long z) const +{ + // Transform to relative coordinates + x -= getOffsetX(); + z -= getOffsetZ(); + + if( x < 0 || x >= getSizeX() || z < 0 || z >= getSizeZ()) + { + std::cerr << "ERROR: In grid::getAbsolutePoint (" + << x << "|" << z <<") not in the grid!" << std::endl; + exit(1); + } + + return this->points[x][z]; +} + + + diff --git a/src/grid/gridPoint.cc b/src/grid/gridPoint.cc new file mode 100644 index 0000000..b10ba71 --- /dev/null +++ b/src/grid/gridPoint.cc @@ -0,0 +1,74 @@ +/* + * gridPoint implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/gridPoint.h" +#include +#include + +/** + * CTor. Sets counter and occupied to 0 and the coordinates to x and z + * + * @param x the x coordinate + * @param z the z coordinate + */ +gridPoint::gridPoint(long x, long z) +{ + this->x = x; + this->z = z; + this->count = 0; + this->occupied = 0; +} + +/** + * The Method increases the internal counter of the point. + * If only count should be increased, occupied must be 0; + * + * @param count weighting of the information + * @param occupied Weighting of occupied info + */ +void gridPoint::addCount(unsigned int count, unsigned int occupied) +{ + if(count < 0 || occupied < 0) + { + std::cerr << "ERROR: Invalid values in gridPoint::addCount " << std::endl; + std::cerr << "(" << count << " " << occupied << ")" << std::endl; + exit(1); + } + + this->count += count; + this->occupied += occupied; +} + +/** + * Sets the counters to count and occupied + * + * @param count new Count + * @param occupied new Occupied + */ +void gridPoint::setFixed(unsigned int count, unsigned int occupied) +{ + this->count = count; + this->occupied = occupied; +} + + +/** + * Calculates the percentage for the gridPoint + * If count is 0 the point has not been reached and -1 is returned, + * otherwise occupied/count + * + * @return percentage of the gridPoint occupancy [0.0 1.0] or -1.0 + */ +float gridPoint::getPercent() const +{ + if(this->count == 0) + return -1.0; + + return (float)this->occupied / (float)this->count; +} diff --git a/src/grid/gridWriter.cc b/src/grid/gridWriter.cc new file mode 100644 index 0000000..9da05b2 --- /dev/null +++ b/src/grid/gridWriter.cc @@ -0,0 +1,229 @@ +/* + * gridWriter implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/gridWriter.h" +#include +#include +#include +using std::cerr; +using std::endl; +#include +using std::ofstream; + +/** + * CTor of gridWriter. Tries to the file + * specified by file and saves the stream if + * successfull + * + * @param file The filename of the file + */ +gridWriter::gridWriter(string file) +{ + this->stream.open(file.c_str()); + if(!this->stream.good()) + { + cerr << "ERROR: In gridWriter::gridWriter, unable to open the stream for gridWriter! " << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } +} + +/** + * CTor for passing in an already opened stream. + * The stream is validated, so it must already be open + * + * @param stream A reference to the stream to be used + */ +gridWriter::gridWriter(ofstream &stream) +{ +} + +/** + * DTor. Closes the stream if open + */ +gridWriter::~gridWriter() +{ + if(this->stream.is_open()) + this->stream.close(); +} + +/** + * CTor. Just calls gridWriter ctor. + * See gridWriter::gridWriter(string) for more infos. + * @param file The filename to be opend. + */ +ppmWriter::ppmWriter(string file) + : gridWriter(file) +{} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +ppmWriter::ppmWriter(ofstream &stream) + : gridWriter(stream) +{} + +/** + * Method writes the grid to the ppm file format + * @param grid the grid to write + */ +void ppmWriter::write(const grid& grid) +{ + stream << "P2" << endl; + stream << "#Breite Hoehe" << endl; + stream << grid.getSizeX() << " " << grid.getSizeZ() << endl; + stream << "100" << endl; + + for(long i=grid.getSizeZ()-1; i >=0 ; --i) + { + for(long j=0; j < grid.getSizeX(); ++j) + { + if(grid.points[j][i]->getPercent() < 0) + stream << "50 "; + else + stream << 100 - (int)(grid.points[j][i]->getPercent() * 100) << " "; + } + stream << endl; + } +} + +/** + * CTor. Just calls gridWriter ctor. + * See gridWriter::gridWriter(string) for more infos. + * @param file The filename to be opend. + */ +parcelWriter::parcelWriter(string file) + : gridWriter(file) +{ +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +parcelWriter::parcelWriter(ofstream &stream) + : gridWriter(stream) +{ +} + +/** + * Method writes the grid to the parcel file format + * @param grid the grid to write + */ +void parcelWriter::write(const grid& grid) +{ + stream << grid.getSizeX() << " " << grid.getSizeZ() << endl; + stream << grid.getOffsetX() << " " << grid.getOffsetZ() << endl; + + for(long i = 0; i < grid.getSizeX(); ++i) + for(long j = 0; j < grid.getSizeZ(); j++) + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getCount() << " " + << grid.points[i][j]->getOccupied() << endl; +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(stream) for more infos. + * @param stream the Stream + */ +gnuplotWriter::gnuplotWriter(ofstream &stream) + : gridWriter(stream) +{ +} + +/** + * CTor. Just calls gridWriter ctor + * See gridWriter::gridWriter(string) for more infos + * @param file The filename + */ +gnuplotWriter::gnuplotWriter(string file) + : gridWriter(file) +{ +} + +/** + * Method writes the grid to the gnuplot file format + * @param grid the grid to write + */ +void gnuplotWriter::write(const grid& grid) +{ + for(long i=0; i < grid.getSizeX(); ++i) + for(long j=0; j < grid.getSizeZ(); ++j) + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getPercent() << endl; +} + +/** + * CTor of worldwriter. Tries to open the stream and + * writes some initial data about the world. (write is called + * several times, so do it here) + * + * @param file The filename + * @param minX The minimal found X value of all parcels + * @param maxX The maximal found x value of all parcels + * @param minZ The minimal found z value of all parcels + * @param maxZ The maximal found z value of all parcels + * @param resolution the resolution of the world + * @param vpX the x coordinate of the viewpoint + * @param vpZ the z coordinate of the viewpoint + */ +worldWriter::worldWriter(string file, long minX, long maxX, long minZ, long maxZ, int resolution, long vpX, long vpZ) + : gridWriter(file) +{ + stream << "1" << endl; + stream << resolution << endl; + stream << minX << " " << maxX << " " << minZ << " " << maxZ << endl; + stream << vpX << " " << vpZ << endl; +} + + /** + * CTor of worldwriter. Checks if the stream is valid and + * writes some initial data about the world. (write is called + * several times, so do it here) + * + * @param stream The stream to write to + * @param minX The minimal found X value of all parcels + * @param maxX The maximal found x value of all parcels + * @param minZ The minimal found z value of all parcels + * @param maxZ The maximal found z value of all parcels + * @param resolution the resolution of the world + * @param vpX the x coordinate of the viewpoint + * @param vpZ the z coordinate of the viewpoint + */ +worldWriter::worldWriter(ofstream& stream, long minX, long maxX, long minZ, long maxZ, int resolution, long vpX, long vpZ) + : gridWriter(stream) +{ + stream << "1" << endl; + stream << resolution << endl; + stream << minX << " " << maxX << " " << minZ << " " << maxZ << endl; + stream << vpX << " " << vpZ << endl; +} + +/** + * Method writes the grid to the world file format + * @param grid the grid to write + */ +void worldWriter::write(const grid& grid) +{ + for(int i=0; i < grid.getSizeX(); ++i) + { + for(int j=0; j < grid.getSizeZ(); ++j) + { + stream << grid.points[i][j]->getX() << " " + << grid.points[i][j]->getZ() << " " + << grid.points[i][j]->getPercent() << endl; + } + } +} diff --git a/src/grid/gridlines.cc b/src/grid/gridlines.cc new file mode 100644 index 0000000..c2f9b86 --- /dev/null +++ b/src/grid/gridlines.cc @@ -0,0 +1,215 @@ +/* + * gridlines implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/gridlines.h" +#include "grid/hough.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; + +#define MINIMALLINELENGTH 2 + +/** + * CTOR + * + * @param g Grid in which lines should be created + * @param max_distance the maximal relecant distance for points + */ +gridlines::gridlines(grid * g, int max_distance, double isSolidPoint) +{ + this->isSolidPoint = isSolidPoint; + createLines(g, max_distance); +} + +/** + * Creates the lines for the grid g and stores + * them in the vector "lines" (clears the vector first) + * Uses hough transformation + * + * @param g the grid that the lines will be created for + * @param max_distance the maximal relevant distance for points + */ +void gridlines::createLines(grid* g, int max_distance) +{ + // read the data out of the grid + double x, z; + vector vx; + vector vz; + + // initialize minimal and maximal x and z values + double xmin = 8000.0, xmax = -8000.0, ymin = 8000.0, ymax = -8000.0; + for (int i = 0; i < g->getSizeX(); i++) { + for (int j = 0; j < g->getSizeZ(); j++) { + //store the point if percentage > ISSOLIDPOINT + if (g->points[i][j]->getPercent() > isSolidPoint) { + x = g->points[i][j]->getX(); + z = g->points[i][j]->getZ(); + + vx.push_back(x); + vz.push_back(z); + + // calculate minimal and maximal x and z values + if (x > xmax) xmax = x; + if (x < xmin) xmin = x; + if (z > ymax) ymax = z; + if (z < ymin) ymin = z; + } + } + } + + // cut the maximal and minimal values if they are too big + if (xmax > max_distance) xmax = max_distance; + if (ymax > max_distance) ymax = max_distance; + if (xmin < -max_distance) xmin = -max_distance; + if (ymin < -max_distance) ymin = -max_distance; + + // create arrays for the "hough" class and norm values +// double array_x[vx.size()], array_z[vz.size()]; + double *array_x = new double[vx.size()]; + double *array_z = new double[vz.size()]; + for (size_t t = 0; t < vx.size(); t++) { + array_x[t] = vx.at(t) - xmin; + array_z[t] = vz.at(t) - ymin; + } + + // set and get parameters for Hough transformation + int sht_nr = 80; + double max_rho_d = sqrt(pow(xmax-xmin, 2) + pow(ymax-ymin, 2)); + + //Set maximal distance + SHT_set_max_distance(max_distance, vx.size()); + + // result variables + int sht_nr_line_pts; + double *sht_x_line_pts = new double[vx.size()]; + double *sht_y_line_pts = new double[vx.size()]; + + // get sht_resolutuion + int sht_resolution = max_distance; + sht_init(sht_resolution); + + // get sht_histogram + int **sht_histogram; + sht_histogram = SHT_alloc_histogram(sht_resolution, sht_resolution); + + // call of Hough transformation + SHT_get_hough_lines(vx.size(), + array_x, + array_z, + sht_resolution, + max_rho_d, + sht_histogram, + sht_nr, + &sht_nr_line_pts, + sht_x_line_pts, + sht_y_line_pts, + xmin, + ymin, + 1); + + cout << "Found " << sht_nr_line_pts/2 << " lines!" << endl; + + // set results back -> norm + for (int j = 0; j < sht_nr_line_pts; j++) { + sht_x_line_pts[j] += xmin; + sht_y_line_pts[j] += ymin; + } + + // delete all lines + this->lines.clear(); + + // store the calculated lines + for (int i = 0; (i < sht_nr_line_pts); i+=2) { + gridPoint* temp_point1 = new gridPoint((long) sht_x_line_pts[i], (long) sht_y_line_pts[i]); + gridPoint* temp_point2 = new gridPoint((long) sht_x_line_pts[i+1], (long) sht_y_line_pts[i+1]); + + if (temp_point1->isSmallerThan(*temp_point2)) { + lines.push_back(line(temp_point1, temp_point2)); + } else { + lines.push_back(line(temp_point2, temp_point1)); + } + } + + SHT_free_histogram(sht_histogram, sht_resolution); + + delete[] array_x; + delete[] array_z; + delete[] sht_x_line_pts; + delete[] sht_y_line_pts; +} + +/** + * Getter for the vector with the lines + * + * @returns the vector with the created lines + */ +vector* gridlines::getLines() +{ + return &this->lines; +} + +/** + * Writes the lines to a gnuplot file + * + * @param file the file to write to + */ +void gridlines::writeGnuPlot(string file) +{ + ofstream str; + str.open(file.c_str()); + if(!str.good()) + { + cerr << "ERROR: In gridlines::writeGnuPlot, unable to open the stream! " + << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } + + for(size_t i = 0; i < lines.size(); i++) { + str << lines.at(i).getStartX() << " " << lines.at(i).getStartZ() << endl; + str << lines.at(i).getEndX() << " " << lines.at(i).getEndZ() << endl; + str << endl; + } + + str.close(); +} + +/** + * Writes the lines to a lin file + * + * @param file the file to write to + */ +void gridlines::writeLin(string file) +{ + ofstream str; + str.open(file.c_str()); + if(!str.good()) + { + cerr << "ERROR: In gridlines::writeLin, unable to open the stream! " + << endl; + cerr << "(Filename: " << file << ")" << endl; + exit(1); + } + + for(size_t i = 0; i < lines.size(); i++) { + if(lines.at(i).getLength() < MINIMALLINELENGTH) + continue; + + str << "BEGIN" << endl; + str << lines.at(i).getStartX() << " 0 " << lines.at(i).getStartZ() << endl; + str << lines.at(i).getEndX() << " 0 " << lines.at(i).getEndZ() << endl; + str << "END" << endl; + } + + str.close(); +} diff --git a/src/grid/hough.cc b/src/grid/hough.cc new file mode 100644 index 0000000..04df3da --- /dev/null +++ b/src/grid/hough.cc @@ -0,0 +1,991 @@ +/* + * 2D hough transform for line detection implementation + * + * Copyright (C) Hartmut Surmann + * + * Released under the GPL version 3. + * + */ + + +/*************************************************************************** + * hough.c + *************************************************************************** + * PROJECT : 3D-LASER + * AUTHOR : Hartmut Surmann + *************************************************************************** + * DESCRIPTION + * Implements some basic hough functions to detect lines in laserscans + * It writes a GnuPlot file in the debug case. + * NOTE : This is only a test program, it is'nt intended to be the + * definitive evaluation tool. + *************************************************************************** + * SYNTAX : hough [depth level] + * ARGUMENTS + * depth level : default is ScanAZ which means find all lines + : default datafile ist test20.dat +***************************************************************************/ +/* COMPILE it with (it needs test20.dat) + gcc -o hough -g -O2 -m486 -Wall hough.c -lm -DSTANDALONE + gcc -o hough -pg -a -O2 -m486 -Wall hough.c -lm -DSTANDALONE +*/ + +#include "grid/hough.h" +#include +/*************************************************************************** + * CONSTANTS & MACROS + ***************************************************************************/ + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + + +/***********************FOR HOUGH TRANSFORMATION***************************/ +int DATA_RANGE = 725; +int ScanAZ = 721; +#define SKIP 0 +#define EPSILON 3.1 // absoluter abstand zwischen geradengleichung und wert +//#define DIST 600 // wert zum quadrat ab diesem Wert haben wir eine Luecke +#define RAD2DEG 57.29578 // umrechnungsfaktor bogenmass grad +//#define DIST 6.9 // ab diesem Wert haben wir eine Luecke +#define MIN(a,b) ((a)<(b)?(a):(b)) +#define MAX(a,b) ((a)>(b)?(a):(b)) +#define SQR(a) ((a)*(a)) + + +/*********************** HOUGH TRANSFORMATION***************************/ + + + +/*************************************************************************** + * DATA STRUCTURE DEFINITIONS + ***************************************************************************/ + +/*************************************************************************** + * PUBLIC GLOBAL VARIABLES + ***************************************************************************/ +double *sin_theta = NULL, *cos_theta = NULL; +int max_trigo_size = 0; +int **k_index; +double alpha = M_PI / ScanAZ; +int MAX_DISTANCE = 750; // war vorher define jetzt von aussen manipulierbar + +#ifdef STANDALONE + +/*************************************************************************** + * PRIVATE FUNCTION DEFINITIONS + ***************************************************************************/ +/** + *-------------------------------------------------------------------------* + * NAME : AddNumberToFileName + * DESCRIPTION + * Add a number to a filename. The number will be inserted at the end of + * the name an before the last extension or '.' + * PARAMETERS + * 'src' : The original file name. + * 'dest' : The resulting file name. + * 'number' : The number to add. + * RESULT + * A pointer to the buffer in which is stored the resulting file name. + * Always equal to 'dest' + *------------------------------------------------------------------------- + */ +char *AddNumberToFileName(char *src, char *dest, long number) +{ + long aux; + + /* Find the last '.' */ + aux = strlen(src); + while ( (src[aux] != '.') && (aux >= 0)) + aux--; + + /* Adds the number */ + if (aux == -1) + sprintf(dest, "%s%03ld", src, number); + else + { + strncpy(dest, src, aux); + sprintf(dest + aux, "%03ld%s",number, src + aux); + } + + return dest; +} + +#else //STANDALONE +extern char *AddNumberToFileName(char *src, char *dest, long number); +//extern unsigned long GetCurrentTimeInMilliSec(void); +//extern __inline__ unsigned long long int rdtsc(); +#endif + + +/**************************************************************************/ +/***********************START HOUGH TRANSFORMATION***************************/ +/**************************************************************************/ + + +#define dist_func(x1,x2,y1,y2) ((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)) +/** + * + */ +double distance_func(double x1,double x2, + double y1, double y2) +{ + double x,y; + + x = x1 - x2; + y = y1 - y2; + x = x * x; + y = y * y; + + return (sqrt(x + y)); +} +/** + * compute sin(theta) table from 0 to resolution + */ +int calc_sin_theta(int resolution, double *sin_theta) +{ + int j; + double resolution_d = (double)resolution; /* (double) form of resolution */ + double theta; + + for (j=0; j < resolution; j++) { + theta = M_PI * (j/(resolution_d) - 0.5); + sin_theta[j] = sin(theta); + } + return 0; +} +/** + * compute cos(theta) table from 0 to resolution + */ +int calc_cos_theta(int resolution, double *cos_theta) +{ + int j; + double resolution_d = (double)resolution; /* (double) form of resolution */ + double theta; + + for (j=0; j < resolution; j++) { + theta = M_PI * (j/(resolution_d) - 0.5); + cos_theta[j] = cos(theta); + } + return 0; +} +/** + * + */ +void SHT_set_max_distance(int max_distance, int drange) +{ + MAX_DISTANCE = max_distance; + DATA_RANGE = drange + 2; + ScanAZ = drange; +} +/** + * + */ +int SHT_get_max_distance(void) +{ + return(MAX_DISTANCE); +} +/** + * Allocate space for the histogram. + * histogram is an array of pointers to arrays. + */ +int **SHT_alloc_histogram(int x_max, int y_max) +{ + int x; + int **histogram; + + histogram = (int **)calloc(x_max, sizeof(int *)); + if (histogram == NULL) { + fprintf(stderr, "malloc failed in alloc_histogram() in sht_line.c\n"); + exit(1); + } + for (x = 0; x < x_max; x++) { + histogram[x] = (int *)calloc(y_max , sizeof(int)); + if (histogram[x] == NULL) { + fprintf(stderr, "malloc failed in alloc_histogram() in sht_line.c\n"); + exit(1); + } + } + return(histogram); +} +/** + *sin_theta and cos_theta must be global + */ +int sht_init(int sht_resolution) +{ + int i; + + if (max_trigo_size < sht_resolution) { + sin_theta = (double *) realloc(sin_theta,sizeof(double)*sht_resolution); + cos_theta = (double *) realloc(cos_theta,sizeof(double)*sht_resolution); + max_trigo_size = sht_resolution; + } + + calc_sin_theta(sht_resolution, sin_theta); + calc_cos_theta(sht_resolution, cos_theta); + + k_index = (int **)malloc(sizeof(int *)*DATA_RANGE); + for (i = 0; i < DATA_RANGE; i++) { + k_index[i] = (int *)malloc(sizeof(int)*sht_resolution); + } + return 0; +} +/** + * + */ +void SHT_init_histogram(int **histogram, int x_max, int y_max) +{ + int x, y; + for (x=0; x < x_max; x++) { + for (y=0; y < y_max; y++) { + histogram[x][y] = 0; + } + } +} +/** + * + */ +void SHT_free_histogram(int **histogram, int x_max) +{ + int x,i; + + for (x = 0; x < x_max; x++) { + free(histogram[x]); + } + free(histogram); + for (i = 0; i < DATA_RANGE; i++) { + free(k_index[i]); + } +} +/** + * nr_pts are the number of scan points to be used (black points) + * resolution is the resolution used over + * e.g. resolution = 100 + * then we produce a 100 x 100 histogram which covers the + * relevent area of rho-theta space. + * histogram is stored as an array of pointers to arrays. + */ +int SHT_hough_transform(int nr_pts, double *x, double *y, + int resolution, double max_rho_d, int **histogram, + double xmin, double ymin) +{ + //wykobi::trigonometry_tables; + int i, j, k; + double rho; + int res_half = resolution >> 1; + double mult_factor = resolution/(2.0*max_rho_d); + /* Find Hough transform of points. */ + for (i=0; i < nr_pts; i++) { + if ((fabs(x[i]+xmin) < MAX_DISTANCE) && (fabs(y[i]+ymin) < MAX_DISTANCE)){ + for (j=0; j < resolution; j++) { + rho = cos_theta[j]*(double )x[i] + sin_theta[j]*(double )y[i]; + k = (int)(rho * mult_factor) + res_half; + if ((k < 0) || (k >= resolution)) + printf("ERROR: %d %f %f %d %f %d %f %f %f\n", + i,x[i],y[i],j,rho,k,max_rho_d,xmin,ymin); + else { + histogram[j][k]++; + k_index[i][j] = k; + } + } + } + } + return 0; +} +/** + * Find average value of histogram (only consider + * non-zero entries in histogram). + * Use this as a model of the background noise value + * of the histogram. + * When the largest histogram value is less than this + * average, then we will have removed all maxima from + * histogram. + */ +unsigned long SHT_Find_average_value_of_historgram(int resolution, int **histogram) +{ + unsigned long sum = 0, average = 0, count = 0; + int i,j; + + for (i=0; i < resolution; i++) { + for (j=0; j < resolution; j++) { + if (histogram[i][j] > 0) { + sum += histogram[i][j]; + count++; + } + } + } + if (count != 0) average = sum / count; + return average; +} +/** + * Find max of histogram + */ +unsigned long SHT_Find_max_value_of_historgram(int resolution, int **histogram, + int *imax, int *jmax) +{ + register int maximum = 0; + register int *startptr; + register int i,j; + + *imax=0; *jmax = 0; + for (i=0; i < resolution; i++) + for (j=0, startptr = histogram[i];j < resolution; startptr++,j++) { + if (*startptr > maximum) { + maximum = *startptr; + *imax = i; *jmax = j; + } + } + return maximum; +} +/** + * + */ +int SHT_Print_histogram(FILE *fpr, int resolution, int **histogram, int average) +{ + int i, j; + + fprintf(fpr,"# %d\n", resolution); + for (i=0; i < resolution; i++) { + for (j=0; j < resolution; j++) { + if (histogram[i][j] > 0) fprintf(fpr,"%d %d %d\n", i, j,histogram[i][j]); + } + fprintf(fpr,"\n"); + } + return 0; + +} +/** + * The line is in the form: + * y = mx + b + * and |m| <= 1.0 + */ +int SHT_calc_line(int resolution, double max_rho_d, int **histogram, + int i, int j, double *m, double *b) +{ + double rho; + double resolution_d = (double)resolution; + int ret_val = 0; + + rho = 2.0*max_rho_d * ( (((double )j) - resolution_d/2.0) / resolution_d ); + *m = -cos_theta[i]/sin_theta[i]; + + if (fabs(*m) <= 1.0) { + *b = rho/sin_theta[i]; + ret_val = 0; + } + else { + *m = 1.0/ *m; + *b = rho/cos_theta[i]; + ret_val = 1; + } + return ret_val; +} +/** + * + */ +int SHT_show_line(int resolution, double max_rho_d, int **histogram, + int i, int j, double *x0, double *y0, + double *x1, double *y1) +{ + double m, b; + int go_over_x = 0; + + go_over_x = SHT_calc_line(resolution, max_rho_d, histogram, i, j, &m, &b); + + if (!go_over_x) { + *x0 = -150; *x1 = 150; + *y0 = m * *x0+b; *y1 = m * *x1+b; + } + else { + *y0 = 0.0; *y1 = 300; + *x0 = m* *y0+b; *x1 = m* *y1+b; + } + + return 0; +} + + + +// hier weiter harti 17.08.2000 fprint ersetzen in x bzw y_line_pts + +double SHT_find_line(int nr_pts, double *x, double *y, + int resolution, double max_rho_d, int **histogram, + int ipkt, int jpkt, int *marker, + double length_of_a_line, + int *nr_line_pts, + double *x_line_pts, double *y_line_pts, + double xmin, double ymin) +{ + double m, b; + int count = 0; + double x0,y0,xa,xe,ya,ye; + double *lx = new double[DATA_RANGE]; + double *ly = new double[DATA_RANGE]; + int *index = new int[DATA_RANGE]; + int lastindex = 0; + double *dist = new double[DATA_RANGE]; + double maxlinedist = 0.0, linedist = 0.0; + int go_over_x = 0; + int i, j; + + go_over_x = SHT_calc_line(resolution, max_rho_d, histogram, ipkt, jpkt, &m, &b); + /* Find Hough transform of points. */ + for (i=0; i < nr_pts; i++) { + if ((fabs(x[i]+xmin) < MAX_DISTANCE) && (fabs(y[i]+ymin) < MAX_DISTANCE)){ + x0 = (m*y[i]+b+0.5); // +0.5 because int truncate + y0 = (m*x[i]+b+0.5); // +0.5 because int truncate + if ( ((marker[i] == 4) || (marker[i] == 0)) && (((!go_over_x) && (fabs(y[i] -y0)< EPSILON)) || + (( go_over_x) && (fabs(x[i] -x0)< EPSILON)))) { + // now we are on the line + // lx contains all points which are on the line + lx[count] = x[i]; ly[count] = y[i]; index[count]=i; + // dist contains the differents between the points on the line + if (count > 0) + dist[count] = dist_func(x[i],lx[count-1], + y[i],ly[count-1]); + else + dist[count]=0; + if (dist[count] > 2500 ) { + linedist = dist_func(lx[count-1],lx[lastindex], + ly[count-1], ly[lastindex]); + if (linedist > maxlinedist) maxlinedist = linedist; + // is the founded line long enough + if (linedist > length_of_a_line) { + // ok show the line + xa = (m*ly[lastindex]+b+0.5); + xe = (m*ly[count-1]+b+0.5); + ya = (m*lx[lastindex]+b+0.5); + ye = (m*lx[count-1]+b+0.5); + x_line_pts[*nr_line_pts] = (go_over_x?xa:lx[lastindex]); + y_line_pts[(*nr_line_pts)++] = (go_over_x?ly[lastindex]:ya); + x_line_pts[*nr_line_pts] = (go_over_x?xe:lx[count-1]); + y_line_pts[(*nr_line_pts)++] = (go_over_x?ly[count-1]:ye); + // mark all these points + for (j = lastindex; j <= count-1;j++) { + if (marker[index[j]] == 4) marker[index[j]] = 1; + else marker[index[j]] = 3; + } + } + lastindex=count; + } + count++; + } + } + } + linedist = dist_func(lx[count-1] ,lx[lastindex], + ly[count-1], ly[lastindex]); + if (linedist > maxlinedist) maxlinedist = linedist; + // is the founded line long enough + if (linedist > length_of_a_line) { + // ok show the line + xa = (int)(m*ly[lastindex]+b+0.5); + xe = (int)(m*ly[count-1]+b+0.5); + ya = (int)(m*lx[lastindex]+b+0.5); + ye = (int)(m*lx[count-1]+b+0.5); + x_line_pts[*nr_line_pts] = (go_over_x?xa:lx[lastindex]); + y_line_pts[(*nr_line_pts)++] = (go_over_x?ly[lastindex]:ya); + x_line_pts[*nr_line_pts] = (go_over_x?xe:lx[count-1]); + y_line_pts[(*nr_line_pts)++] = (go_over_x?ly[count-1]:ye); + // mark all these points + for (j = lastindex; j <= count-1;j++) marker[index[j]] = 1; + if (count-1 > lastindex) { + marker[index[lastindex]] = 3; /* anfangs und endpunkte extra markieren */ + marker[index[count-1]] = 3; + } + } + + delete[] lx; + delete[] ly; + delete[] index; + delete[] dist; + + return maxlinedist; +} + +/** + * falls wir nicht einen orginal scan haben sondern nur wild unsotierte Punkte + * 1cm genauigkeit 2 cm luecke wird akzeptiert + */ +double SHT_find_unsorted_line(int nr_pts, double *x, double *y, + int resolution, double max_rho_d, int **histogram, + int ipkt, int jpkt, int *marker, + double length_of_a_line, + int *nr_line_pts, + double *x_line_pts, double *y_line_pts, + double xmin, double ymin) +{ + double m, b; + int count = 0; + double x0,y0; + double maxlinedist = 0.0, linedist = 0.0; + int go_over_x = 0; + int i; + int maxlen_index = 0, minlen_index = 0, *line_pts, *li, startpkt = 0, luecke = 0, lasti= 0; + double len = 0.0, maxlen = 0.0, minlen = 0; + int ref_index = -1; + go_over_x = SHT_calc_line(resolution, max_rho_d, histogram, ipkt, jpkt, &m, &b); + /* Find Hough transform of points. */ + // first calc maximal len of all possible lines + for (i=0; i < nr_pts; i++) { + if ((fabs(x[i]+xmin) < MAX_DISTANCE) && (fabs(y[i]+ymin) < MAX_DISTANCE)){ + x0 = (m*y[i]+b+0.5); // +0.5 because int truncate + y0 = (m*x[i]+b+0.5); // +0.5 because int truncate + if ( ((marker[i] == 4) || (marker[i] == 0)) && (((!go_over_x) && (fabs(y[i] -y0)< EPSILON)) || + (( go_over_x) && (fabs(x[i] -x0)< EPSILON)))) { + if (ref_index == -1) { // init + ref_index = i; + maxlen = minlen = 0.0; + maxlen_index = minlen_index = i; + len = 0.0; + } + else { + len = distance_func(x[i], x[ref_index], + y[i], y[ref_index]); + if (go_over_x) { + if ((y[i] - y[ref_index]) < 0 ) { + len *= -1.0; + if (len < minlen) { + minlen = len; + minlen_index = i; + } + } + else { + if (len > maxlen) { + maxlen = len; + maxlen_index = i; + } + if (len < minlen) { + minlen = len; + minlen_index = i; + } + } + } + else { // go over y + if ((x[i] - x[ref_index]) < 0 ) { + len *= -1.0; + if (len < minlen) { + minlen = len; + minlen_index = i; + } + if (len > maxlen) { + maxlen = len; + maxlen_index = i; + } + } + else { + if (len < minlen) { + minlen = len; + minlen_index = i; + } + if (len > maxlen) { + maxlen = len; + maxlen_index = i; + } + } + } + } // else loop + count++; + } // on the point + } // in distance + } // loop + maxlinedist = distance_func(x[maxlen_index], x[minlen_index], + y[maxlen_index], y[minlen_index]); + line_pts = (int *) calloc((int)(maxlinedist+200),sizeof(int)); + li = (int *) calloc((int)(2.0*maxlinedist+200),sizeof(int)); + // now calc historgramm of the line + for (i=0; i < nr_pts; i++) { + if ((fabs(x[i]+xmin) < MAX_DISTANCE) && (fabs(y[i]+ymin) < MAX_DISTANCE)){ + x0 = (m*y[i]+b+0.5); // +0.5 because int truncate + y0 = (m*x[i]+b+0.5); // +0.5 because int truncate + if ( ((marker[i] == 4) || (marker[i] == 0)) && (((!go_over_x) && (fabs(y[i] -y0)< EPSILON)) || + (( go_over_x) && (fabs(x[i] -x0)< EPSILON)))) { + len = distance_func(x[i], x[minlen_index], + y[i], y[minlen_index]); + if (len > (maxlinedist+0.5)) { + printf("PROBLEM %d (%f,%f) %f %f\n",i,x[i],y[i],len,maxlinedist); + maxlinedist = len; + } line_pts[(int)(len)]++; + li[(int)(len)] = i; // index fuer den Punkt + marker[i] = 1; // nur einfache pkt + } + } + } + // startpunkt + startpkt = 0; + linedist = 0.0; + luecke = -1; + lasti = 0; + // and at last calc the sub lines + for (i = 0; i <= (int)(maxlinedist); i++) { + //printf("%d %d %d\n",i,line_pts[i],startpkt); + if (line_pts[i] > 0) { + luecke = 0; + lasti = i; + } + else luecke++; + // startpunkt sezten + if ( (line_pts[i] > 0) && (startpkt == 0)) { + x_line_pts[*nr_line_pts] = x[li[i]]; + y_line_pts[(*nr_line_pts)++] = y[li[i]]; + startpkt = 1; + } + // endpunkt + else if ( ((line_pts[i] == 0) && (startpkt == 1) && (luecke > 3)) || (i == (int)(maxlinedist))) { + x_line_pts[*nr_line_pts] = x[li[lasti]]; + y_line_pts[(*nr_line_pts)++] = y[li[lasti]]; + len = distance_func(x_line_pts[*nr_line_pts - 2], x_line_pts[*nr_line_pts - 1], + y_line_pts[*nr_line_pts - 2], y_line_pts[*nr_line_pts - 1]); + if (len > linedist) linedist = len; + startpkt = 0; + luecke = -1; + } + } + if (startpkt == 1) { + x_line_pts[*nr_line_pts] = x[li[lasti]]; + y_line_pts[(*nr_line_pts)++] = y[li[lasti]]; + } + free(line_pts); + free(li); + /* + printf("%d points are on the line, %d lines found\n",count,*nr_line_pts/2); + fflush(stdout); + */ + return linedist; +} +/** + * + */ +int SHT_remove_line(int nr_pts, double *x, double *y, + int resolution, double max_rho_d, int **histogram, + int *marker, double xmin, double ymin) +{ + int i,j;//, k; + int nr_removed_points = 0; + + for (i=0; i < nr_pts; i++) { + if ((marker[i] == 1) || (marker[i] == 3)) { + marker[i] += 1; // from 1 to 2 or from 3 to 4 + if ((fabs(x[i]+xmin) < MAX_DISTANCE)&&(fabs(y[i]+ymin) < MAX_DISTANCE)){ + nr_removed_points++; + for (j = 0; j < resolution; j++) { + histogram[j][k_index[i][j]]--; + } + } + } + } + return nr_removed_points; +} +/** + * -------------------------------------------------------------------------* + * NAME : SHT_get_hough_lines + * DESCRIPTION + * Gets the lines in a laserscan + * PARAMETERS + * --------- + * RESULT + * number of looped iterations + *------------------------------------------------------------------------- + */ +int SHT_get_hough_lines(int nr_pts, double *x, double *y, + int sht_resolution, double max_rho_d, + int **sht_histogram, int depth, + int *nr_line_pts, + double *x_line_pts, double *y_line_pts, + double xmin, double ymin, int unsorted) +{ +#ifdef STANDALONE + //debug + char filename[256], auxfilename[256]; + unsigned long prev_clock; + FILE *sht_fpr_histogramm; + + strcpy(filename,"plane.dat"); + //prev_clock = GetCurrentTimeInMilliSec(); + unsigned long sht_average; + sht_average = SHT_Find_average_value_of_historgram(sht_resolution, sht_histogram); +#endif + + // sht + unsigned long sht_maximum; + int sht_imax, sht_jmax; + int *sht_marker = new int[ScanAZ]; + double sht_length_of_a_line; + int i = 0; + double m,b; + + // init marker + for (i = 0; i < nr_pts; i++) sht_marker[i] = 0; + *nr_line_pts = 0; + + // hough + SHT_hough_transform(nr_pts, x, y, sht_resolution, max_rho_d, sht_histogram,xmin,ymin); + sht_maximum = SHT_Find_max_value_of_historgram(sht_resolution, sht_histogram, + &sht_imax, &sht_jmax); + i = 0; + while ((sht_maximum > 0) && (i < depth)) { + sht_length_of_a_line = -0.1; + +#ifdef STANDALONE + printf("\n====================================================%d %f\n",i,sht_length_of_a_line); + //printf("%d %ld\n",i,GetCurrentTimeInMilliSec()-prev_clock); + printf("Hough Transformation beendet. Aver: %ld Max %ld, at (%d,%d)\n", + sht_average, sht_maximum, sht_imax,sht_jmax); + fflush(stdout); + // debug Kontroll output of the planes + AddNumberToFileName(filename, auxfilename, i); + sht_fpr_histogramm = fopen(auxfilename,"w"); + SHT_Print_histogram(sht_fpr_histogramm, sht_resolution, sht_histogram, sht_average); + fclose(sht_fpr_histogramm); +#endif + SHT_calc_line(sht_resolution, max_rho_d, sht_histogram, sht_imax, sht_jmax, &m, &b); + if (unsorted) { + SHT_find_unsorted_line(nr_pts, x, y, sht_resolution, max_rho_d, sht_histogram, + sht_imax, sht_jmax, sht_marker, sht_length_of_a_line, + nr_line_pts, x_line_pts, y_line_pts, xmin,ymin); + } + else { + SHT_find_line(nr_pts, x, y, sht_resolution, max_rho_d, sht_histogram, + sht_imax, sht_jmax, sht_marker, sht_length_of_a_line, + nr_line_pts, x_line_pts, y_line_pts, xmin,ymin); + } + SHT_remove_line(nr_pts, x, y, sht_resolution, max_rho_d, + sht_histogram, sht_marker,xmin,ymin); + sht_maximum = SHT_Find_max_value_of_historgram(sht_resolution, sht_histogram, + &sht_imax, &sht_jmax); + i++; + } + delete[] sht_marker; + return i; +} +/** + * Kontroll Ausgabe + */ +int print_hough_lines(int sht_nr_line_pts, int *sht_x_line_pts, int *sht_y_line_pts) +{ + int i; + double dist; + static FILE *fpr = NULL; + + if (fpr == NULL) + fpr = fopen("hough-lines.dat","w"); + printf("# found %d lines\n",(int)(sht_nr_line_pts*0.5)); + fprintf(fpr,"# found %d lines\n",(int)(sht_nr_line_pts*0.5)); + for (i = 0; i < sht_nr_line_pts; i+=2) { + dist = distance_func((double)(sht_x_line_pts[i]),(double)(sht_x_line_pts[i+1]), + (double)(sht_y_line_pts[i]),(double)(sht_y_line_pts[i+1])); + // 1 pkt linien nicht anzeigen + // if (dist > 0.0) { + if (dist > -0.1) { + fprintf(fpr,"#%d %f\n",i/2,dist); + fprintf(fpr,"%d %d\n",sht_x_line_pts[i],sht_y_line_pts[i]); + fprintf(fpr,"%d %d\n\n",sht_x_line_pts[i+1],sht_y_line_pts[i+1]); + } + } + //fclose(fpr); + + return 0; +} + +/**************************************************************************/ +/***********************END HOUGH TRANSFORMATION***************************/ +/**************************************************************************/ + +#ifdef STANDALONE_OLD +int main(int argc, char ** argv) +{ + //debug and init, help + FILE *fpr; // *sht_fpr_gerade + int i, NrPts; + char buffer[256], *ptr = buffer; + int dist[ScanAZ], angle[ScanAZ]; + double amplitude[DATA_RANGE]; + int x[DATA_RANGE]; + int y[DATA_RANGE]; + // double h1,h2,h3,h4; + int h1=1,h2=1,h3,h4; + double scale_val = 1.0; + + // hough + int **sht_histogram; // histogramm der hough + int sht_resolution = 200; // aufloesung der hough + int sht_nr=ScanAZ; // ScanAz heisst alle; Anzahl der Durchlaeufe durch die Hough + // Speicherstruktur Anzahl der Linienpunkte (d.h) Nr_Linien = sht_nr_line_pts/2, + // x,y, 0=Anfang, 1=Ende, .... + int sht_nr_line_pts=0, sht_x_line_pts[2*ScanAZ], sht_y_line_pts[2*ScanAZ]; + int xmin = 2000, xmax = -2000, ymin = 2000, ymax = -2000; + double max_rho_d = 0.0,local_dist=0.0; + + if (argc == 2) + sht_nr = atoi(argv[1]); + else sht_nr = 100; + + // READ input files + fpr = fopen("test20.dat","r"); + // erste zeile ueberlesen + while ((*ptr++ = fgetc(fpr)) != 10) ; + NrPts = atoi(&(buffer[2])); + printf("NrPts: %d\n",NrPts); + for (i = 0; i < NrPts; i++) { + fscanf(fpr,"%d %d",&h3,&h4); + angle[i] = (int)(h1); + dist[i] = (int)h2; + amplitude[i] = h2; + if (i >= SKIP) { + x[i-SKIP] = (int)(h3 * scale_val); + y[i-SKIP] =(int)(h4 * scale_val); + if (x[i-SKIP] > xmax) xmax = x[i-SKIP]; + if (x[i-SKIP] < xmin) xmin = x[i-SKIP]; + if (y[i-SKIP] > ymax) ymax = y[i-SKIP]; + if (y[i-SKIP] < ymin) ymin = y[i-SKIP]; + local_dist = sqrt((x[i-SKIP] - x[i-SKIP-1])* (x[i-SKIP] - x[i-SKIP-1]) + + (y[i-SKIP] - y[i-SKIP-1])* (y[i-SKIP] - y[i-SKIP-1])); + } + } + fclose(fpr); + max_rho_d = sqrt(SQR(xmax-xmin) + SQR(ymax-ymin)); + printf("Maxima:\n%d %d %d %d %f\n",xmin,xmax,ymin,ymax,max_rho_d); + if (xmax > MAX_DISTANCE) xmax = MAX_DISTANCE; + if (ymax > MAX_DISTANCE) ymax = MAX_DISTANCE; + if (xmin < -MAX_DISTANCE) xmin = -MAX_DISTANCE; + if (ymin < -MAX_DISTANCE) ymin = -MAX_DISTANCE; + max_rho_d = sqrt(SQR(xmax-xmin) + SQR(ymax-ymin)); + printf("New Maxima:\n%d %d %d %d %f\n",xmin,xmax,ymin,ymax,max_rho_d); + for (i = 0; i < NrPts - 2*SKIP; i++) { + x[i] -= xmin; + y[i] -= ymin; + } + // START with the hough + // init block + /* Andreas 29.9.2000 + if (max_rho_d > 500) sht_resolution = (int)(max_rho_d * 0.5); + else sht_resolution = (int)(max_rho_d * 0.75); + */ + + sht_resolution = (int)(max_rho_d * 0.75); + + printf("Hough Transformation berechnen mit Aufloesung %d\n",sht_resolution);fflush(stdout); + sht_init(sht_resolution); + sht_histogram = SHT_alloc_histogram(sht_resolution, sht_resolution); + // end init + + + SHT_get_hough_lines(NrPts-2*SKIP, x, y, sht_resolution, max_rho_d, sht_histogram, sht_nr, + &sht_nr_line_pts, sht_x_line_pts, sht_y_line_pts, xmin, ymin); + + for (i = 0; i < sht_nr_line_pts; i++) { + sht_x_line_pts[i] = (sht_x_line_pts[i] + xmin) / scale_val; + sht_y_line_pts[i] = (sht_y_line_pts[i] + ymin) / scale_val; + } + + + + // Kontroll Ausgabe + print_hough_lines(sht_nr_line_pts, sht_x_line_pts, sht_y_line_pts); + printf("end\n");fflush(stdout); + + // hier ist was merkwuerdig bei res = 200 stuertz der Rechner ab + // exit block + SHT_free_histogram(sht_histogram, sht_resolution); + // end exit block + + return 0; + +} + +#endif + +#ifdef STANDALONE +int main(int argc, char ** argv) +{ + + int sht_resolution; + int **sht_histogram; + int sht_nr = 80; // Nr + int sht_nr_line_pts = 0,sht_nr_line = 0; + double sht_x_line_pts[10000], sht_y_line_pts[10000] ; + double max_rho_d; + int result; + + int i; + double array_x[10000], array_y[10000]; // these two arrays build + double xmax, ymax, xmin, ymin; + float x, y; + int temp; + + FILE *fpr; + + xmax = ymax = xmin = ymin = 0; + // READ input files + fpr = fopen("points.dat","r"); + i = 0; + while (!feof(fpr)) { + fscanf(fpr,"%f %f",&x, &y); + + array_x[i] = (double)x; + array_y[i] = (double)y; + + printf("%d %g %g \n",temp, array_x[i],array_y[i]); + + if (array_x[i] > xmax) xmax = array_x[i]; + if (array_x[i] < xmin) xmin = array_x[i]; + if (array_y[i] > ymax) ymax = array_y[i]; + if (array_y[i] < ymin) ymin = array_x[i]; + + i++; + } + fclose(fpr); + + printf("***%f %f %f %f \n",xmax, ymax, xmin, ymin); + printf("*%d \n",i); + + SHT_set_max_distance((int)MAX(xmax,ymax)+1,i); + + + for (int j = 0; j < i; j++) { + array_x[j] -= xmin; + array_y[j] -= ymin; + } + + max_rho_d = sqrt(SQR(xmax-xmin) + SQR(ymax-ymin)); + sht_resolution = (int)(max_rho_d); + sht_init(sht_resolution); + sht_histogram = SHT_alloc_histogram(sht_resolution, sht_resolution); + + result = SHT_get_hough_lines(i, + array_x, + array_y, + sht_resolution, + max_rho_d, + sht_histogram, + sht_nr, + &sht_nr_line_pts, + sht_x_line_pts, + sht_y_line_pts, + xmin, + ymin); + + printf("SHT_get_hough_lines: %d (%d)",result, sht_nr_line_pts); + fflush(stdout); + + fpr = fopen("lines.dat","w"); + + for (int j = 0; j < sht_nr_line_pts; j+=2) { + sht_x_line_pts[j] += xmin; + sht_y_line_pts[j] += ymin; + sht_x_line_pts[j+1] += xmin; + sht_y_line_pts[j+1] += ymin; + + if (SQR(sht_x_line_pts[j] - sht_x_line_pts[j+1]) + + SQR(sht_y_line_pts[j] - sht_y_line_pts[j+1]) > 225) + { + fprintf(fpr,"%g %g \n",sht_x_line_pts[j], sht_y_line_pts[j]); + fprintf(fpr,"%g %g \n\n",sht_x_line_pts[j+1], sht_y_line_pts[j+1]); + } + } + return 0; +} + +#endif + + diff --git a/src/grid/line.cc b/src/grid/line.cc new file mode 100644 index 0000000..4c0133b --- /dev/null +++ b/src/grid/line.cc @@ -0,0 +1,34 @@ +/* + * line implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/line.h" +#include + +/** + * CTOR. + * + * @param start the startpoint of the line + * @param end the endpoint of the line + */ +line::line(gridPoint* start, gridPoint* end) +{ + this->start = start; + this->end = end; +} + +/** + * Returns the length of the line + * + * @return the length of the line + */ +double line::getLength() +{ + return sqrt(pow((double)start->getX() - end->getX(), 2) + + pow((double)start->getZ() - end->getZ(), 2)); +} diff --git a/src/grid/parcel.cc b/src/grid/parcel.cc new file mode 100644 index 0000000..214b45f --- /dev/null +++ b/src/grid/parcel.cc @@ -0,0 +1,106 @@ +/* + * parcel implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/parcel.h" +#include +#include +#include +using std::cerr; +using std::endl; + +/** + * Ctor + * + * @param offSetX the x-offset of the parcel + * @param offSetZ the z-offset of the parcel + * @param sizeX the width of the parcel + * @param sizeZ the height of the parcel + */ +parcel::parcel(long offSetX, long offSetZ, long sizeX, long sizeZ) + : grid(offSetX, offSetZ, sizeX, sizeZ) +{ +} + +/** + * Adds a grid to the parcel. + * Adds just the points belonging to the parcel and + * ignoring the rest. + * + * @param grid the grid to be added to the parcel + */ +void parcel::addGrid(const grid* g) +{ + // Calculate the startvalue of x + long startX = g->getOffsetX() < getOffsetX() ? getOffsetX() : g->getOffsetX(); + + // calculate z-startvalue + long startZ = g->getOffsetZ() < getOffsetZ() ? getOffsetZ() : g->getOffsetZ(); + + // calculate x-endvalue + long endX = g->getOffsetX() + g->getSizeX() < getOffsetX() + getSizeX() ? g->getOffsetX() + g->getSizeX() + : getOffsetX() + getSizeX(); + + // calculate z-endvalue + long endZ = g->getOffsetZ() + g->getSizeZ() < getOffsetZ() + getSizeZ() ? g->getOffsetZ() + g->getSizeZ() + : getOffsetZ() + getSizeZ(); + + // add every point + for(int i = startX; i < endX; i++) + { + for(int j = startZ; j < endZ; j++) + { + this->addPoint(*g->getAbsolutePoint(i, j)); + } + } +} + +/** + * The static method reads the file and creates a new parcel. + * The parcel is allocated with new, so the caller has to make + * sure it is deleted properly! + * + * @param filename the filename of the parcel + * @return parcel the created parcel + */ +parcel* parcel::readParcel(std::string filename) +{ + std::ifstream infile(filename.c_str()); + + // Stream ok? + if(!infile.good()) + { + std::cerr << "ERROR: In parcel::readparcel, couldn't open stream!" << std::endl; + exit(1); + } + + // Read sizes + long sizeX; + long sizeZ; + infile >> sizeX >> sizeZ; + + // Read offsets + long offsetX; + long offsetZ; + infile >> offsetX >> offsetZ; + + // Create parcel + parcel* p = new parcel(offsetX, offsetZ, sizeX, sizeX); + + // Read all information + long x, z, count, occupied; + while(!infile.eof()) + { + infile >> x >> z >> count >> occupied; + p->setPoint(x, z, count, occupied); + } + + infile.close(); + + return p; +} diff --git a/src/grid/parcelinfo.cc b/src/grid/parcelinfo.cc new file mode 100644 index 0000000..e216d0a --- /dev/null +++ b/src/grid/parcelinfo.cc @@ -0,0 +1,122 @@ +/* + * parcelinfo implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/parcelinfo.h" + +long parcelinfo::parcelwidth; +long parcelinfo::parcelheight; + +/** + * Ctor + * @param offsetX the x-offset + * @param offsetZ the z-offset + * @param filename the filename of the parcel + */ +parcelinfo::parcelinfo(long offsetX, long offsetZ, std::string filename) +{ + this->offsetX = offsetX; + this->offsetZ = offsetZ; + this->filename = filename; + this->used = true; +} + +/** + * Sets the parcelsize + * @param with the width of the parcel + * @param height the height of the parcel + */ +void parcelinfo::setParcelsize(long width, long height) +{ + parcelinfo::parcelwidth = width; + parcelinfo::parcelheight = height; +} + +/** + * Sets the used-flag true (Which means + * that the parcel was used during the last scan) + */ +void parcelinfo::setUsed() +{ + this->used = true; +} + +/** + * Resets the used-flag + */ +void parcelinfo::resetUsed() +{ + this->used = false; +} + +/** + * Returns whether the parcel was needed + * @return True if it was needed + */ +int parcelinfo::wasUsed() const +{ + return this->used; +} + +/** + * Operator <. Compares by offsets. + * + * @param parcel the parcel to be compared to this + * @return true if this < parcel + */ +bool parcelinfo::operator< (const parcelinfo& parcel) const +{ + if(getOffsetX() < parcel.getOffsetZ()) + { + return true; + } + else if(getOffsetX() == parcel.getOffsetX()) + { + if(getOffsetZ() < parcel.getOffsetZ()) + return true; + else + return false; + } + else + { + return false; + } +} + +/** + * Compares two parcels if they are equal (Offset-X and -Z equal) + * + * @param parcel the other parcel + * @return true if euqal + */ +bool parcelinfo::operator== (const parcelinfo &parcel) const +{ + return (getOffsetX() == parcel.getOffsetX() && + getOffsetZ() == parcel.getOffsetZ()); +} + +/** + * The methods checks if the coordinates given lie in + * the parcel represented by the parcelinfo + * + * @param x The absolute x coordinate + * @param z the absolute z coordinate + * @return true if the point lies within the parcel + */ +bool parcelinfo::contains(long x, long z) const +{ + bool xIn = (x >= getOffsetX() && + x <= getOffsetX() + parcelinfo::parcelwidth); + + bool zIn = (z >= getOffsetZ() && + z <= getOffsetZ() + parcelinfo::parcelheight); + + return xIn && zIn; +} + + diff --git a/src/grid/parcelmanager.cc b/src/grid/parcelmanager.cc new file mode 100644 index 0000000..43b8e98 --- /dev/null +++ b/src/grid/parcelmanager.cc @@ -0,0 +1,418 @@ +/* + * parcelmanager implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/parcelmanager.h" +#include "slam6d/globals.icc" +#include "grid/gridWriter.h" +#include +using std::ifstream; +using std::ofstream; +#include +using std::cerr; +using std::endl; + +/** + * Ctor. + * Sets the static size information of the parcelinfo-class. + * If resume is true, it will try to load the last parcelinfo-file. + * If the file was read successfully, it contains the parcels created + * during the last run of the programm. (See the resumeflag in the + * documentation for more infos) + * + * + * @param width The width of each parcel + * @param height The height of each parcel + * @param path The path of the files + * @param resolution The resolution of a cell + * @param resume If true, last parcelinfofile will be loaded + */ +parcelmanager::parcelmanager(long width, long height, + string path, int resolution, + bool resume) +{ + this->parcelwidth = width; + this->parcelheight = height; + this->viewpointX = 0; + this->viewpointZ = 0; + this->path = path; + this->resolution = resolution; + + this->minX = 0; + this->maxX = 0; + this->minZ = 0; + this->maxZ = 0; + + parcelinfo::setParcelsize(width, height); + + // loadParcelinfo if programm should resume + if(resume) + loadParcelinfo(this->path + PARCELINFOFILE); +} + +/** + * Dtor. + * Calls saveParcelinfo for saving infos about + * already created parcel. + * It also clears the internal structur (calls clear()) + */ +parcelmanager::~parcelmanager() +{ + saveParcelinfo(this->path + PARCELINFOFILE); + + clear(); +} + +/** + * This methods removes all parcels with a not set + * used-flag (in parcelinfo). They are saved to disk + * before they are freed. + * If all is set, all parcels are saved and free regardless + * of their used-flag + * + * @param all Delete all parcels or not? + */ +void parcelmanager::freeMemory(bool all) +{ + parcelmap::iterator cur = this->parcels.begin(); + parcelmap::iterator end = this->parcels.end(); + + // iterate through each parcel + while(cur != end) + { + // if parcel is loaded and wasnt used (or all free) + if(cur->second != NULL && + (!cur->first->wasUsed() || all)) + { + // saving the parcel using the parcel format + // (Must use parcelFormat, otherwise parcel cant be loaded again!) + string filename = cur->first->getFilename(); + parcelWriter writer(filename); + + writer.write(*cur->second); + + delete cur->second; + cur->second = NULL; + + } + + // reset used-flag of parcelinfo + parcelinfo *p = cur->first; + p->resetUsed(); + + ++cur; + } +} + +/** + * The method frees all created parcelinfos and clears the map. + * First it calls freeMemory(true) to save all parcels in memory + */ +void parcelmanager::clear() +{ + freeMemory(true); + + parcelmap::iterator it = this->parcels.begin(); + parcelmap::iterator end = this->parcels.end(); + + while(it != end) + { + delete it->first; + ++it; + } + + this->parcels.clear(); +} + +/** + * The methods loads the parcel specified by info + * into memory. The method does check, if the + * parcel is already loaded, so calling this method + * on an already loaded parcel does nothing. + * + * @param *info A pointer to the parcelinfo + */ +void parcelmanager::loadParcel(parcelinfo* info) +{ + if(this->parcels[info] == NULL) + this->parcels[info] = parcel::readParcel(info->getFilename()); + + updateOuterPoints(this->parcels[info]); +} + + +/** + * The method creates a new parcel. It calculates the offset + * of the new parcel based on the absolute coordinates it is given. + * The new parcel is added to the internal map, along with its + * parcelinfo + * + * @param x The absolute x coordinate + * @param z The absolute z coordinate + */ +void parcelmanager::createParcel(long x, long z) +{ + // calculate offset + long offsetX = (long) (x / this->parcelwidth) * this->parcelwidth; + if (x < 0) + offsetX = offsetX - this->parcelwidth; + + long offsetZ = (long) (z/ this->parcelheight) * this->parcelheight; + if (z < 0) + offsetZ = offsetZ - this->parcelheight; + + + // create parcelinfo and parcel + string filename = this->path + "parcel" + to_string(offsetX) + to_string(offsetZ) + ".pcl"; + + parcelinfo *p = new parcelinfo(offsetX, offsetZ, filename); + + this->parcels[p] = new parcel(offsetX, + offsetZ, + this->parcelwidth, + this->parcelheight); + + // update the new borders + updateOuterPoints(this->parcels[p]); +} + +/** + * Updates the minimal and maximal found limits + * @param g The grid to update + */ +void parcelmanager::updateOuterPoints(const grid *g) +{ + if(g->getOffsetX() < minX) + minX = g->getOffsetX(); + if(g->getOffsetZ() < minZ) + minZ = g->getOffsetZ(); + + if(g->getOffsetX() + g->getSizeX() > maxX) + maxX = g->getOffsetX() + g->getSizeX(); + if(g->getOffsetZ() + g->getSizeZ() > maxZ) + maxZ = g->getOffsetZ() + g->getSizeZ(); +} + + +/** + * The method adds the given grid to the needed parcels. + * It checks which parcels are affected by the grid, loads them if + * they already exist or creates new ones. + * Afterwards it adds the information of the grid to each relevant + * parcels + * + * @param g The grid which should be addeda + * @param vpX The x-coordiante of the viewpoint + * @param vpZ The z-coordinate of the viewpoint + */ +void parcelmanager::addGrid(const grid* g, long vpX, long vpZ) +{ + bool parcelFound; + + this->viewpointX = vpX; + this->viewpointZ = vpZ; + + long iSize = g->getOffsetX() + g->getSizeX(); + long jSize = g->getOffsetZ() + g->getSizeZ(); + + // iterate through all parcels needed in this grid + for(int i=g->getOffsetX() ; i < iSize + this->parcelwidth; i += this->parcelwidth) + { + for(int j=g->getOffsetZ() ; j < jSize + this->parcelheight; j += this->parcelheight) + { + parcelmap::iterator it = this->parcels.begin(); + parcelmap::iterator end = this->parcels.end(); + + parcelFound = false; + + // for each point, iterate through the existing parcels + while(it != end) + { + // parcel contains point + if(it->first->contains(i, j)) + { + // load Parcel if not in memory + if(it->second == NULL) + loadParcel(it->first); + + // reset the counter + it->first->setUsed(); + parcelFound = true; + } + + ++it; + } + + // if parcel was not found, create new + if(parcelFound == false) + createParcel(i, j); + } + } + + // remove all parcels not needed for the scan + freeMemory(false); + + + // Call addGrid for each parcel in memory + // The parcel only integrates the points which are + // relevant to it + parcelmap::iterator it = this->parcels.begin(); + parcelmap::iterator end = this->parcels.end(); + + while(it != end) + { + if(it->second != NULL) + it->second->addGrid(g); + + ++it; + } +} + + +/** + * The method saves the internal parcelinfo map to file, + * so it can be restored for later use (e.g. for additional scans + * based on the same scene) + * + * @param filename The file where the parcelinfos are stored to + */ +void parcelmanager::saveParcelinfo(string filename) +{ + ofstream outfile(filename.c_str()); + + // Check if stream is open and valid + if(!outfile.good()) + { + cerr << "[saveParcelinfo] Fehler, konnte Stream nicht oeffnen" << endl + << "(Filename: " << filename << ")" << endl; + exit(1); + } + + + // iterate all entries and write them + parcelmap::iterator it = this->parcels.begin(); + parcelmap::iterator end = this->parcels.end(); + + while(it != end) + { + outfile << it->first->getOffsetX() << " " + << it->first->getOffsetZ() << " " + << it->first->getFilename() << endl; + + ++it; + } + + outfile.close(); +} + +/** + * The method restores the parcelinfos written by saveParcelinfo. + * + * @param filename The file where the parcelinfos are stored + */ +void parcelmanager::loadParcelinfo(string filename) +{ + ifstream infile(filename.c_str()); + + // Stream ok? + if(!infile.good()) + { + cerr << "[loadparcelinfo] Fehler, konnte Stream nicht oeffnen" << endl + << "(filename: " << filename << ")" << endl; + return; + } + + // clear old information (should be already empty, but make sure) + clear(); + + long offsetX; + long offsetZ; + string file; + + // read all infos + while(!infile.eof()) + { + infile >> offsetX; + if(infile.eof()) continue; + infile >> offsetZ; + if(infile.eof()) continue; + infile >> file; + if(infile.eof()) continue; + + parcelinfo *p = new parcelinfo(offsetX, offsetZ, file); + this->parcels[p] = NULL; + } + + infile.close(); +} + +/** + * This method is able to write the entire world, based on all parcels and create and write lines. + * Each parcel is loaded and then written into a single file. + * Afterwards ALL parcels are stored to file and freed from memory. + * Additionally the world is written in ppm format and lines can be created and written. + * + * The map is written in a format which can be read by the MapViewer of Group2. + * The specification of the format are listed in the documentation + * @param file the filename of the world + */ +void parcelmanager::writeWorld(string file) +{ + worldWriter writer(this->path + file, + this->minX, this->maxX, this->minZ, this->maxZ, + this->resolution, + this->viewpointX, this->viewpointZ); + + + parcelmap::iterator it = parcels.begin(); + parcelmap::iterator end = parcels.end(); + + while(it != end) + { + if(it->second == NULL) + loadParcel(it->first); + + writer.write(*it->second); + + ++it; + } +} + + + +/** + * The method creates a grid of the world. + */ +grid* parcelmanager::createWorldGrid() +{ + grid *g = new grid(this->minX, this->minZ, + this->maxX - this->minX + 1, + this->maxZ - this->minZ + 1); + + parcelmap::iterator it = parcels.begin(); + parcelmap::iterator end = parcels.end(); + + // Go through all parcels + while(it != end) + { + if(it->second == NULL) + loadParcel(it->first); + + for(int i=0; i < it->second->getSizeX(); ++i) + { + for(int j=0; j < it->second->getSizeZ(); ++j) + { + g->addPoint(*(it->second->points[i][j])); + } + } + + ++it; + } + return g; +} + diff --git a/src/grid/scanGrid.cc b/src/grid/scanGrid.cc new file mode 100644 index 0000000..e601beb --- /dev/null +++ b/src/grid/scanGrid.cc @@ -0,0 +1,37 @@ +/* + * scanGrid implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/scanGrid.h" + +/** + * CTor. + * Calls CTor of grid and sets viewpointx and viewpointz + * + * @param offsetX the x offset of the robot + * @param offsetZ the z offset of the robot + * @param viewpointX the x-position of the robot + * @param viewpointZ the z-position of the robot + * @param sizeX the x size of the grid + * @param sizeZ the z size of the grid + */ +scanGrid::scanGrid(long viewpointX, long viewpointZ, + long offsetX, long offsetZ, + long sizeX, long sizeZ) + : grid(offsetX, offsetZ, sizeX, sizeZ) +{ + this->viewpointX = viewpointX; + this->viewpointZ = viewpointZ; +} + +/** + * DTor. + */ +scanGrid::~scanGrid() +{ +} diff --git a/src/grid/scanToGrid.cc b/src/grid/scanToGrid.cc new file mode 100644 index 0000000..d065942 --- /dev/null +++ b/src/grid/scanToGrid.cc @@ -0,0 +1,407 @@ +/* + * scanToGrid implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include + +#include "grid/scanToGrid.h" + +using std::vector; +using std::map; + +/** + * CTor. + * + * @param resolution the resolution of the grid (centimeters per gridunit) + * @param minRelevantHeight The minimal height of a scan that is relevant + * @param maxRelevantHeight The maximal height of a scan that is relevant + * @param maxDistance The maximal relevant distance + * @param minimalWeighting The minimal weighting for the waypoints + * @param createWaypoints If set waypoints will be created + * @param neighbours If set neighbours will be created + */ +scanToGrid::scanToGrid(double resolution, + double minRelevantHeight, double maxRelevantHeight, + int maxDistance, int spotRadius, + bool createWaypoints, bool neighbours) +{ + this->resolution = resolution; + this->minRelevantHeight = minRelevantHeight; + this->maxRelevantHeight = maxRelevantHeight; + this->waypoints = createWaypoints; + this->neighbours = neighbours; + this->spot = (float)spotRadius / 3000.0; + + // Calculate minimal weighting + this->minimalWeighting = 1;//(1((float)minimalWeighting-1)/ +// (float)scaleToGrid(maxDistance)); +} + +/** + * The method checks if the given point is relevant + * for creating the grid. + * It is not relevant if it is below or above a specified + * height, or if it lies to far away (??) + * + * @param p The point to check (not scaled to grid) + * @return True if the point is relevant + */ +bool scanToGrid::isPointRelevant(const Point &p) const +{ + if(p.y < this->minRelevantHeight || p.y > this->maxRelevantHeight) + { + return false; + } + else + return true; +} + +/** + * The method scales the absolute coordinate of the scanpoint + * to the matching coordinate of the gridpoint + * + * @param point the absolute coordinate of the scanpoint + * + * @return the matching coordiante of the gridpoint + */ +long scanToGrid::scaleToGrid(double point) +{ + return (long)(point / this->resolution); +} + +/** + * The methods calculates the norm vector of the vector given + * through x and z. + * The normvector has one direction oflength 1 or -1 and the other + * length in [-1,1] + * @param x The x component of the vector + * @param z the z component of the vector + * @param xnorm Referenz to the double containing the normalized x value afterwards + * @param znorm Referenz to the double containing the normalized z value afterwards + */ +void scanToGrid::calculateNormvector(long x, long z, + double& xnorm, double& znorm) +{ + xnorm = 0; + znorm = 0; + + // if |X| < |Z|, then norm z to 1 and x to x/z + if(abs(x) < abs(z)) + { + if(z == 0) + return; + + xnorm = (double)x / (double)abs(z); + znorm = z / abs(z); // now znorm is 1 or -1 + } + else + { + if(x == 0) + return; + + xnorm = x / abs(x); // now xnorm is 1 or -1 + znorm = (double)z / (double)abs(x); + } +} + +/** + * The method creates a new grid. It determines the size and offset + * of the new grid and calculates the viewpoint of the roboter during + * the scan. + * The new scangrid is allocated using new, but the pointer is not stored, + * so it must be freed by the calling method. + * + * The scan has to be transformed to absolute values before this method is + * called + * + * @param scan the scan to be transformed + * @param transformation the transformationmatrix needed for calculating + * the viewpoint of the roboter + * + * @return pointer to the created grid. + * (Just gets allocated, does not get freed) + */ +scanGrid* scanToGrid::createGrid(Scan& scan, + const double* transformation) +{ + // Calculate the viewpoint of the scan + double rPos[3]; + double rPosTheta[3]; + + Matrix4ToEuler(transformation, rPosTheta, rPos); + + long vpX = scaleToGrid(rPos[0]); + long vpZ = scaleToGrid(rPos[2]); + + // calculate maximal and minimal coordiantes + double maxX = 0; + double maxZ = 0; + double minX = 0; + double minZ = 0; + + DataXYZ xyz(scan.get("xyz")); + + for(size_t i = 0; i < xyz.size(); ++i) + { + Point it = xyz[i]; + + // If the scan is not relevant, skip it + if(!isPointRelevant(it)) + continue; + + if(it.x < minX) minX = it.x; + if(it.x > maxX) maxX = it.x; + if(it.z < minZ) minZ = it.z; + if(it.z > maxZ) maxZ = it.z; + + } + + // get offsets and sizes + long offsetX = scaleToGrid(minX); + long offsetZ = scaleToGrid(minZ); + long sizeX = scaleToGrid(maxX) - offsetX + 1; + long sizeZ = scaleToGrid(maxZ) - offsetZ + 1; + + //returning new grid + return new scanGrid(vpX, vpZ, + offsetX, offsetZ, + sizeX, sizeZ); +} + +/** + * + * !NOTE! Experimental. Currently this is not used! !NOTE! + * + * The method iterates through the grid and checks for each point + * if it has a specified amount of neighbours. If not enough neighbours + * are found, the point is deleted. + * + * @param grid The grid to check + * @param distance + * @param neighbours The amount of neighbours needed for not getting deleted + */ +void scanToGrid::killAlonePoints(scanGrid* grid, + int distance, int neighbours) +{ + std::vector< gridPoint* > exPoints; + + + for(int i=0; i < grid->getSizeX(); ++i) + { + for(int j=0; j < grid->getSizeZ(); ++j) + { + int found = 0; + + for(int a=i - distance; a < i + distance; ++a) + { + for(int b=i - distance; b < i + distance; ++b) + { + if(a > 0 && b > 0 && + a < grid->getSizeX() && b < grid->getSizeZ()) + { + if(grid->points[a][b]->getPercent() > 0) + { + ++found; + } + } + + } + } + + // not enough neigbours found + if(found < neighbours) + { + exPoints.push_back(grid->points[i][j]); + } + + } + } + + vector::iterator it = exPoints.begin(); + vector::iterator end = exPoints.end(); + + while(it != end) + { + //std::cout << "Deleting " << (*it)->getX() << " " << (*it)->getZ() << " " << std::endl; + (*it)->setFixed(0, 0); + ++it; + } +} + +/** + * The method adds additional information about the neighbours of + * the given point based on some sort of probabilityfunction. + * Given the degree of the scanner, the function calculates the insecure + * points and weights them + * + * @param grid The grid to add the information to + * @param x The absolute x coordinate + * @param z The absolute z coordinate + * @param weighting The weighting of the point + */ +void scanToGrid::createNeighbours(scanGrid *grid, long x, long z, float weighting) +{ + // Calculate direction of the neighbours + long dx = - (grid->getViewpointZ() - z); + long dz = grid->getViewpointX() - x; + + // calculating the normvector of them + double xnorm, znorm; + calculateNormvector(dx, dz, xnorm, znorm); + + // calculating number of neighbours to weight + int r = (int) (sqrt((double)(dx*dx + dz*dz)) * this->spot); + + for(int i = -r; i <= r; ++i) + { + // Skip 0 (0 is the actual point on the vector) + if(i == 0) + continue; + + long px = x + (int) (i * xnorm); + long pz = z + (int) (i * znorm); + + // if calculated point not in grid, skip + if( !grid->contains(px, pz)) + continue; + + float weight = weighting / pow(2.0, abs(i*r)); + + // grid->addPoint(px, pz, + // SOLIDWEIGHT * weight, SOLIDWEIGHT * weight); + grid->addPoint(px, pz, SOLIDWEIGHT, SOLIDWEIGHT); + + if(this->waypoints) + createWaypoints(grid, px, pz, weight); + } +} + + +/** + * The method calculates the free waypoints between the robot and + * the occupied point and adds them to the grid. + * The way is weighted with the weighting-parameter to avoid + * that a path overwrites found obstacles + * + * @param grid pointer to the grid to which the points will be added + * @param x the x-coordinate of the occupied point + * @param z the z-coordinate of the occupied point + * @param weighting The weighting of the point on which the path is based. + */ +void scanToGrid::createWaypoints(scanGrid *grid, long x, long z, float weighting) +{ + if(x == 0 || z == 0) + return; + + long dx = x - grid->getViewpointX(); + long dz = z - grid->getViewpointZ(); + + // calculating the normal vector + double xnorm, znorm; + calculateNormvector(dx, dz, xnorm, znorm); + + int distance = (int)floor(sqrt(pow((double)dx, 2) + pow((double)dz, 2)) / + sqrt(pow(xnorm, 2) + pow(znorm, 2))); + + + for(int i=0; i < distance; ++i) + { + long px = grid->getViewpointX() + (long)(i * xnorm); + long pz = grid->getViewpointZ() + (long)(i * znorm); + + // due to some problems with the viewpoint lieing outside + // of the grid, first check if point is in grid + if(grid->contains(px, pz)) + //grid->addPoint(px, pz, (int)(WAYPOINTWEIGHT * weighting), 0); + grid->addPoint(px, pz, WAYPOINTWEIGHT, 0); + } +} + +/** + * The method adds the point represented by the 2 coordinates. It weights + * the point based on weighting. + * + * @param grid The grid to add the point to + * @param x The x coordinate (scaled to grid) + * @param z The z coordinate (scaled to grid) + * @param weighting Importance of the point (0 <= w <= 1) + */ +void scanToGrid::createPoint(scanGrid *grid, long x, long z, float weighting) +{ + // grid->addPoint(x, z, SOLIDWEIGHT, (int)(SOLIDWEIGHT * weighting)); + grid->addPoint(x, z, SOLIDWEIGHT, SOLIDWEIGHT); +} + +/** + * Converts a scan(3D) to a grid(2D). It iterates through each + * found point of the scan, translates it to the grid and adds it + * to the grid. Points that are somehow not relevant to the grid (e.g. points + * that are to low or to high are ignored. See isPointRelevant) + * + * If waypoints is true, it will also create waypoints from the origin of + * the scan to the found point and mark the space in between as free. + * If Neighbours should be created, it will also weight the surrounding + * spaces of the found point. + * + * @param scan The scan to be converted + * @param transformation The transformationmatrix + * @return pointer to the grid + */ +scanGrid* scanToGrid::convert(Scan& scan, const double* transformation) +{ + scanGrid* grid = createGrid(scan, transformation); + + DataXYZ xyz(scan.get("xyz")); + + // go through all points and create the grid + for(size_t i = 0; i < xyz.size(); ++i) + { + Point p = xyz[i]; + + // if the scan is in the relevant area, create Point for it + if(isPointRelevant(p)) + { + long x = scaleToGrid(p.x); + long z = scaleToGrid(p.z); + + float weighting = calculateWeighting(x - grid->getViewpointX(), + z - grid->getViewpointZ()); + createPoint(grid, x, z, weighting); + + if(this->waypoints) + createWaypoints(grid, x, z, weighting); + + if(this->neighbours) + createNeighbours(grid, x, z, weighting); + + } + } + + // Kill all points which have less then 8 out of 25 neighbours + /*killAlonePoints(grid, 3, 1); + + for(int i = 0; i < grid->getSizeX(); ++i) + { + for(int j = 0; j < grid->getSizeZ(); ++j) + { + gridPoint *p = grid->points[i][j]; + + float weighting = calculateWeighting(p->getX() - grid->getViewpointX(), p->getZ() - grid->getViewpointZ()); + + if(this->waypoints) + createWaypoints(grid, p->getX(), p->getZ(), weighting); + + if(this->neighbours) + createNeighbours(grid, p->getX(), p->getZ(), weighting); + } + }*/ + + return grid; +} diff --git a/src/grid/scanmanager.cc b/src/grid/scanmanager.cc new file mode 100644 index 0000000..2b898b5 --- /dev/null +++ b/src/grid/scanmanager.cc @@ -0,0 +1,200 @@ +/* + * scanmanager implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include "grid/scanmanager.h" +#include +#include "slam6d/globals.icc" +#include +using std::exception; +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +/** + * Ctor. + * Does nothing + */ +scanmanager::scanmanager() +{ +} + +/** + * DTor. + * Clear the memory + */ +scanmanager::~scanmanager() +{ + // Deleting the stored metamatrixes + for (size_t i = 0; i < metaMatrix.size(); i++) { + for (size_t j = 0; j < metaMatrix.at(i).size(); j++) { + delete[] metaMatrix.at(i).at(j); + } + } + + // Deleting the stored scans and reset the vector + for(size_t i=0; i < Scan::allScans.size(); ++i) + { + delete Scan::allScans[i]; + } + + Scan::allScans.clear(); +} + +/* + * A function that read the .frame files created by slam6D + * (taken from the originial test-class) + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param readInitial read a file containing a initial transformation matrix and apply it + * @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0 + */ +void scanmanager::readFrames(string dir, int start, int end, + bool readInitial, bool correctYAxis) +{ + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + + // update the mirror to apply the initial frame for all frames + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + const double* transformation; + Scan::AlgoType algoType; + std::vector Matrices; + + // iterate over frames (stop if none were created) and pull/convert the frames into local containers + unsigned int frame_count = (*it)->readFrames(); + if(frame_count == 0) break; + for(unsigned int i = 0; i < frame_count; ++i) { + (*it)->getFrame(i, transformation, algoType); + double* transMatOpenGL = new double[16]; + + // apply mirror to convert (and initial frame if requested) the frame and save in opengl + MMult(mirror, transformation, transMatOpenGL); + + Matrices.push_back(transMatOpenGL); + } + + metaMatrix.push_back(Matrices); + + // current_frame = MetaMatrix.back().size() - 1; + } + + if (metaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return; + } + + // if set, value 14 of the transformationmatrix will be set to 0 + if(correctYAxis) + { + for(size_t i=0; i < metaMatrix.size(); ++i) + { + for(size_t j=0; j < metaMatrix.at(i).size(); ++j) + { + metaMatrix.at(i).at(j)[13] = 0; + } + } + } +} + +/** + * Reads all scans, frames and the transformationmatrix + * + * @param inputDir the input directory + * @param outputdir the output directory + * @param scantype the scantype + * @param start start with scannumber 'start' + * @param end end with scannumber 'end' + * @param readInitial read files, that contain a 'initial transformation matrix' + * @param max_distance the maximal distance + * @param min_distance the minimal distance + * @param correctYAxis if set, value 14 of the transformationmatrix will be set to 0 + */ +void scanmanager::startscan(string inputdir, string outputdir, + IOType scantype, int start, int end, + bool readInitial, int max_distance, + int min_distance, bool correctYAxis) +{ + // Read scans + + // load all available scans + bool scanserver = false; + Scan::openDirectory(scanserver, inputdir, scantype, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + + } + + // Read frames + readFrames(inputdir, start, end, readInitial, correctYAxis); +} + +/** + * Returns the number of scans + * + * @return the number of scans + */ +size_t scanmanager::getScanCount() const +{ + return Scan::allScans.size(); +} + +/** + * Returns scan with the number i + * + * @param i number of the scan + * @return scan with number i + */ +Scan& scanmanager::getScan(int i) +{ + return *Scan::allScans.at(i); +} + +/** + * Returns the transformationmatrix with number i. + * + * The original readFrames method always read one matrix more + * than needed, but it complicated freeing memory and wasnt used in + * this programm, so it was commented out. + * + * @param i the number of the transformationmatrix + * @return transformationmatrix with number i + */ +const std::vector & scanmanager::getMatrix(int i) +{ + return this->metaMatrix.at(i); +} diff --git a/src/grid/viewpointinfo.cc b/src/grid/viewpointinfo.cc new file mode 100644 index 0000000..260188d --- /dev/null +++ b/src/grid/viewpointinfo.cc @@ -0,0 +1,67 @@ +/* + * viewpointinfo implementation + * + * Copyright (C) Uwe Hebbelmann, Sebastian Stock, Andre Schemschat + * + * Released under the GPL version 3. + * + */ + +#include +using std::ofstream; + +#include "grid/viewpointinfo.h" +#include +#include +using std::cerr; +using std::endl; +using std::make_pair; + +/** + * CTor. + */ +viewpointinfo::viewpointinfo(string path) +{ + this->path = path; +} + +/** + * The method adds the viewpointinfos of the given grid + * to the internal list + * + * @param grid The grid with the new viewpointinfos + */ +void viewpointinfo::addGrid(const scanGrid *grid) +{ + this->viewpoints.push_back(make_pair(grid->getViewpointX(), + grid->getViewpointZ())); +} + +/** + * This methods writes the internal viewpointslist + * to the file specified by filename + * + * @param filename The path and name of the file + */ +void viewpointinfo::write(string filename) +{ + string tmp(this->path + "/" + filename); + + ofstream stream(tmp.c_str()); + if(!stream.good()) + { + cerr << " Unable to open file ! ("<< filename<<")"<< endl; + exit(1); + } + + + vector::iterator it = this->viewpoints.begin(); + vector::iterator end = this->viewpoints.end(); + + while(it != end) + { + stream << it->first << " " << it->second << endl; + ++it; + } +} + diff --git a/src/model/CMakeLists.txt b/src/model/CMakeLists.txt new file mode 100644 index 0000000..8a31065 --- /dev/null +++ b/src/model/CMakeLists.txt @@ -0,0 +1,31 @@ +if(WITH_MODEL) + + # Module name + set(MODULE "Model") + set(UNIX_LIBS shape scan newmat dl ANN) + set(WIN32_LIBS shape scan newmat XGetopt) + + # Set CXX flags for CGAL + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frounding-math") + + # Sources + file(GLOB SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*.cc") + + # Binaries + add_executable(model ${SOURCES}) + + # Find libraries + find_library(LIB_CGAL CGAL) + find_library(LIB_GMP gmp) + find_package(Boost REQUIRED) + find_package(OpenCV REQUIRED) + + if(UNIX) + target_link_libraries(model ${UNIX_LIBS} ${LIB_CGAL} ${Boost_LIBS} ${LIB_GMP} ${OpenCV_LIBS}) + endif(UNIX) + + if (WIN32) + target_link_libraries(model ${UNIX_LIBS} ${LIB_CGAL} ${Boost_LIBS} ${LIB_GMP} ${OpenCV_LIBS}) + endif(WIN32) + +endif(WITH_MODEL) diff --git a/src/model/candidateOpening.cc b/src/model/candidateOpening.cc new file mode 100644 index 0000000..576c818 --- /dev/null +++ b/src/model/candidateOpening.cc @@ -0,0 +1,52 @@ +/** + * @file candidateOpening.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/candidateOpening.h" + +//============================================================================== +// Static member initializations +//============================================================================== +const unsigned int model::CandidateOpening::NR_FEATURES = 14; + +//============================================================================== +// Class implementation +//============================================================================== +model::CandidateOpening::CandidateOpening() { + +} + +model::CandidateOpening::CandidateOpening(const Point3d& pt, const Vector3d& normal, + const std::vector& hull, + const std::vector& features, const std::vector& edges) : + Plane3d(pt, normal, hull) +{ + this->features = features; + this->edges = edges; +} + +model::CandidateOpening::CandidateOpening(const CandidateOpening& other) : Plane3d(other){ + this->features = other.features; + this->edges = other.edges; + this->edgeCoverage = other.edgeCoverage; +} + +model::CandidateOpening::~CandidateOpening() {} + +model::CandidateOpening& model::CandidateOpening::operator=(const CandidateOpening& other) { + if (this != &other) { + Plane3d::operator =(other); + this->features = other.features; + this->edges = other.edges; + this->edgeCoverage = other.edgeCoverage; + } + + return *this; +} diff --git a/src/model/graphicsAlg.cc b/src/model/graphicsAlg.cc new file mode 100644 index 0000000..79dba27 --- /dev/null +++ b/src/model/graphicsAlg.cc @@ -0,0 +1,368 @@ +/** + * @file graphicsAlg.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 18 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/graphicsAlg.h" + +#include "model/scene.h" + +#include +#include + +using namespace std; + +//============================================================================== +// Global Variables +//============================================================================== +extern bool quiet; + +template +void model::GraphicsAlg::alpha_edges(InputIterator begin, InputIterator end, + const Type& Alpha, + bool mode, + OutputIterator out) +{ + Alpha_shape_2 shape(begin, end); + + if (mode) { + shape.set_mode(Alpha_shape_2::GENERAL); + } + else { + shape.set_mode(Alpha_shape_2::REGULARIZED); + } + + shape.set_alpha(Alpha); + + for(Alpha_shape_edges_iterator it = shape.alpha_shape_edges_begin(); + it != shape.alpha_shape_edges_end(); ++it) + { + *out++ = shape.segment(*it); + } +} + +// to be used to sort the pairs in the clockwiseSort method +bool compare(pair left, pair right) { + // we want to order clockwise, so we should compare the other way around + return left.first > right.first; +} + +void model::GraphicsAlg::clockwiseSort(vector& planes) { + if (planes.size() <= 2) { + return; + } + + // to be returned at the end + vector result; + + // first compute the center of gravity of the given planes + Point3d cog; + for (unsigned int i = 0; i < planes.size(); ++i) { + cog += planes[i].pt; + } + cog /= planes.size(); + + // keep the angle of each plane wrt to the center of gravity + // also keep and index with the position of the plane in the original vector + vector > angles; + + // compute each angle and add it to the angles vector alongside the index + for (unsigned int i = 0; i < planes.size(); ++i) { + double angle = atan2(planes[i].pt.z - cog.z, planes[i].pt.x - cog.x); + angles.push_back(make_pair(angle, i)); + } + + // use stl sort + sort(angles.begin(), angles.end(), compare); + + // construct the result + for (unsigned int i = 0; i < angles.size(); ++i) { + result.push_back(planes[angles[i].second]); + } + + // copy result into planes + planes = result; +} + +vector model::GraphicsAlg::getConcaveHull(std::vector planes) { + if (planes.size() <= 3) { + return planes; + } + + const double eps = 0.1; + vector result; + vector verticalPlanes; + + // CGAL datatypes + list points; + vector segments; + + // keep vertical planes + for (vector::iterator it = planes.begin(); + it < planes.end(); ++it) + { + if (it->isVertical()) { + verticalPlanes.push_back(*it); + } + } + + // free a bit of memory + planes.clear(); + + // collect all the remaining planes as CGAL points + for (vector::iterator it = verticalPlanes.begin(); + it < verticalPlanes.end(); ++it) + { + Point toAdd(it->pt.x, it->pt.z); + points.push_back(toAdd); + } + + // XXX compute the concave hull, aka. the alpha edges + alpha_edges(points.begin(), points.end(), + Type(250000), Alpha_shape_2::GENERAL, + std::back_inserter(segments)); + + if (!quiet) cout << "** " << segments.size() << " concave hull segments found" << endl; + + // counts how many planes are rematched to make sure we find them again + unsigned int counter = 0; + + // XXX naive retrieval of planes + Point3d center; + vector possiblePoints; + for (vector::iterator it = segments.begin(); + it < segments.end(); ++it) + { + Point source = it->source(); + Point target = it->target(); + + center.x += source.x(); + center.z += source.y(); + center.x += target.x(); + center.z += target.y(); + + possiblePoints.push_back(source); + possiblePoints.push_back(target); + } + center /= possiblePoints.size(); + + // match the points found using alpha shapes, back to their planes + for (vector::iterator it = possiblePoints.begin(); it < possiblePoints.end(); ++it) { + for (vector::iterator jt = verticalPlanes.begin(); jt < verticalPlanes.end(); ++jt) { + // second coordinate is on the z axis in the left handed coord system + if ((it->x() >= jt->pt.x - eps) && (it->x() <= jt->pt.x + eps) && + (it->y() >= jt->pt.z - eps) && (it->y() <= jt->pt.z + eps)) + { + result.push_back(*jt); + verticalPlanes.erase(jt); + counter++; + break; + } + } + } + + // eliminate duplicate planes + result = Scene::getSignificantPlanes(result); + + // sort them clockwise, it is in place + clockwiseSort(result); + + // another threshold for deciding whether to keep a plane or not + double eps2 = 0.2; + + // discard internal walls that are not part of the external walls of the room + for (vector::iterator it = result.begin() + 1; + it < result.end(); ++it) + { + vector::iterator prev = it - 1; + vector::iterator curr = it; + + // normalize normals just to be sure + prev->normal.normalize(); + curr->normal.normalize(); + + if ((1.0 - fabs(prev->normal.dotProduct(curr->normal))) < eps2) { + if (fabs(center.distance(*prev)) < fabs(center.distance(*curr))) { + if (!quiet) cout << "** Discarding previous internal plane centered at " + << prev->pt.x << " " << prev->pt.y << " " << prev->pt.z + << endl; + result.erase(prev); + } else { + if (!quiet) cout << "** Discarding current internal plane centered at " + << curr->pt.x << " " << curr->pt.y << " " << curr->pt.z + << endl; + result.erase(curr); + } + } + } + + if (!quiet) cout << "** Added " << result.size() << " elements to concave hull result" << endl; + + return result; +} + +void model::GraphicsAlg::getDiscreteLine(Point3d src, Point3d dest, double precision, const double& extraDist, + vector& line) +{ + // clear the result just in case it contains something + line.clear(); + + // add the extra distance + double len = src.distance(dest); + double temp = (len + extraDist) / len; + dest.x = src.x + (dest.x - src.x) * temp; + dest.y = src.y + (dest.y - src.y) * temp; + dest.z = src.z + (dest.z - src.z) * temp; + + // round up the values + precision = round(precision); + + src.x = round(src.x); + src.y = round(src.y); + src.z = round(src.z); + + dest.x = round(dest.x); + dest.y = round(dest.y); + dest.z = round(dest.z); + + // adjust according to precision + const double coef = pow(10.0, precision); + src *= coef; + dest *= coef; + +// Point3d diff = dest - src; +// diff.x = fabs(diff.x); +// diff.y = fabs(diff.y); +// diff.z = fabs(diff.z); +// diff += Point3d(1.0, 1.0, 1.0); +// double temp[] = {diff.x, diff.y, diff.z}; +// +// double d = *max_element(temp, temp + 3); + + double x1 = src.x; + double y1 = src.y; + double z1 = src.z; + + double x2 = dest.x; + double y2 = dest.y; + double z2 = dest.z; + + double dx = x2 - x1; + double dy = y2 - y1; + double dz = z2 - z1; + + double ax = 2 * fabs(dx); + double ay = 2 * fabs(dy); + double az = 2 * fabs(dz); + + double sx = dx > 0 ? +1.0 : -1.0; + double sy = dy > 0 ? +1.0 : -1.0; + double sz = dz > 0 ? +1.0 : -1.0; + + double x = x1; + double y = y1; + double z = z1; + + if (ax >= max(ay, az)) { + // x dominant + double yd = ay - ax / 2.0; + double zd = az - ax / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (x == x2) { + break; + } + + // move along y + if (yd >= 0) { + y += sy; + yd -= ax; + } + + // move along z + if (zd >= 0) { + z += sz; + zd -= ax; + } + + // move along x + x += sx; + yd += ay; + zd += az; + } + } else if (ay >= max(ax, az)) { + // y dominant + double xd = ax - ay / 2.0; + double zd = az - ay / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (y == y2) { + break; + } + + // move along x + if (xd >= 0) { + x += sx; + xd -= ay; + } + + // move along z + if (zd >= 0) { + z += sz; + zd -= ay; + } + + // move along y + y += sy; + xd += ax; + zd += az; + } + } else if (az >= max(ax, ay)) { + // z dominant + double xd = ax - az / 2.0; + double yd = ay - az / 2.0; + + while (1) { + line.push_back(Point3d(x, y, z)); + + if (z == z2) { + break; + } + + // move along x + if (xd >= 0) { + x += sx; + xd -= az; + } + + // move along y + if (yd >= 0) { + y += sy; + yd -= az; + } + + // move along x + z += sz; + xd += ax; + yd += ay; + } + } else { + throw logic_error("invalid branch taken while computing discrete line"); + } + + for (vector::iterator it = line.begin(); it != line.end(); ++it) { + it->x /= coef; + it->y /= coef; + it->z /= coef; + } +} diff --git a/src/model/labeledPlane3d.cc b/src/model/labeledPlane3d.cc new file mode 100644 index 0000000..fcb84cb --- /dev/null +++ b/src/model/labeledPlane3d.cc @@ -0,0 +1,391 @@ +/** + * @file plane3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 15 Apr 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/labeledPlane3d.h" +#include "model/util.h" + +#include + +#include +#include +#include +#include +#include +using namespace std; + +//============================================================================== +// Static member initializations +//============================================================================== +const std::string model::LabeledPlane3d::RED = "180 0 0"; +const std::string model::LabeledPlane3d::GREEN = "0 180 0"; +const std::string model::LabeledPlane3d::BLUE = "0 0 180"; +const std::string model::LabeledPlane3d::WHITE = "255 255 255"; + +const double model::LabeledPlane3d::LINE_EPSILON = 0.2; + +const double model::LabeledPlane3d::SOBEL_SCALE = 1.0; +const double model::LabeledPlane3d::SOBEL_DELTA = 0.0; +const int model::LabeledPlane3d::SOBEL_KERNEL = 3; + +const double model::LabeledPlane3d::CANNY_THRESH1 = 40.0; +const double model::LabeledPlane3d::CANNY_THRESH2 = 120.0; + +const double model::LabeledPlane3d::HOUGH_RHO = 1.0; +const double model::LabeledPlane3d::HOUGH_THETA = CV_PI / 180.0; +const int model::LabeledPlane3d::HOUGH_THRESH = 80; +const double model::LabeledPlane3d::HOUGH_MIN_LINE_LEN = 15.0; + +const double model::LabeledPlane3d::MIN_EMPTY_AREA = 0.67; +const double model::LabeledPlane3d::MIN_TOTAL_AREA = 0.0075; +const double model::LabeledPlane3d::MAX_TOTAL_AREA = 0.400; + +//============================================================================== +// Class implementation +//============================================================================== +model::LabeledPlane3d::LabeledPlane3d() : Plane3d() {} + +model::LabeledPlane3d::LabeledPlane3d(const Point3d& pt, const Vector3d& normal) : + Plane3d(pt, normal) +{ + +} + +model::LabeledPlane3d::LabeledPlane3d(const Point3d& pt, const Vector3d& normal, const std::vector& hull) : + Plane3d(pt, normal, hull) +{} + +model::LabeledPlane3d::LabeledPlane3d(const LabeledPlane3d& other) : Plane3d(other) { + this->patches= other.patches; + this->depthMap = other.depthMap; + this->depthImg = other.depthImg; + this->correctedDepthImg = other.correctedDepthImg; + this->depthMapDistances = other.depthMapDistances; +} + +model::LabeledPlane3d::~LabeledPlane3d() {} + +model::LabeledPlane3d& model::LabeledPlane3d::operator=(const LabeledPlane3d& other) { + if (this != &other) { + Plane3d::operator =(other); + this->patches= other.patches; + this->depthMap = other.depthMap; + this->depthImg = other.depthImg; + this->correctedDepthImg = other.correctedDepthImg; + this->depthMapDistances = other.depthMapDistances; + } + + return *this; +} + +void model::LabeledPlane3d::detectEdges(cv::Mat& canny, cv::Mat& hSobel, cv::Mat& vSobel, cv::Mat& combined) const { + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // apply Canny edge detection so we can see the lines contained in the image + cv::Canny(this->depthImg, canny, CANNY_THRESH1, CANNY_THRESH2); + + // apply Sobel on same image so we get better defined horizontal and vertical lines + cv::Sobel(canny, hSobel, CV_8UC1, 0, 1, SOBEL_KERNEL, SOBEL_SCALE, SOBEL_DELTA, cv::BORDER_DEFAULT); + cv::Sobel(canny, vSobel, CV_8UC1, 1, 0, SOBEL_KERNEL, SOBEL_SCALE, SOBEL_DELTA, cv::BORDER_DEFAULT); + + // combine all of them for even better edges + cv::addWeighted(canny, 0.5, hSobel, 0.5, 0, combined); + cv::threshold(combined, combined, 1, MAX_IMG_VAL, CV_8UC1); + cv::addWeighted(combined, 0.5, vSobel, 0.5, 0, combined); + cv::threshold(combined, combined, 1, MAX_IMG_VAL, CV_8UC1); + + cv::imwrite("./img/edgeCanny.png", canny); + cv::imwrite("./img/edgeSobelHoriz.png", hSobel); + cv::imwrite("./img/edgeSobelVert.png", vSobel); + cv::imwrite("./img/edgeCombined.png", combined); +} + +void model::LabeledPlane3d::computeLines(std::vector& verticalResult, std::vector& horizontalResult) const { + + if (this->depthMap.size() != this->patches.size() || + this->depthMap.front().size() != this->patches.front().size()) + { + throw runtime_error("depth map and patch matrix must match in sizes"); + } + + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // clear the output + verticalResult.clear(); + horizontalResult.clear(); + + // compute the Canny edges normally, and using sobel on x and y + cv::Mat canny, hSobel, vSobel, combined; + this->detectEdges(canny, hSobel, vSobel, combined); + + // detect all the proper lines from the image + vector lines; + cv::HoughLinesP(combined, lines, HOUGH_RHO, HOUGH_THETA, HOUGH_THRESH, HOUGH_MIN_LINE_LEN); + + // convert to color image so we can draw some colored lines on it + cv::cvtColor(combined, combined, CV_GRAY2BGR, 3); + cv::Mat imgLines = combined.clone(); + cv::Mat imgFinalLines = combined.clone(); + + // filter out the vertical and the horizontal lines + // XXX use sets so that the numbers are ordered automatically + set horizontalSet, verticalSet; + int curr; + + for (vector::iterator it = lines.begin(); it != lines.end(); ++it) { + int dX = it->val[2] - it->val[0]; + int dY = it->val[3] - it->val[1]; + + double angle = atan2(static_cast(dY), static_cast(dX)); + + if (((angle < +M_PI_2 + LINE_EPSILON) && (angle > +M_PI_2 - LINE_EPSILON)) || + ((angle < -M_PI_2 + LINE_EPSILON) && (angle > -M_PI_2 - LINE_EPSILON))) + { + // detect and add the vertical lines + curr = static_cast(round((it->val[2] + it->val[0]) / 2.0)); + verticalSet.insert(curr); + cv::line(imgLines, cv::Point(curr, 0), cv::Point(curr, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + + } else if (((angle < +0.0 + LINE_EPSILON) && (angle > +0.0 - LINE_EPSILON)) || + ((angle < +M_PI + LINE_EPSILON) && (angle > +M_PI - LINE_EPSILON)) || + ((angle < -M_PI + LINE_EPSILON) && (angle > -M_PI - LINE_EPSILON))) + { + // detect and add the horizontal lines + curr = static_cast(round((it->val[3] + it->val[1]) / 2.0)); + horizontalSet.insert(curr); + cv::line(imgLines, cv::Point(0, curr), cv::Point(imgLines.cols-1, curr), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + } + } + + // insert the edges as lines + horizontalSet.insert(0); + horizontalSet.insert(imgHeight - 1); + cv::line(imgLines, cv::Point(0, 0), cv::Point(imgLines.cols-1, 0), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + cv::line(imgLines, cv::Point(0, imgHeight - 1), cv::Point(imgLines.cols-1, imgHeight - 1), cv::Scalar(MAX_IMG_VAL, 0, 0), 1); + + verticalSet.insert(0); + verticalSet.insert(imgWidth - 1); + cv::line(imgLines, cv::Point(0, 0), cv::Point(0, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + cv::line(imgLines, cv::Point(imgWidth - 1, 0), cv::Point(imgWidth - 1, imgLines.rows-1), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + + cv::imwrite("./img/edgeLines.png", imgLines); + if (!quiet) cout << "** Total lines: " << verticalSet.size() << " vertical, " << horizontalSet.size() << " horizontal" << endl; + + horizontalResult.assign(horizontalSet.begin(), horizontalSet.end()); + verticalResult.assign(verticalSet.begin(), verticalSet.end()); +} + +void model::LabeledPlane3d::computeOpeningCandidates(std::vector& result) const { + if (!quiet) cout << endl << "== Computing opening candidates for surface centered at " << this->pt << endl; + + // make sure the result is empty + result.clear(); + + if (this->depthMap.size() != this->patches.size() || + this->depthMap.front().size() != this->patches.front().size()) + { + throw runtime_error("depth map and patch matrix must match in sizes"); + } + + int imgHeight = static_cast(this->depthMap.size()); + int imgWidth = static_cast(this->depthMap.front().size()); + + if (imgHeight == 0 || imgWidth == 0) { + throw runtime_error("please initialize the patches and depth map for labeled plane"); + } + + // convert the sets to vectors + vector horizontal, vertical; + this->computeLines(vertical, horizontal); + + // we require the total wall area to discard a few small candidates + double wCentimetersWall = this->patches[0][0].first.distance(this->patches[0][imgWidth - 1].first); + double hCentimetersWall = this->patches[0][0].first.distance(this->patches[imgHeight - 1][0].first); + double wallArea = wCentimetersWall * hCentimetersWall; + + // put temporary candidates in here + std::vector candidates; + + // count the number of discarded small planes + unsigned int discarded = 0; + + // there is no other way of determining all the rectangles in the image + // u - upper, l - lower, h - horizontal, v - vertical + for (vector::iterator y1 = horizontal.begin(); y1 != horizontal.end() - 1; ++y1) { + for (vector::iterator y2 = y1 + 1; y2 != horizontal.end(); ++y2) { + for (vector::iterator x1 = vertical.begin(); x1 != vertical.end() - 1; ++x1) { + for (vector::iterator x2 = x1 + 1; x2 != vertical.end(); ++x2) { + + // do not add really small candidates that are smaller than a certain percentage of the whole wall + double wCentiMeters = this->patches[0][*x2].first.distance(this->patches[0][*x1].first); + double hCentiMeters = this->patches[*y2][0].first.distance(this->patches[*y1][0].first); + double area = wCentiMeters * hCentiMeters; + + if (area < MIN_TOTAL_AREA * wallArea || area > MAX_TOTAL_AREA * wallArea) { + discarded++; + continue; + } + + // create edges for candidate opening + int tempEdges[4] = {*y1, *y2, *x1, *x2}; + vector edges(tempEdges, tempEdges + 4); + + // compute the hull + vector hull; + hull.push_back(this->patches[*y1][*x1].first); + hull.push_back(this->patches[*y1][*x2].first); + hull.push_back(this->patches[*y2][*x2].first); + hull.push_back(this->patches[*y2][*x1].first); + + // compute the normal application point + Point3d pt(0.0, 0.0, 0.0); + for (vector::iterator it = hull.begin(); it != hull.end(); ++it) { + pt += *it; + } + pt /= hull.size(); + + CandidateOpening candidate(pt, this->normal, hull, vector(), edges); + candidate.normal = candidate.computeAverageNormal(); + candidates.push_back(candidate); + } + } + } + } + + if (!quiet) cout << "** Total opening candidates: " << candidates.size() << endl; + if (!quiet) cout << "** Discarded openings relative size to wall: " << discarded << endl; + discarded = 0; + + // determine the features of each candidate opening + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + if (y1 > y2 || x1 > x2) { + throw runtime_error("upper coordinates need to be smaller than the lower ones (candidate opening)"); + } + + int w = abs(x2 - x1); + int h = abs(y2 - y1); + + // first feature, the area of the opening + double wCentiMeters = this->patches[0][x2].first.distance(this->patches[0][x1].first); + double hCentiMeters = this->patches[y2][0].first.distance(this->patches[y1][0].first); + double area = wCentiMeters * hCentiMeters; + it->features.push_back(static_cast(area)); + + // second feature, w/h + it->features.push_back(static_cast(w) / h); + + // third feature, w/W + it->features.push_back(static_cast(w) / imgWidth); + + // fourth feature, h/H + it->features.push_back(static_cast(h) / imgHeight); + + // distance from every edge + // upper horizontal line + it->features.push_back(this->patches[y1][0].first.distance(this->patches.front()[0].first)); + // lower horizontal line + it->features.push_back(this->patches[y2][0].first.distance(this->patches.back()[0].first)); + // upper vertical line + it->features.push_back(this->patches[0][x1].first.distance(this->patches[0].front().first)); + // lower vertical line + it->features.push_back(this->patches[0][x2].first.distance(this->patches[0].back().first)); + + // compute the RMS of the plane fit residual for this particular rectangle + // in the same time compute the area of each label + int empty = 0, occupied = 0, occluded = 0; + + // TODO figure out how to compute the residual + double sqSum = 0.0; + for (int i = y1; i < y2; ++i) { + for (int j = x1; j < x2; ++j) { + // TODO should be computed accordingly + double temp = 0.0; + + switch (this->patches[i][j].second) { + case EMPTY: + empty++; + break; + case OCCUPIED: + occupied++; + break; + case OCCLUDED: + occluded++; + break; + default: + throw runtime_error("default branch taken while computing features for opening candidate"); + break; + } + sqSum += pow(temp, 2.0); + } + } + + // add the RMS plane fit + int totalCount = w * h; + it->features.push_back(sqrt(sqSum / totalCount)); + + // discard a few more candidates + if ((static_cast(empty) / totalCount) < MIN_EMPTY_AREA) { + discarded++; + continue; + } + + // add the area of each label, empty, occupied, occluded + it->features.push_back(static_cast(empty) / totalCount); + it->features.push_back(static_cast(occupied) / totalCount); + it->features.push_back(static_cast(occluded) / totalCount); + + // determine how many interior rectangles this candidate contains + // compute the number of interior inverted U-shapes as well + // start counting from 2 as we include the edges as well + int vCount = 2, hCount = 2; + for (vector::iterator jt = horizontal.begin(); jt != horizontal.end(); ++jt) { + if (*jt > y1 && *jt < y2) { + hCount++; + } + } + + for (vector::iterator jt = vertical.begin(); jt != vertical.end(); ++jt) { + if (*jt > x1 && *jt < x2) { + vCount++; + } + } + + // add the number of rectangles contained inside + it->features.push_back((hCount * (hCount - 1) / 2.0) * (vCount * (vCount - 1) / 2.0)); + + // add the number of interior inverted U-shapes + if (y2 == imgHeight - 1) { + it->features.push_back((hCount - 1) * (vCount * (vCount - 1) / 2.0)); + } else { + it->features.push_back(0.0); + } + + // add this current candidate to the final result + result.push_back(*it); + } + + if (!quiet) cout << "** Discarded openings due to small empty area: " << discarded << endl; + if (!quiet) cout << "** Done computing features for all opening candidates" << endl; +} diff --git a/src/model/model.cc b/src/model/model.cc new file mode 100644 index 0000000..1659898 --- /dev/null +++ b/src/model/model.cc @@ -0,0 +1,272 @@ +/** + * @file model.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 12 Feb 2012 + * + */ + +//============================================================================== +// Defines +//============================================================================== + + +//============================================================================== +// Includes +//============================================================================== +#include "model/scene.h" +#include "model/util.h" +#include "model/graphicsAlg.h" + +#include "slam6d/io_utils.h" +#include "slam6d/io_types.h" + +#include +#include +#include +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +#include +using namespace std; + +//============================================================================== +// Global Variables +//============================================================================== +model::Scene* scene = NULL; // the scene containing all data +bool quiet = false; // no output will be shown + +//============================================================================== +// Functions +//============================================================================== +/** + * Prints the usage of the program to stdout. + * @param programName the name of the current program + */ +void printUsage(const string& programName) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << bold << "USAGE " << normal << endl + << "\t" << programName << " [options] directory" << endl << endl; + + cout << bold << "OPTIONS" << normal << endl + << bold << "\t -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << "\t\t using shared library F for input" << endl + << "\t\t (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rxp, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + // TODO enable the usage of all algos, use rht for now + << bold << "\t -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl + << "\t\t using algorithm P for plane detection" << endl + << "\t\t (chose P from {rht, sht, pht, ppht, apht, ran})" << endl + << endl + << bold << "\t -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << "\t\t start at scan NR (i.e., neglects the first NR scans)" << endl + << "\t\t [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << "\t -S, --scanserver" << normal << endl + << "\t\t Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << "\t -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << "\t\t end at scan NR (i.e., neglects the scans following NR)" << endl + << endl; + + exit(EXIT_SUCCESS); +} + +/** + * Parses program arguments. + */ +void parseArgs(int argc, char* argv[], + string& dir, int& start, int& end, IOType &type, PlaneAlgorithm& alg, + bool& scanserver) +{ + char c; + int index; + + // from unistd.h: + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + // define the known flags in an option structure + static struct option long_options[] = { + {"start", required_argument, 0, 's'}, + {"end", required_argument, 0, 'e'}, + {"format", required_argument, 0, 'f'}, + {"plane", required_argument, 0, 'p'}, + {"help", no_argument, 0, 'h'}, + {"scanserver", no_argument, 0, 'S'}, + {"quiet", no_argument, 0, 'q'} + }; + + // loop over the arguments + while ((c = getopt_long(argc, argv, "s:e:f:p:hq", long_options, &index)) != -1) { + switch (c) { + case 's': + w_start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'p': + if (strcasecmp(optarg, "rht") == 0) alg = RHT; + else if (strcasecmp(optarg, "sht") == 0) alg = SHT; + else if (strcasecmp(optarg, "pht") == 0) alg = PHT; + else if (strcasecmp(optarg, "ppht") == 0) alg = PPHT; + else if (strcasecmp(optarg, "apht") == 0) alg = APHT; + else if (strcasecmp(optarg, "ran") == 0) alg = RANSAC; + else printUsage(argv[0]); + break; + case 'q': + quiet = true; + break; + case 'S': + scanserver = true; + break; + case 'h': + case '?': + printUsage(argv[0]); + break; + default: + throw runtime_error("getopt_long detected invalid flag"); + break; + } + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + printUsage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + +} + +/** + * Cleanup function that deallocates memory and cleans up other stuff... + */ +void cleanup() { + if (!quiet) cout << endl << "== Cleaning up..." << endl; + + if (scene != NULL) { + delete scene; + } + + if (!quiet) cout << endl << "== Exiting..." << endl; +} + +//============================================================================== +// Main +//============================================================================== +int main(int argc, char* argv[]) { + // seed the RNG + srand(time(NULL)); + + // default values for possible parse parameters + IOType type = UOS; + bool scanserver = false; + + // beginning and ending scan number + int start = 0; + int end = 0; + + // path to directory containing the scans + string dir; + + // minimum and maximum scan distances + int maxDist = -1; + int minDist = -1; + + int octree = 1; + double red = -1.0; + + // which plane algorithm to perform + PlaneAlgorithm alg = RHT; + + // parse the command line arguments before registering and signals and atexit callbacks + parseArgs(argc, argv, + dir, start, end, type, alg, + scanserver); + + // register cleanup function to deallocate memory at exit + atexit(cleanup); + + if (!model::fileExists(dir)) { + throw runtime_error("directory " + dir + " does not exist"); + } + + // Prepare to create the scene. + model::Point3d pt(+78.4556, +43.0196, -181.107); +// model::Point3d pt(0.0, 0.0, 0.0); + model::Rotation3d rot(0.0, 0.0, 0.0); + model::Pose6d pose(pt, rot); + vector poses; + poses.push_back(pose); + + // Allocate memory for scene object. + scene = new model::Scene(type, start, end, dir, scanserver, + maxDist, minDist, alg, octree, red, poses); + scene->detectWalls(); + scene->applyLabels(scene->walls[0]); + scene->applyLabels(scene->walls[1]); + scene->applyLabels(scene->walls[2]); + scene->applyLabels(scene->walls[3]); + scene->applyLabels(scene->ceiling); + scene->applyLabels(scene->floor); + + vector openings; + scene->addFinalOpenings(scene->walls[0], openings); + scene->correct(scene->walls[0], openings); + scene->addFinalOpenings(scene->walls[1], openings); + scene->correct(scene->walls[1], openings); + scene->addFinalOpenings(scene->walls[2], openings); + scene->correct(scene->walls[2], openings); + scene->addFinalOpenings(scene->walls[3], openings); + scene->correct(scene->walls[3], openings); + scene->addFinalOpenings(scene->ceiling, openings); + scene->correct(scene->ceiling, openings); + scene->addFinalOpenings(scene->floor, openings); + scene->correct(scene->floor, openings); + + scene->writeCorrectedWalls(dir); + scene->writeModel(dir); + + return 0; +} diff --git a/src/model/plane3d.cc b/src/model/plane3d.cc new file mode 100644 index 0000000..190b483 --- /dev/null +++ b/src/model/plane3d.cc @@ -0,0 +1,259 @@ +/** + * @file plane3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/plane3d.h" + +#include +#include +using namespace Eigen; + +#include + +#include +#include +using namespace std; + +model::Plane3d::Plane3d() { + // nothing to do +} + +model::Plane3d::Plane3d(const Point3d& pt, const Vector3d& normal) { + this->pt = pt; + this->normal = normal; + + // normals must be normalized + this->normal.normalize(); +} + + +model::Plane3d::Plane3d(const Point3d& pt, const Vector3d& normal, + const vector& hull) +{ + this->pt = pt; + this->normal = normal; + this->hull = hull; + + // normals must be normalized + this->normal.normalize(); +} + +model::Plane3d::Plane3d(const Plane3d& other) { + this->pt = other.pt; + this->normal = other.normal; + this->hull = other.hull; +} + +model::Plane3d::~Plane3d() { + // nothing to do +} + +model::Point3d model::Plane3d::intersect(const Plane3d& second, const Plane3d& third) { + // XXX http://mathworld.wolfram.com/Plane-PlaneIntersection.html + Point3d result; + Plane3d first = *this; + + MatrixXd mat(3, 3); + mat << first.normal.x, second.normal.x, third.normal.x, + first.normal.y, second.normal.y, third.normal.y, + first.normal.z, second.normal.z, third.normal.z; + + Vector3d term[3]; + term[0] = second.normal.crossProduct(third.normal) * + first.normal.dotProduct(Vector3d(first.pt.x, first.pt.y, first.pt.z)); + + term[1] = third.normal.crossProduct(first.normal) * + second.normal.dotProduct(Vector3d(second.pt.x, second.pt.y, second.pt.z)); + + term[2] = first.normal.crossProduct(second.normal) * + third.normal.dotProduct(Vector3d(third.pt.x, third.pt.y, third.pt.z)); + + Vector3d tempResult = (term[0] + term[1] + term[2]) * (1.0 / mat.determinant()); + + result.x = tempResult.x; + result.y = tempResult.y; + result.z = tempResult.z; + + return result; +} + +model::Plane3d& model::Plane3d::operator=(const Plane3d& other) { + this->pt = other.pt; + this->normal = other.normal; + this->hull = other.hull; + + return *this; +} + +bool model::Plane3d::isVertical() { + this->normal.normalize(); + return (fabs(this->normal.y) < _EPSILON_VERTICAL); +} + +bool model::Plane3d::isHorizontal() { + this->normal.normalize(); + return ((1 - fabs(this->normal.y / this->normal.length())) < _EPSILON_HORIZONTAL); +} + +bool model::Plane3d::isSamePlane(model::Plane3d other) { + // just to be safe + this->normal.normalize(); + other.normal.normalize(); + + double dist = this->pt.distance(other); + double norm = this->normal.crossProduct(other.normal).length(); + + // doing fabs of norm just to be safe, though it is always positive + if (fabs(dist) < _EPSILON_DISTANCE && fabs(norm) < _EPSILON_NORMAL_CROSS_PRODUCT) { + return true; + } + + return false; +} + +model::Vector3d model::Plane3d::computeAverageNormal() { + if(this->hull.size() < 3) { + throw runtime_error("hull contains less than 3 points, cannot compute normal"); + } + + // start from zero + Vector3d normal(0.0, 0.0, 0.0); + + for (vector::iterator it = this->hull.begin() + 1; it != this->hull.end() - 1; ++it) { + Point3d& left = *(it-1); + Point3d& middle = *it; + Point3d& right = *(it+1); + + normal += Vector3d(middle, left).crossProduct(Vector3d(middle, right)); + } + + // treat the boundary cases + Point3d& first = this->hull[0]; + Point3d& second = this->hull[1]; + Point3d& secondLast = this->hull[this->hull.size() - 2]; + Point3d& last = this->hull[this->hull.size() - 1]; + + normal += Vector3d(first, last).crossProduct(Vector3d(first, second)); + normal += Vector3d(last, secondLast).crossProduct(Vector3d(last, first)); + + normal.normalize(); + return normal; +} + +vector > model::Plane3d::getDiscretePoints(const double& dist) const { + if (this->hull.size() < 3) { + throw runtime_error("cannot retrieve discrete points on plane with hull containing less than 3 points"); + } + + // make a deep copy of the current plane + Plane3d copy = *this; + + // this will eventually contain the result + vector > result; + + // the origin of the current system, take the first point in the hull + Point3d origin = copy.hull[0]; + Point3d zero(0.0, 0.0, 0.0); + + // define the rotation around Z and X axis here + Rotation3d rotZ(0.0, 0.0, atan2(copy.normal.x, copy.normal.y)); + copy.normal.rotate(rotZ); + Rotation3d rotX(-atan2(copy.normal.z, copy.normal.y), 0.0, 0.0); + + // translate all points to origin + for (vector::iterator it = copy.hull.begin(); it != copy.hull.end(); ++it) { + // translate + *it -= origin; + + // rotate around Z + it->rotate(zero, rotZ); + + // rotate around X + it->rotate(zero, rotX); + } + + // figure out how to rotate around Y + Vector3d firstSegment; + + Point3d first = copy.hull.front(); + Point3d second = copy.hull[1]; + Point3d third = copy.hull[2]; + + if (first.distance(second) > second.distance(third)) { + firstSegment = Vector3d(first, second); + } else { + firstSegment = Vector3d(second, third); + } + + // define rotation around Y axis after we have moved the entire hull into the XZ plane + copy.normal.rotate(rotX); + Rotation3d rotY(0.0, atan2(firstSegment.z, firstSegment.x), 0.0); + + for (vector::iterator it = copy.hull.begin(); it != copy.hull.end(); ++it) { + // rotate around Y + it->rotate(zero, rotY); + } + + // we need to compute the maximum and minimum offsets + double minX = copy.hull[0].x; + double maxX = copy.hull[0].x; + double minZ = copy.hull[0].z; + double maxZ = copy.hull[0].z; + + // we need to start from the second point + for (vector::iterator it = copy.hull.begin() + 1; + it != copy.hull.end(); ++it) + { + if (it->x < minX) { + minX = it->x; + } + + if (it->x > maxX) { + maxX = it->x; + } + + if (it->z < minZ) { + minZ = it->z; + } + + if (it->z > maxZ) { + maxZ = it->z; + } + } + + // how many steps on each direction? + int stepsX = round((maxX - minX) / dist) + 2; + int stepsZ = round((maxZ - minZ) / dist) + 2; + + // resize the result vector + result.resize(stepsZ); + + for (int j = 0; j < stepsZ; ++j) { + for (int i = 0; i < stepsX; ++i) { + Point3d toPush(minX + dist * (i - 0.5), 0.0, maxZ - dist * (j - 0.5)); + + // rotate back around Y + toPush.rotate(zero, rotY.getInverse()); + + // rotate back around X + toPush.rotate(zero, rotX.getInverse());; + + // rotate back around Z + toPush.rotate(zero, rotZ.getInverse()); + + //translate back to previous system + toPush += origin; + + result[j].push_back(toPush); + } + } + + return result; +} diff --git a/src/model/point3d.cc b/src/model/point3d.cc new file mode 100644 index 0000000..c5eeed1 --- /dev/null +++ b/src/model/point3d.cc @@ -0,0 +1,238 @@ +/** + * @file point3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +//============================================================================== +// Defines +//============================================================================== + + +//============================================================================== +// Includes +//============================================================================== +#include "model/point3d.h" + +#include "model/plane3d.h" +#include "model/util.h" + +#include + +//============================================================================== +// Implementation +//============================================================================== + +model::Point3d::Point3d() { + this->x = 0.0; + this->y = 0.0; + this->z = 0.0; +} + +model::Point3d::Point3d(const double& x, const double& y, const double& z) { + this->x = x; + this->y = y; + this->z = z; +} + +model::Point3d::Point3d(const Point3d& other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; +} + +// rotate a point around a given point +void model::Point3d::rotate(const Point3d& ref, const Rotation3d& rot) +{ + // create rotation matrices + double Rx[3][3] = { + {1.0, 0.0, 0.0}, + {0.0, cos(rot.x), -sin(rot.x)}, + {0.0, sin(rot.x), cos(rot.x)} + }; + + double Ry[3][3] = { + {cos(rot.y), 0.0, sin(rot.y)}, + {0.0, 1.0, 0.0}, + {-sin(rot.y), 0.0, cos(rot.y)} + }; + + double Rz[3][3] = { + {cos(rot.z), -sin(rot.z), 0.0}, + {sin(rot.z), cos(rot.z), 0.0}, + {0.0, 0.0, 1.0} + }; + + // we need to translate the point in the origin, do rotation, and then translate back + double point[3]; + point[0] = this->x - ref.x; + point[1] = this->y - ref.y; + point[2] = this->z - ref.z; + + // somewhere to save the result + double temp[3]; + + // do rotation around z axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Rz[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // do rotation around y axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Ry[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // do rotation around z axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Rx[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // now translate back to reference point + this->x = point[0] + ref.x; + this->y = point[1] + ref.y; + this->z = point[2] + ref.z; +} + +void model::Point3d::translate(const Vector3d& vec) { + this->x += vec.x; + this->y += vec.y; + this->z += vec.z; +} + +// the distance from this point to another one +double model::Point3d::distance(const Point3d& other) const { + return sqrt(sqr(other.x - this->x) + + sqr(other.y - this->y) + + sqr(other.z - this->z)); +} + +// the distance from this point to the given plane +double model::Point3d::distance(const Plane3d& plane) const { + double vect[3]; + vect[0] = plane.pt.x - this->x; + vect[1] = plane.pt.y - this->y; + vect[2] = plane.pt.z - this->z; + + return vect[0] * plane.normal.x + + vect[1] * plane.normal.y + + vect[2] * plane.normal.z; +} + +model::Point3d& model::Point3d::operator=(const Point3d& other) { + if (this != &other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; + } + + return *this; +} + +model::Point3d model::Point3d::operator-(const Point3d& other) { + Point3d result; + result.x = this->x - other.x; + result.y = this->y - other.y; + result.z = this->z - other.z; + return result; +} + +model::Point3d model::Point3d::operator*(const double& coef) { + Point3d result; + result = *this; + result.x *= coef; + result.y *= coef; + result.z *= coef; + return result; +} + +model::Point3d model::Point3d::operator/(const double& div) { + Point3d result; + result.x = this->x / div; + result.y = this->y / div; + result.z = this->z / div; + return result; +} + +void model::Point3d::operator/=(const double& div) { + this->x /= div; + this->y /= div; + this->z /= div; +} + +void model::Point3d::operator+=(const Point3d& other) { + this->x += other.x; + this->y += other.y; + this->z += other.z; +} + +void model::Point3d::operator-=(const Point3d& other) { + this->x -= other.x; + this->y -= other.y; + this->z -= other.z; +} + +void model::Point3d::operator*=(const double& coef) { + this->x *= coef; + this->y *= coef; + this->z *= coef; +} + + +bool model::Point3d::operator==(const Point3d& other) const { + return (this->x + _EPSILON >= other.x && this->x - _EPSILON <= other.x) && + (this->y + _EPSILON >= other.y && this->y - _EPSILON <= other.y) && + (this->z + _EPSILON >= other.z && this->z - _EPSILON <= other.z); +} + +bool model::Point3d::operator!=(const Point3d& other) { + if (*this == other) { + return false; + } + return true; +} + +std::ostream& model::operator<<(std::ostream& os, const model::Point3d& pt) { + os << pt.x << " " << pt.y << " " << pt.z; + return os; +} diff --git a/src/model/rotation3d.cc b/src/model/rotation3d.cc new file mode 100644 index 0000000..b60cd7b --- /dev/null +++ b/src/model/rotation3d.cc @@ -0,0 +1,28 @@ +/* + * rotation3d.cc + * + * Created on: Feb 16, 2012 + * Author: Remus Claudiu Dumitru + */ + +#include "model/rotation3d.h" + +model::Rotation3d::Rotation3d(const Rotation3d& other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; +} + +model::Rotation3d& model::Rotation3d::operator=(const Rotation3d& other) { + if (this != &other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; + } + + return *this; +} + +model::Rotation3d model::Rotation3d::getInverse() { + return Rotation3d(-this->x, -this->y, -this->z); +} diff --git a/src/model/scene.cc b/src/model/scene.cc new file mode 100644 index 0000000..9530e25 --- /dev/null +++ b/src/model/scene.cc @@ -0,0 +1,1499 @@ +/** + * @file scene.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/scene.h" + +#include "model/graphicsAlg.h" +#include "model/util.h" + +#include +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +using namespace std; + +//============================================================================== +// Static fields initialization +//============================================================================== +const double model::Scene::PRECISION = 0.0; +const double model::Scene::RAY_DIST = 2.5; +const double model::Scene::PATCH_DIST = 1.0; +const double model::Scene::WALL_DIST = 10.0; // must be bigger than RAY_DIST +const double model::Scene::MIN_EDGE_COV = 0.60; + +//============================================================================== +// Implementation +//============================================================================== +model::Scene::Scene(const IOType& type, + const int& start, const int& end, + std::string dir, const bool& scanserver, + const int& maxDist, const int& minDist, + const PlaneAlgorithm& alg, const int& octree, const double& red, + const vector& poses) +{ + if (!quiet) cout << endl << "== Creating scene..." << endl; + if (!quiet) cout << endl << "== Reading scans..." << endl; + + // create an output directory for planes and for images + if (makeDir(dir + "img/")== false) { + throw runtime_error("failed to create directory " + dir + "img/"); + } + + // copy class fields here + this->poses = poses; + + // identity matrix + double id[16]; + M4identity(id); + + // begin the plane detection + // Scan::dir = dir; + // Scan::readScans(type, start, end, dir, maxDist, minDist, false); + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + int nrPlanes = 0 , currScan = start; + // for(vector ::iterator scan = Scan::allScans.begin(); scan != Scan::allScans.end(); ++scan) { + for(ScanVector::iterator scan = Scan::allScans.begin(); scan != Scan::allScans.end(); ++scan) { + + // prepare for plane detection + (*scan)->setRangeFilter(maxDist, minDist); + (*scan)->setReductionParameter(red, octree); + // scan->setSearchTreeParameter(nns_method, cuda_enabled); + + (*scan)->toGlobal(); + (*scan)->transform(id, Scan::ICP, 0); + + // read the pose of the current scan + pair pose; + const double* pt = (*scan)->get_rPos(); + const double* rot = (*scan)->get_rPosTheta(); + + pose.first.x = pt[0]; + pose.first.y = pt[1]; + pose.first.z = pt[2]; + + pose.second.x = rot[0]; + pose.second.y = rot[1]; + pose.second.z = rot[2]; + + if (!quiet) cout << "\n== Starting plane detection for scan " << currScan << " @ pose (" + << pose.first.x << " " << pose.first.y << " " << pose.first.z << " " + << pose.second.x << " " << pose.second.y << " " << pose.second.z << ")..." << endl; + + // apply hough transform + Hough hough((*scan), true); + nrPlanes += hough.RHT(); // TODO call proper algorithm + + if (!quiet) cout << "** Detected " << nrPlanes << " planes so far" << endl; + + // loop over all planes and fill in the data + for (vector::iterator convexPlane = hough.planes.begin(); + convexPlane != hough.planes.end(); convexPlane++) + { + // get the nomrla and the point of application of the normal + double tempNormal[3], tempOrigin[3]; + (*convexPlane)->getNormal(tempNormal, tempOrigin); + + // the normal and application points using our datastructures + Vector3d normal(tempNormal[0], tempNormal[1], tempNormal[2]); + Point3d origin(tempOrigin[0], tempOrigin[1], tempOrigin[2]); + + // fill in the convex hulls + vector doubleHull = (*convexPlane)->getConvexHull(); + vector pointHull; + + for (vector::iterator point = doubleHull.begin(); point != doubleHull.end(); point += 3) { + pointHull.push_back(Point3d(*(point+0), *(point+1), *(point+2))); + } + + Plane3d planeToAdd(origin, normal, pointHull); + + // add the planes to the vector + if (planeToAdd.isHorizontal() || planeToAdd.isVertical()) { + this->planes.push_back(planeToAdd); + } + else if (!quiet) { + cout << "** Discarding oblique plane centered at " + << planeToAdd.pt.x << " " << planeToAdd.pt.y << " " << planeToAdd.pt.z + << endl; + } + } + + // keep the pointer to the points + DataXYZ points = (*scan)->get("xyz reduced"); + unsigned int points_size = points.size(); + // const vector* points = (*scan)->get_points(); + + for (unsigned int i = 0; i < points_size; ++i) { + // XXX get_points returns a pointer + Point3d toPush(points[i][0], points[i][1], points[i][2]); + toPush.translate(pose.first); + toPush.rotate(Point3d(0.0, 0.0, 0.0), pose.second); + this->points.push_back(toPush); + } + + // contains the current scan number + currScan++; + } + + // to be used when constructing the octree + this->octTreePoints = new double*[this->points.size()]; + + // go over all points from all the scans + for (unsigned int i = 0; i < this->points.size(); ++i) { + double x = this->points[i].x; + double y = this->points[i].y; + double z = this->points[i].z; + + // add the points to the array to be added to the octree + this->octTreePoints[i] = new double[3]; + this->octTreePoints[i][0] = x; + this->octTreePoints[i][1] = y; + this->octTreePoints[i][2] = z; + } + + // Create the octree and fill it in. + if (!quiet) cout << endl << "== Building OctTree with " << this->points.size() << " points ..." << endl; + this->octTree = new BOctTree(this->octTreePoints, this->points.size(), octree); + //this->_octTree->init(); + this->nrPoints = this->points.size(); + + Scan::allScans.clear(); +} + +model::Scene::Scene(const Scene& other) { + this->points = other.points; + this->planes = other.planes; + this->walls = other.walls; + this->ceiling = other.ceiling; + this->floor = other.floor; +} + +model::Scene::~Scene() { + // delete the octree + if (this->octTree != NULL) { + delete this->octTree; + } + + if (this->octTreePoints != NULL) { + for (unsigned int i = 0; i < this->nrPoints; ++i) { + if (this->octTreePoints[i] != NULL) { + delete[] this->octTreePoints[i]; + } + } + delete[] this->octTreePoints; + } +} + +vector model::Scene::getConvexHull(vector planes) { + if (planes.size() <= 3) { + return planes; + } + + vector hull; + vector::iterator leftmostIt = planes.begin(); + + // compute the lefmost point + for (vector::iterator it = planes.begin() + 1; + it != planes.end(); ++it) + { + // add only vertical planes + if (it->isVertical() && it->pt.x < leftmostIt->pt.x) { + leftmostIt = it; + } + } + + Plane3d planeOnHull = *leftmostIt; + Plane3d endPlane; + + do { + // add the candidate plane to the hull + hull.push_back(planeOnHull); + endPlane = planes[0]; + + for (unsigned int j = 1; j < planes.size(); ++j) { + // consider only vertical planes + if (planes[j].isVertical() == false) { + continue; + } + + // define dummy planes in the XOZ plane + Point3d fakeCurPt(planes[j].pt.x, 0.0, planes[j].pt.z); + Point3d fakePointOnHull(planeOnHull.pt.x, 0.0, planeOnHull.pt.z); + Point3d fakeEndPoint(endPlane.pt.x, 0.0, endPlane.pt.z); + + // define a point to the left of the line + Point3d farLeft = fakeEndPoint; + farLeft.rotate(planeOnHull.pt, Rotation3d(0.0, -M_PI/6, 0.0)); + + // if ... or planes[j] on the left side of line (planeOnHull, endPlane) + if (planeOnHull.pt != planes[j].pt && + (endPlane.pt == planeOnHull.pt || sameSide(fakeCurPt, farLeft, fakePointOnHull, fakeEndPoint))) + { + endPlane = planes[j]; + } + } + + planeOnHull = endPlane; + + } while (endPlane.pt != hull[0].pt); + + return hull; +} + +vector model::Scene::getSignificantPlanes(vector planes) { + vector result; + + while (!planes.empty()) { + // add the first plane as viable + result.push_back(planes.front()); + planes.erase(planes.begin());; + + for (vector::iterator it = planes.begin(); it < planes.end(); ++it) { + if (result.back().isSamePlane(*it)) { + result.back().normal += it->normal; + planes.erase(it); + } + } + + // normalize this normal after we have normalized + result.back().normal.normalize(); + } + + return result; +} + +bool model::Scene::getCeiling(vector planes, Plane3d& result) { + vector horizontalPlanes; + + for (vector::iterator it = planes.begin(); it != planes.end(); ++it) { + if (it->isHorizontal()) { + horizontalPlanes.push_back(*it); + } + } + + if (horizontalPlanes.size() <= 0) { + return false; + } + + // start with the first horizontal plane + result = planes.front(); + + for (vector::iterator it = planes.begin()+1; + it != planes.end(); ++it) + { + if (it->pt.y > result.pt.y) { + result = *it; + } + } + + return true; +} + +bool model::Scene::getFloor(vector planes, Plane3d& result) { + vector horizontalPlanes; + + for (vector::iterator it = planes.begin(); + it != planes.end(); ++it) + { + if (it->isHorizontal()) { + horizontalPlanes.push_back(*it); + } + } + + if (horizontalPlanes.size() <= 0) { + return false; + } + + // start with the first horizontal plane + result = planes.front(); + + for (vector::iterator it = planes.begin()+1; + it != planes.end(); ++it) + { + if (it->pt.y < result.pt.y) { + result = *it; + } + } + + return true; +} + +void model::Scene::detectWalls() { + if (!quiet) cout << endl << "== Building model..." << endl; + + // temporary wall storage + vector tempWalls = this->planes; + + // extract the convex hull of the room + tempWalls = GraphicsAlg::getConcaveHull(tempWalls); + + // throw away redundant tempWalls + tempWalls = this->getSignificantPlanes(tempWalls); + + // get other bounds, ceiling and floor + Plane3d tempCeiling, tempFloor; + + if (!this->getCeiling(this->planes, tempCeiling) || !this->getFloor(this->planes, tempFloor)) { + throw runtime_error("error while determining ceiling or floor"); + } + + if (tempWalls.size() < 4) { + throw runtime_error("room has less than 4 walls"); + } + + if (!quiet) cout << "** " << tempWalls.size() << " walls have been detected" << endl; + + // XXX planes in the _walls vector should be in order + vector< pair > corners; + Point3d upperCorner, lowerCorner; + + if(!quiet) cout << endl << "== Computing corners..." << endl; + for (vector::iterator it = tempWalls.begin(); it != tempWalls.end(); ++it) { + // be careful at the last element + if (it < tempWalls.end()-1) { + upperCorner = it->intersect(*(it+1), tempCeiling); + lowerCorner = it->intersect(*(it+1), tempFloor); + } + else if (it == tempWalls.end()-1) { + upperCorner = it->intersect(tempWalls.front(), tempCeiling); + lowerCorner = it->intersect(tempWalls.front(), tempFloor); + } + + if (!quiet) cout << showpos << "** Computed upper corner " << upperCorner << endl; + if (!quiet) cout << showpos << "** Computed lower corner " << lowerCorner << endl; + + corners.push_back(make_pair(upperCorner, lowerCorner)); + } + + if (!quiet) cout << endl << "== Building walls, ceiling and floor..." << endl; + + // used to create the walls + Point3d upperLeft, upperRight; + Point3d lowerLeft, lowerRight; + + // used to create the floor and the ceiling + vector ceilingHull; + vector floorHull; + + Point3d ceilingCenter(0.0, 0.0, 0.0); + Point3d floorCenter(0.0, 0.0, 0.0); + + Vector3d ceilingNormal; + Vector3d floorNormal; + + for (vector< pair >::iterator it = corners.begin(); + it != corners.end(); ++it) + { + upperLeft = it->first; + lowerLeft = it->second; + + if (it < corners.end()-1) { + upperRight = (it+1)->first; + lowerRight = (it+1)->second; + } + else if (it == corners.end()-1) { + upperRight = corners.front().first; + lowerRight = corners.front().second; + } + + Point3d center((upperLeft.x + lowerLeft.x + upperRight.x + lowerRight.x) / 4.0, + (upperLeft.y + lowerLeft.y + upperRight.y + lowerRight.y) / 4.0, + (upperLeft.z + lowerLeft.z + upperRight.z + lowerRight.z) / 4.0); + + vector hull; + hull.push_back(upperLeft); + hull.push_back(lowerLeft); + hull.push_back(lowerRight); + hull.push_back(upperRight); + + if (!quiet) cout << "** Adding wall centered at " << center << endl; + this->walls.push_back(LabeledPlane3d(center, Vector3d(), hull)); + this->walls.back().normal = this->walls.back().computeAverageNormal(); + + // compute the floor and the ceiling + ceilingHull.push_back(it->first); + floorHull.push_back(it->second); + + ceilingCenter.x += it->first.x; + ceilingCenter.y += it->first.y; + ceilingCenter.z += it->first.z; + + floorCenter.x += it->second.x; + floorCenter.y += it->second.y; + floorCenter.z += it->second.z; + } + ceilingCenter /= ceilingHull.size(); + floorCenter /= floorHull.size(); + + // dummy normal + Vector3d dummy; + + if (!quiet) cout << "** Adding ceiling centered at " << ceilingCenter << endl; + this->ceiling = LabeledPlane3d(ceilingCenter, dummy, ceilingHull); + this->ceiling.normal = this->ceiling.computeAverageNormal(); + + if (!quiet) cout << "** Adding floor centered at " << floorCenter << endl; + this->floor = LabeledPlane3d(floorCenter, dummy, floorHull); + this->floor.normal = this->floor.computeAverageNormal(); +} + +bool model::Scene::castRay(const Point3d& src, const Point3d& dest, const double& extraDist, + Point3d& ptHit) +{ + // put the Bresenham line in here, we need some extra distance in case the points are close + // but after the detected wall, therefore we need to go a bit further than the wall to check + vector line; + GraphicsAlg::getDiscreteLine(src, dest, PRECISION, extraDist, line); + + // loop through all the points in the Bresenham line and decide if it hits something + for (vector::iterator it = line.begin(); it != line.end(); ++it) { + if (this->isOccupied(*it, RAY_DIST)) { + ptHit = *it; + return true; + } + } + + // no occlusion took place + return false; +} + +void model::Scene::applyLabels(LabeledPlane3d& surf) { + if (this->poses.empty()) { + throw runtime_error("no poses have been provided to the scene"); + } + + // the maximum distance from which we subtract to create a depth image + double maxDist = 2.0 * WALL_DIST + RAY_DIST; + + // determine the points on the plane for which to apply labels + vector > discretePoints = surf.getDiscretePoints(PATCH_DIST); + + surf.patches.resize(discretePoints.size()); + surf.depthMap.resize(discretePoints.size()); + + // we need these values for later + surf.depthMapDistances.first = WALL_DIST; + surf.depthMapDistances.second = maxDist; + + for (unsigned int i = 0; i < discretePoints.size(); ++i) { + for (unsigned int j = 0; j < discretePoints.front().size(); ++j) { + // consider everything is occluded initially + surf.patches[i].push_back(make_pair(discretePoints[i][j], OCCLUDED)); + surf.depthMap[i].push_back(WALL_DIST); + } + } + + if (!quiet) cout << endl << "== Performing ray casting for surface centered at " << surf.pt << endl; + + for (vector::iterator srcPose = this->poses.begin(); srcPose != this->poses.end(); ++srcPose) { + for (unsigned int i = 0; i < surf.patches.size(); ++i) { + for (unsigned int j = 0; j < surf.patches[i].size(); ++j) { + // prepare two points for ray casting through wall + Point3d ptOnWall = surf.patches[i][j].first; + Point3d src(surf.normal.x + ptOnWall.x, + surf.normal.y + ptOnWall.y, + surf.normal.z + ptOnWall.z); + + double len = ptOnWall.distance(src); + double temp = (len + WALL_DIST) / len; + src.x = ptOnWall.x + (src.x - ptOnWall.x) * temp; + src.y = ptOnWall.y + (src.y - ptOnWall.y) * temp; + src.z = ptOnWall.z + (src.z - ptOnWall.z) * temp; + + // remember the point we hit when ray casting + Point3d ptHit; + + if (insideHull(surf.patches[i][j].first, surf.hull) && castRay(src, ptOnWall, WALL_DIST, ptHit)) { + surf.patches[i][j].second = OCCUPIED; + surf.depthMap[i][j] = maxDist - src.distance(ptHit); + } else if (!castRay(srcPose->first, surf.patches[i][j].first, 0, ptHit)) { + surf.patches[i][j].second = EMPTY; + surf.depthMap[i][j] = 0.0; + } + } + } + } + + // create the OpenCV depth image + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + // crate an OpenCV image and allocate memory for it + cv::Mat img(imgHeight, imgWidth, CV_8UC1); + + // compute the maximum from the image + double max = numeric_limits::min(); + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (max < surf.depthMap[i][j]) { + max = surf.depthMap[i][j]; + } + } + } + + // write the current image to a file + cv::Mat labels(imgHeight, imgWidth, CV_8UC3); + + // adjust the image + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + img.data[(i * img.cols) + j] = static_cast(MAX_IMG_VAL * surf.depthMap[i][j] / max); + + // put the color into the image according to the label + int curr = (i * 3 * img.cols) + 3 * j; + switch (surf.patches[i][j].second) { + case EMPTY: + labels.data[curr + 0] = 0; + labels.data[curr + 1] = 200; + labels.data[curr + 2] = 0; + break; + case OCCLUDED: + labels.data[curr + 0] = 200; + labels.data[curr + 1] = 0; + labels.data[curr + 2] = 0; + break; + case OCCUPIED: + labels.data[curr + 0] = 0; + labels.data[curr + 1] = 0; + labels.data[curr + 2] = 200; + break; + default: + throw runtime_error("invalid default branch taken"); + break; + } + } + } + cv::imwrite("./img/labels.png", labels); + + // copy the image + surf.depthImg = img.clone(); +} + +void model::Scene::applyAllLabels() { + if (!quiet) cout << endl << "== Performing ray casting for all surfaces..." << endl; + + applyLabels(this->ceiling); + applyLabels(this->floor); + + for (vector::iterator it = this->walls.begin(); it != this->walls.end(); ++it) { + applyLabels(*it); + } +} + +void model::Scene::detectPotentialOpenings(const LabeledPlane3d& surf, + std::vector& openings) +{ + if (!quiet) cout << endl << "== Determining openings for surface centered at " << surf.pt << endl; + + // get the candidate openings for current plane + vector candidates; + surf.computeOpeningCandidates(candidates); + + // TODO train the SVM using some outside variables, not hard coded in here, play around a lot with these numbers + // prepare to train the SVM + + const unsigned int nrSamples = 68; + const unsigned int nrMainClass = 14; + const unsigned int nrFeatures = model::CandidateOpening::NR_FEATURES; + + // make a set of excluded features + int excludedFeaturesInit[] = {6, 7, 8, 12, 13}; + set excludedFeatures(excludedFeaturesInit, excludedFeaturesInit + 5); + + // set up the training data using some real life examples, needs to be flaot + float trainingData[nrSamples][14] = { + // TODO fix the RMS fit residual + // 1 area | 2 w/h | 3 w/W | 4 h/H | 5-8 dist to edges | 9 RMS | 10-12 E Occup Occl | 13 int rect | 14 int U-shapes + { 3120, 0.42, 0.05, 0.36, 23, 138, 550, 126, 0, 0.93, 0.01, 0.06, 15, 0}, + { 3090, 0.42, 0.05, 0.36, 23, 138, 126, 550, 0, 0.93, 0.01, 0.06, 15, 0}, + { 6810, 0.94, 0.11, 0.34, 23, 140, 453, 176, 0, 0.91, 0.02, 0.07, 15, 0}, + { 6815, 0.94, 0.11, 0.34, 23, 140, 176, 453, 0, 0.91, 0.02, 0.07, 15, 0}, + {11780, 1.52, 0.19, 0.35, 23, 139, 450, 128, 0, 0.89, 0.01, 0.10, 15, 0}, + {11190, 1.52, 0.18, 0.35, 23, 139, 128, 450, 0, 0.88, 0.02, 0.10, 15, 0}, + {10374, 1.70, 0.18, 0.31, 31, 141, 453, 124, 0, 0.87, 0.02, 0.11, 15, 0}, + {10374, 1.70, 0.18, 0.31, 31, 141, 124, 453, 0, 0.87, 0.02, 0.11, 15, 0}, + {27600, 0.82, 0.22, 0.62, 18, 97, 403, 148, 0, 0.95, 0.03, 0.02, 12, 0}, + {27600, 0.82, 0.22, 0.62, 18, 97, 148, 403, 0, 0.94, 0.03, 0.03, 12, 0}, + {25516, 0.87, 0.22, 0.59, 28, 100, 49, 396, 0, 0.84, 0.11, 0.05, 20, 0}, + {26316, 0.87, 0.22, 0.59, 28, 100, 396, 49, 0, 0.84, 0.13, 0.03, 22, 0}, + {25516, 0.87, 0.22, 0.59, 28, 100, 70, 396, 0, 0.84, 0.11, 0.05, 20, 0}, + {26316, 0.87, 0.22, 0.59, 28, 100, 396, 70, 0, 0.84, 0.13, 0.03, 22, 0}, + //======================================================================== + {+143289, +2.10345, +0.786533, +0.887755, +31, +1, +1, +147, +0, +0.371222, +0.524681, 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+45, +0}, + {+66360, +4.60833, +0.792264, +0.408163, +33, +140, +1, +143, +0, +0.537251, +0.458996, +0.00375226, +55, +0}, + {+135218, +3.59278, +0.998567, +0.659864, +33, +66, +0, +0, +0, +0.375216, +0.557995, +0.0667884, +11550, +0}, + {+135135, +3.55385, +0.992837, +0.663265, +33, +65, +0, +4, +0, +0.375484, +0.557457, +0.0670589, +6468, +0}, + {+135330, +3.55897, +0.994269, +0.663265, +33, +65, +0, +3, +0, +0.374943, +0.558095, +0.0669622, +8316, +0}, + {+135720, +3.56923, +0.997135, +0.663265, +33, +65, +0, +1, +0, +0.373865, +0.559365, +0.0667698, +10395, +0}, + {+135915, +3.57436, +0.998567, +0.663265, +33, +65, +0, +0, +0, +0.373329, +0.558893, +0.0677777, +12705, +0}, + {+142065, +3.38049, +0.992837, +0.697279, +33, +55, +0, +4, +0, +0.357998, +0.572006, +0.0699961, +7728, +0}, + {+117117, +4.10059, +0.992837, +0.57483, +30, +94, +0, +4, +0, +0.428213, +0.555837, +0.0159499, +280, +0}, + {+117286, +4.10651, +0.994269, +0.57483, +30, +94, +0, +3, +0, +0.427596, +0.556477, +0.0159269, +360, +0}, + {+117624, +4.11834, +0.997135, +0.57483, +30, +94, +0, +1, +0, +0.426367, +0.557752, +0.0158811, +450, +0}, + {+117793, +4.12426, +0.998567, +0.57483, +30, +94, +0, +0, +0, +0.425755, +0.557359, +0.0168856, +550, +0}, + {+43176, +1.52976, +0.368195, +0.571429, +30, +95, +396, +44, +0, +0.571822, +0.428178, +0, +36, +0}, + {+43344, +1.53571, +0.369628, +0.571429, +30, +95, +396, +43, +0, +0.569606, +0.430394, +0, +60, +0}, + {+42672, +1.5119, +0.363897, +0.571429, +30, +95, +399, +44, +0, +0.578576, +0.421424, +0, +18, +0}, + {+42840, +1.51786, +0.36533, +0.571429, +30, +95, +399, +43, +0, +0.576307, +0.423693, +0, +36, +0}, + {+42504, +1.50595, +0.362464, +0.571429, +30, +95, +400, +44, +0, +0.580863, +0.419137, +0, +6, +0}, + {+42672, +1.5119, +0.363897, +0.571429, +30, +95, +400, +43, +0, +0.578576, +0.421424, +0, +18, +0}, + {+33338, +0.748815, +0.226361, +0.717687, +29, +53, +396, +143, +0, +0.760244, +0.195453, +0.0443038, +1134, +0}, + }; + + // match the labels to the training data + float mainLabel = 1.0; + float labels[nrSamples]; + // create the labels + for (unsigned int i = 0; i < nrSamples; ++i) { + if (i < nrMainClass) { + labels[i] = mainLabel; + } else { + labels[i] = -mainLabel; + } + } + + // normalize the values above + float maxFeatures[nrFeatures]; + + for (unsigned int i = 0; i < nrFeatures; ++i) { + maxFeatures[i] = numeric_limits::min(); + } + + for (unsigned int i = 0; i < nrSamples; ++i) { + for (unsigned int j = 0; j < nrFeatures; ++j) { + if (maxFeatures[j] < trainingData[i][j]) { + maxFeatures[j] = trainingData[i][j]; + } + } + } + + for (unsigned int i = 0; i < nrSamples; ++i) { + for (unsigned int j = 0; j < nrFeatures; ++j) { + if (excludedFeatures.find(j) != excludedFeatures.end()) { + trainingData[i][j] = 0.0; + } else { + trainingData[i][j] /= maxFeatures[j]; + } + } + } + + // compute the max of the values of the candidates, but normalize later + for (unsigned int i = 0; i < nrFeatures; ++i) { + maxFeatures[i] = numeric_limits::min(); + } + + for (vector::iterator it = candidates.begin(); it != candidates.end(); ++it) { + for (unsigned int feat = 0; feat < nrFeatures; ++feat) { + if (maxFeatures[feat] < it->features[feat]) { + maxFeatures[feat] = it->features[feat]; + } + } + } + + // create two OpenCV matrices + cv::Mat trainingMat(nrSamples, nrFeatures, CV_32FC1, trainingData); + cv::Mat labelsMat(nrSamples, 1, CV_32FC1, labels); + + // set up the SVM parameters + cv::SVMParams params; + params.svm_type = cv::SVM::NU_SVC; + params.kernel_type = cv::SVM::RBF; + params.term_crit = cv::TermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 1000, 1e-6); + + params.nu = 0.8; + params.C = 8.0; + params.gamma = 20; + + // create SVM and train it + cv::SVM svm; + svm.train_auto(trainingMat, labelsMat, cv::Mat(), cv::Mat(), params); // XXX with or without auto + + // store these openings, and filter some more later on + std::vector tempOpenings; + + for (vector::iterator it = candidates.begin(); it != candidates.end(); ++it) { + if (it->features.size() != nrFeatures) { + throw runtime_error("number of features in candidate in does not equal the expected one"); + } + + float candidateData[nrFeatures]; + for (size_t jt = 0; jt < it->features.size(); ++jt) { + if (excludedFeatures.find(jt) != excludedFeatures.end()) { + candidateData[jt] = 0.0; + } else { + // also normalize the data here, and not in the candidateOpening object + candidateData[jt] = static_cast(it->features[jt]) / maxFeatures[jt]; + } + } + cv::Mat candidateMat(1, nrFeatures, CV_32FC1, candidateData); + + // decide of which type the current opening is + float response = svm.predict(candidateMat); + if (response == mainLabel) { + tempOpenings.push_back(*it); + } + } + + // filter openings with respect to how much they overlap with the Canny edge + cv::Mat canny, hSobel, vSobel, combined; + surf.detectEdges(canny, hSobel, vSobel, combined); + + double maxEdgeCoverage = numeric_limits::min(); + double averageArea = 0.0; + for (vector::iterator it = tempOpenings.begin(); it != tempOpenings.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + // how many pixels overlap? + int total = 2 * (y2 - y1 + x2 - x1) + 1; + int count = total; + + if (y2 < y1 || x2 < x1) { + throw runtime_error("candidate edges must be in proper order"); + } + + for (int i = y1; i <= y2; ++i) { + if (combined.data[i * combined.cols + x1] == 0) { + count--; + } + if (combined.data[i * combined.cols + x2] == 0) { + count--; + } + } + + for (int i = x1; i <= x2; ++i) { + if (combined.data[y1 * combined.cols + i] == 0) { + count--; + } + if (combined.data[y2 * combined.cols + i] == 0) { + count--; + } + } + + // remember the edge coverage inside the object + it->edgeCoverage = static_cast(count) / total; + if (maxEdgeCoverage < it->edgeCoverage) { + maxEdgeCoverage = it->edgeCoverage; + } + + // increment the average area + averageArea += it->features[0]; + } + averageArea /= tempOpenings.size(); + + unsigned int discarded = 0; + for (vector::iterator it = tempOpenings.begin(); it != tempOpenings.end(); ++it) { + // TODO put coef in class + if ((it->features[0] > 0.3 * averageArea) && + (it->edgeCoverage > MIN_EDGE_COV * maxEdgeCoverage)) + { + openings.push_back(*it); + } else { + discarded++; + } + } + + if (!quiet) cout << "** Discarded openings due to relative size to average candidate: " << discarded << endl; + + // draw the chosen rectangles, and also the occupancy map + cv::Mat imgWithOpenings = surf.depthImg; + cv::cvtColor(imgWithOpenings, imgWithOpenings, CV_GRAY2BGR, 3); + + for (size_t i = 0; i < openings.size(); ++i) { + int y1 = openings[i].edges[0]; + int y2 = openings[i].edges[1]; + int x1 = openings[i].edges[2]; + int x2 = openings[i].edges[3]; + + cv::rectangle(imgWithOpenings, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0, 0, MAX_IMG_VAL), 1); + } + + cv::imwrite("./img/depthCandidates.png", imgWithOpenings); + + if (!quiet) cout << "** Detected " << openings.size() << " potential openings" << endl; +} + +void model::Scene::clusterOpenings(const LabeledPlane3d& surf, const vector& openings, + std::vector& result) const +{ + // clear the result just in case + result.clear(); + + if (openings.size() == 1) { + if (!quiet) cerr << "WARNING: only one candidate received for clustering!" << endl; + result.push_back(openings.front()); + return; + } else if (openings.size() < 1) { + if (!quiet) cerr << "WARNING: no candidates received for clustering!" << endl; + return; + } + + if (!quiet) cout << endl << "== Clustering openings for surface centered at " << surf.pt << endl; + + size_t nrSamples = openings.size(); + unsigned int dim = 7; + + // a few matrix initializations + CvMat* points = cvCreateMat(nrSamples, dim, CV_32FC1); + CvMat* clusters = cvCreateMat(nrSamples, 1, CV_32SC1); + + // fill in the matrices with data + for (size_t i = 0; i < nrSamples; ++i) { + if (openings[i].features.size() != model::CandidateOpening::NR_FEATURES) { + throw runtime_error("invalid feature vector size"); + } + + // compute the center of each opening + float x = static_cast(openings[i].edges[2] + openings[i].edges[3]) / 2.0; + float y = static_cast(openings[i].edges[0] + openings[i].edges[1]) / 2.0; + + points->data.fl[i * dim + 0] = x; // window center + points->data.fl[i * dim + 1] = y; // window center + points->data.fl[i * dim + 2] = openings[i].edges[0]; // upper edge + points->data.fl[i * dim + 3] = openings[i].edges[1]; // lower edge + points->data.fl[i * dim + 4] = openings[i].edges[2]; // left edge + points->data.fl[i * dim + 5] = openings[i].edges[3]; // right edge + points->data.fl[i * dim + 6] = openings[i].features[1];// edge ratio + } + + // termination criteria for the kMeans algorithm + CvTermCriteria term; + term.type = CV_TERMCRIT_ITER | CV_TERMCRIT_EPS; + term.max_iter = 10; + term.epsilon = 1.0; + int maxNrClusters = 256; + + int nrClusters = 2; // from how many clusters to start + double prev, compactness; // previous compactness, and current compactness + CvMat *centers = cvCreateMat(nrClusters - 1, dim, CV_32FC1); // place where we compute the centers of each cluster + cvKMeans2(points, nrClusters - 1, clusters, term, 1, 0, 0, centers, &prev); + + while (1) { + cvReleaseMat(¢ers); + centers = cvCreateMat(nrClusters, dim, CV_32FC1); + cvKMeans2(points, nrClusters, clusters, term, 1, 0, 0, centers, &compactness); + + // TODO put somewhere everything in class + double deltaCompactness = compactness - prev; + if (!quiet) cout << "** Delta compactness: " << deltaCompactness << endl; + if (fabs(deltaCompactness) < 1.0 || nrClusters >= maxNrClusters) { + break; + } + + prev = compactness; + nrClusters++; + } + + if (!quiet) cout << "** Detected " << static_cast(nrClusters) << " clusters of potential openings" << endl; + + // generate colors for each cluster + int r, g, b; + cv::Scalar colors[nrClusters]; + for (int i = 0; i < nrClusters; ++i) { + randomColor(MAX_IMG_VAL, r, g, b); + colors[i] = (cv::Scalar(b, g, r)); + } + + // create an image with the clusters in separate colors + cv::Mat clusterImg = surf.depthImg; + cv::Mat finalImg = surf.depthImg; + cv::cvtColor(clusterImg, clusterImg, CV_GRAY2BGR, 3); + cv::cvtColor(finalImg, finalImg, CV_GRAY2BGR, 3); + + // count how many elements we have in each cluster + vector clusterCount; + clusterCount.resize(nrClusters); + fill(clusterCount.begin(), clusterCount.end(), 0); + + // compute the candidate for each cluster with the best coverage of empty area + vector bestCandidates; + bestCandidates.resize(nrClusters); + + vector bestEmptyAreas; + bestEmptyAreas.resize(nrClusters); + fill(bestEmptyAreas.begin(), bestEmptyAreas.end(), numeric_limits::min()); + + // fill in the result separating each cluster + for (size_t i = 0; i < nrSamples; ++i) { + // the cluster of the current opening + int currCluster = clusters->data.i[i]; + + // draw each cluster + int y1 = openings[i].edges[0]; + int y2 = openings[i].edges[1]; + int x1 = openings[i].edges[2]; + int x2 = openings[i].edges[3]; + cv::rectangle(clusterImg, cv::Point(x1, y1), cv::Point(x2, y2), colors[currCluster], 1); + + // TODO avoid hard coding + // find which is the best choice from the cluster + double currEmptyArea = openings[i].features[0] * + (openings[i].features[9] - openings[i].features[10] - openings[i].features[11]); + if (bestEmptyAreas[currCluster] < currEmptyArea) { + bestEmptyAreas[currCluster] = currEmptyArea; + bestCandidates[currCluster] = openings[i]; + } + + clusterCount[currCluster]++; + } + + // divide by the cluster count to get the average of the cluster + for (size_t i = 0; i < bestEmptyAreas.size(); ++i) { + if (clusterCount[i] <= 0) { + continue; + } + + int y1 = bestCandidates[i].edges[0]; + int y2 = bestCandidates[i].edges[1]; + int x1 = bestCandidates[i].edges[2]; + int x2 = bestCandidates[i].edges[3]; + + cv::rectangle(finalImg, cv::Point(x1, y1), cv::Point(x2, y2), colors[i], 2); + result.push_back(bestCandidates[i]); + } + + if (!quiet) { + cout << "** The count for each cluster is ["; + for (unsigned int i = 0; i < clusterCount.size() - 1; ++i) { + cout << clusterCount[i] << ", "; + } + cout << clusterCount.back() << "]" << endl; + } + + // display the center of the cluster only for the clusters that have candidates + for (int i = 0; i < nrClusters; ++i) { + if (clusterCount[i] > 0) { + int x = static_cast(centers->data.fl[i * dim + 0]); + int y = static_cast(centers->data.fl[i * dim + 1]); + cv::circle(clusterImg, cv::Point(x, y), 2, colors[i], CV_FILLED); + cv::circle(finalImg, cv::Point(x, y), 2, colors[i], CV_FILLED); + } + } + + cv::imwrite("./img/depthClusters.png", clusterImg); + cv::imwrite("./img/depthOpenings.png", finalImg); + + cvReleaseMat(&points); + cvReleaseMat(¢ers); + cvReleaseMat(&clusters); +} + +void model::Scene::addFinalOpenings(const LabeledPlane3d& surf, + std::vector& result) +{ + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + vector openings, candidates; + this->detectPotentialOpenings(surf, openings); + this->clusterOpenings(surf, openings, candidates); + + // sweep across the wall and see which candidates overlap + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // put currently overlapping candidates here + vector::iterator, double> > temp; + + // the maximum opening area in the current overlapping windows + double bestEmptyArea = numeric_limits::min(); + + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + if (i >= y1 && i < y2 && j >= x1 && j <= x2) { + // TODO avoid hard coding + double freeArea = it->features[0] * + (it->features[9] - it->features[10] - it->features[11]); + temp.push_back(make_pair(it, freeArea)); + + if (bestEmptyArea < freeArea) { + bestEmptyArea = freeArea; + } + } + } + + for (vector::iterator, double> >::iterator it = temp.begin(); it < temp.end(); ++it) { + // if the area is smaller than the maximum discard this plane + if (it->second < bestEmptyArea) { + candidates.erase(it->first); + } + } + } + } + + // display an image with the final openings + int r, g, b; + cv::Mat finalOpeningsImg = surf.depthImg.clone(); + cv::cvtColor(finalOpeningsImg, finalOpeningsImg, CV_GRAY2BGR, 3); + + for (vector::iterator it = candidates.begin(); it < candidates.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + randomColor(MAX_IMG_VAL, r, g, b); + cv::rectangle(finalOpeningsImg, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(b, g, r), 3); + + // add the new openings as windows + Point3d pt(0.0, 0.0, 0.0); + pt += surf.patches[y1].front().first; + pt += surf.patches[y2].front().first; + pt += surf.patches.front()[x1].first; + pt += surf.patches.front()[x2].first; + pt /= 4.0; + + vector hull; + hull.push_back(surf.patches[y1][x1].first); + hull.push_back(surf.patches[y1][x2].first); + hull.push_back(surf.patches[y2][x2].first); + hull.push_back(surf.patches[y2][x1].first); + + Plane3d toPush(pt, surf.normal, hull); + this->finalOpenings.push_back(toPush); + } + + cv::imwrite("./img/depthOpeningsFinal.png", finalOpeningsImg); + if (!quiet) cout << "** Final openings found on current surface: " << candidates.size() << endl; + if (!quiet) cout << "** Final openings found so far: " << this->finalOpenings.size() << endl; + + // copy the result + result = candidates; +} + +void model::Scene::correct(LabeledPlane3d& surf, const vector& openings) { + if (!quiet) cout << endl << "== Correcting surface centered at " << surf.pt << endl; + + int imgHeight = static_cast(surf.depthMap.size()); + int imgWidth = static_cast(surf.depthMap.front().size()); + + // some images we are interested in + cv::Mat depthImg = surf.depthImg.clone(); + cv::Mat depthImgMask(imgHeight, imgWidth, CV_8UC1); + cv::Mat labelsImg(imgHeight, imgWidth, CV_8UC3); + + // compute the maximum from the image + double max = numeric_limits::min(); + double mean = 0.0, stdDev = 0.0; + int count = 0; + + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // set all empty and occluded to unknown + if (surf.patches[i][j].second == EMPTY || surf.patches[i][j].second == OCCLUDED) { + surf.patches[i][j].second = UNKOWN; + // compute the mean of the occupied patches + } else if (surf.patches[i][j].second == OCCUPIED) { + mean += surf.depthImg.data[i * surf.depthImg.cols + j]; + count++; + } + + // compute the maximum from the image + if (max < surf.depthMap[i][j]) { + max = surf.depthMap[i][j]; + } + } + } + + // adjust the mean + mean /= count; + count = 0; + + // compute the standard deviation + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (surf.patches[i][j].second == OCCUPIED) { + stdDev += pow(surf.depthImg.data[i * surf.depthImg.cols + j] - mean, 2.0); + count++; + } + + } + } + + // adjust the standard deviation + stdDev = sqrt(stdDev / count); + + // mark all patches contained in openings + for (vector::const_iterator it = openings.begin(); it != openings.end(); ++it) { + int y1 = it->edges[0]; + int y2 = it->edges[1]; + int x1 = it->edges[2]; + int x2 = it->edges[3]; + + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + if (i >= y1 && i <= y2 && j >= x1 && j <= x2) { + surf.patches[i][j].second = OPENING; + } + } + } + } + + // adjust the image + for (int i = 0; i < imgHeight; ++i) { + for (int j = 0; j < imgWidth; ++j) { + // initially mark as not part of the mask + depthImgMask.data[i * depthImgMask.cols + j] = 0; + + // put the color into the image according to the label + int curr = (i * 3 * labelsImg.cols) + 3 * j; + switch (surf.patches[i][j].second) { + case OPENING: + labelsImg.data[curr + 0] = 200; + labelsImg.data[curr + 1] = 200; + labelsImg.data[curr + 2] = 200; + break; + case UNKOWN: + labelsImg.data[curr + 0] = 50; + labelsImg.data[curr + 1] = 50; + labelsImg.data[curr + 2] = 50; + + // add pixel to mask for inpainting + depthImgMask.data[i * depthImgMask.cols + j] = 200; + break; + case OCCUPIED: + labelsImg.data[curr + 0] = 0; + labelsImg.data[curr + 1] = 0; + labelsImg.data[curr + 2] = 200; + break; + default: + throw runtime_error("invalid default branch taken, possibly EMPTY or OCCLUDED patches"); + break; + } + } + } + + cv::imwrite("./img/labelsWithOpenings.png", labelsImg); + cv::imwrite("./img/depthMask.png", depthImgMask); + cv::imwrite("./img/depthSimple.png", depthImg); + + // TODO add values as part of class + if (!quiet) cout << "** Filling in missing data using inpaint algorithm" << endl; + cv::inpaint(depthImg, depthImgMask, depthImg, 0.05 * (imgWidth + imgHeight), cv::INPAINT_NS); + cv::imwrite("./img/depthInpaint.png", depthImg); + + // add some gaussian noise to make the image look more real + if (!quiet) cout << "** Adding gaussian noise: mean = " << mean << ", stdDev = " << stdDev << endl; + cv::Mat noise(imgHeight, imgWidth, CV_8UC1); + cv::randn(noise, mean, stdDev); + cv::addWeighted(depthImg, 0.9, noise, 0.1, 0.0, depthImg); + cv::GaussianBlur(depthImg, depthImg, cv::Size(3, 3), 0.5, 0.5); + cv::imwrite("./img/depthInpaintNoise.png", depthImg); + surf.correctedDepthImg = depthImg.clone(); + + // TODO apply the inverse transform from 2D to 3D and create a new point cloud using UOS RGB +} + +void model::Scene::writeModel(string dir) { + if (!fileIsDir(dir)) { + throw runtime_error(dir + " is not a directory"); + } + + string outputDir; + + if (dir[dir.length()-1] == '/') { + outputDir = dir + "model"; + } + else { + outputDir = dir + "/model"; + } + + int ret = mkdir(outputDir.c_str(), S_IRWXU | S_IRWXG | S_IRWXO); + + if (ret != 0 && errno != EEXIST) { + throw runtime_error("unable to create directory " + outputDir); + } + + if (!quiet) cout << endl << "== Writing planes to " << outputDir << " directory..." << endl; + + string planesListFile = outputDir + "/planes.list"; + ofstream list(planesListFile.c_str(), ios::out); + + for (unsigned int counter = 0; counter < this->walls.size() + this->finalOpenings.size() + 2; ++counter) { + Plane3d currPlane; // the plane to be printed + string type; // the objet's type, floor, ceiling, wall or opening + + if (counter < this->walls.size()) { + currPlane = this->walls[counter]; + type = "Wall"; + } + else if (counter == this->walls.size()) { + currPlane = this->ceiling; + type = "Ceiling"; + } + else if (counter == this->walls.size() + 1) { + currPlane = this->floor; + type = "Floor"; + } else { + // TODO find a better solution + currPlane = this->finalOpenings[counter - (this->walls.size() + 2)]; + currPlane.normal.normalize(); + for (vector::iterator it = currPlane.hull.begin(); it != currPlane.hull.end(); ++it) { + it->x += currPlane.normal.x; + it->y += currPlane.normal.y; + it->z += currPlane.normal.z; + } + type = "Opening"; + } + + stringstream ss; + ss << outputDir << "/scan" << setfill('0') << setw(3) << counter << ".3d"; + ofstream file(ss.str().c_str(), ios::out); + + + // add the plane to the list of planes + list << type << " " << ss.str() << endl; + boost::algorithm::to_lower(type); + if (!quiet) cout << "** Writing " << type << ss.str() << endl; + + // add the points to the scan file + for (vector::iterator it = currPlane.hull.begin(); + it != currPlane.hull.end(); ++it) + { + file << *it << endl; + } + + file.close(); + } + + list.close(); +} + +void model::Scene::writeCorrectedWalls(std::string dir) { + if (!fileIsDir(dir)) { + throw runtime_error(dir + " is not a directory"); + } + + string outputDir; + + if (dir[dir.length()-1] == '/') { + outputDir = dir + "cloud"; + } + else { + outputDir = dir + "/cloud"; + } + + int ret = mkdir(outputDir.c_str(), S_IRWXU | S_IRWXG | S_IRWXO); + + if (ret != 0 && errno != EEXIST) { + throw runtime_error("unable to create directory " + outputDir); + } + + if (!quiet) cout << endl << "== Writing corrected points to " << outputDir << " directory..." << endl; + + // write the pose file + string poseFileName = outputDir + "/scan000.pose"; + ofstream out(poseFileName.c_str(), ios::out); + out << "0 0 0" << endl; + out << "0 0 0" << endl; + out.close(); + + string pointsFileName = outputDir + "/scan000.3d"; + out.open(pointsFileName.c_str(), ios::out); + + // fetch each points and its color + vector > points; + + getCorrectedWall(this->ceiling, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + + getCorrectedWall(this->floor, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + + for (vector::iterator wall = this->walls.begin(); wall != this->walls.end(); ++wall) { + getCorrectedWall(*wall, points); + for (vector >::iterator it = points.begin(); it != points.end(); ++it) { + out << it->first << " " << static_cast(it->second[0]) << " " << static_cast(it->second[1]) << " " << static_cast(it->second[2]) << endl; + } + } + + out.close(); +} + +void model::Scene::getCorrectedWall(const LabeledPlane3d& surf, vector >& points) { + if (!quiet) cout << "** Computing point cloud for surface centered at " << surf.pt << endl; + + // clear the output + points.clear(); + + if (surf.correctedDepthImg.empty()) { + if (!quiet) cout << "WARNING: the surface centered at " << surf.pt << " has not been corrected yet" << endl; + return; + } + + if ((size_t) surf.correctedDepthImg.rows != surf.patches.size() || + (size_t) surf.correctedDepthImg.cols != surf.patches.front().size()) + { + throw runtime_error("corrected image must be the same size as depth map"); + } + + // compute the maximum of the depth image + int depthImgMax = 0; + for (size_t i = 0; i < surf.depthMap.size(); ++i) { + for (size_t j = 0; j < surf.depthMap.front().size(); ++j) { + if (depthImgMax < surf.depthMap[i][j]) { + depthImgMax = surf.depthMap[i][j]; + } + } + } + + // make the original points darker than the corrected ones + int r = 255, g = 50, b = 50; + int wr = 255, wg = 150, wb = 150; + + for (int i = 0; i < surf.correctedDepthImg.rows; ++i) { + for (int j = 0; j < surf.correctedDepthImg.cols; ++j) { + cv::Vec3i color; + + // only consider occupied and unknown pixels + if (surf.patches[i][j].second == OCCUPIED) { + color = cv::Vec3i(r, g, b); + } else if (surf.patches[i][j].second == UNKOWN) { + color = cv::Vec3i(wr, wg, wb); + } else { + continue; + } + + // the value from the depth map + double depth = static_cast(depthImgMax * surf.correctedDepthImg.data[i * surf.correctedDepthImg.cols + j]) / MAX_IMG_VAL; + + // the distance from where the raytracing took place to the point it hit + double dist = depth + surf.depthMapDistances.first - surf.depthMapDistances.second; + + Vector3d normal = surf.normal; + normal.normalize(); + + Point3d pt = surf.patches[i][j].first; + pt.x = pt.x + normal.x * dist; + pt.y = pt.y + normal.y * dist; + pt.z = pt.z + normal.z * dist; + + points.push_back(make_pair(pt, color)); + } + } +} + +void model::Scene::flood(LabeledPlane3d& surf, + const int& i, const int& j, + const Label& target, const Label& replacement) +{ + // no point of carrying on + if (target == replacement) { + return; + } + + pair north = make_pair(i-1, j); + pair south = make_pair(i+1, j); + pair east = make_pair(i, j+1); + pair west = make_pair(i, j-1); + + vector > neigh; + neigh.push_back(north); + neigh.push_back(south); + neigh.push_back(east); + neigh.push_back(west); + + if (surf.patches[i][j].second == target) { + surf.patches[i][j].second = replacement; + } + + for (vector >::iterator it = neigh.begin(); it != neigh.end(); ++it) { + if ((it->first > 0 && it->second > 0) && + surf.patches[it->first][it->second].second == target) + { + flood(surf, it->first, it->second, target, replacement); + } + } +} + +bool model::Scene::isOccupied(const Point3d& center, const double& width) { + // look for a close point + double pt[] = {center.x, center.y, center.z}; + double* closest = this->octTree->FindClosest(pt, pow(sqrt(3) * (width / 2.0), 2.0), 0); + + // bounding box limits + double xUppLim = center.x + width / 2.0; + double xLowLim = center.x - width / 2.0; + double yUppLim = center.y + width / 2.0; + double yLowLim = center.y - width / 2.0; + double zUppLim = center.z + width / 2.0; + double zLowLim = center.z - width / 2.0; + + if (closest != NULL && + (closest[0] > xLowLim && closest[0] < xUppLim) && + (closest[1] > yLowLim && closest[1] < yUppLim) && + (closest[2] > zLowLim && closest[2] < zUppLim)) + { + return true; + } + + return false; +} diff --git a/src/model/util.cc b/src/model/util.cc new file mode 100644 index 0000000..3e3d545 --- /dev/null +++ b/src/model/util.cc @@ -0,0 +1,168 @@ +/** + * @file util.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 13 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/util.h" + +#include // stat() +#include +#include + +#include +using namespace std; + +//============================================================================== +// Implementation +//============================================================================== +bool model::sameSide(const Point3d& p1, + const Point3d& p2, const Point3d& a, const Point3d& b) +{ + // compute the required vectors + Vector3d ba; + ba.x = b.x - a.x; + ba.y = b.y - a.y; + ba.z = b.z - a.z; + + Vector3d p1a; + p1a.x = p1.x - a.x; + p1a.y = p1.y - a.y; + p1a.z = p1.z - a.z; + + Vector3d p2a; + p2a.x = p2.x - a.x; + p2a.y = p2.y - a.y; + p2a.z = p2.z - a.z; + + // do the cross products + Vector3d cp1 = ba.crossProduct(p1a); + Vector3d cp2 = ba.crossProduct(p2a); + + // compute the dotproduct + double dotProduct = cp1.x * cp2.x + cp1.y * cp2.y + cp1.z * cp2.z; + + if (dotProduct >= 0) { + return true; + } + else { + return false; + } +} + +bool model::insideHull(const Point3d& pt, const vector& hull) { + if (hull.size() <= 0) { + throw runtime_error("hull cannot be empty"); + } + + Point3d center(0.0, 0.0, 0.0); + + for (unsigned int i = 0; i < hull.size(); ++i) { + center.x += hull[i].x; + center.y += hull[i].y; + center.z += hull[i].z; + } + center = center / hull.size(); + + for (unsigned int i = 0; i < hull.size() - 1; ++i) { + if (sameSide(pt, center, hull[i], hull[i+1]) && + sameSide(pt, hull[i], center, hull[i+1]) && + sameSide(pt, hull[i+1], center, hull[i])) + { + return true; + } + } + + if (sameSide(pt, center, hull[hull.size()-1], hull[0]) && + sameSide(pt, hull[hull.size()-1], center, hull[0]) && + sameSide(pt, hull[0], center, hull[hull.size()-1])) + { + return true; + } + + return false; +} + +vector model::getHorizontalConvexHull(vector points) { + if (points.size() <= 3) { + return points; + } + + vector hull; + vector::iterator leftmostIt = points.begin(); + + // compute the lefmost point + for (vector::iterator it = points.begin() + 1; + it != points.end(); ++it) + { + if (it->x < leftmostIt->x) { + leftmostIt = it; + } + } + + Point3d pointOnHull = *leftmostIt; + Point3d endPoint; + + do { + // add the candidate point to the hull + hull.push_back(pointOnHull); + endPoint = points[0]; + + for (unsigned int j = 1; j < points.size(); ++j) { + // define dummy points in the XOZ plane + Point3d fakeCurPt(points[j].x, 0.0, points[j].z); + Point3d fakePointOnHull(pointOnHull.x, 0.0, pointOnHull.z); + Point3d fakeEndPoint(endPoint.x, 0.0, endPoint.z); + + // define a point to the left of the line + Point3d farLeft = fakeEndPoint; + farLeft.rotate(pointOnHull, Rotation3d(0.0, -M_PI/6, 0.0)); + + // if ... or points[j] on the left side of line (pointOnHull, endPoint) + if (pointOnHull != points[j] && + (endPoint == pointOnHull || sameSide(fakeCurPt, farLeft, fakePointOnHull, fakeEndPoint))) + { + endPoint = points[j]; + } + } + + pointOnHull = endPoint; + + } while (endPoint != hull[0]); + + return hull; +} + +bool model::fileExists(const string& fileName) { + struct stat buffer ; + if (stat(fileName.c_str(), &buffer)) return false; // ret 0 for found + return true; +} + +bool model::fileIsDir(const string& fileName) { + struct stat buffer; + int status = stat(fileName.c_str(), &buffer); + + if (status != 0 || S_ISREG(buffer.st_mode)) { + return false; + } + + if (S_ISDIR(buffer.st_mode)) { + return true; + } + + return false; +} + +bool model::makeDir(const string& path) { + if (fileExists(path) && fileIsDir(path)) { + return true; + } + + return (mkdir(path.c_str(), S_IRWXU | S_IRWXG | S_IRWXO) == 0 ? true : false); +} diff --git a/src/model/vector3d.cc b/src/model/vector3d.cc new file mode 100644 index 0000000..f4fcdda --- /dev/null +++ b/src/model/vector3d.cc @@ -0,0 +1,259 @@ +/** + * @file vector3d.cc + * + * @auhtor Remus Claudiu Dumitru + * @date 16 Feb 2012 + * + */ + +//============================================================================== +// Includes +//============================================================================== +#include "model/vector3d.h" + +#include "model/util.h" +#include + +using namespace model; + +//============================================================================== +// Implementation +//============================================================================== + +model::Vector3d::Vector3d() { + // nothing to do +} + +model::Vector3d::Vector3d(const double& x, const double& y, const double& z) { + this->x = x; + this->y = y; + this->z = z; +} + +// constructor for vector b - a, where a and b are points +model::Vector3d::Vector3d(const Point3d& a, const Point3d& b) { + this->x = b.x - a.x; + this->y = b.y - a.y; + this->z = b.z - a.z; +} + +model::Vector3d::Vector3d(const Vector3d& other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; +} + +model::Vector3d& model::Vector3d::operator=(const model::Vector3d& other) { + if (this != &other) { + this->x = other.x; + this->y = other.y; + this->z = other.z; + } + + return *this; +} + +// normalizes the vector +void model::Vector3d::normalize() { + // squares + double sx = sqr(this->x); + double sy = sqr(this->y); + double sz = sqr(this->z); + + double len = sqrt(sx + sy + sz); + + // avoid a division by zero + if (len == 0.0) { + len = 1.0; + } + + // normalize the values + this->x /= len; + this->y /= len; + this->z /= len; + + // increase precision, this accounts for the lost digits + this->x = round(this->x * 10000) / 10000; + this->y = round(this->y * 10000) / 10000; + this->z = round(this->z * 10000) / 10000; +} + +// inverses the vector +void model::Vector3d::invert() { + this->x *= (-1); + this->y *= (-1); + this->z *= (-1); +} + +// get the length +double model::Vector3d::length() const { + return sqrt(sqr(this->x) + sqr(this->y) + sqr(this->z)); +} + +// rotation of a vector is like a point around 0 0 0 +void model::Vector3d::rotate(const Rotation3d& rot) { + // create rotation matrices + double Rx[3][3] = { + {1.0, 0.0, 0.0}, + {0.0, +cos(rot.x), -sin(rot.x)}, + {0.0, +sin(rot.x), +cos(rot.x)} + }; + + double Ry[3][3] = { + {+cos(rot.y), 0.0, +sin(rot.y)}, + {0.0, 1.0, 0.0}, + {-sin(rot.y), 0.0, +cos(rot.y)} + }; + + double Rz[3][3] = { + {+cos(rot.z), -sin(rot.z), 0.0}, + {+sin(rot.z), +cos(rot.z), 0.0}, + {0.0, 0.0, 1.0} + }; + + // convert to something easier to use + double point[3]; + point[0] = this->x; + point[1] = this->y; + point[2] = this->z; + + // somewhere to save the result + double temp[3]; + + // do rotation around z axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Rz[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // do rotation around y axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Ry[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // do rotation around z axis + for (int i = 0; i < 3; ++i) { + // reset the sum + double sum = 0.0; + + for (int j = 0; j < 3; ++j) { + sum += (Rx[i][j] * point[j]); + } + + // save the result + temp[i] = sum; + } + + // move results for next rotation + for (int i = 0; i < 3; ++i) { + point[i] = temp[i]; + } + + // save the results + this->x = point[0]; + this->y = point[1]; + this->z = point[2]; +} + +// computes the cross product between this vector and another given one +model::Vector3d model::Vector3d::crossProduct(const Vector3d& other) const { + Vector3d ret; + + double a1 = this->x; + double a2 = this->y; + double a3 = this->z; + + double b1 = other.x; + double b2 = other.y; + double b3 = other.z; + + ret.x = a2 * b3 - a3 * b2; + ret.y = a3 * b1 - a1 * b3; + ret.z = a1 * b2 - a2 * b1; + + return ret; +} + +// computes the dot product between this vector and another given one +double model::Vector3d::dotProduct(const Vector3d& other) const { + return this->x * other.x + + this->y * other.y + + this->z * other.z; +} + +// FIXME use atan2, computes the angle between two vectors +double model::Vector3d::angle(const Vector3d& other) { + double len1 = this->length(); + double len2 = other.length(); + + if (len1 == 0 || len2 == 0) { + return 0; + } + + return acos( + this->dotProduct(other) / (len1 * len2) + ); +} + +void model::Vector3d::operator+=(const Vector3d& other) { + this->x += other.x; + this->y += other.y; + this->z += other.z; +} + +model::Vector3d model::Vector3d::operator+(const Vector3d& other) { + Vector3d result; + + result.x = this->x + other.x; + result.y = this->y + other.y; + result.z = this->z + other.z; + + return result; +} + +model::Vector3d model::Vector3d::operator*(const double& val) { + Vector3d result; + + result.x = this->x * val; + result.y = this->y * val; + result.z = this->z * val; + + return result; +} + +void model::Vector3d::operator/=(const double& div) { + this->x /= div; + this->y /= div; + this->z /= div; +} + + +std::ostream& model::operator<<(std::ostream& os, const model::Vector3d& vect) { + os << vect.x << " " << vect.y << " " << vect.z; + return os; +} diff --git a/src/pmd/CMakeLists.txt b/src/pmd/CMakeLists.txt new file mode 100644 index 0000000..5556602 --- /dev/null +++ b/src/pmd/CMakeLists.txt @@ -0,0 +1,68 @@ +IF(WITH_PMD) + include_directories(${CMAKE_SOURCE_DIR}/include/pmd/pmdaccess2) + include_directories(${CMAKE_SOURCE_DIR}/include/pmd/pose) + include_directories(${CMAKE_SOURCE_DIR}/include/pmd) + + + FIND_LIBRARY(LIBCONFIG_LIBRARY_DIR libconfig.so) + FIND_LIBRARY(LIBGLFW_LIBRARY_DIR libglfw.so) + + IF(NOT WIN32) + FIND_PACKAGE(LibXml2 REQUIRED) + ENDIF(NOT WIN32) + + FIND_PACKAGE(XMLRPC REQUIRED c++) + FIND_PACKAGE(OpenCV REQUIRED ) + + FIND_PATH(FTGL_INCLUDE_DIR + NAMES ftgl.h + PATHS /usr/local/include + /usr/include + /usr/include/FTGL + /usr/include/freetype2 + NO_DEFAULT_PATH) + + FIND_PATH(freetype_INCLUDE_DIRS + NAMES freetype/config/ftheader.h + PATHS /usr/local/include + /usr/include/freetype2 + NO_DEFAULT_PATH) + + #MESSAGE(STATUS ${FTGL_INCLUDE_DIR}) + #MESSAGE(STATUS ${freetype_INCLUDE_DIRS}) + include_directories(${FTGL_INCLUDE_DIR}) + include_directories(${freetype_INCLUDE_DIRS}) + + + SET(PMDACCESS_DIR pmdaccess2/) + SET(POSE_DIR pose/) + SET(OFFLINE_DIR offline/) + SET(CALIBRATE_DIR calibrate/) + + add_library(pmdaccess2 STATIC ${PMDACCESS_DIR}pmdaccess.cc) + + SET(PMD_LIBS pmdaccess2 config glfw GL GLU ftgl xmlrpc_util glfw xmlrpc_client xmlrpc xmlrpc++ xmlrpc_client++ xmlrpc_xmltok xmlrpc_xmlparse ${OpenCV_LIBS} ) + + + add_executable(grabVideoAnd3D ${OFFLINE_DIR}grabVideoAnd3D.cc cvpmd.cc pmdWrap.cc ) + target_link_libraries(grabVideoAnd3D scan dl newmat ${PMD_LIBS}) + + add_executable(convertToSLAM6D ${OFFLINE_DIR}convertToSLAM6D.cc cvpmd.cc pmdWrap.cc ) + target_link_libraries(convertToSLAM6D scan dl newmat ${PMD_LIBS}) + + add_executable(calibratePMD ${CALIBRATE_DIR}calibrate.cc ) + target_link_libraries(calibratePMD ${PMD_LIBS}) + + add_executable(grabFramesCam ${CALIBRATE_DIR}grabFramesCam.cc ) + target_link_libraries(grabFramesCam ${PMD_LIBS}) + + add_executable(grabFramesPMD ${CALIBRATE_DIR}grabFramesPMD.cc cvpmd.cc pmdWrap.cc) + target_link_libraries(grabFramesPMD scan newmat ${PMD_LIBS}) + + add_executable(extrinsicPMD ${CALIBRATE_DIR}extrinsic.cc ) + target_link_libraries(extrinsicPMD ${PMD_LIBS}) + + add_executable(pose ${POSE_DIR}pose.cc ${POSE_DIR}history.cc cvpmd.cc pmdWrap.cc) + target_link_libraries(pose scan newmat ${PMD_LIBS}) + +ENDIF(WITH_PMD) diff --git a/src/pmd/README b/src/pmd/README new file mode 100644 index 0000000..0ec24dc --- /dev/null +++ b/src/pmd/README @@ -0,0 +1,19 @@ +Code for PMD camera. + +pmdaccess2/* PMD-camera access lib +cvpmd & pmdWrap libpmdaccess2 wrapper, PMD -> OpenCV marshalling and a bit of math. +calibrate/* PMD calibration tool +pose/* 3D Tracking, pose estimation +offline/* Grab data for offline processing +*xml cameras matrices + +Depends on OpenCV (2.0), GLFW, FTGL, libconfig, xmlrpc-c + +installing opencv on ubuntu: http://ivkin.net/2009/11/installing-opencv-2-0-on-ubuntu-9-10-karmic-koala/ + +to compile just run: + $ make + +Ubuntu issues: + # fix GLFW /usr/lib/libglfw.so symlink + # obtain libconfig somewhere (i.e. from debian repos or install from source) diff --git a/src/pmd/calibrate/calibrate.cc b/src/pmd/calibrate/calibrate.cc new file mode 100644 index 0000000..2c52758 --- /dev/null +++ b/src/pmd/calibrate/calibrate.cc @@ -0,0 +1,148 @@ +/* + * calibrate implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include + +#include +#include + + +void usage(char *progName) { + printf("%s \n", progName); + printf("\twhere board-size-x and y is count of *inner* corners of the booard"); + printf("i.e.: %s 6 4 0.04 image*\n", progName); + printf("Use more then ten images.\nPress space bar to proceed.\n"); +} + +void calibrate( CvMat *intrinsic, CvMat *distortion, CvSize imgSz, CvSize boardSz + , double boardSide, CvPoint2D32f **corners, int boardsCnt) { + + int totalPoints = boardSz.width * boardSz.height; + // object points (model) + CvMat *objPts = cvCreateMat(totalPoints * boardsCnt, 3, CV_32FC1); + // found points + CvMat *imgPts = cvCreateMat(totalPoints * boardsCnt, 2, CV_32FC1); + // points count + CvMat *ptsCnt = cvCreateMat(boardsCnt, 1, CV_32SC1); + + // copy corners to matrix and fill model matrix + for(int i = 0; i < boardsCnt; i++) { + for(int j = 0; j < totalPoints; j++) { + int s = i * totalPoints; + CV_MAT_ELEM(*imgPts, float, s+j, 0) = corners[i][j].x; + CV_MAT_ELEM(*imgPts, float, s+j, 1) = corners[i][j].y; + CV_MAT_ELEM(*objPts, float, s+j, 0) = boardSide * (j / boardSz.width); + CV_MAT_ELEM(*objPts, float, s+j, 1) = boardSide * (j % boardSz.width); + CV_MAT_ELEM(*objPts, float, s+j, 2) = 0.0f; + } + CV_MAT_ELEM(*ptsCnt, int, i, 0) = totalPoints; + } + + // initial guess + CV_MAT_ELEM(*intrinsic, float, 0, 0) = 1.0f; + CV_MAT_ELEM(*intrinsic, float, 1, 1) = 1.0f; + + cvCalibrateCamera2( objPts, imgPts, ptsCnt, imgSz + , intrinsic, distortion + , NULL, NULL, 0 ); + return; +} + + +int main(int argc, char **argv) +{ + if(argc < 5) { + usage(argv[0]); + exit(1); + } + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize boardSz = cvSize(patx, paty); + int loadImageCnt = argc - 4; + int cornersTotal = boardSz.width * boardSz.height; + float boardSide = atof(argv[3]);; + char **images = &argv[4]; + + // intrinsic matrices and ditortion params + CvMat *intrinsic = cvCreateMat(3, 3, CV_32F); + CvMat *distortion = cvCreateMat(1, 4, CV_32F); + + + IplImage *img = cvLoadImage(images[0], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3); + + int subpixel; + if(cvGetSize(img).width < 300) { + subpixel = 4; + } + else { + subpixel = 11; + } + + int imagesWithBoard = 0; + + CvPoint2D32f **corners = (CvPoint2D32f**)calloc(100, sizeof(CvPoint2D32f*)); + corners[0] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + + cvNamedWindow("Cam", 0); + + for(int imagesLoaded = 0; imagesLoaded < loadImageCnt; imagesLoaded++) { + img = cvLoadImage(images[imagesLoaded], CV_LOAD_IMAGE_GRAYSCALE); + + cvCvtColor(img, imgColor, CV_GRAY2BGR); + + int cornersCount; + + int found = cvFindChessboardCorners(img, boardSz, corners[imagesWithBoard], + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(found) cvFindCornerSubPix(img, corners[imagesWithBoard], cornersCount, cvSize(subpixel, subpixel), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvDrawChessboardCorners(imgColor, boardSz, corners[imagesWithBoard], cornersCount, found); + imagesWithBoard++; + corners[imagesWithBoard] = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + } + cvShowImage("Cam", imgColor); + cvWaitKey(0); + + } + + cvDestroyAllWindows(); + + printf("calibrating...\n"); + fflush(stdout); + + //TODO: can be started in parallel to watch calibration on image undistortion :) + calibrate(intrinsic, distortion, cvGetSize(img), boardSz, boardSide, corners, imagesWithBoard); + + // save to xml files + cvSave("./intrinsic.xml", intrinsic); + cvSave("./distortion.xml", distortion); + printf("matrices saved to xml files.\n"); + + // let OS clean all images and matrices + return 0; +} + + +/*void usage(char *progName) { + printf( "usage:\n \ + %s [-s]\n \ + \tcamera-id is v4l id or -1 for pmd cam \ + \tpress space or 'a' to grab image\n \ + \tpress 'n' to skip grabbed frame\n \ + \tpress 'c' to finish frame grabbing start calibration\n \ + or:\n \ + %s \n", progName, progName); + fflush(stdout); +}*/ + diff --git a/src/pmd/calibrate/extrinsic.cc b/src/pmd/calibrate/extrinsic.cc new file mode 100644 index 0000000..0362b0c --- /dev/null +++ b/src/pmd/calibrate/extrinsic.cc @@ -0,0 +1,87 @@ +/* + * extrinsic implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include + + +int main(int argc, char **argv) { + + if(argc < 3) { + printf("extrinic: x y img1 img2\n"); + exit(1); + } + // extrinic params: rotation and translation + CvMat *rotCam = cvCreateMat(1, 3, CV_32FC1); + CvMat *transCam = cvCreateMat(1, 3, CV_32FC1); + CvMat *rotPMD = cvCreateMat(1, 3, CV_32FC1); + CvMat *transPMD = cvCreateMat(1, 3, CV_32FC1); + + CvSize boardSz = cvSize(atoi(argv[1]), atoi(argv[2])); + int totalPoints = boardSz.width*boardSz.height; + double boardSide = 0.04; + CvMat *objPts = cvCreateMat(totalPoints, 3, CV_32FC1); + CvPoint2D32f *cornersCam = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f)); + CvMat imgPtsCam = cvMat(totalPoints, 1, CV_32FC2, cornersCam); + CvPoint2D32f *cornersPMD = (CvPoint2D32f*)cvAlloc(totalPoints * sizeof(CvPoint2D32f)); + CvMat imgPtsPMD = cvMat(totalPoints, 1, CV_32FC2, cornersPMD); + + for(int i = 0; i < totalPoints; i++) { + CV_MAT_ELEM(*objPts, float, i, 0) = boardSide * (i / boardSz.width); + CV_MAT_ELEM(*objPts, float, i, 1) = boardSide * (i % boardSz.width); + CV_MAT_ELEM(*objPts, float, i, 2) = 0.0f; + } + + IplImage *imgPMD = cvLoadImage(argv[3], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgPMDU = cvCreateImage(cvGetSize(imgPMD), 8, 1); + IplImage *imgCam = cvLoadImage(argv[4], CV_LOAD_IMAGE_GRAYSCALE); + IplImage *imgCamU = cvCreateImage(cvGetSize(imgCam), 8, 1); + + CvMat *intrinsicsCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml"); + CvMat *intrinsicsPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml"); + CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml"); + CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml"); + + cvUndistort2(imgPMD, imgPMDU, intrinsicsPMD, distortionPMD); + cvUndistort2(imgCam, imgCamU, intrinsicsCam, distortionCam); + + int cornersCountCam, cornersCountPMD; + int foundPMD = cvFindChessboardCorners(imgPMDU, boardSz, cornersPMD, + &cornersCountPMD, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(foundPMD) { + cvFindCornerSubPix(imgPMDU, cornersPMD, cornersCountPMD, cvSize(2, 2), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + printf("foundPMD\n"); + } + int foundCam = cvFindChessboardCorners(imgCamU, boardSz, cornersCam, + &cornersCountCam, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + if(foundPMD) { + cvFindCornerSubPix(imgCamU, cornersCam, cornersCountCam, cvSize(11, 11), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + printf("foundCam\n"); + } + + cvNamedWindow("c", 0); + cvNamedWindow("p", 0); + + cvShowImage("c", imgCamU); + cvShowImage("p", imgPMDU); + cvWaitKey(0); + + + if(foundCam) cvFindExtrinsicCameraParams2(objPts, &imgPtsCam, intrinsicsCam, distortionCam, rotCam, transCam); + if(foundPMD) cvFindExtrinsicCameraParams2(objPts, &imgPtsPMD, intrinsicsPMD, distortionPMD, rotPMD, transPMD); + + cvSave("./rotcam.xml", rotCam); + cvSave("./rotpmd.xml", rotPMD); + cvSave("./transcam.xml", transCam); + cvSave("./transpmd.xml", transPMD); +} diff --git a/src/pmd/calibrate/grabFramesCam.cc b/src/pmd/calibrate/grabFramesCam.cc new file mode 100644 index 0000000..80870e9 --- /dev/null +++ b/src/pmd/calibrate/grabFramesCam.cc @@ -0,0 +1,95 @@ +/* + * grabFramesCam implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include +//TODO: flip image flag + +void usage(char *progName) { + printf("%s \n", progName); + printf("i.e.: %s 6 4 0\n", progName); + printf("press space to detect chessboard and (again) to proceed.\n"); +} + +int main(int argc, char **argv) +{ + /* TODO: + * flags: + * subpixel + * camera id + * flip x and y + * pmd mode? + */ + + if(argc < 4) { + usage(argv[0]); + exit(1); + } + CvCapture *capture = cvCaptureFromCAM(atoi(argv[3])); + + IplImage *imgColor = cvQueryFrame(capture); + IplImage *img = cvCreateImage(cvGetSize(imgColor), 8, 1); + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize patternSize = cvSize(patx, paty); + + int cornersTotal = patternSize.width * patternSize.height; + + CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + cvNamedWindow("Camera", 0); + + int imageCnt = 0; + bool grabFrame = false; + + while(1) { + imgColor = cvQueryFrame(capture); + + cvFlip(imgColor, 0, -1); // flips image around the x and y axes + + cvCvtColor(imgColor, img, CV_BGR2GRAY); + + if(grabFrame) { + /* ----- Chessboard detection ----- + -------------------------------- */ + int cornersCount; // should be the same for wcam and pmd and equal totalCorners + + int found = cvFindChessboardCorners(img, patternSize, corners, + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + cvFindCornerSubPix(img, corners, cornersCount, cvSize(11,11), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found); + cvShowImage("Camera", imgColor); + printf("grab?\n"); + int k = cvWaitKey(0); + if(k == (int)' ') { + imageCnt++; + char *filename = (char*) malloc(11 * sizeof(char)); + sprintf(filename, "image%02i.jpg", imageCnt); + printf("saved %s.\n", filename); + cvSaveImage(filename, img); + grabFrame = false; + continue; + } + } + } + + cvShowImage("Camera", imgColor); + if((int)' ' == cvWaitKey(5)) grabFrame = true; + } + + return 0; +} + diff --git a/src/pmd/calibrate/grabFramesPMD.cc b/src/pmd/calibrate/grabFramesPMD.cc new file mode 100644 index 0000000..a074f2c --- /dev/null +++ b/src/pmd/calibrate/grabFramesPMD.cc @@ -0,0 +1,106 @@ +/* + * grabFramesPMD implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include + +#include "pmdsdk2.h" +#include "cvpmd.h" + + +/* TODO: +* flags: +* subpixel +* camera id +* flip x and y +* pmd mode? +*/ + +void usage(char *progName) { + printf("%s \n", progName); + printf("i.e.: %s 6 4 0\n", progName); + printf("press space to detect chessboard and (again) to proceed.\n"); +} + +int main(int argc, char **argv) { + + if(argc < 4) { + usage(argv[0]); + exit(1); + } + + + PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69"); + IplImage *img = cvCreateImage(pmdGetSize(pmd), 8, 1); + pmdUpdate(pmd->hnd); + pmdQueryImage(pmd, img); + + IplImage *imgColor = cvCreateImage(cvGetSize(img), 8, 3); + + int patx = atoi(argv[1]); + int paty = atoi(argv[2]); + CvSize patternSize = cvSize(patx, paty); + + int cornersTotal = patternSize.width * patternSize.height; + + CvPoint2D32f *corners = (CvPoint2D32f*) malloc(cornersTotal * sizeof(CvPoint2D32f)); + + cvNamedWindow("Camera", 0); + + int imageCnt = 0; + bool grabFrame = false; + char *filename = (char*) malloc(11 * sizeof(char)); + + + while(1) { + pmdUpdate(pmd->hnd); + pmdQueryImage(pmd, img); + + cvFlip(img, 0, 1); // flips image around the x-axes + + + + + if(grabFrame) { + /* ----- Chessboard detection ----- + -------------------------------- */ + int cornersCount; // should be the same for wcam and pmd and equal totalCorners + + int found = cvFindChessboardCorners(img, patternSize, corners, + &cornersCount, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + cvFindCornerSubPix(img, corners, cornersCount, cvSize(4,4), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 30, 0.1)); + + if(found && (cornersCount == cornersTotal)) { + cvCvtColor(img, imgColor, CV_GRAY2BGR); + cvDrawChessboardCorners(imgColor, patternSize, corners, cornersCount, found); + cvShowImage("Camera", imgColor); + printf("grab?\n"); + int k = cvWaitKey(0); + if(k == (int)' ') { + imageCnt++; + sprintf(filename, "image%02i.jpg", imageCnt); //TODO:try png + printf("saved %s.\n", filename); + cvSaveImage(filename, img); + grabFrame = false; + continue; + } + } + } + + cvShowImage("Camera", img); + if((int)' ' == cvWaitKey(5)) grabFrame = true; + } + + return 0; +} + diff --git a/src/pmd/cvpmd.cc b/src/pmd/cvpmd.cc new file mode 100644 index 0000000..67b4cf8 --- /dev/null +++ b/src/pmd/cvpmd.cc @@ -0,0 +1,194 @@ +/* + * PMD implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include /* IplImage, cvCreateImage */ + +#include "pmdsdk2.h" + +#include +#include + +#include "cvpmd.h" +#include + +/** TODO + * inten max amplitude + * error handling + */ + +PMD *initPMD(const char* plugin, const char *ip) { + PMD *io = (PMD*)malloc(sizeof(PMD)); + + if(0 != pmdOpen (&io->hnd, plugin, ip, plugin, "")) { + fprintf(stderr, "ERROR: could not connect!\n"); + exit(1); + } + + //pmdUpdate(io->hnd); + //pmdGetSourceDataDescription(io->hnd, &io->dd); + io->dd.std.numColumns = 64; + io->dd.std.numRows = 50; //FIXME! + + io->data = (float*)malloc(io->dd.std.numColumns * io->dd.std.numRows * sizeof(float)); + + return io; +} + +float *pmdDataPtr(PMD *p) { + return p->data; +} + +void releasePMD(PMD **pmd) { + pmdClose((*pmd)->hnd); + free((*pmd)->data); + free(*pmd); + *pmd = 0; +} + + +static float max(const PMD *p) { + float max = 0.0f; + for(unsigned int k = 0; k < p->dd.std.numRows*p->dd.std.numColumns; k++) { + if(p->data[k] > max) max = p->data[k]; + } + //printf("max = %f\n", max); + return max; +} + +//static inline void setPix(const IplImage *m, const int c, const int r, const char v) { m->imageData[r*m->width + c] = v; } + + +CvSize pmdGetSize(const PMD *p) { + return cvSize(p->dd.std.numColumns, p->dd.std.numRows); +} + + +IplImage *toIplImage(const PMD *p, IplImage *img = 0) { + int cols = p->dd.std.numColumns; + int rows = p->dd.std.numRows; + + IplImage *imgp; + if(!img) imgp = cvCreateImage(pmdGetSize(p), 8, 1); + else imgp = img; + + //FIXME: scaled! + float m = max(p); + for(int r = 0; r < rows; r++) { + for(int c = 0; c < cols; c++) { + //FIXME: mess with the rows and colums + CV_IMAGE_ELEM(imgp, uint8_t, r, c) = (uint8_t) 255.0f * p->data[r*cols + c] / m; + } + } + + return imgp; +} + +/*CvPoint3D32f unionVec(const CvPoint uv, const CvMat *intrinsic) { + //TODO: not defined yet + // with this function pmdProjectToCartesian would look like: + // pmdProjectToCartesian pt depth mat = depth * unionVec pt mat + + return cvPoint3D32f(0,0,0); +}*/ + + +static inline CvPoint3D32f pmdProjectToCartesian(const CvMat *intrinsicMatrix, const CvPoint2D32f uv, const float dist) { + /* Lukas Dierks and Jan Wuelfing's projectToCartesian */ + float fx = cvmGet(intrinsicMatrix, 0, 0); + float cx = cvmGet(intrinsicMatrix, 0, 2); + float fy = cvmGet(intrinsicMatrix, 1, 1); + float cy = cvmGet(intrinsicMatrix, 1, 2); + + float u = uv.x; + float v = uv.y; + float r = dist; + float u2 = u*u; + float v2 = v*v; + + float cx2 = cx*cx; + float cy2 = cy*cy; + float fx2 = fx*fx; + float fy2 = fy*fy; + + // Reverse Projection + float squareroot = sqrt( + cy2 * fx2 + + cx2 * fy2 + + fx2 * fy2 - + 2 * cx * fy2 * u + + fy2 * u2 - + 2 * cy * fx2 * v + + fx2 * v2 + ); + + return cvPoint3D32f((fy * r * (cx - u)) / squareroot, + (fx * r * (cy - v)) / squareroot, + (fx * fy * r) / squareroot); +} + +CvPoint3D32f *cvProjectArrayToCartesian( const CvMat *intrinsicMatrix + , const CvPoint2D32f *pts, const int ptsCnt + , CvPoint3D32f *unitVs) { + + for(int i = 0; i < ptsCnt; i++) + unitVs[i] = pmdProjectToCartesian(intrinsicMatrix, pts[i], 1.0); + return unitVs; +} + + +CvPoint3D32f **pmdProjectArrayToCartesian(const PMD *p, const CvMat *intrinsicMatrix, CvPoint3D32f **pts) { + for(unsigned int i = 0; i < p->dd.std.numRows; i++) + for(unsigned int j = 0; j < p->dd.std.numColumns; j++) + pts[i][j] = pmdProjectToCartesian(intrinsicMatrix, cvPoint2D32f(i,j), p->data[j*p->dd.std.numColumns + i]); + return pts; +} + + + +IplImage *pmdQueryImage(PMD *p, IplImage *img = 0) { + pmdGetIntensities(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + +IplImage *pmdQueryImageAsync(PMD *p, IplImage *img = 0) { + pmdGetIntensitiesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + + +void pmdRetriveDistances(PMD *p) { + pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return; +} +void pmdRetriveDistancesAsync(PMD *p) { + pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return; +} + +IplImage *pmdQueryDistances(PMD *p, IplImage *img = 0) { + pmdGetDistances(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); + +} + +IplImage *pmdQueryDistancesAsync(PMD *p, IplImage *img = 0) { + pmdGetDistancesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); + +} + +IplImage *pmdQueryAmplitudes(PMD *p, IplImage *img = 0) { + pmdGetAmplitudesAsync(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} + +IplImage *pmdQueryAmplitudesAsync(PMD *p, IplImage *img = 0) { + pmdGetAmplitudes(p->hnd, p->data, p->dd.std.numColumns * p->dd.std.numRows * sizeof(float)); + return toIplImage(p, img); +} diff --git a/src/pmd/distortion-cam-6x4.xml b/src/pmd/distortion-cam-6x4.xml new file mode 100644 index 0000000..3eb789e --- /dev/null +++ b/src/pmd/distortion-cam-6x4.xml @@ -0,0 +1,9 @@ + + + + 1 + 4 +

f
+ + -0.46651933 0.30511221 2.36130873e-04 -2.86668586e-03 + diff --git a/src/pmd/distortion-pmd-6x4.xml b/src/pmd/distortion-pmd-6x4.xml new file mode 100644 index 0000000..0b7e35a --- /dev/null +++ b/src/pmd/distortion-pmd-6x4.xml @@ -0,0 +1,9 @@ + + + + 1 + 4 +
f
+ + -0.43944934 1.01121974 4.40021278e-03 -7.87253448e-05 + diff --git a/src/pmd/essential-rot.xml b/src/pmd/essential-rot.xml new file mode 100644 index 0000000..df11393 --- /dev/null +++ b/src/pmd/essential-rot.xml @@ -0,0 +1,9 @@ + + + + 3 + 1 +
f
+ + -4.37390661 -4.42766333 0.35243243 + diff --git a/src/pmd/essential-trn.xml b/src/pmd/essential-trn.xml new file mode 100644 index 0000000..11c0b4a --- /dev/null +++ b/src/pmd/essential-trn.xml @@ -0,0 +1,9 @@ + + + + 3 + 1 +
f
+ + 7.70650012e-03 -0.04776910 0.007350650 + diff --git a/src/pmd/intrinsic-cam-6x4.xml b/src/pmd/intrinsic-cam-6x4.xml new file mode 100644 index 0000000..11c1829 --- /dev/null +++ b/src/pmd/intrinsic-cam-6x4.xml @@ -0,0 +1,9 @@ + + + + 3 + 3 +
f
+ + 648.61639404 0. 338.14016724 0. 648.50537109 236.03382874 0. 0. 1. + diff --git a/src/pmd/intrinsic-pmd-6x4.xml b/src/pmd/intrinsic-pmd-6x4.xml new file mode 100644 index 0000000..199ddce --- /dev/null +++ b/src/pmd/intrinsic-pmd-6x4.xml @@ -0,0 +1,9 @@ + + + + 3 + 3 +
f
+ + 83.88370514 0. 31.98480415 0. 84.15943909 29.34420967 0. 0. 1. + diff --git a/src/pmd/o3d.L32.pcp b/src/pmd/o3d.L32.pcp new file mode 100755 index 0000000..113ba0e Binary files /dev/null and b/src/pmd/o3d.L32.pcp differ diff --git a/src/pmd/offline/convertToSLAM6D.cc b/src/pmd/offline/convertToSLAM6D.cc new file mode 100644 index 0000000..32b6141 --- /dev/null +++ b/src/pmd/offline/convertToSLAM6D.cc @@ -0,0 +1,59 @@ +/* + * converToSLAM6D implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include + +int main() { + PMDCam *pmdc = initPMDCam("./pmdc.conf"); + + int frames = 0; + unsigned int latestTime = 0; + + while(1) { + + if(grabData(pmdc)) break; + + if(latestTime >= pmdc->timestamp) continue; + latestTime = pmdc->timestamp; + //printf("%i %i\n", latestTime, pmdc->timestamp); + + CvSize pmdSz = cvGetSize(pmdc->iPMDI); + pmdSz.width = 50; + + char filename[] = "./dat/scan000.pose"; + sprintf(filename, "./dat/scan%03d.3d", frames); + FILE *scan = fopen(filename, "wb"); + if(!scan) fprintf(stderr, "ERROR: cant create file %s.\n", filename); + sprintf(filename, "./dat/scan%03d.pose", frames); + FILE *pose = fopen(filename, "wb"); + if(!pose) fprintf(stderr, "ERROR: cant create file %s.\n", filename); + + + + fprintf(scan, "%i x %i\n", pmdSz.width, pmdSz.height); + + for(int j = 0; j < pmdSz.width; j++) + for(int i = 0; i < pmdSz.height; i++) + fprintf(scan, "%f %f %f\n", pmdc->pts[i][j].x*100.0, pmdc->pts[i][j].y*100.0, pmdc->pts[i][j].z*100.0); + + fprintf(pose, "%f %f %f\n%f %f %f\n", 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + + if(0 == frames%100) printf("+100\n"); + + fflush(scan); + fflush(pose); + fclose(scan); + fclose(pose); + + frames++; + } + return 0; +} + + diff --git a/src/pmd/offline/grabVideoAnd3D.cc b/src/pmd/offline/grabVideoAnd3D.cc new file mode 100644 index 0000000..e61b742 --- /dev/null +++ b/src/pmd/offline/grabVideoAnd3D.cc @@ -0,0 +1,122 @@ +/* + * grabVideoAnd3D implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include + +#include "pmdsdk2.h" +#include "cvpmd.h" + +int main(int argc, char **argv) +{ + int totalFrames = 0; + int ui = 1; + printf("%i\n", argc); + if(argc > 1) { + totalFrames = atoi(argv[1]); + ui = 0; + } + if(argc > 2) ui = 1; + + //FIXME: here is lots of old code, should be removed + + + PMD *pmd = initPMD("../o3d.L32.pcp", "192.168.0.69"); + + CvCapture *capture = cvCaptureFromCAM(1); //FIXME: should be passed via argc + + CvSize pmdSz = pmdGetSize(pmd); + printf("pmd sz: %i x %i\n", pmdSz.width, pmdSz.height); + IplImage *imgCamColor = cvQueryFrame(capture); + IplImage *imgPMD = cvCreateImage(pmdGetSize(pmd), 8, 1); + IplImage *imgPMDA = cvCreateImage(cvGetSize(imgPMD), 8, 1); + IplImage *imgCam = cvCreateImage(cvGetSize(imgCamColor), 8, 1); + CvPoint3D32f **pmdPts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*)); + for(int i = 0; i < pmdSz.height; i++) pmdPts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f)); + + CvMat *intrinsicCam = (CvMat*)cvLoad("../intrinsic-cam-6x4.xml"); + CvMat *distortionCam = (CvMat*)cvLoad("../distortion-cam-6x4.xml"); + CvMat *intrinsicPMD = (CvMat*)cvLoad("../intrinsic-pmd-6x4.xml"); + CvMat *distortionPMD = (CvMat*)cvLoad("../distortion-pmd-6x4.xml"); + if(!intrinsicCam || !distortionCam|| !intrinsicPMD || !distortionPMD) { + fprintf(stderr, "ERROR: can't load intrinsic and/or distortion xml files!\n"); + return 1; + } + + +// FILE *vPMDA = fopen("./s001.arv", "wb"); // ala dot Amplitudes Raw Video NOTE: i'm not sure it is amplitude :P +// FILE *vPMDAf = fopen("./s001.farv", "wb"); // same but Floating + FILE *vPMDI = fopen("./s001.irv", "wb"); // same but Intensities + FILE *vPMDIf = fopen("./s001.firv", "wb"); + FILE *headers = fopen("./s001.head", "wb"); + CvVideoWriter *vCam = cvCreateVideoWriter( "./s001.avi" + , CV_FOURCC('D', 'I', 'V', 'X') + , 25, cvGetSize(imgCam), 1); + + FILE *pmdPtsFile = fopen("./s001.3dp", "w"); + + if(ui) { + cvNamedWindow("Cam", 0); + cvNamedWindow("PMD", 1); + } + + printf("DEBUG: init done, going to grab %i frames.\n", totalFrames); + + int frames = 0; + while(1) { + frames++; + if(0 == frames % 100) printf("%i frames grabbed...\n", frames); + // Image retriving + pmdUpdate(pmd->hnd); + imgCamColor = cvQueryFrame(capture); + + pmdQueryImageAsync(pmd, imgPMD); + fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDIf); + + //pmdQueryAmplitudesAsync(pmd, imgPMDA); + //fwrite(pmdDataPtr(pmd), sizeof(float), pmdSz.width*pmdSz.height, vPMDAf); + + + pmdRetriveDistancesAsync(pmd); + pmdProjectArrayToCartesian(pmd, intrinsicPMD, pmdPts); + + ImageHeaderInformation *header = retriveHeader(); + + + if(ui) { + cvShowImage("Cam", imgCamColor); + cvShowImage("PMD", imgPMD); + } + + //FIXME: order col/str + for(int i = 0; i < pmdSz.height; i++) + fwrite(pmdPts[i], sizeof(CvPoint3D32f), pmdSz.width, pmdPtsFile); + + fwrite(imgPMD->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDI); + //fwrite(imgPMDA->imageData, sizeof(char), pmdSz.width*pmdSz.height, vPMDA); + fwrite(header, sizeof(ImageHeaderInformation), 1, headers); + + cvWriteFrame(vCam, imgCamColor); + + if(totalFrames && (frames >= totalFrames)) break; + if(ui) if(27 == cvWaitKey(5)) break; + } +// fclose(vPMDA); +// fclose(vPMDAf); + fclose(vPMDI); + fclose(vPMDIf); + fclose(pmdPtsFile); + fclose(headers); + printf("grabbed %i frames.\n", frames); + printf("See s001* files (you want to rename them).\n"); +} + diff --git a/src/pmd/offline/pmdc.conf b/src/pmd/offline/pmdc.conf new file mode 120000 index 0000000..37e464d --- /dev/null +++ b/src/pmd/offline/pmdc.conf @@ -0,0 +1 @@ +../pmdc.conf \ No newline at end of file diff --git a/src/pmd/offline/rename b/src/pmd/offline/rename new file mode 100755 index 0000000..6e8f600 --- /dev/null +++ b/src/pmd/offline/rename @@ -0,0 +1,12 @@ +#! /bin/bash +if [ $1 = "" ]; then + echo "no new name given!" + exit +fi +mv s001.avi $1.avi +#mv s001.arv $1.arv +#mv s001.farv $1.farv +mv s001.irv $1.irv +mv s001.firv $1.firv +mv s001.3dp $1.3dp +mv s001.head $1.head diff --git a/src/pmd/pmdWrap.cc b/src/pmd/pmdWrap.cc new file mode 100644 index 0000000..c559f08 --- /dev/null +++ b/src/pmd/pmdWrap.cc @@ -0,0 +1,290 @@ +/* + * PMDCam implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include + +#include +#include + +#include + +#include "cvpmd.h" +#include "pmdWrap.h" + +#include "slam6d/icp6Dhelix.h" +#include "slam6d/icp6Dortho.h" +#include "slam6d/icp6Dquat.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dapx.h" + + +//TODO: releasePMDCam() + +//TODO: !!! check config parse error !!! TODO + +PMDCam *initPMDCam(const char *confPath) { + PMDCam *pmdc = (PMDCam*)malloc(sizeof(PMDCam)); + config_t *conf = (config_t*)malloc(sizeof(config_t)); + config_init(conf); + config_read_file(conf, confPath); + + config_lookup_bool(conf, "offline", &pmdc->_offlineMode); + if(!pmdc->_offlineMode) { + // init PMDCam + const char *ip; + const char *plugin; + config_lookup_string(conf, "ip", &ip); + config_lookup_string(conf, "plugin", &plugin); + printf("Starting PMD...\n"); + pmdc->_pmd = initPMD(plugin, ip); + //FIXME: pmdc initialization assert + + int camID; +#if (((LIBCONFIG_VER_MAJOR == 1) && (LIBCONFIG_VER_MINOR >= 4)) \ + || (LIBCONFIG_VER_MAJOR > 1)) + config_lookup_int(conf, "cameraID", &camID); +#else //libconfig API changed in version 1.4b + config_lookup_int(conf, "cameraID", (long *)&camID); +#endif + pmdc->_capture = cvCaptureFromCAM(camID); + if(!pmdc->_capture) fprintf(stderr, "ERROR: Can't initialize capture, see camera id in pmdc.conf.\n"); + } else { + printf("Offline mode.\n"); + const char *camVid; + const char *pmdI; + const char *pmdA; + const char *pmd3D; + const char *headers; + config_lookup_string(conf, "camVideoFile", &camVid); + config_lookup_string(conf, "pmdIFile", &pmdI); + // config_lookup_string(conf, "pmdAFile", &pmdA); + config_lookup_string(conf, "pmd3DFile", &pmd3D); + config_lookup_string(conf, "headersFile", &headers); + //FIXME: check empty strings + printf( "DEBUG: Reading from files: %s, %s, %s.\n" + , camVid, pmdI, pmd3D); + pmdc->_capture = cvCaptureFromFile(camVid); + pmdc->_f.i = fopen(pmdI, "r"); + // pmdc->_f.a = fopen(pmdA, "r"); + pmdc->_f.p = fopen(pmd3D, "r"); + pmdc->_f.h = fopen(headers, "r"); + if( !pmdc->_capture + || !pmdc->_f.i + // || !pmdc->_f.a + || !pmdc->_f.p + || !pmdc->_f.h) fprintf(stderr, "ERROR: Can't open data file, see files settings in pmdc.conf.\n"); + pmdc->header = (ImageHeaderInformation*)cvAlloc(sizeof(ImageHeaderInformation)); + + //TODO: read pmd header somewhere + } + CvSize pmdSz; +#if (((LIBCONFIG_VER_MAJOR == 1) && (LIBCONFIG_VER_MINOR >= 4)) \ + || (LIBCONFIG_VER_MAJOR > 1)) + config_lookup_int(conf, "pmdSize.width", &pmdSz.width); + config_lookup_int(conf, "pmdSize.height", &pmdSz.height); +#else //libconfig API changed in version 1.4b + config_lookup_int(conf, "pmdSize.width", (long *)&pmdSz.width); + config_lookup_int(conf, "pmdSize.height", (long *)&pmdSz.height); +#endif + printf("DEBUG: pmdSz: %i %i\n", pmdSz.width, pmdSz.height); + pmdc->_iPMDIU = cvCreateImage(pmdSz, IPL_DEPTH_8U, 1); + pmdc->iPMDI = cvCreateImage(pmdSz, IPL_DEPTH_8U, 1); + pmdc->_iPMDAU = cvCreateImage(pmdSz, IPL_DEPTH_8U, 1); + pmdc->iPMDA = cvCreateImage(pmdSz, IPL_DEPTH_8U, 1); + + pmdc->_iCamColorU = cvQueryFrame(pmdc->_capture); + CvSize camSz = cvGetSize(pmdc->_iCamColorU); + printf("DEBUG: camSz: %i %i\n", camSz.width, camSz.height); + + + config_lookup_bool(conf, "hybrid", &pmdc->hybrid); + if(pmdc->hybrid) pmdc->_iCamColorUBuffer = cvCreateImage(camSz, IPL_DEPTH_8U, 3); + + pmdc->iCamColor = cvCreateImage(camSz, IPL_DEPTH_8U, 3); + pmdc->iCam = cvCreateImage(camSz, IPL_DEPTH_8U, 1); + + pmdc->_mapXPMD = cvCreateImage(pmdSz, IPL_DEPTH_32F, 1); + pmdc->_mapYPMD = cvCreateImage(pmdSz, IPL_DEPTH_32F, 1); + pmdc->_mapXCam = cvCreateImage(camSz, IPL_DEPTH_32F, 1); + pmdc->_mapYCam = cvCreateImage(camSz, IPL_DEPTH_32F, 1); + printf("DEBUG: Created images...\n"); + + const char *inc; + const char *dsc; + const char *inp; + const char *dsp; + config_lookup_string(conf, "intrinsicCam", &inc); + config_lookup_string(conf, "distortionCam", &dsc); + config_lookup_string(conf, "intrinsicPMD", &inp); + config_lookup_string(conf, "distortionPMD", &dsp); + pmdc->intrinsicCam = (CvMat*)cvLoad(inc); + pmdc->distortionCam = (CvMat*)cvLoad(dsc); + pmdc->intrinsicPMD = (CvMat*)cvLoad(inp); + pmdc->distortionPMD = (CvMat*)cvLoad(dsp); + if(!pmdc->intrinsicCam || !pmdc->distortionCam || !pmdc->intrinsicPMD || !pmdc->distortionPMD) + fprintf(stderr, "ERROR: Cant load matrix file, see pmdc.conf matrix files settings.\n"); + + //TODO: essential mat + + cvInitUndistortMap(pmdc->intrinsicCam, pmdc->distortionCam, pmdc->_mapXCam, pmdc->_mapYCam); + cvInitUndistortMap(pmdc->intrinsicPMD, pmdc->distortionPMD, pmdc->_mapXPMD, pmdc->_mapYPMD); + printf("DEBUG: initialized undistortion maps...\n"); + + CvPoint3D32f **pmdPts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*)); + for(int i = 0; i < pmdSz.height; i++) pmdPts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f)); + pmdc->pts = pmdPts; + + + config_lookup_float(conf, "tracking.quality", &pmdc->_track.quality); +#if (((LIBCONFIG_VER_MAJOR == 1) && (LIBCONFIG_VER_MINOR >= 4)) \ + || (LIBCONFIG_VER_MAJOR > 1)) + config_lookup_int(conf, "tracking.min", &pmdc->_track.minFeatures); + config_lookup_int(conf, "tracking.max", &pmdc->_track.maxFeatures); + config_lookup_int(conf, "tracking.minDist", &pmdc->_track.minDist); + config_lookup_int(conf, "tracking.winSize", &pmdc->_track.winSz); + config_lookup_int(conf, "historyLen", &pmdc->historyLen); +#else //libconfig API changed in version 1.4b + config_lookup_int(conf, "tracking.min", (long *)&pmdc->_track.minFeatures); + config_lookup_int(conf, "tracking.max", (long *)&pmdc->_track.maxFeatures); + config_lookup_int(conf, "tracking.minDist", (long *)&pmdc->_track.minDist); + config_lookup_int(conf, "tracking.winSize", (long *)&pmdc->_track.winSz); + config_lookup_int(conf, "historyLen", (long *)&pmdc->historyLen); +#endif + pmdc->_track.trackingFlags = 0; //FIXME, if you init pyrs here + +#if (((LIBCONFIG_VER_MAJOR == 1) && (LIBCONFIG_VER_MINOR >= 4)) \ + || (LIBCONFIG_VER_MAJOR > 1)) + config_lookup_int(conf, "minPts", &pmdc->minPts4Pose); +#else //libconfig API changed in version 1.4b + config_lookup_int(conf, "minPts", (long *)&pmdc->minPts4Pose); +#endif + config_lookup_float(conf, "maxError", &pmdc->maxError); + + config_lookup_float(conf, "outliersRemoval.sigmaDepth", &pmdc->sigmaDepth); + config_lookup_float(conf, "outliersRemoval.sigmaColor", &pmdc->sigmaColor); + config_lookup_float(conf, "outliersRemoval.threshold", &pmdc->dpThreshold); + + config_lookup_bool(conf, "savePoses", &pmdc->savePoses); + config_lookup_bool(conf, "synchronous", &pmdc->synchronous); + + int icpVerbose; + config_lookup_bool(conf, "icp.verbose", &icpVerbose); + bool icpQuiet = !icpVerbose; + const char *icpMethod; + config_lookup_string(conf, "icp.method", &icpMethod); + printf("%s\n", icpMethod); + if(!strcmp(icpMethod, "helix")) pmdc->icp = new icp6D_HELIX(icpQuiet); + else if(!strcmp(icpMethod, "svd")) pmdc->icp = new icp6D_SVD(icpQuiet); + else if(!strcmp(icpMethod, "apx")) pmdc->icp = new icp6D_APX(icpQuiet); + else if(!strcmp(icpMethod, "quat")) pmdc->icp = new icp6D_QUAT(icpQuiet); + else if(!strcmp(icpMethod, "ortho")) pmdc->icp = new icp6D_ORTHO(icpQuiet); + else { + fprintf(stderr, "ERROR: Uknown ICP method: %s!\n", icpMethod); + exit(1); + } + + //TODO: init tracking? + //TODO: alloc pts + + config_destroy(conf); + return pmdc; +} + + +int grabData(PMDCam *pmdc) { + static unsigned int latestTimestamp = 0; + static unsigned int latestTimestampUsec = 0; + while(1) { // grab data until the new have come + if(!pmdc->_offlineMode) { + pmdUpdate(pmdc->_pmd->hnd); + + pmdc->_iCamColorUBuffer = cvQueryFrame(pmdc->_capture); + + if(pmdc->synchronous) { + pmdRetriveDistances(pmdc->_pmd); + pmdProjectArrayToCartesian(pmdc->_pmd, pmdc->intrinsicPMD, pmdc->pts); + // project array has to be called right after retrive distances + pmdQueryImageAsync(pmdc->_pmd, pmdc->_iPMDIU); + + } else { + pmdRetriveDistancesAsync(pmdc->_pmd); + pmdProjectArrayToCartesian(pmdc->_pmd, pmdc->intrinsicPMD, pmdc->pts); + // project array has to be called right after retrive distances + pmdQueryImageAsync(pmdc->_pmd, pmdc->_iPMDIU); +/* printf("time: %f, utime: %f, valid: %f\n" + , pmdc->header->Seconds + , pmdc->header->Useconds + , pmdc->header->ValidImage + );*/ + + } + + pmdc->header = retriveHeader(); + pmdc->timestamp = (unsigned int)pmdc->header->Seconds; + pmdc->timestampUsec = (unsigned int)pmdc->header->Useconds; + + if(pmdc->hybrid) { + if( pmdc->timestamp > latestTimestamp + || pmdc->timestampUsec > latestTimestampUsec) { + latestTimestamp = pmdc->timestamp; + latestTimestampUsec = pmdc->timestampUsec; + cvCopy(pmdc->_iCamColorUBuffer, pmdc->_iCamColorU); + break; + } else continue; + } else { + pmdc->_iCamColorU = pmdc->_iCamColorUBuffer; + break; + } + } else { // offliine mode + pmdc->_iCamColorUBuffer = cvQueryFrame(pmdc->_capture); + if(!pmdc->_iCamColorUBuffer) return 1; + + CvSize pmdSz = cvGetSize(pmdc->_iPMDIU); + if(fread(pmdc->_iPMDIU->imageData, sizeof(char), pmdSz.width*pmdSz.height, pmdc->_f.i) + < (unsigned)pmdSz.width*pmdSz.height) return 1; + //if(fread(pmdc->_iPMDAU->imageData, sizeof(char), pmdSz.width*pmdSz.height, pmdc->_f.a) + // < (unsigned)pmdSz.width*pmdSz.height) return 1; + for(int i = 0; i < pmdSz.height; i++) + fread(pmdc->pts[i], sizeof(CvPoint3D32f), pmdSz.width, pmdc->_f.p); + + fread(pmdc->header, sizeof(ImageHeaderInformation), 1, pmdc->_f.h); + // i hope CvPt32f contains no holes :) + pmdc->timestamp = (unsigned int)pmdc->header->Seconds; + pmdc->timestampUsec = (unsigned int)pmdc->header->Useconds; + + /*printf("%i %i %i\n", (unsigned int)pmdc->header->Seconds + , (unsigned int)pmdc->header->Useconds + , (unsigned int)pmdc->header->ValidImage);*/ + + + if(pmdc->hybrid) { + if( pmdc->timestamp > latestTimestamp + || pmdc->timestampUsec > latestTimestampUsec) { + latestTimestamp = pmdc->timestamp; + latestTimestampUsec = pmdc->timestampUsec; + cvCopy(pmdc->_iCamColorUBuffer, pmdc->_iCamColorU); + break; + } else continue; + } else { + pmdc->_iCamColorU = pmdc->_iCamColorUBuffer; + break; + } + + } + } + cvFlip(pmdc->_iPMDIU, 0, 1); // flip around x-axes + cvRemap(pmdc->_iPMDIU, pmdc->iPMDI, pmdc->_mapXPMD, pmdc->_mapYPMD); //undistortion + + cvFlip(pmdc->_iCamColorU, 0, -1); // flip around x and y axes + cvRemap(pmdc->_iCamColorU, pmdc->iCamColor, pmdc->_mapXCam, pmdc->_mapYCam); + cvCvtColor(pmdc->iCamColor, pmdc->iCam, CV_BGR2GRAY); + return 0; +} + diff --git a/src/pmd/pmdaccess2/pmdaccess.cc b/src/pmd/pmdaccess2/pmdaccess.cc new file mode 100644 index 0000000..2c8008e --- /dev/null +++ b/src/pmd/pmdaccess2/pmdaccess.cc @@ -0,0 +1,176 @@ +/* + * pmdaccess implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include "pmddatadescription.h" +#include "pmdsdk2.h" +#include "pmdheader.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + + +int sockfd; + +ImageHeaderInformation header; + +// retrive latest header +ImageHeaderInformation *retriveHeader() { + return &header; +} + + +int pmdOpen(PMDHandle *hnd, const char *rplugin, const char *rparam, const char *pplugin, const char *pparam) { + + printf("Starting XMLRPC...\n"); //DEBUG + + char url[128]; + strcpy(url, rparam); + strcat(url, ":8080"); + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList ipAndHeart; + ipAndHeart.add(xmlrpc_c::value_string("192.168.0.1")); + ipAndHeart.add(xmlrpc_c::value_int(1)); + myClient.call( url + , "MDAXMLConnectCP" + , ipAndHeart + , &result); + + // start data server + xmlrpc_c::paramList dataServ; + xmlrpc_c::value result2; + dataServ.add(xmlrpc_c::value_int(1)); + myClient.call( url + , "MDAXMLSetWorkingMode" + , dataServ + , &result2); + + printf("Done XMPRC init, creating socket...\n"); //DEBUG + + + struct sockaddr_in serv_addr; + struct hostent *server; + + sockfd = socket(AF_INET, SOCK_STREAM, 0); + server = gethostbyname(rparam); + serv_addr.sin_family = AF_INET; + + bcopy((char *)server->h_addr, + (char *)&serv_addr.sin_addr.s_addr, + server->h_length); + serv_addr.sin_port = htons(50002); + if (connect( sockfd + , (struct sockaddr *)&serv_addr + , sizeof(serv_addr)) + == -1) { + perror("Error connecting!\n"); + return 1; + } + printf("Connceted!\n"); //DEBUG + + return 0; +} + + +int pmdClose (PMDHandle hnd) { + + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList ip; + ip.add(xmlrpc_c::value_string("192.168.0.1")); + myClient.call( "192.168.0.69:8080" //FIXME: hardcoded ip + , "MDAXMLDisconnectCP" + , ip, &result); + + return 0; +} + +int pmdGetLastperror (PMDHandle hnd, char *perror, size_t maxLen) { + return 0; +} + +int pmdUpdate(PMDHandle hnd) { + xmlrpc_c::clientSimple myClient; + xmlrpc_c::value result; + xmlrpc_c::paramList noArgs; + //FIXME: There is no HearBeat XML function!!! + //myClient.call( "192.168.0.69:8080", "MDAXMLHeartBeat" //FIXME: hardcoded ip + // , noArgs, &result); + + return 0; +} + +// Currently will work for one image only (i.e. "d" or "i" but not for "id") +int pmdGetData(const char *code, PMDHandle hnd, float *data, size_t maxLen) { + int n = write(sockfd, code, strlen(code)); + if (n < 0) + perror("Error writing to socket\n"); + + // reading image header + uint32_t headerBuf[412/4]; // 412 bytes `div` sizeof(uint32_t) + int bytesRead = 0; + while(bytesRead < 412) { + n = read(sockfd, &((char*)headerBuf)[bytesRead], 412 - bytesRead); + if (n < 0) + perror("Error reading from socket\n"); + bytesRead += n; + + } + for(int i = 0; i < 412/4; i++) + ((uint32_t*)&header)[i] = ntohl(headerBuf[i]); + + // reading image + uint32_t imgBuf[maxLen/4]; // maxLen is also in bytes + bytesRead = 0; + while(bytesRead < maxLen) { + n = read(sockfd, &((char*)imgBuf)[bytesRead], maxLen - bytesRead); + if (n < 0) + perror("Error reading from socket\n"); + bytesRead += n; + } + + for(int i = 0; i < maxLen/4; i++) + ((uint32_t*)data)[i] = ntohl(imgBuf[i]); + + return 0; +} + +int pmdGetDistances(PMDHandle hnd, float *data, size_t maxLen) { + return pmdGetData("D", hnd, data, maxLen); +} + + +int pmdGetAmplitudes (PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("I", hnd, data, maxLen); +} + +int pmdGetIntensities (PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("S", hnd, data, maxLen); +} + +int pmdGetDistancesAsync(PMDHandle hnd, float *data, size_t maxLen) { + return pmdGetData("d", hnd, data, maxLen); +} + +int pmdGetAmplitudesAsync(PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("i", hnd, data, maxLen); +} + +int pmdGetIntensitiesAsync(PMDHandle hnd, float * data, size_t maxLen) { + return pmdGetData("s", hnd, data, maxLen); +} + diff --git a/src/pmd/pmdc.conf b/src/pmd/pmdc.conf new file mode 100644 index 0000000..2bd13f0 --- /dev/null +++ b/src/pmd/pmdc.conf @@ -0,0 +1,83 @@ +# UI +gl = true; +ui = true; +offline = true; +#offline = false; + +# PMD Settings +ip = "192.168.0.69"; +plugin = "../o3d.L32.pcp"; +intrinsicPMD = "../intrinsic-pmd-6x4.xml"; +distortionPMD = "../distortion-pmd-6x4.xml"; +pmdSize: { + width = 64; + height = 50; +}; + +# Camera settings +cameraID = 1; +tracking: { + max = 100; + min = 50; + quality = 0.9; + minDist = 20; + winSize = 20; +}; +intrinsicCam = "../intrinsic-cam-6x4.xml"; +distortionCam = "../distortion-cam-6x4.xml"; + +essentialMatrix: { + rotation = "../essential-rot.xml"; + translation = "../essential-trn.xml"; +}; + + +# Outliers detection +# based on Huhle, B., Jenke, P. and Stra脽er, W. (2007) +# 鈥極n-the-Fly Scene Acquisition with a Handy Multisensor-System鈥, +# Int. J. of Intelligent Systems Technologies and Ap-plications, Vol. x, No. x, pp.xxx鈥搙xx. +# see section 2.2, page 4 +# use negative threshold to disable +outliersRemoval: { + sigmaDepth = 17.0; + threshold = -0.1; + sigmaColor = 42.0; +}; + + + +# Pose Estimation +# When error is more then max it's consideret that pose is not estimated +maxError= 0.3; +# Error is in METERS +minPts = 3; +icp: { + verbose = false; + method = "helix"; +# metod can be one of {apx, helix, svd, ortho, quat} +}; + + +synchronous = false; +hybrid = true; +savePoses = false; + +ransac: { + min = 30; +# minimum percents (!) of inlier points + maxIter = 10000; + errorThresh = 0.005; +}; + + +# Point cloud and images history size, set 0 to make infinite +historyLen = 1; + + +# Offline setts +camVideoFile = "../datasets/calib.avi"; +pmdIFile = "../datasets/calib.irv"; +pmdAFile = "../datasets/calib.arv"; +pmd3DFile = "../datasets/calib.3dp"; +headersFile = "../datasets/calib.head"; + diff --git a/src/pmd/pose/dat/commas2dots b/src/pmd/pose/dat/commas2dots new file mode 100755 index 0000000..2d0b442 --- /dev/null +++ b/src/pmd/pose/dat/commas2dots @@ -0,0 +1,5 @@ +#!/bin/sh +for e in *.pose; do + sed 's/,/\./g' "$e" > "$e.tmp" + mv "$e.tmp" "$e" +done; diff --git a/src/pmd/pose/djvm.ttf b/src/pmd/pose/djvm.ttf new file mode 100644 index 0000000..6bc854d Binary files /dev/null and b/src/pmd/pose/djvm.ttf differ diff --git a/src/pmd/pose/history.cc b/src/pmd/pose/history.cc new file mode 100644 index 0000000..7db2319 --- /dev/null +++ b/src/pmd/pose/history.cc @@ -0,0 +1,105 @@ +/* + * history implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include "history.h" +#include + +Frame *allocFrame3DData(CvSize pmdSz) { + Frame *f = (Frame*)cvAlloc(sizeof(Frame)); + + f->sz = pmdSz; + f->img = 0; + + f->trn = cvCreateMat(3, 1, CV_32FC1); + f->rot = cvCreateMat(3, 1, CV_32FC1); + + f->status = (CvPoint**) cvAlloc(pmdSz.height * sizeof(CvPoint*)); + f->pts = (CvPoint3D32f**) cvAlloc(pmdSz.height * sizeof(CvPoint3D32f*)); + for(int i = 0; i < pmdSz.height; i++) { + f->status[i] = (CvPoint*) cvAlloc(pmdSz.width * sizeof(CvPoint)); + f->pts[i] = (CvPoint3D32f*) cvAlloc(pmdSz.width * sizeof(CvPoint3D32f)); + } + + return f; +} + +void fillFrame(Frame *f, IplImage *img, CvSize pmdSz, CvPoint3D32f **pts, CvPoint **status + , CvMat *rot, CvMat *trn, double alignError) { + + assert(pmdSz.width == f->sz.width || pmdSz.height == f->sz.height); + + if(f->img) cvCopy(img, f->img, NULL); + else f->img = cvCloneImage(img); + f->alignError = alignError; + + for(int j = 0; j < pmdSz.width; j++) + for(int i = 0; i < pmdSz.height; i++) { + f->status[i][j] = status[i][j]; + f->pts[i][j] = pts[i][j]; + } + + cvCopy(rot, f->rot, NULL); + cvCopy(trn, f->trn, NULL); +} + +void releaseFrame(Frame **f) { + Frame *t = *f; + cvReleaseImage(&t->img); + cvReleaseMat(&t->rot); + cvReleaseMat(&t->trn); + for(int i = 0; i < t->sz.height; i++) { + cvFree(&t->pts[i]); + cvFree(&t->status[i]); + } + cvFree(&t->pts); + cvFree(&t->status); + *f = NULL; +} + + +History *createHistory() { + History *h = (History*)cvAlloc(sizeof(History)); + h->frame = 0; + h->prev = 0; // essential!!! + return h; +} + +History *addFrame(History *h, Frame *f) { + if(!h->frame) { // first frame, FIXME: should be out here + h->prev = 0; // ensure + h->frame = f; + return h; + } + // else + History *n = (History*)cvAlloc(sizeof(History)); + n->prev = h; + n->frame = f; + return n; +} + +void releaseTail(History *h) { + History *tmp = h->prev; + History *prev = 0; + h->prev = 0; + while(tmp) { + prev = tmp->prev; + releaseFrame(&tmp->frame); + cvFree(&tmp); + tmp = prev; + } +} + +void checkHistoryLen(History *h, int maxLen) { + History *histI = h; + for(int i = 0; histI->prev; i++) + if(i > maxLen-2) // -2 because I release *prev* elemnents + releaseTail(histI); + else histI = histI->prev; +} + diff --git a/src/pmd/pose/motion3-horn.cc b/src/pmd/pose/motion3-horn.cc new file mode 100644 index 0000000..285bba0 --- /dev/null +++ b/src/pmd/pose/motion3-horn.cc @@ -0,0 +1,129 @@ +/* + * motion3-horn implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include + +static inline CvMat *mat3D() { return cvCreateMat(3,1,CV_32FC1); } + +static CvMat *matFromP3D(CvPoint3D32f p) { + CvMat *m = mat3D(); + CV_MAT_ELEM(*m, float, 0, 0) = p.x; + CV_MAT_ELEM(*m, float, 1, 0) = p.y; + CV_MAT_ELEM(*m, float, 2, 0) = p.z; + return m; +} + + +// union vectors from point correspondaces (as in Horn method) +static void constructXYZ( CvMat *p1, CvMat *p2, CvMat *p3 + , CvMat *x, CvMat *y, CvMat *z) { + CvMat *p2Mp1 = mat3D(); + cvSub(p2, p1, p2Mp1, NULL); + cvConvertScale(p2Mp1, x, 1.0/cvNorm(p2Mp1, NULL, CV_L2, NULL), 0); + + CvMat *p3Mp1 = mat3D(); + cvSub(p3, p1, p3Mp1, NULL); + CvMat *ySndItem = mat3D(); + cvConvertScale(x, ySndItem, cvDotProduct(p3Mp1, x), NULL); + CvMat *ySub = mat3D(); + cvSub(p3Mp1, ySndItem, ySub); + cvConvertScale(ySub, y, 1.0/cvNorm(ySub, NULL, CV_L2, NULL), 0); + + cvCrossProduct(x, y, z); + + cvReleaseMat(&p2Mp1); + cvReleaseMat(&p3Mp1); + cvReleaseMat(&ySndItem); + cvReleaseMat(&ySub); +} + +static void fillM(CvMat *m, CvMat *x, CvMat *y, CvMat *z) { + CV_MAT_ELEM(*m, float, 0, 0) = CV_MAT_ELEM(*x, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 0) = CV_MAT_ELEM(*x, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 0) = CV_MAT_ELEM(*x, float, 2, 0); + CV_MAT_ELEM(*m, float, 0, 1) = CV_MAT_ELEM(*y, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 1) = CV_MAT_ELEM(*y, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 1) = CV_MAT_ELEM(*y, float, 2, 0); + CV_MAT_ELEM(*m, float, 0, 2) = CV_MAT_ELEM(*z, float, 0, 0); + CV_MAT_ELEM(*m, float, 1, 2) = CV_MAT_ELEM(*z, float, 1, 0); + CV_MAT_ELEM(*m, float, 2, 2) = CV_MAT_ELEM(*z, float, 2, 0); +} + + +// Horn's fast method +void estimatePose3D(CvPoint3D32f *prev, CvPoint3D32f *curr, CvMat *rot, CvMat *trn) { + CvMat *x1 = mat3D(); + CvMat *y1 = mat3D(); + CvMat *z1 = mat3D(); + CvMat *x2 = mat3D(); + CvMat *y2 = mat3D(); + CvMat *z2 = mat3D(); + CvMat *p1 = matFromP3D(prev[0]); + CvMat *p2 = matFromP3D(prev[1]); + CvMat *p3 = matFromP3D(prev[2]); + CvMat *c1 = matFromP3D(curr[0]); + CvMat *c2 = matFromP3D(curr[1]); + CvMat *c3 = matFromP3D(curr[2]); + + constructXYZ(p1, p2, p3, x1, y1, z1); + constructXYZ(c1, c2, c3, x2, y2, z2); + CvMat *m1 = cvCreateMat(3, 3, CV_32FC1); + CvMat *m2 = cvCreateMat(3, 3, CV_32FC1); + fillM(m2, x2, y2, z2); + fillM(m1, x1, y1, z1); + CvMat *rotM = cvCreateMat(3, 3, CV_32FC1); + cvGEMM(m1, m2, 1.0, NULL, 1.0, rotM, CV_GEMM_B_T); + + CvMat *rp1 = mat3D(); + cvGEMM(rotM, p1, 1.0, NULL, 1.0, rp1, 0); + CvMat *rp2 = mat3D(); + cvGEMM(rotM, p2, 1.0, NULL, 1.0, rp2, 0); + CvMat *rp3 = mat3D(); + cvGEMM(rotM, p3, 1.0, NULL, 1.0, rp3, 0); + CvMat *rp12 = mat3D(); + cvAdd(rp1, rp2, rp12, NULL); + CvMat *rp123 = mat3D(); + cvAdd(rp12, rp3, rp123, NULL); + CvMat *c12 = mat3D(); + cvAdd(c1, c2, c12, NULL); + CvMat *c123 = mat3D(); + cvAdd(c12, c3, c123, NULL); + CvMat *cg1 = mat3D(); + CvMat *cg2 = mat3D(); + cvConvertScale(c123, cg2, 1.0/3.0, 0.0); + cvConvertScale(rp123, cg1, 1.0/3.0, 0.0); + cvSub(cg2, cg1, trn, NULL); + cvRodrigues2(rotM, rot, NULL); + + cvReleaseMat(&x1); + cvReleaseMat(&y1); + cvReleaseMat(&z1); + cvReleaseMat(&x2); + cvReleaseMat(&y2); + cvReleaseMat(&z2); + cvReleaseMat(&p1); + cvReleaseMat(&p2); + cvReleaseMat(&p3); + cvReleaseMat(&c1); + cvReleaseMat(&c2); + cvReleaseMat(&c3); + cvReleaseMat(&m1); + cvReleaseMat(&m2); + cvReleaseMat(&rotM); + cvReleaseMat(&rp1); + cvReleaseMat(&rp2); + cvReleaseMat(&rp3); + cvReleaseMat(&rp12); + cvReleaseMat(&rp123); + cvReleaseMat(&c12); + cvReleaseMat(&c12); + cvReleaseMat(&cg1); + cvReleaseMat(&cg2); + //FIXME: mb missed smthg :P +} diff --git a/src/pmd/pose/pmdc.conf b/src/pmd/pose/pmdc.conf new file mode 120000 index 0000000..37e464d --- /dev/null +++ b/src/pmd/pose/pmdc.conf @@ -0,0 +1 @@ +../pmdc.conf \ No newline at end of file diff --git a/src/pmd/pose/pose.cc b/src/pmd/pose/pose.cc new file mode 100644 index 0000000..84add0c --- /dev/null +++ b/src/pmd/pose/pose.cc @@ -0,0 +1,863 @@ +/* + * pose implementation + * + * Copyright (C) Stanislav Serebryakov + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include +#include + +// OpenCV +#include +#include + +// GL: GLFW (window etc, ala glut) and FTGL (text rendering) +#include +#include + +// PMD-related stuff +#include "pmdsdk2.h" +#include "cvpmd.h" +#include "pmdWrap.h" +#include "history.h" + +// SLAM6D +#include "slam6d/point.h" +#include "slam6d/ptpair.h" +#include + + +FTGLPixmapFont *font; // opengl text rendring + +void usage(char* progName) { + printf("usage: %s [options]\n", progName); + printf("options:\n \ +\t--ui 0|1\t disable|enable ui (default: 1)\n\ +\t--gl 0|1\t disable|enable 3d rendering (default: 1)\n\ +\t--cfg file\t parse configuration from file (default: pmdc.conf)\n\ +\t--help\t\t display this help.\n"); +} + + + +void render( History *history, CvPoint3D32f *camPts, int trPtsCnt + , CvMat *rot, CvMat *trn + , CvPoint3D32f **camPts3D, char **pts3DStatus + , int reprojected, bool poseEstimated); + +/* + reprojects PMD-aquired 3D points on the web cam image +*/ + +//FIXME this function should be dispached >_> +int projectImageToPMD( CvMat *rot, CvMat *trn, CvMat *intrinsic + , CvPoint3D32f **pmdPts, CvSize pmdSz + , CvSize camSz, CvPoint **pmd2imgIdxs + , CvPoint2D32f *trackedPts + , int *trPtsCnt, CvPoint3D32f *trackedPts3D, char *pts3DStatus + , CvPoint *tr2pmdIdxs) { + /* TODO: + assert null image, not clean image, bad image depth + */ + // pmd point's matrix + CvMat *pt = cvCreateMat(3, 1, CV_32FC1); + // point in cam coorinate system + CvMat *reprojPt = cvCreateMat(3, 1, CV_32FC1); + // points on cam screen + CvMat *camPt3 = cvCreateMat(3, 1, CV_32FC1); + CvMat *camPt = cvCreateMat(2, 1, CV_32FC1); + // rotation matrix + CvMat *rotMat = cvCreateMat(3, 3, CV_32FC1); + cvRodrigues2(rot, rotMat, NULL); + + // clear previous found tracked pts + for(int k = 0; k < *trPtsCnt; k++) pts3DStatus[k] = 0; + + //int l = 0; // count corresponding points + int reprojected = 0; + + for(int j = 0; j < pmdSz.width; j++) + for(int i = 0; i < pmdSz.height; i++) { + if( fabs(pmdPts[i][j].x) > 20.0 + || fabs(pmdPts[i][j].y) > 20.0 + || fabs(pmdPts[i][j].z) > 20.0) continue; //FIXME: more realistic limit, status = false + // convert to mat + CV_MAT_ELEM(*pt, float, 0, 0) = (float)pmdPts[i][j].x; + CV_MAT_ELEM(*pt, float, 1, 0) = (float)pmdPts[i][j].y; + CV_MAT_ELEM(*pt, float, 2, 0) = (float)pmdPts[i][j].z; + + // reproject to the camera coordinate system + cvMatMulAdd(rotMat, pt, trn, reprojPt); + // project to the image + cvMatMul(intrinsic, reprojPt, camPt3); +// cvConvertPointsHomogenious(camPt3, camPt); +/* cvProjectPoints2(pt, rot, trn, intrinsic, NULL, camPt + , NULL, NULL, NULL, NULL, NULL);*/ + float scale = (float)CV_MAT_ELEM(*camPt3, float, 2, 0); + float xf = CV_MAT_ELEM(*camPt3, float, 0, 0) / scale; + float yf = CV_MAT_ELEM(*camPt3, float, 1, 0) / scale; + int x = (int)xf; + int y = camSz.height - (int)yf; //FIXME revise coordinates + + if((x < 0) || (x > camSz.width) || + (y < 0) || (y > camSz.height)) { + pmd2imgIdxs[i][j].x = -1; + pmd2imgIdxs[i][j].y = -1; + continue; + } else { // point is projected to cam + // contains which PMD point is seen from this pixel + pmd2imgIdxs[i][j].x = x; + pmd2imgIdxs[i][j].y = y; + } + + //find tracked 3d points (fused here, can be dispached) + for(int k = 0; k < *trPtsCnt; k++) + if(pts3DStatus[k]) continue; // kill to accumulate (*) + else + if( (abs((trackedPts[k].x - (float)x)) < 3) //TODO: distance SHOULD be chousen depending on depth!!! + && (abs((trackedPts[k].y - (float)y)) < 3)) { //FIXME: hardcoded distance + //TODO: we can accumulate points here to get more presise results (*) + trackedPts3D[k].x = pmdPts[i][j].x; + trackedPts3D[k].y = pmdPts[i][j].y; + trackedPts3D[k].z = pmdPts[i][j].z; + pts3DStatus[k] = 1; + tr2pmdIdxs[k].x = i; //FIXME: cvPoint(i,j)? + tr2pmdIdxs[k].y = j; + reprojected++; + break; // kill to accumulate (*) + } + } + + cvReleaseMat(&pt); + cvReleaseMat(&reprojPt); + cvReleaseMat(&camPt); + cvReleaseMat(&rotMat); + + return reprojected; +} + +static inline float cvPoint3D32fNorm(CvPoint3D32f pt) { + return sqrt( (pt.x - pt.x)*(pt.x - pt.x) + +(pt.y - pt.y)*(pt.y - pt.y) + +(pt.z - pt.z)*(pt.z - pt.z)); +} + +float dpthS( IplImage *img + , CvPoint ptI, CvPoint dp + , CvPoint3D32f **pts + , CvPoint ptD, CvSize pmdSz + , float sD, float sC) { + CvSize imgSz = cvGetSize(img); + if( ptD.x + dp.x > pmdSz.width - 1 || ptD.x + dp.x < 0 + || ptD.y + dp.y > pmdSz.height - 1 || ptD.y + dp.y < 0 + || ptI.x + dp.x > imgSz.width - 1 || ptI.x + dp.x < 0 + || ptI.y + dp.y > imgSz.height - 1 || ptI.y + dp.y < 0) return 0.0; + + uchar *pI = &((uchar*) (img->imageData + img->widthStep * ptI.y))[ptI.x*3]; + uchar *pJ = &((uchar*) (img->imageData + img->widthStep * (ptI.y+dp.y)))[(ptI.x+dp.x)*3]; + float dr = (float)pI[2] - (float)pJ[2]; + float dg = (float)pI[1] - (float)pJ[1]; + float db = (float)pI[0] - (float)pJ[0]; + float wij = exp(-(sqrt(dr*dr + dg*dg + db*db))/sC); + float dpI = cvPoint3D32fNorm(pts[ptD.x][ptD.y]); + float dpJ = cvPoint3D32fNorm(pts[ptD.x + dp.x][ptD.y + dp.y]); + float s = exp(-wij*(dpI - dpJ)*(dpI - dpJ)/sD); + return s; +} + + + +#define DPTHS(dx, dy) (dpthS( img, idx, cvPoint((dx),(dy)) \ + , pmdPts \ + , pmdIdx, pmdSz \ + , sigmaDepth, sigmaColor)) + + +void outliersDepthAndColor( CvPoint3D32f **pmdPts, IplImage *img, CvSize pmdSz + , CvPoint2D32f *trackedPts, int trPtsCnt, CvPoint* tr2pmdIdxs + , char *pts3DStatus // this actually return parameter + , float sigmaDepth, float threshold, float sigmaColor + ) { + if(threshold < 0.0) return; + // depth score outliers removal, see pmdc.conf comments + for(int k = 0; k < trPtsCnt; k++) { + //FIXME: check array bounds + CvPoint pmdIdx = tr2pmdIdxs[k]; + CvPoint idx = cvPointFrom32f(trackedPts[k]); + float s00, s01, s02; + s00 = DPTHS(-1, -1); + s01 = DPTHS( 0, -1); + s02 = DPTHS( 1, -1); + float s10 = DPTHS(-1, 0); + float s12 = DPTHS( 1, 0); + float s20 = DPTHS(-1, 1); + float s21 = DPTHS( 0, 1); + float s22 = DPTHS( 1, 1); + float score = s00 + s01 + s02 + + s10 + 0.0 + s12 + + s20 + s21 + s22; + printf("score = %f\n", score); + if(score < threshold) pts3DStatus[k] = 0; + } + +} + +int motionMeanAndVariance(CvPoint3D32f **camPts3D, char **pts3DStatus, int trPtsCnt, float *mean, float *var) { + +// float *mean = meanAndVariance; +// float *var = &(meanAndVariance[3]); +// float motion[3]; + float dx, dy, dz; + float magSq; + float motionSum = 0; //[3] = {0.0, 0.0, 0.0}; + float motionSqrSum = 0; //[3] = {0.0, 0.0, 0.0}; + + int sz = 0; // pairs count + for(int i = 0; i < trPtsCnt; i++) + if(pts3DStatus[1][i] && pts3DStatus[0][i]) { + sz++; + + dx = camPts3D[1][i].x - camPts3D[0][i].x; + dy = camPts3D[1][i].y - camPts3D[0][i].y; + dz = camPts3D[1][i].z - camPts3D[0][i].z; + + magSq = dx*dx + dy*dy + dz*dz; + + motionSum += sqrt(magSq); //FIXME: optimisation, we can use it without sqrt + + motionSqrSum += magSq; //thus, it would be sqr here + +/* motionSum[0] += motion[0]; + motionSum[1] += motion[1]; + motionSum[2] += motion[2]; + + motionSqrSum[0] += motion[0]*motion[0]; + motionSqrSum[1] += motion[1]*motion[1]; + motionSqrSum[2] += motion[2]*motion[2];*/ + } + + if(0 == sz) return 0; + // mean + *mean = motionSum / sz; +/* mean[0] = motionSum[0] / (float)sz; + mean[1] = motionSum[1] / (float)sz; + mean[2] = motionSum[2] / (float)sz;*/ + + // variance + + for(int i = 0; i < trPtsCnt; i++) + if(pts3DStatus[1][i] && pts3DStatus[0][i]) { + dx = camPts3D[1][i].x - camPts3D[0][i].x; + dy = camPts3D[1][i].y - camPts3D[0][i].y; + dz = camPts3D[1][i].z - camPts3D[0][i].z; + + magSq = dx*dx + dy*dy + dz*dz; + + *var += (magSq - *mean)*(magSq - *mean); + } + + *var /= sz; + // = motionSqrSum / sz - (*mean)*(*mean); + +/* var[0] = motionSqrSum[0] / (float)sz - mean[0]*mean[0]; + var[1] = motionSqrSum[1] / (float)sz - mean[1]*mean[1]; + var[2] = motionSqrSum[2] / (float)sz - mean[2]*mean[2];*/ + return 1; +} + +void outliersSpeedSigma(CvPoint3D32f **camPts3D, char **pts3DStatus, int trPtsCnt, float mean, float var) { + + float dx, dy, dz; + float mag; + float sigma = sqrt(var); + for(int i = 0; i < trPtsCnt; i++) + if(pts3DStatus[1][i] && pts3DStatus[0][i]) { + dx = camPts3D[1][i].x - camPts3D[0][i].x; + dy = camPts3D[1][i].y - camPts3D[0][i].y; + dz = camPts3D[1][i].z - camPts3D[0][i].z; + + mag = sqrt(dx*dx + dy*dy + dz*dz); + + if(fabs(mag - mean) > sigma) { + pts3DStatus[0][i] = 0; + } + } +} + + +int main(int argc, char **argv) { + // settings + bool ui = true; + bool gl = true; + bool fps = false; + const char *config = "./pmdc.conf"; + + // args parsing + for(int i = 1; i < argc; i++) { + if (!strcmp(argv[i], "--ui")) ui = (bool) atoi(argv[++i]); + else if (!strcmp(argv[i], "--gl")) gl = (bool) atoi(argv[++i]); + else if (!strcmp(argv[i], "--fps")) fps = true; + else if (!strcmp(argv[i], "--cfg")) config = argv[++i]; + //TODO: config + else if (!strcmp(argv[i], "--help") + || !strcmp(argv[i], "-h")) { + usage(argv[0]); + return 1; + } else { + fprintf(stderr, "ERROR: unknown flag: %s\n", argv[i]); + return 1; + } + } + // pose guess + CvMat *rotMatGuess = cvCreateMat(3,3, CV_32FC1); + CvMat *rotGuess = cvCreateMat(3, 1, CV_32FC1); + CvMat *trnGuess = cvCreateMat(3, 1, CV_32FC1); + + + /***** init device and allocate images *****/ + PMDCam *pmdc = initPMDCam(config); + CvSize pmdSz = cvGetSize(pmdc->iPMDI); + CvSize camSz = cvGetSize(pmdc->iCam); + printf("pose: pmd init done\n"); + + /***** essential matrix *****/ + + CvMat *rot = (CvMat*)cvLoad("../essential-rot.xml"); //FIXME: load path from cfg + CvMat *trn = (CvMat*)cvLoad("../essential-trn.xml"); + + /***** LK-tracking *****/ + IplImage *swapTemp; + + int featuresMax = pmdc->_track.maxFeatures; + int trPtsCnt = 0; // counts found points + + // eigenvalues for GFTT + IplImage* eig = cvCreateImage(camSz, 32, 1); + IplImage* tmp = cvCreateImage(camSz, 32, 1); + IplImage* mask = cvCreateImage(camSz, IPL_DEPTH_8U, 1); + + // previous image and pyramides + IplImage *imgCamPrv = cvCreateImage(camSz, 8, 1); + IplImage *imgCamPyr = cvCreateImage(camSz, 8, 1); + IplImage *imgCamPyrPrv = cvCreateImage(camSz, 8, 1); + + // prev and curr tracked points + CvPoint2D32f *camPts[2]; + camPts[0] = (CvPoint2D32f*) cvAlloc(featuresMax * sizeof(CvPoint2D32f)); + camPts[1] = (CvPoint2D32f*) cvAlloc(featuresMax * sizeof(CvPoint2D32f)); + CvPoint3D32f *camPts3D[2]; + camPts3D[0] = (CvPoint3D32f*) cvAlloc(featuresMax * sizeof(CvPoint3D32f)); + camPts3D[1] = (CvPoint3D32f*) cvAlloc(featuresMax * sizeof(CvPoint3D32f)); + + CvPoint2D32f *swapPts; + CvPoint3D32f *swapPts3; // i guess i can use void* d:D + char *swapStatus; + char *camPtsStatus = (char*)cvAlloc(featuresMax); + char *pts3DStatus[2]; + pts3DStatus[0] = (char*) cvAlloc(featuresMax * sizeof(char)); + pts3DStatus[1] = (char*) cvAlloc(featuresMax * sizeof(char)); + CvPoint *tr2pmdIdxs = (CvPoint*) cvAlloc(featuresMax * sizeof(CvPoint)); + + // 3d rays where points points :P + CvPoint3D32f *trackedPts = (CvPoint3D32f*) cvAlloc(featuresMax * sizeof(CvPoint3D32f)); + + // contains (row,col) of pmd 3D pts + CvPoint **pmd2imgIdxs = (CvPoint**) cvAlloc(pmdSz.height * sizeof(CvPoint*)); + for(int i = 0; i < pmdSz.height; i++) + pmd2imgIdxs[i] = (CvPoint*) cvAlloc(pmdSz.width * sizeof(CvPoint)); + + // pmd history + History *history = createHistory(); + + /***** ui and gl stuff *****/ + if(ui) { + cvNamedWindow("PMD", 0); + cvNamedWindow("Cam", 0); + } + + if(gl) { + glfwInit(); + if(!glfwOpenWindow(640, 480, 8, 8, 8, 8, 24, 0, GLFW_WINDOW)) { + glfwTerminate(); + fprintf(stderr, "ERROR: can't init glfw window!\n"); + return 1; + } + } + //FIXME: put this in if(gl) + font = new FTGLPixmapFont("./djvm.ttf"); + + if(font->Error()) { + fprintf(stderr, "ERROR: can't load font ./djvm.ttf"); + return 1; + } + font->FaceSize(20); + + // fps counting + time_t tic=time(0); + time_t tac; + + int fpsCnt = 0; + + //icp pairs + vector pairs; + vector motion; + float mean, var; + + /***** main loop *****/ + /*********************/ + int frames = 0; + int goodFrames = 0; + while(1) { + /***** fps counting *****/ + if(fps) { + tac = time(0); + if(tac - tic >= 1) { + printf("%i FPS\n", fpsCnt); + fflush(stdout); + fpsCnt = 0; + tic=tac; + } + fpsCnt++; + } + if(grabData(pmdc)) break; // end of seq? + + + /***** tracking *****/ + //if(trPtsCnt) + cvCalcOpticalFlowPyrLK( imgCamPrv, pmdc->iCam, imgCamPyrPrv, imgCamPyr + , camPts[0], camPts[1], trPtsCnt + , cvSize(pmdc->_track.winSz, pmdc->_track.winSz), 3, camPtsStatus, 0 + , cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03) + , pmdc->_track.trackingFlags); + pmdc->_track.trackingFlags |= CV_LKFLOW_PYR_A_READY; + + // filter out not tracked points + int k = 0; + for(int i = 0; i < trPtsCnt; i++) + if(camPtsStatus[i]) { + camPts3D[0][k] = camPts3D[0][i]; + pts3DStatus[0][k] = pts3DStatus[0][i]; + camPts[1][k++] = camPts[1][i]; + } + + trPtsCnt = k; + + /***** 3d (re)projection *****/ + cvProjectArrayToCartesian(pmdc->intrinsicCam, camPts[1], trPtsCnt, trackedPts); + + int reprojected = projectImageToPMD( rot, trn, pmdc->intrinsicCam, pmdc->pts, pmdSz, camSz, pmd2imgIdxs + , camPts[1], &trPtsCnt, camPts3D[1], pts3DStatus[1], tr2pmdIdxs); + double alignError = 0.0; + bool poseEstimated = false; + if(reprojected >= pmdc->minPts4Pose) { // we need at least minPts4Pose points + + if(motionMeanAndVariance(camPts3D, pts3DStatus, trPtsCnt, &mean, &var)) + // TODO: can be fused with centroid computation + outliersSpeedSigma(camPts3D, pts3DStatus, trPtsCnt, mean, var); + + outliersDepthAndColor( pmdc->pts, pmdc->iCamColor, pmdSz, camPts[1], trPtsCnt + , tr2pmdIdxs, pts3DStatus[1], pmdc->sigmaDepth + , pmdc->dpThreshold, pmdc->sigmaColor); + + + pairs.clear(); + double centroidM[3] = {0.0, 0.0, 0.0}; + double centroidD[3] = {0.0, 0.0, 0.0}; + double pt1[3]; + double pt2[3]; + + for(int i = 0; i < trPtsCnt; i++) + if(pts3DStatus[1][i] && pts3DStatus[0][i]) { + pt1[0] = camPts3D[0][i].x; + pt1[1] = camPts3D[0][i].y; + pt1[2] = camPts3D[0][i].z; + pt2[0] = camPts3D[1][i].x; + pt2[1] = camPts3D[1][i].y; + pt2[2] = camPts3D[1][i].z; + + //TODO can be fused -- (+=) :: a -> a -> a + centroidM[0] += camPts3D[0][i].x; + centroidM[1] += camPts3D[0][i].y; + centroidM[2] += camPts3D[0][i].z; + centroidD[0] += camPts3D[1][i].x; + centroidD[1] += camPts3D[1][i].y; + centroidD[2] += camPts3D[1][i].z; + + PtPair currentPair(pt1, pt2); + pairs.push_back(currentPair); + } + + reprojected = pairs.size(); + + if(reprojected >= pmdc->minPts4Pose) { // enough corresponding points + centroidM[0] /= reprojected; + centroidM[1] /= reprojected; + centroidM[2] /= reprojected; + centroidD[0] /= reprojected; + centroidD[1] /= reprojected; + centroidD[2] /= reprojected; + + double transformMat[16]; + try { alignError = pmdc->icp->Point_Point_Align(pairs, transformMat, centroidM, centroidD); } + catch(...) { fprintf(stderr, "ERROR: matrix is singular!\n"); } + + if(!gl) printf( "%i: align error: %f, 3d pts count: %i, 2d pts count: %i\n" + , frames, alignError, reprojected, trPtsCnt); + + for(int i = 1; i < 16; i++) + if (i%4 > 2) continue; // bottom row + else if(i/4 > 2) CV_MAT_ELEM(*trnGuess, float, i%4, 0) = transformMat[i]; + else CV_MAT_ELEM(*rotMatGuess, float, i/4, i%4) = transformMat[i]; // right col + + cvRodrigues2(rotMatGuess, rotGuess, NULL); + + if(alignError < pmdc->maxError) + poseEstimated = true; + } + } + + + /**** Print pose to file ****/ + //TODO: config option + if(pmdc->savePoses) { + char filename[] = "./dat/scan0000.pose"; + sprintf(filename, "./dat/scan%04d.pose", frames); + FILE *pose = fopen(filename, "wb"); + if(!pose) fprintf(stderr, "cant create file %s!\n", filename); + + if(poseEstimated) { + fprintf(pose, "%f %f %f\n%f %f %f\n" + , 100.0*CV_MAT_ELEM(*rotGuess, float, 0, 0) + , 100.0*CV_MAT_ELEM(*rotGuess, float, 0, 0) + , 100.0*CV_MAT_ELEM(*rotGuess, float, 0, 0) + , 100.0*CV_MAT_ELEM(*trnGuess, float, 0, 0) + , 100.0*CV_MAT_ELEM(*trnGuess, float, 1, 0) + , 100.0*CV_MAT_ELEM(*trnGuess, float, 2, 0)); + goodFrames++; + } else { + fprintf( stderr, "ERROR: %i points found, align error: %f\n" + , reprojected, alignError); + fprintf(pose, "%f %f %f\n%f %f %f\n", 0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } + + fflush(pose); + fclose(pose); + } + frames++; + + + /***** find features *****/ + if(trPtsCnt < pmdc->_track.minFeatures) { + int trPtsCntFound = featuresMax - trPtsCnt; + cvSet(mask, cvScalarAll(255)); + for(int i = 0; i < trPtsCnt; i++) + cvCircle(mask, cvPointFrom32f(camPts[1][i]), 20, CV_RGB(0,0,0), -1, 8, 0); + cvGoodFeaturesToTrack( pmdc->iCam, eig, tmp, camPts[1] + trPtsCnt, &trPtsCntFound + , pmdc->_track.quality, pmdc->_track.minDist, mask, 3, 0, 0.04); + cvFindCornerSubPix( pmdc->iCam, camPts[1] + trPtsCnt, trPtsCntFound + , cvSize(pmdc->_track.winSz,pmdc->_track.winSz), cvSize(-1,-1) + , cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)); + trPtsCnt += trPtsCntFound; + } + + Frame *f = allocFrame3DData(pmdSz); + fillFrame(f, pmdc->iCamColor, pmdSz, pmdc->pts, pmd2imgIdxs, rotGuess, trnGuess, alignError); + history = addFrame(history, f); + checkHistoryLen(history, pmdc->historyLen); + + bool pause = false; + do { + /***** ui and rendring *****/ + if(gl) render( history, trackedPts, trPtsCnt + , rot, trn, camPts3D, pts3DStatus + , reprojected, poseEstimated); + if(ui) { + for(int i = 0; i < trPtsCnt; i++) + cvCircle( pmdc->iCamColor, cvPointFrom32f(camPts[1][i]) + , 3, CV_RGB(255,0,255), -1, 8, 0); + + cvShowImage("PMD", pmdc->iPMDI); + cvShowImage("Cam", pmdc->iCamColor); + } + + int key = cvWaitKey(5); + if(27 == key) return 0; // ESC pressed FIXME: release stuff + if((int)' ' == key) pause = !pause; + if(gl) if(glfwGetKey(GLFW_KEY_ESC) == GLFW_PRESS) return 0; //in OpenGL window ;) + } while(pause); + + CV_SWAP(imgCamPrv, pmdc->iCam, swapTemp); + CV_SWAP(imgCamPyrPrv, imgCamPyr, swapTemp); + CV_SWAP(camPts[0], camPts[1], swapPts); + CV_SWAP(camPts3D[0], camPts3D[1], swapPts3); + CV_SWAP(pts3DStatus[0], pts3DStatus[1], swapStatus); + + + } // while(1) + + // let OS clean all images and matrices + // TODO: releasePMD(&pmd); + if(gl) { + glfwTerminate(); + } + printf("%i good frames, %i frames total.\n", goodFrames, frames); + return 0; +} + + +// Global rendering settings +float rotx = 0; +float roty = 0; +float rotz = 0; +float scale = 0.7; +int renderCoords = 1; +int renderCams = 1; +int renderColorPts = 1; +int renderLines = 0; +int renderTracked = 1; +int renderHistory = 1; +int centerCloud = 0; + + + +void renderFrame(Frame *f) { + assert(f->img->imageData); + glBegin(GL_POINTS); + if(!renderColorPts) { + //FIXME: mess with the indices (i,j) + for(int j = 0; j < f->sz.width; j++) + for(int i = 0; i < f->sz.height; i++) + glVertex3f(f->pts[i][j].x, f->pts[i][j].y, f->pts[i][j].z); + glEnd(); + } else { + uchar *imgCamPix = 0; + for(int j = 0; j < f->sz.width; j++) + for(int i = 0; i < f->sz.height; i++) { + int x = f->status[i][j].x; + int y = f->status[i][j].y; + if(x > 0) { + imgCamPix = &((uchar*) + (f->img->imageData + f->img->widthStep * y))[x*3]; + glColor3f( ((float)imgCamPix[2])/255.0 + , ((float)imgCamPix[1])/255.0 + , ((float)imgCamPix[0])/255.0); //BGR + } else glColor3f(1.0, 0.0, 0.0); + glVertex3f(f->pts[i][j].x, f->pts[i][j].y, f->pts[i][j].z); + } + } // if renderColorPts else +} + +void render( History *history, CvPoint3D32f *camPts, int trPtsCnt + , CvMat *rot, CvMat *trn + , CvPoint3D32f **camPts3D, char **pts3DStatus + , int reprojected, bool poseEstimated) { + + if(glfwGetKey((int)'W') == GLFW_PRESS) roty += 10.0; + if(glfwGetKey((int)'S') == GLFW_PRESS) roty -= 10.0; + if(glfwGetKey((int)'A') == GLFW_PRESS) rotx -= 10.0; + if(glfwGetKey((int)'D') == GLFW_PRESS) rotx += 10.0; + if(glfwGetKey((int)'Q') == GLFW_PRESS) rotz -= 10.0; + if(glfwGetKey((int)'E') == GLFW_PRESS) rotz += 10.0; + if(glfwGetKey((int)'R') == GLFW_PRESS) scale -= 0.1; + if(glfwGetKey((int)'F') == GLFW_PRESS) scale += 0.1; + if(glfwGetKey((int)'1') == GLFW_PRESS) renderCoords = !renderCoords; + if(glfwGetKey((int)'2') == GLFW_PRESS) renderCams = !renderCams; + if(glfwGetKey((int)'3') == GLFW_PRESS) renderColorPts = !renderColorPts; + if(glfwGetKey((int)'4') == GLFW_PRESS) renderLines = !renderLines; + if(glfwGetKey((int)'5') == GLFW_PRESS) renderTracked = !renderTracked; + if(glfwGetKey((int)'6') == GLFW_PRESS) renderHistory = !renderHistory; + if(glfwGetKey((int)'C') == GLFW_PRESS) centerCloud = !centerCloud; + + int width, height; + GLUquadric *quadric; + + glfwGetWindowSize(&width, &height); + height = height < 1 ? 1 : height; + + glViewport(0, 0, width, height); + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glClearColor(0.0f, 0.0f, 0.0f, 0.0f); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + gluPerspective(70, (double)width/(double)height, 0.01, 100.0); + + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + int cj = history->frame->sz.width / 2; + int ci = history->frame->sz.height / 2; + CvPoint3D32f **pts = history->frame->pts; + // gluLookAt(scale, scale, scale, + // pts[ci][cj].x, pts[ci][cj].y, -pts[ci][cj].z, 0.0, 1.0, 0.0); + gluLookAt(scale, scale, scale, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0); + + glScalef(1.0, 1.0, -1.0); // convert opengl coord system to left handed + + glEnable(GL_DEPTH_TEST); + glDepthFunc(GL_LEQUAL); + + /* text rendering */ + char info[30]; + FTPoint pt(5.0, 5.0); + sprintf(info, "2D pts: %i", trPtsCnt); + font->Render(info, -1, pt); + + pt.Y(35.0); + sprintf(info, "3D pts: %i", reprojected); + font->Render(info, -1, pt); + + pt.Y(65.0); + sprintf(info, "Align error: %f", history->frame->alignError); + font->Render(info, -1, pt); + + glRotatef(rotz, 0.0, 0.0, 1.0); + glRotatef(roty, 0.0, 1.0, 0.0); + glRotatef(rotx, 1.0, 0.0, 0.0); + + if(centerCloud) glTranslatef(-pts[ci][cj].x, -pts[ci][cj].y, -pts[ci][cj].z); + + + /***** xyz axes *****/ + if(renderCoords) { + glBegin(GL_LINES); + glColor3f(1.0, 0.0, 0.0); + glVertex3f(0.0, 0.0, 0.0); + glVertex3f(1.0, 0.0, 0.0); + glColor3f(0.0, 1.0, 0.0); + glVertex3f(0.0, 0.0, 0.0); + glVertex3f(0.0, 1.0, 0.0); + glColor3f(0.0, 0.0, 1.0); + glVertex3f(0.0, 0.0, 0.0); + glVertex3f(0.0, 0.0, 1.0); + glEnd(); + } + + /***** render PMD-points PMD-cam in the O *****/ + fflush(stdout); + renderFrame(history->frame); + fflush(stdout); + + if(renderHistory) { + fflush(stdout); + History *histI = history; + glPushMatrix(); + + //for(int i = 0; histI->prev; i++) { + while(histI->prev) { + glColor3f(1.0, 0.0, 0.0);//, (100.0-i)/100); + assert(histI); + + //if(histI->frame->alignError < 0.03) { //FIXME_ hardcoded thrs + glRotatef(-CV_MAT_ELEM(*histI->frame->rot, float, 0, 0), 1.0f, 0.0f, 0.0f); + glRotatef(-CV_MAT_ELEM(*histI->frame->rot, float, 1, 0), 0.0f, 1.0f, 0.0f); + glRotatef(-CV_MAT_ELEM(*histI->frame->rot, float, 2, 0), 0.0f, 0.0f, 1.0f); + glTranslatef( -CV_MAT_ELEM(*histI->frame->trn, float, 0, 0) + , -CV_MAT_ELEM(*histI->frame->trn, float, 1, 0) + , -CV_MAT_ELEM(*histI->frame->trn, float, 2, 0)); + //} + histI = histI->prev; + renderFrame(histI->frame); + } + glPopMatrix(); + } + + quadric = gluNewQuadric(); + + + if(renderCams) { + glColor3f(0.5, 0.5, 0.0); + glPushMatrix(); + glScalef(1.0, 1.0, -1.0); // rotated cylinder + gluCylinder(quadric, 0.05, 0.0, 0.05, 10, 10); + glPopMatrix(); + } + + /***** render Cam and features according to essential matrix [R|t] *****/ + if(renderTracked) { + glBegin(GL_LINES); + for(int i = 0; i < trPtsCnt; i++) { + if(pts3DStatus[1][i] && + pts3DStatus[0][i]) { + glColor3f(1.0, 0.0, 0.0); + glVertex3f(camPts3D[0][i].x, camPts3D[0][i].y, camPts3D[0][i].z); + glVertex3f(camPts3D[1][i].x, camPts3D[1][i].y, camPts3D[1][i].z); + glColor3f(0.0, 0.0, 0.5); + glPushMatrix(); + glTranslatef(camPts3D[0][i].x, camPts3D[0][i].y, camPts3D[0][i].z); + gluSphere(quadric, 0.005f, 10, 10); + glPopMatrix(); + glColor3f(0.5, 0.0, 1.0); + glPushMatrix(); + glTranslatef(camPts3D[1][i].x, camPts3D[1][i].y, camPts3D[1][i].z); + gluSphere(quadric, 0.01f, 10, 10); + glPopMatrix(); + } + } + glEnd(); + } + glBegin(GL_LINES); + for(int i = 0; i < trPtsCnt; i++) + if(pts3DStatus[1][i] && + pts3DStatus[0][i]) { + glColor3f(1.0, 0.0, 0.0); + glVertex3f(camPts3D[0][i].x, camPts3D[0][i].y, camPts3D[0][i].z); + glVertex3f(camPts3D[1][i].x, camPts3D[1][i].y, camPts3D[1][i].z); + } + glEnd(); + + + glPushMatrix(); + glTranslatef( -CV_MAT_ELEM(*trn, float, 0, 0) + , -CV_MAT_ELEM(*trn, float, 1, 0) + , -CV_MAT_ELEM(*trn, float, 2, 0)); + glRotatef(-CV_MAT_ELEM(*rot, float, 0, 0), 1.0f, 0.0f, 0.0f); + glRotatef(-CV_MAT_ELEM(*rot, float, 1, 0), 0.0f, 1.0f, 0.0f); + glRotatef(-CV_MAT_ELEM(*rot, float, 2, 0), 0.0f, 0.0f, 1.0f); + if(renderCams) { + glColor3f(0.0, 0.5, 0.5); + glPushMatrix(); + glScalef(1.0, 1.0, -1.0); + gluCylinder(quadric, 0.05, 0.0, 0.05, 10, 10); + glPopMatrix(); + } + + if(renderLines) { + glColor3f(1.0, 0.0, 1.0); + glBegin(GL_LINES); + for(int i = 0; i < trPtsCnt; i++) { + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(-camPts[i].x, camPts[i].y, camPts[i].z); //FIXME: revise coordinates! why -camPts?! + } + glEnd(); + } + glPopMatrix(); + + glPushMatrix(); + glRotatef(CV_MAT_ELEM(*history->frame->rot, float, 2, 0), 0.0f, 0.0f, 1.0f); + glRotatef(CV_MAT_ELEM(*history->frame->rot, float, 1, 0), 0.0f, 1.0f, 0.0f); + glRotatef(CV_MAT_ELEM(*history->frame->rot, float, 0, 0), 1.0f, 0.0f, 0.0f); + glTranslatef( CV_MAT_ELEM(*history->frame->trn, float, 0, 0) + , CV_MAT_ELEM(*history->frame->trn, float, 1, 0) + , CV_MAT_ELEM(*history->frame->trn, float, 2, 0)); + if(poseEstimated) glColor3f(0.0, 0.0, 1.0); + else glColor3f(0.0, 0.0, 0.3); + //render pose and pmd cam + glScalef(1.0, 1.0, -1.0); + gluCylinder(quadric, 0.05, 0.0, 0.05, 10, 10); + glColor4f(1.0, 0.0, 0.0, 0.5); + gluSphere(quadric, history->frame->alignError, 20, 20); + glPopMatrix(); + + gluDeleteQuadric(quadric); + glfwSwapBuffers(); +} + diff --git a/src/scanio/CMakeLists.txt b/src/scanio/CMakeLists.txt new file mode 100644 index 0000000..e7d1d27 --- /dev/null +++ b/src/scanio/CMakeLists.txt @@ -0,0 +1,54 @@ +if(WIN32) + add_library(pointfilter STATIC ../slam6d/pointfilter.cc) +else(WIN32) + add_library(pointfilter SHARED ../slam6d/pointfilter.cc) +endif(WIN32) + +set(SCANIO_LIBNAMES + uos uos_rgb ks ks_rgb riegl_txt riegl_rgb rts velodyne +) + +if(WITH_RIVLIB) + set(SCANIO_LIBNAMES ${SCANIO_LIBNAMES} rxp) + if(LIBXML2_FOUND) + include_directories(${LIBXML2_INCLUDE_DIR}) +# set(SCANIO_LIBNAMES ${SCANIO_LIBNAMES} riegl_project) +# target_link_libraries(scan_io_riegl_project ${RIVLIB} scan_io_rxp ${LIBXML2_LIBRARIES}) + endif(LIBXML2_FOUND) +endif(WITH_RIVLIB) + +#IF (WITH_CAD) +# IF(NOT WIN32) +# add_library(scan_io_cad SHARED scan_io_cad.cc) +# target_link_libraries(scan_io_cad ${Boost_PROGRAM_OPTIONS_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}) +# ENDIF(NOT WIN32) +#ENDIF (WITH_CAD) + +foreach(libname ${SCANIO_LIBNAMES}) +if(WIN32) + #add_library(scan_io_${libname} STATIC scan_io_${libname}.cc) + add_library(scan_io_${libname} SHARED scan_io_${libname}.cc) +else(WIN32) + add_library(scan_io_${libname} SHARED scan_io_${libname}.cc) +endif(WIN32) + target_link_libraries(scan_io_${libname} pointfilter ${Boost_LIBRARIES} ${Boost_PROGRAM_OPTIONS_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_SYSTEM_LIBRARY}) +endforeach(libname) + +if(WITH_RIVLIB) + target_link_libraries(scan_io_rxp ${RIVLIB}) + if(LIBXML2_FOUND) + target_link_libraries(scan_io_rxp ${LIBXML2_LIBRARIES}) #scan_io_riegl_project ${RIVLIB}) + endif(LIBXML2_FOUND) +endif(WITH_RIVLIB) + +if(WIN32) + add_library(scanio STATIC scan_io.cc ../slam6d/io_types.cc) +else(WIN32) + add_library(scanio SHARED scan_io.cc ../slam6d/io_types.cc) +endif(WIN32) + +if(UNIX) + target_link_libraries(scanio dl) +endif(UNIX) + + diff --git a/src/scanio/calibration.txt b/src/scanio/calibration.txt new file mode 100644 index 0000000..06ea5f1 --- /dev/null +++ b/src/scanio/calibration.txt @@ -0,0 +1,33 @@ +VerticalCorrection, RotationalCorrection, DistanceCorrection, VerticalOffset, HorizontalOffset +-30.67, 0, 0, 0, 0, 1 +-9.3299999, 0, 0, 0, 0, 1 +-29.33, 0, 0, 0, 0, 1 +-8, 0, 0, 0, 0, 1 +-28, 0, 0, 0, 0, 1 +-6.6700001, 0, 0, 0, 0, 1 +-26.67, 0, 0, 0, 0, 1 +-5.3299999, 0, 0, 0, 0, 1 +-25.33, 0, 0, 0, 0, 1 +-4, 0, 0, 0, 0, 1 +-24, 0, 0, 0, 0, 1 +-2.6700001, 0, 0, 0, 0, 1 +-22.67, 0, 0, 0, 0, 1 +-1.33, 0, 0, 0, 0, 1 +-21.33, 0, 0, 0, 0, 1 +0, 0, 0, 0, 0, 1 +-20, 0, 0, 0, 0, 1 +1.33, 0, 0, 0, 0, 1 +-18.67, 0, 0, 0, 0, 1 +2.6700001, 0, 0, 0, 0, 1 +-17.33, 0, 0, 0, 0, 1 +4, 0, 0, 0, 0, 1 +-16, 0, 0, 0, 0, 1 +5.3299999, 0, 0, 0, 0, 1 +-14.67, 0, 0, 0, 0, 1 +6.6700001, 0, 0, 0, 0, 1 +-13.33, 0, 0, 0, 0, 1 +8, 0, 0, 0, 0, 1 +-12, 0, 0, 0, 0, 1 +9.3299999, 0, 0, 0, 0, 1 +-10.67, 0, 0, 0, 0, 1 +10.67, 0, 0, 0, 0, 1 diff --git a/src/scanio/old/scan_io_ais.cc b/src/scanio/old/scan_io_ais.cc new file mode 100644 index 0000000..dfc2f61 --- /dev/null +++ b/src/scanio/old/scan_io_ais.cc @@ -0,0 +1,132 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * from the Autonomous Intelligent Systems Group from the University of Freiburg + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ais.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in AIS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_ais::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan_" + to_string(fileCounter,3) + "_points.dat"; + poseFileName = dir + "scan_" + to_string(fileCounter,3) + "_robotPoses.dat"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + pose_in >> euler[2] >> euler[0] >> euler[1] // x, y, z + >> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + for (unsigned int i = 0; i < 3; i++) euler[i] *= 100; + + double dummy; + while (scan_in.good()) { + Point p; + try { + scan_in >> dummy >> dummy >> dummy >> p.z >> p.x >> p.y; + p.x *= 100; + p.y *= 100; + p.z *= 100; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ais; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_asc.cc b/src/scanio/old/scan_io_asc.cc new file mode 100644 index 0000000..504707b --- /dev/null +++ b/src/scanio/old/scan_io_asc.cc @@ -0,0 +1,157 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_asc.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format ZuF from Zoller+Froehlich AG + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. Actually, the Riegl poses + * are high precise and this function puts noise + * on it. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_asc::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "ScanPos" + to_string(fileCounter,2) + ".DAT"; + scanFileName = dir + "coordinates" + to_string(fileCounter,2) + ".asc"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + /* + char firstline[255]; + scan_in.getline(firstline, 255); + */ + + double rPos[3] = { 0.0, 0.0, 0.0 }; + double rPosTheta[16] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double inMatrix[16]; + /* + char dummy[255]; + pose_in.getline(dummy, 255); + pose_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + */ + + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + Matrix4ToEuler(inMatrix, rPosTheta, rPos); + + euler[0] = inMatrix[3]; + euler[1] = inMatrix[11]; + euler[2] = inMatrix[7]; + + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[2]; + euler[5] = rPosTheta[1]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + while (scan_in.good()) { + Point p; + double intensity; + scan_in >> p.y >> p.z >> p.x >> intensity; + p.x *= 100; + p.y *= 100; + p.z *= 100; + if (intensity > 0) { + cout << p << endl; + ptss.push_back(p); + } + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_asc; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_cad.cc b/src/scanio/old/scan_io_cad.cc new file mode 100644 index 0000000..f213bd3 --- /dev/null +++ b/src/scanio/old/scan_io_cad.cc @@ -0,0 +1,925 @@ +/** + * @file + * @brief Implementation of reading a 3D CAD model and creating a 3D + * surface sampling of it. This sampling is then used as an artificial + * 3D scan in regular scan matching + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_cad.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +#include + +// TODO: make eventually compatible to windoze +#include // can be changed to cstdint if -std=c++0x compiler flag is used + + +#ifdef _MSC_VER +#include +#endif + +#define BOOST_NEW_FS_API 104600 + +ScanIO_CAD::ScanIO_CAD (void) : _op_descr ("CAD Config Options") +{ + setUpOptionDescription (); +} + +/** + * Reads specified 'scans' from CAD models in a given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * Each CAD model will be represented by a sampling of 3D points on the + * the surface of the CAD model. Currently the implementation is able to + * handle CAD models in the .stl file format (binary or ASCII is fine). + * In constrast to other ScanIOs only one 3D scan will be read (specified + * by parameter start). Other data is generated from the (arbitrary) named + * .stl files in the directory specified by argument dir. Parameter end is + * soley kept to satisfy the general interface. + * + * !!!!!! + * Config parameters are read from an (optional) config.txt in the scan directory. + * A config.txt with content "help = 1" will print out all possible parameters. + * !!!!!! + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_CAD::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + /* + * we need to read 1 normal scan (the first one) and afterwards + * create point samplings of the CAD models + */ + static int fileCounter = start; // this is a really ugly hack... + + // check before the first scan is read for a config file + if (fileCounter == start) + { + // is there a config file ? + std::string config_file_name = dir + "config.txt"; + std::ifstream config; + config.open (config_file_name.c_str ()); + if (config.good ()) + { + // parse the config to eventually overload default parameters + parseConfig (config); + } + // else use the default parameters + + // retrieve all stl files + parseDirForAllSTL (dir); + } + + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + // clear the point vector (to make sure no old garbage is contained) + ptss.clear (); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + fs::path stl_file; + + // the first scan file name should be a .3d file + if (fileCounter == start) + { + scanFileName = dir + "scan" + to_string(fileCounter, 3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter, 3) + ".pose"; + } + // otherwise it should be a .stl file + else + { + // get the next stl file if the directory contains one more + if (getNextSTLFromDir (stl_file)) + { + fs::path pose_file (stl_file); + + // retrieve the the filenames according to the installed boost version +#if BOOST_VERSION < BOOST_NEW_FS_API + // change extension + pose_file.replace_extension (".pose"); + scanFileName = stl_file.directory_string (); + poseFileName = pose_file.directory_string (); +#else + // change extension + pose_file.replace_extension (fs::path (".pose")); + scanFileName = stl_file.string (); + poseFileName = pose_file.string (); +#endif + } + else + { + // aparently no stl file available anymore + return -1; + } + } + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read pose information independent from file type + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + // read a 'normal' Slam6D Pose + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + if (fileCounter == start) + { + read3DScan (scan_in, maxDist, minDist, ptss); + } + else + { + bool success = createSamplingFromSTL (scan_in, ptss); + if (!success) + { + // terminate similar to missing file + exit (1); + } + if (store_cad) + { + std::string stem; + // get the string of the file-stem according to installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + stem = stl_file.stem (); +#else + stem = stl_file.stem ().string (); +#endif + fs::path sample_file (stl_file); + // is filename scanXXX.3d ? + if (stem.substr (0, 4).compare ("scan") == 0 && + std::atoi (stem.substr (4).c_str ()) == fileCounter) + { + // replace the extension according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + sample_file.replace_extension (".3d"); +#else + sample_file.replace_extension (fs::path (".3d")); +#endif + // the appropriate .pose file already exists + } + else + { + // generate appropriate filename + std::string filename = "scan" + to_string (fileCounter, 3) + ".3d"; + sample_file.remove_filename (); + sample_file /= filename; + + // copy .pose file + fs::path orig_pose (stl_file); + fs::path copied_pose (sample_file); +#if BOOST_VERSION < BOOST_NEW_FS_API + orig_pose.replace_extension (".pose"); + copied_pose.replace_extension (".pose"); +#else + orig_pose.replace_extension (fs::path (".pose")); + copied_pose.replace_extension (fs::path (".pose")); +#endif + fs::copy_file (orig_pose, copied_pose, fs::copy_option::overwrite_if_exists); + } + // retrieve the filename according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + storeSamplingTo3D (sample_file.directory_string (), ptss); +#else + storeSamplingTo3D (sample_file.string (), ptss); +#endif + } + } + + + + // close the filestreams + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + +/** + * Helper function to read a regular UOS scan + */ +void +ScanIO_CAD::read3DScan (std::ifstream &scan_in, int maxDist, int minDist, + vector &points) +{ + // reading regular uos scan (copy & paste from scan_io_uos.cc) + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + double maxDist2 = sqr (maxDist); + double minDist2 = sqr (minDist); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + { + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + { + points.push_back(p); + } + } + } +} + +/** + * Helper function to create a 3D point sampling for a given .stl file + */ +bool +ScanIO_CAD::createSamplingFromSTL (std::ifstream &scan_in, + vector &points) +{ + bool success; + if (hasASCIIHeader (scan_in)) + { + std::cout << "detected ASCII header, parsing file" << std::endl; + success = parseASCII (scan_in, points); + } + else + { + std::cout << "couldn't detect ASCII header, trying to parse binary" + << std::endl; + success = parseBinary (scan_in, points); + } + return success; +} + +bool +ScanIO_CAD::hasASCIIHeader (std::ifstream &scan_in) +{ + // store current get pointer position + std::streampos current_pos = scan_in. tellg (); + + bool is_ascii = true; + + /* idea: check for the keywords with have to occur at the beginning + * and the end of an ASCII .stl files + * (see http://www.ennex.com/~fabbers/StL.asp for further specs) + */ + std::string solid ("solid"); + std::string last_line; + std::string name; + std::string last_read_string; + + // go to the beginning of the ifstream + scan_in.seekg (0, std::ios::beg); + // read the first string + scan_in >> last_read_string; + if (solid.compare (last_read_string) != 0) + { + is_ascii = false; + } + if (is_ascii) + { + // read the next string (i.e. name of the stl) + scan_in >> name; + // generate expected last line + last_line = "endsolid " + name; + // set the get pointer to the correct position + scan_in.seekg (-last_line.length () - 2, std::ios::end); + scan_in >> last_read_string; + if (last_read_string.compare ("endsolid") != 0) + { + is_ascii = false; + } + if (is_ascii) + { + scan_in >> last_read_string; + if (last_read_string.compare (name) != 0) + { + is_ascii = false; + } + } + } + + // reset the position of the get pointer to its original position + scan_in.seekg (current_pos, std::ios::beg); + return is_ascii; +} + +bool +ScanIO_CAD::parseASCII (std::ifstream &scan_in, vector &points) +{ + float vertex1[3]; + float vertex2[3]; + float vertex3[3]; + float raw_data[3]; + + unsigned int line_nr = 0; + unsigned int face_counter = 0; + + float* vertices[3]; + vertices[0] = vertex1; + vertices[1] = vertex2; + vertices[2] = vertex3; + + bool success = true; + bool reached_end = false; + + // retrieve current pos of get pointer + std::ios::streampos current_pos = scan_in.tellg (); + + // set get pointer to beginning of file + scan_in.seekg (0, std::ios::beg); + + std::string read_key; + std::string tmp; + + // ignore first line, since in hasASCIIHeader () + std::getline (scan_in, read_key); + line_nr++; + + while (scan_in.good ()) + { + // read first string at current position + scan_in >> read_key; + // determine if end of file reached + if (read_key.compare ("endsolid") == 0) + { + reached_end = true; + break; + } + // otherwise check if a new face begins + if (read_key.compare ("facet") != 0 || + !scan_in.good ()) + { + // no new face -> misformated .stl + std::cout << "expected 'facet', contains '" << read_key.substr (0,5) + << "'" << std::endl; + success = false; + break; + } + // read the rest of the line (containing the normal) + getline (scan_in, read_key); + line_nr++; + + // get the next 2 strings + scan_in >> read_key; + scan_in >> tmp; + read_key += " " + tmp; + if (read_key.compare ("outer loop") != 0 || + !scan_in.good ()) + { + std::cout << "expected 'outer loop', read '" << read_key + << "' instead" << std::endl; + success = false; + break; + } + // read the rest of the line + getline (scan_in, read_key); + line_nr++; + + // read the 3 vertices + for (unsigned int i = 0; i < 3; ++i) + { + scan_in >> read_key; + line_nr++; + if (read_key.compare ("vertex") == 0) + { + // read x, y and z coordinate in this order + scan_in >> raw_data[0] >> raw_data[1] >> raw_data[2]; + // scale and order according to the specified settings + copyRawData2Vertex (raw_data, vertices[i]); + if (!scan_in.good ()) + { + success = false; + break; + } + } + else + { + success = false; + break; + } + } + // retrieve the closing tag for the vertices + scan_in >> read_key; + if (read_key.compare ("endloop") != 0 || + !scan_in.good ()) + { + success = false; + break; + } + // retrieve the rest of the current line + getline (scan_in, read_key); + line_nr++; + + // retrieve the closing tag for the face + scan_in >> read_key; + if (read_key.compare ("endfacet") != 0 || + !scan_in.good ()) + { + std::cout << "Expected 'endfacet', read '" << read_key + << "' instead" << std::endl; + success = false; + break; + } + // retrieve the rest of the line + getline (scan_in, read_key); + line_nr++; + // increment nr of read faces + face_counter++; + // create the sampling for the face + createSampingForFace (vertex1, vertex2, vertex3, points); + } + + if (!reached_end) + { + success = false; + } + + // reset position of get pointer + scan_in.seekg (current_pos, std::ios::beg); + + if (!success) + { + std::cerr << "Misformated ASCII .stl file. Parsing error in line " + << line_nr << std::endl; + } + else + { + std::cout << "Created " << points.size () << " sample points for " + << face_counter << " faces." << std::endl; + } + return success; +} + +bool +ScanIO_CAD::parseBinary (std::ifstream &scan_in, vector &points) +{ + // TODO: make eventually compatible to windoze + uint32_t nr_faces; + uint32_t face_counter = 0; + uint16_t attribute; + + float normal[3]; + float vertex1[3]; + float vertex2[3]; + float vertex3[3]; + float raw_data[3]; + + bool success; + + size_t header_size = 80; // defined in the binary .stl standard + char* header = new char[header_size]; + + // retrieve the current get pointer position + std::streampos current_pos = scan_in.tellg (); + + // jump to begin of file + scan_in.seekg (0, std::ios::beg); + + if (scan_in.is_open ()) + { + // read the header (unimportant for the sampling) + scan_in.read (header, header_size); + + // read nr of faces contained in stl file + scan_in.read ((char*) &nr_faces, 4); + + // try to read all faces + for (face_counter = 0; face_counter < nr_faces; ++face_counter) + { + if (!scan_in.good ()) + { + break; + } + + // read face normal (which we don't need) + scan_in.read ((char*) &normal, 12); + + // read the first vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex1); + + // read the second vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex2); + + // read the first vertex + scan_in.read ((char*) &raw_data, 12); + copyRawData2Vertex (raw_data, vertex3); + + // read the attribute (which we don't need) + scan_in.read ((char*) &attribute, 2); + + // create the sampling for the current face + createSampingForFace (vertex1, vertex2, vertex3, points); + } + } + + // check if indeed the specified number of faces could be read + if (face_counter == nr_faces) + { + success = true; + std::cout << "Created " << points.size () << " sample points for " + << nr_faces << " faces." << std::endl; + } + else + { + std::cerr << "Error parsing binary .stl file. Expected " << nr_faces + << " faces but could read only " << face_counter << std::endl; + success = false; + } + + // reset the get pointer position; + scan_in.seekg (current_pos, std::ios::beg); + + delete [] header; + return success; +} + +void +ScanIO_CAD::createSampingForFace (float* vertex1, float* vertex2, + float* vertex3, vector &points) +{ + /* + * Random sampling approach to sample a triangle: + * First compute the area of the triangle and decide how many sample + * points are needed; afterwards randomly create a number of points + * inside the triangle + */ + + // get the area of the triangle + float vector12[3]; + float vector13[3]; + float vector23[3]; + + for (unsigned int i = 0; i < 3; ++i) + { + vector12[i] = vertex2[i] - vertex1[i]; + vector13[i] = vertex3[i] - vertex1[i]; + vector23[i] = vertex3[i] - vertex2[i]; + } + + float a, b, c; + a = b = c = 0.0f; + + a = dotProd (vector12, vector12); + b = dotProd (vector13, vector13); + c = dotProd (vector23, vector23); + + a = sqrt (a); + b = sqrt (b); + c = sqrt (c); + + float s = a + b + c; + s /= 2.0f; + + float area = sqrt (s * (s - a) * (s - b) * (s - c)); + + unsigned int nr_sample_points, nr_added_points; + + nr_sample_points = area / (sample_point_dist * sample_point_dist); + nr_added_points = 0; + + if (nr_sample_points > 3) + { + points.reserve (points.size () + nr_sample_points); + + float u, v; + float point_in_triangle[3]; + + while (nr_added_points < nr_sample_points) + { + // randomly generate scalar u and v in [0,1] + u = (float) std::rand () / (float) RAND_MAX; + v = (float) std::rand () / (float) RAND_MAX; + + // check if u and v are smaller than 1.0 (i.e. point is in triangle) + if (u + v <= 1.0f) + { + for (unsigned int i = 0; i < 3; ++i) + { + point_in_triangle[i] = vertex1[i] + u * vector12[i] + v * vector13[i]; + } + points.push_back (Point (point_in_triangle[0], + point_in_triangle[1], point_in_triangle[2])); + nr_added_points++; + } + } + } + // for a small face just add the corners to the sample points + else + { + points.reserve (points.size () + 3); + points.push_back (Point (vertex1[0], vertex1[1], vertex1[2])); + points.push_back (Point (vertex2[0], vertex2[1], vertex2[2])); + points.push_back (Point (vertex3[0], vertex3[1], vertex3[2])); + } +} + +void +ScanIO_CAD::storeSamplingTo3D (std::string filename, vector &points) +{ + std::ofstream sample_file (filename.c_str ()); + + // write header + sample_file << "# artificial scan from cad model '" << filename + << "', containing " << points.size () << " sample points" << std::endl; + // write all points + vector::const_iterator it = points.begin (); + while (it != points.end ()) + { + sample_file << *it++ << std::endl; + } + + sample_file.flush (); + sample_file.close (); +} + +float +ScanIO_CAD::dotProd (const float* vec1, const float* vec2) +{ + return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2]; +} + +void +ScanIO_CAD::parseConfig (std::ifstream &config) +{ + try + { + po::store (po::parse_config_file (config, _op_descr), _vmap); + } + catch (std::exception &e) + { + std::cout << "illegal parameter in config file:" << std::endl + << e.what () << std::endl << std::endl; + std::cout << "The following options are available:" << std::endl; + std::cout << _op_descr << std::endl; + config.close (); + exit (-1); + } + catch (...) + { + std::cerr << "this line shouldn't have been reached ever" << std::endl; + config.close (); + exit (-2); + } + + po::notify (_vmap); + + if (_vmap.count ("help")) + { + std::cout << _op_descr << std::endl; + // when help is enabled we'll just exit + exit (1); + } + std::cout << "'store_cad' "; + if (store_cad) + std::cout << "was set to true"; + else + std::cout << "was set to false"; + std::cout << endl; + + if (x_index == y_index) + { + std::cout << "Warning: x_index = y_index = " << x_index << std::endl; + } + if (x_index == z_index) + { + std::cout << "Warning: x_index = z_index = " << x_index << std::endl; + } + if (y_index == z_index) + { + std::cout << "Warning: y_index = z_index = " << y_index << std::endl; + } + + if (fabs (x_scale - STD_X_SCALE) > std::numeric_limits::epsilon () || + fabs (y_scale - STD_Y_SCALE) > std::numeric_limits::epsilon () || + fabs (z_scale - STD_Z_SCALE) > std::numeric_limits::epsilon ()) + { + this->individual_scale = true; + } + else + { + this->individual_scale = false; + } + + config.close (); +} + + +void +ScanIO_CAD::copyRawData2Vertex (float *raw_data, float *vertex) +{ + // copy the raw data to the desired positions + vertex[0] = raw_data[x_index]; + vertex[1] = raw_data[y_index]; + vertex[2] = raw_data[z_index]; + + // any axis to be inverted in the data converted to scan coords? + if (invert_x) + vertex[0] *= -1.0f; + if (invert_y) + vertex[1] *= -1.0f; + if (invert_z) + vertex[2] *= -1.0f; + + // scale with individual scale_factor + if (individual_scale) + { + vertex[0] *= x_scale; + vertex[1] *= y_scale; + vertex[2] *= z_scale; + // scale additionally with general scale factor + if (combine_scales) + { + vertex[0] *= scale_factor; + vertex[1] *= scale_factor; + vertex[2] *= scale_factor; + } + } + // scale with the general scale factor + else + { + vertex[0] *= scale_factor; + vertex[1] *= scale_factor; + vertex[2] *= scale_factor; + } +} + +void +ScanIO_CAD::setUpOptionDescription (void) +{ + // just something for a little nicer output formating + std::stringstream x_ss; + x_ss << STD_X_SCALE; + std::stringstream y_ss; + y_ss << STD_Y_SCALE; + std::stringstream z_ss; + z_ss << STD_Z_SCALE; + std::stringstream scale_ss; + scale_ss << STD_SCALE_FACTOR; + + // set up the options descriptions + _op_descr.add_options () + ("help", "produce this help message") + ("store_cad", + po::value (&store_cad)->default_value (STD_STORE_CAD), + "determine storage of sampled cad") + ("sample_dist", + po::value (&sample_point_dist)->default_value (STD_SAMPLE_DIST), + "approximate distance of sample points") + ("random_sampling", + po::value (&random_sampling)->default_value (STD_RND_SAMP), + "enables/diables random surface sampling") + ("x_index", + po::value (&x_index)->default_value (STD_X_INDEX), + "array index for the x coordinate (default should work for UOS scans)") + ("y_index", + po::value (&y_index)->default_value (STD_Y_INDEX), + "array index for the y coordinate (default should work for UOS scans)") + ("z_index", + po::value (&z_index)->default_value (STD_Z_INDEX), + "array index for the z coordinate (default should work for UOS scans)") + ("scale_factor", + po::value (&scale_factor)->default_value (STD_SCALE_FACTOR, + scale_ss.str ()), + "set general scale factor for x-, y- and z-axis") + ("x_scale", + po::value (&x_scale)->default_value (STD_X_SCALE, x_ss.str ()), + "scale factor to convert the x coordinate of the CAD models to scan scale") + ("y_scale", + po::value (&y_scale)->default_value (STD_Y_SCALE, y_ss.str ()), + "scale factor to convert the y coordinate of the CAD models to scan scale") + ("z_scale", + po::value (&z_scale)->default_value (STD_Z_SCALE, z_ss.str ()), + "scale factor to convert the z coordinate of the CAD models to scan scale") + ("combine_scales", + po::value (&combine_scales)->default_value (STD_COMBINE_SCALES), + "enables combining of general scale factor and individual scale factors") + ("invert_x", + po::value (&invert_x)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models x-axis") + ("invert_y", + po::value (&invert_y)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models y-axis") + ("invert_z", + po::value (&invert_z)->default_value (STD_INVERT_AXIS), + "inverts the direction of the CAD models z-axis") + ; +} + +void +ScanIO_CAD::parseDirForAllSTL (std::string &directory_name) +{ + // make sure nothing is stored in the stl file vector + _stl_files.clear (); + + // get a directory iterator to mark the end of the directory + fs::path dir (directory_name); + fs::directory_iterator end; + + // iterate over the complete directory + for (fs::directory_iterator pos (dir); pos != end; ++pos) + { + if (fs::is_regular_file (*pos)) + { + std::string extension; + // retrieve the extension string according to the installed boost API +#if BOOST_VERSION < BOOST_NEW_FS_API + extension = pos->path ().extension (); +#else + extension = pos->path ().extension ().string (); +#endif + std::for_each (extension.begin (), extension.end (), ::tolower); + + // add all stl files into the vector + if (extension.compare (".stl") == 0) + { + _stl_files.push_back ((*pos)); + } + } + } + _stl_files_pos = 0; +} + + +bool +ScanIO_CAD::getNextSTLFromDir (fs::path &stl_file) +{ + if (_stl_files_pos < _stl_files.size ()) + { + stl_file = _stl_files[_stl_files_pos++]; + return true; + } + // return an empty path + stl_file = fs::path (); + return false; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_CAD; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_front.cc b/src/scanio/old/scan_io_front.cc new file mode 100644 index 0000000..d8b9e35 --- /dev/null +++ b/src/scanio/old/scan_io_front.cc @@ -0,0 +1,138 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_front.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_front::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "Front" + to_string(fileCounter,6) + ".dat"; + // poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + // pose_in.open(poseFileName.c_str()); + + // read 3D scan + if ( //!pose_in.good() && + !scan_in.good()) return -1; // no more files in the directory + // if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + double ddummy; + double pp[3]; + try { + scan_in >> ddummy >> dummy >> pp[0] >> pp[2]; + // pp[0] *= 0.1; + // pp[2] *= 0.1; + pp[1] = 0.0; + } catch (...) { + break; + } + Point p(pp); + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_front; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_iais.cc b/src/scanio/old/scan_io_iais.cc new file mode 100644 index 0000000..c8a7230 --- /dev/null +++ b/src/scanio/old/scan_io_iais.cc @@ -0,0 +1,138 @@ +#include "slam6d/scan_io_iais.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param s 3D Scan to be read. The vector of points must be filled + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param maxDist Reads only Points up to this Distance + * @param dir The directory from which to read + */ +int ScanIO_iais::readScans(int start, int end, string &dir, + int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + static string poseFileName; + string scanFileName; + + double maxDist2 = sqr(maxDist); + + double matrix[16]; + + static ifstream pose_in; + ifstream scan_in; + + if (fileCounter > end) return -1; + + if (fileCounter == start) { + poseFileName = dir + "poses_abs_with_start.txt"; + pose_in.open(poseFileName.c_str()); + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + for (int i = 0; i < start; i++) { + pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12] + >> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13] + >> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14]; + // >> matrix[12] >> matrix[13] >> matrix[14]; + matrix[15] = 1.0; + matrix[3] = matrix[7] = matrix[11] = 0.0; + } + } + + pose_in >> matrix[0] >> matrix[1] >> matrix[2] >> matrix[12] + >> matrix[4] >> matrix[5] >> matrix[6] >> matrix[13] + >> matrix[8] >> matrix[9] >> matrix[10] >> matrix[14]; + // >> matrix[12] >> matrix[13] >> matrix[14]; + matrix[15] = 1.0; + matrix[3] = matrix[7] = matrix[11] = 0.0; + + Matrix4ToEuler(matrix, euler+3, euler); + euler[3] *= -1.0; + euler[5] *= -1.0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + + scan_in.open(scanFileName.c_str()); + + // read 3D scan + // no more files in the directory + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return fileCounter-1; +} + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_iais; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_ifp.cc b/src/scanio/old/scan_io_ifp.cc new file mode 100644 index 0000000..5dc1b50 --- /dev/null +++ b/src/scanio/old/scan_io_ifp.cc @@ -0,0 +1,145 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ifp.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param s 3D Scan to be read. The vector of points must be filled + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param maxDist Reads only Points up to this Distance + * @param dir The directory from which to read + */ +int ScanIO_ifp::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + ifstream scan_in, pose_in; + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + "ScanWorld " + to_string(fileCounter) + ".pts"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { + scanFileName = dir + "SW" + to_string(fileCounter) + ".pts"; + scan_in.open(scanFileName.c_str()); + } + if (!scan_in.good()) { + return -1; + } + cout << "Processing Scan " << scanFileName; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // some noise for the pose estimations + /* + double t1 = (double)(rand() % 100); + double t2 = (double)(rand() % 100); + double t3 = (double)(rand() % 100); + double t4 = (double)(rand() % 5) * 0.025; + euler[4] = t4; + + cout << "dx " << t1 << " dy " << t2 << " dz " << t3 << " dtheta_y " << t4 << endl; + */ + + int dummy; + scan_in >> dummy; + while (scan_in.good()) { + Point p; + int intensity, red, green, blue; + scan_in >> p.z >> p.x >> p.y >> intensity >> red >> green >> blue; + + p.z -= 3515165; + p.x -= 5407003; + p.y -= 254; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + /* + p.z += t1; + p.x += t2; + p.y += t3; + */ + //cout << p << endl; + ptss.push_back(p); + } + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ifp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_ks.cc b/src/scanio/old/scan_io_ks.cc new file mode 100644 index 0000000..6d9638b --- /dev/null +++ b/src/scanio/old/scan_io_ks.cc @@ -0,0 +1,167 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ks.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_ks::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "ScanPos" + to_string(fileCounter,3) + " - Scan001.txt"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // CAD map -> pose correction: + + double tmp; + tmp = euler[0]; + euler[0] = -euler[2]; + euler[2] = tmp; + + euler[0] *= 100; + euler[1] *= 100; + euler[2] *= 100; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + // format: X[m] Y[m] Z[m] R[0..1] G[0..1] B[0..1] Amplitude[0..1] Reflectance[] + while (scan_in.good()) { + Point p; + try { + scan_in >> p.x; + scan_in >> p.z; + scan_in >> p.y; + /* + scan_in >> r; + scan_in >> g; + scan_in >> b; + scan_in >> p.amplitude; + scan_in >> p.reflectance; + */ + + // const offset (heaven only knows why) + p.x -= 70000.0; + p.z -= 20000.0; + + // m -> cm + p.x *= 100.0; + p.y *= 100.0; + p.z *= 100.0; + + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_ks_rgb.cc b/src/scanio/old/scan_io_ks_rgb.cc new file mode 100644 index 0000000..700d855 --- /dev/null +++ b/src/scanio/old/scan_io_ks_rgb.cc @@ -0,0 +1,158 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ks_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_ks_rgb::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "Color_ScanPos" + to_string(fileCounter,3) + " - Scan001.txt"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + // format: X[m] Y[m] Z[m] R[0..1] G[0..1] B[0..1] Amplitude[0..1] Reflectance[] + float r, g, b; + while (scan_in.good()) { + Point p; + try { + scan_in >> p.x; + scan_in >> p.z; + scan_in >> p.y; + + scan_in >> r; + scan_in >> g; + scan_in >> b; + scan_in >> p.amplitude; + scan_in >> p.reflectance; + + // that's REALLY not the best way to deal with a fixed offset... well, quick hack! ;-) + // seems to hold for all of their scans + p.x -= 70000.0; + p.z -= 20000.0; + + p.x *= 100.0; + p.y *= 100.0; + p.z *= 100.0; + + p.rgb[0] = (char)(r * 255.0); + p.rgb[1] = (char)(g * 255.0); + p.rgb[2] = (char)(b * 255.0); + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_leica_txt.cc b/src/scanio/old/scan_io_leica_txt.cc new file mode 100644 index 0000000..e140757 --- /dev/null +++ b/src/scanio/old/scan_io_leica_txt.cc @@ -0,0 +1,139 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Sven Albrecht. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_leica_txt.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scan in the leica + * format. This resembles the UOS + reflectance file format (see + * scan_io_xyzr) but features a flipped y-axis (height) and will be + * compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_leica_txt::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + double x, y, z; + + while (scan_in.good()) { + Point p; + try { + scan_in >> x >> z >> y; + x *= 100.0; + y *= 100.0; + z *= 100.0; + p = Point (x, y, z); + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_leica_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_oct.cc b/src/scanio/old/scan_io_oct.cc new file mode 100644 index 0000000..ce7b0bb --- /dev/null +++ b/src/scanio/old/scan_io_oct.cc @@ -0,0 +1,114 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "slam6d/Boctree.h" +#include "slam6d/scan_io_oct.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in oct-file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_oct::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream pose_in; + + //double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".oct"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + +// scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() ) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + BOctTree::deserialize(scanFileName, ptss); + + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_oct; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_old.cc b/src/scanio/old/scan_io_old.cc new file mode 100644 index 0000000..3a87689 --- /dev/null +++ b/src/scanio/old/scan_io_old.cc @@ -0,0 +1,190 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_old.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the old file format Kurt3D uses. It will be compiled + * as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_old::readScans(int start, int end, string &dir, + int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string poseFileName; + string scanFileName; + + int my_fileNr = fileCounter; + + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; + poseFileName = dir + to_string(fileCounter,3) + "/position.dat"; + + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << dir << to_string(fileCounter, 3); + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // convert mm to cm + for (unsigned int i = 0; i < 3; i++) euler[i] = euler[i] * 0.1; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) { + euler[i] *= 0.01; + // if (euler[i] < 0.0) euler[i] += 360; + euler[i] = rad(euler[i]); + } + // euler[4] *= -1.0; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + for (int i = 1; ; i++) { + scanFileName = dir + to_string(fileCounter, 3) + "/scan" + to_string(i) + ".dat"; + scan_in.open(scanFileName.c_str()); + if (!scan_in.good()) { + scan_in.close(); + scan_in.clear(); + break; + } + + int Nr = 0, intensity_flag = 0; + int D; + double current_angle; + double X, Z, I; // x,z coordinate and intensity + + char firstLine[81]; + scan_in.getline(firstLine, 80); + + char cNr[4]; + cNr[0] = firstLine[2]; + cNr[1] = firstLine[3]; + cNr[2] = firstLine[4]; + cNr[3] = 0; + Nr = atoi(cNr); + + // determine weather we have the new files with intensity information + if (firstLine[16] != 'i') { + intensity_flag = 1; + char cAngle[8]; + cAngle[0] = firstLine[35]; + cAngle[1] = firstLine[36]; + cAngle[2] = firstLine[37]; + cAngle[3] = firstLine[38]; + cAngle[4] = firstLine[39]; + cAngle[5] = firstLine[40]; + cAngle[6] = firstLine[41]; + cAngle[7] = 0; + current_angle = atof(cAngle); + cout << current_angle << endl; + } else { + intensity_flag = 0; + char cAngle[8]; + cAngle[0] = firstLine[54]; + cAngle[1] = firstLine[55]; + cAngle[2] = firstLine[56]; + cAngle[3] = firstLine[57]; + cAngle[4] = firstLine[58]; + cAngle[5] = firstLine[59]; + cAngle[6] = firstLine[60]; + cAngle[7] = 0; + current_angle = atof(cAngle); + } + + double cos_currentAngle = cos(rad(current_angle)); + double sin_currentAngle = sin(rad(current_angle)); + + for (int j = 0; j < Nr; j++) { + if (!intensity_flag) { + scan_in >> X >> Z >> D >> I; + } else { + scan_in >> X >> Z; + I = 1.0; + } + if (maxDist != -1 && D > maxDist) continue; + if (minDist != -1 && D < minDist) continue; + // calculate 3D coordinates (local coordinates) + Point p; + p.x = X; + p.y = Z * sin_currentAngle; + p.z = Z * cos_currentAngle; + + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + } + + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_old; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_pci.cc b/src/scanio/old/scan_io_pci.cc new file mode 100644 index 0000000..39cb93e --- /dev/null +++ b/src/scanio/old/scan_io_pci.cc @@ -0,0 +1,175 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_pci.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_pci::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + // read 3D scan + poseFileName = dir + "scan" + to_string(fileCounter,4) + ".pose"; + scanFileName = dir + "scan" + to_string(fileCounter,4) + ".pci"; + scan_in.open(scanFileName.c_str()); + if (!scan_in.good()) { + cerr << "ERROR: Missing file" << scanFileName << endl; + scan_in.close(); + return -1; + } + + pose_in.open(poseFileName.c_str()); + double inMatrix[16], tMatrix[16]; + double rPosTheta[3], rPos[3]; + if (!pose_in.good()) { + cerr << "using default pose 0,0,0 !!!" << endl; + M4identity(inMatrix); + } else { + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + } + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + cout << "Processing Scan " << scanFileName; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point q; + Point p; + try { + scan_in >> q; + scan_in >> p.reflectance; + } catch (...) { + break; + } + p.x = q.y*-100.0; + p.y = q.z*100.0; + p.z = q.x*100.0; + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_pci; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_pcl.cc b/src/scanio/old/scan_io_pcl.cc new file mode 100644 index 0000000..d34a152 --- /dev/null +++ b/src/scanio/old/scan_io_pcl.cc @@ -0,0 +1,174 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_pcl.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_pcl::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + // read 3D scan + poseFileName = dir + "scan" + to_string(fileCounter,4) + ".pose"; + scanFileName = dir + "scan" + to_string(fileCounter,4) + ".pcl"; + scan_in.open(scanFileName.c_str()); + if (!scan_in.good()) { + cerr << "ERROR: Missing file" << scanFileName << endl; + scan_in.close(); + return -1; + } + + pose_in.open(poseFileName.c_str()); + double inMatrix[16], tMatrix[16]; + double rPosTheta[3], rPos[3]; + if (!pose_in.good()) { + cerr << "using default pose 0,0,0 !!!" << endl; + M4identity(inMatrix); + } else { + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + } + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + cout << "Processing Scan " << scanFileName; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point q; + Point p; + try { + scan_in >> q; + } catch (...) { + break; + } + p.x = q.y*-100.0; + p.y = q.z*100.0; + p.z = q.x*100.0; + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_pcl; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_ply.cc b/src/scanio/old/scan_io_ply.cc new file mode 100644 index 0000000..e17c732 --- /dev/null +++ b/src/scanio/old/scan_io_ply.cc @@ -0,0 +1,187 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_ply.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the PLY file format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_ply::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist)); + + int my_fileNr = fileCounter; + + ifstream scan_in, pose_in; + + for (int i=0; i < 6; i++) euler[i] = 0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".ply"; + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more scans to read + + bool binary = false; + char dummy[256]; + char str[20]; // whatever size + double matrix[16]; + int matrixPos = 0; + int nr; + float d1,d2,d3,d4; + sscanf(dummy,"%s %*s %d",str,&nr); + + // header + int counter = -2; + do { + if(counter > -2) counter++; + scan_in.getline(dummy, 255); + if (strncmp(dummy, "format", 6) == 0) { + if (dummy[7] == 'a') binary = false; + else if (dummy[7] == 'b') binary = true; + else { cerr << "Don't recognize the format!" << endl; exit(1); } + } + else if (strncmp(dummy, "element vertex", 14) == 0) { + sscanf(dummy,"%s %*s %d",str,&nr); + counter++; + } + else if (strncmp(dummy, "matrix", 6) == 0) { + sscanf(dummy,"%s %f %f %f %f", str, &d1, &d2, &d3, &d4); + matrix[matrixPos++] = d1; + matrix[matrixPos++] = d2; + matrix[matrixPos++] = d3; + matrix[matrixPos++] = d4; + } + } while (!(strncmp(dummy, "end_header",10) == 0 || !scan_in.good())); + + if (matrixPos > 0) { + double rPosTheta[3]; + double rPos[3]; + Matrix4ToEuler(matrix, rPosTheta, rPos); + } + + for (int i=0; i < nr; i++) { + Point p; + float data, confidence, intensity; + float dummy; + int r, g, b; + if (!binary) { + //scan_in >> p.z >> p.x >> p.y >> r >> g >> b; + switch(counter) { + case 6: + case 12: + scan_in >> p.z >> p.y >> p.x >> r >> g >> b; + break; + case 9: + //scan_in >> p.z >> p.x >> p.y >> dummy >> dummy >> dummy >> r >> g >> b; + scan_in >> p.z >> p.y >> p.x >> dummy >> dummy >> dummy >> r >> g >> b; + break; + default: + scan_in >> p.z >> p.x >> p.y >> confidence >> intensity; + break; + } + if(counter == 6 || counter == 9 || counter == 12) { + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + } else { + p.reflectance = intensity; + } + } else { + scan_in.read((char*)&data, sizeof(float)); + p.z = (double)data; + scan_in.read((char*)&data, sizeof(float)); + p.x = (double)data; + scan_in.read((char*)&data, sizeof(float)); + p.y = (double)data; + scan_in.read((char*)&confidence, sizeof(float)); + scan_in.read((char*)&intensity, sizeof(float)); + } + + if (maxDist2 == -1 || (int)(sqr(p.x) + sqr(p.y) + sqr(p.z)) < maxDist2) + ptss.push_back(p); + } + + cout << "Processing Scan " << scanFileName; + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ply; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_riegl_bin.cc b/src/scanio/old/scan_io_riegl_bin.cc new file mode 100644 index 0000000..295df37 --- /dev/null +++ b/src/scanio/old/scan_io_riegl_bin.cc @@ -0,0 +1,156 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_riegl_bin.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_bin::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "Pos" + to_string(fileCounter,2) + ".dat"; + scanFileName = dir + "Scan" + to_string(fileCounter,2) + ".txt"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + char firstline[255]; + scan_in.getline(firstline, 255); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + M4transpose(inMatrix, tMatrix); + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + + // some noise for the pose estimations + double t1 = (double)(rand() % 200); + double t2 = (double)(rand() % 200); + // double t3 = (double)(rand() % 10); + + swap(rPos[1], rPos[2]); + swap(rPosTheta[1], rPosTheta[2]); + euler[0] = rPos[0] + t1; + euler[1] = rPos[1]; + euler[2] = rPos[2] + t2; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + double test[16], test1[16]; + EulerToMatrix4(rPos, rPosTheta, test); + M4inv(test, test1); + + while (scan_in.good()) { + Point p; + int dummy; + scan_in >> dummy >> p.x >> p.z >> p.y; + p.x *= 100; + p.y *= 100; + p.z *= 100; + + p.transform(test1); + + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_bin; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_riegl_project.cc b/src/scanio/old/scan_io_riegl_project.cc new file mode 100644 index 0000000..c28969e --- /dev/null +++ b/src/scanio/old/scan_io_riegl_project.cc @@ -0,0 +1,285 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ +/* +#include +#include +#include +#include +*/ +#include +#include +#include +#include + + +#include "slam6d/scan_io_rxp.h" +#include "slam6d/scan_io_riegl_project.h" +#include "riegl/scanlib.hpp" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +static vector filenames; +static vector eulers; + +static xmlNodePtr srSeekChildNodeNamed(xmlNodePtr p, const char * name){ + if(p == NULL || name == NULL) return NULL; + + for(p=p->children; p!= NULL; p=p->next){ + if(p->name && (strcmp((char*)p->name,name) == 0)){ + return p; + } + } + return NULL; +} + +static void matrixToPos(const char* matrix, double *rPos, double *rPosTheta) { + stringstream ss( stringstream::in | stringstream::out); + ss << matrix; + + double inMatrix[16], tMatrix[16]; + for (int n=0; n<16; n++) + { + ss >> inMatrix[n]; + } + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; +} + +static int getPaths(const char* filename) { + double rPos[3]; + double rPosTheta[3]; + xmlDocPtr doc; + xmlXPathContextPtr xpathCtx; + xmlXPathObjectPtr xpathObj; + const xmlChar* names = BAD_CAST "/project/scanpositions/scanposition"; + + /* Load XML document */ + doc = xmlParseFile(filename); + if (doc == NULL) { + fprintf(stderr, "Error: unable to parse file \"%s\"\n", filename); + return(-1); + } + + /* Create xpath evaluation context */ + xpathCtx = xmlXPathNewContext(doc); + if(xpathCtx == NULL) { + fprintf(stderr,"Error: unable to create new XPath context\n"); + xmlFreeDoc(doc); + return(-1); + } + + /* Evaluate xpath expression */ + xpathObj = xmlXPathEvalExpression(names, xpathCtx); + + // parse the scanpositions + xmlNodeSetPtr nodes = xpathObj->nodesetval; + int size; + int iter; + + size = (nodes) ? nodes->nodeNr : 0; + + for(iter = 0; iter < size; iter++) { + xmlNodePtr position = nodes->nodeTab[iter]; + xmlNodePtr name = srSeekChildNodeNamed(position, "name"); + xmlNodePtr singlescans = srSeekChildNodeNamed(position, "singlescans"); + xmlNodePtr scan = srSeekChildNodeNamed(singlescans, "scan"); + xmlNodePtr file = srSeekChildNodeNamed(scan, "file"); + + xmlNodePtr sop = srSeekChildNodeNamed(position, "sop"); + xmlNodePtr matrix = srSeekChildNodeNamed(sop, "matrix"); + + + char FILEN[1024]; + char POSITIONN[1024]; + char MATRIX[1024]; + + if (file != 0 && name != 0 && matrix != 0) { + sprintf(POSITIONN, "%s", xmlNodeGetContent(name )); + sprintf(FILEN, "%s", xmlNodeGetContent(file )); + sprintf(MATRIX, "%s", xmlNodeGetContent(matrix)); + + // compute pose + double *euler = new double[6]; + matrixToPos(MATRIX, rPos, rPosTheta); + for (unsigned int i = 0; i < 3; i++) euler[i] = rPos[i]; + for (unsigned int i = 0; i < 3; i++) euler[i+3] = rPosTheta[i]; + eulers.push_back(euler); + + // put together filename + string filename = ""; + filename = "SCANS/" + (string)POSITIONN + "/SINGLESCANS/" + (string)FILEN + ""; + //cout << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << filename << endl; + cout << "Project Scan " << filename << " is mapped to index " << iter << endl; + filenames.push_back(filename); + } + + + + + } + + + + /* Cleanup of XPath data */ + xmlXPathFreeObject(xpathObj); + xmlXPathFreeContext(xpathCtx); + + /* free the document */ + xmlFreeDoc(doc); + + return(0); +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_project::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + + // very first call to readScans... + if (fileCounter == start) { + // parse riegl projects xml file + string xmlFileName = dir + "project.rsp"; + + getPaths(xmlFileName.c_str()); + + } + string scanFileName; + string poseFileName; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + scanFileName = "file://" + dir + filenames[fileCounter]; + + // read 3D scan + + cout << "Processing Scan " << scanFileName; + cout.flush(); + + + + for (unsigned int i = 0; i <= 5; i++) euler[i] = eulers[fileCounter][i]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // open scanfile + std::tr1::shared_ptr rc; + rc = basic_rconnection::create(scanFileName); + rc->open(); + + // decoder splits the binary file into readable chunks + decoder_rxpmarker dec(rc); + // importer interprets the chunks + importer imp(&ptss, maxDist, minDist); + + // iterate over chunks + buffer buf; + for ( dec.get(buf); !dec.eoi(); dec.get(buf) ) { + imp.dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + + + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_project; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_riegl_rgb.cc b/src/scanio/old/scan_io_riegl_rgb.cc new file mode 100644 index 0000000..6fbf30f --- /dev/null +++ b/src/scanio/old/scan_io_riegl_rgb.cc @@ -0,0 +1,183 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_riegl_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses including color information . It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi RGB Reflectance + * Name the files scanXXX.rgb where XXX determines the number of the scan + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_rgb::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat"; + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".rgb"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + long num_pts = 0; + + if (scan_in.good()) { + scan_in >> num_pts; + cout << " with " << num_pts << " Points"; + cout.flush(); + ptss.reserve(num_pts); + } + + // read point data and transform into slam6D coordinate system + while (scan_in.good()) { + Point p; + double range, theta, phi, reflectance; + int r, g, b; + scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> r >> g >> b >> reflectance; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + p.reflectance = reflectance; + + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_riegl_txt.cc b/src/scanio/old/scan_io_riegl_txt.cc new file mode 100644 index 0000000..1bf54e8 --- /dev/null +++ b/src/scanio/old/scan_io_riegl_txt.cc @@ -0,0 +1,180 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_riegl_txt.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_riegl_txt::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + ifstream scan_in, pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".dat"; + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".txt"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + euler[0] = 100*rPos[0]; + euler[1] = 100*rPos[1]; + euler[2] = 100*rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + long num_pts = 0; + + if (scan_in.good()) { + scan_in >> num_pts; + cout << " with " << num_pts << " Points"; + cout.flush(); + ptss.reserve(num_pts); + } + + // read point data and transform into slam6D coordinate system + while (scan_in.good()) { + Point p; + double range, theta, phi, reflectance; + scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance; + + p.x *= -100; + p.y *= 100; + p.z *= 100; + + p.reflectance = reflectance; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return fileCounter-1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_rts.cc b/src/scanio/old/scan_io_rts.cc new file mode 100644 index 0000000..a5f0d42 --- /dev/null +++ b/src/scanio/old/scan_io_rts.cc @@ -0,0 +1,132 @@ +#include "slam6d/scan_io_rts.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** define invalid type */ +#define TYPE_INVALID 0x10 + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param s 3D Scan to be read. The vector of points must be filled + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param maxDist Reads only Points up to this Distance + * @param dir The directory from which to read + */ +int ScanIO_rts::readScans(int start, int end, string &dir, + int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + static string poseFileName; + string scanFileName; + double timestamp; + + static ifstream pose_in; + ifstream scan_in; + + if (end > -1 && fileCounter > end) return -1; + + if (fileCounter == start) { + poseFileName = dir + "odometry_0_sync_interpol.dat"; + pose_in.open(poseFileName.c_str()); + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + for (int i = 0; i < start; i++) { + pose_in >> timestamp + >> euler[2] >> euler[0] >> euler[1] // x, y, z + >> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z + } + } + + pose_in >> timestamp + >> euler[2] >> euler[0] >> euler[1] // x, y, z + >> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z + + scanFileName = dir + "scan3d_0_" + to_string(fileCounter) + ".3d"; + + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { + pose_in.close(); + pose_in.clear(); + return -1; + } + cerr << "Processing Scan " << scanFileName; + + euler[3] = euler[5] = euler[1] = 0; + + cerr << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1; + + while (scan_in.good()) { + Point p; + int type, dummy; + scan_in >> p.z >> p.x >> p.y >> type >> dummy >> dummy; + if (type & TYPE_INVALID) { + continue; + } else { + p.x *= 0.1; + p.y *= -0.1; + p.z *= 0.1; + p.type = type; + if (scan_in.good()) ptss.push_back(p); + } + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return fileCounter-1; +} + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rts; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_rts_map.cc b/src/scanio/old/scan_io_rts_map.cc new file mode 100644 index 0000000..2d99cd4 --- /dev/null +++ b/src/scanio/old/scan_io_rts_map.cc @@ -0,0 +1,259 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_rts_map.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** define invalid type */ +#define TYPE_INVALID 0x10 + +/** + * Reads specified scans from given directory in + * the file format Uni Hannover uses. The first scan + * is a 3D point cloud, computed from the 2D line map. + * The class will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_rts_map::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start - 1; + static ifstream pose_in; + + string scanFileName; + string poseFileName; + double timestamp; + + ifstream scan_in; + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + if (fileCounter == start - 1) { + + poseFileName = dir + "odometry_0_sync_interpol.dat"; + pose_in.open(poseFileName.c_str()); + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + for (int i = 0; i < start; i++) { + pose_in >> timestamp + >> euler[2] >> euler[0] >> euler[1] // x, y, z + >> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z + } + + double c, s; + + // read map as first 3D scan + // + // A given 2D ground truth map, is extrapolated to 3D. + // Details are given in (jfr2008.pdf): + // + // Oliver Wulf, Andreas N眉chter, Joachim Hertzberg, + // and Bernardo Wagner. Benchmarking Urban Six-Degree- + // of-Freedom Simultaneous Localization and Mapping. + // Journal of Field Robotics (JFR), Wiley & Son, + // ISSN 1556-4959, Volume 25, Issue 3, pages 148 - 163, + // March 2008 + +#define READ_MAP +#ifdef READ_MAP + scanFileName = dir + "Uni_Hannover.map"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, x2, z1, z2; + double x1_t, x2_t, z1_t, z2_t; + + scan_in >> x1_t >> z1_t >> x2_t >> z2_t; + + x1_t = (x1_t - 113.07) * 100; + x2_t = (x2_t - 113.07) * 100; + z1_t = (z1_t + 64.05) * 100; + z2_t = (z2_t + 64.05) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + x2 = x2_t * c + z2_t * s; + z2 = - x2_t * s + z2_t * c; + + double length = sqrt(sqr(x2-x1) + sqr(z2-z1)); + double n_x = (x2 - x1) / length; + double n_z = (z2 - z1) / length; + + for (double t = 0.0; t < length; t += 25.0) { + Point p; + p.x = x1 + t * n_x; + p.z = z1 + t * n_z; + for (double y = -15.0; y < 1000; y += 25) { + p.y = y; + ptss.push_back(p); + } + } + } + cout << ptss.size() << endl; + scan_in.close(); + scan_in.clear(); +#endif + + // read map as first 3D scan + // A aerial lidar scan is loaded + // Details are given in (ecmr2009.pdf): + // + // Jochen Sprickerhof, Andreas N眉chter, Kai Lingemann, + // Joachim Hertzberg. An Explicit Loop Closing Technique + // for 6D SLAM, In Proceedings of the 4th European + // Conference on Mobile Robots (ECMR '09), Mlini/Dubrovnic, + // Croatia, September 2009 + +#define READ_AERIAL +#ifdef READ_AERIAL + scanFileName = dir + "bereich_uni.txt"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Aerial Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, z1; + double x1_t, y1_t, z1_t; + + scan_in >> x1_t >> z1_t >> y1_t; + + x1_t = (x1_t - 3548500 - 113.07) * 100; + z1_t = (z1_t - 5806400 + 64.05) * 100; + y1_t = (y1_t - 55.0) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + Point p; + p.x = x1; + p.z = z1; + p.y = y1_t; + ptss.push_back(p); + + } + cout << "Map containts " << ptss.size() << " points" << endl; + scan_in.close(); + scan_in.clear(); +#endif + cout << "DONE" << endl; + fileCounter++; + + return 1; + } + + // read remaining 3D scans + pose_in >> timestamp + >> euler[2] >> euler[0] >> euler[1] // x, y, z + >> euler[3] >> euler[5] >> euler[4]; // theta_x, theta_y, theta_z + + scanFileName = dir + "scan3d_0_" + to_string(fileCounter) + ".3d"; + + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1; + + while (scan_in.good()) { + Point p; + int type, dummy; + scan_in >> p.z >> p.x >> p.y >> type >> dummy >> dummy; + if (type & TYPE_INVALID) { + continue; + } else { + p.x *= 0.1; + p.y *= -0.1; + p.z *= 0.1; + p.type = type; + ptss.push_back(p); + } + } + + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rts_map; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_rxp.cc b/src/scanio/old/scan_io_rxp.cc new file mode 100644 index 0000000..144fc13 --- /dev/null +++ b/src/scanio/old/scan_io_rxp.cc @@ -0,0 +1,219 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Jan Elseberg. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/scan_io_rxp.h" +#include "riegl/scanlib.hpp" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_rxp::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream pose_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + string rxp = ".rxp"; + if (dir.rfind(rxp) == dir.length() - rxp.length() - 1) { // dir is a .rxp file + string shortdir = dir; + shortdir.erase(shortdir.length() -1); // erase last character + if (!dec) { + rc = basic_rconnection::create(shortdir); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(&ptss, maxDist, minDist, start); + } + + buffer buf; + + // skip the first scans + if (imp->getCurrentScan() < start ) { + for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + if (imp->getCurrentScan() >= start) break; + } + } + if (dec->eoi()) return -1; + int cscan = imp->getCurrentScan(); + // iterate over chunks, until the next scan is reached + for ( dec->get(buf); !dec->eoi() ; dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + if (imp->getCurrentScan() != cscan) break; + } + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + //done + } else { + + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + scanFileName = "file://" + dir + "scan" + to_string(fileCounter,3) + ".rxp"; + + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + pose_in.close(); + pose_in.clear(); + + + // open scanfile + rc = basic_rconnection::create(scanFileName); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(&ptss, maxDist, minDist); + + // iterate over chunks + buffer buf; + for ( dec->get(buf); !dec->eoi(); dec->get(buf) ) { + imp->dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + + } + + + fileCounter++; + + return fileCounter-1; +} + +void importer::on_echo_transformed(echo_type echo) +{ + if (currentscan < start) return; + // targets is a member std::vector that contains all + // echoes seen so far, i.e. the current echo is always + // indexed by target_count-1. + target& t(targets[target_count - 1]); + + // target.reflectance + // target.amplitude + // target.deviation + // target.time + // target.vertex point coordinates + // + + Point p; + + p.x = t.vertex[1]*-100.0; + p.y = t.vertex[2]*100.0; + p.z = t.vertex[0]*100.0; + + p.reflectance = t.reflectance; + p.amplitude = t.amplitude; + p.deviation = t.deviation; + + + if ( pointcloud::first == echo ) { + p.type = 0; + } else if ( pointcloud::interior == echo ) { + p.type = 1; + } else if ( pointcloud::last == echo ) { + p.type = 10; + } else if ( pointcloud::single == echo ){ + p.type = 9; + } + if(maxD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxD*maxD) { + if(minD == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minD*minD) { + { + if((sqr(p.x) + sqr(p.y) + sqr(p.z)) > 0.1)o->push_back(p); + } + } + } +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rxp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_stl.cc b/src/scanio/old/scan_io_stl.cc new file mode 100644 index 0000000..f0761d3 --- /dev/null +++ b/src/scanio/old/scan_io_stl.cc @@ -0,0 +1,154 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_stl.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +#include +typedef float real32_t; + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_stl::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".stl"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str(), std::ios::binary); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + + // read the STL data: + uint8_t header[80]; + uint32_t number; + + scan_in.read((char*)header, sizeof(header)); + scan_in.read((char*)&number, sizeof(number)); + + real32_t normal[3]; + real32_t v1[3], v2[3], v3[3]; + uint16_t attrib; + + for (unsigned int i=0; i < number; i++) { + Point p; + scan_in.read((char*)normal, sizeof(normal)); + scan_in.read((char*)v1, sizeof(v1)); + scan_in.read((char*)v2, sizeof(v2)); + scan_in.read((char*)v3, sizeof(v3)); + scan_in.read((char*)&attrib, sizeof(attrib)); + + // forget the other vertices + p.x = v1[0]; + p.y = v1[1]; + p.z = v1[2]; + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + cout << "Read " << ptss.size() << " points." << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_stl; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_txyzr.cc b/src/scanio/old/scan_io_txyzr.cc new file mode 100644 index 0000000..491c7b2 --- /dev/null +++ b/src/scanio/old/scan_io_txyzr.cc @@ -0,0 +1,157 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_txyzr.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +static double X; +static double Y; +static double Z; +static bool FIRST_POINT = true; + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS + reflectance file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_txyzr::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".xyz"; + + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + double ddummy,x,y,z; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> ddummy; + scan_in >> x; + scan_in >> y; + scan_in >> z; + p.x = 100.0*x; + p.y = 100.0*z; + p.z = 100.0*y; + + if (FIRST_POINT) { + X = p.x; + Y = p.y; + Z = p.z; + FIRST_POINT = false; + } + +// scan_in >> p; + + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) { + if (!ptss.empty()) { + //p -= ptss[0]; + p.x -= X; + p.y -= Y; + p.z -= Z; + } + ptss.push_back(p); + } + + + } + if (!ptss.empty()) { + ptss[0].x = ptss[0].y = ptss[0].z = 0.0; + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_txyzr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_uos.cc b/src/scanio/old/scan_io_uos.cc new file mode 100644 index 0000000..3c3458e --- /dev/null +++ b/src/scanio/old/scan_io_uos.cc @@ -0,0 +1,140 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_uos.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param mindist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(mindist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { + cerr << "ERROR: Missing file " << poseFileName << endl; //exit(1); + cerr << "using default pose 0,0,0 !!!" << endl; + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + } else { + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + } + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (mindist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_uos_frames.cc b/src/scanio/old/scan_io_uos_frames.cc new file mode 100644 index 0000000..eb4a81d --- /dev/null +++ b/src/scanio/old/scan_io_uos_frames.cc @@ -0,0 +1,142 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof + */ + +#include "slam6d/scan_io_uos_frames.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::exception; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_frames::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string framesFileName; + + ifstream scan_in, frames_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in.open(scanFileName.c_str()); + frames_in.open(framesFileName.c_str()); + + // read 3D scan + if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + while(frames_in) { + try { + frames_in >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + frames_in.close(); + frames_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_frames; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_uos_map.cc b/src/scanio/old/scan_io_uos_map.cc new file mode 100644 index 0000000..d3d7608 --- /dev/null +++ b/src/scanio/old/scan_io_uos_map.cc @@ -0,0 +1,231 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof + */ + +#include "slam6d/scan_io_uos_map.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_map::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start - 1; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + if (fileCounter == start - 1) { + + double c, s; + + // read map as first 3D scan +#define READ_MAP +#ifdef READ_MAP + scanFileName = dir + "Uni_Hannover.map"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, x2, z1, z2; + double x1_t, x2_t, z1_t, z2_t; + + scan_in >> x1_t >> z1_t >> x2_t >> z2_t; + + x1_t = (x1_t - 113.07) * 100; + x2_t = (x2_t - 113.07) * 100; + z1_t = (z1_t + 64.05) * 100; + z2_t = (z2_t + 64.05) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + x2 = x2_t * c + z2_t * s; + z2 = - x2_t * s + z2_t * c; + + double length = sqrt(sqr(x2-x1) + sqr(z2-z1)); + double n_x = (x2 - x1) / length; + double n_z = (z2 - z1) / length; + + for (double t = 0.0; t < length; t += 25.0) { + Point p; + p.x = x1 + t * n_x - 713.832183017; + p.z = z1 + t * n_z - 1238.220671; + for (double y = -15.0; y < 1000; y += 25) { + p.y = y + 13.8808; + ptss.push_back(p); + } + } + } + cout << ptss.size() << endl; + scan_in.close(); + scan_in.clear(); +#endif + +#define READ_AERIAL +#ifdef READ_AERIAL + scanFileName = dir + "bereich_uni.txt"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Aerial Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, z1; + double x1_t, y1_t, z1_t; + + scan_in >> x1_t >> z1_t >> y1_t; + + x1_t = (x1_t - 3548500 - 113.07) * 100; + z1_t = (z1_t - 5806400 + 64.05) * 100; + y1_t = (y1_t - 55.0) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + Point p; + p.x = x1 - 713.832183017; + p.z = z1 - 1238.220671; + p.y = y1_t + 13.8808; + ptss.push_back(p); + + } + cout << "Map containts " << ptss.size() << " points" << endl; + scan_in.close(); + scan_in.clear(); +#endif + cout << "DONE" << endl; + fileCounter++; + + return 1; + } + + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_map; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_uos_map_frames.cc b/src/scanio/old/scan_io_uos_map_frames.cc new file mode 100644 index 0000000..f6b5398 --- /dev/null +++ b/src/scanio/old/scan_io_uos_map_frames.cc @@ -0,0 +1,241 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof + */ + +#include "slam6d/scan_io_uos_map_frames.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::exception; + + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_map_frames::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start - 1; + string scanFileName; + string framesFileName; + + ifstream scan_in, frames_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + if (fileCounter == start - 1) { + + double c, s; + + // read map as first 3D scan +#define READ_MAP +#ifdef READ_MAP + scanFileName = dir + "Uni_Hannover.map"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, x2, z1, z2; + double x1_t, x2_t, z1_t, z2_t; + + scan_in >> x1_t >> z1_t >> x2_t >> z2_t; + + x1_t = (x1_t - 113.07) * 100; + x2_t = (x2_t - 113.07) * 100; + z1_t = (z1_t + 64.05) * 100; + z2_t = (z2_t + 64.05) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + x2 = x2_t * c + z2_t * s; + z2 = - x2_t * s + z2_t * c; + + double length = sqrt(sqr(x2-x1) + sqr(z2-z1)); + double n_x = (x2 - x1) / length; + double n_z = (z2 - z1) / length; + + for (double t = 0.0; t < length; t += 25.0) { + Point p; + p.x = x1 + t * n_x - 713.832183017; + p.z = z1 + t * n_z - 1238.220671; + for (double y = -15.0; y < 1000; y += 25) { + p.y = y + 13.8808; + ptss.push_back(p); + } + } + } + cout << ptss.size() << endl; + scan_in.close(); + scan_in.clear(); +#endif + +#define READ_AERIAL +#ifdef READ_AERIAL + scanFileName = dir + "bereich_uni.txt"; + scan_in.open(scanFileName.c_str()); + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing 3D Aerial Map " << scanFileName << endl; + + euler[0] = euler[1] = euler[2] = euler[3] = euler[4] = euler[5] = 0.0; + + c = cos(rad(-191.0)); + s = sin(rad(-191.0)); + + while (scan_in.good()) { + double x1, z1; + double x1_t, y1_t, z1_t; + + scan_in >> x1_t >> z1_t >> y1_t; + + x1_t = (x1_t - 3548500 - 113.07) * 100; + z1_t = (z1_t - 5806400 + 64.05) * 100; + y1_t = (y1_t - 55.0) * 100; + + x1 = x1_t * c + z1_t * s; + z1 = - x1_t * s + z1_t * c; + + Point p; + p.x = x1 - 713.832183017; + p.z = z1 - 1238.220671; + p.y = y1_t + 13.8808; + ptss.push_back(p); + + } + cout << "Map containts " << ptss.size() << " points" << endl; + scan_in.close(); + scan_in.clear(); +#endif + cout << "DONE" << endl; + fileCounter++; + + return 1; + } + + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in.open(scanFileName.c_str()); + frames_in.open(framesFileName.c_str()); + + // read 3D scan + if (!frames_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!frames_in.good()) { cerr << "ERROR: Missing file " << framesFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + while(frames_in) { + try { + frames_in >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + frames_in.close(); + frames_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_map_frames; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_uos_rgb.cc b/src/scanio/old/scan_io_uos_rgb.cc new file mode 100644 index 0000000..0a4948b --- /dev/null +++ b/src/scanio/old/scan_io_uos_rgb.cc @@ -0,0 +1,141 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_uos_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS file format including color information and will be compiled as + * shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_uos_rgb::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + + // read 3D scan + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + int r, g, b; + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + scan_in >> r >> g >> b; + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_velodyne.cc b/src/scanio/old/scan_io_velodyne.cc new file mode 100644 index 0000000..9f33f85 --- /dev/null +++ b/src/scanio/old/scan_io_velodyne.cc @@ -0,0 +1,463 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "veloslam/velodefs.h" +#include "slam6d/scan_io_velodyne.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + +#ifdef _MSC_VER +#include +#endif + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 360 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + +long CountOfLidar = 0; + +// 我们借到的雷达的标定数据 +double velodyne_calibrated[VELODYNE_NUM_LASERS][5] = +{ + { -7.1581192, -4.5, 102, 21.560343, -2.5999999}, + { -6.8178215, -3.4000001, 125, 21.516994, 2.5999999}, + { 0.31782165, 3, 130, 20.617426, -2.5999999}, + { 0.65811908, 4.5999999, 128, 20.574717, 2.5999999}, + { -6.4776502, -0.5, 112, 21.473722, -2.5999999}, + { -6.1375928, 1, 125, 21.430525, 2.5999999}, + { -8.520812, -1.5, 106, 21.734608, -2.5999999}, + { -8.1798887, 0.40000001, 127, 21.690901, 2.5999999}, + { -5.797637, 4, 111, 21.387396, -2.5999999}, + { -5.4577708, 5.5, 126, 21.34433, 2.5999999}, + { -7.8391404, 3.0999999, 113, 21.647291, -2.5999999}, + { -7.4985547, 4.5, 123, 21.603773, 2.5999999}, + { -3.0802133, -4.5, 105, 21.044245, -2.5999999}, + { -2.7406337, -3.2, 133, 21.001518, 2.5999999}, + { -5.1179824, -5.5, 110, 21.301321, -2.5999999}, + { -4.7782598, -4, 129, 21.258366, 2.5999999}, + { -2.4010365, -0.2, 111, 20.958813, -2.5999999}, + { -2.0614092, 1, 130, 20.916126, 2.5999999}, + { -4.4385905, -1.2, 115, 21.215462, -2.5999999}, + { -4.0989642, 0, 133, 21.172602, 2.5999999}, + { -1.7217404, 3.8, 113, 20.873451, -2.5999999}, + { -1.3820176, 5, 130, 20.830786, 2.5999999}, + { -3.7593663, 3, 117, 21.129782, -2.5999999}, + { -3.4197867, 4.5, 129, 21.086998, 2.5999999}, + { 0.998555, -4.5, 107, 20.531982, -2.5999999}, + { 1.339141, -3.2, 131, 20.489222, 2.5999999}, + { -1.0422293, -5.4000001, 128, 20.788124, -2.5999999}, + { -0.70236301, -4, 134, 20.745461, 2.5999999}, + { 1.679889, -0.5, 124, 20.446428, -2.5999999}, + { 2.0208123, 1, 136, 20.403601, 2.5999999}, + { -0.36240739, -1.5, 131, 20.702793, -2.5999999}, + { -0.022349782, 0.2, 136, 20.660116, 2.5999999}, + { -22.737886, -7.8000002, 101, 16.019152, -2.5999999}, + { -22.226072, -5, 88, 15.954137, 2.5999999}, + { -11.513928, 4.5, 121, 14.680806, -2.5999999}, + { -11.002114, 7.4000001, 88, 14.623099, 2.5999999}, + { -21.714685, -1, 94, 15.889649, -2.5999999}, + { -21.203688, 2, 88, 15.82566, 2.5999999}, + { -24.790272, -2.5, 114, 16.284933, -2.5999999}, + { -24.276321, 0.5, 89, 16.217583, 2.5999999}, + { -20.693031, 6, 98, 15.762167, -2.5999999}, + { -20.182682, 9, 92, 15.699132, 2.5999999}, + { -23.762968, 4.5, 107, 16.15085, -2.5999999}, + { -23.250172, 7.5, 80, 16.084715, 2.5999999}, + { -16.615318, -7.5, 121, 15.26925, -2.5999999}, + { -16.105938, -5, 92, 15.209245, 2.5999999}, + { -19.672594, -9, 119, 15.63654, -2.5999999}, + { -19.162729, -6, 89, 15.574372, 2.5999999}, + { -15.596496, -1, 109, 15.14954, -2.5999999}, + { -15.086954, 2, 88, 15.090119, 2.5999999}, + { -18.653046, -2, 117, 15.51261, -2.5999999}, + { -18.143503, 0.69999999, 88, 15.451235, 2.5999999}, + { -14.577271, 5.5, 112, 15.030966, -2.5999999}, + { -14.067405, 8.3999996, 87, 14.972065, 2.5999999}, + { -17.634062, 5, 119, 15.390228, -6.1999998}, + { -17.124681, 7.5, 97, 15.329572, 2.5999999}, + { -10.489829, -7.5, 119, 14.565539, -2.5999999}, + { -9.9770317, -4.6999998, 95, 14.508112, 2.5999999}, + { -13.557318, -8.5, 126, 14.913401, -2.5999999}, + { -13.046968, -6, 92, 14.854958, 2.5999999}, + { -9.4636793, -1, 112, 14.450804, -2.5999999}, + { -8.949728, 1.5, 93, 14.3936, 2.5999999}, + { -12.536313, -2, 121, 14.796721, -2.5999999}, + { -12.025314, 0.40000001, 96, 14.738676, 2.5999999}, +}; + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + vertCorrection[i] = velodyne_calibrated[i][0] * RADIANS_PER_LSB; + rotCorrection[i] = velodyne_calibrated[i][1] * RADIANS_PER_LSB; + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + } + + return 0; +} + +int read_one_packet ( FILE *fp, vector &ptss, int maxDist, int minDist ) +{ + int maxDist2 = sqr(maxDist); + int minDist2 = sqr(minDist); + + int c, i, j; + unsigned char Head; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pshort; + unsigned short *pt; + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + unsigned short logicalNO; + + float rotational; + float distance; + float corredistance; + int intensity; + int physical; + int size; + + unsigned short rot; + double x, y, z; + + int circle_col = 0; + int circle_row = 0; + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { +#ifdef _MSC_VER + fseek(fp , BLOCK_OFFSET, SEEK_CUR); +#else + fseeko(fp , BLOCK_OFFSET, SEEK_CUR); +#endif + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size 2.2 ) + { + BYTE *inty = ( BYTE * ) ( p + 4 + j * 3 + 2 ); + intensity = *inty; + + ctheta = 2 * M_PI - rotational * RADIANS_PER_LSB; + if ( ctheta == 2*M_PI ) + ctheta = 0; + + sin_ctheta = sin ( ctheta ); + cos_ctheta = cos ( ctheta ); + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + // corredistance = ( distance + distCorrection[physicalNO] ) * ( 1.0 + vertoffsetCorrection[physicalNO] ); + corredistance = ( distance + distCorrection[physicalNO] ) ; + theta = mod2pi_ref ( M_PI, ctheta + rotCorrection[physicalNO] ); /////////????//////// + phi = vertCorrection[physicalNO]; ////////?????///////////////// + + sin_theta = sin ( theta ); + cos_theta = cos ( theta ); + sin_phi = sin ( phi ); + cos_phi = cos ( phi ); + + /////////////////////?a??×?±ê///////////////////// + x = corredistance * cos_theta * cos_phi; + y = corredistance * sin_theta * cos_phi; + z = corredistance * sin_phi +vertoffsetCorrection[physicalNO]*cos_phi; + + x -= horizdffsetCorrection[physicalNO] * cos_ctheta; + y -= horizdffsetCorrection[physicalNO] * sin_ctheta; + + point.rad = sqrt( x*x + y*y ); + point.tan_theta = y/x; + + // point.type|=POINT_TYPE_INVALID; + + point.type = POINT_TYPE_GROUND; + point.x=x*100; + point.y=z*100; + point.z=-y*100; + { + ptss.push_back(point); + } + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + return 0; +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_velodyne::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + FILE *scan_in; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + "scan" + ".bin"; +#ifdef _MSC_VER + scan_in = fopen(scanFileName.c_str(),"rb"); +#else + scan_in = fopen64(scanFileName.c_str(),"rb"); +#endif + + if(scan_in == NULL) + { + cerr< +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + + +#ifdef _MSC_VER +#include +#endif + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 260 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + + + +struct velodyne_sample +{ + float xyz[3]; // calibrated, projected into velodyne coordinate system + float distance; + float corredistance; + + unsigned short rot; + float rotational; + BYTE intensity; + + float theta,phi; + int offset; + + + float normal; + float normal_theta; + float smooth; + + float scanline_drtZ; + float scanline_drtD; + float scanline_countZ; + float scanline_countD; + + /////////////////////////Type of Points cloud///////////////////////////////// + int classType; // 0 nused , 1 road , 2 build , 3 Tree , 4 person ,5 car , 6 ground +}; + + +long CountOfLidar = 0; + + +double velodyne_calibrated[VELODYNE_NUM_LASERS][5] = +{ + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + { -7.158120, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 0 + { -6.817820, -2.814700, 0.000000 , 0.000000 , 4.000000 }, // laser 1 + { 0.317822, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 2 + { 0.658119, 4.954230, 0.000000 , 0.000000 , 4.000000 }, // laser 3 + { -6.477650, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 4 + { -6.137590, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 5 + { -8.520810, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 6 + { -8.179890, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 7 + { -5.797640, 3.592120, 0.000000 , 0.000000 , -4.000000 }, // laser 8 + { -5.457770, 5.733800, 0.000000 , 0.000000 , 4.000000 }, // laser 9 + { -7.839140, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 10 + { -7.498560, 4.954200, 0.000000 , 0.000000 , 4.000000 }, // laser 11 + { -3.080210, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 12 + { -2.740630, -2.814700, 0.000000 , 0.000000 , 4.000000 }, // laser 13 + { -5.117980, -5.733800, 0.000000 , 0.000000 , -4.000000 }, // laser 14 + { -4.778260, -3.592120, 0.000000 , 0.000000 , 4.000000 }, // laser 15 + { -2.401040, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 16 + { -2.061410, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 17 + { -4.438590, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 18 + { -4.098960, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 19 + { -1.721740, 3.592120, 0.000000 , 0.000000 , -4.000000 }, // laser 20 + { -1.382020, 5.733800, 0.000000 , 0.000000 , 4.000000 }, // laser 21 + { -3.759370, 2.814740, 0.000000 , 0.000000 , -4.000000 }, // laser 22 + { -3.419790, 4.954240, 0.000000 , 0.000000 , 4.000000 }, // laser 23 + { 0.998555, -4.954240, 0.000000 , 0.000000 , -4.000000 }, // laser 24 + { 1.339140, -2.814740, 0.000000 , 0.000000 , 4.000000 }, // laser 25 + { -1.042230, -5.733800, 0.000000 , 0.000000 , -4.000000 }, // laser 26 + { -0.702363, -3.592120, 0.000000 , 0.000000 , 4.000000 }, // laser 27 + { 1.679890, -0.679162, 0.000000 , 0.000000 , -4.000000 }, // laser 28 + { 2.020810, 1.455470, 0.000000 , 0.000000 , 4.000000 }, // laser 29 + { -0.362407, -1.455470, 0.000000 , 0.000000 , -4.000000 }, // laser 30 + { -0.022350, 0.679162, 0.000000 , 0.000000 , 4.000000 }, // laser 31 + { -22.737886, -7.443011, 0.000000 , 0.000000 , -4.000000 }, // laser 32 + { -22.226072, -4.224233, 0.000000 , 0.000000 , 4.000000 }, // laser 33 + { -11.513928, 4.224233, 0.000000 , 0.000000 , -4.000000 }, // laser 34 + { -11.002114, 7.443011, 0.000000 , 0.000000 , 4.000000 }, // laser 35 + { -21.714685, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 36 + { -21.203688, 2.183498, 0.000000 , 0.000000 , 4.000000 }, // laser 37 + { -24.790272, -2.183498, 0.000000 , 0.000000 , -4.000000 }, // laser 38 + { -24.276321, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 39 + { -20.693031, 5.3926148, 0.000000 , 0.000000 , -4.000000 }, // laser 40 + { -20.182682, 8.6188126, 0.000000 , 0.000000 , 4.000000 }, // laser 41 + { -23.762968, 4.2242332, 0.000000 , 0.000000 , -4.000000 }, // laser 42 + { -23.250172, 7.4430108, 0.000000 , 0.000000 , 4.000000 }, // laser 43 + { -16.615318, -7.4430108, 0.000000 , 0.000000 , -4.000000 }, // laser 44 + { -16.105938, -4.2242332, 0.000000 , 0.000000 , 4.000000 }, // laser 45 + { -19.672594, -8.6188126, 0.000000 , 0.000000 , -4.000000 }, // laser 46 + { -19.162729, -5.3926148, 0.000000 , 0.000000 , 4.000000 }, // laser 47 + { -15.596496, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 48 + { -15.086954, 2.1834979, 0.000000 , 0.000000 , 4.000000 }, // laser 49 + { -18.653046, -2.1834979, 0.000000 , 0.000000 , -4.000000 }, // laser 50 + { -18.143503, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 51 + { -14.577271, 5.3926148, 0.000000 , 0.000000 , -4.000000 }, // laser 52 + { -14.067405, 8.6188126, 0.000000 , 0.000000 , 4.000000 }, // laser 53 + { -17.634062, 4.2242332, 0.000000 , 0.000000 , -4.000000 }, // laser 54 + { -17.124681, 7.4430108, 0.000000 , 0.000000 , 4.000000 }, // laser 55 + { -10.489829, -7.4430108, 0.000000 , 0.000000 , -4.000000 }, // laser 56 + { -9.9770317, -4.2242332, 0.000000 , 0.000000 , 4.000000 }, // laser 57 + { -13.557318, -8.6188126, 0.000000 , 0.000000 , -4.000000 }, // laser 58 + { -13.046968, -5.3926148, 0.000000 , 0.000000 , 4.000000 }, // laser 59 + { -9.4636793, -1.018773, 0.000000 , 0.000000 , -4.000000 }, // laser 60 + { -8.949728, 2.1834979, 0.000000 , 0.000000 , 4.000000 }, // laser 61 + { -12.536313, -2.1834979, 0.000000 , 0.000000 , -4.000000 }, // laser 62 + { -12.025314, 1.018773, 0.000000 , 0.000000 , 4.000000 }, // laser 63 +}; + + + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + + + + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + + vertCorrection[i] = ( velodyne_calibrated[i][0] ) * RADIANS_PER_LSB; + + rotCorrection[i] = ( velodyne_calibrated[i][1] ) * RADIANS_PER_LSB; + + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + } + + return 0; +} + + + + + +int read_one_packet ( FILE *fp, vector &ptss, int maxDist, int minDist ) +{ + int maxDist2 = sqr(maxDist); + int minDist2 = sqr(minDist); + + int c, i, j; + unsigned char Head = 0; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pshort; + short *pt; + + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + //unsigned short logicalNO; + + double rotational; + double distance; + double corredistance; + int intensity; + // int physical; + int size; + + + + //unsigned short rot; + + + double x, y, z; +/* + int circle_col = 0; + int circle_row = 0; + int circle_col_other = 0; + int circle_row_other = 0; + */ + + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { + + fseek(fp , BLOCK_OFFSET, SEEK_CUR); + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size minDist2*1.0)) + { + ptss.push_back(point); + //printf("%f %f %f %f %f %f\n",point.x,point.y,point.z,point.reflectance,minDist2*1.0,minDist2*1.0); + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + + + return 0; +} + + +/** + * Reads specified scans from given directory in + * the file format Riegl Laser Measurement GmbH + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. + * + * The scans have to be exported from the Riegl software + * as follows: + * 1. Export point cloud data to ASCII + * Use Scanners own Coordinate System (SOCS) + * X Y Z Range Theta Phi Reflectance + * 2. Export acqusition location (after you have registered + * with the Riegl software) + * Export SOP + * Write out as .dat file + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_velodyne_frame::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + string framesFileName; + + + FILE *scan_in = 0; + FILE *pose_in = 0; + ifstream frames_in; + // int my_fileNr = fileCounter; + double transMat[16]; + int type; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + scanFileName = dir + "scan" + ".bin"; + poseFileName = dir + "scan" + ".pose"; + framesFileName = dir + "scan" + to_string(fileCounter,3) + ".frames"; + + scan_in = fopen(scanFileName.c_str(),"rb"); + if(scan_in==NULL) + { + cerr << "ERROR: Missing file " << scanFileName <<" "<> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, &euler[3], euler); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + velodyne_calib_precompute(); + cout << "Processing Scan " << scanFileName; + cout.flush(); + + + + + +#if 0 + raw_packet_t raw_tmp; + fseeko(scan_in, 0, SEEK_SET); + fread(&raw_tmp,sizeof(raw_packet_t),1,scan_in); + int revolution=raw_tmp.revolution+fileCounter+1; + int i=0; + + while(raw_tmp.revolution!=revolution) + { + printf("%d %d\n",i++,raw_tmp.revolution); + fread(&raw_tmp,sizeof(raw_packet_t),1,scan_in); + } +#else + + + + cout.flush(); + ptss.reserve(12*32*CIRCLELENGTH); + + #if 0 + fseeko(scan_in, 0, SEEK_SET); + fseeko(scan_in, BLOCK_SIZE*CIRCLELENGTH*fileCounter, SEEK_CUR); + #else + fseek(scan_in, 24, SEEK_SET); + fseek(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); + #endif + +#endif + read_one_packet(scan_in, ptss, maxDist, minDist); + cout << " with " << ptss.size() << " Points"; + + + cout << " done " << fileCounter< +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +#include + +/** + * Reads specified scans from given directory in + * the PLY file format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_wrl::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + int maxDist2 = (maxDist == -1 ? -1 : sqr(maxDist)); + + int my_fileNr = fileCounter; + + ifstream scan_in, pose_in; + + for (int i = 0; i < 6; i++) euler[i] = 0; + + if (end > -1 && fileCounter > end) return -1; + poseFileName = dir + to_string(fileCounter,3) + "/position.dat"; + + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << dir << to_string(fileCounter, 3); + + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // convert mm to cm + for (unsigned int i = 0; i < 3; i++) euler[i] = euler[i] * 0.1; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) { + euler[i] *= 0.01; + // if (euler[i] < 0.0) euler[i] += 360; + euler[i] = rad(euler[i]); + } + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".wrl"; + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) return -1; // no more scans to read + + // overread the first 7 tokes / 4 lines - don't care here + char dummy[255]; + for (int i = 0; i < 4; i++) { + scan_in.getline(dummy, 255); + } + + do { + char cx[25], cy[25], cz[25]; + double xyz[3]; + scan_in >> cx >> cy >> cz; + if (!scan_in.good()) break; + // remove the "," from the z coordinate + cz[strlen(cz)-1] = 0; + xyz[0] = atof(cx); + xyz[1] = atof(cy); + xyz[2] = atof(cz); + Point p(xyz); + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } while (scan_in.good()); + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_wrl; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_x3d.cc b/src/scanio/old/scan_io_x3d.cc new file mode 100644 index 0000000..f7b58e3 --- /dev/null +++ b/src/scanio/old/scan_io_x3d.cc @@ -0,0 +1,147 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_x3d.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; + +#ifdef _MSC_VER +#include +#endif + +using std::cerr; +/** + * Reads specified scans from given directory in + * the x3d file format. It will be compiled + * as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_x3d::readScans(int start, int end, string &dir, + int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in; + + double maxDist2 = sqr(maxDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".x3d"; + scan_in.open(scanFileName.c_str()); + + // read 3D scan + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + scan_in.get(dummy, 255, '"'); // read to beginning of first point + scan_in.get(); // and throw away the " + + while (scan_in.good()) { + double f[3]; + + scan_in.get(dummy, 255, ' '); + scan_in.get(); // and throw away the ' ' + std::stringstream ssx ( dummy ); + ssx >> f[0]; + + scan_in.get(dummy, 255, ' '); + scan_in.get(); // and throw away the ' ' + std::stringstream ssy ( dummy ); + ssy >> f[1]; + + scan_in.get(dummy, 255, ','); + scan_in.get(); // and throw away the ',' + scan_in.get(); // and the ' ' + std::stringstream ssz ( dummy ); + ssz >> f[2]; + + // scale to cm + for (int i=0; i<3; i++) { + f[i] *= 100.0; + } + + Point p(f); + + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_x3d; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_xyz.cc b/src/scanio/old/scan_io_xyz.cc new file mode 100644 index 0000000..4c33078 --- /dev/null +++ b/src/scanio/old/scan_io_xyz.cc @@ -0,0 +1,123 @@ +/** + * @file + * @brief Implementation of reading 3D scans in XYZ format (i.e., pure 3D data * points in a right handed coordinate system only) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_xyz.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the XYZ file format (i.e., pure 3D data points only in a right handed * coordinate system) + * It will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyz::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in, pose_in; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".xyz"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + char firstline[255]; + scan_in.getline(firstline, 255); + + euler[0] = 0.0; + euler[1] = 0.0; + euler[2] = 0.0; + euler[3] = 0.0; + euler[4] = 0.0; + euler[5] = 0.0; + + while (scan_in.good()) { + Point p; + scan_in >> p.x >> p.z >> p.y; + p.x *= 100; + p.y *= 100; + p.z *= 100; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return 1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyz; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_xyz_rgb.cc b/src/scanio/old/scan_io_xyz_rgb.cc new file mode 100644 index 0000000..95c0844 --- /dev/null +++ b/src/scanio/old/scan_io_xyz_rgb.cc @@ -0,0 +1,128 @@ +/** + * @file + * @brief Implementation of reading 3D scans in colored XYZ format (i.e., pure + * 3D data points and RGB color information) + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_xyz_rgb.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in the colored XYZ file format + * (i.e., pure 3D data points and RGB color * information only) + * It will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyz_rgb::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + + ifstream scan_in, pose_in; + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + scanFileName = dir + to_string(fileCounter,3) + ".xyz"; + scan_in.open(scanFileName.c_str()); + // read 3D scan + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + char firstline[255]; + scan_in.getline(firstline, 255); + + euler[0] = 0.0; + euler[1] = 0.0; + euler[2] = 0.0; + euler[3] = 0.0; + euler[4] = 0.0; + euler[5] = 0.0; + + while (scan_in.good()) { + Point p; + int r, g, b; + scan_in >> p.x >> p.z >> p.y >> r >> g >> b; + p.x *= 100; + p.y *= 100; + p.z *= 100; + p.rgb[0] = (char)r; + p.rgb[1] = (char)g; + p.rgb[2] = (char)b; + + if (maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + if (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2) + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return 1; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyz_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_xyzr.cc b/src/scanio/old/scan_io_xyzr.cc new file mode 100644 index 0000000..cc3f1ba --- /dev/null +++ b/src/scanio/old/scan_io_xyzr.cc @@ -0,0 +1,158 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_xyzr.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * This function actually implements loading of 3D scans + * in UOS + reflectance file format and will be compiled as shared lib. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_xyzr::readScans(int start, int end, string &dir, int maxDist, int minDist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + + double maxDist2 = sqr(maxDist); + double minDist2 = sqr(minDist); + + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + /* + scanFileName = dir + "scan" + to_string(fileCounter,3) + ".3d"; + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + */ + + scanFileName = dir + "konv_bremenc_" + to_string(fileCounter,3) + ".txt"; + scan_in.open(scanFileName.c_str()); + poseFileName = dir + "scan" + to_string(fileCounter,3) + ".pose"; + pose_in.open(poseFileName.c_str()); + + // read 3D scan + // if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!scan_in.good()) return -1; // no more files in the directory + cout << "Processing Scan " << scanFileName; + + if (pose_in.good()) { + for (unsigned int i = 0; i < 6; pose_in >> euler[i++]); + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + } else { + cout << endl << "No pose estimate given." << endl; + for (unsigned int i = 0; i < 6; euler[i++] = 0.0); + } + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + // convert angles from deg to rad + for (unsigned int i = 3; i <= 5; i++) euler[i] = rad(euler[i]); + + // overread the first line + char dummy[255]; + scan_in.getline(dummy, 255); + + double tmp; + while (scan_in.good()) { + Point p; + try { + scan_in >> p; + + p.x -= 485531.0; + p.y -= 5882078.400; + p.z -= 52; + + tmp = p.z; + p.z = p.y; + p.y = tmp; + + scan_in >> p.reflectance; + } catch (...) { + break; + } + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if ((maxDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) && (minDist == -1 || sqr(p.x) + sqr(p.y) + sqr(p.z) > minDist2)) + ptss.push_back(p); + } + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_xyzr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_zahn.cc b/src/scanio/old/scan_io_zahn.cc new file mode 100644 index 0000000..ed0159b --- /dev/null +++ b/src/scanio/old/scan_io_zahn.cc @@ -0,0 +1,124 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_zahn.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the tooth format. It will be compiled as + * shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. + * + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_zahn::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + double maxDist2 = sqr(maxDist); + + ifstream scan_in, pose_in; + + int my_fileNr = fileCounter; + + euler[0] = 0; + euler[1] = 0; + euler[2] = 0; + euler[3] = 0; + euler[4] = 0; + euler[5] = 0; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + scanFileName = dir + "Element_" + to_string(fileCounter) + ".asc"; + + scan_in.open(scanFileName.c_str()); + // read 3D scan + + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << deg(euler[3]) << "," << deg(euler[4]) << "," << deg(euler[5]) << ")" << endl; + + for (unsigned int i = 0; i < 3; i++) euler[i] *= 0.1; + + while (scan_in.good()) { + Point p; + scan_in >> p.x >> p.y >> p.z; + p.x *= 10; + p.y *= 10; + p.z *= -10; + // load points up to a certain distance only + // maxDist2 = -1 indicates no limitation + if (sqr(p.x) + sqr(p.y) + sqr(p.z) < maxDist2) + ptss.push_back(p); + } + + scan_in.close(); + scan_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_zahn; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/old/scan_io_zuf.cc b/src/scanio/old/scan_io_zuf.cc new file mode 100644 index 0000000..3d982e3 --- /dev/null +++ b/src/scanio/old/scan_io_zuf.cc @@ -0,0 +1,153 @@ +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan_io_zuf.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cerr; +using std::endl; + +#include +using std::swap; + +#ifdef _MSC_VER +#include +#endif + +/** + * Reads specified scans from given directory in + * the file format ZuF from Zoller+Froehlich AG + * uses. It will be compiled as shared lib. + * + * Scan poses will NOT be initialized after a call + * to this function. Initial pose estimation works + * only with the -p switch, i.e., trusting the initial + * estimations by Riegl. Actually, the Riegl poses + * are high precise and this function puts noise + * on it. + * + * @param start Starts to read with this scan + * @param end Stops with this scan + * @param dir The directory from which to read + * @param maxDist Reads only Points up to this Distance + * @param minDist Reads only Points from this Distance + * @param euler Initital pose estimates (will not be applied to the points + * @param ptss Vector containing the read points + */ +int ScanIO_zuf::readScans(int start, int end, string &dir, int maxDist, int mindist, + double *euler, vector &ptss) +{ + static int fileCounter = start; + string scanFileName; + string poseFileName; + + ifstream scan_in, pose_in; + int my_fileNr = fileCounter; + + if (end > -1 && fileCounter > end) return -1; // 'nuf read + + + poseFileName = dir + "2811CSODRE" + to_string(fileCounter,2) + "_sub2.rgp.txtMATRIX.txt"; + scanFileName = dir + "2811CSODRE" + to_string(fileCounter,2) + "_sub2.rgp.txt"; + + scan_in.open(scanFileName.c_str()); + pose_in.open(poseFileName.c_str()); + // read 3D scan + + if (!pose_in.good() && !scan_in.good()) return -1; // no more files in the directory + if (!pose_in.good()) { cerr << "ERROR: Missing file " << poseFileName << endl; exit(1); } + if (!scan_in.good()) { cerr << "ERROR: Missing file " << scanFileName << endl; exit(1); } + cout << "Processing Scan " << scanFileName; + cout.flush(); + + char firstline[255]; + scan_in.getline(firstline, 255); + + double rPos[3] = { 0.0, 0.0, 0.0 }; + double rPosTheta[16] = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; + double inMatrix[16]; + char dummy[255]; + pose_in.getline(dummy, 255); + pose_in.getline(dummy, 255); + scan_in.getline(dummy, 255); + + for (unsigned int i = 0; i < 16; pose_in >> inMatrix[i++]); + + + Matrix4ToEuler(inMatrix, rPosTheta, rPos); + + euler[0] = 100 * inMatrix[3]; + euler[1] = 100 * inMatrix[11]; + euler[2] = 100 * inMatrix[7]; + + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[2]; + euler[5] = rPosTheta[1]; + + cout << " @ pose (" << euler[0] << "," << euler[1] << "," << euler[2] + << "," << euler[3] << "," << euler[4] << "," << euler[5] << ")" << endl; + + while (scan_in.good()) { + Point p; + int dummy; + scan_in >> dummy >> dummy >> p.x >> p.z >> p.y >> dummy >> dummy >> dummy; + + p.x *= 100; + p.y *= 100; + p.z *= 100; + + ptss.push_back(p); + } + + cout << " done" << endl; + + scan_in.close(); + scan_in.clear(); + pose_in.close(); + pose_in.clear(); + fileCounter++; + + return my_fileNr; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_zuf; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io.cc b/src/scanio/scan_io.cc new file mode 100644 index 0000000..2fb2c63 --- /dev/null +++ b/src/scanio/scan_io.cc @@ -0,0 +1,120 @@ +/* + * scan_io implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +#include "scanio/scan_io.h" + +using std::map; +using std::pair; +using std::string; +#include +using std::runtime_error; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#else +#include +#endif + +map ScanIO::m_scanIOs; + +ScanIO * ScanIO::getScanIO(IOType iotype) +{ + // get the ScanIO from the map + map::iterator it = m_scanIOs.find(iotype); + if(it != m_scanIOs.end()) + return it->second; + + // figure out the full and correct library name + string libname(io_type_to_libname(iotype)); +#ifdef WIN32 + libname += ".dll"; +#elif __APPLE__ + libname = "lib/lib" + libname + ".dylib"; +#else + libname = "lib" + libname + ".so"; +#endif + + //cout << "Loading shared library " << libname << " ... " << std::flush; + + // load the library and symbols +#ifdef _MSC_VER + HINSTANCE hinstLib = LoadLibrary(libname.c_str()); + if (!hinstLib) + throw runtime_error(string("Cannot load library ") + libname); + + //cout << "done." << endl; + + create_sio* create_ScanIO = (create_sio*)GetProcAddress(hinstLib, "create"); + + if (!create_ScanIO) { + FreeLibrary(hinstLib); + throw runtime_error("Cannot load symbol create_ScanIO"); + } + +#else + void *ptrScanIO = dlopen(libname.c_str(), RTLD_LAZY); + + if (!ptrScanIO) + throw runtime_error(string("Cannot load library ") + libname + string(": ") + dlerror()); + + //cerr << "done." << endl; + + // reset the errors + dlerror(); + + // load the symbols + create_sio* create_ScanIO = (create_sio*)dlsym(ptrScanIO, "create"); + const char* dlsym_error = dlerror(); + if (dlsym_error) { + dlclose(ptrScanIO); + throw runtime_error(string("Cannot load symbol create_ScanIO: ") + dlsym_error); + } +#endif + + // create an instance of ScanIO, save it in the map and return it + ScanIO* sio = create_ScanIO(); + m_scanIOs.insert(pair(iotype, sio)); + return sio; +} + +void ScanIO::clearScanIOs() +{ + for(map::iterator it = m_scanIOs.begin(); it != m_scanIOs.end(); ++it) { + // figure out the full and correct library name + string libname(io_type_to_libname(it->first)); +#ifdef WIN32 + libname += ".dll"; +#elif __APPLE__ + libname = "lib/lib" + libname + ".dylib"; +#else + libname = "lib" + libname + ".so"; +#endif + + // load library, destroy the allocated ScanIO and then remove it +#ifdef _MSC_VER + HINSTANCE hinstLib = LoadLibrary(libname.c_str()); + + destroy_sio* destroy_ScanIO = (destroy_sio*)GetProcAddress(hinstLib, "destroy"); + destroy_ScanIO(it->second); + + FreeLibrary(hinstLib); +#else + void *ptrScanIO = dlopen(libname.c_str(), RTLD_LAZY); + + destroy_sio* destroy_ScanIO = (destroy_sio*)dlsym(ptrScanIO, "destroy"); + destroy_ScanIO(it->second); + + dlclose(ptrScanIO); +#endif + } +} diff --git a/src/scanio/scan_io_ks.cc b/src/scanio/scan_io_ks.cc new file mode 100644 index 0000000..5871add --- /dev/null +++ b/src/scanio/scan_io_ks.cc @@ -0,0 +1,192 @@ +/* + * scan_io_ks implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_ks.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "ScanPos" +#define DATA_PATH_SUFFIX " - Scan001.txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_ks::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (001-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.txt) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + + + +void ScanIO_ks::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // CAD map -> pose correction [ks x/y/z -> slam -z/y/x] + double tmp; + tmp = pose[0]; + pose[0] = - pose[2]; + pose[2] = tmp; + + // convert coordinate to cm + for(i = 0; i < 3; ++i) pose[i] *= 100.0; + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_ks::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_ks::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's x/z/y, shuffle time! + tmp = point[1]; + point[1] = point[2]; + point[2] = tmp; + + // TODO: offset is application specific, handle with care + // correct constant offset (in slam coordinates) + point[0] -= 70000.0; // x + point[2] -= 20000.0; // z + + // convert coordinate to cm + for(i = 0; i < 3; ++i) point[i] *= 100.0; + + // apply filter and insert point + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_ks_rgb.cc b/src/scanio/scan_io_ks_rgb.cc new file mode 100644 index 0000000..4b96439 --- /dev/null +++ b/src/scanio/scan_io_ks_rgb.cc @@ -0,0 +1,210 @@ +/* + * scan_io_ks_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_ks_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "Color_ScanPos" +#define DATA_PATH_SUFFIX " - Scan001.txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_ks_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (001-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.txt) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_ks_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); +/* +Don't use this part of io_ks because the original io_ks_rgb didn't +have it either, reasoning was "we never got ks_rgb scans with pose", so +the pose files created were already corrected in terms of offset and +scaling + // CAD map -> pose correction [ks x/y/z -> slam -z/y/x] + double tmp; + tmp = pose[0]; + pose[0] = - pose[2]; + pose[2] = tmp; + + // convert coordinate to cm + for(i = 0; i < 3; ++i) pose[i] *= 100.0; +*/ + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_ks_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE | DATA_AMPLITUDE)); +} + +void ScanIO_ks_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + + // TODO: support for amplitude and reflectance + if(xyz != 0 || rgb != 0 || reflectance != 0 || amplitude != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[8]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 8; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // still convert the points, needed for range check + + // the enemy's x/y/z is mapped to slam's x/z/y, shuffle time! + tmp = point[1]; + point[1] = point[2]; + point[2] = tmp; + + // TODO: offset is application specific, handle with care + // correct constant offset (in slam coordinates) + point[0] -= 70000.0; // x + point[2] -= 20000.0; // z + + // convert coordinate to cm + for(i = 0; i < 3; ++i) point[i] *= 100.0; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 3; i < 6; ++i) rgb->push_back( + static_cast(point[i] * 255.0)); + } + if(reflectance != 0) { + reflectance->push_back(point[7]); + } + if(amplitude != 0) { + amplitude->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_ks_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_riegl_rgb.cc b/src/scanio/scan_io_riegl_rgb.cc new file mode 100644 index 0000000..d45cda3 --- /dev/null +++ b/src/scanio/scan_io_riegl_rgb.cc @@ -0,0 +1,220 @@ +/* + * scan_io_riegl_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_riegl_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".rgb" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".dat" + + + +std::list ScanIO_riegl_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_riegl_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + + for (i = 0; i < 16; ++i) + pose_file >> inMatrix[i]; + pose_file.close(); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + pose[0] = 100*rPos[0]; + pose[1] = 100*rPos[1]; + pose[2] = 100*rPos[2]; + pose[3] = rPosTheta[0]; + pose[4] = rPosTheta[1]; + pose[5] = rPosTheta[2]; + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_riegl_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB | DATA_REFLECTANCE)); +} + +void ScanIO_riegl_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || rgb != 0 || reflectance != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read the point count + unsigned int count; + data_file >> count; + + // reserve enough space for faster reading + if(xyz != 0) xyz->reserve(3*count); + if(rgb != 0) rgb->reserve(3*count); + + // read points + // z x y range theta phi r g b reflectance + double point[7]; + unsigned int color[3]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 6; ++i) data_file >> point[i]; + for(i = 0; i < 3; ++i) data_file >> color[i]; + data_file >> point[6]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's z/x/y, shuffle time! + // invert x axis + // convert coordinate to cm + tmp = point[2]; + point[2] = 100.0 * point[0]; + point[0] = -100.0 * point[1]; + point[1] = 100.0 * tmp; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 0; i < 3; ++i) rgb->push_back( + static_cast(color[i])); + } + if(reflectance != 0) { + reflectance->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_riegl_txt.cc b/src/scanio/scan_io_riegl_txt.cc new file mode 100644 index 0000000..0a9eb9d --- /dev/null +++ b/src/scanio/scan_io_riegl_txt.cc @@ -0,0 +1,212 @@ +/* + * scan_io_riegl_txt implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_riegl_txt.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".txt" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".dat" + + + +std::list ScanIO_riegl_txt::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_riegl_txt::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + + for (i = 0; i < 16; ++i) + pose_file >> inMatrix[i]; + pose_file.close(); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = inMatrix[12]; + tMatrix[12] = -inMatrix[7]; + tMatrix[13] = inMatrix[11]; + tMatrix[14] = inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + pose[0] = 100*rPos[0]; + pose[1] = 100*rPos[1]; + pose[2] = 100*rPos[2]; + pose[3] = rPosTheta[0]; + pose[4] = rPosTheta[1]; + pose[5] = rPosTheta[2]; + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_riegl_txt::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_REFLECTANCE)); +} + +void ScanIO_riegl_txt::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || reflectance != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read the point count + unsigned int count; + data_file >> count; + + // reserve enough space for faster reading + xyz->reserve(3*count); + + // read points + // z x y range theta phi reflectance + double point[7]; + double tmp; + while(data_file.good()) { + try { + for(i = 0; i < 7; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // the enemy's x/y/z is mapped to slam's z/x/y, shuffle time! + // invert x axis + // convert coordinate to cm + tmp = point[2]; + point[2] = 100.0 * point[0]; + point[0] = -100.0 * point[1]; + point[1] = 100.0 * tmp; + + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(reflectance != 0) { + reflectance->push_back(point[6]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_riegl_txt; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_rts.cc b/src/scanio/scan_io_rts.cc new file mode 100644 index 0000000..f2b1e95 --- /dev/null +++ b/src/scanio/scan_io_rts.cc @@ -0,0 +1,208 @@ +/* + * scan_io_rts implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_rts.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::vector; +#include +using std::stringstream; + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan3d_0_" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_FILE "odometry_0_sync_interpol.dat" + +//! RTS type flag for invalid points +#define TYPE_INVALID 0x10 + + + +std::list ScanIO_rts::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + // only a single pose file, can't do without one + path pose_path(dir_path); + pose_path /= POSE_PATH_FILE; + if(exists(pose_path)) { + for(unsigned int i = start; i <= end; ++i) { + // identifier is a number (0-\infty) + std::string identifier(to_string(i)); + // scan consists of data (.3d) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data)) + break; + identifiers.push_back(identifier); + } + } + return identifiers; +} + +void ScanIO_rts::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + // if directory doesn't match the cached one, rebuild pose cache + if(cached_dir != dir_path) { + // check for pose file + path pose_path(dir_path); + pose_path /= POSE_PATH_FILE; + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file in [") + dir_path + "]"); + + // open pose file once and read all poses + ifstream pose_file(pose_path); + pose_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + vector poses; + double p[6], timestamp; + while(pose_file.good()) { + try { + pose_file >> timestamp + >> p[2] >> p[0] >> p[1] // x, y, z + >> p[3] >> p[5] >> p[4]; // theta_x, theta_y, theta_z + } catch(std::ios_base::failure& e) { + break; + } + + // convert + for(i = 0; i < 3; ++i) p[i] *= 0.1; + + // add in poses + for(i = 0; i < 6; ++i) poses.push_back(p[i]); + } + + // after success, set the cache + cached_poses.swap(poses); + cached_dir = dir_path; + } + + // get index from the identifier and pick the pose + stringstream str(identifier); + unsigned int scan_index; + str >> scan_index; + if(cached_poses.size() < scan_index*6 + 6) + throw std::runtime_error(std::string("There is no pose entry for scan [") + identifier + "]"); + + for(i = 0; i < 6; ++i) + pose[i] = cached_poses[scan_index*6 + i]; + return; +} + +bool ScanIO_rts::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_rts::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + // TODO: Type and other columns? + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + // read points + // z x y type ? ? + double point[3]; + int type, dummy; + while(data_file.good()) { + try { + data_file >> point[2] >> point[0] >> point[1]; + data_file >> type >> dummy >> dummy; + } catch(std::ios_base::failure& e) { + break; + } + + // convert + point[0] *= 0.1; + point[1] *= -0.1; + point[2] *= 0.1; + + // apply filter and insert point + if(!(type & TYPE_INVALID)) { + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rts; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_rxp.cc b/src/scanio/scan_io_rxp.cc new file mode 100644 index 0000000..0f84079 --- /dev/null +++ b/src/scanio/scan_io_rxp.cc @@ -0,0 +1,287 @@ +/* + * scan_io_rxp implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher + */ + +#include "scanio/scan_io_rxp.h" +#include "riegl/scanlib.hpp" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + +using namespace scanlib; +using namespace std; +using namespace std::tr1; + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".rxp" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + +/* +TODO: this file is still work in progress for change to the new scanserver workflow +this ScanIO has to distinguish a multi scan file and a directory of single scan files and is currently very messy handling these with the importer class +*/ + + + +std::list ScanIO_rxp::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + + path pose(dir_path); + if(is_regular_file(pose)) { + // TODO: create identifiers for this case + // a) from start to end, requires sanity checks and goodwill of user + // b) iterate through the file and get last index + // c) check last index by other means through the riegl api? + // TEMP: implementing a) without sanity checks :) + for(unsigned int i = start; i < end; ++i) { + identifiers.push_back(to_string(i,3)); + } + } else { + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + } + return identifiers; +} + +void ScanIO_rxp::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + + // if the directory actually marks a (multi scan) file, return zero pose + // TODO: test if pose_path gets constructed correctly, see removal of trailing / in the old code + if(is_regular_file(pose_path.string())) { + for(i = 0; i < 6; ++i) pose[i] = 0.0; + return; + } + + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + boost::filesystem::ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_rxp::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_REFLECTANCE | DATA_AMPLITUDE | DATA_DEVIATION | DATA_TYPE)); +} + +void ScanIO_rxp::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + + path data_path(dir_path); + + // distinguish file and directory + if(is_regular_file(data_path)) { + stringstream str(identifier); + int scan_index; + str >> scan_index; + // first clean up if they "directory" has changed + // second case of resetting: rewinding index in case of non-sequential index access + if(old_path != dir_path || (imp != 0 && imp->getCurrentScan() > scan_index)) { + // TODO: I'm assuming here that I can simply do this + if(rc != 0) { rc->close(); } + if(dec != 0) { delete dec; dec = 0; } + if(imp != 0) { delete imp; imp = 0; } + // TODO ^ + } + // create directory-persistent decoder + if (!dec) { + // remember path + old_path = dir_path; + + // create new connection + rc = basic_rconnection::create(data_path.string()); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + // TODO: this won't really work because filter is gone and xyz too and everything breaks + // probably set new filter and xyz in the importer + imp = new importer(filter, scan_index, xyz, reflectance, amplitude, type, deviation); + } + + // set new filter and vectors + imp->set(filter, xyz, reflectance, amplitude, type, deviation); + + buffer buf; + + // skip the first scans + if(imp->getCurrentScan() < scan_index) { + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + if(imp->getCurrentScan() >= scan_index) break; + } + } + if(dec->eoi()) return; + int cscan = imp->getCurrentScan(); + // iterate over chunks, until the next scan is reached + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + if(imp->getCurrentScan() != cscan) break; + } + + return; + } + + // error handling + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + string data_path_str; + data_path_str = "file://" + data_path.string(); + rc = basic_rconnection::create(data_path_str); + rc->open(); + + // decoder splits the binary file into readable chunks + dec = new decoder_rxpmarker(rc); + // importer interprets the chunks + imp = new importer(filter, 0, xyz, reflectance, amplitude, type, deviation); + + // iterate over chunks + buffer buf; + for(dec->get(buf); !dec->eoi(); dec->get(buf)) { + imp->dispatch(buf.begin(), buf.end()); + } + + //done + rc->close(); + // TODO: clean up all these pointers, aren't they dangling? + } +} + +void importer::on_echo_transformed(echo_type echo) +{ + // for multi scan files, ignore those before start + if (currentscan < start) return; + + // targets is a member std::vector that contains all + // echoes seen so far, i.e. the current echo is always + // indexed by target_count-1. + target& t(targets[target_count - 1]); + + double point[3]; + point[0] = t.vertex[1]*-100.0; + point[1] = t.vertex[2]*100.0; + point[2] = t.vertex[0]*100.0; + + if(filter->check(point)) { + if(xyz) { + for(unsigned int i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(reflectance) reflectance->push_back(t.reflectance); + if(amplitude) amplitude->push_back(t.amplitude); + if(deviation) deviation->push_back(t.deviation); + if(type) { + if(pointcloud::first == echo) type->push_back(0); + else if(pointcloud::interior == echo) type->push_back(1); + else if(pointcloud::last == echo) type->push_back(10); + else if(pointcloud::single == echo) type->push_back(9); + } + } + + /* + // target.reflectance + // target.amplitude + // target.deviation + // target.time + // target.vertex point coordinates + */ +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_rxp; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_uos.cc b/src/scanio/scan_io_uos.cc new file mode 100644 index 0000000..049aefb --- /dev/null +++ b/src/scanio/scan_io_uos.cc @@ -0,0 +1,178 @@ +/* + * scan_io_uos implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_uos.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_uos::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_uos::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_uos::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + +void ScanIO_uos::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + + // aquire header informations + /* OPTIONAL: the header isn't always there, would require a sanity check + unsigned int n, m; + char[3] dummy; + data_file >> n; + for(unsigned int i = 0; i < 3; ++i) data_file >> dummy[i]; + data_file >> m; + values.reserve(n*m*3); + */ + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + } catch(std::ios_base::failure& e) { + break; + } + + // apply filter and insert point + if(filter.check(point)) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_uos_rgb.cc b/src/scanio/scan_io_uos_rgb.cc new file mode 100644 index 0000000..b209cb5 --- /dev/null +++ b/src/scanio/scan_io_uos_rgb.cc @@ -0,0 +1,184 @@ +/* + * scan_io_uso_rgb implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "scanio/scan_io_uos_rgb.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#include +#endif + +#include +#include +using namespace boost::filesystem; + +#include "slam6d/globals.icc" + + + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".3d" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + + + +std::list ScanIO_uos_rgb::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + std::list identifiers; + for(unsigned int i = start; i <= end; ++i) { + // identifier is /d/d/d (000-999) + std::string identifier(to_string(i,3)); + // scan consists of data (.3d) and pose (.pose) files + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + // stop if part of a scan is missing or end by absence is detected + if(!exists(data) || !exists(pose)) + break; + identifiers.push_back(identifier); + } + return identifiers; +} + +void ScanIO_uos_rgb::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + + path pose_path(dir_path); + pose_path /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + if(!exists(pose_path)) + throw std::runtime_error(std::string("There is no pose file for [") + identifier + "] in [" + dir_path + "]"); + + // open pose file + ifstream pose_file(pose_path); + + // if the file is open, read contents + if(pose_file.good()) { + // read 6 plain doubles + for(i = 0; i < 6; ++i) pose_file >> pose[i]; + pose_file.close(); + + // convert angles from deg to rad + for(i = 3; i < 6; ++i) pose[i] = rad(pose[i]); + } else { + throw std::runtime_error(std::string("Pose file could not be opened for [") + identifier + "] in [" + dir_path + "]"); + } +} + +bool ScanIO_uos_rgb::supports(IODataType type) +{ + return !!(type & (DATA_XYZ | DATA_RGB)); +} + +void ScanIO_uos_rgb::readScan(const char* dir_path, const char* identifier, PointFilter& filter, std::vector* xyz, std::vector* rgb, std::vector* reflectance, std::vector* amplitude, std::vector* type, std::vector* deviation) +{ + unsigned int i; + + // error handling + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + identifier + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + if(xyz != 0 || rgb != 0) { + // open data file + ifstream data_file(data_path); + data_file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + + + // aquire header informations + /* OPTIONAL: the header isn't always there, would require a sanity check + unsigned int n, m; + char[3] dummy; + data_file >> n; + for(unsigned int i = 0; i < 3; ++i) data_file >> dummy[i]; + data_file >> m; + values.reserve(n*m*3); + */ + // overread the first line + char dummy[255]; + data_file.getline(dummy, 255); + + // read points + double point[3]; + unsigned int color[3]; + while(data_file.good()) { + try { + for(i = 0; i < 3; ++i) data_file >> point[i]; + for(i = 0; i < 3; ++i) data_file >> color[i]; + } catch(std::ios_base::failure& e) { + break; + } + // apply filter and insert point + if(filter.check(point)) { + if(xyz != 0) { + for(i = 0; i < 3; ++i) xyz->push_back(point[i]); + } + if(rgb != 0) { + for(i = 0; i < 3; ++i) rgb->push_back( + static_cast(color[i])); + } + } + } + data_file.close(); + } +} + + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) ScanIO* create() +#else +extern "C" ScanIO* create() +#endif +{ + return new ScanIO_uos_rgb; +} + + +/** + * class factory for object construction + * + * @return Pointer to new object + */ +#ifdef _MSC_VER +extern "C" __declspec(dllexport) void destroy(ScanIO *sio) +#else +extern "C" void destroy(ScanIO *sio) +#endif +{ + delete sio; +} + +#ifdef _MSC_VER +BOOL APIENTRY DllMain(HANDLE hModule, DWORD dwReason, LPVOID lpReserved) +{ + return TRUE; +} +#endif diff --git a/src/scanio/scan_io_velodyne.cc b/src/scanio/scan_io_velodyne.cc new file mode 100644 index 0000000..9202c0f --- /dev/null +++ b/src/scanio/scan_io_velodyne.cc @@ -0,0 +1,614 @@ +/* + * scan_io_velodyne implementation + * + * Copyright (C) Mohammad Faisal, Dorit Borrmann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation of reading 3D scans + * @author Andreas Nuechter. Jacobs University Bremen gGmbH + * @author Dorit Borrmann. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + * @author Mohammad Faisal. Smart Systems Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "slam6d/point.h" +#include "veloslam/velodefs.h" +#include "scanio/scan_io_velodyne.h" +#include "slam6d/globals.icc" +#include +#include +#include +using std::ifstream; +using std::ostrstream; +using std::cerr; +using std::endl; +using std::ends; + +#include +using std::swap; + +#include +#include +#include +#include +#include + +using namespace std; + +#ifdef _MSC_VER +#include +#endif +#include +#include +using namespace boost::filesystem; + +#define DATA_PATH_PREFIX "scan" +#define DATA_PATH_SUFFIX ".bin" +#define POSE_PATH_PREFIX "scan" +#define POSE_PATH_SUFFIX ".pose" + +#define BLOCK_OFFSET 42+16 + +#define BLOCK_SIZE 1206 +#define CIRCLELENGTH 360 +#define VELODYNE_NUM_LASERS 64 +#define CircleBufferSize CIRCLELENGTH*32*12 +#define CIRCLEROUND CIRCLELENGTH*6 + +#define RADIANS_PER_LSB 0.0174532925 +#define METERS_PER_LSB 0.002 +#define METERS_PER_CM 0.01 + +#define TWOPI_INV (0.5/M_PI) +#define TWOPI (2*M_PI) + +typedef struct raw_packet + { + unsigned char dat[1200]; + unsigned short revolution; + unsigned char status[4]; + } raw_packet_t; + + +typedef unsigned char BYTE; + +long CountOfLidar = 0; + +//Changes the variable to be filled dynamically. Added a 6th variable to enable or disable a specific sensor +double velodyne_calibrated[VELODYNE_NUM_LASERS][6]; + +/** + * Method to fill the calibration data using the Velodyne64 calibration data from Wuhan. + */ +int backup() +{ + double velodyne_calibrated1[64][6] = + { + { -7.1581192, -4.5, 102, 21.560343, -2.5999999, 1}, + { -6.8178215, -3.4000001, 125, 21.516994, 2.5999999, 1}, + { 0.31782165, 3, 130, 20.617426, -2.5999999, 1}, + { 0.65811908, 4.5999999, 128, 20.574717, 2.5999999, 1}, + { -6.4776502, -0.5, 112, 21.473722, -2.5999999, 1}, + { -6.1375928, 1, 125, 21.430525, 2.5999999, 1}, + { -8.520812, -1.5, 106, 21.734608, -2.5999999, 1}, + { -8.1798887, 0.40000001, 127, 21.690901, 2.5999999, 1}, + { -5.797637, 4, 111, 21.387396, -2.5999999, 1}, + { -5.4577708, 5.5, 126, 21.34433, 2.5999999, 1}, + { -7.8391404, 3.0999999, 113, 21.647291, -2.5999999, 1}, + { -7.4985547, 4.5, 123, 21.603773, 2.5999999, 1}, + { -3.0802133, -4.5, 105, 21.044245, -2.5999999, 1}, + { -2.7406337, -3.2, 133, 21.001518, 2.5999999, 1}, + { -5.1179824, -5.5, 110, 21.301321, -2.5999999, 1}, + { -4.7782598, -4, 129, 21.258366, 2.5999999, 1}, + { -2.4010365, -0.2, 111, 20.958813, -2.5999999, 1}, + { -2.0614092, 1, 130, 20.916126, 2.5999999, 1}, + { -4.4385905, -1.2, 115, 21.215462, -2.5999999, 1}, + { -4.0989642, 0, 133, 21.172602, 2.5999999, 1}, + { -1.7217404, 3.8, 113, 20.873451, -2.5999999, 1}, + { -1.3820176, 5, 130, 20.830786, 2.5999999, 1}, + { -3.7593663, 3, 117, 21.129782, -2.5999999, 1}, + { -3.4197867, 4.5, 129, 21.086998, 2.5999999, 1}, + { 0.998555, -4.5, 107, 20.531982, -2.5999999, 1}, + { 1.339141, -3.2, 131, 20.489222, 2.5999999, 1}, + { -1.0422293, -5.4000001, 128, 20.788124, -2.5999999, 1}, + { -0.70236301, -4, 134, 20.745461, 2.5999999, 1}, + { 1.679889, -0.5, 124, 20.446428, -2.5999999, 1}, + { 2.0208123, 1, 136, 20.403601, 2.5999999, 1}, + { -0.36240739, -1.5, 131, 20.702793, -2.5999999, 1}, + { -0.022349782, 0.2, 136, 20.660116, 2.5999999, 1}, + { -22.737886, -7.8000002, 101, 16.019152, -2.5999999, 1}, + { -22.226072, -5, 88, 15.954137, 2.5999999, 1}, + { -11.513928, 4.5, 121, 14.680806, -2.5999999, 1}, + { -11.002114, 7.4000001, 88, 14.623099, 2.5999999, 1}, + { -21.714685, -1, 94, 15.889649, -2.5999999, 1}, + { -21.203688, 2, 88, 15.82566, 2.5999999, 1}, + { -24.790272, -2.5, 114, 16.284933, -2.5999999, 1}, + { -24.276321, 0.5, 89, 16.217583, 2.5999999, 1}, + { -20.693031, 6, 98, 15.762167, -2.5999999, 1}, + { -20.182682, 9, 92, 15.699132, 2.5999999, 1}, + { -23.762968, 4.5, 107, 16.15085, -2.5999999, 1}, + { -23.250172, 7.5, 80, 16.084715, 2.5999999, 1}, + { -16.615318, -7.5, 121, 15.26925, -2.5999999, 1}, + { -16.105938, -5, 92, 15.209245, 2.5999999, 1}, + { -19.672594, -9, 119, 15.63654, -2.5999999, 1}, + { -19.162729, -6, 89, 15.574372, 2.5999999, 1}, + { -15.596496, -1, 109, 15.14954, -2.5999999, 1}, + { -15.086954, 2, 88, 15.090119, 2.5999999, 1}, + { -18.653046, -2, 117, 15.51261, -2.5999999, 1}, + { -18.143503, 0.69999999, 88, 15.451235, 2.5999999, 1}, + { -14.577271, 5.5, 112, 15.030966, -2.5999999, 1}, + { -14.067405, 8.3999996, 87, 14.972065, 2.5999999, 1}, + { -17.634062, 5, 119, 15.390228, -6.1999998, 1}, + { -17.124681, 7.5, 97, 15.329572, 2.5999999, 1}, + { -10.489829, -7.5, 119, 14.565539, -2.5999999, 1}, + { -9.9770317, -4.6999998, 95, 14.508112, 2.5999999, 1}, + { -13.557318, -8.5, 126, 14.913401, -2.5999999, 1}, + { -13.046968, -6, 92, 14.854958, 2.5999999, 1}, + { -9.4636793, -1, 112, 14.450804, -2.5999999, 1}, + { -8.949728, 1.5, 93, 14.3936, 2.5999999, 1}, + { -12.536313, -2, 121, 14.796721, -2.5999999, 1}, + { -12.025314, 0.40000001, 96, 14.738676, 2.5999999, 1}, + }; + + for ( int i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + velodyne_calibrated[i][0] = velodyne_calibrated1[i][0]; + velodyne_calibrated[i][1] = velodyne_calibrated1[i][1]; + velodyne_calibrated[i][2] = velodyne_calibrated1[i][2]; + velodyne_calibrated[i][3] = velodyne_calibrated1[i][3]; + velodyne_calibrated[i][4] = velodyne_calibrated1[i][4]; + velodyne_calibrated[i][5] = velodyne_calibrated1[i][5]; + } + + return 0; +} + +double rotCorrection[VELODYNE_NUM_LASERS]; +double vertCorrection[VELODYNE_NUM_LASERS]; +double distCorrection[VELODYNE_NUM_LASERS]; +double vertoffsetCorrection[VELODYNE_NUM_LASERS]; +double horizdffsetCorrection[VELODYNE_NUM_LASERS]; +double enabled[VELODYNE_NUM_LASERS]; //New variable to change enabling and disabling of data. + +int physical2logical[VELODYNE_NUM_LASERS]; +int logical2physical[VELODYNE_NUM_LASERS]; + +double absf ( double a ) +{ + if ( a < 0 ) + return -a; + return a; +} + +int velodyne_physical_to_logical ( int phys ) +{ + return physical2logical[phys]; +} + +int velodyne_logical_to_physical ( int logical ) +{ + return logical2physical[logical]; +} + +int laser_phi_compare(const void *_a, const void *_b) +{ + int a = *((int*) _a); + int b = *((int*) _b); + + if (velodyne_calibrated[a][0] < velodyne_calibrated[b][0]) + return -1; + + return 1; +} + +/** valid only for v > 0 **/ +static inline double mod2pi_positive(double vin) +{ + double q = vin * TWOPI_INV + 0.5; + int qi = (int) q; + + return vin - qi*TWOPI; +} + +/** Map v to [-PI, PI] **/ +static inline double mod2pi(double vin) +{ + if (vin < 0) + return -mod2pi_positive(-vin); + else + return mod2pi_positive(vin); +} + +/** Return vin such that it is within PI degrees of ref **/ +static inline double mod2pi_ref(double ref, double vin) +{ + return ref + mod2pi(vin - ref); +} + +int velodyne_calib_precompute() +{ + int i; + int logical; + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + logical2physical[i] = i; + + qsort ( logical2physical, VELODYNE_NUM_LASERS, sizeof ( int ), laser_phi_compare ); + + for ( logical = 0; logical < VELODYNE_NUM_LASERS; logical++ ) + { + physical2logical[logical2physical[logical]] = logical; + } + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection enable + for ( i = 0; i < VELODYNE_NUM_LASERS; i++ ) + { + vertCorrection[i] = velodyne_calibrated[i][0] * RADIANS_PER_LSB; + rotCorrection[i] = velodyne_calibrated[i][1] * RADIANS_PER_LSB; + distCorrection[i] = velodyne_calibrated[i][2] * METERS_PER_CM; + vertoffsetCorrection[i] = velodyne_calibrated[i][3] * METERS_PER_CM; + horizdffsetCorrection[i] = velodyne_calibrated[i][4] * METERS_PER_CM; + enabled[i] = velodyne_calibrated[i][5]; + } + + return 0; +} + + +int calibrate(string filename) +{ + int linecount = 0; + string line; + std::ifstream myfile (filename.c_str()); + if (myfile.is_open()) + { + cout << "Using Calibration File"<(string::npos - theDelimiter.size()))?string::npos:end + theDelimiter.size()); + i++; + } + + velodyne_calibrated[j][0] = atof(data[0].c_str()); + velodyne_calibrated[j][1] = atof(data[1].c_str()); + velodyne_calibrated[j][2] = atof(data[2].c_str()); + velodyne_calibrated[j][3] = atof(data[3].c_str()); + velodyne_calibrated[j][4] = atof(data[4].c_str()); + velodyne_calibrated[j][5] = atof(data[5].c_str()); + linecount++; + j++; + } + while(!myfile.eof()); + + myfile.close(); + + if (linecount < 60) + { + for (int i = 32; i<64; i++) + { + velodyne_calibrated[i][0] = 0.0; + velodyne_calibrated[i][1] = 0.0; + velodyne_calibrated[i][2] = 0.0; + velodyne_calibrated[i][3] = 0.0; + velodyne_calibrated[i][4] = 0.0; + velodyne_calibrated[i][5] = 0.0; + } + } + } + else + { + cout << "Unable to open calibration file.\nUsing Wuhan hardcored values."<* xyz, + std::vector* rgb, + std::vector* reflectance, + std::vector* amplitude, + std::vector* type, + std::vector* deviation) +{ + + int c, i, j; + unsigned char Head; + BYTE buf[BLOCK_SIZE]; + Point point; + BYTE *p; + unsigned short *ps; + unsigned short *pt; + unsigned short *pshort; + + double ctheta; + double theta, phi; + + double sin_ctheta, cos_ctheta; + double sin_theta, cos_theta; + double sin_phi, cos_phi; + + unsigned short physicalNO; + unsigned short logicalNO; + + float rotational; + float distance; + float corredistance; + int intensity; + int physical; + int size; + + unsigned short rot; + double x, y, z; + + int circle_col = 0; + int circle_row = 0; + + for ( c = 0 ; c < CIRCLELENGTH; c++ ) + { +#ifdef _MSC_VER + fseek(fp , BLOCK_OFFSET, SEEK_CUR); +#else + fseeko(fp , BLOCK_OFFSET, SEEK_CUR); +#endif + size=fread ( buf, 1, BLOCK_SIZE, fp ); + + if(size 2.2 ) + { + BYTE *inty = ( BYTE * ) ( p + 4 + j * 3 + 2 ); + intensity = *inty; + + ctheta = 2 * M_PI - rotational * RADIANS_PER_LSB; + if ( ctheta == 2*M_PI ) + ctheta = 0; + + sin_ctheta = sin ( ctheta ); + cos_ctheta = cos ( ctheta ); + + //vertCorrection rotCorrection distCorrection vertOffsetCorrection horizOffsetCorrection + // corredistance = ( distance + distCorrection[physicalNO] ) * ( 1.0 + vertoffsetCorrection[physicalNO] ); + corredistance = ( distance + distCorrection[physicalNO] ) ; + theta = mod2pi_ref ( M_PI, ctheta + rotCorrection[physicalNO] ); /////////????//////// + phi = vertCorrection[physicalNO]; ////////?????///////////////// + + sin_theta = sin ( theta ); + cos_theta = cos ( theta ); + sin_phi = sin ( phi ); + cos_phi = cos ( phi ); + + /////////////////////?a??×?±ê///////////////////// + x = corredistance * cos_theta * cos_phi; + y = corredistance * sin_theta * cos_phi; + z = corredistance * sin_phi +vertoffsetCorrection[physicalNO]*cos_phi; + + x -= horizdffsetCorrection[physicalNO] * cos_ctheta; + y -= horizdffsetCorrection[physicalNO] * sin_ctheta; + + point.rad = sqrt( x*x + y*y ); + point.tan_theta = y/x; + + point.type = POINT_TYPE_GROUND; + point.x=x*100; + point.y=z*100; + point.z=-y*100; + + double p[3]; + p[0] = point.x; + p[1] = point.y; + p[2] = point.z; + + //Enable Check. Could be moved earlier to remove all the unnecessary calculations. + //Here to simplify the implementation + if(filter.check(p) && (enabled[physicalNO]==1)) + { + for(int ii = 0; ii < 3; ++ii) xyz->push_back(p[ii]); + } + } + } + p = p + 100; + ps = ( unsigned short * ) p; + } + + + } + + return 0; +} + +std::list ScanIO_velodyne::readDirectory(const char* dir_path, unsigned int start, unsigned int end) +{ + //Calling the calibration method with the file name "calibration.txt" in the same folder as the scan.bin + string califilename; + string dir(dir_path); + califilename = dir + "calibration" + ".txt"; + calibrate(califilename); + std::list identifiers; +// fileCounter = start; + + velodyne_calib_precompute(); + for(unsigned int i = start; i <= end; ++i) + { + std::string identifier(to_string(i,3)); + + path data(dir_path); + data /= path(std::string(DATA_PATH_PREFIX) + DATA_PATH_SUFFIX); + + path pose(dir_path); + pose /= path(std::string(POSE_PATH_PREFIX) + identifier + POSE_PATH_SUFFIX); + + if(!exists(data)) + break; + identifiers.push_back(identifier); + } + + return identifiers; +} + +void ScanIO_velodyne::readPose(const char* dir_path, const char* identifier, double* pose) +{ + unsigned int i; + // on pose information for veloslam + for(i = 0; i < 6; ++i) pose[i] = 0.0; + for(i = 3; i < 6; ++i) pose[i] = 0.0; + return; +} + +bool ScanIO_velodyne::supports(IODataType type) +{ + return !!(type & (DATA_XYZ)); +} + + +void ScanIO_velodyne::readScan( + const char* dir_path, + const char* identifier, + PointFilter& filter, + std::vector* xyz, + std::vector* rgb, + std::vector* reflectance, + std::vector* amplitude, + std::vector* type, + std::vector* deviation) +{ + unsigned int i; + FILE *scan_in; + + path data_path(dir_path); + data_path /= path(std::string(DATA_PATH_PREFIX) + DATA_PATH_SUFFIX); + if(!exists(data_path)) + throw std::runtime_error(std::string("There is no scan file for [") + identifier + "] in [" + dir_path + "]"); + + char filename[256]; + sprintf(filename, "%s%s%s",dir_path ,DATA_PATH_PREFIX, DATA_PATH_SUFFIX ); + +#ifdef _MSC_VER + scan_in = fopen(filename,"rb"); +#else + scan_in = fopen64(filename,"rb"); +#endif + + if(scan_in == NULL) + { + cerr<reserve(12*32*CIRCLELENGTH); + + fileCounter= atoi(identifier); + + #ifdef _MSC_VER + fseek(scan_in, 24, SEEK_SET); + fseek(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); +#else + fseeko(scan_in, 24, SEEK_SET); + fseeko(scan_in, (BLOCK_SIZE+BLOCK_OFFSET)*CIRCLELENGTH*fileCounter, SEEK_CUR); +#endif + + read_one_packet( + scan_in, + filter, + xyz, + rgb, + reflectance, + amplitude, + type, + deviation); + + cout << " with " << xyz->size() << " Points"; + cout << " done " << fileCounter< +#include +#include +#include +#include +#include +#include +#include +#include +#define PI 3.14159265 +using namespace std; + +int main(int argc, char** argv){ + + if (argc!=2){ + cout<<"USAGE: david_scanner config_file\nConfig file should contain path_to_frames first_valid_frame last_valid_frame empty_frame path_to_intrinsics" + "path_to_rotation_left path_to_rotation_right path_to_translation_left and path_to_translation_right each on a new line!"<imageData; + for (int row = 0; row < diff->height; row++){ + for (int col = 0; col < diff->width; col++){ + int R; + R = pixels[ row * diff->widthStep + col * 3 + 2 ]; + if (R>30) { + pixels[ row * diff->widthStep + col * 3 + 0 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 1 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 2 ] = 255; + } else { + pixels[ row * diff->widthStep + col * 3 + 0 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 1 ] = 0; + pixels[ row * diff->widthStep + col * 3 + 2 ] = 0; + } + + } + } + + //remove pixels that don't have at least 2 red neighbors + for (int row = 1; row < diff->height-1; row++){ + for (int col = 1; col < diff->width-1; col++){ + int R = pixels[ row * diff->widthStep + col * 3 + 2 ]; + if (R == 255){ + int r1 = pixels[ (row-1)*diff->widthStep + col * 3 + 2]; + int r2 = pixels[ (row-1)*diff->widthStep + (col-1) * 3 + 2]; + int r3 = pixels[ (row-1)*diff->widthStep + (col+1) * 3 + 2]; + int r4 = pixels[ (row+1)*diff->widthStep + col * 3 + 2]; + int r5 = pixels[ (row+1)*diff->widthStep + (col-1) * 3 + 2]; + int r6 = pixels[ (row+1)*diff->widthStep + (col+1) * 3 + 2]; + int r7 = pixels[ (row)*diff->widthStep + (col-1) * 3 + 2]; + int r8 = pixels[ (row)*diff->widthStep + (col+1) * 3 + 2]; + if (r1+r2+r3+r4+r5+r6+r7+r8<=255) pixels[ row * diff->widthStep + col * 3 + 2 ]=0; + } + } + } + + //*****finding 2 lines on the image***** + + bool good = false; + int threshold = 50; //original threshold for Hough transform, incremented if too many groups of lines found + IplImage* color_dst; + IplImage* tmpImage; + int minX1, minX2, maxX1, maxX2; + CvSeq* lines = 0; + CvPoint* line1; + CvPoint* line2; + int count_groups; + + //incrementing thresholds until only 2 groups of lines can be found + while(!good){ + good = true; + count_groups = 0; //counter for number of line groups. Line group is defined by the slope + int epsilon = 1.5; //error margin for the slope + color_dst = cvCreateImage( cvGetSize(diff), 8, 3 ); + color_dst = cvCloneImage(diff); + tmpImage = cvCreateImage(cvGetSize(diff), IPL_DEPTH_8U, 1); + cvCvtColor(diff, tmpImage, CV_RGB2GRAY); + IplImage* dst = cvCreateImage( cvGetSize(diff), 8, 1 ); + cvCanny(tmpImage, dst, 20, 60, 3 ); + CvMemStorage* storage = cvCreateMemStorage(0); + //find all lines using Hough transform + lines = cvHoughLines2( dst, storage, CV_HOUGH_PROBABILISTIC, 1, CV_PI/180,threshold, 150, 100 ); + double first_group, second_group; + for(int i = 0; i < lines->total; i++ ){ + //get the slope of the line, check if it belongs to an already existing group + CvPoint* line = (CvPoint*)cvGetSeqElem(lines,i); + double angle = atan((double)(line[1].x-line[0].x)/(double)(line[1].y-line[0].y))*180/PI; + //starting first group + if (count_groups==0){ + first_group = angle; + line1 = line; + minX1 = line[0].x; + maxX1 = line[1].x; + count_groups++; + + } else { + + if (angle-first_group(epsilon*-1)){ + //line belongs to the first group of line..that's good + if (line[0].xmaxX1)maxX1=line[1].x; + } else { + //check if belongs to the second group + if ( count_groups == 2 ){ + if (angle-second_group(epsilon*-1)){ + if (line[0].xmaxX2)maxX2=line[1].x; + }else{ + //if not then try again with a higher threshold + good = false; + threshold+=20; + cout<<"Increased threshold: "<height,ymin+10)); + points[2]=cvPoint(maxX1, min(color_dst->height,ymax+10)); + points[3]=cvPoint(maxX1, max(0,ymax-10)); + CvPoint* pts[1]; + pts[0]=points; + int npts[1]; + npts[0]=4; + cvPolyLine(color_dst, pts, npts,1,1, CV_RGB(0,0,0), 20, 8 );//removing the group + + x1 = line2[0].x; + x2 = line2[1].x; + y1 = line2[0].y; + y2 = line2[1].y; + + c1 = (double)(x1 - minX2)/(double)(x2 - minX2); + c2 = (double)(maxX2 - x1)/(double)(maxX2 - x2); + + ymin = (c1*y2 - y1)/(c1-1); + ymax = (c2*y2 - y1)/(c2-1); + + if (maxX2 == x2) ymax = y2; + if (minX2 == x1) ymin = y1; + + //getting start and end of the second line + point3 = cvPoint(minX2, ymin); + point4 = cvPoint(maxX2, ymax); + + points[0]=cvPoint(minX2, max(0,ymin-10)); + points[1]=cvPoint(minX2, min(color_dst->height,ymin+10)); + points[2]=cvPoint(maxX2, min(color_dst->height,ymax+10)); + points[3]=cvPoint(maxX2, max(0,ymax-10)); + + pts[0]=points; + + cvPolyLine(color_dst, pts, npts,1,1, CV_RGB(0,0,0), 20, 8 );//removing the group + cvLine(color_dst, point3, point4,CV_RGB(0,255,0),3, 8 ); //draw the second line! + cvLine(color_dst, point1, point2,CV_RGB(0,255,0),3, 8 ); //draw the first line! + + //removing everything to the left of the left line and to the right of the right line + if (point4.x > point2.x){ + if (color_dst->width > point4.x){ + cvRectangle(color_dst,cvPoint(point4.x,0),cvPoint(color_dst->width,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + if (point1.x > 0){ + cvRectangle(color_dst,cvPoint(point1.x,0),cvPoint(0,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + } + if (point4.x < point2.x){ + if (color_dst->width > point2.x){ + cvRectangle(color_dst,cvPoint(point2.x,0),cvPoint(color_dst->width,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + if (point3.x > 0){ + cvRectangle(color_dst,cvPoint(point3.x,0),cvPoint(0,color_dst->height),CV_RGB(0,0,0),CV_FILLED); + } + } + //at this point we have to lines which we drew in green...which means all the red pixels that remain on the image + //are supposed to be laying on the object. Make them blue (for no particular reason..just looked nicer :) ) + unsigned char* pixels = (unsigned char*)color_dst->imageData; + + for (int row = 1; row < color_dst->height-1; row++){ + for (int col = 1; col < color_dst->width-1; col++){ + int R = pixels[ row * color_dst->widthStep + col * 3 + 2 ]; + if (R == 255){ + pixels[ row * color_dst->widthStep + col * 3 + 0 ]=255; + pixels[ row * color_dst->widthStep + col * 3 + 1 ]=0; + pixels[ row * color_dst->widthStep + col * 3 + 2 ]=0; + } + } + } + + } else continue; + + //take points on planes + CvPoint left1, left2, right1; + if (point1.x < point3.x){ + left1 = point1; + left2 = point2; + right1 = point3; + } else { + left1 = point3; + left2 = point4; + right1 = point1; + } + + //find 3d coordinate of the 2 points on the line on the left plane + //(x,y,z).t() = s*R.i()*A.i()*(u,v,1).t() - R.i()*T + + CvMat* imagepoint1 = cvCreateMat( 3, 1, CV_32F ); + CV_MAT_ELEM(*imagepoint1, float, 0, 0) = left1.x; + CV_MAT_ELEM(*imagepoint1, float, 1, 0) = left1.y; + CV_MAT_ELEM(*imagepoint1, float, 2, 0) = 1; + + + CvMat* b1 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R1iAi, imagepoint1, b1); + + //calculate scalar s based on the fact that point we take is on the wall => z coordinate is 0 + float s1 = CV_MAT_ELEM(*a1, float, 2, 0)/CV_MAT_ELEM(*b1, float, 2, 0); + + CvMat* identity = cvCreateMat(3,3,CV_32F); + cvSetIdentity(identity); + for (int i = 0; i < 3; i++){ + CV_MAT_ELEM(*identity, float, i, i)=s1; + } + CvMat* temp = cvCreateMat(3,1,CV_32F); + cvMatMul(identity,b1, temp); + + CvMat* dpoint1 = cvCreateMat(3,1,CV_32F); + cvSub(temp, a1, dpoint1); //first 3d point on the left plane + + //same thing for the second point + CvMat* imagepoint2 = cvCreateMat( 3, 1, CV_32F ); + + CV_MAT_ELEM(*imagepoint2, float, 0, 0) = left2.x; + CV_MAT_ELEM(*imagepoint2, float, 1, 0) = left2.y; + CV_MAT_ELEM(*imagepoint2, float, 2, 0) = 1; + + CvMat* b2 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R1iAi, imagepoint2, b2); + + float s2 = CV_MAT_ELEM(*a1, float, 2, 0)/CV_MAT_ELEM(*b2, float, 2, 0); + + cvSetIdentity(identity, cvRealScalar(s2)); + cvMatMul(identity,b2, b2); + + CvMat* dpoint2 = cvCreateMat(3,1,CV_32F); + cvSub(b2, a1, dpoint2); //second 3d point on the left plane + + //same for the point on the right plane + CvMat* imagepoint3 = cvCreateMat( 3, 1, CV_32F ); + CV_MAT_ELEM(*imagepoint3, float, 0, 0) = right1.x; + CV_MAT_ELEM(*imagepoint3, float, 1, 0) = right1.y; + CV_MAT_ELEM(*imagepoint3, float, 2, 0) = 1; + + CvMat* b3 = cvCreateMat(3, 1, CV_32F); + cvMatMul(R2iAi, imagepoint3, b3); + + float s3 = CV_MAT_ELEM(*a2, float, 2, 0)/CV_MAT_ELEM(*b3, float, 2, 0); + + cvSetIdentity(identity, cvRealScalar(s3)); + cvMatMul(identity,b3, b3); + + CvMat* dpoint3 = cvCreateMat(3,1,CV_32F); + cvSub(b3, a2, dpoint3); //point on the right plane + + //convert point from the right plane into the coord. system of the left plane + //p1 = R1.i()*[R2|T2]*p2 - R1.i()*T1 + CvMat* dpoint3left = cvCreateMat(3,1,CV_32F); + CvMat* pw = cvCreateMat(4,1,CV_32F); + for (int i = 0; i<3; i++){ + CV_MAT_ELEM(*pw, float, i, 0) = CV_MAT_ELEM(*dpoint3, float, i, 0); + } + CV_MAT_ELEM(*pw, float, 3, 0) = 1.0; + CvMat* r2t2pw = cvCreateMat(3,1,CV_32F); + cvMatMul(r2t2, pw, r2t2pw); + CvMat* r1invr2t2pw = cvCreateMat(3,1,CV_32F); + cvMatMul(r1inv, r2t2pw, r1invr2t2pw); + + cvSub(r1invr2t2pw, a1, dpoint3left); + //now that we have 3 non-colinear point in the same coordinate system we can find the equation of the plane + /* + A = y1 (z2 - z3) + y2 (z3 - z1) + y3 (z1 - z2) + B = z1 (x2 - x3) + z2 (x3 - x1) + z3 (x1 - x2) + C = x1 (y2 - y3) + x2 (y3 - y1) + x3 (y1 - y2) + - D = x1 (y2 z3 - y3 z2) + x2 (y3 z1 - y1 z3) + x3 (y1 z2 - y2 z1) + */ + float x1 = CV_MAT_ELEM(*dpoint1, float,0,0); + float y1 = CV_MAT_ELEM(*dpoint1, float,1,0); + float z1 = CV_MAT_ELEM(*dpoint1, float,2,0); + float x2 = CV_MAT_ELEM(*dpoint2, float,0,0); + float y2 = CV_MAT_ELEM(*dpoint2, float,1,0); + float z2 = CV_MAT_ELEM(*dpoint2, float,2,0); + float x3 = CV_MAT_ELEM(*dpoint3left, float,0,0); + float y3 = CV_MAT_ELEM(*dpoint3left, float,1,0); + float z3 = CV_MAT_ELEM(*dpoint3left, float,2,0); + float planeA = (y1 * (z2 - z3)) + (y2 * (z3 - z1)) + (y3 * (z1 - z2)); + float planeB = (z1 * (x2 - x3)) + (z2 * (x3 - x1)) + (z3 * (x1 - x2)); + float planeC = (x1 * (y2 - y3)) + (x2 * (y3 - y1)) + (x3 * (y1 - y2)); + float planeD = -((x1 * (y2 * z3 - y3 * z2)) + (x2 * (y3 * z1 - y1 * z3)) + (x3 * (y1 * z2 - y2 * z1))); + + //calculate normal to the lazer plane + CvMat* planeNormal = cvCreateMat(3, 1, CV_32F); + CV_MAT_ELEM(*planeNormal, float,0,0) = planeA; + CV_MAT_ELEM(*planeNormal, float,1,0) = planeB; + CV_MAT_ELEM(*planeNormal, float,2,0) = planeC; + + pixels = (unsigned char*)color_dst->imageData; + unsigned char* color_pixels = (unsigned char*)image_empty->imageData; + + //go through all the pixels on the object and calculate the 3d coordinate + for (int row = 1; row < color_dst->height-1; row++){ + for (int col = 1; col < color_dst->width-1; col++){ + int B = pixels[ row * color_dst->widthStep + col * 3]; + if (B == 255){ + //get RGB of the pixel on the original image + int realB = color_pixels[ row * color_dst->widthStep + col * 3]; + int realG = color_pixels[ row * color_dst->widthStep + col * 3 + 1]; + int realR = color_pixels[ row * color_dst->widthStep + col * 3 + 2]; + //Used http://www.cs.princeton.edu/courses/archive/fall00/cs426/lectures/raycast/sld017.htm for reference + //on how to find intersection of ray and a plane + float p0dotN = cvDotProduct(a1,planeNormal); + + CvMat* vtmp = cvCreateMat(3,1,CV_32F); + CV_MAT_ELEM(*vtmp, float,0,0) = col; + CV_MAT_ELEM(*vtmp, float,1,0) = row; + CV_MAT_ELEM(*vtmp, float,2,0) = 1; + + CvMat* v = cvCreateMat(3,1,CV_32F); + cvMatMul(R1iAi, vtmp, v); + + float vdotN = cvDotProduct(v,planeNormal); + float t = (p0dotN - planeD)/vdotN; + + cvSetIdentity(identity, cvRealScalar(t)); + cvMatMul(identity,v,v); + + CvMat* final = cvCreateMat(3,1,CV_32F); + cvSub(v,a1,final); //final point is still in the coordinate system of the left plane. + + CvMat* final_rotated = cvCreateMat(3,1,CV_32F); //translate it into the coordinate system of the camera + cvMatMul(rotation_matrix_left,final,final_rotated); + cvAdd(final_rotated,translation_left, final_rotated); + + //add point to the file (minus next to the y coordinate is there to compensate for the left-handed coordinate system of slam6d, otherwise + //dwarf is shown upside-down. + scanfile< lock(*other.m_lock.mutex()); + m_lock.swap(lock); + } +} + +CacheDataAccess::operator bool() const +{ + // if size is non-zero we should have a valid pointer to cache shared memory, don't know what happens to a zero-handle after you put it into a segment manager get address function + return m_size != 0; +} +*/ diff --git a/src/scanserver/cache/cacheHandler.cc b/src/scanserver/cache/cacheHandler.cc new file mode 100644 index 0000000..18b6900 --- /dev/null +++ b/src/scanserver/cache/cacheHandler.cc @@ -0,0 +1,21 @@ +/* + * cacheHandler implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/cache/cacheHandler.h" + +#include "scanserver/cache/cacheObject.h" + +CacheHandler::CacheHandler(CacheObject* object, CacheManager* manager) : + m_manager(manager), m_object(object) +{ +} + +CacheHandler::~CacheHandler() +{ +} diff --git a/src/scanserver/cache/cacheManager.cc b/src/scanserver/cache/cacheManager.cc new file mode 100644 index 0000000..29b98c7 --- /dev/null +++ b/src/scanserver/cache/cacheManager.cc @@ -0,0 +1,188 @@ +/* + * cacheManager implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/cache/cacheManager.h" + +#include +#include + +#include + +using namespace boost::interprocess; +using std::runtime_error; +using std::vector; +using std::string; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#include +#else +#include // mlock for avoiding swaps +#endif + + +CacheManager::CacheManager(SegmentManager* sm, const char* shm_name, std::size_t cache_size) : + m_segment_manager(sm), + m_shm_name(shm_name) +{ + // remove any existing shared memory that wasn't cleaned up + shared_memory_object::remove(m_shm_name.c_str()); + + try { + m_msm = new managed_shared_memory(create_only, m_shm_name.c_str(), cache_size); +#ifndef WIN32 + cout << " Locking cache memory... " << std::flush; + int ret = mlock(m_msm->get_address(), m_msm->get_size()); + if(ret == 0) + cout << "success."; + else if(ret == -EPERM) + cout << "unsuccessful, no permissions."; + else if(ret == -ENOMEM) + cout << "unsuccessful, RLIMIT_MEMLOCK too small."; + else + cout << "unsuccessful, error=" << ret << "."; + cout << endl; +#endif + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not create shared memory: ") + e.what()); + } +} + +CacheManager::~CacheManager() +{ + // clean up objects + for(vector::iterator it = m_objects.begin(); it != m_objects.end(); ++it) + m_segment_manager->destroy_ptr(*it); + + // remove cache data shared memory + delete m_msm; + shared_memory_object::remove(m_shm_name.c_str()); +} + +CacheObject* CacheManager::createCacheObject() +{ + CacheObject* obj = m_segment_manager->construct(anonymous_instance)(); + m_objects.push_back(obj); + return obj; +} + +bool CacheManager::loadCacheObject(CacheObject* obj) +{ + if(obj->m_handler) { + return obj->m_handler->load(); + } else { + throw runtime_error("No CacheHandler set for loading"); + } +} + +unsigned char* CacheManager::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // remove old data if this isn't a cache miss call but a direct allocate call + if(obj->m_handle != 0) { + if(size == obj->m_size) { + // INFO + //cout << "CacheManager::allocateCacheObject reusing space" << endl; + // space fits? leave it be + return reinterpret_cast(m_msm->get_address_from_handle(obj->m_handle)); + } else { + // reset CO + m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_size = 0; + obj->m_handle = 0; + } + } + + // try to allocate it initially + try { + return load(obj, size); + } catch(bad_alloc& e) { + // flush behaviour below + } + + // create a list of COs to remove from memory + // TODO: create the list from the heuristic + vector loaded = m_loaded; + // try to exclusively lock COs to remove them from memory + for(vector::iterator it = loaded.begin(); it != loaded.end(); ++it) { + CacheObject* target = *it; + scoped_lock lock(target->m_mutex_in_use, try_to_lock); + if(lock) { + unload(target); + // try to allocate it + try { + return load(obj, size); + } catch(bad_alloc& e) { + // continue flushing + } + } + } + + // when flushing didn't work, there's nothing to do anymore + throw runtime_error("CacheManager could not allocate enough memory for CacheObject. All available memory is locked for used CacheObjects and you need to increase the cache memory size"); +} + +void CacheManager::invalidateCacheObject(CacheObject* obj) +{ + // remove its data + if(obj->m_handle != 0) { + // reset CO + m_msm->destroy_ptr(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_size = 0; + obj->m_handle = 0; + } + + // invalidate the handler too + obj->m_handler->invalidate(); +} + +unsigned char* CacheManager::load(CacheObject* obj, unsigned int size) +{ + // INFO + //cout << " CM::load (" << size << ")" << endl; + + // allocate + unsigned char* data = m_msm->construct(anonymous_instance)[size](); + obj->m_size = size; + obj->m_handle = m_msm->get_handle_from_address(data); + + // mark it as loaded + m_loaded.push_back(obj); + + return data; +} + +void CacheManager::unload(CacheObject* obj) +{ + if(obj->m_handle == 0) return; + + // INFO + //cout << " CM::unload" << endl; + + // save the CO by its handler + unsigned char* data = reinterpret_cast(m_msm->get_address_from_handle(obj->m_handle)); + obj->m_handler->save(data, obj->m_size); + // TODO: exceptions? + + // reset CO + m_msm->destroy_ptr(data); + obj->m_size = 0; + obj->m_handle = 0; + + // mark it as unloaded + for(vector::iterator it = m_loaded.begin(); it != m_loaded.end(); ++it) { + if(obj == *it) { + m_loaded.erase(it); + break; + } + } +} diff --git a/src/scanserver/cache/cacheObject.cc b/src/scanserver/cache/cacheObject.cc new file mode 100644 index 0000000..08d3586 --- /dev/null +++ b/src/scanserver/cache/cacheObject.cc @@ -0,0 +1,47 @@ +/* + * cacheObject implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/cache/cacheObject.h" + +#include +#include +using std::runtime_error; +using std::string; + +using namespace boost::interprocess; + +managed_shared_memory* CacheObject::m_msm = 0; + +CacheObject::CacheObject() : + m_size(0), + m_handle(0), + m_handler(0) +{ +} + +CacheObject::~CacheObject() +{ +} + +void CacheObject::setCacheHandler(CacheHandler* handler) +{ + m_handler = handler; +} + +void CacheObject::openSharedMemory(const char* shm_name) +{ + // open the shared memory in this application + if(m_msm == 0) { + try { + m_msm = new managed_shared_memory(open_only, shm_name); + } catch(interprocess_exception& e) { + throw runtime_error(string("Could not open shared memory: ") + e.what()); + } + } +} diff --git a/src/scanserver/cacheIO.cc b/src/scanserver/cacheIO.cc new file mode 100644 index 0000000..eab3346 --- /dev/null +++ b/src/scanserver/cacheIO.cc @@ -0,0 +1,88 @@ +/* + * cacheIO implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/cacheIO.h" + +#include +#include +#include +using namespace std; +#include +using namespace boost::filesystem; + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + + +string CacheIO::path("."); +unsigned int CacheIO::free_id = 0; + + + +void CacheIO::createTemporaryDirectory(std::string& path) +{ + CacheIO::path = path; + if(path.rfind('/') != path.size() - 1) + CacheIO::path += '/'; + + // check and create + if(!exists(CacheIO::path)) + create_directory(CacheIO::path); +} + +void CacheIO::removeTemporaryDirectory() +{ + // this is going to be fun: rm -rf / + remove_all(path); +} + +CacheIO::IDType CacheIO::getId() +{ + stringstream ss; + ss << setfill('0') << setw(5) << free_id++ << ".tco"; + return ss.str(); +} + +unsigned int CacheIO::check(CacheIO::IDType& id) +{ + if(exists(path+id)) + return file_size(path+id); + else + return 0; +} + +void CacheIO::read(CacheIO::IDType& id, char* data) +{ +#ifdef WITH_METRICS + Timer t = ServerMetric::cacheio_read_time.start(); +#endif //WITH_METRICS + ifstream file((path+id).c_str(), ios_base::in|ios_base::binary); + file.read(data, file_size(path+id)); +#ifdef WITH_METRICS + ServerMetric::cacheio_read_time.end(t); + ServerMetric::cacheio_read_size.add(file_size(path+id)); +#endif //WITH_METRICS +} + +void CacheIO::write(CacheIO::IDType& id, char* data, unsigned int size) +{ +#ifdef WITH_METRICS + Timer t = ServerMetric::cacheio_write_time.start(); +#endif //WITH_METRICS + ofstream file((path+id).c_str(), ios_base::out|ios_base::binary); + file.write(data, size); + file.flush(); + file.close(); +#ifdef WITH_METRICS + ServerMetric::cacheio_write_time.end(t); + ServerMetric::cacheio_write_size.add(size); +#endif //WITH_METRICS +} diff --git a/src/scanserver/clientInterface.cc b/src/scanserver/clientInterface.cc new file mode 100644 index 0000000..443ccdf --- /dev/null +++ b/src/scanserver/clientInterface.cc @@ -0,0 +1,303 @@ +/* + * clientinterface implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/clientInterface.h" + +#include +using std::cout; +using std::cerr; +using std::cin; +using std::endl; +#include + +#include +using namespace boost::filesystem; +using namespace boost::interprocess; + +#include "scanserver/defines.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + + + +managed_shared_memory* ClientInterface::m_msm = 0; +ClientInterface* ClientInterface::m_singleton = 0; + + + +SharedScanVector * ClientInterface::readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end) +{ + path to_add(dir_path); + if(!exists(to_add) || !is_directory(to_add)) { + // TODO: throw an exception + cerr << "Directory " << to_add << " does not exist" << endl; + return 0; + } + + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + // pass a system complete (absolute) path for compability with possibly + // different working directories in different processes + m_arg_string_1 = system_complete(to_add).string().c_str(); + m_arg_io_type = type; + m_arg_uint_1 = start; + m_arg_uint_2 = end; + sendMessage(MESSAGE_READ_DIRECTORY); + // don't catch the exception, there is nothing this function can fix + SharedScanVector* scans = m_scanvector_ptr.get(); + m_scanvector_ptr = 0; + return scans; +} + +void ClientInterface::closeDirectory(SharedScanVector*& scans) +{ + if(scans == 0) return; + + // release all scans + // TODO: either lower recursive mutexes in all scans or notice the server + + // delete scan vector + segment_manager->destroy_ptr(scans); + + // set scans to 0 since it's a reference + scans = 0; +} + +bool ClientInterface::loadCacheObject(CacheObject* obj) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::cache_miss_time.start(); +#endif //WITH_METRICS + + m_cacheobject_ptr = obj; + sendMessage(MESSAGE_LOAD_CACHE_OBJECT); + bool success = m_arg_uint_1 == 1; + m_arg_uint_1 = 0; + +#ifdef WITH_METRICS + ClientMetric::cache_miss_time.end(t); +#endif //WITH_METRICS + + return success; +} + +void ClientInterface::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::allocate_time.start(); +#endif //WITH_METRICS + + m_cacheobject_ptr = obj; + m_arg_uint_1 = size; + sendMessage(MESSAGE_ALLOCATE_CACHE_OBJECT); + +#ifdef WITH_METRICS + ClientMetric::allocate_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::invalidateCacheObject(CacheObject* obj) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + m_cacheobject_ptr = obj; + sendMessage(MESSAGE_INVALIDATE_CACHE_OBJECT); +} + +void ClientInterface::getPose(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_GET_POSE); +} + +void ClientInterface::addFrame(SharedScan* scan, double* transformation, unsigned int type) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_ADD_FRAME); + + // write into the new frame + const FrameVector& frames = scan->getFrames(); + Frame& frame = const_cast(frames.back()); + frame.set(transformation, type); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::loadFramesFile(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_LOAD_FRAMES_FILE); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::saveFramesFile(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_SAVE_FRAMES_FILE); + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +void ClientInterface::clearFrames(SharedScan* scan) +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + +#ifdef WITH_METRICS + Timer t = ClientMetric::frames_time.start(); +#endif //WITH_METRICS + + m_sharedscan_ptr = scan; + sendMessage(MESSAGE_CLEAR_FRAMES); + // TODO: remove the .frames-file if appropriate, clear all records + +#ifdef WITH_METRICS + ClientMetric::frames_time.end(t); +#endif //WITH_METRICS +} + +std::size_t ClientInterface::getCacheSize() +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + sendMessage(MESSAGE_GET_CACHE_SIZE); + + return m_arg_size_t; +} + +void ClientInterface::printMetrics() +{ + // aquire client mutex for uninterrupted work + scoped_lock lock(m_mutex_client); + + sendMessage(MESSAGE_PRINT_METRICS); +} + +void ClientInterface::sendMessage(message_t message) +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::clientinterface_time.start(); +#endif //WITH_METRICS + + // try to lock the server mutex to send when it's not occupied + scoped_lock lock(m_mutex_server); + + // set message + m_message = message; + + // notify and wake up the server and wait until the message is processed + m_condition_server.notify_one(); + m_condition_client.wait(lock); + +#ifdef WITH_METRICS + ClientMetric::clientinterface_time.end(t); +#endif //WITH_METRICS + + // process errors + // TODO: better + if(!m_error_message.empty()) { + std::string msg(m_error_message.c_str()); + m_error_message.clear(); + throw std::runtime_error(msg); + } +} + +ClientInterface* ClientInterface::create() +{ + // open the shared memory in this application + if(m_msm == 0) { + try { + m_msm = new managed_shared_memory(open_only, SHM_NAME_DATA); + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not open shared memory: ") + e.what()); + } + } + + // now try to open the cache shared memory + CacheObject::openSharedMemory(SHM_NAME_CACHE); + + // prepare singleton pointer + offset_ptr* ptr = m_msm->find >(unique_instance).first; + if(ptr == 0) + throw std::runtime_error("Could not find the ClientInterface pointer in shared memory"); + m_singleton = ptr->get(); + + // test for old crashed clients + { + scoped_lock lock(m_singleton->m_mutex_client, try_to_lock); + if(!lock) { + cout << "Scanserver communication is currently blocked, waiting for server... " << std::flush; + // wait for server to finish, lock and immediately unlock the server mutex + {scoped_lock lock_server(m_singleton->m_mutex_server);} + // clean up the client mutex which was left locked by previous program calls + m_singleton->m_mutex_client.unlock(); + cout << "done." /* Stop crashing/interrupting programs */ << endl; + } + } + + return m_singleton; +} + +void ClientInterface::destroy() +{ + m_singleton = 0; + if(m_msm != 0) { + delete m_msm; + m_msm = 0; + } +} + +ClientInterface* ClientInterface::getInstance() +{ + if(m_singleton == 0) + throw std::runtime_error("ClientInterface Singleton not set"); + return m_singleton; +} diff --git a/src/scanserver/frame_io.cc b/src/scanserver/frame_io.cc new file mode 100644 index 0000000..9faf0b1 --- /dev/null +++ b/src/scanserver/frame_io.cc @@ -0,0 +1,70 @@ +/* + * frame_io implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/frame_io.h" + +#include + +#include +#include +using namespace boost::filesystem; + + + +#define FRAMES_PATH_PREFIX "scan" +#define FRAMES_PATH_SUFFIX ".frames" + +void FrameIO::loadFile(const char* dir, const char* identifier, FrameVector& frames) +{ + // assemble path and check for existence + path frames_path(dir); + frames_path /= (std::string(FRAMES_PATH_PREFIX) + identifier + FRAMES_PATH_SUFFIX); + if(!exists(frames_path)) return; + + // read the file + ifstream frames_file(frames_path); + std::vector transformations; + double dvalue; + unsigned int uivalue; + std::vector types; + while(frames_file.good()) { + unsigned int i; + for(i = 0; i < 16 && frames_file.good(); ++i) { + frames_file >> dvalue; + transformations.push_back(dvalue); + } + // sanity check if no more values were read + if(i != 16) break; + frames_file >> uivalue; + types.push_back(uivalue); + } + frames_file.close(); + + // allocate shared memory for the frames and move the values in there + unsigned int s = types.size(); + frames.resize(s); + for(unsigned int i = 0; i < s; ++i) + frames[i].set(&(transformations[i*16]), types[i]); +} + +void FrameIO::saveFile(const char* dir, const char* identifier, const FrameVector& frames) +{ + // assemble path + path frames_path(dir); + frames_path /= (std::string(FRAMES_PATH_PREFIX) + identifier + FRAMES_PATH_SUFFIX); + + // write into the file + ofstream frames_file(frames_path); + for(FrameVector::const_iterator it = frames.begin(); it != frames.end(); ++it) { + for(unsigned int i = 0; i < 16; ++i) + frames_file << it->transformation[i] << " "; + frames_file << it->type << std::endl; + } + frames_file.close(); +} diff --git a/src/scanserver/io_types.cc b/src/scanserver/io_types.cc new file mode 100644 index 0000000..fcabf17 --- /dev/null +++ b/src/scanserver/io_types.cc @@ -0,0 +1,147 @@ +/* + * io_types implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/io_types.h" + +#ifdef _MSC_VER +//#include // TODO: TEST +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +#include + +#include "slam6d/globals.icc" + +IOType formatname_to_io_type(const char * string) +{ + if (strcasecmp(string, "uos") == 0) return UOS; + else if (strcasecmp(string, "uos_map") == 0) return UOS_MAP; + else if (strcasecmp(string, "uos_frames") == 0) return UOS_FRAMES; + else if (strcasecmp(string, "uos_map_frames") == 0) return UOS_MAP_FRAMES; + else if (strcasecmp(string, "uos_rgb") == 0) return UOS_RGB; + else if (strcasecmp(string, "old") == 0) return OLD; + else if (strcasecmp(string, "rts") == 0) return RTS; + else if (strcasecmp(string, "rts_map") == 0) return RTS_MAP; + else if (strcasecmp(string, "ifp") == 0) return IFP; + else if (strcasecmp(string, "riegl_txt") == 0) return RIEGL_TXT; + else if (strcasecmp(string, "riegl_project") == 0) return RIEGL_PROJECT; + else if (strcasecmp(string, "riegl_rgb") == 0) return RIEGL_RGB; + else if (strcasecmp(string, "riegl_bin") == 0) return RIEGL_BIN; + else if (strcasecmp(string, "zahn") == 0) return ZAHN; + else if (strcasecmp(string, "ply") == 0) return PLY; + else if (strcasecmp(string, "wrl") == 0) return WRL; + else if (strcasecmp(string, "xyz") == 0) return XYZ; + else if (strcasecmp(string, "zuf") == 0) return ZUF; + else if (strcasecmp(string, "asc") == 0) return ASC; + else if (strcasecmp(string, "iais") == 0) return IAIS; + else if (strcasecmp(string, "front") == 0) return FRONT; + else if (strcasecmp(string, "x3d") == 0) return X3D; + else if (strcasecmp(string, "rxp") == 0) return RXP; + else if (strcasecmp(string, "ais") == 0) return AIS; + else if (strcasecmp(string, "oct") == 0) return OCT; + else if (strcasecmp(string, "txyzr") == 0) return TXYZR; + else if (strcasecmp(string, "xyzr") == 0) return XYZR; + else if (strcasecmp(string, "xyz_rgb") == 0) return XYZ_RGB; + else if (strcasecmp(string, "ks") == 0) return KS; + else if (strcasecmp(string, "ks_rgb") == 0) return KS_RGB; + else if (strcasecmp(string, "stl") == 0) return STL; + else if (strcasecmp(string, "leica") == 0) return LEICA; + else if (strcasecmp(string, "pcl") == 0) return PCL; + else if (strcasecmp(string, "pci") == 0) return PCI; + else if (strcasecmp(string, "cad") == 0) return UOS_CAD; + else if (strcasecmp(string, "velodyne") == 0) return VELODYNE; + else if (strcasecmp(string, "velodyne_frames") == 0) return VELODYNE_FRAMES; + else throw std::runtime_error(std::string("Io type ") + string + std::string(" is unknown")); +} + +const char * io_type_to_libname(IOType type) +{ + switch (type) { + case UOS: + return "scan_io_uos"; + case UOS_MAP: + return "scan_io_uos_map"; + case UOS_FRAMES: + return "scan_io_uos_frames"; + case UOS_MAP_FRAMES: + return "scan_io_uos_map_frames"; + case UOS_RGB: + return "scan_io_uos_rgb"; + case OLD: + return "scan_io_old"; + case RTS: + return "scan_io_rts"; + case RTS_MAP: + return "scan_io_rts_map"; + case IFP: + return "scan_io_ifp"; + case RIEGL_TXT: + return "scan_io_riegl_txt"; + case RIEGL_PROJECT: + return "scan_io_riegl_project"; + case RIEGL_RGB: + return "scan_io_riegl_rgb"; + case RIEGL_BIN: + return "scan_io_riegl_bin"; + case ZAHN: + return "scan_io_zahn"; + case PLY: + return "scan_io_ply"; + case WRL: + return "scan_io_wrl"; + case XYZ: + return "scan_io_xyz"; + case ZUF: + return "scan_io_zuf"; + case ASC: + return "scan_io_asc"; + case IAIS: + return "scan_io_iais"; + case FRONT: + return "scan_io_front"; + case X3D: + return "scan_io_x3d"; + case RXP: + return "scan_io_rxp"; + case AIS: + return "scan_io_ais"; + case OCT: + return "scan_io_oct"; + case TXYZR: + return "scan_io_txyzr"; + case XYZR: + return "scan_io_xyzr"; + case XYZ_RGB: + return "scan_io_xyz_rgb"; + case KS: + return "scan_io_ks"; + case KS_RGB: + return "scan_io_ks_rgb"; + case STL: + return "stl"; + case LEICA: + return "leica_txt"; + case PCL: + return "pcl"; + case PCI: + return "pci"; + case UOS_CAD: + return "cad"; + case VELODYNE: + return "scan_io_velodyne"; + case VELODYNE_FRAMES: + return "velodyne_frames"; + default: + throw std::runtime_error(std::string("Io type ") + to_string(type) + std::string(" could not be matched to a library name")); + } +} diff --git a/src/scanserver/metrics.cc b/src/scanserver/metrics.cc new file mode 100644 index 0000000..5ffabf1 --- /dev/null +++ b/src/scanserver/metrics.cc @@ -0,0 +1,230 @@ +/* + * metrics implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/metrics.h" + +#ifdef _MSC_VER +LARGE_INTEGER TimeMetric::frequency; +bool TimeMetric::init = false; +#endif + +TimeMetric::TimeMetric(unsigned int reserve) : + Metric(reserve) +{ +#ifdef _MSC_VER + if(!TimeMetric::init) { + QueryPerformanceFrequency(&TimeMetric::frequency); + TimeMetric::init = true; + } +#endif +} + +Timer TimeMetric::start() +{ + Timer start; +#ifdef _MSC_VER + QueryPerformanceCounter(&start); +#else + gettimeofday(&start, 0); +#endif + return start; +} + +void TimeMetric::end(Timer& start) +{ + double delta; +#ifdef _MSC_VER + LARGE_INTEGER end; + QueryPerformanceCounter(&end); + delta = (double)(end.QuadPart - start.QuadPart) / frequency.QuadPart; +#else + timeval end; + gettimeofday(&end, 0); + delta = (double)(end.tv_sec - start.tv_sec) + + (double)(end.tv_usec - start.tv_usec) / 1000000.0; +#endif + commit(delta); +} + +CounterMetric::CounterMetric(unsigned int reserve) : + Metric(reserve) +{ +} + +void CounterMetric::add(unsigned long long value) +{ + commit(value); +} + + + +#include +using std::cout; +using std::endl; + +TimeMetric ServerMetric::scan_loading, ServerMetric::cacheio_write_time, ServerMetric::cacheio_read_time; +CounterMetric ServerMetric::cacheio_write_size, ServerMetric::cacheio_read_size; + +TimeMetric + ClientMetric::read_scan_time, + ClientMetric::scan_load_time, + ClientMetric::calc_reduced_points_time, + ClientMetric::transform_time(100000), // avoid resizing in multithreaded transform calls by graph-slam + ClientMetric::copy_original_time, + ClientMetric::create_tree_time, + ClientMetric::on_demand_reduction_time, + ClientMetric::create_metatree_time, + ClientMetric::add_frames_time, + ClientMetric::matching_time, + ClientMetric::clientinterface_time, + ClientMetric::cache_miss_time, + ClientMetric::allocate_time, + ClientMetric::frames_time; + +void printTime(const TimeMetric& m, unsigned int indentation = 1) +{ + for(unsigned int i = 1; i <= indentation; ++i) { + cout << " "; + } + cout << m.sum() << "s"; + if(m.size() != 1) { + cout << " (" << m.average() << "s average of " << m.size() << " calls)"; + } + cout << endl; +} + +void ServerMetric::print() +{ + cout << "= Metric server information =" << endl + << "Time spent for loading scans (in ScanHandler::load):" << endl + << " Amount: " << scan_loading.size() << endl + << " Time: " << scan_loading.sum() << "s (" << scan_loading.average() << "s avg.)" << endl + << endl + << "CacheIO reads:" << endl + << " Amount: " << cacheio_read_size.size() << endl + << " Size: " << cacheio_read_size.sum()/1024/1024 << "MB (" << cacheio_read_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_read_time.sum() << "s (" << cacheio_read_time.average() << "s avg.)" << endl + << endl + << "CacheIO writes:" << endl + << " Amount: " << cacheio_write_size.size() << endl + << " Size: " << cacheio_write_size.sum()/1024/1024 << "MB (" << cacheio_write_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_write_time.sum() << "s (" << cacheio_write_time.average() << "s avg.)" << endl + << "= Resetting metric information =" << endl + << endl; + scan_loading.reset(); + cacheio_write_time.reset(); + cacheio_read_time.reset(); + cacheio_write_size.reset(); + cacheio_read_size.reset(); +} + +void ClientMetric::print() +{ + cout << "= Metric client information =" << endl; + + // ClientInterface specific ones +#ifdef WITH_SCANSERVER + cout << "Time for all ClientInterface messages:" << endl; + printTime(clientinterface_time); + + cout << " [" << endl; + + cout << " Time for cache misses:" << endl; + printTime(cache_miss_time, 3); + + cout << " Time for cache allocations:" << endl; + printTime(allocate_time, 3); + + // TODO: invalidations too? + + cout << " Time for frame calls:" << endl; + printTime(frames_time, 3); + + cout << " ]" << endl; + + cout << endl; +#endif //WITH_SCANSERVER + + // Scan: Loading, reducing and SearchTree related ones +#ifdef WITH_SCANSERVER + // barebone preparation and parameter setting + if(read_scan_time.size()) { + cout << "Time for loading directory:" << endl; + printTime(read_scan_time); + } + + // getXYZ in calcReducedPoints + if(scan_load_time.size()) { + cout << "Time for loading scans:" << endl; + printTime(scan_load_time); + } + +#else //WITH_SCANSERVER + // load all scans + if(read_scan_time.size()) { + cout << "Time for loading directory and scans:" << endl; + printTime(read_scan_time); + } +#endif //WITH_SCANSERVER + + if(calc_reduced_points_time.size()) { + cout << "Time for reducing scans:" << endl; + printTime(calc_reduced_points_time); + } + + // old: red_lum for SearchTree, duplicating all contained reduced points and copying them into red_lum again for MetaScans + // new: caching reduced points for saving time + if(copy_original_time.size()) { + cout << "Time for copying reduced points:" << endl; + printTime(copy_original_time); + } + + if(create_tree_time.size()) { + cout << "Time for creating SearchTree:" << endl; + printTime(create_tree_time); + } + +#ifdef WITH_SCANSERVER + // only for new, replaces copying reduced points from old + if(create_metatree_time.size()) { + cout << "Time for creating meta-SearchTree:" << endl; + printTime(create_metatree_time); + } + + if(on_demand_reduction_time.size()) { + cout << "Time in on-demand reduction [reduction+transform+copy / copy]:" << endl; + printTime(on_demand_reduction_time); + } +#endif //WITH_SCANSERVER + + if(transform_time.size()) { + cout << "Time for transform:" << endl; + printTime(transform_time); + } + + // SLAM + if(matching_time.size()) { + cout << endl; + cout << "Matching time:" << endl; + printTime(matching_time); +#ifdef WITH_SCANSERVER + cout << "Corrected matching time without on-demand loading, reduction and tree creation:" << endl; + // match - scan loading in calcReducedPoints - calcReducedPoints - transform (irrelevant) - copy to original - createTree + cout << " " << + matching_time.sum() + - scan_load_time.sum() + - calc_reduced_points_time.sum() + - copy_original_time.sum() + - create_tree_time.sum() + << "s" << endl; +#endif //WITH_SCANSERVER + } + + cout << endl; +} diff --git a/src/scanserver/pointfilter.cc b/src/scanserver/pointfilter.cc new file mode 100644 index 0000000..b14902a --- /dev/null +++ b/src/scanserver/pointfilter.cc @@ -0,0 +1,187 @@ +/* + * pointfilter implementation + * + * Copyright (C) Thomas Escher, Dorit Borrmann, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/pointfilter.h" + +using std::string; +using std::map; +#include +using std::stringstream; +#include +using std::runtime_error; + +#include +using std::cout; +using std::endl; + + + +map PointFilter::factory; + + + +PointFilter::PointFilter() : + m_changed(true), m_checker(0) +{ +} + +PointFilter::PointFilter(const std::string& params) : + m_changed(true), m_checker(0) +{ + size_t start = 0, end = string::npos; + while((end = params.find(' ', start)) != string::npos) { + // extract the word (start-end+1) without the space (-1) + string key(params.substr(start, start-end)); + end++; + // get the second word position + start = params.find(' ', end); + // insert + m_params[key] = params.substr(end, (start-end)); + // advance to the character after space + if(start != string::npos) + start++; + else + break; + } +} + +PointFilter::~PointFilter() +{ + if(m_checker) + delete m_checker; +} + +PointFilter& PointFilter::setRange(float maxDist, float minDist) +{ + m_changed = true; + stringstream s_max; s_max << maxDist; + stringstream s_min; s_min << minDist; + m_params["rangemax"] = s_max.str(); + m_params["rangemin"] = s_min.str(); + return *this; +} + +PointFilter& PointFilter::setHeight(double top, double bottom) +{ + m_changed = true; + stringstream s_top; s_top << top; + stringstream s_bottom; s_bottom << bottom; + m_params["heighttop"] = s_top.str(); + m_params["heightbottom"] = s_bottom.str(); + return *this; +} + +std::string PointFilter::getParams() +{ + stringstream s; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + s << (*it).first << " " << (*it).second << " "; + } + return s.str(); +} + +void PointFilter::createCheckers() +{ + // delete the outdated ones + if(m_checker) { + delete m_checker; + m_checker = 0; + } + + // create new ones + Checker** current = &m_checker; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + *current = factory[it->first](it->second); + // if a Checker has been successfully created advance to its pointer in the chain + if(*current) { + current = &((*current)->m_next); + } + } +} + + + +Checker::Checker() : + m_next(0) +{ +} + +Checker::~Checker() +{ + if(m_next) + delete m_next; +} + + + +// create factory instaces for key string to factory function mapping +namespace { + CheckerFactory max("rangemax"); + CheckerFactory min("rangemin"); + CheckerFactory top("heighttop"); + CheckerFactory bottom("heightbottom"); +} + + + +CheckerRangeMax::CheckerRangeMax(const std::string& value) { + stringstream s(value); + s >> m_max; + // default value: no check + if(m_max <= 0.0) throw runtime_error("No range filter needed."); + m_max *= m_max; +} + +bool CheckerRangeMax::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] < m_max) + return true; + return false; +} + + + +CheckerRangeMin::CheckerRangeMin(const std::string& value) { + stringstream s(value); + s >> m_min; + // default value: no check + if(m_min <= 0.0) throw runtime_error("No range filter needed."); + m_min *= m_min; +} + +bool CheckerRangeMin::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] > m_min) + return true; + return false; +} + + + +CheckerHeightTop::CheckerHeightTop(const std::string& value) { + stringstream s(value); + s >> m_top; +} + +bool CheckerHeightTop::test(double* point) { + if(point[1] < m_top) + return true; + return false; +} + + + +CheckerHeightBottom::CheckerHeightBottom(const std::string& value) { + stringstream s(value); + s >> m_bottom; +} + +bool CheckerHeightBottom::test(double* point) { + if(point[1] > m_bottom) + return true; + return false; +} diff --git a/src/scanserver/scanHandler.cc b/src/scanserver/scanHandler.cc new file mode 100644 index 0000000..99e5bb9 --- /dev/null +++ b/src/scanserver/scanHandler.cc @@ -0,0 +1,260 @@ +/* + * scanHandler implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/scanHandler.h" + +#include +#include +#include +using namespace std; + +#include +using boost::scoped_ptr; + +#include "scanserver/cache/cacheManager.h" +#include "scanio/scan_io.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + + +bool ScanHandler::binary_caching = false; +std::map* > ScanHandler::m_prefetch_xyz; +std::map* > ScanHandler::m_prefetch_rgb; +std::map* > ScanHandler::m_prefetch_reflectance; +std::map* > ScanHandler::m_prefetch_amplitude; +std::map* > ScanHandler::m_prefetch_type; +std::map* > ScanHandler::m_prefetch_deviation; + + + +//! Abstract class for merging calls to the main vector +class PrefetchVectorBase { +public: + virtual bool prefetch() = 0; + virtual void create() = 0; + virtual unsigned int size() const = 0; + virtual void write(void* data_ptr) = 0; +}; + +/** Class for handling a vector and its special case for prefetching. + * + * Outline: prefetch() main vector, otherwise create() on main+prefetched + * vectors and use of ScanIO, cache allocation with size(), write() for main, + * save() for prefetched vectors. + */ +template +class PrefetchVector : public PrefetchVectorBase { +public: + PrefetchVector(SharedScan* scan, map*>& prefetches) : + m_scan(scan), m_prefetches(&prefetches), m_vector(0) + { + } + + ~PrefetchVector() + { + // remove vectors that are still here (RAII/exceptions) + if(m_vector) + delete m_vector; + } + + inline vector* get() const { return m_vector; } + + //! If a prefetch is found, take ownership and signal true for a successful prefetch + virtual bool prefetch() + { + // check if a prefetch is available + typename map*>::iterator it = m_prefetches->find(m_scan); + if(it != m_prefetches->end()) { + // take ownership of the vector and remove it from the map + m_vector = it->second; + m_prefetches->erase(it); + return true; + } + return false; + } + + //! Create an empty vector + virtual void create() { + if(m_vector == 0) { + m_vector = new vector; + } + } + + //! Size of vector contents in bytes + virtual unsigned int size() const { + return m_vector->size()*sizeof(T); + } + + //! Write vector contents into the cache object via \a data_ptr and clean up the vector + virtual void write(void* data_ptr) { + // write vector contents + for(unsigned int i = 0; i < m_vector->size(); ++i) { + reinterpret_cast(data_ptr)[i] = (*m_vector)[i]; + } + // remove so it won't get saved for prefetches + delete m_vector; + m_vector = 0; + } + + //! Save vector for prefetching + void save() { + if(m_vector != 0 && m_vector->size() != 0) { + // create map entry and assign the vector + (*m_prefetches)[m_scan] = m_vector; + // ownership transferred + m_vector = 0; + } + } +private: + SharedScan* m_scan; + map*>* m_prefetches; + + vector* m_vector; +}; + + + +ScanHandler::ScanHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, IODataType data) : + TemporaryHandler(obj, cm, scan, true), + m_data(data) +{ +} + +bool ScanHandler::load() +{ + ScanIO* sio = ScanIO::getScanIO(m_scan->getIOType()); + + // avoid loading of a non-supported type + if(!sio->supports(m_data)) return false; + +#ifdef WITH_METRICS + Timer t = ServerMetric::scan_loading.start(); +#endif //WITH_METRICS + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load" << endl; + + // if binary scan caching is enabled try to read it via TemporaryHandler first, if written-flag wasn't set or file didn't exist, parse scan + if(binary_caching) { + if(TemporaryHandler::load()) { + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load successful via TemporaryHandler" << endl << endl; +#ifdef WITH_METRICS + ServerMetric::scan_loading.end(t); +#endif //WITH_METRICS + return true; + } + } + + PrefetchVector xyz(m_scan, m_prefetch_xyz); + PrefetchVector rgb(m_scan, m_prefetch_rgb); + PrefetchVector reflectance(m_scan, m_prefetch_reflectance); + PrefetchVector amplitude(m_scan, m_prefetch_amplitude); + PrefetchVector type(m_scan, m_prefetch_type); + PrefetchVector deviation(m_scan, m_prefetch_deviation); + + // assign vector for this particular ScanHandler + PrefetchVectorBase* vec = 0; + if(m_data == DATA_XYZ) vec = &xyz; + else if(m_data == DATA_RGB) vec = &rgb; + else if(m_data == DATA_REFLECTANCE) vec = &reflectance; + else if(m_data == DATA_AMPLITUDE) vec = &litude; + else if(m_data == DATA_TYPE) vec = &type; + else if(m_data == DATA_DEVIATION) vec = &deviation; + + unsigned int prefetch = m_scan->getPrefetch(); + // try to prefetch only the requested type from its handler + if(vec->prefetch()) + { + // nothing to do if prefetch was successful, vector is initialized + // reset prefetch flags, nothing needs to be saved + prefetch = 0; + } else { + // create vector and exclude it from prefetch handling + vec->create(); + prefetch &= ~m_data; + + // create vectors which are to be prefetched + if(prefetch & DATA_XYZ) xyz.create(); + if(prefetch & DATA_RGB) rgb.create(); + if(prefetch & DATA_REFLECTANCE) reflectance.create(); + if(prefetch & DATA_AMPLITUDE) amplitude.create(); + if(prefetch & DATA_TYPE) type.create(); + if(prefetch & DATA_DEVIATION) deviation.create(); + + // request data from the ScanIO + try { + PointFilter filter(m_scan->getPointFilter()); + sio->readScan(m_scan->getDirPath(), m_scan->getIdentifier(), + filter, + xyz.get(), rgb.get(), reflectance.get(), amplitude.get(), type.get(), deviation.get()); + } catch(std::runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanIO runtime_error: " << e.what() << endl; + // rethrow + throw e; + } catch(std::bad_alloc& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanIO bad_alloc: " << e.what() << endl; + // rethrow + throw e; + } + } + + // after successful loading, allocate enough cache space + unsigned int size = vec->size(); + void* data_ptr; + try { + data_ptr = m_manager->allocateCacheObject(m_object, size); + } catch(runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_data << "] CacheManager error: " << e.what() << endl; + // rethrow + throw e; + } + + // write data into the cache object and clean up the vector + vec->write(data_ptr); + + // save all vectors that still hold their data for prefetching + xyz.save(); + rgb.save(); + reflectance.save(); + amplitude.save(); + type.save(); + deviation.save(); + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::load successful" << endl << endl; + +#ifdef WITH_METRICS + ServerMetric::scan_loading.end(t); +#endif //WITH_METRICS + return true; +} + +void ScanHandler::save(unsigned char* data, unsigned int size) +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_data << "] ScanHandler::save" << endl; + + // if global binary scan caching is enabled, save to file for later faster reloading + if(binary_caching) { + // duplicate writes of static data are handled in TemporaryHandler already + TemporaryHandler::save(data, size); + } +} + +void ScanHandler::setBinaryCaching() +{ + binary_caching = true; +} diff --git a/src/scanserver/scanserver.cc b/src/scanserver/scanserver.cc new file mode 100644 index 0000000..8bace42 --- /dev/null +++ b/src/scanserver/scanserver.cc @@ -0,0 +1,193 @@ +/* + * tscanserver implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Dynamic management of scans. + * @author Thomas Escher + */ + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::string; + +// for signals +#include +// for getopt +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include "scanserver/serverInterface.h" +#include "scanserver/cacheIO.h" +#include "scanserver/scanHandler.h" + + + +bool keep_temp_files = false; + + + +void signal_segv(int v) +{ + static sig_atomic_t signal_once = false; + if(!signal_once) { + signal_once = true; + cout << endl + << "# Scanserver closed due to segmentation fault #" << endl; + + // remove server and memory + ServerInterface::destroy(); + + // clean up temporary files + if(!keep_temp_files) + CacheIO::removeTemporaryDirectory(); + } + exit(-1); +} + +void signal_interrupt(int v) +{ + static sig_atomic_t signal_once = false; + if(!signal_once) { + signal_once = true; + cout << endl + << "# Scanserver closed #" << endl; + + // remove server and memory + ServerInterface::destroy(); + + // clean up temporary files + if(!keep_temp_files) + CacheIO::removeTemporaryDirectory(); + } + exit(-1); +} + + + +void usage(const char* name) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout <run(); + + // end of line! + cout << "Stopping scanserver." << endl; + ServerInterface::destroy(); + + // clean up temporary files + if(!keep_temp_files) + CacheIO::removeTemporaryDirectory(); +} diff --git a/src/scanserver/serverInterface.cc b/src/scanserver/serverInterface.cc new file mode 100644 index 0000000..0987f3e --- /dev/null +++ b/src/scanserver/serverInterface.cc @@ -0,0 +1,313 @@ +/* + * serverInterface implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/serverInterface.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +#include +#include + +#include +using namespace boost::filesystem; +using namespace boost::interprocess; + +#include "scanserver/defines.h" +#include "scanserver/frame_io.h" +#include "scanserver/serverScan.h" +#include "scanio/scan_io.h" + +#ifndef _MSC_VER +#include // mlock for avoiding swaps +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + + +SharedScanVector* ServerInterface::readDirectory(const char * dir_path, IOType type, unsigned int start, unsigned int end) +{ + // INFO + cout << "[Scanserver] Reading directory '" << dir_path << "' ... "; + + // create an instance of ScanIO + ScanIO* sio = ScanIO::getScanIO(type); + + // query available scans in the directory from the ScanIO + std::list identifiers(sio->readDirectory(dir_path, start, end)); + + // create a vector for returning + SharedScanVector* scans = segment_manager->construct(anonymous_instance)(allocator); + scans->reserve(identifiers.size()); + + // INFO + cout << identifiers.size() << " scans found." << endl; + + // share the directory path string between all scans because it's the same + // BUG: before boost-1.47, gcc -O2 and higher caused several boost::ipc:string instances having errors with garbage characters in between and/or more at the end, this is to avoid that problem + SharedStringSharedPtr dir_path_ptr = make_managed_shared_ptr( + segment_manager->construct(anonymous_instance)(dir_path, allocator), *segment_manager); + + // for each identifier, create a scan + for(std::list::iterator it = identifiers.begin(); it != identifiers.end(); ++it) { + // first try to get the scan by matching in the global scan vector + SharedScan* scan = findScan(dir_path_ptr, it->c_str(), type); + // otherwise create a new one and insert it into the global vector + if(!scan) { + // TODO: catch exceptions/errors + scan = static_cast( + segment_manager->construct(anonymous_instance) + (allocator, dir_path_ptr, it->c_str(), type, &m_manager) + ); + m_scans.push_back(offset_ptr(scan)); + } + // insert scan into return scan vector + scans->push_back(offset_ptr(scan)); + } + + return scans; +} + +bool ServerInterface::loadCacheObject(CacheObject* obj) +{ + // INFO + //cout << "ServerInterface::loadCacheObject..." << endl; + + // cache manager handles all the io and allocation issues by calling the cache handler + return m_manager.loadCacheObject(obj); +} + +void ServerInterface::allocateCacheObject(CacheObject* obj, unsigned int size) +{ + // INFO + //cout << "ServerInterface::allocateCacheObject (" << size << ")" << endl; + // allocate enough space for a cache object + m_manager.allocateCacheObject(obj, size); + + // INFO + //cout << endl; +} + +void ServerInterface::invalidateCacheObject(CacheObject* obj) +{ + m_manager.invalidateCacheObject(obj); +} + +void ServerInterface::getPose(SharedScan* scan) +{ + // INFO + //cout << "[" << scan->getIdentifier() << "] getPose()"; + + // TODO: catch exceptions + double* pose = segment_manager->construct(anonymous_instance)[6](); + ScanIO* sio = ScanIO::getScanIO(scan->getIOType()); + // TODO: catch more exceptions + sio->readPose(scan->getDirPath(), scan->getIdentifier(), pose); + static_cast(scan)->setPose(pose); + + // INFO + //cout << endl; +} + +void ServerInterface::addFrame(SharedScan* scan) +{ + static_cast(scan)->getFrames().push_back(Frame()); +} + +void ServerInterface::loadFramesFile(SharedScan* scan) +{ + FrameIO::loadFile(scan->getDirPath(), scan->getIdentifier(), static_cast(scan)->getFrames()); +} + +void ServerInterface::saveFramesFile(SharedScan* scan) +{ + FrameIO::saveFile(scan->getDirPath(), scan->getIdentifier(), static_cast(scan)->getFrames()); +} + +void ServerInterface::clearFrames(SharedScan* scan) +{ + static_cast(scan)->getFrames().clear(); +} + +std::size_t ServerInterface::getCacheSize() +{ + return m_cache_size; +} + +void ServerInterface::printMetrics() +{ +#ifdef WITH_METRICS + ServerMetric::print(); +#endif //WITH_METRICS +} + +SharedScan* ServerInterface::findScan(const SharedStringSharedPtr& dir_path, const char* identifier, IOType type) const +{ + // create a stack local scan to compare with all other scans + SharedScan scan(allocator, dir_path, identifier, type); + for(SharedScanVector::const_iterator it = m_scans.begin(); it != m_scans.end(); ++it) { + if(scan == *(*it)) + return it->get(); + } + return 0; +} + +ServerInterface* ServerInterface::create(std::size_t data_size, std::size_t cache_size) +{ + // remove any existing shared memory that wasn't cleaned up + shared_memory_object::remove(SHM_NAME_DATA); + // create the shared memory + if(m_msm != 0) + throw std::runtime_error("Could not create ServerInterface because shared memory already exists"); + try { + m_msm = new managed_shared_memory(create_only, SHM_NAME_DATA, data_size); +#ifndef WIN32 + cout << " Locking data memory... " << std::flush; + int ret = mlock(m_msm->get_address(), m_msm->get_size()); + if(ret == 0) + cout << "success."; + else if(ret == -EPERM) + cout << "unsuccessful, no permissions."; + else if(ret == -ENOMEM) + cout << "unsuccessful, RLIMIT_MEMLOCK too small."; + else + cout << "unsuccessful, error=" << ret << "."; + cout << endl; +#endif + } catch(interprocess_exception& e) { + throw std::runtime_error(std::string("Could not create shared memory: ") + e.what()); + } + // create server interface and set the client pointer to it + ServerInterface* server = m_msm->construct(unique_instance)(m_msm->get_segment_manager(), SHM_NAME_CACHE, cache_size); + offset_ptr *ptr = m_msm->construct >(unique_instance)(); + (*ptr) = reinterpret_cast(server); + return server; +} + +void ServerInterface::destroy() +{ + // delete the server instance first + try { + // send message to quit + ServerInterface* server = m_msm->find(unique_instance).first; + server->cleanup(); +/* resetting conditions and mutexes won't work, so just clean up manually + server->m_condition_server.notify_one(); + server->m_condition_client.notify_one(); + server->m_mutex_client.unlock(); + server->m_mutex_server.unlock(); + m_msm->destroy(unique_instance); +*/ + } catch(...) { + // whatever + } + // clean up the memory + if(m_msm != 0) { + delete m_msm; + m_msm = 0; + shared_memory_object::remove(SHM_NAME_DATA); + shared_memory_object::remove(SHM_NAME_CACHE); + } +} + +ServerInterface::ServerInterface(managed_shared_memory::segment_manager * sm, const char* shm_name, std::size_t cache_size) : + ClientInterface(sm), + m_scans(allocator), + m_manager(sm, shm_name, cache_size), + m_cache_size(cache_size) +{ +} + +ServerInterface::~ServerInterface() +{ +} + +void ServerInterface::cleanup() +{ + ScanIO::clearScanIOs(); +} + +void ServerInterface::run() +{ + // take ownership of the server mutex as long as the server is busy + scoped_lock lock(m_mutex_server); + + // run the shop + bool running = true; + while(running) { + // wait for input notification + m_condition_server.wait(lock); + + // clear the error message because the client isn't responsible for it + m_error_message.clear(); + + // process the input + // TEST: simple int pod for message type + try { + if(m_message == MESSAGE_STOP) { + running = false; + cout << "Stopping execution by MESSAGE_STOP request." << endl; + } else + if(m_message == MESSAGE_READ_DIRECTORY) { + m_scanvector_ptr = readDirectory(m_arg_string_1.c_str(), m_arg_io_type, m_arg_uint_1, m_arg_uint_2); + } else + if(m_message == MESSAGE_LOAD_CACHE_OBJECT) { + m_arg_uint_1 = (loadCacheObject(m_cacheobject_ptr.get()) == true? 1: 0); + } else + if(m_message == MESSAGE_ALLOCATE_CACHE_OBJECT) { + allocateCacheObject(m_cacheobject_ptr.get(), m_arg_uint_1); + } else + if(m_message == MESSAGE_INVALIDATE_CACHE_OBJECT) { + invalidateCacheObject(m_cacheobject_ptr.get()); + } else + if(m_message == MESSAGE_GET_POSE) { + getPose(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_ADD_FRAME) { + addFrame(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_LOAD_FRAMES_FILE) { + loadFramesFile(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_SAVE_FRAMES_FILE) { + saveFramesFile(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_CLEAR_FRAMES) { + clearFrames(m_sharedscan_ptr.get()); + } else + if(m_message == MESSAGE_GET_CACHE_SIZE) { + m_arg_size_t = getCacheSize(); + } else + if(m_message == MESSAGE_PRINT_METRICS) { + printMetrics(); + } else + { + cout << "WAH! I do not know thee: " << (unsigned int)m_message << endl; + } + } catch(bad_alloc& e) { + cerr << "Allocation error (you may need to increase the data_size): " << e.what() << endl; + m_error_message = e.what(); + } catch(std::runtime_error& e) { + // don't repeat this for the client + // cerr << "RUNTIME ERROR: " << e.what() << endl; + m_error_message = e.what(); + } + // clear message + m_message = MESSAGE_NONE; + + // notify client about completion + if(running) + m_condition_client.notify_one(); + } +} diff --git a/src/scanserver/serverScan.cc b/src/scanserver/serverScan.cc new file mode 100644 index 0000000..dfd4762 --- /dev/null +++ b/src/scanserver/serverScan.cc @@ -0,0 +1,44 @@ +/* + * serverScan implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/serverScan.h" + +#include "scanserver/cache/cacheManager.h" +#include "scanserver/scanHandler.h" +#include "scanserver/temporaryHandler.h" + +ServerScan::ServerScan(const ip::allocator & allocator, + const SharedStringSharedPtr& dir_path_ptr, const char* io_identifier, + IOType iotype, CacheManager* cm) : + SharedScan(allocator, dir_path_ptr, io_identifier, iotype) +{ + // let the manager allocate cache objects in shared memory and assign them process local handlers, called through the interface + m_xyz = cm->createCacheObject(); + m_xyz->setCacheHandler(new ScanHandler(m_xyz.get(), cm, this, DATA_XYZ)); + m_rgb = cm->createCacheObject(); + m_rgb->setCacheHandler(new ScanHandler(m_rgb.get(), cm, this, DATA_RGB)); + m_reflectance = cm->createCacheObject(); + m_reflectance->setCacheHandler(new ScanHandler(m_reflectance.get(), cm, this, DATA_REFLECTANCE)); + m_amplitude = cm->createCacheObject(); + m_amplitude->setCacheHandler(new ScanHandler(m_amplitude.get(), cm, this, DATA_AMPLITUDE)); + m_type = cm->createCacheObject(); + m_type->setCacheHandler(new ScanHandler(m_type.get(), cm, this, DATA_TYPE)); + m_deviation = cm->createCacheObject(); + m_deviation->setCacheHandler(new ScanHandler(m_deviation.get(), cm, this, DATA_DEVIATION)); + + m_xyz_reduced = cm->createCacheObject(); + m_xyz_reduced->setCacheHandler(new TemporaryHandler(m_xyz_reduced.get(), cm, this)); + m_xyz_reduced_original = cm->createCacheObject(); + m_xyz_reduced_original->setCacheHandler(new TemporaryHandler(m_xyz_reduced_original.get(), cm, this, true)); + + m_show_reduced = cm->createCacheObject(); + m_show_reduced->setCacheHandler(new TemporaryHandler(m_show_reduced.get(), cm, this, true)); + m_octtree = cm->createCacheObject(); + m_octtree->setCacheHandler(new TemporaryHandler(m_octtree.get(), cm, this, true)); +} diff --git a/src/scanserver/sharedScan.cc b/src/scanserver/sharedScan.cc new file mode 100644 index 0000000..a1b55ec --- /dev/null +++ b/src/scanserver/sharedScan.cc @@ -0,0 +1,259 @@ +/* + * sharedScan implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/sharedScan.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include + +#include "scanserver/clientInterface.h" + + + +SharedScan::SharedScan(const ip::allocator & allocator, + const SharedStringSharedPtr& dir_path_ptr, const char *io_identifier, + IOType iotype) : + m_dir_path_ptr(dir_path_ptr), + m_io_identifier(io_identifier, allocator), + m_iotype(iotype), + m_prefetch(0), + m_max_dist(0.0), m_min_dist(0.0), + m_height_top(0.0), m_height_bottom(0.0), + m_range_param_set(false), m_height_param_set(false), + m_reduction_parameters(allocator), + m_show_parameters(allocator), + m_octtree_parameters(allocator), + m_load_frames_file(true), + m_frames(allocator) +{ + // until boost-1.47 ipc-strings can do garbage with g++-4.4 -O2 and higher (optimizations and versions) + std::string bugfix(io_identifier); + m_io_identifier[bugfix.length()] = '\0'; + + // COs are allocated in the ServerScan-ctor +} + +SharedScan::~SharedScan() +{ + // TODO + // get segment manager and deconstruct all available data fields + // TODO: Delete COs if notzero and notify CM? +} + +bool SharedScan::operator==(const SharedScan& r) const +{ + return (m_io_identifier == r.m_io_identifier) && (*m_dir_path_ptr == *r.m_dir_path_ptr) && m_iotype == r.m_iotype; +} + +void SharedScan::setRangeParameters(double max_dist, double min_dist) +{ + // if a non-first set differs from the previous ones, invalidate all COs + if(m_range_param_set) { + if(max_dist != m_max_dist || min_dist != m_min_dist) { + invalidateFull(); + invalidateReduced(); + invalidateShow(); + } + } + m_max_dist = max_dist; + m_min_dist = min_dist; + m_range_param_set = true; +} + +void SharedScan::setHeightParameters(double top, double bottom) +{ + // if a non-first set differs from the previous ones, invalidate all COs + if(m_height_param_set) { + if(top != m_height_top || bottom != m_height_bottom) { + invalidateFull(); + invalidateReduced(); + invalidateShow(); + } + } + m_height_top = top; + m_height_bottom = bottom; + m_height_param_set = true; +} + +void SharedScan::setReductionParameters(const char* params) +{ + // if a non-first set differs from the previous ones, invalidate reduced COs + if(!m_reduction_parameters.empty() && m_reduction_parameters != params) { + invalidateReduced(); + } + m_reduction_parameters = params; +} + +void SharedScan::setShowReductionParameters(const char* params) +{ + // if a non-first set differs from the previous ones, invalidate reduced COs + if(!m_show_parameters.empty() && m_show_parameters != params) { + invalidateShow(); + } + m_show_parameters = params; +} + +void SharedScan::setOcttreeParameters(const char* params) +{ + // if a non-first set differs from the previous ones, invalidate reduced COs + if(!m_octtree_parameters.empty() && m_octtree_parameters != params) { + m_octtree->invalidate(); + } + m_octtree_parameters = params; +} + +PointFilter SharedScan::getPointFilter() const +{ + PointFilter r; + if(m_range_param_set) + r.setRange(m_max_dist, m_min_dist); + if(m_height_param_set) + r.setHeight(m_height_top, m_height_bottom); + return r; +} + +void SharedScan::invalidateFull() +{ + m_xyz->invalidate(); + m_rgb->invalidate(); +} + +void SharedScan::invalidateReduced() +{ + m_xyz_reduced->invalidate(); + m_xyz_reduced_original->invalidate(); +} + +void SharedScan::invalidateShow() +{ + m_show_reduced->invalidate(); + m_octtree->invalidate(); +} + +void SharedScan::clearFrames() +{ + ClientInterface* client = ClientInterface::getInstance(); + client->clearFrames(this); + // don't try to load again from the still existing files + m_load_frames_file = false; +} + +void SharedScan::addFrame(double* transformation, unsigned int type) +{ + ClientInterface* client = ClientInterface::getInstance(); + client->addFrame(this, transformation, type); +} + +const FrameVector& SharedScan::getFrames() +{ + // on a restart with existing frame files try to load these + if(m_frames.empty() && m_load_frames_file == true) { + ClientInterface* client = ClientInterface::getInstance(); + client->loadFramesFile(this); + // don't try to load again if frames are still empty + m_load_frames_file = false; + } + return m_frames; +} + +void SharedScan::saveFrames() +{ + ClientInterface* client = ClientInterface::getInstance(); + client->saveFramesFile(this); + // we just saved the file, no need to read it + m_load_frames_file = false; +} + +double* SharedScan::getPose() +{ + if(m_pose == 0) { + ClientInterface* client = ClientInterface::getInstance(); + client->getPose(this); + } + return m_pose.get(); +} + +DataXYZ SharedScan::getXYZ() { + return m_xyz.get()->getCacheData(); +} + +DataRGB SharedScan::getRGB() { + return m_rgb->getCacheData(); +} + +DataReflectance SharedScan::getReflectance() { + return m_reflectance->getCacheData(); +} + +DataAmplitude SharedScan::getAmplitude() { + return m_amplitude->getCacheData(); +} + +DataType SharedScan::getType() { + return m_type->getCacheData(); +} + +DataDeviation SharedScan::getDeviation() { + return m_deviation->getCacheData(); +} + +DataXYZ SharedScan::getXYZReduced() { + return m_xyz_reduced->getCacheData(); +} + +DataXYZ SharedScan::createXYZReduced(unsigned int size) { + // size is in units of double[3], scale to bytes + return m_xyz_reduced->createCacheData(size*3*sizeof(double)); +} + +DataXYZ SharedScan::getXYZReducedOriginal() { + return m_xyz_reduced_original->getCacheData(); +} + +DataXYZ SharedScan::createXYZReducedOriginal(unsigned int size) { + // size is in units of double[3], scale to bytes + return m_xyz_reduced_original->createCacheData(size*3*sizeof(double)); +} + +TripleArray SharedScan::getXYZReducedShow() { + return m_show_reduced->getCacheData(); +} + +TripleArray SharedScan::createXYZReducedShow(unsigned int size) { + return m_show_reduced->createCacheData(size*3*sizeof(float)); +} + +DataPointer SharedScan::getOcttree() { + return m_octtree->getCacheData(); +} + +DataPointer SharedScan::createOcttree(unsigned int size) { + return m_octtree->createCacheData(size); +} + +void SharedScan::onCacheMiss(CacheObject* obj) +{ + ClientInterface* client = ClientInterface::getInstance(); + client->loadCacheObject(obj); +} + +void SharedScan::onAllocation(CacheObject* obj, unsigned int size) +{ + ClientInterface* client = ClientInterface::getInstance(); + client->allocateCacheObject(obj, size); +} + +void SharedScan::onInvalidation(CacheObject* obj) +{ + ClientInterface* client = ClientInterface::getInstance(); + client->invalidateCacheObject(obj); +} diff --git a/src/scanserver/temporaryHandler.cc b/src/scanserver/temporaryHandler.cc new file mode 100644 index 0000000..fe32f42 --- /dev/null +++ b/src/scanserver/temporaryHandler.cc @@ -0,0 +1,84 @@ +/* + * temporaryHandler implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "scanserver/temporaryHandler.h" + +#include +#include +using namespace std; + +#include "scanserver/cache/cacheManager.h" + + + +TemporaryHandler::TemporaryHandler(CacheObject* obj, CacheManager* cm, SharedScan* scan, bool static_data) : + CacheHandler(obj, cm), + m_scan(scan), + m_written(false), m_static_data(static_data) +{ + m_id = CacheIO::getId(); +} + +bool TemporaryHandler::load() +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::load"; + + // if the file was not written (equals invalidated) or file doesn't exist we can't load anything + unsigned int size = 0; + if(!m_written || (size = CacheIO::check(m_id)) == 0) { + // INFO + //cout << ", no file found" << endl; + + return false; + } + + // INFO + //cout << endl; + + // get space + unsigned char* data_ptr; + try { + data_ptr = m_manager->allocateCacheObject(m_object, size); + } catch(runtime_error& e) { + // INFO + // cerr << "[" << m_scan->getIdentifier() << "][" << m_id << "] CacheManager error: " << e.what() << endl; + // rethrow + throw e; + } + + // write data into the CO + CacheIO::read(m_id, reinterpret_cast(data_ptr)); + // TODO: check errors + + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::load successful" << endl; + + return true; +} + +void TemporaryHandler::save(unsigned char* data, unsigned int size) +{ + // INFO + //cout << "[" << m_scan->getIdentifier() << "][" << m_id << "] TemporaryHandler::save"; + + // save if the cached file doesn't exist yet or data is dynamic and file content has to be updated + if(!m_written || !m_static_data) { + // write to file and flag for cached reads from here on + CacheIO::write(m_id, reinterpret_cast(data), size); + m_written = true; + } else { + // INFO + //cout << ", file already cached"; + } + + // INFO + //cout << endl; + return; +} diff --git a/src/shapes/CMakeLists.txt b/src/shapes/CMakeLists.txt new file mode 100644 index 0000000..1002d9c --- /dev/null +++ b/src/shapes/CMakeLists.txt @@ -0,0 +1,51 @@ +IF (WITH_SHAPE_DETECTION) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/include) + include_directories(${CMAKE_SOURCE_DIR}/include/shapes/) + +# # Compile gocr library +# SET(GOCR_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src/) +# add_library(Pgm2asc SHARED ${GOCR_DIR}gocr.c ${GOCR_DIR}pgm2asc.c ${GOCR_DIR}box.c ${GOCR_DIR}database.c +# ${GOCR_DIR}detect.c ${GOCR_DIR}barcode.c ${GOCR_DIR}lines.c ${GOCR_DIR}list.c +# ${GOCR_DIR}ocr0.c ${GOCR_DIR}ocr0n.c ${GOCR_DIR}ocr1.c ${GOCR_DIR}otsu.c +# ${GOCR_DIR}output.c ${GOCR_DIR}pixel.c ${GOCR_DIR}unicode.c ${GOCR_DIR}remove.c +# ${GOCR_DIR}pnm.c ${GOCR_DIR}pcx.c ${GOCR_DIR}progress.c ${GOCR_DIR}job.c) + +# add_executable(shapes shapes.cc geom_math.cc numberrec.cc scan_ransac.cc ) +# +# IF(WIN32) +# target_link_libraries(shapes scan XGetopt netpbm Pgm2asc) +# ENDIF(WIN32) +# +# IF (UNIX) +# target_link_libraries(shapes scan newmat dl netpbm Pgm2asc ) +# ENDIF(UNIX) +# + + add_executable(planes plane.cc) +# add_executable(image toImage.cc image.cc hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc ) +# add_executable(matchMarker matchMarker.cc) + + IF(UNIX) + target_link_libraries(planes scan shape newmat dl ANN) +# target_link_libraries(image scan newmat sparse dl ANN ) +# target_link_libraries(matchMarker scan newmat sparse dl ANN ) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(planes scan newmat XGetopt shape ANN) +# target_link_libraries(image scan newmat sparse ANN XGetopt) + ENDIF(WIN32) + +SET(SHAPELIB_SRCS + hough.cc convexplane.cc accumulator.cc hsm3d.cc ConfigFileHough.cc parascan.cc quadtree.cc geom_math.cc ) + +add_library(shape STATIC ${SHAPELIB_SRCS}) + +#target_link_libraries(shapelib) +IF(EXPORT_SHARED_LIBS) +add_library(shape_s SHARED ${SHAPELIB_SRCS}) +#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat) +ENDIF(EXPORT_SHARED_LIBS) + +ENDIF(WITH_SHAPE_DETECTION) diff --git a/src/shapes/ConfigFileHough.cc b/src/shapes/ConfigFileHough.cc new file mode 100644 index 0000000..be1e651 --- /dev/null +++ b/src/shapes/ConfigFileHough.cc @@ -0,0 +1,100 @@ +/* + * ConfigFileHough implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/ConfigFileHough.h" +#include +#include +#include "shapes/parascan.h" +#include + +using namespace std; + +ConfigFileHough::ConfigFileHough() { + + strcpy(CfgFileName, DEF_CfgFileName); + MaxDist = DEF_MaxDist; + MinDist = DEF_MinDist; + AccumulatorMax = DEF_AccumulatorMax; + MinSizeAllPoints = DEF_MinSizeAllPoints; + RhoNum = DEF_RhoNum; + ThetaNum = DEF_ThetaNum; + PhiNum = DEF_PhiNum; + RhoMax = DEF_RhoMax; + MaxPointPlaneDist = DEF_MaxPointPlaneDist; + MaxPlanes = DEF_MaxPlanes; + MinPlaneSize = DEF_MinPlaneSize; + MinPlanarity = DEF_MinPlanarity; + PlaneRatio = DEF_PlaneRatio; + PointDist = DEF_PointDist; + PeakWindow = DEF_PeakWindow; + WindowSize = DEF_WindowSize; + TrashMax = DEF_TrashMax; + AccumulatorType = DEF_AccumulatorType; + strcpy(PlaneDir, DEF_PlaneDir); + +} + +void ConfigFileHough::ShowConfiguration() { + cout << "MaxDist " << Get_MaxDist() << endl; + cout << "MinDist " << Get_MinDist() << endl; + cout << "AccumulatorMax " << Get_AccumulatorMax() << endl; + cout << "MinSizeAllPoints " << Get_MinSizeAllPoints() << endl; + cout << "RhoNum " << Get_RhoNum() << endl; + cout << "ThetaNum " << Get_ThetaNum() << endl; + cout << "PhiNum " << Get_PhiNum() << endl; + cout << "RhoMax " << Get_RhoMax() << endl; + cout << "MaxPointPlaneDist " << Get_MaxPointPlaneDist() << endl; + cout << "MaxPlanes " << Get_MaxPlanes() << endl; + cout << "MinPlaneSize " << Get_MinPlaneSize() << endl; + cout << "MinPlanarity " << Get_MinPlanarity() << endl; + cout << "PlaneRatio " << Get_PlaneRatio() << endl; + cout << "PointDist " << Get_PointDist() << endl; + cout << "PeakWindow " << Get_PeakWindow() << endl; + cout << "WindowSize " << Get_WindowSize() << endl; + cout << "TrashMax " << Get_TrashMax() << endl; + cout << "AccumulatorType " << Get_AccumulatorType() << endl; + cout << "PlaneDir " << Get_PlaneDir() << endl; +} + +unsigned int ConfigFileHough::LoadCfg(const char* CfgFile) { + + FILE *Cfg; + + /* Opens the configuration file */ + if ((Cfg = fopen(CfgFile, "r")) == NULL) { + printf("Could not open configuration file '%s'\n", CfgFile); + return 0; + } + + + MaxDist = paramtr_scan_double(Cfg, "MaxDist", DEF_MaxDist); + MinDist = paramtr_scan_double(Cfg, "MinDist", DEF_MinDist); + AccumulatorMax = paramtr_scan_int(Cfg, "AccumulatorMax", DEF_AccumulatorMax); + MinSizeAllPoints = paramtr_scan_int(Cfg, "MinSizeAllPoints", DEF_MinSizeAllPoints); + RhoNum = paramtr_scan_int(Cfg, "RhoNum", DEF_RhoNum); + ThetaNum = paramtr_scan_int(Cfg, "ThetaNum", DEF_ThetaNum); + PhiNum = paramtr_scan_int(Cfg, "PhiNum", DEF_PhiNum); + RhoMax = paramtr_scan_int(Cfg, "RhoMax", DEF_RhoMax); + MaxPlanes = paramtr_scan_int(Cfg, "MaxPlanes", DEF_MaxPlanes); + MinPlaneSize = paramtr_scan_int(Cfg, "MinPlaneSize", DEF_MinPlaneSize); + MinPlanarity = paramtr_scan_double(Cfg, "MinPlanarity", DEF_MinPlanarity); + PlaneRatio = paramtr_scan_double(Cfg, "PlaneRatio", DEF_PlaneRatio); + MaxPointPlaneDist = paramtr_scan_double(Cfg, "MaxPointPlaneDist", DEF_MaxPointPlaneDist); + PeakWindow = paramtr_scan_int(Cfg, "PeakWindow", DEF_PeakWindow); + WindowSize = paramtr_scan_int(Cfg, "WindowSize", DEF_WindowSize); + TrashMax = paramtr_scan_int(Cfg, "TrashMax", DEF_TrashMax); + PointDist = paramtr_scan_double(Cfg, "PointDist", DEF_PointDist); + + AccumulatorType = paramtr_scan_int(Cfg, "AccumulatorType", DEF_AccumulatorType); + paramtr_scan_str(Cfg, "PlaneDir", PlaneDir); + + fclose(Cfg); + return 1; + +} diff --git a/src/shapes/accumulator.cc b/src/shapes/accumulator.cc new file mode 100644 index 0000000..0563554 --- /dev/null +++ b/src/shapes/accumulator.cc @@ -0,0 +1,1805 @@ +/* + * accumulator implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/accumulator.h" +#include +#include "slam6d/globals.icc" +#include + + +#ifdef _MSC_VER +#define isnan(_X) ((_X) != (_X)) +#endif + +double* polar2normal(double theta, double phi) { + double * n = new double[4]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + return n; +} + +AccumulatorSimple::AccumulatorSimple(ConfigFileHough myCfg) { + + count = 0; + myConfigFileHough = myCfg; + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[myConfigFileHough.Get_ThetaNum()]; + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +AccumulatorSimple::~AccumulatorSimple() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + +} + +void AccumulatorSimple::printAccumulator() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double theta1 = j * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + double theta2 = (j+1) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + cout << phi1 << " " << theta1 << " " << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << " " << rhosum << " 40" << endl; + cout << endl; + } + + cout << endl; + } + + /* + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + if( accumulator[i][j][k] > 20 ) cout << i << " " << j << " " << k << endl; + } + } + } + */ + +} + +void AccumulatorSimple::resetAccumulator() { + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorSimple::accumulate(double theta, double phi, double rho) { + count++; + //cout << phi << " " << theta << " " << rho << " "; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + //cout << (rhoindex + 0.5) * myConfigFileHough.Get_RhoMax()/myConfigFileHough.Get_RhoNum() << endl; + + int phiindex = (int)(phi*((myConfigFileHough.Get_PhiNum()*0.99999999)/(M_PI))); + int thetaindex = (int)(theta*((myConfigFileHough.Get_ThetaNum()*0.9999999)/(2*M_PI))); + + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorSimple::accumulate(Point p) { +// cout << p.x << " " << p.y << " " << p.z << endl; + + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + //TODO 0.99 vielleicht nicht gut + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +// cout << "fertig" << endl; + +} + +double* AccumulatorSimple::accumulateRet(Point p) { + count++; + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(((unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax() && (unsigned int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) + || (unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax()) { + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + + angles[0] = -1; + return angles; + +} + +int* AccumulatorSimple::accumulateAPHT(Point p) { + + int tmpInt = 0; + // rho theta phi + int* angles = new int[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + + for(unsigned int j = 0; j < myConfigFileHough.Get_ThetaNum(); j++) { + double theta = (j+0.5) * 2*M_PI / myConfigFileHough.Get_ThetaNum(); + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpInt) { + angles[0] = k; + angles[1] = j; + angles[2] = i; + tmpInt = accumulator[k][i][j]; + } + } + + } + } + } + + return angles; + +} + + +double* AccumulatorSimple::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*((double)(myConfigFileHough.Get_PhiNum())/(M_PI))); + int thetaindex = (int)(theta*(((double)myConfigFileHough.Get_ThetaNum())/(2*M_PI))); + thetaindex = thetaindex % myConfigFileHough.Get_ThetaNum(); + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / (double)myConfigFileHough.Get_ThetaNum()); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + return polar2normal(theta, phi); +} + +double* AccumulatorSimple::getMax(int* cell) { + double phi = (0.5 + cell[3]) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / + (double)myConfigFileHough.Get_ThetaNum()); + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = polar2normal(theta, phi); + polar[3] = rho; + return polar; +} + +multiset* AccumulatorSimple::getMax() { +//void AccumulatorSimple::getMax() { + multiset* maxlist = new multiset(); + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum(); k++) { + int* tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + } + } + } + return maxlist; +} + +void AccumulatorSimple::peakWindow(int size) { + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum() - size; i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum() - size; j++) { + for(unsigned int k = 0; k < myConfigFileHough.Get_ThetaNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; ii < i + size; ii++) { + for(unsigned int ji = j; ji < j + size; ji++) { + for(unsigned int ki = k; ki < k + size; ki++) { + if(accumulator[ii][ji][ki] > max) { + max = accumulator[ii][ji][ki]; + } + } + } + } + for(unsigned int ii = i; ii < i + size; ii++) { + for(unsigned int ji = j; ji < j + size; ji++) { + for(unsigned int ki = k; ki < k + size; ki++) { + if(accumulator[ii][ji][ki] < max) { + accumulator[ii][ji][ki] = 0; + } + } + } + } + } + } + } +} + +AccumulatorBall::AccumulatorBall(ConfigFileHough myCfg) { + count = 0; + int countCells = 0; + myConfigFileHough = myCfg; + + double c = 0.0; + int counter = 0; + ballNr = new int[myConfigFileHough.Get_PhiNum()]; + double step = 180.0/myConfigFileHough.Get_PhiNum(); + + //double MAX_A = M_PI * (2 * fabs(0 - cos(rad(90- step))) + sin(rad(90 - step)) * sin(rad(90 - step)) + 1 * 1); + + double MAX_A = 2 * M_PI * 1.0; + + double r = sin(rad(0.0)); + double z = cos(rad(0.0)); + double r_next = 0.0; + double z_next = 0.0; + + for(double phi = 0; phi < 180.0; phi+=step) { + r_next = sin(rad(phi+step)); + z_next = cos(rad(phi+step)); + // Flaecheninhalt der aktuellen Kreisscheibe + //double a = (M_PI * (2.0 * 1.0 * fabs(z - z_next) + r*r + r_next*r_next)); + // Umfang des aktuellen Kreises + double a = 2 * M_PI * (r + r_next)/2.0; + //a = (r*r - r_next*r_next) * PI; //Flaechenvergleich + + // Berechnung der Schrittgroesse in Grad + c = ((360.0 * (MAX_A / a)) / (myConfigFileHough.Get_ThetaNum() - 1)); + // Berechnung der Felder im Akkumulatorarray + int size = (int)(1.0 + 360.0/c); + //if(true) { + ballNr[counter] = size; + //} else { + // ballNr[counter] = myConfigFileHough.Get_ThetaNum(); + //} + + //cout << counter << endl; + r = r_next; + z = z_next; + counter++; + } + + + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[ballNr[j]]; + for(int k = 0; k < ballNr[j]; k++) { + accumulator[i][j][k] = 0; + countCells++; + } + } + } + cout << "CountCells " << countCells << endl; +} + +AccumulatorBall::~AccumulatorBall() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + delete[] ballNr; + +} + +void AccumulatorBall::printAccumulator() { + int sum = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + sum += ballNr[i]; + } + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(int j = 0; j < ballNr[i]; j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double theta1 = j * 2*M_PI / ballNr[i]; + double theta2 = (j+1) * 2*M_PI / ballNr[i]; + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + /* + for(int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + */ + rhosum = accumulator[33][i][j]; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << endl; + } + + //cout << endl; + } +} + +void AccumulatorBall::resetAccumulator() { + + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorBall::accumulate(double theta, double phi, double rho) { + count++; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum()*0.9999999)/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr*0.9999999999)/(2*M_PI))); + if(thetaindex >= bNr) { + cout << "duet"; + } + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorBall::accumulate(Point p) { + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +} +double* AccumulatorBall::accumulateRet(Point p) { + count++; + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if( + ((unsigned int)accumulator[k][i][j] > myConfigFileHough.Get_AccumulatorMax() && + (unsigned int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) || + (unsigned int)accumulator[k][i][j] > 10*myConfigFileHough.Get_AccumulatorMax()) { + angles[0] = rho; + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + angles[0] = -1; + return angles; +} + +int* AccumulatorBall::accumulateAPHT(Point p) { + + // rho theta phi + int tmpMax = 0; + int* angles = new int[4]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpMax) { + angles[1] = k; + angles[2] = j; + angles[3] = i; + angles[0] = tmpMax = accumulator[k][i][j]; + } + } + + } + } + } + return angles; +} + +double* AccumulatorBall::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + double tmprho = rho; + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*0.99999999*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*0.99999999*(((double)myConfigFileHough.Get_PhiNum())/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr + 1)/(2*M_PI))); + thetaindex = thetaindex % bNr; + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / bNr); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + if(fabs(rho - rho) > 0.01) cout << rho << " " << tmprho << " " << rhoindex << endl; + return polar2normal(theta, phi); +} +double* AccumulatorBall::getMax(int* cell) { + double phi = (0.5 + cell[3]) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + int bNr = ballNr[cell[3]]; + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / bNr); + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = polar2normal(theta, phi); + if(isnan(polar[0])) { + cout << cell[1] << " " << cell[2] << " " << cell[3] << endl; + cout << theta <<" bla " << phi << endl; + } + polar[3] = rho; + return polar; +} + +multiset* AccumulatorBall::getMax() { +//void AccumulatorBall::getMax() { + multiset* maxlist = new multiset(); + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + int * tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + } + } + } + cout << maxlist->size() << endl; + return maxlist; +} + +void AccumulatorBall::peakWindow(int size) { + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum() - size; i++) { + //cout << "Peak " << i << endl; + for(int j = 0; j < ballNr[i] - size; j++) { + + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; (ii < (i + size)) && (ii < myConfigFileHough.Get_PhiNum()); ii++) { + for(int ji = j; (ji < (j + size)) && (ji < ballNr[ii]); ji++) { + for(unsigned int ki = k; (ki < (k + size)) && (ki < myConfigFileHough.Get_RhoNum()); ki++) { + if(accumulator[ki][ii][ji] > max) { + max = accumulator[ki][ii][ji]; + } + } + } + } + for(unsigned int ii = i; ii < i + size && ii < myConfigFileHough.Get_PhiNum(); ii++) { + for(int ji = j; ji < j + size && ji < ballNr[ii]; ji++) { + for(unsigned int ki = k; ki < k + size && ki < myConfigFileHough.Get_RhoNum(); ki++) { + if(accumulator[ki][ii][ji] < max) { + accumulator[ki][ii][ji] = 0; + } + } + } + } + } + } + } +} + +//BLUB + + + +AccumulatorCube::AccumulatorCube(ConfigFileHough myCfg) { + int countCells = 0; + count = 0; + myConfigFileHough = myCfg; + nrCells = myConfigFileHough.Get_ThetaNum()/4; + accumulator = new int***[6]; + for(int i = 0; i < 6; i++) { + accumulator[i] = new int**[nrCells]; + for(int j = 0; j < nrCells; j++) { + accumulator[i][j] = new int*[nrCells]; + for(int k = 0; k < nrCells; k++) { + accumulator[i][j][k] = new int[myConfigFileHough.Get_RhoNum()]; + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + accumulator[i][j][k][l] = 0; + countCells++; + } + } + } + } + cout << "countCells " << countCells << endl; +} + +AccumulatorCube::~AccumulatorCube() { + nrCells = myConfigFileHough.Get_ThetaNum()/4; + + for(unsigned int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + delete[] accumulator[i][j][k]; + } + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + +} + +void AccumulatorCube::printAccumulator2() { + + double **result; + result = new double*[4]; + result[0] = new double[3]; + result[1] = new double[3]; + result[2] = new double[3]; + result[3] = new double[3]; + + int j; + int k; + + for(int i = 0; i < 6; i+=1) { + + for(j = 1, k = 1; j <= nrCells; j++) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + //double phi2 = polar2[0]; + //double theta2 = polar2[1]; + //double phi3 = polar3[0]; + //double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + cout << phi1 << " " << theta1 << " " << " 40" << endl; + cout << phi4 << " " << theta4 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(j--; k <= nrCells; k++) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + //double phi1 = polar1[0]; + //double theta1 = polar1[1]; + //double phi2 = polar2[0]; + //double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + cout << phi4 << " " << theta4 << " " << " 40" << endl; + cout << phi3 << " " << theta3 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(k--; j > 0; j--) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + //double phi1 = polar1[0]; + //double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + //double phi4 = polar4[0]; + //double theta4 = polar4[1]; + + cout << phi3 << " " << theta3 << " " << " 40" << endl; + cout << phi2 << " " << theta2 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + for(j++; k > 0; k--) { + + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + //double phi3 = polar3[0]; + //double theta3 = polar3[1]; + //double phi4 = polar4[0]; + //double theta4 = polar4[1]; + + cout << phi2 << " " << theta2 << " " << " 40" << endl; + cout << phi1 << " " << theta1 << " " << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + } + + cout << 0.0 << " " << 0.0 << " " << " 0" << endl; + } + cout << 0.0 << " " << 0.0 << " " << " 0" << endl; +} + +void AccumulatorCube::printAccumulator() { + + //double norm[3]; + //double polar[3]; +// double *result; + + double **result; + result = new double*[4]; + result[0] = new double[3]; + result[1] = new double[3]; + result[2] = new double[3]; + result[3] = new double[3]; + + //buffer_point bp; + + /* + for(double o = -0.9; o < 1.0; o+=0.1) { + for(double p = -0.9; p < 1.0; p+=0.1) { + norm[2] = o; + norm[1] = p; + norm[0] = 1.0; + toPolar(norm, polar); + + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + + cout << polar[0] << " " << polar[1] << " " << 40 << endl; + //if(fabs(polar[1]) < 0.0001) + // cout << "STOP" << "-1.0 " << p << " " << o << endl; + delete[] result; + } + } + */ + + /* + norm[0] = 1.0; + norm[1] = 0.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl << endl << endl; + delete[] result; + + norm[0] = -1.0; + norm[1] = 0.0; + norm[2] = 0.0; + + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 1.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = -1.0; + norm[2] = 0.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = 1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; + + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = -1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + result = coords_cube_to_s2(bp, nrCells); + toPolar(result, polar); + cout << polar[0] << " " << polar[1] << endl; + cout << endl << endl; + delete[] result; +*//* + norm[0] = 0.0; + norm[1] = 0.0; + norm[2] = -1.0; + toPolar(norm, polar); + cout << polar[0] << " " << polar[1] << endl; + bp = coords_s2_to_cell(norm, nrCells); + + int i = bp.face - 1; + int j = bp.i; + int k = bp.j; + */ + for(int i = 0; i < 6; i+=1) { + cout << 0.0 << " " << 0.0 << " " << 0 << " 0" << endl; + //for(int j = 1; j j <= nrCells j+= (nrCells-1)) { + for(int j = 1; j <= nrCells; j++) { + //cout << endl; + //for(int k = 1; j k <= nrCells k+= (nrCells-1)) { + for(int k = 1; k <= nrCells; k++) { + //cout << endl; + int rhosum = 0; + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + rhosum += accumulator[i][j-1][k-1][l]; + } + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + coords_cube_for_print(bptmp, result, nrCells); + //double* tmp = coords_cube_to_s2(bptmp, nrCells); + double polar1[3]; + double polar2[3]; + double polar3[3]; + double polar4[3]; + //toPolar(tmp, polar1); + + Normalize3(result[0]); + Normalize3(result[1]); + Normalize3(result[2]); + Normalize3(result[3]); + /* + cout << result[0][0] << " " << result[0][1] << " " << result[0][2] << endl; + cout << result[1][0] << " " << result[1][1] << " " << result[1][2] << endl; + cout << result[2][0] << " " << result[2][1] << " " << result[2][2] << endl; + cout << result[3][0] << " " << result[3][1] << " " << result[3][2] << endl; + cout << result[0][0] << " " << result[0][1] << " " << result[0][2] << endl; + */ + toPolar(result[0], polar1); + toPolar(result[1], polar2); + toPolar(result[2], polar3); + toPolar(result[3], polar4); + double phi1 = polar1[0]; + double theta1 = polar1[1]; + double phi2 = polar2[0]; + double theta2 = polar2[1]; + double phi3 = polar3[0]; + double theta3 = polar3[1]; + double phi4 = polar4[0]; + double theta4 = polar4[1]; + + /* + cout << phi - 0.02 << " " << theta - 0.02 << " " << rhosum << endl; + cout << phi + 0.02 << " " << theta - 0.02 << " " << rhosum << endl; + cout << phi + 0.02 << " " << theta + 0.02 << " " << rhosum << endl; + cout << phi - 0.02 << " " << theta + 0.02 << " " << rhosum << endl; + */ + + /* + cout << (j+1+i*nrCells) << " " << k+1 << " " << rhosum << endl; + cout << (j+1+i*nrCells) << " " << k << " " << rhosum << endl; + cout << (j+i*nrCells) << " " << k << " " << rhosum << endl; + cout << (j+i*nrCells) << " " << k+1 << " " << rhosum << endl; + */ + /* + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + */ + + if(phi1 < M_PI/nrCells && fabs(phi1-phi2) < 0.001 && fabs(phi1-phi3) < 0.001 && fabs(phi1 - phi4) < 0.001) { + //if(phi1 < M_PI/nrCells && phi2 < M_PI/nrCells && phi3 < M_PI/nrCells && phi4 < M_PI/nrCells) { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + cout << endl; + //cout << endl; + + } //else if(M_PI - phi1 < M_PI/nrCells && M_PI - phi2 < M_PI/nrCells && M_PI - phi3 < M_PI/nrCells && M_PI - phi4 < M_PI/nrCells){ + else if(M_PI - phi1 < M_PI/nrCells && fabs(phi1-phi2) < 0.001 && fabs(phi1-phi3) < 0.001 && fabs(phi1 - phi4) < 0.001) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << M_PI << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << M_PI << " " << 0.0 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << endl; + //<< endl; + + + } else if(fabs(phi1 - phi2) < 2.0 && fabs(theta2 - theta3) < 3.0 && fabs(theta4 - theta3) < 3.0) { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + //cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + //cout << endl; + cout << endl; + } else if(fabs(phi1 - phi2) < 2.0) { + if(fabs(theta2 - theta3) < 3.0) { + if(theta3 < 1.0) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 0.0 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + //cout << endl; + cout << endl; + } else { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + } + } else if(theta3 < 1.0) { + cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 0.0 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + } else { + cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi2 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << 2*M_PI << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << 0.0 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << 0.0 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + } + } else if(phi1 < 1.0) { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << M_PI << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << M_PI << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + + } else { + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta2 << " " << rhosum << " 40" << endl; + cout << M_PI << " " << theta3 << " " << rhosum << " 40" << endl; + cout << phi4 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + + cout << 0.0 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi3 << " " << theta3 << " " << rhosum << " 40" << endl; + cout << 0.0 << " " << theta4 << " " << rhosum << " 40" << endl; + // cout << 0.0 << " " << theta1 << " " << rhosum << " 40" << endl; + + // cout << endl; + cout << endl; + } + + // cout << endl; + // cout << endl; + //delete[] tmp; + + } + } + cout << endl; + } + + for(int i = 0; i < 3; i++) { + delete[] result[i]; + } + delete[] result; + +} + +void AccumulatorCube::resetAccumulator() { + count = 0; + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + accumulator[i][j][k][l] = 0; + } + } + } + } +} + +bool AccumulatorCube::accumulate(double theta, double phi, double rho) { + count++; + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + + buffer_point bp = coords_s2_to_cell(n, nrCells); + + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + accumulator[bp.face - 1][bp.i - 1][bp.j - 1][rhoindex]++; + lastbp = bp; + + return accumulator[bp.face - 1][bp.i - 1][bp.j - 1][rhoindex] > (int)myConfigFileHough.Get_AccumulatorMax(); +} + +double* AccumulatorCube::getMax(double &rho, double &theta, double &phi) { + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + double* result; + result = coords_cube_to_s2(lastbp, nrCells); + //cout << "N: " << result[0] << " " << result[1] << " " << result[2] << endl; + return result; +} + +void AccumulatorCube::accumulate(Point p) { + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + } + + } + delete[] n; + } + } + } +} + +double* AccumulatorCube::accumulateRet(Point p) { + // rho theta phi + count++; + double * angles = new double[3]; + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + if(((unsigned int)accumulator[i][j-1][k-1][l] > myConfigFileHough.Get_AccumulatorMax() + && (unsigned int)accumulator[i][j-1][k-1][l] > + count*myConfigFileHough.Get_PlaneRatio()) || + (unsigned int)accumulator[i][j-1][k-1][l] > 10*myConfigFileHough.Get_AccumulatorMax() + ) { + double polar[3]; + toPolar(n, polar); + angles[0] = rho; + angles[1] = polar[1]; + angles[2] = polar[0]; + return angles; + } + } + + } + delete[] n; + } + } + } + angles[0] = -1.0; + return angles; +} + +int* AccumulatorCube::accumulateAPHT(Point p) { + // rho theta phi + int tmpMax = 0; + int * angles = new int[4]; + for(int i = 0; i < 6; i++) { + for(int j = 1; j <= nrCells; j++) { + for(int k = 1; k <= nrCells; k++) { + buffer_point bptmp; + bptmp.face = i + 1; + bptmp.i = j; + bptmp.j = k; + + double* n = coords_cube_to_s2(bptmp, nrCells); + Normalize3(n); + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + double rho = (l + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[i][j-1][k-1][l]++; + if(accumulator[i][j-1][k-1][l] > tmpMax) { + angles[0] = l; + angles[1] = i; + angles[2] = j; + angles[3] = k; + tmpMax = accumulator[i][j-1][k-1][l]; + } + } + + } + delete[] n; + } + } + } + return angles; +} + +double* AccumulatorCube::getMax(int* cell) { + buffer_point bp; + bp.face = cell[2] + 1; + bp.i = cell[3] + 1; + bp.j = cell[4] + 1; + + + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + double* polar = coords_cube_to_s2(bp, nrCells); + double* polar2 = new double[4]; + for(int i = 0; i < 3; i++) { + polar2[i] = polar[i]; + } + delete[] polar; + polar2[3] = rho; + return polar2; +} + +//void AccumulatorCube::getMax() { +multiset* AccumulatorCube::getMax() { + multiset* maxlist = new multiset(); + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells; j++) { + for(int k = 0; k < nrCells; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum(); l++) { + int* tmp = new int[5]; + tmp[0] = accumulator[i][j][k][l]; + tmp[1] = l; + tmp[2] = i; + tmp[3] = j; + tmp[4] = k; + maxlist->insert(tmp); + } + } + } + } + return maxlist; +} + +void AccumulatorCube::peakWindow(int size) { + for(int i = 0; i < 6; i++) { + for(int j = 0; j < nrCells - size; j++) { + for(int k = 0; k < nrCells - size; k++) { + for(unsigned int l = 0; l < myConfigFileHough.Get_RhoNum() - size; l++) { + int max = 0; + for(int ji = j; ji < j + size; ji++) { + for(int ki = k; ki < k + size; ki++) { + for(unsigned int li = l; li < l + size; li++) { + if(accumulator[i][ji][ki][li] > max) { + max = accumulator[i][ji][ki][li]; + } + } + } + } + for(int ji = j; ji < j + size; ji++) { + for(int ki = k; ki < k + size; ki++) { + for(unsigned int li = l; li < l + size; li++) { + if(accumulator[i][ji][ki][li] < max) { + accumulator[i][ji][ki][li] = 0; + } + } + } + } + } + } + } + } +} + + +/*** HERE BEGINS THE ACCUMULATORBALL IMPROVED ***/ + +AccumulatorBallI::AccumulatorBallI(ConfigFileHough myCfg) { + count = 0; + int countCells = 0; + myConfigFileHough = myCfg; + + int counter = 0; + ballNr = new int[myConfigFileHough.Get_PhiNum()]; + step = 180.0/myConfigFileHough.Get_PhiNum(); + + //double MAX_A = M_PI * (2 * fabs(0 - cos(rad(90- step))) + sin(rad(90 - step)) * sin(rad(90 - step)) + 1 * 1); + + double h_0 = cos(rad(90 - step)); + double MAX_A = (2.0 * M_PI * h_0) / myConfigFileHough.Get_ThetaNum(); + double h_top = MAX_A /(2.0 * M_PI); + phi_top_rad = acos(1 - h_top); + phi_top_deg = deg(phi_top_rad); + step = (180.0 - 2.0 * phi_top_deg) / (double)(myConfigFileHough.Get_PhiNum() - 2.0); + + double phi; + ballNr[counter] = 1; + ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] = 1; + counter++; + + for(phi = phi_top_deg; phi < 90; phi+=step) { + double h_i = cos(rad(phi)) - cos(rad(phi + step)); + double a_i = 2 * M_PI * h_i; + ballNr[counter] = a_i / MAX_A; + ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] = a_i / MAX_A; + //cout << counter << " " << ballNr[counter] << " " << a_i << " " << MAX_A << endl; + //cout << myConfigFileHough.Get_PhiNum() - 1 - counter << " " << ballNr[myConfigFileHough.Get_PhiNum() - 1 - counter] << " " << a_i << " " << MAX_A << endl; + counter++; + } + /* + for(int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + cout << i << ": " << ballNr[i] << endl; + } + cout << "BallNR erzeugt" << endl; + */ + + accumulator = new int**[myConfigFileHough.Get_RhoNum()]; + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + accumulator[i] = new int*[myConfigFileHough.Get_PhiNum()]; + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + accumulator[i][j] = new int[ballNr[j]]; + for(int k = 0; k < ballNr[j]; k++) { + accumulator[i][j][k] = 0; + countCells++; + } + } + } + cout << "CountCells " << countCells << endl; +} + +AccumulatorBallI::~AccumulatorBallI() { + + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + delete[] accumulator[i][j]; + } + delete[] accumulator[i]; + + } + delete[] accumulator; + delete[] ballNr; + +} + +void AccumulatorBallI::printAccumulator() { +//TODO + int sum = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + sum += ballNr[i]; + } + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + for(int j = 0; j < ballNr[i]; j++) { + double phi1 = i * M_PI / (myConfigFileHough.Get_PhiNum()*0.99999999); + double phi2 = (i+1) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + double theta1 = j * 2*M_PI / ballNr[i]; + double theta2 = (j+1) * 2*M_PI / ballNr[i]; + if(theta2 > 2*M_PI) theta2 = 2*M_PI; + if(phi2 > M_PI) { + phi2 = M_PI; + } + int rhosum = 0; + /* + for(int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + rhosum += accumulator[k][i][j]; + } + */ + rhosum = accumulator[33][i][j]; + cout << phi1 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta1 << " " << rhosum << " 40" << endl; + cout << phi2 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << phi1 << " " << theta2 << " " << rhosum << " 40" << endl; + cout << endl; + } + + //cout << endl; + } +} + +void AccumulatorBallI::resetAccumulator() { + +//TODO + count = 0; + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + accumulator[i][j][k] = 0; + } + } + } +} + +bool AccumulatorBallI::accumulate(double theta, double phi, double rho) { +//TODO + count++; + int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = (int)((rho*(double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum()*0.9999999999)/(M_PI))); + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr*0.9999999999)/(2*M_PI))); + if(thetaindex >= bNr) { + cout << "duet"; + } + //thetaindex = thetaindex % ballNr[phiindex]; + accumulator[rhoindex][phiindex][thetaindex]++; + return ((unsigned int)accumulator[rhoindex][phiindex][thetaindex] >= myConfigFileHough.Get_AccumulatorMax()); +} + +void AccumulatorBallI::accumulate(Point p) { + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = phi_top_rad + (i-0.5) * rad(step); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + if(i == 0) { + n[0] = 0.0; + n[1] = 0.0; + n[2] = 1.0; + } else if (i == myConfigFileHough.Get_RhoNum() - 1) { + n[0] = 0.0; + n[1] = 0.0; + n[2] = -1.0; + } else { + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + } + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * (double)myConfigFileHough.Get_RhoMax() / (double)myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + } + + } + } + } + +} +double* AccumulatorBallI::accumulateRet(Point p) { + count++; +//TODO + // rho theta phi + double* angles = new double[3]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.999999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(((unsigned int)accumulator[k][i][j] > + myConfigFileHough.Get_AccumulatorMax() && (unsigned + int)accumulator[k][i][j] > count*myConfigFileHough.Get_PlaneRatio()) + || (unsigned int)accumulator[k][i][j] > 10*myConfigFileHough.Get_AccumulatorMax() ) { + angles[0] = rho; + angles[1] = theta; + angles[2] = phi; + return angles; + } + } + + } + } + } + angles[0] = -1; + return angles; +} + +int* AccumulatorBallI::accumulateAPHT(Point p) { + +//TODO + // rho theta phi + int tmpMax = 0; + int* angles = new int[4]; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum(); i++) { + double phi = (i+0.5) * M_PI / (myConfigFileHough.Get_PhiNum()*0.9999999); + for(int j = 0; j < ballNr[i]; j++) { + double theta = (j+0.5) * 2*M_PI / ballNr[i]; + if(theta > 2*M_PI) theta = 2*M_PI; + if(phi > M_PI) { + phi = M_PI; + } + double n[3]; + n[0] = cos(theta)*sin(phi); + n[1] = sin(theta)*sin(phi); + n[2] = cos(phi); + Normalize3(n); + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum(); k++) { + double rho = (k + 0.5) * myConfigFileHough.Get_RhoMax() / myConfigFileHough.Get_RhoNum(); + double distance = p.x * n[0] + p.y * n[1] + p.z * n[2]; + if(fabs(distance-rho) < myConfigFileHough.Get_MaxPointPlaneDist()) { + accumulator[k][i][j]++; + if(accumulator[k][i][j] > tmpMax) { + angles[1] = k; + angles[2] = j; + angles[3] = i; + angles[0] = tmpMax = accumulator[k][i][j]; + } + } + + } + } + } + return angles; +} + +double* AccumulatorBallI::getMax(double &rho, double &theta, double &phi) { +//TODO was?? + + unsigned int rhoindex = myConfigFileHough.Get_RhoNum() - 1; + + if(rho < myConfigFileHough.Get_RhoMax()) { + rhoindex = + (int)(rho*((double)myConfigFileHough.Get_RhoNum()/(double)myConfigFileHough.Get_RhoMax())); + } + + unsigned int phiindex = (int)(phi*(((double)myConfigFileHough.Get_PhiNum())/(M_PI))); + if(phiindex == myConfigFileHough.Get_PhiNum()) phiindex--; + int bNr = ballNr[phiindex]; + int thetaindex = (int)(theta*((bNr + 1)/(2*M_PI))); + thetaindex = thetaindex % bNr; + + phi = (0.5 + phiindex) * (double)(M_PI / (double)myConfigFileHough.Get_PhiNum()); + theta = (0.5 + thetaindex) * (double)(2.0 * M_PI / bNr); + rho = (rhoindex + 0.5) * (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + return polar2normal(theta, phi); +} +double* AccumulatorBallI::getMax(int* cell) { + double * polar; + if(cell[3] == 0) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = 1.0; + } else if((unsigned int)cell[3] == myConfigFileHough.Get_PhiNum() - 1) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = -1.0; + } else { + double phi = phi_top_rad + (-0.5 + cell[3]) * rad(step); + double bNr = ballNr[cell[3]]; + double theta = (0.5 + cell[2]) * (double)(2.0 * M_PI / bNr); + polar = polar2normal(theta, phi); + } + + double rho = (cell[1] + 0.5) * + (double)myConfigFileHough.Get_RhoMax()/(double)myConfigFileHough.Get_RhoNum(); + if(isnan(polar[0])) { + cout << cell[1] << " " << cell[2] << " " << cell[3] << endl; + //cout << theta <<" bla " << phi << endl; + } + polar[3] = rho; + return polar; +} + +multiset* AccumulatorBallI::getMax() { +//void AccumulatorBallI::getMax() { + multiset* maxlist = new multiset(); + //for(unsigned int i = 0; i < 1; i++) { + for(unsigned int i = 0; i < myConfigFileHough.Get_RhoNum(); i++) { + for(unsigned int j = 0; j < myConfigFileHough.Get_PhiNum(); j++) { + int bNr = ballNr[j]; + for(int k = 0; k < bNr; k++) { + int * tmp = new int[4]; + tmp[0] = accumulator[i][j][k]; + tmp[1] = i; + tmp[2] = k; + tmp[3] = j; + maxlist->insert(tmp); + double * polar; + double phi; + double theta = 0.0; + if(tmp[3] == 0) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = 1.0; + phi = 0; + } else if((unsigned int)tmp[3] == myConfigFileHough.Get_PhiNum() - 1) { + polar = new double[4]; + polar[0] = 0.0; + polar[1] = 0.0; + polar[2] = -1.0; + phi = M_PI; + } else { + phi = phi_top_rad + (-0.5 + tmp[3]) * rad(step); + int bNr = ballNr[tmp[3]]; + theta = (0.5 + tmp[2]) * (double)(2.0 * M_PI / (double)bNr); + polar = polar2normal(theta, phi); + } + //cout << polar[0] << " " << polar[1] << " " << polar[2] << " " << phi << " " << theta << endl; + } + } + } + cout << "Maxlist Size:" << maxlist->size() << endl; + return maxlist; +} +void AccumulatorBallI::peakWindow(int size) { + //cout << "Wir haben " << sum << "Zellen!" << endl; + for(unsigned int i = 0; i < myConfigFileHough.Get_PhiNum() - size; i++) { + //cout << "Peak " << i << endl; + for(int j = 0; j < ballNr[i] - size; j++) { + + for(unsigned int k = 0; k < myConfigFileHough.Get_RhoNum() - size; k++) { + int max = 0; + for(unsigned int ii = i; (ii < (i + size)) && (ii < myConfigFileHough.Get_PhiNum()); ii++) { + for(int ji = j; (ji < (j + size)) && (ji < ballNr[ii]); ji++) { + for(unsigned int ki = k; (ki < (k + size)) && (ki < myConfigFileHough.Get_RhoNum()); ki++) { + if(accumulator[ki][ii][ji] > max) { + max = accumulator[ki][ii][ji]; + } + } + } + } + for(unsigned int ii = i; ii < i + size && ii < myConfigFileHough.Get_PhiNum(); ii++) { + for(int ji = j; ji < j + size && ji < ballNr[ii]; ji++) { + for(unsigned int ki = k; ki < k + size && ki < myConfigFileHough.Get_RhoNum(); ki++) { + if(accumulator[ki][ii][ji] < max) { + accumulator[ki][ii][ji] = 0; + } + } + } + } + } + } + } +} + diff --git a/src/shapes/convexplane.cc b/src/shapes/convexplane.cc new file mode 100644 index 0000000..8cbfaf5 --- /dev/null +++ b/src/shapes/convexplane.cc @@ -0,0 +1,411 @@ +/* + * convexplane implementation + * + * Copyright (C) Dorit Borrmann, Remus Dumitru, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +#include "shapes/convexplane.h" +#include "slam6d/globals.icc" +using std::string; +using std::ofstream; + +/** + * Checks the position of a point with respect to the line given by two points. + * @param start starting point of the line + * @param end end point of the line + * @param point point to be checked + * @return true if the point is left of the line or on the line and further away + * from the start point. + */ + +bool ConvexPlane::furtherleft(double * start, double * point, double * end) { + double tmp = (end[0] - start[0])*(point[1] - start[1]) - (point[0] - start[0])*(end[1] - start[1]); + if(fabs(tmp) < 0.0000000001) { + double l1 = (point[0] - start[0])*(point[0] - start[0]) + + (point[1] - start[1])*(point[1] - start[1]); + double l2 = (end[0] - start[0])*(end[0] - start[0]) + + (end[1] - start[1])*(end[1] - start[1]); + return (l1 > l2); + } else if(tmp < 0) { + return false; + + } else { + return true; + } + exit(0); +} + +/** + * Calculates the convex hull of a 2d point set using the Jarvis March + * algorithm. + * + * 1. Find the point that is furthest left in the point set. + * 2. Continue to select points such that the remaining point cloud always + * stays on the right sight of that line spanned by the last point and the new + * point. + * 3. Stop when all remaining points are to the right of the line from the last + * point to the starting point. + */ +void ConvexPlane::JarvisMarchConvexHull(list &points, vector &convex_hull) { + //pointOnHull = leftmost point in S + list::iterator itr = points.begin(); + list::iterator end = itr; + while(itr != points.end()) { + if((*end)[0] > (*itr)[0]) { + end = itr; + } + itr++; + } + double * anchor = (*end); + convex_hull.push_back(anchor); + itr = points.begin(); + double * start = convex_hull[0]; + double * current = (*points.begin()); + bool closed = true; + do { + closed = true; + itr = points.begin(); + end = points.begin(); + while(itr != points.end()) { + if(furtherleft(start, (*itr), current)) { + end = itr; + current = (*end); + closed = false; + } + itr++; + } + start = current; + if(!closed) { + convex_hull.push_back(current); + end = points.erase(end); + } + current = anchor; + } while(start != anchor); + // convex_hull.pop_back(); + + itr = points.begin(); + while(itr != points.end()) { + if((*itr) == anchor) { + itr=points.erase(itr); + break; + } else { + itr++; + } + } + // cout << "End of Convex " << convex_hull.size() << endl; +} + +/** + * Constructor of a convex plane given the normal vector, the distance, the + * direction of the plane (largest coordinate of the normal vector) and a + * vector of points that form the convex hull of the plane. + */ +ConvexPlane::ConvexPlane(double _n[3], double _rho, char _direction, +vector _convex_hull) { + + for(int i = 0; i < 3; i++) { + n[i] = _n[i]; + } + Normalize3(n); + + convex_hull = _convex_hull; + direction = _direction; + rho = _rho; +} + +/** + * Constructor of a convex plane given the normal vector and distance of the + * plane. + */ +ConvexPlane::ConvexPlane(double plane[4]) { + for(int i = 0; i < 3; i++) { + n[i] = plane[i]; + } + rho = plane[3]; + if(fabs(n[0]) < fabs(n[1])) { + if(fabs(n[1]) < fabs(n[2])) { + direction = 'z'; + } else { + direction = 'y'; + } + } else if (fabs(n[2]) < fabs(n[0])){ + direction = 'x'; + } else { + direction = 'z'; + } +} + +/** + * Constructor of a convex plane given several partial planes + */ +ConvexPlane::ConvexPlane(vector &partialplanes) { + int size = partialplanes.size(); + for(int i = 0; i < size; i++) { + for(int j = 0; j < 3; j++) { + n[j] += partialplanes[i]->n[j]; + rho += partialplanes[i]->rho; + } + } + for(int j = 0; j < 3; j++) { + n[j] /= size; + } + rho /= size; +} + +/** + * Constructor of a convex plane given the normal vector and distance of the + * plane and a vector of points that lie on the plane. + */ +ConvexPlane::ConvexPlane(double plane[4], vector &points ) { + + for(int i = 0; i < 3; i++) { + n[i] = plane[i]; + } + rho = plane[3]; + Normalize3(n); + + if(fabs(n[0]) < fabs(n[1])) { + if(fabs(n[1]) < fabs(n[2])) { + direction = 'z'; + } else { + direction = 'y'; + } + } else if (fabs(n[2]) < fabs(n[0])){ + direction = 'x'; + } else { + direction = 'z'; + } + + list point_list; + + for (vector::iterator it = points.begin(); it != points.end(); it++) { + Point p = (*it); + double * point = new double[2]; + switch(direction) { + case 'x': point[0] = p.y; + point[1] = p.z; + break; + case 'y': point[0] = p.x; + point[1] = p.z; + break; + case 'z': point[0] = p.x; + point[1] = p.y; + break; + default: throw runtime_error("default branch taken"); + } + point_list.push_back(point); + } + + if (point_list.size() > 0) { + JarvisMarchConvexHull(point_list, convex_hull); + } +} +ConvexPlane::~ConvexPlane() { + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); it++) { + double* tmp = (*it); + delete[] tmp; + } +} + +/** + * Writes the plane as normalXXX.3d to the directory given in the path. XXX is + * the three digit representation of the counter. + * This function writes the center and the normal of the plane to the file. + */ +void ConvexPlane::writeNormal(string path, int counter) { + ofstream out; + out.open(path.c_str()); + double center[3]; + for(int i = 0; i < 3; i++) { + center[i] = 0.0; + } + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + + switch(direction) { + case 'x': + center[0] += (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + center[1] += (*it)[0]; + center[2] += (*it)[1]; + break; + case 'y': + center[0] += (*it)[0]; + center[1] += (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + center[2] += (*it)[1]; + break; + case 'z': + center[0] += (*it)[0]; + center[1] += (*it)[1]; + center[2] += (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + + } + + for(int i = 0; i < 3; i++) { + center[i] /= convex_hull.size(); + } + + + out << n[0] << " " << n[1] << " " << n[2] << endl; + out << center[0] << " " << center[1] << " " << center[2] << endl; + + out.close(); + +} + +/** + * Writes the convex hull of the plane as planeXXX.3d to the directory given in the path. + * XXX is the three digit representation of the counter. + */ +void ConvexPlane::writePlane(string path, int counter) { + + ofstream out; + out.open(path.c_str()); + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + switch(direction) { + case 'x': + out << (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0] << " "; + out << (*it)[0] << " "; + out << (*it)[1] << endl; + break; + case 'y': + out << (*it)[0] << " "; + out << (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1] << " "; + out << (*it)[1] << endl; + break; + case 'z': + out << (*it)[0] << " "; + out << (*it)[1] << " "; + out << (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2] << endl; + break; + default: throw runtime_error("default branch taken"); + } + + } + out.flush(); + out.close(); +} + +vector ConvexPlane::getConvexHull() { + vector hull; + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + double point[3]; + + switch(direction) { + + case 'x': + point[0] = (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + point[1] = (*it)[0]; + point[2] = (*it)[1]; + break; + case 'y': + point[0] = (*it)[0]; + point[1] = (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + point[2] = (*it)[1]; + break; + case 'z': + point[0] = (*it)[0]; + point[1] = (*it)[1]; + point[2] = (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + + hull.push_back(point[0]); + hull.push_back(point[1]); + hull.push_back(point[2]); + } + + return hull; +} + +void ConvexPlane::getNormal(double* normal, double* origin) { + double center[3]; + for(int i = 0; i < 3; i++) { + center[i] = 0.0; + } + + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); + it++) { + + switch(direction) { + case 'x': + center[0] += (rho - (*it)[0] * n[1] - (*it)[1] * n[2]) / n[0]; + center[1] += (*it)[0]; + center[2] += (*it)[1]; + break; + case 'y': + center[0] += (*it)[0]; + center[1] += (rho - (*it)[0] * n[0] - (*it)[1] * n[2]) / n[1]; + center[2] += (*it)[1]; + break; + case 'z': + center[0] += (*it)[0]; + center[1] += (*it)[1]; + center[2] += (rho - (*it)[0] * n[0] - (*it)[1] * n[1]) / n[2]; + break; + default: throw runtime_error("default branch taken"); + } + } + + for(int i = 0; i < 3; i++) { + center[i] /= convex_hull.size(); + } + + normal[0] = n[0]; + normal[1] = n[1]; + normal[2] = n[2]; + + origin[0] = center[0]; + origin[1] = center[1]; + origin[2] = center[2]; +} + +void ConvexPlane::project(const double *p, double *p1) { + double dist = n[0] * p[0] + n[1] * p[1] + n[2] * p[2] - rho; + + p1[0] = p[0] - n[0] * dist; + p1[1] = p[1] - n[1] * dist; + p1[2] = p[2] - n[2] * dist; +} + +bool ConvexPlane::isWall() { + return fabs(n[1]) < 0.1; +} + +bool ConvexPlane::isHorizontal() { + double skalar = n[1] / sqrt(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]) ; + return (1-(fabs(skalar))) < 0.1; +} + +void ConvexPlane::horizontalize() { + + n[0] = 0.0; + n[1] = n[1] < 0 ? -1.0 : 1.0; + n[2] = 0.0; + +} + +void ConvexPlane::verticalize() { + n[1] = 0.0; + Normalize3(n); +} + diff --git a/src/shapes/geom_math.cc b/src/shapes/geom_math.cc new file mode 100644 index 0000000..38d097e --- /dev/null +++ b/src/shapes/geom_math.cc @@ -0,0 +1,145 @@ +/* + * geom_math implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "math.h" +#include "shapes/geom_math.h" + +float Nx,Ny,Nz,Nd; +float Cx, Cy, Cz; +float maxDist = 1.0; // cm +float maxRadius = 105.0; // cm +float CxM, CxP, CyM, CyP, CzM, CzP; + +bool SphereInAABB( float x, float y, float z, float size ) { + if ( x + size < CxM || + x - size > CxP || + y + size < CyM || + y - size > CyP || + z + size < CzM || + z - size > CzP ) { + return false; + } + return true; +} + + +void setNumber(double *plane, double *center, double _radius, double _maxDist) { + maxDist = _maxDist; + maxRadius = _radius; + + Nx = plane[0]; + Ny = plane[1]; + Nz = plane[2]; + Nd = plane[3]; + + Cx = center[0]; + Cy = center[1]; + Cz = center[2]; + CxM = Cx - maxRadius; + CxP = Cx + maxRadius; + CyM = Cy - maxRadius; + CyP = Cy + maxRadius; + CzM = Cz - maxRadius; + CzP = Cz + maxRadius; +} + + + + +bool PlaneInCube( float x, float y, float z, float size, float nx, float ny, float nz, float d) +{ + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + Fxm = nx * xm; + Fym = ny * ym; + Fzm = nz * zm; + + bool positive = (Fxm + Fym + Fzm + d > 0); + + + Fxp = nx * xp; + if( (Fxp + Fym + Fzm + d < 0) == positive) + return true; + + Fyp = ny * yp; + if( (Fxm + Fyp + Fzm + d < 0) == positive ) + return true; + + if( (Fxp + Fyp + Fzm + d < 0) == positive ) + return true; + + Fzp = nz * zp; + if( (Fxm + Fym + Fzp + d < 0) == positive ) + return true; + + if( (Fxp + Fym + Fzp + d < 0) == positive ) + return true; + if( (Fxm + Fyp + Fzp + d < 0) == positive ) + return true; + if( (Fxp + Fyp + Fzp + d < 0) == positive ) + return true; + + return false; +} + + +bool PlaneInCube( float x, float y, float z, float size) +{ + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + Fxm = Nx * xm; + Fym = Ny * ym; + Fzm = Nz * zm; + + bool positive = (Fxm + Fym + Fzm + Nd > 0); + + + Fxp = Nx * xp; + if( (Fxp + Fym + Fzm + Nd < 0) == positive) + return true; + + Fyp = Ny * yp; + if( (Fxm + Fyp + Fzm + Nd < 0) == positive ) + return true; + + if( (Fxp + Fyp + Fzm + Nd < 0) == positive ) + return true; + + Fzp = Nz * zp; + if( (Fxm + Fym + Fzp + Nd < 0) == positive ) + return true; + + if( (Fxp + Fym + Fzp + Nd < 0) == positive ) + return true; + if( (Fxm + Fyp + Fzp + Nd < 0) == positive ) + return true; + if( (Fxp + Fyp + Fzp + Nd < 0) == positive ) + return true; + + return false; +} + +bool closeToPlane(double *p) { + return ( fabs(planeDist(p, Nx, Ny, Nz, Nd)) < maxDist ); +} + diff --git a/src/shapes/hough.cc b/src/shapes/hough.cc new file mode 100644 index 0000000..283d055 --- /dev/null +++ b/src/shapes/hough.cc @@ -0,0 +1,1250 @@ +/* + * hough implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter, Remus Dumitru + * + * Released under the GPL version 3. + * + */ + +#include "newmat/newmatap.h" +using namespace NEWMAT; +#include "shapes/hough.h" +#include "slam6d/globals.icc" +#include +#include +#include +#include "shapes/quadtree.h" +#include +#include + +#ifdef _MSC_VER +#include +#include +#else +#include +#endif +#include + +/** + * Hough Constructor. + * Loads the Configfile, located in "bin/hough.cfg" and initializes the + * accumulator. For details about the implemented Hough methods please read: + * + * Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas N眉chter. The 3D + * Hough Transform for Plane Detection in Point Clouds - A Review and A new + * Accumulator Design, Journal 3D Research, Springer, Volume 2, Number 2, + * March 2011. + */ + +Hough::Hough(bool q, std::string configFile) +{ + quiet = q; + + // If the user has specified a configFile, load it + if(configFile.size() > 0) { + myConfigFileHough.LoadCfg(configFile.c_str()); + if (!quiet) { + std::cout << "Loaded Configfile" << std::endl; + myConfigFileHough.ShowConfiguration(); + } + } +} + +Hough::Hough(Scan * GlobalScan, bool q, std::string configFile) +{ + + quiet = q; + if(configFile.size() > 0) { + myConfigFileHough.LoadCfg(configFile.c_str()); + if(!quiet) { + std::cout << "Loaded Configfile" << std::endl; + myConfigFileHough.ShowConfiguration(); + } + } + + SetScan(GlobalScan); +} + +void Hough::SetScan(Scan* scan) +{ + + nrEntries = 0; + maximum = false; + + planeCounter = 0; + + allPoints = new vector(); + + DataXYZ points_red = scan->get("xyz reduced"); + for(unsigned int i = 0; i < points_red.size(); i++) + { + Point p(points_red[i]); + allPoints->push_back(p); + } + + switch(myConfigFileHough.Get_AccumulatorType()) { + case 0: + acc = new AccumulatorSimple(myConfigFileHough); + break; + case 1: + acc = new AccumulatorBall(myConfigFileHough); + break; + case 2: + acc = new AccumulatorCube(myConfigFileHough); + break; + case 3: + acc = new AccumulatorBallI(myConfigFileHough); + break; + } + srand(time(0)); // make the results actually random + //srand(0); // make the results repeatable +} + +/** + * Desctructor. + */ + +Hough::~Hough() { + if(out.is_open()) { + out.flush(); + out.close(); + } + + for(vector::iterator it = planes.begin(); + it != planes.end(); it++) { + ConvexPlane* tmp = (*it); + delete tmp; + } + delete acc; + delete allPoints; + +} + +/** + * Randomized Hough Transform + */ +int Hough::RHT() { + + if (!quiet) cout << "RHT" << endl; + Point p1, p2, p3; + double theta, phi, rho; + int planeSize = 2000; + + unsigned int stop = (unsigned int)(allPoints->size()/100.0)*myConfigFileHough.Get_MinSizeAllPoints(); + int plane = 1; + long start, end; + start = GetCurrentTimeInMilliSec(); + int counter = 0; + while( allPoints->size() > stop && + planes.size() < (unsigned int)myConfigFileHough.Get_MaxPlanes() && + counter < (int)myConfigFileHough.Get_TrashMax()) { + unsigned int pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + + p1 = (*allPoints)[pint]; + pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + p2 = (*allPoints)[pint]; + pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + p3 = (*allPoints)[pint]; + + // check distance + if(!distanceOK(p1, p2, p3)) continue; + //cout << "Distance OK" << endl; + // calculate Plane + if(calculatePlane(p1, p2, p3, theta, phi, rho)) { + // increment accumulator cell + if(acc->accumulate(theta, phi, rho)) { + end = GetCurrentTimeInMilliSec() - start; + start = GetCurrentTimeInMilliSec(); + if (!quiet) cout << "Time for RHT " << plane << ": " << end << endl; + double * n = acc->getMax(rho, theta, phi); + if (!quiet) cout << rho << " " << theta << " " << phi << endl; + planeSize = deletePoints(n, rho); + delete[] n; + if (!quiet) cout << "Delete Points done " << plane << endl; + if(planeSize < (int)myConfigFileHough.Get_MinPlaneSize()) counter++; + end = GetCurrentTimeInMilliSec() - start; + start = GetCurrentTimeInMilliSec(); + if(!quiet) cout << "Time for Polygonization " << plane << ": " << end << endl; + acc->resetAccumulator(); + plane++; + if(!quiet) cout << "Planes " << planes.size() << endl; + } + + } + } + /* + vector::iterator itr = allPoints->begin(); + + Point p; + start = GetCurrentTimeInMilliSec(); + while(itr != allPoints->end()) { + p = *(itr); + cout << p.x << " " << p.y << " " << p.z << endl; + itr++; + } + */ + return (int)planes.size(); +} + +/** + * Standard Hough Transform + */ +void Hough::SHT() { + vector::iterator itr = allPoints->begin(); + + Point p; + long start, end; + start = GetCurrentTimeInMilliSec(); + while(itr != allPoints->end()) { + p = *(itr); + acc->accumulate(p); + itr++; + } + end = GetCurrentTimeInMilliSec() - start; + start = GetCurrentTimeInMilliSec(); + if (!quiet) cout << "Time for SHT: " << end << endl; + + if(myConfigFileHough.Get_PeakWindow()) { + acc->peakWindow(myConfigFileHough.Get_WindowSize()); + } + + multiset* maxlist = acc->getMax(); + multiset::iterator it = maxlist->begin(); + int threshold = ((*it)[0] * myConfigFileHough.Get_PlaneRatio()); + unsigned int stop = (int)(allPoints->size()/100.0)*myConfigFileHough.Get_MinSizeAllPoints(); + + while(it != maxlist->end() && + stop < allPoints->size() && + planes.size() < (unsigned int)myConfigFileHough.Get_MaxPlanes() && + (*it)[0] > threshold) { + int* tmp = (*it); + double * polar = acc->getMax(tmp); + deletePoints(polar, polar[3]); + delete[] polar; + it++; + } + if (!quiet) cout << "Time for Polygonization: " << end << endl; + + it = maxlist->begin(); + for(;it != maxlist->end(); it++) { + int* tmp = (*it); + delete[] tmp; + } + + delete maxlist; +} + +/** + * Function that returns all the remaining points in the allPoints vector. + * @return points that do not lie on an already detected plane + */ +double * const* Hough::getPoints(int &size) { + size = allPoints->size(); + double ** returnPoints = new double*[allPoints->size()]; + for(unsigned int i = 0; i < allPoints->size(); i++) { + Point p = (*allPoints)[i]; + returnPoints[i] = new double[3]; + returnPoints[i][0] = p.x; + returnPoints[i][1] = p.y; + returnPoints[i][2] = p.z; + } + return returnPoints; +} + +/** + * Deletes all points that lie on a list of planes. + * @param model the list of planes + * @param size the number of remaining points after delete operation + * @return the remaining points + */ +double * const* Hough::deletePoints(vector &model, int &size) { + for(unsigned int i = 0; i < model.size(); i++) { + deletePoints(model[i]->n, model[i]->rho); + } + double ** returnPoints = new double*[allPoints->size()]; + for(unsigned int i = 0; i < allPoints->size(); i++) { + Point p = (*allPoints)[i]; + returnPoints[i] = new double[3]; + returnPoints[i][0] = p.x; + returnPoints[i][1] = p.y; + returnPoints[i][2] = p.z; + } + size = allPoints->size(); + return returnPoints; +} + +/** + * Probabilistic Hough Transform + */ + +void Hough::PHT() { + unsigned int stop = + (int)(allPoints->size()/100.0)*myConfigFileHough.Get_MinSizeAllPoints(); + bool *voted = new bool[allPoints->size()]; + for(unsigned int i = 0; i < allPoints->size(); i++) { + voted[i] = false; + } + + unsigned int i = 0; + while(i < stop && planes.size() < (unsigned int)myConfigFileHough.Get_MaxPlanes()) { + unsigned int pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + + if(!voted[i]) { + Point p = (*allPoints)[pint]; + acc->accumulate(p); + i++; + } + + } + // List of Maxima + if(myConfigFileHough.Get_PeakWindow()) { + acc->peakWindow(myConfigFileHough.Get_WindowSize()); + } + multiset* maxlist = acc->getMax(); +// cout << "Mean " << acc->mean() << endl; +// cout << "Variance " << acc->variance() << endl; + + multiset::iterator it = maxlist->begin(); + int threshold = ((*it)[0] * myConfigFileHough.Get_PlaneRatio()); + while(it != maxlist->end() && + stop < allPoints->size() && + planes.size() < (unsigned int)myConfigFileHough.Get_MaxPlanes() && + (*it)[0] > threshold) { + + int* tmp = (*it); + double * tmp2 = acc->getMax(tmp); + deletePoints(tmp2, tmp2[3]); + delete [] tmp2; + it++; + } + it = maxlist->begin(); + for(;it != maxlist->end(); it++) { + int* tmp = (*it); + delete[] tmp; + } + + delete maxlist; + delete[] voted; +} + +/** + * Progressive Probabilistic Hough Transform + */ + +void Hough::PPHT() { + unsigned int stop = + (int)(allPoints->size()/100.0)*myConfigFileHough.Get_MinSizeAllPoints(); + while(stop < allPoints->size() && + planes.size() < (unsigned int)myConfigFileHough.Get_MaxPlanes()) { + bool *voted = new bool[allPoints->size()]; + for(unsigned int i = 0; i < allPoints->size(); i++) { + voted[i] = false; + } + + unsigned int pint; + do { + pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + + Point p = (*allPoints)[pint]; + if(!voted[pint]) { + double * angles = acc->accumulateRet(p); + if(angles[0] > -0.0001) { + double * n = polar2normal(angles[1], angles[2]); + deletePoints(n, angles[0]); + acc->resetAccumulator(); + delete [] n; + } else { + voted[pint] = true; + } + delete [] angles; + } + + } while(!voted[pint]); + + delete[] voted; + } +} + +/** + * Adaptive Probabilistic Hough Transform + */ + +void Hough::APHT() { + + int max = 0; + int maxpos = 0; + vector mergelist = vector(); + int stability[20] = {0}; + do { + + //randomly select points and perform HT for them + vector altlist = mergelist; + mergelist = vector(); + multiset maxlist = multiset(); + for(int i = 0; i < 10; i++) { + unsigned int pint = (int) (((*allPoints).size())*(rand()/(RAND_MAX+1.0))); + Point p = (*allPoints)[pint]; + int * max = acc->accumulateAPHT(p); + // store the maximum cell touched by the HT + maxlist.insert(max); + } + + // merge active with previous list + multiset::iterator mi = maxlist.begin(); + vector::iterator ai = altlist.begin(); + + int i = 0; + while(i < 20) { + bool mi_oder_ai = false; + if(ai == altlist.end()) { + if(mi == maxlist.end()) { + break; + } else { + mi_oder_ai = true; + } + } else if(mi == maxlist.end()) { + mi_oder_ai = false; + } else if((*mi)[0] <= (*ai[0])) { + mi_oder_ai = false; + } else { + mi_oder_ai = true; + } + + int *tmp; + if(mi_oder_ai) { + tmp = (*mi); + mi++; + } else { + tmp = (*ai); + ai++; + } + + bool insert = true; + for(vector::iterator it = mergelist.begin(); it != mergelist.end(); + it++) { + if(myConfigFileHough.Get_AccumulatorType() != 2) { + if( sqrt( + ((*it)[3] - (tmp[3])) * ((*it)[3] - (tmp[3])) + + ((*it)[1] - (tmp[1])) * ((*it)[1] - (tmp[1])) + + ((*it)[2] - (tmp[2])) * ((*it)[2] - (tmp[2])) ) < 3.0) { + insert = false; + break; + } + } else { + if( sqrt( + ((*it)[4] - (tmp[4])) * ((*it)[4] - (tmp[4])) + + ((*it)[1] - (tmp[1])) * ((*it)[1] - (tmp[1])) + + ((*it)[2] - (tmp[2])) * ((*it)[2] - (tmp[2])) + + ((*it)[3] - (tmp[3])) * ((*it)[3] - (tmp[3])) ) < 3.0) { + insert = false; + break; + } + } + } + if(insert) { + mergelist.push_back(tmp); + i++; + } + } + // compare lists, calculate stability + i = 0; + for(unsigned int i = 1; i < altlist.size(); i++) { + for(unsigned int j = 0; j < i; j++) { + int * tmp1 = mergelist[j]; + bool treffer = false; + for(unsigned int k = 0; k < i; k++) { + int * tmp2 = altlist[k]; + if(myConfigFileHough.Get_AccumulatorType() != 2) { + if( sqrt( + ((tmp2)[3] - (tmp1[3])) * ((tmp2)[3] - (tmp1[3])) + + ((tmp2)[1] - (tmp1[1])) * ((tmp2)[1] - (tmp1[1])) + + ((tmp2)[2] - (tmp1[2])) * ((tmp2)[2] - (tmp1[2])) ) < 3.0) { + treffer = true; + break; + } + } else { + if( sqrt( + ((tmp2)[4] - (tmp1[4])) * ((tmp2)[4] - (tmp1[4])) + + ((tmp2)[1] - (tmp1[1])) * ((tmp2)[1] - (tmp1[1])) + + ((tmp2)[2] - (tmp1[2])) * ((tmp2)[2] - (tmp1[2])) + + ((tmp2)[3] - (tmp1[3])) * ((tmp2)[3] - (tmp1[3])) ) < 3.0) { + treffer = true; + break; + } + } + } + if(!treffer) { + stability[i-1] = -1; + break; + } + } + stability[i-1]++; + } + for(int i = mergelist.size(); i < 20; i++) { + stability[i] = 0; + } + // determine stability count, + // a set of n entries is considered to be stable, if all planes in the set + // are the maximal entries of the mergelist in this iteration and have also + // been the maximal entries in the previous iteration (the order in the set + // does not count). The stability count for a number n is the number of + // iterations for which the set of size n has been stable. + // The maximum stability count is the stability count for the size n, that + // is the maximum of all stability counts. + max = 0; + maxpos = 0; + for(int i = 0; i < 20; i++) { + if(stability[i] >= max) { + max = stability[i]; + maxpos = i; + } + } + // repeat until maximum stability count exceeds a threshold + } while(max < (int)myConfigFileHough.Get_AccumulatorMax() + && stability[myConfigFileHough.Get_MaxPlanes()] < + myConfigFileHough.Get_AccumulatorMax() * myConfigFileHough.Get_PlaneRatio() + ); + if(stability[myConfigFileHough.Get_MaxPlanes()] >= myConfigFileHough.Get_AccumulatorMax() * myConfigFileHough.Get_PlaneRatio()) { + maxpos = myConfigFileHough.Get_MaxPlanes(); + } + + for(int i = 0; i <= maxpos; i++) { + double * n = acc->getMax(mergelist[i]); + deletePoints(n, n[3]); + + delete[] n; + } + +} + +/** + * Verifies the distance criterion needed for the RHT. The distance between the + * three selected points may not exceed a maximal or fall below a minimal + * distance. + */ +bool Hough::distanceOK(Point p1, Point p2, Point p3) { + // p1 - p2 + double distance = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y) + (p1.z - p2.z) * (p1.z - p2.z); + if(sqrt(distance) < myConfigFileHough.Get_MinDist()) return false; + if(sqrt(distance) > myConfigFileHough.Get_MaxDist()) return false; + + // p2 - p3 + distance = (p3.x - p2.x) * (p3.x - p2.x) + (p3.y - p2.y) * (p3.y - p2.y) + (p3.z - p2.z) * (p3.z - p2.z); + if(sqrt(distance) < myConfigFileHough.Get_MinDist()) return false; + if(sqrt(distance) > myConfigFileHough.Get_MaxDist()) return false; + + // p3 - p1 + distance = (p1.x - p3.x) * (p1.x - p3.x) + (p1.y - p3.y) * (p1.y - p3.y) + (p1.z - p3.z) * (p1.z - p3.z); + if(sqrt(distance) < myConfigFileHough.Get_MinDist()) return false; + if(sqrt(distance) > myConfigFileHough.Get_MaxDist()) return false; + + return true; + +} + +/** + * Calculates the polar coordinates (rho, theta, phi) of the plane spanned by + * three points p1, p2, and p3. + */ +bool Hough::calculatePlane(Point p1, Point p2, Point p3, double &theta, double &phi, double &rho) { + + double v1[3]; + double v2[3]; + double n[3]; + + v1[0] = p3.x - p2.x; + v1[1] = p3.y - p2.y; + v1[2] = p3.z - p2.z; + v2[0] = p1.x - p2.x; + v2[1] = p1.y - p2.y; + v2[2] = p1.z - p2.z; + + Cross(v1,v2,n); + + if(sqrt(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]) < 0.000000001) return false; + + Normalize3(n); + + rho = p1.x * n[0] + p1.y * n[1] + p1.z * n[2]; + + if(rho < 0) { + rho = -rho; + for(int i = 0; i < 3; i++) { + n[i] = -n[i]; + } + } + double polar[3]; + toPolar(n, polar); + + phi = polar[0]; + theta = polar[1]; + + if((fabs(theta) < 0.001) && (fabs(phi) < 0.001) ) return false; + return true; +} + +/** + * Improved function for point deletion. + */ +int Hough::deletePointsQuad(double * n, double rho) { + + if (!quiet) cout << allPoints->size() ; + Normalize3(n); + vector *nallPoints = new vector(); + + vector planePoints; + out << n[0] << " " << n[1] << " " << n[2] << " " << rho << " "; + + Point p; + vector::iterator itr = allPoints->begin(); + + while(itr != allPoints->end()) { + p = *(itr); + // if point close to plane, delete it + double distance = p.x * n[0] + p.y * n[1] + p.z*n[2] - rho; + if( fabs(distance) < myConfigFileHough.Get_MaxPointPlaneDist()) { + + planePoints.push_back(p); + + } + itr++; + } + double n2[4]; + + // calculating the best fit plane + calcPlane(planePoints, n2); + out << n2[0] << " " << n2[1] << " " << n2[2] << " " << n2[3] << " " ; + + itr = allPoints->begin(); + planePoints.clear(); + + while(itr != allPoints->end()) { + p = *(itr); + // if point close to plane, delete it + double distance = p.x * n2[0] + p.y * n2[1] + p.z*n2[2] - n2[3]; + if( fabs(distance) < myConfigFileHough.Get_MaxPointPlaneDist()) { + + planePoints.push_back(p); + + } else { + nallPoints->push_back(p); + } + itr++; + } + delete allPoints; + allPoints = nallPoints; + + if (!quiet) cout << "Planepoints " << planePoints.size() << endl; + int nr_points = planePoints.size(); + // TODO Clustering + double min_angle = rad(1.0); + double _phi, _theta; + double **pppoints; + pppoints = new double*[nr_points]; + + for (unsigned int i = 0; i < planePoints.size(); i++) { + pppoints[i] = new double[3]; + + Point p(planePoints[i]); + double m[3]; + m[0] = p.x; + m[1] = p.y; + m[2] = p.z; + + Normalize3(m); + _phi = acos(m[2]); + double costheta = acos(m[0]/sin(_phi)); + double sintheta = m[1]/sin(_phi); + double EPS = 0.0001; + + if(fabs(sin(costheta) - sintheta) < EPS) { + _theta = costheta; + } else if(fabs( sin( 2*M_PI - costheta ) - sintheta ) < EPS) { + _theta = 2*M_PI - costheta; + } else { + _theta = 0; + cout << "Error JP" << endl; + } + + pppoints[i][0] = _phi; + pppoints[i][1] = _theta; + pppoints[i][2] = sqrt(p.x*p.x + p.y*p.y + p.z*p.z); + } + planePoints.clear(); + + QuadTree tree(pppoints, nr_points , 0.3, min_angle); + vector > cps; + cps = tree.getClusters(); + + unsigned int max_points = 0; + int index = -1; + for (unsigned int i = 0; i < cps.size(); i++) { + if (max_points < cps[i].size()) { + max_points = cps[i].size(); + index = i; + } + } + for (unsigned int i = 0; i < cps.size(); i++) { + for (set::iterator it = cps[i].begin(); + it != cps[i].end(); it++) { + Point p; + p.x = (*it)[2] * cos( (*it)[1] ) * sin( (*it)[0] ); + p.y = (*it)[2] * sin( (*it)[1] ) * sin( (*it)[0] ); + p.z = (*it)[2] * cos( (*it)[0] ); + if ((int)i != index) { + allPoints->push_back(p); + } else { + planePoints.push_back(p); + } + } + } + + double n4[4]; + calcPlane(planePoints, n4); + + ConvexPlane * plane1 = new ConvexPlane(n4, planePoints); + planes.push_back(plane1); + + + for (int i = 0; i < nr_points; i++) { + delete[] pppoints[i]; + } + delete[] pppoints; + return max_points; + + // ENDE +} + +/** + * Deletes points from allPoints that lie on the given plane. All points from + * the biggest cluster on that plane are deleted. If the cluster is + * sufficiently planar, the convex hull is added to the result list. + * + * @param n normal vector of the plane + * @param rho distance between plane and origin + * @return the number of points in the deleted cluster plane + */ +int Hough::deletePoints(double * n, double rho) { + char direction = ' '; + Normalize3(n); + vector *nallPoints = new vector(); + + vector planePoints; + + Point p; + vector::iterator itr = allPoints->begin(); + + while(itr != allPoints->end()) { + p = *(itr); + // if point close to plane, delete it + double distance = p.x * n[0] + p.y * n[1] + p.z*n[2] - rho; + if( fabs(distance) < myConfigFileHough.Get_MaxPointPlaneDist()) { + + planePoints.push_back(p); + + } + itr++; + } + double n2[4]; + // calculating the best fit plane + double D = calcPlane(planePoints, n2); + + bool nocluster = false; + + if(D > myConfigFileHough.Get_MinPlanarity()) { + nocluster = true; + } + + if(fabs(n2[0]) < fabs(n2[1])) { + if(fabs(n2[1]) < fabs(n2[2])) { + direction = 'z'; + } else { + direction = 'y'; + } + } else if (fabs(n2[2]) < fabs(n2[0])){ + direction = 'x'; + } else { + direction = 'z'; + } + + itr = allPoints->begin(); + planePoints.clear(); + + vPtPair planePairs; + double minx, maxx, miny, maxy; + minx = 1000000; + miny = 1000000; + maxx = -1000000; + maxy= -1000000; + while(itr != allPoints->end()) { + p = *(itr); + // if point close to plane, delete it + double distance = p.x * n2[0] + p.y * n2[1] + p.z*n2[2] - n2[3]; + if( fabs(distance) < myConfigFileHough.Get_MaxPointPlaneDist()) { + + Point tmp, p2; + double distance = p.x * n2[0] + p.y * n2[1] + p.z*n2[2] - n2[3]; + tmp.x = p.x - distance * n2[0]; + tmp.y = p.y - distance * n2[1]; + tmp.z = p.z - distance * n2[2]; + switch(direction) { + case 'x': p2.x = tmp.y; + p2.y = tmp.z; + break; + case 'y': p2.x = tmp.x; + p2.y = tmp.z; + break; + case 'z': p2.x = tmp.x; + p2.y = tmp.y; + break; + default: cout << "OHOH" << endl; + } + p2.z = -1; + if(p2.x < minx) minx = p2.x; + if(p2.y < miny) miny = p2.y; + if(p2.x > maxx) maxx = p2.x; + if(p2.y > maxy) maxy = p2.y; + PtPair myPair(p,p2); + + planePairs.push_back(myPair); + + } else { + nallPoints->push_back(p); + } + itr++; + } + delete allPoints; + allPoints = nallPoints; + + int region = -1; + if(planePairs.size() > 2) { + region = cluster(planePairs, minx, maxx, miny, maxy); + } + // delete points from this list + list< double*> point_list; + + vPtPair::iterator vitr; + vector tmp_points; + for(vitr = planePairs.begin(); vitr != planePairs.end(); vitr++) { + + // Case distinction x-z or x-y or y-z + p = (*vitr).p1; + Point p2 = (*vitr).p2; + if(fabs(p2.z - region) < 0.1) { + double * point = new double[2]; + point[0] = p2.x; + point[1] = p2.y; + point_list.push_back(point); + tmp_points.push_back(p); + } else { + allPoints->push_back(p); + } + } + D = calcPlane(tmp_points, n2); + + nocluster = false; + + if(D > myConfigFileHough.Get_MinPlanarity()) { + nocluster = true; + } + unsigned int maxPlane = point_list.size(); + + // color points + unsigned char rgb[3]; + for(int x = 0; x < 3; x++) { + rgb[x] = (unsigned char)((255)*(rand()/(RAND_MAX+1.0))); + } + for(itr = tmp_points.begin(); itr != tmp_points.end(); itr++) { + p = (*itr); + if(nocluster || maxPlane >= myConfigFileHough.Get_MinPlaneSize()) { + p.rgb[0] = 0; + p.rgb[1] = 0; + p.rgb[2] = 0; + } else { + p.rgb[0] = rgb[0]; + p.rgb[1] = rgb[1]; + p.rgb[2] = rgb[2]; + } + coloredPoints.push_back(p); + } + tmp_points.clear(); + + if(nocluster || maxPlane < myConfigFileHough.Get_MinPlaneSize()) { + for(list::iterator it = point_list.begin(); + it != point_list.end(); ) { + double* tmp = (*it); + it = point_list.erase(it); + delete[] tmp; + } + point_list.clear(); + return maxPlane; + } + + // If plane ok, calculate convex hull + vector convex_hull; + ConvexPlane::JarvisMarchConvexHull(point_list,convex_hull); + + for(list::iterator it = point_list.begin(); + it != point_list.end(); ) { + double* tmp = (*it); + it = point_list.erase(it); + delete[] tmp; + } + point_list.clear(); + + if(nocluster) { + for(vector::iterator it = convex_hull.begin(); + it != convex_hull.end(); it++) { + double* tmp = (*it); + delete[] tmp; + } + return maxPlane; + } + + ConvexPlane * plane1 = new ConvexPlane(n2, n2[3], direction, convex_hull); + plane1->pointsize = maxPlane; + planes.push_back(plane1); + + if(!quiet) cout << "Points left " << allPoints->size() << "\n"; + return maxPlane; + // ENDE +} + +/** + * Clustering using Two-Pass algorithm + */ +int Hough::cluster(vPtPair &pairs, double minx, double maxx, double miny, double maxy) { + if(pairs.size() < 3) return -1; + vPtPair::iterator vitr; + vector > linked; + double factor = myConfigFileHough.Get_PointDist(); + int xlength = 1 + (maxx - minx) / factor; + int ylength = 1 + (maxy - miny) / factor; + + vector< vector > colors; + + for(int i = 0; i < ylength; i++) { + vector *tmp = new vector; + colors.push_back(*tmp); + for(int j = 0; j < xlength; j++) { + colors[i].push_back(0); + } + delete tmp; + } + + //int colors[ylength][xlength]; + vector< vector > points; + for(int i = 0; i < ylength; i++) { + vector *tmp = new vector; + points.push_back(*tmp); + for(int j = 0; j < xlength; j++) { + points[i].push_back(false); + } + delete tmp; + } + + int region = 0; + + for(vitr = pairs.begin(); vitr != pairs.end(); vitr++) { + int x = (int)(((*vitr).p2.x - minx) / (maxx - minx) * xlength - 0.5); + int y = (int)(((*vitr).p2.y - miny) / (maxy - miny) * ylength - 0.5); + points[y][x] = true; + } + int up, left; + for(int y = 0; y < ylength; y++) { + for(int x = 0; x < xlength; x++) { + if(points[y][x]) { + if(x==0) { + left = 0; + } else { + left = colors[y][x-1]; + } + if(y==0) { + up = 0; + } else { + up = colors[y-1][x]; + } + if (left == 0) { + if (up == 0) { + colors[y][x] = ++region; // new region + set joined; + joined.insert(region); + linked.push_back(joined); + } else { + colors[y][x] = up; // use upper region + } + } else if (up == 0) { + colors[y][x] = left; // use left region + } else { + colors[y][x] = up; // use upper region (left is the same) + if(left == up) { + continue; + } + else { + set current; + set joined; + joined.insert(up); + joined.insert(left); + for(vector >::iterator itr = linked.begin(); itr != linked.end(); ) { + current = (*itr); + if(current.find(up) != current.end() || current.find(left) != current.end()) { + set newjoined; + insert_iterator > res_ins(newjoined, newjoined.begin()); + + set_union(joined.begin(), joined.end(), current.begin(), current.end(), res_ins); + joined.clear(); + // delete joined; + joined = newjoined; + itr=linked.erase(itr); + } else { + itr++; + } + } + linked.push_back(joined); + } + + } + + } + } + } + int *counter = new int[region+1]; + for(int i = 0; i <= region; i++) { + counter[i] = 0; + } + for(int y = 0; y < ylength; y++) { + for(int x = 0; x < xlength; x++) { + counter[colors[y][x]]++; + } + } + + int *linkedindex = new int[linked.size()]; + for(unsigned int i = 0; i < linked.size(); i++) { + linkedindex[i] = 0; + } + set current; + for(unsigned int i = 0; i < linked.size(); i++) { + current = linked[i]; + for(set::iterator it = current.begin(); it != current.end(); it++) { + linkedindex[i] += counter[(*it)]; + } + } + + delete[] counter; + + int maxindex = 0; + for(unsigned int i = 1; i < linked.size(); i++) { + if(linkedindex[i] > linkedindex[maxindex]) { + maxindex = i; + } + } + + delete[] linkedindex; + set max = linked[maxindex]; + int zaehler = 0; + for(vitr = pairs.begin(); vitr != pairs.end(); vitr++) { + int x = (int)(((*vitr).p2.x - minx) / (maxx - minx) * xlength - 0.5); + int y = (int)(((*vitr).p2.y - miny) / (maxy - miny) * ylength - 0.5); + if(max.find(colors[y][x]) != max.end()) { + (*vitr).p2.z = maxindex; + zaehler++; + } else { + (*vitr).p2.z = -1; + } + } + + + /* + for(vector >::iterator itr = linked.begin(); itr != linked.end(); ) { + set<>current = (*itr); + if(current.find(up) != current.end() || current.find(left) != current.end()) { + */ + return maxindex; +} + + +/** + * Writes ::iterator it = planes.begin(); it != planes.end(); it++) { + string blub2 = blub + "/plane"+ to_string(counter,3) + ".3d"; + out << "Plane " << blub2 << endl; + (*it)->writePlane(blub2, counter); + counter++; + } + + out.close(); + out.flush(); + + return (int)planes.size(); +} + +/** + * Writes the convex hull of each detected plane to a file. + */ +void Hough::writePlanes(std::string filePrefix) +{ + int counter = 0; + + if (!quiet) std::cout << "There are " << planes.size() << " planes." << std::endl; + + for(vector::iterator it = planes.begin(); it != planes.end(); it++) + { + std::stringstream ss; + ss << filePrefix << "_" << counter << ".txt"; + (*it)->writeNormal(ss.str(), counter); + //(*it)->writePlane(ss.str(), counter); + counter++; + } + +} +/** + * Writes the remaining points from allPoints to the plane directory given in + * the config file. + */ +void Hough::writePlanePoints(string filename) { + + ofstream out; + out.open(filename.c_str()); + + Point p; + vector::iterator itr = coloredPoints.begin(); + + while(itr != coloredPoints.end()) { + p = *(itr); + out << p.x << " " << p.y << " " << p.z << " " << (int)p.rgb[0] << " " << (int)(p.rgb[1]) << " " << (int)(p.rgb[2]) << endl; + itr++; + } + itr = allPoints->begin(); + + while(itr != allPoints->end()) { + p = *(itr); + out << p.x << " " << p.y << " " << p.z << " " << 255 << " " << 255 << " " << 255 << endl; + itr++; + } + out.close(); +} + +/** + * Writes the remaining points from allPoints to the plane directory given in + * the config file. + */ +void Hough::writeAllPoints(int index, vector points) { + + string blub = ""; + blub = blub + myConfigFileHough.Get_PlaneDir() + "/scans"; +#ifdef _MSC_VER + int success = mkdir(blub.c_str()); +#else + int success = mkdir(blub.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + + if(success != 0 && errno != EEXIST) { + cerr << "Creating directory " << blub << " failed" << endl; + return; + } + + blub = blub + "/scan" + to_string(index,3) + ".3d"; + + ofstream out; + out.open(blub.c_str()); + + Point p; + vector::iterator itr = points.begin(); + + while(itr != points.end()) { + p = *(itr); + out << p.x << " " << p.y << " " << p.z << " " << (int)p.rgb[0] << " " << (int)(p.rgb[1]) << " " << (int)(p.rgb[2]) << endl; + itr++; + } + out.close(); +} + + +/** + * Given a set of points this function will calculate the best fit plane + * @param the set of points + * @param the plane description as normal vector and distance to origin + */ +double calcPlane(vector &ppoints, double plane[4]) { + SymmetricMatrix A(3); + A = 0; + int n; + n = ppoints.size(); + if(n < 3) return 0; + double cx, cy, cz; + cx = 0.0; + cy = 0.0; + cz = 0.0; + + for (int i = 0; i < n; i++) { + Point p = ppoints[i]; + cx += p.x; + cy += p.y; + cz += p.z; + } + cx /= n; + cy /= n; + cz /= n; + + for (int i = 0; i < n; i++) { + Point p = ppoints[i]; + A(1, 1) += (p.x - cx)*(p.x - cx); + A(2, 2) += (p.y - cy)*(p.y - cy); + A(3, 3) += (p.z - cz)*(p.z - cz); + A(1, 2) += (p.x - cx)*(p.y - cy); + A(1, 3) += (p.x - cx)*(p.z - cz); + A(2, 3) += (p.y - cy)*(p.z - cz); + } + + DiagonalMatrix D; + Matrix V; + try { + Jacobi(A,D,V); + } catch (ConvergenceException) { + cout << "couldn't find plane..." << endl; + return 0; + } + /* + cout << "A: "<< endl << A << endl; + cout << "D: "<< endl << D << endl; + cout << "V: "<< endl << V << endl; + */ + int index; + D.MinimumAbsoluteValue1(index); + + plane[0] = V(1,index); + plane[1] = V(2,index); + plane[2] = V(3,index); + plane[3] = plane[0]*cx + plane[1]*cy + plane[2]*cz; + + double sum = 0.0; + for(int i = 1; i < 4; i++) { + sum += D(i); + } + sum = D(index)/sum; + return sum; +} + diff --git a/src/shapes/hsm3d.cc b/src/shapes/hsm3d.cc new file mode 100644 index 0000000..32b063a --- /dev/null +++ b/src/shapes/hsm3d.cc @@ -0,0 +1,302 @@ +/** + * Representation of the Accumulator Cube. + * + * This file contains the functions necessary to perform the transformations + * between normal vectors and cube coordinates. The representation is taken + * from + * A. Censi and S. Carpin, + * HSM3D: Feature-Less Global 6DOF Scan-Matching in the Hough/Radon Domain, + * In Proceedings of the IEEE International Conference on Robotics and + * Automation, 2009. + * + * The code in this file is a modified version of the code given by the authors + * on http://purl.org/censi/2008/hsm3d + * + * We gratefully appreciate the work of the authors and thank them for making + * the code publically available. + * + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +/* + + AUTORIGHTS + Copyright (c) 2008 The Regents of the University of California. + All Rights Reserved. + + Created by Stefano Carpin + University of California, Merced, Robotics Lab - School of Engineering + + Permission to use, copy, modify, and distribute this software and its + documentation for educational, research and non-profit purposes, without fee, + and without a written agreement is hereby granted, provided that the above + copyright notice, this paragraph and the following three paragraphs appear in + all copies. + + This software program and documentation are copyrighted by The Regents of the + University of California. The software program and documentation are supplied + "as is", without any accompanying services from The Regents. The Regents does + not warrant that the operation of the program will be uninterrupted or + error-free. The end-user understands that the program was developed for + research purposes and is advised not to rely exclusively on the program for + any reason. + + IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR + DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING + LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, + EVEN IF THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF + SUCH DAMAGE. THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY + WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED + HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO + OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR + MODIFICATIONS. + + */ +#ifndef __HSM3D_ICC__ +#define __HSM3D_ICC__ + +#include "shapes/accumulator.h" + +bool real_compare(double x, double y) { + return fabs(x - y) < 0.000000001; + } + + buffer_point AccumulatorCube::coords_s2_to_cell(double* s, unsigned int width) { + + cube_point cubi; + + double s_norm =sqrt(s[0]*s[0] + s[1]*s[1] + s[2]*s[2]); + s[0] = s[0] / s_norm; + s[1] = s[1] / s_norm; + s[2] = s[2] / s_norm; + + double sa[3]; + sa[0] = fabs(s[0]); + sa[1] = fabs(s[1]); + sa[2] = fabs(s[2]); + + if ( ( sa[0] >= sa[1] ) && ( sa[0] >= sa[2] ) ) { + cubi.face = s[0] > 0 ? 1 : 4; + cubi.u = s[1] / s[0]; + cubi.v = s[2] / s[0]; + } + + else if ( ( sa[1] >= sa[0] ) && ( sa[1] >= sa[2] ) ) { + cubi.face = s[1] > 0 ? 2 : 5; + cubi.u = s[0] / s[1]; + cubi.v = s[2] / s[1]; + } + + else if ( ( sa[2] >= sa[1] ) && ( sa[2] >= sa[0] ) ) { + cubi.face = s[2] > 0 ? 3 : 6; + cubi.u = s[0] / s[2]; + cubi.v = s[1] / s[2]; + } else { + cubi.face = 0; + cubi.u = 0; + cubi.v = 0; + } + + buffer_point retval; + + double u = (cubi.u + 1)/2; + double v = (cubi.v + 1)/2; + + unsigned int n = width; + + retval.face = cubi.face; + + retval.i = real_compare(u,1) ? n : 1 + floor(u*n); + retval.j = real_compare(v,1) ? n : 1 + floor(v*n); + + return retval; + + } + + double* AccumulatorCube::coords_cube_to_s2(buffer_point src, unsigned int width) { + + cube_point retval; + retval.face = src.face; + retval.u = (src.i - 0.5 ) / (static_cast(width)); + retval.u = retval.u*2 - 1; + + retval.v = (src.j - 0.5 ) / (static_cast(width)); + retval.v = retval.v*2 - 1; + + double *result = new double[3]; + + switch ( retval.face ) { + case 1: + result[0] = 1; + result[1] = retval.u; + result[2] = retval.v; + break; + case 4: + result[0] = -1; + result[1] = -retval.u; + result[2] = -retval.v; + break; + case 2: + result[0] = retval.u; + result[1] = 1; + result[2] = retval.v; + break; + case 5: + result[0] = -retval.u; + result[1] = -1; + result[2] = -retval.v; + break; + case 3: + result[0] = retval.u; + result[1] = retval.v; + result[2] = 1; + break; + case 6: + result[0] = -retval.u; + result[1] = -retval.v; + result[2] = -1; + break; + } + + double norm = sqrt(result[0]*result[0] + result[1]*result[1] + result[2]*result[2]); + result[0] /= norm; + result[1] /= norm; + result[2] /= norm; + + return result; + } + + void AccumulatorCube::coords_cube_for_print(buffer_point src, double** result, unsigned int width) { + /* + assert((src.face >=1 ) && (src.face <=6 )); + assert((src.i >= 1 ) && ( src.i <= width)); + assert((src.j >= 1 ) && ( src.j <= width)); + */ + + cube_point retval1; + cube_point retval2; + cube_point retval3; + cube_point retval4; + retval1.face = src.face; + retval2.face = src.face; + retval3.face = src.face; + retval4.face = src.face; + + retval1.u = (src.i - 1.0 ) / (static_cast(width)); + retval2.u = (src.i - 1.0 ) / (static_cast(width)); + retval1.u = retval1.u*2.0 - 1.0; + retval2.u = retval2.u*2.0 - 1.0; + + retval1.v = (src.j - 1.0 ) / (static_cast(width)); + retval2.v = (src.j) / (static_cast(width)); + retval1.v = retval1.v*2 - 1; + retval2.v = retval2.v*2 - 1; + + retval3.u = (src.i) / (static_cast(width)); + retval4.u = (src.i) / (static_cast(width)); + retval3.u = retval3.u*2.0 - 1.0; + retval4.u = retval4.u*2.0 - 1.0; + + retval3.v = (src.j) / (static_cast(width)); + retval4.v = (src.j - 1.0) / (static_cast(width)); + retval3.v = retval3.v*2 - 1; + retval4.v = retval4.v*2 - 1; + /* + assert((src.face >=1 ) && (src.face <=6 )); + assert((src.u >= -1 ) && ( src.u <= 1)); + assert((src.v >= -1 ) && ( src.v <= 1)); + */ + + // double *result = new double[2][3]; + + switch ( retval1.face ) { + case 1: + result[0][0] = 1; + result[0][1] = retval1.u; + result[0][2] = retval1.v; + result[1][0] = 1; + result[1][1] = retval2.u; + result[1][2] = retval2.v; + result[2][0] = 1; + result[2][1] = retval3.u; + result[2][2] = retval3.v; + result[3][0] = 1; + result[3][1] = retval4.u; + result[3][2] = retval4.v; + break; + case 4: + result[0][0] = -1; + result[0][1] = -retval1.u; + result[0][2] = -retval1.v; + result[1][0] = -1; + result[1][1] = -retval2.u; + result[1][2] = -retval2.v; + result[2][0] = -1; + result[2][1] = -retval3.u; + result[2][2] = -retval3.v; + result[3][0] = -1; + result[3][1] = -retval4.u; + result[3][2] = -retval4.v; + break; + case 2: + result[0][0] = retval1.u; + result[0][1] = 1; + result[0][2] = retval1.v; + result[1][0] = retval2.u; + result[1][1] = 1; + result[1][2] = retval2.v; + result[2][0] = retval3.u; + result[2][1] = 1; + result[2][2] = retval3.v; + result[3][0] = retval4.u; + result[3][1] = 1; + result[3][2] = retval4.v; + break; + case 5: + result[0][0] = -retval1.u; + result[0][1] = -1; + result[0][2] = -retval1.v; + result[1][0] = -retval2.u; + result[1][1] = -1; + result[1][2] = -retval2.v; + result[2][0] = -retval3.u; + result[2][1] = -1; + result[2][2] = -retval3.v; + result[3][0] = -retval4.u; + result[3][1] = -1; + result[3][2] = -retval4.v; + break; + case 3: + result[0][0] = retval1.u; + result[0][1] = retval1.v; + result[0][2] = 1; + result[1][0] = retval2.u; + result[1][1] = retval2.v; + result[1][2] = 1; + result[2][0] = retval3.u; + result[2][1] = retval3.v; + result[2][2] = 1; + result[3][0] = retval4.u; + result[3][1] = retval4.v; + result[3][2] = 1; + break; + case 6: + result[0][0] = -retval1.u; + result[0][1] = -retval1.v; + result[0][2] = -1; + result[1][0] = -retval2.u; + result[1][1] = -retval2.v; + result[1][2] = -1; + result[2][0] = -retval3.u; + result[2][1] = -retval3.v; + result[2][2] = -1; + result[3][0] = -retval4.u; + result[3][1] = -retval4.v; + result[3][2] = -1; + break; + } + + } + +#endif diff --git a/src/shapes/image.cc b/src/shapes/image.cc new file mode 100644 index 0000000..baca49d --- /dev/null +++ b/src/shapes/image.cc @@ -0,0 +1,776 @@ +/* + * image implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/image.h" +#include "slam6d/globals.icc" +#include +#include +#include +#include +using std::string; +using std::ofstream; +#include +using std::set; +#include +using std::insert_iterator; + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float +_resolution, const vector *points) { + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + int size = points->size(); + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp = new double[3]; + double reflectance; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + Point p = (*points)[i]; + tmpp[0] = p.x; + tmpp[1] = p.z; + tmpp[2] = p.y; + reflectance = p.reflectance; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] < p.reflectance)) { + data[w_i][h_i] = (float)reflectance; + //cout << data[w_i][h_i] << " " << endl; + } + /* + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)reflectance; + //cout << data[w_i][h_i] << " " << endl; + } + */ + } + delete[] tmpp; + delete[] polar; + } + +} + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, double * const* points, int size) { + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp = new double[3]; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + tmpp[0] = points[i][0]; + tmpp[1] = points[i][2]; + tmpp[2] = points[i][1]; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i]) < 0.000001) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)polar[2]; + //cout << data[w_i][h_i] << " " << endl; + } + } + delete[] tmpp; + delete[] polar; + } + +} + +Image::Image(float _minw, float _maxw, float _minh, float _maxh, float _resolution, const vector *points) { + //TODO correct this!!! + minh = _minh; + minw = _minw; + maxh = _maxh; + maxw = _maxw; + width = (maxw - minw)/_resolution + 1; + height = (maxh - minh)/_resolution + 1; + + data = new float*[width]; + for(int i = 0; i < width; i++) { + data[i] = new float[height]; + for(int j = 0; j < height; j++) { + data[i][j] = 0.0; + } + } + if(points != 0) { + double *tmpp; + double * polar = new double[3]; + for(int i = 0; i < points->size(); i++) { + tmpp = new double[3]; + //tmpp = (*points)[i]; + tmpp[0] = (*points)[i][0]; + tmpp[1] = (*points)[i][2]; + tmpp[2] = (*points)[i][1]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (((int)(deg(polar[1]) + 180)%360 - minw)/(maxw - minw)) * width; + w_i = (((int)(deg(polar[1]) ) - minw)/(maxw - minw)) * width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (((int)(deg(polar[0]) + 90)%180 - minh)/(maxh - minh)) * height; + h_i = (((int)(deg(polar[0]) ) - minh)/(maxh - minh)) * height; + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + + if((fabs(data[w_i][h_i] - 0.0) < 0.000100) || (data[w_i][h_i] > polar[2])) { + data[w_i][h_i] = (float)polar[2]; + } + } + } + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + cout << data[i][j] << " " ; + } + cout << endl; + } + +} + +Image::~Image() { + for(int i = 0; i < width; i++) { + delete[] data[i]; + } + delete[] data; +} + +int Image::getWidth() { + return width; +} + +int Image::getHeight() { + return height; +} + +float Image::getValueAt(int width, int height) { + return data[width][height]; +} + +float Image::getMin() { + float min = std::numeric_limits::max(); + + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + min = std::min(min, data[i][j]); + } + } + return min; +} + +float Image::getMax() { + float max = std::numeric_limits::min(); + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + max = std::max(max, data[i][j]); + } + } + return max; +} + +void Image::mergeregion(int x, int y, int delreg, int targetreg, int** img, int it) { + cout << x << " " << y << " " << delreg << " " << targetreg << " " << it << endl; + // traversed more than necessary + if(it > 0) return; +// cout << (j % width) << ", " << j / width << " " << width << " " << old<< " ->> " << targetreg << endl; + img[x][y] = targetreg; + cout << "A" << endl; + // left + if ( x > 0 && (img[x - 1][y] == delreg)){ + cout << "1" << endl; + mergeregion(x-1, y ,delreg, targetreg, img); + cout << "2" << endl; + } + cout << "B" << endl; + // right + if ( x < width - 1 && (img[x + 1][y] == delreg)){ + mergeregion(x+1, y, delreg, targetreg, img); + } + cout << "C" << endl; + // up + if ( y > 0 && (img[x][y-1] == delreg )) { + mergeregion(x, y - 1, delreg, targetreg, img); + } + cout << "D" << endl; + // down + if ( y + 1 < height && (img[x][y+1] == delreg )) { + mergeregion(x, y + 1, delreg, targetreg, img); + } + cout << "E" << endl; +} + +int Image::calcMarker(float _threshold, int ** regdat) { + // segment picture + threshold = _threshold; + cout << threshold << " "; + int counter = 0; + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + if(data[x][y] > threshold) { + counter++; + regdat[x][y] = 100; + //data[x][y] = 100; + } else { + regdat[x][y] = 0; + //data[x][y] = 0; + } + } + } + + //printScans(regdat, height, width) + //printImage("marker.ppm", false, regdat, height, width, 0, 1); + printImage("marker.ppm", false, regdat, height, width, 0, 100); + cout << counter << endl; + return counter; +} + +int Image::cluster(float dist, int ** dat, int ** regdat) { + vector > linked; + int up, left; + int region = 0; + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + float value = dat[x][y]; + + if(value != 0) { + // left border + if(x==0) { + left = value + dist*2.0; + } else { + left = dat[x-1][y]; + } + // upper border + if(y==0) { + up = value + dist*2.0; + } else { + up = dat[x][y-1]; + } + + if (fabs(left - value) > dist) { + if (fabs(up - value) > dist) { + regdat[x][y] = ++region; // new region + set *joined = new set; + joined->insert(region); + linked.push_back(*joined); + } else { + regdat[x][y] = regdat[x][y - 1]; // use upper region + } + } else if (fabs(up - value) > dist) { + regdat[x][y] = regdat[x-1][y]; // use left region + } else { + // merge left and upper region, default to lower regioning number + if (regdat[x][y - 1] == regdat[ x - 1][y]) { + regdat[x][y] = regdat[x-1][y]; + continue; // already same region, nothing to do + } + + /* + int minreg, maxreg; + falschrum?? + minreg = regdat[x][y - 1]; + maxreg = regdat[x - 1][y]; + */ + int up = regdat[x][y - 1]; + int left = regdat[x - 1][y]; + regdat[x][y] = up; + set current; + set *joined = new set; + joined->insert(up); + joined->insert(left); + + for(vector >::iterator itr = linked.begin(); itr != linked.end(); ) { + current = (*itr); + if(current.find(up) != current.end() || current.find(left) != current.end()) { + set *newjoined = new set(); + insert_iterator > res_ins(*newjoined, newjoined->begin()); + + set_union(joined->begin(), joined->end(), current.begin(), current.end(), res_ins); + joined->clear(); + delete joined; + joined = newjoined; + itr=linked.erase(itr); + } else { + itr++; + } + } + + linked.push_back(*joined); + } + } + } + } + + cout << region << " " << linked.size(); + int linkedindex[region+1]; + linkedindex[0] = 0; + set current; + int link = 0; + for(vector >::iterator itr = linked.begin(); itr != linked.end(); itr++) { + current = (*itr); + for(set::iterator sitr = current.begin(); + sitr != current.end(); + sitr++) { + linkedindex[*sitr] = link; + } + link++; + } + + + cout << "Regions " << linked.size() << endl; + /* + for(int i = 0; i <= region; i++) { + cout << i << " " << linkedindex[i] << endl; + } + */ + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + regdat[x][y] = linkedindex[regdat[x][y]]; + } + } + + printImage("cluster.ppm", false, regdat, height, width, 0, linked.size()); + + return linked.size(); + +} + +void Image::writeCenters(int regions, int** cluster, const vector *points) { + int size = points->size(); + + vector clusters[regions]; + /* + vector > clusters; + + + for(int i = 0; i < regions; i++) { + vector tmp = new vector(); + clusters.push_back(tmp); + } + + + cout << "Regions: " << regions << " " << clusters.size() << endl;; + for(int i = 0; i < regions; i++) { + cout << i << " " << clusters[i]->size() << endl; + Point p = *clusters[i][0]; + cout << p.x << " " << p.y << " " << p.z << endl; + } + cout << "done" << endl; + */ + /* + for(int i = 0; i < regions; i++) { + vector *tmp = new vector(); + clusters[i].push_back(tmp); + } + */ + + if(points != 0) { + double *tmpp = new double[3]; + double reflectance; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + Point p = (*points)[i]; + tmpp[0] = p.x; + tmpp[1] = p.z; + tmpp[2] = p.y; + reflectance = p.reflectance; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + if(reflectance > threshold) { + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + int tmp = cluster[w_i][h_i] - 1; + if(cluster[w_i][h_i] != 0) { + clusters[tmp].push_back(p); + } + } + } + delete[] tmpp; + delete[] polar; + } + + cout << "Regions: " << regions << " " << clusters->size() << endl; + int markercounter = 0; + for(int i = 0; i < regions; i++) { + //cout << i << " " << clusters[i].size() << endl; + double point[3]; + point[0] = point[1] = point[2] = 0; + for(int j = 0; j < clusters[i].size(); j++) { + point[0] += clusters[i][j].x; + point[1] += clusters[i][j].y; + point[2] += clusters[i][j].z; + } + for(int j = 0; j < 3; j++) { + point[j] /= clusters[i].size(); + } + //cout << p.x << " " << p.y << " " << p.z << endl; + cout << point[0] << " " << point[1] << " " << point[2] << " TP" << to_string(markercounter, 4) << endl; + markercounter++; + } + +} + +int Image::blobColor(float dist, int ** regdat) { + // segment picture + int region = 0; // start at 12 to incresae visibility + float up, left; + + for(int y = 0; y < height; y++) { + for(int x = 0; x < width; x++) { + + float value = data[x][y]; + // left border + if (x == 0 ) { + left = value + dist*2.0; + } else { + left = data[x - 1][y]; + } + // or upper border + if ( y == 0) { + up = value + dist*2; + } else { + up = data[x][y - 1]; + } + + if (fabs(left - value) > dist) { + if (fabs(up - value) > dist) { + regdat[x][y] = ++region; // new region + } else { + regdat[x][y] = regdat[x][y - 1]; // use upper region + } + } else if (fabs(up - value) > dist) { + regdat[x][y] = regdat[x-1][y]; // use left region + } else { + // merge left and upper region, default to lower regioning number + if (regdat[x][y - 1] == regdat[ x - 1][y]) { + regdat[x][y] = regdat[x-1][y]; + continue; // already same region, nothing to do + } + + int minreg, maxreg; + /* + falschrum?? + minreg = regdat[x][y - 1]; + maxreg = regdat[x - 1][y]; + */ + maxreg = regdat[x][y - 1]; + minreg = regdat[x - 1][y]; + regdat[x][y] = maxreg; + cout << "mergeRegion" << endl; + mergeregion(x, y, maxreg, minreg, regdat); + cout << "mergeRegion done" << endl; + } + } + } + + cout << "color done" << endl; + //printScans(regdat, height, width) + printImage("bla.ppm", false, regdat, height, width, 1.0, region); + return region; +} + +void kMeans(float dist, int ** regdat) { + +} + +void EM(float dist, int ** regdat) { + +} + +void normalizedCuts(float dist, int ** regdat) { + +} + +void lineMerge() { + +} + +void Image::printScans(int ** regdat, double * const* points, int size) { + int max_i = 0; + for(int i = 0; i < width; i++) { + for(int j = 0; j < height; j++) { + max_i = max_i > regdat[i][j] ? max_i : regdat[i][j]; + } + } + cout << "size " << size << endl; + cout << "max_i is " << max_i << endl; + vector clusters[max_i + 1]; + + if(points != 0) { + cout << "points" << endl; + double *tmpp = new double[3]; + double * polar = new double[3]; + for(int i = 0; i < size; i++) { + tmpp[0] = points[i][0]; + tmpp[1] = points[i][2]; + tmpp[2] = points[i][1]; + //tmpp = points[i]; + // phi theta rho + // theta = width, phi = height, rho = distance value + toPolar(tmpp, polar); + int w_i = (int)((double)((deg(polar[1]) + 90.0) - minw)/(double)(maxw - minw) * (double)width) % width; + //int w_i = ((double)((int)(deg(polar[1]) + 90)%360 - minw)/(double)(maxw - minw)) * (double)width; + if(w_i < 0) { + w_i = 0; + } else if(w_i >= width) { + w_i = width - 1; + } + int h_i = (int)((double)(deg(polar[0]) - minh)/(double)(maxh - minh) * (double)height); + if(h_i < 0) { + h_i = 0; + } else if(h_i >= height) { + h_i = height - 1; + } + //cout << i << " " << regdat[w_i][h_i] << endl; + clusters[regdat[w_i][h_i]].push_back(points[i]); + } + delete[] tmpp; + delete[] polar; + + cout << "clustering done " << endl; + + string clusteroutname = ""; + int index = 0; + for(int i = 0; i < max_i; i++) { + if(clusters[i].size() > 0) { + clusteroutname = "clusters/scan" + to_string(index, 3) + ".3d"; + index++; + ofstream clusterout(clusteroutname.c_str()); + clusterout << i << endl; + for(int j = 0; j < clusters[i].size(); j++) { + clusterout << clusters[i][j][0] << " " + << clusters[i][j][1] << " " << clusters[i][j][2] << endl; + } + clusterout.close(); + clusterout.clear(); + } + } + } +} + + +void Image::printImage(const char* filename, bool color, int** img, int height, int width, int min, int max) { + double Fact = 255.0 /(max - min); + std::ofstream outfile(filename); + if(outfile.good()) { + if(!color) { + outfile << "P2\n" << width << " " << height << std::endl << "255" << endl; + } else { + outfile << "P3\n" << width << " " << height << std::endl << "255" << endl; + } + + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + short gray = std::min(std::max((int)(Fact * (img[i][j] - min)), 0), 255); + if(!color) { + outfile << gray << " "; + } else { + double h = 255.0-gray; + double v = 1.0; + double s = 1.0; + double r = 0, g = 0, b = 0; + double h1 = h/60.0; + int i = (int)h1; + double f = h1 - i; + double pv = v * (1-s); + double qv = v * (1-s*f); + double tv = v * (1-s*(1-f)); + switch(i) { + case 0: + r = v; + g = tv; + b = pv; + break; + case 1: + r = qv; + g = v; + b = pv; + break; + case 2: + r = pv; + g = v; + b = tv; + break; + case 3: + r = pv; + g = qv; + b = v; + break; + case 4: + r = tv; + g = pv; + b = v; + break; + case 5: + r = v; + g = pv; + b = qv; + break; + case 6: + r = v; + g = tv; + b = pv; + break; + default: + break; + } + outfile << (int)(r*255.0) << " " << (int)(g*255.0) << " " << (int)(b*255.0) << " "; + } + } + outfile << std::endl; + } + } + outfile.close(); + +} + +void Image::printImage(const char *filename, bool color) { + float min = getMin(); + float max = getMax(); + + double Fact = 255.0 /(max - min); + std::ofstream outfile(filename); + if(outfile.good()) { + if(!color) { + outfile << "P2\n" << width << " " << height << std::endl << "255" << endl; + } else { + outfile << "P3\n" << width << " " << height << std::endl << "255" << endl; + } + + for(int j = 0; j < height; j++) { + for(int i = 0; i < width; i++) { + short gray = std::min(std::max((int)(Fact * (data[i][j] - min)), 0), 255); + if(!color) { + outfile << gray << " "; + } else { + double h = 255.0-gray; + double v = 1.0; + double s = 1.0; + double r = 0, g = 0, b = 0; + double h1 = h/60.0; + int i = (int)h1; + double f = h1 - i; + double pv = v * (1-s); + double qv = v * (1-s*f); + double tv = v * (1-s*(1-f)); + switch(i) { + case 0: + r = v; + g = tv; + b = pv; + break; + case 1: + r = qv; + g = v; + b = pv; + break; + case 2: + r = pv; + g = v; + b = tv; + break; + case 3: + r = pv; + g = qv; + b = v; + break; + case 4: + r = tv; + g = pv; + b = v; + break; + case 5: + r = v; + g = pv; + b = qv; + break; + case 6: + r = v; + g = tv; + b = pv; + break; + default: + break; + } + outfile << (int)(r*255.0) << " " << (int)(g*255.0) << " " << (int)(b*255.0) << " "; + } + } + outfile << std::endl; + } + } + outfile.close(); +} diff --git a/src/shapes/matchMarker.cc b/src/shapes/matchMarker.cc new file mode 100644 index 0000000..2a01966 --- /dev/null +++ b/src/shapes/matchMarker.cc @@ -0,0 +1,498 @@ +/* + * matchMarker implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +using std::ifstream; +#include +#include + +#include "slam6d/scan.h" + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" +#include "slam6d/icp6Dminimizer.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6D.h" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +struct match { + double* s_a; + double* s_b; + double* s_c; + double* t_a; + double* t_b; + double* t_c; + int n_o_m; + double variance; + double alignxf[16]; +}; + +void refine(int source, int target, match &tmp) { + // transform scan according to matching triple + Scan::allScans[target]->transformToMatrix(tmp.alignxf,Scan::INVALID); + // search for point pairs + //TODO + bool quiet = true; + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(quiet); + + icp6D *my_icp = 0; + double mdm = 25; + int mni = 100; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.0000, false, false); + + my_icp->match(Scan::allScans[source], Scan::allScans[target]); + + ////cout << "Point pairs: "<< tmp.n_o_m << endl; + const double * transMat = Scan::allScans[target]->get_transMat(); + for(int i = 0; i < 16; i++) { + //cout << tmp.alignxf[i] << " " ; + tmp.alignxf[i] = transMat[i]; + } + //cout << endl; +} + +void evaluate(int source, int target, match &tmp) { + //cout << "S1 " << tmp.s_a[0] << " " << tmp.s_a[1] << " " << tmp.s_a[2] << endl; + //cout << "T1 " << tmp.t_a[0] << " " << tmp.t_a[1] << " " << tmp.t_a[2] << endl; + //cout << "S2 " << tmp.s_b[0] << " " << tmp.s_b[1] << " " << tmp.s_b[2] << endl; + //cout << "T2 " << tmp.t_b[0] << " " << tmp.t_b[1] << " " << tmp.t_b[2] << endl; + //cout << "S3 " << tmp.s_c[0] << " " << tmp.s_c[1] << " " << tmp.s_c[2] << endl; + //cout << "T3 " << tmp.t_c[0] << " " << tmp.t_c[1] << " " << tmp.t_c[2] << endl; + + // Point pairs + vector pairs_in; + pairs_in.push_back(PtPair(tmp.s_a, tmp.t_a)); + pairs_in.push_back(PtPair(tmp.s_b, tmp.t_b)); + pairs_in.push_back(PtPair(tmp.s_c, tmp.t_c)); + + // Calculate centroids + double centroid_s[3]; + double centroid_t[3]; + centroid_s[0] = ((tmp.s_a[0] + tmp.s_b[0] + tmp.s_c[0])/3.0); + centroid_s[1] = ((tmp.s_a[1] + tmp.s_b[1] + tmp.s_c[1])/3.0); + centroid_s[2] = ((tmp.s_a[2] + tmp.s_b[2] + tmp.s_c[2])/3.0); + centroid_t[0] = ((tmp.t_a[0] + tmp.t_b[0] + tmp.t_c[0])/3.0); + centroid_t[1] = ((tmp.t_a[1] + tmp.t_b[1] + tmp.t_c[1])/3.0); + centroid_t[2] = ((tmp.t_a[2] + tmp.t_b[2] + tmp.t_c[2])/3.0); + + // transform scan according to matching triple + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(true); + my_icp6Dminimizer->Point_Point_Align(pairs_in, tmp.alignxf, centroid_s, centroid_t); + Scan::allScans[target]->transformToMatrix(tmp.alignxf,Scan::INVALID); + + vector pairs_out; + // search for point pairs + Scan::getPtPairs(&pairs_out, Scan::allScans[source], Scan::allScans[target], 1, 0, 25.0, centroid_s, centroid_t); + + tmp.n_o_m = pairs_out.size(); + //cout << tmp.n_o_m << endl; + + if(tmp.n_o_m > Scan::allScans[target]->get_points_red_size()) { + //cout << "Point pairs: "<< tmp.n_o_m << endl; + + /* + for(int i = 0; i < 16; i++) { + cout << tmp.alignxf[i] << " "; + } + for(int i = 0; i < pairs_out.size(); i++) { + cout << pairs_out[i].p1.x << " " << pairs_out[i].p1.y << " " << pairs_out[i].p1.z << + " " << pairs_out[i].p2.x << " " << pairs_out[i].p2.y << " " << pairs_out[i].p2.z << endl; + } + */ + } + + //cout << "S1 " << tmp.s_a[0] << " " << tmp.s_a[1] << " " << tmp.s_a[2] << endl; + //cout << "T1 " << tmp.t_a[0] << " " << tmp.t_a[1] << " " << tmp.t_a[2] << endl; + //cout << "S2 " << tmp.s_b[0] << " " << tmp.s_b[1] << " " << tmp.s_b[2] << endl; + //cout << "T2 " << tmp.t_b[0] << " " << tmp.t_b[1] << " " << tmp.t_b[2] << endl; + //cout << "S3 " << tmp.s_c[0] << " " << tmp.s_c[1] << " " << tmp.s_c[2] << endl; + //cout << "T3 " << tmp.t_c[0] << " " << tmp.t_c[1] << " " << tmp.t_c[2] << endl; + //cout << endl; + Scan::allScans[target]->resetPose(); + + delete my_icp6Dminimizer; +} + +void matchBruteForce(int start, int end) { // BOF + double* const* source = Scan::allScans[start]->get_points_red(); + double* const* target = Scan::allScans[end]->get_points_red(); + int nr_m_s = Scan::allScans[start]->get_points_red_size(); + int nr_m_t = Scan::allScans[end]->get_points_red_size(); + double dist_s[nr_m_s][nr_m_s]; + double dist_t[nr_m_t][nr_m_t]; + double eps = 5.0; + vector matching_results; + + // calculate distance graphs + for(int i = 0; i < nr_m_s; i++) { + for(int j = i; j < nr_m_s; j++) { + double dist = sqrt(Dist2(source[i], source[j])); + dist_s[i][j] = dist; + dist_s[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + for(int i = 0; i < nr_m_t; i++) { + for(int j = i; j < nr_m_t; j++) { + double dist = sqrt(Dist2(target[i], target[j])); + dist_t[i][j] = dist; + dist_t[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + //cout << "Done calculating distances" << endl; + + // do matching + for(int i = 0; i < nr_m_s; i++) { // 1 + for(int j = i + 1; j < nr_m_s; j++) { // 2 + double dist_a = dist_s[i][j]; + for(int k = 0; k < nr_m_t; k++) { // 3 + for(int l = 0; l < nr_m_t; l++) { // 4 + if(fabs(dist_t[k][l] - dist_a) < eps) { // 5 + for(int m = j + 1; m < nr_m_s; m++) { // 6 + double dist_3_i = dist_s[i][m]; + double dist_3_j = dist_s[j][m]; + for(int n = 0; n < nr_m_t; n++) { // 7 + if(fabs(dist_t[k][n] - dist_3_i) < eps) { // 8 + if(fabs(dist_t[l][n] - dist_3_j) < eps) { // 9 + //match found calculate error function + match tmp; + tmp.s_a = source[i]; + tmp.s_b = source[j]; + tmp.s_c = source[m]; + tmp.t_a = target[k]; + tmp.t_b = target[l]; + tmp.t_c = target[n]; + evaluate(start, end, tmp); + matching_results.push_back(tmp); + } // 9 + } // 8 + } // 7 + } // 6 + } // 5 + } // 4 + } // 3 + } // 2 + } // 1 + int max = 0; + int max_i = 0; + for(int i = 0; i < matching_results.size(); i++) { + if(matching_results[i].n_o_m > max) { + max_i = i; + max = matching_results[i].n_o_m; + } + //cout << i << ": " << matching_results[i].n_o_m << ", " << matching_results[i].variance << endl; + for(int j = 0; j < 16; j++) { + //cout << matching_results[i].alignxf[j] << " "; + } + } + //cout << "Max index: " << max_i << ", points: " << max << endl; + for(int i = 0; i < 16; i++) { + //cout << matching_results[max_i].alignxf[i] << " "; + } + refine(start, end, matching_results[max_i]); + //cout << endl << "Refined: " << endl; + for(int i = 0; i < 16; i++) { + cout << matching_results[max_i].alignxf[i] << " "; + } + + cout << " 2" << endl; +} // EOF + +void matchMarker(int start, int end) { // BOF + cout << start << " " << end << endl; + double* const* source = Scan::allScans[start]->get_points_red(); + double* const* target = Scan::allScans[end]->get_points_red(); + int nr_m_s = Scan::allScans[start]->get_points_red_size(); + int nr_m_t = Scan::allScans[end]->get_points_red_size(); + cout << "Points: " << nr_m_s << " " << nr_m_t << endl; + double dist_s[nr_m_s][nr_m_s]; + double dist_t[nr_m_t][nr_m_t]; + double eps = 5.0; + vector matching_results; + + // calculate distance graphs + for(int i = 0; i < nr_m_s; i++) { + for(int j = i; j < nr_m_s; j++) { + double dist = sqrt(Dist2(source[i], source[j])); + dist_s[i][j] = dist; + dist_s[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + for(int i = 0; i < nr_m_t; i++) { + for(int j = i; j < nr_m_t; j++) { + double dist = sqrt(Dist2(target[i], target[j])); + dist_t[i][j] = dist; + dist_t[j][i] = dist; + //cout << dist << " "; + } + //cout << endl; + } + //cout << endl; + //cout << "Done calculating distances" << endl; + for(int runs = 0; runs < 100; runs++) { + int i = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + int j = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + int m = (int) (nr_m_s*(rand()/(RAND_MAX+1.0))); + double dist_a = dist_s[i][j]; + double dist_3_i = dist_s[i][m]; + double dist_3_j = dist_s[j][m]; + + + // do matching + for(int k = 0; k < nr_m_t; k++) { // 3 + for(int l = 0; l < nr_m_t; l++) { // 4 + if(fabs(dist_t[k][l] - dist_a) < eps) { // 5 + + for(int n = 0; n < nr_m_t; n++) { // 7 + if(fabs(dist_t[k][n] - dist_3_i) < eps) { // 8 + if(fabs(dist_t[l][n] - dist_3_j) < eps) { // 9 + //match found calculate error function + match tmp; + tmp.s_a = source[i]; + tmp.s_b = source[j]; + tmp.s_c = source[m]; + tmp.t_a = target[k]; + tmp.t_b = target[l]; + tmp.t_c = target[n]; + evaluate(start, end, tmp); + matching_results.push_back(tmp); + } // 9 + } // 8 + } // 7 + } // 6 + // 5 + } // 4 + } // 3 + } // 1 + int max = 0; + int max_i = 0; + for(int i = 0; i < matching_results.size(); i++) { + if(matching_results[i].n_o_m > max) { + max_i = i; + max = matching_results[i].n_o_m; + //cout << i << " " << max << endl; + } + //cout << i << ": " << matching_results[i].n_o_m << ", " << matching_results[i].variance << endl; + for(int j = 0; j < 16; j++) { + //cout << matching_results[i].alignxf[j] << " "; + } + } + cout << "Really?" << endl; + //cout << "Max index: " << max_i << ", points: " << max << endl; + for(int i = 0; i < 16; i++) { + //cout << matching_results[max_i].alignxf[i] << " "; + } + refine(start, end, matching_results[max_i]); + //cout << endl << "Refined: " << endl; + for(int i = 0; i < 16; i++) { + cout << matching_results[max_i].alignxf[i] << " "; + } + + cout << " 2" << endl; +} // EOF + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << "-s -e [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, rxp,zahn, ply})" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR" << endl + << " write all points that have no corresponding point closer than NR 'units'" << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -d 5 dat" << endl + << " " << prog << " --max=5000 -d 10.2 dat" << endl + << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param start first scan number 'start' + * @param end last scan number 'end' + * @param dist the maximal distance for a point pair + * @param type the scan format + * @param desc true if start is greater than end + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, + int &start, int &end, double &dist, + IOType &type, bool &desc) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "dist", required_argument, 0, 'd' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + //cout << endl; + while ((c = getopt_long(argc, argv, "f:d:s:e:", longopts, NULL)) != -1) + switch (c) + { + case 'd': + dist = atof(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(start < 0 || end < 0 || start == end) { + cerr << "\n*** You need two different scans for marker based position calculation ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + if(start > end) { + double tmp = start; + start = end; + end = tmp; + desc = true; + } + + return 0; +} + + +/** + * Main program for calculating the difference of two scans. + * Usage: bin/scan_diff -d -s -e 'dir', + * Use -s and -e for the two scans, + * -d + * and 'dir' the directory of a set of scans + * Difference scans will be written to 'dir/diff/scan[00]s.3d' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double dist = 0; + int start = -1, end = -1; + int maxDist = -1; + int minDist = -1; + IOType type = UOS; + bool desc = false; + + parseArgs(argc, argv, dir, start, end, dist, type, desc); + + Scan::readScansRedSearch(type, start, end, dir, maxDist, minDist, -1, 1, false, false, false); + cout << "Start match marker ..." << endl; + srand(time(0)); + srand(0); + long starttime = GetCurrentTimeInMilliSec(); + // matchBruteForce(start, end-start); + matchMarker(0, end - start); + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << " done in " << starttime << " ms" << endl; + + vector ::iterator Iter = Scan::allScans.begin(); + for( ; Iter != Scan::allScans.end(); ) { + Iter = Scan::allScans.begin(); + delete (*Iter); + cout << "."; + cout.flush(); + } + Scan::allScans.clear(); + + cout << endl << endl; + cout << "Normal program end." << endl << endl; +} diff --git a/src/shapes/numberrec.cc b/src/shapes/numberrec.cc new file mode 100644 index 0000000..05eb7ae --- /dev/null +++ b/src/shapes/numberrec.cc @@ -0,0 +1,159 @@ +/* + * numberrec implementation + * + * Copyright (C) Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include +#ifdef HAVE_GETTIMEOFDAY +#include +#endif +#ifdef HAVE_UNISTD_H +#include +#endif + +extern "C" { +#include "gocr.h" +#include "pnm.h" +#include "pgm2asc.h" + +#include "pcx.h" +#include "ocr0.h" +#include "progress.h" +#include "version.h" +#include "config.h" + +} + + +char filter[] = "0-9"; +/*void my_test() { + int multipnm=1; + job_t job; + + while (multipnm==1) { + job_init(&job); + + job.cfg.out_format=XML; + job.cfg.cfilter = filter; + job.src.fname = "patch00000.pgm"; // TODO + + multipnm=readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); + + int linecounter = 0; + const char *line; + + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + return; +}*/ +#include "math.h" +#include +using std::string; + +#include "shapes/sickday.h" + +bool gocr_recognizeNumber(string &filename, int &number, double &probability) { + int multipnm=1; + job_t job; + JOB = &job; + + double probabilities[1024]; // should be plenty + + probability = 0.0; + number = -1; + + // this while should be unnecessary + while (multipnm == 1) { + job_init(&job); + + job.cfg.out_format = XML; + job.cfg.cfilter = filter; + + //job.src.fname = filename.c_str(); + char fname[1024]; + strcpy(fname, filename.c_str() ); + job.src.fname = fname; + + multipnm = readpgm(job.src.fname, &job.src.p, job.cfg.verbose); + + if (multipnm<0) break; + + pgm2asc(&job); // recognize numbers + + int linecounter = 0; + const char *line; + linecounter = 0; + line = getTextLine(linecounter++); + while (line) { + //fputs(line, stdout); + //Interpret line here + int width = 0; + int height = 0; + char num; + int nr_alt_c = 0; + + int iprob = 0; + + sscanf(line, "%d %d %c %d", &width, &height, &num, &nr_alt_c); + + if (nr_alt_c > 0) { + sscanf(line, "%d %d %c %d %d", &width, &height, &num, &nr_alt_c, &iprob); + } + + + // check if this if a number, and if it is wether it is large enough +// if ( (fabs(width) < MIN_NR_WIDTH || fabs(height) < MIN_NR_HEIGHT || num < '0' || num > '9') + if ( num < '0' || num > '9') { + line = getTextLine(linecounter++); + continue; + } + if ( num == '1' && (fabs(width) < MIN_1_WIDTH || fabs(height) < MIN_NR_HEIGHT || + fabs(width) > MAX_NR_WIDTH || fabs(height) > MAX_NR_HEIGHT) ) { // 1 is a special case + line = getTextLine(linecounter++); + continue; + } + if (num != '1' && (fabs(width) < MIN_NR_WIDTH || fabs(height) < MIN_NR_HEIGHT || // other numbers should be bigger + fabs(width) > MAX_NR_WIDTH || fabs(height) > MAX_NR_HEIGHT) ) { + line = getTextLine(linecounter++); + continue; + } + + // num contains a number (we will disregard alternative interpretation)) + if (probability < (double)iprob / 100.0) { + //printf("WD: %d %d MIN %d %d \n", width, height, MIN_NR_WIDTH, MIN_NR_HEIGHT); + probability = (double)iprob / 100.0; + number = (int)(num - '0'); + } + ////////////////////// + line = getTextLine(linecounter++); + } + free_textlines(); + job_free(&job); + } + + + if (probability > 0.0) { + return true; + } + return false; +} diff --git a/src/shapes/parascan.cc b/src/shapes/parascan.cc new file mode 100644 index 0000000..6deb69c --- /dev/null +++ b/src/shapes/parascan.cc @@ -0,0 +1,134 @@ +/* + * parascan implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include "shapes/parascan.h" + + +/* -------------------------------------------------------------------------- */ + +int paramtr_scan_int(FILE *stream, const char *search,int defaultval) +{ + char target[256]; + + if(paramtr_scan_str(stream, search, target)) + return(atoi(target)); + else + return(defaultval); +} + +/* -------------------------------------------------------------------------- */ + +double paramtr_scan_double(FILE *stream, const char *search,double defaultval) +{ + char target[256]; + + if(paramtr_scan_str(stream, search, target)) + return(atof(target)); + else + return(defaultval); +} + +/* -------------------------------------------------------------------------- */ + +bool paramtr_scan_str(FILE *stream, const char *search, char *target) +{ + const char *ptr = search; + int c, mem; + + /* erster durchlauf */ + mem = 0; + + while(mem < 2) { + if((c = getc(stream)) == EOF) { + rewind(stream); + mem++; + } + else { + /* kommentarzeile uebergehen */ + if(c == COMMENT) { + while((c = getc(stream)) != LF ); + } /* if */ + + if(*ptr) { + if(c == (int)*ptr) { + ptr++; + } + else { + ptr = search; + } /* if */ + } + else { + int numberOfItemsRead = fscanf(stream, "%s", target); + if(!numberOfItemsRead) + { + return false; + } + return true; + } /* if */ + } /* if */ + } /* while */ + + return false; +} + +/* -------------------------------------------------------------------------- */ + +int paramtr_scan_echo(const char *filename, const char *search) +{ + const char *ptr = search; + char str[256]; + char* target; + int c, no; + FILE *stream; + + /* dateiverbindung oeffnen */ + if((stream = fopen(filename, "rt")) == NULL) { + printf("paramtr_scan_echo() error\n"); + return 0; + } /* if */ + + no = 0; + + while((c = getc(stream)) != EOF) { + /* kommentarzeile uebergehen */ + if(c == COMMENT) { + while((c = getc(stream)) != LF ); + } /* if */ + + if(*ptr) { + if(c == (int)*ptr) { + ptr++; + } + else { + ptr = search; + } /* if */ + } + else { + target = &(str[0]); + while(c != LF) { + *target = (char) c; + target++; + c = getc(stream); + } /* while */ + *target = 0; + printf("%s\n", str); + ptr = search; + no++; + } /* if */ + } /* while */ + + /* datei schliessen */ + fclose(stream); + + return no; +} + +/* -------------------------------------------------------------------------- */ diff --git a/src/shapes/plane.cc b/src/shapes/plane.cc new file mode 100644 index 0000000..5ec9108 --- /dev/null +++ b/src/shapes/plane.cc @@ -0,0 +1,322 @@ +/* + * plane implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/hough.h" +#include "shapes/shape.h" +#include "shapes/ransac.h" + +enum plane_alg { + RHT, SHT, PHT, PPHT, APHT, RANSAC +}; + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl + << " using algorithm P for plane detection" << endl + << " (chose P from {rht, sht, pht, ppht, apht, ran})" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -O" << normal << " NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +/** + * Parses command line arguments needed for plane detection. For details about + * the argument see usage(). + */ + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int + &maxDist, int&minDist, int &octree, IOType &type, plane_alg &alg, bool + &quiet, bool& scanserver) +{ + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "plane", required_argument, 0, 'p' }, + { "quiet", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:p:O:q", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'p': + if(strcasecmp(optarg, "rht") == 0) alg = RHT; + else if(strcasecmp(optarg, "sht") == 0) alg = SHT; + else if(strcasecmp(optarg, "pht") == 0) alg = PHT; + else if(strcasecmp(optarg, "ppht") == 0) alg = PPHT; + else if(strcasecmp(optarg, "apht") == 0) alg = APHT; + else if(strcasecmp(optarg, "ran") == 0) alg = RANSAC; + else abort(); + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case 'S': + scanserver = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +/** + * Main function. The Hough Transform or RANSAC are called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + IOType type = UOS; + plane_alg alg = RHT; + bool scanserver = false; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, maxDist, minDist, octree, type, alg, quiet, scanserver); + int fileNr = start; + string planedir = dir + "planes"; + +#ifdef _MSC_VER + int success = mkdir(planedir.c_str()); +#else + int success = mkdir(planedir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing planes to " << planedir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << planedir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << planedir << " failed" << endl; + exit(1); + } + + Scan::openDirectory(scanserver, dir, type, fileNr, fileNr); + Scan* scan = Scan::allScans.front(); + scan->setRangeFilter(maxDist, minDist); + scan->setReductionParameter(red, octree); + // scan->setSearchTreeParameter(nns_method, use_cuda); + scan->toGlobal(); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + scan->transform(id, Scan::ICP, 0); // write end pose + } + + if (!quiet) cout << "start plane detection" << endl; + long starttime = GetCurrentTimeInMilliSec(); + if(alg >= RANSAC) { + vector points; + CollisionPlane * plane; + plane = new CollisionPlane(1.0); // 1.0 cm maxdist + Ransac(*plane, Scan::allScans[0], &points); + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "nr points " << points.size() << endl; + double nx,ny,nz,d; + plane->getPlane(nx,ny,nz,d); + if(!quiet) cout << "DONE " << endl; + + if(!quiet) cout << nx << " " << ny << " " << nz << " " << d << endl; + + /** + for (unsigned int i = 0; i < points.size(); i++) { + cerr << points[i][0] << " " << points[i][1] << " " << points[i][2] << endl; + } + */ + for(int i = points.size() - 1; i > -1; i--) { + delete[] points[i]; + } + + delete plane; + } else { + Hough hough(Scan::allScans[0], quiet); + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << "Time for Constructor call: " << starttime << endl; + + starttime = GetCurrentTimeInMilliSec(); + if (!quiet) cout << "algorithm: " << alg << endl; + // choose Hough method here + switch(alg) { + case RHT: hough.RHT(); + break; + case SHT: hough.SHT(); + break; + case PHT: hough.PHT(); + break; + case PPHT: hough.PPHT(); + break; + case APHT: hough.APHT(); + break; + default: usage(argv[0]); + exit(1); + break; + } + + hough.writePlanes(0); + cout << "Write Planes done" << endl; + starttime = (GetCurrentTimeInMilliSec() - starttime); + } + + cout << "Time for Plane Detection " << starttime << endl; + delete Scan::allScans[0]; + Scan::allScans.clear(); +} + diff --git a/src/shapes/quadtree.cc b/src/shapes/quadtree.cc new file mode 100644 index 0000000..b71b79f --- /dev/null +++ b/src/shapes/quadtree.cc @@ -0,0 +1,690 @@ +/* + * quadtree implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/quadtree.h" + +int QuadTree::anz; +double QuadTree::qSize; +double QuadTree::dist = 10.0; +//Plane *QuadTree::basePlane; +/* +QuadTree::QuadTree(double **pts, int n, double _qSize, Plane *_basePlane){ + basePlane = _basePlane; + + anz = 0; + qSize = _qSize; + double xmin = pts[0][0], xmax = pts[0][0]; + double ymin = pts[0][1], ymax = pts[0][1]; + for (int i=1; i < n; i++) { + xmin = min(xmin, pts[i][0]); + xmax = max(xmax, pts[i][0]); + ymin = min(ymin, pts[i][1]); + ymax = max(ymax, pts[i][1]); + } + center[0] = 0.5f * (xmin+xmax); + center[1] = 0.5f * (ymin+ymax); + + double m = max(0.5f * (xmax-xmin), 0.5f * (ymax-ymin)); + int count; + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + x_size = m; + y_size = m; + + // calculate new buckets + double newcenter[4][2]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ----------------------------------------------------------------------- + for (int i = 0; i < 4; i++) { + vector splitPoints; + count = countPointsAndQueue(pts, n, splitPoints, + newcenter[i], x_sizeNew, y_sizeNew); + if (count > MIN_PTS_IN_BUCKET) + child[i] = new QuadTree(splitPoints, + newcenter[i], x_sizeNew, y_sizeNew); + splitPoints.clear(); + } +}*/ + +bool QuadTree::close(double* p, double *p2) { + double stheta = sin(p[0]) * sin(p2[0]); + double myd2 = acos( + stheta * cos(p[1]) * cos(p2[1]) + + stheta * sin(p[1]) * sin(p2[1]) + + cos(p[0]) * cos(p2[0])); + if (myd2 < dist) { + return true; + } + return false; +/* + double dx = p2[0] - p[0]; + double dy = p2[1] - p[1]; + if ( sqrt(dx*dx + dy*dy) < dist ) { + return true; + } + return false;*/ +} + +bool QuadTree::close(double* p, set &cluster) { + for(set::iterator it = cluster.begin(); it != cluster.end(); it++) { + if ( close(p, (*it)) ) { + return true; + } + } + return false; +} +/* +bool QuadTree::close(double* p, set &cluster) { + double dx,dy; + for(set::iterator it = cluster.begin(); it != cluster.end(); it++) { + dx = (*it)[0] - p[0]; + dy = (*it)[1] - p[1]; + if ( sqrt(dx*dx + dy*dy) < dist ) { + return true; + } + } + return false; +}*/ +int QuadTree::where(double *p1, vector >& clusters) { + for (unsigned int i = 0; i < clusters.size(); i++) { + if (clusters[i].count(p1) > 0) return i; + } + // this shouldnt happen + //cout << "VERY BAD THINGS HAPPENED!" < >& QuadTree::clusterCells(vector > &clusters1, set border1, + vector > &clusters2, set border2, vector< set > &clusters) { + if (border1.size() <= 0 || border2.size() <= 0) { + clusters.insert( clusters.end(), clusters1.begin(), clusters1.end()); + clusters.insert( clusters.end(), clusters2.begin(), clusters2.end()); + return clusters; + } + // some clusters might not have a border connection, remember those? + set non_used_clusters; + for (unsigned int i = 0; i < clusters1.size(); i++) { + non_used_clusters.insert( -1 -i); + } + for (unsigned int i = 0; i < clusters2.size(); i++) { + non_used_clusters.insert( i); + } + + // contains the edges of the correspondence graph + // indices of cluster 1 are stored negated + vector cgraph; +//cout << "bordersizes: " << border1.size() << " " << border2.size() << endl; + for (set::iterator bit1 = border1.begin(); bit1 != border1.end(); bit1++) { + for (set::iterator bit2 = border2.begin(); bit2 != border2.end(); bit2++) { + if (close( *bit1, *bit2) ) { + int *edge = new int[3]; + int w1,w2; + w1 = where(*bit1, clusters1); + if (w1 == -1) { + continue; + } + w2 = where(*bit2, clusters2); + if (w2 == -1) { + continue; + } + + edge[0] = -1 - w1; + edge[1] = w2; + // label the edge + edge[2] = -1; + cgraph.push_back(edge); +// cout << "point to point " << edge[0] << " " << edge[1] << endl; + } + } + } + //cout << "borders connected" << endl; + vector< set > index_clusters; + int nr_cluster = 0; + for (unsigned int i = 0; i < cgraph.size(); i++) { + if (cgraph[i][2] != -1) {continue;} + // unlabeled edge + cgraph[i][2] = nr_cluster; + set index_cluster; + index_cluster.insert(cgraph[i][0]); + index_cluster.insert(cgraph[i][1]); + non_used_clusters.erase(cgraph[i][0]); + non_used_clusters.erase(cgraph[i][1]); + for (unsigned int j = i + 1; j < cgraph.size(); j++) { +// cout << j << " j " << cgraph.size() << endl; + if (cgraph[j][2] != -1) {continue;} + // if either of the nodes is already in my cluster, label edge and add + // nodes + if (index_cluster.count(cgraph[j][0]) > 0 + || index_cluster.count(cgraph[j][1]) > 0 ) { + index_cluster.insert(cgraph[j][0]); + index_cluster.insert(cgraph[j][1]); + + non_used_clusters.erase(cgraph[j][0]); + non_used_clusters.erase(cgraph[j][1]); + cgraph[j][2] = nr_cluster; + } + } + //non_used_clusters.erase(index_cluster.begin(), index_cluster.end()); + index_clusters.push_back(index_cluster); + nr_cluster++; + } +//cout << "cluster connections resolved" << endl; + for (unsigned int i = 0; i < index_clusters.size(); i++) { + set cluster; + for (set::iterator it = index_clusters[i].begin(); + it != index_clusters[i].end(); it++) { + if (*it < 0 ) { + int index = -1 - (*it); + cluster.insert( clusters1[index].begin(), clusters1[index].end() ); + } else { + cluster.insert( clusters2[*it].begin(), clusters2[*it].end() ); + } + } + clusters.push_back(cluster); + } +//cout << "clusters joined. add remaining " << non_used_clusters.size() << endl; + for (set::iterator it = non_used_clusters.begin(); it != non_used_clusters.end(); it++) { + set cluster; + if (*it < 0 ) { + int index = -1 - (*it); + cluster.insert( clusters1[index].begin(), clusters1[index].end() ); + } else { + cluster.insert( clusters2[*it].begin(), clusters2[*it].end() ); + } + clusters.push_back(cluster); + } +//cout << "done." << endl; + // cleanup + for (unsigned int i = 0; i < cgraph.size(); i++) { + delete[] cgraph[i]; + } + cgraph.clear(); +//cout << " cleanup done returning" << endl; + return clusters; +// return clusters1; +} + +vector >& QuadTree::getClusters() { + // if leaf node + if (leaf == 1) { + if (points.size() <= 0) return clusters; +// cout << "leaf clustering "; +// cout << center[0] << " " << center[1] << " " << points.size() << " " < ()); + clusters[0].insert(points[0]); + + for (unsigned int j = 1; j < points.size(); j++) { + bool found_cluster = false; + int oldindex = -1; + for (unsigned int i = 0; i < clusters.size(); i++) { + if ( close(points[j], clusters[i]) ) { + if (!found_cluster) { + clusters[i].insert(points[j]); + found_cluster = true; + oldindex = i; + //break; + } else { +// cout << " join cluster " << oldindex << " and " << i << endl; + clusters[oldindex].insert(clusters[i].begin(), clusters[i].end()); + clusters.erase(clusters.begin() + i); + i--; + //clusters[i] + } + } + } + if (!found_cluster) { // havent found a cose enough cluster -> new cluster + set cluster; + cluster.insert(points[j]); + clusters.push_back(cluster); + } + } +// cout << " this many cluster found in leaf " << clusters.size() << endl; + return clusters; + } + + //cout << "my leafs: "<< child[0] << " " << child[1] << " " << child[2] << " " << child[3] << endl; + vector< set > southclusters; + clusterCells(child[0]->getClusters(), child[0]->east, + child[1]->getClusters(), child[1]->west, southclusters); +// cout << "northern cluste: " << endl; + vector< set > northclusters; + clusterCells(child[2]->getClusters(), child[2]->east, + child[3]->getClusters(), child[3]->west, northclusters); +// cout << "south: " << southclusters.size() << endl; +// cout << "north: " << northclusters.size() << endl; + + // join borders + set nborders01; + nborders01.insert(child[0]->north.begin(), child[0]->north.end()); + nborders01.insert(child[1]->north.begin(), child[1]->north.end()); + + set sborders23; + sborders23.insert(child[2]->south.begin(), child[2]->south.end()); + sborders23.insert(child[3]->south.begin(), child[3]->south.end()); + + clusters = clusterCells(northclusters, sborders23, southclusters, nborders01, clusters); + if (clusters.size() > 0) { + //cout << "node clustered " << clusters.size() << endl; + //cout << center[0] << " " << center[1] << " " << points.size() << endl; + } + + return clusters; +} + +QuadTree::QuadTree(double **pts, int n, double _qSize, double min_d){ + dist = min_d; + anz = 0; + qSize = _qSize; + double xmin = pts[0][0], xmax = pts[0][0]; + double ymin = pts[0][1], ymax = pts[0][1]; + for (int i=1; i < n; i++) { + xmin = min(xmin, pts[i][0]); + xmax = max(xmax, pts[i][0]); + ymin = min(ymin, pts[i][1]); + ymax = max(ymax, pts[i][1]); + } + double eps = 0.00001; + xmin -= eps; + ymin -= eps; + xmax += eps; + ymax += eps; + center[0] = 0.5 * (xmin+xmax); + center[1] = 0.5 * (ymin+ymax); + + double m = max(0.5 * (xmax-xmin), 0.5 * (ymax-ymin)); + int count; + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + x_size = m; + y_size = m; + + // calculate new buckets + double newcenter[4][2]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ----------------------------------------------------------------------- + for (int i = 0; i < 4; i++) { + vector splitPoints; + set no,e,s,w; + count = countPointsAndQueue(pts, n, splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, + no, e, s, w); + if (count > MIN_PTS_IN_BUCKET) + child[i] = new QuadTree(splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, no,e,s,w); + splitPoints.clear(); + } +} + +QuadTree::QuadTree(vector &splitPoints, double _center[2], + double _x_size, double _y_size, set &n, + set &e, set &s, set &w) { + int count; + /* + this->north = n; + this->east = e; + this->south = s; + this->west = w; + */ + this->north.insert(n.begin(), n.end()); + this->south.insert(s.begin(), s.end()); + this->east.insert(e.begin(), e.end()); + this->west.insert(w.begin(), w.end()); + + //set up values + child[0] = child[1] = child[2] = child[3] = 0; + leaf = 0; + + center[0] = _center[0]; + center[1] = _center[1]; + x_size = _x_size; + y_size = _y_size; + + // if bucket is too small stop building tree + // ----------------------------------------- + if ((y_size <= qSize)) { + // copy points + for (unsigned int i = 0; i < splitPoints.size(); i++) { + points.push_back(splitPoints[i]); + } + leaf = 1; + anz++; + return; + } + + // calculate new buckets + double newcenter[4][3]; + double x_sizeNew, y_sizeNew; + + x_sizeNew = x_size / 2.0; + y_sizeNew = y_size / 2.0; + + newcenter[0][0] = center[0] - x_size / 2.0; + newcenter[0][1] = center[1] - y_size / 2.0; + + newcenter[1][0] = center[0] + x_size / 2.0; + newcenter[1][1] = center[1] - y_size / 2.0; + + newcenter[2][0] = center[0] - x_size / 2.0; + newcenter[2][1] = center[1] + y_size / 2.0; + + newcenter[3][0] = center[0] + x_size / 2.0; + newcenter[3][1] = center[1] + y_size / 2.0; + + // if bucket is _not_ approximately (nearly) empty don't build tree further + // ------------------------------------------------------------------------ + for (int i = 0; i < 4; i++) { + vector new_splitPoints; + set n,e,s,w; + count = countPointsAndQueue(splitPoints, new_splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, + n, e, s, w); + if (count > MIN_PTS_IN_BUCKET) { + child[i] = new QuadTree(new_splitPoints, + newcenter[i], x_sizeNew, y_sizeNew, n,e,s,w); + } + new_splitPoints.clear(); + } +} + +int QuadTree::countPointsAndQueue(const vector &i_points, + vector &points, + double center[2], + double x_size, double y_size, + set &n, + set &e, + set &s, + set &w) +{ + int count = 0; + for (unsigned int i = 0; i < i_points.size(); i++) { + if (fabs(i_points[i][0] - center[0]) <= x_size) { + if (fabs(i_points[i][1] - center[1]) <= y_size) { + count++; + points.push_back(i_points[i]); + double top = asin(sin(i_points[i][0]) * sin( fabs( (center[1] + y_size) - i_points[i][1]) ) ); + double bottom = asin(sin(i_points[i][0]) * sin( fabs( i_points[i][1] - (center[1] - y_size) ) ) ); + + if ( fabs( (center[0] + x_size) - i_points[i][0]) < dist ) { + e.insert(i_points[i]); + } + if ( fabs( i_points[i][0] - (center[0] - x_size) ) < dist ) { + w.insert(i_points[i]); + } + if ( top < dist ) { + n.insert(i_points[i]); + } + if ( bottom < dist ) { + s.insert(i_points[i]); + } + } + } + } + return count; +} + +int QuadTree::countPointsAndQueue(double **pts, int n, + vector &points, + double center[2], + double x_size,double y_size, + set &no, + set &e, + set &s, + set &w) +{ + + int count = 0; + for (int i=0; i < n; i++) { + if (fabs(pts[i][0] - center[0]) <= x_size) { + if (fabs(pts[i][1] - center[1]) <= y_size) { + count++; + double *p = pts[i]; + points.push_back(p); + + double top = asin(sin(p[0]) * sin( fabs( (center[1] + y_size) - p[1]) ) ); + double bottom = asin(sin(p[0]) * sin( fabs( p[1] - (center[1] - y_size) ) ) ); + + if ( fabs( (center[0] + x_size) - p[0]) < dist ) { + e.insert(p); + } + if ( fabs( p[0] - (center[0] - x_size) ) < dist ) { + w.insert(p); + } + if ( top < dist ) { + no.insert(p); + } + if ( bottom < dist ) { + s.insert(p); + } + } + } + } + return count; +} + +int QuadTree::countPoints(double **pts, int n, double center[2], + double x_size, double y_size) +{ + int count = 0; + for (int i=0; i < n; i++) { + if (fabs(pts[i][0] - center[0]) <= x_size) { + if (fabs(pts[i][1] - center[1]) <= y_size) { + count++; + } + } + } + return count; +} +/* +void QuadTree::getQuadTreePoints(vector &quad_x, vector &quad_y, vector &quad_z) +{ + double x,y,z; + + if (leaf == 1) { + basePlane->projTo3D(center[0] - x_size, + center[1] - y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] + x_size, + center[1] - y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] + x_size, + center[1] + y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + basePlane->projTo3D(center[0] - x_size, + center[1] + y_size, + x, y, z); + quad_x.push_back(x); + quad_y.push_back(y); + quad_z.push_back(z); + } else { + for( int i = 0; i < 4; i++){ + if (child[i] != 0) { + child[i]->getQuadTreePoints(quad_x, quad_y, quad_z); + } + } + } +} +*/ +/* +void QuadTree::getQuadTreeColor(double &colorR, double &colorG, double &colorB) +{ + switch (basePlane->getColor()) { + case 1: colorR = 0.6; colorG = 0.0; colorB = 0.0; break; + case 2: colorR = 0.0; colorG = 0.6; colorB = 0.0; break; + case 3: colorR = 0.0; colorG = 0.0; colorB = 0.6; break; + case 4: colorR = 0.6; colorG = 0.6; colorB = 0.0; break; + case 5: colorR = 0.6; colorG = 0.0; colorB = 0.6; break; + case 6: colorR = 0.0; colorG = 0.6; colorB = 0.6; break; + case 7: colorR = 0.6; colorG = 0.3; colorB = 0.3; break; + case 8: colorR = 0.3; colorG = 0.3; colorB = 0.3; break; + case 9: colorR = 0.3; colorG = 0.3; colorB = 0.6; break; + case 10: colorR = 0.6; colorG = 0.6; colorB = 0.6; break; + case 11: colorR = 0.1; colorG = 0.1; colorB = 0.6; break; + case 12: colorR = 0.1; colorG = 0.1; colorB = 0.1; break; + case 13: colorR = 0.1; colorG = 0.3; colorB = 0.1; break; + case 14: colorR = 0.1; colorG = 0.1; colorB = 0.3; break; + case 15: colorR = 0.3; colorG = 0.6; colorB = 0.3; break; + case 16: colorR = 0.3; colorG = 0.3; colorB = 0.1; break; + default: colorR = 0.3; colorG = 0.1; colorB = 0.1; + } +} +*/ +/* +int QuadTree::outputQuad(char *dir) +{ + cout << "writing "; + ofstream quadout; + char fname[64]; + strcpy(fname,dir);strcat(fname, "/quad.dat"); + + quadout.open(fname,ios::binary|ios::out|ios::app); + if (!quadout) { + cerr << "*** error: can't create file " << fname << " ***\n"; + exit(2); + } + int ret = _OutputQuad(quadout); + quadout.close(); + cout << ret << " quads from quadtree." << endl; + return ret; +} + +int QuadTree::_OutputQuad(ofstream &bBoxout) +{ + int ret = 0; + if (leaf == 1) { + + double x,y,z; + // cout << endl; + basePlane->projTo3D(center[0] - x_size, + center[1] - y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] - x_size, + center[1] + y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] + x_size, + center[1] + y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + basePlane->projTo3D(center[0] + x_size, + center[1] - y_size, + x,y,z); + // cout << x << " " << y << " " << z << endl; + bBoxout.write((char*)&x, sizeof(double)); + bBoxout.write((char*)&y, sizeof(double)); + bBoxout.write((char*)&z, sizeof(double)); + + +// float col = 0.0; +// for (int i = 0; i < points.size(); i++) { +// col = max(col, points[i][2]); +// } +// +// col = col / 3.0; +// + + float col = 0; //!!! + + double gcolorR, gcolorG, gcolorB; + getQuadTreeColor(gcolorR, gcolorG, gcolorB); + + float col_r = col + gcolorR; + float col_g = col + gcolorG; + float col_b = col + gcolorB; + bBoxout.write((char*)&col_r, sizeof(float)); + bBoxout.write((char*)&col_g, sizeof(float)); + bBoxout.write((char*)&col_b, sizeof(float)); + + return 1; + } + + for( int i = 0; i < 4; i++){ + if (child[i] != 0) { + ret += child[i]->_OutputQuad(bBoxout); + } + } + return ret; +} +*/ + +QuadTree::~QuadTree(){ + for(int i = 0; i < 4; i++) { + if (child[i] !=0) { + delete child[i]; + child[i] = 0; + } + } +} + + + + + + + + + diff --git a/src/shapes/scan_ransac.cc b/src/shapes/scan_ransac.cc new file mode 100644 index 0000000..fa598a4 --- /dev/null +++ b/src/shapes/scan_ransac.cc @@ -0,0 +1,401 @@ +/* + * scan_ransac implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +#include +#include + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" +#include + +#include "shapes/geom_math.h" +#include "shapes/integralimg.h" +#include "shapes/scan_ransac.h" +#include "shapes/NumberRecOctree.h" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + + +void *dummy(void *nd) { + NumberDetector *ND = (NumberDetector *)nd; + ND->RANSAC(*(ND->scan_points)); + return 0; +} + + +///////////////// constants for RANSAC and number recognition +void NumberDetector::printNumbers() { + for (int i = 0; i < 10; i++) + cout << detectedNumbers[i].getConsensus() << endl; + cout << endl; +} + +// comment the following line if you want greyscale image +#define BINARY_IMG +#include "shapes/config_sickday.h" +#include "shapes/numberrec.h" + +int image_counter = 0; + + +bool NumberDetector::FindNumber(vector &points, double plane[4]) { + bool res = false; + double maxx = -DBL_MAX; + double minx = DBL_MAX; + double maxz = -DBL_MAX; + double minz = DBL_MAX; + + // rotate onto the floor plane + double t[3]; t[0] = t[1] = t[2] = 0.0; + double alignxf[16]; + double aa[4]; + aa[0] = -1.0 * acos(plane[1]); + aa[1] = plane[2] / sqrt( plane[2]*plane[2] + plane[0]*plane[0] ); + aa[2] = 0; + aa[3] = -plane[0] / sqrt( plane[2]*plane[2] + plane[0]*plane[0] ); + + AAToMatrix(aa, t, alignxf); + + /////// acount for rotation around y axis + double up[3]; + double rPT[3]; + double rmat[16]; + double tmp[16]; + Cross(plane, aa+1, up); + Normalize3(up); + + // check wether up goes up or down, and flip if it goes down + if (up[1] < 0) { + up[0] = -up[0]; + up[1] = -up[1]; + up[2] = -up[2]; + } + + double upx = up[0] * alignxf[0] + up[1] * alignxf[4] + up[2] * alignxf[8]; +// double upy = up[0] * alignxf[1] + up[1] * alignxf[5] + up[2] * alignxf[9]; // should be redundant + double upz = up[0] * alignxf[2] + up[1] * alignxf[6] + up[2] * alignxf[10]; + + rPT[0] = rPT[2] = 0.0; + rPT[1] = atan2(upz, upx) + M_PI/2.0; + EulerToMatrix4(t, rPT, rmat); + + // combine rotation onto plane with rotaion around y + MMult(rmat, alignxf, tmp); + for (int i = 0; i < 16; i++) { + alignxf[i] = tmp[i]; + } + // done + + // compute 2d projection of the points, and scale reflectivity + double **npoints = new double*[points.size()]; + for (unsigned int i = 0; i < points.size(); i++) { + double *p = points[i]; + npoints[i] = new double[4]; + + npoints[i][0] = -(p[0] * alignxf[0] + p[1] * alignxf[4] + p[2] * alignxf[8]); + npoints[i][1] = p[0] * alignxf[1] + p[1] * alignxf[5] + p[2] * alignxf[9]; // this should be redundant + npoints[i][2] = p[0] * alignxf[2] + p[1] * alignxf[6] + p[2] * alignxf[10]; + + npoints[i][3] = (p[3] - MINREFL ) / (MAXREFL - MINREFL) ; // scale between 0 and 1 + if (npoints[i][3] > 1.0) npoints[i][3] = 1.0; // 0 and 1 _are_ min and max + if (npoints[i][3] < 0.0) npoints[i][3] = 0.0; + + if (npoints[i][0] > maxx) maxx = npoints[i][0]; + if (npoints[i][0] < minx) minx = npoints[i][0]; + if (npoints[i][2] > maxz) maxz = npoints[i][2]; + if (npoints[i][2] < minz) minz = npoints[i][2]; + } + + + // create a binary image which is used to find a rectangular shape using integral images + double lx = maxx - minx; + double lz = maxz - minz; + int maxppm = 0; + if (lx > 50.0 && lz > 70.0) { // only if point cloud has the necessary extent TODO change magic numbers + int px = lx / IMG_RES +1; + int pz = lz / IMG_RES +1; + + int **image = new int*[px]; // allocate mem + for (int i = 0; i < px; i++) { + image[i] = new int[pz]; + } + + for (int i = 0; i < px; i++) { + for (int j = 0; j < pz; j++) { + image[i][j] = 0; + } + } + for (unsigned int i = 0; i < points.size(); i++) { + double *p = npoints[i]; + int x = (double)(px-1) * ( p[0]-minx ) / lx; + int z = (double)(pz-1) * ( p[2]-minz ) / lz; + image[x][z] = 1; + } + + // compute integral image and compute best haar feature to detect a board + int XX, ZZ; + double SCORE; + integral_img iimg(image, px, pz); + SCORE = iimg.getBest( XX, ZZ); + + // with some certainty there is a rectangular part in the image that is number-sized + if (SCORE > MIN_SCORE) { + #ifndef BINARY_IMG + maxppm = 4096; // greyscale + #else + maxppm = 1; // binary + #endif + // create number part of the image with reflectance values... + int maxx = XX + BOARD_SIZE_X < px ? XX + BOARD_SIZE_X : px; + int maxz = ZZ + BOARD_SIZE_Z < pz ? ZZ + BOARD_SIZE_Z : pz; + for (int i = XX; i < maxx ; i++) { + for (int j = ZZ; j < maxz; j++) { + image[i][j] = -1; // remember pixel where no points were + } + } + + int NRPTS = 0; + double center[3]; center[0] = center[1] = center[2] = 0.0; + + for (unsigned int i = 0; i < points.size(); i++) { + double *p = npoints[i]; + double x = (double)(px-1) * ( p[0]-minx ) / lx; + double z = (double)(pz-1) * ( p[2]-minz ) / lz; + double xi, zi; + x = modf(x, &xi); + z = modf(z, &zi); + + if (x < 0.5){ + xi--; + x += 1.0; + } + if (z < 0.5) { + zi--; + z += 1.0; + } + + // points not on the board need not to be used + if (xi < XX || zi < ZZ || xi > maxx || zi > maxz) continue; + + // count number of points for normalizing + NRPTS++; + center[0] += points[i][0]; + center[1] += points[i][1]; + center[2] += points[i][2]; + + // Use smooth binning with 4096 gray values + if ( (int)xi < px && (int)zi < pz ) { + image[(int)xi][(int)zi] += ( (1.5 - x) * (1.5 - z) * p[3]) * 4096; + if (image[(int)xi][(int)zi] > maxppm) maxppm = image[(int)xi][(int)zi]; + } + + if ( (int)xi + 1 < px && (int)zi < pz ) { + image[(int)xi + 1][(int)zi] += ((x - 0.5) * (1.5 - z) * p[3]) * 4096; + if (image[(int)xi + 1][(int)zi] > maxppm) maxppm = image[(int)xi+1][(int)zi]; + } + + if ( (int)xi < px && (int)zi + 1 < pz ) { + image[(int)xi][(int)zi + 1] += ((1.5 - x) * (z - 0.5) * p[3]) * 4096; + if (image[(int)xi][(int)zi + 1] > maxppm) maxppm = image[(int)xi][(int)zi+1]; + } + + if ( (int)xi + 1 < px && (int)zi + 1 < pz ) { + image[(int)xi + 1][(int)zi + 1] += ((x - 0.5) * (z - 0.5) * p[3]) * 4096; + if (image[(int)xi + 1][(int)zi + 1] > maxppm) maxppm = image[(int)xi+1][(int)zi+1]; + } + } + /////////////////////////////////// +#ifndef BINARY_IMG + int MAX = 0; + int MIN = 1000000000; + int AVG = 0; +#endif + // color pixels on the border of the image white ( to remove the black border on the board and the inevitable part where no points are) + for (int i = XX; i < maxx ; i++) { + for (int j = ZZ; j < maxz; j++) { +// if ( (j < ZZ + WHITE_BORDER - 1 || j > maxz - WHITE_BORDER - 2 ) || ( i < XX + WHITE_BORDER + 1 || i > maxx - WHITE_BORDER ) ) { + if ( (j < ZZ + WHITE_BORDER || j > maxz - WHITE_BORDER ) || ( i < XX + WHITE_BORDER || i > maxx - WHITE_BORDER ) ) { + image[i][j] = maxppm; + } +#ifndef BINARY_IMG + if (image[i][j] > 0 && image[i][j] < MIN) MIN = image[i][j]; + if (image[i][j] > MAX) MAX = image[i][j]; + if (image[i][j] > 0) AVG += image[i][j]; +#endif + } + } + + string filename = "patch" + to_string(image_counter++, 5) + ".pgm"; + ofstream of(filename.c_str(), std::ios::out); + +#ifndef BINARY_IMG + of << "P2" << endl << (maxx - XX) << " " << (maxz - ZZ) << endl << 4096 << endl; // greyscale +#else + unsigned char ibuffer[(maxx - XX)*(maxz - ZZ)]; // binary + of << "P5" << endl << (maxx - XX) << " " << (maxz - ZZ) << endl << 1 << endl; // binary +#endif + + unsigned int l = 0; + double val; // temporary value that contains the calibrated reflectivity of a pixel + double factor = 4096.0/maxppm; + for (int j = ZZ; j < maxz; j++) { + for (int i = XX; i < maxx; i++) { +#ifndef BINARY_IMG + // of << image[i][j] << " "; + if (image[i][j] == -1) { + of << 0 << " "; + } else { + of << (int)(factor*image[i][j]) << " "; + } +#else + if (image[i][j] == -1) { + ibuffer[l++] = (unsigned char)0; + } else { + //val = ((double)image[i][j]-MIN)/((double)(MAX-MIN)); + val = ((double)image[i][j])/((double)(NRPTS)); + if (val > REFL_THRESHOLD) { + //if (image[i][j] > 0.25*maxppm) + //if (image[i][j] > 4000) + ibuffer[l++] = (unsigned char)1; + } else { + ibuffer[l++] = (unsigned char)0; + } + } +#endif + } + } + +#ifdef BINARY_IMG + of.write((const char*)ibuffer, sizeof(unsigned char) * (maxx - XX) * (maxz - ZZ)); +#endif + + // done writing board + of.close(); + + double probability; + int number; + // attempt to use OCR + if ( gocr_recognizeNumber(filename, number, probability) ) { + cout << filename << ": Best number is " << number << " with p = " << probability << endl; + + center[0] = center[0] / NRPTS; + center[1] = center[1] / NRPTS; + center[2] = center[2] / NRPTS; + + // remember hypothesis, scale SCORE to a more useful value + SCORE = (SCORE - SCORE_SCALE) / (1.0 - SCORE_SCALE); + + // decide where to put the number + if (number == 1 && detectedNumbers[7].isClose( center) ) { // a 7 can be seen as a 1 + detectedNumbers[7].addObservation(7, probability, SCORE, center, plane); + } else if (number == 0 && detectedNumbers[8].isClose( center) ) { // an 8 can be mistaken for a 0 + detectedNumbers[8].addObservation(8, probability, SCORE, center, plane); + } else if (number == 9 && detectedNumbers[8].isClose( center) ) { // an 8 can be mistaken for a 9 + detectedNumbers[8].addObservation(8, probability, SCORE, center, plane); + } else { // usual case + detectedNumbers[number].addObservation(number, probability, SCORE, center, plane); + } + + res = true; + } + } + + + // remove image + for (int i = 0; i < px; i++) { + delete[] image[i]; + } + delete[] image; + } + + // remove projected points + for (unsigned int i = 0; i < points.size(); i++) { + delete[] npoints[i]; + } + delete[] npoints; + return res; +} + + +void NumberDetector::RANSAC(vector &scan_points) { + // stores 3 sample points + vector ps; + double a[3], b[3], c[3], plane[4]; + // create octree from the points + NumberRecOctTree *oct = new NumberRecOctTree(scan_points, 50.0, PointType::USE_REFLECTANCE ); + + scan_points.clear(); + while(true) { + ps.clear(); + oct->DrawPoints(ps, 3); + + if ( !ps.empty()) { // if we have random points + for (int j = 0; j < 3;j++) { // compute plane + a[j] = ps[0][j] - ps[1][j]; + b[j] = ps[0][j] - ps[2][j]; + c[j] = ps[0][j] + ps[1][j] + ps[2][j]; + c[j] /= 3.0; + } + Cross(a,b, plane); + if (fabs(Len2(plane)) < 0.0001 ) continue; // points are collinear + Normalize3(plane); + if (fabs(plane[1]) > 0.8) continue; // plane is floor or ceiling + + plane[3] = -1.0 * planeDist(c, plane[0], plane[1], plane[2], 0); // compute distance from origin + if (plane[3] < 0.0) { // flip normal if necessary + for (int j = 0; j < 4;j++) { + plane[j] = -plane[j]; + } + } + // count number of points on the plane + int r = oct->PointsOnNumber(plane, MAX_DIST_TO_PLANE, c, 105.0); + + if (r > MIN_NR_PTS) { + vector points; + oct->PointsOnNumber(plane, MAX_DIST_TO_PLANE, c, 105.0, points); + if ( FindNumber(points, plane) ) { + printNumbers(); + } + } + + } + } + + delete oct; +} diff --git a/src/shapes/shapes.cc b/src/shapes/shapes.cc new file mode 100644 index 0000000..b4dc78f --- /dev/null +++ b/src/shapes/shapes.cc @@ -0,0 +1,19 @@ +/* + * shapes implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include "shapes/ransac_Boctree.h" +#include "shapes/NumberRecOctree.h" +#include "shapes/ransac.h" + +int main() { + CollisionPlane plane(1.0); // 1.0 cm maxdist + + Ransac(plane,0); + return 0; +} diff --git a/src/shapes/toImage.cc b/src/shapes/toImage.cc new file mode 100644 index 0000000..9be0ba0 --- /dev/null +++ b/src/shapes/toImage.cc @@ -0,0 +1,799 @@ +/* + * toImage implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/image.h" +#include "shapes/hough.h" +#include "shapes/ppair.h" +#include "shapes/quadtree.h" +#include +#include "newmat/newmatap.h" +using namespace NEWMAT; +//#include "shapes/convexplane.h" + +#define MAX_PARALLEL_ANGLE 10.0 +#define MAX_EQUAL_DIST 10.0 +#define MIN_PARALLEL_DIST 50.0 +#define MIN_RIGHT_ANGLE 80.0 + +#define NUM_ITERS 1 + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " P, " << bold << "--plane=" << normal << "P" << endl + << " using algorithm P for plane detection" << endl + << " (chose P from {rht, sht, pht, ppht, apht})" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int + &maxDist, int&minDist, int &octree, IOType &type, bool &quiet) { + + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "quit", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:p:Oq", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +void getPPairs(vector &allPlanes, PPair **ppairs) { + for (unsigned int i = 0; i < allPlanes.size(); i++) { + for (unsigned int j = i+1; j < allPlanes.size(); j++) { + PPair pair(allPlanes[i], allPlanes[j]); + // parallel or equal planes + if (deg(pair.angle) < MAX_PARALLEL_ANGLE) { + // planes are equal + if (pair.plane_distance < MAX_EQUAL_DIST) { + pair.type = PPair::EQUAL; + // planes are parallel + } else {//if (pair.plane_distance > MIN_PARALLEL_DIST) { + pair.type = PPair::PARALLEL; + // planes are nothing + } + // plane is perpendicular + } else if (deg(pair.angle) > MIN_RIGHT_ANGLE) { + pair.type = PPair::PERPENDICULAR; + // planes are nothing in particular + } + ppairs[i][j] = pair; + ppairs[j][i] = pair; + + } + } + +} +void getZHK(unsigned int length, bool **graph, vector > &zhks ) { + set unused; + + for (unsigned int i = 0; i < length; i++) unused.insert(i); + + // as long as we have nodes cluster + while(!unused.empty()) { + // start new cluster + int index = *unused.begin(); + unused.erase(index); + set zhk; + zhk.insert(index); + + // now look for all connected nodes + vector unvisited; + unvisited.push_back(index); + + while (!unvisited.empty()) { + int index = *unvisited.begin(); + unvisited.erase(unvisited.begin()); + + for (unsigned int i = 0; i < length; i++) { + if (i != index && graph[index][i] && zhk.count(i) == 0 ) { + zhk.insert(i); + unvisited.push_back(i); + unused.erase(i); + } + } + } + zhks.push_back(zhk); + } +} + +void flip( const double *normal , double *n ) { + // project to the other side + double k[3]; + n[0] = normal[0]; + n[1] = normal[1]; + n[2] = 1; + toKartesian(n, k); + k[0] *= -1; + k[1] *= -1; + k[2] *= -1; + toPolar(k, n); +} +bool parallel(set &p1, set &p2, double min_angle) { + for (set::iterator it = p1.begin(); + it != p1.end(); it++) { + for (set::iterator jt = p2.begin(); + jt != p2.end(); jt++) { + double *a = *it; + double *b = *jt; + //if ( polardist(a,b) > ( rad(180) - min_angle ) ) + double flipped[3]; + flip(a, flipped); + if (polardist(a,b) < min_angle || polardist(flipped, b) < min_angle) + { + return true; + } + } + } + return false; +} +// TODO no idea what this does +/* +ColumnVector calcRotRhos(vector &planes) { + unsigned int n = planes.size(); + double xbar[3]; + double *normal; + double nx; + + ColumnVector A(n+3); + Matrix B(n+3,n+3); + B = 0; + A = 0; + // fill B and A + + // for all planes + for (unsigned int i = 0; i < n; i++) { + vector points = planes[i]->points; + normal = planes[i]->n; + // for all x_j in plane i + for (unsigned int j = 0; j < points.size(); j++) { + Point p = points[j]; + xbar[0] = normal[1] * p.z - normal[2]*p.y; + xbar[1] = normal[2] * p.x - normal[0]*p.z; + xbar[2] = normal[0] * p.y - normal[1]*p.x; + nx = normal[0]*p.x + normal[1]*p.y + normal[2]*p.z; + + A(1) += nx * xbar[0]; + A(2) += nx * xbar[1]; + A(3) += nx * xbar[2]; + A(i+1 + 3) -= nx; + + // upper left 3x3 matrix of B + B(1, 1) += xbar[0]*xbar[0]; + B(2, 2) += xbar[1]*xbar[1]; + B(3, 3) += xbar[2]*xbar[2]; + + B(1,2) += xbar[0]*xbar[1]; + B(2,1) += xbar[0]*xbar[1]; + + B(1,3) += xbar[0]*xbar[2]; + B(3,1) += xbar[0]*xbar[2]; + + B(2,3) += xbar[1]*xbar[2]; + B(3,2) += xbar[1]*xbar[2]; + + B(1, i+1 +3) -= xbar[0]; + B(i+1 +3, 1) -= xbar[0]; + + B(2, i+1 +3) -= xbar[1]; + B(i+1 +3, 2) -= xbar[1]; + + B(3, i+1 +3) -= xbar[2]; + B(i+1 +3, 3) -= xbar[2]; + } + + B(i+1 +3, i+1 +3) = points.size(); + } + + // calc result + +// cout << "A: " << endl << A << endl; +// cout << "B: " << endl << B << endl; + + ColumnVector X = B.i() * A; + +// cout << "X: " << endl << X << endl; + + + return X; +}*/ +void join(vector > &cps, double min_angle, vector > &n_cps) { + bool **par = new bool*[cps.size()]; + for (unsigned int i = 0; i< cps.size(); i++) { + par[i] = new bool[cps.size()]; + } + + for (unsigned int i = 0; i < cps.size(); i++) { + par[i][i] = false; + for (unsigned int j = i+1; j < cps.size(); j++) { + if (parallel(cps[i], cps[j], min_angle) ) { + par[i][j] = true; + par[j][i] = true; + } + else { + par[i][j] = false; + par[j][i] = false; + } + } + } + vector > zhks; + getZHK(cps.size(), par, zhks); + + for (unsigned int i = 0; i < zhks.size(); i++) { + set zhk; + n_cps.push_back(zhk); + for (set::iterator it = zhks[i].begin(); it != zhks[i].end(); it++) { + n_cps[i].insert( cps[*it].begin(), cps[*it].end() ); + } + } + + for (unsigned int i = 0; i< cps.size(); i++) { + delete[] par[i]; + } + delete[] par; +} + +void getModel(vector &model, vector &allPlanes) { + int planes = allPlanes.size();//588; + double min_angle = rad(MAX_PARALLEL_ANGLE); + double perp_angle = rad(MIN_RIGHT_ANGLE); + int min_size = 0; + + // polar coordinates of plane + vector norms; + for (unsigned int i = 0; i < allPlanes.size(); i ++) {; + double *norm = new double[5]; + toPolar(allPlanes[i]->n, norm); // 0: phi, 1:theta + norm[2] = allPlanes[i]->pointsize; // number of points + norm[3] = i; // index + norm[4] = allPlanes[i]->rho; // rho + norms.push_back(norm); + } + + // copy of polar coordinate representation + double **normals = new double*[planes];//[planes][4]; + for (int j = 0; j < planes; j++) { + normals[j] = norms[j]; + } + + // all normals in Quadtree and cluster + QuadTree tree(normals, planes , 0.40, min_angle); + vector > cpsold; + cpsold = tree.getClusters(); + + //join similar normals + vector > cps; + join(cpsold, min_angle, cps); + + // Filtering + for (unsigned int i = 0; i < cps.size(); i++) { +cout << "Cluster " << i << ": " << cps[i].size(); + set::iterator it = cps[i].begin(); + double *rep = *it; + // for each normal in this cluster + while ( it != cps[i].end()) { + double *normal = (*it); + double flipped[3]; + flip(normal, flipped); + // check wether the flipped one is closer + if (polardist(rep, flipped) < polardist(rep, normal) ) { + normal[0] = flipped[0]; + normal[1] = flipped[1]; + } +cout << " " << normal[3] << " normal: " << normal[0] << " " << normal[1] << endl; + it++; + } + } + + double **cnorms = new double*[cps.size()]; + bool **cnrels = new bool*[cps.size()]; + int *normpts = new int[cps.size()]; + +cout << "Center normals.." << endl; + // Calculate the centerd normals + for (unsigned int i = 0; i < cps.size(); i++) { +cout << "Cluster " << i << ":" << endl; + cnorms[i] = new double[3]; + cnrels[i] = new bool[cps.size()]; + cnorms[i][0] = 0; + cnorms[i][1] = 0; + cnorms[i][2] = 0; + + int sumpoints = 0; + for (set::iterator it = cps[i].begin(); + it != cps[i].end(); it++) { + double *normal = (*it); + double k[3], n[3]; + n[0] = normal[0]; + n[1] = normal[1]; + n[2] = 1; + toKartesian(n, k); + cnorms[i][0] += k[0] * normal[2]; + cnorms[i][1] += k[1] * normal[2]; + cnorms[i][2] += k[2] * normal[2]; + sumpoints += normal[2]; + } + normpts[i] = sumpoints; + cnorms[i][0] /= sumpoints; + cnorms[i][1] /= sumpoints; + cnorms[i][2] /= sumpoints; + Normalize3(cnorms[i]); + double p[3]; + toPolar(cnorms[i], p); + cnorms[i][0] = p[0]; + cnorms[i][1] = p[1]; + + cout << " cnormal: " << cnorms[i][0] << " " << cnorms[i][1] << endl; + } + + // Calculate relations between clusters + for (unsigned int i = 0; i < cps.size(); i++) { + cnrels[i][i] = false; + for (unsigned int j = i+1; j < cps.size(); j++) { + double angle = polardist(cnorms[i], cnorms[j]); + cnrels[i][j] = angle > perp_angle && angle < (rad(180.0) - perp_angle); + cnrels[j][i] = cnrels[i][j]; + } + } + + // calculate clusters that are big enough + vector big_clusters; + for (unsigned int i = 0; i < cps.size(); i++) { + if (normpts[i] > min_size) { + big_clusters.push_back(i); + } + } + cout << "look for biggest cliques..." << endl; + // Calculate biggest 3-cliques + int ci, cj, ck, cpoints; + ci = cj = ck = -1; + cpoints = 0; + for (vector::iterator it = big_clusters.begin(); + it != big_clusters.end(); it++) { + unsigned int i = *it; + for (vector::iterator jt = it+1; + jt != big_clusters.end(); jt++) { + unsigned int j = *jt; + if (!cnrels[i][j]) continue; + for (vector::iterator kt = jt+1; + kt != big_clusters.end(); kt++) { + unsigned int k = *kt; + if (cnrels[i][k] && cnrels[j][k]) { + // candidate clique + int sum = normpts[i] + normpts[j] + normpts[k]; + if (sum > cpoints) { + cpoints = sum; + ci = i; + cj = j; + ck = k; + cout << i << " " << j << " " << k << " " << sum << endl; + } + } + } + } + } + if (ci == -1 || cj == -1 || ck == -1) { + cout << "No clique could be found!" << endl; + return; + } + + // Estimate new normals + double n[3]; + ConvexPlane p1(cnorms[ci]); + p1.project(cnorms[cj], n); + ConvexPlane p2(n); + Cross(p1.n, p2.n, n); + ConvexPlane p3(n); + + // map from allPlane index to ci, cj or ck + map idxTotype; + int idx = 0; +cout << "hmm " << endl; + vector numerical_planes; + for (set::iterator it = cps[ci].begin(); it != cps[ci].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p1.n[0]; + plane->n[1] = p1.n[1]; + plane->n[2] = p1.n[2]; + */ + model.push_back(plane); + + cout << "for ci = " << ci << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = ci; + } + for (set::iterator it = cps[cj].begin(); it != cps[cj].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p2.n[0]; + plane->n[1] = p2.n[1]; + plane->n[2] = p2.n[2]; + */ + model.push_back(plane); + + cout << "for cj = " << cj << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = cj; + } + for (set::iterator it = cps[ck].begin(); it != cps[ck].end(); it++) { + double *normal = (*it); + int index = (int)normal[3]; + ConvexPlane *plane = allPlanes[index]; + /* + plane->n[0] = p3.n[0]; + plane->n[1] = p3.n[1]; + plane->n[2] = p3.n[2]; + */ + model.push_back(plane); + + cout << "for ck = " << ck << " plane index " << idx << " ap index " << index << endl; + idxTotype[idx++] = ck; + } + + /* + int MAX_IT = 100; +// int MAX_IT = 10000; + int it_nr = 0; + ColumnVector X; + double MIN_ERR = 0.0005; +// double MIN_ERR = 0.0000000000000000000001; + double error = 0.0; + do { + //cout << it_nr << endl; + it_nr++; + // calc rotation and rho's + X = calcRotRhos(numerical_planes); + // apply rotation to normals + double rPos[3] = {0.0, 0.0, 0.0}; + double rPosTheta[3]; + rPosTheta[0] = -X(1); + rPosTheta[1] = -X(2); + rPosTheta[2] = -X(3); + error = fabs (X(1)) + fabs(X(2)) + fabs(X(3)) ; +// cout << rPosTheta[0] << " " << rPosTheta[1] << " " <n[0]; + normal.y = numerical_planes[j]->n[1]; + normal.z = numerical_planes[j]->n[2]; +// cout << "NP " << j << " " << normal.x << " " << normal.y << " " << normal.z << endl; + normal.transform(alignxf); +// cout <<"to" << endl; +// cout << normal.x << " " << normal.y << " " << normal.z << endl; + numerical_planes[j]->n[0] = normal.x; + numerical_planes[j]->n[1] = normal.y; + numerical_planes[j]->n[2] = normal.z; +// cout << "NP " << j << " " << normal.x << " " << normal.y << " " << normal.z << endl; + } + // repeat + } while (error > MIN_ERR || it_nr > MAX_IT); +// cout << "ERRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRRR" << endl; + // apply rho's to planes + for(unsigned int j = 0; j < numerical_planes.size(); j++) { +// cout << j << " s rho is " << numerical_planes[j]->rho << endl; + numerical_planes[j]->rho = -X(j+1 +3); +// cout << j << " s rho is " << numerical_planes[j]->rho << endl; + } + + bool **graph = new bool*[numerical_planes.size()]; + for (unsigned int i = 0; i < numerical_planes.size(); i++) { + graph[i] = new bool[numerical_planes.size()]; + } + + + for (unsigned int i = 0; i < numerical_planes.size(); i++) { + graph[i][i] = false; + for (unsigned int j = i+1; j < numerical_planes.size(); j++) { + if( fabs(numerical_planes[i]->rho - numerical_planes[j]->rho) < MAX_EQUAL_DIST + && idxTotype[i] == idxTotype[j] ) { // check wether planes belong to the same type + graph[i][j] = true; + graph[j][i] = true; + } else { + graph[i][j] = false; + graph[j][i] = false; + } + } + } + + vector > zhks; + getZHK(numerical_planes.size(), graph, zhks); + + for (unsigned int i = 0; i < zhks.size(); i++) { + vector pplane; + for (set::iterator it = zhks[i].begin(); it != zhks[i].end(); it++) { + pplane.push_back(numerical_planes[*it]); + cout << "zhk " << i << " p " << (*it) << endl; + } + ConvexPlane *plane = new ConvexPlane(pplane); + model.push_back(plane); + } + */ + //exit(0); +} + + + +/** + * Main function. The Hough Transform is called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2011" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + IOType type = UOS; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, maxDist, minDist, octree, type, quiet); + Scan::dir = dir; + int fileNr = start; + string planedir = dir + "planes"; + +#ifdef _MSC_VER + int success = mkdir(planedir.c_str()); +#else + int success = mkdir(planedir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing planes to " << planedir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << planedir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << planedir << " failed" << endl; + exit(1); + } + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + // reduction filter for current scan! + //Scan::allScans[0]->calcReducedPoints(red, octree); + Scan::allScans[0]->toGlobal(red, octree); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + Scan::allScans[0]->transform(id, Scan::ICP, 0); // write end pose + } + //Hough hough(Scan::allScans[0], quiet); + //hough.RHT(); + cout << "Hough done" << endl; + + // calculate relations between planes + //vector * allPlanes = &hough.planes; + /* + PPair **p_graph; + + p_graph = new PPair*[allPlanes->size()]; + for (unsigned int i = 0; i < allPlanes->size(); i++) { + p_graph[i] = new PPair[allPlanes->size()]; + } + getPPairs(*allPlanes, p_graph); + */ + // optimize relations + //vector model; + //getModel(model, *allPlanes); + //cout << "GetModel done" << endl; + + //Hough houghdelete(Scan::allScans[0], quiet); + cout << "start range image calculation" << endl; + long starttime = GetCurrentTimeInMilliSec(); + int size; + //double * const* points_red = houghdelete.deletePoints(*allPlanes, size); + //double * const* points_red = hough.getPoints(size); + cout << "Size " << size << endl; + + + double * const* points_red = Scan::allScans[0]->get_points_reduced(); + // Image myImage(0.0, 360.0, 0.0, 180.0, 0.04, points_red, Scan::allScans[0]->get_points_red_size()); + + Image myImage(0.0, 360.0, 0.0, 180.0, 0.08, Scan::allScans[0]->get_points()); + + //Image myImage(90.0, 270.0, 40.0, 90.0, 1.0, points_red, size); + + starttime = (GetCurrentTimeInMilliSec() - starttime); + cout << "Time for Constructor call: " << starttime << endl; + + starttime = GetCurrentTimeInMilliSec(); + + int** regdat; + int width = myImage.getWidth(); + regdat = new int*[width]; + for(int i = 0; i < width; i++) { + regdat[i] = new int[myImage.getHeight()]; + } + + int** regdat2; + regdat2 = new int*[width]; + for(int i = 0; i < width; i++) { + regdat2[i] = new int[myImage.getHeight()]; + } + + //myImage.blobColor(05.0, regdat); + //cout << "blobColor done" << endl; + //myImage.printImage("blub.ppm", true); + myImage.printImage("blub.ppm", false); + float min = myImage.getMin(); + float max = myImage.getMax(); + float tenPercent = (max - min)*0.45; + cout << "MinMax " << min << " " << max << " " << tenPercent << " " << (max - min) << " "<< (max - tenPercent) << endl; + myImage.calcMarker(min + tenPercent, regdat); + cout << "Marker done" << endl; + int regions = myImage.cluster(5, regdat, regdat2); + cout << "Nu kommen die Punkte" << endl; + myImage.writeCenters(regions, regdat2, Scan::allScans[0]->get_points()); + cout << "dat woarn se" << endl; + + //myImage.blobColor(5, regdat2); + //cout << "blobColor done" << endl; + //myImage.printScans(regdat, points_red, Scan::allScans[0]->get_points_red_size()); + cout << "print Scans done" << endl; + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "Time for whatever " << starttime << endl; + delete Scan::allScans[0]; + Scan::allScans.clear(); +} + diff --git a/src/show/CMakeLists.txt b/src/show/CMakeLists.txt new file mode 100644 index 0000000..9ce328d --- /dev/null +++ b/src/show/CMakeLists.txt @@ -0,0 +1,28 @@ +SET(SHOW_LIBS ${OPENGL_LIBRARIES} glui scan ANN) +IF(WIN32) + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/freeglut.lib XGetopt) + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/freeglut.lib XGetopt) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(WIN32) +IF (UNIX) + SET(SHOW_LIBS newmat dl ${GLUT_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WITH_GLEE) + SET(SHOW_LIBS ${SHOW_LIBS} glee) +ENDIF(WITH_GLEE) + +SET(SHOW_SRCS NurbsPath.cc PathGraph.cc vertexarray.cc viewcull.cc colormanager.cc compacttree.cc scancolormanager.cc display.cc) + +IF (WITH_SHOW) + add_executable(show show.cc ${SHOW_SRCS}) + target_link_libraries(show ${SHOW_LIBS}) +ENDIF(WITH_SHOW) + +IF(WITH_WXSHOW) + add_executable(wxshow wxshow.cc selectionframe.cc ${SHOW_SRCS}) + target_link_libraries(wxshow ${wxWidgets_LIBRARIES} wxthings ${SHOW_LIBS}) +ENDIF(WITH_WXSHOW) + diff --git a/src/show/NurbsPath.cc b/src/show/NurbsPath.cc new file mode 100644 index 0000000..e0680e2 --- /dev/null +++ b/src/show/NurbsPath.cc @@ -0,0 +1,194 @@ +/* + * NurbsPath implementation + * + * Copyright (C) Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz, + Andreas Nuechter, Kai Lingemann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "show/NurbsPath.h" +#include +#include +/** + * Smoothes a given path, using the Cox-De-Boor algorithm to compute + * new nodes on the B-Spline. + * @param origP vector of PointXYs representing the path + * @param nump number of points, which should be computed for the smoothed path + * @return vector of PointXYs representing the smoothed path + */ +vector NurbsPath::camRatio = vector(); + +vector +NurbsPath::getNurbsPath(vector& origP, + unsigned int nump, int inter_by_dist){ + list pgnl; + list freepgnl; + for(unsigned int i=0; ipoint.x = origP[i].x; + p->point.y = origP[i].y; + pgnl.push_back(p); + freepgnl.push_back(p); + } + + vector vec = getNurbsPath(pgnl,nump,inter_by_dist); + + for(list::iterator it = freepgnl.begin();it!=freepgnl.end();it++) { + PGNode *p = *it; + delete p; + } + pgnl.clear(); + freepgnl.clear(); + + return vec; +} + +/** + * Smoothes a given path, using the Cox-De-Boor algorithm to compute + * new nodes on the B-Spline. + * @param origP list of PGNode*s representing the path + * @param nump number of points, which should be computed for the smoothed path + * @return vector of PointXYs representing the smoothed path + */ +vector +NurbsPath::getNurbsPath(list& origP, + unsigned int nump, int inter_by_dist){ + ivN = origP.size(); + if(ivN<=1){ + vector pv; + return pv; + } + + //hack for short paths + if(ivN==2){ + list::iterator it = origP.begin(); + PGNode* tmpStart = *it; + it++; + origP.push_back(*it); + origP.push_front(tmpStart); + ivN=4; + } + if(ivN==3){ + list::iterator it = origP.begin(); + it++; + origP.insert(it, (*it)); + ivN=4; + } + //end short path hack + + float *origPX = new float[ivN]; + float *origPY = new float[ivN]; + list::iterator it; + unsigned int i=0; + for(it=origP.begin();it!=origP.end();it++,i++){ + origPX[i] = (*it)->point.x; + origPY[i] = (*it)->point.y; + } + + ivDegree = 3; + ivOrder = ivDegree+1; + ivNumKnots = ivN + ivDegree; + if(inter_by_dist) { + ivNumP = nump; + } else { + ivNumP = camRatio.size(); + } + float *ivpKnots = new float[ivNumKnots+1]; + + for(i=0;i<=ivDegree;i++) + ivpKnots[i] = 0.0f; + + int numIntKnots = ((ivNumKnots-ivDegree)-(ivOrder)); + + for(i=ivOrder; i < ivNumKnots - ivDegree ; i++) + ivpKnots[i] = ((float)(i-ivDegree))/(numIntKnots+1); + + for(i=ivNumKnots-ivDegree;i<=ivNumKnots;i++) + ivpKnots[i] = 1.f; + + vector nurbsPath; + nurbsPath.reserve(ivNumP); + PointXY outPoint; + float out[2]={0,0}; + + for(i=0;i<=ivNumP; i++){ + out[0] = 0; + out[1] = 0; + if(i!=ivNumP) + if(inter_by_dist) { + getOutpoint((float)i/ivNumP,out,origPX,origPY,ivpKnots); + } else { + getOutpoint(camRatio[i],out,origPX,origPY,ivpKnots); + } + else + getOutpoint(.999999,out,origPX,origPY,ivpKnots); + + outPoint.x = out[0]; + outPoint.y = out[1]; + nurbsPath.push_back(outPoint); + } + + delete [] origPX; + delete [] origPY; + delete [] ivpKnots; + + return nurbsPath; +} + + +/** + * Implementation of the Cox-De-Boor algorithm. + * The implementation of this algorithm is inspired by the Nurbs Curve Example on + * http://www.robthebloke.org/opengl_programming.html + * @param u measure for the length already gone on the smoothed path for the point to be calculated (it should hold that 0 <= u < 1) + * @param i effect of which original path node on the output path should be computed + * @param k order (degree of the B-Splines plus 1) + * @param Knots array of knots needed to compute the B-Spline + */ +float +NurbsPath::coxDeBoor(float u,int i,int k,const float* Knots) { + if(k==1) + { + if( Knots[i] <= u && u < Knots[i+1] ) { + return 1.0f; + } + return 0.0f; + } + float Den1 = Knots[i+k-1] - Knots[i]; + float Den2 = Knots[i+k] - Knots[i+1]; + float Eq1=0,Eq2=0; + if(Den1>0) { + Eq1 = ((u-Knots[i]) / Den1) * coxDeBoor(u,i,k-1,Knots); + } + if(Den2>0) { + Eq2 = (Knots[i+k]-u) / Den2 * coxDeBoor(u,i+1,k-1,Knots); + } + return Eq1+Eq2; +} + +/** + * Computes one value on the B-Spline + * @param[in] t which point on the spline you want to compute (betwenn 0 for the start point and 1-epsilon for the end point of the smoothed path) + * @param[out] OutPoint[] array of two floats, will be overwritten with the x and y coordinate of the point + */ +void +NurbsPath::getOutpoint(float t,float OutPoint[],float*opx,float*opy,const float*knots) { + + // sum the effect of all CV's on the curve at this point to + // get the evaluated curve point + // + for(unsigned int i=0;i!=ivN;++i) { + + // calculate the effect of this point on the curve + float Val = coxDeBoor(t,i,ivOrder,knots); + + if(Val>0.0001f) { + + // sum effect of CV on this part of the curve + OutPoint[0] += Val * opx[i]; + OutPoint[1] += Val * opy[i]; + } + } +} diff --git a/src/show/PathGraph.cc b/src/show/PathGraph.cc new file mode 100644 index 0000000..fe78742 --- /dev/null +++ b/src/show/PathGraph.cc @@ -0,0 +1,255 @@ +/* + * PathGraph implementation + * + * Copyright (C) Christof Soeger, Marcel Junker, Anton Fluegge, Hannes Schulz, + Andreas Nuechter, Kai Lingemann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "show/PathGraph.h" +#include + +PGNode* PathGraph::insertNode(PointXY p){ + PGNode* n = new PGNode; + n->point = p; + ivNodeList.push_back(n); + return n; +} +void PathGraph::insertNodeAndConnectToAll(PointXY p){ + PGNode* n = insertNode(p); + list::iterator iter; + for( iter = ivNodeList.begin(); iter != ivNodeList.end(); iter++ ) { + if((*iter)!=n) + insertEdge(n,*iter); + } +} + +PGNode* PathGraph::insertUniqueNode(PointXY p){ + list::iterator iter; + for( iter = ivNodeList.begin(); iter != ivNodeList.end(); iter++ ) { + if((*iter)->point.x == p.x && (*iter)->point.y == p.y) + return *iter; + } + return insertNode(p); +} + +void PathGraph::deleteNode(PGNode* n){ + list::iterator i; + list::iterator j; + for(i=ivNodeList.begin();i!=ivNodeList.end();i++){ + if(*i == n){ + while((j=(*i)->neighbours.begin()) != (*i)->neighbours.end()) + deleteEdge(*i,*j); + delete *i; + ivNodeList.erase(i); + break; + } + } +} + + +bool PathGraph::setStartNode(PointXY p) { + if (!startOnGraph) + deleteNode(ivpStartNode); + startOnGraph=false; + PGNode* n=NULL; + list::iterator iter; + for( iter = ivNodeList.begin(); iter != ivNodeList.end() && !startOnGraph; iter++ ) { + if((*iter)->point.x == p.x && (*iter)->point.y == p.y) { + n=*iter; + startOnGraph=true; + } + } + if (!startOnGraph) { + n=insertNode(p); + } + ivpStartNode=n; + return !startOnGraph; +} + +bool PathGraph::setEndNode(PointXY p) { + if (!endOnGraph) + deleteNode(ivpEndNode); + endOnGraph=false; + PGNode* n=NULL; + list::iterator iter; + for( iter = ivNodeList.begin(); iter != ivNodeList.end() && !endOnGraph; iter++ ) { + if((*iter)->point.x == p.x && (*iter)->point.y == p.y) { + n=*iter; + endOnGraph=true; + } + } + if (!endOnGraph) { + n=insertNode(p); + } + ivpEndNode=n; + return !endOnGraph; +} + + + +void PathGraph::printGraphMap(const char* fn){ + FILE *file; + if((file = fopen(fn, "w"))==NULL){ + printf("# in PathGraph::printGraph : Could not open output file %s!\n", fn); + return; + } +#if 0 + list::iterator i,j; + for(i=ivNodeList.begin();i!=ivNodeList.end();i++){ + for(j=(*i)->neighbours.begin();j!=(*i)->neighbours.end();j++){ + fprintf(file,"%i %i %i %i\n", (*i)->point.x, + (*i)->point.y, + (*j)->point.x, + (*j)->point.y); + } + } +#else + PGEdge e; + for(PathGraph::Iter i = this->firstEdge();!i.isLast();i++){ + e = *i; + fprintf(file,"%f %f %f %f\n", e.start->point.x, + e.start->point.y, + e.end->point.x, + e.end->point.y); + } +#endif + fclose(file); +} + +void PathGraph::savePath(const char* fn){ + FILE *file; + if((file = fopen(fn, "w"))==NULL){ + printf("# in PathGraph::savePath : Could not open output file %s!\n", fn); + return; + } + map names; + int i=0; + list::iterator it,it2; + for(it=ivNodeList.begin();it!=ivNodeList.end();it++){ + names[*it] = i++; + } + for(it=ivNodeList.begin();it!=ivNodeList.end();it++){ + fprintf(file,"%i %f %f\n",names[*it], (*it)->point.x, (*it)->point.y); + } + fprintf(file,"x\n"); + i=0; + for(it=ivNodeList.begin();it!=ivNodeList.end();it++,i++){ + fprintf(file,"%i %zu ",names[*it], (*it)->neighbours.size()); + for(it2=(*it)->neighbours.begin();it2!=(*it)->neighbours.end();it2++){ + fprintf(file,"%i ",names[*it2]); + } + fprintf(file,"\n"); + } + fprintf(file,"x\n"); + //fprintf(file,"%i %i",names[ivpStartNode],names[ivpEndNode]); + + fclose(file); + // printf("Printed graph to %s\n",fn); +} + +void PathGraph::saveGraph(const char* fn){ + FILE *file; + if((file = fopen(fn, "w"))==NULL){ + printf("# in PathGraph::saveGraph : Could not open output file %s!\n", fn); + return; + } + map names; + int i=0; + list::iterator it,it2; + for(it=ivNodeList.begin();it!=ivNodeList.end();it++){ + names[*it] = i++; + } + for(it=ivNodeList.begin();it!=ivNodeList.end();it++){ + fprintf(file,"%i %f %f\n",names[*it], (*it)->point.x, (*it)->point.y); + } + fprintf(file,"x\n"); + i=0; + for(it=ivNodeList.begin();it!=ivNodeList.end();it++,i++){ + fprintf(file,"%i %zu ",names[*it], (*it)->neighbours.size()); + for(it2=(*it)->neighbours.begin();it2!=(*it)->neighbours.end();it2++){ + fprintf(file,"%i ",names[*it2]); + } + fprintf(file,"\n"); + } + fprintf(file,"x\n"); + //fprintf(file,"%i %i",names[ivpStartNode],names[ivpEndNode]); + + fclose(file); + // printf("Printed graph to %s\n",fn); +} +void PathGraph::loadGraph(const char* fn){ + FILE *file; + if((file = fopen(fn, "r"))==NULL){ + printf("# in PathGraph::loadGraph : Could not open input file %s!\n", fn); + return; + } + map names; + int name; + PointXY p; + int res; + int i=0,j; + char c; + while(1){ + res = fscanf(file,"%i %f %f",&name,&(p.x),&(p.y)); + if(res != 3) + break; + i++; + names[name] = this->insertNode(p); + } + res = fscanf(file,"%c",&c); + int numNeighbours, neighbourName; + i= 0; + while(1){ + res = fscanf(file,"%i %i",&name,&numNeighbours); + if(res != 2) + break; + i++; + for(j=0; jinsertOneDirEdge(names[name],names[neighbourName]); + } + } + /* + fscanf(file,"%c",&c); + int startNr,endNr; + fscanf(file,"%i %i",&startNr,&endNr); + setStartNode(names[startNr]->point); + setEndNode(names[endNr]->point); + */ + fclose(file); +} + +void PathGraph::insertEdge(PGNode* a, PGNode* b){ + a->neighbours.push_back(b); + b->neighbours.push_back(a); +} + +void PathGraph::insertOneDirEdge(PGNode* a, PGNode* b){ + a->neighbours.push_back(b); +} + +void PathGraph::deleteEdge(PGNode* a, PGNode* b){ + a->neighbours.remove(b); + b->neighbours.remove(a); +} + +PathGraph::~PathGraph(){ + list::iterator i; + for(i=ivNodeList.begin();i!=ivNodeList.end();i++) + delete *i; +} + +PathGraph::Iter +PathGraph::firstEdge(){ + if(ivNodeList.empty()){ + return Iter(ivNodeList.end(),ivNodeList.end()); + } + return Iter(ivNodeList.begin(),ivNodeList.end()); +} diff --git a/src/show/colormanager.cc b/src/show/colormanager.cc new file mode 100644 index 0000000..79b3b83 --- /dev/null +++ b/src/show/colormanager.cc @@ -0,0 +1,116 @@ +/* + * compacttree implementation + * + * Copyright (C) Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif +#include "stdio.h" +#include "slam6d/globals.icc" +#include "float.h" +#include "show/colormanager.h" + + + + +void ColorMap::convert_hsv_to_rgb(float hue, float s, float v, + float &r, float &g, float &b) { + float p1, p2, p3, i, f; + float xh; + + if (hue == 360.0) + hue = 0.0; + + xh = hue / 60.; // convert hue to be in 0,6 + i = (float)floor((double)xh); // i is greatest integer smaller than h + f = xh - i; // f is the fractional part of h + p1 = v * (1 - s); + p2 = v * (1 - (s * f)); + p3 = v * (1 - (s * (1 - f))); + + switch ((int) i) + { + case 0: + r = v; + g = p3; + b = p1; + break; + case 1: + r = p2; + g = v; + b = p1; + break; + case 2: + r = p1; + g = v; + b = p3; + break; + case 3: + r = p1; + g = p2; + b = v; + break; + case 4: + r = p3; + g = p1; + b = v; + break; + case 5: + r = v; + g = p1; + b = p2; + break; + } + +} +ColorMap ColorMap::getColorMap(CM map) { + switch(map) { + case SOLID: + return ColorMap(); + break; + case GREY: + return GreyMap(); + break; + case HSV: + return HSVMap(); + break; + case JET: + return JetMap(); + break; + case HOT: + return HotMap(); + break; + case SHSV: + return SHSVMap(); + break; + default: + return ColorMap(); + break; + } +} + +const float DiffMap::cmap[7][3] = { + { 1.0, 1.0, 0}, + { 1.0, 0.5000, 1.0}, + { 0, 1.0, 1.0}, + { 1.0, 0.2500, 0.2500}, + { 0.2500, 1.0, 0.2500}, + { 0.2500, 0.2500, 1.0}, + { 0.7500, 0.7500, 0.7500} }; + +void DiffMap::calcColor(float *d, unsigned int i, unsigned int buckets) { + d[0] = cmap[i%7][0]; + d[1] = cmap[i%7][1]; + d[2] = cmap[i%7][2]; +} diff --git a/src/show/compacttree.cc b/src/show/compacttree.cc new file mode 100644 index 0000000..44067b8 --- /dev/null +++ b/src/show/compacttree.cc @@ -0,0 +1,848 @@ +/* + * compacttree implementation + * + * Copyright (C) Jan Elseberg, Kai Lingemann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Efficient representation of an octree + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include + +#include +using std::vector; +#include +using std::deque; +#include +using std::set; +#include +using std::list; +#include +#include +#include + +#include "slam6d/globals.icc" +#include "slam6d/point_type.h" + +#include "slam6d/Boctree.h" +#include "show/compacttree.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" +#include "show/viewcull.h" + +compactTree::~compactTree(){ + delete alloc; + + delete[] mins; + delete[] maxs; +} + + +void compactTree::AllPoints( cbitoct &node, vector &vp, double center[3], double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + double *p = new double[3]; + //cout << point[0] << " " << point[1] << " " << point[2] << endl; + for (unsigned int k = 0; k < 3; k++){ + p[k] = point[k] * precision + ccenter[k]; + } + + vp.push_back(p); + point+=POINTDIM; + } + } else { // recurse + AllPoints( children->node, vp, ccenter, size/2.0); + } + ++children; // next child + } + } +} + + + +void compactTree::GetOctTreeCenter(vector&c, cbitoct &node, double *center, double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (unsigned char i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + double * cp = new double[POINTDIM]; + for (unsigned int iterator = 0; iterator < POINTDIM; iterator++) { + cp[iterator] = ccenter[iterator]; + } + c.push_back(cp); + } else { // recurse + GetOctTreeCenter(c, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} +long compactTree::countNodes(cbitoct &node) { + long result = 0; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + // ++result; + } else { // recurse + result += countNodes(children->node) + 1; + } + ++children; // next child + } + } + return result; +} + +long compactTree::countLeaves(cbitoct &node) { + long result = 0; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + lint nrpts = children->getLength(); + result += POINTDIM*nrpts + 1; + } else { // recurse + result += countLeaves(children->node); + } + ++children; // next child + } + } + return result; +} + + +void compactTree::deletetNodes(cbitoct &node) { + cbitunion *children; + cbitoct::getChildren(node, children); + bool haschildren = false; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf + tshort *points = children->getPoints(); + delete [] points; + // delete [] children->points; + } else { // recurse + deletetNodes(children->node); + } + ++children; // next child + haschildren = true; + } + } + // delete children + if (haschildren) { + cbitoct::getChildren(node, children); + delete[] children; + } +} + + +unsigned long compactTree::maxTargetPoints( cbitoct &node ) { + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned long max = 0; + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + lint length = children->getLength(); + if (length > max) max = length; + } else { // recurse + unsigned long tp = maxTargetPoints( children->node); + if (tp > max) max = tp; + } + ++children; // next child + } + } + + return max*POPCOUNT(node.valid); +} + +void compactTree::displayOctTreeAll( cbitoct &node, double *center, double size) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //cout << "C " << point[1] << " " << cm << endl; + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + glEnd(); + } else { // recurse + displayOctTreeAll( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeAllCulled( cbitoct &node, double *center, double size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeAll(node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + glEnd(); + } + } else { // recurse + displayOctTreeAllCulled( children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCulledLOD(long targetpts, cbitoct &node, double *center, double size ) { + if (targetpts <= 0) return; // no need to display anything + + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD(targetpts, node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } else if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + double each = (double)POINTDIM * (double)((double)length/(double)newtargetpts); + tshort *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + //glVertex3f( p[0], p[1], p[2]); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + //point += each; + } + } + glEnd(); + } + + } else { // recurse + displayOctTreeCulledLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeLOD(long targetpts, cbitoct &node, double *center, double size ) { + if (targetpts <= 0) return; // no need to display anything + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + unsigned short nc = POPCOUNT(node.valid); + long newtargetpts = targetpts; + if (nc > 0) { + newtargetpts = newtargetpts/nc; + if (newtargetpts <= 0 ) return; + } + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + glBegin(GL_POINTS); + /* if (length > 10 && !LOD(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { // only a single pixel on screen only paint one point + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } else*/ if (length <= newtargetpts) { // more points requested than possible, plot all + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + //glVertex3f( point[0], point[1], point[2]); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else { // select points to show + // TODO smarter subselection of points here + double each = (double)POINTDIM * (double)((double)length/(double)newtargetpts); + tshort *p; + int index; + for(unsigned int iterator = 0; iterator < newtargetpts; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + //glVertex3f( p[0], p[1], p[2]); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + //point += each; + } + } + glEnd(); + } else { // recurse + displayOctTreeLOD(newtargetpts, children->node, ccenter, size/2.0); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCulledLOD2(float ratio, cbitoct &node, double *center, double size ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeLOD2(ratio, node, center, size); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + tshort *point = children->getPoints(); + lint length = children->getLength(); + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l != 0) { + if ((int)length > l ) { + double each = (double)POINTDIM * (double)((double)length/(double)l); + tshort *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } else if (l == 1) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } + } + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeCulledLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeLOD2(float ratio, cbitoct &node, double *center, double size ) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf get center + tshort *point = children->getPoints(); + lint length = children->getLength(); + + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 1) { + if ((int)length > l ) { + double each = (double)POINTDIM * (double)((double)length/(double)l); + tshort *p; + int index; + for(int iterator = 0; iterator < l; iterator++ ) { + index = (double)iterator * each; + p = point + index - index%POINTDIM; + if(cm) cm->setColor(p); + glVertex3f( p[0] * precision + ccenter[0], p[1] * precision + ccenter[1], p[2] * precision + ccenter[2]); + } + } else if ((int)length <= l) { + for(unsigned int iterator = 0; iterator < length; iterator++ ) { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + point+=POINTDIM; + } + } + } else { + if(cm) cm->setColor(point); + glVertex3f( point[0] * precision + ccenter[0], point[1] * precision + ccenter[1], point[2] * precision + ccenter[2]); + } + } else { // recurse + int l = LOD2(ccenter[0], ccenter[1], ccenter[2], size/2.0); // only a single pixel on screen only paint one point + l = max((int)(l*l*ratio), 0); + if (l > 0) { + displayOctTreeLOD2(ratio, children->node, ccenter, size/2.0); + } + } + ++children; // next child + } + } +} + + +void compactTree::displayOctTreeCAllCulled( cbitoct &node, double *center, double size, double minsize ) { + int res = CubeInFrustum2(center[0], center[1], center[2], size); + if (res==0) return; // culled do not continue with this branch of the tree + + if (res == 2) { // if entirely within frustrum discontinue culling + displayOctTreeCAll(node, center, size, minsize); + return; + } + + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + // check if leaf is visible + if ( CubeInFrustum(ccenter[0], ccenter[1], ccenter[2], size/2.0) ) { + showCube(ccenter, size/2.0); + } + } else { // recurse + displayOctTreeCAllCulled( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } +} + +void compactTree::displayOctTreeCAll( cbitoct &node, double *center, double size, double minsize ) { + double ccenter[3]; + cbitunion *children; + cbitoct::getChildren(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + childcenter(center, ccenter, size, i); // childrens center + if ( ( 1 << i ) & node.leaf || minsize > size ) { // if ith node is leaf get center + showCube(ccenter, size/2.0); + } else { // recurse + displayOctTreeCAll( children->node, ccenter, size/2.0, minsize); + } + ++children; // next child + } + } +} + +void compactTree::showCube(double *center, double size) { + glLineWidth(1.0); + glBegin(GL_QUADS); // draw a cube with 6 quads + glColor3f(0.0f,1.0f,0.0f); // Set The Color To Green + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glColor3f(1.0f,0.5f,0.0f); // Set The Color To Orange + + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + glColor3f(1.0f,0.0f,0.0f); // Set The Color To Red + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + + glColor3f(1.0f,1.0f,0.0f); // Set The Color To Yellow + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + + glColor3f(0.0f,0.0f,1.0f); // Set The Color To Blue + glVertex3f(center[0] - size, center[1] + size, center[2] + size); + glVertex3f(center[0] - size, center[1] + size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] - size); + glVertex3f(center[0] - size, center[1] - size, center[2] + size); + + glColor3f(1.0f,0.0f,1.0f); // Set The Color To Violet + glVertex3f(center[0] + size, center[1] + size, center[2] - size); + glVertex3f(center[0] + size, center[1] + size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] + size); + glVertex3f(center[0] + size, center[1] - size, center[2] - size); + + + glEnd(); + +} + + + + +template +void compactTree::selectRay(vector &points) { + //selectRay(points, *root, center, size); +} + + +void compactTree::childcenter(double *pcenter, double *ccenter, double size, unsigned char i) { + switch (i) { + case 0: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 1: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 2: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 3: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] - size / 2.0; + break; + case 4: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 5: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] - size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 6: + ccenter[0] = pcenter[0] - size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + case 7: + ccenter[0] = pcenter[0] + size / 2.0; + ccenter[1] = pcenter[1] + size / 2.0; + ccenter[2] = pcenter[2] + size / 2.0; + break; + default: + break; + } +} + + +void compactTree::GetOctTreeCenter(vector&c) { GetOctTreeCenter(c, *root, center, size); } +void compactTree::AllPoints(vector &vp) { AllPoints(*compactTree::root, vp, center, size); } + +long compactTree::countNodes() { return 1 + countNodes(*root); } +long compactTree::countLeaves() { return 1 + countLeaves(*root); } + +void compactTree::setColorManager(ColorManager *_cm) { cm = _cm; } + +void compactTree::drawLOD(float ratio) { + switch (current_lod_mode) { + case 1: + glBegin(GL_POINTS); + displayOctTreeCulledLOD2(ratio , *root, center, size); + glEnd(); + break; + case 2: + /* +#ifdef WITH_GLEE + if (GLEE_ARB_point_parameters) { + glPointParameterfARB(GL_POINT_SIZE_MIN_ARB, 1.0); + glPointParameterfARB(GL_POINT_SIZE_MAX_ARB, 100000.0); + GLfloat p[3] = {0.0, 0.0000, 0.0000005}; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + displayOctTreeCPAllCulled(*BOctTree::root, BOctTree::center, BOctTree::size, BOctTree::size/ pow(2, min( (int)(ratio * BOctTree::max_depth ), BOctTree::max_depth - 3) ) ); + p[0] = 1.0; + p[2] = 0.0; + glPointParameterfvARB(GL_POINT_DISTANCE_ATTENUATION_ARB, p); + } +#endif +*/ + //break; + case 0: + glBegin(GL_POINTS); + displayOctTreeCulledLOD(maxtargetpoints * ratio, *root, center, size); + glEnd(); + break; + default: + break; + } +} + +void compactTree::draw() { + displayOctTreeAllCulled(*root, center, size); +} + +void compactTree::displayOctTree(double minsize ) { + displayOctTreeCAllCulled(*root, center, size, minsize); +} + +shortpointrep* compactTree::createPoints(lint length) { + //shortpointrep *points = new shortpointrep[POINTDIM*length]; + shortpointrep *points = alloc->allocate (POINTDIM*length); + return points; +} +void compactTree::deserialize(std::string filename ) { + char buffer[sizeof(float) * 20]; + float *p = reinterpret_cast(buffer); + + std::ifstream file; + file.open (filename.c_str(), std::ios::in | std::ios::binary); + + // read magic bits + file.read(buffer, 2); + if ( buffer[0] != 'X' || buffer[1] != 'T') { + std::cerr << "Not an octree file!!" << endl; + file.close(); + return; + } + + // read header + pointtype = PointType::deserialize(file); + + file.read(buffer, 5 * sizeof(float)); + voxelSize = p[0]; + center[0] = p[1]; + center[1] = p[2]; + center[2] = p[3]; + size = p[4]; + + file.read(buffer, sizeof(int)); + int *ip = reinterpret_cast(buffer); + POINTDIM = *ip; + + float *fmins = new float[POINTDIM]; + float *fmaxs = new float[POINTDIM]; + mins = new double[POINTDIM]; + maxs = new double[POINTDIM]; + + file.read(reinterpret_cast(fmins), POINTDIM * sizeof(float)); + file.read(reinterpret_cast(fmaxs), POINTDIM * sizeof(float)); + + for (unsigned int i = 0; i < POINTDIM; i++) { + mins[i] = fmins[i]; + maxs[i] = fmaxs[i]; + } + + double vs = size; + while (vs > voxelSize) { + vs = vs * 0.5; + } +// precision = vs / 32768; // 2^15 + precision = vs / TSHORT_MAXP1; // 2^15 + + + // read root node + //root = new cbitoct(); + root = alloc->allocate(); + deserialize(file, *root ); + file.close(); +} + + + + +void compactTree::deserialize(std::ifstream &f, cbitoct &node) { + char buffer[2]; + f.read(buffer, 2); + node.valid = buffer[0]; + node.leaf = buffer[1]; + + unsigned short n_children = POPCOUNT(node.valid); + + // create children + //cbitunion *children = new cbitunion[n_children]; + cbitunion *children = alloc->allocate >(n_children); + cbitoct::link(node, children); + + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf read points + lint length; + f.read(reinterpret_cast(&length), sizeof(lint)); + shortpointrep *points = createPoints(length); + + f.read(reinterpret_cast(points), sizeof(shortpointrep) * length * POINTDIM); // read the points + children->linkPoints(points, length); + } else { // write child + deserialize(f, children->node); + } + ++children; // next child + } + } +} + + + +void compactTree::serialize(std::string filename) { + char buffer[sizeof(float) * 20]; + float *p = reinterpret_cast(buffer); + + std::ofstream file; + file.open (filename.c_str(), std::ios::out | std::ios::binary); + + // write magic bits + buffer[0] = 'X'; + buffer[1] = 'T'; + file.write(buffer, 2); + + // write header + pointtype.serialize(file); + + p[0] = voxelSize; + p[1] = center[0]; + p[2] = center[1]; + p[3] = center[2]; + p[4] = size; + + int *ip = reinterpret_cast(&(buffer[5 * sizeof(float)])); + *ip = POINTDIM; + + file.write(buffer, 5 * sizeof(float) + sizeof(int)); + + + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i] = mins[i]; + } + for (unsigned int i = 0; i < POINTDIM; i++) { + p[i+POINTDIM] = maxs[i]; + } + + file.write(buffer, 2*POINTDIM * sizeof(float)); + + // write root node + serialize(file, *root); + + file.close(); +} + + +void compactTree::serialize(std::ofstream &of, cbitoct &node) { + char buffer[2]; + buffer[0] = node.valid; + buffer[1] = node.leaf; + of.write(buffer, 2); + + // write children + cbitunion *children; + cbitoct::getChildren(node, children); + for (short i = 0; i < 8; i++) { + if ( ( 1 << i ) & node.valid ) { // if ith node exists + if ( ( 1 << i ) & node.leaf ) { // if ith node is leaf write points + tshort *points = children->getPoints(); + lint length = children->getLength(); + + of.write(reinterpret_cast(&length), sizeof(lint) ); + + of.write(reinterpret_cast(points), POINTDIM*length*sizeof(tshort) ); + + } else { // write child + serialize(of, children->node); + } + ++children; // next child + } + } +} diff --git a/src/show/display.cc b/src/show/display.cc new file mode 100644 index 0000000..b125f40 --- /dev/null +++ b/src/show/display.cc @@ -0,0 +1,278 @@ +/* + * display implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include +#include "show/display.h" +#include "slam6d/globals.icc" +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef __APPLE__ +#include +#elif WITH_FREEGLUT +#include +#else +#include +#endif + + +double SDisplay::mirror[16] = {1,0,0,0, + 0,1,0,0, + 0,0,-1,0, + 0,0,0,1}; + +void SDisplay::displayAll() { + // TODO ensure all settings are set to default + // + glPushMatrix(); + glMultMatrixd(mirror); + displayObject(); + glPopMatrix(); +} + +void SDisplay::readDisplays(string &filename, vector &displays) { + ifstream input; + input.open(filename.c_str()); + + string type; + string objectfile; + while(input.good()) { + input >> type; + try { + input >> objectfile; + if(strcmp(type.c_str(), "Plane") == 0) { + float * color = new float[3]; + for(int i = 0; i < 3; i++) { + color[i] = rand()/((double)RAND_MAX); + } + displays.push_back(PlaneDisplay::readFromFile(objectfile, color)); + } else if(strcmp(type.c_str(), "Point") == 0) { + displays.push_back(PointDisplay::readFromFile(objectfile)); + } else if(strcmp(type.c_str(), "Line") == 0) { + displays.push_back(LineDisplay::readFromFile(objectfile)); + } else if(strcmp(type.c_str(), "GroupPlane") == 0) { + displays.push_back(GroupPlaneDisplay::readFromFile(objectfile)); + } else { + cerr << "Unknown SDisplay Object" << endl; + } + } catch(...) { + cerr << "Wrong display type" << endl; + } + } + input.close(); + input.clear(); +} + +PointDisplay::PointDisplay(vector &p, vector &l) { + points = p; + labels = l; +} + +SDisplay * PointDisplay::readFromFile(string &filename) { + ifstream input; + input.open(filename.c_str()); + + vector points; + vector labels; + while (input.good()) { + try { + float *p = new float[3]; + input >> p[0] >> p[1] >> p[2]; + points.push_back(p); + string l; + input >> l; + labels.push_back(l); + } catch (...) { + break; + } + } + + points.pop_back(); + labels.pop_back(); + input.close(); + input.clear(); + + return new PointDisplay(points, labels); + +} + +void PointDisplay::displayObject() { + + glColor3f(1.0, 0.3, 0.3); + + glPointSize(5); + glBegin(GL_POINTS); + for (unsigned int i = 0; i < points.size(); i++) { + glVertex3f(points[i][0], points[i][1], points[i][2]); + } + glEnd(); + + glPushMatrix(); + for(unsigned int i = 0; i < points.size(); i++) { + + glRasterPos3f(points[i][0], points[i][1], points[i][2]); + _glutBitmapString(GLUT_BITMAP_HELVETICA_10, labels[i].c_str()); + //_glutBitmapString(GLUT_BITMAP_9_BY_15, "http://threedtk.de"); + + } + glPopMatrix(); + +} + +LineDisplay::LineDisplay(vector &l) { + lines = l; +} + +SDisplay * LineDisplay::readFromFile(string &filename) { + ifstream input; + input.open(filename.c_str()); + + vector lines; + while (input.good()) { + try { + float *p = new float[6]; + input >> p[0] >> p[1] >> p[2]; + input >> p[3] >> p[4] >> p[5]; + lines.push_back(p); + } catch (...) { + break; + } + } + + lines.pop_back(); + input.close(); + input.clear(); + + return new LineDisplay(lines); + +} + +void LineDisplay::displayObject() { + + glColor3f(1.0, 0.3, 0.3); + glLineWidth(1.0); + glBegin(GL_LINES); + + for (unsigned int i = 0; i < lines.size(); i++) { + glColor3f(1,0.3,0.3); + glVertex3f(lines[i][0], lines[i][1], lines[i][2]); + glColor3f(0.3,1,0.3); + glVertex3f(lines[i][3], lines[i][4], lines[i][5]); + } + + glEnd(); + + glBegin(GL_POINTS); + for (unsigned int i = 0; i < lines.size(); i++) { + glColor3f(1,0.3,0.3); + glVertex3f(lines[i][0], lines[i][1], lines[i][2]); + glColor3f(0.3,1,0.3); + glVertex3f(lines[i][3], lines[i][4], lines[i][5]); + } + glEnd(); + + +} + +GroupPlaneDisplay::GroupPlaneDisplay(vector &p) { + planes = p; +} + +void GroupPlaneDisplay::displayObject() { + for(unsigned int i = 0; i < planes.size(); i++) { + planes[i]->displayObject(); + } +} + +SDisplay* GroupPlaneDisplay::readFromFile(string &filename) { + ifstream input; + input.open(filename.c_str()); + vector planes; + if(input.good()) { + int end = filename.find_last_of('/'); + string dir = filename.substr(0, end); + string tmp; + input >> tmp; + if(dir.length() != 0) dir = dir + "/"; + try { + if(strcmp(tmp.c_str(), "randomcolor") != 0) { + while(input.good()) { + int planeNr; + input >> planeNr; + string planename = dir + "plane" + to_string(planeNr, 3) + ".3d"; + float * color = new float[3]; + for(int i = 0; i < 3; i++) { + input >> color[i]; + } + planes.push_back((PlaneDisplay*)PlaneDisplay::readFromFile(planename, color)); + } + } else { + while(input.good()) { + int planeNr; + input >> planeNr; + string planename = dir + "/plane" + to_string(planeNr, 3) + ".3d"; + float * color = new float[3]; + for(int i = 0; i < 3; i++) { + color[i] = rand()/((double)RAND_MAX); + } + planes.push_back((PlaneDisplay*)PlaneDisplay::readFromFile(planename, color)); + } + } + } catch(...) {} + } + input.close(); + input.clear(); + return new GroupPlaneDisplay(planes); + +} + +PlaneDisplay::PlaneDisplay(vector &p, float* c) { + points = p; + color = c; +} + +SDisplay * PlaneDisplay::readFromFile(string &filename, float* color) { + ifstream input; + input.open(filename.c_str()); + + vector points; + while (input.good()) { + try { + float *p = new float[3]; + input >> p[0] >> p[1] >> p[2]; + points.push_back(p); + } catch (...) { + break; + } + } + points.pop_back(); + + input.close(); + input.clear(); + + return new PlaneDisplay(points, color); +} + +void PlaneDisplay::displayObject() { + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO + + glColor4d(color[0], color[1], color[2], 0.5); + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + glBegin(GL_POLYGON); + for(vector::iterator point = (points).begin(); + point != (points).end(); point++) { + glVertex3f((*point)[0], (*point)[1], (*point)[2]); + } + glEnd(); + glBlendFunc(GL_ONE, GL_ZERO); // TODO +} diff --git a/src/show/scancolormanager.cc b/src/show/scancolormanager.cc new file mode 100644 index 0000000..034c2fa --- /dev/null +++ b/src/show/scancolormanager.cc @@ -0,0 +1,186 @@ +/* + * show_animate implementation + * + * Copyright (C) Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#include +#endif +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "slam6d/point.h" +#include "slam6d/scan.h" +#include "show/colordisplay.h" +#include "show/colormanager.h" +#include "show/scancolormanager.h" +#include +#include +#include "slam6d/point_type.h" +using std::vector; + +ScanColorManager::ScanColorManager(unsigned int _buckets, PointType type) : pointtype(type) { + valid = false; + inverted = false; + buckets = _buckets; +// types = _types; + + pointtype = type; + //pointdim = PointType::PointDim(types); + // + + + mins = new float[pointtype.getPointDim()]; + maxs = new float[pointtype.getPointDim()]; + for (unsigned int i = 0; i < pointtype.getPointDim(); i++) { + mins[i] = FLT_MAX; + maxs[i] = FLT_MIN; + } + + currenttype = PointType::USE_HEIGHT; + currentdim = 0; + } + + void ScanColorManager::registerTree(colordisplay *b) { allScans.push_back(b); } + + void ScanColorManager::setColorMap(ColorMap &cm) { + makeValid(); + for (unsigned int i = 0; i < allManager.size(); i++) { + allManager[i]->setColorMap(cm); + } + } + + void ScanColorManager::setColorMap(ColorMap::CM &cm) { + ColorMap cmap = ColorMap::getColorMap(cm); + setColorMap(cmap); + } + + void ScanColorManager::setCurrentType(unsigned int type) { + makeValid(); + if (type == PointType::USE_NONE) { + for (unsigned int i = 0; i < allScans.size(); i++) { + allScans[i]->setColorManager(0); + } + } + currentdim = pointtype.getType(type); + + if(type != PointType::USE_NONE) { + for (unsigned int i = 0; i < allManager.size(); i++) { + allManager[i]->setCurrentDim(currentdim); + } + currenttype = type; + } + } + + void ScanColorManager::setMinMax(float min, float max) { + makeValid(); + for (unsigned int i = 0; i < allManager.size(); i++) { + allManager[i]->setMinMax(min, max); + } + } + void ScanColorManager::setMode(const unsigned int &mode) { + if (mode == ScanColorManager::MODE_STATIC) { + for (unsigned int i = 0; i < allScans.size(); i++) { + allScans[i]->setColorManager(staticManager[i]); + } + } else if (mode == ScanColorManager::MODE_COLOR_SCAN) { + for (unsigned int i = 0; i < allScans.size(); i++) { + allScans[i]->setColorManager(scanManager[i]); + } + } else if (mode == ScanColorManager::MODE_ANIMATION) { + for (unsigned int i = 0; i < allScans.size(); i++) { + allScans[i]->setColorManager(0); + } + } else if (mode == ScanColorManager::MODE_POINT_COLOR) { + for (unsigned int i = 0; i < allScans.size(); i++) { + allScans[i]->setColorManager(colorsManager[i]); + } + } + } + + float ScanColorManager::getMin() { return mins[currentdim];}; + float ScanColorManager::getMax() { return maxs[currentdim];}; + float ScanColorManager::getMin(unsigned int dim) { return mins[dim];}; + float ScanColorManager::getMax(unsigned int dim) { return maxs[dim];}; + unsigned int ScanColorManager::getPointDim() { return pointtype.getPointDim(); }; + void ScanColorManager::makeValid() { + if (!valid) { + for (unsigned int i = 0; i < allScans.size(); i++) { + colordisplay *scan = allScans[i]; + ColorManager *cm = new ColorManager(buckets, pointtype.getPointDim(), mins, maxs); + cm->setCurrentDim(currentdim); + scan->setColorManager(cm); + staticManager.push_back(cm); + + // new colormanager for scan index influenced colorscheme + DiffMap m; +// JetMap m; + float c[3] = {0,0,0}; + m.calcColor(c, i, allScans.size() ); + ColorManager *cmc = new ColorManager(buckets, pointtype.getPointDim(), mins, maxs, c); + scanManager.push_back(cmc); + + // new colormanager for the color based on the color of the points + CColorManager *ccm = new CColorManager(buckets, pointtype.getPointDim(), mins, maxs, pointtype.getType(PointType::USE_COLOR)); + colorsManager.push_back(ccm); + + allManager.push_back(cm); + allManager.push_back(cmc); + allManager.push_back(ccm); + + } + valid = true; + } + } + + void ScanColorManager::selectColors(Scan::AlgoType type) { + switch(type) { + case Scan::ICP: + glColor4d(0.85, 0.30,0.023, 1.0); + //glColor4d(1.0, 0.30,0.30, 1.0); + //glColor4d(1.0, 0.00,0.00, 1.0); + break; + case Scan::ICPINACTIVE: + glColor4d(0.78, 0.63,0.57, 1.0); + //glColor4d(1.00, 1.00,1.00, 1.0); + break; + case Scan::LUM: + glColor4d(1.0, 0.0,0.0, 1.0); + break; + case Scan::ELCH: + glColor4d(0.0, 1.0,0.0, 1.0); + break; + case Scan::LOOPTORO: + glColor4d(0.0, 0.0, 1.0, 1.0); + break; + case Scan::LOOPHOGMAN: + glColor4d(0.0, 1.0, 1.0, 1.0); + break; + case Scan::GRAPHTORO: + glColor4d(1.0, 0.0, 1.0, 1.0); + break; + case Scan::GRAPHHOGMAN: + glColor4d(1.0, 1.0, 0.0, 1.0); + break; + default: + glColor4d(1.0, 1.0, 1.0, 1.0); + break; + } + } + + + +const unsigned int ScanColorManager::MODE_STATIC = 0; +const unsigned int ScanColorManager::MODE_COLOR_SCAN = 1; +const unsigned int ScanColorManager::MODE_ANIMATION = 2; +const unsigned int ScanColorManager::MODE_POINT_COLOR = 3; + + diff --git a/src/show/selectionframe.cc b/src/show/selectionframe.cc new file mode 100644 index 0000000..d733b6a --- /dev/null +++ b/src/show/selectionframe.cc @@ -0,0 +1,756 @@ +/////////////////////////////////////////////////////////////////////////// +// C++ code generated with wxFormBuilder (version Dec 21 2009) +// http://www.wxformbuilder.org/ +// +// PLEASE DO "NOT" EDIT THIS FILE! +/////////////////////////////////////////////////////////////////////////// + +#include "show/selectionframe.h" +#include "float.h" + +/////////////////////////////////////////////////////////////////////////// + +Selection::Selection( wxWindow* parent, wxWindowID id, const wxString& title, + const wxPoint& pos, const wxSize& size, long style, bool advanced_controls ) : wxFrame( parent, id, + title, pos, size, style ) { + //this->SetSizeHints( wxDefaultSize, wxDefaultSize ); + + bSizer1 = new wxBoxSizer( wxVERTICAL ); + + m_checkBox1 = new wxCheckBox( this, wxID_ANY, wxT("Draw Points"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox1->SetValue(true); + bSizer1->Add( m_checkBox1, 0, wxRIGHT|wxLEFT, 5 ); + + m_checkBox2 = new wxCheckBox( this, wxID_ANY, wxT("Draw Cameras"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox2->SetValue(true); + bSizer1->Add( m_checkBox2, 0, wxRIGHT|wxLEFT, 5 ); + + m_checkBox3 = new wxCheckBox( this, wxID_ANY, wxT("Draw Paths"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox3->SetValue(true); + bSizer1->Add( m_checkBox3, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel2 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer3; + bSizer3 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText2 = new wxStaticText( m_panel2, wxID_ANY, wxT("Point Size:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText2->Wrap( -1 ); + bSizer3->Add( m_staticText2, 0, wxALL, 5 ); + + + bSizer3->Add( 0, 0, 1, wxEXPAND, 5 ); + + pointsize_spinner = new wxSpinCtrl( m_panel2, wxID_ANY, wxT("1"), wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer3->Add( pointsize_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel2->SetSizer( bSizer3 ); + m_panel2->Layout(); + bSizer3->Fit( m_panel2 ); + bSizer1->Add( m_panel2, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel21 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer31; + bSizer31 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText21 = new wxStaticText( m_panel21, wxID_ANY, wxT("Fog:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText21->Wrap( -1 ); + bSizer31->Add( m_staticText21, 0, wxALL, 5 ); + + + bSizer31->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice1Choices[] = { wxT("None"), wxT("Exp"), wxT("Exp2"), wxT("Linear"), wxT("inverted, Exp"), wxT("inverted, Exp2"), wxT("inverted, Linear") }; + int m_choice1NChoices = sizeof( m_choice1Choices ) / sizeof( wxString ); + m_choice1 = new wxChoice( m_panel21, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice1NChoices, m_choice1Choices, 0 ); + m_choice1->SetSelection( 1 ); + bSizer31->Add( m_choice1, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel21->SetSizer( bSizer31 ); + m_panel21->Layout(); + bSizer31->Fit( m_panel21 ); + bSizer1->Add( m_panel21, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel3 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer6; + bSizer6 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4 = new wxStaticText( m_panel3, wxID_ANY, wxT("Fog Density:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4->Wrap( -1 ); + bSizer6->Add( m_staticText4, 0, wxALL, 5 ); + + + bSizer6->Add( 0, 0, 1, wxEXPAND, 5 ); + + fogdens_spinner = new wxSpinCtrlDbl( *m_panel3, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, + 0, 1.0, 0.001, 0.001 ); + bSizer6->Add( fogdens_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel3->SetSizer( bSizer6 ); + m_panel3->Layout(); + bSizer6->Fit( m_panel3 ); + bSizer1->Add( m_panel3, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + /* + wxStaticBoxSizer* sbSizer3; + sbSizer3 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Color:") ), wxVERTICAL ); + */ + wxCollapsiblePane *colorpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Colors:")); + wxWindow *colorwin = colorpane->GetPane(); + wxBoxSizer* sbSizer3 = new wxBoxSizer( wxVERTICAL ); + colorwin->SetSizer(sbSizer3); + + + m_panel211 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer311; + bSizer311 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText211 = new wxStaticText( m_panel211, wxID_ANY, wxT("value:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText211->Wrap( -1 ); + bSizer311->Add( m_staticText211, 0, wxALL, 5 ); + + + bSizer311->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice11Choices[] = { wxT("height") }; + + int m_choice11NChoices = sizeof( m_choice11Choices ) / sizeof( wxString ); + m_choice11 = new wxChoice( m_panel211, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice11NChoices, m_choice11Choices, 0 ); + m_choice11->SetSelection( 4 ); + bSizer311->Add( m_choice11, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel211->SetSizer( bSizer311 ); + m_panel211->Layout(); + bSizer311->Fit( m_panel211 ); + sbSizer3->Add( m_panel211, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel212 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer312; + bSizer312 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText212 = new wxStaticText( m_panel212, wxID_ANY, wxT("map:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText212->Wrap( -1 ); + bSizer312->Add( m_staticText212, 0, wxALL, 5 ); + + + bSizer312->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice12Choices[] = { wxT("Solid"), wxT("Grey"), wxT("HSV"), wxT("Jet"), wxT("Hot"), wxT("Rand"), wxT("SHSV") }; + int m_choice12NChoices = sizeof( m_choice12Choices ) / sizeof( wxString ); + m_choice12 = new wxChoice( m_panel212, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice12NChoices, m_choice12Choices, 0 ); + m_choice12->SetSelection( 0 ); + bSizer312->Add( m_choice12, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel212->SetSizer( bSizer312 ); + m_panel212->Layout(); + bSizer312->Fit( m_panel212 ); + sbSizer3->Add( m_panel212, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel213 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer313; + bSizer313 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText213 = new wxStaticText( m_panel213, wxID_ANY, wxT("type:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText213->Wrap( -1 ); + bSizer313->Add( m_staticText213, 0, wxALL, 5 ); + + + bSizer313->Add( 0, 0, 1, wxEXPAND, 5 ); + + wxString m_choice13Choices[] = { wxT("None"), wxT("Id Scans by Color"), wxT("Color by Points") }; + int m_choice13NChoices = sizeof( m_choice13Choices ) / sizeof( wxString ); + m_choice13 = new wxChoice( m_panel213, wxID_ANY, wxDefaultPosition, wxDefaultSize, m_choice13NChoices, m_choice13Choices, 0 ); + m_choice13->SetSelection( 0 ); + bSizer313->Add( m_choice13, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel213->SetSizer( bSizer313 ); + m_panel213->Layout(); + bSizer313->Fit( m_panel213 ); + sbSizer3->Add( m_panel213, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel411 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer51; + bSizer51 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText411 = new wxStaticText( m_panel411, wxID_ANY, wxT("Min Val:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText411->Wrap( -1 ); + bSizer51->Add( m_staticText411, 0, wxALL, 5 ); + + + bSizer51->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl61 = new wxSpinCtrlDbl( *m_panel411, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, -DBL_MAX, DBL_MAX, 0 ); + bSizer51->Add( m_spinCtrl61, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel411->SetSizer( bSizer51 ); + m_panel411->Layout(); + bSizer51->Fit( m_panel411 ); + sbSizer3->Add( m_panel411, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_panel41 = new wxPanel( colorwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5; + bSizer5 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41 = new wxStaticText( m_panel41, wxID_ANY, wxT("Max Val:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41->Wrap( -1 ); + bSizer5->Add( m_staticText41, 0, wxALL, 5 ); + + + bSizer5->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl6 = new wxSpinCtrlDbl( *m_panel41, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, -DBL_MAX, DBL_MAX, 6 ); + bSizer5->Add( m_spinCtrl6, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41->SetSizer( bSizer5 ); + m_panel41->Layout(); + bSizer5->Fit( m_panel41 ); + sbSizer3->Add( m_panel41, 0, wxRIGHT|wxLEFT|wxALIGN_RIGHT|wxEXPAND, 5 ); + + m_button4 = new wxButton( colorwin, wxID_ANY, wxT("Reset Min/Max"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer3->Add( m_button4, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( colorpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_staticline1 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline1, 0, wxEXPAND | wxALL, 5 ); + + m_button3 = new wxButton( this, wxID_ANY, wxT("Invert"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button3, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_panel4 = new wxPanel( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer7; + bSizer7 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText6 = new wxStaticText( m_panel4, wxID_ANY, wxT("Anim delay:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText6->Wrap( -1 ); + bSizer7->Add( m_staticText6, 0, wxALL, 5 ); + + m_spinCtrl3 = new wxSpinCtrl( m_panel4, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer7->Add( m_spinCtrl3, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4->SetSizer( bSizer7 ); + m_panel4->Layout(); + bSizer7->Fit( m_panel4 ); + bSizer1->Add( m_panel4, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button5 = new wxButton( this, wxID_ANY, wxT("Animate"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button5, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_staticline2 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline2, 0, wxEXPAND | wxALL, 5 ); + + /*wxStaticBoxSizer* sbSizer2; + sbSizer2 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Camera Path:") ), wxVERTICAL ); + */ + wxCollapsiblePane *camerapane = new wxCollapsiblePane(this, wxID_ANY, wxT("Camera Path:")); + wxWindow *camerawin = camerapane->GetPane(); + wxBoxSizer* sbSizer2 = new wxBoxSizer( wxVERTICAL ); + camerawin->SetSizer(sbSizer2); + + m_panel412 = new wxPanel( camerawin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer52; + bSizer52 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText412 = new wxStaticText( m_panel412, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText412->Wrap( -1 ); + bSizer52->Add( m_staticText412, 0, wxALL, 5 ); + + m_textCtrl1 = new wxTextCtrl( m_panel412, wxID_ANY, wxT("path.dat"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer52->Add( m_textCtrl1, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel412->SetSizer( bSizer52 ); + m_panel412->Layout(); + bSizer52->Fit( m_panel412 ); + sbSizer2->Add( m_panel412, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button51 = new wxButton( camerawin, wxID_ANY, wxT("Save Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button51, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button6 = new wxButton( camerawin, wxID_ANY, wxT("Load Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button6, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button14 = new wxButton( camerawin, wxID_ANY, wxT("Load Robot Path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button14, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_staticline4 = new wxStaticLine( camerawin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + sbSizer2->Add( m_staticline4, 0, wxEXPAND|wxALL, 5 ); + + m_checkBox4 = new wxCheckBox( camerawin, wxID_ANY, wxT("Save Animation"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_checkBox4, 0, wxRIGHT|wxLEFT, 5 ); + + m_button7 = new wxButton( camerawin, wxID_ANY, wxT("Animate path"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2->Add( m_button7, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( camerapane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + /*wxStaticBoxSizer* sbSizer21; + sbSizer21 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Position:") ), wxVERTICAL ); + */ + wxCollapsiblePane *positionpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Position:")); + wxWindow *positionwin = positionpane->GetPane(); + wxBoxSizer* sbSizer21 = new wxBoxSizer( wxVERTICAL ); + positionwin->SetSizer(sbSizer21); + + m_panel4121 = new wxPanel( positionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer521; + bSizer521 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4121 = new wxStaticText( m_panel4121, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4121->Wrap( -1 ); + bSizer521->Add( m_staticText4121, 0, wxALL, 5 ); + + m_textCtrl11 = new wxTextCtrl( m_panel4121, wxID_ANY, wxT("pose.dat"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer521->Add( m_textCtrl11, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4121->SetSizer( bSizer521 ); + m_panel4121->Layout(); + bSizer521->Fit( m_panel4121 ); + sbSizer21->Add( m_panel4121, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button511 = new wxButton( positionwin, wxID_ANY, wxT("Save Pose"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button511, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button61 = new wxButton( positionwin, wxID_ANY, wxT("Load Pose"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button61, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_panel4131 = new wxPanel( positionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer531; + bSizer531 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4131 = new wxStaticText( m_panel4131, wxID_ANY, wxT("Factor"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4131->Wrap( -1 ); + bSizer531->Add( m_staticText4131, 0, wxALL, 5 ); + + + bSizer531->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl621 = new wxSpinCtrl( m_panel4131, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer531->Add( m_spinCtrl621, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4131->SetSizer( bSizer531 ); + m_panel4131->Layout(); + bSizer531->Fit( m_panel4131 ); + sbSizer21->Add( m_panel4131, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + m_button71 = new wxButton( positionwin, wxID_ANY, wxT("Save image"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer21->Add( m_button71, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( positionpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_staticline3 = new wxStaticLine( this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxLI_HORIZONTAL ); + bSizer1->Add( m_staticline3, 0, wxALL|wxEXPAND, 5 ); + /* + wxStaticBoxSizer* sbSizer211; + sbSizer211 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Selection:") ), wxVERTICAL ); + */ + wxCollapsiblePane *selectionpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Selection:")); + wxWindow *selectionwin = selectionpane->GetPane(); + wxBoxSizer* sbSizer211 = new wxBoxSizer( wxVERTICAL ); + selectionwin->SetSizer(sbSizer211); + + m_panel41211 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5211; + bSizer5211 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41211 = new wxStaticText( m_panel41211, wxID_ANY, wxT("File:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41211->Wrap( -1 ); + bSizer5211->Add( m_staticText41211, 0, wxALL, 5 ); + + m_textCtrl111 = new wxTextCtrl( m_panel41211, wxID_ANY, wxT("selected.3d"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer5211->Add( m_textCtrl111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41211->SetSizer( bSizer5211 ); + m_panel41211->Layout(); + bSizer5211->Fit( m_panel41211 ); + sbSizer211->Add( m_panel41211, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button5111 = new wxButton( selectionwin, wxID_ANY, wxT("Save selected points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_button5111, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_button611 = new wxButton( selectionwin, wxID_ANY, wxT("Clear selected points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_button611, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + m_checkBox5 = new wxCheckBox( selectionwin, wxID_ANY, wxT("Select/Unselect"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox5->SetValue(true); + sbSizer211->Add( m_checkBox5, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_checkBox6 = new wxCheckBox( selectionwin, wxID_ANY, wxT("Select Voxels"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer211->Add( m_checkBox6, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_panel41311 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer5311; + bSizer5311 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText41311 = new wxStaticText( m_panel41311, wxID_ANY, wxT("Depth:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText41311->Wrap( -1 ); + bSizer5311->Add( m_staticText41311, 0, wxALL, 5 ); + + + bSizer5311->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl6211 = new wxSpinCtrl( m_panel41311, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer5311->Add( m_spinCtrl6211, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel41311->SetSizer( bSizer5311 ); + m_panel41311->Layout(); + bSizer5311->Fit( m_panel41311 ); + sbSizer211->Add( m_panel41311, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + m_panel413111 = new wxPanel( selectionwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer53111; + bSizer53111 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText413111 = new wxStaticText( m_panel413111, wxID_ANY, wxT("Brushsize:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText413111->Wrap( -1 ); + bSizer53111->Add( m_staticText413111, 0, wxALL, 5 ); + + + bSizer53111->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl62111 = new wxSpinCtrl( m_panel413111, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer53111->Add( m_spinCtrl62111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel413111->SetSizer( bSizer53111 ); + m_panel413111->Layout(); + bSizer53111->Fit( m_panel413111 ); + sbSizer211->Add( m_panel413111, 1, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + bSizer1->Add( selectionpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + + if (advanced_controls) { + wxCollapsiblePane *advancedpane = new wxCollapsiblePane(this, wxID_ANY, wxT("Advanced:")); + wxWindow *advancedwin = advancedpane->GetPane(); + wxBoxSizer* sbSizer2111 = new wxBoxSizer( wxVERTICAL ); + advancedwin->SetSizer(sbSizer2111); + + // ------------------------ + m_panel413112 = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer53112; + bSizer53112 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText413112 = new wxStaticText( m_panel413112, wxID_ANY, wxT("Frame #:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText413112->Wrap( -1 ); + bSizer53112->Add( m_staticText413112, 0, wxALL, 5 ); + + + bSizer53112->Add( 0, 0, 1, wxEXPAND, 5 ); + + frame_spin = new wxSpinCtrl( m_panel413112, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer53112->Add( frame_spin, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel413112->SetSizer( bSizer53112 ); + m_panel413112->Layout(); + bSizer53112->Fit( m_panel413112 ); + sbSizer2111->Add( m_panel413112, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + + // ----------------------- + m_panel4131111 = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* bSizer531111; + bSizer531111 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText4131111 = new wxStaticText( m_panel4131111, wxID_ANY, wxT("FPS:"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText4131111->Wrap( -1 ); + bSizer531111->Add( m_staticText4131111, 0, wxALL, 5 ); + + + bSizer531111->Add( 0, 0, 1, wxEXPAND, 5 ); + + m_spinCtrl621111 = new wxSpinCtrl( m_panel4131111, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100, 20 ); + bSizer531111->Add( m_spinCtrl621111, 0, wxRIGHT|wxLEFT, 5 ); + + m_panel4131111->SetSizer( bSizer531111 ); + m_panel4131111->Layout(); + bSizer531111->Fit( m_panel4131111 ); + sbSizer2111->Add( m_panel4131111, 0, wxEXPAND|wxRIGHT|wxLEFT, 5 ); + ////////////////// + farplane_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* farplane_sizer; + farplane_sizer = new wxBoxSizer( wxHORIZONTAL ); + + farplane_text = new wxStaticText( farplane_panel, wxID_ANY, wxT("farplane:"), wxDefaultPosition, wxDefaultSize, 0 ); + farplane_text->Wrap( -1 ); + farplane_sizer->Add( farplane_text, 0, wxALL, 5 ); + + + farplane_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + farplane_spinner = new wxSpinCtrl( farplane_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100000, 40000 ); + farplane_sizer->Add( farplane_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + farplane_panel->SetSizer( farplane_sizer ); + farplane_panel->Layout(); + farplane_sizer->Fit( farplane_panel ); + sbSizer2111->Add( farplane_panel, 0, wxEXPAND |wxRIGHT|wxLEFT, 5 ); + //////////////////////////////// + nearplane_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* nearplane_sizer; + nearplane_sizer = new wxBoxSizer( wxHORIZONTAL ); + + nearplane_text = new wxStaticText( nearplane_panel, wxID_ANY, wxT("nearplane:"), wxDefaultPosition, wxDefaultSize, 0 ); + nearplane_text->Wrap( -1 ); + nearplane_sizer->Add( nearplane_text, 0, wxALL, 5 ); + + + nearplane_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + nearplane_spinner = new wxSpinCtrl( nearplane_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 100000, 10 ); + nearplane_sizer->Add( nearplane_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + nearplane_panel->SetSizer( nearplane_sizer ); + nearplane_panel->Layout(); + nearplane_sizer->Fit( nearplane_panel ); + + sbSizer2111->Add( nearplane_panel, 0, wxEXPAND | wxRIGHT|wxLEFT, 5 ); + // bSizer1->Add( sbSizer2111, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + /////////////////// + cycleLOD = new wxButton( advancedwin, wxID_ANY, wxT("Cycle LOD"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer2111->Add( cycleLOD, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + ////////// + lod_panel = new wxPanel( advancedwin, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL ); + wxBoxSizer* lod_sizer; + lod_sizer = new wxBoxSizer( wxHORIZONTAL ); + + lod_text = new wxStaticText( lod_panel, wxID_ANY, wxT("lod speed:"), wxDefaultPosition, wxDefaultSize, 0 ); + lod_text->Wrap( -1 ); + lod_sizer->Add( lod_text, 0, wxALL, 5 ); + + + lod_sizer->Add( 0, 0, 1, wxEXPAND, 5 ); + + //lod_spinner = new wxSpinCtrl( lod_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 2, 1 ); + lod_spinner = new wxSpinCtrlDbl( *lod_panel, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0.0, 2.0, 1.0, 0.01 ); + lod_sizer->Add( lod_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + lod_panel->SetSizer( lod_sizer ); + lod_panel->Layout(); + lod_sizer->Fit( lod_panel ); + sbSizer2111->Add( lod_panel, 0, wxEXPAND | wxRIGHT| wxLEFT, 5 ); + + + + + bSizer1->Add( advancedpane, 0, wxALIGN_CENTER_HORIZONTAL, 5 ); + } else { + frame_spin = new wxSpinCtrl( 0, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + } + + m_button31 = new wxButton( this, wxID_ANY, wxT("Quit"), wxDefaultPosition, wxDefaultSize, 0 ); + bSizer1->Add( m_button31, 0, wxALIGN_CENTER_HORIZONTAL|wxRIGHT|wxLEFT, 5 ); + + this->SetSizer( bSizer1 ); + this->Layout(); + + // Connect Events + this->Connect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Selection::OnClose ) ); + m_checkBox1->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPoints ), NULL, this ); + m_checkBox2->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawCameras ), NULL, this ); + m_checkBox3->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPaths ), NULL, this ); + pointsize_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnPointSize ), NULL, this ); + m_choice1->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnFogChoice ), NULL, this ); + fogdens_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFogDensity ), NULL, this ); + m_choice11->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorValue ), NULL, this ); + m_choice12->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorMap ), NULL, this ); + m_choice13->Connect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorType ), NULL, this ); + m_spinCtrl61->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMinVal ), NULL, this ); + m_spinCtrl6->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMaxVal ), NULL, this ); + m_button4->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnColorResetMinMax ), NULL, this ); + m_button3->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnInvert ), NULL, this ); + m_spinCtrl3->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnAnimDelay ), NULL, this ); + m_button5->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimate ), NULL, this ); + m_textCtrl1->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnCameraFile ), NULL, this ); + m_button51->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraSavePath ), NULL, this ); + m_button6->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadPath ), NULL, this ); + m_button14->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadRobotPath ), NULL, this ); + m_checkBox4->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSaveAnimation ), NULL, this ); + m_button7->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimatePath ), NULL, this ); + m_textCtrl11->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnPositionFile ), NULL, this ); + m_button511->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionSave ), NULL, this ); + m_button61->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionLoad ), NULL, this ); + m_spinCtrl621->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFactor ), NULL, this ); + m_button71->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSaveImage ), NULL, this ); + m_textCtrl111->Connect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnSelectionFile ), NULL, this ); + m_button5111->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionSave ), NULL, this ); + m_button611->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionClear ), NULL, this ); + m_checkBox5->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSU ), NULL, this ); + m_checkBox6->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSV ), NULL, this ); + m_spinCtrl6211->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionDepth ), NULL, this ); + m_spinCtrl62111->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionBrushsize ), NULL, this ); + if (advanced_controls) { + frame_spin->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFrameSpinner ), NULL, this ); + m_spinCtrl621111->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFramerateSpinner ), NULL, this ); + farplane_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFarplaneSpinner ), NULL, this ); + nearplane_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnNearplaneSpinner ), NULL, this ); + lod_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnLODAdaption ), NULL, this ); + cycleLOD->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCycleLOD ), NULL, this ); + } +} + +Selection::~Selection() +{ + // Disconnect Events + this->Disconnect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Selection::OnClose ) ); + m_checkBox1->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPoints ), NULL, this ); + m_checkBox2->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawCameras ), NULL, this ); + m_checkBox3->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnDrawPaths ), NULL, this ); + pointsize_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnPointSize ), NULL, this ); + m_choice1->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnFogChoice ), NULL, this ); + fogdens_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFogDensity ), NULL, this ); + m_choice11->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorValue ), NULL, this ); + m_choice12->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorMap ), NULL, this ); + m_choice13->Disconnect( wxEVT_COMMAND_CHOICE_SELECTED, wxCommandEventHandler( Selection::OnColorType ), NULL, this ); + m_spinCtrl61->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMinVal ), NULL, this ); + m_spinCtrl6->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnColorMaxVal ), NULL, this ); + m_button4->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnColorResetMinMax ), NULL, this ); + m_button3->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnInvert ), NULL, this ); + m_spinCtrl3->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnAnimDelay ), NULL, this ); + m_button5->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimate ), NULL, this ); + m_textCtrl1->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnCameraFile ), NULL, this ); + m_button51->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraSavePath ), NULL, this ); + m_button6->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadPath ), NULL, this ); + m_button14->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCameraLoadRobotPath ), NULL, this ); + m_checkBox4->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSaveAnimation ), NULL, this ); + m_button7->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnAnimatePath ), NULL, this ); + m_textCtrl11->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnPositionFile ), NULL, this ); + m_button511->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionSave ), NULL, this ); + m_button61->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnPositionLoad ), NULL, this ); + m_spinCtrl621->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFactor ), NULL, this ); + m_button71->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSaveImage ), NULL, this ); + m_textCtrl111->Disconnect( wxEVT_COMMAND_TEXT_UPDATED, wxCommandEventHandler( Selection::OnSelectionFile ), NULL, this ); + m_button5111->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionSave ), NULL, this ); + m_button611->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnSelectionClear ), NULL, this ); + m_checkBox5->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSU ), NULL, this ); + m_checkBox6->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Selection::OnSelectionSV ), NULL, this ); + m_spinCtrl6211->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionDepth ), NULL, this ); + m_spinCtrl62111->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnSelectionBrushsize ), NULL, this ); + frame_spin->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFrameSpinner ), NULL, this ); + m_spinCtrl621111->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFramerateSpinner ), NULL, this ); + farplane_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnFarplaneSpinner ), NULL, this ); + nearplane_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnNearplaneSpinner ), NULL, this ); + lod_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Selection::OnLODAdaption ), NULL, this ); + cycleLOD->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Selection::OnCycleLOD ), NULL, this ); +} + +Controls::Controls( wxWindow* parent, wxWindowID id, const wxString& title, const wxPoint& pos, const wxSize& size, long style ) : wxFrame( parent, id, title, pos, size, style ) +{ + this->SetSizeHints( wxDefaultSize, wxDefaultSize ); + + wxBoxSizer* bSizer17; + bSizer17 = new wxBoxSizer( wxHORIZONTAL ); + + wxStaticBoxSizer* sbSizer5; + sbSizer5 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Settings:") ), wxVERTICAL ); + + wxBoxSizer* bSizer26; + bSizer26 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText21 = new wxStaticText( this, wxID_ANY, wxT("Apex Angle"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText21->Wrap( -1 ); + bSizer26->Add( m_staticText21, 0, wxALL, 5 ); + + + bSizer26->Add( 0, 0, 1, wxEXPAND, 5 ); + + apex_spinner = new wxSpinCtrlDbl( this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 1, 180, 60 ); + bSizer26->Add( apex_spinner, 0, wxALIGN_RIGHT|wxLEFT|wxRIGHT, 5 ); + + sbSizer5->Add( bSizer26, 1, wxEXPAND, 5 ); + + wxBoxSizer* bSizer261; + bSizer261 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText211 = new wxStaticText( this, wxID_ANY, wxT("Parallel Zoom"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText211->Wrap( -1 ); + bSizer261->Add( m_staticText211, 0, wxALL, 5 ); + + parallel_spinner = new wxSpinCtrlDbl( *this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 10, 100000, 2000 ); + bSizer261->Add( parallel_spinner, 0, wxRIGHT|wxLEFT, 5 ); + + sbSizer5->Add( bSizer261, 1, wxEXPAND, 5 ); + + bSizer17->Add( sbSizer5, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer51; + sbSizer51 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Mode:") ), wxVERTICAL ); + + m_button15 = new wxButton( this, wxID_ANY, wxT("Top View"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer51->Add( m_button15, 0, wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + m_button16 = new wxButton( this, wxID_ANY, wxT("Reset Position"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer51->Add( m_button16, 0, wxRIGHT|wxLEFT|wxEXPAND, 5 ); + + bSizer17->Add( sbSizer51, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer52; + sbSizer52 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Camera:") ), wxVERTICAL ); + + wxBoxSizer* bSizer262; + bSizer262 = new wxBoxSizer( wxHORIZONTAL ); + + m_staticText212 = new wxStaticText( this, wxID_ANY, wxT("Choose Camera"), wxDefaultPosition, wxDefaultSize, 0 ); + m_staticText212->Wrap( -1 ); + bSizer262->Add( m_staticText212, 0, wxALL, 5 ); + + + bSizer262->Add( 0, 0, 1, wxEXPAND, 5 ); + + camera_spinner = new wxSpinCtrl( this, wxID_ANY, wxEmptyString, wxDefaultPosition, wxDefaultSize, wxSP_ARROW_KEYS, 0, 10, 0 ); + bSizer262->Add( camera_spinner, 0, wxALIGN_RIGHT|wxLEFT|wxRIGHT, 5 ); + + sbSizer52->Add( bSizer262, 1, wxEXPAND, 5 ); + + m_button19 = new wxButton( this, wxID_ANY, wxT("Add Camera"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer52->Add( m_button19, 0, wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL, 5 ); + + m_button20 = new wxButton( this, wxID_ANY, wxT("Delete Camera"), wxDefaultPosition, wxDefaultSize, wxBU_EXACTFIT ); + sbSizer52->Add( m_button20, 0, wxRIGHT|wxLEFT|wxALIGN_CENTER_HORIZONTAL, 5 ); + + bSizer17->Add( sbSizer52, 0, 0, 5 ); + + wxStaticBoxSizer* sbSizer521; + sbSizer521 = new wxStaticBoxSizer( new wxStaticBox( this, wxID_ANY, wxT("Settings:") ), wxVERTICAL ); + + m_checkBox7 = new wxCheckBox( this, wxID_ANY, wxT("MouseNav"), wxDefaultPosition, wxDefaultSize, 0 ); + m_checkBox7->SetValue(true); + sbSizer521->Add( m_checkBox7, 0, wxRIGHT|wxLEFT, 5 ); + + always_box = new wxCheckBox( this, wxID_ANY, wxT("Always all Points"), wxDefaultPosition, wxDefaultSize, 0 ); + sbSizer521->Add( always_box, 0, wxRIGHT|wxLEFT, 5 ); + + alwaysred_box = new wxCheckBox( this, wxID_ANY, wxT("Always reduce Points"), wxDefaultPosition, wxDefaultSize, 0 ); + alwaysred_box->SetValue(true); + sbSizer521->Add( alwaysred_box, 0, wxRIGHT|wxLEFT, 5 ); + + bSizer17->Add( sbSizer521, 0, 0, 5 ); + + this->SetSizer( bSizer17 ); + this->Layout(); + bSizer17->Fit( this ); + + // Connect Events + this->Connect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Controls::OnClose ) ); + apex_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnApexAngle ), NULL, this ); + parallel_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnParallelZoom ), NULL, this ); + m_button15->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnTopView ), NULL, this ); + m_button16->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnResetPosition ), NULL, this ); + camera_spinner->Connect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnChooseCamera ), NULL, this ); + m_button19->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnAddCamera ), NULL, this ); + m_button20->Connect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnDeleteCamera ), NULL, this ); + m_checkBox7->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnMouseNav ), NULL, this ); + always_box->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysAllPoints ), NULL, this ); + alwaysred_box->Connect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysReducePoints ), NULL, this ); +} + +Controls::~Controls() +{ + // Disconnect Events + this->Disconnect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( Controls::OnClose ) ); + apex_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnApexAngle ), NULL, this ); + parallel_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnParallelZoom ), NULL, this ); + m_button15->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnTopView ), NULL, this ); + m_button16->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnResetPosition ), NULL, this ); + camera_spinner->Disconnect( wxEVT_COMMAND_SPINCTRL_UPDATED, wxSpinEventHandler( Controls::OnChooseCamera ), NULL, this ); + m_button19->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnAddCamera ), NULL, this ); + m_button20->Disconnect( wxEVT_COMMAND_BUTTON_CLICKED, wxCommandEventHandler( Controls::OnDeleteCamera ), NULL, this ); + m_checkBox7->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnMouseNav ), NULL, this ); + always_box->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysAllPoints ), NULL, this ); + alwaysred_box->Disconnect( wxEVT_COMMAND_CHECKBOX_CLICKED, wxCommandEventHandler( Controls::OnAlwaysReducePoints ), NULL, this ); +} diff --git a/src/show/show.cc b/src/show/show.cc new file mode 100644 index 0000000..156c3c9 --- /dev/null +++ b/src/show/show.cc @@ -0,0 +1,121 @@ +/* + * show_gl implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann, Amuz Tamrakars + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation for displaying of a matched 3D scene + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "show_common.cc" + +#include + +void signal_segv(int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl << "Segmentation fault" << endl; + deinitShow(); + } + exit(-1); +} + +void signal_interrupt(int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl << "Exiting by interrupt" << endl; + deinitShow(); + } + exit(-1); +} + +/** + * Main function. + * Reads the scan (scan000.3d, ...) and frames files (scan000.frames, ...) from the data directory. + * The frames are used for animation of the matching process. + */ +int main(int argc, char **argv) +{ + signal(SIGSEGV, signal_segv); + signal(SIGINT, signal_interrupt); + signal(SIGTERM, signal_interrupt); + + initShow(argc, argv); + initScreenWindow(); + + newMenu(); + glutMainLoop(); +} + + +void updateCamControls() { + cam_spinner->set_int_limits( 1, cams.size()); + cam_spinner->set_int_val(cam_choice); +} + +void resetRotationButton() { + rotButton->reset(); +} + +void updateTopViewControls() { + if(showTopView) { + pzoom_spinner->enable(); + cangle_spinner->disable(); + } else { + pzoom_spinner->disable(); + cangle_spinner->enable(); + } +} + + +void updateControls() { + glui1->sync_live(); + glui1->show(); + glui2->sync_live(); + glui2->show(); +} + +static bool interrupted = false; +void interruptDrawing() { + interrupted = true; +} +void checkForInterrupt() { + interrupted = false; +} +bool isInterrupted() { +#ifdef WITH_FREEGLUT +#ifndef __APPLE__ + glutMainLoopEvent(); +#endif +#endif + glutSetWindow(window_id); + return interrupted; +} + +void updatePointModeControls() { + switch(pointmode) { + case -1: + always_box->set_int_val(0); + never_box->set_int_val(1); + break; + case 0: + always_box->set_int_val(0); + never_box->set_int_val(0); + break; + case 1: + always_box->set_int_val(1); + never_box->set_int_val(0); + break; + } +} diff --git a/src/show/show_animate.cc b/src/show/show_animate.cc new file mode 100644 index 0000000..3bad62a --- /dev/null +++ b/src/show/show_animate.cc @@ -0,0 +1,379 @@ +/* + * show_animate implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +using std::fstream; +using std::ofstream; +using std::ios; +#include +using std::cout; +using std::cerr; +using std::endl; + +static int nr_interpolations = 0; + +void calcUpPath() +{ + + // if camera list is empty then return + if(cams.empty()) return; + PointXY temp ; + vector ups_listXY, ups_listXZ; + + // to interpolate with the xy coordinate. + for (unsigned int i = 0; i < ups.size(); i++) { + temp.x = ups[i].x; + temp.y = ups[i].y; + ups_listXY.push_back(temp); + } + + + // to interpolate with the xz coordinate. + for (unsigned int i = 0; i < ups.size(); i++) { + temp.x = ups[i].x; + temp.y = ups[i].z; + ups_listXZ.push_back(temp); + } + + // now get the nurbs path for the individual xy and xz plane + ups_vectorX = cam_nurbs_path.getNurbsPath(ups_listXY, nr_interpolations, inter_by_dist); + ups_vectorZ = cam_nurbs_path.getNurbsPath(ups_listXZ, nr_interpolations, inter_by_dist); +} + +void calcLookAtPath() +{ + + // if camera list is empty then return + if(cams.empty()) return; + PointXY temp ; + vector lookat_listXY, lookat_listXZ; + + // to interpolate with the xy coordinate. + for (unsigned int i = 0; i < lookats.size(); i++) { + temp.x = lookats[i].x; + temp.y = lookats[i].y; + lookat_listXY.push_back(temp); + } + + + // to interpolate with the xz coordinate. + for (unsigned int i = 0; i < lookats.size(); i++) { + temp.x = lookats[i].x; + temp.y = lookats[i].z; + lookat_listXZ.push_back(temp); + } + + // now get the nurbs path for the individual xy and xz plane + lookat_vectorX = cam_nurbs_path.getNurbsPath(lookat_listXY, nr_interpolations, inter_by_dist); + lookat_vectorZ = cam_nurbs_path.getNurbsPath(lookat_listXZ, nr_interpolations, inter_by_dist); +} + +void calcPath() +{ + if (cams.empty()) return; + PointXY temp ; + vector path_listXY, path_listXZ; + + // if camera list is empty then return + // to interpolate with the xy coordinate. + for(unsigned int i = 0;i < cams.size(); i++){ + temp.x = cams[i].x; + temp.y = cams[i].y; + path_listXY.push_back(temp); + } + + // to interpolate with the xz coordinate. + for(unsigned int i=0;i> euler[i++]); + // Orientation + for (unsigned int i = 0; i < 4; poseFile >> quat[i++]); + poseFile >> mouseRotX >> mouseRotY >> mouseRotZ >> cangle; + poseFile >> showTopView >> cameraNavMouseMode >> pzoom; + poseFile >> show_points >> show_path >> show_cameras >> pointsize; + poseFile >> show_fog >> fogDensity >> invert; + + setView(euler, quat, mouseRotX, mouseRotY, mouseRotZ, cangle, showTopView, + cameraNavMouseMode, pzoom, show_points, show_path, show_cameras, + pointsize, show_fog, fogDensity, invert); + + poseFile.clear(); + poseFile.close(); + +} + +/** + * This function saves the current camera pose to a file. + */ + +void savePose(int dummy) { + cout << "Save" << endl; + //output file stream + ofstream posefile; + + //open the output file + posefile.open(pose_file_name, ios::out); + + //if file not found then show error + if(!posefile){ + cerr << "Error creating the pose file." << endl; + return; + } + + //store all the relevant information about the + //individual camera position in this file. + + posefile << X << " " << Y << " " << Z << endl; + for(int i = 0; i < 4; i++) { + posefile << quat[i] << " "; + } + posefile << mouseRotX << " " << mouseRotY << " " << mouseRotZ << " " <::iterator it = selected_points[i].begin(); + it != selected_points[i].end(); it++) { + for (unsigned int k = 0; k < pointtype.getPointDim(); k++) { +// selectionfile << selected_points[i][j][k] << " "; + selectionfile << (*it)[k] << " "; + } + selectionfile << endl; + } + } + + //close the file after writing + selectionfile.clear(); + selectionfile.close(); +} + diff --git a/src/show/show_common.cc b/src/show/show_common.cc new file mode 100644 index 0000000..d5a48c3 --- /dev/null +++ b/src/show/show_common.cc @@ -0,0 +1,1101 @@ +/* + * show_common implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#ifdef WITH_GLEE +#include +#endif + +#include "show/show.h" +#include "show/show_Boctree.h" +#include "show/compacttree.h" +#include "show/NurbsPath.h" +#include "show/vertexarray.h" +#ifndef DYNAMIC_OBJECT_REMOVAL +#include "slam6d/scan.h" +#include "slam6d/managedScan.h" +#else +#include "veloslam/veloscan.h" +#endif +#include "glui/glui.h" /* Header File For The glui functions */ +#include +using std::ifstream; +#include +using std::exception; +#include + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include "slam6d/point_type.h" +#include "slam6d/io_utils.h" +#include "show/display.h" + +/** + * This vector contains the pointer to a vertex array for + * all colors (inner vector) and all scans (outer vector) + */ +vector< vector > vvertexArrayList; + +vector< ::SDisplay*> displays; +/** + * the octrees that store the points for each scan + */ +//Show_BOctTree **octpts; +vector octpts; +/** + * Storing the base directory + */ +string scan_dir; + +/** + * Storing the ID of the main windows + */ +int window_id; + +/** + * Size of points + */ +GLfloat pointsize = 1.0; +int anim_delay = 5; + +/** + * Select Color Buffer + */ +GLenum buffermode = GL_BACK; + +/** + * Indicator whether and how the drawing window + * has to be updated. + * + * haveToUpdate == 1 redisplay + * haveToUpdate == 2 reshape + * haveToUpdate == 3 animation scan matching + * haveToUpdate == 4 stop animation scan matching + * haveToUpdate == 6 path animation + * haveToUpdate == 7 force redisplay with all points + */ +int haveToUpdate = 0; + +/** + * Flag for invert the scene + */ +bool invert = true; + +/** + * Flag for indicating brid eyes view + */ +bool showTopView = false; + +/** + * Flag for idicating camera add mode + */ +bool addCameraView = false; //Is the view in add box mode? + +/** + * Storing the apex angle of the camera + */ +GLfloat cangle = 60.0; // Current camera opening mode +GLfloat cangle_old = cangle; + +/** + * Current rotation axis of the scene as quaternion + */ +GLdouble quat[4] ={0.0, 0.0, 0.0, 1.0}; +GLdouble Rquat[4] ={0.0, 0.0, 0.0, 1.0}; + +/** + * Current translation of the scene + */ +GLdouble X = 0.0, Y = 0.0, Z = 0.0; +GLdouble RVX = 0.0, RVY = 0.0, RVZ = 0.0; + +/** + * parallel zoom (similar to apex angle) for parallel projection + */ +GLfloat pzoom = 2000.0; +GLfloat pzoom_old = pzoom; + + +/** + * Mode of the fog (exp, exp2, linear) + */ +GLint fogMode = GL_EXP; + +/** + * Indicates if fog should be shown + */ +int show_fog = 1; + +/** + * Indicates if the points should be shown + */ +int show_points = 1; // Show data points in the viewer? + +/** + * Indicates if camera boxes should be shown + */ +int show_cameras = 1; // Show the camera boxes in the viewer? + +/** + * Indicates if camera path or robot path should be shown + */ +int show_path = 1; // Show the camera movement path ? + +/** + * Camera navigation by mouse or by panel + */ +int cameraNavMouseMode = 1; + +int mouseNavX, mouseNavY; +int mouseNavButton = -1; + +double mouseRotX = 0.0; +double mouseRotY = 0.0; +double mouseRotZ = 0.0; + +bool keymap[256]; + +//@@@ +//int animate_both = 0; // Animate both scan matchin and path? + +int frameNr = 0; + +/** + * Storing of all transformation (frames for animation) of all scans + */ +vector < vector > MetaMatrix; + +/** + * Storing of AlgoType for all frames + */ +vector < vector > MetaAlgoType; + +/** + * Window position + */ +int START_X = 0; +int START_Y = 0; +int START_WIDTH = 720; +int START_HEIGHT = 576; +GLdouble aspect = (double)START_WIDTH/(double)START_HEIGHT; // Current aspect ratio +bool advanced_controls = false; + +bool fullscreen = false; +int current_width = START_WIDTH; +int current_height = START_HEIGHT; + + +// the following values are scale dependant, i.e. all values are in m +float neardistance = 0.10; +double oldneardistance = 0.10; +float maxfardistance = 400.0; +double fardistance = 400.0; +double oldfardistance = 40000.0; +double movementSpeed = 0.1; +double defaultZoom = 20.0; +GLfloat fogDensity = 0.1; +double voxelSize = 0.20; + + +float adaption_rate = 1.0; +float LevelOfDetail = 0.0001; + + +// Defines for Point Semantic +#define TYPE_UNKNOWN 0x0000 +#define TYPE_OBJECT 0x0001 +#define TYPE_GROUND 0x0002 +#define TYPE_CEILING 0x0003 + +unsigned int cam_choice = 0; + +static unsigned int path_iterator = 0; +static int oldcamNavMode = 0; + +/** + * Animation sould be saved to file + */ +int save_animation = 0; +/** + * If true, interpolation for camera path is based on distance, else always + * the same number of images between two cameras. + */ +int inter_by_dist = 1; + +/**some variables for the camera path**/ +vector path_vectorX, path_vectorZ, lookat_vectorX, lookat_vectorZ, ups_vectorX, ups_vectorZ; +vector cams; +vector lookats; +vector ups; + +NurbsPath cam_nurbs_path; +char *path_file_name; +char *pose_file_name; + +/** Factor for saved image size */ +int factor = 1; + +/** + * program tries to have this framerate + */ +float idealfps = 20.0; +/** + * value of the listBox fo Color Value and Colormap + */ +int listboxColorVal = 0; +int listboxColorMapVal = 0; +int colorScanVal = 0; +ScanColorManager *cm; +float mincolor_value = 0.0; +float maxcolor_value = 0.0; +//unsigned int types = Point::USE_HEIGHT; +PointType pointtype; + +/** + * Contains the selected points for each scan + */ +set *selected_points; +/** + * Select single points? + */ +int select_voxels = 0; +/** + * Select or unselect points ? + */ +int selectOrunselect = 1; +/** octree depth for selecting groups of points */ +int selection_depth = 1; +int brush_size = 0; +char *selection_file_name; + +int current_frame = 0; +#include "show_menu.cc" +#include "show_animate.cc" +#include "show_gl.cc" + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -F" << normal << " NR, " << bold << "--fps=" << normal << "NR [default: 20]" << endl + << " will attempt to display points with a framerate of NR" << endl + << endl + << bold << " -l" << normal << " FILE, " << bold << "--loadObj=" << normal << + "FILE" << endl + << " load objects specified in " << endl + << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -o" << normal << " NR, " << bold << "--origin=" << normal << "NR (optional)" << endl + << " sets the starting and reset position to: " << endl + << " 0 = the origin of the coordinate system (default)" << endl + << " 1 = the position of the first scan (default if --origin is in argument list)" << endl + << " 2 = the center of the first scan" << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--scale=" << normal << "NR" << endl + << " scale factor to use (default: 0.01), modifies movement speed etc. " << endl + << " use 1 when point coordinates are in m, 0.01 when in cm and so forth. " << endl + << " " << endl + << endl + + << bold << " -R, --reflectance, --reflectivity" << normal << endl + << " use reflectivity values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -a, --amplitude" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -d, --deviation" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -h, --height" << endl << normal + << " use y-values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -T, --type" << endl << normal + << " use type values for coloring point clouds" << endl + << " only works when using octree display" << endl + << bold << " -c, --color" << endl << normal + << " use color RGB values for coloring point clouds" << endl + << bold << " --saveOct" << endl << normal + << " stores all used scans as octrees in the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are stored as well." << endl + << " only works when using octree display" << endl + << bold << " --loadOct" << endl << normal + << " only reads octrees from the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are read from file." << endl + << " --reflectance/--amplitude and similar parameters are therefore ignored." << endl + << " only works when using octree display" << endl + << endl << endl; + + exit(1); +} + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param end parsing result - stopping at scan number 'end' + * @param maxDist parsing result - maximal distance + * @param minDist parsing result - minimal distance + * @param readInitial parsing result - read a file containing a initial transformation matrix + * @param type parsing result - file format to be read + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int& start, int& end, int& maxDist, int& minDist, + double &red, bool &readInitial, int &octree, PointType &ptype, float &fps, string &loadObj, + bool &loadOct, bool &saveOct, int &origin, double &scale, IOType &type, bool& scanserver) +{ + unsigned int types = PointType::USE_NONE; + start = 0; + end = -1; // -1 indicates no limitation + maxDist = -1; // -1 indicates no limitation + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + cout << endl; + static struct option longopts[] = { + { "origin", optional_argument, 0, 'o' }, + { "format", required_argument, 0, 'f' }, + { "fps", required_argument, 0, 'F' }, + { "scale", required_argument, 0, 'S' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "octree", optional_argument, 0, 'O' }, + { "reflectance", no_argument, 0, 'R' }, + { "reflectivity", no_argument, 0, 'R' }, + { "amplitude", no_argument, 0, 'a' }, + { "deviation", no_argument, 0, 'd' }, + { "height", no_argument, 0, 'h' }, + { "type", no_argument, 0, 'T' }, + { "color", no_argument, 0, 'c' }, + { "loadObj", required_argument, 0, 'l' }, + { "saveOct", no_argument, 0, '0' }, + { "loadOct", no_argument, 0, '1' }, + { "advanced", no_argument, 0, '2' }, + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + while ((c = getopt_long(argc, argv,"F:f:s:e:r:m:M:O:o:l:C:SwtRadhTc", longopts, NULL)) != -1) { + switch (c) { + case 's': + w_start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 't': + readInitial = true; + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + case 'R': + types |= PointType::USE_REFLECTANCE; + break; + case 'a': + types |= PointType::USE_AMPLITUDE; + break; + case 'd': + types |= PointType::USE_DEVIATION; + break; + case 'h': + types |= PointType::USE_HEIGHT; + break; + case 'T': + types |= PointType::USE_TYPE; + break; + case 'c': + types |= PointType::USE_COLOR; + break; + case 'F': + fps = atof(optarg); + break; + case 'C': + scale = atof(optarg); + break; + case 'S': + scanserver = true; + break; + case 'o': + if (optarg) { + origin = atoi(optarg); + } else { + origin = 1; + } + break; + case '0': + saveOct = true; + break; + case '1': + loadOct = true; + break; + case 'l': + loadObj = optarg; + break; + case '2': + advanced_controls = true; + break; + default: + abort (); + } + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + ptype = PointType(types); + return 0; +} + +void setResetView(int origin) { + if (origin == 1) { + double *transmat = MetaMatrix[0].back(); + cout << transmat << endl; + + RVX = -transmat[12]; + RVY = -transmat[13]; + RVZ = -transmat[14]; + Matrix4ToQuat(transmat, Rquat); + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + } else if (origin == 2) { + double center[3]; +#ifdef USE_COMPACT_TREE + ((compactTree*)octpts[0])->getCenter(center); +#else + ((Show_BOctTree*)octpts[0])->getCenter(center); +#endif + RVX = -center[0]; + RVY = -center[1]; + RVZ = -center[2]; + X = RVX; + Y = RVY; + Z = RVZ; + } +} + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param read a file containing a initial transformation matrix and apply it + */ +int readFrames(string dir, int start, int end, bool readInitial, IOType &type) +{ + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + + // update the mirror to apply the initial frame for all frames + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + const double* transformation; + Scan::AlgoType algoType; + vector Matrices; + vector algoTypes; + + // iterate over frames (stop if none were created) and pull/convert the frames into local containers + unsigned int frame_count; + try { + frame_count = (*it)->readFrames(); + } catch(std::ios_base::failure& e) { + break; + } + for(unsigned int i = 0; i < frame_count; ++i) { + (*it)->getFrame(i, transformation, algoType); + double* transMatOpenGL = new double[16]; + + // apply mirror to convert (and initial frame if requested) the frame and save in opengl + MMult(mirror, transformation, transMatOpenGL); + + Matrices.push_back(transMatOpenGL); + algoTypes.push_back(algoType); + } + + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + + if((type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) && it == Scan::allScans.begin()) { + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } + current_frame = MetaMatrix.back().size() - 1; + } + + if (MetaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return -1; + } + return 0; +} + +void generateFrames(int start, int end, bool identity) { + if (identity) { + cout << "using Identity for frames " << endl; + } else { + cout << "using pose information for frames " << endl; + } + int fileCounter = start; + int index = 0; + for (;;) { + if (fileCounter > end) break; // 'nuf read + fileCounter++; + + vector Matrices; + vector algoTypes; + + for (int i = 0; i < 3; i++) { + double *transMat = new double[16]; + + if (identity) { + M4identity(transMat); + transMat[10] = -1.0; + } else { + EulerToMatrix4(Scan::allScans[index]->get_rPos(), Scan::allScans[index]->get_rPosTheta(), transMat ); + } + + Matrices.push_back(transMat); + algoTypes.push_back(Scan::ICP); + + } + index++; + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + current_frame = MetaMatrix.back().size() - 1; + } +} + + + +/* + * create display lists + * @to do general framework for color & type definitions + */ +void createDisplayLists(bool reduced) +{ + for(unsigned int s = 0; s < Scan::allScans.size() ; s++) { + Scan* scan = Scan::allScans[s]; + + vertexArray* myvertexArray1; + vertexArray* myvertexArray2; + + // count points + unsigned int color1 = 0, color2 = 0; + if(!reduced) { + scan->get(DATA_XYZ | DATA_TYPE); + DataType type(scan->get("type")); + + if(type.valid()) { + for(unsigned int i = 0; i < type.size(); ++i) { + if(type[i] & TYPE_GROUND) { + color1 += 3; + } else { + color2 += 3; + } + } + } else { + color2 = 3 * scan->size("xyz"); + } + + myvertexArray1 = new vertexArray(color1); + myvertexArray2 = new vertexArray(color2); + + color1 = 0; color2 = 0; + + DataXYZ xyz(scan->get("xyz")); + for(unsigned int i = 0; i < xyz.size(); ++i) { + if(type[i] & TYPE_GROUND) { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray1->array[color1++] = xyz[i][j]; + } + } else { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray2->array[color2++] = xyz[i][j]; + } + } + } + } else { + color2 = 3 * scan->size("xyz reduced"); + + myvertexArray1 = new vertexArray(0); + myvertexArray2 = new vertexArray(color2); + + color2 = 0; + + DataXYZ xyz_r(scan->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) { + for(unsigned int j = 0; j < 3; ++j) { + myvertexArray2->array[color2++] = xyz_r[i][j]; + } + } + } + + + + glNewList(myvertexArray1->name, GL_COMPILE); + //@ + //glColor4d(0.44, 0.44, 0.44, 1.0); + //glColor4d(0.66, 0.66, 0.66, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray1->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray1->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + glNewList(myvertexArray2->name, GL_COMPILE); + //glColor4d(1.0, 1.0, 1.0, 1.0); + //glColor4d(0.0, 0.0, 0.0, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray2->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray2->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + // append to vector + vector vvertexArray; + vvertexArray.push_back(myvertexArray1); + vvertexArray.push_back(myvertexArray2); + vvertexArrayList.push_back(vvertexArray); + } +} + +void cycleLOD() { + LevelOfDetail = 0.00001; + for (unsigned int i = 0; i < octpts.size(); i++) + octpts[i]->cycleLOD(); +} + + +void initShow(int argc, char **argv){ + + /***************/ + /* init OpenGL */ + /***************/ + glutInit(&argc,argv); + + cout << "(wx)show - A highly efficient 3D point cloud viewer" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if(argc <= 1){ + usage(argv[0]); + } + + double red = -1.0; + int start = 0, end = -1, maxDist = -1, minDist = -1; + string dir; + bool readInitial = false; + IOType type = UOS; + int octree = 0; + bool loadOct = false; + bool saveOct = false; + string loadObj; + int origin = 0; + double scale = 0.01; // in m + bool scanserver = false; + + pose_file_name = new char[1024]; + path_file_name = new char[1024]; + selection_file_name = new char[1024]; + + strncpy(pose_file_name, "pose.dat", 1024); + strncpy(path_file_name, "path.dat", 1024); + strncpy(selection_file_name, "selected.3d", 1024); + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, red, readInitial, + octree, pointtype, idealfps, loadObj, loadOct, saveOct, origin, scale, type, scanserver); + + // modify all scale dependant variables + scale = 1.0 / scale; + movementSpeed *= scale; + neardistance *= scale; + oldneardistance *= scale; + maxfardistance *= scale; + fardistance *= scale; + fogDensity /= scale; + defaultZoom *= scale; + voxelSize *= scale; +// oldfardistance *= scale; + + //////////////////////// + SDisplay::readDisplays(loadObj, displays); + //////////////////// + + if (type == OCT) { + loadOct = true; + } + + // if we want to load display file get pointtypes from the files first + if(loadOct) { + string scanFileName = dir + "scan" + to_string(start,3) + ".oct"; + cout << "Getting point information from " << scanFileName << endl; + cout << "Attention! All subsequent oct-files must be of the same type!" << endl; + + pointtype = BOctTree::readType(scanFileName); + } + scan_dir = dir; + + // init and create display + M4identity(view_rotate_button); + obj_pos_button[0] = obj_pos_button[1] = obj_pos_button[2] = 0.0; + + // Loading scans, reducing, loading frames and generation if neccessary + + // load all available scans + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + if(red > 0) { + // scanserver differentiates between reduced for slam and reduced for show, can handle both at the same time + if(scanserver) { + dynamic_cast(scan)->setShowReductionParameter(red, octree); + } else { + scan->setReductionParameter(red, octree); + } + } + } + cm = new ScanColorManager(4096, pointtype); + +#ifdef USE_GL_POINTS // use octtrees +#ifdef USE_COMPACT_TREE + cout << "Creating compact display octrees.." << endl; +#else + cout << "Creating display octrees.." << endl; +#endif + + if(loadOct) cout << "Loading octtrees from file where possible instead of creating them from scans." << endl; + + // for managed scans the input phase needs to know how much it can handle + std::size_t free_mem = 0; + if(scanserver) + free_mem = ManagedScan::getMemorySize(); + + for(unsigned int i = 0; i < Scan::allScans.size(); ++i) { + Scan* scan = Scan::allScans[i]; + + // create data structures +#ifdef USE_COMPACT_TREE // FIXME: change compact tree, then this case can be removed + compactTree* tree; + try { + if (red > 0) { // with reduction, only xyz points + DataXYZ xyz_r(scan->get("xyz reduced show")); + tree = new compactTree(PointerArray(xyz_r).get(), xyz_r.size(), voxelSize, pointtype, cm); + } else { // without reduction, xyz + attribute points + sfloat** pts = pointtype.createPointArray(scan); + unsigned int nrpts = scan->size("xyz"); + tree = new compactTree(pts, nrpts, voxelSize, pointtype, cm); + for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts; + } + } catch(...) { + cout << "Scan " << i << " could not be loaded into memory, stopping here." << endl; + break; + } +#else // FIXME: remove the case above + scan->setOcttreeParameter(red, voxelSize, pointtype, loadOct, saveOct); + + DataOcttree* data_oct; + try { + data_oct = new DataOcttree(scan->get("octtree")); + } catch(runtime_error& e) { + cout << "Scan " << i << " could not be loaded into memory, stopping here." << endl; + break; + } + BOctTree* btree = &(data_oct->get()); + unsigned int tree_size = btree->getMemorySize(); + + if(scanserver) { + // check if the octtree would actually fit with all the others + if(tree_size > free_mem) { + delete data_oct; + cout << "Stopping at scan " << i << ", no more octtrees could fit in memory." << endl; + break; + } else { + // subtract available memory + free_mem -= tree_size; + } + } +#endif //FIXME: COMPACT_TREE + +#if !defined USE_COMPACT_TREE + // show structures + // associate show octtree with the scan and hand over octtree pointer ownership + Show_BOctTree* tree = new Show_BOctTree(scan, data_oct, cm); + + // unlock cached octtree to enable creation of more octtres without blocking the space for full scan points + tree->unlockCachedTree(); +#endif + + // octtrees have been created successfully + octpts.push_back(tree); + + // print something +#ifdef USE_COMPACT_TREE // TODO: change compact tree for memory footprint output, remove this case + cout << "Scan " << i << " octree finished." << endl; +#else + cout << "Scan " << i << " octree finished ("; + bool space = false; + if(tree_size/1024/1024 > 0) { + cout << tree_size/1024/1024 << "M"; + space = true; + } + if((tree_size/1024)%1024 > 0) { + if(space) cout << " "; + cout << (tree_size/1024)%1024 << "K"; + space = true; + } + if(tree_size%1024 > 0) { + if(space) cout << " "; + cout << tree_size%1024 << "B"; + } + cout << ")." << endl; +#endif + } + +/* +TODO: to maximize space for octtrees, implement a heuristic to remove all +CacheObjects sequentially from the start and pack octtrees one after another +until it reaches the maximum size allowed, resetting the index, but causing the +first to be locked again and stopping by catching the exception +set heuristic, do locking, catch exception, reset heuristic to default or old +*/ +#if !defined USE_COMPACT_TREE + if(scanserver) { + // activate all octtrees until they don't fit anymore + cout << "Locking managed octtrees in memory " << flush; + bool stop = false; + unsigned int loaded = 0; + unsigned int dots = (octpts.size() / 20); + if(dots == 0) dots = 1; + vector::iterator it_remove_first = octpts.end(); + for(vector::iterator it = octpts.begin(); it != octpts.end(); ++it) { + if(!stop) { + // try to lock the octtree in cache + try { + Show_BOctTree* stree = dynamic_cast*>(*it); + stree->lockCachedTree(); + loaded++; + if(loaded % dots == 0) cout << '.' << flush; + } catch(runtime_error& e) { + stop = true; + it_remove_first = it; + } + } + if(stop) { + // delete the octtree, resize after iteration + delete *it; + } + } + // now remove iterators for deleted octtrees + if(stop) octpts.erase(it_remove_first, octpts.end()); + cout << ' ' << loaded << " octtrees loaded." << endl; + } + +#endif // !COMPACT_TREE + +#else // not using octtrees + createDisplayLists(red > 0); +#endif // USE_GL_POINTS + + // load frames now that we know how many scans we actually loaded + unsigned int real_end = min((unsigned int)(end), + (unsigned int)(start + octpts.size() - 1)); + if(readFrames(dir, start, real_end, readInitial, type)) + generateFrames(start, real_end, true); + + cm->setCurrentType(PointType::USE_HEIGHT); + //ColorMap cmap; + //cm->setColorMap(cmap); + resetMinMax(0); + + selected_points = new set[octpts.size()]; + + // sets (and computes if necessary) the pose that is used for the reset button + setResetView(origin); + + for (unsigned int i = 0; i < 256; i++) { + keymap[i] = false; + } +} + +void deinitShow() +{ + static volatile bool done = false; + if(done) return; + done = true; + + cout << "Cleaning up octtrees and scans." << endl; + if(octpts.size()) { + // delete octtrees to release the cache locks within + for(vector::iterator it = octpts.begin(); it!= octpts.end(); ++it) { + delete *it; + } + } + + Scan::closeDirectory(); +} + +/** + * Global program scope destructor workaround to clean up data regardless of + * the way of program exit. + */ +struct Deinit { ~Deinit() { deinitShow(); } } deinit; diff --git a/src/show/show_gl.cc b/src/show/show_gl.cc new file mode 100644 index 0000000..2e6c53c --- /dev/null +++ b/src/show/show_gl.cc @@ -0,0 +1,2040 @@ +/* + * show_gl implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter, Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include "show/viewcull.h" +#include "show/scancolormanager.h" + +bool fullydisplayed = true; // true if all points have been drawn to the screen +bool mousemoving = false; // true iff a mouse button has been pressed inside a window, + // but hs not been released +bool keypressed = false; // true iff a key button has been pressed inside a window, + // but hs not been released +double ptstodisplay = 100000; +double lastfps = idealfps; // last frame rate +int pointmode = -1; + +bool smallfont = true; +bool label = true; + +/** + * Displays all data (i.e., points) that are to be displayed + * @param mode spezification for drawing to screen or in selection mode + */ +void DrawPoints(GLenum mode, bool interruptable) +{ + long time = GetCurrentTimeInMilliSec(); + double min = 0.000000001; + double max = 1.0; + LevelOfDetail *= 1.0 + adaption_rate*(lastfps - idealfps)/idealfps; + if (LevelOfDetail > max) LevelOfDetail = max; + else if (LevelOfDetail < min) LevelOfDetail = min; + + // In case of animation + if(frameNr != 0) { + cm->setMode(ScanColorManager::MODE_ANIMATION); + +#ifdef USE_GL_POINTS + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { +#else + for(int iterator = (int)Scan::allScans.size()-1; iterator >= 0; iterator--) { +#endif + // ignore scans that don't have any frames associated with them + if((unsigned int)iterator >= MetaMatrix.size()) continue; + // set usable frame + double* frame; + Scan::AlgoType type; + if((unsigned int)frameNr >= MetaMatrix[iterator].size()) { + // use last possible frame + frame = MetaMatrix[iterator].back(); + type = MetaAlgoType[iterator].back(); + } else { + frame = MetaMatrix[iterator][frameNr]; + type = MetaAlgoType[iterator][frameNr]; + } + if(type == Scan::INVALID) continue; + cm->selectColors(type); + glPushMatrix(); + glMultMatrixd(frame); + + + glPointSize(pointsize); +#ifdef USE_GL_POINTS + ExtractFrustum(pointsize); + cm->selectColors(type); + if (pointmode == 1 ) { + octpts[iterator]->display(); + } else { + octpts[iterator]->displayLOD(LevelOfDetail); + } +#else + for (unsigned int jterator = 0; jterator < vvertexArrayList[iterator].size(); jterator++) { + + if ((jterator == 0) && vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + cm->selectColors(type); + } + + if (vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + glCallList(vvertexArrayList[iterator][jterator]->name); + } + } +#endif + glPopMatrix(); + } + + setScansColored(0); + } else { + + if(mode == GL_SELECT){ + // select points mode + // ------------------ + GLuint name = 0; + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + glPushMatrix(); + glMultMatrixd(MetaMatrix[iterator].back()); + + glColor4f(1.0, 0.0, 0.0,1.0); + glPointSize(pointsize + 2.0); + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + glLoadName(name++); + glBegin(GL_POINTS); + glVertex3d((*it)[0], (*it)[1], (*it)[2]); + glEnd(); + } + glPointSize(pointsize); + + glFlush(); + glPopMatrix(); + } + + } else { + + // draw point is normal mode + // ------------------------- + + if (interruptable) { + glDrawBuffer (GL_FRONT); + } + glPointSize(pointsize); + + vector sequence; + calcPointSequence(sequence, current_frame); +#ifdef USE_GL_POINTS + //for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + for(unsigned int i = 0; i < sequence.size(); i++) { + int iterator = sequence[i]; +#else + for(int iterator = (int)Scan::allScans.size()-1; iterator >= 0; iterator--) { +#endif + // ignore scans that don't have any frames associated with them + if((unsigned int)iterator >= MetaMatrix.size()) continue; + // set usable frame + double* frame; + Scan::AlgoType type; + if((unsigned int)current_frame >= MetaMatrix[iterator].size()) { + // use last possible frame + frame = MetaMatrix[iterator].back(); + type = MetaAlgoType[iterator].back(); + } else { + frame = MetaMatrix[iterator][current_frame]; + type = MetaAlgoType[iterator][current_frame]; + } + if (type == Scan::INVALID) continue; + glPushMatrix(); + if (invert) // default: white points on black background + glColor4d(1.0, 1.0, 1.0, 0.0); + else // black points on white background + glColor4d(0.0, 0.0, 0.0, 0.0); + + // glMultMatrixd(MetaMatrix[iterator].back()); + if (current_frame != (int)MetaMatrix.back().size() - 1) { + cm->setMode(ScanColorManager::MODE_ANIMATION); + cm->selectColors(type); + } + glMultMatrixd(frame); + +#ifdef USE_GL_POINTS + //cout << endl << endl; calcRay(570, 266, 1.0, 40000.0); + /* // for height mapped color in the vertex shader + GLfloat v[16]; + for (unsigned int l = 0; l < 16; l++) + v[l] = MetaMatrix[iterator].back()[l]; + glUniformMatrix4fvARB(glGetUniformLocationARB(p, "MYMAT"), 1, 0, v); + */ + ExtractFrustum(pointsize); + if (pointmode == 1 ) { + octpts[iterator]->display(); + } else if (interruptable) { + checkForInterrupt(); + glFlush(); + glFinish(); + if (isInterrupted()) { + glPopMatrix(); + return; + } + octpts[iterator]->display(); + } else { + octpts[iterator]->displayLOD(LevelOfDetail); + } + if (!selected_points[iterator].empty()) { + glColor4f(1.0, 0.0, 0.0, 1.0); + glPointSize(pointsize + 2.0); + glBegin(GL_POINTS); + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + glVertex3d((*it)[0], (*it)[1], (*it)[2]); + } + glEnd(); + glPointSize(pointsize); + } + +#else + for (unsigned int jterator = 0; jterator < vvertexArrayList[iterator].size(); jterator++) { + if (vvertexArrayList[iterator][jterator]->numPointsToRender > 0) { + glCallList(vvertexArrayList[iterator][jterator]->name); + } + } +#endif + glPopMatrix(); + } + } + } + + + if (pointmode == 1 ) { + fullydisplayed = true; + } else { + unsigned long td = (GetCurrentTimeInMilliSec() - time); + if (td > 0) + lastfps = 1000.0/td; + else + lastfps = 1000.0; + fullydisplayed = false; + } + if (interruptable) + fullydisplayed = true; +} + + +void DrawObjects(GLenum mode) { + for (unsigned int i = 0; i < displays.size(); i++) + displays[i]->displayAll(); + +} + +/** + * Draw a smooth path passing from all the camera points. + * + */ +void DrawPath() +{ + + glLineWidth(10.0); + // draw path + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < path_vectorX.size(); j++){ + // set the color + glColor4f(0.0, 1.0, 0.0, 1.0); + // set the points + glVertex3f(path_vectorX.at(j).x,path_vectorX.at(j).y,path_vectorZ.at(j).y); + } + glEnd(); + + // draw lookat path + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < lookat_vectorX.size(); j++){ + //set the color + glColor4d(1.0, 1.0, 0.0, 1.0); + //set the points + glVertex3f(lookat_vectorX.at(j).x,lookat_vectorX.at(j).y,lookat_vectorZ.at(j).y); + } + glEnd(); + + // draw up path + /* + glBegin(GL_LINE_STRIP); + for(unsigned int j = 0; j < ups_vectorX.size(); j++){ + //set the color + glColor4d(0.0, 1.0, 0.0, 0.7); + //set the points + glVertex3f(ups_vectorX.at(j).x,ups_vectorX.at(j).y,ups_vectorZ.at(j).y); + } + glEnd(); + */ +} + +/** + * Draw the camera boxes in the viewer + * + */ +void DrawCameras(void) +{ + for (unsigned int i = 0; i < cams.size(); i++) { + glPushMatrix(); + + // TODO improve upon this primitive camera + Point p = cams[i]; + Point l = Point::norm( lookats[i] - p ); // forward vector + Point u = Point::norm( ups[i] - p ); // up vector + Point r = Point::cross(l,u); // right vector + l = 5 * l; + r = 5 * r; + u = 5 * u; + + Point cube[8]; + cube[0] = p + l - r - u; + cube[1] = p + l + r - u; + cube[2] = p - l + r - u; + cube[3] = p - l - r - u; + cube[4] = p + l - r + u; + cube[5] = p + l + r + u; + cube[6] = p - l + r + u; + cube[7] = p - l - r + u; + + int sides[6][4] = {{0,1,2,3}, {4,5,6,7}, {0,1,5,4}, + {3,2,6,7}, {1,2,6,5}, {0,3,7,4}}; + + if (i+1 == cam_choice) { + glColor4f(1, 0, 1, 1); + } else { + glColor4f(0, 1, 0, 1); + } + // camera cube + glPolygonMode (GL_FRONT_AND_BACK, GL_FILL); + glBegin(GL_QUADS); + for (int j = 0; j < 6; j++) { + if (j == 2) continue; + for (int k = 0; k < 4; k++) { + int index = sides[j][k]; + glVertex3d(cube[index].x, cube[index].y, cube[index].z); + } + } + glEnd(); + + r = 5 * r; + u = 5 * u; + + glColor4f(1, 1, 0, 1); + if (i+1 == cam_choice) { + glPointSize(10); + } else { + glPointSize(5); + } + glBegin(GL_POINTS); + glVertex3d( lookats[i].x, lookats[i].y, lookats[i].z); + glEnd(); + + Point fcube[8]; + fcube[0] = cube[4]; + fcube[1] = cube[5]; + fcube[2] = cube[1]; + fcube[3] = cube[0]; + fcube[4] = lookats[i] - r + u; + fcube[5] = lookats[i] + r + u; + fcube[6] = lookats[i] + r - u; + fcube[7] = lookats[i] - r - u; + + glLineWidth(2.0); + glLineStipple(1, 0x0C0F); + glEnable(GL_LINE_STIPPLE); + glPolygonMode (GL_FRONT_AND_BACK, GL_LINE); + // camera FOV + glBegin(GL_QUADS); + for (int j = 0; j < 6; j++) { + for (int k = 0; k < 4; k++) { + int index = sides[j][k]; + glVertex3d(fcube[index].x, fcube[index].y, fcube[index].z); + } + } + glEnd(); + glDisable(GL_LINE_STIPPLE); + + + /* + if (i+1 == cam_choice) { + glColor3f(1, 1, 0); + glPointSize(20); + } else { + glColor3f(0, 0, 1); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d(p.x, p.y, p.z); + glEnd(); + + if (i+1 == cam_choice) { + glColor3f(0, 1, 1); + glPointSize(20); + } else { + glColor3f(1, 0, 0); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d( l.x, l.y, l.z); + glEnd(); + + if (i+1 == cam_choice) { + glColor3f(1, 0, 1); + glPointSize(20); + } else { + glColor3f(0, 1, 0); + glPointSize(10); + } + glBegin(GL_POINTS); + glVertex3d( u.x, u.y, u.z); + glEnd(); +*/ + + glPopMatrix(); + } +} + +//----------------------------------------------------------------------------------- + + +/** + * Display function + */ +void DisplayItFunc(GLenum mode, bool interruptable) +{ + /** + * Color of the fog + */ + + GLfloat fogColor[4]; + + if(!invert) { + glEnable(GL_COLOR_LOGIC_OP); + glLogicOp(GL_COPY_INVERTED); + } + + // set the clear color buffer in case of + // both invert and non invert mode + if (invert) + glClearColor(0.0, 0.0, 0.0, 0.0); + else + glClearColor(1.0, 1.0, 1.0, 1.0); + + // clear the color and depth buffer bit + if (!interruptable) { // single buffer mode, we need the depth buffer + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + } + + glPushMatrix(); + + // set the matrix mode + glMatrixMode(GL_MODELVIEW); + + // init modelview matrix + glLoadIdentity(); + + // set the polygon mode + glPolygonMode(GL_FRONT/*_AND_BACK*/, GL_LINE); + + // do the model-transformation + if (haveToUpdate == 6 && path_iterator < path_vectorX.size() ) { + gluLookAt(path_vectorX.at(path_iterator).x, + path_vectorX.at(path_iterator).y, + path_vectorZ.at(path_iterator).y, + lookat_vectorX.at(path_iterator).x, + lookat_vectorX.at(path_iterator).y, + lookat_vectorZ.at(path_iterator).y, + ups_vectorX.at(path_iterator).x - path_vectorX.at(path_iterator).x, + ups_vectorX.at(path_iterator).y - path_vectorX.at(path_iterator).y, + ups_vectorZ.at(path_iterator).y - path_vectorZ.at(path_iterator).y); + } else { + if (cameraNavMouseMode == 1) { + glRotated( mouseRotX, 1, 0, 0); + glRotated( mouseRotY, 0, 1, 0); + glRotated( mouseRotZ, 0, 0, 1); + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + update_view_rotate(0); + } else { + double t[3] = {0,0,0}; + double mat[16]; + QuatToMatrix4(quat, t, mat); + glMultMatrixd(mat); + + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + //glRotated(angle, axis[0], axis[1], axis[2]); // rotate the camera + double rPT[3]; + Matrix4ToEuler(mat, rPT); + mouseRotX = deg(rPT[0]); + mouseRotY = deg(rPT[1]); + mouseRotZ = deg(rPT[2]); + + } + updateControls(); + + glTranslated(X, Y, Z); // move camera + } + +// cout << "Position :" << X << " " << Y << " " << Z << endl; +// cout << "Quaternion:" << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl; +// cout << "Axis/Angle:" << axis[0] << " " << axis[1] << " " << axis[2] << " " << angle << endl; +// cout << "Apex angle:" << cangle << endl; +// cout << endl; + + // process fog + if (show_fog > 0) { + if (show_fog > 3) + fogColor[0] = fogColor[1] = fogColor[2] = fogColor[3] = 1.0; + else + fogColor[0] = fogColor[1] = fogColor[2] = fogColor[3] = 0.0; + glEnable(GL_FOG); + { + // ln(1/2^8) = -5.54517744 -> threshold at which the last color bit is gone due to fog + if (show_fog==1) {fogMode = GL_EXP; fardistance = min(5.54517744 / fogDensity, (double)maxfardistance);} + else if (show_fog==2) {fogMode = GL_EXP2; fardistance = min(sqrt(5.54517744) / fogDensity, (double)maxfardistance);} + else if (show_fog==3) {fogMode = GL_LINEAR; fardistance = 32000.0;} + else if (show_fog==4) {fogMode = GL_EXP; fardistance = (double)maxfardistance; } + else if (show_fog==5) {fogMode = GL_EXP2; fardistance = (double)maxfardistance; } + else if (show_fog==6) {fogMode = GL_LINEAR; fardistance = (double)maxfardistance;} + glFogi(GL_FOG_MODE, fogMode); + glFogfv(GL_FOG_COLOR, fogColor); + glFogf(GL_FOG_DENSITY, fogDensity); + glHint(GL_FOG_HINT, GL_FASTEST); + glFogf(GL_FOG_START, neardistance); + glFogf(GL_FOG_END, maxfardistance); + } + } else { + glDisable(GL_FOG); + fardistance = maxfardistance; + } + if (fardistance > maxfardistance) fardistance = maxfardistance; + if ( fabs(oldfardistance - fardistance) > 0.00001 || fabs(oldneardistance - neardistance) > 0.00001 ) { + oldfardistance = fardistance; + oldneardistance = neardistance; + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); + } + + // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + // + // show the objects __after__ the model-transformation + // for all status variables we show the appropiated thing + // using the drawing functions + // + // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + + if (show_path == 1) { + double *pose; + glColor4d(1.0, 0.0, 0.0, 1.0); + glLineWidth(5); + glBegin(GL_LINE_STRIP); + for(unsigned int i = 0; i < MetaMatrix.size(); i++){ + // set usable type + Scan::AlgoType type; + if((unsigned int)frameNr >= MetaMatrix[i].size()) { + type = MetaAlgoType[i].back(); + } else { + type = MetaAlgoType[i][frameNr]; + } + if(frameNr >= 1 && frameNr < (int)MetaMatrix[i].size()) { + if(type == Scan::INVALID) continue; + // avoid incomplete frames in a scan + if((unsigned int)frameNr >= MetaMatrix[i].size()) + pose = MetaMatrix[i].back(); + else + pose = MetaMatrix[i][frameNr]; + } else { + //pose = MetaMatrix[i].back(); + // avoid incomplete frames in a scan + if((unsigned int)current_frame >= MetaMatrix[i].size()) + pose = MetaMatrix[i].back(); + else + pose = MetaMatrix[i][current_frame]; + } + if(showTopView) { + glVertex3f(pose[12], 2000, pose[14]); + } else { + glVertex3f(pose[12], pose[13], pose[14]); + } + } + glEnd(); + } + + // if show camera is true then draw cameras. + if (show_cameras == 1) { + DrawCameras(); + } + + // if show path is true the draw path. + if (show_path == 1) { + DrawPath(); + } + DrawObjects(mode); + + if (label) DrawUrl(); + + // if show points is true the draw points + if (show_points == 1) DrawPoints(mode, interruptable); + + + glPopMatrix(); + + if (!invert) { + glDisable(GL_COLOR_LOGIC_OP); + } + + // force draw the scene + glFlush(); + glFinish(); +} + +void DrawUrl() { + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadIdentity(); + glMatrixMode(GL_PROJECTION); + + // Save the current projection matrix + glPushMatrix(); + // Make the current matrix the identity matrix + glLoadIdentity(); + + // Set the projection (to 2D orthographic) + glOrtho(0.0,100.0,0.0,100.0,-1.5,1.5); + + glPolygonMode (GL_FRONT_AND_BACK, GL_FILL); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO + + glColor4d(0.0,0.0,0.0,0.7); + + glBegin(GL_QUADS); + glVertex3f(0,0,1.49); + glVertex3f(0,6,1.49); + if(smallfont) { + glVertex3f(22,6,1.49); + glVertex3f(22,0,1.49); + } else { + glVertex3f(25,6,1.49); + glVertex3f(25,0,1.49); + } + glEnd(); + + glBlendFunc(GL_ONE, GL_ZERO); + glColor3f(1,1,1); + if(smallfont) { + glRasterPos3f(1,3.5,1.5); + _glutBitmapString(GLUT_BITMAP_8_BY_13, "created by 3DTK"); + glRasterPos3f(1,1,1.5); + _glutBitmapString(GLUT_BITMAP_8_BY_13, "http://threedtk.de"); + } else { + glRasterPos3f(1,3.5,1.5); + _glutBitmapString(GLUT_BITMAP_9_BY_15, "created by 3DTK"); + glRasterPos3f(1,1,1.5); + _glutBitmapString(GLUT_BITMAP_9_BY_15, "http://threedtk.de"); + } + + // Restore the original projection matrix + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); + glPopMatrix(); + +} +/** + * Function topview. Set the screen for top view. + */ +void topView() +{ + static GLdouble save_qx, save_qy, save_qz, save_qangle, save_X, save_Y, save_Z; + static GLdouble saveMouseRotX, saveMouseRotY, saveMouseRotZ; + + if (!showTopView) // set to top view + { + showTopView = true; + // save current pose + save_X = X; + save_Y = Y; + save_Z = Z; + save_qx = quat[0]; + save_qy = quat[1]; + save_qz = quat[2]; + save_qangle = quat[3]; + saveMouseRotX = mouseRotX; + saveMouseRotY = mouseRotY; + saveMouseRotZ = mouseRotZ; + + Y = Y - 350.0; + Z = Z + 500.0; + quat[0] = quat[1] = sqrt(0.5); + quat[2] = quat[3] = 0.0; + mouseRotX = 90; + mouseRotY = 0; + mouseRotZ = 0; + + haveToUpdate = 2; + } else { + showTopView = false; + + // restore old settings + X = save_X; + Y = save_Y; + Z = save_Z; + quat[0] = save_qx; + quat[1] = save_qy; + quat[2] = save_qz; + quat[3] = save_qangle; + mouseRotX = saveMouseRotX; + mouseRotY = saveMouseRotY; + mouseRotZ = saveMouseRotZ; + + haveToUpdate = 2; + } +} + +//--------------------------------------------------------------------------- +/** + * This function is called when the user wants to + * delete a camera. + */ + +void callDeleteCamera(int dummy){ + + //iterator for the position of camera + //in the camera list + vector::iterator position; + vector::iterator positionL; + vector::iterator positionU; + + //calculate the position of the camera. we are referring + //to the selected camera + position = cams.begin()+ (cam_choice-1); + positionL = lookats.begin()+ (cam_choice-1); + positionU = ups.begin()+ (cam_choice-1); + + //if no camera present then return + if(cam_choice == 0) + return; + + //if the list is not empty then + if(!cams.empty()){ + //delete the camera from the position + cams.erase(position); + lookats.erase(positionL); + ups.erase(positionU); + //reset the cam_choice spinner values + } + + updateCamera(); +} + + +//--------------------------------------------------------------------------- +/** + * Function to reset the viewer window. + */ + +void resetView(int dummy) +{ + cangle = 60.0; + pzoom = defaultZoom; + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + haveToUpdate = 2; + mouseRotX = 0; + mouseRotY = 0; + mouseRotZ = 0; + + resetRotationButton(); +} + +/** + * Function to set the viewer window back to a previously saved state. + */ + +void setView(double pos[3], double new_quat[4], + double newMouseRotX, double newMouseRotY, double newMouseRotZ, + double newCangle, + bool sTV, bool cNMM, double pzoom_new, + bool s_points, bool s_path, bool s_cameras, double ps, int + sf, double fD, bool inv) +{ + X = pos[0]; + Y = pos[1]; + Z = pos[2]; + for(int i = 0; i < 4; i++) { + quat[i] = new_quat[i]; + } + cangle = newCangle; + mouseRotX = newMouseRotX; + mouseRotY = newMouseRotY; + mouseRotZ = newMouseRotZ; + showTopView = sTV, + cameraNavMouseMode = cNMM; + pzoom = pzoom_new; + updateTopViewControls(); + + show_points = s_points; + show_path = s_path; + show_cameras = s_cameras; + pointsize = ps; + show_fog = sf; + fogDensity = fD; + invert = inv; + + haveToUpdate = 2; +} + + +/** + * This function is called when the viewer is created. This + * acts as the display function. + */ +void CallBackDisplayFunc() +{ + if ((cangle_spinner != 0 && (fabs(cangle_old - cangle) > 0.5)) || + (pzoom_spinner != 0 && (fabs(pzoom_old - pzoom) > 0.5))) { + + cangle_old = cangle; + pzoom_old = pzoom; + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); +#ifdef _MSC_VER + Sleep(25); +#else + usleep(250000); +#endif + } + + glDrawBuffer(buffermode); + // delete framebuffer and z-buffer + + //Call the display function + DisplayItFunc(GL_RENDER ); + + // show the rednered scene + glutSwapBuffers(); + +} + +/** + * This function is called when there is nothing to be done + * in the screen. + */ +void CallBackIdleFunc(void) +{ + +#ifdef _MSC_VER + Sleep(1); +#else + usleep(1000); +#endif + + if(glutGetWindow() != window_id) + glutSetWindow(window_id); + + // return as nothing has to be updated + if (haveToUpdate == 0) { + if (!fullydisplayed && !mousemoving && !keypressed && pointmode == 0 + ) { + glDrawBuffer(buffermode); + //Call the display function + DisplayItFunc(GL_RENDER, true); + } + return; + } + + // case: display is invalid - update it + if (haveToUpdate == 1) { + glutPostRedisplay(); + haveToUpdate = 0; + return; + } + // case: display is invalid - update it with all points +/* if (haveToUpdate == 7) { + showall = true; + glutPostRedisplay(); + haveToUpdate = 0; + return; + }*/ + + // case: camera angle is changed - instead of repeating code call Reshape, + // since these OpenGL commands are the same + if (haveToUpdate == 2) { + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); + glutPostRedisplay(); + haveToUpdate = 0; + return; + } + + // case: animation + if(haveToUpdate == 3 ){ + frameNr += 1; + if(!(MetaMatrix.size() > 1 && frameNr < (int) MetaMatrix[1].size())){ + frameNr = 0; + haveToUpdate = 4; + return; + } + glutPostRedisplay(); + + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(frameNr,5) + ".ppm"; + cout << "write " << filename << endl; + int tmpUpdate = haveToUpdate; + glWriteImagePPM(filename.c_str(), factor, 0); + haveToUpdate = tmpUpdate; + + string jpgname = scan_dir + "animframe" + to_string(frameNr,5) + ".jpg"; + string systemcall = "convert -quality 100 -type TrueColor " + filename + " " + jpgname; + // cout << systemcall << endl; + system(systemcall.c_str()); + systemcall = "rm " + filename; + system(systemcall.c_str()); + // cout << systemcall << endl; + // for f in *ppm ; do convert -quality 100 -type TrueColor $f `basename $f ppm`jpg; done + } + + } +#ifdef _MSC_VER + Sleep(300); + Sleep(anim_delay); +#else + usleep(anim_delay * 10000); +#endif + + if (haveToUpdate == 4) { // stop animation + frameNr = 0; // delete these lines if you want a 'continue' functionality. + haveToUpdate = 1; + } + + // case: path animation + if(haveToUpdate == 6){ + + if (path_iterator == 0) { + oldcamNavMode = cameraNavMouseMode; // remember state of old mousenav + cameraNavMouseMode = 0; + } + + // check if the user wants to animate both + // scan matching and the path at the same + //time + + // cout << "path_iterator: " << path_iterator << endl; + if(path_iterator < path_vectorX.size()){ // standard animation case + + // call the path animation function + // hide both the cameras and the path + show_cameras = 0; + show_path = 0; + // increase the iteration count + + path_iterator += 1; + // repaint the screen + glutPostRedisplay(); + + // save the animation + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(path_iterator,5) + ".ppm"; + string jpgname = scan_dir + "animframe" + to_string(path_iterator,5) + ".jpg"; + cout << "written " << filename << " of " << path_vectorX.size() << " files" << endl; + glWriteImagePPM(filename.c_str(), factor, 0); + string systemcall = "convert -quality 100 " + filename + " " + jpgname; + system(systemcall.c_str()); + systemcall = "rm " + filename; + system(systemcall.c_str()); + haveToUpdate = 6; + + } + }else{ // animation has just ended + cameraNavMouseMode = oldcamNavMode; + show_cameras = 1; + show_path = 1; + haveToUpdate = 0; + } + } + +} + + +/** + * This function handles the rotation of the view + */ + +void update_view_rotate(int t) +{ + double view_rotate_button_quat[4]; + + // convert the rotate button matrix to quaternion + //Matrix4ToQuaternion(view_rotate_button, view_rotate_button_quat); + double mat[16]; + for (int i = 0; i < 16; i++) + mat[i] = view_rotate_button[i]; + Matrix4ToQuat(mat, view_rotate_button_quat); + + // normalize the quartenion + QuatNormalize(view_rotate_button_quat); + + // copy it to the global quartenion quat + memcpy(quat, view_rotate_button_quat, sizeof(quat)); +} + +/** + * This function handles the translation of view. + */ +void update_view_translation(int t) +{ + double obj_pos_button1[3]; + + for (int i = 0; i < 3; i++) { + if (fabs(obj_pos_button_old[i] - obj_pos_button[i]) > COMPARE_EPSILON) { + obj_pos_button1[i] = obj_pos_button[i] - obj_pos_button_old[i]; + obj_pos_button_old[i] = obj_pos_button[i]; + } else obj_pos_button1[i] = 0.0; + } + + X = X + obj_pos_button1[0] * view_rotate_button[0] + obj_pos_button1[1] * view_rotate_button[1] + obj_pos_button1[2] * view_rotate_button[2]; + Y = Y + obj_pos_button1[0] * view_rotate_button[4] + obj_pos_button1[1] * view_rotate_button[5] + obj_pos_button1[2] * view_rotate_button[6]; + Z = Z + obj_pos_button1[0] * view_rotate_button[8] + obj_pos_button1[1] * view_rotate_button[9] + obj_pos_button1[2] * view_rotate_button[10]; + +} + + +/** + * handles the animation button + * @param dummy not needed necessary for glui + */ +void startAnimation(int dummy) +{ + if (MetaMatrix.size() > 0) { + if (haveToUpdate != 3) { + haveToUpdate = 3; + } + else // stop animation + haveToUpdate = 4; + } +} + +/** + * calls the resetView function + * @param dummy not needed necessary for glui + */ +void callResetView(int dummy) +{ + if (showTopView) callTopView(dummy); + resetView(0); +} + +/** + * calls the resetView function + * @param dummy not needed necessary for glui + */ +void invertView(int dummy) +{ + invert = !invert; +} + +/** + * calls the topView function + * @param dummy not needed necessary for glui + */ +void callTopView(int dummy) +{ + topView(); + if (showTopView) { + rotButton->disable(); + cangle_spinner->disable(); + pzoom_spinner->enable(); + } else { + rotButton->enable(); + cangle_spinner->enable(); + pzoom_spinner->disable(); + } +} + +/** + * calls the cameraView function + * @param dummy not needed necessary for glui + */ +void callAddCamera(int dummy) +{ + Point campos(-X, -Y, -Z); + + // calculate lookat point + Point lookat; + Point up(0, 0, 0); + double tmat[16]; + for (int i =0;i<16;i++) tmat[i] = view_rotate_button[i]; + + lookat.x = -50*tmat[2] -X; + lookat.y = -50*tmat[6] -Y; + lookat.z = -50*tmat[10] -Z; + + up.x = 50*tmat[1] -X; + up.y = 50*tmat[5] -Y; + up.z = 50*tmat[9] -Z; + + cams.push_back(campos); + lookats.push_back(lookat); + ups.push_back(up); + + updateCamera(); + + // signal to repaint screen + haveToUpdate = 1; +} + +void selectPoints(int x, int y) { + + GLuint selectBuf[BUFSIZE]; + GLint hits; + GLint viewport[4]; + if (selectOrunselect) { + // set the matrix mode + glMatrixMode(GL_MODELVIEW); + // init modelview matrix + glLoadIdentity(); + + // do the model-transformation + if (cameraNavMouseMode == 1) { + glRotated( mouseRotX, 1, 0, 0); + glRotated( mouseRotY, 0, 1, 0); + glRotated( mouseRotZ, 0, 0, 1); + } else { + double t[3] = {0,0,0}; + double mat[16]; + QuatToMatrix4(quat, t, mat); + glMultMatrixd(mat); + + glGetFloatv(GL_MODELVIEW_MATRIX, view_rotate_button); + double rPT[3]; + Matrix4ToEuler(mat, rPT); + mouseRotX = deg(rPT[0]); + mouseRotY = deg(rPT[1]); + mouseRotZ = deg(rPT[2]); + } + updateControls(); + glTranslated(X, Y, Z); // move camera + + static sfloat *sp2 = 0; +/* for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + if (!selected_points[iterator].empty()) sp2 = *selected_points[iterator].begin(); + + // selected_points[iterator].clear(); + }*/ + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + glPushMatrix(); + glMultMatrixd(MetaMatrix[iterator].back()); + calcRay(x, y, 1.0, 40000.0); + if (select_voxels) { + octpts[iterator]->selectRay(selected_points[iterator], selection_depth); + } else if (brush_size == 0) { + sfloat *sp = 0; + octpts[iterator]->selectRay(sp); + if (sp != 0) { + cout << "Selected point: " << sp[0] << " " << sp[1] << " " << sp[2] << endl; + + if (sp2 != 0) { + cout << "Distance to last point: " + << sqrt( sqr(sp2[0] - sp[0]) + sqr(sp2[1] - sp[1]) + sqr(sp2[2] - sp[2]) ) << endl; + } + sp2 = sp; + + selected_points[iterator].insert(sp); + } + } else { // select multiple points with a given brushsize + octpts[iterator]->selectRayBrushSize(selected_points[iterator], brush_size); + } + + glPopMatrix(); + } + + } else { + // unselect points + glGetIntegerv(GL_VIEWPORT, viewport); + + glSelectBuffer(BUFSIZE, selectBuf); + (void) glRenderMode(GL_SELECT); + + glInitNames(); + glPushName(0); + + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glLoadIdentity(); + +// gluPickMatrix((GLdouble)x, (GLdouble)(viewport[3]-y), 10.0, 10.0, viewport); + gluPickMatrix((GLdouble)x, (GLdouble)(viewport[3]-y), brush_size*2, brush_size*2, viewport); + gluPerspective(cangle, aspect, neardistance, fardistance); + glMatrixMode(GL_MODELVIEW); + DisplayItFunc(GL_SELECT); + + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); + + hits = glRenderMode(GL_RENDER); // get hits + ProcessHitsFunc(hits, selectBuf); + } + glPopMatrix(); + glutPostRedisplay(); +} + +void CallBackMouseFuncMoving(int button, int state, int x, int y) +{ + + if( state == GLUT_DOWN) { + mousemoving = true; + } else { + mousemoving = false; + } +} + + +/** + * This function is called after a mousebutton has been pressed. + */ +void CallBackMouseFunc(int button, int state, int x, int y) +{ + // Are we selecting points or moving the camera? + if(cameraNavMouseMode != 1) { // selecting points + if (state == GLUT_DOWN && (button == GLUT_LEFT_BUTTON || button == GLUT_RIGHT_BUTTON)) { + selectPoints(x,y); + } + } else { + if( state == GLUT_DOWN) { + + mouseNavX = x; + mouseNavY = y; + mouseNavButton = button; + + mousemoving = true; + } else { + mouseNavButton = -1; + mousemoving = false; + } + } +} + + +void moveCamera(double x, double y, double z, double rotx, double roty, double rotz) { + interruptDrawing(); + double mat[9]; + + double xr = M_PI * mouseRotX / 180; + double yr = M_PI * mouseRotY / 180; + double zr = M_PI * mouseRotZ / 180; + double c1,c2,c3,s1,s2,s3; + s1 = sin(xr); c1 = cos(xr); + s2 = sin(yr); c2 = cos(yr); + s3 = sin(zr); c3 = cos(zr); + mat[0] = c2*c3; + mat[1] = -c2*s3; + mat[2] = s2; + mat[3] = c1*s3+c3*s1*s2; + mat[4] = c1*c3-s1*s2*s3; + mat[5] = -c2*s1; + mat[6] = s1*s3-c1*c3*s2; + mat[7] = c1*s2*s3+c3*s1; + mat[8] = c1*c2; + + double transX, transY, transZ; + transX = transY = transZ = 0.0; + + mouseRotX += rotx; + mouseRotY -= roty; + mouseRotZ -= rotz; + + if (mouseRotX < -90) mouseRotX=-90; + else if (mouseRotX > 90) mouseRotX=90; + if (mouseRotY > 360) mouseRotY-=360; + else if (mouseRotY < 0) mouseRotY+=360; + if (mouseRotZ > 360) mouseRotZ-=360; + else if (mouseRotZ < 0) mouseRotZ+=360; + + transX += x * mat[0] + y * mat[3] + z * mat[6]; + transY += x * mat[1] + y * mat[4] + z * mat[7]; + transZ += x * mat[2] + y * mat[5] + z * mat[8]; + + + X += transX; + Y += transY; + Z += transZ; + haveToUpdate = 1; + +} + +void KeyboardFunc(int key, bool control, bool alt, bool shift) { + double stepsize = movementSpeed; + if (shift) stepsize *= 10.0; + if (control) stepsize *= 0.1; + + double rotsize = 0.2 * stepsize; + + switch (key) { + case 'w': + case 'W': + moveCamera(0,0,stepsize,0,0,0); + break; + case 'a': + case 'A': + moveCamera(stepsize,0,0,0,0,0); + break; + case 's': + case 'S': + moveCamera(0,0,-stepsize,0,0,0); + break; + case 'd': + case 'D': + moveCamera(-stepsize,0,0,0,0,0); + break; + case 'c': + case 'C': + moveCamera(0,stepsize,0,0,0,0); + break; + case 32: // WXK_SPACE + moveCamera(0,-stepsize,0,0,0,0); + break; + case 314: // WXK_LEFT + moveCamera(0,0,0,0,rotsize,0); + break; + case 315: // WXK_UP + moveCamera(0,0,0,rotsize,0,0); + break; + case 316: // WXK_RIGHT + moveCamera(0,0,0,0,-rotsize,0); + break; + case 317: // WXK_DOWN + moveCamera(0,0,0,-rotsize,0,0); + break; + case 'q': + case 'Q': + case 366: // WXK_PAGEUP + moveCamera(0,0,0,0,0,rotsize); + break; + case 'e': + case 'E': + case 367: // WXK_PAGEDOWN + moveCamera(0,0,0,0,0,-rotsize); + break; + case 'f': + if (!fullscreen) { + fullscreen = true; + glutFullScreen(); + } else { + fullscreen = false; + glutReshapeWindow(current_width, current_height); + } + break; + default: + break; + } +} + +void CallBackMouseMotionFunc(int x, int y) { + double deltaMouseX = x - mouseNavX; + double deltaMouseY = mouseNavY - y; + mouseNavX = x; + mouseNavY = y; + + if(cameraNavMouseMode == 1) { + if( mouseNavButton == GLUT_RIGHT_BUTTON){ + if ( showTopView ) { + deltaMouseX *= 5; + deltaMouseY *= 5; + } + deltaMouseX *= movementSpeed/10.0; // moving 10 pixels is equivalent to one key stroke + deltaMouseY *= movementSpeed/10.0; + moveCamera(deltaMouseX, deltaMouseY, 0, 0,0,0); + } else if( mouseNavButton == GLUT_MIDDLE_BUTTON ){ + if ( !showTopView ) { + deltaMouseY *= -5; + } + deltaMouseX *= movementSpeed/10.0; // moving 10 pixels is equivalent to one key stroke + deltaMouseY *= movementSpeed/10.0; + moveCamera(deltaMouseX, 0, deltaMouseY, 0,0,0); + } else if ( mouseNavButton == GLUT_LEFT_BUTTON ){ + moveCamera(0, 0, 0, deltaMouseY,deltaMouseX,0); + } else { + return; + } + } else { + selectPoints(x,y); + } +} + + + +void initScreenWindow() +{ + // init display + glutInitDisplayMode(GLUT_DEPTH | GLUT_RGBA | GLUT_DOUBLE); + + // define the window position and size + glutInitWindowPosition(START_X, START_Y); + glutInitWindowSize( START_WIDTH, START_HEIGHT ); + + // create window and append callback functions + window_id = glutCreateWindow("3D_Viewer"); + + glutDisplayFunc( CallBackDisplayFunc ); + glutReshapeFunc( CallBackReshapeFunc ); + + glutMouseFunc ( CallBackMouseFunc ); + glutKeyboardFunc ( CallBackKeyboardFunc); + glutKeyboardUpFunc ( CallBackKeyboardUpFunc); + glutMotionFunc ( CallBackMouseMotionFunc); + glutSpecialFunc ( CallBackSpecialFunc); + // glutEntryFunc ( CallBackEntryFunc); + GLUI_Master.set_glutReshapeFunc( CallBackReshapeFunc ); + GLUI_Master.set_glutIdleFunc( CallBackIdleFunc ); + + update_view_rotate(0); + glClearColor(0.0, 0.0, 0.0, 0.0); + // glClearColor(1.0, 1.0, 1.0, 1.0); +} + + +/* +++++++++-------------++++++++++++ + * NAME + * glDumpWindowPPM + * DESCRIPTION + * writes an ppm file of the window + * content + * PARAMETERS + * filename + * RESULT + * writes the framebuffer content + * to a ppm file ++++++++++-------------++++++++++++ */ +void glDumpWindowPPM(const char *filename, GLenum mode) +{ + int win_height, win_width; + int i,j,k,l; // Counter variables + GLubyte *buffer; // The GL Frame Buffer + unsigned char *ibuffer; // The PPM Output Buffer + ofstream fp; // The PPM File + + GLint viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + win_height = viewport[3]; + win_width = viewport[2]; + + // Allocate memory for the the frame buffer and output buffer + buffer = new GLubyte[win_width * win_height * RGBA]; + ibuffer = new unsigned char[win_width * win_height * RGB]; + + // Read window contents from GL frame buffer with glReadPixels + glFinish(); + glReadBuffer(buffermode); + glReadPixels(0, 0, win_width, win_height, + GL_RGBA, GL_UNSIGNED_BYTE, buffer); + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Andreas Nuechter, University of Osnabrueck" + << endl << win_width << " " << win_height << " " << UCHAR_MAX << endl; + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + l = 0; + for (i = 0; i < win_height; i++) { // For each row + for (j = 0; j < win_width; j++) { // For each column + for (k = 0; k < RGB; k++) { // For each RGB component + //cout << (RGBA*((win_height-1-i)*win_width+j)+k) << endl; + ibuffer[l++] = (unsigned char) + *(buffer + (RGBA*((win_height-1-i)*win_width+j)+k)); + } // end RGB + } // end column + } // end row + + // to make a video do: + // for f in *ppm ; do convert -quality 100 $f `basename $f ppm`jpg; done + // mencoder "mf://*.jpg" -mf fps=10 -o test.avi -ovc lavc -lavcopts vcodec=msmpeg4v2:vbitrate=800 + // Write output buffer to the file */ + fp.write((const char*)ibuffer, sizeof(unsigned char) * (RGB * win_width * win_height)); + fp.close(); + fp.clear(); + delete [] buffer; + delete [] ibuffer; +} + +/* +++++++++-------------++++++++++++ + * NAME + * glDumpWindowPPM + * DESCRIPTION + * writes an ppm file of the window + * content + * size is scale times the window size + * PARAMETERS + * filename + * RESULT + * writes the framebuffer content + * to a ppm file ++++++++++-------------++++++++++++ */ +void glWriteImagePPM(const char *filename, int scale, GLenum mode) +{ + //if(!showTopView) { + int m,o,k; // Counter variables + // Get viewport parameters + double left, right, top, bottom; + double tmp = 1.0/tan(rad(cangle)/2.0); + + // Save camera parameters + GLdouble savedMatrix[16]; + glGetDoublev(GL_PROJECTION_MATRIX,savedMatrix); + GLdouble savedModel[16]; + glGetDoublev(GL_MODELVIEW_MATRIX,savedModel); + //glMatrixMode(GL_PROJECTION); + //glPushMatrix(); + //glMatrixMode(GL_MODELVIEW); + //glPushMatrix(); + top = 1.0/tmp; + bottom = -top; + right = (aspect)/tmp; + left = -right; + + double part_height, part_width; + if(!showTopView) { + part_width = (right - left)/(double)scale; + part_height = (top - bottom)/(double)scale; + } else { + part_height = (2*pzoom)/scale; + part_width = (2*pzoom*aspect)/scale; + cout << part_width << " " << part_height << endl; + } + // Calculate part parameters + GLint viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + int win_width = viewport[2]; + int win_height = viewport[3]; + int image_width = scale * win_width; + int image_height = scale * win_height; + + // Allocate memory for the the frame buffer and output buffer + GLubyte *buffer; // The GL Frame Buffer + unsigned char *ibuffer; // The PPM Output Buffer + buffer = new GLubyte[win_width * win_height * RGBA]; + ibuffer = new unsigned char[image_width * image_height * RGB]; + + smallfont = (scale==1); + double height; + if(!showTopView) { + height = bottom; + } else { + height = -pzoom; + } + for(int i = 0; i < scale; i++) { + double width; + if(!showTopView) { + width = left; + } else { + width = -pzoom*aspect; + } + for(int j = 0; j < scale; j++) { + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + label = false; + if(!showTopView) { + glFrustum(neardistance*width, neardistance*(width + part_width), + neardistance*(height), + neardistance*(height + part_height), + neardistance, fardistance); + glMatrixMode(GL_MODELVIEW); + if(i==0 && j==0) { + label = true; + } + DisplayItFunc(mode); + } else { + glOrtho( width, width + part_width, + height, height + part_height, + 1.0, 32000.0 ); + glMatrixMode(GL_MODELVIEW); + if(i==0 && j==0) { + label = true; + } + DisplayItFunc(mode); + } + + // Read window contents from GL frame buffer with glReadPixels + glFinish(); + glReadBuffer(buffermode); + glReadPixels(0, 0, win_width, win_height, GL_RGBA, GL_UNSIGNED_BYTE, buffer); + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + // end row + for (m = 0; m < win_height; m++) { // For each row + for (o = 0; o < win_width; o++) { // For each column + for (k = 0; k < RGB; k++) { // For each RGB component + int l = (k+RGB*(image_width*((scale - 1 - i)*win_height + m) + j*win_width + o)); + ibuffer[l] = (unsigned char) *(buffer + (RGBA*((win_height-1-m)*win_width+o)+k)); + } // end RGB + } // end column + } + width += part_width; + } + height += part_height; + } + + // show the starting scene + + // Restore the original projection matrix + glMatrixMode(GL_PROJECTION); + glLoadMatrixd(savedMatrix); + glMatrixMode(GL_MODELVIEW); + glLoadMatrixd(savedModel); + // show the rednered scene + label = true; + smallfont = true; + haveToUpdate=2; + DisplayItFunc(mode); + + ofstream fp; // The PPM File + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Dorit Borrmann, Jacobs University Bremen gGmbH" + << endl << image_width << " " << image_height << " " << UCHAR_MAX << endl; + + // Write output buffer to the file + fp.write((const char*)ibuffer, sizeof(unsigned char) * (RGB * image_width * image_height)); + fp.close(); + fp.clear(); + delete [] buffer; + delete [] ibuffer; +} + +/** Reshape Function + * TODO: have to describe it. + * + */ +void CallBackReshapeFunc(int width, int height) +{ + if (!fullscreen) { + current_height = height; + current_width = width; + } + aspect = (double)width/(double)height; + if (!showTopView) { + // usage of the vsize of a structiewport + glViewport(0, 0, (GLint)width, (GLint)height); + + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + // angle, aspect, near clip, far clip + // get matrix + gluPerspective(cangle, aspect, neardistance, fardistance); + + // now use modelview-matrix as current matrix + glMatrixMode(GL_MODELVIEW); + + haveToUpdate = 1; + + } else { + + // usage of the viewport + glViewport ( 0, 0, width, height); + + glMatrixMode ( GL_PROJECTION ); + glLoadIdentity (); + + // get matrix + glOrtho ( -aspect * pzoom, aspect * pzoom, + -1 * pzoom, pzoom, + 1.0, 32000.0 ); + + // now use modelview-matrix as current matrix + glMatrixMode(GL_MODELVIEW); + + haveToUpdate = 1; + + } + // glDepthMask(false); + glEnable(GL_BLEND); // TODO + glBlendFunc(GL_ONE, GL_ZERO); // TODO + // glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // TODO + // glBlendFunc(GL_ONE, GL_ONE); // TODO + // glBlendFunc(GL_SRC_COLOR, GL_DST_COLOR); + glHint(GL_POINT_SMOOTH_HINT, GL_NICEST); + // TODO glDepthFunc(GL_LEQUAL); + glDepthFunc(GL_LESS); //TODO + glEnable(GL_DEPTH_TEST); + glEnable (GL_POINT_SMOOTH); +} + +/** + * Prints out which points were clicked on + */ +void ProcessHitsFunc(GLint hits, GLuint buffer[]) +{ + //cout << "SIZE " << selected_points[0].size() << endl; + //cout << "processing " << endl; + set names; + set unsel_points; + + GLuint *ptr, nr_names; + + ptr = (GLuint *)buffer; + + for(int i = 0 ; i < hits ; i++) { + nr_names = *ptr; + ptr+=3; // skip 2 z values + for(unsigned int j = 0;j < nr_names ; j++){ // iterate over all names + names.insert(*ptr); + + ptr++; + } + } + //cout << "number of names " << names.size() << endl; + if (names.empty()) return; + + int index = 0; + set::iterator nit = names.begin(); + // find the respective name + + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { + // iterate over the selected points as in DrawPoints + for ( set::iterator it = selected_points[iterator].begin(); + it != selected_points[iterator].end(); it++) { + if (index == *nit) { // if the current index is the current name + unsel_points.insert(*it); + nit++; + } + if (nit == names.end()) goto Done; // break out of the loop + index++; + } + } + + Done: + + cout << "Erasing " << endl; + for (set::iterator it = unsel_points.begin(); + it != unsel_points.end(); it++) { // iterate to the index as indicated by the name *ptr + for(int iterator = (int)octpts.size()-1; iterator >= 0; iterator--) { // erase for all scans + selected_points[iterator].erase(*it); + } + } + + + cout << "processing done" << endl; + +} + + +//------------------------------------------------------------------ +/** + * This function deals with all our keyboard activities + */ + +void InterfaceFunc(unsigned char key){ + + strncpy(path_file_name, path_filename_edit->get_text(), 1024); + strncpy(pose_file_name, pose_filename_edit->get_text(), 1024); + return; +} + + +void CallBackSpecialFunc(int key , int x, int y) { + //KeyboardFunc(key + 214, false, false, false); + // return; +} + +/** + * Function drawRobotPath + * \brief This functions draws the path where the + * robot has travelled along while taking the scans + */ +void drawRobotPath(int dummy){ + // clear the camera list as we are going to add the cameras + // in the path where the robot travelled. + + // lets loop through the entire frame files to extract the + // total number of places where the robot has taken the scans from + for(unsigned int i = 0; i < MetaMatrix.size(); i++){ + //temp variable + double *temp; + // Now, lets go to the last of each frame file to + // extract the transformation matrix obtained + // after scan matching has been done. + glMultMatrixd(MetaMatrix[i].back()); + + // temp is final transformation matrix + temp = MetaMatrix[i].back(); + + Point campos(temp[12], temp[13] + 100, temp[14]); + + // calculate lookat point + Point lookat(0, 0, 50); + Point up(0, 50, 0); + double tmat[16]; + for (int i =0;i<16;i++) tmat[i] = temp[i]; + lookat.transform(tmat); + lookat.x = lookat.x ; + lookat.y = lookat.y + 100; + lookat.z = lookat.z ; + + up.transform(tmat); + up.x = up.x ; + up.y = up.y + 100; + up.z = up.z ; + + cams.push_back(campos); + lookats.push_back(lookat); + ups.push_back(up); + } + updateCamera(); + + // signal for the update of scene + haveToUpdate = 1; +} + +/** + * Calculates the positions of the interpolated camera path positions on the + * Nurbs path. There will be an equal number of intermediate positions between + * neighboring cameras. + */ +void calcInterpolatedCameras(vector vec1, vector vec2) { + NurbsPath::camRatio.clear(); + double distance = 0.0; + double dx, dy, dz; + for(unsigned int i=0;i vec1, vector vec2) +{ + double distance = 0.0; + double dx, dy, dz; + for(unsigned int i=0;i= 'A' && key <= 'Z') { + keymap[key+ ('a'-'A')] = false; + } + if (key >= 'a' && key <= 'z') { + keymap[key+ ('A'-'a')] = false; + } + + for (unsigned int i = 0; i < 256; i++) { + if (keymap[i]) { + keypressed = true; + return; + } + } + keypressed = false; +} + +void CallBackKeyboardFunc(unsigned char key, int x, int y) { + keymap[key] = true; + keypressed = true; + bool cmd,alt,shift; + cmd = glutGetModifiers() & GLUT_ACTIVE_CTRL; + alt = glutGetModifiers() & GLUT_ACTIVE_ALT; + shift = glutGetModifiers() & GLUT_ACTIVE_SHIFT; + if (cmd) { + key += 96; + } + KeyboardFunc(key, cmd, alt, shift); +} + +void mapColorToValue(int dummy) { + switch (listboxColorVal) { + case 0: + cm->setCurrentType(PointType::USE_HEIGHT); + break; + case 1: + cm->setCurrentType(PointType::USE_REFLECTANCE); + break; + case 2: + cm->setCurrentType(PointType::USE_AMPLITUDE); + break; + case 3: + cm->setCurrentType(PointType::USE_DEVIATION); + break; + case 4: + cm->setCurrentType(PointType::USE_TYPE); + break; + case 5: + cm->setCurrentType(PointType::USE_COLOR); + break; + default: + break; + }; + resetMinMax(0); +} + +void changeColorMap(int dummy) { + ColorMap c; + GreyMap gm; + HSVMap hsv; + SHSVMap shsv; + JetMap jm; + HotMap hot; + DiffMap diff; + + switch (listboxColorMapVal) { + case 0: + // TODO implement no color map + cm->setColorMap(c); + break; + case 1: + cm->setColorMap(gm); + break; + case 2: + cm->setColorMap(hsv); + break; + case 3: + cm->setColorMap(jm); + break; + case 4: + cm->setColorMap(hot); + break; + case 5: + cm->setColorMap(diff); + break; + case 6: + cm->setColorMap(shsv); + break; + default: + break; + } +} + +void minmaxChanged(int dummy) { + cm->setMinMax(mincolor_value, maxcolor_value); +} + +void resetMinMax(int dummy) { + mincolor_value = cm->getMin(); + maxcolor_value = cm->getMax(); + minmaxChanged(0); +} + +void setScansColored(int dummy) { + switch(colorScanVal) { + case 0: + cm->setMode(ScanColorManager::MODE_STATIC); + break; + case 1: + cm->setMode(ScanColorManager::MODE_COLOR_SCAN); + break; + case 2: + cm->setMode(ScanColorManager::MODE_POINT_COLOR); + break; + default: + break; + } +} + + +void changePointMode(int dummy) { + if (dummy == 0) { // always display + if (pointmode != 1) { // standard mode + pointmode = 1; + //never_box->set_int_val(0); + } else { + pointmode = 0; + } + } else if (dummy == 1) { // never display + if (pointmode != -1) { // standard mode + pointmode = -1; + //always_box->set_int_val(0); + } else { + pointmode = 0; + } + } + updatePointModeControls(); +} + + +void callCameraUpdate(int dummy) { + updateCamera(); +} + +void calcPointSequence(vector &sequence, int frameNr) { + sequence.clear(); + vector > dists; + double x,y,z; + + for (unsigned int i = 0; i < octpts.size(); i++) { + // stop at scans that don't have any frames associated with them + if(i >= MetaMatrix.size()) break; + // set usable frame + double* frame; + if((unsigned int)frameNr >= MetaMatrix[i].size()) { + // use last possible frame + frame = MetaMatrix[i].back(); + } else { + frame = MetaMatrix[i][frameNr]; + } + x = frame[12]; + y = frame[13]; + z = frame[14]; + dists.push_back( pair(sqr(X + x) + sqr(Y + y) + sqr(Z + z), i) ); + } + + sort( dists.begin(), dists.end()); + + for (unsigned int i = 0; i < dists.size(); i++) { + sequence.push_back( dists[i].second); + } +} diff --git a/src/show/show_menu.cc b/src/show/show_menu.cc new file mode 100644 index 0000000..d339451 --- /dev/null +++ b/src/show/show_menu.cc @@ -0,0 +1,451 @@ +/* + * show_menu implementation + * + * Copyright (C) Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Functions for the menu panels of the viewer software + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ +#include "show/colormanager.h" + +// GUI variables + +GLUI *glui1, ///< pointer to the glui window(s) + *glui2; ///< pointer to the glui window(s) + +/** GLUI spinner for the fog */ +GLUI_Spinner *fog_spinner; + +/** GLUI spinner for the point size */ +GLUI_Spinner *ps_spinner; + +/** GLUI spinner for the current angle */ +GLUI_Spinner *cangle_spinner; +/** GLUI spinner for the current angle */ +GLUI_Spinner *pzoom_spinner; +/** GLUI spinner for the factor for the image size */ +GLUI_Spinner *image_spinner; +/** GLUI_Spinner for the depth to select groups of points */ +GLUI_Spinner *depth_spinner; +GLUI_Spinner *brushsize_spinner; +GLUI_Spinner *frame_spinner; +GLUI_Spinner *fps_spinner; +GLUI_Spinner *farplane_spinner; +GLUI_Spinner *nearplane_spinner; +GLUI_Spinner *lod_spinner; + +int window_id_menu1, ///< menue window ids + window_id_menu2; ///< menue window ids + +/** User IDs for callbacks */ +#define BOX_ID 201 +/** User IDs for callbacks */ +#define ENABLE_ID 300 +/** User IDs for callbacks */ +#define DISABLE_ID 301 +/** User IDs for callbacks */ +#define SHOW_ID 302 +/** User IDs for callbacks */ +#define HIDE_ID 303 + +/** Pointer to the panels */ +GLUI_Panel *ground_panel; +/** Pointer to the panels */ +GLUI_Panel *points_panel; +/** Pointer to the panels */ +GLUI_Panel *wireframe_panel; +/** Pointer to the panels */ +GLUI_Panel *path_panel; +/** Pointer to the panels */ +GLUI_Panel *pose_panel; +/** Pointer to the panels */ +GLUI_Panel *selection_panel; +/** Pointer to the panels */ +GLUI_Panel *color_panel; +/** Pointer to the panels */ +GLUI_Panel *camera_panel; +/** Pointer to the panels */ +GLUI_Panel *nav_panel; +/** Pointer to the panels */ +GLUI_Panel *mode_panel; +/** Pointer to the panels */ +GLUI_Panel *settings_panel; +/** Pointer to the panels */ +GLUI_Panel *advanced_panel; +/** Pointer to the button */ +GLUI_Button *button1; +/** Pointer to the edit text box*/ +GLUI_EditText *path_filename_edit; +/** Pointer to the edit text box*/ +GLUI_EditText *pose_filename_edit; +/** Pointer to the edit text box*/ +GLUI_EditText *selection_filename_edit; + +/** Pointer to the rotation button */ +GLUI_Rotation *rotButton; + +/** used for GLUI menue */ +float obj_pos_button[3]; +/** used for GLUI menue */ +GLfloat view_rotate_button[16]; +/** used for GLUI menue */ +GLfloat obj_pos_button_old[3]; + +/** used for GLUI menue */ +GLfloat X_button; +/** used for GLUI menue */ +GLfloat Y_button; +/** used for GLUI menue */ +GLfloat Z_button; +/** GLUI spinner for choosing the camera */ +GLUI_Spinner *cam_spinner; +/** GLUI spinner for choosing the animation delay */ +GLUI_Spinner *anim_spinner; +/** Panel for the camera controls **/ +GLUI_Panel *cam_panel; +/** ListBox for choosing which value to map to a color */ +GLUI_Listbox *value_listbox; +/** ListBox for choosing which color map to use */ +GLUI_Listbox *colormap_listbox; +GLUI_Spinner *mincol_spinner; +GLUI_Spinner *maxcol_spinner; + +/** Checkboxes for changing point display mode **/ +GLUI_Checkbox *always_box; +GLUI_Checkbox *never_box; +/** Checkbox for changing interpolation mode **/ +GLUI_Checkbox *interpol_box; + +/** + * Generate the menu for the application. + * It consists of control and selection menus. + */ +void newMenu() +{ + /*** Create the bottom subwindow ***/ + glui2 = GLUI_Master.create_glui("3D_Viewer - Controls"); + window_id_menu2 = glui2->get_glut_window_id(); + glutSetWindow(window_id_menu2); + + glutPositionWindow(START_X, START_Y + START_HEIGHT + 65); + glutSetWindow(window_id); + glui2->set_main_gfx_window( window_id ); + + settings_panel = glui2->add_panel("Settings: "); + + cangle_spinner = glui2->add_spinner_to_panel(settings_panel, "Apex Angle : ", GLUI_SPINNER_FLOAT, &cangle); + cangle_spinner->set_float_limits( 1.0, 180.0 ); + cangle_spinner->set_speed( 20.0 ); + cangle_spinner->set_float_val(60.0); + cangle_spinner->set_alignment( GLUI_ALIGN_RIGHT ); + + pzoom_spinner = glui2->add_spinner_to_panel(settings_panel, "Parallel Zoom :", GLUI_SPINNER_FLOAT, &pzoom); + pzoom_spinner->set_float_limits( 10.0, 50000.0 ); + pzoom_spinner->set_speed( 5.0 ); + pzoom_spinner->set_float_val(2000.0); + pzoom_spinner->set_alignment( GLUI_ALIGN_RIGHT ); + pzoom_spinner->disable(); + + glui2->add_column( true ); + + mode_panel = glui2->add_panel("Mode: "); + + /****** Top view *****/ + glui2->add_button_to_panel(mode_panel, "Top view", 0, callTopView )->set_alignment( GLUI_ALIGN_CENTER ); + + + /****** Reset button *****/ + glui2->add_button_to_panel(mode_panel, "Reset position", 0, resetView )->set_alignment( GLUI_ALIGN_CENTER ); + glui2->add_column( true ); + + /****** Add Camera View *****/ + + + camera_panel = glui2->add_panel("Camera: "); + cam_spinner = glui2->add_spinner_to_panel(camera_panel, "Choose Camera", GLUI_SPINNER_INT, &cam_choice); + cam_spinner->set_int_limits( 0, 0 ); + cam_spinner->set_speed( 1 ); + cam_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + glui2->add_button_to_panel(camera_panel, "Add Camera", 1, callAddCamera )->set_alignment( GLUI_ALIGN_CENTER ); + glui2->add_button_to_panel(camera_panel, "Delete Camera", 0, callDeleteCamera )->set_alignment( GLUI_ALIGN_CENTER ); + + /******* Other navigation controls**********/ + glui2->add_column(true); + + nav_panel = glui2->add_panel("Navigation: "); + rotButton = glui2->add_rotation_to_panel(nav_panel, "Rotation", view_rotate_button, -1, update_view_rotate); + + glui2->add_column_to_panel(nav_panel, true ); + glui2->add_translation_to_panel(nav_panel, "Move XY", GLUI_TRANSLATION_XY, + obj_pos_button, -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move X", GLUI_TRANSLATION_X, + &obj_pos_button[0], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move Y", GLUI_TRANSLATION_Y, + &obj_pos_button[1], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false ); + glui2->add_translation_to_panel(nav_panel, "Move Z", GLUI_TRANSLATION_Z, + &obj_pos_button[2], -1, update_view_translation); + + glui2->add_column_to_panel(nav_panel, false); + glui2->add_checkbox_to_panel(nav_panel, "MouseNav", &cameraNavMouseMode ); + + static int dummy4; + always_box = glui2->add_checkbox_to_panel(nav_panel, "Always all Points", &dummy4, 0, &changePointMode); + glui2->set_glutMouseFunc(CallBackMouseFuncMoving); + static int dummy5 = 1; + never_box = glui2->add_checkbox_to_panel(nav_panel, "Always reduce Points", &dummy5, 1, &changePointMode ); + + /*** Create the right subwindow ***/ + glui1 = GLUI_Master.create_glui("3D_Viewer - Selection"); + window_id_menu1 = glui1->get_glut_window_id(); + glutSetWindow(window_id_menu1); + glutPositionWindow(START_X + START_WIDTH + 50, START_Y + 30); + glutSetWindow(window_id); + glui1->set_main_gfx_window( window_id ); + + glui1->add_checkbox( "Draw Points", &show_points ); + glui1->add_checkbox( "Draw Camera", &show_cameras); + glui1->add_checkbox( "Draw Path", &show_path); + ps_spinner = glui1->add_spinner( "Point Size:", GLUI_SPINNER_FLOAT, &pointsize); + ps_spinner->set_float_limits( 0.0000001, 10.0 ); + ps_spinner->set_speed( 25.0 ); + ps_spinner->set_float_val(pointsize); + ps_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + + /**** Fog Panel *****/ + + GLUI_Panel *fogt_panel = glui1->add_rollout("Fog :", false ); + fogt_panel ->set_alignment( GLUI_ALIGN_LEFT ); + GLUI_RadioGroup *fogt = glui1-> add_radiogroup_to_panel( fogt_panel, &show_fog ); + glui1->add_radiobutton_to_group( fogt, "No Fog" ); + glui1->add_radiobutton_to_group( fogt, "Fog Exp" ); + glui1->add_radiobutton_to_group( fogt, "Fog Exp2" ); + glui1->add_radiobutton_to_group( fogt, "Fog Linear" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Exp" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Exp2" ); + glui1->add_radiobutton_to_group( fogt, "inverted Fog Linear" ); + + + + + fog_spinner = glui1->add_spinner( "Fog Density:", GLUI_SPINNER_FLOAT, &fogDensity); + fog_spinner->set_float_limits( 0.0, 1.0 ); + fog_spinner->set_speed( 0.5 ); + fog_spinner->set_float_val(0.001); + fog_spinner->set_alignment( GLUI_ALIGN_LEFT ); + + + /****** Color Controls *****/ + color_panel = glui1->add_rollout("Color :", false ); + color_panel ->set_alignment( GLUI_ALIGN_LEFT ); + + GLUI_Panel *color_ro = glui1->add_rollout_to_panel(color_panel, "Color values:", false); + color_ro->set_alignment(GLUI_ALIGN_LEFT); + + GLUI_RadioGroup *color_rog = glui1->add_radiogroup_to_panel( color_ro, &listboxColorVal, 0, &mapColorToValue ); + glui1->add_radiobutton_to_group( color_rog, "height"); + GLUI_RadioButton *rbrefl = glui1->add_radiobutton_to_group( color_rog, "reflectance"); + GLUI_RadioButton *rbampl = glui1->add_radiobutton_to_group( color_rog, "amplitude"); + GLUI_RadioButton *rbdevi = glui1->add_radiobutton_to_group( color_rog, "deviation"); + GLUI_RadioButton *rbtype = glui1->add_radiobutton_to_group( color_rog, "type"); + //if (!(types & PointType::USE_REFLECTANCE)) rbrefl->disable(); + //if (!(types & PointType::USE_AMPLITUDE)) rbampl->disable(); + //if (!(types & PointType::USE_DEVIATION)) rbdevi->disable(); + //if (!(types & PointType::USE_TYPE)) rbtype->disable(); + if (!(pointtype.hasReflectance())) rbrefl->disable(); + if (!(pointtype.hasAmplitude())) rbampl->disable(); + if (!(pointtype.hasDeviation())) rbdevi->disable(); + if (!(pointtype.hasType())) rbtype->disable(); + + GLUI_Panel *colorm_ro = glui1->add_rollout_to_panel(color_panel, "Colormap:", false); + colorm_ro->set_alignment(GLUI_ALIGN_LEFT); + + GLUI_RadioGroup *colorm_rog = glui1->add_radiogroup_to_panel(colorm_ro, &listboxColorMapVal, 0, &changeColorMap); + glui1->add_radiobutton_to_group(colorm_rog, "Solid"); + glui1->add_radiobutton_to_group(colorm_rog, "Grey"); + glui1->add_radiobutton_to_group(colorm_rog, "HSV"); + glui1->add_radiobutton_to_group(colorm_rog, "Jet"); + glui1->add_radiobutton_to_group(colorm_rog, "Hot"); + glui1->add_radiobutton_to_group(colorm_rog, "Rand"); + glui1->add_radiobutton_to_group(colorm_rog, "SHSV"); + + GLUI_Panel *scans_color = glui1->add_rollout_to_panel(color_panel, "Color type:", false); + scans_color->set_alignment(GLUI_ALIGN_LEFT); + GLUI_RadioGroup *scans_colored = glui1->add_radiogroup_to_panel(scans_color, &colorScanVal, 0, &setScansColored); + glui1->add_radiobutton_to_group(scans_colored, "None"); + glui1->add_radiobutton_to_group(scans_colored, "Id Scans by Color"); + GLUI_RadioButton *colorb = glui1->add_radiobutton_to_group( scans_colored, "Color by Points"); + if (!(pointtype.hasColor())) colorb->disable(); + + mincol_spinner = glui1->add_spinner_to_panel(color_panel, "Min Val:", GLUI_SPINNER_FLOAT, &mincolor_value, 0, &minmaxChanged); + mincol_spinner->set_alignment(GLUI_ALIGN_RIGHT); + maxcol_spinner = glui1->add_spinner_to_panel(color_panel, "Max Val:", GLUI_SPINNER_FLOAT, &maxcolor_value, 0, &minmaxChanged); + maxcol_spinner->set_alignment(GLUI_ALIGN_RIGHT); + glui1->add_button_to_panel(color_panel, "Reset Min/Max", 0, &resetMinMax )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->add_separator(); + + /****** Invert button *****/ + glui1->add_button( "Invert", 0, invertView )->set_alignment( GLUI_ALIGN_CENTER ); + /****** Animate button *****/ + anim_spinner = glui1->add_spinner( "Anim delay:", GLUI_SPINNER_INT, &anim_delay); + anim_spinner->set_int_limits( 0, 100 ); + anim_spinner->set_speed( 1 ); + glui1->add_button( "Animate", 0, startAnimation )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->add_separator(); + + +/**** Path panel *******/ + + path_panel = glui1->add_rollout("Camera Path :", false ); + path_panel ->set_alignment( GLUI_ALIGN_LEFT ); + path_filename_edit = glui1->add_edittext_to_panel(path_panel,"File: ",GLUI_EDITTEXT_TEXT, path_file_name); + path_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(path_panel, "Save Path ", 0, savePath)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(path_panel, "Load Path ", 0, loadPath)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(path_panel, "Load Robot P.", 0, drawRobotPath )->set_alignment( GLUI_ALIGN_CENTER ); + glui1->add_separator_to_panel(path_panel); + glui1->add_checkbox_to_panel(path_panel, "Save Animation", &save_animation); + interpol_box = glui1->add_checkbox_to_panel(path_panel, "Interpolate by Distance", &inter_by_dist, -1, &callCameraUpdate); + //always_box = glui2->add_checkbox_to_panel(nav_panel, "Always all Points", &dummy4, 0, &changePointMode); + //glui1->add_checkbox_to_panel(path_panel, "Interpolate by Distance", &inter_by_dist); + glui1->add_button_to_panel(path_panel, "Animate Path", 0, pathAnimate)->set_alignment( GLUI_ALIGN_CENTER); + + /**** Position panel *******/ + + pose_panel = glui1->add_rollout("Position :", false ); + pose_panel ->set_alignment( GLUI_ALIGN_LEFT ); + pose_filename_edit = glui1->add_edittext_to_panel(pose_panel,"File: ",GLUI_EDITTEXT_TEXT, pose_file_name); + pose_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(pose_panel, "Save Pose ", 0, savePose)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_button_to_panel(pose_panel, "Load Pose ", 0, loadPose)->set_alignment( GLUI_ALIGN_CENTER); + image_spinner = glui1->add_spinner_to_panel(pose_panel, "Factor : ", +GLUI_SPINNER_INT, &factor); + image_spinner->set_int_limits( 1, 10 ); + image_spinner->set_speed( 1 ); + image_spinner->set_alignment(GLUI_ALIGN_RIGHT); + glui1->add_button_to_panel(pose_panel, "Save Image ", 0, saveImage)->set_alignment( GLUI_ALIGN_CENTER); + + + glui1->add_separator(); + + /**** Selection panel ******/ + selection_panel = glui1->add_rollout("Selection :", false ); + selection_panel ->set_alignment( GLUI_ALIGN_LEFT ); + + selection_filename_edit = glui1->add_edittext_to_panel(selection_panel,"File: ",GLUI_EDITTEXT_TEXT, selection_file_name); + selection_filename_edit->set_alignment( GLUI_ALIGN_LEFT ); + glui1->add_button_to_panel(selection_panel, "Save selected points ", 0, saveSelection)->set_alignment( GLUI_ALIGN_CENTER); + + glui1->add_button_to_panel(selection_panel, "Clear selected points ", 0, clearSelection)->set_alignment( GLUI_ALIGN_CENTER); + glui1->add_checkbox_to_panel(selection_panel, "Select/Unselect", &selectOrunselect); + glui1->add_checkbox_to_panel(selection_panel, "Select Voxels", &select_voxels); + depth_spinner = glui1->add_spinner_to_panel(selection_panel, "Depth : ", + GLUI_SPINNER_INT, &selection_depth); + depth_spinner->set_int_limits( 1, 100 ); + depth_spinner->set_speed( 1 ); + depth_spinner->set_alignment(GLUI_ALIGN_RIGHT); + brushsize_spinner = glui1->add_spinner_to_panel(selection_panel, "Brushsize : ", + GLUI_SPINNER_INT, &brush_size); + brushsize_spinner->set_int_limits( 0, 100 ); + brushsize_spinner->set_speed( 1 ); + brushsize_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + + glui1->add_separator(); + /**** Advanced panel ******/ + if (advanced_controls) { + advanced_panel = glui1->add_rollout("Advanced :", false ); + advanced_panel->set_alignment( GLUI_ALIGN_LEFT ); + + // glui1->add_edittext_to_panel(advanced_panel,"Frame #: ",GLUI_EDITTEXT_TEXT, current_frame)->set_alignment( GLUI_ALIGN_LEFT ); + frame_spinner = glui1->add_spinner_to_panel(advanced_panel, "Frame #: ", + GLUI_SPINNER_INT, ¤t_frame); + frame_spinner->set_int_limits( 0, MetaMatrix[0].size()-1 ); + frame_spinner->set_speed( 10 ); + frame_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + fps_spinner = glui1->add_spinner_to_panel(advanced_panel, "FPS : ", + GLUI_SPINNER_FLOAT, &idealfps); + fps_spinner->set_int_limits( 0, 100 ); + fps_spinner->set_speed( 1 ); + fps_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + farplane_spinner = glui1->add_spinner_to_panel(advanced_panel, "farplane : ", + GLUI_SPINNER_FLOAT, &maxfardistance); + farplane_spinner->set_float_limits( 1, 100000 ); + farplane_spinner->set_speed( 1 ); + farplane_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + nearplane_spinner = glui1->add_spinner_to_panel(advanced_panel, "nearplane : ", + GLUI_SPINNER_FLOAT, &neardistance); + nearplane_spinner->set_int_limits( 1, 100000 ); + nearplane_spinner->set_speed( 1 ); + nearplane_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + glui1->add_button_to_panel(advanced_panel, "Cycle LOD", 0,(GLUI_Update_CB)cycleLOD )->set_alignment( GLUI_ALIGN_CENTER ); + + lod_spinner = glui1->add_spinner_to_panel(advanced_panel, "lod speed : ", + GLUI_SPINNER_FLOAT, &adaption_rate); + lod_spinner->set_float_limits( 0, 3.0 ); + lod_spinner->set_speed( 0.1 ); + lod_spinner->set_alignment(GLUI_ALIGN_RIGHT); + + glui1->add_separator(); + } + + /****** A 'quit' button *****/ + glui1->add_button( "Quit", 0,(GLUI_Update_CB)exit )->set_alignment( GLUI_ALIGN_CENTER ); + + glui1->set_glutMouseFunc(CallBackMouseFuncMoving); + /**** Link windows to GLUI, and register idle callback ******/ + glutSetWindow(window_id); + glui1->set_main_gfx_window( window_id ); // right + glui2->set_main_gfx_window( window_id ); // bottom + glui1->sync_live(); + glui2->sync_live(); + + // cout << "Called : myNewMenu()...."<= 0; iterator--) + selected_points[iterator].clear(); +} + diff --git a/src/show/vertexarray.cc b/src/show/vertexarray.cc new file mode 100644 index 0000000..5d005c7 --- /dev/null +++ b/src/show/vertexarray.cc @@ -0,0 +1,25 @@ +/* + * vertexArray implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "show/vertexarray.h" + +GLuint vertexArray::nameCounter = 0; + +vertexArray::vertexArray(int _numPointsToRender) : + numPointsToRender(_numPointsToRender) +{ + array = new GLfloat[numPointsToRender * 3]; + nameCounter++; + name = nameCounter; +} + +vertexArray::~vertexArray() +{ + delete [] array; +} diff --git a/src/show/viewcull.cc b/src/show/viewcull.cc new file mode 100644 index 0000000..bda709e --- /dev/null +++ b/src/show/viewcull.cc @@ -0,0 +1,839 @@ +/* + * viewcull implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Frustrum culling routines + * + * @author Jan Elseberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#include "show/viewcull.h" +#include +#include +#include + +#include +#include +#include "slam6d/globals.icc" + +/** The 6 planes of the viewing frustum */ +float frustum[6][4]; + +/** the modelview * projection matrix to map a model point to an onscreen coordinate */ +float matrix[16]; +/** some useful variables for faster calculation of the pixel coordinates */ +short VP[4]; +/** a unit vector pointing to the right of the screen */ +float right[3]; +/** how much detail is shown, 0 means everything is plotted */ +short DETAIL; + +double SX, SY, SZ, EX, EY, EZ; +float origin[3], dir[3]; /*ray */ +float dist; +int rayX,rayY; +float rayVP[4]; + +void calcRay(int x, int y, double znear, double zfar) { + + GLdouble modelMatrix[16]; + GLdouble projMatrix[16]; + int viewport[4]; + glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix); + glGetDoublev(GL_PROJECTION_MATRIX,projMatrix); + glGetIntegerv(GL_VIEWPORT,viewport); + + gluUnProject(x, viewport[3]-y, zfar, modelMatrix, projMatrix, viewport, &SX, &SY, &SZ); + gluUnProject(x, viewport[3]-y, znear, modelMatrix, projMatrix, viewport, &EX, &EY, &EZ); + + origin[0] = SX; + origin[1] = SY; + origin[2] = SZ; + dir[0] = EX-SX; + dir[1] = EY-SY; + dir[2] = EZ-SZ; + double t = sqrt( dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2] ); + dir[0] /= t; + dir[1] /= t; + dir[2] /= t; + + dist = SX * dir[0] + SY * dir[1] + SZ * dir[2]; + rayVP[0] = 0.5*viewport[2]; + rayVP[1] = 0.5*viewport[2] + viewport[0]; + + rayVP[2] = 0.5*viewport[3]; + rayVP[3] = 0.5*viewport[3] + viewport[1]; + rayX = x; + rayY = viewport[3]-y; + + remViewport(); +} + +void remViewport() { + GLdouble modelMatrix[16]; + GLdouble projMatrix[16]; + int viewport[4]; + glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix); + glGetDoublev(GL_PROJECTION_MATRIX,projMatrix); + glGetIntegerv(GL_VIEWPORT,viewport); + + MMult( projMatrix, modelMatrix, matrix ); + VP[0] = 0.5*viewport[2]; + VP[1] = 0.5*viewport[2] + viewport[0]; + + VP[2] = 0.5*viewport[3]; + VP[3] = 0.5*viewport[3] + viewport[1]; + + right[0] = modelMatrix[0]; + right[1] = modelMatrix[4]; + right[2] = modelMatrix[8]; +} + +void ExtractFrustum(short detail) +{ + DETAIL = detail + 1; + remViewport(); + + float proj[16]; + float modl[16]; + float clip[16]; + float t; + + /* Get the current PROJECTION matrix from OpenGL */ + glGetFloatv( GL_PROJECTION_MATRIX, proj ); + + /* Get the current MODELVIEW matrix from OpenGL */ + glGetFloatv( GL_MODELVIEW_MATRIX, modl ); + + /* Combine the two matrices (multiply projection by modelview) */ + clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12]; + clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13]; + clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14]; + clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15]; + + clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12]; + clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13]; + clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14]; + clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15]; + + clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12]; + clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13]; + clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14]; + clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15]; + + clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12]; + clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13]; + clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14]; + clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15]; + + /* Extract the numbers for the RIGHT plane */ + frustum[0][0] = clip[ 3] - clip[ 0]; + frustum[0][1] = clip[ 7] - clip[ 4]; + frustum[0][2] = clip[11] - clip[ 8]; + frustum[0][3] = clip[15] - clip[12]; + + /* Normalize the result */ + t = sqrt( frustum[0][0] * frustum[0][0] + frustum[0][1] * frustum[0][1] + frustum[0][2] * frustum[0][2] ); + frustum[0][0] /= t; + frustum[0][1] /= t; + frustum[0][2] /= t; + frustum[0][3] /= t; + + /* Extract the numbers for the LEFT plane */ + frustum[1][0] = clip[ 3] + clip[ 0]; + frustum[1][1] = clip[ 7] + clip[ 4]; + frustum[1][2] = clip[11] + clip[ 8]; + frustum[1][3] = clip[15] + clip[12]; + + /* Normalize the result */ + t = sqrt( frustum[1][0] * frustum[1][0] + frustum[1][1] * frustum[1][1] + frustum[1][2] * frustum[1][2] ); + frustum[1][0] /= t; + frustum[1][1] /= t; + frustum[1][2] /= t; + frustum[1][3] /= t; + + /* Extract the BOTTOM plane */ + frustum[2][0] = clip[ 3] + clip[ 1]; + frustum[2][1] = clip[ 7] + clip[ 5]; + frustum[2][2] = clip[11] + clip[ 9]; + frustum[2][3] = clip[15] + clip[13]; + + /* Normalize the result */ + t = sqrt( frustum[2][0] * frustum[2][0] + frustum[2][1] * frustum[2][1] + frustum[2][2] * frustum[2][2] ); + frustum[2][0] /= t; + frustum[2][1] /= t; + frustum[2][2] /= t; + frustum[2][3] /= t; + + /* Extract the TOP plane */ + frustum[3][0] = clip[ 3] - clip[ 1]; + frustum[3][1] = clip[ 7] - clip[ 5]; + frustum[3][2] = clip[11] - clip[ 9]; + frustum[3][3] = clip[15] - clip[13]; + + /* Normalize the result */ + t = sqrt( frustum[3][0] * frustum[3][0] + frustum[3][1] * frustum[3][1] + frustum[3][2] * frustum[3][2] ); + frustum[3][0] /= t; + frustum[3][1] /= t; + frustum[3][2] /= t; + frustum[3][3] /= t; + + /* Extract the FAR plane */ + frustum[4][0] = clip[ 3] - clip[ 2]; + frustum[4][1] = clip[ 7] - clip[ 6]; + frustum[4][2] = clip[11] - clip[10]; + frustum[4][3] = clip[15] - clip[14]; + + /* Normalize the result */ + t = sqrt( frustum[4][0] * frustum[4][0] + frustum[4][1] * frustum[4][1] + frustum[4][2] * frustum[4][2] ); + frustum[4][0] /= t; + frustum[4][1] /= t; + frustum[4][2] /= t; + frustum[4][3] /= t; + + /* Extract the NEAR plane */ + frustum[5][0] = clip[ 3] + clip[ 2]; + frustum[5][1] = clip[ 7] + clip[ 6]; + frustum[5][2] = clip[11] + clip[10]; + frustum[5][3] = clip[15] + clip[14]; + + /* Normalize the result */ + t = sqrt( frustum[5][0] * frustum[5][0] + frustum[5][1] * frustum[5][1] + frustum[5][2] * frustum[5][2] ); + frustum[5][0] /= t; + frustum[5][1] /= t; + frustum[5][2] /= t; + frustum[5][3] /= t; + +} + + +void ExtractFrustum(float *frust[6]) +{ + remViewport(); + + float proj[16]; + float modl[16]; + float clip[16]; + float t; + + /* Get the current PROJECTION matrix from OpenGL */ + glGetFloatv( GL_PROJECTION_MATRIX, proj ); + + /* Get the current MODELVIEW matrix from OpenGL */ + glGetFloatv( GL_MODELVIEW_MATRIX, modl ); + + /* Combine the two matrices (multiply projection by modelview) */ + clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12]; + clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13]; + clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14]; + clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15]; + + clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12]; + clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13]; + clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14]; + clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15]; + + clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12]; + clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13]; + clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14]; + clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15]; + + clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12]; + clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13]; + clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14]; + clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15]; + + /* Extract the numbers for the RIGHT plane */ + frust[0][0] = clip[ 3] - clip[ 0]; + frust[0][1] = clip[ 7] - clip[ 4]; + frust[0][2] = clip[11] - clip[ 8]; + frust[0][3] = clip[15] - clip[12]; + + /* Normalize the result */ + t = sqrt( frust[0][0] * frust[0][0] + frust[0][1] * frust[0][1] + frust[0][2] * frust[0][2] ); + frust[0][0] /= t; + frust[0][1] /= t; + frust[0][2] /= t; + frust[0][3] /= t; + + /* Extract the numbers for the LEFT plane */ + frust[1][0] = clip[ 3] + clip[ 0]; + frust[1][1] = clip[ 7] + clip[ 4]; + frust[1][2] = clip[11] + clip[ 8]; + frust[1][3] = clip[15] + clip[12]; + + /* Normalize the result */ + t = sqrt( frust[1][0] * frust[1][0] + frust[1][1] * frust[1][1] + frust[1][2] * frust[1][2] ); + frust[1][0] /= t; + frust[1][1] /= t; + frust[1][2] /= t; + frust[1][3] /= t; + + /* Extract the BOTTOM plane */ + frust[2][0] = clip[ 3] + clip[ 1]; + frust[2][1] = clip[ 7] + clip[ 5]; + frust[2][2] = clip[11] + clip[ 9]; + frust[2][3] = clip[15] + clip[13]; + + /* Normalize the result */ + t = sqrt( frust[2][0] * frust[2][0] + frust[2][1] * frust[2][1] + frust[2][2] * frust[2][2] ); + frust[2][0] /= t; + frust[2][1] /= t; + frust[2][2] /= t; + frust[2][3] /= t; + + /* Extract the TOP plane */ + frust[3][0] = clip[ 3] - clip[ 1]; + frust[3][1] = clip[ 7] - clip[ 5]; + frust[3][2] = clip[11] - clip[ 9]; + frust[3][3] = clip[15] - clip[13]; + + /* Normalize the result */ + t = sqrt( frust[3][0] * frust[3][0] + frust[3][1] * frust[3][1] + frust[3][2] * frust[3][2] ); + frust[3][0] /= t; + frust[3][1] /= t; + frust[3][2] /= t; + frust[3][3] /= t; + + /* Extract the FAR plane */ + frust[4][0] = clip[ 3] - clip[ 2]; + frust[4][1] = clip[ 7] - clip[ 6]; + frust[4][2] = clip[11] - clip[10]; + frust[4][3] = clip[15] - clip[14]; + + /* Normalize the result */ + t = sqrt( frust[4][0] * frust[4][0] + frust[4][1] * frust[4][1] + frust[4][2] * frust[4][2] ); + frust[4][0] /= t; + frust[4][1] /= t; + frust[4][2] /= t; + frust[4][3] /= t; + + /* Extract the NEAR plane */ + frust[5][0] = clip[ 3] + clip[ 2]; + frust[5][1] = clip[ 7] + clip[ 6]; + frust[5][2] = clip[11] + clip[10]; + frust[5][3] = clip[15] + clip[14]; + + /* Normalize the result */ + t = sqrt( frust[5][0] * frust[5][0] + frust[5][1] * frust[5][1] + frust[5][2] * frust[5][2] ); + frust[5][0] /= t; + frust[5][1] /= t; + frust[5][2] /= t; + frust[5][3] /= t; + +} + + + +void myProject(float x, float y, float z, short &Xi ) { + float pn[2]; + // x coordinate on screen, not normalized + pn[0] = x * matrix[0] + y * matrix[4] + z * matrix[8] + matrix[12]; + // normalization + pn[1] = x * matrix[3] + y * matrix[7] + z * matrix[11] + matrix[15]; + + // normalized x coordinate on screen + pn[0] /= pn[1]; + + // true x coordinate in viewport coordinate system + Xi = pn[0]*VP[0] + VP[1]; +} + +int LOD2(float x, float y, float z, float size) +{ + size = sqrt(3*size*size); + + short X1; + short X2; + + // onscreen position of the leftmost point + myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1); + // onscreen position of the rightmost point + myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2); + + if (X1 > X2) { + return (X1-X2); + } else { + return (X2-X1); + } +} + +bool LOD(float x, float y, float z, float size) +{ + size = sqrt(3*size*size); + + short X1; + short X2; + + // onscreen position of the leftmost point + myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1); + // onscreen position of the rightmost point + myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2); + + if (X1 > X2) { + return (X1-X2) > DETAIL; + } else { + return (X2-X1) > DETAIL; + } +} + + +/** + * 0 if not in frustrum + * 1 if partial overlap + * 2 if entirely within frustrum + */ +int CubeInFrustum2( float x, float y, float z, float size ) +{ + int p; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fym + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxm + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxp + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + return 0; + } + + // box is in frustrum, now check wether all corners are within. + // If one is outside return 1 otherwise 2 + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] < 0 ) + return 1; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] < 0 ) + return 1; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] < 0 ) + return 1; + + if( Fxp + Fyp + Fzm + frustum[p][3] < 0 ) + return 1; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] < 0 ) + return 1; + + if( Fxp + Fym + Fzp + frustum[p][3] < 0 ) + return 1; + if( Fxm + Fyp + Fzp + frustum[p][3] < 0 ) + return 1; + if( Fxp + Fyp + Fzp + frustum[p][3] < 0 ) + return 1; + } + return 2; + +} + +/* +char PlaneAABB( float x, float y, float z, float size, float *plane ) +{ + float dist = plane[3]; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + + float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + { + Fxm = plane[0] * xm; + Fym = plane[1] * ym; + Fzm = plane[2] * zm; + dmmm = Fxm + Fym + Fzm + dist; + if( dmmm > 0 ) + goto intersects; + + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm > 0 ) + goto intersects; + + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm > 0 ) + goto intersects; + + dppm = Fxp + Fyp + Fzm + dist; + if( dppm > 0 ) + goto intersects; + + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp > 0 ) + goto intersects; + + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp > 0 ) + goto intersects; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp > 0 ) + goto intersects; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp > 0 ) + goto intersects; + return 0; // outside + } + + intersects: + + // cube is inside, determine if plane intersects the cube + { + if( dmmm < 0 ) + return 1; + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + } + + // plane is outside + return 2; + +} +*/ +char PlaneAABB( float x, float y, float z, float size, float *plane ) +{ + float dist = plane[3]; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + + float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + Fxm = plane[0] * xm; + Fym = plane[1] * ym; + Fzm = plane[2] * zm; + dmmm = Fxm + Fym + Fzm + dist; + if( dmmm > 0 ) + { + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fxp = plane[0] * xp; + dpmm = Fxp + Fym + Fzm + dist; + if( dpmm > 0 ) + { + if( dmmm < 0 ) + return 1; + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fyp = plane[1] * yp; + dmpm = Fxm + Fyp + Fzm + dist; + if( dmpm > 0 ) + { + if( dmmm < 0 || dpmm < 0 ) + return 1; + dppm = Fxp + Fyp + Fzm + dist; + if( dppm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + dppm = Fxp + Fyp + Fzm + dist; + if( dppm > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 ) + return 1; + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + Fzp = plane[2] * zp; + dmmp = Fxm + Fym + Fzp + dist; + if( dmmp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 ) + return 1; + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + + dpmp = Fxp + Fym + Fzp + dist; + if( dpmp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 ) + return 1; + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + dmpp = Fxm + Fyp + Fzp + dist; + if( dmpp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 ) + return 1; + dppp = Fxp + Fyp + Fzp + dist; + if( dppp < 0 ) + return 1; + return 2; + } + dppp = Fxp + Fyp + Fzp + dist; + if( dppp > 0 ) + { + if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 || dmpp < 0) + return 1; + return 2; + } + return 0; // outside +} + +int QuadInFrustrum2old( float x, float y, float z, float size ) +{ + int p; + + for( p = 0; p < 6; p++ ) + { + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 ) + continue; + return 0; + } + + // box is in frustrum, now check wether all corners are within. If one is outside return 1 otherwise 2 + for( p = 0; p < 6; p++ ) + { + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 ) + return 1; + } + return 2; + +} + +bool CubeInFrustum( float x, float y, float z, float size ) +{ + int p; + + float xm, xp, ym, yp, zm, zp; + float Fxm, Fxp, Fym, Fyp, Fzm, Fzp; + xm = x - size; + xp = x + size; + ym = y - size; + yp = y + size; + zm = z - size; + zp = z + size; + + for( p = 0; p < 6; p++ ) + { + Fxm = frustum[p][0] * xm; + Fym = frustum[p][1] * ym; + Fzm = frustum[p][2] * zm; + if( Fxm + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fxp = frustum[p][0] * xp; + if( Fxp + Fym + Fzm + frustum[p][3] > 0 ) + continue; + + Fyp = frustum[p][1] * yp; + if( Fxm + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fyp + Fzm + frustum[p][3] > 0 ) + continue; + + Fzp = frustum[p][2] * zp; + if( Fxm + Fym + Fzp + frustum[p][3] > 0 ) + continue; + + if( Fxp + Fym + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxm + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + if( Fxp + Fyp + Fzp + frustum[p][3] > 0 ) + continue; + return false; + } + return true; +} + + + + +float minB[NUMDIM], maxB[NUMDIM]; /*box */ +float coord[NUMDIM]; /* hit point */ diff --git a/src/show/wxshow.cc b/src/show/wxshow.cc new file mode 100644 index 0000000..ee0dc5c --- /dev/null +++ b/src/show/wxshow.cc @@ -0,0 +1,825 @@ +/* + * wxshow implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "show_common.cc" +#include "wx/wx.h" +#include "wx/sizer.h" +#include "wx/glcanvas.h" +#include "show/wxshow.h" +#include "show/selectionframe.h" + + +class SelectionImpl : public Selection { + public: + + SelectionImpl( wxWindow* parent, wxWindowID id = wxID_ANY, const wxString& title = wxT("Selection"), bool advanced_controls = false, const wxPoint& pos = wxDefaultPosition, const wxSize& size = wxSize( -1,-1 ), long style = wxDEFAULT_FRAME_STYLE|wxTAB_TRAVERSAL ) : Selection(parent, id, title, pos, size, style, advanced_controls) { + + if (pointtype.hasReflectance()) m_choice11->Append(wxT("reflectance")); + if (pointtype.hasAmplitude()) m_choice11->Append(wxT("amplitude")); + if (pointtype.hasDeviation()) m_choice11->Append(wxT("deviation")); + if (pointtype.hasType()) m_choice11->Append(wxT("type")); + + }; + // Virtual event handlers, overide them in your derived class + // + virtual void OnDrawPoints( wxCommandEvent& event ) { + if (event.IsChecked()) { + show_points = true; + } else { + show_points = false; + } + haveToUpdate = 1; + event.Skip(); + } + virtual void OnDrawCameras( wxCommandEvent& event ) + { + if (event.IsChecked()) { + show_cameras = true; + } else { + show_cameras = false; + } + haveToUpdate = 1; + event.Skip(); + } + virtual void OnDrawPaths( wxCommandEvent& event ) + { + if (event.IsChecked()) { + show_path = true; + } else { + show_path = false; + } + haveToUpdate = 1; + event.Skip(); + } + virtual void OnPointSize( wxSpinEvent& event ) + { + pointsize = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnFogChoice( wxCommandEvent& event ) + { + show_fog = event.GetSelection(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnFogDensity( wxSpinEvent& event ) { + wxSpinCtrlDbl *spinner = (wxSpinCtrlDbl*)event.GetEventObject(); + fogDensity = spinner->GetValue(); + haveToUpdate = 1; + + event.Skip(); + } + virtual void OnColorValue( wxCommandEvent& event ) + { + // we can't use the glui-show function for changing the color as a listbox is used here instead + switch (event.GetSelection()) { + case 0: + cm->setCurrentType(PointType::USE_HEIGHT); + break; + case 1: + if (pointtype.hasReflectance()) { + cm->setCurrentType(PointType::USE_REFLECTANCE); + break; + } + case 2: + if (pointtype.hasAmplitude()) { + cm->setCurrentType(PointType::USE_AMPLITUDE); + break; + } + case 3: + if (pointtype.hasDeviation()) { + cm->setCurrentType(PointType::USE_DEVIATION); + break; + } + case 4: + if (pointtype.hasType()) { + cm->setCurrentType(PointType::USE_TYPE); + break; + } + default: + break; + }; + haveToUpdate = 1; + resetMinMax(0); + event.Skip(); + } + virtual void OnColorMap( wxCommandEvent& event ) + { + listboxColorMapVal = event.GetSelection(); + changeColorMap(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnColorType( wxCommandEvent& event ) { + colorScanVal = event.GetSelection(); + setScansColored(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnColorMinVal( wxSpinEvent& event ) { + //mincolor_value = event.GetPosition(); + wxSpinCtrlDbl *spinner = (wxSpinCtrlDbl*)event.GetEventObject(); + mincolor_value = spinner->GetValue(); + minmaxChanged(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnColorMaxVal( wxSpinEvent& event ) { + //maxcolor_value = event.GetPosition(); + wxSpinCtrlDbl *spinner = (wxSpinCtrlDbl*)event.GetEventObject(); + maxcolor_value = spinner->GetValue(); + minmaxChanged(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnColorResetMinMax( wxCommandEvent& event ) { + resetMinMax(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnInvert( wxCommandEvent& event ) { + invertView(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnAnimDelay( wxSpinEvent& event ) { + anim_delay = event.GetPosition(); + event.Skip(); + } + virtual void OnAnimate( wxCommandEvent& event ) { + startAnimation(0); + event.Skip(); + } + virtual void OnCameraFile( wxCommandEvent& event ) { + wxString s = event.GetString(); + const wxCharBuffer buffer = wxString(event.GetString()).mb_str(wxConvISO8859_1); + const char* cc = buffer.data(); + strcpy(path_file_name, cc); + event.Skip(); + } + virtual void OnCameraSavePath( wxCommandEvent& event ) { + savePath(0); + event.Skip(); + } + virtual void OnCameraLoadPath( wxCommandEvent& event ) { + loadPath(0); + event.Skip(); + } + virtual void OnCameraLoadRobotPath( wxCommandEvent& event ) { + for(unsigned int i = 0; i < MetaMatrix.size(); i++){ + //temp variable + double *temp; + //Now, lets go to the last of each frame file to + //extract the transformation matrix obtained + //after scan matching has been done. + glMultMatrixd(MetaMatrix[i].back()); + + //temp is final transformation matrix + temp = MetaMatrix[i].back(); + + Point campos(temp[12], temp[13] + 100, temp[14]); + + // calculate lookat point + Point lookat(0, 0, 50); + Point up(0, 50, 0); + double tmat[16]; + for (int i =0;i<16;i++) tmat[i] = temp[i]; + lookat.transform(tmat); + lookat.x = lookat.x ; + lookat.y = lookat.y + 100; + lookat.z = lookat.z ; + + up.transform(tmat); + up.x = up.x ; + up.y = up.y + 100; + up.z = up.z ; + + cams.push_back(campos); + lookats.push_back(lookat); + ups.push_back(up); + } + //signal for the update of scene + haveToUpdate = 1; + event.Skip(); + } + virtual void OnSaveAnimation( wxCommandEvent& event ) { + if (event.IsChecked()) { + save_animation = true; + } else { + save_animation = false; + } + haveToUpdate = 1; + event.Skip(); + } + virtual void OnAnimatePath( wxCommandEvent& event ) { + pathAnimate(0); + event.Skip(); + } + virtual void OnPositionFile( wxCommandEvent& event ) { + wxString s = event.GetString(); + const wxCharBuffer buffer = wxString(event.GetString()).mb_str(wxConvISO8859_1); + const char* cc = buffer.data(); + strcpy(pose_file_name, cc); + event.Skip(); + } + virtual void OnPositionSave( wxCommandEvent& event ) { + savePose(0); + event.Skip(); + } + virtual void OnPositionLoad( wxCommandEvent& event ) { + loadPose(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnFactor( wxSpinEvent& event ) { + factor = event.GetPosition(); + event.Skip(); + } + virtual void OnSaveImage( wxCommandEvent& event ) { + saveImage(0); + event.Skip(); + } + virtual void OnSelectionFile( wxCommandEvent& event ) { + wxString s = event.GetString(); + const wxCharBuffer buffer = wxString(event.GetString()).mb_str(wxConvISO8859_1); + const char* cc = buffer.data(); + strcpy(selection_file_name, cc); + event.Skip(); + } + virtual void OnSelectionSave( wxCommandEvent& event ) { + saveSelection(0); + event.Skip(); + } + virtual void OnSelectionClear( wxCommandEvent& event ) { + clearSelection(0); + event.Skip(); + } + virtual void OnSelectionSU( wxCommandEvent& event ) { + if (event.IsChecked()) { + selectOrunselect = true; + } else { + selectOrunselect = false; + } + event.Skip(); + } + virtual void OnSelectionSV( wxCommandEvent& event ) { + if (event.IsChecked()) { + select_voxels = true; + } else { + select_voxels = false; + } + event.Skip(); + } + virtual void OnSelectionDepth( wxSpinEvent& event ) { + selection_depth = event.GetPosition(); + event.Skip(); + } + virtual void OnSelectionBrushsize( wxSpinEvent& event ) { + brush_size = event.GetPosition(); + event.Skip(); + } + virtual void OnFrameSpinner( wxSpinEvent& event ) { + current_frame = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnFramerateSpinner( wxSpinEvent& event ) { + idealfps = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnFarplaneSpinner( wxSpinEvent& event ) { + maxfardistance = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnNearplaneSpinner( wxSpinEvent& event ) { + neardistance = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnCycleLOD( wxCommandEvent& event ) { + ::cycleLOD(); + haveToUpdate = 1; + event.Skip(); + } + + virtual void OnLODAdaption( wxSpinEvent& event ) { + adaption_rate = ((wxSpinCtrlDbl*)event.GetEventObject())->GetValue(); + haveToUpdate = 1; + event.Skip(); + } + + public: + void updateControls() { + if (!MetaMatrix.empty()) { + frame_spin->SetRange(0, MetaMatrix[0].size()-1); + frame_spin->SetValue(current_frame); + } + m_spinCtrl61->SetValue(mincolor_value); + m_spinCtrl6->SetValue(maxcolor_value); + } + +}; + +class ControlImpl : public Controls { + + public: + + ControlImpl( wxWindow* parent, wxWindowID id = wxID_ANY, const wxString& title = wxT("Controls"), const wxPoint& pos = wxDefaultPosition, const wxSize& size = wxSize( -1,-1 ), long style = wxDEFAULT_FRAME_STYLE|wxTAB_TRAVERSAL ) + : Controls( parent, id, title, pos, size, style ) {} + + virtual void OnApexAngle( wxSpinEvent& event ) { + haveToUpdate = 2; + cangle = ((wxSpinCtrlDbl*)event.GetEventObject())->GetValue(); + event.Skip(); + } + virtual void OnParallelZoom( wxSpinEvent& event ) { + haveToUpdate = 2; + pzoom = ((wxSpinCtrlDbl*)event.GetEventObject())->GetValue(); + event.Skip(); + } + virtual void OnTopView( wxCommandEvent& event ) { + topView(); // TODO update controls + haveToUpdate = 2; + event.Skip(); + } + virtual void OnResetPosition( wxCommandEvent& event ) { + resetView(0); + event.Skip(); + } + virtual void OnChooseCamera( wxSpinEvent& event ) { + cam_choice = event.GetPosition(); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnAddCamera( wxCommandEvent& event ) { + callAddCamera(1); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnDeleteCamera( wxCommandEvent& event ) { + callDeleteCamera(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnMouseNav( wxCommandEvent& event ) { + /* + if (event.IsChecked()) { + cameraNavMouseMode = true; + } else { + cameraNavMouseMode = false; + }*/ + // TODO implement secondary navigation procedure + event.Skip(); + } + virtual void OnAlwaysAllPoints( wxCommandEvent& event ) { + changePointMode(0); + haveToUpdate = 1; + event.Skip(); + } + virtual void OnAlwaysReducePoints( wxCommandEvent& event ) { + changePointMode(1); + haveToUpdate = 1; + event.Skip(); + } + + public: + void updateControls() { + apex_spinner->SetValue(cangle); + parallel_spinner->SetValue(pzoom); + + if(showTopView) { + apex_spinner->Disable(); + parallel_spinner->Enable(); + } else { + parallel_spinner->Disable(); + apex_spinner->Enable(); + } + + switch(pointmode) { + case -1: + always_box->SetValue(false); + alwaysred_box->SetValue(true); + break; + case 0: + always_box->SetValue(false); + alwaysred_box->SetValue(false); + break; + case 1: + always_box->SetValue(true); + alwaysred_box->SetValue(false); + break; + } + + + camera_spinner->SetRange(1, cams.size()); + camera_spinner->SetValue(cam_choice); + } +}; + + +class wxShow: public wxApp +{ + virtual bool OnInit(); + + SelectionImpl *selection; + ControlImpl *controls; + + wxFrame *frame; + BasicGLPane * glPane; +public: + void OnClose(wxCloseEvent& event); + void updateControls(){ + controls->updateControls(); + selection->updateControls(); + } + +}; + + +static wxShow *globalGUI = 0; + +void wxShow::OnClose(wxCloseEvent& event) { + exit(0); +} + +IMPLEMENT_APP(wxShow) + + +bool wxShow::OnInit() +{ + + globalGUI = this; + // wxwidgets saves the argv as wxchar, which is 2-byte unicode, so we must convert it back + char **new_argv = new char*[argc]; + for (int i = 0; i < argc; i++) { + const wxCharBuffer buffer = wxString(wxApp::argv[i]).mb_str(wxConvISO8859_1); + const char* cc = buffer.data(); + new_argv[i] = new char[ strlen(cc) +1 ]; + strcpy(new_argv[i], cc); + } + initShow(argc, new_argv); + //glClearColor(0.0, 0.0, 0.0, 0.0); + + wxBoxSizer* sizer = new wxBoxSizer(wxHORIZONTAL); + frame = new wxFrame((wxFrame *)NULL, -1, wxT("Viewer"), wxPoint(START_X, START_Y), wxSize(START_WIDTH, START_HEIGHT)); + + int args[] = {WX_GL_RGBA, WX_GL_DOUBLEBUFFER, WX_GL_DEPTH_SIZE, 16, 0}; + + glPane = new BasicGLPane( (wxFrame*) frame, args); + sizer->Add(glPane, 1, wxEXPAND); + + frame->SetSizer(sizer); + frame->SetAutoLayout(true); + + + selection = new SelectionImpl( (wxWindow*)NULL, wxID_ANY, wxT("Selection"), advanced_controls, wxPoint(START_X + START_WIDTH + 50, START_Y + 30) ); + controls = new ControlImpl( (wxWindow*)NULL, wxID_ANY, wxT("Controls"), wxPoint(START_X, START_Y + START_HEIGHT + 20 ) ); + + selection->SetSize(wxSize(200,393) ); + selection->SetAutoLayout(true); + selection ->Show(); + selection ->Layout(); + + controls->SetAutoLayout(true); + controls ->Show(); + + frame->Show(); + frame->Connect( wxEVT_CLOSE_WINDOW, wxCloseEventHandler( wxShow::OnClose ) ); + + return true; +} + +BEGIN_EVENT_TABLE(BasicGLPane, wxGLCanvas) +EVT_IDLE(BasicGLPane::idle_event) +EVT_MOTION(BasicGLPane::mouseMoved) +EVT_MOUSE_EVENTS(BasicGLPane::mouseEvent) + //EVT_LEFT_DOWN(BasicGLPane::mouseDown) +//EVT_LEFT_UP(BasicGLPane::mouseReleased) +//EVT_RIGHT_DOWN(BasicGLPane::rightClick) +//EVT_LEAVE_WINDOW(BasicGLPane::mouseLeftWindow) +EVT_SIZE(BasicGLPane::resized) +EVT_KEY_DOWN(BasicGLPane::keyPressed) +//EVT_KEY_UP(BasicGLPane::keyReleased) +//EVT_MOUSEWHEEL(BasicGLPane::mouseWheelMoved) +EVT_PAINT(BasicGLPane::render) +END_EVENT_TABLE() + + +// some useful events to use +void BasicGLPane::mouseEvent(wxMouseEvent& event) +{ + SetFocus(); + int x = event.GetX(); + int y = event.GetY(); + + if (event.Dragging()) { + } else if (event.IsButton()) { + int button, state; + if (event.ButtonDown()) { + state = GLUT_DOWN; + } else { + state = GLUT_UP; + } + + if (event.Button(1)) { + button = GLUT_LEFT_BUTTON; + } else if (event.Button(2)) { + button = GLUT_MIDDLE_BUTTON; + } else if (event.Button(3)) { + button = GLUT_RIGHT_BUTTON; + } else { + button = 0; + } + CallBackMouseFunc(button, state, x, y); + } +} + +void BasicGLPane::idle() { + if(glutGetWindow() != window_id) + glutSetWindow(window_id); + + /* + static unsigned long start = GetCurrentTimeInMilliSec(); + // return as nothing has to be updated + if (haveToUpdate == 0) { + if ((GetCurrentTimeInMilliSec()-start) > 100) { + paint(true); + start = GetCurrentTimeInMilliSec(); + } + return; + } + start = GetCurrentTimeInMilliSec(); + */ + if (haveToUpdate == 0) { + if (!fullydisplayed && !mousemoving && !keypressed) { + glDrawBuffer(buffermode); + //Call the display function + DisplayItFunc(GL_RENDER, true); + } + return; + } + + + // case: display is invalid - update it + if (haveToUpdate == 1) { + paint(); + haveToUpdate = 0; + return; + } + // case: display is invalid - update it with all points +/*if (haveToUpdate == 7) { + showall = true; + paint(); + haveToUpdate = 0; + return; + } + */ + + // case: camera angle is changed - instead of repeating code call Reshape, + // since these OpenGL commands are the same + if (haveToUpdate == 2) { + int viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + CallBackReshapeFunc(viewport[2],viewport[3]); + paint(); + haveToUpdate = 0; + return; + } + + // case: animation + if(haveToUpdate == 3 ){ + frameNr += 1; + if(!(MetaMatrix.size() > 1 && frameNr < (int) MetaMatrix[1].size())){ + frameNr = 0; + haveToUpdate = 4; + return; + } + paint(); + + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(frameNr,5) + ".ppm"; + cout << "write " << filename << endl; + glDumpWindowPPM(filename.c_str(),0); + + } + + } +#ifdef _MSC_VER + Sleep(300); + Sleep(anim_delay); +#else + usleep(anim_delay * 10000); +#endif + + if (haveToUpdate == 4) { // stop animation + frameNr = 0; // delete these lines if you want a 'continue' functionality. + haveToUpdate = 1; + } + + // case: path animation + if(haveToUpdate == 6){ + + if (path_iterator == 0) { + oldcamNavMode = cameraNavMouseMode; // remember state of old mousenav + cameraNavMouseMode = 0; + } + + + + //check if the user wants to animate both + //scan matching and the path at the same + //time + + //cout << "path_iterator: " << path_iterator << endl; + if(path_iterator < path_vectorX.size()){ // standard animation case + + //call the path animation function + //hide both the cameras and the path + show_cameras = 0; + show_path = 0; + //increase the iteration count + + path_iterator += 1; + //cout << "i am here" << endl; + //repaint the screen + paint(); + + //save the animation + if(save_animation){ + string filename = scan_dir + "animframe" + to_string(path_iterator,5) + ".ppm"; + string jpgname = scan_dir + "animframe" + to_string(path_iterator,5) + ".jpg"; + cout << "written " << filename << " of " << path_vectorX.size() << " files" << endl; + glWriteImagePPM(filename.c_str(), factor, 0); + haveToUpdate = 6; + + } + }else{ // animation has just ended + cameraNavMouseMode = oldcamNavMode; + show_cameras = 1; + show_path = 1; + //cout << "i am here instead" << endl; + haveToUpdate = 0; + } + } +} + +void BasicGLPane::idle_event(wxIdleEvent& event) +{ + idle(); + //event.RequestMore(); +} + +void BasicGLPane::mouseMoved(wxMouseEvent& event) +{ + int x = event.GetX(); + int y = event.GetY(); + + CallBackMouseMotionFunc(x, y); + //idle(); +} +void BasicGLPane::mouseDown(wxMouseEvent& event) {} +void BasicGLPane::mouseWheelMoved(wxMouseEvent& event) {} +void BasicGLPane::mouseReleased(wxMouseEvent& event) {} +void BasicGLPane::rightClick(wxMouseEvent& event) {} +void BasicGLPane::mouseLeftWindow(wxMouseEvent& event) {} + + +void BasicGLPane::keyPressed(wxKeyEvent& event) { + KeyboardFunc(event.GetKeyCode(), event.CmdDown(), event.AltDown(), event.ShiftDown()); +} + + + +void BasicGLPane::keyReleased(wxKeyEvent& event) {} + +// Vertices and faces of a simple cube to demonstrate 3D render +// source: http://www.opengl.org/resources/code/samples/glut_examples/examples/cube.c +GLfloat v[8][3]; +GLint faces[6][4] = { /* Vertex indices for the 6 faces of a cube. */ + {0, 1, 2, 3}, {3, 2, 6, 7}, {7, 6, 5, 4}, + {4, 5, 1, 0}, {5, 6, 2, 1}, {7, 4, 0, 3} }; + + + +BasicGLPane::BasicGLPane(wxFrame* parent, int* args) : + wxGLCanvas(parent, wxID_ANY, args, wxDefaultPosition, wxDefaultSize, wxFULL_REPAINT_ON_RESIZE||wxWANTS_CHARS) +{ + + m_context = new wxGLContext(this); + // prepare a simple cube to demonstrate 3D render + // source: http://www.opengl.org/resources/code/samples/glut_examples/examples/cube.c + v[0][0] = v[1][0] = v[2][0] = v[3][0] = -1; + v[4][0] = v[5][0] = v[6][0] = v[7][0] = 1; + v[0][1] = v[1][1] = v[4][1] = v[5][1] = -1; + v[2][1] = v[3][1] = v[6][1] = v[7][1] = 1; + v[0][2] = v[3][2] = v[4][2] = v[7][2] = 1; + v[1][2] = v[2][2] = v[5][2] = v[6][2] = -1; + + // To avoid flashing on MSW + SetBackgroundStyle(wxBG_STYLE_CUSTOM); +} + +BasicGLPane::~BasicGLPane() +{ + delete m_context; +} + +void BasicGLPane::resized(wxSizeEvent& evt) +{ +// wxGLCanvas::OnSize(evt); + wxSize s = evt.GetSize(); + CallBackReshapeFunc(s.GetWidth(), s.GetHeight()); + + Refresh(); +} + +/** Inits the OpenGL viewport for drawing in 3D. */ +void BasicGLPane::prepare3DViewport(int topleft_x, int topleft_y, int bottomrigth_x, int bottomrigth_y) +{ + + glClearColor(0.0f, 0.0f, 0.0f, 1.0f); // Black Background + glClearDepth(1.0f); // Depth Buffer Setup + glEnable(GL_DEPTH_TEST); // Enables Depth Testing + glDepthFunc(GL_LEQUAL); // The Type Of Depth Testing To Do + glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST); + + glEnable(GL_COLOR_MATERIAL); + + glViewport(topleft_x, topleft_y, bottomrigth_x-topleft_x, bottomrigth_y-topleft_y); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + + float ratio_w_h = (float)(bottomrigth_x-topleft_x)/(float)(bottomrigth_y-topleft_y); + gluPerspective(45 /*view angle*/, ratio_w_h, 0.1 /*clip close*/, 200 /*clip far*/); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + +} + +int BasicGLPane::getWidth() +{ + return GetSize().x; +} + +int BasicGLPane::getHeight() +{ + return GetSize().y; +} + + +void BasicGLPane::render( wxPaintEvent& evt ) +{ + paint(); +} + + +void BasicGLPane::paint(bool interruptable) +{ + if(!IsShown()) return; + wxGLCanvas::SetCurrent(*m_context); + wxPaintDC(this); // only to be used in paint events. use wxClientDC to paint outside the paint event + + glDrawBuffer(buffermode); + // delete framebuffer and z-buffer + + //Call the display function + DisplayItFunc(GL_RENDER, interruptable); + + // show the rednered scene + if (!interruptable) { // interruptible draw is single buffered + SwapBuffers(); + } +// ProcessPendingEvents(); +} + + +void updateControls() { + globalGUI->updateControls(); +} +void updatePointModeControls() {} +void updateTopViewControls() {} +void resetRotationButton() {} +void updateCamControls() {} + +static bool interrupted; + +void interruptDrawing() { + interrupted = true; +} +void checkForInterrupt() { + interrupted = false; +} +bool isInterrupted() { + globalGUI->Dispatch(); + globalGUI->ProcessPendingEvents(); + return interrupted; +} diff --git a/src/slam6d/Boctree.cc b/src/slam6d/Boctree.cc new file mode 100644 index 0000000..5f49b60 --- /dev/null +++ b/src/slam6d/Boctree.cc @@ -0,0 +1,56 @@ +/* + * Boctree implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/Boctree.h" + +//! Start-of-the-program initializer for the sequence map. +struct Initializer { + Initializer() { + for(unsigned char mask = 0; mask < 256; mask++) { + for(unsigned char index = 0; index < 8; index++) { + char c = 0; + char *mimap = imap[index]; // maps area index to preference + for(unsigned char i = 0; i < 8; i++) { + if(( 1 << i ) & mask) { // if ith node exists + sequence2ci[index][mask][ mimap[i] ] = c++; + } else { + sequence2ci[index][mask][ mimap[i] ] = -1; + } + } + } + if (mask == UCHAR_MAX) break; + } + } +}; + +namespace{ + Initializer init; +} + +char sequence2ci[8][256][8] = {}; + +char amap[8][8] = { + {0, 1, 2, 4, 3, 5, 6, 7 }, + {1, 0, 3, 5, 2, 4, 6, 7 }, + {2, 0, 3, 6, 1, 4, 5, 7 }, + {3, 1, 2, 7, 0, 5, 4, 6 }, + {4, 5, 6, 0, 7, 1, 2, 3 }, + {5, 4, 7, 1, 6, 0, 3, 2 }, + {6, 4, 7, 2, 5, 0, 3, 1 }, + {7, 5, 6, 3, 4, 1, 2, 0 } }; + +char imap[8][8] = { + {0, 1, 2, 4, 3, 5, 6, 7 }, + {1, 0, 4, 2, 5, 3, 6, 7 }, + {1, 4, 0, 2, 5, 6, 3, 7 }, + {4, 1, 2, 0, 6, 5, 7, 3 }, + {3, 5, 6, 7, 0, 1, 2, 4 }, + {5, 3, 7, 6, 1, 0, 4, 2 }, + {5, 7, 3, 6, 1, 4, 0, 2 }, + {7, 5, 6, 3, 4, 1, 2, 0 } }; diff --git a/src/slam6d/CMakeLists.txt b/src/slam6d/CMakeLists.txt new file mode 100644 index 0000000..cad527e --- /dev/null +++ b/src/slam6d/CMakeLists.txt @@ -0,0 +1,121 @@ +### SCAN_RED + +IF(WITH_SCAN_REDUCTION) + add_executable(scan_red scan_red.cc) + + IF(UNIX) + target_link_libraries(scan_red scan dl ANN) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(scan_red scan ANN XGetopt) + ENDIF(WIN32) +ENDIF(WITH_SCAN_REDUCTION) + +### SCAN_DIFF +IF(WITH_SCAN_DIFF) + add_executable(scan_diff scan_diff.cc) + add_executable(scan_diff2d scan_diff2d.cc ../show/colormanager.cc) + + IF(UNIX) + target_link_libraries(scan_diff scan dl ANN) + target_link_libraries(scan_diff2d scan dl ANN) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(scan_diff scan ANN XGetopt) + target_link_libraries(scan_diff2d scan ANN XGetopt) + ENDIF(WIN32) +ENDIF(WITH_SCAN_DIFF) + +### TOOLS + +IF(WITH_TOOLS) + add_executable(frame_to_graph frame_to_graph.cc) + add_executable(convergence convergence.cc) + add_executable(graph_balancer graph_balancer.cc) + add_executable(exportPoints exportPoints.cc) + add_executable(frames2riegl frames2riegl.cc) + add_executable(frames2pose frames2pose.cc) + add_executable(pose2frames pose2frames.cc) + add_executable(riegl2frames riegl2frames.cc) + add_executable(toGlobal toGlobal.cc) + + IF(UNIX) + target_link_libraries(graph_balancer scan ${Boost_GRAPH_LIBRARY} ${Boost_SERIALIZATION_LIBRARY} ${Boost_REGEX_LIBRARY}) + target_link_libraries(exportPoints scan dl ANN) + target_link_libraries(toGlobal scan) + ENDIF(UNIX) + + + IF (WIN32) + target_link_libraries(frame_to_graph XGetopt ${Boost_LIBRARIES}) + target_link_libraries(convergence XGetopt ${Boost_LIBRARIES}) + target_link_libraries(graph_balancer scan XGetopt ${Boost_LIBRARIES}) + target_link_libraries(exportPoints scan ANN XGetopt ${Boost_LIBRARIES}) + target_link_libraries(frames2pose XGetopt ${Boost_LIBRARIES}) + target_link_libraries(pose2frames XGetopt ${Boost_LIBRARIES}) + target_link_libraries(frames2riegl XGetopt ${Boost_LIBRARIES}) + target_link_libraries(riegl2frames XGetopt ${Boost_LIBRARIES}) + target_link_libraries(toGlobal XGetopt ${Boost_LIBRARIES}) + ENDIF(WIN32) +ENDIF(WITH_TOOLS) + +### SCANLIB + +SET(SCANLIB_SRCS + kd.cc kdManaged.cc kdMeta.cc graphSlam6D.cc + graph.cc icp6Dapx.cc icp6D.cc icp6Dsvd.cc + icp6Dortho.cc icp6Dquat.cc icp6Dhelix.cc icp6Dlumeuler.cc + icp6Dlumquat.cc icp6Ddual.cc lum6Deuler.cc lum6Dquat.cc + ghelix6DQ2.cc gapx6D.cc graphToro.cc ann_kd.cc + graphHOG-Man.cc elch6D.cc elch6Dquat.cc elch6DunitQuat.cc + elch6Dslerp.cc elch6Deuler.cc loopToro.cc loopHOG-Man.cc + point_type.cc icp6Dquatscale.cc searchTree.cc Boctree.cc + allocator.cc + scan.cc basicScan.cc managedScan.cc metaScan.cc + io_types.cc io_utils.cc pointfilter.cc + ) + +if(WITH_METRICS) + set(SCANLIB_SRCS ${SCANLIB_SRCS} metrics.cc) +endif(WITH_METRICS) + +add_library(scan STATIC ${SCANLIB_SRCS}) + +target_link_libraries(scan scanclient scanio) + +IF(UNIX) + target_link_libraries(scan dl) +ENDIF(UNIX) + +### EXPORT SHARED LIBS + +IF(EXPORT_SHARED_LIBS) +add_library(scan_s SHARED ${SCANLIB_SRCS}) +#target_link_libraries(scan_s ${Boost_LIBRARIES} newmat) +ENDIF(EXPORT_SHARED_LIBS) + +### SLAM6D + +IF(WITH_CUDA) + CUDA_COMPILE(CUDA_FILES cuda/CIcpGpuCuda.cu ) + add_executable(slam6D slam6D.cc cuda/icp6Dcuda.cc ${CUDA_FILES}) + target_link_libraries(slam6D ${CUDA_LIBRARIES} ANN cudpp64) + CUDA_ADD_CUBLAS_TO_TARGET(slam6D) + CUDA_ADD_CUTIL_TO_TARGET(slam6D) +ELSE(WITH_CUDA) + add_executable(slam6D slam6D.cc) +ENDIF(WITH_CUDA) + +IF(UNIX) + target_link_libraries(slam6D scan newmat sparse ANN) +ENDIF(UNIX) + +IF(WIN32) + target_link_libraries(slam6D scan newmat sparse ANN XGetopt ${Boost_LIBRARIES}) +ENDIF(WIN32) + +#IF(MSVC) +# INSTALL(TARGETS slam6D RUNTIME DESTINATION ${CMAKE_SOURCE_DIR}/windows) +#ENDIF(MSVC) diff --git a/src/slam6d/allocator.cc b/src/slam6d/allocator.cc new file mode 100644 index 0000000..61d8fbd --- /dev/null +++ b/src/slam6d/allocator.cc @@ -0,0 +1,140 @@ +/* + * allocator implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/allocator.h" + +using std::vector; +#include +using std::cout; +using std::endl; +#include +using std::runtime_error; + +#include //memset + + + +ChunkAllocator::ChunkAllocator(unsigned int _csize) : + chunksize(_csize), index(_csize), memsize(0), wastedspace(0) +{} + +ChunkAllocator::~ChunkAllocator() +{ + for(unsigned int i = 0; i < mem.size(); i++) { + delete[] mem[i]; + } +} + +void ChunkAllocator::printSize() const +{ + cout << "Alloc'd " << memsize/(1024*1024.0) << " Mb " << endl; + cout << " wasted " << wastedspace/(1024*1024.0) << " Mb " << endl; +} + +unsigned char* ChunkAllocator::allocate(unsigned int size) +{ + unsigned char* chunk; + if (size + index > chunksize) { + // create new chunk + wastedspace += (chunksize-index); + // check for oversize + if (chunksize > size) { + chunk = new unsigned char[chunksize]; + memset(chunk, 0, chunksize); + memsize+=chunksize; + } else { + chunk = new unsigned char[size]; + memset(chunk, 0, size); + memsize+=size; + } + mem.push_back(chunk); + index = 0; + } else { + // use last chunk + chunk = mem.back(); + chunk = chunk + index; + } + index += size; + return chunk; +} + + + +PackedChunkAllocator::PackedChunkAllocator(unsigned int _csize) : + chunksize(_csize), memsize(0) +{} + +PackedChunkAllocator::~PackedChunkAllocator() +{ + for(unsigned int i = 0; i < mem.size(); i++) { + delete[] mem[i]; + } +} + +void PackedChunkAllocator::printSize() const +{ + cout << "Alloc'd " << memsize/(1024*1024.0) << " Mb " << endl; + + unsigned long int wastedspace = 0; + for(unsigned int i = 0; i < index.size(); i++) { + if(index[i] < chunksize) { + wastedspace += chunksize - index[i]; + } + } + cout << "wasted " << wastedspace/(1024*1024.0) << " Mb " << endl; +} + +unsigned char* PackedChunkAllocator::allocate(unsigned int size) +{ + unsigned char* chunk; + for (unsigned int i = 0; i < index.size(); i++) { + if ( !(size + index[i] > chunksize) ) { + // found a suitable entry + chunk = mem[i]; + chunk = chunk + index[i]; // pointer to free byte + index[i] += size; // increment index + return chunk; + } + } + // no chunk is large enough... make new one + if (chunksize > size) { + chunk = new unsigned char[chunksize]; + memset(chunk, 0, chunksize); + memsize += chunksize; + } else { // in case the requested memory is larger than our chunks, make a single chunk thats large enough + chunk = new unsigned char[size]; + memset(chunk, 0, size); + memsize += size; + } + mem.push_back(chunk); + index.push_back(size); + return chunk; +} + +SequentialAllocator::SequentialAllocator(unsigned char* base_ptr, unsigned int max_size) : + m_base_ptr(base_ptr), m_size(max_size), m_index(0) +{} + +SequentialAllocator::~SequentialAllocator() +{} + +void SequentialAllocator::printSize() const +{ + cout << "Using " << m_index << " of " << m_size << " bytes." << endl; +} + +unsigned char* SequentialAllocator::allocate(unsigned int size) +{ + if(m_index + size > m_size) { + throw runtime_error("SequentialAllocator memory overflow"); + } + unsigned char* r = m_base_ptr + m_index; + m_index += size; + return r; +} diff --git a/src/slam6d/ann_kd.cc b/src/slam6d/ann_kd.cc new file mode 100644 index 0000000..29752fd --- /dev/null +++ b/src/slam6d/ann_kd.cc @@ -0,0 +1,85 @@ +/* + * ann_kd implementation + * + * Copyright (C) Andreas Nuechter, Ulugbek Makhmudov + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Encapsules the implementation of ANN k-d trees. + * @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany. + * @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/ann_kd.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + + + +/** + * Constructor + * + * Create ANN KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +ANNtree::ANNtree(double **_pts, int n) +{ + pts = _pts; + annkd = new ANNkd_tree(pts, n, 3, 1, ANN_KD_SUGGEST); // links to the constructor of ANNkd_tree + cout << "ANNkd_tree was generated with " << n << " points" << endl; + nn = new ANNdist[1]; + nn_idx = new ANNidx[1]; +} + +/** + * Destructor + * + * Cleans up the instance of ANN KD tree + * + * + */ +ANNtree::~ANNtree() +{ + delete annkd; //links to the destructor of ANNkd_tree + delete [] nn; + delete [] nn_idx; +} + + +/** + * Finds the closest point within the tree, + * wrt. the point given as first parameter. + * @param _p point + * @param maxdist2 maximal search distance. + * @param threadNum Thread number, for parallelization + * @return Pointer to the closest point + */ +double *ANNtree::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + +#pragma omp critical + annkd->annkSearch(_p, 1, nn_idx, nn, 0.0); + int idx = nn_idx[0]; + + if (Dist2(_p, pts[idx]) > maxdist2) return 0; + + return pts[idx]; +} + diff --git a/src/slam6d/basicScan.cc b/src/slam6d/basicScan.cc new file mode 100644 index 0000000..f69b5dc --- /dev/null +++ b/src/slam6d/basicScan.cc @@ -0,0 +1,388 @@ +/* + * basicScan implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/basicScan.h" + +#include "scanio/scan_io.h" +#include "slam6d/kd.h" +#include "slam6d/Boctree.h" +#include "slam6d/ann_kd.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + +#include +#include +#include +using std::ifstream; +using std::ofstream; +using std::flush; +using std::string; +using std::map; +using std::pair; +using std::vector; + +#include +using namespace boost::filesystem; + + + +void BasicScan::openDirectory(const std::string& path, IOType type, int start, int end) +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::read_scan_time.start(); +#endif //WITH_METRICS + + // create an instance of ScanIO + ScanIO* sio = ScanIO::getScanIO(type); + + // query available scans in the directory from the ScanIO + std::list identifiers(sio->readDirectory(path.c_str(), start, end)); + + Scan::allScans.reserve(identifiers.size()); + + // for each identifier, create a scan + for(std::list::iterator it = identifiers.begin(); it != identifiers.end(); ++it) { + Scan::allScans.push_back(new BasicScan(path, *it, type)); + } + +#ifdef WITH_METRICS + ClientMetric::read_scan_time.end(t); +#endif //WITH_METRICS +} + +void BasicScan::closeDirectory() +{ + // clean up the scan vector + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + delete *it; + Scan::allScans.clear(); +} + +BasicScan::BasicScan(const std::string& path, const std::string& identifier, IOType type) : + m_path(path), m_identifier(identifier), m_type(type) +{ + init(); + + // request pose from file + double euler[6]; + ScanIO* sio = ScanIO::getScanIO(m_type); + sio->readPose(m_path.c_str(), m_identifier.c_str(), euler); + rPos[0] = euler[0]; + rPos[1] = euler[1]; + rPos[2] = euler[2]; + rPosTheta[0] = euler[3]; + rPosTheta[1] = euler[4]; + rPosTheta[2] = euler[5]; + + // write original pose matrix + EulerToMatrix4(euler, &euler[3], transMatOrg); + + // initialize transform matrices from the original one, could just copy transMatOrg to transMat instead + transformMatrix(transMatOrg); + + // reset the delta align matrix to represent only the transformations after local-to-global (transMatOrg) one + M4identity(dalignxf); +} + +BasicScan::~BasicScan() +{ + // TODO: clean m_data up +} + +void BasicScan::init() +{ + m_filter_max = 0.0; + m_filter_min = 0.0; + m_filter_top = 0.0; + m_filter_bottom = 0.0; + m_filter_range_set = false; + m_filter_height_set = false; +} + + +void BasicScan::setRangeFilter(double max, double min) +{ + m_filter_max = max; + m_filter_min = min; + m_filter_range_set = true; +} + +void BasicScan::setHeightFilter(double top, double bottom) +{ + m_filter_top = top; + m_filter_bottom = bottom; + m_filter_height_set = true; +} + +void BasicScan::get(unsigned int types) +{ + ScanIO* sio = ScanIO::getScanIO(m_type); + + vector xyz; + vector rgb; + vector reflectance; + vector amplitude; + vector type; + vector deviation; + + PointFilter filter; + if(m_filter_range_set) + filter.setRange(m_filter_max, m_filter_min); + if(m_filter_height_set) + filter.setHeight(m_filter_top, m_filter_bottom); + + sio->readScan(m_path.c_str(), + m_identifier.c_str(), + filter, + &xyz, + &rgb, + &reflectance, + &litude, + &type, + &deviation); + + // for each requested and filled data vector, allocate and write contents to their new data fields + if(types & DATA_XYZ && !xyz.empty()) { + double* data = reinterpret_cast(create("xyz", sizeof(double) * xyz.size()).get_raw_pointer()); + for(unsigned int i = 0; i < xyz.size(); ++i) data[i] = xyz[i]; + } + if(types & DATA_RGB && !rgb.empty()) { + unsigned char* data = reinterpret_cast(create("rgb", sizeof(unsigned char) * rgb.size()).get_raw_pointer()); + for(unsigned int i = 0; i < rgb.size(); ++i) data[i] = rgb[i]; + } + if(types & DATA_REFLECTANCE && !reflectance.empty()) { + float* data = reinterpret_cast(create("reflectance", sizeof(float) * reflectance.size()).get_raw_pointer()); + for(unsigned int i = 0; i < reflectance.size(); ++i) data[i] = reflectance[i]; + } + if(types & DATA_AMPLITUDE && !amplitude.empty()) { + int* data = reinterpret_cast(create("amplitude", sizeof(int) * amplitude.size()).get_raw_pointer()); + for(unsigned int i = 0; i < amplitude.size(); ++i) data[i] = amplitude[i]; + } + if(types & DATA_TYPE && !type.empty()) { + float* data = reinterpret_cast(create("type", sizeof(double) * type.size()).get_raw_pointer()); + for(unsigned int i = 0; i < type.size(); ++i) data[i] = type[i]; + } + if(types & DATA_DEVIATION && !deviation.empty()) { + float* data = reinterpret_cast(create("deviation", sizeof(float) * deviation.size()).get_raw_pointer()); + for(unsigned int i = 0; i < deviation.size(); ++i) data[i] = deviation[i]; + } +} + +DataPointer BasicScan::get(const std::string& identifier) +{ + // try to get data + map>::iterator it = m_data.find(identifier); + + // create data fields + if(it == m_data.end()) { + // load from file + if(identifier == "xyz") get(DATA_XYZ); else + if(identifier == "rgb") get(DATA_RGB); else + if(identifier == "reflectance") get(DATA_REFLECTANCE); else + if(identifier == "amplitude") get(DATA_AMPLITUDE); else + if(identifier == "type") get(DATA_TYPE); else + if(identifier == "deviation") get(DATA_DEVIATION); else + // reduce on demand + if(identifier == "xyz reduced") calcReducedOnDemand(); else + if(identifier == "xyz reduced original") calcReducedOnDemand(); else + // show requests reduced points, manipulate in showing the same entry + if(identifier == "xyz reduced show") { + calcReducedOnDemand(); + m_data["xyz reduced show"] = m_data["xyz reduced"]; + } else + if(identifier == "octtree") { + createOcttree(); + } + + it = m_data.find(identifier); + } + + // if nothing can be loaded, return an empty pointer + if(it == m_data.end()) + return DataPointer(0, 0); + else + return DataPointer(it->second.first, it->second.second); +} + +DataPointer BasicScan::create(const std::string& identifier, unsigned int size) +{ + map>::iterator it = m_data.find(identifier); + if(it != m_data.end()) { + // try to reuse, otherwise reallocate + if(it->second.second != size) { + delete it->second.first; + it->second.first = new unsigned char[size]; + it->second.second = size; + } + } else { + // create a new block of data + it = m_data.insert( + std::make_pair( + identifier, + std::make_pair( + new unsigned char[size], + size + ) + ) + ).first; + } + return DataPointer(it->second.first, it->second.second); +} + +void BasicScan::clear(const std::string& identifier) +{ + map>::iterator it = m_data.find(identifier); + if(it != m_data.end()) { + delete it->second.first; + m_data.erase(it); + } +} + + +void BasicScan::createSearchTreePrivate() +{ + DataXYZ xyz_orig(get("xyz reduced original")); + PointerArray ar(xyz_orig); + switch(searchtree_nnstype) + { + case simpleKD: + kd = new KDtree(ar.get(), xyz_orig.size()); + break; + case ANNTree: + kd = new ANNtree(ar.get(), xyz_orig.size()); + break; + case BOCTree: + kd = new BOctTree(ar.get(), xyz_orig.size(), 10.0, PointType(), true); + break; + case -1: + throw runtime_error("Cannot create a SearchTree without setting a type."); + default: + throw runtime_error("SearchTree type not implemented"); + } + + // TODO: make the switch cases above work with CUDA + if (searchtree_cuda_enabled) createANNTree(); +} + +void BasicScan::calcReducedOnDemandPrivate() +{ + // create reduced points and transform to initial position, save a copy of this for SearchTree + calcReducedPoints(); + transformReduced(transMatOrg); + copyReducedToOriginal(); +} + +void BasicScan::createANNTree() +{ + // TODO: metrics +#ifdef WITH_CUDA + if(!ann_kd_tree) { + DataXYZ xyz_orig(get("xyz reduced original")); + ann_kd_tree = new ANNkd_tree(PointArray(xyz_orig).get(), xyz_orig.size(), 3, 1, ANN_KD_STD); + cout << "Cuda tree was generated with " << xyz_orig.size() << " points" << endl; + } else { + cout << "Cuda tree exists. No need for another creation" << endl; + } +#endif +} + +void BasicScan::createOcttree() +{ + string scanFileName = m_path + "scan" + m_identifier + ".oct"; + BOctTree* btree = 0; + + // try to load from file, if successful return + if(octtree_loadOct && exists(scanFileName)) { + btree = new BOctTree(scanFileName); + m_data.insert( + std::make_pair( + "octtree", + std::make_pair( + reinterpret_cast(btree), + 0 // or memorySize()? + ) + ) + ); + return; + } + + // create octtree from scan + if(octtree_reduction_voxelSize > 0) { // with reduction, only xyz points + DataXYZ xyz_r(get("xyz reduced show")); + btree = new BOctTree(PointerArray(xyz_r).get(), xyz_r.size(), octtree_voxelSize, octtree_pointtype, true); + } else { // without reduction, xyz + attribute points + float** pts = octtree_pointtype.createPointArray(this); + unsigned int nrpts = size("xyz"); + btree = new BOctTree(pts, nrpts, octtree_voxelSize, octtree_pointtype, true); + for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts; + } + + // save created octtree + if(octtree_saveOct) { + cout << "Saving octree " << scanFileName << endl; + btree->serialize(scanFileName); + } + + m_data.insert( + std::make_pair( + "octtree", + std::make_pair( + reinterpret_cast(btree), + 0 // or memorySize()? + ) + ) + ); +} + +unsigned int BasicScan::readFrames() +{ + string filename = m_path + "scan" + m_identifier + ".frames"; + ifstream file(filename.c_str()); + file.exceptions(ifstream::eofbit|ifstream::failbit|ifstream::badbit); + try { + double transformation[16]; + unsigned int type; + do { + file >> transformation >> type; + m_frames.push_back(Frame(transformation, type)); + } while(file.good()); + } catch(...) {} + + return m_frames.size(); +} + +void BasicScan::saveFrames() +{ + string filename = m_path + "scan" + m_identifier + ".frames"; + ofstream file(filename.c_str()); + for(vector::iterator it = m_frames.begin(); it != m_frames.end(); ++it) { + file << it->transformation << it->type << '\n'; + } + file << flush; + file.close(); +} + +unsigned int BasicScan::getFrameCount() +{ + return m_frames.size(); +} + +void BasicScan::getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) +{ + const Frame& frame(m_frames.at(i)); + pose_matrix = frame.transformation; + type = static_cast(frame.type); +} + +void BasicScan::addFrame(AlgoType type) +{ + m_frames.push_back(Frame(transMat, type)); +} diff --git a/src/slam6d/convergence.cc b/src/slam6d/convergence.cc new file mode 100644 index 0000000..18f52fa --- /dev/null +++ b/src/slam6d/convergence.cc @@ -0,0 +1,269 @@ +/* + * convergence implementation + * + * Copyright (C) Jochen Sprickerhof, Peter Schneider + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation for generating a convergence graph of a scanseries frame + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + */ + +#include +using std::exception; + +#include "slam6d/scan.h" +#include "slam6d/convergence.h" + +/** + * Storing the base directory + */ +string filepath; + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << "Usage: " << prog << " [-s NR] filepath, [-z NR] convergence type" << endl << endl; + + cout << " -s NR generate convergence-data for frame NR" << endl + << endl; + + cout << " -z NR type of convergence (0 = global, 1 = local)" << endl + << endl; + + exit(1); +} + + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param type parsing result - the type of convergence that should be stored (lokal, global) + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int &frame, int &type) +{ + frame = 0; + type = 0; + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:z:m:M:p:wt")) != -1) + switch (c) + { + case 's': + frame = atoi(optarg); + if (frame < 0) { cerr << "Error: Cannot generate data of a negative frame number.\n"; exit(1); } + break; + case 'z': + type = atoi(optarg); + if (type > 2 || type < 0) { cerr << "Error: only global (0) or local (1) available.\n"; exit(1); } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + return 0; +} + + +void getLocalConvergence(ifstream *inputFile, ofstream *outputFile) +{ + double transMat[16]; + int type; + double rPos[3]; + double rPosTheta[3]; + cout<<"starting local convergence"<> transMat >> type; + if(type == Scan::ICP) + { + Matrix4ToEuler(transMat, rPosTheta, rPos); + (*outputFile)<> transMat >> type; + Matrix4ToEuler(transMat, rPosTheta, rPos); + Matrix4ToQuat(transMat, quat); + if((initial || type != Scan::INVALID) && type != Scan::ICPINACTIVE) { + initial = false; + (*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl; + } + //(*outputFile) << sqrt(Dist2(rPosOrg, rPos))/100.0 << " " << quat_dist(quatOrg, quat) << " " << type << endl; + } + catch (const exception &e) { + break; + } + } +} + +void getGlobalConvergence(ifstream *inputFile, ofstream *outputFile) +{ + double transMat[16]; + int type; + bool lumYetFound = false; + double rPos[3]; + double rPosTheta[3]; + cout<<"starting global convergence"<> transMat >> type; + if(type == Scan::LUM) + { + lumYetFound = true; + Matrix4ToEuler(transMat, rPosTheta, rPos); + (*outputFile)<close(); + outputFile->open("xyz.con", ios::trunc); + } + } + } + catch (const exception &e) { + break; + } + } +} + + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param frameNr frame number that should be read + */ +void readFrames(string dir, int frameNr, int convType) +{ + ifstream frame_in; + ofstream xyz_out; + xyz_out.open("xyz.con"); + string frameFileName; + frameFileName = dir + "scan" + to_string(frameNr,3) + ".frames"; + cout << "Reading Frame for convergence data " << frameFileName << "..."<::allocate(unSizeData, 3, h_idata); //model + + // Device memory allocation + CUDA_SAFE_CALL(cudaMalloc((void**)&fDist, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDistCpt, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&unMask, unSizeData*sizeof(unsigned))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevMdlPairX, unSizeData*sizeof(float))); //pairs after shrinking + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevMdlPairY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevMdlPairZ, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnPairX, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnPairY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnPairZ, unSizeData*sizeof(float))); + /////////////// Added by Shams + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnX,unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnY,unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnZ,unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevMdlPairX, unSizeData*sizeof(float))); //pairs after shrinking + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevMdlPairY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevMdlPairZ, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnPairX, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnPairY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&cngfDevScnPairZ, unSizeData*sizeof(float))); + + /////////////// + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenModX, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenModY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenModZ, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenScnX, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenScnY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fCenScnZ, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&unNoPairs, sizeof(unsigned))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnX, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnY, unSizeData*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevScnZ, unSizeData*sizeof(float))); + + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevSplit, _unSizeTree*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&unDevIdx, _unSizeTree*sizeof(unsigned))); + CUDA_SAFE_CALL(cudaMalloc((void**)&unDevAxis, _unSizeTree*sizeof(unsigned))); + CUDA_SAFE_CALL(cudaMalloc((void**)&bDevIsLeaf, _unSizeTree*sizeof(bool))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevLoBound, _unSizeTree*sizeof(float))); + CUDA_SAFE_CALL(cudaMalloc((void**)&fDevHiBound, _unSizeTree*sizeof(float))); + + CUDA_SAFE_CALL(cudaMallocArray(&cuArray, &cuDesc, _unWidth, _unHeight)); //to be bound to texture + + // Initialize states + fMaxProcTime = 0.0f; + fMaxDeviation = 0.0f; + _fSearchRadiusMax = 0.0f; + _fSearchRadiusMin = 0.0f; + _fRadiusStep = 0.0f; + _unNoQSizeStep = 0; + _dElapsedTime = 0.0; + + /* + * Array of ones to be used instead of abs sum + */ + cudaMallocHost((void**)&temp_ones, unSizeData*sizeof(float)); + cudaMalloc((void**)&ones, unSizeData*sizeof(float)); // Array of ones + for(int i = 0; i < unSizeData ; ++i)temp_ones[i] = 1.0f; + cudaMemcpy(ones, temp_ones, unSizeData*sizeof(float), cudaMemcpyHostToDevice); +} + +CIcpGpuCuda::~CIcpGpuCuda(){ + + ///////////// + // tidy up + ///////////// + CUDA_SAFE_CALL(cudaUnbindTexture(refTex)); + CUDA_SAFE_CALL(cudaFreeArray(cuArray)); + CUDA_SAFE_CALL(cudaFree(fDevSplit)); + CUDA_SAFE_CALL(cudaFree(unDevIdx)); + CUDA_SAFE_CALL(cudaFree(unDevAxis)); + CUDA_SAFE_CALL(cudaFree(bDevIsLeaf)); + CUDA_SAFE_CALL(cudaFree(fDevLoBound)); + CUDA_SAFE_CALL(cudaFree(fDevHiBound)); + CUDA_SAFE_CALL(cudaFree(fDevScnX)); + CUDA_SAFE_CALL(cudaFree(fDevScnY)); + CUDA_SAFE_CALL(cudaFree(fDevScnZ)); + CUDA_SAFE_CALL(cudaFree(fDist)); + CUDA_SAFE_CALL(cudaFree(fDistCpt)); + CUDA_SAFE_CALL(cudaFree(fCenModX)); + CUDA_SAFE_CALL(cudaFree(fCenModY)); + CUDA_SAFE_CALL(cudaFree(fCenModZ)); + CUDA_SAFE_CALL(cudaFree(fCenScnX)); + CUDA_SAFE_CALL(cudaFree(fCenScnY)); + CUDA_SAFE_CALL(cudaFree(fCenScnZ)); + CUDA_SAFE_CALL(cudaFree(unMask)); + CUDA_SAFE_CALL(cudaFree(fDevMdlPairX)); + CUDA_SAFE_CALL(cudaFree(fDevMdlPairY)); + CUDA_SAFE_CALL(cudaFree(fDevMdlPairZ)); + CUDA_SAFE_CALL(cudaFree(fDevScnPairX)); + CUDA_SAFE_CALL(cudaFree(fDevScnPairY)); + CUDA_SAFE_CALL(cudaFree(fDevScnPairZ)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnX)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnY)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnZ)); + CUDA_SAFE_CALL(cudaFree(cngfDevMdlPairX)); + CUDA_SAFE_CALL(cudaFree(cngfDevMdlPairY)); + CUDA_SAFE_CALL(cudaFree(cngfDevMdlPairZ)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnPairX)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnPairY)); + CUDA_SAFE_CALL(cudaFree(cngfDevScnPairZ)); + + CUDA_SAFE_CALL(cudaFree(unNoPairs)); + CUDA_SAFE_CALL(cudaFree(ones)); + + + CUDA_SAFE_CALL(cudaFreeHost(fSplit)); + CUDA_SAFE_CALL(cudaFreeHost(unIdx)); + CUDA_SAFE_CALL(cudaFreeHost(unAxis)); + CUDA_SAFE_CALL(cudaFreeHost(bIsLeaf)); + CUDA_SAFE_CALL(cudaFreeHost(fHstScnX)); + CUDA_SAFE_CALL(cudaFreeHost(fHstScnY)); + CUDA_SAFE_CALL(cudaFreeHost(fHstScnZ)); + CUDA_SAFE_CALL(cudaFreeHost(fLoBound)); + CUDA_SAFE_CALL(cudaFreeHost(fHiBound)); + CUDA_SAFE_CALL(cudaFreeHost(pNoPairs)); + CUDA_SAFE_CALL(cudaFreeHost(f4Mdl)); + CUDA_SAFE_CALL(cudaFreeHost(temp_ones)); + + free(h_idata); + + + ///////// + // Exit + ///////// + bool bShutDownSuccess = true; + + // Done with CUDPP + result = cudppDestroyPlan(compactplan); + if (CUDPP_SUCCESS != result){ + printf("Error destroying CUDPPPlan\n"); + bShutDownSuccess = false; + } + + // Done with CUBLAS + cublasStatus statusCUBLAS = cublasShutdown(); + if (statusCUBLAS != CUBLAS_STATUS_SUCCESS) { + fprintf (stderr, "!!!! shutdown error (A)\n"); + bShutDownSuccess = false; + } + + // Done with ANN + annClose(); + +} + +void CIcpGpuCuda::setResolution(unsigned unWidth, unsigned unHeight){ + if (unWidth>0 && unHeight>0) { + _unWidth = unWidth; + _unHeight = unHeight; + unSizeData = _unWidth*_unHeight; + + //configure block and grid size + unsigned unBlockSize = (unsigned)BLOCKSIZE; //192 + if(unSizeData<=64){ + unNoThreads = 64; + unNoBlocks = 1; + } + else if(unSizeData<=128){ + unNoThreads = 128; + unNoBlocks = 1; + } + else if(unSizeData<=unBlockSize){ + unNoThreads = unBlockSize; + unNoBlocks = 1; + } + else{ + unNoThreads = unBlockSize; + if(unSizeData%unBlockSize) unNoBlocks = unSizeData/unBlockSize + 1; + else unNoBlocks = unSizeData/unBlockSize; + } + cout<<"unNoThreads: "<0) unMaxIteration = unTimes; + else{ + cout<<"Error setting maximum iterations."<0) fMaxProcTime = dMilliseconds; + else{ + cout<<"Error setting maximum processing time."<0) fMaxDeviation = fDeviation; + else{ + cout<<"Error setting maximum deviation."<=fRadiusMin)&&(unIterations>0)){ + _fSearchRadiusMax = fRadiusMax; + _fSearchRadiusMin = fRadiusMin; + _fRadiusStep = (_fSearchRadiusMax-_fSearchRadiusMin)/(float)unIterations; + _unIterations = unIterations; + _unNoQSizeStep = unIterations/(unsigned)NO_QSIZE; + } + else{ + cout<<"Error setting search radius."<getStats(*st); + int nDepth = st->depth; + // cout<<"level of the tree: "<depth<<" (counted from 0)"<_unSizeTree) { + cout << "Not enough memory for tree construction. Tree size must be smaller than " + << unSizeTree <getRoot(); + if (unSizeData>1) { + rearrange(pRoot, 1); + } else { + cout<<"Not enough points in the tree."<isLeaf()) { + bIsLeaf[unStart-1] = true; + unIdx[unStart-1] = (unsigned)(((ANNkd_leaf*)root)->getIdxArray())[0]; + } + else { + ANNkd_ptr nL = ((ANNkd_split*)root)->getLeftChild(); + ANNkd_ptr nR = ((ANNkd_split*)root)->getRightChild(); + + bIsLeaf[unStart-1] = false; + fSplit[unStart-1] = (float)((ANNkd_split*)root)->getCutVal(); + unAxis[unStart-1] = (unsigned)((ANNkd_split*)root)->getCutDim(); + fLoBound[unStart-1] = ((ANNkd_split*)root)->getLoBound(); + fHiBound[unStart-1] = ((ANNkd_split*)root)->getHiBound(); + rearrange(nL, unStart*2); + rearrange(nR, unStart*2+1); + } + } +} + +void CIcpGpuCuda::setPointClouds(void){ + setTree(); + setModel(); + setScene(); +} + +void CIcpGpuCuda::iteration(){ + + ////////////////////////// + // prepare for iteration + ////////////////////////// + + EnumIcpState icpStat = ICP_PROCESSING; + + float fSearchRadius = _fSearchRadiusMax; + unsigned unNoIter = 0; + float fDeviation = 0.0; + unsigned unQStep = 0; + + final_matrix = new Matrix(4,4); + (*final_matrix)(1,1) = 1.0;(*final_matrix)(1,2) = 0.0;(*final_matrix)(1,3) = 0.0;(*final_matrix)(1,4) = 0.0; + (*final_matrix)(2,1) = 0.0;(*final_matrix)(2,2) = 1.0;(*final_matrix)(2,3) = 0.0;(*final_matrix)(2,4) = 0.0; + (*final_matrix)(3,1) = 0.0;(*final_matrix)(3,2) = 0.0;(*final_matrix)(3,3) = 1.0;(*final_matrix)(3,4) = 0.0; + (*final_matrix)(4,1) = 0.0;(*final_matrix)(4,2) = 0.0;(*final_matrix)(4,3) = 0.0;(*final_matrix)(4,4) = 1.0; + + Matrix matrix(4,4); + + init_time = clock(); + + // The main loop of ICP + while(icpStat == ICP_PROCESSING){ + if (unNoIter <= _unIterations) + unQStep = unNoIter/_unNoQSizeStep; + + findNearestNeighbors(fSearchRadius, unQStep); + + result=cudppCompact(compactplan, fDistCpt, (size_t*)unNoPairs, + fDist, unMask, (size_t)unSizeData); + + if (CUDPP_SUCCESS != result) + printf("Error cudppCompact\n"); + CUDA_SAFE_CALL(cudaMemcpy(pNoPairs, unNoPairs, sizeof(unsigned), cudaMemcpyDeviceToHost)); + unPairs = *pNoPairs; + + if (unPairs) { + + ////////////////////// + // transform estimation + ////////////////////// + + // Compute centroids (assume all data are non-negative) + float *fCm = new float(3); + float *fCs = new float(3); + + + computeCentroid(fDevMdlPairX,fDevMdlPairY,fDevMdlPairZ, fCm); + computeCentroid(fDevScnPairX,fDevScnPairY,fDevScnPairZ, fCs); + + fDeviation = cublasSdot(unSizeData,fDistCpt,1,ones,1); + fDeviation /= unPairs; + getCublasErr(); + + // check for termination conditions + unNoIter++; + if(unNoIter<_unIterations) + fSearchRadius-=_fRadiusStep; + if(fDeviation <= fMaxDeviation) + icpStat = ICP_SUCCESS; + else if(unNoIter >= unMaxIteration + 1) // unNoIter starts from 1 + icpStat = ICP_MAXITERATIONS; + else if ( (double)(clock() - init_time)/ (double)CLOCKS_PER_SEC * 1000>= fMaxProcTime ) + icpStat = ICP_TIMEELAPSED; + else + { + //Calculate centered point pairs + class_centralize(unMask, + fDevMdlPairX,fDevMdlPairY,fDevMdlPairZ,fDevScnPairX,fDevScnPairY,fDevScnPairZ, + fCm[0],fCm[1],fCm[2],fCs[0],fCs[1],fCs[2], + fCenModX,fCenModY,fCenModZ,fCenScnX,fCenScnY,fCenScnZ); + + //Fill H matrix + Matrix H(3,3); + H = computeHMatrix(); + + //SVD + Matrix U(3,3); + DiagonalMatrix Lamda(3); + Matrix V(3,3); + SVD(H,Lamda,U,V); + + //Get rotation + Matrix R(3,3); + R = V*(U.t()); + + // Calculate translation + double dTranslation[3]; + ColumnVector col_vec(3); + for(unsigned j = 0; j < 3; j++) + col_vec(j+1) = fCs[j]; + + ColumnVector r_time_colVec = ColumnVector(R*col_vec); + + dTranslation[0] = fCm[0] - r_time_colVec(1); + dTranslation[1] = fCm[1] - r_time_colVec(2); + dTranslation[2] = fCm[2] - r_time_colVec(3); + + matrix = fillHomoMatrix(&R,dTranslation); + + *final_matrix = matrix * (*final_matrix); + + for(int i = 1 ; i < 5 ; ++i) + for(int j = 1; j < 5 ; ++j){ + (*matrices[unNoIter - 1])(i,j) = (matrix)(i,j); + } + + ///////////// + // transform + ///////////// + + class_transformation(fDevScnX, fDevScnY, fDevScnZ, + (float)matrix(1,1), (float)matrix(1,2), (float)matrix(1,3), (float)matrix(1,4), + (float)matrix(2,1), (float)matrix(2,2), (float)matrix(2,3), (float)matrix(2,4), + (float)matrix(3,1), (float)matrix(3,2), (float)matrix(3,3), (float)matrix(3,4)); + + + /////////////// + // termination + /////////////// + + } + }//if(unPairs) + else icpStat = ICP_NOTMATCHABLE; + }//while(icpStat == ICP_PROCESSING) + + _dElapsedTime = (double)(clock() - init_time)/(double)CLOCKS_PER_SEC * 1000.0; //temporary + cout<<"=========="< + +using namespace std; + +#include "slam6d/cuda/icp6Dcuda.h" +#include "slam6d/cuda/CIcpGpuCuda.cuh" +#include "newmat/newmat.h" + + +void icp6Dcuda::initGPUicp(float max_rad, float min_rad, int iter, int max_iter, + int max_proctime, float max_dev, const double trans[], const double trans_inv[]) +{ +#ifndef WITH_SCANSERVER + unsigned int max_size = Scan::max_points_red_size; +#else //WITH_SCANSERVER + unsigned int max_size = Scan::getMaxCountReduced(); +#endif //WITH_SCANSERVER + if (max_scnSize < max_size) { + if (icp != 0) { + delete icp; + icp = 0; + } + } + if (icp == 0) { + max_scnSize = max_size; + icp = new CIcpGpuCuda((unsigned)10, ceil((float)max_size/10.f) , + (unsigned)max_num_iterations); + icp->setMaxProcTime((double) max_proctime); + icp->setMaxDeviation((double) max_dev); + icp->setSearchRadius((float) max_rad, (float) min_rad, (unsigned)max_num_iterations); + } +} + +icp6Dcuda::icp6Dcuda(icp6Dminimizer *my_icp6Dminimizer, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, bool eP, + int anim, double epsilonICP, int nns_method, bool cuda_enabled) +: icp6D(my_icp6Dminimizer, max_dist_match, + max_num_iterations, quiet, meta, rnd, eP, + anim, epsilonICP, nns_method, cuda_enabled) +{ + icp = 0; + max_scnSize = 0; +} + +/** + * Matches a 3D Scan against a 3D Scan + * @param PreviousScan The scan or metascan forming the model + * @param CurrentScan The current scan thas is to be matched + * @return The number of iterations done in this matching run + */ +int icp6Dcuda::match(Scan* PreviousScan, Scan* CurrentScan) +{ +#ifndef WITH_SCANSERVER + int mdlSize = PreviousScan->get_points_red_size(), scnSize = CurrentScan->get_points_red_size(); +#else //WITH_SCANSERVER + int mdlSize = PreviousScan->getCountReduced(), scnSize = CurrentScan->getCountReduced(); +#endif //WITH_SCANSERVER + double** mdl; + float** scn; + const double *trans; + double trans_inv[16]; + trans = PreviousScan->get_transMat(); + M4inv(trans, trans_inv); + + initGPUicp(sqrt(max_dist_match2), sqrt(max_dist_match2), max_num_iterations, + max_num_iterations, INT_MAX, epsilonICP, trans, trans_inv); + + h_idata = icp->getModelPointer(); + fHstScn = icp->getScenePointer(); + icp->setTrans_Trans_inv(trans, trans_inv); + icp->setSize(10, ceil((float)max(mdlSize, scnSize)/10.0f)); + +#ifndef WITH_SCANSERVER + double **mod_dat = PreviousScan->get_org_points_red(); + double *const*scn_dat = CurrentScan->get_points_red(); +#else //WITH_SCANSERVER + DataXYZ scn_dat(CurrentScan->getXYZReduced()); + DataXYZ mod_dat(PreviousScan->getXYZReducedOriginal()); +#endif //WITH_SCANSERVER + mdl = h_idata; + scn = fHstScn; + cout << "model point cloud size is " << mdlSize << "\n"; + for (unsigned int i = 0; i < mdlSize; ++i) { + mdl[i][0] = (float)mod_dat[i][0]; + mdl[i][1] = (float)mod_dat[i][1]; + mdl[i][2] = (float)mod_dat[i][2]; + } + cout << "scene point cloud size is " << scnSize << "\n"; + for (unsigned int i = 0; i < scnSize; ++i) { + scn[0][i] = (float)scn_dat[i][0]; + scn[1][i] = (float)scn_dat[i][1]; + scn[2][i] = (float)scn_dat[i][2]; + } + + icp->setTreePointer(const_cast(PreviousScan->getANNTree())); + float result[4][4]; + + // doICP + icp->setPointClouds(); + icp->iteration(); + Matrix* M = icp->getMatrix(); + + for (int i = 0 ; i < 4 ; ++i){ + for(int j = 0 ; j < 4 ; ++j) { + result[i][j] = (*M)(i+1,j+1); + } + } + + if(anim > 0){ + Matrix** mats = icp->getMatrices(); + for(int ci = 0 ; ci < max_num_iterations ; ci += anim){ + Matrix* cur_mat = mats[ci]; + double xf[16]; + for(int i = 1; i < 5 ; ++i) + for(int j = 1; j < 5; ++j) + xf[(i-1)+(j-1)*4] = (*cur_mat)(i,j); + CurrentScan->transform(xf, Scan::ICP, 0); + } + } + else { + double alignxf[16]; + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j){ + alignxf[i + j * 4] = result[i][j]; + } + CurrentScan->transform(alignxf, Scan::ICP, 0); // write end pose + } + + return EXIT_SUCCESS; +} + diff --git a/src/slam6d/elch6D.cc b/src/slam6d/elch6D.cc new file mode 100644 index 0000000..2e11c18 --- /dev/null +++ b/src/slam6d/elch6D.cc @@ -0,0 +1,324 @@ +/* + * elch6D implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** @file graph balancer implementation and utility functions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + * + * This file implements the paper (ecmr2009.pdf): + * Jochen Sprickerhof, Andreas Nuechter, Kai Lingemann, Joachim Hertzberg. An Explicit + * Loop Closing Technique for 6D SLAM, In Proceedings of the 4th European Conference on + * Mobile Robots (ECMR '09), Mlini/Dubrovnic, Croatia, September 2009. + */ + +#include +using std::ofstream; + +#include +using std::string; + +#include +using std::list; + +#include +using std::swap; + +#include //for old boost and new gcc +using std::numeric_limits; +#include +#include +#include +using boost::graph_traits; + +#include "slam6d/globals.icc" +#include "slam6d/elch6D.h" + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + + +/*void printout(graph_t &g, vector &p, vector &d, double *weights) +{ + cout << "distances and parents:" << endl; + graph_traits ::vertex_iterator vi, vend; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + cout << "distance(" << *vi << ") = " << d[*vi] << + ", parent(" << *vi << ") = " << p[*vi] << + *vi << " " << weights[*vi] << endl; + } +}*/ + +/** + * sets a filename for graph_weight_out and calls it + * @param g the graph to save + * @param first the first node + * @param last the last node + * @param weights the computed weights + */ +void elch6D::graph_weight_out(graph_t &g, int first, int last, double *weights) +{ + string name("graph_weight_" + to_string(num_vertices(g), 3) + ".dot"); + graph_weight_out(g, first, last, weights, name); +} + +/** + * writes a graphviz file with the graph labled with the computed weights + * @param g the graph to save + * @param first the first node + * @param last the last node + * @param weights the computed weights + * @param out_file the file to write to + */ +void elch6D::graph_weight_out(graph_t &g, int first, int last, double *weights, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + dot_file << "graph D {" << endl; + graph_traits ::vertex_iterator vi, vend; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + dot_file << *vi << "[label=\"" << *vi << " (" << + weights[*vi] << ")\"];" << endl; + } + boost::property_map::type weightmap = get(boost::edge_weight, g); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << + "[label=\"" << get(weightmap, *ei) << "\"];" << endl; + } + dot_file << first << " -- " << last << "[color=\"green\"] }"; + dot_file.close(); +} + +/** + * sets a filename and calls graph_pos_out + * @param g the graph to save + * @param allScans all laser scans + */ +void elch6D::graph_pos_out(graph_t &g, const vector &allScans) +{ + string name("graph_pos_" + to_string(num_vertices(g), 3) + ".dot"); + graph_pos_out(g, allScans, name); +} + +/** + * writes the graph using the computed scan poses + * @param g the graph to save + * @param allScans all laser scans + * @param out_file the file to write to + */ +void elch6D::graph_pos_out(graph_t &g, const vector &allScans, string &out_file) +{ + ofstream graph_file(out_file.c_str()); + ofstream graph2_file(("2" + out_file).c_str()); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + if(source(*ei, g) + 1 != target(*ei, g)) { + graph2_file << allScans[source(*ei, g)]->get_rPos()[0] << " " << allScans[source(*ei, g)]->get_rPos()[1] << " " << allScans[source(*ei, g)]->get_rPos()[2] << endl; + graph2_file << allScans[target(*ei, g)]->get_rPos()[0] << " " << allScans[target(*ei, g)]->get_rPos()[1] << " " << allScans[target(*ei, g)]->get_rPos()[2] << endl << endl; + } else { + graph_file << allScans[source(*ei, g)]->get_rPos()[0] << " " << allScans[source(*ei, g)]->get_rPos()[1] << " " << allScans[source(*ei, g)]->get_rPos()[2] << endl; + graph_file << allScans[target(*ei, g)]->get_rPos()[0] << " " << allScans[target(*ei, g)]->get_rPos()[1] << " " << allScans[target(*ei, g)]->get_rPos()[2] << endl << endl; + } + } + graph_file.close(); + graph2_file.close(); +} + +/** + * write graphviz file with real poses + * @param g the graph + * @param allScans all laser scans + * @param out_file the file to write to + */ +void elch6D::dot_pos_out(graph_t &g, const vector &allScans, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + + dot_file << "graph D {" << endl << "size=\"20,20\"" << endl; + + int n = num_vertices(g); + for(int i = 0; i < n; i++) { + dot_file << i << "[pos=\"" << + allScans[i]->get_rPos()[0] << "," << + allScans[i]->get_rPos()[2] << "\", label=\"\", height=0.1, width=0.1, fixedsize=true];" << endl; + } + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + if(source(*ei, g) + 1 != target(*ei, g)) { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << "[color=\"green\"];" << endl; + } else { + dot_file << source(*ei, g) << " -- " << target(*ei, g) << ";" << endl; + } + } + dot_file << "}"; + dot_file.close(); +} + +/** + * sets filename and calls graph_out + * @param g the graph + */ +void elch6D::graph_out(graph_t &g) +{ + string name("graph_" + to_string(num_vertices(g), 3) + ".dot"); + graph_out(g, name); +} + +/** + * uses boost write_graphviz to write the graph + * @param g the graph + * @param out_file the file to write to + */ +void elch6D::graph_out(graph_t &g, string &out_file) +{ + ofstream dot_file(out_file.c_str()); + write_graphviz(dot_file, g); + dot_file.close(); +} + +/** + * sets filename and calls slim_graph_out + */ +void elch6D::slim_graph_out(graph_t g) +{ + string name("slim_graph_" + to_string(num_vertices(g), 3) + ".dot"); + slim_graph_out(g, name); +} + +/** + * writes slim graph (supressing unimportant nodes) + * @param g the graph + * @param out_file the file to write to + */ +void elch6D::slim_graph_out(graph_t g, string &out_file) +{ + bool todo; + graph_traits < graph_t >::vertex_iterator vi, vend; + graph_traits < graph_t >::adjacency_iterator ai; + do { + todo = false; + for(tie(vi, vend) = vertices(g); vi != vend; vi++) { + int me = *vi; + if(degree(me, g) == 2) { + ai = adjacent_vertices(me, g).first; + int one = *ai; + ai++; + int two = *ai; + if(degree(one, g) == 2 && degree(two, g) == 2 && one != me && two != me && one != two) { + clear_vertex(me, g); + add_edge(one, two, g); + remove_vertex(me, g); + todo = true; + break; + } + } + } + } while(todo); + + ofstream dot_file(out_file.c_str()); + write_graphviz(dot_file, g); + dot_file.close(); +} + +/** + * graph balancer algorithm computes the weights + * @param g the graph + * @param f index of the first node + * @param l index of the last node + * @param weights array for the weights + */ +void elch6D::graph_balancer(graph_t &g, int f, int l, double *weights) +{ + list crossings, branches; + crossings.push_back(f); + crossings.push_back(l); + weights[f] = 0; + weights[l] = 1; + + int *p = new int[num_vertices(g)]; + int *p_min = new int[num_vertices(g)]; + double *d = new double[num_vertices(g)]; + double *d_min = new double[num_vertices(g)]; + double dist; + bool do_swap = false; + list::iterator si, ei, s_min, e_min; + + // process all junctions + while(!crossings.empty()) { + dist = -1; + // find shortest crossing for all vertices on the loop + for(si = crossings.begin(); si != crossings.end(); ) { + dijkstra_shortest_paths(g, *si, boost::predecessor_map(p).distance_map(d)); + ei = si; + ei++; + // find shortest crossing for one vertex + for(; ei != crossings.end(); ei++) { + if(*ei != p[*ei] && (dist < 0 || d[*ei] < dist)) { + dist = d[*ei]; + s_min = si; + e_min = ei; + do_swap = true; + } + } + if(do_swap) { + swap(p, p_min); + swap(d, d_min); + do_swap = false; + } + // vertex starts a branch + if(dist < 0) { + branches.push_back(*si); + si = crossings.erase(si); + } else { + si++; + } + } + + if(dist > -1) { + remove_edge(*e_min, p_min[*e_min], g); + for(int i = p_min[*e_min]; i != *s_min; i = p_min[i]) { + //even right with weights[*s_min] > weights[*e_min]! (math works) + weights[i] = weights[*s_min] + (weights[*e_min] - weights[*s_min]) * d_min[i] / d_min[*e_min]; + remove_edge(i, p_min[i], g); + if(degree(i, g) > 0) { + crossings.push_back(i); + } + } + + if(degree(*s_min, g) == 0) { + crossings.erase(s_min); + } + + if(degree(*e_min, g) == 0) { + crossings.erase(e_min); + } + } + } + + delete[] p; + delete[] p_min; + delete[] d; + delete[] d_min; + + graph_traits ::adjacency_iterator ai, ai_end; + int s; + + // error propagation + while(!branches.empty()) { + s = branches.front(); + branches.pop_front(); + + for(tie(ai, ai_end) = adjacent_vertices(s, g); ai != ai_end; ++ai) { + weights[*ai] = weights[s]; + if(degree(*ai, g) > 1) { + branches.push_back(*ai); + } + } + clear_vertex(s, g); + } +} diff --git a/src/slam6d/elch6Deuler.cc b/src/slam6d/elch6Deuler.cc new file mode 100644 index 0000000..c9158d5 --- /dev/null +++ b/src/slam6d/elch6Deuler.cc @@ -0,0 +1,126 @@ +/* + * elch6Deuler implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using Euler angles + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +#include "slam6d/elch6Deuler.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using Euler angles + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Deuler::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[6]; + Matrix C(6, 6); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 6; j++) { + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } + } + + double *weights[6]; + for(int i = 0; i < 6; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + for(int i = last - 2; i <= last; i++) { + for(int j = 0; j < 6; j++) { + weights[j][i] = 0.0; + } + } + + double delta[6]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + delta[3] = allScans[last]->get_rPosTheta()[0]; + delta[4] = allScans[last]->get_rPosTheta()[1]; + delta[5] = allScans[last]->get_rPosTheta()[2]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + delta[3] = allScans[last]->get_rPosTheta()[0] - delta[3]; + delta[4] = allScans[last]->get_rPosTheta()[1] - delta[4]; + delta[5] = allScans[last]->get_rPosTheta()[2] - delta[5]; + + if(!quiet) { + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << delta[3] << " " << delta[4] << " " << delta[5] << endl; + } + + double rPos[3], rPosTheta[3]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + rPosTheta[0] = allScans[i]->get_rPosTheta()[0] + delta[3] * (weights[3][i] - weights[3][0]); + rPosTheta[1] = allScans[i]->get_rPosTheta()[1] + delta[4] * (weights[4][i] - weights[4][0]); + rPosTheta[2] = allScans[i]->get_rPosTheta()[2] + delta[5] * (weights[5][i] - weights[5][0]); + + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 6; i++) { + delete [] weights[i]; + } + +} diff --git a/src/slam6d/elch6Dquat.cc b/src/slam6d/elch6Dquat.cc new file mode 100644 index 0000000..d0563aa --- /dev/null +++ b/src/slam6d/elch6Dquat.cc @@ -0,0 +1,136 @@ +/* + * elch6Dquat implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/elch6Dquat.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using Quaternions + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Dquat::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[7]; + Matrix C(7, 7); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 7; j++) { + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } + } + + double *weights[7]; + for(int i = 0; i < 7; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + for(int i = last - 2; i <= last; i++) { + for(int j = 0; j < 7; j++) { + weights[j][i] = 0.0; + } + } + + double delta[7]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + delta[3] = allScans[last]->get_rPosQuat()[0]; + delta[4] = allScans[last]->get_rPosQuat()[1]; + delta[5] = allScans[last]->get_rPosQuat()[2]; + delta[6] = allScans[last]->get_rPosQuat()[3]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + delta[3] = allScans[last]->get_rPosQuat()[0] - delta[3]; + delta[4] = allScans[last]->get_rPosQuat()[1] - delta[4]; + delta[5] = allScans[last]->get_rPosQuat()[2] - delta[5]; + delta[6] = allScans[last]->get_rPosQuat()[3] - delta[6]; + + if(!quiet) { + double axisangle[4]; + axisangle[0] = delta[3]; + axisangle[1] = delta[4]; + axisangle[2] = delta[5]; + axisangle[3] = delta[6]; + QuatToAA(axisangle); + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + double rPos[3], rPosQuat[4]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + rPosQuat[0] = allScans[i]->get_rPosQuat()[0] + delta[3] * (weights[3][i] - weights[3][0]); + rPosQuat[1] = allScans[i]->get_rPosQuat()[1] + delta[4] * (weights[4][i] - weights[4][0]); + rPosQuat[2] = allScans[i]->get_rPosQuat()[2] + delta[5] * (weights[5][i] - weights[5][0]); + rPosQuat[3] = allScans[i]->get_rPosQuat()[3] + delta[6] * (weights[6][i] - weights[6][0]); + + Normalize4(rPosQuat); + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 7; i++) { + delete [] weights[i]; + } + +} diff --git a/src/slam6d/elch6Dslerp.cc b/src/slam6d/elch6Dslerp.cc new file mode 100644 index 0000000..c9fd84e --- /dev/null +++ b/src/slam6d/elch6Dslerp.cc @@ -0,0 +1,168 @@ +/* + * elch6Dslerp implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file ELCH implementation using SLERP + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/elch6Dslerp.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include + +#include +using boost::graph_traits; +using namespace NEWMAT; +/** + * ELCH loop closing function using SLERP + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6Dslerp::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[4]; + graph_traits ::edge_iterator ei = edges(g).first; + int num_arcs = num_edges(g); + int li = 0; +#ifdef _OPENMP +#pragma omp parallel for firstprivate(li, ei) +#endif + for(int i = 0; i < num_arcs; i++) { + for(;i > li; li++, ei++) ; + for(;i < li; li--, ei--) ; + Matrix C(7, 7); + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 3; j++) { +#ifdef _OPENMP +#pragma omp critical +#endif + add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]); + } +#ifdef _OPENMP +#pragma omp critical +#endif + add_edge(from, to, fabs(C(4, 4)) + fabs(C(5, 5)) + fabs(C(6, 6)) + fabs(C(7, 7)), grb[3]); + li++; + ei++; + } + + double *weights[4]; + for(int i = 0; i < 4; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + meta_end.push_back(allScans[i]); + } + MetaScan *end = new MetaScan(meta_end, false, false); + + double Pl0[16]; + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + + my_icp6D->match(start, end); + + delete start; + delete end; + + // store ICP + double Pp0[16]; + memcpy(Pp0, allScans[last]->get_transMat(), 16 * sizeof(double)); + + //compute Delta + double Pf0[16], Pf0_inv[16], tmp1[16], tmp2[16], deltaf[16]; + memcpy(Pf0, allScans[first]->get_transMat(), 16 * sizeof(double)); + M4inv(Pf0, Pf0_inv); + + MMult(Pf0_inv, Pl0, tmp1); + M4inv(tmp1, tmp2); + MMult(Pp0, tmp2, tmp1); + MMult(Pf0_inv, tmp1, deltaf); + + double deltaT[3], deltaQ[4]; + Matrix4ToQuat(deltaf, deltaQ, deltaT); + + if(!quiet) { + double axisangle[4]; + axisangle[0] = deltaQ[0]; + axisangle[1] = deltaQ[1]; + axisangle[2] = deltaQ[2]; + axisangle[3] = deltaQ[3]; + QuatToAA(axisangle); + cout << "Delta: " << deltaT[0] << " " << deltaT[1] << " " << deltaT[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + //transform scans + double idQ[4] = {1, 0, 0, 0}, rPos[3], rPosQuat[4], delta0[16]; + + rPos[0] = deltaT[0] * weights[0][0]; + rPos[1] = deltaT[1] * weights[1][0]; + rPos[2] = deltaT[2] * weights[2][0]; + slerp(idQ, deltaQ, weights[3][0], rPosQuat); + QuatToMatrix4(rPosQuat, rPos, tmp1); + M4inv(tmp1, tmp2); + MMult(Pf0, tmp2, delta0); + +#ifdef _OPENMP +#pragma omp parallel for private(rPos, rPosQuat, tmp1, tmp2) +#endif + for(int i = 1; i < n; i++) { + if(i >= last - offset_last_start && i <= last + offset_last_end) { + MMult(delta0, Pf0_inv, tmp1); + } else { + rPos[0] = deltaT[0] * weights[0][i]; + rPos[1] = deltaT[1] * weights[1][i]; + rPos[2] = deltaT[2] * weights[2][i]; + slerp(idQ, deltaQ, weights[3][i], rPosQuat); + QuatToMatrix4(rPosQuat, rPos, tmp1); + MMult(delta0, tmp1, tmp2); + MMult(tmp2, Pf0_inv, tmp1); + } + allScans[i]->transform(tmp1, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 4; i++) { + delete [] weights[i]; + } + +} diff --git a/src/slam6d/elch6DunitQuat.cc b/src/slam6d/elch6DunitQuat.cc new file mode 100644 index 0000000..6c887ed --- /dev/null +++ b/src/slam6d/elch6DunitQuat.cc @@ -0,0 +1,182 @@ +/* + * elch6DunitQuat implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file ELCH implementation using unit Quaternions + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + + +#include "slam6d/elch6DunitQuat.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::ofstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; + +#ifdef _MSC_VER +#define tie tr1::tie +#endif + +/** + * ELCH loop closing function using unit Quaternion + * matches first and last scan of a loop with ICP + * distributes the error + * + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void elch6DunitQuat::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + graph_t grb[4]; + Matrix C(7, 7); + graph_traits ::edge_iterator ei, ei_end; + for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) { + int from = source(*ei, g); + int to = target(*ei, g); + lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + C = C.i(); + for(int j = 0; j < 3; j++) { + add_edge(from, to, abs(C(j + 1, j + 1)), grb[j]); + } + add_edge(from, to, abs(C(4, 4)) + abs(C(5, 5)) + abs(C(6, 6)) + abs(C(7, 7)), grb[3]); + } + + double *weights[4]; + for(int i = 0; i < 4; i++) { + weights[i] = new double[n]; + graph_balancer(grb[i], first, last, weights[i]); + } + + vector meta_start; + meta_start.push_back(allScans[first]); + meta_start.push_back(allScans[first + 1]); + meta_start.push_back(allScans[first + 2]); + MetaScan *start = new MetaScan(meta_start, false, false); + vector meta_end; + meta_end.push_back(allScans[last - 2]); + meta_end.push_back(allScans[last - 1]); + meta_end.push_back(allScans[last]); + MetaScan *end = new MetaScan(meta_end, false, false); + + //save poses bevor ICP + double pOld1[7], pOld2[7], pOld3[7]; + pOld1[0] = allScans[last]->get_rPos()[0]; + pOld1[1] = allScans[last]->get_rPos()[1]; + pOld1[2] = allScans[last]->get_rPos()[2]; + pOld1[3] = allScans[last]->get_rPosQuat()[0]; + pOld1[4] = allScans[last]->get_rPosQuat()[1]; + pOld1[5] = allScans[last]->get_rPosQuat()[2]; + pOld1[6] = allScans[last]->get_rPosQuat()[3]; + + pOld2[0] = allScans[last - 1]->get_rPos()[0]; + pOld2[1] = allScans[last - 1]->get_rPos()[1]; + pOld2[2] = allScans[last - 1]->get_rPos()[2]; + pOld2[3] = allScans[last - 1]->get_rPosQuat()[0]; + pOld2[4] = allScans[last - 1]->get_rPosQuat()[1]; + pOld2[5] = allScans[last - 1]->get_rPosQuat()[2]; + pOld2[6] = allScans[last - 1]->get_rPosQuat()[3]; + + pOld3[0] = allScans[last - 2]->get_rPos()[0]; + pOld3[1] = allScans[last - 2]->get_rPos()[1]; + pOld3[2] = allScans[last - 2]->get_rPos()[2]; + pOld3[3] = allScans[last - 2]->get_rPosQuat()[0]; + pOld3[4] = allScans[last - 2]->get_rPosQuat()[1]; + pOld3[5] = allScans[last - 2]->get_rPosQuat()[2]; + pOld3[6] = allScans[last - 2]->get_rPosQuat()[3]; + + double delta[3]; + delta[0] = allScans[last]->get_rPos()[0]; + delta[1] = allScans[last]->get_rPos()[1]; + delta[2] = allScans[last]->get_rPos()[2]; + double q1[4]; + q1[0] = allScans[last]->get_rPosQuat()[0]; + q1[1] = -allScans[last]->get_rPosQuat()[1]; + q1[2] = -allScans[last]->get_rPosQuat()[2]; + q1[3] = -allScans[last]->get_rPosQuat()[3]; + + my_icp6D->match(start, end); + + delete start; + delete end; + + delta[0] = allScans[last]->get_rPos()[0] - delta[0]; + delta[1] = allScans[last]->get_rPos()[1] - delta[1]; + delta[2] = allScans[last]->get_rPos()[2] - delta[2]; + double q2[4]; + q2[0] = allScans[last]->get_rPosQuat()[0]; + q2[1] = allScans[last]->get_rPosQuat()[1]; + q2[2] = allScans[last]->get_rPosQuat()[2]; + q2[3] = allScans[last]->get_rPosQuat()[3]; + + double deltaQ[4]; + QMult(q2, q1, deltaQ); // q3 = q2*q1^-1 + + if(!quiet) { + double axisangle[4]; + axisangle[0] = deltaQ[0]; + axisangle[1] = deltaQ[1]; + axisangle[2] = deltaQ[2]; + axisangle[3] = deltaQ[3]; + QuatToAA(axisangle); + cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl; + } + + // restore poses after ICP matching + allScans[last]->transformToQuat(pOld1, &pOld1[3], Scan::INVALID, -1); + allScans[last - 1]->transformToQuat(pOld2, &pOld2[3], Scan::INVALID, -1); + allScans[last - 2]->transformToQuat(pOld3, &pOld3[3], Scan::INVALID, -1); + + //compute inverse rotation of Scan 0 + double scan0Pdelta[4], scan0Q[4]; + QMult(deltaQ, allScans[0]->get_rPosQuat(), scan0Pdelta); + scan0Q[0] = (1 - weights[3][0]) * allScans[0]->get_rPosQuat()[0] + scan0Pdelta[0] * weights[3][0]; + scan0Q[1] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[1] + scan0Pdelta[1] * weights[3][0]); + scan0Q[2] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[2] + scan0Pdelta[2] * weights[3][0]); + scan0Q[3] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[3] + scan0Pdelta[3] * weights[3][0]); + Normalize4(scan0Q); + QMult(allScans[0]->get_rPosQuat(), scan0Q, scan0Pdelta); + + double rPos[3], rPosQuat[4], tmpquat[4]; + for(int i = 1; i < n; i++) { + rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]); + rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]); + rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]); + QMult(deltaQ, allScans[i]->get_rPosQuat(), rPosQuat); + tmpquat[0] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[0] + rPosQuat[0] * weights[3][i]; + tmpquat[1] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[1] + rPosQuat[1] * weights[3][i]; + tmpquat[2] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[2] + rPosQuat[2] * weights[3][i]; + tmpquat[3] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[3] + rPosQuat[3] * weights[3][i]; + Normalize4(tmpquat); + QMult(scan0Pdelta, tmpquat, rPosQuat); + + Normalize4(rPosQuat); + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1); + } + + for(int i = 0; i < 4; i++) { + delete [] weights[i]; + } + +} diff --git a/src/slam6d/exportPoints.cc b/src/slam6d/exportPoints.cc new file mode 100644 index 0000000..ca4acd6 --- /dev/null +++ b/src/slam6d/exportPoints.cc @@ -0,0 +1,322 @@ +/* + * exportPoints implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; +#include +using std::exception; + +#include +#include + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << " NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires -r or --reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -s 2 -e 3 dat" << endl << endl; + exit(1); +} + + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param mdm maximal distance match + * @param mdml maximal distance match for SLAM + * @param mni maximal number of iterations + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @param extrapolate_pose - i.e., extrapolating the odometry by the last transformation + * (vs. taking the pose file as exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + int &start, int &end, int &maxDist, int &minDist, bool &extrapolate_pose, + int &octree, IOType &type) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "trustpose", no_argument, 0, 'p' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:s:e:r:O:R:p", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'p': + extrapolate_pose = false; + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +void readFrames(string dir, int start, int end, IOType &type) +{ + ifstream frame_in; + int fileCounter = start; + string frameFileName; + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + frameFileName = dir + "scan" + to_string(fileCounter++,3) + ".frames"; + + frame_in.open(frameFileName.c_str()); + + // read 3D scan + if (!frame_in.good()) break; // no more files in the directory + + cout << "Reading Frames for 3D Scan " << frameFileName << "..." << endl; + + // vector Matrices; +// vector algoTypes; + double transMat[16]; + int algoTypeInt; + + while (frame_in.good()) { + try { + frame_in >> transMat >> algoTypeInt; + } + catch (const exception &e) { + break; + } + } + + if(type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) { + Scan::allScans[fileCounter - start]->transformAll(transMat); + if(fileCounter == start+1) { + Scan::allScans[0]->transformAll(transMat); + } + } else { + Scan::allScans[fileCounter - start - 1]->transformAll(transMat); + } + + frame_in.close(); + frame_in.clear(); + } +} + +/** + * program for point export + * Usage: bin/exportPoints 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int rand = -1; + int start = 0, end = -1; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + int octree = 0; // employ randomized octree reduction? + IOType type = UOS; + +// parseArgs(argc, argv, dir, red, rand, start, end, +// maxDist, minDist, eP, octree, type); +// +// // Get Scans +// Scan::readScans(type, start, end, dir, maxDist, minDist, true); +// +// int end_reduction = (int)Scan::allScans.size(); +//#ifdef _OPENMP +//#pragma omp parallel for schedule(dynamic) +//#endif +// for (int iterator = 0; iterator < end_reduction; iterator++) { +// if (red > 0) { +// cout << "Reducing Scan No. " << iterator << endl; +// } else { +// cout << "Copying Scan No. " << iterator << endl; +// } +// // reduction filter for current scan! +// Scan::allScans[iterator]->calcReducedPoints(red, octree); +// } +// +// if(eP) { +// readFrames(dir, start, end, type); +// } +// +// cout << "Export all 3D Points to file \"points.pts\"" << endl; +// ofstream redptsout("points.pts"); +// for(unsigned int i = 0; i < Scan::allScans.size(); i++) { +// const vector *points = Scan::allScans[i]->get_points(); +// for(unsigned int j = 0; j < points->size(); j++) { +// redptsout << points->at(j) << endl; +// } +// } +// redptsout.close(); +// redptsout.clear(); +} diff --git a/src/slam6d/fbr/CMakeLists.txt b/src/slam6d/fbr/CMakeLists.txt new file mode 100644 index 0000000..aabf033 --- /dev/null +++ b/src/slam6d/fbr/CMakeLists.txt @@ -0,0 +1,23 @@ +FIND_PACKAGE(OpenCV REQUIRED) + +SET(FBR_IO_SRC scan_cv.cc) +add_library(fbr_cv_io STATIC ${FBR_IO_SRC}) + +SET(FBR_PANORAMA_SRC panorama.cc) +add_library(fbr_panorama STATIC ${FBR_PANORAMA_SRC}) + +SET(FBR_FEATURE_SRC feature.cc) +add_library(fbr_feature STATIC ${FBR_FEATURE_SRC}) + +SET(FBR_FEATURE_MATCHER_SRC feature_matcher.cc) +add_library(fbr_feature_matcher STATIC ${FBR_FEATURE_MATCHER_SRC}) + +SET(FBR_REGISTRATION_SRC registration.cc) +add_library(fbr_registration STATIC ${FBR_REGISTRATION_SRC}) + +IF(WITH_FBR) +SET(FBR_LIBS scan ANN ${OpenCV_LIBS}) + +add_executable(featurebasedregistration feature_based_registration.cc fbr_global.cc) +target_link_libraries(featurebasedregistration fbr_cv_io fbr_panorama fbr_feature fbr_feature_matcher fbr_registration ${FBR_LIBS}) +ENDIF(WITH_FBR) \ No newline at end of file diff --git a/src/slam6d/fbr/fbr_global.cc b/src/slam6d/fbr/fbr_global.cc new file mode 100644 index 0000000..b32aff8 --- /dev/null +++ b/src/slam6d/fbr/fbr_global.cc @@ -0,0 +1,199 @@ +/* + * fbr_global implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/fbr_global.h" +#include + +namespace fbr{ + string scanFormatToString(IOType format){ + return io_type_to_libname(format); + } + + IOType stringToScanFormat(string format){ + return formatname_to_io_type(format.c_str()); + } + + string projectionMethodToString(projection_method method){ + string sMethod; + switch(method){ + case EQUIRECTANGULAR: + sMethod = "EQUIRECTANGULAR"; + break; + case CYLINDRICAL: + sMethod = "CYLINDRICAL"; + break; + case MERCATOR: + sMethod = "MERCATOR"; + break; + case RECTILINEAR: + sMethod = "RECTILINEAR"; + break; + case PANNINI: + sMethod = "PANNINI"; + break; + case STEREOGRAPHIC: + sMethod = "STEREOGRAPHIC"; + break; + case ZAXIS: + sMethod = "ZAXIS"; + break; + default: + throw std::runtime_error(std::string("projection method ") + to_string(method) + std::string(" could not be matched to a projection method")); + } + return sMethod; + } + + projection_method stringToProjectionMethod(string method){ + if(strcasecmp(method.c_str(), "EQUIRECTANGULAR") == 0) return EQUIRECTANGULAR; + else if(strcasecmp(method.c_str(), "CYLINDRICAL") == 0) return CYLINDRICAL; + else if(strcasecmp(method.c_str(), "MERCATOR") == 0) return MERCATOR; + else if(strcasecmp(method.c_str(), "RECTILINEAR") == 0) return RECTILINEAR; + else if(strcasecmp(method.c_str(), "PANNINI") == 0) return PANNINI; + else if(strcasecmp(method.c_str(), "STEREOGRAPHIC") == 0) return STEREOGRAPHIC; + else if(strcasecmp(method.c_str(), "ZAXIS") == 0) return ZAXIS; + else throw std::runtime_error(std::string("projection method ") + method + std::string(" is unknown")); + } + + string panoramaMapMethodToString(panorama_map_method method){ + string sMethod; + switch(method){ + case FARTHEST: + sMethod = "FARTHEST"; + break; + case EXTENDED: + sMethod = "EXTENDED"; + break; + default: + throw std::runtime_error(std::string("panorama map method ") + to_string(method) + std::string(" could not be matched to a panorama map method")); + } + return sMethod; + } + + panorama_map_method stringToPanoramaMapMethod(string method){ + if(strcasecmp(method.c_str(), "FARTHEST") == 0) return FARTHEST; + else if(strcasecmp(method.c_str(), "EXTENDED") == 0) return EXTENDED; + else throw std::runtime_error(std::string("panorama map method ") + method + std::string(" is unknown")); + } + + string featureDetectorMethodToString(feature_detector_method method){ + string sMethod; + switch(method){ + case SIFT_DET: + sMethod = "SIFT_DET"; + break; + case SURF_DET: + sMethod = "SURF_DET"; + break; + case ORB_DET: + sMethod = "ORB_DET"; + break; + case FAST_DET: + sMethod = "FAST_DET"; + break; + case STAR_DET: + sMethod = "STAR_DET"; + break; + default: + throw std::runtime_error(std::string("feature detector method ") + to_string(method) + std::string(" could not be matched to a feature detector method")); + } + return sMethod; + } + + feature_detector_method stringToFeatureDetectorMethod(string method){ + if(strcasecmp(method.c_str(), "SIFT") == 0) return SIFT_DET; + else if(strcasecmp(method.c_str(), "SURF") == 0) return SURF_DET; + else if(strcasecmp(method.c_str(), "ORB") == 0) return ORB_DET; + else if(strcasecmp(method.c_str(), "FAST") == 0) return FAST_DET; + else if(strcasecmp(method.c_str(), "STAR") == 0) return STAR_DET; + else throw std::runtime_error(std::string("feature detector method ") + method + std::string(" is unknown")); + } + + string featureDescriptorMethodToString(feature_descriptor_method method){ + string sMethod; + switch(method){ + case SIFT_DES: + sMethod = "SIFT_DES"; + break; + case SURF_DES: + sMethod = "SURF_DES"; + break; + case ORB_DES: + sMethod = "ORB_DES"; + break; + default: + throw std::runtime_error(std::string("feature descriptor method ") + to_string(method) + std::string(" could not be matched to a feature descriptor method")); + } + return sMethod; + } + + feature_descriptor_method stringToFeatureDescriptorMethod(string method){ + if(strcasecmp(method.c_str(), "SIFT") == 0) return SIFT_DES; + else if(strcasecmp(method.c_str(), "SURF") == 0) return SURF_DES; + else if(strcasecmp(method.c_str(), "ORB") == 0) return ORB_DES; + else throw std::runtime_error(std::string("feature descriptor method ") + method + std::string(" is unknown")); + } + + string matcherMethodToString(matcher_method method){ + string sMethod; + switch(method){ + case BRUTEFORCE: + sMethod = "BRUTEFORCE"; + break; + case FLANN: + sMethod = "FLANN"; + break; + case KNN: + sMethod = "KNN"; + break; + case RADIUS: + sMethod = "RADIUS"; + break; + case RATIO: + sMethod = "RATIO"; + break; + default: + throw std::runtime_error(std::string("matcher method ") + to_string(method) + std::string(" could not be matched to a matcher method")); + } + return sMethod; + } + + matcher_method stringToMatcherMethod(string method){ + if(strcasecmp(method.c_str(), "BRUTEFORCE") == 0) return BRUTEFORCE; + else if(strcasecmp(method.c_str(), "FLANN") == 0) return FLANN; + else if(strcasecmp(method.c_str(), "KNN") == 0) return KNN; + else if(strcasecmp(method.c_str(), "RADIUS") == 0) return RADIUS; + else if(strcasecmp(method.c_str(), "RATIO") == 0) return RATIO; + else throw std::runtime_error(std::string("matcher method ") + method + std::string(" is unknown")); + } + + string registrationMethodToString(registration_method method){ + string sMethod; + switch(method){ + case ALL: + sMethod = "ALL"; + break; + case RANSAC: + sMethod = "RANSAC"; + break; + case DISABLE: + sMethod = "DISABLE"; + break; + default: + throw std::runtime_error(std::string("registration method ") + to_string(method) + std::string(" could not be matched to a registration method")); + } + return sMethod; + } + + registration_method stringToRegistrationMethod(string method){ + if(strcasecmp(method.c_str(), "ALL") == 0) return ALL; + else if(strcasecmp(method.c_str(), "RANSAC") == 0) return RANSAC; + else if(strcasecmp(method.c_str(), "DISABLE") == 0) return DISABLE; + else throw std::runtime_error(std::string("registration method ") + method + std::string(" is unknown")); + } +} diff --git a/src/slam6d/fbr/feature.cc b/src/slam6d/fbr/feature.cc new file mode 100644 index 0000000..d7cdcca --- /dev/null +++ b/src/slam6d/fbr/feature.cc @@ -0,0 +1,117 @@ +/* + * feature implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/feature.h" + +using namespace std; + +namespace fbr{ + + feature::feature(){ + fDetectorMethod = SIFT_DET; + fDescriptorMethod = SIFT_DES; + } + + void feature::featureDetection(cv::Mat pImage, feature_detector_method method){ + //Detect the keypoints using SURF Detector + if(fDetectorMethod == SURF_DET){ + double minHessian = 400; + cv::SurfFeatureDetector detector(minHessian); + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using SIFT Detector + if(fDetectorMethod == SIFT_DET){ + cv::SiftFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using ORB Detector + if(fDetectorMethod == ORB_DET){ + cv::OrbFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using FAST Detector + if(fDetectorMethod == FAST_DET){ + cv::FastFeatureDetector detector; + detector.detect(pImage, keypoints); + } + + //Detect the keypoints using STAR Detector + if(fDetectorMethod == STAR_DET){ + cv::StarFeatureDetector detector; + detector.detect(pImage, keypoints); + } + } + + void feature::featureDetection(cv::Mat pImage){ + featureDetection(pImage, fDetectorMethod); + } + + void feature::featureDescription(cv::Mat pImage, feature_descriptor_method method){ + + if(keypoints.size() == 0) + featureDetection(pImage); + + //Create descriptor using SURF + if(fDescriptorMethod == SURF_DES){ + cv::SurfDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + + //Create descriptor using SIFT + if(fDescriptorMethod == SIFT_DES){ + cv::SiftDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + + //Create descriptor using ORB + if(fDescriptorMethod == ORB_DES){ + cv::OrbDescriptorExtractor extractor; + extractor.compute(pImage, keypoints, descriptors); + } + } + + void feature::featureDescription(cv::Mat pImage){ + featureDescription(pImage, fDescriptorMethod); + } + + feature_detector_method feature::getDetectorMethod(){ + return fDetectorMethod; + } + + feature_descriptor_method feature::getDescriptorMethod(){ + return fDescriptorMethod; + } + + //check for the keypoints vector not to be empty + vector feature::getFeatures(){ + return keypoints; + } + + //check for the descriptor Mat not to be empty + cv::Mat feature::getDescriptors(){ + return descriptors; + } + + void feature::getDescription(description_method method){ + if(method == FEATURE_DESCRIPTION) + cout<<"fDetectorMethod: "< +#include +#include "slam6d/fbr/fbr_global.h" +#include "slam6d/fbr/scan_cv.h" +#include "slam6d/fbr/panorama.h" +#include "slam6d/fbr/feature.h" +#include "slam6d/fbr/feature_matcher.h" +#include "slam6d/fbr/registration.h" + +using namespace std; +using namespace fbr; + +struct information{ + string local_time; + string dir, outDir; + int iWidth, iHeight, nImages, minDistance, minError, minInlier, fScanNumber, sScanNumber, verbose; + double pParam, mParam; + IOType sFormat; + projection_method pMethod; + feature_detector_method fMethod; + feature_descriptor_method dMethod; + matcher_method mMethod; + registration_method rMethod; + + int fSPoints, sSPoints, fFNum, sFNum, mNum, filteredMNum; + double fSTime, sSTime, fPTime, sPTime, fFTime, sFTime, fDTime, sDTime, mTime, rTime; +} info; + +/** + * usage : explains how to use the program CMD + */ +void usage(int argc, char** argv){ + printf("\n"); + printf("USAGE: %s dir firstScanNumber secondScanNumber \n", argv[0]); + printf("\n"); + printf("\n"); + printf("\tOptions:\n"); + printf("\t\t-F scanFormat\t\t input scan file format [RIEGL_TXT|RXP|ALL SLAM6D SCAN_IO]\n"); + printf("\t\t-W iWidth\t\t panorama image width\n"); + printf("\t\t-H iHeight\t\t panorama image height\n"); + printf("\t\t-p pMethod\t\t projection method [EQUIRECTANGULAR|CYLINDRICAL|MERCATOR|RECTILINEAR|PANNINI|STEREOGRAPHIC|ZAXIS]\n"); + printf("\t\t-N nImage\t\t number of images used for some projections\n"); + printf("\t\t-P pParam\t\t special projection parameter (d for Pannini and r for stereographic)\n"); + printf("\t\t-f fMethod\t\t feature detection method [SURF|SIFT|ORB|FAST|STAR]\n"); + printf("\t\t-d dMethod\t\t feature description method [SURF|SIFT|ORB]\n"); + printf("\t\t-m mMethod\t\t feature matching method [BRUTEFORCE|FLANN|KNN|RADIUS|RATIO]\n"); + printf("\t\t-D minDistance \t\t threshold for min distance in registration process\n"); + printf("\t\t-E minError \t\t threshold for min error in registration process\n"); + printf("\t\t-I minInlier \t\t threshold for min number of inliers in registration process\n"); + printf("\t\t-M mParam \t\t special matching paameter (knn for KNN and r for radius)\n"); + printf("\t\t-r registration \t registration method [ALL|ransac]\n"); + printf("\t\t-V verbose \t\t level verboseness\n"); + printf("\t\t-O outDir \t\t level output directory if not stated same as input\n"); + printf("\n"); + exit(1); +} + +void parssArgs(int argc, char** argv, information& info){ + time_t rawtime; + struct tm *timeinfo; + time(&rawtime); + char time[50]; + timeinfo = localtime (&rawtime); + sprintf(time, "%d-%d-%d-%d:%d:%d", timeinfo->tm_year + 1900, timeinfo->tm_mon + 1, timeinfo->tm_mday, timeinfo->tm_hour, timeinfo->tm_min, timeinfo->tm_sec); + info.local_time = time; + + //default values + info.iWidth = 3600; + info.iHeight = 1000; + info.nImages = 1; + info.minDistance = 50; + info.minError = 50; + info.minInlier = 5; + info.verbose = 0; + //depend on the projection method + info.pParam = 0; + info.mParam = 0; + //=============================== + info.sFormat = RIEGL_TXT; + info.pMethod = EQUIRECTANGULAR; + info.fMethod = SIFT_DET; + info.dMethod = SIFT_DES; + info.mMethod = RATIO; + info.rMethod = RANSAC; + info.outDir = ""; + + int c; + opterr = 0; + //reade the command line and get the options + while ((c = getopt (argc, argv, "F:W:H:p:N:P:f:d:m:D:E:I:M:r:V:O:")) != -1) + switch (c) + { + case 'F': + info.sFormat = stringToScanFormat(optarg); + break; + case 'W': + info.iWidth = atoi(optarg); + break; + case 'H': + info.iHeight = atoi(optarg); + break; + case 'p': + info.pMethod = stringToProjectionMethod(optarg); + break; + case 'N': + info.nImages = atoi(optarg); + break; + case 'P': + info.pParam = atoi(optarg); + break; + case 'f': + info.fMethod = stringToFeatureDetectorMethod(optarg); + break; + case 'd': + info.dMethod = stringToFeatureDescriptorMethod(optarg); + break; + case 'm': + info.mMethod = stringToMatcherMethod(optarg); + break; + case 'D': + info.minDistance = atoi(optarg); + break; + case 'E': + info.minError = atoi(optarg); + break; + case 'I': + info.minInlier = atoi(optarg); + break; + case 'M': + info.mParam = atoi(optarg); + break; + case 'r': + info.rMethod = stringToRegistrationMethod(optarg); + break; + case 'V': + info.verbose = atoi(optarg); + break; + case 'O': + info.outDir = optarg; + break; + case '?': + cout<<"Unknown option character "< argc - 3) + { + cout<<"Too few input arguments. At least dir and two scan numbers are required."<(i,0) = bAlign[i]; + + string yml; + yml = info.outDir+"fbr-yml.yml"; + cv::FileStorage fs(yml.c_str(), cv::FileStorage::APPEND); + fs << "feature_bas_registration" << "{"; + + fs << "pair" << "{" << "scan" << to_string(info.fScanNumber, 3); + fs << "scan" << to_string(info.sScanNumber, 3) << "}"; + + fs << "time" << "{" << "local_time" << info.local_time << "}"; + + fs << "param" << "{"; + fs << "DIR" << info.dir; + fs << "sFormat" << scanFormatToString(info.sFormat); + fs << "pMethod" << projectionMethodToString(info.pMethod); + fs << "nImage" << info.nImages; + fs << "pParam" << info.pParam; + fs << "iWidth" << info.iWidth; + fs << "iHeight" << info.iHeight; + fs << "fMethod" << featureDetectorMethodToString(info.fMethod); + fs << "dMethod" << featureDescriptorMethodToString(info.dMethod); + fs << "mMethod" << matcherMethodToString(info.mMethod); + fs << "mParam" << info.mParam; + fs << "rMethod" << registrationMethodToString(info.rMethod); + fs << "minDistance" << info.minDistance; + fs << "minInlier" << info.minInlier; + fs << "minError" << info.minError; + fs << "}"; + + fs << "input" << "{"; + fs << "first_input" << "{"; + fs << "name" << "{" << "scan" << to_string(info.fScanNumber, 3) << "}"; + fs << "point" << "{" << "amount" << info.fSPoints << "time" << info.fSTime << "}"; + fs << "projection" << "{" << "time" << info.fPTime << "}"; + fs << "feature" << "{" << "amount" << info.fFNum << "fTime" << info.fFTime << "dTime" << info.fDTime << "}"; + fs << "}"; + fs << "second_input" << "{"; + fs << "name" << "{" << "scan" << to_string(info.sScanNumber, 3) << "}"; + fs << "point" << "{" << "amount" << info.sSPoints << "time" << info.sSTime << "}"; + fs << "projection" << "{" << "time" << info.sPTime << "}"; + fs << "feature" << "{" << "amount" << info.sFNum << "fTime" << info.sFTime << "dTime" << info.sDTime << "}"; + fs << "}"; + fs << "}"; + + fs << "matches" << "{"; + fs << "amount" << info.mNum << "filteration" << info.filteredMNum << "time" << info.mTime << "}"; + + fs << "reg" << "{"; + fs << "bestError" << bError << "bestErrorIdx" << bErrorIdx << "time" << info.rTime << "bAlign" << align << "}"; + + fs << "}"; +} + +int main(int argc, char** argv){ + string out; + cv::Mat outImage; + parssArgs(argc, argv, info); + if(info.verbose >= 1) informationDescription(info); + + scan_cv fScan (info.dir, info.fScanNumber, info.sFormat); + if(info.verbose >= 4) info.fSTime = (double)cv::getTickCount(); + fScan.convertScanToMat(); + if(info.verbose >= 4) info.fSTime = ((double)cv::getTickCount() - info.fSTime)/cv::getTickFrequency(); + if(info.verbose >= 2) fScan.getDescription(); + panorama fPanorama (info.iWidth, info.iHeight, info.pMethod, info.nImages, info.pParam); + if(info.verbose >= 4) info.fPTime = (double)cv::getTickCount(); + fPanorama.createPanorama(fScan.getMatScan()); + if(info.verbose >= 4) info.fPTime = ((double)cv::getTickCount() - info.fPTime)/cv::getTickFrequency(); + if(info.verbose >= 2) fPanorama.getDescription(); + //write panorama to image + if(info.verbose >= 1){ + out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+".jpg"; + imwrite(out, fPanorama.getReflectanceImage()); + } + feature fFeature; + if(info.verbose >= 4) info.fFTime = (double)cv::getTickCount(); + fFeature.featureDetection(fPanorama.getReflectanceImage(), info.fMethod); + if(info.verbose >= 4) info.fFTime = ((double)cv::getTickCount() - info.fFTime)/cv::getTickFrequency(); + //write panorama with keypoints to image + if(info.verbose >= 1){ + cv::drawKeypoints(fPanorama.getReflectanceImage(), fFeature.getFeatures(), outImage, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS ); + out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+".jpg"; + imwrite(out, outImage); + outImage.release(); + } + if(info.verbose >= 4) info.fDTime = (double)cv::getTickCount(); + fFeature.featureDescription(fPanorama.getReflectanceImage(), info.dMethod); + if(info.verbose >= 4) info.fDTime = ((double)cv::getTickCount() - info.fDTime)/cv::getTickFrequency(); + if(info.verbose >= 2) fFeature.getDescription(); + + scan_cv sScan (info.dir, info.sScanNumber, info.sFormat); + if(info.verbose >= 4) info.sSTime = (double)cv::getTickCount(); + sScan.convertScanToMat(); + if(info.verbose >= 4) info.sSTime = ((double)cv::getTickCount() - info.sSTime)/cv::getTickFrequency(); + if(info.verbose >= 2) sScan.getDescription(); + panorama sPanorama (info.iWidth, info.iHeight, info.pMethod, info.nImages, info.pParam); + if(info.verbose >= 4) info.sPTime = (double)cv::getTickCount(); + sPanorama.createPanorama(sScan.getMatScan()); + if(info.verbose >= 4) info.sPTime = ((double)cv::getTickCount() - info.sPTime)/cv::getTickFrequency(); + if(info.verbose >= 2) sPanorama.getDescription(); + //write panorama to image + if(info.verbose >= 1){ + out = info.outDir+info.local_time+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+".jpg"; + imwrite(out, sPanorama.getReflectanceImage()); + } + feature sFeature; + if(info.verbose >= 4) info.sFTime = (double)cv::getTickCount(); + sFeature.featureDetection(sPanorama.getReflectanceImage(), info.fMethod); + if(info.verbose >= 4) info.sFTime = ((double)cv::getTickCount() - info.sFTime)/cv::getTickFrequency(); + //write panorama with keypoints to image + if(info.verbose >= 1){ + cv::drawKeypoints(sPanorama.getReflectanceImage(), sFeature.getFeatures(), outImage, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS ); + out = info.outDir+info.local_time+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+".jpg"; + imwrite(out, outImage); + outImage.release(); + } + if(info.verbose >= 4) info.sDTime = (double)cv::getTickCount(); + sFeature.featureDescription(sPanorama.getReflectanceImage(), info.dMethod); + if(info.verbose >= 4) info.sDTime = ((double)cv::getTickCount() - info.sDTime)/cv::getTickFrequency(); + if(info.verbose >= 2) sFeature.getDescription(); + + feature_matcher matcher (info.mMethod, info.mParam); + if(info.verbose >= 4) info.mTime = (double)cv::getTickCount(); + matcher.match(fFeature, sFeature); + if(info.verbose >= 4) info.mTime = ((double)cv::getTickCount() - info.mTime)/cv::getTickFrequency(); + if(info.verbose >= 2) matcher.getDescription(); + //write matcheed feature to image + if(info.verbose >= 1){ + cv::drawMatches(fPanorama.getReflectanceImage(), fFeature.getFeatures(), sPanorama.getReflectanceImage(), sFeature.getFeatures(), matcher.getMatches(), outImage, cv::Scalar::all(-1), cv::Scalar::all(-1), vector(), cv::DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS); + out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+"_"+featureDescriptorMethodToString(info.dMethod)+"_"+matcherMethodToString(info.mMethod)+".jpg"; + imwrite(out, outImage); + outImage.release(); + } + + registration reg (info.minDistance, info.minError, info.minInlier, info.rMethod); + if(info.verbose >= 4) info.rTime = (double)cv::getTickCount(); + reg.findRegistration(fPanorama.getMap(), fFeature.getFeatures(), sPanorama.getMap(), sFeature.getFeatures(), matcher.getMatches()); + if(info.verbose >= 4) info.rTime = ((double)cv::getTickCount() - info.rTime)/cv::getTickFrequency(); + if(info.verbose >= 2) reg.getDescription(); + + //write .dat and .frames files + if(info.verbose >= 0){ + double *bAlign = reg.getBestAlign(); + + out = info.outDir+info.local_time+"_scan"+to_string(info.fScanNumber, 3)+"_scan"+to_string(info.sScanNumber, 3)+"_"+projectionMethodToString(info.pMethod)+"_"+to_string(info.iWidth)+"x"+to_string(info.iHeight)+"_"+featureDetectorMethodToString(info.fMethod)+"_"+featureDescriptorMethodToString(info.dMethod)+"_"+matcherMethodToString(info.mMethod)+"_"+registrationMethodToString(info.rMethod)+".dat"; + ofstream dat(out.c_str()); + dat << bAlign[0] << " " << bAlign[4] << " " << bAlign[8] << " " << bAlign[12] <= 3){ + info.fSPoints = fScan.getNumberOfPoints(); + info.sSPoints = sScan.getNumberOfPoints(); + info.fFNum = fFeature.getNumberOfFeatures(); + info.sFNum = sFeature.getNumberOfFeatures(); + info.mNum = matcher.getNumberOfMatches(); + info.filteredMNum = matcher.getNumberOfFilteredMatches(); + + info_yml(info, reg.getBestError(), reg.getBestErrorIndex(), reg.getBestAlign()); + } + + return 0; +} diff --git a/src/slam6d/fbr/feature_matcher.cc b/src/slam6d/fbr/feature_matcher.cc new file mode 100644 index 0000000..cd0b3fa --- /dev/null +++ b/src/slam6d/fbr/feature_matcher.cc @@ -0,0 +1,234 @@ +/* + * feature_mathcer implementation + * + * Copyright (C) HamidReza Houshiar + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/fbr/feature_matcher.h" + +using namespace std; + +namespace fbr{ + + void feature_matcher::init(matcher_method method, int k, double r){ + mMethod = method; + knn = k; + radius = r; + nOfMatches = 0; + nOfFilteredMatches = 0; + } + + feature_matcher::feature_matcher(){ + init(RATIO, 0, 0); + } + + feature_matcher::feature_matcher(matcher_method method){ + if(method == KNN) + init(method, 3, 0); + else if(method == RADIUS) + init(method, 0, 1); + else + init(method, 0, 0); + } + + feature_matcher::feature_matcher(matcher_method method, double p){ + if(method == KNN) + init(method, p, 0); + else if(method == RADIUS) + init(method, 0, p); + else + init(method, 0, 0); + } + + void feature_matcher::match(feature qFeature, feature tFeature){ + vector< cv::DMatch > qtInitialMatches, tqInitialMatches, gMatches; + vector > qtInitialMatchesVector, tqInitialMatchesVector; + //Matching descriptors using one of the mMethods for SURF and SIFT feature descriptors + if(qFeature.getDescriptorMethod() != tFeature.getDescriptorMethod()){ + cout<<"inputs features don't have the same descriptors!"< it, double range){ + iReflectance.at(y,x) = (*it)[3]*255;//reflectance + iRange.at(y,x) = range;//range + if(mapMethod == FARTHEST){ + //adding the point with max distance + if( iRange.at(y,x) < range ){ + iMap.at(y,x)[0] = (*it)[0];//x + iMap.at(y,x)[1] = (*it)[1];//y + iMap.at(y,x)[2] = (*it)[2];//z + } + }else if(mapMethod == EXTENDED){ + //adding all the points + cv::Vec3f point; + point[0] = (*it)[0];//x + point[1] = (*it)[1];//y + point[2] = (*it)[2];//z + extendedIMap[y][x].push_back(point); + } + } + + void panorama::createPanorama(cv::Mat scan){ + + //EQUIRECTANGULAR projection + if(pMethod == EQUIRECTANGULAR){ + //adding the longitude to x axis and latitude to y axis + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / ((MAX_ANGLE - MIN_ANGLE) / 360 * 2 * M_PI); + //shift all the valuse to positive points on image + double heightLow =(0 - MIN_ANGLE) / 360 * 2 * M_PI; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ( yFactor * (theta + heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //CYLINDRICAL projection + if(pMethod == CYLINDRICAL){ + //adding the longitude to x and tan(latitude) to y + //find the x and y range + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / (tan(MAX_ANGLE / 360 * 2 * M_PI) - tan(MIN_ANGLE / 360 * 2 * M_PI)); + double heightLow = (MIN_ANGLE) / 360 * 2 * M_PI; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ((double) yFactor * (tan(theta) - tan(heightLow))); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //Mercator Projection + if( pMethod == MERCATOR){ + //find the x and y range + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + double yFactor = (double) iHeight / ( log( tan( MAX_ANGLE / 360 * 2 * M_PI ) + ( 1 / cos( MAX_ANGLE / 360 * 2 * M_PI ) ) ) - log ( tan( MIN_ANGLE / 360 * 2 * M_PI) + (1/cos(MIN_ANGLE / 360 * 2 * M_PI) ) ) ); + double heightLow = log(tan(MIN_ANGLE / 360 * 2 * M_PI) + (1/cos(MIN_ANGLE / 360 * 2 * M_PI))); + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + int y = (int) ( yFactor * (log(tan(theta) + (1/cos(theta))) - heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + + //RECTILINEAR projection + if(pMethod == RECTILINEAR){ + //default value for nImages + if(nImages == 0) nImages = 3; + cout<<"Number of images per scan is: "< it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for(unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in interval + if(phi < iMaxx && phi > iMinx){ + double max, min, coscRectilinear; + //the longitude of projection center + l0 = iMinx + interval / 2; + //finding the min and max of the x direction + coscRectilinear = sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0); + max = (cos(iMaxy) * sin(iMaxx - l0) / coscRectilinear); + coscRectilinear = sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0); + min = (cos(iMiny) * sin(iMinx - l0) / coscRectilinear); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + coscRectilinear = sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0); + max = ( (cos(p1) * sin(iMaxy) - sin(p1) * cos(iMaxy) * cos(iMaxx - l0) )/ coscRectilinear); + coscRectilinear = sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0); + min = ( (cos(p1) * sin(iMiny) - sin(p1) * cos(iMiny) * cos(iMinx - l0) )/ coscRectilinear); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + coscRectilinear = sin(p1) * sin(theta) + cos(p1) * cos(theta) * cos(phi - l0); + int x = (int)(xFactor) * ((cos(theta) * sin(phi - l0) / coscRectilinear) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * (( (cos(p1) * sin(theta) - sin(p1) * cos(theta) * cos(phi - l0)) / coscRectilinear) - heightLow); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //PANNINI projection + if(pMethod == PANNINI){ + //default values for nImages and dPannini==pParam + if(pParam == 0) pParam = 1; + if(nImages == 0) nImages = 3; + cout << "Parameter d is:" << pParam <<", Number of images per scan is:" << nImages << endl; + double l0, p1, iMinx, iMaxx, iMiny, iMaxy, interval; + interval = 2 * M_PI / nImages; + iMiny = -M_PI/9; + iMaxy = 2*M_PI/9; + //latitude of projection center + p1 = 0; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for(unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in interval + if(phi < (iMaxx) && phi > (iMinx)){ + double max, min, sPannini; + //the longitude of projection center + l0 = iMinx + interval / 2; + //use the S variable of pannini projection mentioned in the thesis + //finding the min and max of the x direction + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMaxy) + cos(p1) * cos(iMaxx - l0)); + max = sPannini * (sin(iMaxx - l0)); + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMiny) + cos(p1) * cos(iMinx - l0)); + min = sPannini * (sin(iMinx - l0)); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMaxy) + cos(p1) * cos(iMaxx - l0)); + max = sPannini * (tan(iMaxy) * (cos(p1) - sin(p1) * 1/tan(iMaxy) * cos(iMaxx - l0))); + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(iMiny) + cos(p1) * cos(iMinx - l0)); + min = sPannini * (tan(iMiny) * (cos(p1) - sin(p1) * 1/tan(iMiny) * cos(iMinx - l0))); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + sPannini = (pParam + 1) / (pParam + sin(p1) * tan(theta) + cos(p1) * cos(phi - l0)); + int x = (int)(xFactor) * (sPannini * sin(phi - l0) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * ( (sPannini * tan(theta) * (cos(p1) - sin(p1) * (1/tan(theta)) * cos(phi - l0) ) ) - heightLow ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //STEREOGRAPHIC projection + if(pMethod == STEREOGRAPHIC){ + //default values for nImages and rStereographic==pParam + if(pParam == 0) pParam = 2; + if(nImages == 0) nImages = 3; + cout << "Paremeter R is:" << pParam << ", Number of images per scan is:" << nImages << endl; + // l0 and p1 are the center of projection iminx, imaxx, iminy, imaxy are the bounderis of intervals + double l0, p1, iMinx, iMaxx, iMiny, iMaxy, interval; + interval = 2 * M_PI / nImages; + iMiny = -M_PI/9; + iMaxy = 2*M_PI/9; + //latitude of projection center + p1 = 0; + + //go through all points + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + for (unsigned int j = 0 ; j < nImages ; j++){ + iMinx = j * interval; + iMaxx = (j + 1) * interval; + //check for point in intervals + if(phi < (iMaxx) && phi > (iMinx)){ + double max, min, k; + //longitude of projection center + l0 = iMinx + interval / 2; + //use the R variable of stereographic projection mentioned in the thesis + //finding the min and max of x direction + k = (2 * pParam) / (1 + sin(p1) * sin(p1) + cos(p1) * cos(p1) * cos(iMaxx - l0)); + max = k * cos(p1) * sin (iMaxx - l0); + k = (2 * pParam) / (1 + sin (p1) * sin(p1) + cos(p1) * cos(p1) * cos(iMinx -l0)); + min = k * cos(p1) * sin (iMinx -l0); + double xFactor = (double) (iWidth / nImages) / (max - min); + double xlow = min; + int widthMax = (iWidth / nImages) - 1; + //finding the min and max of y direction + k = (2 * pParam) / (1 + sin(p1) * sin(iMaxy) + cos(p1) * cos(iMaxy) * cos(iMaxx - l0)); + max = k * (cos(p1) * sin(iMaxy) - sin(p1) * cos(iMaxy) * cos(iMaxx - l0)); + k = (2 * pParam) / (1 + sin(p1) * sin(iMiny) + cos(p1) * cos(iMiny) * cos(iMinx - l0)); + min = k * (cos(p1) * sin(iMiny) - sin(p1) * cos(iMiny) * cos(iMinx - l0)); + double yFactor = (double) iHeight / (max - min); + double heightLow = min; + int heightMax = iHeight - 1; + //project the points and add them to image + k = (2 * pParam) / (1 + sin(p1) * sin(theta) + cos(p1) * cos(theta) * cos(phi - l0)); + int x = (int) (xFactor) * (k * cos(theta) * sin(phi - l0) - xlow); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + x = x + (j * iWidth / nImages); + int y = (int) (yFactor) * (k * ( cos(p1) * sin(theta) - sin(p1) * cos(theta) * cos(phi - l0) ) - heightLow); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + } + + //ZAXIS projection + if(pMethod == ZAXIS){ + double zmin = -200; + double zmax = 4000; + //adding the longitude to x axis and latitude to y axis + double xFactor = (double) iWidth / 2 / M_PI; + int widthMax = iWidth - 1; + cout << "ZMAX= " << zmax << " ZMIN= "<< zmin << endl; + double yFactor = (double) iHeight / (zmax - zmin); + //shift all the valuse to positive points on image + double heightLow = zmin; + int heightMax = iHeight - 1; + + cv::MatIterator_ it, end; + + for( it = scan.begin(), end = scan.end(); it != end; ++it){ + double kart[3], polar[3], phi, theta, range; + kart[0] = (*it)[2]/100; + kart[1] = (*it)[0]/-100; + kart[2] = (*it)[1]/100; + toPolar(kart, polar); + //theta == polar[0] == scan [4] + //phi == polar[1] == scan [5] + //range == polar[2] == scan [3] + theta = polar[0] * 180 / M_PI; + phi = polar[1] * 180 / M_PI; + range = polar[2]; + //horizantal angle of view of [0:360] and vertical of [-40:60] + phi = 360.0 - phi; + phi = phi * 2.0 * M_PI / 360.0; + theta -= 90; + theta *= -1; + theta *= 2.0 * M_PI / 360.0; + int x = (int) ( xFactor * phi); + if (x < 0) x = 0; + if (x > widthMax) x = widthMax; + ///////////////////check this + int y = (int) ( yFactor * ((*it)[1] - heightLow) ); + y = heightMax - y; + if (y < 0) y = 0; + if (y > heightMax) y = heightMax; + + //create the iReflectance iRange and map + map(x, y, it, range); + } + } + } + + unsigned int panorama::getImageWidth(){ + return iWidth; + } + + unsigned int panorama::getImageHeight(){ + return iHeight; + } + + projection_method panorama::getProjectionMethod(){ + return pMethod; + } + + unsigned int panorama::getNumberOfImages(){ + return nImages; + } + + double panorama::getProjectionParam(){ + return pParam; + } + + cv::Mat panorama::getReflectanceImage(){ + return iReflectance; + } + + cv::Mat panorama::getMap(){ + return iMap; + } + + cv::Mat panorama::getRangeImage(){ + return iRange; + } + + vector > > panorama::getExtendedMap(){ + return extendedIMap; + } + + panorama_map_method panorama::getMapMethod(){ + return mapMethod; + } + + void panorama::getDescription(){ + cout<<"panorama created with width: "< fKeypoints, vector sKeypoints, vector matches, cv::Mat fPMap, cv::Mat sPMap, int idx, cv::Point3f& cq, cv::Point3f& ct){ + int x, y; + y = fKeypoints[matches[idx].queryIdx].pt.x; + x = fKeypoints[matches[idx].queryIdx].pt.y; + + if(fKeypoints[matches[idx].queryIdx].pt.x - x > 0.5) + x++; + if(fKeypoints[matches[idx].queryIdx].pt.y - y > 0.5) + y++; + cv::Mat_ _fPMap = fPMap; + float sqr = sqrt (_fPMap(x,y)[0] * _fPMap(x,y)[0] + _fPMap(x,y)[1] * _fPMap(x,y)[1] + _fPMap(x,y)[2] * _fPMap(x,y)[2]); + if(sqr != 0){ + cq.x = _fPMap(x,y)[0]; + cq.y = _fPMap(x,y)[1]; + cq.z = _fPMap(x,y)[2]; + } + else + return 0; + + y = sKeypoints[matches[idx].trainIdx].pt.x; + x = sKeypoints[matches[idx].trainIdx].pt.y; + if(sKeypoints[matches[idx].trainIdx].pt.x - x > 0.5) + x++; + if(sKeypoints[matches[idx].trainIdx].pt.y - y > 0.5) + y++; + cv::Mat_ _sPMap = sPMap; + sqr = sqrt (_sPMap(x,y)[0] * _sPMap(x,y)[0] + _sPMap(x,y)[1] * _sPMap(x,y)[1] + _sPMap(x,y)[2] * _sPMap(x,y)[2]); + if(sqr != 0){ + ct.x = _sPMap(x,y)[0]; + ct.y = _sPMap(x,y)[1]; + ct.z = _sPMap(x,y)[2]; + } + else + return 0; + + return 1; + } + + void registration::pointToArray(cv::Point3f c, double* cd){ + cd[0] = c.x; + cd[1] = c.y; + cd[2] = c.z; + } + + cv::Point3f registration::coordTransform(cv::Point3f p, double* align){ + cv::Point3f tp; + tp.x = align[0]*p.x + align[4]*p.y + align[8]*p.z + align[12]; + tp.y = align[1]*p.x + align[5]*p.y + align[9]*p.z + align[13]; + tp.z = align[2]*p.x + align[6]*p.y + align[10]*p.z + align[14]; + return tp; + } + + + int registration::findAlign(unsigned int i, unsigned int j, unsigned int k, cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches){ + cv::Point3f c1q, c2q, c3q, c1t, c2t, c3t; + if(i == j || i == k || j == k) + return 0; + //get the coordinates + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, i, c1q, c1t) == 0) + return 0; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, j, c2q, c2t) == 0) + return 0; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, k, c3q, c3t) == 0) + return 0; + //check for min distance + if(norm(c1q - c2q) < minDistance || norm(c1q - c3q) < minDistance || norm(c2q - c3q) < minDistance || norm(c1t - c2t) < minDistance || norm(c1t - c3t) < minDistance || norm(c2t - c3t) < minDistance) + return 0; + //calculate the centroids + cv::Point3f centroidq, centroidt; + centroidq = (c1q + c2q + c3q); + centroidt = (c1t + c2t + c3t); + centroidq.x = centroidq.x / 3; + centroidq.y = centroidq.y / 3; + centroidq.z = centroidq.z / 3; + centroidt.x = centroidt.x / 3; + centroidt.y = centroidt.y / 3; + centroidt.z = centroidt.z / 3; + //put each point into double array + double c1qd[3], c2qd[3], c3qd[3], c1td[3], c2td[3], c3td[3]; + cv::Point3f temp; + pointToArray(c1q, c1qd); + pointToArray(c2q, c2qd); + pointToArray(c3q, c3qd); + pointToArray(c1t, c1td); + pointToArray(c2t, c2td); + pointToArray(c3t, c3td); + //create PtPair and calc the align with icp6D_QUAT + vector pairs; + pairs.push_back(PtPair(c1qd, c1td)); + pairs.push_back(PtPair(c2qd, c2td)); + pairs.push_back(PtPair(c3qd, c3td)); + double align[16]; + double centroidqd[3], centroidtd[3]; + pointToArray(centroidq, centroidqd); + pointToArray(centroidt, centroidtd); + icp6D_QUAT q(true); + q.Point_Point_Align(pairs, align, centroidqd, centroidtd); + //transform the matches with align if the error is less than minerror + double iError = 0; + unsigned int eIdx = 0; + for(unsigned int p = 0; p < matches.size(); p++){ + if(p == i || p == j || p == k) + continue; + cv::Point3f cq, ct, ct_trans; + if(getCoord(fKeypoints, sKeypoints, matches, fPMap, sPMap, p, cq, ct) == 0) + continue; + ct_trans = coordTransform(ct, align); + if(norm(ct_trans - cq) < minError){ + iError += norm(ct_trans - cq); + eIdx++; + } + } + //check for mininlier and find the best align + if(eIdx > minInlier){ + double aError = iError / eIdx; + if(aError - iInfluence*eIdx < bestError - iInfluence*bestErrorIndex){ + bestError = aError; + bestErrorIndex = eIdx; + for(int a = 0; a < 16; a++) + bestAlign[a] = align[a]; + } + } + return 1; + } + + void registration::findRegistration(cv::Mat fPMap, vector fKeypoints, cv::Mat sPMap, vector sKeypoints, vector matches){ + //go through all matches + if(rMethod == ALL){ + for(unsigned int i = 0; i < matches.size(); i++) + for(unsigned int j = 0; j < matches.size(); j++) + for(unsigned int k = 0; k < matches.size(); k++){ + findAlign(i, j, k, fPMap, fKeypoints, sPMap, sKeypoints, matches); + } + } + //RANSAC + if(rMethod == RANSAC) + for(int r = 0; r < RANSACITR; r++){ + if((r % (RANSACITR/10)) == 0){ + cout<<"RANSAC iteration: "<<(r / (RANSACITR/10) + 1) * 10 <<"%"< 0){ + cout<::min(); + zMin = numeric_limits::max(); + nPoints = 0; + } + + void scan_cv::convertScanToMat(){ + bool scanserver = false; + Scan::openDirectory(scanserver, sDir, sFormat, sNumber, sNumber); + cout<<"loading "<get("xyz"); + DataReflectance xyz_reflectance = source->get("reflectance"); + nPoints = xyz.size(); + scan.create(nPoints,1,CV_32FC(4)); + scan = cv::Scalar::all(0); + cv::MatIterator_ it; + it = scan.begin(); + for(unsigned int i = 0; i < nPoints; i++){ + float x, y, z, reflectance; + x = xyz[i][0]; + y = xyz[i][1]; + z = xyz[i][2]; + reflectance = xyz_reflectance[i]; + + //normalize the reflectance + reflectance += 32; + reflectance /= 64; + reflectance -= 0.2; + reflectance /= 0.3; + if (reflectance < 0) reflectance = 0; + if (reflectance > 1) reflectance = 1; + + (*it)[0] = x; + (*it)[1] = y; + (*it)[2] = z; + (*it)[3] = reflectance; + + //finding min and max of z + if (z > zMax) zMax = z; + if (z < zMin) zMin = z; + + ++it; + } + Scan::closeDirectory(); + } + + string scan_cv::getScanDir(){ + return sDir; + } + + unsigned int scan_cv::getScanNumber(){ + return sNumber; + } + + unsigned int scan_cv::getNumberOfPoints(){ + return nPoints; + } + + double scan_cv::getZMin(){ + return zMin; + } + + double scan_cv::getZMax(){ + return zMax; + } + + IOType scan_cv::getScanFormat(){ + return sFormat; + } + + cv::Mat scan_cv::getMatScan() + { + return scan; + } + + void scan_cv::getDescription(){ + cout<<"load "< +#else +#include "XGetopt.h" +#endif + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::string; + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::exception; + +#include "slam6d/globals.icc" + +void read_Frame(string frameFile, ofstream &out_stream) +{ + double transMat[16]; + int type; + double rPos[3]; + double rPosTheta[3]; + ifstream frame(frameFile.c_str()); + + while(frame) { + try { + frame >> transMat >> type; + } + catch(const exception &e) { + break; + } + } + Matrix4ToEuler(transMat, rPosTheta, rPos); + //out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << rPosTheta[0] << " " << rPosTheta[1] << " " << rPosTheta[2] << endl; + double quat[4]; + Matrix4ToQuat(transMat, quat); + QuatToAA(quat); + out_stream << rPos[0] << " " << rPos[1] << " " << rPos[2] << " " << quat[0] << " " << quat[1] << " " << quat[2] << " " << quat[3] << endl; + frame.close(); +} + +void readFrames(string dir, int start, int end, ofstream &out_stream) +{ + for(;start <= end; start++) { + read_Frame(dir + "scan" + to_string(start, 3) + ".frames", out_stream); + } +} + +void usage(string progname) { + cout << "Usage: " << progname << " OPTIONS FILE" << endl << + "\t -s \t\t first node in loop" << endl << + "\t -e \t\t last node in loop" << endl << + "\t -o \t\t output filename (must be given)" << endl; +} + +int main(int argc, char *argv[]) +{ + + if(argc < 2) { + usage(argv[0]); + exit(1); + } + + int start = 0, end = 0; + string out_file; + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "end", required_argument, 0, 'e' }, + { "out", required_argument, 0, 'o' }, + { "start", required_argument, 0, 's' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + int c; + while((c = getopt_long(argc, argv, "e:o:s:", longopts, NULL)) != -1) { + switch (c) { + case 'e': + end = atoi(optarg); + if(end < 0) { + cerr << "Error: Cannot end at a negative number." << endl; + exit(1); + } + break; + case 'o': + out_file = optarg; + break; + case 's': + start = atoi(optarg); + if(start < 0) { + cerr << "Error: Cannot start at a negative number." << endl; + exit(1); + } + break; + case '?': + default: + exit(1); + } + } + + if(out_file.empty() || end == 0) { + usage(argv[0]); + exit(1); + } + + string dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + ofstream out_stream(out_file.c_str()); + + readFrames(dir, start, end, out_stream); + out_stream.close(); + + exit(0); +} + diff --git a/src/slam6d/frames2pose.cc b/src/slam6d/frames2pose.cc new file mode 100644 index 0000000..cc0fbae --- /dev/null +++ b/src/slam6d/frames2pose.cc @@ -0,0 +1,140 @@ +/* + * frames2pose implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.pose." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char poseFileName[255]; + char frameFileName[255]; + + ifstream pose_in; + ofstream pose_out; + + double rPos[3],rPosTheta[3]; + + double tMatrix[17]; + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++); + + pose_in.open(frameFileName); + + if (!pose_in.good()) break; // no more files in the directory + // read 3D scan + + cout << "Reading frame " << frameFileName << "..." << endl; + + while(pose_in.good()) { + for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]); + } + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + + pose_in.close(); + pose_in.clear(); + + pose_out.open(poseFileName); + + cout << "Writing pose file... " << poseFileName << endl; + + for(int i = 0; i < 3; i++) { + pose_out << rPos[i] << " "; + } + pose_out << endl; + + for(int i = 0; i < 3; i++) { + pose_out << deg(rPosTheta[i]) << " "; + } + pose_out << endl; + + pose_out.close(); + pose_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/src/slam6d/frames2riegl.cc b/src/slam6d/frames2riegl.cc new file mode 100644 index 0000000..bdfe249 --- /dev/null +++ b/src/slam6d/frames2riegl.cc @@ -0,0 +1,152 @@ +/* + * frames2riegl implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads frame files from directory/scan???.frames and converts them to directory/scan???.4x4 in the RIEGL pose file format." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char poseFileName[255]; + char frameFileName[255]; + + ifstream pose_in; + ofstream pose_out; + + double inMatrix[16]; + double tMatrix[17]; + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.4x4",dir,fileCounter++); + + pose_in.open(frameFileName); + + if (!pose_in.good()) break; // no more files in the directory + // read 3D scan + + cout << "Reading frame " << frameFileName << "..." << endl; + + while(pose_in.good()) { + for (unsigned int i = 0; i < 17; pose_in >> tMatrix[i++]); + } + + inMatrix[5] = tMatrix[0]; + inMatrix[9] = -tMatrix[1]; + inMatrix[1] = -tMatrix[2]; + inMatrix[13] = -tMatrix[3]; + inMatrix[6] = -tMatrix[4]; + inMatrix[10] = tMatrix[5]; + inMatrix[2] = tMatrix[6]; + inMatrix[14] = tMatrix[7]; + inMatrix[4] = -tMatrix[8]; + inMatrix[8] = tMatrix[9]; + inMatrix[0] = tMatrix[10]; + inMatrix[12] = tMatrix[11]; + inMatrix[7] = -tMatrix[12]; + inMatrix[11] = tMatrix[13]; + inMatrix[3] = tMatrix[14]; + inMatrix[15] = tMatrix[15]; + + inMatrix[3] /= 100; + inMatrix[7] /= 100; + inMatrix[11] /= 100; + + pose_in.close(); + pose_in.clear(); + + pose_out.open(poseFileName); + + cout << "Writing Riegl pose... " << poseFileName << endl; + + for (int i=0; i < 16; i++) { + pose_out << inMatrix[i] << " "; + if((i % 4) == 3) pose_out << endl; + } + + + pose_out.close(); + pose_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/src/slam6d/gapx6D.cc b/src/slam6d/gapx6D.cc new file mode 100644 index 0000000..bf3c24a --- /dev/null +++ b/src/slam6d/gapx6D.cc @@ -0,0 +1,511 @@ +/* + * gapx6D implementation + * + * Copyright (C) Jan Elseberg, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm by using APX correction + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/gapx6D.h" +#include "slam6d/icp6Dapx.h" +#include "sparse/csparse.h" + +#include +#include +using std::flush; +#include + +#include "slam6d/globals.icc" + +using std::ofstream; +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +gapx6D::gapx6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +gapx6D::~gapx6D() +{ + delete my_icp; +} + + + +double gapx6D::genBAtransForLinkedPair( int firstScanNum, int secondScanNum, + double *centroids_m, double *centroids_d, + SymmetricMatrix *B, ColumnVector *A, ColumnVector &X) +{ + + Point cm(centroids_m); + Point cd(centroids_d); + + double x[3], dx[3] = {0.0, 0.0, 0.0}; + unsigned int vectorOffset; + double alignxf[16]; + + vectorOffset = (firstScanNum-1) * 3; + + if (firstScanNum != 0) { + x[0] = X(vectorOffset + 1); + x[1] = X(vectorOffset + 2); + x[2] = X(vectorOffset + 3); + } else { + x[0] = x[1] = x[2] = 0.0; + } + + icp6D_APX::computeRt(x, dx, alignxf); + + cm.transform(alignxf); + + vectorOffset = (secondScanNum-1) * 3; + + x[0] = X(vectorOffset + 1); + x[1] = X(vectorOffset + 2); + x[2] = X(vectorOffset + 3); + + icp6D_APX::computeRt(x, dx, alignxf); + + cd.transform(alignxf); + + ColumnVector Ak1(3); + + Ak1(1) = cm.x - cd.x; + Ak1(2) = cm.y - cd.y; + Ak1(3) = cm.z - cd.z; + +#ifdef _OPENMP +#pragma omp critical (enterB) +#endif + { + if(firstScanNum != 0) { + A->Rows((firstScanNum-1)*3+1, (firstScanNum-1)*3+3) -= Ak1; + B->element(firstScanNum -1, firstScanNum - 1) += 1; + B->element(firstScanNum -1, secondScanNum - 1) -= 1; + } + A->Rows((secondScanNum-1)*3+1, (secondScanNum-1)*3+3) += Ak1; + B->element(secondScanNum - 1, secondScanNum - 1) += 1; + } // of pragma omp critical + + return 1.0; + +} + + +/** + * This function generates the matrices B and Bd that are used for solving B * c = Bd. + * This function has to be called once for every linked scan-pair. + * + * @param firstScanNum The number of the first scan of the linked scan-pair + * @param secondScanNum The number of the second scan of the linked scan-pair + * @param ptpairs Vector that holds all point-pairs for the actual scan-pair + * @param B Matrix with dimension (6*(number of scans-1)) x (6 * (number of scans-1)) + * @param Bd Vector with dimension (6*(number of scans-1)) + * @return returns the sum of square distance + */ +double gapx6D::genBArotForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + double *centroids_m, double *centroids_d, + Matrix *B, ColumnVector *A) +{ + Matrix Mk(3,3), Dk(3,3); + Matrix MkMkt(3,3), DkDkt(3,3), DkMkt(3,3), MkDkt(3,3); + ColumnVector Ak1(3), Ak2(3); + + double p1x, p1y, p1z, p2x, p2y, p2z; + double p1x2, p1y2, p1z2, p2x2, p2y2, p2z2; + + double p1xp1y, p1xp1z, p1yp1z, p1y2p1z2, p1x2p1z2, p1x2p1y2; + double p2xp2y, p2xp2z, p2yp2z, p2y2p2z2, p2x2p2z2, p2x2p2y2; + + double p2zp1x, p2zp1y, p2yp1x, p1yp2x, p1zp2x, p1zp2y; + + double p1xp2xp1yp2y, p1xp2xp1zp2z, p1yp2yp1zp2z; + + int n = (*ptpairs).size(); + + MkMkt = 0; + DkDkt = 0; + DkMkt = 0; + MkDkt = 0; + Ak1 = 0; + Ak2 = 0; + + for (int i = 0; i < n; i++) { + p1x = (*ptpairs)[i].p1.x - centroids_m[0]; // << korrekt + p1y = (*ptpairs)[i].p1.y - centroids_m[1]; // << korrekt + p1z = (*ptpairs)[i].p1.z - centroids_m[2]; // << korrekt + + p2x = (*ptpairs)[i].p2.x - centroids_m[0]; // << korrekt + p2y = (*ptpairs)[i].p2.y - centroids_m[1]; // << korrekt + p2z = (*ptpairs)[i].p2.z - centroids_m[2]; // << korrekt + + p1x2 = sqr(p1x); + p1y2 = sqr(p1y); + p1z2 = sqr(p1z); + p2x2 = sqr(p2x); + p2y2 = sqr(p2y); + p2z2 = sqr(p2z); + + p1x2p1z2 = p1x2 + p1z2; + p1x2p1y2 = p1x2 + p1y2; + p1y2p1z2 = p1y2 + p1z2; + + p2x2p2z2 = p2x2 + p2z2; + p2x2p2y2 = p2x2 + p2y2; + p2y2p2z2 = p2y2 + p2z2; + + p1xp2xp1yp2y = p1x * p2x + p1y + p2y; + p1xp2xp1zp2z = p1x * p2x + p1z + p2z; + p1yp2yp1zp2z = p1y * p2y + p1z + p2z; + + p1xp1y = p1x * p1y; + p1xp1z = p1x * p1z; + p1yp1z = p1y * p1z; + + //p2xp1y = p2x * p1y; + //p2xp1z = p2x * p1z; + p2yp1x = p2y * p1x; + //p2yp1z = p2y * p1z; + p2zp1x = p2z * p1x; + p2zp1y = p2z * p1y; + + /* + p1xp2y = p1x * p2y; + p1xp2z = p1x * p2z; + p1yp2z = p1y * p2z; + */ + p1yp2x = p1y * p2x; + p1zp2x = p1z * p2x; + p1zp2y = p1z * p2y; + + p2xp2y = p2x * p2y; + p2xp2z = p2x * p2z; + p2yp2z = p2y * p2z; + + MkMkt(1,1) += p1y2p1z2; + MkMkt(1,2) -= p1xp1y; + MkMkt(1,3) -= p1xp1z; + MkMkt(2,1) -= p1xp1y; + MkMkt(2,2) += p1x2p1z2; + MkMkt(2,3) -= p1yp1z; + MkMkt(3,1) -= p1xp1z; + MkMkt(3,2) -= p1yp1z; + MkMkt(3,3) += p1x2p1y2; + + DkDkt(1,1) += p2y2p2z2; + DkDkt(1,2) -= p2xp2y; + DkDkt(1,3) -= p2xp2z; + DkDkt(2,1) -= p2xp2y; + DkDkt(2,2) += p2x2p2z2; + DkDkt(2,3) -= p2yp2z; + DkDkt(3,1) -= p2xp2z; + DkDkt(3,2) -= p2yp2z; + DkDkt(3,3) += p2x2p2y2; + + MkDkt(1,1) += p1yp2yp1zp2z; + MkDkt(1,2) -= p1yp2x; + MkDkt(1,3) -= p1zp2x; + MkDkt(2,1) -= p1yp2x; + MkDkt(2,2) += p1xp2xp1zp2z; + MkDkt(2,3) -= p1zp2y; + MkDkt(3,1) -= p1zp2x; + MkDkt(3,2) -= p1zp2y; + MkDkt(3,3) += p1xp2xp1yp2y; + + DkMkt(1,1) += p1yp2yp1zp2z; + DkMkt(1,2) -= p2yp1x; + DkMkt(1,3) -= p2zp1x; + DkMkt(2,1) -= p2yp1x; + DkMkt(2,2) += p1xp2xp1zp2z; + DkMkt(2,3) -= p2zp1y; + DkMkt(3,1) -= p2zp1x; + DkMkt(3,2) -= p2zp1y; + DkMkt(3,3) += p1xp2xp1yp2y; + + Ak1(1) -= (p1z - p2z) * p2y - (p1y - p2y) * p2z; + Ak1(2) -= (p1x - p2x) * p2z - (p1z - p2z) * p2x; + Ak1(3) -= (p1y - p2y) * p2x - (p1x - p2x) * p2y; + + Ak2(1) += (p1z - p2z) * p1y - (p1y - p2y) * p1z; + Ak2(2) += (p1x - p2x) * p1z - (p1z - p2z) * p1x; + Ak2(3) += (p1y - p2y) * p1x - (p1x - p2x) * p1y; + } + +#ifdef _OPENMP +#pragma omp critical (enterB) +#endif + { + if(firstScanNum != 0) { + A->Rows((firstScanNum-1)*3+1, (firstScanNum-1)*3+3) += Ak1; + B->SubMatrix((firstScanNum-1)*3+1,(firstScanNum-1)*3+3, (firstScanNum-1)*3+1,(firstScanNum-1)*3+3) += MkMkt; + + B->SubMatrix((firstScanNum-1)*3+1,(firstScanNum-1)*3+3, (secondScanNum-1)*3+1,(secondScanNum-1)*3+3) += DkMkt; + + B->SubMatrix((secondScanNum-1)*3+1,(secondScanNum-1)*3+3, (firstScanNum-1)*3+1,(firstScanNum-1)*3+3) += MkDkt; + + } + A->Rows((secondScanNum-1)*3+1, (secondScanNum-1)*3+3) += Ak2; + B->SubMatrix((secondScanNum-1)*3+1,(secondScanNum-1)*3+3, (secondScanNum-1)*3+1,(secondScanNum-1)*3+3) += DkDkt; + + } // of pragma omp critical + + return 1.0; +} + + + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double gapx6D::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + vPtPair **ptpairs = 0; // Contains sets of point pairs for all links + double **centroids_m = 0, **centroids_d = 0; // Contains centroids for all links + Matrix B ( 3 * (gr.getNrScans()-1), 3 * (gr.getNrScans()-1) ); + SymmetricMatrix Bt ( gr.getNrScans()-1 ); Bt = 0; + ColumnVector X( 3*(gr.getNrScans()-1) ); X = 0; + ColumnVector T( 3*(gr.getNrScans()-1) ); T = 0; + ColumnVector A( 3*(gr.getNrScans()-1) ); A = 0; + + B = 0.0; + A = 0.0; + + double sum_position_diff = 0; + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + sum_position_diff = 0; + + if (nrIt > 1) cout << "Iteration match " << iteration << endl; + + // Transform first scan to zero, otherwise updating poses would yield incorrect values + // if (iteration == 0) { + // double* tin = allScans[0]->transMat; + // double tout[16]; + // M4inv(tin, tout); + + // for(unsigned int i = 0; i < allScans.size(); i++){ + // allScans[i]->transform(tout, Scan::INVALID); + // } + // } + + if (ptpairs != 0) { + delete [] ptpairs; + } + if (centroids_m != 0) { + delete [] centroids_m; + delete [] centroids_d; + } + + centroids_m = new double *[gr.getNrLinks()]; + centroids_d = new double *[gr.getNrLinks()]; + for (int i = 0; i < gr.getNrLinks(); i++){ + centroids_m[i] = new double[3]; + centroids_m[i][0] = centroids_m[i][1] = centroids_m[i][2] = 0.0; + centroids_d[i] = new double[3]; + centroids_d[i][0] = centroids_d[i][1] = centroids_d[i][2] = 0.0; + } + ptpairs = new vPtPair*[gr.getNrLinks()]; + for (int i = 0; i < gr.getNrLinks(); i++) { + ptpairs[i] = new vPtPair; + } + + // Get all point pairs after ICP + int end_loop = gr.getNrLinks(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + + for (int i = 0; i < end_loop; i++) { + cout << "P" << i << flush; + Scan * FirstScan = allScans[gr.getLink(i,0)]; + Scan * SecondScan = allScans[gr.getLink(i,1)]; +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + + double dummy_sum; + Scan::getPtPairs(ptpairs[i], FirstScan, SecondScan, thread_num, + (int)my_icp->get_rnd(), (int)max_dist_match2_LUM, dummy_sum, + centroids_m[i], centroids_d[i]); + + // faulty network + if (ptpairs[i]->size() <= 1) { + cout << "Error: Link (" << gr.getLink(i,0) + << " - " << gr.getLink(i, 1) << " ) is empty with " + << ptpairs[i]->size() << " Corr. points. iteration = " + << iteration << endl; + // exit(1); + + } else + + sum_position_diff += genBArotForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), ptpairs[i], + centroids_m[i], centroids_d[i], &B, &A); + + } + cout << " building rotation matrices done! " << endl; + + X = solveSparseCholesky(B, A); + + // TODO transformation bestimmen + Bt = 0.0; + A = 0.0; + for ( int i = 0; i < end_loop; i++) { + genBAtransForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), + centroids_m[i], centroids_d[i], &Bt, &A, X); + } + cout << " building translation matrices done! "<clear(); + delete (ptpairs[i]); + } + // delete centroids + for (int i = 0; i < gr.getNrLinks(); i++){ + delete [] centroids_m[i]; + delete [] centroids_d[i]; + } + + ColumnVector t0(3), t(3), tlast(3); + int vectorOffset; + int loop_end = gr.getNrScans(); + double alignxf[16]; + + for(int i = 1; i < loop_end; i++) + { + vectorOffset = (i-1) * 3; + + // Interpret results + double x[3] = { X(vectorOffset + 1), X(vectorOffset + 2), X(vectorOffset + 3) }; + double dx[3] = { T(vectorOffset + 1), T(vectorOffset + 2), T(vectorOffset + 3) }; + + icp6D_APX::computeRt(x, dx, alignxf); + + // Update the Pose + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + + if (i < loop_end - 1) { + allScans[i]->transform(alignxf, Scan::LUM, 1); + } else { + allScans[i]->transform(alignxf, Scan::LUM, 2); + } + + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + + sum_position_diff += Len(dx); + + } + cout << "Sum of Position differences = " << sum_position_diff << endl << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + + delete [] centroids_m; + delete [] centroids_d; + + delete [] ptpairs; + ptpairs = 0; + + return ret; +} + + diff --git a/src/slam6d/ghelix6DQ2.cc b/src/slam6d/ghelix6DQ2.cc new file mode 100644 index 0000000..8bc8232 --- /dev/null +++ b/src/slam6d/ghelix6DQ2.cc @@ -0,0 +1,447 @@ +/* + * ghelix6DQ2 implementation + * + * Copyright (C) Peter Schneider, Jan Elseberg, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm by using helix correction + * @author Peter Schneider. Institute of Computer Science, University of Koblenz, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/icp6Dhelix.h" +#include "sparse/csparse.h" + +#include +#include +using std::flush; +#include + +#include "slam6d/globals.icc" + +using std::ofstream; + +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +ghelix6DQ2::ghelix6DQ2(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +ghelix6DQ2::~ghelix6DQ2() +{ + delete my_icp; +} + + +/** + * This function generates the matrices B and Bd that are used for solving B * c = Bd. + * This function has to be called once for every linked scan-pair. + * + * @param firstScanNum The number of the first scan of the linked scan-pair + * @param secondScanNum The number of the second scan of the linked scan-pair + * @param ptpairs Vector that holds all point-pairs for the actual scan-pair + * @param B Matrix with dimension (6*(number of scans-1)) x (6 * (number of scans-1)) + * @param Bd Vector with dimension (6*(number of scans-1)) + * @return returns the sum of square distance + */ +double ghelix6DQ2::genBBdForLinkedPair( int firstScanNum, int secondScanNum, vPtPair *ptpairs, + Matrix *B, ColumnVector *Bd ) +{ + double Btemp1[6][3]; + double Btemp2[6][3]; + memset(&Btemp1[0][0], 0, 18 * sizeof(double)); + memset(&Btemp2[0][0], 0, 18 * sizeof(double)); + double bd1[6]; + double bd2[6]; + memset(&bd1[0], 0, 6 * sizeof(double)); + memset(&bd2[0], 0, 6 * sizeof(double)); + + double p1x, p1y, p1z, p2x, p2y, p2z, pDistX, pDistY, pDistZ, px2Sq, py2Sq, pz2Sq; + + int n = (*ptpairs).size(); + double sum = 0; + + for (int i = 0; i < n; i++) { + p1x = (*ptpairs)[i].p1.x; + p1y = (*ptpairs)[i].p1.y; + p1z = (*ptpairs)[i].p1.z; + + p2x = (*ptpairs)[i].p2.x; + p2y = (*ptpairs)[i].p2.y; + p2z = (*ptpairs)[i].p2.z; + + //px1Sq = p1x * p1x; + //py1Sq = p1y * p1y; + //pz1Sq = p1z * p1z; + + px2Sq = p2x * p2x; + py2Sq = p2y * p2y; + pz2Sq = p2z * p2z; + + Btemp1[4][0] += -p2z; +// Btemp1[3][1] += p2z; + Btemp1[5][0] += p2y; +// Btemp1[3][2] += -p2y; + Btemp1[4][2] += p2x; +// Btemp1[5][1] += -p2x; + Btemp1[0][0] += pz2Sq + py2Sq; + Btemp1[1][0] += p2y*-p2x; + Btemp1[2][0] += -p2z*p2x; + Btemp1[1][1] += pz2Sq + px2Sq; + Btemp1[2][1] += p2z*-p2y; + Btemp1[2][2] += px2Sq + py2Sq; + + pDistX = p1x - p2x; + pDistY = p1y - p2y; + pDistZ = p1z - p2z; + + bd1[0] += -p1z*pDistY + p1y*pDistZ; + bd1[1] += p1z*pDistX - p1x*pDistZ; + bd1[2] += -p1y*pDistX + p1x*pDistY; + bd1[3] += pDistX; + bd1[4] += pDistY; + bd1[5] += pDistZ; + + bd2[0] += -p2z*-pDistY + p2y*-pDistZ; + bd2[1] += p2z*-pDistX - p2x*-pDistZ; + bd2[2] += -p2y*-pDistX + p2x*-pDistY; + bd2[3] += -pDistX; + bd2[4] += -pDistY; + bd2[5] += -pDistZ; + + sum += pDistX*pDistX + pDistY*pDistY + pDistZ*pDistZ; + } + +#ifdef _OPENMP + #pragma omp critical (enterB) +#endif + { + int matPlace1 = (firstScanNum-1) * 6; + + if(firstScanNum != 0) + { + (*B)(matPlace1+4,matPlace1+4) += n; + (*B)(matPlace1+5,matPlace1+5) += n; + (*B)(matPlace1+6,matPlace1+6) += n; + + (*B)(matPlace1+1,matPlace1+5) += Btemp1[4][0]; + (*B)(matPlace1+5,matPlace1+1) += Btemp1[4][0]; + (*B)(matPlace1+2,matPlace1+4) += -Btemp1[4][0]; + (*B)(matPlace1+4,matPlace1+2) += -Btemp1[4][0]; + (*B)(matPlace1+1,matPlace1+6) += Btemp1[5][0]; + (*B)(matPlace1+6,matPlace1+1) += Btemp1[5][0]; + (*B)(matPlace1+3,matPlace1+4) += -Btemp1[5][0]; + (*B)(matPlace1+4,matPlace1+3) += -Btemp1[5][0]; + (*B)(matPlace1+3,matPlace1+5) += Btemp1[4][2]; + (*B)(matPlace1+5,matPlace1+3) += Btemp1[4][2]; + (*B)(matPlace1+2,matPlace1+6) += -Btemp1[4][2]; + (*B)(matPlace1+6,matPlace1+2) += -Btemp1[4][2]; + (*B)(matPlace1+1,matPlace1+2) += Btemp1[1][0]; + (*B)(matPlace1+2,matPlace1+1) += Btemp1[1][0]; + (*B)(matPlace1+1,matPlace1+3) += Btemp1[2][0]; + (*B)(matPlace1+3,matPlace1+1) += Btemp1[2][0]; + (*B)(matPlace1+2,matPlace1+3) += Btemp1[2][1]; + (*B)(matPlace1+3,matPlace1+2) += Btemp1[2][1]; + (*B)(matPlace1+1,matPlace1+1) += Btemp1[0][0]; + (*B)(matPlace1+2,matPlace1+2) += Btemp1[1][1]; + (*B)(matPlace1+3,matPlace1+3) += Btemp1[2][2]; + + (*Bd)(matPlace1+1) += bd1[0]; + (*Bd)(matPlace1+2) += bd1[1]; + (*Bd)(matPlace1+3) += bd1[2]; + (*Bd)(matPlace1+4) += bd1[3]; + (*Bd)(matPlace1+5) += bd1[4]; + (*Bd)(matPlace1+6) += bd1[5]; + } +//------------------------------------------- + unsigned int matPlace2 = (secondScanNum-1) * 6; + + (*B)(matPlace2+4,matPlace2+4) += n; + (*B)(matPlace2+5,matPlace2+5) += n; + (*B)(matPlace2+6,matPlace2+6) += n; + + (*B)(matPlace2+1,matPlace2+5) += Btemp1[4][0]; + (*B)(matPlace2+5,matPlace2+1) += Btemp1[4][0]; + (*B)(matPlace2+2,matPlace2+4) += -Btemp1[4][0]; + (*B)(matPlace2+4,matPlace2+2) += -Btemp1[4][0]; + (*B)(matPlace2+1,matPlace2+6) += Btemp1[5][0]; + (*B)(matPlace2+6,matPlace2+1) += Btemp1[5][0]; + (*B)(matPlace2+3,matPlace2+4) += -Btemp1[5][0]; + (*B)(matPlace2+4,matPlace2+3) += -Btemp1[5][0]; + (*B)(matPlace2+3,matPlace2+5) += Btemp1[4][2]; + (*B)(matPlace2+5,matPlace2+3) += Btemp1[4][2]; + (*B)(matPlace2+2,matPlace2+6) += -Btemp1[4][2]; + (*B)(matPlace2+6,matPlace2+2) += -Btemp1[4][2]; + (*B)(matPlace2+1,matPlace2+2) += Btemp1[1][0]; + (*B)(matPlace2+2,matPlace2+1) += Btemp1[1][0]; + (*B)(matPlace2+1,matPlace2+3) += Btemp1[2][0]; + (*B)(matPlace2+3,matPlace2+1) += Btemp1[2][0]; + (*B)(matPlace2+2,matPlace2+3) += Btemp1[2][1]; + (*B)(matPlace2+3,matPlace2+2) += Btemp1[2][1]; + (*B)(matPlace2+1,matPlace2+1) += Btemp1[0][0]; + (*B)(matPlace2+2,matPlace2+2) += Btemp1[1][1]; + (*B)(matPlace2+3,matPlace2+3) += Btemp1[2][2]; + + + (*Bd)(matPlace2+1) += bd2[0]; + (*Bd)(matPlace2+2) += bd2[1]; + (*Bd)(matPlace2+3) += bd2[2]; + (*Bd)(matPlace2+4) += bd2[3]; + (*Bd)(matPlace2+5) += bd2[4]; + (*Bd)(matPlace2+6) += bd2[5]; + +//------------------------------------------- + if( firstScanNum != 0) + { + (*B)(matPlace1+4,matPlace2+4) -= n; + (*B)(matPlace1+5,matPlace2+5) -= n; + (*B)(matPlace1+6,matPlace2+6) -= n; + + (*B)(matPlace1+1,matPlace2+5) += -Btemp1[4][0]; + (*B)(matPlace1+5,matPlace2+1) += -Btemp1[4][0]; + (*B)(matPlace1+2,matPlace2+4) += Btemp1[4][0]; + (*B)(matPlace1+4,matPlace2+2) += Btemp1[4][0]; + (*B)(matPlace1+1,matPlace2+6) += -Btemp1[5][0]; + (*B)(matPlace1+6,matPlace2+1) += -Btemp1[5][0]; + (*B)(matPlace1+3,matPlace2+4) += Btemp1[5][0]; + (*B)(matPlace1+4,matPlace2+3) += Btemp1[5][0]; + (*B)(matPlace1+3,matPlace2+5) += -Btemp1[4][2]; + (*B)(matPlace1+5,matPlace2+3) += -Btemp1[4][2]; + (*B)(matPlace1+2,matPlace2+6) += Btemp1[4][2]; + (*B)(matPlace1+6,matPlace2+2) += Btemp1[4][2]; + (*B)(matPlace1+1,matPlace2+2) += -Btemp1[1][0]; + (*B)(matPlace1+2,matPlace2+1) += -Btemp1[1][0]; + (*B)(matPlace1+1,matPlace2+3) += -Btemp1[2][0]; + (*B)(matPlace1+3,matPlace2+1) += -Btemp1[2][0]; + (*B)(matPlace1+2,matPlace2+3) += -Btemp1[2][1]; + (*B)(matPlace1+3,matPlace2+2) += -Btemp1[2][1]; + (*B)(matPlace1+1,matPlace2+1) += -Btemp1[0][0]; + (*B)(matPlace1+2,matPlace2+2) += -Btemp1[1][1]; + (*B)(matPlace1+3,matPlace2+3) += -Btemp1[2][2]; +//---------------------------------------- + (*B)(matPlace2+4,matPlace1+4) -= n; + (*B)(matPlace2+5,matPlace1+5) -= n; + (*B)(matPlace2+6,matPlace1+6) -= n; + + (*B)(matPlace2+1,matPlace1+5) += -Btemp1[4][0]; + (*B)(matPlace2+5,matPlace1+1) += -Btemp1[4][0]; + (*B)(matPlace2+2,matPlace1+4) += Btemp1[4][0]; + (*B)(matPlace2+4,matPlace1+2) += Btemp1[4][0]; + (*B)(matPlace2+1,matPlace1+6) += -Btemp1[5][0]; + (*B)(matPlace2+6,matPlace1+1) += -Btemp1[5][0]; + (*B)(matPlace2+3,matPlace1+4) += Btemp1[5][0]; + (*B)(matPlace2+4,matPlace1+3) += Btemp1[5][0]; + (*B)(matPlace2+3,matPlace1+5) += -Btemp1[4][2]; + (*B)(matPlace2+5,matPlace1+3) += -Btemp1[4][2]; + (*B)(matPlace2+2,matPlace1+6) += Btemp1[4][2]; + (*B)(matPlace2+6,matPlace1+2) += Btemp1[4][2]; + (*B)(matPlace2+1,matPlace1+2) += -Btemp1[1][0]; + (*B)(matPlace2+2,matPlace1+1) += -Btemp1[1][0]; + (*B)(matPlace2+1,matPlace1+3) += -Btemp1[2][0]; + (*B)(matPlace2+3,matPlace1+1) += -Btemp1[2][0]; + (*B)(matPlace2+2,matPlace1+3) += -Btemp1[2][1]; + (*B)(matPlace2+3,matPlace1+2) += -Btemp1[2][1]; + (*B)(matPlace2+1,matPlace1+1) += -Btemp1[0][0]; + (*B)(matPlace2+2,matPlace1+2) += -Btemp1[1][1]; + (*B)(matPlace2+3,matPlace1+3) += -Btemp1[2][2]; + } + } // of pragma omp critical + + return sqrt( sum / (double) n ); +} + + + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double ghelix6DQ2::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + vPtPair **ptpairs = 0; // Contains sets of point pairs for all links + Matrix B ( 6 * (gr.getNrScans()-1), 6 * (gr.getNrScans()-1) ); + ColumnVector ccs( 6*(gr.getNrScans()-1) ), bd( 6*(gr.getNrScans()-1) ); + + B = 0.0; + bd = 0.0; + + double sum_position_diff = 0; + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + sum_position_diff = 0; + + if (nrIt > 1) cout << "Iteration match " << iteration << endl; + + if (ptpairs != 0) delete [] ptpairs; + ptpairs = new vPtPair*[gr.getNrLinks()]; + + for (int i = 0; i < gr.getNrLinks(); i++) { + ptpairs[i] = new vPtPair; + } + + // Get all point pairs after ICP + int end_loop = gr.getNrLinks(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + + for ( int i = 0; i < end_loop; i++) { + cout << "P" << i << flush; + Scan * FirstScan = allScans[gr.getLink(i,0)]; + Scan * SecondScan = allScans[gr.getLink(i,1)]; +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + double dummy_centroid_m[3]; + double dummy_centroid_d[3]; + double dummy_sum; + + Scan::getPtPairs(ptpairs[i], FirstScan, SecondScan, thread_num, + (int)my_icp->get_rnd(), (int)max_dist_match2_LUM, dummy_sum, + dummy_centroid_m, dummy_centroid_d); + + // faulty network + if (ptpairs[i]->size() <= 1) { + cout << "Error: Link (" << gr.getLink(i,0) + << " - " << gr.getLink(i, 1) << " ) is empty with " + << ptpairs[i]->size() << " Corr. points. iteration = " + << iteration << endl; + // exit(1); + + } else + // build the matrix B and vector bd + genBBdForLinkedPair( gr.getLink(i,0), gr.getLink(i,1), ptpairs[i], &B, &bd ); + } + cout <<" building matrices done! "<clear(); + delete (ptpairs[i]); + } + + ColumnVector t0(3), t(3), tlast(3); + int vectorOffset; + + int loop_end = gr.getNrScans(); + double alignxfLum[16]; + for(int i = 1; i < loop_end; i++) + { + vectorOffset = (i-1) * 6; + icp6D_HELIX::computeRt( &ccs, vectorOffset, alignxfLum); + + // Update the Pose + + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + + if (i < loop_end - 1) { + allScans[i]->transform(alignxfLum, Scan::LUM, 1); + } else { + allScans[i]->transform(alignxfLum, Scan::LUM, 2); + } + + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + + sum_position_diff += sqrt( sqr(alignxfLum[12]) + sqr(alignxfLum[13]) + sqr(alignxfLum[14])); + + } + cout << "Sum of Position differences = " << sum_position_diff << endl << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + delete [] ptpairs; + ptpairs = 0; + + return ret; +} + diff --git a/src/slam6d/graph.cc b/src/slam6d/graph.cc new file mode 100644 index 0000000..314aa4a --- /dev/null +++ b/src/slam6d/graph.cc @@ -0,0 +1,236 @@ +/* + * graph implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of a graph + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graph.h" + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include +using std::ifstream; +#include +using std::cout; +using std::cerr; +using std::endl; + +/** + * Constructor to create an empty graph + */ +Graph::Graph() +{ + nrScans = 0; + start = 0; +} + + +/** + * Constructor to read a Graph from a file. + * The file must have the the number of scans in the first line, + * the number of links to be read in the second and the links in + * the links in the third and fourth line + * + * Example: + * 4 + * 3 + * 0 1 + * 1 2 + * 3 4 + * 4 0 + * + * @param netfile Filename of the file to read + */ +Graph::Graph(const string &netfile) +{ + nrScans = 0; + start = 0; + int local_nrScans, local_nrLinks; + cout << "Reading network " << netfile; + + ifstream file(netfile.c_str()); + file >> local_nrScans + >> local_nrLinks; + + int f, t; + for(int j = 0; j < local_nrLinks; j++) { + if (!file.good()) { + cerr << "Error while reading network structure" << endl; + exit(1); + } + file >> f >> t; + cout << f << " " << t << endl; + addLink(f, t); + } + cout << " structure done." << endl; +} + +/** + * Constructor to build a minimally connected Graph with a given number of scans. + * The loop can optionally be closed, so that the first will be connected to the last scan. + * + * @param nScans The number of Scans + * @param loop Specifies whether the first and last scan should be linked + */ +Graph::Graph(int nScans, bool loop) +{ + int nrLinks = 0; + start = 0; + nrScans = nScans; + + if (loop) { + nrLinks = nScans; + } else { + nrLinks = nScans - 1; + } + + for(int i = 0 ;i < nrLinks; i++){ + from.push_back(i); + if (loop) { + to.push_back(i != nrLinks - 1 ? i + 1 : 0) ; + } else { + to.push_back(i + 1); + } + } +} + + +Graph::Graph(int nodes, double cldist2, int loopsize) +{ + // nodes + 1 + start = 0; + nrScans = nodes; + int nrLinks = nodes - 1; + + for(int i = 0; i < nrLinks; i++){ + from.push_back(i); + to.push_back(i + 1); + } + + // nodes + for (int j = 0; j < nodes; j++) { + for (int k = j + 1; k < nodes; k++) { + if ((abs(k-j) > loopsize) && + (Dist2(Scan::allScans[j]->get_rPos(), Scan::allScans[k]->get_rPos()) < cldist2)) { + addLink(j, k); + } + } + } +} + + + +/** + * Returns the specified link + * + * @param i The i-th link + * @param fromTo 0 is the outgoing node and 1 the ingoing + * @return An integer for the node + */ +int Graph::getLink(int i, int fromTo) +{ + if (i >= 0 && i < (int)from.size()) { + if (fromTo == 0) return from[i]; + else return to[i]; + } + return 0; +} + + +/** + * adds a link to a graph + * + * @param i from node + * @param j to node + */ +void Graph::addLink(int i, int j) +{ + int present = 0; + for (unsigned int iterator = 0; iterator < from.size(); iterator++) { + if (from[iterator] == i) present++; + if (to[iterator] == i) present++; + } + if (present == 0) nrScans++; + present = 0; + for (unsigned int iterator = 0; iterator < from.size(); iterator++) { + if (from[iterator] == j) present++; + if (to[iterator] == j) present++; + } + if (present == 0) nrScans++; + + from.push_back(i); + to.push_back(j); +} + + +/** + * Returns the number of links + * @return number of links + */ +int Graph::getNrLinks() +{ + return from.size(); +} + +/** + * Returns the number of scans + * @return number of scans + */ +int Graph::getNrScans() +{ + return nrScans; +} + +/** + * sets the number of scans + * @param number of scans + */ +void Graph::setNrScans(int _nrScans) +{ + nrScans = _nrScans; +} + +/** + * Returns the number of the first scan + * @return number of the first scan + */ +int Graph::getStart() +{ + return start; +} + +/** + * Returns the number of the last scan + * @return number of the last scan + */ +int Graph::getEnd() +{ + return start+nrScans - 1; +} + +/** + * Prints out the Graph nicely formatted + * @param os the stream to print to + * @param gr which Graph to print + * @return the resulting output stream + */ +ostream& operator<<(ostream& os, Graph* gr) +{ + for(int i = 0; i < (int)gr->from.size() ; i++){ + os << "( " << gr->getLink(i,0) << " - " << gr->getLink(i,1) << " )" << endl; + } + return os; +} diff --git a/src/slam6d/graphHOG-Man.cc b/src/slam6d/graphHOG-Man.cc new file mode 100644 index 0000000..e11af7a --- /dev/null +++ b/src/slam6d/graphHOG-Man.cc @@ -0,0 +1,151 @@ +/* + * graphHOG-Max implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graphHOG-Man.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; +#include +#include +using namespace NEWMAT; +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double graphHOGMan::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + double Pl0[16]; + + ofstream outFile("hogman.graph"); + int n = gr.getNrScans(); + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << endl; + } + + for(int i = 0; i < gr.getNrLinks(); i++){ + int first = gr.getLink(i,0); + int last = gr.getLink(i,1); + + if(first != last-1) { + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + if(i >= 0) { + meta_end.push_back(allScans[i]); + } + } + MetaScan *end = new MetaScan(meta_end, false, false); + + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + my_icp->match(start, end); + + delete start; + delete end; + } + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp->get_nns_method(), my_icp->get_rnd(), my_icp->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + + if(first != last-1) { + allScans[last]->transformToMatrix(Pl0,Scan::INVALID); + } + } + outFile.close(); + + system("LD_LIBRARY_PATH=./bin/ ./bin/hogman3d -update 1 -oc -o hogman-final.graph hogman.graph"); + + ifstream inFile("hogman-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::GRAPHHOGMAN, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::GRAPHHOGMAN, 2); + inFile.close(); + + return DBL_MAX; +} diff --git a/src/slam6d/graphSlam6D.cc b/src/slam6d/graphSlam6D.cc new file mode 100644 index 0000000..c4e37f8 --- /dev/null +++ b/src/slam6d/graphSlam6D.cc @@ -0,0 +1,490 @@ +/* + * graphSlam6D implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/graphSlam6D.h" +#include "sparse/csparse.h" + +#include +#include +using std::ofstream; +using std::flush; +#include "slam6d/globals.icc" + +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +graphSlam6D::graphSlam6D(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) +{ + this->nns_method = nns_method; + this->quiet = quiet; + this->epsilonLUM = epsilonLUM; + this->max_dist_match2_LUM = sqr(max_dist_match); + + ctime = 0; + + this->my_icp = new icp6D(my_icp6Dminimizer, mdm, max_num_iterations, + quiet, meta, rnd, eP, anim, epsilonICP, nns_method); +} + +graphSlam6D::~graphSlam6D() + { + cout << "Time spent in the SLAM backend:" << ctime << endl; + } +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @param clpairs minimal number of points aximal distance for closing loops + * @param loopsize minimal loop size + */ +void graphSlam6D::matchGraph6Dautomatic(vector allScans, int nrIt, int clpairs, int loopsize) +{ + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + Graph *gr = 0; + int i = 0; + + do { + cout << "Generate graph ... " << flush; + i++; + if (gr) delete gr; + gr = new Graph(0, false); + int j, maxj = (int)allScans.size(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (j = 0; j < maxj; j++) { +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + for (int k = 0; k < (int)allScans.size(); k++) { + if (j == k) continue; + Scan * FirstScan = allScans[j]; + Scan * SecondScan = allScans[k]; + double centroid_d[3] = {0.0, 0.0, 0.0}; + double centroid_m[3] = {0.0, 0.0, 0.0}; + vPtPair temp; + double sum_dummy; + Scan::getPtPairs(&temp, FirstScan, SecondScan, thread_num, + my_icp->get_rnd(), (int)max_dist_match2_LUM, sum_dummy, + centroid_m, centroid_d); + if ((int)temp.size() > clpairs) { +#ifdef _OPENMP +#pragma omp critical +#endif + gr->addLink(j, k); + } + } + } + cout << "done" << endl; + } while ((doGraphSlam6D(*gr, allScans, 1) > 0.001) && (i < nrIt)); + + return; +} + + +Graph *graphSlam6D::computeGraph6Dautomatic(vector allScans, int clpairs) +{ + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + int i = 0; + + cout << "Generate graph ... " << flush; + i++; + Graph *gr = new Graph(0, false); + int j, maxj = (int)allScans.size(); +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (j = 0; j < maxj; j++) { +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + for (int k = 0; k < (int)allScans.size(); k++) { + if (j == k) continue; + Scan * FirstScan = allScans[j]; + Scan * SecondScan = allScans[k]; + double centroid_d[3] = {0.0, 0.0, 0.0}; + double centroid_m[3] = {0.0, 0.0, 0.0}; + vPtPair temp; + double sum_dummy; + Scan::getPtPairs(&temp, FirstScan, SecondScan, thread_num, + my_icp->get_rnd(), (int)max_dist_match2_LUM, sum_dummy, + centroid_m, centroid_d); + if ((int)temp.size() > clpairs) { +#ifdef _OPENMP +#pragma omp critical +#endif + gr->addLink(j, k); + } + } + } + cout << "done" << endl; + + return gr; +} + +/** + * This function is used to solve the system of linear eq. + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +void graphSlam6D::writeMatrixPGM(const Matrix &G) +{ + int n = G.Ncols(); + static int matrixnum = 0; + string mf = "matrix" + to_string(matrixnum,4) + ".pgm"; + ofstream matrixout(mf.c_str()); + matrixout << "P2" << endl + << "# CREATOR slam6D (c) Andreas Nuechter, 05/2007" << endl + << n << " " << n << endl + << 255 << endl; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (G.element(i, j) > 0.001) { + matrixout << 0 << " "; + } else { + matrixout << 255 << " "; + } + } + matrixout << endl; + } + // matrixout << G << endl; + matrixout.close(); + matrixout.clear(); + matrixnum++; + +} + + + +/** + * This function is used to solve the system of linear eq. + * + * @param G Matrix, invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solve(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + // ---------------------------------- + // solve eqn via inverting the matrix + // ---------------------------------- + return (ColumnVector)(G.i() * B); +} + + +/** + * This function is used to solve the system of linear eq. + * The implementation from the numerical recepies are used + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solveCholesky(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + // We copy the newmat matrices and use our own + // Cholesky decomposition code here. The Cholesky + // decomosition is based on the Numerical Recipes in C. + // This speed ups computation time + + // copy values + int n = G.Ncols(); + double **A = new double*[n]; + double *C = new double[n]; + double *diag = new double[n]; + double *x = new double[n]; + ColumnVector X(n); + for (int i = 0; i < n; i++) { + A[i] = new double[n]; + for (int j = 0; j < n; j++) { + A[i][j] = G.element(i, j); + } + C[i] = B.element(i); + } + // -------------------------------------------------- + // make cholesky dekomposition with numerical recipes + // -------------------------------------------------- + if (!choldc(n, A, diag)) { + cout << "cannot perfom cholesky decomposition" << endl; + } + // solve A x = C + cholsl(n, A, diag, C, x); + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + // clean up + for (int i = 0; i < n; i++) { + delete [] A[i]; + } + delete [] x; + delete [] diag; + delete [] C; + delete [] A; + + return X; +} + + +/** + * This function is used to solve the system of linear eq. + * + * @param G symmetric, positive definite Matrix, thus invertable + * @param B column vector + */ +ColumnVector graphSlam6D::solveSparseCholesky(const Matrix &G, const ColumnVector &B) +{ + + long starttime = GetCurrentTimeInMilliSec(); + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + int n = G.Ncols(); + + // ------------------------------ + // Sparse Cholsekey decomposition + // ------------------------------ + ColumnVector X(n); + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (fabs(G.element(i, j)) > 0.00001) { + cs_entry (T, i, j, G.element(i, j)); + } + } + x[i] = B.element(i); + } + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries + cs_cholsol (A, x, 1) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + ctime += GetCurrentTimeInMilliSec() - starttime; + + return X; +} + +ColumnVector graphSlam6D::solveSparseCholesky(GraphMatrix *G, const ColumnVector &B) +{ + + long starttime = GetCurrentTimeInMilliSec(); + + int n = B.Nrows(); + ColumnVector X(n); + + // ------------------------------ + // Sparse Cholsekey decomposition + // ------------------------------ + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + x[i] = B.element(i); + } + G->convertToCS(T); + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries +// cs_print(T, 0); + cs_cholsol (A, x, 1) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + ctime += GetCurrentTimeInMilliSec() - starttime; + + return X; +} + + +/** + * This function is used to solve the system of linear eq. + * + * @param G invertable Matrix + * @param B column vector + */ +ColumnVector graphSlam6D::solveSparseQR(const Matrix &G, const ColumnVector &B) +{ + +#ifdef WRITE_MATRIX_PGM + writeMatrixPGM(G); +#endif + + int n = B.Ncols(); + + ColumnVector X(n); + cs *A, *T = cs_spalloc (0, 0, 1, 1, 1) ; + double *x = new double[n]; + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (fabs(G.element(i, j)) > 0.00001) { + cs_entry (T, i, j, G.element(i, j)); + } + } + x[i] = B.element(i); + } + A = cs_triplet (T); + cs_dropzeros (A) ; // drop zero entries + int order = 3; // for qr-ordering + cs_qrsol ( A, x, order) ; + // copy values back + for (int i = 0; i < n; i++) { + X.element(i) = x[i]; + } + + cs_spfree(A); + cs_spfree(T); + delete [] x; + + return X; +} + +void graphSlam6D::set_mdmll(double mdmll) { + max_dist_match2_LUM = sqr(mdmll); +} + + +void GraphMatrix::add(const unsigned int i, const unsigned int j, Matrix &Cij) { + uipair ui(i,j); + it = matrix.find( ui ); + if (it != matrix.end()) { + (*(it->second)) += Cij; + } else { + Matrix *C = new Matrix(6,6); + *C = Cij; + matrix.insert( uimpair( ui, C)); + } +} + +void GraphMatrix::subtract(const unsigned int i, const unsigned int j,Matrix &Cij) { + uipair ui(i,j); + it = matrix.find( ui ); + if (it != matrix.end()) { + (*it->second) -= Cij; + } else { + Matrix *C = new Matrix(6,6); + *C = Cij; + *C *= -1.0; + matrix.insert( uimpair( ui, C)); + } +} + +void GraphMatrix::print() { + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + uimpair uim = *it; + uipair ui = uim.first; + cout << ui.first << " " << ui.second << " :" << endl << *uim.second << endl; + } +} + +GraphMatrix::~GraphMatrix() { + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + uimpair uim = *it; + delete uim.second; + } + +} + +void GraphMatrix::convertToCS(cs *T) { + unsigned int a,b; + int imin,imax,jmin,jmax; + + for ( it = matrix.begin() ; it != matrix.end(); it++ ) { + Matrix *C = it->second; + a = it->first.first; + b = it->first.second; +// cout << a << " " << b << " " << C << endl; + imin = a*6; + jmin = b*6; + + imax = a*6 + 6; + jmax = b*6 + 6; + a = b = 0; + + for (int i = imin; i < imax; i++, a++) { + b = 0; + for (int j = jmin; j < jmax; j++, b++) { + if (fabs(C->element(a, b)) > 0.00001) { + cs_entry (T, i, j, C->element(a, b)); + } + } + } + } +// print(); +// cs_print(T, 0); +} diff --git a/src/slam6d/graphToro.cc b/src/slam6d/graphToro.cc new file mode 100644 index 0000000..a3095e7 --- /dev/null +++ b/src/slam6d/graphToro.cc @@ -0,0 +1,152 @@ +/* + * graphToro implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/graphToro.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; +#include +#include +using namespace NEWMAT; +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double graphToro::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + double Pl0[16]; + + ofstream outFile("toro.graph"); + int n = gr.getNrScans(); + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << endl; + } + + for(int i = 0; i < gr.getNrLinks(); i++){ + int first = gr.getLink(i,0); + int last = gr.getLink(i,1); + + if(first != last-1) { + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + if(i >= 0) { + meta_end.push_back(allScans[i]); + } + } + MetaScan *end = new MetaScan(meta_end, false, false); + + memcpy(Pl0, allScans[last]->get_transMat(), 16 * sizeof(double)); + my_icp->match(start, end); + + delete start; + delete end; + } + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp->get_nns_method(), my_icp->get_rnd(), my_icp->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + + if(first != last-1) { + allScans[last]->transformToMatrix(Pl0,Scan::INVALID); + } + } + outFile.close(); + + system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d toro.graph"); + + ifstream inFile("toro-treeopt-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::GRAPHTORO, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::GRAPHTORO, 2); + inFile.close(); + + return DBL_MAX; +} diff --git a/src/slam6d/graph_balancer.cc b/src/slam6d/graph_balancer.cc new file mode 100644 index 0000000..6c79fe6 --- /dev/null +++ b/src/slam6d/graph_balancer.cc @@ -0,0 +1,109 @@ +/* + * graph_balancer implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file stand alone graph balancer implementation + * reads graph in graphviz format and optimizes it + * @author Jochen Sprickerhof + */ + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::string; + +#include + +#include "slam6d/elch6D.h" + +void usage(string progname) { + cout << "Usage: " << progname << " OPTIONS FILE" << endl << + "\t -s \t\t first node in loop" << endl << + "\t -e \t\t last node in loop" << endl << + "\t -o \t\t output filename (must be given)" << endl; +} + +int main(int argc, char *argv[]) +{ + + if(argc < 2) { + usage(argv[0]); + exit(1); + } + + int start = 0, end = 4; + string out_file; + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "end", required_argument, 0, 'e' }, + { "out", required_argument, 0, 'o' }, + { "start", required_argument, 0, 's' }, + //{ "reduce", required_argument, 0, 'r' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + int c; + while((c = getopt_long(argc, argv, "e:o:s:", longopts, NULL)) != -1) { + switch (c) { + case 'e': + end = atoi(optarg); + if(end < 0) { + cerr << "Error: Cannot end at a negative number." << endl; + exit(1); + } + break; + case 'o': + out_file = optarg; + break; + case 's': + start = atoi(optarg); + if(start < 0) { + cerr << "Error: Cannot start at a negative number." << endl; + exit(1); + } + break; + case '?': + default: + exit(1); + } + } + + if(out_file.empty()) { + usage(argv[0]); + exit(1); + } + + graph_t g(0); + boost::dynamic_properties dp(boost::ignore_other_properties); + boost::property_map::type weight = get(boost::edge_weight, g); + dp.property("weight", weight); + + std::ifstream gf(argv[optind]); + read_graphviz(gf, g, dp); + + graph_t g_org(g); + double *w = new double[num_vertices(g)]; + + elch6D::graph_balancer(g, start, end, w); + elch6D::graph_weight_out(g_org, start, end, w, out_file); + + delete[] w; + exit(0); +} + diff --git a/src/slam6d/icp6D.cc b/src/slam6d/icp6D.cc new file mode 100644 index 0000000..4baceb3 --- /dev/null +++ b/src/slam6d/icp6D.cc @@ -0,0 +1,367 @@ +/* + * icp6D implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of 3D scan matching with ICP + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/icp6D.h" + +#include "slam6d/metaScan.h" +#include "slam6d/globals.icc" + +#include +using std::cerr; + +#include + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to the ICP-minimizer + * @param max_dist_match Maximum distance to which point pairs are collected + * @param max_num_iterations Maximum number of iterations + * @param quiet Whether to print to the standard output + * @param meta Match against a meta scan? + * @param rnd Randomized point selection + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion + * @param nns_method Selects NNS method to be used + */ +icp6D::icp6D(icp6Dminimizer *my_icp6Dminimizer, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, bool eP, + int anim, double epsilonICP, int nns_method, bool cuda_enabled, + bool cad_matching) +{ + this->my_icp6Dminimizer = my_icp6Dminimizer; + this->anim = anim; + this->cuda_enabled = cuda_enabled; + this->nns_method = nns_method; + + if (!quiet) { + cout << "Maximal distance match : " << max_dist_match << endl + << "Maximal number of iterations: " << max_num_iterations << endl << endl; + } + + // checks + if (max_dist_match < 0.0) { + cerr << "ERROR [ICP6D]: first parameter (max_dist_match) has to be >= 0," << endl; + exit(1); + } + if (max_num_iterations < 0) { + cerr << "ERROR [ICP6D]: second parameter (max_num_iterations) has to be >= 0." << endl; + exit(1); + } + + this->max_dist_match2 = sqr(max_dist_match); + this->max_num_iterations = max_num_iterations; + this->quiet = quiet; + this->meta = meta; + this->rnd = rnd; + this->eP = eP; + this->epsilonICP = epsilonICP; + + // Set initial seed (for "real" random numbers) + // srand( (unsigned)time( NULL ) ); + this->cad_matching = cad_matching; +} + +/** + * Matches a 3D Scan against a 3D Scan + * @param PreviousScan The scan or metascan forming the model + * @param CurrentScan The current scan thas is to be matched + * @return The number of iterations done in this matching run + */ +int icp6D::match(Scan* PreviousScan, Scan* CurrentScan) +{ + // If ICP shall not be applied, then just write + // the identity matrix + if (max_num_iterations == 0) { + double id[16]; + M4identity(id); + CurrentScan->transform(id, Scan::ICP, 0); // write end pose + return 0; + } + + // icp main loop + double ret = 0.0, prev_ret = 0.0, prev_prev_ret = 0.0; + int iter = 0; + double alignxf[16]; + for (iter = 0; iter < max_num_iterations; iter++) { + + prev_prev_ret = prev_ret; + prev_ret = ret; + +#ifdef _OPENMP + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // + // The same information are given in (ecrm2007.pdf) + // Andreas N眉chter. Parallelization of Scan Matching + // for Robotic 3D Mapping. In Proceedings of the 3rd + // European Conference on Mobile Robots (ECMR '07), + // Freiburg, Germany, September 2007 + omp_set_num_threads(OPENMP_NUM_THREADS); + + int max = (int)CurrentScan->size("xyz reduced"); + int step = max / OPENMP_NUM_THREADS; + + vector pairs[OPENMP_NUM_THREADS]; + double sum[OPENMP_NUM_THREADS]; + double centroid_m[OPENMP_NUM_THREADS][3]; + double centroid_d[OPENMP_NUM_THREADS][3]; + double Si[OPENMP_NUM_THREADS][9]; + unsigned int n[OPENMP_NUM_THREADS]; + + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + sum[i] = centroid_m[i][0] = centroid_m[i][1] = centroid_m[i][2] = 0.0; + centroid_d[i][0] = centroid_d[i][1] = centroid_d[i][2] = 0.0; + Si[i][0] = Si[i][1] = Si[i][2] = Si[i][3] = Si[i][4] = Si[i][5] = Si[i][6] = Si[i][7] = Si[i][8] = 0.0; + n[i] = 0; + } + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + Scan::getPtPairsParallel(pairs, PreviousScan, CurrentScan, + thread_num, step, + rnd, max_dist_match2, + sum, centroid_m, centroid_d); + + n[thread_num] = (unsigned int)pairs[thread_num].size(); + + if ((my_icp6Dminimizer->getAlgorithmID() == 1) || + (my_icp6Dminimizer->getAlgorithmID() == 2)) { + for (unsigned int i = 0; i < n[thread_num]; i++) { + + double pp[3] = {pairs[thread_num][i].p1.x - centroid_m[thread_num][0], + pairs[thread_num][i].p1.y - centroid_m[thread_num][1], + pairs[thread_num][i].p1.z - centroid_m[thread_num][2]}; + double qq[3] = {pairs[thread_num][i].p2.x - centroid_d[thread_num][0], + pairs[thread_num][i].p2.y - centroid_d[thread_num][1], + pairs[thread_num][i].p2.z - centroid_d[thread_num][2]}; +/* + double pp[3] = {pairs[thread_num][i].p1.x - centroid_d[thread_num][0], + pairs[thread_num][i].p1.y - centroid_d[thread_num][1], + pairs[thread_num][i].p1.z - centroid_d[thread_num][2]}; + double qq[3] = {pairs[thread_num][i].p2.x - centroid_m[thread_num][0], + pairs[thread_num][i].p2.y - centroid_m[thread_num][1], + pairs[thread_num][i].p2.z - centroid_m[thread_num][2]}; +*/ + // formula (6) + Si[thread_num][0] += pp[0] * qq[0]; + Si[thread_num][1] += pp[0] * qq[1]; + Si[thread_num][2] += pp[0] * qq[2]; + Si[thread_num][3] += pp[1] * qq[0]; + Si[thread_num][4] += pp[1] * qq[1]; + Si[thread_num][5] += pp[1] * qq[2]; + Si[thread_num][6] += pp[2] * qq[0]; + Si[thread_num][7] += pp[2] * qq[1]; + Si[thread_num][8] += pp[2] * qq[2]; + } + } + } // end parallel + + + // do we have enough point pairs? + unsigned int pairssize = 0; + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + pairssize += n[i]; + } + if (pairssize > 3) { + if ((my_icp6Dminimizer->getAlgorithmID() == 1) || + (my_icp6Dminimizer->getAlgorithmID() == 2) ) { + ret = my_icp6Dminimizer->Point_Point_Align_Parallel(OPENMP_NUM_THREADS, + n, sum, centroid_m, centroid_d, Si, + alignxf); + } else if (my_icp6Dminimizer->getAlgorithmID() == 6) { + ret = my_icp6Dminimizer->Point_Point_Align_Parallel(OPENMP_NUM_THREADS, + n, sum, centroid_m, centroid_d, + pairs, + alignxf); + } else { + cout << "This parallel minimization algorithm is not implemented !!!" << endl; + exit(-1); + } + } else { + //break; + } +#else + + double centroid_m[3] = {0.0, 0.0, 0.0}; + double centroid_d[3] = {0.0, 0.0, 0.0}; + vector pairs; + + Scan::getPtPairs(&pairs, PreviousScan, CurrentScan, 0, rnd, + max_dist_match2, ret, centroid_m, centroid_d); + + // do we have enough point pairs? + if (pairs.size() > 3) { + if (my_icp6Dminimizer->getAlgorithmID() == 3 || my_icp6Dminimizer->getAlgorithmID() == 8 ) { + memcpy(alignxf, CurrentScan->get_transMat(), sizeof(alignxf)); + } + ret = my_icp6Dminimizer->Point_Point_Align(pairs, alignxf, centroid_m, centroid_d); + } else { + break; + } + +#endif + + if ((iter == 0 && anim != -2) || ((anim > 0) && (iter % anim == 0))) { + CurrentScan->transform(alignxf, Scan::ICP, 0); // transform the current scan + } else { + CurrentScan->transform(alignxf, Scan::ICP, -1); // transform the current scan + } + + if ((fabs(ret - prev_ret) < epsilonICP) && (fabs(ret - prev_prev_ret) < epsilonICP)) { + double id[16]; + M4identity(id); + if(anim == -2) { + CurrentScan->transform(id, Scan::ICP, -1); // write end pose + } else { + CurrentScan->transform(id, Scan::ICP, 0); // write end pose + } + break; + } + } + + return iter; +} + + +/** + * Computes the point to point error between two scans + * + * + */ +double icp6D::Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *np) { + double error = 0; + unsigned int nr_ppairs = 0; + +#ifdef _OPENMP + omp_set_num_threads(OPENMP_NUM_THREADS); + + int max = (int)CurrentScan->size("xyz reduced"); + int step = max / OPENMP_NUM_THREADS; + + vector pairs[OPENMP_NUM_THREADS]; + double sum[OPENMP_NUM_THREADS]; + double centroid_m[OPENMP_NUM_THREADS][3]; + double centroid_d[OPENMP_NUM_THREADS][3]; + + for (int i = 0; i < OPENMP_NUM_THREADS; i++) { + sum[i] = centroid_m[i][0] = centroid_m[i][1] = centroid_m[i][2] = 0.0; + centroid_d[i][0] = centroid_d[i][1] = centroid_d[i][2] = 0.0; + } + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + Scan::getPtPairsParallel(pairs, PreviousScan, CurrentScan, + thread_num, step, + rnd, sqr(max_dist_match), + sum, centroid_m, centroid_d); + + } + + for (unsigned int thread_num = 0; thread_num < OPENMP_NUM_THREADS; thread_num++) { + for (unsigned int i = 0; i < (unsigned int)pairs[thread_num].size(); i++) { + error += sqr(pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + + sqr(pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) + + sqr(pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z); + } + nr_ppairs += (unsigned int)pairs[thread_num].size(); + } +#else + + double centroid_m[3] = {0.0, 0.0, 0.0}; + double centroid_d[3] = {0.0, 0.0, 0.0}; + vector pairs; + + Scan::getPtPairs(&pairs, PreviousScan, CurrentScan, 0, rnd, sqr(max_dist_match),error, centroid_m, centroid_d); + + // getPtPairs computes error as sum of squared distances + error = 0; + + for (unsigned int i = 0; i < pairs.size(); i++) { + error += sqrt( + sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ); + } + nr_ppairs = pairs.size(); +#endif + + if (np) *np = nr_ppairs; +// return sqrt(error/nr_ppairs); + return error/nr_ppairs; +} +/** + * This function matches the scans only with ICP + * + * @param allScans Contains all necessary scans. + */ +void icp6D::doICP(vector allScans) +{ + double id[16]; + M4identity(id); + + vector < Scan* > meta_scans; + Scan* my_MetaScan = 0; + + for(unsigned int i = 0; i < allScans.size(); i++) { + cout << i << "*" << endl; + + Scan *CurrentScan = allScans[i]; + Scan *PreviousScan = 0; + + if (i > 0) { + PreviousScan = allScans[i-1]; + if (eP) { // extrapolate odometry + CurrentScan->mergeCoordinatesWithRoboterPosition(PreviousScan); + } + } + + if (i > 0) { + if (meta) { + match(my_MetaScan, CurrentScan); + } else + if (cad_matching) { + match(allScans[0], CurrentScan); + } else { + match(PreviousScan, CurrentScan); + } + } + + // push processed scan + if ( meta && i != allScans.size()-1 ) { + meta_scans.push_back(CurrentScan); + if (my_MetaScan) { + delete my_MetaScan; + } + my_MetaScan = new MetaScan(meta_scans, nns_method, cuda_enabled); + } + } +} + diff --git a/src/slam6d/icp6Dapx.cc b/src/slam6d/icp6Dapx.cc new file mode 100644 index 0000000..cb26fe0 --- /dev/null +++ b/src/slam6d/icp6Dapx.cc @@ -0,0 +1,309 @@ +/* + * icp6Dapx implementation + * + * Copyright (C) Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Implementation of the ICP error function minimization via approximation + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#include "slam6d/icp6Dapx.h" + +#include "slam6d/globals.icc" +#include +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error + * of the point pairs, using the approximation + * sin(x) = x. + * + * @param Pairs Vector of point pairs (pairs of corresponding points) + * @param alignxf The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_APX::Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = Pairs.size(); + + // ?!? <= 3 + if (n <= 3) { + M4identity(alignxf); + return 0; + } + + int i; + + double A[3][3]; + double B[3]; + memset(&A[0][0], 0, 9 * sizeof(double)); + memset(&B[0], 0, 3 * sizeof(double)); + + double sum = 0; + double p1[3], p2[3]; + + for (i = 0; i < n; i++) { + p1[0] = Pairs[i].p1.x; + p1[1] = Pairs[i].p1.y; + p1[2] = Pairs[i].p1.z; + p2[0] = Pairs[i].p2.x; + p2[1] = Pairs[i].p2.y; + p2[2] = Pairs[i].p2.z; + + double p12[3] = { p1[0] - p2[0], p1[1] - p2[1], p1[2] - p2[2] }; + double p2c[3] = { p2[0] - centroid_d[0], p2[1] - centroid_d[1], p2[2] - centroid_d[2] }; + + sum += Len2(p12); + + B[0] += (p12[2]*p2c[1] - p12[1]*p2c[2]); + B[1] += (p12[0]*p2c[2] - p12[2]*p2c[0]); + B[2] += (p12[1]*p2c[0] - p12[0]*p2c[1]); + A[0][0] += (sqr(p2c[1]) + sqr(p2c[2])); + A[0][1] -= p2c[0] * p2c[1]; + A[0][2] -= p2c[0] * p2c[2]; + A[1][1] += (sqr(p2c[0]) + sqr(p2c[2])); + A[1][2] -= p2c[1] * p2c[2]; + A[2][2] += (sqr(p2c[0]) + sqr(p2c[1])); + } + + double error = sqrt(sum / n); + if (!quiet) { + cout.setf(ios::basefield); + cout << "APX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)Pairs.size() << " points" << endl; + } + + // Solve eqns + double diag[3]; + if (!choldc(A, diag)) { + printf("Couldn't find transform.\n"); + return -1.0; + } + double x[3]; + cholsl(A, diag, B, x); + + // Interpret results + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = centroid_m[0] - alignxf[0]*centroid_d[0] - alignxf[4]*centroid_d[1] - alignxf[8]*centroid_d[2]; + alignxf[13] = centroid_m[1] - alignxf[1]*centroid_d[0] - alignxf[5]*centroid_d[1] - alignxf[9]*centroid_d[2]; + alignxf[14] = centroid_m[2] - alignxf[2]*centroid_d[0] - alignxf[6]*centroid_d[1] - alignxf[10]*centroid_d[2]; + alignxf[15] = 1; + + return error; +} + + +double icp6D_APX::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const vector pairs[OPENMP_NUM_THREADS], + double *alignxf) + +{ + +#ifdef _OPENMP + + double At[OPENMP_NUM_THREADS][3][3]; + double Bt[OPENMP_NUM_THREADS][3]; + + for (int j=0;j < OPENMP_NUM_THREADS; j++) + for (int k = 0;k < 3; k++) { + for (int l = 0; l < 3; l++) + At[j][k][l] = 0.0; + Bt[j][k] = 0.0; + } + double A[3][3]; + double B[3]; + memset(&A[0][0], 0, 9 * sizeof(double)); + memset(&B[0], 0, 3 * sizeof(double)); + + double s = 0.0; + double error; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + double cms[3], cds[3]; + for (int i = 0; i < 3; i++) cms[i] = cds[i] = 0.0; + + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + + // compute centroids for all the pairs + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + + cms[0] += centroid_m[i][0]; + cms[1] += centroid_m[i][1]; + cms[2] += centroid_m[i][2]; + cds[0] += centroid_d[i][0]; + cds[1] += centroid_d[i][1]; + cds[2] += centroid_d[i][2]; + } + + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + error = sqrt(s / (double)pairs_size); + +#pragma omp parallel + { + int thread_num = omp_get_thread_num(); + for (unsigned int i = 0 ; i < (unsigned int)pairs[thread_num].size() ; i++) + { + At[thread_num][0][0] += (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.y - cd[1]) + + (pairs[thread_num][i].p2.z - cd[2])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][0][1] -= (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.y - cd[1]); + At[thread_num][0][2] -= (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][1][1] += (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.x - cd[0]) + + (pairs[thread_num][i].p2.z - cd[2])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][1][2] -= (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.z - cd[2]); + At[thread_num][2][2] += (pairs[thread_num][i].p2.x - cd[0])*(pairs[thread_num][i].p2.x - cd[0]) + + (pairs[thread_num][i].p2.y - cd[1])*(pairs[thread_num][i].p2.y - cd[1]); + + Bt[thread_num][0] += (pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z) + * (pairs[thread_num][i].p2.y - cd[1]) - (pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) + * (pairs[thread_num][i].p2.z - cd[2]); + Bt[thread_num][1] += (pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + * (pairs[thread_num][i].p2.z - cd[2]) - (pairs[thread_num][i].p1.z - pairs[thread_num][i].p2.z) + * (pairs[thread_num][i].p2.x - cd[0]); + Bt[thread_num][2] += (pairs[thread_num][i].p1.y - pairs[thread_num][i].p2.y) * + (pairs[thread_num][i].p2.x - cd[0]) - (pairs[thread_num][i].p1.x - pairs[thread_num][i].p2.x) + * (pairs[thread_num][i].p2.y - cd[1]); + } + } + + for (int j = 0;j < OPENMP_NUM_THREADS; j++) + for (int k = 0; k < 3; k++) { + for (int l = 0; l < 3; l++) + A[k][l] += At[j][k][l] ; + B[k] += Bt[j][k]; + } + + // continue with linear solution + + if (!quiet) { + cout.setf(ios::basefield); + cout << "PAPX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + // Solve eqns + double diag[3]; + if (!choldc(A, diag)) { + printf("Couldn't find transform.\n"); + return -1.0; + } + double x[3]; + cholsl(A, diag, B, x); + + // Interpret results + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = cm[0] - alignxf[0]*cd[0] - alignxf[4]*cd[1] - alignxf[8]*cd[2]; + alignxf[13] = cm[1] - alignxf[1]*cd[0] - alignxf[5]*cd[1] - alignxf[9]*cd[2]; + alignxf[14] = cm[2] - alignxf[2]*cd[0] - alignxf[6]*cd[1] - alignxf[10]*cd[2]; + alignxf[15] = 1; + + return error; +#else + cout << "Point_Point_Align_Parallel:"<< endl + << "Please compile with OpenMP support to use this function" << endl; + exit(-1); +#endif +} + + +void icp6D_APX::computeRt(const double *x, const double *dx, double *alignxf) +{ + double sx = x[0]; + double cx = sqrt(1.0 - sx*sx); + double sy = x[1]; + double cy = sqrt(1.0 - sy*sy); + double sz = x[2]; + double cz = sqrt(1.0 - sz*sz); + + alignxf[0] = cy*cz; + alignxf[1] = sx*sy*cz + cx*sz; + alignxf[2] = -cx*sy*cz + sx*sz; + alignxf[3] = 0; + alignxf[4] = -cy*sz; + alignxf[5] = -sx*sy*sz + cx*cz; + alignxf[6] = cx*sy*sz + sx*cz; + alignxf[7] = 0; + alignxf[8] = sy; + alignxf[9] = -sx*cy; + alignxf[10] = cx*cy; + alignxf[11] = 0; + alignxf[12] = dx[0]; + alignxf[13] = dx[1]; + alignxf[14] = dx[2]; + alignxf[15] = 1; +} diff --git a/src/slam6d/icp6Ddual.cc b/src/slam6d/icp6Ddual.cc new file mode 100644 index 0000000..13aff68 --- /dev/null +++ b/src/slam6d/icp6Ddual.cc @@ -0,0 +1,145 @@ +/* + * icp6Ddual implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization + * via dual quaternions + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Ddual.h" +#include "slam6d/globals.icc" + +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" + +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using dual quaternions + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_DUAL::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "DUALQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + Matrix C1(4, 4); C1 = 0.0; + Matrix C2(4, 4); C2 = 0.0; + + /// build up matrices C1 and C2 + for(unsigned int i = 0; i < pairs.size(); ++i) { + ColumnVector m(3), d(3); + m << pairs[i].p1.x << pairs[i].p1.y << pairs[i].p1.z; + d << pairs[i].p2.x << pairs[i].p2.y << pairs[i].p2.z; + Matrix Cm(3, 3); Cm << 0 << -m(3) << m(2) << m(3) << 0 << -m(1) << -m(2) << m(1) << 0; + Matrix Cd(3, 3); Cd << 0 << -d(3) << d(2) << d(3) << 0 << -d(1) << -d(2) << d(1) << 0; + + C1.SubMatrix(1, 1, 1, 1) += m.t()*d; + C1.SubMatrix(1, 1, 2, 4) += -m.t()*Cd; + C1.SubMatrix(2, 4, 1, 1) += -Cm*d; + C1.SubMatrix(2, 4, 2, 4) += m*d.t() + Cm*Cd; + + C2.SubMatrix(1, 1, 2, 4) += -d.t() + m.t(); + C2.SubMatrix(2, 4, 1, 1) += d - m; + C2.SubMatrix(2, 4, 2, 4) += -Cd - Cm; + } + + /// the sums need to be multiplied by a scalar + C1 = C1 * (-2); + C2 = C2 * 2; + + /// matrix A from C1 and C2 + Matrix A = (C2.t()*C2 * 1.0/(2*pairs.size()) - C1 - C1.t()) * 0.5; + + /// the quaternion qdot is the eigenvector of matrix A corresponding to the largest eigenvalue, + /// which is always found in the first column of matrix U + Matrix U(4, 4); DiagonalMatrix D(4); + SVD(A, D, U); + ColumnVector qdot = U.Column(1); + ColumnVector q(3); q << qdot(2) << qdot(3) << qdot(4); + Matrix Cq(3, 3); Cq << 0 << -q(3) << q(2) << q(3) << 0 << -q(1) << -q(2) << q(1) << 0; + + ColumnVector s = C2*qdot * (-1.0)/(2*pairs.size()); + + Matrix Q(4, 4); + Q(1, 1) = qdot(1); + Q.SubMatrix(1, 1, 2, 4) = q.t(); + Q.SubMatrix(2, 4, 1, 1) = -q; + Q.SubMatrix(2, 4, 2, 4) = IdentityMatrix(3)*qdot(1) + Cq; + + /// get the translation from the double quaternion + ColumnVector p = Q*s; + ColumnVector translation(3); translation << p(2) << p(3) << p(4); + + /// compute the rotation matrix from the quaternion + ColumnVector qtqx = q.t()*q; + Matrix R = IdentityMatrix(3) * (qdot(1)*qdot(1) - qtqx(1)) + q*q.t()*2 + Cq*qdot(1)*2; + + /// create the final transformation matrix (OpenGL column-wise ordering) + alignfx[0] = R(1, 1); + alignfx[1] = R(2, 1); + alignfx[2] = R(3, 1); + alignfx[3] = 0.0; + alignfx[4] = R(1, 2); + alignfx[5] = R(2, 2); + alignfx[6] = R(3, 2); + alignfx[7] = 0.0; + alignfx[8] = R(1, 3); + alignfx[9] = R(2, 3); + alignfx[10]= R(3, 3); + alignfx[11]= 0.0; + alignfx[12]= translation(1); + alignfx[13]= translation(2); + alignfx[14]= translation(3); + alignfx[15]= 1.0; + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + return error; +} + diff --git a/src/slam6d/icp6Dhelix.cc b/src/slam6d/icp6Dhelix.cc new file mode 100644 index 0000000..4f12ac9 --- /dev/null +++ b/src/slam6d/icp6Dhelix.cc @@ -0,0 +1,201 @@ +/* + * icp6Dhelix implementation + * + * Copyright (C) Peter Schneider, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via helix-translation + * @author Peter Schneider. Institute of Computer Science, University of Koblenz and Landau, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#include "slam6d/icp6Dhelix.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; +#include + +/** + * computes a rotation matrix that rotates the points around an axis + * and a translation vector, that translates the points along a vector + * that is parallel to the rotation axis. Thus the result is a helical + * translation of the points that can be resolved thru a vector field + * v(x) = cs + c cross x, where cs and c can be build out of an error + * minimization function. + * + * See: + * H. Pottmann, S. Leopoldseder, and M. Hofer. Simultaneous + * registration of multiple views of a 3D object. + * ISPRS Archives 34/3A (2002), 265-270. + * + * @param Pairs Vector of point pairs (pairs of corresponding points) + * @param alignxf The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_HELIX::Point_Point_Align(const vector& Pairs, double *alignxf, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = Pairs.size(); + + int i; + double sum = 0; + double error; + Matrix matB(6,6); + ColumnVector bdVec(6), ccs(6), c(3), cs(3); + matB = 0.0; + double p2x, p2y, p2z, pDistX, pDistY, pDistZ; + + double B[6][3]; + memset(&B[0][0], 0, 18 * sizeof(double)); + double bd[6]; + memset(&bd[0], 0, 6 * sizeof(double)); + + for (i = 0; i < n; i++) { + p2x = Pairs[i].p2.x; + p2y = Pairs[i].p2.y; + p2z = Pairs[i].p2.z; + + B[4][0] += -p2z; + B[3][1] += p2z; + B[5][0] += p2y; + B[3][2] += -p2y; + B[4][2] += p2x; + B[5][1] += -p2x; + B[0][0] += p2z*p2z + p2y*p2y; + B[1][0] += p2y*-p2x; + B[2][0] += -p2z*p2x; + B[1][1] += p2z*p2z + p2x*p2x; + B[2][1] += p2z*-p2y; + B[2][2] += p2x*p2x + p2y*p2y; + + + pDistX = p2x - Pairs[i].p1.x; + pDistY = p2y - Pairs[i].p1.y; + pDistZ = p2z - Pairs[i].p1.z; + + bd[0] += -p2z*pDistY + p2y*pDistZ; + bd[1] += p2z*pDistX - p2x*pDistZ; + bd[2] += -p2y*pDistX + p2x*pDistY; + bd[3] += pDistX; + bd[4] += pDistY; + bd[5] += pDistZ; + + sum += pDistX*pDistX + pDistY*pDistY + pDistZ*pDistZ; + } + + matB(4,4) = matB(5,5) = matB(6,6) = n; + + matB(1,5) = matB(5,1) = B[4][0]; + matB(2,4) = matB(4,2) = B[3][1]; + matB(1,6) = matB(6,1) = B[5][0]; + matB(3,4) = matB(4,3) = B[3][2]; + matB(3,5) = matB(5,3) = B[4][2]; + matB(2,6) = matB(6,2) = B[5][1]; + matB(1,2) = matB(2,1) = B[1][0]; + matB(1,3) = matB(3,1) = B[2][0]; + matB(2,3) = matB(3,2) = B[2][1]; + matB(1,1) = B[0][0]; + matB(2,2) = B[1][1]; + matB(3,3) = B[2][2]; + + bdVec(1) = bd[0]; + bdVec(2) = bd[1]; + bdVec(3) = bd[2]; + bdVec(4) = bd[3]; + bdVec(5) = bd[4]; + bdVec(6) = bd[5]; + + error = sqrt( sum / (double) n ); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "HELIX RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << n << " points" << endl; + } + + ccs = matB.i() * bdVec; + + int vectorOffset = 0; + computeRt( &ccs, vectorOffset, alignxf); + + return error; +} + + +void icp6D_HELIX::computeRt(const ColumnVector* ccs, const int vectorOffset, double *alignxf) +{ + ColumnVector c(3), cs(3); + c(1) = -(*ccs)(vectorOffset + 1); + c(2) = -(*ccs)(vectorOffset + 2); + c(3) = -(*ccs)(vectorOffset + 3); + cs(1) = -(*ccs)(vectorOffset + 4); + cs(2) = -(*ccs)(vectorOffset + 5); + cs(3) = -(*ccs)(vectorOffset + 6); + + double CLength = sqrt(c.SumSquare()); + double rotationCheck = c(1)*cs(1) + c(2)*cs(2) + c(3)*cs(3); //c.t() * cs; + Matrix R (3,3); + double angle = atan(CLength); //bemerkung: hier minus gesetzt + + ColumnVector g = c / CLength; + double b0, b1, b2, b3; + double sinAngle = sin(-angle/2); + b0 = cos(-angle/2); + b1 = g(1) * sinAngle; + b2 = g(2) * sinAngle; + b3 = g(3) * sinAngle; + + R(1,1) = b0*b0 + b1*b1 - b2*b2 - b3*b3; + R(1,2) = 2*(b1*b2 + b0*b3); + R(1,3) = 2*(b1*b3 - b0*b2); + R(2,1) = 2*(b1*b2 - b0*b3); + R(2,2) = b0*b0 - b1*b1 + b2*b2 - b3*b3; + R(2,3) = 2*(b2*b3 + b0*b1); + R(3,1) = 2*(b1*b3 + b0*b2); + R(3,2) = 2*(b2*b3 - b0*b1); + R(3,3) = b0*b0 - b1*b1 - b2*b2 + b3*b3; + R = R / (b0*b0 + b1*b1 + b2*b2 + b3*b3); + + double skewValue = rotationCheck / (CLength*CLength); + ColumnVector gs = (cs - (c * skewValue)) / CLength; + ColumnVector pTemp(3); + pTemp(1) = g(2)*gs(3) - g(3)*gs(2); + pTemp(2) = g(3)*gs(1) - g(1)*gs(3); + pTemp(3) = g(1)*gs(2) - g(2)*gs(1); + ColumnVector t = R * -pTemp + g*(skewValue * angle) + pTemp; + + alignxf[0] = R(1,1); + alignxf[1] = R(2,1); + alignxf[2] = R(3,1); + alignxf[3] = 0; + alignxf[4] = R(1,2); + alignxf[5] = R(2,2); + alignxf[6] = R(3,2); + alignxf[7] = 0; + alignxf[8] = R(1,3); + alignxf[9] = R(2,3); + alignxf[10] = R(3,3); + alignxf[11] = 0; + alignxf[12] = t(1); + alignxf[13] = t(2); + alignxf[14] = t(3); + alignxf[15] = 1; +} + + diff --git a/src/slam6d/icp6Dlumeuler.cc b/src/slam6d/icp6Dlumeuler.cc new file mode 100644 index 0000000..a915c99 --- /dev/null +++ b/src/slam6d/icp6Dlumeuler.cc @@ -0,0 +1,214 @@ +/* + * icp6Dlumeuler implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via + * linearization using euler angles + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dlumeuler.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" + +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using linearization with euler angles + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_LUMEULER::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + // alignxf is filled with the current pose, rPos is the translation, rPosTheta are the 3 euler angles theta_x, theta_y, theta_z + double rPos[3], rPosTheta[3]; + Matrix4ToEuler(alignfx, rPosTheta, rPos); + + double error = 0; + double sum = 0.0; + + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "LUMEULER RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + double x = 0.0, y = 0.0, z = 0.0, dx = 0.0, dy = 0.0, dz = 0.0, sx = 0.0, sy = 0.0, sz = 0.0, xpy = 0.0, xpz = 0.0, ypz = 0.0, xy = 0.0, yz = 0.0, xz = 0.0; + + /// MZ = M^T * Z + ColumnVector MZ(6); MZ = 0.0; + /// MM = M^T * M + SymmetricMatrix MM(6); MM = 0.0; + for(unsigned int i = 0; i < pairs.size(); ++i) { + /// temporary values that we shall use multiple times in the subsequent computations + x = (pairs[i].p1.x + pairs[i].p2.x) / 2.0; + y = (pairs[i].p1.y + pairs[i].p2.y) / 2.0; + z = (pairs[i].p1.z + pairs[i].p2.z) / 2.0; + dx = pairs[i].p1.x - pairs[i].p2.x; + dy = pairs[i].p1.y - pairs[i].p2.y; + dz = pairs[i].p1.z - pairs[i].p2.z; + + /// sums of each coordinate + sx += x; + sy += y; + sz += z; + + /// sums of squares of pairs of coordinates + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + + /// sums of products of pairs of coordinates + xy += x*y; + xz += x*z; + yz += y*z; + + /// incrementally construct M^T * Z + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += -z*dy + y*dz; + MZ(5) += -y*dx + x*dy; + MZ(6) += z*dx - x*dz; + } + + /// construct M^T * M + MM(1,1) = MM(2,2) = MM(3,3) = pairs.size(); + MM(4,4) = ypz; + MM(5,5) = xpy; + MM(6,6) = xpz; + MM(1,5) = MM(5,1) = -sy; + MM(1,6) = MM(6,1) = sz; + MM(2,4) = MM(4,2) = -sz; + MM(2,5) = MM(5,2) = sx; + MM(3,4) = MM(4,3) = sy; + MM(3,6) = MM(6,3) = -sx; + MM(4,5) = MM(5,4) = -xz; + MM(4,6) = MM(6,4) = -xy; + MM(5,6) = MM(6,5) = -yz; + + ColumnVector Ehat(6); + Ehat = MM.i() * MZ; + + double cosx = cos(rPosTheta[0]), cosy = cos(rPosTheta[1]), cosz = cos(rPosTheta[2]); + double sinx = sin(rPosTheta[0]), siny = sin(rPosTheta[1]), sinz = sin(rPosTheta[2]); + double tx = rPos[0], ty = rPos[1], tz = rPos[2]; + /// create transform matrix of the first scan + Matrix T1(4, 4); T1 = IdentityMatrix(4); + T1(1, 4) = tx; + T1(2, 4) = ty; + T1(3, 4) = tz; + T1(1, 1) = cosy*cosz; + T1(1, 2) = -cosy*sinz; + T1(1, 3) = siny; + T1(2, 1) = cosz*sinx*siny + cosx*sinz; + T1(2, 2) = cosx*cosz-sinx*siny*sinz; + T1(2, 3) = -cosy*sinx; + T1(3, 1) = sinx*sinz - cosx*cosz*siny; + T1(3, 2) = cosz*sinx + cosx*siny*sinz; + T1(3, 3) = cosx*cosy; + + /// create matrix H + Matrix H(6, 6); H = IdentityMatrix(6); + H(1, 5) = -tz*cosx + ty*sinx; + H(1, 6) = ty*cosx*cosy + tz*cosy*sinx; + H(2, 4) = tz; + H(2, 5) = -tx*sinx; + H(2, 6) = -tx*cosx*cosy + tz*siny; + H(3, 4) = -ty; + H(3, 5) = tx*cosx; + H(3, 6) = -tx*cosy*sinx - ty*siny; + H(4, 6) = siny; + H(5, 5) = sinx; + H(5, 6) = cosx*cosy; + H(6, 5) = cosx; + H(6, 6) = -cosy*sinx; + + /// the vector Xhat is the pose estimation of the second scan = the final pose of the first scan + ColumnVector Xhat(6); Xhat << rPos[0] << rPos[1] << rPos[2] << rPosTheta[0] << rPosTheta[1] << rPosTheta[2]; + ColumnVector X = Xhat - H.i()*Ehat; + + cosx = cos(X(4)), cosy = cos(X(5)), cosz = cos(X(6)); + sinx = sin(X(4)), siny = sin(X(5)), sinz = sin(X(6)); + /// transform of the second scan as computed so far + Matrix T2(4, 4); T2 = IdentityMatrix(4); + T2(1, 4) = X(1); + T2(2, 4) = X(2); + T2(3, 4) = X(3); + T2(1, 1) = cosy*cosz; + T2(1, 2) = -cosy*sinz; + T2(1, 3) = siny; + T2(2, 1) = cosz*sinx*siny + cosx*sinz; + T2(2, 2) = cosx*cosz-sinx*siny*sinz; + T2(2, 3) = -cosy*sinx; + T2(3, 1) = sinx*sinz - cosx*cosz*siny; + T2(3, 2) = cosz*sinx + cosx*siny*sinz; + T2(3, 3) = cosx*cosy; + + /// the incremental transform calculated from the absolute poses of the two scans + Matrix T_inc = T1 * T2.i(); + + /// convert our 4x4 transform to column-wise opengl form + alignfx[0] = T_inc(1, 1); + alignfx[1] = T_inc(2, 1); + alignfx[2] = T_inc(3, 1); + alignfx[3] = 0.0; + alignfx[4] = T_inc(1, 2); + alignfx[5] = T_inc(2, 2); + alignfx[6] = T_inc(3, 2); + alignfx[7] = 0.0; + alignfx[8] = T_inc(1, 3); + alignfx[9] = T_inc(2, 3); + alignfx[10]= T_inc(3, 3); + alignfx[11]= 0.0; + alignfx[12]= T_inc(1, 4); + alignfx[13]= T_inc(2, 4); + alignfx[14]= T_inc(3, 4); + alignfx[15]= 1.0; + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + + return error; +} + diff --git a/src/slam6d/icp6Dlumquat.cc b/src/slam6d/icp6Dlumquat.cc new file mode 100644 index 0000000..eadb052 --- /dev/null +++ b/src/slam6d/icp6Dlumquat.cc @@ -0,0 +1,219 @@ +/* + * icp6Dlumquat implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + + +/** @file + * @brief Implementation of the ICP error function minimization via + * via linearization with quaternions + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dlumquat.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using linearization with quarernions + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_LUMQUAT::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + // alignfx is filled with the current pose, t is the translation, quat is the quaternion + double t[3], quat[4]; + Matrix4ToQuat(alignfx, quat, t); + + + double error = 0; + double sum = 0.0; + for(unsigned int i = 0; i < pairs.size(); i++){ + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "LUMQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + /// MZ = M^T * Z + ColumnVector MZ(7); MZ = 0.0; + /// MM = M^T * M + Matrix MM(7, 7); MM = 0.0; + double x = 0.0, y = 0.0, z = 0.0, dx = 0.0, dy = 0.0, dz = 0.0, sx = 0.0, sy = 0.0, sz = 0.0, xpy = 0.0, xpz = 0.0, ypz = 0.0, xpypz = 0.0, xy = 0.0, yz = 0.0, xz = 0.0; + + for(unsigned int i = 0; i < pairs.size(); ++i) { + /// temporary values that we shall use multiple times in the subsequent computations + + x = (pairs[i].p1.x + pairs[i].p1.x) / 2.0; + y = (pairs[i].p1.y + pairs[i].p2.y) / 2.0; + z = (pairs[i].p1.z + pairs[i].p2.z) / 2.0; + dx = pairs[i].p1.x - pairs[i].p2.x; + dy = pairs[i].p1.y - pairs[i].p2.y; + dz = pairs[i].p1.z - pairs[i].p2.z; + + /// sums of each coordinate + sx += x; + sy += y; + sz += z; + + /// sums of squares of coordinates + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + xpypz += x*x + y*y + z*z; + + /// sums of products of pairs of coordinates + xy += x*y; + xz += x*z; + yz += y*z; + + /// incrementally construct matrix M^T * Z + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += x*dx + y*dy + z*dz; + MZ(5) += z*dy - y*dz; + MZ(6) += x*dz - z*dx; + MZ(7) += y*dx - x*dy; + } + + /// construct M^ * M + MM(1,1) = MM(2,2) = MM(3,3) = pairs.size(); + MM(4,4) = xpypz; + MM(5,5) = ypz; + MM(6,6) = xpz; + MM(7,7) = xpy; + MM(1,4) = MM(4,1) = sx; + MM(1,6) = MM(6,1) = -sz; + MM(1,7) = MM(7,1) = sy; + MM(2,4) = MM(4,2) = sy; + MM(2,5) = MM(5,2) = sz; + MM(2,7) = MM(7,2) = -sx; + MM(3,4) = MM(4,3) = sz; + MM(3,5) = MM(5,3) = -sy; + MM(3,6) = MM(6,3) = sx; + MM(5,6) = MM(6,5) = -xy; + MM(5,7) = MM(7,5) = -xz; + MM(6,7) = MM(7,6) = -yz; + + ColumnVector Ehat = MM.i() * MZ ; + + + /// construct the auxiliary matrices U and T needed to build up H + double p = quat[0], q = quat[1], r = quat[2], s = quat[3]; + x = t[0], y = t[1], z = t[2]; + Matrix U(4, 4); + U << p << q << r << s + << q <<-p << s <<-r + << r <<-s <<-p << q + << s << r <<-q <<-p; + + Matrix T(3, 4); + T << p*x + s*y - r*z << q*x + r*y + s*z << r*x - q*y + p*z << s*x - p*y - q*z + <<-s*x + p*y + q*z <<-r*x + q*y - p*z << q*x + r*y + s*z << p*x + s*y - r*z + << r*x - q*y + p*z <<-s*x + p*y + q*z <<-p*x - s*y + r*z << q*x + r*y - s*z; + /// now actually compose matrix H + Matrix H(7, 7); H = 0.0; + H.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3); + H.SubMatrix(1, 3, 4, 7) = T *(-2); + H.SubMatrix(4, 7, 4, 7) = U * 2; + + + /// Xhat is the pose estimate for the second scan - use the pose of the first scan + ColumnVector Xhat(7); Xhat << x << y << z << p << q << r << s; + + /// create a transformation matrix for the first scan with the given values + Matrix T1(4, 4); T1 = 0.0; + Matrix Cq(3, 3); + ColumnVector qvec(3); qvec << q << r << s; + Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0; + ColumnVector qtq(1); qtq = qvec.t() *qvec * (-1); + T1.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p; + T1(1, 4) = x; + T1(2, 4) = y; + T1(3, 4) = z; + T1(4, 4) = 1; + + + /// the translation and quaternion for the second scan are computed + ColumnVector X = Xhat - H.i() * Ehat; + + + /// create the transformation matrix for the second scan + x = X(1), y = X(2), z = X(3); + p = X(4); q = X(5); r = X(6); s = X(7); + Matrix T2(4, 4); T2 = 0.0; + qvec = 0.0; qvec << q << r << s; + Cq = 0.0; Cq << 0 << -qvec(3) << qvec(2) << qvec(3) << 0 << -qvec(1) << -qvec(2) << qvec(1) << 0; + qtq = qvec.t() *qvec * (-1); + T2.SubMatrix(1, 3, 1, 3) = IdentityMatrix(3) * (p*p + qtq(1)) + qvec*qvec.t()*2 + Cq *2*p; + T2(1, 4) = x; + T2(2, 4) = y; + T2(3, 4) = z; + T2(4, 4) = 1; + + /// the incremental transform calculated from the absolute poses of the two scans + Matrix T_inc = T1 * T2.i(); + + /// convert our 4x4 transform to column-wise opengl form + alignfx[0] = T_inc(1, 1); + alignfx[1] = T_inc(2, 1); + alignfx[2] = T_inc(3, 1); + alignfx[3] = 0.0; + alignfx[4] = T_inc(1, 2); + alignfx[5] = T_inc(2, 2); + alignfx[6] = T_inc(3, 2); + alignfx[7] = 0.0; + alignfx[8] = T_inc(1, 3); + alignfx[9] = T_inc(2, 3); + alignfx[10]= T_inc(3, 3); + alignfx[11]= 0.0; + alignfx[12]= T_inc(1, 4); + alignfx[13]= T_inc(2, 4); + alignfx[14]= T_inc(3, 4); + alignfx[15]= 1.0; + + ///////////////////////////////////////////////////////// + ///////////////////////////////////////////////////////// + + + + return error; +} + diff --git a/src/slam6d/icp6Dortho.cc b/src/slam6d/icp6Dortho.cc new file mode 100644 index 0000000..9b30dfd --- /dev/null +++ b/src/slam6d/icp6Dortho.cc @@ -0,0 +1,159 @@ +/* + * icp6Dortho implementation + * + * Copyright (C) Andreas Nuechter, Alexandru-Eugen Ichim + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via + * orthonormal matrices + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Alexandru-Eugen Ichim. Jacobs University Bremen gGmbH, Germany + * + */ + +#include "slam6d/icp6Dortho.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using orthonormal matrices + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) + */ +double icp6D_ORTHO::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + /// Get centered PtPairs + double** m = new double*[pairs.size()]; + double** d = new double*[pairs.size()]; + + for(unsigned int i = 0; i < pairs.size(); i++){ + m[i] = new double[3]; + d[i] = new double[3]; + m[i][0] = pairs[i].p1.x - centroid_m[0]; + m[i][1] = pairs[i].p1.y - centroid_m[1]; + m[i][2] = pairs[i].p1.z - centroid_m[2]; + d[i][0] = pairs[i].p2.x - centroid_d[0]; + d[i][1] = pairs[i].p2.y - centroid_d[1]; + d[i][2] = pairs[i].p2.z - centroid_d[2]; + + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "ORTHO RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + /// generate matrix H + Matrix H (3, 3); H = 0.0; + for(unsigned int n = 0; n < pairs.size(); ++n) + for(int i = 0; i < 3; ++i) + for(int j = 0; j < 3; ++j) + H(i+1, j+1) += m[n][i] * d[n][j]; + Matrix HH = H.t() * H; + + /// create a new matrix HHs equal to HH, but is of type SymmetricMatrix - needed for calculating the eigenvalues + SymmetricMatrix HHs(3); + HHs(1, 2) = HH(2, 1); + HHs(1, 3) = HH(3, 1); + HHs(2, 3) = HH(3, 2); + HHs(1, 1) = HH(1, 1); + HHs(2, 2) = HH(2, 2); + HHs(3, 3) = HH(3, 3); + + /// get the eigenvalues of HH + DiagonalMatrix eigenvalues(3); + Matrix eigenvectorsMatrix(3, 3); + EigenValues(HHs, eigenvalues, eigenvectorsMatrix); + + /// extract the eigenvectors from the matrix to separate column vectors + ColumnVector ev1 = eigenvectorsMatrix.Column(1); + ColumnVector ev2 = eigenvectorsMatrix.Column(2); + ColumnVector ev3 = eigenvectorsMatrix.Column(3); + + + /// compute the rotation matrix as H * ( SUM ( 1/lambda_i * ev_i * ev_i^T )) + Matrix R(3, 3); + Matrix ev11 = ev1 * ev1.t() * 1/sqrt( eigenvalues(1)); + Matrix ev22 = ev2 * ev2.t() * 1/sqrt( eigenvalues(2)); + Matrix ev33 = ev3 * ev3.t() * 1/sqrt( eigenvalues(3)); + R = H * (ev11 + ev22 + ev33); + + /// calculate the translation based on the rotation matrix and the centroids + ColumnVector cm(3); cm << centroid_m; + ColumnVector cd(3); cd << centroid_d; + ColumnVector translation = cm - R * cd; + + + /// create the final transformation matrix (OpenGL column-wise ordering) + alignfx[0] = R(1, 1); + alignfx[1] = R(2, 1); + alignfx[2] = R(3, 1); + alignfx[3] = 0.0; + alignfx[4] = R(1, 2); + alignfx[5] = R(2, 2); + alignfx[6] = R(3, 2); + alignfx[7] = 0.0; + alignfx[8] = R(1, 3); + alignfx[9] = R(2, 3); + alignfx[10]= R(3, 3); + alignfx[11]= 0.0; + alignfx[12]= translation(1); + alignfx[13]= translation(2); + alignfx[14]= translation(3); + alignfx[15]= 1.0; + + +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + + + /// clean up memory used by centered point pairs + for(unsigned int i = 0; i < pairs.size(); i++){ + delete [] m[i]; + delete [] d[i]; + } + delete [] m; + delete [] d; + + return error; +} + + diff --git a/src/slam6d/icp6Dquat.cc b/src/slam6d/icp6Dquat.cc new file mode 100644 index 0000000..f5a66b7 --- /dev/null +++ b/src/slam6d/icp6Dquat.cc @@ -0,0 +1,636 @@ +/* + * icp6Dquat implementation + * + * Copyright (C) Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via quaternions + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/icp6Dquat.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; +#include +#include +#include +using std::cout; +using std::cerr; +using std::endl; + +#ifdef _MSC_VER +#define cbrt(x) pow(x,1/3) +#endif + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the Quaternion method of Horn + * PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_QUAT::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = pairs.size(); + + double sum = 0.0; + + // the quaternion + double q[7]; + + double S[3][3]; + double Q[4][4]; + int i,j; + + // calculate the cross covariance matrix + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + S[i][j] = 0; + for (i=0; i 0.0)&&(y > 0.0)&&(c > 0.0)) + || ((a > 0.0)&&(y < 0.0)&&(c < 0.0)) + || ((a < 0.0)&&(y > 0.0)&&(c < 0.0)) + || ((a < 0.0)&&(y < 0.0)&&(c > 0.0)) + || (a == 0.0)||(y == 0.0)||(c == 0.0) + ) { + /* use ef - */ + if ((b < 0.0)&&(y < 0.0)&&(esq > 0.0)) { + e = sqrt(esq); + f = ef/e; + } else if ((d < 0.0) && (fsq > 0.0)) { + f = sqrt(fsq); + e = ef/f; + } else { + e = sqrt(esq); + f = sqrt(fsq); + if (ef < 0.0) f = -f; + } + } else { + e = sqrt(esq); + f = sqrt(fsq); + if (ef < 0.0) f = -f; + } + /* note that e >= 0.0 */ + ainv2 = a*.5; + g = ainv2 - e; + gg = ainv2 + e; + if ( ((b > 0.0)&&(y > 0.0)) + || ((b < 0.0)&&(y < 0.0)) ) { + if (( a > 0.0) && (e != 0.0)) g = (b + y)/gg; + else if (e != 0.0) gg = (b + y)/g; + } + if ((y == 0.0)&&(f == 0.0)) { + h = 0.0; + hh = 0.0; + } else if ( ((f > 0.0)&&(y < 0.0)) + || ((f < 0.0)&&(y > 0.0)) ) { + hh = -.5*y + f; + h = d/hh; + } else { + h = -.5*y - f; + hh = d/h; + } + n1 = qudrtc(gg,hh,v1); + n2 = qudrtc(g,h,v2); + nquar = n1+n2; + rts[0] = v1[0]; + rts[1] = v1[1]; + rts[n1+0] = v2[0]; + rts[n1+1] = v2[1]; + return nquar; + } + } +} /* ferrari */ + +int icp6D_QUAT::qudrtc(double b, double c, double rts[4]) +/* + solve the quadratic equation - + + x**2+b*x+c = 0 + +*/ +{ + int nquad; + double rtdis; + double dis = b*b-4.0*c; + + if (dis >= 0.0) { + nquad = 2; + rtdis = sqrt(dis); + if (b > 0.0) rts[0] = ( -b - rtdis)*.5; + else rts[0] = ( -b + rtdis)*.5; + if (rts[0] == 0.0) rts[1] = -b; + else rts[1] = c/rts[0]; + } else { + nquad = 0; + rts[0] = 0.0; + rts[1] = 0.0; + } + return nquad; +} /* qudrtc */ +/**************************************************/ + +double icp6D_QUAT::cubic(double p, double q, double r) +/* + find the lowest real root of the cubic - + x**3 + p*x**2 + q*x + r = 0 + + input parameters - + p,q,r - coeffs of cubic equation. + + output- + cubic - a real root. + + method - + see D.E. Littlewood, "A University Algebra" pp.173 - 6 + + Charles Prineas April 1981 + +*/ +{ + //int nrts; + double po3,po3sq,qo3; + double uo3,u2o3,uo3sq4,uo3cu4; + double v,vsq,wsq; + double m,mcube=0.0,n; + double muo3,s,scube,t,cosk,sinsqk; + double root; + + double doubmax = sqrt(DBL_MAX); + + m = 0.0; + //nrts =0; + if ((p > doubmax) || (p < -doubmax)) { + root = -p; + } else if ((q > doubmax) || (q < -doubmax)) { + if (q > 0.0) root = -r/q; + else root = -sqrt(-q); + } else if ((r > doubmax)|| (r < -doubmax)) { + root = -cbrt(r); + } else { + po3 = p/3.0; + po3sq = po3*po3; + if (po3sq > doubmax) root = -p; + else { + v = r + po3*(po3sq + po3sq - q); + if ((v > doubmax) || (v < -doubmax)) + root = -p; + else { + vsq = v*v; + qo3 = q/3.0; + uo3 = qo3 - po3sq; + u2o3 = uo3 + uo3; + if ((u2o3 > doubmax) || (u2o3 < -doubmax)) { + if (p == 0.0) { + if (q > 0.0) root = -r/q; + else root = -sqrt(-q); + } else root = -q/p; + } + uo3sq4 = u2o3*u2o3; + if (uo3sq4 > doubmax) { + if (p == 0.0) { + if (q > 0.0) root = -r/q; + else root = -sqrt(fabs(q)); + } else root = -q/p; + } + uo3cu4 = uo3sq4*uo3; + wsq = uo3cu4 + vsq; + if (wsq >= 0.0) { + // + // cubic has one real root + // + //nrts = 1; + if (v <= 0.0) mcube = ( -v + sqrt(wsq))*.5; + if (v > 0.0) mcube = ( -v - sqrt(wsq))*.5; + m = cbrt(mcube); + if (m != 0.0) n = -uo3/m; + else n = 0.0; + root = m + n - po3; + } else { + //nrts = 3; + // + // cubic has three real roots + // + if (uo3 < 0.0) { + muo3 = -uo3; + s = sqrt(muo3); + scube = s*muo3; + t = -v/(scube+scube); + cosk = cos(acos(t)/3.0); + if (po3 < 0.0) + root = (s+s)*cosk - po3; + else { + sinsqk = 1.0 - cosk*cosk; + if (sinsqk < 0.0) sinsqk = 0.0; + root = s*( -cosk - sqrt(3*sinsqk)) - po3; + } + } else + // + // cubic has multiple root - + // + root = cbrt(v) - po3; + } + } + } + } + return root; +} /* cubic */ +/***************************************/ + + +// calculate the maximum eigenvector of a symmetric +// 4x4 matrix +// from B. Horn 1987 Closed-form solution of absolute +// orientation using unit quaternions (J.Opt.Soc.Am.A) +void icp6D_QUAT::maxEigenVector(double Q[4][4], double ev[4]) +{ + double N[4][4]; + double rts[4]; + double c[4]; + // find the coeffs for the characteristic eqn. + characteristicPol(Q, c); + // find roots + ferrari(c[0], c[1], c[2], c[3], rts); + // find maximum root = maximum eigenvalue + double l = rts[0]; + if (rts[1] > l) l = rts[1]; + if (rts[2] > l) l = rts[2]; + if (rts[3] > l) l = rts[3]; + + // create the Q - l*I matrix + N[0][0]=Q[0][0]-l;N[0][1]=Q[0][1] ;N[0][2]=Q[0][2]; N[0][3]=Q[0][3]; + N[1][0]=Q[1][0]; N[1][1]=Q[1][1]-l;N[1][2]=Q[1][2]; N[1][3]=Q[1][3]; + N[2][0]=Q[2][0]; N[2][1]=Q[2][1] ;N[2][2]=Q[2][2]-l;N[2][3]=Q[2][3]; + N[3][0]=Q[3][0]; N[3][1]=Q[3][1] ;N[3][2]=Q[3][2];N[3][3]=Q[3][3]-l; + // the columns of the inverted matrix should be multiples of + // the eigenvector, pick the largest + int ipiv[4]; + double best[4], curr[4]; + if (LU_factor(N, ipiv)) { + cerr << "maxEigenVector():" << endl; + cerr << "LU_factor failed!" << endl; + cerr << "return identity quaternion" << endl; + ev[0] = 1.0; + ev[1] = ev[2] = ev[3] = 0.0; + return; + } + best[1] = best[2] = best[3] = 0; best[0] = 1; + LU_solve(N, ipiv, best); + double len = + best[0]*best[0] + best[1]*best[1] + + best[2]*best[2] + best[3]*best[3]; + for (int i=1; i<4; i++) { + curr[0] = curr[1] = curr[2] = curr[3] = 0; curr[i] = 1; + LU_solve(N, ipiv, curr); + double tlen = + curr[0]*curr[0] + curr[1]*curr[1] + + curr[2]*curr[2] + curr[3]*curr[3]; + if (tlen > len) { + len = tlen; + best[0] = curr[0]; + best[1] = curr[1]; + best[2] = curr[2]; + best[3] = curr[3]; + } + } + // normalize the result + len = 1.0/sqrt(len); + ev[0] = best[0]*len; + ev[1] = best[1]*len; + ev[2] = best[2]*len; + ev[3] = best[3]*len; +} + +// find the coefficients of the characteristic eqn. +// l^4 + a l^3 + b l^2 + c l + d = 0 +// for a symmetric 4x4 matrix +void icp6D_QUAT::characteristicPol(double Q[4][4], double c[4]) +{ + // squares + double q01_2 = Q[0][1] * Q[0][1]; + double q02_2 = Q[0][2] * Q[0][2]; + double q03_2 = Q[0][3] * Q[0][3]; + double q12_2 = Q[1][2] * Q[1][2]; + double q13_2 = Q[1][3] * Q[1][3]; + double q23_2 = Q[2][3] * Q[2][3]; + + // other factors + double q0011 = Q[0][0] * Q[1][1]; + double q0022 = Q[0][0] * Q[2][2]; + double q0033 = Q[0][0] * Q[3][3]; + double q0102 = Q[0][1] * Q[0][2]; + double q0103 = Q[0][1] * Q[0][3]; + double q0223 = Q[0][2] * Q[2][3]; + double q1122 = Q[1][1] * Q[2][2]; + double q1133 = Q[1][1] * Q[3][3]; + double q1223 = Q[1][2] * Q[2][3]; + double q2233 = Q[2][2] * Q[3][3]; + + // a + c[0] = -Q[0][0] - Q[1][1] - Q[2][2] - Q[3][3]; + + // b + c[1] = - q01_2 - q02_2 - q03_2 + q0011 - q12_2 - + q13_2 + q0022 + q1122 - q23_2 + q0033 + q1133 + + q2233; + + // c + c[2] = (q02_2 + q03_2 + q23_2)*Q[1][1] - 2*q0102*Q[1][2] + + (q12_2 + q13_2 + q23_2)*Q[0][0] + + (q01_2 + q03_2 - q0011 + q13_2 - q1133)*Q[2][2] - + 2*Q[0][3]*q0223 - 2*(q0103 + q1223)*Q[1][3] + + (q01_2 + q02_2 - q0011 + q12_2 - q0022)*Q[3][3]; + + // d + c[3] = 2*(-Q[0][2]*Q[0][3]*Q[1][2] + q0103*Q[2][2] - + Q[0][1]*q0223 + Q[0][0]*q1223)*Q[1][3] + + q02_2*q13_2 - q03_2*q1122 - q13_2*q0022 + + 2*Q[0][3]*Q[1][1]*q0223 - 2*q0103*q1223 + q01_2*q23_2 - + q0011*q23_2 - q02_2*q1133 + q03_2*q12_2 + + 2*q0102*Q[1][2]*Q[3][3] - q12_2*q0033 - q01_2*q2233 + + q0011*q2233; +} + +double icp6D_QUAT::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], + double *alignfx) +{ + double s = 0.0; + double ret; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // formula (4) + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + } + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + ret = sqrt(s / (double)pairs_size); + if (!quiet) { + cout.setf(ios::basefield); + cout << "PQUAT RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << ret + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + double S[3][3]; + double Q[4][4]; + int i,j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + S[i][j] = 0; + + // calculate the cross covariance matrix + // formula (5) + for (int i = 0; i < openmp_num_threads; i++) { + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + S[j][k] += Si[i][k*3+j] + n[i] * ((centroid_d[i][j] - cd[j]) * (centroid_m[i][k] - cm[k])) ; + } + } + } + + S[0][0] -= cd[0] * cm[0]; + S[0][1] -= cd[0] * cm[1]; + S[0][2] -= cd[0] * cm[2]; + S[1][0] -= cd[1] * cm[0]; + S[1][1] -= cd[1] * cm[1]; + S[1][2] -= cd[1] * cm[2]; + S[2][0] -= cd[2] * cm[0]; + S[2][1] -= cd[2] * cm[1]; + S[2][2] -= cd[2] * cm[2]; + + // calculate the 4x4 symmetric matrix Q + double trace = S[0][0] + S[1][1] + S[2][2]; + double A23 = S[1][2] - S[2][1]; + double A31 = S[2][0] - S[0][2]; + double A12 = S[0][1] - S[1][0]; + + Q[0][0] = trace; + Q[0][1] = Q[1][0] = A23; + Q[0][2] = Q[2][0] = A31; + Q[0][3] = Q[3][0] = A12; + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + Q[i+1][j+1] = S[i][j]+S[j][i]-(i==j ? trace : 0); + + // the quaternion + double q[7]; + + maxEigenVector(Q, q); + + // calculate the rotation matrix + double m[3][3]; // rot matrix + quaternion2matrix(q, m); + + M4identity(alignfx); + + alignfx[0] = m[0][0]; + alignfx[1] = m[1][0]; + alignfx[2] = m[2][0]; + alignfx[3] = 0.0; + alignfx[4] = m[0][1]; + alignfx[5] = m[1][1]; + alignfx[6] = m[2][1]; + alignfx[7] = 0.0; + alignfx[8] = m[0][2]; + alignfx[9] = m[1][2]; + alignfx[10] = m[2][2]; + alignfx[11] = 0.0; + + // calculate the translation vector, + alignfx[12] = cm[0] - m[0][0]*cd[0] - m[0][1]*cd[1] - m[0][2]*cd[2]; + alignfx[13] = cm[1] - m[1][0]*cd[0] - m[1][1]*cd[1] - m[1][2]*cd[2]; + alignfx[14] = cm[2] - m[2][0]*cd[0] - m[2][1]*cd[1] - m[2][2]*cd[2]; + + return ret; +} diff --git a/src/slam6d/icp6Dquatscale.cc b/src/slam6d/icp6Dquatscale.cc new file mode 100644 index 0000000..206f466 --- /dev/null +++ b/src/slam6d/icp6Dquatscale.cc @@ -0,0 +1,156 @@ +/* + * icp6Dquatscale implementation + * + * Copyright (C) Flavia Grosan, Alex Tandrau, Dorit Borrmann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief Implementation of the ICP error function minimization via quaternions and scale factor + * @author Flavia Grosan, Alex Tandrau. Jacobs University Bremen gGmbH, Germany. + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany. + * @author Dorit borrmann. Jacobs University Bremen gGmbH, Germany. + */ +#include "slam6d/icp6Dquatscale.h" + +#include "slam6d/globals.icc" +#include +using std::ios; +using std::resetiosflags; +using std::setiosflags; +#include +#include +#include +using std::cout; +using std::cerr; +using std::endl; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the Quaternion method of Horn + * PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_QUAT_SCALE::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + int n = pairs.size(); + + double sum = 0.0; + double sums[2]; sums[0] = sums[1] = 0.0; + + // the quaternion + double q[7]; + + double S[3][3]; // Cross Covariance Matrix + double Q[4][4]; + int i,j; + + // calculate the cross covariance matrix + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + S[i][j] = 0; + for (i=0; i +using std::ios; +using std::resetiosflags; +using std::setiosflags; + +#include "newmat/newmat.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the SVD PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_SVD::Point_Point_Align(const vector& pairs, double *alignfx, + const double centroid_m[3], const double centroid_d[3]) +{ + double error = 0; + double sum = 0.0; + + // Get centered PtPairs + double** m = new double*[pairs.size()]; + double** d = new double*[pairs.size()]; + + for(unsigned int i = 0; i < pairs.size(); i++){ + m[i] = new double[3]; + d[i] = new double[3]; + m[i][0] = pairs[i].p1.x - centroid_m[0]; + m[i][1] = pairs[i].p1.y - centroid_m[1]; + m[i][2] = pairs[i].p1.z - centroid_m[2]; + d[i][0] = pairs[i].p2.x - centroid_d[0]; + d[i][1] = pairs[i].p2.y - centroid_d[1]; + d[i][2] = pairs[i].p2.z - centroid_d[2]; + + sum += sqr(pairs[i].p1.x - pairs[i].p2.x) + + sqr(pairs[i].p1.y - pairs[i].p2.y) + + sqr(pairs[i].p1.z - pairs[i].p2.z) ; + + } + + error = sqrt(sum / (double)pairs.size()); + + if (!quiet) { + cout.setf(ios::basefield); + cout << "SVD RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << error + << " using " << std::setw(6) << (int)pairs.size() << " points" << endl; + } + + // Fill H matrix + Matrix H(3,3), R(3,3); + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) = 0.0; + } + } + + for(unsigned int i = 0; i < pairs.size(); i++){ + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) += d[i][j]*m[i][k]; + } + } + } + + Matrix U(3,3); + DiagonalMatrix Lamda(3); + Matrix V(3,3); + // Make SVD + SVD(H, Lamda, U, V); + + // Get rotation + R = V*(U.t()); + + // Calculate translation + double translation[3]; + ColumnVector col_vec(3); + for(int j = 0; j < 3; j++) + col_vec(j+1) = centroid_d[j]; + ColumnVector r_time_colVec = ColumnVector(R*col_vec); + translation[0] = centroid_m[0] - r_time_colVec(1); + translation[1] = centroid_m[1] - r_time_colVec(2); + translation[2] = centroid_m[2] - r_time_colVec(3); + + + // Fill result + alignfx[0] = R(1,1); + alignfx[1] = R(2,1); + alignfx[2] = 0; + alignfx[2] = R(3,1); + alignfx[3] = 0; + alignfx[4] = R(1,2); + alignfx[5] = R(2,2); + alignfx[6] = R(3,2); + alignfx[7] = 0; + alignfx[8] = R(1,3); + alignfx[9] = R(2,3); + alignfx[10] = R(3,3); + alignfx[11] = 0; + alignfx[12] = translation[0]; + alignfx[13] = translation[1]; + alignfx[14] = translation[2]; + + alignfx[15] = 1; + + + for(unsigned int i = 0; i < pairs.size(); i++){ + delete [] m[i]; + delete [] d[i]; + } + delete [] m; + delete [] d; + + return error; +} + +/** + * computes the rotation matrix consisting + * of a rotation and translation that + * minimizes the root-mean-square error of the + * point pairs using the SVD PARAMETERS + * vector of point pairs, rotation matrix + * @param pairs Vector of point pairs (pairs of corresponding points) + * @param *alignfx The resulting transformation matrix + * @return Error estimation of the matching (rms) +*/ +double icp6D_SVD::Point_Point_Align_Parallel(const int openmp_num_threads, + const unsigned int n[OPENMP_NUM_THREADS], + const double sum[OPENMP_NUM_THREADS], + const double centroid_m[OPENMP_NUM_THREADS][3], + const double centroid_d[OPENMP_NUM_THREADS][3], + const double Si[OPENMP_NUM_THREADS][9], double *alignxf) +{ + double s = 0.0; + double ret; + unsigned int pairs_size = 0; + double cm[3] = {0.0, 0.0, 0.0}; // centroid m + double cd[3] = {0.0, 0.0, 0.0}; // centroid d + + // Implementation according to the paper + // "The Parallel Iterative Closest Point Algorithm" + // by Langis / Greenspan / Godin, IEEE 3DIM 2001 + // formula (4) + // + // The same information are given in (ecrm2007.pdf) + // Andreas N眉chter. Parallelization of Scan Matching + // for Robotic 3D Mapping. In Proceedings of the 3rd + // European Conference on Mobile Robots (ECMR '07), + // Freiburg, Germany, September 2007 + for (int i = 0; i < openmp_num_threads; i++) { + s += sum[i]; + pairs_size += n[i]; + cm[0] += n[i] * centroid_m[i][0]; + cm[1] += n[i] * centroid_m[i][1]; + cm[2] += n[i] * centroid_m[i][2]; + cd[0] += n[i] * centroid_d[i][0]; + cd[1] += n[i] * centroid_d[i][1]; + cd[2] += n[i] * centroid_d[i][2]; + } + cm[0] /= pairs_size; + cm[1] /= pairs_size; + cm[2] /= pairs_size; + cd[0] /= pairs_size; + cd[1] /= pairs_size; + cd[2] /= pairs_size; + + ret = sqrt(s / (double)pairs_size); + if (!quiet) { + cout.setf(ios::basefield); + cout << "PSVD RMS point-to-point error = " + << resetiosflags(ios::adjustfield) << setiosflags(ios::internal) + << resetiosflags(ios::floatfield) << setiosflags(ios::fixed) + << std::setw(10) << std::setprecision(7) + << ret + << " using " << std::setw(6) << pairs_size << " points" << endl; + } + + Matrix H(3,3), R(3,3); + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + H(j+1, k+1) = 0.0; + } + } + // formula (5) + for (int i = 0; i < openmp_num_threads; i++) { + for(int j = 0; j < 3; j++){ + for(int k = 0; k < 3; k++){ + // H(j+1, k+1) += Si[i][j*3+k] + n[i] * ((centroid_m[i][j] - cm[j]) * (centroid_d[i][k] - cd[k])) ; + H(j+1, k+1) += Si[i][k*3+j] + n[i] * ((centroid_d[i][j] - cd[j]) * (centroid_m[i][k] - cm[k])) ; + } + } + } + + Matrix U(3,3); + DiagonalMatrix Lamda(3); + Matrix V(3,3); + // Make SVD + SVD(H, Lamda, U, V); + + // Get rotation + R = V*(U.t()); + + // Calculate translation + double translation[3]; + ColumnVector col_vec(3); + for(int j = 0; j < 3; j++) { + col_vec(j+1) = cd[j]; + } + ColumnVector r_time_colVec = ColumnVector(R * col_vec); + translation[0] = cm[0] - r_time_colVec(1); + translation[1] = cm[1] - r_time_colVec(2); + translation[2] = cm[2] - r_time_colVec(3); + + // Fill result + alignxf[0] = R(1,1); + alignxf[1] = R(2,1); + alignxf[2] = 0; + alignxf[2] = R(3,1); + alignxf[3] = 0; + alignxf[4] = R(1,2); + alignxf[5] = R(2,2); + alignxf[6] = R(3,2); + alignxf[7] = 0; + alignxf[8] = R(1,3); + alignxf[9] = R(2,3); + alignxf[10] = R(3,3); + alignxf[11] = 0; + alignxf[12] = translation[0]; + alignxf[13] = translation[1]; + alignxf[14] = translation[2]; + + alignxf[15] = 1; + + return ret; + +} diff --git a/src/slam6d/io_types.cc b/src/slam6d/io_types.cc new file mode 100644 index 0000000..d2c0a35 --- /dev/null +++ b/src/slam6d/io_types.cc @@ -0,0 +1,146 @@ +/* + * io_tpyes implementation + * + * Copyright (C) Thomas Escher, Kai Lingemann, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/io_types.h" + +#include "slam6d/globals.icc" + +#ifdef _MSC_VER +//#include // TODO: TEST +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +#include +IOType formatname_to_io_type(const char * string) +{ + if (strcasecmp(string, "uos") == 0) return UOS; + else if (strcasecmp(string, "uos_map") == 0) return UOS_MAP; + else if (strcasecmp(string, "uos_frames") == 0) return UOS_FRAMES; + else if (strcasecmp(string, "uos_map_frames") == 0) return UOS_MAP_FRAMES; + else if (strcasecmp(string, "uos_rgb") == 0) return UOS_RGB; + else if (strcasecmp(string, "old") == 0) return OLD; + else if (strcasecmp(string, "rts") == 0) return RTS; + else if (strcasecmp(string, "rts_map") == 0) return RTS_MAP; + else if (strcasecmp(string, "ifp") == 0) return IFP; + else if (strcasecmp(string, "riegl_txt") == 0) return RIEGL_TXT; + else if (strcasecmp(string, "riegl_project") == 0) return RIEGL_PROJECT; + else if (strcasecmp(string, "riegl_rgb") == 0) return RIEGL_RGB; + else if (strcasecmp(string, "riegl_bin") == 0) return RIEGL_BIN; + else if (strcasecmp(string, "zahn") == 0) return ZAHN; + else if (strcasecmp(string, "ply") == 0) return PLY; + else if (strcasecmp(string, "wrl") == 0) return WRL; + else if (strcasecmp(string, "xyz") == 0) return XYZ; + else if (strcasecmp(string, "zuf") == 0) return ZUF; + else if (strcasecmp(string, "asc") == 0) return ASC; + else if (strcasecmp(string, "iais") == 0) return IAIS; + else if (strcasecmp(string, "front") == 0) return FRONT; + else if (strcasecmp(string, "x3d") == 0) return X3D; + else if (strcasecmp(string, "rxp") == 0) return RXP; + else if (strcasecmp(string, "ais") == 0) return AIS; + else if (strcasecmp(string, "oct") == 0) return OCT; + else if (strcasecmp(string, "txyzr") == 0) return TXYZR; + else if (strcasecmp(string, "xyzr") == 0) return XYZR; + else if (strcasecmp(string, "xyz_rgb") == 0) return XYZ_RGB; + else if (strcasecmp(string, "ks") == 0) return KS; + else if (strcasecmp(string, "ks_rgb") == 0) return KS_RGB; + else if (strcasecmp(string, "stl") == 0) return STL; + else if (strcasecmp(string, "leica") == 0) return LEICA; + else if (strcasecmp(string, "pcl") == 0) return PCL; + else if (strcasecmp(string, "pci") == 0) return PCI; + else if (strcasecmp(string, "cad") == 0) return UOS_CAD; + else if (strcasecmp(string, "velodyne") == 0) return VELODYNE; + else if (strcasecmp(string, "velodyne_frames") == 0) return VELODYNE_FRAMES; + else throw std::runtime_error(std::string("Io type ") + string + std::string(" is unknown")); +} + +const char * io_type_to_libname(IOType type) +{ + switch (type) { + case UOS: + return "scan_io_uos"; + case UOS_MAP: + return "scan_io_uos_map"; + case UOS_FRAMES: + return "scan_io_uos_frames"; + case UOS_MAP_FRAMES: + return "scan_io_uos_map_frames"; + case UOS_RGB: + return "scan_io_uos_rgb"; + case OLD: + return "scan_io_old"; + case RTS: + return "scan_io_rts"; + case RTS_MAP: + return "scan_io_rts_map"; + case IFP: + return "scan_io_ifp"; + case RIEGL_TXT: + return "scan_io_riegl_txt"; + case RIEGL_PROJECT: + return "scan_io_riegl_project"; + case RIEGL_RGB: + return "scan_io_riegl_rgb"; + case RIEGL_BIN: + return "scan_io_riegl_bin"; + case ZAHN: + return "scan_io_zahn"; + case PLY: + return "scan_io_ply"; + case WRL: + return "scan_io_wrl"; + case XYZ: + return "scan_io_xyz"; + case ZUF: + return "scan_io_zuf"; + case ASC: + return "scan_io_asc"; + case IAIS: + return "scan_io_iais"; + case FRONT: + return "scan_io_front"; + case X3D: + return "scan_io_x3d"; + case RXP: + return "scan_io_rxp"; + case AIS: + return "scan_io_ais"; + case OCT: + return "scan_io_oct"; + case TXYZR: + return "scan_io_txyzr"; + case XYZR: + return "scan_io_xyzr"; + case XYZ_RGB: + return "scan_io_xyz_rgb"; + case KS: + return "scan_io_ks"; + case KS_RGB: + return "scan_io_ks_rgb"; + case STL: + return "stl"; + case LEICA: + return "leica_txt"; + case PCL: + return "pcl"; + case PCI: + return "pci"; + case UOS_CAD: + return "cad"; + case VELODYNE: + return "scan_io_velodyne"; + case VELODYNE_FRAMES: + return "scan_io_velodyne_frames"; + default: + throw std::runtime_error(std::string("Io type ") + to_string(type) + std::string(" could not be matched to a library name")); + } +} diff --git a/src/slam6d/io_utils.cc b/src/slam6d/io_utils.cc new file mode 100644 index 0000000..961d081 --- /dev/null +++ b/src/slam6d/io_utils.cc @@ -0,0 +1,49 @@ +#include "slam6d/io_utils.h" + +#include +using std::ifstream; + +/** + * Parsing of a formats file in the scan directory for default type and scan + * index ranges without overwriting user set parameters. Does nothing if + * file doesn't exist. + * + * @param dir directory the scans and format file are contained in + * @param type which ScanIO to use for the scans in that directory + * @param start index for the first valid scan + * @param end index for the last valid scan + */ +void parseFormatFile(string& dir, WriteOnce& type, WriteOnce& start, WriteOnce& end) +{ + ifstream file((dir+"format").c_str()); + if(!file.good()) return; + + string line, key, value, format; + while(getline(file, line)) { + size_t pos = line.find('='); + key = trim(line.substr(0, pos - 0)); + value = trim(line.substr(pos+1)); + if(key == "format") { + try { + format = value; + type = formatname_to_io_type(format.c_str()); + } catch (...) { // runtime_error + cerr << "Error while parsing format file: Format '" << format << "' unknown." << endl; + break; + } + } else if(key == "start") { + stringstream str(value.c_str()); + int s; + str >> s; + start = s; + } else if(key == "end") { + stringstream str(value.c_str()); + int e; + str >> e; + end = e; + } else { + cerr << "Error while parsing format file: Unknown key '" << key << "'" << endl; + break; + } + } +} diff --git a/src/slam6d/kd.cc b/src/slam6d/kd.cc new file mode 100644 index 0000000..f2bf4f0 --- /dev/null +++ b/src/slam6d/kd.cc @@ -0,0 +1,196 @@ +/* + * kd implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief An optimized k-d tree implementation + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/kd.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + +// KDtree class static variables +KDParams KDtree::params[MAX_OPENMP_NUM_THREADS]; + +/** + * Constructor + * + * Create a KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +KDtree::KDtree(double **pts, int n) +{ + // Find bbox + double xmin = pts[0][0], xmax = pts[0][0]; + double ymin = pts[0][1], ymax = pts[0][1]; + double zmin = pts[0][2], zmax = pts[0][2]; + for (int i = 1; i < n; i++) { + xmin = min(xmin, pts[i][0]); + xmax = max(xmax, pts[i][0]); + ymin = min(ymin, pts[i][1]); + ymax = max(ymax, pts[i][1]); + zmin = min(zmin, pts[i][2]); + zmax = max(zmax, pts[i][2]); + } + + // Leaf nodes + if ((n > 0) && (n <= 10)) { + npts = n; + leaf.p = new double*[n]; + memcpy(leaf.p, pts, n * sizeof(double *)); + return; + } + + // Else, interior nodes + npts = 0; + + node.center[0] = 0.5 * (xmin+xmax); + node.center[1] = 0.5 * (ymin+ymax); + node.center[2] = 0.5 * (zmin+zmax); + node.dx = 0.5 * (xmax-xmin); + node.dy = 0.5 * (ymax-ymin); + node.dz = 0.5 * (zmax-zmin); + node.r2 = sqr(node.dx) + sqr(node.dy) + sqr(node.dz); + + // Find longest axis + if (node.dx > node.dy) { + if (node.dx > node.dz) { + node.splitaxis = 0; + } else { + node.splitaxis = 2; + } + } else { + if (node.dy > node.dz) { + node.splitaxis = 1; + } else { + node.splitaxis = 2; + } + } + + // Partition + double splitval = node.center[node.splitaxis]; + + if ( fabs(max(max(node.dx,node.dy),node.dz)) < 0.01 ) { + npts = n; + leaf.p = new double*[n]; + memcpy(leaf.p, pts, n * sizeof(double *)); + return; + } + + double **left = pts, **right = pts + n - 1; + while (1) { + while ((*left)[node.splitaxis] < splitval) + left++; + while ((*right)[node.splitaxis] >= splitval) + right--; + if (right < left) + break; + swap(*left, *right); + } + + // Build subtrees + int i; +#ifdef WITH_OPENMP_KD // does anybody know the reason why this is slower ?? --Andreas + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (i = 0; i < 2; i++) { + if (i == 0) node.child1 = new KDtree(pts, left-pts); + if (i == 1) node.child2 = new KDtree(left, n-(left-pts)); + } +} + +KDtree::~KDtree() +{ + if (!npts) { +#ifdef WITH_OPENMP_KD + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (int i = 0; i < 2; i++) { + if (i == 0 && node.child1) delete node.child1; + if (i == 1 && node.child2) delete node.child2; + } + } else { + if (leaf.p) delete [] leaf.p; + } +} + +/** + * Finds the closest point within the tree, + * wrt. the point given as first parameter. + * @param _p point + * @param maxdist2 maximal search distance. + * @param threadNum Thread number, for parallelization + * @return Pointer to the closest point + */ +double *KDtree::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = _p; + _FindClosest(threadNum); + return params[threadNum].closest; +} + +/** + * Wrapped function + */ +void KDtree::_FindClosest(int threadNum) const +{ + // Leaf nodes + if (npts) { + for (int i = 0; i < npts; i++) { + double myd2 = Dist2(params[threadNum].p, leaf.p[i]); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = leaf.p[i]; + } + } + return; + } + + // Quick check of whether to abort + double approx_dist_bbox = max(max(fabs(params[threadNum].p[0]-node.center[0])-node.dx, + fabs(params[threadNum].p[1]-node.center[1])-node.dy), + fabs(params[threadNum].p[2]-node.center[2])-node.dz); + if (approx_dist_bbox >= 0 && sqr(approx_dist_bbox) >= params[threadNum].closest_d2) + return; + + // Recursive case + double myd = node.center[node.splitaxis] - params[threadNum].p[node.splitaxis]; + if (myd >= 0.0) { + node.child1->_FindClosest(threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child2->_FindClosest(threadNum); + } + } else { + node.child2->_FindClosest(threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child1->_FindClosest(threadNum); + } + } +} diff --git a/src/slam6d/kdManaged.cc b/src/slam6d/kdManaged.cc new file mode 100644 index 0000000..bf25b9c --- /dev/null +++ b/src/slam6d/kdManaged.cc @@ -0,0 +1,231 @@ +/* + * kdManaged implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief An optimized k-d tree implementation + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/kdManaged.h" +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + +// KDtree class static variables +KDParams KDtreeManagedBase::params[MAX_OPENMP_NUM_THREADS]; + +/** + * Constructor + * + * Create a KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +KDtreeManagedBase::KDtreeManagedBase(const DataXYZ& pts, unsigned int* indices, unsigned int n) +{ + // Find bbox + double xmin = pts[indices[0]][0], xmax = pts[indices[0]][0]; + double ymin = pts[indices[0]][1], ymax = pts[indices[0]][1]; + double zmin = pts[indices[0]][2], zmax = pts[indices[0]][2]; + for(unsigned int i = 1; i < n; i++) { + xmin = min(xmin, pts[indices[i]][0]); + xmax = max(xmax, pts[indices[i]][0]); + ymin = min(ymin, pts[indices[i]][1]); + ymax = max(ymax, pts[indices[i]][1]); + zmin = min(zmin, pts[indices[i]][2]); + zmax = max(zmax, pts[indices[i]][2]); + } + + // Leaf nodes + if ((n > 0) && (n <= 10)) { + npts = n; + leaf.p = new unsigned int[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + // Else, interior nodes + npts = 0; + + node.center[0] = 0.5 * (xmin+xmax); + node.center[1] = 0.5 * (ymin+ymax); + node.center[2] = 0.5 * (zmin+zmax); + node.dx = 0.5 * (xmax-xmin); + node.dy = 0.5 * (ymax-ymin); + node.dz = 0.5 * (zmax-zmin); + node.r2 = sqr(node.dx) + sqr(node.dy) + sqr(node.dz); + + // Find longest axis + if (node.dx > node.dy) { + if (node.dx > node.dz) { + node.splitaxis = 0; + } else { + node.splitaxis = 2; + } + } else { + if (node.dy > node.dz) { + node.splitaxis = 1; + } else { + node.splitaxis = 2; + } + } + + // Partition + double splitval = node.center[node.splitaxis]; + + if ( fabs(max(max(node.dx,node.dy),node.dz)) < 0.01 ) { + npts = n; + leaf.p = new unsigned int[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + unsigned int* left = indices, * right = indices + n - 1; + while(true) { + while(pts[*left][node.splitaxis] < splitval) + left++; + while(pts[*right][node.splitaxis] >= splitval) + right--; + if(right < left) + break; + swap(*left, *right); + } + + // Build subtrees + int i; +#ifdef WITH_OPENMP_KD // does anybody know the reason why this is slower ?? --Andreas + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (i = 0; i < 2; i++) { + if (i == 0) node.child1 = new KDtreeManagedBase(pts, indices, left - indices); + if (i == 1) node.child2 = new KDtreeManagedBase(pts, left, n - (left - indices)); + } +} + +KDtreeManagedBase::~KDtreeManagedBase() +{ + if (!npts) { +#ifdef WITH_OPENMP_KD + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (int i = 0; i < 2; i++) { + if (i == 0 && node.child1) delete node.child1; + if (i == 1 && node.child2) delete node.child2; + } + } else { + if (leaf.p) delete [] leaf.p; + } +} + +/** + * Wrapped function + */ +void KDtreeManagedBase::_FindClosest(const DataXYZ& pts, int threadNum) const +{ + // Leaf nodes + if (npts) { + for (int i = 0; i < npts; i++) { + double myd2 = Dist2(params[threadNum].p, pts[leaf.p[i]]); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = pts[leaf.p[i]]; + } + } + return; + } + + // Quick check of whether to abort + double approx_dist_bbox = max(max(fabs(params[threadNum].p[0]-node.center[0])-node.dx, + fabs(params[threadNum].p[1]-node.center[1])-node.dy), + fabs(params[threadNum].p[2]-node.center[2])-node.dz); + if (approx_dist_bbox >= 0 && sqr(approx_dist_bbox) >= params[threadNum].closest_d2) + return; + + // Recursive case + double myd = node.center[node.splitaxis] - params[threadNum].p[node.splitaxis]; + if (myd >= 0.0) { + node.child1->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child2->_FindClosest(pts, threadNum); + } + } else { + node.child2->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child1->_FindClosest(pts, threadNum); + } + } +} + +KDtreeManaged::KDtreeManaged(Scan* scan) : + KDtreeManagedBase(scan->get("xyz reduced original"), prepareTempIndices(scan->size("xyz reduced original")), scan->size("xyz reduced original")), + m_scan(scan), m_data(0), m_count_locking(0) +{ + // allocate in prepareTempIndices, deleted here + delete[] m_temp_indices; +} + +unsigned int* KDtreeManaged::prepareTempIndices(unsigned int n) +{ + m_temp_indices = new unsigned int[n]; + for(unsigned int i = 0; i < n; ++i) + m_temp_indices[i] = i; + return m_temp_indices; +} + +double* KDtreeManaged::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = _p; + _FindClosest(*m_data, threadNum); + return params[threadNum].closest; +} + +void KDtreeManaged::lock() +{ + boost::lock_guard lock(m_mutex_locking); + ++m_count_locking; + if(m_data == 0) { + // aquire an array lock from the scan and hold it while the tree is in use + m_data = new DataXYZ(m_scan->get("xyz reduced original")); + } +} + +void KDtreeManaged::unlock() +{ + boost::lock_guard lock(m_mutex_locking); + --m_count_locking; + if(m_count_locking == 0 && m_data != 0) { + delete m_data; + m_data = 0; + } +} diff --git a/src/slam6d/kdMeta.cc b/src/slam6d/kdMeta.cc new file mode 100644 index 0000000..4e7ab9e --- /dev/null +++ b/src/slam6d/kdMeta.cc @@ -0,0 +1,280 @@ +/* + * kdMeta implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +/** @file + * @brief An optimized k-d tree implementation. MetaScan variant. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Thomas Escher. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#define _USE_MATH_DEFINES +#endif + +#include "slam6d/kdMeta.h" +#include "slam6d/globals.icc" +#include "slam6d/scan.h" + +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::swap; +#include +#include + +// KDtree class static variables +KDParams KDtreeMeta::params[MAX_OPENMP_NUM_THREADS]; + +KDtreeMeta::KDtreeMeta() +{ +} + +/** + * Create a KD tree from the points pointed to by the array pts + * + * @param pts 3D array of points + * @param n number of points + */ +void KDtreeMeta::create(const DataXYZ* const* pts, Index* indices, unsigned int n) +{ + // Find bbox + double xmin = point(pts, indices[0])[0], xmax = point(pts, indices[0])[0]; + double ymin = point(pts, indices[0])[1], ymax = point(pts, indices[0])[1]; + double zmin = point(pts, indices[0])[2], zmax = point(pts, indices[0])[2]; + for(unsigned int i = 1; i < n; i++) { + xmin = min(xmin, point(pts, indices[i])[0]); + xmax = max(xmax, point(pts, indices[i])[0]); + ymin = min(ymin, point(pts, indices[i])[1]); + ymax = max(ymax, point(pts, indices[i])[1]); + zmin = min(zmin, point(pts, indices[i])[2]); + zmax = max(zmax, point(pts, indices[i])[2]); + } + + // Leaf nodes + if ((n > 0) && (n <= 10)) { + npts = n; + leaf.p = new Index[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + // Else, interior nodes + npts = 0; + + node.center[0] = 0.5 * (xmin+xmax); + node.center[1] = 0.5 * (ymin+ymax); + node.center[2] = 0.5 * (zmin+zmax); + node.dx = 0.5 * (xmax-xmin); + node.dy = 0.5 * (ymax-ymin); + node.dz = 0.5 * (zmax-zmin); + node.r2 = sqr(node.dx) + sqr(node.dy) + sqr(node.dz); + + // Find longest axis + if (node.dx > node.dy) { + if (node.dx > node.dz) { + node.splitaxis = 0; + } else { + node.splitaxis = 2; + } + } else { + if (node.dy > node.dz) { + node.splitaxis = 1; + } else { + node.splitaxis = 2; + } + } + + // Partition + double splitval = node.center[node.splitaxis]; + + if ( fabs(max(max(node.dx,node.dy),node.dz)) < 0.01 ) { + npts = n; + leaf.p = new Index[n]; + // fill leaf index array with indices + for(unsigned int i = 0; i < n; ++i) { + leaf.p[i] = indices[i]; + } + return; + } + + Index* left = indices, * right = indices + n - 1; + while(true) { + while(point(pts, *left)[node.splitaxis] < splitval) + left++; + while(point(pts, *right)[node.splitaxis] >= splitval) + right--; + if(right < left) + break; + swap(*left, *right); + } + + // Build subtrees + int i; +#ifdef WITH_OPENMP_KD // does anybody know the reason why this is slower ?? --Andreas + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (i = 0; i < 2; i++) { + if (i == 0) { + node.child1 = new KDtreeMeta(); + node.child1->create(pts, indices, left - indices); + } + if (i == 1) { + node.child2 = new KDtreeMeta(); + node.child2->create(pts, left, n - (left - indices)); + } + } +} + +KDtreeMeta::~KDtreeMeta() +{ + if (!npts) { +#ifdef WITH_OPENMP_KD + omp_set_num_threads(OPENMP_NUM_THREADS); +#pragma omp parallel for schedule(dynamic) +#endif + for (int i = 0; i < 2; i++) { + if (i == 0 && node.child1) delete node.child1; + if (i == 1 && node.child2) delete node.child2; + } + } else { + if (leaf.p) delete [] leaf.p; + } +} + +/** + * Wrapped function + */ +void KDtreeMeta::_FindClosest(const DataXYZ* const* pts, int threadNum) const +{ + // Leaf nodes + if (npts) { + for (int i = 0; i < npts; i++) { + double myd2 = Dist2(params[threadNum].p, point(pts, leaf.p[i])); + if (myd2 < params[threadNum].closest_d2) { + params[threadNum].closest_d2 = myd2; + params[threadNum].closest = point(pts, leaf.p[i]); + } + } + return; + } + + // Quick check of whether to abort + double approx_dist_bbox = max(max(fabs(params[threadNum].p[0]-node.center[0])-node.dx, + fabs(params[threadNum].p[1]-node.center[1])-node.dy), + fabs(params[threadNum].p[2]-node.center[2])-node.dz); + if (approx_dist_bbox >= 0 && sqr(approx_dist_bbox) >= params[threadNum].closest_d2) + return; + + // Recursive case + double myd = node.center[node.splitaxis] - params[threadNum].p[node.splitaxis]; + if (myd >= 0.0) { + node.child1->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child2->_FindClosest(pts, threadNum); + } + } else { + node.child2->_FindClosest(pts, threadNum); + if (sqr(myd) < params[threadNum].closest_d2) { + node.child1->_FindClosest(pts, threadNum); + } + } +} + +KDtreeMetaManaged::KDtreeMetaManaged(const vector& scans) : + m_count_locking(0) +{ + // create scan pointer and data pointer arrays + m_size = scans.size(); + m_scans = new Scan*[m_size]; + for(unsigned int i = 0; i < m_size; ++i) + m_scans[i] = scans[i]; + m_data = new DataXYZ*[m_size]; + + lock(); + create(m_data, prepareTempIndices(scans), getPointsSize(scans)); + unlock(); + + // allocate in prepareTempIndices, deleted here + delete[] m_temp_indices; +} + +KDtreeMetaManaged::~KDtreeMetaManaged() +{ + delete[] m_scans; + delete[] m_data; +} + +KDtreeMeta::Index* KDtreeMetaManaged::prepareTempIndices(const vector& scans) +{ + unsigned int n = getPointsSize(scans); + + m_temp_indices = new Index[n]; + unsigned int s = 0, j = 0; + unsigned int scansize = scans[s]->size("xyz reduced"); + for(unsigned int i = 0; i < n; ++i) { + m_temp_indices[i].set(s, j++); + // switch to next scan + if(j >= scansize) { + ++s; + j = 0; + if(s < scans.size()) + scansize = scans[s]->size("xyz reduced"); + } + } + return m_temp_indices; +} + +unsigned int KDtreeMetaManaged::getPointsSize(const vector& scans) +{ + unsigned int n = 0; + for(vector::const_iterator it = scans.begin(); it != scans.end(); ++it) { + n += (*it)->size("xyz reduced"); + } + return n; +} + +double* KDtreeMetaManaged::FindClosest(double *_p, double maxdist2, int threadNum) const +{ + params[threadNum].closest = 0; + params[threadNum].closest_d2 = maxdist2; + params[threadNum].p = _p; + _FindClosest(m_data, threadNum); + return params[threadNum].closest; +} + +void KDtreeMetaManaged::lock() +{ + boost::lock_guard lock(m_mutex_locking); + if(m_count_locking == 0) { + // lock all the contained scans, metascan uses the transformed points + for(unsigned int i = 0; i < m_size; ++i) { + m_data[i] = new DataXYZ(m_scans[i]->get("xyz reduced")); + } + } + ++m_count_locking; +} + +void KDtreeMetaManaged::unlock() +{ + boost::lock_guard lock(m_mutex_locking); + --m_count_locking; + if(m_count_locking == 0) { + // delete each locking object + for(unsigned int i = 0; i < m_size; ++i) { + delete m_data[i]; + } + } +} diff --git a/src/slam6d/loopHOG-Man.cc b/src/slam6d/loopHOG-Man.cc new file mode 100644 index 0000000..565a09e --- /dev/null +++ b/src/slam6d/loopHOG-Man.cc @@ -0,0 +1,171 @@ +/* + * loopHOG-Man implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file HOG-Man wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/loopHOG-Man.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; +/** + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void loopHOGMan::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + ofstream outFile("hogman.graph"); + + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << "\n"; + } + + graph_traits ::edge_iterator ei = edges(g).first; + int num_arcs = num_edges(g); + int li = 0; +#ifdef _OPENMP +#pragma omp parallel for firstprivate(li, ei) private(invers, rela, rPos, rPosTheta, rPosQuat, C) +#endif + for(int i = 0; i < num_arcs; i++) { + for(;i > li; li++, ei++) ; + for(;i < li; li--, ei--) ; + int from = source(*ei, g); + int to = target(*ei, g); + + M4inv(allScans[from]->get_transMat(), invers); + MMult(invers, allScans[to]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + +#ifdef _OPENMP +#pragma omp critical +#endif + { + outFile << "EDGE3" << " " << from << " " << to << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + } + } + + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + meta_end.push_back(allScans[i]); + } + MetaScan *end = new MetaScan(meta_end, false, false); + + my_icp6D->match(start, end); + + delete start; + delete end; + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << C(1, 6) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << + C(1, 1) << " " << C(1, 2) << " " << + C(1, 1) << " " << "\n"; + outFile.close(); + + system("LD_LIBRARY_PATH=./bin/ ./bin/hogman3d -update 1 -oc -o hogman-final.graph hogman.graph"); + + ifstream inFile("hogman-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::LOOPHOGMAN, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::LOOPHOGMAN, 2); + inFile.close(); +} diff --git a/src/slam6d/loopToro.cc b/src/slam6d/loopToro.cc new file mode 100644 index 0000000..61d7151 --- /dev/null +++ b/src/slam6d/loopToro.cc @@ -0,0 +1,172 @@ +/* + * loopToro implementation + * + * Copyright (C) Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + + +/** + * @file TORO wrapper + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/loopToro.h" + +#include "slam6d/metaScan.h" +#include "slam6d/lum6Deuler.h" +#include "slam6d/globals.icc" + +#include +using std::ofstream; +using std::ifstream; + +#include +using boost::graph_traits; +using namespace NEWMAT; +/** + * @param allScans all laser scans + * @param first index of first laser scan in the loop + * @param last indes of last laser scan in the loop + * @param g graph for loop optimization + */ +void loopToro::close_loop(const vector &allScans, int first, int last, graph_t &g) +{ + int n = num_vertices(g); + Matrix C(6, 6); + double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4]; + ofstream outFile("toro.graph"); + + for(int i = 0; i < n; i++) { + QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta); + outFile << "VERTEX3" << " " << i << + " " << (allScans[i]->get_rPos()[0]/100) << + " " << (allScans[i]->get_rPos()[1]/100) << + " " << (allScans[i]->get_rPos()[2]/100) << + " " << rPosTheta[0] << + " " << rPosTheta[1] << + " " << rPosTheta[2] << "\n"; + } + + graph_traits ::edge_iterator ei = edges(g).first; + int num_arcs = num_edges(g); + int li = 0; +#ifdef _OPENMP +#pragma omp parallel for firstprivate(li, ei) private(invers, rela, rPos, rPosTheta, rPosQuat, C) +#endif + for(int i = 0; i < num_arcs; i++) { + for(;i > li; li++, ei++) ; + for(;i < li; li--, ei--) ; + int from = source(*ei, g); + int to = target(*ei, g); + + M4inv(allScans[from]->get_transMat(), invers); + MMult(invers, allScans[to]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + +#ifdef _OPENMP +#pragma omp critical +#endif + { + outFile << "EDGE3" << " " << from << " " << to << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " "; + for(int i = 1; i < 7; i++) + for(int j = i; j < 7; j++) + outFile << C(i, j) << " "; + outFile << endl; + } + } + + vector meta_start; + for(int i = first - 2; i <= first + 2; i++) { + if(i >= 0) { + meta_start.push_back(allScans[i]); + } + } + MetaScan *start = new MetaScan(meta_start, false, false); + + //static size of metascan + int offset_last_start = 2; + int offset_last_end = 0; + + vector meta_end; + for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) { + meta_end.push_back(allScans[i]); + } + MetaScan *end = new MetaScan(meta_end, false, false); + + my_icp6D->match(start, end); + + delete start; + delete end; + + M4inv(allScans[last]->get_transMat(), invers); + MMult(invers, allScans[first]->get_transMat(), rela); + Matrix4ToQuat(rela, rPosQuat, rPos); + QuatRPYEuler(rPosQuat, rPosTheta); + + lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C); + + outFile << "EDGE3" << " " << last << " " << first << " " << + (rPos[0]/100) << " " << + (rPos[1]/100) << " " << + (rPos[2]/100) << " " << + rPosTheta[0] << " " << + rPosTheta[1] << " " << + rPosTheta[2] << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << C(1, 6) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << + C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << + C(1, 1) << " " << C(1, 2) << " " << + C(1, 1) << " " << "\n"; + outFile.close(); + + system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d -i 300 toro.graph"); + + ifstream inFile("toro-treeopt-final.graph"); + string tag; + int id; + double dd; + double rPosN[3], rPosThetaN[3]; + while(inFile) { + inFile >> tag; + if(tag == "VERTEX3") { + inFile >> id; + if(id == n-1) { + inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2]; + rPosN[0] *= 100; + rPosN[1] *= 100; + rPosN[2] *= 100; + } else { + inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2]; + rPos[0] *= 100; + rPos[1] *= 100; + rPos[2] *= 100; + RPYEulerQuat(rPosTheta, rPosQuat); + if(id != 0) { + allScans[id]->transformToQuat(rPos, rPosQuat, Scan::LOOPTORO, 1); + } + } + } + else if(tag == "EDGE3") { + inFile >> id >> id; + for(int i=0; i < 22; i++) { + inFile >> dd; + } + } + } + RPYEulerQuat(rPosThetaN, rPosQuat); + allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::LOOPTORO, 2); + inFile.close(); +} diff --git a/src/slam6d/lum6Deuler.cc b/src/slam6d/lum6Deuler.cc new file mode 100644 index 0000000..f7c4741 --- /dev/null +++ b/src/slam6d/lum6Deuler.cc @@ -0,0 +1,458 @@ +/* + * lum6Deuler implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg, Andreas Nuechter, Kai Lingemann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm + * + * @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + * + * A description of the algorithms implemented here can be found in the following paper + * (ras2007.pdf): + * + * Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nuechter, and Joachim Hertzberg. + * Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous + * Systems (JRAS), Elsevier Science, Volume 56, Issue 2, ISSN 0921-8890, pages 130 - 142, + * February 2008 + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/lum6Deuler.h" +#include "sparse/csparse.h" + +#include +#include +using std::ofstream; +using std::cerr; +#include "slam6d/globals.icc" + +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method to use + * @param epsilonLUM Termination criterion for LUM + */ +lum6DEuler::lum6DEuler(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +lum6DEuler::~lum6DEuler() +{ + delete my_icp; +} + + +/** + * This function calculates the inverse covariances Cij and the Vector Cij*Dij for + * two scans by finding pointpairs. + * + * @param first pointer to the first scan of the link + * @param second pointer to the second scan of the link + * @param nns_method Specifies which NNS method to use + * @param rnd shall we use randomization for computing the point pairs? + * @param max_dist_match2 maximal distance allowed for point pairs + * @param C pointer to the inverse of the covariance matrix Cij + * @param CD pointer to the vector Cij*Dij + */ +void lum6DEuler::covarianceEuler(Scan *first, Scan *second, + int nns_method, int rnd, double max_dist_match2, + Matrix *C, ColumnVector *CD) +{ + // x,y,z denote the coordinates of uk (Here averaged over ak and bk) + // sx,sy,sz are the sums of their respective coordinates of uk over each paint pair + // xpy,xpz,ypz are the sums over x*x + y*y ,x*x + z*z and y*y + z*z respectively over each point pair + // xy,yz,xz are the sums over each respective multiplication + // dx,dy,dz are the deltas in each coordinate of a point pair + // ss is the estimation of the covariance of sensing error + double x, y, z, sx, sy, sz, xy, yz, xz, ypz, xpz, xpy, dx, dy, dz, ss; + + // D is needed to calculate the estimation of the covariance s + ColumnVector D(6); + // Almost Cij*Dij + ColumnVector MZ(6); + // Almost the covarianve + Matrix MM(6,6); + // A set of point pairs + vector uk; + // A point pair + Point ak, bk; + // number of pairs in a set + int m; + +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + + double dummy_centroid_m[3]; + double dummy_centroid_d[3]; + double dummy_sum; + + Scan::getPtPairs(&uk, first, second, thread_num, + rnd, max_dist_match2, dummy_sum, dummy_centroid_m, dummy_centroid_d); + + m = uk.size(); + + MZ = 0.0; + MM = 0.0; + sx = sy = sz = xy = yz = xz = ypz = xpz = xpy = ss = 0.0; + + if (m > 2) { + // for each point pair + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + // Some temporary values + x = (ak.x + bk.x)/2.0; + y = (ak.y + bk.y)/2.0; + z = (ak.z + bk.z)/2.0; + dx = ak.x - bk.x; + dy = ak.y - bk.y; + dz = ak.z - bk.z; + + // Sum up all necessary values to construct MM + sx += x; + sy += y; + sz += z; + + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + + xy += x*y; + xz += x*z; + yz += y*z; + + // Sum up each part of MZ + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += -z * dy + y * dz; + MZ(5) += -y * dx + x * dy; + MZ(6) += z * dx - x * dz; + } + // Now construct the symmetrical matrix MM + MM(1,1) = MM(2,2) = MM(3,3) = m; + MM(4,4) = ypz; + MM(5,5) = xpy; + MM(6,6) = xpz; + + MM(1,5) = MM(5,1) = -sy; + MM(1,6) = MM(6,1) = sz; + MM(2,4) = MM(4,2) = -sz; + MM(2,5) = MM(5,2) = sx; + MM(3,4) = MM(4,3) = sy; + MM(3,6) = MM(6,3) = -sx; + + MM(4,5) = MM(5,4) = -xz; + MM(4,6) = MM(6,4) = -xy; + MM(5,6) = MM(6,5) = -yz; + + // Calculate the pose difference estimation + D = MM.i() * MZ ; + + // Again going through all point pairs to faster calculate s. + // This cannot be done earlier as we need D, and therefore MM and MZ to do this + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + x = (ak.x + bk.x) / 2.0; + y = (ak.y + bk.y) / 2.0; + z = (ak.z + bk.z) / 2.0; + + ss += sqr(ak.x - bk.x - (D(1) - y * D(5) + z * D(6))) + + sqr(ak.y - bk.y - (D(2) - z * D(4) + x * D(5))) + + sqr(ak.z - bk.z - (D(3) + y * D(4) - x * D(6))); + } + + ss = ss / (2*m - 3); + // for dealing with numerical instabilities when identical point clouds are used in matching + if (ss < 0.0000000000001) { + ss = 0.0; + MM(1,1) = MM(1,2) = MM(1,3) = 0.0; + MM(2,1) = MM(2,2) = MM(2,3) = 0.0; + MM(3,1) = MM(3,2) = MM(3,3) = 0.0; + MZ(6) = MZ(1) = MZ(2) = 0.0; + MZ(3) = MZ(4) = MZ(5) = 0.0; + *C = 0; + if(CD) + *CD = 0; + return; + } + ss = 1.0 / ss; + + if (CD) { + *CD = MZ * ss; + } + *C = MM * ss; + + } else { + + // This case should not occur + ss = 0.0; + MM(1,1) = MM(1,2) = MM(1,3) = 0.0; + MM(2,1) = MM(2,2) = MM(2,3) = 0.0; + MM(3,1) = MM(3,2) = MM(3,3) = 0.0; + MZ(6) = MZ(1) = MZ(2) = 0.0; + MZ(3) = MZ(4) = MZ(5) = 0.0; + *C = 0; + if(CD) + *CD = 0; + cerr << "Error calculating covariance matrix" << endl; + + } +} + +/** + * A function to fill the linear system G X = B. + * + * @param gr the Graph is used to map the given covariances C and CD matrices to the correct link + * @param CD A vector containing all covariances C multiplied with their respective estimations D + * @param C A vector containing all covariances C of the pose difference estimations D + * @param G The matrix G specifying the linear equation + * @param B The vector B + */ +void lum6DEuler::FillGB3D(Graph *gr, GraphMatrix* G, ColumnVector* B,vector allScans ) +{ +#ifdef _OPENMP +#pragma omp parallel for schedule(dynamic) +#endif + for(int i = 0; i < gr->getNrLinks(); i++){ + int a = gr->getLink(i,0) - 1; + int b = gr->getLink(i,1) - 1; + Scan *FirstScan = allScans[gr->getLink(i,0)]; + Scan *SecondScan = allScans[gr->getLink(i,1)]; + + // cout << "i " << i << " a: " << a << " b: " << b << endl; + + Matrix Cab(6,6); + ColumnVector CDab(6); + covarianceEuler(FirstScan, SecondScan, nns_method, (int)my_icp->get_rnd(), + (int)max_dist_match2_LUM, &Cab, &CDab); + +#pragma omp critical + { + if(a >= 0){ + B->Rows(a*6+1,a*6+6) += CDab; + G->add(a, a, Cab); + } + if(b >= 0){ + B->Rows(b*6+1,b*6+6) -= CDab; + G->add(b, b, Cab); + } + if(a >= 0 && b >= 0) { + G->subtract(a, b, Cab); + G->subtract(b, a, Cab); + } + + } + } + +// G->print(); +} + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double lum6DEuler::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + + if (nrIt > 1) cout << "Iteration " << iteration << endl; + + + // * Calculate X and CX from all Dij and Cij + int n = (gr.getNrScans() - 1); + + // Construct the linear equation system.. + GraphMatrix *G = new GraphMatrix(); + ColumnVector B(6*n); + B = 0.0; + // ...fill G and B... + FillGB3D(&gr, G, &B, allScans); + // ...and solve it + ColumnVector X = solveSparseCholesky(G, B); + + delete G; + + //cout << "X done!" << endl; + + double sum_position_diff = 0.0; + + // Start with second Scan + int loop_end = gr.getNrScans(); +#ifdef _OPENMP +#pragma omp parallel for reduction(+:sum_position_diff) +#endif + for(int i = 1; i < loop_end; i++){ + + // Now update the Poses + Matrix Ha = IdentityMatrix(6); + + double xa = allScans[i]->get_rPos()[0]; + double ya = allScans[i]->get_rPos()[1]; + double za = allScans[i]->get_rPos()[2]; + + double tx = allScans[i]->get_rPosTheta()[0]; + double ty = allScans[i]->get_rPosTheta()[1]; + + double ctx = cos(tx); + double stx = sin(tx); + double cty = cos(ty); + double sty = sin(ty); + + // Fill Ha + Ha.element(0,4) = -za*ctx+ya*stx; + Ha.element(0,5) = ya*cty*ctx+za*stx*cty; + + Ha.element(1,3) = za; + Ha.element(1,4) = -xa*stx; + Ha.element(1,5) = -xa*ctx*cty+za*sty; + + + Ha.element(2,3) = -ya; + Ha.element(2,4) = xa*ctx; + Ha.element(2,5) = -xa*cty*stx-ya*sty; + + Ha.element(3,5) = sty; + + Ha.element(4,4) = stx; + Ha.element(4,5) = ctx*cty; + + Ha.element(5,4) = ctx; + Ha.element(5,5) = -stx*cty; + // Invert it + Ha = Ha.i(); + + // Get pose estimate + ColumnVector Xtmp = X.Rows((i-1)*6+1,(i-1)*6+6); + + // Correct pose estimate + ColumnVector result = Ha * Xtmp; + + if(!quiet) { + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] + << endl; + } + + double rPos[3]; + double rPosTheta[3]; + + // calculate the updated Pose + for (int k = 0; k < 3; k++) { + rPos[k] = allScans[i]->get_rPos()[k] - result.element(k); + rPosTheta[k] = allScans[i]->get_rPosTheta()[k] - result.element(k+3); + } + + // Update the Pose + if (i != gr.getNrScans() - 1) { + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::LUM, 1); + } else { + allScans[i]->transformToEuler(rPos, rPosTheta, Scan::LUM, 2); + } + + if(!quiet) { + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " tx: " << allScans[i]->get_rPosTheta()[0] + << " ty: " << allScans[i]->get_rPosTheta()[1] + << " tz: " << allScans[i]->get_rPosTheta()[2] << endl << endl; + } + + double x[3]; + x[0] = result.element(0); + x[1] = result.element(1); + x[2] = result.element(2); + sum_position_diff += Len(x); + } + cout << "Sum of Position differences = " << sum_position_diff << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + + return ret; +} + + diff --git a/src/slam6d/lum6Dquat.cc b/src/slam6d/lum6Dquat.cc new file mode 100644 index 0000000..442c08c --- /dev/null +++ b/src/slam6d/lum6Dquat.cc @@ -0,0 +1,480 @@ +/* + * lum6Dquat implementation + * + * Copyright (C) Andreas Nuechter, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief The implementation of globally consistent scan matching algorithm + * @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#include "slam6d/lum6Dquat.h" +#include "sparse/csparse.h" + +#include +#include +using std::ofstream; +using std::cerr; +#include "slam6d/globals.icc" + +using namespace NEWMAT; +/** + * Constructor + * + * @param my_icp6Dminimizer Pointer to ICP minimization functor + * @param mdm Maximum PtoP distance to which point pairs are collected for ICP + * @param max_dist_match Maximum PtoP distance to which point pairs are collected for LUM + * @param max_num_iterations Maximal number of iterations for ICP + * @param quiet Suspesses all output to std out + * @param meta Indicates if metascan matching has to be used + * @param rnd Indicates if randomization has to be used + * @param eP Extrapolate odometry? + * @param anim Animate which frames? + * @param epsilonICP Termination criterion for ICP + * @param nns_method Specifies which NNS method is used + * @param epsilonLUM Termination criterion for LUM + */ +lum6DQuat::lum6DQuat(icp6Dminimizer *my_icp6Dminimizer, + double mdm, double max_dist_match, + int max_num_iterations, bool quiet, bool meta, int rnd, + bool eP, int anim, double epsilonICP, int nns_method, double epsilonLUM) + : graphSlam6D(my_icp6Dminimizer, + mdm, max_dist_match, + max_num_iterations, quiet, meta, rnd, + eP, anim, epsilonICP, nns_method, epsilonLUM) +{ } + + +/** + * Destructor + */ +lum6DQuat::~lum6DQuat() +{ + delete my_icp; +} + + +/** + * This function calculates the inverse covariances Cij and the Vector Cij*Dij for + * two scans by finding pointpairs. + * + * @param first pointer to the first scan of the link + * @param second pointer to the second scan of the link + * @param nns_method Specifies which NNS method is used + * @param rnd shall we use randomization for computing the point pairs? + * @param max_dist_match2 maximal distance allowed for point pairs + * @param C pointer to the inverse of the covariance matrix Cij + * @param CD pointer to the vector Cij*Dij + */ +void lum6DQuat::covarianceQuat(Scan *first, Scan *second, + int nns_method, int rnd, double max_dist_match2, + Matrix *C, ColumnVector *CD) +{ + // x,y,z denote the coordinates of uk (Here averaged over ak and bk) + // sx,sy,sz are the sums of their respective coordinates of uk over each paint pair + // xpy,xpz,ypz are the sums over x*x + y*y ,x*x + z*z and y*y + z*z respectively over each point pair + // xy,yz,xz are the sums over each respective multiplication + // dx,dy,dz are the deltas in each coordinate of a point pair + // ss is the estimation of the covariance of sensing error + double x, y, z, sx, sy, sz, xy, yz, xz, ypz, xpz, xpy, dx, dy, dz, ss, xpypz; + + // D is needed to calculate the estimation of the covariance s + ColumnVector D(7); + // Almost Cij*Dij + ColumnVector MZ(7); + // Almost the covarianve + Matrix MM(7,7); + // A set of point pairs + vector uk; + // A point pair + Point ak, bk; + // number of pairs in a set + int m; + +#ifdef _OPENMP + int thread_num = omp_get_thread_num(); +#else + int thread_num = 0; +#endif + + double dummy_centroid_m[3]; + double dummy_centroid_d[3]; + double dummy_sum; + + Scan::getPtPairs(&uk, first, second, thread_num, + rnd, max_dist_match2, dummy_sum, dummy_centroid_m, dummy_centroid_d); + + m = uk.size(); + + MZ = 0.0; + MM = 0.0; + sx = sy = sz = xy = yz = xz = ypz = xpz = xpy = xpypz = ss = 0.0; + + if (m > 2) { + // for each point pair + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + // Some temporary values + x = (ak.x + bk.x)/2.0; + y = (ak.y + bk.y)/2.0; + z = (ak.z + bk.z)/2.0; + dx = ak.x - bk.x; + dy = ak.y - bk.y; + dz = ak.z - bk.z; + + // Sum up all necessary values to construct MM + sx += x; + sy += y; + sz += z; + + xpy += x*x + y*y; + xpz += x*x + z*z; + ypz += y*y + z*z; + xpypz += x*x + y*y + z*z; + + xy += x*y; + xz += x*z; + yz += y*z; + + // Sum up each part of MZ + MZ(1) += dx; + MZ(2) += dy; + MZ(3) += dz; + MZ(4) += x * dx + y * dy + z * dz; + MZ(5) += z * dy - y * dz; + MZ(6) += x * dz - z * dx; + MZ(7) += y * dx - x * dy; + } + // Now construct the symmetrical matrix MM + MM(1,1) = MM(2,2) = MM(3,3) = m; + + MM(4,4) = xpypz; + MM(5,5) = ypz; + MM(6,6) = xpz; + MM(7,7) = xpy; + + MM(1,4) = MM(4,1) = sx; + MM(1,6) = MM(6,1) = -sz; + MM(1,7) = MM(7,1) = sy; + + MM(2,4) = MM(4,2) = sy; + MM(2,5) = MM(5,2) = sz; + MM(2,7) = MM(7,2) = -sx; + + MM(3,4) = MM(4,3) = sz; + MM(3,5) = MM(5,3) = -sy; + MM(3,6) = MM(6,3) = sx; + + MM(5,6) = MM(6,5) = -xy; + MM(5,7) = MM(7,5) = -xz; + MM(6,7) = MM(7,6) = -yz; + + // Calculate the pose difference estimation + D = MM.i() * MZ ; + + // Again going through all point pairs to faster calculate s. + // This cannot be done earlier as we need D, and therefore MM and MZ to do this + for(int j = 0; j < m; j++){ + ak = uk[j].p1; + bk = uk[j].p2; + + x = (ak.x + bk.x) / 2.0; + y = (ak.y + bk.y) / 2.0; + z = (ak.z + bk.z) / 2.0; + + ss += sqr(ak.x - bk.x - (D(1) + x * D(4) - z * D(6) + y * D(7))) + + sqr(ak.y - bk.y - (D(2) + y * D(4) + z * D(5) - x * D(7))) + + sqr(ak.z - bk.z - (D(3) + z * D(4) - y * D(5) + x * D(6))); + } + + ss = ss / (2*m - 3); + ss = 1.0 / ss; + + if (CD) { + *CD = MZ * ss; + } + *C = MM * ss; + + } else { + + // This case should not occur + ss = 0.0; + MM(1,1) = MM(1,2) = MM(1,3) = 0.0; + MM(2,1) = MM(2,2) = MM(2,3) = 0.0; + MM(3,1) = MM(3,2) = MM(3,3) = 0.0; + MZ(6) = MZ(1) = MZ(2) = MZ(7) = 0.0; + MZ(3) = MZ(4) = MZ(5) = 0.0; + *C = 0; + if(CD) + *CD = 0; + cerr << "Error calculating covariance matrix" << endl; + + } +} + +/** + * A function to fill the linear system G X = B. + * + * @param gr the Graph is used to map the given covariances C and CD matrices to the correct link + * @param CD A vector containing all covariances C multiplied with their respective estimations D + * @param C A vector containing all covariances C of the pose difference estimations D + * @param G The matrix G specifying the linear equation + * @param B The vector B + */ +void lum6DQuat::FillGB3D(Graph *gr,Matrix* G, ColumnVector* B, vector allScans) +{ +#ifdef _OPENMP +#pragma omp parallel for +#endif + for(int i = 0; i < gr->getNrLinks(); i++){ + int a = gr->getLink(i,0) - 1; + int b = gr->getLink(i,1) - 1; + Scan *FirstScan = allScans[gr->getLink(i,0)]; + Scan *SecondScan = allScans[gr->getLink(i,1)]; + + // cout << "***i " << i << " a: " << a << " b: " << b << endl; + + Matrix Cab; + ColumnVector CDab; + covarianceQuat(FirstScan, SecondScan, nns_method, (int)my_icp->get_rnd(), + (int)max_dist_match2_LUM, &Cab, &CDab); + + if(a >= 0){ + B->Rows(a*7+1,a*7+7) += CDab; + G->SubMatrix(a*7+1,a*7+7,a*7+1,a*7+7) += Cab; + } + if(b >= 0){ + B->Rows(b*7+1,b*7+7) -= CDab; + G->SubMatrix(b*7+1,b*7+7,b*7+1,b*7+7) += Cab; + } + if(a >= 0 && b >= 0) { + G->SubMatrix(a*7+1,a*7+7,b*7+1,b*7+7) = -Cab; + G->SubMatrix(b*7+1,b*7+7,a*7+1,a*7+7) = -Cab; + } + } +} + +/** + * This function is used to match a set of laser scans with any minimally + * connected Graph, using the globally consistent LUM-algorithm in 3D. + * + * @param gr Some Graph with no real subgraphs except for itself + * @param allScans Contains all laser scans + * @param nrIt The number of iterations the LUM-algorithm will run + * @return Euclidian distance of all pose shifts + */ +double lum6DQuat::doGraphSlam6D(Graph gr, vector allScans, int nrIt) +{ +#ifdef WRITE_GRAPH_NET + // for debug only: + static int d = 0; + cout << "writing graph.dat ....................................." << endl; + d++; + string gfilename = "graph_" + to_string(d, 3) + ".net"; + ofstream out(gfilename.c_str()); + for (int i=0; i < gr.getNrLinks(); i++) { + int from = gr.getLink(i,0); + int to = gr.getLink(i,1); + // shouldn't be necessary, just in case a (out of date) graph file is loaded: + if (from < (int)allScans.size() && to < (int)allScans.size()) { + out << allScans[from]->get_rPos()[0] << " " + << allScans[from]->get_rPos()[1] << " " + << allScans[from]->get_rPos()[2] << endl + << allScans[to ]->get_rPos()[0] << " " + << allScans[to ]->get_rPos()[1] << " " + << allScans[to ]->get_rPos()[2] << endl << endl; + } + } + out.close(); + out.clear(); +#endif + + // the IdentityMatrix to transform some Scans with + double id[16]; + M4identity(id); + + double ret = DBL_MAX; + + for(int iteration = 0; + iteration < nrIt && ret > epsilonLUM; + iteration++) { + + if (nrIt > 1) cout << "Iteration " << iteration << endl; + + + // * Calculate X and CX from all Dij and Cij + int n = (gr.getNrScans() - 1); + + // Construct the linear equation system.. + Matrix G(7*n,7*n); + ColumnVector B(7*n); + G = 0.0; + B = 0.0; + // ...fill G and B... + FillGB3D(&gr, &G, &B, allScans); + // ...and solve it + ColumnVector X = solveSparseCholesky(G, B); + + //cout << "X done!" << endl; + + double sum_position_diff = 0.0; + + // Start with second Scan + int loop_end = gr.getNrScans(); +#ifdef _OPENMP +#pragma omp parallel for reduction(+:sum_position_diff) +#endif + for(int i = 1; i < loop_end; i++){ + + // Now update the Poses + Matrix Ha = IdentityMatrix(7); + + double xa = allScans[i]->get_rPos()[0]; + double ya = allScans[i]->get_rPos()[1]; + double za = allScans[i]->get_rPos()[2]; + + double p = allScans[i]->get_rPosQuat()[0]; + double q = allScans[i]->get_rPosQuat()[1]; + double r = allScans[i]->get_rPosQuat()[2]; + double s = allScans[i]->get_rPosQuat()[3]; + + double px = p * xa; + double py = p * ya; + double pz = p * za; + + double qx = q * xa; + double qy = q * ya; + double qz = q * za; + + double rx = r * xa; + double ry = r * ya; + double rz = r * za; + + double sx = s * xa; + double sy = s * ya; + double sz = s * za; + + // Fill Ha + Ha.element(3,3) = 2 * p; + Ha.element(4,3) = 2 * q; + Ha.element(5,3) = 2 * r; + Ha.element(6,3) = 2 * s; + + Ha.element(3,4) = 2 * q; + Ha.element(4,4) = -2 * p; + Ha.element(5,4) = -2 * s; + Ha.element(6,4) = 2 * r; + + Ha.element(3,5) = 2 * r; + Ha.element(4,5) = 2 * s; + Ha.element(5,5) = -2 * p; + Ha.element(6,5) = -2 * q; + + Ha.element(3,6) = 2 * s; + Ha.element(4,6) = -2 * r; + Ha.element(5,6) = 2 * q; + Ha.element(6,6) = -2 * p; + + Ha.element(0,3) = -2 * (px + sy - rz); + Ha.element(1,3) = -2 * (-sx + py + qz); + Ha.element(2,3) = -2 * (rx - qy + pz); + + Ha.element(0,4) = -2 * (qx + ry + sz); + Ha.element(1,4) = -2 * (-rx + qy - pz); + Ha.element(2,4) = -2 * (-sx + py + qz); + + Ha.element(0,5) = -2 * (rx - qy + pz); + Ha.element(1,5) = -2 * (qx + ry + sz); + Ha.element(2,5) = -2 * (-px - sy + rz); + + Ha.element(0,6) = -2 * (sx - py - qz); + Ha.element(1,6) = -2 * (px + sy - rz); + Ha.element(2,6) = -2 * (qx + ry + sz); + + // Invert it + Ha = Ha.i(); + + // Get pose estimate + ColumnVector Xtmp = X.Rows((i-1)*7+1,(i-1)*7+7); + + // Correct pose estimate + ColumnVector result = Ha * Xtmp; + + if(!quiet) { + cout << "Old pose estimate, Scan " << i << endl; + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " p: " << allScans[i]->get_rPosQuat()[0] + << " q: " << allScans[i]->get_rPosQuat()[1] + << " r: " << allScans[i]->get_rPosQuat()[2] + << " s: " << allScans[i]->get_rPosQuat()[3] + << endl; + } + + double rPos[3]; + double rPosQuat[4]; + + // calculate the updated Pose + for (int k = 0; k < 3; k++) { + rPos[k] = allScans[i]->get_rPos()[k] - result.element(k); + } + + double qtmp[4]; + qtmp[0] = result.element(3); + qtmp[1] = result.element(4); + qtmp[2] = result.element(5); + qtmp[3] = result.element(6); + + for (int k = 0; k < 4; k++) { + rPosQuat[k] = allScans[i]->get_rPosQuat()[k] - qtmp[k]; + } + + Normalize4(rPosQuat); + + // Update the Pose + if (i != gr.getNrScans() - 1) { + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::LUM, 1); + } else { + allScans[i]->transformToQuat(rPos, rPosQuat, Scan::LUM, 2); + } + + if(!quiet) { + cout << "x: " << allScans[i]->get_rPos()[0] + << " y: " << allScans[i]->get_rPos()[1] + << " z: " << allScans[i]->get_rPos()[2] + << " p: " << allScans[i]->get_rPosQuat()[0] + << " q: " << allScans[i]->get_rPosQuat()[1] + << " r: " << allScans[i]->get_rPosQuat()[2] + << " s: " << allScans[i]->get_rPosQuat()[3] + << endl << endl; + } + + double x[3]; + x[0] = result.element(0); + x[1] = result.element(1); + x[2] = result.element(2); + sum_position_diff += Len(x); + } + cout << "Sum of Position differences = " << sum_position_diff << endl; + ret = (sum_position_diff / (double)gr.getNrScans()); + } + + return ret; +} + + diff --git a/src/slam6d/managedScan.cc b/src/slam6d/managedScan.cc new file mode 100644 index 0000000..d3142da --- /dev/null +++ b/src/slam6d/managedScan.cc @@ -0,0 +1,367 @@ +/* + * managedScan implementation + * + * Copyright (C) Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/managedScan.h" + +#include "scanserver/clientInterface.h" +#include "slam6d/Boctree.h" +#include "slam6d/kdManaged.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + +#include +using std::stringstream; + +#include +using namespace boost::filesystem; + + + +SharedScanVector* ManagedScan::shared_scans = 0; + + + +void ManagedScan::openDirectory(const std::string& path, IOType type, int start, int end) +{ + // start the client first + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } + +#ifdef WITH_METRICS + Timer t = ClientMetric::read_scan_time.start(); +#endif //WITH_METRICS + + ClientInterface* client = ClientInterface::getInstance(); + shared_scans = client->readDirectory(path.c_str(), type, start, end); + + for(SharedScanVector::iterator it = shared_scans->begin(); it != shared_scans->end(); ++it) { + // add a scan with reference on the shared scan + SharedScan* shared = it->get(); + ManagedScan* scan = new ManagedScan(shared); + Scan::allScans.push_back(scan); + } + +#ifdef WITH_METRICS + ClientMetric::read_scan_time.end(t); +#endif //WITH_METRICS +} + +void ManagedScan::closeDirectory() +{ + // clean up the scan vector + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + delete *it; + allScans.clear(); + // remove the shared scan vector + ClientInterface* client = ClientInterface::getInstance(); +#ifdef WITH_METRICS + ClientInterface::getInstance()->printMetrics(); +#endif //WITH_METRICS + client->closeDirectory(shared_scans); +} + +std::size_t ManagedScan::getMemorySize() +{ + ClientInterface* client = ClientInterface::getInstance(); + return client->getCacheSize(); +} + + + +ManagedScan::ManagedScan(SharedScan* shared_scan) : + m_shared_scan(shared_scan), + m_reduced_ready(false), + m_reset_frames_on_write(true) +{ + // request pose from the shared scan + double* euler = m_shared_scan->getPose(); + rPos[0] = euler[0]; + rPos[1] = euler[1]; + rPos[2] = euler[2]; + rPosTheta[0] = euler[3]; + rPosTheta[1] = euler[4]; + rPosTheta[2] = euler[5]; + + // write original pose matrix + EulerToMatrix4(euler, &euler[3], transMatOrg); + + // initialize transform matrices from the original one, could just copy transMatOrg to transMat instead + transformMatrix(transMatOrg); + + // reset the delta align matrix to represent only the transformations after local-to-global (transMatOrg) one + M4identity(dalignxf); +} + +ManagedScan::~ManagedScan() +{ + // TODO: something to do? +} + +void ManagedScan::setRangeFilter(double max, double min) +{ + m_shared_scan->setRangeParameters(max, min); +} + +void ManagedScan::setHeightFilter(double top, double bottom) +{ + m_shared_scan->setHeightParameters(top, bottom); +} + +void ManagedScan::setReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + Scan::setReductionParameter(voxelSize, nrpts, pointtype); + + // set parameters to invalidate old cache data + stringstream s; + s << voxelSize << " " << nrpts << " " << transMatOrg; + m_shared_scan->setReductionParameters(s.str().c_str()); +} + +void ManagedScan::setShowReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + show_reduction_voxelSize = voxelSize; + show_reduction_nrpts = nrpts; + show_reduction_pointtype = pointtype; + + // set parameters to invalidate old cache data + stringstream s; + s << voxelSize << " " << nrpts; + m_shared_scan->setShowReductionParameters(s.str().c_str()); +} + +void ManagedScan::setOcttreeParameter(double reduction_voxelSize, double octtree_voxelSize, PointType pointtype, bool loadOct, bool saveOct) +{ + Scan::setOcttreeParameter(reduction_voxelSize, octtree_voxelSize, pointtype, loadOct, saveOct); + + // set octtree parameters to invalidate cached ones with other parameters (changing range/height is already handled) + stringstream s; + s << reduction_voxelSize << " " << octtree_voxelSize << " " << pointtype.toFlags(); + m_shared_scan->setOcttreeParameters(s.str().c_str()); +} + +DataPointer ManagedScan::get(const std::string& identifier) +{ + if(identifier == "xyz") { + return m_shared_scan->getXYZ(); + } else + if(identifier == "rgb") { + return m_shared_scan->getRGB(); + } else + if(identifier == "reflectance") { + return m_shared_scan->getReflectance(); + } else + if(identifier == "amplitude") { + return m_shared_scan->getAmplitude(); + } else + if(identifier == "type") { + return m_shared_scan->getType(); + } else + if(identifier == "deviation") { + return m_shared_scan->getDeviation(); + } else + if(identifier == "xyz reduced") { + // if this is a fresh run, initialize reduced properly via original or creating it anew + if(!m_reduced_ready) { + calcReducedOnDemand(); + } + return m_shared_scan->getXYZReduced(); + } else + if(identifier == "xyz reduced original") { + // if reduction has completed, original will exist (either from last run or created in this run) + if(!m_reduced_ready) { + calcReducedOnDemand(); + } + return m_shared_scan->getXYZReducedOriginal(); + } else + if(identifier == "xyz reduced show") { + if(m_shared_scan->getXYZReducedShow().valid()) + return m_shared_scan->getXYZReducedShow(); + calcReducedShow(); + return m_shared_scan->getXYZReducedShow(); + } else + if(identifier == "octtree") { + if(m_shared_scan->getOcttree().valid()) + return m_shared_scan->getOcttree(); + createOcttree(); + return m_shared_scan->getOcttree(); + } + { + throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::get. Upgrade SharedScan for this data field."); + } +} + +void ManagedScan::get(unsigned int types) +{ + m_shared_scan->prefetch(types); +} + +DataPointer ManagedScan::create(const std::string& identifier, unsigned int size) +{ + // map identifiers to functions in SharedScan and scale back size from bytes to number of points + if(identifier == "xyz reduced") { + return m_shared_scan->createXYZReduced(size / (3*sizeof(double))); + } else + if(identifier == "xyz reduced original") { + return m_shared_scan->createXYZReducedOriginal(size / (3*sizeof(double))); + } else + { + throw runtime_error(string("Identifier '") + identifier + "' not compatible with ManagedScan::create. Upgrade SharedScan for this data field."); + } +} + +void ManagedScan::clear(const std::string& identifier) +{ + // nothing to do here + // TODO: mark CacheObjects with a low priority for faster removal by the manager +} + +void ManagedScan::createSearchTreePrivate() +{ + switch(searchtree_nnstype) + { + case simpleKD: + kd = new KDtreeManaged(this); + break; + case BOCTree: + kd = new BOctTree(PointerArray(get("xyz reduced original")).get(), size("xyz reduced original"), 10.0, PointType(), true); + break; + case -1: + throw runtime_error("Cannot create a SearchTree without setting a type."); + default: + throw runtime_error("SearchTree type not implemented for ManagedScan"); + } + + // TODO: look into CUDA compability +} + +void ManagedScan::calcReducedOnDemandPrivate() +{ + // either copy from original or create them like BasicScan + DataXYZ xyz_orig(m_shared_scan->getXYZReducedOriginal()); + if(xyz_orig.valid()) { + // set true to inform further get("xyz reduced original") calls to get the data instead of looping calcReducedOnDemand + m_reduced_ready = true; + copyOriginalToReduced(); + } else { + // create reduced points and transform to initial position, save a copy of this for SearchTree + calcReducedPoints(); + // set true to inform further get("xyz reduced") calls to get the data instead of looping calcReducedOnDemand + m_reduced_ready = true; + transformReduced(transMatOrg); + copyReducedToOriginal(); + } +} + +void ManagedScan::calcReducedShow() +{ + // create an octtree reduction from full points + DataXYZ xyz(get("xyz")); + BOctTree* oct = new BOctTree(PointerArray(xyz).get(), xyz.size(), show_reduction_voxelSize); + + vector center; + center.clear(); + + if(show_reduction_nrpts > 0) { + if(show_reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, show_reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + unsigned int size = center.size(); + TripleArray xyz_r(m_shared_scan->createXYZReducedShow(size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; +} + +void ManagedScan::createOcttree() +{ + string scanFileName = string(m_shared_scan->getDirPath()) + "scan" + getIdentifier() + ".oct"; + BOctTree* btree = 0; + + // if loadOct is given, load the octtree under blind assumption that parameters match + if(octtree_loadOct && exists(scanFileName)) { + btree = new BOctTree(scanFileName); + } else { + if(octtree_reduction_voxelSize > 0) { // with reduction, only xyz points + TripleArray xyz_r(get("xyz reduced show")); + btree = new BOctTree(PointerArray(xyz_r).get(), xyz_r.size(), octtree_voxelSize, octtree_pointtype, true); + } else { // without reduction, xyz + attribute points + float** pts = octtree_pointtype.createPointArray(this); + unsigned int nrpts = size("xyz"); + btree = new BOctTree(pts, nrpts, octtree_voxelSize, octtree_pointtype, true); + for(unsigned int i = 0; i < nrpts; ++i) delete[] pts[i]; delete[] pts; + } + // save created octtree + if(octtree_saveOct) { + cout << "Saving octree " << scanFileName << endl; + btree->serialize(scanFileName); + } + } + + // copy tree into cache + try { + unsigned int size = btree->getMemorySize(); + unsigned char* mem_ptr = m_shared_scan->createOcttree(size).get_raw_pointer(); + new(mem_ptr) BOctTree(*btree, mem_ptr, size); + delete btree; btree = 0; + } catch(runtime_error& e) { + // delete tree if copy to cache failed + delete btree; + throw e; + } +} + + +unsigned int ManagedScan::readFrames() +{ + // automatically read on getFrames + return m_shared_scan->getFrames().size(); +} + +void ManagedScan::saveFrames() +{ + m_shared_scan->saveFrames(); +} + +unsigned int ManagedScan::getFrameCount() +{ + return m_shared_scan->getFrames().size(); +} + +void ManagedScan::getFrame(unsigned int i, const double*& pose_matrix, AlgoType& type) +{ + const Frame& frame(m_shared_scan->getFrames().at(i)); + pose_matrix = frame.transformation; + type = static_cast(frame.type); +} + +void ManagedScan::addFrame(AlgoType type) +{ + if(m_reset_frames_on_write) { + m_shared_scan->clearFrames(); + m_reset_frames_on_write = false; + } + m_shared_scan->addFrame(transMat, static_cast(type)); +} diff --git a/src/slam6d/match_with_ground_truth.cc b/src/slam6d/match_with_ground_truth.cc new file mode 100644 index 0000000..d15e69d --- /dev/null +++ b/src/slam6d/match_with_ground_truth.cc @@ -0,0 +1,210 @@ +/* + * match_with_ground_truth implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for matching registered 3D scans against a + * ground_truth_path + * + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; +using std::ofstream; +#include +using std::vector; +#include +using std::exception; + +#include "globals.icc" +#include "ptpair.h" +#include "icp6Dapx.h" +#include "icp6Dsvd.h" +#include "icp6Dquat.h" + +#ifndef _MSC_VER +#include +#else +#include "..\Visual_Studio_Projects\6D_SLAM\XGetopt.h" +#endif + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ + const string bold("\033[1m"); + const string normal("\033[m"); + + cout << "to do" << endl; + + exit(1); +} + +int parseArgs(int argc, char **argv, string &dir, int &mni, + int &start, int &end, int &algo, bool &quiet, bool &veryQuiet) +{ + + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "algo", required_argument, 0, 'a' }, + { "iter", required_argument, 0, 'i' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "a:i:s:e:qQ", longopts, NULL)) != -1) { + switch (c) + { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 2)) { cerr << "Error: Algorithm not available.\n"; exit(1); } + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'i': + mni = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + default: + abort(); + } + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +} + +int main(int argc, char **argv) +{ + if (argc <= 1) { + usage(argv[0]); + } + + string dir; + int mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int algo = 0; + + parseArgs(argc, argv, dir, mni, start, end, algo, quiet, veryQuiet); + + string groundTruthFileName = dir + "position_sync_interpol.dat"; + ifstream gtruth_in(groundTruthFileName.c_str()); + if (!gtruth_in.good()) { + cerr << "Cannot open " << groundTruthFileName << endl; + exit(-1); + } + + vector pairs; + + for (int i = 0; i < end; i++) { + // read position from ground truth file + double gtruthPos[3]; + double dummy; + gtruth_in >> dummy >> gtruthPos[2] >> gtruthPos[0] >> gtruthPos[1] + >> dummy >> dummy >> dummy; + + if (i < start) continue; + + for (unsigned int j = 0; j < 3; j++) gtruthPos[j] *= 0.1; + + string frameFileName = dir + "scan" + to_string(i,3) + ".frames"; + + cout << "Processing File " << frameFileName << endl; + + ifstream frame_in(frameFileName.c_str()); + if (!frame_in.good()) { + cerr << "Cannot open " << frameFileName << endl; + exit(-1); + } + double transMat[16]; + int type; + while (frame_in.good()) { + try { + frame_in >> transMat >> type; + } catch (const exception &e) { + break; + } + } + // now transMat contains the last matrix + double rPos[3], rPosTheta[3]; + Matrix4ToEuler(transMat, rPosTheta, rPos); + + PtPair myPair(gtruthPos, rPos); + pairs.push_back(myPair); + } + + cout << "Nr poses used for registration: " << pairs.size() << endl + << algo << endl; + + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 0 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + } + + double totalalignxf[16]; + M4identity(totalalignxf); + for (int iteration = 0; iteration < mni; iteration++) { + double alignxf[16]; + my_icp6Dminimizer->Point_Point_Align(pairs, alignxf); + for (int i = 0; i < pairs.size(); i++) { + pairs[i].p2.transform(alignxf); + } + double tempxf[16]; + MMult(alignxf, totalalignxf, tempxf); + memcpy(totalalignxf, tempxf, sizeof(totalalignxf)); + } + + string initialTransformFileName = dir + "initital.frame"; + ofstream initial_out(initialTransformFileName.c_str()); + initial_out << totalalignxf << endl; + initial_out.close(); + +} diff --git a/src/slam6d/metaScan.cc b/src/slam6d/metaScan.cc new file mode 100644 index 0000000..a7262b3 --- /dev/null +++ b/src/slam6d/metaScan.cc @@ -0,0 +1,58 @@ +/* + * metascan implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/metaScan.h" + +#include "slam6d/kdMeta.h" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +MetaScan::MetaScan(std::vector scans, int nns_method, bool cuda_enabled) : + m_scans(scans) +{ + // add this to the global vector for addFrame reasons + Scan::allScans.push_back(this); +} + +MetaScan::~MetaScan() +{ + // remove this from the global vector for addFrame reasons + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + if(*it == this) { + Scan::allScans.erase(it); + break; + } + } +} + +void MetaScan::createSearchTreePrivate() +{ +#ifdef WITH_METRICS + Timer tc = ClientMetric::create_metatree_time.start(); +#endif //WITH_METRICS + + // TODO: there is no nns_type switch or cuda option for this one because no reduced points are copied, this could be implemented if e.g. cuda is required on metascans + kd = new KDtreeMetaManaged(m_scans); + +#ifdef WITH_METRICS + ClientMetric::create_metatree_time.end(tc); +#endif //WITH_METRICS +} + +unsigned int MetaScan::size() const +{ + return m_scans.size(); +} + +Scan* MetaScan::getScan(unsigned int i) const +{ + return m_scans.at(i); +} diff --git a/src/slam6d/metrics.cc b/src/slam6d/metrics.cc new file mode 100644 index 0000000..943d2a1 --- /dev/null +++ b/src/slam6d/metrics.cc @@ -0,0 +1,216 @@ +/* + * metrics implementation + * + * Copyright (C) Kai Lingemann, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/metrics.h" + +#ifdef _MSC_VER +LARGE_INTEGER TimeMetric::frequency; +bool TimeMetric::init = false; +#endif + +TimeMetric::TimeMetric(unsigned int reserve) : + Metric(reserve) +{ +#ifdef _MSC_VER + if(!TimeMetric::init) { + QueryPerformanceFrequency(&TimeMetric::frequency); + TimeMetric::init = true; + } +#endif +} + +Timer TimeMetric::start() +{ + Timer start; +#ifdef _MSC_VER + QueryPerformanceCounter(&start); +#else + gettimeofday(&start, 0); +#endif + return start; +} + +void TimeMetric::end(Timer& start) +{ + double delta; +#ifdef _MSC_VER + LARGE_INTEGER end; + QueryPerformanceCounter(&end); + delta = (double)(end.QuadPart - start.QuadPart) / frequency.QuadPart; +#else + timeval end; + gettimeofday(&end, 0); + delta = (double)(end.tv_sec - start.tv_sec) + + (double)(end.tv_usec - start.tv_usec) / 1000000.0; +#endif + commit(delta); +} + +CounterMetric::CounterMetric(unsigned int reserve) : + Metric(reserve) +{ +} + +void CounterMetric::add(unsigned long long value) +{ + commit(value); +} + + + +#include +using std::cout; +using std::endl; + +TimeMetric ServerMetric::scan_loading, ServerMetric::cacheio_write_time, ServerMetric::cacheio_read_time; +CounterMetric ServerMetric::cacheio_write_size, ServerMetric::cacheio_read_size; + +TimeMetric + ClientMetric::read_scan_time, + ClientMetric::scan_load_time, + ClientMetric::calc_reduced_points_time, + ClientMetric::transform_time(100000), // avoid resizing in multithreaded transform calls by graph-slam + ClientMetric::copy_original_time, + ClientMetric::create_tree_time, + ClientMetric::on_demand_reduction_time, + ClientMetric::create_metatree_time, + ClientMetric::add_frames_time, + ClientMetric::matching_time, + ClientMetric::clientinterface_time, + ClientMetric::cache_miss_time, + ClientMetric::allocate_time, + ClientMetric::frames_time; + +void printTime(const TimeMetric& m, unsigned int indentation = 1) +{ + for(unsigned int i = 1; i <= indentation; ++i) { + cout << " "; + } + cout << m.sum() << "s"; + if(m.size() != 1) { + cout << " (" << m.average() << "s average of " << m.size() << " calls)"; + } + cout << endl; +} + +void ServerMetric::print() +{ + cout << "= Metric server information =" << endl + << "Time spent for loading scans (in ScanHandler::load):" << endl + << " Amount: " << scan_loading.size() << endl + << " Time: " << scan_loading.sum() << "s (" << scan_loading.average() << "s avg.)" << endl + << endl + << "CacheIO reads:" << endl + << " Amount: " << cacheio_read_size.size() << endl + << " Size: " << cacheio_read_size.sum()/1024/1024 << "MB (" << cacheio_read_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_read_time.sum() << "s (" << cacheio_read_time.average() << "s avg.)" << endl + << endl + << "CacheIO writes:" << endl + << " Amount: " << cacheio_write_size.size() << endl + << " Size: " << cacheio_write_size.sum()/1024/1024 << "MB (" << cacheio_write_size.average()/1024 << "KB avg.)" << endl + << " Time: " << cacheio_write_time.sum() << "s (" << cacheio_write_time.average() << "s avg.)" << endl + << "= Resetting metric information =" << endl + << endl; + scan_loading.reset(); + cacheio_write_time.reset(); + cacheio_read_time.reset(); + cacheio_write_size.reset(); + cacheio_read_size.reset(); +} + +void ClientMetric::print(bool scanserver) +{ + cout << "= Metric client information =" << endl; + + // ClientInterface specific ones + if(scanserver) { + cout << "Time for all ClientInterface messages:" << endl; + printTime(clientinterface_time); + + cout << " [" << endl; + + cout << " Time for cache misses:" << endl; + printTime(cache_miss_time, 3); + + cout << " Time for cache allocations:" << endl; + printTime(allocate_time, 3); + + // TODO: invalidations too? + + cout << " Time for frame calls:" << endl; + printTime(frames_time, 3); + + cout << " ]" << endl; + + cout << endl; + } + + // Scan: Loading, reducing and SearchTree related ones + // barebone preparation and parameter setting + if(read_scan_time.size()) { + cout << "Time for loading directory:" << endl; + printTime(read_scan_time); + } + + // getXYZ in calcReducedPoints + if(scan_load_time.size()) { + cout << "Time for loading scans:" << endl; + printTime(scan_load_time); + } + + if(calc_reduced_points_time.size()) { + cout << "Time for reducing scans:" << endl; + printTime(calc_reduced_points_time); + } + + // copying of reduced to original or other way around + if(copy_original_time.size()) { + cout << "Time for copying reduced points:" << endl; + printTime(copy_original_time); + } + + if(create_tree_time.size()) { + cout << "Time for creating SearchTree:" << endl; + printTime(create_tree_time); + } + + // part of create_tree_time which is spent for meta trees in specific + if(create_metatree_time.size()) { + cout << "Time for creating meta-SearchTree:" << endl; + printTime(create_metatree_time); + } + + if(on_demand_reduction_time.size()) { + cout << "Time in on-demand reduction [reduction+transform+copy / copy]:" << endl; + printTime(on_demand_reduction_time); + } + + if(transform_time.size()) { + cout << "Time for transform:" << endl; + printTime(transform_time); + } + + // SLAM + if(matching_time.size()) { + cout << endl; + cout << "Matching time:" << endl; + printTime(matching_time); + cout << "Corrected matching time without on-demand loading, reduction and tree creation:" << endl; + // match - scan loading in calcReducedPoints - calcReducedPoints - transform (irrelevant) - copy to original - createTree + cout << " " << + matching_time.sum() + - scan_load_time.sum() + - calc_reduced_points_time.sum() + - copy_original_time.sum() + - create_tree_time.sum() + << "s" << endl; + } + + cout << endl; +} diff --git a/src/slam6d/point_type.cc b/src/slam6d/point_type.cc new file mode 100644 index 0000000..e659c19 --- /dev/null +++ b/src/slam6d/point_type.cc @@ -0,0 +1,209 @@ +/* + * point_type implementation + * + * Copyright (C) Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Representation of a 3D point type + * @author Jan Elsberg. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ + +#include "slam6d/point_type.h" + +#include "slam6d/scan.h" + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +#include + +#include +using std::runtime_error; + + + +PointType::PointType() { + types = USE_NONE; + pointdim = 3; + dimensionmap[1] = dimensionmap[2] = dimensionmap[3] = dimensionmap[4] = dimensionmap[5] = dimensionmap[6] = dimensionmap[7] = 1; // choose height per default + dimensionmap[0] = 1; // height +} + +PointType::PointType(unsigned int _types) : types(_types) { + dimensionmap[1] = dimensionmap[2] = dimensionmap[3] = dimensionmap[4] = dimensionmap[5] = dimensionmap[6] = dimensionmap[7] = 1; // choose height per default + dimensionmap[0] = 1; // height + + pointdim = 3; + if (types & PointType::USE_REFLECTANCE) dimensionmap[1] = pointdim++; + if (types & PointType::USE_AMPLITUDE) dimensionmap[2] = pointdim++; + if (types & PointType::USE_DEVIATION) dimensionmap[3] = pointdim++; + if (types & PointType::USE_TYPE) dimensionmap[4] = pointdim++; + if (types & PointType::USE_COLOR) dimensionmap[5] = pointdim++; + if (types & PointType::USE_TIME) dimensionmap[6] = pointdim++; + if (types & PointType::USE_INDEX) dimensionmap[7] = pointdim++; +} + +bool PointType::hasReflectance() { + return hasType(USE_REFLECTANCE); +} +bool PointType::hasAmplitude() { + return hasType(USE_AMPLITUDE); +} +bool PointType::hasDeviation() { + return hasType(USE_DEVIATION); +} +bool PointType::hasType() { + return hasType(USE_TYPE); +} +bool PointType::hasColor() { + return hasType(USE_COLOR); +} +bool PointType::hasTime() { + return hasType(USE_TIME); +} + +bool PointType::hasIndex() { + return hasType(USE_INDEX); +} + +unsigned int PointType::getReflectance() { + return dimensionmap[1]; +} + +unsigned int PointType::getAmplitude() { + return dimensionmap[2]; +} + +unsigned int PointType::getDeviation() { + return dimensionmap[3]; +} + +unsigned int PointType::getTime() { + return dimensionmap[6]; +} + +unsigned int PointType::getIndex() { + return dimensionmap[7]; +} + +unsigned int PointType::getType() { + return dimensionmap[4]; +} + +unsigned int PointType::getType(unsigned int type) { + if (type == USE_NONE ) { + return dimensionmap[0]; + } else if (type == USE_HEIGHT) { + return dimensionmap[0]; + } else if (type == USE_REFLECTANCE) { + return dimensionmap[1]; + } else if (type == USE_AMPLITUDE) { + return dimensionmap[2]; + } else if (type == USE_DEVIATION) { + return dimensionmap[3]; + } else if (type == USE_TYPE) { + return dimensionmap[4]; + } else if (type == USE_COLOR) { + return dimensionmap[5]; + } else if (type == USE_TIME) { + return dimensionmap[6]; + } else { + return 0; + } +} + + +unsigned int PointType::getPointDim() { return pointdim; } + +PointType PointType::deserialize(std::ifstream &f) { + unsigned int types; + f.read(reinterpret_cast(&types), sizeof(unsigned int)); + return PointType(types); +} + +void PointType::serialize(std::ofstream &f) { + f.write(reinterpret_cast(&types), sizeof(unsigned int)); +} + +unsigned int PointType::toFlags() const { return types; } + +bool PointType::hasType(unsigned int type) { + return types & type; +} + + +const unsigned int PointType::USE_NONE = 0; +const unsigned int PointType::USE_REFLECTANCE = 1; +const unsigned int PointType::USE_AMPLITUDE = 2; +const unsigned int PointType::USE_DEVIATION = 4; +const unsigned int PointType::USE_HEIGHT = 8; +const unsigned int PointType::USE_TYPE = 16; +const unsigned int PointType::USE_COLOR = 32; +const unsigned int PointType::USE_TIME = 64; +const unsigned int PointType::USE_INDEX = 128; + + +void PointType::useScan(Scan* scan) +{ + // clear pointers first + m_xyz = 0; m_rgb = 0; m_reflectance = 0; m_amplitude = 0; m_type = 0; m_deviation = 0; + + // collectively load data to avoid unneccessary loading times due to split get("") calls + unsigned int types = DATA_XYZ; + if(hasColor()) types |= DATA_RGB; + if(hasReflectance()) types |= DATA_REFLECTANCE; + if(hasAmplitude()) types |= DATA_AMPLITUDE; + if(hasType()) types |= DATA_TYPE; + if(hasDeviation()) types |= DATA_DEVIATION; + scan->get(types); + + // access data + try { + m_xyz = new DataXYZ(scan->get("xyz")); + if(hasColor()) m_rgb = new DataRGB(scan->get("rgb")); + if(hasReflectance()) m_reflectance = new DataReflectance(scan->get("reflectance")); + if(hasAmplitude()) m_amplitude = new DataAmplitude(scan->get("amplitude")); + if(hasType()) m_type = new DataType(scan->get("type")); + if(hasDeviation()) m_deviation = new DataDeviation(scan->get("deviation")); + + // check if data is available, otherwise reset pointer to indicate that the scan doesn't prove this value + if(m_rgb && !m_rgb->valid()) { delete m_rgb; m_rgb = 0; } + if(m_reflectance && !m_reflectance->valid()) { delete m_reflectance; m_reflectance = 0; } + if(m_amplitude && !m_amplitude->valid()) { delete m_amplitude; m_amplitude = 0; } + if(m_type && !m_type->valid()) { delete m_type; m_type = 0; } + if(m_deviation && !m_deviation->valid()) { delete m_deviation; m_deviation = 0; } + } catch(runtime_error& e) { + // unlock everything again + clearScan(); + throw e; + } +} + +void PointType::clearScan() +{ + // unlock data access + if(m_xyz) delete m_xyz; + if(hasColor() && m_rgb) delete m_rgb; + if(hasReflectance() && m_reflectance) delete m_reflectance; + if(hasAmplitude() && m_amplitude) delete m_amplitude; + if(hasType() && m_type) delete m_type; + if(hasDeviation() && m_deviation) delete m_deviation; + + // TODO: scan->clear() on all of these types +} + + +unsigned int PointType::getScanSize(Scan* scan) +{ + return scan->size("xyz"); +} diff --git a/src/slam6d/pointfilter.cc b/src/slam6d/pointfilter.cc new file mode 100644 index 0000000..8ff6092 --- /dev/null +++ b/src/slam6d/pointfilter.cc @@ -0,0 +1,187 @@ +/* + * pointfilter implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/pointfilter.h" + +using std::string; +using std::map; +#include +using std::stringstream; +#include +using std::runtime_error; + +#include +using std::cout; +using std::endl; + + + +map* PointFilter::factory = new map; + + + +PointFilter::PointFilter() : + m_changed(true), m_checker(0) +{ +} + +PointFilter::PointFilter(const std::string& params) : + m_changed(true), m_checker(0) +{ + size_t start = 0, end = string::npos; + while((end = params.find(' ', start)) != string::npos) { + // extract the word (start-end+1) without the space (-1) + string key(params.substr(start, start-end)); + end++; + // get the second word position + start = params.find(' ', end); + // insert + m_params[key] = params.substr(end, (start-end)); + // advance to the character after space + if(start != string::npos) + start++; + else + break; + } +} + +PointFilter::~PointFilter() +{ + if(m_checker) + delete m_checker; +} + +PointFilter& PointFilter::setRange(double maxDist, double minDist) +{ + m_changed = true; + stringstream s_max; s_max << maxDist; + stringstream s_min; s_min << minDist; + m_params["rangemax"] = s_max.str(); + m_params["rangemin"] = s_min.str(); + return *this; +} + +PointFilter& PointFilter::setHeight(double top, double bottom) +{ + m_changed = true; + stringstream s_top; s_top << top; + stringstream s_bottom; s_bottom << bottom; + m_params["heighttop"] = s_top.str(); + m_params["heightbottom"] = s_bottom.str(); + return *this; +} + +std::string PointFilter::getParams() +{ + stringstream s; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + s << (*it).first << " " << (*it).second << " "; + } + return s.str(); +} + +void PointFilter::createCheckers() +{ + // delete the outdated ones + if(m_checker) { + delete m_checker; + m_checker = 0; + } + + // create new ones + Checker** current = &m_checker; + for(map::iterator it = m_params.begin(); it != m_params.end(); ++it) { + *current = (*factory)[it->first](it->second); + // if a Checker has been successfully created advance to its pointer in the chain + if(*current) { + current = &((*current)->m_next); + } + } +} + + + +Checker::Checker() : + m_next(0) +{ +} + +Checker::~Checker() +{ + if(m_next) + delete m_next; +} + + + +// create factory instaces for key string to factory function mapping +namespace { + CheckerFactory max("rangemax"); + CheckerFactory min("rangemin"); + CheckerFactory top("heighttop"); + CheckerFactory bottom("heightbottom"); +} + + + +CheckerRangeMax::CheckerRangeMax(const std::string& value) { + stringstream s(value); + s >> m_max; + // default value: no check + if(m_max <= 0.0) throw runtime_error("No range filter needed."); + m_max *= m_max; +} + +bool CheckerRangeMax::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] < m_max) + return true; + return false; +} + + + +CheckerRangeMin::CheckerRangeMin(const std::string& value) { + stringstream s(value); + s >> m_min; + // default value: no check + if(m_min <= 0.0) throw runtime_error("No range filter needed."); + m_min *= m_min; +} + +bool CheckerRangeMin::test(double* point) { + if(point[0]*point[0] + point[1]*point[1] + point[2]*point[2] > m_min) + return true; + return false; +} + + + +CheckerHeightTop::CheckerHeightTop(const std::string& value) { + stringstream s(value); + s >> m_top; +} + +bool CheckerHeightTop::test(double* point) { + if(point[1] < m_top) + return true; + return false; +} + + + +CheckerHeightBottom::CheckerHeightBottom(const std::string& value) { + stringstream s(value); + s >> m_bottom; +} + +bool CheckerHeightBottom::test(double* point) { + if(point[1] > m_bottom) + return true; + return false; +} diff --git a/src/slam6d/pose2frames.cc b/src/slam6d/pose2frames.cc new file mode 100644 index 0000000..fe09685 --- /dev/null +++ b/src/slam6d/pose2frames.cc @@ -0,0 +1,145 @@ +/* + * pose2frames implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#include +#else +#include "XGetopt.h" +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads pose files from directory/scan???.pose and converts them to directory/scan???.frames to be used by show." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char poseFileName[255]; + char frameFileName[255]; + + ifstream pose_in; + ofstream pose_out; + + double rPos[3],rPosTheta[3]; + + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read +#ifndef _MSC_VER + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++); +# else + sprintf(frameFileName,"%sscan%.3d.frames",dir,fileCounter); + sprintf(poseFileName,"%sscan%.3d.pose",dir,fileCounter++); +#endif + + pose_in.open(poseFileName); + + // read 3D scan + if (!pose_in.good()) break; // no more files in the directory + + cout << "Reading pose " << poseFileName << "..." << endl; + + for (unsigned int i = 0; i < 3; pose_in >> rPos[i++]); + for (unsigned int i = 0; i < 3; pose_in >> rPosTheta[i++]); + + // convert angles from deg to rad + for (unsigned int i=0; i < 3; i++) rPosTheta[i] = rad(rPosTheta[i]); + + cerr << rPos[0] << " " << rPos[1] << " " << rPos[2] << endl; + + pose_in.close(); + pose_in.clear(); + + cout << rPos[0] << " "<< rPos[1] << " "<< rPos[2] << endl; + cout << rPosTheta[0] << " "<< rPosTheta[1] << " "<< rPosTheta[2] << endl; + + double tempR[16]; + EulerToMatrix4(rPos, rPosTheta, tempR); // convert previous rPosTheta + + pose_out.open(frameFileName); + + cout << "Writing frame... " << frameFileName << endl; + + for (int j=0;j<10;j++) { + for (int i=0; i < 16; i++) { + pose_out << tempR[i] << " "; + } + pose_out << " 3" << endl; + } + + pose_out.close(); + pose_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/src/slam6d/riegl2frames.cc b/src/slam6d/riegl2frames.cc new file mode 100644 index 0000000..5af96ad --- /dev/null +++ b/src/slam6d/riegl2frames.cc @@ -0,0 +1,179 @@ +/* + * riegl2frames implementation + * + * Copyright (C) Dorit Borrmann, Jan Elseberg + * + * Released under the GPL version 3. + * + */ + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +//#include "scan.h" +#include "slam6d/globals.icc" +#include + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***\n" << endl; + cout << endl + << "Usage: " << argv[0] << " [-s NR] [-e NR] directory" << endl << endl; + + cout << " -s NR start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting starts with 0]" << endl + << " -e NR end after scan NR" << "" << endl + << endl; + cout << "Reads dat files (RIEGL pose files) from directory/scan???.dat and converts them to directory/scan???.frames and directory/scan???.pose in the slam6D standard file format." << endl; + abort(); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + int fileCounter = start; + + char rieglFileName[255]; + char poseFileName[255]; + char frameFileName[255]; + + ifstream riegl_in; + ofstream pose_out; + ofstream frames_out; + + for(;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + + snprintf(rieglFileName,255,"%sscan%.3d.dat",dir,fileCounter); + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(poseFileName,255,"%sscan%.3d.pose",dir,fileCounter++); + + riegl_in.open(rieglFileName); + // read pose + + if (!riegl_in.good()) return -1; // no more files in the directory + + cout << "Processing Scan " << rieglFileName; + cout.flush(); + + double rPos[3], rPosTheta[16]; + double inMatrix[16], tMatrix[16]; + for (unsigned int i = 0; i < 16; riegl_in >> inMatrix[i++]); + + riegl_in.close(); + + // transform input pose + tMatrix[0] = inMatrix[5]; + tMatrix[1] = -inMatrix[9]; + tMatrix[2] = -inMatrix[1]; + tMatrix[3] = -inMatrix[13]; + tMatrix[4] = -inMatrix[6]; + tMatrix[5] = inMatrix[10]; + tMatrix[6] = inMatrix[2]; + tMatrix[7] = inMatrix[14]; + tMatrix[8] = -inMatrix[4]; + tMatrix[9] = inMatrix[8]; + tMatrix[10] = inMatrix[0]; + tMatrix[11] = 100*inMatrix[12]; + tMatrix[12] = -100*inMatrix[7]; + tMatrix[13] = 100*inMatrix[11]; + tMatrix[14] = 100*inMatrix[3]; + tMatrix[15] = inMatrix[15]; + + Matrix4ToEuler(tMatrix, rPosTheta, rPos); + + double euler[6]; + + euler[0] = rPos[0]; + euler[1] = rPos[1]; + euler[2] = rPos[2]; + euler[3] = rPosTheta[0]; + euler[4] = rPosTheta[1]; + euler[5] = rPosTheta[2]; + + pose_out.open(poseFileName); + frames_out.open(frameFileName); + + cout << "Writing pose... " << poseFileName << endl; + + for(int i = 0; i < 3; i++) { + pose_out << euler[i] << " "; + } + pose_out << endl; + + for(int i = 3; i < 6; i++) { + pose_out << deg(euler[i]) << " "; + } + pose_out << endl; + + cout << "Writing frames... " << poseFileName << endl; + + for(int j = 0; j < 2; j++) { + for (int i=0; i < 16; i++) { + frames_out << tMatrix[i] << " "; + } + frames_out << "2" << endl; + } + + pose_out.close(); + pose_out.clear(); + + frames_out.close(); + frames_out.clear(); + + + cout << " done." << endl; + } + +} + diff --git a/src/slam6d/scan.cc b/src/slam6d/scan.cc new file mode 100644 index 0000000..38b47d9 --- /dev/null +++ b/src/slam6d/scan.cc @@ -0,0 +1,786 @@ +/* + * scan implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Dorit Borrmann, Jan Elseberg, Thomas Escher + * + * Released under the GPL version 3. + * + */ + +#include "slam6d/scan.h" + +#include "slam6d/basicScan.h" +#include "slam6d/managedScan.h" +#include "slam6d/metaScan.h" +#include "slam6d/searchTree.h" +#include "slam6d/kd.h" +#include "slam6d/Boctree.h" +#include "slam6d/globals.icc" + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif + +#ifdef _MSC_VER +#define _NO_PARALLEL_READ +#endif + +#ifdef __APPLE__ +#define _NO_PARALLEL_READ +#endif + +using std::vector; + + +vector Scan::allScans; +bool Scan::scanserver = false; + + +void Scan::openDirectory(bool scanserver, const std::string& path, IOType type, + int start, int end) +{ + Scan::scanserver = scanserver; + if(scanserver) + ManagedScan::openDirectory(path, type, start, end); + else + BasicScan::openDirectory(path, type, start, end); +} + +void Scan::closeDirectory() +{ + if(scanserver) + ManagedScan::closeDirectory(); + else + BasicScan::closeDirectory(); +} + +Scan::Scan() +{ + unsigned int i; + + // pose and transformations + for(i = 0; i < 3; ++i) rPos[i] = 0; + for(i = 0; i < 3; ++i) rPosTheta[i] = 0; + for(i = 0; i < 4; ++i) rQuat[i] = 0; + M4identity(transMat); + M4identity(transMatOrg); + M4identity(dalignxf); + + // trees and reduction methods + cuda_enabled = false; + nns_method = -1; + kd = 0; + ann_kd_tree = 0; + + // reduction on-demand + reduction_voxelSize = 0.0; + reduction_nrpts = 0; + reduction_pointtype = PointType(); + + // flags + m_has_reduced = false; + + // octtree + octtree_reduction_voxelSize = 0.0; + octtree_voxelSize = 0.0; + octtree_pointtype = PointType(); + octtree_loadOct = false; + octtree_saveOct = false; +} + +Scan::~Scan() +{ + if(kd) delete kd; +} + +void Scan::setReductionParameter(double voxelSize, int nrpts, PointType pointtype) +{ + reduction_voxelSize = voxelSize; + reduction_nrpts = nrpts; + reduction_pointtype = pointtype; +} + +void Scan::setSearchTreeParameter(int nns_method, bool cuda_enabled) +{ + searchtree_nnstype = nns_method; + searchtree_cuda_enabled = cuda_enabled; +} + +void Scan::setOcttreeParameter(double reduction_voxelSize, double voxelSize, PointType pointtype, bool loadOct, bool saveOct) +{ + octtree_reduction_voxelSize = reduction_voxelSize; + octtree_voxelSize = voxelSize; + octtree_pointtype = pointtype; + octtree_loadOct = loadOct; + octtree_saveOct = saveOct; +} + +void Scan::clear(unsigned int types) +{ + if(types & DATA_XYZ) clear("xyz"); + if(types & DATA_RGB) clear("rgb"); + if(types & DATA_REFLECTANCE) clear("reflectance"); + if(types & DATA_AMPLITUDE) clear("amplitude"); + if(types & DATA_TYPE) clear("type"); + if(types & DATA_DEVIATION) clear("deviation"); +} + +SearchTree* Scan::getSearchTree() +{ + // if the search tree hasn't been created yet, calculate everything + if(kd == 0) { + createSearchTree(); + } + return kd; +} + +void Scan::toGlobal() { + calcReducedPoints(); + transform(transMatOrg, INVALID); +} + +/** + * Computes a search tree depending on the type. + */ +void Scan::createSearchTree() +{ + // multiple threads will call this function at the same time because they all work on one pair of Scans, just let the first one (who sees a nullpointer) do the creation +// boost::lock_guard lock(m_mutex_create_tree); + if(kd != 0) return; + + // make sure the original points are created before starting the measurement + DataXYZ xyz_orig(get("xyz reduced original")); + +#ifdef WITH_METRICS + Timer tc = ClientMetric::create_tree_time.start(); +#endif //WITH_METRICS + + createSearchTreePrivate(); + +#ifdef WITH_METRICS + ClientMetric::create_tree_time.end(tc); +#endif //WITH_METRICS +} + +void Scan::calcReducedOnDemand() +{ + // multiple threads will call this function at the same time because they all work on one pair of Scans, just let the first one (who sees count as zero) do the reduction +// boost::lock_guard lock(m_mutex_reduction); + if(m_has_reduced) return; + +#ifdef WITH_METRICS + Timer t = ClientMetric::on_demand_reduction_time.start(); +#endif //WITH_METRICS + + calcReducedOnDemandPrivate(); + + m_has_reduced = true; + +#ifdef WITH_METRICS + ClientMetric::on_demand_reduction_time.end(t); +#endif //WITH_METRICS +} + +void Scan::copyReducedToOriginal() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::copy_original_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r(get("xyz reduced")); + unsigned int size = xyz_r.size(); + DataXYZ xyz_r_orig(create("xyz reduced original", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r_orig[i][j] = xyz_r[i][j]; + } + } + +#ifdef WITH_METRICS + ClientMetric::copy_original_time.end(t); +#endif //WITH_METRICS +} + +void Scan::copyOriginalToReduced() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::copy_original_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r_orig(get("xyz reduced original")); + unsigned int size = xyz_r_orig.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = xyz_r_orig[i][j]; + } + } + +#ifdef WITH_METRICS + ClientMetric::copy_original_time.end(t); +#endif //WITH_METRICS +} + + + +/** + * Computes an octtree of the current scan, then getting the + * reduced points as the centers of the octree voxels. + */ +void Scan::calcReducedPoints() +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::scan_load_time.start(); +#endif //WITH_METRICS + + // get xyz to start the scan load, separated here for time measurement + DataXYZ xyz(get("xyz")); + + // if the scan hasn't been loaded we can't calculate anything + if(xyz.size() == 0) + throw runtime_error("Could not calculate reduced points, XYZ data is empty"); + +#ifdef WITH_METRICS + ClientMetric::scan_load_time.end(t); + Timer tl = ClientMetric::calc_reduced_points_time.start(); +#endif //WITH_METRICS + + // no reduction needed + // copy vector of points to array of points to avoid + // further copying + if(reduction_voxelSize <= 0.0) { + // copy the points + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*xyz.size())); + for(unsigned int i = 0; i < xyz.size(); ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = xyz[i][j]; + } + } + } else { + // start reduction + + // build octree-tree from CurrentScan + // put full data into the octtree + BOctTree *oct = new BOctTree(PointerArray(xyz).get(), + xyz.size(), reduction_voxelSize, reduction_pointtype); + + vector center; + center.clear(); + + if (reduction_nrpts > 0) { + if (reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + // storing it as reduced scan + unsigned int size = center.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; + } + +#ifdef WITH_METRICS + ClientMetric::calc_reduced_points_time.end(tl); +#endif //WITH_METRICS +} + +/** + * Merges the scan's intrinsic coordinates with the robot position. + * @param prevScan The scan that's transformation is extrapolated, + * i.e., odometry extrapolation + * + * For additional information see the following paper (jfr2007.pdf): + * + * Andreas N眉chter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann, + * 6D SLAM - 3D Mapping Outdoor Environments Journal of Field Robotics (JFR), + * Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent + * Systems, Wiley & Son, ISSN 1556-4959, Volume 24, Issue 8-9, pages 699 - 722, + * August/September, 2007 + * + */ +void Scan::mergeCoordinatesWithRoboterPosition(Scan* prevScan) +{ + double tempMat[16], deltaMat[16]; + M4inv(prevScan->get_transMatOrg(), tempMat); + MMult(prevScan->get_transMat(), tempMat, deltaMat); + transform(deltaMat, INVALID); //apply delta transformation of the previous scan +} + +/** + * The method transforms all points with the given transformation matrix. + */ +void Scan::transformAll(const double alignxf[16]) +{ + DataXYZ xyz(get("xyz")); + unsigned int i=0 ; +// #pragma omp parallel for + for(; i < xyz.size(); ++i) { + transform3(alignxf, xyz[i]); + } + // TODO: test for ManagedScan compability, may need a touch("xyz") to mark saving the new values +} + +//! Internal function of transform which alters the reduced points +void Scan::transformReduced(const double alignxf[16]) +{ +#ifdef WITH_METRICS + Timer t = ClientMetric::transform_time.start(); +#endif //WITH_METRICS + + DataXYZ xyz_r(get("xyz reduced")); + unsigned int i=0; + // #pragma omp parallel for + for( ; i < xyz_r.size(); ++i) { + transform3(alignxf, xyz_r[i]); + } + +#ifdef WITH_METRICS + ClientMetric::transform_time.end(t); +#endif //WITH_METRICS +} + +//! Internal function of transform which handles the matrices +void Scan::transformMatrix(const double alignxf[16]) +{ + double tempxf[16]; + + // apply alignxf to transMat and update pose vectors + MMult(alignxf, transMat, tempxf); + memcpy(transMat, tempxf, sizeof(transMat)); + Matrix4ToEuler(transMat, rPosTheta, rPos); + Matrix4ToQuat(transMat, rQuat); + +#ifdef DEBUG + cerr << "(" << rPos[0] << ", " << rPos[1] << ", " << rPos[2] << ", " + << rPosTheta[0] << ", " << rPosTheta[1] << ", " << rPosTheta[2] << ")" << endl; + + cerr << transMat << endl; +#endif + + // apply alignxf to dalignxf + MMult(alignxf, dalignxf, tempxf); + memcpy(dalignxf, tempxf, sizeof(transMat)); +} + +/** + * Transforms the scan by a given transformation and writes a new frame. The idea + * is to write for every transformation in all files, such that the show program + * is able to determine, whcih scans have to be drawn in which color. Hidden scans + * (or later processed scans) are written with INVALID. + * + * @param alignxf Transformation matrix + * @param colour Specifies which colour should the written to the frames file + * @param islum Is the transformtion part of LUM, i.e., all scans are transformed? + * In this case only LUM transformation is stored, otherwise all scans are processed + * -1 no transformation is stored + * 0 ICP transformation + * 1 LUM transformation, all scans except last scan + * 2 LUM transformation, last scan only + */ +void Scan::transform(const double alignxf[16], const AlgoType type, int islum) +{ + MetaScan* meta = dynamic_cast(this); + + if(meta) { + for(unsigned int i = 0; i < meta->size(); ++i) { + meta->getScan(i)->transform(alignxf, type, -1); + } + } + +#ifdef TRANSFORM_ALL_POINTS + transformAll(alignxf); +#endif //TRANSFORM_ALL_POINTS + +#ifdef DEBUG + cerr << alignxf << endl; + cerr << "(" << rPos[0] << ", " << rPos[1] << ", " << rPos[2] << ", " + << rPosTheta[0] << ", " << rPosTheta[1] << ", " << rPosTheta[2] << ") ---> "; +#endif + + // transform points + transformReduced(alignxf); + + // update matrices + transformMatrix(alignxf); + + // store transformation in frames + if(type != INVALID) { +#ifdef WITH_METRICS + Timer t = ClientMetric::add_frames_time.start(); +#endif //WITH_METRICS + bool in_meta; + MetaScan* meta = dynamic_cast(this); + int found = 0; + unsigned int scans_size = allScans.size(); + + switch (islum) { + case -1: + // write no tranformation + break; + case 0: + for(unsigned int i = 0; i < scans_size; ++i) { + Scan* scan = allScans[i]; + in_meta = false; + if(meta) { + for(unsigned int j = 0; j < meta->size(); ++j) { + if(meta->getScan(j) == scan) { + found = i; + in_meta = true; + } + } + } + + if(scan == this || in_meta) { + found = i; + scan->addFrame(type); + } else { + if(found == 0) { + scan->addFrame(ICPINACTIVE); + } else { + scan->addFrame(INVALID); + } + } + } + break; + case 1: + addFrame(type); + break; + case 2: + for(unsigned int i = 0; i < scans_size; ++i) { + Scan* scan = allScans[i]; + if(scan == this) { + found = i; + addFrame(type); + allScans[0]->addFrame(type); + continue; + } + if (found != 0) { + scan->addFrame(INVALID); + } + } + break; + default: + cerr << "invalid point transformation mode" << endl; + } + +#ifdef WITH_METRICS + ClientMetric::add_frames_time.end(t); +#endif //WITH_METRICS + } +} + +/** + * Transforms the scan by a given transformation and writes a new frame. The idea + * is to write for every transformation in all files, such that the show program + * is able to determine, whcih scans have to be drawn in which color. Hidden scans + * (or later processed scans) are written with INVALID. + * + * @param alignQuat Quaternion for the rotation + * @param alignt Translation vector + * @param colour Specifies which colour should the written to the frames file + * @param islum Is the transformtion part of LUM, i.e., all scans are transformed? + * In this case only LUM transformation is stored, otherwise all scans are processed + * -1 no transformation is stored + * 0 ICP transformation + * 1 LUM transformation, all scans except last scan + * 2 LUM transformation, last scan only + */ +void Scan::transform(const double alignQuat[4], const double alignt[3], + const AlgoType type, int islum) +{ + double alignxf[16]; + QuatToMatrix4(alignQuat, alignt, alignxf); + transform(alignxf, type, islum); +} + +/** + * Transforms the scan, so that the given Matrix + * prepresent the next pose. + * + * @param alignxf Transformation matrix to which this scan will be set to + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToMatrix(double alignxf[16], const AlgoType type, int islum) +{ + double tinv[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + transform(alignxf, type, islum); +} + +/** + * Transforms the scan, so that the given Euler angles + * prepresent the next pose. + * + * @param rP Translation to which this scan will be set to + * @param rPT Orientation as Euler angle to which this scan will be set + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToEuler(double rP[3], double rPT[3], const AlgoType type, int islum) +{ +#ifdef WITH_METRICS + // called in openmp context in lum6Deuler.cc:422 + ClientMetric::transform_time.set_threadsafety(true); + ClientMetric::add_frames_time.set_threadsafety(true); +#endif //WITH_METRICS + + double tinv[16]; + double alignxf[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + EulerToMatrix4(rP, rPT, alignxf); + transform(alignxf, type, islum); + +#ifdef WITH_METRICS + ClientMetric::transform_time.set_threadsafety(false); + ClientMetric::add_frames_time.set_threadsafety(false); +#endif //WITH_METRICS +} + +/** + * Transforms the scan, so that the given Euler angles + * prepresent the next pose. + * + * @param rP Translation to which this scan will be set to + * @param rPQ Orientation as Quaternion to which this scan will be set + * @param islum Is the transformation part of LUM? + */ +void Scan::transformToQuat(double rP[3], double rPQ[4], const AlgoType type, int islum) +{ + double tinv[16]; + double alignxf[16]; + M4inv(transMat, tinv); + transform(tinv, INVALID); + QuatToMatrix4(rPQ, rP, alignxf); + transform(alignxf, type, islum); +} + +/** + * Calculates Source\Target + * Calculates a set of corresponding point pairs and returns them. It + * computes the k-d trees and deletes them after the pairs have been + * found. This slow function should be used only for testing + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + */ + +void Scan::getNoPairsSimple(vector &diff, + Scan* Source, Scan* Target, + int thread_num, + double max_dist_match2) +{ + DataXYZ xyz_r(Source->get("xyz reduced")); + KDtree* kd = new KDtree(PointerArray(Target->get("xyz reduced")).get(), Target->size("xyz reduced")); + + cout << "Max: " << max_dist_match2 << endl; + for (unsigned int i = 0; i < xyz_r.size(); i++) { + + double p[3]; + p[0] = xyz_r[i][0]; + p[1] = xyz_r[i][1]; + p[2] = xyz_r[i][2]; + + + double *closest = kd->FindClosest(p, max_dist_match2, thread_num); + if (!closest) { + diff.push_back(xyz_r[i]); + //diff.push_back(closest); + } + } + + delete kd; +} + +/** + * Calculates a set of corresponding point pairs and returns them. It + * computes the k-d trees and deletes them after the pairs have been + * found. This slow function should be used only for testing + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + */ +void Scan::getPtPairsSimple(vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, + double *centroid_m, double *centroid_d) +{ + KDtree* kd = new KDtree(PointerArray(Source->get("xyz reduced")).get(), Source->size("xyz reduced")); + DataXYZ xyz_r(Target->get("xyz reduced")); + + for (unsigned int i = 0; i < xyz_r.size(); i++) { + if (rnd > 1 && rand(rnd) != 0) continue; // take about 1/rnd-th of the numbers only + + double p[3]; + p[0] = xyz_r[i][0]; + p[1] = xyz_r[i][1]; + p[2] = xyz_r[i][2]; + + double *closest = kd->FindClosest(p, max_dist_match2, thread_num); + if (closest) { + centroid_m[0] += closest[0]; + centroid_m[1] += closest[1]; + centroid_m[2] += closest[2]; + centroid_d[0] += p[0]; + centroid_d[1] += p[1]; + centroid_d[2] += p[2]; + PtPair myPair(closest, p); + pairs->push_back(myPair); + } + } + centroid_m[0] /= pairs[thread_num].size(); + centroid_m[1] /= pairs[thread_num].size(); + centroid_m[2] /= pairs[thread_num].size(); + centroid_d[0] /= pairs[thread_num].size(); + centroid_d[1] /= pairs[thread_num].size(); + centroid_d[2] /= pairs[thread_num].size(); + + delete kd; +} + + +/** + * Calculates a set of corresponding point pairs and returns them. + * The function uses the k-d trees stored the the scan class, thus + * the function createTrees and deletTrees have to be called before + * resp. afterwards. + * Here we implement the so called "fast corresponding points"; k-d + * trees are not recomputed, instead the apply the inverse transformation + * to to the given point set. + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num number of the thread (for parallelization) + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + * @return a set of corresponding point pairs + */ +void Scan::getPtPairs(vector *pairs, + Scan* Source, Scan* Target, + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d) +{ + // initialize centroids + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[i] = 0; + centroid_d[i] = 0; + } + + // get point pairs + DataXYZ xyz_r(Target->get("xyz reduced")); + Source->getSearchTree()->getPtPairs(pairs, Source->dalignxf, + xyz_r, 0, xyz_r.size(), + thread_num, + rnd, max_dist_match2, sum, centroid_m, centroid_d); + + // normalize centroids + unsigned int size = pairs->size(); + if(size != 0) { + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[i] /= size; + centroid_d[i] /= size; + } + } +} + + +/** + * Calculates a set of corresponding point pairs and returns them. + * The function uses the k-d trees stored the the scan class, thus + * the function createTrees and delteTrees have to be called before + * resp. afterwards. + * + * @param pairs The resulting point pairs (vector will be filled) + * @param Source The scan whose points are matched to Targets' points + * @param Target The scan to whiche the points are matched + * @param thread_num The number of the thread that is computing ptPairs in parallel + * @param step The number of steps for parallelization + * @param rnd randomized point selection + * @param max_dist_match2 maximal allowed distance for matching + * @param sum The sum of distances of the points + * + * These intermediate values are for the parallel ICP algorithm + * introduced in the paper + * "The Parallel Iterative Closest Point Algorithm" + * by Langis / Greenspan / Godin, IEEE 3DIM 2001 + * + */ +void Scan::getPtPairsParallel(vector *pairs, Scan* Source, Scan* Target, + int thread_num, int step, + int rnd, double max_dist_match2, + double *sum, + double centroid_m[OPENMP_NUM_THREADS][3], double centroid_d[OPENMP_NUM_THREADS][3]) +{ + // initialize centroids + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[thread_num][i] = 0; + centroid_d[thread_num][i] = 0; + } + + // get point pairs + SearchTree* search = Source->getSearchTree(); + // differentiate between a meta scan (which has no reduced points) and a normal scan + // if Source is also a meta scan it already has a special meta-kd-tree + MetaScan* meta = dynamic_cast(Target); + if(meta) { + for(unsigned int i = 0; i < meta->size(); ++i) { + // determine step for each scan individually + DataXYZ xyz_r(meta->getScan(i)->get("xyz reduced")); + unsigned int max = xyz_r.size(); + unsigned int step = max / OPENMP_NUM_THREADS; + // call ptpairs for each scan and accumulate ptpairs, centroids and sum + search->getPtPairs(&pairs[thread_num], Source->dalignxf, + xyz_r, step * thread_num, step * thread_num + step, + thread_num, + rnd, max_dist_match2, sum[thread_num], + centroid_m[thread_num], centroid_d[thread_num]); + } + } else { + DataXYZ xyz_r(Target->get("xyz reduced")); + search->getPtPairs(&pairs[thread_num], Source->dalignxf, + xyz_r, thread_num * step, thread_num * step + step, + thread_num, + rnd, max_dist_match2, sum[thread_num], + centroid_m[thread_num], centroid_d[thread_num]); + } + + // normalize centroids + unsigned int size = pairs[thread_num].size(); + if(size != 0) { + for(unsigned int i = 0; i < 3; ++i) { + centroid_m[thread_num][i] /= size; + centroid_d[thread_num][i] /= size; + } + } +} + +unsigned int Scan::getMaxCountReduced(ScanVector& scans) +{ + unsigned int max = 0; + for(std::vector::iterator it = scans.begin(); it != scans.end(); ++it) { + unsigned int count = (*it)->size("xyz reduced"); + if(count > max) + max = count; + } + return max; +} diff --git a/src/slam6d/scan_diff.cc b/src/slam6d/scan_diff.cc new file mode 100644 index 0000000..ba3783a --- /dev/null +++ b/src/slam6d/scan_diff.cc @@ -0,0 +1,368 @@ +/* + * scan_diff implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Main program calculating difference of 3D scans. + * + * Program for calculating the difference between scans after matching with slam6d + * Usage: bin/scan_diff -s -e -d 'dir', + * Use -s for the first scan, -e for the second scan + * 'dir' the directory of a set of scans + * The result is a scan in the UOS format (.3d) that contains all points from + * the first scan that do NOT have a corresponding point in the second scan + * within a distance of less than NR units. + * Difference scans will be written to 'dir/diff' + * ATTENTION: All scans between START and END will be loaded! + * @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +using std::ifstream; +#include + +#include "slam6d/scan.h" +#ifdef WITH_SCANSERVER +#include "scanserver/clientInterface.h" +#endif //WITH_SCANSERVER + +#include "slam6d/globals.icc" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << "-s -e [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, rxp,zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR" << endl + << " write all points that have no corresponding point closer than NR 'units'" << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -d 5 dat" << endl + << " " << prog << " --max=5000 -d 10.2 dat" << endl + << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param start first scan number 'start' + * @param end last scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param dist the maximal distance for a point pair + * @param type the scan format + * @param desc true if start is greater than end + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, + int &start, int &end, int &maxDist, int &minDist, double &dist, + IOType &type, bool &desc) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "dist", required_argument, 0, 'd' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:d:s:e:m:M:", longopts, NULL)) != -1) + switch (c) + { + case 'd': + dist = atof(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(start < 0 || end < 0 || start == end) { + cerr << "\n*** You need two different scans for difference calculations ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + if(start > end) { + double tmp = start; + start = end; + end = tmp; + desc = true; + } + + return 0; +} + + +/** + * Main program for calculating the difference of two scans. + * Usage: bin/scan_diff -d -s -e 'dir', + * Use -s and -e for the two scans, + * -d + * and 'dir' the directory of a set of scans + * Difference scans will be written to 'dir/diff/scan[00]s.3d' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double dist = 0; + int start = -1, end = -1; + int maxDist = -1; + int minDist = -1; + IOType type = RIEGL_TXT; + bool desc = false; + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, dist, type, desc); + +#ifdef WITH_SCANSERVER + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } +#endif //WITH_SCANSERVER + + // Get Scans (all scans between start and end) +#ifndef WITH_SCANSERVER + Scan::dir = dir; +#endif //WITH_SCANSERVER + string diffdir = dir + "diff"; + +#ifdef _MSC_VER + int success = mkdir(diffdir.c_str()); +#else + int success = mkdir(diffdir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + cout << "Writing scans to " << diffdir << endl; + } else if(errno == EEXIST) { + cout << "Directory " << diffdir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << diffdir << " failed" << endl; + exit(1); + } + string scanFileName; + string framesFileName; + ifstream frames_in; + double inMatrix0[17]; + double inMatrix1[17]; + + cout << "Reading Scan No. " << start; + framesFileName = dir + "scan" + to_string(start,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix0[i++]); + } + frames_in.close(); + frames_in.clear(); + for(int i = 0; i < 16; i++) { + cout << inMatrix0[i] << " "; + } + cout << endl; + + cout << "Reading Scan No. " << end; + framesFileName = dir + "scan" + to_string(end,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix1[i++]); + } + frames_in.close(); + frames_in.clear(); + for(int i = 0; i < 16; i++) { + cout << inMatrix1[i] << " "; + } + cout << endl; + + Scan::readScans(type, start, end, dir, maxDist, minDist, 0); + int endIndex = Scan::allScans.size() - 1; + + Scan::allScans[0]->calcReducedPoints(-1, 0); + Scan::allScans[0]->transform(inMatrix0, Scan::INVALID); + Scan::allScans[endIndex]->calcReducedPoints(-1, 0); + Scan::allScans[endIndex]->transform(inMatrix1, Scan::INVALID); + + cout << Scan::allScans[0]->get_points_red_size() + << " " << Scan::allScans[endIndex]->get_points_red_size() << endl; + + int thread_num = 0; + vector diff; + double transMat[16]; + + if(desc) { + Scan::getNoPairsSimple(diff, Scan::allScans[endIndex], Scan::allScans[0], thread_num, dist); + M4inv(inMatrix1, transMat); + scanFileName = dir + "diff/scan" + to_string(end,3) + ".3d"; + } else { + Scan::getNoPairsSimple(diff, Scan::allScans[0], Scan::allScans[endIndex], thread_num, dist); + M4inv(inMatrix0, transMat); + scanFileName = dir + "diff/scan" + to_string(start,3) + ".3d"; + } + + cout << endl; + for(int i = 0; i < 16; i++) { + cout << transMat[i] << " "; + } + cout << endl; + for(int i = 0; i < 16; i++) { + cout << inMatrix0[i] << " "; + } + cout << endl; + + ofstream ptsout(scanFileName.c_str()); + + for(unsigned int i = 0; i < diff.size(); i++) { + Point p(diff[i]); + p.transform(transMat); + ptsout << p.x << " " << p.y << " " << p.z << " " << endl; + } + + ptsout.close(); + ptsout.clear(); + + delete Scan::allScans[0]; + Scan::allScans.clear(); + + cout << endl << endl; + cout << "Normal program end." << endl << endl; +} diff --git a/src/slam6d/scan_diff2d.cc b/src/slam6d/scan_diff2d.cc new file mode 100644 index 0000000..0574682 --- /dev/null +++ b/src/slam6d/scan_diff2d.cc @@ -0,0 +1,586 @@ +/* + * scan_diff2d implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main program calculating difference of 3D scans. + * + * Program for calculating the 2d-difference between scans after matching with slam6d + * Usage: bin/scan_diff2d -s -e -d 'dir', + * Use -s for the first scan, -e for the second scan + * 'dir' the directory of a set of scans + * The result is an image showing the color coded difference of the two scans + * ATTENTION: All scans between START and END will be loaded! + * @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +using std::ifstream; +#include + +#include "slam6d/scan.h" + +#include "slam6d/scan_io.h" +#include "slam6d/globals.icc" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif +#include "show/colormanager.h" + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "slam6d/kd.h" +#include "slam6d/kdc.h" +#include +#include +using namespace std; + + + +int WIDTH=0; +int HEIGHT=0; +double MINTHETA; +double MAXTHETA; +double MINPHI; +double MAXPHI; + +double minphi,maxphi; +double mintheta,maxtheta; +bool **stencilImage1; +bool **stencilImage; +double **rangeImage; +double **rangeImage2; +Point **pointImage; + +void writeRI(const char *filename, double max, double shift) +{ + SHSVMap cmap; + float color[3]; + unsigned int buckets = 4096; + + ofstream fp; // The PPM File + unsigned char *ibuffer; // The PPM Output Buffer + // Allocate memory for the the frame buffer and output buffer + ibuffer = new unsigned char[WIDTH * HEIGHT * 3]; + + // Open the output file + fp.open(filename, ios::out); + + // Write a proper P6 PPM header + fp << "P6" << endl << "# CREATOR: 3D_Viewer by Andreas Nuechter, University of Osnabrueck" + << endl << WIDTH << " " << HEIGHT << " " << UCHAR_MAX << endl; + + // Loop through the frame buffer data, writing to the PPM file. Be careful + // to account for the frame buffer having 4 bytes per pixel while the + // output file has 3 bytes per pixel + int l = 0; + for (int i = 0; i < HEIGHT; i++) { // For each row + for (int jj = 0; jj < WIDTH; jj++) { // For each column + int j = (jj + (int)(WIDTH*shift))%WIDTH; + if(!stencilImage[j][i]) { + ibuffer[l++] = UCHAR_MAX; + ibuffer[l++] = UCHAR_MAX; + ibuffer[l++] = UCHAR_MAX; + } else { + cmap.calcColor(color, (max + rangeImage[j][i])/(max*2.0) * buckets, buckets); + ibuffer[l++] = (unsigned char)min( (int)((color[0])*UCHAR_MAX), UCHAR_MAX); + ibuffer[l++] = (unsigned char)min( (int)((color[1])*UCHAR_MAX), UCHAR_MAX); + ibuffer[l++] = (unsigned char)min( (int)((color[2])*UCHAR_MAX), UCHAR_MAX); + } + } // end column + } // end row + + // Write output buffer to the file */ + fp.write((const char*)ibuffer, sizeof(unsigned char) * (3 * WIDTH * HEIGHT)); + fp.close(); + fp.clear(); + delete [] ibuffer; +} + + +void toRI(double _x, double _y, double _z, int &X, int &Y, double &range) { + double x = _z/100.0; + double y = _x/(-100.0); + double z = _y/100.0; + + double phi = 0.0; + double theta = 0.0; + range = std::sqrt(x*x + y*y + z*z); + + if (range > 0.00000001) { + phi = atan2(y,x); + phi = ((phi<0.0)?(phi+2.0*M_PI):phi); + theta = std::acos(z/range); + + if (phi > maxphi) maxphi = phi; + if (phi < minphi) minphi = phi; + if (theta > maxtheta) maxtheta = theta; + if (theta < mintheta) mintheta = theta; + } + + + X = WIDTH * (phi/( MAXPHI - MINPHI )); + Y = HEIGHT * ((theta - MINTHETA)/( MAXTHETA - MINTHETA )); +} + +void toPoint(int X, int Y, double range, double &x, double &y, double &z) { + x = y = z = 0.0; + + if (range > 0.000000001) { + double _z = cos(((double)Y/(double)HEIGHT * (double)(MAXTHETA - MINTHETA)) + MINTHETA) * range; + double _y = sin((double)X/(double)WIDTH * (double)(MAXPHI - MINPHI)) * range; + double _x = cos((double)X/(double)WIDTH * (double)(MAXPHI - MINPHI)) * range; + x = _y*-100.0; + y = _z*100.0; + z = _x*100.0; + } +} + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << "-s -e [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, rxp,zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR" << endl + << " write all points that have no corresponding point closer than NR 'units'" << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -d 5 dat" << endl + << " " << prog << " --max=5000 -d 10.2 dat" << endl + << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param start first scan number 'start' + * @param end last scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param dist the maximal distance for a point pair + * @param type the scan format + * @param desc true if start is greater than end + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, + int &start, int &end, int &maxDist, int &minDist, double &dist, + IOType &type, bool &desc, double &res, double &shift, int &mode) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "dist", required_argument, 0, 'd' }, + { "resolution", required_argument, 0, 'r' }, + { "shift", required_argument, 0, 'h' }, + { "mode", required_argument, 0, '0' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "h:r:f:d:s:e:m:M:", longopts, NULL)) != -1) + switch (c) + { + case '0': + mode = atoi(optarg); + break; + case 'h': + shift = atof(optarg); + break; + case 'r': + res = atof(optarg); + break; + case 'd': + dist = atof(optarg); + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(start < 0 || end < 0 ) { + cerr << "\n*** You need two different scans for difference calculations ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + if(start > end) { + double tmp = start; + start = end; + end = tmp; + desc = true; + } + + return 0; +} + + +/** + * Main program for calculating the difference of two scans. + * Usage: bin/scan_diff -d -s -e 'dir', + * Use -s and -e for the two scans, + * -d + * and 'dir' the directory of a set of scans + * Difference scans will be written to 'dir/diff/scan[00]s.3d' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double dist = 0; + int start = -1, end = -1; + int maxDist = -1; + int minDist = -1; + IOType type = RIEGL_TXT; + bool desc = false; + double resolution = 0.25; + double shift = 0.5; + int mode = 0; + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, dist, type, desc, resolution, shift, mode); + + resolution = rad(resolution); + + // Get Scans (all scans between start and end) + Scan::dir = dir; + + string scanFileName; + string framesFileName; + ifstream frames_in; + double inMatrix0[17]; + double inMatrix1[17]; + + cout << "Reading Scan No. " << start; + framesFileName = dir + "scan" + to_string(start,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix0[i++]); + } + frames_in.close(); + frames_in.clear(); + cout << "Reading Scan No. " << end; + framesFileName = dir + "scan" + to_string(end,3) + ".frames"; + frames_in.open(framesFileName.c_str()); + + if(!frames_in.good()) { + cerr << "Couldn't read frames " << end << endl; + exit(1); + } + while(frames_in.good()) { + for (unsigned int i = 0; i < 17; frames_in >> inMatrix1[i++]); + } + frames_in.close(); + frames_in.clear(); + + Scan::readScans(type, start, end, dir, maxDist, minDist, 0); + int endIndex = Scan::allScans.size() - 1; + + Scan *rangescan = Scan::allScans[0]; + Scan *targetscan = Scan::allScans[endIndex]; + Scan::allScans[endIndex]->calcReducedPoints(-1, 0); + + double tinv[16]; M4inv(inMatrix0, tinv); + double tmat[16]; + MMult(tinv, inMatrix1, tmat); + + Scan::allScans[endIndex]->transform(tmat, Scan::INVALID); + + string name; + int thread_num = 0; + vector diff; + double transMat[16]; + + + cout << "set up range image" << endl; + double x,y,z,r; + int X,Y; + // first subsample to RI + const vector *points = rangescan->get_points(); + maxphi = maxtheta = -DBL_MAX; + mintheta = minphi = DBL_MAX; + cout << "establish max and mins..." << endl; + double MINDIST = 40.0; + + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + } + MAXTHETA = maxtheta; + MINTHETA = mintheta; + MAXPHI = maxphi; + MINPHI = minphi; + HEIGHT = (MAXTHETA - MINTHETA)/resolution; + WIDTH = (MAXPHI - MINPHI)/resolution; + + switch (mode) { + case 0: + { + cout << "creating data structures " << WIDTH << " " << HEIGHT << endl; + stencilImage = new bool*[WIDTH+1]; + rangeImage = new double*[WIDTH+1]; + pointImage = new Point*[WIDTH+1]; + for (int i = 0; i <= WIDTH; i++) { + stencilImage[i] = new bool[HEIGHT+1]; + rangeImage[i] = new double[HEIGHT+1]; + pointImage[i] = new Point[HEIGHT+1]; + for (int j = 0; j <= HEIGHT; j++) { + rangeImage[i][j] = DBL_MAX; + stencilImage[i][j] = false; + } + } + cout << "thin out points " << points->size() << endl; + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage[X][Y] > r) { + stencilImage[X][Y] = true; + rangeImage[X][Y] = r; + pointImage[X][Y] = p; + } + } + } + + + cout << "done setting up range image" << endl; + + targetscan->createTree(false, false); + const SearchTree *kd = targetscan->get_tree(); + + cout << " looking for closest points... " << endl; + double mdm2 = dist*dist; + for (int X = 0; X < WIDTH; X++) { + for (int Y = 0; Y < HEIGHT; Y++) { + if (!stencilImage[X][Y]) continue; + double p[3]; + p[0] = pointImage[X][Y].x; + p[1] = pointImage[X][Y].y; + p[2] = pointImage[X][Y].z; + + double *closest = kd->FindClosest(p, mdm2, 0); + + if (closest) { + rangeImage[X][Y] = sqrt(Dist2(closest, p)); + double v[3]; + for (int i = 0; i < 3; i++) + v[i] = closest[i] - p[i]; + + double d = v[0]*p[0] + v[1]*p[1] + v[2]*p[2]; + if (d <= 0) { + rangeImage[X][Y] *= -1.0; + } + + } else { + rangeImage[X][Y] = dist; + } + } + } + } + break; + case 1: + { + cout << "creating data structures " << WIDTH << " " << HEIGHT << endl; + stencilImage = new bool*[WIDTH+1]; + stencilImage1 = new bool*[WIDTH+1]; + rangeImage = new double*[WIDTH+1]; + rangeImage2 = new double*[WIDTH+1]; + for (int i = 0; i <= WIDTH; i++) { + stencilImage[i] = new bool[HEIGHT+1]; + stencilImage1[i] = new bool[HEIGHT+1]; + rangeImage[i] = new double[HEIGHT+1]; + rangeImage2[i] = new double[HEIGHT+1]; + for (int j = 0; j <= HEIGHT; j++) { + rangeImage[i][j] = DBL_MAX; + rangeImage2[i][j] = DBL_MAX; + stencilImage[i][j] = false; + stencilImage1[i][j] = false; + } + } + cout << "thin out points " << points->size() << endl; + for (unsigned int i = 0; i < points->size(); i++) { + Point p = (*points)[i]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage[X][Y] > r) { + stencilImage1[X][Y] = true; + rangeImage[X][Y] = fabs(r); + } + } + } + + for (unsigned int i = 0; i < Scan::allScans[endIndex]->get_points_red_size(); i++) { + Point p; + p.x = Scan::allScans[endIndex]->get_points_red()[i][0]; + p.y = Scan::allScans[endIndex]->get_points_red()[i][1]; + p.z = Scan::allScans[endIndex]->get_points_red()[i][2]; + //////////////////////////// + if ( sqrt(p.x*p.x + p.z*p.z ) < MINDIST ) continue; + /////////////////////////// + toRI(p.x, p.y, p.z, X, Y, r); + if (X >= 0 && X < WIDTH && Y >= 0 && Y < HEIGHT ) { + if (rangeImage2[X][Y] > r && stencilImage1[X][Y]) { + stencilImage[X][Y] = true; + rangeImage2[X][Y] = fabs(r); + } + } + } + + cout << "done setting up range image" << endl; + for (int X = 0; X < WIDTH; X++) { + for (int Y = 0; Y < HEIGHT; Y++) { + if (!stencilImage[X][Y]) continue; + if (rangeImage[X][Y] == DBL_MAX) continue; + rangeImage[X][Y] = 100.0 * (rangeImage[X][Y] - rangeImage2[X][Y]) ; // to meters + } + } + + } + break; + default: + break; + } + + + name = dir + "diff_" + to_string(start, 3) + "_" + to_string(end,3) + ".ppm"; + writeRI(name.c_str(), dist, shift); + + delete Scan::allScans[0]; + Scan::allScans.clear(); + + cout << endl << endl; + cout << "Normal program end." << endl << endl; +} diff --git a/src/slam6d/scan_red.cc b/src/slam6d/scan_red.cc new file mode 100644 index 0000000..1c72af8 --- /dev/null +++ b/src/slam6d/scan_red.cc @@ -0,0 +1,365 @@ +/* + * scan_red implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + + +/** + * @file + * @brief Main program for reducing 3D scans. + * + * Program to reduce scans for use with slam6d + * Usage: bin/scan_red -r 'dir', + * Use -r for octree based reduction (voxel size=) + * and 'dir' the directory of a set of scans + * Reduced scans will be written to 'dir/reduced' + * + * @author Dorit Borrmann. Automation Group, Jacobs University Bremen gGmbH, Germany. + */ +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#define WANT_STREAM ///< define the WANT stream :) +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ofstream; +#include + +#include "slam6d/scan.h" +#ifdef WITH_SCANSERVER +#include "scanserver/clientInterface.h" +#endif //WITH_SCANSERVER + +#include "slam6d/globals.icc" + +#ifdef _OPENMP +#include +#endif + + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] -r directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, + int &start, int &end, int &maxDist, int &minDist, int &octree, + IOType &type) +{ + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:O:", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + if(!reduced) { + cerr << "\n*** Reduction method missed ***" << endl; + usage(argv[0]); + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + + +/** + * Main program for reducing scans. + * Usage: bin/scan_red -r 'dir', + * Use -r for octree based reduction (voxel size=) + * and 'dir' the directory of a set of scans + * Reduced scans will be written to 'dir/reduced' + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0, end = -1; + int maxDist = -1; + int minDist = -1; + int octree = 0; + IOType type = RIEGL_TXT; + + parseArgs(argc, argv, dir, red, start, end, maxDist, minDist, octree, type); + +#ifdef WITH_SCANSERVER + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } +#endif //WITH_SCANSERVER + + // Get Scans +#ifndef WITH_SCANSERVER + Scan::dir = dir; + int fileNr = start; +#endif //WITH_SCANSERVER + string reddir = dir + "reduced"; + +#ifdef _MSC_VER + int success = mkdir(reddir.c_str()); +#else + int success = mkdir(reddir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + cout << "Writing scans to " << reddir << endl; + } else if(errno == EEXIST) { + cout << "Directory " << reddir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << reddir << " failed" << endl; + exit(1); + } + +#ifndef WITH_SCANSERVER + while (fileNr <= end) { + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + const double* rPos = Scan::allScans[0]->get_rPos(); + const double* rPosTheta = Scan::allScans[0]->get_rPosTheta(); + + // reduction filter for current scan! + + cout << "Reducing Scan No. " << fileNr << endl; + Scan::allScans[0]->calcReducedPoints(red, octree); + + + cout << "Writing Scan No. " << fileNr ; + cout << " with " << Scan::allScans[0]->get_points_red_size() << " points" << endl; + string scanFileName; + string poseFileName; + + scanFileName = dir + "reduced/scan" + to_string(fileNr,3) + ".3d"; + poseFileName = dir + "reduced/scan" + to_string(fileNr,3) + ".pose"; + + + ofstream redptsout(scanFileName.c_str()); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + Point p(Scan::allScans[0]->get_points_red()[j]); + //Points in global coordinate system + redptsout << p.x << " " << p.y << " " << p.z << endl; + + } + redptsout.close(); + redptsout.clear(); +#else //WITH_SCANSERVER + Scan::readScans(type, start, end, dir, maxDist, minDist); + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + const double* rPos = scan->get_rPos(); + const double* rPosTheta = scan->get_rPosTheta(); + + scan->calcReducedPoints(red, octree); + + const char* id = scan->getIdentifier(); + cout << "Writing Scan No. " << id; + cout << " with " << scan->getCountReduced() << " points" << endl; + string scanFileName; + string poseFileName; + + scanFileName = dir + "reduced/scan" + id + ".3d"; + poseFileName = dir + "reduced/scan" + id + ".pose"; + + ofstream redptsout(scanFileName.c_str()); + DataXYZ xyz_r(scan->getXYZReduced()); + for(unsigned int j = 0; j < xyz_r.size(); j++) { + //Points in global coordinate system + redptsout << xyz_r[j][0] << " " << xyz_r[j][1] << " " << xyz_r[j][2] << endl; + } + redptsout.close(); + redptsout.clear(); +#endif //WITH_SCANSERVER + + ofstream posout(poseFileName.c_str()); + + posout << rPos[0] << " " + << rPos[1] << " " + << rPos[2] << endl + << deg(rPosTheta[0]) << " " + << deg(rPosTheta[1]) << " " + << deg(rPosTheta[2]) << endl; + + posout.close(); + posout.clear(); + +#ifndef WITH_SCANSERVER + delete Scan::allScans[0]; + Scan::allScans.clear(); + fileNr++; +#endif //WITH_SCANSERVER + } + + cout << endl << endl; + cout << "Normal program end." << endl << endl; + +#ifdef WITH_SCANSERVER + Scan::clearScans(); + ClientInterface::destroy(); +#endif //WITH_SCANSERVER +} + diff --git a/src/slam6d/searchTree.cc b/src/slam6d/searchTree.cc new file mode 100644 index 0000000..856716c --- /dev/null +++ b/src/slam6d/searchTree.cc @@ -0,0 +1,143 @@ +/* + * searchTree implementation + * + * Copyright (C) Jan Elseberg, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Representation of a general search trees + * @author Jan Elseberg. Jacobs University Bremen gGmbH, Germany + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + */ + +#include "slam6d/searchTree.h" +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +void SearchTree::getPtPairs(vector *pairs, + double *source_alignxf, // source + double * const *q_points, unsigned int startindex, unsigned int endindex, // target + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d) +{ + // prepare this tree for resource access in FindClosest + lock(); + + double local_alignxf_inv[16]; + M4inv(source_alignxf, local_alignxf_inv); + + // t is the original point from target, s is the (inverted) query point from target and then + // the closest point in source + double t[3], s[3]; + for (unsigned int i = startindex; i < endindex; i++) { + if (rnd > 1 && rand(rnd) != 0) continue; // take about 1/rnd-th of the numbers only + + t[0] = q_points[i][0]; + t[1] = q_points[i][1]; + t[2] = q_points[i][2]; + + transform3(local_alignxf_inv, t, s); + + double *closest = this->FindClosest(s, max_dist_match2, thread_num); + if (closest) { + transform3(source_alignxf, closest, s); + + // This should be right, model=Source=First=not moving + centroid_m[0] += s[0]; + centroid_m[1] += s[1]; + centroid_m[2] += s[2]; + centroid_d[0] += t[0]; + centroid_d[1] += t[1]; + centroid_d[2] += t[2]; + + PtPair myPair(s, t); + double p12[3] = { + myPair.p1.x - myPair.p2.x, + myPair.p1.y - myPair.p2.y, + myPair.p1.z - myPair.p2.z }; + sum += Len2(p12); + + pairs->push_back(myPair); + /*cout << "PTPAIR" << i << " " + << p[0] << " " + << p[1] << " " + << p[2] << " - " + << q_points[i][0] << " " + << q_points[i][1] << " " + << q_points[i][2] << " " << Len2(p12) << endl; */ + } + + } + + // release resource access lock + unlock(); + + return; +} + +void SearchTree::getPtPairs(vector *pairs, + double *source_alignxf, // source + const DataXYZ& xyz_r, unsigned int startindex, unsigned int endindex, // target + int thread_num, + int rnd, double max_dist_match2, double &sum, + double *centroid_m, double *centroid_d) +{ + // prepare this tree for resource access in FindClosest + lock(); + + double local_alignxf_inv[16]; + M4inv(source_alignxf, local_alignxf_inv); + + // t is the original point from target, s is the (inverted) query point from target and then + // the closest point in source + double t[3], s[3]; + for (unsigned int i = startindex; i < endindex; i++) { + if (rnd > 1 && rand(rnd) != 0) continue; // take about 1/rnd-th of the numbers only + + t[0] = xyz_r[i][0]; + t[1] = xyz_r[i][1]; + t[2] = xyz_r[i][2]; + + transform3(local_alignxf_inv, t, s); + + double *closest = this->FindClosest(s, max_dist_match2, thread_num); + if (closest) { + transform3(source_alignxf, closest, s); + + // This should be right, model=Source=First=not moving + centroid_m[0] += s[0]; + centroid_m[1] += s[1]; + centroid_m[2] += s[2]; + centroid_d[0] += t[0]; + centroid_d[1] += t[1]; + centroid_d[2] += t[2]; + + PtPair myPair(s, t); + double p12[3] = { + myPair.p1.x - myPair.p2.x, + myPair.p1.y - myPair.p2.y, + myPair.p1.z - myPair.p2.z }; + sum += Len2(p12); + + pairs->push_back(myPair); + /*cout << "PTPAIR" << i << " " + << p[0] << " " + << p[1] << " " + << p[2] << " - " + << q_points[i][0] << " " + << q_points[i][1] << " " + << q_points[i][2] << " " << Len2(p12) << endl; */ + } + + } + + // release resource access lock + unlock(); + + return; +} diff --git a/src/slam6d/slam6D.cc b/src/slam6d/slam6D.cc new file mode 100644 index 0000000..6bae3d9 --- /dev/null +++ b/src/slam6d/slam6D.cc @@ -0,0 +1,1002 @@ +/* + * slam6D implementation + * + * Copyright (C) Andreas Nuechter, Kai Lingemann, Jochen Sprickerhof + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for matching 3D scans (6D SLAM) + * + * Main programm to match 3D scans with ICP and the globally + * consistent matching approach. + * Use -i from the command line to match with ICP, + * and -I to match 3D Scans using the global algorithm. + * + * @author Andreas Nuechter. Jacobs University Bremen gGmbH, Germany + * @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany. + * @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany. + */ + +#include "slam6d/scan.h" +#include "slam6d/metaScan.h" +#include "slam6d/io_utils.h" + +#include "slam6d/icp6Dapx.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" +#include "slam6d/icp6Dortho.h" +#include "slam6d/icp6Dhelix.h" +#include "slam6d/icp6Ddual.h" +#include "slam6d/icp6Dlumeuler.h" +#include "slam6d/icp6Dlumquat.h" +#include "slam6d/icp6Dquatscale.h" +#include "slam6d/icp6D.h" +#ifdef WITH_CUDA +#include "slam6d/cuda/icp6Dcuda.h" +#endif +#include "slam6d/lum6Deuler.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/graphToro.h" +#include "slam6d/graphHOG-Man.h" +#include "slam6d/elch6Deuler.h" +#include "slam6d/elch6Dquat.h" +#include "slam6d/elch6DunitQuat.h" +#include "slam6d/elch6Dslerp.h" +#include "slam6d/loopToro.h" +#include "slam6d/loopHOG-Man.h" +#include "slam6d/graphSlam6D.h" +#include "slam6d/gapx6D.h" +#include "slam6d/graph.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + + +#ifdef _MSC_VER +#if !defined _OPENMP && defined OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#define WANT_STREAM ///< define the WANT stream :) + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; + + +// Handling Segmentation faults and CTRL-C +void sigSEGVhandler (int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl + << "# **************************** #" << endl + << " Segmentation fault or Ctrl-C" << endl + << "# **************************** #" << endl + << endl; + + // save frames and close scans + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + (*it)->saveFrames(); + } + cout << "Frames saved." << endl; + Scan::closeDirectory(); + } + exit(-1); +} + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -a" << normal << " NR, " << bold << "--algo=" << normal << "NR [default: 1]" << endl + << " selects the minimizazion method for the ICP matching algorithm" << endl + << " 1 = unit quaternion based method by Horn" << endl + << " 2 = singular value decomposition by Arun et al. " << endl + << " 3 = orthonormal matrices by Horn et al." << endl + << " 4 = dual quaternion method by Walker et al." << endl + << " 5 = helix approximation by Hofer & Potmann" << endl + << " 6 = small angle approximation" << endl + << " 7 = Lu & Milios style, i.e., uncertainty based, with Euler angles" << endl + << " 8 = Lu & Milios style, i.e., uncertainty based, with Quaternion" << endl + << " 9 = unit quaternion with scale method by Horn" << endl + << endl + << bold << " -A" << normal << " NR, " << bold << "--anim=" << normal << "NR [default: first and last frame only]" << endl + << " if specified, use only every NR-th frame for animation" << endl + << endl + << bold << " -c" << normal << " NR, " << bold << "--cldist=" << normal << "NR [default: 500]" << endl + << " specifies the maximal distance for closed loops" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--clpairs=" << normal << "NR [default: 6]" << endl + << " specifies the minimal number of points for an overlap. If not specified" << endl + << " cldist is used instead" << endl + << endl + << bold << " --cache" << normal << endl + << " turns on cached k-d tree search" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR [default: 25]" << endl + << " sets the maximal point-to-point distance for matching with ICP to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " -D" << normal << " NR, " << bold << "--distSLAM=" + << normal << "NR [default: same value as -d option]" << endl + << " sets the maximal point-to-point distance for matching with SLAM to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " --DlastSLAM" << normal << " NR [default not set]" << endl + << " sets the maximal point-to-point distance for the final SLAM correction," << endl + << " if final SLAM is not required don't set it." << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " --exportAllPoints" << normal << endl + << " writes all registered reduced points to the file points.pts before" << endl + << " slam6D terminated" << endl + << endl + << bold << " --epsICP=" << normal << "NR [default: 0.00001]" << endl + << " stop ICP iteration if difference is smaller than NR" << endl + << endl + << bold << " --epsSLAM=" << normal << " NR [default: 0.5]" << endl + << " stop SLAM iteration if average difference is smaller than NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -G" << normal << " NR, " << bold << "--graphSlam6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the minimizazion method for the SLAM matching algorithm" << endl + << " 0 = no global relaxation technique" << endl + << " 1 = Lu & Milios extension using euler angles due to Borrmann et al." << endl + << " 2 = Lu & Milios extension using using unit quaternions" << endl + << " 3 = HELIX approximation by Hofer and Pottmann" << endl + << " 4 = small angle approximation" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " -i" << normal << " NR, " << bold << "--iter=" << normal << "NR [default: 50]" << endl + << " sets the maximal number of ICP iterations to " << endl + << endl + << bold << " -I" << normal << " NR, " << bold << "--iterSLAM=" << normal << "NR [default: 0]" << endl + << " sets the maximal number of iterations for SLAM to " << endl + << " (if not set, graphSLAM is not executed)" << endl + << endl + << bold << " -l" << normal << " NR, " << bold << "--loopsize=" << normal << "NR [default: 20]" << endl + << " sets the size of a loop, i.e., a loop must exceed of scans" << endl + << endl + << bold << " -L" << normal << " NR, " << bold << "--loop6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the method for closing the loop explicitly" << endl + << " 0 = no loop closing technique" << endl + << " 1 = euler angles" << endl + << " 2 = quaternions " << endl + << " 3 = unit quaternions" << endl + << " 4 = SLERP (recommended)" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " --metascan" << normal << endl + << " Match current scan against a meta scan of all previous scans (default match against the last scan only)" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -n" << normal << " FILE, " << bold << "--net=" << normal << "FILE" << endl + << " specifies the file that includes the net structure for SLAM" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << bold << " -q, --quiet" << normal << endl + << " Quiet mode. Suppress (most) messages" << endl + << endl + << bold << " -Q, --veryquiet" << normal << endl + << " Very quiet mode. Suppress all messages, except in case of error." << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--nns_method=" << normal << "NR [default: 1]" << endl + << " selects the Nearest Neighbor Search Algorithm" << endl + << " 0 = simple k-d tree " << endl + << " 1 = cached k-d tree " << endl + << " 2 = ANNTree " << endl + << " 3 = BOCTree " << endl + << endl + << bold << " -u" << normal <<", "<< bold<<"--cuda" << normal << endl + << " this option activates icp running on GPU instead of CPU"<exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &extrapolate_pose, bool &meta, int &algo, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type, + bool& scanserver) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "algo", required_argument, 0, 'a' }, + { "nns_method", required_argument, 0, 't' }, + { "loop6DAlgo", required_argument, 0, 'L' }, + { "graphSlam6DAlgo", required_argument, 0, 'G' }, + { "net", required_argument, 0, 'n' }, + { "iter", required_argument, 0, 'i' }, + { "iterSLAM", required_argument, 0, 'I' }, + { "max", required_argument, 0, 'm' }, + { "loopsize", required_argument, 0, 'l' }, + { "cldist", required_argument, 0, 'c' }, + { "clpairs", required_argument, 0, 'C' }, + { "min", required_argument, 0, 'M' }, + { "dist", required_argument, 0, 'd' }, + { "distSLAM", required_argument, 0, 'D' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "quiet", no_argument, 0, 'q' }, + { "veryquiet", no_argument, 0, 'Q' }, + { "trustpose", no_argument, 0, 'p' }, + { "anim", required_argument, 0, 'A' }, + { "metascan", no_argument, 0, '2' }, // use the long format only + { "DlastSLAM", required_argument, 0, '4' }, // use the long format only + { "epsICP", required_argument, 0, '5' }, // use the long format only + { "epsSLAM", required_argument, 0, '6' }, // use the long format only + { "exportAllPoints", no_argument, 0, '8' }, + { "distLoop", required_argument, 0, '9' }, // use the long format only + { "iterLoop", required_argument, 0, '1' }, // use the long format only + { "graphDist", required_argument, 0, '3' }, // use the long format only + { "cuda", no_argument, 0, 'u' }, // cuda will be enabled + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "O:f:A:G:L:a:t:r:R:d:D:i:l:I:c:C:n:s:e:m:M:uqQpS", longopts, NULL)) != -1) { + switch (c) { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 9)) { + cerr << "Error: ICP Algorithm not available." << endl; + exit(1); + } + break; + case 't': + nns_method = atoi(optarg); + if ((nns_method < 0) || (nns_method > 3)) { + cerr << "Error: NNS Method not available." << endl; + exit(1); + } + break; + case 'L': + loopSlam6DAlgo = atoi(optarg); + if (loopSlam6DAlgo < 0 || loopSlam6DAlgo > 6) { + cerr << "Error: global loop closing algorithm not available." << endl; + exit(1); + } + break; + case 'G': + lum6DAlgo = atoi(optarg); + if ((lum6DAlgo < 0) || (lum6DAlgo > 6)) { + cerr << "Error: global relaxation algorithm not available." << endl; + exit(1); + } + break; + case 'c': + cldist = atof(optarg); + break; + case 'C': + clpairs = atoi(optarg); + break; + case 'l': + loopsize = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 'd': + mdm = atof(optarg); + break; + case 'D': + mdml = atof(optarg); + break; + case 'i': + mni = atoi(optarg); + break; + case 'I': + mni_lum = atoi(optarg); + break; + case 'n': + net = optarg; + break; + case 's': + w_start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + case 'p': + extrapolate_pose = false; + break; + case 'A': + anim = atoi(optarg); + break; + case '2': // = --metascan + meta = true; + break; + case '4': // = --DlastSLAM + mdmll = atof(optarg); + break; + case '5': // = --epsICP + epsilonICP = atof(optarg); + break; + case '6': // = --epsSLAM + epsilonSLAM = atof(optarg); + break; + case '8': // not used + exportPts = true; + break; + case '9': // = --distLoop + distLoop = atof(optarg); + break; + case '1': // = --iterLoop + iterLoop = atoi(optarg); + break; + case '3': // = --graphDist + graphDist = atof(optarg); + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'u': + cuda_enabled = true; + break; + case 'S': + scanserver = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + return 0; +} + +/** + * This function is does all the matching stuff + * it iterates over all scans using the algorithm objects to calculate new poses + * objects could be NULL if algorithm should not be used + * + * @param cldist maximal distance for closing loops + * @param loopsize minimal loop size + * @param allScans Contains all laser scans + * @param my_icp6D the ICP implementation + * @param meta_icp math ICP against a metascan + * @param nns_method Indicates the nearest neigbor search method to be used + * @param my_loopSlam6D used loopoptimizer + * @param my_graphSlam6D used global optimization + * @param nrIt The number of iterations the global SLAM-algorithm will run + * @param epsilonSLAM epsilon for global SLAM iteration + * @param mdml maximal distance match for global SLAM + * @param mdmll maximal distance match for global SLAM after all scans ar matched + */ +void matchGraph6Dautomatic(double cldist, int loopsize, vector allScans, icp6D *my_icp6D, + bool meta_icp, int nns_method, bool cuda_enabled, + loopSlam6D *my_loopSlam6D, graphSlam6D *my_graphSlam6D, int nrIt, + double epsilonSLAM, double mdml, double mdmll, double graphDist, + bool &eP, IOType type) +{ + double cldist2 = sqr(cldist); + + // list of scan for metascan + vector < Scan* > metas; + + // graph for loop optimization + graph_t g; + + int n = allScans.size(); + + int loop_detection = 0; + double dist, min_dist = -1; + int first = 0, last = 0; + + for(int i = 1; i < n; i++) { + cout << i << "/" << n << endl; + + add_edge(i-1, i, g); + + if(eP) { + allScans[i]->mergeCoordinatesWithRoboterPosition(allScans[i-1]); + } + + //Hack to get all icp transformations into the .frames Files + if(i == n-1 && my_icp6D != NULL && my_icp6D->get_anim() == -2) { + my_icp6D->set_anim(-1); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(1); + }*/ + + if(my_icp6D != NULL){ + cout << "ICP" << endl; + // Matching strongly linked scans with ICPs + if(meta_icp) { + metas.push_back(allScans[i - 1]); + MetaScan* meta_scan = new MetaScan(metas); + my_icp6D->match(meta_scan, allScans[i]); + delete meta_scan; + } else { + switch(type) { + case UOS_MAP: + case UOS_MAP_FRAMES: + my_icp6D->match(allScans[0], allScans[i]); + break; + case RTS_MAP: + //untested (and could not work) + //if(i < 220-22 && i > 250-22) match(allScans[0], CurrentScan); + my_icp6D->match(allScans[0], allScans[i]); + break; + default: + my_icp6D->match(allScans[i - 1], allScans[i]); + break; + } + } + } else { + double id[16]; + M4identity(id); + allScans[i]->transform(id, Scan::ICP, 0); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(-2); + }*/ + + if(loop_detection == 1) { + loop_detection = 2; + } + + for(int j = 0; j < i - loopsize; j++) { + dist = Dist2(allScans[j]->get_rPos(), allScans[i]->get_rPos()); + if(dist < cldist2) { + loop_detection = 1; + if(min_dist < 0 || dist < min_dist) { + min_dist = dist; + first = j; + last = i; + } + } + } + + if(loop_detection == 2) { + loop_detection = 0; + min_dist = -1; + + if(my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(i + 1, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + } + } + + if(loop_detection == 1 && my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0.0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + + if(my_graphSlam6D != NULL && mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, sqr(graphDist), loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } +} + +/** + * Main program for 6D SLAM. + * Usage: bin/slam6D 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + signal (SIGSEGV, sigSEGVhandler); + signal (SIGINT, sigSEGVhandler); + + cout << "slam6D - A highly efficient SLAM implementation based on scan matching" << endl + << " with 6 degrees of freedom" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0, mdmll = -1.0, mdml = 25.0, mdm = 25.0; + int rand = -1, mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + bool meta = false; // match against meta scan, or against LAST scan only? + int algo = 1; + int mni_lum = -1; + double cldist = 500; + int clpairs = -1; + int loopsize = 20; + string net = "none"; + int anim = -1; + double epsilonICP = 0.00001; + double epsilonSLAM = 0.5; + int nns_method = simpleKD; + bool exportPts = false; + int loopSlam6DAlgo = 0; + int lum6DAlgo = 0; + double distLoop = 700.0; + int iterLoop = 100; + double graphDist = cldist; + int octree = 0; // employ randomized octree reduction? + bool cuda_enabled = false; + IOType type = UOS; + bool scanserver = false; + + parseArgs(argc, argv, dir, red, rand, mdm, mdml, mdmll, mni, start, end, + maxDist, minDist, quiet, veryQuiet, eP, meta, algo, loopSlam6DAlgo, lum6DAlgo, anim, + mni_lum, net, cldist, clpairs, loopsize, epsilonICP, epsilonSLAM, + nns_method, exportPts, distLoop, iterLoop, graphDist, octree, cuda_enabled, type, + scanserver); + + cout << "slam6D will proceed with the following parameters:" << endl; + //@@@ to do :-) + // TODO: writer a proper TODO ^ + + Scan::openDirectory(scanserver, dir, type, start, end); + + if(Scan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + Scan* scan = *it; + scan->setRangeFilter(maxDist, minDist); + scan->setReductionParameter(red, octree); + scan->setSearchTreeParameter(nns_method, cuda_enabled); + } + + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + case 3 : + my_icp6Dminimizer = new icp6D_ORTHO(quiet); + break; + case 4 : + my_icp6Dminimizer = new icp6D_DUAL(quiet); + break; + case 5 : + my_icp6Dminimizer = new icp6D_HELIX(quiet); + break; + case 6 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 7 : + my_icp6Dminimizer = new icp6D_LUMEULER(quiet); + break; + case 8 : + my_icp6Dminimizer = new icp6D_LUMQUAT(quiet); + break; + case 9 : + my_icp6Dminimizer = new icp6D_QUAT_SCALE(quiet); + break; + } + + // match the scans and print the time used + long starttime = GetCurrentTimeInMilliSec(); + +#ifdef WITH_METRICS + Timer t = ClientMetric::matching_time.start(); +#endif //WITH_METRICS + + if (mni_lum == -1 && loopSlam6DAlgo == 0) { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + + // check if CAD matching was selected as type + if (type == UOS_CAD) + { + my_icp->set_cad_matching (true); + } + + if (my_icp) my_icp->doICP(Scan::allScans); + delete my_icp; + } else if (clpairs > -1) { + //!!!!!!!!!!!!!!!!!!!!!!!! + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + my_icp->doICP(Scan::allScans); + graphSlam6D *my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, + rand, eP, anim, epsilonICP, nns_method, epsilonSLAM); + my_graphSlam6D->matchGraph6Dautomatic(Scan::allScans, mni_lum, clpairs, loopsize); + //!!!!!!!!!!!!!!!!!!!!!!!! + } else { + graphSlam6D *my_graphSlam6D = 0; + switch (lum6DAlgo) { + case 1 : + my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 2 : + my_graphSlam6D = new lum6DQuat(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 3 : + my_graphSlam6D = new ghelix6DQ2(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 4 : + my_graphSlam6D = new gapx6D(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 5 : + my_graphSlam6D = new graphToro(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + case 6 : + my_graphSlam6D = new graphHOGMan(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + } + // Construct Network + if (net != "none") { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + my_icp->doICP(Scan::allScans); + + Graph* structure; + structure = new Graph(net); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + if(mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + } + + } else { + icp6D *my_icp = 0; + if(algo > 0) { + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + + loopSlam6D *my_loopSlam6D = 0; + switch(loopSlam6DAlgo) { + case 1: + my_loopSlam6D = new elch6Deuler(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 2: + my_loopSlam6D = new elch6Dquat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 3: + my_loopSlam6D = new elch6DunitQuat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 4: + my_loopSlam6D = new elch6Dslerp(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 5: + my_loopSlam6D = new loopToro(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 6: + my_loopSlam6D = new loopHOGMan(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + } + + matchGraph6Dautomatic(cldist, loopsize, Scan::allScans, my_icp, meta, + nns_method, cuda_enabled, my_loopSlam6D, my_graphSlam6D, + mni_lum, epsilonSLAM, mdml, mdmll, graphDist, eP, type); + delete my_icp; + if(loopSlam6DAlgo > 0) { + delete my_loopSlam6D; + } + } + if(my_graphSlam6D > 0) { + delete my_graphSlam6D; + } + } + } + +#ifdef WITH_METRICS + ClientMetric::matching_time.end(t); +#endif //WITH_METRICS + + long endtime = GetCurrentTimeInMilliSec() - starttime; + cout << "Matching done in " << endtime << " milliseconds!!!" << endl; + + if (exportPts) { + cout << "Export all 3D Points to file \"points.pts\"" << endl; + ofstream redptsout("points.pts"); + for(unsigned int i = 0; i < Scan::allScans.size(); i++) { + DataXYZ xyz_r(Scan::allScans[i]->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) { + redptsout << xyz_r[i][0] << ' ' << xyz_r[i][1] << ' ' << xyz_r[i][2] << '\n'; + } + redptsout << std::flush; + + } + redptsout.close(); + redptsout.clear(); + } + + const double* p; + ofstream redptsout("loopclose.pts"); + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + p = scan->get_rPos(); + Point x(p[0], p[1], p[2]); + redptsout << x << endl; + scan->saveFrames(); + } + redptsout.close(); + + Scan::closeDirectory(); + delete my_icp6Dminimizer; + + cout << endl << endl; + cout << "Normal program end." << endl + << (red < 0 && rand < 0 ? "(-> HINT: For a significant speedup, please use the '-r' or '-R' parameter <-)\n" + : "") + << endl; + + // print metric information +#ifdef WITH_METRICS + ClientMetric::print(scanserver); +#endif //WITH_METRICS +} diff --git a/src/slam6d/testICPortho.m b/src/slam6d/testICPortho.m new file mode 100644 index 0000000..71a4eaf --- /dev/null +++ b/src/slam6d/testICPortho.m @@ -0,0 +1,84 @@ +function correctedData = testICP(anglex, angley, anglez) + % erstellung der testrotation, Winkelangabe in grad + Rz = [cos(anglez) -sin(anglez) 0; + sin(anglez) cos(anglez) 0; + 0 0 1]; + + Ry = [ cos(angley) 0 sin(angley); + 0 1 0; + -sin(angley) 0 cos(angley)]; + + Rx = [1 0 0; + 0 cos(anglex) -sin(anglex); + 0 sin(anglex) cos(anglex)]; + + R = Rz * Ry * Rx; + + %% generate random model + model = rand(3, 10)*100 + + %% generate noise + noise = rand(3, 10)*5; + + % rotate and translate model to use as data to be matched + %data = R * model + 200; + + % rotate and translate model to use as data to be matched and add noise + data = R * model + 200 + noise; + + + %% center model cloud + cm = sum(model')' / size(model,2); + centerModel = model - repmat(cm, 1, size(model,2)); + + %% center data cloud + cd = sum(data')' / size(data,2); + centerData = data - repmat(cd, 1, size(data,2)); + + %% correlation matrix H + H = zeros(3,3); + for i=1:size(data,2) + for j=1:3 + for k=1:3 + H(j,k) = H(j,k) + centerModel(j,i)*centerData(k,i); + end + end + end + +% H = zeros(3,3); +% for i=1:3 +% for j=1:3 +% H(i,j) = model(i,:) *data(j,:)'; +% end +% end + + %% rotation + % error in the paper: not H*H' but H'*H! + HH = H'*H; + + [eVec, eVal] = eig(HH); + + lamb1=eVal(1,1); + lamb2=eVal(2,2); + lamb3=eVal(3,3); + + u1=eVec(:,1); + u2=eVec(:,2); + u3=eVec(:,3); + + R=H*(1/sqrt(lamb1)*(u1*u1') + 1/sqrt(lamb2)*(u2*u2') + 1/sqrt(lamb3)*(u3*u3')) + + + %% translation + t=(cm - R*cd) + + + %% transform data to match the model + transformeddata = R*data + repmat(t, 1, size(data,2)) + + %%plot model and transformed data + plot3(transformeddata(1,:),transformeddata(2,:),transformeddata(3,:), 'r.', model(1,:),model(2,:),model(3,:),'go') + legend ('transformed data', 'model', 'Location','NorthEast') + +end + \ No newline at end of file diff --git a/src/slam6d/toGlobal.cc b/src/slam6d/toGlobal.cc new file mode 100644 index 0000000..9b24da5 --- /dev/null +++ b/src/slam6d/toGlobal.cc @@ -0,0 +1,149 @@ +/* + * toGlobal implementation + * + * Copyright (C) Jan Elseberg, Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include +using std::cout; +using std::cerr; +using std::endl; +using std::ifstream; +using std::ofstream; + +#include "slam6d/point.h" +#include "slam6d/globals.icc" +#include +#include +using std::exception; + +#ifndef _MSC_VER +#include +#endif + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + +#if WIN32 +#define snprintf sprintf_s +#endif + + +int parseArgs(int argc,char **argv, char dir[255], int& start, int& end){ + start = 0; + end = -1; // -1 indicates no limitation + + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + while ((c = getopt (argc, argv, "s:e:")) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + exit(0); + } + strncpy(dir,argv[optind],255); + +#ifndef _MSC_VER + if (dir[strlen(dir)-1] != '/') strcat(dir,"/"); +#else + if (dir[strlen(dir)-1] != '\\') strcat(dir,"\\"); +#endif + return 0; +} + + +int main(int argc, char **argv) +{ + int start = 0, end = -1; + char dir[255]; + parseArgs(argc, argv, dir, start, end); + + int fileCounter = start; + char frameFileName[255]; + char scanFileName[255]; + + ifstream frame_in; + ifstream scan_in; + + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + snprintf(frameFileName,255,"%sscan%.3d.frames",dir,fileCounter); + snprintf(scanFileName,255,"%sscan%.3d.3d",dir,fileCounter++); + + scan_in.open(scanFileName); + frame_in.open(frameFileName); + + double tmp; + // read 3D scan + if (!frame_in.good()) break; // no more files in the directory + + cerr << "Reading frame " << frameFileName << "..." << endl; + int frameCounter = 0; + double transMat[16]; + //double transMatOpenGL[16]; + + while (frame_in.good()) { + frameCounter++; + try { + frame_in >> transMat; + frame_in >> tmp; + + } catch (const exception &e) { + break; + } + } + + Point p; +// double range, theta, phi, reflectance; + cout.precision(10); + while(scan_in.good()) { + /* scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance; + */ //scan_in >> p.z >> p.x >> p.y >> range >> theta >> phi >> reflectance; + scan_in >> p.x >> p.y >> p.z; // >> p.reflectance; + /* p.x *= -100; + p.y *= 100; + p.z *= 100; + */ + p.transform(transMat); + //Matrix4ToEuler(transMat,rPosTheta,rPos); + + //cout << p.y << " " << p.z << " " << -p.x << " " << reflectance << endl; + //cout << p.y << " " << p.z << " " << -p.x << endl; + //cout << p.x*0.01 << " " << p.z*0.01 << " " << p.y*0.01 << " " << p.reflectance << endl; + //cout << (int)p.x << " " << (int)p.y << " " << (int)p.z << endl;// << " " << p.reflectance << endl; + cout << p.x << " " << p.y << " " << p.z << endl;// << " " << p.reflectance << endl; + + } + + scan_in.close(); + scan_in.clear(); + frame_in.close(); + frame_in.clear(); + cerr << " done." << endl; + } + +} + diff --git a/src/thermo/CMakeLists.txt b/src/thermo/CMakeLists.txt new file mode 100644 index 0000000..6b6b86d --- /dev/null +++ b/src/thermo/CMakeLists.txt @@ -0,0 +1,50 @@ +IF (WITH_THERMO) + find_package(OpenCV REQUIRED) + + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/cvblob) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src) + include_directories(${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/include) + include_directories(${CMAKE_SOURCE_DIR}/include/shapes/) + include_directories(${CMAKE_SOURCE_DIR}/include/thermo/) + include_directories(/usr/include/) + include_directories(/usr/include/opencv) + +# # Compile gocr library +# SET(GOCR_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gocr-0.48/src/) +# add_library(Pgm2asc SHARED ${GOCR_DIR}gocr.c ${GOCR_DIR}pgm2asc.c ${GOCR_DIR}box.c ${GOCR_DIR}database.c +# ${GOCR_DIR}detect.c ${GOCR_DIR}barcode.c ${GOCR_DIR}lines.c ${GOCR_DIR}list.c +# ${GOCR_DIR}ocr0.c ${GOCR_DIR}ocr0n.c ${GOCR_DIR}ocr1.c ${GOCR_DIR}otsu.c +# ${GOCR_DIR}output.c ${GOCR_DIR}pixel.c ${GOCR_DIR}unicode.c ${GOCR_DIR}remove.c +# ${GOCR_DIR}pnm.c ${GOCR_DIR}pcx.c ${GOCR_DIR}progress.c ${GOCR_DIR}job.c) + +# add_executable(shapes shapes.cc geom_math.cc numberrec.cc scan_ransac.cc ) +# +# IF(WIN32) +# target_link_libraries(shapes scan XGetopt netpbm Pgm2asc) +# ENDIF(WIN32) +# +# IF (UNIX) +# target_link_libraries(shapes scan newmat dl netpbm Pgm2asc ) +# ENDIF(UNIX) +# + + add_executable(caliboard caliboard.cc) +# add_executable(thermo thermo.cc) +# add_executable(thermo thermo.cc src/cvaux.cpp src/cvblob.cpp src/cvcolor.cpp src/cvcontour.cpp src/cvlabel.cpp src/cvtrack.cpp) + add_executable(thermo thermo.cc) + + IF(UNIX) + target_link_libraries(caliboard scan shape newmat dl ANN) + target_link_libraries(thermo scan shape newmat dl ANN) +# target_link_libraries(thermo scan shape newmat dl ANN) + target_link_libraries(thermo cv cvaux cxcore GL GLU highgui cvblob scan ANN) + ENDIF(UNIX) + + IF (WIN32) + target_link_libraries(caliboard scan shape newmat XGetopt ANN) +# target_link_libraries(thermo scan shape newmat XGetopt ANN) + target_link_libraries(thermo cv cvaux cxcore GL GLU highgui cvblob scan ANN) + ENDIF(WIN32) + + +ENDIF(WITH_THERMO) diff --git a/src/thermo/caliboard.cc b/src/thermo/caliboard.cc new file mode 100644 index 0000000..59ef4aa --- /dev/null +++ b/src/thermo/caliboard.cc @@ -0,0 +1,535 @@ +/* + * caliboard implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @author Dorit Borrmann. Institute of Computer Science, University of Osnabrueck, Germany. +*/ + +#include +#include +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +using std::ofstream; +using std::flush; +using std::cout; +using std::string; +using std::cerr; +using std::endl; +#include + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#else +#include +#include +#include +#include +#endif + +#include "shapes/hough.h" + +#include "shapes/shape.h" +#include "shapes/ransac.h" +#include "slam6d/icp6D.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" + +#ifdef WITH_SCANSERVER +#include "scanserver/clientInterface.h" +#endif + + + +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + << bold << " -b" << normal << " NR, " << bold << "--bottom=" << normal << "NR" << endl + << " trim the scan with lower boundary NR" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -p" << normal << " NR, " << bold << "--pattern=" << normal << "NR" << endl + << " use pattern NR for plane detection" << endl + << " 0: lightbulb pattern" << endl + << " 1: chess pattern on cardboard" << endl + << " 2: chess pattern on wooden board" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--top=" << normal << "NR" << endl + << " trim the scan with upper boundary NR" << endl + << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -m 500 -r 5 dat" << endl + << " " << prog << " --max=5000 -r 10.2 dat" << endl + << " " << prog << " -s 2 -e 10 -r dat" << endl << endl; + exit(1); + +} + +bool matchPlaneToBoard(vector &points, double *alignxf, int pattern, string output) { + double rPos[3] = {0.0,0.0,0.0}; + double rPosTheta[3] = {0.0,0.0,0.0}; + + vector boardpoints; + double halfwidth; + double halfheight; + double w_step = 0.5; + double h_step = 0.5; + + switch(pattern) { + case 0: + halfheight = 28.5; + halfwidth = 25.0; + break; + case 1: + halfwidth = 18.3; + halfheight = 18.5; + w_step = 0.6; + break; + case 2: + case 3: + halfwidth = 19.0; + halfheight = 38.0; + break; + } + + for(double i = -halfwidth; i <= halfwidth; i+=w_step) { + for(double j = -halfheight; j <= halfheight; j+=h_step) { + double * p = new double[3]; + p[0] = i; + p[1] = j; + p[2] = 0.0; + //cout << p[0] << " " << p[1] << " " << p[2] << endl; + boardpoints.push_back(p); + } + } + + int nr_points = boardpoints.size(); + int nr_points2 = points.size(); + Scan * plane = new Scan(rPos, rPosTheta, points); + Scan * board = new Scan(rPos, rPosTheta, boardpoints); + board->transform(alignxf, Scan::INVALID, 0); + + bool quiet = true; + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer = new icp6D_SVD(quiet); + + icp6D *my_icp = 0; + double mdm = 50; + int mni = 50; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false); + + plane->createTree(false,false); + board->createTree(false,false); + + my_icp->match(plane, board); + + delete my_icp; + mdm = 2; + mni = 300; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, false, -1, false, 1, 0.00, false, false); + my_icp->match(plane, board); + + + double sum; + double centroid_s[3] = {0.0, 0.0, 0.0}; + double centroid_t[3] = {0.0, 0.0, 0.0}; + vector pairs_out; + Scan::getPtPairs(&pairs_out, plane, board, 1, 0, 2.0, sum, centroid_s, centroid_t); + int nr_matches = pairs_out.size(); + + cout << "Result " << nr_matches << " " << nr_points << " " << nr_points2 << endl; + const double * pos = board->get_rPos(); + const double * postheta = board->get_rPosTheta(); + const double * transMat = board->get_transMat(); + for(int i = 0; i < 16; i++) { + cout << transMat[i] << " "; + } + + cout << endl << endl; + + for(int i = 0; i < 3; i++) { + cout << pos[i] << " "; + } + cout << endl; + for(int i = 0; i < 3; i++) { + cout << deg(postheta[i]) << " "; + } + cout << endl; + vector * result = new vector(); + cout << "Calipoints Start" << endl; + + ofstream caliout(output.c_str()); + + if(nr_matches < nr_points) { + caliout << "failed" << endl; + } else { + caliout << "Calibration" << endl; + } + + switch(pattern) { + // lightbulb + case 0: + for(double y = -25; y < 30; y+=10.0) { + //for(double x = -20; x < 25; x+=10.0) { + for(double x = 20; x > -25; x-=10.0) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + // chessboard on wooden board pattern top + case 2: + for(double x = -7.8; x < 10; x+=5.2) { + for(double y = 4.1; y < 33.0; y+=5.2) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + case 3: + for(double y = -4.1; y > -33.0; y-=5.2) { + //for(double y = -30.1; y < -0.0; y+=5.2) { + // for(double x = 7.8; x > -10; x-=5.2) { + for(double x = -8.1; x < 10; x+=5.2) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + // chessboard on cardboard + case 1: + for(double x = -12; x < 16; x+=4.0) { + for(double y = -12; y < 16; y+=4.0) { + double * p = new double[3]; + p[0] = x; + p[1] = y; + p[2] = 0.0; + transform3(transMat, p); + result->push_back(p); + caliout << p[0] << " " << p[1] << " " << p[2] << endl; + } + } + break; + } + caliout.close(); + caliout.clear(); + + cout << "Calipoints End" << endl; + return !(nr_matches < nr_points); +} + +int parseArgs(int argc, char **argv, string &dir, double &red, int &start, int &end, int &pattern, int &maxDist, int &minDist, double &top, double &bottom, int &octree, IOType &type, bool +&quiet) { + + bool reduced = false; + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "reduce", required_argument, 0, 'r' }, + { "pattern", required_argument, 0, 'p' }, + { "quiet", no_argument, 0, 'q' }, + { "octree", optional_argument, 0, 'O' }, + { "end", required_argument, 0, 'e' }, + { "top", required_argument, 0, 't' }, + { "bottom", required_argument, 0, 'b' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:r:s:e:m:M:O:qp:e:t:b:", longopts, NULL)) != -1) + switch (c) + { + case 'r': + red = atof(optarg); + reduced = true; + break; + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'p': + pattern = atoi(optarg); + if(pattern < 0 || pattern > 3) { cerr << "Error: choose pattern between 0 and 3!\n"; exit(1); } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 't': + top = atof(optarg); + break; + case 'b': + bottom = atof(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + break; + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + return 0; +} + +/** + * Main function. The Hough Transform is called for the scan indicated as + * argument. + * + */ +int main(int argc, char **argv) +{ + + cout << "(c) Jacobs University Bremen, gGmbH, 2010" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0; + int start = 0; + int end = -1; + int maxDist = -1; + int minDist = -1; + int octree = 0; + bool quiet = false; + int pattern = 0; + double bottom = -5; + double top = 170; + IOType type = UOS; + + cout << "Parse args" << endl; + parseArgs(argc, argv, dir, red, start, end, pattern, maxDist, minDist, top, bottom, octree, type, quiet); + Scan::dir = dir; + int fileNr = start; + string calidir = dir + "/cali"; + +#ifdef WITH_SCANSERVER + try { + ClientInterface::create(); + } catch(std::runtime_error& e) { + cerr << "ClientInterface could not be created: " << e.what() << endl; + cerr << "Start the scanserver first." << endl; + exit(-1); + } +#endif //WITH_SCANSERVER + +#ifdef _MSC_VER + int success = mkdir(calidir.c_str()); +#else + int success = mkdir(calidir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + if(!quiet) { + cout << "Writing calibration results to " << calidir << endl; + } + } else if(errno == EEXIST) { + cout << "Directory " << calidir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << calidir << " failed" << endl; + exit(1); + } + + cout << start << " " << end << endl; + int successes = 0; + int failures = 0; + + long calitime = GetCurrentTimeInMilliSec(); +#ifndef WITH_SCANSERVER + while (fileNr <= end) { + Scan::readScans(type, fileNr, fileNr, dir, maxDist, minDist, 0); + + string output = calidir + "/scan" + to_string(fileNr,3) + ".3d"; + cout << "Top: " << top << " Bottom: " << bottom << endl; + Scan::allScans[0]->trim(top, bottom); + + Scan::allScans[0]->toGlobal(red, octree); + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + Scan::allScans[0]->transform(id, Scan::ICP, 0); // write end pose + } +#else //WITH_SCANSERVER + Scan::readScansRedSearch(type, start, end, dir, filter, red, octree); + for(std::vector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + string output = calidir + "/scan" + scan->getIdentifier() + ".3d"; + cout << "Top: " << top << " Bottom: " << bottom << endl; + // set trimming, don't want to put it into readScansRedSearch too + scan->trim(top, bottom); + + double id[16]; + M4identity(id); + for(int i = 0; i < 10; i++) { + scan->transform(id, Scan::ICP, 0); // write end pose + } +#endif //WITH_SCANSERVER + cout << "start plane detection" << endl; + long starttime = GetCurrentTimeInMilliSec(); + vector points; + CollisionPlane * plane; + plane = new LightBulbPlane(50,120); +#ifndef WITH_SCANSERVER + Ransac(*plane, Scan::allScans[0], &points); +#else //WITH_SCANSERVER + Ransac(*plane, scan, &points); +#endif //WITH_SCANSERVER + starttime = (GetCurrentTimeInMilliSec() - starttime); + + cout << "nr points " << points.size() << endl; + double nx,ny,nz,d; + plane->getPlane(nx,ny,nz,d); + cout << "DONE " << endl; + + cout << nx << " " << ny << " " << nz << " " << d << endl; + double rPos[3]; + double rPosTheta[3]; + for(int i = 0; i < 3; i++) { + rPosTheta[i] = 0.0; + } + ((LightBulbPlane *)plane)->getCenter(rPos[0], rPos[1], rPos[2]); + double alignxf[16]; + EulerToMatrix4(rPos, rPosTheta, alignxf); + if(matchPlaneToBoard(points, alignxf, pattern, output)) { + successes++; + } else { + failures++; + } + for(int i = points.size() - 1; i > -1; i++) { + delete[] points[i]; + } + + delete plane; + + cout << "Time for Plane Detection " << starttime << endl; +#ifndef WITH_SCANSERVER + delete Scan::allScans[0]; + Scan::allScans.clear(); + fileNr++; +#endif //WITH_SCANSERVER + } + calitime = (GetCurrentTimeInMilliSec() - calitime); + + cout << "Calibration done with " << successes << " successes and " << failures + << " failures!" << endl; + cout << "Time for Calibration " << calitime << endl; + +#ifdef WITH_SCANSERVER + Scan::clearScans(); + ClientInterface::destroy(); +#endif //WITH_SCANSERVER +} + diff --git a/src/thermo/thermo.cc b/src/thermo/thermo.cc new file mode 100644 index 0000000..be22108 --- /dev/null +++ b/src/thermo/thermo.cc @@ -0,0 +1,1749 @@ +/* + * thermo implementation + * + * Copyright (C) Dorit Borrmann + * + * Released under the GPL version 3. + * + */ + +#include +#include "thermo/thermo.h" +#include "newmat/newmatap.h" +using namespace NEWMAT; + +#include "cvblob.h" +using namespace cvb; + +#include + +#ifndef _MSC_VER +#include +#include +#else +#include "XGetopt.h" +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#include +#include +#endif + +#ifdef _EiC +#define WIN32 +#endif + +Float2D data1; +Float2D data2; + +unsigned int BLOB_SIZE = 55; +double AVG_THRES = 0.8; + +/** + * Calculates the PCA of a two-dimensional point cloud + * @param x x coordinate of the axis + * @param y y coordinate of the axis + * @param pc true if the principal axis is wanted, false for the least dominant + * @param cx center x of the point cloud + * @param cy center y of the point cloud + */ + +void calcBoard(double point_array[][2], int board_n, double &x, double &y, double &cx, double &cy, bool pc) { + cx = cy = 0; + for (int a = 0; a < board_n; a++) { + cx += point_array[a][0]; + cy += point_array[a][1]; + } + + cx /= board_n; + cy /= board_n; + + SymmetricMatrix A(2); + A = 0; + + for(int a = 0; a < board_n; a++) { + A(1,1) += (point_array[a][0] - cx)*(point_array[a][0] - cx); + A(2,2) += (point_array[a][1] - cy)*(point_array[a][1] - cy); + A(1,2) += (point_array[a][0] - cx)*(point_array[a][1] - cy); + } + DiagonalMatrix D; + Matrix V; + try { + Jacobi(A,D,V); + } catch (ConvergenceException) { + cout << "couldn't find board..." << endl; + } + + int min, max; + + D.MaximumAbsoluteValue1(max); + D.MinimumAbsoluteValue1(min); + + // return eigenvector with highest eigenvalue + if(pc) { + x = V(1,max); + y = V(2,max); + // return eigenvector with lowest eigenvalue + } else { + x = V(1,min); + y = V(2,min); + } + +} + +/** + * Sorts the detected light bulbs on the board. + * @param point_array list of detected points + * @param board_n number of lightbulbs + * @param board_h number of rows + * @param board_w number of columns + * @param quiet if true, debug information is printed + */ +void sortBlobs(double point_array[][2], int board_n, int board_h, int board_w, bool quiet) { + double x, y, cx, cy; + // align board using PCA + calcBoard(point_array, board_n, x, y, cx, cy, board_h <= board_w); + double point_array2[board_n][2]; + double angle = -atan2(y,x); + for(int i = 0; i < board_n; i++) { + double tmpx = point_array[i][0] - cx; + double tmpy = point_array[i][1] - cy; + point_array2[i][0] = tmpx * cos(angle) - tmpy * sin(angle); + point_array2[i][1] = tmpx * sin(angle) + tmpy * cos(angle); + } + // sorting the points on the basis of y coordinate////// + int swapped1 = 0; + do { + swapped1 = 0; + + for (int a = 1; a <= board_n - 1; a++) { + if (point_array2[a][1] < point_array2[a - 1][1]) { + //rotated points + double tempx = point_array2[a][0]; + double tempy = point_array2[a][1]; + point_array2[a][0] = point_array2[a - 1][0]; + point_array2[a][1] = point_array2[a - 1][1]; + point_array2[a - 1][0] = tempx; + point_array2[a - 1][1] = tempy; + + //original points + double tmpx = point_array[a][0]; + double tmpy = point_array[a][1]; + point_array[a][0] = point_array[a - 1][0]; + point_array[a][1] = point_array[a - 1][1]; + point_array[a - 1][0] = tmpx; + point_array[a - 1][1] = tmpy; + swapped1 = 1; + } + } + } while (swapped1 == 1); + + if(!quiet) { + cout << "sorted array:" << endl; + for (int f = 0; f < board_n; f++) { + cout << point_array2[f][0] << " " << point_array2[f][1] << endl; + } + } + // sorting the array rows now + for (int x = 0; x < board_h; x++) { + double row_points[board_w][2]; + double row_points2[board_w][2]; + for (int y = 0; y < board_w; y++) { + row_points[y][0] = point_array[x * board_w + y][0]; + row_points[y][1] = point_array[x * board_w + y][1]; + row_points2[y][0] = point_array2[x * board_w + y][0]; + row_points2[y][1] = point_array2[x * board_w + y][1]; + if(!quiet) cout << row_points[y][0] << " " << row_points[y][1] << " "; + } + if(!quiet) cout << endl; + int swapped = 0; + do { + swapped = 0; + for (int a = 1; a <= board_w - 1; a++) { + if (row_points2[a][0] < row_points2[a - 1][0]) { + // original points + double tempx = row_points[a][0]; + double tempy = row_points[a][1]; + row_points[a][0] = row_points[a - 1][0]; + row_points[a][1] = row_points[a - 1][1]; + row_points[a - 1][0] = tempx; + row_points[a - 1][1] = tempy; + // rotated points + double tmpx = row_points2[a][0]; + double tmpy = row_points2[a][1]; + row_points2[a][0] = row_points2[a - 1][0]; + row_points2[a][1] = row_points2[a - 1][1]; + row_points2[a - 1][0] = tmpx; + row_points2[a - 1][1] = tmpy; + swapped = 1; + } + } + } while (swapped == 1); + if(!quiet) cout << "sorted:" << endl; + for (int z = 0; z < board_w; z++) { + point_array2[x * board_w + z][0] = row_points2[z][0]; + point_array2[x * board_w + z][1] = row_points2[z][1]; + if(!quiet) cout << point_array[x * board_w + z][0] << " " << point_array[x * board_w + z][1] << " "; + point_array[x * board_w + z][0] = row_points[z][0]; + point_array[x * board_w + z][1] = row_points[z][1]; + } + if(!quiet) cout << endl; + + } + +} + +/** + * Detects the blobs. + */ +IplImage* detectBlobs(IplImage *org_image, int &corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2]) { + + IplImage *gray_image = cvCloneImage(org_image); + cvThreshold(gray_image, gray_image, 140, 255, CV_THRESH_BINARY); + IplImage *labelImg = cvCreateImage(cvGetSize(gray_image), IPL_DEPTH_LABEL, 1); + + // detect blobs + CvBlobs blobs; + cvLabel(gray_image, labelImg, blobs); + double average_size = 0; + int count = 0; + for (CvBlobs::const_iterator it = blobs.begin(); it != blobs.end(); ++it) { + if (it->second->area < BLOB_SIZE) { + count++; + average_size += it->second->area; + } + } + if(!quiet) cout << "centroid:" << average_size << endl; + + // refine blobs + average_size = average_size / count; + double average_size_min = average_size * (1.0 - AVG_THRES); + double average_size_max = average_size * (1.0 + AVG_THRES); + int blob_count = 0; + + for (CvBlobs::const_iterator it2 = blobs.begin(); it2 != blobs.end(); ++it2) { + if (it2->second->area >= average_size_min && + it2->second->area <= average_size_max && + blob_count < corner_exp) { + + point_array2[blob_count][0] = it2->second->centroid.x; + point_array2[blob_count][1] = it2->second->centroid.y; + double sumx = 0.0; + double sumy = 0.0; + double sum = 0.0; + + /* + int step = 5; + int minx = ((int)it2->second->minx - step) > -1 ? (it2->second->minx - step) : 0; + int maxx = ((it2->second->maxx + step) < gray_image->width) ? (it2->second->maxx + step) : (gray_image->width - 1); + int miny = ((int)it2->second->miny - step) > -1 ? (it2->second->miny - step) : 0; + int maxy = ((it2->second->maxy + step) < gray_image->height) ? (it2->second->maxy + step) : (gray_image->height - 1); + */ + + int minx = it2->second->minx; + int miny = it2->second->miny; + int maxx = it2->second->maxx; + int maxy = it2->second->maxy; + + for(int x = minx; x <= maxx; x++) { + for(int y = miny; y <= maxy; y++) { + if(cvGet2D(gray_image, y, x).val[0] > 0) { + CvScalar c; + c = cvGet2D(org_image, y, x); + sum += c.val[0]; + sumx += c.val[0]*x; + sumy += c.val[0]*y; + } + } + } + + sumx /= sum; + sumy /= sum; + point_array2[blob_count][0] = sumx; + point_array2[blob_count][1] = sumy; + + blob_count++; + } + } + + if(!quiet) cout << "Refined number of blobs=" << blob_count << endl; + // sorting the points + sortBlobs(point_array2, corner_exp, board_h, board_w, true); + cvReleaseImage(&labelImg); + corner_exp = blob_count; + return gray_image; +} + +/** + * Connects the detected calibration features in the image with lines. + */ +void drawLines(double point_array2[][2], int corner_exp, IplImage *image, bool color) { + for (int i = 0; i <= corner_exp - 2; i++) { + CvPoint pt1; + CvPoint pt2; + CvScalar s; + if(color) { + s = CV_RGB(255,0,0); + } else { + s.val[0] = 100; + } + double temp1 = point_array2[i][0] - floor(point_array2[i][0]); + if (temp1 < .5) { + pt1.x = floor(point_array2[i][0]); + } else { + pt1.x = floor(point_array2[i][0]) + 1; + } + double temp2 = point_array2[i][1] - floor(point_array2[i][1]); + if (temp2 < .5) { + pt1.y = floor(point_array2[i][1]); + } else { + pt1.y = floor(point_array2[i][1]) + 1; + } + double temp3 = point_array2[i + 1][0] - floor( + point_array2[i + 1][0]); + if (temp3 < .5) { + pt2.x = floor(point_array2[i + 1][0]); + } else { + pt2.x = floor(point_array2[i + 1][0]) + 1; + } + double temp4 = point_array2[i + 1][1] - floor( + point_array2[i + 1][1]); + if (temp4 < .5) { + pt2.y = floor(point_array2[i + 1][1]); + } else { + pt2.y = floor(point_array2[i + 1][1]) + 1; + } + cvLine(image, pt1, pt2, s, 1, 8); + } + cvShowImage("Final Result", image); + +} + +/** + * Resizes the image + */ +IplImage* resizeImage(IplImage *source, int scale) { + int width, height; + IplImage *image; + switch(scale) { + case 2: + width = 1200; + height = 900; + break; + case 3: + width = 800; + height = 600; + break; + case 4: + width = 400; + height = 300; + break; + case 5: + width = 160; + height = 120; + break; + case 1: + default: + return cvCloneImage(source); + } + + image = cvCreateImage(cvSize(width,height),source->depth,source->nChannels); + cvResize(source,image); + return image; +} + +/** + * Detects the corners of the chessboard pattern. + */ +IplImage* detectCorners(IplImage *orgimage, int corner_exp, int board_h, int board_w, bool quiet, double point_array2[][2], int scale) { + + IplImage *image = resizeImage(orgimage, scale); + CvSize size = cvGetSize(image); + CvPoint2D32f* corners = new CvPoint2D32f[corner_exp]; + CvSize board_sz = cvSize(board_w, board_h); + IplImage *gray_image = cvCreateImage(size,8,1); + + if (image->nChannels == 3) { + cvCvtColor(image, gray_image, CV_BGR2GRAY); + } else { + gray_image = image; + } + + int found = cvFindChessboardCorners(image, board_sz, corners, &corner_exp, + CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS); + + cout << "found corners:" << corner_exp << endl; + if (found != 0) {//if all corners found successfully + //Get Subpixel accuracy on those corners + if(size.width > 400) { + cvFindCornerSubPix(gray_image, corners, corner_exp, cvSize(11, 11), cvSize(-1, -1), + cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); + } + else { + cvFindCornerSubPix(gray_image, corners, corner_exp, cvSize(2, 2), cvSize(-1, -1), + cvTermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); + } + } + + for (int i = 0; i < corner_exp; i++) { + point_array2[i][0] = corners[i].x; + point_array2[i][1] = corners[i].y; + } + return gray_image; + +} + +/** + * Writes the intrinsic calibration parameters to files. + */ +void writeCalibParam(int images, int corner_exp, int board_w, CvMat* +image_points, CvSize size, string dir, string substring) { + CvMat* intrinsic_matrix = cvCreateMat(3, 3, CV_32FC1); + CvMat* distortion_coeffs = cvCreateMat(5, 1, CV_32FC1); + //ALLOCATE MATRICES ACCORDING TO HOW MANY CHESSBOARDS FOUND + CvMat* object_points2 = cvCreateMat(images * corner_exp, 3, CV_32FC1); + CvMat* image_points2 = cvCreateMat(images * corner_exp, 2, CV_32FC1); + CvMat* point_counts2 = cvCreateMat(images, 1, CV_32SC1); + CvMat* Rotation = cvCreateMat(images, 3, CV_32FC1); + CvMat* Translation = cvCreateMat(images, 3, CV_32FC1); + //TRANSFER THE POINTS INTO THE CORRECT SIZE MATRICES + int j; + for (int i = 0; i < images * corner_exp; ++i) { + j = i % corner_exp; + CV_MAT_ELEM( *image_points2, float, i, 0) = CV_MAT_ELEM( *image_points, float, i, 0); + CV_MAT_ELEM( *image_points2, float,i,1) = CV_MAT_ELEM( *image_points, float, i, 1); + CV_MAT_ELEM(*object_points2, float, i, 0) = (j / board_w) * 8; + CV_MAT_ELEM( *object_points2, float, i, 1) = (j % board_w) * 8; + CV_MAT_ELEM( *object_points2, float, i, 2) = 0.0f; + } + for (int i = 0; i < images; ++i) { //These are all the same number + CV_MAT_ELEM( *point_counts2, int, i, 0) = corner_exp; + } + + // Initialize the intrinsic matrix with focal length = 1.0 + CV_MAT_ELEM( *intrinsic_matrix, float, 0, 0 ) = 1.0f; + CV_MAT_ELEM( *intrinsic_matrix, float, 1, 1 ) = 1.0f; + //CALIBRATE THE CAMERA! + cvCalibrateCamera2(object_points2, image_points2, point_counts2, size, + intrinsic_matrix, distortion_coeffs, Rotation, Translation, 0 //CV_CALIB_FIX_ASPECT_RATIO + ); + // SAVE AND PRINT THE INTRINSICS AND DISTORTIONS + + string file = dir + "Intrinsics" + substring + ".xml"; + cvSave(file.c_str(), intrinsic_matrix); + file = dir + "Distortion" + substring + ".xml"; + cvSave(file.c_str(), distortion_coeffs); + cout << "Camera Intrinsic Matrix is:" << endl; + for (int row = 0; row < 3; row++) { + for (int col = 0; col < 3; col++) { + cout << CV_MAT_ELEM( *intrinsic_matrix, float, row, col ) << "\t"; + } + cout << endl; + } + cout << "Distortion Coefficients are:" << endl; + for (int row = 0; row < 5; row++) { + for (int col = 0; col < 1; col++) { + cout << CV_MAT_ELEM( *distortion_coeffs, float, row, col ) << "\t"; + } + } + cout << endl; + CvMat *intrinsic = intrinsic_matrix; + CvMat *distortion = distortion_coeffs; + + // CLEANUP + cvReleaseMat(&object_points2); + cvReleaseMat(&image_points2); + cvReleaseMat(&point_counts2); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); +} + +/** + * Main function for intrinsic calibration + */ +void CalibFunc(int board_w, int board_h, int start, int end, bool optical, bool +chess, bool quiet, string dir, int scale) { + cvNamedWindow("Original Image", 0); + cvResizeWindow( "Final Result", 320, 240 ); + cvNamedWindow("Final Result", 0); + cvResizeWindow( "Final Result", 320, 240 ); + + int nr_img = end - start + 1; + if (nr_img == 0) { + cout << "ImageCount is zero!" << endl; + return; + } + + int corner_exp = board_w * board_h; + CvSize board_sz = cvSize(board_w, board_h); + CvSize size; + //ALLOCATE STORAGE(depending upon the number of images in(in case if command line arguments are given ) + //not on the basis of number of images in which all corner extracted/while in the other case the number is the same ) + CvMat* image_points = cvCreateMat(nr_img * corner_exp, 2, CV_32FC1); + //TODO CvPoint2D32f* corners = new CvPoint2D32f[ board_n ]; + + int successes = 0; + int step = 0; + + for (int count = start; count <= end; count++) { + string t; + string t1; + + if(optical) { + t = dir + "/photo" + to_string(count, 3) + ".ppm"; + t1 = dir + "/cimage" + to_string(count, 3) + ".ppm"; + //t = dir + to_string(count, 3) + "/photo" + to_string(count, 3) + ".ppm"; + //t1 = dir + to_string(count, 3) + "/cimage" + to_string(count, 3) + ".ppm"; + } else { + //t = dir + to_string(count, 3) + "/image" + to_string(count, 3) + ".ppm"; + //t1 = dir + to_string(count, 3) + "/timage" + to_string(count, 3) + ".ppm"; + t = dir + "/image" + to_string(count, 3) + ".ppm"; + t1 = dir + "/timage" + to_string(count, 3) + ".ppm"; + } + cout << t << endl; + //loading images and finding corners + IplImage* image1 = cvLoadImage(t.c_str(), -1); + if (!image1) { + cout << "image cannot be loaded" << endl; + return; + } + cvShowImage("Original Image", image1); + + ///////////////////////////////////////////////////////////// + + double point_array2[corner_exp][2]; + IplImage *image; + + if(chess) { + cout << "detect corners" << endl; + image = detectCorners(image1, corner_exp, board_h, board_w, quiet, point_array2, scale); + } else { + cout << "detect blob" << endl; + int tmp_corners = corner_exp; + image = detectBlobs(image1, tmp_corners, board_h, board_w, quiet, point_array2); + } + + for(int i = 0; i < corner_exp; i++) { + cout << (float) point_array2[i][0] << " " << (float) point_array2[i][1] << + endl; + } + //drawing the lines on the image now + drawLines(point_array2, corner_exp, image); + + cout << "\nDo you want to use the data from this image ('y' or 'n'). 'x' aborts the calibration? : "; + int c = cvWaitKey(100); + if (c == 27) { + break; + } + char in; + cin >> in; + if (in == 'y') { + cvSaveImage(t1.c_str(), image); + size = cvGetSize(image); + step = successes * corner_exp; + //appending corner data to a generic data structure for all images + for (int i = step, j = 0; j < corner_exp; ++i, ++j) { + CV_MAT_ELEM(*image_points, float,i,0) = (float) point_array2[j][0]; + CV_MAT_ELEM(*image_points, float,i,1) = (float) point_array2[j][1]; + } + successes++; + } else if(in == 'x') { + break; + } + cvReleaseImage(&image); + cvReleaseImage(&image1); + + } + cout << "Images for which all corners were found successfully=" + << successes << endl; + if (successes == 0) { + cout << "No successful corners found from any image" << endl; + return; + } + + string substring = optical? "Optical" : ""; + writeCalibParam(successes, corner_exp, board_w, image_points, size, dir, substring); + + cvReleaseMat(&image_points); + +} + +/** + * Reads the 3D information of the features from a file. + */ +bool readPoints(string filename, CvPoint3D32f *corners, int size) { + ifstream infile(filename.c_str(), ios::in); + if (!infile) { + cout << "3Ddata file cannot be loaded" << endl; + return false; + } + + string verify; + infile >> verify; + if(strcmp(verify.c_str(), "failed") == 0) return false; + for(int l = 0; l < size; l++) { + infile >> corners[l].y; + infile >> corners[l].z; + infile >> corners[l].x; + corners[l].y = -corners[l].y; + } + return true; +} + +/** + * Calculates the median of a set of translation vectors, i.e., the translation + * that has the smallest distance to all other translation. + */ +int realMedian(CvMat * vectors, int nr_vectors) { + double distances[nr_vectors]; + + for(int i = 0; i < nr_vectors; i++) { + double sum = 0; + double x1 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y1 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z1 = (CV_MAT_ELEM(*vectors,float,i,2)); + for(int j = 0; j < nr_vectors; j++) { + double x2 = (CV_MAT_ELEM(*vectors,float,j,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,j,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,j,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + sum += sqrt(tmp); + } + distances[i] = sum; + } + int min_pos = -1; + double min_dist = DBL_MAX; + for(int i = 0; i < nr_vectors; i++) { + if(distances[i] < min_dist) { + min_pos = i; + min_dist = distances[i]; + } + } + + return min_pos; +} + +/* + * Calculates the median of a set of vectors by iteratively calculating the + * median and cropping outliers. + */ +void filterMedian(CvMat * vectors, int nr_vectors, int threshold, CvMat * mean) { + + // calculate Median + int min_pos = realMedian(vectors, nr_vectors); + + // crop outliers + double x1 = (CV_MAT_ELEM(*vectors,float,min_pos,0)); + double y1 = (CV_MAT_ELEM(*vectors,float,min_pos,1)); + double z1 = (CV_MAT_ELEM(*vectors,float,min_pos,2)); + + int count = 0; + for(int i = 0; i < nr_vectors; i++) { + double x2 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,i,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + if(sqrt(tmp) < 1.0/threshold) count++; + } + + CvMat* some_vectors = cvCreateMat(count, 6, CV_32FC1); + count = 0; + for(int i = 0; i < nr_vectors; i++) { + double x2 = (CV_MAT_ELEM(*vectors,float,i,0)); + double y2 = (CV_MAT_ELEM(*vectors,float,i,1)); + double z2 = (CV_MAT_ELEM(*vectors,float,i,2)); + double tmp = (x2-x1)*(x2-x1)+(y2-y1)*(y2-y1)+(z2-z1)*(z2-z1); + if(sqrt(tmp) < 1.0/threshold) { + for(int j = 0; j < 6; j++) { + (CV_MAT_ELEM(*some_vectors,float,count,j)) = (CV_MAT_ELEM(*vectors,float,i,j)); + cout << (CV_MAT_ELEM(*some_vectors,float,count,j)) << " "; + } + cout << endl; + count++; + } + } + // recurse + if(threshold < 3) { + filterMedian(some_vectors, count, ++threshold, mean); + cvReleaseMat(&some_vectors); + // determine result + } else { + x1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,0)); + y1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,1)); + z1 = (CV_MAT_ELEM(*some_vectors,float,min_pos,2)); + double x2 = 0; + double y2 = 0; + double z2 = 0; + double r1 = 0; + double r2 = 0; + double r3 = 0; + for(int i = 0; i < count; i++) { + x2 += (CV_MAT_ELEM(*some_vectors,float,i,0)); + y2 += (CV_MAT_ELEM(*some_vectors,float,i,1)); + z2 += (CV_MAT_ELEM(*some_vectors,float,i,2)); + r1 += (CV_MAT_ELEM(*some_vectors,float,i,3)); + r2 += (CV_MAT_ELEM(*some_vectors,float,i,4)); + r3 += (CV_MAT_ELEM(*some_vectors,float,i,5)); + } + (CV_MAT_ELEM(*mean,float,0,0)) = x2/count; + (CV_MAT_ELEM(*mean,float,0,1)) = y2/count; + (CV_MAT_ELEM(*mean,float,0,2)) = z2/count; + (CV_MAT_ELEM(*mean,float,0,3)) = r1/count; + (CV_MAT_ELEM(*mean,float,0,4)) = r2/count; + (CV_MAT_ELEM(*mean,float,0,5)) = r3/count; + } +} + +/** + * Sorts vectors element by element, enables one to calculate the median of + * each element separately. + */ +void sortElementByElement(CvMat * vectors, int nr_elems, int nr_vectors) { + bool swapped; + for (int i = 0; i < nr_elems; i++) { + do { + swapped = false; + for (int j = 1; j <= nr_vectors - 1; j++) { + if (CV_MAT_ELEM(*vectors,float,j,i) < CV_MAT_ELEM(*vectors,float,j-1,i)) { + float temp = CV_MAT_ELEM(*vectors,float,j,i); + CV_MAT_ELEM(*vectors,float,j,i) = CV_MAT_ELEM(*vectors,float,j-1,i); + CV_MAT_ELEM(*vectors,float,j-1,i) = temp; + swapped = true; + } + } + } while (swapped); + } +} + +/** + * Calculates the extrinsic parameters of a set of matches. Find the best match + * by calculating the reprojection error of each set of calibration parameters. + */ +void calculateExtrinsicsWithReprojectionCheck(CvMat * points2D, CvMat * + points3D, CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, CvMat + * distortion, CvMat * intrinsics, int corners, int successes, string dir, bool quiet, string substring) { + double reprojectionError[successes]; + for(int i = 0; i < successes; i++) { + reprojectionError[i] = 0.0; + } + + for(int i = 0; i < successes; i++) { + reprojectionError[i] = 0.0; + CvMat * rotation = cvCreateMat(1, 3, CV_32FC1); + CvMat * translation = cvCreateMat(1, 3, CV_32FC1); + + for(int k = 0; k < 3; k++) { + CV_MAT_ELEM(*rotation, float, 0, k) = CV_MAT_ELEM(*rotation_vectors_temp, float, i, k); + CV_MAT_ELEM(*translation, float, 0, k) = CV_MAT_ELEM(*translation_vectors_temp, float, i, k); + } + for(int j = 0; j < successes; j++) { + double tmp = 0; + //calculate reprojection error + CvMat * point_3Dcloud = cvCreateMat(corners, 3, CV_32FC1); + CvMat * point_2Dcloud = cvCreateMat(corners, 2, CV_32FC1); + for(int l = 0; l < corners; l++) { + CV_MAT_ELEM(*point_2Dcloud,float,l,0) = 0.0; + CV_MAT_ELEM(*point_2Dcloud,float,l,1) = 1.0; + CV_MAT_ELEM(*point_3Dcloud,float,l,0) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).x; + CV_MAT_ELEM(*point_3Dcloud,float,l,1) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).y; + CV_MAT_ELEM(*point_3Dcloud,float,l,2) = CV_MAT_ELEM(*points3D,CvPoint3D32f,j,l).z; + } + cvProjectPoints2(point_3Dcloud, rotation, translation, intrinsics, + distortion, point_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + for(int l = 0; l < corners; l++) { + double x = CV_MAT_ELEM(*point_2Dcloud,float,l,0) - CV_MAT_ELEM(*points2D,CvPoint2D32f,j,l).x; + double y = CV_MAT_ELEM(*point_2Dcloud,float,l,1) - CV_MAT_ELEM(*points2D,CvPoint2D32f,j,l).y; + tmp += sqrt(x*x + y*y); + } + cvReleaseMat(&point_2Dcloud); + reprojectionError[i] += tmp; + cvReleaseMat(&point_3Dcloud); + } + cvReleaseMat(&rotation); + cvReleaseMat(&translation); + } + + int maxindex = -1; + double max = DBL_MAX; + for(int i = 0; i < successes; i++) { + if(reprojectionError[i] < max) { + maxindex = i; + max = reprojectionError[i]; + } + } + + CvMat * rotation = cvCreateMat(1, 3, CV_32FC1); + CvMat * translation = cvCreateMat(1, 3, CV_32FC1); + + for(int i = 0; i < 3; i++) { + CV_MAT_ELEM(*rotation, float, 0, i) = CV_MAT_ELEM(*rotation_vectors_temp, float, maxindex, i); + CV_MAT_ELEM(*translation, float, 0, i) = CV_MAT_ELEM(*translation_vectors_temp, float, maxindex, i); + } + string file = dir + "Rotation" + substring + ".xml"; + cvSave(file.c_str(), rotation); + file = dir + "Translation" + substring + ".xml"; + cvSave(file.c_str(), translation); + +} + +/** + * Calculates the extrinsic parameters given a set of feature matches using the + * mean and median method. + */ +void calculateExtrinsics(CvMat * rotation_vectors_temp, CvMat * translation_vectors_temp, int successes, string dir, bool quiet, string substring) { + + CvMat* rotation_vectors = cvCreateMat(successes, 3, CV_32FC1); + CvMat* translation_vectors = cvCreateMat(successes, 3, CV_32FC1); + CvMat* vectors = cvCreateMat(successes, 6, CV_32FC1); + CvMat* rotation_vector_mean = cvCreateMat(1, 3, CV_32FC1); + CvMat* translation_vector_mean = cvCreateMat(1, 3, CV_32FC1); + CvMat* rotation_vector_median = cvCreateMat(1, 3, CV_32FC1); + CvMat* translation_vector_median = cvCreateMat(1, 3, CV_32FC1); + CvMat* median = cvCreateMat(1, 6, CV_32FC1); + for (int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) = 0; + CV_MAT_ELEM(*translation_vector_mean,float,0,t) = 0; + CV_MAT_ELEM(*rotation_vector_median,float,0,t) = 0; + CV_MAT_ELEM(*translation_vector_median,float,0,t) = 0; + CV_MAT_ELEM(*median,float,0,t) = 0; + CV_MAT_ELEM(*median,float,0,t + 3) = 0; + } + + for (int h = 0; h < successes; h++) { + for(int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vectors,float,h,t) =CV_MAT_ELEM(*rotation_vectors_temp,float,h,t); + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) +=CV_MAT_ELEM(*rotation_vectors,float,h,t); + + CV_MAT_ELEM(*translation_vectors,float,h,t) =CV_MAT_ELEM(*translation_vectors_temp,float,h,t); + CV_MAT_ELEM(*translation_vector_mean,float,0,t) +=CV_MAT_ELEM(*translation_vectors,float,h,t); + + CV_MAT_ELEM(*vectors,float,h,t) =CV_MAT_ELEM(*translation_vectors_temp,float,h,t); + CV_MAT_ELEM(*vectors,float,h,t + 3) =CV_MAT_ELEM(*rotation_vectors_temp,float,h,t); + } + } + + for(int t = 0; t < 3; t++) { + CV_MAT_ELEM(*rotation_vector_mean,float,0,t) /= successes; + CV_MAT_ELEM(*translation_vector_mean,float,0,t) /= successes; + } + + // finding the median of rotation and translation + // sorting the rotation vectors element by element + /* + sortElementByElement(rotation_vectors, 3, successes); + sortElementByElement(translation_vectors, 3, successes); + + if(!quiet) { + cout << "number of successes : " << successes << endl; + cout << "rotation vectors are" << endl; + for (int i = 0; i < successes; i++) { + cout << CV_MAT_ELEM(*rotation_vectors,float,i,0) << " " + <> in; + if(tmp_corners == corner_exp) { + if (in == 'y') { + size = cvGetSize(image); + //appending corner data to a generic data structure for all images + for (int j = 0; j < corner_exp; ++j) { + CV_MAT_ELEM(*image_points, float,j,0) = (float) point_array2[j][0]; + CV_MAT_ELEM(*image_points, float,j,1) = (float) point_array2[j][1]; + CV_MAT_ELEM(*object_points,float,j,0) = corners[j].x; + CV_MAT_ELEM(*object_points,float,j,1) = corners[j].y; + CV_MAT_ELEM(*object_points,float,j,2) = corners[j].z; + + CV_MAT_ELEM(*points2D, CvPoint2D32f, successes, j).x = (float)point_array2[j][0]; + CV_MAT_ELEM(*points2D, CvPoint2D32f, successes, j).y = (float)point_array2[j][1]; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).x = corners[j].x; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).y = corners[j].y; + CV_MAT_ELEM(*points3D, CvPoint3D32f, successes, j).z = corners[j].z; + } + cvFindExtrinsicCameraParams2(object_points, image_points, intrinsic, distortion, Rotation, Translation); + // append data to vectors + if(!quiet) cout << "Rotation is:" << endl; + for (int row = 0; row < 1; row++) { + for (int col = 0; col < 3; col++) { + if(!quiet) cout << CV_MAT_ELEM( *Rotation, float, row, col ) << " "; + CV_MAT_ELEM( *rotation_vectors_temp, float, successes, col ) = CV_MAT_ELEM( *Rotation, float, row, col ); + } + if(!quiet) cout << endl; + } + if(!quiet) cout << "Translation is:" << endl; + for (int row = 0; row < 1; row++) { + for (int col = 0; col < 3; col++) { + if(!quiet) cout << CV_MAT_ELEM( *Translation, float, row, col ) << " "; + CV_MAT_ELEM( *translation_vectors_temp, float, successes, col ) = CV_MAT_ELEM( *Translation, float, row, col ); + } + if(!quiet) cout << endl; + } + successes++; + + } else if(in == 'x') { + break; + } + } + cvReleaseImage(&image); + cvReleaseImage(&image1); + cvReleaseMat(&image_points); + cvReleaseMat(&object_points); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + }//for loop for imagecount + cvDestroyWindow("Original Image"); + cvDestroyWindow("Final Result"); + + cout << "Number of successes: " << successes << endl; + // Now calculating mean and median rotation and trans + //calculateExtrinsics(rotation_vectors_temp, translation_vectors_temp, successes, dir, quiet, substring); + calculateExtrinsicsWithReprojectionCheck(points2D, points3D, rotation_vectors_temp, translation_vectors_temp, distortion, intrinsic, corner_exp, successes, dir, quiet, substring); + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); + cvReleaseMat(&translation_vectors_temp); + cvReleaseMat(&rotation_vectors_temp); + cvReleaseMat(&points2D); + cvReleaseMat(&points3D); +} + +/** + * Main function for projecting the 3D points onto the corresponding image and + * associating temperature values to the data points. + */ +void ProjectAndMap(int start, int end, bool optical, bool quiet, string dir, +IOType type, int scale, double rot_angle, double minDist, double maxDist, +bool correction, int neighborhood, int method) { + + int nr_img = end - start + 1; + if (nr_img < 1) { + cout << "ImageCount is zero!" << endl; + return; + } + string substring = optical? "Optical" : ""; + string file = dir + "Intrinsics" + substring + ".xml"; + CvMat *intrinsic = (CvMat*) cvLoad(file.c_str()); + file = dir + "Distortion" + substring + ".xml"; + CvMat *distortion = (CvMat*) cvLoad(file.c_str()); + switch(method) { + case 0: + file = dir + "Rotation" + substring + ".xml"; + break; + case 1: + file = dir + "RotationMedian" + substring + ".xml"; + break; + case 2: + file = dir + "RotationMean" + substring + ".xml"; + break; + } + CvMat *Rotation = (CvMat*) cvLoad(file.c_str()); + switch(method) { + case 0: + file = dir + "Translation" + substring + ".xml"; + break; + case 1: + file = dir + "TranslationMedian" + substring + ".xml"; + break; + case 2: + file = dir + "TranslationMean" + substring + ".xml"; + break; + } + CvMat *Translation = (CvMat*) cvLoad(file.c_str()); + CvMat* undistort = cvCreateMat(5,1,CV_32FC1); + for (int hh = 0; hh < 5; hh++) { + CV_MAT_ELEM(*undistort, float,hh,0) = 0; + } + + double starttime = GetCurrentTimeInMilliSec(); + + // filling the rotation matrix + double rPosTheta[3] = {0.0, rad(rot_angle), 0.0}; + double rPos[3] = {0.0, 0.0, 0.0}; + double alignxf[16]; + EulerToMatrix4(rPos, rPosTheta, alignxf); + + string outdir = dir + "/labscan-map"; +#ifdef _MSC_VER + int success = mkdir(outdir.c_str()); +#else + int success = mkdir(outdir.c_str(), S_IRWXU|S_IRWXG|S_IRWXO); +#endif + if(success == 0) { + cout << "Writing scans to " << outdir << endl; + } else if(errno == EEXIST) { + cout << "Directory " << outdir << " exists already. CONTINUE" << endl; + } else { + cerr << "Creating directory " << outdir << " failed" << endl; + exit(1); + } + for (int count = start; count <= end; count++) { + CvMat* point_3Dcloud; + CvMat* point_2Dcloud; + CvMat* undistort_2Dcloud; + + CvMat* point_3Dcloud_2; + CvMat* point_2Dcloud_2; + CvMat* undistort_2Dcloud_2; + + // loading images + int count0; + if(rot_angle < 180 && rot_angle > 0) { + count0 = count % 9 == 8 ? count - 8 : count + 1; + } else { + count0 = count % 9 == 0 ? count + 8 : count - 1; + } + string t, t0; + if(optical) { + t = dir + "/photo" + to_string(count, 3) + ".ppm"; + t0 = dir + "/photo" + to_string(count0, 3) + ".ppm"; + } else { + t = dir + "/image" + to_string(count, 3) + ".ppm"; + t0 = dir + "/image" + to_string(count0, 3) + ".ppm"; + } + + IplImage* image = cvLoadImage(t.c_str(), -1); + if (!image) { + cout << "first image " << t << " cannot be loaded" << endl; + return; + } + CvSize size = cvGetSize(image); + + IplImage* image0; + if(fabs(rot_angle) > 1) { + image0 = cvLoadImage(t0.c_str(), -1); + + if (!image0) { + cout << "second image " << t0 << " cannot be loaded" << endl; + return; + } + image0 = resizeImage(image0, scale); + } + image = resizeImage(image, scale); + if(image) + + // reading the 3D points and projecting them back to 2d + Scan::readScans(type, count, count, dir, maxDist, minDist, 0); + Scan::allScans[0]->calcReducedPoints(-1, 0); + point_3Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 3, CV_32FC1); + point_2Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + undistort_2Dcloud = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + CV_MAT_ELEM(*point_3Dcloud, float,j,0) = Scan::allScans[0]->get_points_red()[j][2]; + CV_MAT_ELEM(*point_3Dcloud, float,j,1) = -Scan::allScans[0]->get_points_red()[j][0]; + CV_MAT_ELEM(*point_3Dcloud, float,j,2) = Scan::allScans[0]->get_points_red()[j][1]; + } + + cout << "Number of points read: " << Scan::allScans[0]->get_points_red_size() << endl; + cvProjectPoints2(point_3Dcloud, Rotation, Translation, intrinsic, + distortion, point_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + + cvProjectPoints2(point_3Dcloud, Rotation, Translation, intrinsic, + undistort, undistort_2Dcloud, NULL, NULL, NULL, NULL, NULL, 0); + + // second image in case of overlap + if(fabs(rot_angle) > 1) { + point_3Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 3, CV_32FC1); + point_2Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + undistort_2Dcloud_2 = cvCreateMat(Scan::allScans[0]->get_points_red_size(), 2, CV_32FC1); + for (int j = 0; j < Scan::allScans[0]->get_points_red_size(); j++) { + Point p(Scan::allScans[0]->get_points_red()[j]); + p.transform(alignxf); + + CV_MAT_ELEM(*point_3Dcloud_2, float,j,0) = p.z; + CV_MAT_ELEM(*point_3Dcloud_2, float,j,1) = -p.x; + CV_MAT_ELEM(*point_3Dcloud_2, float,j,2) = p.y; + } + + cvProjectPoints2(point_3Dcloud_2, Rotation, Translation, intrinsic, + distortion, point_2Dcloud_2, NULL, NULL, NULL, NULL, NULL, 0); + + cvProjectPoints2(point_3Dcloud_2, Rotation, Translation, intrinsic, + undistort, undistort_2Dcloud_2, NULL, NULL, NULL, NULL, NULL, 0); + } + // write colored data + string outname = outdir + "/scan" + to_string(count, 3) + ".3d"; + fstream outfile; + outfile.open(outname.c_str(), ios::out); + + //for counting how many points get mapped to first and second image file + int point_map1 = 0; // #points mapped to first image + int point_map2 = 0; // " " " second image + + // checking whether projection lies within the image boundaries + for (int k = 0; k < Scan::allScans[0]->get_points_red_size(); k++) { + float px = CV_MAT_ELEM(*undistort_2Dcloud,float,k,0); + float py = CV_MAT_ELEM(*undistort_2Dcloud,float,k,1); + if (px < image->width - .5 && px >= 0 && py >= 0 && py < image->height - .5) { + px = CV_MAT_ELEM(*point_2Dcloud,float,k,0); + py = CV_MAT_ELEM(*point_2Dcloud,float,k,1); + if (px < image->width - .5 && px >= 0 && py >= 0 && py < image->height - .5) { + point_map1++; + int ppx = 0; + int ppy = 0; + if (px - int(px) < .5) { + ppx = int(px); + } else { + ppx = int(px) + 1; + } + if (py - int(py) < .5) { + ppy = int(py); + } else { + ppy = int(py) + 1; + } + + CvScalar c; + c = cvGet2D(image, ppy, ppx); + // check for overlap + if(correction) { + vector temp_vec; + float p_id = 1; // 1 for pixel, 0 for neighboring pixel + temp_vec.push_back(-(CV_MAT_ELEM(*point_3Dcloud,float,k,1))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,2))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,0))); + temp_vec.push_back(c.val[2]); + temp_vec.push_back(c.val[1]); + temp_vec.push_back(c.val[0]); + temp_vec.push_back(p_id); + if(neighborhood > 1) { + int limit = neighborhood / 2; + + int lower_y = ppy - limit > 0 ? ppy - limit : 0; + int upper_y = ppy + limit < size.height ? ppy + limit : size.height - 1; + int lower_x = ppx - limit > 0 ? ppx - limit : 0; + int upper_x = ppx + limit < size.width ? ppx + limit : size.width - 1; + + for (int y = lower_y; y < upper_y; y++) { + for (int x = lower_x; x < upper_x; x++) { + if(x == ppx && y == ppy) { + temp_vec[6] = 1; + } else { + temp_vec[6] = 0; + } + data1[y][x].push_back(temp_vec); + } + } + + } else { + data1[ppy][ppx].push_back(temp_vec); + } + temp_vec.clear(); + } else { + // write all the data + outfile << -(CV_MAT_ELEM(*point_3Dcloud,float,k,1))<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,2)<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,0)<<" "; + outfile << (c.val[0] - 1000.0)/10.0 << endl; + //outfile << c.val[2] <<" "<< c.val[1]<<" "< 1) { + // check for overlap + px = CV_MAT_ELEM(*undistort_2Dcloud_2,float,k,0); + py = CV_MAT_ELEM(*undistort_2Dcloud_2,float,k,1); + if (px < image0->width - .5 && px >= 0 && py >= 0 && py < image0->height - .5) { + px = CV_MAT_ELEM(*point_2Dcloud_2,float,k,0); + py = CV_MAT_ELEM(*point_2Dcloud_2,float,k,1); + if (px < image0->width - .5 && px >= 0 && py >= 0 && py < image0->height - .5) { + point_map2++; + int ppx = 0; + int ppy = 0; + + if (px - int(px) < .5) { + ppx = int(px); + } else { + ppx = int(px) + 1; + } + if (py - int(py) < .5) { + ppy = int(py); + } else { + ppy = int(py) + 1; + } + CvScalar c; + + c = cvGet2D(image0, ppy, ppx); + if(correction) { + vector temp_vec; + float p2_id = 1; + temp_vec.push_back(-(CV_MAT_ELEM(*point_3Dcloud,float,k,1))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,2))); + temp_vec.push_back((CV_MAT_ELEM(*point_3Dcloud,float,k,0))); + temp_vec.push_back(c.val[2]); + temp_vec.push_back(c.val[1]); + temp_vec.push_back(c.val[0]); + temp_vec.push_back(p2_id); + if(neighborhood > 1) { + int neighbors = 3; + int limit = neighbors / 2; + + int lower_y = ppy - limit > 0 ? ppy - limit : 0; + int upper_y = ppy + limit < size.height ? ppy + limit : size.height - 1; + int lower_x = ppx - limit > 0 ? ppx - limit : 0; + int upper_x = ppx + limit < size.width ? ppx + limit : size.width - 1; + + for (int y = lower_y; y < upper_y; y++) { + for (int x = lower_x; x < upper_x; x++) { + if(x == ppx && y == ppy) { + temp_vec[6] = 1; + } else { + temp_vec[6] = 0; + } + data2[y][x].push_back(temp_vec); + } + } + + } else { + data2[ppy][ppx].push_back(temp_vec); + } + temp_vec.clear(); + } else { + // write all the data + outfile << -(CV_MAT_ELEM(*point_3Dcloud,float,k,1))<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,2)<<" "; + outfile << CV_MAT_ELEM(*point_3Dcloud,float,k,0)<<" "; + outfile << (c.val[0] - 1000.0)/10.0 << endl; + //outfile << c.val[2] <<" "<< c.val[1]<<" "< 1) { + if(size.width > 0 && size.height > 0) { + CorrectErrorAndWrite(data2, outfile, size); + } + } + } + + // clean up + outfile.flush(); + outfile.close(); + + delete Scan::allScans[0]; + Scan::allScans.clear(); + + double endtime = GetCurrentTimeInMilliSec(); + double time = endtime - starttime; + time = time/1000.0; + cout<<"runtime for scan " << count << " in seconds is: " << time << endl; + + cvReleaseImage(&image); + cvReleaseMat(&point_2Dcloud); + cvReleaseMat(&point_3Dcloud); + cvReleaseMat(&undistort_2Dcloud); + if(fabs(rot_angle) > 1) { + cvReleaseImage(&image0); + cvReleaseMat(&point_2Dcloud_2); + cvReleaseMat(&point_3Dcloud_2); + cvReleaseMat(&undistort_2Dcloud_2); + } + for (int i = 0; i < size.height; i++) { + for (int j = 0; j < size.width; j++) { + data1[i][j].clear(); + data2[i][j].clear(); + } + } + + } + + cvReleaseMat(&intrinsic); + cvReleaseMat(&distortion); + cvReleaseMat(&Rotation); + cvReleaseMat(&Translation); + cvReleaseMat(&undistort); + +} + +/** + * Sorts a number of float array according to their distance to the origin. + */ +void sortDistances(float ** points, int size) { + int swapped1 = 0; + do { + swapped1 = 0; + for(int a = 1; a <= size - 1; a++) { + if(Len(points[a]) < Len(points[a - 1])) { + float * tmp = points[a-1]; + points[a-1] = points[a]; + points[a] = tmp; + swapped1 = 1; + } + } + } while (swapped1 == 1); +} + +/** + * Performs clustering on all points that are projected onto one pixel. + * Writes only the points from the largest closest cluster. + */ +void clusterSearch(float ** points, int size, double thresh1, double thres2, fstream &outfile) { + int position = 0; + int cluster_count = 0; + + double max_cluster = 0; + int max_position = 0; + vector clusters; + while (position < size) { + double sum = 0.0; + int j = position + 1; + while(j < size && (Len(points[j]) < (Len(points[j-1]) + thresh1))) { + j++; + cluster_count++; + sum+=Len(points[j-1]); + } + double * tmp = new double[4]; + tmp[0] = position; + tmp[1] = j - 1; + tmp[2] = sum / (j - position); + // weird heuristic ;-) (clustersize/(rank of the cluster)) + tmp[3] = (double)(j - position) / (clusters.size() + 1.0); + if(tmp[3] > max_cluster) { + max_position = clusters.size(); + max_cluster = tmp[3]; + } + clusters.push_back(tmp); + position = j; + } + + for(int p = clusters[max_position][0]; p <= clusters[max_position][1]; p++) { + if(points[p][6] == 1) { + outfile << points[p][0] << " " << points[p][1] << " " << points[p][2] << " "; + //outfile << points[p][3] << " " << points[p][4] << " " << points[p][5] << endl; + outfile << (points[p][5] - 1000.0)/10.0 << endl; + } + } + + for(unsigned int i = 0; i < clusters.size(); i++) { + delete[] clusters[i]; + } +} + +void CorrectErrorAndWrite(Float2D &data, fstream &outfile, CvSize size) { + double thresh1 = 4; + double thresh2 = 5; + + // getting points mapping to one pixel + for (int i = 0; i < size.height; i++) { + for (int j = 0; j < size.width; j++) { + int tmp_size = data[i][j].size(); + if (tmp_size > 0) { + float ** points = new float*[tmp_size]; + for (int k = 0; k < tmp_size; k++) { + points[k] = new float[7]; + for(int l = 0; l < 7; l++) { + points[k][l] = data[i][j][k][l]; + } + } + + //sorting the points now in ascending order wrt distance + sortDistances(points, tmp_size); + //look for clusters + clusterSearch(points, tmp_size, thresh1, thresh2, outfile); + + for (int k = 0; k < tmp_size; k++) { + delete[] points[k]; + } + delete[] points; + } + + } + } + +} + +/** + * Prints out usage message + */ +void usage(char* prog) { +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply})" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end at scan NR" << endl + << endl + << bold << " -x" << normal << " NR, " << bold << "--width=" << normal << "NR" << endl + << " NR of lamps/corners in x direction" << endl + << endl + << bold << " -y" << normal << " NR, " << bold << "--height=" << normal << "NR" << endl + << " NR of lamps/corners in y direction" << endl + << endl + << bold << " -o --=optical" << normal << endl + << " use optical camera instead of thermal camera" << endl + << endl + << bold << " -c --=chess" << normal << endl + << " use chessboard pattern for calibration instead of lightbulb pattern" << endl + << endl + << bold << " -I --=intrinsic" << normal << endl + << " perform intrinsic calibration" << endl + << endl + << bold << " -E --=extrinsic" << normal << endl + << " perform extrinsic calibration" << endl + << endl + << bold << " -P --=mapping" << normal << endl + << " perform mapping of image data to point cloud" << endl + << endl + << bold << " -q --=quiet" << normal << endl + << " " << endl + << endl << endl; + + cout << bold << "EXAMPLES " << normal << endl + << " " << prog << " -s 2 -e 10 dat" << endl << endl; + exit(1); + +} + +/** + * Parses command line arguments needed for plane detection. For details about + * the argument see usage(). + */ + +int parseArgs(int argc, char **argv, string &dir, int &start, int &end, double +&maxDist, double &minDist, IOType &type, bool &optical, bool &chess, int +&width, int &height, bool &intrinsic, bool &extrinsic, bool &mapping, bool +&correction, int &scale, int &neighborhood, double &angle, bool &quiet ) { + // from unistd.h: + int c; + extern char *optarg; + extern int optind; + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "correction", no_argument, 0, 'C' }, + { "scale", required_argument, 0, 'S' }, + { "neighborhood", required_argument, 0, 'n' }, + { "angle", required_argument, 0, 'a' }, + { "format", required_argument, 0, 'f' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "width", required_argument, 0, 'x' }, + { "height", required_argument, 0, 'y' }, + { "quiet", no_argument, 0, 'q' }, + { "optical", no_argument, 0, 'o' }, + { "intrinsic", no_argument, 0, 'I' }, + { "extrinsic", no_argument, 0, 'E' }, + { "mapping", no_argument, 0, 'P' }, + { "chess", no_argument, 0, 'c' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "f:s:e:x:y:m:M:qoIEPcCS:n:a:", longopts, NULL)) != -1) { + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'f': + try { + type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'q': + quiet = true; + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'o': + optical = true; + break; + case 'I': + intrinsic = true; + break; + case 'E': + extrinsic = true; + break; + case 'P': + mapping = true; + break; + case 'c': + chess = true; + break; + case 'x': + width = atoi(optarg); + break; + case 'y': + height = atoi(optarg); + break; + case 'S': + scale = atoi(optarg); + break; + case 'a': + angle = atof(optarg); + break; + case 'n': + neighborhood = atoi(optarg); + break; + case 'C': + correction = true; + break; + case '?': + usage(argv[0]); + return 1; + default: + cout << "Abort" << endl; + abort (); + } + } + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + if(!(intrinsic || extrinsic || mapping)) { + cerr << "\n*** Please choose at least one method (intrinsic calibration, " + << "extrinsic calibration, mapping of image data to point data! ***\n" << + endl; + usage(argv[0]); + } + return 0; + +} + +/** + * Main function. Calls either function for color mapping or function for + * intrinsic and/or extrinsic calibration. + */ +int main(int argc, char** argv) { + string dir; + int start = 0; + int end = -1; + int width = 5; + int height = 6; + double maxDist = -1; + double minDist = -1; + IOType type = UOS; + bool optical = false; + bool chess = false; + bool intrinsic = false; + bool extrinsic = false; + bool mapping = false; + bool quiet = false; + int scale = 1; + //double rot_angle = -40; + double rot_angle = 0; + bool correction = false; + int neighborhood = 1; + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, type, optical, chess, + width, height, intrinsic, extrinsic, mapping, correction, scale, neighborhood, + rot_angle, quiet); + + // either mapping + if(mapping) { + if(!quiet) cout << "Starting projecting and mapping image data to point cloud..." << endl; + ProjectAndMap(start, end, optical, quiet, dir, type, scale, rot_angle, minDist, maxDist, correction, neighborhood); + if(!quiet) cout << "\nDONE" << endl; + return 0; + } + + // or calibration + if(intrinsic) { + if(!quiet) { + cout << "Starting intrinsic calibration using "; + if(chess) cout << "chessboard pattern..." << endl; + else cout << "lightbulb pattern..." << endl; + } + CalibFunc(width, height, start, end, optical, chess, quiet, dir, scale); + if(!quiet) cout << "\nDONE" << endl; + } + + if(extrinsic) { + if(!quiet) { + cout << "Starting extrinsic calibration using "; + if(chess) cout << "chessboard pattern..." << endl; + else cout << "lightbulb pattern..." << endl; + } + ExtrCalibFunc(width, height, start, end, optical, chess, quiet, dir, scale); + if(!quiet) cout << "\nDONE" << endl; + } + + return 0; +} + diff --git a/src/veloslam/CMakeLists.txt b/src/veloslam/CMakeLists.txt new file mode 100644 index 0000000..843b51b --- /dev/null +++ b/src/veloslam/CMakeLists.txt @@ -0,0 +1,49 @@ +SET(SHOW_LIBS ${OPENGL_LIBRARIES} glui scan ANN) +IF(WIN32) + IF( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/x64/freeglut.lib XGetopt) + ELSE( CMAKE_SIZEOF_VOID_P EQUAL 8 ) + SET(SHOW_LIBS ${SHOW_LIBS} ${CMAKE_SOURCE_DIR}/3rdparty/windows/freeglut.lib XGetopt) + ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8 ) +ENDIF(WIN32) +IF (UNIX) + SET(SHOW_LIBS newmat dl ${GLUT_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WITH_VELOSLAM) + add_executable(veloslam veloslam.cc veloscan.cc debugview.cc pcddump.cc tracker.cc + trackermanager.cc drawtrackers.cc kalmanfilter.cc matrix.cc lap.cc) + +IF(UNIX) + target_link_libraries(veloslam dl scan newmat sparse ANN ${Boost_LIBRARIES} ${SHOW_LIBS}) +ENDIF(UNIX) + +IF(WIN32) + target_link_libraries(veloslam scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS}) +ENDIF(WIN32) +ENDIF(WITH_VELOSLAM) + +#IF(WITH_VELOSLAM) + # SET(SHOW_SRCS ../show/NurbsPath.cc ../show/PathGraph.cc ../show/vertexarray.cc + # ../show/viewcull.cc ../show/colormanager.cc ../show/compacttree.cc + # ../show/scancolormanager.cc ../show/display.cc) + + # add_executable(veloshow veloshow.cc veloscan.cc + # debugview.cc pcddump.cc cluster_classification.cc + # tracker.cc trackermanager.cc drawtrackers.cc + # svm.cc clusterboundingbox.cc multiscan_random_field.cc + # kalmanfilter.cc matrix.cc lap.cc + # intersection_detection.cc SegIter.model ${SHOW_SRCS}) + +#IF(UNIX) +# target_link_libraries(veloshow dl scan newmat sparse ANN ${SHOW_LIBS}) +#ENDIF(UNIX) + +#IF(WIN32) +# target_link_libraries(veloshow scan newmat sparse ANN XGetopt ${Boost_LIBRARIES} ${SHOW_LIBS}) +#ENDIF(WIN32) + +#ENDIF(WITH_VELOSLAM) + + + diff --git a/src/veloslam/SegIter.model b/src/veloslam/SegIter.model new file mode 100644 index 0000000..37f58aa --- /dev/null +++ b/src/veloslam/SegIter.model @@ -0,0 +1,144 @@ +svm_type c_svc +kernel_type rbf +gamma 0.0625 +nr_class 2 +total_sv 133 +rho -0.261596 +label 1 -1 +probA -5.01585 +probB 0.275821 +nr_sv 80 53 +SV +0.4753545542788266 1:0.1667 2:0.1667 3:0.1667 4:0.1833 5:0.1833 6:0.1833 7:0.1833 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+#include "veloslam/veloscan.h" +#include "veloslam/svm.h" +#include "veloslam/cluster_classification.h" + +Cluster_Classification::Cluster_Classification(void) +{ + +} + +Cluster_Classification::~Cluster_Classification(void) +{ + +} + + diff --git a/src/veloslam/clusterboundingbox.cc b/src/veloslam/clusterboundingbox.cc new file mode 100644 index 0000000..4d80c07 --- /dev/null +++ b/src/veloslam/clusterboundingbox.cc @@ -0,0 +1,212 @@ +/* + * clusterboundingbox implementation + * + * Copyright (C) Li Wei, Li Ming + * + * Released under the GPL version 3. + * + */ + +#include +#include +#include +#include +#include "veloslam/debugview.h" +#include "veloslam/clusterboundingbox.h" + + bool operator<(const BesiegePoint & s1,const BesiegePoint & s2) +{ + return s1.angle < s2.angle; +} + +BoundingBox::BoundingBox(void) +{ + calCandidateBox=false; +} + +BoundingBox::~BoundingBox(void) +{ +} + + void BoundingBox::Initial() + { + calCandidateBox=false; + allCandBox.clear(); + minBoundingBox.clear(); + } + +void BoundingBox::CalCoordsAftRotation(double x,double y,double *newX,double *newY,double theta) +{ + + *newY=y*cosf(theta*M_PI/180)-x*sinf(theta*M_PI/180); + *newX=x*cosf(theta*M_PI/180)+y*sinf(theta*M_PI/180); + +} + + +double BoundingBox::CalDirectionTwoPoints(double XPos1,double YPos1,double XPos2,double YPos2) +{ + double delt_x=XPos2-XPos1; + double delt_y=YPos2-YPos1; + double angle; + double length=sqrt(delt_x*delt_x+delt_y*delt_y*1.0); + if(delt_x<0) + angle=360-acos(delt_y/length)*180/M_PI; + else + angle=acos(delt_y/length)*180/M_PI; + return angle; +} + + void BoundingBox:: CalAllBoundingBox(cluster &gluClusterData) + { + + int angleInterval=2; + int minCircumferenceIndex; + double minCircumference=10000000000;; + OrientedBoundingBox tempBoundingBox; + + Initial(); + for(int i=0;i<90;i+=angleInterval) + { + tempBoundingBox.newMaxXPointX=-1000000; + tempBoundingBox.newMaxYPointY=-1000000; + tempBoundingBox.newMinXPointX=1000000; + tempBoundingBox.newMinYPointY=1000000; + for (int j = 0; j pCell; + for(int k=0;ksize();k++) + { + + double newX,newY; + CalCoordsAftRotation((*pcellObj)[k]->x,(*pcellObj)[k]->y,&newX,&newY,i); + if(tempBoundingBox.newMaxXPointXnewX) + { + tempBoundingBox.newMinXPointX=newX; + tempBoundingBox.newMinXPointY=newY; + tempBoundingBox.boundingPointID[1].cellIndex=j; + tempBoundingBox.boundingPointID[1].pointIndexInCell=k; + } + if(tempBoundingBox.newMaxYPointYnewY) + { + tempBoundingBox.newMinYPointY=newY; + tempBoundingBox.newMinYPointX=newX; + tempBoundingBox.boundingPointID[3].cellIndex=j; + tempBoundingBox.boundingPointID[3].pointIndexInCell=k; + } + } + } + tempBoundingBox.length=tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX; + tempBoundingBox.width=tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY; + tempBoundingBox.area=(tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX)*(tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY); + tempBoundingBox.circumference=((tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX)+(tempBoundingBox.newMaxYPointY-tempBoundingBox.newMinYPointY))*2; + tempBoundingBox.angle=i; + + /**如果旋转后得出的结果在Y轴上比X轴长，统一为X轴为长轴**/ + if(tempBoundingBox.newMaxXPointX-tempBoundingBox.newMinXPointX< + tempBoundingBox.newMaxYPointY- tempBoundingBox.newMinYPointY) + { + OrientedBoundingBox temp=tempBoundingBox; + tempBoundingBox.angle=temp.angle+90; + + tempBoundingBox.newMaxXPointX=temp.newMaxYPointY; + tempBoundingBox.newMaxXPointY=-temp.newMaxYPointX; + tempBoundingBox.newMaxYPointX=temp.newMinXPointY; + tempBoundingBox.newMaxYPointY=-temp.newMinXPointX; + + tempBoundingBox.newMinXPointX=temp.newMinYPointY; + tempBoundingBox.newMinXPointY=-temp.newMinYPointX; + tempBoundingBox.newMinYPointX=temp.newMaxXPointY; + tempBoundingBox.newMinYPointY=-temp.newMaxXPointX; + } + + allCandBox.push_back(tempBoundingBox); + } + } + + void BoundingBox::CalBestRectangleBox(cluster &gluClusterData,clusterFeature &glu) + { + int minCircumferenceIndex=0; + int bestBoxIndex; + if(!calCandidateBox) + CalAllBoundingBox(gluClusterData); + double minCircumference=allCandBox[0].circumference; + + for(int i=0;ipCell; + BesiegePoint tempPoint; + tempPoint.x=(*pcellObj)[pointIndexInCell]->x; + tempPoint.y=(*pcellObj)[pointIndexInCell]->y; + minBisegeAverageX+=tempPoint.x; + minBisegeAverageY+=tempPoint.y; + minBoundingBox.push_back(tempPoint); + } + } + minBisegeAverageX/=minBoundingBox.size(); + minBisegeAverageY/=minBoundingBox.size(); + for(int i=0;i +#else +#include +#endif + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::stringstream; + +#include "slam6d/scan.h" +#include "slam6d/Boctree.h" +#include "veloslam/veloscan.h" +#include "veloslam/trackermanager.h" +#include "veloslam/debugview.h" +#include "veloslam/velodefs.h" + +#include +#include +#include + +using namespace boost; +using boost::thread; +boost::mutex draw_mutex; + +extern TrackerManager trackMgr; +extern VeloScan* g_pfirstScan; + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +#include /* OpenGL header file */ +#include /* OpenGL utilities header file */ + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "veloslam/color_util.h" + +bool DebugDrawFinished =false; +bool ICPFinished =false; +bool save_animation=false; +int anim_frame_rate; +extern int scanCount; +GLenum buffermode_debugView = GL_BACK; + +boost::mutex keymutex; +boost::condition keycond; +GLenum doubleBuffer; + +int g_frame=0; +float rotX = 0.0, rotY = 0.0; + +int x_lbefore,y_lbefore; +int x_rbefore,y_rbefore; +int z_before1,z_before2; + +bool buttonSaveLeft, buttonSaveMiddle , buttonSaveRight; +float x_move,y_move,z_move; +float x_move_save,y_move_save, z_move_save; +float x_rotate,y_rotate,z_rotate; +float x_rotate_save,y_rotate_save,z_rotate_save; +float m_zoom; + +float m_aspect; + +// gluLookAt(0, 0, 80, 0, 0, 0, 0, 1, 0); +float m_eyex, m_eyey, m_eyez; +float m_centerx, m_centery, m_centerz; +float m_upx, m_upy, m_upz; + +bool g_pause=true; + +void DrawPointsRGB(Point p, float r, float g, float b) +{ + GLdouble dVect1[3]; + glColor3d(r, g, b); + + dVect1[0]=p.x; + dVect1[1]=p.y; + dVect1[2]=p.z; + + glVertex3dv(dVect1); +} + +void DrawText(float x, float y, float z, char * outputstring) +{ +#ifdef _MSC_VER + glPushMatrix(); + glColor3f(1.0f,1.0f,1.0f); + wglUseFontBitmaps(wglGetCurrentDC(), 0, 255, 100); + + glListBase(100); + glRasterPos3f(x, y, z); + glCallLists( strlen(outputstring), GL_UNSIGNED_BYTE, outputstring); + + glPopMatrix(); +#endif +} + +void DrawTextRGB(float x, float y, float z, float r, float g, float b, char * outputstring) +{ +#ifdef _MSC_VER + glPushMatrix(); + glColor3f(r,g,b); + wglUseFontBitmaps(wglGetCurrentDC(), 0, 255, 100); + + glListBase(100); + glRasterPos3f(x, y, z); + glCallLists( strlen(outputstring), GL_UNSIGNED_BYTE, outputstring); + + glPopMatrix(); +#endif +} + +void DrawTextRGB(Point P, float r, float g, float b, char * outputstring) +{ +#ifdef _MSC_VER + glPushMatrix(); + glColor3f(r,g,b); + wglUseFontBitmaps(wglGetCurrentDC(), 0, 255, 100); + + glListBase(100); + glRasterPos3f(P.x, P.y, P.z); + glCallLists( strlen(outputstring), GL_UNSIGNED_BYTE, outputstring); + + glPopMatrix(); +#endif +} + +void Draw_Line_GL_RGB(float x1, float y1, float z1, + float x2, float y2, float z2, + float r,float g,float b,float width) +{ + GLdouble dVect1[3]; + GLdouble dVect2[3]; + + glLineWidth(width); + glBegin(GL_LINES); + glColor3d(r, g, b); + + //////////////////////// + dVect1[0]=x1; + dVect1[1]=y1; + dVect1[2]=z1; + glVertex3dv(dVect1); + + dVect2[0]=x2; + dVect2[1]=y2; + dVect2[2]=z2; + glVertex3dv(dVect2); + + glEnd(); +} + +void Draw_Line_GL_RGB( + Point P1, Point P2, + int width, + float r,float g,float b, + bool arrow) +{ + GLdouble dVect1[3]; + GLdouble dVect2[3]; + + glLineWidth(width); + glBegin(GL_LINES); + glColor3d(r, g, b); + + dVect1[0]=P1.x; + dVect1[1]=P1.y; + dVect1[2]=P1.z; + glVertex3dv(dVect1); + + dVect2[0]=P2.x; + dVect2[1]=P2.y; + dVect2[2]=P2.z; + glVertex3dv(dVect2); + + glEnd(); + + if(arrow) + { + glPushMatrix(); + glTranslatef(1.0, 0.0f, 0.0f); + glRotatef(90.0f,0.0f,1.0f,0.0f); + glutWireCone(0.027,0.09,10,10); + glPopMatrix(); + } + +} + +void Draw_Line_GL(float x1, float y1, float z1,float x2, float y2, float z2) +{ + Draw_Line_GL_RGB(x1,y1,z1, + x2,y2,z2, + 0,1.0,0); +} + +void Draw_Cube_GL_RGB(float min_x, float min_y, float min_z, + float max_x, float max_y, float max_z, + float r,float g,float b) +{ + Draw_Line_GL_RGB(min_x,min_y,max_z,max_x,min_y,max_z,r,g,b); + Draw_Line_GL_RGB(min_x,max_y,max_z,max_x,max_y,max_z,r,g,b); + Draw_Line_GL_RGB(min_x,max_y,min_z,max_x,max_y,min_z,r,g,b); + Draw_Line_GL_RGB(min_x,min_y,min_z,max_x,min_y,min_z,r,g,b); + + Draw_Line_GL_RGB(min_x,min_y,max_z,min_x,max_y,max_z,r,g,b); + Draw_Line_GL_RGB(max_x,min_y,max_z,max_x,max_y,max_z,r,g,b); + Draw_Line_GL_RGB(min_x,min_y,min_z,min_x,max_y,min_z,r,g,b); + Draw_Line_GL_RGB(max_x,min_y,min_z,max_x,max_y,min_z,r,g,b); + + Draw_Line_GL_RGB(min_x,min_y,min_z,min_x,min_y,max_z,r,g,b); + Draw_Line_GL_RGB(max_x,min_y,min_z,max_x,min_y,max_z,r,g,b); + Draw_Line_GL_RGB(max_x,max_y,min_z,max_x,max_y,max_z,r,g,b); + Draw_Line_GL_RGB(min_x,max_y,min_z,min_x,max_y,max_z,r,g,b); +} + +void Draw_Inclined_Cube_GL_RGB(double rectangleVexPos[4][2],double min_z,double max_z, + float r,float g,float b,float width) +{ + Draw_Line_GL_RGB(rectangleVexPos[0][0],rectangleVexPos[0][1],min_z,rectangleVexPos[1][0],rectangleVexPos[1][1],min_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[1][0],rectangleVexPos[1][1],min_z,rectangleVexPos[2][0],rectangleVexPos[2][1],min_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[2][0],rectangleVexPos[2][1],min_z,rectangleVexPos[3][0],rectangleVexPos[3][1],min_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[3][0],rectangleVexPos[3][1],min_z,rectangleVexPos[0][0],rectangleVexPos[0][1],min_z,r,g,b,width); + + Draw_Line_GL_RGB(rectangleVexPos[0][0],rectangleVexPos[0][1],max_z,rectangleVexPos[1][0],rectangleVexPos[1][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[1][0],rectangleVexPos[1][1],max_z,rectangleVexPos[2][0],rectangleVexPos[2][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[2][0],rectangleVexPos[2][1],max_z,rectangleVexPos[3][0],rectangleVexPos[3][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[3][0],rectangleVexPos[3][1],max_z,rectangleVexPos[0][0],rectangleVexPos[0][1],max_z,r,g,b,width); + + Draw_Line_GL_RGB(rectangleVexPos[0][0],rectangleVexPos[0][1],min_z,rectangleVexPos[0][0],rectangleVexPos[0][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[1][0],rectangleVexPos[1][1],min_z,rectangleVexPos[1][0],rectangleVexPos[1][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[2][0],rectangleVexPos[2][1],min_z,rectangleVexPos[2][0],rectangleVexPos[2][1],max_z,r,g,b,width); + Draw_Line_GL_RGB(rectangleVexPos[3][0],rectangleVexPos[3][1],min_z,rectangleVexPos[3][0],rectangleVexPos[3][1],max_z,r,g,b,width); +} + + +void Draw_Cube_GL_RGB(clusterFeature&f, float r,float g,float b) +{ + Draw_Cube_GL_RGB(f.min_x, + f.min_y, + f.min_z, + f.max_x, + f.max_y, + f.max_z,r,g,b); +} + +void DrawPoint(Point p, int size , float r, float g, float b) +{ + GLdouble dVect1[3]; + glPointSize(size); + glBegin(GL_POINTS); + glColor3d(r, g, b); + dVect1[0]=p.x; + dVect1[1]=p.y; + dVect1[2]=p.z; + glVertex3dv(dVect1); + glEnd(); +} + +void DrawPoint(Point p, int size , float r, float g, float b, double deltaMat[16]) +{ + GLdouble dVect1[3]; + glPointSize(size); + glBegin(GL_POINTS); + + p.transform(deltaMat); + glColor3d(r, g, b); + dVect1[0]=p.x; + dVect1[1]=p.y; + dVect1[2]=p.z; + glVertex3dv(dVect1); + glEnd(); +} + + +// change the mat for the firstScan coodration. +void GetCurrecntdelteMat(Scan& CurrentScan , double *deltaMat) +{ + //Point p, q; + double tempMat[16]; + double temp[16]= + { 1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1} ; + + M4inv(temp, tempMat); + MMult(CurrentScan.get_transMat(), tempMat, deltaMat); +} + +int DrawAll_ScanPoints_Number(vector allScans, int psize, float r, float g, float b, int n) +{ + int i,j,k,colorIdx; + Point p; + double deltaMat[16]; + + for(int i =0; i get("xyz")); + DataType Pt(CurrentScan->get("type")); + + GetCurrecntdelteMat(*CurrentScan , deltaMat); + int size =xyz.size(); + + for(j=0; j 360) + x_rotate=x_rotate - 360; + if (x_rotate < -360) + x_rotate=x_rotate + 360; + cout << "Ctrl Held" << endl; + return; + + case GLUT_ACTIVE_SHIFT : + y_rotate += (y - z_move_save)/100; + if (y_rotate > 360) + y_rotate=y_rotate - 360; + if (y_rotate < -360) + y_rotate=y_rotate + 360; + + cout << "Shift Held" << endl; + return; + + case GLUT_ACTIVE_ALT : + float temp = (x - x_move_save)/100; + z_rotate += atanf(temp); + + cout << "Alt Held" << endl; + return; + + } + + if(buttonSaveLeft) + { + x_move += (x - x_move_save)/100; + z_move += (y - z_move_save)/100; + } + + if(buttonSaveMiddle) + { + float multiplay = (y - z_move_save)/1000; + m_zoom =m_zoom*(1+multiplay); + } + + if(buttonSaveRight) + { + float multiplay = (y - z_move_save)/1000; + m_zoom =m_zoom*(1+multiplay); + } + + cout << "mouse move " << buttonSaveLeft << buttonSaveMiddle < 360) + x_rotate=x_rotate - 360; + if (x_rotate < -360) + x_rotate=x_rotate + 360; + break; + + case GLUT_KEY_F2: + x_rotate += -3; + if (x_rotate > 360) + x_rotate=x_rotate - 360; + if (x_rotate < -360) + x_rotate=x_rotate + 360; + break; + + case GLUT_KEY_F3: + y_rotate += 3; + if (y_rotate > 360) + y_rotate=y_rotate - 360; + if (y_rotate < -360) + y_rotate=y_rotate + 360; + break; + + case GLUT_KEY_F4 : + y_rotate += -3; + if (y_rotate > 360) + y_rotate=y_rotate - 360; + if (y_rotate < -360) + y_rotate=y_rotate + 360; + break; + + case GLUT_KEY_F5: + z_rotate += atanf(3); + break; + + case GLUT_KEY_F6: + z_rotate += atanf(-3); + break; + + case GLUT_KEY_F7: + break; + + case GLUT_KEY_F8: + break; + + case GLUT_KEY_F11: + printf("paseu\n"); + g_pause != g_pause; + break; + + case GLUT_KEY_F12: + printf("next\n"); + keycond.notify_one(); + break; + } + glutPostRedisplay(); +} + +static void Draw(void) +{ + DebugDrawFinished =false; + glClearColor(1.0, 1.0, 1.0, 1.0); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glClearColor(1.0, 1.0, 1.0, 1.0); + glLoadIdentity(); + + gluLookAt(m_eyex, m_eyey, m_eyez, + m_centerx, m_centery, m_centerz, + m_upx, m_upy, m_upz); + + glRotatef(x_rotate,1,0,0); + glRotatef(y_rotate,0,1,0); + glRotatef(z_rotate,0,0,1); + + glTranslatef(x_move,y_move,z_move); + glScalef(m_zoom, m_zoom, m_zoom); + + int scansize = Scan::allScans.size(); + Point p1, p2, p3; + + if (scansize <5) + { + DebugDrawFinished =true; + return ; + } + + Scan *CurrentScan = Scan::allScans[3]; + if (CurrentScan == NULL) + { + DebugDrawFinished =true; + return ; + } + + double deltaMat[16]; + double deltaMatNext[16]; + GetCurrecntdelteMat(*CurrentScan , deltaMat); + + double PosTheta[3]; + double Pos[3]; + Matrix4ToEuler(deltaMat, PosTheta, Pos); + + cout << " pose of current " + << " " << PosTheta [0] + << " " << PosTheta [1] + << " " << PosTheta [2] < +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "veloslam/color_util.h" +#include "veloslam/veloscan.h" +#include "veloslam/trackermanager.h" +#include "veloslam/debugview.h" +#include "veloslam/kalmanfilter.h" + +#include /* OpenGL header file */ +#include /* OpenGL utilities header file */ + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#define KG 35 + +extern int sliding_window_size; +extern int current_sliding_window_pos; +extern Trajectory VelodyneTrajectory; +extern VeloScan * g_pfirstScan; + +int TrackerManager::DrawTrackersMovtion_Long_Number_All(vector allScans, int n) +{ + int i,j,k,colorIdx; + Point p1,p2,p1text,p2text; + char object_moving_distance[256]; + + list::iterator it; + for(it=tracks.begin(); it!=tracks.end(); it++) + { + Tracker &tracker=*it; + int size=tracker.statusList.size(); + int firstNO= -1; + int secondNO= -1; + + if (tracker.moving_distance +#include +#define DefaultColumnSize 360 + +svm_model *m = svm_load_model("SegIter.model"); +svm_node *nod=new svm_node[361]; + +IntersectionDetection::IntersectionDetection() +{ + slashWide=200; + slashMaxLength=3500; + slashAngleDefinition=1; + + columnNum= 360; + cellSize= 50; + MaxRad=6000; + if(MaxRad%cellSize!=0) + MaxRad=(MaxRad/cellSize+1)*cellSize; + cellNum=MaxRad/cellSize; + MinRad=0; + +// CalcRadAndTheta(); +} + +IntersectionDetection::~IntersectionDetection() +{ + + +} + +int IntersectionDetection::GetPointData() +{ + for(unsigned int i = 0; i < Scan::allScans.size(); i++) + for (int j = 0; j < Scan::allScans[i]->get_points_red_size(); j++) + { + Point p; + p.x=Scan::allScans[i]->get_points_red()[j][0]; + p.y=Scan::allScans[i]->get_points_red()[j][1]; + p.z=Scan::allScans[i]->get_points_red()[j][2]; + allPoints_AfterRegstn.push_back(p); + } + + return 0; +} + +int IntersectionDetection::CalcRadAndTheta() +{ + + GetPointData(); + int i,j; + int size= allPoints_AfterRegstn.size(); + + for(i=0; i< size; ++i) + { + allPoints_AfterRegstn[i].rad = sqrt( allPoints_AfterRegstn[i].x*allPoints_AfterRegstn[i].x + + allPoints_AfterRegstn[i].z*allPoints_AfterRegstn[i].z ); + allPoints_AfterRegstn[i].tan_theta = allPoints_AfterRegstn[i].z/allPoints_AfterRegstn[i].x; + } + return 0; + +} + + +int IntersectionDetection::CalPointCellPos(double x,double y,double z ,int * column,int * row) +{ + int i,j,count=0; + float flag; + int offset; + int sectionSize=columnNum/8; + float inc=(M_PI*2)/columnNum; + + vector tanv; + vector::iterator result; + + for(i=0; i0 && z>0 ) + { + if(x >z) + { + flag=tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(x<0 && z>0) + { + if(-x>z) + { + flag=-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(x<0&&z<0) + { + if(-x>-z) + { + flag=tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(x>0&&z<0) + { + if(x>-z) + { + flag=-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + int k= (int)((rad-MinRad)/(cellSize*1.0)); + * column=offset; + * row=k; + return 0; +} + + +int IntersectionDetection::CalCellMinDis() +{ + for(int i=0;icellSize) + minCellDis=cellSize; + minCellDisList.push_back(minCellDis); + } + minCellDisList[0]=minCellDisList[1]; + + return 0; +} + + +int IntersectionDetection::TransferToCellArray() +{ + + int i,j,count=0; + float flag; + int offset; + int sectionSize=columnNum/8; + + + cellArray_AfterRegstn.resize(columnNum); + for(i=0; i tanv; + vector::iterator result; + + for(i=0; i=MaxRad) + continue; + + if(pt.x >0 && pt.z>0 ) + { + if(pt.x > pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(pt.x<0 && pt.z>0) + { + if(-pt.x>pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(pt.x<0&&pt.z<0) + { + if(-pt.x>-pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(pt.x>0&&pt.z<0) + { + if(pt.x>-pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + else + { + continue; + } + + int k= (int)((pt.rad-MinRad)/(cellSize*1.0)); + cellArray_AfterRegstn[offset][k].push_back(&pt); + } + return 0; +} + + +int IntersectionDetection:: CalcCellFeature(cell& cellobj, cellFeature& f) +{ + int outlier; + float lastMaxY; + f.size=cellobj.size(); + f.cellType=0; + + if(f.size==0) + { + f.cellType|=CELL_TYPE_INVALID; + return 0; + } + + f.ave_x= f.ave_y = f.ave_z=0.0; + f.delta_y=0; + + int i=0; + for(i=0; ix; + f.ave_z+=cellobj[i]->z; + f.ave_y+=cellobj[i]->y; + + if(i==0) + { + outlier=0; + f.min_x=f.max_x=cellobj[i]->x; + f.min_z=f.max_z=cellobj[i]->z; + lastMaxY=f.min_y=f.max_y=cellobj[i]->y; + } + else + { + if(f.max_xx) f.max_x=cellobj[i]->x; + + if(f.min_x>cellobj[i]->x) f.min_x=cellobj[i]->x; + + if(f.max_zz) f.max_z=cellobj[i]->z; + + if(f.min_z>cellobj[i]->z) f.min_z=cellobj[i]->z; + + if(f.max_yy) + { + lastMaxY=f.max_y; + f.max_y=cellobj[i]->y; + outlier=i; + } + + if(f.min_y>cellobj[i]->y) + f.min_y=cellobj[i]->y; + } + } + + if(f.size>1) + { + int y=f.ave_y-cellobj[outlier]->y; + y/=(f.size-1)*1.0; + + if(cellobj[outlier]->y-y<50) + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + else + { + f.max_y=lastMaxY; + f.ave_y=y; + } + } + else + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + + f.ave_x/=f.size*1.0; + f.ave_z/=f.size*1.0; + + for(i=0; iy - f.ave_y); + } + + float threshold; + threshold=f.delta_y; + + float GridThresholdGroundDetect =120; + if(threshold > GridThresholdGroundDetect) + f.cellType|=CELL_TYPE_ABOVE_DELTA_Y; + else + f.cellType|=CELL_TYPE_BELOW_DELTA_Y; + return 0; +} + + +int IntersectionDetection::CalcAllCellFeature() +{ + int i,j; + + if( cellArray_AfterRegstn.size()==0) + return -1; + + if( cellFeatureArray_AfterRegstn.size()==0) + { + cellFeatureArray_AfterRegstn.resize(columnNum); + for(i=0; i 120) + // cellFeatureArray_AfterRegstn[j][i].cellType |= CELL_TYPE_ABOVE_DELTA_Y; + } + } + return 0; + +} + +int IntersectionDetection::CalWideSlashEdge_For_RoadShape(float Angle,int startColumID,int startCellID,float maxLength,float wide) +{ + float LengthX; + float LengthZ; + double sinAngle=sin(Angle*M_PI/180); + double cosAngle=cos(Angle*M_PI/180); + float columnAngle=360.0/columnNum; + + float XPos=cellSize*(startCellID+0.5)*cos( columnAngle*(startColumID+0.5)*M_PI/180); + float ZPos=cellSize*(startCellID+0.5)*sin( columnAngle*(startColumID+0.5)*M_PI/180); + + float halfWide=wide/2; + float vexPointXPos1,vexPointZPos1,vexPointXPos2,vexPointZPos2,closePointX,closePointZ; + float moveInterval=0; + float midPointX,midPointZ; + int pointColumn,pointRow; + + IntersectionFeature temp; + temp.slashLength=maxLength; + temp.angle=Angle; + + for(float k=0;k + vexPointXPos2*vexPointXPos2+vexPointZPos2*vexPointZPos2) + { + closePointX=vexPointXPos2; + closePointZ=vexPointZPos2; + } + else + { + closePointX=vexPointXPos1; + closePointZ=vexPointZPos1; + } + CalPointCellPos(closePointX,0,closePointZ,&pointColumn,&pointRow); + moveInterval=minCellDisList[pointRow]; + + for(float i=0;i<=wide;i+=moveInterval) + { + midPointX=vexPointXPos1-i*cosAngle*moveInterval; + midPointZ=vexPointZPos1+i*sinAngle*moveInterval; + CalPointCellPos(midPointX,0,midPointZ,&pointColumn,&pointRow); + + if(pointRow>cellNum-1) + { + temp.slashEndColumn=pointColumn; + temp.slashEndRow=cellNum-1; + goto labelCalSlashEdge_For_RoadShape; + } + cellFeature& cellobj=cellFeatureArray_AfterRegstn[pointColumn][pointRow]; + if(cellobj.cellType & CELL_TYPE_ABOVE_DELTA_Y ) + { + temp.slashEndColumn=pointColumn; + temp.slashEndRow=pointRow; + temp.slashLength=k; + goto labelCalSlashEdge_For_RoadShape; + + } + } + + } + +labelCalSlashEdge_For_RoadShape: + temp.slashLength=temp.slashLength/100;//单位化为m + intersectionFeature.push_back(temp); + + return 0; +} + + +int IntersectionDetection::DetectIntersection() +{ + int startColumn=0; + int startRow=30; + + for(float i=0;i<360;i+=slashAngleDefinition) + { + CalWideSlashEdge_For_RoadShape(i,startColumn,startRow,slashMaxLength,slashWide); + } + + double labelSVM; + for(int i=0;i<360;i++) + { + nod[i].index=i+1; + nod[i].value=intersectionFeature[i].slashLength/slashMaxLength; + } + nod[360].index=-1; + labelSVM= svm_predict(m,nod); + + ofstream output; + output.open("intersection.txt"); + output<<"labelSVM:"<0.5) + cout<<"intersection"<= 0; j--) // reverse order gives better results. + { + // find minimum cost over rows. + min = assigncost[0][j]; + imin = 0; + for (i = 1; i < dim; i++) + if (assigncost[i][j] < min) + { + min = assigncost[i][j]; + imin = i; + } + v[j] = min; + + if (++matches[imin] == 1) + { + // init assignment if minimum row assigned for first time. + rowsol[imin] = j; + colsol[j] = imin; + } + else + colsol[j] = -1; // row already assigned, column not assigned. + } + + // REDUCTION TRANSFER + for (i = 0; i < dim; i++) + if (matches[i] == 0) // fill list of unassigned 'free' rows. + free[numfree++] = i; + else + if (matches[i] == 1) // transfer reduction from rows that are assigned once. + { + j1 = rowsol[i]; + min = BIG; + for (j = 0; j < dim; j++) + if (j != j1) + if (assigncost[i][j] - v[j] < min) + min = assigncost[i][j] - v[j]; + v[j1] = v[j1] - min; + } + + // AUGMENTING ROW REDUCTION + int loopcnt = 0; // do-loop to be done twice. + do + { + loopcnt++; + + // scan all free rows. + // in some cases, a free row may be replaced with another one to be scanned next. + k = 0; + prvnumfree = numfree; + numfree = 0; // start list of rows still free after augmenting row reduction. + while (k < prvnumfree) + { + i = free[k]; + k++; + + // find minimum and second minimum reduced cost over columns. + umin = assigncost[i][0] - v[0]; + j1 = 0; + usubmin = BIG; + for (j = 1; j < dim; j++) + { + h = assigncost[i][j] - v[j]; + if (h < usubmin) + if (h >= umin) + { + usubmin = h; + j2 = j; + } + else + { + usubmin = umin; + umin = h; + j2 = j1; + j1 = j; + } + } + + i0 = colsol[j1]; + if (umin < usubmin) + // change the reduction of the minimum column to increase the minimum + // reduced cost in the row to the subminimum. + v[j1] = v[j1] - (usubmin - umin); + else // minimum and subminimum equal. + if (i0 >= 0) // minimum column j1 is assigned. + { + // swap columns j1 and j2, as j2 may be unassigned. + j1 = j2; + i0 = colsol[j2]; + } + + // (re-)assign i to j1, possibly de-assigning an i0. + rowsol[i] = j1; + colsol[j1] = i; + + if (i0 >= 0) // minimum column j1 assigned earlier. + if (umin < usubmin) + // put in current k, and go back to that k. + // continue augmenting path i - j1 with i0. + free[--k] = i0; + else + // no further augmenting reduction possible. + // store i0 in list of free rows for next phase. + free[numfree++] = i0; + } + } + while (loopcnt < 2); // repeat once. + + // AUGMENT SOLUTION for each free row. + for (f = 0; f < numfree; f++) + { + freerow = free[f]; // start row of augmenting path. + + // Dijkstra shortest path algorithm. + // runs until unassigned column added to shortest path tree. + for (j = 0; j < dim; j++) + { + d[j] = assigncost[freerow][j] - v[j]; + pred[j] = freerow; + collist[j] = j; // init column list. + } + + low = 0; // columns in 0..low-1 are ready, now none. + up = 0; // columns in low..up-1 are to be scanned for current minimum, now none. + // columns in up..dim-1 are to be considered later to find new minimum, + // at this stage the list simply contains all columns + unassignedfound = FALSE; + do + { + if (up == low) // no more columns to be scanned for current minimum. + { + last = low - 1; + + // scan columns for up..dim-1 to find all indices for which new minimum occurs. + // store these indices between low..up-1 (increasing up). + min = d[collist[up++]]; + for (k = up; k < dim; k++) + { + j = collist[k]; + h = d[j]; + if (h <= min) + { + if (h < min) // new minimum. + { + up = low; // restart list at index low. + min = h; + } + // new index with same minimum, put on undex up, and extend list. + collist[k] = collist[up]; + collist[up++] = j; + } + } + + // check if any of the minimum columns happens to be unassigned. + // if so, we have an augmenting path right away. + for (k = low; k < up; k++) + if (colsol[collist[k]] < 0) + { + endofpath = collist[k]; + unassignedfound = TRUE; + break; + } + } + + if (!unassignedfound) + { + // update 'distances' between freerow and all unscanned columns, via next scanned column. + j1 = collist[low]; + low++; + i = colsol[j1]; + h = assigncost[i][j1] - v[j1] - min; + + for (k = up; k < dim; k++) + { + j = collist[k]; + v2 = assigncost[i][j] - v[j] - h; + if (v2 < d[j]) + { + pred[j] = i; + if (v2 == min) // new column found at same minimum value + if (colsol[j] < 0) + { + // if unassigned, shortest augmenting path is complete. + endofpath = j; + unassignedfound = TRUE; + break; + } + // else add to list to be scanned right away. + else + { + collist[k] = collist[up]; + collist[up++] = j; + } + d[j] = v2; + } + } + } + } + while (!unassignedfound); + + // update column prices. + for (k = 0; k <= last; k++) + { + j1 = collist[k]; + v[j1] = v[j1] + d[j1] - min; + } + + // reset row and column assignments along the alternating path. + do + { + i = pred[endofpath]; + colsol[endofpath] = i; + j1 = endofpath; + endofpath = rowsol[i]; + rowsol[i] = j1; + } + while (i != freerow); + } + + // calculate optimal cost. + cost lapcost = 0; + for (i = 0; i < dim; i++) + { + j = rowsol[i]; + u[i] = assigncost[i][j] - v[j]; + lapcost = lapcost + assigncost[i][j]; + } + + // free reserved memory. + delete[] pred; + delete[] free; + delete[] collist; + delete[] matches; + delete[] d; + + return lapcost; +} + +void checklap(int dim, + cost **assigncost, + col *rowsol, + row *colsol, + cost *u, + cost *v) +{ + row i; + col j; + cost lapcost = 0, redcost = 0; + Boolean *matched; + char wait; + + matched = new Boolean[dim]; + + for (i = 0; i < dim; i++) + for (j = 0; j < dim; j++) + if ((redcost = assigncost[i][j] - u[i] - v[j]) < 0) + { + printf("\n"); + printf("negative reduced cost i %d j %d redcost %d\n", i, j, redcost); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (i = 0; i < dim; i++) + if ((redcost = assigncost[i][rowsol[i]] - u[i] - v[rowsol[i]]) != 0) + { + printf("\n"); + printf("non-null reduced cost i %d soli %d redcost %d\n", i, rowsol[i], redcost); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (j = 0; j < dim; j++) + matched[j] = FALSE; + + for (i = 0; i < dim; i++) + if (matched[rowsol[i]]) + { + printf("\n"); + printf("column matched more than once - i %d soli %d\n", i, rowsol[i]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + else + matched[rowsol[i]] = TRUE; + + + for (i = 0; i < dim; i++) + if (colsol[rowsol[i]] != i) + { + printf("\n"); + printf("error in row solution i %d soli %d solsoli %d\n", i, rowsol[i], colsol[rowsol[i]]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + for (j = 0; j < dim; j++) + if (rowsol[colsol[j]] != j) + { + printf("\n"); + printf("error in col solution j %d solj %d solsolj %d\n", j, colsol[j], rowsol[colsol[j]]); + printf("\n\ndim %5d - press key\n", dim); + scanf("%d", &wait); + break; + } + + delete[] matched; + return; +} diff --git a/src/veloslam/matrix.cc b/src/veloslam/matrix.cc new file mode 100644 index 0000000..385bf9f --- /dev/null +++ b/src/veloslam/matrix.cc @@ -0,0 +1,950 @@ +/* + * matrix implementation + * + * Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter, + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#include "veloslam/matrix.h" +#include +#include + +////////////////////////////////////////////////////////////////////// +// Construction/Destruction +////////////////////////////////////////////////////////////////////// + +CMatrix::CMatrix() +{ + m_nRow = 0; + m_nCol = 0; + + m_pTMatrix.resize (m_nRow); + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i].resize (m_nCol); + m_pTMatrix[i][j] = (double) 0; + } + } +} + + +CMatrix::~CMatrix() +{ + +} + + +CMatrix::CMatrix(unsigned int nRow,unsigned int nCol) +{ + + TMatrix tMatrix; + tMatrix.resize (nRow); + + for(unsigned int i=0; i < nRow; i++) + { + for(unsigned int j=0; j < nCol; j++) + { + tMatrix[i].resize(nCol); + tMatrix[i][j] = (double) 0; + } + } + + m_nRow = nRow; + m_nCol = nCol; + m_pTMatrix = tMatrix; + +} + + +CMatrix::CMatrix(CMatrix& cMatrixB) +{ + // Initialize the variable + m_nRow = cMatrixB.m_nRow ; + m_nCol = cMatrixB.m_nCol ; + m_pTMatrix = cMatrixB.m_pTMatrix ; + + // Copy Data + for(unsigned int i=0; i< cMatrixB.m_nRow; i++) + { + for(unsigned int j=0; j < cMatrixB.m_nCol; j++) + { + m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j]; + } + } + +} + + +///////////////////////////////////////////////////////////////////////////// +// CMatrix member functions +// + +CMatrix CMatrix::operator +(CMatrix& cMatrixB) +{ + + + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] + cMatrixB.m_pTMatrix [i][j]; + } + } + + return cMatrix; + +} + + +CMatrix CMatrix::operator -(CMatrix& cMatrixB) +{ + + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] - cMatrixB.m_pTMatrix [i][j]; + } + } + + return cMatrix; + +} + + +CMatrix CMatrix::operator *(CMatrix& cMatrixB) +{ + + CMatrix cResultMatrix(m_nRow,cMatrixB.m_nCol); + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < cMatrixB.m_nCol; j++) + { + for(unsigned int m=0; m < m_nCol; m++) + { + cResultMatrix.m_pTMatrix [i][j] += m_pTMatrix [i][m] * cMatrixB.m_pTMatrix [m][j]; + } + } + } + + return cResultMatrix; +} + + +CMatrix CMatrix::operator * (double nValue) +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] =m_pTMatrix [i][j] * nValue; + } + } + + return cMatrix; +} + + +CMatrix& CMatrix::operator =(CMatrix& cMatrixB) +{ + + m_nRow = cMatrixB.m_nRow ; + m_nCol = cMatrixB.m_nCol ; + m_pTMatrix = cMatrixB.m_pTMatrix ; + + for(unsigned int i=0; i < cMatrixB.m_nRow; i++) + { + for(unsigned int j=0; j< cMatrixB.m_nCol; j++) + { + m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j]; + } + } + + return *this; +} + +CMatrix& CMatrix::operator =(const CMatrix& cMatrixB) +{ + + m_nRow = cMatrixB.m_nRow ; + m_nCol = cMatrixB.m_nCol ; + m_pTMatrix = cMatrixB.m_pTMatrix ; + + for(unsigned int i=0; i < cMatrixB.m_nRow; i++) + { + for(unsigned int j=0; j< cMatrixB.m_nCol; j++) + { + m_pTMatrix [i][j] = cMatrixB.m_pTMatrix [i][j]; + } + } + + return *this; +} + +CMatrix& CMatrix::operator += (CMatrix& cMatrixB) +{ + + for(unsigned int i=0; i < cMatrixB.m_nRow; i++) + { + for(unsigned int j=0; j< cMatrixB.m_nCol; j++) + { + m_pTMatrix [i][j] += cMatrixB.m_pTMatrix [i][j]; + } + } + + return *this; + +} + + +CMatrix CMatrix::Transpose() +{ + CMatrix cMatrix(m_nCol,m_nRow); + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [j][i] = m_pTMatrix [i][j]; + } + } + + return cMatrix; +} + + + +CMatrix CMatrix::MergeColumnsToColumnVector() +{ + CMatrix cMatrix(m_nRow * m_nCol,(unsigned int)1); + + for(unsigned int j=0; j < m_nCol; j++) + { + for(unsigned int i=0; i < m_nRow; i++) + { + cMatrix.m_pTMatrix [i + j * m_nRow][(unsigned int)0] = m_pTMatrix [i][j]; + } + } + + return cMatrix; + +} + +///////////////////////////////////////////////////////////////////////////// +// Get the total value of the matrix +///////////////////////////////////////////////////////////////////////////// + +double CMatrix::GetTotalElementValue() +{ + double nTotalValue = 0; + + for(unsigned int i=0; i < m_nRow; i++) + { + for( unsigned int j=0; j < m_nCol; j++) + { + nTotalValue += m_pTMatrix [i][j]; + } + } + + return nTotalValue; +} + +///////////////////////////////////////////////////////////////////////////// +// Get System Error +///////////////////////////////////////////////////////////////////////////// + +double CMatrix::GetSystemError() const +{ + double nSystemError = 0; + + for(unsigned int i=0; i < m_nRow; i++) + { + for( unsigned int j=0; j < m_nCol; j++) + { + nSystemError += m_pTMatrix [i][j] * m_pTMatrix [i][j]; + } + } + + return nSystemError; + +} + +///////////////////////////////////////////////////////////////////////////// +// Make all the matrix elements to be changed into absolute value +///////////////////////////////////////////////////////////////////////////// + +CMatrix CMatrix::AbsoluteValue () +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = fabs( m_pTMatrix [i][j]); + + } + + } + + return cMatrix; + +} + + +CMatrix CMatrix::Inverse() +{ + + + CMatrix cMatrix = *this; + + int *pIntArray = new int [2*m_nCol]; + + for(unsigned int k=0; k < cMatrix.m_nCol; k++) + { + + double nMaxElement = cMatrix.m_pTMatrix [k][k]; + unsigned int nMainRow = k; + + for(unsigned int nCount = k+1; nCount < cMatrix.m_nCol; nCount++) + { + if( fabs(nMaxElement) < fabs(cMatrix.m_pTMatrix [nCount][k]) ) + { + nMaxElement = cMatrix.m_pTMatrix [nCount][k]; + nMainRow = nCount; + } + } + + pIntArray [2*k] = k; + pIntArray [2*k+1] = nMainRow; + + cMatrix.SwapMatrixRow(k,nMainRow); + + + cMatrix.m_pTMatrix [k][k] = 1/(cMatrix.m_pTMatrix [k][k]); + + for(unsigned int i=0; i < cMatrix.m_nRow; i++) + { + if( i != k) + cMatrix.m_pTMatrix [i][k] = -(cMatrix.m_pTMatrix [k][k]) * (cMatrix.m_pTMatrix [i][k]); + + } + + + for(unsigned int m=0; m < cMatrix.m_nRow; m++) + { + if ( m == k) + continue; + + for(unsigned int n=0; n < cMatrix.m_nCol; n++) + { + if ( n == k) + continue; + + cMatrix.m_pTMatrix [m][n] += cMatrix.m_pTMatrix [m][k] * cMatrix.m_pTMatrix [k][n]; + + } + + + } + + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + if( j != k) + cMatrix.m_pTMatrix [k][j] = (cMatrix.m_pTMatrix [k][k]) * (cMatrix.m_pTMatrix [k][j]); + + } + + } + + + + for(int i=2*m_nCol-1; i > 0; i--) + { + cMatrix.SwapMatrixCol(pIntArray[i],pIntArray[i-1]); + i--; + } + + delete []pIntArray; + + return cMatrix; + +} + + +void CMatrix::SwapMatrixRow(unsigned int nRow1,unsigned int nRow2) +{ + if( nRow1 == nRow2) + return; + + double *pArray = new double; + + for(unsigned int i=0; i < m_nCol; i++) + { + // Swap the datum of the two rows + pArray[0] = m_pTMatrix [nRow1][i]; + m_pTMatrix [nRow1][i] = m_pTMatrix [nRow2][i]; + m_pTMatrix [nRow2][i] = pArray[0]; + } + + delete pArray; +} + + +void CMatrix::SwapMatrixCol(unsigned int nCol1,unsigned int nCol2) +{ + if( nCol1 == nCol2) + return; + + double *pArray = new double; + for(unsigned int i=0; i < m_nRow; i++) + { + // Swap the datum of the two columns + pArray[0] = m_pTMatrix [i][nCol1]; + m_pTMatrix [i][nCol1] = m_pTMatrix [i][nCol2]; + m_pTMatrix [i][nCol2] = pArray[0]; + } + + delete pArray; +} + + + + +void CMatrix::Eye() +{ + + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + if(i == j) + { + m_pTMatrix [i][j] = 1; + } + else + { + m_pTMatrix [i][j] = 0; + } + } + + } + + +} + + + + +void CMatrix::GetMatrixData(CMatrix& cMatrix, unsigned int nIndex) +{ + + + for(unsigned int i=0; i < cMatrix.m_nRow; i++) + { + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + m_pTMatrix [nIndex + i * cMatrix.m_nCol + j][0] = cMatrix.m_pTMatrix [i][j]; + } + + } + +} + + +void CMatrix::SetMatrixData(CMatrix& cMatrix, unsigned int nIndex) +{ + + for(unsigned int i=0; i < cMatrix.m_nRow; i++) + { + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nIndex + i * cMatrix.m_nCol + j][0]; + + + } + } + +} + + + + +void CMatrix::SetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow) +{ + + for(unsigned int i=0; i < cMatrix.m_nCol; i++) + { + cMatrix.m_pTMatrix [nRow][i] = m_pTMatrix [nIndex + i][(unsigned int)0]; + } + +} + + + + +void CMatrix::GetMatrixRowData(CMatrix& cMatrix, unsigned int nIndex, unsigned int nRow) +{ + + + for(unsigned int i=0; i < cMatrix.m_nCol; i++) + { + m_pTMatrix [nIndex + i][(unsigned int)0] = cMatrix.m_pTMatrix [nRow][i]; + } + +} + +void CMatrix::SetMatrixRowNumber(unsigned int nRow) +{ + m_nRow = nRow; + + m_pTMatrix.resize (m_nRow); + for(unsigned int i=0; i < m_nRow; i++) + { + m_pTMatrix[i].resize (m_nCol); + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i][j] = (double) 0; + } + } + +} + + +void CMatrix::SetMatrixColNumber(unsigned int nCol) +{ + m_nCol = nCol; + + m_pTMatrix.resize (m_nRow); + for(unsigned int i=0; i < m_nRow; i++) + { + m_pTMatrix[i].resize (m_nCol); + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i][j] = (double) 0; + } + } + +} + +void CMatrix::SetMatrixRowAndCol(unsigned int nRow,unsigned int nCol) +{ + m_nRow = nRow; + m_nCol = nCol; + + m_pTMatrix.resize (m_nRow); + for(unsigned int i=0; i < m_nRow; i++) + { + m_pTMatrix[i].resize (m_nCol); + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i][j] = (double) 0; + } + } + +} + + + +void CMatrix::Initialize() +{ + m_nRow = 0; + m_nCol = 0; + + m_pTMatrix.resize (m_nRow); + for(unsigned int i=0; i < m_nRow; i++) + { + m_pTMatrix[i].resize (m_nCol); + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i][j] = (double) 0; + } + } + +} + + + +void CMatrix::InitializeZero() +{ + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i][j] = (double) 0; + } + } + +} + + +void CMatrix::RandomInitialize () +{ + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix [i][j] = (double)(rand() - (0.5*RAND_MAX)) / (0.5*RAND_MAX); + } + } + +} + + + +void CMatrix::CopySubMatrix(CMatrix& cMatrix,unsigned int nStartX,unsigned int nStartY) +{ + + + for(unsigned int i=0; i < cMatrix.m_nRow; i++) + { + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nStartY + i][nStartX + j]; + } + } + +} + + +void CMatrix::CopyMatrix(CMatrix& cMatrix) +{ + m_nRow = cMatrix.m_nRow ; + m_nCol = cMatrix.m_nCol ; + + m_pTMatrix = cMatrix.m_pTMatrix ; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix [i][j] = cMatrix.m_pTMatrix [i][j]; + } + + } + +} + + +void CMatrix::CopySubMatrixFromVector(CMatrix& cMatrix,unsigned int nIndex) +{ + + + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + for(unsigned int i=0; i < cMatrix.m_nRow; i++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [nIndex + j * cMatrix.m_nRow + i ][(unsigned int)0]; + } + } + +} + + + +void CMatrix::nncpyi(CMatrix &cMatrix, unsigned int nTimes) +{ + unsigned int i; + + m_nRow = cMatrix.m_nRow ; + m_nCol = cMatrix.m_nCol * nTimes; + + m_pTMatrix.resize (m_nRow); + for(int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i].resize (m_nCol); + m_pTMatrix[i][j] = (double) 0; + } + } + + for(i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + for(unsigned int k=0; k < nTimes; k++) + { + m_pTMatrix [i][j * nTimes + k] = cMatrix.m_pTMatrix [i][j]; + } + } + } + +} + + + +void CMatrix::nncpyd(CMatrix &cMatrix) +{ + unsigned int i; + m_nRow = cMatrix.m_nRow ; + m_nCol = cMatrix.m_nCol * cMatrix.m_nRow ; + + m_pTMatrix.resize (m_nRow); + for(int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix[i].resize (m_nCol); + m_pTMatrix[i][j] = (double) 0; + } + } + + for(i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < cMatrix.m_nCol; j++) + { + for(unsigned int k=0; k < cMatrix.m_nRow; k++) + { + if(i == (j * cMatrix.m_nRow + k) % cMatrix.m_nRow ) + m_pTMatrix [i][j * cMatrix.m_nRow + k] = cMatrix.m_pTMatrix [i][j]; + } + } + } + +} + + + +void CMatrix::nncpy(CMatrix& cMatrix,unsigned int nTimes) +{ + unsigned int i,j; + m_nRow = cMatrix.m_nRow ; + m_nCol = cMatrix.m_nCol * nTimes; + + m_pTMatrix.resize (m_nRow); + for(int i=0; i < m_nRow; i++) + { + for(int j=0; j < m_nCol; j++) + { + m_pTMatrix[i].resize (m_nCol); + m_pTMatrix[i][j] = (double) 0; + } + } + + for(i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < nTimes; j++) + { + for(unsigned int k=0; k < cMatrix.m_nCol; k++) + { + m_pTMatrix [i][j * cMatrix.m_nCol + k] = cMatrix.m_pTMatrix [i][k]; + } + } + } + +} + + + +CMatrix CMatrix::Sigmoid() +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = 1 / (1 + exp(-m_pTMatrix [i][j])); + } + + } + + return cMatrix; +} + + +CMatrix CMatrix::tanh () +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = 1 - (2 * exp(-m_pTMatrix [i][j])) / (1 + exp(-m_pTMatrix [i][j])); + } + + } + + return cMatrix; +} + + + +CMatrix CMatrix::Tansig() +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = 2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1; + } + } + + return cMatrix; + +} + + + +CMatrix CMatrix::TansigDerivative() +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = (2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1) * (2 / (1 + exp(- 2 * m_pTMatrix [i][j])) - 1) - 1; + } + } + + return cMatrix; + +} + + +void CMatrix::MakeAllColumnElementsSameValue(unsigned int nRowIndex) +{ + for(unsigned int i=0; i < m_nRow; i++) + { + if(i == nRowIndex) + continue; + + for(unsigned int j=0; j < m_nCol; j++) + { + m_pTMatrix [i][j] = m_pTMatrix [nRowIndex][j]; + } + } + +} + + + +CMatrix CMatrix::SigmoidDerivative() +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = exp(-m_pTMatrix [i][j]) / ((1 + exp(-m_pTMatrix [i][j])) * (1 + exp(-m_pTMatrix [i][j]))); + } + + } + + return cMatrix; +} + + + +CMatrix CMatrix::tanhDerivative() +{ + CMatrix cMatrix = *this; + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = 2 * exp(-m_pTMatrix [i][j]) / ((1 + exp(-m_pTMatrix [i][j])) * (1 + exp(-m_pTMatrix [i][j]))); + } + + } + + return cMatrix; +} + + + +CMatrix CMatrix::operator / (CMatrix& cMatrixB) +{ + CMatrix cMatrix = *this; + + + for(unsigned int i=0; i < m_nRow; i++) + { + for(unsigned int j=0; j < m_nCol; j++) + { + cMatrix.m_pTMatrix [i][j] = m_pTMatrix [i][j] * cMatrixB.m_pTMatrix [i][j]; + } + + } + + return cMatrix; + +} + + + + + +CMatrix operator - (double nValue,CMatrix& cMatrixB) +{ + CMatrix cMatrix = cMatrixB; + + for(unsigned int i=0; i < cMatrix.GetMatrixRowNumber (); i++) + { + for(unsigned int j=0; j < cMatrix.GetMatrixColNumber (); j++) + { + cMatrix.m_pTMatrix [i][j] = nValue - cMatrixB.m_pTMatrix [i][j]; + } + } + + return cMatrix; +} + + + + +CMatrix MergeMatrix(CMatrix& cMatrixA,CMatrix& cMatrixB) +{ + + + CMatrix cMatrix(cMatrixA.GetMatrixRowNumber (),cMatrixA.GetMatrixColNumber () + cMatrixB.GetMatrixColNumber ()); + + for(unsigned int i=0; i < cMatrixA.GetMatrixRowNumber (); i++) + { + for(unsigned int j=0; j < cMatrixA.GetMatrixColNumber (); j++) + { + cMatrix.m_pTMatrix [i][j] = cMatrixA.m_pTMatrix [i][j]; + } + + for(unsigned int k=0; k < cMatrixB.GetMatrixColNumber (); k++) + { + cMatrix.m_pTMatrix [i][cMatrixA.GetMatrixColNumber () + k] = cMatrixB.m_pTMatrix [i][k]; + } + + } + + + return cMatrix; +} + diff --git a/src/veloslam/multiscan_random_field.cc b/src/veloslam/multiscan_random_field.cc new file mode 100644 index 0000000..ba93def --- /dev/null +++ b/src/veloslam/multiscan_random_field.cc @@ -0,0 +1,14 @@ +#include "veloslam/veloscan.h" +#include "veloslam/svm.h" +#include "veloslam/multiscan_random_field.h" + +Random_field::Random_field(void) +{ + +} + +Random_field::~Random_field(void) +{ + +} + diff --git a/src/veloslam/pcddump.cc b/src/veloslam/pcddump.cc new file mode 100644 index 0000000..e2a4877 --- /dev/null +++ b/src/veloslam/pcddump.cc @@ -0,0 +1,89 @@ +/* + * pcddump implementation + * + * Copyright (C) YuanJun, ZhangLiang, Li Wei, Li Ming, Andreas Nuechter, + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#include +using std::ifstream; +using std::ofstream; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::stringstream; + +#include "veloslam/veloscan.h" +#include "veloslam/pcddump.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +void DumpPointtoFile(cluster &gluData1, string filename) +{ + cell* pCell; + ofstream redptsout(filename.c_str()); + + for(int j=0; jpCell; + for(int k=0; ksize();++k) + { + redptsout <<(*pCell)[k]->x << " " + <<(*pCell)[k]->y<< " " + <<(*pCell)[k]->z<< endl; + } + } + redptsout.close(); + redptsout.clear(); +} + +void DumpFeaturetoFile(clusterFeature &glu, string filename) +{ + ofstream redptsout(filename.c_str(), ios::app); + redptsout < +#include +#include +#include +#include +#include +#include +#include +#include "veloslam/svm.h" +int libsvm_version = LIBSVM_VERSION; +typedef float Qfloat; +typedef signed char schar; +#ifndef min +template static inline T min(T x,T y) { return (x static inline T max(T x,T y) { return (x>y)?x:y; } +#endif +template static inline void swap(T& x, T& y) { T t=x; x=y; y=t; } +template static inline void clone(T*& dst, S* src, int n) +{ + dst = new T[n]; + memcpy((void *)dst,(void *)src,sizeof(T)*n); +} +static inline double powi(double base, int times) +{ + double tmp = base, ret = 1.0; + + for(int t=times; t>0; t/=2) + { + if(t%2==1) ret*=tmp; + tmp = tmp * tmp; + } + return ret; +} +#define INF HUGE_VAL +#define TAU 1e-12 +#define Malloc(type,n) (type *)malloc((n)*sizeof(type)) + +static void print_string_stdout(const char *s) +{ + fputs(s,stdout); + fflush(stdout); +} +static void (*svm_print_string) (const char *) = &print_string_stdout; +#if 1 +static void info(const char *fmt,...) +{ + char buf[BUFSIZ]; + va_list ap; + va_start(ap,fmt); + vsprintf(buf,fmt,ap); + va_end(ap); + (*svm_print_string)(buf); +} +#else +static void info(const char *fmt,...) {} +#endif + +// +// Kernel Cache +// +// l is the number of total data items +// size is the cache size limit in bytes +// +class Cache +{ +public: + Cache(int l,long int size); + ~Cache(); + + // request data [0,len) + // return some position p where [p,len) need to be filled + // (p >= len if nothing needs to be filled) + int get_data(const int index, Qfloat **data, int len); + void swap_index(int i, int j); +private: + int l; + long int size; + struct head_t + { + head_t *prev, *next; // a circular list + Qfloat *data; + int len; // data[0,len) is cached in this entry + }; + + head_t *head; + head_t lru_head; + void lru_delete(head_t *h); + void lru_insert(head_t *h); +}; + +Cache::Cache(int l_,long int size_):l(l_),size(size_) +{ + head = (head_t *)calloc(l,sizeof(head_t)); // initialized to 0 + size /= sizeof(Qfloat); + size -= l * sizeof(head_t) / sizeof(Qfloat); + size = max(size, 2 * (long int) l); // cache must be large enough for two columns + lru_head.next = lru_head.prev = &lru_head; +} + +Cache::~Cache() +{ + for(head_t *h = lru_head.next; h != &lru_head; h=h->next) + free(h->data); + free(head); +} + +void Cache::lru_delete(head_t *h) +{ + // delete from current location + h->prev->next = h->next; + h->next->prev = h->prev; +} + +void Cache::lru_insert(head_t *h) +{ + // insert to last position + h->next = &lru_head; + h->prev = lru_head.prev; + h->prev->next = h; + h->next->prev = h; +} + +int Cache::get_data(const int index, Qfloat **data, int len) +{ + head_t *h = &head[index]; + if(h->len) lru_delete(h); + int more = len - h->len; + + if(more > 0) + { + // free old space + while(size < more) + { + head_t *old = lru_head.next; + lru_delete(old); + free(old->data); + size += old->len; + old->data = 0; + old->len = 0; + } + + // allocate new space + h->data = (Qfloat *)realloc(h->data,sizeof(Qfloat)*len); + size -= more; + swap(h->len,len); + } + + lru_insert(h); + *data = h->data; + return len; +} + +void Cache::swap_index(int i, int j) +{ + if(i==j) return; + + if(head[i].len) lru_delete(&head[i]); + if(head[j].len) lru_delete(&head[j]); + swap(head[i].data,head[j].data); + swap(head[i].len,head[j].len); + if(head[i].len) lru_insert(&head[i]); + if(head[j].len) lru_insert(&head[j]); + + if(i>j) swap(i,j); + for(head_t *h = lru_head.next; h!=&lru_head; h=h->next) + { + if(h->len > i) + { + if(h->len > j) + swap(h->data[i],h->data[j]); + else + { + // give up + lru_delete(h); + free(h->data); + size += h->len; + h->data = 0; + h->len = 0; + } + } + } +} + +// +// Kernel evaluation +// +// the static method k_function is for doing single kernel evaluation +// the constructor of Kernel prepares to calculate the l*l kernel matrix +// the member function get_Q is for getting one column from the Q Matrix +// +class QMatrix { +public: + virtual Qfloat *get_Q(int column, int len) const = 0; + virtual double *get_QD() const = 0; + virtual void swap_index(int i, int j) const = 0; + virtual ~QMatrix() {} +}; + +class Kernel: public QMatrix { +public: + Kernel(int l, svm_node * const * x, const svm_parameter& param); + virtual ~Kernel(); + + static double k_function(const svm_node *x, const svm_node *y, + const svm_parameter& param); + virtual Qfloat *get_Q(int column, int len) const = 0; + virtual double *get_QD() const = 0; + virtual void swap_index(int i, int j) const // no so const... + { + swap(x[i],x[j]); + if(x_square) swap(x_square[i],x_square[j]); + } +protected: + + double (Kernel::*kernel_function)(int i, int j) const; + +private: + const svm_node **x; + double *x_square; + + // svm_parameter + const int kernel_type; + const int degree; + const double gamma; + const double coef0; + + static double dot(const svm_node *px, const svm_node *py); + double kernel_linear(int i, int j) const + { + return dot(x[i],x[j]); + } + double kernel_poly(int i, int j) const + { + return powi(gamma*dot(x[i],x[j])+coef0,degree); + } + double kernel_rbf(int i, int j) const + { + return exp(-gamma*(x_square[i]+x_square[j]-2*dot(x[i],x[j]))); + } + double kernel_sigmoid(int i, int j) const + { + return tanh(gamma*dot(x[i],x[j])+coef0); + } + double kernel_precomputed(int i, int j) const + { + return x[i][(int)(x[j][0].value)].value; + } +}; + +Kernel::Kernel(int l, svm_node * const * x_, const svm_parameter& param) +:kernel_type(param.kernel_type), degree(param.degree), + gamma(param.gamma), coef0(param.coef0) +{ + switch(kernel_type) + { + case LINEAR: + kernel_function = &Kernel::kernel_linear; + break; + case POLY: + kernel_function = &Kernel::kernel_poly; + break; + case RBF: + kernel_function = &Kernel::kernel_rbf; + break; + case SIGMOID: + kernel_function = &Kernel::kernel_sigmoid; + break; + case PRECOMPUTED: + kernel_function = &Kernel::kernel_precomputed; + break; + } + + clone(x,x_,l); + + if(kernel_type == RBF) + { + x_square = new double[l]; + for(int i=0;iindex != -1 && py->index != -1) + { + if(px->index == py->index) + { + sum += px->value * py->value; + ++px; + ++py; + } + else + { + if(px->index > py->index) + ++py; + else + ++px; + } + } + return sum; +} + +double Kernel::k_function(const svm_node *x, const svm_node *y, + const svm_parameter& param) +{ + switch(param.kernel_type) + { + case LINEAR: + return dot(x,y); + case POLY: + return powi(param.gamma*dot(x,y)+param.coef0,param.degree); + case RBF: + { + double sum = 0; + while(x->index != -1 && y->index !=-1) + { + if(x->index == y->index) + { + double d = x->value - y->value; + sum += d*d; + ++x; + ++y; + } + else + { + if(x->index > y->index) + { + sum += y->value * y->value; + ++y; + } + else + { + sum += x->value * x->value; + ++x; + } + } + } + + while(x->index != -1) + { + sum += x->value * x->value; + ++x; + } + + while(y->index != -1) + { + sum += y->value * y->value; + ++y; + } + + return exp(-param.gamma*sum); + } + case SIGMOID: + return tanh(param.gamma*dot(x,y)+param.coef0); + case PRECOMPUTED: //x: test (validation), y: SV + return x[(int)(y->value)].value; + default: + return 0; // Unreachable + } +} + +// An SMO algorithm in Fan et al., JMLR 6(2005), p. 1889--1918 +// Solves: +// +// min 0.5(\alpha^T Q \alpha) + p^T \alpha +// +// y^T \alpha = \delta +// y_i = +1 or -1 +// 0 <= alpha_i <= Cp for y_i = 1 +// 0 <= alpha_i <= Cn for y_i = -1 +// +// Given: +// +// Q, p, y, Cp, Cn, and an initial feasible point \alpha +// l is the size of vectors and matrices +// eps is the stopping tolerance +// +// solution will be put in \alpha, objective value will be put in obj +// +class Solver { +public: + Solver() {}; + virtual ~Solver() {}; + + struct SolutionInfo { + double obj; + double rho; + double upper_bound_p; + double upper_bound_n; + double r; // for Solver_NU + }; + + void Solve(int l, const QMatrix& Q, const double *p_, const schar *y_, + double *alpha_, double Cp, double Cn, double eps, + SolutionInfo* si, int shrinking); +protected: + int active_size; + schar *y; + double *G; // gradient of objective function + enum { LOWER_BOUND, UPPER_BOUND, FREE }; + char *alpha_status; // LOWER_BOUND, UPPER_BOUND, FREE + double *alpha; + const QMatrix *Q; + const double *QD; + double eps; + double Cp,Cn; + double *p; + int *active_set; + double *G_bar; // gradient, if we treat free variables as 0 + int l; + bool unshrink; // XXX + + double get_C(int i) + { + return (y[i] > 0)? Cp : Cn; + } + void update_alpha_status(int i) + { + if(alpha[i] >= get_C(i)) + alpha_status[i] = UPPER_BOUND; + else if(alpha[i] <= 0) + alpha_status[i] = LOWER_BOUND; + else alpha_status[i] = FREE; + } + bool is_upper_bound(int i) { return alpha_status[i] == UPPER_BOUND; } + bool is_lower_bound(int i) { return alpha_status[i] == LOWER_BOUND; } + bool is_free(int i) { return alpha_status[i] == FREE; } + void swap_index(int i, int j); + void reconstruct_gradient(); + virtual int select_working_set(int &i, int &j); + virtual double calculate_rho(); + virtual void do_shrinking(); +private: + bool be_shrunk(int i, double Gmax1, double Gmax2); +}; + +void Solver::swap_index(int i, int j) +{ + Q->swap_index(i,j); + swap(y[i],y[j]); + swap(G[i],G[j]); + swap(alpha_status[i],alpha_status[j]); + swap(alpha[i],alpha[j]); + swap(p[i],p[j]); + swap(active_set[i],active_set[j]); + swap(G_bar[i],G_bar[j]); +} + +void Solver::reconstruct_gradient() +{ + // reconstruct inactive elements of G from G_bar and free variables + + if(active_size == l) return; + + int i,j; + int nr_free = 0; + + for(j=active_size;j 2*active_size*(l-active_size)) + { + for(i=active_size;iget_Q(i,active_size); + for(j=0;jget_Q(i,l); + double alpha_i = alpha[i]; + for(j=active_size;jl = l; + this->Q = &Q; + QD=Q.get_QD(); + clone(p, p_,l); + clone(y, y_,l); + clone(alpha,alpha_,l); + this->Cp = Cp; + this->Cn = Cn; + this->eps = eps; + unshrink = false; + + // initialize alpha_status + { + alpha_status = new char[l]; + for(int i=0;iINT_MAX/100 ? INT_MAX : 100*l); + int counter = min(l,1000)+1; + + while(iter < max_iter) + { + // show progress and do shrinking + + if(--counter == 0) + { + counter = min(l,1000); + if(shrinking) do_shrinking(); + info("."); + } + + int i,j; + if(select_working_set(i,j)!=0) + { + // reconstruct the whole gradient + reconstruct_gradient(); + // reset active set size and check + active_size = l; + info("*"); + if(select_working_set(i,j)!=0) + break; + else + counter = 1; // do shrinking next iteration + } + + ++iter; + + // update alpha[i] and alpha[j], handle bounds carefully + + const Qfloat *Q_i = Q.get_Q(i,active_size); + const Qfloat *Q_j = Q.get_Q(j,active_size); + + double C_i = get_C(i); + double C_j = get_C(j); + + double old_alpha_i = alpha[i]; + double old_alpha_j = alpha[j]; + + if(y[i]!=y[j]) + { + double quad_coef = QD[i]+QD[j]+2*Q_i[j]; + if (quad_coef <= 0) + quad_coef = TAU; + double delta = (-G[i]-G[j])/quad_coef; + double diff = alpha[i] - alpha[j]; + alpha[i] += delta; + alpha[j] += delta; + + if(diff > 0) + { + if(alpha[j] < 0) + { + alpha[j] = 0; + alpha[i] = diff; + } + } + else + { + if(alpha[i] < 0) + { + alpha[i] = 0; + alpha[j] = -diff; + } + } + if(diff > C_i - C_j) + { + if(alpha[i] > C_i) + { + alpha[i] = C_i; + alpha[j] = C_i - diff; + } + } + else + { + if(alpha[j] > C_j) + { + alpha[j] = C_j; + alpha[i] = C_j + diff; + } + } + } + else + { + double quad_coef = QD[i]+QD[j]-2*Q_i[j]; + if (quad_coef <= 0) + quad_coef = TAU; + double delta = (G[i]-G[j])/quad_coef; + double sum = alpha[i] + alpha[j]; + alpha[i] -= delta; + alpha[j] += delta; + + if(sum > C_i) + { + if(alpha[i] > C_i) + { + alpha[i] = C_i; + alpha[j] = sum - C_i; + } + } + else + { + if(alpha[j] < 0) + { + alpha[j] = 0; + alpha[i] = sum; + } + } + if(sum > C_j) + { + if(alpha[j] > C_j) + { + alpha[j] = C_j; + alpha[i] = sum - C_j; + } + } + else + { + if(alpha[i] < 0) + { + alpha[i] = 0; + alpha[j] = sum; + } + } + } + + // update G + + double delta_alpha_i = alpha[i] - old_alpha_i; + double delta_alpha_j = alpha[j] - old_alpha_j; + + for(int k=0;k= max_iter) + { + if(active_size < l) + { + // reconstruct the whole gradient to calculate objective value + reconstruct_gradient(); + active_size = l; + info("*"); + } + info("\nWARNING: reaching max number of iterations"); + } + + // calculate rho + + si->rho = calculate_rho(); + + // calculate objective value + { + double v = 0; + int i; + for(i=0;iobj = v/2; + } + + // put back the solution + { + for(int i=0;iupper_bound_p = Cp; + si->upper_bound_n = Cn; + + info("\noptimization finished, #iter = %d\n",iter); + + delete[] p; + delete[] y; + delete[] alpha; + delete[] alpha_status; + delete[] active_set; + delete[] G; + delete[] G_bar; +} + +// return 1 if already optimal, return 0 otherwise +int Solver::select_working_set(int &out_i, int &out_j) +{ + // return i,j such that + // i: maximizes -y_i * grad(f)_i, i in I_up(\alpha) + // j: minimizes the decrease of obj value + // (if quadratic coefficeint <= 0, replace it with tau) + // -y_j*grad(f)_j < -y_i*grad(f)_i, j in I_low(\alpha) + + double Gmax = -INF; + double Gmax2 = -INF; + int Gmax_idx = -1; + int Gmin_idx = -1; + double obj_diff_min = INF; + + for(int t=0;t= Gmax) + { + Gmax = -G[t]; + Gmax_idx = t; + } + } + else + { + if(!is_lower_bound(t)) + if(G[t] >= Gmax) + { + Gmax = G[t]; + Gmax_idx = t; + } + } + + int i = Gmax_idx; + const Qfloat *Q_i = NULL; + if(i != -1) // NULL Q_i not accessed: Gmax=-INF if i=-1 + Q_i = Q->get_Q(i,active_size); + + for(int j=0;j= Gmax2) + Gmax2 = G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[i]+QD[j]-2.0*y[i]*Q_i[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + else + { + if (!is_upper_bound(j)) + { + double grad_diff= Gmax-G[j]; + if (-G[j] >= Gmax2) + Gmax2 = -G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[i]+QD[j]+2.0*y[i]*Q_i[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + } + + if(Gmax+Gmax2 < eps) + return 1; + + out_i = Gmax_idx; + out_j = Gmin_idx; + return 0; +} + +bool Solver::be_shrunk(int i, double Gmax1, double Gmax2) +{ + if(is_upper_bound(i)) + { + if(y[i]==+1) + return(-G[i] > Gmax1); + else + return(-G[i] > Gmax2); + } + else if(is_lower_bound(i)) + { + if(y[i]==+1) + return(G[i] > Gmax2); + else + return(G[i] > Gmax1); + } + else + return(false); +} + +void Solver::do_shrinking() +{ + int i; + double Gmax1 = -INF; // max { -y_i * grad(f)_i | i in I_up(\alpha) } + double Gmax2 = -INF; // max { y_i * grad(f)_i | i in I_low(\alpha) } + + // find maximal violating pair first + for(i=0;i= Gmax1) + Gmax1 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(G[i] >= Gmax2) + Gmax2 = G[i]; + } + } + else + { + if(!is_upper_bound(i)) + { + if(-G[i] >= Gmax2) + Gmax2 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(G[i] >= Gmax1) + Gmax1 = G[i]; + } + } + } + + if(unshrink == false && Gmax1 + Gmax2 <= eps*10) + { + unshrink = true; + reconstruct_gradient(); + active_size = l; + info("*"); + } + + for(i=0;i i) + { + if (!be_shrunk(active_size, Gmax1, Gmax2)) + { + swap_index(i,active_size); + break; + } + active_size--; + } + } +} + +double Solver::calculate_rho() +{ + double r; + int nr_free = 0; + double ub = INF, lb = -INF, sum_free = 0; + for(int i=0;i0) + r = sum_free/nr_free; + else + r = (ub+lb)/2; + + return r; +} + +// +// Solver for nu-svm classification and regression +// +// additional constraint: e^T \alpha = constant +// +class Solver_NU : public Solver +{ +public: + Solver_NU() {} + void Solve(int l, const QMatrix& Q, const double *p, const schar *y, + double *alpha, double Cp, double Cn, double eps, + SolutionInfo* si, int shrinking) + { + this->si = si; + Solver::Solve(l,Q,p,y,alpha,Cp,Cn,eps,si,shrinking); + } +private: + SolutionInfo *si; + int select_working_set(int &i, int &j); + double calculate_rho(); + bool be_shrunk(int i, double Gmax1, double Gmax2, double Gmax3, double Gmax4); + void do_shrinking(); +}; + +// return 1 if already optimal, return 0 otherwise +int Solver_NU::select_working_set(int &out_i, int &out_j) +{ + // return i,j such that y_i = y_j and + // i: maximizes -y_i * grad(f)_i, i in I_up(\alpha) + // j: minimizes the decrease of obj value + // (if quadratic coefficeint <= 0, replace it with tau) + // -y_j*grad(f)_j < -y_i*grad(f)_i, j in I_low(\alpha) + + double Gmaxp = -INF; + double Gmaxp2 = -INF; + int Gmaxp_idx = -1; + + double Gmaxn = -INF; + double Gmaxn2 = -INF; + int Gmaxn_idx = -1; + + int Gmin_idx = -1; + double obj_diff_min = INF; + + for(int t=0;t= Gmaxp) + { + Gmaxp = -G[t]; + Gmaxp_idx = t; + } + } + else + { + if(!is_lower_bound(t)) + if(G[t] >= Gmaxn) + { + Gmaxn = G[t]; + Gmaxn_idx = t; + } + } + + int ip = Gmaxp_idx; + int in = Gmaxn_idx; + const Qfloat *Q_ip = NULL; + const Qfloat *Q_in = NULL; + if(ip != -1) // NULL Q_ip not accessed: Gmaxp=-INF if ip=-1 + Q_ip = Q->get_Q(ip,active_size); + if(in != -1) + Q_in = Q->get_Q(in,active_size); + + for(int j=0;j= Gmaxp2) + Gmaxp2 = G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[ip]+QD[j]-2*Q_ip[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + else + { + if (!is_upper_bound(j)) + { + double grad_diff=Gmaxn-G[j]; + if (-G[j] >= Gmaxn2) + Gmaxn2 = -G[j]; + if (grad_diff > 0) + { + double obj_diff; + double quad_coef = QD[in]+QD[j]-2*Q_in[j]; + if (quad_coef > 0) + obj_diff = -(grad_diff*grad_diff)/quad_coef; + else + obj_diff = -(grad_diff*grad_diff)/TAU; + + if (obj_diff <= obj_diff_min) + { + Gmin_idx=j; + obj_diff_min = obj_diff; + } + } + } + } + } + + if(max(Gmaxp+Gmaxp2,Gmaxn+Gmaxn2) < eps) + return 1; + + if (y[Gmin_idx] == +1) + out_i = Gmaxp_idx; + else + out_i = Gmaxn_idx; + out_j = Gmin_idx; + + return 0; +} + +bool Solver_NU::be_shrunk(int i, double Gmax1, double Gmax2, double Gmax3, double Gmax4) +{ + if(is_upper_bound(i)) + { + if(y[i]==+1) + return(-G[i] > Gmax1); + else + return(-G[i] > Gmax4); + } + else if(is_lower_bound(i)) + { + if(y[i]==+1) + return(G[i] > Gmax2); + else + return(G[i] > Gmax3); + } + else + return(false); +} + +void Solver_NU::do_shrinking() +{ + double Gmax1 = -INF; // max { -y_i * grad(f)_i | y_i = +1, i in I_up(\alpha) } + double Gmax2 = -INF; // max { y_i * grad(f)_i | y_i = +1, i in I_low(\alpha) } + double Gmax3 = -INF; // max { -y_i * grad(f)_i | y_i = -1, i in I_up(\alpha) } + double Gmax4 = -INF; // max { y_i * grad(f)_i | y_i = -1, i in I_low(\alpha) } + + // find maximal violating pair first + int i; + for(i=0;i Gmax1) Gmax1 = -G[i]; + } + else if(-G[i] > Gmax4) Gmax4 = -G[i]; + } + if(!is_lower_bound(i)) + { + if(y[i]==+1) + { + if(G[i] > Gmax2) Gmax2 = G[i]; + } + else if(G[i] > Gmax3) Gmax3 = G[i]; + } + } + + if(unshrink == false && max(Gmax1+Gmax2,Gmax3+Gmax4) <= eps*10) + { + unshrink = true; + reconstruct_gradient(); + active_size = l; + } + + for(i=0;i i) + { + if (!be_shrunk(active_size, Gmax1, Gmax2, Gmax3, Gmax4)) + { + swap_index(i,active_size); + break; + } + active_size--; + } + } +} + +double Solver_NU::calculate_rho() +{ + int nr_free1 = 0,nr_free2 = 0; + double ub1 = INF, ub2 = INF; + double lb1 = -INF, lb2 = -INF; + double sum_free1 = 0, sum_free2 = 0; + + for(int i=0;i 0) + r1 = sum_free1/nr_free1; + else + r1 = (ub1+lb1)/2; + + if(nr_free2 > 0) + r2 = sum_free2/nr_free2; + else + r2 = (ub2+lb2)/2; + + si->r = (r1+r2)/2; + return (r1-r2)/2; +} + +// +// Q matrices for various formulations +// +class SVC_Q: public Kernel +{ +public: + SVC_Q(const svm_problem& prob, const svm_parameter& param, const schar *y_) + :Kernel(prob.l, prob.x, param) + { + clone(y,y_,prob.l); + cache = new Cache(prob.l,(long int)(param.cache_size*(1<<20))); + QD = new double[prob.l]; + for(int i=0;i*kernel_function)(i,i); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int start, j; + if((start = cache->get_data(i,&data,len)) < len) + { + for(j=start;j*kernel_function)(i,j)); + } + return data; + } + + double *get_QD() const + { + return QD; + } + + void swap_index(int i, int j) const + { + cache->swap_index(i,j); + Kernel::swap_index(i,j); + swap(y[i],y[j]); + swap(QD[i],QD[j]); + } + + ~SVC_Q() + { + delete[] y; + delete cache; + delete[] QD; + } +private: + schar *y; + Cache *cache; + double *QD; +}; + +class ONE_CLASS_Q: public Kernel +{ +public: + ONE_CLASS_Q(const svm_problem& prob, const svm_parameter& param) + :Kernel(prob.l, prob.x, param) + { + cache = new Cache(prob.l,(long int)(param.cache_size*(1<<20))); + QD = new double[prob.l]; + for(int i=0;i*kernel_function)(i,i); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int start, j; + if((start = cache->get_data(i,&data,len)) < len) + { + for(j=start;j*kernel_function)(i,j); + } + return data; + } + + double *get_QD() const + { + return QD; + } + + void swap_index(int i, int j) const + { + cache->swap_index(i,j); + Kernel::swap_index(i,j); + swap(QD[i],QD[j]); + } + + ~ONE_CLASS_Q() + { + delete cache; + delete[] QD; + } +private: + Cache *cache; + double *QD; +}; + +class SVR_Q: public Kernel +{ +public: + SVR_Q(const svm_problem& prob, const svm_parameter& param) + :Kernel(prob.l, prob.x, param) + { + l = prob.l; + cache = new Cache(l,(long int)(param.cache_size*(1<<20))); + QD = new double[2*l]; + sign = new schar[2*l]; + index = new int[2*l]; + for(int k=0;k*kernel_function)(k,k); + QD[k+l] = QD[k]; + } + buffer[0] = new Qfloat[2*l]; + buffer[1] = new Qfloat[2*l]; + next_buffer = 0; + } + + void swap_index(int i, int j) const + { + swap(sign[i],sign[j]); + swap(index[i],index[j]); + swap(QD[i],QD[j]); + } + + Qfloat *get_Q(int i, int len) const + { + Qfloat *data; + int j, real_i = index[i]; + if(cache->get_data(real_i,&data,l) < l) + { + for(j=0;j*kernel_function)(real_i,j); + } + + // reorder and copy + Qfloat *buf = buffer[next_buffer]; + next_buffer = 1 - next_buffer; + schar si = sign[i]; + for(j=0;jl; + double *minus_ones = new double[l]; + schar *y = new schar[l]; + + int i; + + for(i=0;iy[i] > 0) y[i] = +1; else y[i] = -1; + } + + Solver s; + s.Solve(l, SVC_Q(*prob,*param,y), minus_ones, y, + alpha, Cp, Cn, param->eps, si, param->shrinking); + + double sum_alpha=0; + for(i=0;il)); + + for(i=0;il; + double nu = param->nu; + + schar *y = new schar[l]; + + for(i=0;iy[i]>0) + y[i] = +1; + else + y[i] = -1; + + double sum_pos = nu*l/2; + double sum_neg = nu*l/2; + + for(i=0;ieps, si, param->shrinking); + double r = si->r; + + info("C = %f\n",1/r); + + for(i=0;irho /= r; + si->obj /= (r*r); + si->upper_bound_p = 1/r; + si->upper_bound_n = 1/r; + + delete[] y; + delete[] zeros; +} + +static void solve_one_class( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double *zeros = new double[l]; + schar *ones = new schar[l]; + int i; + + int n = (int)(param->nu*prob->l); // # of alpha's at upper bound + + for(i=0;il) + alpha[n] = param->nu * prob->l - n; + for(i=n+1;ieps, si, param->shrinking); + + delete[] zeros; + delete[] ones; +} + +static void solve_epsilon_svr( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double *alpha2 = new double[2*l]; + double *linear_term = new double[2*l]; + schar *y = new schar[2*l]; + int i; + + for(i=0;ip - prob->y[i]; + y[i] = 1; + + alpha2[i+l] = 0; + linear_term[i+l] = param->p + prob->y[i]; + y[i+l] = -1; + } + + Solver s; + s.Solve(2*l, SVR_Q(*prob,*param), linear_term, y, + alpha2, param->C, param->C, param->eps, si, param->shrinking); + + double sum_alpha = 0; + for(i=0;iC*l)); + + delete[] alpha2; + delete[] linear_term; + delete[] y; +} + +static void solve_nu_svr( + const svm_problem *prob, const svm_parameter *param, + double *alpha, Solver::SolutionInfo* si) +{ + int l = prob->l; + double C = param->C; + double *alpha2 = new double[2*l]; + double *linear_term = new double[2*l]; + schar *y = new schar[2*l]; + int i; + + double sum = C * param->nu * l / 2; + for(i=0;iy[i]; + y[i] = 1; + + linear_term[i+l] = prob->y[i]; + y[i+l] = -1; + } + + Solver_NU s; + s.Solve(2*l, SVR_Q(*prob,*param), linear_term, y, + alpha2, C, C, param->eps, si, param->shrinking); + + info("epsilon = %f\n",-si->r); + + for(i=0;il); + Solver::SolutionInfo si; + switch(param->svm_type) + { + case C_SVC: + solve_c_svc(prob,param,alpha,&si,Cp,Cn); + break; + case NU_SVC: + solve_nu_svc(prob,param,alpha,&si); + break; + case ONE_CLASS: + solve_one_class(prob,param,alpha,&si); + break; + case EPSILON_SVR: + solve_epsilon_svr(prob,param,alpha,&si); + break; + case NU_SVR: + solve_nu_svr(prob,param,alpha,&si); + break; + } + + info("obj = %f, rho = %f\n",si.obj,si.rho); + + // output SVs + + int nSV = 0; + int nBSV = 0; + for(int i=0;il;i++) + { + if(fabs(alpha[i]) > 0) + { + ++nSV; + if(prob->y[i] > 0) + { + if(fabs(alpha[i]) >= si.upper_bound_p) + ++nBSV; + } + else + { + if(fabs(alpha[i]) >= si.upper_bound_n) + ++nBSV; + } + } + } + + info("nSV = %d, nBSV = %d\n",nSV,nBSV); + + decision_function f; + f.alpha = alpha; + f.rho = si.rho; + return f; +} + +// Platt's binary SVM Probablistic Output: an improvement from Lin et al. +static void sigmoid_train( + int l, const double *dec_values, + const double *labels, + double& A, double& B) +{ + double prior1=0, prior0 = 0; + int i; + + for (i=0;i 0) prior1+=1; + else prior0+=1; + + int max_iter=100; // Maximal number of iterations + double min_step=1e-10; // Minimal step taken in line search + double sigma=1e-12; // For numerically strict PD of Hessian + double eps=1e-5; + double hiTarget=(prior1+1.0)/(prior1+2.0); + double loTarget=1/(prior0+2.0); + double *t=Malloc(double,l); + double fApB,p,q,h11,h22,h21,g1,g2,det,dA,dB,gd,stepsize; + double newA,newB,newf,d1,d2; + int iter; + + // Initial Point and Initial Fun Value + A=0.0; B=log((prior0+1.0)/(prior1+1.0)); + double fval = 0.0; + + for (i=0;i0) t[i]=hiTarget; + else t[i]=loTarget; + fApB = dec_values[i]*A+B; + if (fApB>=0) + fval += t[i]*fApB + log(1+exp(-fApB)); + else + fval += (t[i] - 1)*fApB +log(1+exp(fApB)); + } + for (iter=0;iter= 0) + { + p=exp(-fApB)/(1.0+exp(-fApB)); + q=1.0/(1.0+exp(-fApB)); + } + else + { + p=1.0/(1.0+exp(fApB)); + q=exp(fApB)/(1.0+exp(fApB)); + } + d2=p*q; + h11+=dec_values[i]*dec_values[i]*d2; + h22+=d2; + h21+=dec_values[i]*d2; + d1=t[i]-p; + g1+=dec_values[i]*d1; + g2+=d1; + } + + // Stopping Criteria + if (fabs(g1)= min_step) + { + newA = A + stepsize * dA; + newB = B + stepsize * dB; + + // New function value + newf = 0.0; + for (i=0;i= 0) + newf += t[i]*fApB + log(1+exp(-fApB)); + else + newf += (t[i] - 1)*fApB +log(1+exp(fApB)); + } + // Check sufficient decrease + if (newf=max_iter) + info("Reaching maximal iterations in two-class probability estimates\n"); + free(t); +} + +static double sigmoid_predict(double decision_value, double A, double B) +{ + double fApB = decision_value*A+B; + // 1-p used later; avoid catastrophic cancellation + if (fApB >= 0) + return exp(-fApB)/(1.0+exp(-fApB)); + else + return 1.0/(1+exp(fApB)) ; +} + +// Method 2 from the multiclass_prob paper by Wu, Lin, and Weng +static void multiclass_probability(int k, double **r, double *p) +{ + int t,j; + int iter = 0, max_iter=max(100,k); + double **Q=Malloc(double *,k); + double *Qp=Malloc(double,k); + double pQp, eps=0.005/k; + + for (t=0;tmax_error) + max_error=error; + } + if (max_error=max_iter) + info("Exceeds max_iter in multiclass_prob\n"); + for(t=0;tl); + double *dec_values = Malloc(double,prob->l); + + // random shuffle + for(i=0;il;i++) perm[i]=i; + for(i=0;il;i++) + { + int j = i+rand()%(prob->l-i); + swap(perm[i],perm[j]); + } + for(i=0;il/nr_fold; + int end = (i+1)*prob->l/nr_fold; + int j,k; + struct svm_problem subprob; + + subprob.l = prob->l-(end-begin); + subprob.x = Malloc(struct svm_node*,subprob.l); + subprob.y = Malloc(double,subprob.l); + + k=0; + for(j=0;jx[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + for(j=end;jl;j++) + { + subprob.x[k] = prob->x[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + int p_count=0,n_count=0; + for(j=0;j0) + p_count++; + else + n_count++; + + if(p_count==0 && n_count==0) + for(j=begin;j 0 && n_count == 0) + for(j=begin;j 0) + for(j=begin;jx[perm[j]],&(dec_values[perm[j]])); + // ensure +1 -1 order; reason not using CV subroutine + dec_values[perm[j]] *= submodel->label[0]; + } + svm_free_and_destroy_model(&submodel); + svm_destroy_param(&subparam); + } + free(subprob.x); + free(subprob.y); + } + sigmoid_train(prob->l,dec_values,prob->y,probA,probB); + free(dec_values); + free(perm); +} + +// Return parameter of a Laplace distribution +static double svm_svr_probability( + const svm_problem *prob, const svm_parameter *param) +{ + int i; + int nr_fold = 5; + double *ymv = Malloc(double,prob->l); + double mae = 0; + + svm_parameter newparam = *param; + newparam.probability = 0; + svm_cross_validation(prob,&newparam,nr_fold,ymv); + for(i=0;il;i++) + { + ymv[i]=prob->y[i]-ymv[i]; + mae += fabs(ymv[i]); + } + mae /= prob->l; + double std=sqrt(2*mae*mae); + int count=0; + mae=0; + for(i=0;il;i++) + if (fabs(ymv[i]) > 5*std) + count=count+1; + else + mae+=fabs(ymv[i]); + mae /= (prob->l-count); + info("Prob. model for test data: target value = predicted value + z,\nz: Laplace distribution e^(-|z|/sigma)/(2sigma),sigma= %g\n",mae); + free(ymv); + return mae; +} + + +// label: label name, start: begin of each class, count: #data of classes, perm: indices to the original data +// perm, length l, must be allocated before calling this subroutine +static void svm_group_classes(const svm_problem *prob, int *nr_class_ret, int **label_ret, int **start_ret, int **count_ret, int *perm) +{ + int l = prob->l; + int max_nr_class = 16; + int nr_class = 0; + int *label = Malloc(int,max_nr_class); + int *count = Malloc(int,max_nr_class); + int *data_label = Malloc(int,l); + int i; + + for(i=0;iy[i]; + int j; + for(j=0;jparam = *param; + model->free_sv = 0; // XXX + + if(param->svm_type == ONE_CLASS || + param->svm_type == EPSILON_SVR || + param->svm_type == NU_SVR) + { + // regression or one-class-svm + model->nr_class = 2; + model->label = NULL; + model->nSV = NULL; + model->probA = NULL; model->probB = NULL; + model->sv_coef = Malloc(double *,1); + + if(param->probability && + (param->svm_type == EPSILON_SVR || + param->svm_type == NU_SVR)) + { + model->probA = Malloc(double,1); + model->probA[0] = svm_svr_probability(prob,param); + } + + decision_function f = svm_train_one(prob,param,0,0); + model->rho = Malloc(double,1); + model->rho[0] = f.rho; + + int nSV = 0; + int i; + for(i=0;il;i++) + if(fabs(f.alpha[i]) > 0) ++nSV; + model->l = nSV; + model->SV = Malloc(svm_node *,nSV); + model->sv_coef[0] = Malloc(double,nSV); + int j = 0; + for(i=0;il;i++) + if(fabs(f.alpha[i]) > 0) + { + model->SV[j] = prob->x[i]; + model->sv_coef[0][j] = f.alpha[i]; + ++j; + } + + free(f.alpha); + } + else + { + // classification + int l = prob->l; + int nr_class; + int *label = NULL; + int *start = NULL; + int *count = NULL; + int *perm = Malloc(int,l); + + // group training data of the same class + svm_group_classes(prob,&nr_class,&label,&start,&count,perm); + if(nr_class == 1) + info("WARNING: training data in only one class. See README for details.\n"); + + svm_node **x = Malloc(svm_node *,l); + int i; + for(i=0;ix[perm[i]]; + + // calculate weighted C + + double *weighted_C = Malloc(double, nr_class); + for(i=0;iC; + for(i=0;inr_weight;i++) + { + int j; + for(j=0;jweight_label[i] == label[j]) + break; + if(j == nr_class) + fprintf(stderr,"WARNING: class label %d specified in weight is not found\n", param->weight_label[i]); + else + weighted_C[j] *= param->weight[i]; + } + + // train k*(k-1)/2 models + + bool *nonzero = Malloc(bool,l); + for(i=0;iprobability) + { + probA=Malloc(double,nr_class*(nr_class-1)/2); + probB=Malloc(double,nr_class*(nr_class-1)/2); + } + + int p = 0; + for(i=0;iprobability) + svm_binary_svc_probability(&sub_prob,param,weighted_C[i],weighted_C[j],probA[p],probB[p]); + + f[p] = svm_train_one(&sub_prob,param,weighted_C[i],weighted_C[j]); + for(k=0;k 0) + nonzero[si+k] = true; + for(k=0;k 0) + nonzero[sj+k] = true; + free(sub_prob.x); + free(sub_prob.y); + ++p; + } + + // build output + + model->nr_class = nr_class; + + model->label = Malloc(int,nr_class); + for(i=0;ilabel[i] = label[i]; + + model->rho = Malloc(double,nr_class*(nr_class-1)/2); + for(i=0;irho[i] = f[i].rho; + + if(param->probability) + { + model->probA = Malloc(double,nr_class*(nr_class-1)/2); + model->probB = Malloc(double,nr_class*(nr_class-1)/2); + for(i=0;iprobA[i] = probA[i]; + model->probB[i] = probB[i]; + } + } + else + { + model->probA=NULL; + model->probB=NULL; + } + + int total_sv = 0; + int *nz_count = Malloc(int,nr_class); + model->nSV = Malloc(int,nr_class); + for(i=0;inSV[i] = nSV; + nz_count[i] = nSV; + } + + info("Total nSV = %d\n",total_sv); + + model->l = total_sv; + model->SV = Malloc(svm_node *,total_sv); + p = 0; + for(i=0;iSV[p++] = x[i]; + + int *nz_start = Malloc(int,nr_class); + nz_start[0] = 0; + for(i=1;isv_coef = Malloc(double *,nr_class-1); + for(i=0;isv_coef[i] = Malloc(double,total_sv); + + p = 0; + for(i=0;isv_coef[j-1][q++] = f[p].alpha[k]; + q = nz_start[j]; + for(k=0;ksv_coef[i][q++] = f[p].alpha[ci+k]; + ++p; + } + + free(label); + free(probA); + free(probB); + free(count); + free(perm); + free(start); + free(x); + free(weighted_C); + free(nonzero); + for(i=0;il; + int *perm = Malloc(int,l); + int nr_class; + + // stratified cv may not give leave-one-out rate + // Each class to l folds -> some folds may have zero elements + if((param->svm_type == C_SVC || + param->svm_type == NU_SVC) && nr_fold < l) + { + int *start = NULL; + int *label = NULL; + int *count = NULL; + svm_group_classes(prob,&nr_class,&label,&start,&count,perm); + + // random shuffle and then data grouped by fold using the array perm + int *fold_count = Malloc(int,nr_fold); + int c; + int *index = Malloc(int,l); + for(i=0;ix[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + for(j=end;jx[perm[j]]; + subprob.y[k] = prob->y[perm[j]]; + ++k; + } + struct svm_model *submodel = svm_train(&subprob,param); + if(param->probability && + (param->svm_type == C_SVC || param->svm_type == NU_SVC)) + { + double *prob_estimates=Malloc(double,svm_get_nr_class(submodel)); + for(j=begin;jx[perm[j]],prob_estimates); + free(prob_estimates); + } + else + for(j=begin;jx[perm[j]]); + svm_free_and_destroy_model(&submodel); + free(subprob.x); + free(subprob.y); + } + free(fold_start); + free(perm); +} + + +int svm_get_svm_type(const svm_model *model) +{ + return model->param.svm_type; +} + +int svm_get_nr_class(const svm_model *model) +{ + return model->nr_class; +} + +void svm_get_labels(const svm_model *model, int* label) +{ + if (model->label != NULL) + for(int i=0;inr_class;i++) + label[i] = model->label[i]; +} + +double svm_get_svr_probability(const svm_model *model) +{ + if ((model->param.svm_type == EPSILON_SVR || model->param.svm_type == NU_SVR) && + model->probA!=NULL) + return model->probA[0]; + else + { + fprintf(stderr,"Model doesn't contain information for SVR probability inference\n"); + return 0; + } +} + +double svm_predict_values(const svm_model *model, const svm_node *x, double* dec_values) +{ + int i; + if(model->param.svm_type == ONE_CLASS || + model->param.svm_type == EPSILON_SVR || + model->param.svm_type == NU_SVR) + { + double *sv_coef = model->sv_coef[0]; + double sum = 0; + for(i=0;il;i++) + sum += sv_coef[i] * Kernel::k_function(x,model->SV[i],model->param); + sum -= model->rho[0]; + *dec_values = sum; + + if(model->param.svm_type == ONE_CLASS) + return (sum>0)?1:-1; + else + return sum; + } + else + { + int nr_class = model->nr_class; + int l = model->l; + + double *kvalue = Malloc(double,l); + for(i=0;iSV[i],model->param); + + int *start = Malloc(int,nr_class); + start[0] = 0; + for(i=1;inSV[i-1]; + + int *vote = Malloc(int,nr_class); + for(i=0;inSV[i]; + int cj = model->nSV[j]; + + int k; + double *coef1 = model->sv_coef[j-1]; + double *coef2 = model->sv_coef[i]; + for(k=0;krho[p]; + dec_values[p] = sum; + + if(dec_values[p] > 0) + ++vote[i]; + else + ++vote[j]; + p++; + } + + int vote_max_idx = 0; + for(i=1;i vote[vote_max_idx]) + vote_max_idx = i; + + free(kvalue); + free(start); + free(vote); + return model->label[vote_max_idx]; + } +} + +double svm_predict(const svm_model *model, const svm_node *x) +{ + int nr_class = model->nr_class; + double *dec_values; + if(model->param.svm_type == ONE_CLASS || + model->param.svm_type == EPSILON_SVR || + model->param.svm_type == NU_SVR) + dec_values = Malloc(double, 1); + else + dec_values = Malloc(double, nr_class*(nr_class-1)/2); + double pred_result = svm_predict_values(model, x, dec_values); + free(dec_values); + return pred_result; +} + +double svm_predict_probability( + const svm_model *model, const svm_node *x, double *prob_estimates) +{ + if ((model->param.svm_type == C_SVC || model->param.svm_type == NU_SVC) && + model->probA!=NULL && model->probB!=NULL) + { + int i; + int nr_class = model->nr_class; + double *dec_values = Malloc(double, nr_class*(nr_class-1)/2); + svm_predict_values(model, x, dec_values); + + double min_prob=1e-7; + double **pairwise_prob=Malloc(double *,nr_class); + for(i=0;iprobA[k],model->probB[k]),min_prob),1-min_prob); + pairwise_prob[j][i]=1-pairwise_prob[i][j]; + k++; + } + multiclass_probability(nr_class,pairwise_prob,prob_estimates); + + int prob_max_idx = 0; + for(i=1;i prob_estimates[prob_max_idx]) + prob_max_idx = i; + for(i=0;ilabel[prob_max_idx]; + } + else + return svm_predict(model, x); +} + +static const char *svm_type_table[] = +{ + "c_svc","nu_svc","one_class","epsilon_svr","nu_svr",NULL +}; + +static const char *kernel_type_table[]= +{ + "linear","polynomial","rbf","sigmoid","precomputed",NULL +}; + +int svm_save_model(const char *model_file_name, const svm_model *model) +{ + FILE *fp = fopen(model_file_name,"w"); + if(fp==NULL) return -1; + + const svm_parameter& param = model->param; + + fprintf(fp,"svm_type %s\n", svm_type_table[param.svm_type]); + fprintf(fp,"kernel_type %s\n", kernel_type_table[param.kernel_type]); + + if(param.kernel_type == POLY) + fprintf(fp,"degree %d\n", param.degree); + + if(param.kernel_type == POLY || param.kernel_type == RBF || param.kernel_type == SIGMOID) + fprintf(fp,"gamma %g\n", param.gamma); + + if(param.kernel_type == POLY || param.kernel_type == SIGMOID) + fprintf(fp,"coef0 %g\n", param.coef0); + + int nr_class = model->nr_class; + int l = model->l; + fprintf(fp, "nr_class %d\n", nr_class); + fprintf(fp, "total_sv %d\n",l); + + { + fprintf(fp, "rho"); + for(int i=0;irho[i]); + fprintf(fp, "\n"); + } + + if(model->label) + { + fprintf(fp, "label"); + for(int i=0;ilabel[i]); + fprintf(fp, "\n"); + } + + if(model->probA) // regression has probA only + { + fprintf(fp, "probA"); + for(int i=0;iprobA[i]); + fprintf(fp, "\n"); + } + if(model->probB) + { + fprintf(fp, "probB"); + for(int i=0;iprobB[i]); + fprintf(fp, "\n"); + } + + if(model->nSV) + { + fprintf(fp, "nr_sv"); + for(int i=0;inSV[i]); + fprintf(fp, "\n"); + } + + fprintf(fp, "SV\n"); + const double * const *sv_coef = model->sv_coef; + const svm_node * const *SV = model->SV; + + for(int i=0;ivalue)); + else + while(p->index != -1) + { + fprintf(fp,"%d:%.8g ",p->index,p->value); + p++; + } + fprintf(fp, "\n"); + } + if (ferror(fp) != 0 || fclose(fp) != 0) return -1; + else return 0; +} + +static char *line = NULL; +static int max_line_len; + +static char* readline(FILE *input) +{ + int len; + + if(fgets(line,max_line_len,input) == NULL) + return NULL; + + while(strrchr(line,'\n') == NULL) + { + max_line_len *= 2; + line = (char *) realloc(line,max_line_len); + len = (int) strlen(line); + if(fgets(line+len,max_line_len-len,input) == NULL) + break; + } + return line; +} + +svm_model *svm_load_model(const char *model_file_name) +{ + FILE *fp = fopen(model_file_name,"rb"); + if(fp==NULL) return NULL; + + // read parameters + + svm_model *model = Malloc(svm_model,1); + svm_parameter& param = model->param; + model->rho = NULL; + model->probA = NULL; + model->probB = NULL; + model->label = NULL; + model->nSV = NULL; + + char cmd[81]; + while(1) + { + fscanf(fp,"%80s",cmd); + + if(strcmp(cmd,"svm_type")==0) + { + fscanf(fp,"%80s",cmd); + int i; + for(i=0;svm_type_table[i];i++) + { + if(strcmp(svm_type_table[i],cmd)==0) + { + param.svm_type=i; + break; + } + } + if(svm_type_table[i] == NULL) + { + fprintf(stderr,"unknown svm type.\n"); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + else if(strcmp(cmd,"kernel_type")==0) + { + fscanf(fp,"%80s",cmd); + int i; + for(i=0;kernel_type_table[i];i++) + { + if(strcmp(kernel_type_table[i],cmd)==0) + { + param.kernel_type=i; + break; + } + } + if(kernel_type_table[i] == NULL) + { + fprintf(stderr,"unknown kernel function.\n"); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + else if(strcmp(cmd,"degree")==0) + fscanf(fp,"%d",¶m.degree); + else if(strcmp(cmd,"gamma")==0) + fscanf(fp,"%lf",¶m.gamma); + else if(strcmp(cmd,"coef0")==0) + fscanf(fp,"%lf",¶m.coef0); + else if(strcmp(cmd,"nr_class")==0) + fscanf(fp,"%d",&model->nr_class); + else if(strcmp(cmd,"total_sv")==0) + fscanf(fp,"%d",&model->l); + else if(strcmp(cmd,"rho")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->rho = Malloc(double,n); + for(int i=0;irho[i]); + } + else if(strcmp(cmd,"label")==0) + { + int n = model->nr_class; + model->label = Malloc(int,n); + for(int i=0;ilabel[i]); + } + else if(strcmp(cmd,"probA")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->probA = Malloc(double,n); + for(int i=0;iprobA[i]); + } + else if(strcmp(cmd,"probB")==0) + { + int n = model->nr_class * (model->nr_class-1)/2; + model->probB = Malloc(double,n); + for(int i=0;iprobB[i]); + } + else if(strcmp(cmd,"nr_sv")==0) + { + int n = model->nr_class; + model->nSV = Malloc(int,n); + for(int i=0;inSV[i]); + } + else if(strcmp(cmd,"SV")==0) + { + while(1) + { + int c = getc(fp); + if(c==EOF || c=='\n') break; + } + break; + } + else + { + fprintf(stderr,"unknown text in model file: [%s]\n",cmd); + free(model->rho); + free(model->label); + free(model->nSV); + free(model); + return NULL; + } + } + + // read sv_coef and SV + + int elements = 0; + long pos = ftell(fp); + + max_line_len = 1024; + line = Malloc(char,max_line_len); + char *p,*endptr,*idx,*val; + + while(readline(fp)!=NULL) + { + p = strtok(line,":"); + while(1) + { + p = strtok(NULL,":"); + if(p == NULL) + break; + ++elements; + } + } + elements += model->l; + + fseek(fp,pos,SEEK_SET); + + int m = model->nr_class - 1; + int l = model->l; + model->sv_coef = Malloc(double *,m); + int i; + for(i=0;isv_coef[i] = Malloc(double,l); + model->SV = Malloc(svm_node*,l); + svm_node *x_space = NULL; + if(l>0) x_space = Malloc(svm_node,elements); + + int j=0; + for(i=0;iSV[i] = &x_space[j]; + + p = strtok(line, " \t"); + model->sv_coef[0][i] = strtod(p,&endptr); + for(int k=1;ksv_coef[k][i] = strtod(p,&endptr); + } + + while(1) + { + idx = strtok(NULL, ":"); + val = strtok(NULL, " \t"); + + if(val == NULL) + break; + x_space[j].index = (int) strtol(idx,&endptr,10); + x_space[j].value = strtod(val,&endptr); + + ++j; + } + x_space[j++].index = -1; + } + free(line); + + if (ferror(fp) != 0 || fclose(fp) != 0) + return NULL; + + model->free_sv = 1; // XXX + return model; +} + +void svm_free_model_content(svm_model* model_ptr) +{ + if(model_ptr->free_sv && model_ptr->l > 0 && model_ptr->SV != NULL) + free((void *)(model_ptr->SV[0])); + if(model_ptr->sv_coef) + { + for(int i=0;inr_class-1;i++) + free(model_ptr->sv_coef[i]); + } + + free(model_ptr->SV); + model_ptr->SV = NULL; + + free(model_ptr->sv_coef); + model_ptr->sv_coef = NULL; + + free(model_ptr->rho); + model_ptr->rho = NULL; + + free(model_ptr->label); + model_ptr->label= NULL; + + free(model_ptr->probA); + model_ptr->probA = NULL; + + free(model_ptr->probB); + model_ptr->probB= NULL; + + free(model_ptr->nSV); + model_ptr->nSV = NULL; +} + +void svm_free_and_destroy_model(svm_model** model_ptr_ptr) +{ + if(model_ptr_ptr != NULL && *model_ptr_ptr != NULL) + { + svm_free_model_content(*model_ptr_ptr); + free(*model_ptr_ptr); + *model_ptr_ptr = NULL; + } +} + +void svm_destroy_param(svm_parameter* param) +{ + free(param->weight_label); + free(param->weight); +} + +const char *svm_check_parameter(const svm_problem *prob, const svm_parameter *param) +{ + // svm_type + + int svm_type = param->svm_type; + if(svm_type != C_SVC && + svm_type != NU_SVC && + svm_type != ONE_CLASS && + svm_type != EPSILON_SVR && + svm_type != NU_SVR) + return "unknown svm type"; + + // kernel_type, degree + + int kernel_type = param->kernel_type; + if(kernel_type != LINEAR && + kernel_type != POLY && + kernel_type != RBF && + kernel_type != SIGMOID && + kernel_type != PRECOMPUTED) + return "unknown kernel type"; + + if(param->gamma < 0) + return "gamma < 0"; + + if(param->degree < 0) + return "degree of polynomial kernel < 0"; + + // cache_size,eps,C,nu,p,shrinking + + if(param->cache_size <= 0) + return "cache_size <= 0"; + + if(param->eps <= 0) + return "eps <= 0"; + + if(svm_type == C_SVC || + svm_type == EPSILON_SVR || + svm_type == NU_SVR) + if(param->C <= 0) + return "C <= 0"; + + if(svm_type == NU_SVC || + svm_type == ONE_CLASS || + svm_type == NU_SVR) + if(param->nu <= 0 || param->nu > 1) + return "nu <= 0 or nu > 1"; + + if(svm_type == EPSILON_SVR) + if(param->p < 0) + return "p < 0"; + + if(param->shrinking != 0 && + param->shrinking != 1) + return "shrinking != 0 and shrinking != 1"; + + if(param->probability != 0 && + param->probability != 1) + return "probability != 0 and probability != 1"; + + if(param->probability == 1 && + svm_type == ONE_CLASS) + return "one-class SVM probability output not supported yet"; + + + // check whether nu-svc is feasible + + if(svm_type == NU_SVC) + { + int l = prob->l; + int max_nr_class = 16; + int nr_class = 0; + int *label = Malloc(int,max_nr_class); + int *count = Malloc(int,max_nr_class); + + int i; + for(i=0;iy[i]; + int j; + for(j=0;jnu*(n1+n2)/2 > min(n1,n2)) + { + free(label); + free(count); + return "specified nu is infeasible"; + } + } + } + free(label); + free(count); + } + + return NULL; +} + +int svm_check_probability_model(const svm_model *model) +{ + return ((model->param.svm_type == C_SVC || model->param.svm_type == NU_SVC) && + model->probA!=NULL && model->probB!=NULL) || + ((model->param.svm_type == EPSILON_SVR || model->param.svm_type == NU_SVR) && + model->probA!=NULL); +} + +void svm_set_print_string_function(void (*print_func)(const char *)) +{ + if(print_func == NULL) + svm_print_string = &print_string_stdout; + else + svm_print_string = print_func; +} diff --git a/src/veloslam/tracker.cc b/src/veloslam/tracker.cc new file mode 100644 index 0000000..590be13 --- /dev/null +++ b/src/veloslam/tracker.cc @@ -0,0 +1,66 @@ +/* + * tracker implementation + * + * Copyright (C) ZhangLiang, YuanJun, Li Wei, Li Ming, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#include "veloslam/tracker.h" + +Tracker::Tracker(void) +{ + missMatch=false; + matchClusterID=-1; + colorIdx=-1; + + missedTime=0; + trackerID=0; +} + +Tracker::~Tracker(void) +{ + TrackerReset(); +} + +Tracker::Tracker(clusterFeature &glu,double rollAngle):kalmanFilter(glu,rollAngle) //added by yuanjun +{ + missMatch=false; + matchClusterID=-1; + colorIdx=-1; + missedTime=0; + trackerID=0; +} + +Tracker::Tracker(const Tracker ©Tracker) //added by yuanjun +{ + missMatch=copyTracker.missMatch; + matchClusterID=copyTracker.matchClusterID; + colorIdx=copyTracker.colorIdx; + statusList=copyTracker.statusList; + dataList=copyTracker.dataList; + kalmanFilter=copyTracker.kalmanFilter; + missedTime=copyTracker.missedTime; + moveStateList=copyTracker.moveStateList; + trackerID=copyTracker.trackerID; +} + +void Tracker::TrackerReset() +{ + statusList.clear(); + dataList.clear(); + moveStateList.clear(); + return; +} diff --git a/src/veloslam/trackermanager.cc b/src/veloslam/trackermanager.cc new file mode 100644 index 0000000..fab836e --- /dev/null +++ b/src/veloslam/trackermanager.cc @@ -0,0 +1,929 @@ +/* + * trackermanager implementation + * + * Copyright (C) ZhangLiang, YuanJun, Li Wei, Li Ming, Andreas Nuechter + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author YuanJun, Wuhan University, China + * @author ZhangLiang, Wuhan University, China + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ +#include +#include +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "slam6d/scan.h" +#include "slam6d/globals.icc" + +#include "veloslam/color_util.h" +#include "veloslam/veloscan.h" +#include "veloslam/trackermanager.h" +#include "veloslam/debugview.h" +#include "veloslam/kalmanfilter.h" +#include "veloslam/lap.h" + + + +#define KG 35 +#define BIGNUM 100000 + +int sliding_window_size = 6; +int current_sliding_window_pos =0; +Trajectory VelodyneTrajectory; +VeloScan * g_pfirstScan; +float constant_static_or_moving = 20.0; + +int GetScanID_in_SlidingWindow(int absNO, int current_pos, int window_size) +{ + int firstNO=-1; + // relative scanID absolute scanID + // absNO (6,7,8,9) current_pos(6,7,8,9) window_size =6 +#ifdef NO_SLIDING_WINDOW + firstNO = absNO; +#else + if( (absNO >=(current_pos - window_size) ) + && (absNO <= current_pos) ) + { + firstNO =absNO - (current_pos - window_size ); + } + else + { + //in first scans + firstNO = -1; + } + if(current_pos < window_size) + { + //in first scans + firstNO = absNO; + } +#endif +// cout << " absNO " << absNO << " firstNO "<0) + { + radiusDiff=fabs(tracker.statusList.back().radius-glu.radius); + thetaDiff=fabs(tracker.statusList.back().theta-glu.theta); + sizeDiff =abs(tracker.statusList.back().size-glu.size); + shapeDiff =fabs( fabs(tracker.statusList.back().size_x-glu.size_x) + + fabs(tracker.statusList.back().size_y-glu.size_y) + + fabs(tracker.statusList.back().size_z-glu.size_z) ); + positionDiff = sqrt( (tracker.statusList.back().avg_x -glu.avg_x)*(tracker.statusList.back().avg_x -glu.avg_x) + + (tracker.statusList.back().avg_z -glu.avg_z)*(tracker.statusList.back().avg_z -glu.avg_z) + ) ; + } + value= radiusDiff*1.0 + thetaDiff*1.0 + sizeDiff*0.8 + shapeDiff*0.8 + positionDiff * 0.3 ; + if(value < minValue) + { + minValue=value; + minID=i; + temp=glu; + flag=true; + } + + } + + } + + // find matched tracker. + if (flag) + { + tracker.kalmanFilter.stateUpdate(temp,rollAngle,delta_Pos); + tracker.kalmanFilter.timeUpdate(); + // movestate=tracker.kalmanFilter.GetCurrentState(); + + // cout<<"The tracker with trackerID:"<::iterator it; + int trackNO =0; + for(it=tracks.begin() ; it!=tracks.end();it++ ) + { + Tracker &tracker=*it; + trackNO ++; + + if (!(tracker.missMatch)) + { + matchID=MatchTrackers(scanRef,tracker,KG); + } + else + { + matchID=MatchTrackers(scanRef,tracker,1.5*KG); + } + + if(matchID==-1) + { + // log miss times of tracker + tracker.missMatch=true; + tracker.missedTime++; + // cout << "missing tracker" << tracker.trackerID + // <<" times " <=0 ) + { + scanRef.scanClusterFeatureArray[matchID].trackNO = trackNO; + + clusterFeature &glu=scanRef.scanClusterFeatureArray[matchID]; + cluster &gluData=scanRef.scanClusterArray[matchID]; + glu.frameNO= scanRef.scanid; + glu.selfID = matchID; + + // save feature + tracker.statusList.push_back(glu); + tracker.dataList.push_back(gluData); + tracker.matchClusterID=matchID; + tracker.missMatch=false; + + clusterStatus[matchID].Matched=true; + // cout << "Match tracker" << tracker.trackerID + // <<" size of " <::iterator it; + cout<<" tracker list : "<::iterator it; + int trackNO =0; + for(it=tracks.begin() ; it!=tracks.end();) + { + + Tracker &tracker=*it; + +#ifndef NO_SLIDING_WINDOW + if (!tracker.statusList.empty()) + { + deque::iterator Iter1; + deque::iterator Iter2; + vector::iterator Iter3; + Iter1=tracker.statusList.begin(); + Iter2=tracker.dataList.begin(); + Iter3=tracker.moveStateList.begin(); + + do + { + clusterFeature &tempClu=*Iter1; + if(tempClu.frameNO current_sliding_window_pos) + { + //cout<<"trackerID: "<::iterator Iter; + for (Iter=tracks.begin();Iter!=tracks.end();Iter++) + { + Tracker temp=*Iter; + temp.TrackerReset(); + } + tracks.clear(); + return; +} + + +int TrackerManager::CalculateTrackersFeature(vector allScans, int currentNO ,int windowsize) +{ + int i,j,k,colorIdx; + float movement; + list::iterator it; + + int n; + + for(it=tracks.begin(); it!=tracks.end(); it++) + { + Tracker &tracker=*it; + tracker.moving_distance = 0.0; + + int size=tracker.statusList.size(); + if ( size <2 ) + { + continue; + } + movement =0; + n=0; + + for ( i=0;i=current_sliding_window_pos - sliding_window_size&&glu2.frameNO <=current_sliding_window_pos) + { + movement += sqrt( (p1.x -p2.x)*(p1.x -p2.x)+(p1.z -p2.z)*(p1.z -p2.z) ); + n++; + } +#else + movement += sqrt( (p1.x -p2.x)*(p1.x -p2.x)+(p1.z -p2.z)*(p1.z -p2.z) ); +#endif + // cout << " tracker no" << tracker.matchClusterID <<" " + // << p1.x <<" " << p2.x <<" " + //<< p1.y <<" " << p2.y <<" " + //<< p1.z <<" " << p2.z <<" " << movement <<" " << endl; + + } + +#ifdef NO_SLIDING_WINDOW + if (n!=0) + { + tracker.moving_distance=movement/n; + } + else + { + tracker.moving_distance=0; + } + +#else + tracker.moving_distance = movement/(size-1); +#endif + + } + return 0; +} + +int TrackerManager::MarkClassifiyTrackersResult(vector allScans, int currentNO ,int windowsize) +{ + int i,j,k,colorIdx; + float movement; + list::iterator it; + + // mark all objets type such as moving or static + for(it=tracks.begin(); it!=tracks.end(); it++) + { + int currentScanNo =0; + Tracker &tracker=*it; + int size=tracker.statusList.size(); + // no tracking all for slam + // for tracking classifiation //not transfrom to scan + if (size < 3) + { + for(i=0;iscanClusterFeatureArray[glu1.selfID]; + cluster &realgclu = CurrentScan->scanClusterArray[glu1.selfID]; + + realglu1.clusterType = CLUSTER_TYPE_STATIC_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_STATIC; + } + } + continue; + } + + for(i=0;iscanClusterFeatureArray[glu1.selfID]; + cluster &realgclu = CurrentScan->scanClusterArray[glu1.selfID]; + + if(tracker.moving_distance < constant_static_or_moving) + { + realglu1.clusterType = CLUSTER_TYPE_STATIC_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_STATIC; + } + } + else + { + realglu1.clusterType = CLUSTER_TYPE_MOVING_OBJECT; + for(j =0; j< realgclu.size() ; ++j) + { + cellFeature &gcF = *(realgclu[j]); + gcF.cellType = CELL_TYPE_MOVING; + } + + } + + } + } + return 0; +} + + +int TrackerManager::ClassifiyTrackersObjects(vector allScans, int currentNO ,int windowsize) +{ + CalculateTrackersFeature(allScans, currentNO, windowsize); + MarkClassifiyTrackersResult(allScans, currentNO , windowsize); + return 0; +} + +int TrackerManager::UpdateClustersPoistioninTrackers() +{ + int i,j; + + list::iterator it; + for(it=tracks.begin() ; it!=tracks.end();it++ ) + { + Tracker &tracker=*it; +/* + firstNO = GetScanID_in_SlidingWindow(glu1.frameNO, + current_sliding_window_pos, + sliding_window_size); + secondNO = GetScanID_in_SlidingWindow(glu2.frameNO, + current_sliding_window_pos, + sliding_window_size); + if(firstNO <0 || secondNO< 0 ) + continue; + + Scan *firstScan = (Scan *)g_pfirstScan; + Scan *CurrentScan = allScans[firstNO]; + Scan *CurrentScanNext = allScans[secondNO]; + + double deltaMat[16]; + double deltaMatNext[16]; + + GetCurrecntdelteMat(*CurrentScan , *firstScan, deltaMat); + GetCurrecntdelteMat(*CurrentScanNext , *firstScan, deltaMatNext); + + p1.x = glu1.avg_x; p1.y= glu1.avg_y;p1.z=glu1.avg_z; + p1text.x= glu1.avg_x+150; p1text.y= glu1.avg_y+80; p1text.z=glu1.avg_z+50; + p2.x = glu2.avg_x; p2.y= glu2.avg_y; p2.z=glu2.avg_z; + p2text.x= glu2.avg_x+150; p2text.y= glu2.avg_y+80; p2text.z=glu2.avg_z+50; +*/ + } + return 0; +} + +void TrackerManager::GetTwoScanRoll(Scan *CurrentScan,Scan *preScan)//??? +{ + double tempMat[16],deltaMat[16]; + M4inv(preScan->get_transMat(), tempMat); + MMult(CurrentScan->get_transMat(), tempMat,deltaMat); + Matrix4ToEuler(deltaMat,delta_Theta,delta_Pos); + //cout<<"delta_Theta: "<trackSize?clusterSize:trackSize; + } + else + { + maxSize=clusterSize; + } + + CMatrix costMatrix(maxSize,maxSize); + + int i=0,j,k; + double costValue; + float radiusDiff; + float thetaDiff; + float sizeDiff; + float positionDiff; + CMatrix standardDeviation(2,2),measurementErro(2,1); + Measurement predictMeasurement; + bool IsSmaller1,IsSmaller2; + float kg; + + list::iterator it; + for(it=tracks.begin(); it!=tracks.end(); it++) + { + Tracker &tracker=*it; + + predictMeasurement=tracker.kalmanFilter.GetPredictMeasurement(rollAngle,delta_Pos); + standardDeviation=tracker.kalmanFilter.CalMeasureDeviation(); + + if (tracker.missMatch) + { + kg=1.5*KG; + } + else + { + kg=KG; + } + + k=0; + for(j=0;j::iterator it; + for(it=tracks.begin() ; it!=tracks.end();it++) + { + Tracker &tracker=*it; + trackNO ++; + trackerIndex++; + if (missFlag[trackerIndex]) + { + tracker.missMatch=true; + tracker.missedTime++; + + } + else + { + int clusterID=rowsol[trackerIndex]; + int matchID=clusterIndex[clusterID]; + //cout<<"TrackerID: "< +using std::ifstream; +using std::ofstream; + +#include +using std::cout; +using std::cerr; +using std::endl; + +#include +using std::stringstream; + +#include "veloslam/veloscan.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +#include "slam6d/Boctree.h" +#include "veloslam/veloscan.h" +#include "veloslam/pcddump.h" +#include "veloslam/trackermanager.h" +#include "veloslam/clusterboundingbox.h" + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#include +using std::flush; + +#include +#include + +#ifdef _MSC_VER +#include +#else +#include +#endif +#include "veloslam/velodefs.h" +#include "veloslam/color_util.h" + +int scanCount =0; +TrackerManager trackMgr; +float absf(float a) +{ + return a>0?a:-a; +} + +Trajectory::Trajectory() +{ + +} + + +/** + * default Constructor + */ +VeloScan::VeloScan() + : Scan() +{ + isTrackerHandled =false; +} + +/** + * Desctuctor + */ +VeloScan::~VeloScan() +{ + FreeAllCellAndCluterMemory(); +} + +int VeloScan::DeletePoints() +{ + FreeAllCellAndCluterMemory(); + return 0; +} + +/** + * Copy constructor + */ +VeloScan::VeloScan(const VeloScan& s) + : Scan(s) +{ } + +int VeloScan::TransferToCellArray(int maxDist, int minDist) +{ +#define DefaultColumnSize 360 + Point P; + DataXYZ xyz(get("xyz")); + int size= xyz.size(); + + int columnSize= 360; //cfg.cfgPlaneDetect.ColumnSize; + int CellSize= 50; //cfg.cfgPlaneDetect.CellSize; + + int MinRad=minDist; //cfg.cfgPlaneDetect.MinRad; + int MaxRad=maxDist; //cfg.cfgPlaneDetect.MaxRad + + if((MaxRad-MinRad)%CellSize!=0) + CellSize=10; + + int i,j,count=0; + int CellNumber=(MaxRad-MinRad)/CellSize; + float flag; + int offset; + + if(columnSize==0) + return -1; + + if(columnSize%360!=0) + columnSize=DefaultColumnSize; + + int sectionSize=columnSize/8; + + scanCellArray.resize(columnSize); + for(i=0; i tanv; + vector::iterator result; + + for(i=0; i=MaxRad) + continue; + + // some point losted which on the vline or hline + if(pt.x >=0 && pt.z>=0 ) + { + if(pt.x > pt.z) + { + flag= pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize-1; + } + else + { + offset=result-tanv.begin(); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize; + } + else + { + diff=result-tanv.begin(); + offset=sectionSize*2-1-(diff); + } + + } + } + + else if(pt.x <= 0 && pt.z >=0) + { + if(-pt.x>pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3; + } + else + { + offset=sectionSize*4-1-(result-tanv.begin()); + } + + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*3-1; + } + else + { + offset=sectionSize*2+(result-tanv.begin()); + } + } + } + + else if(pt.x<=0 && pt.z<=0) + { + if(-pt.x>-pt.z) + { + flag=pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5-1; + } + else + { + offset=sectionSize*4+(result-tanv.begin()); + } + } + else + { + flag=1/pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*5; + } + else + { + offset=sectionSize*6-1-(result-tanv.begin()); + } + + } + } + + else if(pt.x>=0&&pt.z<=0) + { + if(pt.x>-pt.z) + { + flag=-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7; + } + else + { + offset=sectionSize*8-1-(result-tanv.begin()); + } + } + else + { + flag=1/-pt.tan_theta; + result=upper_bound(tanv.begin(),tanv.end(),flag); + if(result==tanv.end()) + { + offset=sectionSize*7-1; + } + else + { + offset=sectionSize*6+(result-tanv.begin()); + } + } + } + + else + { + continue; + } + + int k= (int)((pt.rad-MinRad)/(CellSize*1.0)); + scanCellArray[offset][k].push_back(&pt); + } + return 0; +} + + + +int VeloScan::CalcCellFeature(cell& cellobj, cellFeature& f) +{ + int outlier; + float lastMaxY; + f.size=cellobj.size(); + f.cellType=0; + + if(f.size==0) + { + f.cellType|=CELL_TYPE_INVALID; + return 0; + } + + f.ave_x= f.ave_y = f.ave_z=0.0; + f.delta_y=0; + + int i=0; + for(i=0; ix; + f.ave_z+=cellobj[i]->z; + f.ave_y+=cellobj[i]->y; + + // if(cellobj[i]->type & POINT_TYPE_BELOW_R) + // f.cellType |=CELL_TYPE_BELOW_R; + + if(i==0) + { + outlier=0; + f.min_x=f.max_x=cellobj[i]->x; + f.min_z=f.max_z=cellobj[i]->z; + lastMaxY=f.min_y=f.max_y=cellobj[i]->y; + } + else + { + if(f.max_xx) f.max_x=cellobj[i]->x; + + if(f.min_x>cellobj[i]->x) f.min_x=cellobj[i]->x; + + if(f.max_zz) f.max_z=cellobj[i]->z; + + if(f.min_z>cellobj[i]->z) f.min_z=cellobj[i]->z; + + if(f.max_yy) + { + lastMaxY=f.max_y; + f.max_y=cellobj[i]->y; + outlier=i; + } + + if(f.min_y>cellobj[i]->y) + f.min_y=cellobj[i]->y; + + } + } + + if(f.size>1) + { + int y=f.ave_y-cellobj[outlier]->y; + y/=(f.size-1)*1.0; + + if(cellobj[outlier]->y-y<50) + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + else + { + f.max_y=lastMaxY; + f.ave_y=y; + } + } + else + { + outlier=-1; + f.ave_y/=f.size*1.0; + } + + f.ave_x/=f.size*1.0; + f.ave_z/=f.size*1.0; + + for(i=0; iy - f.ave_y); + } + + float threshold; + threshold=f.delta_y; + + float GridThresholdGroundDetect =120; + if( threshold > GridThresholdGroundDetect) + f.cellType =CELL_TYPE_STATIC; + else + f.cellType =CELL_TYPE_GROUND; + + return 0; +} + + +int VeloScan::CalcScanCellFeature() +{ + int i,j; + + if( scanCellArray.size()==0) + return -1; + + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + if( scanCellFeatureArray.size()==0) + { + scanCellFeatureArray.resize(columnSize); + for(i=0; i 120) +// { +// scanCellFeatureArray[j][i].cellType |= CELL_TYPE_STATIC; +// for(int k=0;k type |= POINT_TYPE_ABOVE_DELTA_Y; +// +// } + + } + } + + return 0; +} + +int VeloScan::SearchNeigh(cluster& clu,charvv& flagvv,int i,int j) +{ + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + if(i==-1) + i= columnSize-1; + + if(i==columnSize) + i= 0; + + + if(i<0||i>=columnSize||j<0||j>=cellNumber) + return 0; + + if(flagvv[i][j]==1) + return 0; + if(scanCellFeatureArray[i][j].size==0) + { + flagvv[i][j]=1; + return 0; + } + + if(scanCellFeatureArray[i][j].cellType & CELL_TYPE_STATIC) + { + flagvv[i][j]=1; + + clu.push_back(&scanCellFeatureArray[i][j]); + + SearchNeigh(clu,flagvv,i-1,j-1); + SearchNeigh(clu,flagvv,i-1,j); + SearchNeigh(clu,flagvv,i-1,j+1); + SearchNeigh(clu,flagvv,i,j-1); + SearchNeigh(clu,flagvv,i,j+1); + SearchNeigh(clu,flagvv,i+1,j-1); + SearchNeigh(clu,flagvv,i+1,j); + SearchNeigh(clu,flagvv,i+1,j+1); + + SearchNeigh(clu,flagvv,i,j+2); + SearchNeigh(clu,flagvv,i,j-2); + SearchNeigh(clu,flagvv,i+2,j); + SearchNeigh(clu,flagvv,i-2,j); + + //SearchNeigh(clu,flagvv,i,j+3); + //SearchNeigh(clu,flagvv,i,j-3); + //SearchNeigh(clu,flagvv,i+3,j); + //SearchNeigh(clu,flagvv,i-3,j); + } + + return 0; +} + +int VeloScan::CalcClusterFeature(cluster& clu, clusterFeature& f) +{ + f.size=clu.size(); + + if(f.size==0) + { + return 0; + } + + f.clusterType=0; + f.pointNumber=0; + + f.avg_x =0; f.avg_y=0; f.avg_z=0; + + int i=0; + for(i=0; iave_x; + f.avg_y += clu[i]->ave_y; + f.avg_z += clu[i]->ave_z; + + if(i==0) + { + f.min_x=f.max_x=clu[i]->min_x; + f.min_z=f.max_z=clu[i]->min_z; + f.min_y=f.max_y=clu[i]->min_y; + } + else + { + if(f.max_xmax_x) + f.max_x=clu[i]->max_x; + + if(f.min_x>clu[i]->min_x) + f.min_x=clu[i]->min_x; + + if(f.max_zmax_z) + f.max_z=clu[i]->max_z; + + if(f.min_z>clu[i]->min_z) + f.min_z=clu[i]->min_z; + + if(f.max_ymax_y) + f.max_y=clu[i]->max_y; + + if(f.min_y>clu[i]->min_y) + f.min_y=clu[i]->min_y; + + } + f.pointNumber+=clu[i]->size; + f.theta += clu[i]->size*clu[i]->columnID; + f.radius += clu[i]->size*clu[i]->cellID; + } + + f.size_x=f.max_x-f.min_x; + f.size_z=f.max_z-f.min_z; + f.size_y=f.max_y-f.min_y; + + f.avg_x /= f.size; + f.avg_y /= f.size; + f.avg_z /= f.size; + + f.theta=f.theta / (f.pointNumber*1.0); + f.radius=f.radius / (f.pointNumber*1.0); + + return 0; +} + +int VeloScan::FindAndCalcScanClusterFeature() +{ + int i,j; + + if( scanCellArray.size()==0) + return -1; + + int columnSize=scanCellArray.size(); + int cellNumber=scanCellArray[0].size(); + + charvv searchedFlag; + searchedFlag.resize(columnSize); + for(i=0; i *oct = new BOctTree(PointerArray(xyz_t).get(), + xyz_t.size(), reduction_voxelSize, reduction_pointtype); + + vector center; + center.clear(); + + if (reduction_nrpts > 0) { + if (reduction_nrpts == 1) { + oct->GetOctTreeRandom(center); + } else { + oct->GetOctTreeRandom(center, reduction_nrpts); + } + } else { + oct->GetOctTreeCenter(center); + } + + // storing it as reduced scan + unsigned int size = center.size(); + DataXYZ xyz_r(create("xyz reduced", sizeof(double)*3*size)); + for(unsigned int i = 0; i < size; ++i) { + for(unsigned int j = 0; j < 3; ++j) { + xyz_r[i][j] = center[i][j]; + } + } + + delete oct; +} + +bool findBusCluster(clusterFeature &glu, cluster &gluData) +{ + /* double labelSVM; + for(int i=0;i<360;i++) + { + nod[i].index=i+1; + nod[i].value=intersectionFeature[i].slashLength/slashMaxLength; + } + nod[360].index=-1; + labelSVM= svm_predict(m,nod); + + ofstream output; + output.open("intersection.txt"); + output<<"labelSVM:"<0.5) + cout<<"intersection"< 800 || glu.size_z > 800 ) + { + return false; + } + return true; + // no filter + + //char filename[256]; + //string file; + //sprintf(filename,"c:\\filename%d.txt", objcount); + //file =filename; + //DumpPointtoFile(gluData, file); + //DumpFeaturetoFile(glu, "c:\\feature"); + //objcount++; +} + +//long objcount =0; +// In one scans find which the more like moving object such as pedestrian, car, bus. +bool FindMovingObjcets(clusterFeature &glu, cluster &gluData) +{ + // for debug moving object detections. + + if( glu.size_y > 200 && ((glu.size_x>glu.size_y?glu.size_x:glu.size_y))<360) + { + return false; + } + else if((glu.size_y>350 && glu.size_x<140)|| (glu.size_x>350 && glu.size_y<140)) + { + return false; + } + else if(glu.size_y > 250 ) + { + return false; + } + else if((glu.size_x>glu.size_y?glu.size_x:glu.size_y)>420 && glu.size_z<130) + { + return false; + } + else if((glu.size_x>glu.size_y?glu.size_x:glu.size_y)>3.5 + && ((glu.size_x>glu.size_y?glu.size_x:glu.size_y)/(glu.size_x4)) + { + return false; + } + else if(glu.size_x<700 && glu.size_z<700 && glu.size_y > 100 ) + { + return true; + } + if(glu.size_x>1500 || glu.size_z>1500 || glu.size_x*glu.size_z >600*600 ) + { + return false; + } + if (glu.size_x*glu.size_z > 500*500 && glu.size_x/glu.size_z < 1.5) + { + return false; + } + if(glu.size_y < 100) + { + return false; + } + if((glu.size_x + glu.size_y + glu.size_z)<1.5) + { + return false; + } + if(glu.size_z>700) + { + return false; + } + if(glu.size_x>700) + { + return false; + } + if(( glu.size_x + glu.size_z) <4) + { + return false; + } + if( glu.size_x/glu.size_z> 3.0) + { + return false; + } + + return true; +} + + +// bi classification for distigushed the moving or static +void VeloScan::ClassifiAllObject() +{ + int i,j; + int clustersize=scanClusterArray.size(); + + //Find moving Ojbects + for(i=0; isize(); + cell &gCell =*( gcellFreature.pCell); + + for( k=0; k< gcellFreature.pCell->size();++k) + { + // find Point in scan raw points by point_id; + Point p = *(gCell[k]); + if(gcellFreature.cellType & CELL_TYPE_STATIC) + Pt[p.point_id] = POINT_TYPE_STATIC_OBJECT; + if(gcellFreature.cellType & CELL_TYPE_MOVING) + Pt[p.point_id] = POINT_TYPE_MOVING_OBJECT; + if(gcellFreature.cellType & CELL_TYPE_GROUND) + Pt[p.point_id] = POINT_TYPE_GROUND; + } + + } + } +} + +void VeloScan::FindingAllofObject(int maxDist, int minDist) +{ + TransferToCellArray(maxDist, minDist); + CalcScanCellFeature(); + FindAndCalcScanClusterFeature(); + + return; + } + + +void VeloScan::TrackingAllofObject(int trackingAlgo) +{ + trackMgr.HandleScan(*this,trackingAlgo); + } + +void VeloScan::ClassifiAllofObject() +{ + ClassifiAllObject(); + } + +void VeloScan::ExchangePointCloud() +{ + MarkStaticorMovingPointCloud(); + return; + } diff --git a/src/veloslam/veloshow.cc b/src/veloslam/veloshow.cc new file mode 100644 index 0000000..34be143 --- /dev/null +++ b/src/veloslam/veloshow.cc @@ -0,0 +1,1078 @@ +/* + * veloshow implementation + * + * Copyright (C) Andreas Nuechter, Li Wei, Li Ming + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Implementation for displaying of a matched 3D scene + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ +#ifdef WITH_GLEE +#include +#endif + +#include "show/show.h" +#include "show/show_Boctree.h" +#include "show/compacttree.h" +#include "show/NurbsPath.h" +#include "show/vertexarray.h" +#include "slam6d/scan.h" +#include "veloslam/veloscan.h" +#include "glui/glui.h" /* Header File For The glui functions */ +#include +using std::ifstream; +#include +using std::exception; + +#ifdef _MSC_VER +#include "XGetopt.h" +#else +#include +#endif + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#include "slam6d/point_type.h" +#include "show/display.h" + +/** + * This vector contains the pointer to a vertex array for + * all colors (inner vector) and all scans (outer vector) + */ +vector< vector > vvertexArrayList; + +vector< ::SDisplay*> displays; +/** + * the octrees that store the points for each scan + */ +//Show_BOctTree **octpts; +vector octpts; +/** + * Storing the base directory + */ +string scandirectory; + +/** + * Storing the ID of the main windows + */ +int window_id; + +/** + * Size of points + */ +GLfloat pointsize = 1.0; +int anim_delay = 5; + +/** + * Select Color Buffer + */ +GLenum buffermode = GL_BACK; + +/** + * Indicator whether and how the drawing window + * has to be updated. + * + * haveToUpdate == 1 redisplay + * haveToUpdate == 2 reshape + * haveToUpdate == 3 animation scan matching + * haveToUpdate == 4 stop animation scan matching + * haveToUpdate == 6 path animation + * haveToUpdate == 7 force redisplay with all points + */ +int haveToUpdate = 0; + +/** + * Flag for invert the scene + */ +bool invert = false; + +/** + * Flag for indicating brid eyes view + */ +bool showTopView = false; + +/** + * Flag for idicating camera add mode + */ +bool addCameraView = false; //Is the view in add box mode? + +/** + * Storing the apex angle of the camera + */ +GLfloat cangle = 60.0; // Current camera opening mode +GLfloat cangle_old = cangle; + +/** + * Current rotation axis of the scene as quaternion + */ +GLdouble quat[4] ={0.0, 0.0, 0.0, 1.0}; +GLdouble Rquat[4] ={0.0, 0.0, 0.0, 1.0}; + +/** + * Current translation of the scene + */ +GLdouble X = 0.0, Y = 0.0, Z = 0.0; +GLdouble RVX = 0.0, RVY = 0.0, RVZ = 0.0; + +/** + * parallel zoom (similar to apex angle) for parallel projection + */ +GLfloat pzoom = 2000.0; +GLfloat pzoom_old = pzoom; + + +/** + * Mode of the fog (exp, exp2, linear) + */ +GLint fogMode = GL_EXP; + +/** + * Indicates if fog should be shown + */ +int show_fog = 1; + +/** + * Indicates if the points should be shown + */ +int show_points = 1; // Show data points in the viewer? + +/** + * Indicates if camera boxes should be shown + */ +int show_cameras = 1; // Show the camera boxes in the viewer? + +/** + * Indicates if camera path or robot path should be shown + */ +int show_path = 1; // Show the camera movement path ? + +/** + * Camera navigation by mouse or by panel + */ +int cameraNavMouseMode = 1; + +int mouseNavX, mouseNavY; +int mouseNavButton = -1; + +double mouseRotX = 0.0; +double mouseRotY = 0.0; +double mouseRotZ = 0.0; + +bool keymap[256]; + +//@@@ +//int animate_both = 0; // Animate both scan matchin and path? + +int frameNr = 0; + +/** + * Storing of all transformation (frames for animation) of all scans + */ +vector < vector > MetaMatrix; + +/** + * Storing of AlgoType for all frames + */ +vector < vector > MetaAlgoType; + +/** + * Window position + */ +int START_X = 0; +int START_Y = 0; +int START_WIDTH = 720; +int START_HEIGHT = 576; +GLdouble aspect = (double)START_WIDTH/(double)START_HEIGHT; // Current aspect ratio +bool advanced_controls = false; + +bool fullscreen = false; +int current_width = START_WIDTH; +int current_height = START_HEIGHT; + + +// the following values are scale dependant, i.e. all values are in m +float neardistance = 0.10; +double oldneardistance = 0.10; +float maxfardistance = 400.0;; +double fardistance = 400.0; +double oldfardistance = 40000.0; +double movementSpeed = 0.1; +double defaultZoom = 20.0; +GLfloat fogDensity = 0.1; +double voxelSize = 0.20; + + +float adaption_rate = 1.0; +float LevelOfDetail = 0.0001; + + +// Defines for Point Semantic +#define TYPE_UNKNOWN 0x0000 +#define TYPE_OBJECT 0x0001 +#define TYPE_GROUND 0x0002 +#define TYPE_CEILING 0x0003 + +unsigned int cam_choice = 0; + +static unsigned int path_iterator = 0; +static int oldcamNavMode = 0; + +/** + * Animation sould be saved to file + */ +int save_animation = 0; +/** + * If true, interpolation for camera path is based on distance, else always + * the same number of images between two cameras. + */ +int inter_by_dist = 1; + +/**some variables for the camera path**/ +vector path_vectorX, path_vectorZ, lookat_vectorX, lookat_vectorZ, ups_vectorX, ups_vectorZ; +vector cams; +vector lookats; +vector ups; + +NurbsPath cam_nurbs_path; +char *path_file_name; +char *pose_file_name; + +/** Factor for saved image size */ +int factor = 1; + +/** + * program tries to have this framerate + */ +float idealfps = 20.0; +/** + * value of the listBox fo Color Value and Colormap + */ +int listboxColorVal = 0; +int listboxColorMapVal = 0; +int colorScanVal = 0; +ScanColorManager *cm; +float mincolor_value = 0.0; +float maxcolor_value = 0.0; +//unsigned int types = Point::USE_HEIGHT; +PointType pointtype; + +/** + * Contains the selected points for each scan + */ +set *selected_points; +/** + * Select single points? + */ +int select_voxels = 0; +/** + * Select or unselect points ? + */ +int selectOrunselect = 1; +/** octree depth for selecting groups of points */ +int selection_depth = 1; +int brush_size = 0; +char *selection_file_name; + +int current_frame = 0; + +#include "../show/show_menu.cc" +#include "../show/show_animate.cc" +#include "../show/show_gl.cc" + +/** + * Explains the usage of this program's command line parameters + * @param prog name of the program + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -F" << normal << " NR, " << bold << "--fps=" << normal << "NR [default: 20]" << endl + << " will attempt to display points with a framerate of NR" << endl + << endl + << bold << " -l" << normal << " FILE, " << bold << "--loadObj=" << normal << + "FILE" << endl + << " load objects specified in " << endl + << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -o" << normal << " NR, " << bold << "--origin=" << normal << "NR (optional)" << endl + << " sets the starting and reset position to: " << endl + << " 0 = the origin of the coordinate system (default)" << endl + << " 1 = the position of the first scan (default if --origin is in argument list)" << endl + << " 2 = the center of the first scan" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -S" << normal << " NR, " << bold << "--scale=" << normal << "NR" << endl + << " scale factor to use (default: 0.01), modifies movement speed etc. " << endl + << " use 1 when point coordinates are in m, 0.01 when in cm and so forth. " << endl + << " " << endl + << endl + + << bold << " -R, --reflectance, --reflectivity" << normal << endl + << " use reflectivity values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -a, --amplitude" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -d, --deviation" << endl << normal + << " use amplitude values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -h, --height" << endl << normal + << " use y-values for coloring point clouds" << endl + << " only works when using octree display" << endl + << endl + << bold << " -T, --type" << endl << normal + << " use type values for coloring point clouds" << endl + << " only works when using octree display" << endl + << bold << " -c, --color" << endl << normal + << " use color RGB values for coloring point clouds" << endl + << bold << " --saveOct" << endl << normal + << " stores all used scans as octrees in the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are stored as well." << endl + << " only works when using octree display" << endl + << bold << " --loadOct" << endl << normal + << " only reads octrees from the given directory" << endl + << " All reflectivity/amplitude/deviation/type settings are read from file." << endl + << " --reflectance/--amplitude and similar parameters are therefore ignored." << endl + << " only works when using octree display" << endl + << endl << endl; + + exit(1); +} + + +/** + * A function that parses the command-line arguments and sets the respective flags. + * + * @param argc the number of arguments + * @param argv the arguments + * @param dir parsing result - the directory + * @param start parsing result - starting at scan number 'start' + * @param end parsing result - stopping at scan number 'end' + * @param maxDist parsing result - maximal distance + * @param minDist parsing result - minimal distance + * @param readInitial parsing result - read a file containing a initial transformation matrix + * @param type parsing result - file format to be read + * @return 0, if the parsing was successful, 1 otherwise + */ +int parseArgs(int argc,char **argv, string &dir, int& start, int& end, int& maxDist, int& minDist, + double &red, bool &readInitial, int &octree, PointType &ptype, float &fps, string &loadObj, bool &loadOct, bool &saveOct, int &origin, double &scale, reader_type &type) +{ + unsigned int types = PointType::USE_NONE; + start = 0; + end = -1; // -1 indicates no limitation + maxDist = -1; // -1 indicates no limitation + int c; + // from unistd.h + extern char *optarg; + extern int optind; + + cout << endl; + static struct option longopts[] = { + { "origin", optional_argument, 0, 'o' }, + { "format", required_argument, 0, 'f' }, + { "fps", required_argument, 0, 'F' }, + { "scale", required_argument, 0, 'S' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "max", required_argument, 0, 'm' }, + { "min", required_argument, 0, 'M' }, + { "octree", optional_argument, 0, 'O' }, + { "reflectance", no_argument, 0, 'R' }, + { "reflectivity", no_argument, 0, 'R' }, + { "amplitude", no_argument, 0, 'a' }, + { "deviation", no_argument, 0, 'd' }, + { "height", no_argument, 0, 'h' }, + { "type", no_argument, 0, 'T' }, + { "color", no_argument, 0, 'c' }, + { "loadObj", required_argument, 0, 'l' }, + { "saveOct", no_argument, 0, '0' }, + { "loadOct", no_argument, 0, '1' }, + { "advanced", no_argument, 0, '2' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + //while ((c = getopt_long(argc, argv,"F:f:s:e:r:m:M:O:o:l:wtRadhTcC", longopts, NULL)) != -1) + while ((c = getopt_long(argc, argv, "O:f:A:G:L:a:b:t:r:R:d:D:i:l:I:c:C:n:s:e:m:M:uqQp", longopts, NULL)) != -1) + switch (c) + { + case 's': + start = atoi(optarg); + if (start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + end = atoi(optarg); + if (end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (end < start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 't': + readInitial = true; + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'f': + if (!Scan::toType(optarg, type)) + abort (); + break; + case '?': + usage(argv[0]); + return 1; + case 'R': + types |= PointType::USE_REFLECTANCE; + break; + case 'a': + types |= PointType::USE_AMPLITUDE; + break; + case 'd': + types |= PointType::USE_DEVIATION; + break; + case 'h': + types |= PointType::USE_HEIGHT; + break; + case 'T': + types |= PointType::USE_TYPE; + break; + case 'c': + types |= PointType::USE_COLOR; + break; + case 'F': + fps = atof(optarg); + break; + case 'S': + scale = atof(optarg); + break; + case 'o': + if (optarg) { + origin = atoi(optarg); + } else { + origin = 1; + } + break; + case '0': + saveOct = true; + break; + case '1': + loadOct = true; + break; + case 'l': + loadObj = optarg; + break; + case '2': + advanced_controls = true; + break; + default: + abort (); + } + + if (optind != argc-1) { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + ptype = PointType(types); + return 0; +} + +void setResetView(int origin) { + if (origin == 1) { + double *transmat = MetaMatrix[0].back(); + cout << transmat << endl; + + RVX = -transmat[12]; + RVY = -transmat[13]; + RVZ = -transmat[14]; + Matrix4ToQuat(transmat, Rquat); + X = RVX; + Y = RVY; + Z = RVZ; + quat[0] = Rquat[0]; + quat[1] = Rquat[1]; + quat[2] = Rquat[2]; + quat[3] = Rquat[3]; + } else if (origin == 2) { + double center[3]; +#ifdef USE_COMPACT_TREE + ((compactTree*)octpts[0])->getCenter(center); +#else + ((Show_BOctTree*)octpts[0])->getCenter(center); +#endif + RVX = -center[0]; + RVY = -center[1]; + RVZ = -center[2]; + X = RVX; + Y = RVY; + Z = RVZ; + } +} + +/* + * A function that read the .frame files created by slam6D + * + * @param dir the directory + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param read a file containing a initial transformation matrix and apply it + */ +int readFrames(string dir, int start, int end, bool readInitial, reader_type &type) +{ + + double initialTransform[16]; + if (readInitial) { + cout << "Initial Transform:" << endl; + string initialTransformFileName = dir + "initital.frame"; + ifstream initial_in(initialTransformFileName.c_str()); + if (!initial_in.good()) { + cout << "Error opening " << initialTransformFileName << endl; + exit(-1); + } + initial_in >> initialTransform; + cout << initialTransform << endl; + } + + ifstream frame_in; + int fileCounter = start; + string frameFileName; + for (;;) { + if (end > -1 && fileCounter > end) break; // 'nuf read + frameFileName = dir + "scan" + to_string(fileCounter++,3) + ".frames"; + + frame_in.open(frameFileName.c_str()); + + // read 3D scan + if (!frame_in.good()) break; // no more files in the directory + + cout << "Reading Frames for 3D Scan " << frameFileName << "..."; + vector Matrices; + vector algoTypes; + int frameCounter = 0; + + while (frame_in.good()) { + frameCounter++; + double *transMatOpenGL = new double[16]; + int algoTypeInt; + Scan::AlgoType algoType; + try { + double transMat[16]; + frame_in >> transMat >> algoTypeInt; + algoType = (Scan::AlgoType)algoTypeInt; + + // convert to OpenGL coordinate system + double mirror[16]; + M4identity(mirror); + mirror[10] = -1.0; + if (readInitial) { + double tempxf[16]; + MMult(mirror, initialTransform, tempxf); + memcpy(mirror, tempxf, sizeof(tempxf)); + } + //@@@ + // memcpy(transMatOpenGL, transMat, 16*sizeof(double)); + MMult(mirror, transMat, transMatOpenGL); + } + catch (const exception &e) { + break; + } + Matrices.push_back(transMatOpenGL); + algoTypes.push_back(algoType); + } + + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + + if((type == UOS_MAP || type == UOS_MAP_FRAMES || type == RTS_MAP) && fileCounter == start+1) { + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } + + frame_in.close(); + frame_in.clear(); + cout << MetaMatrix.back().size() << " done." << endl; + current_frame = MetaMatrix.back().size() - 1; + } + if (MetaMatrix.size() == 0) { + cerr << "*****************************************" << endl; + cerr << "** ERROR: No .frames could be found! **" << endl; + cerr << "*****************************************" << endl; + cerr << " ERROR: Missing or empty directory: " << dir << endl << endl; + return -1; + } + return 0; +} + +void generateFrames(int start, int end, bool identity) { + if (identity) { + cout << "using Identity for frames " << endl; + } else { + cout << "using pose information for frames " << endl; + } + int fileCounter = start; + int index = 0; + for (;;) { + if (fileCounter > end) break; // 'nuf read + fileCounter++; + + vector Matrices; + vector algoTypes; + + for (int i = 0; i < 3; i++) { + double *transMat = new double[16]; + + if (identity) { + M4identity(transMat); + transMat[10] = -1.0; + } else { + EulerToMatrix4(Scan::allScans[index]->get_rPos(), Scan::allScans[index]->get_rPosTheta(), transMat ); + } + + Matrices.push_back(transMat); + algoTypes.push_back(Scan::ICP); + + } + index++; + MetaAlgoType.push_back(algoTypes); + MetaMatrix.push_back(Matrices); + } +} + + + +/* + * create display lists + * @to do general framework for color & type definitions + */ +void createDisplayLists(bool reduced) +{ + for(unsigned int i = 0; i < Scan::allScans.size() ; i++) { + + // count points + int color1 = 0, color2 = 0; + if (!reduced) { + for (unsigned int jterator = 0; jterator < Scan::allScans[i]->get_points()->size(); jterator++) { + if (Scan::allScans[i]->get_points()->at(jterator).type & TYPE_GROUND) { + color1++; + } else { + color2++; + } + } + } else { + color2 = 3* Scan::allScans[i]->get_points_red_size(); + } + + // allocate memory + vertexArray* myvertexArray1 = new vertexArray(color1); + vertexArray* myvertexArray2 = new vertexArray(color2); + + // fill points + color1 = 0, color2 = 0; + if (reduced) { + for (int jterator = 0; jterator < Scan::allScans[i]->get_points_red_size(); jterator++) { + myvertexArray2->array[color2] = Scan::allScans[i]->get_points_red()[jterator][0]; + myvertexArray2->array[color2+1] = Scan::allScans[i]->get_points_red()[jterator][1]; + myvertexArray2->array[color2+2] = Scan::allScans[i]->get_points_red()[jterator][2]; + color2 += 3; + } + } else { + for (unsigned int jterator = 0; jterator < Scan::allScans[i]->get_points()->size(); jterator++) { + if (Scan::allScans[i]->get_points()->at(jterator).type & TYPE_GROUND) { + myvertexArray1->array[color1] = Scan::allScans[i]->get_points()->at(jterator).x; + myvertexArray1->array[color1+1] = Scan::allScans[i]->get_points()->at(jterator).y; + myvertexArray1->array[color1+2] = Scan::allScans[i]->get_points()->at(jterator).z; + color1 += 3; + } else { + myvertexArray2->array[color2] = Scan::allScans[i]->get_points()->at(jterator).x; + myvertexArray2->array[color2+1] = Scan::allScans[i]->get_points()->at(jterator).y; + myvertexArray2->array[color2+2] = Scan::allScans[i]->get_points()->at(jterator).z; + color2 += 3; + } + } + } + + glNewList(myvertexArray1->name, GL_COMPILE); + //@ + //glColor4d(0.44, 0.44, 0.44, 1.0); + //glColor4d(0.66, 0.66, 0.66, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray1->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray1->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + glNewList(myvertexArray2->name, GL_COMPILE); + //glColor4d(1.0, 1.0, 1.0, 1.0); + //glColor4d(0.0, 0.0, 0.0, 1.0); + glVertexPointer(3, GL_FLOAT, 0, myvertexArray2->array); + glEnableClientState(GL_VERTEX_ARRAY); + glDrawArrays(GL_POINTS, 0, myvertexArray2->numPointsToRender); + glDisableClientState(GL_VERTEX_ARRAY); + glEndList(); + + // append to vector + vector vvertexArray; + vvertexArray.push_back(myvertexArray1); + vvertexArray.push_back(myvertexArray2); + vvertexArrayList.push_back(vvertexArray); + } + +} + +void cycleLOD() { + LevelOfDetail = 0.00001; + for (unsigned int i = 0; i < octpts.size(); i++) + octpts[i]->cycleLOD(); +} + + +void initShow(int argc, char **argv){ + + /***************/ + /* init OpenGL */ + /***************/ + glutInit(&argc,argv); + + cout << "(wx)show - A highly efficient 3D point cloud viewer" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if(argc <= 1){ + usage(argv[0]); + } + + + + double red = -1.0; + int start = 0, end = -1, maxDist = -1, minDist = -1; + string dir; + bool readInitial = false; + reader_type type = UOS; + int octree = 0; + bool loadOct = false; + bool saveOct = false; + string loadObj; + int origin = 0; + double scale = 0.01; // in m + + pose_file_name = new char[1024]; + path_file_name = new char[1024]; + selection_file_name = new char[1024]; + + strncpy(pose_file_name, "pose.dat", 1024); + strncpy(path_file_name, "path.dat", 1024); + strncpy(selection_file_name, "selected.3d", 1024); + + parseArgs(argc, argv, dir, start, end, maxDist, minDist, red, readInitial, + octree, pointtype, idealfps, loadObj, loadOct, saveOct, origin, scale, type); + + // modify all scale dependant variables + scale = 1.0 / scale; + movementSpeed *= scale; + neardistance *= scale; + oldneardistance *= scale; + maxfardistance *= scale; + fardistance *= scale; + fogDensity /= scale; + defaultZoom *= scale; + voxelSize *= scale; +// oldfardistance *= scale; + + //////////////////////// + SDisplay::readDisplays(loadObj, displays); + //////////////////// + + if (type == OCT) { + loadOct = true; + } + + // if we want to load display file get pointtypes from the files first + if (loadOct) { + string scanFileName = dir + "scan" + to_string(start,3) + ".oct"; + cout << "Getting point information from " << scanFileName << endl; + cout << "Attention! All subsequent oct-files must be of the same type!" << endl; + + pointtype = BOctTree::readType(scanFileName); + } + scandirectory = dir; + + // init and create display + M4identity(view_rotate_button); + obj_pos_button[0] = obj_pos_button[1] = obj_pos_button[2] = 0.0; + + // read frames first, to get notifyied of missing frames before all scans are read in + int r = readFrames(dir, start, end, readInitial, type); + + + // Get Scans + if (!loadOct) { +#ifndef DYNAMIC_OBJECT_REMOVAL + Scan::readScans(type, start, end, dir, maxDist, minDist, 0); +#else + VeloScan::readScans(type, start, end, dir, maxDist, minDist, 0); +#endif + } else { + cout << "Skipping files.." << endl; + } + + if (!loadOct) { + if (r) generateFrames(start, start + Scan::allScans.size() - 1, false); + } else { + if (r) generateFrames(start, start + octpts.size() - 1, true); + } + + int end_reduction = (int)Scan::allScans.size(); + #ifdef _OPENMP + #pragma omp parallel for schedule(dynamic) + #endif + for (int iterator = 0; iterator < end_reduction; iterator++) { + // reduction filter for current scan! + if (red > 0) { + cout << "Reducing Scan No. " << iterator << endl; + // TODO do another reduction so reflectance values etc are carried over + Scan::allScans[iterator]->calcReducedPoints(red, octree); + } // no copying necessary for show! + } + + cm = new ScanColorManager(4096, pointtype); + + if (loadOct) { + for (int i = start; i <= end; i++) { + string scanFileName = dir + "scan" + to_string(i,3) + ".oct"; + cout << "Reading octree " << scanFileName << endl; +#ifdef USE_COMPACT_TREE + octpts.push_back(new compactTree(scanFileName, cm)); +#else + octpts.push_back(new Show_BOctTree(scanFileName, cm)); +#endif + } + } else { +#ifndef USE_GL_POINTS + createDisplayLists(red > 0); +#elif USE_COMPACT_TREE + cout << "Creating compact display octrees.." << endl; + for(int i = 0; i < (int)Scan::allScans.size() ; i++) { + compactTree *tree; + if (red > 0) { + tree = new compactTree(Scan::allScans[i]->get_points_red(), Scan::allScans[i]->get_points_red_size(), voxelSize, pointtype, cm); // TODO remove magic number + } else { + unsigned int nrpts = Scan::allScans[i]->get_points()->size(); + sfloat **pts = new sfloat*[nrpts]; + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + pts[jterator] = pointtype.createPoint(Scan::allScans[i]->get_points()->at(jterator)); + } + Scan::allScans[i]->clearPoints(); + tree = new compactTree(pts, nrpts , voxelSize, pointtype, cm); //TODO remove magic number + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + delete[] pts[jterator]; + } + delete[] pts; + } + if (saveOct) { + string scanFileName = dir + "scan" + to_string(i+start,3) + ".oct"; + cout << "Saving octree " << scanFileName << endl; + tree->serialize(scanFileName); + } + octpts.push_back(tree); + cout << "Scan " << i << " octree finished. Deleting original points.." << endl; + } +#else + cout << "Creating display octrees.." << endl; + for(int i = 0; i < (int)Scan::allScans.size() ; i++) { + Show_BOctTree *tree; + if (red > 0) { + tree = new Show_BOctTree(Scan::allScans[i]->get_points_red(), Scan::allScans[i]->get_points_red_size(), voxelSize, pointtype, cm); // TODO remove magic number + } else { + unsigned int nrpts = Scan::allScans[i]->get_points()->size(); + sfloat **pts = new sfloat*[nrpts]; + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + pts[jterator] = pointtype.createPoint(Scan::allScans[i]->get_points()->at(jterator)); + } + Scan::allScans[i]->clearPoints(); + tree = new Show_BOctTree(pts, nrpts , voxelSize, pointtype, cm); //TODO remove magic number + for (unsigned int jterator = 0; jterator < nrpts; jterator++) { + delete[] pts[jterator]; + } + delete[] pts; + } + octpts.push_back(tree); + if (saveOct) { + string scanFileName = dir + "scan" + to_string(i+start,3) + ".oct"; + cout << "Saving octree " << scanFileName << endl; + tree->serialize(scanFileName); + } + cout << "Scan " << i << " octree finished. Deleting original points.." << endl; + } +#endif + } + + cm->setCurrentType(PointType::USE_HEIGHT); + //ColorMap cmap; + //cm->setColorMap(cmap); + resetMinMax(0); + + selected_points = new set[octpts.size()]; + + // sets (and computes if necessary) the pose that is used for the reset button + setResetView(origin); + + for (unsigned int i = 0; i < 256; i++) { + keymap[i] = false; + } +} + +/** + * Main function. + * Reads the scan (scan000.3d, ...) and frames files (scan000.frames, ...) from the data directory. + * The frames are used for animation of the matching process. + */ + +int main(int argc, char **argv){ + + initShow(argc, argv); + initScreenWindow(); + + newMenu(); + glutMainLoop(); +} + + +void updateCamControls() { + cam_spinner->set_int_limits( 1, cams.size()); + cam_spinner->set_int_val(cam_choice); +} + +void resetRotationButton() { + rotButton->reset(); +} + +void updateTopViewControls() { + if(showTopView) { + pzoom_spinner->enable(); + cangle_spinner->disable(); + } else { + pzoom_spinner->disable(); + cangle_spinner->enable(); + } +} + + +void updateControls() { + glui1->sync_live(); + glui1->show(); + glui2->sync_live(); + glui2->show(); +} + +static bool interrupted = false; +void interruptDrawing() { + interrupted = true; +} +void checkForInterrupt() { + interrupted = false; +} +bool isInterrupted() { +#ifdef WITH_FREEGLUT +#ifndef __APPLE__ + glutMainLoopEvent(); +#endif +#endif + glutSetWindow(window_id); + return interrupted; +} + +void updatePointModeControls() { + switch(pointmode) { + case -1: + always_box->set_int_val(0); + never_box->set_int_val(1); + break; + case 0: + always_box->set_int_val(0); + never_box->set_int_val(0); + break; + case 1: + always_box->set_int_val(1); + never_box->set_int_val(0); + break; + } +} + diff --git a/src/veloslam/veloslam.cc b/src/veloslam/veloslam.cc new file mode 100644 index 0000000..2432596 --- /dev/null +++ b/src/veloslam/veloslam.cc @@ -0,0 +1,1250 @@ +/* + * veloslam implementation + * + * Copyright (C) Andreas Nuechter, Li Wei, Li Ming + * + * Released under the GPL version 3. + * + */ + +/** + * @file + * @brief Main programm for dynamic Velodyne SLAM + * + * @author Andreas Nuechter. Jacobs University Bremen, Germany + * @author Li Wei, Wuhan University, China + * @author Li Ming, Wuhan University, China + */ + +#ifdef _MSC_VER +#ifdef OPENMP +#define _OPENMP +#endif +#endif + +#ifdef _OPENMP +#include +#endif + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#include "slam6d/icp6Dapx.h" +#include "slam6d/icp6Dsvd.h" +#include "slam6d/icp6Dquat.h" +#include "slam6d/icp6Dortho.h" +#include "slam6d/icp6Dhelix.h" +#include "slam6d/icp6Ddual.h" +#include "slam6d/icp6Dlumeuler.h" +#include "slam6d/icp6Dlumquat.h" +#include "slam6d/icp6Dquatscale.h" +#include "slam6d/icp6D.h" +#ifdef WITH_CUDA +#include "slam6d/cuda/icp6Dcuda.h" +#endif +#include "slam6d/lum6Deuler.h" +#include "slam6d/lum6Dquat.h" +#include "slam6d/ghelix6DQ2.h" +#include "slam6d/graphToro.h" +#include "slam6d/graphHOG-Man.h" +#include "slam6d/elch6Deuler.h" +#include "slam6d/elch6Dquat.h" +#include "slam6d/elch6DunitQuat.h" +#include "slam6d/elch6Dslerp.h" +#include "slam6d/loopToro.h" +#include "slam6d/loopHOG-Man.h" +#include "slam6d/graphSlam6D.h" +#include "slam6d/gapx6D.h" +#include "slam6d/graph.h" +#include "slam6d/globals.icc" + +#ifndef _MSC_VER +#include +#else +#include "XGetopt.h" +#endif + +#include +#include "veloslam/veloscan.h" +#include "veloslam/debugview.h" +#include "veloslam/tracker.h" +#include "veloslam/trackermanager.h" +#include "veloslam/intersection_detection.h" + +#ifdef _MSC_VER +#define strcasecmp _stricmp +#define strncasecmp _strnicmp +#else +#include +#endif + +#ifdef WITH_METRICS +#include "slam6d/metrics.h" +#endif //WITH_METRICS + +#include /* OpenGL header file */ +#include /* OpenGL utilities header file */ + +#ifdef _MSC_VER +#include +#else +#include +#endif + +#ifndef _MSC_VER +#include +void Sleep(unsigned int mseconds) +{ + clock_t goal = mseconds + clock(); + while (goal > clock()); +} + +#endif + +#define WANT_STREAM ///< define the WANT stream :) + +#include +using std::string; +#include +using std::cout; +using std::cerr; +using std::endl; +#include +using std::ifstream; + +#include +#include +#include + +using namespace boost; +extern boost::mutex keymutex; +extern boost::condition keycond; + + +extern void StartShow(); +extern TrackerManager trackMgr; +extern int sliding_window_size; +extern int current_sliding_window_pos; + +extern Trajectory VelodyneTrajectory; +extern VeloScan* g_pfirstScan; +extern bool g_pause; +extern float constant_static_or_moving; +extern bool DebugDrawFinished ; +extern bool ICPFinished; +extern bool save_animation; + +extern int anim_frame_rate; +extern int scanCount; + +// Handling Segmentation faults and CTRL-C +void sigSEGVhandler (int v) +{ + static bool segfault = false; + if(!segfault) { + segfault = true; + cout << endl + << "# **************************** #" << endl + << " Segmentation fault or Ctrl-C" << endl + << "# **************************** #" << endl + << endl; + + // save frames and close scans + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) { + (*it)->saveFrames(); + } + cout << "Frames saved." << endl; + Scan::closeDirectory(); + } + exit(-1); +} + + +/** + * Explains the usage of this program's command line parameters + */ +void usage(char* prog) +{ +#ifndef _MSC_VER + const string bold("\033[1m"); + const string normal("\033[m"); +#else + const string bold(""); + const string normal(""); +#endif + cout << endl + << bold << "USAGE " << normal << endl + << " " << prog << " [options] directory" << endl << endl; + cout << bold << "OPTIONS" << normal << endl + + << bold << " -a" << normal << " NR, " << bold << "--algo=" << normal << "NR [default: 1]" << endl + << " selects the minimizazion method for the ICP matching algorithm" << endl + << " 1 = unit quaternion based method by Horn" << endl + << " 2 = singular value decomposition by Arun et al. " << endl + << " 3 = orthonormal matrices by Horn et al." << endl + << " 4 = dual quaternion method by Walker et al." << endl + << " 5 = helix approximation by Hofer & Potmann" << endl + << " 6 = small angle approximation" << endl + << " 7 = Lu & Milios style, i.e., uncertainty based, with Euler angles" << endl + << " 8 = Lu & Milios style, i.e., uncertainty based, with Quaternion" << endl + << " 9 = unit quaternion with scale method by Horn" << endl + << endl + << bold << " -A" << normal << " NR, " << bold << "--anim=" << normal << "NR [default: first and last frame only]" << endl + << " if specified, use only every NR-th frame for animation" << endl + << endl + << bold << " -c" << normal << " NR, " << bold << "--cldist=" << normal << "NR [default: 500]" << endl + << " specifies the maximal distance for closed loops" << endl + << endl + << bold << " -C" << normal << " NR, " << bold << "--clpairs=" << normal << "NR [default: 6]" << endl + << " specifies the minimal number of points for an overlap. If not specified" << endl + << " cldist is used instead" << endl + << endl + << bold << " --cache" << normal << endl + << " turns on cached k-d tree search" << endl + << endl + << bold << " -d" << normal << " NR, " << bold << "--dist=" << normal << "NR [default: 25]" << endl + << " sets the maximal point-to-point distance for matching with ICP to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " -D" << normal << " NR, " << bold << "--distSLAM=" + << normal << "NR [default: same value as -d option]" << endl + << " sets the maximal point-to-point distance for matching with SLAM to 'units'" << endl + << " (unit of scan data, e.g. cm)" << endl + << endl + << bold << " --DlastSLAM" << normal << " NR [default not set]" << endl + << " sets the maximal point-to-point distance for the final SLAM correction," << endl + << " if final SLAM is not required don't set it." << endl + << endl + << bold << " -e" << normal << " NR, " << bold << "--end=" << normal << "NR" << endl + << " end after scan NR" << endl + << endl + << bold << " --exportAllPoints" << normal << endl + << " writes all registered reduced points to the file points.pts before" << endl + << " slam6D terminated" << endl + << endl + << bold << " --epsICP=" << normal << "NR [default: 0.00001]" << endl + << " stop ICP iteration if difference is smaller than NR" << endl + << endl + << bold << " --epsSLAM=" << normal << " NR [default: 0.5]" << endl + << " stop SLAM iteration if average difference is smaller than NR" << endl + << endl + << bold << " -f" << normal << " F, " << bold << "--format=" << normal << "F" << endl + << " using shared library F for input" << endl + << " (chose F from {uos, uos_map, uos_rgb, uos_frames, uos_map_frames, old, rts, rts_map, ifp, riegl_txt, riegl_rgb, riegl_bin, zahn, ply, wrl, xyz, zuf, iais, front, x3d, rxp, ais })" << endl + << endl + << bold << " -G" << normal << " NR, " << bold << "--graphSlam6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the minimizazion method for the SLAM matching algorithm" << endl + << " 0 = no global relaxation technique" << endl + << " 1 = Lu & Milios extension using euler angles due to Borrmann et al." << endl + << " 2 = Lu & Milios extension using using unit quaternions" << endl + << " 3 = HELIX approximation by Hofer and Pottmann" << endl + << " 4 = small angle approximation" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " -i" << normal << " NR, " << bold << "--iter=" << normal << "NR [default: 50]" << endl + << " sets the maximal number of ICP iterations to " << endl + << endl + << bold << " -I" << normal << " NR, " << bold << "--iterSLAM=" << normal << "NR [default: 0]" << endl + << " sets the maximal number of iterations for SLAM to " << endl + << " (if not set, graphSLAM is not executed)" << endl + << endl + << bold << " -l" << normal << " NR, " << bold << "--loopsize=" << normal << "NR [default: 20]" << endl + << " sets the size of a loop, i.e., a loop must exceed of scans" << endl + << endl + << bold << " -L" << normal << " NR, " << bold << "--loop6DAlgo=" << normal << "NR [default: 0]" << endl + << " selects the method for closing the loop explicitly" << endl + << " 0 = no loop closing technique" << endl + << " 1 = euler angles" << endl + << " 2 = quaternions " << endl + << " 3 = unit quaternions" << endl + << " 4 = SLERP (recommended)" << endl + << " 5 = TORO" << endl + << " 6 = HOG-Man" << endl + << endl + << bold << " --metascan" << normal << endl + << " Match current scan against a meta scan of all previous scans (default match against the last scan only)" << endl + << endl + << bold << " -m" << normal << " NR, " << bold << "--max=" << normal << "NR" << endl + << " neglegt all data points with a distance larger than NR 'units'" << endl + << endl + << bold << " -M" << normal << " NR, " << bold << "--min=" << normal << "NR" << endl + << " neglegt all data points with a distance smaller than NR 'units'" << endl + << endl + << bold << " -n" << normal << " FILE, " << bold << "--net=" << normal << "FILE" << endl + << " specifies the file that includes the net structure for SLAM" << endl + << endl + << bold << " -O" << normal << "NR (optional), " << bold << "--octree=" << normal << "NR (optional)" << endl + << " use randomized octree based point reduction (pts per voxel=)" << endl + << " requires " << bold << "-r" << normal <<" or " << bold << "--reduce" << endl + << endl + << bold << " -p, --trustpose" << normal << endl + << " Trust the pose file, do not extrapolate the last transformation." << endl + << " (just for testing purposes, or gps input.)" << endl + << endl + << bold << " -q, --quiet" << normal << endl + << " Quiet mode. Suppress (most) messages" << endl + << endl + << bold << " -Q, --veryquiet" << normal << endl + << " Very quiet mode. Suppress all messages, except in case of error." << endl + << endl + << bold << " -S, --scanserver" << normal << endl + << " Use the scanserver as an input method and handling of scan data" << endl + << endl + << bold << " -r" << normal << " NR, " << bold << "--reduce=" << normal << "NR" << endl + << " turns on octree based point reduction (voxel size=)" << endl + << endl + << bold << " -R" << normal << " NR, " << bold << "--random=" << normal << "NR" << endl + << " turns on randomized reduction, using about every -th point only" << endl + << endl + << bold << " -s" << normal << " NR, " << bold << "--start=" << normal << "NR" << endl + << " start at scan NR (i.e., neglects the first NR scans)" << endl + << " [ATTENTION: counting naturally starts with 0]" << endl + << endl + << bold << " -t" << normal << " NR, " << bold << "--nns_method=" << normal << "NR [default: 1]" << endl + << " selects the Nearest Neighbor Search Algorithm" << endl + << " 0 = simple k-d tree " << endl + << " 1 = cached k-d tree " << endl + << " 2 = ANNTree " << endl + << " 3 = BOCTree " << endl + << endl + << bold << " -u" << normal <<", "<< bold<<"--cuda" << normal << endl + << " this option activates icp running on GPU instead of CPU"< +class WriteOnce { +public: + WriteOnce(T& value) : value(value), written(false) {} + WriteOnce& operator=(const T& other) { if(!written) { value = other; written = true; } return *this; } + operator T() const { return value; } +private: + T& value; + bool written; +}; + +/** + * Parsing of a formats file in the scan directory for default type and scan + * index ranges without overwriting user set parameters. Does nothing if + * file doesn't exist. + * + * @param dir directory the scans and format file are contained in + * @param type which ScanIO to use for the scans in that directory + * @param start index for the first valid scan + * @param end index for the last valid scan + */ +void parseFormatFile(string& dir, WriteOnce& type, WriteOnce& start, WriteOnce& end) +{ + ifstream file((dir+"format").c_str()); + if(!file.good()) return; + + string line, key, value, format; + while(getline(file, line)) { + size_t pos = line.find('='); + key = trim(line.substr(0, pos - 0)); + value = trim(line.substr(pos+1)); + if(key == "format") { + try { + format = value; + type = formatname_to_io_type(format.c_str()); + } catch (...) { // runtime_error + cerr << "Error while parsing format file: Format '" << format << "' unknown." << endl; + break; + } + } else if(key == "start") { + stringstream str(value.c_str()); + int s; + str >> s; + start = s; + } else if(key == "end") { + stringstream str(value.c_str()); + int e; + str >> e; + end = e; + } else { + cerr << "Error while parsing format file: Unknown key '" << key << "'" << endl; + break; + } + } +} + +/** A function that parses the command-line arguments and sets the respective flags. + * @param argc the number of arguments + * @param argv the arguments + * @param dir the directory + * @param red using point reduction? + * @param rand use randomized point reduction? + * @param mdm maximal distance match + * @param mdml maximal distance match for SLAM + * @param mni maximal number of iterations + * @param start starting at scan number 'start' + * @param end stopping at scan number 'end' + * @param maxDist - maximal distance of points being loaded + * @param minDist - minimal distance of points being loaded + * @param quiet switches on/off the quiet mode + * @param veryQuiet switches on/off the 'very quiet' mode + * @param extrapolate_pose - i.e., extrapolating the odometry by the last transformation + * (vs. taking the pose file as exact) + * @param meta match against all scans (= meta scan), or against the last scan only??? + * @param anim selects the rotation representation for the matching algorithm + * @param mni_lum sets the maximal number of iterations for SLAM + * @param net specifies the file that includes the net structure for SLAM + * @param cldist specifies the maximal distance for closed loops + * @param epsilonICP stop ICP iteration if difference is smaller than this value + * @param epsilonSLAM stop SLAM iteration if average difference is smaller than this value + * @param algo specfies the used algorithm for rotation computation + * @param lum6DAlgo specifies the used algorithm for global SLAM correction + * @param loopsize defines the minimal loop size + * @param tracking select sematic algorithm of none/classification/tracking on/off the point classification mode + * @return 0, if the parsing was successful. 1 otherwise + */ +int parseArgs(int argc, char **argv, string &dir, double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &extrapolate_pose, bool &meta, int &algo,int &tracking, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize,int &trackingAlgo, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type, + bool& scanserver) +{ + int c; + // from unistd.h: + extern char *optarg; + extern int optind; + + WriteOnce w_type(type); + WriteOnce w_start(start), w_end(end); + + /* options descriptor */ + // 0: no arguments, 1: required argument, 2: optional argument + static struct option longopts[] = { + { "format", required_argument, 0, 'f' }, + { "algo", required_argument, 0, 'a' }, + { "tracking", required_argument, 0, 'b' }, + { "track_value", required_argument, 0, 'T' }, + { "nns_method", required_argument, 0, 't' }, + { "loop6DAlgo", required_argument, 0, 'L' }, + { "graphSlam6DAlgo", required_argument, 0, 'G' }, + { "net", required_argument, 0, 'n' }, + { "iter", required_argument, 0, 'i' }, + { "iterSLAM", required_argument, 0, 'I' }, + { "max", required_argument, 0, 'm' }, + { "loopsize", required_argument, 0, 'l' }, + { "cldist", required_argument, 0, 'c' }, + { "clpairs", required_argument, 0, 'C' }, + { "min", required_argument, 0, 'M' }, + { "dist", required_argument, 0, 'd' }, + { "distSLAM", required_argument, 0, 'D' }, + { "start", required_argument, 0, 's' }, + { "end", required_argument, 0, 'e' }, + { "reduce", required_argument, 0, 'r' }, + { "octree", optional_argument, 0, 'O' }, + { "random", required_argument, 0, 'R' }, + { "quiet", no_argument, 0, 'q' }, + { "veryquiet", no_argument, 0, 'Q' }, + { "trustpose", no_argument, 0, 'p' }, + { "anim", required_argument, 0, 'A' }, + { "metascan", no_argument, 0, '2' }, // use the long format only + { "DlastSLAM", required_argument, 0, '4' }, // use the long format only + { "epsICP", required_argument, 0, '5' }, // use the long format only + { "epsSLAM", required_argument, 0, '6' }, // use the long format only + { "exportAllPoints", no_argument, 0, '8' }, + { "distLoop", required_argument, 0, '9' }, // use the long format only + { "iterLoop", required_argument, 0, '1' }, // use the long format only + { "graphDist", required_argument, 0, '3' }, // use the long format only + { "cuda", no_argument, 0, 'u' }, // cuda will be enabled + { "trackingAlgo", required_argument, 0, 'y'},//tracking algorithm + { "scanserver", no_argument, 0, 'S' }, + { 0, 0, 0, 0} // needed, cf. getopt.h + }; + + cout << endl; + while ((c = getopt_long(argc, argv, "T:O:v:f:A:G:L:a:b:t:r:R:d:D:i:l:I:c:C:n:S:s:e:m:M:y:u:q:Q:p", longopts, NULL)) != -1) + switch (c) + { + case 'a': + algo = atoi(optarg); + if ((algo < 0) || (algo > 9)) { + cerr << "Error: ICP Algorithm not available." << endl; + exit(1); + } + break; + case 'b': + tracking = atoi(optarg); + break; + case 'v': + save_animation = true; + anim_frame_rate = atoi(optarg); + break; + case 'T': + constant_static_or_moving = atof(optarg); + if ((constant_static_or_moving < 0) || (constant_static_or_moving > 300)) { + cerr << "Error: constant_static_or_moving not available." << endl; + exit(1); + } + break; + case 't': + nns_method = atoi(optarg); + if ((nns_method < 0) || (nns_method > 3)) { + cerr << "Error: NNS Method not available." << endl; + exit(1); + } + break; + case 'L': + loopSlam6DAlgo = atoi(optarg); + if (loopSlam6DAlgo < 0 || loopSlam6DAlgo > 6) { + cerr << "Error: global loop closing algorithm not available." << endl; + exit(1); + } + break; + case 'G': + lum6DAlgo = atoi(optarg); + if ((lum6DAlgo < 0) || (lum6DAlgo > 6)) { + cerr << "Error: global relaxation algorithm not available." << endl; + exit(1); + } + break; + case 'c': + cldist = atof(optarg); + break; + case 'C': + clpairs = atoi(optarg); + break; + case 'l': + loopsize = atoi(optarg); + break; + case 'r': + red = atof(optarg); + break; + case 'O': + if (optarg) { + octree = atoi(optarg); + } else { + octree = 1; + } + break; + case 'R': + rand = atoi(optarg); + break; + case 'd': + mdm = atof(optarg); + break; + case 'D': + mdml = atof(optarg); + break; + case 'i': + mni = atoi(optarg); + break; + case 'I': + mni_lum = atoi(optarg); + break; + case 'n': + net = optarg; + break; + case 's': + w_start = atoi(optarg); + if (w_start < 0) { cerr << "Error: Cannot start at a negative scan number.\n"; exit(1); } + break; + case 'e': + w_end = atoi(optarg); + if (w_end < 0) { cerr << "Error: Cannot end at a negative scan number.\n"; exit(1); } + if (w_end < w_start) { cerr << "Error: cannot be smaller than .\n"; exit(1); } + break; + case 'm': + maxDist = atoi(optarg); + break; + case 'M': + minDist = atoi(optarg); + break; + case 'q': + quiet = true; + break; + case 'Q': + quiet = veryQuiet = true; + break; + case 'p': + extrapolate_pose = false; + break; + case 'y': + trackingAlgo=atoi(optarg);//choose tracking algorithm + break; + case 'A': + anim = atoi(optarg); + break; + case '2': // = --metascan + meta = true; + break; + case '4': // = --DlastSLAM + mdmll = atof(optarg); + break; + case '5': // = --epsICP + epsilonICP = atof(optarg); + break; + case '6': // = --epsSLAM + epsilonSLAM = atof(optarg); + break; + case '8': // not used + exportPts = true; + break; + case '9': // = --distLoop + distLoop = atof(optarg); + break; + case '1': // = --iterLoop + iterLoop = atoi(optarg); + break; + case '3': // = --graphDist + graphDist = atof(optarg); + break; + case 'f': + try { + w_type = formatname_to_io_type(optarg); + } catch (...) { // runtime_error + cerr << "Format " << optarg << " unknown." << endl; + abort(); + } + break; + case 'u': + cuda_enabled = true; + break; + case 'S': + scanserver = true; // maybe some errors. + break; + case '?': + usage(argv[0]); + return 1; + default: + abort (); + } + + scanserver = true; + if (optind != argc-1) + { + cerr << "\n*** Directory missing ***" << endl; + usage(argv[0]); + } + dir = argv[optind]; + +#ifndef _MSC_VER + if (dir[dir.length()-1] != '/') dir = dir + "/"; +#else + if (dir[dir.length()-1] != '\\') dir = dir + "\\"; +#endif + + parseFormatFile(dir, w_type, w_start, w_end); + + return 0; +} + +/** + * This function is does all the matching stuff + * it iterates over all scans using the algorithm objects to calculate new poses + * objects could be NULL if algorithm should not be used + * + * @param cldist maximal distance for closing loops + * @param loopsize minimal loop size + * @param allScans Contains all laser scans + * @param my_icp6D the ICP implementation + * @param meta_icp math ICP against a metascan + * @param nns_method Indicates the nearest neigbor search method to be used + * @param my_loopSlam6D used loopoptimizer + * @param my_graphSlam6D used global optimization + * @param nrIt The number of iterations the global SLAM-algorithm will run + * @param epsilonSLAM epsilon for global SLAM iteration + * @param mdml maximal distance match for global SLAM + * @param mdmll maximal distance match for global SLAM after all scans ar matched + */ +void matchGraph6Dautomatic(double cldist, int loopsize, vector allScans, icp6D *my_icp6D, + bool meta_icp, int nns_method, bool cuda_enabled, + loopSlam6D *my_loopSlam6D, graphSlam6D *my_graphSlam6D, int nrIt, + double epsilonSLAM, double mdml, double mdmll, double graphDist, + bool &eP, IOType type) +{ + double cldist2 = sqr(cldist); + + // list of scan for metascan + vector < Scan* > metas; + + // graph for loop optimization + graph_t g; + + int n = allScans.size(); + + int loop_detection = 0; + double dist, min_dist = -1; + int first = 0, last = 0; + + for(int i = 1; i < n; i++) { + cout << i << "/" << n << endl; + + add_edge(i-1, i, g); + + if(eP) { + allScans[i]->mergeCoordinatesWithRoboterPosition(allScans[i-1]); + } + + //Hack to get all icp transformations into the .frames Files + if(i == n-1 && my_icp6D != NULL && my_icp6D->get_anim() == -2) { + my_icp6D->set_anim(-1); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(1); + }*/ + + if(my_icp6D != NULL){ + cout << "ICP" << endl; + // Matching strongly linked scans with ICPs + if(meta_icp) + { +// metas.push_back(allScans[i - 1]); +// MetaScan* meta_scan = new MetaScan(metas); +// my_icp6D->match(meta_scan, allScans[i]); + //delete meta_scan; + } else { + switch(type) { + case UOS_MAP: + case UOS_MAP_FRAMES: + my_icp6D->match(allScans[0], allScans[i]); + break; + case RTS_MAP: + //untested (and could not work) + //if(i < 220-22 && i > 250-22) match(allScans[0], CurrentScan); + my_icp6D->match(allScans[0], allScans[i]); + break; + default: + my_icp6D->match(allScans[i - 1], allScans[i]); + break; + } + } + } else { + double id[16]; + M4identity(id); + allScans[i]->transform(id, Scan::ICP, 0); + } + + /*if(i == 85 || i == 321 || i == 533) { + my_icp6D->set_anim(-2); + }*/ + + if(loop_detection == 1) { + loop_detection = 2; + } + + for(int j = 0; j < i - loopsize; j++) { + dist = Dist2(allScans[j]->get_rPos(), allScans[i]->get_rPos()); + if(dist < cldist2) { + loop_detection = 1; + if(min_dist < 0 || dist < min_dist) { + min_dist = dist; + first = j; + last = i; + } + } + } + + if(loop_detection == 2) { + loop_detection = 0; + min_dist = -1; + + if(my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(i + 1, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + } + } + + if(loop_detection == 1 && my_loopSlam6D != NULL) { + cout << "Loop close: " << first << " " << last << endl; + my_loopSlam6D->close_loop(allScans, first, last, g); + add_edge(first, last, g); + } + + if(my_graphSlam6D != NULL && mdml > 0.0) { + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, cldist2, loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } + + if(my_graphSlam6D != NULL && mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + int j = 0; + double ret; + do { + // recalculate graph + Graph *gr = new Graph(n, sqr(graphDist), loopsize); + cout << "Global: " << j << endl; + ret = my_graphSlam6D->doGraphSlam6D(*gr, allScans, 1); + delete gr; + j++; + } while (j < nrIt && ret > epsilonSLAM); + } +} + +icp6Dminimizer * CreateICPalgo( int algo , bool quiet ) +{ + icp6Dminimizer *my_icp6Dminimizer = 0; + switch (algo) { + case 1 : + my_icp6Dminimizer = new icp6D_QUAT(quiet); + break; + case 2 : + my_icp6Dminimizer = new icp6D_SVD(quiet); + break; + case 3 : + my_icp6Dminimizer = new icp6D_ORTHO(quiet); + break; + case 4 : + my_icp6Dminimizer = new icp6D_DUAL(quiet); + break; + case 5 : + my_icp6Dminimizer = new icp6D_HELIX(quiet); + break; + case 6 : + my_icp6Dminimizer = new icp6D_APX(quiet); + break; + case 7 : + my_icp6Dminimizer = new icp6D_LUMEULER(quiet); + break; + case 8 : + my_icp6Dminimizer = new icp6D_LUMQUAT(quiet); + break; + case 9 : + my_icp6Dminimizer = new icp6D_QUAT_SCALE(quiet); + break; + } + return my_icp6Dminimizer; + } + +int FinalSLAM( double &red, int &rand, + double &mdm, double &mdml, double &mdmll, + int &mni, int &start, int &end, int &maxDist, int &minDist, bool &quiet, bool &veryQuiet, + bool &eP, bool &meta, int &algo, int &loopSlam6DAlgo, int &lum6DAlgo, int &anim, + int &mni_lum, string &net, double &cldist, int &clpairs, int &loopsize, + double &epsilonICP, double &epsilonSLAM, int &nns_method, bool &exportPts, double &distLoop, + int &iterLoop, double &graphDist, int &octree, bool &cuda_enabled, IOType &type + ) +{ + + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer= CreateICPalgo( algo, quiet); + + if (mni_lum == -1 && loopSlam6DAlgo == 0) + { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + + if (my_icp) my_icp->doICP(Scan::allScans); + delete my_icp; + } else if (clpairs > -1) { + //!!!!!!!!!!!!!!!!!!!!!!!! + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + } + my_icp->doICP(Scan::allScans); + graphSlam6D *my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, + rand, eP, anim, epsilonICP, nns_method, epsilonSLAM); + my_graphSlam6D->matchGraph6Dautomatic(Scan::allScans, mni_lum, clpairs, loopsize); + //!!!!!!!!!!!!!!!!!!!!!!!! + } else { + graphSlam6D *my_graphSlam6D = 0; + switch (lum6DAlgo) { + case 1 : + my_graphSlam6D = new lum6DEuler(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 2 : + my_graphSlam6D = new lum6DQuat(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 3 : + my_graphSlam6D = new ghelix6DQ2(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 4 : + my_graphSlam6D = new gapx6D(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, epsilonSLAM); + break; + case 5 : + my_graphSlam6D = new graphToro(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + case 6 : + my_graphSlam6D = new graphHOGMan(my_icp6Dminimizer, mdm, mdml, mni, quiet, meta, rand, eP, + -2, epsilonICP, nns_method, epsilonSLAM); + break; + } + // Construct Network + if (net != "none") { + icp6D *my_icp = 0; + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + my_icp->doICP(Scan::allScans); + + Graph* structure; + structure = new Graph(net); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + if(mdmll > 0.0) { + my_graphSlam6D->set_mdmll(mdmll); + my_graphSlam6D->doGraphSlam6D(*structure, Scan::allScans, mni_lum); + } + + } else { + icp6D *my_icp = 0; + if(algo > 0) { + if (cuda_enabled) { +#ifdef WITH_CUDA + my_icp = new icp6Dcuda(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); +#else + cout << "slam6d was not compiled for excuting CUDA code" << endl; +#endif + } else { + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method); + } + + loopSlam6D *my_loopSlam6D = 0; + switch(loopSlam6DAlgo) { + case 1: + my_loopSlam6D = new elch6Deuler(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 2: + my_loopSlam6D = new elch6Dquat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 3: + my_loopSlam6D = new elch6DunitQuat(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 4: + my_loopSlam6D = new elch6Dslerp(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 5: + my_loopSlam6D = new loopToro(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + case 6: + my_loopSlam6D = new loopHOGMan(veryQuiet, my_icp6Dminimizer, distLoop, iterLoop, + rand, eP, 10, epsilonICP, nns_method); + break; + } + + matchGraph6Dautomatic(cldist, loopsize, Scan::allScans, my_icp, meta, + nns_method, cuda_enabled, my_loopSlam6D, my_graphSlam6D, + mni_lum, epsilonSLAM, mdml, mdmll, graphDist, eP, type); + delete my_icp; + if(loopSlam6DAlgo > 0) { + delete my_loopSlam6D; + } + } + if(my_graphSlam6D > 0) { + delete my_graphSlam6D; + } + } + } + delete my_icp6Dminimizer; + return 0; + } + +void MatchTwoScan(icp6D *my_icp, VeloScan* currentScan, int scanCount, bool eP ) +{ + Scan *PreviousScan = 0; + //////////////////////ICP////////////////////// + if (scanCount > 0) + { + PreviousScan =Scan::allScans[scanCount-1]; + // extrapolate odometry // 以前一帧的坐标为基准 + if (eP) + currentScan->mergeCoordinatesWithRoboterPosition(PreviousScan); + + my_icp->match(PreviousScan, currentScan); + } +} +/** + * Main program for 6D SLAM. + * Usage: bin/slam6D 'dir', + * with 'dir' the directory of a set of scans + * ... + */ +int main(int argc, char **argv) +{ + +#ifndef _MSC_VER + glutInit(&argc, argv); +#else + glutInit(&argc, argv); +#endif + + signal (SIGSEGV, sigSEGVhandler); + signal (SIGINT, sigSEGVhandler); + + cout << "slam6D - A highly efficient SLAM implementation based on scan matching" << endl + << " with 6 degrees of freedom" << endl + << "(c) Jacobs University Bremen gGmbH, Germany, since 2009" << endl + << " University of Osnabrueck, Germany, 2006 - 2009" << endl << endl; + + if (argc <= 1) { + usage(argv[0]); + } + + // parsing the command line parameters + // init, default values if not specified + string dir; + double red = -1.0, mdmll = -1.0, mdml = 25.0, mdm = 25.0; + int rand = -1, mni = 50; + int start = 0, end = -1; + bool quiet = false; + bool veryQuiet = false; + int maxDist = -1; + int minDist = -1; + bool eP = true; // should we extrapolate the pose?? + bool meta = false; // match against meta scan, or against LAST scan only? + int algo = 1; + int mni_lum = -1; + double cldist = 500; + int clpairs = -1; + int loopsize = 20; + string net = "none"; + int anim = -1; + double epsilonICP = 0.00001; + double epsilonSLAM = 0.5; + int nns_method = simpleKD; + bool exportPts = false; + int loopSlam6DAlgo = 0; + int lum6DAlgo = 0; + int tracking = 1; + double distLoop = 700.0; + int iterLoop = 100; + double graphDist = cldist; + int octree = 0; // employ randomized octree reduction? + bool cuda_enabled = false; + IOType type = UOS; + int trackingAlgo=0; + bool scanserver = false; + + parseArgs(argc, argv, dir, red, rand, mdm, mdml, mdmll, mni, start, end, + maxDist, minDist, quiet, veryQuiet, eP, meta, algo, tracking, + loopSlam6DAlgo, lum6DAlgo, anim, + mni_lum, net, cldist, clpairs, loopsize, trackingAlgo,epsilonICP, epsilonSLAM, + nns_method, exportPts, distLoop, iterLoop, graphDist, octree, cuda_enabled, type, + scanserver); + + + cout << "VeloSLAM will proceed with the following parameters:" << endl; + + //@@@ to do :-) + icp6Dminimizer *my_icp6Dminimizer = 0; + my_icp6Dminimizer= CreateICPalgo( algo, quiet); + icp6D *my_icp = 0; + my_icp = new icp6D(my_icp6Dminimizer, mdm, mni, quiet, meta, rand, eP, + anim, epsilonICP, nns_method, cuda_enabled); + + if (my_icp==0) + { + cerr<< "can not create ICP " << endl; + exit(0); + } + + VeloScan::openDirectory(scanserver, dir, type, start, end); + + if(VeloScan::allScans.size() == 0) { + cerr << "No scans found. Did you use the correct format?" << endl; + exit(-1); + } + + double eu[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + vector ptss; + veryQuiet =true; + + if(!veryQuiet) + StartShow(); + ICPFinished =true; + + //Main Loop for ICP with Moving Object Detection and Tracking + for(ScanVector::iterator it = Scan::allScans.begin(); + it != Scan::allScans.end(); + ++it) + { + while(DebugDrawFinished ==false && !veryQuiet) + { + Sleep(1); + } + VeloScan* currentScan =(VeloScan* ) *it; + currentScan->setRangeFilter(maxDist, minDist); + currentScan->setReductionParameter(red, octree); + currentScan->setSearchTreeParameter(nns_method, cuda_enabled); + currentScan->isTrackerHandled=false; + currentScan->scanid = scanCount; /// + + ICPFinished =false; + if(tracking ==1 ) + { + currentScan->FindingAllofObject(maxDist, minDist); + currentScan->ClassifiAllofObject(); + } + if(tracking ==2 ) + { + int windowsize =3; + currentScan->FindingAllofObject(maxDist, minDist); + currentScan->TrackingAllofObject(trackingAlgo); + currentScan->ClassifibyTrackingAllObject(scanCount, windowsize); + // trackMgr.ListTrackers(); + } + if( tracking ==0 || tracking ==1 ||tracking ==2 ) + { + currentScan->ExchangePointCloud(); + currentScan->calcReducedPoints_byClassifi(red, octree, PointType()); + } + + currentScan->createSearchTree(); +#ifdef NO_SLIDING_WINDOW + MatchTwoScan(my_icp, currentScan, scanCount, eP); +#else + if(current_sliding_window_pos > sliding_window_size ) + MatchTwoScan(my_icp, currentScan, sliding_window_size, eP); + else + MatchTwoScan(my_icp, currentScan, scanCount, eP); +#endif + + // update the cluster position in trakers. + /////////////////////////////////////////////////////////////////// + const double* p; + p = currentScan->get_rPos(); + Point x(p[0], p[1], p[2]); + VelodyneTrajectory.path.push_back(x); + ////////////////////////////////////////// + + scanCount++; + current_sliding_window_pos++; + +#ifdef NO_SLIDING_WINDOW + +#else + if(current_sliding_window_pos > sliding_window_size ) + { + vector ::iterator Iter = Scan::allScans.begin(); + VeloScan *deleteScan = (VeloScan*)(*Iter); + // cout << "delete scan " << deleteScan->scanid << endl; + delete deleteScan; + } +#endif + + ICPFinished =true; + if(!veryQuiet) + { + glutPostRedisplay(); + } + + while(DebugDrawFinished ==false && !veryQuiet) + { + Sleep(1); + } + //////////////////////////////////////// + } + + // long starttime = GetCurrentTimeInMilliSec(); + + // //Finall graph Matching + // FinalSLAM( red, rand, + // mdm, mdml, mdmll, + // mni, start, end, maxDist, minDist, quiet, veryQuiet, + // eP, meta, algo, loopSlam6DAlgo, lum6DAlgo, anim, + // mni_lum, net, cldist, clpairs, loopsize, + // epsilonICP, epsilonSLAM, nns_method, exportPts, distLoop, + // iterLoop, graphDist, octree, cuda_enabled, type + //); + + if (exportPts) + { + cout << "Export all 3D Points to file \"points.pts\"" << endl; + ofstream redptsout("points.pts"); + for(unsigned int i = 0; i < Scan::allScans.size(); i++) + { + DataXYZ xyz_r(Scan::allScans[i]->get("xyz reduced")); + for(unsigned int i = 0; i < xyz_r.size(); ++i) + redptsout << xyz_r[i][0] << ' ' << xyz_r[i][1] << ' ' << xyz_r[i][2] << '\n'; + redptsout << std::flush; + } + } + + for(ScanVector::iterator it = Scan::allScans.begin(); it != Scan::allScans.end(); ++it) + { + Scan* scan = *it; + scan->saveFrames(); + } + + Scan::closeDirectory(); + + delete my_icp6Dminimizer; + delete my_icp; + + cout << endl << endl; + cout << "Normal program end." << endl; + +}